Andrew Tridgell
e30838a4ef
Plane: make OVERRIDE_CHAN behaviour exactly match FLTMODE6
...
this provides a convenient "real manual" flight mode
2014-11-07 10:39:07 +11:00
Andrew Tridgell
bfb2a7eb93
Plane: improved FLAPIN_CHANNEL docs
2014-11-07 10:39:07 +11:00
Andrew Tridgell
16fd113020
RC_Channel: added channel_function()
...
this is used in the plane mixing code
2014-11-07 10:39:07 +11:00
Andrew Tridgell
913004beb0
Plane: added OVERRIDE_CHAN parameter
...
this allows both for testing PX4IO override on the ground, and for
forced manual override while flying, including re-arming after in-air
reboot
2014-11-07 10:39:07 +11:00
Andrew Tridgell
c494057c98
Plane: add support for generating a PX4 mixer for failsafe
...
this creates APM/MIXER.MIX which will be used if the FMU dies to
provide manual control over RC
2014-11-07 10:39:07 +11:00
Andrew Tridgell
96a87b6990
Plane: added DF logging of 2nd battery voltage
2014-10-30 21:17:17 +11:00
Andrew Tridgell
538cf68005
Plane: removed unused function
2014-10-30 18:23:29 +11:00
Andrew Tridgell
ddd27f5acb
Plane: increase mav throttle slew rate in generated param docs
2014-10-25 10:06:29 +11:00
Andrew Tridgell
e4f7a7f6d2
Plane: removed incomplete DF log of go-around
...
the right commands should already be logged. This code would have
logged a lot of uninitialised bytes
2014-10-24 22:09:41 +11:00
Andrew Tridgell
c046273be2
Plane: fixed verify_land() comment for go-around
2014-10-24 22:04:59 +11:00
Andrew Tridgell
1f3e285ed0
Plane: reset commanded_go_around at start of land
...
this allows multiple landing attempts
2014-10-24 22:04:30 +11:00
Andrew Tridgell
ad58822cb5
Plane: removed impossible boolean check
2014-10-24 22:04:05 +11:00
Andrew Tridgell
959cd11cb1
Plane: save a byte in auto_state
...
keep single bits together to save space on APM2
2014-10-24 22:03:34 +11:00
Michael Day
01f611daa9
Plane: "Go around" operation. Assumes go around behavior follows land wp.
2014-10-24 21:51:46 +11:00
Andrew Tridgell
e434850f1f
Plane: move set_mode() after mission.set_current_cmd()
...
if set_current_cmd() fails, we don't want to change to AUTO with some
unknown mission item
2014-10-24 21:51:27 +11:00
Andrew Tridgell
02b80db67c
Plane: minor code style change
...
use comment and function style consistent with rest of code
2014-10-24 21:50:18 +11:00
Michael Day
c1b949a74f
Plane: Bugfix. Changing to landing sequence now works at mission end.
2014-10-24 21:42:06 +11:00
Andrew Tridgell
240e87dc2c
Plane: update for new AP_InertialSensor API
2014-10-24 12:10:38 +11:00
Andrew Tridgell
05c325a12a
Plane: display min as well as max loop delta_t
2014-10-22 18:27:12 +11:00
Andrew Tridgell
2fc69c7c4c
Plane: disable CLI by default
...
it really isn't needed any more, and saves 20k of flash on APM2
2014-10-22 18:27:08 +11:00
Andrew Tridgell
f87da51b37
Plane: prevent calling jump_to_landing_sequence() too often
2014-10-20 08:36:20 +11:00
Andrew Tridgell
8d329f6b5a
Plane: ignore DO_LAND_START in missions
2014-10-20 08:36:20 +11:00
Andrew Tridgell
1f0840ddf8
Plane: improved RTL_AUTOLAND docs
2014-10-20 08:36:20 +11:00
Andrew Tridgell
9f32bf93d1
Plane: switch to AUTO on a DO_LAND_START MAVLink command
2014-10-20 08:36:20 +11:00
Andrew Tridgell
7ecc87a787
Plane: improved check for reaching RTL point for auto-land
2014-10-20 08:36:20 +11:00
Michael Day
be17bfd972
Plane: Added parameter RTL_AUTOLAND and implementation.
