c16e3a035f
Plane: fixed disarmed throttle in HIL
2014-01-20 19:41:19 +11:00
b0a0316dd6
Plane: Now using AP_Arming library.
2013-12-11 17:29:23 +11:00
17c9cedac1
Plane: send out HIL servo updates as soon as we can
...
this improves the servo responsiveness of HIL a lot
2013-11-23 18:50:57 +11:00
56f574684d
Plane: fixed throttle failsafe with reversed throttle
2013-11-17 15:32:53 +11:00
231b5ab793
Plane: prevent too large combined pitch/roll angles
...
this reduces the roll limit by cos(pitch) and pitch minimum by
cos(roll). This prevents unreasonable attitudes in all stabilised
modes
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-11-04 21:21:42 +11:00
035ac3800a
Plane: use G_Dt for acro angle integration
...
also cleanup some other uses of performance timing
2013-10-12 13:30:27 +11:00
536fbb4a30
Plane: if pilot gives aileron input then disable ground steering
...
otherwise it would be very tricky to do a low pass!
2013-10-05 07:46:27 +10:00
d32e58db84
Plane: split out the channel stick mixing
...
makes code a bit clearer
2013-10-05 07:46:27 +10:00
3be939eb03
Plane: give manual steering when still
...
useful for servo testing
2013-10-05 07:46:27 +10:00
d275f50539
Plane: added GROUND_STEER_ALT and GROUND_STEER_DPS
...
this uses the new AP_SteerController steering controller developed for
the rover code to allow for ground steering of planes
2013-10-05 07:46:27 +10:00
081510d37a
Plane: added ACRO_LOCKING parameter
...
this enables/disables the attitude locking in acro mode, allowing acro
to be a pure rate controller
2013-10-05 07:45:12 +10:00
996eda0080
Plane: Report MAV_STATE_ACTIVE if flying, MAV_STATE_STANDBY otherwise
...
(There are also various error states MAV_STATE_CRITICAL that are unchanged
by this check in).
The is_flying() check is similar to the code in suppress_throttle, but
I wanted to make it very optimistic on thinking we are flying - which is
not what you want for set_throttle...
(AC has similar MAV_STATE_ACTIVE vs MAV_STATE_STANDBY behavior now)
2013-09-21 21:57:07 +10:00
e455ee0a94
Plane: fixed throttle suppression for AUTO_FBW_STEER=1
2013-09-20 17:20:06 +10:00
1869cd52e1
Plane: fixed AUTO_FBW_STEER stick mixing
2013-09-20 17:20:06 +10:00
328e900364
Plane: changed TKOFF_THR_DELAY default to 2
...
this makes it safer for hand launch with pusher props
2013-09-19 21:42:21 +10:00
43cf0736a3
Plane: Auto Takeoff Check updates
...
Adds additional launch angle protection and protection against early
exit from auto causing unexpected motor start on re-entry
2013-09-19 21:37:31 +10:00
43ffe91546
Plane: added FS_ACTION of 2 for glide
...
this allows people without specified settings in their receiver for
failsafe to choose FBWA zero throttle glide on throttle failsafe. That
can be a better choice when flying at a R/C club field
2013-09-15 15:05:39 +10:00
cc6acac1dd
Plane: added AUTO_FBW_STEER option
...
this is an unusual option that gives FBWA flight control in AUTO
mode. It is being added to support use of APM in an aerial robotics
competition where students need to pilot the plane, but they still
need waypoint triggering of payloads
2013-09-13 14:38:09 +10:00
f6688582a6
Plane: added FENCE_ACTION=3 behaviour
...
this makes it safer to enable the geofence as a receiver failsafe
mode. It retains manual throttle control, so if it triggers on the
ground due to the receiver losing signal from the transmitter then the
throttle can be kept low, preventing an unexpected takeoff.
