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3478 Commits

Author SHA1 Message Date
Peter Barker
ca7566fff9 Plane: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Peter Barker
cbb0bfb809 Plane: is_flying_vtol: if spool mode is shut down we are not flying 
The subsequent check for get_throttle passes if you switch from QHOVER
to MANUAL on the ground while armed.  get_throttle returns > 0.01 - but
the motors are shut down so no output occurs.
 2019-03-12 10:21:11 +11:00
Peter Barker
cf45b54070 Plane: quadplane use prearm checks from Attitude and Position controllers 2019-03-12 10:14:14 +11:00
Mark Whitehorn
f7bf10fcfc ArduPlane: add rudder to tailsitter gain scaling 2019-03-12 10:12:23 +11:00
Mark Whitehorn
4a6b97828f ArduPlane: add tailsitter input type TAILSITTER_INPUT_BF_ROLL 2019-03-06 15:48:51 +11:00
Mark Whitehorn
01d6f1d932 ArduPlane: add body-frame yaw mode for tailsitters 2019-03-06 15:48:51 +11:00
IamPete1
872c3df45c Plane: tailsitter pull in copter ouputs from AP_motors 2019-03-06 14:46:39 +11:00
Peter Barker
bd444d97dc Plane: move sending of airspeed_autocal into AP_AirSpeed 2019-03-06 11:32:52 +11:00
Mark Whitehorn
6e4a2b97f9 ArduPlane:add subclass for copter tailsitters 
cleanup and add tailsit_motmx
add constexpr and motor mask check
add support for tricopter tailsitter
don't call output_motor_mask unless armed
fix whitespace
 2019-03-06 07:53:46 +09:00
Peter Barker
94899bd2ed Plane: move sending of send_pid_tuning up 2019-03-05 10:41:56 +11:00
Mark Whitehorn
61aff344d3 ArduPlane: add high-speed Qmode tailsitter gain scaling with support for airspeed sensor 2019-03-05 10:27:42 +11:00
Mark Whitehorn
487ad7a90f Plane: add QACRO mode for quadplanes 
use acro_r/p/y_rate params in qacro
port ACRO throttle handling from copter

handle non-tailsitter controls
 2019-03-05 10:13:20 +11:00
Peter Barker
a451380d61 Plane: avoid int32_t<->float conversions 2019-03-01 12:09:58 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
f430fd14f6 Plane: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Andrew Tridgell
cd1f21b806 Plane: removed some px4 specific code and docs 2019-02-27 20:32:37 +11:00
IamPete1
f24c6785f2 Plane: add E-stop 2019-02-27 08:51:24 +09:00
Andrew Tridgell
136e10a781 Plane: handle VTOL landing with incorrect height 
if landing above expected height then run landing detector to allow a
switch from LAND_DESCEND to LAND_FINAL

this prevents the plane sitting on the ground until the battery runs
out
 2019-02-26 11:12:58 +11:00
Peter Barker
dea75a87fd Plane: AHRS set_orientation renamed to update_orientation 2019-02-26 10:28:09 +11:00
Michael du Breuil
b290148ed0 Plane: Don't overwrite the quadplane loiter relax 2019-02-23 11:08:21 +11:00
Andrew Tridgell
a278a152fc Plane: fixed throttle nudge 
broken by recent radio input changes

Thanks to Michael for noticing!
 2019-02-22 18:41:34 +11:00
Michael du Breuil
c15983c690 Plane: prevent loss of control when Q_ENABLE is set while flying 
Also rename check_throttle_suppression
 2019-02-21 21:38:03 -07:00
Andrew Tridgell
c290b1f3b5 Plane: fixed servo jitter due to airspeed estimate from throttle 
when we have no other airspeed source and we are armed we get airspeed
from throttle. the default setting of k_throttle in the radio code
caused an oscillation of the value used in the airspeed estimate, each
time a RC frame came in.
 2019-02-22 14:42:17 +11:00
Michael du Breuil
25a2c77782 Plane: Fix not logging quadplane control, and over logging attitude control 2019-02-22 11:59:26 +11:00
Andrew Tridgell
d7abf27ec2 Plane: fixed servo jitter due to airspeed estimate from throttle 
when we have no other airspeed source and we are armed we get airspeed
from throttle. the default setting of k_throttle in the radio code
caused an oscillation of the value used in the airspeed estimate, each
time a RC frame came in.
