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389 Commits

Author SHA1 Message Date
Andy Piper 0d10f74bf7 Plane: update PID notch centers at 1Hz with average loop rate 2023-11-21 13:26:23 +11:00
Randy Mackay 84752fbeaa Plane: log MNT at 10hz 2023-07-26 17:33:18 +10:00
Andy Piper 49096422e7 Plane: allow notch frequencies to be logged at full rate 2023-07-18 11:03:47 +10:00
Tom Pittenger 606ef1b269 Plane: is_landing/is_taking_off not to req scripting 2023-07-03 22:44:00 -07:00
Andrew Tridgell 086d0907dd Plane: fixed TECS state reset in VTOL auto 
this fixes a bug where TECS maintains its slow integrator while in a
VTOL hover mode in AUTO or GUIDED.

Among other things this affects PAYLOAD_PLACE and
DO_VTOL_TRANSITION. In those states the height can change while
hovering outside the control of TECS. When TECS regains control in a
fwd transition then can lead to a very large height loss or gain until
the TECS integrator can catch up
 2023-07-03 07:03:14 +10:00
Tom Pittenger 4eeb1f18d3 Plane: fixup is_landing and is_taking_off members 2023-06-26 06:54:56 -07:00
Peter Barker 9d3ebf0d54 ArduPlane: add option to disable relay and servorelay libraries 2023-06-20 09:36:39 +10:00
Peter Barker 59bc070555 ArduPlane: move call of notify.update up to AP_Vehicle 2023-05-17 18:41:15 +10:00
Henry Wurzburg b4c79c9105 Plane:add FlightOptions helper 2023-04-26 17:35:25 +10:00
Iampete1 5f56a603a8 Plane: Quadplane: use new motors thrust linearization, don't send air density ratio 2023-04-18 09:32:22 +10:00
Peter Barker 57d3ebf123 ArduPlane: make Plane use more of RC_Channel library for mode switching 2023-04-18 09:19:20 +10:00
Nick Exton 6a2bfeb3dd Plane: Use new Location::same_loc_as() function 2023-04-04 09:40:45 +10:00
Tom Pittenger 3ac55f97b1 Plane generalize Aux Switch VTOL abort for any plane abort landings 2023-03-15 13:31:43 -07:00
Andrew Tridgell 312d37306e Plane: ensure home is up to date on arming 
remove any discrepancy which has crept in over the last few seconds

this also ensures that relative_altitude is updated, and copes with
the EKF refusing the resetHeightDatum call
 2023-02-19 10:45:42 +11:00
Andrew Tridgell 2989e2deba Plane: added support for NAV_PACKAGE_PLACE mission item 
this works in conjunction with a lua script to allow for a wide
variety of package place options
 2023-02-09 07:02:12 +11:00
Peter Barker 648a13d3f7 ArduPlane: add and use AP_ADVANCEDFAILSAFE_ENABLED 2023-02-08 19:00:13 +11:00
Peter Barker 0cf56ea320 ArduPlane: make and use AP_LANDINGGEAR_ENABLED 2022-12-14 18:30:23 +11:00
Andrew Tridgell 289f76ac9c Plane: added FAST_TASK() for key scheduler tasks 
this will be needed with #22298 as that now relies on integrating
position based on loop times
 2022-12-06 11:17:04 +11:00
Peter Barker de4dda2d17 ArduPlane: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Andrew Tridgell 500ac9b99c Plane: cleanup abort of NAV_SCRIPT 
use the same enable flag for tricks and auto NAV_SCRIPT_TIME and
ensure we disable if the script stops controlling
 2022-10-29 21:22:29 +11:00
Andrew Tridgell ff5b4f1b13 Plane: unlock cruise/loiter heading while doing a scripted trick 
and reset height
 2022-10-29 21:22:29 +11:00
Peter Barker 3400d5e4a5 ArduPlane: use fence singleton in afs check 2022-10-25 11:31:14 +11:00
Andrew Tridgell 1c043bde9a Plane: log TECS target alt 
log the target alt we pass into TECS to help debug a CRUISE height
issue
 2022-10-18 06:49:46 +11:00
Peter Barker 9e0894c93a ArduPlane: add AP_GRIPPER_ENABLED 2022-10-04 10:58:34 +11:00
yaapu e958c313a1 ArduPlane: fixed roll and pitch for OSD VTOL view 2022-09-27 10:04:10 +10:00
Peter Barker dabf78c61f ArduPlane: add and use AP_CAMERA_ENABLED 2022-09-21 11:58:38 +10:00
Peter Barker e596f7ce83 Plane: add and use AP_RPM_ENABLED 2022-09-20 09:28:27 +10:00
Peter Barker 0d19d7646f ArduPlane: rename OpticalFlow class to AP_OpticalFlow 
Brings us in-line with other classes in ArduPilot.

