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1023 Commits

Author SHA1 Message Date
Andrew Tridgell accfd46633 Plane: update for new APM_Control API 2013-08-14 14:57:41 +10:00
Andrew Tridgell 8378dc9779 Plane: use reference to AHRS 2013-08-13 13:49:34 +10:00
Andrew Tridgell 5cfdf52381 Plane: change default modes to FBWA not STABILIZE 2013-08-13 13:42:27 +10:00
Andrew Tridgell d4ca3ebf65 Plane: check for parameter send at default of 10Hz 
50Hz can cause overruns, especially on PX4 which can drain the tx
buffer very rapidly
 2013-08-13 13:42:25 +10:00
Andrew Tridgell a33573352e Plane: fixes for updated AP_Math and AHRS APIs 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:30:04 +10:00
Andrew Tridgell e22f58c9fc Plane: fixed build with OBC failsafe 2013-08-03 09:18:01 +10:00
Andrew Tridgell 890b77447a Plane: allow integrator in stabilize mode when no stick input 
fixes issue #472
 2013-08-02 21:55:34 +10:00
Andrew Tridgell c083c15240 Plane: use a larger serial buffer 
this makes higher rate MAVLink possible again
 2013-08-02 18:46:54 +10:00
Andrew Tridgell c3b5f20a45 Plane: run TECS 50Hz code when throttle suppressed 
this fixes auto-launch detection using TECS
 2013-08-02 18:46:48 +10:00
Andrew Tridgell 8428779558 Plane: make it easier to find task numbers 2013-08-02 18:46:42 +10:00
Andrew Tridgell 62cc84aba3 Plane: use new scheduler load_average() function 
this also simplifies the main loop
 2013-08-02 18:46:28 +10:00
Andrew Tridgell 233b033e8c Plane: removed old speed/altitude control algorithms 
Use TECS only. This makes the code a lot simpler and easier to
properly document
 2013-07-22 13:28:11 +10:00
Andrew Tridgell c0697d0a2d Plane: mark 2.75beta1 2013-07-22 12:50:30 +10:00
Andrew Tridgell 965dc228c2 Plane: fixed GUIDED mode change of altitude down 2013-07-22 12:50:02 +10:00
Andrew Tridgell b8fa83ff54 Plane: change default slewrate to 100%/second 2013-07-22 12:50:02 +10:00
Andrew Tridgell 29c854e676 Plane: remove unused function 2013-07-22 12:50:02 +10:00
Andrew Tridgell 6e288551ab Plane: fixed reversion to pre-failsafe mode 
if AUTO was entered using GCS, we need to switch back to the old mode,
not control channel
 2013-07-22 12:50:02 +10:00
Andrew Tridgell 74dabad1f3 Plane: added SKIP_GYRO_CAL parameter 
useful for starting the sim at high altitudes, and for starting planes
without having to hold them still
 2013-07-22 12:50:01 +10:00
Andrew Tridgell c8a83e17d0 Plane: remove old AIR_START code 
this was never used or tested
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 7673ca0bac Plane: updates for new EAS2TAS scaling 2013-07-22 12:50:01 +10:00
Andrew Tridgell 9bbe6c1967 Plane: update to new license boilerplate for GPLv3 
we had LGPLv2 in some places, despite the fw being GPLv3
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 882aa68c16 Plane: use new airspeed calibration code 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 53b1b9b575 Plane: added note on type of airspeed in docs 2013-07-22 12:50:01 +10:00
Andrew Tridgell 2d5deddd30 Plane: set mode CIRCLE on short failsafe in AUTO 
this makes the code match the docs
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 9b70675b12 Plane: check the control switch a bit more often 
faster response to mode changes
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 6ed78c89ac Plane: don't read control switch when ch3 is in failsafe 
use ch3_counter not just the final flag
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 51b9cf3e76 Plane: move failsafe variables into a structure 
this makes the logic a bit easier to follow
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 608345415b Plane: pass aircraft parameters to attitude controllers 
also cope with rename of airspeed min/max variables

