Andrew Tridgell
343a682d22
Plane: fixed conditional for 0 lat/lon
2015-04-25 09:12:17 +10:00
Michael Day
607d9ca839
Plane: Implementation of do_ and verify_ for MAV_CMD_NAV_LOITER_TO_ALT
2015-04-25 09:12:16 +10:00
Tom Pittenger
1176146e06
Plane: fix compile warnings for unused functions
2015-04-24 14:09:43 +09:00
Tom Pittenger
bd9b573969
Plane: Fix compile warnings
...
- const values declared as default double
- This is the first pass in fixing the warnings, trying to catch some low hanging fruit. All const double values are changed to float. For example: 1.0 is now 1.0f.
- Only except is in location.pde where some double stuff is happening
- I did not change the exponentials 1e7 type stuff which should be 1e7f. A different commit
2015-04-24 12:20:53 +09:00
Randy Mackay
0acc4af63c
Plane: replace range finder health with status
2015-04-24 10:57:28 +09:00
Paul Riseborough
32f87d008a
Plane: Allow EKF to pull data from range finder object
2015-04-24 10:56:56 +09:00
Niels Joubert
6b7b3247ed
Plane: Handle GPS Injection
2015-04-24 08:01:33 +10:00
Jaime Machuca
ab1cf2261d
Plane: add call to send digicam configure messages from a mission item
...
Also add log_picture to separate the taking of a picture
from the dataflash logging and feedback to GCS
2015-04-20 13:50:17 +09:00
Andrew Tridgell
664c92fb81
Plane: fixed RUDDER_ONLY to not combine direct rudder output
...
this prevents us over-rolling in FBWA
2015-04-20 09:09:23 +10:00
Andrew Tridgell
edec706c12
Plane: added RUDDER_ONLY parameter
...
this gives much easier setup for rudder only aircraft.
2015-04-20 09:09:23 +10:00
Michael du Breuil
78a3ce46b9
Plane: Use tecs to control the throttle during takeoff
2015-04-16 08:56:37 +10:00
Michael du Breuil
867ca05e17
Plane: fix a relative altitude check for glide slope building
2015-04-13 20:15:07 -07:00
Michael du Breuil
4b1d71e390
Plane: rebuild the glide slope if we are above it and already climbing
...
(controlled by GLIDE_SLOPE_THR)
2015-04-13 20:14:51 -07:00
Michael Day
0279fdb0de
Plane: Never trigger fence breach in LAND_FINAL flight stage.
2015-04-14 11:12:39 +10:00
Andrew Tridgell
03a50712db
Plane: default LAND_DISARMDELAY to 20 seconds
...
most people will want to disarm
2015-04-06 15:37:54 -07:00
Andrew Tridgell
36796fb810
Plane: added LOCAL_POSITION_NED message
2015-04-05 09:25:41 -07:00
Randy Mackay
7e4dd9666c
Plane: fix serial manager integration
2015-04-01 15:13:20 -07:00
Randy Mackay
ab749f884f
Plane: integrate Serial Manager instance
2015-04-01 14:59:26 -07:00
Andrew Tridgell
6a33588f67
Plane: make LOG_BITMASK logging when disarmed clearer
2015-03-31 14:38:09 -07:00
Randy Mackay
d3663d43c1
Plane: send invalid batt curr if monitor unhealthy
2015-03-20 11:05:35 +09:00
Andrew Tridgell
9468a59204
Plane: require 3 seconds of not flying to declare a crash on land
2015-03-17 10:40:16 +11:00
Tom Pittenger
1b0ed277b3
Plane: Disarm On Land
...
After a landing has occur using a LAND waypoint, automatically disarm
after this many seconds have passed. Use 0 to not disarm.
2015-03-17 10:30:41 +11:00
Andrew Tridgell
90bb97a144
Plane: added last_flying_ms to auto_state
...
used to find out how long it is since we were last flying
2015-03-17 10:12:00 +11:00
Andrew Tridgell
18b277a9d2
Plane: use arm_motors() and disarm_motors()
2015-03-17 10:12:00 +11:00
Andrew Tridgell
dd1059cecf
Plane: added arm_motors() and disarm_motors() helper functions
2015-03-17 10:12:00 +11:00
Andrew Tridgell
86ef4a738c
Plane: only pass through throttle in failsafe if armed
2015-03-16 16:45:49 +11:00
Andrew Tridgell
e55350a5d6
Plane: added crash detection in autoland
...
if we are no longer flying then flare, which turns off the motor
This is based on work by Tom Pittenger
2015-03-16 10:59:53 +11:00
Andrew Tridgell
fb8b96ba0d
Plane: make is_flying() a bit more accurate in landing approach
...
prevent false negatives using the sink rate
2015-03-16 10:58:36 +11:00
Andrew Tridgell
1c1798fb11
Plane: support much smoother flare transitions
...
provide the height above the ground to TECS so it can make a smarter
pre-flare transition
2015-03-15 13:53:08 +11:00
Andrew Tridgell
cac7714693
Plane: fixed parameter typo
2015-03-14 14:53:02 +11:00
Andrew Tridgell
b0cdf8952b
Plane: added HIL_MODE parameter
...
this allows for HIL with any firmware
2015-03-13 22:52:56 +11:00
Víctor Mayoral Vilches
4ae3bf5399
Plane: Update compass to the new interface
2015-03-13 18:46:17 +11:00
Michael Day
b02098e19e
Plane: Make radio trim optional at ground start.
