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3496 Commits

Author SHA1 Message Date
Michael du Breuil faea5d285c Plane: Consolidate some of the PID logging details 2018-03-03 17:34:18 +12:00
Andrew Tridgell 27e4953ad8 Plane: disable HIL on px4-v2 
this saves enough flash for px4-v2 to fit again
 2018-03-03 13:35:39 +11:00
night-ghost 98b8a61ca8 Plane: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
David Ingraham a6aeebad4b Plane: Add support for AP_Gripper 2018-03-01 14:14:43 +11:00
David Ingraham 9419cc3b32 Plane: Fix param docs for quadplane attitude control 
Docs aren't currently being generated for plane for AC_AttitudeControl.cpp. I believe this will fix that.
 2018-02-20 16:38:27 +11:00
Andrew Tridgell e6cebdecd1 Plane: use scheduler.get_last_loop_time_s() 2018-02-13 17:15:05 +11:00
Peter Barker 3859e5dfb1 Plane: eliminate update_perf_logging scheduler table shim 2018-02-13 17:15:05 +11:00
Andrew Tridgell 36660b2124 Plane: use filtered loop time 2018-02-13 17:15:05 +11:00
Peter Barker 4586b892f2 Plane: pass log-performance-bit at init time rather than update time 2018-02-13 17:15:05 +11:00
Peter Barker 8cae776448 Plane: move logging of PM and PERF messages to AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker 02540fdbf9 Plane: use AP_Scheduler's loop() function 2018-02-13 17:15:05 +11:00
Peter Barker 73092c3c30 Plane: use scheduler ticks in place of mainloop_count 2018-02-13 17:15:05 +11:00
Peter Barker 519e6c31d2 Plane: use AP::PerfInfo library 2018-02-13 17:15:05 +11:00
Randy Mackay dd6755f486 Plane: fix global-pos-int velocity direction to NED 2018-02-13 08:52:48 +09:00
Andrew Tridgell 2fb6113098 Plane: use AP:PerfInfo class 2018-02-10 10:50:22 +11:00
Andrew Tridgell ac196b8e0a Plane: fixed build error 2018-02-10 08:00:24 +11:00
Tom Pittenger 50a2d824c4
Plane: crash detection hard landing detection should skip debounce 
closes https://github.com/ArduPilot/ardupilot/issues/7683
 2018-02-09 11:40:12 -08:00
Andrew Tridgell d1e11a5bde Plane: fixed build (remove learn_offsets call) 2018-02-08 17:36:33 +11:00
Michael du Breuil 43972f8e56 Plane: Move battery logging code to AP_BattMonitor 2018-02-06 00:11:32 +00:00
Randy Mackay ddcd08d6b6 Plane: PSC_ACCZ param name shortened 2018-01-31 08:48:21 +09:00
Michael du Breuil aec7521da4 Plane: Fix truncation of a time interval 
Truncating the a millisecond time delta to uint16_t causes it to wrap
every 65 seconds, which could momentarily reset the desired climb rate
 2018-01-25 14:30:49 +11:00
Randy Mackay d579e086cf Plane: quadplane param index comment for moved PIDs 2018-01-24 21:14:53 +09:00
Andrew Tridgell 20b05e4228 Plane: added conversion code for PID layout change 
this copes with the move of multicopter PIDs inside the position
controller
 2018-01-24 18:23:59 +11:00
Tom Pittenger 518abfe1d0 Plane: Allow GUIDED mode to take advantage of crosstrack flag. 2018-01-22 19:17:09 -08:00
Randy Mackay 7b1157e2d8 Plane: remove setting accel_z PID controller's dt 
This is handled within pos-controller's set_dt function
 2018-01-23 12:00:43 +09:00
Randy Mackay f41f4dc6e5 Plane: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay 017e71a748 Plane: quadplane velocity pi moves to position control library 2018-01-23 12:00:43 +09:00
Michael du Breuil ff85f5e9bd Plane: Support AP_BattMonitor_Params 2018-01-17 22:21:55 +00:00
Andrew Tridgell 5614fd1ccc Plane: use calloc in preferance to malloc 2018-01-17 11:22:05 +11:00
Andrew Tridgell 2c6a004a67 Plane: mark version as 3.9.0-dev 2018-01-16 11:04:55 +11:00
Andrew Tridgell be0d2229c1 Plane: update release notes 2018-01-16 11:03:26 +11:00
Andrew Tridgell 31d7d9f909 Plane: change airspeed parameter prefix 
this makes for clearer parameter names with dual sensors
 2018-01-16 07:14:20 +11:00
Andrew Tridgell c1cbbf9203 Plane: check all airspeed sensors are healthy 2018-01-16 07:14:20 +11:00
Tom Pittenger 746ca91649 Plane: reset groundspeed_undershoot value when GPS is lost 
If we lose GPS lock the gndspd undershoot value gets stuck at the last calculated value forever (until GPS locks again)
 2018-01-09 17:05:04 -08:00
Tom Pittenger 1ef0f27786 Plane: allow control_mode enum to be in arbitrary order 
never use control_mode >= BLAH. This requires the order to be important which greatly increases chance for unexpected behavior
Closes https://github.com/ArduPilot/ardupilot/issues/4656
 2018-01-09 17:05:04 -08:00
Tom Pittenger 39a200b83f Plane: allow control_mode enum to be in arbitrary order 
never use control_mode >= BLAH. This requires the order to be important which greatly increases chance for unexpected behavior
Closes https://github.com/ArduPilot/ardupilot/issues/4656
 2018-01-09 17:05:04 -08:00
Peter Barker c4c6b3cc70 Plane: AP_AHRS no longer requires GPS in constructor 2017-12-27 00:58:02 +00:00
Peter Barker c5ae01fc6d Plane: use GPS singleton 2017-12-27 00:58:02 +00:00
luweikxy 25224cd261 Plane: remove dead code from do_vtol_land 2017-12-14 20:52:18 +09:00
Andrew Tridgell 30e224e705 Plane: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Michael Oborne 9ed3ca3d35 ArduPlane: update version number 2017-12-13 18:00:03 +11:00
Ubuntu 16.04 VM 624aef401d Plane: Enforce THR_MIN/THR_MAX in VTOL modes 2017-12-11 22:18:39 -08:00
Tom Pittenger 512b327cd4 Plane: failsafe events to use enums instead of magical numbers : Non-functional change 2017-12-07 00:19:32 -08:00
Peter Barker af007c5f0f Plane: tighten handleMessage result type 2017-12-01 17:01:10 +00:00
Tom Pittenger 3d6cc59a6b Plane: cleanup geofence warnings 2017-11-27 18:35:49 -08:00
Andrew Tridgell 2a81792b41 Plane: don't disable compass on one bad reading 
the compass can go back for a short time and recover

found by Michael
 2017-11-28 09:02:24 +11:00
Andrew Tridgell 49cb245ea6 Plane: use a min airspeed for is_flying test 
in VTOLs setting min airspeed to zero can be useful
 2017-11-28 09:02:24 +11:00
Michael du Breuil 1a3ca43e86 Plane: Don't check FS_SHORT_TIMEOUT if it's disabled 
Also renames the check_minimum_altitude() to reflect that it's only used
for FBWB.
 2017-11-24 09:58:01 -08:00
Tom Pittenger 7271586a47 Plane: invert auto_state.no_crosstrack flag to be auto_state.crosstrack. Non-functional change 2017-11-23 09:25:18 -08:00
Peter Barker 6ed0d645a3 Plane: support for units on fields 2017-11-23 10:40:30 +11:00
Guy Tzoler a6c7890c74 Plane: use cork/push wrapper 2017-11-21 14:10:54 +11:00
Michael du Breuil 9720fcb8cc Plane: Only update home when not armed, rather then not soft armed 
Plane supports being armed, in takeoff logic and not spinning the motor
until the moment the safety button has been pressed. Unfortunately
because the safety button is required to be pressed for soft arming this
results in the plane updating home position while the user moves the
vehicle or is holding it to throw the vehicle which will can result in
several meters of altitude error from where the user expected home to
be.

Because the normal approach to plane is to have activated the safety
button before arming the aircraft this is not expected to be a behaviour
change for most users, but an improvement for people who use the button
to initiate a takeoff.
 2017-11-21 11:45:15 +11:00
Andrew Tridgell f7a735b990 Plane: fixed transitions for tailsitters after auto-takeoff 
need to use angle wait
 2017-11-19 16:06:02 +11:00
Andrew Tridgell 85573b3ff3 Plane: fixed a division by zero 
if min airspeed is zero
 2017-11-19 16:04:40 +11:00
Andrew Tridgell e06f160dc9 Plane: disable rudder scaling in tailsitters 
this is most often implemented as dual-motor differential thrust, and
we don't want to do surface speed scaling for that.

In the future we'll move this scaling so it can be done on rudders for
3D planes
 2017-11-18 10:38:46 +11:00
Peter Barker ee5f550475 Plane: AP_Camera uses GPS singleton 2017-11-16 15:28:37 +00:00
Peter Barker b4294c00f6 Plane: use gps singleton for GCS functions 2017-11-15 13:43:03 +00:00
André Kjellstrup 1d27e21d83 Plane: Option to trig by distance only when in AUTO mode 2017-11-14 00:10:22 +00:00
Andrew Tridgell bf1aa64345 Plane: updated release notes for 3.8.3 2017-11-13 15:06:42 +11:00
Andrew Tridgell 271373e1e8 Plane: added a not on min slew rate for throttle 2017-11-13 10:29:46 +11:00
Michael du Breuil 767018b1d4 Plane: Support unlocking cruise heading with rudder 2017-11-09 09:39:44 +11:00
Michael du Breuil bd32b5deb7 Plane: update isFlying() landing check 
When we are landing a sink_rate < -0.2f means the vehicle is climbing,
which should never happen during an approach for any supported landing
type (slope or deepstall), and on hard impacts with the ground its
common for the vehicle altitude to be projected to low and climb back to
the correct altitude slowly (but at a higher rate). This changes the
check to only consider sinks while on approach as acceptable.
 2017-11-07 08:57:15 +01:00
Tom Pittenger 8029a7f10e
Plane: add Tom Pittenger to developers list 
Plane: add Tom Pittenger to developers list. He was added to main Plane.h as "Lead Developer" here *https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/Plane.h#L2) but never to the main ArduPilot.c file.
 2017-11-06 13:46:32 +01:00
Andrew Tridgell 5843086760 Plane: update release notes for 3.8.3beta4 2017-11-05 21:47:15 +11:00
Andrew Tridgell 957c1f6d23 Plane: extend QLOITER transition pitch limit 
use twice transition time for pitch envelope to reduce QLOITER
transition harshness
 2017-11-05 21:35:32 +11:00
Andrew Tridgell bbf98fae46 Plane: fixed a warning 2017-11-05 21:25:37 +11:00
Andrew Tridgell 9c8cd6c1cc Plane: added Q_TRANS_DECEL 
this gives a deceleration rate for QRTL transition from RTL, and also
for transitions to QLOITER
 2017-11-05 20:44:42 +11:00
Andrew Tridgell e27c54a312 Plane: smooth out fwd tailsitter transition 
use Q_TRANSITION_MS and the transition angle to pitch forward more
slowly
 2017-11-05 17:25:00 +11:00
Andrew Tridgell 21164ef409 Plane: added tailsitter surface speed scaling 
added scaling of control surfaces by throttle when in hover. This helps
the controller remain stable over a wide range of throttle levels, such
as when descending or rapidly climbing
 2017-11-05 17:05:08 +11:00
Michael du Breuil 83decd1370 ArduPlane: Only run is_flying landing checks when in landing stage 2017-11-04 10:07:16 +11:00
Andrew Tridgell 126d5ce5d4 Plane: re-implement MIXING_OFFSET 
this was lost in the conversion of SRV_Channels
 2017-11-04 09:34:22 +11:00
Michael du Breuil e63e39c411 Plane: Don't broadcast PWM value that tripped throttle failsafe 2017-11-02 16:46:08 -07:00
Michael du Breuil d52f5155f0 Plane: Rename rc failsafe state members 2017-11-02 16:46:08 -07:00
nick2204 7d91755bd1 Plane: update Q_OPTIONS docs 
Made q_options description a little clearer
 2017-11-01 09:38:42 +11:00
Andrew Tridgell 1bee1dd210 Plane: log currently used airspeed 
this logs whatever airspeed is being used for flight
 2017-11-01 09:22:15 +11:00
Andrew Tridgell 43ee462813 Plane: prepare for 3.8.3beta2 2017-10-31 18:05:50 +11:00
Andrew Tridgell f14f40d3ef Plane: fixed GUIDED loiter with Q_RTL_MODE=1 
this was broken by the recent RTL_RADIUS changes

