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1863 Commits

Author SHA1 Message Date
Randy Mackay 073828a764 Plane: add ahrs health pre-arm check 2015-10-16 13:50:59 +09:00
Gustavo Jose de Sousa 2cc07d2899 ArduPlane: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:06 +09:00
Randy Mackay 17ed125e41 Plane: add no break comment to suppress compiler warning 2015-10-03 12:56:30 +09:00
Randy Mackay 32c5b0e63c Plane: support set_home_position message 2015-10-03 12:56:28 +09:00
Randy Mackay d54e28e129 Plane: send home position when home is set or get-home msg received 2015-10-03 12:56:27 +09:00
Andrew Tridgell 213bed99e1 Plane: use ahrs.send_ekf_status_report() 2015-09-29 10:59:19 +10:00
Tom Pittenger 617626f9f5 Plane: log flight_stage 
logging plane flight stage in STAT.Stage
 2015-09-28 18:18:09 +10:00
Andrew Tridgell 017ebc440b Plane: added SENSOR_RC_RECEIVER reporting in SYS_STATUS 2015-09-28 08:55:24 +10:00
Andrew Tridgell 458e967d06 Plane: added RPM logging 
useful for seeing if a petrol motor is still running
 2015-09-24 20:58:18 +10:00
Andrew Tridgell c14dbcfc44 Plane: set version to 3.4.1dev 2015-09-24 11:12:41 +10:00
Andrew Tridgell 38d51ddb32 Plane: prepare for 3.4.0 release 2015-09-24 10:08:27 +10:00
Andrew Tridgell 91f990af06 Plane: added EKF2 to parameters as EK2_* 2015-09-23 11:56:37 +10:00
Andrew Tridgell 0592bd4e6f Plane: update release notes 2015-09-22 09:46:18 +10:00
Andrew Tridgell b735999848 Plane: prepare for beta3 2015-09-22 09:43:39 +10:00
Randy Mackay 6da53ae3b2 Plane: replace SKIP_GYRO_CAL with INS_GYR_CAL 
Also calibrate gyros with accel cal and set trim
 2015-09-21 17:06:43 +09:00
Andrew Tridgell 9e7c38b933 Plane: moved logging of mode to Log_Write_Vehicle_Startup_Messages 
this fixes a problem where the initial mode isn't logged on arming
 2015-09-17 20:15:26 +10:00
Andrew Tridgell d019f83bee Plane: allow for higher roll limits on takeoff 
only restrict to LEVEL_ROLL_LIMIT below 5m. Above that start to allow
larger roll limits, reaching the full roll limit at 15m
 2015-09-17 15:35:37 +10:00
Stewart Loving-Gibbard 2085156a07 Plane: Adding Logging of RSSI data. 2015-09-16 16:41:45 +09:00
Andrew Tridgell 86e8c7ed2f Plane: add some safety to detect bad lidar readings 
we only accept a lidar if it changes by 5% of its full range, and we
reject a lidar again if the correction between barometric and lidar
range changes by more than 30m

This allows us to cope with faulty lidars which may give a constant
reading
 2015-09-16 14:24:44 +10:00
squilter 7365701d13 Plane: Support do_digicam_x via command_long 2015-09-16 13:06:51 +09:00
Grant Morphett 9a76f0ecf0 Plane: Fixing FS_SHORT_ACTN parameter doco 
This is to resolve wiki issue 146
https://github.com/diydrones/ardupilot-wiki-issue-tracker/issues/146
 2015-09-16 09:35:38 +09:00
Grant Morphett 6b22a59eff Plane: Fixing up the ARMING_ parameters autogen doco 2015-09-15 14:11:15 +09:00
Andrew Tridgell d43d070e75 Plane: ensure throttle reverse is obeyed in all states 
need to use radio_max for failsafe if reversed
 2015-09-14 09:42:20 +10:00
Andrew Tridgell 5c055220f5 Plane: cope with bad values of ARMING_REQUIRE 2015-09-14 09:35:53 +10:00
Andrew Tridgell 73f454133b Plane: log RFND packet for multiple rangefinders 2015-09-13 11:29:53 +10:00
Peter Barker 3c0355e9e2 Plane: ensure 10% free space when initialising logging 2015-09-09 12:22:35 +10:00
Staroselskii Georgii db94c8d53d Plane: make Plane use milligauss 2015-09-09 10:38:16 +10:00
Grant Morphett c5c74eebfc Plane: Using the existing function to check for throttle failsafe 
No need to duplicate the code if we have an existing function for this
sort of thing.
 2015-09-09 10:28:02 +10:00
Grant Morphett a1b96f659b Plane: Fixing issue 302 
Using the configured FS_THR_VALUE to check for failsafe instead of
just checking against 50 below throttle min.
