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1778 Commits

Author SHA1 Message Date
Andrew Tridgell
e8b9f22b01 Plane: updates for GPS changes 2014-03-24 12:04:31 +11:00
Andrew Tridgell
d124fdb182 Plane: report compass unhealthy if primary compass unhealthy 2014-03-24 07:03:53 +11:00
Andrew Tridgell
f6b56b5d26 Plane: fixed mission resume at arbitrary waypoints 
on completion of a mission a user can ask for it to resume at any wp
 2014-03-21 10:21:37 +11:00
Andrew Tridgell
861523a00a Plane: use TECS get_target_airspeed() 2014-03-20 17:34:33 +11:00
Michael Day
dd06756abf Plane: Add Log_Write_Radio. MASK_LOG_PM must be set for logging to occur. 2014-03-20 09:56:37 +11:00
Andrew Tridgell
4257d8365c Plane: removed check on target_component in ARM/DISARM 
Thanks to DonLakeFlyer for finding this, see
https://github.com/diydrones/ardupilot/pull/909
 2014-03-20 09:06:48 +11:00
Andrew Tridgell
ce3f40b095 Plane: use should_log() for more msgs 2014-03-19 14:18:14 +11:00
Andrew Tridgell
abfcee1cef Plane: fixed channel reversal in HIL 
makes it possible to reverse channels
 2014-03-19 14:17:40 +11:00
Randy Mackay
3ce56f3086 Plane: integrate Mission cmd field changes 2014-03-19 12:14:24 +09:00
Andrew Tridgell
4031f7d368 Plane: use common deferred message handling 2014-03-19 12:14:17 +09:00
Andrew Tridgell
b74fddade3 Plane: use common MISSION_ITEM code 2014-03-19 12:14:11 +09:00
Andrew Tridgell
0d39f354b0 Plane: use new common MAVLink code 2014-03-19 12:13:38 +09:00
Andrew Tridgell
7d3523b4a7 Plane: use _send_buf() functions to reduce stack usage in MAVLink replies 
this re-uses the incoming message buffer in constructing the reply
 2014-03-19 12:13:28 +09:00
Andrew Tridgell
537e78f9fa Plane: much faster mission upload 
send next WP request immediately if possible. This speeds up mission
upload on USB by about 10x
 2014-03-19 12:13:27 +09:00
Randy Mackay
1ad743c4e1 Plane: use common GCS_MAVLink handle_mission methods 2014-03-19 12:13:21 +09:00
Andrew Tridgell
740ecc2c1b Plane: use new handle_mission_request() function 2014-03-19 12:13:12 +09:00
Randy Mackay
2184ff1e58 Plane: set_next_WP fn accepts Location 2014-03-19 12:13:06 +09:00
Randy Mackay
96b2e88e36 Plane: add comment to GCS_Mavlink.pde 2014-03-19 12:13:03 +09:00
Randy Mackay
ce9f2ef7f0 Plane: minor command logic comments and reordering 2014-03-19 12:13:01 +09:00
Randy Mackay
ad4f30e790 Plane: use mission command specific structures 2014-03-19 12:12:52 +09:00
Randy Mackay
9ef920b0be Plane: integrate dataflash Log_Write_MavCmd 2014-03-19 12:12:45 +09:00
Andrew Tridgell
4bf140aeac Plane: make next_WP and prev_WP be locations 
having a command ID in them doesn't really make sense

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:12:39 +09:00
Randy Mackay
f1b97fee53 Plane: correct typo re RTL home with no mission 2014-03-19 12:12:33 +09:00
Randy Mackay
7f21e3885e Plane: RTL home when AUTO run with no mission 2014-03-19 12:12:31 +09:00
Randy Mackay
6b789cd711 Plane: rename next_nav_command to auto_rtl_command 
This command is only used to get the vehicle home (or to a rally point)
after the mission has completed
 2014-03-19 12:12:30 +09:00
Randy Mackay
982ce56d2b Plane: bug fix to set_current_cmd 
When set_current_cmd mavlink message is received, resume mission only if
the mission has completed.
Stop mission when vehicle leaves AUTO mode.
 2014-03-19 12:12:28 +09:00
Andrew Tridgell
3e05baf95c Plane: fixed build (forward declarations) 2014-03-19 12:12:25 +09:00
Andrew Tridgell
2b5bf45e83 Plane: only activate mission callbacks in AUTO mode 2014-03-19 12:12:24 +09:00
Andrew Tridgell
3277416aeb Plane: fixed relative altitudes and resuming mission 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:12:22 +09:00
Andrew Tridgell
4992e2e2cf Plane: use mission.resume() not mission.start() 2014-03-19 12:12:19 +09:00
Andrew Tridgell
d4510d9b9b Plane: altitude for do_set_home() is in meters 2014-03-19 12:12:18 +09:00
Randy Mackay
27969175d9 Plane: bug fix to Loiter after mission completes 2014-03-19 12:12:16 +09:00
Randy Mackay
790a907811 Plane: use Dataflash lib's Log_Write_Cmd 2014-03-19 12:12:08 +09:00
Randy Mackay
033b7eca9e Plane: integrate variable max num commands 2014-03-19 12:12:02 +09:00
Randy Mackay
fcea127537 Plane: CLI uses HAL eeprom storage size definition 2014-03-19 12:11:59 +09:00
Randy Mackay
693ce27bf6 Plane: pass eeprom start to Mission constructor 2014-03-19 12:11:58 +09:00
Randy Mackay
36a5287de5 Plane: call mission.init during startup 2014-03-19 12:11:49 +09:00
Randy Mackay
6e60730c89 Plane: cli test checks read_cmd success before printing 2014-03-19 12:11:41 +09:00
Randy Mackay
ccb2daaed3 Plane: Log_Write_Startup checks success of cmd read before logging 2014-03-19 12:11:40 +09:00
Randy Mackay
0827506533 Plane: remove unused WAIT_COMMAND 2014-03-19 12:11:24 +09:00
Randy Mackay
53add04d36 Plane: remove some comments in commands_logic.pde 2014-03-19 12:11:22 +09:00
Randy Mackay
802ab79c84 Plane: bug fix for setting flight_stage based on current command 2014-03-19 12:11:19 +09:00
Randy Mackay
c4364a8ff5 Plane: remove unused nonnav_command variables 
non_nav_command_ID and next_nonnav_command variables removed
 2014-03-19 12:11:18 +09:00
Randy Mackay
52a08a5284 Plane: CMD dataflash logs use uint16 for total and num 
Also bug fix for Log_Write_Cmd definition when logging disabled
 2014-03-19 12:11:16 +09:00
Andrew Tridgell
f036aa1780 Plane: fixed altitude for takeoff and takeoff heading 
fixes for AP_Mission integration

