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3589 Commits

Author SHA1 Message Date
Peter Barker
177f7bed81 Plane: remove unused configuration options 2019-09-27 11:58:10 -06:00
Peter Barker
3bb1b0845c Plane: stop compiling in AP_Buffer 2019-09-24 09:36:33 +10:00
Michael du Breuil
8bfab6d2f2 Plane: Geofence, speed up the no fence checks if disabled 
This just checks if we are going to early out on the fence because it's
disabled. This also saves us 60 bytes of flash space. This technically
is a behaviour change as it was possible to load the fence before while
disabled if there was an RC channel mapped to it. This defers that until
the fence will have an action. The advantage of this though is that it
speeds up the check that's done per loop in a quadplane for stick mixing
 2019-09-23 17:31:33 -06:00
Michael du Breuil
562b155f63 Plane: Remove unused geofence enable reason 2019-09-23 17:31:33 -06:00
Michael du Breuil
7d8b114b24 Plane: Reduce size of GeoFenceState 
Cuts it from 32 bytes to 28
 2019-09-23 17:31:33 -06:00
Michael du Breuil
af0dfb6d8b Plane: Remove unneeded state from geofence 2019-09-23 17:31:33 -06:00
Andrew Tridgell
27187ca248 Plane: updated release notes for 4.0.0beta2 2019-09-24 08:46:52 +10:00
Andrew Tridgell
c93d73b678 Plane: change master version to 4.1.0dev 2019-09-22 20:20:16 +10:00
Peter Barker
5730808778 Plane: remove stale enum entries for log message types 2019-09-18 15:02:57 +10:00
Andrew Tridgell
5c43b18672 Plane: fixed height_above_ground() for case when rangefinder is below min 
this prevents a rangefinder that goes below min distance from causing
the calculations that depend on height above ground to fail
 2019-09-17 09:36:26 +10:00
Andrew Tridgell
34b0967d09 Plane: prevent fwd motor from spinning up on ground in quadplane landing 
if the rangefinder starts to measure below it's min range then the fwd
motor can spin up.

Thanks to Josh for reporting this!
 2019-09-17 09:36:26 +10:00
Peter Barker
a761cb62de Plane: remove get_advanced_failsafe override; singleton to be used 2019-09-17 09:13:43 +10:00
Andrew Tridgell
8b92df51db Plane: updated release notes for 4.0.0beta1 2019-09-16 12:59:25 +10:00
Andrew Tridgell
6572700baa Plane: fixed an issue with landing on rising ground 
when landing on rising ground we don't want to use the terrain look
fwd correction for the flare calculation as otherwise we will flare
too early (and thus too high)
 2019-09-16 12:52:00 +10:00
Andrew Tridgell
929426abf8 Plane: update release notes for 3.9.11 2019-09-15 19:08:16 +10:00
Andrew Tridgell
7751352a86 Plane: implement VTOL landing for AFS termination 
this allows for vertical landing as an AFS_TERM_ACTION
 2019-09-12 09:59:17 +10:00
Mark Whitehorn
788e7a840c Plane: default angle_boost to disabled for tailsitters 2019-09-12 09:05:42 +10:00
Andrew Tridgell
b724608f03 Plane: update release notes for 3.9.11 2019-09-11 12:30:27 +10:00
Michael du Breuil
4f22dff14d Plane: Add an airspeed limit for quadplane takeoffs 2019-09-09 22:06:25 -06:00
Michael du Breuil
77afcf6a1b Plane: Abort takeoffs that take to long to complete 2019-09-09 22:06:25 -06:00
Henry Wurzburg
7178655cbe Plane: fixed landing after VTOL loiters 2019-09-10 08:57:13 +10:00
Michael du Breuil
cf58f68e49 Plane: Rearrange header to save flash 
Saves 392 bytes of flash on CubeBlack builds without increasing RAM
consumption at all. This also translates to a speed up as some of these
are looked up every loop multiple times.
