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3461 Commits

Author SHA1 Message Date
Michael du Breuil
3aed07a83a Plane: Create a scripting object 2018-10-09 10:08:52 +11:00
Michael du Breuil
02d37d43d2 Plane: Disallow climbs during TRANSITION_AIRSPEED_WAIT 2018-10-02 09:35:47 +10:00
Michael du Breuil
b945970914 Plane: Fix FLIGHT_OPTIONS bitmask doc 2018-09-27 17:20:49 +01:00
Michael du Breuil
b2ef6b901e Plane: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Michael du Breuil
b6efc8a20b Plane: reduce some copy pasted code 2018-09-20 13:47:21 -07:00
Andrew Tridgell
adf318ce06 Plane: release notes for 3.9.2beta3 2018-09-20 07:17:34 +10:00
Leonard Hall
13c27e0eb8 Plane: Missing Loiter Init on accel 2018-09-19 17:29:55 +09:00
Andrew Tridgell
0e0d847f7f Plane: updated release notes for 3.9.2beta2 2018-09-15 16:11:04 +10:00
Andrew Tridgell
5136b90d27 Plane: do attitude relax after 100ms 2018-09-15 11:00:29 +10:00
Leonard Hall
e50414d8b9 Plane: Log VTOL targets in ATT message in VTOL mode 2018-09-15 11:00:29 +10:00
Leonard Hall
7372a7b5f9 QuadPlane: Remove repeat I term reset 2018-09-15 11:00:29 +10:00
Andrew Tridgell
ef154cf3fa Plane: fixed relaxing of attitude controller on transition 
this fixes an issue found by Leonard where the attitude controller
could have residual control left over from a previous transition when
engaging the VTOL attitude controller
 2018-09-15 11:00:29 +10:00
Andrew Tridgell
2215913b02 Plane: added speed scaling reduction for Q modes 
when in a Q mode reduce surface movements at low airspeed, in case we
have the wind from behind us. This prevents the control surfaces from
causing instability
 2018-09-14 19:28:29 +10:00
Andrew Tridgell
2d3942222b Plane: handle reverse thrust in AFS failsafe 
and zero differential thrust
 2018-09-13 08:15:02 +10:00
Andrew Tridgell
455f15a157 Plane: handle twin motor planes for AFS failsafe 2018-09-13 08:15:02 +10:00
Andrew Tridgell
6707c8af36 Plane: update release notes for 3.9.2beta1 2018-09-12 16:33:49 +10:00
Andrew Tridgell
aa1548e404 Plane: fixed throttle when terminated 
thanks to Michael Thomas for reporting this
 2018-09-12 14:13:33 +10:00
Randy Mackay
d6a102234e Plane: rename rudder_arming to get_rudder_arming_type 2018-09-11 19:34:39 +10:00
Randy Mackay
b61b25e5bf Plane: minor format fix to Parmeters.cpp 2018-09-11 19:34:39 +10:00
Randy Mackay
96d494c2e8 Plane: use parent AP_Arming rudder value 2018-09-11 19:34:39 +10:00
Michael du Breuil
f150cae75a Plane: Allow center throttle to be trim airspeed in cruise 2018-09-11 09:07:00 +10:00
Michael du Breuil
ee96c53844 Plane: Don't go to minimum airspeed when in RC failsafe in cruise/fbwb 2018-09-11 09:07:00 +10:00
Michael du Breuil
f9e56f9d12 Plane: Respect frame type on VTOL_TAKEOFF commands 
allow missioncommands to fail to start
 2018-09-11 06:42:00 +10:00
Peter Barker
b574f4c1fc Plane: move support for inverted flight to rc-aux-switch 
Functional change here; if someone de-configures the rc aux switch in
flight they will remain inverted
 2018-09-07 09:07:40 +10:00
Peter Barker
4ad1869f43 Plane: add arm/disarm on aux switch 2018-09-06 08:26:50 +10:00
Peter Barker
901664ce09 Plane: add support for RCn_OPTION (servorelay,camera) 
Closes #7071
Closes #7666
 2018-09-05 13:44:07 +10:00
Michael du Breuil
925d76bb8c Plane: Small cleanup to quadplane const (and clarity) 2018-09-04 15:11:41 +10:00
Leonard Hall
e11c7c6069 QuadPlane: remove true from init of loiter 2018-09-04 13:37:28 +09:00
Peter Barker
1aa75e4c3e Plane: use camera singleton to get camera rather than callback 2018-08-31 15:48:56 +10:00
Peter Barker
558158c62a Plane: GCS_MAVLink uses compass singleton, stop implementing get_compass 2018-08-31 15:48:56 +10:00
Andrew Tridgell
066c26e445 Plane: updated 3.9.1 release notes 2018-08-31 12:35:59 +10:00
Michael du Breuil
3098744777 Plane: Fix a stale rudder input that was left from rebase 2018-08-28 10:44:17 +10:00
Michael du Breuil
8417bcc7d5 Plane: Add flight options bitmask 2018-08-28 09:40:53 +10:00
Andrew Tridgell
d1f419b530 Plane: updated release notes for 3.9.1beta3 2018-08-23 13:30:14 +10:00
Michael du Breuil
e4bbcd5ee3 Plane: Don't initilize motors with a trim value 2018-08-23 13:19:08 +10:00
Andrew Tridgell
d9b72f6821 Plane: reset rudder input during RC failsafe 2018-08-23 12:55:11 +10:00
Michael du Breuil
9ed5184d98 Plane: Remove unneeded ServoRelayEvent mask set 2018-08-20 21:31:06 -07:00
Michael du Breuil
fa1ad09a3b Plane: Remove unneeded rudder set 2018-08-21 08:32:56 +10:00
Andrew Tridgell
b11552e945 Plane: update release notes for 3.9.1beta2 
# Conflicts:
#	ArduPlane/release-notes.txt
 2018-08-17 20:43:02 +10:00
Alexander Malishev
001948d40c Plane: publish navigation info to OSD 2018-08-16 10:26:34 +10:00
Michael du Breuil
c8cb5b9e0f Plane: Log target airspeed to NTUN messages 2018-08-09 11:53:05 +10:00
Michael du Breuil
3d923d0572 Plane: Send a quadplane version of NAV_CONTROLLER_OUTPUT 2018-08-07 09:49:01 +10:00
Randy Mackay
903d00c4b2 Plane: remove compass accumulate 2018-08-06 11:05:34 +10:00
Andrew Tridgell
690bbcdaad Plane: release notes for 3.9.0 2018-08-06 10:44:29 +10:00
Andrew Tridgell
c964a393c0 Plane: fixed RC_Channels parameter docs 2018-08-04 12:28:38 +10:00
Peter Barker
9ce02bc504 Plane: minimal support for inheritting from RC_Channel 2018-08-01 12:11:30 +09:00
Michael du Breuil
eea8267704 Plane: Update notify initilization 2018-08-01 09:22:09 +10:00
Andrew Tridgell
4f2508d89f Plane: updated release notes for 3.9.0beta6 2018-07-30 18:18:53 +10:00
Andrew Tridgell
1d675390ab Plane: make soaring an optional build feature 
this disables soaring on px4-v2, saving 5k of flash

