Andrew Tridgell
57e0eb4db5
Plane: use a const reference for home
2014-02-15 05:48:15 +11:00
Andrew Tridgell
11337ab2df
Plane: updates for AHRS holding home position
2014-02-15 05:29:47 +11:00
Andrew Tridgell
cdd36b2c41
Plane: use AP_ServoRelayEvents library
2014-01-20 17:06:29 +11:00
Andrew Tridgell
2045591bed
Plane: fixed servo and relay repeat code
2014-01-20 17:06:29 +11:00
Andrew Tridgell
e4e5c92453
Plane: fixed relay handling
...
the parameters were badly out of whack!
2014-01-20 17:06:29 +11:00
Andrew Tridgell
8755747da0
Plane: only log when armed by default
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use safety switch if arming not enabled
2014-01-14 13:07:43 +11:00
Andrew Tridgell
0ec322ee47
Plane: support MAV_CMD_DO_SET_CAM_TRIGG_DIST
2013-10-11 21:37:27 +11:00
Andrew Tridgell
365e82aecb
Plane: use a rally point when out of mission items
2013-10-05 23:07:32 +10:00
Andrew Tridgell
d275f50539
Plane: added GROUND_STEER_ALT and GROUND_STEER_DPS
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this uses the new AP_SteerController steering controller developed for
the rover code to allow for ground steering of planes
2013-10-05 07:46:27 +10:00
Andrew Tridgell
011915eb1c
Plane: added error checking to rally load save
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sanity check the rally points
2013-10-03 12:21:08 +10:00
Michael Day
497c95de8e
Plane: Add support for rally points.
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Added parameter RALLY_TOTAL.
Added handlers for new MAVLink messages RALLY_POINT and
RALLY_FETCH_POINT.
defines.h modified to make room in EEPROM to store rally points.
rally.pde added and is responsible for ensuring rally points get
stored in the correct spot in EEPROM.
Multiple Rally/RTL point support now done. If rally points have
been defined, then when RTL mode is entered, the closest Rally
point is chosend and the plane loiters at that point.
Note only 10 rally points can be defined; this is to save space in
the APM's EEPROM.
2013-10-03 12:21:08 +10:00
Andrew Tridgell
dd6a69f588
Plane: added WP_MAX_RADIUS parameter
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useful when using AUTO_FBW_STEER for manual steering in competitions
2013-09-13 17:43:08 +10:00
Andrew Tridgell
a00e4a1e83
Plane: send GCS message on relay change
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makes it easier to debug
2013-08-30 15:05:16 +10:00
Andrew Tridgell
45cf82ba15
Plane: removed CONFIG_RELAY check
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relay is always available
2013-08-30 14:40:47 +10:00
Andrew Tridgell
a33573352e
Plane: fixes for updated AP_Math and AHRS APIs
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Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:30:04 +10:00
Andrew Tridgell
3c97fad2ec
Plane: changes for GPS field changes
2013-07-10 14:04:22 +10:00
Andrew Tridgell
3c177867a4
Plane: allow enable/disable of camera log messages in CLI
2013-07-10 12:23:36 +10:00
Andrew Tridgell
1d6748cf3f
Plane: use a glide slope in RTL when descending
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when above the target altitude in RTL come down slowly, when below
climb rapidly
This fixes issue #39
2013-07-05 14:56:58 +10:00
Andrew Tridgell
a5bda3ffef
Plane: changed to using a "aircraft parameters" structure
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this structure can be passed to libraries to give them easy access to
critical user parameters
2013-07-04 16:56:57 +10:00
Paul Riseborough
d62636d309
Plane: added new TECS altitude controller
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Includes improvements to takeoff/launch detect logic to support hand
launching for X-8 flight
2013-07-04 16:56:57 +10:00
Andrew Tridgell
515d726ee0
Plane: use RC_Channel::rc_channel() instead of rc_ch[]
2013-06-03 16:23:48 +10:00
Andrew Tridgell
eba7d6da9a
Plane: removed the old crash_timer code
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This code is less relevent with the new L1 navigation, and could cause
issues with the pilot not having control after a long dive.
