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4877 Commits

Author SHA1 Message Date
Andrew Tridgell
a4302e5fb8 Plane: tidy 2 comments 2024-01-23 15:00:30 +11:00
Andrew Tridgell
2b6ffe17e3 ArduPlane: tidy TRIM_PITCH to PTCH_TRIM_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
108a0b77bd Plane: Q_ACCEL_Z -> Q_PILOT_ACCEL_Z 2024-01-23 15:00:30 +11:00
Andrew Tridgell
57e88e2242 Plane: Q_VELZ_MAX -> Q_PILOT_SPD_UP and Q_VELZ_MAX_DN -> Q_PILOT_SPD_DN 2024-01-23 15:00:30 +11:00
Andrew Tridgell
2d0a236b49 Plane: Q_LAND_SPEED -> Q_LAND_FINAL_SPD 2024-01-23 15:00:30 +11:00
Andrew Tridgell
5619dca389 Plane: TRIM_PITCH_DEG to PTCH_TRIM_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
ee884ab137 ArduPlane: convert LAND_PITCH_CD to LAND_PITCH_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
89a947cdca ArduPlane: change LIM_ROLL_CD to ROLL_LIMIT_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
17d6192e22 ArduPlane: convert LIM_PITCH_MIN/MAX -> PTCH_LIM_MIN/MAX_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
a3d622b37d Plans: rename ALT_CRUISE_MIN to CRUISE_ALT_FLOOR 2024-01-23 15:00:30 +11:00
Andrew Tridgell
8151647e04 ArduPlane: convert ALT_HOLD_RTL and ALT_HOLD_FBWCM 2024-01-23 15:00:30 +11:00
Andrew Tridgell
5723b1c780 ArduPlane: convert MIN_GNDSPEED_CM to MIN_GROUNDSPEED 2024-01-23 15:00:30 +11:00
Andrew Tridgell
912e2f224b ArduPlane: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN and AIRSPEED_MAX 2024-01-23 15:00:30 +11:00
Andrew Tridgell
94edcc4654 ArduPlane: change TRIM_ARSPD_CM to AIRSPEED_CRUISE 2024-01-23 15:00:30 +11:00
Tim Tuxworth
3cf0de2224 Plane: convert parameter TRIM_PITCH_CD to TRIM_PITCH_DEG 2024-01-23 15:00:30 +11:00
Simon Hancock
6f832bbd3b ArduPlane: Updates to log message units and help text 
Separate descriptions for PID and PIQ messages
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-01-21 14:26:54 +11:00
Henry Wurzburg
f7f9fda6a7 Plane:expand description of AUTOTUNE_OPTIONS 2024-01-21 12:31:38 +11:00
Iampete1
7e79a13053 Plane: ask mode if battery voltage compensation should be done 2024-01-18 12:28:38 +11:00
Peter Barker
6ee5ab41fd ArduPlane: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Iampete1
01c8717308 Plane: ask flight mode if min/max throttle limits should be applied 2024-01-16 11:07:53 +11:00
Iampete1
17fb9455a9 Plane: set_throttle add early return for disarmed and throttle suppression 2024-01-16 11:07:53 +11:00
Iampete1
3e955d12fa Plane: Quadaplane: add helper allow_forward_throttle_in_vtol_mode 2024-01-16 11:07:53 +11:00
Peter Barker
b3897c020e ArduPlane: make AHRS attitude member variables private 2024-01-14 12:47:47 +11:00
Peter Barker
0690e3c9fa ArduPlane: remove entire airspeed_checks if AP_AIRSPEED_ENABLED is off 
saves bytes and removes some redundant code which is obscured when the ifdefs are inside the body
 2024-01-10 18:33:41 +11:00
Peter Barker
6c105d2649 PLane: return MAV_RESULT_COMMAND_INT_ONLY if command-long support not compiled in 2024-01-02 18:58:07 +11:00
Henry Wurzburg
4b692b470f add note about Qmode FS switches to FS actions) 2024-01-02 13:00:05 +11:00
Henry Wurzburg
1f78cb29b4 Plane: correct TKOFF_LVL_ALT metadata 2023-12-25 17:05:20 -07:00
Iampete1
ab0755d0d8 Plane: rework forward throttle votlage compensation into sub class and split min/max from throttle 2023-12-20 19:28:47 +11:00
