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323 Commits

Author SHA1 Message Date
Andrew Tridgell 55d8afa1dd Plane: support autotune for yaw rate control 2021-11-30 16:19:26 +11:00
Andrew Tridgell b619ee4970 Plane: added support for rate yaw control 
to enable for ACRO mode, set ACRO_YAW_RATE to desired maximum rate in
degrees/second, and set YAW_RATE_ENABLE=1 to enable PID tuning of yaw
rate controller

pair programmed with Andy Palmer and Matthew Hampsey
 2021-11-30 16:19:26 +11:00
Iampete1 06c9a69975 Plane: remove compass params underscore 2021-11-30 08:14:43 +09:00
Peter Barker 70562021ac ArduPlane: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker 203103bae5 ArduPlane: ensure ENABLE_SCRIPTING is always defined 2021-11-15 20:27:40 +11:00
Peter Barker 554e7f8d1c ArduPlane: move EFI to AP_Vehicle 2021-11-05 09:22:17 +11:00
Peter Barker 6a12d3f5d9 Plane: use enum class for StickMixing 2021-11-03 18:06:00 +11:00
Andrew Tridgell 9c617a18f4 Plane: suppress rate D terms in ground mode 
this prevents a common oscillation issue on the ground
 2021-10-30 18:45:53 +11:00
Hwurzburg 085c5c815b Plane: Fix bug with mode return on short fs exit and add FBWB action 2021-10-26 10:12:48 +11:00
Iampete1 4b62bd9180 Plane: add Loiter to QLand to Flight mode switch 2021-09-28 09:31:13 +10:00
Iampete1 8e693e5cd1 Plane: remove TRIM_AUTO param 2021-09-28 09:16:24 +10:00
Peter Barker 3d34e061fe ArduPlane: add and use HAL_QUADPLANE_ENABLED 2021-09-14 11:23:18 +10:00
Iampete1 b18da48f39 Plane: remove AUTO_FBW_STEER 2021-09-12 22:12:32 -05:00
Iampete1 e6968395c6 Plane: remove none-functional NAV_CONTROLLER param 2021-09-08 20:32:52 +09:00
Iampete1 fd7a879c85 Plane: remove unused params 2021-09-08 17:21:23 +10:00
Hwurzburg 327f3a0803 ArduPlane: add option for man throttle center to be TRIM_THROTTLE 2021-09-07 10:02:26 +10:00
Iampete1 88f2f7ccae Plane: remove unused param OVERRIDE_SAFETY 2021-09-01 18:46:18 +10:00
TunaLobster d31f3eb4c5 Plane: Add TRIM_PITCH_CD FLIGHT_OPTIONS bits for GCS and OSD 2021-08-31 09:32:10 +10:00
Peter Barker bfe9208849 ArduPlane: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +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
bugobliterator c8b2f009fd Plane: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +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 e3b8fc6646 ArduPlane: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Hwurzburg ac76a63931 ArduPlane: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Peter Barker 055e82276e ArduPlane: remove HIL support 2021-06-15 09:47:31 +10:00
Hwurzburg e958306343 Plane: Add options to USE_REVERSE_THRUST to cover all flight modes 2021-06-15 07:05:02 +10:00
Andrew Tridgell 0937d903a1 Plane: use HAL_EFI_ENABLED 2021-06-09 18:07:00 +10:00
vierfuffzig 9a538ba15b ArduPlane: fix advanced param metadata 2021-05-25 12:36:59 +10:00
Hwurzburg 09fb9a8e58 Plane: limit speed scaling in Autotakeoff wo AS sensor option 2021-04-20 09:07:09 +10:00
Andrew Tridgell 96059a6387 Plane: allow for AUTOTUNE_LEVEL==0 2021-04-15 06:57:16 +10:00
Andrew Tridgell a35d8e584d Plane: change param prefixes for roll/pitch controllers 2021-04-15 06:57:16 +10:00
Andrew Tridgell e5308db8c2 Plane: added FLIGHT_OPTIONS bit to enable yaw control in ACRO mode 
this allows for yaw damper in ACRO, which is important on some
vehicles with no vertical stabilize

