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4638 Commits

Author SHA1 Message Date
Andrew Tridgell 9d98244730 Plane: fixed nav_roll/nav_pitch when waiting for VTOL takeoff 
the nav_roll_cd and nav_pitch_cd were not being set in the VTOL
takeoff code when disarmed. This led to small increments accumulating
in the stick mixing code, leading to large control surface movements
before arming
 2023-09-03 09:51:24 +10:00
Peter Barker 4103d5cdb9 Plane: accept DO_ENGINE_CONTROL as both COMMAND_LONG and COMMAND_INT 2023-08-29 11:48:24 +10:00
Andy Piper 15655a9c24 Plane: add AUTOTUNE_OPTIONS flags to allow filter updates to be disabled 2023-08-23 18:06:22 +10:00
Andrew Tridgell 56dcad3cc2 Plane: dummy AP_ExternalControl implementation 2023-08-22 18:21:23 +10:00
Peter Barker 7df3d29e9d ArduPlane: pass mavlink_message_t to handle_command_*_packet 
the "special case" blocks are getting longer and longer.  Merge the switch statements for the command type to be handled by passing around the message.
 2023-08-22 10:11:33 +10:00
Andrew Tridgell 5e61bfe54c Plane: release notes from 4.4.0 2023-08-18 18:31:32 +10:00
Shiv Tyagi ecdc036eb6 Plane: use AP_FOLLOW_ENABLED 2023-08-15 09:57:35 +10:00
Andrew Tridgell fdccfe7afa Plane: update release notes for 4.4.0beta5 2023-08-12 16:31:58 +10:00
arshPratap 5f17e33b39 AP_Arming: Added DDS Method for Arming/Disarming 2023-08-11 13:35:49 +10:00
Henry Wurzburg e9414d69ff ArduPlane: add failsafe protections to Mode Takeoff 2023-08-09 17:33:58 +10:00
Henry Wurzburg d8e205dd39 Plane:disarm on parachute release FS 2023-08-08 11:38:45 +10:00
Nicholas Ionata da30f0b418 Plane: reset target altitude time on mode enter 2023-08-08 11:04:41 +10:00
Peter Hall 83339c9088 Plane: add steering to AETR log msg 2023-08-05 08:41:05 +10:00
Iampete1 045cde5fcf Plane: output rudder and steering directly removing steering_control struct 2023-08-05 08:41:05 +10:00
Andrew Tridgell 2e2c7b50ad Plane: cope with home altitude change while navigating 
this fixes a bug where a change of home altitude would cause a sudden
height demand change. This copes with 3 situations:

 - flying with AMSL alt demand. Changing home altitude makes for no change
 - flying with AGL alt demand. Changing home altitude requires update of next_WP_loc
 - flying with home relative alt demand. Changing home altitude changes demand at end of current navigation leg
 2023-08-05 08:31:02 +10:00
Henry Wurzburg ae5d04b696 Plane:correct metatdata for Q_YAW_ANGLE param 2023-08-03 00:11:08 -07:00
Peter Barker 925ac9bc4e ArduPlane: eliminate use of MINIMIZE_FEATURES for Plane features 2023-08-02 17:48:25 +10:00
Andrew Tridgell 432fd28c45 Plane: update release notes for 4.4.0-beta4 2023-08-01 17:49:38 +10:00
Peter Barker 5c7e22debb ArduPlane: correct return error return codes for DO_FOLLOW 
in the case it wasn't compiled in the return code would be correct.

in the case that the parameter was invalid we would return FAILED, which is wrong, it should be DENIED
 2023-08-01 10:43:34 +10:00
Peter Barker 354e3fa5bf Plane: rely on conversion from long to int for DO_FOLLOW 
we have code which tries to handle commands coming in as command long as command int.