Ryan Friedman
2e393bbbc6 ArduPlane: Make set position tgt depend on ext ctrl 
* Set position target used to just be used in scripting, now it's used
  by DDS in external control

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-12-20 02:37:01 +00:00
Ryan Friedman
003c50a13c ArduPlane: add REP-147 Global Position Control 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-12-20 02:37:01 +00:00
Ryan Friedman
c22a3439d4 AP_ExternalControl: add REP-147 Global Position Control 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-12-20 02:37:01 +00:00
Andrew Tridgell
0ec994c46b Plane: release notes for 4.4.4 2023-12-19 15:08:48 +11:00
Iampete1
c98bdd155a Plane: Quadplane: log tailsitter speed scailing in TSIT msg 2023-12-19 11:20:42 +11:00
Michael du Breuil
9aa0ceb9dd Plane: Fix AP_Relay param naming 2023-12-19 10:01:01 +11:00
Thomas Watson
f20893259d Plane: remove references to legacy UART order 2023-12-19 06:53:15 +11:00
Lachlan Conn
d5cc1d4ad0 Plane: QAssist speed warning added 
Also updated the severity of other QAssist messages
 2023-12-13 18:08:36 +11:00
Iampete1
5642d2449a Plane: allow set_takeoff_expected in manual mode 2023-12-12 11:51:33 +11:00
Iampete1
740b04aed3 Plane: Mode: ensure flight stage is correct on successful mode change 2023-12-12 11:51:33 +11:00
Iampete1
21a9f8e3a2 Plane: move landing servo override out of throttle control function 2023-12-12 11:51:33 +11:00
Bob Long
f8d7be5e43 Plane: fix bug in RTL_AUTOLAND with rally points 
After loading the rally point, ModeRTL:navigate checks if rally altitude
has been reached before altitude_error_cm gets updated
 2023-12-12 10:58:22 +11:00
Randy Mackay
31e39fc385 Plane: 4.4.4-beta1 release notes 2023-12-05 20:27:01 +11:00
Iampete1
4ac9eb9509 Plane: set_servos_controlled: rework throttle output 2023-12-05 11:00:55 +11:00
Iampete1
41f61da0d9 Plane: Quadplane: add get_throttle_input method that behaves the same as Plane::get_throttle_input did 2023-11-29 18:15:01 +11:00
Iampete1
483ef18087 Plane: ignore invalid pilot throttle 2023-11-29 18:15:01 +11:00
Tom Pittenger
d1b2c6e564 Plane: set nav_controller stale on mode change 2023-11-28 10:27:19 +11:00
Tom Pittenger
0e9f9920bc Plane: mode LoiterAltQLand to reuse loiter point if available 2023-11-28 10:27:19 +11:00
Randy Mackay
93a2e728da Plane: SYSID_MYGCS param increment 2023-11-28 07:54:45 +09:00
Tom Pittenger
b468af81ac Plane: wrap Watt Limiiter in #if AP_BATTERY_WATT_MAX_ENABLED 2023-11-26 11:57:14 +11:00
Andy Piper
60d5e65a1d Plane: DFF logging docs 2023-11-21 13:26:23 +11:00
Andy Piper
0d10f74bf7 Plane: update PID notch centers at 1Hz with average loop rate 2023-11-21 13:26:23 +11:00
Peter Barker
ba8e770a81 ArduPlane: stop streaming trying SIM_STATE messages outside sim 2023-11-20 19:25:25 +11:00
Peter Barker
ec5fa8bd62 ArduPlane: tidy sending of esc telem generator messages 2023-11-20 19:25:25 +11:00
Peter Barker
e1e1fae604 ArduPlane: tidy sending of queued mcu status messages 2023-11-20 19:25:25 +11:00
Peter Barker
803a56a6b4 ArduPlane: tidy sending of queued opticalflow messages 2023-11-20 19:25:25 +11:00
Peter Barker
4f76a6ec65 ArduPlane: tidy sending of queued mount messages 2023-11-20 19:25:25 +11:00
Peter Barker
4b285fa579 ArduPlane: add and use AP_MAVLINK_COMMAND_LONG_ENABLED 2023-11-16 10:50:21 +11:00