See
https://discuss.ardupilot.org/t/rudderless-split-rudder-flying-wing/69273/4
 2021-04-15 06:22:29 +10:00
Iampete1 60d26723ae Plane: make TERRAIN_FOLLOW at AP_int32 bitmask, per mode option 2021-03-24 10:15:18 +11:00
Iampete1 660d301f9b Plane: chan param converison 2021-03-17 19:18:46 +11:00
Iampete1 cca5e62c89 Plane: move RST_SWITCH_CH to RCx_OPTION 2021-03-17 19:18:46 +11:00
Iampete1 7226a3a9dc Plane: move FBWA_TDRAG_CHAN to RC Options 2021-03-17 19:18:46 +11:00
Iampete1 5f555e5314 Plane: move CHUTE_CHAN to RC Options 2021-03-17 19:18:46 +11:00
Iampete1 eeab196d91 Plane: move RST_MISSION_CH to RC option 2021-03-17 19:18:46 +11:00
Stavros Korokithakis 29043d62e9 Add FLIGHT_OPTION to climb before RTL 2021-03-16 11:58:47 +11:00
Samuel Tabor ed48558985 ArduPlane: Correct description of KFF_THR2PTCH parameter. 2021-03-12 20:11:02 -08:00
Siddharth Purohit 1b8519ee53 ArduPlane: move underscore one layer down for GPS 2021-03-12 16:32:36 +09:00
James O'Shannessy 198ec9a678 ArduPlane: Fix use of nullptr when AC_FENCE configured as DISABLED 
Parameter upgrade needs to grab singleton as the fence library may not be built in to plane.
 2021-03-05 16:48:57 +11:00
James O'Shannessy 2c66e164d0 ArduPlane: Improvements to parameter upgrading between versions 2021-03-05 14:52:46 +11:00
James O'Shannessy af733b2f09 ArduPlane: Convert and remap old parameters 2021-03-05 14:52:46 +11:00
James O'Shannessy c316711351 ArduPlane: Add conversion from ArduPlane geofence param to AC_Fence param 2021-03-05 14:52:46 +11:00
James O'Shannessy aae092b88f ArduPlane: Remove all unused geofence capability 
ArduPlane: Remove missed geofence logic
 2021-03-05 14:52:46 +11:00
James O'Shannessy 17fb585bf1 ArduPlane: Add support for AC_Fence 
ArduPlane: Remove some geofence logic from ArduPlane

