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3304 Commits

Author SHA1 Message Date
Peter Barker 903be58436 Plane: add param conversion from MAG_ENABLE to COMPASS_ENABLED 2019-04-02 10:24:49 +11:00
Peter Barker 73707077b5 Plane: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00
Peter Barker a372428ec5 Plane: use sanitize method rather than location_sanitize function 2019-04-02 10:19:38 +11:00
Peter Barker f004765494 Plane: fix incorrect misleading comment 2019-03-31 18:35:53 -07:00
Andrew Tridgell 954b6ae791 Plane: fixed WAIT_ALTITUDE wiggle 
when wiggle value is zero servos should be neutral
 2019-03-30 10:49:41 +11:00
Tom Pittenger cd0879cff0 Plane: rename dataflash to logger 2019-03-28 11:19:41 -07:00
Tom Pittenger 7030dbc766 Plane: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker bbc38f41eb Plane: use convenience manual_override method 2019-03-27 22:33:47 -07:00
Mark Whitehorn b3f093b877 Plane: remove trig calls from constexpr 2019-03-28 09:41:14 +11:00
Peter Barker 7dafde5783 Plane: stop passing dataflash into handle_radio_status 2019-03-27 10:38:39 +11:00
Mark Whitehorn e0765747e7 Plane: add new tailsitter bodyframe roll option 2019-03-26 14:50:37 +11:00
Peter Barker d0bf257357 Plane: move various sensor status flag updates up 2019-03-26 11:03:21 +11:00
IamPete1 ffc94f19cd Plane: use AHRS view for all vtol modes 2019-03-26 10:41:55 +11:00
Peter Barker 6c5c14381f Plane: move devo telemetry handling to GCS 2019-03-19 14:39:14 +11:00
Peter Barker 1a55f0ffab Plane: FrSky support has moved to GCS 2019-03-19 14:39:14 +11:00
Peter Barker d58a15ca32 Plane: fill Notify flag for flying 2019-03-19 14:39:14 +11:00
Peter Barker f940564f2b Plane: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Mark Whitehorn 825055d736 Plane: add rate-only option for QACRO mode 2019-03-19 10:13:59 +11:00
Mark Whitehorn 6414f0e48e Plane: skip plane assignments in QACRO 2019-03-19 10:13:59 +11:00
Mark Whitehorn abfeee3a3d Plane: fix indentation 2019-03-19 10:13:59 +11:00
Andrew Tridgell 3907466f9d Plane: added TKOFF_TIMEOUT parameter 
this allows for a timeout on auto-takeoff. This can be combined with
other takeoff parameters to allow the user to abort a hand-launch
after the motor has started without GCS interaction.