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:11:09 +09:00
Randy Mackay
601cde2a32 Plane: remove alt_in_cm from mavlink to cmd conversion 2014-03-19 12:11:03 +09:00
Randy Mackay
bc86a5043a Plane: bug fix for relative alt 2014-03-19 12:11:00 +09:00
Randy Mackay
9446e9fd2e Plane: integrate AP_Mission library 2014-03-19 12:10:58 +09:00
Randy Mackay
ddba6f5c19 Plane: mission integration into GCS_Mavlink.pde 2014-03-19 12:10:57 +09:00
Randy Mackay
97f09ab426 Plane: dataflash logging to use Mission command 2014-03-19 12:10:55 +09:00
Randy Mackay
fdaf3fc177 Plane: add AP_Mission object to parameter list 2014-03-19 12:10:54 +09:00
Randy Mackay
e88f1953d0 Plane: use common location options masks 2014-03-19 12:10:21 +09:00
Andrew Tridgell
2b8cc1a1df Plane: use set_mode() in do_RTL() 
thanks to Randy for spotting this
 2014-03-15 22:15:06 +11:00
Andrew Tridgell
eb7db82210 Plane: altitude for do_set_home() is in meters 2014-03-14 11:26:10 +11:00
Andrew Tridgell
d595f36ca5 Plane: print PX4 compass type 2014-03-13 16:26:25 +11:00
Andrew Tridgell
65ae9663d4 Plane: set 2nd GPS as secondary 2014-03-08 21:48:12 +11:00
Andrew Tridgell
8574303a94 Plane: treat PWM below 900 as invalid for mode switch 
the FrSky X8R receiver will briefly give a PWM of 874 on channel 5
when connection is lost to the transmitter. We need to ensure this
doesn't cause a mode switch
 2014-03-08 19:27:50 +11:00
Andrew Tridgell
3a3397d926 Plane: fixup throttle trim on failsafe 2014-03-08 19:27:50 +11:00
Andrew Tridgell
c9ebd6a175 Plane: improved RC failsafe handling 
this forces all primary control inputs to the trim value on loss of RC
input, and reduces the timeout for loss of RC input to 1 second from 2
 2014-03-08 16:20:54 +11:00
Andrew Tridgell
2cf98e476c Plane: added support for a separate steering channel 
good for ground steering on larger aircraft
 2014-03-05 12:57:50 +11:00
Andrew Tridgell
8d95b953c3 Plane: removed some unused functions 2014-03-05 09:17:50 +11:00
Andrew Tridgell
0d6064034a Plane: use percent_input() for flaps 2014-03-05 09:17:50 +11:00
Andrew Tridgell
e3952112ad Plane: raise default LIM_PITCH_MAX to 20 degrees 
15 is often not enough to climb
 2014-03-03 15:49:04 +11:00
Andrew Tridgell
e784c81f3e Plane: only send GPS2_RAW when we have a 2nd GPS 2014-03-03 07:05:52 +11:00
Andrew Tridgell
6b9e1edf38 Plane: disable GPS2 in HIL 2014-02-27 08:16:28 +11:00
Andrew Tridgell
07826096a2 Plane: support a 2nd GPS 2014-02-26 09:24:23 +11:00
Andrew Tridgell
95dd252f29 Plane: pass fix type to gps->setHIL() 2014-02-25 21:11:15 +11:00
Andrew Tridgell
8a4289b56f Plane: remove unused variables 
thanks to Mike McCauley
 2014-02-24 18:49:14 +11:00
Andrew Tridgell
4bcf9b5d98 Plane: fixed logging of relative altitude 2014-02-23 08:18:43 +11:00
Andrew Tridgell
492e65acde Plane: fix for HIL API change 2014-02-23 08:18:31 +11:00
Randy Mackay
a76e2ab02e Plane: reserve NavEKF slot in param list even when not used 
Although this wasn't a problem immediatley, if someone had added a
parameter after k_param_NavEKF it's position in eeprom could have moved
as AP_AHRS_NAVEKF_AVAILABLE was enabled/disabled
 2014-02-21 13:53:05 +09:00
Andrew Tridgell
2908beb9bd Plane: fixed Log when disarmed value in docs 2014-02-19 19:01:48 +11:00
Andrew Tridgell
33851030a4 Plane: use ahrs.get_armed() 2014-02-19 10:53:26 +11:00
Andrew Tridgell
9282c8d0d9 Plane: allow for a wider range of values on the control switch 2014-02-17 13:58:11 +11:00
Paul Riseborough
98f72a4864 Plane : changed useage of ahrs.set_correct_centrifugal 2014-02-16 22:34:52 +11:00
Andrew Tridgell
99f2c8387c Plane: change to Compass::learn_offsets 2014-02-16 13:22:06 +11:00
Andrew Tridgell
59a56c9b46 Plane: enable Baro logging 2014-02-15 07:29:39 +11:00
Andrew Tridgell
566b0ccc61 Plane: call esimate_wind() 2014-02-15 05:48:24 +11:00
Andrew Tridgell
d7839aa4ab Plane: removed duplicate log description 2014-02-15 05:48:24 +11:00
Andrew Tridgell
1001df0e56 Plane: removed extra log enum 2014-02-15 05:48:23 +11:00
Andrew Tridgell
35a9201c9a Plane: fixed comma 2014-02-15 05:48:23 +11:00
Andrew Tridgell
a7faa58879 Plane: fixed up merge errors 2014-02-15 05:48:23 +11:00
Andrew Tridgell
a551703877 Plane: fixed parameter build for NavEKF 2014-02-15 05:48:22 +11:00
Paul Riseborough
8c4b0b9be9 Plane : NavEKF Mavlink tunable parameter - first attempt 2014-02-15 05:48:22 +11:00
Paul Riseborough
24f8f02942 Plane : disable AHRS centrifugal corrections when disarmed 2014-02-15 05:48:20 +11:00
Andrew Tridgell
bb4789a875 Plane: use common EKF logging 2014-02-15 05:48:16 +11:00
Andrew Tridgell
4646682a31 Plane: use common send_ahrs2() 2014-02-15 05:48:16 +11:00
Andrew Tridgell
57e0eb4db5 Plane: use a const reference for home 2014-02-15 05:48:15 +11:00
Andrew Tridgell
2817a11f23 Plane: added AHR2 and SIM logging 2014-02-15 05:48:14 +11:00
Andrew Tridgell
11337ab2df Plane: updates for AHRS holding home position 2014-02-15 05:29:47 +11:00
Andrew Tridgell
df5195e2c9 Plane: change for new AHRS API 2014-02-15 05:29:47 +11:00
Andrew Tridgell
e39247868c Plane: cleanup HIL defines 2014-02-15 05:29:46 +11:00
Andrew Tridgell
2cd6efa23e Plane: added DF logging of secondary AHRS solution 2014-02-15 05:29:45 +11:00
Andrew Tridgell
99cfaf6097 Plane: switched to AHRS2 message for reporting 2014-02-15 05:29:45 +11:00
Andrew Tridgell
9ac886f58d Plane: use AP_AHRS_NavEKF when available 2014-02-15 05:28:09 +11:00
Paul Riseborough
e0e4b1aefa Plane : Updated NavEKF flash data logging 2014-02-15 05:28:09 +11:00
Paul Riseborough
d6ead64083 Plane : Additional NavEKF flash logging 2014-02-15 05:28:08 +11:00
Andrew Tridgell
006b9da6be Plane: only include NavEKF on fast CPUs 2014-02-15 05:28:08 +11:00
Andrew Tridgell
ce9047cec5 Plane: added dataflash logging of EKF data 2014-02-15 05:28:07 +11:00
Andrew Tridgell
1fbae4dd44 Plane: enable NavEKF logging in plane 2014-02-15 05:28:07 +11:00
Andrew Tridgell
cd9027adfd Plane: added NavEKF object 2014-02-15 05:27:52 +11:00
Paul Riseborough
fb1345dd99 Plane : add suport for NavEKF 2014-02-15 05:27:52 +11:00
Andrew Tridgell
7de8be1956 Plane: log power status on Pixhawk 2014-02-15 05:00:09 +11:00
Andrew Tridgell
dfa95b3464 Plane: moved the always log flag to 1<<16 
this prevent problems with transferring the bitmask as a float
 2014-02-14 21:51:00 +11:00
Andrew Tridgell
043c80dbe6 Plane: use new board_voltage() method 2014-02-14 21:50:59 +11:00
Andrew Tridgell
ae9201342a Plane: allow FLAP_IN_CHANNEL to control k_flap and k_flap_auto too 2014-02-06 14:09:49 +11:00
Andrew Tridgell
c3b7e76c28 Plane: added flaperon support 
this adds FLAPERON_OUTPUT and FLAP_IN_CHANNEL to allow both manual
and auto flap control for both normal flaps and flaperons
 2014-02-06 12:38:59 +11:00
Andrew Tridgell
04f2c07b2b Plane: use new RC_Channels API 2014-02-06 10:17:16 +11:00
Andrew Tridgell
e42a10a764 Plane: allow printing of GUIDED mode in logs 2014-02-02 14:04:36 +11:00
Andrew Tridgell
48577ffbc2 Plane: check the parameter table on startup 2014-01-31 13:07:52 +11:00
Andrew Tridgell
f06152530c Plane: prepare for 2.78b release 2014-01-31 12:15:27 +11:00
Andrew Tridgell
6cabca690e Plane: fixed RSSI_RANGE enum 
many thanks to Valince for spotting this
 2014-01-31 12:14:18 +11:00
Andrew Tridgell
7009c4aead Plane: prepare for 2.78 release 2014-01-30 14:26:46 +11:00
Andrew Tridgell
3a986474e0 Plane: added RSSI_RANGE parameter 2014-01-30 11:29:35 +11:00
Andrew Tridgell
6b12f13d64 Plane: prepare 2.78beta2 2014-01-29 22:05:21 +11:00
Andrew Tridgell
906fc17905 Plane: added baro and airspeed logging 
including raw temperature and pressure values
 2014-01-28 10:35:59 +11:00
Andrew Tridgell
9f683e6b9b Plane: prepare 2.78beta1 2014-01-27 14:08:43 +11:00
Andrew Tridgell
369c130c2d Plane: consider GPS unhealthy if it doesn't have 3D lock 2014-01-27 09:02:22 +11:00
Andrew Tridgell
11ece65656 Plane: update docs for RSSI_PIN for pixhawk 2014-01-24 11:18:28 +11:00
Andrew Tridgell
e5e04d65ee Plane: improve LOG_BITMASK docs 2014-01-24 10:00:23 +11:00
Andrew Tridgell
c37a7cd9e1 Plane: update AP_Notify flags for arming state 2014-01-23 21:40:34 +11:00
Andrew Tridgell
ab4a5d676e Plane: ready for 2.77 release 2014-01-20 19:41:19 +11:00
Andrew Tridgell
c16e3a035f Plane: fixed disarmed throttle in HIL 2014-01-20 19:41:19 +11:00
Andrew Tridgell
776b999f43 Plane: fixed disarmed PWM output 2014-01-20 17:34:50 +11:00
Andrew Tridgell
cdd36b2c41 Plane: use AP_ServoRelayEvents library 2014-01-20 17:06:29 +11:00
Andrew Tridgell
2045591bed Plane: fixed servo and relay repeat code 2014-01-20 17:06:29 +11:00
Andrew Tridgell
e4e5c92453 Plane: fixed relay handling 
the parameters were badly out of whack!
 2014-01-20 17:06:29 +11:00
Andrew Tridgell
d3adf4c32c Plane: enable AP_BoardConfig 2014-01-20 17:06:28 +11:00
Andrew Tridgell
ada0dd5504 Plane: check both ground and airspeed in autocal test 
when the airspeed ratio is far too low we were not raising it as the
airspeed was never getting above the minimum airspeed

Pair-Programmed-With: Jon Challinger
 2014-01-17 10:29:28 +11:00
Andrew Tridgell
30a210cfa6 Plane: setup PWM to be used on throttle when safety is safe on PX4 2014-01-15 22:28:00 +11:00
Andrew Tridgell
3a5fb46dc2 Plane: fixed integer size problem on APM2 2014-01-14 21:27:39 +11:00
Andrew Tridgell
91cc08a3ef Plane: log PX4Firmware and NuttX git revisions in logs 2014-01-14 15:37:03 +11:00
Andrew Tridgell
cf09fef1db Plane: prevent log corruption when new log started 2014-01-14 14:29:14 +11:00
Andrew Tridgell
a15336079e Plane: start logging when first needed 2014-01-14 13:51:49 +11:00
Andrew Tridgell
8755747da0 Plane: only log when armed by default 
use safety switch if arming not enabled
 2014-01-14 13:07:43 +11:00
Andrew Tridgell
874110b29d Plane: make LOG_BITMASK 32 bits 2014-01-14 13:06:52 +11:00
Andrew Tridgell
def782c441 Plane: use uppercase names on microSD card where possible 2014-01-14 12:46:26 +11:00
Don Gagne
e68cf2d1c5 Plane: Fix parameter documentation 
Fixes some problems with incorrect docs which would in turn generate
bad amp.pdef.xml files for ground stations.

