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3490 Commits

Author SHA1 Message Date
Andrew Tridgell 13edbb0531 Plane: if already flying in TAKEOFF mode then skip takeoff 2019-10-17 12:19:10 +11:00
Andrew Tridgell e983b94a2f Plane: deny reverse thrust in takeoff mode 2019-10-17 12:19:07 +11:00
Andrew Tridgell d74d8fac95 Plane: added a new TAKEOFF flight mode 
takeoff then circle in direction of takeoff
 2019-10-17 12:19:05 +11:00
Henry Wurzburg 2fb75a9961 Plane: add QACRO to flight mode list 2019-10-17 12:18:55 +11:00
Andrew Tridgell fe889b6f4e Plane: prepare for release of 4.0.0beta3 2019-10-07 21:39:21 +11:00
Andrew Tridgell 82d2a02971 Plane: updated release notes for 4.0.0beta3 2019-10-07 21:38:51 +11:00
Andrew Tridgell b3834457bd Plane: check airspeed and active Z controll for hover learning 2019-10-07 21:18:28 +11:00
Michael du Breuil 4f3762d8c2 Plane: Resore old default behaviour for throttle curves 
The change in this made QStabilize behave very differently then it had,
which is quite shocking in a test flight.
 2019-10-07 21:17:30 +11:00
Andrew Tridgell 9473c7c0e5 Plane: prepare for 4.0.0beta2 release 2019-09-24 08:43:34 +10:00
Andrew Tridgell a5bb67bf42 Plane: updated release notes for 4.0.0beta2 2019-09-24 08:39:24 +10:00
Andrew Tridgell a9d441981b Plane: fixed height_above_ground() for case when rangefinder is below min 
this prevents a rangefinder that goes below min distance from causing
the calculations that depend on height above ground to fail
 2019-09-22 21:10:32 +10:00
Andrew Tridgell 7bf78a8741 Plane: prevent fwd motor from spinning up on ground in quadplane landing 
if the rangefinder starts to measure below it's min range then the fwd
motor can spin up.

Thanks to Josh for reporting this!
 2019-09-22 21:10:29 +10:00
Andrew Tridgell 3084a15221 Plane: prepare for 4.0.0beta1 release 2019-09-16 12:56:50 +10:00
Andrew Tridgell 6a17917cd5 Plane: updated release notes for 4.0.0beta1 2019-09-16 12:56:39 +10:00
Andrew Tridgell b8d3640bc4 Plane: fixed an issue with landing on rising ground 
when landing on rising ground we don't want to use the terrain look
fwd correction for the flare calculation as otherwise we will flare
too early (and thus too high)
 2019-09-16 12:55:29 +10:00
Andrew Tridgell 929426abf8 Plane: update release notes for 3.9.11 2019-09-15 19:08:16 +10:00
Andrew Tridgell 7751352a86 Plane: implement VTOL landing for AFS termination 
this allows for vertical landing as an AFS_TERM_ACTION
 2019-09-12 09:59:17 +10:00
Mark Whitehorn 788e7a840c Plane: default angle_boost to disabled for tailsitters 2019-09-12 09:05:42 +10:00
Andrew Tridgell b724608f03 Plane: update release notes for 3.9.11 2019-09-11 12:30:27 +10:00
Michael du Breuil 4f22dff14d Plane: Add an airspeed limit for quadplane takeoffs 2019-09-09 22:06:25 -06:00
Michael du Breuil 77afcf6a1b Plane: Abort takeoffs that take to long to complete 2019-09-09 22:06:25 -06:00
Henry Wurzburg 7178655cbe Plane: fixed landing after VTOL loiters 2019-09-10 08:57:13 +10:00
Michael du Breuil cf58f68e49 Plane: Rearrange header to save flash 
Saves 392 bytes of flash on CubeBlack builds without increasing RAM
consumption at all. This also translates to a speed up as some of these
are looked up every loop multiple times.
 2019-09-10 06:43:34 +10:00
Peter Barker 948d606694 Plane: remove ineffective DEVO_TELEM_ENABLED 2019-09-04 17:47:33 +10:00
Peter Barker b12f620233 Plane: fix format string warnings 2019-09-02 21:00:59 +10:00
IamPete1 27286b659b Plane: servos: update dspoiler auto trim 2019-09-01 09:00:16 +10:00
Peter Barker 32a71d2d5a Plane: mount uses AP_SerialManager singleton 2019-08-28 06:55:28 +10:00
Andrew Tridgell 296ce5a409 Plane: fixed throttle failsafe for FS_SHORT_ACTN=3 
this is a replacement for #12043
many thanks to @Jaaaky for finding this issue
 2019-08-26 17:20:24 +10:00
Andrew Tridgell 0ccd2fb273 Plane: update release notes for 3.9.10 2019-08-26 13:38:44 +10:00
Peter Barker 847f85a081 Plane: correct compilation with PARACHUTE==DISABLED 2019-08-23 13:22:44 +10:00
Andrew Tridgell 470a60f828 Plane: reset steering in MANUAL or when not stabilising 2019-08-22 20:10:09 +10:00
Michael du Breuil 0b0d0e2f8e Plane: Remove APM_Config.h 2019-08-21 22:16:49 -06:00
Peter Barker 1b36d64794 Plane: correct compilation with GEOFENCE_ENABLED==DISABLED 2019-08-20 23:03:32 -07:00
Michael du Breuil ea64077f77 Plane: Remove redundant protection 2019-08-20 23:59:06 +01:00
Andrew Tridgell 10770b5c7f Plane: update release notes for 3.9.10beta1 2019-08-18 16:18:43 +10:00
Peter Barker 2768d229ed Plane: stop updating sensor status flags 
These are updated as required in the gcs library itself.