2015-03-13 13:11:44 +11:00
Tom Pittenger
420e9e0d2e
Plane: added INITIAL_MODE which is the mode we boot up into.
...
This is useful when flying without a RX or if you have a RX that
outputs zeros without a detected Txmtr
2015-03-13 13:04:23 +11:00
Andrew Tridgell
a942ebbb70
Plane: removed unnecessary prototype
2015-03-13 11:21:47 +11:00
Andrew Tridgell
dc9e2a54f3
Plane: fixed use of HAL soft_armed
2015-03-13 11:20:43 +11:00
Tom Pittenger
659904bf65
Plane: sped up is_flying filter since it is running at only 1Hz
2015-03-13 11:07:19 +11:00
Tom Pittenger
8f7bb61a54
Plane: changed arm check method to use new is_flying code
2015-03-13 11:07:05 +11:00
Tom Pittenger
58b0702793
Plane: isFlying redesign
...
The is_flying() function is too simplistic to be used as a generic
status. Added a sticky heuristic method that depends on the arm
state. More thought should go into the boolean result of isFlying but
this is at least safer than the original method.
2015-03-13 11:06:54 +11:00
Randy Mackay
cb1b4ab486
Plane: send EKF_STATUS_REPORT in extra3 stream
2015-03-12 13:43:58 +09:00
Andrew Tridgell
5175f21225
Plane: removed 1D accel calibration
2015-03-12 12:50:29 +11:00
Andrew Tridgell
16cdf64d63
Plane: added CLI_ENABLED option
...
this disables using CLI by default, even if compiled in. This is
needed to make standard firmwares work well with companion computers
where the CLI may cause startup issues
2015-03-09 17:58:37 +11:00
Andrew Tridgell
fa70c95c8e
Plane: set gyros disabled when calibrating
2015-03-09 17:58:36 +11:00
Andrew Tridgell
8ef8a964f1
Plane: use new interactive accelcal
2015-03-07 21:56:40 +11:00
Andrew Tridgell
999710d0e1
Plane: fixed issue where auto is entered before GPS lock
...
thanks to Tom Pittenger for noticing this!
2015-02-25 22:54:52 +11:00
Andrew Tridgell
98b583bccc
Plane: fixed bungee launch
...
we need to not do the general purpose throttle suppression if in auto
takeoff
2015-02-25 13:11:27 +11:00
Andrew Tridgell
5afe3fb958
Plane: mark 3.3.0beta1
2015-02-23 15:07:06 +11:00
Andrew Tridgell
422d0f05bd
Plane: provide terrain height to rangefinder
...
used for power saving
2015-02-23 14:15:14 +11:00
Andrew Tridgell
64dfc68784
Plane: log mode on arming
...
this ensures the log is recorded with the right flight mode
2015-02-23 14:15:14 +11:00
Andrew Tridgell
6cf029f82a
Plane: fixed to allow TKOFF_THR_DELAY up to 12.7 seconds
...
thanks to a report by jman841
2015-02-21 20:23:22 +11:00
Andrew Tridgell
bee703ab2a
Plane: removed incorrect conditional on parameter enum
2015-02-21 20:23:22 +11:00
Andrew Tridgell
76f8b9b07c
Plane: support DO_SET_HOME MAVLink command
2015-02-21 10:14:18 +11:00
Joao Fortuna
6ac8629451
Plane: Fixed MAVLINK stream trigger calculation.
2015-02-20 13:12:59 +09:00
Andrew Tridgell
d0d5524bce
Plane: mark ELEVON_MIXING as deprecated
2015-02-19 15:55:30 +11:00
Andrew Tridgell
3f225b1a73
Plane: lower default FS_LONG_TIMEOUT value from 20 to 5 seconds
...
20 seconds is too long to be in CIRCLE mode
2015-02-16 10:03:17 +11:00
Andrew Tridgell
e9f87a2626
Plane: implement MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES
2015-02-12 09:04:25 +11:00
Jonathan Challinger
4105edaa87
Plane: use hal.util soft_armed state
2015-02-11 20:57:27 +11:00
Andrew Tridgell
d0075c0d23
Plane: support AUTOPILOT_VERSION command
2015-02-11 19:52:50 +11:00
Andrew Tridgell
03e110c834
Plane: update release notes
2015-02-10 09:53:30 +11:00
Andrew Tridgell
e0db5616a2
Plane: fixed HIL mode in plane
2015-02-10 09:53:30 +11:00
Andrew Tridgell
3edc1ea4db
Plane: tell arming if logging is available
2015-02-06 19:05:02 +11:00
Andrew Tridgell
8108ee796e
Plane: update release-notes in master
2015-02-05 21:02:22 +11:00
Andrew Tridgell
4d6a7996f7
Plane: the next release will be 3.3.0
...
quite a few large changes pending
2015-02-05 20:55:00 +11:00
Andrew Tridgell
00758a3e91
Plane: improved landing parameter descriptions
...
