Commit Graph

54 Commits

Author SHA1 Message Date
Andrew Tridgell 5c43b18672 Plane: fixed height_above_ground() for case when rangefinder is below min
this prevents a rangefinder that goes below min distance from causing
the calculations that depend on height above ground to fail
2019-09-17 09:36:26 +10:00
Andrew Tridgell 6572700baa Plane: fixed an issue with landing on rising ground
when landing on rising ground we don't want to use the terrain look
fwd correction for the flare calculation as otherwise we will flare
too early (and thus too high)
2019-09-16 12:52:00 +10:00
Andrew Tridgell 1b775c96f5 Plane: added rangefinder correction by terrain data
allows for landing approach with terrain changes
2019-08-06 09:36:02 +10:00
Pierre Kancir 65b4ba0539 ArduPlane: use past_interval_finish_line and line_path_proportion from Location 2019-04-23 09:20:43 +10:00
Tom Pittenger 0270c57530 Plane: massive refactor and creation of Mode class 2019-04-02 16:28:52 +11:00
Andrew Tridgell 2b6210d594 Plane: use WP height for height above ground in vtol landing
this allows for landings above or below the takeoff height without
requiring the use of terrain data. It allows both the use of vfwd
motor for holding against wind, and the correct height for land final
descent rate
2019-03-18 14:47:27 +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
Peter Barker acafb0f3c1 Plane: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Peter Barker 7fd859da65 Plane: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Michael du Breuil 1a3ca43e86 Plane: Don't check FS_SHORT_TIMEOUT if it's disabled
Also renames the check_minimum_altitude() to reflect that it's only used
for FBWB.
2017-11-24 09:58:01 -08:00
Andrew Tridgell af893ddde7 Plane: implement Q_OPTIONS
this allows for NAV_TAKEOFF to be treated as NAV_VTOL_TAKEOFF in
quadplanes, and for level flight to be maintained during quadplane
transitions
2017-10-30 16:30:10 +11:00
Peter Barker 5a8f01c19c Plane: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Michael du Breuil 1bb806edb2 Plane: Use new landing interfaces 2017-03-02 12:38:59 +11:00
Randy Mackay c0f155fd27 Plane: use only downward facing rangefinder 2017-02-27 15:18:25 +09:00
Michael du Breuil 29b16dbafd Plane: Refactor to request relative altitudes from AHRS
Removes the need for plane to do the math for finding the relative height.

Also caches the value at the same time we update current_loc, which is a
non behaviour change as that was the only time you could see a change in
the relative height propegate through the system anyways
2017-02-13 09:23:14 +11:00
Tom Pittenger 61bc0a6206 Plane: check stage==LAND instead of landing.in_progress 2017-01-26 13:11:44 -08:00
Tom Pittenger e709705ab8 Plane: describe flight stages without using specific stage name 2017-01-26 13:11:43 -08:00
Tom Pittenger 04f32b6ec6 Plane: simplify flight stage landing check to use landing.in_progress 2016-12-30 23:50:03 -08:00
Tom Pittenger c286ceba43 Plane: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:03 -08:00
Tom Pittenger 83f0a8114b Plane: use a common reset for uniform landing wipe 2016-12-14 04:32:30 -08:00
Tom Pittenger db42252168 Plane: port the rest of plane/landing.cpp to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger 896b931a7c Plane: Move auto_state variables to AP_landing members 2016-11-25 19:07:30 -08:00
Tom Pittenger 0ffeed644c Plane: remove define RANGEFINDER_ENABLED - always enabled 2016-11-25 19:07:30 -08:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Andrew Tridgell 5ac62c27e2 Plane: reduce change of false rangefinder readings triggering a flare
This doesn't count repeated readings towards the rangefinder count,
and resets the counter if the change is more than 20% of full
range. This greatly reduces the impact of poor sonar sensors for
landing
2016-10-23 15:53:12 +11:00
Tom Pittenger 350ed20460 Plane: ensure rangefinder last_time resets
ensure rangefinder_state.last_correction_time_ms resets to zero via memset(&rangefinder_state, 0..)
2016-10-17 14:34:00 -07:00
Tom Pittenger ca32bcc58d Plane: add new flight mode AVOID_ADSB to mimic GUIDED 2016-08-17 22:38:54 -07:00
Tom Pittenger 26efd90603 Plane: allow landing height adjustment on wp before land (aka approach wp) 2016-07-20 22:29:31 -07:00
Andrew Tridgell 4da3236c07 Plane: separate out landing height adjustment from barometer changes
this stores a landing height adjustment for an aborted landing
without adjusting barometer readings, applying them only on landing
2016-07-20 22:04:21 -07:00
Tom Pittenger f05c698176 Plane: fix compile error for RANGEFINDER_ENABLED
Plane: #define check for rangefinder enabled in relative_ground_altitude()
2016-06-16 14:19:10 -07:00
Andrew Tridgell e05c7b3367 Plane: check if terrain following is enabled in AGL calculation 2016-06-10 17:48:32 +10:00
Tom Pittenger b3f182157c Plane: take advantage of rangefinder support in relative_ground_altitude() 2016-06-03 23:43:43 -07:00
Tom Pittenger b2fb2f3949 Plane: optimize millis() calls by reusing result 2016-05-17 18:59:03 -07:00
Tom Pittenger 6746b4227a Plane: handle large negative baro offsets (corner case) to self-trigger a land-abort go-around
new param: LAND_ABORT_DEG
@Description: This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is higher than the intended slope path. Steeper slopes can result in crashes so this allows the option to remember the baro offset and self-abort the landing and come around for a another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC > 0.
2016-05-17 15:41:09 -07:00
Tom Pittenger 034cd2413e Plane: re-calc landing glide slope to gracefully handle baro offset during long flights
New param: LAND_SLOPE_RCALC
@Description: This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m.

