83cac93e85
Plane: allow for any orientation of rangefinder for landing
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this is principally for tailsitters where rangefinders would be
orientation with RNGFND1_ORIENT=12 (PITCH_180), but also allows for
custom orientations which will be useful if the rangefinder is tilted
forward
2024-09-14 08:39:51 +10:00
773c91cec1
ArduPlane: Added minimum throttle during TAKEOFF mode
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This is a rework so that servos.cpp is responsible for setting the
throttle limits under more circumstances and always notifies TECS when
it does so.
Additionally, the TAKEOFF mode has been improved with a new parameters
TKOFF_MODE and TKOFF_THR_MIN that extend the throttle behaviour.
2024-07-29 15:50:32 +10:00
fe2e75b2a0
Plane: option to immediately climb in AUTO mode (not doing glide slope)
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add comment in Parameters.cpp
Update ArduPlane/altitude.cpp
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
clarification in FLIGHT_OPTIONS description
change the comment
param comment change
Update ArduPlane/Parameters.cpp
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
2024-07-25 09:49:07 +10:00
d4f9843e55
Plane: support MAV_CMD_SET_HAGL
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allow for external height above ground estimate
2024-07-17 08:03:18 +10:00
c14c2d67d4
ArduPlane: make AP_RANGEFINDER_ENABLED remove more code
2024-07-02 09:17:26 +10:00
9e08a98515
Plane: fix rangefinder correction when terrain follow is off
2024-05-21 11:57:36 +10:00
a3d622b37d
Plans: rename ALT_CRUISE_MIN to CRUISE_ALT_FLOOR
2024-01-23 15:00:30 +11:00
8151647e04
ArduPlane: convert ALT_HOLD_RTL and ALT_HOLD_FBWCM
2024-01-23 15:00:30 +11:00
c980e0488e
Plane: fixed terrain RTL with rally points
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this fixes a bug where if the terrain database cache does not have the
tile for the location of a rally point then RTL to the rally point
with TERRAIN_FOLLOW=1 will not track terrain
The underlying issue is that Location::loc.change_alt_frame() will
return false if the location is not in the terrain memory cache. We
can't just extrapolate as the rally point could be in a totally
different terrain area to the current location. So instead we set it
as terrain_following_pending and fix it as soon as the terrain cache
is filled.
fixes https://github.com/ArduPilot/ardupilot/issues/25157
2023-10-14 10:46:00 +11:00
2e2c7b50ad
Plane: cope with home altitude change while navigating
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this fixes a bug where a change of home altitude would cause a sudden
height demand change. This copes with 3 situations:
- flying with AMSL alt demand. Changing home altitude makes for no change
- flying with AGL alt demand. Changing home altitude requires update of next_WP_loc
- flying with home relative alt demand. Changing home altitude changes demand at end of current navigation leg
2023-08-05 08:31:02 +10:00
76a10d9b26
Plane: relative_ground_altitude allow passing bool for terrain use
2023-01-25 19:34:53 +11:00
4a21af22cb
Plane: move mode update_target_altitude to correct files
2022-12-27 10:30:14 +11:00
f28d7a3574
Plane: move adjust_altitude_target functianlity to per mode functions
2022-12-20 10:37:06 +11:00
ab43dadb57
Plane: altitude: add `plane.` prefix to Plane::adjust_altitude_target to minimise diff
2022-12-20 10:37:06 +11:00
de4dda2d17
ArduPlane: change namespace of MultiCopter and FixedWing params
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this stops the libraries knowing anything about AP_Vehicle
2022-11-09 19:04:37 +11:00
1fe6d77eeb
Plane: Max altitude for FBWB using Fence altitude
2022-10-19 18:28:52 +11:00
f183b21fc5
Plane: Support vtol landing options on NAV_VTOL_LAND
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This allows the same mission to contain both circular and straight
landing items, and doesn't require on the fly tweaking
2022-08-15 17:05:00 -07:00
ee778dbd3a
Plane: Quadplane: add option_is_set helper for Q_OPTIONS
2022-08-09 13:21:00 +10:00
b017fc2196
ArduPlane: allow FBWB alt control option in LOITER
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Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
2022-05-22 12:09:43 +10:00
72087335f7
Plane: removed terrain home correction
2022-03-10 07:34:20 +11:00
a715472353
Plane: Specify starting location to set_offset_altitude_location
2021-12-27 11:27:52 +11:00
b9d240460b
Plane: remove SpdHgt and use TECS direct
2021-11-13 08:05:39 +11:00
013de11916
ArduPlane: make rangefinder ranges m rather than cm
2021-10-21 21:28:53 +11:00
0549e08c5c
Plane: add mehtod to check terrain by mode
2021-09-28 09:31:13 +10:00
3d34e061fe
ArduPlane: add and use HAL_QUADPLANE_ENABLED
2021-09-14 11:23:18 +10:00
65a38b26a4
ArduPlane: altitude: rangefinder correction should be relative to the altitude source being used for navigation. This avoid applying it twice when there is an existing correction saved.