2013-09-08 07:31:10 +10:00
accfd46633
Plane: update for new APM_Control API
2013-08-14 14:57:41 +10:00
890b77447a
Plane: allow integrator in stabilize mode when no stick input
...
fixes issue #472
2013-08-02 21:55:34 +10:00
233b033e8c
Plane: removed old speed/altitude control algorithms
...
Use TECS only. This makes the code a lot simpler and easier to
properly document
2013-07-22 13:28:11 +10:00
29c854e676
Plane: remove unused function
2013-07-22 12:50:02 +10:00
51b9cf3e76
Plane: move failsafe variables into a structure
...
this makes the logic a bit easier to follow
2013-07-22 12:50:00 +10:00
608345415b
Plane: pass aircraft parameters to attitude controllers
...
also cope with rename of airspeed min/max variables
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-18 14:53:37 +10:00
dbd47b2a30
Plane: make TECS the default speed/height controller
2013-07-15 11:12:24 +10:00
dc024d425a
Plane: re-do roll hanging in ACRO mode
...
this avoids the euler angle zeros of the previous method by using a
gyro integrator on the roll axis
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-13 21:45:58 +10:00
b37f79d307
Plane: update for new APM_Control API
2013-07-13 21:45:58 +10:00
113bc20f8a
Plane: added a new CRUISE flight mode
...
See
http://diydrones.com/group/apmusergroup/forum/topics/feature-request-hold-heading-mode
this fixes issue #438
2013-07-13 21:45:58 +10:00
cc57bfcf12
Plane: fixed handling of deadzone in ACRO mode
...
RC_Channel norm_input() does not take account of the dead zone
2013-07-12 17:54:51 +10:00
fc67f51901
Plane: added ACRO_ROLL_RATE and ACRO_PITCH_RATE parameters
...
default to 180 degrees/second, which seems reasonable
2013-07-11 09:10:41 +10:00
608007361b
Plane: added initial implementation of ACRO mode
...
rate based control with attitude locking
2013-07-11 09:10:41 +10:00
3c97fad2ec
Plane: changes for GPS field changes
2013-07-10 14:04:22 +10:00
7aa360b176
Plane: added relative_altitude helper functions
...
prevents some code duplication
2013-07-10 14:04:22 +10:00
1355b6d89d
Plane: break-up scheduling into smaller pieces
...
ensure mavlink sends don't push us over a scheduling boundary
2013-07-05 18:05:27 +10:00
d30dd7c3f1
Plane: only run TECS when in an auto-throttle mode
...
this prevents integrator buildup in user controlled modes
2013-07-05 14:55:22 +10:00
a5bda3ffef
Plane: changed to using a "aircraft parameters" structure
...
this structure can be passed to libraries to give them easy access to
critical user parameters
2013-07-04 16:56:57 +10:00
d62636d309
Plane: added new TECS altitude controller
...
Includes improvements to takeoff/launch detect logic to support hand
launching for X-8 flight
2013-07-04 16:56:57 +10:00
75ef7c26e1
Plane: update takeoff course when conditions met
...
This allows for change of heading before the final takeoff conditions
are met
thanks to Greg Fletcher for suggesting this
2013-07-01 17:05:13 +10:00
570ecea6c6
Plane: added secondary rudder support
2013-06-29 17:31:03 +10:00
056e0ca40d
Plane: APM2 doesn't have channel 9 PWM output
2013-06-24 13:06:54 +10:00
a1f64d606a
Plane: fixed remaining places where primary channel ordering was assumed
...
should now use rcmap for all inputs
2013-06-03 16:23:48 +10:00
fb9bf21522
Plane: allow channel mapping of first 4 channels
...
this makes it easier to support DSM and SBUS radios
2013-06-03 16:23:48 +10:00
bb3171ab5f
Plane: zero attitude integrators on the ground
2013-06-01 22:29:38 +10:00
cd55ed45e2
Plane: removed the old roll/pitch/yaw PID controllers
...
use the new controllers, with auto parameter conversion
2013-05-31 14:06:56 +10:00
eba7d6da9a
Plane: removed the old crash_timer code
...