This is needed to consider pr #9042, which takes a lot of flash space
 2018-07-30 13:09:15 +10:00
Andrew Tridgell
16c7ab81dc Plane: pass rc_speed to motor backend constructors 
this sets the right speed as early as possible
 2018-07-28 15:25:57 +10:00
Andrew Tridgell
a4d3b08d87 Plane: release notes for 3.9.0beta5 2018-07-19 12:42:27 +10:00
IamPete1
20c67019b0 Plane: added Q_TAILSIT_THSCMX 
this provides more flexibility in tailsitter throttle scaling
 2018-07-19 09:48:25 +10:00
Andrew Tridgell
149a6af48f Plane: releases notes for plane 3.9.0beta4 2018-07-18 20:45:02 +10:00
Andrew Tridgell
07187f7797 Plane: fixed ARMING_REQUIRE=2 for dual-motor planes 
many thanks to Marco for finding this bug!
 2018-07-18 19:58:02 +10:00
Michael du Breuil
f25726fbb1 Plane: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Andrew Tridgell
ad55605605 Plane: update version to 3.10.0-dev 2018-07-06 11:01:05 +10:00
Andrew Tridgell
db1f1a42d6 Plane: updated 3.9.0beta2 release notes 2018-07-06 10:59:55 +10:00
Peter Barker
94ad85a67d Plane: handle MAV_CMD_ACCELCAL_VEHICLE_POS in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker
d077723028 Plane: handle command_int in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker
d76e7d210b Plane: handle command_long in GCS base class 2018-07-06 09:43:09 +10:00
Andrew Tridgell
1d91f18177 Plane: fixed version for enums 2018-07-05 11:10:31 +10:00
Andrew Tridgell
bd4515947a Plane: updated release notes 2018-07-05 11:10:27 +10:00
Peter Barker
85f339caae Plane: remove annoying ice_update shim 2018-07-04 21:08:47 +01:00
Peter Barker
e404562544 Plane: remove vexing button_update shim 2018-07-04 21:08:47 +01:00
Peter Barker
c42fb6d797 Plane: remove pointless rangefinder_init shim function 2018-07-04 21:08:47 +01:00
Peter Barker
4502fd21c3 Plane: use compass singleton for logging 2018-07-04 20:11:27 +01:00
Peter Barker
3bfa4c8678 Plane: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
Peter Barker
320e24af65 Plane: move mavlink reboot code up to base class 2018-07-03 12:12:25 +10:00
Jacob Walser
4eb00ac779 Plane: refactor output_test -> output_test_seq 2018-07-02 11:31:58 -04:00
Lucas De Marchi
1a45aa12f5 AP_Param: warn on last pass only about unknown parameters 
Do not warn about unknown parameters on the first pass, i.e. when
AP_Param:load_all() is called. This is because we may still not know
about dynamically loaded parameters. When we call the second (last)
time, we expect to already know all possible parameters, so print a
warning to both console and the debug terminal.
 2018-06-28 10:18:19 -07:00
Lucas De Marchi
7f0d5ddf21 AP_Param: stop panic()'ing on unknown parameters 
Our track record on keeping parameters up to date with master is not
great and panic()'ing when loading them apparently is not helping
because every and each vehicle has a different file.

On aerofc load_defaults_file() is used in the same way as
load_embedded_param_defaults() is in which the panic() behavior has been
previously removed.

This finishes the removal of the panic param and add warnings to the
debug console when reading the parameters (rather than when counting
them).
 2018-06-28 10:18:19 -07:00
Andrew Tridgell
bc503cc600 Plane: moved OSD to top level params 
this is to give lots of depth for OSD params (which will be very
complex)
 2018-06-27 14:55:00 +10:00
Alexander Malishev
75bf6984f5 Plane: added OSD support 2018-06-27 14:55:00 +10:00
Michael du Breuil
1c276e6af7 Plane: Remove unneeded wrapper functions 
Also removes unneeded battery failsafe flag clearing
 2018-06-27 11:39:35 +10:00
Peter Barker
23919daf11 Plane: use arming check_failed function 2018-06-23 15:33:19 +10:00
Andrew Tridgell
d454bc555e Plane: added ESC_TELEMETRY to mavlink streams 2018-06-21 10:48:02 +10:00
Peter Barker
f984e5e31d Plane: use magic force arm/disarm definitions 2018-06-20 11:43:38 +10:00
Peter Barker
f5e241af01 Plane: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
Peter Barker
2b7f9247e8 Plane: use AP_FWVersion singleton 2018-06-18 19:10:37 +01:00
Peter Barker
9824832523 Plane: use AP_RTC 
Plane: AP_GPS now sets the system time directly
 2018-06-15 08:01:22 +10:00
Michael du Breuil
12da35220c Plane: Simplify radio trimming, improve MAVLink report 2018-06-11 16:29:36 -07:00
Michael du Breuil
fae8d1e489 Plane: Log navigation target location 
Closes #4358
 2018-06-12 09:08:58 +10:00
Peter Barker
2cdcca2841 Plane: move handling of MAV_CMD_DO_GRIPPER up 2018-06-11 19:07:39 +01:00
Andrew Tridgell
d8a7618e15 Plane: update use of AC_Loiter controller for quadplane 
this changes the way the loiter controller is initialised for QLOITER,
after discussions with Leonard.

The way we were doing it could cause a sudden acceleration demand when
switching into QLOITER.

