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2145 Commits

Author SHA1 Message Date
Andrew Tridgell 2983576067 Plane: added QLOITER mode 
quadplane loiter
 2016-01-09 07:38:52 +11:00
Andrew Tridgell 00ca292160 Plane: improved quadplane transition 2016-01-09 07:38:52 +11:00
Andrew Tridgell ca85c332d6 Plane: separate QSTABILIZE and QHOVER modes 2016-01-09 07:38:52 +11:00
Andrew Tridgell 6468fc6d93 Plane: Initial implementation of quadplane 
adds "HOVER" mode
 2016-01-09 07:38:52 +11:00
Tom Pittenger 6cb20b679d Plane: add xtrack_error to DF log 2016-01-08 20:16:25 +11:00
Andrew Tridgell f201552f6d Plane: always call load_all 
this ensures defaults file works on first start after erase
 2016-01-07 09:32:57 +11:00
Tom Pittenger 607201a9b1 Plane: zero course error for straight bungee launch 
This fixes the behavior where it uses the heading when switched to AUTO instead of at launch causing a turn just after a bungee launch
 2016-01-05 11:20:14 +11:00
Andrew Tridgell 7b6d862316 Plane: support up to 14 rc inputs for all boards 2016-01-04 08:22:35 +11:00
Andrew Tridgell 72edfcd1f6 Plane: update for changed peak hold API 2016-01-02 09:58:32 +11:00
Tom Pittenger 7cde90553d Plane: new param CRASH_ACC_THRESH 
@Description: X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector.
 2016-01-02 09:58:32 +11:00
Tom Pittenger 21205f8b41 Plane: improved crash detection logic and agility 
- inhibit crash detection warnings when disabled by param so now it can be completely disabled
- reset is_crashed when disabled by param
- fixed pre-takeoff detection bug by adding in_preLaunch_flight_stage() where we are actually in FLIGHT_NORMAL instead of FLIGHT_TAKEOFF during setup of bungee launches. This now detects if we're in that state
- simplified the use of been_auto_flying to check across all flight stages. before it was excluded to handle hand-launches which can now be detected with in_preLaunch_flight_stage()
- added impact detector timer to clamp is_flying a few seconds after an impact
- logging new impact detector as "STAT.Hit"
 2016-01-02 09:58:31 +11:00
Tom Pittenger 3b06260358 Plane: refactored interface 
- added guided mode handling
- now handles gracefully a manual mode changes during evasion
 2015-12-31 15:36:49 +11:00
Tom Pittenger 0bfe235d6b Plane: use abort landing logic with mavlink GO_AROUND cmd 
- also enabled use of CMD_DO_GO_AROUND altitude param
 2015-12-31 15:34:41 +11:00
Tom Pittenger d18c25a0f9 Plane: add item_reached_msg to GUIDED 2015-12-31 15:31:39 +11:00
pepevalbe 9743e32f70 Plane: added group parameter for AP_Notify library 2015-12-31 11:33:05 +09:00
Siddharth Bharat Purohit 78566bda36 Plane: wire up accel calibrator for plane 2015-12-29 10:46:35 -08:00
Andrew Tridgell 7a5808276e Plane: fixed two build warnings with clang 2015-12-29 18:52:00 +11:00
Lucas De Marchi a096703b06 Global: don't link with AP_Progmem 
AP_Progmem is not used anymore.
 2015-12-27 15:58:12 -02:00
Andrew Tridgell 513d5c17b9 Plane: allow for settable main loop rate 2015-12-27 14:57:19 +09:00
Andrew Tridgell 58d9b030ea Plane: update for Hz based AP_Scheduler 2015-12-27 14:57:08 +09:00
Don Gagne eab8a8679d ArduPlane: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Andre Kjellstrup 6f5387c48d ArduPlane: Camera options for better camera control 
All on one because they would not pass autotest if split up.
