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3684 Commits

Author SHA1 Message Date
Peter Barker
1206df6f0c ArduPlane: remove use of Vector2 as function 2020-06-16 11:00:44 +10:00
Paul Riseborough
97d7d563c4 ArduPlane: Improve parameter description for FWD_BAT_VOLT_MAX/MIN 2020-06-16 10:17:33 +10:00
Paul Riseborough
fdb4f908bb ArduPlane: Fix bug in forward throttle voltage compensation 
The existing code does not adjust the upper and lower throttle limits with the result that at and of discharge climb and reverse thrust performance is significantly degraded.
 2020-06-16 10:17:33 +10:00
vierfuffzig
147ebb74f4 Plane Parameters: fix THR_MAX param description 
makes clear that thr is constrained in stabilized modes too unless passthrough is set, aligns with THR_MIN description.
 2020-06-12 10:23:41 +10:00
Peter Barker
6c4812e408 ArduPlane: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos' 2020-06-12 08:11:46 +10:00
Peter Barker
f59d2fdbf4 ArduPlane: add and use accessor for last-RADIO_STATUS.remrssi-ms 2020-06-09 10:20:29 +10:00
Iampete1
2121ddf736 Plane: drop unneeded call to calc_pwm 2020-06-09 09:04:14 +10:00
Andrew Tridgell
fbd774fde9 Plane: set pressure alt for vtol motors 2020-06-05 11:35:53 +10:00
Iampete1
4b7d45e549 Plane: label and sort plane.h functions 2020-06-05 09:32:31 +10:00
Andrew Tridgell
568e13fbb9 Plane: allow for continue after land for quadplanes 
this allows for a new takeoff after a quadplane auto landing
 2020-06-02 09:12:22 +09:00
Michael du Breuil
911570e9f3 Plane: Protect against a divide by 0 when calculating the forward throttle compensation 2020-06-02 09:38:51 +10:00
Andrew Tridgell
ebcbc6d449 Plane: update release notes for 4.0.6beta1 2020-05-27 13:27:27 +10:00
Peter Hall
7688430029 Plane: allow Qassit for fw to vtol transision 2020-05-26 09:01:47 +10:00
Peter Hall
87cd9a4791 Plane: allow Qassist for tailsitters 2020-05-26 09:01:47 +10:00
Peter Hall
2467d7b5c7 Plane: add Qassist switch 2020-05-26 09:01:47 +10:00
Tom Pittenger
0a5021fdcf Plane: bugfix: never reset auto_state.sink_rate 2020-05-23 18:49:12 -07:00
Andrew Tridgell
26c2555c3c Plane: increased allowed time for mavlink send to 750us 
this is to allow more time to get streams out at low loop rates
 2020-05-23 11:54:41 +10:00
Buzz
0f5177b291 Plane: Support a set of offboard MAVLink guided controls with rates 
+ 3 rounds of fixes
 2020-05-20 15:03:21 +10:00
Buzz
d4df145b4b ArduPlane: option to keep landing throttle at thr_min during flare and touchdown, not zero. 2020-05-20 11:29:45 +10:00
Iampete1
f9ff8e5f11 Plane: align GCS PID with logged 2020-05-19 09:04:16 +10:00
Andrew Tridgell
8b21f5117a Plane: implement RTL_CLIMB_MIN parameter 
this allows for an initial climb on RTL where roll is limited to
LEVEL_ROLL_LIMIT
 2020-05-18 13:04:04 +10:00
Paul Riseborough
0c9433873c ArduPlane: Modify ekf failsafe checks 
Restore velocity check and make the logic closer to what ArduCopter does.
Remove unnecessary initialisation.
 2020-05-14 10:40:48 +10:00
Paul Riseborough
85e53d53e1 ArduPlane: Don't use optical flow health when assessing EKF nav health 
Plane currently doesn't use optical flow for navigation - it is used fo terrain height estimation.
