Commit Graph

48 Commits

Author SHA1 Message Date
Andrew Tridgell 987b556299 Plane: disable crash detection if no GPS and no airspeed 2018-11-19 07:32:20 +11:00
Andrew Tridgell b660022b20 Plane: handle long GPS loss in crash detector
fixes issue #9349
2018-11-19 07:32:20 +11:00
night-ghost 98b8a61ca8 Plane: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
Andrew Tridgell ac196b8e0a Plane: fixed build error 2018-02-10 08:00:24 +11:00
Tom Pittenger 50a2d824c4
Plane: crash detection hard landing detection should skip debounce
closes https://github.com/ArduPilot/ardupilot/issues/7683
2018-02-09 11:40:12 -08:00
Andrew Tridgell 49cb245ea6 Plane: use a min airspeed for is_flying test
in VTOLs setting min airspeed to zero can be useful
2017-11-28 09:02:24 +11:00
Michael du Breuil bd32b5deb7 Plane: update isFlying() landing check
When we are landing a sink_rate < -0.2f means the vehicle is climbing,
which should never happen during an approach for any supported landing
type (slope or deepstall), and on hard impacts with the ground its
common for the vehicle altitude to be projected to low and climb back to
the correct altitude slowly (but at a higher rate). This changes the
check to only consider sinks while on approach as acceptable.
2017-11-07 08:57:15 +01:00
Michael du Breuil 83decd1370 ArduPlane: Only run is_flying landing checks when in landing stage 2017-11-04 10:07:16 +11:00
Andrew Tridgell af893ddde7 Plane: implement Q_OPTIONS
this allows for NAV_TAKEOFF to be treated as NAV_VTOL_TAKEOFF in
quadplanes, and for level flight to be maintained during quadplane
transitions
2017-10-30 16:30:10 +11:00
Tom Pittenger 8adacfeea3 Plane: always log MODE and include reason when logging is enabled 2017-10-25 21:18:29 +11:00
Peter Barker 5a8f01c19c Plane: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Andrew Tridgell 0b40e853c9 Plane: call set_likely_flying() 2017-06-20 09:44:44 +10:00
Tom Pittenger bdafc2c025 AP_Landing: re/move complete flag into backend
the complete flag was only ever true during FLIGHT_LAND_FINAL so we just check for that now instead
2017-01-26 13:11:45 -08:00
Tom Pittenger e709705ab8 Plane: describe flight stages without using specific stage name 2017-01-26 13:11:43 -08:00
Tom Pittenger 063f517424 Plane, TECS, AP_Landing: rename stage LAND_ABORT to ABORT_LAND
this will reduce confusion when searching for FLIGHT_LAND_* and you get a bunch of takeoff related hits. It will also make more sense when the landing library fully manages the FLIGHT_LAND stage entirely because it will not mange FLIGHT_LAND_ABORT
2016-12-30 23:50:03 -08:00
Tom Pittenger c286ceba43 Plane: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:03 -08:00
Tom Pittenger f556f705e6 Plane: move various g params to aparms 2016-11-25 19:07:30 -08:00
Tom Pittenger 896b931a7c Plane: Move auto_state variables to AP_landing members 2016-11-25 19:07:30 -08:00
Peter Barker 98ae6c776a Plane: support for AP_Stats (flight time, bootcount, runtime) 2016-10-29 14:53:25 +09:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Tom Pittenger b8d53e1c58 Plane: change how is_flying bool is assignment in fysky lib
Florent had this correct on his PR but I incorrectly advised him to change it. This commit changes it back to his original method which was correct.
2016-09-21 15:38:58 -07:00
floaledm 0b666d4933 Plane: Plane support for Frsky passthrough protocol 2016-09-21 12:12:37 -07:00
Andrew Tridgell d26af6c25b Plane: change is_flying() groundspeed threshold to 1.5m/s 2016-08-23 12:50:41 +10:00
Tom Pittenger fc50f145ce Revert "ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter)."
This reverts commit da1b18d918.
2016-08-07 17:54:24 -07:00
AndersonRayner da1b18d918 ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter). 2016-08-04 10:09:04 -07:00
Tom Pittenger ab38b12f2c Plane: adsb specific status updates 2016-07-20 22:40:14 -07:00
Tom Pittenger 4ebaab86ec Plane: override is_flying for quadplane 2016-05-31 09:46:50 -07:00
Andrew Tridgell 0aa1ae048d Plane: fixed is_flying() for VTOL flight
otherwise we may disarm mid-flight!
2016-04-23 21:03:46 +10:00
Tom Pittenger 436062ef37 Plane: improved crash detection
- fixes bug where a bungee launch is configured but the aircraft gets bumped and triggers the prop to spin up. This will now detect that and "crash' and disable the motor
2016-04-14 22:34:46 -07:00
Tom Pittenger 66fcd8f58a Plane: run is_crashed at 5hz instead of 1hz 2016-02-08 21:13:04 -08:00
Tom Pittenger b8d5369ebd Plane: add flight stage LAND_PREFLARE 2016-02-09 14:18:02 +11:00
Andrew Tridgell 418464ab8c Plane: added quadplane version of is_flying() 2016-01-09 07:38:53 +11:00
Andrew Tridgell 7afa2a493d Plane: implement VTOL flight stage 2016-01-09 07:38:53 +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
Luis Vale Gonçalves b7f3782e4e Plane: Text revisions
text revisions
2015-11-26 07:56:52 +11:00
Caio Marcelo de Oliveira Filho c8888329e1 Plane: use millis/micros/panic functions 2015-11-20 12:26:40 +09:00
lvale e18181e5c2 Plane: Uniformization of severities
Plane uniformization of severities
2015-11-09 09:38:25 +11:00
Lucas De Marchi 84da1f5039 Rename gcs_send_text_P to gcs_send_text 2015-10-30 14:35:07 +09:00
Lucas De Marchi 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
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 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
squilter 583c087eca Plane: update severities 2015-08-28 10:04:35 +10:00
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
Tom Pittenger 37336bbbe1 Plane: moved is_flying related code to its own file 2015-08-23 10:34:19 +10:00