 2015-12-18 18:16:11 +11:00
Jonathan Challinger 05eb723429 Plane: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Julien BERAUD 8e66ce6f27 Plane: Update optical flow declaration 
Pass ahrs as param
 2015-12-18 17:56:06 +11:00
Gustavo Jose de Sousa dc81a2410e waf: use single entry point for make wrappers 2015-12-10 10:40:34 +09:00
Michael du Breuil 4b40a884e9 Plane: Don't disable compass checks for HIL mode unless actually in hil mode 2015-12-08 05:07:46 -07:00
Tom Pittenger 113961b66e Plane: compiler warning - double promotion 2015-12-07 15:49:55 +09:00
DonLakeFlyer 7479bc5734 Plane: return success or failure of get home position 2015-12-07 12:33:23 +09:00
Lucas De Marchi 1308dd888f ArduPlane: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:45 +11:00
Peter Barker 84b53e58d5 Plane: DataFlash-over-MAVLink support 2015-12-03 13:21:52 +11:00
Peter Barker 574f95bd76 Plane: support multiple simultaneous backends 2015-12-03 13:21:51 +11:00
Gustavo Jose de Sousa 7837bbfd81 waf: add a make wrappers 2015-12-03 07:54:32 +11:00
Gustavo Jose de Sousa 3100736c9f waf: add missing AP_ADSB library to ArduPlane 2015-12-03 07:54:32 +11:00
Lucas De Marchi 1cdc233bd2 waf: add missing AP_Parachute library to ArduPlane 2015-12-03 07:54:31 +11:00
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Lucas De Marchi 8eb0b559f2 ArduPlane: avoid comparison between signed and unsigned 2015-12-01 16:28:18 -02:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase 
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'
 2015-12-01 16:28:09 -02:00
Tom Pittenger 4c1a70eb66 Plane: print start of land approach 2015-12-01 07:05:07 +11:00
Luis Vale Gonçalves 4722a388b9 Plane: Text revisions 
text revisions
 2015-11-27 18:54:30 +11:00
Luis Vale Gonçalves b7f3782e4e Plane: Text revisions 
text revisions
 2015-11-26 07:56:52 +11:00
Tom Pittenger eaad72c192 Plane: Add support for handing ADS-B traffic 
- parse MAVLINK_MSG_ADSB_VEHICLE msg
- new 1Hz adsb_update task to compare list against for threat detection
- perform object avoidance via loiter or loiter_and_descend. More methods are welcome!
 2015-11-23 19:45:40 +11:00
Tom Pittenger d8d1343735 Plane: include AP_ADSB library in build for Plane 2015-11-23 19:45:40 +11:00
Andre Kjellstrup db16b94e7f Plane: update RTL altitude param description 2015-11-21 12:44:34 +09:00
Caio Marcelo de Oliveira Filho c8888329e1 Plane: use millis/micros/panic functions 2015-11-20 12:26:40 +09:00
Andrew Tridgell 9108179322 Plane: fixed build for SITL changes 2015-11-16 17:57:36 +11:00
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files 
these were APM2 specific
 2015-11-16 08:05:17 +11:00
lvale e18181e5c2 Plane: Uniformization of severities 
Plane uniformization of severities
 2015-11-09 09:38:25 +11:00
Tom Pittenger 5c3486d003 Plane: power-off rangefinder at high alt without terrain avail 
- moved terrain alt rangefinder power-off trigger from trerrain thread to rangefinder thread
- allow rangefinder to power-off using baro if terrain data not available
 2015-11-09 08:36:41 +11:00
Tom Pittenger 178bbb080b Plane: improve crosstrack error while navigating to loiter point 
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.
 2015-11-09 08:25:26 +11:00
Lucas De Marchi e5595ff11c ArduPlane: don't use avr include dir for tags 2015-11-04 12:14:16 +11:00
Lucas De Marchi 0151853c21 ArduPlane: remove check for MAVLINK_COMM_NUM_BUFFERS 2015-11-04 12:14:15 +11:00
Lucas De Marchi c55c07eaf6 ArduPlane: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:15 +11:00
Lucas De Marchi d1be74c87e ArduPlane: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi cfe6e209db ArduPlane: fix wrong printf format for printf 
"%S" is used for wide string, but we are passing a char*. Use lowercase
in this case to remove warnings like this:

libraries/AP_InertialSensor/AP_InertialSensor.cpp: In member function
'bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract*, float&, float&)':
libraries/AP_InertialSensor/AP_InertialSensor.cpp:620:61: warning:
format '%S' expects argument of type 'wchar_t*', but argument 3 has type 'const char*' [-Wformat=]
                 "Place vehicle %S and press any key.\n", msg);
                                                             ^
 2015-10-30 14:35:43 +09:00
Lucas De Marchi d40349d6ae ArduPlane: fix wrong printf format for 32 bits 
Heading is a 32 bits value, so use %d.
 2015-10-30 14:35:38 +09:00
Lucas De Marchi a6fd94c6fe ArduPlane: fix wrong printf format for 32 bits 
"micros() - before" doesn't return a long value. Use "%u".
 2015-10-30 14:35:35 +09:00
Lucas De Marchi 5244559010 Minimize AP_Progmem.h includes 
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
 2015-10-30 14:35:32 +09:00
Lucas De Marchi 1b07dabeb7 Replace prog_char and prog_char_t with char 
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
 2015-10-30 14:35:30 +09:00
Lucas De Marchi 4ab9821624 Replace use of Log_Write_Message_P() with Log_Write_Message() 2015-10-30 14:35:28 +09:00
Lucas De Marchi 20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf() 
This also starts to show warnings on places that were already using
wrong printf format strings.
 2015-10-30 14:35:25 +09:00
Lucas De Marchi 6f4904189b Replace use of println_P() with println() 2015-10-30 14:35:22 +09:00
Lucas De Marchi a964ac38ec Replace use of print_P() with print() 2015-10-30 14:35:21 +09:00
Lucas De Marchi 89fc4f4b62 Replace use of send_text_P() with send_text() 2015-10-30 14:35:17 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Lucas De Marchi 6f0db45b57 Replace use of strcasecmp_P() with strcasecmp() 2015-10-30 14:35:08 +09:00
Lucas De Marchi 84da1f5039 Rename gcs_send_text_P to gcs_send_text 2015-10-30 14:35:07 +09:00
Lucas De Marchi 84d5fb006f Remove use of Util::{v,}snprintf_P() 
These are now the same function as Util::snprintf().
