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4792 Commits

Author SHA1 Message Date
Lachlan Conn d5cc1d4ad0 Plane: QAssist speed warning added 
Also updated the severity of other QAssist messages
 2023-12-13 18:08:36 +11:00
Iampete1 5642d2449a Plane: allow set_takeoff_expected in manual mode 2023-12-12 11:51:33 +11:00
Iampete1 740b04aed3 Plane: Mode: ensure flight stage is correct on successful mode change 2023-12-12 11:51:33 +11:00
Iampete1 21a9f8e3a2 Plane: move landing servo override out of throttle control function 2023-12-12 11:51:33 +11:00
Bob Long f8d7be5e43 Plane: fix bug in RTL_AUTOLAND with rally points 
After loading the rally point, ModeRTL:navigate checks if rally altitude
has been reached before altitude_error_cm gets updated
 2023-12-12 10:58:22 +11:00
Randy Mackay 31e39fc385 Plane: 4.4.4-beta1 release notes 2023-12-05 20:27:01 +11:00
Iampete1 4ac9eb9509 Plane: set_servos_controlled: rework throttle output 2023-12-05 11:00:55 +11:00
Iampete1 41f61da0d9 Plane: Quadplane: add `get_throttle_input` method that behaves the same as Plane::get_throttle_input did 2023-11-29 18:15:01 +11:00
Iampete1 483ef18087 Plane: ignore invalid pilot throttle 2023-11-29 18:15:01 +11:00
Tom Pittenger d1b2c6e564 Plane: set nav_controller stale on mode change 2023-11-28 10:27:19 +11:00
Tom Pittenger 0e9f9920bc Plane: mode LoiterAltQLand to reuse loiter point if available 2023-11-28 10:27:19 +11:00
Randy Mackay 93a2e728da Plane: SYSID_MYGCS param increment 2023-11-28 07:54:45 +09:00
Tom Pittenger b468af81ac Plane: wrap Watt Limiiter in #if AP_BATTERY_WATT_MAX_ENABLED 2023-11-26 11:57:14 +11:00
Andy Piper 60d5e65a1d Plane: DFF logging docs 2023-11-21 13:26:23 +11:00
Andy Piper 0d10f74bf7 Plane: update PID notch centers at 1Hz with average loop rate 2023-11-21 13:26:23 +11:00
Peter Barker ba8e770a81 ArduPlane: stop streaming trying SIM_STATE messages outside sim 2023-11-20 19:25:25 +11:00
Peter Barker ec5fa8bd62 ArduPlane: tidy sending of esc telem generator messages 2023-11-20 19:25:25 +11:00
Peter Barker e1e1fae604 ArduPlane: tidy sending of queued mcu status messages 2023-11-20 19:25:25 +11:00
Peter Barker 803a56a6b4 ArduPlane: tidy sending of queued opticalflow messages 2023-11-20 19:25:25 +11:00
Peter Barker 4f76a6ec65 ArduPlane: tidy sending of queued mount messages 2023-11-20 19:25:25 +11:00
Peter Barker 4b285fa579 ArduPlane: add and use AP_MAVLINK_COMMAND_LONG_ENABLED 2023-11-16 10:50:21 +11:00
Peter Barker e0eacdc197 ArduPlane: handle DO_SET_MISSION_CURRENT as both long and int 2023-11-16 10:50:21 +11:00
Andrew Tridgell 74c9520449 Plane: update release notes for 4.4.3 2023-11-14 12:52:09 +11:00
Andrew Tridgell a318ef333d Plane: release notes for 4.4.3-beta1 2023-11-07 11:20:37 +11:00
Henry Wurzburg 73f58d3624 ArduPlane: expand explanations in FWD THR docs 2023-11-07 10:57:04 +11:00
Iampete1 55040175e6 Plane: Cruise: only lock in heading once moving forwards 2023-11-04 19:07:55 +11:00