This also changes the default loiter parameters to reduce the maximum
acceleration that will be applied in QLOITER. Many thanks to Leonard for
the advice
 2018-06-11 08:40:58 +09:00
Michael du Breuil
47c0048499 Plane: Remove manual polling of flap input channel 2018-06-05 09:51:09 +10:00
Michael du Breuil
a98a8d0789 Plane: Update to support new RC_Overrides conventions 2018-06-05 09:51:09 +10:00
Michael du Breuil
749861f8ad Plane: Only send healthy airspeed reports 2018-06-05 09:27:19 +10:00
Michael du Breuil
44f2a652f3 Plane: Remove software type param 2018-06-05 09:14:12 +10:00
Peter Barker
9437e893e5 Plane: move try_send_message handling of EKF_STATUS_REPORT up 2018-06-01 16:12:45 +01:00
Peter Barker
ac729f4614 Plane: lock home when it is set from the GCS 2018-05-29 14:38:45 +10:00
Peter Barker
18c4823427 Plane: return MAV_RESULT_ACCEPTED for setting home to current location 2018-05-29 14:38:45 +10:00
Peter Barker
bc9df01d21 Plane: remove sending of statustext for home location 2018-05-29 14:38:45 +10:00
Peter Barker
22306c370b Plane: factor out a Plane::set_home 2018-05-29 14:38:45 +10:00
Peter Barker
ad600fff68 Plane: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Peter Barker
5a087ee7e2 Plane: create persist_streamrates() callback to indicate persistence 2018-05-29 13:08:29 +10:00
Peter Barker
8b4ffb11f5 Plane: move sending of vfr_hud up 2018-05-29 13:00:40 +10:00
Tom Pittenger
4dca1c48f2 Plane: update vehicle max_speed to ADSB library 2018-05-23 14:02:45 -07:00
Peter Barker
ef77bea4eb Plane: move sending of simstate up 2018-05-23 18:36:50 +10:00
Peter Barker
2a68eca273 Plane: add type-correctness for stream messages 2018-05-22 11:21:25 +10:00
Peter Barker
2112d76b75 Plane: move try_send_message of servo-output-raw up 2018-05-21 19:08:08 +01:00
Andrew Tridgell
ce73918873 Plane: fixed throttle_percentage for twin engine planes 
there is no servo output for function 70 - use the scaled value
 2018-05-21 14:39:56 +10:00
Andrew Tridgell
805b159fd4 Plane: update release notes for 3.9.0 2018-05-21 14:38:35 +10:00
Peter Barker
cdf4128900 Plane: move sending of POSITION_TARGET_GLOBAL_INT up 2018-05-18 20:26:37 +10:00
Peter Barker
57cc0cac97 Plane: GCS_MAVLink base class now uses same ekf call to get alt 2018-05-17 15:48:06 +01:00
Peter Barker
5aefb90e61 Plane: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker
1545b9b161 Plane: remove arguments to send_home and send_ekf_origin 2018-05-17 20:42:36 +10:00
Peter Barker
6f8339028e Plane: move send_attitude into GCS_MAVLINK_Plane 2018-05-17 18:28:43 +10:00
Peter Barker
1f9d1ee5a2 Plane: move try_send_message sending of scaled_pressure up 2018-05-17 15:37:14 +10:00
Peter Barker
0e3ad3f023 Plane: move try_send_message sending of sensor offsets up 2018-05-17 15:37:14 +10:00
Peter Barker
e6411c6804 Plane: move try_send_message of RAW_IMU up to GCS_MAVLINK 2018-05-17 15:37:14 +10:00
Peter Barker
7afd056e98 Plane: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Peter Barker
052b76d017 Plane: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Michael du Breuil
fcf6c69a5b Plane: AP_Proximity is now a common library 2018-05-16 23:21:41 +01:00
Michael du Breuil
499df8e0b3 Plane: Move MAVLink rangefinder up to parent 2018-05-16 23:21:41 +01:00
Michael du Breuil
8afc96097b Plane: Send all distance sensors 2018-05-16 23:21:41 +01:00
Michael du Breuil
b479f3760a Plane: Remove some unneeded logging indirection 
Saves 32 bytes on make px4-v2
 2018-05-16 20:34:00 +10:00
Peter Barker
eb026e0a5f Plane: correct compilation when logging is disabled 2018-05-10 17:55:13 +09:00
Peter Barker
8da8c616f6 Plane: move sending of battery data up 2018-05-09 11:40:31 -07:00
Peter Barker
0fec702ba6 Plane: move data stream send up 2018-05-09 16:15:38 +10:00
Peter Barker
e10c23bd43 Plane: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Andrew Tridgell
8d996112ec Plane: don't do throttle ESC scaling for quadplanes 2018-05-09 14:17:15 +10:00
Peter Barker
1dcd731005 Plane: AP_RSSI is included in build for all vehicles 2018-05-08 12:33:32 +01:00
Peter Barker
68497f27fa Plane: move try_send_message handling of RC_CHANNELS up 2018-05-08 12:33:32 +01:00
Peter Barker
8df625e81a Plane: move try_send_message of heartbeats up to GCS_MAVLINK 2018-05-07 11:30:13 -06:00
Peter Barker
c1680d90a6 Plane: move try_send_message handling of VIBRATION up 2018-05-07 11:23:28 -06:00
Peter Barker
2e3a7fc5b6 Plane: remove rcmap member from AP_AdvancedFailsafe 2018-05-05 18:06:31 +09:00
Andrew Tridgell
c20351202d Plane: document TKOFF_THR_SLEW = -1 for takeoff 2018-04-26 15:59:06 +10:00
Andrew Tridgell
badea86fbd Plane: remove old pde file 
this was here for upgrading very old MissionPlanner versions. We can
remove it now
 2018-04-26 14:25:01 +10:00
Michael du Breuil
2deac7238c Plane: Support new RC_Channels::read_input() 2018-04-26 08:00:09 +10:00
Andrew Tridgell
7208fe96d5 Plane: update release notes for 3.8.5 2018-04-25 20:05:50 +10:00
Andrew Tridgell
d07f8aa42b Plane: fixed a bug in transition to QSTABILIZE for tailsitters 
this bug was found bug Marco on his tailsitter. It resulted in zero
throttle for 2s in transition from FBWA to QSTABILIZE
 2018-04-25 18:01:12 +10:00
night-ghost
aa53832a70 ArduPlane: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Peter Barker
5cc98a9733 Plane: use AP_ServoRelayEvents singleton 2018-04-18 20:31:55 +09:00
Peter Barker
5ef417a669 Plane: GPS now logs its own data 2018-04-18 13:50:55 +09:00
Michael du Breuil
7b7f5e242b Plane: Simplify channel reading 2018-04-14 14:05:20 +10:00
Peter Barker
2b54113334 Plane: Baro does its own dataflash logging 2018-04-12 19:12:12 +01:00
Michael du Breuil
3e4288d604 Plane: Use RC_Channels instead of hal.rcin 2018-04-11 21:47:07 +01:00
Michael du Breuil
1af2155641 Plane: Check MANUAL_CONTROL target 2018-04-10 16:54:34 +01:00
Randy Mackay
840a6e4147 Plane: quadplane uses AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Francisco Ferreira
bbe3e41162
Plane: fix method shadowing 2018-04-03 16:29:33 +01:00
Peter Barker
f6a185a3c3 Plane: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker
58d41e40d3 Plane: let GCS_MAVLink calibrate airspeed sensor 
Also remove useless zero_airspeed function
 2018-04-02 23:25:05 +01:00
Peter Barker
65893cfca5 Plane: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Peter Barker
71bc3f5def Plane: move common calibration functions up 2018-04-02 23:25:05 +01:00
Peter Barker
91c2ece7a2 Plane: factor out preflight calibration function 2018-04-02 23:25:05 +01:00
Michael du Breuil
7405bb7b85 Plane: Support new battery failsafes 2018-03-27 22:12:21 +01:00
Peter Barker
8a75a804e7 Plane: allow DataFlash to handle log sending 2018-03-26 09:22:47 +09:00
Przemek Lekston
e5a9ac84e7 [Plane] Fix verify_loiter_heading acceptance criteria. 2018-03-20 10:25:35 -07:00
Peter Barker
5572d83ce9 Plane: move handling of get_home_position up 2018-03-19 10:32:37 +09:00
Peter Barker
7fd859da65 Plane: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker
7c86c4fe61 Plane: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay
548a7f8fcf Plane: add minor comment to quadplane 2018-03-16 13:50:57 +09:00
Leonard Hall
ee745d2cd2 Plane: quad plane uses rate-control control during transitions 2018-03-16 13:50:57 +09:00
Leonard Hall
a16d4ddad7 Plane: quadplane uses poscontrol instead of loiter 2018-03-16 13:50:57 +09:00
Randy Mackay
c5d838125b Plane: quadplane logs PSC message 2018-03-16 13:50:57 +09:00
Randy Mackay
09cad7c59d Plane: quadplane integrates attitude control inertial_frame_reset 2018-03-16 13:50:57 +09:00
Randy Mackay
03c162432e Plane: quadplane provides dt to AC_WPNav::set_pilot_desired_acceleration 2018-03-16 13:50:57 +09:00
Randy Mackay
a0a9a68fbc Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC 
Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
 2018-03-16 13:50:57 +09:00
Leonard Hall
aa47b19dea Plane: remove quadplane calls to multicopter poscontrol's freeze_ff_xy 2018-03-16 13:50:57 +09:00
Peter Barker
f558bbca2e Plane: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker
4104d40130 Plane: delete correct assignment operator 2018-03-08 21:20:05 -08:00
Peter Barker
5671b3173e Plane: use AHRS singleton in GCS_MAVLink 2018-03-07 12:34:39 +00:00
Peter Barker
0862d1454e Plane: use AP::ahrs() for ADSB 2018-03-07 12:34:39 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
33288fa676 Plane: NFC adapt to new AP_Battery method name 2018-03-03 17:19:13 +00:00
Tom Pittenger
6820531e2a Plane: fixed error string spelling 2018-03-02 21:37:11 -08:00
Michael du Breuil
faea5d285c Plane: Consolidate some of the PID logging details 2018-03-03 17:34:18 +12:00
Andrew Tridgell
27e4953ad8 Plane: disable HIL on px4-v2 
this saves enough flash for px4-v2 to fit again
 2018-03-03 13:35:39 +11:00
night-ghost
98b8a61ca8 Plane: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
David Ingraham
a6aeebad4b Plane: Add support for AP_Gripper 2018-03-01 14:14:43 +11:00
David Ingraham
9419cc3b32 Plane: Fix param docs for quadplane attitude control 
Docs aren't currently being generated for plane for AC_AttitudeControl.cpp. I believe this will fix that.
 2018-02-20 16:38:27 +11:00
Andrew Tridgell
e6cebdecd1 Plane: use scheduler.get_last_loop_time_s() 2018-02-13 17:15:05 +11:00
Peter Barker
3859e5dfb1 Plane: eliminate update_perf_logging scheduler table shim 2018-02-13 17:15:05 +11:00
Andrew Tridgell
36660b2124 Plane: use filtered loop time 2018-02-13 17:15:05 +11:00
Peter Barker
4586b892f2 Plane: pass log-performance-bit at init time rather than update time 2018-02-13 17:15:05 +11:00
Peter Barker
8cae776448 Plane: move logging of PM and PERF messages to AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker
02540fdbf9 Plane: use AP_Scheduler's loop() function 2018-02-13 17:15:05 +11:00
Peter Barker
73092c3c30 Plane: use scheduler ticks in place of mainloop_count 2018-02-13 17:15:05 +11:00
Peter Barker
519e6c31d2 Plane: use AP::PerfInfo library 2018-02-13 17:15:05 +11:00
Randy Mackay
dd6755f486 Plane: fix global-pos-int velocity direction to NED 2018-02-13 08:52:48 +09:00
Andrew Tridgell
2fb6113098 Plane: use AP:PerfInfo class 2018-02-10 10:50:22 +11:00
Andrew Tridgell
ac196b8e0a Plane: fixed build error 2018-02-10 08:00:24 +11:00
Tom Pittenger
50a2d824c4
Plane: crash detection hard landing detection should skip debounce 
closes https://github.com/ArduPilot/ardupilot/issues/7683
 2018-02-09 11:40:12 -08:00
Andrew Tridgell
d1e11a5bde Plane: fixed build (remove learn_offsets call) 2018-02-08 17:36:33 +11:00
Michael du Breuil
43972f8e56 Plane: Move battery logging code to AP_BattMonitor 2018-02-06 00:11:32 +00:00
Randy Mackay
ddcd08d6b6 Plane: PSC_ACCZ param name shortened 2018-01-31 08:48:21 +09:00
Michael du Breuil
aec7521da4 Plane: Fix truncation of a time interval 
Truncating the a millisecond time delta to uint16_t causes it to wrap
every 65 seconds, which could momentarily reset the desired climb rate
 2018-01-25 14:30:49 +11:00
Randy Mackay
d579e086cf Plane: quadplane param index comment for moved PIDs 2018-01-24 21:14:53 +09:00
Andrew Tridgell
20b05e4228 Plane: added conversion code for PID layout change 
this copes with the move of multicopter PIDs inside the position
controller
 2018-01-24 18:23:59 +11:00
Tom Pittenger
518abfe1d0 Plane: Allow GUIDED mode to take advantage of crosstrack flag. 2018-01-22 19:17:09 -08:00
Randy Mackay
7b1157e2d8 Plane: remove setting accel_z PID controller's dt 
This is handled within pos-controller's set_dt function
 2018-01-23 12:00:43 +09:00
Randy Mackay
f41f4dc6e5 Plane: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay
017e71a748 Plane: quadplane velocity pi moves to position control library 2018-01-23 12:00:43 +09:00
Michael du Breuil
ff85f5e9bd Plane: Support AP_BattMonitor_Params 2018-01-17 22:21:55 +00:00
Andrew Tridgell
5614fd1ccc Plane: use calloc in preferance to malloc 2018-01-17 11:22:05 +11:00
Andrew Tridgell
2c6a004a67 Plane: mark version as 3.9.0-dev 2018-01-16 11:04:55 +11:00
Andrew Tridgell
be0d2229c1 Plane: update release notes 2018-01-16 11:03:26 +11:00
Andrew Tridgell
31d7d9f909 Plane: change airspeed parameter prefix 
this makes for clearer parameter names with dual sensors
 2018-01-16 07:14:20 +11:00
Andrew Tridgell
c1cbbf9203 Plane: check all airspeed sensors are healthy 2018-01-16 07:14:20 +11:00
Tom Pittenger
746ca91649 Plane: reset groundspeed_undershoot value when GPS is lost 
If we lose GPS lock the gndspd undershoot value gets stuck at the last calculated value forever (until GPS locks again)
 2018-01-09 17:05:04 -08:00
Tom Pittenger
1ef0f27786 Plane: allow control_mode enum to be in arbitrary order 
never use control_mode >= BLAH. This requires the order to be important which greatly increases chance for unexpected behavior
Closes https://github.com/ArduPilot/ardupilot/issues/4656
 2018-01-09 17:05:04 -08:00
Tom Pittenger
39a200b83f Plane: allow control_mode enum to be in arbitrary order 
never use control_mode >= BLAH. This requires the order to be important which greatly increases chance for unexpected behavior
Closes https://github.com/ArduPilot/ardupilot/issues/4656
 2018-01-09 17:05:04 -08:00
Peter Barker
c4c6b3cc70 Plane: AP_AHRS no longer requires GPS in constructor 2017-12-27 00:58:02 +00:00
Peter Barker
c5ae01fc6d Plane: use GPS singleton 2017-12-27 00:58:02 +00:00
luweikxy
25224cd261 Plane: remove dead code from do_vtol_land 2017-12-14 20:52:18 +09:00
Andrew Tridgell
30e224e705 Plane: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Michael Oborne
9ed3ca3d35 ArduPlane: update version number 2017-12-13 18:00:03 +11:00
Ubuntu 16.04 VM
624aef401d Plane: Enforce THR_MIN/THR_MAX in VTOL modes 2017-12-11 22:18:39 -08:00
Tom Pittenger
512b327cd4 Plane: failsafe events to use enums instead of magical numbers : Non-functional change 2017-12-07 00:19:32 -08:00
Peter Barker
af007c5f0f Plane: tighten handleMessage result type 2017-12-01 17:01:10 +00:00
Tom Pittenger
3d6cc59a6b Plane: cleanup geofence warnings 2017-11-27 18:35:49 -08:00
Andrew Tridgell
2a81792b41 Plane: don't disable compass on one bad reading 
the compass can go back for a short time and recover

