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21,347 Commits 71 Branches 510 Tags 770 MiB
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2087 Commits

Author SHA1 Message Date
Andrew Tridgell
f35d05e374 Plane: improved quadplane default gains 
0.25 is better for an average quadplane for roll/pitch

0.5 is a bit high for accel-z, 0.3 is better
 2016-02-29 21:46:27 +11:00
Andrew Tridgell
93ac82e1f6 Plane: write voltage/current much more frequently 2016-02-29 21:24:54 +11:00
Will Sackfield
fabe235130 ArduPlane: initialize the fail_test variable 
* Clang complains if variables are not initialized
 2016-02-29 14:14:37 +11:00
Will Sackfield
5f5035933f ArduPlane: static cast to uint8 on initialization of struct 
* clang requires that the casting be explicit
 2016-02-29 14:14:37 +11:00
Andrew Tridgell
968f07f583 Plane: allow live quadplane PID tuning 2016-02-29 14:10:32 +11:00
Tom Pittenger
b8fc524954 Plane: enforce expected flight_stage in TECS 2016-02-25 06:37:24 -08:00
Tom Pittenger
993e5b438c Plane: add to LAND_NEUTRL behavior 
offer netrual vs disabled outputs
 2016-02-25 05:51:44 -08:00
Tom Pittenger
6399d00950 Plane: convert to using static send_statustext 
- no more MSG_STATUSTEXT
- TODO: replace calls to gcs_send_text and gcs_send_text_fmt to GCS_MAVLINK::send_statustext()
 2016-02-24 09:18:06 +11:00
Andrew Tridgell
ad78a31255 Plane: move set_dataflash(0 for static logging 2016-02-24 09:18:05 +11:00
Tom Pittenger
881dabf048 Plane: add missionLoaded arming check fail for mis.len <= 1 2016-02-22 16:19:40 +11:00
Andrew Tridgell
1acf25b6e2 Plane: use set_dataflash() 
give GCS_MAVLINK a dataflash object for logging text messages
 2016-02-22 12:34:32 +11:00
Andrew Tridgell
b84b480086 Plane: added PID tuning for quadplane modes 2016-02-20 20:20:27 +11:00
Andrew Tridgell
e2abaefc44 Plane: check SCHED_LOOP_RATE for quadplane 2016-02-20 20:02:52 +11:00
Lucas De Marchi
0b22b520b8 ArduPlane: remove unused CMAKE define 
This is a leftover from previos cmake build system.
 2016-02-19 19:15:39 -02:00
Peter Barker
ca4017d093 Plane: defines.h should not use defines from config.h 
config.h includes defines.h early, so defines in config.h are unavailable
 2016-02-19 12:34:23 -02:00
Tom Pittenger
d0edfa5dfa Plane: compile warning fix 
/ardupilot/ArduPlane/quadplane.cpp:773:107: warning: implicit conversion from 'float' to 'double' when passing argument to function [-Wdouble-promotion]
 2016-02-17 14:54:02 -08:00
Tom Pittenger
0b26a34f22 Plane: new param LAND_THEN_NEUTRL 
// @Description: When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain.
 2016-02-16 23:40:44 -08:00
Andrew Tridgell
8ecf54bf75 Plane: use throttle slew when in quadplane assisted flight 
this prevents a sudden throttle change on a petrol motor when
transitioning
 2016-02-13 11:38:33 +11:00
Tom Pittenger
a280396645 Plane: nonfunctional change, comment only. Units were in old in comment 2016-02-12 12:14:38 -08:00
Tom Pittenger
c837fbca2f Plane: 3/3 new param TECS_LAND_SRC for Land Sink Rate Change 
// @Description: When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value.