thanks to Nick for noticing this!
 2017-10-31 18:02:31 +11:00
Andrew Tridgell 84e5cd7e14 Plane: update release notes for 3.8.3beta1 2017-10-30 18:46:51 +11:00
Andrew Tridgell 1085069851 Plane: use WP_LOITER_RAD if RTL_RADIUS is 0 for QRTL 2017-10-30 16:52:19 +11:00
Andrew Tridgell aa430a6e2c Plane: use RTL_RADIUS for QRTL threshold 
when Q_RTL_MODE=1 in a quadplane use RTL_RADIUS as the distance to
switch to QRTL mode. We navigate to the destination using direct
waypoint navigation instead of using a loiter circle.
 2017-10-30 16:30:38 +11:00
Andrew Tridgell 552faa8f67 Plane: smoother tailsitter transitions 
this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
 2017-10-30 16:30:38 +11:00
Andrew Tridgell c24ee9192b Plane: prevent a float exception at pitch 90 
this can happen with a tailsitter
 2017-10-30 16:30:38 +11:00
Andrew Tridgell 214434a2d7 Plane: fixed tailsitter ANGLE_WAIT transition 
we need vtol control during transition from hover to fwd flight
 2017-10-30 16:30:38 +11:00
Andrew Tridgell af893ddde7 Plane: implement Q_OPTIONS 
this allows for NAV_TAKEOFF to be treated as NAV_VTOL_TAKEOFF in
quadplanes, and for level flight to be maintained during quadplane
transitions
 2017-10-30 16:30:10 +11:00
Andrew Tridgell 02f8d888c3 Plane: relax controllers when disarmed 
this prevents any remaining integrator from a previous flight stage from
affecting flight across a disarm
 2017-10-30 16:30:10 +11:00
Peter Barker d49be616da Plane: call ins's periodic function 2017-10-27 16:33:45 +11:00
Tom Pittenger 8adacfeea3 Plane: always log MODE and include reason when logging is enabled 2017-10-25 21:18:29 +11:00
Andrew Tridgell 92ee05b925 Plane: fixed motor channel handling 2017-10-25 11:39:11 +11:00
Peter Barker 4ce051af82 Plane: ensure we're in short failsafe before using failsafe.ch3_timer_ms 2017-10-24 09:28:13 +11:00
Peter Barker ff88b0dfda Plane: remove redundant failsafe string 2017-10-24 09:28:13 +11:00
Peter Barker 7feef72b34 Plane: improve failsafe notifications 2017-10-24 09:28:13 +11:00
Peter Barker 01d8c506d2 Plane: add option to entirely disable short failsafe 2017-10-24 09:28:13 +11:00
Andrew Tridgell 6526ff504d Plane: fix for changes to AP_Motors API 2017-10-22 15:52:50 +11:00
Andrew Tridgell e008559b6e Plane: support LOITER_TO_ALT in quadplanes 2017-10-21 18:50:01 +11:00
Andrew Tridgell 8178ab4037 Plane: make mav_type in HEARTBEAT configurable 
needed for qgc to setup for quadplanes
 2017-10-20 15:41:06 +11:00
Andrew Tridgell 0aed5a9a57 Plane: prevent controller windup on ground 
when on the ground in an auto-throttle mode lik FBWB or CRUISE, we may
have the throttle suppressed. In that case we should not run the
multicopter controller on quadplanes, or it may build up control which
will then apply on takeoff. This is particularly severe for aircraft
that are not level on the ground, such as taildragger quadplanes

Fixes https://discuss.ardupilot.org/t/quadplane-flips-on-takeoff/22095

many thanks to Sriram for reporting
 2017-10-20 15:41:04 +11:00
Andrew Tridgell 1a95dcbdd7 Plane: update docs for Q_YAW_RATE_MAX 2017-10-20 15:40:58 +11:00
Michael du Breuil 615f6dfadb Plane: Don't log PIDL messages 2017-10-17 14:37:11 -07:00
Michael du Breuil cc55e5a8fa Plane: Don't log SONR if there are no rangefinders 2017-10-16 10:10:26 -07:00
Andrew Tridgell f81ec9b1b3 Plane: support simple accelcal 2017-10-10 10:57:38 +11:00
Andrew Tridgell f5b4d8d99c Plane: added frame type 11 for FlreFlyY6 2017-10-06 11:36:34 +11:00
Michael du Breuil 52fc2c82af Plane: Report GPS health 2017-09-27 19:29:32 +01:00
Lucas De Marchi a2b67ed615 ArduPlane: use static method to construct AP_Landing 2017-09-26 03:01:21 +01:00
Lucas De Marchi e10c60e492 ArduPlane: use static method to construct controllers 2017-09-26 03:01:21 +01:00
Lucas De Marchi 05c870a4d4 ArduPlane: use static method to construct AP_TECS 2017-09-26 03:01:21 +01:00
Lucas De Marchi bfd13dfe87 global: use static method to construct AP_AHRS_DCM 2017-09-26 03:01:21 +01:00
Lucas De Marchi beabae6a98 global: use static method to construct AP_AHRS_NavEKF 2017-09-26 03:01:21 +01:00
Lucas De Marchi c9fbf7b722 global: use static method to construct AP_NavEKF3 2017-09-26 03:01:21 +01:00
Lucas De Marchi e2fe36357a global: use static method to construct AP_NavEKF2 2017-09-26 03:01:21 +01:00
Lucas De Marchi 6781a44046 global: use static method to construct AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi 119e82f32e ArduPlane: add static create method for AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi 6d009cdf6e global: use static method to construct AP_ADSB 2017-09-26 03:01:21 +01:00
Lucas De Marchi cf6ea9642e global: use static method to construct AP_Terrain 2017-09-26 03:01:21 +01:00
Lucas De Marchi 31db77e47b global: use static method to construct AP_Parachute 2017-09-26 03:01:21 +01:00
Lucas De Marchi eadd650d78 global: use static method to construct AP_RSSI 2017-09-26 03:01:21 +01:00
Lucas De Marchi b05610870c global: use static method to construct AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi 18aa88b329 global: use static method to construct AP_Mount 2017-09-26 03:01:21 +01:00
Lucas De Marchi c3647f0185 global: use static method to construct AP_Camera 2017-09-26 03:01:21 +01:00
Lucas De Marchi cc53e7bc4b global: use static method to construct AP_ServoRelayEvents 2017-09-26 03:01:21 +01:00
Lucas De Marchi 13d7f58036 global: use static method to construct AP_Relay 2017-09-26 03:01:21 +01:00
Lucas De Marchi 9ce6019138 global: use static method to construct AP_Frsky_Telem 2017-09-26 03:01:21 +01:00
Lucas De Marchi b022c02029 global: use static method to construct AP_BattMonitor 2017-09-26 03:01:21 +01:00
Lucas De Marchi 69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi a74e700006 global: use static method to construct RCMapper 2017-09-26 03:01:21 +01:00
Lucas De Marchi 72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi fbe0d9761c global: use static method to construct AP_OpticalFlow 2017-09-26 03:01:21 +01:00
Lucas De Marchi 2d2876a226 ArduPlane: use static method to construct AP_Arming_Plane 2017-09-26 03:01:21 +01:00
Lucas De Marchi b36a5919f5 global: use static method to construct AP_Mission 
This also move the initialization to be in the header for those that
weren't already to maintain consistency.
 2017-09-26 03:01:21 +01:00
Lucas De Marchi de5e044b02 global: use static method to construct AP_RPM 2017-09-26 03:01:21 +01:00
Lucas De Marchi 40fd1b346c global: remove rangefinder from AP_AHRS_NavEKF 
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
 2017-09-26 03:01:21 +01:00
Lucas De Marchi 9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi f5c2ffffb9 global: remove DataFlash from AP_Mount::init() 2017-09-26 03:01:21 +01:00
Lucas De Marchi 53c82b4aaf global: use static method to construct DataFlash_Class 2017-09-26 03:01:21 +01:00
Lucas De Marchi 62ac0ab8aa global: use static method to construct AP_Notify 2017-09-26 03:01:21 +01:00
Lucas De Marchi de680dac5b global: use static method to construct AP_Scheduler 2017-09-26 03:01:21 +01:00
Lucas De Marchi 8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi 87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi c1a957fbf3 global: use static method to construct Compass 2017-09-26 03:01:21 +01:00
Lucas De Marchi 91feec0e14 global: use static method to construct AP_Baro 2017-09-26 03:01:21 +01:00
Lucas De Marchi 96e7ea4d69 ArduPlane: protect version.h from inclusion and use ap_version.h 2017-09-23 21:37:45 -07:00
Lucas De Marchi 36c80daa86 ArduPlane: do not include version.h/ap_version.h 
The interface provided by each vehicle should be used to get the
version.
 2017-09-23 21:37:45 -07:00
Lucas De Marchi 18ff17e22c ArduPlane: move version to a static member 
We should never include version.h or ap_version.h headers directly
on a header since this will trigger a complete rebuild of the
codebase when we commit to the repository. The ap_version.h header
is auto-generated containing information from the current commit.

If we include it in a header, every other file that ends up including
that header (directly or indirectly) will need to be rebuilt. No
ccache's cache beats having to do nothing when the header is just
not included.

