Paul Riseborough
52743787b2
Plane: Fix bug that can cause early exit from loiter to alt and time wp's
...
The check for the aircraft being lined up for a tangent exit has an early breakout condition if the next waypoint is too close to the loiter circle which can prevent the required ground course to waypoint ever being achieved. This check was using the WP_LOITER_RAD parameter value, not the actual radius being used which can be set differently by the mission plan. If a large value for WP_LOITER_RAD was set and being over-written by the mission plan with a smaller value compatible with the distance to the next waypoint, the aircraft would still exit early.
2023-05-18 02:35:47 -07:00
Henry Wurzburg
b4c79c9105
Plane:add FlightOptions helper
2023-04-26 17:35:25 +10:00
Iampete1
549dd3875d
Plane: add mode ahrs convenience refence
2023-02-21 11:27:24 +11:00
Iampete1
f28d7a3574
Plane: move adjust_altitude_target functianlity to per mode functions
2022-12-20 10:37:06 +11:00
Andrew Tridgell
500ac9b99c
Plane: cleanup abort of NAV_SCRIPT
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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
ff5b4f1b13
Plane: unlock cruise/loiter heading while doing a scripted trick
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and reset height
2022-10-29 21:22:29 +11:00
Iampete1
b017fc2196
ArduPlane: allow FBWB alt control option in LOITER
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Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
2022-05-22 12:09:43 +10:00
Iampete1
a165a0e1bb
Plane: fix loiter terrain following
2021-05-02 18:51:27 +10:00
Peter Barker
6baaf03c8c
Plane: move auto_throttle_mode to being a method on each mode
2021-01-10 16:04:30 +11:00
Peter Barker
f6cb1b5ad6
Plane: use a method on Mode for auto-navigation-mode
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Avoids the state getting stale, which it will with a failed attempt to
go into qautotune, for example.
2021-01-10 16:04:30 +11:00
Peter Barker
a1ea1306a1
Plane: use pure-virtual method for allows_throttle_nudging
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In place of a state variable which could become stale
2021-01-10 16:04:30 +11:00
Samuel Tabor
0a738395fa
Plane: Add THERMAL mode for thermal soaring.
2020-09-24 07:30:48 +10:00
Samuel Tabor
836be4b4b4
Plane: Remove _navigate indirection in Mode.
2020-08-20 13:02:06 +10:00
Samuel Tabor
06eea6ed9f
Plane: Move navigation functions into flight mode classes.
2020-08-20 13:02:06 +10:00
Rishabh
6989cb0131
Plane: Use AHRS for heading in mode loiter
2020-04-10 12:18:35 +10:00
Samuel Tabor
b9daae062c
AP_Soaring: Use enum class rather than typedef enum for states and hide details of these.
2020-04-08 09:11:54 +10:00
Samuel Tabor
d7ce3ff72e
AP_Soaring: Don't check throttle status on entry to loiter, because it is automatically set on first pass in update_soaring.
2020-04-08 09:11:54 +10:00
Samuel Tabor
36a90cf443
Plane: Remove unused isHeadingLinedUp function, and rename functions to avoid confusion.
2020-04-08 09:11:54 +10:00
Samuel Tabor
e1f7122566
AP_Soaring: Improve tracking of enabled/disabled status.
2020-04-08 09:11:54 +10:00
Samuel Tabor
684ee11fc3
AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring.
2020-04-08 09:11:54 +10:00
Samuel Tabor
a56b1dadb9
Plane: fix bug with headingLinedUp when loiter.sum_cd was negative.
2020-04-08 09:11:54 +10:00
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
Andrew Tridgell
fb061a225a
Plane: fixed build with HAL_MINIMIZE_FEATURES enabled
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thanks to PompeCukor for noticing
2019-04-08 09:34:15 +10:00
Tom Pittenger
0270c57530
Plane: massive refactor and creation of Mode class
2019-04-02 16:28:52 +11:00
