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2465 Commits

Author SHA1 Message Date
Andrew Tridgell 13a71c5cde Plane: use default motor mapping for channel setup 2016-01-09 07:38:55 +11:00
Andrew Tridgell b1177521ef Plane: show throttle level in vtol modes 2016-01-09 07:38:54 +11:00
Andrew Tridgell 71b0d5fb6d Plane: disable quad motors in TRAINING and ACRO too 2016-01-09 07:38:54 +11:00
Andrew Tridgell 9c5ec5e74b Plane: allow yaw control in auto-throttle VTOL modes 2016-01-09 07:38:54 +11:00
Andrew Tridgell 70018ee0cb Plane: fixed final descent for VTOL auto landing 2016-01-09 07:38:54 +11:00
Andrew Tridgell f259cf4b3f Plane: added Q_YAW_RATE_MAX parameter 2016-01-09 07:38:54 +11:00
Andrew Tridgell f5a15fb7c5 Plane: don't yaw quad when disarming 2016-01-09 07:38:54 +11:00
Andrew Tridgell ecd7d53cfc Plane: auto set trim on quad motor channels 
this prevents a reboot causing a motor start
 2016-01-09 07:38:54 +11:00
Andrew Tridgell 7010fd27ff Plane: fixed Q_THR_MAX_PWM parameter 2016-01-09 07:38:54 +11:00
Andrew Tridgell 780d1459f0 Plane: fixed force descend in VTOL land 2016-01-09 07:38:53 +11:00
Andrew Tridgell 4592085963 Plane: better VTOL land detection 2016-01-09 07:38:53 +11:00
Andrew Tridgell fdd86c10ba Plane: smoother transitions to auto from VTOL takeoff 2016-01-09 07:38:53 +11:00
Andrew Tridgell 418464ab8c Plane: added quadplane version of is_flying() 2016-01-09 07:38:53 +11:00
Andrew Tridgell f068a8c913 Plane: added support for VTOL_TAKEOFF and VTOL_LAND commands 2016-01-09 07:38:53 +11:00
Andrew Tridgell 5e784ddb5c Plane: consider flying status for throttle_wait 2016-01-09 07:38:53 +11:00
Andrew Tridgell 7afa2a493d Plane: implement VTOL flight stage 2016-01-09 07:38:53 +11:00
Andrew Tridgell aab98ff757 Plane: fixed quad yaw assistance during transition timer 2016-01-09 07:38:52 +11:00
Andrew Tridgell 9ae4c3ec99 Plane: mark Q_ENABLE parameter as an enable parameter 2016-01-09 07:38:52 +11:00
Andrew Tridgell 0d6b353bcb Plane: added quad assistance and auto support for quadplane 2016-01-09 07:38:52 +11:00
Andrew Tridgell 48e1a0641f Plane: added throttle wait to quadplane 2016-01-09 07:38:52 +11:00
Andrew Tridgell 2983576067 Plane: added QLOITER mode 
quadplane loiter
 2016-01-09 07:38:52 +11:00
Andrew Tridgell 00ca292160 Plane: improved quadplane transition 2016-01-09 07:38:52 +11:00
Andrew Tridgell ca85c332d6 Plane: separate QSTABILIZE and QHOVER modes 2016-01-09 07:38:52 +11:00
Andrew Tridgell 6468fc6d93 Plane: Initial implementation of quadplane 
adds "HOVER" mode
 2016-01-09 07:38:52 +11:00
Tom Pittenger 6cb20b679d Plane: add xtrack_error to DF log 2016-01-08 20:16:25 +11:00
Andrew Tridgell f201552f6d Plane: always call load_all 
this ensures defaults file works on first start after erase
 2016-01-07 09:32:57 +11:00
Tom Pittenger 607201a9b1 Plane: zero course error for straight bungee launch 
This fixes the behavior where it uses the heading when switched to AUTO instead of at launch causing a turn just after a bungee launch
 2016-01-05 11:20:14 +11:00
Andrew Tridgell 7b6d862316 Plane: support up to 14 rc inputs for all boards 2016-01-04 08:22:35 +11:00
Andrew Tridgell 72edfcd1f6 Plane: update for changed peak hold API 2016-01-02 09:58:32 +11:00
Tom Pittenger 7cde90553d Plane: new param CRASH_ACC_THRESH 
@Description: X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector.
 2016-01-02 09:58:32 +11:00
Tom Pittenger 21205f8b41 Plane: improved crash detection logic and agility 
- inhibit crash detection warnings when disabled by param so now it can be completely disabled
- reset is_crashed when disabled by param
- fixed pre-takeoff detection bug by adding in_preLaunch_flight_stage() where we are actually in FLIGHT_NORMAL instead of FLIGHT_TAKEOFF during setup of bungee launches. This now detects if we're in that state
- simplified the use of been_auto_flying to check across all flight stages. before it was excluded to handle hand-launches which can now be detected with in_preLaunch_flight_stage()
- added impact detector timer to clamp is_flying a few seconds after an impact
- logging new impact detector as "STAT.Hit"
 2016-01-02 09:58:31 +11:00
Tom Pittenger 3b06260358 Plane: refactored interface 
- added guided mode handling
- now handles gracefully a manual mode changes during evasion
 2015-12-31 15:36:49 +11:00
Tom Pittenger 0bfe235d6b Plane: use abort landing logic with mavlink GO_AROUND cmd 
- also enabled use of CMD_DO_GO_AROUND altitude param
 2015-12-31 15:34:41 +11:00
Tom Pittenger d18c25a0f9 Plane: add item_reached_msg to GUIDED 2015-12-31 15:31:39 +11:00
pepevalbe 9743e32f70 Plane: added group parameter for AP_Notify library 2015-12-31 11:33:05 +09:00
Siddharth Bharat Purohit 78566bda36 Plane: wire up accel calibrator for plane 2015-12-29 10:46:35 -08:00
Andrew Tridgell 7a5808276e Plane: fixed two build warnings with clang 2015-12-29 18:52:00 +11:00
Lucas De Marchi a096703b06 Global: don't link with AP_Progmem 
AP_Progmem is not used anymore.
 2015-12-27 15:58:12 -02:00
Andrew Tridgell 513d5c17b9 Plane: allow for settable main loop rate 2015-12-27 14:57:19 +09:00
Andrew Tridgell 58d9b030ea Plane: update for Hz based AP_Scheduler 2015-12-27 14:57:08 +09:00
Don Gagne eab8a8679d ArduPlane: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Andre Kjellstrup 6f5387c48d ArduPlane: Camera options for better camera control 
All on one because they would not pass autotest if split up.
 2015-12-18 18:16:11 +11:00
Jonathan Challinger 05eb723429 Plane: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Julien BERAUD 8e66ce6f27 Plane: Update optical flow declaration 
Pass ahrs as param
 2015-12-18 17:56:06 +11:00
Gustavo Jose de Sousa dc81a2410e waf: use single entry point for make wrappers 2015-12-10 10:40:34 +09:00
Michael du Breuil 4b40a884e9 Plane: Don't disable compass checks for HIL mode unless actually in hil mode 2015-12-08 05:07:46 -07:00
Tom Pittenger 113961b66e Plane: compiler warning - double promotion 2015-12-07 15:49:55 +09:00
DonLakeFlyer 7479bc5734 Plane: return success or failure of get home position 2015-12-07 12:33:23 +09:00
Lucas De Marchi 1308dd888f ArduPlane: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:45 +11:00
Peter Barker 84b53e58d5 Plane: DataFlash-over-MAVLink support 2015-12-03 13:21:52 +11:00
Peter Barker 574f95bd76 Plane: support multiple simultaneous backends 2015-12-03 13:21:51 +11:00
Gustavo Jose de Sousa 7837bbfd81 waf: add a make wrappers 2015-12-03 07:54:32 +11:00
Gustavo Jose de Sousa 3100736c9f waf: add missing AP_ADSB library to ArduPlane 2015-12-03 07:54:32 +11:00
Lucas De Marchi 1cdc233bd2 waf: add missing AP_Parachute library to ArduPlane 2015-12-03 07:54:31 +11:00
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Lucas De Marchi 8eb0b559f2 ArduPlane: avoid comparison between signed and unsigned 2015-12-01 16:28:18 -02:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase 
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
 2015-12-01 16:28:09 -02:00
Tom Pittenger 4c1a70eb66 Plane: print start of land approach 2015-12-01 07:05:07 +11:00
Luis Vale Gonçalves 4722a388b9 Plane: Text revisions 
text revisions
 2015-11-27 18:54:30 +11:00
Luis Vale Gonçalves b7f3782e4e Plane: Text revisions 
text revisions
 2015-11-26 07:56:52 +11:00
Tom Pittenger eaad72c192 Plane: Add support for handing ADS-B traffic 
- parse MAVLINK_MSG_ADSB_VEHICLE msg
- new 1Hz adsb_update task to compare list against for threat detection
- perform object avoidance via loiter or loiter_and_descend. More methods are welcome!
 2015-11-23 19:45:40 +11:00
Tom Pittenger d8d1343735 Plane: include AP_ADSB library in build for Plane 2015-11-23 19:45:40 +11:00
Andre Kjellstrup db16b94e7f Plane: update RTL altitude param description 2015-11-21 12:44:34 +09:00
Caio Marcelo de Oliveira Filho c8888329e1 Plane: use millis/micros/panic functions 2015-11-20 12:26:40 +09:00
Andrew Tridgell 9108179322 Plane: fixed build for SITL changes 2015-11-16 17:57:36 +11:00
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files 
these were APM2 specific
 2015-11-16 08:05:17 +11:00
lvale e18181e5c2 Plane: Uniformization of severities 
Plane uniformization of severities
 2015-11-09 09:38:25 +11:00
Tom Pittenger 5c3486d003 Plane: power-off rangefinder at high alt without terrain avail 
- moved terrain alt rangefinder power-off trigger from trerrain thread to rangefinder thread
- allow rangefinder to power-off using baro if terrain data not available
 2015-11-09 08:36:41 +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
Lucas De Marchi e5595ff11c ArduPlane: don't use avr include dir for tags 2015-11-04 12:14:16 +11:00
Lucas De Marchi 0151853c21 ArduPlane: remove check for MAVLINK_COMM_NUM_BUFFERS 2015-11-04 12:14:15 +11:00
Lucas De Marchi c55c07eaf6 ArduPlane: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:15 +11:00
Lucas De Marchi d1be74c87e ArduPlane: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi cfe6e209db ArduPlane: fix wrong printf format for printf 
"%S" is used for wide string, but we are passing a char*. Use lowercase
in this case to remove warnings like this:

libraries/AP_InertialSensor/AP_InertialSensor.cpp: In member function
'bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract*, float&, float&)':
libraries/AP_InertialSensor/AP_InertialSensor.cpp:620:61: warning:
format '%S' expects argument of type 'wchar_t*', but argument 3 has type 'const char*' [-Wformat=]
                 "Place vehicle %S and press any key.\n", msg);
                                                             ^
 2015-10-30 14:35:43 +09:00
Lucas De Marchi d40349d6ae ArduPlane: fix wrong printf format for 32 bits 
Heading is a 32 bits value, so use %d.
 2015-10-30 14:35:38 +09:00
Lucas De Marchi a6fd94c6fe ArduPlane: fix wrong printf format for 32 bits 
"micros() - before" doesn't return a long value. Use "%u".
 2015-10-30 14:35:35 +09:00
Lucas De Marchi 5244559010 Minimize AP_Progmem.h includes 
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
 2015-10-30 14:35:32 +09:00
Lucas De Marchi 1b07dabeb7 Replace prog_char and prog_char_t with char 
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
 2015-10-30 14:35:30 +09:00
Lucas De Marchi 4ab9821624 Replace use of Log_Write_Message_P() with Log_Write_Message() 2015-10-30 14:35:28 +09:00
Lucas De Marchi 20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf() 
This also starts to show warnings on places that were already using
wrong printf format strings.
 2015-10-30 14:35:25 +09:00
Lucas De Marchi 6f4904189b Replace use of println_P() with println() 2015-10-30 14:35:22 +09:00
Lucas De Marchi a964ac38ec Replace use of print_P() with print() 2015-10-30 14:35:21 +09:00
Lucas De Marchi 89fc4f4b62 Replace use of send_text_P() with send_text() 2015-10-30 14:35:17 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Lucas De Marchi 6f0db45b57 Replace use of strcasecmp_P() with strcasecmp() 2015-10-30 14:35:08 +09:00
Lucas De Marchi 84da1f5039 Rename gcs_send_text_P to gcs_send_text 2015-10-30 14:35:07 +09:00
Lucas De Marchi 84d5fb006f Remove use of Util::{v,}snprintf_P() 
These are now the same function as Util::snprintf().
 2015-10-30 14:35:05 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR 
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
 2015-10-30 14:35:04 +09:00
Lucas De Marchi bd0f0a7536 ArduPlane: convert dos linefeeds to unix 2015-10-30 14:35:02 +09:00
Andrew Tridgell 3c3392aae5 Plane: improve error messages on failed parachute release 2015-10-27 16:06:34 +11:00
Andrew Tridgell 5d1d54a8cb Plane: added CHUTE_CHAN parameter for manual release 2015-10-27 16:06:34 +11:00
Andrew Tridgell d20b86b95e Plane: suppress the throttle in auto-throttle modes after parachute release 2015-10-27 16:06:34 +11:00
Andrew Tridgell 9affddcaa3 Plane: initial support for AP_Parachute library 2015-10-27 16:06:34 +11:00
Andrew Tridgell 3dd47adafe Plane: fixed a condition where takeoff switches to land 2015-10-24 15:15:59 +11:00
Andrew Tridgell 537f22cdd1 Plane: changed thresholds for LAND_APPROACH 
use 15% path progress when lined up, and 50% path progress if not
lined up
 2015-10-24 15:00:34 +11:00
Tom Pittenger f9fbb8a0f7 Plane: restrict land_approach stage change with tighter criteria 
- inhibit switching from FLIGHT_NORMAL to FLIGHT_LAND_APPROACH until we meet stricter criteria other than just that LAND is next waypoint
- requires: nav bearing error < 10deg && have traveled path forward 30% of path && are below top of approach in case we hit waypoint while still descending
- exceptions: traveled path forward > 80% which basically means we're getting close to the flare point and better get into approach mode ASAP
 2015-10-24 14:43:43 +11:00
Caio Marcelo de Oliveira Filho 62d4c05a8e ArduPlane: include SITL only for SITL board 
Include board-specific files only when the board is used. Since these
should be exceptional cases, let the includer handle the ifdef instead
of putting ifdefs in every platform-specific header.

In the future we should evaluate whether the HAL for the board should
instantiate this.
 2015-10-22 13:36:14 -02:00
Caio Marcelo de Oliveira Filho 49a42dc985 SITL: use a SITL namespace 2015-10-22 11:04:42 -02:00
Peter Barker 07842e211d Plane: use simple log entry numbers to download logs 2015-10-21 10:50:32 +11:00
Caio Marcelo de Oliveira Filho db3e501aec ArduPlane: implement HAL::Callbacks 
Also removes includes for each board since they are not necessary
anymore.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho ec52df991c build: compile only the HAL files needed by the board 
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
 2015-10-21 09:16:07 +11:00
Randy Mackay 073828a764 Plane: add ahrs health pre-arm check 2015-10-16 13:50:59 +09:00
Gustavo Jose de Sousa 2cc07d2899 ArduPlane: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:06 +09:00
Randy Mackay 17ed125e41 Plane: add no break comment to suppress compiler warning 2015-10-03 12:56:30 +09:00
Randy Mackay 32c5b0e63c Plane: support set_home_position message 2015-10-03 12:56:28 +09:00
Randy Mackay d54e28e129 Plane: send home position when home is set or get-home msg received 2015-10-03 12:56:27 +09:00
Andrew Tridgell 213bed99e1 Plane: use ahrs.send_ekf_status_report() 2015-09-29 10:59:19 +10:00
Tom Pittenger 617626f9f5 Plane: log flight_stage 
logging plane flight stage in STAT.Stage
 2015-09-28 18:18:09 +10:00
Andrew Tridgell 017ebc440b Plane: added SENSOR_RC_RECEIVER reporting in SYS_STATUS 2015-09-28 08:55:24 +10:00
Andrew Tridgell 458e967d06 Plane: added RPM logging 
useful for seeing if a petrol motor is still running
 2015-09-24 20:58:18 +10:00
Andrew Tridgell c14dbcfc44 Plane: set version to 3.4.1dev 2015-09-24 11:12:41 +10:00
Andrew Tridgell 38d51ddb32 Plane: prepare for 3.4.0 release 2015-09-24 10:08:27 +10:00
Andrew Tridgell 91f990af06 Plane: added EKF2 to parameters as EK2_* 2015-09-23 11:56:37 +10:00
Andrew Tridgell 0592bd4e6f Plane: update release notes 2015-09-22 09:46:18 +10:00
Andrew Tridgell b735999848 Plane: prepare for beta3 2015-09-22 09:43:39 +10:00
Randy Mackay 6da53ae3b2 Plane: replace SKIP_GYRO_CAL with INS_GYR_CAL 
Also calibrate gyros with accel cal and set trim
 2015-09-21 17:06:43 +09:00
Andrew Tridgell 9e7c38b933 Plane: moved logging of mode to Log_Write_Vehicle_Startup_Messages 
this fixes a problem where the initial mode isn't logged on arming
 2015-09-17 20:15:26 +10:00
Andrew Tridgell d019f83bee Plane: allow for higher roll limits on takeoff 
only restrict to LEVEL_ROLL_LIMIT below 5m. Above that start to allow
larger roll limits, reaching the full roll limit at 15m
 2015-09-17 15:35:37 +10:00
Stewart Loving-Gibbard 2085156a07 Plane: Adding Logging of RSSI data. 2015-09-16 16:41:45 +09:00
Andrew Tridgell 86e8c7ed2f Plane: add some safety to detect bad lidar readings 
we only accept a lidar if it changes by 5% of its full range, and we
reject a lidar again if the correction between barometric and lidar
range changes by more than 30m