 2016-02-12 11:39:27 -08:00
Tom Pittenger
8ac6343730 Plane: removing mission_cmd in TECS and making it bool is_landing 
this is reverse-thrust cleanup suggested by Tridge
 2016-02-12 11:22:59 -08:00
Tom Pittenger
d04b5e735f Plane: add SYS_STATUS reverse_motor 
- helpful to tell GCS to interpret VFR_HUD as negative when bit is enabled
- throttle is sent as abs()
 2016-02-11 18:46:01 +11:00
Tom Pittenger
fa53263ca9 Plane: make throttle_percentage() signed 2016-02-11 18:46:01 +11:00
Tom Pittenger
ebec68c55b Plane: param desc to increase THR_MIN range to include negative thrust 2016-02-10 22:18:07 -08:00
Tom Pittenger
f369899509 Plane: restrict rudder arming where reverse_thrust is enabled and commanding negative 2016-02-10 22:18:06 -08:00
Tom Pittenger
a920b7322d Plane: more desc for param USE_REV_THRUST 2016-02-10 22:04:50 -08:00
Tom Pittenger
046741d23b Plane: abort landing at 90% throttle instead of 95% 2016-02-08 21:13:43 -08:00
Tom Pittenger
b098466e87 Plane: reduce redundant logging of STAT from 6 Hz to 5 Hz 
- STAT log entry was being done every 5 Hz plus at 1 Hz. This removes the 1Hz.
 2016-02-08 21:13:12 -08:00
Tom Pittenger
66fcd8f58a Plane: run is_crashed at 5hz instead of 1hz 2016-02-08 21:13:04 -08:00
Andrew Tridgell
93185be1ff Plane: reset land_pre_flare on mode change 2016-02-09 14:18:02 +11:00
Tom Pittenger
2e92089ce6 Plane: Reverse Thrust 
Reverse thrust for controlled landings, even with much steeper approach slopes. This is achieved by allowing throttle demand to go negative to maintain a target airspeed. A Pre-Flare stage was added, triggered by an altitude, to allow for a slower airspeed just before land. That lower airspeed can be near stall.
new params LAND_PF_ALT, LAND_PF_SEC, LAND_PF_ARSPD, USE_REV_THRUST
 2016-02-09 14:18:02 +11:00
Tom Pittenger
1cb094f12e Plane: make throttle signed (pos and neg) 2016-02-09 14:18:02 +11:00
Tom Pittenger
b8d5369ebd Plane: add flight stage LAND_PREFLARE 2016-02-09 14:18:02 +11:00
Andrew Tridgell
f8d8616598 Plane: support all types of multicopters in quadplane 
adds Q_FRAME_CLASS for class of multicopter frame
 2016-02-08 11:00:19 +11:00
Andrew Tridgell
eeda1b56de Plane: don't do throttle nudge while in geofence failsafe 
user stick inputs should not apply when outside fence
 2016-02-08 10:59:37 +11:00
Tom Pittenger
9157f634eb Plane: Add Tom Pittenger to authors list 2016-02-02 10:50:12 +09:00
Andrew Tridgell
379ca5ac00 Plane: prepare for 3.5.0 release 2016-01-30 13:04:51 +11:00
Andrew Tridgell
99847da297 Plane: release 3.5.0beta2 2016-01-29 12:21:39 +11:00
Andrew Tridgell
125af1b856 Plane: added OVERRIDE_SAFETY parameter 2016-01-29 12:20:14 +11:00
Michael du Breuil
bcc939930c Plane: Only resend the mixer configuration if its changed 2016-01-29 12:20:14 +11:00
Andrew Tridgell
8dba91658c ArduPlane: log a picture if AP_Camera::control() returns true 2016-01-29 10:01:51 +11:00
Andrew Tridgell
d82c8dcd6d ArduPlane: update for changed AP_Camera API 2016-01-29 09:19:44 +11:00
Dario Lindo Andres
9bba55f937 ArduPlane: Added precise camera trigger logging 
Added update_trigger and check_digital_pin functions
added camera trigger precise time mark
detect camera feedback pin status
added support for simple digital pin
included support for digital pin. Already included in
added support for TRIGGER MSG
 2016-01-29 09:19:43 +11:00
Jonathan Challinger
9000756c80 Plane: reflect changes to AP_Mount 2016-01-23 10:35:47 +09:00
Gustavo Jose de Sousa
c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_ 
It helps to distinguish between things from waf and things from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
e9d3dc9e72 waf: vehicles and antennatracker: use methods from bld 
Instead of from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
cf432e8b3e waf: ardupilotwaf: rename vehicle_stlib to ap_stlib 
That function is not only for vehicles.
