Commit Graph

42 Commits

Author SHA1 Message Date
Peter Barker 250f315678 Plane: eliminate gcs_send_mission_item_reached wrapper 2017-07-11 23:45:16 +01:00
Andrew Tridgell 92f88e9b33 Plane: fixed climb rate for quadplanes in CRUISE
the high loop rate of quadplanes led to less than 1cm/loop change in
height, which got truncated to zero. Adjusting height at 10Hz fixes
that.

Thanks to Marco for reporting this!
2017-05-10 08:03:23 +10:00
Tom Pittenger 4ccd59f394 Plane: allow exiting loiter_to_alt in cases where you get stuck
- check for scenarios where updrafts can keep you from loitering down indefinitely.
2017-02-23 05:15:49 -08:00
Michael du Breuil 2326eee9a0 Plane: Move loiter_radius to vehicle 2017-01-30 10:43:54 -08:00
Tom Pittenger 61bc0a6206 Plane: check stage==LAND instead of landing.in_progress 2017-01-26 13:11:44 -08:00
Michael du Breuil 3e66dd10d7 Plane: Move landing stages inside AP_Landing and refactor 2017-01-26 13:11:44 -08:00
Randy Mackay c3b6fd4315 Plane: fix suppressing comment for case fall through
No functional change
eclipse stops complaining if no-break is used in place of fall-through
2016-12-14 13:22:15 +09:00
Tom Pittenger 696828c144 Plane: increase landing airspeed scaled to headwind 2016-12-02 15:35:28 -08:00
Tom Pittenger ac1dced3bf Plane: set landing params as private and use accessors 2016-11-25 19:07:30 -08:00
Tom Pittenger 8a5a62cfdc Plane: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger f556f705e6 Plane: move various g params to aparms 2016-11-25 19:07:30 -08:00
Tom Pittenger 896b931a7c Plane: Move auto_state variables to AP_landing members 2016-11-25 19:07:30 -08:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
murata 2f18d1de73 Plane: To add a judgment of 0 degrees longitude. 2016-10-04 08:15:23 -07:00
Andrew Tridgell 4e017bf5b3 Plane: fixed loiter mode when Q_GUIDED_MODE=1
This fixes the fixed wing behaviour of LOITER mode whne
Q_GUIDED_MODE=1.

Many thanks to the PertUAV team for finding and reporting this bug
2016-10-01 08:37:17 +10:00
Tom Pittenger ca32bcc58d Plane: add new flight mode AVOID_ADSB to mimic GUIDED 2016-08-17 22:38:54 -07:00
Tom Pittenger fc50f145ce Revert "ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter)."
This reverts commit da1b18d918.
2016-08-07 17:54:24 -07:00
AndersonRayner da1b18d918 ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter). 2016-08-04 10:09:04 -07:00
Tom Pittenger d2365c25c6 Plane: increase update_waypoint() distance threshold during update_loiter()
- outside this radius of a loiter waypoint is where crosstracking is available
2016-06-23 12:43:03 -07:00
Tom Pittenger 8a58f5a5eb Plane: convert airspeed_error_cmd to airspeed_error (in meters) 2016-05-13 17:21:59 -07:00
Tom Pittenger 25dfb583d5 Plane: adjust target_airspeed with and without airspeed sensor (pitot) 2016-05-13 17:14:47 -07:00
Andrew Tridgell 12e0012b16 Plane: allow for NAV_LOITER_UNLIM and NAV_LOITER_TIME in quadplane 2016-05-11 15:57:41 +10:00
Andrew Tridgell 3fc43b94f9 Plane: separate out auto and guided VTOL states
this prevents a switch to AUTO from using VTOL mode incorrectly
2016-05-11 15:14:43 +10:00
Andrew Tridgell 691d4b6ca7 Plane: added local reached_loiter_target()
this distinguishes between VTOL and fixed wing loiter targets
2016-05-11 05:55:26 +10:00
Andrew Tridgell 6b358a5618 Plane: added Q_GUIDED_MODE parameter
this allows you to do hybrid VTOL and fixed wing guided mode
2016-05-11 05:55:25 +10:00
skyscraper 7f29903287 ArduPlane: Fix up after refactoring RC_Channel class
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to  get and set functionsss

