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2605 Commits

Author SHA1 Message Date
Michael du Breuil 041fe38ba6 Plane: Update build tools for deepstall PID dependency 2017-03-02 12:38:59 +11:00
Michael du Breuil cf10b7b841 Plane: Add support for landing PID's and servo control 2017-03-02 12:38:59 +11:00
Michael du Breuil 1bb806edb2 Plane: Use new landing interfaces 2017-03-02 12:38:59 +11:00
Andrew Tridgell abcc75009d Plane: move relay init earlier 
allows relay pins to be used as pullups for other sensors (such as
LidarLiteV3)
 2017-03-01 22:44:37 +11:00
Randy Mackay eb746eaeef Plane: fix SYSID_ENFORCE parameter description 2017-02-28 15:08:17 +09:00
Michael du Breuil fbf6050876 Plane: Reset home to AHRS position rather then snapshotting GPS 2017-02-28 11:33:53 +11:00
Randy Mackay c0f155fd27 Plane: use only downward facing rangefinder 2017-02-27 15:18:25 +09:00
Andrew Tridgell 4ff5bf5af5 Plane: zero integrators and set throttle mix 
this zeros fixed wing integrators during TRANSITION_AIRSPEED_WAIT and
uses a zero throttle mix during TRANSITION_TIMER. This should allow
the fixed wing controller more time to adapt to forward flight
 2017-02-26 09:20:51 +11:00
Andrew Tridgell c061d5615b Plane: added manual input mask for tailsitter prop-hang 
This adds new parameters Q_TAILSIT_MASK and Q_TAILSIT_MASKCH. These
parameters allow a user to use the tailsitter capabilities of a 3D
plane to teach themselves to prop-hang.

It works by allowing the user to setup a switch on their transmitter
to enable manual pass-thru of a set of the input channels to outputs
when in tailsitter hover. The user can then use that switch to allow
learning of hover control in a 3D plane one channel (or two channels)
at a time.
 2017-02-26 09:20:13 +11:00
Andrew Tridgell 3bb25eb194 Plane: added Q_TAILSIT_INPUT 
this allows the user to control tailsitters either in body frame (like
a plane) or in earth frame (like a multicopter). This is useful for
people wanting to learn to fly prop-hang on 3D planes
 2017-02-26 09:20:13 +11:00
Andrew Tridgell ea5186340b Plane: added Q_TILT_RATE_UP and Q_TILT_RATE_DN as separate parameters 
allow control of tilt rate separately for UP and DOWN

always allow at least 90 degrees/second for switching to MANUAL
 2017-02-25 17:53:26 +11:00
Tom Pittenger 4ccd59f394 Plane: allow exiting loiter_to_alt in cases where you get stuck 
- check for scenarios where updrafts can keep you from loitering down indefinitely.
 2017-02-23 05:15:49 -08:00
Andrew Tridgell a4c5247fba Plane: prepare 3.8.0-beta3 
key fix is the servo slew rate bug
 2017-02-22 07:25:47 +11:00
Tom Pittenger 69a10042eb Plane: always stream RPM data over mavlink when enabled 2017-02-21 11:16:27 -08:00
Tom Pittenger 67486dc3f0 Plane: always log RPM when enabled 2017-02-21 04:20:01 -08:00
Peter Barker 97145f20fc Plane: fix startup of CLI menu system 2017-02-20 00:06:23 -08:00
Andrew Tridgell 07ab04897d Plane: reset roll/pitch integrators while tailsitter active 
this prevents integrator buildup while flying in hover
 2017-02-18 22:23:58 +11:00
Andrew Tridgell b3380ecfa7 Plane: support twin-engine planes 
with differential thrust for yaw
 2017-02-18 17:26:43 +11:00
Andrew Tridgell e8b11924f8 Plane: split out the tailsitter transition complete code 
use both roll and pitch to trigger completion of transition. This
copes with situations where the plane has managed to get itself rolled
over far enough that it can't recover into hover
 2017-02-18 17:26:43 +11:00
Andrew Tridgell d5a3f844f1 Plane: changes for AC_WPNav 2017-02-18 17:26:43 +11:00
Andrew Tridgell c787f4c56f Plane: initial support for tailsitter transitions 2017-02-18 17:26:43 +11:00
Andrew Tridgell 83f3cee99e Plane: initial hooks for tailsitter support 2017-02-18 17:26:43 +11:00
Andrew Tridgell 4e4f5a7ac9 Plane: allow tailsitters to takeoff with any attitude 2017-02-18 17:26:43 +11:00
Andrew Tridgell 0fc04b0158 Plane: setup plane frame type parameter flags 2017-02-14 19:50:01 +11:00
Andrew Tridgell c294519925 Plane: lower default Q_M_SPOOL_TIME to 0.25 2017-02-14 09:23:17 +09:00
Peter Barker 1d7994e9ba Plane: create GCS_Plane subclass 2017-02-13 17:03:06 +11:00
Peter Barker 98c4b48161 Plane: not in log download upon log erase 
erase is a synchronous operation
 2017-02-13 11:36:16 +11:00
Peter Barker 49bf336539 Plane: Support for a GCS singleton 2017-02-13 09:32:01 +11:00
Peter Barker d060670ba3 Plane: rename gcs[] to gcs_chan[] 
Wish to use gcs() to return the gcs singleton
 2017-02-13 09:32:01 +11:00
Michael du Breuil 29b16dbafd Plane: Refactor to request relative altitudes from AHRS 
Removes the need for plane to do the math for finding the relative height.

