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1979 Commits

Author SHA1 Message Date
Andrew Tridgell
f2c1010501 Plane: prevent mode switch changes changing WP tracking 
this fixes a bug where a mode switch change during an AUTO mission
which does not change the flight mode would cause cross tracking to be
reset, so the plane will not correctly follow the desired track

Many thanks to Michael Du Breuil for the log that showed this bug
 2015-08-12 14:42:49 +10:00
Gustavo Jose de Sousa
93c80b03ae ArduPlane: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:40 +10:00
squilter
c24ba83fb1 Plane: init vehicle capabilities 2015-08-05 16:08:49 +09:00
Przemek Lekston
ca915d9928 Plane: fix "logging disabled" build. 2015-08-03 10:07:52 +10:00
Grant Morphett
c87929e907 Plane: Fix landing to stop divide by zero if params are 0 
If someone mistakenly puts all 0's in their LAND command then
total_distance will be calculated as 0 and cause a divide by 0 error
below thus crashing ArduPilot.  Lets avoid that.
 2015-08-03 09:53:48 +10:00
Andrew Tridgell
1b13be4ad7 Plane: disable camera logging when camera support disabled 2015-07-30 12:17:48 +10:00
Andrew Tridgell
6e0057778b Plane: remove unused file 2015-07-30 11:14:39 +10:00
Andrew Tridgell
9f9080983b Plane: trim out some log msgs on APM2 
save a bit more flash
 2015-07-30 11:14:06 +10:00
Andrew Tridgell
49f7adcc80 Plane: re-enable geofencing on APM2 
it only just fits ...
 2015-07-30 11:04:31 +10:00
Andrew Tridgell
6c07795b63 Plane: added HIL_SUPPORT define 
disable HIL support on APM2 to save flash space
 2015-07-30 11:04:31 +10:00
Andrew Tridgell
8f0e7e0693 Plane: fixed above_location_current() for non-terrain alt 
thanks to Lekston for finding the bug (PR#2610)
 2015-07-29 08:20:23 +10:00
Andrew Tridgell
58fa38cc12 Plane: allow rudder disarm based on ARMING_RUDDER parameter 2015-07-23 21:48:50 +10:00
pepevalbe
da41d85433 Plane: It is possible to disarm with left rudder. 
Using is_flying() avoid accidentally disarming while flying.
 2015-07-23 21:48:44 +10:00
Przemek Lekston
4b38d444dd Plane: fix default behaviour of flaps. 2015-07-23 15:28:08 +10:00
Przemek Lekston
6a62b11536 Plane: fix LOITER_TO_ALT to verify headings towards waypoints within the loiter radius. 
Whenever next waypoint is within the loiter radius, maintaining loiter would prevent us from ever pointing toward the next waypoint. Hence for very close waypoints loiter_to_alt becomes verified by the altitude only.
 2015-07-23 15:24:43 +10:00
Grant Morphett
cc6a981b12 Plane: deleted the old command_description.txt file which isn't used. 2015-07-21 16:31:24 +09:00
Andrew Tridgell
51bdbea745 Plane: fixed format for ARM message 2015-07-20 09:46:19 +10:00
Randy Mackay
b670988e05 Plane: log IMUDT 2015-07-14 13:31:56 +09:00
Andrew Tridgell
266857c595 Plane: avoid linking optflow on APM2 
not used, just taking memory
 2015-07-10 16:46:30 +10:00
Lucas De Marchi
e97034f8e9 ArduPlane: use ARRAY_SIZE macro 2015-07-07 07:56:30 +10:00
Randy Mackay
76ccf4043e Plane: log ahrs home and ekf origin 2015-07-06 12:11:56 +09:00
Tom Pittenger
f1ee129423 Plane: compiler warnings 
- float to double in gcs_send_test (x2)
- float to bool
 2015-07-06 09:30:19 +10:00
Andre Kjellstrup
edc32092ce Plane: Do not run long_failsafe during final or landing. 2015-07-02 14:28:45 +10:00
Andre Kjellstrup
9d525d4382 Plane: Do not run FailSafe if on final approach or landing. 
A failsafe (Circle, RTL) would easily become a disaster if trigged
during approach or final.
 2015-07-02 14:28:45 +10:00
Andre Kjellstrup
baf4989a80 Plane: Ignore low voltage failsafe during landing 
Log it, but do not switch to RTL if already in final or landing.
