Andrew Tridgell
5f5f70d20a
Plane: fixed check for fixed wing approach QRTL start
...
ensure we are lined up, or we are at less than 0.5 of radius before we
switch to QRTL. This fixes the case where the stopping distance is
greater than the radius, prevening us from switching to QRTL while not
lined up with the landing point
2022-07-13 20:10:19 +10:00
Andrew Tridgell
3385d3ae62
Plane: support NAV_DELAY in plane
...
allow for delayed takeoff, and takeoff at a particular time (for swarm
takeoff)
also check for takeoff command in landing sequence arming check
this allows for takeoff->land->disarm->delay->arm->takeoff->land
missions
2022-07-12 10:34:26 +10:00
Andrew Tridgell
592f33bfaf
Plane: fixed combination of passby and acceptance dist WP
...
when a user sets a passby distance we should calculate the turn point
based on the extrapolated distance, not the original waypoint
also simplify the passby logic using offset_bearing()
2022-07-04 10:26:47 +10:00
Randy Mackay
8f54957530
Plane: do-mount-control specifies body-frame targets
...
this is a non-functional change
2022-06-29 10:56:48 +09:00
Peter Barker
d5fdc2027f
ArduPlane: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS
2022-05-11 17:40:35 +10:00
Henry Wurzburg
e82ad1ec24
ArduPlane: fix error in Tricks on a Switch qualifier
2022-02-08 11:54:38 +11:00
Henry Wurzburg
ea9d35c99d
ArduPlane: extend nav_scripting to all modes
2022-02-07 21:19:28 +11:00
Hwurzburg
ad30d476c8
Plane: enforce acro rate limits in aerobatics scripting
2022-02-07 12:35:31 +11:00
Andrew Tridgell
de4a4a775a
Plane: fixed use before init bug in VTOL land
...
found by Peter Barker with valgrind
2021-12-01 19:42:42 +11:00
Andrew Tridgell
56870ad7d6
Plane: use yaw rate controller in NAV_SCRIPT_TIME
2021-11-30 16:19:26 +11:00
Peter Barker
70562021ac
ArduPlane: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED
2021-11-15 20:27:40 +11:00
Andrew Tridgell
0c1e576544
Plane: added support for NAV_SCRIPT_TIME
2021-11-08 21:08:52 +11:00
Iampete1
478bf37246
Plane: used correct WP radius for VTOL flight
2021-09-15 20:36:56 +10:00
Peter Barker
3d34e061fe
ArduPlane: add and use HAL_QUADPLANE_ENABLED
2021-09-14 11:23:18 +10:00
Peter Barker
a84fda9b1f
Plane: adjust for rename yaw_initialised -> dcm_yaw_initialised
2021-08-18 18:37:39 +10:00
Andrew Tridgell
92197bd5a9
Plane: fixed longitude wrap in verify_nav_wp
...
thanks to @Khancyr
2021-06-25 15:33:55 +10:00
Andrew Tridgell
3bb840f794
Plane: implement slow descent in QRTL approach
...
this approaches in QRTL at ALT_HOLD_RTL alt, then descends to
Q_RTL_ALT close to the destination
2021-06-05 13:05:30 +10:00
Iampete1
e81dc36ed6
Plane: add option do do a VTOL approach RTL
2021-03-29 11:29:12 +11:00
Hwurzburg
d15e01d390
Plane: fix DO_CHANGE_SPEED airspeed to impact only AUTO and GUIDED modes
2021-03-16 10:09:34 +11:00
James O'Shannessy
5dd40afe0a
ArduPlane: Retrigger fence breach if mode
...