merge with below
 2014-01-09 14:02:21 +09:00
Andrew Tridgell
9df5887aab Plane: fixed redundent logging 2013-12-31 15:55:33 +11:00
Andrew Tridgell
d9cb101a03 Plane: default LOG_BITMASK to 32767 on non-APM 2013-12-31 10:28:38 +11:00
Michael Day
d4f42d41f7 Plane: removed some compile warnings from rally.pde 2013-12-31 09:48:24 +11:00
Michael Day
c87d72353f Plane: Introducing FENCE_RETALT parameter. 2013-12-31 09:48:20 +11:00
Michael Day
87c60ee293 Plane: Doc. update for ALT_HOLD_RTL with Rally Points. 2013-12-31 09:48:16 +11:00
Andrew Tridgell
f35cf2beba Plane: use file based logs in SITL 2013-12-29 07:14:31 +11:00
Andrew Tridgell
3486b933c0 Plane: use common send_meminfo() 2013-12-28 16:02:06 +11:00
Andrew Tridgell
72473e4317 Plane: use AP_HAL available_memory() call 2013-12-28 14:51:37 +11:00
Andrew Tridgell
6856cc6e4b Plane: break up GPS and logging, allow GPS update at 50Hz 
this prevents mismatches in GPS message arrival and accel message
arrival from causing small DCM errors
 2013-12-28 14:25:54 +11:00
Randy Mackay
a1d5c0a02a Plane: replace APM with board in cli 2013-12-28 10:42:30 +09:00
Andrew Tridgell
7ffbed24cc Plane: initialise scheduler callback after logging 
this could cause log corruption otherwise
 2013-12-28 10:24:46 +11:00
Andrew Tridgell
43a56151d7 Plane: reset mission on disarm 
this makes repeated missions easier
 2013-12-20 12:04:23 +11:00
Andrew Tridgell
89366a1ee1 Plane: fixed ARMING_REQUIRED=2 on APM2 to disable rc output on throttle 2013-12-20 11:59:45 +11:00
Andrew Tridgell
ce773f085a Plane: make the defaut for FS_GCS_ENABL clearer 2013-12-20 11:44:44 +11:00
Andrew Tridgell
263f3b116b Plane: added FS_GCS_ENABL==2 option 
this allows GCS failsafe when the GCS isn't getting updates from the
aircraft
 2013-12-20 11:39:00 +11:00
Andrew Tridgell
a4af83d454 Plane: only allow right rudder for arming 
copter users may try to use left rudder to ensure aircraft is
disarmed. Making left rudder arm could be dangerous
 2013-12-20 09:43:04 +11:00
Andrew Tridgell
77c6e51887 Plane: allow throttle failsafe on no RC input 
on PX4 we just stop getting input on loss of RC - we need to consider
this to be "throttle failsafe"
 2013-12-20 09:43:04 +11:00
Andrew Tridgell
4f242aedec Plane: fixed a bug where mode would not revert on geo-fence disable 
the mode would not revert if the switch was in position 0
 2013-12-17 14:14:13 +11:00
Michael Day
dcfed13c87 Plane: Fence breach now sends to correct return point in Guided Mode. 2013-12-17 14:14:13 +11:00
Andrew Tridgell
ca67c24eef Plane: removed common functions 2013-12-17 12:00:46 +11:00
Andrew Tridgell
d93b95186d Plane: prevent a build warning 2013-12-17 11:51:36 +11:00
Andrew Tridgell
8b7fe3cf50 Plane: changes for new DataFlash API 2013-12-17 11:51:36 +11:00
Andrew Tridgell
e0b511e367 Plane: enable new log download functions 2013-12-17 11:51:35 +11:00
Andrew Tridgell
508817d617 Plane: moved ap_message into GCS.h 2013-12-17 11:51:35 +11:00
Andrew Tridgell
4bad2cfb3a Plane: use common GCS.h 2013-12-17 11:51:35 +11:00
Andrew Tridgell
622a2053ff Plane: fixed parameters typo 2013-12-11 21:37:01 +11:00
Andrew Tridgell
3508a14542 Plane: small arming tidyups 2013-12-11 17:29:26 +11:00
Andrew Tridgell
b0236610b2 Plane: fixed arming bit in MAVLink heartbeat message 2013-12-11 17:29:26 +11:00
Andrew Tridgell
103da0c889 Plane: when no GPS lock always send GPS messages 2013-12-11 17:29:26 +11:00
Michael Day
b0a0316dd6 Plane: Now using AP_Arming library. 2013-12-11 17:29:23 +11:00
Andrew Tridgell
6ed21c12db Plane: added logging of 2nd compass 2013-12-10 15:32:11 +11:00
Andrew Tridgell
49f49648ec Plane: changes for compass healthy API 2013-12-09 17:47:38 +11:00
Andrew Tridgell
02af644010 Plane: report both sets of sensors in MAVLink 2013-12-09 17:34:07 +11:00
Andrew Tridgell
b637ab35e4 Plane: lower the priority of mount update 2013-12-09 17:34:07 +11:00
Andrew Tridgell
d642254f18 Plane: breakup one second loop into 3 pieces 
this prevents it not running when gimbal is active
 2013-12-09 17:34:07 +11:00
Andrew Tridgell
65c97a2f5f Plane: updates for compass API change 2013-12-09 17:34:06 +11:00
Randy Mackay
b6462c23af Plane: disable external leds 2013-11-30 22:53:55 +09:00
Andrew Tridgell
1124e84ae0 Plane: fixed APM1 build 2013-11-30 06:56:16 +11:00
Andrew Tridgell
6b4a3ef98b Plane: added MAVLink sonar logging 2013-11-28 21:49:27 +11:00
Andrew Tridgell
5a0cb5dea4 Plane: added sonar logging to dataflash 2013-11-28 21:49:27 +11:00
Randy Mackay
45ab18f131 Plane: rename Log_Write_SERVO to Log_Write_RCOU 2013-11-27 20:18:16 +09:00
Andrew Tridgell
079d48f6cc Plane: use log system ID if available 2013-11-26 13:00:03 +11:00
Andrew Tridgell
8383abc1fe Plane: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD 2013-11-26 13:00:03 +11:00
Andrew Tridgell
a05a32dbda Plane: added RCIN and SRVO logging 2013-11-26 09:04:43 +11:00
Andrew Tridgell
457183b6f5 Plane: cope with uartD being NULL 2013-11-23 21:44:45 +11:00
Andrew Tridgell
5f32f44366 Plane: fixed mavlink_queue[] size 2013-11-23 19:29:23 +11:00
Andrew Tridgell
2fa5e6310d Plane: added 3rd telemetry stream on platforms that have it 
this generalises the gcs object usage
 2013-11-23 19:29:22 +11:00
Andrew Tridgell
490a061c6f Plane: added HIL_ERR_LIMIT 
this allows DCM to recover if HIL attitude drifts too far from true attitude
 2013-11-23 18:50:57 +11:00
Andrew Tridgell
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
Andrew Tridgell
1e36ebc31b Plane: reset HIL attitude if off by more than 5 degrees 2013-11-23 18:50:56 +11:00
Andrew Tridgell
8bfe59cea5 Plane: send SIMSTATE messages in HIL 
this allows better tracking of the simulator state, to see if issues
are caused by DCM failure
 2013-11-23 18:50:56 +11:00
Andrew Tridgell
58b767b8e4 Plane: rename geofence structure 
