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3684 Commits

Author SHA1 Message Date
Samuel Tabor
93bcfc4c3e Plane: Assign flap channel in set_control_channels() to avoid expensive call in set_servos_flaps(). 2020-09-03 07:55:51 +10:00
Samuel Tabor
590ebb180c Plane: Update airbrake channel assignment in set_control_channels() to avoid expensive call in airbrake_update() 2020-09-02 10:10:09 -07:00
Samuel Tabor
f1290a2e17 Plane: Add use of airbrakes, used when throttle is negative OR via RC channel option. 2020-09-02 10:10:09 -07:00
Iampete1
abee62abc4 Plane: use throttle in for transition max comparison 2020-08-30 18:19:40 +10:00
Peter Barker
75aa8b7e6e Plane: log speed scaler into AETR 2020-08-29 18:52:46 +10:00
Andrew Tridgell
bf0f359445 Plane: fixed LOITER_TO_ALT with terrain target 
many thanks to Pompecukor for finding this!

Fixes #14951
 2020-08-25 10:39:18 +10:00
Samuel Tabor
67c152cef2 Plane: Move cruise state into cruise flight mode. 2020-08-22 09:30:15 +10:00
Samuel Tabor
334fd4afbc Plane: Remove update_navigation() method. 2020-08-20 13:02:06 +10:00
Samuel Tabor
836be4b4b4 Plane: Remove _navigate indirection in Mode. 2020-08-20 13:02:06 +10:00
Samuel Tabor
6a27866df4 Plane: Call plane.update_loiter() rather than plane.mode_loiter.navigate(). 2020-08-20 13:02:06 +10:00
Samuel Tabor
06eea6ed9f Plane: Move navigation functions into flight mode classes. 2020-08-20 13:02:06 +10:00
Siddharth Purohit
fb180fa431 Plane: move to using CANManager library 2020-08-19 17:31:09 +10:00
Peter Barker
306eaf4d03 ArduPlane: use an enumeration for the AP_Avoidance recovery action 2020-08-19 11:38:19 +10:00
Mark Whitehorn
ee65940dfa Plane: enable yaw in qstabilize:air_mode at zero throttle 2020-08-13 08:47:27 +10:00
Mark Whitehorn
4630e9af30 Plane: add Mode::is_vtol_man_mode 
and make use of is_vtol_mode in in_vtol_mode
 2020-08-13 08:47:27 +10:00
Mark Whitehorn
e22d9398d3 Plane: add AirMode RC option for quadplanes 
add Q_OPTION for AirMode (auto-enabled if RCx_OPTION ARMDISARM assigned)
    bugfix: manual throttle mix for qacro
    qualify auto airmode on/off
    add Air Mode to Plane RC_OPTION metadata
    restrict airmode to manual throttle modes
    add qhover to manual throttle mix
    move air_mode from Plane to QuadPlane
    add Mode::is_vtol_man_throttle()
 2020-08-13 08:47:27 +10:00
Michael du Breuil
99ad126986 Plane: Fix redundant call to SpdHgt_Controller->get_land_airspeed() 2020-08-11 09:47:24 +10:00
Andrew Tridgell
3c705d1c60 Plane: added THR_FAILSAFE=2 option 
this allows for RC inputs to be ignored at low throttle, but won't
trigger failsafe. It is meant for users flying BVLOS missions, where
they want GCS failsafe enabled, but don't want RC failsafe, and want
to be sure that RC inputs will be ignored at low RC throttle values

