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Commit Graph

4078 Commits

Author SHA1 Message Date
Andrew Tridgell
3228b0e670 Plane: added MCU_STATUS message 2021-08-25 07:11:31 +10:00
Iampete1
d372907a98 Plane: Quadplane: add Q_OPTION to only allow arming in Qmodes and auto. 2021-08-24 10:39:12 +10:00
Samuel Tabor
65a38b26a4 ArduPlane: altitude: rangefinder correction should be relative to the altitude source being used for navigation. This avoid applying it twice when there is an existing correction saved. 2021-08-19 17:59:33 +10:00
Andrew Tridgell
e1b73a5198 Plane: added slew rate and Dmod for PID_TUNING message 2021-08-19 12:08:54 +10:00
TunaLobster
cbf6c2926f ArduPlane: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
Peter Barker
e0d03ce565 ArduPlane: move wind-estimation-enabled state to frontend 2021-08-18 18:37:39 +10:00
Peter Barker
a84fda9b1f Plane: adjust for rename yaw_initialised -> dcm_yaw_initialised 2021-08-18 18:37:39 +10:00
Peter Barker
5afaacc320 ArduPlane: stop sending SENSOR_OFFSETS 
Only works for first compass instance.

We have all of these in parameters anyway.
 2021-08-18 18:06:24 +10:00
Andrew Tridgell
58c823284c Plane: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
497a7c9819 Plane: fixed EKF fly-forward flag for tailsitters 
for tailsitters that are always using the VTOL controllers (forced
QAssist) we need a different way to determine the fly-forward flag
 2021-08-17 20:48:36 +10:00
Iampete1
baf2b4a3d8 Plane: Qstabilize: mode functions to ModeQStabilize 2021-08-17 11:46:49 +10:00
Iampete1
44e63861ce Plane: QRTL: move functions to ModeQRTL 2021-08-17 11:46:49 +10:00
Iampete1
f75919e727 plane: QLoiter: move functions to ModeQLoiter 2021-08-17 11:46:49 +10:00
Iampete1
921116e7a3 Plane: QLand: move functions to ModeQLand 2021-08-17 11:46:49 +10:00
Iampete1
737096f342 Plane: QHover: move functions to ModeQHover 2021-08-17 11:46:49 +10:00
Iampete1
a1fa683272 plane: Qautotune: move functions to ModeQAutotune 2021-08-17 11:46:49 +10:00
Iampete1
e293866245 plane: Qacro: move functions to ModeQAcro 2021-08-17 11:46:49 +10:00
Peter Barker
515a994c59 ArduPlane: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Iampete1
bd2fed31ee Plane: actualy fail to enter mode, don't just put the mode back and reutrn true 2021-08-17 10:20:53 +10:00
Iampete1
59a158d7be Plane: don't output throtte in when safe 2021-08-16 21:22:35 +10:00
Andrew Tridgell
c6efbdd359 Plane: update release notes for 4.1.0beta5 2021-08-16 15:19:43 +10:00
Hwurzburg
9ab0d2e387 ArduPlane: add CRUISE mode RC AUX Function switch 2021-08-11 18:35:05 +10:00
Andrew Tridgell
d1d0ab41d6 Plane: added option to log PIDs at full rate 
useful for tuning quadplanes
 2021-08-10 10:13:36 +10:00
Peter Barker
5dab6b7275 Plane: remove pointless override of send_simstate 
This is dangling after removing HIL stuff
 2021-08-10 09:48:34 +10:00
Iampete1
a1ecd706b7 Plane: notify buzzer on every mode change 2021-08-10 09:47:33 +10:00
Leonard Hall
65b58dea85 Plane: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-10 08:33:56 +09:00
Peter Hall
ed4345cb3b Quadplane: tailsitter: provide assistance at min throttle 2021-08-08 19:41:22 +10:00
Peter Hall
2527117cf9 Quadplane: combine assistance_needed and assistance_safe functions 2021-08-08 19:41:22 +10:00
Hwurzburg
80b4cd7ae9 ArduPlane: correct Mission Reset override behaviour in Plane 2021-08-06 10:17:25 +10:00
bugobliterator
c8b2f009fd Plane: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +10:00
Tom Pittenger
7f9bbc9cfd Plane: fix ADSB stall speed units. Was accidently using meter/s instead of cm/s 2021-08-04 07:08:24 -07:00
Samuel Tabor
23f6f38390 Plane: soaring: No action if in landing sequence. 2021-08-04 06:52:56 +10:00
Josh Henderson
66cd413473 ArduPlane: remove POSITION_TARGET_TYPEMASK_FORCE_SET 2021-08-03 12:48:38 +10:00
Iampete1
7ff592d29e Plane: Quadplane: move mode functions to mode classes in-place 2021-08-03 12:28:31 +10:00
