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3833 Commits

Author SHA1 Message Date
James O'Shannessy
8a99d9dd00 ArduPlane: Use auto enable and auto disable from AC_Fence 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
4f7ffc5eb1 Plane: move fence disable code to a function to enable reusability 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
fef8b37b11 Plane: Address Randy review comments 2021-03-05 14:52:46 +11:00
James O'Shannessy
aae092b88f ArduPlane: Remove all unused geofence capability 
ArduPlane: Remove missed geofence logic
 2021-03-05 14:52:46 +11:00
James O'Shannessy
17fb585bf1 ArduPlane: Add support for AC_Fence 
ArduPlane: Remove some geofence logic from ArduPlane

ArduPlane: Refactor action and mode return implementation

ArduPlane: Use polyfence to find the return point.
 2021-03-05 14:52:46 +11:00
Paul Riseborough
baea2c33bd Plane: remove unnecessary call to setTakeoffExpected 
This is already set from inside Plane::set_servos_controlled when throttle up and or launch accel is detected.
 2021-03-05 12:10:01 +11:00
Paul Riseborough
1dc79f0be8 Plane: Clarify calculation used to detect throw 2021-03-05 12:10:01 +11:00
Paul Riseborough
4e648734fa Plane: Fix takeoff pitch for hand launch 2021-03-05 12:10:01 +11:00
Paul Riseborough
39e1eb238d Plane: make detection of impending takeoff more likely 2021-03-05 12:10:01 +11:00
Paul Riseborough
a1bde16abd Plane: Fix failure to disarm after landing in strong winds 2021-03-05 12:10:01 +11:00
Paul Riseborough
ad582a90dd Plane: Don't set takeoff expected until vehicle is armed. 2021-03-05 12:10:01 +11:00
Paul Riseborough
f5f13b9a47 Plane: Set default airspeed variance using airspeed range 2021-03-05 12:10:01 +11:00
Paul Riseborough
82f68464d4 Plane: Don't lower nose when hand launching 2021-03-05 12:10:01 +11:00
Peter Barker
f85e55a611 Plane: override mission-changing-command to reset some state 2021-03-04 11:59:33 +11:00
Tom Pittenger
5c8d3a87db Plane: change SRx_ docs value 1 50 2021-03-03 18:17:22 +11:00
Iampete1
69275582fa QuadPlane: fix loiter to RTL instant QRTL switch 2021-03-03 15:07:22 +11:00
Randy Mackay
4c8ada111b Plane: quadplane defaults Q_WP_SPEED to 500 
Q_WP_ACCEL default is set to 100
 2021-03-03 08:03:39 +09:00
Iampete1
1d050a01ce Plane: Quadplane: add Q_OPTION to ignore forward flight angle limits in Q modes 2021-03-02 11:16:35 +11:00
Iampete1
8ebe64a274 Plane: Quadplane disable forward motor assist in Q modes if rangefinder is out of range low 2021-02-28 18:48:56 +11:00
Andrew Tridgell
44df1dd0ca Plane: fixed the pitch control in transition for tilt rotors 
this fixes an issue found by Henry. If level transition is set when
transitioning to FBWA from a Q mode, and the pilot pulls back on the
pitch stick to demand pitch up then the plane would go into a
high-alpha flight state with low vertical throttle so it would not
climb, resulting in it never getting past airspeed wait state
 2021-02-28 11:33:18 +11:00
Andrew Tridgell
319368e4b7 Plane: fixed yaw on fwd transition in tilt quadplanes 
this fixes the coordinated turn calculation for yaw rate in tilt
quadplanes, and also only applies it if demanding at least 10 degrees
roll.