 2015-10-30 14:35:05 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR 
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.
 2015-10-30 14:35:04 +09:00
Lucas De Marchi bd0f0a7536 ArduPlane: convert dos linefeeds to unix 2015-10-30 14:35:02 +09:00
Andrew Tridgell 3c3392aae5 Plane: improve error messages on failed parachute release 2015-10-27 16:06:34 +11:00
Andrew Tridgell 5d1d54a8cb Plane: added CHUTE_CHAN parameter for manual release 2015-10-27 16:06:34 +11:00
Andrew Tridgell d20b86b95e Plane: suppress the throttle in auto-throttle modes after parachute release 2015-10-27 16:06:34 +11:00
Andrew Tridgell 9affddcaa3 Plane: initial support for AP_Parachute library 2015-10-27 16:06:34 +11:00
Andrew Tridgell 3dd47adafe Plane: fixed a condition where takeoff switches to land 2015-10-24 15:15:59 +11:00
Andrew Tridgell 537f22cdd1 Plane: changed thresholds for LAND_APPROACH 
use 15% path progress when lined up, and 50% path progress if not
lined up
 2015-10-24 15:00:34 +11:00
Tom Pittenger f9fbb8a0f7 Plane: restrict land_approach stage change with tighter criteria 
- inhibit switching from FLIGHT_NORMAL to FLIGHT_LAND_APPROACH until we meet stricter criteria other than just that LAND is next waypoint
- requires: nav bearing error < 10deg && have traveled path forward 30% of path && are below top of approach in case we hit waypoint while still descending
- exceptions: traveled path forward > 80% which basically means we're getting close to the flare point and better get into approach mode ASAP
 2015-10-24 14:43:43 +11:00
Caio Marcelo de Oliveira Filho 62d4c05a8e ArduPlane: include SITL only for SITL board 
Include board-specific files only when the board is used. Since these
should be exceptional cases, let the includer handle the ifdef instead
of putting ifdefs in every platform-specific header.

In the future we should evaluate whether the HAL for the board should
instantiate this.
 2015-10-22 13:36:14 -02:00
Caio Marcelo de Oliveira Filho 49a42dc985 SITL: use a SITL namespace 2015-10-22 11:04:42 -02:00
Peter Barker 07842e211d Plane: use simple log entry numbers to download logs 2015-10-21 10:50:32 +11:00
Caio Marcelo de Oliveira Filho db3e501aec ArduPlane: implement HAL::Callbacks 
Also removes includes for each board since they are not necessary
anymore.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho ec52df991c build: compile only the HAL files needed by the board 
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
 2015-10-21 09:16:07 +11:00
Randy Mackay 073828a764 Plane: add ahrs health pre-arm check 2015-10-16 13:50:59 +09:00
Gustavo Jose de Sousa 2cc07d2899 ArduPlane: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:06 +09:00
Randy Mackay 17ed125e41 Plane: add no break comment to suppress compiler warning 2015-10-03 12:56:30 +09:00
Randy Mackay 32c5b0e63c Plane: support set_home_position message 2015-10-03 12:56:28 +09:00
Randy Mackay d54e28e129 Plane: send home position when home is set or get-home msg received 2015-10-03 12:56:27 +09:00
Andrew Tridgell 213bed99e1 Plane: use ahrs.send_ekf_status_report() 2015-09-29 10:59:19 +10:00
Tom Pittenger 617626f9f5 Plane: log flight_stage 
logging plane flight stage in STAT.Stage
 2015-09-28 18:18:09 +10:00
Andrew Tridgell 017ebc440b Plane: added SENSOR_RC_RECEIVER reporting in SYS_STATUS 2015-09-28 08:55:24 +10:00
Andrew Tridgell 458e967d06 Plane: added RPM logging 
useful for seeing if a petrol motor is still running
 2015-09-24 20:58:18 +10:00
Andrew Tridgell c14dbcfc44 Plane: set version to 3.4.1dev 2015-09-24 11:12:41 +10:00
Andrew Tridgell 38d51ddb32 Plane: prepare for 3.4.0 release 2015-09-24 10:08:27 +10:00
Andrew Tridgell 91f990af06 Plane: added EKF2 to parameters as EK2_* 2015-09-23 11:56:37 +10:00
Andrew Tridgell 0592bd4e6f Plane: update release notes 2015-09-22 09:46:18 +10:00
Andrew Tridgell b735999848 Plane: prepare for beta3 2015-09-22 09:43:39 +10:00
Randy Mackay 6da53ae3b2 Plane: replace SKIP_GYRO_CAL with INS_GYR_CAL 
Also calibrate gyros with accel cal and set trim
 2015-09-21 17:06:43 +09:00