fixes issue #1776
2015-02-03 17:19:45 +11:00
Andrew Tridgell
33225c2955
Plane: mark master as 3.2.2alpha1
2015-02-03 17:11:25 +11:00
Andrew Tridgell
28341a6c7a
Plane: handle very steep landings more gracefully
...
prevent us trying to put the flare point too high or too far back if
the mission requires a steep landing
2015-02-03 16:44:28 +11:00
Andrew Tridgell
2ae412d513
Plane: only reset mission on disarm if not in AUTO mode
...
disarming while in a mission should leave the plane still flying the
mission, but with motor stopped. The user may do this during a landing
for example, but we want to keep gliding
2015-02-03 16:44:27 +11:00
Andrew Tridgell
a172d898c5
Plane: force throttle to zero when disarmed
...
don't rely on the safety switch
2015-02-03 16:44:27 +11:00
Andrew Tridgell
2b0ccae776
Plane: fixed build warning
2015-02-03 09:49:15 +11:00
Randy Mackay
ff2a31e3ae
Plane: compile error fix when mount disabled
2015-01-29 14:05:15 +11:00
Randy Mackay
3a1465c9d1
Plane: integrate SerialManager
...
call SerialManager init_console on startup
use SerialManager's set_block_writes_all
2015-01-29 14:05:15 +11:00
Randy Mackay
37d1079d25
Plane: move MNT param's underscore to mount lib
2015-01-29 13:57:19 +11:00
Randy Mackay
681d28838f
Plane: integrate mount frontend-backend restructure
...
initialise mount on startup
use mount.has_pan_control method
remove calls to unimplemented mount.configure_cmd
remove call to update_mount_type which is now handled by mount lib
2015-01-29 13:57:18 +11:00
Andrew Tridgell
5d8cec23db
Plane: update version to 3.2.1beta1
2015-01-27 17:22:13 +11:00
Andrew Tridgell
3123504b38
Plane: start release notes for 3.2.1
2015-01-27 17:22:13 +11:00
Matthias Badaire
ee00302b62
Plane: Frsky telemtry change move parameter to init of the class
...
Parameter needs to be passed and use at the init of the class frsky telem
2015-01-22 16:49:39 +11:00
Dario Lindo Andres
7f5243026d
Plane: Cleanup code to remove 1280 ifdefs
...
Due to the imposibility to fit actual code on Legacies 1280 chips, some
cleanup is needed.
2015-01-22 16:12:26 +11:00
Robert Lefebvre
395c868727
Plane: Change Compass logging to new DataFlash method that handles instances.
2015-01-21 14:37:54 +09:00
Robert Lefebvre
7efb4eef65
Plane: Change Compass logging to use DataFlash library method.
2015-01-21 14:37:38 +09:00
Robert Lefebvre
a2d73b42b9
Plane: Change Mode logging to use DataFlash library method.
2015-01-21 14:37:36 +09:00
Robert Lefebvre
ac513a84db
Plane: Change Attitude logging to use DataFlash library method.
2015-01-21 14:37:34 +09:00
Robert Lefebvre
233083c8e9
Plane: Change current logging to use DataFlash library method.
2015-01-21 14:37:31 +09:00
Robert Lefebvre
747232b197
Plane: Deprecate some Log Message enumerations which are moving to the DataFlash library.
2015-01-21 14:37:29 +09:00
Andrew Tridgell
674a7aa8d4
Plane: use set_skip_gyro_cal() in arming library
2015-01-20 19:47:59 +11:00
Andrew Tridgell
059c3769f3
Plane: cope with the changed semantics if airspeed.use()
2015-01-20 11:28:35 +11:00
Andrew Tridgell
5a01933b7b
Plane: use dataflash Log_Write_Airspeed()
2015-01-20 09:10:57 +11:00
Dario Lindo Andres
0ea7a7a0cc
Plane: Corrected LOGGING_ENABLED
...
When we configure LOGGING_ENABLED to DISABLED code does not
compile. Now it works!
2015-01-17 10:42:11 +13:00
Andrew Tridgell
b8bfa755a9
Plane: raise alpha version
2015-01-09 15:47:47 +11:00
Andrew Tridgell
ca431a47a6
Plane: use all_healthy() for SYS_STATUS health
2015-01-09 11:51:51 +11:00
Andrew Tridgell
035b1302ed
Plane: updates for new AP_Baro API
2015-01-09 11:50:54 +11:00
Andrew Tridgell
4cb464db83
Plane: reduce the frame size of setup_failsafe_mixing()
2015-01-09 11:38:15 +11:00
Grant Morphett
e122c0961e
Plane: Arming updated to use RC channel objects not RC channels directly
...
The code had g.rc_3.control_in which would bypass the channel mapping and meant
arming could only occur if the throttle was always mapped to channel 3.
Updated to use the channel mapping object.
