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200 Commits

Author SHA1 Message Date
Peter Barker
212174bc0e Plane: remove unused defines 2017-08-24 19:48:17 +09:00
Peter Barker
8272fb8fa2 Plane: remove unused repeating events defines 2017-08-22 09:58:12 -07:00
Andrew Tridgell
fedd2c558c Plane: added AETR log message 
this makes debugging mixers much easier
 2017-08-01 08:25:32 +10:00
Andrew Tridgell
dd4f56dd98 Plane: added PIQ messages for quadplane PIDs 
keep them separate from fixed wing PIDs, so we can watch the
interaction between the PIDs in transitions
 2017-03-14 14:42:20 +11:00
Andrey Kolobov
35d406aeab Plane: added a soaring controller to Arduplane 2017-03-14 08:53:10 +11:00
Mathieu OTHACEHE
152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell
d6890495aa Plane: added swapped channel version of elevon/vtail/flaperon output 
this makes it possible to setup an elevon plane without changing the
transmitter reversals
 2016-09-14 11:48:05 +10:00
Tom Pittenger
b187e1f9a6 Plane: add reason to set_mode() 2016-08-17 22:38:54 -07:00
Tom Pittenger
ca32bcc58d Plane: add new flight mode AVOID_ADSB to mimic GUIDED 2016-08-17 22:38:54 -07:00
Randy Mackay
413f82bac1 Plane: remove unused definitions 2016-06-18 11:55:49 +09:00
Andrew Tridgell
574ba71ef3 Plane: update for AP_TECS API change 2016-05-14 08:26:10 +10:00
Andrew Tridgell
dcb24f2bc1 Plane: use DataFlash::log_while_disarmed() 2016-05-09 12:05:25 +10:00
Andrew Tridgell
4666b25258 Plane: initial implementation of QRTL for quadplane RTL 2016-04-30 14:34:47 +10:00
Andrew Tridgell
27fb35253c Plane: added in-flight transmitter tuning 2016-04-16 20:26:43 +10:00
Andrew Tridgell
4d7beab8cc Plane: added QTUN logging for quadplane 2016-03-25 12:33:19 +11:00
Lucas De Marchi
e01d49ff53 ArduPlane: replace header guard with pragma once 2016-03-16 18:40:45 +11:00
Andrew Tridgell
f4ccf94dfc Plane: added QLAND mode 
for VTOL landing. Use for failsafe as well
 2016-03-09 18:20:41 +11:00
Peter Barker
ca4017d093 Plane: defines.h should not use defines from config.h 
config.h includes defines.h early, so defines in config.h are unavailable
 2016-02-19 12:34:23 -02:00
Tom Pittenger
2e92089ce6 Plane: Reverse Thrust 
Reverse thrust for controlled landings, even with much steeper approach slopes. This is achieved by allowing throttle demand to go negative to maintain a target airspeed. A Pre-Flare stage was added, triggered by an altitude, to allow for a slower airspeed just before land. That lower airspeed can be near stall.
new params LAND_PF_ALT, LAND_PF_SEC, LAND_PF_ARSPD, USE_REV_THRUST
 2016-02-09 14:18:02 +11:00
Andrew Tridgell
d82c8dcd6d ArduPlane: update for changed AP_Camera API 2016-01-29 09:19:44 +11:00
Dario Lindo Andres
9bba55f937 ArduPlane: Added precise camera trigger logging 
Added update_trigger and check_digital_pin functions
added camera trigger precise time mark
detect camera feedback pin status
added support for simple digital pin
included support for digital pin. Already included in
added support for TRIGGER MSG
 2016-01-29 09:19:43 +11:00
Andrew Tridgell
2983576067 Plane: added QLOITER mode 
quadplane loiter
 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
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
Andre Kjellstrup
39797529fd GCS_Failsafe: defines for new failsafe option 2015-06-18 07:52:42 +10:00
Andrew Tridgell
8359b75201 Plane: removed NOINLINE define 2015-05-21 09:35:55 +10:00
Andrew Tridgell
1a7d831327 Plane: support raw IMU logging 2015-05-07 12:11:52 +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
Andrew Tridgell
b0cdf8952b Plane: added HIL_MODE parameter 
this allows for HIL with any firmware
 2015-03-13 22:52:56 +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
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
5a01933b7b Plane: use dataflash Log_Write_Airspeed() 2015-01-20 09:10:57 +11:00
priseborough
2500f7e9c2 Plane : Add data logging for optical flow use with EKF 2014-12-06 18:16:48 +11:00