Peter Barker
e0eacdc197 ArduPlane: handle DO_SET_MISSION_CURRENT as both long and int 2023-11-16 10:50:21 +11:00
Andrew Tridgell
74c9520449 Plane: update release notes for 4.4.3 2023-11-14 12:52:09 +11:00
Andrew Tridgell
a318ef333d Plane: release notes for 4.4.3-beta1 2023-11-07 11:20:37 +11:00
Henry Wurzburg
73f58d3624 ArduPlane: expand explanations in FWD THR docs 2023-11-07 10:57:04 +11:00
Iampete1
55040175e6 Plane: Cruise: only lock in heading once moving forwards 2023-11-04 19:07:55 +11:00
Iampete1
5087a4262d Plane: set_servos_idle: output left and right throttles 2023-10-31 14:06:22 +11:00
Iampete1
8061b1b4c2 Plane: move set_servos_idle functionality to ModeAuto 2023-10-31 14:06:22 +11:00
Iampete1
7e4b5b0c97 Plane: rework set_servos_controlled function 2023-10-31 11:18:19 +11:00
Iampete1
a6206bde3c Plane: move to new using_airspeed_sensor ahrs method 2023-10-31 10:39:21 +11:00
Peter Barker
c91968017b ArduPlane: tidy use of GPS mavlink defines 2023-10-27 14:16:47 +11:00
Peter Barker
628bc02bf1 ArduPlane: save bytes when AP_AIS_ENABLED is false 2023-10-27 14:16:47 +11:00
Peter Barker
7961eb6045 Plane: consider nan as zero in DO_REPOSITION 
QGC's interfaces want to send nan for these parameters
 2023-10-27 14:16:07 +11:00
Peter Barker
edb4f25953 ArduPlane: remove MSG_BATTERY_STATUS from steams if AP_BATTERY_ENABLED is false 2023-10-26 13:23:57 +11:00
Michael du Breuil
28d4603a46 Plane: Support not sending a status text on state change 2023-10-25 09:39:51 -07:00
Paweł Rozenblut
1c6b4debe2 Plane: send attitude target message implementation (for quadplanes) 
Minor modification -  implementation of the send_attitude_target msg. streaming (for quadplanes). The code is analogous in its structure and functionality to the implementation in Copter

Co-Authored-By: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2023-10-25 09:53:13 +11:00
Michael du Breuil
b630efd4db ArduPlane: Pass the 4th parameter to ICE for engine start 2023-10-24 14:11:39 -07:00
Peter Barker
a97adcf9cd ArduPlane: handle MAV_CMD_NAV_TAKEOFF via command_long and command_in 2023-10-24 12:59:19 +11:00
Andrew Tridgell
63de33bce9 Plane: update release notes for 4.4.2 2023-10-23 07:38:33 +11:00
Peter Barker
aa78f53498 Plane: use origin-relative altitudes rather than home-relative 2023-10-18 19:49:06 +11:00
Henry Wurzburg
410fbb998b Plane:reset in landing seq on mode change while disarmed 2023-10-18 13:37:55 +11:00
Henry Wurzburg
a26ee15216 Plane:force min transition timer to 2 sec 2023-10-17 14:32:24 +11:00
Peter Barker
c990b0105e ArduPlane: accept LOITER_UNLIM and RETURN_TO_LAUNCH as command_int 2023-10-17 12:58:57 +11:00
Randy Mackay
6bd7c37039 Plane: 4.4.2-beta1 release notes 2023-10-14 11:24:37 +11:00
Andrew Tridgell
c980e0488e Plane: fixed terrain RTL with rally points 
this fixes a bug where if the terrain database cache does not have the
tile for the location of a rally point then RTL to the rally point
with TERRAIN_FOLLOW=1 will not track terrain

The underlying issue is that Location::loc.change_alt_frame() will
return false if the location is not in the terrain memory cache. We
can't just extrapolate as the rally point could be in a totally
different terrain area to the current location. So instead we set it
as terrain_following_pending and fix it as soon as the terrain cache
is filled.