 2015-07-02 14:28:44 +10:00
Peter Barker
3fce7eb21a Plane: use common mission logging code 2015-06-30 16:23:35 +10:00
Peter Barker
bbfe67fe2a Plane: use common system information logging 2015-06-30 16:23:34 +10:00
Peter Barker
7f0a0cf64f Plane: DataFlash frontend/backend split 2015-06-26 16:02:50 +10:00
Michael du Breuil
54c06cde02 Plane: Log the steering controller PID state 2015-06-22 15:41:44 +10:00
Michael du Breuil
1a121f543b Plane: Use PIDS for steering rather then PIDY 2015-06-22 15:41:44 +10:00
Andrew Tridgell
4aac2c5c96 Plane: trigger OVERRIDE_CHAN in px4io 
setup the MODESWITCH channel as our OVERRIDE_CHAN, allowing for
instant manual passthru in px4io when OVERRIDE_CHAN goes above 1750

This makes for faster switching, and avoids bugs where a still enabled
FMU channel disables override
 2015-06-21 18:19:16 +10:00
Andrew Tridgell
248bf8c5a3 Plane: disable geofence on APM2 2015-06-20 14:52:42 +10:00
Andrew Tridgell
2dbe372b2f Plane: cleanup some coverity warnings 2015-06-20 13:26:34 +10:00
Andrew Tridgell
ae1f2e8bea Plane: fixed missing break statement 2015-06-20 12:35:07 +10:00
Andre Kjellstrup
19aa7caad0 GCS_Failsafe: option to trigger only in AUTO mode. 2015-06-18 07:52:43 +10:00
Andre Kjellstrup
39797529fd GCS_Failsafe: defines for new failsafe option 2015-06-18 07:52:42 +10:00
Andre Kjellstrup
3e84132f6b GCS_Failsafe: new parameter option 2015-06-18 07:52:42 +10:00
Andrew Tridgell
76c0293a85 Plane: added support for DO_AUTOTUNE_ENABLE 2015-06-15 09:20:55 +10:00
Andrew Tridgell
d5c5400e76 Plane: added support for ALTITUDE_WAIT mission command 2015-06-15 09:20:55 +10:00
Andrew Tridgell
358a13261c Plane: moved sink_rate calculation to update_alt() 
this makes it available to non-landing code
 2015-06-15 09:20:55 +10:00
Randy Mackay
814cb5ce18 Plane: add vibration DF logging and send to GCS 2015-06-12 21:36:47 +09:00
Andrew Tridgell
3427224bfc Plane: fixed logging of parameters on arming 2015-06-12 13:11:06 +10:00
Eugene Shamaev
5b34fa4f6a Plane: added DSM bind support 2015-06-10 17:19:10 +10:00
Andrew Tridgell
6b9854457d Plane: added PID tuning logging for ground steering 2015-06-09 12:48:56 +10:00
Andrew Tridgell
bc6a52f8db Plane: fixed handling of OVERRIDE_CHAN on arming 
When arming we need to ensure that we don't enable any channels
otherwise PX4IO will think that FMU is active and will stop running
the internal RC mixer
 2015-06-09 12:48:55 +10:00
Michael Oborne
7dcd24137e Plane: add bitmask documentation 2015-06-05 10:21:21 +09:00
Lucas De Marchi
6bbf0e7770 Plane: stop using alias FUNCTOR_BIND_VOID 2015-06-04 13:37:38 +09:00
Andrew Tridgell
bf396d7138 Plane: log to tlog when we set home via MAVLink 2015-06-04 13:26:39 +10:00
Andrew Tridgell
5942bf5cf0 Plane: added plane specific arming checks 
added check for roll and pitch limits, after flyaway due to small
LIM_ROLL_CD
 2015-06-04 13:26:39 +10:00
Andrew Tridgell
47f4a5db10 Plane: try to load px4 mixer 10 times on boot 
this allows for possible temporary failures
 2015-06-02 21:59:03 +10:00
Andrew Tridgell
3e74b82bc4 Plane: fixed two bugs in px4io override code 
First bug is going via microSD to poulate mixer. We can't rely on the
microSD being writeable or functioning properly. Instead create the
buffer in memory and only write a copy to the filesystem.

Second bug is related to extreme trim values on channels. If trim
values are well out of range then the mixer fails and override fails.