Iampete1 5087a4262d Plane: set_servos_idle: output left and right throttles 2023-10-31 14:06:22 +11:00
Iampete1 8061b1b4c2 Plane: move set_servos_idle functionality to ModeAuto 2023-10-31 14:06:22 +11:00
Iampete1 7e4b5b0c97 Plane: rework set_servos_controlled function 2023-10-31 11:18:19 +11:00
Iampete1 a6206bde3c Plane: move to new `using_airspeed_sensor` ahrs method 2023-10-31 10:39:21 +11:00
Peter Barker c91968017b ArduPlane: tidy use of GPS mavlink defines 2023-10-27 14:16:47 +11:00
Peter Barker 628bc02bf1 ArduPlane: save bytes when AP_AIS_ENABLED is false 2023-10-27 14:16:47 +11:00
Peter Barker 7961eb6045 Plane: consider nan as zero in DO_REPOSITION 
QGC's interfaces want to send nan for these parameters
 2023-10-27 14:16:07 +11:00
Peter Barker edb4f25953 ArduPlane: remove MSG_BATTERY_STATUS from steams if AP_BATTERY_ENABLED is false 2023-10-26 13:23:57 +11:00
Michael du Breuil 28d4603a46 Plane: Support not sending a status text on state change 2023-10-25 09:39:51 -07:00
Paweł Rozenblut 1c6b4debe2 Plane: send attitude target message implementation (for quadplanes) 
Minor modification -  implementation of the send_attitude_target msg. streaming (for quadplanes). The code is analogous in its structure and functionality to the implementation in Copter

Co-Authored-By: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2023-10-25 09:53:13 +11:00
Michael du Breuil b630efd4db ArduPlane: Pass the 4th parameter to ICE for engine start 2023-10-24 14:11:39 -07:00
Peter Barker a97adcf9cd ArduPlane: handle MAV_CMD_NAV_TAKEOFF via command_long and command_in 2023-10-24 12:59:19 +11:00
Andrew Tridgell 63de33bce9 Plane: update release notes for 4.4.2 2023-10-23 07:38:33 +11:00
Peter Barker aa78f53498 Plane: use origin-relative altitudes rather than home-relative 2023-10-18 19:49:06 +11:00
Henry Wurzburg 410fbb998b Plane:reset in landing seq on mode change while disarmed 2023-10-18 13:37:55 +11:00
Henry Wurzburg a26ee15216 Plane:force min transition timer to 2 sec 2023-10-17 14:32:24 +11:00
Peter Barker c990b0105e ArduPlane: accept LOITER_UNLIM and RETURN_TO_LAUNCH as command_int 2023-10-17 12:58:57 +11:00
Randy Mackay 6bd7c37039 Plane: 4.4.2-beta1 release notes 2023-10-14 11:24:37 +11:00
Andrew Tridgell c980e0488e Plane: fixed terrain RTL with rally points 
this fixes a bug where if the terrain database cache does not have the
tile for the location of a rally point then RTL to the rally point
with TERRAIN_FOLLOW=1 will not track terrain

The underlying issue is that Location::loc.change_alt_frame() will
return false if the location is not in the terrain memory cache. We
can't just extrapolate as the rally point could be in a totally
different terrain area to the current location. So instead we set it
as terrain_following_pending and fix it as soon as the terrain cache
is filled.

fixes https://github.com/ArduPilot/ardupilot/issues/25157
 2023-10-14 10:46:00 +11:00
Mykhailo Kuznietsov b7c040e8bc ArduPlane: Fix some typos 
Fixed some typos found in the code.