 2020-05-14 10:40:48 +10:00
Paul Riseborough
3a10838c65 ArduPlane: Don't check variances if not available 2020-05-14 10:40:48 +10:00
Paul Riseborough
70a02f31ab ArduPlane: More efficient type use 2020-05-14 10:40:48 +10:00
Paul Riseborough
5b312e9f09 ArduPlane: Fix logic error 2020-05-14 10:40:48 +10:00
Paul Riseborough
cd5714d059 ArduPlane: Allow EKF dead reckoning to continue after loss of GPS 2020-05-14 10:40:48 +10:00
Paul Riseborough
40cc5a5006 ArduPlane: Improve EKF failsafe in VTOL modes 
Replicates Copter behaviour with a three step process if the EKF sustains a loss of navigation as detected by high GPS innovation test ratios:

1) Attempts a yaw reset using the GSF estimate if available
2) Attempts a lane switch
3) Falls back to a non-position mode
 2020-05-14 10:40:48 +10:00
Randy Mackay
59a2667870 Plane: quadplane's throttle mix uses filtered accelerations 2020-05-12 09:56:09 +10:00
Michael du Breuil
9eaf7f5528 Plane: Fix VTOL yaw for STICK_MIXING 0 2020-05-08 08:44:03 +10:00
Peter Barker
8222b5db62 Plane: AP_Soaring no longer takes AHRS in constructor 2020-05-05 17:35:14 +10:00
Tom Pittenger
87c75332e7 Plane: ignore guided cmds from mavlink if we're in avoidADSB. 
This change makes it behave like MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED
 2020-05-05 10:51:16 +10:00
Peter Barker
f17ea78a6c Plane: move sending of WIND message to GCS namespace 2020-05-05 10:29:13 +10:00
Peter Barker
e75fa6fb15 Plane: move sending of AOA_SSA message to GCS namespace 2020-05-05 10:29:13 +10:00
Iampete1
3ded030fa8 Plane: compensate forward throttle for battery voltage drop 2020-05-05 09:46:41 +10:00
Peter Barker
86c765d8c9 ArduPlane: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Andrew Tridgell
d0a509eef1 ArduPlane: invalidate param count when changing param tree structure 2020-04-29 07:36:55 +10:00
Paul Riseborough
0efdb2b66b ArduPlane: Send default airspeed to estimators 2020-04-24 09:43:23 +10:00
Randy Mackay
9a43a31f24 Plane: do not send ahrs3 mavlink message 2020-04-22 14:11:17 +09:00
Henry Wurzburg
3397bce235 Plane: Quadplane tailsit transition to FW throttle level change 2020-04-21 09:51:47 +10:00
Henry Wurzburg
6c730ccfec Plane: start tailsitter forward transition from current pitch angle 2020-04-21 09:50:57 +10:00
Rishabh
0c5d68dfeb Plane: Replace update_vel_controller_xy() with update_xy_controller() 2020-04-21 09:22:45 +10:00
Mark Whitehorn
bada075daa Plane: expand description of CTUN.Aspd to indicate when estimate or measurement is reported 2020-04-18 15:33:43 +10:00
Peter Barker
f5f4576835 ArduPlane: remove comment for already-removed in-delay-callback function 
These are now attached to completely unrelated functions, which is
pretty bad.