Thanks to suggestion from Pompecukor
 2020-08-07 14:01:20 +10:00
Samuel Tabor
aa776b06a4 Plane: Use sq() rather than powf() in soaring.cpp. 2020-08-05 11:58:54 +10:00
Samuel Tabor
b2d63c5049 Plane: Refactor soaring.cpp. 2020-08-05 11:58:54 +10:00
Peter Barker
ac85ec9924 Plane: log AHRS synthetic airspeed 2020-08-04 23:12:03 +10:00
Andrew Tridgell
6466912ac0 Plane: don't crosstrack after AUTO VTOL takeoff 2020-08-04 09:26:08 +10:00
Andy Piper
b649afe9e5 Plane: make mount/gimbal inclusion configurable per-board 2020-08-04 09:18:14 +10:00
Tom Pittenger
c7c9461fc0 Plane: update ModeReasons to not use UNKNOWN reason 2020-07-28 11:52:39 -07:00
Andrew Tridgell
cce2532901 Plane: fixed use of VTOL control for missions 
horizontal speed was not being setup when doing waypoint missions in
VTOL mode
 2020-07-28 08:06:14 +10:00
Peter Hall
cd46c5006a ArduPlane: remove duplicate fail-safe time check 2020-07-28 08:04:50 +10:00
Iampete1
62354527d4 Plane: zero throttle nudge in RC failsafe 2020-07-28 08:03:16 +10:00
Henry Wurzburg
3617e0c729 ArduPlane: fix airspeed messages for consistency 2020-07-21 09:41:05 +10:00
Samuel Tabor
419f7c9998 Plane: Convert SOAR_ENABLE_CH to RCX_OPTION. 2020-07-21 09:38:04 +10:00
Samuel Tabor
611217f63e AP_Soaring: Use RC aux function rather than read RC directly. 2020-07-21 09:38:04 +10:00
Samuel Tabor
455ebaadf2 RC_Channel: Add soaring aux function. 2020-07-21 09:38:04 +10:00
Michael du Breuil
6c6e4eff67 Plane: adhoc MAVLink DO_LAND_START changing mode to auto is known to be a GCS reason 2020-07-17 09:15:05 +09:00
Henry Wurzburg
16a15f5450 ArduPlane: add CROW flaps mode select switch 2020-07-16 13:30:45 +10:00
Mirko Denecke
10a85892cf ArduPlane: update_trigger() is now called in AP_Camera update() 2020-07-15 08:37:28 +09:00
Paul Riseborough
585a6a6967 Plane: Log D gain limit cycle gain scaler 
Used by roll and pitch loops in APM_Control
 2020-07-13 13:47:50 +10:00
TunaLobster
aca70ffd34 ArduPlane: Update Log_Write_Fast comment for accuracy 2020-07-11 19:15:21 +10:00
Iampete1
08a710235d Plane: add tailsitter assist with motors only option 2020-07-09 06:49:24 +10:00
Iampete1
6710bab006 Plane: add Q_OPTIONS to defaut to Qassist force enabled 2020-07-09 06:49:24 +10:00
Henry Wurzburg
4115603f13 ArduPlane: add terrain follow disable switch for CRUISE/FBWB 2020-07-08 13:39:42 +10:00
Paul Riseborough
e5bd99a66f ArduPlane: Signal EKF to expect takeoff start to improve GSF yaw estimate 2020-07-07 15:33:58 +10:00
Michael du Breuil
955a05c4d5 Plane: Refactor mav_cmd_do_reposition to be consistent with copter 2020-07-07 10:34:19 +10:00
Mark Whitehorn
2af6e255d1 RC_Channel: add RC option for VTOL manual forward throttle 
fix RC_OPTION metadata for 209: Forward Throttle
 2020-07-07 08:37:46 +10:00
Mark Whitehorn
d5b1b20274 Plane: implement manual forward throttle for QACRO, QSTABILIZE and QHOVER 
add parameter Q_FWD_THR_MAX for scaling manual throttle
allow forward motor tilt when disarmed
add FWD_THR_CH as an RC option
change Q_FWD_THR_MAX to percent
change RC_OPTION FWD_THR to 209
move assignment of rc_fwd_thr_ch to one_second_loop
move arming check from forward_throttle_pct to set_servos
change Q_FWD_THR_MAX TO Q_FWD_MANTHR_MAX
expand description of Q_FWD_MANTHR_MAX
add pre-arm check for VTOL manual forward throttle
change VTOL fwd throttle input to percent
 2020-07-07 08:37:46 +10:00
Peter Barker
ee2118f93a Plane: add support for AP_Generator 2020-07-03 08:21:42 +09:00
Peter Barker
d47569ccef Plane: correct ASSIST_ANGLE description 2020-07-01 20:57:32 +10:00
Andrew Tridgell
3a0538449c Plane: added Q_ASSIST_DELAY parameter 
this allows tuning of the time between assistance thresholds being met
and assistance kicking in. It also changes the default delay from 1s
down to 0.5s based on analysis of a flight where assistance was too
slow
 2020-07-01 20:57:32 +10:00
Andrew Tridgell
d9358b4ac2 Plane: don't allow a zero speed_scaler 
this fixes an issue with yaw damper on quadplanes when at zero
airspeed

Thanks to Vladi Portnoy for reporting this
 2020-06-29 20:09:41 +10:00
Andy Piper
9077d41df1 Plane: add support for tracking fft peaks and individual motor rpms with harmonic notches 
log harmonic notch even if FFT is disabled. Fallback to throttle notch for BLHeli
move harmonic notch update to AP_Vehicle
 2020-06-21 19:09:35 +10:00
Michael du Breuil
43526e718e Plane: Remove the use of RTL_RADIUS from LOITER_UNLIM mission items 2020-06-19 11:10:29 -07:00
Mark Whitehorn
ab2eb6185f Plane: also limit throttle during quadplane transitions 2020-06-16 11:43:18 +10:00