 2015-06-02 21:48:18 +10:00
Randy Mackay
9ece826c28 Plane: Log_Write_Startup writes parameters 2015-06-01 20:22:50 +09:00
Grant Morphett
2c3cff7f84 Plane: Moving parameter logging to be after all systems have started 2015-06-01 20:22:40 +09:00
Andrew Tridgell
db784c83dc Plane: removed unnecessary pragmas 2015-06-01 17:42:21 +10:00
Andrew Tridgell
9adc879253 Plane: changes for new AHRS API 2015-06-01 16:16:49 +10:00
Andrew Tridgell
1797e2baa8 Plane: simpler initalisation of plane class 
take advantage of C++11 in-class initialisation
 2015-06-01 08:48:54 +10:00
Andrew Tridgell
57544a3537 Plane: added blank Parameters.pde for MissionPlanner 2015-05-30 15:21:33 +09:00
Andrew Tridgell
1520d8f734 Plane: catch a px4_mixer failure case 2015-05-30 11:17:56 +10:00
Andrew Tridgell
9b77260ebb Plane: disable PID logging on APM2 2015-05-29 16:32:05 +10:00
Andrew Tridgell
2f5ade4810 Plane: use 16 bit mask for GCS_PID_MASK 2015-05-27 15:09:47 +10:00
Andrew Tridgell
09476bf9d3 Plane: added GCS_PID_MASK for realtime pid tuning 2015-05-27 14:28:46 +10:00
Andrew Tridgell
c31da93726 Plane: log roll and pitch PIDs 2015-05-27 14:28:45 +10:00
Peter Barker
d7ed06816a Plane: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:15 +10:00
Andrew Tridgell
964b8ed2f3 Plane: fix for scheduler API change 2015-05-26 14:33:52 +10:00
Lucas De Marchi
7c4cf41ebc ArduPlane: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:54 +10:00
Andrew Tridgell
97687f04af Plane: enable messages for MAVLink gimbal support 2015-05-26 08:30:30 +10:00
Andrew Tridgell
5511140f95 Plane: fixed fence return point on breach 
this was broken by the recent guided mode changes. Thanks to Grant for
noticing!
 2015-05-24 15:24:02 +10:00
Andrew Tridgell
eee191875e Plane: fixed plane version, removing old pde 2015-05-22 16:07:43 +10:00
Andrew Tridgell
8974c879fe Plane: fixed paths for GCS_MAVLink parameter file 2015-05-21 11:42:45 +10:00
Andrew Tridgell
8359b75201 Plane: removed NOINLINE define 2015-05-21 09:35:55 +10:00
Andrew Tridgell
78f02634d0 Plane: fixed ins reference in plane object 2015-05-21 07:48:54 +10:00
Andrew Tridgell
441d96c946 Plane: fixed APM1 build 2015-05-21 07:48:53 +10:00
Andrew Tridgell
554869033f Plane: disabled rangefinder on APM2 
this saves 5k of flash space, enough for support to be kept for
another release
 2015-05-21 07:48:53 +10:00
Andrew Tridgell
6fe65cdd9a Plane: removed duplicate rangefinder 2015-05-21 07:48:53 +10:00
Andrew Tridgell
b92c2409e4 Plane: added local millis() and micros() to reduce code size a bit 2015-05-21 07:48:53 +10:00
Andrew Tridgell
150af130ee Plane: get closer to making var_info appear in text segment 2015-05-21 07:48:52 +10:00
Andrew Tridgell
18c37935c9 Plane: convert from .pde to .cpp files 2015-05-21 07:48:52 +10:00
Andrew Tridgell
f75e9f95d1 Plane: Adjust for new AP_Scheduler syntax 2015-05-21 07:48:48 +10:00
Andrew Tridgell
6be0932d82 Plane: prepare for 3.3.0 release 2015-05-20 18:01:21 +10:00
Andrew Tridgell
db871cc581 Plane: prevent trim values out of range for PX4 mixer 
thanks to Brian Christal for a good bug report!