Andrew Tridgell 9e7c38b933 Plane: moved logging of mode to Log_Write_Vehicle_Startup_Messages 
this fixes a problem where the initial mode isn't logged on arming
 2015-09-17 20:15:26 +10:00
Andrew Tridgell d019f83bee Plane: allow for higher roll limits on takeoff 
only restrict to LEVEL_ROLL_LIMIT below 5m. Above that start to allow
larger roll limits, reaching the full roll limit at 15m
 2015-09-17 15:35:37 +10:00
Stewart Loving-Gibbard 2085156a07 Plane: Adding Logging of RSSI data. 2015-09-16 16:41:45 +09:00
Andrew Tridgell 86e8c7ed2f Plane: add some safety to detect bad lidar readings 
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
 2015-09-16 14:24:44 +10:00
squilter 7365701d13 Plane: Support do_digicam_x via command_long 2015-09-16 13:06:51 +09:00
Grant Morphett 9a76f0ecf0 Plane: Fixing FS_SHORT_ACTN parameter doco 
This is to resolve wiki issue 146
https://github.com/diydrones/ardupilot-wiki-issue-tracker/issues/146
 2015-09-16 09:35:38 +09:00
Grant Morphett 6b22a59eff Plane: Fixing up the ARMING_ parameters autogen doco 2015-09-15 14:11:15 +09:00
Andrew Tridgell d43d070e75 Plane: ensure throttle reverse is obeyed in all states 
need to use radio_max for failsafe if reversed
 2015-09-14 09:42:20 +10:00
Andrew Tridgell 5c055220f5 Plane: cope with bad values of ARMING_REQUIRE 2015-09-14 09:35:53 +10:00
Andrew Tridgell 73f454133b Plane: log RFND packet for multiple rangefinders 2015-09-13 11:29:53 +10:00
Peter Barker 3c0355e9e2 Plane: ensure 10% free space when initialising logging 2015-09-09 12:22:35 +10:00
Staroselskii Georgii db94c8d53d Plane: make Plane use milligauss 2015-09-09 10:38:16 +10:00
Grant Morphett c5c74eebfc Plane: Using the existing function to check for throttle failsafe 
No need to duplicate the code if we have an existing function for this
sort of thing.
 2015-09-09 10:28:02 +10:00
Grant Morphett a1b96f659b Plane: Fixing issue 302 
Using the configured FS_THR_VALUE to check for failsafe instead of
just checking against 50 below throttle min.
 2015-09-09 10:28:02 +10:00
Tom Pittenger fc2c94f78f Plane: utilize NAV_CONTINUE_AND_CHANGE_ALT for land abort 
when aborting a landing via mode change, check if NAV_CONTINUE_AND_CHANGE_ALT is after LAND. If so, go ahead and execute it. Else, normal behavior or check do_land_start else decrement mission index
 2015-09-09 09:32:31 +10:00
Andrew Tridgell 036e1fff12 Plane: a bit more caution in unsuppressing throttle pre-takeoff 
require reasonable pitch and definate gps movement. This errs on the
side of not overriding a takeoff command, which could be dangerous
 2015-09-09 09:24:54 +10:00
Tom Pittenger fe083c8ffa Plane: consider extended launch throttle delays 
use the greater of takeoff_throttle_delay+2s or 5s
 2015-09-09 09:14:59 +10:00
Tom Pittenger 4f46c5331a Plane: added time for flying in any mode 
- previously we only kept track of starting flying while in auto which gets reset when switching in and out of auto and on takeoff/land. Now we keep track of a "global" one that will track the is_flying flag regardless of the flight mode.
 2015-09-09 09:14:59 +10:00
Tom Pittenger a3c51698cb Plane: fix throttle when restarting mission in-flight with takeoff 
fixes https://github.com/diydrones/ardupilot/issues/2778
When executing a takeoff, and the throttle is suppressed, but we're already flying, we should unsuppress the throttle. We can get into this situation if we reset the mission in-flight.
 2015-09-09 09:14:59 +10:00
Andrew Tridgell 0cc165308d Plane: use 4 degrees if zero takeoff pitch 2015-09-09 09:13:12 +10:00
Andrew Tridgell 953efa9b6c Plane: fixed parameter docs for LAND_ABORT_THR 
it should be a values list
 2015-09-09 09:08:59 +10:00
Tom Pittenger d36ee786e4 Plane: init hold_course in do_takeoff 2015-09-09 09:04:24 +10:00
Tom Pittenger 25da4ec0ea Plane: added flight stage FLIGHT_LAND_ABORT and abort mechanism 
- 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
 2015-09-09 09:04:24 +10:00
Grant Morphett e734e9745d Plane: TKOFF_TDRAG_SPD1 is needed if holding nose wheel down. 
