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28 Commits

Author SHA1 Message Date
Andy Piper f8e5c7c1c4 Plane: address minor review comments 2024-07-24 08:24:06 +10:00
Andrew Tridgell d845af9bc3 Plane: fixed re-enable of fence for FENCE_AUTOENABLE=1 
the is an adjustment to the previous fix which only worked when we had
at least one fence element enabled when we were not flying or disarmed
 2024-07-24 08:24:06 +10:00
Andrew Tridgell 5d46e0c64e Plane: reset previous mode fence breach when disarmed 
when we are disarmed or we are not in fence breach and we are not
flying then reset the previous mode fence reason state so that a new
flight will get the correct fence breach action behaviour
 2024-07-24 08:24:06 +10:00
Andy Piper e4cbee133b Plane: only disable fences when in landing phase 2024-07-24 08:24:06 +10:00
Andy Piper 46d6d0bf03 Plane: disable fences for landing by suppressing in the fence check rather than using a state machine 2024-07-24 08:24:06 +10:00
Andy Piper 559bd1e252 Plane: use fence enable_configured() 
avoid fence breach clearing spam
 2024-07-24 08:24:06 +10:00
Andy Piper 8c2f686bfa Plane: output user-friendly fence messages 2024-07-24 08:24:06 +10:00
Andrew Tridgell 8151647e04 ArduPlane: convert ALT_HOLD_RTL and ALT_HOLD_FBWCM 2024-01-23 15:00:30 +11:00
Peter Barker 6ee5ab41fd ArduPlane: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Peter Barker 98e2782851 Plane: correct compilation when AP_Rally disabled 2023-04-10 16:37:42 -07:00
Iampete1 2b0492e6aa Plane: disalow mode change during fence recovery if option is set 2022-08-17 17:21:30 +10:00
Iampete1 a8a1e619df Plane: only trigger fence action for new breaches 2022-08-17 17:21:30 +10:00
Iampete1 a592f76282 ArduPlane: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
Iampete1 dd2221338b Plane: fence: do not re-trigger if mode change for expected reason 2022-07-19 09:44:36 +10:00
Andrew Tridgell 48881eeb55 Plane: fixed yaw on the ground when rudder disarming in AUTO 
when a quadplane touches down in an auto throttle mode the pilot may
use rudder to disarm. The check for rudder disarm was only active in
modes without auto-throttle. This expands it to all modes if the
throttle has hit the lower limit
 2022-03-24 07:44:40 +11:00
Andrew Tridgell 27cbe5dbbb Plane: prevent rapid RTL/AUTO switching on fence breach 
don't switch back to RTL if already in a DO_LAND_START sequence
 2022-03-23 20:21:59 +11:00
Peter Barker 2784f8fa7f Plane: remove persistent guided_WP_loc state 
So instead of updating plane.guided_WP_loc and then calling
set_guided_WP(void) to copy that state into plane.next_WP_loc we pass
the new location in the call to set_guided_WP(const Location &loc).

avoidance was the only place which was not entirely over-writing
plane.guided_WP_loc.  However, plane.next_WP_loc was updated to be the
current location when we entered guided mode.  If we update the
horizontal/vertical avoidance now it is relative to the current
location, not the guided wp location, which could be quite important.
 2022-03-22 10:14:40 +11:00
Tim Tuxworth 21ec47f184 Plane: Display Fence Breach message in GCS 
Send a "Geofence breach" message to the Ground Control Station. Without this when the fence is breached and if anything happens as a result, such as RTL, it will happen silently.
 2022-03-16 18:04:19 +11:00
Iampete1 8e693e5cd1 Plane: remove TRIM_AUTO param 2021-09-28 09:16:24 +10:00
Andrew Tridgell 3bb840f794 Plane: implement slow descent in QRTL approach 
this approaches in QRTL at ALT_HOLD_RTL alt, then descends to
Q_RTL_ALT close to the destination
 2021-06-05 13:05:30 +10:00
James O'Shannessy 5253b8a3ee ArduPlane: Fix spiralling loiters when no fence return point can be found 2021-05-05 10:59:10 +10:00
James O'Shannessy 560943d6e0 ArduPlane: corrections to returning to the previous mode if fence was disabled while under action 2021-03-05 14:52:46 +11:00
James O'Shannessy 5dd40afe0a ArduPlane: Retrigger fence breach if mode 
ArduPlane: Move auto enabling code to common fence library
 2021-03-05 14:52:46 +11:00
James O'Shannessy f774196b52 ArduPlane: Cleanup of unnecessary comments in fence logic 2021-03-05 14:52:46 +11:00
James O'Shannessy 8a99d9dd00 ArduPlane: Use auto enable and auto disable from AC_Fence 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 4f7ffc5eb1 Plane: move fence disable code to a function to enable reusability 2021-03-05 14:52:46 +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
James O'Shannessy 17fb585bf1 ArduPlane: Add support for AC_Fence 
ArduPlane: Remove some geofence logic from ArduPlane

ArduPlane: Refactor action and mode return implementation

ArduPlane: Use polyfence to find the return point.
 2021-03-05 14:52:46 +11:00