Andrew Tridgell
826ad6c086
Plane: unlock roll and pitch when we enter ACRO mode
2013-07-13 12:34:34 +10:00
Randy Mackay
1772a62415
Plane: fix to gps present check in mavlink extended status 1 msg
2013-07-13 10:27:39 +09:00
Andrew Tridgell
ea9ae31a7a
Plane: fixed a bug with altitude drift in FBWB mode
...
not taking account of deadzone correctly
2013-07-12 21:17:09 +10:00
Andrew Tridgell
cc57bfcf12
Plane: fixed handling of deadzone in ACRO mode
...
RC_Channel norm_input() does not take account of the dead zone
2013-07-12 17:54:51 +10:00
Randy Mackay
9df93881fb
Plane: set_dead_zone renamed to set_default_dead_zone
...
Change in use of parameter means value passed in should be 1/2 what it
was previously
2013-07-12 11:44:18 +09:00
Andrew Tridgell
f300df5fd1
Plane: added FS_LONG_TIMEOUT and FS_SHORT_TIMEOUT parameters
...
this is to address the issue raised here:
http://diydrones.com/forum/topics/ardupilot-circle-mode
2013-07-12 11:56:04 +10:00
Andrew Tridgell
73928b82a6
Plane: fixed FBWB airspeed control
...
thanks to Gabor for reporting this!
2013-07-11 11:58:54 +10:00
Andrew Tridgell
1d04290eab
Plane: change to 2.74beta3
2013-07-11 11:58:54 +10:00
Andrew Tridgell
11a4628409
Plane: added ACRO mode to mode choices
2013-07-11 09:10:41 +10:00
Andrew Tridgell
fc67f51901
Plane: added ACRO_ROLL_RATE and ACRO_PITCH_RATE parameters
...
default to 180 degrees/second, which seems reasonable
2013-07-11 09:10:41 +10:00
Andrew Tridgell
608007361b
Plane: added initial implementation of ACRO mode
...
rate based control with attitude locking
2013-07-11 09:10:41 +10:00
Andrew Tridgell
2005d5642a
Plane: fixed a documentation string
...
GND_ALT_OFFSET is now for barometric corrections
2013-07-10 14:46:22 +10:00
Andrew Tridgell
3c97fad2ec
Plane: changes for GPS field changes
2013-07-10 14:04:22 +10:00
Andrew Tridgell
7aa360b176
Plane: added relative_altitude helper functions
...
prevents some code duplication
2013-07-10 14:04:22 +10:00
Paul Riseborough
971d36f06b
Plane: added height to 10Hz TECS call
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
f7c8d1e1ee
Plane: use current_loc.alt for altitude to TECS
2013-07-10 11:55:35 +10:00
Craig@3DR
7f4336430a
Plane: trigger picture + logging on camera update_location()
2013-07-10 08:40:01 +10:00
Paul Riseborough
a4f3180e2a
Plane: added support for throttle nudging with TECS
2013-07-09 20:51:03 +10:00
Paul Riseborough
c34803db13
Plane: pass in adjusted height above field to TECS
2013-07-09 09:25:55 +10:00
Andrew Tridgell
9f612f6f78
Plane: only call TECS when throttle is not suppressed
...
this helps prevent integrator buildup on the ground
2013-07-08 12:07:50 +10:00
Andrew Tridgell
1355b6d89d
Plane: break-up scheduling into smaller pieces
...
ensure mavlink sends don't push us over a scheduling boundary
2013-07-05 18:05:27 +10:00
Andrew Tridgell
1d6748cf3f
Plane: use a glide slope in RTL when descending
...
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
d30dd7c3f1
Plane: only run TECS when in an auto-throttle mode
...
this prevents integrator buildup in user controlled modes
2013-07-05 14:55:22 +10:00
Andrew Tridgell
dd330885b8
Plane: added compass and baro accumulate functions
2013-07-05 12:59:15 +10:00
Andrew Tridgell
84299c3747
Plane: document ALT_CTRL_ALG=2
2013-07-04 17:00:04 +10:00
Andrew Tridgell
6c7d160ee6
Plane: fixed TECS takeoff detection
2013-07-04 16:56:57 +10:00
Andrew Tridgell
a5bda3ffef
Plane: changed to using a "aircraft parameters" structure
...