 2019-02-22 10:27:36 +11:00
Peter Barker
c24759d3df Plane: use abs not fabsf for integers 2019-02-20 19:23:54 +11:00
Peter Barker
cdde2b7d64 Plane: Rally no longer takes ahrs in constructor 2019-02-20 18:03:38 +11:00
Michael du Breuil
5134af2298 Plane: Manage quadplane throttle during RC failsafe 2019-02-19 20:41:05 -07:00
Peter Barker
1ab80ddce0 Plane: move update_sensor_flags to GCS_Plane.cpp 2019-02-20 11:57:00 +11:00
Peter Barker
34853fb1bf Plane: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker
a3c13fc028 Plane: move sensor flags to be a GCS thing rather than a GCS_MAVLINK thing 2019-02-19 14:09:59 +11:00
Peter Barker
33541dcbf6 Plane: GCS_MAVLink takes care of mavlink capabilities 2019-02-19 13:14:52 +11:00
Peter Barker
5690a0ea4a Plane: move try_send_message of nav_controller_output up 2019-02-19 10:08:00 +11:00
Mark Whitehorn
95b3a5bacd ArduPlane: implement hover throttle learning for quadplanes 
disable by default
check quadplane.enable in update_hover_learn
 2019-02-16 19:04:13 -08:00
Peter Barker
0858847294 Plane: remove redundant send_ekf_origin 2019-02-15 08:28:45 +11:00
Peter Barker
0c880a4c3e Plane: remove redundant home-setting sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker
b6bf8d8368 Plane: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker
5a19f447a7 Plane: devo telemetry no long requires singleton classes to be passed in 2019-02-13 19:24:07 +00:00
Peter Barker
4f249db8bc Plane: move responsibility for parachute deployment up 2019-02-13 09:25:27 +09:00
Peter Barker
30671a6743 Plane: move handling of command-int MAV_CMD_DO_SET_HOME up 
Plane: eliminate set_home shim around AP_AHRS::set_home
 2019-02-13 09:42:26 +11:00
Peter Barker
cfb3dfc4e5 Plane: AP_Frsky_Telem uses singletons 2019-02-12 17:53:23 +00:00
Andrew Tridgell
0089e98bb6 Plane: call AHRS resetHeightDatum() on baro reset 
this prevents the AMSL estimate from the EKF going off badly if we
disarm at a high altitude
 2019-02-12 12:17:02 +11:00
Peter Barker
3bba981a00 Plane: dataflash always emits rally points at startup 2019-02-12 11:48:55 +11:00
Mark Whitehorn
b9f3118374 Plane: allow changing Q_TRIM_PITCH in flight 
change float comparison to is_equal
 2019-02-12 09:42:19 +11:00
Tom Pittenger
c422a21f55 Plane: ICE to use ahrs singleton 2019-02-05 15:34:08 +11:00
Peter Barker
6e1dc79b75 Plane: move handling of RC_CHANNELS_OVERRIDE up 2019-02-05 13:59:21 +11:00
Peter Barker
b48cb1e367 Plane: move sending of sys_status message up 2019-02-05 11:07:39 +11:00
Michael du Breuil
df1632054e Plane: Update throttle mix 2019-02-05 11:05:54 +11:00
Andrew Tridgell
5dbf603450 Plane: separate out slew limit logic for left/right throttles 2019-02-03 05:06:37 -08:00
Andrew Tridgell
28cf9d2f24 Plane: allow rudder at zero throttle 
if rudder disarming is disabled
 2019-02-03 05:02:07 -08:00
Randy Mackay
4d5e13f1d4 Plane: : integrate AC_WPNav::get_speed rename to get_default_speed 2019-01-31 19:34:32 +09:00
Peter Barker
a697d5f6fe Plane: AC_Fence is included for all vehicles 2019-01-31 13:44:29 +09:00
Peter Barker
11dd83e23a Plane: remove rally argument from Write_Rally - use singleton 2019-01-31 09:51:25 +09:00
Peter Barker
68b9e64077 Plane: remove old, unfulfilled method declarations 2019-01-30 09:03:52 +09:00
Tom Pittenger
05bf329d81 Plane: ignore battery failsafe during landing 
fixes https://github.com/ArduPilot/ardupilot/issues/10320
 2019-01-23 14:16:27 -07:00
Nathan E
4d7fc66657 Update parameters.cpp per magicrub comments 2019-01-23 09:24:18 -07:00
Nathan E
448d19ddbb Update ArduPlane/Parameters.cpp 2019-01-23 09:24:18 -07:00
Mark Whitehorn
5c81a78c9c Plane: tailsitter forward transition bugfix 2019-01-22 12:55:47 +11:00
Peter Barker
40856fef56 Plane: remove vestiges of old PX4_MIXER code 2019-01-19 19:31:03 +11:00
Peter Barker
6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker
99a93112b4 Plane: remove PX4-specific code that disables overrides on reboot 2019-01-18 17:32:02 +11:00
Andrew Tridgell
bc438676ab Plane: fix tailsitter logged attitude targets 2019-01-18 14:16:55 +11:00
Peter Barker
129762d3af Plane: APM_Control uses DataFlash singleton, stop passing it 2019-01-18 14:14:22 +11:00
Francisco Ferreira
d0fa931b09
Plane: add KDECAN to included libraries 2019-01-18 00:57:32 +00:00
Peter Barker
