Tom Pittenger
9aa25cb7a0
Plane: update flight stage on successful restart_landing_sequence()
2016-04-21 22:54:23 -07:00
Tom Pittenger
2ba9a04bf5
Plane: smooth-out the end of takeoff pitch by reducing takeoff pitch min via TKOFF_PLIM_SEC
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@Description: This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be. (+1 squashed commits)
2016-04-21 22:54:17 -07:00
Tom Pittenger
431b3c7160
AP-TECS: constrain proportion to 0-1 for spdweight scale so it doesn't grow backup after land point
2016-04-21 21:31:02 -07:00
Tom Pittenger
f12658dd20
Plane: more comments on landing flare
2016-04-21 21:31:01 -07:00
Tom Pittenger
fefcf39335
Plane: must be on land approach before flare alt/sec are used
2016-04-21 21:31:00 -07:00
Tom Pittenger
12663eaa48
Plane: simplify flare logic
2016-04-21 21:30:59 -07:00
Tom Pittenger
183369b92a
Plane: take advantage of L1 stale flag and correctly inhibit flight stage if not lined up on approach
2016-04-21 21:30:58 -07:00
Tom Pittenger
25c3367341
AP_L1 - add a stale flag
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threading bug fix. When a mission wp updates, but the L1 controller had not yet, the data is stale. Example, On Plane when NAV_LAND starts for a moment your xtrack and bearing is most likely bear zero regardless if you have a big turn or not until 10 Hz later when the update() gets called and updates those values with correct values for the new waypoint.
2016-04-21 21:30:57 -07:00
Tom Pittenger
c5a3b1b134
Plane: non-functional change - change labels for approach flight stage criteria
2016-04-21 21:30:56 -07:00
Tom Pittenger
c238645e53
Plane: limit roll before calculating load factor
2016-04-21 21:30:56 -07:00
Tom Pittenger
aadd9a18ce
Plane: log L1 xtrack error integrator and remove extra yaw logging
2016-04-21 21:30:55 -07:00
Tom Pittenger
2ce964c8ac
AP_L1_Controller: add accessor for xtrack_error_integrator
2016-04-21 21:30:54 -07:00
Tom Pittenger
85913bd237
Plane: rely on flight stage to know if we're doing auto_land in TECS
2016-04-21 21:30:53 -07:00
Tom Pittenger
595badce3e
AP_TECS: rely on single flag for all land stage differences
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recent fixes in Plane have made the stage more accurate so exceptions/hacks are no longer needed to differentiate between knowing if executing NAV_LAND vs being in stage_approach.
2016-04-21 21:30:52 -07:00
Tom Pittenger
6a83ad419a
Plane: moved update_flight_stage() inside setup_glide_slope()
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the glide_slope gets calculated every time there's a major event such as mission item change or wp_proportion change so its good to update the flight stage then too because.
also logging stage when stage changes, might as well get an extra data point in there when it's timely
2016-04-21 21:30:51 -07:00
Tom Pittenger
ec3e9014e4
Plane: move target land_airspeed logic to top layer
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- this is to allow min groundspeed to be enforced which is otherwise lost when TECS assigns a target airspeed at the lower level
2016-04-21 21:30:50 -07:00
Tom Pittenger
0af878703f
AP_TECS: move target land_airspeed logic to top layer
2016-04-21 21:30:49 -07:00
Tom Pittenger
525c7b24e3
AP_TECS: created accessor for TECS_LAND_ARSPD param
2016-04-21 21:30:48 -07:00
Andrew Tridgell
0af322e90d
HAL_PX4: added comment on oneshot
2016-04-22 13:50:05 +10:00
Andrew Tridgell
ca6bb27a3c
PX4Firmware: submodule update
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allow oneshot on subset of channels and don't enable channels till