 2019-08-17 17:45:03 +10:00
Peter Barker 466681a94e Plane: factor out a handle_command_int_do_reposition 2019-08-14 18:30:24 +10:00
Peter Barker cfe4ec4d1f Plane: add nullptr check for mavlink channel 0 2019-08-14 18:25:43 +10:00
Peter Barker 7e5a6f1895 Plane: avoid allocate a GCS_MAVLINK per mavlink channel 2019-08-14 18:25:43 +10:00
Peter Barker 20626a1fe1 Plane: move automatic declination setting into AP_Compass itself 2019-08-13 10:02:13 +10:00
Andrew Tridgell 1b775c96f5 Plane: added rangefinder correction by terrain data 
allows for landing approach with terrain changes
 2019-08-06 09:36:02 +10:00
Peter Barker b7b67f523d Plane: pass format string through to check_failed 2019-08-05 14:18:05 +10:00
Andrew Tridgell 6f57028c23 Plane: added release notes from 3.9.9 2019-08-04 18:01:51 +10:00
Leonard Hall 124d18228b Plane: Support seperate roll and pitch limits 2019-08-03 12:06:32 +09:00
Peter Barker 05c608e725 Plane: use MAV_FRAME_GLOBAL instead of MAV_FRAME_GLOBAL_INT in send_position_target 2019-07-30 10:55:21 +10:00
Peter Barker 20a20bde65 Plane: accept MAV_FRAME_GLOBAL for set_position and repositioning 2019-07-30 10:55:21 +10:00
Michael du Breuil 2d81ad63f5 Plane: Convert ARMING_CHECK 2019-07-30 10:42:16 +10:00
Michael du Breuil 3e214e1f8b Plane: Add keydump feature 2019-07-30 10:42:16 +10:00
Leonard Hall 34da437266 Plane: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall 157f786adf Global: rename desired to target in PID info 2019-07-25 17:38:15 +09:00
Michael du Breuil c6f884221e Plane: Fix parameter description on values to not use the delimiter character 2019-07-23 09:29:48 +10:00
Pierre Kancir 33e12a127c ArduPlane: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Michael du Breuil 22598b1a4b Plane: Reduce inerital nav dependence 2019-07-16 12:11:42 +09:00
Peter Barker 7c88eb670c Plane: RangeFinder uses AP_SerialManager singleton 2019-07-16 09:29:48 +10:00
Peter Barker 38e303389b Plane: avoidance no longer takes ahrs in constructor 2019-07-16 09:29:48 +10:00
Peter Barker 37014bdfe1 Plane: split RC_CHANNELS messages onto separate ap_message ids 2019-07-09 13:08:45 +10:00
Peter Barker 769e862807 Plane: stop passing relay and ahrs into camera constructor 2019-07-09 09:32:39 +10:00
Andrew Tridgell ff08de033e Plane: fixed home reset alt bias 
this fixes a bug in the set of home alt while disarmed. The set had a
circular dependency which could cause a large bias to build up between
home alt and gps alt due to small fluctuations in barometer data

Thanks to Nick Allen for spotting this
 2019-07-07 19:20:32 +10:00
Andrew Tridgell aa18c75689 Plane: decay fw rate integrators when at low airspeed 
this prevents large fixed wing control surface integrators from
causing issues when we have wind from behind in hover
 2019-07-07 18:16:47 +10:00
Andrew Tridgell ebe2278f5d Plane: reset rate controller integrators if not run for 2s 
this prevents a bug where integrator buildup can happen from a
previous flight mode
 2019-07-07 18:16:47 +10:00
Peter Barker 1674cb0a85 Plane: EKF logging moved into EKF from logger 2019-07-06 19:05:51 +10:00
Hwurzburg 44f6f7335e Plane: Added Quadplane option for QRTL failsafe action 2019-07-05 11:25:56 +10:00
Peter Barker 3ab266b751 Plane: ServoRelayEvents uses Relay singleton 2019-07-03 23:59:24 -07:00
IamPete1 76663d66e8 Plane: support bicopter tiltrotors 2019-07-02 10:15:17 +10:00
Peter Barker 80c7449145 Plane: add sanity check when fetching GCS_MAVLink instance 2019-06-27 07:54:45 +10:00
Michael du Breuil 39c35814ec Plane: Send a heartbeat on mode change 2019-06-26 12:58:18 -07:00
Peter Barker 3e4366906b Plane: allow GCS MAVLink base class to handle out-of-time for sending messages 2019-06-25 10:29:40 +10:00
Peter Barker 78a1f97caa Plane: remove pointless protocol parameter to setup_uart 2019-06-25 09:47:08 +10:00