 2019-09-10 06:43:34 +10:00
Peter Barker
948d606694 Plane: remove ineffective DEVO_TELEM_ENABLED 2019-09-04 17:47:33 +10:00
Peter Barker
b12f620233 Plane: fix format string warnings 2019-09-02 21:00:59 +10:00
IamPete1
27286b659b Plane: servos: update dspoiler auto trim 2019-09-01 09:00:16 +10:00
Peter Barker
32a71d2d5a Plane: mount uses AP_SerialManager singleton 2019-08-28 06:55:28 +10:00
Andrew Tridgell
296ce5a409 Plane: fixed throttle failsafe for FS_SHORT_ACTN=3 
this is a replacement for #12043
many thanks to @Jaaaky for finding this issue
 2019-08-26 17:20:24 +10:00
Andrew Tridgell
0ccd2fb273 Plane: update release notes for 3.9.10 2019-08-26 13:38:44 +10:00
Peter Barker
847f85a081 Plane: correct compilation with PARACHUTE==DISABLED 2019-08-23 13:22:44 +10:00
Andrew Tridgell
470a60f828 Plane: reset steering in MANUAL or when not stabilising 2019-08-22 20:10:09 +10:00
Michael du Breuil
0b0d0e2f8e Plane: Remove APM_Config.h 2019-08-21 22:16:49 -06:00
Peter Barker
1b36d64794 Plane: correct compilation with GEOFENCE_ENABLED==DISABLED 2019-08-20 23:03:32 -07:00
Michael du Breuil
ea64077f77 Plane: Remove redundant protection 2019-08-20 23:59:06 +01:00
Andrew Tridgell
10770b5c7f Plane: update release notes for 3.9.10beta1 2019-08-18 16:18:43 +10:00
Peter Barker
2768d229ed Plane: stop updating sensor status flags 
These are updated as required in the gcs library itself.
 2019-08-17 17:45:03 +10:00
Peter Barker
466681a94e Plane: factor out a handle_command_int_do_reposition 2019-08-14 18:30:24 +10:00
Peter Barker
cfe4ec4d1f Plane: add nullptr check for mavlink channel 0 2019-08-14 18:25:43 +10:00
Peter Barker
7e5a6f1895 Plane: avoid allocate a GCS_MAVLINK per mavlink channel 2019-08-14 18:25:43 +10:00
Peter Barker
20626a1fe1 Plane: move automatic declination setting into AP_Compass itself 2019-08-13 10:02:13 +10:00
Andrew Tridgell
1b775c96f5 Plane: added rangefinder correction by terrain data 
allows for landing approach with terrain changes
 2019-08-06 09:36:02 +10:00
Peter Barker
b7b67f523d Plane: pass format string through to check_failed 2019-08-05 14:18:05 +10:00
Andrew Tridgell
6f57028c23 Plane: added release notes from 3.9.9 2019-08-04 18:01:51 +10:00
Leonard Hall
124d18228b Plane: Support seperate roll and pitch limits 2019-08-03 12:06:32 +09:00
Peter Barker
05c608e725 Plane: use MAV_FRAME_GLOBAL instead of MAV_FRAME_GLOBAL_INT in send_position_target 2019-07-30 10:55:21 +10:00
Peter Barker
20a20bde65 Plane: accept MAV_FRAME_GLOBAL for set_position and repositioning 2019-07-30 10:55:21 +10:00
Michael du Breuil
2d81ad63f5 Plane: Convert ARMING_CHECK 2019-07-30 10:42:16 +10:00
Michael du Breuil
3e214e1f8b Plane: Add keydump feature 2019-07-30 10:42:16 +10:00
Leonard Hall
34da437266 Plane: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall
157f786adf Global: rename desired to target in PID info 2019-07-25 17:38:15 +09:00
Michael du Breuil
c6f884221e Plane: Fix parameter description on values to not use the delimiter character 2019-07-23 09:29:48 +10:00
Pierre Kancir
33e12a127c ArduPlane: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Michael du Breuil
22598b1a4b Plane: Reduce inerital nav dependence 2019-07-16 12:11:42 +09:00
Peter Barker
7c88eb670c Plane: RangeFinder uses AP_SerialManager singleton 2019-07-16 09:29:48 +10:00
Peter Barker
