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3502 Commits

Author SHA1 Message Date
Michael du Breuil
d6cac4b52a Plane: Add a failure timer for quadplane forward transitions 
Falls over to QLAND if we fail to transition
 2019-01-08 10:52:12 +11:00
Michael du Breuil
64e152fbc0 Plane: Remove unneeded GCS rally override 2019-01-08 10:39:50 +11:00
Michael du Breuil
ae6dc01cd5 Plane: Reset all storage when format version is incorrect 2019-01-08 10:35:37 +11:00
murata
02d692f32e Plane: Delete NuttX version processing 2019-01-08 10:06:20 +11:00
Andrew Tridgell
97e54f6359 Plane: allow mavlink when in sensor error 2019-01-04 19:17:31 +11:00
Michael du Breuil
09f6ec8a00 Plane: Remove unneeded AP_Buffer include 2018-12-31 11:41:43 +09:00
Michael du Breuil
e6bc44f471 Plane: Fix cases where quadplane level transition was not applied 2018-12-31 10:36:32 +11:00
Michael du Breuil
69c87c6c4a Plane: Disallow arming if quadplane has been requested but isn't available 2018-12-28 18:09:21 +11:00
IamPete1
9c2db806f3 Plane: add units to Q_VFWD_ALT 2018-12-28 16:15:41 +11:00
Andrew Tridgell
7939f3488b Plane: log PIDs during QAUTOTUNE twitch 2018-12-22 15:10:23 +11:00
Andrew Tridgell
088442880e build: removed makefile build system 2018-12-22 11:06:59 +11:00
Andrew Tridgell
9117dcc54b Plane: don't log QTUN when VTOL not active 2018-12-21 22:17:52 +11:00
Andrew Tridgell
d3afc9424a Plane: make QTUN logging match copter logging 2018-12-21 22:17:52 +11:00
Andrew Tridgell
1013eddfce Plane: use AHRS_View for RATE logging 2018-12-21 22:17:52 +11:00
IamPete1
1a98989ac6 Tailsitter: move mixer to AP_motors 2018-12-21 11:19:18 +09:00
Michael du Breuil
a78bce32c0 Plane: Allow users to force target airspeed in cruise or fbwb 2018-12-18 22:36:55 -08:00
Peter Barker
d133f998c5 Plane: split SIMSTATE, AHRS2 and AHRS3 onto their own ap_message ids 2018-12-19 13:19:23 +11:00
Peter Barker
54022b6b57 Plane: split DISTANCE_SENSOR onto its own ap_message id 2018-12-19 07:24:37 +11:00
Randy Mackay
a96c1566ec Plane: fix quadplane pos control param docs 2018-12-18 12:01:07 +00:00
Peter Barker
17f244ce9f Plane: try_send_message caller checks telemetry_delayed 2018-12-18 14:25:56 +11:00
Peter Barker
5137c0ab5f Plane: split SYS_STATUS and POWER_STATUS onto separate ap_messages 2018-12-18 14:05:20 +11:00
Michael du Breuil
47dfafd670 Plane: Ensure that the plane is an appropriate distance out before starting the approach 2018-12-18 10:11:22 +11:00
Michael du Breuil
05484c3987 Plane: Support a different landing airspeed for fw quadplane landings 2018-12-18 10:11:22 +11:00
Michael du Breuil
1a45755ffd Plane: Support a different landing radius for quadplane fw approach 2018-12-18 10:11:22 +11:00
Michael du Breuil
f1154a6e7c Plane: Pass the mission command around rather then fetching it 2018-12-18 10:11:22 +11:00
Michael du Breuil
42e67d5849 Plane: Whitespace fixes 2018-12-18 10:11:22 +11:00
Michael du Breuil
e8885ee1a5 Plane: Fly a planned abort sequence if available 2018-12-15 09:03:25 +11:00
Nikhil Upadhye
d1e93bae83 Plane: adding new mode QAUTOTUNE 
copter like autotune support for quadplanes and tailsitter in VTOL mode.

cleanup
 2018-12-14 16:33:11 +11:00
Peter Barker
9d323b4b90 Plane: move accept_packet to GCS_MAVLink base class 2018-12-14 12:44:31 +11:00
Peter Barker
56675851b6 Plane: DataFlash uses AP_Mission singleton 2018-12-13 14:45:30 +09:00
Peter Barker
2978da5ecd Plane: GCS_MAVLink now uses Mission singleton 2018-12-13 10:52:52 +09:00
Peter Barker
bcf68a9103 Plane: split MSG_SCALED_PRESSURE into three separate messages 2018-12-12 21:36:01 +11:00
Peter Barker
a263364959 Plane: GCS_MAVLink uses dataflash singleton 2018-12-11 08:43:47 +09:00
Michael du Breuil
f3a843ebf7 Plane: Fix a comma in bitmask that was breaking emitters 2018-12-11 10:24:40 +11:00
Peter Barker
153228bef5 Plane: call GCS update functions at quadcopter main loop rate 2018-12-10 12:52:41 +09:00
Peter Barker
18d4df8d4f Plane: split MSG_RAW_IMU1 into per-IMU ap_messages 2018-12-10 12:52:41 +09:00
Peter Barker
67042d39d1 Plane: send both SYS_STATUS or POWER_STATUS or neither 2018-12-10 12:52:41 +09:00
Peter Barker
d1727d26a1 Plane: rename send_extended_status1 to send_sys_status 2018-12-10 12:52:41 +09:00
Peter Barker
7f5c0db949 Plane: adjust for new update entry points into GCS 2018-12-10 12:52:41 +09:00
Peter Barker
1ca67df663 Plane: add parameter stream to list-of-all-streams 2018-12-10 12:52:41 +09:00
Andrew Tridgell
fa04c2d094 Plane: prevent jitter on surfaces due to speed scaling 
when disarmed the k_throttle output can oscillate due to stage in the
loop we are at, even though actual output is zero. This can cause
jitter in the speed scaling, which causes surface movement

