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1700 Commits

Author SHA1 Message Date
Randy Mackay
7e4dd9666c Plane: fix serial manager integration 2015-04-01 15:13:20 -07:00
Randy Mackay
ab749f884f Plane: integrate Serial Manager instance 2015-04-01 14:59:26 -07:00
Andrew Tridgell
6a33588f67 Plane: make LOG_BITMASK logging when disarmed clearer 2015-03-31 14:38:09 -07:00
Randy Mackay
d3663d43c1 Plane: send invalid batt curr if monitor unhealthy 2015-03-20 11:05:35 +09:00
Andrew Tridgell
9468a59204 Plane: require 3 seconds of not flying to declare a crash on land 2015-03-17 10:40:16 +11:00
Tom Pittenger
1b0ed277b3 Plane: Disarm On Land 
After a landing has occur using a LAND waypoint, automatically disarm
after this many seconds have passed. Use 0 to not disarm.
 2015-03-17 10:30:41 +11:00
Andrew Tridgell
90bb97a144 Plane: added last_flying_ms to auto_state 
used to find out how long it is since we were last flying
 2015-03-17 10:12:00 +11:00
Andrew Tridgell
18b277a9d2 Plane: use arm_motors() and disarm_motors() 2015-03-17 10:12:00 +11:00
Andrew Tridgell
dd1059cecf Plane: added arm_motors() and disarm_motors() helper functions 2015-03-17 10:12:00 +11:00
Andrew Tridgell
86ef4a738c Plane: only pass through throttle in failsafe if armed 2015-03-16 16:45:49 +11:00
Andrew Tridgell
e55350a5d6 Plane: added crash detection in autoland 
if we are no longer flying then flare, which turns off the motor

This is based on work by Tom Pittenger
 2015-03-16 10:59:53 +11:00
Andrew Tridgell
fb8b96ba0d Plane: make is_flying() a bit more accurate in landing approach 
prevent false negatives using the sink rate
 2015-03-16 10:58:36 +11:00
Andrew Tridgell
1c1798fb11 Plane: support much smoother flare transitions 
provide the height above the ground to TECS so it can make a smarter
pre-flare transition
 2015-03-15 13:53:08 +11:00
Andrew Tridgell
cac7714693 Plane: fixed parameter typo 2015-03-14 14:53:02 +11:00
Andrew Tridgell
b0cdf8952b Plane: added HIL_MODE parameter 
this allows for HIL with any firmware
 2015-03-13 22:52:56 +11:00
Víctor Mayoral Vilches
4ae3bf5399 Plane: Update compass to the new interface 2015-03-13 18:46:17 +11:00
Michael Day
b02098e19e Plane: Make radio trim optional at ground start. 2015-03-13 13:11:44 +11:00
Tom Pittenger
420e9e0d2e Plane: added INITIAL_MODE which is the mode we boot up into. 
This is useful when flying without a RX or if you have a RX that
outputs zeros without a detected Txmtr
 2015-03-13 13:04:23 +11:00
Andrew Tridgell
a942ebbb70 Plane: removed unnecessary prototype 2015-03-13 11:21:47 +11:00
Andrew Tridgell
dc9e2a54f3 Plane: fixed use of HAL soft_armed 2015-03-13 11:20:43 +11:00
Tom Pittenger
659904bf65 Plane: sped up is_flying filter since it is running at only 1Hz 2015-03-13 11:07:19 +11:00
Tom Pittenger
8f7bb61a54 Plane: changed arm check method to use new is_flying code 2015-03-13 11:07:05 +11:00
Tom Pittenger
58b0702793 Plane: isFlying redesign 
The is_flying() function is too simplistic to be used as a generic
status. Added a sticky heuristic method that depends on the arm
state. More thought should go into the boolean result of isFlying but
this is at least safer than the original method.