38e303389b Plane: avoidance no longer takes ahrs in constructor 2019-07-16 09:29:48 +10:00
Peter Barker
37014bdfe1 Plane: split RC_CHANNELS messages onto separate ap_message ids 2019-07-09 13:08:45 +10:00
Peter Barker
769e862807 Plane: stop passing relay and ahrs into camera constructor 2019-07-09 09:32:39 +10:00
Andrew Tridgell
ff08de033e Plane: fixed home reset alt bias 
this fixes a bug in the set of home alt while disarmed. The set had a
circular dependency which could cause a large bias to build up between
home alt and gps alt due to small fluctuations in barometer data

Thanks to Nick Allen for spotting this
 2019-07-07 19:20:32 +10:00
Andrew Tridgell
aa18c75689 Plane: decay fw rate integrators when at low airspeed 
this prevents large fixed wing control surface integrators from
causing issues when we have wind from behind in hover
 2019-07-07 18:16:47 +10:00
Andrew Tridgell
ebe2278f5d Plane: reset rate controller integrators if not run for 2s 
this prevents a bug where integrator buildup can happen from a
previous flight mode
 2019-07-07 18:16:47 +10:00
Peter Barker
1674cb0a85 Plane: EKF logging moved into EKF from logger 2019-07-06 19:05:51 +10:00
Hwurzburg
44f6f7335e Plane: Added Quadplane option for QRTL failsafe action 2019-07-05 11:25:56 +10:00
Peter Barker
3ab266b751 Plane: ServoRelayEvents uses Relay singleton 2019-07-03 23:59:24 -07:00
IamPete1
76663d66e8 Plane: support bicopter tiltrotors 2019-07-02 10:15:17 +10:00
Peter Barker
80c7449145 Plane: add sanity check when fetching GCS_MAVLink instance 2019-06-27 07:54:45 +10:00
Michael du Breuil
39c35814ec Plane: Send a heartbeat on mode change 2019-06-26 12:58:18 -07:00
Peter Barker
3e4366906b Plane: allow GCS MAVLink base class to handle out-of-time for sending messages 2019-06-25 10:29:40 +10:00
Peter Barker
78a1f97caa Plane: remove pointless protocol parameter to setup_uart 2019-06-25 09:47:08 +10:00
Peter Barker
a900fa0117 Plane: stop pointlessly passing serial manager around 2019-06-25 09:47:08 +10:00
Michael du Breuil
183640789d Plane: Enable scripting parameters 2019-06-18 00:06:32 -07:00
Peter Barker
53d2a6c1e2 Plane: set os_sw_version to date fw was compiled 
Also avoids non-trivial-designator compilation error
 2019-06-18 10:54:01 +10:00
Peter Barker
584404a6da Plane: add RC options for changing mode 2019-06-18 10:48:47 +10:00
Michael du Breuil
1d379dd0b3 Plane: Update for AFS interface 2019-06-18 10:02:05 +10:00
Andrew Tridgell
08baabed4a Plane: modify FENCE_AUTOENABLE docs 2019-06-11 06:58:47 +10:00
Andrew Tridgell
5076058459 Plane: added FENCE_AUTOENABLE=3 option 
this enables the fence when arming. If the vehicle is outside the
fence or it can't be enabled then arming fails
 2019-06-11 06:58:47 +10:00
Peter Barker
fb2422e496 Plane: stop setting eas2tas in AirSpeed - it can work it out itself 2019-06-06 12:44:36 +10:00
1iggy2
220176f283 Plane: added octa I frame 2019-06-04 09:49:44 +09:00
Peter Barker
13f7022cec Plane: move Arming functions into AP_Arming file 2019-05-30 16:02:10 +09:00
Peter Barker
8fdc2a1bad Plane: emit throttle armed and throttle disarmed statustexts 2019-05-30 07:37:30 +09:00
Peter Barker
92ce75517c Plane: move check for ARMING_CHECK_NONE back into Plane 
Plane allows all prearm and arm checks to be bypassed with
ARMING_CHECK_NONE.  Not all vehicles allow this, so move this bypass
back into Plane.
