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3042 Commits

Author SHA1 Message Date
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
Peter Barker d850feb75f Plane: move common mission handling up to GCS_MAVLINK 2017-07-11 23:45:17 +01:00
Peter Barker 250f315678 Plane: eliminate gcs_send_mission_item_reached wrapper 2017-07-11 23:45:16 +01:00
Peter Barker 3b0a7703c4 Plane: eliminate gcs_send_message wrapper 2017-07-11 23:45:16 +01:00
Peter Barker 5a8f01c19c Plane: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Peter Barker 685706952c ArduPlane: use Notify singleton for sending statustext 2017-07-09 17:17:29 -04:00
Peter Barker 5b3b61a2e4 Plane: move GCS functions up to superclass GCS 2017-07-07 16:18:37 +01:00
Andrew Tridgell 1d626db3b1 Plane: use scaled outputs for AFS failsafe 
we need to use scaled outputs so that derived outputs (such as elevons
and vtail) have a valid input to use
 2017-07-04 07:59:28 +10:00
Peter Barker 923b201025 Plane: send servos outputs after flaperon update 2017-07-04 07:59:28 +10:00
Peter Barker 38921c4f1a Plane: correct AFS terminate for rcin/servos split 2017-07-04 07:59:28 +10:00
Eugene Shamaev b95ebadf8b ArduPlane: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Andrew Tridgell b2cd5f5c06 Plane: release 3.8.0beta5 2017-07-03 11:39:48 +10:00
Andrew Tridgell d3f9afd4e7 Plane: fixed auto-adjustment of flaperon trim 2017-07-03 11:17:42 +10:00
Andrew Tridgell 2cb511c049 Plane: deprecate old aileron_with_input and elevator_with_input 
these have very rarely been used and don't work well with new trimming
mechanisms. Now treat them as ordinary ailerons/elevators
 2017-07-03 11:17:42 +10:00
Andrew Tridgell 51b39ea3a1 Plane: removed ancient "mix_mode" type elevon mixing 
this has been deprecated for a long time
 2017-07-03 11:17:42 +10:00
Andrew Tridgell 725244ff8a Plane: implement new TRIM_AUTO functionality 
this fixes TRIM_AUTO for new scaled output approach to servo functions
 2017-07-03 11:17:42 +10:00
Andrew Tridgell 984e887d1d Plane: changed differential spoilers to scaled outputs 
this matches new elevon, vtail and flaperon code
 2017-07-03 11:17:42 +10:00
Andrew Tridgell c9e4423997 Plane: re-implement flaperons 
implement as scaled output instead of PWM output

this will break some peoples setups, but gives much easier setup and
more consistent behaviour
 2017-07-03 11:17:42 +10:00
Peter Barker 1ca5f243a5 Plane: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Peter Barker 949e07c7e3 Plane: use DataFlash should_log to determine raw IMU logging 2017-06-29 15:26:27 +01:00
Peter Barker 88a7167cb9 Plane: move should_log check of log bitmask into DataFlash 2017-06-29 15:26:27 +01:00
Peter Barker 5b70b688cb Plane: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00
Peter Barker 60ebd099bd Plane: move send-logs-via-mavlink code into DataFlash 2017-06-27 03:10:43 +01:00
Michael du Breuil 8691eae679 Plane: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing 2017-06-20 15:41:50 +01:00
Andrew Tridgell 0b40e853c9 Plane: call set_likely_flying() 2017-06-20 09:44:44 +10:00
Peter Barker ceec44350f Plane: move MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS handling up 2017-06-17 15:07:48 +01:00
Michael du Breuil 92cdb54176 Plane: Fix a fly away when aborting a landing 
DO_LAND_START -> LAND waypoints in sequence would cause a perpetual abort state
due to the sticky nature of the abort states. If we restart a landing on
purpose while doing an abort, then we can move onto trying to land again.
