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4465 Commits

Author SHA1 Message Date
Andrew Tridgell 22cd568a4c Plane: removed use of "blended" earth frame accel 2022-08-21 18:51:59 +10:00
Andrew Tridgell 953b754074 Plane: release notes for 4.2.3 2022-08-21 14:13:11 +10:00
Andrew Tridgell 4894cc1742 Plane: prepare for 4.2.3beta3 2022-08-19 18:44:08 +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
Iampete1 2b0492e6aa Plane: disalow mode change during fence recovery if option is set 2022-08-17 17:21:30 +10:00
Iampete1 a8a1e619df Plane: only trigger fence action for new breaches 2022-08-17 17:21:30 +10:00
Iampete1 367984a6b8 Plane: set fence manual recovery on mode change 2022-08-17 17:21:30 +10:00
Mirko Denecke ba13f4d116 ArduPlane: remove unused limit_length calculation in overshoot 2022-08-16 12:05:00 +10:00
Randy Mackay c255b3b5b6 Plane: replace send-mount-status with send-gimbal-device-attitude-status 2022-08-15 20:29:25 -04:00
Peter Barker 3f4a472899 ArduPlane: move call to compass cal update up to AP_Vehicle 2022-08-16 10:06:44 +10:00
Michael du Breuil f183b21fc5 Plane: Support vtol landing options on NAV_VTOL_LAND 
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
Andrew Tridgell 204a8cdc55 Plane: release notes for 4.2.3beta2 2022-08-10 06:09:23 +10:00
Peter Barker 127bf7aa09 ArduPlane: make terrain checks common between Copter and Plane 2022-08-09 14:31:14 +10:00
Andrew Tridgell 2e32c753b9 Plane: added arming check for terrain data 2022-08-09 14:31:14 +10:00
Iampete1 ee778dbd3a Plane: Quadplane: add option_is_set helper for Q_OPTIONS 2022-08-09 13:21:00 +10:00
Henry Wurzburg 905572eff5 ArduPlane: update logging bitmask metadata to new style 2022-08-09 11:38:16 +10:00
Iampete1 821053e580 Plane: Quadplane: allow servo auto trim for motors only tailsitter assist 2022-08-09 10:56:41 +10:00
Joshua Henderson a9da91bc8d Plane: add TECS Logbitmask to TECS constructor 2022-08-09 09:44:50 +10:00
Andrew Tridgell b133e98102 Plane: improve target airspeed in landing approach 
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach

