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2904 Commits

Author SHA1 Message Date
Ferruccio Vicari 85ab3edc5f Plane: Smoother transition to QLOITER and QLAND 
Use estimated stopping position
 2017-09-21 07:57:38 +10:00
Peter Barker 1a724ded2a Plane: AP_Arming: sanity-check fs timeout parameters 2017-09-20 09:46:24 -07:00
mirkix 7c6be7c421 Plane: change format of reset alt target message 2017-09-20 20:28:53 +10:00
Randy Mackay 667cdcdfcf Plane: resolve compiler warning while using send_text 
non-functional change
 2017-09-20 12:14:38 +09:00
Randy Mackay 2073d65975 Plane: command-long DO_SET_HOME check first param is zero 2017-09-20 12:14:38 +09:00
Randy Mackay 640fb91329 Plane: accept DO_SET_HOME within COMMAND_INT 2017-09-20 12:14:38 +09:00
Andrew Tridgell 3d16ca7144 Plane: fixed MANUAL_RCMASK 
ensure it only applies in MANUAL, and fixed input scaling in px4io
 2017-09-19 17:05:56 +10:00
Peter Barker 7e631ba16c Plane: move handling of SET_GPS_GLOBAL_ORIGIN up 2017-09-19 15:44:23 +09:00
mirkix b682f3f6d9 Plane: fix parameter units 2017-09-19 11:34:26 +10:00
Randy Mackay 3d7b6ddc40 Plane: support SET_GPS_GLOBAL_ORIGIN message 2017-09-19 10:30:15 +09:00
Peter Barker 1304b86d09 Plane: remove old DO_SET_MODE support 
We no longer support setting anything except custom-modes
 2017-09-19 01:24:11 +01:00
Andrew Tridgell 35c1a732a6 Plane: allow takeoff in guided then fw loiter 
this allows for quadplane takeoff in GUIDED with Q_GUIDED_MODE=0. The
takeoff will be VTOL, but subsequent guided points will be fixed wing
 2017-09-18 10:21:53 +10:00
Tom Pittenger 85b7f1bbb4 Plane: guided takeoff success should return true 2017-09-13 14:46:22 -07:00
Michael du Breuil 4fd13d5205 Plane: Support landing terminations on landing backends that support it 2017-09-13 13:15:08 -07:00
Peter Barker aee939f891 Plane: move gcs_out_of_time into GCS object 2017-09-12 18:28:07 +01:00
Andrew Tridgell 73d6a05241 Plane: support change alt for GUIDED from qgc 2017-09-11 13:26:48 +10:00
Andrew Tridgell 1c75cd7039 Plane: update release notes for 3.8.2 2017-09-11 09:57:28 +10:00
Andrew Tridgell 11b9805dce Plane: added MANUAL_CONTROL support 
allows for joystick with QGC
 2017-09-11 07:55:48 +10:00
Andrew Tridgell 37220e1568 Plane: removed unused prototypes 2017-09-10 17:15:18 +10:00
David Ingraham 750212eb8f Plane: Remove deprecated control surface mixing functions 
This commit removes the deprecated functions used for calculating elevon and vtail mixes. This code is currently unrechable.
The functions that called these were removed in PR #6546.
