9058949558
Plane: fixed some warnings
2013-01-16 14:19:25 +11:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
4cdb3cd390
Plane: use GRAVITY_MSS
2013-01-02 14:45:08 +11:00
feca411943
Plane: added new TRAINING mode
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this mode gives manual control when the roll or pitch is within the
set limits (the same limits as FBW mode), and prevents the pilot from
flying beyond those limits, essentially a "attitude limited manual"
mode
2012-12-20 22:41:58 +11:00
cf18534163
Plane: use new functions
2012-12-20 14:53:22 +11:00
f8dec9ae4a
ArduPlane: fixes to use CONFIG_HAL_BOARD instead of CONFIG_APM_HARDWARE
2012-12-20 14:51:37 +11:00
92b0c302f2
ArduPlane: Ported to AP_HAL
2012-12-20 14:51:36 +11:00
f5abc2c25e
Plane: switch to an enum for flight modes
2012-12-01 08:08:54 +11:00
0260559147
Plane: fixed throttle slew limit code
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starting at 1000 is a very bad idea - a petrol engine could cut out
2012-11-28 12:13:09 +11:00
697c386075
Plane: use correct throttle range in slewrate
2012-11-28 11:42:05 +11:00
92cd631ce5
Plane: added THR_PASS_STAB parameter
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this allows direct passthru of throttle in STABILIZE and FBWA, which
is useful for nitro planes wher you have a throttle cut switch that
drops the throttle below normal minimum.
2012-11-26 23:33:05 +11:00
61f2e18e2e
APM: allow ailerons to move fully during servo demo
2012-11-21 13:34:27 +11:00
fcbd3a823b
APM: added a new type of auxilary aileron, with rc input
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a AileronWithInput assumes you have setup your RC transmitter to give
the right trim and input on the secondary aileron
2012-11-21 13:34:26 +11:00
ef727bbb3c
ArduPlane: move to use new INS library instead of IMU library
2012-11-07 19:21:03 +09:00
c7b47a0e47
APM: allow for arbitrary ranges and reversal on 2nd aileron
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this ensures you can setup a 2nd aileron with different reversal from
main aileron
2012-11-05 23:37:58 +11:00
81d507d39e
APM: fixed differential spoilers in manual mode
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make them follow the elevons
2012-10-31 12:43:53 +11:00
8c0296b27a
APM: fixed additional aileron channels in manual mode
2012-10-31 12:43:53 +11:00
8c46fced16
APM: Added functionality to use differential spoilers in elevon mode
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spoiler 1 and 2 are connected to 2 auxiliary channels, functions are
set to 16 on left wing and 17 om right wing respectively. Worked in
FBW + mode (auto etc.). No manual mode supported yet (need more
channels in my case).
2012-10-31 12:43:42 +11:00
d5c35fcc8b
APM: fixed stick mixing for STABILISE mode
...
this is embarrassing
2012-09-24 07:14:30 +10:00
56c354eb4f
APM: fixed stick mixing in CIRCLE mode on throttle failsafe
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Many thanks to Andke for finding this bug!
2012-09-23 19:27:42 +10:00
6bae5ecd51
APM: added THR_SUPP_MAN option
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this allows for manual throttle control during auto throttle
suppression. This is useful for keeping a petrol engine idling before
takeoff
2012-09-22 20:17:06 +10:00
12dc2e79cf
APM: save 100 bytes of memory
...
remove flight_mode_strings array
2012-09-18 13:58:49 +10:00
bad73b0686
APM: fixed elevon mixing
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this was broken in 2.61
2012-09-13 12:01:40 +10:00
c9a299665c
APM: added speed scaling to wheeled steering
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this allows for a larger amount of steering control at low speeds
without causing osciallation after takeoff
2012-09-11 13:37:34 +10:00
49468953a3
APM: updated for new RC_Channel_aux API
2012-09-08 15:14:41 +10:00
dec12c7370
APM: use ahrs.airspeed_estimate() in two more places
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this applies the wind constraint
2012-09-08 11:37:11 +10:00
e2b8817a89
APM: added the ability to forcibly crash the plane on OBC failsafe breach
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this allows a user to setup the OBC failsafe system to forcibly crash
the plane (surfaces at limits, zero throttle) when the failsafe system
triggers. This is to allow APM to be used in the Outback Challenge. In
the OBC an external failsafe board also does this using the heartbeat
control pin, so this is an extra safety mechanism.
To prevent users accidentially triggering a crash, this code only
activates if FS_TERM_ACTION is set to to the magic value 42.
