Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
21,353 Commits 71 Branches 509 Tags 763 MiB
Commit Graph

2088 Commits

Author SHA1 Message Date
Andrew Tridgell c046273be2 Plane: fixed verify_land() comment for go-around 2014-10-24 22:04:59 +11:00
Andrew Tridgell 1f3e285ed0 Plane: reset commanded_go_around at start of land 
this allows multiple landing attempts
 2014-10-24 22:04:30 +11:00
Andrew Tridgell ad58822cb5 Plane: removed impossible boolean check 2014-10-24 22:04:05 +11:00
Andrew Tridgell 959cd11cb1 Plane: save a byte in auto_state 
keep single bits together to save space on APM2
 2014-10-24 22:03:34 +11:00
Michael Day 01f611daa9 Plane: "Go around" operation. Assumes go around behavior follows land wp. 2014-10-24 21:51:46 +11:00
Andrew Tridgell e434850f1f Plane: move set_mode() after mission.set_current_cmd() 
if set_current_cmd() fails, we don't want to change to AUTO with some
unknown mission item
 2014-10-24 21:51:27 +11:00
Andrew Tridgell 02b80db67c Plane: minor code style change 
use comment and function style consistent with rest of code
 2014-10-24 21:50:18 +11:00
Michael Day c1b949a74f Plane: Bugfix. Changing to landing sequence now works at mission end. 2014-10-24 21:42:06 +11:00
Andrew Tridgell 240e87dc2c Plane: update for new AP_InertialSensor API 2014-10-24 12:10:38 +11:00
Andrew Tridgell 05c325a12a Plane: display min as well as max loop delta_t 2014-10-22 18:27:12 +11:00
Andrew Tridgell 2fc69c7c4c Plane: disable CLI by default 
it really isn't needed any more, and saves 20k of flash on APM2
 2014-10-22 18:27:08 +11:00
Andrew Tridgell f87da51b37 Plane: prevent calling jump_to_landing_sequence() too often 2014-10-20 08:36:20 +11:00
Andrew Tridgell 8d329f6b5a Plane: ignore DO_LAND_START in missions 2014-10-20 08:36:20 +11:00
Andrew Tridgell 1f0840ddf8 Plane: improved RTL_AUTOLAND docs 2014-10-20 08:36:20 +11:00
Andrew Tridgell 9f32bf93d1 Plane: switch to AUTO on a DO_LAND_START MAVLink command 2014-10-20 08:36:20 +11:00
Andrew Tridgell 7ecc87a787 Plane: improved check for reaching RTL point for auto-land 2014-10-20 08:36:20 +11:00
Michael Day be17bfd972 Plane: Added parameter RTL_AUTOLAND and implementation. 2014-10-20 08:36:20 +11:00
Michael Day fe43ae538f Plane: Added support for MAV_CMD_DO_LAND_START 2014-10-20 08:36:19 +11:00
Andrew Tridgell 4c984d9331 Plane: start preparing for 3.1.2 2014-10-13 10:25:53 +11:00
Randy Mackay 6d8e760582 Plane: report gyro unhealthy if failed calibration 2014-10-09 10:00:17 +09:00
Andrew Tridgell 71d786187e Plane: make auto takeoff independent of compass 
this solves a problem of poor initial yaw due to poor compass offsets
causing a takeoff to not be in the direction the plane is pointing. A
summed gyro is used until the GPS speed is above 5m/s for 2 seconds,
then the GPS heading corrected by the summed gyro error is used for L1
based navigation for the rest of the takeoff
 2014-10-07 07:17:46 +11:00
Randy Mackay b17c6d3368 Plane: only report ahrs unhealthy after initialisation 2014-10-02 14:41:28 +09:00
Andrew Tridgell c4b17b74e2 Plane: use handle_set_mode() 2014-10-01 14:19:20 +10:00
Randy Mackay 82225de6fa Plane: allow GCS to turn safety switch on/off 2014-10-01 13:11:50 +10:00
Randy Mackay 7a6b55368e Plane: set sys_status motor outputs bit from safety switch 2014-10-01 13:09:58 +10:00
Randy Mackay 6d3acba04c Plane: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-09-30 15:19:25 +10:00
Andrew Tridgell 4b01cee330 Plane: send heartbeat to AFS when calibrating sensors 2014-09-24 12:02:39 +10:00
Andrew Tridgell 1fa03a49c9 Plane: disable the CLI if AFS failsafe enabled on APM2 
the flash space is a bit too low for both CLI and AFS
 2014-09-24 12:02:38 +10:00
Andrew Tridgell e555b9a855 Plane: improved WP_RADIUS docs 2014-09-12 11:57:43 +10:00
Andrew Tridgell 7b4181dc14 Plane: prepare for 3.1.1 release 2014-09-12 11:07:26 +10:00
Andrew Tridgell 7aad03df28 Plane: minor doc update for fence auto enable 2014-09-11 18:58:54 +10:00
Andrew Tridgell f3d1461d7a Plane: improve the short and long failsafe docs 
thanks to Mark Jacobsen for the analysis!
 2014-09-10 06:56:01 +10:00
Andrew Tridgell bf80a2485f Plane: support acceptance radius for waypoints 2014-09-03 12:38:30 +10:00
Randy Mackay c2cdc0468b Plane: individual accel and gyro status to GCS 2014-09-03 11:22:53 +09:00
Andrew Tridgell 21ed86004a Plane: raise the default WP radius 
with L1 a large radius doesn't mean it turns too early
 2014-08-30 07:43:11 +10:00
Andrew Tridgell 292517b88b Plane: only override takeoff/land flaps if non-zero 2014-08-30 05:16:42 +10:00
Andrew Tridgell 5c96838473 Plane: allow zero throttle in LAND_STAGE_FINAL 2014-08-30 05:15:25 +10:00
Andrew Tridgell 5af4cefff3 Plane: added FLAP_SLEWRATE parameter 
makes for smoother transition of flaps
 2014-08-29 20:31:03 +10:00
Andrew Tridgell f66039c9b4 Plane: added TKOFF_FLAP_PCNT and LAND_FLAP_PERCENT 
easier control of flaps for takeoff and landing
 2014-08-29 20:31:03 +10:00
Andrew Tridgell b94bc0c243 Plane: don't use ground steering until flare in landing 
we need to be able to guide the plane fully in the landing approach
 2014-08-29 20:31:03 +10:00
Andrew Tridgell 988662027e Plane: moved LAND_PITCH_CD into TECS 2014-08-27 20:13:19 +10:00
Andrew Tridgell 186806c768 Plane: lowpass the rangefinder correction, not height 
this should produce less lag as the rangefinder correction should be
changing much less
 2014-08-27 18:25:17 +10:00
Andrew Tridgell 24622030b4 Plane: improved landing glide slope 
we project a point 500m past the landing point to prevent
discontinuites close to the landing point
 2014-08-27 17:14:19 +10:00
Andrew Tridgell a6ee46086c Plane: allow continued use of rangefinder data for 5s after loss of contact 
this allows short outages to be ridden out
 2014-08-27 17:14:19 +10:00
Andrew Tridgell 50f492a69f Plane: added RNGFND_LANDING option 
this allows the use of a rangefinder for landing flare and landing
approach
 2014-08-27 17:14:19 +10:00
Andrew Tridgell b6319a9d19 Plane: keep an estimate of the rangefinder altitude 
only accept data when we have had 10 samples in a row in range at 50Hz
 2014-08-27 17:14:19 +10:00
Andrew Tridgell d0b6676547 Plane: do landing flare if past landing point 
this helps prevent us keeping the throttle on after we've landed if
the baro has drifted enough that we think we are not yet at the flare altitude
 2014-08-27 17:14:19 +10:00
Andrew Tridgell b102c9d19c Plane: use ground steering logic for final stage of auto landing 
this should improve runway tracking
 2014-08-27 17:14:19 +10:00
Andrew Tridgell 5f3ac159ba Plane: start working towards 3.1.1 2014-08-27 17:14:19 +10:00
Andrew Tridgell e880de67ed Plane: prepare for 3.1.0 release 2014-08-26 06:20:37 +10:00
Andrew Tridgell 6e5344bc8d Plane: prepare beta4 2014-08-25 22:20:52 +10:00
Andrew Tridgell cf0741f6fd Plane: don't do failsafe passthru with no RC input 
thanks to Klrill-ka for the suggestion

fixes issue #1302
 2014-08-25 19:45:39 +10:00
Andrew Tridgell 7649907ec2 Plane: run terrain.update() more often 
this provides faster checking of mission waypoints
 2014-08-25 14:55:40 +10:00
Andrew Tridgell daa32f9b62 Plane: reset steering integrator on mode change and when not moving 
this prevents an old integrator from causing problems on takeoff
 2014-08-25 08:20:37 +10:00
Andrew Tridgell f2f730ba9b Plane: added FBWA_TDRAG_CHAN parameter 
this allows for testing taildragger takeoffs in FBWA mode
 2014-08-24 19:39:51 +10:00
Andrew Tridgell 15a7f63d7e Plane: set GPS non-blocking 
the new GPS driver only ever needs a non-blocking port
 2014-08-19 10:08:17 +10:00
Andrew Tridgell 79fa22e4ad Plane: use gcs_send_text_fmt() for SCHED_DEBUG timing 
lets values be saved in mavlink logs
 2014-08-19 10:08:17 +10:00
Andrew Tridgell cf410f8d12 Plane: prepare for 3.1.0-beta3 2014-08-17 18:25:46 +10:00
Andrew Tridgell 1ce3d1d4a4 Plane: update for AFS API change 2014-08-17 18:07:50 +10:00
Andrew Tridgell 9fff67ec89 Plane: update for APM_OBC API change 2014-08-17 09:13:29 +10:00
Randy Mackay c107f1da69 Revert "Plane: use rcmap when sending radio_in to GCS" 
This reverts commit 441f23eed4.
 2014-08-16 20:31:21 +09:00
Randy Mackay 441f23eed4 Plane: use rcmap when sending radio_in to GCS 2014-08-16 15:27:35 +09:00
Randy Mackay 7d7272520e Plane: use baro healthy() 
Use baro last update time in place of healthy to determine whether HIL
sensor updates have started
 2014-08-14 16:03:28 +09:00
Randy Mackay b619c3956c Plane: report baro health to GCS 2014-08-14 16:02:52 +09:00
Andrew Tridgell da7f871e34 Plane: prevent set_target_altitude_proportion() past dest waypoint 
otherwise we could start climbing again on land
 2014-08-14 09:49:52 +10:00
Andrew Tridgell c06067c71b Plane: fixed non-terrain landing 2014-08-14 08:04:06 +10:00
Andrew Tridgell dad95648a0 Plane: split landing code into landing.pde 
this is in preparation for more complex landing code using the
rangefinder
 2014-08-13 21:38:05 +10:00
Andrew Tridgell 7def71d43a Plane: improved landing approach and flare 
flare if we are within the specified time of landing either vertically
or horizontally
 2014-08-13 21:38:05 +10:00
Andrew Tridgell 165993dbf5 Plane: allow steering right through the landing 
this allows a small degree of steering right through the landing,
which makes it possible to have a turn just before landing
 2014-08-13 21:35:26 +10:00
Andrew Tridgell ce9b14f0c8 Plane: convert to using StorageManager 2014-08-13 18:46:44 +10:00
Andrew Tridgell 817164914e Plane: added airspeed simulation in HIL 2014-08-10 18:17:12 +10:00
Andrew Tridgell e6f5a31944 Plane: prepare for 3.1.0-beta2 2014-08-10 07:20:29 +10:00
Andrew Tridgell 0d7d6e1d2a Plane: zero loc structure in HIL_STATE handling 
this avoids av AVR bug in HIL
 2014-08-09 22:50:15 +10:00
Andrew Tridgell 5e997b20f6 Plane: move battery init to after parameter load 2014-08-09 22:50:14 +10:00
Andrew Tridgell 74fc7fbea5 Plane: added 2nd battery monitoring support 2014-08-09 22:50:14 +10:00
Andrew Tridgell e22ab50b16 Plane: fixed build warning 2014-08-08 13:54:21 +10:00
Andrew Tridgell 4f57467aa5 Plane: build AFS (formerly known as OBC) failsafe on Pixhawk 
this gives an advanced failsafe system which may be useful for other
than OBC use
 2014-08-08 13:48:03 +10:00
Andrew Tridgell 2b89d728f3 Plane: rename to 3.1.0-beta1 2014-08-07 14:14:54 +10:00
Andrew Tridgell d44425449d Plane: started on 3.1.0 release notes 2014-08-07 14:10:49 +10:00
Andrew Tridgell bfe7c47aea Plane: prepare new beta 2014-08-07 13:28:29 +10:00
Andrew Tridgell b414ca930d Plane: fixed servo demo on startup 
thanks to Klrill-ka

