Commit Graph

552 Commits

Author SHA1 Message Date
Tom Pittenger
f5dfe7c650 ArduPlane: Log isFlying status
Log is_flying() status and its float probability in new STAT msg
and piggyback on MODE bitmask flag.
2015-04-30 10:57:03 +10:00
Tom Pittenger
c974134ea4 ArduPlane: RTL Autoland skip HOME
With RTL_AUTOLAND=1 we navigate to HOME then to the DO_LAND_START commands. Now with RTL_AUTOLAND=2 we head directly to the DO_LAND_START commands and thus skip changing altitude to ALT_HOLD_RTL and head directly to the first land waypoint as if it was the next normal waypoint.
2015-04-28 12:09:00 +10:00
Andrew Tridgell
3c9ed9b5a6 Plane: don't limit down pitch during landing
there is no reason for a special case for aircraft without airspeed
sensors
2015-04-28 09:25:49 +10:00
Michael Day
607d9ca839 Plane: Implementation of do_ and verify_ for MAV_CMD_NAV_LOITER_TO_ALT 2015-04-25 09:12:16 +10:00
Tom Pittenger
1176146e06 Plane: fix compile warnings for unused functions 2015-04-24 14:09:43 +09:00
Tom Pittenger
bd9b573969 Plane: Fix compile warnings
- const values declared as default double
- This is the first pass in fixing the warnings, trying to catch some low hanging fruit. All const double values are changed to float. For example: 1.0 is now 1.0f.
- Only except is in location.pde where some double stuff is happening
- I did not change the exponentials 1e7 type stuff which should be 1e7f. A different commit
2015-04-24 12:20:53 +09:00
Paul Riseborough
32f87d008a Plane: Allow EKF to pull data from range finder object 2015-04-24 10:56:56 +09:00
Andrew Tridgell
664c92fb81 Plane: fixed RUDDER_ONLY to not combine direct rudder output
this prevents us over-rolling in FBWA
2015-04-20 09:09:23 +10:00
Michael du Breuil
78a3ce46b9 Plane: Use tecs to control the throttle during takeoff 2015-04-16 08:56:37 +10:00
Andrew Tridgell
90bb97a144 Plane: added last_flying_ms to auto_state
used to find out how long it is since we were last flying
2015-03-17 10:12:00 +11:00
Andrew Tridgell
dd1059cecf Plane: added arm_motors() and disarm_motors() helper functions 2015-03-17 10:12:00 +11:00
Andrew Tridgell
fb8b96ba0d Plane: make is_flying() a bit more accurate in landing approach
prevent false negatives using the sink rate
2015-03-16 10:58:36 +11:00
Andrew Tridgell
1c1798fb11 Plane: support much smoother flare transitions
provide the height above the ground to TECS so it can make a smarter
pre-flare transition
2015-03-15 13:53:08 +11:00
Andrew Tridgell
b0cdf8952b Plane: added HIL_MODE parameter
this allows for HIL with any firmware
2015-03-13 22:52:56 +11:00
Víctor Mayoral Vilches
4ae3bf5399 Plane: Update compass to the new interface 2015-03-13 18:46:17 +11:00
Andrew Tridgell
a942ebbb70 Plane: removed unnecessary prototype 2015-03-13 11:21:47 +11:00
Andrew Tridgell
dc9e2a54f3 Plane: fixed use of HAL soft_armed 2015-03-13 11:20:43 +11:00
Tom Pittenger
659904bf65 Plane: sped up is_flying filter since it is running at only 1Hz 2015-03-13 11:07:19 +11:00
Tom Pittenger
8f7bb61a54 Plane: changed arm check method to use new is_flying code 2015-03-13 11:07:05 +11:00
Tom Pittenger
58b0702793 Plane: isFlying redesign
The is_flying() function is too simplistic to be used as a generic
status. Added a sticky heuristic method that depends on the arm
state. More thought should go into the boolean result of isFlying but
this is at least safer than the original method.
