DO_LAND_START -> LAND waypoints in sequence would cause a perpetual abort state
due to the sticky nature of the abort states. If we restart a landing on
purpose while doing an abort, then we can move onto trying to land again.
Removes the need for plane to do the math for finding the relative height.
Also caches the value at the same time we update current_loc, which is a
non behaviour change as that was the only time you could see a change in
the relative height propegate through the system anyways
@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)
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
Reverse thrust for controlled landings, even with much steeper approach slopes. This is achieved by allowing throttle demand to go negative to maintain a target airspeed. A Pre-Flare stage was added, triggered by an altitude, to allow for a slower airspeed just before land. That lower airspeed can be near stall.
new params LAND_PF_ALT, LAND_PF_SEC, LAND_PF_ARSPD, USE_REV_THRUST
Added update_trigger and check_digital_pin functions
added camera trigger precise time mark
detect camera feedback pin status
added support for simple digital pin
included support for digital pin. Already included in
added support for TRIGGER MSG
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
There is no crosstrack concept in the loiter navigation so when going from waypoint to loiter you will not converge onto the line between those two points. This commit adds crosstracking by performing normal waypoint navigation until you get near it.
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
we only accept a lidar if it changes by 5% of its full range, and we
reject a lidar again if the correction between barometric and lidar
range changes by more than 30m
This allows us to cope with faulty lidars which may give a constant
reading
- enabled via new param LAND_ABORT_THR default is 0 (disabled)
- Triggered via 95% throttle during landing, a landing abort will take place.
- This copies all takeoff params for right now, we can make this better later if needed
- added mission item command to NAV_LAND which is the abort takeoff altitude. If 0 then use last takeoff if available, else use 30m
- hold heading, just like takeoff, until altitude is reached
- pitch is constrained to takeoff pitch, or else 10deg if not available
- After abort altitude is reached, the normal landing restart happens (DO_LAND_START or decrement mission)
- restart landing by jumping to DO_LAND_START or decrement mission on mode change
Use waypoint bearing if available, otherwise use gps projected ahead 1km else yaw
Perform update before making decision to finish cmd so it always executes
This behavior is excessively paranoid about clearing the flag so now it's extra sticky. You can only clear the is_crashed flag when:
- changing modes
- starting to execute a takeoff wp (if mission/index gets reset while still in auto)
- while in takeoff and throttle is suppressed it's held false
behavior that was removed:
- clear flag when starting to execute any nav cmd (reached next wp)
- if while crashed, you "start flying again" (non-sticky)
add crash detection, allow disengage via param CRASH_DETECT
improved is_flying behavior
take off, landing and hard-landing improvements
add stillness check to is_flying and log it
minimum airspeed is determined ARSPD_FBW_MIN*0.75
Param 1 of CONTINUE_AND_CHANGE_ALT now denotes which direction the
user expects the plane to travel when changing altitude:
0 = no expectation, command completes when within 5 m of altitude.
1 = climb expected, command completes at or above altitude.
2 = descent expected, command completes at or below altitude.
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.
Peter Barker
Tom Pittenger
Andrew Tridgell
Randy Mackay
Michael du Breuil
Tom Pittenger
Eugene Shamaev
Tom Pittenger
Mathieu OTHACEHE
Pierre Kancir
Grant Morphett
Ricardo de Almeida Gonzaga
Michael du Breuil
Dario Lindo Andres
Lucas De Marchi
Luis Vale Gonçalves
Caio Marcelo de Oliveira Filho
lvale
squilter
Michael Day
Przemek Lekston