Commit Graph

196 Commits

Author SHA1 Message Date
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
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
Tom Pittenger a3ccca17ff Plane: use fabsf instead of fabs 2016-12-06 17:38:47 -08:00
Peter Barker 669dc01b67 Plane: correct on_flight_line landing stage check 2016-12-06 03:24:41 -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
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 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 fc2f518f31 Plane: revert auto_state.checked_for_autoland back to Plane 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 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
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
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
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
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
murata 2f18d1de73 Plane: To add a judgment of 0 degrees longitude. 2016-10-04 08:15:23 -07:00
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
floaledm 71921f3aa4 Plane: removed frsky_telemetry_send scheduled task 2016-08-25 10:16:17 +10:00
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 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
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
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
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 327a057ee0 Plane: added internal combustion engine support
this allows for automatic engine start and restart
2016-07-25 10:06:03 +10:00
Andrew Tridgell 3f0a8d1761 Plane: added AP_Button support for plane
this also adds the g2 parameter table
2016-07-22 15:01:20 +10:00
Tom Pittenger 3177dc2f31 Plane: ADSB service needs to run at 10Hz for dynamic ADSB data 2016-07-20 22:46:51 -07:00
Tom Pittenger ab38b12f2c Plane: adsb specific status updates 2016-07-20 22:40:14 -07:00
Andrew Tridgell 4da3236c07 Plane: separate out landing height adjustment from barometer changes
this stores a landing height adjustment for an aborted landing
without adjusting barometer readings, applying them only on landing
2016-07-20 22:04:21 -07:00
Andrew Tridgell 1256c2f351 Plane: changed for AP_Vehicle API change 2016-06-24 11:39:23 +10:00
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
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
Michael du Breuil bb9086b87f Plane: setup mixer in the one second loop when disarmed 2016-06-06 15:17:37 +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
Andrew Tridgell be14714fa4 ArduPlane: update signing timestamp on GPS lock 2016-05-21 15:25:13 +10:00
Tom Pittenger 4a6dd5a781 Plane: reset baro drift when setting home while disarmed 2016-05-17 15:32:42 -07:00
Tom Pittenger 78d6291e2c Plane: corrected land abort gcs msg 2016-05-13 17:22:13 -07:00
Tom Pittenger 6c0579a895 Plane: for better helical landings allow for instant approach stage if previous nav cmd was LOITER_TO_ALT 2016-05-13 17:22:07 -07:00
Andrew Tridgell 574ba71ef3 Plane: update for AP_TECS API change 2016-05-14 08:26:10 +10:00
Andrew Tridgell 12e0012b16 Plane: allow for NAV_LOITER_UNLIM and NAV_LOITER_TIME in quadplane 2016-05-11 15:57:41 +10:00
Andrew Tridgell 3fc43b94f9 Plane: separate out auto and guided VTOL states
this prevents a switch to AUTO from using VTOL mode incorrectly
2016-05-11 15:14:43 +10:00
Andrew Tridgell 691d4b6ca7 Plane: added local reached_loiter_target()
this distinguishes between VTOL and fixed wing loiter targets
2016-05-11 05:55:26 +10:00
Andrew Tridgell 6b358a5618 Plane: added Q_GUIDED_MODE parameter
this allows you to do hybrid VTOL and fixed wing guided mode
2016-05-11 05:55:25 +10:00
Andrew Tridgell eab42c5740 Plane: fixed attitude logging with fast logging off 2016-05-11 05:55:24 +10:00
skyscraper 7f29903287 ArduPlane: Fix up after refactoring RC_Channel class
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