 2017-06-17 09:10:27 +10:00
Peter Barker 30dfd32b87 Plane: stop using in_mavlink_delay as a proxy for disabling logging 2017-06-16 17:07:48 +01:00
Peter Barker b57a4e9685 Plane: call dataflash should_log method 2017-06-16 17:07:48 +01:00
Michael du Breuil 1d03732ac5 Plane: Remove redundant status text on MAV_CMD_DO_GO_AROUND 2017-06-16 11:49:52 +09:00
Pierre Kancir 5d0972f589 Arduplane: fix implicit cast to double warning in quadplane 2017-06-14 12:40:47 +01:00
Peter Barker c6beb3a867 Plane: simplify dataflash initialisation 2017-06-14 12:20:29 +01:00
Peter Barker 4dc241fd22 Plane: StartUnstartedLogging replaces logging_started/start_logging 2017-06-11 20:34:12 +01:00
Peter Barker 927cc75843 Plane: simplify should_log (NFC) 2017-06-11 20:34:12 +01:00
Andrew Tridgell 1455c23230 Plane: fixed docs for tailsitter 2017-06-10 18:41:34 +10:00
Pierre Kancir d5cc1e64ed GCS_Common: rename send_rangefinder to send_rangefinder_downward 2017-06-08 01:32:04 +01:00
Pierre Kancir 0bc9d294fb ArduPlane: change rangefinder msg for common one 2017-06-08 01:31:52 +01:00
Pierre Kancir 9a121dc7c4 ArduPlane: add DISTANCE_SENSOR support 2017-06-08 01:31:52 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas ccee841578 Plane: NFC SYS_NUM_RESETS is a read-only variable 2017-06-07 19:53:03 +09:00
Mark Whitehorn 6607dafc66 ArduPlane: change is_tailsitter() to tailsitter_active() 2017-06-07 20:21:49 +10:00
Mark Whitehorn 53b82d1d4d ArduPlane: add comments on tailsitter pitch limits 2017-06-07 20:21:49 +10:00
Mark Whitehorn 65755454e0 ArduPlane: set tailsitter VTOL pitch limits using only Q_ANGLE_MAX 2017-06-07 20:21:49 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 14b214eb9b Plane: remove FS parameters default values macros. 
They just add an un-necessary level of indirection in the code. The parameters are run-time configurable now.
 2017-06-07 17:46:39 +10:00
Michael du Breuil 87c076da4d ArduPlane: Fix missing break in GCS_MAVLink 
Was causing AOA_SSA to send a landing message as wel
 2017-06-05 13:12:01 +09:00
Randy Mackay f7e830cfad Plane: pixhawk mixer supports motors 9 to 12 2017-05-27 14:21:13 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 405e0bb9d9 Plane: Add missing @RebootRequired: True 2017-05-27 01:55:55 +01:00
Paulo Neves a45dd30c1d Plane: Add MAV_CMD_DO_SET_CAM_TRIGG_DIST support. 2017-05-25 09:35:22 +09:00
Michael du Breuil 19a5475195 Plane: Send landing messages 2017-05-24 15:22:27 -07:00
Dr.-Ing. Amilcar Do Carmo Lucas 2f5f8eb323 Plane: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Michael du Breuil 92d505598b ArduPlane: Poll AP_Landing for fly forward information 2017-05-15 14:50:29 -07:00
Andrew Tridgell 92f88e9b33 Plane: fixed climb rate for quadplanes in CRUISE 
the high loop rate of quadplanes led to less than 1cm/loop change in
height, which got truncated to zero. Adjusting height at 10Hz fixes
that.

Thanks to Marco for reporting this!
 2017-05-10 08:03:23 +10:00
Andrew Tridgell 6eaad59115 Plane: improve vectored tailsitter takeoff 
this gives extra pitch input when taking off a vectored tailsitter,
allowing the motors to point straight up for easy takeoff

thanks to Leonard for the idea!
 2017-05-07 09:10:44 +10:00
Andrew Tridgell a46799d34e Plane: removed AP_Airspeed from vehicle code 2017-05-04 22:59:02 -07:00
André Kjellstrup 21b8d3cb3d Plane: Removed scary autotakeoff message. 
This message does not provide anything useful, but is rather scary to
get moments before launch.
If it's somehow meant to provide useful information, or an action "Timer
interrupted AUTO" should be replaced by something else.
 2017-05-04 22:37:32 -07:00
Peter Barker 378015691b Plane: stop appending lf to PERF message 2017-05-01 16:21:55 +01:00
Peter Barker 084242cf03 Plane: move init of DataFlash references into vehicle init 
It is possible to start a log before the existing codepath is crossed.
