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21583 Commits

Author SHA1 Message Date
Francisco Ferreira af6d8e3c36 AP_Param: explicitly cast to float to avoid Clang warning 
/home/travis/build/ArduPilot/ardupilot/libraries/AP_Param/AP_Param.h:542:22: warning: using floating point absolute value function 'fabsf' when argument is of integer type [-Wabsolute-value]
        bool force = fabsf(_value - v) < FLT_EPSILON;
 2016-04-22 17:33:06 +01:00
Randy Mackay 71692044f8 AP_Parachute: resolve compile warning re init order 2016-04-22 21:32:35 +09:00
Randy Mackay 4291139b6c Plane: ack DO_MOUNT_CONTROL messages 2016-04-22 21:30:51 +09:00
Randy Mackay 699816400e Copter: ack DO_MOUNT_CONTROL messages 2016-04-22 21:30:49 +09:00
Randy Mackay a5ed3c9b12 Rover: ack DO_MOUNT_CONTROL messages 2016-04-22 21:30:47 +09:00
Randy Mackay 762c9ed4b0 Copter: remove unused FS_CLOSE_TO_HOME definition 2016-04-22 21:30:44 +09:00
Randy Mackay 554affeaf5 Copter: fix scheduler comment 2016-04-22 21:30:39 +09:00
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 
@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 
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 
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() 
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 
- 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 
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 
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 
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 
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 
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