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166 Commits

Author SHA1 Message Date
Andrew Tridgell d87619c2f1 Plane: added 4 new parameters to control takeoff 
this gives flexible control for taildragger takeoff
 2014-05-23 07:30:58 +10:00
Andrew Tridgell f2556535da Plane: moved takeoff code to a new file 2014-05-23 07:30:58 +10:00
Andrew Tridgell 0306dbf5f1 Plane: moved auto mode variables to auto_state 2014-04-27 15:34:30 +10:00
Andrew Tridgell 2ab4ffef45 Plane: use new APM_OBC API 2014-04-21 11:52:53 +10:00
Andrew Tridgell 1bce4239a3 Plane: added AUTOTUNE flight mode 
this is just like FBWA, but with automatic roll/pitch tuning
 2014-04-12 14:12:14 +10:00
Andrew Tridgell d37f1a1376 Plane: updates for OBC API change 2014-04-11 16:47:40 +10:00
Andrew Tridgell 1efadb7a05 Plane: fixed some warnings 2014-04-03 12:48:06 +11:00
Andrew Tridgell 3c33eb3f09 Plane: use new channel output API 2014-04-03 12:19:11 +11:00
Andrew Tridgell e19341ca32 Plane: convert to new GPS driver API 2014-04-01 06:38:24 +11:00
Andrew Tridgell ff70c87f0b Plane: support 14 RC channels on PX4 2014-03-25 14:47:05 +11:00
Andrew Tridgell c9ebd6a175 Plane: improved RC failsafe handling 
this forces all primary control inputs to the trim value on loss of RC
input, and reduces the timeout for loss of RC input to 1 second from 2
 2014-03-08 16:20:54 +11:00
Andrew Tridgell 2cf98e476c Plane: added support for a separate steering channel 
good for ground steering on larger aircraft
 2014-03-05 12:57:50 +11:00
Andrew Tridgell 0d6064034a Plane: use percent_input() for flaps 2014-03-05 09:17:50 +11:00
Andrew Tridgell ae9201342a Plane: allow FLAP_IN_CHANNEL to control k_flap and k_flap_auto too 2014-02-06 14:09:49 +11:00
Andrew Tridgell c3b7e76c28 Plane: added flaperon support 
this adds FLAPERON_OUTPUT and FLAP_IN_CHANNEL to allow both manual
and auto flap control for both normal flaps and flaperons
 2014-02-06 12:38:59 +11:00
Andrew Tridgell c16e3a035f Plane: fixed disarmed throttle in HIL 2014-01-20 19:41:19 +11:00
Michael Day b0a0316dd6 Plane: Now using AP_Arming library. 2013-12-11 17:29:23 +11:00
Andrew Tridgell 17c9cedac1 Plane: send out HIL servo updates as soon as we can 
this improves the servo responsiveness of HIL a lot
 2013-11-23 18:50:57 +11:00
Andrew Tridgell 56f574684d Plane: fixed throttle failsafe with reversed throttle 2013-11-17 15:32:53 +11:00
Andrew Tridgell 231b5ab793 Plane: prevent too large combined pitch/roll angles 
this reduces the roll limit by cos(pitch) and pitch minimum by
cos(roll). This prevents unreasonable attitudes in all stabilised
modes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-11-04 21:21:42 +11:00
Andrew Tridgell 035ac3800a Plane: use G_Dt for acro angle integration 
also cleanup some other uses of performance timing
 2013-10-12 13:30:27 +11:00
Andrew Tridgell 536fbb4a30 Plane: if pilot gives aileron input then disable ground steering 
otherwise it would be very tricky to do a low pass!
 2013-10-05 07:46:27 +10:00
Andrew Tridgell d32e58db84 Plane: split out the channel stick mixing 
makes code a bit clearer
 2013-10-05 07:46:27 +10:00
Andrew Tridgell 3be939eb03 Plane: give manual steering when still 
useful for servo testing
 2013-10-05 07:46:27 +10:00
Andrew Tridgell d275f50539 Plane: added GROUND_STEER_ALT and GROUND_STEER_DPS 
this uses the new AP_SteerController steering controller developed for
the rover code to allow for ground steering of planes
 2013-10-05 07:46:27 +10:00
Andrew Tridgell 081510d37a Plane: added ACRO_LOCKING parameter 
this enables/disables the attitude locking in acro mode, allowing acro
to be a pure rate controller
 2013-10-05 07:45:12 +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 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
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 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 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
Andrew Tridgell accfd46633 Plane: update for new APM_Control API 2013-08-14 14:57:41 +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 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 29c854e676 Plane: remove unused function 2013-07-22 12:50:02 +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 dbd47b2a30 Plane: make TECS the default speed/height controller 2013-07-15 11:12:24 +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 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
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 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
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