old public member(int16_t)   get function -> int16_t     set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in                     c.get_radio_in()           c.set_radio_in(v)
c.control_in                   c.get_control_in()         c.set_control_in(v)
c.servo_out                    c.get_servo_out()          c.set_servo_out(v)
c.pwm_out                      c.get_pwm_out()            // use existing
c.radio_out                    c.get_radio_out()          c.set_radio_out(v)
c.radio_max                    c.get_radio_max()          c.set_radio_max(v)
c.radio_min                    c.get_radio_min()          c.set_radio_min(v)
c.radio_trim                   c.get_radio_trim()         c.set_radio_trim(v);

c.min_max_configured() // return true if min and max are configured

Because data members of RC_Channels are now private and so cannot be written directly
 some overloads are provided in the Plane classes to provide the old functionality

new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);

new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;

Rename functions

 RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
    to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)

 RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
    to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)

 Rationale:

        RC_Channel is a complicated class, which combines
        several functionalities dealing with stick inputs
        in pwm and logical units, logical and actual actuator
        outputs, unit conversion etc, etc
        The intent of this PR is to clarify existing use of
        the class. At the basic level it should now be possible
        to grep all places where private variable is set by
        searching for the set_xx function.

        (The wider purpose is to provide a more generic and
        logically simpler method of output mixing. This is a small step)
2016-05-10 16:21:16 +10:00
Tom Pittenger ec3e9014e4 Plane: move target land_airspeed logic to top layer
- this is to allow min groundspeed to be enforced which is otherwise lost when TECS assigns a target airspeed at the lower level
2016-04-21 21:30:50 -07:00
Andrew Tridgell a7006a7784 Plane: refactor perf variables into a structure 2016-04-21 16:45:02 +10:00
Michael du Breuil c17ea21a97 Plane: Add support for DO_REPOSITION via COMMAND_INT
also allows guided to change loiter directions
2016-04-17 19:00:03 -07:00
Andrew Tridgell 62574b35b5 Plane: fixed negative loiter radius values 2016-04-18 09:33:20 +10:00
Tom Pittenger ff57884eca Plane: renamed variable, non-functional change 2016-04-14 13:18:35 -07:00
Andrew Tridgell f0eddd6366 Plane: ensure we always eventually capture a loiter 2016-03-18 13:47:45 +11:00
Andrew Tridgell d7d528560d Plane: don't start summing for loiter until we reach loiter circle 2016-03-10 15:43:28 +11:00
Tom Pittenger ff249788bf Plane: add a default Navigation option as explained in the param docs 2016-03-03 09:16:26 -08:00
Tom Pittenger 9e452838ab Plane: loiter missions to default to loiter_radius if mission says 0 or 1.
- except loiter_unlim which uses RTL_loiter, although I'm not sure why.
2016-02-29 10:12:20 -08:00
Andrew Tridgell 23eef91c59 Plane: added parameter RTL_RADIUS
this allows the loiter radius for RTL to be controlled separately from
the radius for loiter (as requested by a user)
2016-01-19 15:04:30 +11:00
Tom Pittenger 7978872e32 AP_Plane: set path_propportion in TECS 2016-01-09 13:25:02 +11:00
Tom Pittenger d18c25a0f9 Plane: add item_reached_msg to GUIDED 2015-12-31 15:31:39 +11:00
Jonathan Challinger 05eb723429 Plane: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Tom Pittenger 178bbb080b Plane: improve crosstrack error while navigating to loiter point
There is no crosstrack concept in the loiter navigation so when going from waypoint to loiter you will not converge onto the line between those two points. This commit adds crosstracking by performing normal waypoint navigation until you get near it.
2015-11-09 08:25:26 +11:00
Andrew Tridgell b92c2409e4 Plane: added local millis() and micros() to reduce code size a bit 2015-05-21 07:48:53 +10:00
Andrew Tridgell 18c37935c9 Plane: convert from .pde to .cpp files 2015-05-21 07:48:52 +10:00