 2017-09-10 17:14:14 +10:00
Andrew Tridgell d61705ee51 Plane: added release notes for plane 3.8.2beta1 2017-09-09 08:32:14 +10:00
Andrew Tridgell 600a5c44d2 Plane: allow changing of target altitude in GUIDED 2017-09-09 08:14:09 +10:00
Andrew Tridgell bc17c26dbf Plane: limit pitch in transition to QLOITER and QLAND 
when switching to QLOITER or QLAND when in forward flight, limit the
maximum pitch to prevent a sudden decelleration
 2017-09-09 08:14:09 +10:00
Andrew Tridgell b6809655d4 Plane: smooth the transition to LAND_FINAL in quadplanes 
this makes for a much smoother change to LAND_FINAL, without a jerk as
it changes vertical speed
 2017-09-09 08:14:09 +10:00
Andrew Tridgell 8411ac5c57 Plane: fixed a problem with descent rate in landings for quadplanes 
use xy controller instead of xyz controller, which prevents calling z
controller twice, which led to poor height control
 2017-09-09 08:14:09 +10:00
Andrew Tridgell baee71a5b4 Plane: added GUIDED takeoff for quadplanes 
this allows takeoff in GUIDED mode in the same way as copters
 2017-09-09 08:14:09 +10:00
Michael du Breuil 1f5743e900 Plane: Report the primary magnetometer health rather then the first 2017-09-08 10:27:17 +10:00
Andrew Tridgell a88e663191 Plane: adjust target altitude slowly in QRTL mode 
this fixes a sudden throttle drop when starting the descent in QRTL mode
thanks to Marco for finding this issue
 2017-09-07 07:22:13 +10:00
Andrew Tridgell 87e52a9f0f Plane: prepare for 3.8.1 release 2017-09-03 19:31:30 +10:00
Peter Barker 0c7c2a41c4 Plane: handle param_request_list in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker dd4bffb4a2 Plane: handle param_set in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker 0db1711b1f Plane: move send_autopilot_request calls up to GCS base class 2017-08-30 15:54:46 +01:00
Peter Barker c15c1b84a4 Plane: add constant structure holding firmware version 2017-08-30 15:54:46 +01:00
Peter Barker 0708130b5e Plane: correct bad case fallthrough 2017-08-30 15:54:46 +01:00
Andrew Tridgell 6bfed07eae Plane: updated USE_REV_THRUST docs 2017-08-30 08:46:53 +10:00
Michael du Breuil 8630037fd7 Plane: Parameterize the home altitude reset conditions 2017-08-29 13:09:46 -07:00
Andrew Tridgell d541ac509f Plane: removed TRIM_RC_AT_START parameter 
this option caused a lot more problems than it solved, and is buggy
 2017-08-29 07:35:49 +10:00
Andrew Tridgell 1a207c919b Plane: fixed bug in TRIM_AUTO 
fixed trim for differential spoilers
 2017-08-29 07:35:49 +10:00
Andrew Tridgell 4124d371c9 Plane: fixed minacc and delay for launch 
See
https://discuss.ardupilot.org/t/tkoff-thr-minacc-and-tkoff-thr-delay-doesnt-work-together/19928
 2017-08-29 07:35:04 +10:00
Peter Barker 2861c1d06a Plane: add ArduSub to list of SYSID_SW_TYPE 2017-08-24 19:50:38 +09:00
Peter Barker 212174bc0e Plane: remove unused defines 2017-08-24 19:48:17 +09:00
Lucas De Marchi 44ffb67837 ArduPlane: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Randy Mackay c80a83322a Plane: integrate simpler Log_Write_EKF 2017-08-23 11:19:14 +09:00
Peter Barker 8272fb8fa2 Plane: remove unused repeating events defines 2017-08-22 09:58:12 -07:00
Peter Barker 9732b19f04 Plane: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker 4321abd477 Plane: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Peter Barker 8eeae45300 Plane: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:58:10 +10:00
Michael du Breuil 833ec1336e Plane: Expose the AFS instance to MAVLink 2017-08-15 15:14:56 +01:00
Peter Barker 1a665280e9 Plane: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker d33cd801a1 Plane: send gps messages as separate queued messages 2017-08-09 16:18:22 +01:00
Peter Barker c3e86840b2 Plane: move sending of gps_raw up 2017-08-09 16:18:22 +01:00
Peter Barker 933cd7a44c Plane: move sending of system_time up 2017-08-09 16:18:22 +01:00
Peter Barker 4aee416c1d Plane: move sending of camera_feedback up 2017-08-09 16:18:22 +01:00
Peter Barker 9eb96886e5 Plane: move sending of meminfo up 2017-08-09 16:18:22 +01:00
Peter Barker a9c866f574 Plane: use new retry_deferred method 2017-08-05 23:14:36 +01:00
Andrew Tridgell 3802e7bc3b Plane: mark version as 3.8.1-dev 2017-08-05 17:19:32 +10:00