this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
 2022-08-03 12:26:57 +10:00
Andrew Tridgell 54280c2ae0 Plane: update release notes for 4.2.3beta1 2022-08-02 18:07:42 +10:00
Henry Wurzburg 7bb947e4b4 Plane: change log bitmask metadata to refer to correct logs 2022-08-02 11:06:53 +10:00
Henry Wurzburg fcf29539de Plane: fix attitude/AOA logging and rates 2022-08-02 10:52:52 +10:00
Andrew Tridgell f9f0f60815 Plane: base yaw in overshoot on target speed not scaled speed 
this prevents an oscillating due to the speed changing as we yaw,
resulting in a different yaw target
 2022-08-02 07:49:34 +10:00
Andrew Tridgell 3201ecd381 Plane: added an arming check for VTOL land too short 
this is meant to catch bad mission setup, especially for UGCS, which
planes waypoints right on top of the landing point
 2022-08-02 07:49:34 +10:00
Andrew Tridgell 5bdd43457c Plane: in overshoot allow up to the Q WP speed 
this prevents us using too much battery when we are a long way from
the landing point
 2022-08-02 07:49:34 +10:00
Andrew Tridgell fa371b92a8 Plane: limit target accel in POSITION1 
don't ask for more than 2* transition limit, and reset when we enter
overshoot case
 2022-08-02 07:49:34 +10:00
Andrew Tridgell afd21298d5 Plane: adjust target vector for wind in overshoot 
at low speeds we want to keep the nose pointed into the wind on
landings
 2022-08-02 07:49:34 +10:00
Andrew Tridgell a1e7072cb1 Plane: cope with overshoot in POSITION1 VTOL land state 
when we overshoot run a simple position controller that tries to point
the nose at the landing point and aims for the position2 speed
threshold
 2022-08-02 07:49:34 +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
Iampete1 7c505ad0ff Plane: set defualt format version 2022-07-20 17:59:59 +10:00
Iampete1 040e08f4b1 Plane: tailsitter: dont check if flying its always true in vtol transtion 2022-07-20 17:40:08 +10:00
Iampete1 98887a984b Plane: FW approach: use abs value for loiter sum check 2022-07-20 17:02:07 +10:00
Iampete1 2bda3c44c6 Plane: FW approach: correct wrap on breakout direction check 2022-07-20 17:02:07 +10:00
Iampete1 2e342d7852 Plane: FW approach: allways use correct loiter direction 2022-07-20 17:02:07 +10:00
Iampete1 7a88dc9348 Plane: VTOL aproach threshold use path proprtion rarther than radius 2022-07-20 17:02:07 +10:00
Iampete1 3f410be344 Plane: log ATT on none quadplanes 2022-07-19 11:15:04 +10:00
Iampete1 dd2221338b Plane: fence: do not re-trigger if mode change for expected reason 2022-07-19 09:44:36 +10:00
Iampete1 90f2bf3ba2 Plane: remove duplicate last mode reason 2022-07-19 09:44:36 +10:00
Andrew Tridgell 28d2967883 Plane: allow for throttle control in MANUAL when disarmed 
pass base throttle down to ICE subsystem to allow for throttle when
disarmed in MANUAL
 2022-07-18 20:55:56 +10:00
Andrew Tridgell 5f5f70d20a Plane: fixed check for fixed wing approach QRTL start 
ensure we are lined up, or we are at less than 0.5 of radius before we
switch to QRTL. This fixes the case where the stopping distance is
greater than the radius, prevening us from switching to QRTL while not
lined up with the landing point
 2022-07-13 20:10:19 +10:00
Iampete1 712611c50e Plane: Quadplane: add yaw command model 2022-07-13 18:26:36 +10:00
Andrew Tridgell 3385d3ae62 Plane: support NAV_DELAY in plane 
allow for delayed takeoff, and takeoff at a particular time (for swarm
takeoff)

also check for takeoff command in landing sequence arming check

this allows for takeoff->land->disarm->delay->arm->takeoff->land
missions
 2022-07-12 10:34:26 +10:00
Iampete1 50024a6ec2 Plane: add AIS to ADSB stream rate 2022-07-12 09:39:54 +10:00
Andrew Tridgell 6a1e80a03a Plane: when ICE overrides throttle zero the vfwd integrator 2022-07-10 06:56:58 +10:00
Andrew Tridgell afb7b14703 Plane: don't failsafe when in RTL_AUTOLAND landing sequence 
when in AUTO and already in the landing sequence then don't trigger a
failsafe
 2022-07-06 17:47:48 +10:00
Andrew Tridgell 592f33bfaf Plane: fixed combination of passby and acceptance dist WP 
when a user sets a passby distance we should calculate the turn point
based on the extrapolated distance, not the original waypoint