 2023-10-12 18:30:42 +11:00
Peter Barker e13566695b ArduPlane: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker 2e494d496b ArduPlane: allow Plane to run MAV_CMD_MISSION_START as long and int 2023-10-11 19:05:56 +11:00
Henry Wurzburg 7c46585bac ArduPlane: add airspeed estimate status logging 2023-10-10 08:11:10 +09:00
Peter Barker be3f292ba4 ArduPlane: don't send fence_status mavlink message if fence not compiled in 2023-10-04 19:13:23 +11:00
Peter Barker e965b987f6 Plane: accept MAV_CMD_DO_LAND_START as both command_long and COMMAND_INT 2023-10-04 19:04:25 +11:00
Iampete1 9381e2f411 Plane: GuidedHeading PID: remove slew limit 2023-10-03 11:28:18 +11:00
Iampete1 73db3c3823 Plane: MAV_CMD_GUIDED_CHANGE_HEADING: allow changing heading type or rate for same heading 2023-10-03 11:28:18 +11:00
Iampete1 e9fbf6db24 Plane: fix guided heading control anti windup 2023-10-03 11:28:18 +11:00
Peter Barker af3992d795 Plane: handle DO_GO_AROUND as both COMMAND_LONG and COMMAND_INT 2023-09-27 17:37:55 +10:00
Andrew Tridgell babdb3625a Plane: moved assign tilt to the run() function 
this prevents double calling and fixes qhover
 2023-09-27 11:43:45 +10:00
Paul Riseborough 2f0bbf14a4 Plane: fix metadata units for Q_FWD_PIT_LIM 2023-09-27 11:43:45 +10:00
Paul Riseborough 3866f2b4b5 Plane: Rework pitch limiting in QuadPlane::assign_tilt_to_fwd_thr 
Don't unnecessarily increase the forward pitch limit when position control forward action is saturated.
 2023-09-27 11:43:45 +10:00
Paul Riseborough acf8dbaeee Plane: Add diagnostics logging to QuadPlane::assign_tilt_to_fwd_thr 2023-09-27 11:43:45 +10:00
Paul Riseborough fa5aef050c Plane: Restructure throttle scaling and pitch limiting to enable logging 2023-09-27 11:43:45 +10:00
Paul Riseborough fb7c383946 Plane: Prevent quadplane.assign_tilt_to_fwd_thr() being called twice 2023-09-27 11:43:45 +10:00
Paul Riseborough c2d6db13ec Plane: explicitly type cast pitch limit 2023-09-27 11:43:45 +10:00
Paul Riseborough 90eacaeb88 Plane: fix centi-degree scaling bug 2023-09-27 11:43:45 +10:00
Paul Riseborough da595bbf88 Plane: Add protection for failed quadplane forward thrust motor 2023-09-27 11:43:45 +10:00
Andrew Tridgell e3ce7d966b Plane: fixes from review 2023-09-27 11:43:45 +10:00
Andrew Tridgell 573de2fc17 Plane: implement methods for aux switch control of vfwd code 
and use a common function for the active method
 2023-09-27 11:43:45 +10:00
Paul Riseborough 4993dcb814 Plane: Remove duplicated parameter check 2023-09-27 11:43:45 +10:00
Paul Riseborough f834d4730b Plane: Add Q_FWD_THR_GAIN to table of transmitter tuning parameters 2023-09-27 11:43:45 +10:00
Paul Riseborough 6ad7588857 Plane: Add arming check for incompatible Q_VFWD_GAIN and Q_FWD_THR_USE 2023-09-27 11:43:45 +10:00
Paul Riseborough daea00168b Plane: Use Q_FWD_THR_USE parameter to control modes that use Q_FWD_THR_GAIN 2023-09-27 11:43:45 +10:00
Paul Riseborough ed91d428e1 Plane: Default Q_FWD_THR_GAIN to 0 and update meta data 2023-09-27 11:43:45 +10:00
Paul Riseborough 7bbd0ed74e Plane: prevent wind up of Q-mode velocity controller I term 2023-09-27 11:43:45 +10:00