makes using gdb easier as it doesn't mix up the structure and the
pointer
 2013-11-23 18:50:55 +11:00
Randy Mackay
c01a3debd6 Plane: log INS errors in PM message 2013-11-18 13:08:40 +09:00
Andrew Tridgell
56f574684d Plane: fixed throttle failsafe with reversed throttle 2013-11-17 15:32:53 +11:00
Andrew Tridgell
2af69b7131 Plane: make batter failsafe docs clearer 2013-11-09 18:14:02 +11:00
Andrew Tridgell
7e10811673 Plane: send firmware and git version in tlog 2013-11-09 10:09:20 +11:00
Andrew Tridgell
eee1364f05 Plane: update comments on ALT_CTRL_ALG and NAV_CONTROLLER 2013-11-08 07:54:16 +11:00
Andrew Tridgell
c1bc093cf5 Plane: removed unused variable 2013-11-07 13:54:25 +11:00
Andrew Tridgell
1aa29df52d Plane: report INS and airspeed health 2013-11-07 12:48:17 +11:00
Andrew Tridgell
53c3dff334 Plane: allow changing of loiter direction while loitering 
useful for causing path capture failures in the sim
 2013-11-07 11:54:28 +11:00
Andrew Tridgell
1328bbf040 Plane: log the AHRS error terms in dataflash 
also log raw IMU at 10Hz with default config
 2013-11-07 10:19:13 +11:00
Andrew Tridgell
691eaabe94 Plane: prepare for 2.76 release 2013-11-05 15:55:08 +11:00
Andrew Tridgell
78604bd84e Plane: only send GPS_RAW_INT if new data 
this reduces link load when asking for high rate telemetry
 2013-11-05 14:40:51 +11:00
Andrew Tridgell
5e4b243c7b Plane: make DataFlash objects static 2013-11-04 21:37:50 +11:00
Andrew Tridgell
ae8ef344bf Plane: added time to most plane log messages 2013-11-04 21:37:30 +11:00
Andrew Tridgell
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
Andrew Tridgell
ff5f2ceae5 Plane: update for API changes 2013-11-04 21:21:42 +11:00
Andrew Tridgell
b1c9b57c73 Plane: mark 2.76beta1 2013-11-02 21:48:17 +11:00
Andrew Tridgell
26a3860af2 Plane: fixed PM message 2013-11-02 21:41:30 +11:00
Andrew Tridgell
5a92ce4af6 Plane: added altitude and ground speed to NTUN logs 2013-11-02 21:41:11 +11:00
Andrew Tridgell
fe3943e686 Plane: faster startup 
make it less likely to send wrong INS_PRODUCT_ID, plus don't waste as
much time
 2013-11-02 21:41:11 +11:00
Randy Mackay
328de5fc7b Plane: add @Increment to battery failsafe descriptions 2013-10-29 11:23:54 +09:00
Andrew Tridgell
bcb0deb888 Plane: ready for 2.75 release 2013-10-28 18:22:25 +11:00
Andrew Tridgell
3ff407cb75 Plane: improved perf monitoring with SCHED_DEBUG 2013-10-28 17:10:00 +11:00
Andrew Tridgell
cfa38df528 Plane: allow parameters to download at full speed 2013-10-28 10:34:32 +11:00
Andrew Tridgell
a407609dbe Plane: tag 2.75beta5 2013-10-26 07:57:35 +11:00
Andrew Tridgell
b897285737 Plane: set system time on GPS lock 2013-10-24 14:22:48 +11:00
Andrew Tridgell
3289041428 Plane: added MAVLink SYSTEM_TIME message 2013-10-24 14:22:47 +11:00
Andrew Tridgell
6f3458eb25 Plane: fixed setting of waypoint when not in AUTO 
this fixes a bug where the next waypoint is set incorrectly if set via
MAVLink when not in AUTO
 2013-10-23 09:40:41 +11:00
Andrew Tridgell
210ca08abd Plane: changed to 2.75beta4 2013-10-18 11:53:51 +11:00
Andrew Tridgell
4239498b62 Plane: moved fast_loop() into main scheduler table 2013-10-15 09:52:23 +11:00
Andrew Tridgell
294b669948 Plane: fixed rally altitude to be in meters 
this matches the docs
 2013-10-14 16:38:40 +11:00
Andrew Tridgell
5adf4e1706 Plane: improve THROTTLE_NUDGE docs 2013-10-14 15:40:26 +11:00
Andrew Tridgell
5e1f5ffb7f Plane: removed some old defines 2013-10-14 14:40:30 +11:00
Andrew Tridgell
7f6eecd9d5 Plane: cleanup cruft in Makefile 2013-10-13 21:41:01 +11:00
Andrew Tridgell
a3168bcbaa Plane: fixes for AP_Mount API 2013-10-13 11:03:31 +09:00
Andrew Tridgell
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
Andrew Tridgell
05115684c1 Plane: pass FlightStage to TECS 
this will allow for better throttle and pitch control on landing
 2013-10-12 13:14:30 +11:00
Andrew Tridgell
0ec322ee47 Plane: support MAV_CMD_DO_SET_CAM_TRIGG_DIST 2013-10-11 21:37:27 +11:00
Andrew Tridgell
72505cf4e5 Plane: release 2.75beta3 2013-10-11 16:29:08 +11:00
Andrew Tridgell
8e5d1430da Plane: use ins.wait_for_sample() 2013-10-08 17:31:15 +11:00
Andrew Tridgell
2bb497703c Plane: avoid delay_microseconds() until fixed on PX4 2013-10-08 14:55:38 +11:00
Andrew Tridgell
48ed480d59 Plane: improved latency of main loop 
use a 500usec delay
 2013-10-08 11:50:54 +11:00
Andrew Tridgell
e6af7dad3d Plane: switched to L3G4200D driver for Linux 2013-10-08 11:50:54 +11:00
Andrew Tridgell
a4604ab317 Plane: honor zero RALLY_LIMIT_KM 2013-10-06 14:54:50 +11:00
Andrew Tridgell
5bf1463e7a Plane: added RALLY_LIMIT_KM 
this will prevent an embarressing use of a rally point from the wrong
airfield
 2013-10-06 14:51:13 +11:00
Andrew Tridgell
365e82aecb Plane: use a rally point when out of mission items 2013-10-05 23:07:32 +10:00
Andrew Tridgell
61dd04ccb5 Plane: auto-update home and baro calibration when disarmed 
this takes advantage of the PX4 arming state to ensure position and
baro calibration is updated
 2013-10-05 18:45:45 +10:00
Andrew Tridgell
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
Andrew Tridgell
d32e58db84 Plane: split out the channel stick mixing 
makes code a bit clearer
 2013-10-05 07:46:27 +10:00
Andrew Tridgell
3be939eb03 Plane: give manual steering when still 
useful for servo testing
 2013-10-05 07:46:27 +10:00
Andrew Tridgell
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
Andrew Tridgell
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
Randy Mackay
6e2b1093fc Plane: mavlink ext status to use SYS_STATUS_SENSOR enum 2013-10-04 13:21:01 +09:00
Andrew Tridgell
011915eb1c Plane: added error checking to rally load save 
sanity check the rally points
 2013-10-03 12:21:08 +10:00
Michael Day
497c95de8e Plane: Add support for rally points. 
Added parameter RALLY_TOTAL.