default value is 2 (so, enabled by default)
2016-05-17 15:39:04 -07:00
Andrew Tridgell 691d4b6ca7 Plane: added local reached_loiter_target()
this distinguishes between VTOL and fixed wing loiter targets
2016-05-11 05:55:26 +10:00
Rimvydas Naktinis 9fdf39baf0 Plane: Added a method that returns current altitude relative to terrain, if available, or home otherwise. 2016-05-05 09:02:20 -07:00
Andrew Tridgell 4666b25258 Plane: initial implementation of QRTL for quadplane RTL 2016-04-30 14:34:47 +10:00
Michael du Breuil de1e299754 Plane: Remove support for CONDITION_CHANGE_ALT 2016-04-30 10:56:05 +09:00
Tom Pittenger 6a83ad419a Plane: moved update_flight_stage() inside setup_glide_slope()
the glide_slope gets calculated every time there's a major event such as mission item change or wp_proportion change so its good to update the flight stage then too because.
also logging stage when stage changes, might as well get an extra data point in there when it's timely
2016-04-21 21:30:51 -07:00
Andrew Tridgell 8a6e5ffe80 Plane: fixed bug in rangefinder landing
introduced with QLAND change
2016-03-26 10:06:07 +11:00
Andrew Tridgell b47b558246 Plane: change code URL 2016-03-25 20:47:03 +11:00
Andrew Tridgell f4ccf94dfc Plane: added QLAND mode
for VTOL landing. Use for failsafe as well
2016-03-09 18:20:41 +11:00
Tom Pittenger b8d5369ebd Plane: add flight stage LAND_PREFLARE 2016-02-09 14:18:02 +11:00
Tom Pittenger 7978872e32 AP_Plane: set path_propportion in TECS 2016-01-09 13:25:02 +11:00
Jonathan Challinger 05eb723429 Plane: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Tom Pittenger 113961b66e Plane: compiler warning - double promotion 2015-12-07 15:49:55 +09:00
lvale e18181e5c2 Plane: Uniformization of severities
Plane uniformization of severities
2015-11-09 09:38:25 +11:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
Andrew Tridgell 86e8c7ed2f Plane: add some safety to detect bad lidar readings
we only accept a lidar if it changes by 5% of its full range, and we
reject a lidar again if the correction between barometric and lidar
range changes by more than 30m

This allows us to cope with faulty lidars which may give a constant
reading
2015-09-16 14:24:44 +10:00