found by Michael
 2017-11-28 09:02:24 +11:00
Andrew Tridgell
49cb245ea6 Plane: use a min airspeed for is_flying test 
in VTOLs setting min airspeed to zero can be useful
 2017-11-28 09:02:24 +11:00
Michael du Breuil
1a3ca43e86 Plane: Don't check FS_SHORT_TIMEOUT if it's disabled 
Also renames the check_minimum_altitude() to reflect that it's only used
for FBWB.
 2017-11-24 09:58:01 -08:00
Tom Pittenger
7271586a47 Plane: invert auto_state.no_crosstrack flag to be auto_state.crosstrack. Non-functional change 2017-11-23 09:25:18 -08:00
Peter Barker
6ed0d645a3 Plane: support for units on fields 2017-11-23 10:40:30 +11:00
Guy Tzoler
a6c7890c74 Plane: use cork/push wrapper 2017-11-21 14:10:54 +11:00
Michael du Breuil
9720fcb8cc Plane: Only update home when not armed, rather then not soft armed 
Plane supports being armed, in takeoff logic and not spinning the motor
until the moment the safety button has been pressed. Unfortunately
because the safety button is required to be pressed for soft arming this
results in the plane updating home position while the user moves the
vehicle or is holding it to throw the vehicle which will can result in
several meters of altitude error from where the user expected home to
be.