fixes issue #1204
 2014-08-07 13:26:47 +10:00
Michael Day 3b62592b26 ArduPlane: attempt to send GCS a message when the GCS heartbeat is not detected. 2014-08-07 12:54:47 +10:00
Przemek Lekston 75f9b8853d GCS_Mavlink.pde: Fix for a possible segfault after passing ARSPD_FBW_MIN 2014-08-07 12:35:31 +10:00
Andrew Tridgell 9184e47f84 Plane: added TERRAIN_LOOKAHD parameter 
distance to look forward for terrain following
 2014-08-07 09:31:03 +10:00
Andrew Tridgell 903b149bcd Plane: fixed typo in description 2014-08-06 17:59:19 +10:00
Andrew Tridgell 781abc7593 Plane: fix for changed AP_Terrain API 2014-08-06 17:59:19 +10:00
Andrew Tridgell 448b3f60e0 Plane: use dataflash logging for terrain 2014-08-06 17:59:19 +10:00
Andrew Tridgell 2a288824c0 Plane: make STAB_PITCH_DOWN in degrees 
try to avoid new centi-degrees parameters
 2014-08-06 17:59:18 +10:00
Andrew Tridgell 781c5bc5dd Plane: use terrain extrapolation 
use best effort extrapolation if we run out of terrain data
 2014-08-06 17:59:18 +10:00
Andrew Tridgell d54bb68270 Plane: prevent cross-track on some WP types 
when finishing a takeoff or when a user forces a WP change don't do
any cross-tracking. This avoids a problem where the plane tries to
line up with a track completely unrelated to the track currently being
flown
 2014-08-04 21:02:13 +10:00
Andrew Tridgell 09a679368b Plane: use bitfields in auto_state 2014-08-04 21:02:13 +10:00
Andrew Tridgell 16f1c6867f Plane: remved int cast 
not portable
 2014-08-04 21:02:13 +10:00
Andrew Tridgell 28facc220d Plane: change threshold for no glide slope to 20m 
40m is quite high for most planes
 2014-08-04 21:02:13 +10:00
Andrew Tridgell 8610d9a8ea Plane: added GLIDE_SLOPE_MIN parameter 
this is used to prevent slow glide slopes being used for small
altitude changes in missions. This allows more accurate tracking of
altitude with terrain changes
 2014-08-04 21:02:13 +10:00
Andrew Tridgell 9536124300 Plane: more accurate altitude tracking close to waypoints 
don't use a glide slope if the altitude change is less than 15 meters
 2014-08-04 21:02:13 +10:00
Andrew Tridgell f983040401 Plane: more fixes for glide slope calculations 2014-08-04 21:02:13 +10:00
Andrew Tridgell b64ab07ca4 Plane: added STAB_PITCH_DN_CD parameter 
this adds some down trim when at throttle levels below the trim
throttle in FBWA mode.

defaults to 200 centi-degrees. I may adjust based on flight tests
 2014-08-03 17:17:20 +10:00
Andrew Tridgell fcbdcb520a Plane: rename enum for Telem2Protocol 2014-07-30 14:49:20 +10:00
Matthias Badaire 57253fc2ee Rover: Add SERIAL2_PROTOCOL for GCS and FRSky telemtry 
This allows selection of protocol type on telem2. The default is MAVLink, but can be selected as FrSky protocol
 2014-07-29 17:08:20 -07:00
Andrew Tridgell fe3c51d516 Plane: prevent integer underflow with comm_get_txspace() 2014-07-27 22:12:08 +10:00
Andrew Tridgell c9be610dca Plane: fixed sense of altitude test for glide slope 2014-07-25 15:04:16 +10:00
Andrew Tridgell 8904cd105c Plane: fixed auto-doc prefix for TERRAIN 2014-07-25 13:12:23 +10:00
Andrew Tridgell 63cea04d9e Plane: improved TERRAIN_FOLLOW docs 2014-07-25 11:54:51 +10:00
Andrew Tridgell 077177384d Plane: fixed guided alt without terrain bit 2014-07-25 10:31:45 +10:00
Andrew Tridgell 9d6b745556 Plane: fixed terrain glide slope 2014-07-25 09:07:45 +10:00
Andrew Tridgell 88b73492c2 Plane: fixed APM2 build 2014-07-25 08:02:19 +10:00
Andrew Tridgell b158b7e5a9 Plane: replace HAVE_AP_TERRAIN with AP_TERRAIN_AVAILABLE 2014-07-25 07:59:54 +10:00
Andrew Tridgell 07583a0604 Plane: added terrain status reporting 2014-07-24 21:50:19 +10:00
Andrew Tridgell 49c28b747f Plane: fixed glide slope for terrain following 2014-07-24 21:50:19 +10:00
Andrew Tridgell 3e320d71ab Plane: added TERRAIN_FOLLOW parameter 
when enabled RTL, CRUISE and rally points will use terrain altitude
 2014-07-24 21:50:19 +10:00
Andrew Tridgell d18c00d6fc Plane: split up altitude handling 
this creates altitude.pde for altitude handling, getting ready to add
terrain following
 2014-07-24 21:50:19 +10:00
Andrew Tridgell 43b2e34242 Plane: fixed txsize check for airspeed info 
prevent underflow
 2014-07-24 21:46:06 +10:00
Andrew Tridgell 6f538aa556 Plane: handle TERRAIN_CHECK requests 2014-07-24 21:46:06 +10:00
Andrew Tridgell 32bfeed169 Plane: incorporate terrain mavlink calls 2014-07-24 21:45:47 +10:00
Andrew Tridgell e725b2c77e Plane: added terrain object 2014-07-24 21:45:46 +10:00
akdslr 2373b291f4 ArduPlane Parameters: Changed the SONAR prefix to RNGFND 2014-07-24 14:41:54 +10:00
Andrew Tridgell a83509f6a3 Plane: fixed compass logging for COMPASS_PRIMARY != 0 2014-07-23 18:42:14 +10:00
Andrew Tridgell ae29a24348 Plane: use sensors from board subtypes 2014-07-14 09:44:35 +10:00
Andrew Tridgell f6bba74fb6 Plane: enable MPU9250 for Linux build 2014-07-14 09:44:34 +10:00
Víctor Mayoral Vilches fc57bdedde ArduPlane/config.h: Add the PXF hardware setup 2014-07-14 09:31:41 +10:00
Andrew Tridgell c5a765758c Plane: update for new API 2014-07-13 15:37:50 +10:00
Andrew Tridgell 473865ccc1 Plane: prepare for 3.0.4-beta3 2014-07-11 07:40:59 +10:00
Randy Mackay aef746b3b1 Plane: pass in compass to Arming constructor 2014-07-10 22:51:29 +09:00
Randy Mackay b17125e261 Plane: PREFLIGHT_SET_SENSOR_OFFSETS used to set compass offsets 
replaces ardupilot specific SET_MAG_OFFSETS message
 2014-07-10 20:25:24 +09:00
Randy Mackay 208a2de777 Plane: rename compass set_and_save_offsets 2014-07-10 20:25:21 +09:00
Randy Mackay 042c65c501 Plane: add support for DO_SET_ROI outside of missions 2014-07-09 21:27:01 +09:00
Randy Mackay 873eb68d79 Plane: add support for DO_SET_ROI within mission 2014-07-09 21:26:02 +09:00
Andrew Tridgell 3390224491 Plane: avoid some float conversion warnings 2014-07-08 20:26:07 +10:00
Andrew Tridgell 28e1449e8d Plane: updates for new AP_RangeFinder API 2014-07-08 15:07:50 +10:00
Andrew Tridgell 5aa58d2ab5 Plane: support 3 magnetometers 2014-07-04 12:49:25 +10:00
Andrew Tridgell 017e4b4c8a Plane: update for AP_Mount change 2014-06-18 12:04:53 +10:00
Randy Mackay d8573d0722 Plane: loiter num turns from low byte of p1 
This limits the maximum number of turns to 255 for plane
 2014-06-17 20:53:59 +10:00
Randy Mackay ac65119cfe Plane: use common Log_Write_Camera 
pair programmed with Craig Elder
 2014-06-17 14:11:47 +10:00
Andrew Tridgell 105382bf21 Plane: release 3.0.4beta2 2014-06-07 20:52:08 +10:00
Andrew Tridgell ea086fa79c Plane: added MAV_CMD_DO_INVERTED_FLIGHT support 
allows for mission control over inverted flight
 2014-06-05 16:12:10 +10:00
Andrew Tridgell 55e7f9b1d6 Plane: calculate next_turn_angle to prevent early WP completion 
this should help for ball drop and camera trigger with straight line
runs
 2014-06-05 09:35:09 +10:00
Andrew Tridgell a7868dd6b3 Plane: fixed zero throttle in FBWA glide failsafe 2014-06-04 09:39:45 +10:00
Andrew Tridgell 1e2b644b1b Plane: fix for HAL_GPIO_* 2014-06-02 10:42:36 +10:00
Andrew Tridgell 24325a5c62 Plane: fixed takeoff throttle slew rate 
when TKOFF_THR_SLEW is zero use the normal slew rate
 2014-05-31 16:47:45 +10:00
Andrew Tridgell cea30e1d9f Plane: use new GCS_Common.cpp functions 2014-05-28 09:36:04 +10:00
Andrew Tridgell 055d8fe7aa Plane: added TKOFF_THR_MAX parameter 2014-05-24 22:19:50 +10:00
Andrew Tridgell dfedc377b1 Plane: aim for 5 degrees pitch during accel phase of takeoff 
this makes it less likely we will get prop strike
 2014-05-23 07:30:59 +10:00
Andrew Tridgell d4c4c71df5 Plane: improve takeoff docs for tricycle undercarriage 2014-05-23 07:30:59 +10:00
Andrew Tridgell 286479ee93 Plane: prevent stalled takeoff with bad TKOFF_TDRAG_SPD1 
go to level pitch if pitch rises by 10 degrees
 2014-05-23 07:30:59 +10:00
Andrew Tridgell d87619c2f1 Plane: added 4 new parameters to control takeoff 
this gives flexible control for taildragger takeoff
 2014-05-23 07:30:58 +10:00
Andrew Tridgell c29cc24ad8 Plane: fixed sign of target and nav bearing in logs 2014-05-23 07:30:58 +10:00
Andrew Tridgell f2556535da Plane: moved takeoff code to a new file 2014-05-23 07:30:58 +10:00
Andrew Tridgell 511e8beaed Plane: updates for new GCS_MAVLink API 2014-05-21 12:45:25 +10:00
Andrew Tridgell 2b44d33694 Plane: update baud rate parameter descriptions 2014-05-21 12:45:25 +10:00
Andrew Tridgell 94d528e548 Plane: changed baudrate parameters to 16 bit 2014-05-21 12:45:25 +10:00
Andrew Tridgell 2a230b2703 Plane: set version to 3.0.4beta 2014-05-19 22:03:18 +10:00
Andrew Tridgell 8c5226a17a Plane: prepare for release of 3.0.3 2014-05-19 09:54:15 +10:00
Andrew Tridgell 69b5f352f6 Plane: prevent a bad glide slope when first entering auto 
we need to ensure that prev_WP_loc is not used as it could be
completely different from current_loc. As a precuation, this also sets
up next_WP_loc so that when the set_next_WP() is first called that
prev_WP_loc is set to current_loc
 2014-05-18 16:14:11 +10:00
Andrew Tridgell bd09d8551d Plane: use setup_uart() 2014-05-16 11:44:53 +10:00
Andrew Tridgell 3a73878ca7 Plane: mark 3.0.3beta 2014-05-15 22:59:02 +10:00
Andrew Tridgell 182d0f9cb0 Plane: added reporting of AHRS health 2014-05-15 21:14:22 +10:00
Randy Mackay 409a593c1a Plane: prepended APM to RSSI_PIN's @Values 
This makes it consistent with rover and copter and clarifies where the
pin is on the Pixhawk
 2014-05-15 17:13:48 +09:00
Andrew Tridgell 0991af86f3 Plane: removed some usused code 
setting up flight modes by CLI is not used any more
 2014-05-08 11:10:50 +10:00
Andrew Tridgell c1aa2181dc Plane: update release notes for 3.0.2 2014-05-04 16:31:07 +10:00
Andrew Tridgell f233f95785 Plane: prepare for release of 3.0.2 2014-05-04 16:04:08 +10:00
Andrew Tridgell f51478ee1d Plane: fixed LOITER_TURNS counter for counter-clockwise loiter 
thanks to Iskess for finding this bug!
 2014-05-01 20:45:34 +10:00
Andrew Tridgell 92714b09d2 Plane: added ATRP log header to plane log headers 
too many people can't understand how to download .bin logs
 2014-04-30 21:22:28 +10:00
Jonathan Challinger 0bc0abf02d Plane: Supply compass with current measurement for compassmot 2014-04-29 16:20:19 +10:00
Andrew Tridgell 0408c11637 Plane: mark 3.0.2beta 2014-04-29 11:56:52 +10:00
Andrew Tridgell ccc8a6a6ed Plane: use MIS_AUTORESET when entering AUTO mode 2014-04-29 11:46:06 +10:00
Andrew Tridgell 956ff65a25 Plane: RC override input should be considered as valid RC input 
this prevents us setting trim values under joystick control
 2014-04-29 11:46:06 +10:00
Andrew Tridgell 0306dbf5f1 Plane: moved auto mode variables to auto_state 2014-04-27 15:34:30 +10:00
Andrew Tridgell 08412391f5 Plane: fixed a bug when switching to another mode from auto takeoff 
when you exit auto and a takeoff is still in progress the flight stage
was not updated, which led to the throttle staying at maximum