This allows us to cope with faulty lidars which may give a constant
reading
 2015-09-16 14:24:44 +10:00
squilter 7365701d13 Plane: Support do_digicam_x via command_long 2015-09-16 13:06:51 +09:00
Grant Morphett 9a76f0ecf0 Plane: Fixing FS_SHORT_ACTN parameter doco 
This is to resolve wiki issue 146
https://github.com/diydrones/ardupilot-wiki-issue-tracker/issues/146
 2015-09-16 09:35:38 +09:00
Grant Morphett 6b22a59eff Plane: Fixing up the ARMING_ parameters autogen doco 2015-09-15 14:11:15 +09:00
Andrew Tridgell d43d070e75 Plane: ensure throttle reverse is obeyed in all states 
need to use radio_max for failsafe if reversed
 2015-09-14 09:42:20 +10:00
Andrew Tridgell 5c055220f5 Plane: cope with bad values of ARMING_REQUIRE 2015-09-14 09:35:53 +10:00
Andrew Tridgell 73f454133b Plane: log RFND packet for multiple rangefinders 2015-09-13 11:29:53 +10:00
Peter Barker 3c0355e9e2 Plane: ensure 10% free space when initialising logging 2015-09-09 12:22:35 +10:00
Staroselskii Georgii db94c8d53d Plane: make Plane use milligauss 2015-09-09 10:38:16 +10:00
Grant Morphett c5c74eebfc Plane: Using the existing function to check for throttle failsafe 
No need to duplicate the code if we have an existing function for this
sort of thing.
 2015-09-09 10:28:02 +10:00
Grant Morphett a1b96f659b Plane: Fixing issue 302 
Using the configured FS_THR_VALUE to check for failsafe instead of
just checking against 50 below throttle min.
 2015-09-09 10:28:02 +10:00
Tom Pittenger fc2c94f78f Plane: utilize NAV_CONTINUE_AND_CHANGE_ALT for land abort 
when aborting a landing via mode change, check if NAV_CONTINUE_AND_CHANGE_ALT is after LAND. If so, go ahead and execute it. Else, normal behavior or check do_land_start else decrement mission index
 2015-09-09 09:32:31 +10:00
Andrew Tridgell 036e1fff12 Plane: a bit more caution in unsuppressing throttle pre-takeoff 
require reasonable pitch and definate gps movement. This errs on the
side of not overriding a takeoff command, which could be dangerous
 2015-09-09 09:24:54 +10:00
Tom Pittenger fe083c8ffa Plane: consider extended launch throttle delays 
use the greater of takeoff_throttle_delay+2s or 5s
 2015-09-09 09:14:59 +10:00
Tom Pittenger 4f46c5331a Plane: added time for flying in any mode 
- previously we only kept track of starting flying while in auto which gets reset when switching in and out of auto and on takeoff/land. Now we keep track of a "global" one that will track the is_flying flag regardless of the flight mode.
 2015-09-09 09:14:59 +10:00
Tom Pittenger a3c51698cb Plane: fix throttle when restarting mission in-flight with takeoff 
fixes https://github.com/diydrones/ardupilot/issues/2778
When executing a takeoff, and the throttle is suppressed, but we're already flying, we should unsuppress the throttle. We can get into this situation if we reset the mission in-flight.
 2015-09-09 09:14:59 +10:00
Andrew Tridgell 0cc165308d Plane: use 4 degrees if zero takeoff pitch 2015-09-09 09:13:12 +10:00
Andrew Tridgell 953efa9b6c Plane: fixed parameter docs for LAND_ABORT_THR 
it should be a values list
 2015-09-09 09:08:59 +10:00
Tom Pittenger d36ee786e4 Plane: init hold_course in do_takeoff 2015-09-09 09:04:24 +10:00
Tom Pittenger 25da4ec0ea Plane: added flight stage FLIGHT_LAND_ABORT and abort mechanism 
- enabled via new param LAND_ABORT_THR default is 0 (disabled)
- Triggered via 95% throttle during landing, a landing abort will take place.
- This copies all takeoff params for right now, we can make this better later if needed
- added mission item command to NAV_LAND which is the abort takeoff altitude. If 0 then use last takeoff if available, else use 30m
- hold heading, just like takeoff, until altitude is reached
- pitch is constrained to takeoff pitch, or else 10deg if not available
- After abort altitude is reached, the normal landing restart happens (DO_LAND_START or decrement mission)
- restart landing by jumping to DO_LAND_START or decrement mission on mode change
 2015-09-09 09:04:24 +10:00
Grant Morphett e734e9745d Plane: TKOFF_TDRAG_SPD1 is needed if holding nose wheel down. 
Just clearing up the documentation as per this wiki issue
https://github.com/diydrones/ardupilot-wiki-issue-tracker/issues/138
 2015-09-08 17:31:09 +10:00
Tom Pittenger 6e55b44b63 Plane: change NAV_CONTINUE_AND_CHANGE_ALT behavior 
Use waypoint bearing if available, otherwise use gps projected ahead 1km else yaw
Perform update before making decision to finish cmd so it always executes
 2015-09-08 17:05:54 +10:00
Andrew Tridgell 0a66fcce20 Plane: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Andrew Tridgell 05192ea9ab Plane: added severities to send_statustext_all 2015-09-08 14:29:55 +10:00
Andrew Tridgell f92f46ee99 Plane: update for changed AP_Arming API 2015-09-08 13:54:45 +10:00
Grant Morphett f953f03916 Plane: Fixing issue 327 - reporting Baro alt instead of GPS 2015-09-08 09:40:39 +10:00
Grant Morphett 3cb0c1bba8 Plane: Move the plane centric arming code into arming_checks.cpp 
Needed to move the plane centric arming code out of the AP_Arming
library and into the plane vehcile code.
 2015-09-07 11:54:21 +10:00
Andrew Tridgell e12c20bd22 Plane: prepare for 3.4.0-beta2 release 2015-09-07 09:30:34 +10:00
Andrew Tridgell 16d06ef0a9 Plane: set throttle trim to min on startup 
this prevents possibly motor startup for bad RC3_TRIM values
 2015-09-07 09:17:22 +10:00
Andrew Tridgell 2d60934335 Plane: require 5 channels to run failsafe passthrough 2015-09-07 09:16:14 +10:00
Randy Mackay 8c1212d4a6 Plane: support do-mount-control via command-long 2015-09-06 16:01:31 +09:00
Siddharth Bharat Purohit aea1db7348 ArduPlane: implement on-board compass cal for arduplane 2015-09-03 16:59:14 +10:00
Peter Barker c2d61391ef Plane: DFMessageWriter; ability to trickle messages out to DF 2015-09-03 15:20:20 +10:00
Gustavo Jose de Sousa a6bdee076e ArduPlane: remove comments identifying task 
We don't need those comments anymore, now that we log the task name. Also,
keeping the comments means that we need to fix them when tasks are added in the
middle, not to mention the problem with tasks that are added selectively (i.e.,
guarded by preprocessor directives).
 2015-09-01 20:22:19 +10:00
Gustavo Jose de Sousa 36b457a536 ArduPlane: use function name for AP_Scheduler task name 
That makes it easier to identify tasks when debug is enabled in AP_Scheduler.
 2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa b0258d902c ArduPlane: use designated initializers for tasks structs 
Makes code less prone to break build and semantics (e.g., when a new field is
added).
 2015-09-01 20:22:18 +10:00
Tom Pittenger 81f8358705 Plane: restart landing by jumping to DO_LAND_START or decrement mission 
only takes effect on mode change
 2015-08-29 21:17:35 +10:00
Stewart Loving-Gibbard 722dd29370 Plane: Moving to RSSI library for reading various kinds of RSSI, with the possibility of adding more. 
* Retains ability to read from Analog Pin
* Adds ability to read RSSI from PWM channel value as is done in OpenLRSng, EazyUHF, and various other LRS.
* Handles any type of RSSI that provides RSSI values inverted - i.e. when the low value is the best signal and the high value is the worst signal.
* Has different key names from all existing RSSI parameters to provide for a clean break and easier distinguishing.
* Existing parameters are marked as obsolete
 2015-08-29 08:05:59 +10:00
Randy Mackay 4bf36d787b Plane: use labs for int32 values 2015-08-28 13:14:50 +10:00
Randy Mackay cc68260478 Plane: sanity check do-set-home, do-set-ROI and fence-point locations 2015-08-28 13:14:38 +10:00
squilter 583c087eca Plane: update severities 2015-08-28 10:04:35 +10:00
André Kjellstrup d4ed30a023 Plane: releasenotes update 2015-08-28 10:03:16 +10:00
Randy Mackay e4c62811ea Plane: fix link to BATT parameter descriptions 2015-08-26 11:17:55 +09:00
Tom Pittenger ee9a66bd02 Plane: fix compiler warning re double promotion 2015-08-25 16:45:52 +09:00
Grant Morphett dda229aecd Plane: Added include guards for Plane.h 2015-08-25 13:54:16 +09:00
Tom Pittenger fed50aa5c5 Plane: is_crashed flag gets reset too easily 
This behavior is excessively paranoid about clearing the flag so now it's extra sticky. You can only clear the is_crashed flag when:
- changing modes
- starting to execute a takeoff wp (if mission/index gets reset while still in auto)
- while in takeoff and throttle is suppressed it's held false

behavior that was removed:
- clear flag when starting to execute any nav cmd (reached next wp)
- if while crashed, you "start flying again" (non-sticky)
 2015-08-24 20:00:12 +10:00
Tom Pittenger e1d566f9e7 Plane: simulator sets is_crashed 
due to zero-ish vibration in SITL, the is_flying check thinks you're not flying, and this thinks you crashed. This is a SITL specific problem but it brings to light that *if* someone actually had a very low vibration aircraft we don't want to crash them. So, the vibe test has been removed for now. A better test is a variance on the accel
 2015-08-24 00:32:41 -07:00
Andrew Tridgell 019f2af930 Plane: fixed build with HIL disabled 2015-08-23 22:21:51 +10:00
Tom Pittenger f4f111775e Plane: Log height of zero instead of old value 2015-08-23 16:55:08 +10:00
ziltoid2 b9dd6b7aac Plane: prevent delayed compass HIL data from disabling compass at system startup only 2015-08-23 16:48:48 +10:00
Tom Pittenger 37336bbbe1 Plane: moved is_flying related code to its own file 2015-08-23 10:34:19 +10:00
Tom Pittenger 204ff7b158 Plane: move statics into new struct 
removed default case statements
 2015-08-23 10:34:18 +10:00
Tom Pittenger 6d0ad05192 GCS_Mavlink: added is_crashed to mavlink heartbeat status which shows EMERGENCY 2015-08-23 10:34:18 +10:00
Tom Pittenger da8f4f9e95 Plane: reworked is_flying 
add crash detection, allow disengage via param CRASH_DETECT
improved is_flying behavior
take off, landing and hard-landing improvements
add stillness check to is_flying and log it
minimum airspeed is determined ARSPD_FBW_MIN*0.75
 2015-08-23 10:34:18 +10:00
squilter d421644f3a Plane: define and send FIRMWARE_VERSION 2015-08-23 09:21:57 +09:00
Michael Day f20beecb0b Plane: Climb/descent "intent" param with CONTINUE_AND_CHANGE_ALT 
Param 1 of CONTINUE_AND_CHANGE_ALT now denotes which direction the
user expects the plane to travel when changing altitude:

0 = no expectation, command completes when within 5 m of altitude.
1 = climb expected, command completes at or above altitude.
2 = descent expected, command completes at or below altitude.
 2015-08-20 11:37:17 +10:00
Andrew Tridgell f66174a1ce Plane: improved 3.4.0 release notes 2015-08-20 11:30:28 +10:00
Andrew Tridgell 0c833b76b7 Plane: update release notes for 3.4.0beta1 2015-08-20 11:11:28 +10:00
Andrew Tridgell b1f810fbb9 Plane: prepare plane 3.4.0beta1 release 2015-08-20 10:53:48 +10:00
Tom Pittenger 86e3116fb6 Plane: implement try send mission_item_reached 
clean up unreachable code
 2015-08-19 15:42:07 +10:00
Tom Pittenger f1eb2f88df Plane: post "Distance from LAND point" on every land 
- waits until disarm after a land
 2015-08-18 17:20:20 +10:00
Stewart Loving-Gibbard eb2ca91f1c Plane: Fixing unambiguous spelling errors in Parameters.cpp file. 
These are user-visible in Mission Planner and the like.
 2015-08-18 17:16:19 +10:00
Andrew Tridgell 6186b7a453 Plane: disable TRIM_RC_AT_START by default 2015-08-15 19:13:30 +10:00
Andrew Tridgell cc96f80f02 Plane: make TRAINING mode obey stall prevention roll limits 
Fixes issue#2014
 2015-08-14 13:36:21 +10:00
Andrew Tridgell ac2e1552b2 Plane: don't do battery failsafe when disarmed 2015-08-14 13:17:48 +10:00
Andrew Tridgell 58e829553f Plane: prevent build error with MSG_RPM 2015-08-12 15:03:52 +10:00
Andrew Tridgell f2c1010501 Plane: prevent mode switch changes changing WP tracking 
this fixes a bug where a mode switch change during an AUTO mission
which does not change the flight mode would cause cross tracking to be
reset, so the plane will not correctly follow the desired track

