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478 Commits

Author SHA1 Message Date
Tom Pittenger
6970a66cad Plane: refactor stick_mixing to library 2019-05-03 13:14:11 -07:00
Vinicius Knabben
99ad94ec49 Plane: Added parachute release on critcal sink rate and battery failsafe actions 
Signed-off-by: Vinicius Knabben <viniciusknabben@hotmail.com>
 2019-04-30 10:04:58 +10:00
Peter Barker
ad16f31e11 Plane: call compass cal routine directly from sched table 2019-04-23 10:06:17 +10:00
Peter Barker
3a4cbdd41f Plane: remove pointless update_notify shim 2019-04-11 05:31:43 -07:00
Michael du Breuil
ea031d720a Plane: Fix RangeFinder init 2019-04-06 09:15:22 +11:00
Tom Pittenger
ade6281923 Plane: use #if ADVANCED_FAILSAFE == ENABLED just like Rover and Copter 2019-04-03 17:46:50 -07:00
Tom Pittenger
ca40c7f2d5 Plane: create afs_plane.h to match copter and rover structure 2019-04-03 17:46:50 -07:00
Tom Pittenger
0270c57530 Plane: massive refactor and creation of Mode class 2019-04-02 16:28:52 +11:00
Peter Barker
6c5c14381f Plane: move devo telemetry handling to GCS 2019-03-19 14:39:14 +11:00
Peter Barker
1a55f0ffab Plane: FrSky support has moved to GCS 2019-03-19 14:39:14 +11:00
Andrew Tridgell
3907466f9d Plane: added TKOFF_TIMEOUT parameter 
this allows for a timeout on auto-takeoff. This can be combined with
other takeoff parameters to allow the user to abort a hand-launch
after the motor has started without GCS interaction.

The 4m/s threshold is a bit arbitrary. We could make that a parameter
in the future if it is needed
 2019-03-18 14:48:08 +11:00
Peter Barker
0edba9070f Plane: move sending of RPM message up 2019-03-16 10:33:01 +09:00
Peter Barker
ca7566fff9 Plane: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Peter Barker
bd444d97dc Plane: move sending of airspeed_autocal into AP_AirSpeed 2019-03-06 11:32:52 +11:00
Peter Barker
94899bd2ed Plane: move sending of send_pid_tuning up 2019-03-05 10:41:56 +11:00
Andrew Tridgell
cd1f21b806 Plane: removed some px4 specific code and docs 2019-02-27 20:32:37 +11:00
Peter Barker
cdde2b7d64 Plane: Rally no longer takes ahrs in constructor 2019-02-20 18:03:38 +11:00
Peter Barker
34853fb1bf Plane: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker
33541dcbf6 Plane: GCS_MAVLink takes care of mavlink capabilities 2019-02-19 13:14:52 +11:00
Peter Barker
5690a0ea4a Plane: move try_send_message of nav_controller_output up 2019-02-19 10:08:00 +11:00
Mark Whitehorn
95b3a5bacd ArduPlane: implement hover throttle learning for quadplanes 
disable by default
check quadplane.enable in update_hover_learn
 2019-02-16 19:04:13 -08:00
Peter Barker
b6bf8d8368 Plane: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker
5a19f447a7 Plane: devo telemetry no long requires singleton classes to be passed in 2019-02-13 19:24:07 +00:00
Peter Barker
30671a6743 Plane: move handling of command-int MAV_CMD_DO_SET_HOME up 
Plane: eliminate set_home shim around AP_AHRS::set_home
 2019-02-13 09:42:26 +11:00
Peter Barker
cfb3dfc4e5 Plane: AP_Frsky_Telem uses singletons 2019-02-12 17:53:23 +00:00
Peter Barker
b48cb1e367 Plane: move sending of sys_status message up 2019-02-05 11:07:39 +11:00
Andrew Tridgell
5dbf603450 Plane: separate out slew limit logic for left/right throttles 2019-02-03 05:06:37 -08:00
Peter Barker
68b9e64077 Plane: remove old, unfulfilled method declarations 2019-01-30 09:03:52 +09:00
Peter Barker
40856fef56 Plane: remove vestiges of old PX4_MIXER code 2019-01-19 19:31:03 +11:00
Peter Barker
b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker
129762d3af Plane: APM_Control uses DataFlash singleton, stop passing it 2019-01-18 14:14:22 +11:00
IamPete1
eaed0a2d47 Plane: make rudder differnal thrust global 2019-01-15 10:19:19 +11:00
Peter Barker
5c90a2dab2 Plane: Terrain uses rally singleton 2019-01-09 10:14:16 +11:00
Michael du Breuil
09f6ec8a00 Plane: Remove unneeded AP_Buffer include 2018-12-31 11:41:43 +09:00
Michael du Breuil
47dfafd670 Plane: Ensure that the plane is an appropriate distance out before starting the approach 2018-12-18 10:11:22 +11:00
Michael du Breuil
f1154a6e7c Plane: Pass the mission command around rather then fetching it 2018-12-18 10:11:22 +11:00
Nikhil Upadhye
d1e93bae83 Plane: adding new mode QAUTOTUNE 
copter like autotune support for quadplanes and tailsitter in VTOL mode.