Andrew Tridgell 6e84210d1b Plane: prepare for plane 3.8.0 release 2017-08-05 17:19:32 +10:00
Peter Barker 4cb94b80ee Plane: move try_send_message queued_param_send up 2017-08-03 14:34:33 +01:00
Peter Barker 089f6f4650 Plane: move try_send_message send_hwstatus up 2017-08-03 14:33:37 +01:00
Peter Barker fee9e83881 Plane: move try_send_message mission handling up 2017-08-03 14:24:47 +01:00
Peter Barker a740c10dfe Plane: move try_send_message compass message handling up 2017-08-03 14:24:46 +01:00
Peter Barker 50cbbc324b Plane: base SYS_STATUS load average on variable loop rate 2017-08-01 19:39:27 +01:00
Andrew Tridgell 9b16836da5 Plane: cope better with more RC trim/min/max values 
when min > trim we need to do RC scaling via rc_config. This loses the
ability to go beyond RC limits, but that can be coped with using
MANUAL_RCMASK
 2017-08-01 08:25:32 +10:00
Andrew Tridgell 99df31f6ec Plane: fixes from review 
thanks Francisco
 2017-08-01 08:25:32 +10:00
Andrew Tridgell ea1a4bc176 Plane: improve px4_mixer handling of servo trim/min/max 2017-08-01 08:25:32 +10:00
Andrew Tridgell cff692ca48 Plane: implement MANUAL_RCMASK 
this replaces the functionality of the old "with input"
aileron/elevator functions, but in a much more flexible way. It means
that people who want to fly in MANAUL mode will have the ability to
have full control of trims and mixing using transmitter mixers if they
need that functionality
 2017-08-01 08:25:32 +10:00
Andrew Tridgell fedd2c558c Plane: added AETR log message 
this makes debugging mixers much easier
 2017-08-01 08:25:32 +10:00
Andrew Tridgell 5d91e29cea Plane: fixed px4_mixer for new function based mixing 
this fixes the OVERRIDE_CHAN functionality to work correctly with the
new function based mixing code

It isn't a perfect match for ArduPilot mixing, but it is very close
for the key control surfaces, including mixed surfaces
 2017-08-01 08:25:32 +10:00
Andrew Tridgell 0266168e69 Plane: removed old elevon and vtail mixers 
now only use the function based mixing, and auto-convert on startup
 2017-08-01 08:25:32 +10:00
Andrew Tridgell 178e7eca54 Plane: always setup target airspeed 
this sets up a target airspeed even when flying without an airspeed
sensor. This is needed for quadplanes without airspeed sensors where
we use synthetic airspeed during the transition in TECS
 2017-07-31 09:55:44 -07:00
Andrew Tridgell 909f109b3f Plane: don't start a transition while disarmed 
this can caused flooding of the GCS console while disarmed in FBWA
mode
 2017-07-30 12:39:36 -07:00
Peter Barker 1cb6962f84 Plane: move common mavlink camera handling up 2017-07-28 14:32:58 +01:00
Peter Barker 2fb46a67dd Plane: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Peter Barker fbcd072d98 Plane: move gps inject handling up to GCS_MAVLINK 2017-07-27 12:03:25 +01:00
Patrick José Pereira 60834e9af0 Plane: Allow a second activation of parachute 
The hardware can fail in the first activation,
this patch allow a second chance to active the parachute successfully.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2017-07-26 17:51:34 +01:00
Peter Barker 87af817893 Plane: handle common GPS messages in base GCS_MAVLINK class 2017-07-25 14:00:45 +01:00
Peter Barker fa39f315c6 Plane: move starting of new logs into DataFlash 2017-07-19 16:37:28 +01:00
Peter Barker ea892d278f Plane: remove MSG_STATUSTEXT entirely 2017-07-18 16:12:59 +01:00
Michael du Breuil f87a69dcf2 Plane: Throttle based landing aborts should ask the landing library 
Throttle based aborts should be requesting a go around from AP_Landing.
This was missed in the initial port.
 2017-07-17 08:43:50 -07:00
Peter Barker 7f0cb82797 Plane: move handling of PREFLIGHT_SET_SENSOR_OFFSETS up 2017-07-17 14:17:19 +01:00
Peter Barker 6047026b11 Plane: move handling of MAG_CAL command longs up 2017-07-17 14:17:19 +01:00
Peter Barker 2b6752e0b4 Plane: move MAV_CMD_START_RX_PAIR handling to base class 2017-07-17 14:17:19 +01:00
Peter Barker 7042d3e9c9 Global: all vehicles get AP_Relay and AP_ServoRelayEvent libraries 2017-07-17 00:06:31 +01:00
Peter Barker 36eab56178 Plane: move mavlink support for servo/relay up 2017-07-16 23:56:00 +01:00