 2015-03-13 11:06:54 +11:00
Randy Mackay
cb1b4ab486 Plane: send EKF_STATUS_REPORT in extra3 stream 2015-03-12 13:43:58 +09:00
Andrew Tridgell
5175f21225 Plane: removed 1D accel calibration 2015-03-12 12:50:29 +11:00
Andrew Tridgell
16cdf64d63 Plane: added CLI_ENABLED option 
this disables using CLI by default, even if compiled in. This is
needed to make standard firmwares work well with companion computers
where the CLI may cause startup issues
 2015-03-09 17:58:37 +11:00
Andrew Tridgell
fa70c95c8e Plane: set gyros disabled when calibrating 2015-03-09 17:58:36 +11:00
Andrew Tridgell
8ef8a964f1 Plane: use new interactive accelcal 2015-03-07 21:56:40 +11:00
Andrew Tridgell
999710d0e1 Plane: fixed issue where auto is entered before GPS lock 
thanks to Tom Pittenger for noticing this!
 2015-02-25 22:54:52 +11:00
Andrew Tridgell
98b583bccc Plane: fixed bungee launch 
we need to not do the general purpose throttle suppression if in auto
takeoff
 2015-02-25 13:11:27 +11:00
Andrew Tridgell
5afe3fb958 Plane: mark 3.3.0beta1 2015-02-23 15:07:06 +11:00
Andrew Tridgell
422d0f05bd Plane: provide terrain height to rangefinder 
used for power saving
 2015-02-23 14:15:14 +11:00
Andrew Tridgell
64dfc68784 Plane: log mode on arming 
this ensures the log is recorded with the right flight mode
 2015-02-23 14:15:14 +11:00
Andrew Tridgell
6cf029f82a Plane: fixed to allow TKOFF_THR_DELAY up to 12.7 seconds 
thanks to a report by jman841
 2015-02-21 20:23:22 +11:00
Andrew Tridgell
bee703ab2a Plane: removed incorrect conditional on parameter enum 2015-02-21 20:23:22 +11:00
Andrew Tridgell
76f8b9b07c Plane: support DO_SET_HOME MAVLink command 2015-02-21 10:14:18 +11:00
Joao Fortuna
6ac8629451 Plane: Fixed MAVLINK stream trigger calculation. 2015-02-20 13:12:59 +09:00
Andrew Tridgell
d0d5524bce Plane: mark ELEVON_MIXING as deprecated 2015-02-19 15:55:30 +11:00
Andrew Tridgell
3f225b1a73 Plane: lower default FS_LONG_TIMEOUT value from 20 to 5 seconds 
20 seconds is too long to be in CIRCLE mode
 2015-02-16 10:03:17 +11:00
Andrew Tridgell
e9f87a2626 Plane: implement MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES 2015-02-12 09:04:25 +11:00
Jonathan Challinger
4105edaa87 Plane: use hal.util soft_armed state 2015-02-11 20:57:27 +11:00
Andrew Tridgell
d0075c0d23 Plane: support AUTOPILOT_VERSION command 2015-02-11 19:52:50 +11:00
Andrew Tridgell
03e110c834 Plane: update release notes 2015-02-10 09:53:30 +11:00
Andrew Tridgell
e0db5616a2 Plane: fixed HIL mode in plane 2015-02-10 09:53:30 +11:00
Andrew Tridgell
3edc1ea4db Plane: tell arming if logging is available 2015-02-06 19:05:02 +11:00
Andrew Tridgell
8108ee796e Plane: update release-notes in master 2015-02-05 21:02:22 +11:00
Andrew Tridgell
4d6a7996f7 Plane: the next release will be 3.3.0 
quite a few large changes pending
 2015-02-05 20:55:00 +11:00
Andrew Tridgell
00758a3e91 Plane: improved landing parameter descriptions 
fixes issue #1776
 2015-02-03 17:19:45 +11:00
Andrew Tridgell
33225c2955 Plane: mark master as 3.2.2alpha1 2015-02-03 17:11:25 +11:00
Andrew Tridgell