To fix, don't use k_throttle value when disarmed
 2018-12-06 17:44:11 +11:00
Randy Mackay
71708ee4ea Plane: quadplane uses set_defaults_from_table 2018-12-06 12:23:41 +09:00
Peter Barker
edd4f6d14d Plane: rename MSG_EXTENDED_STATUS2 to MSG_MEMINFO 2018-12-04 18:01:38 +11:00
Peter Barker
de479032ba Plane: rename MSG_RAW_IMU2 and MSG_RAW_IMU3 to reflect what they send 2018-12-04 17:45:32 +11:00
Andrew Tridgell
6c7af3830b Plane: apply throttle slew to dual-motor setups 
thanks to Alex for noticing this issue
 2018-12-04 09:08:31 +11:00
IamPete1
c6e70c0454 Plane: add roll limit for tailsitters 
Quadplane: add tailsitter pitch params
 2018-12-01 09:40:07 +11:00
Andrew Tridgell
b6519c88a5 Plane: fixed a bug in Q_ASSIST_ modes for tiltrotors 
when a tilt-rotor drops below Q_ASSIST_SPEED we need to keep it in the
airspeed wait state until it has regained airspeed, otherwise we will
end up with too low throttle
 2018-11-30 18:17:42 +11:00
Leonard Hall
0943ace7a9 Plane: Zero Yaw correction during transition 
and relax attitude controller when not using lift motors.
 2018-11-30 18:16:29 +11:00
Andrew Tridgell
c081ce9adb Plane: don't relax attitude controllers for tailsitters 
this fixes an issue with testing control movement when disarmed
 2018-11-30 13:01:53 +11:00
Peter Barker
ba3a369651 Plane: remove update_events scheduler shim 2018-11-27 10:07:13 +11:00
Michael du Breuil
1e220d3d37 Plane: Add support for mode change to QLand as a failsafe 2018-11-24 14:37:04 -08:00
Peter Barker
d4e88bc6ba Plane: remove pointless wrappers around RC_Channels functions 2018-11-23 10:56:17 +11:00
Peter Barker
03b71e1123 Plane: remove pointless wrappers around gcs functions 2018-11-23 10:56:17 +11:00
Andrew Tridgell
4d8fbdfcfd Plane: fixed spoiler left rudder order 
thanks to @jgilbertfpv for noticing
 2018-11-20 20:10:00 +11:00
Andrew Tridgell
1d00d26b9e Plane: added parameters for crow flaps 
DSPOILER_CROW_W1 and DSPOILER_CROW_W2 for inner and outer control
surfaces
 2018-11-20 10:00:38 +11:00
jgilbertfpv
4d6547c533 Plane: added crow brakes and diff. spoilers 
added crow braking via flap channel to differential spoilers and
reversed dspoiler outputs because having the inner elevon go up and
outer go down causes tip stall. now inner goes down, outer goes
up. still could use a percentage adjustment to change how much throw
each surface gets when using flap input.
 2018-11-20 10:00:38 +11:00
Andrew Tridgell
987b556299 Plane: disable crash detection if no GPS and no airspeed 2018-11-19 07:32:20 +11:00
Andrew Tridgell
b660022b20 Plane: handle long GPS loss in crash detector 
fixes issue #9349
 2018-11-19 07:32:20 +11:00
DOMINATOR\Eugene
802ae94e2c ArduPlane: move airspeed update to library 2018-11-17 07:52:42 +11:00
Andrew Tridgell
03f1deca9f Plane: support REVERSE_THROTTLE rc option 
this provides a more convenient way to setup for reverse throttle
 2018-11-16 08:33:35 +11:00
Andrew Tridgell
da69bf3391 Plane: added an abstraction for reverse thrust 
use have_reverse_thrust() and get_throttle_input()
 2018-11-16 08:33:35 +11:00
Peter Barker
a5c34f6172 Plane: OpticalFlow takes care of its own logging 2018-11-13 10:40:23 +11:00
Peter Barker
e53a009a35 Plane: do not pass ahrs to opticalflow constructor 2018-11-13 10:40:23 +11:00
Peter Barker
12c67ecaab Plane: move sending of optical flow status up to base class 2018-11-13 10:40:23 +11:00
Andrew Tridgell
c59b2c156a Plane: fixes for Q_TRIM_PITCH 
improved documentation and variable names
 2018-11-12 17:05:04 +11:00
IamPete1
5a7bd61e8c Quadplane: add trim params 2018-11-12 17:05:04 +11:00
Andrew Tridgell
85a1f9e40d Plane: added ACCZ pid tuning 2018-11-12 15:36:39 +11:00
Andrew Tridgell
432d786f82 Plane: pass height to landing gear update 2018-11-10 21:24:19 +11:00
Michael du Breuil
8ce0460daf Plane: Remove old parameter conversion 2018-11-10 18:58:54 +11:00
Michael du Breuil
8e906e0ba0 Plane: Add support for a loiter to alt approach to VTOL landing 2018-11-10 18:58:54 +11:00
Andrew Tridgell
f89c770c46 Plane: moved LANDING_GEAR to common RC_Channel 2018-11-09 14:35:14 +11:00
Eugene Shamaev
01178a75e9 Plane: added landing gear support 2018-11-09 14:35:14 +11:00
Peter Barker
818bb8d56d Plane: don't pass ahrs to terrain constructor 2018-11-08 20:59:45 +11:00
Peter Barker
4b68ca79dc Plane: stop passing ahrs to Mission constructor 2018-11-08 10:01:16 +09:00
Andrew Tridgell
f2b8067023 Plane: pass manual_rc_mask to iocmu mixer 2018-11-07 07:35:45 +11:00
Andrew Tridgell
c3d434bc35 Plane: pass mixing gain to iomcu 2018-11-07 07:35:45 +11:00
Andrew Tridgell
d5c29fc57e Plane: use IOMCU mixing if available 2018-11-07 07:35:45 +11:00
Michael du Breuil
1c54fa0230 Plane: Remove old battery conversion that conflicts with new monitor 2018-11-06 10:18:39 +09:00
Michael du Breuil
d9e02403e1 Plane: Fix battery failsafe parameter conversion 2018-11-06 10:18:39 +09:00
Michael du Breuil
9e1b0de6b7 Plane: Make capability init consistent 2018-11-05 14:04:36 +11:00
Andrew Tridgell
1c162c8b64 Plane: ensure speed scaling covers full aircraft speed range 
this is important for very fast or very slow aircraft
 2018-11-02 15:30:50 +11:00
Andrew Tridgell
5ce418b4ea Plane: added FLIGHT_OPTIONS bit for disabling pitch up check in takeoff 
some takeoff procedures use high pitch angles
 2018-10-31 18:53:36 +11:00
Andrew Tridgell
a00e06ea13 Plane: added TKOFF_ACCEL_CNT for multi-shake to start 
this allows you to setup shake to start with a lower accel threshold,
but with multiple fwd/back movements needed.

