Michael du Breuil
955a05c4d5
Plane: Refactor mav_cmd_do_reposition to be consistent with copter
2020-07-07 10:34:19 +10:00
Mark Whitehorn
2af6e255d1
RC_Channel: add RC option for VTOL manual forward throttle
...
fix RC_OPTION metadata for 209: Forward Throttle
2020-07-07 08:37:46 +10:00
Mark Whitehorn
d5b1b20274
Plane: implement manual forward throttle for QACRO, QSTABILIZE and QHOVER
...
add parameter Q_FWD_THR_MAX for scaling manual throttle
allow forward motor tilt when disarmed
add FWD_THR_CH as an RC option
change Q_FWD_THR_MAX to percent
change RC_OPTION FWD_THR to 209
move assignment of rc_fwd_thr_ch to one_second_loop
move arming check from forward_throttle_pct to set_servos
change Q_FWD_THR_MAX TO Q_FWD_MANTHR_MAX
expand description of Q_FWD_MANTHR_MAX
add pre-arm check for VTOL manual forward throttle
change VTOL fwd throttle input to percent
2020-07-07 08:37:46 +10:00
Peter Barker
ee2118f93a
Plane: add support for AP_Generator
2020-07-03 08:21:42 +09:00
Peter Barker
d47569ccef
Plane: correct ASSIST_ANGLE description
2020-07-01 20:57:32 +10:00
Andrew Tridgell
3a0538449c
Plane: added Q_ASSIST_DELAY parameter
...
this allows tuning of the time between assistance thresholds being met
and assistance kicking in. It also changes the default delay from 1s
down to 0.5s based on analysis of a flight where assistance was too
slow
2020-07-01 20:57:32 +10:00
Andrew Tridgell
d9358b4ac2
Plane: don't allow a zero speed_scaler
...
this fixes an issue with yaw damper on quadplanes when at zero
airspeed
Thanks to Vladi Portnoy for reporting this
2020-06-29 20:09:41 +10:00
Andy Piper
9077d41df1
Plane: add support for tracking fft peaks and individual motor rpms with harmonic notches
...
log harmonic notch even if FFT is disabled. Fallback to throttle notch for BLHeli
move harmonic notch update to AP_Vehicle
2020-06-21 19:09:35 +10:00
Michael du Breuil
43526e718e
Plane: Remove the use of RTL_RADIUS from LOITER_UNLIM mission items
2020-06-19 11:10:29 -07:00
Mark Whitehorn
ab2eb6185f
Plane: also limit throttle during quadplane transitions
2020-06-16 11:43:18 +10:00
Peter Barker
1206df6f0c
ArduPlane: remove use of Vector2 as function
2020-06-16 11:00:44 +10:00
Paul Riseborough
97d7d563c4
ArduPlane: Improve parameter description for FWD_BAT_VOLT_MAX/MIN
2020-06-16 10:17:33 +10:00
Paul Riseborough
fdb4f908bb
ArduPlane: Fix bug in forward throttle voltage compensation
...
The existing code does not adjust the upper and lower throttle limits with the result that at and of discharge climb and reverse thrust performance is significantly degraded.
2020-06-16 10:17:33 +10:00
vierfuffzig
147ebb74f4
Plane Parameters: fix THR_MAX param description
...
makes clear that thr is constrained in stabilized modes too unless passthrough is set, aligns with THR_MIN description.
2020-06-12 10:23:41 +10:00
Peter Barker
6c4812e408
ArduPlane: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos'
2020-06-12 08:11:46 +10:00
Peter Barker
f59d2fdbf4
ArduPlane: add and use accessor for last-RADIO_STATUS.remrssi-ms
2020-06-09 10:20:29 +10:00
Iampete1
2121ddf736
Plane: drop unneeded call to calc_pwm
2020-06-09 09:04:14 +10:00
Andrew Tridgell
fbd774fde9
Plane: set pressure alt for vtol motors
2020-06-05 11:35:53 +10:00
Iampete1
4b7d45e549
Plane: label and sort plane.h functions
2020-06-05 09:32:31 +10:00
Andrew Tridgell
568e13fbb9
Plane: allow for continue after land for quadplanes
...
