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181 Commits

Author SHA1 Message Date
Andrew Tridgell 126d5ce5d4 Plane: re-implement MIXING_OFFSET 
this was lost in the conversion of SRV_Channels
 2017-11-04 09:34:22 +11:00
Andrew Tridgell 6bfed07eae Plane: updated USE_REV_THRUST docs 2017-08-30 08:46:53 +10:00
Michael du Breuil 8630037fd7 Plane: Parameterize the home altitude reset conditions 2017-08-29 13:09:46 -07:00
Andrew Tridgell d541ac509f Plane: removed TRIM_RC_AT_START parameter 
this option caused a lot more problems than it solved, and is buggy
 2017-08-29 07:35:49 +10:00
Peter Barker 2861c1d06a Plane: add ArduSub to list of SYSID_SW_TYPE 2017-08-24 19:50:38 +09:00
Peter Barker 1a665280e9 Plane: remove CLI 2017-08-14 10:23:50 +09:00
Andrew Tridgell 99df31f6ec Plane: fixes from review 
thanks Francisco
 2017-08-01 08:25:32 +10:00
Andrew Tridgell cff692ca48 Plane: implement MANUAL_RCMASK 
this replaces the functionality of the old "with input"
aileron/elevator functions, but in a much more flexible way. It means
that people who want to fly in MANAUL mode will have the ability to
have full control of trims and mixing using transmitter mixers if they
need that functionality
 2017-08-01 08:25:32 +10:00
Andrew Tridgell 0266168e69 Plane: removed old elevon and vtail mixers 
now only use the function based mixing, and auto-convert on startup
 2017-08-01 08:25:32 +10:00
Eugene Shamaev b95ebadf8b ArduPlane: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Andrew Tridgell 51b39ea3a1 Plane: removed ancient "mix_mode" type elevon mixing 
this has been deprecated for a long time
 2017-07-03 11:17:42 +10:00
Andrew Tridgell 725244ff8a Plane: implement new TRIM_AUTO functionality 
this fixes TRIM_AUTO for new scaled output approach to servo functions
 2017-07-03 11:17:42 +10:00
Andrew Tridgell c9e4423997 Plane: re-implement flaperons 
implement as scaled output instead of PWM output

this will break some peoples setups, but gives much easier setup and
more consistent behaviour
 2017-07-03 11:17:42 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas ccee841578 Plane: NFC SYS_NUM_RESETS is a read-only variable 2017-06-07 19:53:03 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 14b214eb9b Plane: remove FS parameters default values macros. 
They just add an un-necessary level of indirection in the code. The parameters are run-time configurable now.
 2017-06-07 17:46:39 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 405e0bb9d9 Plane: Add missing @RebootRequired: True 2017-05-27 01:55:55 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 2f5f8eb323 Plane: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Mark Whitehorn 7679b758b0 Plane: add parameter RUDD_DT_GAIN for dual motor tailsitter 
controls rudder to differential thrust mixing in FW mode
 2017-04-06 08:29:44 +10:00
Andrey Kolobov 35d406aeab Plane: added a soaring controller to Arduplane 2017-03-14 08:53:10 +11:00
Michael du Breuil cf10b7b841 Plane: Add support for landing PID's and servo control 2017-03-02 12:38:59 +11:00
Randy Mackay eb746eaeef Plane: fix SYSID_ENFORCE parameter description 2017-02-28 15:08:17 +09:00
Andrew Tridgell 0fc04b0158 Plane: setup plane frame type parameter flags 2017-02-14 19:50:01 +11:00
Peter Barker 1d7994e9ba Plane: create GCS_Plane subclass 2017-02-13 17:03:06 +11:00
Peter Barker d060670ba3 Plane: rename gcs[] to gcs_chan[] 
Wish to use gcs() to return the gcs singleton
 2017-02-13 09:32:01 +11:00
Michael du Breuil 7a1cbf76d3 Plane: Remove ALT_MIX 
Closes #4998, and fix a tab/spaces error on the previous parameter
 2017-02-13 09:18:52 +11:00
Andrew Tridgell 90d9e74054 Plane: fixed parameter path 2017-02-06 15:12:32 +11:00
Michael du Breuil 2326eee9a0 Plane: Move loiter_radius to vehicle 2017-01-30 10:43:54 -08:00
murata 2492b9db7e Plane: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Andrew Tridgell 3338b4295e Plane: use reload_defaults_file() 2017-01-12 17:39:37 +11:00
Andrew Tridgell 68504dbcbb Plane: auto-upgrade old parameters for SRV_Channel split 2017-01-12 17:39:37 +11:00
Andrew Tridgell b83f50be0f Plane: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
priseborough 38a0e8a6ae ArduPlane: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Tom Pittenger 6544afbcba Plane: Migrate the rest of "LAND_" params from Plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger bfbfc3ea3d Plane: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger fa991297db Plane: create new "LAND_" param block for AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger f556f705e6 Plane: move various g params to aparms 2016-11-25 19:07:30 -08:00
Tom Pittenger 0ffeed644c Plane: remove define RANGEFINDER_ENABLED - always enabled 2016-11-25 19:07:30 -08:00
murata 0ee8edc29d Plane: Change from printf statement to print, println statement. 2016-11-25 15:57:15 -08:00
Michael du Breuil 4dae7a6f3d Plane: Simplify parameters 
Remove a lot of cases where @Values and @Bitmask were encoding the same
information. @Value should only be used with @Bitmask when it is being
used to present a series of reasonable defaults that is some hybrid of
the @Bitmask fields. Enumerating each bit as 1, 2, 4, 8 is of no value.