Andrew Tridgell
ce9b14f0c8 Plane: convert to using StorageManager 2014-08-13 18:46:44 +10:00
Andrew Tridgell
fcbdcb520a Plane: rename enum for Telem2Protocol 2014-07-30 14:49:20 +10:00
Matthias Badaire
57253fc2ee Rover: Add SERIAL2_PROTOCOL for GCS and FRSky telemtry 
This allows selection of protocol type on telem2. The default is MAVLink, but can be selected as FrSky protocol
 2014-07-29 17:08:20 -07:00
Andrew Tridgell
ae29a24348 Plane: use sensors from board subtypes 2014-07-14 09:44:35 +10:00
Andrew Tridgell
f6bba74fb6 Plane: enable MPU9250 for Linux build 2014-07-14 09:44:34 +10:00
Andrew Tridgell
5aa58d2ab5 Plane: support 3 magnetometers 2014-07-04 12:49:25 +10:00
Randy Mackay
ac65119cfe Plane: use common Log_Write_Camera 
pair programmed with Craig Elder
 2014-06-17 14:11:47 +10:00
Randy Mackay
2a298d0ea4 Plane: remove RALLY_WP_SIZE definition 2014-04-19 15:00:32 +09:00
Andrew Tridgell
1bce4239a3 Plane: added AUTOTUNE flight mode 
this is just like FBWA, but with automatic roll/pitch tuning
 2014-04-12 14:12:14 +10:00
Emile Castelnuovo
a111d174c1 Plane: added VRBRAIN #defines and #includes 2014-04-08 16:19:20 +10:00
Andrew Tridgell
e19341ca32 Plane: convert to new GPS driver API 2014-04-01 06:38:24 +11:00
Michael Day
25f23cf16c Plane: Sends MAV_SYS_STATUS_GEOFENCE and also allows GCS to enable/disable fence. 2014-03-27 09:26:20 +11:00
Andrew Tridgell
e8b9f22b01 Plane: updates for GPS changes 2014-03-24 12:04:31 +11:00
Randy Mackay
790a907811 Plane: use Dataflash lib's Log_Write_Cmd 2014-03-19 12:12:08 +09:00
Randy Mackay
693ce27bf6 Plane: pass eeprom start to Mission constructor 2014-03-19 12:11:58 +09:00
Randy Mackay
0827506533 Plane: remove unused WAIT_COMMAND 2014-03-19 12:11:24 +09:00
Randy Mackay
e88f1953d0 Plane: use common location options masks 2014-03-19 12:10:21 +09:00
Andrew Tridgell
1001df0e56 Plane: removed extra log enum 2014-02-15 05:48:23 +11:00
Andrew Tridgell
a7faa58879 Plane: fixed up merge errors 2014-02-15 05:48:23 +11:00
Andrew Tridgell
2817a11f23 Plane: added AHR2 and SIM logging 2014-02-15 05:48:14 +11:00
Andrew Tridgell
e39247868c Plane: cleanup HIL defines 2014-02-15 05:29:46 +11:00
Andrew Tridgell
2cd6efa23e Plane: added DF logging of secondary AHRS solution 2014-02-15 05:29:45 +11:00
Paul Riseborough
d6ead64083 Plane : Additional NavEKF flash logging 2014-02-15 05:28:08 +11:00
Andrew Tridgell
ce9047cec5 Plane: added dataflash logging of EKF data 2014-02-15 05:28:07 +11:00
Andrew Tridgell
dfa95b3464 Plane: moved the always log flag to 1<<16 
this prevent problems with transferring the bitmask as a float
 2014-02-14 21:51:00 +11:00
Andrew Tridgell
906fc17905 Plane: added baro and airspeed logging 
including raw temperature and pressure values
 2014-01-28 10:35:59 +11:00
Andrew Tridgell
3a5fb46dc2 Plane: fixed integer size problem on APM2 2014-01-14 21:27:39 +11:00
Andrew Tridgell
8755747da0 Plane: only log when armed by default 
use safety switch if arming not enabled
 2014-01-14 13:07:43 +11:00
Andrew Tridgell
263f3b116b Plane: added FS_GCS_ENABL==2 option 
this allows GCS failsafe when the GCS isn't getting updates from the
aircraft
 2013-12-20 11:39:00 +11:00
Andrew Tridgell
508817d617 Plane: moved ap_message into GCS.h 2013-12-17 11:51:35 +11:00
Michael Day
b0a0316dd6 Plane: Now using AP_Arming library. 2013-12-11 17:29:23 +11:00
Andrew Tridgell
6ed21c12db Plane: added logging of 2nd compass 2013-12-10 15:32:11 +11:00
Andrew Tridgell
6b4a3ef98b Plane: added MAVLink sonar logging 2013-11-28 21:49:27 +11:00
Andrew Tridgell
5a0cb5dea4 Plane: added sonar logging to dataflash 2013-11-28 21:49:27 +11:00
Andrew Tridgell
a05a32dbda Plane: added RCIN and SRVO logging 2013-11-26 09:04:43 +11:00
Andrew Tridgell
3289041428 Plane: added MAVLink SYSTEM_TIME message 2013-10-24 14:22:47 +11:00
Andrew Tridgell
e6af7dad3d Plane: switched to L3G4200D driver for Linux 2013-10-08 11:50:54 +11:00
Michael Day
497c95de8e Plane: Add support for rally points. 
Added parameter RALLY_TOTAL.

