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206 Commits

Author SHA1 Message Date
Andrew Tridgell eb13395967 Plane: cleanup mavlink_system setup 2014-12-17 11:30:04 +11:00
priseborough 898ad7432b Plane : Only build optical flow with PX4 board 
Fixes SITL compile errors
 2014-12-06 18:16:48 +11:00
priseborough f047e35167 Plane : Enable optical flow by default if sensor is fitted 2014-12-06 18:16:46 +11:00
priseborough 9707989b9f Plane : Preliminary optical flow integration 2014-12-06 18:16:45 +11:00
Andrew Tridgell a519e0abb6 Plane: fix build with new mavlink repo 2014-11-18 11:20:08 +11:00
Evan Slatyer c4093b159f ArduPlane failsafes: remove rc_override_active 
- rc_override_active is never set anywhere in the ArduPlane code; it's only used for Copter and Rover. Removing it significantly simplifies the failsafe code.
- modified code has been tested in SITL. Heartbeat and RC failures in AUTO, CRUISE, and RTL modes (covering the three cases in the failsafe check functions) have been simulated with FS_LONG_ACTN = 0, 1, and 2, FS_SHORT_ACTN = 0, 1, and 2, and FS_GCS_ENABL = 0, 1, and 2. In all cases the results are identical to those with the original code.
 2014-11-14 11:35:27 +11:00
Andrew Tridgell 7f5cc97769 Plane: changed for new AP_Airspeed API 2014-11-13 21:12:59 +11:00
Andrew Tridgell 0a318d3a68 Plane: move delay callback setup to after compass and airspeed config 
this ensure parameters sent on startup include compass settings and
airspeed offset
 2014-11-08 15:40:35 +11:00
Andrew Tridgell c494057c98 Plane: add support for generating a PX4 mixer for failsafe 
this creates APM/MIXER.MIX which will be used if the FMU dies to
provide manual control over RC
 2014-11-07 10:39:07 +11:00
Andrew Tridgell 538cf68005 Plane: removed unused function 2014-10-30 18:23:29 +11:00
Michael Day 01f611daa9 Plane: "Go around" operation. Assumes go around behavior follows land wp. 2014-10-24 21:51:46 +11:00
Andrew Tridgell 240e87dc2c Plane: update for new AP_InertialSensor API 2014-10-24 12:10:38 +11:00
Andrew Tridgell 05c325a12a Plane: display min as well as max loop delta_t 2014-10-22 18:27:12 +11:00
Andrew Tridgell f87da51b37 Plane: prevent calling jump_to_landing_sequence() too often 2014-10-20 08:36:20 +11:00
Andrew Tridgell 71d786187e Plane: make auto takeoff independent of compass 
this solves a problem of poor initial yaw due to poor compass offsets
causing a takeoff to not be in the direction the plane is pointing. A
summed gyro is used until the GPS speed is above 5m/s for 2 seconds,
then the GPS heading corrected by the summed gyro error is used for L1
based navigation for the rest of the takeoff
 2014-10-07 07:17:46 +11:00
Andrew Tridgell c4b17b74e2 Plane: use handle_set_mode() 2014-10-01 14:19:20 +10:00
Andrew Tridgell b6319a9d19 Plane: keep an estimate of the rangefinder altitude 
only accept data when we have had 10 samples in a row in range at 50Hz
 2014-08-27 17:14:19 +10:00
Andrew Tridgell daa32f9b62 Plane: reset steering integrator on mode change and when not moving 
this prevents an old integrator from causing problems on takeoff
 2014-08-25 08:20:37 +10:00
Andrew Tridgell f2f730ba9b Plane: added FBWA_TDRAG_CHAN parameter 
this allows for testing taildragger takeoffs in FBWA mode
 2014-08-24 19:39:51 +10:00
Andrew Tridgell 15a7f63d7e Plane: set GPS non-blocking 
the new GPS driver only ever needs a non-blocking port
 2014-08-19 10:08:17 +10:00
Randy Mackay 7d7272520e Plane: use baro healthy() 
Use baro last update time in place of healthy to determine whether HIL
sensor updates have started
 2014-08-14 16:03:28 +09:00
Andrew Tridgell 5e997b20f6 Plane: move battery init to after parameter load 2014-08-09 22:50:14 +10:00
Andrew Tridgell d54bb68270 Plane: prevent cross-track on some WP types 
when finishing a takeoff or when a user forces a WP change don't do
any cross-tracking. This avoids a problem where the plane tries to
line up with a track completely unrelated to the track currently being
flown
 2014-08-04 21:02:13 +10:00
Andrew Tridgell b64ab07ca4 Plane: added STAB_PITCH_DN_CD parameter 
this adds some down trim when at throttle levels below the trim
throttle in FBWA mode.

