32 Commits

Author	SHA1	Message	Date
Samuel Tabor	9eef30294f	Plane: Separate soaring update in mode_thermal to avoid loop rate issues.	2020-10-13 10:25:32 +11:00
Samuel Tabor	31c681c1cf	Plane: Move soaring functions to mode_thermal.	2020-10-13 10:25:32 +11:00
Samuel Tabor	10111f92d5	Plane: Rename SOARING_ENABLED to HAL_SOARING_ENABLED and don't compare to ENABLED.	2020-09-24 07:30:48 +10:00
Samuel Tabor	0a738395fa	Plane: Add THERMAL mode for thermal soaring.	2020-09-24 07:30:48 +10:00
Samuel Tabor	e0f524d425	Plane: Soaring: Use circling time as timeout if less than 20s.	2020-09-10 09:18:52 -07:00
Samuel Tabor	87530c1b2b	Plane: Soaring: Remove exit_mode argument from soaring_restore_mode.	2020-09-10 22:21:41 +10:00
Samuel Tabor	59f4c7a3c0	Plane: Allow auto climb back to SOAR_ALT_CUTOFF when soaring in FBWB or CRUISE modes.	2020-09-10 22:21:41 +10:00
Samuel Tabor	9f5b068d9e	Plane: Handle EXIT_COMMANDED return status in soaring.	2020-09-08 16:54:45 -07:00
Samuel Tabor	67c152cef2	Plane: Move cruise state into cruise flight mode.	2020-08-22 09:30:15 +10:00
Samuel Tabor	aa776b06a4	Plane: Use sq() rather than powf() in soaring.cpp.	2020-08-05 11:58:54 +10:00
Samuel Tabor	b2d63c5049	Plane: Refactor soaring.cpp.	2020-08-05 11:58:54 +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	36a90cf443	Plane: Remove unused isHeadingLinedUp function, and rename functions to avoid confusion.	2020-04-08 09:11:54 +10:00
Samuel Tabor	2260fda4ec	AP_Soaring: Detect changes in active parameter/switch position.	2020-04-08 09:11:54 +10:00
Samuel Tabor	650b464831	AP_Soaring: Move drift check to separate function and check drift with reference to mission segment, allowing drift in right direction. LOITER target, not current position, is now used.	2020-04-08 09:11:54 +10:00
Samuel Tabor	5963164a22	Plane: Soaring, make zero SOAR_MAX_RADIUS always RTL, and -1 never.	2020-04-08 09:11:54 +10:00
Samuel Tabor	75f772b269	AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER.	2020-04-08 09:11:54 +10:00
Samuel Tabor	298088268a	Plane: Soaring, don't wait for heading if too low, and add timeout otherwise.	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	013628bd1d	Plane: Soaring - better reporting of exit due to drift.	2020-04-08 09:11:54 +10:00
Samuel Tabor	96bc0e1e03	Plane: Soaring: Reset loiter.sum_cd when good to continue thermalling, so that exit heading acceptance criteria does not grow.	2020-04-08 09:11:54 +10:00
Samuel Tabor	e7736fb5e7	AP_Soaring: Line up on current, not next, nav command.	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	ce9450846b	Plane: fix soaring typo	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	fd4b7c823e	Plane: improved soaring exit options	2020-04-08 09:11:54 +10:00
Tom Pittenger	f6396d7a6d	Plane: add reason to exit Thermal loiter and adjust LOW alt reaon to cause RTL	2020-04-08 09:11:54 +10:00
Michael du Breuil	ee96ec7f0d	Plane: Support new AP_Vehicle::set_mode	2019-10-25 08:48:22 +08:00
Tom Pittenger	0270c57530	Plane: massive refactor and creation of Mode class	2019-04-02 16:28:52 +11:00
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
Peter Barker	c058fba5ac	Plane: eliminate GCS_MAVLINK::send_statustext_all	2017-07-11 23:53:53 +01:00
Andrey Kolobov	35d406aeab	Plane: added a soaring controller to Arduplane	2017-03-14 08:53:10 +11:00