Just clearing up the documentation as per this wiki issue
https://github.com/diydrones/ardupilot-wiki-issue-tracker/issues/138
 2015-09-08 17:31:09 +10:00
Tom Pittenger 6e55b44b63 Plane: change NAV_CONTINUE_AND_CHANGE_ALT behavior 
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
 2015-09-08 17:05:54 +10:00
Andrew Tridgell 0a66fcce20 Plane: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Andrew Tridgell 05192ea9ab Plane: added severities to send_statustext_all 2015-09-08 14:29:55 +10:00
Andrew Tridgell f92f46ee99 Plane: update for changed AP_Arming API 2015-09-08 13:54:45 +10:00
Grant Morphett f953f03916 Plane: Fixing issue 327 - reporting Baro alt instead of GPS 2015-09-08 09:40:39 +10:00
Grant Morphett 3cb0c1bba8 Plane: Move the plane centric arming code into arming_checks.cpp 
Needed to move the plane centric arming code out of the AP_Arming
library and into the plane vehcile code.
 2015-09-07 11:54:21 +10:00
Andrew Tridgell e12c20bd22 Plane: prepare for 3.4.0-beta2 release 2015-09-07 09:30:34 +10:00
Andrew Tridgell 16d06ef0a9 Plane: set throttle trim to min on startup 
this prevents possibly motor startup for bad RC3_TRIM values
 2015-09-07 09:17:22 +10:00
Andrew Tridgell 2d60934335 Plane: require 5 channels to run failsafe passthrough 2015-09-07 09:16:14 +10:00
Randy Mackay 8c1212d4a6 Plane: support do-mount-control via command-long 2015-09-06 16:01:31 +09:00
Siddharth Bharat Purohit aea1db7348 ArduPlane: implement on-board compass cal for arduplane 2015-09-03 16:59:14 +10:00
Peter Barker c2d61391ef Plane: DFMessageWriter; ability to trickle messages out to DF 2015-09-03 15:20:20 +10:00
Gustavo Jose de Sousa a6bdee076e ArduPlane: remove comments identifying task 
We don't need those comments anymore, now that we log the task name. Also,
keeping the comments means that we need to fix them when tasks are added in the
middle, not to mention the problem with tasks that are added selectively (i.e.,
guarded by preprocessor directives).
 2015-09-01 20:22:19 +10:00
Gustavo Jose de Sousa 36b457a536 ArduPlane: use function name for AP_Scheduler task name 
That makes it easier to identify tasks when debug is enabled in AP_Scheduler.
 2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa b0258d902c ArduPlane: use designated initializers for tasks structs 
Makes code less prone to break build and semantics (e.g., when a new field is
added).
 2015-09-01 20:22:18 +10:00
Tom Pittenger 81f8358705 Plane: restart landing by jumping to DO_LAND_START or decrement mission 
only takes effect on mode change
 2015-08-29 21:17:35 +10:00
Stewart Loving-Gibbard 722dd29370 Plane: Moving to RSSI library for reading various kinds of RSSI, with the possibility of adding more. 
* Retains ability to read from Analog Pin
* Adds ability to read RSSI from PWM channel value as is done in OpenLRSng, EazyUHF, and various other LRS.
* Handles any type of RSSI that provides RSSI values inverted - i.e. when the low value is the best signal and the high value is the worst signal.
* Has different key names from all existing RSSI parameters to provide for a clean break and easier distinguishing.
* Existing parameters are marked as obsolete
 2015-08-29 08:05:59 +10:00
Randy Mackay 4bf36d787b Plane: use labs for int32 values 2015-08-28 13:14:50 +10:00
Randy Mackay cc68260478 Plane: sanity check do-set-home, do-set-ROI and fence-point locations 2015-08-28 13:14:38 +10:00
squilter 583c087eca Plane: update severities 2015-08-28 10:04:35 +10:00
André Kjellstrup d4ed30a023 Plane: releasenotes update 2015-08-28 10:03:16 +10:00
Randy Mackay e4c62811ea Plane: fix link to BATT parameter descriptions 2015-08-26 11:17:55 +09:00
Tom Pittenger ee9a66bd02 Plane: fix compiler warning re double promotion 2015-08-25 16:45:52 +09:00
Grant Morphett dda229aecd Plane: Added include guards for Plane.h 2015-08-25 13:54:16 +09:00
Tom Pittenger fed50aa5c5 Plane: is_crashed flag gets reset too easily 
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)
 2015-08-24 20:00:12 +10:00
Tom Pittenger e1d566f9e7 Plane: simulator sets is_crashed 
due to zero-ish vibration in SITL, the is_flying check thinks you're not flying, and this thinks you crashed. This is a SITL specific problem but it brings to light that *if* someone actually had a very low vibration aircraft we don't want to crash them. So, the vibe test has been removed for now. A better test is a variance on the accel
 2015-08-24 00:32:41 -07:00
Andrew Tridgell 019f2af930 Plane: fixed build with HIL disabled 2015-08-23 22:21:51 +10:00
Tom Pittenger f4f111775e Plane: Log height of zero instead of old value 2015-08-23 16:55:08 +10:00
ziltoid2 b9dd6b7aac Plane: prevent delayed compass HIL data from disabling compass at system startup only 2015-08-23 16:48:48 +10:00
Tom Pittenger 37336bbbe1 Plane: moved is_flying related code to its own file 2015-08-23 10:34:19 +10:00
Tom Pittenger 204ff7b158 Plane: move statics into new struct 
removed default case statements
 2015-08-23 10:34:18 +10:00
Tom Pittenger 6d0ad05192 GCS_Mavlink: added is_crashed to mavlink heartbeat status which shows EMERGENCY 2015-08-23 10:34:18 +10:00
Tom Pittenger da8f4f9e95 Plane: reworked is_flying 
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
 2015-08-23 10:34:18 +10:00
squilter d421644f3a Plane: define and send FIRMWARE_VERSION 2015-08-23 09:21:57 +09:00
Michael Day f20beecb0b Plane: Climb/descent "intent" param with CONTINUE_AND_CHANGE_ALT 
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.
