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3629 Commits

Author SHA1 Message Date
Peter Hall 2898b5e2fb Plane: report FENCE_MITIGATE_NONE 2020-02-04 10:24:33 +09:00
Andrew Tridgell 56044b8b04 Plane: fix for updated mavlink extensions 2020-01-29 08:17:13 +11:00
Peter Barker a5a75e61da ArduPlane: move some common init_ardupilot code up to AP_Vehicle 2020-01-28 11:34:51 +11:00
Peter Barker a45abc7762 Plane: move setup method up to AP_Vehicle base class 2020-01-28 11:34:51 +11:00
Peter Barker de423a945f Plane: move rssi initialisation into init_ardupilot 
This makes it the same as Rover and Copter.
 2020-01-28 11:34:51 +11:00
Peter Barker e358677f85 Plane: allow NavEKFs to be compiled out 2020-01-21 11:53:18 +11:00
Peter Barker 9364181772 Plane: EKF objects have moved into AP_AHRS_NavEKF 2020-01-21 11:53:18 +11:00
Peter Barker 024c86bdab Plane: let AP_Vehicle base class worry about scheduler delay callback 2020-01-21 11:37:28 +11:00
Peter Hall 807c05c715 Plane: tilitrotor: allow motor test 2020-01-21 10:11:16 +11:00
Peter Hall 90494c9de6 Plane: tailsitter: allow motor test 2020-01-21 10:11:16 +11:00
Andrew Tridgell 3e930baf89 Plane: update release notes for 4.0.3 2020-01-21 08:13:23 +11:00
Andrew Tridgell 671a4d7673 Plane: update release notes for 4.0.3beta2 2020-01-18 21:40:26 +11:00
Andrew Tridgell 1854e73788 Plane: use HAL_PARACHUTE_ENABLED 2020-01-18 13:48:48 +11:00
Andrew Tridgell 2e1b4cadc2 Plane: removed AP_Stats 2020-01-16 20:36:54 +11:00
Peter Hall a2e72de5ae Plane: move to airspeed_estimate with pointer 2020-01-14 22:34:37 -07:00
Peter Hall fbba3f4035 Plane: set_likely_flying in vehicle 2020-01-14 22:34:37 -07:00
Andrew Tridgell a90c16e60e Plane: update for new SRV_Channels parameter conversion call 2020-01-14 14:23:11 +11:00
Peter Barker a74d754720 Plane: AP_Arming now logs arm/disarm events 2020-01-14 11:39:36 +11:00
Tatsuya Yamaguchi 1f9f84044c Plane: allow scripts to get modes 2020-01-14 11:16:29 +11:00
Andrew Tridgell 0f7fbfae77 Plane: update release notes for 4.0.3beta1 2020-01-10 19:41:12 +11:00
Peter Barker a50b777179 ArduPlane: let RC_Channel indicate AUX_FUNC::ARMDISARM needs no initialisation 
All users set this.
 2020-01-08 18:36:02 +11:00
Henry Wurzburg 040a1b7fbe Plane:fix typo in ARSPD_FBW_MAX param description 2020-01-02 12:00:52 -07:00
Peter Hall 660c9a8a60 Plane: move from FLAP_IN_CHANNEL to RCx_Option 2020-01-01 08:11:01 +11:00
Gone4Dirt 760909d046 Plane: Prevent FS action overiding VTOL land 2019-12-31 11:42:59 +11:00
Andrew Tridgell 56286d8df3 Plane: update release notes for 4.0.2 2019-12-30 14:44:44 +11:00
Andrew Tridgell 77f0810f01 Plane: removed init_vehicle from separate vehicles 
use common call from AP_BoardConfig
 2019-12-30 13:02:04 +11:00
Andy Piper eca398e7a2 Plane: create generic vehicle management and move runcam to it 2019-12-30 13:02:04 +11:00
Michael du Breuil 7d8005ef27 Plane: Update flaperons for all control modes 
Fixes flaperons not working during takeoff, and is generally slightly
easier to reason about
 2019-12-24 16:58:46 +11:00
Andrew Tridgell 6d4f4d7a3b Plane: allow negative VFR_HUD throttle 2019-12-24 15:14:03 +11:00
Peter Barker 1db9201a90 Plane: let GCS base class handle proximity and rangefinder messages 2019-12-24 12:08:54 +11:00
Andrew Tridgell 4774c78a12 Plane: update release notes for 4.0.2beta3 2019-12-23 20:26:43 +11:00
Andrew Tridgell 0e79044285 Plane: fixed range check for RC channel 2019-12-20 10:55:14 +11:00