2015-01-08 11:55:19 +11:00
Staroselskii Georgii
dc410a4b42
Plane: added AK8963 support
2015-01-07 08:41:13 +11:00
Andrew Tridgell
a2242305c7
Plane: use common send_opticalflow()
2015-01-03 15:53:35 +11:00
Andrew Tridgell
28f58df310
Plane: send HAGL in OPTICAL_FLOW
2015-01-03 15:44:50 +11:00
Andrew Tridgell
8f571f1225
Plane: make optflow available to AHRS
2015-01-03 14:16:34 +11:00
Andrew Tridgell
8708297341
Plane: update for new OptFlow API
2015-01-03 14:16:33 +11:00
Andrew Tridgell
1e3c23e5a3
Plane: on takeoff set prev_WP_loc to current_loc
2015-01-03 14:07:02 +11:00
Andrew Tridgell
80d1bd230e
Plane: report bad AHRS health if uncalibrated accels with EKF
...
fixes issue #1720
2015-01-03 14:06:46 +11:00
Andrew Tridgell
ae96a48efc
Plane: use location_path_proportion()
...
this should produce better glide slopes when the aircraft is off
course
2015-01-01 15:17:45 +11:00
Randy Mackay
6bec527aa3
Plane: BATT param's underscore moved to library
2014-12-31 15:22:56 +09:00
Randy Mackay
7d18744094
Plane: use battery.voltage2 method for logging
2014-12-31 15:22:55 +09:00
Randy Mackay
5cdb8a4c2a
Plane: use battery.has_current
2014-12-31 15:22:54 +09:00
Randy Mackay
9be53502df
Plane: remove logging dependecy on optflow
2014-12-31 15:22:41 +09:00
priseborough
195cdb6fd6
Plane: Don't log EKF optical flow data if not required
2014-12-31 13:16:11 +09:00
Randy Mackay
11def53ca7
Plane: pre_arm_gps_check flag always true
2014-12-26 12:32:38 +09:00
Andrew Tridgell
eb13395967
Plane: cleanup mavlink_system setup
2014-12-17 11:30:04 +11:00
Andrew Tridgell
976ae14f1f
Plane: improve landing aim point calculation
...
try to account for wind and current ground speed to dynamically update
glide slope in landing to flare at the right point
2014-12-15 21:51:08 +11:00
Andrew Tridgell
12f0c49915
Plane: remove fwd of unknown msg types
2014-12-11 12:32:52 +09:00
Andrew Tridgell
507117bd8f
Plane: removed use of mavlink_check_target()
2014-12-11 12:31:15 +09:00
Randy Mackay
f4fc910fea
Plane: send OPTICAL_FLOW msg to GCS
2014-12-08 14:58:32 +09:00
Randy Mackay
2b9bf69c9e
Plane: send optflow health in extended status
2014-12-08 14:58:29 +09:00
Andrew Tridgell
0599f1dcb1
Plane: changed version number to 3.2.1alpha1
2014-12-06 18:37:39 +11:00
priseborough
f23722ecee
Plane: Remove statement about flow driver rate in comment
2014-12-06 18:16:48 +11:00
priseborough
ca53d5fb62
Plane: Increase rate at which optical flow sensor is checked
...
The sensor driver runs asynchronously at 10Hz, so needs to be checked frequently for arrival of data.
2014-12-06 18:16:48 +11:00
priseborough
898ad7432b
Plane : Only build optical flow with PX4 board
...
Fixes SITL compile errors
2014-12-06 18:16:48 +11:00
priseborough
2500f7e9c2
Plane : Add data logging for optical flow use with EKF
2014-12-06 18:16:48 +11:00
priseborough
2db9247117
Plane : Add logging and EKF read for updated flow sensor interface
2014-12-06 18:16:47 +11:00
priseborough
f047e35167
Plane : Enable optical flow by default if sensor is fitted
2014-12-06 18:16:46 +11:00
priseborough
9707989b9f
Plane : Preliminary optical flow integration
2014-12-06 18:16:45 +11:00
Andrew Tridgell
7f383facac
Plane: re-enable CLI on non-APM1/APM2 boards
2014-12-03 20:14:26 +11:00
Andrew Tridgell
c05a0bc67f
Plane: prevent a change altitude command from causing a sudden descent
...
when a change altitude command comes in while a large glide slope
altitude change is present we could end up using the old glide slope
with the new altitude. This resets the altitude offset, causing a
direct altitude change
2014-12-03 18:31:23 +11:00
Andrew Tridgell
a0f69e06a7
Plane: prevent baro reset from OVERRIDE_CHAN
...
using OVERRIDE_CHAN would cause a baro reset as it would mean we are
temporarily disarmed, and the "reset baro and GPS when disarmed" check
would reset the baro
Now we only do the mixer update if disarmed
2014-11-29 19:55:25 +11:00
Andrew Tridgell
c299f721b1
Plane: fixed sense of landing sink rate calculation
...
thanks to BretC for reporting
2014-11-29 07:48:07 +11:00
Andrew Tridgell
d1fb137651
Plane: mark development version 3.2.1alpha
2014-11-29 06:59:47 +11:00
Andrew Tridgell
2f0bc1f202
Plane: setup pwm esc scaling
2014-11-26 11:14:44 +11:00
Andrew Tridgell
b88e6b6302
Plane: prepare for 3.2.0 release
2014-11-25 13:58:28 +11:00
Andrew Tridgell
19847d8607
Plane: fixed missing break statement
2014-11-25 13:15:25 +11:00
Michael Day
8662aaa878
Plane: Support MAV_CMD_DO_FENCE_ENABLE as a mission item.
