Andrew Tridgell
191d6df0ea
Plane: moved EKF2 to a new parameter index
...
the meanings of many of the parameters have changed. Best to use a new
index to prevent old parameters from causing crashes
2016-05-25 19:35:17 +10:00
Andrew Tridgell
6e4c0dd3d7
Plane: allow non-blocking calibrations while armed
2016-05-24 17:10:41 +10:00
Andrew Tridgell
0f50f483b8
Plane: update for new airspeed calibration
2016-05-24 17:00:56 +10:00
Andrew Tridgell
d3494d1369
Plane: don't stall EKF during baro cal
2016-05-24 17:00:56 +10:00
Andrew Tridgell
5b4bbf08fd
Plane: use send_heartbeat wrapper
2016-05-21 15:25:18 +10:00
Andrew Tridgell
4a7dea0c5b
Plane: simplify UART setup
2016-05-21 15:25:16 +10:00
Andrew Tridgell
9f47e6417b
Plane: always build with MAVLink2 headers
2016-05-21 15:25:16 +10:00
Andrew Tridgell
309dbef2ec
Plane: fixed mavlink1 dependency on px4
2016-05-21 15:25:15 +10:00
Andrew Tridgell
eee06da1b5
Plane: use HAVE_PAYLOAD_SPACE()
2016-05-21 15:25:14 +10:00
Andrew Tridgell
be14714fa4
ArduPlane: update signing timestamp on GPS lock
2016-05-21 15:25:13 +10:00
Andrew Tridgell
a103e70460
ArduPlane: handle SETUP_SIGNING message
2016-05-21 15:25:13 +10:00
Andrew Tridgell
b7fe96188d
Plane: raise range of THR_FS_VALUE
...
need to cope with reversed throttle
2016-05-21 07:39:02 +10:00
Andrew Tridgell
e0a9a8196c
Plane: fixed throttle failsafe with THR_PASS_STAB=1
...
this prevents using pass-thru throttle when in throttle failsafe
2016-05-21 07:39:02 +10:00
Don Gagne
151686ce9d
ArduPlane: SET_SENSORS_OFFSETS support for third compass
2016-05-19 18:51:17 -03:00
Tom Pittenger
36a1054f77
Plane: remove Tom Pittenger as an author since he's now listed as a lead
2016-05-17 19:16:02 -07:00
Tom Pittenger
c9167f89eb
Plane: add Tom Pittenger as co-lead developer
2016-05-17 19:03:38 -07:00
Tom Pittenger
30c5c9eb5d
Plane: log SONR.DistCM in cm as SONR.Dist as meters
2016-05-17 18:59:37 -07:00
Tom Pittenger
00863623d7
Plane: SONR logging, remove BaroAlt,GSpd,Thr
2016-05-17 18:59:22 -07:00
Tom Pittenger
b2fb2f3949
Plane: optimize millis() calls by reusing result
2016-05-17 18:59:03 -07:00
Tom Pittenger
1a066cadd2
Plane: fixed float->double print warning
2016-05-17 15:57:26 -07:00
Tom Pittenger
6746b4227a
Plane: handle large negative baro offsets (corner case) to self-trigger a land-abort go-around
...
new param: LAND_ABORT_DEG
@Description: This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is higher than the intended slope path. Steeper slopes can result in crashes so this allows the option to remember the baro offset and self-abort the landing and come around for a another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC > 0.
2016-05-17 15:41:09 -07:00
Tom Pittenger
a1c4103cef
Plane: print to GCS the newly calculated glide slope angle
2016-05-17 15:39:05 -07:00
Tom Pittenger
f048aafb76
Plane: store auto land slope
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- also changed order of landing slope calc but is functionally the same
2016-05-17 15:39:05 -07:00
Tom Pittenger
034cd2413e
Plane: re-calc landing glide slope to gracefully handle baro offset during long flights
...