Many thanks to Michael Du Breuil for the log that showed this bug
 2015-08-12 14:42:49 +10:00
Gustavo Jose de Sousa 93c80b03ae ArduPlane: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:40 +10:00
squilter c24ba83fb1 Plane: init vehicle capabilities 2015-08-05 16:08:49 +09:00
Przemek Lekston ca915d9928 Plane: fix "logging disabled" build. 2015-08-03 10:07:52 +10:00
Grant Morphett c87929e907 Plane: Fix landing to stop divide by zero if params are 0 
If someone mistakenly puts all 0's in their LAND command then
total_distance will be calculated as 0 and cause a divide by 0 error
below thus crashing ArduPilot.  Lets avoid that.
 2015-08-03 09:53:48 +10:00
Andrew Tridgell 1b13be4ad7 Plane: disable camera logging when camera support disabled 2015-07-30 12:17:48 +10:00
Andrew Tridgell 6e0057778b Plane: remove unused file 2015-07-30 11:14:39 +10:00
Andrew Tridgell 9f9080983b Plane: trim out some log msgs on APM2 
save a bit more flash
 2015-07-30 11:14:06 +10:00
Andrew Tridgell 49f7adcc80 Plane: re-enable geofencing on APM2 
it only just fits ...
 2015-07-30 11:04:31 +10:00
Andrew Tridgell 6c07795b63 Plane: added HIL_SUPPORT define 
disable HIL support on APM2 to save flash space
 2015-07-30 11:04:31 +10:00
Andrew Tridgell 8f0e7e0693 Plane: fixed above_location_current() for non-terrain alt 
thanks to Lekston for finding the bug (PR#2610)
 2015-07-29 08:20:23 +10:00
Andrew Tridgell 58fa38cc12 Plane: allow rudder disarm based on ARMING_RUDDER parameter 2015-07-23 21:48:50 +10:00
pepevalbe da41d85433 Plane: It is possible to disarm with left rudder. 
Using is_flying() avoid accidentally disarming while flying.
 2015-07-23 21:48:44 +10:00
Przemek Lekston 4b38d444dd Plane: fix default behaviour of flaps. 2015-07-23 15:28:08 +10:00
Przemek Lekston 6a62b11536 Plane: fix LOITER_TO_ALT to verify headings towards waypoints within the loiter radius. 
Whenever next waypoint is within the loiter radius, maintaining loiter would prevent us from ever pointing toward the next waypoint. Hence for very close waypoints loiter_to_alt becomes verified by the altitude only.
 2015-07-23 15:24:43 +10:00
Grant Morphett cc6a981b12 Plane: deleted the old command_description.txt file which isn't used. 2015-07-21 16:31:24 +09:00
Andrew Tridgell 51bdbea745 Plane: fixed format for ARM message 2015-07-20 09:46:19 +10:00
Randy Mackay b670988e05 Plane: log IMUDT 2015-07-14 13:31:56 +09:00
Andrew Tridgell 266857c595 Plane: avoid linking optflow on APM2 
not used, just taking memory
 2015-07-10 16:46:30 +10:00
Lucas De Marchi e97034f8e9 ArduPlane: use ARRAY_SIZE macro 2015-07-07 07:56:30 +10:00
Randy Mackay 76ccf4043e Plane: log ahrs home and ekf origin 2015-07-06 12:11:56 +09:00
Tom Pittenger f1ee129423 Plane: compiler warnings 
- float to double in gcs_send_test (x2)
- float to bool
 2015-07-06 09:30:19 +10:00
Andre Kjellstrup edc32092ce Plane: Do not run long_failsafe during final or landing. 2015-07-02 14:28:45 +10:00
Andre Kjellstrup 9d525d4382 Plane: Do not run FailSafe if on final approach or landing. 
A failsafe (Circle, RTL) would easily become a disaster if trigged
during approach or final.
 2015-07-02 14:28:45 +10:00
Andre Kjellstrup baf4989a80 Plane: Ignore low voltage failsafe during landing 
Log it, but do not switch to RTL if already in final or landing.
 2015-07-02 14:28:44 +10:00
Peter Barker 3fce7eb21a Plane: use common mission logging code 2015-06-30 16:23:35 +10:00
Peter Barker bbfe67fe2a Plane: use common system information logging 2015-06-30 16:23:34 +10:00
Peter Barker 7f0a0cf64f Plane: DataFlash frontend/backend split 2015-06-26 16:02:50 +10:00
Michael du Breuil 54c06cde02 Plane: Log the steering controller PID state 2015-06-22 15:41:44 +10:00
Michael du Breuil 1a121f543b Plane: Use PIDS for steering rather then PIDY 2015-06-22 15:41:44 +10:00
Andrew Tridgell 4aac2c5c96 Plane: trigger OVERRIDE_CHAN in px4io 
setup the MODESWITCH channel as our OVERRIDE_CHAN, allowing for
instant manual passthru in px4io when OVERRIDE_CHAN goes above 1750

This makes for faster switching, and avoids bugs where a still enabled
FMU channel disables override
 2015-06-21 18:19:16 +10:00
Andrew Tridgell 248bf8c5a3 Plane: disable geofence on APM2 2015-06-20 14:52:42 +10:00
Andrew Tridgell 2dbe372b2f Plane: cleanup some coverity warnings 2015-06-20 13:26:34 +10:00
Andrew Tridgell ae1f2e8bea Plane: fixed missing break statement 2015-06-20 12:35:07 +10:00
Andre Kjellstrup 19aa7caad0 GCS_Failsafe: option to trigger only in AUTO mode. 2015-06-18 07:52:43 +10:00
Andre Kjellstrup 39797529fd GCS_Failsafe: defines for new failsafe option 2015-06-18 07:52:42 +10:00
Andre Kjellstrup 3e84132f6b GCS_Failsafe: new parameter option 2015-06-18 07:52:42 +10:00
Andrew Tridgell 76c0293a85 Plane: added support for DO_AUTOTUNE_ENABLE 2015-06-15 09:20:55 +10:00
Andrew Tridgell d5c5400e76 Plane: added support for ALTITUDE_WAIT mission command 2015-06-15 09:20:55 +10:00
Andrew Tridgell 358a13261c Plane: moved sink_rate calculation to update_alt() 
this makes it available to non-landing code
 2015-06-15 09:20:55 +10:00
Randy Mackay 814cb5ce18 Plane: add vibration DF logging and send to GCS 2015-06-12 21:36:47 +09:00
Andrew Tridgell 3427224bfc Plane: fixed logging of parameters on arming 2015-06-12 13:11:06 +10:00
Eugene Shamaev 5b34fa4f6a Plane: added DSM bind support 2015-06-10 17:19:10 +10:00
Andrew Tridgell 6b9854457d Plane: added PID tuning logging for ground steering 2015-06-09 12:48:56 +10:00
Andrew Tridgell bc6a52f8db Plane: fixed handling of OVERRIDE_CHAN on arming 
When arming we need to ensure that we don't enable any channels
otherwise PX4IO will think that FMU is active and will stop running
the internal RC mixer
 2015-06-09 12:48:55 +10:00
Michael Oborne 7dcd24137e Plane: add bitmask documentation 2015-06-05 10:21:21 +09:00
Lucas De Marchi 6bbf0e7770 Plane: stop using alias FUNCTOR_BIND_VOID 2015-06-04 13:37:38 +09:00
Andrew Tridgell bf396d7138 Plane: log to tlog when we set home via MAVLink 2015-06-04 13:26:39 +10:00
Andrew Tridgell 5942bf5cf0 Plane: added plane specific arming checks 
added check for roll and pitch limits, after flyaway due to small
LIM_ROLL_CD
 2015-06-04 13:26:39 +10:00
Andrew Tridgell 47f4a5db10 Plane: try to load px4 mixer 10 times on boot 
this allows for possible temporary failures
 2015-06-02 21:59:03 +10:00
Andrew Tridgell 3e74b82bc4 Plane: fixed two bugs in px4io override code 
First bug is going via microSD to poulate mixer. We can't rely on the
microSD being writeable or functioning properly. Instead create the
buffer in memory and only write a copy to the filesystem.

Second bug is related to extreme trim values on channels. If trim
values are well out of range then the mixer fails and override fails.
 2015-06-02 21:48:18 +10:00
Randy Mackay 9ece826c28 Plane: Log_Write_Startup writes parameters 2015-06-01 20:22:50 +09:00
Grant Morphett 2c3cff7f84 Plane: Moving parameter logging to be after all systems have started 2015-06-01 20:22:40 +09:00
Andrew Tridgell db784c83dc Plane: removed unnecessary pragmas 2015-06-01 17:42:21 +10:00
Andrew Tridgell 9adc879253 Plane: changes for new AHRS API 2015-06-01 16:16:49 +10:00
Andrew Tridgell 1797e2baa8 Plane: simpler initalisation of plane class 
take advantage of C++11 in-class initialisation
 2015-06-01 08:48:54 +10:00
Andrew Tridgell 57544a3537 Plane: added blank Parameters.pde for MissionPlanner 2015-05-30 15:21:33 +09:00
Andrew Tridgell 1520d8f734 Plane: catch a px4_mixer failure case 2015-05-30 11:17:56 +10:00
Andrew Tridgell 9b77260ebb Plane: disable PID logging on APM2 2015-05-29 16:32:05 +10:00
Andrew Tridgell 2f5ade4810 Plane: use 16 bit mask for GCS_PID_MASK 2015-05-27 15:09:47 +10:00
Andrew Tridgell 09476bf9d3 Plane: added GCS_PID_MASK for realtime pid tuning 2015-05-27 14:28:46 +10:00
Andrew Tridgell c31da93726 Plane: log roll and pitch PIDs 2015-05-27 14:28:45 +10:00
Peter Barker d7ed06816a Plane: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:15 +10:00
Andrew Tridgell 964b8ed2f3 Plane: fix for scheduler API change 2015-05-26 14:33:52 +10:00
Lucas De Marchi 7c4cf41ebc ArduPlane: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:54 +10:00
Andrew Tridgell 97687f04af Plane: enable messages for MAVLink gimbal support 2015-05-26 08:30:30 +10:00
Andrew Tridgell 5511140f95 Plane: fixed fence return point on breach 
this was broken by the recent guided mode changes. Thanks to Grant for
noticing!
 2015-05-24 15:24:02 +10:00
Andrew Tridgell eee191875e Plane: fixed plane version, removing old pde 2015-05-22 16:07:43 +10:00
Andrew Tridgell 8974c879fe Plane: fixed paths for GCS_MAVLink parameter file 2015-05-21 11:42:45 +10:00
Andrew Tridgell 8359b75201 Plane: removed NOINLINE define 2015-05-21 09:35:55 +10:00
Andrew Tridgell 78f02634d0 Plane: fixed ins reference in plane object 2015-05-21 07:48:54 +10:00
Andrew Tridgell 441d96c946 Plane: fixed APM1 build 2015-05-21 07:48:53 +10:00
Andrew Tridgell 554869033f Plane: disabled rangefinder on APM2 
this saves 5k of flash space, enough for support to be kept for
another release
 2015-05-21 07:48:53 +10:00
Andrew Tridgell 6fe65cdd9a Plane: removed duplicate rangefinder 2015-05-21 07:48:53 +10:00
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 150af130ee Plane: get closer to making var_info appear in text segment 2015-05-21 07:48:52 +10:00
Andrew Tridgell 18c37935c9 Plane: convert from .pde to .cpp files 2015-05-21 07:48:52 +10:00
Andrew Tridgell f75e9f95d1 Plane: Adjust for new AP_Scheduler syntax 2015-05-21 07:48:48 +10:00
Andrew Tridgell 6be0932d82 Plane: prepare for 3.3.0 release 2015-05-20 18:01:21 +10:00
Andrew Tridgell db871cc581 Plane: prevent trim values out of range for PX4 mixer 
thanks to Brian Christal for a good bug report!
 2015-05-17 21:24:58 +10:00
Tom Pittenger b4be1b866a Copter: compiler warning stuff 
float to double promotion via cos instead of cosf
 2015-05-16 08:21:36 +10:00
Andrew Tridgell 9ceee3cea7 Plane: support setting just accel trim with preflight-cal 
use param5==2
 2015-05-16 07:56:35 +10:00
Randy Mackay 174c55b0af Plane: add support for 4th mavlink channel 2015-05-15 15:07:28 +09:00
Andrew Tridgell 2feee9aa88 Plane: call Log_Write_POS() 2015-05-15 14:28:15 +10:00
Andrew Tridgell e362b4fc04 Plane: fix for new compass API 2015-05-15 14:25:44 +10:00
Andrew Tridgell 7f488c1c9c Plane: removed duplicate rangefinder instance 2015-05-14 08:51:59 +10:00
Tom Pittenger 76f448e512 Plane: Write new mission to log without telling GCS 2015-05-13 20:25:57 +09:00
Randy Mackay 0db25426c0 Plane: use accel_calibrated_ok_all 2015-05-12 16:32:20 +09:00
Randy Mackay a3271e4584 Plane: clarify SYSID_MAV parameter description 2015-05-11 09:23:06 +09:00
Andrew Tridgell ff126db1d3 Plane: make GUIDED behaviour match copter 
we now have to be in GUIDED mode to accept a new GUIDED WP. When
entering GUIDED mode start loitering about the current position
 2015-05-10 14:28:02 +10:00
Tom Pittenger eb2bfcd2d3 Plane: replace fabs() with labs(), unnecessary int to float conversion 2015-05-09 09:57:25 +10:00
Tom Pittenger ba29967454 Plane: if receiving last mission item then log new mission to dataflash 2015-05-08 21:01:51 +10:00
Andrew Tridgell fd84a6b493 Plane: fixed missing break in fence floor logic 2015-05-08 16:27:16 +10:00
Michael Day ee14678d2a Plane: Allow disabling of only the fence floor. 2015-05-08 16:25:22 +10:00
Andrew Tridgell 1a7d831327 Plane: support raw IMU logging 2015-05-07 12:11:52 +10:00
Andrew Tridgell 8395b92309 Plane: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Tom Pittenger 2301883d5c Plane: compiler warnings: function not declared 2015-05-05 13:27:01 +10:00
Tom Pittenger c4c47cba66 Plane: compile warnings: float to double. print statements require doubles 2015-05-05 13:26:59 +10:00
Tom Pittenger 43006c0eec Plane: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:58 +10:00
Tom Pittenger c2eeed7d85 Plane: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:57 +10:00
Tom Pittenger 0cbbb20dcf Plane: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:54 +10:00
Andrew Tridgell a299fdacdf Plane: fix for HAL_SITL rename 2015-05-05 09:45:57 +10:00
Michael Day 8a6fc0ad77 Plane: If LAND_FLARE_SEC is 0 use LAND_FLARE_ALT for aim_height. 
See discussion here:

https://github.com/diydrones/ardupilot/pull/2197
 2015-04-30 17:19:55 +10:00
Michael Day 05d065b471 Plane: Make LAND_FLARE_SEC optional. 2015-04-30 14:34:34 +10:00
Andrew Tridgell 93fed6c2ac Plane: update release notes for 3.3.0beta2 2015-04-30 14:07:30 +10:00
Andrew Tridgell c65f5a1bda Plane: disable camera mount support on APM2 
this makes the firmware small enough to squeeze onto an APM2 again
 2015-04-30 11:57:20 +10:00
Andrew Tridgell 75c9689a64 Plane: added armed and safety state to STAT log message 2015-04-30 11:15:08 +10:00
Andrew Tridgell 5038e1d26d Plane: remove deprecated log types 
we no longer depend on the binary format for Replay, so we can change
IDs now
 2015-04-30 11:05:17 +10:00
Tom Pittenger f5dfe7c650 ArduPlane: Log isFlying status 
Log is_flying() status and its float probability in new STAT msg
and piggyback on MODE bitmask flag.
 2015-04-30 10:57:03 +10:00
Randy Mackay e122916815 Plane: fix MNT param description 2015-04-29 09:07:52 +09:00
Tom Pittenger c974134ea4 ArduPlane: RTL Autoland skip HOME 
With RTL_AUTOLAND=1 we navigate to HOME then to the DO_LAND_START commands. Now with RTL_AUTOLAND=2 we head directly to the DO_LAND_START commands and thus skip changing altitude to ALT_HOLD_RTL and head directly to the first land waypoint as if it was the next normal waypoint.
 2015-04-28 12:09:00 +10:00
Andrew Tridgell 3c9ed9b5a6 Plane: don't limit down pitch during landing 
there is no reason for a special case for aircraft without airspeed
sensors
 2015-04-28 09:25:49 +10:00
Andrew Tridgell c73945686c Plane: use ahrs.yaw_sensor not direct compass read for yaw 
also use 10 degrees of margin, to cope with fast yaw changes (this
function is called at only 10Hz)
 2015-04-25 09:12:17 +10:00
Andrew Tridgell 343a682d22 Plane: fixed conditional for 0 lat/lon 2015-04-25 09:12:17 +10:00
Michael Day 607d9ca839 Plane: Implementation of do_ and verify_ for MAV_CMD_NAV_LOITER_TO_ALT 2015-04-25 09:12:16 +10:00
Tom Pittenger 1176146e06 Plane: fix compile warnings for unused functions 2015-04-24 14:09:43 +09:00
Tom Pittenger bd9b573969 Plane: Fix compile warnings 
- const values declared as default double
- This is the first pass in fixing the warnings, trying to catch some low hanging fruit. All const double values are changed to float. For example: 1.0 is now 1.0f.
- Only except is in location.pde where some double stuff is happening
- I did not change the exponentials 1e7 type stuff which should be 1e7f. A different commit
 2015-04-24 12:20:53 +09:00
Randy Mackay 0acc4af63c Plane: replace range finder health with status 2015-04-24 10:57:28 +09:00
Paul Riseborough 32f87d008a Plane: Allow EKF to pull data from range finder object 2015-04-24 10:56:56 +09:00
Niels Joubert 6b7b3247ed Plane: Handle GPS Injection 2015-04-24 08:01:33 +10:00
Jaime Machuca ab1cf2261d Plane: add call to send digicam configure messages from a mission item 
Also add log_picture to separate the taking of a picture
from the dataflash logging and feedback to GCS
 2015-04-20 13:50:17 +09:00
Andrew Tridgell 664c92fb81 Plane: fixed RUDDER_ONLY to not combine direct rudder output 
this prevents us over-rolling in FBWA
 2015-04-20 09:09:23 +10:00
Andrew Tridgell edec706c12 Plane: added RUDDER_ONLY parameter 
this gives much easier setup for rudder only aircraft.
 2015-04-20 09:09:23 +10:00
Michael du Breuil 78a3ce46b9 Plane: Use tecs to control the throttle during takeoff 2015-04-16 08:56:37 +10:00
Michael du Breuil 867ca05e17 Plane: fix a relative altitude check for glide slope building 2015-04-13 20:15:07 -07:00
Michael du Breuil 4b1d71e390 Plane: rebuild the glide slope if we are above it and already climbing 
(controlled by GLIDE_SLOPE_THR)
 2015-04-13 20:14:51 -07:00
Michael Day 0279fdb0de Plane: Never trigger fence breach in LAND_FINAL flight stage. 2015-04-14 11:12:39 +10:00
Andrew Tridgell 03a50712db Plane: default LAND_DISARMDELAY to 20 seconds 
most people will want to disarm
 2015-04-06 15:37:54 -07:00
Andrew Tridgell 36796fb810 Plane: added LOCAL_POSITION_NED message 2015-04-05 09:25:41 -07:00
Randy Mackay 7e4dd9666c Plane: fix serial manager integration 2015-04-01 15:13:20 -07:00
Randy Mackay ab749f884f Plane: integrate Serial Manager instance 2015-04-01 14:59:26 -07:00
Andrew Tridgell 6a33588f67 Plane: make LOG_BITMASK logging when disarmed clearer 2015-03-31 14:38:09 -07:00
Randy Mackay d3663d43c1 Plane: send invalid batt curr if monitor unhealthy 2015-03-20 11:05:35 +09:00
Andrew Tridgell 9468a59204 Plane: require 3 seconds of not flying to declare a crash on land 2015-03-17 10:40:16 +11:00
Tom Pittenger 1b0ed277b3 Plane: Disarm On Land 
After a landing has occur using a LAND waypoint, automatically disarm
after this many seconds have passed. Use 0 to not disarm.
 2015-03-17 10:30:41 +11:00
Andrew Tridgell 90bb97a144 Plane: added last_flying_ms to auto_state 
used to find out how long it is since we were last flying
 2015-03-17 10:12:00 +11:00
Andrew Tridgell 18b277a9d2 Plane: use arm_motors() and disarm_motors() 2015-03-17 10:12:00 +11:00
Andrew Tridgell dd1059cecf Plane: added arm_motors() and disarm_motors() helper functions 2015-03-17 10:12:00 +11:00
Andrew Tridgell 86ef4a738c Plane: only pass through throttle in failsafe if armed 2015-03-16 16:45:49 +11:00
Andrew Tridgell e55350a5d6 Plane: added crash detection in autoland 
if we are no longer flying then flare, which turns off the motor