Thanks to Soren for pointing out the issues
See issue #305
2013-05-28 11:19:28 +10:00
Andrew Tridgell
9f0f482dd7
Plane: fixed LOITER_TIME to start when loiter starts
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thanks to Paul Riseborough for finding this bug!
2013-04-15 21:39:14 +10:00
Andrew Tridgell
75f4a43e2d
Plane: fixed LOITER_TURNS command
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and cleanup more loiter variables
2013-04-15 21:31:11 +10:00
Andrew Tridgell
e918293e86
Plane: explain verify_*() commands
2013-04-15 14:41:15 +10:00
Andrew Tridgell
19b92b5bd8
Plane: removed "circle waypoint" completion test
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this is redundent with the location_passed_point() test
2013-04-15 14:39:18 +10:00
Andrew Tridgell
994d8e354a
Plane: allow for negative WP_LOITER_RAD for conter-clockwise loiter
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this follows the same convention as missions
2013-04-15 10:52:32 +10:00
priseborough
70a186464b
Plane: added LEVEL_ROLL_LIMIT parameter
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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
11eb0cfce1
Plane: update for new AP_Navigation controller class
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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
tobias
217b8d7a59
cleanup: use const for struct Location pointers and references
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this allows the compiler to generate more efficient code
2013-04-09 12:10:32 +10:00
Andrew Tridgell
a69c9ff674
Plane: added logging of DIGICAM events
2013-04-02 13:08:38 +11:00
Andrew Tridgell
dfb14d760b
Plane: added HIL_SERVOS option
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this allows for real servo output in HIL
2013-03-30 14:38:43 +11:00
Andrew Tridgell
fcde3ceb24
Plane: also avoid rudder on takeoff with TOFF_HEAD_HOLD==0
2013-03-27 16:36:39 +11:00
Randy Mackay
c2055557f5
Plane: add support for GPS fix type 2D
2013-03-27 11:41:51 +09:00
Andrew Tridgell
e8806b14ec
Plane: enable MAV_CMD_DO_DIGICAM_CONTROL
2013-02-14 09:35:56 +11:00
Andrew Tridgell
9d3224ef34
Plane: fixed target speed reload on landing
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thanks to Doug for this fix!
2013-02-11 11:40:36 +11:00
Jochen Tuchbreiter
c5f19f5df8
Plane: Implement issue 80: counterclockwise loiter
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- 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
Randy Mackay
d2767b911c
AP_Math: switch get_distance_cm to return uint32_t
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Includes changes required on ArduCopter and ArduPlane side as well
2013-01-26 17:04:12 +09:00
Andrew Tridgell
9a2e77b797
Plane: fully disable relay and mount code on APM1-1280
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this saves some more flash space
2012-12-20 14:53:23 +11:00
Pat Hickey
92b0c302f2
ArduPlane: Ported to AP_HAL
2012-12-20 14:51:36 +11:00
Andrew Tridgell
84300c85d6
APM: make it possible to run the CLI on any serial port
2012-11-21 21:41:34 +11:00
Andrew Tridgell
2324997e16
APM: added ALT_OFFSET parameter
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useful to adjust for barometric pressure changes during a long flight
2012-09-19 16:23:25 +10:00
Andrew Tridgell
7e8ef0ae95
APM: fixed handling of DO_REPEAT_SERVO and DO_REPEAT_RELAY
2012-09-17 14:45:47 +10:00
Andrew Tridgell
127117b640
APM: ensure DO_SET_SERVO channels are enabled
2012-09-16 15:08:14 +10:00
Andrew Tridgell
589c8fcc12
APM: report throttle and ground speed mission changes
2012-09-12 13:09:32 +10:00
Andrew Tridgell
7e672628ea
APM: removed the GPS_enabled flag
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this fixes using GPS_PROTOCOL to specify a specific GPS with a GPS
that takes a few updates before it works (eg. needing baud rate
changes).
This makes it easier to use an APM1-1280 with more features enabled
2012-09-11 13:37:34 +10:00
Andrew Tridgell
f26b9ab286
APM: prevent crosstrack from takeoff point after takeoff completion
2012-09-08 11:37:14 +10:00
Andrew Tridgell
85e9fa8c3b
APM: fixed another problem with DO_JUMP
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off by one error!
2012-08-28 20:18:24 +10:00
Andrew Tridgell
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