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909 Commits

Author SHA1 Message Date
Randy Mackay c7961a72fc Plane: send_text_P bug fix for short messages 2013-05-20 12:51:16 +09:00
Andrew Tridgell bd4b7d136f Plane: mark ArduPlane 2.74beta 2013-05-13 17:32:33 +10:00
Andrew Tridgell 001d18b51d Plane: removed scaling of pitot source 2013-05-13 15:19:05 +10:00
Andrew Tridgell 97b6aaac77 Plane: use voltage_average() for RSSI 
this fixes it on PX4
 2013-05-13 15:19:05 +10:00
Andrew Tridgell b940c4b28e Plane: use library gcs_severity 2013-05-09 09:28:57 +10:00
Andrew Tridgell 635b3fabda Plane: fixed APM1-1280 build 2013-05-08 21:44:45 +10:00
Andrew Tridgell 81c1fd5fc4 Plane: support 3D accel calibration over MAVLink 2013-05-08 16:25:35 +10:00
Andrew Tridgell c5f1570f32 Plane: fixed flash logging of ATT 
fixed types to be int16
 2013-05-08 14:21:32 +10:00
priseborough 854c50501d Plane: Added a constraint to demanded bank angle during FBW-A mode to prevent roll limits being exceeded 2013-05-07 11:01:05 +10:00
Andrew Tridgell fdd509a7c1 Plane: move baro init earlier in startup 
this ensures it is initialised when CLI takeover by MP happens

Thanks to Prof Avi Levi for reporting this bug
 2013-05-06 10:57:57 +10:00
Andrew Tridgell 0cf49308af Plane: mark a 2.73beta release 2013-05-05 22:36:22 +10:00
Andrew Tridgell 0e6a64fc14 Plane: reset roll/pitch integrators for APM_Control in takeoff 
when airspeed is below airspeed minimum. This is consistent with the
previous controllers

