58328da5f3
ArduPlane: move get_bearing_cd to Location and rename to get_bearing_to
2019-04-06 09:10:28 +11:00
0270c57530
Plane: massive refactor and creation of Mode class
2019-04-02 16:28:52 +11:00
f430fd14f6
Plane: replace location_offset() and get_distance() function calls with Location object member function calls
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This allows removing duplicated code
2019-02-28 11:44:09 +11:00
acafb0f3c1
Plane: adjust for location flags being moved out of union
2019-01-16 11:45:29 +11:00
a78bce32c0
Plane: Allow users to force target airspeed in cruise or fbwb
2018-12-18 22:36:55 -08:00
05484c3987
Plane: Support a different landing airspeed for fw quadplane landings
2018-12-18 10:11:22 +11:00
42e67d5849
Plane: Whitespace fixes
2018-12-18 10:11:22 +11:00
da69bf3391
Plane: added an abstraction for reverse thrust
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use have_reverse_thrust() and get_throttle_input()
2018-11-16 08:33:35 +11:00
f150cae75a
Plane: Allow center throttle to be trim airspeed in cruise
2018-09-11 09:07:00 +10:00
ee96c53844
Plane: Don't go to minimum airspeed when in RC failsafe in cruise/fbwb
2018-09-11 09:07:00 +10:00
8417bcc7d5
Plane: Add flight options bitmask
2018-08-28 09:40:53 +10:00
518abfe1d0
Plane: Allow GUIDED mode to take advantage of crosstrack flag.
2018-01-22 19:17:09 -08:00
746ca91649
Plane: reset groundspeed_undershoot value when GPS is lost
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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
1ef0f27786
Plane: allow control_mode enum to be in arbitrary order
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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
39a200b83f
Plane: allow control_mode enum to be in arbitrary order
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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
1a3ca43e86
Plane: Don't check FS_SHORT_TIMEOUT if it's disabled
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Also renames the check_minimum_altitude() to reflect that it's only used
for FBWB.
2017-11-24 09:58:01 -08:00
7271586a47
Plane: invert auto_state.no_crosstrack flag to be auto_state.crosstrack. Non-functional change
2017-11-23 09:25:18 -08:00
f14f40d3ef
Plane: fixed GUIDED loiter with Q_RTL_MODE=1
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this was broken by the recent RTL_RADIUS changes
thanks to Nick for noticing this!
2017-10-31 18:02:31 +11:00
aa430a6e2c
Plane: use RTL_RADIUS for QRTL threshold
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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
c24ee9192b
Plane: prevent a float exception at pitch 90
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this can happen with a tailsitter
2017-10-30 16:30:38 +11:00
178e7eca54
Plane: always setup target airspeed
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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
250f315678
Plane: eliminate gcs_send_mission_item_reached wrapper
2017-07-11 23:45:16 +01:00
92f88e9b33
Plane: fixed climb rate for quadplanes in CRUISE
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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
4ccd59f394
Plane: allow exiting loiter_to_alt in cases where you get stuck
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- check for scenarios where updrafts can keep you from loitering down indefinitely.
2017-02-23 05:15:49 -08:00
2326eee9a0
Plane: Move loiter_radius to vehicle
2017-01-30 10:43:54 -08:00
61bc0a6206
Plane: check stage==LAND instead of landing.in_progress
2017-01-26 13:11:44 -08:00
3e66dd10d7
Plane: Move landing stages inside AP_Landing and refactor
2017-01-26 13:11:44 -08:00
c3b6fd4315
Plane: fix suppressing comment for case fall through
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No functional change
eclipse stops complaining if no-break is used in place of fall-through
2016-12-14 13:22:15 +09:00
696828c144
Plane: increase landing airspeed scaled to headwind
2016-12-02 15:35:28 -08:00
ac1dced3bf
Plane: set landing params as private and use accessors
2016-11-25 19:07:30 -08:00
8a5a62cfdc
Plane: migrate aparm "LAND_" params from plane to AP_Landing
2016-11-25 19:07:30 -08:00
f556f705e6
Plane: move various g params to aparms
2016-11-25 19:07:30 -08:00
896b931a7c
Plane: Move auto_state variables to AP_landing members
2016-11-25 19:07:30 -08:00
152edf7189
Global: remove mode line from headers
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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
2f18d1de73
Plane: To add a judgment of 0 degrees longitude.