76b31f315a Plane: log_terrain_data no longer takes a DataFlash argument 2019-01-18 11:17:40 +11:00
Peter Barker
a35fbb4a11 Plane: Log_Write_SIMSTATE no longer takes dataflash pointer 2019-01-18 11:16:54 +11:00
Peter Barker
cb92fba701 Plane: remove PX4 FWVersion info 2019-01-16 11:47:55 +11:00
Peter Barker
b258e89a2d Plane: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Peter Barker
acafb0f3c1 Plane: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Randy Mackay
2650b1fe93 Plane: desired-ground-idle replaces spin-when-armed 2019-01-15 11:41:44 +09:00
Michael du Breuil
843c92ced5 Plane: Remove some redundant code/state resets 2019-01-15 10:45:50 +11:00
IamPete1
9c0ac5899f Plane: pass rudder diffential thrust to AP_motors 2019-01-15 10:19:19 +11:00
IamPete1
eaed0a2d47 Plane: make rudder differnal thrust global 2019-01-15 10:19:19 +11:00
Andrew Tridgell
f35cebcca4 Plane: fixed EKF yaw reset 
we need to do the yaw reset before updating the rest of quadplane, or
it is not effective

thanks to Leonard for noticing the bug!
 2019-01-14 08:32:17 +11:00
Andrew Tridgell
53a1d98b68 Plane: fixed VTOL takeoff to ignore lat/lon in mission 
we should always takeoff vertically
 2019-01-11 13:48:45 +11:00
Peter Barker
5c90a2dab2 Plane: Terrain uses rally singleton 2019-01-09 10:14:16 +11:00
Michael du Breuil
d6cac4b52a Plane: Add a failure timer for quadplane forward transitions 
Falls over to QLAND if we fail to transition
 2019-01-08 10:52:12 +11:00
Michael du Breuil
64e152fbc0 Plane: Remove unneeded GCS rally override 2019-01-08 10:39:50 +11:00
Michael du Breuil
ae6dc01cd5 Plane: Reset all storage when format version is incorrect 2019-01-08 10:35:37 +11:00
murata
02d692f32e Plane: Delete NuttX version processing 2019-01-08 10:06:20 +11:00
Andrew Tridgell
97e54f6359 Plane: allow mavlink when in sensor error 2019-01-04 19:17:31 +11:00
Michael du Breuil
09f6ec8a00 Plane: Remove unneeded AP_Buffer include 2018-12-31 11:41:43 +09:00
Michael du Breuil
e6bc44f471 Plane: Fix cases where quadplane level transition was not applied 2018-12-31 10:36:32 +11:00
Michael du Breuil
69c87c6c4a Plane: Disallow arming if quadplane has been requested but isn't available 2018-12-28 18:09:21 +11:00
IamPete1
9c2db806f3 Plane: add units to Q_VFWD_ALT 2018-12-28 16:15:41 +11:00
Andrew Tridgell
7939f3488b Plane: log PIDs during QAUTOTUNE twitch 2018-12-22 15:10:23 +11:00
Andrew Tridgell
088442880e build: removed makefile build system 2018-12-22 11:06:59 +11:00
Andrew Tridgell
9117dcc54b Plane: don't log QTUN when VTOL not active 2018-12-21 22:17:52 +11:00
Andrew Tridgell
d3afc9424a Plane: make QTUN logging match copter logging 2018-12-21 22:17:52 +11:00
Andrew Tridgell
1013eddfce Plane: use AHRS_View for RATE logging 2018-12-21 22:17:52 +11:00
IamPete1
1a98989ac6 Tailsitter: move mixer to AP_motors 2018-12-21 11:19:18 +09:00
Michael du Breuil
a78bce32c0 Plane: Allow users to force target airspeed in cruise or fbwb 2018-12-18 22:36:55 -08:00
Peter Barker
d133f998c5 Plane: split SIMSTATE, AHRS2 and AHRS3 onto their own ap_message ids 2018-12-19 13:19:23 +11:00
Peter Barker
54022b6b57 Plane: split DISTANCE_SENSOR onto its own ap_message id 2018-12-19 07:24:37 +11:00
Randy Mackay
a96c1566ec Plane: fix quadplane pos control param docs 2018-12-18 12:01:07 +00:00
Peter Barker
17f244ce9f Plane: try_send_message caller checks telemetry_delayed 2018-12-18 14:25:56 +11:00
Peter Barker
5137c0ab5f Plane: split SYS_STATUS and POWER_STATUS onto separate ap_messages 2018-12-18 14:05:20 +11:00
Michael du Breuil
47dfafd670 Plane: Ensure that the plane is an appropriate distance out before starting the approach 2018-12-18 10:11:22 +11:00
Michael du Breuil
05484c3987 Plane: Support a different landing airspeed for fw quadplane landings 2018-12-18 10:11:22 +11:00
Michael du Breuil
1a45755ffd Plane: Support a different landing radius for quadplane fw approach 2018-12-18 10:11:22 +11:00
Michael du Breuil
f1154a6e7c Plane: Pass the mission command around rather then fetching it 2018-12-18 10:11:22 +11:00
Michael du Breuil
42e67d5849 Plane: Whitespace fixes 2018-12-18 10:11:22 +11:00
Michael du Breuil
e8885ee1a5 Plane: Fly a planned abort sequence if available 2018-12-15 09:03:25 +11:00
Nikhil Upadhye
d1e93bae83 Plane: adding new mode QAUTOTUNE 
copter like autotune support for quadplanes and tailsitter in VTOL mode.