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
...
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
f3237b9e5d
Plane: update FS_LONG_ACTN and FS_SHORT_ACTN docs
...
thanks to Craig for noticing this
2013-07-02 14:50:04 +10:00
Andrew Tridgell
75ef7c26e1
Plane: update takeoff course when conditions met
...
This allows for change of heading before the final takeoff conditions
are met
thanks to Greg Fletcher for suggesting this
2013-07-01 17:05:13 +10:00
Andrew Tridgell
570ecea6c6
Plane: added secondary rudder support
2013-06-29 17:31:03 +10:00
Andrew Tridgell
0d3faeda90
Plane: update_mount assumes 50Hz, for camera trigger
2013-06-25 12:44:26 +10:00
Andrew Tridgell
bb47029564
Plane: enable CAM_TRIGG_DIST parameter
2013-06-25 12:44:26 +10:00
Andrew Tridgell
45f5d05bd2
Plane: enabled RELAY_* parameters
2013-06-25 12:44:26 +10:00
Andrew Tridgell
056e0ca40d
Plane: APM2 doesn't have channel 9 PWM output
2013-06-24 13:06:54 +10:00
Paul Riseborough
2204b30e66
Plane: Added APM_Control integrator limits to table used to covert old PID values
2013-06-22 21:59:47 +10:00
Randy Mackay
6ea568d72a
Plane: param description change for RC5 ~ RC11
...
Reversing the order may avoid duplication of param descriptions in the
auto generated parameter web page
2013-06-21 09:58:02 +09:00
Randy Mackay
75bcd7cdab
Plane: update THR_FS_VALUE parameter description
2013-06-18 15:57:29 +09:00
Andrew Tridgell
4a0c90246e
Plane: make GPS UART blocking again
2013-06-11 18:50:23 +10:00
Andrew Tridgell
641ad6bc63
Plane: increase time allowed for update_alt()
...
the altitude tracking code can be quite expensive with TECS
2013-06-07 08:41:09 +10:00
Andrew Tridgell
b0c87b8a61
Plane: fix VOLT_DIVIDER docs
2013-06-07 08:40:28 +10:00
Andrew Tridgell
b27ffdd087
Plane: new plane beta 2.74beta2
2013-06-04 15:10:11 +10:00
Andrew Tridgell
c008fa764c
Plane: update_commands() can take 7ms if it needs to write a waypoint
2013-06-04 13:42:25 +10:00
Andrew Tridgell
93cd0f9a31
Plane: switch to new AP_Scheduler
...
this gives us more accurate task scheduling in ArduPlane, plus better
monitoring of task timing (via SCHED_DEBUG)
2013-06-04 13:34:58 +10:00
Andrew Tridgell
6bac13f9e2
Plane: fixed RCMAP_* to fix channel ranges for no-reboot changes
2013-06-03 21:20:39 +10:00
Andrew Tridgell
02d72ffcba
Plane: make it possible to change board orientation at runtime
2013-06-03 16:52:44 +10:00
Andrew Tridgell
4c9bc30f58
Plane: make it possible to change control channel ordering without reboot
...
this makes configuration a bit easier
2013-06-03 16:42:38 +10:00
Andrew Tridgell
27bc0cdc2c
Plane: rename old channel_* globals
...
prevent the old "g." names from being used
2013-06-03 16:37:51 +10:00
Andrew Tridgell
a1f64d606a
Plane: fixed remaining places where primary channel ordering was assumed
...
should now use rcmap for all inputs
2013-06-03 16:23:48 +10:00
Andrew Tridgell
fb9bf21522
Plane: allow channel mapping of first 4 channels
...
this makes it easier to support DSM and SBUS radios
2013-06-03 16:23:48 +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
f7697574db
Plane: use the new airspeed driver interface
...