Many thanks to Marco for finding this!
 2014-04-23 21:18:11 +10:00
Andrew Tridgell e15350f756 Plane: use get_current_nav_index() 2014-04-22 11:40:18 +10:00
Andrew Tridgell 12012c9530 Plane: fixed a potential numerical error close to waypoints 2014-04-21 18:49:30 +10:00
Andrew Tridgell 0de41f0ce1 Plane: set AHRS vehicle class 2014-04-21 18:13:12 +10:00
Andrew Tridgell 994ce50714 Plane: setup failsafe values for OBC in failsafe callback 2014-04-21 11:52:54 +10:00
Andrew Tridgell 2ab4ffef45 Plane: use new APM_OBC API 2014-04-21 11:52:53 +10:00
Andrew Tridgell 41100a13c3 Plane: setup failsafe trim values for if FMU firmware dies 2014-04-21 08:37:56 +10:00
Randy Mackay 2a298d0ea4 Plane: remove RALLY_WP_SIZE definition 2014-04-19 15:00:32 +09:00
Michael Day 568fc9e6c9 Plane: Now using AP_Rally library. 2014-04-19 09:16:05 +10:00
Andrew Tridgell d30c4ffe80 Plane: added AUTOTUNE_LEVEL parameter 2014-04-13 22:12:27 +10:00
Andrew Tridgell 8a20130ca8 Plane: changed for APM_Control API 2014-04-12 18:22:01 +10:00
Andrew Tridgell 1bce4239a3 Plane: added AUTOTUNE flight mode 
this is just like FBWA, but with automatic roll/pitch tuning
 2014-04-12 14:12:14 +10:00
Andrew Tridgell d37f1a1376 Plane: updates for OBC API change 2014-04-11 16:47:40 +10:00
Andrew Tridgell 4d990fa6c8 Plane: ensure we log both GPS at the time we receive a msg 2014-04-10 10:29:53 +10:00
Andrew Tridgell e79f1d0940 Plane: prepare for release of 3.0.1 2014-04-10 07:52:36 +10:00
Andrew Tridgell aabcc2bb35 Plane: fixed a bug in PWM based throttle failsafe 
many thanks to Sam Tabor for finding this bug!
 2014-04-10 07:43:48 +10:00
Andrew Tridgell affcea5342 Plane: fixed typo in VRBrain port 2014-04-08 21:22:05 +10:00
Emile Castelnuovo a111d174c1 Plane: added VRBRAIN #defines and #includes 2014-04-08 16:19:20 +10:00
Andrew Tridgell d0331e0f25 Plane: spelling fixes 2014-04-08 09:49:25 +10:00
Andrew Tridgell d2d9ad5bbd Plane: prepare for 3.0.0 release 2014-04-08 09:46:30 +10:00
Andrew Tridgell c66008cdfa Plane: fixed displayname for FENCE_AUTOENABLE 2014-04-08 09:13:39 +10:00
Andrew Tridgell 95764f4d78 Plane: fixed allocation and reporting of fence status 
prevent a false fence active report on boot, and prevent the fence
from loading when it is not needed. This saves about 200 bytes of ram
on APM2 for most users
 2014-04-07 17:28:03 +10:00
Michael Oborne 3fe9486868 Plane: fix auto doc unit on GROUND_STEER_DPS 2014-04-07 13:43:15 +10:00
Andrew Tridgell de3c04adaf Plane: show next wp when not running a mission 
this lets the GCS know what wp would be run if auto mode is selected
 2014-04-07 11:40:58 +10:00
Andrew Tridgell 1fe7b2fe18 Plane: update for new APM_OBC API 2014-04-07 07:28:35 +10:00
Andrew Tridgell f7858bfb0a Plane: added support for SERIAL_CONTROL message 2014-04-05 07:34:33 +11:00
Andrew Tridgell 5a84fb96ed Plane: build fix 2014-04-03 20:54:50 +11:00
Andrew Tridgell 1efadb7a05 Plane: fixed some warnings 2014-04-03 12:48:06 +11:00
Andrew Tridgell 3c33eb3f09 Plane: use new channel output API 2014-04-03 12:19:11 +11:00
Andrew Tridgell 88693796ef Plane: update for GPS.setHIL() API 2014-04-02 07:55:28 +11:00
Andrew Tridgell e19341ca32 Plane: convert to new GPS driver API 2014-04-01 06:38:24 +11:00
Andrew Tridgell 958e17f4ff Plane: use AP_GPS_Auto for 2nd GPS 2014-04-01 06:38:23 +11:00
Andrew Tridgell 14671d0bcd Plane: fixed previous_mode error in geofence 
when we were in MANUAL we would switch back to STABILIZE
 2014-03-29 13:53:19 +11:00
Andrew Tridgell bcbdb15c7d Plane: changed version to 2.79beta1 2014-03-28 09:47:59 +11:00
Andrew Tridgell 61ebf365d9 Plane: fixed reverting modes when FENCE_SET_RALLY is enabled 
we need to keep the guided destination we are using
 2014-03-27 10:41:24 +11:00
Andrew Tridgell 8639676eb3 Plane: we need 5 points for a valid geofence 
the first and last points need to be the same for it to be a closed
polygon
 2014-03-27 10:40:00 +11:00
Michael Day 268b1e85a1 Plane: Changes needed prior to merging with master identified by Tridge. 2014-03-27 09:26:20 +11:00
Michael Day f921d4fbac Plane: FENCE_RET_RALLY param. Plane returns to rally point on breach. 2014-03-27 09:26:20 +11:00
Michael Day 25f23cf16c Plane: Sends MAV_SYS_STATUS_GEOFENCE and also allows GCS to enable/disable fence. 2014-03-27 09:26:20 +11:00
Andrew Tridgell 32a1c717e6 Plane: report up to 18 RC input channels via MAVLink 2014-03-25 14:47:43 +11:00
Andrew Tridgell ff70c87f0b Plane: support 14 RC channels on PX4 2014-03-25 14:47:05 +11:00
Andrew Tridgell 09ed8d5819 Plane: updates for new RCInput API 2014-03-25 14:47:05 +11:00
Andrew Tridgell b8781ccea7 Plane: fixed a compiler warning 2014-03-24 12:52:05 +11:00
Andrew Tridgell e8b9f22b01 Plane: updates for GPS changes 2014-03-24 12:04:31 +11:00
Andrew Tridgell d124fdb182 Plane: report compass unhealthy if primary compass unhealthy 2014-03-24 07:03:53 +11:00
Andrew Tridgell f6b56b5d26 Plane: fixed mission resume at arbitrary waypoints 
on completion of a mission a user can ask for it to resume at any wp
 2014-03-21 10:21:37 +11:00
Andrew Tridgell 861523a00a Plane: use TECS get_target_airspeed() 2014-03-20 17:34:33 +11:00
Michael Day dd06756abf Plane: Add Log_Write_Radio. MASK_LOG_PM must be set for logging to occur. 2014-03-20 09:56:37 +11:00
Andrew Tridgell 4257d8365c Plane: removed check on target_component in ARM/DISARM 
Thanks to DonLakeFlyer for finding this, see
https://github.com/diydrones/ardupilot/pull/909
 2014-03-20 09:06:48 +11:00
Andrew Tridgell ce3f40b095 Plane: use should_log() for more msgs 2014-03-19 14:18:14 +11:00
Andrew Tridgell abfcee1cef Plane: fixed channel reversal in HIL 
makes it possible to reverse channels
 2014-03-19 14:17:40 +11:00
Randy Mackay 3ce56f3086 Plane: integrate Mission cmd field changes 2014-03-19 12:14:24 +09:00
Andrew Tridgell 4031f7d368 Plane: use common deferred message handling 2014-03-19 12:14:17 +09:00
Andrew Tridgell b74fddade3 Plane: use common MISSION_ITEM code 2014-03-19 12:14:11 +09:00
Andrew Tridgell 0d39f354b0 Plane: use new common MAVLink code 2014-03-19 12:13:38 +09:00
Andrew Tridgell 7d3523b4a7 Plane: use _send_buf() functions to reduce stack usage in MAVLink replies 
this re-uses the incoming message buffer in constructing the reply
 2014-03-19 12:13:28 +09:00
Andrew Tridgell 537e78f9fa Plane: much faster mission upload 
send next WP request immediately if possible. This speeds up mission
upload on USB by about 10x
 2014-03-19 12:13:27 +09:00
Randy Mackay 1ad743c4e1 Plane: use common GCS_MAVLink handle_mission methods 2014-03-19 12:13:21 +09:00
Andrew Tridgell 740ecc2c1b Plane: use new handle_mission_request() function 2014-03-19 12:13:12 +09:00
Randy Mackay 2184ff1e58 Plane: set_next_WP fn accepts Location 2014-03-19 12:13:06 +09:00
Randy Mackay 96b2e88e36 Plane: add comment to GCS_Mavlink.pde 2014-03-19 12:13:03 +09:00
Randy Mackay ce9f2ef7f0 Plane: minor command logic comments and reordering 2014-03-19 12:13:01 +09:00
Randy Mackay ad4f30e790 Plane: use mission command specific structures 2014-03-19 12:12:52 +09:00
Randy Mackay 9ef920b0be Plane: integrate dataflash Log_Write_MavCmd 2014-03-19 12:12:45 +09:00
Andrew Tridgell 4bf140aeac Plane: make next_WP and prev_WP be locations 
having a command ID in them doesn't really make sense