28341a6c7a Plane: handle very steep landings more gracefully 
prevent us trying to put the flare point too high or too far back if
the mission requires a steep landing
 2015-02-03 16:44:28 +11:00
Andrew Tridgell
2ae412d513 Plane: only reset mission on disarm if not in AUTO mode 
disarming while in a mission should leave the plane still flying the
mission, but with motor stopped. The user may do this during a landing
for example, but we want to keep gliding
 2015-02-03 16:44:27 +11:00
Andrew Tridgell
a172d898c5 Plane: force throttle to zero when disarmed 
don't rely on the safety switch
 2015-02-03 16:44:27 +11:00
Andrew Tridgell
2b0ccae776 Plane: fixed build warning 2015-02-03 09:49:15 +11:00
Randy Mackay
ff2a31e3ae Plane: compile error fix when mount disabled 2015-01-29 14:05:15 +11:00
Randy Mackay
3a1465c9d1 Plane: integrate SerialManager 
call SerialManager init_console on startup
use SerialManager's set_block_writes_all
 2015-01-29 14:05:15 +11:00
Randy Mackay
37d1079d25 Plane: move MNT param's underscore to mount lib 2015-01-29 13:57:19 +11:00
Randy Mackay
681d28838f Plane: integrate mount frontend-backend restructure 
initialise mount on startup
use mount.has_pan_control method
remove calls to unimplemented mount.configure_cmd
remove call to update_mount_type which is now handled by mount lib
 2015-01-29 13:57:18 +11:00
Andrew Tridgell
5d8cec23db Plane: update version to 3.2.1beta1 2015-01-27 17:22:13 +11:00
Andrew Tridgell
3123504b38 Plane: start release notes for 3.2.1 2015-01-27 17:22:13 +11:00
Matthias Badaire
ee00302b62 Plane: Frsky telemtry change move parameter to init of the class 
Parameter needs to be passed and use at the init of the class frsky telem
 2015-01-22 16:49:39 +11:00
Dario Lindo Andres
7f5243026d Plane: Cleanup code to remove 1280 ifdefs 
Due to the imposibility to fit actual code on Legacies 1280 chips, some
cleanup is needed.
 2015-01-22 16:12:26 +11:00
Robert Lefebvre
395c868727 Plane: Change Compass logging to new DataFlash method that handles instances. 2015-01-21 14:37:54 +09:00
Robert Lefebvre
7efb4eef65 Plane: Change Compass logging to use DataFlash library method. 2015-01-21 14:37:38 +09:00
Robert Lefebvre
a2d73b42b9 Plane: Change Mode logging to use DataFlash library method. 2015-01-21 14:37:36 +09:00
Robert Lefebvre
ac513a84db Plane: Change Attitude logging to use DataFlash library method. 2015-01-21 14:37:34 +09:00
Robert Lefebvre
233083c8e9 Plane: Change current logging to use DataFlash library method. 2015-01-21 14:37:31 +09:00
Robert Lefebvre
747232b197 Plane: Deprecate some Log Message enumerations which are moving to the DataFlash library. 2015-01-21 14:37:29 +09:00
Andrew Tridgell
674a7aa8d4 Plane: use set_skip_gyro_cal() in arming library 2015-01-20 19:47:59 +11:00
Andrew Tridgell
059c3769f3 Plane: cope with the changed semantics if airspeed.use() 2015-01-20 11:28:35 +11:00
Andrew Tridgell
5a01933b7b Plane: use dataflash Log_Write_Airspeed() 2015-01-20 09:10:57 +11:00
Dario Lindo Andres
0ea7a7a0cc Plane: Corrected LOGGING_ENABLED 
When we configure LOGGING_ENABLED to DISABLED code does not
compile. Now it works!