Peter Barker a900fa0117 Plane: stop pointlessly passing serial manager around 2019-06-25 09:47:08 +10:00
Michael du Breuil 183640789d Plane: Enable scripting parameters 2019-06-18 00:06:32 -07:00
Peter Barker 53d2a6c1e2 Plane: set os_sw_version to date fw was compiled 
Also avoids non-trivial-designator compilation error
 2019-06-18 10:54:01 +10:00
Peter Barker 584404a6da Plane: add RC options for changing mode 2019-06-18 10:48:47 +10:00
Michael du Breuil 1d379dd0b3 Plane: Update for AFS interface 2019-06-18 10:02:05 +10:00
Andrew Tridgell 08baabed4a Plane: modify FENCE_AUTOENABLE docs 2019-06-11 06:58:47 +10:00
Andrew Tridgell 5076058459 Plane: added FENCE_AUTOENABLE=3 option 
this enables the fence when arming. If the vehicle is outside the
fence or it can't be enabled then arming fails
 2019-06-11 06:58:47 +10:00
Peter Barker fb2422e496 Plane: stop setting eas2tas in AirSpeed - it can work it out itself 2019-06-06 12:44:36 +10:00
1iggy2 220176f283 Plane: added octa I frame 2019-06-04 09:49:44 +09:00
Peter Barker 13f7022cec Plane: move Arming functions into AP_Arming file 2019-05-30 16:02:10 +09:00
Peter Barker 8fdc2a1bad Plane: emit throttle armed and throttle disarmed statustexts 2019-05-30 07:37:30 +09:00
Peter Barker 92ce75517c Plane: move check for ARMING_CHECK_NONE back into Plane 
Plane allows all prearm and arm checks to be bypassed with
ARMING_CHECK_NONE.  Not all vehicles allow this, so move this bypass
back into Plane.
 2019-05-30 07:37:30 +09:00
Peter Barker 400aa53654 Plane: move arming-related functionality into parent classes 
Logging moves up
arming via mavlink moves up
arming via switch moves up
 2019-05-30 07:37:30 +09:00
Peter Barker 515e950a66 Plane: add missing override keywords in afs 2019-05-15 21:05:20 +10:00
Andrew Tridgell a7c6e9c007 Plane: restore WP num on watchdog reset 2019-05-15 15:33:48 +10:00
Tom Pittenger 08d5e7d4ae Plane: move heartbeat sending to gcs instead of by vehicles 2019-05-14 10:54:45 -06:00
Mark Whitehorn 34a1cf9528 Plane: move callback setup to QuadPlane::setup() 2019-05-08 10:28:42 +10:00
Mark Whitehorn aeaff72e14 Plane: fix acro stabilization check 2019-05-08 08:44:52 +10:00
Mark Whitehorn 4a7ce1b384 Plane: clean up qacro 2019-05-08 08:44:52 +10:00
Peter Hall 0b1d392342 Plane: only save gains if disarmed in autotune 2019-05-07 09:23:50 +10:00
Tom Pittenger 6970a66cad Plane: refactor stick_mixing to library 2019-05-03 13:14:11 -07:00
Andrew Tridgell cd72657c94 Plane: fixed qautotune exit 
this was lost in the onion changes
 2019-05-02 06:59:12 +10:00
Vinicius Knabben 99ad94ec49 Plane: Added parachute release on critcal sink rate and battery failsafe actions 
Signed-off-by: Vinicius Knabben <viniciusknabben@hotmail.com>
 2019-04-30 10:04:58 +10:00
IamPete1 02d976f264 plane: reinstate tailsitter roll limit 2019-04-30 09:20:40 +10:00
Mark Whitehorn dd50d435ab Plane: limit bodyframe roll mode to tailsitters 2019-04-30 08:51:24 +10:00
Andrew Tridgell 40245cabf1 Plane: update release notes for 3.9.8 2019-04-26 07:17:48 +10:00
Peter Barker 14a8bf3aec Plane: move responsibility for logging into library 2019-04-23 10:06:17 +10:00
Peter Barker ad16f31e11 Plane: call compass cal routine directly from sched table 2019-04-23 10:06:17 +10:00
Mark Whitehorn f054301ec2 Plane: add QACRO roll/pitch/yaw rate params 2019-04-23 09:46:38 +10:00
Mark Whitehorn 8bcf2439ad Plane: quadplane stabilize manual throttle midpoint and expo 
move throttle curve logic to AP_Math

use parameter THROTTLE_EXPO in get_pilot_throttle
 2019-04-23 09:46:38 +10:00
Mark Whitehorn b515431008 AP_Math: add expo and throttle_curve functions 2019-04-23 09:46:38 +10:00
IamPete1 fb4b092917 plane: restore thr_min behaviour and update description 2019-04-23 09:39:45 +10:00