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:12:39 +09:00
Randy Mackay f1b97fee53 Plane: correct typo re RTL home with no mission 2014-03-19 12:12:33 +09:00
Randy Mackay 7f21e3885e Plane: RTL home when AUTO run with no mission 2014-03-19 12:12:31 +09:00
Randy Mackay 6b789cd711 Plane: rename next_nav_command to auto_rtl_command 
This command is only used to get the vehicle home (or to a rally point)
after the mission has completed
 2014-03-19 12:12:30 +09:00
Randy Mackay 982ce56d2b Plane: bug fix to set_current_cmd 
When set_current_cmd mavlink message is received, resume mission only if
the mission has completed.
Stop mission when vehicle leaves AUTO mode.
 2014-03-19 12:12:28 +09:00
Andrew Tridgell 3e05baf95c Plane: fixed build (forward declarations) 2014-03-19 12:12:25 +09:00
Andrew Tridgell 2b5bf45e83 Plane: only activate mission callbacks in AUTO mode 2014-03-19 12:12:24 +09:00
Andrew Tridgell 3277416aeb Plane: fixed relative altitudes and resuming mission 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:12:22 +09:00
Andrew Tridgell 4992e2e2cf Plane: use mission.resume() not mission.start() 2014-03-19 12:12:19 +09:00
Andrew Tridgell d4510d9b9b Plane: altitude for do_set_home() is in meters 2014-03-19 12:12:18 +09:00
Randy Mackay 27969175d9 Plane: bug fix to Loiter after mission completes 2014-03-19 12:12:16 +09:00
Randy Mackay 790a907811 Plane: use Dataflash lib's Log_Write_Cmd 2014-03-19 12:12:08 +09:00
Randy Mackay 033b7eca9e Plane: integrate variable max num commands 2014-03-19 12:12:02 +09:00
Randy Mackay fcea127537 Plane: CLI uses HAL eeprom storage size definition 2014-03-19 12:11:59 +09:00
Randy Mackay 693ce27bf6 Plane: pass eeprom start to Mission constructor 2014-03-19 12:11:58 +09:00
Randy Mackay 36a5287de5 Plane: call mission.init during startup 2014-03-19 12:11:49 +09:00
Randy Mackay 6e60730c89 Plane: cli test checks read_cmd success before printing 2014-03-19 12:11:41 +09:00
Randy Mackay ccb2daaed3 Plane: Log_Write_Startup checks success of cmd read before logging 2014-03-19 12:11:40 +09:00
Randy Mackay 0827506533 Plane: remove unused WAIT_COMMAND 2014-03-19 12:11:24 +09:00
Randy Mackay 53add04d36 Plane: remove some comments in commands_logic.pde 2014-03-19 12:11:22 +09:00
Randy Mackay 802ab79c84 Plane: bug fix for setting flight_stage based on current command 2014-03-19 12:11:19 +09:00
Randy Mackay c4364a8ff5 Plane: remove unused nonnav_command variables 
non_nav_command_ID and next_nonnav_command variables removed
 2014-03-19 12:11:18 +09:00
Randy Mackay 52a08a5284 Plane: CMD dataflash logs use uint16 for total and num 
Also bug fix for Log_Write_Cmd definition when logging disabled
 2014-03-19 12:11:16 +09:00
Andrew Tridgell f036aa1780 Plane: fixed altitude for takeoff and takeoff heading 
fixes for AP_Mission integration

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:11:09 +09:00
Randy Mackay 601cde2a32 Plane: remove alt_in_cm from mavlink to cmd conversion 2014-03-19 12:11:03 +09:00
Randy Mackay bc86a5043a Plane: bug fix for relative alt 2014-03-19 12:11:00 +09:00
Randy Mackay 9446e9fd2e Plane: integrate AP_Mission library 2014-03-19 12:10:58 +09:00
Randy Mackay ddba6f5c19 Plane: mission integration into GCS_Mavlink.pde 2014-03-19 12:10:57 +09:00
Randy Mackay 97f09ab426 Plane: dataflash logging to use Mission command 2014-03-19 12:10:55 +09:00
Randy Mackay fdaf3fc177 Plane: add AP_Mission object to parameter list 2014-03-19 12:10:54 +09:00
Randy Mackay e88f1953d0 Plane: use common location options masks 2014-03-19 12:10:21 +09:00
Andrew Tridgell 2b8cc1a1df Plane: use set_mode() in do_RTL() 
thanks to Randy for spotting this
 2014-03-15 22:15:06 +11:00
Andrew Tridgell eb7db82210 Plane: altitude for do_set_home() is in meters 2014-03-14 11:26:10 +11:00
Andrew Tridgell d595f36ca5 Plane: print PX4 compass type 2014-03-13 16:26:25 +11:00
Andrew Tridgell 65ae9663d4 Plane: set 2nd GPS as secondary 2014-03-08 21:48:12 +11:00
Andrew Tridgell 8574303a94 Plane: treat PWM below 900 as invalid for mode switch 
the FrSky X8R receiver will briefly give a PWM of 874 on channel 5
when connection is lost to the transmitter. We need to ensure this
doesn't cause a mode switch
 2014-03-08 19:27:50 +11:00
Andrew Tridgell 3a3397d926 Plane: fixup throttle trim on failsafe 2014-03-08 19:27:50 +11:00
Andrew Tridgell c9ebd6a175 Plane: improved RC failsafe handling 
this forces all primary control inputs to the trim value on loss of RC
input, and reduces the timeout for loss of RC input to 1 second from 2
 2014-03-08 16:20:54 +11:00
Andrew Tridgell 2cf98e476c Plane: added support for a separate steering channel 
good for ground steering on larger aircraft
 2014-03-05 12:57:50 +11:00
Andrew Tridgell 8d95b953c3 Plane: removed some unused functions 2014-03-05 09:17:50 +11:00
Andrew Tridgell 0d6064034a Plane: use percent_input() for flaps 2014-03-05 09:17:50 +11:00
Andrew Tridgell e3952112ad Plane: raise default LIM_PITCH_MAX to 20 degrees 
15 is often not enough to climb
 2014-03-03 15:49:04 +11:00
Andrew Tridgell e784c81f3e Plane: only send GPS2_RAW when we have a 2nd GPS 2014-03-03 07:05:52 +11:00
Andrew Tridgell 6b9e1edf38 Plane: disable GPS2 in HIL 2014-02-27 08:16:28 +11:00
Andrew Tridgell 07826096a2 Plane: support a 2nd GPS 2014-02-26 09:24:23 +11:00
Andrew Tridgell 95dd252f29 Plane: pass fix type to gps->setHIL() 2014-02-25 21:11:15 +11:00
Andrew Tridgell 8a4289b56f Plane: remove unused variables 
thanks to Mike McCauley
 2014-02-24 18:49:14 +11:00
Andrew Tridgell 4bcf9b5d98 Plane: fixed logging of relative altitude 2014-02-23 08:18:43 +11:00
Andrew Tridgell 492e65acde Plane: fix for HIL API change 2014-02-23 08:18:31 +11:00
Randy Mackay a76e2ab02e Plane: reserve NavEKF slot in param list even when not used 
Although this wasn't a problem immediatley, if someone had added a
parameter after k_param_NavEKF it's position in eeprom could have moved
as AP_AHRS_NAVEKF_AVAILABLE was enabled/disabled
 2014-02-21 13:53:05 +09:00
Andrew Tridgell 2908beb9bd Plane: fixed Log when disarmed value in docs 2014-02-19 19:01:48 +11:00
Andrew Tridgell 33851030a4 Plane: use ahrs.get_armed() 2014-02-19 10:53:26 +11:00
Andrew Tridgell 9282c8d0d9 Plane: allow for a wider range of values on the control switch 2014-02-17 13:58:11 +11:00
Paul Riseborough 98f72a4864 Plane : changed useage of ahrs.set_correct_centrifugal 2014-02-16 22:34:52 +11:00
Andrew Tridgell 99f2c8387c Plane: change to Compass::learn_offsets 2014-02-16 13:22:06 +11:00
Andrew Tridgell 59a56c9b46 Plane: enable Baro logging 2014-02-15 07:29:39 +11:00
Andrew Tridgell 566b0ccc61 Plane: call esimate_wind() 2014-02-15 05:48:24 +11:00
Andrew Tridgell d7839aa4ab Plane: removed duplicate log description 2014-02-15 05:48:24 +11:00
Andrew Tridgell 1001df0e56 Plane: removed extra log enum 2014-02-15 05:48:23 +11:00
Andrew Tridgell 35a9201c9a Plane: fixed comma 2014-02-15 05:48:23 +11:00
Andrew Tridgell a7faa58879 Plane: fixed up merge errors 2014-02-15 05:48:23 +11:00
Andrew Tridgell a551703877 Plane: fixed parameter build for NavEKF 2014-02-15 05:48:22 +11:00
Paul Riseborough 8c4b0b9be9 Plane : NavEKF Mavlink tunable parameter - first attempt 2014-02-15 05:48:22 +11:00
Paul Riseborough 24f8f02942 Plane : disable AHRS centrifugal corrections when disarmed 2014-02-15 05:48:20 +11:00
Andrew Tridgell bb4789a875 Plane: use common EKF logging 2014-02-15 05:48:16 +11:00
Andrew Tridgell 4646682a31 Plane: use common send_ahrs2() 2014-02-15 05:48:16 +11:00
Andrew Tridgell 57e0eb4db5 Plane: use a const reference for home 2014-02-15 05:48:15 +11:00
Andrew Tridgell 2817a11f23 Plane: added AHR2 and SIM logging 2014-02-15 05:48:14 +11:00
Andrew Tridgell 11337ab2df Plane: updates for AHRS holding home position 2014-02-15 05:29:47 +11:00
Andrew Tridgell df5195e2c9 Plane: change for new AHRS API 2014-02-15 05:29:47 +11:00
Andrew Tridgell e39247868c Plane: cleanup HIL defines 2014-02-15 05:29:46 +11:00
Andrew Tridgell 2cd6efa23e Plane: added DF logging of secondary AHRS solution 2014-02-15 05:29:45 +11:00
Andrew Tridgell 99cfaf6097 Plane: switched to AHRS2 message for reporting 2014-02-15 05:29:45 +11:00
Andrew Tridgell 9ac886f58d Plane: use AP_AHRS_NavEKF when available 2014-02-15 05:28:09 +11:00
Paul Riseborough e0e4b1aefa Plane : Updated NavEKF flash data logging 2014-02-15 05:28:09 +11:00
Paul Riseborough d6ead64083 Plane : Additional NavEKF flash logging 2014-02-15 05:28:08 +11:00
Andrew Tridgell 006b9da6be Plane: only include NavEKF on fast CPUs 2014-02-15 05:28:08 +11:00
Andrew Tridgell ce9047cec5 Plane: added dataflash logging of EKF data 2014-02-15 05:28:07 +11:00
Andrew Tridgell 1fbae4dd44 Plane: enable NavEKF logging in plane 2014-02-15 05:28:07 +11:00
Andrew Tridgell cd9027adfd Plane: added NavEKF object 2014-02-15 05:27:52 +11:00
Paul Riseborough fb1345dd99 Plane : add suport for NavEKF 2014-02-15 05:27:52 +11:00
Andrew Tridgell 7de8be1956 Plane: log power status on Pixhawk 2014-02-15 05:00:09 +11:00
Andrew Tridgell dfa95b3464 Plane: moved the always log flag to 1<<16 
this prevent problems with transferring the bitmask as a float
 2014-02-14 21:51:00 +11:00
Andrew Tridgell 043c80dbe6 Plane: use new board_voltage() method 2014-02-14 21:50:59 +11:00
Andrew Tridgell ae9201342a Plane: allow FLAP_IN_CHANNEL to control k_flap and k_flap_auto too 2014-02-06 14:09:49 +11:00
Andrew Tridgell c3b7e76c28 Plane: added flaperon support 
this adds FLAPERON_OUTPUT and FLAP_IN_CHANNEL to allow both manual
and auto flap control for both normal flaps and flaperons
 2014-02-06 12:38:59 +11:00
Andrew Tridgell 04f2c07b2b Plane: use new RC_Channels API 2014-02-06 10:17:16 +11:00
Andrew Tridgell e42a10a764 Plane: allow printing of GUIDED mode in logs 2014-02-02 14:04:36 +11:00
Andrew Tridgell 48577ffbc2 Plane: check the parameter table on startup 2014-01-31 13:07:52 +11:00
Andrew Tridgell f06152530c Plane: prepare for 2.78b release 2014-01-31 12:15:27 +11:00
Andrew Tridgell 6cabca690e Plane: fixed RSSI_RANGE enum 
many thanks to Valince for spotting this
 2014-01-31 12:14:18 +11:00
Andrew Tridgell 7009c4aead Plane: prepare for 2.78 release 2014-01-30 14:26:46 +11:00
Andrew Tridgell 3a986474e0 Plane: added RSSI_RANGE parameter 2014-01-30 11:29:35 +11:00
Andrew Tridgell 6b12f13d64 Plane: prepare 2.78beta2 2014-01-29 22:05:21 +11:00
Andrew Tridgell 906fc17905 Plane: added baro and airspeed logging 
including raw temperature and pressure values
 2014-01-28 10:35:59 +11:00
Andrew Tridgell 9f683e6b9b Plane: prepare 2.78beta1 2014-01-27 14:08:43 +11:00
Andrew Tridgell 369c130c2d Plane: consider GPS unhealthy if it doesn't have 3D lock 2014-01-27 09:02:22 +11:00
Andrew Tridgell 11ece65656 Plane: update docs for RSSI_PIN for pixhawk 2014-01-24 11:18:28 +11:00
Andrew Tridgell e5e04d65ee Plane: improve LOG_BITMASK docs 2014-01-24 10:00:23 +11:00
Andrew Tridgell c37a7cd9e1 Plane: update AP_Notify flags for arming state 2014-01-23 21:40:34 +11:00
Andrew Tridgell ab4a5d676e Plane: ready for 2.77 release 2014-01-20 19:41:19 +11:00
Andrew Tridgell c16e3a035f Plane: fixed disarmed throttle in HIL 2014-01-20 19:41:19 +11:00
Andrew Tridgell 776b999f43 Plane: fixed disarmed PWM output 2014-01-20 17:34:50 +11:00
Andrew Tridgell cdd36b2c41 Plane: use AP_ServoRelayEvents library 2014-01-20 17:06:29 +11:00
Andrew Tridgell 2045591bed Plane: fixed servo and relay repeat code 2014-01-20 17:06:29 +11:00
Andrew Tridgell e4e5c92453 Plane: fixed relay handling 
the parameters were badly out of whack!
 2014-01-20 17:06:29 +11:00
Andrew Tridgell d3adf4c32c Plane: enable AP_BoardConfig 2014-01-20 17:06:28 +11:00
Andrew Tridgell ada0dd5504 Plane: check both ground and airspeed in autocal test 
when the airspeed ratio is far too low we were not raising it as the
airspeed was never getting above the minimum airspeed