 2020-04-16 15:11:35 +09:00
Andrew Tridgell
156fe0846f Plane: fixed plane landing gear to obey LGR_OPTIONS bits 
we forced landing gear retract/deploy on takeoff and landing when we
should be following the options bits
 2020-04-15 17:10:31 +10:00
Rishabh
6989cb0131 Plane: Use AHRS for heading in mode loiter 2020-04-10 12:18:35 +10:00
Samuel Tabor
b9daae062c AP_Soaring: Use enum class rather than typedef enum for states and hide details of these. 2020-04-08 09:11:54 +10:00
Samuel Tabor
d7ce3ff72e AP_Soaring: Don't check throttle status on entry to loiter, because it is automatically set on first pass in update_soaring. 2020-04-08 09:11:54 +10:00
Samuel Tabor
36a90cf443 Plane: Remove unused isHeadingLinedUp function, and rename functions to avoid confusion. 2020-04-08 09:11:54 +10:00
Samuel Tabor
170b599469 Plane: Required changes for conditional soaring compilation (fmuv2). 2020-04-08 09:11:54 +10:00
Samuel Tabor
e1f7122566 AP_Soaring: Improve tracking of enabled/disabled status. 2020-04-08 09:11:54 +10:00
Samuel Tabor
e7418637ee Plane: In FBWB make target alt track current if soaring is enabled and suppressing throttle. 2020-04-08 09:11:54 +10:00
Samuel Tabor
ed7e359f4d Plane: Make target altitude track current altitude when gliding. 2020-04-08 09:11:54 +10:00
Samuel Tabor
2260fda4ec AP_Soaring: Detect changes in active parameter/switch position. 2020-04-08 09:11:54 +10:00
Samuel Tabor
650b464831 AP_Soaring: Move drift check to separate function and check drift with reference to mission segment, allowing drift in right direction. LOITER target, not current position, is now used. 2020-04-08 09:11:54 +10:00
Samuel Tabor
5963164a22 Plane: Soaring, make zero SOAR_MAX_RADIUS always RTL, and -1 never. 2020-04-08 09:11:54 +10:00
Samuel Tabor
75f772b269 AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER. 2020-04-08 09:11:54 +10:00
Samuel Tabor
298088268a Plane: Soaring, don't wait for heading if too low, and add timeout otherwise. 2020-04-08 09:11:54 +10:00
Samuel Tabor
684ee11fc3 AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring. 2020-04-08 09:11:54 +10:00
Samuel Tabor
013628bd1d Plane: Soaring - better reporting of exit due to drift. 2020-04-08 09:11:54 +10:00
Samuel Tabor
96bc0e1e03 Plane: Soaring: Reset loiter.sum_cd when good to continue thermalling, so that exit heading acceptance criteria does not grow. 2020-04-08 09:11:54 +10:00
Samuel Tabor
e7736fb5e7 AP_Soaring: Line up on current, not next, nav command. 2020-04-08 09:11:54 +10:00
Samuel Tabor
a56b1dadb9 Plane: fix bug with headingLinedUp when loiter.sum_cd was negative. 2020-04-08 09:11:54 +10:00
Tom Pittenger
394fbb1a50 Plane: unified soaring exit behavior: auto heads to next wp, cruise continues cruise heading, FBW to home 2020-04-08 09:11:54 +10:00
Tom Pittenger
ce9450846b Plane: fix soaring typo 2020-04-08 09:11:54 +10:00
Tom Pittenger
ec8f82422a Plane: move loiter heading init for auto into auto helper, and properly reset it in loiter mode enter 2020-04-08 09:11:54 +10:00
Tom Pittenger
fd4b7c823e Plane: improved soaring exit options 2020-04-08 09:11:54 +10:00
Tom Pittenger
f397c168e8 Plane: refactor loiter heading exit logic 2020-04-08 09:11:54 +10:00
Tom Pittenger
f6396d7a6d Plane: add reason to exit Thermal loiter and adjust LOW alt reaon to cause RTL 2020-04-08 09:11:54 +10:00
Michael du Breuil
9600eea394 Plane: Report what channel is used for rudder arming 2020-04-07 14:01:12 -07:00
Rishabh