fixes https://github.com/ArduPilot/ardupilot/issues/25157
 2023-10-14 10:46:00 +11:00
Mykhailo Kuznietsov
b7c040e8bc ArduPlane: Fix some typos 
Fixed some typos found in the code.
 2023-10-12 18:30:42 +11:00
Peter Barker
e13566695b ArduPlane: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker
2e494d496b ArduPlane: allow Plane to run MAV_CMD_MISSION_START as long and int 2023-10-11 19:05:56 +11:00
Henry Wurzburg
7c46585bac ArduPlane: add airspeed estimate status logging 2023-10-10 08:11:10 +09:00
Peter Barker
be3f292ba4 ArduPlane: don't send fence_status mavlink message if fence not compiled in 2023-10-04 19:13:23 +11:00
Peter Barker
e965b987f6 Plane: accept MAV_CMD_DO_LAND_START as both command_long and COMMAND_INT 2023-10-04 19:04:25 +11:00
Iampete1
9381e2f411 Plane: GuidedHeading PID: remove slew limit 2023-10-03 11:28:18 +11:00
Iampete1
73db3c3823 Plane: MAV_CMD_GUIDED_CHANGE_HEADING: allow changing heading type or rate for same heading 2023-10-03 11:28:18 +11:00
Iampete1
e9fbf6db24 Plane: fix guided heading control anti windup 2023-10-03 11:28:18 +11:00
Peter Barker
af3992d795 Plane: handle DO_GO_AROUND as both COMMAND_LONG and COMMAND_INT 2023-09-27 17:37:55 +10:00
Andrew Tridgell
babdb3625a Plane: moved assign tilt to the run() function 
this prevents double calling and fixes qhover
 2023-09-27 11:43:45 +10:00
Paul Riseborough
2f0bbf14a4 Plane: fix metadata units for Q_FWD_PIT_LIM 2023-09-27 11:43:45 +10:00
Paul Riseborough
3866f2b4b5 Plane: Rework pitch limiting in QuadPlane::assign_tilt_to_fwd_thr 
Don't unnecessarily increase the forward pitch limit when position control forward action is saturated.
 2023-09-27 11:43:45 +10:00
Paul Riseborough
acf8dbaeee Plane: Add diagnostics logging to QuadPlane::assign_tilt_to_fwd_thr 2023-09-27 11:43:45 +10:00
Paul Riseborough
fa5aef050c Plane: Restructure throttle scaling and pitch limiting to enable logging 2023-09-27 11:43:45 +10:00
Paul Riseborough
fb7c383946 Plane: Prevent quadplane.assign_tilt_to_fwd_thr() being called twice 2023-09-27 11:43:45 +10:00
Paul Riseborough
c2d6db13ec Plane: explicitly type cast pitch limit 2023-09-27 11:43:45 +10:00
Paul Riseborough
90eacaeb88 Plane: fix centi-degree scaling bug 2023-09-27 11:43:45 +10:00
Paul Riseborough
da595bbf88 Plane: Add protection for failed quadplane forward thrust motor 2023-09-27 11:43:45 +10:00
Andrew Tridgell
e3ce7d966b Plane: fixes from review 2023-09-27 11:43:45 +10:00
Andrew Tridgell
573de2fc17 Plane: implement methods for aux switch control of vfwd code 
and use a common function for the active method
 2023-09-27 11:43:45 +10:00
Paul Riseborough
4993dcb814 Plane: Remove duplicated parameter check 2023-09-27 11:43:45 +10:00
Paul Riseborough
f834d4730b Plane: Add Q_FWD_THR_GAIN to table of transmitter tuning parameters 2023-09-27 11:43:45 +10:00
Paul Riseborough