Iampete1
4a5e4f9c85 Plane: mode: add quadplane refences 2021-08-03 12:28:31 +10:00
Iampete1
a808d5c688 Plane: mode: add run and init methods 2021-08-03 12:28:31 +10:00
Iampete1
03d17437c3 Plane: mode_takeoff: call base mode constuctor 2021-08-03 12:28:31 +10:00
Peter Barker
435988a300 Plane: don't reset home on GPS startup on watchdog reset 2021-08-03 10:36:50 +10:00
Peter Barker
cfe25f71e3 ArduPlane: use mission singleton inside AP_AdvancedFailsafe 2021-08-03 10:35:24 +10:00
Andrew Tridgell
e7702a4216 Plane: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Hwurzburg
1e4a6c9236 ArduPlane: Correct OSD horizon for VTOL modes and TRIM_PITCH_CD in Fixed Wing 2021-08-03 10:09:28 +10:00
Peter Barker
7e8f812909 Plane: don't allow motortest if motors not allocated 2021-08-02 10:24:49 +10:00
Andrew Tridgell
b037507c48 Plane: mark master as 4.2.0dev 2021-08-01 06:06:26 +10:00
Peter Barker
c348f602d9 ArduPlane: use AP::compass().available in place of enabled() 2021-07-30 12:19:42 +10:00
Peter Barker
85e8b362a7 ArduPlane: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Peter Barker
c1e263695f Plane: remove unimplemented function declaration 2021-07-30 11:23:06 +10:00
Iampete1
f18428b357 Plane: #ifdef scripting specific functions 2021-07-28 18:18:32 +10:00
Hwurzburg
b539a534e9 Plane: improve description of Q_TRIM_PITCH 2021-07-27 12:49:33 +10:00
Iampete1
beefd95079 Plane: QuadPlane: tailsitter param conversion, set and use new enable param 2021-07-27 09:08:34 +10:00
Iampete1
0eab3faf32 Plane: use new tailsiter class 2021-07-27 09:08:34 +10:00
Iampete1
2bc2b9533b Plane: QuadPlane: move tailsitter to class 2021-07-27 09:08:34 +10:00
Andrew Tridgell
716697f337 Plane: updated release notes for 4.1.0beta4 2021-07-25 18:31:48 +10:00
Andrew Tridgell
73952dfecb Plane: update ATRP logging 2021-07-24 15:32:55 +10:00
Andrew Tridgell
f472da8e90 Plane: added ONESHOT_MASK parameter 
after discussion with Paul on servo latency
 2021-07-23 14:47:14 +10:00
Andrew Tridgell
1ae669bb01 Plane: added manual input expo for MANUAL, ACRO and TRAINING 
this is easier than setting up mode specific expo in radios for flying
in manual modes
 2021-07-23 14:47:14 +10:00
Andrew Tridgell
c0d942af4c Plane: disable EKF3 default airspeed fusion by default 
this fusion can cause problems with wind estimation, disable by
default for now
 2021-07-22 18:20:45 +10:00
Andrew Tridgell
8e6abf5976 ArduPlane: replaced Pixhawk with more appropriate wording in docs 2021-07-22 07:48:12 +10:00
Peter Barker
06c2faaec5 ArduPlane: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
e3b8fc6646 ArduPlane: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
354c1091f8 ArduPlane: stop taking references to ahrs in APM_Control 2021-07-21 18:27:23 +10:00
Hwurzburg
19213d3627 Plane: Allow yaw at zero throttle in VTOL descents 2021-07-20 11:10:25 +10:00
Iampete1
015b971ccb Plane: add new dynamic mixer frame class 2021-07-20 09:19:28 +10:00
Andrew Tridgell
d41e400c86 Plane: added acro and training modes RC option 2021-07-20 09:00:46 +10:00
Peter Barker
93323f1f39 Plane: stop setting terrain singleton; libraries use singleton 2021-07-12 17:34:44 +10:00
Leonard Hall
7db568c85a Plane: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
WillyZehnder
0ce6157900 Plane: GCS_Plane.cpp Fix chronological sequence 
to avoid inappropriate critical warning CRT:NoRCReceiver by ensuring the
call of plane.failsafe.last_valid_rc_ms before calling millis()
 2021-07-07 18:56:09 +10:00
Peter Barker
5b7ec1fab4 Plane: do not run any prearm checks if we are armed or arming is not required 
Co-authored-by: TunaLobster <unknown>
 2021-07-07 18:20:54 +10:00
Stephen Dade
d6a123b58b ArduPlane: Add support for HIGH_LATENCY2 messages 2021-07-07 17:10:05 +10:00
Hwurzburg
8dee32e64f Plane: Add TX FF tuning for Pitch/Roll/Yaw QuadPlane PIDs 2021-07-06 09:00:16 +10:00
Andrew Tridgell
7ca0aa7c94 Plane: updated release notes for 4.1.0beta3 2021-07-05 16:24:04 +10:00