safety off on FMU
2016-04-22 13:41:44 +10:00
Andrew Tridgell
5ce7ae71a7
HAL_PX4: fixed enabling oneshot on a subset of motors
2016-04-22 13:24:24 +10:00
Andrew Tridgell
fd7c87e629
AP_Motors: allow enabling oneshot on a subset of motors
2016-04-22 13:24:04 +10:00
Andrew Tridgell
bcd0d48ced
HAL_PX4: fixed non-contiguous motor outputs
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this fixes tricopter with chan3 never set
2016-04-22 11:51:08 +10:00
Andrew Tridgell
05e9f360b2
autotest: fixed quadplane test with new valgrind option
2016-04-22 10:50:51 +10:00
Andrew Tridgell
180a7905e5
SITL: make Z down in motors
2016-04-22 10:45:55 +10:00
Andrew Tridgell
da548e934a
autotest: control tilt with chan7 in in firefly
2016-04-22 10:29:32 +10:00
Andrew Tridgell
a549225e60
Plane: support Y6 frame class in quadplane
2016-04-22 10:28:16 +10:00
Andrew Tridgell
199d4fd6c1
autotest: added parameters for elevon plane, vtail plane and fireflyy6
2016-04-22 10:28:16 +10:00
Andrew Tridgell
46f368f17d
HAL_SITL: support fireflyy6 as quadplane
2016-04-22 10:28:15 +10:00
Andrew Tridgell
aa80851138
SITL: support fireflyY6 quadplane model
2016-04-22 10:28:15 +10:00
Andrew Tridgell
8880635fe1
SITL: support vtail and elevon planes in builtin plane sim
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remove old tiltrotor in favor of new tiltrotor code
2016-04-22 10:28:15 +10:00
Andrew Tridgell
b4d24d8e03
SITL: fixed rotations of motors by large angles
2016-04-22 10:28:15 +10:00
Andrew Tridgell
6165c42535
AP_Math: added from_axis_angle() method on Matrix3f
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for arbitrary rotations in simulator
2016-04-22 10:28:15 +10:00
Peter Barker
8774f15b9a
Tools: add valgrind option to autotest.py
2016-04-22 09:42:33 +10:00
Andrew Tridgell
f2c63e24c5
AP_Motors: allow tricopter motor 7 to be moved to any output
2016-04-22 08:32:03 +10:00
Tom Pittenger
0e775f595d
AP_BattMonitor: make param BATT_WATT_MAX plane only
2016-04-21 13:59:45 -07:00
Rimvydas Naktinis
df922dacfa
Plane: Suppress throttle when parachute release initiated, not after release.
2016-04-21 09:53:22 -07:00
Andrew Tridgell
2a1985d0f9
Plane: fixed loiter radius at end of mission
2016-04-21 22:29:29 +10:00
Andrew Tridgell
de33779382
Plane: added Q_WVANE_MINROLL
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this allows for some roll trim without weathervaning
2016-04-21 21:52:25 +10:00
Andrew Tridgell
bcc4a653d7
autotest: added Y6 to sim_vehicle.sh
2016-04-21 21:11:56 +10:00
Andrew Tridgell
21fb38da8f
HAL_SITL: support Y6 frame
2016-04-21 21:11:46 +10:00
Andrew Tridgell
71ca534ec6
SITL: added Y6 frame
2016-04-21 21:11:38 +10:00
Andrew Tridgell
dea1fec14d
autotest: support -f tri for sim_vehicle.sh
2016-04-21 20:30:15 +10:00
Andrew Tridgell
41b3cb2ff7
HAL_SITL: support tri sim
2016-04-21 20:29:58 +10:00
Andrew Tridgell
49822effca
SITL: added tricopter simulator
2016-04-21 20:29:49 +10:00
Andrew Tridgell
c262d6a1b4
SITL: break up multicopter into Motor/Frame/Multicopter classes
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ready for more tiltrotors
2016-04-21 19:56:44 +10:00
Andrew Tridgell
a39a4a6243
Copter: mark a few more log messages as critical
2016-04-21 17:05:17 +10:00
Andrew Tridgell
f32b7684a0
Copter: removed unused startup log message
2016-04-21 17:05:17 +10:00
Andrew Tridgell
5149a49daa
Copter: added logging of dropped log messages in PM message
2016-04-21 17:05:17 +10:00
Michael du Breuil
fd51c3cc16
AP_TECS: Remove hgt_afe from update_50hz()
2016-04-21 17:03:00 +10:00