This code is less relevent with the new L1 navigation, and could cause
issues with the pilot not having control after a long dive.
Thanks to Soren for pointing out the issues
See issue #305
2013-05-28 11:19:28 +10:00
767d9d0eb5
Plane: fixed stick mixing in AUTO modes
...
the mixing was asymmetric. Many thanks to Soren Kuula for noticing this!
2013-05-27 08:24:35 +10:00
c81421e275
Plane: added MIXING_GAIN parameter
...
this allows for the full range of output on both channels, but can
saturate
2013-05-25 18:28:13 +10:00
6251d0510a
Plane: obey pitch trim and throttle pitch feed forward in new controllers
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-05-05 21:51:09 +10:00
11ad9d5a2d
Plane: auto-invert pitch control when upside down
...
this helps to recover when flying inverted, for example when in manual
and hitting the lower altitude geofence
2013-05-05 21:51:09 +10:00
4e2b88f6e6
Plane: added ATT_CONTROLLER option to select attitude controller
...
set to 1 for the new APM_Control library
2013-05-05 21:51:09 +10:00
8c5b603848
Plane: use new APM_Control API
2013-05-05 21:51:08 +10:00
9584aa89d9
Plane: replaced constrain() with constrain_float()
2013-05-02 10:27:10 +10:00
3d7a4d0e6e
Plane: added ELEVON_OUTPUT option
...
this is like the vtail mixer, but for elevons
2013-04-29 12:13:59 +10:00
0b8c2da4df
Plane: support 12 output channels on PX4
2013-04-25 20:10:53 +10:00
4f225eff57
Plane: if airspeed enabled, require 5m/s to unsuppress throttle
2013-04-25 20:10:53 +10:00
8f091e70c8
Plane: move elevon variables into a structure
2013-04-15 14:53:56 +10:00
11eb0cfce1
Plane: update for new AP_Navigation controller class
...
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>
2013-04-12 12:48:09 +10:00
e58f49aeaf
Plane: copy rudder out in TRAINING mode
...
we were doing rudder mixing in training mode, which shouldn't be done
2013-04-05 19:38:43 +11:00
bd2b9fbe9d
Plane: simplify the VTail mixer to be more like a hardware mixer
...
this should make it easier to trim the vtail
2013-04-05 15:47:51 +11:00
406921faf1
Plane: added VTAIL_OUTPUT option
...
this allows for software vtail mixing
2013-04-05 15:22:11 +11:00
683a2919d1
Plane: prevent stick mixing when throttle is below failsafe threshold
...
this fixes issue #40
2013-04-02 10:42:56 +11:00
2506c216dd
Plane: added a second type of stick mixing
...
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.
2013-04-02 08:52:56 +11:00
e390726bdd
Plane: prevent overflow on large PID gains
...
this uses get_pid_4500() to prevent overflow of servo_out on large PID gains
2013-04-01 22:17:04 +11:00
dfb14d760b
Plane: added HIL_SERVOS option
...
this allows for real servo output in HIL
2013-03-30 14:38:43 +11:00
c2055557f5
Plane: add support for GPS fix type 2D
2013-03-27 11:41:51 +09:00
1d983b3f2e
Plane: fixed X accel triggering of auto
2013-03-22 11:53:45 +11:00
0a385cc0ff
Plane: added TKOFF_THR_MINACC option
...
this is used for triggering auto takeoff with a hand launched plane
2013-03-09 14:41:04 +11:00
9697ff5d6d
Plane: Added extra parameter to specify at what speed in auto-takeoff throttle should engage
...
This adds TKOFF_THR_MINSPD in m/s
2013-03-09 14:19:48 +11:00
e93888dee9
Plane: make a throttle_cruise of 0 mean always zero throttle
...
this can be used for parachute landing missions
Thanks to Chris Miser for the suggestion
2013-03-09 13:48:39 +11:00
b9a5be6c8b
Plane: added secondary elevator support
2013-02-05 08:57:58 +11:00
9058949558
Plane: fixed some warnings
2013-01-16 14:19:25 +11:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- 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.