 2015-01-17 10:42:11 +13:00
Andrew Tridgell
b8bfa755a9 Plane: raise alpha version 2015-01-09 15:47:47 +11:00
Andrew Tridgell
ca431a47a6 Plane: use all_healthy() for SYS_STATUS health 2015-01-09 11:51:51 +11:00
Andrew Tridgell
035b1302ed Plane: updates for new AP_Baro API 2015-01-09 11:50:54 +11:00
Andrew Tridgell
4cb464db83 Plane: reduce the frame size of setup_failsafe_mixing() 2015-01-09 11:38:15 +11:00
Grant Morphett
e122c0961e Plane: Arming updated to use RC channel objects not RC channels directly 
The code had g.rc_3.control_in which would bypass the channel mapping and meant
arming could only occur if the throttle was always mapped to channel 3.
Updated to use the channel mapping object.
 2015-01-08 11:55:19 +11:00
Staroselskii Georgii
dc410a4b42 Plane: added AK8963 support 2015-01-07 08:41:13 +11:00
Andrew Tridgell
a2242305c7 Plane: use common send_opticalflow() 2015-01-03 15:53:35 +11:00
Andrew Tridgell
28f58df310 Plane: send HAGL in OPTICAL_FLOW 2015-01-03 15:44:50 +11:00
Andrew Tridgell
8f571f1225 Plane: make optflow available to AHRS 2015-01-03 14:16:34 +11:00
Andrew Tridgell
8708297341 Plane: update for new OptFlow API 2015-01-03 14:16:33 +11:00
Andrew Tridgell
1e3c23e5a3 Plane: on takeoff set prev_WP_loc to current_loc 2015-01-03 14:07:02 +11:00
Andrew Tridgell
80d1bd230e Plane: report bad AHRS health if uncalibrated accels with EKF 
fixes issue #1720
 2015-01-03 14:06:46 +11:00
Andrew Tridgell
ae96a48efc Plane: use location_path_proportion() 
this should produce better glide slopes when the aircraft is off
course
 2015-01-01 15:17:45 +11:00
Randy Mackay
6bec527aa3 Plane: BATT param's underscore moved to library 2014-12-31 15:22:56 +09:00
Randy Mackay
7d18744094 Plane: use battery.voltage2 method for logging 2014-12-31 15:22:55 +09:00
Randy Mackay
5cdb8a4c2a Plane: use battery.has_current 2014-12-31 15:22:54 +09:00
Randy Mackay
9be53502df Plane: remove logging dependecy on optflow 2014-12-31 15:22:41 +09:00
priseborough
195cdb6fd6 Plane: Don't log EKF optical flow data if not required 2014-12-31 13:16:11 +09:00
Randy Mackay
11def53ca7 Plane: pre_arm_gps_check flag always true 2014-12-26 12:32:38 +09:00
Andrew Tridgell
eb13395967 Plane: cleanup mavlink_system setup 2014-12-17 11:30:04 +11:00
Andrew Tridgell
976ae14f1f Plane: improve landing aim point calculation 
try to account for wind and current ground speed to dynamically update
glide slope in landing to flare at the right point
 2014-12-15 21:51:08 +11:00
Andrew Tridgell
12f0c49915 Plane: remove fwd of unknown msg types 2014-12-11 12:32:52 +09:00
Andrew Tridgell
507117bd8f Plane: removed use of mavlink_check_target() 2014-12-11 12:31:15 +09:00
Randy Mackay
f4fc910fea Plane: send OPTICAL_FLOW msg to GCS 2014-12-08 14:58:32 +09:00
Randy Mackay
2b9bf69c9e Plane: send optflow health in extended status 2014-12-08 14:58:29 +09:00
Andrew Tridgell
0599f1dcb1 Plane: changed version number to 3.2.1alpha1 2014-12-06 18:37:39 +11:00
priseborough
f23722ecee Plane: Remove statement about flow driver rate in comment 2014-12-06 18:16:48 +11:00
priseborough
ca53d5fb62 Plane: Increase rate at which optical flow sensor is checked 
The sensor driver runs asynchronously at 10Hz, so needs to be checked frequently for arrival of data.
 2014-12-06 18:16:48 +11:00
priseborough
898ad7432b Plane : Only build optical flow with PX4 board 
Fixes SITL compile errors
 2014-12-06 18:16:48 +11:00