This implements https://github.com/ArduPilot/ardupilot/issues/2221
 2018-10-31 18:53:36 +11:00
Peter Barker
27b444f4e8 Plane: move handling of gimbal messages up 
Plane: move handling of mav_cmd_do_mount_control up

Plane: move handling of deprecated mount messages up

Plane: move handling of command_do_set_roi up

Plane: mount no longer takes ahrs in constructor
 2018-10-30 17:19:14 +11:00
Peter Barker
7890fbeaa1 Plane: let AP_Mission handle common camera commands 2018-10-30 15:37:18 +11:00
Peter Barker
1653b34b2b Plane: move servorelayevents mission handling into AP_Mission 2018-10-30 15:37:18 +11:00
Peter Barker
dc6a03f5e0 Plane: mission library handles gripper 2018-10-30 15:37:18 +11:00
Peter Barker
3b49e46c36 Plane: AC_Avoid is built on all vehicles 2018-10-30 12:10:42 +11:00
Andrew Tridgell
009786a338 Plane: small update to failsafe documentation 2018-10-18 11:38:07 +11:00
Peter Barker
9e4e17c797 Plane: leave AHRS to log and notify home changes 2018-10-16 10:55:13 +11:00
Peter Barker
4e3e39a3e8 Plane: make libraries get EKF control limits themselves 2018-10-09 10:47:38 +11:00
Michael du Breuil
3aed07a83a Plane: Create a scripting object 2018-10-09 10:08:52 +11:00
Michael du Breuil
02d37d43d2 Plane: Disallow climbs during TRANSITION_AIRSPEED_WAIT 2018-10-02 09:35:47 +10:00
Michael du Breuil
b945970914 Plane: Fix FLIGHT_OPTIONS bitmask doc 2018-09-27 17:20:49 +01:00
Michael du Breuil
b2ef6b901e Plane: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Michael du Breuil
b6efc8a20b Plane: reduce some copy pasted code 2018-09-20 13:47:21 -07:00
Andrew Tridgell
adf318ce06 Plane: release notes for 3.9.2beta3 2018-09-20 07:17:34 +10:00
Leonard Hall
13c27e0eb8 Plane: Missing Loiter Init on accel 2018-09-19 17:29:55 +09:00
Andrew Tridgell
0e0d847f7f Plane: updated release notes for 3.9.2beta2 2018-09-15 16:11:04 +10:00
Andrew Tridgell
5136b90d27 Plane: do attitude relax after 100ms 2018-09-15 11:00:29 +10:00
Leonard Hall
e50414d8b9 Plane: Log VTOL targets in ATT message in VTOL mode 2018-09-15 11:00:29 +10:00
Leonard Hall
7372a7b5f9 QuadPlane: Remove repeat I term reset 2018-09-15 11:00:29 +10:00
Andrew Tridgell
ef154cf3fa Plane: fixed relaxing of attitude controller on transition 
this fixes an issue found by Leonard where the attitude controller
could have residual control left over from a previous transition when
engaging the VTOL attitude controller
 2018-09-15 11:00:29 +10:00
Andrew Tridgell
2215913b02 Plane: added speed scaling reduction for Q modes 
when in a Q mode reduce surface movements at low airspeed, in case we
have the wind from behind us. This prevents the control surfaces from
causing instability
 2018-09-14 19:28:29 +10:00
Andrew Tridgell
2d3942222b Plane: handle reverse thrust in AFS failsafe 
and zero differential thrust
 2018-09-13 08:15:02 +10:00
Andrew Tridgell
455f15a157 Plane: handle twin motor planes for AFS failsafe 2018-09-13 08:15:02 +10:00
Andrew Tridgell
6707c8af36 Plane: update release notes for 3.9.2beta1 2018-09-12 16:33:49 +10:00
Andrew Tridgell
aa1548e404 Plane: fixed throttle when terminated 
thanks to Michael Thomas for reporting this
 2018-09-12 14:13:33 +10:00
Randy Mackay
d6a102234e Plane: rename rudder_arming to get_rudder_arming_type 2018-09-11 19:34:39 +10:00
Randy Mackay
b61b25e5bf Plane: minor format fix to Parmeters.cpp 2018-09-11 19:34:39 +10:00
Randy Mackay
96d494c2e8 Plane: use parent AP_Arming rudder value 2018-09-11 19:34:39 +10:00
Michael du Breuil
f150cae75a Plane: Allow center throttle to be trim airspeed in cruise 2018-09-11 09:07:00 +10:00
Michael du Breuil
ee96c53844 Plane: Don't go to minimum airspeed when in RC failsafe in cruise/fbwb 2018-09-11 09:07:00 +10:00
Michael du Breuil
f9e56f9d12 Plane: Respect frame type on VTOL_TAKEOFF commands 
allow missioncommands to fail to start
 2018-09-11 06:42:00 +10:00
Peter Barker
b574f4c1fc Plane: move support for inverted flight to rc-aux-switch 
Functional change here; if someone de-configures the rc aux switch in
flight they will remain inverted
 2018-09-07 09:07:40 +10:00
Peter Barker
4ad1869f43 Plane: add arm/disarm on aux switch 2018-09-06 08:26:50 +10:00
Peter Barker
901664ce09 Plane: add support for RCn_OPTION (servorelay,camera) 
Closes #7071
Closes #7666
 2018-09-05 13:44:07 +10:00
Michael du Breuil
925d76bb8c Plane: Small cleanup to quadplane const (and clarity) 2018-09-04 15:11:41 +10:00
Leonard Hall
e11c7c6069 QuadPlane: remove true from init of loiter 2018-09-04 13:37:28 +09:00
Peter Barker
1aa75e4c3e Plane: use camera singleton to get camera rather than callback 2018-08-31 15:48:56 +10:00
Peter Barker
558158c62a Plane: GCS_MAVLink uses compass singleton, stop implementing get_compass 2018-08-31 15:48:56 +10:00
Andrew Tridgell
066c26e445 Plane: updated 3.9.1 release notes 2018-08-31 12:35:59 +10:00
Michael du Breuil
3098744777 Plane: Fix a stale rudder input that was left from rebase 2018-08-28 10:44:17 +10:00
Michael du Breuil
8417bcc7d5 Plane: Add flight options bitmask 2018-08-28 09:40:53 +10:00
Andrew Tridgell
d1f419b530 Plane: updated release notes for 3.9.1beta3 2018-08-23 13:30:14 +10:00
Michael du Breuil
e4bbcd5ee3 Plane: Don't initilize motors with a trim value 2018-08-23 13:19:08 +10:00
Andrew Tridgell
d9b72f6821 Plane: reset rudder input during RC failsafe 2018-08-23 12:55:11 +10:00
Michael du Breuil
9ed5184d98 Plane: Remove unneeded ServoRelayEvent mask set 2018-08-20 21:31:06 -07:00
Michael du Breuil
fa1ad09a3b Plane: Remove unneeded rudder set 2018-08-21 08:32:56 +10:00
Andrew Tridgell
b11552e945 Plane: update release notes for 3.9.1beta2 
# Conflicts:
#	ArduPlane/release-notes.txt
 2018-08-17 20:43:02 +10:00
Alexander Malishev
001948d40c Plane: publish navigation info to OSD 2018-08-16 10:26:34 +10:00
Michael du Breuil
c8cb5b9e0f Plane: Log target airspeed to NTUN messages 2018-08-09 11:53:05 +10:00
Michael du Breuil
3d923d0572 Plane: Send a quadplane version of NAV_CONTROLLER_OUTPUT 2018-08-07 09:49:01 +10:00
Randy Mackay
903d00c4b2 Plane: remove compass accumulate 2018-08-06 11:05:34 +10:00
Andrew Tridgell
690bbcdaad Plane: release notes for 3.9.0 2018-08-06 10:44:29 +10:00
Andrew Tridgell
c964a393c0 Plane: fixed RC_Channels parameter docs 2018-08-04 12:28:38 +10:00
Peter Barker
9ce02bc504 Plane: minimal support for inheritting from RC_Channel 2018-08-01 12:11:30 +09:00
Michael du Breuil
eea8267704 Plane: Update notify initilization 2018-08-01 09:22:09 +10:00
Andrew Tridgell
4f2508d89f Plane: updated release notes for 3.9.0beta6 2018-07-30 18:18:53 +10:00
Andrew Tridgell
1d675390ab Plane: make soaring an optional build feature 
this disables soaring on px4-v2, saving 5k of flash