Andrew Tridgell
8482f9af27 Plane: fixed motor test with DShot VTOL motors 
need to arm when running the motor test
 2021-07-05 07:36:28 +10:00
Samuel Tabor
5e5452cf73 Plane: mode_thermal: adjust messages to reference parameter names 2021-06-30 18:21:03 +10:00
Hwurzburg
ac76a63931 ArduPlane: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Hwurzburg
8310f4a718 Plane: fix bug in tilt position for QLOITER and QRTL if THR_MIN !=0 2021-06-29 10:58:11 +10:00
Andrew Tridgell
92197bd5a9 Plane: fixed longitude wrap in verify_nav_wp 
thanks to @Khancyr
 2021-06-25 15:33:55 +10:00
Andrew Tridgell
50e6d67a66 Plane: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell
61ac45dd5a Plane: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Andrew Tridgell
4d7bb82f9e Plane: updated release notes for 4.1.0beta2 2021-06-24 20:15:01 +10:00
Andrew Tridgell
66bc673442 Plane: fixed attitude control during QPOS_AIRBRAKE 
this fixes a bug where we used the multicopter rate control when in
airbrake approach stage, which could lead to attitude going out of
control
 2021-06-22 07:42:20 +10:00
Peter Barker
055e82276e ArduPlane: remove HIL support 2021-06-15 09:47:31 +10:00
Iampete1
6eab9b9c15 plane: quadplane: skip QPOS_POSITION1 on tailsitters 2021-06-15 09:25:58 +10:00
Peter Hall
85743be4f3 Revert "Plane: cope with Q pitch limit larger than fixed wing limit" 
This reverts commit 74da3c74ac.
 2021-06-15 09:25:58 +10:00
Hwurzburg
e958306343 Plane: Add options to USE_REVERSE_THRUST to cover all flight modes 2021-06-15 07:05:02 +10:00
Hwurzburg
4f48233b43 ArduPlane: add QRTL always as Q_RTL_MODE option 2021-06-14 09:08:20 +10:00
Andrew Tridgell
80afba3bd2 Plane: updated release notes for 4.1.0beta1 2021-06-14 08:25:05 +10:00
Andrew Tridgell
0c8e81964e Plane: reset yaw controller on entry to POSITION1 
this fixes a yaw change when we finish landing approach in
QRTL. Thanks to Henry for noticing this
 2021-06-14 07:53:32 +10:00
Andrew Tridgell
4307390820 Plane: fixed distance threshold for vtol land 2021-06-13 07:50:02 +10:00
Andrew Tridgell
f749c2c3ad Plane: fixed issue with overspeed in QPOS_POSITIION1 
this fixes the backflip issue on the convergence that Henry found
 2021-06-13 07:50:02 +10:00
Andrew Tridgell
ae6220aace Plane: cope with zero distance to target in QPOS_POSITION1 2021-06-10 13:50:29 +10:00
Andrew Tridgell
0f9e7001d1 Plane: limit speed in POSITION1 based on angle 
this prevents trying to fly a quadplane fast backwards or sideways. If
flying backwards then a 3x reduction is used. For sideways a 2x
reduction is used
 2021-06-10 13:50:29 +10:00
Andrew Tridgell
74ac9964f1 Plane: improved POSITION1 speed profile 
allow acceleration up to the Q_WP_SPEED, and assume a decel profile
matching Q_TRANS_DECEL for approach speed
 2021-06-10 13:50:29 +10:00
Andrew Tridgell
5f8e90cd6f Plane: metadata fix for Q_OPTIONS 2021-06-10 13:50:29 +10:00
Andrew Tridgell
3611b1dbf7 Plane: added check for QPOS initialisation 
thanks to Kris for noticing this!
 2021-06-10 13:50:29 +10:00
Andrew Tridgell
db34577755 Plane: use a separate bit for landing reposition in quadplanes 
when repositioning stop descent
 2021-06-10 13:50:29 +10:00
Andrew Tridgell
06cd077c36 Plane: fixed stick mixing with land reposition in quadplanes 
prevent stick mixing overriding landing control
 2021-06-10 13:50:29 +10:00
Andrew Tridgell
0937d903a1 Plane: use HAL_EFI_ENABLED 2021-06-09 18:07:00 +10:00
Andrew Tridgell
0ecc02c53a Plane: fixed constructor of accel_ef filter 2021-06-08 11:14:52 +10:00
Iampete1
438ca0a6c4 Plane: tailsitter: increase severity level of failed transisisons. 2021-06-08 10:56:09 +10:00
Andrew Tridgell
f970735d47 Plane: fixed handling of NAV_LOITER_TIME with Q_GUIDED_MODE=1 
and made logic of in_vtol_mode() easier to read
 2021-06-05 13:05:30 +10:00
Andrew Tridgell
aa904d6bbc Plane: fixed guided mode handling with new approach code 
ensure we treat guided approach as not a vtol mode
 2021-06-05 13:05:30 +10:00