 2017-05-01 15:04:34 +01:00
Andrew Tridgell 708b483d77 Plane: prepare for 3.8.0beta5 2017-05-01 20:30:32 +10:00
Andrew Tridgell 2706c9d57a Plane: use common send_queued_parameters() 2017-05-01 14:36:10 +10:00
Andrew Tridgell 351304ebcb Plane: don't set fly-forward when transitioning 
when quad motors are providing assistance don't see the fly-forward
flag in the AHRS. This will lower the chance of EKF yaw confusion
 2017-05-01 14:27:45 +10:00
Andrew Tridgell 3eeff938b0 Plane: call BoardConfig.init_safety() at end of startup 
this fixes a bug where motors can start on soft reboot
 2017-04-30 21:47:04 +10:00
Mark Whitehorn dc10675965 ArduPlane: suppress differential thrust when throttle is zero 
this prevents motors from spinning when disarming in FBWA
 2017-04-28 16:08:50 -07:00
Andrew Tridgell 5a57aafb98 Plane: reduce pitch demand on takeoff on roll error 2017-04-28 16:34:33 +10:00
Andrew Tridgell 954905e0eb Plane: allow battery failsafe with usb connected 
some people connect USB to allow connections from a companion
computer. The arming check is sufficient to prevent unwanted battery
failsafes when bench testing
 2017-04-28 16:33:49 +10:00
Andrew Tridgell 888edcd709 Plane: fixed duplicate include of AP_ADC library 2017-04-27 18:32:26 +10:00
Andrew Tridgell 7ea0f65590 Plane: removed incorrect comment 2017-04-24 16:56:23 +10:00
Andrew Tridgell 06b0742481 Plane: fixed jump in qhover on takeoff 
Z controller PID is from -1 to 1

thanks to Leonard for spotting this
 2017-04-24 16:55:41 +10:00
Andrew Tridgell b9debba509 Plane: make ground test easier for tilt 2017-04-24 16:55:41 +10:00
Andrew Tridgell 76870f8e01 Plane: improve fast/slow tilt in ground tests 
when disarmed use the slow tilts so users can judge the rates it will
use in flight
 2017-04-24 16:55:41 +10:00
Andrew Tridgell aab20317a0 Plane: fixed position control in QLAND_FINAL 2017-04-24 16:55:41 +10:00
Andrew Tridgell b1f1ace736 Plane: support vectored yaw tiltrotors 
this adds support for tiltrotors which control yaw by vectoring the
forward motors. This avoids the need for the rear motor on a
tilt-tricopter to have a tilt servo
 2017-04-24 16:54:41 +10:00
Andrew Tridgell fedabd1ace Plane: added logging of quadplane desired yaw 
makes analysis of takeoffs easier
 2017-04-24 16:52:16 +10:00
Andrew Tridgell 2d9c3e3d93 Plane: added EKF yaw reset handling to quadplane 
this follows the implementation from copter. Thanks to Leonard for the
suggestion
 2017-04-24 16:52:16 +10:00
Andrew Tridgell 516bf26719 Plane: fixed QRTL change when coming from loiter 
the nav controller can think we have already reached the loiter target
if we were last in a LOITER when we switch to RTL. In that case it
would switch to QRTL immediately

found by Leonard (thanks!)
 2017-04-24 16:28:59 +10:00
Andrew Tridgell be1b50d6e2 Plane: support auto trim for separate elevon and vtail channels 
this supports SERVO_AUTO_TRIM=1 for elevons and vtails setup using the
new separate functions
 2017-04-24 16:26:08 +10:00
Andrew Tridgell b4ffcfa6bd Plane: added support for elevon and vtail servo functions 
these make trimming and limiting servo movement easier
 2017-04-24 16:26:08 +10:00
Peter Barker b5b8620d04 Plane: log GPS detection state to DF on log startup 2017-04-23 21:04:17 +01:00
Eugene Shamaev ca84ab36be Plane: AOA and SSA estimations are added to parameters and data logs 2017-04-19 20:48:42 +10:00
Andrew Tridgell 88e02c7b35 Plane: log the throttle mix for quadplane copter control 2017-04-19 09:08:43 +10:00
Andrew Tridgell 8e3f8f47c8 Plane: tilt motors fast in final stages of quadplane transition 
when transition of tilt quadplane has reached the stage where the tilted
motors are used solely for fwd thrust and rear motors are off we should
move the tilt to full forward rapidly
 2017-04-19 09:08:14 +10:00
Tom Pittenger 5b47927937 Plane: pre-launch flaps incorrectly always disabled 
Pre-launch flaps are always disabled by checking current state against zero (which it always will be) instead of the param which is what it was supposed to be checking.