Added handlers for new MAVLink messages RALLY_POINT and
RALLY_FETCH_POINT.

defines.h modified to make room in EEPROM to store rally points.

rally.pde added and is responsible for ensuring rally points get
stored in the correct spot in EEPROM.

Multiple Rally/RTL point support now done.  If rally points have
been defined, then when RTL mode is entered, the closest Rally
point is chosend and the plane loiters at that point.

Note only 10 rally points can be defined; this is to save space in
the APM's EEPROM.
 2013-10-03 12:21:08 +10:00
Randy Mackay
9388ea3848 Plane: integrate BattMonitor exhausted method 
BatteryMonitor object made static
Removed unused macros for battery voltage and current monitoring
 2013-10-03 11:16:21 +09:00
Andrew Tridgell
287db19119 Plane: updates for Stub -> HIL 2013-09-28 22:04:15 +10:00
Mike McCauley
aa800472be Plane: defines.h added Flymaple INS 2013-09-24 13:51:28 +10:00
Andrew Tridgell
51b9cf3e76 Plane: move failsafe variables into a structure 
this makes the logic a bit easier to follow
 2013-07-22 12:50:00 +10:00
Andrew Tridgell
dbd47b2a30 Plane: make TECS the default speed/height controller 2013-07-15 11:12:24 +10:00
Andrew Tridgell
113bc20f8a Plane: added a new CRUISE flight mode 
See
http://diydrones.com/group/apmusergroup/forum/topics/feature-request-hold-heading-mode

this fixes issue #438
 2013-07-13 21:45:58 +10:00
Andrew Tridgell
f300df5fd1 Plane: added FS_LONG_TIMEOUT and FS_SHORT_TIMEOUT parameters 
this is to address the issue raised here:

http://diydrones.com/forum/topics/ardupilot-circle-mode
 2013-07-12 11:56:04 +10:00
Andrew Tridgell
608007361b Plane: added initial implementation of ACRO mode 
rate based control with attitude locking
 2013-07-11 09:10:41 +10:00
Andrew Tridgell
3c177867a4 Plane: allow enable/disable of camera log messages in CLI 2013-07-10 12:23:36 +10:00
Paul Riseborough
d62636d309 Plane: added new TECS altitude controller 
Includes improvements to takeoff/launch detect logic to support hand
launching for X-8 flight
 2013-07-04 16:56:57 +10:00
Andrew Tridgell
a1f64d606a Plane: fixed remaining places where primary channel ordering was assumed 
should now use rcmap for all inputs
 2013-06-03 16:23:48 +10:00
Andrew Tridgell
b940c4b28e Plane: use library gcs_severity 2013-05-09 09:28:57 +10:00
Andrew Tridgell
4e2b88f6e6 Plane: added ATT_CONTROLLER option to select attitude controller 
set to 1 for the new APM_Control library
 2013-05-05 21:51:09 +10:00
Andrew Tridgell
3d7a4d0e6e Plane: added ELEVON_OUTPUT option 
this is like the vtail mixer, but for elevons
 2013-04-29 12:13:59 +10:00
Andrew Tridgell
0c5b393919 Plane: added compass logging 2013-04-20 13:52:36 +10:00
Andrew Tridgell
c56f338fe0 Plane: convert to new logging system 2013-04-20 13:52:36 +10:00
Andrew Tridgell
c8af70a18d Plane: make the plane code compatible with the new logging system 
not actually converted yet
 2013-04-20 13:52:36 +10:00
Andrew Tridgell
575f346e85 Plane: removed HIL_MODE_ATTITUDE 
we really need full sensors for HIL with the L1 controller. The flight
is also _much_ better with sensors HIL.
 2013-04-12 17:44:40 +10:00
Andrew Tridgell
406921faf1 Plane: added VTAIL_OUTPUT option 
this allows for software vtail mixing
 2013-04-05 15:22:11 +11:00
Andrew Tridgell
a69c9ff674 Plane: added logging of DIGICAM events 2013-04-02 13:08:38 +11:00
Andrew Tridgell
2506c216dd Plane: added a second type of stick mixing 
this changes STICK_MIXING from a boolean to a tri-state. With
STICK_MIXING=1 it now uses FBW style mixing. With STICK_MIXING=2 it
uses the old style of direct stick mixing.
 2013-04-02 08:52:56 +11:00
Andrew Tridgell
2331c84423 Plane: use voltage_average() to not depend on INPUT_VOLTS 2013-03-03 16:16:01 +11:00
Jochen Tuchbreiter
c5f19f5df8 Plane: Implement issue 80: counterclockwise loiter 
- libraries/AP_Common/AP_Common.h: Use bit 2 of Location.options to store
  loiter direction
- ArduPlane/defines.h: New bitmask MASK_OPTIONS_LOITER_DIRECTION for struct
  Location bit 2
- ArduPlane/ArduPlane.pde: New variable loiter_direction
- ArduPlane/GCS_Mavlink.pde: For mavlink loiter-commands use sign of param3 to
  detemine direction. Set Location.option flag accordingly
- ArduPlane/commands.pde: Make sure loiter-directions get saved into EEPROM
  correctly
- ArduPlane/commands_logic.pde: Set loiter_direction on all loiter-actions
  as well as RTL/instant loiter
- ArduPlane/navigation.pde: Yield loiter_direction in update_loiter
 2013-02-05 10:29:31 +11:00
Randy Mackay
7297a1ff83 Plane: renamed RAW dataflash message to IMU 2013-01-26 17:29:29 +09:00
Randy Mackay
e674626fd6 Plane: rename CUR and CURR to CURRENT for logging 
Based on user complaint that log was enabled/disabled using CUR while
message that appeared in log was CURR.
 2013-01-26 17:19:42 +09:00
Randy Mackay
6f46f4a7d0 Plane: logging changes to use new faster packet method 
also RAW message renamed to IMU
 2013-01-26 17:07:21 +09:00
Andrew Tridgell
4d9a74d742 Plane: cleanup driver declaration 
remove a lot of the #if nesting
 2013-01-21 16:08:55 +11:00