Because the normal approach to plane is to have activated the safety
button before arming the aircraft this is not expected to be a behaviour
change for most users, but an improvement for people who use the button
to initiate a takeoff.
 2017-11-21 11:45:15 +11:00
Andrew Tridgell
f7a735b990 Plane: fixed transitions for tailsitters after auto-takeoff 
need to use angle wait
 2017-11-19 16:06:02 +11:00
Andrew Tridgell
85573b3ff3 Plane: fixed a division by zero 
if min airspeed is zero
 2017-11-19 16:04:40 +11:00
Andrew Tridgell
e06f160dc9 Plane: disable rudder scaling in tailsitters 
this is most often implemented as dual-motor differential thrust, and
we don't want to do surface speed scaling for that.

In the future we'll move this scaling so it can be done on rudders for
3D planes
 2017-11-18 10:38:46 +11:00
Peter Barker
ee5f550475 Plane: AP_Camera uses GPS singleton 2017-11-16 15:28:37 +00:00
Peter Barker
b4294c00f6 Plane: use gps singleton for GCS functions 2017-11-15 13:43:03 +00:00
André Kjellstrup
1d27e21d83 Plane: Option to trig by distance only when in AUTO mode 2017-11-14 00:10:22 +00:00
Andrew Tridgell
bf1aa64345 Plane: updated release notes for 3.8.3 2017-11-13 15:06:42 +11:00
Andrew Tridgell
271373e1e8 Plane: added a not on min slew rate for throttle 2017-11-13 10:29:46 +11:00
Michael du Breuil
767018b1d4 Plane: Support unlocking cruise heading with rudder 2017-11-09 09:39:44 +11:00
Michael du Breuil
bd32b5deb7 Plane: update isFlying() landing check 
When we are landing a sink_rate < -0.2f means the vehicle is climbing,
which should never happen during an approach for any supported landing
type (slope or deepstall), and on hard impacts with the ground its
common for the vehicle altitude to be projected to low and climb back to
the correct altitude slowly (but at a higher rate). This changes the
check to only consider sinks while on approach as acceptable.
 2017-11-07 08:57:15 +01:00
Tom Pittenger
8029a7f10e
Plane: add Tom Pittenger to developers list 
Plane: add Tom Pittenger to developers list. He was added to main Plane.h as "Lead Developer" here *https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/Plane.h#L2) but never to the main ArduPilot.c file.
 2017-11-06 13:46:32 +01:00
Andrew Tridgell
5843086760 Plane: update release notes for 3.8.3beta4 2017-11-05 21:47:15 +11:00
Andrew Tridgell
957c1f6d23 Plane: extend QLOITER transition pitch limit 
use twice transition time for pitch envelope to reduce QLOITER
transition harshness
 2017-11-05 21:35:32 +11:00
Andrew Tridgell
bbf98fae46 Plane: fixed a warning 2017-11-05 21:25:37 +11:00
Andrew Tridgell
9c8cd6c1cc Plane: added Q_TRANS_DECEL 
this gives a deceleration rate for QRTL transition from RTL, and also
for transitions to QLOITER
 2017-11-05 20:44:42 +11:00
Andrew Tridgell
e27c54a312 Plane: smooth out fwd tailsitter transition 
use Q_TRANSITION_MS and the transition angle to pitch forward more
slowly
 2017-11-05 17:25:00 +11:00
Andrew Tridgell
21164ef409 Plane: added tailsitter surface speed scaling 
added scaling of control surfaces by throttle when in hover. This helps
the controller remain stable over a wide range of throttle levels, such
as when descending or rapidly climbing
 2017-11-05 17:05:08 +11:00
Michael du Breuil
83decd1370 ArduPlane: Only run is_flying landing checks when in landing stage 2017-11-04 10:07:16 +11:00
Andrew Tridgell
126d5ce5d4 Plane: re-implement MIXING_OFFSET 
this was lost in the conversion of SRV_Channels
 2017-11-04 09:34:22 +11:00
Michael du Breuil
e63e39c411 Plane: Don't broadcast PWM value that tripped throttle failsafe 2017-11-02 16:46:08 -07:00
Michael du Breuil
d52f5155f0 Plane: Rename rc failsafe state members 2017-11-02 16:46:08 -07:00
nick2204
7d91755bd1 Plane: update Q_OPTIONS docs 
Made q_options description a little clearer
 2017-11-01 09:38:42 +11:00
Andrew Tridgell
1bee1dd210 Plane: log currently used airspeed 
this logs whatever airspeed is being used for flight
 2017-11-01 09:22:15 +11:00
Andrew Tridgell
43ee462813 Plane: prepare for 3.8.3beta2 2017-10-31 18:05:50 +11:00
Andrew Tridgell
f14f40d3ef Plane: fixed GUIDED loiter with Q_RTL_MODE=1 
this was broken by the recent RTL_RADIUS changes