version.h contains information that is kept on a struct inside
each vehicle. Rather than using the macros from each vehicle,
the getter should be preferred, which returns an AP_FWVersion
referente.
 2017-09-23 21:37:45 -07:00
Ferruccio Vicari 85ab3edc5f Plane: Smoother transition to QLOITER and QLAND 
Use estimated stopping position
 2017-09-21 07:57:38 +10:00
Peter Barker 1a724ded2a Plane: AP_Arming: sanity-check fs timeout parameters 2017-09-20 09:46:24 -07:00
mirkix 7c6be7c421 Plane: change format of reset alt target message 2017-09-20 20:28:53 +10:00
Randy Mackay 667cdcdfcf Plane: resolve compiler warning while using send_text 
non-functional change
 2017-09-20 12:14:38 +09:00
Randy Mackay 2073d65975 Plane: command-long DO_SET_HOME check first param is zero 2017-09-20 12:14:38 +09:00
Randy Mackay 640fb91329 Plane: accept DO_SET_HOME within COMMAND_INT 2017-09-20 12:14:38 +09:00
Andrew Tridgell 3d16ca7144 Plane: fixed MANUAL_RCMASK 
ensure it only applies in MANUAL, and fixed input scaling in px4io
 2017-09-19 17:05:56 +10:00
Peter Barker 7e631ba16c Plane: move handling of SET_GPS_GLOBAL_ORIGIN up 2017-09-19 15:44:23 +09:00
mirkix b682f3f6d9 Plane: fix parameter units 2017-09-19 11:34:26 +10:00
Randy Mackay 3d7b6ddc40 Plane: support SET_GPS_GLOBAL_ORIGIN message 2017-09-19 10:30:15 +09:00
Peter Barker 1304b86d09 Plane: remove old DO_SET_MODE support 
We no longer support setting anything except custom-modes
 2017-09-19 01:24:11 +01:00
Andrew Tridgell 35c1a732a6 Plane: allow takeoff in guided then fw loiter 
this allows for quadplane takeoff in GUIDED with Q_GUIDED_MODE=0. The
takeoff will be VTOL, but subsequent guided points will be fixed wing
 2017-09-18 10:21:53 +10:00
Tom Pittenger 85b7f1bbb4 Plane: guided takeoff success should return true 2017-09-13 14:46:22 -07:00
Michael du Breuil 4fd13d5205 Plane: Support landing terminations on landing backends that support it 2017-09-13 13:15:08 -07:00
Peter Barker aee939f891 Plane: move gcs_out_of_time into GCS object 2017-09-12 18:28:07 +01:00
Andrew Tridgell 73d6a05241 Plane: support change alt for GUIDED from qgc 2017-09-11 13:26:48 +10:00
Andrew Tridgell 1c75cd7039 Plane: update release notes for 3.8.2 2017-09-11 09:57:28 +10:00
Andrew Tridgell 11b9805dce Plane: added MANUAL_CONTROL support 
allows for joystick with QGC
 2017-09-11 07:55:48 +10:00
Andrew Tridgell 37220e1568 Plane: removed unused prototypes 2017-09-10 17:15:18 +10:00
David Ingraham 750212eb8f Plane: Remove deprecated control surface mixing functions 
This commit removes the deprecated functions used for calculating elevon and vtail mixes. This code is currently unrechable.
The functions that called these were removed in PR #6546.
 2017-09-10 17:14:14 +10:00
Andrew Tridgell d61705ee51 Plane: added release notes for plane 3.8.2beta1 2017-09-09 08:32:14 +10:00
Andrew Tridgell 600a5c44d2 Plane: allow changing of target altitude in GUIDED 2017-09-09 08:14:09 +10:00
Andrew Tridgell bc17c26dbf Plane: limit pitch in transition to QLOITER and QLAND 
when switching to QLOITER or QLAND when in forward flight, limit the
maximum pitch to prevent a sudden decelleration
 2017-09-09 08:14:09 +10:00
Andrew Tridgell b6809655d4 Plane: smooth the transition to LAND_FINAL in quadplanes 
this makes for a much smoother change to LAND_FINAL, without a jerk as
it changes vertical speed
 2017-09-09 08:14:09 +10:00
Andrew Tridgell 8411ac5c57 Plane: fixed a problem with descent rate in landings for quadplanes 
use xy controller instead of xyz controller, which prevents calling z
controller twice, which led to poor height control
 2017-09-09 08:14:09 +10:00
Andrew Tridgell baee71a5b4 Plane: added GUIDED takeoff for quadplanes 
this allows takeoff in GUIDED mode in the same way as copters
 2017-09-09 08:14:09 +10:00
Michael du Breuil 1f5743e900 Plane: Report the primary magnetometer health rather then the first 2017-09-08 10:27:17 +10:00
Andrew Tridgell a88e663191 Plane: adjust target altitude slowly in QRTL mode 
this fixes a sudden throttle drop when starting the descent in QRTL mode
thanks to Marco for finding this issue
 2017-09-07 07:22:13 +10:00
Andrew Tridgell 87e52a9f0f Plane: prepare for 3.8.1 release 2017-09-03 19:31:30 +10:00
Peter Barker 0c7c2a41c4 Plane: handle param_request_list in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker dd4bffb4a2 Plane: handle param_set in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker 0db1711b1f Plane: move send_autopilot_request calls up to GCS base class 2017-08-30 15:54:46 +01:00
Peter Barker c15c1b84a4 Plane: add constant structure holding firmware version 2017-08-30 15:54:46 +01:00
Peter Barker 0708130b5e Plane: correct bad case fallthrough 2017-08-30 15:54:46 +01:00
Andrew Tridgell 6bfed07eae Plane: updated USE_REV_THRUST docs 2017-08-30 08:46:53 +10:00
Michael du Breuil 8630037fd7 Plane: Parameterize the home altitude reset conditions 2017-08-29 13:09:46 -07:00
Andrew Tridgell d541ac509f Plane: removed TRIM_RC_AT_START parameter 
this option caused a lot more problems than it solved, and is buggy
 2017-08-29 07:35:49 +10:00
Andrew Tridgell 1a207c919b Plane: fixed bug in TRIM_AUTO 
fixed trim for differential spoilers
 2017-08-29 07:35:49 +10:00
Andrew Tridgell 4124d371c9 Plane: fixed minacc and delay for launch 
See
https://discuss.ardupilot.org/t/tkoff-thr-minacc-and-tkoff-thr-delay-doesnt-work-together/19928
 2017-08-29 07:35:04 +10:00
Peter Barker 2861c1d06a Plane: add ArduSub to list of SYSID_SW_TYPE 2017-08-24 19:50:38 +09:00
Peter Barker 212174bc0e Plane: remove unused defines 2017-08-24 19:48:17 +09:00
Lucas De Marchi 44ffb67837 ArduPlane: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Randy Mackay c80a83322a Plane: integrate simpler Log_Write_EKF 2017-08-23 11:19:14 +09:00
Peter Barker 8272fb8fa2 Plane: remove unused repeating events defines 2017-08-22 09:58:12 -07:00
Peter Barker 9732b19f04 Plane: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker 4321abd477 Plane: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Peter Barker 8eeae45300 Plane: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:58:10 +10:00
Michael du Breuil 833ec1336e Plane: Expose the AFS instance to MAVLink 2017-08-15 15:14:56 +01:00
Peter Barker 1a665280e9 Plane: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker d33cd801a1 Plane: send gps messages as separate queued messages 2017-08-09 16:18:22 +01:00
Peter Barker c3e86840b2 Plane: move sending of gps_raw up 2017-08-09 16:18:22 +01:00
Peter Barker 933cd7a44c Plane: move sending of system_time up 2017-08-09 16:18:22 +01:00
Peter Barker 4aee416c1d Plane: move sending of camera_feedback up 2017-08-09 16:18:22 +01:00
Peter Barker 9eb96886e5 Plane: move sending of meminfo up 2017-08-09 16:18:22 +01:00
Peter Barker a9c866f574 Plane: use new retry_deferred method 2017-08-05 23:14:36 +01:00
Andrew Tridgell 3802e7bc3b Plane: mark version as 3.8.1-dev 2017-08-05 17:19:32 +10:00
Andrew Tridgell 6e84210d1b Plane: prepare for plane 3.8.0 release 2017-08-05 17:19:32 +10:00
Peter Barker 4cb94b80ee Plane: move try_send_message queued_param_send up 2017-08-03 14:34:33 +01:00
Peter Barker 089f6f4650 Plane: move try_send_message send_hwstatus up 2017-08-03 14:33:37 +01:00
Peter Barker fee9e83881 Plane: move try_send_message mission handling up 2017-08-03 14:24:47 +01:00
Peter Barker a740c10dfe Plane: move try_send_message compass message handling up 2017-08-03 14:24:46 +01:00
Peter Barker 50cbbc324b Plane: base SYS_STATUS load average on variable loop rate 2017-08-01 19:39:27 +01:00
Andrew Tridgell 9b16836da5 Plane: cope better with more RC trim/min/max values 
when min > trim we need to do RC scaling via rc_config. This loses the
ability to go beyond RC limits, but that can be coped with using
MANUAL_RCMASK
 2017-08-01 08:25:32 +10:00
Andrew Tridgell 99df31f6ec Plane: fixes from review 
thanks Francisco
 2017-08-01 08:25:32 +10:00
Andrew Tridgell ea1a4bc176 Plane: improve px4_mixer handling of servo trim/min/max 2017-08-01 08:25:32 +10:00
Andrew Tridgell cff692ca48 Plane: implement MANUAL_RCMASK 
this replaces the functionality of the old "with input"
aileron/elevator functions, but in a much more flexible way. It means
that people who want to fly in MANAUL mode will have the ability to
have full control of trims and mixing using transmitter mixers if they
need that functionality
 2017-08-01 08:25:32 +10:00
Andrew Tridgell fedd2c558c Plane: added AETR log message 
this makes debugging mixers much easier
 2017-08-01 08:25:32 +10:00
Andrew Tridgell 5d91e29cea Plane: fixed px4_mixer for new function based mixing 
this fixes the OVERRIDE_CHAN functionality to work correctly with the
new function based mixing code

It isn't a perfect match for ArduPilot mixing, but it is very close
for the key control surfaces, including mixed surfaces
 2017-08-01 08:25:32 +10:00
Andrew Tridgell 0266168e69 Plane: removed old elevon and vtail mixers 
now only use the function based mixing, and auto-convert on startup
 2017-08-01 08:25:32 +10:00
Andrew Tridgell 178e7eca54 Plane: always setup target airspeed 
this sets up a target airspeed even when flying without an airspeed
sensor. This is needed for quadplanes without airspeed sensors where
we use synthetic airspeed during the transition in TECS
 2017-07-31 09:55:44 -07:00
Andrew Tridgell 909f109b3f Plane: don't start a transition while disarmed 
this can caused flooding of the GCS console while disarmed in FBWA
mode
 2017-07-30 12:39:36 -07:00
Peter Barker 1cb6962f84 Plane: move common mavlink camera handling up 2017-07-28 14:32:58 +01:00
Peter Barker 2fb46a67dd Plane: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Peter Barker fbcd072d98 Plane: move gps inject handling up to GCS_MAVLINK 2017-07-27 12:03:25 +01:00
Patrick José Pereira 60834e9af0 Plane: Allow a second activation of parachute 
The hardware can fail in the first activation,
this patch allow a second chance to active the parachute successfully.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2017-07-26 17:51:34 +01:00
Peter Barker 87af817893 Plane: handle common GPS messages in base GCS_MAVLINK class 2017-07-25 14:00:45 +01:00
Peter Barker fa39f315c6 Plane: move starting of new logs into DataFlash 2017-07-19 16:37:28 +01:00
Peter Barker ea892d278f Plane: remove MSG_STATUSTEXT entirely 2017-07-18 16:12:59 +01:00
Michael du Breuil f87a69dcf2 Plane: Throttle based landing aborts should ask the landing library 
Throttle based aborts should be requesting a go around from AP_Landing.
This was missed in the initial port.
 2017-07-17 08:43:50 -07:00
Peter Barker 7f0cb82797 Plane: move handling of PREFLIGHT_SET_SENSOR_OFFSETS up 2017-07-17 14:17:19 +01:00
Peter Barker 6047026b11 Plane: move handling of MAG_CAL command longs up 2017-07-17 14:17:19 +01:00
Peter Barker 2b6752e0b4 Plane: move MAV_CMD_START_RX_PAIR handling to base class 2017-07-17 14:17:19 +01:00
Peter Barker 7042d3e9c9 Global: all vehicles get AP_Relay and AP_ServoRelayEvent libraries 2017-07-17 00:06:31 +01:00
Peter Barker 36eab56178 Plane: move mavlink support for servo/relay up 2017-07-16 23:56:00 +01:00
Peter Barker 3af52d9db3 Plane: add common handling of mavlink command messages 2017-07-16 23:56:00 +01:00
Michael du Breuil b8e6ad7476 Plane: Document loop max time as being in microseconds 2017-07-15 17:27:04 +09:00
Peter Barker 983686745e Plane: move rally-point handling up 2017-07-14 01:28:05 +01:00
Peter Barker a250f47f13 Plane: remove unneeded telemetry_delayed parameter 2017-07-12 17:01:36 +01:00
Peter Barker c9c4b31e99 Plane: move handling of incoming statutext messages up 2017-07-12 16:52:24 +01:00
Peter Barker c058fba5ac Plane: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Peter Barker 592729733e Copter: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Peter Barker 1be52495f1 Plane: eliminate global static GCS_MAVLINK::send_home_all 2017-07-11 23:48:39 +01:00
Peter Barker d850feb75f Plane: move common mission handling up to GCS_MAVLINK 2017-07-11 23:45:17 +01:00
Peter Barker 250f315678 Plane: eliminate gcs_send_mission_item_reached wrapper 2017-07-11 23:45:16 +01:00
Peter Barker 3b0a7703c4 Plane: eliminate gcs_send_message wrapper 2017-07-11 23:45:16 +01:00
Peter Barker 5a8f01c19c Plane: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Peter Barker 685706952c ArduPlane: use Notify singleton for sending statustext 2017-07-09 17:17:29 -04:00
Peter Barker 5b3b61a2e4 Plane: move GCS functions up to superclass GCS 2017-07-07 16:18:37 +01:00
Andrew Tridgell 1d626db3b1 Plane: use scaled outputs for AFS failsafe 
we need to use scaled outputs so that derived outputs (such as elevons
and vtail) have a valid input to use
 2017-07-04 07:59:28 +10:00
Peter Barker 923b201025 Plane: send servos outputs after flaperon update 2017-07-04 07:59:28 +10:00
Peter Barker 38921c4f1a Plane: correct AFS terminate for rcin/servos split 2017-07-04 07:59:28 +10:00
Eugene Shamaev b95ebadf8b ArduPlane: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Andrew Tridgell b2cd5f5c06 Plane: release 3.8.0beta5 2017-07-03 11:39:48 +10:00
Andrew Tridgell d3f9afd4e7 Plane: fixed auto-adjustment of flaperon trim 2017-07-03 11:17:42 +10:00
Andrew Tridgell 2cb511c049 Plane: deprecate old aileron_with_input and elevator_with_input 
these have very rarely been used and don't work well with new trimming
mechanisms. Now treat them as ordinary ailerons/elevators
 2017-07-03 11:17:42 +10:00
Andrew Tridgell 51b39ea3a1 Plane: removed ancient "mix_mode" type elevon mixing 
this has been deprecated for a long time
 2017-07-03 11:17:42 +10:00
Andrew Tridgell 725244ff8a Plane: implement new TRIM_AUTO functionality 
this fixes TRIM_AUTO for new scaled output approach to servo functions
 2017-07-03 11:17:42 +10:00
Andrew Tridgell 984e887d1d Plane: changed differential spoilers to scaled outputs 
this matches new elevon, vtail and flaperon code
 2017-07-03 11:17:42 +10:00
Andrew Tridgell c9e4423997 Plane: re-implement flaperons 
implement as scaled output instead of PWM output