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-18 14:53:37 +10:00
Andrew Tridgell a4f49a28fb Plane: prepare for 2.74b release 2013-07-16 09:45:32 +10:00
Andrew Tridgell e27dd14bcc Plane: fixed FBWB aileron control 2013-07-16 09:44:23 +10:00
Andrew Tridgell e8355905dd Plane: prepare for 2.74 release 2013-07-15 11:19:38 +10:00
Andrew Tridgell dbd47b2a30 Plane: make TECS the default speed/height controller 2013-07-15 11:12:24 +10:00
Andrew Tridgell ec21922233 Plane: make wp_distance static 
removed hack in AP_Camera library
 2013-07-15 09:56:28 +10:00
Andrew Tridgell 3ba713352f Plane: use update_aux() for setting up extra channels 2013-07-15 09:56:12 +10:00
Andrew Tridgell ed20c4cbc8 Plane: fixed initial reporting of battery remaining 
we were not showing battery remaining 100% until we used some battery
 2013-07-14 21:59:15 +10:00
Andrew Tridgell e80d73df93 Plane: expand docs for TRIM_AUTO 2013-07-14 21:23:15 +10:00
Andrew Tridgell 4087fde140 Plane: enable CTUN log message by default 2013-07-14 21:10:12 +10:00
Andrew Tridgell e79023ceee Plane: fixed problem with slow ground station connects 
don't trigger the "scheduler out of time" code when in the delay
callback

Thanks to Marijm Slootweg for noticing this!
 2013-07-14 17:28:34 +10:00
Andrew Tridgell d4db2231d4 Plane: change to 2.73beta4 2013-07-13 21:47:22 +10:00
Andrew Tridgell dc024d425a Plane: re-do roll hanging in ACRO mode 
this avoids the euler angle zeros of the previous method by using a
gyro integrator on the roll axis

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-13 21:45:58 +10:00
Andrew Tridgell b37f79d307 Plane: update for new APM_Control API 2013-07-13 21:45:58 +10:00
Andrew Tridgell 113bc20f8a Plane: added a new CRUISE flight mode 
See
http://diydrones.com/group/apmusergroup/forum/topics/feature-request-hold-heading-mode

this fixes issue #438
 2013-07-13 21:45:58 +10:00
Andrew Tridgell 399970e76f Plane: fixed default deadzone for the throttle channel 
this is the 2nd half of the fix for issue #303
 2013-07-13 13:19:25 +10:00
Andrew Tridgell 826ad6c086 Plane: unlock roll and pitch when we enter ACRO mode 2013-07-13 12:34:34 +10:00
Randy Mackay 1772a62415 Plane: fix to gps present check in mavlink extended status 1 msg 2013-07-13 10:27:39 +09:00
Andrew Tridgell ea9ae31a7a Plane: fixed a bug with altitude drift in FBWB mode 
not taking account of deadzone correctly
 2013-07-12 21:17:09 +10:00
Andrew Tridgell cc57bfcf12 Plane: fixed handling of deadzone in ACRO mode 
RC_Channel norm_input() does not take account of the dead zone
 2013-07-12 17:54:51 +10:00
Randy Mackay 9df93881fb Plane: set_dead_zone renamed to set_default_dead_zone 
Change in use of parameter means value passed in should be 1/2 what it
was previously
 2013-07-12 11:44:18 +09:00
Andrew Tridgell f300df5fd1 Plane: added FS_LONG_TIMEOUT and FS_SHORT_TIMEOUT parameters 
this is to address the issue raised here:

http://diydrones.com/forum/topics/ardupilot-circle-mode
 2013-07-12 11:56:04 +10:00
Andrew Tridgell 73928b82a6 Plane: fixed FBWB airspeed control 
thanks to Gabor for reporting this!
 2013-07-11 11:58:54 +10:00
Andrew Tridgell 1d04290eab Plane: change to 2.74beta3 2013-07-11 11:58:54 +10:00
Andrew Tridgell 11a4628409 Plane: added ACRO mode to mode choices 2013-07-11 09:10:41 +10:00
Andrew Tridgell fc67f51901 Plane: added ACRO_ROLL_RATE and ACRO_PITCH_RATE parameters 
default to 180 degrees/second, which seems reasonable
 2013-07-11 09:10:41 +10:00
Andrew Tridgell 608007361b Plane: added initial implementation of ACRO mode 
rate based control with attitude locking
 2013-07-11 09:10:41 +10:00
Andrew Tridgell 2005d5642a Plane: fixed a documentation string 
GND_ALT_OFFSET is now for barometric corrections
 2013-07-10 14:46:22 +10:00
Andrew Tridgell 3c97fad2ec Plane: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Andrew Tridgell 7aa360b176 Plane: added relative_altitude helper functions 
prevents some code duplication
 2013-07-10 14:04:22 +10:00
Paul Riseborough 971d36f06b Plane: added height to 10Hz TECS call 2013-07-10 14:04:22 +10:00
Andrew Tridgell 3c177867a4 Plane: allow enable/disable of camera log messages in CLI 2013-07-10 12:23:36 +10:00
Andrew Tridgell f7c8d1e1ee Plane: use current_loc.alt for altitude to TECS 2013-07-10 11:55:35 +10:00
Craig@3DR 7f4336430a Plane: trigger picture + logging on camera update_location() 2013-07-10 08:40:01 +10:00
Paul Riseborough a4f3180e2a Plane: added support for throttle nudging with TECS 2013-07-09 20:51:03 +10:00
Paul Riseborough c34803db13 Plane: pass in adjusted height above field to TECS 2013-07-09 09:25:55 +10:00
Andrew Tridgell 9f612f6f78 Plane: only call TECS when throttle is not suppressed 
this helps prevent integrator buildup on the ground
 2013-07-08 12:07:50 +10:00
Andrew Tridgell 1355b6d89d Plane: break-up scheduling into smaller pieces 
ensure mavlink sends don't push us over a scheduling boundary
 2013-07-05 18:05:27 +10:00
Andrew Tridgell 1d6748cf3f Plane: use a glide slope in RTL when descending 
when above the target altitude in RTL come down slowly, when below
climb rapidly

This fixes issue #39
 2013-07-05 14:56:58 +10:00
Andrew Tridgell d30dd7c3f1 Plane: only run TECS when in an auto-throttle mode 
this prevents integrator buildup in user controlled modes
 2013-07-05 14:55:22 +10:00
Andrew Tridgell dd330885b8 Plane: added compass and baro accumulate functions 2013-07-05 12:59:15 +10:00
Andrew Tridgell 84299c3747 Plane: document ALT_CTRL_ALG=2 2013-07-04 17:00:04 +10:00
Andrew Tridgell 6c7d160ee6 Plane: fixed TECS takeoff detection 2013-07-04 16:56:57 +10:00
Andrew Tridgell a5bda3ffef Plane: changed to using a "aircraft parameters" structure 
this structure can be passed to libraries to give them easy access to
critical user parameters
 2013-07-04 16:56:57 +10:00
Paul Riseborough d62636d309 Plane: added new TECS altitude controller 
Includes improvements to takeoff/launch detect logic to support hand
launching for X-8 flight
 2013-07-04 16:56:57 +10:00
Andrew Tridgell f3237b9e5d Plane: update FS_LONG_ACTN and FS_SHORT_ACTN docs 
thanks to Craig for noticing this
 2013-07-02 14:50:04 +10:00
Andrew Tridgell 75ef7c26e1 Plane: update takeoff course when conditions met 
This allows for change of heading before the final takeoff conditions
are met