Pair-Programmed-With: Jon Challinger
 2014-01-17 10:29:28 +11:00
Andrew Tridgell 30a210cfa6 Plane: setup PWM to be used on throttle when safety is safe on PX4 2014-01-15 22:28:00 +11:00
Andrew Tridgell 3a5fb46dc2 Plane: fixed integer size problem on APM2 2014-01-14 21:27:39 +11:00
Andrew Tridgell 91cc08a3ef Plane: log PX4Firmware and NuttX git revisions in logs 2014-01-14 15:37:03 +11:00
Andrew Tridgell cf09fef1db Plane: prevent log corruption when new log started 2014-01-14 14:29:14 +11:00
Andrew Tridgell a15336079e Plane: start logging when first needed 2014-01-14 13:51:49 +11:00
Andrew Tridgell 8755747da0 Plane: only log when armed by default 
use safety switch if arming not enabled
 2014-01-14 13:07:43 +11:00
Andrew Tridgell 874110b29d Plane: make LOG_BITMASK 32 bits 2014-01-14 13:06:52 +11:00
Andrew Tridgell def782c441 Plane: use uppercase names on microSD card where possible 2014-01-14 12:46:26 +11:00
Don Gagne e68cf2d1c5 Plane: Fix parameter documentation 
Fixes some problems with incorrect docs which would in turn generate
bad amp.pdef.xml files for ground stations.

merge with below
 2014-01-09 14:02:21 +09:00
Andrew Tridgell 9df5887aab Plane: fixed redundent logging 2013-12-31 15:55:33 +11:00
Andrew Tridgell d9cb101a03 Plane: default LOG_BITMASK to 32767 on non-APM 2013-12-31 10:28:38 +11:00
Michael Day d4f42d41f7 Plane: removed some compile warnings from rally.pde 2013-12-31 09:48:24 +11:00
Michael Day c87d72353f Plane: Introducing FENCE_RETALT parameter. 2013-12-31 09:48:20 +11:00
Michael Day 87c60ee293 Plane: Doc. update for ALT_HOLD_RTL with Rally Points. 2013-12-31 09:48:16 +11:00
Andrew Tridgell f35cf2beba Plane: use file based logs in SITL 2013-12-29 07:14:31 +11:00
Andrew Tridgell 3486b933c0 Plane: use common send_meminfo() 2013-12-28 16:02:06 +11:00
Andrew Tridgell 72473e4317 Plane: use AP_HAL available_memory() call 2013-12-28 14:51:37 +11:00
Andrew Tridgell 6856cc6e4b Plane: break up GPS and logging, allow GPS update at 50Hz 
this prevents mismatches in GPS message arrival and accel message
arrival from causing small DCM errors
 2013-12-28 14:25:54 +11:00
Randy Mackay a1d5c0a02a Plane: replace APM with board in cli 2013-12-28 10:42:30 +09:00
Andrew Tridgell 7ffbed24cc Plane: initialise scheduler callback after logging 
this could cause log corruption otherwise
 2013-12-28 10:24:46 +11:00
Andrew Tridgell 43a56151d7 Plane: reset mission on disarm 
this makes repeated missions easier
 2013-12-20 12:04:23 +11:00
Andrew Tridgell 89366a1ee1 Plane: fixed ARMING_REQUIRED=2 on APM2 to disable rc output on throttle 2013-12-20 11:59:45 +11:00
Andrew Tridgell ce773f085a Plane: make the defaut for FS_GCS_ENABL clearer 2013-12-20 11:44:44 +11:00
Andrew Tridgell 263f3b116b Plane: added FS_GCS_ENABL==2 option 
this allows GCS failsafe when the GCS isn't getting updates from the
aircraft
 2013-12-20 11:39:00 +11:00
Andrew Tridgell a4af83d454 Plane: only allow right rudder for arming 
copter users may try to use left rudder to ensure aircraft is
disarmed. Making left rudder arm could be dangerous
 2013-12-20 09:43:04 +11:00
Andrew Tridgell 77c6e51887 Plane: allow throttle failsafe on no RC input 
on PX4 we just stop getting input on loss of RC - we need to consider
this to be "throttle failsafe"
 2013-12-20 09:43:04 +11:00
Andrew Tridgell 4f242aedec Plane: fixed a bug where mode would not revert on geo-fence disable 
the mode would not revert if the switch was in position 0
 2013-12-17 14:14:13 +11:00
Michael Day dcfed13c87 Plane: Fence breach now sends to correct return point in Guided Mode. 2013-12-17 14:14:13 +11:00
Andrew Tridgell ca67c24eef Plane: removed common functions 2013-12-17 12:00:46 +11:00
Andrew Tridgell d93b95186d Plane: prevent a build warning 2013-12-17 11:51:36 +11:00
Andrew Tridgell 8b7fe3cf50 Plane: changes for new DataFlash API 2013-12-17 11:51:36 +11:00
Andrew Tridgell e0b511e367 Plane: enable new log download functions 2013-12-17 11:51:35 +11:00
Andrew Tridgell 508817d617 Plane: moved ap_message into GCS.h 2013-12-17 11:51:35 +11:00
Andrew Tridgell 4bad2cfb3a Plane: use common GCS.h 2013-12-17 11:51:35 +11:00
Andrew Tridgell 622a2053ff Plane: fixed parameters typo 2013-12-11 21:37:01 +11:00
Andrew Tridgell 3508a14542 Plane: small arming tidyups 2013-12-11 17:29:26 +11:00
Andrew Tridgell b0236610b2 Plane: fixed arming bit in MAVLink heartbeat message 2013-12-11 17:29:26 +11:00
Andrew Tridgell 103da0c889 Plane: when no GPS lock always send GPS messages 2013-12-11 17:29:26 +11:00
Michael Day b0a0316dd6 Plane: Now using AP_Arming library. 2013-12-11 17:29:23 +11:00
Andrew Tridgell 6ed21c12db Plane: added logging of 2nd compass 2013-12-10 15:32:11 +11:00
Andrew Tridgell 49f49648ec Plane: changes for compass healthy API 2013-12-09 17:47:38 +11:00
Andrew Tridgell 02af644010 Plane: report both sets of sensors in MAVLink 2013-12-09 17:34:07 +11:00
Andrew Tridgell b637ab35e4 Plane: lower the priority of mount update 2013-12-09 17:34:07 +11:00
Andrew Tridgell d642254f18 Plane: breakup one second loop into 3 pieces 
this prevents it not running when gimbal is active
 2013-12-09 17:34:07 +11:00
Andrew Tridgell 65c97a2f5f Plane: updates for compass API change 2013-12-09 17:34:06 +11:00
Randy Mackay b6462c23af Plane: disable external leds 2013-11-30 22:53:55 +09:00
Andrew Tridgell 1124e84ae0 Plane: fixed APM1 build 2013-11-30 06:56:16 +11:00
Andrew Tridgell 6b4a3ef98b Plane: added MAVLink sonar logging 2013-11-28 21:49:27 +11:00
Andrew Tridgell 5a0cb5dea4 Plane: added sonar logging to dataflash 2013-11-28 21:49:27 +11:00
Randy Mackay 45ab18f131 Plane: rename Log_Write_SERVO to Log_Write_RCOU 2013-11-27 20:18:16 +09:00
Andrew Tridgell 079d48f6cc Plane: use log system ID if available 2013-11-26 13:00:03 +11:00
Andrew Tridgell 8383abc1fe Plane: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD 2013-11-26 13:00:03 +11:00
Andrew Tridgell a05a32dbda Plane: added RCIN and SRVO logging 2013-11-26 09:04:43 +11:00
Andrew Tridgell 457183b6f5 Plane: cope with uartD being NULL 2013-11-23 21:44:45 +11:00
Andrew Tridgell 5f32f44366 Plane: fixed mavlink_queue[] size 2013-11-23 19:29:23 +11:00
Andrew Tridgell 2fa5e6310d Plane: added 3rd telemetry stream on platforms that have it 
this generalises the gcs object usage
 2013-11-23 19:29:22 +11:00
Andrew Tridgell 490a061c6f Plane: added HIL_ERR_LIMIT 
this allows DCM to recover if HIL attitude drifts too far from true attitude
 2013-11-23 18:50:57 +11:00
Andrew Tridgell 17c9cedac1 Plane: send out HIL servo updates as soon as we can 
this improves the servo responsiveness of HIL a lot
 2013-11-23 18:50:57 +11:00
Andrew Tridgell 1e36ebc31b Plane: reset HIL attitude if off by more than 5 degrees 2013-11-23 18:50:56 +11:00
Andrew Tridgell 8bfe59cea5 Plane: send SIMSTATE messages in HIL 
this allows better tracking of the simulator state, to see if issues
are caused by DCM failure
 2013-11-23 18:50:56 +11:00
Andrew Tridgell 58b767b8e4 Plane: rename geofence structure 
makes using gdb easier as it doesn't mix up the structure and the
pointer
 2013-11-23 18:50:55 +11:00
Randy Mackay c01a3debd6 Plane: log INS errors in PM message 2013-11-18 13:08:40 +09:00
Andrew Tridgell 56f574684d Plane: fixed throttle failsafe with reversed throttle 2013-11-17 15:32:53 +11:00
Andrew Tridgell 2af69b7131 Plane: make batter failsafe docs clearer 2013-11-09 18:14:02 +11:00
Andrew Tridgell 7e10811673 Plane: send firmware and git version in tlog 2013-11-09 10:09:20 +11:00
Andrew Tridgell eee1364f05 Plane: update comments on ALT_CTRL_ALG and NAV_CONTROLLER 2013-11-08 07:54:16 +11:00
Andrew Tridgell c1bc093cf5 Plane: removed unused variable 2013-11-07 13:54:25 +11:00
Andrew Tridgell 1aa29df52d Plane: report INS and airspeed health 2013-11-07 12:48:17 +11:00
Andrew Tridgell 53c3dff334 Plane: allow changing of loiter direction while loitering 
useful for causing path capture failures in the sim
 2013-11-07 11:54:28 +11:00
Andrew Tridgell 1328bbf040 Plane: log the AHRS error terms in dataflash 
also log raw IMU at 10Hz with default config
 2013-11-07 10:19:13 +11:00
Andrew Tridgell 691eaabe94 Plane: prepare for 2.76 release 2013-11-05 15:55:08 +11:00
Andrew Tridgell 78604bd84e Plane: only send GPS_RAW_INT if new data 
this reduces link load when asking for high rate telemetry
 2013-11-05 14:40:51 +11:00
Andrew Tridgell 5e4b243c7b Plane: make DataFlash objects static 2013-11-04 21:37:50 +11:00
Andrew Tridgell ae8ef344bf Plane: added time to most plane log messages 2013-11-04 21:37:30 +11:00
Andrew Tridgell 231b5ab793 Plane: prevent too large combined pitch/roll angles 
this reduces the roll limit by cos(pitch) and pitch minimum by
cos(roll). This prevents unreasonable attitudes in all stabilised
modes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-11-04 21:21:42 +11:00
Andrew Tridgell ff5f2ceae5 Plane: update for API changes 2013-11-04 21:21:42 +11:00
Andrew Tridgell b1c9b57c73 Plane: mark 2.76beta1 2013-11-02 21:48:17 +11:00
Andrew Tridgell 26a3860af2 Plane: fixed PM message 2013-11-02 21:41:30 +11:00
Andrew Tridgell 5a92ce4af6 Plane: added altitude and ground speed to NTUN logs 2013-11-02 21:41:11 +11:00
Andrew Tridgell fe3943e686 Plane: faster startup 
make it less likely to send wrong INS_PRODUCT_ID, plus don't waste as
much time
 2013-11-02 21:41:11 +11:00
Randy Mackay 328de5fc7b Plane: add @Increment to battery failsafe descriptions 2013-10-29 11:23:54 +09:00
Andrew Tridgell bcb0deb888 Plane: ready for 2.75 release 2013-10-28 18:22:25 +11:00
Andrew Tridgell 3ff407cb75 Plane: improved perf monitoring with SCHED_DEBUG 2013-10-28 17:10:00 +11:00
Andrew Tridgell cfa38df528 Plane: allow parameters to download at full speed 2013-10-28 10:34:32 +11:00
Andrew Tridgell a407609dbe Plane: tag 2.75beta5 2013-10-26 07:57:35 +11:00
Andrew Tridgell b897285737 Plane: set system time on GPS lock 2013-10-24 14:22:48 +11:00
Andrew Tridgell 3289041428 Plane: added MAVLink SYSTEM_TIME message 2013-10-24 14:22:47 +11:00
Andrew Tridgell 6f3458eb25 Plane: fixed setting of waypoint when not in AUTO 
this fixes a bug where the next waypoint is set incorrectly if set via
MAVLink when not in AUTO
 2013-10-23 09:40:41 +11:00
Andrew Tridgell 210ca08abd Plane: changed to 2.75beta4 2013-10-18 11:53:51 +11:00
Andrew Tridgell 4239498b62 Plane: moved fast_loop() into main scheduler table 2013-10-15 09:52:23 +11:00
Andrew Tridgell 294b669948 Plane: fixed rally altitude to be in meters 
this matches the docs
 2013-10-14 16:38:40 +11:00
Andrew Tridgell 5adf4e1706 Plane: improve THROTTLE_NUDGE docs 2013-10-14 15:40:26 +11:00
Andrew Tridgell 5e1f5ffb7f Plane: removed some old defines 2013-10-14 14:40:30 +11:00
Andrew Tridgell 7f6eecd9d5 Plane: cleanup cruft in Makefile 2013-10-13 21:41:01 +11:00
Andrew Tridgell a3168bcbaa Plane: fixes for AP_Mount API 2013-10-13 11:03:31 +09:00
Andrew Tridgell 035ac3800a Plane: use G_Dt for acro angle integration 
also cleanup some other uses of performance timing
 2013-10-12 13:30:27 +11:00
Andrew Tridgell 05115684c1 Plane: pass FlightStage to TECS 
this will allow for better throttle and pitch control on landing
 2013-10-12 13:14:30 +11:00
Andrew Tridgell 0ec322ee47 Plane: support MAV_CMD_DO_SET_CAM_TRIGG_DIST 2013-10-11 21:37:27 +11:00
Andrew Tridgell 72505cf4e5 Plane: release 2.75beta3 2013-10-11 16:29:08 +11:00
Andrew Tridgell 8e5d1430da Plane: use ins.wait_for_sample() 2013-10-08 17:31:15 +11:00
Andrew Tridgell 2bb497703c Plane: avoid delay_microseconds() until fixed on PX4 2013-10-08 14:55:38 +11:00
Andrew Tridgell 48ed480d59 Plane: improved latency of main loop 
use a 500usec delay
 2013-10-08 11:50:54 +11:00
Andrew Tridgell e6af7dad3d Plane: switched to L3G4200D driver for Linux 2013-10-08 11:50:54 +11:00
Andrew Tridgell a4604ab317 Plane: honor zero RALLY_LIMIT_KM 2013-10-06 14:54:50 +11:00
Andrew Tridgell 5bf1463e7a Plane: added RALLY_LIMIT_KM 
this will prevent an embarressing use of a rally point from the wrong
airfield
 2013-10-06 14:51:13 +11:00
Andrew Tridgell 365e82aecb Plane: use a rally point when out of mission items 2013-10-05 23:07:32 +10:00
Andrew Tridgell 61dd04ccb5 Plane: auto-update home and baro calibration when disarmed 
this takes advantage of the PX4 arming state to ensure position and
baro calibration is updated
 2013-10-05 18:45:45 +10:00
Andrew Tridgell 536fbb4a30 Plane: if pilot gives aileron input then disable ground steering 
otherwise it would be very tricky to do a low pass!
 2013-10-05 07:46:27 +10:00
Andrew Tridgell d32e58db84 Plane: split out the channel stick mixing 
makes code a bit clearer
 2013-10-05 07:46:27 +10:00
Andrew Tridgell 3be939eb03 Plane: give manual steering when still 
useful for servo testing
 2013-10-05 07:46:27 +10:00
Andrew Tridgell d275f50539 Plane: added GROUND_STEER_ALT and GROUND_STEER_DPS 
this uses the new AP_SteerController steering controller developed for
the rover code to allow for ground steering of planes
 2013-10-05 07:46:27 +10:00
Andrew Tridgell 081510d37a Plane: added ACRO_LOCKING parameter 
this enables/disables the attitude locking in acro mode, allowing acro
to be a pure rate controller
 2013-10-05 07:45:12 +10:00
Randy Mackay 6e2b1093fc Plane: mavlink ext status to use SYS_STATUS_SENSOR enum 2013-10-04 13:21:01 +09:00
Andrew Tridgell 011915eb1c Plane: added error checking to rally load save 
sanity check the rally points
 2013-10-03 12:21:08 +10:00
Michael Day 497c95de8e Plane: Add support for rally points. 
Added parameter RALLY_TOTAL.

