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441 Commits

Author SHA1 Message Date
Michael du Breuil
af0dfb6d8b Plane: Remove unneeded state from geofence 2019-09-23 17:31:33 -06:00
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
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
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
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
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
769e862807 Plane: stop passing relay and ahrs into camera constructor 2019-07-09 09:32:39 +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
3ab266b751 Plane: ServoRelayEvents uses Relay singleton 2019-07-03 23:59:24 -07:00
Michael du Breuil
1d379dd0b3 Plane: Update for AFS interface 2019-06-18 10:02:05 +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
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
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