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2519 Commits

Author SHA1 Message Date
Andrew Tridgell b6f58bdd98 Plane: don't give tuning errors when VTOL inactive 2016-07-06 14:41:49 +10:00
Tom Pittenger 9b807fa8a5 Plane: coverity scan - variables not initialized in constructor 2016-07-05 13:31:51 -07:00
Andrew Tridgell 96d785f1c6 Plane: added auto_navigation_mode flag 
this fixes a problem where modes like loiter and auto would allow for
rudder stick mixing even with STICK_MIXING=0
 2016-07-05 12:52:13 +10:00
Randy Mackay 2484486999 Plane: log rally points on startup 2016-07-04 11:17:15 +09:00
Tom Pittenger 0597dbd033 Plane: allow SET_ATTITUDE_TARGET to set rpy and throttle 2016-07-01 08:28:53 -07:00
Tom Pittenger 85afd9e245 Plane: remove guided roll flag, handle it with timer=0 2016-06-30 07:48:37 -07:00
Michael Day 8ac433f991 Plane: Can now command roll from a companion computer. 2016-06-30 10:27:44 -04:00
Andrew Tridgell ec367d4a09 Plane: re-order channel initialisation 
this fixes a problem with spurious throttle output during board
startup. Many thanks to Marco for finding this!
 2016-06-30 16:48:30 +10:00
Andrew Tridgell 8fd31111ad Plane: fixed waf build with tricopter quadplane 2016-06-30 14:16:52 +10:00
Andrew Tridgell bf2e30f858 Plane: removed demo_servos() 
this really didn't help much and slows down startup
 2016-06-27 10:19:26 +10:00
Andrew Tridgell 66e43bf6a2 Plane: start with low integrator on back quadplane transition 
When changing to alt_hold controller in quadplane with significant
airspeed set the initial integrator to minus the hover throttle to
allow the accel controller to climb slowly
 2016-06-27 10:18:20 +10:00
Leonard Hall f1bca63094 Plane: consolidate input_euler_angle calls to use smoothing gain 2016-06-24 17:17:19 +09:00
Andrew Tridgell 1256c2f351 Plane: changed for AP_Vehicle API change 2016-06-24 11:39:23 +10:00
Tom Pittenger d2365c25c6 Plane: increase update_waypoint() distance threshold during update_loiter() 
- outside this radius of a loiter waypoint is where crosstracking is available
 2016-06-23 12:43:03 -07:00
Andrew Tridgell f514e76f52 Plane: reset ground_start_count if we lose 3D fix 
thanks to Michael for this suggestion
 2016-06-22 21:25:11 +10:00
Randy Mackay 82bd847e11 Plane: add AC_Avoidance, AC_Fence to build 2016-06-22 11:38:15 +09:00
Randy Mackay 9201a57c83 QuadPlane: include AC_Avoidance, AC_Fence 
This is required because of AC_WPNav's use of the new avoidance library to stop at the fence
 2016-06-22 11:38:15 +09:00
Tom Pittenger 9b973fb899 Plane: add ADSB_streamrate 2016-06-19 11:24:31 -07:00
Randy Mackay ef1385c9ed QuadPlane: add comment that eeprom 28 and 41 were used for THR_MIN, MID 2016-06-18 11:55:49 +09:00
Randy Mackay 413f82bac1 Plane: remove unused definitions 2016-06-18 11:55:49 +09:00
Randy Mackay b456a38432 QuadPlane: remove throttle_mid 
motor's hover throttle is automatically updated
 2016-06-18 11:55:49 +09:00
Randy Mackay 2523ba892b QuadPlane: set attitude vs throttle priority in attitude controller 2016-06-18 11:55:49 +09:00
Randy Mackay f2b0f09d6f QuadPlane: remove THR_MIN 2016-06-18 11:55:49 +09:00
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 40db90cebe Plane: limit roll and pitch to Q_ANGLE_MAX in Q modes 
planes often have large LIM_ROLL_CD
 2016-06-16 22:00:04 +10:00
Andrew Tridgell b1b73e2d99 Plane: improved quadplane landing detector 
look for no vertical position change for 5s as well as low motors
 2016-06-16 18:17:56 +10:00
Tom Pittenger 773962940c Plane: quadplane for fwd_throttle integrator inhibit reverse thrust and allow min>0 for petrol 2016-06-13 14:31:50 -07:00
Tom Pittenger b6196dfa92 Plane: compiler warning in print: float to double promotion 2016-06-13 14:03:40 -07:00
Andrew Tridgell 107691b7a7 Plane: fixed initial descent rate in quadplane auto land 2016-06-11 14:37:44 +10:00
Andrew Tridgell f8e0e91cbd Plane: prepare for 3.6.0 2016-06-11 09:20:05 +10:00
Andrew Tridgell eb8cd13a50 Plane: update release notes for 3.6.0 2016-06-11 09:19:13 +10:00
Andrew Tridgell e05c7b3367 Plane: check if terrain following is enabled in AGL calculation 2016-06-10 17:48:32 +10:00
Andrew Tridgell 19834c12e2 Plane: log start of quadplane transition 2016-06-10 17:48:32 +10:00
Andrew Tridgell 8156b3f7de Plane: fixed quadplane landing transition altitude 2016-06-10 17:48:32 +10:00
Andrew Tridgell 07564aa03f Plane: fixed an attitude control bug in quadplane transition 
The motors would briefly spike at the end of the transition which
could cause a major pitch deviation
 2016-06-10 17:48:32 +10:00