this allows for a new takeoff after a quadplane auto landing
2020-06-02 09:12:22 +09:00
Michael du Breuil
911570e9f3
Plane: Protect against a divide by 0 when calculating the forward throttle compensation
2020-06-02 09:38:51 +10:00
Andrew Tridgell
ebcbc6d449
Plane: update release notes for 4.0.6beta1
2020-05-27 13:27:27 +10:00
Peter Hall
7688430029
Plane: allow Qassit for fw to vtol transision
2020-05-26 09:01:47 +10:00
Peter Hall
87cd9a4791
Plane: allow Qassist for tailsitters
2020-05-26 09:01:47 +10:00
Peter Hall
2467d7b5c7
Plane: add Qassist switch
2020-05-26 09:01:47 +10:00
Tom Pittenger
0a5021fdcf
Plane: bugfix: never reset auto_state.sink_rate
2020-05-23 18:49:12 -07:00
Andrew Tridgell
26c2555c3c
Plane: increased allowed time for mavlink send to 750us
...
this is to allow more time to get streams out at low loop rates
2020-05-23 11:54:41 +10:00
Buzz
0f5177b291
Plane: Support a set of offboard MAVLink guided controls with rates
...
+ 3 rounds of fixes
2020-05-20 15:03:21 +10:00
Buzz
d4df145b4b
ArduPlane: option to keep landing throttle at thr_min during flare and touchdown, not zero.
2020-05-20 11:29:45 +10:00
Iampete1
f9ff8e5f11
Plane: align GCS PID with logged
2020-05-19 09:04:16 +10:00
Andrew Tridgell
8b21f5117a
Plane: implement RTL_CLIMB_MIN parameter
...
this allows for an initial climb on RTL where roll is limited to
LEVEL_ROLL_LIMIT
2020-05-18 13:04:04 +10:00
Paul Riseborough
0c9433873c
ArduPlane: Modify ekf failsafe checks
...
Restore velocity check and make the logic closer to what ArduCopter does.
Remove unnecessary initialisation.
2020-05-14 10:40:48 +10:00
Paul Riseborough
85e53d53e1
ArduPlane: Don't use optical flow health when assessing EKF nav health
...
Plane currently doesn't use optical flow for navigation - it is used fo terrain height estimation.
2020-05-14 10:40:48 +10:00
Paul Riseborough
3a10838c65
ArduPlane: Don't check variances if not available
2020-05-14 10:40:48 +10:00
Paul Riseborough
70a02f31ab
ArduPlane: More efficient type use
2020-05-14 10:40:48 +10:00
Paul Riseborough
5b312e9f09
ArduPlane: Fix logic error
2020-05-14 10:40:48 +10:00
Paul Riseborough
cd5714d059
ArduPlane: Allow EKF dead reckoning to continue after loss of GPS
2020-05-14 10:40:48 +10:00
Paul Riseborough
40cc5a5006
ArduPlane: Improve EKF failsafe in VTOL modes
...
Replicates Copter behaviour with a three step process if the EKF sustains a loss of navigation as detected by high GPS innovation test ratios:
1) Attempts a yaw reset using the GSF estimate if available
2) Attempts a lane switch
3) Falls back to a non-position mode
2020-05-14 10:40:48 +10:00
Randy Mackay
59a2667870
Plane: quadplane's throttle mix uses filtered accelerations
2020-05-12 09:56:09 +10:00
Michael du Breuil
9eaf7f5528
Plane: Fix VTOL yaw for STICK_MIXING 0
2020-05-08 08:44:03 +10:00
Peter Barker
8222b5db62
Plane: AP_Soaring no longer takes AHRS in constructor
2020-05-05 17:35:14 +10:00
Tom Pittenger
87c75332e7
Plane: ignore guided cmds from mavlink if we're in avoidADSB.
...