This is needed to consider pr #9042, which takes a lot of flash space
 2018-07-30 13:09:15 +10:00
Andrew Tridgell
16c7ab81dc Plane: pass rc_speed to motor backend constructors 
this sets the right speed as early as possible
 2018-07-28 15:25:57 +10:00
Andrew Tridgell
a4d3b08d87 Plane: release notes for 3.9.0beta5 2018-07-19 12:42:27 +10:00
IamPete1
20c67019b0 Plane: added Q_TAILSIT_THSCMX 
this provides more flexibility in tailsitter throttle scaling
 2018-07-19 09:48:25 +10:00
Andrew Tridgell
149a6af48f Plane: releases notes for plane 3.9.0beta4 2018-07-18 20:45:02 +10:00
Andrew Tridgell
07187f7797 Plane: fixed ARMING_REQUIRE=2 for dual-motor planes 
many thanks to Marco for finding this bug!
 2018-07-18 19:58:02 +10:00
Michael du Breuil
f25726fbb1 Plane: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Andrew Tridgell
ad55605605 Plane: update version to 3.10.0-dev 2018-07-06 11:01:05 +10:00
Andrew Tridgell
db1f1a42d6 Plane: updated 3.9.0beta2 release notes 2018-07-06 10:59:55 +10:00
Peter Barker
94ad85a67d Plane: handle MAV_CMD_ACCELCAL_VEHICLE_POS in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker
d077723028 Plane: handle command_int in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker
d76e7d210b Plane: handle command_long in GCS base class 2018-07-06 09:43:09 +10:00
Andrew Tridgell
1d91f18177 Plane: fixed version for enums 2018-07-05 11:10:31 +10:00
Andrew Tridgell
bd4515947a Plane: updated release notes 2018-07-05 11:10:27 +10:00
Peter Barker
85f339caae Plane: remove annoying ice_update shim 2018-07-04 21:08:47 +01:00
Peter Barker
e404562544 Plane: remove vexing button_update shim 2018-07-04 21:08:47 +01:00
Peter Barker
c42fb6d797 Plane: remove pointless rangefinder_init shim function 2018-07-04 21:08:47 +01:00
Peter Barker
4502fd21c3 Plane: use compass singleton for logging 2018-07-04 20:11:27 +01:00
Peter Barker
3bfa4c8678 Plane: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
Peter Barker
320e24af65 Plane: move mavlink reboot code up to base class 2018-07-03 12:12:25 +10:00
Jacob Walser
4eb00ac779 Plane: refactor output_test -> output_test_seq 2018-07-02 11:31:58 -04:00
Lucas De Marchi
1a45aa12f5 AP_Param: warn on last pass only about unknown parameters 
Do not warn about unknown parameters on the first pass, i.e. when
AP_Param:load_all() is called. This is because we may still not know
about dynamically loaded parameters. When we call the second (last)
time, we expect to already know all possible parameters, so print a
warning to both console and the debug terminal.
 2018-06-28 10:18:19 -07:00
Lucas De Marchi
7f0d5ddf21 AP_Param: stop panic()'ing on unknown parameters 
Our track record on keeping parameters up to date with master is not
great and panic()'ing when loading them apparently is not helping
because every and each vehicle has a different file.

On aerofc load_defaults_file() is used in the same way as
load_embedded_param_defaults() is in which the panic() behavior has been
previously removed.

This finishes the removal of the panic param and add warnings to the
debug console when reading the parameters (rather than when counting
them).
 2018-06-28 10:18:19 -07:00
Andrew Tridgell
bc503cc600 Plane: moved OSD to top level params 
this is to give lots of depth for OSD params (which will be very
complex)
 2018-06-27 14:55:00 +10:00
Alexander Malishev
75bf6984f5 Plane: added OSD support 2018-06-27 14:55:00 +10:00
Michael du Breuil
1c276e6af7 Plane: Remove unneeded wrapper functions 
Also removes unneeded battery failsafe flag clearing
 2018-06-27 11:39:35 +10:00
Peter Barker
23919daf11 Plane: use arming check_failed function 2018-06-23 15:33:19 +10:00
Andrew Tridgell
d454bc555e Plane: added ESC_TELEMETRY to mavlink streams 2018-06-21 10:48:02 +10:00
Peter Barker
f984e5e31d Plane: use magic force arm/disarm definitions 2018-06-20 11:43:38 +10:00
Peter Barker
f5e241af01 Plane: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
Peter Barker
2b7f9247e8 Plane: use AP_FWVersion singleton 2018-06-18 19:10:37 +01:00
Peter Barker
9824832523 Plane: use AP_RTC 
Plane: AP_GPS now sets the system time directly
 2018-06-15 08:01:22 +10:00
Michael du Breuil
12da35220c Plane: Simplify radio trimming, improve MAVLink report 2018-06-11 16:29:36 -07:00
Michael du Breuil
fae8d1e489 Plane: Log navigation target location 
Closes #4358
 2018-06-12 09:08:58 +10:00
Peter Barker
2cdcca2841 Plane: move handling of MAV_CMD_DO_GRIPPER up 2018-06-11 19:07:39 +01:00
Andrew Tridgell
d8a7618e15 Plane: update use of AC_Loiter controller for quadplane 
this changes the way the loiter controller is initialised for QLOITER,
after discussions with Leonard.

