Commit Graph

1832 Commits

Author SHA1 Message Date
Tom Pittenger
fe083c8ffa Plane: consider extended launch throttle delays
use the greater of takeoff_throttle_delay+2s or 5s
2015-09-09 09:14:59 +10:00
Tom Pittenger
4f46c5331a Plane: added time for flying in any mode
- previously we only kept track of starting flying while in auto which gets reset when switching in and out of auto and on takeoff/land. Now we keep track of a "global" one that will track the is_flying flag regardless of the flight mode.
2015-09-09 09:14:59 +10:00
Tom Pittenger
a3c51698cb Plane: fix throttle when restarting mission in-flight with takeoff
fixes https://github.com/diydrones/ardupilot/issues/2778
When executing a takeoff, and the throttle is suppressed, but we're already flying, we should unsuppress the throttle. We can get into this situation if we reset the mission in-flight.
2015-09-09 09:14:59 +10:00
Andrew Tridgell
0cc165308d Plane: use 4 degrees if zero takeoff pitch 2015-09-09 09:13:12 +10:00
Andrew Tridgell
953efa9b6c Plane: fixed parameter docs for LAND_ABORT_THR
it should be a values list
2015-09-09 09:08:59 +10:00
Tom Pittenger
d36ee786e4 Plane: init hold_course in do_takeoff 2015-09-09 09:04:24 +10:00
Tom Pittenger
25da4ec0ea Plane: added flight stage FLIGHT_LAND_ABORT and abort mechanism
- enabled via new param LAND_ABORT_THR default is 0 (disabled)
- Triggered via 95% throttle during landing, a landing abort will take place.
- This copies all takeoff params for right now, we can make this better later if needed
- added mission item command to NAV_LAND which is the abort takeoff altitude. If 0 then use last takeoff if available, else use 30m
- hold heading, just like takeoff, until altitude is reached
- pitch is constrained to takeoff pitch, or else 10deg if not available
- After abort altitude is reached, the normal landing restart happens (DO_LAND_START or decrement mission)
- restart landing by jumping to DO_LAND_START or decrement mission on mode change
2015-09-09 09:04:24 +10:00
Grant Morphett
e734e9745d Plane: TKOFF_TDRAG_SPD1 is needed if holding nose wheel down.
Just clearing up the documentation as per this wiki issue
https://github.com/diydrones/ardupilot-wiki-issue-tracker/issues/138
2015-09-08 17:31:09 +10:00
Tom Pittenger
6e55b44b63 Plane: change NAV_CONTINUE_AND_CHANGE_ALT behavior
Use waypoint bearing if available, otherwise use gps projected ahead 1km else yaw
Perform update before making decision to finish cmd so it always executes
2015-09-08 17:05:54 +10:00
Andrew Tridgell
0a66fcce20 Plane: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Andrew Tridgell
05192ea9ab Plane: added severities to send_statustext_all 2015-09-08 14:29:55 +10:00
Andrew Tridgell
f92f46ee99 Plane: update for changed AP_Arming API 2015-09-08 13:54:45 +10:00
Grant Morphett
f953f03916 Plane: Fixing issue 327 - reporting Baro alt instead of GPS 2015-09-08 09:40:39 +10:00
Grant Morphett
3cb0c1bba8 Plane: Move the plane centric arming code into arming_checks.cpp
Needed to move the plane centric arming code out of the AP_Arming
library and into the plane vehcile code.
2015-09-07 11:54:21 +10:00
Andrew Tridgell
e12c20bd22 Plane: prepare for 3.4.0-beta2 release 2015-09-07 09:30:34 +10:00
Andrew Tridgell
16d06ef0a9 Plane: set throttle trim to min on startup
this prevents possibly motor startup for bad RC3_TRIM values
2015-09-07 09:17:22 +10:00
Andrew Tridgell
2d60934335 Plane: require 5 channels to run failsafe passthrough 2015-09-07 09:16:14 +10:00
Randy Mackay
8c1212d4a6 Plane: support do-mount-control via command-long 2015-09-06 16:01:31 +09:00
Siddharth Bharat Purohit
aea1db7348 ArduPlane: implement on-board compass cal for arduplane 2015-09-03 16:59:14 +10:00
Peter Barker
c2d61391ef Plane: DFMessageWriter; ability to trickle messages out to DF 2015-09-03 15:20:20 +10:00
Gustavo Jose de Sousa
a6bdee076e ArduPlane: remove comments identifying task
We don't need those comments anymore, now that we log the task name. Also,
keeping the comments means that we need to fix them when tasks are added in the
middle, not to mention the problem with tasks that are added selectively (i.e.,
guarded by preprocessor directives).
2015-09-01 20:22:19 +10:00
Gustavo Jose de Sousa
36b457a536 ArduPlane: use function name for AP_Scheduler task name
That makes it easier to identify tasks when debug is enabled in AP_Scheduler.
2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa
b0258d902c ArduPlane: use designated initializers for tasks structs
Makes code less prone to break build and semantics (e.g., when a new field is
added).
2015-09-01 20:22:18 +10:00
Tom Pittenger
81f8358705 Plane: restart landing by jumping to DO_LAND_START or decrement mission
only takes effect on mode change
2015-08-29 21:17:35 +10:00
Stewart Loving-Gibbard
722dd29370 Plane: Moving to RSSI library for reading various kinds of RSSI, with the possibility of adding more.
* Retains ability to read from Analog Pin
* Adds ability to read RSSI from PWM channel value as is done in OpenLRSng, EazyUHF, and various other LRS.
* Handles any type of RSSI that provides RSSI values inverted - i.e. when the low value is the best signal and the high value is the worst signal.
* Has different key names from all existing RSSI parameters to provide for a clean break and easier distinguishing.
* Existing parameters are marked as obsolete
2015-08-29 08:05:59 +10:00
Randy Mackay
4bf36d787b Plane: use labs for int32 values 2015-08-28 13:14:50 +10:00
Randy Mackay
cc68260478 Plane: sanity check do-set-home, do-set-ROI and fence-point locations 2015-08-28 13:14:38 +10:00
squilter
583c087eca Plane: update severities 2015-08-28 10:04:35 +10:00
André Kjellstrup
d4ed30a023 Plane: releasenotes update 2015-08-28 10:03:16 +10:00
Randy Mackay
e4c62811ea Plane: fix link to BATT parameter descriptions 2015-08-26 11:17:55 +09:00
Tom Pittenger
ee9a66bd02 Plane: fix compiler warning re double promotion 2015-08-25 16:45:52 +09:00
Grant Morphett
dda229aecd Plane: Added include guards for Plane.h 2015-08-25 13:54:16 +09:00
Tom Pittenger
fed50aa5c5 Plane: is_crashed flag gets reset too easily
This behavior is excessively paranoid about clearing the flag so now it's extra sticky. You can only clear the is_crashed flag when:
- changing modes
- starting to execute a takeoff wp (if mission/index gets reset while still in auto)
- while in takeoff and throttle is suppressed it's held false

