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14,031 Commits 71 Branches 510 Tags 771 MiB
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1531 Commits

Author SHA1 Message Date
Michael Day
c1b949a74f Plane: Bugfix. Changing to landing sequence now works at mission end. 2014-10-24 21:42:06 +11:00
Andrew Tridgell
240e87dc2c Plane: update for new AP_InertialSensor API 2014-10-24 12:10:38 +11:00
Andrew Tridgell
05c325a12a Plane: display min as well as max loop delta_t 2014-10-22 18:27:12 +11:00
Andrew Tridgell
2fc69c7c4c Plane: disable CLI by default 
it really isn't needed any more, and saves 20k of flash on APM2
 2014-10-22 18:27:08 +11:00
Andrew Tridgell
f87da51b37 Plane: prevent calling jump_to_landing_sequence() too often 2014-10-20 08:36:20 +11:00
Andrew Tridgell
8d329f6b5a Plane: ignore DO_LAND_START in missions 2014-10-20 08:36:20 +11:00
Andrew Tridgell
1f0840ddf8 Plane: improved RTL_AUTOLAND docs 2014-10-20 08:36:20 +11:00
Andrew Tridgell
9f32bf93d1 Plane: switch to AUTO on a DO_LAND_START MAVLink command 2014-10-20 08:36:20 +11:00
Andrew Tridgell
7ecc87a787 Plane: improved check for reaching RTL point for auto-land 2014-10-20 08:36:20 +11:00
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
Andrew Tridgell
dad95648a0 Plane: split landing code into landing.pde 
this is in preparation for more complex landing code using the
rangefinder
 2014-08-13 21:38:05 +10:00
Andrew Tridgell
7def71d43a Plane: improved landing approach and flare 
flare if we are within the specified time of landing either vertically
or horizontally
 2014-08-13 21:38:05 +10:00
Andrew Tridgell
165993dbf5 Plane: allow steering right through the landing 
this allows a small degree of steering right through the landing,
which makes it possible to have a turn just before landing
 2014-08-13 21:35:26 +10:00
Andrew Tridgell
ce9b14f0c8 Plane: convert to using StorageManager 2014-08-13 18:46:44 +10:00
Andrew Tridgell
817164914e Plane: added airspeed simulation in HIL 2014-08-10 18:17:12 +10:00
Andrew Tridgell
e6f5a31944 Plane: prepare for 3.1.0-beta2 2014-08-10 07:20:29 +10:00
Andrew Tridgell
0d7d6e1d2a Plane: zero loc structure in HIL_STATE handling 
this avoids av AVR bug in HIL
 2014-08-09 22:50:15 +10:00
Andrew Tridgell
5e997b20f6 Plane: move battery init to after parameter load 2014-08-09 22:50:14 +10:00
Andrew Tridgell
74fc7fbea5 Plane: added 2nd battery monitoring support 2014-08-09 22:50:14 +10:00
Andrew Tridgell
e22ab50b16 Plane: fixed build warning 2014-08-08 13:54:21 +10:00
Andrew Tridgell
4f57467aa5 Plane: build AFS (formerly known as OBC) failsafe on Pixhawk 
this gives an advanced failsafe system which may be useful for other
than OBC use
 2014-08-08 13:48:03 +10:00
Andrew Tridgell
2b89d728f3 Plane: rename to 3.1.0-beta1 2014-08-07 14:14:54 +10:00
Andrew Tridgell
d44425449d Plane: started on 3.1.0 release notes 2014-08-07 14:10:49 +10:00
Andrew Tridgell
bfe7c47aea Plane: prepare new beta 2014-08-07 13:28:29 +10:00
Andrew Tridgell
b414ca930d Plane: fixed servo demo on startup 
thanks to Klrill-ka