cleanup
 2018-12-14 16:33:11 +11:00
Peter Barker
9d323b4b90 Plane: move accept_packet to GCS_MAVLink base class 2018-12-14 12:44:31 +11:00
Peter Barker
56675851b6 Plane: DataFlash uses AP_Mission singleton 2018-12-13 14:45:30 +09:00
Peter Barker
2978da5ecd Plane: GCS_MAVLink now uses Mission singleton 2018-12-13 10:52:52 +09:00
Peter Barker
bcf68a9103 Plane: split MSG_SCALED_PRESSURE into three separate messages 2018-12-12 21:36:01 +11:00
Peter Barker
a263364959 Plane: GCS_MAVLink uses dataflash singleton 2018-12-11 08:43:47 +09:00
Michael du Breuil
f3a843ebf7 Plane: Fix a comma in bitmask that was breaking emitters 2018-12-11 10:24:40 +11:00
Peter Barker
153228bef5 Plane: call GCS update functions at quadcopter main loop rate 2018-12-10 12:52:41 +09:00
Peter Barker
18d4df8d4f Plane: split MSG_RAW_IMU1 into per-IMU ap_messages 2018-12-10 12:52:41 +09:00
Peter Barker
67042d39d1 Plane: send both SYS_STATUS or POWER_STATUS or neither 2018-12-10 12:52:41 +09:00
Peter Barker
d1727d26a1 Plane: rename send_extended_status1 to send_sys_status 2018-12-10 12:52:41 +09:00
Peter Barker
7f5c0db949 Plane: adjust for new update entry points into GCS 2018-12-10 12:52:41 +09:00
Peter Barker
1ca67df663 Plane: add parameter stream to list-of-all-streams 2018-12-10 12:52:41 +09:00
Andrew Tridgell
fa04c2d094 Plane: prevent jitter on surfaces due to speed scaling 
when disarmed the k_throttle output can oscillate due to stage in the
loop we are at, even though actual output is zero. This can cause
jitter in the speed scaling, which causes surface movement

To fix, don't use k_throttle value when disarmed
 2018-12-06 17:44:11 +11:00
Randy Mackay
71708ee4ea Plane: quadplane uses set_defaults_from_table 2018-12-06 12:23:41 +09:00
Peter Barker
edd4f6d14d Plane: rename MSG_EXTENDED_STATUS2 to MSG_MEMINFO 2018-12-04 18:01:38 +11:00
Peter Barker
de479032ba Plane: rename MSG_RAW_IMU2 and MSG_RAW_IMU3 to reflect what they send 2018-12-04 17:45:32 +11:00
Andrew Tridgell
6c7af3830b Plane: apply throttle slew to dual-motor setups 
thanks to Alex for noticing this issue
 2018-12-04 09:08:31 +11:00
IamPete1
c6e70c0454 Plane: add roll limit for tailsitters 
Quadplane: add tailsitter pitch params
 2018-12-01 09:40:07 +11:00
Andrew Tridgell
b6519c88a5 Plane: fixed a bug in Q_ASSIST_ modes for tiltrotors 
when a tilt-rotor drops below Q_ASSIST_SPEED we need to keep it in the
airspeed wait state until it has regained airspeed, otherwise we will
end up with too low throttle
 2018-11-30 18:17:42 +11:00
Leonard Hall
0943ace7a9 Plane: Zero Yaw correction during transition 
and relax attitude controller when not using lift motors.
