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Commit Graph

2147 Commits

Author SHA1 Message Date
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
Michael du Breuil
f60b3fd6c7 Plane: remove "Command recieved" statustext 2016-03-10 15:36:05 +11:00
Andrew Tridgell
f4ccf94dfc Plane: added QLAND mode 
for VTOL landing. Use for failsafe as well
 2016-03-09 18:20:41 +11:00
Andrew Tridgell
927efa90f8 Plane: fixed log printing of Q modes 2016-03-09 17:29:13 +11:00
Don Gagne
1df7baa5c5 Plane: update quadplane param description increment 2016-03-08 09:27:56 +09:00
Tom Pittenger
ff249788bf Plane: add a default Navigation option as explained in the param docs 2016-03-03 09:16:26 -08:00
Randy Mackay
f66d5f7a8c Plane: use ahrs.get_origin instead of ekf.getOriginLLH 
This ensures we get the origin from the active EKF
 2016-03-03 16:20:59 +09:00
Tom Pittenger
75be40ea59 Plane: add LAND_THR_SLEW 2016-03-02 10:54:19 -08:00
Tom Pittenger
ed6aa4ed17 Plane: added throttle limiting via max power (current*voltage) 2016-03-02 10:20:44 -08:00
Tom Pittenger
bf5005103c Plane: allow loiter waypoints to have a zero lat/lng or alt to mean use current 2016-03-02 08:49:11 -08:00
Tom Pittenger
be3941efdf Plane: unify loiter mission items to require heading to next wp 
- except loiter_unlimited because it never exits
 2016-03-02 08:48:25 -08:00
Tom Pittenger
9e452838ab Plane: loiter missions to default to loiter_radius if mission says 0 or 1. 
- except loiter_unlim which uses RTL_loiter, although I'm not sure why.
 2016-02-29 10:12:20 -08:00
Tom Pittenger
ed98617d42 Plane: utilize radius for loiter commands 2016-02-29 06:43:29 -08:00
Andrew Tridgell
f35d05e374 Plane: improved quadplane default gains 
0.25 is better for an average quadplane for roll/pitch