The 4m/s threshold is a bit arbitrary. We could make that a parameter
in the future if it is needed
 2019-03-18 14:48:08 +11:00
Andrew Tridgell 2b6210d594 Plane: use WP height for height above ground in vtol landing 
this allows for landings above or below the takeoff height without
requiring the use of terrain data. It allows both the use of vfwd
motor for holding against wind, and the correct height for land final
descent rate
 2019-03-18 14:47:27 +11:00
Andrew Tridgell b4103d04cc Plane: never use vfwd motor if vtol motors shutdown 2019-03-18 13:38:41 +11:00
Andrew Tridgell 7908ad437e Plane: allow fwd motor to run in VTOL land hor positioning 
this fixes an issue with vtol landings below the takeoff point
 2019-03-18 13:38:41 +11:00
Peter Barker 0edba9070f Plane: move sending of RPM message up 2019-03-16 10:33:01 +09:00
Peter Barker d489d9a585 Plane: compass init never fails 2019-03-13 13:06:50 +11:00
Peter Barker ca7566fff9 Plane: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Peter Barker cbb0bfb809 Plane: is_flying_vtol: if spool mode is shut down we are not flying 
The subsequent check for get_throttle passes if you switch from QHOVER
to MANUAL on the ground while armed.  get_throttle returns > 0.01 - but
the motors are shut down so no output occurs.
 2019-03-12 10:21:11 +11:00
Peter Barker cf45b54070 Plane: quadplane use prearm checks from Attitude and Position controllers 2019-03-12 10:14:14 +11:00
Mark Whitehorn f7bf10fcfc ArduPlane: add rudder to tailsitter gain scaling 2019-03-12 10:12:23 +11:00
Mark Whitehorn 4a6b97828f ArduPlane: add tailsitter input type TAILSITTER_INPUT_BF_ROLL 2019-03-06 15:48:51 +11:00
Mark Whitehorn 01d6f1d932 ArduPlane: add body-frame yaw mode for tailsitters 2019-03-06 15:48:51 +11:00
IamPete1 872c3df45c Plane: tailsitter pull in copter ouputs from AP_motors 2019-03-06 14:46:39 +11:00
Peter Barker bd444d97dc Plane: move sending of airspeed_autocal into AP_AirSpeed 2019-03-06 11:32:52 +11:00
Mark Whitehorn 6e4a2b97f9 ArduPlane:add subclass for copter tailsitters 
cleanup and add tailsit_motmx
add constexpr and motor mask check
add support for tricopter tailsitter
don't call output_motor_mask unless armed
fix whitespace
 2019-03-06 07:53:46 +09:00
Peter Barker 94899bd2ed Plane: move sending of send_pid_tuning up 2019-03-05 10:41:56 +11:00
Mark Whitehorn 61aff344d3 ArduPlane: add high-speed Qmode tailsitter gain scaling with support for airspeed sensor 2019-03-05 10:27:42 +11:00
Mark Whitehorn 487ad7a90f Plane: add QACRO mode for quadplanes 
use acro_r/p/y_rate params in qacro
port ACRO throttle handling from copter

handle non-tailsitter controls
 2019-03-05 10:13:20 +11:00
Peter Barker a451380d61 Plane: avoid int32_t<->float conversions 2019-03-01 12:09:58 +11:00
Dr.-Ing. Amilcar do Carmo Lucas f430fd14f6 Plane: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Andrew Tridgell cd1f21b806 Plane: removed some px4 specific code and docs 2019-02-27 20:32:37 +11:00
IamPete1 f24c6785f2 Plane: add E-stop 2019-02-27 08:51:24 +09:00
Andrew Tridgell 136e10a781 Plane: handle VTOL landing with incorrect height 
if landing above expected height then run landing detector to allow a
switch from LAND_DESCEND to LAND_FINAL

this prevents the plane sitting on the ground until the battery runs
out
 2019-02-26 11:12:58 +11:00
Peter Barker dea75a87fd Plane: AHRS set_orientation renamed to update_orientation 2019-02-26 10:28:09 +11:00
Michael du Breuil b290148ed0 Plane: Don't overwrite the quadplane loiter relax 2019-02-23 11:08:21 +11:00
Andrew Tridgell a278a152fc Plane: fixed throttle nudge 
broken by recent radio input changes

Thanks to Michael for noticing!
 2019-02-22 18:41:34 +11:00
Michael du Breuil c15983c690 Plane: prevent loss of control when Q_ENABLE is set while flying 
Also rename check_throttle_suppression
 2019-02-21 21:38:03 -07:00
Andrew Tridgell c290b1f3b5 Plane: fixed servo jitter due to airspeed estimate from throttle 
when we have no other airspeed source and we are armed we get airspeed
from throttle. the default setting of k_throttle in the radio code
caused an oscillation of the value used in the airspeed estimate, each
time a RC frame came in.
 2019-02-22 14:42:17 +11:00
Michael du Breuil 25a2c77782 Plane: Fix not logging quadplane control, and over logging attitude control 2019-02-22 11:59:26 +11:00
Andrew Tridgell d7abf27ec2 Plane: fixed servo jitter due to airspeed estimate from throttle 
when we have no other airspeed source and we are armed we get airspeed
from throttle. the default setting of k_throttle in the radio code
caused an oscillation of the value used in the airspeed estimate, each
time a RC frame came in.
 2019-02-22 10:27:36 +11:00