thanks to Nick for noticing this!
 2017-10-31 18:02:31 +11:00
Andrew Tridgell
84e5cd7e14 Plane: update release notes for 3.8.3beta1 2017-10-30 18:46:51 +11:00
Andrew Tridgell
1085069851 Plane: use WP_LOITER_RAD if RTL_RADIUS is 0 for QRTL 2017-10-30 16:52:19 +11:00
Andrew Tridgell
aa430a6e2c Plane: use RTL_RADIUS for QRTL threshold 
when Q_RTL_MODE=1 in a quadplane use RTL_RADIUS as the distance to
switch to QRTL mode. We navigate to the destination using direct
waypoint navigation instead of using a loiter circle.
 2017-10-30 16:30:38 +11:00
Andrew Tridgell
552faa8f67 Plane: smoother tailsitter transitions 
this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
 2017-10-30 16:30:38 +11:00
Andrew Tridgell
c24ee9192b Plane: prevent a float exception at pitch 90 
this can happen with a tailsitter
 2017-10-30 16:30:38 +11:00
Andrew Tridgell
214434a2d7 Plane: fixed tailsitter ANGLE_WAIT transition 
we need vtol control during transition from hover to fwd flight
 2017-10-30 16:30:38 +11:00
Andrew Tridgell
af893ddde7 Plane: implement Q_OPTIONS 
this allows for NAV_TAKEOFF to be treated as NAV_VTOL_TAKEOFF in
quadplanes, and for level flight to be maintained during quadplane
transitions
 2017-10-30 16:30:10 +11:00
Andrew Tridgell
02f8d888c3 Plane: relax controllers when disarmed 
this prevents any remaining integrator from a previous flight stage from
affecting flight across a disarm
 2017-10-30 16:30:10 +11:00
Peter Barker
d49be616da Plane: call ins's periodic function 2017-10-27 16:33:45 +11:00
Tom Pittenger
8adacfeea3 Plane: always log MODE and include reason when logging is enabled 2017-10-25 21:18:29 +11:00
Andrew Tridgell
92ee05b925 Plane: fixed motor channel handling 2017-10-25 11:39:11 +11:00
Peter Barker
4ce051af82 Plane: ensure we're in short failsafe before using failsafe.ch3_timer_ms 2017-10-24 09:28:13 +11:00
Peter Barker
ff88b0dfda Plane: remove redundant failsafe string 2017-10-24 09:28:13 +11:00
Peter Barker
7feef72b34 Plane: improve failsafe notifications 2017-10-24 09:28:13 +11:00
Peter Barker
01d8c506d2 Plane: add option to entirely disable short failsafe 2017-10-24 09:28:13 +11:00
Andrew Tridgell
6526ff504d Plane: fix for changes to AP_Motors API 2017-10-22 15:52:50 +11:00
Andrew Tridgell
e008559b6e Plane: support LOITER_TO_ALT in quadplanes 2017-10-21 18:50:01 +11:00
Andrew Tridgell
8178ab4037 Plane: make mav_type in HEARTBEAT configurable 
needed for qgc to setup for quadplanes
 2017-10-20 15:41:06 +11:00
Andrew Tridgell
0aed5a9a57 Plane: prevent controller windup on ground 
when on the ground in an auto-throttle mode lik FBWB or CRUISE, we may
have the throttle suppressed. In that case we should not run the
multicopter controller on quadplanes, or it may build up control which
will then apply on takeoff. This is particularly severe for aircraft
that are not level on the ground, such as taildragger quadplanes

Fixes https://discuss.ardupilot.org/t/quadplane-flips-on-takeoff/22095

many thanks to Sriram for reporting
 2017-10-20 15:41:04 +11:00
Andrew Tridgell
1a95dcbdd7 Plane: update docs for Q_YAW_RATE_MAX 2017-10-20 15:40:58 +11:00
Michael du Breuil
615f6dfadb Plane: Don't log PIDL messages 2017-10-17 14:37:11 -07:00
Michael du Breuil
cc55e5a8fa Plane: Don't log SONR if there are no rangefinders 2017-10-16 10:10:26 -07:00
Andrew Tridgell
f81ec9b1b3 Plane: support simple accelcal 2017-10-10 10:57:38 +11:00
Andrew Tridgell
f5b4d8d99c Plane: added frame type 11 for FlreFlyY6 2017-10-06 11:36:34 +11:00
Michael du Breuil
52fc2c82af Plane: Report GPS health 2017-09-27 19:29:32 +01:00
Lucas De Marchi
a2b67ed615 ArduPlane: use static method to construct AP_Landing 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e10c60e492 ArduPlane: use static method to construct controllers 2017-09-26 03:01:21 +01:00
Lucas De Marchi
05c870a4d4 ArduPlane: use static method to construct AP_TECS 2017-09-26 03:01:21 +01:00
Lucas De Marchi
bfd13dfe87 global: use static method to construct AP_AHRS_DCM 2017-09-26 03:01:21 +01:00
Lucas De Marchi
beabae6a98 global: use static method to construct AP_AHRS_NavEKF 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c9fbf7b722 global: use static method to construct AP_NavEKF3 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e2fe36357a global: use static method to construct AP_NavEKF2 2017-09-26 03:01:21 +01:00
Lucas De Marchi
6781a44046 global: use static method to construct AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi
119e82f32e ArduPlane: add static create method for AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi
6d009cdf6e global: use static method to construct AP_ADSB 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cf6ea9642e global: use static method to construct AP_Terrain 2017-09-26 03:01:21 +01:00
Lucas De Marchi
31db77e47b global: use static method to construct AP_Parachute 2017-09-26 03:01:21 +01:00
Lucas De Marchi
eadd650d78 global: use static method to construct AP_RSSI 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b05610870c global: use static method to construct AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi
18aa88b329 global: use static method to construct AP_Mount 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c3647f0185 global: use static method to construct AP_Camera 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cc53e7bc4b global: use static method to construct AP_ServoRelayEvents 2017-09-26 03:01:21 +01:00
Lucas De Marchi
13d7f58036 global: use static method to construct AP_Relay 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9ce6019138 global: use static method to construct AP_Frsky_Telem 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b022c02029 global: use static method to construct AP_BattMonitor 2017-09-26 03:01:21 +01:00
Lucas De Marchi
69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi
a74e700006 global: use static method to construct RCMapper 2017-09-26 03:01:21 +01:00
Lucas De Marchi
72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi
fbe0d9761c global: use static method to construct AP_OpticalFlow 2017-09-26 03:01:21 +01:00
Lucas De Marchi
2d2876a226 ArduPlane: use static method to construct AP_Arming_Plane 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b36a5919f5 global: use static method to construct AP_Mission 
This also move the initialization to be in the header for those that
weren't already to maintain consistency.
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
de5e044b02 global: use static method to construct AP_RPM 2017-09-26 03:01:21 +01:00
Lucas De Marchi
40fd1b346c global: remove rangefinder from AP_AHRS_NavEKF 
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi
f5c2ffffb9 global: remove DataFlash from AP_Mount::init() 2017-09-26 03:01:21 +01:00
Lucas De Marchi
53c82b4aaf global: use static method to construct DataFlash_Class 2017-09-26 03:01:21 +01:00
Lucas De Marchi
62ac0ab8aa global: use static method to construct AP_Notify 2017-09-26 03:01:21 +01:00
Lucas De Marchi
de680dac5b global: use static method to construct AP_Scheduler 2017-09-26 03:01:21 +01:00
Lucas De Marchi
8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi
87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c1a957fbf3 global: use static method to construct Compass 2017-09-26 03:01:21 +01:00
Lucas De Marchi
91feec0e14 global: use static method to construct AP_Baro 2017-09-26 03:01:21 +01:00
Lucas De Marchi
96e7ea4d69 ArduPlane: protect version.h from inclusion and use ap_version.h 2017-09-23 21:37:45 -07:00
Lucas De Marchi
36c80daa86 ArduPlane: do not include version.h/ap_version.h 
The interface provided by each vehicle should be used to get the
version.
 2017-09-23 21:37:45 -07:00
Lucas De Marchi
18ff17e22c ArduPlane: move version to a static member 
We should never include version.h or ap_version.h headers directly
on a header since this will trigger a complete rebuild of the
codebase when we commit to the repository. The ap_version.h header
is auto-generated containing information from the current commit.