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-05-05 22:03:13 +10:00
Andrew Tridgell 9c6f80c42b Plane: moved some default values to Parameters.pde 2013-05-05 21:51:09 +10:00
Andrew Tridgell 6251d0510a Plane: obey pitch trim and throttle pitch feed forward in new controllers 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-05-05 21:51:09 +10:00
Andrew Tridgell e87a6d5564 Plane: added links to new APM controller docs 2013-05-05 21:51:09 +10:00
Andrew Tridgell 11ad9d5a2d Plane: auto-invert pitch control when upside down 
this helps to recover when flying inverted, for example when in manual
and hitting the lower altitude geofence
 2013-05-05 21:51:09 +10:00
Andrew Tridgell 4e2b88f6e6 Plane: added ATT_CONTROLLER option to select attitude controller 
set to 1 for the new APM_Control library
 2013-05-05 21:51:09 +10:00
Andrew Tridgell 55f7d18979 Plane: avoid copying the DCM matrix 2013-05-05 21:51:09 +10:00
priseborough 3663426550 Plane: Fixed bug in groundspeed_undershoot that could cause a fly-away in windy conditions. 
Use the component of velocity in the forward direction rather than the magnitude
 2013-05-05 21:51:08 +10:00
Paul Riseborough 663951d9a7 Plane: rename APM_Control parameters 
this groups the parameters more logically
 2013-05-05 21:51:08 +10:00
Paul Riseborough 8c5b603848 Plane: use new APM_Control API 2013-05-05 21:51:08 +10:00
Andrew Tridgell b43712e4d2 Plane: fixed APM1-1280 build 2013-05-03 12:40:43 +10:00
Andrew Tridgell 9f0a4dd553 Plane: log GCS text messages to flash log 
useful for seeing more complex actions
 2013-05-03 11:16:50 +10:00
Andrew Tridgell bb8f9d5443 Plane: simplify setHIL for baro 2013-05-02 15:27:02 +10:00
Andrew Tridgell 3cd52a9689 Plane: fixes for AP_Baro_HIL 2013-05-02 15:09:27 +10:00
Andrew Tridgell 0d97f417ec Plane: enable compass on all boards by default 
if not present, then mag init will fail and it will disable
 2013-05-02 15:01:33 +10:00
Andrew Tridgell 0aa38a5bd4 Plane: use new HIL compass API 2013-05-02 15:00:59 +10:00
Andrew Tridgell 5ba171af9a Plane: fixed mavlink levelling 
this was broken by a recent commit (after 2.72 was released)
 2013-05-02 13:38:28 +10:00
Andrew Tridgell a019e3740e Plane: updates for new compass API 2013-05-02 12:48:14 +10:00
Andrew Tridgell 9584aa89d9 Plane: replaced constrain() with constrain_float() 2013-05-02 10:27:10 +10:00
Randy Mackay b0f5b9a4cf Plane: use renamed RCInput valid_channels 2013-04-29 15:06:38 +09:00
Andrew Tridgell de3fcbc413 Plane: removed the MANUAL_LEVEL option 
levelling on every startup is far too error prone. This was just
another parameter that everyone changed.
 2013-04-29 14:19:53 +10:00
Andrew Tridgell 3d7a4d0e6e Plane: added ELEVON_OUTPUT option 
this is like the vtail mixer, but for elevons
 2013-04-29 12:13:59 +10:00
Andrew Tridgell 855277fa85 Plane: get ready for 2.72 release 2013-04-28 15:56:30 +10:00
Andrew Tridgell bdf0a2da69 Plane: log mode number as well as mode string 
this makes graphing mode changes easier
 2013-04-28 14:58:13 +10:00
Andrew Tridgell b53e3bb1fc Plane: log GPS messages as they come in 
stops us logging duplicate messages
 2013-04-28 14:56:31 +10:00
Andrew Tridgell 1956d9c2dc Plane: show modes as strings in log 2013-04-28 14:47:59 +10:00
Randy Mackay f47a2e951a Plane: add I2C error count to PM message 2013-04-26 22:39:56 +09:00
Andrew Tridgell 0b8c2da4df Plane: support 12 output channels on PX4 2013-04-25 20:10:53 +10:00
Andrew Tridgell 4f225eff57 Plane: if airspeed enabled, require 5m/s to unsuppress throttle 2013-04-25 20:10:53 +10:00