Added handlers for new MAVLink messages RALLY_POINT and
RALLY_FETCH_POINT.

defines.h modified to make room in EEPROM to store rally points.

rally.pde added and is responsible for ensuring rally points get
stored in the correct spot in EEPROM.

Multiple Rally/RTL point support now done.  If rally points have
been defined, then when RTL mode is entered, the closest Rally
point is chosend and the plane loiters at that point.

Note only 10 rally points can be defined; this is to save space in
the APM's EEPROM.
 2013-10-03 12:21:08 +10:00
Randy Mackay
21360aeebf Plane: sent current as -1 to GCS when can't be monitored 2013-10-03 11:16:33 +09:00
Randy Mackay
9722276827 Plane: batt curr and remaining should be int16 2013-10-03 11:16:26 +09:00
Randy Mackay
cb91440c63 Plane: remove test_battery from CLI 2013-10-03 11:16:22 +09:00
Randy Mackay
9388ea3848 Plane: integrate BattMonitor exhausted method 
BatteryMonitor object made static
Removed unused macros for battery voltage and current monitoring
 2013-10-03 11:16:21 +09:00
Andrew Tridgell
74c8c8aafa Plane: auto-upgrade battery variables in EEPROM 2013-10-03 11:16:12 +09:00
Randy Mackay
c64d444b5a Plane: integrate BattMonitor 2013-10-03 11:16:08 +09:00
Andrew Tridgell
65976831e2 Plane: moved Linux logs to logs directory 2013-10-01 13:05:18 +10:00
Andrew Tridgell
eef693f243 Plane: removed some compat code 
fixes warnings
 2013-09-30 21:06:43 +10:00
Andrew Tridgell
24099a520d Plane: updates for AP_HAL::MemberProc 2013-09-30 21:06:43 +10:00
Andrew Tridgell
444d053dc2 Plane: enable Oilpan and BMP085 on Linux 2013-09-29 01:02:05 +10:00
Andrew Tridgell
f68778d453 Plane: be friendly to multi-tasking OSes 2013-09-28 22:04:15 +10:00
Andrew Tridgell
287db19119 Plane: updates for Stub -> HIL 2013-09-28 22:04:15 +10:00
Andrew Tridgell
88959004d7 Plane: use new scheduler API 2013-09-28 21:24:03 +10:00
Andrew Tridgell
1fd0f73e3f Plane: use DataFlash_File on Linux 2013-09-28 21:24:02 +10:00
Andrew Tridgell
c3d0b315cf Plane: added HAL_LINUX includes 2013-09-28 21:24:02 +10:00
Andrew Tridgell
650ff258db Plane: update for new INS API 2013-09-27 10:49:00 +10:00
Mike McCauley
6a8c1a0c36 Plane: Added flymaple to ArduPlane 2013-09-24 13:51:28 +10:00
Mike McCauley
aa800472be Plane: defines.h added Flymaple INS 2013-09-24 13:51:28 +10:00
Mike McCauley
3ddcdba659 Plane: Parameters BATTERY_MONITORING for Flymaple 2013-09-24 13:51:28 +10:00
Mike McCauley
18c6b00b5b Plane: Added definitions for Flymaple 2013-09-24 13:51:28 +10:00
Andrew Tridgell
4f310aaec8 Plane: fixed build with print() base change 2013-09-23 18:10:22 +10:00
Mike McCauley
767884b7f1 Plane: workaround conflicts between wirish and APM compatibility 2013-09-23 18:10:21 +10:00
Kevin Hester
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
Andrew Tridgell
bcce2e4fc5 Plane: use new Baro API 2013-09-21 21:31:03 +10:00
Andrew Tridgell
36466e91ed Plane: run SENSOR_OFFSETS message at 1/10 of the requested rate 
this message wastes bandwidth, as the values change very slowly
 2013-09-21 09:35:45 +10:00
Andrew Tridgell
c4dcdcf5a2 Plane: only send RC_CHANNELS_SCALED in HIL 
saves a bit of telemetry bandwidth
 2013-09-21 09:30:29 +10:00
Andrew Tridgell
b28a4f21f2 Plane: fixed uartA baud rates for APM1 2013-09-21 09:30:29 +10:00
Andrew Tridgell
e455ee0a94 Plane: fixed throttle suppression for AUTO_FBW_STEER=1 2013-09-20 17:20:06 +10:00
Andrew Tridgell
1869cd52e1 Plane: fixed AUTO_FBW_STEER stick mixing 2013-09-20 17:20:06 +10:00
Andrew Tridgell
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
Paul Riseborough
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
Randy Mackay
ab4274aa8d Plane: disable battery failsafe when usb connected 2013-09-19 17:43:08 +09:00
Andrew Tridgell
21a4da0d29 Plane: removed flash_leds() calls 2013-09-19 18:38:28 +10:00
Andrew Tridgell
4bd6b2f428 Plane: use new usb_connected() function 2013-09-19 16:23:58 +10:00
Andrew Tridgell
8a76d82de4 Plane: set failsafe_radio AP_Notify bits 2013-09-18 11:58:54 +10:00
Andrew Tridgell
150e7a3f16 Plane: prevent arming tone on startup 2013-09-18 10:56:06 +10:00
Andrew Tridgell
95a696ea36 Plane: enable failsafe battery reporting 2013-09-18 10:50:34 +10:00
Andrew Tridgell
ec0c894306 Plane: use the projected position for geofencing and waypoints 2013-09-17 21:05:25 +10:00
Andrew Tridgell
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
Andrew Tridgell
dd6a69f588 Plane: added WP_MAX_RADIUS parameter 
useful when using AUTO_FBW_STEER for manual steering in competitions
 2013-09-13 17:43:08 +10:00
Andrew Tridgell
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
Andrew Tridgell
de7b42e323 Plane: changed to AP_Vehicle.h 2013-09-13 11:46:54 +10:00
Andrew Tridgell
8010d7fd78 Plane: update battery pin docs 2013-09-12 13:43:22 +10:00
Andrew Tridgell
fe5a4ab710 Plane: fixed Vcc 2013-09-12 13:26:27 +10:00
Andrew Tridgell
0c8d56632e Plane: fixed SR0 and SR3 autodocs 2013-09-12 09:53:24 +10:00
Andrew Tridgell
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
Craig3DRobotics
630095adaa Revert "Copter: Corrected SR0 & SR3 parameter descriptions" 
This reverts commit 6568234018.
 2013-09-06 09:58:19 -07:00
Craig3DRobotics
2b726abe0e Plane: Correction on SR0 & SR3 parameter description. 2013-09-05 22:29:10 -07:00
Andrew Tridgell
4a8c9a7765 Plane: support reboot to bootloader 2013-09-04 11:59:16 +10:00
Andrew Tridgell
a00e4a1e83 Plane: send GCS message on relay change 
makes it easier to debug
 2013-08-30 15:05:16 +10:00
Andrew Tridgell
45cf82ba15 Plane: removed CONFIG_RELAY check 
relay is always available
 2013-08-30 14:40:47 +10:00
Andrew Tridgell
4762b3e7c6 Plane: change to 2.75beta2 2013-08-30 14:02:21 +10:00
Andrew Tridgell
a93f7c39a9 Plane: updates for new notify API 2013-08-30 13:01:35 +10:00
Randy Mackay
ad8bd16725 Plane: integrate AP_Notify 2013-08-30 13:01:35 +10:00
Andrew Tridgell
2ba9ce60e3 Plane: fixed comment 2013-08-30 13:01:34 +10:00
Andrew Tridgell
8733391315 Plane: call airspeed MAVLink logging function 2013-08-30 13:01:34 +10:00
Andrew Tridgell
5cec9b65c9 Plane: constrain calibration to roll/pitch limits 2013-08-30 13:01:34 +10:00
Andrew Tridgell
364790414c Plane: support new RADIO_STATUS msg 2013-08-24 17:59:13 +10:00
Andrew Tridgell
b16e3e4c85 Plane: changed FBW min to 9 m/s 
6 m/s is too dangerous for widely used planes
 2013-08-18 11:42:23 +10:00
Andrew Tridgell
8dd0aa12ed Plane: prevent GPS speed spikes at startup from breaking airspeed cal 
the filter can be affected by a huge GPS velocity spike
 2013-08-18 11:42:22 +10:00
Andrew Tridgell
4425b6af7c Plane: update for new TECS API 2013-08-14 14:59:01 +10:00
Andrew Tridgell
accfd46633 Plane: update for new APM_Control API 2013-08-14 14:57:41 +10:00
Andrew Tridgell
8378dc9779 Plane: use reference to AHRS 2013-08-13 13:49:34 +10:00
Andrew Tridgell
5cfdf52381 Plane: change default modes to FBWA not STABILIZE 2013-08-13 13:42:27 +10:00
Andrew Tridgell
d4ca3ebf65 Plane: check for parameter send at default of 10Hz 
50Hz can cause overruns, especially on PX4 which can drain the tx
buffer very rapidly
 2013-08-13 13:42:25 +10:00
Andrew Tridgell
a33573352e Plane: fixes for updated AP_Math and AHRS APIs 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:30:04 +10:00
Andrew Tridgell
e22f58c9fc Plane: fixed build with OBC failsafe 2013-08-03 09:18:01 +10:00
Andrew Tridgell
890b77447a Plane: allow integrator in stabilize mode when no stick input 
fixes issue #472
 2013-08-02 21:55:34 +10:00
Andrew Tridgell
c083c15240 Plane: use a larger serial buffer 
this makes higher rate MAVLink possible again
 2013-08-02 18:46:54 +10:00
Andrew Tridgell
c3b5f20a45 Plane: run TECS 50Hz code when throttle suppressed 
this fixes auto-launch detection using TECS
 2013-08-02 18:46:48 +10:00
Andrew Tridgell
8428779558 Plane: make it easier to find task numbers 2013-08-02 18:46:42 +10:00
Andrew Tridgell
62cc84aba3 Plane: use new scheduler load_average() function 
this also simplifies the main loop
 2013-08-02 18:46:28 +10:00
Andrew Tridgell
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
Andrew Tridgell
c0697d0a2d Plane: mark 2.75beta1 2013-07-22 12:50:30 +10:00
Andrew Tridgell
965dc228c2 Plane: fixed GUIDED mode change of altitude down 2013-07-22 12:50:02 +10:00
Andrew Tridgell
b8fa83ff54 Plane: change default slewrate to 100%/second 2013-07-22 12:50:02 +10:00
Andrew Tridgell
29c854e676 Plane: remove unused function 2013-07-22 12:50:02 +10:00
Andrew Tridgell
6e288551ab Plane: fixed reversion to pre-failsafe mode 
if AUTO was entered using GCS, we need to switch back to the old mode,
not control channel
 2013-07-22 12:50:02 +10:00
Andrew Tridgell
74dabad1f3 Plane: added SKIP_GYRO_CAL parameter 
useful for starting the sim at high altitudes, and for starting planes
without having to hold them still
 2013-07-22 12:50:01 +10:00
Andrew Tridgell
c8a83e17d0 Plane: remove old AIR_START code 
this was never used or tested
 2013-07-22 12:50:01 +10:00
Andrew Tridgell
7673ca0bac Plane: updates for new EAS2TAS scaling 2013-07-22 12:50:01 +10:00
Andrew Tridgell
9bbe6c1967 Plane: update to new license boilerplate for GPLv3 
we had LGPLv2 in some places, despite the fw being GPLv3
 2013-07-22 12:50:01 +10:00
Andrew Tridgell
882aa68c16 Plane: use new airspeed calibration code 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell
53b1b9b575 Plane: added note on type of airspeed in docs 2013-07-22 12:50:01 +10:00
Andrew Tridgell
2d5deddd30 Plane: set mode CIRCLE on short failsafe in AUTO 
this makes the code match the docs
 2013-07-22 12:50:00 +10:00
Andrew Tridgell
9b70675b12 Plane: check the control switch a bit more often 
faster response to mode changes
 2013-07-22 12:50:00 +10:00
Andrew Tridgell
6ed78c89ac Plane: don't read control switch when ch3 is in failsafe 
use ch3_counter not just the final flag
 2013-07-22 12:50:00 +10:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
a4f49a28fb Plane: prepare for 2.74b release 2013-07-16 09:45:32 +10:00
Andrew Tridgell
e27dd14bcc Plane: fixed FBWB aileron control 2013-07-16 09:44:23 +10:00
Andrew Tridgell
e8355905dd Plane: prepare for 2.74 release 2013-07-15 11:19:38 +10:00
Andrew Tridgell
dbd47b2a30 Plane: make TECS the default speed/height controller 2013-07-15 11:12:24 +10:00
Andrew Tridgell
ec21922233 Plane: make wp_distance static 
removed hack in AP_Camera library
 2013-07-15 09:56:28 +10:00
Andrew Tridgell
3ba713352f Plane: use update_aux() for setting up extra channels 2013-07-15 09:56:12 +10:00
Andrew Tridgell
ed20c4cbc8 Plane: fixed initial reporting of battery remaining 
we were not showing battery remaining 100% until we used some battery
 2013-07-14 21:59:15 +10:00
Andrew Tridgell
e80d73df93 Plane: expand docs for TRIM_AUTO 2013-07-14 21:23:15 +10:00
Andrew Tridgell
4087fde140 Plane: enable CTUN log message by default 2013-07-14 21:10:12 +10:00
Andrew Tridgell
e79023ceee Plane: fixed problem with slow ground station connects 
don't trigger the "scheduler out of time" code when in the delay
callback