This change makes it behave like MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED
2020-05-05 10:51:16 +10:00
Peter Barker
f17ea78a6c
Plane: move sending of WIND message to GCS namespace
2020-05-05 10:29:13 +10:00
Peter Barker
e75fa6fb15
Plane: move sending of AOA_SSA message to GCS namespace
2020-05-05 10:29:13 +10:00
Iampete1
3ded030fa8
Plane: compensate forward throttle for battery voltage drop
2020-05-05 09:46:41 +10:00
Peter Barker
86c765d8c9
ArduPlane: create and use INTERNAL_ERROR macro so we get line numbers
2020-04-30 13:21:36 +10:00
Andrew Tridgell
d0a509eef1
ArduPlane: invalidate param count when changing param tree structure
2020-04-29 07:36:55 +10:00
Paul Riseborough
0efdb2b66b
ArduPlane: Send default airspeed to estimators
2020-04-24 09:43:23 +10:00
Randy Mackay
9a43a31f24
Plane: do not send ahrs3 mavlink message
2020-04-22 14:11:17 +09:00
Henry Wurzburg
3397bce235
Plane: Quadplane tailsit transition to FW throttle level change
2020-04-21 09:51:47 +10:00
Henry Wurzburg
6c730ccfec
Plane: start tailsitter forward transition from current pitch angle
2020-04-21 09:50:57 +10:00
Rishabh
0c5d68dfeb
Plane: Replace update_vel_controller_xy() with update_xy_controller()
2020-04-21 09:22:45 +10:00
Mark Whitehorn
bada075daa
Plane: expand description of CTUN.Aspd to indicate when estimate or measurement is reported
2020-04-18 15:33:43 +10:00
Peter Barker
f5f4576835
ArduPlane: remove comment for already-removed in-delay-callback function
...
These are now attached to completely unrelated functions, which is
pretty bad.
2020-04-16 15:11:35 +09:00
Andrew Tridgell
156fe0846f
Plane: fixed plane landing gear to obey LGR_OPTIONS bits
...
we forced landing gear retract/deploy on takeoff and landing when we
should be following the options bits
2020-04-15 17:10:31 +10:00
Rishabh
6989cb0131
Plane: Use AHRS for heading in mode loiter
2020-04-10 12:18:35 +10:00
Samuel Tabor
b9daae062c
AP_Soaring: Use enum class rather than typedef enum for states and hide details of these.
2020-04-08 09:11:54 +10:00
Samuel Tabor
d7ce3ff72e
AP_Soaring: Don't check throttle status on entry to loiter, because it is automatically set on first pass in update_soaring.
2020-04-08 09:11:54 +10:00
Samuel Tabor
36a90cf443
Plane: Remove unused isHeadingLinedUp function, and rename functions to avoid confusion.
2020-04-08 09:11:54 +10:00
Samuel Tabor
170b599469
Plane: Required changes for conditional soaring compilation (fmuv2).
2020-04-08 09:11:54 +10:00
Samuel Tabor
e1f7122566
AP_Soaring: Improve tracking of enabled/disabled status.
2020-04-08 09:11:54 +10:00
Samuel Tabor
e7418637ee
Plane: In FBWB make target alt track current if soaring is enabled and suppressing throttle.
2020-04-08 09:11:54 +10:00
Samuel Tabor
ed7e359f4d
Plane: Make target altitude track current altitude when gliding.
2020-04-08 09:11:54 +10:00
Samuel Tabor
2260fda4ec
AP_Soaring: Detect changes in active parameter/switch position.
2020-04-08 09:11:54 +10:00
Samuel Tabor
650b464831
AP_Soaring: Move drift check to separate function and check drift with reference to mission segment, allowing drift in right direction. LOITER target, not current position, is now used.
2020-04-08 09:11:54 +10:00
Samuel Tabor
5963164a22
Plane: Soaring, make zero SOAR_MAX_RADIUS always RTL, and -1 never.
2020-04-08 09:11:54 +10:00
Samuel Tabor
75f772b269
AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER.
2020-04-08 09:11:54 +10:00
Samuel Tabor
298088268a
Plane: Soaring, don't wait for heading if too low, and add timeout otherwise.
2020-04-08 09:11:54 +10:00
Samuel Tabor
684ee11fc3
AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring.