Andrew Tridgell ac7561c5d5 Plane: mark 2.72beta version 2013-04-24 16:19:18 +10:00
Andrew Tridgell 8ec1eaa8b1 build: removed obsolete cmake rules 
these have not been maintained for over a year
 2013-04-23 11:07:53 +10:00
Andrew Tridgell e446f375a7 Plane: set loiter.direction for GUIDED mode 2013-04-21 23:46:35 +10:00
Bill Bonney 3ec891265f Plane: Enable CURRENT logging by default onto Dataflash 2013-04-21 07:24:02 +10:00
Andrew Tridgell 02ed37e750 Plane: fixed APM1-1280 build 2013-04-20 18:21:19 +10:00
Andrew Tridgell 2e5834cc7f Plane: print flight mode as string in logs 2013-04-20 15:18:10 +10:00
Andrew Tridgell 3b90c6c386 Plane: log parameter changes 2013-04-20 13:52:36 +10:00
Andrew Tridgell 991d6598ef Plane: log board voltage 2013-04-20 13:52:36 +10:00
Andrew Tridgell 5c553852ed Plane: when logging is disabled don't include DataFlash at all 2013-04-20 13:52:36 +10:00
Andrew Tridgell 0c5b393919 Plane: added compass logging 2013-04-20 13:52:36 +10:00
Andrew Tridgell c56f338fe0 Plane: convert to new logging system 2013-04-20 13:52:36 +10:00
Andrew Tridgell c8af70a18d Plane: make the plane code compatible with the new logging system 
not actually converted yet
 2013-04-20 13:52:36 +10:00
Andrew Tridgell a329e32ccb Plane: added gps status to flashlog 2013-04-19 10:24:20 +10:00
Andrew Tridgell abe4dba871 Plane: added PX4 flash logging 2013-04-17 21:35:27 +10:00
Andrew Tridgell a12323c9fd Plane: fixed logging for new API 2013-04-17 21:34:56 +10:00
Andrew Tridgell 42344455c9 Plane: fixed structure init for arduino compiler 2013-04-15 21:59:07 +10:00
Andrew Tridgell 9f0f482dd7 Plane: fixed LOITER_TIME to start when loiter starts 
thanks to Paul Riseborough for finding this bug!
 2013-04-15 21:39:14 +10:00
Andrew Tridgell 75f4a43e2d Plane: fixed LOITER_TURNS command 
and cleanup more loiter variables
 2013-04-15 21:31:11 +10:00
Andrew Tridgell 82cd391cf8 Plane: use RADIUS_OF_EARTH define 2013-04-15 14:55:58 +10:00
Andrew Tridgell 8f091e70c8 Plane: move elevon variables into a structure 2013-04-15 14:53:56 +10:00
Andrew Tridgell 79c6f32400 Plane: made variables static and remove initial rc overrides 
minor code size savings
 2013-04-15 14:46:01 +10:00
Andrew Tridgell e918293e86 Plane: explain verify_*() commands 2013-04-15 14:41:15 +10:00
Andrew Tridgell 19b92b5bd8 Plane: removed "circle waypoint" completion test 
this is redundent with the location_passed_point() test
 2013-04-15 14:39:18 +10:00
Andrew Tridgell 994d8e354a Plane: allow for negative WP_LOITER_RAD for conter-clockwise loiter 
this follows the same convention as missions
 2013-04-15 10:52:32 +10:00
Andrew Tridgell 78538d0543 Plane: removed old HDNG2RLL PID control 
not used with L1
 2013-04-15 10:52:32 +10:00
Andrew Tridgell b2ad43f625 Plane: removed ahrs.set_barometer() 2013-04-15 10:52:32 +10:00
Andrew Tridgell 8d2cf6f3e5 Plane: update author list 2013-04-12 22:01:41 +10:00
priseborough 70a186464b Plane: added LEVEL_ROLL_LIMIT parameter 
this replaces both TKOFF_HEAD_HOLD and RUDDER_STEER, allowing users to
instead select a roll limit for takeoff and landing
 2013-04-12 21:59:52 +10:00
Andrew Tridgell 575f346e85 Plane: removed HIL_MODE_ATTITUDE 
we really need full sensors for HIL with the L1 controller. The flight
is also _much_ better with sensors HIL.
 2013-04-12 17:44:40 +10:00
Andrew Tridgell 11eb0cfce1 Plane: update for new AP_Navigation controller class 
this switches ArduPlane over to use the L1 navigation controller, via
a generic nav_controller object pointer.

