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85 Commits

Author SHA1 Message Date
Andrew Tridgell c980e0488e Plane: fixed terrain RTL with rally points 
this fixes a bug where if the terrain database cache does not have the
tile for the location of a rally point then RTL to the rally point
with TERRAIN_FOLLOW=1 will not track terrain

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

fixes https://github.com/ArduPilot/ardupilot/issues/25157
 2023-10-14 10:46:00 +11:00
Andrew Tridgell 2e2c7b50ad Plane: cope with home altitude change while navigating 
this fixes a bug where a change of home altitude would cause a sudden
height demand change. This copes with 3 situations:

 - flying with AMSL alt demand. Changing home altitude makes for no change
 - flying with AGL alt demand. Changing home altitude requires update of next_WP_loc
 - flying with home relative alt demand. Changing home altitude changes demand at end of current navigation leg
 2023-08-05 08:31:02 +10:00
Iampete1 76a10d9b26 Plane: relative_ground_altitude allow passing bool for terrain use 2023-01-25 19:34:53 +11:00
Iampete1 4a21af22cb Plane: move mode update_target_altitude to correct files 2022-12-27 10:30:14 +11:00
Iampete1 f28d7a3574 Plane: move adjust_altitude_target functianlity to per mode functions 2022-12-20 10:37:06 +11:00
Iampete1 ab43dadb57 Plane: altitude: add `plane.` prefix to Plane::adjust_altitude_target to minimise diff 2022-12-20 10:37:06 +11:00
Peter Barker de4dda2d17 ArduPlane: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
khanasif786 1fe6d77eeb Plane: Max altitude for FBWB using Fence altitude 2022-10-19 18:28:52 +11:00
Michael du Breuil f183b21fc5 Plane: Support vtol landing options on NAV_VTOL_LAND 
This allows the same mission to contain both circular and straight
landing items, and doesn't require on the fly tweaking
 2022-08-15 17:05:00 -07:00
Iampete1 ee778dbd3a Plane: Quadplane: add option_is_set helper for Q_OPTIONS 2022-08-09 13:21:00 +10:00
Iampete1 b017fc2196 ArduPlane: allow FBWB alt control option in LOITER 
Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
 2022-05-22 12:09:43 +10:00
Andrew Tridgell 72087335f7 Plane: removed terrain home correction 2022-03-10 07:34:20 +11:00
Samuel Tabor a715472353 Plane: Specify starting location to set_offset_altitude_location 2021-12-27 11:27:52 +11:00
Iampete1 b9d240460b Plane: remove SpdHgt and use TECS direct 2021-11-13 08:05:39 +11:00
Sebastian Quilter 013de11916 ArduPlane: make rangefinder ranges m rather than cm 2021-10-21 21:28:53 +11:00
Iampete1 0549e08c5c Plane: add mehtod to check terrain by mode 2021-09-28 09:31:13 +10:00
Peter Barker 3d34e061fe ArduPlane: add and use HAL_QUADPLANE_ENABLED 2021-09-14 11:23:18 +10:00
Samuel Tabor 65a38b26a4 ArduPlane: altitude: rangefinder correction should be relative to the altitude source being used for navigation. This avoid applying it twice when there is an existing correction saved. 2021-08-19 17:59:33 +10:00
Andrew Tridgell 3bb840f794 Plane: implement slow descent in QRTL approach 
this approaches in QRTL at ALT_HOLD_RTL alt, then descends to
Q_RTL_ALT close to the destination
 2021-06-05 13:05:30 +10:00
Iampete1 fd2909d53f Plane: change location refence frame correctly 2021-05-02 18:51:27 +10:00
Iampete1 60d26723ae Plane: make TERRAIN_FOLLOW at AP_int32 bitmask, per mode option 2021-03-24 10:15:18 +11:00
Patrick José Pereira cdc7f891a9 ArduPlane: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Andrew Tridgell e5d580412e Plane: fixed usage of rangefinder in landing with RNGFND_LANDING=0 
this fixes two places where rangefinder can affect landing when
RNGFND_LANDING=0
 2020-11-03 10:08:00 +11:00
