Tom Pittenger
436062ef37
Plane: improved crash detection
...
- fixes bug where a bungee launch is configured but the aircraft gets bumped and triggers the prop to spin up. This will now detect that and "crash' and disable the motor
2016-04-14 22:34:46 -07:00
Grant Morphett
2887e48178
Plane: Fixed bug with landing flare for high values of LAND_FLARE_SEC
...
I had an issue in SITL where my plane would round the last WP staring
its landing approach and immediately limit the roll to 5degress even
before the plane had finished turning the corner so it would go WAY
off course. For a high value of LAND_FLARE_SEC (mine was 5) the math
works out the plane has landed if
height <= sink_rate * land_flare_sec
During the banking of the last corner the plane started to decend and
quickly set itself up for a 6.1m/s sink rate which is normal. It was
at 30 meters altitude. As you can see at this point the math thinks
the plane has landed so limits the roll. The solution was to ensure
the plane had covered at least 50% of the distance toward the final
waypoint before allowing a flare to happen. Note that LAND_FLARE_SEC
above 2 is considered very high and this normally wouldn't occur.
2016-04-15 13:02:11 +10:00
Andrew Tridgell
154fe15c67
Plane: fixed build warning
2016-04-15 09:22:41 +10:00
Tom Pittenger
ff57884eca
Plane: renamed variable, non-functional change
2016-04-14 13:18:35 -07:00
Andrew Tridgell
3a242ee4a9
Plane: support up to 16 output channels
...
the extra channels can be used via SBUS output
2016-04-14 08:05:06 +10:00
Michael du Breuil
78442b7e81
Plane: make the initialization of the gcs instances follow the define
2016-04-11 17:54:46 -07:00
Andrew Tridgell
06bcf0df4b
Plane: change default loop rate for quadplanes to 300Hz
2016-04-11 09:32:45 +10:00
Andrew Tridgell
1fe9582ac3
Plane: back to velocity controller for quadplane landing
...
now with much smoother attitude control thanks to some help from
Leonard
2016-04-10 22:01:19 +10:00
Andrew Tridgell
4a5c4a5189
Plane: not in vtol mode when quadplane not enabled
...
prevents logging error in auto if quadplane not enabled and running a
VTOL mission command
2016-04-10 22:01:18 +10:00
Ricardo de Almeida Gonzaga
5bd034a5a8
Global: start using cmath instead of math.h
2016-04-05 21:06:19 -07:00
Andrew Tridgell
97a7192f76
Plane: make it more obvious that AUTO_FBW_STEER is not for normal use
2016-04-06 07:58:23 +10:00
Andrew Tridgell
5f1ad68bd9
Plane: improved velocity controller for quadplane landing
2016-04-04 09:50:35 +10:00
Andrew Tridgell
8b30569ad1
Plane: setup quadplane earlier in startup
...
this ensures the GCS gets the full parameter list as the param count
will be set before mavlink starts
2016-04-03 06:49:38 +10:00
Andrew Tridgell
5cc4b20c73
Plane: smooth out final descent for landing
2016-04-02 22:45:51 +11:00
Andrew Tridgell
197cefaaa7
Plane: prevent large nose-down on start of velocity controller
2016-04-02 21:19:06 +11:00
Andrew Tridgell
ae51e51c6a
Plane: use velocity controller for initial quadplane landing
2016-04-02 20:54:01 +11:00
Andrew Tridgell
b1266603a6
Plane: setup immediate pitch limit on quadplane takeoff
...
this prevents a single loop with large pitch down demand
2016-04-02 19:53:48 +11:00
Andrew Tridgell
913cf9dd37
Plane: set min quad throttle to 10%
...
fixes spin when armed
2016-04-01 22:18:51 +11:00
Andrew Tridgell
7f85c14c96
Plane: fixed landing detector for new AP_Motors code
2016-04-01 21:54:32 +11:00
Andrew Tridgell
70679a06aa
Plane: fixed quadplane throttle control in AUTO
2016-04-01 17:29:51 +11:00
Andrew Tridgell
52cc369f15
Plane: fixed typo in AP_Motors conversion
2016-04-01 16:45:01 +11:00
Andrew Tridgell
e7f7afcc4d
Plane: added correct filter defaults
2016-04-01 16:44:49 +11:00
Andrew Tridgell
9cf909607f
Plane: setup reasonable quadplane defaults
2016-04-01 16:40:06 +11:00
Andrew Tridgell
dd6c4d6225
Plane: fixed up parameters for quadplane
...