2014-10-20 08:36:20 +11:00
Michael Day
fe43ae538f
Plane: Added support for MAV_CMD_DO_LAND_START
2014-10-20 08:36:19 +11:00
Andrew Tridgell
4c984d9331
Plane: start preparing for 3.1.2
2014-10-13 10:25:53 +11:00
Randy Mackay
6d8e760582
Plane: report gyro unhealthy if failed calibration
2014-10-09 10:00:17 +09:00
Andrew Tridgell
71d786187e
Plane: make auto takeoff independent of compass
...
this solves a problem of poor initial yaw due to poor compass offsets
causing a takeoff to not be in the direction the plane is pointing. A
summed gyro is used until the GPS speed is above 5m/s for 2 seconds,
then the GPS heading corrected by the summed gyro error is used for L1
based navigation for the rest of the takeoff
2014-10-07 07:17:46 +11:00
Randy Mackay
b17c6d3368
Plane: only report ahrs unhealthy after initialisation
2014-10-02 14:41:28 +09:00
Andrew Tridgell
c4b17b74e2
Plane: use handle_set_mode()
2014-10-01 14:19:20 +10:00
Randy Mackay
82225de6fa
Plane: allow GCS to turn safety switch on/off
2014-10-01 13:11:50 +10:00
Randy Mackay
7a6b55368e
Plane: set sys_status motor outputs bit from safety switch
2014-10-01 13:09:58 +10:00
Randy Mackay
6d3acba04c
Plane: check target of set-mode request from GCS
...
Issue discovered and fix contributed by Deadolous
2014-09-30 15:19:25 +10:00
Andrew Tridgell
4b01cee330
Plane: send heartbeat to AFS when calibrating sensors
2014-09-24 12:02:39 +10:00
Andrew Tridgell
1fa03a49c9
Plane: disable the CLI if AFS failsafe enabled on APM2
...
the flash space is a bit too low for both CLI and AFS
2014-09-24 12:02:38 +10:00
Andrew Tridgell
e555b9a855
Plane: improved WP_RADIUS docs
2014-09-12 11:57:43 +10:00
Andrew Tridgell
7b4181dc14
Plane: prepare for 3.1.1 release
2014-09-12 11:07:26 +10:00
Andrew Tridgell
7aad03df28
Plane: minor doc update for fence auto enable
2014-09-11 18:58:54 +10:00
Andrew Tridgell
f3d1461d7a
Plane: improve the short and long failsafe docs
...
thanks to Mark Jacobsen for the analysis!
2014-09-10 06:56:01 +10:00
Andrew Tridgell
bf80a2485f
Plane: support acceptance radius for waypoints
2014-09-03 12:38:30 +10:00
Randy Mackay
c2cdc0468b
Plane: individual accel and gyro status to GCS
2014-09-03 11:22:53 +09:00
Andrew Tridgell
21ed86004a
Plane: raise the default WP radius
...
with L1 a large radius doesn't mean it turns too early
2014-08-30 07:43:11 +10:00
Andrew Tridgell
292517b88b
Plane: only override takeoff/land flaps if non-zero
2014-08-30 05:16:42 +10:00
Andrew Tridgell
5c96838473
Plane: allow zero throttle in LAND_STAGE_FINAL
2014-08-30 05:15:25 +10:00
Andrew Tridgell
5af4cefff3
Plane: added FLAP_SLEWRATE parameter
...
makes for smoother transition of flaps
2014-08-29 20:31:03 +10:00
Andrew Tridgell
f66039c9b4
Plane: added TKOFF_FLAP_PCNT and LAND_FLAP_PERCENT
...
easier control of flaps for takeoff and landing
2014-08-29 20:31:03 +10:00
Andrew Tridgell
b94bc0c243
Plane: don't use ground steering until flare in landing
...
we need to be able to guide the plane fully in the landing approach
2014-08-29 20:31:03 +10:00
Andrew Tridgell
988662027e
Plane: moved LAND_PITCH_CD into TECS
2014-08-27 20:13:19 +10:00
Andrew Tridgell
186806c768
Plane: lowpass the rangefinder correction, not height
...
