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230 Commits

Author SHA1 Message Date
George Zogopoulos
6ce6ef8fff Plane: Takeoff improvements 
- TAKEOFF and AUTO flight modes now should have identical takeoff
- Prevent behaviour switching past climb altitude in TAKEOFF mode.
- Refactor set_pitch_min/max methods.
  Max was already there, now renamed.
  Min is newly introduced.
  behaviour.
- Remove enforcement of min takeoff throttle logic from servos.cpp.
  It is now handled only by takeoff.cpp.
- Take TKOFF_LVL_ALT into consideration in AUTO as well.
- Fixed pitch setpoint when TKOFF_ROTATE_SPD>0.
- Roll navigation in mode TAKEOFF during climb should now work again.
- Now the TAKEOFF loiter waypoint is set by the bearing of the
aircraft while on TKOFF_LVL_ALT, as in the last stable release, instead
of TKOFF_ALT.
- Using TRIM_THROTTLE in takeoffs, when TKOFF_THR_MIN==0
 2024-10-02 17:09:07 +10:00
Peter Barker
0c0a615403 ArduPlane: adjust for AP_Mission logging mission-item-starts 2024-10-01 10:19:29 +10:00
Andrew Tridgell
2f19dfef8a Plane: added glider pullup support 2024-09-10 10:15:34 +10:00
Peter Barker
2632e5b8a6 Plane: use enum class for VTOL approach stage 
also namespace it with the state variable which uses this type
 2024-08-07 17:52:25 +10:00
George Zogopoulos
773c91cec1 ArduPlane: Added minimum throttle during TAKEOFF mode 
This is a rework so that servos.cpp is responsible for setting the
throttle limits under more circumstances and always notifies TECS when
it does so.

Additionally, the TAKEOFF mode has been improved with a new parameters
TKOFF_MODE and TKOFF_THR_MIN that extend the throttle behaviour.
 2024-07-29 15:50:32 +10:00
Andy Piper
a11cc6ea66 Plane: use generic fence handling in missions 2024-07-24 08:24:06 +10:00
Andy Piper
46d6d0bf03 Plane: disable fences for landing by suppressing in the fence check rather than using a state machine 2024-07-24 08:24:06 +10:00
Andy Piper
559bd1e252 Plane: use fence enable_configured() 
avoid fence breach clearing spam
 2024-07-24 08:24:06 +10:00
Andrew Tridgell
d4f9843e55 Plane: support MAV_CMD_SET_HAGL 
allow for external height above ground estimate
 2024-07-17 08:03:18 +10:00
Peter Barker
c14c2d67d4 ArduPlane: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Bob Long
5824a12b2e Plane: remove altitude_error_cm variable 
This variable updated unpredictably, and it was easy to introduce bugs.
It was not used in many places and is clearer to calculate the error
directly when needed.
 2024-05-07 10:52:43 +10:00
Tom Pittenger
1fe7f6b099 Plane: refactor NAV_ALTITUDE_WAIT to AutoMode:: to match nav_delay() 2024-05-02 10:16:00 -07:00
Iampete1
7912fcd511 Plane: do_RTL: don't log mode 2024-03-19 12:24:54 +11:00
Henry Wurzburg
3973c28f15 Plane:add TKOFF_TIMEOUT to MODE TAKEOFF 2024-01-30 11:02:53 +11:00
J.R. Bronkar
2be84183b7 ArduPlane: fractional Loiter Turn Support 
Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
 2024-01-22 20:27:20 -08:00
Andrew Tridgell
5723b1c780 ArduPlane: convert MIN_GNDSPEED_CM to MIN_GROUNDSPEED 2024-01-23 15:00:30 +11:00
Peter Barker
6ee5ab41fd ArduPlane: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Peter Barker
b3897c020e ArduPlane: make AHRS attitude member variables private 2024-01-14 12:47:47 +11:00
Bob Long
f8d7be5e43 Plane: fix bug in RTL_AUTOLAND with rally points 
After loading the rally point, ModeRTL:navigate checks if rally altitude
has been reached before altitude_error_cm gets updated
 2023-12-12 10:58:22 +11:00
Iampete1
8061b1b4c2 Plane: move set_servos_idle functionality to ModeAuto 2023-10-31 14:06:22 +11:00
Michael du Breuil
b630efd4db ArduPlane: Pass the 4th parameter to ICE for engine start 2023-10-24 14:11:39 -07:00
Andrew Tridgell
c980e0488e Plane: fixed terrain RTL with rally points 
this fixes a bug where if the terrain database cache does not have the
tile for the location of a rally point then RTL to the rally point
with TERRAIN_FOLLOW=1 will not track terrain