Tom Pittenger 69f29b51d1 Plane: new param Q_VFWD_ALT to disable VFWD motor below this altitude. Also uses rangefinder 2016-06-10 17:48:31 +10:00
Andrew Tridgell 021aebeac0 Plane: check for high ratio of rmsD to rmsP in tuning 2016-06-10 17:48:31 +10:00
Tom Pittenger 65e0e31a7a Plane: parachute low-alt check should not require auto mode to ever be set 2016-06-08 08:15:11 -07:00
Tom Pittenger 204abfd45e Plane: set heartbeat.system_status to Critical for low-battery failsafe events 2016-06-07 17:14:51 -07:00
Tom Pittenger 263931b4b1 Plane: allow manual parachute releases on the ground 2016-06-07 09:02:09 -07:00
Tom Pittenger ef3d17cc4c Plane: parachute code can not rely on is_flying() because it is unreliable in a stalled aircraft 2016-06-07 09:01:29 -07:00
Tom Pittenger 3140ce6ab6 Plane: change MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT gcs msg to remove abbreviations. Hope it fits! 2016-06-07 08:28:35 -07:00
Tom Pittenger bd270720da Plane: whitespace formatting 2016-06-07 08:27:40 -07:00
Michael Day 429e348824 Plane: Can now change current WP alt via mavlink. 
Uses the mavlink msg SET_POSITION_TARGET_GLOBAL_INT
 2016-06-07 08:16:39 -07:00
Tom Pittenger 01e636065d Plane: non-functional: mostly whitespace and removed extra set result statement 2016-06-07 08:11:05 -07:00
Michael Day 2c0f0a04d8 Plane: Only allow speed changes in GUIDED and AUTO modes. 2016-06-07 08:22:44 -04:00
Michael Day cdeef9d692 Plane: Fence breaches can go to RTL mode with new FENCE_ACTION setting. 2016-06-07 15:46:52 +10:00
E Thomas 7d824247af Differential spoilers support, elevon offset 
Fixed differential spoilers support, added elevon offset
See PR #2935
 2016-06-06 21:55:50 -07:00
Michael du Breuil 037a7980d6 Plane: fix calculation of override PWM 2016-06-06 16:23:43 -07:00
Tom Pittenger ee29f38cdf Plane: moved takeoff flap check to NORMAL checks. 
TODP: add new flight stage FLIGHT_PRE_TAKEOFF to put this sort of thing into
 2016-06-06 14:51:24 -07:00
Samuel Rosenstein 296b279f0d Plane: fixed issue with preflight flaps. Flaps now go down in preflight mode 2016-06-06 14:18:44 -07:00
Michael du Breuil 41bb237799 Plane: remove throttle surpressed message 2016-06-06 15:24:18 +10:00
Andrew Tridgell 5a544002cb Plane: fixed memory leak in mixer setup 2016-06-06 15:21:17 +10:00
Michael du Breuil bb9086b87f Plane: setup mixer in the one second loop when disarmed 2016-06-06 15:17:37 +10:00
Michael du Breuil fc3ab7b691 Plane: rename var to avoid a var with the name of a c++ keyword 2016-06-06 15:17:15 +10:00
Andrew Tridgell c54d553df1 Plane: prevent continually loading the mixer 2016-06-06 15:14:28 +10:00
Michael du Breuil 7f73da535a Plane: if setting a mixer fails then clear the last crc so that it will be attempted again 2016-06-06 07:50:43 +10:00
Andrew Tridgell eae2bf54ca Plane: fixed gcc 6.1 build error 2016-06-06 07:43:45 +10:00
Andrew Tridgell 8d3a58f0a2 Plane: allow tuning of more parameter sets 2016-06-04 19:20:31 +10:00
Andrew Tridgell 835235127c Plane: prevent divide by zero in SITL 
harmless on PX4
 2016-06-04 19:20:18 +10:00
Tom Pittenger b9cee76bbe Plane: fix quadplane integrator to always clip to at least 0 to throttle_max 2016-06-03 23:46:18 -07:00
Tom Pittenger 82763ec8a9 Plane quadplane to use relative_ground_altitude() to take advantage of rangefinder easier 2016-06-03 23:44:21 -07:00
Tom Pittenger f3ceee5389 Plane: use relative_ground_altitude 2016-06-03 23:43:54 -07:00
Tom Pittenger b3f182157c Plane: take advantage of rangefinder support in relative_ground_altitude() 2016-06-03 23:43:43 -07:00
Andrew Tridgell 77b7852ff0 Plane: adjust recommend ranges for quadplane Q_VFWD_GAIN and Q_WVANE_GAIN 2016-06-04 11:04:15 +10:00
Tom Pittenger a596aa5907 Plane: do not log CURR.Throttle because it's already logged elsewhere 2016-06-02 16:59:13 -07:00
Tom Pittenger f83a6ca1ff Plane: fixed variable misspelling 2016-06-02 15:10:51 -07:00
Andrew Tridgell 978a89efa6 Plane: added new ESC calibration method 2016-06-02 18:10:37 +10:00
Andrew Tridgell 860587ece7 Plane: disable parachute checks when min alt is zero 2016-06-02 18:07:16 +10:00
Peter Barker ee5290c178 Plane: avoid switch statement for enabling fence if no fence present 2016-06-02 14:37:21 +10:00
Tom Pittenger 954c987075 Plane: do not parse GEOFENCE packets when geofence is disabled via compile option 2016-06-01 17:38:52 -07:00
Tom Pittenger af1407a155 Plane: disable parachute code when not enabled via compile option 2016-06-01 17:38:51 -07:00
Tom Pittenger ea9e39212f Plane: use new check_latlng helper 2016-06-01 17:38:51 -07:00
Andrew Tridgell da5ce37bbc Plane: fixed gain on -ve stick mixing past 50% 
fixed a sign error in calculating gain on -ve stick mixing beyond 50%
input