this will break some peoples setups, but gives much easier setup and
more consistent behaviour
 2017-07-03 11:17:42 +10:00
Peter Barker 1ca5f243a5 Plane: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Peter Barker 949e07c7e3 Plane: use DataFlash should_log to determine raw IMU logging 2017-06-29 15:26:27 +01:00
Peter Barker 88a7167cb9 Plane: move should_log check of log bitmask into DataFlash 2017-06-29 15:26:27 +01:00
Peter Barker 5b70b688cb Plane: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00
Peter Barker 60ebd099bd Plane: move send-logs-via-mavlink code into DataFlash 2017-06-27 03:10:43 +01:00
Michael du Breuil 8691eae679 Plane: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing 2017-06-20 15:41:50 +01:00
Andrew Tridgell 0b40e853c9 Plane: call set_likely_flying() 2017-06-20 09:44:44 +10:00
Peter Barker ceec44350f Plane: move MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS handling up 2017-06-17 15:07:48 +01:00
Michael du Breuil 92cdb54176 Plane: Fix a fly away when aborting a landing 
DO_LAND_START -> LAND waypoints in sequence would cause a perpetual abort state
due to the sticky nature of the abort states. If we restart a landing on
purpose while doing an abort, then we can move onto trying to land again.
 2017-06-17 09:10:27 +10:00
Peter Barker 30dfd32b87 Plane: stop using in_mavlink_delay as a proxy for disabling logging 2017-06-16 17:07:48 +01:00
Peter Barker b57a4e9685 Plane: call dataflash should_log method 2017-06-16 17:07:48 +01:00
Michael du Breuil 1d03732ac5 Plane: Remove redundant status text on MAV_CMD_DO_GO_AROUND 2017-06-16 11:49:52 +09:00
Pierre Kancir 5d0972f589 Arduplane: fix implicit cast to double warning in quadplane 2017-06-14 12:40:47 +01:00
Peter Barker c6beb3a867 Plane: simplify dataflash initialisation 2017-06-14 12:20:29 +01:00
Peter Barker 4dc241fd22 Plane: StartUnstartedLogging replaces logging_started/start_logging 2017-06-11 20:34:12 +01:00
Peter Barker 927cc75843 Plane: simplify should_log (NFC) 2017-06-11 20:34:12 +01:00
Andrew Tridgell 1455c23230 Plane: fixed docs for tailsitter 2017-06-10 18:41:34 +10:00
Pierre Kancir d5cc1e64ed GCS_Common: rename send_rangefinder to send_rangefinder_downward 2017-06-08 01:32:04 +01:00
Pierre Kancir 0bc9d294fb ArduPlane: change rangefinder msg for common one 2017-06-08 01:31:52 +01:00
Pierre Kancir 9a121dc7c4 ArduPlane: add DISTANCE_SENSOR support 2017-06-08 01:31:52 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas ccee841578 Plane: NFC SYS_NUM_RESETS is a read-only variable 2017-06-07 19:53:03 +09:00
Mark Whitehorn 6607dafc66 ArduPlane: change is_tailsitter() to tailsitter_active() 2017-06-07 20:21:49 +10:00
Mark Whitehorn 53b82d1d4d ArduPlane: add comments on tailsitter pitch limits 2017-06-07 20:21:49 +10:00
Mark Whitehorn 65755454e0 ArduPlane: set tailsitter VTOL pitch limits using only Q_ANGLE_MAX 2017-06-07 20:21:49 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 14b214eb9b Plane: remove FS parameters default values macros. 
They just add an un-necessary level of indirection in the code. The parameters are run-time configurable now.
 2017-06-07 17:46:39 +10:00
Michael du Breuil 87c076da4d ArduPlane: Fix missing break in GCS_MAVLink 
Was causing AOA_SSA to send a landing message as wel
 2017-06-05 13:12:01 +09:00
Randy Mackay f7e830cfad Plane: pixhawk mixer supports motors 9 to 12 2017-05-27 14:21:13 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 405e0bb9d9 Plane: Add missing @RebootRequired: True 2017-05-27 01:55:55 +01:00
Paulo Neves a45dd30c1d Plane: Add MAV_CMD_DO_SET_CAM_TRIGG_DIST support. 2017-05-25 09:35:22 +09:00
Michael du Breuil 19a5475195 Plane: Send landing messages 2017-05-24 15:22:27 -07:00
Dr.-Ing. Amilcar Do Carmo Lucas 2f5f8eb323 Plane: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Michael du Breuil 92d505598b ArduPlane: Poll AP_Landing for fly forward information 2017-05-15 14:50:29 -07:00
Andrew Tridgell 92f88e9b33 Plane: fixed climb rate for quadplanes in CRUISE 
the high loop rate of quadplanes led to less than 1cm/loop change in
height, which got truncated to zero. Adjusting height at 10Hz fixes
that.

Thanks to Marco for reporting this!
 2017-05-10 08:03:23 +10:00
Andrew Tridgell 6eaad59115 Plane: improve vectored tailsitter takeoff 
this gives extra pitch input when taking off a vectored tailsitter,
allowing the motors to point straight up for easy takeoff

thanks to Leonard for the idea!
 2017-05-07 09:10:44 +10:00
Andrew Tridgell a46799d34e Plane: removed AP_Airspeed from vehicle code 2017-05-04 22:59:02 -07:00
André Kjellstrup 21b8d3cb3d Plane: Removed scary autotakeoff message. 
This message does not provide anything useful, but is rather scary to
get moments before launch.
If it's somehow meant to provide useful information, or an action "Timer
interrupted AUTO" should be replaced by something else.
 2017-05-04 22:37:32 -07:00
Peter Barker 378015691b Plane: stop appending lf to PERF message 2017-05-01 16:21:55 +01:00
Peter Barker 084242cf03 Plane: move init of DataFlash references into vehicle init 
It is possible to start a log before the existing codepath is crossed.
 2017-05-01 15:04:34 +01:00
Andrew Tridgell 708b483d77 Plane: prepare for 3.8.0beta5 2017-05-01 20:30:32 +10:00
Andrew Tridgell 2706c9d57a Plane: use common send_queued_parameters() 2017-05-01 14:36:10 +10:00
Andrew Tridgell 351304ebcb Plane: don't set fly-forward when transitioning 
when quad motors are providing assistance don't see the fly-forward
flag in the AHRS. This will lower the chance of EKF yaw confusion
 2017-05-01 14:27:45 +10:00
Andrew Tridgell 3eeff938b0 Plane: call BoardConfig.init_safety() at end of startup 
this fixes a bug where motors can start on soft reboot
 2017-04-30 21:47:04 +10:00
Mark Whitehorn dc10675965 ArduPlane: suppress differential thrust when throttle is zero 
this prevents motors from spinning when disarming in FBWA
 2017-04-28 16:08:50 -07:00
Andrew Tridgell 5a57aafb98 Plane: reduce pitch demand on takeoff on roll error 2017-04-28 16:34:33 +10:00
Andrew Tridgell 954905e0eb Plane: allow battery failsafe with usb connected 
some people connect USB to allow connections from a companion
computer. The arming check is sufficient to prevent unwanted battery
failsafes when bench testing
 2017-04-28 16:33:49 +10:00
Andrew Tridgell 888edcd709 Plane: fixed duplicate include of AP_ADC library 2017-04-27 18:32:26 +10:00
Andrew Tridgell 7ea0f65590 Plane: removed incorrect comment 2017-04-24 16:56:23 +10:00
Andrew Tridgell 06b0742481 Plane: fixed jump in qhover on takeoff 
Z controller PID is from -1 to 1

thanks to Leonard for spotting this
 2017-04-24 16:55:41 +10:00
Andrew Tridgell b9debba509 Plane: make ground test easier for tilt 2017-04-24 16:55:41 +10:00
Andrew Tridgell 76870f8e01 Plane: improve fast/slow tilt in ground tests 
when disarmed use the slow tilts so users can judge the rates it will
use in flight
 2017-04-24 16:55:41 +10:00
Andrew Tridgell aab20317a0 Plane: fixed position control in QLAND_FINAL 2017-04-24 16:55:41 +10:00
Andrew Tridgell b1f1ace736 Plane: support vectored yaw tiltrotors 
this adds support for tiltrotors which control yaw by vectoring the
forward motors. This avoids the need for the rear motor on a
tilt-tricopter to have a tilt servo
 2017-04-24 16:54:41 +10:00
Andrew Tridgell fedabd1ace Plane: added logging of quadplane desired yaw 
makes analysis of takeoffs easier
 2017-04-24 16:52:16 +10:00
Andrew Tridgell 2d9c3e3d93 Plane: added EKF yaw reset handling to quadplane 
this follows the implementation from copter. Thanks to Leonard for the
suggestion
 2017-04-24 16:52:16 +10:00
Andrew Tridgell 516bf26719 Plane: fixed QRTL change when coming from loiter 
the nav controller can think we have already reached the loiter target
if we were last in a LOITER when we switch to RTL. In that case it
would switch to QRTL immediately