The way we were doing it could cause a sudden acceleration demand when
switching into QLOITER.

This also changes the default loiter parameters to reduce the maximum
acceleration that will be applied in QLOITER. Many thanks to Leonard for
the advice
 2018-06-11 08:40:58 +09:00
Michael du Breuil
47c0048499 Plane: Remove manual polling of flap input channel 2018-06-05 09:51:09 +10:00
Michael du Breuil
a98a8d0789 Plane: Update to support new RC_Overrides conventions 2018-06-05 09:51:09 +10:00
Michael du Breuil
749861f8ad Plane: Only send healthy airspeed reports 2018-06-05 09:27:19 +10:00
Michael du Breuil
44f2a652f3 Plane: Remove software type param 2018-06-05 09:14:12 +10:00
Peter Barker
9437e893e5 Plane: move try_send_message handling of EKF_STATUS_REPORT up 2018-06-01 16:12:45 +01:00
Peter Barker
ac729f4614 Plane: lock home when it is set from the GCS 2018-05-29 14:38:45 +10:00
Peter Barker
18c4823427 Plane: return MAV_RESULT_ACCEPTED for setting home to current location 2018-05-29 14:38:45 +10:00
Peter Barker
bc9df01d21 Plane: remove sending of statustext for home location 2018-05-29 14:38:45 +10:00
Peter Barker
22306c370b Plane: factor out a Plane::set_home 2018-05-29 14:38:45 +10:00
Peter Barker
ad600fff68 Plane: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Peter Barker
5a087ee7e2 Plane: create persist_streamrates() callback to indicate persistence 2018-05-29 13:08:29 +10:00
Peter Barker
8b4ffb11f5 Plane: move sending of vfr_hud up 2018-05-29 13:00:40 +10:00
Tom Pittenger
4dca1c48f2 Plane: update vehicle max_speed to ADSB library 2018-05-23 14:02:45 -07:00
Peter Barker
ef77bea4eb Plane: move sending of simstate up 2018-05-23 18:36:50 +10:00
Peter Barker
2a68eca273 Plane: add type-correctness for stream messages 2018-05-22 11:21:25 +10:00
Peter Barker
2112d76b75 Plane: move try_send_message of servo-output-raw up 2018-05-21 19:08:08 +01:00
Andrew Tridgell
ce73918873 Plane: fixed throttle_percentage for twin engine planes 
there is no servo output for function 70 - use the scaled value
 2018-05-21 14:39:56 +10:00
Andrew Tridgell
805b159fd4 Plane: update release notes for 3.9.0 2018-05-21 14:38:35 +10:00
Peter Barker
cdf4128900 Plane: move sending of POSITION_TARGET_GLOBAL_INT up 2018-05-18 20:26:37 +10:00
Peter Barker
57cc0cac97 Plane: GCS_MAVLink base class now uses same ekf call to get alt 2018-05-17 15:48:06 +01:00
Peter Barker
5aefb90e61 Plane: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker
1545b9b161 Plane: remove arguments to send_home and send_ekf_origin 2018-05-17 20:42:36 +10:00
Peter Barker
6f8339028e Plane: move send_attitude into GCS_MAVLINK_Plane 2018-05-17 18:28:43 +10:00
Peter Barker
1f9d1ee5a2 Plane: move try_send_message sending of scaled_pressure up 2018-05-17 15:37:14 +10:00
Peter Barker
0e3ad3f023 Plane: move try_send_message sending of sensor offsets up 2018-05-17 15:37:14 +10:00
Peter Barker
e6411c6804 Plane: move try_send_message of RAW_IMU up to GCS_MAVLINK 2018-05-17 15:37:14 +10:00
Peter Barker
7afd056e98 Plane: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Peter Barker
052b76d017 Plane: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Michael du Breuil
fcf6c69a5b Plane: AP_Proximity is now a common library 2018-05-16 23:21:41 +01:00
Michael du Breuil
499df8e0b3 Plane: Move MAVLink rangefinder up to parent 2018-05-16 23:21:41 +01:00
Michael du Breuil
8afc96097b Plane: Send all distance sensors 2018-05-16 23:21:41 +01:00
Michael du Breuil
b479f3760a Plane: Remove some unneeded logging indirection 
Saves 32 bytes on make px4-v2
 2018-05-16 20:34:00 +10:00
Peter Barker
eb026e0a5f Plane: correct compilation when logging is disabled 2018-05-10 17:55:13 +09:00
Peter Barker
8da8c616f6 Plane: move sending of battery data up 2018-05-09 11:40:31 -07:00
Peter Barker
0fec702ba6 Plane: move data stream send up 2018-05-09 16:15:38 +10:00
Peter Barker
e10c23bd43 Plane: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Andrew Tridgell
8d996112ec Plane: don't do throttle ESC scaling for quadplanes 2018-05-09 14:17:15 +10:00
Peter Barker
1dcd731005 Plane: AP_RSSI is included in build for all vehicles 2018-05-08 12:33:32 +01:00
Peter Barker
68497f27fa Plane: move try_send_message handling of RC_CHANNELS up 2018-05-08 12:33:32 +01:00
Peter Barker
8df625e81a Plane: move try_send_message of heartbeats up to GCS_MAVLINK 2018-05-07 11:30:13 -06:00
Peter Barker
c1680d90a6 Plane: move try_send_message handling of VIBRATION up 2018-05-07 11:23:28 -06:00
Peter Barker
2e3a7fc5b6 Plane: remove rcmap member from AP_AdvancedFailsafe 2018-05-05 18:06:31 +09:00
Andrew Tridgell
c20351202d Plane: document TKOFF_THR_SLEW = -1 for takeoff 2018-04-26 15:59:06 +10:00
Andrew Tridgell
badea86fbd Plane: remove old pde file 
this was here for upgrading very old MissionPlanner versions. We can
remove it now
 2018-04-26 14:25:01 +10:00
Michael du Breuil
2deac7238c Plane: Support new RC_Channels::read_input() 2018-04-26 08:00:09 +10:00
Andrew Tridgell
7208fe96d5 Plane: update release notes for 3.8.5 2018-04-25 20:05:50 +10:00
Andrew Tridgell
d07f8aa42b Plane: fixed a bug in transition to QSTABILIZE for tailsitters 
this bug was found bug Marco on his tailsitter. It resulted in zero
throttle for 2s in transition from FBWA to QSTABILIZE
 2018-04-25 18:01:12 +10:00
night-ghost
aa53832a70 ArduPlane: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Peter Barker
5cc98a9733 Plane: use AP_ServoRelayEvents singleton 2018-04-18 20:31:55 +09:00
Peter Barker
5ef417a669 Plane: GPS now logs its own data 2018-04-18 13:50:55 +09:00
Michael du Breuil
7b7f5e242b Plane: Simplify channel reading 2018-04-14 14:05:20 +10:00
Peter Barker
2b54113334 Plane: Baro does its own dataflash logging 2018-04-12 19:12:12 +01:00
Michael du Breuil
3e4288d604 Plane: Use RC_Channels instead of hal.rcin 2018-04-11 21:47:07 +01:00
Michael du Breuil
1af2155641 Plane: Check MANUAL_CONTROL target 2018-04-10 16:54:34 +01:00
Randy Mackay
840a6e4147 Plane: quadplane uses AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Francisco Ferreira
bbe3e41162
Plane: fix method shadowing 2018-04-03 16:29:33 +01:00
Peter Barker
f6a185a3c3 Plane: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker
58d41e40d3 Plane: let GCS_MAVLink calibrate airspeed sensor 
Also remove useless zero_airspeed function
 2018-04-02 23:25:05 +01:00
Peter Barker
65893cfca5 Plane: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Peter Barker
71bc3f5def Plane: move common calibration functions up 2018-04-02 23:25:05 +01:00
Peter Barker
91c2ece7a2 Plane: factor out preflight calibration function 2018-04-02 23:25:05 +01:00
Michael du Breuil
7405bb7b85 Plane: Support new battery failsafes 2018-03-27 22:12:21 +01:00
Peter Barker
8a75a804e7 Plane: allow DataFlash to handle log sending 2018-03-26 09:22:47 +09:00
Przemek Lekston
e5a9ac84e7 [Plane] Fix verify_loiter_heading acceptance criteria. 2018-03-20 10:25:35 -07:00
Peter Barker
5572d83ce9 Plane: move handling of get_home_position up 2018-03-19 10:32:37 +09:00
Peter Barker
7fd859da65 Plane: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker
7c86c4fe61 Plane: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay
548a7f8fcf Plane: add minor comment to quadplane 2018-03-16 13:50:57 +09:00
Leonard Hall
ee745d2cd2 Plane: quad plane uses rate-control control during transitions 2018-03-16 13:50:57 +09:00
Leonard Hall
a16d4ddad7 Plane: quadplane uses poscontrol instead of loiter 2018-03-16 13:50:57 +09:00
Randy Mackay
c5d838125b Plane: quadplane logs PSC message 2018-03-16 13:50:57 +09:00
Randy Mackay
09cad7c59d Plane: quadplane integrates attitude control inertial_frame_reset 2018-03-16 13:50:57 +09:00
Randy Mackay
03c162432e Plane: quadplane provides dt to AC_WPNav::set_pilot_desired_acceleration 2018-03-16 13:50:57 +09:00
Randy Mackay
a0a9a68fbc Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC 
Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
 2018-03-16 13:50:57 +09:00
Leonard Hall
aa47b19dea Plane: remove quadplane calls to multicopter poscontrol's freeze_ff_xy 2018-03-16 13:50:57 +09:00
Peter Barker
f558bbca2e Plane: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker
4104d40130 Plane: delete correct assignment operator 2018-03-08 21:20:05 -08:00
Peter Barker
5671b3173e Plane: use AHRS singleton in GCS_MAVLink 2018-03-07 12:34:39 +00:00
Peter Barker
0862d1454e Plane: use AP::ahrs() for ADSB 2018-03-07 12:34:39 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
33288fa676 Plane: NFC adapt to new AP_Battery method name 2018-03-03 17:19:13 +00:00
Tom Pittenger
6820531e2a Plane: fixed error string spelling 2018-03-02 21:37:11 -08:00
Michael du Breuil
faea5d285c Plane: Consolidate some of the PID logging details 2018-03-03 17:34:18 +12:00
Andrew Tridgell
27e4953ad8 Plane: disable HIL on px4-v2 
this saves enough flash for px4-v2 to fit again
 2018-03-03 13:35:39 +11:00
night-ghost
98b8a61ca8 Plane: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
David Ingraham
a6aeebad4b Plane: Add support for AP_Gripper 2018-03-01 14:14:43 +11:00
David Ingraham
9419cc3b32 Plane: Fix param docs for quadplane attitude control 
Docs aren't currently being generated for plane for AC_AttitudeControl.cpp. I believe this will fix that.
 2018-02-20 16:38:27 +11:00
Andrew Tridgell
e6cebdecd1 Plane: use scheduler.get_last_loop_time_s() 2018-02-13 17:15:05 +11:00
Peter Barker
3859e5dfb1 Plane: eliminate update_perf_logging scheduler table shim 2018-02-13 17:15:05 +11:00
Andrew Tridgell
36660b2124 Plane: use filtered loop time 2018-02-13 17:15:05 +11:00
Peter Barker
4586b892f2 Plane: pass log-performance-bit at init time rather than update time 2018-02-13 17:15:05 +11:00
Peter Barker
8cae776448 Plane: move logging of PM and PERF messages to AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker
02540fdbf9 Plane: use AP_Scheduler's loop() function 2018-02-13 17:15:05 +11:00
Peter Barker
73092c3c30 Plane: use scheduler ticks in place of mainloop_count 2018-02-13 17:15:05 +11:00
Peter Barker
519e6c31d2 Plane: use AP::PerfInfo library 2018-02-13 17:15:05 +11:00
Randy Mackay
dd6755f486 Plane: fix global-pos-int velocity direction to NED 2018-02-13 08:52:48 +09:00
Andrew Tridgell
2fb6113098 Plane: use AP:PerfInfo class 2018-02-10 10:50:22 +11:00
Andrew Tridgell
ac196b8e0a Plane: fixed build error 2018-02-10 08:00:24 +11:00
Tom Pittenger
50a2d824c4
Plane: crash detection hard landing detection should skip debounce 
closes https://github.com/ArduPilot/ardupilot/issues/7683
 2018-02-09 11:40:12 -08:00
Andrew Tridgell
d1e11a5bde Plane: fixed build (remove learn_offsets call) 2018-02-08 17:36:33 +11:00
Michael du Breuil
43972f8e56 Plane: Move battery logging code to AP_BattMonitor 2018-02-06 00:11:32 +00:00
Randy Mackay
ddcd08d6b6 Plane: PSC_ACCZ param name shortened 2018-01-31 08:48:21 +09:00
Michael du Breuil
aec7521da4 Plane: Fix truncation of a time interval 
Truncating the a millisecond time delta to uint16_t causes it to wrap
every 65 seconds, which could momentarily reset the desired climb rate
 2018-01-25 14:30:49 +11:00
Randy Mackay
d579e086cf Plane: quadplane param index comment for moved PIDs 2018-01-24 21:14:53 +09:00
Andrew Tridgell
20b05e4228 Plane: added conversion code for PID layout change 
this copes with the move of multicopter PIDs inside the position
controller
 2018-01-24 18:23:59 +11:00
Tom Pittenger
518abfe1d0 Plane: Allow GUIDED mode to take advantage of crosstrack flag. 2018-01-22 19:17:09 -08:00
Randy Mackay
7b1157e2d8 Plane: remove setting accel_z PID controller's dt 
This is handled within pos-controller's set_dt function
 2018-01-23 12:00:43 +09:00
Randy Mackay
f41f4dc6e5 Plane: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay
017e71a748 Plane: quadplane velocity pi moves to position control library 2018-01-23 12:00:43 +09:00
Michael du Breuil
ff85f5e9bd Plane: Support AP_BattMonitor_Params 2018-01-17 22:21:55 +00:00
Andrew Tridgell
5614fd1ccc Plane: use calloc in preferance to malloc 2018-01-17 11:22:05 +11:00
Andrew Tridgell
2c6a004a67 Plane: mark version as 3.9.0-dev 2018-01-16 11:04:55 +11:00
Andrew Tridgell
be0d2229c1 Plane: update release notes 2018-01-16 11:03:26 +11:00
Andrew Tridgell
31d7d9f909 Plane: change airspeed parameter prefix 
this makes for clearer parameter names with dual sensors
 2018-01-16 07:14:20 +11:00
Andrew Tridgell
c1cbbf9203 Plane: check all airspeed sensors are healthy 2018-01-16 07:14:20 +11:00
Tom Pittenger
746ca91649 Plane: reset groundspeed_undershoot value when GPS is lost 
If we lose GPS lock the gndspd undershoot value gets stuck at the last calculated value forever (until GPS locks again)
 2018-01-09 17:05:04 -08:00
Tom Pittenger
1ef0f27786 Plane: allow control_mode enum to be in arbitrary order 
never use control_mode >= BLAH. This requires the order to be important which greatly increases chance for unexpected behavior
Closes https://github.com/ArduPilot/ardupilot/issues/4656
 2018-01-09 17:05:04 -08:00
Tom Pittenger
39a200b83f Plane: allow control_mode enum to be in arbitrary order 
never use control_mode >= BLAH. This requires the order to be important which greatly increases chance for unexpected behavior
Closes https://github.com/ArduPilot/ardupilot/issues/4656
 2018-01-09 17:05:04 -08:00
Peter Barker
c4c6b3cc70 Plane: AP_AHRS no longer requires GPS in constructor 2017-12-27 00:58:02 +00:00
Peter Barker
c5ae01fc6d Plane: use GPS singleton 2017-12-27 00:58:02 +00:00
luweikxy
25224cd261 Plane: remove dead code from do_vtol_land 2017-12-14 20:52:18 +09:00
Andrew Tridgell
30e224e705 Plane: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Michael Oborne
9ed3ca3d35 ArduPlane: update version number 2017-12-13 18:00:03 +11:00
Ubuntu 16.04 VM
624aef401d Plane: Enforce THR_MIN/THR_MAX in VTOL modes 2017-12-11 22:18:39 -08:00
Tom Pittenger
512b327cd4 Plane: failsafe events to use enums instead of magical numbers : Non-functional change 2017-12-07 00:19:32 -08:00
Peter Barker
af007c5f0f Plane: tighten handleMessage result type 2017-12-01 17:01:10 +00:00
Tom Pittenger
3d6cc59a6b Plane: cleanup geofence warnings 2017-11-27 18:35:49 -08:00
Andrew Tridgell
2a81792b41 Plane: don't disable compass on one bad reading 
the compass can go back for a short time and recover