 2015-08-20 11:37:17 +10:00
Andrew Tridgell f66174a1ce Plane: improved 3.4.0 release notes 2015-08-20 11:30:28 +10:00
Andrew Tridgell 0c833b76b7 Plane: update release notes for 3.4.0beta1 2015-08-20 11:11:28 +10:00
Andrew Tridgell b1f810fbb9 Plane: prepare plane 3.4.0beta1 release 2015-08-20 10:53:48 +10:00
Tom Pittenger 86e3116fb6 Plane: implement try send mission_item_reached 
clean up unreachable code
 2015-08-19 15:42:07 +10:00
Tom Pittenger f1eb2f88df Plane: post "Distance from LAND point" on every land 
- waits until disarm after a land
 2015-08-18 17:20:20 +10:00
Stewart Loving-Gibbard eb2ca91f1c Plane: Fixing unambiguous spelling errors in Parameters.cpp file. 
These are user-visible in Mission Planner and the like.
 2015-08-18 17:16:19 +10:00
Andrew Tridgell 6186b7a453 Plane: disable TRIM_RC_AT_START by default 2015-08-15 19:13:30 +10:00
Andrew Tridgell cc96f80f02 Plane: make TRAINING mode obey stall prevention roll limits 
Fixes issue#2014
 2015-08-14 13:36:21 +10:00
Andrew Tridgell ac2e1552b2 Plane: don't do battery failsafe when disarmed 2015-08-14 13:17:48 +10:00
Andrew Tridgell 58e829553f Plane: prevent build error with MSG_RPM 2015-08-12 15:03:52 +10:00
Andrew Tridgell f2c1010501 Plane: prevent mode switch changes changing WP tracking 
this fixes a bug where a mode switch change during an AUTO mission
which does not change the flight mode would cause cross tracking to be
reset, so the plane will not correctly follow the desired track

Many thanks to Michael Du Breuil for the log that showed this bug
 2015-08-12 14:42:49 +10:00
Gustavo Jose de Sousa 93c80b03ae ArduPlane: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:40 +10:00
squilter c24ba83fb1 Plane: init vehicle capabilities 2015-08-05 16:08:49 +09:00
Przemek Lekston ca915d9928 Plane: fix "logging disabled" build. 2015-08-03 10:07:52 +10:00
Grant Morphett c87929e907 Plane: Fix landing to stop divide by zero if params are 0 
If someone mistakenly puts all 0's in their LAND command then
total_distance will be calculated as 0 and cause a divide by 0 error
below thus crashing ArduPilot.  Lets avoid that.
 2015-08-03 09:53:48 +10:00
Andrew Tridgell 1b13be4ad7 Plane: disable camera logging when camera support disabled 2015-07-30 12:17:48 +10:00
Andrew Tridgell 6e0057778b Plane: remove unused file 2015-07-30 11:14:39 +10:00
Andrew Tridgell 9f9080983b Plane: trim out some log msgs on APM2 
save a bit more flash
 2015-07-30 11:14:06 +10:00
Andrew Tridgell 49f7adcc80 Plane: re-enable geofencing on APM2 
it only just fits ...
 2015-07-30 11:04:31 +10:00
Andrew Tridgell 6c07795b63 Plane: added HIL_SUPPORT define 
disable HIL support on APM2 to save flash space
 2015-07-30 11:04:31 +10:00
Andrew Tridgell 8f0e7e0693 Plane: fixed above_location_current() for non-terrain alt 
thanks to Lekston for finding the bug (PR#2610)
 2015-07-29 08:20:23 +10:00
Andrew Tridgell 58fa38cc12 Plane: allow rudder disarm based on ARMING_RUDDER parameter 2015-07-23 21:48:50 +10:00
pepevalbe da41d85433 Plane: It is possible to disarm with left rudder. 
Using is_flying() avoid accidentally disarming while flying.
 2015-07-23 21:48:44 +10:00
Przemek Lekston 4b38d444dd Plane: fix default behaviour of flaps. 2015-07-23 15:28:08 +10:00
Przemek Lekston 6a62b11536 Plane: fix LOITER_TO_ALT to verify headings towards waypoints within the loiter radius. 
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.