Note that the nav_controller controls all types of navigation now,
including level flight and heading hold. This provides a cleaner
abstraction than the old method of special case navigation handling

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-04-12 12:48:09 +10:00
Andrew Tridgell c47bc09a3c Plane: avoid doing radio trim if less than 20% of travel available 
this prevents problems with awful trim on bootup due to RC TX being
off
 2013-04-12 12:47:59 +10:00
tobias 217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Andrew Tridgell 71f6287388 Plane: fixed spelling 2013-04-06 17:42:20 +11:00
Andrew Tridgell dcbe144c7e Plane: prepare for release of 2.71 2013-04-06 17:27:21 +11:00
Andrew Tridgell e58f49aeaf Plane: copy rudder out in TRAINING mode 
we were doing rudder mixing in training mode, which shouldn't be done
 2013-04-05 19:38:43 +11:00
Andrew Tridgell 993154ea59 Plane: expand the VTAIL_OUTPUT docs for APM1 2013-04-05 16:38:46 +11:00
Andrew Tridgell bd2b9fbe9d Plane: simplify the VTail mixer to be more like a hardware mixer 
this should make it easier to trim the vtail
 2013-04-05 15:47:51 +11:00
Andrew Tridgell 17cbcd1bf6 Plane: fixed failsafe with VTAIL_OUTPUT 2013-04-05 15:35:26 +11:00
Andrew Tridgell 406921faf1 Plane: added VTAIL_OUTPUT option 
this allows for software vtail mixing
 2013-04-05 15:22:11 +11:00
Randy Mackay 21a51c8333 Plane: update GCS_Mavlink parameter documentation 2013-04-03 22:58:25 +09:00
Andrew Tridgell a69c9ff674 Plane: added logging of DIGICAM events 2013-04-02 13:08:38 +11:00
Andrew Tridgell ddfcafe80f Plane: fixed DIGICAM camera trigger 2013-04-02 13:08:38 +11:00
Andrew Tridgell 683a2919d1 Plane: prevent stick mixing when throttle is below failsafe threshold 
this fixes issue #40
 2013-04-02 10:42:56 +11:00
Andrew Tridgell c5e2cfcc3e Plane: preparing for 2.71-beta 2013-04-02 09:25:24 +11:00
Andrew Tridgell 2506c216dd Plane: added a second type of stick mixing 
this changes STICK_MIXING from a boolean to a tri-state. With
STICK_MIXING=1 it now uses FBW style mixing. With STICK_MIXING=2 it
uses the old style of direct stick mixing.
 2013-04-02 08:52:56 +11:00
Andrew Tridgell 5d54215221 Plane: use int16_t() not int() to ensure simulator matches AVR 2013-04-01 22:17:05 +11:00
Andrew Tridgell e390726bdd Plane: prevent overflow on large PID gains 
this uses get_pid_4500() to prevent overflow of servo_out on large PID gains
 2013-04-01 22:17:04 +11:00
Andrew Tridgell 624ebced38 Plane: document INVERTEDFLT_CH 2013-04-01 22:17:04 +11:00
Andrew Tridgell dfb14d760b Plane: added HIL_SERVOS option 
this allows for real servo output in HIL
 2013-03-30 14:38:43 +11:00
Andrew Tridgell 6cc4aadc06 Plane: report compass health in SYS_STATUS 2013-03-29 13:48:40 +11:00
Andrew Tridgell a165f0d138 Plane: removed old angle wrap code 2013-03-29 13:13:50 +11:00
Andrew Tridgell 7db7d7db77 Plane: change FBWB altitude control algorithm 
this makes FBWB much less sensitive to airframe tuning. When the
elevator stick first goes neutral it locks in the current altitude as
the target altitude. When the elevator stick is off neutral, it moves
the target altitude in proportion to the elevator, at a rate goverened
by the new FBWB_CLIMB_RATE parameter

This prevents the aircraft from slowly drifting in altitude in FBWB,
and gives a more intuitive control mechanism for altitude.

Thanks to Chris Miser from Falcon UAV for help in designing this
change
 2013-03-28 10:27:25 +11:00
Andrew Tridgell fcde3ceb24 Plane: also avoid rudder on takeoff with TOFF_HEAD_HOLD==0 2013-03-27 16:36:39 +11:00
Randy Mackay a49fe272ad Plane: replace gps fix with status 
Required to ensure 3d fix is used for initialising home
 2013-03-27 11:42:02 +09:00
Randy Mackay c2055557f5 Plane: add support for GPS fix type 2D 2013-03-27 11:41:51 +09:00
Andrew Tridgell f077f54e6a Plane: added TKOFF_HEAD_HOLD option 
this allows control over whether ArduPlane tries to hold heading
during auto takeoff. For hand launches it can be better to hold the
wings level and not attempt to hold heading during takeoff to prevent
the possibility of a stall during the climb out.

Thanks to Chris Miser from Falcon UAV for the feedback that led to
this option.
 2013-03-27 10:27:14 +11:00
Andrew Tridgell 1d983b3f2e Plane: fixed X accel triggering of auto 2013-03-22 11:53:45 +11:00
Andrew Tridgell 1a36c3684b Plane: fixed GPS test (detection of uBlox needs 10Hz poll) 2013-03-21 22:45:17 +11:00
Andrew Tridgell 6948e0c473 Plane: only enter CLI is link is idle when 3 enters are hit 
this will prevent binary contents of RADIO packets being interpreted
as CLI enter line-feeds
 2013-03-21 21:57:54 +11:00
Andrew Tridgell 0e37ae4400 Plane: change CLI timeout to 20s 2013-03-21 17:34:34 +11:00