If we include it in a header, every other file that ends up including
that header (directly or indirectly) will need to be rebuilt. No
ccache's cache beats having to do nothing when the header is just
not included.

version.h contains information that is kept on a struct inside
each vehicle. Rather than using the macros from each vehicle,
the getter should be preferred, which returns an AP_FWVersion
referente.
 2017-09-23 21:37:45 -07:00
Ferruccio Vicari
85ab3edc5f Plane: Smoother transition to QLOITER and QLAND 
Use estimated stopping position
 2017-09-21 07:57:38 +10:00
Peter Barker
1a724ded2a Plane: AP_Arming: sanity-check fs timeout parameters 2017-09-20 09:46:24 -07:00
mirkix
7c6be7c421 Plane: change format of reset alt target message 2017-09-20 20:28:53 +10:00
Randy Mackay
667cdcdfcf Plane: resolve compiler warning while using send_text 
non-functional change
 2017-09-20 12:14:38 +09:00
Randy Mackay
2073d65975 Plane: command-long DO_SET_HOME check first param is zero 2017-09-20 12:14:38 +09:00
Randy Mackay
640fb91329 Plane: accept DO_SET_HOME within COMMAND_INT 2017-09-20 12:14:38 +09:00
Andrew Tridgell
3d16ca7144 Plane: fixed MANUAL_RCMASK 
ensure it only applies in MANUAL, and fixed input scaling in px4io
 2017-09-19 17:05:56 +10:00
Peter Barker
7e631ba16c Plane: move handling of SET_GPS_GLOBAL_ORIGIN up 2017-09-19 15:44:23 +09:00
mirkix
b682f3f6d9 Plane: fix parameter units 2017-09-19 11:34:26 +10:00
Randy Mackay
3d7b6ddc40 Plane: support SET_GPS_GLOBAL_ORIGIN message 2017-09-19 10:30:15 +09:00
Peter Barker
1304b86d09 Plane: remove old DO_SET_MODE support 
We no longer support setting anything except custom-modes
 2017-09-19 01:24:11 +01:00
Andrew Tridgell
35c1a732a6 Plane: allow takeoff in guided then fw loiter 
this allows for quadplane takeoff in GUIDED with Q_GUIDED_MODE=0. The
takeoff will be VTOL, but subsequent guided points will be fixed wing
 2017-09-18 10:21:53 +10:00
Tom Pittenger
85b7f1bbb4 Plane: guided takeoff success should return true 2017-09-13 14:46:22 -07:00
Michael du Breuil
4fd13d5205 Plane: Support landing terminations on landing backends that support it 2017-09-13 13:15:08 -07:00
Peter Barker
aee939f891 Plane: move gcs_out_of_time into GCS object 2017-09-12 18:28:07 +01:00
Andrew Tridgell
73d6a05241 Plane: support change alt for GUIDED from qgc 2017-09-11 13:26:48 +10:00
Andrew Tridgell
1c75cd7039 Plane: update release notes for 3.8.2 2017-09-11 09:57:28 +10:00
Andrew Tridgell
11b9805dce Plane: added MANUAL_CONTROL support 
allows for joystick with QGC
 2017-09-11 07:55:48 +10:00
Andrew Tridgell
37220e1568 Plane: removed unused prototypes 2017-09-10 17:15:18 +10:00
David Ingraham
750212eb8f Plane: Remove deprecated control surface mixing functions 
This commit removes the deprecated functions used for calculating elevon and vtail mixes. This code is currently unrechable.
The functions that called these were removed in PR #6546.
 2017-09-10 17:14:14 +10:00
Andrew Tridgell
d61705ee51 Plane: added release notes for plane 3.8.2beta1 2017-09-09 08:32:14 +10:00
Andrew Tridgell
600a5c44d2 Plane: allow changing of target altitude in GUIDED 2017-09-09 08:14:09 +10:00
Andrew Tridgell
bc17c26dbf Plane: limit pitch in transition to QLOITER and QLAND 
when switching to QLOITER or QLAND when in forward flight, limit the
maximum pitch to prevent a sudden decelleration
 2017-09-09 08:14:09 +10:00
Andrew Tridgell
b6809655d4 Plane: smooth the transition to LAND_FINAL in quadplanes 
this makes for a much smoother change to LAND_FINAL, without a jerk as
it changes vertical speed
 2017-09-09 08:14:09 +10:00
Andrew Tridgell
8411ac5c57 Plane: fixed a problem with descent rate in landings for quadplanes 
use xy controller instead of xyz controller, which prevents calling z
controller twice, which led to poor height control
 2017-09-09 08:14:09 +10:00
Andrew Tridgell
baee71a5b4 Plane: added GUIDED takeoff for quadplanes 
this allows takeoff in GUIDED mode in the same way as copters
 2017-09-09 08:14:09 +10:00
Michael du Breuil
1f5743e900 Plane: Report the primary magnetometer health rather then the first 2017-09-08 10:27:17 +10:00
Andrew Tridgell
a88e663191 Plane: adjust target altitude slowly in QRTL mode 
this fixes a sudden throttle drop when starting the descent in QRTL mode
thanks to Marco for finding this issue
 2017-09-07 07:22:13 +10:00
Andrew Tridgell
87e52a9f0f Plane: prepare for 3.8.1 release 2017-09-03 19:31:30 +10:00
Peter Barker
0c7c2a41c4 Plane: handle param_request_list in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker
dd4bffb4a2 Plane: handle param_set in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker
0db1711b1f Plane: move send_autopilot_request calls up to GCS base class 2017-08-30 15:54:46 +01:00
Peter Barker
c15c1b84a4 Plane: add constant structure holding firmware version 2017-08-30 15:54:46 +01:00
Peter Barker
0708130b5e Plane: correct bad case fallthrough 2017-08-30 15:54:46 +01:00
Andrew Tridgell
6bfed07eae Plane: updated USE_REV_THRUST docs 2017-08-30 08:46:53 +10:00
Michael du Breuil
8630037fd7 Plane: Parameterize the home altitude reset conditions 2017-08-29 13:09:46 -07:00
Andrew Tridgell
d541ac509f Plane: removed TRIM_RC_AT_START parameter 
this option caused a lot more problems than it solved, and is buggy
 2017-08-29 07:35:49 +10:00
Andrew Tridgell
1a207c919b Plane: fixed bug in TRIM_AUTO 
fixed trim for differential spoilers
 2017-08-29 07:35:49 +10:00
Andrew Tridgell
4124d371c9 Plane: fixed minacc and delay for launch 
See
https://discuss.ardupilot.org/t/tkoff-thr-minacc-and-tkoff-thr-delay-doesnt-work-together/19928
 2017-08-29 07:35:04 +10:00
Peter Barker
2861c1d06a Plane: add ArduSub to list of SYSID_SW_TYPE 2017-08-24 19:50:38 +09:00
Peter Barker
212174bc0e Plane: remove unused defines 2017-08-24 19:48:17 +09:00
Lucas De Marchi
44ffb67837 ArduPlane: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Randy Mackay
c80a83322a Plane: integrate simpler Log_Write_EKF 2017-08-23 11:19:14 +09:00
Peter Barker
8272fb8fa2 Plane: remove unused repeating events defines 2017-08-22 09:58:12 -07:00
Peter Barker
9732b19f04 Plane: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker
4321abd477 Plane: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Peter Barker
8eeae45300 Plane: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:58:10 +10:00
Michael du Breuil
833ec1336e Plane: Expose the AFS instance to MAVLink 2017-08-15 15:14:56 +01:00
Peter Barker
1a665280e9 Plane: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker
c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker
d33cd801a1 Plane: send gps messages as separate queued messages 2017-08-09 16:18:22 +01:00
Peter Barker
c3e86840b2 Plane: move sending of gps_raw up 2017-08-09 16:18:22 +01:00
Peter Barker
933cd7a44c Plane: move sending of system_time up 2017-08-09 16:18:22 +01:00
Peter Barker
4aee416c1d Plane: move sending of camera_feedback up 2017-08-09 16:18:22 +01:00
Peter Barker
9eb96886e5 Plane: move sending of meminfo up 2017-08-09 16:18:22 +01:00
Peter Barker
a9c866f574 Plane: use new retry_deferred method 2017-08-05 23:14:36 +01:00
Andrew Tridgell
3802e7bc3b Plane: mark version as 3.8.1-dev 2017-08-05 17:19:32 +10:00
Andrew Tridgell
6e84210d1b Plane: prepare for plane 3.8.0 release 2017-08-05 17:19:32 +10:00
Peter Barker
4cb94b80ee Plane: move try_send_message queued_param_send up 2017-08-03 14:34:33 +01:00
Peter Barker
089f6f4650 Plane: move try_send_message send_hwstatus up 2017-08-03 14:33:37 +01:00
Peter Barker
fee9e83881 Plane: move try_send_message mission handling up 2017-08-03 14:24:47 +01:00
Peter Barker
a740c10dfe Plane: move try_send_message compass message handling up 2017-08-03 14:24:46 +01:00
Peter Barker
50cbbc324b Plane: base SYS_STATUS load average on variable loop rate 2017-08-01 19:39:27 +01:00
Andrew Tridgell
9b16836da5 Plane: cope better with more RC trim/min/max values 
when min > trim we need to do RC scaling via rc_config. This loses the
ability to go beyond RC limits, but that can be coped with using
MANUAL_RCMASK
 2017-08-01 08:25:32 +10:00
Andrew Tridgell
99df31f6ec Plane: fixes from review 
thanks Francisco
 2017-08-01 08:25:32 +10:00
Andrew Tridgell
ea1a4bc176 Plane: improve px4_mixer handling of servo trim/min/max 2017-08-01 08:25:32 +10:00
Andrew Tridgell
cff692ca48 Plane: implement MANUAL_RCMASK 
this replaces the functionality of the old "with input"
aileron/elevator functions, but in a much more flexible way. It means
that people who want to fly in MANAUL mode will have the ability to
have full control of trims and mixing using transmitter mixers if they
need that functionality
 2017-08-01 08:25:32 +10:00
Andrew Tridgell
fedd2c558c Plane: added AETR log message 
this makes debugging mixers much easier
 2017-08-01 08:25:32 +10:00
Andrew Tridgell
5d91e29cea Plane: fixed px4_mixer for new function based mixing 
this fixes the OVERRIDE_CHAN functionality to work correctly with the
new function based mixing code