Added handlers for new MAVLink messages RALLY_POINT and
RALLY_FETCH_POINT.

defines.h modified to make room in EEPROM to store rally points.

rally.pde added and is responsible for ensuring rally points get
stored in the correct spot in EEPROM.

Multiple Rally/RTL point support now done.  If rally points have
been defined, then when RTL mode is entered, the closest Rally
point is chosend and the plane loiters at that point.

Note only 10 rally points can be defined; this is to save space in
the APM's EEPROM.
 2013-10-03 12:21:08 +10:00
Randy Mackay 21360aeebf Plane: sent current as -1 to GCS when can't be monitored 2013-10-03 11:16:33 +09:00
Randy Mackay 9722276827 Plane: batt curr and remaining should be int16 2013-10-03 11:16:26 +09:00
Randy Mackay cb91440c63 Plane: remove test_battery from CLI 2013-10-03 11:16:22 +09:00
Randy Mackay 9388ea3848 Plane: integrate BattMonitor exhausted method 
BatteryMonitor object made static
Removed unused macros for battery voltage and current monitoring
 2013-10-03 11:16:21 +09:00
Andrew Tridgell 74c8c8aafa Plane: auto-upgrade battery variables in EEPROM 2013-10-03 11:16:12 +09:00
Randy Mackay c64d444b5a Plane: integrate BattMonitor 2013-10-03 11:16:08 +09:00
Andrew Tridgell 65976831e2 Plane: moved Linux logs to logs directory 2013-10-01 13:05:18 +10:00
Andrew Tridgell eef693f243 Plane: removed some compat code 
fixes warnings
 2013-09-30 21:06:43 +10:00
Andrew Tridgell 24099a520d Plane: updates for AP_HAL::MemberProc 2013-09-30 21:06:43 +10:00
Andrew Tridgell 444d053dc2 Plane: enable Oilpan and BMP085 on Linux 2013-09-29 01:02:05 +10:00
Andrew Tridgell f68778d453 Plane: be friendly to multi-tasking OSes 2013-09-28 22:04:15 +10:00
Andrew Tridgell 287db19119 Plane: updates for Stub -> HIL 2013-09-28 22:04:15 +10:00
Andrew Tridgell 88959004d7 Plane: use new scheduler API 2013-09-28 21:24:03 +10:00
Andrew Tridgell 1fd0f73e3f Plane: use DataFlash_File on Linux 2013-09-28 21:24:02 +10:00
Andrew Tridgell c3d0b315cf Plane: added HAL_LINUX includes 2013-09-28 21:24:02 +10:00
Andrew Tridgell 650ff258db Plane: update for new INS API 2013-09-27 10:49:00 +10:00
Mike McCauley 6a8c1a0c36 Plane: Added flymaple to ArduPlane 2013-09-24 13:51:28 +10:00
Mike McCauley aa800472be Plane: defines.h added Flymaple INS 2013-09-24 13:51:28 +10:00
Mike McCauley 3ddcdba659 Plane: Parameters BATTERY_MONITORING for Flymaple 2013-09-24 13:51:28 +10:00
Mike McCauley 18c6b00b5b Plane: Added definitions for Flymaple 2013-09-24 13:51:28 +10:00
Andrew Tridgell 4f310aaec8 Plane: fixed build with print() base change 2013-09-23 18:10:22 +10:00
Mike McCauley 767884b7f1 Plane: workaround conflicts between wirish and APM compatibility 2013-09-23 18:10:21 +10:00
Kevin Hester 996eda0080 Plane: Report MAV_STATE_ACTIVE if flying, MAV_STATE_STANDBY otherwise 
(There are also various error states MAV_STATE_CRITICAL that are unchanged
by this check in).

The is_flying() check is similar to the code in suppress_throttle, but
I wanted to make it very optimistic on thinking we are flying - which is
not what you want for set_throttle...