 2017-04-18 14:40:17 -07:00
Andrew Tridgell d5ec7b0aad Plane: fixed a sign error in the angle assist code 
thanks to Leonard for finding this!
 2017-04-18 22:09:22 +10:00
Andrew Tridgell b15b11e32d Plane: always stabilize with tailsitters 2017-04-14 12:48:08 +10:00
Michael du Breuil b850c1041f Plane: Send BATTERY_STATUS 2017-04-12 10:21:49 +09:00
Andrew Tridgell 46d910539c Plane: fixed a warning 2017-04-11 17:34:40 +10:00
Andrew Tridgell 642a6acfcb Plane: support thrust vectoring in tailsitters 
adds Q_TAILSIT_VHGAIN and Q_TAILSIT_VFGAIN, allowing for thust
vectoring in both fixed wing and hover
 2017-04-11 17:34:40 +10:00
Andrew Tridgell 664e41cec6 Plane: bring in demanded climb rate over 1 second 
when we engage the Z controller in quadplane we bring in the climb
rate slowly to prevent a sudden change in motor demand
 2017-04-09 16:45:19 +10:00
Andrew Tridgell 17ba8b3304 Plane: raise logging rate for PID and servos 2017-04-09 16:45:19 +10:00
Andrew Tridgell 0cf571d338 Plane: moved Z altitude target reset 
reset alt target whenever we have not run Z controller for 2s
 2017-04-09 16:45:19 +10:00
Mark Whitehorn 7679b758b0 Plane: add parameter RUDD_DT_GAIN for dual motor tailsitter 
controls rudder to differential thrust mixing in FW mode
 2017-04-06 08:29:44 +10:00
Michael du Breuil 876ffa351b Plane: Update L1 constructor for new arguments 2017-04-06 08:26:04 +10:00
Andrew Tridgell acaef22416 Plane: improve transition from QSTABILIZE to FBWA or QHOVER 2017-04-05 20:00:29 +10:00
Andrew Tridgell a9b8e4b5d3 Plane: prepare for 3.8.0beta4 2017-04-04 20:49:10 +10:00
Andrew Tridgell 36d8f730e1 Plane: setup better defaults for tailsitters 2017-04-04 10:15:08 +10:00
Andrew Tridgell 48ae2f2de0 Plane: changed default THR_MAX to 100 
we have left it at 75 for far too long
 2017-04-04 08:19:41 +10:00
Andrew Tridgell 6a90257d2a Plane: fixed attitude logging for tailsitters 2017-03-31 11:30:44 +11:00
Andrew Tridgell c76eadf4f6 Plane: add available memory to PM message 2017-03-27 14:35:21 +09:00
Andrew Tridgell 5d06e4238f Plane: make the quadplane motors var_info dynamic 
this will allow for more quadplane motors class types
 2017-03-25 16:22:10 +11:00
Michael du Breuil 649ef0fc16 Plane: Only consider a takeoff as begun if the safety switch has been pressed 2017-03-23 16:55:47 -07:00
Andrew Tridgell af97a3974b Plane: initialise target height correctly on quadplane transition 
this fixes a bug where a plane in QSTABILIZE would drop suddenly if
switched to FBWA when the target altitude had not been initialised
 2017-03-22 21:34:40 +11:00
Andrew Tridgell bb158a437e Plane: handle bad Q_FRAME_CLASS 
default to quad with a warning. This prevents users getting stuck
without being able to set Q_ENABLE=1

thanks to Leonard for noticing
 2017-03-18 22:10:20 +11:00
Andrew Tridgell e3a8d477f5 Plane: improve tiltrotor transition strategy 
avoid running forward motors at high throttle when transitioning to a
VTOL mode
 2017-03-14 14:42:20 +11:00
Andrew Tridgell 3f7e7d456f Plane: in fixed wing mode slave quadplane attitude rate controller 
For quadplanes this uses the attitude controller from fixed wing
when using the multicopter controller to assist fixed wing
flight. This prevents a rate mismatch between the two controller
leading to oscillation
 2017-03-14 14:42:20 +11:00
Andrew Tridgell 2db8589f49 Plane: smarter Z controller initialisation for quadplanes 
this is more generic than the previous one used only for the full
position controller
 2017-03-14 14:42:20 +11:00
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
Andrew Tridgell 0e175179a6 Plane: log home and origin on logging start 2017-03-14 10:51:15 +11:00