2020-04-08 09:11:54 +10:00
Samuel Tabor
013628bd1d
Plane: Soaring - better reporting of exit due to drift.
2020-04-08 09:11:54 +10:00
Samuel Tabor
96bc0e1e03
Plane: Soaring: Reset loiter.sum_cd when good to continue thermalling, so that exit heading acceptance criteria does not grow.
2020-04-08 09:11:54 +10:00
Samuel Tabor
e7736fb5e7
AP_Soaring: Line up on current, not next, nav command.
2020-04-08 09:11:54 +10:00
Samuel Tabor
a56b1dadb9
Plane: fix bug with headingLinedUp when loiter.sum_cd was negative.
2020-04-08 09:11:54 +10:00
Tom Pittenger
394fbb1a50
Plane: unified soaring exit behavior: auto heads to next wp, cruise continues cruise heading, FBW to home
2020-04-08 09:11:54 +10:00
Tom Pittenger
ce9450846b
Plane: fix soaring typo
2020-04-08 09:11:54 +10:00
Tom Pittenger
ec8f82422a
Plane: move loiter heading init for auto into auto helper, and properly reset it in loiter mode enter
2020-04-08 09:11:54 +10:00
Tom Pittenger
fd4b7c823e
Plane: improved soaring exit options
2020-04-08 09:11:54 +10:00
Tom Pittenger
f397c168e8
Plane: refactor loiter heading exit logic
2020-04-08 09:11:54 +10:00
Tom Pittenger
f6396d7a6d
Plane: add reason to exit Thermal loiter and adjust LOW alt reaon to cause RTL
2020-04-08 09:11:54 +10:00
Michael du Breuil
9600eea394
Plane: Report what channel is used for rudder arming
2020-04-07 14:01:12 -07:00
Rishabh
a9cacc8756
Plane: Logger documentation TimeUS fix
2020-04-07 18:57:01 +10:00
Michael du Breuil
37be15b3cd
Plane: When stick mixing is disabled do not apply stick mixing to quadplane modes
2020-04-04 10:12:22 +11:00
Mark Whitehorn
cbce94005b
Plane: expand description of QTUN.Sscl log message field
2020-04-03 08:36:55 +11:00
Rishabh
a76d0e3002
Plane: Remove SONR messages logging
2020-04-01 17:11:48 +11:00
Rishabh
ac6b04c21b
Plane: Spelling fix in logger documentation
2020-03-31 10:07:50 +11:00
Rishabh
aea2cdb0c9
Plane: added logger documentation
2020-03-31 10:07:50 +11:00
Peter Barker
ab557662cc
Plane: check channel space before sending servo output raw in SITL CPU failsafe
2020-03-26 15:12:50 +11:00
Henry Wurzburg
4d2c5ebbaa
ArduPlane: update logger meta-data, add to gitignore
2020-03-25 14:20:53 +11:00
Andrew Tridgell
bd341691e2
Plane: fixed flaperon auto-trim
...
fixed direction of flaperon automatic trim with SERVO_AUTO_TRIM
2020-03-23 15:20:08 +11:00
Peter Barker
383cfb3b11
Plane: remove bad trailing backslashes in log structure definition
...
These are required in LogStructure as it's a massive #define. This is
just a plane C struct definition so doesn't need them
2020-03-22 18:35:14 +11:00
Henry Wurzburg
3914ae23ca
ArduPlane: fix typos in logger message meta-data
2020-03-22 10:04:53 +11:00
Peter Barker
9bc6790723
Plane: add CTUNi QTUN and PIQ? log information
2020-03-21 09:34:43 +11:00
Peter Barker
b810a0de23
Plane: add logger documentation for NTUN
2020-03-20 13:05:46 +11:00
Peter Barker
5a7d52fa0d
Plane: send SERVO_OUTPUT_RAW message when in cpu failsafe under SITL
...
This allows us to test that rc inputs are copied to the outputs in CPU
failsafe in autotest
2020-03-20 12:19:21 +11:00
Andrew Tridgell
9f92aad711
Plane: implement get and set target location
2020-03-12 08:36:40 +11:00
Andrew Tridgell
8aaefea2a4
Plane: convert to new get_rpm() API
2020-03-12 08:36:40 +11:00
Peter Barker
4fac8c9e16
ArduPlane: move AP_PARM_KEY_DUMP function up to AP_Vehicle base class
...