Andrew Tridgell f3dfd62f32 Plane: fixed FS_GCS_ENABL=2 for hearbeat failsafe 2019-12-19 08:34:00 +11:00
Mark Whitehorn 56b2c697d2 Plane: change tailsitter_input to bitmask 
update parameter metadata for Q_TAILSIT_INPUT and Q_FRAME_TYPE
 2019-12-18 08:33:29 +11:00
Mark Whitehorn c16f3a2cba Plane: simplify body-frame roll axis swapping and constrain yaw rate max 2019-12-18 08:33:29 +11:00
Mark Whitehorn 14fc6c5446 Plane: add logging for tailsitter gainscaling and clean up tailsitter body-frame roll input handling 
fix metadata for tailsitter param GSCMSK
rework roll/yaw scaling for body-frame roll options
add constraints on body-frame roll and yaw inputs
move speed_scaler logging into QTUN message
 2019-12-18 08:33:29 +11:00
kd0aij 95da094bfe Plane: update tailsitter speedscaling logic 
add tailsitter gain scaling option mask and logging
tailsitter qassist bugfix; thanks, @iampete
apply roll limit in tailsitter bodyframe roll control
add define for future exclusion of tailsitter gainscaling debug code/logging
tailsitter bodyframe roll and qacro input scaling bugfixes:
  respect Q_TAILSIT_RLL_MX and roll/yaw scale parameters in bodyframe roll modes
  fix unintended swap of Q_ACRO_RLL/YAW_RATE params in QACRO mode
don't scale motor tilt

Co-authored-by: IamPete1 <33176108+IamPete1@users.noreply.github.com>
 2019-12-18 08:33:29 +11:00
giacomo892 1763be2c03 RC_Channel: added LOITER switch for plane 2019-12-17 16:14:53 +11:00
giacomo892 1ee3118bc4 Plane: added RC option for LOITER mode 
Handy to have, and much better than use CIRCLE
 2019-12-17 16:14:53 +11:00
Andrew Tridgell e27d1e8754 Plane: update release notes for 4.0.2beta2 2019-12-16 19:03:20 +11:00
Andrew Tridgell 43eb664be6 Plane: updated release notes for 4.0.2beta1 2019-12-16 19:03:18 +11:00
Peter Barker 33a0e55b32 Plane: correct duplicate button instance 2019-12-10 09:29:52 +09:00
Peter Barker 1fdb4b429f Plane: use https:// scheme for ardupilot URLs 2019-12-10 07:53:46 +11:00
Peter Barker a567e8bc94 Copter: use https:// scheme for ardupilot URLs 2019-12-10 07:53:46 +11:00
Peter Barker 3547e74991 Plane: move setting of GPS SYS_STATUS bits up to base class 2019-12-05 13:02:19 +11:00
Randy Mackay b3928d3eee Plane: scripting init sends failure message 2019-12-03 12:48:32 +08:00
Peter Barker 71017cb288 Plane: vehicle parent class now instantiates AHRS 2019-12-02 09:16:22 +11:00
Peter Barker 5447992558 Plane: rename system_status as it won't be called from base class 2019-11-27 14:27:53 +11:00
Marian Soban 0a59fed54f Plane: LTM telemetry support 2019-11-26 12:14:13 +11:00
Peter Barker c93d17b4b2 ArduPlane: use enum-class for SRV_CHANNEL_LIMIT_TRIM and friends 2019-11-26 10:17:17 +11:00
Henry Wurzburg f2d8a42de8 Plane: correct crash_detect param description...no manual mode option bit exists 2019-11-23 17:39:06 -08:00
Andrew Tridgell fba5732292 Plane: updated release notes for 4.0.1 2019-11-22 14:56:56 +11:00
Peter Barker 08e18ccdfe Plane: do not trust fence-channel PWM during RC failsafe 2019-11-19 10:59:02 +11:00
Andrew Tridgell d872ca27ce Plane: added dynamic harmonic notch support 2019-11-19 07:08:01 +08:00
Andrew Tridgell 89c43fa052 Plane: updated release notes for 4.0.1beta1 2019-11-18 21:31:22 +11:00
Andrew Tridgell 36baaeb3a0 Plane: added option to run idle governor in MANUAL mode 
useful for quadplane testing
 2019-11-17 20:10:54 +11:00
Andrew Tridgell 2b27cd2ce9 Plane: Add EFI Support 2019-11-17 20:10:54 +11:00