the choice of analog source is now in the airspeed driver
2013-06-03 11:51:09 +10:00
Andrew Tridgell
d9bcfd913a
Plane: reset attitude integrators on mode change
2013-06-01 22:29:38 +10:00
Andrew Tridgell
bb3171ab5f
Plane: zero attitude integrators on the ground
2013-06-01 22:29:38 +10:00
Andrew Tridgell
cd55ed45e2
Plane: removed the old roll/pitch/yaw PID controllers
...
use the new controllers, with auto parameter conversion
2013-05-31 14:06:56 +10:00
Andrew Tridgell
91a04ab654
Plane: fixed headers for mode logging
2013-05-31 14:04:03 +10:00
Andrew Tridgell
cae1079747
Plane: auto-convert the old RLL2SRV* parameters to the new CTL_RLL_* parameters
2013-05-31 07:58:29 +10:00
Andrew Tridgell
e48b8c7b4a
Plane: improve RTL altitude docs
2013-05-31 07:58:29 +10:00
Andrew Tridgell
6e0f1f56de
Plane: update docs on volt/current pin
2013-05-31 07:57:15 +10:00
Andrew Tridgell
fa9eb84542
Plane: added more parameter docs (flaps and GCS control)
2013-05-30 09:44:09 +10:00
Andrew Tridgell
de904468b2
Plane: added BATT_MONITOR and VOLT_DIVIDER docs
2013-05-30 09:06:36 +10:00
Andrew Tridgell
eba7d6da9a
Plane: removed the old crash_timer code
...
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
f9a1b4f0e3
Plane: improve ALT_MIX docs
2013-05-28 10:10:22 +10:00
Andrew Tridgell
767d9d0eb5
Plane: fixed stick mixing in AUTO modes
...
the mixing was asymmetric. Many thanks to Soren Kuula for noticing this!
2013-05-27 08:24:35 +10:00
Andrew Tridgell
c481ac8745
Plane: use a default mixing gain of 0.5
...
this ensures compatibility with existing configs
2013-05-25 19:15:47 +10:00
Andrew Tridgell
c81421e275
Plane: added MIXING_GAIN parameter
...
this allows for the full range of output on both channels, but can
saturate
2013-05-25 18:28:13 +10:00
Andrew Tridgell
a22f5e3bc4
Plane: enable wind estimation
2013-05-24 11:21:42 +10:00
Andrew Tridgell
dd633fcf3f
Plane: make voltage and battery capacity failsafe settable at runtime
...
this also fixes issue #292
2013-05-22 20:33:57 +10:00
Randy Mackay
4c08e32bf6
Plane: param update for AP_Baro
2013-05-21 14:22:23 +09:00
Randy Mackay
84909ee56a
Plane: add parameter description for LOG_BITMASK
2013-05-21 11:22:11 +09:00
Randy Mackay
c7961a72fc
Plane: send_text_P bug fix for short messages
2013-05-20 12:51:16 +09:00
Andrew Tridgell
bd4b7d136f
Plane: mark ArduPlane 2.74beta
2013-05-13 17:32:33 +10:00
Andrew Tridgell
001d18b51d
Plane: removed scaling of pitot source
2013-05-13 15:19:05 +10:00
Andrew Tridgell
97b6aaac77
Plane: use voltage_average() for RSSI
...
this fixes it on PX4
2013-05-13 15:19:05 +10:00
Andrew Tridgell
b940c4b28e
Plane: use library gcs_severity
2013-05-09 09:28:57 +10:00
Andrew Tridgell
635b3fabda
Plane: fixed APM1-1280 build
2013-05-08 21:44:45 +10:00
Andrew Tridgell
81c1fd5fc4
Plane: support 3D accel calibration over MAVLink
2013-05-08 16:25:35 +10:00
Andrew Tridgell
c5f1570f32
Plane: fixed flash logging of ATT
...
fixed types to be int16
2013-05-08 14:21:32 +10:00
priseborough
854c50501d
Plane: Added a constraint to demanded bank angle during FBW-A mode to prevent roll limits being exceeded
2013-05-07 11:01:05 +10:00
Andrew Tridgell
fdd509a7c1
Plane: move baro init earlier in startup
...
