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221 Commits

Author SHA1 Message Date
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 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 dcbe144c7e Plane: prepare for release of 2.71 2013-04-06 17:27:21 +11:00
Andrew Tridgell c5e2cfcc3e Plane: preparing for 2.71-beta 2013-04-02 09:25:24 +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
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
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 1ebaa14a99 Plane: prepare for 2.70 release 2013-02-21 09:49:15 +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
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
Andrew Tridgell ebb7f27962 Plane: minor signed/type fixups 2013-01-27 13:16:26 +11:00
Andrew Tridgell 3caaa27526 Plane: fixed build errors in logging 2013-01-27 12:58:50 +11:00
Randy Mackay 7297a1ff83 Plane: renamed RAW dataflash message to IMU 2013-01-26 17:29:29 +09:00
Randy Mackay e674626fd6 Plane: rename CUR and CURR to CURRENT for logging 
Based on user complaint that log was enabled/disabled using CUR while
message that appeared in log was CURR.
 2013-01-26 17:19:42 +09:00
Randy Mackay 6f46f4a7d0 Plane: logging changes to use new faster packet method 
also RAW message renamed to IMU
 2013-01-26 17:07:21 +09:00
Randy Mackay d2767b911c AP_Math: switch get_distance_cm to return uint32_t 
Includes changes required on ArduCopter and ArduPlane side as well
 2013-01-26 17:04:12 +09:00
Andrew Tridgell 4d9a74d742 Plane: cleanup driver declaration 
remove a lot of the #if nesting
 2013-01-21 16:08:55 +11:00
Andrew Tridgell 4deee014d6 Plane: setup PX4 airspeed analog port 2013-01-21 13:56:28 +11:00
Andrew Tridgell 92c9a4c1ce Plane: start update logging for new API 2013-01-13 17:31:42 +11:00
Andrew Tridgell bea9a9d558 Plane: move memcheck_init() earlier in setup() 2013-01-11 10:25:09 +11:00
James Bielman ab37f833db MS5611: Fix CONFIG_MS5611_SERIAL definitions. 
- Make sure the values are defined as integers.  We were always using
  SPI rather than using I2C when desired.
 2013-01-09 11:19:51 -08:00
Andrew Tridgell 38f56be2c4 Plane: enable hardware sensors on PX4 2013-01-04 21:07:56 +11:00
James Bielman 264db3670e AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C. 
- Update ArduCopter and ArduPlane modules to pass the correct serial
  driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
 2013-01-03 13:48:06 -08:00
Andrew Tridgell 4cdb3cd390 Plane: use GRAVITY_MSS 2013-01-02 14:45:08 +11:00
Andrew Tridgell 1a49549e3e Plane: start port of main ArduPlane code to AP_HAL_PX4 2013-01-02 14:45:08 +11:00
Andrew Tridgell b6295c12e1 Plane: fixes for new AP_Relay interface 2013-01-02 10:18:45 +11:00
Craig@3DR 0ed25cf719 Global change all references from 
GPS_PROTOCOL_MTK16
to
GPS_PROTOCOL_MTK19
 2013-01-02 09:24:31 +11:00
Andrew Tridgell edad43611d Plane: reset last heartbeat time on startup completion 
this gives more time for the GCS to send its first heartbeat
 2012-12-26 08:46:36 +11:00
Andrew Tridgell d54c6989ab Plane: fixed the last build warnings 
we now build with no warnings for APM1, APM2 and SITL. Yay!
 2012-12-20 22:46:48 +11:00
Andrew Tridgell feca411943 Plane: added new TRAINING mode 
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
Andrew Tridgell 9a2e77b797 Plane: fully disable relay and mount code on APM1-1280 
this saves some more flash space
 2012-12-20 14:53:23 +11:00
Andrew Tridgell cf18534163 Plane: use new functions 2012-12-20 14:53:22 +11:00
Andrew Tridgell 62d7fd1a26 Plane: fixed HIL builds 2012-12-20 14:52:37 +11:00
Andrew Tridgell 761ab5c3e8 Plane: use AP_HAL_BOARD_DRIVER 2012-12-20 14:52:33 +11:00
Andrew Tridgell 73f70cc596 Plane: moved to new GPS init syntax 2012-12-20 14:52:32 +11:00
Andrew Tridgell 678947c65d Plane: more fixes for SITL and new AP_Param startup 2012-12-20 14:52:29 +11:00
Andrew Tridgell e82deca305 Plane: updates to support AP_HAL SITL 2012-12-20 14:51:40 +11:00
Pat Hickey f8dec9ae4a ArduPlane: fixes to use CONFIG_HAL_BOARD instead of CONFIG_APM_HARDWARE 2012-12-20 14:51:37 +11:00
Pat Hickey a14621534c ArduPlane: port from hal.dataflash to old DataFlash api 2012-12-20 14:51:36 +11:00
Pat Hickey 92b0c302f2 ArduPlane: Ported to AP_HAL 2012-12-20 14:51:36 +11:00
Pat Hickey a4f1f6a5db AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR 2012-12-20 14:51:28 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
Andrew Tridgell e4949291e5 Plane: preparing for 2.68 release 2012-12-04 11:24:24 +11:00