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23,713 Commits 71 Branches 510 Tags 757 MiB
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2360 Commits

Author SHA1 Message Date
Andrew Tridgell
bf2e30f858 Plane: removed demo_servos() 
this really didn't help much and slows down startup
 2016-06-27 10:19:26 +10:00
Andrew Tridgell
66e43bf6a2 Plane: start with low integrator on back quadplane transition 
When changing to alt_hold controller in quadplane with significant
airspeed set the initial integrator to minus the hover throttle to
allow the accel controller to climb slowly
 2016-06-27 10:18:20 +10:00
Leonard Hall
f1bca63094 Plane: consolidate input_euler_angle calls to use smoothing gain 2016-06-24 17:17:19 +09:00
Andrew Tridgell
1256c2f351 Plane: changed for AP_Vehicle API change 2016-06-24 11:39:23 +10:00
Tom Pittenger
d2365c25c6 Plane: increase update_waypoint() distance threshold during update_loiter() 
- outside this radius of a loiter waypoint is where crosstracking is available
 2016-06-23 12:43:03 -07:00
Andrew Tridgell
f514e76f52 Plane: reset ground_start_count if we lose 3D fix 
thanks to Michael for this suggestion
 2016-06-22 21:25:11 +10:00
Randy Mackay
82bd847e11 Plane: add AC_Avoidance, AC_Fence to build 2016-06-22 11:38:15 +09:00
Randy Mackay
9201a57c83 QuadPlane: include AC_Avoidance, AC_Fence 
This is required because of AC_WPNav's use of the new avoidance library to stop at the fence
 2016-06-22 11:38:15 +09:00
Tom Pittenger
9b973fb899 Plane: add ADSB_streamrate 2016-06-19 11:24:31 -07:00
Randy Mackay
ef1385c9ed QuadPlane: add comment that eeprom 28 and 41 were used for THR_MIN, MID 2016-06-18 11:55:49 +09:00
Randy Mackay
413f82bac1 Plane: remove unused definitions 2016-06-18 11:55:49 +09:00
Randy Mackay
b456a38432 QuadPlane: remove throttle_mid 
motor's hover throttle is automatically updated
 2016-06-18 11:55:49 +09:00
Randy Mackay
2523ba892b QuadPlane: set attitude vs throttle priority in attitude controller 2016-06-18 11:55:49 +09:00
Randy Mackay
f2b0f09d6f QuadPlane: remove THR_MIN 2016-06-18 11:55:49 +09:00
Tom Pittenger
f05c698176 Plane: fix compile error for RANGEFINDER_ENABLED 
Plane: #define check for rangefinder enabled in relative_ground_altitude()
 2016-06-16 14:19:10 -07:00
Andrew Tridgell
40db90cebe Plane: limit roll and pitch to Q_ANGLE_MAX in Q modes 
planes often have large LIM_ROLL_CD
 2016-06-16 22:00:04 +10:00
Andrew Tridgell
b1b73e2d99 Plane: improved quadplane landing detector 
look for no vertical position change for 5s as well as low motors
 2016-06-16 18:17:56 +10:00
Tom Pittenger
773962940c Plane: quadplane for fwd_throttle integrator inhibit reverse thrust and allow min>0 for petrol 2016-06-13 14:31:50 -07:00
Tom Pittenger
b6196dfa92 Plane: compiler warning in print: float to double promotion 2016-06-13 14:03:40 -07:00
Andrew Tridgell
107691b7a7 Plane: fixed initial descent rate in quadplane auto land 2016-06-11 14:37:44 +10:00
Andrew Tridgell
f8e0e91cbd Plane: prepare for 3.6.0 2016-06-11 09:20:05 +10:00
Andrew Tridgell
eb8cd13a50 Plane: update release notes for 3.6.0 2016-06-11 09:19:13 +10:00
Andrew Tridgell
