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3327 Commits

Author SHA1 Message Date
Peter Barker cbb0bfb809 Plane: is_flying_vtol: if spool mode is shut down we are not flying 
The subsequent check for get_throttle passes if you switch from QHOVER
to MANUAL on the ground while armed.  get_throttle returns > 0.01 - but
the motors are shut down so no output occurs.
 2019-03-12 10:21:11 +11:00
Peter Barker cf45b54070 Plane: quadplane use prearm checks from Attitude and Position controllers 2019-03-12 10:14:14 +11:00
Mark Whitehorn f7bf10fcfc ArduPlane: add rudder to tailsitter gain scaling 2019-03-12 10:12:23 +11:00
Mark Whitehorn 4a6b97828f ArduPlane: add tailsitter input type TAILSITTER_INPUT_BF_ROLL 2019-03-06 15:48:51 +11:00
Mark Whitehorn 01d6f1d932 ArduPlane: add body-frame yaw mode for tailsitters 2019-03-06 15:48:51 +11:00
IamPete1 872c3df45c Plane: tailsitter pull in copter ouputs from AP_motors 2019-03-06 14:46:39 +11:00
Peter Barker bd444d97dc Plane: move sending of airspeed_autocal into AP_AirSpeed 2019-03-06 11:32:52 +11:00
Mark Whitehorn 6e4a2b97f9 ArduPlane:add subclass for copter tailsitters 
cleanup and add tailsit_motmx
add constexpr and motor mask check
add support for tricopter tailsitter
don't call output_motor_mask unless armed
fix whitespace
 2019-03-06 07:53:46 +09:00
Peter Barker 94899bd2ed Plane: move sending of send_pid_tuning up 2019-03-05 10:41:56 +11:00
Mark Whitehorn 61aff344d3 ArduPlane: add high-speed Qmode tailsitter gain scaling with support for airspeed sensor 2019-03-05 10:27:42 +11:00
Mark Whitehorn 487ad7a90f Plane: add QACRO mode for quadplanes 
use acro_r/p/y_rate params in qacro
port ACRO throttle handling from copter

handle non-tailsitter controls
 2019-03-05 10:13:20 +11:00
Peter Barker a451380d61 Plane: avoid int32_t<->float conversions 2019-03-01 12:09:58 +11:00
Dr.-Ing. Amilcar do Carmo Lucas f430fd14f6 Plane: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Andrew Tridgell cd1f21b806 Plane: removed some px4 specific code and docs 2019-02-27 20:32:37 +11:00
IamPete1 f24c6785f2 Plane: add E-stop 2019-02-27 08:51:24 +09:00
Andrew Tridgell 136e10a781 Plane: handle VTOL landing with incorrect height 
if landing above expected height then run landing detector to allow a
switch from LAND_DESCEND to LAND_FINAL

this prevents the plane sitting on the ground until the battery runs
out
 2019-02-26 11:12:58 +11:00
Peter Barker dea75a87fd Plane: AHRS set_orientation renamed to update_orientation 2019-02-26 10:28:09 +11:00
Michael du Breuil b290148ed0 Plane: Don't overwrite the quadplane loiter relax 2019-02-23 11:08:21 +11:00
Andrew Tridgell a278a152fc Plane: fixed throttle nudge 
broken by recent radio input changes