It isn't a perfect match for ArduPilot mixing, but it is very close
for the key control surfaces, including mixed surfaces
 2017-08-01 08:25:32 +10:00
Andrew Tridgell
0266168e69 Plane: removed old elevon and vtail mixers 
now only use the function based mixing, and auto-convert on startup
 2017-08-01 08:25:32 +10:00
Andrew Tridgell
178e7eca54 Plane: always setup target airspeed 
this sets up a target airspeed even when flying without an airspeed
sensor. This is needed for quadplanes without airspeed sensors where
we use synthetic airspeed during the transition in TECS
 2017-07-31 09:55:44 -07:00
Andrew Tridgell
909f109b3f Plane: don't start a transition while disarmed 
this can caused flooding of the GCS console while disarmed in FBWA
mode
 2017-07-30 12:39:36 -07:00
Peter Barker
1cb6962f84 Plane: move common mavlink camera handling up 2017-07-28 14:32:58 +01:00
Peter Barker
2fb46a67dd Plane: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Peter Barker
fbcd072d98 Plane: move gps inject handling up to GCS_MAVLINK 2017-07-27 12:03:25 +01:00
Patrick José Pereira
60834e9af0 Plane: Allow a second activation of parachute 
The hardware can fail in the first activation,
this patch allow a second chance to active the parachute successfully.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2017-07-26 17:51:34 +01:00
Peter Barker
87af817893 Plane: handle common GPS messages in base GCS_MAVLINK class 2017-07-25 14:00:45 +01:00
Peter Barker
fa39f315c6 Plane: move starting of new logs into DataFlash 2017-07-19 16:37:28 +01:00
Peter Barker
ea892d278f Plane: remove MSG_STATUSTEXT entirely 2017-07-18 16:12:59 +01:00
Michael du Breuil
f87a69dcf2 Plane: Throttle based landing aborts should ask the landing library 
Throttle based aborts should be requesting a go around from AP_Landing.
This was missed in the initial port.
 2017-07-17 08:43:50 -07:00
Peter Barker
7f0cb82797 Plane: move handling of PREFLIGHT_SET_SENSOR_OFFSETS up 2017-07-17 14:17:19 +01:00
Peter Barker
6047026b11 Plane: move handling of MAG_CAL command longs up 2017-07-17 14:17:19 +01:00
Peter Barker
2b6752e0b4 Plane: move MAV_CMD_START_RX_PAIR handling to base class 2017-07-17 14:17:19 +01:00
Peter Barker
7042d3e9c9 Global: all vehicles get AP_Relay and AP_ServoRelayEvent libraries 2017-07-17 00:06:31 +01:00
Peter Barker
36eab56178 Plane: move mavlink support for servo/relay up 2017-07-16 23:56:00 +01:00
Peter Barker
3af52d9db3 Plane: add common handling of mavlink command messages 2017-07-16 23:56:00 +01:00
Michael du Breuil
b8e6ad7476 Plane: Document loop max time as being in microseconds 2017-07-15 17:27:04 +09:00
Peter Barker
983686745e Plane: move rally-point handling up 2017-07-14 01:28:05 +01:00
Peter Barker
a250f47f13 Plane: remove unneeded telemetry_delayed parameter 2017-07-12 17:01:36 +01:00
Peter Barker
c9c4b31e99 Plane: move handling of incoming statutext messages up 2017-07-12 16:52:24 +01:00
Peter Barker
c058fba5ac Plane: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Peter Barker
592729733e Copter: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Peter Barker
1be52495f1 Plane: eliminate global static GCS_MAVLINK::send_home_all 2017-07-11 23:48:39 +01:00