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
Andrew Tridgell
8dba91658c
ArduPlane: log a picture if AP_Camera::control() returns true
2016-01-29 10:01:51 +11:00
Andrew Tridgell
d82c8dcd6d
ArduPlane: update for changed AP_Camera API
2016-01-29 09:19:44 +11:00
Dario Lindo Andres
9bba55f937
ArduPlane: Added precise camera trigger logging
...
Added update_trigger and check_digital_pin functions
added camera trigger precise time mark
detect camera feedback pin status
added support for simple digital pin
included support for digital pin. Already included in
added support for TRIGGER MSG
2016-01-29 09:19:43 +11:00
Jonathan Challinger
9000756c80
Plane: reflect changes to AP_Mount
2016-01-23 10:35:47 +09:00
Gustavo Jose de Sousa
c2e3f05dbf
waf: ardupilotwaf: prefix build context methods with ap_
...
It helps to distinguish between things from waf and things from ardupilotwaf.
2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
e9d3dc9e72
waf: vehicles and antennatracker: use methods from bld
...
Instead of from ardupilotwaf.
2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
cf432e8b3e
waf: ardupilotwaf: rename vehicle_stlib to ap_stlib
...
That function is not only for vehicles.
2016-01-22 20:10:28 -02:00
Gustavo Jose de Sousa
a35c0d48b0
waf: ardupilotwaf: rename program to ap_program
...
Make the rename so that there is no name clashes when defining it as a taskgen
method.
2016-01-22 20:10:28 -02:00
Andrew Tridgell
115d089904
Plane: continue limiting pitch during last phase of transition
...
this prevents a very high pitch demand causing the plane to slow down
to below assist speed
2016-01-20 18:30:48 +11:00
Andrew Tridgell
0223218c39
Plane: use altitude_error for quadplane climb rate assistance
2016-01-20 17:23:36 +11:00
Andrew Tridgell
69b2421563
Plane: ensure TECS is updated at 10Hz only
2016-01-20 17:23:36 +11:00
Andrew Tridgell
3a3afe42be
Plane: don't force disarm on parachute release
...
in auto-throttle modes throttle is suppressed. In pilot controlled
modes pilot can lower throttle
2016-01-19 17:59:53 +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
3a9ebe3a8a
Plane: added Q_TRAN_PIT_MAX
2016-01-19 11:05:56 +11:00
Andrew Tridgell
7e29761b99
Plane: try to smooth auto VTOL transitions
2016-01-19 11:05:56 +11:00
Andrew Tridgell
4adda34439
Plane: limit pitch to zero during airspeed wait VTOL mode
2016-01-19 11:05:56 +11:00
Lucas De Marchi
7f04e0106e
waf: change binary names
...
APMrover2 -> ardurover
AntennaTracker -> antennatracker
ArduCopter -> arducopter
ArduPlane -> arduplane
2016-01-18 16:56:08 -02:00
Gustavo Jose de Sousa
17e5d99509
waf: allow partial builds with new mavlink as submodule
...
The task generator for the mavlink headers is given a name 'mavlink' and is
added as a dependency to all local static libraries, because all of them use
sources that include mavlink headers. It would be nice to have a good way to
detect sources that use mavlink headers or to declare list of libraries that
use the headers, so that the dependency could be added automatically.
Additionally, there's a minor change in syntax for the task generator: using
strings directly instead of lists.
2016-01-15 07:28:48 +11:00
Andrew Tridgell
eabceb34e1
Plane: update release notes for Pixracer support
2016-01-10 17:43:01 +11:00
Andrew Tridgell
5a24e93cc5
Plane: removed debug code and add quadplane setup checks
2016-01-09 16:26:13 +11:00
Andrew Tridgell
9e3c1fddef
Plane: updated release notes
2016-01-09 15:17:45 +11:00
Andrew Tridgell
ebe1fe0b17
Plane: raise version to 3.5.0beta1
2016-01-09 13:33:27 +11:00
Tom Pittenger
7978872e32
AP_Plane: set path_propportion in TECS
2016-01-09 13:25:02 +11:00
Andrew Tridgell
ee819959b6
Plane: smoother takeoff and land transition in VTOL auto
2016-01-09 11:33:43 +11:00
Andrew Tridgell
2679cb2c50
Plane: improve yaw and position control in takeoff and landing
...