thanks to Doug Weibel for a log that showed this effect
 2016-06-02 08:07:55 +10:00
Andrew Tridgell b17c800f44 Plane: use axis specific tuning controller error 
this gives user feedback on the axis they are tuning
 2016-06-01 17:19:33 +10:00
Tom Pittenger a80a87eb09 Plane: simplify TECS prep logic by utilizing auto_state.land_in_progress 2016-05-31 09:46:52 -07:00
Tom Pittenger 4db5b80b37 Plane: add flag for auto_state.land_in_progress 2016-05-31 09:46:51 -07:00
Tom Pittenger 4ebaab86ec Plane: override is_flying for quadplane 2016-05-31 09:46:50 -07:00
Peter Barker 28361afc2a Plane: move telemetry_delayed up into base class 2016-05-31 08:46:09 +10:00
Peter Barker 9ee62aac30 Plane: move adjust_rate_for_stream up 2016-05-29 19:38:50 +10:00
Peter Barker af5a52e2aa Plane: subclass GCS_MAVLink in place of defining its functions for it 2016-05-29 16:21:21 +10:00
Andrew Tridgell f96836ab9a Plane: prevent a discrepancy between EKF origin and home for altitude 2016-05-29 15:47:26 +10:00
Andrew Tridgell ba3576f027 Plane: added tuning error reporting for quadplanes 2016-05-28 17:33:30 +10:00
Andrew Tridgell b56d784ae4 Plane: limit to zero pitch in quadplane on initial transition 2016-05-28 15:08:46 +10:00
Andrew Tridgell 20cf326093 Plane: lower throttle threshold for quadplane is_flying 2016-05-28 07:10:13 +10:00
Tom Pittenger e3930b45df Plane: force the safety_state immediately because we want it to be in effect while we make mixer changes 2016-05-27 21:34:40 +10:00
Tom Pittenger 4785650c95 Plane: remove redundant calls to safety_state 2016-05-27 21:34:40 +10:00
Andrew Tridgell 9933069679 Plane: fixed motor test by percentage in quadplane 2016-05-27 11:53:20 +10:00
Andrew Tridgell 191d6df0ea Plane: moved EKF2 to a new parameter index 
the meanings of many of the parameters have changed. Best to use a new
index to prevent old parameters from causing crashes
 2016-05-25 19:35:17 +10:00
Andrew Tridgell 6e4c0dd3d7 Plane: allow non-blocking calibrations while armed 2016-05-24 17:10:41 +10:00
Andrew Tridgell 0f50f483b8 Plane: update for new airspeed calibration 2016-05-24 17:00:56 +10:00
Andrew Tridgell d3494d1369 Plane: don't stall EKF during baro cal 2016-05-24 17:00:56 +10:00
Andrew Tridgell 5b4bbf08fd Plane: use send_heartbeat wrapper 2016-05-21 15:25:18 +10:00
Andrew Tridgell 4a7dea0c5b Plane: simplify UART setup 2016-05-21 15:25:16 +10:00
Andrew Tridgell 9f47e6417b Plane: always build with MAVLink2 headers 2016-05-21 15:25:16 +10:00
Andrew Tridgell 309dbef2ec Plane: fixed mavlink1 dependency on px4 2016-05-21 15:25:15 +10:00
Andrew Tridgell eee06da1b5 Plane: use HAVE_PAYLOAD_SPACE() 2016-05-21 15:25:14 +10:00
Andrew Tridgell be14714fa4 ArduPlane: update signing timestamp on GPS lock 2016-05-21 15:25:13 +10:00
Andrew Tridgell a103e70460 ArduPlane: handle SETUP_SIGNING message 2016-05-21 15:25:13 +10:00
Andrew Tridgell b7fe96188d Plane: raise range of THR_FS_VALUE 
need to cope with reversed throttle
 2016-05-21 07:39:02 +10:00
Andrew Tridgell e0a9a8196c Plane: fixed throttle failsafe with THR_PASS_STAB=1 
this prevents using pass-thru throttle when in throttle failsafe
 2016-05-21 07:39:02 +10:00
Don Gagne 151686ce9d ArduPlane: SET_SENSORS_OFFSETS support for third compass 2016-05-19 18:51:17 -03:00
Tom Pittenger 36a1054f77 Plane: remove Tom Pittenger as an author since he's now listed as a lead 2016-05-17 19:16:02 -07:00
Tom Pittenger c9167f89eb Plane: add Tom Pittenger as co-lead developer 2016-05-17 19:03:38 -07:00
Tom Pittenger 30c5c9eb5d Plane: log SONR.DistCM in cm as SONR.Dist as meters 2016-05-17 18:59:37 -07:00
Tom Pittenger 00863623d7 Plane: SONR logging, remove BaroAlt,GSpd,Thr 2016-05-17 18:59:22 -07:00
Tom Pittenger b2fb2f3949 Plane: optimize millis() calls by reusing result 2016-05-17 18:59:03 -07:00
Tom Pittenger 1a066cadd2 Plane: fixed float->double print warning 2016-05-17 15:57:26 -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 a1c4103cef Plane: print to GCS the newly calculated glide slope angle 2016-05-17 15:39:05 -07:00
