4219cb55ce
APM: use ahrs.airspeed_estimate() in two more places
...
this applies the wind constraint
2012-09-08 11:37:11 +10:00
b2a74951d1
APM: added RUDDER_STEER option
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when enabled, this uses only the rudder to steer during takeoff and
landing, using aileron only for levelling
2012-09-08 10:07:03 +10:00
a71cee4579
APM: accumulate mag readings during spare cycles in ArduPlane
...
With this change we average over 100 mag readings per compass.read()
call, which means we are reading the compass at over 1kHz instead of
10Hz. The noise reduction is huge.
2012-09-08 10:05:58 +10:00
0be8349678
APM: obey pitch limits in FBWA as well
...
this means pitch limits are constrained by LIM_PITCH_MIN and
LIM_PITCH_MAX
2012-08-30 20:15:42 +10:00
7ab7770c3d
APM: added the ability to forcibly crash the plane on OBC failsafe breach
...
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.
2012-08-28 20:18:24 +10:00
3f54b83238
APM: added ALT_CTRL_ALG parameter
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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
2012-08-28 20:18:24 +10:00
ac2ad44c3c
APM: cleanup throttle suppression code and don't use airspeed to unsupress
...
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!
2012-08-28 20:18:23 +10:00
517e6b2b9d
APM: prepare for ArduPlane 2.60
2012-08-22 16:28:38 +10:00
d091311196
APM: removed factor of 0.5 in non-airspeed takeoff pitch
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this limited the pitch far below the specified target pitch
2012-08-22 16:28:38 +10:00
56ada1a69c
APM: added RSSI to RC_CHANNELS_RAW as well
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and prevent double read
2012-08-22 13:58:25 +10:00
e74dab122a
APM: added RECEIVER_RSSI_PIN option
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this allows for the receiver RSSI to be sent over MAVLink
Thanks to Burt Green for the suggestion
2012-08-22 13:33:12 +10:00
2bc2460c07
APM: optional build with new controller libs
2012-08-22 12:39:07 +10:00
5e913c72c4
uncrustify ArduPlane/ArduPlane.pde
2012-08-21 19:19:51 -07:00
5d29d5e5a1
APM: removed DMP support from ArduPlane
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Without centripetal correction the DMP code will almost certainly
crash a plane
2012-08-22 11:46:35 +10:00
bd6581c523
AHRS: removed Quaternion build support from APM/ACM/rover
2012-08-22 10:42:21 +10:00
e5d8efdb7e
ArduPlane: replaced many "int" with "int16_t", "long" with "int32_t"
2012-08-18 18:26:13 +09:00
2fb8a13ac6
APM: added parameter FBWB_ELEV_REV
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this fixes issue 343
2012-08-17 15:04:53 +10:00
20be77ab32
APM: when land_complete is true, use land_pitch
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this gives a flare on final landing
2012-08-15 12:39:35 +10:00
f4023d1b44
AP_Airspeed: remove airspeed filter and run at 10Hz
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this saves on the filter memory, and gives just as good a result
2012-08-15 12:39:35 +10:00
8c3b6f471f
APM: keep the time of the last heartbeat message
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this will be used for failsafe processing
2012-08-15 12:39:34 +10:00
93f45f232f
APM: added 'OBC' failsafe module for ArduPlane
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this adds FS_* parameters for setting up APM to follow the outback
challenge failsafe rules.
This includes:
- manual pin
- heartbeat pin
- waypoint for heartbeat failure
- waypoint for GPS failure
2012-08-15 12:39:34 +10:00
98d5a49717
APM: fixed LOITER_TIME and LOITER_TURNS
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These now follow the mavlink spec. Loiter time is in seconds, and
loiter turns is now 32 bit angle, so can handle larger numbers of
turns.
