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2919 Commits

Author SHA1 Message Date
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