this ensures it is initialised when CLI takeover by MP happens
Thanks to Prof Avi Levi for reporting this bug
2013-05-06 10:57:57 +10:00
Andrew Tridgell
0cf49308af
Plane: mark a 2.73beta release
2013-05-05 22:36:22 +10:00
Andrew Tridgell
0e6a64fc14
Plane: reset roll/pitch integrators for APM_Control in takeoff
...
when airspeed is below airspeed minimum. This is consistent with the
previous controllers
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-05-05 22:03:13 +10:00
Andrew Tridgell
9c6f80c42b
Plane: moved some default values to Parameters.pde
2013-05-05 21:51:09 +10:00
Andrew Tridgell
6251d0510a
Plane: obey pitch trim and throttle pitch feed forward in new controllers
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-05-05 21:51:09 +10:00
Andrew Tridgell
e87a6d5564
Plane: added links to new APM controller docs
2013-05-05 21:51:09 +10:00
Andrew Tridgell
11ad9d5a2d
Plane: auto-invert pitch control when upside down
...
this helps to recover when flying inverted, for example when in manual
and hitting the lower altitude geofence
2013-05-05 21:51:09 +10:00
Andrew Tridgell
4e2b88f6e6
Plane: added ATT_CONTROLLER option to select attitude controller
...
set to 1 for the new APM_Control library
2013-05-05 21:51:09 +10:00
Andrew Tridgell
55f7d18979
Plane: avoid copying the DCM matrix
2013-05-05 21:51:09 +10:00
priseborough
3663426550
Plane: Fixed bug in groundspeed_undershoot that could cause a fly-away in windy conditions.
...
Use the component of velocity in the forward direction rather than the magnitude
2013-05-05 21:51:08 +10:00
Paul Riseborough
663951d9a7
Plane: rename APM_Control parameters
...
this groups the parameters more logically
2013-05-05 21:51:08 +10:00
Paul Riseborough
8c5b603848
Plane: use new APM_Control API
2013-05-05 21:51:08 +10:00
Andrew Tridgell
b43712e4d2
Plane: fixed APM1-1280 build
2013-05-03 12:40:43 +10:00
Andrew Tridgell
9f0a4dd553
Plane: log GCS text messages to flash log
...
useful for seeing more complex actions
2013-05-03 11:16:50 +10:00
Andrew Tridgell
bb8f9d5443
Plane: simplify setHIL for baro
2013-05-02 15:27:02 +10:00
Andrew Tridgell
3cd52a9689
Plane: fixes for AP_Baro_HIL
2013-05-02 15:09:27 +10:00
Andrew Tridgell
0d97f417ec
Plane: enable compass on all boards by default
...
if not present, then mag init will fail and it will disable
2013-05-02 15:01:33 +10:00
Andrew Tridgell
0aa38a5bd4
Plane: use new HIL compass API
2013-05-02 15:00:59 +10:00
Andrew Tridgell
5ba171af9a
Plane: fixed mavlink levelling
...
this was broken by a recent commit (after 2.72 was released)
2013-05-02 13:38:28 +10:00
Andrew Tridgell
a019e3740e
Plane: updates for new compass API
2013-05-02 12:48:14 +10:00
Andrew Tridgell
9584aa89d9
Plane: replaced constrain() with constrain_float()
2013-05-02 10:27:10 +10:00
Randy Mackay
b0f5b9a4cf
Plane: use renamed RCInput valid_channels
2013-04-29 15:06:38 +09:00
Andrew Tridgell
de3fcbc413
Plane: removed the MANUAL_LEVEL option
...
levelling on every startup is far too error prone. This was just
another parameter that everyone changed.