ArduPlane: Move auto enabling code to common fence library
2021-03-05 14:52:46 +11:00
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
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
Peter Barker
95bc9cca79
ArduPlane: use ground_course in preference to ground_course_cd
2021-01-26 10:22:28 +11:00
Andrew Tridgell
cd6ddf7d4f
Plane: fixed disable of geofence on quadplane landing
...
fixes #15917
2020-12-02 18:33:07 +11:00
Andrew Tridgell
52f61c7ac1
Plane: make FENCE_AUTOENABLE an AP_Enum
2020-12-02 18:33:07 +11:00
Andrew Tridgell
e5d580412e
Plane: fixed usage of rangefinder in landing with RNGFND_LANDING=0
...
this fixes two places where rangefinder can affect landing when
RNGFND_LANDING=0
2020-11-03 10:08:00 +11:00
Iampete1
2820228ad6
Plane: only do_change_speed within FBW min and max
2020-10-13 10:21:52 +11:00
Andy Piper
b649afe9e5
Plane: make mount/gimbal inclusion configurable per-board
2020-08-04 09:18:14 +10:00
Tom Pittenger
c7c9461fc0
Plane: update ModeReasons to not use UNKNOWN reason
2020-07-28 11:52:39 -07:00
Michael du Breuil
43526e718e
Plane: Remove the use of RTL_RADIUS from LOITER_UNLIM mission items
2020-06-19 11:10:29 -07:00
Tom Pittenger
0a5021fdcf
Plane: bugfix: never reset auto_state.sink_rate
2020-05-23 18:49:12 -07:00
Tom Pittenger
394fbb1a50
Plane: unified soaring exit behavior: auto heads to next wp, cruise continues cruise heading, FBW to home
2020-04-08 09:11:54 +10:00
Tom Pittenger
ec8f82422a
Plane: move loiter heading init for auto into auto helper, and properly reset it in loiter mode enter
2020-04-08 09:11:54 +10:00
Tom Pittenger
f397c168e8
Plane: refactor loiter heading exit logic
2020-04-08 09:11:54 +10:00
Peter Barker
74dbcac40e
ArduPlane: log disarm method
2020-02-22 12:16:29 +11:00
Michael du Breuil
ee96ec7f0d
Plane: Support new AP_Vehicle::set_mode
2019-10-25 08:48:22 +08:00
Michael du Breuil
562b155f63
Plane: Remove unused geofence enable reason
2019-09-23 17:31:33 -06:00
Andrew Tridgell
6572700baa
Plane: fixed an issue with landing on rising ground
...
when landing on rising ground we don't want to use the terrain look
fwd correction for the flare calculation as otherwise we will flare
too early (and thus too high)
2019-09-16 12:52:00 +10:00
Peter Barker
b12f620233
Plane: fix format string warnings
2019-09-02 21:00:59 +10:00
Peter Barker
400aa53654
Plane: move arming-related functionality into parent classes
...
Logging moves up
arming via mavlink moves up
arming via switch moves up
2019-05-30 07:37:30 +09:00
Pierre Kancir
65b4ba0539
ArduPlane: use past_interval_finish_line and line_path_proportion from Location
2019-04-23 09:20:43 +10:00
Pierre Kancir
d8990a002e
Plane: update locations_are_same to same_latlon_as
2019-04-08 08:05:05 -07:00
Pierre Kancir
3f5999a6ad
ArduPlane: move location_update to Location and rename to offset_bearing
2019-04-06 09:10:28 +11:00
Pierre Kancir
58328da5f3
ArduPlane: move get_bearing_cd to Location and rename to get_bearing_to
2019-04-06 09:10:28 +11:00
Tom Pittenger
0270c57530
Plane: massive refactor and creation of Mode class
2019-04-02 16:28:52 +11:00
Peter Barker
29258f6752
Plane: rely on AP_Mission to emit GCS text
2019-04-02 11:07:58 +11:00
Peter Barker
a372428ec5
Plane: use sanitize method rather than location_sanitize function
2019-04-02 10:19:38 +11:00
Andrew Tridgell
3907466f9d
Plane: added TKOFF_TIMEOUT parameter
...
this allows for a timeout on auto-takeoff. This can be combined with
other takeoff parameters to allow the user to abort a hand-launch
after the motor has started without GCS interaction.
The 4m/s threshold is a bit arbitrary. We could make that a parameter
in the future if it is needed
2019-03-18 14:48:08 +11:00