this should produce less lag as the rangefinder correction should be
changing much less
2014-08-27 18:25:17 +10:00
Andrew Tridgell
24622030b4
Plane: improved landing glide slope
...
we project a point 500m past the landing point to prevent
discontinuites close to the landing point
2014-08-27 17:14:19 +10:00
Andrew Tridgell
a6ee46086c
Plane: allow continued use of rangefinder data for 5s after loss of contact
...
this allows short outages to be ridden out
2014-08-27 17:14:19 +10:00
Andrew Tridgell
50f492a69f
Plane: added RNGFND_LANDING option
...
this allows the use of a rangefinder for landing flare and landing
approach
2014-08-27 17:14:19 +10:00
Andrew Tridgell
b6319a9d19
Plane: keep an estimate of the rangefinder altitude
...
only accept data when we have had 10 samples in a row in range at 50Hz
2014-08-27 17:14:19 +10:00
Andrew Tridgell
d0b6676547
Plane: do landing flare if past landing point
...
this helps prevent us keeping the throttle on after we've landed if
the baro has drifted enough that we think we are not yet at the flare altitude
2014-08-27 17:14:19 +10:00
Andrew Tridgell
b102c9d19c
Plane: use ground steering logic for final stage of auto landing
...
this should improve runway tracking
2014-08-27 17:14:19 +10:00
Andrew Tridgell
5f3ac159ba
Plane: start working towards 3.1.1
2014-08-27 17:14:19 +10:00
Andrew Tridgell
e880de67ed
Plane: prepare for 3.1.0 release
2014-08-26 06:20:37 +10:00
Andrew Tridgell
6e5344bc8d
Plane: prepare beta4
2014-08-25 22:20:52 +10:00
Andrew Tridgell
cf0741f6fd
Plane: don't do failsafe passthru with no RC input
...
thanks to Klrill-ka for the suggestion
fixes issue #1302
2014-08-25 19:45:39 +10:00
Andrew Tridgell
7649907ec2
Plane: run terrain.update() more often
...
this provides faster checking of mission waypoints
2014-08-25 14:55:40 +10:00
Andrew Tridgell
daa32f9b62
Plane: reset steering integrator on mode change and when not moving
...
this prevents an old integrator from causing problems on takeoff
2014-08-25 08:20:37 +10:00
Andrew Tridgell
f2f730ba9b
Plane: added FBWA_TDRAG_CHAN parameter
...
this allows for testing taildragger takeoffs in FBWA mode
2014-08-24 19:39:51 +10:00
Andrew Tridgell
15a7f63d7e
Plane: set GPS non-blocking
...
the new GPS driver only ever needs a non-blocking port
2014-08-19 10:08:17 +10:00
Andrew Tridgell
79fa22e4ad
Plane: use gcs_send_text_fmt() for SCHED_DEBUG timing
...
lets values be saved in mavlink logs
2014-08-19 10:08:17 +10:00
Andrew Tridgell
cf410f8d12
Plane: prepare for 3.1.0-beta3
2014-08-17 18:25:46 +10:00
Andrew Tridgell
1ce3d1d4a4
Plane: update for AFS API change
2014-08-17 18:07:50 +10:00
Andrew Tridgell
9fff67ec89
Plane: update for APM_OBC API change
2014-08-17 09:13:29 +10:00
Randy Mackay
c107f1da69
Revert "Plane: use rcmap when sending radio_in to GCS"
...
This reverts commit 441f23eed4
.
2014-08-16 20:31:21 +09:00
Randy Mackay
441f23eed4
Plane: use rcmap when sending radio_in to GCS
2014-08-16 15:27:35 +09:00
Randy Mackay
7d7272520e
Plane: use baro healthy()
...