 2018-11-30 18:16:29 +11:00
Andrew Tridgell
c081ce9adb Plane: don't relax attitude controllers for tailsitters 
this fixes an issue with testing control movement when disarmed
 2018-11-30 13:01:53 +11:00
Peter Barker
ba3a369651 Plane: remove update_events scheduler shim 2018-11-27 10:07:13 +11:00
Michael du Breuil
1e220d3d37 Plane: Add support for mode change to QLand as a failsafe 2018-11-24 14:37:04 -08:00
Peter Barker
d4e88bc6ba Plane: remove pointless wrappers around RC_Channels functions 2018-11-23 10:56:17 +11:00
Peter Barker
03b71e1123 Plane: remove pointless wrappers around gcs functions 2018-11-23 10:56:17 +11:00
Andrew Tridgell
4d8fbdfcfd Plane: fixed spoiler left rudder order 
thanks to @jgilbertfpv for noticing
 2018-11-20 20:10:00 +11:00
Andrew Tridgell
1d00d26b9e Plane: added parameters for crow flaps 
DSPOILER_CROW_W1 and DSPOILER_CROW_W2 for inner and outer control
surfaces
 2018-11-20 10:00:38 +11:00
jgilbertfpv
4d6547c533 Plane: added crow brakes and diff. spoilers 
added crow braking via flap channel to differential spoilers and
reversed dspoiler outputs because having the inner elevon go up and
outer go down causes tip stall. now inner goes down, outer goes
up. still could use a percentage adjustment to change how much throw
each surface gets when using flap input.
 2018-11-20 10:00:38 +11:00
Andrew Tridgell
987b556299 Plane: disable crash detection if no GPS and no airspeed 2018-11-19 07:32:20 +11:00
Andrew Tridgell
b660022b20 Plane: handle long GPS loss in crash detector 
fixes issue #9349
 2018-11-19 07:32:20 +11:00
DOMINATOR\Eugene
802ae94e2c ArduPlane: move airspeed update to library 2018-11-17 07:52:42 +11:00
Andrew Tridgell
03f1deca9f Plane: support REVERSE_THROTTLE rc option 
this provides a more convenient way to setup for reverse throttle
 2018-11-16 08:33:35 +11:00
Andrew Tridgell
da69bf3391 Plane: added an abstraction for reverse thrust 
use have_reverse_thrust() and get_throttle_input()
 2018-11-16 08:33:35 +11:00
Peter Barker
a5c34f6172 Plane: OpticalFlow takes care of its own logging 2018-11-13 10:40:23 +11:00
Peter Barker
e53a009a35 Plane: do not pass ahrs to opticalflow constructor 2018-11-13 10:40:23 +11:00
Peter Barker
12c67ecaab Plane: move sending of optical flow status up to base class 2018-11-13 10:40:23 +11:00
Andrew Tridgell
c59b2c156a Plane: fixes for Q_TRIM_PITCH 
improved documentation and variable names
 2018-11-12 17:05:04 +11:00
IamPete1
5a7bd61e8c Quadplane: add trim params 2018-11-12 17:05:04 +11:00
Andrew Tridgell
85a1f9e40d Plane: added ACCZ pid tuning 2018-11-12 15:36:39 +11:00
Andrew Tridgell
432d786f82 Plane: pass height to landing gear update 2018-11-10 21:24:19 +11:00
Michael du Breuil
8ce0460daf Plane: Remove old parameter conversion 2018-11-10 18:58:54 +11:00
Michael du Breuil
8e906e0ba0 Plane: Add support for a loiter to alt approach to VTOL landing 2018-11-10 18:58:54 +11:00
Andrew Tridgell
f89c770c46 Plane: moved LANDING_GEAR to common RC_Channel 2018-11-09 14:35:14 +11:00
Eugene Shamaev
01178a75e9 Plane: added landing gear support 2018-11-09 14:35:14 +11:00
Peter Barker
818bb8d56d Plane: don't pass ahrs to terrain constructor 2018-11-08 20:59:45 +11:00
Peter Barker
4b68ca79dc Plane: stop passing ahrs to Mission constructor 2018-11-08 10:01:16 +09:00
Andrew Tridgell
f2b8067023 Plane: pass manual_rc_mask to iocmu mixer 2018-11-07 07:35:45 +11:00
Andrew Tridgell
c3d434bc35 Plane: pass mixing gain to iomcu 2018-11-07 07:35:45 +11:00
Andrew Tridgell
d5c29fc57e Plane: use IOMCU mixing if available 2018-11-07 07:35:45 +11:00
Michael du Breuil
1c54fa0230 Plane: Remove old battery conversion that conflicts with new monitor 2018-11-06 10:18:39 +09:00
Michael du Breuil
d9e02403e1 Plane: Fix battery failsafe parameter conversion 2018-11-06 10:18:39 +09:00
Michael du Breuil
9e1b0de6b7 Plane: Make capability init consistent 2018-11-05 14:04:36 +11:00
Andrew Tridgell
1c162c8b64 Plane: ensure speed scaling covers full aircraft speed range 
this is important for very fast or very slow aircraft
 2018-11-02 15:30:50 +11:00
Andrew Tridgell
5ce418b4ea Plane: added FLIGHT_OPTIONS bit for disabling pitch up check in takeoff 
some takeoff procedures use high pitch angles
 2018-10-31 18:53:36 +11:00
Andrew Tridgell
a00e06ea13 Plane: added TKOFF_ACCEL_CNT for multi-shake to start 
this allows you to setup shake to start with a lower accel threshold,
but with multiple fwd/back movements needed.

