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
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>
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
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.
this allows direct passthru of throttle in STABILIZE and FBWA, which
is useful for nitro planes wher you have a throttle cut switch that
drops the throttle below normal minimum.
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
The nudge value depended on RC3_TRIM, which is not a reliable
value. It tried to only take effect when the throttle stick was above
50%, but if RC3_TRIM was high for some reason (say 1500) then it would
actually depress the throttle by a large amount, which could cause the
plane to stall.
This also adds a boolean option THROTTLE_NUDGE to allow disabling of
throttle nudging
this allows you to select different altitude control algorithms. The
current choices are for the default (automatic based on if airspeed is
available), or to force a non-airspeed algorithm
The idea is to make it possible to use airspeed for some things (like
wind speed, speed scaling) but not for alt control
Andrew Tridgell
Paul Riseborough
Michael Warren
Pat Hickey
rmackay9