a9cacc8756 Plane: Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Michael du Breuil
37be15b3cd Plane: When stick mixing is disabled do not apply stick mixing to quadplane modes 2020-04-04 10:12:22 +11:00
Mark Whitehorn
cbce94005b Plane: expand description of QTUN.Sscl log message field 2020-04-03 08:36:55 +11:00
Rishabh
a76d0e3002 Plane: Remove SONR messages logging 2020-04-01 17:11:48 +11:00
Rishabh
ac6b04c21b Plane: Spelling fix in logger documentation 2020-03-31 10:07:50 +11:00
Rishabh
aea2cdb0c9 Plane: added logger documentation 2020-03-31 10:07:50 +11:00
Peter Barker
ab557662cc Plane: check channel space before sending servo output raw in SITL CPU failsafe 2020-03-26 15:12:50 +11:00
Henry Wurzburg
4d2c5ebbaa ArduPlane: update logger meta-data, add to gitignore 2020-03-25 14:20:53 +11:00
Andrew Tridgell
bd341691e2 Plane: fixed flaperon auto-trim 
fixed direction of flaperon automatic trim with SERVO_AUTO_TRIM
 2020-03-23 15:20:08 +11:00
Peter Barker
383cfb3b11 Plane: remove bad trailing backslashes in log structure definition 
These are required in LogStructure as it's a massive #define.  This is
just a plane C struct definition so doesn't need them
 2020-03-22 18:35:14 +11:00
Henry Wurzburg
3914ae23ca ArduPlane: fix typos in logger message meta-data 2020-03-22 10:04:53 +11:00
Peter Barker
9bc6790723 Plane: add CTUNi QTUN and PIQ? log information 2020-03-21 09:34:43 +11:00
Peter Barker
b810a0de23 Plane: add logger documentation for NTUN 2020-03-20 13:05:46 +11:00
Peter Barker
5a7d52fa0d Plane: send SERVO_OUTPUT_RAW message when in cpu failsafe under SITL 
This allows us to test that rc inputs are copied to the outputs in CPU
failsafe in autotest
 2020-03-20 12:19:21 +11:00
Andrew Tridgell
9f92aad711 Plane: implement get and set target location 2020-03-12 08:36:40 +11:00
Andrew Tridgell
8aaefea2a4 Plane: convert to new get_rpm() API 2020-03-12 08:36:40 +11:00
Peter Barker
4fac8c9e16 ArduPlane: move AP_PARM_KEY_DUMP function up to AP_Vehicle base class 
Common to all vehicles now, including Tracker
 2020-03-10 11:00:14 +11:00
Henry Wurzburg
7828274c72 Plane: prevent jump to Circle upon Takeoff mode entry unless flying >10s 2020-03-03 18:25:02 +11:00
Andrew Tridgell
c6a6427d6a Plane: prevent lidar glitches from triggering land final 
this prevents short term lidar glitches from triggering the change
from descend to final in quadplane
 2020-02-27 13:15:46 +11:00
Randy Mackay
f2ab428cdd Plane: rename update_throttle_mix 
was called update_throttle_thr_mix
also minor format fixes
 2020-02-25 16:52:40 +09:00
Peter Barker
5ff1630c63 ArduPlane: move initialisation of serial and gcs to AP_Vehicle 2020-02-25 11:50:55 +11:00
Rishabh
0b01bb531d Plane: Remove unutilized case 2020-02-25 11:02:43 +11:00
Rishabh
30fd915312 Plane: Update CRASH_DETECT param 2020-02-25 11:02:43 +11:00
Gone4Dirt
e02a9890b3 Plane: force mission resume on RTL when DO_LAND_START in mission 2020-02-25 10:05:12 +11:00
Andrew Tridgell
2b24e922a7 Plane: updated release notes for 4.0.5beta1 2020-02-23 08:20:50 +11:00
Peter Barker
74dbcac40e ArduPlane: log disarm method 2020-02-22 12:16:29 +11:00
Andy Piper
3832bc455d Plane: dynamic notch setting via FFT 2020-02-22 11:15:37 +11:00
Andy Piper
04792b23a9 ArduPlane: add gyro fft logging 2020-02-22 11:15:37 +11:00
Gone4Dirt
e2f3cb7ee8 Plane: Support added for DO_LAND_START FS fix 2020-02-18 21:03:29 +11:00
Peter Barker
19bc60b690 Plane: correct missing EFI parameter docs 2020-02-18 13:28:03 +11:00