this fixes an issue when the pilot has a small roll demand in FBWA
from slightly off roll RC trim

thanks to Henry for helping diagnose this!
 2021-02-27 14:42:20 +11:00
Andrew Tridgell
ee2f7eac80 Plane: prepare for 4.0.9 2021-02-23 08:03:12 +11:00
Andrew Tridgell
c913d8134d Plane: use ahrs.groundspeed() instead of gps call 
this fixes a zero of integrator when dead-reckoning after GPS has died
 2021-02-21 09:13:31 +11:00
Peter Barker
1b74058842 Plane: recalculate glide slope after achieving rtl.done_climb 2021-02-13 19:34:52 +11:00
Pierre Kancir
6062e4ee81 ArduPlane: use AUX_PWM_TRIGGER_LOW and AUX_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Mark Whitehorn
236961f17f Plane: use get_frame_class/type string methods 
use AP_Enum<> for frame_class/type
remove invalid copterTS check
improve quadplane setup failure message

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-02-09 12:43:53 +11:00
Samuel Tabor
db8aaeb63a Plane: During takeoff keep limit at LEVEL_ROLL_LIMIT until rotate speed is reached. 2021-02-09 10:08:41 +11:00
Andrew Tridgell
2e9b2fbc2b Plane: update release notes for 4.0.9beta1 2021-02-06 15:46:01 +11:00
Peter Barker
af29f34f2c Plane: store previous_mode_reason only as a local 
It's never used outside the mode-changing method.
 2021-02-03 20:33:25 +11:00
Iampete1
e600df680e Plane: instantly switch from RTL to QRTL if within radius 2021-02-03 18:53:54 +11:00
Patrick José Pereira
cdc7f891a9 ArduPlane: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Peter Barker
eaa6b36077 ArduPlane: move control_mode_reason up to AP_Vehicle 2021-02-03 18:24:52 +11:00
Peter Barker
b6d0208287 Plane: allow arming in all auto-throttle modes 
... except QRTL and QLAND which are now universally denied for arming.
 2021-02-03 18:22:10 +11:00
Peter Barker
a9be4480b1 Plane: mark q modes as not having auto-throttle control 
Reverts part of 6baaf03c8c

AvoidADSB was NOT marked as AutoThrottle before that commit but was
marked as such in that commit.
 2021-02-03 18:22:10 +11:00
Samuel Tabor
d2c8eb8ce9 Plane: Allow AP_Soaring to specify loiter radius in THERMAL mode. 2021-01-29 11:20:09 -08:00
Andrew Tridgell
b20604bb59 Plane: update release notes for 4.0.8 2021-01-26 17:17:40 +11:00
Iampete1
004f873dc7 Plane: update Quadplane FRAME_CLASS description 2021-01-26 11:07:36 +09:00
Andrew Tridgell
5f4b5c4b94 Plane: prevent failsafe from changing mode during landing 
this prevents RC or GCS failsafe from triggering a mode change during
a landing
 2021-01-26 11:17:10 +11:00
Peter Barker
87486739d1 Plane: disallow changing to INITIALISING mode 2021-01-26 10:47:27 +11:00
Randy Mackay
d487d6152e Plane: ahrs pre-arm always runs position checks 2021-01-26 10:46:49 +11:00
Peter Barker
95bc9cca79 ArduPlane: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Randy Mackay
0d0ff63242 Plane: ensure wp_nav::wp_and_spline_init is called at least once 2021-01-20 18:22:44 +11:00
Iampete1
e4fbe64616 Plane: add QuadPlane singleton 2021-01-19 11:18:10 +11:00
Peter Hall
05fb14e5d9 Plane: tailsitter start transition from initial pitch 2021-01-19 10:46:58 +11:00
Iampete1
4dec597372 Plane: move quadplane logging to QuadPlane: update() 2021-01-19 10:24:05 +11:00
Samuel Tabor
d97a81bfea Plane: Re-order logic in soaring.cpp. 2021-01-13 18:35:53 +11:00
Samuel Tabor
a8549f5e5f Plane: Use const method on modes classes to mark those that support auto switch to THERMAL mode. 2021-01-13 18:35:53 +11:00
Peter Barker
b698546b70 ArduPlane: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
Pierre Kancir
742cfc543f Plane: fix parameter unit 2021-01-12 10:21:55 +11:00
Josh Henderson
cc1e395854 ArduPlane: privatize AHRS logging 2021-01-12 10:13:22 +11:00