Samuel Tabor 10111f92d5 Plane: Rename SOARING_ENABLED to HAL_SOARING_ENABLED and don't compare to ENABLED. 2020-09-24 07:30:48 +10:00
Henry Wurzburg 4115603f13 ArduPlane: add terrain follow disable switch for CRUISE/FBWB 2020-07-08 13:39:42 +10:00
Buzz 0f5177b291 Plane: Support a set of offboard MAVLink guided controls with rates 
+ 3 rounds of fixes
 2020-05-20 15:03:21 +10:00
Samuel Tabor b9daae062c AP_Soaring: Use enum class rather than typedef enum for states and hide details of these. 2020-04-08 09:11:54 +10:00
Samuel Tabor 170b599469 Plane: Required changes for conditional soaring compilation (fmuv2). 2020-04-08 09:11:54 +10:00
Samuel Tabor e1f7122566 AP_Soaring: Improve tracking of enabled/disabled status. 2020-04-08 09:11:54 +10:00
Samuel Tabor ed7e359f4d Plane: Make target altitude track current altitude when gliding. 2020-04-08 09:11:54 +10:00
Peter Barker 6cd4dfba2c Plane: use enum-class for RangeFinder Status 2019-11-09 08:01:53 +11:00
Andrew Tridgell 5c43b18672 Plane: fixed height_above_ground() for case when rangefinder is below min 
this prevents a rangefinder that goes below min distance from causing
the calculations that depend on height above ground to fail
 2019-09-17 09:36:26 +10:00
Andrew Tridgell 6572700baa Plane: fixed an issue with landing on rising ground 
when landing on rising ground we don't want to use the terrain look
fwd correction for the flare calculation as otherwise we will flare
too early (and thus too high)
 2019-09-16 12:52:00 +10:00
Andrew Tridgell 1b775c96f5 Plane: added rangefinder correction by terrain data 
allows for landing approach with terrain changes
 2019-08-06 09:36:02 +10:00
Pierre Kancir 65b4ba0539 ArduPlane: use past_interval_finish_line and line_path_proportion from Location 2019-04-23 09:20:43 +10:00
Tom Pittenger 0270c57530 Plane: massive refactor and creation of Mode class 2019-04-02 16:28:52 +11:00
Andrew Tridgell 2b6210d594 Plane: use WP height for height above ground in vtol landing 
this allows for landings above or below the takeoff height without
requiring the use of terrain data. It allows both the use of vfwd
motor for holding against wind, and the correct height for land final
descent rate
 2019-03-18 14:47:27 +11:00
Dr.-Ing. Amilcar do Carmo Lucas f430fd14f6 Plane: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Peter Barker acafb0f3c1 Plane: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Peter Barker 7fd859da65 Plane: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
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
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
Peter Barker 5a8f01c19c Plane: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Michael du Breuil 1bb806edb2 Plane: Use new landing interfaces 2017-03-02 12:38:59 +11:00
Randy Mackay c0f155fd27 Plane: use only downward facing rangefinder 2017-02-27 15:18:25 +09:00
Michael du Breuil 29b16dbafd Plane: Refactor to request relative altitudes from AHRS 
Removes the need for plane to do the math for finding the relative height.

Also caches the value at the same time we update current_loc, which is a
non behaviour change as that was the only time you could see a change in
the relative height propegate through the system anyways
 2017-02-13 09:23:14 +11:00
Tom Pittenger 61bc0a6206 Plane: check stage==LAND instead of landing.in_progress 2017-01-26 13:11:44 -08:00
Tom Pittenger e709705ab8 Plane: describe flight stages without using specific stage name 2017-01-26 13:11:43 -08:00
Tom Pittenger 04f32b6ec6 Plane: simplify flight stage landing check to use landing.in_progress 2016-12-30 23:50:03 -08:00
Tom Pittenger c286ceba43 Plane: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:03 -08:00