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 |
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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 |
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Samuel Tabor
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7168a65155
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Autotest: Simplify soaring.py.
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2020-04-08 09:11:54 +10:00 |
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Samuel Tabor
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d04c6cb02e
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TECS: Don't override the speedweight to 0 if synthetic airspeed is in use.
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2020-04-08 09:11:54 +10:00 |
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Samuel Tabor
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170b599469
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Plane: Required changes for conditional soaring compilation (fmuv2).
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2020-04-08 09:11:54 +10:00 |
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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 |
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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 |
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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 |
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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 |
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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 |
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Samuel Tabor
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528dcc3f6b
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Autotest: Add test for soaring.
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2020-04-08 09:11:54 +10:00 |
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Samuel Tabor
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e7418637ee
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Plane: In FBWB make target alt track current if soaring is enabled and suppressing throttle.
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2020-04-08 09:11:54 +10:00 |
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Samuel Tabor
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ed7e359f4d
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Plane: Make target altitude track current altitude when gliding.
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2020-04-08 09:11:54 +10:00 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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Samuel Tabor
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15cef55e97
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SITL: Make thermal drift relative to 100m alt to avoid so much change with wind speed and direction."
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2020-04-08 09:11:54 +10:00 |
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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 |
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Samuel Tabor
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650b464831
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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 |
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Samuel Tabor
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45cb663d73
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AP_Math: Add template for Vector2f::projected.
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2020-04-08 09:11:54 +10:00 |
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Samuel Tabor
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fab74f8927
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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 |
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Samuel Tabor
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5963164a22
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Plane: Soaring, make zero SOAR_MAX_RADIUS always RTL, and -1 never.
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2020-04-08 09:11:54 +10:00 |
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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 |
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Samuel Tabor
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298088268a
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Plane: Soaring, don't wait for heading if too low, and add timeout otherwise.
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2020-04-08 09:11:54 +10:00 |
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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 |
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Samuel Tabor
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dc8c062fbe
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AP_TECS: Correct an error in the SEBdot FF term.
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2020-04-08 09:11:54 +10:00 |
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Samuel Tabor
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247738518e
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AP_TECS: Add a feed-forward term from adjusted demanded airspeed to nav pitch.
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2020-04-08 09:11:54 +10:00 |
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Samuel Tabor
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a27c99fab9
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AP_TECS: Return the adjusted demanded airspeed. The aspd_error mavlink message now shows the rate-limited airspeed.
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2020-04-08 09:11:54 +10:00 |
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Samuel Tabor
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ae27f96361
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SITL: Make soaring thermals slanted.
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2020-04-08 09:11:54 +10:00 |
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Samuel Tabor
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a18d6e925d
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AP_Soaring: Improved default sim parameters.
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2020-04-08 09:11:54 +10:00 |
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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 |
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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 |
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Samuel Tabor
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96bc0e1e03
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Plane: Soaring: Reset loiter.sum_cd when good to continue thermalling, so that exit heading acceptance criteria does not grow.
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2020-04-08 09:11:54 +10:00 |
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Samuel Tabor
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e7736fb5e7
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AP_Soaring: Line up on current, not next, nav command.
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2020-04-08 09:11:54 +10:00 |
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Samuel Tabor
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936d4232c9
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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 |
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Samuel Tabor
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a56b1dadb9
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Plane: fix bug with headingLinedUp when loiter.sum_cd was negative.
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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 |
|
Samuel Tabor
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5082c9be8b
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SITL: Add plane-soaring type, including parameters, mission, simulated thermals and glider sim settings.
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2020-04-08 09:11:54 +10:00 |
|
Tom Pittenger
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394fbb1a50
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Plane: unified soaring exit behavior: auto heads to next wp, cruise continues cruise heading, FBW to home
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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 |
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