Common to all vehicles now, including Tracker
2020-03-10 11:00:14 +11:00
Henry Wurzburg
7828274c72
Plane: prevent jump to Circle upon Takeoff mode entry unless flying >10s
2020-03-03 18:25:02 +11:00
Andrew Tridgell
c6a6427d6a
Plane: prevent lidar glitches from triggering land final
...
this prevents short term lidar glitches from triggering the change
from descend to final in quadplane
2020-02-27 13:15:46 +11:00
Randy Mackay
f2ab428cdd
Plane: rename update_throttle_mix
...
was called update_throttle_thr_mix
also minor format fixes
2020-02-25 16:52:40 +09:00
Peter Barker
5ff1630c63
ArduPlane: move initialisation of serial and gcs to AP_Vehicle
2020-02-25 11:50:55 +11:00
Rishabh
0b01bb531d
Plane: Remove unutilized case
2020-02-25 11:02:43 +11:00
Rishabh
30fd915312
Plane: Update CRASH_DETECT param
2020-02-25 11:02:43 +11:00
Gone4Dirt
e02a9890b3
Plane: force mission resume on RTL when DO_LAND_START in mission
2020-02-25 10:05:12 +11:00
Andrew Tridgell
2b24e922a7
Plane: updated release notes for 4.0.5beta1
2020-02-23 08:20:50 +11:00
Peter Barker
74dbcac40e
ArduPlane: log disarm method
2020-02-22 12:16:29 +11:00
Andy Piper
3832bc455d
Plane: dynamic notch setting via FFT
2020-02-22 11:15:37 +11:00
Andy Piper
04792b23a9
ArduPlane: add gyro fft logging
2020-02-22 11:15:37 +11:00
Gone4Dirt
e2f3cb7ee8
Plane: Support added for DO_LAND_START FS fix
2020-02-18 21:03:29 +11:00
Peter Barker
19bc60b690
Plane: correct missing EFI parameter docs
2020-02-18 13:28:03 +11:00
Andrew Tridgell
cd673b5ffd
Plane: updated release notes for 4.0.4
2020-02-16 17:05:18 +11:00
Andrew Tridgell
7a14992cce
Plane: reset TECS at end of auto VTOL takeoff
2020-02-16 17:04:07 +11:00
Andrew Tridgell
0bfab20bd0
Plane: fixed a bug in LOITER_TURNS in quadplanes
...
if NAV_LOITER_TURNS is used with Q_GUIDED_MODE=1 then we would orbit
forever. This ensures we do exit the loiter
2020-02-12 13:52:32 +11:00
Peter Barker
58d45ef04a
Plane: let AP_Vehicle handle loop()
2020-02-06 14:41:06 +11:00
Andrew Tridgell
4e457c1ebb
Plane: update release notes for 4.0.4beta1
2020-02-05 12:15:52 +11:00
Peter Hall
2898b5e2fb
Plane: report FENCE_MITIGATE_NONE
2020-02-04 10:24:33 +09:00
Andrew Tridgell
56044b8b04
Plane: fix for updated mavlink extensions
2020-01-29 08:17:13 +11:00
Peter Barker
a5a75e61da
ArduPlane: move some common init_ardupilot code up to AP_Vehicle
2020-01-28 11:34:51 +11:00
Peter Barker
a45abc7762
Plane: move setup method up to AP_Vehicle base class
2020-01-28 11:34:51 +11:00
Peter Barker
de423a945f
Plane: move rssi initialisation into init_ardupilot
...
This makes it the same as Rover and Copter.