Andrey Kolobov 35d406aeab Plane: added a soaring controller to Arduplane 2017-03-14 08:53:10 +11:00
Michael du Breuil 9e893eacd1 Plane: Change some user facing statustexts 2017-03-08 00:59:56 -08:00
Michael du Breuil 041fe38ba6 Plane: Update build tools for deepstall PID dependency 2017-03-02 12:38:59 +11:00
Michael du Breuil cf10b7b841 Plane: Add support for landing PID's and servo control 2017-03-02 12:38:59 +11:00
Michael du Breuil 1bb806edb2 Plane: Use new landing interfaces 2017-03-02 12:38:59 +11:00
Andrew Tridgell abcc75009d Plane: move relay init earlier 
allows relay pins to be used as pullups for other sensors (such as
LidarLiteV3)
 2017-03-01 22:44:37 +11:00
Randy Mackay eb746eaeef Plane: fix SYSID_ENFORCE parameter description 2017-02-28 15:08:17 +09:00
Michael du Breuil fbf6050876 Plane: Reset home to AHRS position rather then snapshotting GPS 2017-02-28 11:33:53 +11:00
Randy Mackay c0f155fd27 Plane: use only downward facing rangefinder 2017-02-27 15:18:25 +09:00
Andrew Tridgell 4ff5bf5af5 Plane: zero integrators and set throttle mix 
this zeros fixed wing integrators during TRANSITION_AIRSPEED_WAIT and
uses a zero throttle mix during TRANSITION_TIMER. This should allow
the fixed wing controller more time to adapt to forward flight
 2017-02-26 09:20:51 +11:00
Andrew Tridgell c061d5615b Plane: added manual input mask for tailsitter prop-hang 
This adds new parameters Q_TAILSIT_MASK and Q_TAILSIT_MASKCH. These
parameters allow a user to use the tailsitter capabilities of a 3D
plane to teach themselves to prop-hang.

It works by allowing the user to setup a switch on their transmitter
to enable manual pass-thru of a set of the input channels to outputs
when in tailsitter hover. The user can then use that switch to allow
learning of hover control in a 3D plane one channel (or two channels)
at a time.
 2017-02-26 09:20:13 +11:00
Andrew Tridgell 3bb25eb194 Plane: added Q_TAILSIT_INPUT 
this allows the user to control tailsitters either in body frame (like
a plane) or in earth frame (like a multicopter). This is useful for
people wanting to learn to fly prop-hang on 3D planes
 2017-02-26 09:20:13 +11:00
Andrew Tridgell ea5186340b Plane: added Q_TILT_RATE_UP and Q_TILT_RATE_DN as separate parameters 
allow control of tilt rate separately for UP and DOWN

always allow at least 90 degrees/second for switching to MANUAL
 2017-02-25 17:53:26 +11:00
Tom Pittenger 4ccd59f394 Plane: allow exiting loiter_to_alt in cases where you get stuck 
- check for scenarios where updrafts can keep you from loitering down indefinitely.
 2017-02-23 05:15:49 -08:00
Andrew Tridgell a4c5247fba Plane: prepare 3.8.0-beta3 
key fix is the servo slew rate bug
 2017-02-22 07:25:47 +11:00
Tom Pittenger 69a10042eb Plane: always stream RPM data over mavlink when enabled 2017-02-21 11:16:27 -08:00
Tom Pittenger 67486dc3f0 Plane: always log RPM when enabled 2017-02-21 04:20:01 -08:00
Peter Barker 97145f20fc Plane: fix startup of CLI menu system 2017-02-20 00:06:23 -08:00
Andrew Tridgell 07ab04897d Plane: reset roll/pitch integrators while tailsitter active 
this prevents integrator buildup while flying in hover
 2017-02-18 22:23:58 +11:00
Andrew Tridgell b3380ecfa7 Plane: support twin-engine planes 
with differential thrust for yaw
 2017-02-18 17:26:43 +11:00
Andrew Tridgell e8b11924f8 Plane: split out the tailsitter transition complete code 
use both roll and pitch to trigger completion of transition. This
copes with situations where the plane has managed to get itself rolled
over far enough that it can't recover into hover
 2017-02-18 17:26:43 +11:00