2021-08-19 17:59:33 +10:00
3bb840f794
Plane: implement slow descent in QRTL approach
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this approaches in QRTL at ALT_HOLD_RTL alt, then descends to
Q_RTL_ALT close to the destination
2021-06-05 13:05:30 +10:00
fd2909d53f
Plane: change location refence frame correctly
2021-05-02 18:51:27 +10:00
60d26723ae
Plane: make TERRAIN_FOLLOW at AP_int32 bitmask, per mode option
2021-03-24 10:15:18 +11:00
cdc7f891a9
ArduPlane: Add missing const in member functions
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2021-02-03 18:45:14 +11:00
e5d580412e
Plane: fixed usage of rangefinder in landing with RNGFND_LANDING=0
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this fixes two places where rangefinder can affect landing when
RNGFND_LANDING=0
2020-11-03 10:08:00 +11:00
10111f92d5
Plane: Rename SOARING_ENABLED to HAL_SOARING_ENABLED and don't compare to ENABLED.
2020-09-24 07:30:48 +10:00
4115603f13
ArduPlane: add terrain follow disable switch for CRUISE/FBWB
2020-07-08 13:39:42 +10:00
0f5177b291
Plane: Support a set of offboard MAVLink guided controls with rates
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+ 3 rounds of fixes
2020-05-20 15:03:21 +10:00
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
170b599469
Plane: Required changes for conditional soaring compilation (fmuv2).
2020-04-08 09:11:54 +10:00
e1f7122566
AP_Soaring: Improve tracking of enabled/disabled status.
2020-04-08 09:11:54 +10:00
ed7e359f4d
Plane: Make target altitude track current altitude when gliding.
2020-04-08 09:11:54 +10:00
6cd4dfba2c
Plane: use enum-class for RangeFinder Status
2019-11-09 08:01:53 +11:00
5c43b18672
Plane: fixed height_above_ground() for case when rangefinder is below min
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this prevents a rangefinder that goes below min distance from causing
the calculations that depend on height above ground to fail
2019-09-17 09:36:26 +10:00
6572700baa
Plane: fixed an issue with landing on rising ground
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when landing on rising ground we don't want to use the terrain look
fwd correction for the flare calculation as otherwise we will flare
too early (and thus too high)
2019-09-16 12:52:00 +10:00
1b775c96f5
Plane: added rangefinder correction by terrain data
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allows for landing approach with terrain changes
2019-08-06 09:36:02 +10:00
65b4ba0539
ArduPlane: use past_interval_finish_line and line_path_proportion from Location
2019-04-23 09:20:43 +10:00
0270c57530
Plane: massive refactor and creation of Mode class
2019-04-02 16:28:52 +11:00
2b6210d594
Plane: use WP height for height above ground in vtol landing
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this allows for landings above or below the takeoff height without
requiring the use of terrain data. It allows both the use of vfwd
motor for holding against wind, and the correct height for land final
descent rate
2019-03-18 14:47:27 +11:00
f430fd14f6
Plane: replace location_offset() and get_distance() function calls with Location object member function calls
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This allows removing duplicated code
2019-02-28 11:44:09 +11:00
acafb0f3c1
Plane: adjust for location flags being moved out of union
2019-01-16 11:45:29 +11:00
7fd859da65
Plane: move home state into AP_AHRS
2018-03-19 10:32:37 +09:00
1a3ca43e86
Plane: Don't check FS_SHORT_TIMEOUT if it's disabled
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Also renames the check_minimum_altitude() to reflect that it's only used
for FBWB.
2017-11-24 09:58:01 -08:00
af893ddde7
Plane: implement Q_OPTIONS
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this allows for NAV_TAKEOFF to be treated as NAV_VTOL_TAKEOFF in
quadplanes, and for level flight to be maintained during quadplane
transitions
2017-10-30 16:30:10 +11:00
Andrew Tridgell
George Zogopoulos
Ep Pravitra
Peter Barker
Jonathan Challinger
Iampete1
khanasif786
Michael du Breuil
Samuel Tabor
Sebastian Quilter
Patrick José Pereira
Henry Wurzburg
Buzz
Pierre Kancir
Tom Pittenger
Dr.-Ing. Amilcar do Carmo Lucas
Peter Barker