Tom Pittenger f048aafb76 Plane: store auto land slope 
- also changed order of landing slope calc but is functionally the same
 2016-05-17 15:39:05 -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
Tom Pittenger 4a6dd5a781 Plane: reset baro drift when setting home while disarmed 2016-05-17 15:32:42 -07:00
Andrew Tridgell e3b2e90a27 Plane: cleanup unnecessarily complex gcs[] usage 2016-05-17 08:27:39 +10:00
dgrat 48c243bed0 ArduPlane: Do not use is_zero() for non-float types 2016-05-16 19:08:35 -03:00
Tom Pittenger 7af888633d Plane: 3of3 add loiter_xtrack option flag for post-loiter navigation 
0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
 2016-05-16 11:50:54 -07:00
Tom Pittenger 78d6291e2c Plane: corrected land abort gcs msg 2016-05-13 17:22:13 -07:00
Tom Pittenger 6c0579a895 Plane: for better helical landings allow for instant approach stage if previous nav cmd was LOITER_TO_ALT 2016-05-13 17:22:07 -07:00
Tom Pittenger ba5b4e694c Plane: log NTUN:ArspdErr airspeed error (in meters) 2016-05-13 17:22:01 -07:00
Tom Pittenger 1551b9d881 Plane: remove redundant logging in NTUN 2016-05-13 17:22:00 -07:00
Tom Pittenger 8a58f5a5eb Plane: convert airspeed_error_cmd to airspeed_error (in meters) 2016-05-13 17:21:59 -07:00
Tom Pittenger 25dfb583d5 Plane: adjust target_airspeed with and without airspeed sensor (pitot) 2016-05-13 17:14:47 -07:00
Andrew Tridgell 2a0476483b Plane: make takeoff less noisy with zero timeout 2016-05-14 08:26:10 +10:00
Andrew Tridgell 574ba71ef3 Plane: update for AP_TECS API change 2016-05-14 08:26:10 +10:00
Ricardo de Almeida Gonzaga 1fad971851 ArduPlane: Fix typos 2016-05-13 19:20:07 -03:00
Michael du Breuil 7142bacfaa Plane: improve user friendliness of throttle fs msg 2016-05-11 09:00:55 -07:00
Andrew Tridgell 12e0012b16 Plane: allow for NAV_LOITER_UNLIM and NAV_LOITER_TIME in quadplane 2016-05-11 15:57:41 +10:00
Andrew Tridgell 3fc43b94f9 Plane: separate out auto and guided VTOL states 
this prevents a switch to AUTO from using VTOL mode incorrectly
 2016-05-11 15:14:43 +10:00
Andrew Tridgell bcc64e0b4a Plane: fixed tiltrotor build failure 
mixup with merge of RC_Channel changes
 2016-05-11 09:25:43 +10:00
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
Andrew Tridgell 52ea443d65 Plane: added Q_THR_MIN 2016-05-11 05:55:26 +10:00
Andrew Tridgell a61d608915 Plane: fixed numerical error if starting VTOL landing at destination 2016-05-11 05:55:25 +10:00
Andrew Tridgell 357ed1f4b9 Plane: enable weathervaning in GUIDED and TAKEOFF quadplane modes 2016-05-11 05:55:25 +10:00
Andrew Tridgell 6b358a5618 Plane: added Q_GUIDED_MODE parameter 
this allows you to do hybrid VTOL and fixed wing guided mode
 2016-05-11 05:55:25 +10:00
Andrew Tridgell 3bd5b42c69 Plane: refactor quadplane land controller as general VTOL position controller 2016-05-11 05:55:25 +10:00
Andrew Tridgell 6fdaaa7d98 Plane: new tilt compensation method 2016-05-11 05:55:25 +10:00
Andrew Tridgell 46bf2b83f5 Plane: use equal thrust in tiltrotors when over Q_TILT_MAX 2016-05-11 05:55:24 +10:00
Andrew Tridgell eab42c5740 Plane: fixed attitude logging with fast logging off 2016-05-11 05:55:24 +10:00
Andrew Tridgell bbb5f68bb7 Plane: added initial support for tiltrotors and tiltwings 2016-05-11 05:55:23 +10:00
Andrew Tridgell 89a2a92885 Plane: support better build time selection of multicopter frame type 
makes it possible to do "make sitl-tri"
 2016-05-11 05:55:22 +10:00
dgrat 76362caee0 AP_Math: Replace wrap_* functions with template versions 2016-05-10 11:41:26 -03:00
skyscraper 4d769497c9 ArduPlane: RC_Channel refactor 
Fix white space after function name
 2016-05-10 16:21:17 +10:00
skyscraper e9e2f9020d ArduPlane: RC_Channel refactor, reimplement stick_mix_channels 
reimplement the new overload of Plane::stick_mix_channel so
that it calls the existing overload
 2016-05-10 16:21:17 +10:00
skyscraper 7f29903287 ArduPlane: Fix up after refactoring RC_Channel class 
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to  get and set functionsss