Use baro last update time in place of healthy to determine whether HIL
sensor updates have started
2014-08-14 16:03:28 +09:00
Randy Mackay
b619c3956c
Plane: report baro health to GCS
2014-08-14 16:02:52 +09:00
Andrew Tridgell
da7f871e34
Plane: prevent set_target_altitude_proportion() past dest waypoint
...
otherwise we could start climbing again on land
2014-08-14 09:49:52 +10:00
Andrew Tridgell
c06067c71b
Plane: fixed non-terrain landing
2014-08-14 08:04:06 +10:00
Andrew Tridgell
dad95648a0
Plane: split landing code into landing.pde
...
this is in preparation for more complex landing code using the
rangefinder
2014-08-13 21:38:05 +10:00
Andrew Tridgell
7def71d43a
Plane: improved landing approach and flare
...
flare if we are within the specified time of landing either vertically
or horizontally
2014-08-13 21:38:05 +10:00
Andrew Tridgell
165993dbf5
Plane: allow steering right through the landing
...
this allows a small degree of steering right through the landing,
which makes it possible to have a turn just before landing
2014-08-13 21:35:26 +10:00
Andrew Tridgell
ce9b14f0c8
Plane: convert to using StorageManager
2014-08-13 18:46:44 +10:00
Andrew Tridgell
817164914e
Plane: added airspeed simulation in HIL
2014-08-10 18:17:12 +10:00
Andrew Tridgell
e6f5a31944
Plane: prepare for 3.1.0-beta2
2014-08-10 07:20:29 +10:00
Andrew Tridgell
0d7d6e1d2a
Plane: zero loc structure in HIL_STATE handling
...
this avoids av AVR bug in HIL
2014-08-09 22:50:15 +10:00
Andrew Tridgell
5e997b20f6
Plane: move battery init to after parameter load
2014-08-09 22:50:14 +10:00
Andrew Tridgell
74fc7fbea5
Plane: added 2nd battery monitoring support
2014-08-09 22:50:14 +10:00
Andrew Tridgell
e22ab50b16
Plane: fixed build warning
2014-08-08 13:54:21 +10:00
Andrew Tridgell
4f57467aa5
Plane: build AFS (formerly known as OBC) failsafe on Pixhawk
...
this gives an advanced failsafe system which may be useful for other
than OBC use
2014-08-08 13:48:03 +10:00
Andrew Tridgell
2b89d728f3
Plane: rename to 3.1.0-beta1
2014-08-07 14:14:54 +10:00
Andrew Tridgell
d44425449d
Plane: started on 3.1.0 release notes
2014-08-07 14:10:49 +10:00
Andrew Tridgell
bfe7c47aea
Plane: prepare new beta
2014-08-07 13:28:29 +10:00
Andrew Tridgell
b414ca930d
Plane: fixed servo demo on startup
...
thanks to Klrill-ka
fixes issue #1204
2014-08-07 13:26:47 +10:00
Michael Day
3b62592b26
ArduPlane: attempt to send GCS a message when the GCS heartbeat is not detected.
2014-08-07 12:54:47 +10:00
Przemek Lekston
75f9b8853d
GCS_Mavlink.pde: Fix for a possible segfault after passing ARSPD_FBW_MIN
2014-08-07 12:35:31 +10:00
Andrew Tridgell
9184e47f84
Plane: added TERRAIN_LOOKAHD parameter
...
distance to look forward for terrain following
2014-08-07 09:31:03 +10:00
Andrew Tridgell
903b149bcd
Plane: fixed typo in description
2014-08-06 17:59:19 +10:00
Andrew Tridgell
781abc7593
Plane: fix for changed AP_Terrain API
2014-08-06 17:59:19 +10:00
Andrew Tridgell
448b3f60e0
Plane: use dataflash logging for terrain
2014-08-06 17:59:19 +10:00
Andrew Tridgell
2a288824c0
Plane: make STAB_PITCH_DOWN in degrees
...
try to avoid new centi-degrees parameters
2014-08-06 17:59:18 +10:00
Andrew Tridgell
781c5bc5dd
Plane: use terrain extrapolation
...
use best effort extrapolation if we run out of terrain data
2014-08-06 17:59:18 +10:00
Andrew Tridgell
d54bb68270
Plane: prevent cross-track on some WP types
...
when finishing a takeoff or when a user forces a WP change don't do
any cross-tracking. This avoids a problem where the plane tries to
line up with a track completely unrelated to the track currently being
flown
2014-08-04 21:02:13 +10:00
Andrew Tridgell
09a679368b
Plane: use bitfields in auto_state
2014-08-04 21:02:13 +10:00