 2019-05-30 07:37:30 +09:00
Peter Barker
400aa53654 Plane: move arming-related functionality into parent classes 
Logging moves up
arming via mavlink moves up
arming via switch moves up
 2019-05-30 07:37:30 +09:00
Peter Barker
515e950a66 Plane: add missing override keywords in afs 2019-05-15 21:05:20 +10:00
Andrew Tridgell
a7c6e9c007 Plane: restore WP num on watchdog reset 2019-05-15 15:33:48 +10:00
Tom Pittenger
08d5e7d4ae Plane: move heartbeat sending to gcs instead of by vehicles 2019-05-14 10:54:45 -06:00
Mark Whitehorn
34a1cf9528 Plane: move callback setup to QuadPlane::setup() 2019-05-08 10:28:42 +10:00
Mark Whitehorn
aeaff72e14 Plane: fix acro stabilization check 2019-05-08 08:44:52 +10:00
Mark Whitehorn
4a7ce1b384 Plane: clean up qacro 2019-05-08 08:44:52 +10:00
Peter Hall
0b1d392342 Plane: only save gains if disarmed in autotune 2019-05-07 09:23:50 +10:00
Tom Pittenger
6970a66cad Plane: refactor stick_mixing to library 2019-05-03 13:14:11 -07:00
Andrew Tridgell
cd72657c94 Plane: fixed qautotune exit 
this was lost in the onion changes
 2019-05-02 06:59:12 +10:00
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
IamPete1
02d976f264 plane: reinstate tailsitter roll limit 2019-04-30 09:20:40 +10:00
Mark Whitehorn
dd50d435ab Plane: limit bodyframe roll mode to tailsitters 2019-04-30 08:51:24 +10:00
Andrew Tridgell
40245cabf1 Plane: update release notes for 3.9.8 2019-04-26 07:17:48 +10:00
Peter Barker
14a8bf3aec Plane: move responsibility for logging into library 2019-04-23 10:06:17 +10:00
Peter Barker
ad16f31e11 Plane: call compass cal routine directly from sched table 2019-04-23 10:06:17 +10:00
Mark Whitehorn
f054301ec2 Plane: add QACRO roll/pitch/yaw rate params 2019-04-23 09:46:38 +10:00
Mark Whitehorn
8bcf2439ad Plane: quadplane stabilize manual throttle midpoint and expo 
move throttle curve logic to AP_Math

use parameter THROTTLE_EXPO in get_pilot_throttle
 2019-04-23 09:46:38 +10:00
Mark Whitehorn
b515431008 AP_Math: add expo and throttle_curve functions 2019-04-23 09:46:38 +10:00
IamPete1
fb4b092917 plane: restore thr_min behaviour and update description 2019-04-23 09:39:45 +10:00
Pierre Kancir
65b4ba0539 ArduPlane: use past_interval_finish_line and line_path_proportion from Location 2019-04-23 09:20:43 +10:00
Mark Whitehorn
0a78368590 Plane: avoid arithmetic exception in powf 2019-04-23 09:15:55 +10:00
Mark Whitehorn
e8adbba2fc Plane: bodyframe roll log target attitude bugfix 2019-04-23 09:15:55 +10:00
Mark Whitehorn
3e2a253f4a Plane: in QACRO mode, use multicopter attitude target to set nav_roll/pitch 2019-04-23 09:15:55 +10:00
Andrew Tridgell
4a47127c58 Plane: updated release notes for 3.9.8-beta1 
# Conflicts:
#	ArduPlane/release-notes.txt
 2019-04-22 17:08:03 +10:00
Andrew Tridgell
11e8243bc9 Plane: read RC input in failsafe handler 2019-04-22 17:03:23 +10:00
Andrew Tridgell
340722c3c3 Plane: don't overwrite home on an armed watchdog reset 2019-04-22 16:53:35 +10:00
