Commit Graph

107 Commits

Author SHA1 Message Date
Andrew Tridgell a278a152fc Plane: fixed throttle nudge
broken by recent radio input changes

Thanks to Michael for noticing!
2019-02-22 18:41:34 +11:00
Andrew Tridgell d7abf27ec2 Plane: fixed servo jitter due to airspeed estimate from throttle
when we have no other airspeed source and we are armed we get airspeed
from throttle. the default setting of k_throttle in the radio code
caused an oscillation of the value used in the airspeed estimate, each
time a RC frame came in.
2019-02-22 10:27:36 +11:00
Michael du Breuil 5134af2298 Plane: Manage quadplane throttle during RC failsafe 2019-02-19 20:41:05 -07:00
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
Randy Mackay d6a102234e Plane: rename rudder_arming to get_rudder_arming_type 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 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
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
Peter Barker 9ce02bc504 Plane: minimal support for inheritting from RC_Channel 2018-08-01 12:11:30 +09:00
Michael du Breuil 12da35220c Plane: Simplify radio trimming, improve MAVLink report 2018-06-11 16:29:36 -07:00
Andrew Tridgell 8d996112ec Plane: don't do throttle ESC scaling for quadplanes 2018-05-09 14:17:15 +10:00
Michael du Breuil 2deac7238c Plane: Support new RC_Channels::read_input() 2018-04-26 08:00:09 +10:00
Michael du Breuil 7b7f5e242b Plane: Simplify channel reading 2018-04-14 14:05:20 +10:00
Michael du Breuil 3e4288d604 Plane: Use RC_Channels instead of hal.rcin 2018-04-11 21:47:07 +01:00
Guy Tzoler a6c7890c74 Plane: use cork/push wrapper 2017-11-21 14:10:54 +11:00
Michael du Breuil e63e39c411 Plane: Don't broadcast PWM value that tripped throttle failsafe 2017-11-02 16:46:08 -07:00
Michael du Breuil d52f5155f0 Plane: Rename rc failsafe state members 2017-11-02 16:46:08 -07:00
Andrew Tridgell 1a207c919b Plane: fixed bug in TRIM_AUTO
fixed trim for differential spoilers
2017-08-29 07:35:49 +10:00
Andrew Tridgell 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
Peter Barker 5a8f01c19c Plane: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
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 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 b3380ecfa7 Plane: support twin-engine planes
with differential thrust for yaw
2017-02-18 17:26:43 +11:00
Randy Mackay e906310b71 Plane: rudder_arming moved to AP_Arming_Plane 2017-01-17 11:45:08 +09:00
Andrew Tridgell b83f50be0f Plane: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Tom Pittenger f556f705e6 Plane: move various g params to aparms 2016-11-25 19:07:30 -08:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Andrew Tridgell 57ddc8f58f Plane: use SRV_Channels set_esc_scaling()
this fixes throttle range on Disco with SERVO_RNG_ENABLE=1
2016-10-15 16:59:36 +11:00
Andrew Tridgell fcd98e2c44 Plane: implement AUTO_TRIM for SERVO_RNG_ENABLE=1
automatically adjust servo trims
2016-10-15 16:59:35 +11:00
Andrew Tridgell a23c373f16 Plane: fixed servo mixing for AFS and failsafe case 2016-10-15 16:59:35 +11:00
Andrew Tridgell 2b144d5c3d Plane: allow rudder arming in CRUISE and FBWB modes 2016-10-08 08:01:55 +11:00
Tom Pittenger fc50f145ce Revert "ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter)."
This reverts commit da1b18d918.
2016-08-07 17:54:24 -07:00
AndersonRayner da1b18d918 ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter). 2016-08-04 10:09:04 -07:00
Andrew Tridgell 96d785f1c6 Plane: added auto_navigation_mode flag
this fixes a problem where modes like loiter and auto would allow for
rudder stick mixing even with STICK_MIXING=0
2016-07-05 12:52:13 +10:00
Andrew Tridgell ec367d4a09 Plane: re-order channel initialisation
this fixes a problem with spurious throttle output during board
startup. Many thanks to Marco for finding this!
2016-06-30 16:48:30 +10:00
Michael du Breuil 7142bacfaa Plane: improve user friendliness of throttle fs msg 2016-05-11 09:00:55 -07:00
skyscraper 4d769497c9 ArduPlane: RC_Channel refactor
Fix white space after function name
2016-05-10 16:21:17 +10:00
skyscraper 7f29903287 ArduPlane: Fix up after refactoring RC_Channel class
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to  get and set functionsss