2013-04-29 14:19:53 +10:00
Andrew Tridgell
3d7a4d0e6e
Plane: added ELEVON_OUTPUT option
...
this is like the vtail mixer, but for elevons
2013-04-29 12:13:59 +10:00
Andrew Tridgell
855277fa85
Plane: get ready for 2.72 release
2013-04-28 15:56:30 +10:00
Andrew Tridgell
bdf0a2da69
Plane: log mode number as well as mode string
...
this makes graphing mode changes easier
2013-04-28 14:58:13 +10:00
Andrew Tridgell
b53e3bb1fc
Plane: log GPS messages as they come in
...
stops us logging duplicate messages
2013-04-28 14:56:31 +10:00
Andrew Tridgell
1956d9c2dc
Plane: show modes as strings in log
2013-04-28 14:47:59 +10:00
Randy Mackay
f47a2e951a
Plane: add I2C error count to PM message
2013-04-26 22:39:56 +09:00
Andrew Tridgell
0b8c2da4df
Plane: support 12 output channels on PX4
2013-04-25 20:10:53 +10:00
Andrew Tridgell
4f225eff57
Plane: if airspeed enabled, require 5m/s to unsuppress throttle
2013-04-25 20:10:53 +10:00
Andrew Tridgell
ac7561c5d5
Plane: mark 2.72beta version
2013-04-24 16:19:18 +10:00
Andrew Tridgell
8ec1eaa8b1
build: removed obsolete cmake rules
...
these have not been maintained for over a year
2013-04-23 11:07:53 +10:00
Andrew Tridgell
e446f375a7
Plane: set loiter.direction for GUIDED mode
2013-04-21 23:46:35 +10:00
Bill Bonney
3ec891265f
Plane: Enable CURRENT logging by default onto Dataflash
2013-04-21 07:24:02 +10:00
Andrew Tridgell
02ed37e750
Plane: fixed APM1-1280 build
2013-04-20 18:21:19 +10:00
Andrew Tridgell
2e5834cc7f
Plane: print flight mode as string in logs
2013-04-20 15:18:10 +10:00
Andrew Tridgell
3b90c6c386
Plane: log parameter changes
2013-04-20 13:52:36 +10:00
Andrew Tridgell
991d6598ef
Plane: log board voltage
2013-04-20 13:52:36 +10:00
Andrew Tridgell
5c553852ed
Plane: when logging is disabled don't include DataFlash at all
2013-04-20 13:52:36 +10:00
Andrew Tridgell
0c5b393919
Plane: added compass logging
2013-04-20 13:52:36 +10:00
Andrew Tridgell
c56f338fe0
Plane: convert to new logging system
2013-04-20 13:52:36 +10:00
Andrew Tridgell
c8af70a18d
Plane: make the plane code compatible with the new logging system
...
not actually converted yet
2013-04-20 13:52:36 +10:00
Andrew Tridgell
a329e32ccb
Plane: added gps status to flashlog
2013-04-19 10:24:20 +10:00
Andrew Tridgell
abe4dba871
Plane: added PX4 flash logging
2013-04-17 21:35:27 +10:00
Andrew Tridgell
a12323c9fd
Plane: fixed logging for new API
2013-04-17 21:34:56 +10:00
Andrew Tridgell
42344455c9
Plane: fixed structure init for arduino compiler
2013-04-15 21:59:07 +10:00
Andrew Tridgell
9f0f482dd7
Plane: fixed LOITER_TIME to start when loiter starts
...
thanks to Paul Riseborough for finding this bug!
2013-04-15 21:39:14 +10:00
Andrew Tridgell
75f4a43e2d
Plane: fixed LOITER_TURNS command
...
and cleanup more loiter variables
2013-04-15 21:31:11 +10:00
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
e918293e86
Plane: explain verify_*() commands
2013-04-15 14:41:15 +10:00
Andrew Tridgell
19b92b5bd8
Plane: removed "circle waypoint" completion test
...
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
...
this follows the same convention as missions
2013-04-15 10:52:32 +10:00
Andrew Tridgell
78538d0543
Plane: removed old HDNG2RLL PID control
...
not used with L1
2013-04-15 10:52:32 +10:00
Andrew Tridgell
b2ad43f625
Plane: removed ahrs.set_barometer()
2013-04-15 10:52:32 +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
c47bc09a3c
Plane: avoid doing radio trim if less than 20% of travel available
...
this prevents problems with awful trim on bootup due to RC TX being
off
2013-04-12 12:47:59 +10:00
tobias
217b8d7a59
cleanup: use const for struct Location pointers and references
...