This implements https://github.com/ArduPilot/ardupilot/issues/2221
 2018-10-31 18:53:36 +11:00
Peter Barker
27b444f4e8 Plane: move handling of gimbal messages up 
Plane: move handling of mav_cmd_do_mount_control up

Plane: move handling of deprecated mount messages up

Plane: move handling of command_do_set_roi up

Plane: mount no longer takes ahrs in constructor
 2018-10-30 17:19:14 +11:00
Peter Barker
7890fbeaa1 Plane: let AP_Mission handle common camera commands 2018-10-30 15:37:18 +11:00
Peter Barker
1653b34b2b Plane: move servorelayevents mission handling into AP_Mission 2018-10-30 15:37:18 +11:00
Peter Barker
dc6a03f5e0 Plane: mission library handles gripper 2018-10-30 15:37:18 +11:00
Peter Barker
3b49e46c36 Plane: AC_Avoid is built on all vehicles 2018-10-30 12:10:42 +11:00
Andrew Tridgell
009786a338 Plane: small update to failsafe documentation 2018-10-18 11:38:07 +11:00
Peter Barker
9e4e17c797 Plane: leave AHRS to log and notify home changes 2018-10-16 10:55:13 +11:00
Peter Barker
4e3e39a3e8 Plane: make libraries get EKF control limits themselves 2018-10-09 10:47:38 +11:00
Michael du Breuil
3aed07a83a Plane: Create a scripting object 2018-10-09 10:08:52 +11:00
Michael du Breuil
02d37d43d2 Plane: Disallow climbs during TRANSITION_AIRSPEED_WAIT 2018-10-02 09:35:47 +10:00
Michael du Breuil
b945970914 Plane: Fix FLIGHT_OPTIONS bitmask doc 2018-09-27 17:20:49 +01:00
Michael du Breuil
b2ef6b901e Plane: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Michael du Breuil
b6efc8a20b Plane: reduce some copy pasted code 2018-09-20 13:47:21 -07:00
Andrew Tridgell
adf318ce06 Plane: release notes for 3.9.2beta3 2018-09-20 07:17:34 +10:00
Leonard Hall
13c27e0eb8 Plane: Missing Loiter Init on accel 2018-09-19 17:29:55 +09:00
Andrew Tridgell
0e0d847f7f Plane: updated release notes for 3.9.2beta2 2018-09-15 16:11:04 +10:00
Andrew Tridgell
5136b90d27 Plane: do attitude relax after 100ms 2018-09-15 11:00:29 +10:00
Leonard Hall
e50414d8b9 Plane: Log VTOL targets in ATT message in VTOL mode 2018-09-15 11:00:29 +10:00
Leonard Hall
7372a7b5f9 QuadPlane: Remove repeat I term reset 2018-09-15 11:00:29 +10:00
Andrew Tridgell
ef154cf3fa Plane: fixed relaxing of attitude controller on transition 
this fixes an issue found by Leonard where the attitude controller
could have residual control left over from a previous transition when
engaging the VTOL attitude controller
 2018-09-15 11:00:29 +10:00
Andrew Tridgell
2215913b02 Plane: added speed scaling reduction for Q modes 
when in a Q mode reduce surface movements at low airspeed, in case we
have the wind from behind us. This prevents the control surfaces from
causing instability
 2018-09-14 19:28:29 +10:00
Andrew Tridgell
2d3942222b Plane: handle reverse thrust in AFS failsafe 
and zero differential thrust
 2018-09-13 08:15:02 +10:00
Andrew Tridgell
455f15a157 Plane: handle twin motor planes for AFS failsafe 2018-09-13 08:15:02 +10:00
Andrew Tridgell
6707c8af36 Plane: update release notes for 3.9.2beta1 2018-09-12 16:33:49 +10:00
Andrew Tridgell
aa1548e404 Plane: fixed throttle when terminated 
thanks to Michael Thomas for reporting this
 2018-09-12 14:13:33 +10:00
Randy Mackay
d6a102234e Plane: rename rudder_arming to get_rudder_arming_type 2018-09-11 19:34:39 +10:00
Randy Mackay
b61b25e5bf Plane: minor format fix to Parmeters.cpp 2018-09-11 19:34:39 +10:00
Randy Mackay
96d494c2e8 Plane: use parent AP_Arming rudder value 2018-09-11 19:34:39 +10:00
Michael du Breuil
f150cae75a Plane: Allow center throttle to be trim airspeed in cruise 2018-09-11 09:07:00 +10:00
Michael du Breuil
ee96c53844 Plane: Don't go to minimum airspeed when in RC failsafe in cruise/fbwb 2018-09-11 09:07:00 +10:00