2020-01-28 11:34:51 +11:00
Peter Barker
e358677f85
Plane: allow NavEKFs to be compiled out
2020-01-21 11:53:18 +11:00
Peter Barker
9364181772
Plane: EKF objects have moved into AP_AHRS_NavEKF
2020-01-21 11:53:18 +11:00
Peter Barker
024c86bdab
Plane: let AP_Vehicle base class worry about scheduler delay callback
2020-01-21 11:37:28 +11:00
Peter Hall
807c05c715
Plane: tilitrotor: allow motor test
2020-01-21 10:11:16 +11:00
Peter Hall
90494c9de6
Plane: tailsitter: allow motor test
2020-01-21 10:11:16 +11:00
Andrew Tridgell
3e930baf89
Plane: update release notes for 4.0.3
2020-01-21 08:13:23 +11:00
Andrew Tridgell
671a4d7673
Plane: update release notes for 4.0.3beta2
2020-01-18 21:40:26 +11:00
Andrew Tridgell
1854e73788
Plane: use HAL_PARACHUTE_ENABLED
2020-01-18 13:48:48 +11:00
Andrew Tridgell
2e1b4cadc2
Plane: removed AP_Stats
2020-01-16 20:36:54 +11:00
Peter Hall
a2e72de5ae
Plane: move to airspeed_estimate with pointer
2020-01-14 22:34:37 -07:00
Peter Hall
fbba3f4035
Plane: set_likely_flying in vehicle
2020-01-14 22:34:37 -07:00
Andrew Tridgell
a90c16e60e
Plane: update for new SRV_Channels parameter conversion call
2020-01-14 14:23:11 +11:00
Peter Barker
a74d754720
Plane: AP_Arming now logs arm/disarm events
2020-01-14 11:39:36 +11:00
Tatsuya Yamaguchi
1f9f84044c
Plane: allow scripts to get modes
2020-01-14 11:16:29 +11:00
Andrew Tridgell
0f7fbfae77
Plane: update release notes for 4.0.3beta1
2020-01-10 19:41:12 +11:00
Peter Barker
a50b777179
ArduPlane: let RC_Channel indicate AUX_FUNC::ARMDISARM needs no initialisation
...
All users set this.
2020-01-08 18:36:02 +11:00
Henry Wurzburg
040a1b7fbe
Plane:fix typo in ARSPD_FBW_MAX param description
2020-01-02 12:00:52 -07:00
Peter Hall
660c9a8a60
Plane: move from FLAP_IN_CHANNEL to RCx_Option
2020-01-01 08:11:01 +11:00
Gone4Dirt
760909d046
Plane: Prevent FS action overiding VTOL land
2019-12-31 11:42:59 +11:00
Andrew Tridgell
56286d8df3
Plane: update release notes for 4.0.2
2019-12-30 14:44:44 +11:00
Andrew Tridgell
77f0810f01
Plane: removed init_vehicle from separate vehicles
...
use common call from AP_BoardConfig
2019-12-30 13:02:04 +11:00
Andy Piper
eca398e7a2
Plane: create generic vehicle management and move runcam to it
2019-12-30 13:02:04 +11:00
Michael du Breuil
7d8005ef27
Plane: Update flaperons for all control modes
...
Fixes flaperons not working during takeoff, and is generally slightly
easier to reason about
2019-12-24 16:58:46 +11:00
Andrew Tridgell
6d4f4d7a3b
Plane: allow negative VFR_HUD throttle
2019-12-24 15:14:03 +11:00
Peter Barker
1db9201a90
Plane: let GCS base class handle proximity and rangefinder messages
2019-12-24 12:08:54 +11:00
Andrew Tridgell
4774c78a12
Plane: update release notes for 4.0.2beta3
2019-12-23 20:26:43 +11:00
Andrew Tridgell
0e79044285
Plane: fixed range check for RC channel
2019-12-20 10:55:14 +11:00
Andrew Tridgell
f3dfd62f32
Plane: fixed FS_GCS_ENABL=2 for hearbeat failsafe
2019-12-19 08:34:00 +11:00
Mark Whitehorn
56b2c697d2
Plane: change tailsitter_input to bitmask
...
update parameter metadata for Q_TAILSIT_INPUT and Q_FRAME_TYPE
2019-12-18 08:33:29 +11:00
Mark Whitehorn
c16f3a2cba
Plane: simplify body-frame roll axis swapping and constrain yaw rate max
2019-12-18 08:33:29 +11:00