thanks to Greg Fletcher for suggesting this
 2013-07-01 17:05:13 +10:00
Andrew Tridgell 570ecea6c6 Plane: added secondary rudder support 2013-06-29 17:31:03 +10:00
Andrew Tridgell 0d3faeda90 Plane: update_mount assumes 50Hz, for camera trigger 2013-06-25 12:44:26 +10:00
Andrew Tridgell bb47029564 Plane: enable CAM_TRIGG_DIST parameter 2013-06-25 12:44:26 +10:00
Andrew Tridgell 45f5d05bd2 Plane: enabled RELAY_* parameters 2013-06-25 12:44:26 +10:00
Andrew Tridgell 056e0ca40d Plane: APM2 doesn't have channel 9 PWM output 2013-06-24 13:06:54 +10:00
Paul Riseborough 2204b30e66 Plane: Added APM_Control integrator limits to table used to covert old PID values 2013-06-22 21:59:47 +10:00
Randy Mackay 6ea568d72a Plane: param description change for RC5 ~ RC11 
Reversing the order may avoid duplication of param descriptions in the
auto generated parameter web page
 2013-06-21 09:58:02 +09:00
Randy Mackay 75bcd7cdab Plane: update THR_FS_VALUE parameter description 2013-06-18 15:57:29 +09:00
Andrew Tridgell 4a0c90246e Plane: make GPS UART blocking again 2013-06-11 18:50:23 +10:00
Andrew Tridgell 641ad6bc63 Plane: increase time allowed for update_alt() 
the altitude tracking code can be quite expensive with TECS
 2013-06-07 08:41:09 +10:00
Andrew Tridgell b0c87b8a61 Plane: fix VOLT_DIVIDER docs 2013-06-07 08:40:28 +10:00
Andrew Tridgell b27ffdd087 Plane: new plane beta 2.74beta2 2013-06-04 15:10:11 +10:00
Andrew Tridgell c008fa764c Plane: update_commands() can take 7ms if it needs to write a waypoint 2013-06-04 13:42:25 +10:00
Andrew Tridgell 93cd0f9a31 Plane: switch to new AP_Scheduler 
this gives us more accurate task scheduling in ArduPlane, plus better
monitoring of task timing (via SCHED_DEBUG)
 2013-06-04 13:34:58 +10:00
Andrew Tridgell 6bac13f9e2 Plane: fixed RCMAP_* to fix channel ranges for no-reboot changes 2013-06-03 21:20:39 +10:00
Andrew Tridgell 02d72ffcba Plane: make it possible to change board orientation at runtime 2013-06-03 16:52:44 +10:00
Andrew Tridgell 4c9bc30f58 Plane: make it possible to change control channel ordering without reboot 
this makes configuration a bit easier
 2013-06-03 16:42:38 +10:00
Andrew Tridgell 27bc0cdc2c Plane: rename old channel_* globals 
prevent the old "g." names from being used
 2013-06-03 16:37:51 +10:00
Andrew Tridgell a1f64d606a Plane: fixed remaining places where primary channel ordering was assumed 
should now use rcmap for all inputs
 2013-06-03 16:23:48 +10:00
Andrew Tridgell fb9bf21522 Plane: allow channel mapping of first 4 channels 
this makes it easier to support DSM and SBUS radios
 2013-06-03 16:23:48 +10:00
Andrew Tridgell 515d726ee0 Plane: use RC_Channel::rc_channel() instead of rc_ch[] 2013-06-03 16:23:48 +10:00
Andrew Tridgell f7697574db Plane: use the new airspeed driver interface 
the choice of analog source is now in the airspeed driver
 2013-06-03 11:51:09 +10:00
Andrew Tridgell d9bcfd913a Plane: reset attitude integrators on mode change 2013-06-01 22:29:38 +10:00
Andrew Tridgell bb3171ab5f Plane: zero attitude integrators on the ground 2013-06-01 22:29:38 +10:00
Andrew Tridgell cd55ed45e2 Plane: removed the old roll/pitch/yaw PID controllers 
use the new controllers, with auto parameter conversion
 2013-05-31 14:06:56 +10:00
Andrew Tridgell 91a04ab654 Plane: fixed headers for mode logging 2013-05-31 14:04:03 +10:00