found by Leonard (thanks!)
 2017-04-24 16:28:59 +10:00
Andrew Tridgell be1b50d6e2 Plane: support auto trim for separate elevon and vtail channels 
this supports SERVO_AUTO_TRIM=1 for elevons and vtails setup using the
new separate functions
 2017-04-24 16:26:08 +10:00
Andrew Tridgell b4ffcfa6bd Plane: added support for elevon and vtail servo functions 
these make trimming and limiting servo movement easier
 2017-04-24 16:26:08 +10:00
Peter Barker b5b8620d04 Plane: log GPS detection state to DF on log startup 2017-04-23 21:04:17 +01:00
Eugene Shamaev ca84ab36be Plane: AOA and SSA estimations are added to parameters and data logs 2017-04-19 20:48:42 +10:00
Andrew Tridgell 88e02c7b35 Plane: log the throttle mix for quadplane copter control 2017-04-19 09:08:43 +10:00
Andrew Tridgell 8e3f8f47c8 Plane: tilt motors fast in final stages of quadplane transition 
when transition of tilt quadplane has reached the stage where the tilted
motors are used solely for fwd thrust and rear motors are off we should
move the tilt to full forward rapidly
 2017-04-19 09:08:14 +10:00
Tom Pittenger 5b47927937 Plane: pre-launch flaps incorrectly always disabled 
Pre-launch flaps are always disabled by checking current state against zero (which it always will be) instead of the param which is what it was supposed to be checking.
 2017-04-18 14:40:17 -07:00
Andrew Tridgell d5ec7b0aad Plane: fixed a sign error in the angle assist code 
thanks to Leonard for finding this!
 2017-04-18 22:09:22 +10:00
Andrew Tridgell b15b11e32d Plane: always stabilize with tailsitters 2017-04-14 12:48:08 +10:00
Michael du Breuil b850c1041f Plane: Send BATTERY_STATUS 2017-04-12 10:21:49 +09:00
Andrew Tridgell 46d910539c Plane: fixed a warning 2017-04-11 17:34:40 +10:00
Andrew Tridgell 642a6acfcb Plane: support thrust vectoring in tailsitters 
adds Q_TAILSIT_VHGAIN and Q_TAILSIT_VFGAIN, allowing for thust
vectoring in both fixed wing and hover
 2017-04-11 17:34:40 +10:00
Andrew Tridgell 664e41cec6 Plane: bring in demanded climb rate over 1 second 
when we engage the Z controller in quadplane we bring in the climb
rate slowly to prevent a sudden change in motor demand
 2017-04-09 16:45:19 +10:00
Andrew Tridgell 17ba8b3304 Plane: raise logging rate for PID and servos 2017-04-09 16:45:19 +10:00
Andrew Tridgell 0cf571d338 Plane: moved Z altitude target reset 
reset alt target whenever we have not run Z controller for 2s
 2017-04-09 16:45:19 +10:00
Mark Whitehorn 7679b758b0 Plane: add parameter RUDD_DT_GAIN for dual motor tailsitter 
controls rudder to differential thrust mixing in FW mode
 2017-04-06 08:29:44 +10:00
Michael du Breuil 876ffa351b Plane: Update L1 constructor for new arguments 2017-04-06 08:26:04 +10:00
Andrew Tridgell acaef22416 Plane: improve transition from QSTABILIZE to FBWA or QHOVER 2017-04-05 20:00:29 +10:00
Andrew Tridgell a9b8e4b5d3 Plane: prepare for 3.8.0beta4 2017-04-04 20:49:10 +10:00
Andrew Tridgell 36d8f730e1 Plane: setup better defaults for tailsitters 2017-04-04 10:15:08 +10:00
Andrew Tridgell 48ae2f2de0 Plane: changed default THR_MAX to 100 
we have left it at 75 for far too long
 2017-04-04 08:19:41 +10:00
Andrew Tridgell 6a90257d2a Plane: fixed attitude logging for tailsitters 2017-03-31 11:30:44 +11:00
Andrew Tridgell c76eadf4f6 Plane: add available memory to PM message 2017-03-27 14:35:21 +09:00
Andrew Tridgell 5d06e4238f Plane: make the quadplane motors var_info dynamic 
this will allow for more quadplane motors class types
 2017-03-25 16:22:10 +11:00
Michael du Breuil 649ef0fc16 Plane: Only consider a takeoff as begun if the safety switch has been pressed 2017-03-23 16:55:47 -07:00
Andrew Tridgell af97a3974b Plane: initialise target height correctly on quadplane transition 
this fixes a bug where a plane in QSTABILIZE would drop suddenly if
switched to FBWA when the target altitude had not been initialised
 2017-03-22 21:34:40 +11:00
Andrew Tridgell bb158a437e Plane: handle bad Q_FRAME_CLASS 
default to quad with a warning. This prevents users getting stuck
without being able to set Q_ENABLE=1

thanks to Leonard for noticing
 2017-03-18 22:10:20 +11:00
Andrew Tridgell e3a8d477f5 Plane: improve tiltrotor transition strategy 
avoid running forward motors at high throttle when transitioning to a
VTOL mode
 2017-03-14 14:42:20 +11:00
Andrew Tridgell 3f7e7d456f Plane: in fixed wing mode slave quadplane attitude rate controller 
For quadplanes this uses the attitude controller from fixed wing
when using the multicopter controller to assist fixed wing
flight. This prevents a rate mismatch between the two controller
leading to oscillation
 2017-03-14 14:42:20 +11:00
Andrew Tridgell 2db8589f49 Plane: smarter Z controller initialisation for quadplanes 
this is more generic than the previous one used only for the full
position controller
 2017-03-14 14:42:20 +11:00
Andrew Tridgell dd4f56dd98 Plane: added PIQ messages for quadplane PIDs 
keep them separate from fixed wing PIDs, so we can watch the
interaction between the PIDs in transitions
 2017-03-14 14:42:20 +11:00
Andrew Tridgell 0e175179a6 Plane: log home and origin on logging start 2017-03-14 10:51:15 +11:00
Andrey Kolobov 35d406aeab Plane: added a soaring controller to Arduplane 2017-03-14 08:53:10 +11:00
Michael du Breuil 9e893eacd1 Plane: Change some user facing statustexts 2017-03-08 00:59:56 -08:00
Michael du Breuil 041fe38ba6 Plane: Update build tools for deepstall PID dependency 2017-03-02 12:38:59 +11:00
Michael du Breuil cf10b7b841 Plane: Add support for landing PID's and servo control 2017-03-02 12:38:59 +11:00
Michael du Breuil 1bb806edb2 Plane: Use new landing interfaces 2017-03-02 12:38:59 +11:00
Andrew Tridgell abcc75009d Plane: move relay init earlier 
allows relay pins to be used as pullups for other sensors (such as
LidarLiteV3)
 2017-03-01 22:44:37 +11:00
Randy Mackay eb746eaeef Plane: fix SYSID_ENFORCE parameter description 2017-02-28 15:08:17 +09:00
Michael du Breuil fbf6050876 Plane: Reset home to AHRS position rather then snapshotting GPS 2017-02-28 11:33:53 +11:00
Randy Mackay c0f155fd27 Plane: use only downward facing rangefinder 2017-02-27 15:18:25 +09:00
Andrew Tridgell 4ff5bf5af5 Plane: zero integrators and set throttle mix 
this zeros fixed wing integrators during TRANSITION_AIRSPEED_WAIT and
uses a zero throttle mix during TRANSITION_TIMER. This should allow
the fixed wing controller more time to adapt to forward flight
 2017-02-26 09:20:51 +11:00
Andrew Tridgell c061d5615b Plane: added manual input mask for tailsitter prop-hang 
This adds new parameters Q_TAILSIT_MASK and Q_TAILSIT_MASKCH. These
parameters allow a user to use the tailsitter capabilities of a 3D
plane to teach themselves to prop-hang.

It works by allowing the user to setup a switch on their transmitter
to enable manual pass-thru of a set of the input channels to outputs
when in tailsitter hover. The user can then use that switch to allow
learning of hover control in a 3D plane one channel (or two channels)
at a time.
 2017-02-26 09:20:13 +11:00
Andrew Tridgell 3bb25eb194 Plane: added Q_TAILSIT_INPUT 
this allows the user to control tailsitters either in body frame (like
a plane) or in earth frame (like a multicopter). This is useful for
people wanting to learn to fly prop-hang on 3D planes
 2017-02-26 09:20:13 +11:00
Andrew Tridgell ea5186340b Plane: added Q_TILT_RATE_UP and Q_TILT_RATE_DN as separate parameters 
allow control of tilt rate separately for UP and DOWN

always allow at least 90 degrees/second for switching to MANUAL
 2017-02-25 17:53:26 +11:00
Tom Pittenger 4ccd59f394 Plane: allow exiting loiter_to_alt in cases where you get stuck 
- check for scenarios where updrafts can keep you from loitering down indefinitely.
 2017-02-23 05:15:49 -08:00
Andrew Tridgell a4c5247fba Plane: prepare 3.8.0-beta3 
key fix is the servo slew rate bug
 2017-02-22 07:25:47 +11:00
Tom Pittenger 69a10042eb Plane: always stream RPM data over mavlink when enabled 2017-02-21 11:16:27 -08:00
Tom Pittenger 67486dc3f0 Plane: always log RPM when enabled 2017-02-21 04:20:01 -08:00
Peter Barker 97145f20fc Plane: fix startup of CLI menu system 2017-02-20 00:06:23 -08:00
Andrew Tridgell 07ab04897d Plane: reset roll/pitch integrators while tailsitter active 
this prevents integrator buildup while flying in hover
 2017-02-18 22:23:58 +11:00
Andrew Tridgell b3380ecfa7 Plane: support twin-engine planes 
with differential thrust for yaw
 2017-02-18 17:26:43 +11:00
Andrew Tridgell e8b11924f8 Plane: split out the tailsitter transition complete code 
use both roll and pitch to trigger completion of transition. This
copes with situations where the plane has managed to get itself rolled
over far enough that it can't recover into hover
 2017-02-18 17:26:43 +11:00
Andrew Tridgell d5a3f844f1 Plane: changes for AC_WPNav 2017-02-18 17:26:43 +11:00
Andrew Tridgell c787f4c56f Plane: initial support for tailsitter transitions 2017-02-18 17:26:43 +11:00
Andrew Tridgell 83f3cee99e Plane: initial hooks for tailsitter support 2017-02-18 17:26:43 +11:00
Andrew Tridgell 4e4f5a7ac9 Plane: allow tailsitters to takeoff with any attitude 2017-02-18 17:26:43 +11:00
Andrew Tridgell 0fc04b0158 Plane: setup plane frame type parameter flags 2017-02-14 19:50:01 +11:00
Andrew Tridgell c294519925 Plane: lower default Q_M_SPOOL_TIME to 0.25 2017-02-14 09:23:17 +09:00
Peter Barker 1d7994e9ba Plane: create GCS_Plane subclass 2017-02-13 17:03:06 +11:00
Peter Barker 98c4b48161 Plane: not in log download upon log erase 
erase is a synchronous operation
 2017-02-13 11:36:16 +11:00
Peter Barker 49bf336539 Plane: Support for a GCS singleton 2017-02-13 09:32:01 +11:00
Peter Barker d060670ba3 Plane: rename gcs[] to gcs_chan[] 
Wish to use gcs() to return the gcs singleton
 2017-02-13 09:32:01 +11:00
Michael du Breuil 29b16dbafd Plane: Refactor to request relative altitudes from AHRS 
Removes the need for plane to do the math for finding the relative height.