ArduPlane: Refactor action and mode return implementation

ArduPlane: Use polyfence to find the return point.
 2021-03-05 14:52:46 +11:00
Tom Pittenger c653ff880a Plane: extend Stream rates param count to match MAVLINK_COMM_NUM_BUFFER 2020-12-29 07:52:09 -07:00
Habibullah Oladepo 739fec001f Plane: Fix typos in Parameters.cpp 2020-12-13 10:51:38 -08:00
Andrew Tridgell cd2f2f96eb rename barometer parameters to BARO prefix 2020-12-08 13:22:17 +11:00
Andy Piper fa454da315 Plane: allow OSD for TX-only screens 2020-11-11 18:13:11 +11:00
Samuel Tabor 589382cbb4 Plane: Add THERMAL mode to Parameters.cpp metadata. 2020-09-25 11:34:48 -07:00
Samuel Tabor 10111f92d5 Plane: Rename SOARING_ENABLED to HAL_SOARING_ENABLED and don't compare to ENABLED. 2020-09-24 07:30:48 +10:00
Peter Barker 15372e9213 ArduPlane: replace '@User: User' with '@User: Standard' 2020-09-22 14:56:04 +10:00
Andy Piper c057be8ed1 Plane: conditionally compile ADSB support 2020-09-22 09:33:51 +10:00
Tom Pittenger db10ad2e54 Plane: update USE_REV_THR param description to include landing pattern 2020-09-17 07:31:43 -07:00
Hwurzburg 96f5e2a20a Plane: Update THR_FAILSAFE param metadata 2020-09-04 07:08:03 +10:00
Siddharth Purohit fb180fa431 Plane: move to using CANManager library 2020-08-19 17:31:09 +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
Andy Piper b649afe9e5 Plane: make mount/gimbal inclusion configurable per-board 2020-08-04 09:18:14 +10:00
Samuel Tabor 419f7c9998 Plane: Convert SOAR_ENABLE_CH to RCX_OPTION. 2020-07-21 09:38:04 +10:00
Paul Riseborough 97d7d563c4 ArduPlane: Improve parameter description for FWD_BAT_VOLT_MAX/MIN 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
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
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 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
Peter Barker 8222b5db62 Plane: AP_Soaring no longer takes AHRS in constructor 2020-05-05 17:35:14 +10:00
Iampete1 3ded030fa8 Plane: compensate forward throttle for battery voltage drop 2020-05-05 09:46:41 +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
Rishabh 30fd915312 Plane: Update CRASH_DETECT param 2020-02-25 11:02:43 +11:00
Peter Barker 19bc60b690 Plane: correct missing EFI parameter docs 2020-02-18 13:28:03 +11:00
Peter Barker e358677f85 Plane: allow NavEKFs to be compiled out 2020-01-21 11:53:18 +11:00
Peter Barker 9364181772 Plane: EKF objects have moved into AP_AHRS_NavEKF 2020-01-21 11:53:18 +11:00
Andrew Tridgell a90c16e60e Plane: update for new SRV_Channels parameter conversion call 2020-01-14 14:23:11 +11:00
Henry Wurzburg 040a1b7fbe Plane:fix typo in ARSPD_FBW_MAX param description 2020-01-02 12:00:52 -07:00
Peter Hall 660c9a8a60 Plane: move from FLAP_IN_CHANNEL to RCx_Option 2020-01-01 08:11:01 +11:00
Andy Piper eca398e7a2 Plane: create generic vehicle management and move runcam to it 2019-12-30 13:02:04 +11:00
Peter Barker 33a0e55b32 Plane: correct duplicate button instance 2019-12-10 09:29:52 +09:00
Henry Wurzburg f2d8a42de8 Plane: correct crash_detect param description...no manual mode option bit exists 2019-11-23 17:39:06 -08:00
Andrew Tridgell 2b27cd2ce9 Plane: Add EFI Support 2019-11-17 20:10:54 +11:00
Peter Barker 2a22e7c8c5 Plane: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Andrew Tridgell ff400243e0 Plane: added a new TAKEOFF flight mode 
takeoff then circle in direction of takeoff
 2019-10-17 12:19:43 +11:00
Henry Wurzburg 3e08e18202 Plane: add QACRO to flight mode list 2019-10-16 13:14:06 +11:00
Peter Barker 7e5a6f1895 Plane: avoid allocate a GCS_MAVLINK per mavlink channel 2019-08-14 18:25:43 +10:00
Michael du Breuil 2d81ad63f5 Plane: Convert ARMING_CHECK 2019-07-30 10:42:16 +10:00
Michael du Breuil c6f884221e Plane: Fix parameter description on values to not use the delimiter character 2019-07-23 09:29:48 +10:00
Michael du Breuil 183640789d Plane: Enable scripting parameters 2019-06-18 00:06:32 -07:00
Andrew Tridgell 08baabed4a Plane: modify FENCE_AUTOENABLE docs 2019-06-11 06:58:47 +10:00
Andrew Tridgell 5076058459 Plane: added FENCE_AUTOENABLE=3 option 
this enables the fence when arming. If the vehicle is outside the
fence or it can't be enabled then arming fails
 2019-06-11 06:58:47 +10:00
IamPete1 fb4b092917 plane: restore thr_min behaviour and update description 2019-04-23 09:39:45 +10:00
Tom Pittenger ade6281923 Plane: use #if ADVANCED_FAILSAFE == ENABLED just like Rover and Copter 2019-04-03 17:46:50 -07:00
IamPete1 520f5f7894 Plane: add crow flap options paramiter 2019-04-04 09:18:11 +11:00
Tom Pittenger 0270c57530 Plane: massive refactor and creation of Mode class 2019-04-02 16:28:52 +11:00
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
Tom Pittenger 7030dbc766 Plane: rename dataflash to logger 2019-03-28 16:40:57 +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