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3265 Commits

Author SHA1 Message Date
Peter Barker d1727d26a1 Plane: rename send_extended_status1 to send_sys_status 2018-12-10 12:52:41 +09:00
Peter Barker 7f5c0db949 Plane: adjust for new update entry points into GCS 2018-12-10 12:52:41 +09:00
Peter Barker 1ca67df663 Plane: add parameter stream to list-of-all-streams 2018-12-10 12:52:41 +09:00
Andrew Tridgell fa04c2d094 Plane: prevent jitter on surfaces due to speed scaling 
when disarmed the k_throttle output can oscillate due to stage in the
loop we are at, even though actual output is zero. This can cause
jitter in the speed scaling, which causes surface movement

To fix, don't use k_throttle value when disarmed
 2018-12-06 17:44:11 +11:00
Randy Mackay 71708ee4ea Plane: quadplane uses set_defaults_from_table 2018-12-06 12:23:41 +09:00
Peter Barker edd4f6d14d Plane: rename MSG_EXTENDED_STATUS2 to MSG_MEMINFO 2018-12-04 18:01:38 +11:00
Peter Barker de479032ba Plane: rename MSG_RAW_IMU2 and MSG_RAW_IMU3 to reflect what they send 2018-12-04 17:45:32 +11:00
Andrew Tridgell 6c7af3830b Plane: apply throttle slew to dual-motor setups 
thanks to Alex for noticing this issue
 2018-12-04 09:08:31 +11:00
IamPete1 c6e70c0454 Plane: add roll limit for tailsitters 
Quadplane: add tailsitter pitch params
 2018-12-01 09:40:07 +11:00
Andrew Tridgell b6519c88a5 Plane: fixed a bug in Q_ASSIST_ modes for tiltrotors 
when a tilt-rotor drops below Q_ASSIST_SPEED we need to keep it in the
airspeed wait state until it has regained airspeed, otherwise we will
end up with too low throttle
 2018-11-30 18:17:42 +11:00
Leonard Hall 0943ace7a9 Plane: Zero Yaw correction during transition 
and relax attitude controller when not using lift motors.
 2018-11-30 18:16:29 +11:00
Andrew Tridgell c081ce9adb Plane: don't relax attitude controllers for tailsitters 
this fixes an issue with testing control movement when disarmed
 2018-11-30 13:01:53 +11:00
Peter Barker ba3a369651 Plane: remove update_events scheduler shim 2018-11-27 10:07:13 +11:00
Michael du Breuil 1e220d3d37 Plane: Add support for mode change to QLand as a failsafe 2018-11-24 14:37:04 -08:00
Peter Barker d4e88bc6ba Plane: remove pointless wrappers around RC_Channels functions 2018-11-23 10:56:17 +11:00
Peter Barker 03b71e1123 Plane: remove pointless wrappers around gcs functions 2018-11-23 10:56:17 +11:00
Andrew Tridgell 4d8fbdfcfd Plane: fixed spoiler left rudder order 
thanks to @jgilbertfpv for noticing
 2018-11-20 20:10:00 +11:00
Andrew Tridgell 1d00d26b9e Plane: added parameters for crow flaps 
DSPOILER_CROW_W1 and DSPOILER_CROW_W2 for inner and outer control
surfaces
 2018-11-20 10:00:38 +11:00
jgilbertfpv 4d6547c533 Plane: added crow brakes and diff. spoilers 
added crow braking via flap channel to differential spoilers and
reversed dspoiler outputs because having the inner elevon go up and
outer go down causes tip stall. now inner goes down, outer goes
up. still could use a percentage adjustment to change how much throw
each surface gets when using flap input.
 2018-11-20 10:00:38 +11:00
Andrew Tridgell 987b556299 Plane: disable crash detection if no GPS and no airspeed 2018-11-19 07:32:20 +11:00
Andrew Tridgell b660022b20 Plane: handle long GPS loss in crash detector 
fixes issue #9349
 2018-11-19 07:32:20 +11:00
DOMINATOR\Eugene 802ae94e2c ArduPlane: move airspeed update to library 2018-11-17 07:52:42 +11:00
Andrew Tridgell 03f1deca9f Plane: support REVERSE_THROTTLE rc option 
this provides a more convenient way to setup for reverse throttle
 2018-11-16 08:33:35 +11:00
Andrew Tridgell da69bf3391 Plane: added an abstraction for reverse thrust 
use have_reverse_thrust() and get_throttle_input()
 2018-11-16 08:33:35 +11:00
Peter Barker a5c34f6172 Plane: OpticalFlow takes care of its own logging 2018-11-13 10:40:23 +11:00
Peter Barker e53a009a35 Plane: do not pass ahrs to opticalflow constructor 2018-11-13 10:40:23 +11:00
Peter Barker 12c67ecaab Plane: move sending of optical flow status up to base class 2018-11-13 10:40:23 +11:00
Andrew Tridgell c59b2c156a Plane: fixes for Q_TRIM_PITCH 
improved documentation and variable names
 2018-11-12 17:05:04 +11:00
IamPete1 5a7bd61e8c Quadplane: add trim params 2018-11-12 17:05:04 +11:00
Andrew Tridgell 85a1f9e40d Plane: added ACCZ pid tuning 2018-11-12 15:36:39 +11:00
Andrew Tridgell 432d786f82 Plane: pass height to landing gear update 2018-11-10 21:24:19 +11:00
Michael du Breuil 8ce0460daf Plane: Remove old parameter conversion 2018-11-10 18:58:54 +11:00
Michael du Breuil 8e906e0ba0 Plane: Add support for a loiter to alt approach to VTOL landing 2018-11-10 18:58:54 +11:00
Andrew Tridgell f89c770c46 Plane: moved LANDING_GEAR to common RC_Channel 2018-11-09 14:35:14 +11:00
Eugene Shamaev 01178a75e9 Plane: added landing gear support 2018-11-09 14:35:14 +11:00
Peter Barker 818bb8d56d Plane: don't pass ahrs to terrain constructor 2018-11-08 20:59:45 +11:00
Peter Barker 4b68ca79dc Plane: stop passing ahrs to Mission constructor 2018-11-08 10:01:16 +09:00
Andrew Tridgell f2b8067023 Plane: pass manual_rc_mask to iocmu mixer 2018-11-07 07:35:45 +11:00
Andrew Tridgell c3d434bc35 Plane: pass mixing gain to iomcu 2018-11-07 07:35:45 +11:00
Andrew Tridgell d5c29fc57e Plane: use IOMCU mixing if available 2018-11-07 07:35:45 +11:00
Michael du Breuil 1c54fa0230 Plane: Remove old battery conversion that conflicts with new monitor 2018-11-06 10:18:39 +09:00
Michael du Breuil d9e02403e1 Plane: Fix battery failsafe parameter conversion 2018-11-06 10:18:39 +09:00
Michael du Breuil 9e1b0de6b7 Plane: Make capability init consistent 2018-11-05 14:04:36 +11:00
Andrew Tridgell 1c162c8b64 Plane: ensure speed scaling covers full aircraft speed range 
this is important for very fast or very slow aircraft
 2018-11-02 15:30:50 +11:00
Andrew Tridgell 5ce418b4ea Plane: added FLIGHT_OPTIONS bit for disabling pitch up check in takeoff 
some takeoff procedures use high pitch angles
 2018-10-31 18:53:36 +11:00
Andrew Tridgell a00e06ea13 Plane: added TKOFF_ACCEL_CNT for multi-shake to start 
this allows you to setup shake to start with a lower accel threshold,
but with multiple fwd/back movements needed.