old public member(int16_t)   get function -> int16_t     set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in                     c.get_radio_in()           c.set_radio_in(v)
c.control_in                   c.get_control_in()         c.set_control_in(v)
c.servo_out                    c.get_servo_out()          c.set_servo_out(v)
c.pwm_out                      c.get_pwm_out()            // use existing
c.radio_out                    c.get_radio_out()          c.set_radio_out(v)
c.radio_max                    c.get_radio_max()          c.set_radio_max(v)
c.radio_min                    c.get_radio_min()          c.set_radio_min(v)
c.radio_trim                   c.get_radio_trim()         c.set_radio_trim(v);

c.min_max_configured() // return true if min and max are configured

Because data members of RC_Channels are now private and so cannot be written directly
 some overloads are provided in the Plane classes to provide the old functionality

new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);

new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;

Rename functions

 RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
    to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)

 RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
    to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)

 Rationale:

        RC_Channel is a complicated class, which combines
        several functionalities dealing with stick inputs
        in pwm and logical units, logical and actual actuator
        outputs, unit conversion etc, etc
        The intent of this PR is to clarify existing use of
        the class. At the basic level it should now be possible
        to grep all places where private variable is set by
        searching for the set_xx function.

        (The wider purpose is to provide a more generic and
        logically simpler method of output mixing. This is a small step)
 2016-05-10 16:21:16 +10:00
Andrew Tridgell 9f84a22d22 Plane: removed unnecessary libs 
now in common
 2016-05-10 14:13:39 +10:00
Andrew Tridgell dcb24f2bc1 Plane: use DataFlash::log_while_disarmed() 2016-05-09 12:05:25 +10:00
Andrew Tridgell 51877a20d6 Plane: added some more tuning sets 2016-05-08 18:45:42 +10:00
Andrew Tridgell 35ef20b23a Plane: use separate definition for TUNE_PARM 
this allows the parameter docs to be separated
 2016-05-08 18:35:26 +10:00
Andrew Tridgell 7a8bf033e1 Plane: allow for tuning of single parameters 2016-05-08 14:47:51 +10:00
Leandro Pereira f23bd7e09d GCS_MAVLink: Use a single stream_trigger() implementation 
This has no side effects, but since all implementations were basically
the same, move the implementation to GCS_Common and the only part that
adjusts the rate based on which which stream to each individual
GCS_MAVLINK implementation.
 2016-05-07 23:49:35 -03:00
Lucas De Marchi 0eab8847f2 ArduPlane: remove mention to .pde files 
We don't support them anymore.
 2016-05-07 22:55:48 -03:00
Andrew Tridgell db5f50e08e Plane: convert tuning to use AP_Tuning library 2016-05-07 18:34:15 +10:00
Andrew Tridgell 3853aa0fe3 Plane: fix for changed API 2016-05-07 18:27:22 +10:00
Andrew Tridgell cbbf26a1f6 Plane: removed Log_Write_IMUDT 2016-05-07 18:27:20 +10:00
Andrew Tridgell 3bbc6353d8 Plane: use have_ekf_logging() 2016-05-07 18:27:20 +10:00
Andrew Tridgell 2a7edfd3d1 Plane: fixed setting of failsafe for motors in quadplane 2016-05-07 07:25:33 +10:00
Michael Day b096e1404d Plane: Add MAVLink message handler for CMD_DO_CHANGE_SPEED 2016-05-06 11:59:45 -07:00
Lucas De Marchi fea084a596 Global: use ap_version.h 
This header is used by waf to contain the generated version macros,
particularly using the git hash. For waf it's better to be in a separate
header since it then can keep track of changes on it a trigger
recompilation.

For the make build system, a dummy ap_version.h file has been added in
the missing/ folder so both implementations can co-exist.
 2016-05-06 13:11:28 -03:00
Lucas De Marchi baa287e5e5 ArduPlane: use separate header for version macro 
Having the version macro in the config.h and consequently in the main
vehicle header means that whenever the version changes we need to
compiler the whole vehicle again. This would not be so bad if we weren't
also appending the git hash in the version. In this case, whenever we
commit to the repository we would need to recompile everything.