Michael du Breuil
f9e56f9d12 Plane: Respect frame type on VTOL_TAKEOFF commands 
allow missioncommands to fail to start
 2018-09-11 06:42:00 +10:00
Peter Barker
b574f4c1fc Plane: move support for inverted flight to rc-aux-switch 
Functional change here; if someone de-configures the rc aux switch in
flight they will remain inverted
 2018-09-07 09:07:40 +10:00
Peter Barker
4ad1869f43 Plane: add arm/disarm on aux switch 2018-09-06 08:26:50 +10:00
Peter Barker
901664ce09 Plane: add support for RCn_OPTION (servorelay,camera) 
Closes #7071
Closes #7666
 2018-09-05 13:44:07 +10:00
Michael du Breuil
925d76bb8c Plane: Small cleanup to quadplane const (and clarity) 2018-09-04 15:11:41 +10:00
Leonard Hall
e11c7c6069 QuadPlane: remove true from init of loiter 2018-09-04 13:37:28 +09:00
Peter Barker
1aa75e4c3e Plane: use camera singleton to get camera rather than callback 2018-08-31 15:48:56 +10:00
Peter Barker
558158c62a Plane: GCS_MAVLink uses compass singleton, stop implementing get_compass 2018-08-31 15:48:56 +10:00
Andrew Tridgell
066c26e445 Plane: updated 3.9.1 release notes 2018-08-31 12:35:59 +10:00
Michael du Breuil
3098744777 Plane: Fix a stale rudder input that was left from rebase 2018-08-28 10:44:17 +10:00
Michael du Breuil
8417bcc7d5 Plane: Add flight options bitmask 2018-08-28 09:40:53 +10:00
Andrew Tridgell
d1f419b530 Plane: updated release notes for 3.9.1beta3 2018-08-23 13:30:14 +10:00
Michael du Breuil
e4bbcd5ee3 Plane: Don't initilize motors with a trim value 2018-08-23 13:19:08 +10:00
Andrew Tridgell
d9b72f6821 Plane: reset rudder input during RC failsafe 2018-08-23 12:55:11 +10:00
Michael du Breuil
9ed5184d98 Plane: Remove unneeded ServoRelayEvent mask set 2018-08-20 21:31:06 -07:00
Michael du Breuil
fa1ad09a3b Plane: Remove unneeded rudder set 2018-08-21 08:32:56 +10:00
Andrew Tridgell
b11552e945 Plane: update release notes for 3.9.1beta2 
# Conflicts:
#	ArduPlane/release-notes.txt
 2018-08-17 20:43:02 +10:00
Alexander Malishev
001948d40c Plane: publish navigation info to OSD 2018-08-16 10:26:34 +10:00
Michael du Breuil
c8cb5b9e0f Plane: Log target airspeed to NTUN messages 2018-08-09 11:53:05 +10:00
Michael du Breuil
3d923d0572 Plane: Send a quadplane version of NAV_CONTROLLER_OUTPUT 2018-08-07 09:49:01 +10:00
Randy Mackay
903d00c4b2 Plane: remove compass accumulate 2018-08-06 11:05:34 +10:00
Andrew Tridgell
690bbcdaad Plane: release notes for 3.9.0 2018-08-06 10:44:29 +10:00
Andrew Tridgell
c964a393c0 Plane: fixed RC_Channels parameter docs 2018-08-04 12:28:38 +10:00
Peter Barker
9ce02bc504 Plane: minimal support for inheritting from RC_Channel 2018-08-01 12:11:30 +09:00
Michael du Breuil
eea8267704 Plane: Update notify initilization 2018-08-01 09:22:09 +10:00
Andrew Tridgell
4f2508d89f Plane: updated release notes for 3.9.0beta6 2018-07-30 18:18:53 +10:00
Andrew Tridgell
1d675390ab Plane: make soaring an optional build feature 
this disables soaring on px4-v2, saving 5k of flash

This is needed to consider pr #9042, which takes a lot of flash space
 2018-07-30 13:09:15 +10:00
Andrew Tridgell
16c7ab81dc Plane: pass rc_speed to motor backend constructors 
this sets the right speed as early as possible
 2018-07-28 15:25:57 +10:00
Andrew Tridgell
a4d3b08d87 Plane: release notes for 3.9.0beta5 2018-07-19 12:42:27 +10:00
IamPete1
20c67019b0 Plane: added Q_TAILSIT_THSCMX 
this provides more flexibility in tailsitter throttle scaling
 2018-07-19 09:48:25 +10:00
Andrew Tridgell
149a6af48f Plane: releases notes for plane 3.9.0beta4 2018-07-18 20:45:02 +10:00
Andrew Tridgell
07187f7797 Plane: fixed ARMING_REQUIRE=2 for dual-motor planes 
many thanks to Marco for finding this bug!