e05c7b3367 Plane: check if terrain following is enabled in AGL calculation 2016-06-10 17:48:32 +10:00
Andrew Tridgell
19834c12e2 Plane: log start of quadplane transition 2016-06-10 17:48:32 +10:00
Andrew Tridgell
8156b3f7de Plane: fixed quadplane landing transition altitude 2016-06-10 17:48:32 +10:00
Andrew Tridgell
07564aa03f Plane: fixed an attitude control bug in quadplane transition 
The motors would briefly spike at the end of the transition which
could cause a major pitch deviation
 2016-06-10 17:48:32 +10:00
Tom Pittenger
69f29b51d1 Plane: new param Q_VFWD_ALT to disable VFWD motor below this altitude. Also uses rangefinder 2016-06-10 17:48:31 +10:00
Andrew Tridgell
021aebeac0 Plane: check for high ratio of rmsD to rmsP in tuning 2016-06-10 17:48:31 +10:00
Tom Pittenger
65e0e31a7a Plane: parachute low-alt check should not require auto mode to ever be set 2016-06-08 08:15:11 -07:00
Tom Pittenger
204abfd45e Plane: set heartbeat.system_status to Critical for low-battery failsafe events 2016-06-07 17:14:51 -07:00
Tom Pittenger
263931b4b1 Plane: allow manual parachute releases on the ground 2016-06-07 09:02:09 -07:00
Tom Pittenger
ef3d17cc4c Plane: parachute code can not rely on is_flying() because it is unreliable in a stalled aircraft 2016-06-07 09:01:29 -07:00
Tom Pittenger
3140ce6ab6 Plane: change MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT gcs msg to remove abbreviations. Hope it fits! 2016-06-07 08:28:35 -07:00
Tom Pittenger
bd270720da Plane: whitespace formatting 2016-06-07 08:27:40 -07:00
Michael Day
429e348824 Plane: Can now change current WP alt via mavlink. 
Uses the mavlink msg SET_POSITION_TARGET_GLOBAL_INT
 2016-06-07 08:16:39 -07:00
Tom Pittenger
01e636065d Plane: non-functional: mostly whitespace and removed extra set result statement 2016-06-07 08:11:05 -07:00
Michael Day
2c0f0a04d8 Plane: Only allow speed changes in GUIDED and AUTO modes. 2016-06-07 08:22:44 -04:00
Michael Day
cdeef9d692 Plane: Fence breaches can go to RTL mode with new FENCE_ACTION setting. 2016-06-07 15:46:52 +10:00
E Thomas
7d824247af Differential spoilers support, elevon offset 
Fixed differential spoilers support, added elevon offset
See PR #2935
 2016-06-06 21:55:50 -07:00
Michael du Breuil
037a7980d6 Plane: fix calculation of override PWM 2016-06-06 16:23:43 -07:00
Tom Pittenger
ee29f38cdf Plane: moved takeoff flap check to NORMAL checks. 
TODP: add new flight stage FLIGHT_PRE_TAKEOFF to put this sort of thing into
 2016-06-06 14:51:24 -07:00
Samuel Rosenstein
296b279f0d Plane: fixed issue with preflight flaps. Flaps now go down in preflight mode 2016-06-06 14:18:44 -07:00
Michael du Breuil
41bb237799 Plane: remove throttle surpressed message 2016-06-06 15:24:18 +10:00
Andrew Tridgell
5a544002cb Plane: fixed memory leak in mixer setup 2016-06-06 15:21:17 +10:00
Michael du Breuil
bb9086b87f Plane: setup mixer in the one second loop when disarmed 2016-06-06 15:17:37 +10:00
Michael du Breuil
fc3ab7b691 Plane: rename var to avoid a var with the name of a c++ keyword 2016-06-06 15:17:15 +10:00
Andrew Tridgell
c54d553df1 Plane: prevent continually loading the mixer 2016-06-06 15:14:28 +10:00
Michael du Breuil