Move to a separate header that is include only by its users. Then
instead of compiling everything we will compile just a few files.
 2016-05-06 13:11:28 -03:00
Rimvydas Naktinis 3c00324fd2 Plane: Parachute uses altitude above ground (not home) to check suitability for deployment. 2016-05-05 09:02:25 -07:00
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
Allan Matthew 25c8027606 Plane: handle new MAVLink rangefinder input 2016-05-04 08:40:34 -07:00
Michael du Breuil 0fcfcdc169 Plane: Broadcast POSITION_TARGET_GLOBAL_INT as part of the EXTENDED_STATUS stream 2016-05-01 07:38:23 +10:00
Michael Oborne cd56061b24 ArduPlane: support MAVLINK_MSG_ID_MISSION_ITEM_INT 2016-05-01 07:13:46 +10:00
Andrew Tridgell 226e6f1d6c Plane: only save compass offsets when disarmed and learning enabled 2016-04-30 16:43:14 +10:00
Andrew Tridgell dfa86cff63 Plane: update release notes for 3.6.0beta1 2016-04-30 14:34:47 +10:00
Andrew Tridgell a99616bd10 Plane: prepare for 3.6.0beta1 release 2016-04-30 14:34:47 +10:00
Andrew Tridgell 3a35f8f528 Plane: update release notes for 3.5.3 2016-04-30 14:34:47 +10:00
Andrew Tridgell abfcf89f5e Plane: reduced the rate of EKF and attitude logging to 25Hz 
this will reduce the log file size while not appreciably reducing the
ability to analyse logs
 2016-04-30 14:34:47 +10:00
Andrew Tridgell 0fd044c1f7 Plane: added Q_RTL_MODE parameter 
used to switch to VTOL landing on RTL
 2016-04-30 14:34:47 +10:00
Andrew Tridgell 66d3668ac4 Plane: rapid climb in QRTL if below target altitude 2016-04-30 14:34:47 +10:00
Andrew Tridgell 4666b25258 Plane: initial implementation of QRTL for quadplane RTL 2016-04-30 14:34:47 +10:00
Andrew Tridgell 460885c478 Plane: refactored quadplane landing controller 
allow use in other than AUTO mode
 2016-04-30 14:34:46 +10:00
Michael du Breuil de1e299754 Plane: Remove support for CONDITION_CHANGE_ALT 2016-04-30 10:56:05 +09:00
Niti Rohilla a03941ba02 ArduPlane : Updated handle_guided_request() to report error. 2016-04-29 12:39:28 -03:00
Michael du Breuil 731c68f273 Plane: Change mode to RTL on end of mission rather then staying in auto 
Deleted commands_process as it had 2 lines of useful code left, and was cleaner to move the remaining two lines into the caller case
 2016-04-29 13:12:18 +10:00
Andrew Tridgell ab5ca53e2f Plane: lower default VTOL ANGLE_MAX to 30 degrees 
we don't really want a quadplane at 45 degrees or the wing drag gets
far too high
 2016-04-29 10:23:26 +10:00
Andrew Tridgell 19a1edcd2b Plane: lower default velocity controller gains for quadplanes 
we're getting too many XY velocity controller oscillations. Better to
start with smaller gains
 2016-04-29 10:02:45 +10:00
Andrew Tridgell 6f4d66f346 Plane: support building quadplane with forced motors class 2016-04-28 22:40:45 +10:00
Andrew Tridgell 9c0d984a4e Plane: support forced motor class in quadplane 2016-04-28 22:37:24 +10:00
Andrew Tridgell 00c2b4b30f Plane: reload airspeed after VTOL landing 2016-04-28 08:42:19 +10:00
Andrew Tridgell 1ebe0a2583 Plane: prevent a division by zero in takeoff code 2016-04-26 12:06:57 +10:00
Luis Vale Gonçalves 343b4cb81a Revising ardupilot.com to .org 
Revising ardupilot.com to .org
 2016-04-23 22:49:41 -07:00
Luis Vale Gonçalves 73ac146b7e Revising ardupilot.com to .org 
Revising ardupilot.com to .org
 2016-04-23 22:49:37 -07:00
Andrew Tridgell 38a7bfd81f Plane: added Q_ENABLE=2 for starting AUTO in VTOL 2016-04-23 21:03:46 +10:00
Andrew Tridgell 0aa1ae048d Plane: fixed is_flying() for VTOL flight 
otherwise we may disarm mid-flight!
 2016-04-23 21:03:46 +10:00
Andrew Tridgell 76400a9959 Plane: support DO_VTOL_TRANSITION as a mission item 2016-04-23 21:03:46 +10:00
Andrew Tridgell 07168c3db4 Plane: fixed places that assumed mission command IDs are 8 bit 2016-04-23 21:03:46 +10:00
James Stoyell 4e7e84fc99 Plane: Modified last_valid_rc_ms AFS failsafe input to work when standard failsafe is on 
Ran into a bug on our physical plane where failsafe.last_valid_rc_ms was not recognizing that the transmitter had failed. This is likely due to how the standard failsafe works in receiving lower-than-possible throttle values. So in order to account for this, I added a new variable to the failsafe, AFS_last_valid_rc_ms, and I update it only if the ch3_failsafe (the throttle failsafe) is not on. If the throttle failsafe is on, that means that the plane has indeed lost transmitter input, so the AFS needs to recognize that.