Andrew Tridgell
ebbe01bd83 Plane: bypass arming checks for armed watchdog reboot 2019-04-22 16:53:35 +10:00
Andrew Tridgell
f7c00c506e Plane: read RC inputs in plane failsafe code 2019-04-22 16:53:35 +10:00
Andrew Tridgell
468ee0bd9b Plane: removed an unnecessary delay on init 2019-04-22 16:53:35 +10:00
Andrew Tridgell
77516329fc Plane: show message for skipping gyro cal 2019-04-22 16:53:35 +10:00
Peter Barker
bba902ab94 Plane: move setting of compass sys_status bits up 2019-04-16 09:48:23 +10:00
Peter Barker
f09822a400 Plane: adjust for desired spool state and spool state renames 2019-04-14 12:18:03 +09:00
Peter Barker
3a4cbdd41f Plane: remove pointless update_notify shim 2019-04-11 05:31:43 -07:00
Peter Barker
a19df642a0 Plane: RangeFinder now handles RFND logging 2019-04-09 22:17:58 +10:00
Michael du Breuil
f5511d6119 Plane: Check all EKF cores for health 2019-04-09 10:53:25 +10:00
Peter Barker
3e505f33c3 Plane: use RSSI singleton for logging 2019-04-09 09:33:13 +10:00
Pierre Kancir
d8990a002e Plane: update locations_are_same to same_latlon_as 2019-04-08 08:05:05 -07:00
Pierre Kancir
47141562c0 ArduPlane: use get_distance_NE instead of location_diff 2019-04-08 08:00:52 -07:00
Leonard Hall
2daa5ffb9e Plane: replace set_throttle_out_unstabilized 2019-04-08 09:42:21 +09:00
Andrew Tridgell
fb061a225a Plane: fixed build with HAL_MINIMIZE_FEATURES enabled 
thanks to PompeCukor for noticing
 2019-04-08 09:34:15 +10:00
Michael du Breuil
35bd143532 Plane: Update GPS before updating current_loc 
Fixes 20ms of extra induced lag on the DCM position estimate
 2019-04-05 23:08:24 -07:00
Michael du Breuil
ea031d720a Plane: Fix RangeFinder init 2019-04-06 09:15:22 +11:00
Pierre Kancir
3f5999a6ad ArduPlane: move location_update to Location and rename to offset_bearing 2019-04-06 09:10:28 +11:00
Pierre Kancir
58328da5f3 ArduPlane: move get_bearing_cd to Location and rename to get_bearing_to 2019-04-06 09:10:28 +11:00
Michael du Breuil
8802ea10e5 Plane: include FWversion 2019-04-05 20:12:53 +11:00
Michael du Breuil
171f4ac3d3 Plane: Include needed AP_Logger header 2019-04-05 20:12:53 +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
IamPete1
520f5f7894 Plane: add crow flap options paramiter 2019-04-04 09:18:11 +11:00
Patrick José Pereira
c484b93314 Plane: Use new RC_Channel AUX_FUNC 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-04-03 09:53:58 -07:00
Tom Pittenger
fbe483ccac Plane: gracefully-ish fail set_mode(qmode) 2019-04-02 16:28:52 +11:00
Tom Pittenger
b8a44e6e52 Plane: rearranged some set_mode checks 2019-04-02 16:28:52 +11:00
Tom Pittenger
05774a8a5a Plane: fixed some rebase duplicate code. 2019-04-02 16:28:52 +11:00
Tom Pittenger
0270c57530 Plane: massive refactor and creation of Mode class 2019-04-02 16:28:52 +11:00
Peter Barker
29258f6752 Plane: rely on AP_Mission to emit GCS text 2019-04-02 11:07:58 +11:00
Peter Barker