cleanup
 2018-12-14 16:33:11 +11:00
Peter Barker
d1727d26a1 Plane: rename send_extended_status1 to send_sys_status 2018-12-10 12:52:41 +09:00
Peter Barker
ba3a369651 Plane: remove update_events scheduler shim 2018-11-27 10:07:13 +11:00
Michael du Breuil
1e220d3d37 Plane: Add support for mode change to QLand as a failsafe 2018-11-24 14:37:04 -08:00
Peter Barker
d4e88bc6ba Plane: remove pointless wrappers around RC_Channels functions 2018-11-23 10:56:17 +11:00
Peter Barker
03b71e1123 Plane: remove pointless wrappers around gcs functions 2018-11-23 10:56:17 +11:00
Andrew Tridgell
03f1deca9f Plane: support REVERSE_THROTTLE rc option 
this provides a more convenient way to setup for reverse throttle
 2018-11-16 08:33:35 +11:00
Andrew Tridgell
da69bf3391 Plane: added an abstraction for reverse thrust 
use have_reverse_thrust() and get_throttle_input()
 2018-11-16 08:33:35 +11:00
Peter Barker
a5c34f6172 Plane: OpticalFlow takes care of its own logging 2018-11-13 10:40:23 +11:00
Peter Barker
e53a009a35 Plane: do not pass ahrs to opticalflow constructor 2018-11-13 10:40:23 +11:00
Andrew Tridgell
432d786f82 Plane: pass height to landing gear update 2018-11-10 21:24:19 +11:00
Michael du Breuil
8e906e0ba0 Plane: Add support for a loiter to alt approach to VTOL landing 2018-11-10 18:58:54 +11:00
Eugene Shamaev
01178a75e9 Plane: added landing gear support 2018-11-09 14:35:14 +11:00
Peter Barker
818bb8d56d Plane: don't pass ahrs to terrain constructor 2018-11-08 20:59:45 +11:00
Peter Barker
4b68ca79dc Plane: stop passing ahrs to Mission constructor 2018-11-08 10:01:16 +09:00
Andrew Tridgell
a00e06ea13 Plane: added TKOFF_ACCEL_CNT for multi-shake to start 
this allows you to setup shake to start with a lower accel threshold,
but with multiple fwd/back movements needed.

This implements https://github.com/ArduPilot/ardupilot/issues/2221
 2018-10-31 18:53:36 +11:00
Peter Barker
27b444f4e8 Plane: move handling of gimbal messages up 
Plane: move handling of mav_cmd_do_mount_control up

Plane: move handling of deprecated mount messages up

Plane: move handling of command_do_set_roi up

Plane: mount no longer takes ahrs in constructor
 2018-10-30 17:19:14 +11:00
Peter Barker
7890fbeaa1 Plane: let AP_Mission handle common camera commands 2018-10-30 15:37:18 +11:00
Michael du Breuil
3aed07a83a Plane: Create a scripting object 2018-10-09 10:08:52 +11:00
Peter Barker
4ad1869f43 Plane: add arm/disarm on aux switch 2018-09-06 08:26:50 +10:00
Peter Barker
901664ce09 Plane: add support for RCn_OPTION (servorelay,camera) 
Closes #7071
Closes #7666
 2018-09-05 13:44:07 +10:00
Michael du Breuil
8417bcc7d5 Plane: Add flight options bitmask 2018-08-28 09:40:53 +10:00
Michael du Breuil
e4bbcd5ee3 Plane: Don't initilize motors with a trim value 2018-08-23 13:19:08 +10:00
Alexander Malishev
001948d40c Plane: publish navigation info to OSD 2018-08-16 10:26:34 +10:00
Randy Mackay
903d00c4b2 Plane: remove compass accumulate 2018-08-06 11:05:34 +10:00
Peter Barker
9ce02bc504 Plane: minimal support for inheritting from RC_Channel 2018-08-01 12:11:30 +09:00
Andrew Tridgell
1d675390ab Plane: make soaring an optional build feature 
this disables soaring on px4-v2, saving 5k of flash