 2016-01-22 20:10:28 -02:00
Gustavo Jose de Sousa
a35c0d48b0 waf: ardupilotwaf: rename program to ap_program 
Make the rename so that there is no name clashes when defining it as a taskgen
method.
 2016-01-22 20:10:28 -02:00
Andrew Tridgell
115d089904 Plane: continue limiting pitch during last phase of transition 
this prevents a very high pitch demand causing the plane to slow down
to below assist speed
 2016-01-20 18:30:48 +11:00
Andrew Tridgell
0223218c39 Plane: use altitude_error for quadplane climb rate assistance 2016-01-20 17:23:36 +11:00
Andrew Tridgell
69b2421563 Plane: ensure TECS is updated at 10Hz only 2016-01-20 17:23:36 +11:00
Andrew Tridgell
3a3afe42be Plane: don't force disarm on parachute release 
in auto-throttle modes throttle is suppressed. In pilot controlled
modes pilot can lower throttle
 2016-01-19 17:59:53 +11:00
squilter
c7e8a48a55 Plane: deploy parachute as fs action 2016-01-19 17:55:58 +11:00
Andrew Tridgell
23eef91c59 Plane: added parameter RTL_RADIUS 
this allows the loiter radius for RTL to be controlled separately from
the radius for loiter (as requested by a user)
 2016-01-19 15:04:30 +11:00
Andrew Tridgell
3a9ebe3a8a Plane: added Q_TRAN_PIT_MAX 2016-01-19 11:05:56 +11:00
Andrew Tridgell
7e29761b99 Plane: try to smooth auto VTOL transitions 2016-01-19 11:05:56 +11:00
Andrew Tridgell
4adda34439 Plane: limit pitch to zero during airspeed wait VTOL mode 2016-01-19 11:05:56 +11:00
Lucas De Marchi
7f04e0106e waf: change binary names 
APMrover2 -> ardurover
AntennaTracker -> antennatracker
ArduCopter -> arducopter
ArduPlane -> arduplane
 2016-01-18 16:56:08 -02:00
Gustavo Jose de Sousa
17e5d99509 waf: allow partial builds with new mavlink as submodule 
The task generator for the mavlink headers is given a name 'mavlink' and is
added as a dependency to all local static libraries, because all of them use
sources that include mavlink headers. It would be nice to have a good way to
detect sources that use mavlink headers or to declare list of libraries that
use the headers, so that the dependency could be added automatically.

Additionally, there's a minor change in syntax for the task generator: using
strings directly instead of lists.
 2016-01-15 07:28:48 +11:00
Andrew Tridgell
eabceb34e1 Plane: update release notes for Pixracer support 2016-01-10 17:43:01 +11:00
Andrew Tridgell
5a24e93cc5 Plane: removed debug code and add quadplane setup checks 2016-01-09 16:26:13 +11:00
Andrew Tridgell
9e3c1fddef Plane: updated release notes 2016-01-09 15:17:45 +11:00
Andrew Tridgell
ebe1fe0b17 Plane: raise version to 3.5.0beta1 2016-01-09 13:33:27 +11:00
Tom Pittenger
7978872e32 AP_Plane: set path_propportion in TECS 2016-01-09 13:25:02 +11:00
Andrew Tridgell
ee819959b6 Plane: smoother takeoff and land transition in VTOL auto 2016-01-09 11:33:43 +11:00
Andrew Tridgell
2679cb2c50 Plane: improve yaw and position control in takeoff and landing 
auto VTOL takeoff is always vertical. Yaw rate is zero on takeoff and
during VTOL descent
 2016-01-09 10:47:41 +11:00
Andrew Tridgell
0986474eed Plane: call set_frame_orientation() before Init for quad motors 2016-01-09 07:44:45 +11:00
Andrew Tridgell
52c4715c94 Plane: fixed init bug on low memory for quadplane 2016-01-09 07:38:55 +11:00
Andrew Tridgell
787a6994a4 Plane: added Q_THR_MID parameter 2016-01-09 07:38:55 +11:00
Andrew Tridgell