fixes issue #1204
 2014-08-07 13:26:47 +10:00
Michael Day
3b62592b26 ArduPlane: attempt to send GCS a message when the GCS heartbeat is not detected. 2014-08-07 12:54:47 +10:00
Przemek Lekston
75f9b8853d GCS_Mavlink.pde: Fix for a possible segfault after passing ARSPD_FBW_MIN 2014-08-07 12:35:31 +10:00
Andrew Tridgell
9184e47f84 Plane: added TERRAIN_LOOKAHD parameter 
distance to look forward for terrain following
 2014-08-07 09:31:03 +10:00
Andrew Tridgell
903b149bcd Plane: fixed typo in description 2014-08-06 17:59:19 +10:00
Andrew Tridgell
781abc7593 Plane: fix for changed AP_Terrain API 2014-08-06 17:59:19 +10:00
Andrew Tridgell
448b3f60e0 Plane: use dataflash logging for terrain 2014-08-06 17:59:19 +10:00
Andrew Tridgell
2a288824c0 Plane: make STAB_PITCH_DOWN in degrees 
try to avoid new centi-degrees parameters
 2014-08-06 17:59:18 +10:00
Andrew Tridgell
781c5bc5dd Plane: use terrain extrapolation 
use best effort extrapolation if we run out of terrain data
 2014-08-06 17:59:18 +10:00
Andrew Tridgell
d54bb68270 Plane: prevent cross-track on some WP types 
when finishing a takeoff or when a user forces a WP change don't do
any cross-tracking. This avoids a problem where the plane tries to
line up with a track completely unrelated to the track currently being
flown
 2014-08-04 21:02:13 +10:00
Andrew Tridgell
09a679368b Plane: use bitfields in auto_state 2014-08-04 21:02:13 +10:00
Andrew Tridgell
16f1c6867f Plane: remved int cast 
not portable
 2014-08-04 21:02:13 +10:00
Andrew Tridgell
28facc220d Plane: change threshold for no glide slope to 20m 
40m is quite high for most planes
 2014-08-04 21:02:13 +10:00
Andrew Tridgell
8610d9a8ea Plane: added GLIDE_SLOPE_MIN parameter 
this is used to prevent slow glide slopes being used for small
altitude changes in missions. This allows more accurate tracking of
altitude with terrain changes
 2014-08-04 21:02:13 +10:00
Andrew Tridgell
9536124300 Plane: more accurate altitude tracking close to waypoints 
don't use a glide slope if the altitude change is less than 15 meters
 2014-08-04 21:02:13 +10:00
Andrew Tridgell
f983040401 Plane: more fixes for glide slope calculations 2014-08-04 21:02:13 +10:00
Andrew Tridgell
b64ab07ca4 Plane: added STAB_PITCH_DN_CD parameter 
this adds some down trim when at throttle levels below the trim
throttle in FBWA mode.

defaults to 200 centi-degrees. I may adjust based on flight tests
 2014-08-03 17:17:20 +10:00
Andrew Tridgell
fcbdcb520a Plane: rename enum for Telem2Protocol 2014-07-30 14:49:20 +10:00
Matthias Badaire
57253fc2ee Rover: Add SERIAL2_PROTOCOL for GCS and FRSky telemtry 
This allows selection of protocol type on telem2. The default is MAVLink, but can be selected as FrSky protocol
 2014-07-29 17:08:20 -07:00
Andrew Tridgell
fe3c51d516 Plane: prevent integer underflow with comm_get_txspace() 2014-07-27 22:12:08 +10:00
Andrew Tridgell
c9be610dca Plane: fixed sense of altitude test for glide slope 2014-07-25 15:04:16 +10:00
Andrew Tridgell
8904cd105c Plane: fixed auto-doc prefix for TERRAIN 2014-07-25 13:12:23 +10:00
Andrew Tridgell
63cea04d9e Plane: improved TERRAIN_FOLLOW docs 2014-07-25 11:54:51 +10:00
Andrew Tridgell
077177384d Plane: fixed guided alt without terrain bit 2014-07-25 10:31:45 +10:00
Andrew Tridgell
9d6b745556 Plane: fixed terrain glide slope 2014-07-25 09:07:45 +10:00
Andrew Tridgell
88b73492c2 Plane: fixed APM2 build 2014-07-25 08:02:19 +10:00
Andrew Tridgell
b158b7e5a9 Plane: replace HAVE_AP_TERRAIN with AP_TERRAIN_AVAILABLE 2014-07-25 07:59:54 +10:00