The underlying issue is that Location::loc.change_alt_frame() will
return false if the location is not in the terrain memory cache. We
can't just extrapolate as the rally point could be in a totally
different terrain area to the current location. So instead we set it
as terrain_following_pending and fix it as soon as the terrain cache
is filled.

fixes https://github.com/ArduPilot/ardupilot/issues/25157
 2023-10-14 10:46:00 +11:00
Peter Barker
e13566695b ArduPlane: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker
93da99bea2 Plane: adjust for a lack of DCM 2023-09-27 08:00:54 +10:00
Peter Barker
a1b021e833 Plane: move nav_delay state to be private in ModeAuto 2023-09-13 18:08:10 +10:00
Peter Barker
445f1fa272 Plane: handle DO_CHANGE_SPEED as COMMAND_INT 2023-09-12 09:22:36 +10:00
Andy Piper
761c7a0161 ArduPlane: fix incorrect float conversion 2023-07-18 11:06:02 +10:00
Peter Barker
98e2782851 Plane: correct compilation when AP_Rally disabled 2023-04-10 16:37:42 -07:00
Randy Mackay
c12e15f580 Plane: remove unused do-control-video 2023-03-09 12:24:05 +11:00
Andrew Tridgell
a57e6455ab Plane: use is_armed_and_safety_off() 
this no longer sets soft_armed false when safety is on, and instead
uses is_armed_and_safety_off() when appropriate
 2023-02-21 07:44:09 +11:00
Andrew Tridgell
2989e2deba Plane: added support for NAV_PACKAGE_PLACE mission item 
this works in conjunction with a lua script to allow for a wide
variety of package place options
 2023-02-09 07:02:12 +11:00
Andrew Tridgell
7735614634 Plane: implement set_rudder_offset() 2023-02-08 16:25:39 +11:00
Andrew Tridgell
9b2c7a90e7 Plane: fixed loiter.direction for VTOL approach 
ensure the direction is setup correctly for both CW and CCW
 2023-01-15 21:32:27 +11:00
Andrew Tridgell
97e1c14114 Revert "Plane: default takeoff pitch to 15 deg for PPDS" 
This reverts commit 210dac7356.

this was committed by mistake
 2022-12-24 13:26:31 +11:00
Andrew Tridgell
21c9737ffa Plane: increase NAV_SCRIPT timeout to 1s 
this is needed for processing of very complex schedules
 2022-11-14 20:35:31 +11:00
Peter Barker
de4dda2d17 ArduPlane: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Andrew Tridgell
a94f75fe29 Plane: fixed changing modes causing aerobatics abort 2022-11-07 21:22:43 +11:00
Andrew Tridgell
500ac9b99c Plane: cleanup abort of NAV_SCRIPT 
use the same enable flag for tricks and auto NAV_SCRIPT_TIME and
ensure we disable if the script stops controlling
 2022-10-29 21:22:29 +11:00
Andrew Tridgell
06edc9a139 Plane: constrain throttle in NAV_SCRIPT 2022-10-29 21:22:29 +11:00
Andrew Tridgell
210dac7356 Plane: default takeoff pitch to 15 deg for PPDS 2022-10-29 21:22:29 +11:00
Andrew Tridgell
90459ed6f4 Plane: two more arguments to NAV_SCRIPT_TIME 2022-10-23 18:11:15 +11:00
Andrew Tridgell
2b69124229 Plane: use Float16_t 2022-10-23 12:14:14 +11:00
Michael du Breuil
b7a8852747 Plane: Allow reseting target airspeed to the parameter value 2022-10-04 10:04:13 +11:00
MatthewHampsey
1dc18ec85a Plane: reset yaw rate PID for scripting 2022-09-22 05:55:15 +10:00
Michael du Breuil
f183b21fc5 Plane: Support vtol landing options on NAV_VTOL_LAND 
This allows the same mission to contain both circular and straight
landing items, and doesn't require on the fly tweaking
 2022-08-15 17:05:00 -07:00
Iampete1
ee778dbd3a Plane: Quadplane: add option_is_set helper for Q_OPTIONS 2022-08-09 13:21:00 +10:00
Iampete1
a592f76282 ArduPlane: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
Peter Barker
b0bee613d4 ArduPlane: add and use AP_ICENGINE_ENABLE 2022-07-22 08:48:16 +10:00
Iampete1
98887a984b Plane: FW approach: use abs value for loiter sum check 2022-07-20 17:02:07 +10:00
Iampete1
2bda3c44c6 Plane: FW approach: correct wrap on breakout direction check 2022-07-20 17:02:07 +10:00