This is needed to consider pr #9042, which takes a lot of flash space
 2018-07-30 13:09:15 +10:00
Michael du Breuil
f25726fbb1 Plane: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Peter Barker
85f339caae Plane: remove annoying ice_update shim 2018-07-04 21:08:47 +01:00
Peter Barker
e404562544 Plane: remove vexing button_update shim 2018-07-04 21:08:47 +01:00
Peter Barker
c42fb6d797 Plane: remove pointless rangefinder_init shim function 2018-07-04 21:08:47 +01:00
Peter Barker
3bfa4c8678 Plane: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
Andrew Tridgell
bc503cc600 Plane: moved OSD to top level params 
this is to give lots of depth for OSD params (which will be very
complex)
 2018-06-27 14:55:00 +10:00
Alexander Malishev
75bf6984f5 Plane: added OSD support 2018-06-27 14:55:00 +10:00
Michael du Breuil
1c276e6af7 Plane: Remove unneeded wrapper functions 
Also removes unneeded battery failsafe flag clearing
 2018-06-27 11:39:35 +10:00
Peter Barker
f5e241af01 Plane: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
Peter Barker
2b7f9247e8 Plane: use AP_FWVersion singleton 2018-06-18 19:10:37 +01:00
Michael du Breuil
12da35220c Plane: Simplify radio trimming, improve MAVLink report 2018-06-11 16:29:36 -07:00
Peter Barker
22306c370b Plane: factor out a Plane::set_home 2018-05-29 14:38:45 +10:00
Peter Barker
8b4ffb11f5 Plane: move sending of vfr_hud up 2018-05-29 13:00:40 +10:00
Peter Barker
ef77bea4eb Plane: move sending of simstate up 2018-05-23 18:36:50 +10:00
Peter Barker
cdf4128900 Plane: move sending of POSITION_TARGET_GLOBAL_INT up 2018-05-18 20:26:37 +10:00
Peter Barker
5aefb90e61 Plane: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker
6f8339028e Plane: move send_attitude into GCS_MAVLINK_Plane 2018-05-17 18:28:43 +10:00
Peter Barker
7afd056e98 Plane: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Peter Barker
052b76d017 Plane: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Michael du Breuil
b479f3760a Plane: Remove some unneeded logging indirection 
Saves 32 bytes on make px4-v2
 2018-05-16 20:34:00 +10:00
Peter Barker
e10c23bd43 Plane: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Peter Barker
68497f27fa Plane: move try_send_message handling of RC_CHANNELS up 2018-05-08 12:33:32 +01:00
Peter Barker
2e3a7fc5b6 Plane: remove rcmap member from AP_AdvancedFailsafe 2018-05-05 18:06:31 +09:00
night-ghost
aa53832a70 ArduPlane: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Peter Barker
5ef417a669 Plane: GPS now logs its own data 2018-04-18 13:50:55 +09:00
Michael du Breuil
7b7f5e242b Plane: Simplify channel reading 2018-04-14 14:05:20 +10:00
Peter Barker
2b54113334 Plane: Baro does its own dataflash logging 2018-04-12 19:12:12 +01:00
Peter Barker
f6a185a3c3 Plane: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker
58d41e40d3 Plane: let GCS_MAVLink calibrate airspeed sensor 
Also remove useless zero_airspeed function
 2018-04-02 23:25:05 +01:00
Peter Barker
65893cfca5 Plane: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Michael du Breuil
7405bb7b85 Plane: Support new battery failsafes 2018-03-27 22:12:21 +01:00
Peter Barker
7fd859da65 Plane: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker
7c86c4fe61 Plane: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker
f558bbca2e Plane: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker
0862d1454e Plane: use AP::ahrs() for ADSB 2018-03-07 12:34:39 +00:00
Michael du Breuil
faea5d285c Plane: Consolidate some of the PID logging details 2018-03-03 17:34:18 +12:00
Andrew Tridgell
27e4953ad8 Plane: disable HIL on px4-v2 
this saves enough flash for px4-v2 to fit again
 2018-03-03 13:35:39 +11:00
David Ingraham
a6aeebad4b Plane: Add support for AP_Gripper 2018-03-01 14:14:43 +11:00
Peter Barker
3859e5dfb1 Plane: eliminate update_perf_logging scheduler table shim 2018-02-13 17:15:05 +11:00
Peter Barker
02540fdbf9 Plane: use AP_Scheduler's loop() function 2018-02-13 17:15:05 +11:00
Peter Barker
73092c3c30 Plane: use scheduler ticks in place of mainloop_count 2018-02-13 17:15:05 +11:00
Peter Barker
519e6c31d2 Plane: use AP::PerfInfo library 2018-02-13 17:15:05 +11:00
Andrew Tridgell
2fb6113098 Plane: use AP:PerfInfo class 2018-02-10 10:50:22 +11:00
Michael du Breuil
43972f8e56 Plane: Move battery logging code to AP_BattMonitor 2018-02-06 00:11:32 +00:00
Tom Pittenger
39a200b83f Plane: allow control_mode enum to be in arbitrary order 
never use control_mode >= BLAH. This requires the order to be important which greatly increases chance for unexpected behavior