behavior that was removed:
- clear flag when starting to execute any nav cmd (reached next wp)
- if while crashed, you "start flying again" (non-sticky)
2015-08-24 20:00:12 +10:00
Tom Pittenger
e1d566f9e7 Plane: simulator sets is_crashed
due to zero-ish vibration in SITL, the is_flying check thinks you're not flying, and this thinks you crashed. This is a SITL specific problem but it brings to light that *if* someone actually had a very low vibration aircraft we don't want to crash them. So, the vibe test has been removed for now. A better test is a variance on the accel
2015-08-24 00:32:41 -07:00
Andrew Tridgell
019f2af930 Plane: fixed build with HIL disabled 2015-08-23 22:21:51 +10:00
Tom Pittenger
f4f111775e Plane: Log height of zero instead of old value 2015-08-23 16:55:08 +10:00
ziltoid2
b9dd6b7aac Plane: prevent delayed compass HIL data from disabling compass at system startup only 2015-08-23 16:48:48 +10:00
Tom Pittenger
37336bbbe1 Plane: moved is_flying related code to its own file 2015-08-23 10:34:19 +10:00
Tom Pittenger
204ff7b158 Plane: move statics into new struct
removed default case statements
2015-08-23 10:34:18 +10:00
Tom Pittenger
6d0ad05192 GCS_Mavlink: added is_crashed to mavlink heartbeat status which shows EMERGENCY 2015-08-23 10:34:18 +10:00
Tom Pittenger
da8f4f9e95 Plane: reworked is_flying
add crash detection, allow disengage via param CRASH_DETECT
improved is_flying behavior
take off, landing and hard-landing improvements
add stillness check to is_flying and log it
minimum airspeed is determined ARSPD_FBW_MIN*0.75
2015-08-23 10:34:18 +10:00
squilter
d421644f3a Plane: define and send FIRMWARE_VERSION 2015-08-23 09:21:57 +09:00
Michael Day
f20beecb0b Plane: Climb/descent "intent" param with CONTINUE_AND_CHANGE_ALT
Param 1 of CONTINUE_AND_CHANGE_ALT now denotes which direction the
user expects the plane to travel when changing altitude:

0 = no expectation, command completes when within 5 m of altitude.
1 = climb expected, command completes at or above altitude.
2 = descent expected, command completes at or below altitude.
2015-08-20 11:37:17 +10:00
Andrew Tridgell
f66174a1ce Plane: improved 3.4.0 release notes 2015-08-20 11:30:28 +10:00
Andrew Tridgell
0c833b76b7 Plane: update release notes for 3.4.0beta1 2015-08-20 11:11:28 +10:00
Andrew Tridgell
b1f810fbb9 Plane: prepare plane 3.4.0beta1 release 2015-08-20 10:53:48 +10:00
Tom Pittenger
86e3116fb6 Plane: implement try send mission_item_reached
clean up unreachable code
2015-08-19 15:42:07 +10:00
Tom Pittenger
f1eb2f88df Plane: post "Distance from LAND point" on every land
- waits until disarm after a land
2015-08-18 17:20:20 +10:00
Stewart Loving-Gibbard
eb2ca91f1c Plane: Fixing unambiguous spelling errors in Parameters.cpp file.
These are user-visible in Mission Planner and the like.
2015-08-18 17:16:19 +10:00
Andrew Tridgell
6186b7a453 Plane: disable TRIM_RC_AT_START by default 2015-08-15 19:13:30 +10:00