6ad7588857 Plane: Add arming check for incompatible Q_VFWD_GAIN and Q_FWD_THR_USE 2023-09-27 11:43:45 +10:00
Paul Riseborough
daea00168b Plane: Use Q_FWD_THR_USE parameter to control modes that use Q_FWD_THR_GAIN 2023-09-27 11:43:45 +10:00
Paul Riseborough
ed91d428e1 Plane: Default Q_FWD_THR_GAIN to 0 and update meta data 2023-09-27 11:43:45 +10:00
Paul Riseborough
7bbd0ed74e Plane: prevent wind up of Q-mode velocity controller I term 2023-09-27 11:43:45 +10:00
Paul Riseborough
b3a1807349 Plane: Fix use of q_fwd_nav_pitch_lim_cd class variable 2023-09-27 11:43:45 +10:00
Paul Riseborough
16895003df Plane: if statement cleanup in QuadPlane::assign_tilt_to_fwd_thr 2023-09-27 11:43:45 +10:00
Paul Riseborough
57cfe854b2 Plane: Add Q_FWD_THR_GAIN value arming check for tailsitters 2023-09-27 11:43:45 +10:00
Paul Riseborough
04e5f6b5f6 Plane: use forward tilt instead of forward throttle when close to ground 2023-09-27 11:43:45 +10:00
Paul Riseborough
8988de3c7c Plane: Allow non positive values of Q_FWD_PIT_LIM to be used 2023-09-27 11:43:45 +10:00
Paul Riseborough
e866998b21 Plane: Rename q_fwd_tilt_lim to q_fwd_pitch_lim 2023-09-27 11:43:45 +10:00
Paul Riseborough
c15bb3f1e3 Plane: remove code that can never run 2023-09-27 11:43:45 +10:00
Paul Riseborough
98220c7315 Plane: Handle reset of q_fwd_throttle in QuadPlane::mode_enter(void) 2023-09-27 11:43:45 +10:00
Paul Riseborough
2d3431a1ac Plane: Improve use of forward flight motors and tilting rotors in Q modes 2023-09-27 11:43:45 +10:00
Peter Barker
93da99bea2 Plane: adjust for a lack of DCM 2023-09-27 08:00:54 +10:00
Andrew Tridgell
2b2d4b8087 Plane: release notes for 4.4.1 2023-09-26 13:26:01 +10:00
Peter Barker
c726dec834 ArduPlane: remove COMPASS_CAL messages from streamrates if tumble cal disabled 
fatal error in SITL if we try to send messages with these disabled
 2023-09-26 11:39:50 +10:00
Peter Barker
11ffb059ae Plane: accept MAV_CMD_DO_AUTOTUNE_ENABLE as both long and int 2023-09-26 11:36:57 +10:00
Iampete1
665ba38cdb Plane: update PID logger documentation 2023-09-26 10:41:05 +10:00
Henry Wurzburg
f5beb4772d ArduPlane: correct/expand param metadata re synth airspeed 2023-09-26 09:04:51 +10:00
Henry Wurzburg
97f4f99a89 Plane:clarify CTUN.SAs message meaning 2023-09-26 09:03:35 +10:00
Peter Barker
fbb0601408 Plane: use AP_TUNING_ENABLED 2023-09-21 07:07:58 +10:00
Peter Barker
fc722b5efc AP_Tuning: add and use AP_TUNING_ENABLED 2023-09-21 07:07:58 +10:00
Peter Barker
63c88fea58 Plane: handle DO_PARACHUTE as both COMMAND_LONG and COMMAND_INT 2023-09-20 17:37:59 +10:00
Peter Barker
06f1ac07bc Plane: accept motor test as both command long and command int 2023-09-19 20:31:03 +10:00
Iampete1
fa1c5f62aa Plane: Tailsitter: use motor I term for pitch in assist if not surfaces are setup 2023-09-19 09:35:19 +10:00
Randy Mackay