0.5 is a bit high for accel-z, 0.3 is better
 2016-02-29 21:46:27 +11:00
Andrew Tridgell
93ac82e1f6 Plane: write voltage/current much more frequently 2016-02-29 21:24:54 +11:00
Will Sackfield
fabe235130 ArduPlane: initialize the fail_test variable 
* Clang complains if variables are not initialized
 2016-02-29 14:14:37 +11:00
Will Sackfield
5f5035933f ArduPlane: static cast to uint8 on initialization of struct 
* clang requires that the casting be explicit
 2016-02-29 14:14:37 +11:00
Andrew Tridgell
968f07f583 Plane: allow live quadplane PID tuning 2016-02-29 14:10:32 +11:00
Tom Pittenger
b8fc524954 Plane: enforce expected flight_stage in TECS 2016-02-25 06:37:24 -08:00
Tom Pittenger
993e5b438c Plane: add to LAND_NEUTRL behavior 
offer netrual vs disabled outputs
 2016-02-25 05:51:44 -08:00
Tom Pittenger
6399d00950 Plane: convert to using static send_statustext 
- no more MSG_STATUSTEXT
- TODO: replace calls to gcs_send_text and gcs_send_text_fmt to GCS_MAVLINK::send_statustext()
 2016-02-24 09:18:06 +11:00
Andrew Tridgell
ad78a31255 Plane: move set_dataflash(0 for static logging 2016-02-24 09:18:05 +11:00
Tom Pittenger
881dabf048 Plane: add missionLoaded arming check fail for mis.len <= 1 2016-02-22 16:19:40 +11:00
Andrew Tridgell
1acf25b6e2 Plane: use set_dataflash() 
give GCS_MAVLINK a dataflash object for logging text messages
 2016-02-22 12:34:32 +11:00
Andrew Tridgell
b84b480086 Plane: added PID tuning for quadplane modes 2016-02-20 20:20:27 +11:00
Andrew Tridgell
e2abaefc44 Plane: check SCHED_LOOP_RATE for quadplane 2016-02-20 20:02:52 +11:00
Lucas De Marchi
0b22b520b8 ArduPlane: remove unused CMAKE define 
This is a leftover from previos cmake build system.
 2016-02-19 19:15:39 -02:00
Peter Barker
ca4017d093 Plane: defines.h should not use defines from config.h 
config.h includes defines.h early, so defines in config.h are unavailable
 2016-02-19 12:34:23 -02:00
Tom Pittenger
d0edfa5dfa Plane: compile warning fix 
/ardupilot/ArduPlane/quadplane.cpp:773:107: warning: implicit conversion from 'float' to 'double' when passing argument to function [-Wdouble-promotion]
 2016-02-17 14:54:02 -08:00
Tom Pittenger
0b26a34f22 Plane: new param LAND_THEN_NEUTRL 
// @Description: When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain.
 2016-02-16 23:40:44 -08:00
Andrew Tridgell
8ecf54bf75 Plane: use throttle slew when in quadplane assisted flight 
this prevents a sudden throttle change on a petrol motor when
transitioning
 2016-02-13 11:38:33 +11:00
Tom Pittenger
a280396645 Plane: nonfunctional change, comment only. Units were in old in comment 2016-02-12 12:14:38 -08:00
Tom Pittenger
c837fbca2f Plane: 3/3 new param TECS_LAND_SRC for Land Sink Rate Change 
// @Description: When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value.
 2016-02-12 11:39:27 -08:00
Tom Pittenger
8ac6343730 Plane: removing mission_cmd in TECS and making it bool is_landing 
this is reverse-thrust cleanup suggested by Tridge
 2016-02-12 11:22:59 -08:00
Tom Pittenger
d04b5e735f Plane: add SYS_STATUS reverse_motor 
- helpful to tell GCS to interpret VFR_HUD as negative when bit is enabled
- throttle is sent as abs()
 2016-02-11 18:46:01 +11:00
Tom Pittenger
fa53263ca9 Plane: make throttle_percentage() signed 2016-02-11 18:46:01 +11:00
Tom Pittenger
ebec68c55b Plane: param desc to increase THR_MIN range to include negative thrust 2016-02-10 22:18:07 -08:00
Tom Pittenger
f369899509 Plane: restrict rudder arming where reverse_thrust is enabled and commanding negative 2016-02-10 22:18:06 -08:00
Tom Pittenger
a920b7322d Plane: more desc for param USE_REV_THRUST 2016-02-10 22:04:50 -08:00
Tom Pittenger
046741d23b Plane: abort landing at 90% throttle instead of 95% 2016-02-08 21:13:43 -08:00
Tom Pittenger
b098466e87 Plane: reduce redundant logging of STAT from 6 Hz to 5 Hz 
- STAT log entry was being done every 5 Hz plus at 1 Hz. This removes the 1Hz.
 2016-02-08 21:13:12 -08:00
Tom Pittenger
66fcd8f58a Plane: run is_crashed at 5hz instead of 1hz 2016-02-08 21:13:04 -08:00
Andrew Tridgell
93185be1ff Plane: reset land_pre_flare on mode change 2016-02-09 14:18:02 +11:00
Tom Pittenger
2e92089ce6 Plane: Reverse Thrust 
Reverse thrust for controlled landings, even with much steeper approach slopes. This is achieved by allowing throttle demand to go negative to maintain a target airspeed. A Pre-Flare stage was added, triggered by an altitude, to allow for a slower airspeed just before land. That lower airspeed can be near stall.
new params LAND_PF_ALT, LAND_PF_SEC, LAND_PF_ARSPD, USE_REV_THRUST
 2016-02-09 14:18:02 +11:00
Tom Pittenger
1cb094f12e Plane: make throttle signed (pos and neg) 2016-02-09 14:18:02 +11:00
Tom Pittenger
b8d5369ebd Plane: add flight stage LAND_PREFLARE 2016-02-09 14:18:02 +11:00
Andrew Tridgell
f8d8616598 Plane: support all types of multicopters in quadplane 
adds Q_FRAME_CLASS for class of multicopter frame
 2016-02-08 11:00:19 +11:00
Andrew Tridgell
eeda1b56de Plane: don't do throttle nudge while in geofence failsafe 
user stick inputs should not apply when outside fence
 2016-02-08 10:59:37 +11:00
Tom Pittenger
9157f634eb Plane: Add Tom Pittenger to authors list 2016-02-02 10:50:12 +09:00
Andrew Tridgell
379ca5ac00 Plane: prepare for 3.5.0 release 2016-01-30 13:04:51 +11:00
Andrew Tridgell
99847da297 Plane: release 3.5.0beta2 2016-01-29 12:21:39 +11:00
Andrew Tridgell
125af1b856 Plane: added OVERRIDE_SAFETY parameter 2016-01-29 12:20:14 +11:00
Michael du Breuil
bcc939930c Plane: Only resend the mixer configuration if its changed 2016-01-29 12:20:14 +11:00