2014-11-25 13:02:47 +11:00
Andrew Tridgell
77958f8fd4
Plane: fixed CONTINUE_AND_CHANGE_ALT command
...
current_loc should be used, not prev_WP_loc
2014-11-25 10:44:02 +11:00
Michael Day
95d2e79312
Plane: Keep throwing WP in front plane for CONTINUE_AND_CHANGE_ALT
2014-11-25 10:43:15 +11:00
Michael Day
442c188ae0
Plane: Implementation of MAV_CMD_CONTINUE_AND_CHANGE_ALT.
2014-11-25 10:43:15 +11:00
Kirill A. Kornilov
8071d7c1d3
Plane: use set_radio_trimmed() for flaperons
...
See discussion in issue #1425
2014-11-25 08:20:10 +11:00
Andrew Tridgell
b4e01b7936
Plane: if SKIP_GYRO_CAL is set the do a gyro cal on 3D accel cal
...
otherwise the user has no opportunity to do a gyro calibration
2014-11-21 19:09:19 +11:00
Andrew Tridgell
826ae8ee8b
Plane: prepare for 3.1.2beta3
2014-11-21 14:50:04 +11:00
Andrew Tridgell
c33f54378f
Plane: changed preflight calibration to prevent accel cal from MP
...
MissionPlanner sends param1=1 and param3=1 for preflight
calibration. This was having the effect of redoing the accel
calibration as 1D cal on every flight!
2014-11-21 14:46:42 +11:00
Andrew Tridgell
2c7290fdc0
Plane: fixed baro test in CLI
...
fixes issue #1623
thanks to klrill-ka
2014-11-19 21:42:27 +11:00
Andrew Tridgell
2bb7606fba
Plane: no need to set flaperons separately from flaperon_update()
...
fixes issue #1622
thanks to klrill-ka
2014-11-19 21:32:49 +11:00
Andrew Tridgell
a519e0abb6
Plane: fix build with new mavlink repo
2014-11-18 11:20:08 +11:00
Randy Mackay
c74aff56c1
Plane: move MOUNT_STATUS lower in GCS_MAVLink
2014-11-17 15:59:44 -08:00
Arthur Benemann
9ae443f2a2
Plane: append MOUNT_STATUS message to STREAM_EXTRA3 messages
2014-11-17 15:59:31 -08:00
Andrew Tridgell
0672d1fc3c
Plane: mark beta2
2014-11-16 14:41:37 +11:00
Andrew Tridgell
34f7daf0fe
Plane: started work on 3.1.2 release notes
2014-11-16 14:41:29 +11:00
Andrew Tridgell
78d85dfafc
Plane: fixed handling of trim for flapersons
...
this allows TRIM_AUTO to work for flaperons
fixes issue #1188
2014-11-16 14:41:03 +11:00
Andrew Tridgell
8bcbce16ed
GCS_MAVLink: show rangefinder status in SYS_STATUS
2014-11-14 15:34:36 +11:00
Evan Slatyer
c4093b159f
ArduPlane failsafes: remove rc_override_active
...
- rc_override_active is never set anywhere in the ArduPlane code; it's only used for Copter and Rover. Removing it significantly simplifies the failsafe code.
- modified code has been tested in SITL. Heartbeat and RC failures in AUTO, CRUISE, and RTL modes (covering the three cases in the failsafe check functions) have been simulated with FS_LONG_ACTN = 0, 1, and 2, FS_SHORT_ACTN = 0, 1, and 2, and FS_GCS_ENABL = 0, 1, and 2. In all cases the results are identical to those with the original code.
2014-11-14 11:35:27 +11:00
Andrew Tridgell
e4ca0e1c5c
Plane: fixed comment on negative flaps
2014-11-14 11:29:33 +11:00
Andrew Tridgell
ba2e204143
Plane: fixed trim and range handling for flaperons
2014-11-14 11:27:50 +11:00
Andrew Tridgell
ed6358730a
Plane: fixed failsafe pass-thru for APM2
2014-11-14 11:27:32 +11:00
Andrew Tridgell
7f5cc97769
Plane: changed for new AP_Airspeed API
2014-11-13 21:12:59 +11:00
Andrew Tridgell
fa5bab2682
Plane: log raw pressure and offset
2014-11-13 17:49:14 +11:00
Andrew Tridgell
3813bcb7ce
Plane: small improvement to takeoff docs
2014-11-13 14:24:37 +11:00
Andrew Tridgell
135f9b2c54
Plane: added STALL_PREVENTION option
...
this will allow users to disable it if it proves to be a problem with
no airspeed sensor
2014-11-13 14:06:00 +11:00
Andrew Tridgell
58fd72944d
Plane: honor TKOFF_THR_MAX in set_servos()
...
fixes issue #1555
2014-11-13 11:35:28 +11:00
Andrew Tridgell
c8060cb9f7
Plane: use load factor to limit nav_roll_cd
...
this calculates the aerodymanic load factor from smoothed airspeed and
uses it to limit roll to keep it below the level where the load factor
would take us past the aerodymanic limit of the airframe
2014-11-12 13:36:02 +11:00
Andrew Tridgell
ba312856ea
Plane: provide a temperature to baro from the airspeed sensor
2014-11-12 13:36:02 +11:00
Arthur Benemann
5e2d7b1eaa
Plane: Implement MSG_CAMERA_FEEDBACK on planes
2014-11-11 10:31:58 -08:00
Arthur Benemann
fe9e68f88c
Plane: send feedback to the GCS of pictures taken
2014-11-11 10:31:54 -08:00
Arthur Benemann
92ead67d99
Copter: remove call to camera.configure and control
...