Andrew Tridgell d5a3f844f1 Plane: changes for AC_WPNav 2017-02-18 17:26:43 +11:00
Andrew Tridgell c787f4c56f Plane: initial support for tailsitter transitions 2017-02-18 17:26:43 +11:00
Andrew Tridgell 83f3cee99e Plane: initial hooks for tailsitter support 2017-02-18 17:26:43 +11:00
Andrew Tridgell 4e4f5a7ac9 Plane: allow tailsitters to takeoff with any attitude 2017-02-18 17:26:43 +11:00
Andrew Tridgell 0fc04b0158 Plane: setup plane frame type parameter flags 2017-02-14 19:50:01 +11:00
Andrew Tridgell c294519925 Plane: lower default Q_M_SPOOL_TIME to 0.25 2017-02-14 09:23:17 +09:00
Peter Barker 1d7994e9ba Plane: create GCS_Plane subclass 2017-02-13 17:03:06 +11:00
Peter Barker 98c4b48161 Plane: not in log download upon log erase 
erase is a synchronous operation
 2017-02-13 11:36:16 +11:00
Peter Barker 49bf336539 Plane: Support for a GCS singleton 2017-02-13 09:32:01 +11:00
Peter Barker d060670ba3 Plane: rename gcs[] to gcs_chan[] 
Wish to use gcs() to return the gcs singleton
 2017-02-13 09:32:01 +11:00
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
Michael du Breuil f183a2618f Plane: Don't lock home altitude to AHRS origin 2017-02-13 09:23:14 +11:00
Michael du Breuil 7a1cbf76d3 Plane: Remove ALT_MIX 
Closes #4998, and fix a tab/spaces error on the previous parameter
 2017-02-13 09:18:52 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas c4419739c4 Plane: rename MSG_RADIO_OUT to MSG_SERVO_OUTPUT_RAW to better describe what it is 2017-02-07 11:41:12 +11:00
Andrew Tridgell 90d9e74054 Plane: fixed parameter path 2017-02-06 15:12:32 +11:00
Andrew Tridgell 287614b415 Plane: fixed auto-takeoff throttle trigger for inverted launch 
quite an unusual setup, but has been done :-)
 2017-02-01 16:31:49 -08:00
Tom Pittenger 9abb0bba7f Plane: use abs() instead of labs() for int16 2017-01-30 10:43:54 -08:00
Michael du Breuil 2326eee9a0 Plane: Move loiter_radius to vehicle 2017-01-30 10:43:54 -08:00
Andrew Tridgell 5baf37f7a3 Plane: release 3.8.0beta2 2017-01-30 10:29:01 +11:00
priseborough 013eb254a2 Plane: use standard unit descriptor for milliseconds 2017-01-27 16:57:42 +09:00
murata 2492b9db7e Plane: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Tom Pittenger 1a34221db9 Plane: remove old commented code 
- leftover from the AP_Landing stage refactor
 2017-01-26 13:45:28 -08:00
Tom Pittenger bdafc2c025 AP_Landing: re/move complete flag into backend 
the complete flag was only ever true during FLIGHT_LAND_FINAL so we just check for that now instead
 2017-01-26 13:11:45 -08:00
Michael du Breuil 4cf1c74c62 AP_Landing + Plane: Check for land complete before requesting disarm 2017-01-26 13:11:44 -08:00
Tom Pittenger 2ccd91d88f AP_Landing: rename stage enum 2017-01-26 13:11:44 -08:00
Tom Pittenger 650e694eb1 Plane: move landing.reset to landing.do_land() 2017-01-26 13:11:44 -08:00
Tom Pittenger 61bc0a6206 Plane: check stage==LAND instead of landing.in_progress 2017-01-26 13:11:44 -08:00
Michael du Breuil 3e66dd10d7 Plane: Move landing stages inside AP_Landing and refactor 2017-01-26 13:11:44 -08:00
Tom Pittenger b570c11e26 AP_Landing: allow separate handling for verify_land() vs verify_abort() 2017-01-26 13:11:43 -08:00
Tom Pittenger e709705ab8 Plane: describe flight stages without using specific stage name 2017-01-26 13:11:43 -08:00
Tom Pittenger 6c0296ba13 AP_Landing: shadow copy of plane flight_stage into landing 
.. and describe stages without using specific stage name
 2017-01-26 13:11:43 -08:00
Andrew Tridgell 07cedd8a66 Plane: prevent stability shutdown in transition 
this prevents the vertical motors from shutting down while
transitioning if the desired throttle was too low at the start of the