Thanks to Michael for noticing!
 2019-02-22 18:41:34 +11:00
Michael du Breuil c15983c690 Plane: prevent loss of control when Q_ENABLE is set while flying 
Also rename check_throttle_suppression
 2019-02-21 21:38:03 -07:00
Andrew Tridgell c290b1f3b5 Plane: fixed servo jitter due to airspeed estimate from throttle 
when we have no other airspeed source and we are armed we get airspeed
from throttle. the default setting of k_throttle in the radio code
caused an oscillation of the value used in the airspeed estimate, each
time a RC frame came in.
 2019-02-22 14:42:17 +11:00
Michael du Breuil 25a2c77782 Plane: Fix not logging quadplane control, and over logging attitude control 2019-02-22 11:59:26 +11:00
Andrew Tridgell d7abf27ec2 Plane: fixed servo jitter due to airspeed estimate from throttle 
when we have no other airspeed source and we are armed we get airspeed
from throttle. the default setting of k_throttle in the radio code
caused an oscillation of the value used in the airspeed estimate, each
time a RC frame came in.
 2019-02-22 10:27:36 +11:00
Peter Barker c24759d3df Plane: use abs not fabsf for integers 2019-02-20 19:23:54 +11:00
Peter Barker cdde2b7d64 Plane: Rally no longer takes ahrs in constructor 2019-02-20 18:03:38 +11:00
Michael du Breuil 5134af2298 Plane: Manage quadplane throttle during RC failsafe 2019-02-19 20:41:05 -07:00
Peter Barker 1ab80ddce0 Plane: move update_sensor_flags to GCS_Plane.cpp 2019-02-20 11:57:00 +11:00
Peter Barker 34853fb1bf Plane: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker a3c13fc028 Plane: move sensor flags to be a GCS thing rather than a GCS_MAVLINK thing 2019-02-19 14:09:59 +11:00
Peter Barker 33541dcbf6 Plane: GCS_MAVLink takes care of mavlink capabilities 2019-02-19 13:14:52 +11:00
Peter Barker 5690a0ea4a Plane: move try_send_message of nav_controller_output up 2019-02-19 10:08:00 +11:00
Mark Whitehorn 95b3a5bacd ArduPlane: implement hover throttle learning for quadplanes 
disable by default
check quadplane.enable in update_hover_learn
 2019-02-16 19:04:13 -08:00
Peter Barker 0858847294 Plane: remove redundant send_ekf_origin 2019-02-15 08:28:45 +11:00
Peter Barker 0c880a4c3e Plane: remove redundant home-setting sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker b6bf8d8368 Plane: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker 5a19f447a7 Plane: devo telemetry no long requires singleton classes to be passed in 2019-02-13 19:24:07 +00:00
Peter Barker 4f249db8bc Plane: move responsibility for parachute deployment up 2019-02-13 09:25:27 +09:00
Peter Barker 30671a6743 Plane: move handling of command-int MAV_CMD_DO_SET_HOME up 
Plane: eliminate set_home shim around AP_AHRS::set_home
 2019-02-13 09:42:26 +11:00
Peter Barker cfb3dfc4e5 Plane: AP_Frsky_Telem uses singletons 2019-02-12 17:53:23 +00:00
Andrew Tridgell 0089e98bb6 Plane: call AHRS resetHeightDatum() on baro reset 
this prevents the AMSL estimate from the EKF going off badly if we
disarm at a high altitude
 2019-02-12 12:17:02 +11:00
Peter Barker 3bba981a00 Plane: dataflash always emits rally points at startup 2019-02-12 11:48:55 +11:00
Mark Whitehorn b9f3118374 Plane: allow changing Q_TRIM_PITCH in flight 
change float comparison to is_equal
 2019-02-12 09:42:19 +11:00
Tom Pittenger c422a21f55 Plane: ICE to use ahrs singleton 2019-02-05 15:34:08 +11:00
Peter Barker 6e1dc79b75 Plane: move handling of RC_CHANNELS_OVERRIDE up 2019-02-05 13:59:21 +11:00
Peter Barker b48cb1e367 Plane: move sending of sys_status message up 2019-02-05 11:07:39 +11:00
Michael du Breuil df1632054e Plane: Update throttle mix 2019-02-05 11:05:54 +11:00
Andrew Tridgell 5dbf603450 Plane: separate out slew limit logic for left/right throttles 2019-02-03 05:06:37 -08:00
Andrew Tridgell 28cf9d2f24 Plane: allow rudder at zero throttle 
if rudder disarming is disabled
 2019-02-03 05:02:07 -08:00
Randy Mackay 4d5e13f1d4 Plane: : integrate AC_WPNav::get_speed rename to get_default_speed 2019-01-31 19:34:32 +09:00
Peter Barker a697d5f6fe Plane: AC_Fence is included for all vehicles 2019-01-31 13:44:29 +09:00
Peter Barker 11dd83e23a Plane: remove rally argument from Write_Rally - use singleton 2019-01-31 09:51:25 +09:00
Peter Barker 68b9e64077 Plane: remove old, unfulfilled method declarations 2019-01-30 09:03:52 +09:00
Tom Pittenger 05bf329d81 Plane: ignore battery failsafe during landing 
fixes https://github.com/ArduPilot/ardupilot/issues/10320
 2019-01-23 14:16:27 -07:00
Nathan E 4d7fc66657 Update parameters.cpp per magicrub comments 2019-01-23 09:24:18 -07:00
Nathan E 448d19ddbb Update ArduPlane/Parameters.cpp 2019-01-23 09:24:18 -07:00
Mark Whitehorn 5c81a78c9c Plane: tailsitter forward transition bugfix 2019-01-22 12:55:47 +11:00
Peter Barker 40856fef56 Plane: remove vestiges of old PX4_MIXER code 2019-01-19 19:31:03 +11:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker 99a93112b4 Plane: remove PX4-specific code that disables overrides on reboot 2019-01-18 17:32:02 +11:00
Andrew Tridgell bc438676ab Plane: fix tailsitter logged attitude targets 2019-01-18 14:16:55 +11:00
Peter Barker 129762d3af Plane: APM_Control uses DataFlash singleton, stop passing it 2019-01-18 14:14:22 +11:00
Francisco Ferreira d0fa931b09
Plane: add KDECAN to included libraries 2019-01-18 00:57:32 +00:00
Peter Barker 76b31f315a Plane: log_terrain_data no longer takes a DataFlash argument 2019-01-18 11:17:40 +11:00
Peter Barker a35fbb4a11 Plane: Log_Write_SIMSTATE no longer takes dataflash pointer 2019-01-18 11:16:54 +11:00
Peter Barker cb92fba701 Plane: remove PX4 FWVersion info 2019-01-16 11:47:55 +11:00
Peter Barker b258e89a2d Plane: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Peter Barker acafb0f3c1 Plane: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Randy Mackay 2650b1fe93 Plane: desired-ground-idle replaces spin-when-armed 2019-01-15 11:41:44 +09:00
Michael du Breuil 843c92ced5 Plane: Remove some redundant code/state resets 2019-01-15 10:45:50 +11:00
IamPete1 9c0ac5899f Plane: pass rudder diffential thrust to AP_motors 2019-01-15 10:19:19 +11:00
IamPete1 eaed0a2d47 Plane: make rudder differnal thrust global 2019-01-15 10:19:19 +11:00
Andrew Tridgell f35cebcca4 Plane: fixed EKF yaw reset 
we need to do the yaw reset before updating the rest of quadplane, or
it is not effective