This implements https://github.com/ArduPilot/ardupilot/issues/2221
 2018-10-31 18:53:36 +11:00
Peter Barker 27b444f4e8 Plane: move handling of gimbal messages up 
Plane: move handling of mav_cmd_do_mount_control up

Plane: move handling of deprecated mount messages up

Plane: move handling of command_do_set_roi up

Plane: mount no longer takes ahrs in constructor
 2018-10-30 17:19:14 +11:00
Peter Barker 7890fbeaa1 Plane: let AP_Mission handle common camera commands 2018-10-30 15:37:18 +11:00
Peter Barker 1653b34b2b Plane: move servorelayevents mission handling into AP_Mission 2018-10-30 15:37:18 +11:00
Peter Barker dc6a03f5e0 Plane: mission library handles gripper 2018-10-30 15:37:18 +11:00
Peter Barker 3b49e46c36 Plane: AC_Avoid is built on all vehicles 2018-10-30 12:10:42 +11:00
Andrew Tridgell 009786a338 Plane: small update to failsafe documentation 2018-10-18 11:38:07 +11:00
Peter Barker 9e4e17c797 Plane: leave AHRS to log and notify home changes 2018-10-16 10:55:13 +11:00
Peter Barker 4e3e39a3e8 Plane: make libraries get EKF control limits themselves 2018-10-09 10:47:38 +11:00
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