This is based on work by Tom Pittenger
 2015-03-16 10:59:53 +11:00
Andrew Tridgell fb8b96ba0d Plane: make is_flying() a bit more accurate in landing approach 
prevent false negatives using the sink rate
 2015-03-16 10:58:36 +11:00
Andrew Tridgell 1c1798fb11 Plane: support much smoother flare transitions 
provide the height above the ground to TECS so it can make a smarter
pre-flare transition
 2015-03-15 13:53:08 +11:00
Andrew Tridgell cac7714693 Plane: fixed parameter typo 2015-03-14 14:53:02 +11:00
Andrew Tridgell b0cdf8952b Plane: added HIL_MODE parameter 
this allows for HIL with any firmware
 2015-03-13 22:52:56 +11:00
Víctor Mayoral Vilches 4ae3bf5399 Plane: Update compass to the new interface 2015-03-13 18:46:17 +11:00
Michael Day b02098e19e Plane: Make radio trim optional at ground start. 2015-03-13 13:11:44 +11:00
Tom Pittenger 420e9e0d2e Plane: added INITIAL_MODE which is the mode we boot up into. 
This is useful when flying without a RX or if you have a RX that
outputs zeros without a detected Txmtr
 2015-03-13 13:04:23 +11:00
Andrew Tridgell a942ebbb70 Plane: removed unnecessary prototype 2015-03-13 11:21:47 +11:00
Andrew Tridgell dc9e2a54f3 Plane: fixed use of HAL soft_armed 2015-03-13 11:20:43 +11:00
Tom Pittenger 659904bf65 Plane: sped up is_flying filter since it is running at only 1Hz 2015-03-13 11:07:19 +11:00
Tom Pittenger 8f7bb61a54 Plane: changed arm check method to use new is_flying code 2015-03-13 11:07:05 +11:00
Tom Pittenger 58b0702793 Plane: isFlying redesign 
The is_flying() function is too simplistic to be used as a generic
status. Added a sticky heuristic method that depends on the arm
state. More thought should go into the boolean result of isFlying but
this is at least safer than the original method.
 2015-03-13 11:06:54 +11:00
Randy Mackay cb1b4ab486 Plane: send EKF_STATUS_REPORT in extra3 stream 2015-03-12 13:43:58 +09:00
Andrew Tridgell 5175f21225 Plane: removed 1D accel calibration 2015-03-12 12:50:29 +11:00
Andrew Tridgell 16cdf64d63 Plane: added CLI_ENABLED option 
this disables using CLI by default, even if compiled in. This is
needed to make standard firmwares work well with companion computers
where the CLI may cause startup issues
 2015-03-09 17:58:37 +11:00
Andrew Tridgell fa70c95c8e Plane: set gyros disabled when calibrating 2015-03-09 17:58:36 +11:00
Andrew Tridgell 8ef8a964f1 Plane: use new interactive accelcal 2015-03-07 21:56:40 +11:00
Andrew Tridgell 999710d0e1 Plane: fixed issue where auto is entered before GPS lock 
thanks to Tom Pittenger for noticing this!
 2015-02-25 22:54:52 +11:00
Andrew Tridgell 98b583bccc Plane: fixed bungee launch 
we need to not do the general purpose throttle suppression if in auto
takeoff
 2015-02-25 13:11:27 +11:00
Andrew Tridgell 5afe3fb958 Plane: mark 3.3.0beta1 2015-02-23 15:07:06 +11:00
Andrew Tridgell 422d0f05bd Plane: provide terrain height to rangefinder 
used for power saving
 2015-02-23 14:15:14 +11:00
Andrew Tridgell 64dfc68784 Plane: log mode on arming 
this ensures the log is recorded with the right flight mode
 2015-02-23 14:15:14 +11:00
Andrew Tridgell 6cf029f82a Plane: fixed to allow TKOFF_THR_DELAY up to 12.7 seconds 
thanks to a report by jman841
 2015-02-21 20:23:22 +11:00
Andrew Tridgell bee703ab2a Plane: removed incorrect conditional on parameter enum 2015-02-21 20:23:22 +11:00
Andrew Tridgell 76f8b9b07c Plane: support DO_SET_HOME MAVLink command 2015-02-21 10:14:18 +11:00
Joao Fortuna 6ac8629451 Plane: Fixed MAVLINK stream trigger calculation. 2015-02-20 13:12:59 +09:00
Andrew Tridgell d0d5524bce Plane: mark ELEVON_MIXING as deprecated 2015-02-19 15:55:30 +11:00
Andrew Tridgell 3f225b1a73 Plane: lower default FS_LONG_TIMEOUT value from 20 to 5 seconds 
20 seconds is too long to be in CIRCLE mode
 2015-02-16 10:03:17 +11:00
Andrew Tridgell e9f87a2626 Plane: implement MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES 2015-02-12 09:04:25 +11:00
Jonathan Challinger 4105edaa87 Plane: use hal.util soft_armed state 2015-02-11 20:57:27 +11:00
Andrew Tridgell d0075c0d23 Plane: support AUTOPILOT_VERSION command 2015-02-11 19:52:50 +11:00
Andrew Tridgell 03e110c834 Plane: update release notes 2015-02-10 09:53:30 +11:00
Andrew Tridgell e0db5616a2 Plane: fixed HIL mode in plane 2015-02-10 09:53:30 +11:00
Andrew Tridgell 3edc1ea4db Plane: tell arming if logging is available 2015-02-06 19:05:02 +11:00
Andrew Tridgell 8108ee796e Plane: update release-notes in master 2015-02-05 21:02:22 +11:00
Andrew Tridgell 4d6a7996f7 Plane: the next release will be 3.3.0 
quite a few large changes pending
 2015-02-05 20:55:00 +11:00
Andrew Tridgell 00758a3e91 Plane: improved landing parameter descriptions 
fixes issue #1776
 2015-02-03 17:19:45 +11:00
Andrew Tridgell 33225c2955 Plane: mark master as 3.2.2alpha1 2015-02-03 17:11:25 +11:00
Andrew Tridgell 28341a6c7a Plane: handle very steep landings more gracefully 
prevent us trying to put the flare point too high or too far back if
the mission requires a steep landing
 2015-02-03 16:44:28 +11:00
Andrew Tridgell 2ae412d513 Plane: only reset mission on disarm if not in AUTO mode 
disarming while in a mission should leave the plane still flying the
mission, but with motor stopped. The user may do this during a landing
for example, but we want to keep gliding
 2015-02-03 16:44:27 +11:00
Andrew Tridgell a172d898c5 Plane: force throttle to zero when disarmed 
don't rely on the safety switch
 2015-02-03 16:44:27 +11:00
Andrew Tridgell 2b0ccae776 Plane: fixed build warning 2015-02-03 09:49:15 +11:00
Randy Mackay ff2a31e3ae Plane: compile error fix when mount disabled 2015-01-29 14:05:15 +11:00
Randy Mackay 3a1465c9d1 Plane: integrate SerialManager 
call SerialManager init_console on startup
use SerialManager's set_block_writes_all
 2015-01-29 14:05:15 +11:00
Randy Mackay 37d1079d25 Plane: move MNT param's underscore to mount lib 2015-01-29 13:57:19 +11:00
Randy Mackay 681d28838f Plane: integrate mount frontend-backend restructure 
initialise mount on startup
use mount.has_pan_control method
remove calls to unimplemented mount.configure_cmd
remove call to update_mount_type which is now handled by mount lib
 2015-01-29 13:57:18 +11:00
Andrew Tridgell 5d8cec23db Plane: update version to 3.2.1beta1 2015-01-27 17:22:13 +11:00
Andrew Tridgell 3123504b38 Plane: start release notes for 3.2.1 2015-01-27 17:22:13 +11:00
Matthias Badaire ee00302b62 Plane: Frsky telemtry change move parameter to init of the class 
Parameter needs to be passed and use at the init of the class frsky telem
 2015-01-22 16:49:39 +11:00
Dario Lindo Andres 7f5243026d Plane: Cleanup code to remove 1280 ifdefs 
Due to the imposibility to fit actual code on Legacies 1280 chips, some
cleanup is needed.
 2015-01-22 16:12:26 +11:00
Robert Lefebvre 395c868727 Plane: Change Compass logging to new DataFlash method that handles instances. 2015-01-21 14:37:54 +09:00
Robert Lefebvre 7efb4eef65 Plane: Change Compass logging to use DataFlash library method. 2015-01-21 14:37:38 +09:00
Robert Lefebvre a2d73b42b9 Plane: Change Mode logging to use DataFlash library method. 2015-01-21 14:37:36 +09:00
Robert Lefebvre ac513a84db Plane: Change Attitude logging to use DataFlash library method. 2015-01-21 14:37:34 +09:00
Robert Lefebvre 233083c8e9 Plane: Change current logging to use DataFlash library method. 2015-01-21 14:37:31 +09:00
Robert Lefebvre 747232b197 Plane: Deprecate some Log Message enumerations which are moving to the DataFlash library. 2015-01-21 14:37:29 +09:00
Andrew Tridgell 674a7aa8d4 Plane: use set_skip_gyro_cal() in arming library 2015-01-20 19:47:59 +11:00
Andrew Tridgell 059c3769f3 Plane: cope with the changed semantics if airspeed.use() 2015-01-20 11:28:35 +11:00
Andrew Tridgell 5a01933b7b Plane: use dataflash Log_Write_Airspeed() 2015-01-20 09:10:57 +11:00
Dario Lindo Andres 0ea7a7a0cc Plane: Corrected LOGGING_ENABLED 
When we configure LOGGING_ENABLED to DISABLED code does not
compile. Now it works!
 2015-01-17 10:42:11 +13:00
Andrew Tridgell b8bfa755a9 Plane: raise alpha version 2015-01-09 15:47:47 +11:00
Andrew Tridgell ca431a47a6 Plane: use all_healthy() for SYS_STATUS health 2015-01-09 11:51:51 +11:00
Andrew Tridgell 035b1302ed Plane: updates for new AP_Baro API 2015-01-09 11:50:54 +11:00
Andrew Tridgell 4cb464db83 Plane: reduce the frame size of setup_failsafe_mixing() 2015-01-09 11:38:15 +11:00
Grant Morphett e122c0961e Plane: Arming updated to use RC channel objects not RC channels directly 
The code had g.rc_3.control_in which would bypass the channel mapping and meant
arming could only occur if the throttle was always mapped to channel 3.
Updated to use the channel mapping object.
 2015-01-08 11:55:19 +11:00
Staroselskii Georgii dc410a4b42 Plane: added AK8963 support 2015-01-07 08:41:13 +11:00
Andrew Tridgell a2242305c7 Plane: use common send_opticalflow() 2015-01-03 15:53:35 +11:00
Andrew Tridgell 28f58df310 Plane: send HAGL in OPTICAL_FLOW 2015-01-03 15:44:50 +11:00
Andrew Tridgell 8f571f1225 Plane: make optflow available to AHRS 2015-01-03 14:16:34 +11:00
Andrew Tridgell 8708297341 Plane: update for new OptFlow API 2015-01-03 14:16:33 +11:00
Andrew Tridgell 1e3c23e5a3 Plane: on takeoff set prev_WP_loc to current_loc 2015-01-03 14:07:02 +11:00
Andrew Tridgell 80d1bd230e Plane: report bad AHRS health if uncalibrated accels with EKF 
fixes issue #1720
 2015-01-03 14:06:46 +11:00
Andrew Tridgell ae96a48efc Plane: use location_path_proportion() 
this should produce better glide slopes when the aircraft is off
course
 2015-01-01 15:17:45 +11:00
Randy Mackay 6bec527aa3 Plane: BATT param's underscore moved to library 2014-12-31 15:22:56 +09:00
Randy Mackay 7d18744094 Plane: use battery.voltage2 method for logging 2014-12-31 15:22:55 +09:00
Randy Mackay 5cdb8a4c2a Plane: use battery.has_current 2014-12-31 15:22:54 +09:00
Randy Mackay 9be53502df Plane: remove logging dependecy on optflow 2014-12-31 15:22:41 +09:00
priseborough 195cdb6fd6 Plane: Don't log EKF optical flow data if not required 2014-12-31 13:16:11 +09:00
Randy Mackay 11def53ca7 Plane: pre_arm_gps_check flag always true 2014-12-26 12:32:38 +09:00
Andrew Tridgell eb13395967 Plane: cleanup mavlink_system setup 2014-12-17 11:30:04 +11:00
Andrew Tridgell 976ae14f1f Plane: improve landing aim point calculation 
try to account for wind and current ground speed to dynamically update
glide slope in landing to flare at the right point
 2014-12-15 21:51:08 +11:00
Andrew Tridgell 12f0c49915 Plane: remove fwd of unknown msg types 2014-12-11 12:32:52 +09:00
Andrew Tridgell 507117bd8f Plane: removed use of mavlink_check_target() 2014-12-11 12:31:15 +09:00
Randy Mackay f4fc910fea Plane: send OPTICAL_FLOW msg to GCS 2014-12-08 14:58:32 +09:00
Randy Mackay 2b9bf69c9e Plane: send optflow health in extended status 2014-12-08 14:58:29 +09:00
Andrew Tridgell 0599f1dcb1 Plane: changed version number to 3.2.1alpha1 2014-12-06 18:37:39 +11:00
priseborough f23722ecee Plane: Remove statement about flow driver rate in comment 2014-12-06 18:16:48 +11:00
priseborough ca53d5fb62 Plane: Increase rate at which optical flow sensor is checked 
The sensor driver runs asynchronously at 10Hz, so needs to be checked frequently for arrival of data.
 2014-12-06 18:16:48 +11:00
priseborough 898ad7432b Plane : Only build optical flow with PX4 board 
Fixes SITL compile errors
 2014-12-06 18:16:48 +11:00
priseborough 2500f7e9c2 Plane : Add data logging for optical flow use with EKF 2014-12-06 18:16:48 +11:00
priseborough 2db9247117 Plane : Add logging and EKF read for updated flow sensor interface 2014-12-06 18:16:47 +11:00
priseborough f047e35167 Plane : Enable optical flow by default if sensor is fitted 2014-12-06 18:16:46 +11:00
priseborough 9707989b9f Plane : Preliminary optical flow integration 2014-12-06 18:16:45 +11:00
Andrew Tridgell 7f383facac Plane: re-enable CLI on non-APM1/APM2 boards 2014-12-03 20:14:26 +11:00
Andrew Tridgell c05a0bc67f Plane: prevent a change altitude command from causing a sudden descent 
when a change altitude command comes in while a large glide slope
altitude change is present we could end up using the old glide slope
with the new altitude. This resets the altitude offset, causing a
direct altitude change
 2014-12-03 18:31:23 +11:00
Andrew Tridgell a0f69e06a7 Plane: prevent baro reset from OVERRIDE_CHAN 
using OVERRIDE_CHAN would cause a baro reset as it would mean we are
temporarily disarmed, and the "reset baro and GPS when disarmed" check
would reset the baro

