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65,215 Commits 71 Branches 509 Tags 753 MiB
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44 Commits

Author SHA1 Message Date
Peter Barker
1a1edf92b7 Plane: evaluate assistance requirements on mode change 
this avoid the AHRS being told we are flying forward - because we are no longer in a VTOL mode - and instantly being told we are not flying forward - because we are providing assistance
 2024-10-09 19:19:29 +11:00
timtuxworth
1133f82799 ArduPlane: use Location::AltFrame for guided_state.target_alt_frame 2024-09-24 22:51:02 +10:00
Andrew Tridgell
2f19dfef8a Plane: added glider pullup support 2024-09-10 10:15:34 +10:00
Peter Barker
c2f5c48fe5 Plane: rename OFFBOARD_GUIDED to AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED 
and remove comparison vs ENABLED
 2024-08-05 10:20:14 +10:00
Peter Barker
c14c2d67d4 ArduPlane: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Bob Long
5824a12b2e Plane: remove altitude_error_cm variable 
This variable updated unpredictably, and it was easy to introduce bugs.
It was not used in many places and is clearer to calculate the error
directly when needed.
 2024-05-07 10:52:43 +10:00
Iampete1
2f42f55278 Plane: move pilot throttle output up to control modes 2024-02-06 11:02:28 +11:00
Iampete1
7e79a13053 Plane: ask mode if battery voltage compensation should be done 2024-01-18 12:28:38 +11:00
Iampete1
01c8717308 Plane: ask flight mode if min/max throttle limits should be applied 2024-01-16 11:07:53 +11:00
Iampete1
740b04aed3 Plane: Mode: ensure flight stage is correct on successful mode change 2023-12-12 11:51:33 +11:00
Tom Pittenger
d1b2c6e564 Plane: set nav_controller stale on mode change 2023-11-28 10:27:19 +11:00
Henry Wurzburg
410fbb998b Plane:reset in landing seq on mode change while disarmed 2023-10-18 13:37:55 +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
Henry Wurzburg
e9414d69ff ArduPlane: add failsafe protections to Mode Takeoff 2023-08-09 17:33:58 +10:00
Nicholas Ionata
da30f0b418 Plane: reset target altitude time on mode enter 2023-08-08 11:04:41 +10:00
Iampete1
045cde5fcf Plane: output rudder and steering directly removing steering_control struct 2023-08-05 08:41:05 +10:00
Tom Pittenger
4eeb1f18d3 Plane: fixup is_landing and is_taking_off members 2023-06-26 06:54:56 -07:00
Iampete1
2254252aff Plane: move mode manual reset into run function removing manual early return 2023-05-24 18:19:53 +10:00
Iampete1
4ca071045c Plane: move defualt attitude control to base class 2023-05-02 09:29:40 +10:00
Henry Wurzburg
1415418d6e Plane:Takeoff on rudder arm only after return to neutral 2023-04-25 09:28:45 +10:00
Iampete1
549dd3875d Plane: add mode ahrs convenience refence 2023-02-21 11:27:24 +11:00
Iampete1
2ffe677d39 Plane: combine per mode arm and pre-arm checks 2023-02-15 19:43:40 +11:00
Henry Wurzburg
10b69e1c1f Plane:expand yaw autotune to other modes 2023-01-31 10:02:16 +11:00
Iampete1
4a21af22cb Plane: move mode update_target_altitude to correct files 2022-12-27 10:30:14 +11:00
Peter Barker
dabf78c61f ArduPlane: add and use AP_CAMERA_ENABLED 2022-09-21 11:58:38 +10:00
Iampete1
367984a6b8 Plane: set fence manual recovery on mode change 2022-08-17 17:21:30 +10:00
Andrew Tridgell
cc9b9813cb Plane: review fixes 
thanks Pete!
 2022-03-10 07:34:20 +11:00
Henry Wurzburg
ea9d35c99d ArduPlane: extend nav_scripting to all modes 2022-02-07 21:19:28 +11:00
Andrew Tridgell
e342ce0da4 Plane: fixed reset of steering locked course 
reset when we have not been steering for 1s, to ensure that an old
locked course is not used
 2021-12-04 07:41:35 +11:00
Peter Barker
3d34e061fe ArduPlane: add and use HAL_QUADPLANE_ENABLED 2021-09-14 11:23:18 +10:00
Iampete1
e4feea9457 Plane: mode enter init auto state vtol mode to is_vtol_mode 2021-09-08 18:06:58 +10:00
Iampete1
4a5e4f9c85 Plane: mode: add quadplane refences 2021-08-03 12:28:31 +10:00
Iampete1
0eab3faf32 Plane: use new tailsiter class 2021-07-27 09:08:34 +10:00
Hwurzburg
d15e01d390 Plane: fix DO_CHANGE_SPEED airspeed to impact only AUTO and GUIDED modes 2021-03-16 10:09:34 +11:00
Peter Barker
6baaf03c8c Plane: move auto_throttle_mode to being a method on each mode 2021-01-10 16:04:30 +11:00
Peter Barker
f6cb1b5ad6 Plane: use a method on Mode for auto-navigation-mode 
Avoids the state getting stale, which it will with a failed attempt to
go into qautotune, for example.
 2021-01-10 16:04:30 +11:00
Iampete1
e6ba53856a Plane: tailsitter: ask for FW state don't check 2020-10-27 11:04:52 +11:00
Iampete1
b61cf72b8c Plane: tailsitters in Qassist inherit motor state 2020-09-30 18:12:44 +10:00
Andy Piper
c057be8ed1 Plane: conditionally compile ADSB support 2020-09-22 09:33:51 +10:00
Samuel Tabor
836be4b4b4 Plane: Remove _navigate indirection in Mode. 2020-08-20 13:02:06 +10:00
Samuel Tabor
06eea6ed9f Plane: Move navigation functions into flight mode classes. 2020-08-20 13:02:06 +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
Tom Pittenger
05774a8a5a Plane: fixed some rebase duplicate code. 2019-04-02 16:28:52 +11:00
Tom Pittenger
0270c57530 Plane: massive refactor and creation of Mode class 2019-04-02 16:28:52 +11:00