Peter Barker 3af52d9db3 Plane: add common handling of mavlink command messages 2017-07-16 23:56:00 +01:00
Michael du Breuil b8e6ad7476 Plane: Document loop max time as being in microseconds 2017-07-15 17:27:04 +09:00
Peter Barker 983686745e Plane: move rally-point handling up 2017-07-14 01:28:05 +01:00
Peter Barker a250f47f13 Plane: remove unneeded telemetry_delayed parameter 2017-07-12 17:01:36 +01:00
Peter Barker c9c4b31e99 Plane: move handling of incoming statutext messages up 2017-07-12 16:52:24 +01:00
Peter Barker c058fba5ac Plane: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Peter Barker 592729733e Copter: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Peter Barker 1be52495f1 Plane: eliminate global static GCS_MAVLINK::send_home_all 2017-07-11 23:48:39 +01:00
Peter Barker d850feb75f Plane: move common mission handling up to GCS_MAVLINK 2017-07-11 23:45:17 +01:00
Peter Barker 250f315678 Plane: eliminate gcs_send_mission_item_reached wrapper 2017-07-11 23:45:16 +01:00
Peter Barker 3b0a7703c4 Plane: eliminate gcs_send_message wrapper 2017-07-11 23:45:16 +01:00
Peter Barker 5a8f01c19c Plane: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Peter Barker 685706952c ArduPlane: use Notify singleton for sending statustext 2017-07-09 17:17:29 -04:00
Peter Barker 5b3b61a2e4 Plane: move GCS functions up to superclass GCS 2017-07-07 16:18:37 +01:00
Andrew Tridgell 1d626db3b1 Plane: use scaled outputs for AFS failsafe 
we need to use scaled outputs so that derived outputs (such as elevons
and vtail) have a valid input to use
 2017-07-04 07:59:28 +10:00
Peter Barker 923b201025 Plane: send servos outputs after flaperon update 2017-07-04 07:59:28 +10:00
Peter Barker 38921c4f1a Plane: correct AFS terminate for rcin/servos split 2017-07-04 07:59:28 +10:00
Eugene Shamaev b95ebadf8b ArduPlane: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Andrew Tridgell b2cd5f5c06 Plane: release 3.8.0beta5 2017-07-03 11:39:48 +10:00
Andrew Tridgell d3f9afd4e7 Plane: fixed auto-adjustment of flaperon trim 2017-07-03 11:17:42 +10:00
Andrew Tridgell 2cb511c049 Plane: deprecate old aileron_with_input and elevator_with_input 
these have very rarely been used and don't work well with new trimming
mechanisms. Now treat them as ordinary ailerons/elevators
 2017-07-03 11:17:42 +10:00
Andrew Tridgell 51b39ea3a1 Plane: removed ancient "mix_mode" type elevon mixing 
this has been deprecated for a long time
 2017-07-03 11:17:42 +10:00
Andrew Tridgell 725244ff8a Plane: implement new TRIM_AUTO functionality 
this fixes TRIM_AUTO for new scaled output approach to servo functions
 2017-07-03 11:17:42 +10:00
Andrew Tridgell 984e887d1d Plane: changed differential spoilers to scaled outputs 
this matches new elevon, vtail and flaperon code
 2017-07-03 11:17:42 +10:00
Andrew Tridgell c9e4423997 Plane: re-implement flaperons 
implement as scaled output instead of PWM output

this will break some peoples setups, but gives much easier setup and
more consistent behaviour
 2017-07-03 11:17:42 +10:00
Peter Barker 1ca5f243a5 Plane: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Peter Barker 949e07c7e3 Plane: use DataFlash should_log to determine raw IMU logging 2017-06-29 15:26:27 +01:00
Peter Barker 88a7167cb9 Plane: move should_log check of log bitmask into DataFlash 2017-06-29 15:26:27 +01:00
Peter Barker 5b70b688cb Plane: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00
Peter Barker 60ebd099bd Plane: move send-logs-via-mavlink code into DataFlash 2017-06-27 03:10:43 +01:00
Michael du Breuil 8691eae679 Plane: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing 2017-06-20 15:41:50 +01:00
Andrew Tridgell 0b40e853c9 Plane: call set_likely_flying() 2017-06-20 09:44:44 +10:00
Peter Barker ceec44350f Plane: move MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS handling up 2017-06-17 15:07:48 +01:00
Michael du Breuil 92cdb54176 Plane: Fix a fly away when aborting a landing 
DO_LAND_START -> LAND waypoints in sequence would cause a perpetual abort state
due to the sticky nature of the abort states. If we restart a landing on
purpose while doing an abort, then we can move onto trying to land again.