Also caches the value at the same time we update current_loc, which is a
non behaviour change as that was the only time you could see a change in
the relative height propegate through the system anyways
 2017-02-13 09:23:14 +11:00
Michael du Breuil f183a2618f Plane: Don't lock home altitude to AHRS origin 2017-02-13 09:23:14 +11:00
Michael du Breuil 7a1cbf76d3 Plane: Remove ALT_MIX 
Closes #4998, and fix a tab/spaces error on the previous parameter
 2017-02-13 09:18:52 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas c4419739c4 Plane: rename MSG_RADIO_OUT to MSG_SERVO_OUTPUT_RAW to better describe what it is 2017-02-07 11:41:12 +11:00
Andrew Tridgell 90d9e74054 Plane: fixed parameter path 2017-02-06 15:12:32 +11:00
Andrew Tridgell 287614b415 Plane: fixed auto-takeoff throttle trigger for inverted launch 
quite an unusual setup, but has been done :-)
 2017-02-01 16:31:49 -08:00
Tom Pittenger 9abb0bba7f Plane: use abs() instead of labs() for int16 2017-01-30 10:43:54 -08:00
Michael du Breuil 2326eee9a0 Plane: Move loiter_radius to vehicle 2017-01-30 10:43:54 -08:00
Andrew Tridgell 5baf37f7a3 Plane: release 3.8.0beta2 2017-01-30 10:29:01 +11:00
priseborough 013eb254a2 Plane: use standard unit descriptor for milliseconds 2017-01-27 16:57:42 +09:00
murata 2492b9db7e Plane: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Tom Pittenger 1a34221db9 Plane: remove old commented code 
- leftover from the AP_Landing stage refactor
 2017-01-26 13:45:28 -08:00
Tom Pittenger bdafc2c025 AP_Landing: re/move complete flag into backend 
the complete flag was only ever true during FLIGHT_LAND_FINAL so we just check for that now instead
 2017-01-26 13:11:45 -08:00
Michael du Breuil 4cf1c74c62 AP_Landing + Plane: Check for land complete before requesting disarm 2017-01-26 13:11:44 -08:00
Tom Pittenger 2ccd91d88f AP_Landing: rename stage enum 2017-01-26 13:11:44 -08:00
Tom Pittenger 650e694eb1 Plane: move landing.reset to landing.do_land() 2017-01-26 13:11:44 -08:00
Tom Pittenger 61bc0a6206 Plane: check stage==LAND instead of landing.in_progress 2017-01-26 13:11:44 -08:00
Michael du Breuil 3e66dd10d7 Plane: Move landing stages inside AP_Landing and refactor 2017-01-26 13:11:44 -08:00
Tom Pittenger b570c11e26 AP_Landing: allow separate handling for verify_land() vs verify_abort() 2017-01-26 13:11:43 -08:00
Tom Pittenger e709705ab8 Plane: describe flight stages without using specific stage name 2017-01-26 13:11:43 -08:00
Tom Pittenger 6c0296ba13 AP_Landing: shadow copy of plane flight_stage into landing 
.. and describe stages without using specific stage name
 2017-01-26 13:11:43 -08:00
Andrew Tridgell 07cedd8a66 Plane: prevent stability shutdown in transition 
this prevents the vertical motors from shutting down while
transitioning if the desired throttle was too low at the start of the
transition
 2017-01-25 19:01:15 +11:00
Andrew Tridgell 0d4405106f Plane: removed forcing of trim for motors in quadplane 
this caused problems with tricopter tail servos
 2017-01-25 19:01:15 +11:00
Andrew Tridgell 5c820adad4 Plane: fixed tilt transition with binary tilt servo 
once the tilt is fully fwd then force transition as done at any
airspeed
 2017-01-25 19:01:15 +11:00
Andrew Tridgell 586f8a9ca8 Plane: fixes for tilt quadplane after rebase 2017-01-25 19:01:15 +11:00
Andrew Tridgell 2feaa9926c Plane: prevent fwd motor when throttle in dead zone for tiltrotor 
otherwise we end up with the SPIN_ARMED value
 2017-01-25 19:01:15 +11:00
Andrew Tridgell 54bca768b8 Plane: added Q_TILT_TYPE for retract servo tiltrotors 2017-01-25 19:01:15 +11:00
Michael du Breuil f017073077 Plane: Report battery failsafes via sys_status 2017-01-25 09:26:19 +09:00
Randy Mackay fc4741395d Plane: notify initialised after parameters loaded 2017-01-23 15:07:21 -08:00
Randy Mackay fad2ba608f Plane: send flight mode string to Notify 2017-01-23 15:07:21 -08:00
Randy Mackay af514eb101 Copter: remove some comments 2017-01-23 15:07:20 -08:00
Dmitry Prokhorov 497a4bd4a5 ArduPlane: Support for OLED display by Alexey Kozin 
https://github.com/ArduPilot/ardupilot/pull/5135
 2017-01-23 15:07:20 -08:00
Randy Mackay e906310b71 Plane: rudder_arming moved to AP_Arming_Plane 2017-01-17 11:45:08 +09:00
Randy Mackay 7cc8b7232c Plane: rename arming_checks to AP_Arming 2017-01-17 11:45:08 +09:00
Peter Barker fc28beacea Plane: AP_Arming: use callback in place of variable reference for home state 2017-01-17 11:45:08 +09:00
Tom Pittenger b8784e2c4a Plane: do not crosstrack after a land abort 2017-01-12 15:21:34 -08:00
Andrew Tridgell 3338b4295e Plane: use reload_defaults_file() 2017-01-12 17:39:37 +11:00
Andrew Tridgell 2f100b0804 Plane: removed separate tricopter quadplane build 
can all be done with one build now
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 68504dbcbb Plane: auto-upgrade old parameters for SRV_Channel split 2017-01-12 17:39:37 +11:00
Andrew Tridgell cb4ebdd7b4 Plane: fixed throttle_percentage() 
thanks to Buzz for noticing!
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 6b4e5304cf Plane: fixed mixer outputs 2017-01-12 17:39:37 +11:00
Andrew Tridgell 1879eddfa0 Plane: adjust for limit_slew_rate API change 2017-01-12 17:39:37 +11:00
Andrew Tridgell 081909bf6a Plane: removed use of pwm_to_angle() 2017-01-12 17:39:37 +11:00
Andrew Tridgell b83f50be0f Plane: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Tom Pittenger 9a250c3bf4 Plane: clarify some variable names and protect against divide-by-zero 2017-01-06 17:35:44 -08:00
Eugene Shamaev ac2880db7c Plane: waypoint logic change for overflow/underflow 2017-01-06 17:35:44 -08:00
Peter Barker af9729c126 Plane: correct compilation when parachute disabled 2017-01-02 20:39:03 -08:00
Peter Barker d40187fac7 Plane: correct compilation when geofence disabled 2017-01-03 00:37:28 +00:00
Peter Barker 4865bec871 Plane: correct compilation when logging disabled 2017-01-02 16:01:29 +09:00
Tom Pittenger 063f517424 Plane, TECS, AP_Landing: rename stage LAND_ABORT to ABORT_LAND 
this will reduce confusion when searching for FLIGHT_LAND_* and you get a bunch of takeoff related hits. It will also make more sense when the landing library fully manages the FLIGHT_LAND stage entirely because it will not mange FLIGHT_LAND_ABORT
 2016-12-30 23:50:03 -08:00
Tom Pittenger 04f32b6ec6 Plane: simplify flight stage landing check to use landing.in_progress 2016-12-30 23:50:03 -08:00
Tom Pittenger 84e11fd899 Plane, AP_TECS: do not pass auto_land flag to TECS, it already knows it 2016-12-30 23:50:03 -08:00
Tom Pittenger c286ceba43 Plane: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:03 -08:00
Tom Pittenger 90b2458a27 Plane: remove redundant flightstage update 2016-12-30 23:44:20 -08:00
Andrew Tridgell 1c4bf77cf6 Plane: added custom conversion of Q_FRAME_CLASS parameter 2016-12-31 10:56:01 +09:00
Randy Mackay 934ef55338 Plane: quadplane instantiates motor matrix outside of case 
Thanks to khancyr for noticing this
 2016-12-31 10:55:23 +09:00
Randy Mackay c6dec5c3f6 Plane: quad plane uses consolidated multicopter classes 2016-12-31 10:55:23 +09:00
Andrew Tridgell 4cf509a693 Plane: fixed EKF3 logging 2016-12-19 08:07:14 +11:00
priseborough 38ad778ff1 make.inc: Add EKF3 and remove EKF1 library from make.inc files 2016-12-19 08:07:10 +11:00
priseborough 38a0e8a6ae ArduPlane: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Tom Pittenger b7b56b94a3 Plane: convert landing.complete to landing.is_complete() 2016-12-14 04:32:30 -08:00
Tom Pittenger 4b683edac9 Plane: simplified logic where landing complete overrides the calc value 2016-12-14 04:32:30 -08:00
Tom Pittenger 83f0a8114b Plane: use a common reset for uniform landing wipe 2016-12-14 04:32:30 -08:00
Tom Pittenger 8c1509ad47 Plane: abstract land abort request method 2016-12-14 04:32:30 -08:00
Andrew Tridgell 3dcf4cfb55 Plane: removed resetting integrators on mode change 
this removes the zero of roll, pitch and yaw integrator on mode
change, now only doing the steering integrator.

The zeroing was from the early days when our controllers were not as
good. It should not be needed any more.
 2016-12-14 20:22:56 +11:00
Randy Mackay c3b6fd4315 Plane: fix suppressing comment for case fall through 
No functional change
eclipse stops complaining if no-break is used in place of fall-through
 2016-12-14 13:22:15 +09:00
Randy Mackay 4efbc29490 Plane: pass HIL_GPS to gps driver 2016-12-08 15:52:26 +09:00
Tom Pittenger a3ccca17ff Plane: use fabsf instead of fabs 2016-12-06 17:38:47 -08:00
Tom Pittenger b299b9c0bb Plane: abstract out init_start_nav_cnd work to landing lib 
This reverts commit 1380a35f70.
 2016-12-06 03:45:14 -08:00
Peter Barker 669dc01b67 Plane: correct on_flight_line landing stage check 2016-12-06 03:24:41 -08:00
Andrew Tridgell 1380a35f70 Revert "Plane: abstract out init_start_nav_cnd work to landing lib" 
This reverts commit e2288d5262.