this fixes quadplane parameters for the new AP_Motors code
2016-04-01 16:17:07 +11:00
Randy Mackay
b96ea15220
Plane: quadplane uses AC_AttitudeControl_Multi
2016-04-01 11:59:30 +09:00
Randy Mackay
41b584ac9e
Plane: fix quadplane qstabilize throttle input
2016-04-01 11:59:30 +09:00
Randy Mackay
52caed2573
Plane: QTUN df messages angle boost field as float
2016-04-01 11:59:30 +09:00
Randy Mackay
70f81ee338
Plane: remove multicopter PID parameters
...
These have been moved to the AC_AttitudeControl class
2016-04-01 11:59:30 +09:00
Randy Mackay
39f795d9fd
Plane: quadplane sets motors desired spool state
2016-04-01 11:59:30 +09:00
Andrew Tridgell
f73c8ab8ed
Plane: allow testing of all motors in sequence
...
this makes for an easier startup test for a quadplane, allowing a
single MAVLink command to test that all motors are working correctly
in the right sequence
2016-04-01 11:09:51 +11:00
Tom Pittenger
6718241dad
cleanup comments
2016-03-29 05:32:28 -07:00
Gustavo Jose de Sousa
a4c099feaa
waf: create program groups for main products
...
Currently we need to build a different binary for each type of copter frame.
This is a preparation for setting all those binaries to a group called
"copter". We create the groups for the rest of the main products for
consistency.
2016-03-26 15:43:08 -03:00
Andrew Tridgell
dc9d87fde3
Plane: prepare for 3.5.2 release
2016-03-26 14:52:17 +11:00
Andrew Tridgell
8a6e5ffe80
Plane: fixed bug in rangefinder landing
...
introduced with QLAND change
2016-03-26 10:06:07 +11:00
Andrew Tridgell
b47b558246
Plane: change code URL
2016-03-25 20:47:03 +11:00
Andrew Tridgell
4d7beab8cc
Plane: added QTUN logging for quadplane
2016-03-25 12:33:19 +11:00
Andrew Tridgell
0a199945a2
Plane: added copter RATE logging for quadplane
2016-03-25 12:13:59 +11:00
Andrew Tridgell
1fa075e7a8
Plane: change default quadplane gains
...
lower filter frequency, higher I gain for roll/pitch
2016-03-25 10:16:15 +11:00
Lucas De Marchi
f258b66627
ArduPlane: Update path locations for parameters
...
Thanks to Francisco Ferreira for noticing that.
2016-03-23 17:50:38 -03:00
Andrew Tridgell
0442c2c659
Plane: prepare for 3.5.1 release
2016-03-21 09:44:52 +11:00
Andrew Tridgell
f0eddd6366
Plane: ensure we always eventually capture a loiter
2016-03-18 13:47:45 +11:00
Andrew Tridgell
30ca9fbb01
Plane: cope with upgrade to shifted indexes for quadplane
2016-03-18 12:33:58 +11:00
Michael du Breuil
35bb6a634e
Plane: Make base_mode armed status depend upon the arming library, not soft armed
2016-03-17 15:16:17 +11:00
Don Gagne
cae7ea0d13
Add @Volatile, @ReadOnly support
2016-03-17 10:58:05 +11:00
Lucas De Marchi
e01d49ff53
ArduPlane: replace header guard with pragma once
2016-03-16 18:40:45 +11:00
Michael du Breuil
0117522998
Plane: Use arming voltage
2016-03-14 09:06:58 -07:00
Andrew Tridgell
89970e4eaa
Plane: support motor_test for quadplanes
2016-03-13 10:05:10 +11:00
Andrew Tridgell
d644474817
Plane: support octaquad planes
2016-03-13 10:04:25 +11:00
Andrew Tridgell
d7d528560d
Plane: don't start summing for loiter until we reach loiter circle
2016-03-10 15:43:28 +11:00
Tom Pittenger
f3638f421e
Plane: fix short loiters exiting early
2016-03-10 15:42:18 +11:00
