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26 Commits

Author SHA1 Message Date
Samuel Tabor b9daae062c AP_Soaring: Use enum class rather than typedef enum for states and hide details of these. 2020-04-08 09:11:54 +10:00
Samuel Tabor 6e75890bd9 AP_Soaring: Add a low pass of target position from EKF before using it. 2020-04-08 09:11:54 +10:00
Samuel Tabor e1f7122566 AP_Soaring: Improve tracking of enabled/disabled status. 2020-04-08 09:11:54 +10:00
Samuel Tabor 5ac801b2ac AP_Soaring: Use 64 bit variable for time to avoid overflow. 2020-04-08 09:11:54 +10:00
Samuel Tabor 2260fda4ec AP_Soaring: Detect changes in active parameter/switch position. 2020-04-08 09:11:54 +10:00
Samuel Tabor fdf7eae01c AP_Soaring: Adjust initial EKF values and limit R to 40.0m. 2020-04-08 09:11:54 +10:00
Samuel Tabor 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. 2020-04-08 09:11:54 +10:00
Samuel Tabor 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). 2020-04-08 09:11:54 +10:00
Samuel Tabor 75f772b269 AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER. 2020-04-08 09:11:54 +10:00
Samuel Tabor 684ee11fc3 AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring. 2020-04-08 09:11:54 +10:00
Samuel Tabor 013628bd1d Plane: Soaring - better reporting of exit due to drift. 2020-04-08 09:11:54 +10:00
Samuel Tabor e1b2360781 AP_Soaring: Add a maximum allowable drift distance when thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor 30249e8006 AP_Soaring: Add a check of whether altitude has been lost overall when thermalling. 2020-04-08 09:11:54 +10:00
Tom Pittenger f24095e9ed AP_Soaring: inhibit msg spam when lingering in loiter waiting for heading to line up 2020-04-08 09:11:54 +10:00
Samuel Tabor 3211c03f58 AP_Soaring: Remove unused methods, clean up and log position in N/E rather than Lat/Lng. 
Fix
 2020-04-08 09:11:54 +10:00
Samuel Tabor d7abd296ef AP_Soaring: Avoid calculations in lat/lng. 2020-04-08 09:11:54 +10:00
Samuel Tabor 0cccc8dc29 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. 2020-04-08 09:11:54 +10:00
Tom Pittenger 52ae093a97 AP_Soaring: add reason to exit Thermal loiter 2020-04-08 09:11:54 +10:00
Peter Barker a5ff46950c AP_Soaring: move include of logger to .cpp file 2019-07-09 10:57:20 +10:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker 1331e6ca14 AP_Soaring: const some accessors 2018-05-29 13:00:40 +10:00
Peter Barker c93aea24c6 AP_Soaring: correct compiler warnings 
In file included from ../../libraries/AP_Soaring/AP_Soaring.cpp:1:
../../libraries/AP_Soaring/AP_Soaring.h:32:34: warning: private field
'_aparm' is not used [-Wunused-private-field]
    const AP_Vehicle::FixedWing &_aparm;
 2018-03-02 09:26:37 +09:00
samuelctabor 4cbff71689 AP_Soaring: Separate the vario functionality into a seperate class from the soaring/thermalling functionality. 2017-06-07 20:10:03 +10:00
Andrey Kolobov 9f2f070439 AP_Soaring: adding const qualifiers to some of soaring controller's methods 2017-03-14 08:53:11 +11:00
Andrew Tridgell 819c70494f AP_Soaring: added SOAR_ENABLE_CH parameter 2017-03-14 08:53:10 +11:00
Andrey Kolobov ea534f0445 AP_Soaring: added AP_Soar library, formerly known as SoaringController 2017-03-14 08:20:48 +11:00