2015-03-13 11:06:54 +11:00
Andrew Tridgell
999710d0e1 Plane: fixed issue where auto is entered before GPS lock
thanks to Tom Pittenger for noticing this!
2015-02-25 22:54:52 +11:00
Andrew Tridgell
5afe3fb958 Plane: mark 3.3.0beta1 2015-02-23 15:07:06 +11:00
Andrew Tridgell
422d0f05bd Plane: provide terrain height to rangefinder
used for power saving
2015-02-23 14:15:14 +11:00
Andrew Tridgell
76f8b9b07c Plane: support DO_SET_HOME MAVLink command 2015-02-21 10:14:18 +11:00
Jonathan Challinger
4105edaa87 Plane: use hal.util soft_armed state 2015-02-11 20:57:27 +11:00
Andrew Tridgell
4d6a7996f7 Plane: the next release will be 3.3.0
quite a few large changes pending
2015-02-05 20:55:00 +11:00
Andrew Tridgell
33225c2955 Plane: mark master as 3.2.2alpha1 2015-02-03 17:11:25 +11:00
Randy Mackay
3a1465c9d1 Plane: integrate SerialManager
call SerialManager init_console on startup
use SerialManager's set_block_writes_all
2015-01-29 14:05:15 +11:00
Randy Mackay
681d28838f Plane: integrate mount frontend-backend restructure
initialise mount on startup
use mount.has_pan_control method
remove calls to unimplemented mount.configure_cmd
remove call to update_mount_type which is now handled by mount lib
2015-01-29 13:57:18 +11:00
Andrew Tridgell
5d8cec23db Plane: update version to 3.2.1beta1 2015-01-27 17:22:13 +11:00
Robert Lefebvre
395c868727 Plane: Change Compass logging to new DataFlash method that handles instances. 2015-01-21 14:37:54 +09:00
Andrew Tridgell
059c3769f3 Plane: cope with the changed semantics if airspeed.use() 2015-01-20 11:28:35 +11:00
Dario Lindo Andres
0ea7a7a0cc Plane: Corrected LOGGING_ENABLED
When we configure LOGGING_ENABLED to DISABLED code does not
compile. Now it works!
2015-01-17 10:42:11 +13:00
Andrew Tridgell
b8bfa755a9 Plane: raise alpha version 2015-01-09 15:47:47 +11:00
Andrew Tridgell
035b1302ed Plane: updates for new AP_Baro API 2015-01-09 11:50:54 +11:00
Staroselskii Georgii
dc410a4b42 Plane: added AK8963 support 2015-01-07 08:41:13 +11:00
Andrew Tridgell
8708297341 Plane: update for new OptFlow API 2015-01-03 14:16:33 +11:00
Andrew Tridgell
ae96a48efc Plane: use location_path_proportion()
this should produce better glide slopes when the aircraft is off
course
2015-01-01 15:17:45 +11:00
Randy Mackay
11def53ca7 Plane: pre_arm_gps_check flag always true 2014-12-26 12:32:38 +09:00
Andrew Tridgell
0599f1dcb1 Plane: changed version number to 3.2.1alpha1 2014-12-06 18:37:39 +11:00
priseborough
f23722ecee Plane: Remove statement about flow driver rate in comment 2014-12-06 18:16:48 +11:00
priseborough
ca53d5fb62 Plane: Increase rate at which optical flow sensor is checked
The sensor driver runs asynchronously at 10Hz, so needs to be checked frequently for arrival of data.
2014-12-06 18:16:48 +11:00
priseborough
2db9247117 Plane : Add logging and EKF read for updated flow sensor interface 2014-12-06 18:16:47 +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
d1fb137651 Plane: mark development version 3.2.1alpha 2014-11-29 06:59:47 +11:00
Andrew Tridgell
b88e6b6302 Plane: prepare for 3.2.0 release 2014-11-25 13:58:28 +11:00
Andrew Tridgell
826ae8ee8b Plane: prepare for 3.1.2beta3 2014-11-21 14:50:04 +11:00
Andrew Tridgell
0672d1fc3c Plane: mark beta2 2014-11-16 14:41:37 +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