The do_take_picture() function must be called for logging to occur.
configure_msg is empty at the moment so the call to this is remove
2014-11-11 10:31:52 -08:00
Andrew Tridgell
8ee677cfce
Plane: fixed CLI build again
...
thanks to John Williams for pointing it out
2014-11-11 21:54:25 +11:00
Andrew Tridgell
44ee1fcd3c
Plane: prevent large G_Dt_max report on startup
2014-11-10 07:09:31 +11:00
Andrew Tridgell
19c727c6c2
Plane: change default autotune level to 6
2014-11-08 18:42:35 +11:00
Andrew Tridgell
02d45468d6
Plane: update OVERRIDE_CHAN docs
2014-11-08 18:38:56 +11:00
Andrew Tridgell
34659478c2
Plane: fixed potential division by zero in mixing creation
...
also setup failsafe values if already armed, so while loading new
mixer the throttle output doesn't go to zero
2014-11-08 15:40:35 +11:00
Andrew Tridgell
1e6511b010
Plane: fixed number of channels we pass to PWM limits
2014-11-08 15:40:35 +11:00
Andrew Tridgell
0a318d3a68
Plane: move delay callback setup to after compass and airspeed config
...
this ensure parameters sent on startup include compass settings and
airspeed offset
2014-11-08 15:40:35 +11:00
Andrew Tridgell
7356503e90
Plane: set the PX4IO OVERRIDE_IMMEDIATE flag
2014-11-07 11:30:30 +11:00
Andrew Tridgell
0d2d63980d
Plane: limit RC config to 8 channels
...
this is a limitation of current px4io.c
2014-11-07 10:39:07 +11:00
Andrew Tridgell
63561e53fb
Plane: handle trims and reversals in px4 mixer creation
2014-11-07 10:39:07 +11:00
Andrew Tridgell
e30838a4ef
Plane: make OVERRIDE_CHAN behaviour exactly match FLTMODE6
...
this provides a convenient "real manual" flight mode
2014-11-07 10:39:07 +11:00
Andrew Tridgell
bfb2a7eb93
Plane: improved FLAPIN_CHANNEL docs
2014-11-07 10:39:07 +11:00
Andrew Tridgell
16fd113020
RC_Channel: added channel_function()
...
this is used in the plane mixing code
2014-11-07 10:39:07 +11:00
Andrew Tridgell
913004beb0
Plane: added OVERRIDE_CHAN parameter
...
this allows both for testing PX4IO override on the ground, and for
forced manual override while flying, including re-arming after in-air
reboot
2014-11-07 10:39:07 +11:00
Andrew Tridgell
c494057c98
Plane: add support for generating a PX4 mixer for failsafe
...
this creates APM/MIXER.MIX which will be used if the FMU dies to
provide manual control over RC
2014-11-07 10:39:07 +11:00
Andrew Tridgell
96a87b6990
Plane: added DF logging of 2nd battery voltage
2014-10-30 21:17:17 +11:00
Andrew Tridgell
538cf68005
Plane: removed unused function
2014-10-30 18:23:29 +11:00
Andrew Tridgell
ddd27f5acb
Plane: increase mav throttle slew rate in generated param docs
2014-10-25 10:06:29 +11:00
Andrew Tridgell
e4f7a7f6d2
Plane: removed incomplete DF log of go-around
...
the right commands should already be logged. This code would have
logged a lot of uninitialised bytes
2014-10-24 22:09:41 +11:00
Andrew Tridgell
c046273be2
Plane: fixed verify_land() comment for go-around
2014-10-24 22:04:59 +11:00
Andrew Tridgell
1f3e285ed0
Plane: reset commanded_go_around at start of land
...
this allows multiple landing attempts
2014-10-24 22:04:30 +11:00
Andrew Tridgell
ad58822cb5
Plane: removed impossible boolean check
2014-10-24 22:04:05 +11:00
Andrew Tridgell
959cd11cb1
Plane: save a byte in auto_state
...
keep single bits together to save space on APM2
2014-10-24 22:03:34 +11:00
Michael Day
01f611daa9
Plane: "Go around" operation. Assumes go around behavior follows land wp.
2014-10-24 21:51:46 +11:00
Andrew Tridgell
e434850f1f
Plane: move set_mode() after mission.set_current_cmd()
...
if set_current_cmd() fails, we don't want to change to AUTO with some
unknown mission item
2014-10-24 21:51:27 +11:00
Andrew Tridgell
02b80db67c
Plane: minor code style change
...
use comment and function style consistent with rest of code
2014-10-24 21:50:18 +11:00
Michael Day
c1b949a74f
Plane: Bugfix. Changing to landing sequence now works at mission end.