(AC has similar MAV_STATE_ACTIVE vs MAV_STATE_STANDBY behavior now)
 2013-09-21 21:57:07 +10:00
Andrew Tridgell bcce2e4fc5 Plane: use new Baro API 2013-09-21 21:31:03 +10:00
Andrew Tridgell 36466e91ed Plane: run SENSOR_OFFSETS message at 1/10 of the requested rate 
this message wastes bandwidth, as the values change very slowly
 2013-09-21 09:35:45 +10:00
Andrew Tridgell c4dcdcf5a2 Plane: only send RC_CHANNELS_SCALED in HIL 
saves a bit of telemetry bandwidth
 2013-09-21 09:30:29 +10:00
Andrew Tridgell b28a4f21f2 Plane: fixed uartA baud rates for APM1 2013-09-21 09:30:29 +10:00
Andrew Tridgell e455ee0a94 Plane: fixed throttle suppression for AUTO_FBW_STEER=1 2013-09-20 17:20:06 +10:00
Andrew Tridgell 1869cd52e1 Plane: fixed AUTO_FBW_STEER stick mixing 2013-09-20 17:20:06 +10:00
Andrew Tridgell 328e900364 Plane: changed TKOFF_THR_DELAY default to 2 
this makes it safer for hand launch with pusher props
 2013-09-19 21:42:21 +10:00
Paul Riseborough 43cf0736a3 Plane: Auto Takeoff Check updates 
Adds additional launch angle protection and protection against early
exit from auto causing unexpected motor start on re-entry
 2013-09-19 21:37:31 +10:00
Randy Mackay ab4274aa8d Plane: disable battery failsafe when usb connected 2013-09-19 17:43:08 +09:00
Andrew Tridgell 21a4da0d29 Plane: removed flash_leds() calls 2013-09-19 18:38:28 +10:00
Andrew Tridgell 4bd6b2f428 Plane: use new usb_connected() function 2013-09-19 16:23:58 +10:00
Andrew Tridgell 8a76d82de4 Plane: set failsafe_radio AP_Notify bits 2013-09-18 11:58:54 +10:00
Andrew Tridgell 150e7a3f16 Plane: prevent arming tone on startup 2013-09-18 10:56:06 +10:00
Andrew Tridgell 95a696ea36 Plane: enable failsafe battery reporting 2013-09-18 10:50:34 +10:00
Andrew Tridgell ec0c894306 Plane: use the projected position for geofencing and waypoints 2013-09-17 21:05:25 +10:00
Andrew Tridgell 43ffe91546 Plane: added FS_ACTION of 2 for glide 
this allows people without specified settings in their receiver for
failsafe to choose FBWA zero throttle glide on throttle failsafe. That
can be a better choice when flying at a R/C club field
 2013-09-15 15:05:39 +10:00
Andrew Tridgell dd6a69f588 Plane: added WP_MAX_RADIUS parameter 
useful when using AUTO_FBW_STEER for manual steering in competitions
 2013-09-13 17:43:08 +10:00
Andrew Tridgell cc6acac1dd Plane: added AUTO_FBW_STEER option 
this is an unusual option that gives FBWA flight control in AUTO
mode. It is being added to support use of APM in an aerial robotics
competition where students need to pilot the plane, but they still
need waypoint triggering of payloads
 2013-09-13 14:38:09 +10:00
Andrew Tridgell de7b42e323 Plane: changed to AP_Vehicle.h 2013-09-13 11:46:54 +10:00
Andrew Tridgell 8010d7fd78 Plane: update battery pin docs 2013-09-12 13:43:22 +10:00
Andrew Tridgell fe5a4ab710 Plane: fixed Vcc 2013-09-12 13:26:27 +10:00
Andrew Tridgell 0c8d56632e Plane: fixed SR0 and SR3 autodocs 2013-09-12 09:53:24 +10:00
Andrew Tridgell f6688582a6 Plane: added FENCE_ACTION=3 behaviour 
this makes it safer to enable the geofence as a receiver failsafe
mode. It retains manual throttle control, so if it triggers on the
ground due to the receiver losing signal from the transmitter then the
throttle can be kept low, preventing an unexpected takeoff.
 2013-09-08 07:31:10 +10:00
Craig3DRobotics 630095adaa Revert "Copter: Corrected SR0 & SR3 parameter descriptions" 
This reverts commit 6568234018.
 2013-09-06 09:58:19 -07:00
Craig3DRobotics 2b726abe0e Plane: Correction on SR0 & SR3 parameter description. 2013-09-05 22:29:10 -07:00
Andrew Tridgell 4a8c9a7765 Plane: support reboot to bootloader 2013-09-04 11:59:16 +10:00
Andrew Tridgell a00e4a1e83 Plane: send GCS message on relay change 
makes it easier to debug
 2013-08-30 15:05:16 +10:00
Andrew Tridgell 45cf82ba15 Plane: removed CONFIG_RELAY check 
relay is always available
 2013-08-30 14:40:47 +10:00
Andrew Tridgell 4762b3e7c6 Plane: change to 2.75beta2 2013-08-30 14:02:21 +10:00
Andrew Tridgell a93f7c39a9 Plane: updates for new notify API 2013-08-30 13:01:35 +10:00
Randy Mackay ad8bd16725 Plane: integrate AP_Notify 2013-08-30 13:01:35 +10:00
Andrew Tridgell 2ba9ce60e3 Plane: fixed comment 2013-08-30 13:01:34 +10:00
Andrew Tridgell 8733391315 Plane: call airspeed MAVLink logging function 2013-08-30 13:01:34 +10:00
Andrew Tridgell 5cec9b65c9 Plane: constrain calibration to roll/pitch limits 2013-08-30 13:01:34 +10:00
Andrew Tridgell 364790414c Plane: support new RADIO_STATUS msg 2013-08-24 17:59:13 +10:00
Andrew Tridgell b16e3e4c85 Plane: changed FBW min to 9 m/s 
6 m/s is too dangerous for widely used planes
 2013-08-18 11:42:23 +10:00
Andrew Tridgell 8dd0aa12ed Plane: prevent GPS speed spikes at startup from breaking airspeed cal 
the filter can be affected by a huge GPS velocity spike
 2013-08-18 11:42:22 +10:00
Andrew Tridgell 4425b6af7c Plane: update for new TECS API 2013-08-14 14:59:01 +10:00
Andrew Tridgell accfd46633 Plane: update for new APM_Control API 2013-08-14 14:57:41 +10:00
Andrew Tridgell 8378dc9779 Plane: use reference to AHRS 2013-08-13 13:49:34 +10:00
Andrew Tridgell 5cfdf52381 Plane: change default modes to FBWA not STABILIZE 2013-08-13 13:42:27 +10:00
Andrew Tridgell d4ca3ebf65 Plane: check for parameter send at default of 10Hz 
50Hz can cause overruns, especially on PX4 which can drain the tx
buffer very rapidly
 2013-08-13 13:42:25 +10:00
Andrew Tridgell a33573352e Plane: fixes for updated AP_Math and AHRS APIs 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:30:04 +10:00
Andrew Tridgell e22f58c9fc Plane: fixed build with OBC failsafe 2013-08-03 09:18:01 +10:00
Andrew Tridgell 890b77447a Plane: allow integrator in stabilize mode when no stick input 
fixes issue #472
 2013-08-02 21:55:34 +10:00
Andrew Tridgell c083c15240 Plane: use a larger serial buffer 
this makes higher rate MAVLink possible again
 2013-08-02 18:46:54 +10:00
Andrew Tridgell c3b5f20a45 Plane: run TECS 50Hz code when throttle suppressed 
this fixes auto-launch detection using TECS
 2013-08-02 18:46:48 +10:00
Andrew Tridgell 8428779558 Plane: make it easier to find task numbers 2013-08-02 18:46:42 +10:00
Andrew Tridgell 62cc84aba3 Plane: use new scheduler load_average() function 
this also simplifies the main loop
 2013-08-02 18:46:28 +10:00
Andrew Tridgell 233b033e8c Plane: removed old speed/altitude control algorithms 
Use TECS only. This makes the code a lot simpler and easier to
properly document
 2013-07-22 13:28:11 +10:00
Andrew Tridgell c0697d0a2d Plane: mark 2.75beta1 2013-07-22 12:50:30 +10:00
Andrew Tridgell 965dc228c2 Plane: fixed GUIDED mode change of altitude down 2013-07-22 12:50:02 +10:00
Andrew Tridgell b8fa83ff54 Plane: change default slewrate to 100%/second 2013-07-22 12:50:02 +10:00
Andrew Tridgell 29c854e676 Plane: remove unused function 2013-07-22 12:50:02 +10:00
Andrew Tridgell 6e288551ab Plane: fixed reversion to pre-failsafe mode 
if AUTO was entered using GCS, we need to switch back to the old mode,
not control channel
 2013-07-22 12:50:02 +10:00
Andrew Tridgell 74dabad1f3 Plane: added SKIP_GYRO_CAL parameter 
useful for starting the sim at high altitudes, and for starting planes
without having to hold them still
 2013-07-22 12:50:01 +10:00
Andrew Tridgell c8a83e17d0 Plane: remove old AIR_START code 
this was never used or tested
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 7673ca0bac Plane: updates for new EAS2TAS scaling 2013-07-22 12:50:01 +10:00
Andrew Tridgell 9bbe6c1967 Plane: update to new license boilerplate for GPLv3 
we had LGPLv2 in some places, despite the fw being GPLv3
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 882aa68c16 Plane: use new airspeed calibration code 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 53b1b9b575 Plane: added note on type of airspeed in docs 2013-07-22 12:50:01 +10:00
Andrew Tridgell 2d5deddd30 Plane: set mode CIRCLE on short failsafe in AUTO 
this makes the code match the docs
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 9b70675b12 Plane: check the control switch a bit more often 
faster response to mode changes
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 6ed78c89ac Plane: don't read control switch when ch3 is in failsafe 
use ch3_counter not just the final flag
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 51b9cf3e76 Plane: move failsafe variables into a structure 
this makes the logic a bit easier to follow
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 608345415b Plane: pass aircraft parameters to attitude controllers 
also cope with rename of airspeed min/max variables

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-18 14:53:37 +10:00
Andrew Tridgell a4f49a28fb Plane: prepare for 2.74b release 2013-07-16 09:45:32 +10:00
Andrew Tridgell e27dd14bcc Plane: fixed FBWB aileron control 2013-07-16 09:44:23 +10:00
Andrew Tridgell e8355905dd Plane: prepare for 2.74 release 2013-07-15 11:19:38 +10:00
Andrew Tridgell dbd47b2a30 Plane: make TECS the default speed/height controller 2013-07-15 11:12:24 +10:00
Andrew Tridgell ec21922233 Plane: make wp_distance static 
removed hack in AP_Camera library
 2013-07-15 09:56:28 +10:00
Andrew Tridgell 3ba713352f Plane: use update_aux() for setting up extra channels 2013-07-15 09:56:12 +10:00
Andrew Tridgell ed20c4cbc8 Plane: fixed initial reporting of battery remaining 
we were not showing battery remaining 100% until we used some battery
 2013-07-14 21:59:15 +10:00
Andrew Tridgell e80d73df93 Plane: expand docs for TRIM_AUTO 2013-07-14 21:23:15 +10:00
Andrew Tridgell 4087fde140 Plane: enable CTUN log message by default 2013-07-14 21:10:12 +10:00
Andrew Tridgell e79023ceee Plane: fixed problem with slow ground station connects 
don't trigger the "scheduler out of time" code when in the delay
callback

Thanks to Marijm Slootweg for noticing this!
 2013-07-14 17:28:34 +10:00
Andrew Tridgell d4db2231d4 Plane: change to 2.73beta4 2013-07-13 21:47:22 +10:00
Andrew Tridgell dc024d425a Plane: re-do roll hanging in ACRO mode 
this avoids the euler angle zeros of the previous method by using a
gyro integrator on the roll axis

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-13 21:45:58 +10:00
Andrew Tridgell b37f79d307 Plane: update for new APM_Control API 2013-07-13 21:45:58 +10:00
Andrew Tridgell 113bc20f8a Plane: added a new CRUISE flight mode 
See
http://diydrones.com/group/apmusergroup/forum/topics/feature-request-hold-heading-mode

this fixes issue #438
 2013-07-13 21:45:58 +10:00
Andrew Tridgell 399970e76f Plane: fixed default deadzone for the throttle channel 
this is the 2nd half of the fix for issue #303
 2013-07-13 13:19:25 +10:00
Andrew Tridgell 826ad6c086 Plane: unlock roll and pitch when we enter ACRO mode 2013-07-13 12:34:34 +10:00
Randy Mackay 1772a62415 Plane: fix to gps present check in mavlink extended status 1 msg 2013-07-13 10:27:39 +09:00
Andrew Tridgell ea9ae31a7a Plane: fixed a bug with altitude drift in FBWB mode 
not taking account of deadzone correctly
 2013-07-12 21:17:09 +10:00
Andrew Tridgell cc57bfcf12 Plane: fixed handling of deadzone in ACRO mode 
RC_Channel norm_input() does not take account of the dead zone
 2013-07-12 17:54:51 +10:00
Randy Mackay 9df93881fb Plane: set_dead_zone renamed to set_default_dead_zone 
Change in use of parameter means value passed in should be 1/2 what it
was previously
 2013-07-12 11:44:18 +09:00
Andrew Tridgell f300df5fd1 Plane: added FS_LONG_TIMEOUT and FS_SHORT_TIMEOUT parameters 
this is to address the issue raised here:

http://diydrones.com/forum/topics/ardupilot-circle-mode
 2013-07-12 11:56:04 +10:00
Andrew Tridgell 73928b82a6 Plane: fixed FBWB airspeed control 
thanks to Gabor for reporting this!
 2013-07-11 11:58:54 +10:00
Andrew Tridgell 1d04290eab Plane: change to 2.74beta3 2013-07-11 11:58:54 +10:00
Andrew Tridgell 11a4628409 Plane: added ACRO mode to mode choices 2013-07-11 09:10:41 +10:00
Andrew Tridgell fc67f51901 Plane: added ACRO_ROLL_RATE and ACRO_PITCH_RATE parameters 
default to 180 degrees/second, which seems reasonable
 2013-07-11 09:10:41 +10:00
Andrew Tridgell 608007361b Plane: added initial implementation of ACRO mode 
rate based control with attitude locking
 2013-07-11 09:10:41 +10:00
Andrew Tridgell 2005d5642a Plane: fixed a documentation string 
GND_ALT_OFFSET is now for barometric corrections
 2013-07-10 14:46:22 +10:00
Andrew Tridgell 3c97fad2ec Plane: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Andrew Tridgell 7aa360b176 Plane: added relative_altitude helper functions 
prevents some code duplication
 2013-07-10 14:04:22 +10:00
Paul Riseborough 971d36f06b Plane: added height to 10Hz TECS call 2013-07-10 14:04:22 +10:00
Andrew Tridgell 3c177867a4 Plane: allow enable/disable of camera log messages in CLI 2013-07-10 12:23:36 +10:00
Andrew Tridgell f7c8d1e1ee Plane: use current_loc.alt for altitude to TECS 2013-07-10 11:55:35 +10:00
Craig@3DR 7f4336430a Plane: trigger picture + logging on camera update_location() 2013-07-10 08:40:01 +10:00
Paul Riseborough a4f3180e2a Plane: added support for throttle nudging with TECS 2013-07-09 20:51:03 +10:00
Paul Riseborough c34803db13 Plane: pass in adjusted height above field to TECS 2013-07-09 09:25:55 +10:00
Andrew Tridgell 9f612f6f78 Plane: only call TECS when throttle is not suppressed 
this helps prevent integrator buildup on the ground
 2013-07-08 12:07:50 +10:00
Andrew Tridgell 1355b6d89d Plane: break-up scheduling into smaller pieces 
ensure mavlink sends don't push us over a scheduling boundary
 2013-07-05 18:05:27 +10:00
Andrew Tridgell 1d6748cf3f Plane: use a glide slope in RTL when descending 
when above the target altitude in RTL come down slowly, when below
climb rapidly