Andrew Tridgell cbbf26a1f6 Plane: removed Log_Write_IMUDT 2016-05-07 18:27:20 +10:00
Andrew Tridgell 3bbc6353d8 Plane: use have_ekf_logging() 2016-05-07 18:27:20 +10:00
Andrew Tridgell 226e6f1d6c Plane: only save compass offsets when disarmed and learning enabled 2016-04-30 16:43:14 +10:00
Andrew Tridgell abfcf89f5e Plane: reduced the rate of EKF and attitude logging to 25Hz
this will reduce the log file size while not appreciably reducing the
ability to analyse logs
2016-04-30 14:34:47 +10:00
Andrew Tridgell 0fd044c1f7 Plane: added Q_RTL_MODE parameter
used to switch to VTOL landing on RTL
2016-04-30 14:34:47 +10:00
Andrew Tridgell 4666b25258 Plane: initial implementation of QRTL for quadplane RTL 2016-04-30 14:34:47 +10:00
Michael du Breuil 731c68f273 Plane: Change mode to RTL on end of mission rather then staying in auto
Deleted commands_process as it had 2 lines of useful code left, and was cleaner to move the remaining two lines into the caller case
2016-04-29 13:12:18 +10:00
Luis Vale Gonçalves 73ac146b7e Revising ardupilot.com to .org
Revising ardupilot.com to .org
2016-04-23 22:49:37 -07:00
Andrew Tridgell 07168c3db4 Plane: fixed places that assumed mission command IDs are 8 bit 2016-04-23 21:03:46 +10:00
James Stoyell 4e7e84fc99 Plane: Modified last_valid_rc_ms AFS failsafe input to work when standard failsafe is on
Ran into a bug on our physical plane where failsafe.last_valid_rc_ms was not recognizing that the transmitter had failed. This is likely due to how the standard failsafe works in receiving lower-than-possible throttle values. So in order to account for this, I added a new variable to the failsafe, AFS_last_valid_rc_ms, and I update it only if the ch3_failsafe (the throttle failsafe) is not on. If the throttle failsafe is on, that means that the plane has indeed lost transmitter input, so the AFS needs to recognize that.
2016-04-22 11:48:36 -07:00
Tom Pittenger 2ba9a04bf5 Plane: smooth-out the end of takeoff pitch by reducing takeoff pitch min via TKOFF_PLIM_SEC
@Description: This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be. (+1 squashed commits)
2016-04-21 22:54:17 -07:00
Tom Pittenger 183369b92a Plane: take advantage of L1 stale flag and correctly inhibit flight stage if not lined up on approach 2016-04-21 21:30:58 -07:00
Tom Pittenger c5a3b1b134 Plane: non-functional change - change labels for approach flight stage criteria 2016-04-21 21:30:56 -07:00
Tom Pittenger 85913bd237 Plane: rely on flight stage to know if we're doing auto_land in TECS 2016-04-21 21:30:53 -07:00
Tom Pittenger 6a83ad419a Plane: moved update_flight_stage() inside setup_glide_slope()
the glide_slope gets calculated every time there's a major event such as mission item change or wp_proportion change so its good to update the flight stage then too because.
also logging stage when stage changes, might as well get an extra data point in there when it's timely
2016-04-21 21:30:51 -07:00
Michael du Breuil ef348473eb Plane: Remove tecs_hgt_afe from the 50hz tecs update 2016-04-21 17:03:00 +10:00
Michael du Breuil f5749b44cd Plane: Move position update to 50hz loop rather then the 10hz 2016-04-21 16:53:20 +10:00
Andrew Tridgell cf7b6123a9 Plane: log the number of lost log messages 2016-04-21 16:45:02 +10:00
Andrew Tridgell 8683616d8c Plane: redo scheduler table and improve perf logging
The scheduler table was still setup for a worst case CPU of
AVR2560. Adjust times for the stm32 and improve perf logging
2016-04-21 16:45:02 +10:00
Andrew Tridgell a7006a7784 Plane: refactor perf variables into a structure 2016-04-21 16:45:02 +10:00
Andrew Tridgell 97a7192f76 Plane: make it more obvious that AUTO_FBW_STEER is not for normal use 2016-04-06 07:58:23 +10:00
Andrew Tridgell f4ccf94dfc Plane: added QLAND mode
for VTOL landing. Use for failsafe as well
2016-03-09 18:20:41 +11:00
Tom Pittenger 9e452838ab Plane: loiter missions to default to loiter_radius if mission says 0 or 1.