also simplify the passby logic using offset_bearing()
 2022-07-04 10:26:47 +10:00
Henry Wurzburg 6bb567465a Plane: fixed misspellings of 'transition' 2022-07-01 11:54:16 -07:00
Mirko Denecke 463aed4b8f ArduPlane: fix Q_RTL_MODE parameter doc 2022-06-30 10:50:09 +10:00
Randy Mackay 8f54957530 Plane: do-mount-control specifies body-frame targets 
this is a non-functional change
 2022-06-29 10:56:48 +09:00
Andrew Tridgell 3fbe99ea4d Plane: prepare for 4.2.2 stable 2022-06-24 11:43:06 +10:00
Andrew Tridgell 3ffef61aec Plane: fixed int8_t wrap with FWD_BAT_VOLT_MAX 
this could cause crazy throttle values when the ratio pushes us over
127
 2022-06-23 09:25:03 +10:00
Iampete1 0cd1f605f6 Plane: Quadplane: always reset to QPOS_NONE on mode entry 2022-06-23 08:37:00 +10:00
murata 501bd61820 Plane: Initialize a string array 2022-06-22 17:25:56 +10:00
Iampete1 f2a162b963 Plane: rotate Qassist desired rates correctly 2022-06-21 10:01:30 +10:00
Iampete1 d251c51ca1 Plane: Quadplane: QRTL climb to QRTL alt first if in Q mode 2022-06-21 09:11:08 +10:00
Andrew Tridgell e9942f9a17 Plane: prepare for 4.2.2beta1 2022-06-17 14:09:09 +10:00
Andrew Tridgell 42f553626e Plane: adjust down default quadplane gains 
make it better for a typical quadplane, the defaults were more
suitable on smaller aircraft
 2022-06-16 21:26:49 +10:00
Peter Barker cfff881013 Plane: let AHRS update orientation in its own time 2022-06-12 17:32:11 +10:00
Iampete1 34609d327d Plane: Quadplane: force convertions of Q_M_PMW_* params if invalid and add arming check 2022-06-08 17:08:23 +10:00
Randy Mackay 402ea2b72d Plane: remove unused MSG_GIMBAL_REPORT 2022-06-07 09:27:47 +10:00
Andrew Tridgell 6423a2dfb9 Plane: use pos_control for weathervane attitude 
this makes no difference as wp_nav just passes through, but right API
to call
 2022-06-03 18:19:53 +10:00
Andrew Tridgell ae6b877fd3 Plane: added Q_NAVALT_MIN 
this is equivalent to copters WP_NAVALT_MIN parameter for takeoff. Not
implemented for land yet

this is useful for vehicles with significant GPS velocity noise on
takeoff, preventing dragging the landing gear
 2022-06-03 18:19:53 +10:00
TunaLobster df0a75a0bb Plane: Change throttle_override to pass in current throttle value 2022-05-26 11:30:41 -07:00
TunaLobster 9e26556408 AP_ICEngine: Add redline governor and RPM filter 
Adds a top end governor to protect the engine from exceeding design limits. Similar to idle governor.
Adds a LPF at 0.5 Hz for RPM.
 2022-05-26 11:30:41 -07:00
Andrew Tridgell 14a3e8b20c Plane: release notes for 4.2.1 2022-05-23 17:37:31 +10:00
Andrew Tridgell fa26b69298 Plane: fixed false positive in landing detector 
this fixes a case where we can get false positive on the landing
detector for quadplanes.

The issue happens if we cross the LAND_DESCEND to LAND_FINAL threshold
while pilot repositioning is active, with stale information in
landing_detect.lower_limit_start_ms as we don't run should_relax() in
LAND_DESCEND
 2022-05-23 13:05:17 +10:00
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
Andrew Tridgell 56db91d0c3 Plane: 32 servo conversion 2022-05-22 12:07:37 +10:00
Henry Wurzburg a3336f3d4f Plane: Add P/D only tune sets for quadplanes 2022-05-21 09:10:31 +10:00
Andrew Tridgell 5664f75ced Plane: update release notes for 4.2.1beta1 2022-05-19 17:11:20 +10:00
Andrew Tridgell 53a7866ba3 Plane: cope with QGC retrying AUTO mode 
QGC tries several times to enter AUTO even when it is refused. We need
to keep refusing
 2022-05-19 06:11:57 +10:00
Andrew Tridgell 86c2404654 Plane: increased safety of guided -> auto quadplane takeoff 
when we arm in guided mode then enter a special guided_wait_takeoff
state. We keep motors suppressed until one of the following happens

  1) disarm
  2) guided takeoff command
  3) change to AUTO with a takeoff waypoint as first nav waypoint
  4) change to another mode

while in this state we don't go to throttle unlimited, and will refuse
a change to AUTO mode if the first waypoint is not a takeoff. If we
try to switch to RTL then we will instead use QLAND

This state is needed to cope with the takeoff sequence used by QGC on
common controllers such as the MX16, which do this on a "takeoff"
swipe:

  - changes mode to GUIDED
  - arms
  - changes mode to AUTO
 2022-05-18 06:43:16 +10:00
Andrew Tridgell a22e181acb Plane: account for sprung throttle in VTOL throttle suppression 
when RC_OPTIONS has been changed to not check throttle for arming then
treat this like a sprung throttle for quadplane throttle suppression
in auto-throttle modes, and only unsuppress when throttle goes above
trim+dz
 2022-05-15 21:17:50 +10:00
Andrew Tridgell 20f641de99 Plane: refuse arming if we are in a landing sequence 
this helps when the aircraft has gone into a landing sequence due to a
failsafe before it is armed. Arming while in the landing sequence is
very unlikely to be what the user wants
 2022-05-15 21:17:50 +10:00
Peter Barker d5fdc2027f ArduPlane: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-11 17:40:35 +10:00
Peter Barker 6152b8618f ArduPlane: remove handling of MAVLINK_MSG_ID_SET_HOME_POSITION 
We decided to remove this after 4.2 was out in favour of
MAV_CMD_DO_SET_HOME which has been available since 2015.

The gcs-maintainers list was notified in Feburary.
 2022-05-10 09:46:22 +10:00
Andrew Tridgell 86d2ccf0e7 Plane: update gyro fft throttle 
allows for updating or learned FFT freq
 2022-05-10 08:08:56 +10:00
Andrew Tridgell 8aba79b8a0 Plane: release notes for 4.2.0 2022-05-04 10:33:50 +10:00
Peter Barker e2e3e228b3 ArduPlane: tidy includes 2022-05-03 09:14:58 +10:00
Mirko Denecke d6bca7405a ArduPlane: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Andrew Tridgell 12d829e740 Plane: release notes for plane 4.2.0beta6 2022-04-28 18:19:40 +10:00
Peter Barker 91e784f28d Plane: do not use guided waypoint for loiter location 
Currently this waypoint is set 10,000m away by the avoidance behaviour

Instead, immediately enter loiter mode
 2022-04-21 06:59:39 +10:00
Henry Wurzburg 0d01ac389c Plane: add Q_OPTION for RTL always on RC failsafe for ship landing 2022-04-19 19:58:46 +10:00
Andrew Tridgell 15084cb6f3 Plane: moved harmonic notch update code to AP_Vehicle 2022-04-19 09:39:03 +10:00
Andrew Tridgell 7aafd5cf98 Plane: param conversion for INS_NOTCH to INS_HNTC2 2022-04-19 09:39:03 +10:00
Andrew Tridgell d57abb1230 Plane: support harmonic notch on 2nd RPM sensor 2022-04-19 09:39:03 +10:00
Andrew Tridgell c1d841dd93 Plane: support two full harmonic notch filters 2022-04-19 09:39:03 +10:00
Sanket Sharma 594160daf3 Plane: Updated highest airspeed limit when armed 2022-04-18 14:54:57 +10:00
Andrew Tridgell 627f62d23b Plane: param conversion for INS_NOTCH to INS_HNTC2 2022-04-16 08:14:06 +10:00
Peter Barker fd4a00a654 ArduPlane: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Andrew Tridgell 3bdcff263d Plane: release notes for 4.2.0beta5 2022-04-07 10:07:25 +10:00
Andrew Tridgell 8e37c93e7d Plane: fixed rudder control when ARMING_RUDDER != 2 
when rudder disarm is disabled we should allow full yaw control
regardless of throttle level. We should also only disable left yaw
when throttle is at zero, as right yaw does not indicate pilot may be
trying to disarm
 2022-04-03 09:12:03 +10:00
Peter Barker 2c42c056d8 Plane: correct EnableLandResponsition->EnableLandReposition 2022-03-31 20:30:55 +11:00
Mark Whitehorn 910406e82d Plane: handle AIRBRAKE RC option 2022-03-29 22:51:10 +01:00
Andrew Tridgell c32a2d542c Plane: added release notes for 4.2.0beta4 2022-03-28 20:55:43 +11:00
Andrew Tridgell 48881eeb55 Plane: fixed yaw on the ground when rudder disarming in AUTO 
when a quadplane touches down in an auto throttle mode the pilot may
use rudder to disarm. The check for rudder disarm was only active in
modes without auto-throttle. This expands it to all modes if the
throttle has hit the lower limit
 2022-03-24 07:44:40 +11:00
Andrew Tridgell 680162cef0 Plane: added a value for RTL_AUTOLAND to disable arming check 
set RTL_AUTOLAND=3 to get go-around but not RTL DO_LAND_START usage
 2022-03-23 20:22:58 +11:00