Also caches the value at the same time we update current_loc, which is a
non behaviour change as that was the only time you could see a change in
the relative height propegate through the system anyways
 2017-02-13 09:23:14 +11:00
Michael du Breuil f183a2618f Plane: Don't lock home altitude to AHRS origin 2017-02-13 09:23:14 +11:00
Michael du Breuil 7a1cbf76d3 Plane: Remove ALT_MIX 
Closes #4998, and fix a tab/spaces error on the previous parameter
 2017-02-13 09:18:52 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas c4419739c4 Plane: rename MSG_RADIO_OUT to MSG_SERVO_OUTPUT_RAW to better describe what it is 2017-02-07 11:41:12 +11:00
Andrew Tridgell 90d9e74054 Plane: fixed parameter path 2017-02-06 15:12:32 +11:00
Andrew Tridgell 287614b415 Plane: fixed auto-takeoff throttle trigger for inverted launch 
quite an unusual setup, but has been done :-)
 2017-02-01 16:31:49 -08:00
Tom Pittenger 9abb0bba7f Plane: use abs() instead of labs() for int16 2017-01-30 10:43:54 -08:00
Michael du Breuil 2326eee9a0 Plane: Move loiter_radius to vehicle 2017-01-30 10:43:54 -08:00
Andrew Tridgell 5baf37f7a3 Plane: release 3.8.0beta2 2017-01-30 10:29:01 +11:00
priseborough 013eb254a2 Plane: use standard unit descriptor for milliseconds 2017-01-27 16:57:42 +09:00
murata 2492b9db7e Plane: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Tom Pittenger 1a34221db9 Plane: remove old commented code 
- leftover from the AP_Landing stage refactor
 2017-01-26 13:45:28 -08:00
Tom Pittenger bdafc2c025 AP_Landing: re/move complete flag into backend 
the complete flag was only ever true during FLIGHT_LAND_FINAL so we just check for that now instead
 2017-01-26 13:11:45 -08:00
Michael du Breuil 4cf1c74c62 AP_Landing + Plane: Check for land complete before requesting disarm 2017-01-26 13:11:44 -08:00
Tom Pittenger 2ccd91d88f AP_Landing: rename stage enum 2017-01-26 13:11:44 -08:00
Tom Pittenger 650e694eb1 Plane: move landing.reset to landing.do_land() 2017-01-26 13:11:44 -08:00
Tom Pittenger 61bc0a6206 Plane: check stage==LAND instead of landing.in_progress 2017-01-26 13:11:44 -08:00
Michael du Breuil 3e66dd10d7 Plane: Move landing stages inside AP_Landing and refactor 2017-01-26 13:11:44 -08:00
Tom Pittenger b570c11e26 AP_Landing: allow separate handling for verify_land() vs verify_abort() 2017-01-26 13:11:43 -08:00
Tom Pittenger e709705ab8 Plane: describe flight stages without using specific stage name 2017-01-26 13:11:43 -08:00
Tom Pittenger 6c0296ba13 AP_Landing: shadow copy of plane flight_stage into landing 
.. and describe stages without using specific stage name
 2017-01-26 13:11:43 -08:00