2012-08-28 20:18:24 +10:00
fce01464b1
APM: added ALT_CTRL_ALG parameter
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this allows you to select different altitude control algorithms. The
current choices are for the default (automatic based on if airspeed is
available), or to force a non-airspeed algorithm
The idea is to make it possible to use airspeed for some things (like
wind speed, speed scaling) but not for alt control
2012-08-28 20:18:24 +10:00
d13d117e61
APM: removed reset_I() and instead auto-reset integrator in PID library
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this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
2012-08-28 20:18:23 +10:00
dcbd0fbd44
APM: cleanup throttle suppression code and don't use airspeed to unsupress
...
this removes the throttle suppression when any of the conditions are
met once, as otherwise flying slow below 10m could zero the throttle.
It also removes the use of airspeed for disabling throttle
supression. Otherwise a strong gust of wind can cause ArduPlane to
try to takeoff!
2012-08-28 20:18:23 +10:00
3c7d7ba228
APM: use airspeed estimate for speed scaling if available
2012-08-25 17:49:26 +10:00
c35530c362
APM: fixed wheeled takeoff with Jons new controllers
2012-08-22 17:34:01 +10:00
d445482ace
APM: added optional use of new APM_Control library
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thanks to Jon Challinger for the new controllers!
2012-08-22 12:45:14 +10:00
d5767ef817
uncrustify ArduPlane/Attitude.pde
2012-08-21 19:19:50 -07:00
c5b77f3909
APM: reset steering PID integrator in reset_I()
2012-08-21 15:01:01 +10:00
6d489947cf
ArduPlane: replaced many "int" with "int16_t", "long" with "int32_t"
2012-08-18 18:26:13 +09:00
6300fa7399
math: more abs() fixes
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abs() is 16 bit
2012-08-16 15:17:42 +10:00
1252ddfe0c
APM: rename RDRSTEER to WHEELSTEER
...
thanks to Jon for the suggestion
2012-08-15 16:28:59 +10:00
e26e8b3b67
APM: added RDRSTEER_ PID for steering on ground
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this allows for rolling takeoff with steering, and use of rudder in
landing
2012-08-15 12:39:35 +10:00
e2c8ec2c9e
APM: removed THROTTLE_REVERSE option
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Better to use RC3_REV
2012-08-09 10:04:44 +10:00
e133900c68
APM: Added STICK_MIXING option
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this replaces the compile time option. Disabling during long distance
flights when the transmitter may be out of range is useful.
2012-08-09 08:53:29 +10:00
2114acddf1
APM: fixed default flap speed
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the default of 255 translates to -1 as a AP_Int8, so use zero to mean
no flaps
2012-08-08 13:04:21 +10:00
5bfd1200d6
APM: change variables to use _cm, _cd and _ms suffix for units
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this makes it less likely that we mix up units
2012-08-08 12:12:30 +10:00
9c1ac2d9e6
More work on ch9, 10 and 11
2012-08-04 19:44:41 +02:00
6bcfe913f7
APM: added a SCALING_SPEED parameter
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this allows users to adjust the base speed used for scaling roll/pitch
PIDs. This can be used to make PIDs work for both airspeed and
non-airspeed control
2012-07-26 11:30:23 +10:00
7e697e4abd
APM: switch back to old nav_roll calculation
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the old nav_roll will be used for the 2.50 release to prevent the need
for re-tuning. For the release after that we will use the new
calculation
2012-07-26 10:03:36 +10:00
d6e370886f
APM: rename airspeed_cruise to airspeed_cruise_cm to make the units clearer
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it is in cm/s, not m/s
2012-07-19 11:50:41 +10:00
1cf5057c61
APM: Use g.airspeed_cruise for turn rate calculation if the airspeed sensor is disabled.
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This gives our best approximation for auto flight
2012-07-19 11:50:41 +10:00
c7da63509b
APM: Removed unused YAW_DAMPENER code.
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YAW_DAMPENER was defined as zero
2012-07-19 11:50:21 +10:00
d9d055ef78
APM: Removed incorrect nav_gain_scaler from nav_roll calculation.
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nav_gain_scaler was originally added due to a perceived improvement in
loiter performance, but is incorrect for navigation. Turn rate is a
function of airspeed and bank angle, ground speed has no effect on
that.
2012-07-19 11:50:06 +10:00
Andrew Tridgell
James Bielman
Pat Hickey
rmackay9
Xichen Shi
uncrustify
Amilcar Lucas
Jonathan Challinger