 2017-06-17 09:10:27 +10:00
Peter Barker 30dfd32b87 Plane: stop using in_mavlink_delay as a proxy for disabling logging 2017-06-16 17:07:48 +01:00
Peter Barker b57a4e9685 Plane: call dataflash should_log method 2017-06-16 17:07:48 +01:00
Michael du Breuil 1d03732ac5 Plane: Remove redundant status text on MAV_CMD_DO_GO_AROUND 2017-06-16 11:49:52 +09:00
Pierre Kancir 5d0972f589 Arduplane: fix implicit cast to double warning in quadplane 2017-06-14 12:40:47 +01:00
Peter Barker c6beb3a867 Plane: simplify dataflash initialisation 2017-06-14 12:20:29 +01:00
Peter Barker 4dc241fd22 Plane: StartUnstartedLogging replaces logging_started/start_logging 2017-06-11 20:34:12 +01:00
Peter Barker 927cc75843 Plane: simplify should_log (NFC) 2017-06-11 20:34:12 +01:00
Andrew Tridgell 1455c23230 Plane: fixed docs for tailsitter 2017-06-10 18:41:34 +10:00
Pierre Kancir d5cc1e64ed GCS_Common: rename send_rangefinder to send_rangefinder_downward 2017-06-08 01:32:04 +01:00
Pierre Kancir 0bc9d294fb ArduPlane: change rangefinder msg for common one 2017-06-08 01:31:52 +01:00
Pierre Kancir 9a121dc7c4 ArduPlane: add DISTANCE_SENSOR support 2017-06-08 01:31:52 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas ccee841578 Plane: NFC SYS_NUM_RESETS is a read-only variable 2017-06-07 19:53:03 +09:00
Mark Whitehorn 6607dafc66 ArduPlane: change is_tailsitter() to tailsitter_active() 2017-06-07 20:21:49 +10:00
Mark Whitehorn 53b82d1d4d ArduPlane: add comments on tailsitter pitch limits 2017-06-07 20:21:49 +10:00
Mark Whitehorn 65755454e0 ArduPlane: set tailsitter VTOL pitch limits using only Q_ANGLE_MAX 2017-06-07 20:21:49 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 14b214eb9b Plane: remove FS parameters default values macros. 
They just add an un-necessary level of indirection in the code. The parameters are run-time configurable now.
 2017-06-07 17:46:39 +10:00
Michael du Breuil 87c076da4d ArduPlane: Fix missing break in GCS_MAVLink 
Was causing AOA_SSA to send a landing message as wel
 2017-06-05 13:12:01 +09:00
Randy Mackay f7e830cfad Plane: pixhawk mixer supports motors 9 to 12 2017-05-27 14:21:13 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 405e0bb9d9 Plane: Add missing @RebootRequired: True 2017-05-27 01:55:55 +01:00
Paulo Neves a45dd30c1d Plane: Add MAV_CMD_DO_SET_CAM_TRIGG_DIST support. 2017-05-25 09:35:22 +09:00
Michael du Breuil 19a5475195 Plane: Send landing messages 2017-05-24 15:22:27 -07:00
Dr.-Ing. Amilcar Do Carmo Lucas 2f5f8eb323 Plane: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Michael du Breuil 92d505598b ArduPlane: Poll AP_Landing for fly forward information 2017-05-15 14:50:29 -07:00
Andrew Tridgell 92f88e9b33 Plane: fixed climb rate for quadplanes in CRUISE 
the high loop rate of quadplanes led to less than 1cm/loop change in
height, which got truncated to zero. Adjusting height at 10Hz fixes
that.

Thanks to Marco for reporting this!
 2017-05-10 08:03:23 +10:00
Andrew Tridgell 6eaad59115 Plane: improve vectored tailsitter takeoff 
this gives extra pitch input when taking off a vectored tailsitter,
allowing the motors to point straight up for easy takeoff

thanks to Leonard for the idea!
 2017-05-07 09:10:44 +10:00
Andrew Tridgell a46799d34e Plane: removed AP_Airspeed from vehicle code 2017-05-04 22:59:02 -07:00
André Kjellstrup 21b8d3cb3d Plane: Removed scary autotakeoff message. 
This message does not provide anything useful, but is rather scary to
get moments before launch.
If it's somehow meant to provide useful information, or an action "Timer
interrupted AUTO" should be replaced by something else.
 2017-05-04 22:37:32 -07:00
Peter Barker 378015691b Plane: stop appending lf to PERF message 2017-05-01 16:21:55 +01:00
Peter Barker 084242cf03 Plane: move init of DataFlash references into vehicle init 
It is possible to start a log before the existing codepath is crossed.
 2017-05-01 15:04:34 +01:00
Andrew Tridgell 708b483d77 Plane: prepare for 3.8.0beta5 2017-05-01 20:30:32 +10:00
Andrew Tridgell 2706c9d57a Plane: use common send_queued_parameters() 2017-05-01 14:36:10 +10:00