 2016-04-22 11:48:36 -07:00
Randy Mackay 4291139b6c Plane: ack DO_MOUNT_CONTROL messages 2016-04-22 21:30:51 +09:00
Tom Pittenger 9aa25cb7a0 Plane: update flight stage on successful restart_landing_sequence() 2016-04-21 22:54:23 -07:00
Tom Pittenger 2ba9a04bf5 Plane: smooth-out the end of takeoff pitch by reducing takeoff pitch min via TKOFF_PLIM_SEC 
@Description: This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be. (+1 squashed commits)
 2016-04-21 22:54:17 -07:00
Tom Pittenger f12658dd20 Plane: more comments on landing flare 2016-04-21 21:31:01 -07:00
Tom Pittenger fefcf39335 Plane: must be on land approach before flare alt/sec are used 2016-04-21 21:31:00 -07:00
Tom Pittenger 12663eaa48 Plane: simplify flare logic 2016-04-21 21:30:59 -07:00
Tom Pittenger 183369b92a Plane: take advantage of L1 stale flag and correctly inhibit flight stage if not lined up on approach 2016-04-21 21:30:58 -07:00
Tom Pittenger c5a3b1b134 Plane: non-functional change - change labels for approach flight stage criteria 2016-04-21 21:30:56 -07:00
Tom Pittenger c238645e53 Plane: limit roll before calculating load factor 2016-04-21 21:30:56 -07:00
Tom Pittenger aadd9a18ce Plane: log L1 xtrack error integrator and remove extra yaw logging 2016-04-21 21:30:55 -07:00
Tom Pittenger 85913bd237 Plane: rely on flight stage to know if we're doing auto_land in TECS 2016-04-21 21:30:53 -07:00
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
Tom Pittenger ec3e9014e4 Plane: move target land_airspeed logic to top layer 
- this is to allow min groundspeed to be enforced which is otherwise lost when TECS assigns a target airspeed at the lower level
 2016-04-21 21:30:50 -07:00
Andrew Tridgell a549225e60 Plane: support Y6 frame class in quadplane 2016-04-22 10:28:16 +10:00
Rimvydas Naktinis df922dacfa Plane: Suppress throttle when parachute release initiated, not after release. 2016-04-21 09:53:22 -07:00
Andrew Tridgell 2a1985d0f9 Plane: fixed loiter radius at end of mission 2016-04-21 22:29:29 +10:00
Andrew Tridgell de33779382 Plane: added Q_WVANE_MINROLL 
this allows for some roll trim without weathervaning
 2016-04-21 21:52:25 +10:00
Michael du Breuil ef348473eb Plane: Remove tecs_hgt_afe from the 50hz tecs update 2016-04-21 17:03:00 +10:00
Michael du Breuil f5749b44cd Plane: Move position update to 50hz loop rather then the 10hz 2016-04-21 16:53:20 +10:00
Andrew Tridgell cf7b6123a9 Plane: log the number of lost log messages 2016-04-21 16:45:02 +10:00
Andrew Tridgell 8683616d8c Plane: redo scheduler table and improve perf logging 
The scheduler table was still setup for a worst case CPU of
AVR2560. Adjust times for the stm32 and improve perf logging
 2016-04-21 16:45:02 +10:00
Andrew Tridgell a7006a7784 Plane: refactor perf variables into a structure 2016-04-21 16:45:02 +10:00
Andrew Tridgell d013878c17 Plane: improved speed limiting on landing approach in VTOL mode 2016-04-20 18:07:04 +10:00
Andrew Tridgell d8b0d17fe4 Plane: added weathervaning to landing reposition 2016-04-20 17:12:59 +10:00
Andrew Tridgell f34af03891 Plane: added Q_WVANE_GAIN 
this controls weathervaning in VTOL modes. Defaults to off
 2016-04-20 17:12:59 +10:00
Andrew Tridgell e9e43dc016 Plane: added Q_VFWD_GAIN for forward motor in VTOL modes 
this allows for velocity control using the forward motor in VTOL modes
 2016-04-20 16:25:19 +10:00
Lucas De Marchi 0095f6168e ArduPlane: fix handling of SET_HOME_POSITION 
Location.altitude is stored in cm.
 2016-04-18 13:07:45 +10:00
Michael du Breuil c17ea21a97 Plane: Add support for DO_REPOSITION via COMMAND_INT 
also allows guided to change loiter directions
 2016-04-17 19:00:03 -07:00
Andrew Tridgell 62574b35b5 Plane: fixed negative loiter radius values 2016-04-18 09:33:20 +10:00
Andrew Tridgell edd15f15c0 Plane: added some fixed wing in-flight transmitter tuning 2016-04-16 20:47:18 +10:00
Andrew Tridgell 27fb35253c Plane: added in-flight transmitter tuning 2016-04-16 20:26:43 +10:00
Tom Pittenger 436062ef37 Plane: improved crash detection 
- fixes bug where a bungee launch is configured but the aircraft gets bumped and triggers the prop to spin up. This will now detect that and "crash' and disable the motor
 2016-04-14 22:34:46 -07:00
Grant Morphett 2887e48178 Plane: Fixed bug with landing flare for high values of LAND_FLARE_SEC 