Now we only do the mixer update if disarmed
 2014-11-29 19:55:25 +11:00
Andrew Tridgell c299f721b1 Plane: fixed sense of landing sink rate calculation 
thanks to BretC for reporting
 2014-11-29 07:48:07 +11:00
Andrew Tridgell d1fb137651 Plane: mark development version 3.2.1alpha 2014-11-29 06:59:47 +11:00
Andrew Tridgell 2f0bc1f202 Plane: setup pwm esc scaling 2014-11-26 11:14:44 +11:00
Andrew Tridgell b88e6b6302 Plane: prepare for 3.2.0 release 2014-11-25 13:58:28 +11:00
Andrew Tridgell 19847d8607 Plane: fixed missing break statement 2014-11-25 13:15:25 +11:00
Michael Day 8662aaa878 Plane: Support MAV_CMD_DO_FENCE_ENABLE as a mission item. 2014-11-25 13:02:47 +11:00
Andrew Tridgell 77958f8fd4 Plane: fixed CONTINUE_AND_CHANGE_ALT command 
current_loc should be used, not prev_WP_loc
 2014-11-25 10:44:02 +11:00
Michael Day 95d2e79312 Plane: Keep throwing WP in front plane for CONTINUE_AND_CHANGE_ALT 2014-11-25 10:43:15 +11:00
Michael Day 442c188ae0 Plane: Implementation of MAV_CMD_CONTINUE_AND_CHANGE_ALT. 2014-11-25 10:43:15 +11:00
Kirill A. Kornilov 8071d7c1d3 Plane: use set_radio_trimmed() for flaperons 
See discussion in issue #1425
 2014-11-25 08:20:10 +11:00
Andrew Tridgell b4e01b7936 Plane: if SKIP_GYRO_CAL is set the do a gyro cal on 3D accel cal 
otherwise the user has no opportunity to do a gyro calibration
 2014-11-21 19:09:19 +11:00
Andrew Tridgell 826ae8ee8b Plane: prepare for 3.1.2beta3 2014-11-21 14:50:04 +11:00
Andrew Tridgell c33f54378f Plane: changed preflight calibration to prevent accel cal from MP 
MissionPlanner sends param1=1 and param3=1 for preflight
calibration. This was having the effect of redoing the accel
calibration as 1D cal on every flight!
 2014-11-21 14:46:42 +11:00
Andrew Tridgell 2c7290fdc0 Plane: fixed baro test in CLI 
fixes issue #1623

thanks to klrill-ka
 2014-11-19 21:42:27 +11:00
Andrew Tridgell 2bb7606fba Plane: no need to set flaperons separately from flaperon_update() 
fixes issue #1622

thanks to klrill-ka
 2014-11-19 21:32:49 +11:00
Andrew Tridgell a519e0abb6 Plane: fix build with new mavlink repo 2014-11-18 11:20:08 +11:00
Randy Mackay c74aff56c1 Plane: move MOUNT_STATUS lower in GCS_MAVLink 2014-11-17 15:59:44 -08:00
Arthur Benemann 9ae443f2a2 Plane: append MOUNT_STATUS message to STREAM_EXTRA3 messages 2014-11-17 15:59:31 -08:00
Andrew Tridgell 0672d1fc3c Plane: mark beta2 2014-11-16 14:41:37 +11:00
Andrew Tridgell 34f7daf0fe Plane: started work on 3.1.2 release notes 2014-11-16 14:41:29 +11:00
Andrew Tridgell 78d85dfafc Plane: fixed handling of trim for flapersons 
this allows TRIM_AUTO to work for flaperons