903be58436 Plane: add param conversion from MAG_ENABLE to COMPASS_ENABLED 2019-04-02 10:24:49 +11:00
Peter Barker
73707077b5 Plane: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00
Peter Barker
a372428ec5 Plane: use sanitize method rather than location_sanitize function 2019-04-02 10:19:38 +11:00
Peter Barker
f004765494 Plane: fix incorrect misleading comment 2019-03-31 18:35:53 -07:00
Andrew Tridgell
954b6ae791 Plane: fixed WAIT_ALTITUDE wiggle 
when wiggle value is zero servos should be neutral
 2019-03-30 10:49:41 +11:00
Tom Pittenger
cd0879cff0 Plane: rename dataflash to logger 2019-03-28 11:19:41 -07:00
Tom Pittenger
7030dbc766 Plane: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker
bbc38f41eb Plane: use convenience manual_override method 2019-03-27 22:33:47 -07:00
Mark Whitehorn
b3f093b877 Plane: remove trig calls from constexpr 2019-03-28 09:41:14 +11:00
Peter Barker
7dafde5783 Plane: stop passing dataflash into handle_radio_status 2019-03-27 10:38:39 +11:00
Mark Whitehorn
e0765747e7 Plane: add new tailsitter bodyframe roll option 2019-03-26 14:50:37 +11:00
Peter Barker
d0bf257357 Plane: move various sensor status flag updates up 2019-03-26 11:03:21 +11:00
IamPete1
ffc94f19cd Plane: use AHRS view for all vtol modes 2019-03-26 10:41:55 +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
Peter Barker
d58a15ca32 Plane: fill Notify flag for flying 2019-03-19 14:39:14 +11:00
Peter Barker
f940564f2b Plane: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Mark Whitehorn
825055d736 Plane: add rate-only option for QACRO mode 2019-03-19 10:13:59 +11:00
Mark Whitehorn
6414f0e48e Plane: skip plane assignments in QACRO 2019-03-19 10:13:59 +11:00
Mark Whitehorn
abfeee3a3d Plane: fix indentation 2019-03-19 10:13:59 +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
Andrew Tridgell
2b6210d594 Plane: use WP height for height above ground in vtol landing 
this allows for landings above or below the takeoff height without
requiring the use of terrain data. It allows both the use of vfwd
motor for holding against wind, and the correct height for land final
descent rate
 2019-03-18 14:47:27 +11:00
Andrew Tridgell
b4103d04cc Plane: never use vfwd motor if vtol motors shutdown 2019-03-18 13:38:41 +11:00
Andrew Tridgell
7908ad437e Plane: allow fwd motor to run in VTOL land hor positioning 
this fixes an issue with vtol landings below the takeoff point
 2019-03-18 13:38:41 +11:00
Peter Barker
0edba9070f Plane: move sending of RPM message up 2019-03-16 10:33:01 +09:00
Peter Barker
d489d9a585 Plane: compass init never fails 2019-03-13 13:06:50 +11:00
Peter Barker
ca7566fff9 Plane: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Peter Barker
cbb0bfb809 Plane: is_flying_vtol: if spool mode is shut down we are not flying 
The subsequent check for get_throttle passes if you switch from QHOVER
to MANUAL on the ground while armed.  get_throttle returns > 0.01 - but
the motors are shut down so no output occurs.