 2015-05-17 21:24:58 +10:00
Tom Pittenger
b4be1b866a Copter: compiler warning stuff 
float to double promotion via cos instead of cosf
 2015-05-16 08:21:36 +10:00
Andrew Tridgell
9ceee3cea7 Plane: support setting just accel trim with preflight-cal 
use param5==2
 2015-05-16 07:56:35 +10:00
Randy Mackay
174c55b0af Plane: add support for 4th mavlink channel 2015-05-15 15:07:28 +09:00
Andrew Tridgell
2feee9aa88 Plane: call Log_Write_POS() 2015-05-15 14:28:15 +10:00
Andrew Tridgell
e362b4fc04 Plane: fix for new compass API 2015-05-15 14:25:44 +10:00
Andrew Tridgell
7f488c1c9c Plane: removed duplicate rangefinder instance 2015-05-14 08:51:59 +10:00
Tom Pittenger
76f448e512 Plane: Write new mission to log without telling GCS 2015-05-13 20:25:57 +09:00
Randy Mackay
0db25426c0 Plane: use accel_calibrated_ok_all 2015-05-12 16:32:20 +09:00
Randy Mackay
a3271e4584 Plane: clarify SYSID_MAV parameter description 2015-05-11 09:23:06 +09:00
Andrew Tridgell
ff126db1d3 Plane: make GUIDED behaviour match copter 
we now have to be in GUIDED mode to accept a new GUIDED WP. When
entering GUIDED mode start loitering about the current position
 2015-05-10 14:28:02 +10:00
Tom Pittenger
eb2bfcd2d3 Plane: replace fabs() with labs(), unnecessary int to float conversion 2015-05-09 09:57:25 +10:00
Tom Pittenger
ba29967454 Plane: if receiving last mission item then log new mission to dataflash 2015-05-08 21:01:51 +10:00
Andrew Tridgell
fd84a6b493 Plane: fixed missing break in fence floor logic 2015-05-08 16:27:16 +10:00
Michael Day
ee14678d2a Plane: Allow disabling of only the fence floor. 2015-05-08 16:25:22 +10:00
Andrew Tridgell
1a7d831327 Plane: support raw IMU logging 2015-05-07 12:11:52 +10:00
Andrew Tridgell
8395b92309 Plane: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Tom Pittenger
2301883d5c Plane: compiler warnings: function not declared 2015-05-05 13:27:01 +10:00
Tom Pittenger
c4c47cba66 Plane: compile warnings: float to double. print statements require doubles 2015-05-05 13:26:59 +10:00
Tom Pittenger
43006c0eec Plane: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:58 +10:00
Tom Pittenger
c2eeed7d85 Plane: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:57 +10:00
Tom Pittenger
0cbbb20dcf Plane: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:54 +10:00
Andrew Tridgell
a299fdacdf Plane: fix for HAL_SITL rename 2015-05-05 09:45:57 +10:00
Michael Day
8a6fc0ad77 Plane: If LAND_FLARE_SEC is 0 use LAND_FLARE_ALT for aim_height. 
See discussion here:

https://github.com/diydrones/ardupilot/pull/2197
 2015-04-30 17:19:55 +10:00
Michael Day
05d065b471 Plane: Make LAND_FLARE_SEC optional. 2015-04-30 14:34:34 +10:00
Andrew Tridgell
93fed6c2ac Plane: update release notes for 3.3.0beta2 2015-04-30 14:07:30 +10:00
Andrew Tridgell
c65f5a1bda Plane: disable camera mount support on APM2 
this makes the firmware small enough to squeeze onto an APM2 again
 2015-04-30 11:57:20 +10:00
Andrew Tridgell
75c9689a64 Plane: added armed and safety state to STAT log message 2015-04-30 11:15:08 +10:00
Andrew Tridgell
5038e1d26d Plane: remove deprecated log types 
we no longer depend on the binary format for Replay, so we can change
IDs now
 2015-04-30 11:05:17 +10:00
Tom Pittenger
f5dfe7c650 ArduPlane: Log isFlying status 
Log is_flying() status and its float probability in new STAT msg
and piggyback on MODE bitmask flag.
 2015-04-30 10:57:03 +10:00
Randy Mackay
e122916815 Plane: fix MNT param description 2015-04-29 09:07:52 +09:00
Tom Pittenger
c974134ea4 ArduPlane: RTL Autoland skip HOME 
With RTL_AUTOLAND=1 we navigate to HOME then to the DO_LAND_START commands. Now with RTL_AUTOLAND=2 we head directly to the DO_LAND_START commands and thus skip changing altitude to ALT_HOLD_RTL and head directly to the first land waypoint as if it was the next normal waypoint.
 2015-04-28 12:09:00 +10:00
Andrew Tridgell
3c9ed9b5a6 Plane: don't limit down pitch during landing 
there is no reason for a special case for aircraft without airspeed
sensors
 2015-04-28 09:25:49 +10:00
Andrew Tridgell
c73945686c Plane: use ahrs.yaw_sensor not direct compass read for yaw 
also use 10 degrees of margin, to cope with fast yaw changes (this
function is called at only 10Hz)
 2015-04-25 09:12:17 +10:00
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