 2015-07-23 15:24:43 +10:00
Grant Morphett cc6a981b12 Plane: deleted the old command_description.txt file which isn't used. 2015-07-21 16:31:24 +09:00
Andrew Tridgell 51bdbea745 Plane: fixed format for ARM message 2015-07-20 09:46:19 +10:00
Randy Mackay b670988e05 Plane: log IMUDT 2015-07-14 13:31:56 +09:00
Andrew Tridgell 266857c595 Plane: avoid linking optflow on APM2 
not used, just taking memory
 2015-07-10 16:46:30 +10:00
Lucas De Marchi e97034f8e9 ArduPlane: use ARRAY_SIZE macro 2015-07-07 07:56:30 +10:00
Randy Mackay 76ccf4043e Plane: log ahrs home and ekf origin 2015-07-06 12:11:56 +09:00
Tom Pittenger f1ee129423 Plane: compiler warnings 
- float to double in gcs_send_test (x2)
- float to bool
 2015-07-06 09:30:19 +10:00
Andre Kjellstrup edc32092ce Plane: Do not run long_failsafe during final or landing. 2015-07-02 14:28:45 +10:00
Andre Kjellstrup 9d525d4382 Plane: Do not run FailSafe if on final approach or landing. 
A failsafe (Circle, RTL) would easily become a disaster if trigged
during approach or final.
 2015-07-02 14:28:45 +10:00
Andre Kjellstrup baf4989a80 Plane: Ignore low voltage failsafe during landing 
Log it, but do not switch to RTL if already in final or landing.
 2015-07-02 14:28:44 +10:00
Peter Barker 3fce7eb21a Plane: use common mission logging code 2015-06-30 16:23:35 +10:00
Peter Barker bbfe67fe2a Plane: use common system information logging 2015-06-30 16:23:34 +10:00
Peter Barker 7f0a0cf64f Plane: DataFlash frontend/backend split 2015-06-26 16:02:50 +10:00
Michael du Breuil 54c06cde02 Plane: Log the steering controller PID state 2015-06-22 15:41:44 +10:00
Michael du Breuil 1a121f543b Plane: Use PIDS for steering rather then PIDY 2015-06-22 15:41:44 +10:00
Andrew Tridgell 4aac2c5c96 Plane: trigger OVERRIDE_CHAN in px4io 
setup the MODESWITCH channel as our OVERRIDE_CHAN, allowing for
instant manual passthru in px4io when OVERRIDE_CHAN goes above 1750

This makes for faster switching, and avoids bugs where a still enabled
FMU channel disables override
 2015-06-21 18:19:16 +10:00
Andrew Tridgell 248bf8c5a3 Plane: disable geofence on APM2 2015-06-20 14:52:42 +10:00
Andrew Tridgell 2dbe372b2f Plane: cleanup some coverity warnings 2015-06-20 13:26:34 +10:00
Andrew Tridgell ae1f2e8bea Plane: fixed missing break statement 2015-06-20 12:35:07 +10:00
Andre Kjellstrup 19aa7caad0 GCS_Failsafe: option to trigger only in AUTO mode. 2015-06-18 07:52:43 +10:00
Andre Kjellstrup 39797529fd GCS_Failsafe: defines for new failsafe option 2015-06-18 07:52:42 +10:00
Andre Kjellstrup 3e84132f6b GCS_Failsafe: new parameter option 2015-06-18 07:52:42 +10:00
Andrew Tridgell 76c0293a85 Plane: added support for DO_AUTOTUNE_ENABLE 2015-06-15 09:20:55 +10:00
Andrew Tridgell d5c5400e76 Plane: added support for ALTITUDE_WAIT mission command 2015-06-15 09:20:55 +10:00
Andrew Tridgell 358a13261c Plane: moved sink_rate calculation to update_alt() 
this makes it available to non-landing code
 2015-06-15 09:20:55 +10:00
Randy Mackay 814cb5ce18 Plane: add vibration DF logging and send to GCS 2015-06-12 21:36:47 +09:00
Andrew Tridgell 3427224bfc Plane: fixed logging of parameters on arming 2015-06-12 13:11:06 +10:00
Eugene Shamaev 5b34fa4f6a Plane: added DSM bind support 2015-06-10 17:19:10 +10:00
Andrew Tridgell 6b9854457d Plane: added PID tuning logging for ground steering 2015-06-09 12:48:56 +10:00
Andrew Tridgell bc6a52f8db Plane: fixed handling of OVERRIDE_CHAN on arming 
When arming we need to ensure that we don't enable any channels
otherwise PX4IO will think that FMU is active and will stop running
the internal RC mixer
 2015-06-09 12:48:55 +10:00
Michael Oborne 7dcd24137e Plane: add bitmask documentation 2015-06-05 10:21:21 +09:00
Lucas De Marchi 6bbf0e7770 Plane: stop using alias FUNCTOR_BIND_VOID 2015-06-04 13:37:38 +09:00
Andrew Tridgell bf396d7138 Plane: log to tlog when we set home via MAVLink 2015-06-04 13:26:39 +10:00
Andrew Tridgell 5942bf5cf0 Plane: added plane specific arming checks 
added check for roll and pitch limits, after flyaway due to small
LIM_ROLL_CD
 2015-06-04 13:26:39 +10:00
Andrew Tridgell 47f4a5db10 Plane: try to load px4 mixer 10 times on boot 
this allows for possible temporary failures
 2015-06-02 21:59:03 +10:00
Andrew Tridgell 3e74b82bc4 Plane: fixed two bugs in px4io override code 
First bug is going via microSD to poulate mixer. We can't rely on the
microSD being writeable or functioning properly. Instead create the
buffer in memory and only write a copy to the filesystem.