 2015-09-09 10:28:02 +10:00
Tom Pittenger fc2c94f78f Plane: utilize NAV_CONTINUE_AND_CHANGE_ALT for land abort 
when aborting a landing via mode change, check if NAV_CONTINUE_AND_CHANGE_ALT is after LAND. If so, go ahead and execute it. Else, normal behavior or check do_land_start else decrement mission index
 2015-09-09 09:32:31 +10:00
Andrew Tridgell 036e1fff12 Plane: a bit more caution in unsuppressing throttle pre-takeoff 
require reasonable pitch and definate gps movement. This errs on the
side of not overriding a takeoff command, which could be dangerous
 2015-09-09 09:24:54 +10:00
Tom Pittenger fe083c8ffa Plane: consider extended launch throttle delays 
use the greater of takeoff_throttle_delay+2s or 5s
 2015-09-09 09:14:59 +10:00
Tom Pittenger 4f46c5331a Plane: added time for flying in any mode 
- previously we only kept track of starting flying while in auto which gets reset when switching in and out of auto and on takeoff/land. Now we keep track of a "global" one that will track the is_flying flag regardless of the flight mode.
 2015-09-09 09:14:59 +10:00
Tom Pittenger a3c51698cb Plane: fix throttle when restarting mission in-flight with takeoff 
fixes https://github.com/diydrones/ardupilot/issues/2778
When executing a takeoff, and the throttle is suppressed, but we're already flying, we should unsuppress the throttle. We can get into this situation if we reset the mission in-flight.
 2015-09-09 09:14:59 +10:00
Andrew Tridgell 0cc165308d Plane: use 4 degrees if zero takeoff pitch 2015-09-09 09:13:12 +10:00
Andrew Tridgell 953efa9b6c Plane: fixed parameter docs for LAND_ABORT_THR 
it should be a values list
 2015-09-09 09:08:59 +10:00
Tom Pittenger d36ee786e4 Plane: init hold_course in do_takeoff 2015-09-09 09:04:24 +10:00
Tom Pittenger 25da4ec0ea Plane: added flight stage FLIGHT_LAND_ABORT and abort mechanism 
- enabled via new param LAND_ABORT_THR default is 0 (disabled)
- Triggered via 95% throttle during landing, a landing abort will take place.
- This copies all takeoff params for right now, we can make this better later if needed
- added mission item command to NAV_LAND which is the abort takeoff altitude. If 0 then use last takeoff if available, else use 30m
- hold heading, just like takeoff, until altitude is reached
- pitch is constrained to takeoff pitch, or else 10deg if not available
- After abort altitude is reached, the normal landing restart happens (DO_LAND_START or decrement mission)
- restart landing by jumping to DO_LAND_START or decrement mission on mode change
 2015-09-09 09:04:24 +10:00
Grant Morphett e734e9745d Plane: TKOFF_TDRAG_SPD1 is needed if holding nose wheel down. 
Just clearing up the documentation as per this wiki issue
https://github.com/diydrones/ardupilot-wiki-issue-tracker/issues/138
 2015-09-08 17:31:09 +10:00
Tom Pittenger 6e55b44b63 Plane: change NAV_CONTINUE_AND_CHANGE_ALT behavior 
Use waypoint bearing if available, otherwise use gps projected ahead 1km else yaw
Perform update before making decision to finish cmd so it always executes
 2015-09-08 17:05:54 +10:00
Andrew Tridgell 0a66fcce20 Plane: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Andrew Tridgell 05192ea9ab Plane: added severities to send_statustext_all 2015-09-08 14:29:55 +10:00
Andrew Tridgell f92f46ee99 Plane: update for changed AP_Arming API 2015-09-08 13:54:45 +10:00
Grant Morphett f953f03916 Plane: Fixing issue 327 - reporting Baro alt instead of GPS 2015-09-08 09:40:39 +10:00
Grant Morphett 3cb0c1bba8 Plane: Move the plane centric arming code into arming_checks.cpp 
Needed to move the plane centric arming code out of the AP_Arming
library and into the plane vehcile code.
 2015-09-07 11:54:21 +10:00
Andrew Tridgell e12c20bd22 Plane: prepare for 3.4.0-beta2 release 2015-09-07 09:30:34 +10:00
Andrew Tridgell 16d06ef0a9 Plane: set throttle trim to min on startup 
this prevents possibly motor startup for bad RC3_TRIM values
 2015-09-07 09:17:22 +10:00
Andrew Tridgell 2d60934335 Plane: require 5 channels to run failsafe passthrough 2015-09-07 09:16:14 +10:00
Randy Mackay 8c1212d4a6 Plane: support do-mount-control via command-long 2015-09-06 16:01:31 +09:00
Siddharth Bharat Purohit aea1db7348 ArduPlane: implement on-board compass cal for arduplane 2015-09-03 16:59:14 +10:00