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Author SHA1 Message Date
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
Tom Pittenger
cb20325593 AP_Mission: added flight stage FLIGHT_LAND_ABORT 
- add get_prev_nav_cmd_with_wp_index(). This is different than get_prev_nav_cmd_index() in that it only stores the index if there is a valid lat/lng (+1 squashed commits)
- added mission item command to NAV_LAND which is the abort takeoff altitude. If 0 then use last takeoff if available, else use 50m
 2015-09-09 09:04:24 +10:00
Tom Pittenger
46a83c7ae9 AP_TECS: added flight stage FLIGHT_LAND_ABORT 
- do what TAKEOFF does in tecs, push the throttle up
 2015-09-09 09:04:24 +10:00
Tom Pittenger
0961e1d907 AP_SpdHgtControl: added flight stage FLIGHT_LAND_ABORT 2015-09-09 09:04:24 +10:00
Fredrik Hedberg
d9a4b6b089 AP_HAL_Linux: Allow PCA9685 to be used on non-default I2C addresses. 2015-09-09 08:43:22 +10:00
Fredrik Hedberg
9d9e6d0b34 AP_HAL_Linux: Only use enable pin for PCA9685 if we need to. 2015-09-09 08:43:22 +10:00
Fredrik Hedberg
21b9f96ce3 AP_HAL_Linux: Enable use of all 16 channels for non-Navio PCA9685. 2015-09-09 08:43:22 +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
Tom Pittenger
4771d19073 AP_Math: added locations_are_same(loc1,loc2) helper 
returns true if lat and lng are the same, ignores alt and options
 2015-09-08 17:05:54 +10:00
Tom Pittenger
1026e7df45 AP_Mission: updated comment 
altitude and lat/lng are all used
 2015-09-08 17:05:54 +10:00
Andrew Tridgell
6afb3895c0 AP_RangeFinder: added doc strings for new rangefinder types 2015-09-08 16:46:52 +10:00
Andrew Tridgell
cbd43ee6ea HAL_PX4: added hal.i2c support on PX4 boards 
this allows I2C based devices to use in-tree drivers
 2015-09-08 16:46:52 +10:00
Andrew Tridgell
da2ad49276 Replay: fix for changes to AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Andrew Tridgell
b87ed96825 Rover: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Andrew Tridgell
f2b0f8f4db AntennaTracker: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Andrew Tridgell
d6b244670b Copter: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Andrew Tridgell
0a66fcce20 Plane: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Andrew Tridgell
80c85a2c3f AP_SerialManager: added enum for serial lidar 2015-09-08 16:46:52 +10:00
Andrew Tridgell
7d30ce2e36 AP_RangeFinder: added lightware serial rangefinder 2015-09-08 16:46:52 +10:00
Andrew Tridgell
0ca534bfab AP_NavEKF: only call calcGpsGoodToAlign if we need to 
avoid calling it once we have an origin. This avoids some calculations
and string operations
 2015-09-08 16:07:33 +10:00
Andrew Tridgell
dff9fe9cb2 Copter: use prearm_failure_reason() 2015-09-08 16:07:33 +10:00
Andrew Tridgell
7e13edd4c7 AP_Arming: use prearm_failure_reason() 2015-09-08 16:07:33 +10:00
Andrew Tridgell
c10ce3ffbd AP_NavEKF: added prearm_failure_reason() 2015-09-08 16:07:33 +10:00
Andrew Tridgell
c18c6d894e AP_AHRS: added prearm_failure_reason() 2015-09-08 15:50:22 +10:00
Andrew Tridgell
05192ea9ab Plane: added severities to send_statustext_all 2015-09-08 14:29:55 +10:00
Andrew Tridgell
d7a7741d15 APM_OBC: added severities to send_statustext_all 2015-09-08 14:29:45 +10:00
Andrew Tridgell
b65739a8cc AP_Arming: added severities to send_statustext_all 2015-09-08 14:29:33 +10:00
Andrew Tridgell
bc4d37c91e GCS_MAVLink: added severity to send_statustext_all() 2015-09-08 14:29:22 +10:00
Andrew Tridgell
f92f46ee99 Plane: update for changed AP_Arming API 2015-09-08 13:54:45 +10:00
Andrew Tridgell
c48bef1552 AP_Arming: removed the need for the GCS print function 2015-09-08 13:54:25 +10:00
Andrew Tridgell
f3e8819d1e GCS_MAVLink: make send_statustext_all() take a format string 
this allows for formatted messages to all groundstations in libraries
 2015-09-08 13:53:58 +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
90b48fe46a Rover: Fixing issue 327 - reporting Baro alt instead of GPS 2015-09-08 09:40:39 +10:00
Grant Morphett
00e6cd40e5 scripts: Support to build for frame specific tags 
The driver for this is to separate the Copter and TradHeli builds so
Copter and TradHeli do not have to be released at the same time.  This
will also work for all frame times but it is anticipated only required
by Heli.
 2015-09-08 09:05:43 +10:00
Leonard Hall
0129110502 Copter: limit throttle mid to throttle min + 50 2015-09-07 18:10:28 +09:00
Leonard Hall
6b01c1117f Copter: keep thr-mix at min when landed 2015-09-07 18:10:25 +09:00
Grant Morphett
bec21a51a4 AP_RangeFinder: Just fixing the parameter name in the description 2015-09-07 17:48:37 +09:00
Leonard Hall
c8872e082d AC_AttControl: rename set_throttle_out parameter 
No functional change
 2015-09-07 15:10:15 +09:00
Randy Mackay
0eaf815411 Copter: guided mode vel controller integrates althold lean limit 
Note it does not yet actually limit the lean angles based on throttle
 2015-09-07 15:10:13 +09:00
Leonard Hall
543f6fdcd4 Copter: AltHold limits lean angle to maintain altitude 
get_pilot_desired_lean_angles function now takes angle max parameter but
all flight modes except AltHold simply pass in the ANGLE_MAX parameter
meaning no functional change for them
 2015-09-07 15:10:12 +09:00
Leonard Hall
5ab2a19173 AC_WPNav: loiter limits lean angle for alt loss 2015-09-07 15:10:11 +09:00
Leonard Hall
cf5db31053 AC_PosControl: allow limiting lean angle to avoid alt loss 2015-09-07 15:10:10 +09:00