New param: LAND_SLOPE_RCALC
@Description: This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m.
default value is 2 (so, enabled by default)
2016-05-17 15:39:04 -07:00
Tom Pittenger
4a6dd5a781
Plane: reset baro drift when setting home while disarmed
2016-05-17 15:32:42 -07:00
Andrew Tridgell
e3b2e90a27
Plane: cleanup unnecessarily complex gcs[] usage
2016-05-17 08:27:39 +10:00
dgrat
48c243bed0
ArduPlane: Do not use is_zero() for non-float types
2016-05-16 19:08:35 -03:00
Tom Pittenger
7af888633d
Plane: 3of3 add loiter_xtrack option flag for post-loiter navigation
...
0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
2016-05-16 11:50:54 -07:00
Tom Pittenger
78d6291e2c
Plane: corrected land abort gcs msg
2016-05-13 17:22:13 -07:00
Tom Pittenger
6c0579a895
Plane: for better helical landings allow for instant approach stage if previous nav cmd was LOITER_TO_ALT
2016-05-13 17:22:07 -07:00
Tom Pittenger
ba5b4e694c
Plane: log NTUN:ArspdErr airspeed error (in meters)
2016-05-13 17:22:01 -07:00
Tom Pittenger
1551b9d881
Plane: remove redundant logging in NTUN
2016-05-13 17:22:00 -07:00
Tom Pittenger
8a58f5a5eb
Plane: convert airspeed_error_cmd to airspeed_error (in meters)
2016-05-13 17:21:59 -07:00
Tom Pittenger
25dfb583d5
Plane: adjust target_airspeed with and without airspeed sensor (pitot)
2016-05-13 17:14:47 -07:00
Andrew Tridgell
2a0476483b
Plane: make takeoff less noisy with zero timeout
2016-05-14 08:26:10 +10:00
Andrew Tridgell
574ba71ef3
Plane: update for AP_TECS API change
2016-05-14 08:26:10 +10:00
Ricardo de Almeida Gonzaga
1fad971851
ArduPlane: Fix typos
2016-05-13 19:20:07 -03:00
Michael du Breuil
7142bacfaa
Plane: improve user friendliness of throttle fs msg
2016-05-11 09:00:55 -07:00
Andrew Tridgell
12e0012b16
Plane: allow for NAV_LOITER_UNLIM and NAV_LOITER_TIME in quadplane
2016-05-11 15:57:41 +10:00
Andrew Tridgell
3fc43b94f9
Plane: separate out auto and guided VTOL states
...
this prevents a switch to AUTO from using VTOL mode incorrectly
2016-05-11 15:14:43 +10:00
Andrew Tridgell
bcc64e0b4a
Plane: fixed tiltrotor build failure
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mixup with merge of RC_Channel changes
2016-05-11 09:25:43 +10:00
Andrew Tridgell
691d4b6ca7
Plane: added local reached_loiter_target()
...
this distinguishes between VTOL and fixed wing loiter targets
2016-05-11 05:55:26 +10:00
Andrew Tridgell
52ea443d65
Plane: added Q_THR_MIN
2016-05-11 05:55:26 +10:00
Andrew Tridgell
a61d608915
Plane: fixed numerical error if starting VTOL landing at destination
2016-05-11 05:55:25 +10:00
Andrew Tridgell
357ed1f4b9
Plane: enable weathervaning in GUIDED and TAKEOFF quadplane modes
2016-05-11 05:55:25 +10:00
Andrew Tridgell
6b358a5618
Plane: added Q_GUIDED_MODE parameter
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this allows you to do hybrid VTOL and fixed wing guided mode
2016-05-11 05:55:25 +10:00
Andrew Tridgell
3bd5b42c69
Plane: refactor quadplane land controller as general VTOL position controller
2016-05-11 05:55:25 +10:00
Andrew Tridgell
6fdaaa7d98
Plane: new tilt compensation method
2016-05-11 05:55:25 +10:00
Andrew Tridgell
46bf2b83f5
Plane: use equal thrust in tiltrotors when over Q_TILT_MAX
2016-05-11 05:55:24 +10:00
Andrew Tridgell
eab42c5740
Plane: fixed attitude logging with fast logging off
2016-05-11 05:55:24 +10:00