2012-08-15 12:39:34 +10:00
9d9c7b0455
APM: allow for navigation by dead-reckoning
...
we now ask AHRS if we have a position estimate, and use that if
available
2012-08-11 12:01:08 +10:00
9a8fd4738e
Add an optional second mount to ArduPlane and ArduCopter
2012-08-08 23:22:24 +02:00
5e19c0cf04
AP_Airspeed: removed values passed to constructor
2012-08-08 16:38:39 +10:00
67f076a9db
APM: change variables to use _cm, _cd and _ms suffix for units
...
this makes it less likely that we mix up units
2012-08-08 12:12:30 +10:00
b366205172
APM: removed cli slider and dipswitch options
...
use mavlink/eeprom for all config
2012-08-08 12:12:29 +10:00
f98b887dbe
AP_Param: update ArduPlane core for new AP_Param interface
2012-08-08 12:11:57 +10:00
03b902d4b7
Add me :)
2012-08-06 00:40:12 +02:00
fe4713b46e
RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls.
2012-08-05 23:08:31 +02:00
9b31938519
The mount type must be updated periodically
2012-08-04 18:44:08 +02:00
526344ab7c
APM: added control switch debouncer
...
this adds a switch debouncer, similar to the one used in
ArduCopter. I'm adding this after a flight on the weekend where noise
on the control mode channel caused a mode change away from auto.
To prevent this change adding excessive mode switch latency, it also
moves the reading of the control switch to the 10Hz loop, away from
the 3.3Hz loop. That gives us 0.2s delay in mode switch changes and
allows for spikes in the control mode for 0.1 seconds without changing
mode.
2012-08-01 13:59:37 +10:00
717d0d25d4
ArduPlane: allow MPU6000's DMP to be used for attitude estimation.
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Enable by adding this line to APM_Config.h:
#define DMP_ENABLED ENABLED
2012-07-28 19:50:40 +09:00
cfe19c8f53
APM: update version for 2.50 release
2012-07-26 11:36:17 +10:00
d4599aa4f0
APM: switch back to old nav_roll calculation
...
the old nav_roll will be used for the 2.50 release to prevent the need
for re-tuning. For the release after that we will use the new
calculation
2012-07-26 10:03:36 +10:00
7dd58227a6
AP fix sitl hil attitude mode.
2012-07-24 07:18:25 +08:00
c083ca5f35
APM: Fixed bug where landing_pitch wasnt initialized properly
...
this adds a new LAND_PITCH_CD parameter to control the landing pitch
when an airspeed sensor is not being used
2012-07-19 13:59:30 +10:00
2121491197
APM: rename airspeed_cruise to airspeed_cruise_cm to make the units clearer
...
it is in cm/s, not m/s
2012-07-19 11:50:41 +10:00
d911e4f61e
Support up to 11 servos in APM2
...
Conflicts:
ArduPlane/ArduPlane.pde
2012-07-18 22:01:19 +02:00
ead41670c4
Airspeed: change APM to use new AP_Airspeed library
...
the next step is AHRS dead reckoning
2012-07-16 11:21:50 +10:00
d07593b3bb
APM: added credit for FBW altitude limit code
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thanks Yuri!
2012-07-10 08:36:50 +10:00
7bc724d118
APM: changed PID library to do automatic deltat calculation
...
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
2012-07-06 19:59:18 +10:00
6ced622da4
APM: fixed some build warnings and type errors
2012-07-06 19:59:18 +10:00
d9351ff681
APM: use new location functions
2012-07-04 12:42:46 +10:00
f150c645c8
Mount: enable mount control via eeprom parameters
...
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
2012-07-03 10:21:01 +10:00
1cb96e14a9
SITL: enable the SIM_* parameters in ArduCopter and ArduPlane
2012-06-29 15:10:52 +10:00
44b7d94b1c
APM: ArduPlane updates for new compass interface
2012-06-27 16:01:50 +10:00
4fda89beb7
APM: update for new barometer interface
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the barometer can now calibrate and return altitude values.
A 0.3 low pass filter is used on altitude to match the previous code
2012-06-27 16:01:50 +10:00
7941abad16
APM: prepare for 2.40 release
2012-06-16 10:11:26 +10:00
a12cb8fd9a
Added camera trigger functionality
2012-06-13 21:00:20 +02:00
Andrew Tridgell
uncrustify
rmackay9
Amilcar Lucas
Michael Oborne
Jeff Taylor