Thanks to Marijm Slootweg for noticing this!
 2013-07-14 17:28:34 +10:00
Andrew Tridgell
d4db2231d4 Plane: change to 2.73beta4 2013-07-13 21:47:22 +10:00
Andrew Tridgell
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
Andrew Tridgell
b37f79d307 Plane: update for new APM_Control API 2013-07-13 21:45:58 +10:00
Andrew Tridgell
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
Andrew Tridgell
399970e76f Plane: fixed default deadzone for the throttle channel 
this is the 2nd half of the fix for issue #303
 2013-07-13 13:19:25 +10:00
Andrew Tridgell
826ad6c086 Plane: unlock roll and pitch when we enter ACRO mode 2013-07-13 12:34:34 +10:00
Randy Mackay
1772a62415 Plane: fix to gps present check in mavlink extended status 1 msg 2013-07-13 10:27:39 +09:00
Andrew Tridgell
ea9ae31a7a Plane: fixed a bug with altitude drift in FBWB mode 
not taking account of deadzone correctly
 2013-07-12 21:17:09 +10:00
Andrew Tridgell
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
Randy Mackay
9df93881fb Plane: set_dead_zone renamed to set_default_dead_zone 
Change in use of parameter means value passed in should be 1/2 what it
was previously
 2013-07-12 11:44:18 +09:00
Andrew Tridgell
f300df5fd1 Plane: added FS_LONG_TIMEOUT and FS_SHORT_TIMEOUT parameters 
this is to address the issue raised here:

http://diydrones.com/forum/topics/ardupilot-circle-mode
 2013-07-12 11:56:04 +10:00
Andrew Tridgell
73928b82a6 Plane: fixed FBWB airspeed control 
thanks to Gabor for reporting this!
 2013-07-11 11:58:54 +10:00
Andrew Tridgell
1d04290eab Plane: change to 2.74beta3 2013-07-11 11:58:54 +10:00
Andrew Tridgell
11a4628409 Plane: added ACRO mode to mode choices 2013-07-11 09:10:41 +10:00
Andrew Tridgell
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
Andrew Tridgell
608007361b Plane: added initial implementation of ACRO mode 
rate based control with attitude locking
 2013-07-11 09:10:41 +10:00
Andrew Tridgell
2005d5642a Plane: fixed a documentation string 
GND_ALT_OFFSET is now for barometric corrections
 2013-07-10 14:46:22 +10:00
Andrew Tridgell
3c97fad2ec Plane: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Andrew Tridgell
7aa360b176 Plane: added relative_altitude helper functions 
prevents some code duplication
 2013-07-10 14:04:22 +10:00
Paul Riseborough
971d36f06b Plane: added height to 10Hz TECS call 2013-07-10 14:04:22 +10:00
Andrew Tridgell
3c177867a4 Plane: allow enable/disable of camera log messages in CLI 2013-07-10 12:23:36 +10:00
Andrew Tridgell
f7c8d1e1ee Plane: use current_loc.alt for altitude to TECS 2013-07-10 11:55:35 +10:00
Craig@3DR
7f4336430a Plane: trigger picture + logging on camera update_location() 2013-07-10 08:40:01 +10:00
Paul Riseborough
a4f3180e2a Plane: added support for throttle nudging with TECS 2013-07-09 20:51:03 +10:00
Paul Riseborough
c34803db13 Plane: pass in adjusted height above field to TECS 2013-07-09 09:25:55 +10:00
Andrew Tridgell
9f612f6f78 Plane: only call TECS when throttle is not suppressed 
this helps prevent integrator buildup on the ground
 2013-07-08 12:07:50 +10:00
Andrew Tridgell
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
Andrew Tridgell
1d6748cf3f Plane: use a glide slope in RTL when descending 
when above the target altitude in RTL come down slowly, when below
climb rapidly

This fixes issue #39
 2013-07-05 14:56:58 +10:00
Andrew Tridgell
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
Andrew Tridgell
dd330885b8 Plane: added compass and baro accumulate functions 2013-07-05 12:59:15 +10:00
Andrew Tridgell
84299c3747 Plane: document ALT_CTRL_ALG=2 2013-07-04 17:00:04 +10:00
Andrew Tridgell
6c7d160ee6 Plane: fixed TECS takeoff detection 2013-07-04 16:56:57 +10:00
Andrew Tridgell
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
Paul Riseborough
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
Andrew Tridgell
f3237b9e5d Plane: update FS_LONG_ACTN and FS_SHORT_ACTN docs 
thanks to Craig for noticing this
 2013-07-02 14:50:04 +10:00
Andrew Tridgell
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
Andrew Tridgell
570ecea6c6 Plane: added secondary rudder support 2013-06-29 17:31:03 +10:00
Andrew Tridgell
0d3faeda90 Plane: update_mount assumes 50Hz, for camera trigger 2013-06-25 12:44:26 +10:00
Andrew Tridgell
bb47029564 Plane: enable CAM_TRIGG_DIST parameter 2013-06-25 12:44:26 +10:00
Andrew Tridgell
45f5d05bd2 Plane: enabled RELAY_* parameters 2013-06-25 12:44:26 +10:00
Andrew Tridgell
056e0ca40d Plane: APM2 doesn't have channel 9 PWM output 2013-06-24 13:06:54 +10:00
Paul Riseborough
2204b30e66 Plane: Added APM_Control integrator limits to table used to covert old PID values 2013-06-22 21:59:47 +10:00
Randy Mackay
6ea568d72a Plane: param description change for RC5 ~ RC11 
Reversing the order may avoid duplication of param descriptions in the
auto generated parameter web page
 2013-06-21 09:58:02 +09:00
Randy Mackay
75bcd7cdab Plane: update THR_FS_VALUE parameter description 2013-06-18 15:57:29 +09:00
Andrew Tridgell
4a0c90246e Plane: make GPS UART blocking again 2013-06-11 18:50:23 +10:00
Andrew Tridgell
641ad6bc63 Plane: increase time allowed for update_alt() 
the altitude tracking code can be quite expensive with TECS
 2013-06-07 08:41:09 +10:00
Andrew Tridgell
b0c87b8a61 Plane: fix VOLT_DIVIDER docs 2013-06-07 08:40:28 +10:00
Andrew Tridgell
b27ffdd087 Plane: new plane beta 2.74beta2 2013-06-04 15:10:11 +10:00
Andrew Tridgell
c008fa764c Plane: update_commands() can take 7ms if it needs to write a waypoint 2013-06-04 13:42:25 +10:00
Andrew Tridgell
93cd0f9a31 Plane: switch to new AP_Scheduler 
this gives us more accurate task scheduling in ArduPlane, plus better
monitoring of task timing (via SCHED_DEBUG)
 2013-06-04 13:34:58 +10:00
Andrew Tridgell
6bac13f9e2 Plane: fixed RCMAP_* to fix channel ranges for no-reboot changes 2013-06-03 21:20:39 +10:00
Andrew Tridgell
02d72ffcba Plane: make it possible to change board orientation at runtime 2013-06-03 16:52:44 +10:00
Andrew Tridgell
4c9bc30f58 Plane: make it possible to change control channel ordering without reboot 
this makes configuration a bit easier
 2013-06-03 16:42:38 +10:00
Andrew Tridgell
27bc0cdc2c Plane: rename old channel_* globals 
prevent the old "g." names from being used
 2013-06-03 16:37:51 +10:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
515d726ee0 Plane: use RC_Channel::rc_channel() instead of rc_ch[] 2013-06-03 16:23:48 +10:00
Andrew Tridgell
f7697574db Plane: use the new airspeed driver interface 
the choice of analog source is now in the airspeed driver
 2013-06-03 11:51:09 +10:00
Andrew Tridgell
d9bcfd913a Plane: reset attitude integrators on mode change 2013-06-01 22:29:38 +10:00
Andrew Tridgell
bb3171ab5f Plane: zero attitude integrators on the ground 2013-06-01 22:29:38 +10:00
Andrew Tridgell
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
Andrew Tridgell
91a04ab654 Plane: fixed headers for mode logging 2013-05-31 14:04:03 +10:00
Andrew Tridgell
cae1079747 Plane: auto-convert the old RLL2SRV* parameters to the new CTL_RLL_* parameters 2013-05-31 07:58:29 +10:00
Andrew Tridgell
e48b8c7b4a Plane: improve RTL altitude docs 2013-05-31 07:58:29 +10:00
Andrew Tridgell
6e0f1f56de Plane: update docs on volt/current pin 2013-05-31 07:57:15 +10:00
Andrew Tridgell
fa9eb84542 Plane: added more parameter docs (flaps and GCS control) 2013-05-30 09:44:09 +10:00
Andrew Tridgell
de904468b2 Plane: added BATT_MONITOR and VOLT_DIVIDER docs 2013-05-30 09:06:36 +10:00
Andrew Tridgell
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
Andrew Tridgell
f9a1b4f0e3 Plane: improve ALT_MIX docs 2013-05-28 10:10:22 +10:00
Andrew Tridgell
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
Andrew Tridgell
c481ac8745 Plane: use a default mixing gain of 0.5 
this ensures compatibility with existing configs
 2013-05-25 19:15:47 +10:00
Andrew Tridgell
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
Andrew Tridgell
a22f5e3bc4 Plane: enable wind estimation 2013-05-24 11:21:42 +10:00
Andrew Tridgell
dd633fcf3f Plane: make voltage and battery capacity failsafe settable at runtime 
this also fixes issue #292
 2013-05-22 20:33:57 +10:00
Randy Mackay
4c08e32bf6 Plane: param update for AP_Baro 2013-05-21 14:22:23 +09:00
Randy Mackay
84909ee56a Plane: add parameter description for LOG_BITMASK 2013-05-21 11:22:11 +09:00
Randy Mackay
c7961a72fc Plane: send_text_P bug fix for short messages 2013-05-20 12:51:16 +09:00
Andrew Tridgell
bd4b7d136f Plane: mark ArduPlane 2.74beta 2013-05-13 17:32:33 +10:00
Andrew Tridgell
001d18b51d Plane: removed scaling of pitot source 2013-05-13 15:19:05 +10:00
Andrew Tridgell
97b6aaac77 Plane: use voltage_average() for RSSI 
this fixes it on PX4
 2013-05-13 15:19:05 +10:00
Andrew Tridgell
b940c4b28e Plane: use library gcs_severity 2013-05-09 09:28:57 +10:00
Andrew Tridgell
635b3fabda Plane: fixed APM1-1280 build 2013-05-08 21:44:45 +10:00
Andrew Tridgell
81c1fd5fc4 Plane: support 3D accel calibration over MAVLink 2013-05-08 16:25:35 +10:00
Andrew Tridgell
c5f1570f32 Plane: fixed flash logging of ATT 
fixed types to be int16
 2013-05-08 14:21:32 +10:00
priseborough
854c50501d Plane: Added a constraint to demanded bank angle during FBW-A mode to prevent roll limits being exceeded 2013-05-07 11:01:05 +10:00
Andrew Tridgell
fdd509a7c1 Plane: move baro init earlier in startup 
this ensures it is initialised when CLI takeover by MP happens