transition
 2017-01-25 19:01:15 +11:00
Andrew Tridgell 0d4405106f Plane: removed forcing of trim for motors in quadplane 
this caused problems with tricopter tail servos
 2017-01-25 19:01:15 +11:00
Andrew Tridgell 5c820adad4 Plane: fixed tilt transition with binary tilt servo 
once the tilt is fully fwd then force transition as done at any
airspeed
 2017-01-25 19:01:15 +11:00
Andrew Tridgell 586f8a9ca8 Plane: fixes for tilt quadplane after rebase 2017-01-25 19:01:15 +11:00
Andrew Tridgell 2feaa9926c Plane: prevent fwd motor when throttle in dead zone for tiltrotor 
otherwise we end up with the SPIN_ARMED value
 2017-01-25 19:01:15 +11:00
Andrew Tridgell 54bca768b8 Plane: added Q_TILT_TYPE for retract servo tiltrotors 2017-01-25 19:01:15 +11:00
Michael du Breuil f017073077 Plane: Report battery failsafes via sys_status 2017-01-25 09:26:19 +09:00
Randy Mackay fc4741395d Plane: notify initialised after parameters loaded 2017-01-23 15:07:21 -08:00
Randy Mackay fad2ba608f Plane: send flight mode string to Notify 2017-01-23 15:07:21 -08:00
Randy Mackay af514eb101 Copter: remove some comments 2017-01-23 15:07:20 -08:00
Dmitry Prokhorov 497a4bd4a5 ArduPlane: Support for OLED display by Alexey Kozin 
https://github.com/ArduPilot/ardupilot/pull/5135
 2017-01-23 15:07:20 -08:00
Randy Mackay e906310b71 Plane: rudder_arming moved to AP_Arming_Plane 2017-01-17 11:45:08 +09:00
Randy Mackay 7cc8b7232c Plane: rename arming_checks to AP_Arming 2017-01-17 11:45:08 +09:00
Peter Barker fc28beacea Plane: AP_Arming: use callback in place of variable reference for home state 2017-01-17 11:45:08 +09:00
Tom Pittenger b8784e2c4a Plane: do not crosstrack after a land abort 2017-01-12 15:21:34 -08:00
Andrew Tridgell 3338b4295e Plane: use reload_defaults_file() 2017-01-12 17:39:37 +11:00
Andrew Tridgell 2f100b0804 Plane: removed separate tricopter quadplane build 
can all be done with one build now
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 68504dbcbb Plane: auto-upgrade old parameters for SRV_Channel split 2017-01-12 17:39:37 +11:00
Andrew Tridgell cb4ebdd7b4 Plane: fixed throttle_percentage() 
thanks to Buzz for noticing!
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 6b4e5304cf Plane: fixed mixer outputs 2017-01-12 17:39:37 +11:00
Andrew Tridgell 1879eddfa0 Plane: adjust for limit_slew_rate API change 2017-01-12 17:39:37 +11:00
Andrew Tridgell 081909bf6a Plane: removed use of pwm_to_angle() 2017-01-12 17:39:37 +11:00
Andrew Tridgell b83f50be0f Plane: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Tom Pittenger 9a250c3bf4 Plane: clarify some variable names and protect against divide-by-zero 2017-01-06 17:35:44 -08:00
Eugene Shamaev ac2880db7c Plane: waypoint logic change for overflow/underflow 2017-01-06 17:35:44 -08:00
Peter Barker af9729c126 Plane: correct compilation when parachute disabled 2017-01-02 20:39:03 -08:00
Peter Barker d40187fac7 Plane: correct compilation when geofence disabled 2017-01-03 00:37:28 +00:00
Peter Barker 4865bec871 Plane: correct compilation when logging disabled 2017-01-02 16:01:29 +09:00
Tom Pittenger 063f517424 Plane, TECS, AP_Landing: rename stage LAND_ABORT to ABORT_LAND 
this will reduce confusion when searching for FLIGHT_LAND_* and you get a bunch of takeoff related hits. It will also make more sense when the landing library fully manages the FLIGHT_LAND stage entirely because it will not mange FLIGHT_LAND_ABORT
 2016-12-30 23:50:03 -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 84e11fd899 Plane, AP_TECS: do not pass auto_land flag to TECS, it already knows it 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