 2016-11-13 11:53:19 -08:00
Peter Barker 98ae6c776a Plane: support for AP_Stats (flight time, bootcount, runtime) 2016-10-29 14:53:25 +09:00
Peter Barker 33b7750c7d Plane: remove duplicate parameter metadata 2016-10-27 09:15:03 -07:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell 3a8e38ee12 Plane: added SYSID_ENFORCE parameter 
this allows safer sharing of telemetry links between aircraft
 2016-10-15 17:12:13 +11:00
Andrew Tridgell 8170df7ba8 Plane: added servo remapping object 2016-10-15 16:59:35 +11:00
Andrew Tridgell d6890495aa Plane: added swapped channel version of elevon/vtail/flaperon output 
this makes it possible to setup an elevon plane without changing the
transmitter reversals
 2016-09-14 11:48:05 +10:00
Andrew Tridgell 9b83781b4f Plane: fixed mixer arming error with FMUv4 
thanks to Tim Gold for reporting this
 2016-09-11 08:25:40 +10:00
Randy Mackay d3f8b1b846 Plane: TELEM_DELAY parameter range to 30sec 
No functional change
 2016-08-29 15:29:18 +09:00
Tom Pittenger 285e41bac6 Plane: add avoidance_adsb framework for object avoidance 2016-08-17 22:38:54 -07:00
Tom Pittenger 399fa195bb Plane: add comment to FLTMODE param to include AVOID_ADSB 2016-08-17 22:38:54 -07:00
Andrew Tridgell 7ce7eb5a60 Plane: added Q modes to parameter docs 2016-08-16 13:15:41 +10:00
Andrew Tridgell 5d6dfd927b Plane: changes for AP_AdvancedFailsafe naming 2016-08-16 12:55:50 +10:00
Tom Pittenger fc50f145ce Revert "ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter)." 
This reverts commit da1b18d918.
 2016-08-07 17:54:24 -07:00
Ricardo de Almeida Gonzaga 7a9fe95ccb ArduPlane: Fix typos 2016-08-04 11:41:18 -07:00
AndersonRayner da1b18d918 ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter). 2016-08-04 10:09:04 -07:00
Andrew Tridgell 327a057ee0 Plane: added internal combustion engine support 
this allows for automatic engine start and restart
 2016-07-25 10:06:03 +10:00
Andrew Tridgell 3f0a8d1761 Plane: added AP_Button support for plane 
this also adds the g2 parameter table
 2016-07-22 15:01:20 +10:00
Andrew Tridgell 1256c2f351 Plane: changed for AP_Vehicle API change 2016-06-24 11:39:23 +10:00
Michael Day cdeef9d692 Plane: Fence breaches can go to RTL mode with new FENCE_ACTION setting. 2016-06-07 15:46:52 +10:00
E Thomas 7d824247af Differential spoilers support, elevon offset 
Fixed differential spoilers support, added elevon offset
See PR #2935
 2016-06-06 21:55:50 -07:00
Andrew Tridgell b7fe96188d Plane: raise range of THR_FS_VALUE 
need to cope with reversed throttle
 2016-05-21 07:39:02 +10:00
Tom Pittenger 6746b4227a Plane: handle large negative baro offsets (corner case) to self-trigger a land-abort go-around 
new param: LAND_ABORT_DEG
@Description: This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is higher than the intended slope path. Steeper slopes can result in crashes so this allows the option to remember the baro offset and self-abort the landing and come around for a another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC > 0.
 2016-05-17 15:41:09 -07:00
Tom Pittenger 034cd2413e Plane: re-calc landing glide slope to gracefully handle baro offset during long flights 
New param: LAND_SLOPE_RCALC
@Description: This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m.