2013-01-16 13:52:01 +11:00
4cdb3cd390
Plane: use GRAVITY_MSS
2013-01-02 14:45:08 +11:00
feca411943
Plane: added new TRAINING mode
...
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
2012-12-20 22:41:58 +11:00
cf18534163
Plane: use new functions
2012-12-20 14:53:22 +11:00
f8dec9ae4a
ArduPlane: fixes to use CONFIG_HAL_BOARD instead of CONFIG_APM_HARDWARE
2012-12-20 14:51:37 +11:00
92b0c302f2
ArduPlane: Ported to AP_HAL
2012-12-20 14:51:36 +11:00
f5abc2c25e
Plane: switch to an enum for flight modes
2012-12-01 08:08:54 +11:00
0260559147
Plane: fixed throttle slew limit code
...
starting at 1000 is a very bad idea - a petrol engine could cut out
2012-11-28 12:13:09 +11:00
697c386075
Plane: use correct throttle range in slewrate
2012-11-28 11:42:05 +11:00
92cd631ce5
Plane: added THR_PASS_STAB parameter
...
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.
2012-11-26 23:33:05 +11:00
61f2e18e2e
APM: allow ailerons to move fully during servo demo
2012-11-21 13:34:27 +11:00
fcbd3a823b
APM: added a new type of auxilary aileron, with rc input
...
a AileronWithInput assumes you have setup your RC transmitter to give
the right trim and input on the secondary aileron
2012-11-21 13:34:26 +11:00
ef727bbb3c
ArduPlane: move to use new INS library instead of IMU library
2012-11-07 19:21:03 +09:00
c7b47a0e47
APM: allow for arbitrary ranges and reversal on 2nd aileron
...
this ensures you can setup a 2nd aileron with different reversal from
main aileron
2012-11-05 23:37:58 +11:00
81d507d39e
APM: fixed differential spoilers in manual mode
...
make them follow the elevons
2012-10-31 12:43:53 +11:00
8c0296b27a
APM: fixed additional aileron channels in manual mode
2012-10-31 12:43:53 +11:00
8c46fced16
APM: Added functionality to use differential spoilers in elevon mode
...
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).
2012-10-31 12:43:42 +11:00
d5c35fcc8b
APM: fixed stick mixing for STABILISE mode
...
this is embarrassing
2012-09-24 07:14:30 +10:00
56c354eb4f
APM: fixed stick mixing in CIRCLE mode on throttle failsafe
...
Many thanks to Andke for finding this bug!
2012-09-23 19:27:42 +10:00
6bae5ecd51
APM: added THR_SUPP_MAN option
...
this allows for manual throttle control during auto throttle
suppression. This is useful for keeping a petrol engine idling before
takeoff
2012-09-22 20:17:06 +10:00
12dc2e79cf
APM: save 100 bytes of memory
...
remove flight_mode_strings array
2012-09-18 13:58:49 +10:00
bad73b0686
APM: fixed elevon mixing
...
this was broken in 2.61
2012-09-13 12:01:40 +10:00
c9a299665c
APM: added speed scaling to wheeled steering
...
this allows for a larger amount of steering control at low speeds
without causing osciallation after takeoff
2012-09-11 13:37:34 +10:00
49468953a3
APM: updated for new RC_Channel_aux API
2012-09-08 15:14:41 +10:00
dec12c7370
APM: use ahrs.airspeed_estimate() in two more places
...
this applies the wind constraint
2012-09-08 11:37:11 +10:00
e2b8817a89
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
fce01464b1
APM: added ALT_CTRL_ALG parameter
...
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
d13d117e61
APM: removed reset_I() and instead auto-reset integrator in PID library
...
this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
2012-08-28 20:18:23 +10:00
Andrew Tridgell
Michael Day
Kevin Hester
Paul Riseborough
Randy Mackay
Michael Warren
James Bielman
Pat Hickey
Xichen Shi