4da798129e Plane: fixed zero throttle in QSTABILISE mode 2016-01-09 07:38:55 +11:00
Andrew Tridgell
cfb74406b6 Plane: fixed call to motors->Init() for quadplane 2016-01-09 07:38:55 +11:00
Andrew Tridgell
0a0e191284 Plane: init rc output after quadplane setup 
this ensures first PWM pulses are correct
 2016-01-09 07:38:55 +11:00
Andrew Tridgell
13a71c5cde Plane: use default motor mapping for channel setup 2016-01-09 07:38:55 +11:00
Andrew Tridgell
b1177521ef Plane: show throttle level in vtol modes 2016-01-09 07:38:54 +11:00
Andrew Tridgell
71b0d5fb6d Plane: disable quad motors in TRAINING and ACRO too 2016-01-09 07:38:54 +11:00
Andrew Tridgell
9c5ec5e74b Plane: allow yaw control in auto-throttle VTOL modes 2016-01-09 07:38:54 +11:00
Andrew Tridgell
70018ee0cb Plane: fixed final descent for VTOL auto landing 2016-01-09 07:38:54 +11:00
Andrew Tridgell
f259cf4b3f Plane: added Q_YAW_RATE_MAX parameter 2016-01-09 07:38:54 +11:00
Andrew Tridgell
f5a15fb7c5 Plane: don't yaw quad when disarming 2016-01-09 07:38:54 +11:00
Andrew Tridgell
ecd7d53cfc Plane: auto set trim on quad motor channels 
this prevents a reboot causing a motor start
 2016-01-09 07:38:54 +11:00
Andrew Tridgell
7010fd27ff Plane: fixed Q_THR_MAX_PWM parameter 2016-01-09 07:38:54 +11:00
Andrew Tridgell
780d1459f0 Plane: fixed force descend in VTOL land 2016-01-09 07:38:53 +11:00
Andrew Tridgell
4592085963 Plane: better VTOL land detection 2016-01-09 07:38:53 +11:00
Andrew Tridgell
fdd86c10ba Plane: smoother transitions to auto from VTOL takeoff 2016-01-09 07:38:53 +11:00
Andrew Tridgell
418464ab8c Plane: added quadplane version of is_flying() 2016-01-09 07:38:53 +11:00
Andrew Tridgell
f068a8c913 Plane: added support for VTOL_TAKEOFF and VTOL_LAND commands 2016-01-09 07:38:53 +11:00
Andrew Tridgell
5e784ddb5c Plane: consider flying status for throttle_wait 2016-01-09 07:38:53 +11:00
Andrew Tridgell
7afa2a493d Plane: implement VTOL flight stage 2016-01-09 07:38:53 +11:00
Andrew Tridgell
aab98ff757 Plane: fixed quad yaw assistance during transition timer 2016-01-09 07:38:52 +11:00
Andrew Tridgell
9ae4c3ec99 Plane: mark Q_ENABLE parameter as an enable parameter 2016-01-09 07:38:52 +11:00
Andrew Tridgell
0d6b353bcb Plane: added quad assistance and auto support for quadplane 2016-01-09 07:38:52 +11:00
Andrew Tridgell
48e1a0641f Plane: added throttle wait to quadplane 2016-01-09 07:38:52 +11:00
Andrew Tridgell
2983576067 Plane: added QLOITER mode 
quadplane loiter
 2016-01-09 07:38:52 +11:00
Andrew Tridgell
00ca292160 Plane: improved quadplane transition 2016-01-09 07:38:52 +11:00
Andrew Tridgell
ca85c332d6 Plane: separate QSTABILIZE and QHOVER modes 2016-01-09 07:38:52 +11:00
Andrew Tridgell
6468fc6d93 Plane: Initial implementation of quadplane 
adds "HOVER" mode
 2016-01-09 07:38:52 +11:00
Tom Pittenger
6cb20b679d Plane: add xtrack_error to DF log 2016-01-08 20:16:25 +11:00
Andrew Tridgell
f201552f6d Plane: always call load_all 
this ensures defaults file works on first start after erase
 2016-01-07 09:32:57 +11:00
Tom Pittenger
607201a9b1 Plane: zero course error for straight bungee launch 
This fixes the behavior where it uses the heading when switched to AUTO instead of at launch causing a turn just after a bungee launch
 2016-01-05 11:20:14 +11:00
Andrew Tridgell
7b6d862316 Plane: support up to 14 rc inputs for all boards 2016-01-04 08:22:35 +11:00