2014-10-24 21:42:06 +11:00
Andrew Tridgell
240e87dc2c
Plane: update for new AP_InertialSensor API
2014-10-24 12:10:38 +11:00
Andrew Tridgell
05c325a12a
Plane: display min as well as max loop delta_t
2014-10-22 18:27:12 +11:00
Andrew Tridgell
2fc69c7c4c
Plane: disable CLI by default
...
it really isn't needed any more, and saves 20k of flash on APM2
2014-10-22 18:27:08 +11:00
Andrew Tridgell
f87da51b37
Plane: prevent calling jump_to_landing_sequence() too often
2014-10-20 08:36:20 +11:00
Andrew Tridgell
8d329f6b5a
Plane: ignore DO_LAND_START in missions
2014-10-20 08:36:20 +11:00
Andrew Tridgell
1f0840ddf8
Plane: improved RTL_AUTOLAND docs
2014-10-20 08:36:20 +11:00
Andrew Tridgell
9f32bf93d1
Plane: switch to AUTO on a DO_LAND_START MAVLink command
2014-10-20 08:36:20 +11:00
Andrew Tridgell
7ecc87a787
Plane: improved check for reaching RTL point for auto-land
2014-10-20 08:36:20 +11:00
Michael Day
be17bfd972
Plane: Added parameter RTL_AUTOLAND and implementation.
2014-10-20 08:36:20 +11:00
Michael Day
fe43ae538f
Plane: Added support for MAV_CMD_DO_LAND_START
2014-10-20 08:36:19 +11:00
Andrew Tridgell
4c984d9331
Plane: start preparing for 3.1.2
2014-10-13 10:25:53 +11:00
Randy Mackay
6d8e760582
Plane: report gyro unhealthy if failed calibration
2014-10-09 10:00:17 +09:00
Andrew Tridgell
71d786187e
Plane: make auto takeoff independent of compass
...
this solves a problem of poor initial yaw due to poor compass offsets
causing a takeoff to not be in the direction the plane is pointing. A
summed gyro is used until the GPS speed is above 5m/s for 2 seconds,
then the GPS heading corrected by the summed gyro error is used for L1
based navigation for the rest of the takeoff
2014-10-07 07:17:46 +11:00
Randy Mackay
b17c6d3368
Plane: only report ahrs unhealthy after initialisation
2014-10-02 14:41:28 +09:00
Andrew Tridgell
c4b17b74e2
Plane: use handle_set_mode()
2014-10-01 14:19:20 +10:00
Randy Mackay
82225de6fa
Plane: allow GCS to turn safety switch on/off
2014-10-01 13:11:50 +10:00
Randy Mackay
7a6b55368e
Plane: set sys_status motor outputs bit from safety switch
2014-10-01 13:09:58 +10:00
Randy Mackay
6d3acba04c
Plane: check target of set-mode request from GCS
...
Issue discovered and fix contributed by Deadolous
2014-09-30 15:19:25 +10:00
Andrew Tridgell
4b01cee330
Plane: send heartbeat to AFS when calibrating sensors
2014-09-24 12:02:39 +10:00
Andrew Tridgell
1fa03a49c9
Plane: disable the CLI if AFS failsafe enabled on APM2
...
the flash space is a bit too low for both CLI and AFS
2014-09-24 12:02:38 +10:00
Andrew Tridgell
e555b9a855
Plane: improved WP_RADIUS docs
2014-09-12 11:57:43 +10:00
Andrew Tridgell
7b4181dc14
Plane: prepare for 3.1.1 release
2014-09-12 11:07:26 +10:00
Andrew Tridgell
7aad03df28
Plane: minor doc update for fence auto enable
2014-09-11 18:58:54 +10:00
Andrew Tridgell
f3d1461d7a
Plane: improve the short and long failsafe docs
...
thanks to Mark Jacobsen for the analysis!
2014-09-10 06:56:01 +10:00
Andrew Tridgell
bf80a2485f
Plane: support acceptance radius for waypoints
2014-09-03 12:38:30 +10:00
Randy Mackay
c2cdc0468b
Plane: individual accel and gyro status to GCS
2014-09-03 11:22:53 +09:00
Andrew Tridgell
21ed86004a
Plane: raise the default WP radius
...
with L1 a large radius doesn't mean it turns too early
2014-08-30 07:43:11 +10:00
Andrew Tridgell
292517b88b
Plane: only override takeoff/land flaps if non-zero
2014-08-30 05:16:42 +10:00
Andrew Tridgell
5c96838473
Plane: allow zero throttle in LAND_STAGE_FINAL
2014-08-30 05:15:25 +10:00
Andrew Tridgell
5af4cefff3
Plane: added FLAP_SLEWRATE parameter
...
makes for smoother transition of flaps
2014-08-29 20:31:03 +10:00
Andrew Tridgell
f66039c9b4
Plane: added TKOFF_FLAP_PCNT and LAND_FLAP_PERCENT
...
easier control of flaps for takeoff and landing
2014-08-29 20:31:03 +10:00
Andrew Tridgell
b94bc0c243
Plane: don't use ground steering until flare in landing
...
we need to be able to guide the plane fully in the landing approach
2014-08-29 20:31:03 +10:00
Andrew Tridgell
988662027e
Plane: moved LAND_PITCH_CD into TECS
2014-08-27 20:13:19 +10:00
Andrew Tridgell
186806c768
Plane: lowpass the rangefinder correction, not height
...