Paul Riseborough b3a1807349 Plane: Fix use of q_fwd_nav_pitch_lim_cd class variable 2023-09-27 11:43:45 +10:00
Paul Riseborough 16895003df Plane: if statement cleanup in QuadPlane::assign_tilt_to_fwd_thr 2023-09-27 11:43:45 +10:00
Paul Riseborough 57cfe854b2 Plane: Add Q_FWD_THR_GAIN value arming check for tailsitters 2023-09-27 11:43:45 +10:00
Paul Riseborough 04e5f6b5f6 Plane: use forward tilt instead of forward throttle when close to ground 2023-09-27 11:43:45 +10:00
Paul Riseborough 8988de3c7c Plane: Allow non positive values of Q_FWD_PIT_LIM to be used 2023-09-27 11:43:45 +10:00
Paul Riseborough e866998b21 Plane: Rename q_fwd_tilt_lim to q_fwd_pitch_lim 2023-09-27 11:43:45 +10:00
Paul Riseborough c15bb3f1e3 Plane: remove code that can never run 2023-09-27 11:43:45 +10:00
Paul Riseborough 98220c7315 Plane: Handle reset of q_fwd_throttle in QuadPlane::mode_enter(void) 2023-09-27 11:43:45 +10:00
Paul Riseborough 2d3431a1ac Plane: Improve use of forward flight motors and tilting rotors in Q modes 2023-09-27 11:43:45 +10:00
Peter Barker 93da99bea2 Plane: adjust for a lack of DCM 2023-09-27 08:00:54 +10:00
Andrew Tridgell 2b2d4b8087 Plane: release notes for 4.4.1 2023-09-26 13:26:01 +10:00
Peter Barker c726dec834 ArduPlane: remove COMPASS_CAL messages from streamrates if tumble cal disabled 
fatal error in SITL if we try to send messages with these disabled
 2023-09-26 11:39:50 +10:00
Peter Barker 11ffb059ae Plane: accept MAV_CMD_DO_AUTOTUNE_ENABLE as both long and int 2023-09-26 11:36:57 +10:00
Iampete1 665ba38cdb Plane: update PID logger documentation 2023-09-26 10:41:05 +10:00
Henry Wurzburg f5beb4772d ArduPlane: correct/expand param metadata re synth airspeed 2023-09-26 09:04:51 +10:00
Henry Wurzburg 97f4f99a89 Plane:clarify CTUN.SAs message meaning 2023-09-26 09:03:35 +10:00
Peter Barker fbb0601408 Plane: use AP_TUNING_ENABLED 2023-09-21 07:07:58 +10:00
Peter Barker fc722b5efc AP_Tuning: add and use AP_TUNING_ENABLED 2023-09-21 07:07:58 +10:00
Peter Barker 63c88fea58 Plane: handle DO_PARACHUTE as both COMMAND_LONG and COMMAND_INT 2023-09-20 17:37:59 +10:00
Peter Barker 06f1ac07bc Plane: accept motor test as both command long and command int 2023-09-19 20:31:03 +10:00
Iampete1 fa1c5f62aa Plane: Tailsitter: use motor I term for pitch in assist if not surfaces are setup 2023-09-19 09:35:19 +10:00
Randy Mackay 1572520913 Plane: 4.4.1-beta2 release notes 2023-09-14 17:18:47 +10:00
Peter Barker ee316f04ed Plane: allow DO_VTOL_TRANSITION as both LONG and INT commands 2023-09-13 21:25:14 +10:00
Peter Barker a1b021e833 Plane: move nav_delay state to be private in ModeAuto 2023-09-13 18:08:10 +10:00
Andy Piper f25e67e3eb Plane: add option to scale FF in VTOL modes based on ratio of angle gains 2023-09-13 18:02:44 +10:00
Peter Barker c1b5e9a446 ArduPlane: support preflight calibration via command_int 2023-09-13 17:24:07 +10:00
Peter Barker 445f1fa272 Plane: handle DO_CHANGE_SPEED as COMMAND_INT 2023-09-12 09:22:36 +10:00
Ep Pravitra 9700e65d19 AP_AdvancedFailsafe: option to automatically set mode to auto when datalink is loss 
When enabled, it ensures vehicle enters AUTO even if it is currently in other autonomous modes (for example Guided)
 2023-09-12 09:09:39 +10:00