Randy Mackay accdf53a5b Plane: init aux function cases in alphabetical order 2019-11-12 18:56:13 +11:00
Peter Barker 87058ef141 Plane: rename parameter to avoid name conflict with lock 2019-11-12 16:33:12 +11:00
Peter Barker 2a22e7c8c5 Plane: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Andrew Tridgell e5bad28f1d Plane: added Q_ASSIST_ALT parameter 
this allows for quadplane assistance in fixed wing modes when the
aircraft drops below a given altitude. This could help save an
aircraft that is flying badly in fixed wing mode
 2019-11-09 20:17:36 +11:00
Peter Barker 6cd4dfba2c Plane: use enum-class for RangeFinder Status 2019-11-09 08:01:53 +11:00
Peter Barker 0626f1fc2f Plane: stop providing current location to mount 2019-11-05 19:55:45 +11:00
Peter Barker ba90a1a5df Plane: let GCS superclass specify compass and param float capabilitiy 2019-11-05 11:26:23 +11:00
Andrew Tridgell ffaaf09f79 ArduPlane: moved AC_PID dependency to core 2019-11-02 16:31:04 +11:00
Peter Barker 614bb656b7 Plane: AC_AutoTune writes events itself now 2019-11-01 14:47:52 +08:00
Andrew Tridgell 680a89671f Plane: fixed doc path for Q_AUTOTUNE 2019-11-01 09:31:40 +11:00
Leonard Hall 87b49c64f8 Plane: limit ATC_MOT_MIX_MAX in case of a fly away 2019-10-31 12:23:48 +08:00
Andrew Tridgell 80bd038333 Plane: updated release notes for 4.0.0 2019-10-28 16:39:16 +11:00
vierfuffzig 6786bf0016 Plane: fix RCn_OPTION mode initialization 2019-10-27 07:33:45 +11:00
Michael du Breuil ee96ec7f0d Plane: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
Peter Barker 1d99fbebc9 Plane: use ahrs singleton to log ATT, POS and AHRS2 2019-10-24 13:15:46 +11:00
Randy Mackay edb5f05339 Plane: minor comment changes 2019-10-22 07:15:48 +08:00
Henry Wurzburg 871e5f448c ArduPlane: added RC option for new takeoff mode 2019-10-21 08:41:58 +11:00
Andrew Tridgell abd08ac5ca Plane: fixed takeoff alt handling 
thanks to Henry for noticing
 2019-10-20 09:38:26 +11:00
Mark Whitehorn 1a2abae902 Plane: reduce QTUN log rate to 25Hz 2019-10-20 06:24:46 +11:00
Andrew Tridgell 9d1c6ae46e Plane: update release notes for 4.0.0beta4 2019-10-19 09:11:30 +11:00
Andrew Tridgell 3194059408 Plane: allow TAKEOFF mode on board with no compass 2019-10-17 12:19:43 +11:00
Andrew Tridgell f628524601 Plane: if already flying in TAKEOFF mode then skip takeoff 2019-10-17 12:19:43 +11:00
Andrew Tridgell dc2aaa7d5a Plane: deny reverse thrust in takeoff mode 2019-10-17 12:19:43 +11:00
Andrew Tridgell ff400243e0 Plane: added a new TAKEOFF flight mode 
takeoff then circle in direction of takeoff
 2019-10-17 12:19:43 +11:00
Henry Wurzburg 3e08e18202 Plane: add QACRO to flight mode list 2019-10-16 13:14:06 +11:00
Andrew Tridgell f821ca4677 Plane: remove AP_ADSB from wscript 2019-10-16 13:13:24 +11:00
Peter Barker 5d405896f8 Plane: move many members up to base class 2019-10-08 11:26:04 +11:00
Peter Barker a252aad39b Plane: become an AP_Vehicle 2019-10-08 11:26:04 +11:00
sas 9405fd6958 Plane: remove unused location argument to control_auto 2019-10-08 10:49:51 +11:00
Peter Barker fa0d0c6176 Plane: remove bogus ARMING_CHECK_NONE 'bitmask value' 2019-10-08 10:31:07 +11:00
Andrew Tridgell 2f936b0d3e Plane: updated release notes for 4.0.0beta3 2019-10-07 21:41:19 +11:00
Michael du Breuil f9580424f6 Plane: Resore old default behaviour for throttle curves 
The change in this made QStabilize behave very differently then it had,
which is quite shocking in a test flight.