auto VTOL takeoff is always vertical. Yaw rate is zero on takeoff and
during VTOL descent
2016-01-09 10:47:41 +11:00
Andrew Tridgell
0986474eed
Plane: call set_frame_orientation() before Init for quad motors
2016-01-09 07:44:45 +11:00
Andrew Tridgell
52c4715c94
Plane: fixed init bug on low memory for quadplane
2016-01-09 07:38:55 +11:00
Andrew Tridgell
787a6994a4
Plane: added Q_THR_MID parameter
2016-01-09 07:38:55 +11:00
Andrew Tridgell
4da798129e
Plane: fixed zero throttle in QSTABILISE mode
2016-01-09 07:38:55 +11:00
Andrew Tridgell
cfb74406b6
Plane: fixed call to motors->Init() for quadplane
2016-01-09 07:38:55 +11:00
Andrew Tridgell
0a0e191284
Plane: init rc output after quadplane setup
...
this ensures first PWM pulses are correct
2016-01-09 07:38:55 +11:00
Andrew Tridgell
13a71c5cde
Plane: use default motor mapping for channel setup
2016-01-09 07:38:55 +11:00
Andrew Tridgell
b1177521ef
Plane: show throttle level in vtol modes
2016-01-09 07:38:54 +11:00
Andrew Tridgell
71b0d5fb6d
Plane: disable quad motors in TRAINING and ACRO too
2016-01-09 07:38:54 +11:00
Andrew Tridgell
9c5ec5e74b
Plane: allow yaw control in auto-throttle VTOL modes
2016-01-09 07:38:54 +11:00
Andrew Tridgell
70018ee0cb
Plane: fixed final descent for VTOL auto landing
2016-01-09 07:38:54 +11:00
Andrew Tridgell
f259cf4b3f
Plane: added Q_YAW_RATE_MAX parameter
2016-01-09 07:38:54 +11:00
Andrew Tridgell
f5a15fb7c5
Plane: don't yaw quad when disarming
2016-01-09 07:38:54 +11:00
Andrew Tridgell
ecd7d53cfc
Plane: auto set trim on quad motor channels
...
this prevents a reboot causing a motor start
2016-01-09 07:38:54 +11:00
Andrew Tridgell
7010fd27ff
Plane: fixed Q_THR_MAX_PWM parameter
2016-01-09 07:38:54 +11:00
Andrew Tridgell
780d1459f0
Plane: fixed force descend in VTOL land
2016-01-09 07:38:53 +11:00
Andrew Tridgell
4592085963
Plane: better VTOL land detection
2016-01-09 07:38:53 +11:00
Andrew Tridgell
fdd86c10ba
Plane: smoother transitions to auto from VTOL takeoff
2016-01-09 07:38:53 +11:00
Andrew Tridgell
418464ab8c
Plane: added quadplane version of is_flying()
2016-01-09 07:38:53 +11:00
Andrew Tridgell
f068a8c913
Plane: added support for VTOL_TAKEOFF and VTOL_LAND commands
2016-01-09 07:38:53 +11:00
Andrew Tridgell
5e784ddb5c
Plane: consider flying status for throttle_wait
2016-01-09 07:38:53 +11:00
Andrew Tridgell
7afa2a493d
Plane: implement VTOL flight stage
2016-01-09 07:38:53 +11:00
Andrew Tridgell
aab98ff757
Plane: fixed quad yaw assistance during transition timer
2016-01-09 07:38:52 +11:00
Andrew Tridgell
9ae4c3ec99
Plane: mark Q_ENABLE parameter as an enable parameter
2016-01-09 07:38:52 +11:00
Andrew Tridgell
0d6b353bcb
Plane: added quad assistance and auto support for quadplane
2016-01-09 07:38:52 +11:00
Andrew Tridgell
48e1a0641f
Plane: added throttle wait to quadplane
2016-01-09 07:38:52 +11:00
Andrew Tridgell
2983576067
Plane: added QLOITER mode
...