Thanks to Prof Avi Levi for reporting this bug
 2013-05-06 10:57:57 +10:00
Andrew Tridgell
0cf49308af Plane: mark a 2.73beta release 2013-05-05 22:36:22 +10:00
Andrew Tridgell
0e6a64fc14 Plane: reset roll/pitch integrators for APM_Control in takeoff 
when airspeed is below airspeed minimum. This is consistent with the
previous controllers

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-05-05 22:03:13 +10:00
Andrew Tridgell
9c6f80c42b Plane: moved some default values to Parameters.pde 2013-05-05 21:51:09 +10:00
Andrew Tridgell
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
Andrew Tridgell
e87a6d5564 Plane: added links to new APM controller docs 2013-05-05 21:51:09 +10:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
55f7d18979 Plane: avoid copying the DCM matrix 2013-05-05 21:51:09 +10:00
priseborough
3663426550 Plane: Fixed bug in groundspeed_undershoot that could cause a fly-away in windy conditions. 
Use the component of velocity in the forward direction rather than the magnitude
 2013-05-05 21:51:08 +10:00
Paul Riseborough
663951d9a7 Plane: rename APM_Control parameters 
this groups the parameters more logically
 2013-05-05 21:51:08 +10:00
Paul Riseborough
8c5b603848 Plane: use new APM_Control API 2013-05-05 21:51:08 +10:00
Andrew Tridgell
b43712e4d2 Plane: fixed APM1-1280 build 2013-05-03 12:40:43 +10:00
Andrew Tridgell
9f0a4dd553 Plane: log GCS text messages to flash log 
useful for seeing more complex actions
 2013-05-03 11:16:50 +10:00
Andrew Tridgell
bb8f9d5443 Plane: simplify setHIL for baro 2013-05-02 15:27:02 +10:00
Andrew Tridgell
3cd52a9689 Plane: fixes for AP_Baro_HIL 2013-05-02 15:09:27 +10:00
Andrew Tridgell
0d97f417ec Plane: enable compass on all boards by default 
if not present, then mag init will fail and it will disable
 2013-05-02 15:01:33 +10:00
Andrew Tridgell
0aa38a5bd4 Plane: use new HIL compass API 2013-05-02 15:00:59 +10:00
Andrew Tridgell
5ba171af9a Plane: fixed mavlink levelling 
this was broken by a recent commit (after 2.72 was released)
 2013-05-02 13:38:28 +10:00
Andrew Tridgell
a019e3740e Plane: updates for new compass API 2013-05-02 12:48:14 +10:00
Andrew Tridgell
9584aa89d9 Plane: replaced constrain() with constrain_float() 2013-05-02 10:27:10 +10:00
Randy Mackay
b0f5b9a4cf Plane: use renamed RCInput valid_channels 2013-04-29 15:06:38 +09:00
Andrew Tridgell
de3fcbc413 Plane: removed the MANUAL_LEVEL option 
levelling on every startup is far too error prone. This was just
another parameter that everyone changed.
 2013-04-29 14:19:53 +10:00
Andrew Tridgell
3d7a4d0e6e Plane: added ELEVON_OUTPUT option 
this is like the vtail mixer, but for elevons
 2013-04-29 12:13:59 +10:00
Andrew Tridgell
855277fa85 Plane: get ready for 2.72 release 2013-04-28 15:56:30 +10:00
Andrew Tridgell
bdf0a2da69 Plane: log mode number as well as mode string 
this makes graphing mode changes easier
 2013-04-28 14:58:13 +10:00
Andrew Tridgell
b53e3bb1fc Plane: log GPS messages as they come in 
stops us logging duplicate messages
 2013-04-28 14:56:31 +10:00
Andrew Tridgell
1956d9c2dc Plane: show modes as strings in log 2013-04-28 14:47:59 +10:00
Randy Mackay
f47a2e951a Plane: add I2C error count to PM message 2013-04-26 22:39:56 +09:00
Andrew Tridgell
0b8c2da4df Plane: support 12 output channels on PX4 2013-04-25 20:10:53 +10:00
Andrew Tridgell
4f225eff57 Plane: if airspeed enabled, require 5m/s to unsuppress throttle 2013-04-25 20:10:53 +10:00
Andrew Tridgell
ac7561c5d5 Plane: mark 2.72beta version 2013-04-24 16:19:18 +10:00
Andrew Tridgell
8ec1eaa8b1 build: removed obsolete cmake rules 
these have not been maintained for over a year
 2013-04-23 11:07:53 +10:00
Andrew Tridgell
e446f375a7 Plane: set loiter.direction for GUIDED mode 2013-04-21 23:46:35 +10:00
Bill Bonney
3ec891265f Plane: Enable CURRENT logging by default onto Dataflash 2013-04-21 07:24:02 +10:00
Andrew Tridgell
02ed37e750 Plane: fixed APM1-1280 build 2013-04-20 18:21:19 +10:00
Andrew Tridgell
2e5834cc7f Plane: print flight mode as string in logs 2013-04-20 15:18:10 +10:00
Andrew Tridgell
3b90c6c386 Plane: log parameter changes 2013-04-20 13:52:36 +10:00
Andrew Tridgell
991d6598ef Plane: log board voltage 2013-04-20 13:52:36 +10:00
Andrew Tridgell
5c553852ed Plane: when logging is disabled don't include DataFlash at all 2013-04-20 13:52:36 +10:00
Andrew Tridgell
0c5b393919 Plane: added compass logging 2013-04-20 13:52:36 +10:00
Andrew Tridgell
c56f338fe0 Plane: convert to new logging system 2013-04-20 13:52:36 +10:00
Andrew Tridgell
c8af70a18d Plane: make the plane code compatible with the new logging system 
not actually converted yet
 2013-04-20 13:52:36 +10:00
Andrew Tridgell
a329e32ccb Plane: added gps status to flashlog 2013-04-19 10:24:20 +10:00
Andrew Tridgell
abe4dba871 Plane: added PX4 flash logging 2013-04-17 21:35:27 +10:00
Andrew Tridgell
a12323c9fd Plane: fixed logging for new API 2013-04-17 21:34:56 +10:00
Andrew Tridgell
42344455c9 Plane: fixed structure init for arduino compiler 2013-04-15 21:59:07 +10:00
Andrew Tridgell
9f0f482dd7 Plane: fixed LOITER_TIME to start when loiter starts 
thanks to Paul Riseborough for finding this bug!
 2013-04-15 21:39:14 +10:00
Andrew Tridgell
75f4a43e2d Plane: fixed LOITER_TURNS command 
and cleanup more loiter variables
 2013-04-15 21:31:11 +10:00
Andrew Tridgell
82cd391cf8 Plane: use RADIUS_OF_EARTH define 2013-04-15 14:55:58 +10:00
Andrew Tridgell
8f091e70c8 Plane: move elevon variables into a structure 2013-04-15 14:53:56 +10:00
Andrew Tridgell
79c6f32400 Plane: made variables static and remove initial rc overrides 
minor code size savings
 2013-04-15 14:46:01 +10:00
Andrew Tridgell
e918293e86 Plane: explain verify_*() commands 2013-04-15 14:41:15 +10:00
Andrew Tridgell
19b92b5bd8 Plane: removed "circle waypoint" completion test 
this is redundent with the location_passed_point() test
 2013-04-15 14:39:18 +10:00
Andrew Tridgell
994d8e354a Plane: allow for negative WP_LOITER_RAD for conter-clockwise loiter 
this follows the same convention as missions
 2013-04-15 10:52:32 +10:00
Andrew Tridgell
78538d0543 Plane: removed old HDNG2RLL PID control 
not used with L1
 2013-04-15 10:52:32 +10:00
Andrew Tridgell
b2ad43f625 Plane: removed ahrs.set_barometer() 2013-04-15 10:52:32 +10:00
Andrew Tridgell
8d2cf6f3e5 Plane: update author list 2013-04-12 22:01:41 +10:00
priseborough
70a186464b Plane: added LEVEL_ROLL_LIMIT parameter 
this replaces both TKOFF_HEAD_HOLD and RUDDER_STEER, allowing users to
instead select a roll limit for takeoff and landing
 2013-04-12 21:59:52 +10:00
Andrew Tridgell
575f346e85 Plane: removed HIL_MODE_ATTITUDE 
we really need full sensors for HIL with the L1 controller. The flight
is also _much_ better with sensors HIL.
 2013-04-12 17:44:40 +10:00
Andrew Tridgell
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
Andrew Tridgell
c47bc09a3c Plane: avoid doing radio trim if less than 20% of travel available 
this prevents problems with awful trim on bootup due to RC TX being
off
 2013-04-12 12:47:59 +10:00
tobias
217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Andrew Tridgell
71f6287388 Plane: fixed spelling 2013-04-06 17:42:20 +11:00
Andrew Tridgell
dcbe144c7e Plane: prepare for release of 2.71 2013-04-06 17:27:21 +11:00
Andrew Tridgell
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
Andrew Tridgell
993154ea59 Plane: expand the VTAIL_OUTPUT docs for APM1 2013-04-05 16:38:46 +11:00
Andrew Tridgell
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
Andrew Tridgell
17cbcd1bf6 Plane: fixed failsafe with VTAIL_OUTPUT 2013-04-05 15:35:26 +11:00
Andrew Tridgell
406921faf1 Plane: added VTAIL_OUTPUT option 
this allows for software vtail mixing
 2013-04-05 15:22:11 +11:00
Randy Mackay
21a51c8333 Plane: update GCS_Mavlink parameter documentation 2013-04-03 22:58:25 +09:00
Andrew Tridgell
a69c9ff674 Plane: added logging of DIGICAM events 2013-04-02 13:08:38 +11:00
Andrew Tridgell
ddfcafe80f Plane: fixed DIGICAM camera trigger 2013-04-02 13:08:38 +11:00
Andrew Tridgell
683a2919d1 Plane: prevent stick mixing when throttle is below failsafe threshold 
this fixes issue #40
 2013-04-02 10:42:56 +11:00
Andrew Tridgell
c5e2cfcc3e Plane: preparing for 2.71-beta 2013-04-02 09:25:24 +11:00
Andrew Tridgell
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
Andrew Tridgell
5d54215221 Plane: use int16_t() not int() to ensure simulator matches AVR 2013-04-01 22:17:05 +11:00
Andrew Tridgell
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
Andrew Tridgell
624ebced38 Plane: document INVERTEDFLT_CH 2013-04-01 22:17:04 +11:00
Andrew Tridgell
dfb14d760b Plane: added HIL_SERVOS option 
this allows for real servo output in HIL
 2013-03-30 14:38:43 +11:00
Andrew Tridgell
6cc4aadc06 Plane: report compass health in SYS_STATUS 2013-03-29 13:48:40 +11:00
Andrew Tridgell
a165f0d138 Plane: removed old angle wrap code 2013-03-29 13:13:50 +11:00
Andrew Tridgell
7db7d7db77 Plane: change FBWB altitude control algorithm 
this makes FBWB much less sensitive to airframe tuning. When the
elevator stick first goes neutral it locks in the current altitude as
the target altitude. When the elevator stick is off neutral, it moves
the target altitude in proportion to the elevator, at a rate goverened
by the new FBWB_CLIMB_RATE parameter

