Andrew Tridgell
4f310aaec8
Plane: fixed build with print() base change
2013-09-23 18:10:22 +10:00
Mike McCauley
767884b7f1
Plane: workaround conflicts between wirish and APM compatibility
2013-09-23 18:10:21 +10:00
Kevin Hester
996eda0080
Plane: Report MAV_STATE_ACTIVE if flying, MAV_STATE_STANDBY otherwise
...
(There are also various error states MAV_STATE_CRITICAL that are unchanged
by this check in).
The is_flying() check is similar to the code in suppress_throttle, but
I wanted to make it very optimistic on thinking we are flying - which is
not what you want for set_throttle...
(AC has similar MAV_STATE_ACTIVE vs MAV_STATE_STANDBY behavior now)
2013-09-21 21:57:07 +10:00
Andrew Tridgell
bcce2e4fc5
Plane: use new Baro API
2013-09-21 21:31:03 +10:00
Andrew Tridgell
36466e91ed
Plane: run SENSOR_OFFSETS message at 1/10 of the requested rate
...
this message wastes bandwidth, as the values change very slowly
2013-09-21 09:35:45 +10:00
Andrew Tridgell
c4dcdcf5a2
Plane: only send RC_CHANNELS_SCALED in HIL
...
saves a bit of telemetry bandwidth
2013-09-21 09:30:29 +10:00
Andrew Tridgell
b28a4f21f2
Plane: fixed uartA baud rates for APM1
2013-09-21 09:30:29 +10:00
Andrew Tridgell
e455ee0a94
Plane: fixed throttle suppression for AUTO_FBW_STEER=1
2013-09-20 17:20:06 +10:00
Andrew Tridgell
1869cd52e1
Plane: fixed AUTO_FBW_STEER stick mixing
2013-09-20 17:20:06 +10:00
Andrew Tridgell
328e900364
Plane: changed TKOFF_THR_DELAY default to 2
...
this makes it safer for hand launch with pusher props
2013-09-19 21:42:21 +10:00
Paul Riseborough
43cf0736a3
Plane: Auto Takeoff Check updates
...
Adds additional launch angle protection and protection against early
exit from auto causing unexpected motor start on re-entry
2013-09-19 21:37:31 +10:00
Randy Mackay
ab4274aa8d
Plane: disable battery failsafe when usb connected
2013-09-19 17:43:08 +09:00
Andrew Tridgell
21a4da0d29
Plane: removed flash_leds() calls
2013-09-19 18:38:28 +10:00
Andrew Tridgell
4bd6b2f428
Plane: use new usb_connected() function
2013-09-19 16:23:58 +10:00
Andrew Tridgell
8a76d82de4
Plane: set failsafe_radio AP_Notify bits
2013-09-18 11:58:54 +10:00
Andrew Tridgell
150e7a3f16
Plane: prevent arming tone on startup
2013-09-18 10:56:06 +10:00
Andrew Tridgell
95a696ea36
Plane: enable failsafe battery reporting
2013-09-18 10:50:34 +10:00
Andrew Tridgell
ec0c894306
Plane: use the projected position for geofencing and waypoints
2013-09-17 21:05:25 +10:00
Andrew Tridgell
43ffe91546
Plane: added FS_ACTION of 2 for glide
...
this allows people without specified settings in their receiver for
failsafe to choose FBWA zero throttle glide on throttle failsafe. That
can be a better choice when flying at a R/C club field
2013-09-15 15:05:39 +10:00
Andrew Tridgell
dd6a69f588
Plane: added WP_MAX_RADIUS parameter
...
useful when using AUTO_FBW_STEER for manual steering in competitions
2013-09-13 17:43:08 +10:00
Andrew Tridgell
cc6acac1dd
Plane: added AUTO_FBW_STEER option
...
this is an unusual option that gives FBWA flight control in AUTO
mode. It is being added to support use of APM in an aerial robotics
competition where students need to pilot the plane, but they still
need waypoint triggering of payloads
2013-09-13 14:38:09 +10:00
Andrew Tridgell
de7b42e323
Plane: changed to AP_Vehicle.h
2013-09-13 11:46:54 +10:00
Andrew Tridgell
8010d7fd78
Plane: update battery pin docs
2013-09-12 13:43:22 +10:00
Andrew Tridgell
fe5a4ab710
Plane: fixed Vcc
2013-09-12 13:26:27 +10:00
Andrew Tridgell
0c8d56632e
Plane: fixed SR0 and SR3 autodocs
2013-09-12 09:53:24 +10:00
Andrew Tridgell
f6688582a6
Plane: added FENCE_ACTION=3 behaviour
...
this makes it safer to enable the geofence as a receiver failsafe
mode. It retains manual throttle control, so if it triggers on the
ground due to the receiver losing signal from the transmitter then the
throttle can be kept low, preventing an unexpected takeoff.