this allows the compiler to generate more efficient code
2013-04-09 12:10:32 +10:00
Andrew Tridgell
71f6287388
Plane: fixed spelling
2013-04-06 17:42:20 +11:00
Andrew Tridgell
dcbe144c7e
Plane: prepare for release of 2.71
2013-04-06 17:27:21 +11:00
Andrew Tridgell
e58f49aeaf
Plane: copy rudder out in TRAINING mode
...
we were doing rudder mixing in training mode, which shouldn't be done
2013-04-05 19:38:43 +11:00
Andrew Tridgell
993154ea59
Plane: expand the VTAIL_OUTPUT docs for APM1
2013-04-05 16:38:46 +11:00
Andrew Tridgell
bd2b9fbe9d
Plane: simplify the VTail mixer to be more like a hardware mixer
...
this should make it easier to trim the vtail
2013-04-05 15:47:51 +11:00
Andrew Tridgell
17cbcd1bf6
Plane: fixed failsafe with VTAIL_OUTPUT
2013-04-05 15:35:26 +11:00
Andrew Tridgell
406921faf1
Plane: added VTAIL_OUTPUT option
...
this allows for software vtail mixing
2013-04-05 15:22:11 +11:00
Randy Mackay
21a51c8333
Plane: update GCS_Mavlink parameter documentation
2013-04-03 22:58:25 +09:00
Andrew Tridgell
a69c9ff674
Plane: added logging of DIGICAM events
2013-04-02 13:08:38 +11:00
Andrew Tridgell
ddfcafe80f
Plane: fixed DIGICAM camera trigger
2013-04-02 13:08:38 +11:00
Andrew Tridgell
683a2919d1
Plane: prevent stick mixing when throttle is below failsafe threshold
...
this fixes issue #40
2013-04-02 10:42:56 +11:00
Andrew Tridgell
c5e2cfcc3e
Plane: preparing for 2.71-beta
2013-04-02 09:25:24 +11:00
Andrew Tridgell
2506c216dd
Plane: added a second type of stick mixing
...
this changes STICK_MIXING from a boolean to a tri-state. With
STICK_MIXING=1 it now uses FBW style mixing. With STICK_MIXING=2 it
uses the old style of direct stick mixing.
2013-04-02 08:52:56 +11:00
Andrew Tridgell
5d54215221
Plane: use int16_t() not int() to ensure simulator matches AVR
2013-04-01 22:17:05 +11:00
Andrew Tridgell
e390726bdd
Plane: prevent overflow on large PID gains
...
this uses get_pid_4500() to prevent overflow of servo_out on large PID gains
2013-04-01 22:17:04 +11:00
Andrew Tridgell
624ebced38
Plane: document INVERTEDFLT_CH
2013-04-01 22:17:04 +11:00
Andrew Tridgell
dfb14d760b
Plane: added HIL_SERVOS option
...
this allows for real servo output in HIL
2013-03-30 14:38:43 +11:00
Andrew Tridgell
6cc4aadc06
Plane: report compass health in SYS_STATUS
2013-03-29 13:48:40 +11:00
Andrew Tridgell
a165f0d138
Plane: removed old angle wrap code
2013-03-29 13:13:50 +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
Andrew Tridgell
fcde3ceb24
Plane: also avoid rudder on takeoff with TOFF_HEAD_HOLD==0
2013-03-27 16:36:39 +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
Randy Mackay
c2055557f5
Plane: add support for GPS fix type 2D
2013-03-27 11:41:51 +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
1a36c3684b
Plane: fixed GPS test (detection of uBlox needs 10Hz poll)
2013-03-21 22:45:17 +11:00
Andrew Tridgell
6948e0c473
Plane: only enter CLI is link is idle when 3 enters are hit
...
this will prevent binary contents of RADIO packets being interpreted
as CLI enter line-feeds
2013-03-21 21:57:54 +11:00
Andrew Tridgell
0e37ae4400
Plane: change CLI timeout to 20s
2013-03-21 17:34:34 +11:00
John Stäck
c9576e59f9
Add set command to setup menu (and changed show command), same as for ArduCopter. Not included when building for 1280.