Second bug is related to extreme trim values on channels. If trim
values are well out of range then the mixer fails and override fails.
 2015-06-02 21:48:18 +10:00
Randy Mackay 9ece826c28 Plane: Log_Write_Startup writes parameters 2015-06-01 20:22:50 +09:00
Grant Morphett 2c3cff7f84 Plane: Moving parameter logging to be after all systems have started 2015-06-01 20:22:40 +09:00
Andrew Tridgell db784c83dc Plane: removed unnecessary pragmas 2015-06-01 17:42:21 +10:00
Andrew Tridgell 9adc879253 Plane: changes for new AHRS API 2015-06-01 16:16:49 +10:00
Andrew Tridgell 1797e2baa8 Plane: simpler initalisation of plane class 
take advantage of C++11 in-class initialisation
 2015-06-01 08:48:54 +10:00
Andrew Tridgell 57544a3537 Plane: added blank Parameters.pde for MissionPlanner 2015-05-30 15:21:33 +09:00
Andrew Tridgell 1520d8f734 Plane: catch a px4_mixer failure case 2015-05-30 11:17:56 +10:00
Andrew Tridgell 9b77260ebb Plane: disable PID logging on APM2 2015-05-29 16:32:05 +10:00
Andrew Tridgell 2f5ade4810 Plane: use 16 bit mask for GCS_PID_MASK 2015-05-27 15:09:47 +10:00
Andrew Tridgell 09476bf9d3 Plane: added GCS_PID_MASK for realtime pid tuning 2015-05-27 14:28:46 +10:00
Andrew Tridgell c31da93726 Plane: log roll and pitch PIDs 2015-05-27 14:28:45 +10:00
Peter Barker d7ed06816a Plane: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:15 +10:00
Andrew Tridgell 964b8ed2f3 Plane: fix for scheduler API change 2015-05-26 14:33:52 +10:00
Lucas De Marchi 7c4cf41ebc ArduPlane: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:54 +10:00
Andrew Tridgell 97687f04af Plane: enable messages for MAVLink gimbal support 2015-05-26 08:30:30 +10:00
Andrew Tridgell 5511140f95 Plane: fixed fence return point on breach 
this was broken by the recent guided mode changes. Thanks to Grant for
noticing!
 2015-05-24 15:24:02 +10:00
Andrew Tridgell eee191875e Plane: fixed plane version, removing old pde 2015-05-22 16:07:43 +10:00
Andrew Tridgell 8974c879fe Plane: fixed paths for GCS_MAVLink parameter file 2015-05-21 11:42:45 +10:00
Andrew Tridgell 8359b75201 Plane: removed NOINLINE define 2015-05-21 09:35:55 +10:00
Andrew Tridgell 78f02634d0 Plane: fixed ins reference in plane object 2015-05-21 07:48:54 +10:00
Andrew Tridgell 441d96c946 Plane: fixed APM1 build 2015-05-21 07:48:53 +10:00
Andrew Tridgell 554869033f Plane: disabled rangefinder on APM2 
this saves 5k of flash space, enough for support to be kept for
another release
 2015-05-21 07:48:53 +10:00
Andrew Tridgell 6fe65cdd9a Plane: removed duplicate rangefinder 2015-05-21 07:48:53 +10:00
Andrew Tridgell b92c2409e4 Plane: added local millis() and micros() to reduce code size a bit 2015-05-21 07:48:53 +10:00
Andrew Tridgell 150af130ee Plane: get closer to making var_info appear in text segment 2015-05-21 07:48:52 +10:00
Andrew Tridgell 18c37935c9 Plane: convert from .pde to .cpp files 2015-05-21 07:48:52 +10:00
Andrew Tridgell f75e9f95d1 Plane: Adjust for new AP_Scheduler syntax 2015-05-21 07:48:48 +10:00
Andrew Tridgell 6be0932d82 Plane: prepare for 3.3.0 release 2015-05-20 18:01:21 +10:00
Andrew Tridgell db871cc581 Plane: prevent trim values out of range for PX4 mixer 
thanks to Brian Christal for a good bug report!
 2015-05-17 21:24:58 +10:00
Tom Pittenger b4be1b866a Copter: compiler warning stuff 
float to double promotion via cos instead of cosf
 2015-05-16 08:21:36 +10:00
Andrew Tridgell 9ceee3cea7 Plane: support setting just accel trim with preflight-cal 
use param5==2
 2015-05-16 07:56:35 +10:00
Randy Mackay 174c55b0af Plane: add support for 4th mavlink channel 2015-05-15 15:07:28 +09:00
Andrew Tridgell 2feee9aa88 Plane: call Log_Write_POS() 2015-05-15 14:28:15 +10:00