2013-09-08 07:31:10 +10:00
Craig3DRobotics
630095adaa
Revert "Copter: Corrected SR0 & SR3 parameter descriptions"
...
This reverts commit 6568234018
.
2013-09-06 09:58:19 -07:00
Craig3DRobotics
2b726abe0e
Plane: Correction on SR0 & SR3 parameter description.
2013-09-05 22:29:10 -07:00
Andrew Tridgell
4a8c9a7765
Plane: support reboot to bootloader
2013-09-04 11:59:16 +10:00
Andrew Tridgell
a00e4a1e83
Plane: send GCS message on relay change
...
makes it easier to debug
2013-08-30 15:05:16 +10:00
Andrew Tridgell
45cf82ba15
Plane: removed CONFIG_RELAY check
...
relay is always available
2013-08-30 14:40:47 +10:00
Andrew Tridgell
4762b3e7c6
Plane: change to 2.75beta2
2013-08-30 14:02:21 +10:00
Andrew Tridgell
a93f7c39a9
Plane: updates for new notify API
2013-08-30 13:01:35 +10:00
Randy Mackay
ad8bd16725
Plane: integrate AP_Notify
2013-08-30 13:01:35 +10:00
Andrew Tridgell
2ba9ce60e3
Plane: fixed comment
2013-08-30 13:01:34 +10:00
Andrew Tridgell
8733391315
Plane: call airspeed MAVLink logging function
2013-08-30 13:01:34 +10:00
Andrew Tridgell
5cec9b65c9
Plane: constrain calibration to roll/pitch limits
2013-08-30 13:01:34 +10:00
Andrew Tridgell
364790414c
Plane: support new RADIO_STATUS msg
2013-08-24 17:59:13 +10:00
Andrew Tridgell
b16e3e4c85
Plane: changed FBW min to 9 m/s
...
6 m/s is too dangerous for widely used planes
2013-08-18 11:42:23 +10:00
Andrew Tridgell
8dd0aa12ed
Plane: prevent GPS speed spikes at startup from breaking airspeed cal
...
the filter can be affected by a huge GPS velocity spike
2013-08-18 11:42:22 +10:00
Andrew Tridgell
4425b6af7c
Plane: update for new TECS API
2013-08-14 14:59:01 +10:00
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
Andrew Tridgell
cae1079747
Plane: auto-convert the old RLL2SRV* parameters to the new CTL_RLL_* parameters
2013-05-31 07:58:29 +10:00
Andrew Tridgell
e48b8c7b4a
Plane: improve RTL altitude docs
2013-05-31 07:58:29 +10:00
Andrew Tridgell
6e0f1f56de
Plane: update docs on volt/current pin
2013-05-31 07:57:15 +10:00
Andrew Tridgell
fa9eb84542
Plane: added more parameter docs (flaps and GCS control)
2013-05-30 09:44:09 +10:00
Andrew Tridgell
de904468b2
Plane: added BATT_MONITOR and VOLT_DIVIDER docs
2013-05-30 09:06:36 +10:00
Andrew Tridgell
eba7d6da9a
Plane: removed the old crash_timer code
...
This code is less relevent with the new L1 navigation, and could cause
issues with the pilot not having control after a long dive.
Thanks to Soren for pointing out the issues
See issue #305
2013-05-28 11:19:28 +10:00
Andrew Tridgell
f9a1b4f0e3
Plane: improve ALT_MIX docs
2013-05-28 10:10:22 +10:00
Andrew Tridgell
767d9d0eb5
Plane: fixed stick mixing in AUTO modes
...
the mixing was asymmetric. Many thanks to Soren Kuula for noticing this!
2013-05-27 08:24:35 +10:00
Andrew Tridgell
c481ac8745
Plane: use a default mixing gain of 0.5
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this ensures compatibility with existing configs
2013-05-25 19:15:47 +10:00