- except loiter_unlim which uses RTL_loiter, although I'm not sure why.
2016-02-29 10:12:20 -08:00
Andrew Tridgell 93ac82e1f6 Plane: write voltage/current much more frequently 2016-02-29 21:24:54 +11:00
Tom Pittenger b8fc524954 Plane: enforce expected flight_stage in TECS 2016-02-25 06:37:24 -08:00
Tom Pittenger a280396645 Plane: nonfunctional change, comment only. Units were in old in comment 2016-02-12 12:14:38 -08:00
Tom Pittenger c837fbca2f Plane: 3/3 new param TECS_LAND_SRC for Land Sink Rate Change
// @Description: When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value.
2016-02-12 11:39:27 -08:00
Tom Pittenger 8ac6343730 Plane: removing mission_cmd in TECS and making it bool is_landing
this is reverse-thrust cleanup suggested by Tridge
2016-02-12 11:22:59 -08:00
Tom Pittenger 046741d23b Plane: abort landing at 90% throttle instead of 95% 2016-02-08 21:13:43 -08:00
Tom Pittenger b098466e87 Plane: reduce redundant logging of STAT from 6 Hz to 5 Hz
- STAT log entry was being done every 5 Hz plus at 1 Hz. This removes the 1Hz.
2016-02-08 21:13:12 -08:00
Tom Pittenger 66fcd8f58a Plane: run is_crashed at 5hz instead of 1hz 2016-02-08 21:13:04 -08:00
Tom Pittenger 2e92089ce6 Plane: Reverse Thrust
Reverse thrust for controlled landings, even with much steeper approach slopes. This is achieved by allowing throttle demand to go negative to maintain a target airspeed. A Pre-Flare stage was added, triggered by an altitude, to allow for a slower airspeed just before land. That lower airspeed can be near stall.
new params LAND_PF_ALT, LAND_PF_SEC, LAND_PF_ARSPD, USE_REV_THRUST
2016-02-09 14:18:02 +11:00
Tom Pittenger b8d5369ebd Plane: add flight stage LAND_PREFLARE 2016-02-09 14:18:02 +11:00
Andrew Tridgell d82c8dcd6d ArduPlane: update for changed AP_Camera API 2016-01-29 09:19:44 +11:00
Dario Lindo Andres 9bba55f937 ArduPlane: Added precise camera trigger logging
Added update_trigger and check_digital_pin functions
added camera trigger precise time mark
detect camera feedback pin status
added support for simple digital pin
included support for digital pin. Already included in
added support for TRIGGER MSG
2016-01-29 09:19:43 +11:00
Andrew Tridgell 69b2421563 Plane: ensure TECS is updated at 10Hz only 2016-01-20 17:23:36 +11:00
Andrew Tridgell 23eef91c59 Plane: added parameter RTL_RADIUS
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
Andrew Tridgell 418464ab8c Plane: added quadplane version of is_flying() 2016-01-09 07:38:53 +11:00
Andrew Tridgell 5e784ddb5c Plane: consider flying status for throttle_wait 2016-01-09 07:38:53 +11:00
Andrew Tridgell 7afa2a493d Plane: implement VTOL flight stage 2016-01-09 07:38:53 +11:00
Andrew Tridgell 0d6b353bcb Plane: added quad assistance and auto support for quadplane 2016-01-09 07:38:52 +11:00
Andrew Tridgell 2983576067 Plane: added QLOITER mode
quadplane loiter
2016-01-09 07:38:52 +11:00
Andrew Tridgell ca85c332d6 Plane: separate QSTABILIZE and QHOVER modes 2016-01-09 07:38:52 +11:00
Andrew Tridgell 6468fc6d93 Plane: Initial implementation of quadplane
adds "HOVER" mode
2016-01-09 07:38:52 +11:00