default value is 2 (so, enabled by default)
 2016-05-17 15:39:04 -07:00
Ricardo de Almeida Gonzaga 1fad971851 ArduPlane: Fix typos 2016-05-13 19:20:07 -03:00
Andrew Tridgell dcb24f2bc1 Plane: use DataFlash::log_while_disarmed() 2016-05-09 12:05:25 +10:00
Andrew Tridgell 35ef20b23a Plane: use separate definition for TUNE_PARM 
this allows the parameter docs to be separated
 2016-05-08 18:35:26 +10:00
Andrew Tridgell db5f50e08e Plane: convert tuning to use AP_Tuning library 2016-05-07 18:34:15 +10:00
Tom Pittenger 2ba9a04bf5 Plane: smooth-out the end of takeoff pitch by reducing takeoff pitch min via TKOFF_PLIM_SEC 
@Description: This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be. (+1 squashed commits)
 2016-04-21 22:54:17 -07:00
Andrew Tridgell 27fb35253c Plane: added in-flight transmitter tuning 2016-04-16 20:26:43 +10:00
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
Andrew Tridgell 06bcf0df4b Plane: change default loop rate for quadplanes to 300Hz 2016-04-11 09:32:45 +10:00
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 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
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 30ca9fbb01 Plane: cope with upgrade to shifted indexes for quadplane 2016-03-18 12:33:58 +11:00
Don Gagne cae7ea0d13 Add @Volatile, @ReadOnly support 2016-03-17 10:58:05 +11:00
Tom Pittenger 75be40ea59 Plane: add LAND_THR_SLEW 2016-03-02 10:54:19 -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 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
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 a920b7322d Plane: more desc for param USE_REV_THRUST 2016-02-10 22:04:50 -08:00
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
Andrew Tridgell 125af1b856 Plane: added OVERRIDE_SAFETY parameter 2016-01-29 12:20:14 +11:00
squilter c7e8a48a55 Plane: deploy parachute as fs action 2016-01-19 17:55:58 +11:00
Andrew Tridgell 23eef91c59 Plane: added parameter RTL_RADIUS 
this allows the loiter radius for RTL to be controlled separately from
the radius for loiter (as requested by a user)
 2016-01-19 15:04:30 +11:00
Andrew Tridgell 0d6b353bcb Plane: added quad assistance and auto support for quadplane 2016-01-09 07:38:52 +11:00
Andrew Tridgell 6468fc6d93 Plane: Initial implementation of quadplane 
adds "HOVER" mode
 2016-01-09 07:38:52 +11:00
Andrew Tridgell f201552f6d Plane: always call load_all 
this ensures defaults file works on first start after erase
 2016-01-07 09:32:57 +11:00
Andrew Tridgell 7b6d862316 Plane: support up to 14 rc inputs for all boards 2016-01-04 08:22:35 +11:00
Tom Pittenger 7cde90553d Plane: new param CRASH_ACC_THRESH 
@Description: X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector.
 2016-01-02 09:58:32 +11:00
pepevalbe 9743e32f70 Plane: added group parameter for AP_Notify library 2015-12-31 11:33:05 +09:00
Andrew Tridgell 7a5808276e Plane: fixed two build warnings with clang 2015-12-29 18:52:00 +11:00
Don Gagne eab8a8679d ArduPlane: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Peter Barker 574f95bd76 Plane: support multiple simultaneous backends 2015-12-03 13:21:51 +11:00
Tom Pittenger eaad72c192 Plane: Add support for handing ADS-B traffic 
- parse MAVLINK_MSG_ADSB_VEHICLE msg
- new 1Hz adsb_update task to compare list against for threat detection
- perform object avoidance via loiter or loiter_and_descend. More methods are welcome!
 2015-11-23 19:45:40 +11:00
Andre Kjellstrup db16b94e7f Plane: update RTL altitude param description 2015-11-21 12:44:34 +09:00
Caio Marcelo de Oliveira Filho c8888329e1 Plane: use millis/micros/panic functions 2015-11-20 12:26:40 +09:00
Lucas De Marchi 0151853c21 ArduPlane: remove check for MAVLINK_COMM_NUM_BUFFERS 2015-11-04 12:14:15 +11:00
Lucas De Marchi d1be74c87e ArduPlane: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi a6fd94c6fe ArduPlane: fix wrong printf format for 32 bits 
"micros() - before" doesn't return a long value. Use "%u".
 2015-10-30 14:35:35 +09:00
Lucas De Marchi 20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf() 
This also starts to show warnings on places that were already using
wrong printf format strings.
 2015-10-30 14:35:25 +09:00