 2019-03-12 10:21:11 +11:00
Peter Barker
cf45b54070 Plane: quadplane use prearm checks from Attitude and Position controllers 2019-03-12 10:14:14 +11:00
Mark Whitehorn
f7bf10fcfc ArduPlane: add rudder to tailsitter gain scaling 2019-03-12 10:12:23 +11:00
Mark Whitehorn
4a6b97828f ArduPlane: add tailsitter input type TAILSITTER_INPUT_BF_ROLL 2019-03-06 15:48:51 +11:00
Mark Whitehorn
01d6f1d932 ArduPlane: add body-frame yaw mode for tailsitters 2019-03-06 15:48:51 +11:00
IamPete1
872c3df45c Plane: tailsitter pull in copter ouputs from AP_motors 2019-03-06 14:46:39 +11:00
Peter Barker
bd444d97dc Plane: move sending of airspeed_autocal into AP_AirSpeed 2019-03-06 11:32:52 +11:00
Mark Whitehorn
6e4a2b97f9 ArduPlane:add subclass for copter tailsitters 
cleanup and add tailsit_motmx
add constexpr and motor mask check
add support for tricopter tailsitter
don't call output_motor_mask unless armed
fix whitespace
 2019-03-06 07:53:46 +09:00
Peter Barker
94899bd2ed Plane: move sending of send_pid_tuning up 2019-03-05 10:41:56 +11:00
Mark Whitehorn
61aff344d3 ArduPlane: add high-speed Qmode tailsitter gain scaling with support for airspeed sensor 2019-03-05 10:27:42 +11:00
Mark Whitehorn
487ad7a90f Plane: add QACRO mode for quadplanes 
use acro_r/p/y_rate params in qacro
port ACRO throttle handling from copter

handle non-tailsitter controls
 2019-03-05 10:13:20 +11:00
Peter Barker
a451380d61 Plane: avoid int32_t<->float conversions 2019-03-01 12:09:58 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
f430fd14f6 Plane: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Andrew Tridgell
cd1f21b806 Plane: removed some px4 specific code and docs 2019-02-27 20:32:37 +11:00
IamPete1
f24c6785f2 Plane: add E-stop 2019-02-27 08:51:24 +09:00
Andrew Tridgell
136e10a781 Plane: handle VTOL landing with incorrect height 
if landing above expected height then run landing detector to allow a
switch from LAND_DESCEND to LAND_FINAL

this prevents the plane sitting on the ground until the battery runs
out
 2019-02-26 11:12:58 +11:00
Peter Barker
dea75a87fd Plane: AHRS set_orientation renamed to update_orientation 2019-02-26 10:28:09 +11:00
Michael du Breuil
b290148ed0 Plane: Don't overwrite the quadplane loiter relax 2019-02-23 11:08:21 +11:00
Andrew Tridgell
a278a152fc Plane: fixed throttle nudge 
broken by recent radio input changes

Thanks to Michael for noticing!
 2019-02-22 18:41:34 +11:00
Michael du Breuil
c15983c690 Plane: prevent loss of control when Q_ENABLE is set while flying 
Also rename check_throttle_suppression
 2019-02-21 21:38:03 -07:00
Andrew Tridgell
c290b1f3b5 Plane: fixed servo jitter due to airspeed estimate from throttle 
when we have no other airspeed source and we are armed we get airspeed
from throttle. the default setting of k_throttle in the radio code
caused an oscillation of the value used in the airspeed estimate, each
time a RC frame came in.
 2019-02-22 14:42:17 +11:00
Michael du Breuil
25a2c77782 Plane: Fix not logging quadplane control, and over logging attitude control 2019-02-22 11:59:26 +11:00
Andrew Tridgell
d7abf27ec2 Plane: fixed servo jitter due to airspeed estimate from throttle 
when we have no other airspeed source and we are armed we get airspeed
from throttle. the default setting of k_throttle in the radio code
caused an oscillation of the value used in the airspeed estimate, each
time a RC frame came in.
 2019-02-22 10:27:36 +11:00
Peter Barker
c24759d3df Plane: use abs not fabsf for integers 2019-02-20 19:23:54 +11:00
Peter Barker
cdde2b7d64 Plane: Rally no longer takes ahrs in constructor 2019-02-20 18:03:38 +11:00
Michael du Breuil
5134af2298 Plane: Manage quadplane throttle during RC failsafe 2019-02-19 20:41:05 -07:00
Peter Barker
1ab80ddce0 Plane: move update_sensor_flags to GCS_Plane.cpp 2019-02-20 11:57:00 +11:00
Peter Barker
34853fb1bf Plane: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker
a3c13fc028 Plane: move sensor flags to be a GCS thing rather than a GCS_MAVLINK thing 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
0858847294 Plane: remove redundant send_ekf_origin 2019-02-15 08:28:45 +11:00
Peter Barker
0c880a4c3e Plane: remove redundant home-setting sanity checks 2019-02-15 08:28:45 +11:00
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
4f249db8bc Plane: move responsibility for parachute deployment up 2019-02-13 09:25:27 +09:00
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