1572520913 Plane: 4.4.1-beta2 release notes 2023-09-14 17:18:47 +10:00
Peter Barker
ee316f04ed Plane: allow DO_VTOL_TRANSITION as both LONG and INT commands 2023-09-13 21:25:14 +10:00
Peter Barker
a1b021e833 Plane: move nav_delay state to be private in ModeAuto 2023-09-13 18:08:10 +10:00
Andy Piper
f25e67e3eb Plane: add option to scale FF in VTOL modes based on ratio of angle gains 2023-09-13 18:02:44 +10:00
Peter Barker
c1b5e9a446 ArduPlane: support preflight calibration via command_int 2023-09-13 17:24:07 +10:00
Peter Barker
445f1fa272 Plane: handle DO_CHANGE_SPEED as COMMAND_INT 2023-09-12 09:22:36 +10:00
Ep Pravitra
9700e65d19 AP_AdvancedFailsafe: option to automatically set mode to auto when datalink is loss 
When enabled, it ensures vehicle enters AUTO even if it is currently in other autonomous modes (for example Guided)
 2023-09-12 09:09:39 +10:00
Henry Wurzburg
e1d91e3007 Plane:add taildrag holdown to TAKEOFF mode 2023-09-11 09:16:02 +10:00
Andrew Tridgell
94201f12c6 Plane: use deadzone in stick mixing 
this prevents small RC input deviations from impacting non-pilot
controlled modes via stick mixing
 2023-09-10 12:25:40 +10:00
Henry Wurzburg
ed21c49975 Plane:correct TKOFF_DIST metadata 2023-09-07 00:49:58 -07:00
Andrew Tridgell
68896c6a50 Plane: release notes for 4.4.1-beta1 2023-09-05 20:16:02 +10:00
Andrew Tridgell
9d98244730 Plane: fixed nav_roll/nav_pitch when waiting for VTOL takeoff 
the nav_roll_cd and nav_pitch_cd were not being set in the VTOL
takeoff code when disarmed. This led to small increments accumulating
in the stick mixing code, leading to large control surface movements
before arming
 2023-09-03 09:51:24 +10:00
Peter Barker
4103d5cdb9 Plane: accept DO_ENGINE_CONTROL as both COMMAND_LONG and COMMAND_INT 2023-08-29 11:48:24 +10:00
Andy Piper
15655a9c24 Plane: add AUTOTUNE_OPTIONS flags to allow filter updates to be disabled 2023-08-23 18:06:22 +10:00
Andrew Tridgell
56dcad3cc2 Plane: dummy AP_ExternalControl implementation 2023-08-22 18:21:23 +10:00
Peter Barker
7df3d29e9d ArduPlane: pass mavlink_message_t to handle_command_*_packet 
the "special case" blocks are getting longer and longer.  Merge the switch statements for the command type to be handled by passing around the message.
 2023-08-22 10:11:33 +10:00
Andrew Tridgell
5e61bfe54c Plane: release notes from 4.4.0 2023-08-18 18:31:32 +10:00
Shiv Tyagi
ecdc036eb6 Plane: use AP_FOLLOW_ENABLED 2023-08-15 09:57:35 +10:00
Andrew Tridgell
fdccfe7afa Plane: update release notes for 4.4.0beta5 2023-08-12 16:31:58 +10:00
arshPratap
5f17e33b39 AP_Arming: Added DDS Method for Arming/Disarming 2023-08-11 13:35:49 +10:00
Henry Wurzburg
e9414d69ff ArduPlane: add failsafe protections to Mode Takeoff 2023-08-09 17:33:58 +10:00
Henry Wurzburg
d8e205dd39 Plane:disarm on parachute release FS 2023-08-08 11:38:45 +10:00