Tom Pittenger 90b2458a27 Plane: remove redundant flightstage update 2016-12-30 23:44:20 -08:00
Andrew Tridgell 1c4bf77cf6 Plane: added custom conversion of Q_FRAME_CLASS parameter 2016-12-31 10:56:01 +09:00
Randy Mackay 934ef55338 Plane: quadplane instantiates motor matrix outside of case 
Thanks to khancyr for noticing this
 2016-12-31 10:55:23 +09:00
Randy Mackay c6dec5c3f6 Plane: quad plane uses consolidated multicopter classes 2016-12-31 10:55:23 +09:00
Andrew Tridgell 4cf509a693 Plane: fixed EKF3 logging 2016-12-19 08:07:14 +11:00
priseborough 38ad778ff1 make.inc: Add EKF3 and remove EKF1 library from make.inc files 2016-12-19 08:07:10 +11:00
priseborough 38a0e8a6ae ArduPlane: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Tom Pittenger b7b56b94a3 Plane: convert landing.complete to landing.is_complete() 2016-12-14 04:32:30 -08:00
Tom Pittenger 4b683edac9 Plane: simplified logic where landing complete overrides the calc value 2016-12-14 04:32:30 -08:00
Tom Pittenger 83f0a8114b Plane: use a common reset for uniform landing wipe 2016-12-14 04:32:30 -08:00
Tom Pittenger 8c1509ad47 Plane: abstract land abort request method 2016-12-14 04:32:30 -08:00
Andrew Tridgell 3dcf4cfb55 Plane: removed resetting integrators on mode change 
this removes the zero of roll, pitch and yaw integrator on mode
change, now only doing the steering integrator.

The zeroing was from the early days when our controllers were not as
good. It should not be needed any more.
 2016-12-14 20:22:56 +11:00
Randy Mackay c3b6fd4315 Plane: fix suppressing comment for case fall through 
No functional change
eclipse stops complaining if no-break is used in place of fall-through
 2016-12-14 13:22:15 +09:00
Randy Mackay 4efbc29490 Plane: pass HIL_GPS to gps driver 2016-12-08 15:52:26 +09:00
Tom Pittenger a3ccca17ff Plane: use fabsf instead of fabs 2016-12-06 17:38:47 -08:00
Tom Pittenger b299b9c0bb Plane: abstract out init_start_nav_cnd work to landing lib 
This reverts commit 1380a35f70.
 2016-12-06 03:45:14 -08:00
Peter Barker 669dc01b67 Plane: correct on_flight_line landing stage check 2016-12-06 03:24:41 -08:00
Andrew Tridgell 1380a35f70 Revert "Plane: abstract out init_start_nav_cnd work to landing lib" 
This reverts commit e2288d5262.

doesn't build
 2016-12-06 17:32:02 +11:00
Tom Pittenger e2288d5262 Plane: abstract out init_start_nav_cnd work to landing lib 2016-12-05 18:44:02 -08:00
Andrew Tridgell 1e691cdefc Plane: fixed build 2016-12-05 16:51:49 -08:00
Pierre Kancir da1f784e78 Plane : quadplane change to float to avoid the loss of a fractional part 2016-12-05 12:39:31 -08:00
Michael du Breuil da400dc643 Plane: Add compass cal capability bit 2016-12-04 19:17:01 -08:00
Tom Pittenger 9dd46aa03a Plane: post msg if aborting via throttle 
fixes https://github.com/ArduPilot/ardupilot/issues/4906
 2016-12-02 17:40:01 -08:00
Tom Pittenger 696828c144 Plane: increase landing airspeed scaled to headwind 2016-12-02 15:35:28 -08:00
Randy Mackay d95baf51c9 Plane: include AP_Beacon 2016-11-30 17:57:01 +09:00
Randy Mackay d9462d5dbc Plane: remove call to EKF1 logging 2016-11-30 17:57:00 +09:00
Randy Mackay 3587961be6 Plane: add AP_Beacon to build 2016-11-30 17:56:59 +09:00
Peter Barker f712dd5d7e Plane: add arming check for logging actually started 2016-11-29 15:14:09 -08:00
Peter Barker 784da9d1eb Plane: check CardInserted in AP_Arming 2016-11-29 15:14:09 -08:00
Peter Barker 98b5ab4656 Plane: remove incorrect comment about logging/in_mavlink-delay 2016-11-29 15:14:09 -08:00
Peter Barker d11578f203 Plane: do not reset LOG_BITMASK when no CardInserted 
This really just confuses everyone
 2016-11-29 15:14:09 -08:00