Samuel Tabor
|
16b7de4029
|
AP_Soaring: Cleanup variometer.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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62a34e0f8d
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AP_Soaring: Calculate filter time constant based on airspeed and loiter radius, using 3x circline rate.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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2b40182b34
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AP_Soaring: Reduce drift feed-forward by ratio of climb rate to thermal core strength. This is consistent with assumption that each packet of air, rising at core strength, is convected with the ambient wind speed.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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15cef55e97
|
SITL: Make thermal drift relative to 100m alt to avoid so much change with wind speed and direction."
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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8072f6b858
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AP_Soaring: Make the trigger VSPEED take account of thermalling sink.
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2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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650b464831
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AP_Soaring: Move drift check to separate function and check drift with reference to mission segment, allowing drift in right direction. LOITER target, not current position, is now used.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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45cb663d73
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AP_Math: Add template for Vector2f::projected.
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2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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fab74f8927
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AP_Soaring: Calculate expected thermalling sink live and avoid divide by zero by limiting airspeed to that corresponding to CL max (generously assumed 1.5 for glider).
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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5963164a22
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Plane: Soaring, make zero SOAR_MAX_RADIUS always RTL, and -1 never.
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2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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75f772b269
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AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER.
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2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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298088268a
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Plane: Soaring, don't wait for heading if too low, and add timeout otherwise.
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2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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684ee11fc3
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AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring.
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2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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dc8c062fbe
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AP_TECS: Correct an error in the SEBdot FF term.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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247738518e
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AP_TECS: Add a feed-forward term from adjusted demanded airspeed to nav pitch.
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2020-04-08 09:11:54 +10:00 |
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Samuel Tabor
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a27c99fab9
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AP_TECS: Return the adjusted demanded airspeed. The aspd_error mavlink message now shows the rate-limited airspeed.
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2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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ae27f96361
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SITL: Make soaring thermals slanted.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
a18d6e925d
|
AP_Soaring: Improved default sim parameters.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
013628bd1d
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Plane: Soaring - better reporting of exit due to drift.
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2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
e1b2360781
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AP_Soaring: Add a maximum allowable drift distance when thermalling.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
96bc0e1e03
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Plane: Soaring: Reset loiter.sum_cd when good to continue thermalling, so that exit heading acceptance criteria does not grow.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
e7736fb5e7
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AP_Soaring: Line up on current, not next, nav command.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
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936d4232c9
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AP_Soaring: Add a 60s first order filter on climb rate. If this becomes negative exit thermalling.
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2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
a56b1dadb9
|
Plane: fix bug with headingLinedUp when loiter.sum_cd was negative.
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2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
30249e8006
|
AP_Soaring: Add a check of whether altitude has been lost overall when thermalling.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
5082c9be8b
|
SITL: Add plane-soaring type, including parameters, mission, simulated thermals and glider sim settings.
|
2020-04-08 09:11:54 +10:00 |
|
Tom Pittenger
|
394fbb1a50
|
Plane: unified soaring exit behavior: auto heads to next wp, cruise continues cruise heading, FBW to home
|
2020-04-08 09:11:54 +10:00 |
|
Tom Pittenger
|
f24095e9ed
|
AP_Soaring: inhibit msg spam when lingering in loiter waiting for heading to line up
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
3211c03f58
|
AP_Soaring: Remove unused methods, clean up and log position in N/E rather than Lat/Lng.
Fix
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
152c1507e0
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AP_Soaring: Make the EKF states the actual NE position of the thermal, rather than the position relative to aircraft.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
d7abd296ef
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AP_Soaring: Avoid calculations in lat/lng.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
0cccc8dc29
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AP_Soaring: Fix issue with loiter radius being saved as zero due to initialisation order. This caused incorrect calculation of thermal climb potential and cases of staying in thermals that should have been abandoned.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
c135b00b7b
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AP_Soaring: Remove redundant check for new vario data.
|
2020-04-08 09:11:54 +10:00 |
|
Samuel Tabor
|
64460be0d0
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AP_Soaring: Implement vario based on acceleration rather than differentiated airspeed.
|
2020-04-08 09:11:54 +10:00 |
|
Tom Pittenger
|
ce9450846b
|
Plane: fix soaring typo
|
2020-04-08 09:11:54 +10:00 |
|
Tom Pittenger
|
ec8f82422a
|
Plane: move loiter heading init for auto into auto helper, and properly reset it in loiter mode enter
|
2020-04-08 09:11:54 +10:00 |
|
Tom Pittenger
|
fd4b7c823e
|
Plane: improved soaring exit options
|
2020-04-08 09:11:54 +10:00 |
|
Tom Pittenger
|
f397c168e8
|
Plane: refactor loiter heading exit logic
|
2020-04-08 09:11:54 +10:00 |
|
Tom Pittenger
|
f6396d7a6d
|
Plane: add reason to exit Thermal loiter and adjust LOW alt reaon to cause RTL
|
2020-04-08 09:11:54 +10:00 |
|
Tom Pittenger
|
52ae093a97
|
AP_Soaring: add reason to exit Thermal loiter
|
2020-04-08 09:11:54 +10:00 |
|
Michael du Breuil
|
73c5c2e1bb
|
AP_Arming: Check that sticks are neutral
|
2020-04-07 14:01:12 -07:00 |
|
Michael du Breuil
|
5104e4bd13
|
Rover: Report what channel is used for rudder arming
|
2020-04-07 14:01:12 -07:00 |
|
Michael du Breuil
|
132fe82ad2
|
Copter: Report what channel is used for rudder arming
|
2020-04-07 14:01:12 -07:00 |
|
Michael du Breuil
|
9600eea394
|
Plane: Report what channel is used for rudder arming
|
2020-04-07 14:01:12 -07:00 |
|
Michael du Breuil
|
2b9aa9bc21
|
RC_Channel: Add option bit for arming checking the throttle input (opt-in)
Also adds interface to find out what channel is used for rudder arming
|
2020-04-07 14:01:12 -07:00 |
|
murata
|
7ec0cb47a5
|
AP_Compass: const extern hal reference
|
2020-04-07 20:45:51 +09:00 |
|
murata
|
f83f6c71e4
|
AP_Logger: const extern hal reference
|
2020-04-07 20:45:51 +09:00 |
|
murata
|
264a90bb45
|
AP_Logger: Change to coding style (NFC)
AP_Logger: Change to coding style (NFC)
|
2020-04-07 20:37:33 +09:00 |
|
Rishabh
|
de6aaeaf76
|
Rover: Logger documentation TimeUS fix
|
2020-04-07 18:57:01 +10:00 |
|
Rishabh
|
a9cacc8756
|
Plane: Logger documentation TimeUS fix
|
2020-04-07 18:57:01 +10:00 |
|
Rishabh
|
7c4b195488
|
Copter:Logger documentation TimeUS fix
|
2020-04-07 18:57:01 +10:00 |
|