doesn't build
 2016-12-06 17:32:02 +11:00
Tom Pittenger e2288d5262 Plane: abstract out init_start_nav_cnd work to landing lib 2016-12-05 18:44:02 -08:00
Andrew Tridgell 1e691cdefc Plane: fixed build 2016-12-05 16:51:49 -08:00
Pierre Kancir da1f784e78 Plane : quadplane change to float to avoid the loss of a fractional part 2016-12-05 12:39:31 -08:00
Michael du Breuil da400dc643 Plane: Add compass cal capability bit 2016-12-04 19:17:01 -08:00
Tom Pittenger 9dd46aa03a Plane: post msg if aborting via throttle 
fixes https://github.com/ArduPilot/ardupilot/issues/4906
 2016-12-02 17:40:01 -08:00
Tom Pittenger 696828c144 Plane: increase landing airspeed scaled to headwind 2016-12-02 15:35:28 -08:00
Randy Mackay d95baf51c9 Plane: include AP_Beacon 2016-11-30 17:57:01 +09:00
Randy Mackay d9462d5dbc Plane: remove call to EKF1 logging 2016-11-30 17:57:00 +09:00
Randy Mackay 3587961be6 Plane: add AP_Beacon to build 2016-11-30 17:56:59 +09:00
Peter Barker f712dd5d7e Plane: add arming check for logging actually started 2016-11-29 15:14:09 -08:00
Peter Barker 784da9d1eb Plane: check CardInserted in AP_Arming 2016-11-29 15:14:09 -08:00
Peter Barker 98b5ab4656 Plane: remove incorrect comment about logging/in_mavlink-delay 2016-11-29 15:14:09 -08:00
Peter Barker d11578f203 Plane: do not reset LOG_BITMASK when no CardInserted 
This really just confuses everyone
 2016-11-29 15:14:09 -08:00
Peter Barker 17f5ef4610 Plane: inform dataflash of vehicle arm state 2016-11-28 09:42:09 -08:00
Tom Pittenger dc85ffa834 Plane: move jump_to_landing_sequence() to AP_Mission 2016-11-25 19:07:30 -08:00
Tom Pittenger ac1dced3bf Plane: set landing params as private and use accessors 2016-11-25 19:07:30 -08:00
Tom Pittenger 6544afbcba Plane: Migrate the rest of "LAND_" params from Plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger 8a5a62cfdc Plane: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger 9f184a1490 Plane: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger bfbfc3ea3d Plane: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger fa991297db Plane: create new "LAND_" param block for AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger e919afad1e Plane: update comment and remove redundant work 
- update_flight_stage is already called within restart_landing_sequence()
 2016-11-25 19:07:30 -08:00
Tom Pittenger 1b0a263761 Plane: remove landing.cpp entirely 2016-11-25 19:07:30 -08:00
Tom Pittenger fc2f518f31 Plane: revert auto_state.checked_for_autoland back to Plane 2016-11-25 19:07:30 -08:00
Tom Pittenger db42252168 Plane: port the rest of plane/landing.cpp to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger 9a79b79f1e AP_Landing: port more from plane 2016-11-25 19:07:30 -08:00
Tom Pittenger 10027b21d6 Plane/AP_Landing: port setup_landing_glide_slope() 2016-11-25 19:07:30 -08:00
Tom Pittenger f556f705e6 Plane: move various g params to aparms 2016-11-25 19:07:30 -08:00
Tom Pittenger 5dbb2d4c2a Plane: move two functions out of landing.cpp 
- these two functions will be hard to port to AP_Landing due to complex dependancies so we'll defer them by moving them ArduPlane.cpp
 2016-11-25 19:07:30 -08:00
Tom Pittenger d2376b7c8b Plane: migrate two helper functions to AP_Landing 
- move functions restart_landing_sequence() and jump_to_landing_sequence() to AP_Landing
- NOTE: jump_to function can not set mode, so it is now done externally in vehicle
 2016-11-25 19:07:30 -08:00
Tom Pittenger 896b931a7c Plane: Move auto_state variables to AP_landing members 2016-11-25 19:07:30 -08:00
Tom Pittenger 61b02cb41d AP_Landing: add new library for fixed wing landing abstraction 2016-11-25 19:07:30 -08:00
Tom Pittenger ce8db1fdba Plane: move struct Rangefinder_State to AP_Vehicle 2016-11-25 19:07:30 -08:00
Tom Pittenger 0ffeed644c Plane: remove define RANGEFINDER_ENABLED - always enabled 2016-11-25 19:07:30 -08:00
murata 0ee8edc29d Plane: Change from printf statement to print, println statement. 2016-11-25 15:57:15 -08:00
Francisco Ferreira 4c8d151190 Plane: support MAV_CMD_ACCELCAL_VEHICLE_POS 2016-11-15 11:42:54 -08:00
Michael du Breuil 4dae7a6f3d Plane: Simplify parameters 
Remove a lot of cases where @Values and @Bitmask were encoding the same
information. @Value should only be used with @Bitmask when it is being
used to present a series of reasonable defaults that is some hybrid of
the @Bitmask fields. Enumerating each bit as 1, 2, 4, 8 is of no value.
 2016-11-13 11:53:19 -08:00
Andrew Tridgell 5ed8418305 Plane: move radio init after boardconfig init 
to ensure px4io is setup first
 2016-11-13 14:55:35 +11:00
Tom Pittenger d12a55f33c Plane: fixed spelling 
fixed spellling in gcs msg
 2016-11-11 01:17:59 -08:00
Andrew Tridgell cb57945e9e Plane: use handle_common_message() 2016-11-09 17:08:09 +11:00
floaledm 6dc71beb1e Plane: move AP_Frsky_Telem for waf to ardupilotwaf 2016-11-08 07:42:39 +11:00
floaledm b2a6b93d30 Plane: send ahrs groundspeed estimate instead of GPS groundspeed in VFR_HUD message 2016-11-07 09:14:28 +11:00
floaledm bae9ce20c1 Plane: update sensor status error flags independently of sending a sys_status message 2016-11-02 08:36:58 +11:00
murata ab99ea54eb Plane: To nullptr from NULL. 2016-10-29 10:32:05 -03:00
Peter Barker 98ae6c776a Plane: support for AP_Stats (flight time, bootcount, runtime) 2016-10-29 14:53:25 +09:00
Peter Barker 33b7750c7d Plane: remove duplicate parameter metadata 2016-10-27 09:15:03 -07:00
Andrew Tridgell b65c559558 Plane: updates for EKF API changes 2016-10-27 17:09:06 +11:00
priseborough 72db2ebd81 Plane: Add compensation for optical flow sensor body position offset 2016-10-27 14:54:42 +11:00
expntly 0d1e50b50b Plane: fix typo, check wp_nav is initialized 2016-10-27 14:39:50 +11:00
Michael du Breuil fd24e944b8 Plane: Allow compass calibrator to manage size of buffer 2016-10-27 14:04:33 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell 5ac62c27e2 Plane: reduce change of false rangefinder readings triggering a flare 
This doesn't count repeated readings towards the rangefinder count,
and resets the counter if the change is more than 20% of full
range. This greatly reduces the impact of poor sonar sensors for
landing
 2016-10-23 15:53:12 +11:00
Andrew Tridgell 32a74e37d2 Plane: update version to 3.8.0beta1 2016-10-21 13:16:36 +11:00
Andrew Tridgell 8dd122e6df Plane: updated release notes for 3.7.1 2016-10-21 13:15:51 +11:00
Ricardo de Almeida Gonzaga 3d1db89655 ArduPlane: Fix typos 2016-10-20 08:14:37 -07:00
Andrew Tridgell 15d6c77087 Plane: fixed vtail rudder only planes 2016-10-20 17:49:05 +11:00
Tom Pittenger 350ed20460 Plane: ensure rangefinder last_time resets 
ensure rangefinder_state.last_correction_time_ms resets to zero via memset(&rangefinder_state, 0..)
 2016-10-17 14:34:00 -07:00
William Liu 8a64106faa Plane: return false when throttle is not suppressed 2016-10-17 09:50:25 +11:00
Ferrin Benjamin Katz 38581669ec Plane: slow down home update 
Moved the code theat updates the home position while the aircraft is
unarmed from 10hz loop to one second loop and ensured that is does not
update more then once every 5 seconds. Closes issue 4311.
 2016-10-17 09:50:25 +11:00
Andrew Tridgell c3aaff122b Plane: fixed startup order of setting mavlink system ID 2016-10-17 09:20:55 +11:00
Andrew Tridgell 5724aef8b3 Plane: support automatic servo trimming 
now that we have separated RC input from servo output with
SERVO_RNG_ENABLE=1 we can do full automatic servo trimming as an
option
 2016-10-16 15:20:47 +11:00
Andrew Tridgell 70375720f3 Plane: fixed throttle slew handling with SERVO_RNG_ENABLE=1 2016-10-15 21:42:39 +11:00
Andrew Tridgell 29f4fe2398 Plane: fixed accel based launch with timer enabled 
when both timer and accel set should meet both conditions
 2016-10-15 21:42:38 +11:00
Andrew Tridgell 6878a9a270 Plane: use handle_rc_bind 2016-10-15 21:42:38 +11:00
Andrew Tridgell 3a8e38ee12 Plane: added SYSID_ENFORCE parameter 
this allows safer sharing of telemetry links between aircraft
 2016-10-15 17:12:13 +11:00
Andrew Tridgell be1109174e Plane: apply elevon and vtail mixers after SRV_Channel remap 
this is needed to ensure that changes in RCn_MIN/MAX don't cause
changes in the output handling for elevon nd vtail planes
 2016-10-15 16:59:36 +11:00
Andrew Tridgell a369b4833a Plane: fixed throttle channel during startup failsafe 2016-10-15 16:59:36 +11:00
Andrew Tridgell d49f50db4b Plane: don't output aux channels on termination 2016-10-15 16:59:36 +11:00
Andrew Tridgell 856b4f4d14 Plane: disable AUX passthrough during termination 2016-10-15 16:59:36 +11:00
Andrew Tridgell 57ddc8f58f Plane: use SRV_Channels set_esc_scaling() 
this fixes throttle range on Disco with SERVO_RNG_ENABLE=1
 2016-10-15 16:59:36 +11:00
Andrew Tridgell fcd98e2c44 Plane: implement AUTO_TRIM for SERVO_RNG_ENABLE=1 
automatically adjust servo trims
 2016-10-15 16:59:35 +11:00
Andrew Tridgell a23c373f16 Plane: fixed servo mixing for AFS and failsafe case 2016-10-15 16:59:35 +11:00
Andrew Tridgell 8170df7ba8 Plane: added servo remapping object 2016-10-15 16:59:35 +11:00
Andrew Tridgell c7f738c284 Plane: separate out the output channel mixing 
this provides a framework for other output mixing types
 2016-10-15 16:59:35 +11:00
Andrew Tridgell eb67c97bb2 Plane: split out flap output functions 2016-10-15 16:59:34 +11:00
Andrew Tridgell a2cdd75870 Plane: removed THROTTLE_OUT define 
this can be achieved with THR_MAX parameter instead
 2016-10-15 16:59:34 +11:00
Andrew Tridgell 40c6ebf61a Plane: refactor more of servos output code to be easier to read 2016-10-15 16:59:34 +11:00
Andrew Tridgell 6aa3ded666 Plane: split main servo output functions into a separate file 2016-10-15 16:59:34 +11:00
Andrew Tridgell b5a2bf2c6f Plane: only revert a tuning parameter if it has been set 
fixes a 2nd transmitter tuning bug found by expntly
 2016-10-14 08:34:54 +11:00
Randy Mackay f0f4322500 Plane: add AP_Proximity to build 
Required because quadplane uses copter's navigation libraries which interact with AC_Avoidance which now supports AP_Proximity
 2016-10-13 20:21:07 +09:00
Randy Mackay 574976a3b7 Plane: include AP_Proximity in quadplane 2016-10-13 20:21:07 +09:00
Andrew Tridgell 70265f9100 Plane: fixed bug in transmitter tuning 
This bug affects transmitter tuning of parameters that have never been
saved to eeprom and don't have a default value in the AP_Param
tables. When reverting these parameters became zero which could lead
to a crash

many thanks to expntly for finding this bug!
 2016-10-13 22:08:13 +11:00
Andrew Tridgell a2aa89dc1e Plane: deprecate RC_CHANNELS_RAW 2016-10-13 21:23:56 +11:00
Andrew Tridgell 0445b51143 Plane: fixed throttle slew rate in manual for quadplanes 2016-10-12 09:55:37 +11:00
Michael du Breuil 05d0696b0d Plane: Support GPS_RTCM_DATA 2016-10-11 11:00:36 +11:00
Andrew Tridgell 2b144d5c3d Plane: allow rudder arming in CRUISE and FBWB modes 2016-10-08 08:01:55 +11:00
murata b3eecb87ac Plane: To define the same wording. 2016-10-06 10:03:23 -07:00
Andrew Tridgell cb61840ad2 Plane: tell TECS to use synthetic airspeed during transition 2016-10-05 11:52:52 +11:00
murata 2f18d1de73 Plane: To add a judgment of 0 degrees longitude. 2016-10-04 08:15:23 -07:00
Andrew Tridgell 4e017bf5b3 Plane: fixed loiter mode when Q_GUIDED_MODE=1 
This fixes the fixed wing behaviour of LOITER mode whne
Q_GUIDED_MODE=1.