This fixes issue #39
 2013-07-05 14:56:58 +10:00
Andrew Tridgell d30dd7c3f1 Plane: only run TECS when in an auto-throttle mode 
this prevents integrator buildup in user controlled modes
 2013-07-05 14:55:22 +10:00
Andrew Tridgell dd330885b8 Plane: added compass and baro accumulate functions 2013-07-05 12:59:15 +10:00
Andrew Tridgell 84299c3747 Plane: document ALT_CTRL_ALG=2 2013-07-04 17:00:04 +10:00
Andrew Tridgell 6c7d160ee6 Plane: fixed TECS takeoff detection 2013-07-04 16:56:57 +10:00
Andrew Tridgell a5bda3ffef Plane: changed to using a "aircraft parameters" structure 
this structure can be passed to libraries to give them easy access to
critical user parameters
 2013-07-04 16:56:57 +10:00
Paul Riseborough d62636d309 Plane: added new TECS altitude controller 
Includes improvements to takeoff/launch detect logic to support hand
launching for X-8 flight
 2013-07-04 16:56:57 +10:00
Andrew Tridgell f3237b9e5d Plane: update FS_LONG_ACTN and FS_SHORT_ACTN docs 
thanks to Craig for noticing this
 2013-07-02 14:50:04 +10:00
Andrew Tridgell 75ef7c26e1 Plane: update takeoff course when conditions met 
This allows for change of heading before the final takeoff conditions
are met

thanks to Greg Fletcher for suggesting this
 2013-07-01 17:05:13 +10:00
Andrew Tridgell 570ecea6c6 Plane: added secondary rudder support 2013-06-29 17:31:03 +10:00
Andrew Tridgell 0d3faeda90 Plane: update_mount assumes 50Hz, for camera trigger 2013-06-25 12:44:26 +10:00
Andrew Tridgell bb47029564 Plane: enable CAM_TRIGG_DIST parameter 2013-06-25 12:44:26 +10:00
Andrew Tridgell 45f5d05bd2 Plane: enabled RELAY_* parameters 2013-06-25 12:44:26 +10:00
Andrew Tridgell 056e0ca40d Plane: APM2 doesn't have channel 9 PWM output 2013-06-24 13:06:54 +10:00
Paul Riseborough 2204b30e66 Plane: Added APM_Control integrator limits to table used to covert old PID values 2013-06-22 21:59:47 +10:00
Randy Mackay 6ea568d72a Plane: param description change for RC5 ~ RC11 
Reversing the order may avoid duplication of param descriptions in the
auto generated parameter web page
 2013-06-21 09:58:02 +09:00
Randy Mackay 75bcd7cdab Plane: update THR_FS_VALUE parameter description 2013-06-18 15:57:29 +09:00
Andrew Tridgell 4a0c90246e Plane: make GPS UART blocking again 2013-06-11 18:50:23 +10:00
Andrew Tridgell 641ad6bc63 Plane: increase time allowed for update_alt() 
the altitude tracking code can be quite expensive with TECS
 2013-06-07 08:41:09 +10:00
Andrew Tridgell b0c87b8a61 Plane: fix VOLT_DIVIDER docs 2013-06-07 08:40:28 +10:00
Andrew Tridgell b27ffdd087 Plane: new plane beta 2.74beta2 2013-06-04 15:10:11 +10:00
Andrew Tridgell c008fa764c Plane: update_commands() can take 7ms if it needs to write a waypoint 2013-06-04 13:42:25 +10:00
Andrew Tridgell 93cd0f9a31 Plane: switch to new AP_Scheduler 
this gives us more accurate task scheduling in ArduPlane, plus better
monitoring of task timing (via SCHED_DEBUG)
 2013-06-04 13:34:58 +10:00
Andrew Tridgell 6bac13f9e2 Plane: fixed RCMAP_* to fix channel ranges for no-reboot changes 2013-06-03 21:20:39 +10:00
Andrew Tridgell 02d72ffcba Plane: make it possible to change board orientation at runtime 2013-06-03 16:52:44 +10:00
Andrew Tridgell 4c9bc30f58 Plane: make it possible to change control channel ordering without reboot 
this makes configuration a bit easier
 2013-06-03 16:42:38 +10:00
Andrew Tridgell 27bc0cdc2c Plane: rename old channel_* globals 
prevent the old "g." names from being used
 2013-06-03 16:37:51 +10:00
Andrew Tridgell a1f64d606a Plane: fixed remaining places where primary channel ordering was assumed 
should now use rcmap for all inputs
 2013-06-03 16:23:48 +10:00
Andrew Tridgell fb9bf21522 Plane: allow channel mapping of first 4 channels 
this makes it easier to support DSM and SBUS radios
 2013-06-03 16:23:48 +10:00
Andrew Tridgell 515d726ee0 Plane: use RC_Channel::rc_channel() instead of rc_ch[] 2013-06-03 16:23:48 +10:00
Andrew Tridgell f7697574db Plane: use the new airspeed driver interface 
the choice of analog source is now in the airspeed driver
 2013-06-03 11:51:09 +10:00
Andrew Tridgell d9bcfd913a Plane: reset attitude integrators on mode change 2013-06-01 22:29:38 +10:00
Andrew Tridgell bb3171ab5f Plane: zero attitude integrators on the ground 2013-06-01 22:29:38 +10:00
Andrew Tridgell cd55ed45e2 Plane: removed the old roll/pitch/yaw PID controllers 
use the new controllers, with auto parameter conversion
 2013-05-31 14:06:56 +10:00
Andrew Tridgell 91a04ab654 Plane: fixed headers for mode logging 2013-05-31 14:04:03 +10:00
Andrew Tridgell cae1079747 Plane: auto-convert the old RLL2SRV* parameters to the new CTL_RLL_* parameters 2013-05-31 07:58:29 +10:00
Andrew Tridgell e48b8c7b4a Plane: improve RTL altitude docs 2013-05-31 07:58:29 +10:00
Andrew Tridgell 6e0f1f56de Plane: update docs on volt/current pin 2013-05-31 07:57:15 +10:00
Andrew Tridgell fa9eb84542 Plane: added more parameter docs (flaps and GCS control) 2013-05-30 09:44:09 +10:00
Andrew Tridgell de904468b2 Plane: added BATT_MONITOR and VOLT_DIVIDER docs 2013-05-30 09:06:36 +10:00
Andrew Tridgell eba7d6da9a Plane: removed the old crash_timer code 
This code is less relevent with the new L1 navigation, and could cause
issues with the pilot not having control after a long dive.

Thanks to Soren for pointing out the issues

See issue #305
 2013-05-28 11:19:28 +10:00
Andrew Tridgell f9a1b4f0e3 Plane: improve ALT_MIX docs 2013-05-28 10:10:22 +10:00
Andrew Tridgell 767d9d0eb5 Plane: fixed stick mixing in AUTO modes 
the mixing was asymmetric. Many thanks to Soren Kuula for noticing this!
 2013-05-27 08:24:35 +10:00
Andrew Tridgell c481ac8745 Plane: use a default mixing gain of 0.5 
this ensures compatibility with existing configs
 2013-05-25 19:15:47 +10:00
Andrew Tridgell c81421e275 Plane: added MIXING_GAIN parameter 
this allows for the full range of output on both channels, but can
saturate
 2013-05-25 18:28:13 +10:00
Andrew Tridgell a22f5e3bc4 Plane: enable wind estimation 2013-05-24 11:21:42 +10:00
Andrew Tridgell dd633fcf3f Plane: make voltage and battery capacity failsafe settable at runtime 
this also fixes issue #292
 2013-05-22 20:33:57 +10:00
Randy Mackay 4c08e32bf6 Plane: param update for AP_Baro 2013-05-21 14:22:23 +09:00
Randy Mackay 84909ee56a Plane: add parameter description for LOG_BITMASK 2013-05-21 11:22:11 +09:00
Randy Mackay c7961a72fc Plane: send_text_P bug fix for short messages 2013-05-20 12:51:16 +09:00
Andrew Tridgell bd4b7d136f Plane: mark ArduPlane 2.74beta 2013-05-13 17:32:33 +10:00
Andrew Tridgell 001d18b51d Plane: removed scaling of pitot source 2013-05-13 15:19:05 +10:00
Andrew Tridgell 97b6aaac77 Plane: use voltage_average() for RSSI 
this fixes it on PX4
 2013-05-13 15:19:05 +10:00
Andrew Tridgell b940c4b28e Plane: use library gcs_severity 2013-05-09 09:28:57 +10:00
Andrew Tridgell 635b3fabda Plane: fixed APM1-1280 build 2013-05-08 21:44:45 +10:00
Andrew Tridgell 81c1fd5fc4 Plane: support 3D accel calibration over MAVLink 2013-05-08 16:25:35 +10:00
Andrew Tridgell c5f1570f32 Plane: fixed flash logging of ATT 
fixed types to be int16
 2013-05-08 14:21:32 +10:00
priseborough 854c50501d Plane: Added a constraint to demanded bank angle during FBW-A mode to prevent roll limits being exceeded 2013-05-07 11:01:05 +10:00
Andrew Tridgell fdd509a7c1 Plane: move baro init earlier in startup 
this ensures it is initialised when CLI takeover by MP happens

Thanks to Prof Avi Levi for reporting this bug
 2013-05-06 10:57:57 +10:00
Andrew Tridgell 0cf49308af Plane: mark a 2.73beta release 2013-05-05 22:36:22 +10:00
Andrew Tridgell 0e6a64fc14 Plane: reset roll/pitch integrators for APM_Control in takeoff 
when airspeed is below airspeed minimum. This is consistent with the
previous controllers

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-05-05 22:03:13 +10:00
Andrew Tridgell 9c6f80c42b Plane: moved some default values to Parameters.pde 2013-05-05 21:51:09 +10:00
Andrew Tridgell 6251d0510a Plane: obey pitch trim and throttle pitch feed forward in new controllers 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-05-05 21:51:09 +10:00
Andrew Tridgell e87a6d5564 Plane: added links to new APM controller docs 2013-05-05 21:51:09 +10:00
Andrew Tridgell 11ad9d5a2d Plane: auto-invert pitch control when upside down 
this helps to recover when flying inverted, for example when in manual
and hitting the lower altitude geofence
 2013-05-05 21:51:09 +10:00
Andrew Tridgell 4e2b88f6e6 Plane: added ATT_CONTROLLER option to select attitude controller 
set to 1 for the new APM_Control library
 2013-05-05 21:51:09 +10:00
Andrew Tridgell 55f7d18979 Plane: avoid copying the DCM matrix 2013-05-05 21:51:09 +10:00
priseborough 3663426550 Plane: Fixed bug in groundspeed_undershoot that could cause a fly-away in windy conditions. 
Use the component of velocity in the forward direction rather than the magnitude
 2013-05-05 21:51:08 +10:00
Paul Riseborough 663951d9a7 Plane: rename APM_Control parameters 
this groups the parameters more logically
 2013-05-05 21:51:08 +10:00
Paul Riseborough 8c5b603848 Plane: use new APM_Control API 2013-05-05 21:51:08 +10:00