 2019-10-07 21:17:07 +11:00
Andrew Tridgell db4ae9ff24 Plane: check airspeed and active Z controll for hover learning 2019-10-04 14:01:08 +10:00
Peter Barker 177f7bed81 Plane: remove unused configuration options 2019-09-27 11:58:10 -06:00
Peter Barker 3bb1b0845c Plane: stop compiling in AP_Buffer 2019-09-24 09:36:33 +10:00
Michael du Breuil 8bfab6d2f2 Plane: Geofence, speed up the no fence checks if disabled 
This just checks if we are going to early out on the fence because it's
disabled. This also saves us 60 bytes of flash space. This technically
is a behaviour change as it was possible to load the fence before while
disabled if there was an RC channel mapped to it. This defers that until
the fence will have an action. The advantage of this though is that it
speeds up the check that's done per loop in a quadplane for stick mixing
 2019-09-23 17:31:33 -06:00
Michael du Breuil 562b155f63 Plane: Remove unused geofence enable reason 2019-09-23 17:31:33 -06:00
Michael du Breuil 7d8b114b24 Plane: Reduce size of GeoFenceState 
Cuts it from 32 bytes to 28
 2019-09-23 17:31:33 -06:00
Michael du Breuil af0dfb6d8b Plane: Remove unneeded state from geofence 2019-09-23 17:31:33 -06:00
Andrew Tridgell 27187ca248 Plane: updated release notes for 4.0.0beta2 2019-09-24 08:46:52 +10:00
Andrew Tridgell c93d73b678 Plane: change master version to 4.1.0dev 2019-09-22 20:20:16 +10:00
Peter Barker 5730808778 Plane: remove stale enum entries for log message types 2019-09-18 15:02:57 +10:00
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 34b0967d09 Plane: prevent fwd motor from spinning up on ground in quadplane landing 
if the rangefinder starts to measure below it's min range then the fwd
motor can spin up.

Thanks to Josh for reporting this!
 2019-09-17 09:36:26 +10:00
Peter Barker a761cb62de Plane: remove get_advanced_failsafe override; singleton to be used 2019-09-17 09:13:43 +10:00
Andrew Tridgell 8b92df51db Plane: updated release notes for 4.0.0beta1 2019-09-16 12:59:25 +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 929426abf8 Plane: update release notes for 3.9.11 2019-09-15 19:08:16 +10:00
Andrew Tridgell 7751352a86 Plane: implement VTOL landing for AFS termination 
this allows for vertical landing as an AFS_TERM_ACTION
 2019-09-12 09:59:17 +10:00
Mark Whitehorn 788e7a840c Plane: default angle_boost to disabled for tailsitters 2019-09-12 09:05:42 +10:00
Andrew Tridgell b724608f03 Plane: update release notes for 3.9.11 2019-09-11 12:30:27 +10:00
Michael du Breuil 4f22dff14d Plane: Add an airspeed limit for quadplane takeoffs 2019-09-09 22:06:25 -06:00
Michael du Breuil 77afcf6a1b Plane: Abort takeoffs that take to long to complete 2019-09-09 22:06:25 -06:00
Henry Wurzburg 7178655cbe Plane: fixed landing after VTOL loiters 2019-09-10 08:57:13 +10:00
Michael du Breuil cf58f68e49 Plane: Rearrange header to save flash 
Saves 392 bytes of flash on CubeBlack builds without increasing RAM
consumption at all. This also translates to a speed up as some of these
are looked up every loop multiple times.