Closes https://github.com/ArduPilot/ardupilot/issues/4656
 2018-01-09 17:05:04 -08:00
Peter Barker
c4c6b3cc70 Plane: AP_AHRS no longer requires GPS in constructor 2017-12-27 00:58:02 +00:00
Andrew Tridgell
30e224e705 Plane: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Tom Pittenger
512b327cd4 Plane: failsafe events to use enums instead of magical numbers : Non-functional change 2017-12-07 00:19:32 -08:00
Tom Pittenger
3d6cc59a6b Plane: cleanup geofence warnings 2017-11-27 18:35:49 -08:00
Michael du Breuil
1a3ca43e86 Plane: Don't check FS_SHORT_TIMEOUT if it's disabled 
Also renames the check_minimum_altitude() to reflect that it's only used
for FBWB.
 2017-11-24 09:58:01 -08:00
Tom Pittenger
7271586a47 Plane: invert auto_state.no_crosstrack flag to be auto_state.crosstrack. Non-functional change 2017-11-23 09:25:18 -08:00
Peter Barker
ee5f550475 Plane: AP_Camera uses GPS singleton 2017-11-16 15:28:37 +00:00
Michael du Breuil
e63e39c411 Plane: Don't broadcast PWM value that tripped throttle failsafe 2017-11-02 16:46:08 -07:00
Michael du Breuil
d52f5155f0 Plane: Rename rc failsafe state members 2017-11-02 16:46:08 -07:00
Peter Barker
d49be616da Plane: call ins's periodic function 2017-10-27 16:33:45 +11:00
Peter Barker
7feef72b34 Plane: improve failsafe notifications 2017-10-24 09:28:13 +11:00
Lucas De Marchi
a2b67ed615 ArduPlane: use static method to construct AP_Landing 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e10c60e492 ArduPlane: use static method to construct controllers 2017-09-26 03:01:21 +01:00
Lucas De Marchi
05c870a4d4 ArduPlane: use static method to construct AP_TECS 2017-09-26 03:01:21 +01:00
Lucas De Marchi
bfd13dfe87 global: use static method to construct AP_AHRS_DCM 2017-09-26 03:01:21 +01:00
Lucas De Marchi
beabae6a98 global: use static method to construct AP_AHRS_NavEKF 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c9fbf7b722 global: use static method to construct AP_NavEKF3 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e2fe36357a global: use static method to construct AP_NavEKF2 2017-09-26 03:01:21 +01:00
Lucas De Marchi
6781a44046 global: use static method to construct AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi
6d009cdf6e global: use static method to construct AP_ADSB 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cf6ea9642e global: use static method to construct AP_Terrain 2017-09-26 03:01:21 +01:00
Lucas De Marchi
31db77e47b global: use static method to construct AP_Parachute 2017-09-26 03:01:21 +01:00
Lucas De Marchi
eadd650d78 global: use static method to construct AP_RSSI 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b05610870c global: use static method to construct AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi
18aa88b329 global: use static method to construct AP_Mount 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c3647f0185 global: use static method to construct AP_Camera 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cc53e7bc4b global: use static method to construct AP_ServoRelayEvents 2017-09-26 03:01:21 +01:00
Lucas De Marchi
13d7f58036 global: use static method to construct AP_Relay 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9ce6019138 global: use static method to construct AP_Frsky_Telem 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b022c02029 global: use static method to construct AP_BattMonitor 2017-09-26 03:01:21 +01:00
Lucas De Marchi
69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi
a74e700006 global: use static method to construct RCMapper 2017-09-26 03:01:21 +01:00
Lucas De Marchi
72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi
fbe0d9761c global: use static method to construct AP_OpticalFlow 2017-09-26 03:01:21 +01:00
Lucas De Marchi
2d2876a226 ArduPlane: use static method to construct AP_Arming_Plane 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b36a5919f5 global: use static method to construct AP_Mission 
This also move the initialization to be in the header for those that
weren't already to maintain consistency.
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
de5e044b02 global: use static method to construct AP_RPM 2017-09-26 03:01:21 +01:00
Lucas De Marchi
40fd1b346c global: remove rangefinder from AP_AHRS_NavEKF 
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi
62ac0ab8aa global: use static method to construct AP_Notify 2017-09-26 03:01:21 +01:00
Lucas De Marchi
de680dac5b global: use static method to construct AP_Scheduler 2017-09-26 03:01:21 +01:00
Lucas De Marchi
8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00