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81 Commits

Author SHA1 Message Date
Andrew Tridgell 6870a15280 Plane: implement AP_PLANE_BLACKBOX_LOGGING 
this allows for auto-arming of plane when we reach a specified 3D GPS
speed. Used for blackbox logging of F3A maneuvers
 2023-05-18 12:59:09 +10:00
Iampete1 bb80881c10 Plane: don't trigger RC failsafe until RC has been received for the first time 2023-05-02 09:11:18 +10:00
Henry Wurzburg b4c79c9105 Plane:add FlightOptions helper 2023-04-26 17:35:25 +10:00
Peter Barker 43c6bb3864 ArduPlane: AP_Arming ensures mission items present when in auto mode 
Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
 2023-04-14 07:49:54 +10:00
Henry Wurzburg c86c89f05c ArduPlane: move estop pre-arm to AP_Arming and add exception 2023-04-11 09:24:06 +10:00
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
Iampete1 5586f4ad3a Plane: arming: modes: don't always display 2023-02-20 10:55:32 +00:00
Andrew Tridgell 312d37306e Plane: ensure home is up to date on arming 
remove any discrepancy which has crept in over the last few seconds

this also ensures that relative_altitude is updated, and copes with
the EKF refusing the resetHeightDatum call
 2023-02-19 10:45:42 +11:00
Iampete1 2ffe677d39 Plane: combine per mode arm and pre-arm checks 2023-02-15 19:43:40 +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
Iampete1 342d6f21be ArduPlane: use check_enabled helper 2023-01-23 11:00:13 +09:00
Iampete1 e585757338 Plane: Quadplane: remove motor PWM params check 2022-09-19 20:57:51 -04:00
Iampete1 84922cba9a Plane: Quadplane: use new motors pre arm 2022-09-07 17:54:16 +10:00
Iampete1 6358a3c962 Plane: add min airspeed arming check and constrain for speed scailing 2022-09-06 09:01:26 +10:00
Peter Barker 127bf7aa09 ArduPlane: make terrain checks common between Copter and Plane 2022-08-09 14:31:14 +10:00
Andrew Tridgell 2e32c753b9 Plane: added arming check for terrain data 2022-08-09 14:31:14 +10:00
Iampete1 ee778dbd3a Plane: Quadplane: add option_is_set helper for Q_OPTIONS 2022-08-09 13:21:00 +10:00
Andrew Tridgell 3201ecd381 Plane: added an arming check for VTOL land too short 
this is meant to catch bad mission setup, especially for UGCS, which
planes waypoints right on top of the landing point
 2022-08-02 07:49:34 +10:00
Andrew Tridgell 3385d3ae62 Plane: support NAV_DELAY in plane 
allow for delayed takeoff, and takeoff at a particular time (for swarm
takeoff)

also check for takeoff command in landing sequence arming check

this allows for takeoff->land->disarm->delay->arm->takeoff->land
missions
 2022-07-12 10:34:26 +10:00
murata 501bd61820 Plane: Initialize a string array 2022-06-22 17:25:56 +10:00
Iampete1 34609d327d Plane: Quadplane: force convertions of Q_M_PMW_* params if invalid and add arming check 2022-06-08 17:08:23 +10:00
Andrew Tridgell 86c2404654 Plane: increased safety of guided -> auto quadplane takeoff 
when we arm in guided mode then enter a special guided_wait_takeoff
state. We keep motors suppressed until one of the following happens

  1) disarm
  2) guided takeoff command
  3) change to AUTO with a takeoff waypoint as first nav waypoint
  4) change to another mode

while in this state we don't go to throttle unlimited, and will refuse
a change to AUTO mode if the first waypoint is not a takeoff. If we
try to switch to RTL then we will instead use QLAND

This state is needed to cope with the takeoff sequence used by QGC on
common controllers such as the MX16, which do this on a "takeoff"
swipe:

  - changes mode to GUIDED
  - arms
  - changes mode to AUTO
 2022-05-18 06:43:16 +10:00
Andrew Tridgell 20f641de99 Plane: refuse arming if we are in a landing sequence 
this helps when the aircraft has gone into a landing sequence due to a
failsafe before it is armed. Arming while in the landing sequence is
very unlikely to be what the user wants
 2022-05-15 21:17:50 +10:00
Andrew Tridgell 680162cef0 Plane: added a value for RTL_AUTOLAND to disable arming check 
set RTL_AUTOLAND=3 to get go-around but not RTL DO_LAND_START usage
 2022-03-23 20:22:58 +11:00
Andrew Tridgell a1856c5c22 Plane: added an arming check for Q_ASSIST_SPEED 
Q_ASSIST should really be enabled for all non-tailsitter
quadplanes. This arming check will help users remember to configure it
 2022-03-16 09:29:14 +11:00
Andrew Tridgell 82937ca778 Plane: check that RTL_AUTOLAND is set if using DO_LAND_START 2022-03-14 09:52:41 +11:00
Andrew Tridgell 8ccf84d9a3 Plane: disallow mavlink disarm while flying 
this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
 2022-03-09 17:13:45 +11:00
Andrew Tridgell 1c89b7f3a2 Plane: check for VTOL takeoff in AUTO 
if the "only arm in Q modes" bit is set in Q_OPTIONS then check that
in AUTO mode we are in a VTOL takeoff WP
 2021-12-07 12:51:18 +11:00
Iampete1 5ba2bd675a Plane: move quadplane arming checks to own function and add angle max and tiltrotor / tailsitter checks 2021-11-09 10:45:22 +11:00
Iampete1 b31ce6734a Plane: get throttle input return float 2021-10-20 18:29:58 +11:00
Andrew Tridgell 493d8979d5 Plane: reset target speed on disarm 
allows for multiple auto missions with DO_CHANGE_SPEED
 2021-10-11 10:47:52 +11:00
Iampete1 cdfda2bd9b Plane: allow arming in quided with only arm in Qmodes Q_OPTION 2021-09-22 18:14:16 +10:00
Iampete1 cc89a8cc48 Plane: remove airmode Q_OPTION 2021-09-21 09:36:24 +10:00
Peter Barker 3d34e061fe ArduPlane: add and use HAL_QUADPLANE_ENABLED 2021-09-14 11:23:18 +10:00
Hwurzburg 327f3a0803 ArduPlane: add option for man throttle center to be TRIM_THROTTLE 2021-09-07 10:02:26 +10:00
Iampete1 4efa9866fa Plane: arming: do not disable asisted flight airmode on disarm 2021-09-01 08:33:24 +10:00
Iampete1 d372907a98 Plane: Quadplane: add Q_OPTION to only allow arming in Qmodes and auto. 2021-08-24 10:39:12 +10:00
Peter Barker 5b7ec1fab4 Plane: do not run any prearm checks if we are armed or arming is not required 
Co-authored-by: TunaLobster <unknown>
 2021-07-07 18:20:54 +10:00
Andrew Tridgell 8482f9af27 Plane: fixed motor test with DShot VTOL motors 
need to arm when running the motor test
 2021-07-05 07:36:28 +10:00
Hwurzburg d15e01d390 Plane: fix DO_CHANGE_SPEED airspeed to impact only AUTO and GUIDED modes 2021-03-16 10:09:34 +11:00
James O'Shannessy aae092b88f ArduPlane: Remove all unused geofence capability 
ArduPlane: Remove missed geofence logic
 2021-03-05 14:52:46 +11:00
Peter Barker b6d0208287 Plane: allow arming in all auto-throttle modes 
... except QRTL and QLAND which are now universally denied for arming.
 2021-02-03 18:22:10 +11:00
Randy Mackay d487d6152e Plane: ahrs pre-arm always runs position checks 2021-01-26 10:46:49 +11:00
Peter Barker b698546b70 ArduPlane: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
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 9b2ef4f6f1 Plane: move rudder-arming arm checks into Plane's AP_Arming 2020-12-29 12:55:27 +11:00
Andrew Tridgell cd6ddf7d4f Plane: fixed disable of geofence on quadplane landing 
fixes #15917
 2020-12-02 18:33:07 +11:00
Andrew Tridgell 52f61c7ac1 Plane: make FENCE_AUTOENABLE an AP_Enum 2020-12-02 18:33:07 +11:00
Randy Mackay 60b4953751 Plane: integrate ahrs.pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay eeaf135cca AP_Arming: integrate ahrs.pre_arm_check 2020-10-07 11:53:07 +11:00