defaults to 200 centi-degrees. I may adjust based on flight tests
 2014-08-03 17:17:20 +10:00
Matthias Badaire 57253fc2ee Rover: Add SERIAL2_PROTOCOL for GCS and FRSky telemtry 
This allows selection of protocol type on telem2. The default is MAVLink, but can be selected as FrSky protocol
 2014-07-29 17:08:20 -07:00
Andrew Tridgell d18c00d6fc Plane: split up altitude handling 
this creates altitude.pde for altitude handling, getting ready to add
terrain following
 2014-07-24 21:50:19 +10:00
Andrew Tridgell ea086fa79c Plane: added MAV_CMD_DO_INVERTED_FLIGHT support 
allows for mission control over inverted flight
 2014-06-05 16:12:10 +10:00
Andrew Tridgell 1e2b644b1b Plane: fix for HAL_GPIO_* 2014-06-02 10:42:36 +10:00
Andrew Tridgell 286479ee93 Plane: prevent stalled takeoff with bad TKOFF_TDRAG_SPD1 
go to level pitch if pitch rises by 10 degrees
 2014-05-23 07:30:59 +10:00
Andrew Tridgell d87619c2f1 Plane: added 4 new parameters to control takeoff 
this gives flexible control for taildragger takeoff
 2014-05-23 07:30:58 +10:00
Andrew Tridgell 511e8beaed Plane: updates for new GCS_MAVLink API 2014-05-21 12:45:25 +10:00
Andrew Tridgell 69b5f352f6 Plane: prevent a bad glide slope when first entering auto 
we need to ensure that prev_WP_loc is not used as it could be
completely different from current_loc. As a precuation, this also sets
up next_WP_loc so that when the set_next_WP() is first called that
prev_WP_loc is set to current_loc
 2014-05-18 16:14:11 +10:00
Andrew Tridgell bd09d8551d Plane: use setup_uart() 2014-05-16 11:44:53 +10:00
Andrew Tridgell ccc8a6a6ed Plane: use MIS_AUTORESET when entering AUTO mode 2014-04-29 11:46:06 +10:00
Andrew Tridgell 0de41f0ce1 Plane: set AHRS vehicle class 2014-04-21 18:13:12 +10:00
Andrew Tridgell 1bce4239a3 Plane: added AUTOTUNE flight mode 
this is just like FBWA, but with automatic roll/pitch tuning
 2014-04-12 14:12:14 +10:00
Andrew Tridgell e19341ca32 Plane: convert to new GPS driver API 2014-04-01 06:38:24 +11:00
Michael Day 25f23cf16c Plane: Sends MAV_SYS_STATUS_GEOFENCE and also allows GCS to enable/disable fence. 2014-03-27 09:26:20 +11:00
Andrew Tridgell e8b9f22b01 Plane: updates for GPS changes 2014-03-24 12:04:31 +11:00
Andrew Tridgell 0d39f354b0 Plane: use new common MAVLink code 2014-03-19 12:13:38 +09:00
Andrew Tridgell 4bf140aeac Plane: make next_WP and prev_WP be locations 
having a command ID in them doesn't really make sense

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:12:39 +09:00
Randy Mackay 982ce56d2b Plane: bug fix to set_current_cmd 
When set_current_cmd mavlink message is received, resume mission only if
the mission has completed.
Stop mission when vehicle leaves AUTO mode.
 2014-03-19 12:12:28 +09:00
Andrew Tridgell 4992e2e2cf Plane: use mission.resume() not mission.start() 2014-03-19 12:12:19 +09:00
Randy Mackay 36a5287de5 Plane: call mission.init during startup 2014-03-19 12:11:49 +09:00
Randy Mackay 9446e9fd2e Plane: integrate AP_Mission library 2014-03-19 12:10:58 +09:00
Andrew Tridgell 65ae9663d4 Plane: set 2nd GPS as secondary 2014-03-08 21:48:12 +11:00
Andrew Tridgell 07826096a2 Plane: support a 2nd GPS 2014-02-26 09:24:23 +11:00
Andrew Tridgell 8a4289b56f Plane: remove unused variables 
thanks to Mike McCauley
 2014-02-24 18:49:14 +11:00
Andrew Tridgell 33851030a4 Plane: use ahrs.get_armed() 2014-02-19 10:53:26 +11:00
Andrew Tridgell 11337ab2df Plane: updates for AHRS holding home position 2014-02-15 05:29:47 +11:00