Change to rely on that code working, rather than handling both command-long and command-int variants
 2023-08-01 10:43:34 +10:00
Peter Barker 2cec1204d0 ArduPlane: trim LogStructure base off included code 2023-08-01 10:07:28 +10:00
Iampete1 e194cb704c Plane: fix throttle going bellow min in fbwa RC failsafe 2023-07-26 18:30:49 +10:00
Randy Mackay 84752fbeaa Plane: log MNT at 10hz 2023-07-26 17:33:18 +10:00
Henry Wurzburg 9dbcce4460 Plane:expand log metadata for QTUN 2023-07-25 00:04:17 +01:00
Andy Piper 761c7a0161 ArduPlane: fix incorrect float conversion 2023-07-18 11:06:02 +10:00
Andy Piper 49096422e7 Plane: allow notch frequencies to be logged at full rate 2023-07-18 11:03:47 +10:00
Michael du Breuil a8102d6662 Plane: On vtol landings if from a mission perform crosstracking 2023-07-18 10:44:11 +10:00
Andrew Tridgell 435a83f106 ArduPlane: removed set_blocking_writes_all calls 2023-07-12 17:06:02 +10:00
Andrew Tridgell a57647e3b4 Plane: update release notes 2023-07-04 16:19:36 +10:00
Tom Pittenger 606ef1b269 Plane: is_landing/is_taking_off not to req scripting 2023-07-03 22:44:00 -07:00
Andrew Tridgell b271a20e97 Plane: update release notes for 4.4.0beta3 2023-07-04 14:02:01 +10:00
Iampete1 f89563f987 Plane: Training: output rudder from mode run function 2023-07-04 10:44:13 +10:00
Andrew Tridgell 40ce471fec Plane: fixed transition started airspeed message 
this message was lost in recent refactoring
 2023-07-04 07:22:01 +10:00
Andrew Tridgell 086d0907dd Plane: fixed TECS state reset in VTOL auto 
this fixes a bug where TECS maintains its slow integrator while in a
VTOL hover mode in AUTO or GUIDED.

Among other things this affects PAYLOAD_PLACE and
DO_VTOL_TRANSITION. In those states the height can change while
hovering outside the control of TECS. When TECS regains control in a
fwd transition then can lead to a very large height loss or gain until
the TECS integrator can catch up
 2023-07-03 07:03:14 +10:00
Henry Wurzburg 979d810912 ArduPlane: allow scaled passthru to go to trim on rc failsafe 2023-06-29 21:37:12 +10:00
Iampete1 61682f6551 Plane: implement FLTMODE_GCSBLOCK bitmask 2023-06-28 12:56:25 +01:00
Andrew Tridgell ccd38ddee0 Plane: improved fwd throttle during VTOL landing 
this sets up the vwd integrator more reasonably when we are in
POSITION1 stage of VTOL landing. We need to have enough throttle to
cope with a headwind, but want it lower when we are at or above our
target closing speed so can minimise the amount of pitch up

This also makes the landing_desired_closing_velocity() consistent with
the landing speed used in approach, using average of airspeed min and
cruise speed if TECS_LAND_ARSPD is not set

The target airspeed for TECS during airbraking is now set to
ARSPD_FBW_MIN, on the basis we are trying to slow down to min speed,
and we have VTOL support which should prevent a stall.

To cope with a high headwind where ARSPD_FBW_MIN is below the headwind
we now check for too low achieved closing speed and switch to
POSITION1 which can use vfwd to get to the landing location
 2023-06-27 11:40:55 +10:00
Henry Wurzburg 3f7f7cd3a1 Plane:remove duplication in setting servos in MANUAL 2023-06-27 11:04:53 +10:00
Iampete1 6b106c401c Plane: Quadplane: check with motors if motor test is allowed 2023-06-27 10:24:15 +10:00
Tom Pittenger 4eeb1f18d3 Plane: fixup is_landing and is_taking_off members 2023-06-26 06:54:56 -07:00
Zach Flathers b35b94f553 Plane: update based on PR feedback 2023-06-26 06:54:56 -07:00
Zach Flathers 6177cbbfe2 Plane: Add is_landing/is_taking_off scripting support 2023-06-26 06:54:56 -07:00
Iampete1 2f4b617464 Plane: remove SYS_NUM_RESETS, replaced by STAT_BOOTCNT 2023-06-20 11:10:36 +10:00
Peter Barker 9d3ebf0d54 ArduPlane: add option to disable relay and servorelay libraries 2023-06-20 09:36:39 +10:00
bugobliterator f3159eeb58 ArduPlane: move sysid_my_gcs to be public 2023-06-17 14:49:22 +10:00
Paul Riseborough c92f71842b ArduPlane: Enable ground speed undershoot correction without GPS 
The code had a bug where if GPS fix was lost, the demanded airspeed would be set to the measured or estimated airspeed causing unpredictable variations in the demanded airspeed.
This patch prevents the minimum ground speed protection speed up from running if the ground speed undershoot cannot be calculated.
This patch extends the range of conditions over which the minimum ground speed functionality can be used by enabling the ground speed undershoot to be calculated when the navigation system is able to estimate velocity.
 2023-06-15 08:59:02 +10:00
Andrew Tridgell a80e0fe11a Plane: release notes for 4.4.0-beta2 2023-06-08 18:48:10 +10:00
Andrew Tridgell 425603b883 Plane: final release notes for 4.3.7 2023-05-31 11:35:26 +10:00
Andrew Tridgell 1ecd943769 Plane: fixed AP_ICEngine constructor call 
now uses singleton
 2023-05-30 07:29:55 +10:00
Andrew Tridgell 890c0844d0 Plane: release notes for 4.3.7-beta1 2023-05-24 20:05:25 +10:00