quadplane loiter
2016-01-09 07:38:52 +11:00
Andrew Tridgell
00ca292160
Plane: improved quadplane transition
2016-01-09 07:38:52 +11:00
Andrew Tridgell
ca85c332d6
Plane: separate QSTABILIZE and QHOVER modes
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
Tom Pittenger
6cb20b679d
Plane: add xtrack_error to DF log
2016-01-08 20:16:25 +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
Tom Pittenger
607201a9b1
Plane: zero course error for straight bungee launch
...
This fixes the behavior where it uses the heading when switched to AUTO instead of at launch causing a turn just after a bungee launch
2016-01-05 11:20:14 +11:00
Andrew Tridgell
7b6d862316
Plane: support up to 14 rc inputs for all boards
2016-01-04 08:22:35 +11:00
Andrew Tridgell
72edfcd1f6
Plane: update for changed peak hold API
2016-01-02 09:58:32 +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
Tom Pittenger
21205f8b41
Plane: improved crash detection logic and agility
...
- inhibit crash detection warnings when disabled by param so now it can be completely disabled
- reset is_crashed when disabled by param
- fixed pre-takeoff detection bug by adding in_preLaunch_flight_stage() where we are actually in FLIGHT_NORMAL instead of FLIGHT_TAKEOFF during setup of bungee launches. This now detects if we're in that state
- simplified the use of been_auto_flying to check across all flight stages. before it was excluded to handle hand-launches which can now be detected with in_preLaunch_flight_stage()
- added impact detector timer to clamp is_flying a few seconds after an impact
- logging new impact detector as "STAT.Hit"
2016-01-02 09:58:31 +11:00
Tom Pittenger
3b06260358
Plane: refactored interface
...
- added guided mode handling
- now handles gracefully a manual mode changes during evasion
2015-12-31 15:36:49 +11:00
Tom Pittenger
0bfe235d6b
Plane: use abort landing logic with mavlink GO_AROUND cmd
...
- also enabled use of CMD_DO_GO_AROUND altitude param
2015-12-31 15:34:41 +11:00
Tom Pittenger
d18c25a0f9
Plane: add item_reached_msg to GUIDED
2015-12-31 15:31:39 +11:00
pepevalbe
9743e32f70
Plane: added group parameter for AP_Notify library
2015-12-31 11:33:05 +09:00
Siddharth Bharat Purohit
78566bda36
Plane: wire up accel calibrator for plane
2015-12-29 10:46:35 -08:00
Andrew Tridgell
7a5808276e
Plane: fixed two build warnings with clang
2015-12-29 18:52:00 +11:00
Lucas De Marchi
a096703b06
Global: don't link with AP_Progmem
...
AP_Progmem is not used anymore.
2015-12-27 15:58:12 -02:00
Andrew Tridgell
513d5c17b9
Plane: allow for settable main loop rate
2015-12-27 14:57:19 +09:00
Andrew Tridgell
58d9b030ea
Plane: update for Hz based AP_Scheduler
2015-12-27 14:57:08 +09:00
Don Gagne
eab8a8679d
ArduPlane: fix invalid Range meta data
2015-12-27 16:10:44 +11:00
Andre Kjellstrup
6f5387c48d
ArduPlane: Camera options for better camera control
...
All on one because they would not pass autotest if split up.
2015-12-18 18:16:11 +11:00
Jonathan Challinger
05eb723429
Plane: reflect renamed function in AP_AHRS
2015-12-18 18:08:37 +11:00
Julien BERAUD
8e66ce6f27
Plane: Update optical flow declaration
...
Pass ahrs as param
2015-12-18 17:56:06 +11:00
Gustavo Jose de Sousa
dc81a2410e
waf: use single entry point for make wrappers
2015-12-10 10:40:34 +09:00