2013-03-19 11:40:25 +09:00
Randy Mackay
36834e77b5
Copter: remove support for CLI Slider
2013-03-18 14:07:04 +09:00
Andrew Tridgell
36ff950b12
Plane: fixed MAVLink target IDs in fence point message
...
thanks to Kevin Hester for finding this
2013-03-12 15:04:48 +11:00
Andrew Tridgell
0a385cc0ff
Plane: added TKOFF_THR_MINACC option
...
this is used for triggering auto takeoff with a hand launched plane
2013-03-09 14:41:04 +11:00
Michael Warren
9697ff5d6d
Plane: Added extra parameter to specify at what speed in auto-takeoff throttle should engage
...
This adds TKOFF_THR_MINSPD in m/s
2013-03-09 14:19:48 +11:00
Andrew Tridgell
87c6545ac6
Plane: don't trigger GCS failsafe if GCS never connected
...
The we have never received a heartbeat message from the GCS then don't
use the lack of heartbeat to trigger a failsafe event
2013-03-09 13:48:39 +11:00
Andrew Tridgell
e93888dee9
Plane: make a throttle_cruise of 0 mean always zero throttle
...
this can be used for parachute landing missions
Thanks to Chris Miser for the suggestion
2013-03-09 13:48:39 +11:00
Andrew Tridgell
e0e22b63a7
Plane: removed INPUT_VOLTS parameter
...
no longer needed
2013-03-08 10:01:33 +11:00
Andrew Tridgell
2331c84423
Plane: use voltage_average() to not depend on INPUT_VOLTS
2013-03-03 16:16:01 +11:00
Andrew Tridgell
de55e19eec
Plane: updates for new dataflash API
2013-03-01 07:18:26 +11:00
Andrew Tridgell
b3213b7113
Plane: fixes for new DataFlash API
2013-03-01 07:18:25 +11:00
Andrew Tridgell
5f4c5f8201
Plane: update SERIAL0_BAUD parameter description
2013-02-22 08:39:02 +11:00
Andrew Tridgell
139acc0530
Plane: ignore control mode changes when in throttle failsafe
...
this prevents the receiver causing a temporary mode change
2013-02-21 11:21:39 +11:00
Andrew Tridgell
1ebaa14a99
Plane: prepare for 2.70 release
2013-02-21 09:49:15 +11:00
Andrew Tridgell
0a0b51cc63
Plane: reset AHRS trim after a level operation
2013-02-20 11:56:02 +11:00
Andrew Tridgell
24826c0c74
Plane: default the stream rates to 1Hz
2013-02-20 10:08:49 +11:00
Andrew Tridgell
1007f2ef07
Plane: fixed a bug with setting stream rates
...
this is what caused the "no sensors" problem in the 2.69 release
2013-02-20 09:32:01 +11:00
Randy Mackay
9c984b18db
Plane: integrate automatic roll and pitch trims
2013-02-19 13:30:51 +09:00
Andrew Tridgell
c989099665
Plane: enable PX4IO dual telemetry devices
2013-02-18 13:56:21 +11:00
Andrew Tridgell
e8806b14ec
Plane: enable MAV_CMD_DO_DIGICAM_CONTROL
2013-02-14 09:35:56 +11:00
Andrew Tridgell
8c0f065ee4
Plane: fixed an integer multiply error that caused poor altitude on landing
...
the control of altitude between waypoints was broken due to an integer
overflow
2013-02-13 19:32:44 +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
Andrew Tridgell
9d3224ef34
Plane: fixed target speed reload on landing
...
thanks to Doug for this fix!
2013-02-11 11:40:36 +11:00
Michael Oborne
88840eb759
Send FS state to gcs for AP
2013-02-09 10:11:26 +08:00
Andrew Tridgell
c41b927a15
Plane: added shell command for px4
...
used to launch nsh for PX4IO firmware upgrades
2013-02-07 15:04:33 +11:00
Andrew Tridgell
3913c42183
Plane: fixed bit combination
...
bitwise, not arithmetic
2013-02-05 10:33:10 +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
Brandon Jones
fa7839941f
After Plane: cleanup driver declaration 4d9a74d
, HIL_MODE_ATTITUDE with MAG_ENABLE=1 set results in continuous reboot/APM crash. Added define for AP_COMPASS_HIL when HIL_MODE_ATTITUDE is enabled.