old public member(int16_t)   get function -> int16_t     set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in                     c.get_radio_in()           c.set_radio_in(v)
c.control_in                   c.get_control_in()         c.set_control_in(v)
c.servo_out                    c.get_servo_out()          c.set_servo_out(v)
c.pwm_out                      c.get_pwm_out()            // use existing
c.radio_out                    c.get_radio_out()          c.set_radio_out(v)
c.radio_max                    c.get_radio_max()          c.set_radio_max(v)
c.radio_min                    c.get_radio_min()          c.set_radio_min(v)
c.radio_trim                   c.get_radio_trim()         c.set_radio_trim(v);

c.min_max_configured() // return true if min and max are configured

Because data members of RC_Channels are now private and so cannot be written directly
 some overloads are provided in the Plane classes to provide the old functionality

new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);

new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;

Rename functions

 RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
    to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)

 RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
    to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)

 Rationale:

        RC_Channel is a complicated class, which combines
        several functionalities dealing with stick inputs
        in pwm and logical units, logical and actual actuator
        outputs, unit conversion etc, etc
        The intent of this PR is to clarify existing use of
        the class. At the basic level it should now be possible
        to grep all places where private variable is set by
        searching for the set_xx function.

        (The wider purpose is to provide a more generic and
        logically simpler method of output mixing. This is a small step)
2016-05-10 16:21:16 +10:00
Andrew Tridgell db5f50e08e Plane: convert tuning to use AP_Tuning library 2016-05-07 18:34:15 +10:00
James Stoyell 4e7e84fc99 Plane: Modified last_valid_rc_ms AFS failsafe input to work when standard failsafe is on
Ran into a bug on our physical plane where failsafe.last_valid_rc_ms was not recognizing that the transmitter had failed. This is likely due to how the standard failsafe works in receiving lower-than-possible throttle values. So in order to account for this, I added a new variable to the failsafe, AFS_last_valid_rc_ms, and I update it only if the ch3_failsafe (the throttle failsafe) is not on. If the throttle failsafe is on, that means that the plane has indeed lost transmitter input, so the AFS needs to recognize that.
2016-04-22 11:48:36 -07:00
Andrew Tridgell 27fb35253c Plane: added in-flight transmitter tuning 2016-04-16 20:26:43 +10:00
Tom Pittenger f369899509 Plane: restrict rudder arming where reverse_thrust is enabled and commanding negative 2016-02-10 22:18:06 -08:00
Tom Pittenger 2e92089ce6 Plane: Reverse Thrust
Reverse thrust for controlled landings, even with much steeper approach slopes. This is achieved by allowing throttle demand to go negative to maintain a target airspeed. A Pre-Flare stage was added, triggered by an altitude, to allow for a slower airspeed just before land. That lower airspeed can be near stall.
new params LAND_PF_ALT, LAND_PF_SEC, LAND_PF_ARSPD, USE_REV_THRUST
2016-02-09 14:18:02 +11:00
Andrew Tridgell eeda1b56de Plane: don't do throttle nudge while in geofence failsafe
user stick inputs should not apply when outside fence
2016-02-08 10:59:37 +11:00
Andrew Tridgell 0a0e191284 Plane: init rc output after quadplane setup
this ensures first PWM pulses are correct
2016-01-09 07:38:55 +11:00
lvale e18181e5c2 Plane: Uniformization of severities
Plane uniformization of severities
2015-11-09 09:38:25 +11:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
Andrew Tridgell d43d070e75 Plane: ensure throttle reverse is obeyed in all states
need to use radio_max for failsafe if reversed
2015-09-14 09:42:20 +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 58fa38cc12 Plane: allow rudder disarm based on ARMING_RUDDER parameter 2015-07-23 21:48:50 +10:00
pepevalbe da41d85433 Plane: It is possible to disarm with left rudder.
Using is_flying() avoid accidentally disarming while flying.
2015-07-23 21:48:44 +10:00
Andrew Tridgell b92c2409e4 Plane: added local millis() and micros() to reduce code size a bit 2015-05-21 07:48:53 +10:00
Andrew Tridgell 18c37935c9 Plane: convert from .pde to .cpp files 2015-05-21 07:48:52 +10:00