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 changes STICK_MIXING from a boolean to a tri-state. With
STICK_MIXING=1 it now uses FBW style mixing. With STICK_MIXING=2 it
uses the old style of direct stick mixing.
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
this mode gives manual control when the roll or pitch is within the
set limits (the same limits as FBW mode), and prevents the pilot from
flying beyond those limits, essentially a "attitude limited manual"
mode
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.
spoiler 1 and 2 are connected to 2 auxiliary channels, functions are
set to 16 on left wing and 17 om right wing respectively. Worked in
FBW + mode (auto etc.). No manual mode supported yet (need more
channels in my case).
this allows a user to setup the OBC failsafe system to forcibly crash
the plane (surfaces at limits, zero throttle) when the failsafe system
triggers. This is to allow APM to be used in the Outback Challenge. In
the OBC an external failsafe board also does this using the heartbeat
control pin, so this is an extra safety mechanism.
To prevent users accidentially triggering a crash, this code only
activates if FS_TERM_ACTION is set to to the magic value 42.
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
this removes the throttle suppression when any of the conditions are
met once, as otherwise flying slow below 10m could zero the throttle.
It also removes the use of airspeed for disabling throttle
supression. Otherwise a strong gust of wind can cause ArduPlane to
try to takeoff!
this allows users to adjust the base speed used for scaling roll/pitch
PIDs. This can be used to make PIDs work for both airspeed and
non-airspeed control
nav_gain_scaler was originally added due to a perceived improvement in
loiter performance, but is incorrect for navigation. Turn rate is a
function of airspeed and bank angle, ground speed has no effect on
that.
* Previously, the ELEVON_REVERSE parameter was equivelant in function to the
ELEVON_CH1_REVERSE parameter. These parameter values are found in
g.reverse_elevons and g.reverse_ch1_elevon, and used to map to the radio_out
channels in ArduPlane/Attitude.pde
* It seems the author's intent was for ELEVON_REVERSE to change the sign for
the combination of pitch & roll into ch1 & ch2, as there are already
parameters which change just the sign of ch1 and just the sign of ch2.
* Discovered this bug because I happened to build an elevon airframe which was
not possible to setup with the existing ELEVON_ and RCn_REV parameters.
* This will break existing elevon setups if the user used ELEVON_REVERSE
instead of ELEVON_CH1_REVERSE, since they were previously interchangable.
setting ARSPD_ENABLE to 1 and ARSPD_USE to 0 allows the airspeed
sensor to be initialised and logged without it being used for flight
control. This is very useful when initially testing an airspeed sensor
in a new plane. It also makes it possible to enable/disable the use of
the airspeed sensor during a flight at any time.
This patch will boost the target airspeed as necessary to keep the ground speed above a parameter value - param_min_groundspeed. Airspeed is still limited to FBW-max. Setting min_groundspeed to zero (default) disables the feature.
The g_rc_function[RC_Channel_aux::k_flap_auto] ptr came out as NULL
during one HIL run on a desktop CPU, which led to ArduPlane
crashing. I am not yet sure if this can happen in real flight, but I
think the NULL check is worthwhile to be sure.
Add code to disable throttle if we are on the ground and in FBW_B or higher. We believe we are on the ground if speed < 5 and alt < 5. Also check that we are not trying to perform a takeoff.
Andrew Tridgell
Paul Riseborough
Randy Mackay
Michael Warren
James Bielman
Pat Hickey
Xichen Shi
uncrustify
Amilcar Lucas
Jonathan Challinger
Phil
Doug Weibel