I had an issue in SITL where my plane would round the last WP staring
its landing approach and immediately limit the roll to 5degress even
before the plane had finished turning the corner so it would go WAY
off course.  For a high value of LAND_FLARE_SEC (mine was 5) the math
works out the plane has landed if
    height <= sink_rate * land_flare_sec
During the banking of the last corner the plane started to decend and
quickly set itself up for a 6.1m/s sink rate which is normal.  It was
at 30 meters altitude.  As you can see at this point the math thinks
the plane has landed so limits the roll.  The solution was to ensure
the plane had covered at least 50% of the distance toward the final
waypoint before allowing a flare to happen.  Note that LAND_FLARE_SEC
above 2 is considered very high and this normally wouldn't occur.
 2016-04-15 13:02:11 +10:00
Andrew Tridgell 154fe15c67 Plane: fixed build warning 2016-04-15 09:22:41 +10:00
Tom Pittenger ff57884eca Plane: renamed variable, non-functional change 2016-04-14 13:18:35 -07:00
Andrew Tridgell 3a242ee4a9 Plane: support up to 16 output channels 
the extra channels can be used via SBUS output
 2016-04-14 08:05:06 +10:00
Michael du Breuil 78442b7e81 Plane: make the initialization of the gcs instances follow the define 2016-04-11 17:54:46 -07:00
Andrew Tridgell 06bcf0df4b Plane: change default loop rate for quadplanes to 300Hz 2016-04-11 09:32:45 +10:00
Andrew Tridgell 1fe9582ac3 Plane: back to velocity controller for quadplane landing 
now with much smoother attitude control thanks to some help from
Leonard
 2016-04-10 22:01:19 +10:00
Andrew Tridgell 4a5c4a5189 Plane: not in vtol mode when quadplane not enabled 
prevents logging error in auto if quadplane not enabled and running a
VTOL mission command
 2016-04-10 22:01:18 +10:00
Ricardo de Almeida Gonzaga 5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
Andrew Tridgell 97a7192f76 Plane: make it more obvious that AUTO_FBW_STEER is not for normal use 2016-04-06 07:58:23 +10:00
Andrew Tridgell 5f1ad68bd9 Plane: improved velocity controller for quadplane landing 2016-04-04 09:50:35 +10:00
Andrew Tridgell 8b30569ad1 Plane: setup quadplane earlier in startup 
this ensures the GCS gets the full parameter list as the param count
will be set before mavlink starts
 2016-04-03 06:49:38 +10:00
Andrew Tridgell 5cc4b20c73 Plane: smooth out final descent for landing 2016-04-02 22:45:51 +11:00
Andrew Tridgell 197cefaaa7 Plane: prevent large nose-down on start of velocity controller 2016-04-02 21:19:06 +11:00
Andrew Tridgell ae51e51c6a Plane: use velocity controller for initial quadplane landing 2016-04-02 20:54:01 +11:00
Andrew Tridgell b1266603a6 Plane: setup immediate pitch limit on quadplane takeoff 
this prevents a single loop with large pitch down demand
 2016-04-02 19:53:48 +11:00
Andrew Tridgell 913cf9dd37 Plane: set min quad throttle to 10% 
fixes spin when armed
 2016-04-01 22:18:51 +11:00
Andrew Tridgell 7f85c14c96 Plane: fixed landing detector for new AP_Motors code 2016-04-01 21:54:32 +11:00
Andrew Tridgell 70679a06aa Plane: fixed quadplane throttle control in AUTO 2016-04-01 17:29:51 +11:00
Andrew Tridgell 52cc369f15 Plane: fixed typo in AP_Motors conversion 2016-04-01 16:45:01 +11:00
Andrew Tridgell e7f7afcc4d Plane: added correct filter defaults 2016-04-01 16:44:49 +11:00
Andrew Tridgell 9cf909607f Plane: setup reasonable quadplane defaults 2016-04-01 16:40:06 +11:00
Andrew Tridgell dd6c4d6225 Plane: fixed up parameters for quadplane 
this fixes quadplane parameters for the new AP_Motors code
 2016-04-01 16:17:07 +11:00
Randy Mackay b96ea15220 Plane: quadplane uses AC_AttitudeControl_Multi 2016-04-01 11:59:30 +09:00
Randy Mackay 41b584ac9e Plane: fix quadplane qstabilize throttle input 2016-04-01 11:59:30 +09:00
Randy Mackay 52caed2573 Plane: QTUN df messages angle boost field as float 2016-04-01 11:59:30 +09:00
Randy Mackay 70f81ee338 Plane: remove multicopter PID parameters 
These have been moved to the AC_AttitudeControl class
 2016-04-01 11:59:30 +09:00
Randy Mackay 39f795d9fd Plane: quadplane sets motors desired spool state 2016-04-01 11:59:30 +09:00
Andrew Tridgell f73c8ab8ed Plane: allow testing of all motors in sequence 
this makes for an easier startup test for a quadplane, allowing a
single MAVLink command to test that all motors are working correctly
in the right sequence
 2016-04-01 11:09:51 +11:00