this should produce less lag as the rangefinder correction should be
changing much less
2014-08-27 18:25:17 +10:00
Andrew Tridgell
24622030b4
Plane: improved landing glide slope
...
we project a point 500m past the landing point to prevent
discontinuites close to the landing point
2014-08-27 17:14:19 +10:00
Andrew Tridgell
a6ee46086c
Plane: allow continued use of rangefinder data for 5s after loss of contact
...
this allows short outages to be ridden out
2014-08-27 17:14:19 +10:00
Andrew Tridgell
50f492a69f
Plane: added RNGFND_LANDING option
...
this allows the use of a rangefinder for landing flare and landing
approach
2014-08-27 17:14:19 +10:00
Andrew Tridgell
b6319a9d19
Plane: keep an estimate of the rangefinder altitude
...
only accept data when we have had 10 samples in a row in range at 50Hz
2014-08-27 17:14:19 +10:00
Andrew Tridgell
d0b6676547
Plane: do landing flare if past landing point
...
this helps prevent us keeping the throttle on after we've landed if
the baro has drifted enough that we think we are not yet at the flare altitude
2014-08-27 17:14:19 +10:00
Andrew Tridgell
b102c9d19c
Plane: use ground steering logic for final stage of auto landing
...
this should improve runway tracking
2014-08-27 17:14:19 +10:00
Andrew Tridgell
5f3ac159ba
Plane: start working towards 3.1.1
2014-08-27 17:14:19 +10:00
Andrew Tridgell
e880de67ed
Plane: prepare for 3.1.0 release
2014-08-26 06:20:37 +10:00
Andrew Tridgell
6e5344bc8d
Plane: prepare beta4
2014-08-25 22:20:52 +10:00
Andrew Tridgell
cf0741f6fd
Plane: don't do failsafe passthru with no RC input
...
thanks to Klrill-ka for the suggestion
fixes issue #1302
2014-08-25 19:45:39 +10:00
Andrew Tridgell
7649907ec2
Plane: run terrain.update() more often
...
this provides faster checking of mission waypoints
2014-08-25 14:55:40 +10:00
Andrew Tridgell
daa32f9b62
Plane: reset steering integrator on mode change and when not moving
...
this prevents an old integrator from causing problems on takeoff
2014-08-25 08:20:37 +10:00
Andrew Tridgell
f2f730ba9b
Plane: added FBWA_TDRAG_CHAN parameter
...
this allows for testing taildragger takeoffs in FBWA mode
2014-08-24 19:39:51 +10:00
Andrew Tridgell
15a7f63d7e
Plane: set GPS non-blocking
...
the new GPS driver only ever needs a non-blocking port
2014-08-19 10:08:17 +10:00
Andrew Tridgell
79fa22e4ad
Plane: use gcs_send_text_fmt() for SCHED_DEBUG timing
...
lets values be saved in mavlink logs
2014-08-19 10:08:17 +10:00
Andrew Tridgell
cf410f8d12
Plane: prepare for 3.1.0-beta3
2014-08-17 18:25:46 +10:00
Andrew Tridgell
1ce3d1d4a4
Plane: update for AFS API change
2014-08-17 18:07:50 +10:00
Andrew Tridgell
9fff67ec89
Plane: update for APM_OBC API change
2014-08-17 09:13:29 +10:00
Randy Mackay
c107f1da69
Revert "Plane: use rcmap when sending radio_in to GCS"
...
This reverts commit 441f23eed4
.
2014-08-16 20:31:21 +09:00
Randy Mackay
441f23eed4
Plane: use rcmap when sending radio_in to GCS
2014-08-16 15:27:35 +09:00
Randy Mackay
7d7272520e
Plane: use baro healthy()
...
Use baro last update time in place of healthy to determine whether HIL
sensor updates have started
2014-08-14 16:03:28 +09:00
Randy Mackay
b619c3956c
Plane: report baro health to GCS
2014-08-14 16:02:52 +09:00
Andrew Tridgell
da7f871e34
Plane: prevent set_target_altitude_proportion() past dest waypoint
...
otherwise we could start climbing again on land
2014-08-14 09:49:52 +10:00
Andrew Tridgell
c06067c71b
Plane: fixed non-terrain landing
2014-08-14 08:04:06 +10:00
Andrew Tridgell
dad95648a0
Plane: split landing code into landing.pde
...
this is in preparation for more complex landing code using the
rangefinder
2014-08-13 21:38:05 +10:00
Andrew Tridgell
7def71d43a
Plane: improved landing approach and flare
...
flare if we are within the specified time of landing either vertically
or horizontally
2014-08-13 21:38:05 +10:00
Andrew Tridgell
165993dbf5
Plane: allow steering right through the landing
...
this allows a small degree of steering right through the landing,
which makes it possible to have a turn just before landing
2014-08-13 21:35:26 +10:00
Andrew Tridgell
ce9b14f0c8
Plane: convert to using StorageManager
2014-08-13 18:46:44 +10:00
Andrew Tridgell
817164914e
Plane: added airspeed simulation in HIL
2014-08-10 18:17:12 +10:00
Andrew Tridgell
e6f5a31944
Plane: prepare for 3.1.0-beta2
2014-08-10 07:20:29 +10:00