fixes issue #1188
 2014-11-16 14:41:03 +11:00
Andrew Tridgell 8bcbce16ed GCS_MAVLink: show rangefinder status in SYS_STATUS 2014-11-14 15:34:36 +11:00
Evan Slatyer c4093b159f ArduPlane failsafes: remove rc_override_active 
- rc_override_active is never set anywhere in the ArduPlane code; it's only used for Copter and Rover. Removing it significantly simplifies the failsafe code.
- modified code has been tested in SITL. Heartbeat and RC failures in AUTO, CRUISE, and RTL modes (covering the three cases in the failsafe check functions) have been simulated with FS_LONG_ACTN = 0, 1, and 2, FS_SHORT_ACTN = 0, 1, and 2, and FS_GCS_ENABL = 0, 1, and 2. In all cases the results are identical to those with the original code.
 2014-11-14 11:35:27 +11:00
Andrew Tridgell e4ca0e1c5c Plane: fixed comment on negative flaps 2014-11-14 11:29:33 +11:00
Andrew Tridgell ba2e204143 Plane: fixed trim and range handling for flaperons 2014-11-14 11:27:50 +11:00
Andrew Tridgell ed6358730a Plane: fixed failsafe pass-thru for APM2 2014-11-14 11:27:32 +11:00
Andrew Tridgell 7f5cc97769 Plane: changed for new AP_Airspeed API 2014-11-13 21:12:59 +11:00
Andrew Tridgell fa5bab2682 Plane: log raw pressure and offset 2014-11-13 17:49:14 +11:00
Andrew Tridgell 3813bcb7ce Plane: small improvement to takeoff docs 2014-11-13 14:24:37 +11:00
Andrew Tridgell 135f9b2c54 Plane: added STALL_PREVENTION option 
this will allow users to disable it if it proves to be a problem with
no airspeed sensor
 2014-11-13 14:06:00 +11:00
Andrew Tridgell 58fd72944d Plane: honor TKOFF_THR_MAX in set_servos() 
fixes issue #1555
 2014-11-13 11:35:28 +11:00
Andrew Tridgell c8060cb9f7 Plane: use load factor to limit nav_roll_cd 
this calculates the aerodymanic load factor from smoothed airspeed and
uses it to limit roll to keep it below the level where the load factor
would take us past the aerodymanic limit of the airframe
 2014-11-12 13:36:02 +11:00
Andrew Tridgell ba312856ea Plane: provide a temperature to baro from the airspeed sensor 2014-11-12 13:36:02 +11:00
Arthur Benemann 5e2d7b1eaa Plane: Implement MSG_CAMERA_FEEDBACK on planes 2014-11-11 10:31:58 -08:00
Arthur Benemann fe9e68f88c Plane: send feedback to the GCS of pictures taken 2014-11-11 10:31:54 -08:00
Arthur Benemann 92ead67d99 Copter: remove call to camera.configure and control 
The do_take_picture() function must be called for logging to occur.
configure_msg is empty at the moment so the call to this is remove
 2014-11-11 10:31:52 -08:00
Andrew Tridgell 8ee677cfce Plane: fixed CLI build again 
thanks to John Williams for pointing it out
 2014-11-11 21:54:25 +11:00
Andrew Tridgell 44ee1fcd3c Plane: prevent large G_Dt_max report on startup 2014-11-10 07:09:31 +11:00
Andrew Tridgell 19c727c6c2 Plane: change default autotune level to 6 2014-11-08 18:42:35 +11:00
Andrew Tridgell 02d45468d6 Plane: update OVERRIDE_CHAN docs 2014-11-08 18:38:56 +11:00
Andrew Tridgell 34659478c2 Plane: fixed potential division by zero in mixing creation 
also setup failsafe values if already armed, so while loading new
mixer the throttle output doesn't go to zero
 2014-11-08 15:40:35 +11:00
Andrew Tridgell 1e6511b010 Plane: fixed number of channels we pass to PWM limits 2014-11-08 15:40:35 +11:00
Andrew Tridgell 0a318d3a68 Plane: move delay callback setup to after compass and airspeed config 
this ensure parameters sent on startup include compass settings and
airspeed offset
 2014-11-08 15:40:35 +11:00
Andrew Tridgell 7356503e90 Plane: set the PX4IO OVERRIDE_IMMEDIATE flag 2014-11-07 11:30:30 +11:00
Andrew Tridgell 0d2d63980d Plane: limit RC config to 8 channels 
this is a limitation of current px4io.c
 2014-11-07 10:39:07 +11:00
Andrew Tridgell 63561e53fb Plane: handle trims and reversals in px4 mixer creation 2014-11-07 10:39:07 +11:00
Andrew Tridgell e30838a4ef Plane: make OVERRIDE_CHAN behaviour exactly match FLTMODE6 
this provides a convenient "real manual" flight mode
 2014-11-07 10:39:07 +11:00
Andrew Tridgell bfb2a7eb93 Plane: improved FLAPIN_CHANNEL docs 2014-11-07 10:39:07 +11:00
Andrew Tridgell 16fd113020 RC_Channel: added channel_function() 
this is used in the plane mixing code
 2014-11-07 10:39:07 +11:00
Andrew Tridgell 913004beb0 Plane: added OVERRIDE_CHAN parameter 
this allows both for testing PX4IO override on the ground, and for
forced manual override while flying, including re-arming after in-air
reboot
 2014-11-07 10:39:07 +11:00
Andrew Tridgell c494057c98 Plane: add support for generating a PX4 mixer for failsafe 
this creates APM/MIXER.MIX which will be used if the FMU dies to
provide manual control over RC
 2014-11-07 10:39:07 +11:00
Andrew Tridgell 96a87b6990 Plane: added DF logging of 2nd battery voltage 2014-10-30 21:17:17 +11:00
Andrew Tridgell 538cf68005 Plane: removed unused function 2014-10-30 18:23:29 +11:00
Andrew Tridgell ddd27f5acb Plane: increase mav throttle slew rate in generated param docs 2014-10-25 10:06:29 +11:00
Andrew Tridgell e4f7a7f6d2 Plane: removed incomplete DF log of go-around 
the right commands should already be logged. This code would have
logged a lot of uninitialised bytes
 2014-10-24 22:09:41 +11:00
Andrew Tridgell c046273be2 Plane: fixed verify_land() comment for go-around 2014-10-24 22:04:59 +11:00
Andrew Tridgell 1f3e285ed0 Plane: reset commanded_go_around at start of land 
this allows multiple landing attempts
 2014-10-24 22:04:30 +11:00
Andrew Tridgell ad58822cb5 Plane: removed impossible boolean check 2014-10-24 22:04:05 +11:00
Andrew Tridgell 959cd11cb1 Plane: save a byte in auto_state 
keep single bits together to save space on APM2
 2014-10-24 22:03:34 +11:00
Michael Day 01f611daa9 Plane: "Go around" operation. Assumes go around behavior follows land wp. 2014-10-24 21:51:46 +11:00
Andrew Tridgell e434850f1f Plane: move set_mode() after mission.set_current_cmd() 
if set_current_cmd() fails, we don't want to change to AUTO with some
unknown mission item
 2014-10-24 21:51:27 +11:00
Andrew Tridgell 02b80db67c Plane: minor code style change 
use comment and function style consistent with rest of code
 2014-10-24 21:50:18 +11:00
Michael Day c1b949a74f Plane: Bugfix. Changing to landing sequence now works at mission end. 2014-10-24 21:42:06 +11:00
Andrew Tridgell 240e87dc2c Plane: update for new AP_InertialSensor API 2014-10-24 12:10:38 +11:00
Andrew Tridgell 05c325a12a Plane: display min as well as max loop delta_t 2014-10-22 18:27:12 +11:00
Andrew Tridgell 2fc69c7c4c Plane: disable CLI by default 
it really isn't needed any more, and saves 20k of flash on APM2
 2014-10-22 18:27:08 +11:00
Andrew Tridgell f87da51b37 Plane: prevent calling jump_to_landing_sequence() too often 2014-10-20 08:36:20 +11:00
Andrew Tridgell 8d329f6b5a Plane: ignore DO_LAND_START in missions 2014-10-20 08:36:20 +11:00
Andrew Tridgell 1f0840ddf8 Plane: improved RTL_AUTOLAND docs 2014-10-20 08:36:20 +11:00
Andrew Tridgell 9f32bf93d1 Plane: switch to AUTO on a DO_LAND_START MAVLink command 2014-10-20 08:36:20 +11:00
Andrew Tridgell 7ecc87a787 Plane: improved check for reaching RTL point for auto-land 2014-10-20 08:36:20 +11:00
Michael Day be17bfd972 Plane: Added parameter RTL_AUTOLAND and implementation. 2014-10-20 08:36:20 +11:00
Michael Day fe43ae538f Plane: Added support for MAV_CMD_DO_LAND_START 2014-10-20 08:36:19 +11:00
Andrew Tridgell 4c984d9331 Plane: start preparing for 3.1.2 2014-10-13 10:25:53 +11:00
Randy Mackay 6d8e760582 Plane: report gyro unhealthy if failed calibration 2014-10-09 10:00:17 +09:00
Andrew Tridgell 71d786187e Plane: make auto takeoff independent of compass 
this solves a problem of poor initial yaw due to poor compass offsets
causing a takeoff to not be in the direction the plane is pointing. A
summed gyro is used until the GPS speed is above 5m/s for 2 seconds,
then the GPS heading corrected by the summed gyro error is used for L1
based navigation for the rest of the takeoff
 2014-10-07 07:17:46 +11:00
Randy Mackay b17c6d3368 Plane: only report ahrs unhealthy after initialisation 2014-10-02 14:41:28 +09:00
Andrew Tridgell c4b17b74e2 Plane: use handle_set_mode() 2014-10-01 14:19:20 +10:00
Randy Mackay 82225de6fa Plane: allow GCS to turn safety switch on/off 2014-10-01 13:11:50 +10:00
Randy Mackay 7a6b55368e Plane: set sys_status motor outputs bit from safety switch 2014-10-01 13:09:58 +10:00
Randy Mackay 6d3acba04c Plane: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-09-30 15:19:25 +10:00
Andrew Tridgell 4b01cee330 Plane: send heartbeat to AFS when calibrating sensors 2014-09-24 12:02:39 +10:00
Andrew Tridgell 1fa03a49c9 Plane: disable the CLI if AFS failsafe enabled on APM2 
the flash space is a bit too low for both CLI and AFS
 2014-09-24 12:02:38 +10:00
Andrew Tridgell e555b9a855 Plane: improved WP_RADIUS docs 2014-09-12 11:57:43 +10:00
Andrew Tridgell 7b4181dc14 Plane: prepare for 3.1.1 release 2014-09-12 11:07:26 +10:00
Andrew Tridgell 7aad03df28 Plane: minor doc update for fence auto enable 2014-09-11 18:58:54 +10:00
Andrew Tridgell f3d1461d7a Plane: improve the short and long failsafe docs 
thanks to Mark Jacobsen for the analysis!
 2014-09-10 06:56:01 +10:00
Andrew Tridgell bf80a2485f Plane: support acceptance radius for waypoints 2014-09-03 12:38:30 +10:00
Randy Mackay c2cdc0468b Plane: individual accel and gyro status to GCS 2014-09-03 11:22:53 +09:00
Andrew Tridgell 21ed86004a Plane: raise the default WP radius 
with L1 a large radius doesn't mean it turns too early
 2014-08-30 07:43:11 +10:00
Andrew Tridgell 292517b88b Plane: only override takeoff/land flaps if non-zero 2014-08-30 05:16:42 +10:00
Andrew Tridgell 5c96838473 Plane: allow zero throttle in LAND_STAGE_FINAL 2014-08-30 05:15:25 +10:00
Andrew Tridgell 5af4cefff3 Plane: added FLAP_SLEWRATE parameter 
makes for smoother transition of flaps
 2014-08-29 20:31:03 +10:00
Andrew Tridgell f66039c9b4 Plane: added TKOFF_FLAP_PCNT and LAND_FLAP_PERCENT 
easier control of flaps for takeoff and landing
 2014-08-29 20:31:03 +10:00
Andrew Tridgell b94bc0c243 Plane: don't use ground steering until flare in landing 
we need to be able to guide the plane fully in the landing approach
 2014-08-29 20:31:03 +10:00
Andrew Tridgell 988662027e Plane: moved LAND_PITCH_CD into TECS 2014-08-27 20:13:19 +10:00
Andrew Tridgell 186806c768 Plane: lowpass the rangefinder correction, not height 
this should produce less lag as the rangefinder correction should be
changing much less
 2014-08-27 18:25:17 +10:00
Andrew Tridgell 24622030b4 Plane: improved landing glide slope 
we project a point 500m past the landing point to prevent
discontinuites close to the landing point
 2014-08-27 17:14:19 +10:00
Andrew Tridgell a6ee46086c Plane: allow continued use of rangefinder data for 5s after loss of contact 
this allows short outages to be ridden out
 2014-08-27 17:14:19 +10:00
Andrew Tridgell 50f492a69f Plane: added RNGFND_LANDING option 
this allows the use of a rangefinder for landing flare and landing
approach
 2014-08-27 17:14:19 +10:00
Andrew Tridgell b6319a9d19 Plane: keep an estimate of the rangefinder altitude 
only accept data when we have had 10 samples in a row in range at 50Hz
 2014-08-27 17:14:19 +10:00
Andrew Tridgell d0b6676547 Plane: do landing flare if past landing point 
this helps prevent us keeping the throttle on after we've landed if
the baro has drifted enough that we think we are not yet at the flare altitude
 2014-08-27 17:14:19 +10:00
Andrew Tridgell b102c9d19c Plane: use ground steering logic for final stage of auto landing 
this should improve runway tracking
 2014-08-27 17:14:19 +10:00
Andrew Tridgell 5f3ac159ba Plane: start working towards 3.1.1 2014-08-27 17:14:19 +10:00
Andrew Tridgell e880de67ed Plane: prepare for 3.1.0 release 2014-08-26 06:20:37 +10:00
Andrew Tridgell 6e5344bc8d Plane: prepare beta4 2014-08-25 22:20:52 +10:00
Andrew Tridgell cf0741f6fd Plane: don't do failsafe passthru with no RC input 
thanks to Klrill-ka for the suggestion

fixes issue #1302
 2014-08-25 19:45:39 +10:00
Andrew Tridgell 7649907ec2 Plane: run terrain.update() more often 
this provides faster checking of mission waypoints
 2014-08-25 14:55:40 +10:00
Andrew Tridgell daa32f9b62 Plane: reset steering integrator on mode change and when not moving 
this prevents an old integrator from causing problems on takeoff
 2014-08-25 08:20:37 +10:00
Andrew Tridgell f2f730ba9b Plane: added FBWA_TDRAG_CHAN parameter 
this allows for testing taildragger takeoffs in FBWA mode
 2014-08-24 19:39:51 +10:00
Andrew Tridgell 15a7f63d7e Plane: set GPS non-blocking 
the new GPS driver only ever needs a non-blocking port
 2014-08-19 10:08:17 +10:00
Andrew Tridgell 79fa22e4ad Plane: use gcs_send_text_fmt() for SCHED_DEBUG timing 
lets values be saved in mavlink logs
 2014-08-19 10:08:17 +10:00
Andrew Tridgell cf410f8d12 Plane: prepare for 3.1.0-beta3 2014-08-17 18:25:46 +10:00
Andrew Tridgell 1ce3d1d4a4 Plane: update for AFS API change 2014-08-17 18:07:50 +10:00
Andrew Tridgell 9fff67ec89 Plane: update for APM_OBC API change 2014-08-17 09:13:29 +10:00
Randy Mackay c107f1da69 Revert "Plane: use rcmap when sending radio_in to GCS" 
This reverts commit 441f23eed4.
 2014-08-16 20:31:21 +09:00
Randy Mackay 441f23eed4 Plane: use rcmap when sending radio_in to GCS 2014-08-16 15:27:35 +09:00
Randy Mackay 7d7272520e Plane: use baro healthy() 
Use baro last update time in place of healthy to determine whether HIL
sensor updates have started
 2014-08-14 16:03:28 +09:00
Randy Mackay b619c3956c Plane: report baro health to GCS 2014-08-14 16:02:52 +09:00
Andrew Tridgell da7f871e34 Plane: prevent set_target_altitude_proportion() past dest waypoint 
otherwise we could start climbing again on land
 2014-08-14 09:49:52 +10:00
Andrew Tridgell c06067c71b Plane: fixed non-terrain landing 2014-08-14 08:04:06 +10:00
Andrew Tridgell dad95648a0 Plane: split landing code into landing.pde 
this is in preparation for more complex landing code using the
rangefinder
 2014-08-13 21:38:05 +10:00
Andrew Tridgell 7def71d43a Plane: improved landing approach and flare 
flare if we are within the specified time of landing either vertically
or horizontally
 2014-08-13 21:38:05 +10:00
Andrew Tridgell 165993dbf5 Plane: allow steering right through the landing 
this allows a small degree of steering right through the landing,
which makes it possible to have a turn just before landing
 2014-08-13 21:35:26 +10:00
Andrew Tridgell ce9b14f0c8 Plane: convert to using StorageManager 2014-08-13 18:46:44 +10:00
Andrew Tridgell 817164914e Plane: added airspeed simulation in HIL 2014-08-10 18:17:12 +10:00
Andrew Tridgell e6f5a31944 Plane: prepare for 3.1.0-beta2 2014-08-10 07:20:29 +10:00
Andrew Tridgell 0d7d6e1d2a Plane: zero loc structure in HIL_STATE handling 
this avoids av AVR bug in HIL
 2014-08-09 22:50:15 +10:00