7f73da535a Plane: if setting a mixer fails then clear the last crc so that it will be attempted again 2016-06-06 07:50:43 +10:00
Andrew Tridgell
eae2bf54ca Plane: fixed gcc 6.1 build error 2016-06-06 07:43:45 +10:00
Andrew Tridgell
8d3a58f0a2 Plane: allow tuning of more parameter sets 2016-06-04 19:20:31 +10:00
Andrew Tridgell
835235127c Plane: prevent divide by zero in SITL 
harmless on PX4
 2016-06-04 19:20:18 +10:00
Tom Pittenger
b9cee76bbe Plane: fix quadplane integrator to always clip to at least 0 to throttle_max 2016-06-03 23:46:18 -07:00
Tom Pittenger
82763ec8a9 Plane quadplane to use relative_ground_altitude() to take advantage of rangefinder easier 2016-06-03 23:44:21 -07:00
Tom Pittenger
f3ceee5389 Plane: use relative_ground_altitude 2016-06-03 23:43:54 -07:00
Tom Pittenger
b3f182157c Plane: take advantage of rangefinder support in relative_ground_altitude() 2016-06-03 23:43:43 -07:00
Andrew Tridgell
77b7852ff0 Plane: adjust recommend ranges for quadplane Q_VFWD_GAIN and Q_WVANE_GAIN 2016-06-04 11:04:15 +10:00
Tom Pittenger
a596aa5907 Plane: do not log CURR.Throttle because it's already logged elsewhere 2016-06-02 16:59:13 -07:00
Tom Pittenger
f83a6ca1ff Plane: fixed variable misspelling 2016-06-02 15:10:51 -07:00
Andrew Tridgell
978a89efa6 Plane: added new ESC calibration method 2016-06-02 18:10:37 +10:00
Andrew Tridgell
860587ece7 Plane: disable parachute checks when min alt is zero 2016-06-02 18:07:16 +10:00
Peter Barker
ee5290c178 Plane: avoid switch statement for enabling fence if no fence present 2016-06-02 14:37:21 +10:00
Tom Pittenger
954c987075 Plane: do not parse GEOFENCE packets when geofence is disabled via compile option 2016-06-01 17:38:52 -07:00
Tom Pittenger
af1407a155 Plane: disable parachute code when not enabled via compile option 2016-06-01 17:38:51 -07:00
Tom Pittenger
ea9e39212f Plane: use new check_latlng helper 2016-06-01 17:38:51 -07:00
Andrew Tridgell
da5ce37bbc Plane: fixed gain on -ve stick mixing past 50% 
fixed a sign error in calculating gain on -ve stick mixing beyond 50%
input

thanks to Doug Weibel for a log that showed this effect
 2016-06-02 08:07:55 +10:00
Andrew Tridgell
b17c800f44 Plane: use axis specific tuning controller error 
this gives user feedback on the axis they are tuning
 2016-06-01 17:19:33 +10:00
Tom Pittenger
a80a87eb09 Plane: simplify TECS prep logic by utilizing auto_state.land_in_progress 2016-05-31 09:46:52 -07:00
Tom Pittenger
4db5b80b37 Plane: add flag for auto_state.land_in_progress 2016-05-31 09:46:51 -07:00
Tom Pittenger
4ebaab86ec Plane: override is_flying for quadplane 2016-05-31 09:46:50 -07:00
Peter Barker
28361afc2a Plane: move telemetry_delayed up into base class 2016-05-31 08:46:09 +10:00
Peter Barker
9ee62aac30 Plane: move adjust_rate_for_stream up 2016-05-29 19:38:50 +10:00
Peter Barker
af5a52e2aa Plane: subclass GCS_MAVLink in place of defining its functions for it 2016-05-29 16:21:21 +10:00
Andrew Tridgell
f96836ab9a Plane: prevent a discrepancy between EKF origin and home for altitude 2016-05-29 15:47:26 +10:00
Andrew Tridgell
ba3576f027 Plane: added tuning error reporting for quadplanes 2016-05-28 17:33:30 +10:00
Andrew Tridgell
b56d784ae4 Plane: limit to zero pitch in quadplane on initial transition 2016-05-28 15:08:46 +10:00