2016-10-04 08:15:23 -07:00
4e017bf5b3
Plane: fixed loiter mode when Q_GUIDED_MODE=1
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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
ca32bcc58d
Plane: add new flight mode AVOID_ADSB to mimic GUIDED
2016-08-17 22:38:54 -07:00
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)."
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This reverts commit da1b18d918
2016-08-07 17:54:24 -07:00
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
d2365c25c6
Plane: increase update_waypoint() distance threshold during update_loiter()
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- outside this radius of a loiter waypoint is where crosstracking is available
2016-06-23 12:43:03 -07:00
8a58f5a5eb
Plane: convert airspeed_error_cmd to airspeed_error (in meters)
2016-05-13 17:21:59 -07:00
25dfb583d5
Plane: adjust target_airspeed with and without airspeed sensor (pitot)
2016-05-13 17:14:47 -07:00
12e0012b16
Plane: allow for NAV_LOITER_UNLIM and NAV_LOITER_TIME in quadplane
2016-05-11 15:57:41 +10:00
3fc43b94f9
Plane: separate out auto and guided VTOL states
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this prevents a switch to AUTO from using VTOL mode incorrectly
2016-05-11 15:14:43 +10:00
691d4b6ca7
Plane: added local reached_loiter_target()
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this distinguishes between VTOL and fixed wing loiter targets
2016-05-11 05:55:26 +10:00
6b358a5618
Plane: added Q_GUIDED_MODE parameter
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this allows you to do hybrid VTOL and fixed wing guided mode
2016-05-11 05:55:25 +10:00
7f29903287
ArduPlane: Fix up after refactoring RC_Channel class
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Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to get and set functionsss
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
c.min_max_configured() // return true if min and max are configured
Because data members of RC_Channels are now private and so cannot be written directly
some overloads are provided in the Plane classes to provide the old functionality
new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);
new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;
Rename functions
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
2016-05-10 16:21:16 +10:00
ec3e9014e4
Plane: move target land_airspeed logic to top layer
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- this is to allow min groundspeed to be enforced which is otherwise lost when TECS assigns a target airspeed at the lower level
2016-04-21 21:30:50 -07:00
a7006a7784
Plane: refactor perf variables into a structure
2016-04-21 16:45:02 +10:00
c17ea21a97
Plane: Add support for DO_REPOSITION via COMMAND_INT
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also allows guided to change loiter directions
2016-04-17 19:00:03 -07:00
62574b35b5
Plane: fixed negative loiter radius values
2016-04-18 09:33:20 +10:00
ff57884eca
Plane: renamed variable, non-functional change
2016-04-14 13:18:35 -07:00
f0eddd6366
Plane: ensure we always eventually capture a loiter
2016-03-18 13:47:45 +11:00
d7d528560d
Plane: don't start summing for loiter until we reach loiter circle
2016-03-10 15:43:28 +11:00
ff249788bf
Plane: add a default Navigation option as explained in the param docs
2016-03-03 09:16:26 -08:00
9e452838ab
Plane: loiter missions to default to loiter_radius if mission says 0 or 1.
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- except loiter_unlim which uses RTL_loiter, although I'm not sure why.
2016-02-29 10:12:20 -08:00
23eef91c59
Plane: added parameter RTL_RADIUS
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this allows the loiter radius for RTL to be controlled separately from
the radius for loiter (as requested by a user)
2016-01-19 15:04:30 +11:00
7978872e32
AP_Plane: set path_propportion in TECS
2016-01-09 13:25:02 +11:00
d18c25a0f9
Plane: add item_reached_msg to GUIDED
2015-12-31 15:31:39 +11:00
05eb723429
Plane: reflect renamed function in AP_AHRS
2015-12-18 18:08:37 +11:00
178bbb080b
Plane: improve crosstrack error while navigating to loiter point
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There is no crosstrack concept in the loiter navigation so when going from waypoint to loiter you will not converge onto the line between those two points. This commit adds crosstracking by performing normal waypoint navigation until you get near it.
2015-11-09 08:25:26 +11:00
b92c2409e4
Plane: added local millis() and micros() to reduce code size a bit
2015-05-21 07:48:53 +10:00
18c37935c9
Plane: convert from .pde to .cpp files
2015-05-21 07:48:52 +10:00
Pierre Kancir
Tom Pittenger
Dr.-Ing. Amilcar do Carmo Lucas
Peter Barker
Michael du Breuil
Andrew Tridgell
Tom Pittenger
Randy Mackay
Mathieu OTHACEHE
murata
AndersonRayner
skyscraper
Michael du Breuil
Jonathan Challinger