 2019-09-10 06:43:34 +10:00
Peter Barker 948d606694 Plane: remove ineffective DEVO_TELEM_ENABLED 2019-09-04 17:47:33 +10:00
Peter Barker b12f620233 Plane: fix format string warnings 2019-09-02 21:00:59 +10:00
IamPete1 27286b659b Plane: servos: update dspoiler auto trim 2019-09-01 09:00:16 +10:00
Peter Barker 32a71d2d5a Plane: mount uses AP_SerialManager singleton 2019-08-28 06:55:28 +10:00
Andrew Tridgell 296ce5a409 Plane: fixed throttle failsafe for FS_SHORT_ACTN=3 
this is a replacement for #12043
many thanks to @Jaaaky for finding this issue
 2019-08-26 17:20:24 +10:00
Andrew Tridgell 0ccd2fb273 Plane: update release notes for 3.9.10 2019-08-26 13:38:44 +10:00
Peter Barker 847f85a081 Plane: correct compilation with PARACHUTE==DISABLED 2019-08-23 13:22:44 +10:00
Andrew Tridgell 470a60f828 Plane: reset steering in MANUAL or when not stabilising 2019-08-22 20:10:09 +10:00
Michael du Breuil 0b0d0e2f8e Plane: Remove APM_Config.h 2019-08-21 22:16:49 -06:00
Peter Barker 1b36d64794 Plane: correct compilation with GEOFENCE_ENABLED==DISABLED 2019-08-20 23:03:32 -07:00
Michael du Breuil ea64077f77 Plane: Remove redundant protection 2019-08-20 23:59:06 +01:00
Andrew Tridgell 10770b5c7f Plane: update release notes for 3.9.10beta1 2019-08-18 16:18:43 +10:00
Peter Barker 2768d229ed Plane: stop updating sensor status flags 
These are updated as required in the gcs library itself.
 2019-08-17 17:45:03 +10:00
Peter Barker 466681a94e Plane: factor out a handle_command_int_do_reposition 2019-08-14 18:30:24 +10:00
Peter Barker cfe4ec4d1f Plane: add nullptr check for mavlink channel 0 2019-08-14 18:25:43 +10:00
Peter Barker 7e5a6f1895 Plane: avoid allocate a GCS_MAVLINK per mavlink channel 2019-08-14 18:25:43 +10:00
Peter Barker 20626a1fe1 Plane: move automatic declination setting into AP_Compass itself 2019-08-13 10:02:13 +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
Peter Barker b7b67f523d Plane: pass format string through to check_failed 2019-08-05 14:18:05 +10:00
Andrew Tridgell 6f57028c23 Plane: added release notes from 3.9.9 2019-08-04 18:01:51 +10:00
Leonard Hall 124d18228b Plane: Support seperate roll and pitch limits 2019-08-03 12:06:32 +09:00
Peter Barker 05c608e725 Plane: use MAV_FRAME_GLOBAL instead of MAV_FRAME_GLOBAL_INT in send_position_target 2019-07-30 10:55:21 +10:00
Peter Barker 20a20bde65 Plane: accept MAV_FRAME_GLOBAL for set_position and repositioning 2019-07-30 10:55:21 +10:00
Michael du Breuil 2d81ad63f5 Plane: Convert ARMING_CHECK 2019-07-30 10:42:16 +10:00
Michael du Breuil 3e214e1f8b Plane: Add keydump feature 2019-07-30 10:42:16 +10:00
Leonard Hall 34da437266 Plane: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall 157f786adf Global: rename desired to target in PID info 2019-07-25 17:38:15 +09:00
Michael du Breuil c6f884221e Plane: Fix parameter description on values to not use the delimiter character 2019-07-23 09:29:48 +10:00
Pierre Kancir 33e12a127c ArduPlane: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Michael du Breuil 22598b1a4b Plane: Reduce inerital nav dependence 2019-07-16 12:11:42 +09:00
Peter Barker 7c88eb670c Plane: RangeFinder uses AP_SerialManager singleton 2019-07-16 09:29:48 +10:00
Peter Barker 38e303389b Plane: avoidance no longer takes ahrs in constructor 2019-07-16 09:29:48 +10:00
Peter Barker 37014bdfe1 Plane: split RC_CHANNELS messages onto separate ap_message ids 2019-07-09 13:08:45 +10:00
Peter Barker 769e862807 Plane: stop passing relay and ahrs into camera constructor 2019-07-09 09:32:39 +10:00
Andrew Tridgell ff08de033e Plane: fixed home reset alt bias 
this fixes a bug in the set of home alt while disarmed. The set had a
circular dependency which could cause a large bias to build up between
home alt and gps alt due to small fluctuations in barometer data

Thanks to Nick Allen for spotting this
 2019-07-07 19:20:32 +10:00
Andrew Tridgell aa18c75689 Plane: decay fw rate integrators when at low airspeed 
this prevents large fixed wing control surface integrators from
causing issues when we have wind from behind in hover
 2019-07-07 18:16:47 +10:00
Andrew Tridgell ebe2278f5d Plane: reset rate controller integrators if not run for 2s 
this prevents a bug where integrator buildup can happen from a
previous flight mode
 2019-07-07 18:16:47 +10:00
Peter Barker 1674cb0a85 Plane: EKF logging moved into EKF from logger 2019-07-06 19:05:51 +10:00