Samuel Tabor
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18b33a439d
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AP_Soaring: Allow continued thermalling in manual mode changes RC switch position.
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2020-08-19 13:38:56 +10:00 |
Samuel Tabor
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4726e670d5
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AP_Soaring: Fix description of SOAR_MAX_DRIFT.
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2020-07-31 10:26:50 -07:00 |
Samuel Tabor
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611217f63e
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AP_Soaring: Use RC aux function rather than read RC directly.
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2020-07-21 09:38:04 +10:00 |
Samuel Tabor
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b21f9030b7
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AP_Soaring: Update parameter ranges.
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2020-06-02 10:36:51 -07:00 |
Peter Barker
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64e300a00c
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AP_Soaring: add documentation for VAR dataflash log message
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2020-05-06 13:23:51 +10:00 |
Peter Barker
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69093aa7b1
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AP_Soaring: stop taking AHRS as constructor argument
... use singleton instead
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2020-05-05 17:35:14 +10:00 |
Samuel Tabor
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4a39a43c10
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AP_Soaring: Add log documentation.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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b9daae062c
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AP_Soaring: Use enum class rather than typedef enum for states and hide details of these.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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6e75890bd9
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AP_Soaring: Add a low pass of target position from EKF before using it.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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f23efdd13b
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AP_Soaring: Make vario time constant public.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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56649fa8eb
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AP_Soaring: Fix too-long status message.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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d54c7f1b7a
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AP_Soaring: Fix bug when no soaring activation RC channel set.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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fbd0df81a7
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AP_Soaring: Report changes in active status.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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e1f7122566
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AP_Soaring: Improve tracking of enabled/disabled status.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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5ac801b2ac
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AP_Soaring: Use 64 bit variable for time to avoid overflow.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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2260fda4ec
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AP_Soaring: Detect changes in active parameter/switch position.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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fdf7eae01c
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AP_Soaring: Adjust initial EKF values and limit R to 40.0m.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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ff1725b549
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AP_Soaring: Make enable channel 3 position. PWM above 1400us allows most soaring features, but above 1700us is required before any automatic switch to LOITER mode.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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1160c59a89
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AP_Soaring: Remove dsp bias and log this.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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c28c573da1
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AP_Soaring: Also log acceleration.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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7555f5abf8
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AP_Soaring: Fix incorrect trig function and log the expected sink.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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17f1fa9600
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AP_Soaring: Fix use of double precision sqrt.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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7d3ff28974
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AP_Soaring: Correct bug with reversed arguments.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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16b7de4029
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AP_Soaring: Cleanup variometer.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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62a34e0f8d
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AP_Soaring: Calculate filter time constant based on airspeed and loiter radius, using 3x circline rate.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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2b40182b34
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AP_Soaring: Reduce drift feed-forward by ratio of climb rate to thermal core strength. This is consistent with assumption that each packet of air, rising at core strength, is convected with the ambient wind speed.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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8072f6b858
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AP_Soaring: Make the trigger VSPEED take account of thermalling sink.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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650b464831
|
AP_Soaring: Move drift check to separate function and check drift with reference to mission segment, allowing drift in right direction. LOITER target, not current position, is now used.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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fab74f8927
|
AP_Soaring: Calculate expected thermalling sink live and avoid divide by zero by limiting airspeed to that corresponding to CL max (generously assumed 1.5 for glider).
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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75f772b269
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AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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684ee11fc3
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AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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013628bd1d
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Plane: Soaring - better reporting of exit due to drift.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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e1b2360781
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AP_Soaring: Add a maximum allowable drift distance when thermalling.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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936d4232c9
|
AP_Soaring: Add a 60s first order filter on climb rate. If this becomes negative exit thermalling.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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30249e8006
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AP_Soaring: Add a check of whether altitude has been lost overall when thermalling.
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2020-04-08 09:11:54 +10:00 |
Tom Pittenger
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f24095e9ed
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AP_Soaring: inhibit msg spam when lingering in loiter waiting for heading to line up
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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3211c03f58
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AP_Soaring: Remove unused methods, clean up and log position in N/E rather than Lat/Lng.
Fix
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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152c1507e0
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AP_Soaring: Make the EKF states the actual NE position of the thermal, rather than the position relative to aircraft.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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d7abd296ef
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AP_Soaring: Avoid calculations in lat/lng.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
|
0cccc8dc29
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AP_Soaring: Fix issue with loiter radius being saved as zero due to initialisation order. This caused incorrect calculation of thermal climb potential and cases of staying in thermals that should have been abandoned.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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c135b00b7b
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AP_Soaring: Remove redundant check for new vario data.
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2020-04-08 09:11:54 +10:00 |
Samuel Tabor
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64460be0d0
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AP_Soaring: Implement vario based on acceleration rather than differentiated airspeed.
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2020-04-08 09:11:54 +10:00 |
Tom Pittenger
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52ae093a97
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AP_Soaring: add reason to exit Thermal loiter
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2020-04-08 09:11:54 +10:00 |
Peter Barker
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e85a4dcd7d
|
AP_Soaring: remove empty Units: parameter doc entries
These break parameter generation
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2020-02-19 15:09:16 +11:00 |
Peter Hall
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850eee2f84
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AP_Soaring: move to airspeed_estimate with pointer
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2020-01-14 22:34:37 -07:00 |
Peter Barker
|
a5ff46950c
|
AP_Soaring: move include of logger to .cpp file
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2019-07-09 10:57:20 +10:00 |
Peter Barker
|
61e261caf5
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AP_Soaring: remove definition of 'N' macro in favour of scoped variable
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2019-06-27 14:40:44 +10:00 |
Pierre Kancir
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51437ccc53
|
AP_Soaring: use get_distance_NE instead of location_diff
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2019-04-08 08:00:52 -07:00 |
Dr.-Ing. Amilcar do Carmo Lucas
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31a32c7ea0
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AP_Soaring: replace location_offset() and get_distance() function calls with Location object member function calls
This allows removing duplicated code
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2019-02-28 11:44:09 +11:00 |
Peter Barker
|
6fc76a32af
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GLOBAL: use AP::logger() and strip redundant Log_ from methods
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2019-01-18 18:08:20 +11:00 |