 2018-07-18 19:58:02 +10:00
Michael du Breuil
f25726fbb1 Plane: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Andrew Tridgell
ad55605605 Plane: update version to 3.10.0-dev 2018-07-06 11:01:05 +10:00
Andrew Tridgell
db1f1a42d6 Plane: updated 3.9.0beta2 release notes 2018-07-06 10:59:55 +10:00
Peter Barker
94ad85a67d Plane: handle MAV_CMD_ACCELCAL_VEHICLE_POS in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker
d077723028 Plane: handle command_int in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker
d76e7d210b Plane: handle command_long in GCS base class 2018-07-06 09:43:09 +10:00
Andrew Tridgell
1d91f18177 Plane: fixed version for enums 2018-07-05 11:10:31 +10:00
Andrew Tridgell
bd4515947a Plane: updated release notes 2018-07-05 11:10:27 +10:00
Peter Barker
85f339caae Plane: remove annoying ice_update shim 2018-07-04 21:08:47 +01:00
Peter Barker
e404562544 Plane: remove vexing button_update shim 2018-07-04 21:08:47 +01:00
Peter Barker
c42fb6d797 Plane: remove pointless rangefinder_init shim function 2018-07-04 21:08:47 +01:00
Peter Barker
4502fd21c3 Plane: use compass singleton for logging 2018-07-04 20:11:27 +01:00
Peter Barker
3bfa4c8678 Plane: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
Peter Barker
320e24af65 Plane: move mavlink reboot code up to base class 2018-07-03 12:12:25 +10:00
Jacob Walser
4eb00ac779 Plane: refactor output_test -> output_test_seq 2018-07-02 11:31:58 -04:00
Lucas De Marchi
1a45aa12f5 AP_Param: warn on last pass only about unknown parameters 
Do not warn about unknown parameters on the first pass, i.e. when
AP_Param:load_all() is called. This is because we may still not know
about dynamically loaded parameters. When we call the second (last)
time, we expect to already know all possible parameters, so print a
warning to both console and the debug terminal.
 2018-06-28 10:18:19 -07:00
Lucas De Marchi
7f0d5ddf21 AP_Param: stop panic()'ing on unknown parameters 
Our track record on keeping parameters up to date with master is not
great and panic()'ing when loading them apparently is not helping
because every and each vehicle has a different file.

On aerofc load_defaults_file() is used in the same way as
load_embedded_param_defaults() is in which the panic() behavior has been
previously removed.

This finishes the removal of the panic param and add warnings to the
debug console when reading the parameters (rather than when counting
them).
 2018-06-28 10:18:19 -07:00
Andrew Tridgell
bc503cc600 Plane: moved OSD to top level params 
this is to give lots of depth for OSD params (which will be very
complex)
 2018-06-27 14:55:00 +10:00
Alexander Malishev
75bf6984f5 Plane: added OSD support 2018-06-27 14:55:00 +10:00
Michael du Breuil
1c276e6af7 Plane: Remove unneeded wrapper functions 
Also removes unneeded battery failsafe flag clearing
 2018-06-27 11:39:35 +10:00
Peter Barker
23919daf11 Plane: use arming check_failed function 2018-06-23 15:33:19 +10:00
Andrew Tridgell
d454bc555e Plane: added ESC_TELEMETRY to mavlink streams 2018-06-21 10:48:02 +10:00
Peter Barker
f984e5e31d Plane: use magic force arm/disarm definitions 2018-06-20 11:43:38 +10:00
Peter Barker
f5e241af01 Plane: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
Peter Barker
2b7f9247e8 Plane: use AP_FWVersion singleton 2018-06-18 19:10:37 +01:00
Peter Barker
9824832523 Plane: use AP_RTC 
Plane: AP_GPS now sets the system time directly
 2018-06-15 08:01:22 +10:00
Michael du Breuil
12da35220c Plane: Simplify radio trimming, improve MAVLink report 2018-06-11 16:29:36 -07:00
Michael du Breuil
fae8d1e489 Plane: Log navigation target location 
Closes #4358
 2018-06-12 09:08:58 +10:00
Peter Barker
2cdcca2841 Plane: move handling of MAV_CMD_DO_GRIPPER up 2018-06-11 19:07:39 +01:00