Andrew Tridgell
20cf326093 Plane: lower throttle threshold for quadplane is_flying 2016-05-28 07:10:13 +10:00
Tom Pittenger
e3930b45df Plane: force the safety_state immediately because we want it to be in effect while we make mixer changes 2016-05-27 21:34:40 +10:00
Tom Pittenger
4785650c95 Plane: remove redundant calls to safety_state 2016-05-27 21:34:40 +10:00
Andrew Tridgell
9933069679 Plane: fixed motor test by percentage in quadplane 2016-05-27 11:53:20 +10:00
Andrew Tridgell
191d6df0ea Plane: moved EKF2 to a new parameter index 
the meanings of many of the parameters have changed. Best to use a new
index to prevent old parameters from causing crashes
 2016-05-25 19:35:17 +10:00
Andrew Tridgell
6e4c0dd3d7 Plane: allow non-blocking calibrations while armed 2016-05-24 17:10:41 +10:00
Andrew Tridgell
0f50f483b8 Plane: update for new airspeed calibration 2016-05-24 17:00:56 +10:00
Andrew Tridgell
d3494d1369 Plane: don't stall EKF during baro cal 2016-05-24 17:00:56 +10:00
Andrew Tridgell
5b4bbf08fd Plane: use send_heartbeat wrapper 2016-05-21 15:25:18 +10:00
Andrew Tridgell
4a7dea0c5b Plane: simplify UART setup 2016-05-21 15:25:16 +10:00
Andrew Tridgell
9f47e6417b Plane: always build with MAVLink2 headers 2016-05-21 15:25:16 +10:00
Andrew Tridgell
309dbef2ec Plane: fixed mavlink1 dependency on px4 2016-05-21 15:25:15 +10:00
Andrew Tridgell
eee06da1b5 Plane: use HAVE_PAYLOAD_SPACE() 2016-05-21 15:25:14 +10:00
Andrew Tridgell
be14714fa4 ArduPlane: update signing timestamp on GPS lock 2016-05-21 15:25:13 +10:00
Andrew Tridgell
a103e70460 ArduPlane: handle SETUP_SIGNING message 2016-05-21 15:25:13 +10:00
Andrew Tridgell
b7fe96188d Plane: raise range of THR_FS_VALUE 
need to cope with reversed throttle
 2016-05-21 07:39:02 +10:00
Andrew Tridgell
e0a9a8196c Plane: fixed throttle failsafe with THR_PASS_STAB=1 
this prevents using pass-thru throttle when in throttle failsafe
 2016-05-21 07:39:02 +10:00
Don Gagne
151686ce9d ArduPlane: SET_SENSORS_OFFSETS support for third compass 2016-05-19 18:51:17 -03:00
Tom Pittenger
36a1054f77 Plane: remove Tom Pittenger as an author since he's now listed as a lead 2016-05-17 19:16:02 -07:00
Tom Pittenger
c9167f89eb Plane: add Tom Pittenger as co-lead developer 2016-05-17 19:03:38 -07:00
Tom Pittenger
30c5c9eb5d Plane: log SONR.DistCM in cm as SONR.Dist as meters 2016-05-17 18:59:37 -07:00
Tom Pittenger
00863623d7 Plane: SONR logging, remove BaroAlt,GSpd,Thr 2016-05-17 18:59:22 -07:00
Tom Pittenger
b2fb2f3949 Plane: optimize millis() calls by reusing result 2016-05-17 18:59:03 -07:00
Tom Pittenger
1a066cadd2 Plane: fixed float->double print warning 2016-05-17 15:57:26 -07:00
Tom Pittenger
6746b4227a Plane: handle large negative baro offsets (corner case) to self-trigger a land-abort go-around 
new param: LAND_ABORT_DEG
@Description: This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is higher than the intended slope path. Steeper slopes can result in crashes so this allows the option to remember the baro offset and self-abort the landing and come around for a another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC > 0.
 2016-05-17 15:41:09 -07:00