2013-02-05 09:04:34 +11:00
Michael
b9a5be6c8b
Plane: added secondary elevator support
2013-02-05 08:57:58 +11:00
Andrew Tridgell
e762c43312
Plane: switch to an array for stream rates
...
this saves a couple of hundred bytes of flash.
2013-02-05 08:20:41 +11:00
Pat Hickey
85d783d5a9
ArduPlane: fixed memory unsafe member access in GCS_MAVLINK
2013-02-02 22:43:59 -08:00
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
9178022a73
Plane: don't change trims if radio_in is zero
2013-01-25 20:44:36 +11:00
Andrew Tridgell
7ab3d93ed4
Plane: fixed typo
2013-01-23 10:06:22 +11:00
Andrew Tridgell
49356b790b
Plane: limit number of bytes read per GCS check
2013-01-23 09:35:06 +11:00
Andrew Tridgell
9813468640
Plane: fixed mavlink fetch of 16 character parameter
2013-01-21 16:52:08 +11:00
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
96b87e3b44
Plane: fixed test baro printout
2013-01-20 22:13:21 +11:00
Andrew Tridgell
2e04d4827a
Plane: run PX4 console at 57600
2013-01-20 22:13:21 +11:00
Andrew Tridgell
f9cb9e08ae
Plane: fixed orientation of PX4 compass
2013-01-17 17:23:34 +11:00
Andrew Tridgell
9058949558
Plane: fixed some warnings
2013-01-16 14:19:25 +11:00
James Bielman
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
Andrew Tridgell
fa3a4c68b6
Plane: use common log reading function
2013-01-15 14:03:51 +11:00
Andrew Tridgell
28352b3548
Plane: ensure ahrs.init() is called
2013-01-13 17:32:48 +11:00
Andrew Tridgell
92c9a4c1ce
Plane: start update logging for new API
2013-01-13 17:31:42 +11:00
Andrew Tridgell
bfaf91affe
Plane: use an enum for flash log message types
2013-01-13 17:31:42 +11:00
Andrew Tridgell
86f667f6cc
Plane: added new SERIAL0_BAUD parameter
...
this is useful on PX4
2013-01-13 07:39:40 +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
e0f052dd9a
Plane: update for new AP_Param API
2013-01-09 13:30:55 +11:00
Andrew Tridgell
38f56be2c4
Plane: enable hardware sensors on PX4
2013-01-04 21:07:56 +11:00
Andrew Tridgell
2e2f96d721
Plane: cope with a HIL_STATE packet before GPS init
2013-01-04 12:47:08 +11:00
Andrew Tridgell
9e0096ddb5
Plane: fix handling of sensors HIL startup
2013-01-04 12:34:35 +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
868269e037
Plane: switch PX4 to attitude HIL for now
...
a bit easier to debug
2013-01-03 13:38:54 +11:00
Andrew Tridgell
e8075b1657
Plane: for HIL_SENSORS for PX4 for now
...
until we have sensor drivers
2013-01-03 11:03:24 +11:00
Andrew Tridgell
07eed60ae4
Plane: use new apm.mk
2013-01-02 17:28:21 +11:00
Andrew Tridgell
2fe77fa6fa
Plane: check for APPDIR to pull in px4 build logic
2013-01-02 17:06:44 +11:00
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
85e4f67e68
Plane: added a note about the dangers of the FS_GCS_ENABL option
2012-12-25 21:18:39 +11:00
Andrew Tridgell
cf8e648558
CLI: fixed accel setup
...
disable mavlink callback in CLI
2012-12-24 08:51:33 +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
dc2b11704f
Plane: fixed a build warning
2012-12-20 22:42:44 +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
1cb4724b7f
Plane: fixes for 1280 build
2012-12-20 14:53:24 +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
772f93ea10
Plane: fixed config for 1280
2012-12-20 14:53:23 +11:00
Pat Hickey
5231e5a959
ArduPlane: fixes for AP_InertialSensor_UserInteract
2012-12-20 14:53:23 +11:00