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1472 Commits

Author SHA1 Message Date
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