This prevents the aircraft from slowly drifting in altitude in FBWB,
and gives a more intuitive control mechanism for altitude.

Thanks to Chris Miser from Falcon UAV for help in designing this
change
 2013-03-28 10:27:25 +11:00
Andrew Tridgell
fcde3ceb24 Plane: also avoid rudder on takeoff with TOFF_HEAD_HOLD==0 2013-03-27 16:36:39 +11:00
Randy Mackay
a49fe272ad Plane: replace gps fix with status 
Required to ensure 3d fix is used for initialising home
 2013-03-27 11:42:02 +09:00
Randy Mackay
c2055557f5 Plane: add support for GPS fix type 2D 2013-03-27 11:41:51 +09:00
Andrew Tridgell
f077f54e6a Plane: added TKOFF_HEAD_HOLD option 
this allows control over whether ArduPlane tries to hold heading
during auto takeoff. For hand launches it can be better to hold the
wings level and not attempt to hold heading during takeoff to prevent
the possibility of a stall during the climb out.

Thanks to Chris Miser from Falcon UAV for the feedback that led to
this option.
 2013-03-27 10:27:14 +11:00
Andrew Tridgell
1d983b3f2e Plane: fixed X accel triggering of auto 2013-03-22 11:53:45 +11:00
Andrew Tridgell
1a36c3684b Plane: fixed GPS test (detection of uBlox needs 10Hz poll) 2013-03-21 22:45:17 +11:00
Andrew Tridgell
6948e0c473 Plane: only enter CLI is link is idle when 3 enters are hit 
this will prevent binary contents of RADIO packets being interpreted
as CLI enter line-feeds
 2013-03-21 21:57:54 +11:00
Andrew Tridgell
0e37ae4400 Plane: change CLI timeout to 20s 2013-03-21 17:34:34 +11:00
John Stäck
c9576e59f9 Add set command to setup menu (and changed show command), same as for ArduCopter. Not included when building for 1280. 2013-03-19 11:40:25 +09:00
Randy Mackay
36834e77b5 Copter: remove support for CLI Slider 2013-03-18 14:07:04 +09:00
Andrew Tridgell
36ff950b12 Plane: fixed MAVLink target IDs in fence point message 
thanks to Kevin Hester for finding this
 2013-03-12 15:04:48 +11:00
Andrew Tridgell
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
Michael Warren
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
Andrew Tridgell
87c6545ac6 Plane: don't trigger GCS failsafe if GCS never connected 
The we have never received a heartbeat message from the GCS then don't
use the lack of heartbeat to trigger a failsafe event
 2013-03-09 13:48:39 +11:00
Andrew Tridgell
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
Andrew Tridgell
e0e22b63a7 Plane: removed INPUT_VOLTS parameter 
no longer needed
 2013-03-08 10:01:33 +11:00
Andrew Tridgell
2331c84423 Plane: use voltage_average() to not depend on INPUT_VOLTS 2013-03-03 16:16:01 +11:00
Andrew Tridgell
de55e19eec Plane: updates for new dataflash API 2013-03-01 07:18:26 +11:00
Andrew Tridgell
b3213b7113 Plane: fixes for new DataFlash API 2013-03-01 07:18:25 +11:00
Andrew Tridgell
5f4c5f8201 Plane: update SERIAL0_BAUD parameter description 2013-02-22 08:39:02 +11:00
Andrew Tridgell
139acc0530 Plane: ignore control mode changes when in throttle failsafe 
this prevents the receiver causing a temporary mode change
 2013-02-21 11:21:39 +11:00
Andrew Tridgell
1ebaa14a99 Plane: prepare for 2.70 release 2013-02-21 09:49:15 +11:00
Andrew Tridgell
0a0b51cc63 Plane: reset AHRS trim after a level operation 2013-02-20 11:56:02 +11:00
Andrew Tridgell
24826c0c74 Plane: default the stream rates to 1Hz 2013-02-20 10:08:49 +11:00
Andrew Tridgell
1007f2ef07 Plane: fixed a bug with setting stream rates 
this is what caused the "no sensors" problem in the 2.69 release
 2013-02-20 09:32:01 +11:00
Randy Mackay
9c984b18db Plane: integrate automatic roll and pitch trims 2013-02-19 13:30:51 +09:00
Andrew Tridgell
c989099665 Plane: enable PX4IO dual telemetry devices 2013-02-18 13:56:21 +11:00
Andrew Tridgell
e8806b14ec Plane: enable MAV_CMD_DO_DIGICAM_CONTROL 2013-02-14 09:35:56 +11:00
Andrew Tridgell
8c0f065ee4 Plane: fixed an integer multiply error that caused poor altitude on landing 
the control of altitude between waypoints was broken due to an integer
overflow
 2013-02-13 19:32:44 +11:00
Andrew Tridgell
2f677acf3b Plane: update firmware version to 2.69 2013-02-11 15:02:08 +11:00
Andrew Tridgell
9f70c6c70d Plane: make CIRCLE mode hold altitude 
this will prevent us losing a lot of altitude during the initial
failsafe phase
 2013-02-11 13:52:25 +11:00
Andrew Tridgell
9d3224ef34 Plane: fixed target speed reload on landing 
thanks to Doug for this fix!
 2013-02-11 11:40:36 +11:00
Michael Oborne
88840eb759 Send FS state to gcs for AP 2013-02-09 10:11:26 +08:00
Andrew Tridgell
c41b927a15 Plane: added shell command for px4 
used to launch nsh for PX4IO firmware upgrades
 2013-02-07 15:04:33 +11:00
Andrew Tridgell
3913c42183 Plane: fixed bit combination 
bitwise, not arithmetic
 2013-02-05 10:33:10 +11:00
Jochen Tuchbreiter
c5f19f5df8 Plane: Implement issue 80: counterclockwise loiter 
- libraries/AP_Common/AP_Common.h: Use bit 2 of Location.options to store
  loiter direction
- ArduPlane/defines.h: New bitmask MASK_OPTIONS_LOITER_DIRECTION for struct
  Location bit 2
- ArduPlane/ArduPlane.pde: New variable loiter_direction
- ArduPlane/GCS_Mavlink.pde: For mavlink loiter-commands use sign of param3 to
  detemine direction. Set Location.option flag accordingly
- ArduPlane/commands.pde: Make sure loiter-directions get saved into EEPROM
  correctly
- ArduPlane/commands_logic.pde: Set loiter_direction on all loiter-actions
  as well as RTL/instant loiter
- ArduPlane/navigation.pde: Yield loiter_direction in update_loiter
 2013-02-05 10:29:31 +11:00
Brandon Jones
fa7839941f After Plane: cleanup driver declaration 4d9a74d, HIL_MODE_ATTITUDE with MAG_ENABLE=1 set results in continuous reboot/APM crash. Added define for AP_COMPASS_HIL when HIL_MODE_ATTITUDE is enabled. 2013-02-05 09:04:34 +11:00
Michael
b9a5be6c8b Plane: added secondary elevator support 2013-02-05 08:57:58 +11:00
Andrew Tridgell
e762c43312 Plane: switch to an array for stream rates 
this saves a couple of hundred bytes of flash.
 2013-02-05 08:20:41 +11:00