26 Commits

Author	SHA1	Message	Date
Paul Riseborough	52743787b2	Plane: Fix bug that can cause early exit from loiter to alt and time wp's ... The check for the aircraft being lined up for a tangent exit has an early breakout condition if the next waypoint is too close to the loiter circle which can prevent the required ground course to waypoint ever being achieved. This check was using the WP_LOITER_RAD parameter value, not the actual radius being used which can be set differently by the mission plan. If a large value for WP_LOITER_RAD was set and being over-written by the mission plan with a smaller value compatible with the distance to the next waypoint, the aircraft would still exit early.	2023-05-18 02:35:47 -07:00
Henry Wurzburg	b4c79c9105	Plane:add FlightOptions helper	2023-04-26 17:35:25 +10:00
Iampete1	549dd3875d	Plane: add mode ahrs convenience refence	2023-02-21 11:27:24 +11:00
Iampete1	f28d7a3574	Plane: move adjust_altitude_target functianlity to per mode functions	2022-12-20 10:37:06 +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
Iampete1	b017fc2196	ArduPlane: allow FBWB alt control option in LOITER ... Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>	2022-05-22 12:09:43 +10:00
Iampete1	a165a0e1bb	Plane: fix loiter terrain following	2021-05-02 18:51:27 +10:00
Peter Barker	6baaf03c8c	Plane: move auto_throttle_mode to being a method on each mode	2021-01-10 16:04:30 +11:00
Peter Barker	f6cb1b5ad6	Plane: use a method on Mode for auto-navigation-mode ... Avoids the state getting stale, which it will with a failed attempt to go into qautotune, for example.	2021-01-10 16:04:30 +11:00
Peter Barker	a1ea1306a1	Plane: use pure-virtual method for allows_throttle_nudging ... In place of a state variable which could become stale	2021-01-10 16:04:30 +11:00
Samuel Tabor	0a738395fa	Plane: Add THERMAL mode for thermal soaring.	2020-09-24 07:30:48 +10:00
Samuel Tabor	836be4b4b4	Plane: Remove _navigate indirection in Mode.	2020-08-20 13:02:06 +10:00
Samuel Tabor	06eea6ed9f	Plane: Move navigation functions into flight mode classes.	2020-08-20 13:02:06 +10:00
Rishabh	6989cb0131	Plane: Use AHRS for heading in mode loiter	2020-04-10 12:18:35 +10:00
Samuel Tabor	b9daae062c	AP_Soaring: Use enum class rather than typedef enum for states and hide details of these.	2020-04-08 09:11:54 +10:00
Samuel Tabor	d7ce3ff72e	AP_Soaring: Don't check throttle status on entry to loiter, because it is automatically set on first pass in update_soaring.	2020-04-08 09:11:54 +10:00
Samuel Tabor	36a90cf443	Plane: Remove unused isHeadingLinedUp function, and rename functions to avoid confusion.	2020-04-08 09:11:54 +10:00
Samuel Tabor	e1f7122566	AP_Soaring: Improve tracking of enabled/disabled status.	2020-04-08 09:11:54 +10:00
Samuel Tabor	684ee11fc3	AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring.	2020-04-08 09:11:54 +10:00
Samuel Tabor	a56b1dadb9	Plane: fix bug with headingLinedUp when loiter.sum_cd was negative.	2020-04-08 09:11:54 +10:00
Tom Pittenger	394fbb1a50	Plane: unified soaring exit behavior: auto heads to next wp, cruise continues cruise heading, FBW to home	2020-04-08 09:11:54 +10:00
Tom Pittenger	ec8f82422a	Plane: move loiter heading init for auto into auto helper, and properly reset it in loiter mode enter	2020-04-08 09:11:54 +10:00
Tom Pittenger	f397c168e8	Plane: refactor loiter heading exit logic	2020-04-08 09:11:54 +10:00
Andrew Tridgell	fb061a225a	Plane: fixed build with HAL_MINIMIZE_FEATURES enabled ... thanks to PompeCukor for noticing	2019-04-08 09:34:15 +10:00
Tom Pittenger	0270c57530	Plane: massive refactor and creation of Mode class	2019-04-02 16:28:52 +11:00