Many thanks to the PertUAV team for finding and reporting this bug
 2016-10-01 08:37:17 +10:00
Lucas De Marchi 0f000efc6f ArduPlane: Fix use of logical op instead of bitwise op 
../../ArduCopter/GCS_Mavlink.cpp: In member function 'void Copter::send_extended_status1(mavlink_channel_t)':
../../ArduCopter/GCS_Mavlink.cpp:281:37: error: suggest parentheses around operand of '!' or change '&' to '&&' or '!' to '~' [-Werror=parentheses]
     uint32_t sensors_error_flags = !control_sensors_health & control_sensors_enabled & control_sensors_present;
                                     ^
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors

Thanks to Ralph Campbell <ralphcampbell1@gmail.com> for the bug report.
 2016-09-29 11:36:23 -03:00
Andrew Tridgell 841828541d Plane: fixed auto ICE engine cut in QLAND final 2016-09-29 05:18:55 +10:00
Pierre Kancir 64a2fca812 Arduplane: simply invalid cmd msg 2016-09-27 07:45:48 -07:00
Pierre Kancir 04ee4141e0 ArduPlane: uniformize verify_command 
Add all handle message,
Change MAV_CMD_NAV_ROI to MAV_CMD_DO_SET_ROI
Reformate comments,
 2016-09-27 07:45:48 -07:00
Andrew Tridgell 6d09897b19 Plane: fixed VTOL motor termination in AFS 2016-09-27 11:53:45 +10:00
Peter Barker 31321b3b60 Plane: log to dataflash statustext messages from my_gcs 2016-09-26 00:06:07 -07:00
Tom Pittenger 94f83c3e78 Plane: frsky telem init to utilize default arguments 2016-09-25 10:42:02 -07:00
floaledm 4f6a8a017c Plane: consolidate into a single frsky.init() 2016-09-25 10:42:02 -07:00
floaledm 68df5b7606 Plane: change sensor health check to prevent false positive 2016-09-22 13:56:59 -05:00
Tom Pittenger b8d53e1c58 Plane: change how is_flying bool is assignment in fysky lib 
Florent had this correct on his PR but I incorrectly advised him to change it. This commit changes it back to his original method which was correct.
 2016-09-21 15:38:58 -07:00
floaledm 0b666d4933 Plane: Plane support for Frsky passthrough protocol 2016-09-21 12:12:37 -07:00
Andrew Tridgell dac7f45326 Plane: fixed use of multicopter mix_max 
we need a settable mix_max for some vehicles
 2016-09-21 12:23:19 +10:00
Andrew Tridgell 08dc5fab12 Plane: fixed pilot throttle based motor test 2016-09-15 18:09:35 +10:00
Andrew Tridgell d6890495aa Plane: added swapped channel version of elevon/vtail/flaperon output 
this makes it possible to setup an elevon plane without changing the
transmitter reversals
 2016-09-14 11:48:05 +10:00
Andrew Tridgell 9b83781b4f Plane: fixed mixer arming error with FMUv4 
thanks to Tim Gold for reporting this
 2016-09-11 08:25:40 +10:00
Andrew Tridgell 2e240699e6 Plane: final release notes for 3.7.0 2016-09-09 10:13:38 +10:00
Tom Pittenger e13d5fa0bf ArduPlane: updated Mixer error message 2016-09-06 00:25:15 -07:00
Michael du Breuil f0247a7be1 Plane: always check that the mixer has been configured as arming check 2016-09-06 00:03:13 -07:00
Michael du Breuil d0da7411b2 Plane: Fetch mixer status for assessing mixer success 2016-09-06 08:42:16 +10:00
Andrew Tridgell d50bf93ac9 Plane: update 3.7.0 release notes 2016-09-06 07:11:13 +10:00
Michael du Breuil 2843e266b5 Plane: Return RESULT_FAILED for GET_CMD_HOME if home is unset 2016-09-03 16:54:14 +09:00
Andrew Tridgell d149a2e613 Plane: updated release notes for 3.7.0 2016-09-02 16:52:24 +10:00
Andrew Tridgell 6849f2223d Plane: set initial alt target on takeoff completion 
this prevents a sudden motor spike at the start of the transition
 2016-09-02 11:12:19 +10:00
Randy Mackay 3052e8f80b Plane: quadplane calls attitude control parameter check 2016-09-02 09:27:19 +09:00
Andrew Tridgell 47c030c4a8 Plane: prepare for 3.7.0beta1 release 2016-08-30 08:39:56 +10:00
Andrew Tridgell 3d0516fd57 Plane: added Q_ASSIST_ANGLE 
this automatically provides quadplane assistance if the angular error
is over the given value for 1 second while flying faster than
Q_ASSIST_SPEED
 2016-08-30 08:35:18 +10:00
Andrew Tridgell 33f17588b2 Plane: added auto fence enable on VTOL takeoff 
fixes issue#724
 2016-08-29 18:04:42 +10:00
Andrew Tridgell c81d8364ac Plane: check for safety switch state in quadplane motor output 
get_soft_armed() will be false if safety on
 2016-08-29 17:55:35 +10:00
Randy Mackay d3f8b1b846 Plane: TELEM_DELAY parameter range to 30sec 
No functional change
 2016-08-29 15:29:18 +09:00
Andrew Tridgell a0fb426a34 Plane: fixes for Fraky_Telem API changes 2016-08-25 10:16:20 +10:00
Andrew Tridgell a5f20d8c44 Plane: fix for AP_FrSky_Telem API change 2016-08-25 10:16:19 +10:00
floaledm 43006a31a3 Plane: compatibility with revised AP_Frsky_Telem class 2016-08-25 10:16:18 +10:00
floaledm 71921f3aa4 Plane: removed frsky_telemetry_send scheduled task 2016-08-25 10:16:17 +10:00
murata e6bef2526c Plane: By multiple bit synthetic, can this method once access. 2016-08-24 11:27:27 -03:00
murata 0e17cff099 Plane: if statements is simple. 2016-08-24 11:26:28 -03:00
Gustavo Jose de Sousa b8e518a533 waf: use ap_library tool 
That way we avoid recompiling source files that don't depend on vehicles.
Change notes:
- UTILITY_SOURCE_EXTS: moved to ap_library
- Task generators indexes: ap_library handles that now and in a better way
- Use of AP_STLIB_FEATURES: it doesn't make sense anymore, since the stlib
  taskgen has empty source list
- Flags and defines: passed down to ap_library through AP_LIBRARIES_OBJECTS_KW
- Set use='mavlink' in AP_LIBRARIES_OBJECTS_KW instead of calls to
  bld.ap_stlib().
 2016-08-24 10:46:23 -03:00
Andrew Tridgell d26af6c25b Plane: change is_flying() groundspeed threshold to 1.5m/s 2016-08-23 12:50:41 +10:00
Andrew Tridgell cbbc4d6774 Plane: don't flare due to crash detection unless crash detection enabled 
this fixes the issue in this bug report:

http://discuss.ardupilot.org/t/auto-landing-bug-crash-with-3d-video-and-logs-ardupilot-3-6-0
 2016-08-23 12:19:03 +10:00
Tom Pittenger 2da33e41e9 Plane: add Avoid_ADSB support to plane 2016-08-17 22:38:54 -07:00
Tom Pittenger b187e1f9a6 Plane: add reason to set_mode() 2016-08-17 22:38:54 -07:00
Tom Pittenger 285e41bac6 Plane: add avoidance_adsb framework for object avoidance 2016-08-17 22:38:54 -07:00
Tom Pittenger 399fa195bb Plane: add comment to FLTMODE param to include AVOID_ADSB 2016-08-17 22:38:54 -07:00
Tom Pittenger ca32bcc58d Plane: add new flight mode AVOID_ADSB to mimic GUIDED 2016-08-17 22:38:54 -07:00
Tom Pittenger c4460a285c Plane: remove adsb sensor library based avoidance 
adsb based avoidance has been moved to AP_Avoidance library
 2016-08-17 22:38:54 -07:00
Tom Pittenger 8b021c2498 Plane: pre-arm check includes adsb failsafe 2016-08-17 22:38:54 -07:00
Tom Pittenger fa326de7fa Plane: add adsb to failsafe structure and report in heartbeat to GCS 2016-08-17 22:38:54 -07:00
Tom Pittenger b564616db0 Plane: GCS_MAVLink passes packets to AP_Avoidance 
This allows treating GLOBAL_POSITION_INT packets from other vehicles in the same way as ADSB packets
 2016-08-17 22:38:54 -07:00
Tom Pittenger 46ec812d6c Plane: add AP_Avoidance to build 2016-08-17 22:38:54 -07:00
Tom Pittenger 7445fac577 Plane: move mavlink msg handling into library 2016-08-16 16:33:36 -07:00
Andrew Tridgell d482c7f4b7 Plane: decode correct ADSB packet 2016-08-16 16:33:36 -07:00
Andrew Tridgell c4c7a3051a Plane: added support for secondary throttles 2016-08-16 16:14:48 +10:00
Andrew Tridgell 7ce7eb5a60 Plane: added Q modes to parameter docs 2016-08-16 13:15:41 +10:00
Andrew Tridgell b29b609bcc Plane: added AFS support for quadplanes 2016-08-16 12:56:12 +10:00
Andrew Tridgell adb5a3ee1f Plane: re-work AFS for new AP_AdvancedFailsafe API 2016-08-16 12:55:51 +10:00
Andrew Tridgell 5d6dfd927b Plane: changes for AP_AdvancedFailsafe naming 2016-08-16 12:55:50 +10:00
Andrew Tridgell b357a254f6 Plane: use force_safety_no_wait() when re-enabling safety off in mixer 2016-08-16 12:53:34 +10:00
Andrew Tridgell 31fb4cc427 Plane: force trims for VTOL motors 2016-08-16 12:53:34 +10:00
Andrew Tridgell 76b6cbbda1 Plane: prevent motor startup on reboot in quadplanes 
we need to prevent RC overrides within px4io from running
 2016-08-16 12:53:34 +10:00
Peter Barker cb7686001f Plane: add dataflash as a bit for the mavlink SYS_STATUS message 2016-08-11 17:48:44 -03:00
Andrew Tridgell 82382a7e9c Plane: changed startup order 
this allows BoardConfig to report errors in a way that allows for
BRD_TYPE to be changed by the user
 2016-08-10 19:54:01 +10:00
Tom Pittenger e0136dc545 Plane: remove AP_Vehicle::FixedWing dependency in ap_airspeed 2016-08-08 00:02:42 -07:00
Tom Pittenger f85fc7c1dc Plane: pass in max airspeed via function call instead of using aparm 2016-08-08 00:02:42 -07:00
Tom Pittenger fc50f145ce Revert "ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter)." 
This reverts commit da1b18d918.
 2016-08-07 17:54:24 -07:00
Tom Pittenger 8dad05d12e Revert "Airspeed: store reference in libraries and populate it" 
This reverts commit c090ba2257.
 2016-08-07 17:54:24 -07:00
Tom Pittenger 5fd3c79202 Plane: Fix typos 2016-08-04 11:42:41 -07:00
Ricardo de Almeida Gonzaga 7a9fe95ccb ArduPlane: Fix typos 2016-08-04 11:41:18 -07:00
Tom Pittenger c090ba2257 Airspeed: store reference in libraries and populate it 
- also had to move the initial definition in plane.h so it happened before the others.
 2016-08-04 11:06:44 -07:00
AndersonRayner da1b18d918 ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter). 2016-08-04 10:09:04 -07:00
Andrew Tridgell 63317e9430 Plane: added throttle suppression for quadplanes 
this tries to prevent motor start when on ground. Motors instead go
into spin_when_armed state
 2016-08-04 09:43:40 -07:00