found by Michael
 2017-11-28 09:02:24 +11:00
Andrew Tridgell
49cb245ea6 Plane: use a min airspeed for is_flying test 
in VTOLs setting min airspeed to zero can be useful
 2017-11-28 09:02:24 +11:00
Michael du Breuil
1a3ca43e86 Plane: Don't check FS_SHORT_TIMEOUT if it's disabled 
Also renames the check_minimum_altitude() to reflect that it's only used
for FBWB.
 2017-11-24 09:58:01 -08:00
Tom Pittenger
7271586a47 Plane: invert auto_state.no_crosstrack flag to be auto_state.crosstrack. Non-functional change 2017-11-23 09:25:18 -08:00
Peter Barker
6ed0d645a3 Plane: support for units on fields 2017-11-23 10:40:30 +11:00
Guy Tzoler
a6c7890c74 Plane: use cork/push wrapper 2017-11-21 14:10:54 +11:00
Michael du Breuil
9720fcb8cc Plane: Only update home when not armed, rather then not soft armed 
Plane supports being armed, in takeoff logic and not spinning the motor
until the moment the safety button has been pressed. Unfortunately
because the safety button is required to be pressed for soft arming this
results in the plane updating home position while the user moves the
vehicle or is holding it to throw the vehicle which will can result in
several meters of altitude error from where the user expected home to
be.

Because the normal approach to plane is to have activated the safety
button before arming the aircraft this is not expected to be a behaviour
change for most users, but an improvement for people who use the button
to initiate a takeoff.
 2017-11-21 11:45:15 +11:00
Andrew Tridgell
f7a735b990 Plane: fixed transitions for tailsitters after auto-takeoff 
need to use angle wait
 2017-11-19 16:06:02 +11:00
Andrew Tridgell
85573b3ff3 Plane: fixed a division by zero 
if min airspeed is zero
 2017-11-19 16:04:40 +11:00
Andrew Tridgell
e06f160dc9 Plane: disable rudder scaling in tailsitters 
this is most often implemented as dual-motor differential thrust, and
we don't want to do surface speed scaling for that.