thanks to Leonard for noticing the bug!
 2019-01-14 08:32:17 +11:00
Andrew Tridgell 53a1d98b68 Plane: fixed VTOL takeoff to ignore lat/lon in mission 
we should always takeoff vertically
 2019-01-11 13:48:45 +11:00
Peter Barker 5c90a2dab2 Plane: Terrain uses rally singleton 2019-01-09 10:14:16 +11:00
Michael du Breuil d6cac4b52a Plane: Add a failure timer for quadplane forward transitions 
Falls over to QLAND if we fail to transition
 2019-01-08 10:52:12 +11:00
Michael du Breuil 64e152fbc0 Plane: Remove unneeded GCS rally override 2019-01-08 10:39:50 +11:00
Michael du Breuil ae6dc01cd5 Plane: Reset all storage when format version is incorrect 2019-01-08 10:35:37 +11:00
murata 02d692f32e Plane: Delete NuttX version processing 2019-01-08 10:06:20 +11:00
Andrew Tridgell 97e54f6359 Plane: allow mavlink when in sensor error 2019-01-04 19:17:31 +11:00
Michael du Breuil 09f6ec8a00 Plane: Remove unneeded AP_Buffer include 2018-12-31 11:41:43 +09:00
Michael du Breuil e6bc44f471 Plane: Fix cases where quadplane level transition was not applied 2018-12-31 10:36:32 +11:00
Michael du Breuil 69c87c6c4a Plane: Disallow arming if quadplane has been requested but isn't available 2018-12-28 18:09:21 +11:00
IamPete1 9c2db806f3 Plane: add units to Q_VFWD_ALT 2018-12-28 16:15:41 +11:00
Andrew Tridgell 7939f3488b Plane: log PIDs during QAUTOTUNE twitch 2018-12-22 15:10:23 +11:00
Andrew Tridgell 088442880e build: removed makefile build system 2018-12-22 11:06:59 +11:00
Andrew Tridgell 9117dcc54b Plane: don't log QTUN when VTOL not active 2018-12-21 22:17:52 +11:00
Andrew Tridgell d3afc9424a Plane: make QTUN logging match copter logging 2018-12-21 22:17:52 +11:00
Andrew Tridgell 1013eddfce Plane: use AHRS_View for RATE logging 2018-12-21 22:17:52 +11:00
IamPete1 1a98989ac6 Tailsitter: move mixer to AP_motors 2018-12-21 11:19:18 +09:00
Michael du Breuil a78bce32c0 Plane: Allow users to force target airspeed in cruise or fbwb 2018-12-18 22:36:55 -08:00
Peter Barker d133f998c5 Plane: split SIMSTATE, AHRS2 and AHRS3 onto their own ap_message ids 2018-12-19 13:19:23 +11:00
Peter Barker 54022b6b57 Plane: split DISTANCE_SENSOR onto its own ap_message id 2018-12-19 07:24:37 +11:00
Randy Mackay a96c1566ec Plane: fix quadplane pos control param docs 2018-12-18 12:01:07 +00:00
Peter Barker 17f244ce9f Plane: try_send_message caller checks telemetry_delayed 2018-12-18 14:25:56 +11:00
Peter Barker 5137c0ab5f Plane: split SYS_STATUS and POWER_STATUS onto separate ap_messages 2018-12-18 14:05:20 +11:00
Michael du Breuil 47dfafd670 Plane: Ensure that the plane is an appropriate distance out before starting the approach 2018-12-18 10:11:22 +11:00
Michael du Breuil 05484c3987 Plane: Support a different landing airspeed for fw quadplane landings 2018-12-18 10:11:22 +11:00
Michael du Breuil 1a45755ffd Plane: Support a different landing radius for quadplane fw approach 2018-12-18 10:11:22 +11:00
Michael du Breuil f1154a6e7c Plane: Pass the mission command around rather then fetching it 2018-12-18 10:11:22 +11:00