Removes ambiguity with AP_HAL::OpticalFlow which can cause compilation errors as we start to make code more portable across targets
 2022-08-18 14:24:01 +10:00
Peter Barker 3f4a472899 ArduPlane: move call to compass cal update up to AP_Vehicle 2022-08-16 10:06:44 +10:00
Henry Wurzburg fcf29539de Plane: fix attitude/AOA logging and rates 2022-08-02 10:52:52 +10:00
Iampete1 a592f76282 ArduPlane: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
Iampete1 2b8958f931 Plane: Fence moved to vehicle 2022-07-27 19:04:56 +10:00
Peter Barker b0bee613d4 ArduPlane: add and use AP_ICENGINE_ENABLE 2022-07-22 08:48:16 +10:00
Andrew Tridgell 25e317d6b1 Plane: check G_Dt to catch startup errors 
this catches cases where constructors lead to G_Dt being incorrect
 2022-07-21 14:21:17 +10:00
Peter Barker cfff881013 Plane: let AHRS update orientation in its own time 2022-06-12 17:32:11 +10:00
Peter Barker 2784f8fa7f Plane: remove persistent guided_WP_loc state 
So instead of updating plane.guided_WP_loc and then calling
set_guided_WP(void) to copy that state into plane.next_WP_loc we pass
the new location in the call to set_guided_WP(const Location &loc).

avoidance was the only place which was not entirely over-writing
plane.guided_WP_loc.  However, plane.next_WP_loc was updated to be the
current location when we entered guided mode.  If we update the
horizontal/vertical avoidance now it is relative to the current
location, not the guided wp location, which could be quite important.
 2022-03-22 10:14:40 +11:00
Andrew Tridgell 3fe9a55269 Plane: added APIs for lua ship landing 2022-03-10 07:34:20 +11:00
Peter Barker 266d384ca7 ArduPlane: rename AP_AHRS::get_position to get_location 2022-01-25 10:47:22 +11:00
Joshua Henderson c1abcfb7c4 Plane: move Airspeed to AP_Vehicle 2022-01-19 18:21:32 +11:00
Peter Barker 0cf4254290 ArduPlane: move RPM sensor logging into AP_RPM 2022-01-11 11:09:26 +11:00
Iampete1 d473344177 Plane: add video stab log bit and log in ahrs_update 2022-01-05 19:56:03 +11:00
Peter Barker 89e3e27d3d ArduPlane: move INS notch filter logging into INS 2022-01-05 16:34:36 +11:00
Peter Barker 173f36c145 ArduPlane: make vehicles write notch log messages 2022-01-05 16:34:36 +11:00
Peter Barker e55eea961f ArduPlane: create and use AP_OPTICALFLOW_ENABLED 2021-12-29 18:12:03 +11:00
Michel Pastor 685d34d615 Plane: fix bug causing wrong thr max and slew to be used during takeoff 
Fix bug introduced in 3d34e061fe which causes flight_stage to be
FLIGHT_NORMAL instead of FLIGHT_TAKEOFF during takeoff stage causing
itself at least the use of THR_MAX and THR_SLEWRATE instead of
respectively TKOFF_THR_MAX and TKOFF_THR_SLEW and perhaps has other
consequences.

Could be really bad if TKOFF_THR_MAX needs to be much higher
than THR_MAX or if TKOFF_THR_SLEW needs to be much lower than
THR_SLEWRATE and cause a crash on takeoff due to low airspeed or torque
roll
 2021-11-17 19:37:39 +11:00
Peter Barker 17395f362e ArduPlane: allow specification of Scheduler table priorities 2021-11-17 19:00:04 +11:00
Peter Barker 70562021ac ArduPlane: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker 203103bae5 ArduPlane: ensure ENABLE_SCRIPTING is always defined 2021-11-15 20:27:40 +11:00
Iampete1 b9d240460b Plane: remove SpdHgt and use TECS direct 2021-11-13 08:05:39 +11:00
Peter Barker 554e7f8d1c ArduPlane: move EFI to AP_Vehicle 2021-11-05 09:22:17 +11:00