In the future we'll move this scaling so it can be done on rudders for
3D planes
 2017-11-18 10:38:46 +11:00
Peter Barker
ee5f550475 Plane: AP_Camera uses GPS singleton 2017-11-16 15:28:37 +00:00
Peter Barker
b4294c00f6 Plane: use gps singleton for GCS functions 2017-11-15 13:43:03 +00:00
André Kjellstrup
1d27e21d83 Plane: Option to trig by distance only when in AUTO mode 2017-11-14 00:10:22 +00:00
Andrew Tridgell
bf1aa64345 Plane: updated release notes for 3.8.3 2017-11-13 15:06:42 +11:00
Andrew Tridgell
271373e1e8 Plane: added a not on min slew rate for throttle 2017-11-13 10:29:46 +11:00
Michael du Breuil
767018b1d4 Plane: Support unlocking cruise heading with rudder 2017-11-09 09:39:44 +11:00
Michael du Breuil
bd32b5deb7 Plane: update isFlying() landing check 
When we are landing a sink_rate < -0.2f means the vehicle is climbing,
which should never happen during an approach for any supported landing
type (slope or deepstall), and on hard impacts with the ground its
common for the vehicle altitude to be projected to low and climb back to
the correct altitude slowly (but at a higher rate). This changes the
check to only consider sinks while on approach as acceptable.
 2017-11-07 08:57:15 +01:00
Tom Pittenger
8029a7f10e
Plane: add Tom Pittenger to developers list 
Plane: add Tom Pittenger to developers list. He was added to main Plane.h as "Lead Developer" here *https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/Plane.h#L2) but never to the main ArduPilot.c file.
 2017-11-06 13:46:32 +01:00
Andrew Tridgell
5843086760 Plane: update release notes for 3.8.3beta4 2017-11-05 21:47:15 +11:00
Andrew Tridgell
957c1f6d23 Plane: extend QLOITER transition pitch limit 
use twice transition time for pitch envelope to reduce QLOITER
transition harshness
 2017-11-05 21:35:32 +11:00
Andrew Tridgell
bbf98fae46 Plane: fixed a warning 2017-11-05 21:25:37 +11:00
Andrew Tridgell
9c8cd6c1cc Plane: added Q_TRANS_DECEL 
this gives a deceleration rate for QRTL transition from RTL, and also
for transitions to QLOITER
 2017-11-05 20:44:42 +11:00
Andrew Tridgell
e27c54a312 Plane: smooth out fwd tailsitter transition 
use Q_TRANSITION_MS and the transition angle to pitch forward more
slowly
 2017-11-05 17:25:00 +11:00
Andrew Tridgell
21164ef409 Plane: added tailsitter surface speed scaling 
added scaling of control surfaces by throttle when in hover. This helps
the controller remain stable over a wide range of throttle levels, such
as when descending or rapidly climbing
 2017-11-05 17:05:08 +11:00
Michael du Breuil
83decd1370 ArduPlane: Only run is_flying landing checks when in landing stage 2017-11-04 10:07:16 +11:00
Andrew Tridgell
126d5ce5d4 Plane: re-implement MIXING_OFFSET 
this was lost in the conversion of SRV_Channels
 2017-11-04 09:34:22 +11:00
Michael du Breuil
e63e39c411 Plane: Don't broadcast PWM value that tripped throttle failsafe 2017-11-02 16:46:08 -07:00
Michael du Breuil
d52f5155f0 Plane: Rename rc failsafe state members 2017-11-02 16:46:08 -07:00
nick2204
7d91755bd1 Plane: update Q_OPTIONS docs 
Made q_options description a little clearer
 2017-11-01 09:38:42 +11:00
Andrew Tridgell
1bee1dd210 Plane: log currently used airspeed 
this logs whatever airspeed is being used for flight
 2017-11-01 09:22:15 +11:00
Andrew Tridgell
43ee462813 Plane: prepare for 3.8.3beta2 2017-10-31 18:05:50 +11:00
Andrew Tridgell
f14f40d3ef Plane: fixed GUIDED loiter with Q_RTL_MODE=1 
this was broken by the recent RTL_RADIUS changes

thanks to Nick for noticing this!
 2017-10-31 18:02:31 +11:00
Andrew Tridgell
84e5cd7e14 Plane: update release notes for 3.8.3beta1 2017-10-30 18:46:51 +11:00
Andrew Tridgell
1085069851 Plane: use WP_LOITER_RAD if RTL_RADIUS is 0 for QRTL 2017-10-30 16:52:19 +11:00
Andrew Tridgell
aa430a6e2c Plane: use RTL_RADIUS for QRTL threshold 
when Q_RTL_MODE=1 in a quadplane use RTL_RADIUS as the distance to
switch to QRTL mode. We navigate to the destination using direct
waypoint navigation instead of using a loiter circle.
 2017-10-30 16:30:38 +11:00
Andrew Tridgell
552faa8f67 Plane: smoother tailsitter transitions 
this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
 2017-10-30 16:30:38 +11:00
Andrew Tridgell
c24ee9192b Plane: prevent a float exception at pitch 90 
this can happen with a tailsitter
 2017-10-30 16:30:38 +11:00
Andrew Tridgell
214434a2d7 Plane: fixed tailsitter ANGLE_WAIT transition 
we need vtol control during transition from hover to fwd flight
 2017-10-30 16:30:38 +11:00
Andrew Tridgell
af893ddde7 Plane: implement Q_OPTIONS 
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
02f8d888c3 Plane: relax controllers when disarmed 
this prevents any remaining integrator from a previous flight stage from
affecting flight across a disarm
 2017-10-30 16:30:10 +11:00
Peter Barker
d49be616da Plane: call ins's periodic function 2017-10-27 16:33:45 +11:00
Tom Pittenger
8adacfeea3 Plane: always log MODE and include reason when logging is enabled 2017-10-25 21:18:29 +11:00
Andrew Tridgell
92ee05b925 Plane: fixed motor channel handling 2017-10-25 11:39:11 +11:00
Peter Barker
4ce051af82 Plane: ensure we're in short failsafe before using failsafe.ch3_timer_ms 2017-10-24 09:28:13 +11:00
Peter Barker
ff88b0dfda Plane: remove redundant failsafe string 2017-10-24 09:28:13 +11:00
Peter Barker
7feef72b34 Plane: improve failsafe notifications 2017-10-24 09:28:13 +11:00
Peter Barker
01d8c506d2 Plane: add option to entirely disable short failsafe 2017-10-24 09:28:13 +11:00
Andrew Tridgell
6526ff504d Plane: fix for changes to AP_Motors API 2017-10-22 15:52:50 +11:00
Andrew Tridgell
e008559b6e Plane: support LOITER_TO_ALT in quadplanes 2017-10-21 18:50:01 +11:00