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508 Commits

Author SHA1 Message Date
priseborough 9707989b9f Plane : Preliminary optical flow integration 2014-12-06 18:16:45 +11:00
Andrew Tridgell d1fb137651 Plane: mark development version 3.2.1alpha 2014-11-29 06:59:47 +11:00
Andrew Tridgell b88e6b6302 Plane: prepare for 3.2.0 release 2014-11-25 13:58:28 +11:00
Andrew Tridgell 826ae8ee8b Plane: prepare for 3.1.2beta3 2014-11-21 14:50:04 +11:00
Andrew Tridgell 0672d1fc3c Plane: mark beta2 2014-11-16 14:41:37 +11:00
Evan Slatyer c4093b159f ArduPlane failsafes: remove rc_override_active 
- rc_override_active is never set anywhere in the ArduPlane code; it's only used for Copter and Rover. Removing it significantly simplifies the failsafe code.
- modified code has been tested in SITL. Heartbeat and RC failures in AUTO, CRUISE, and RTL modes (covering the three cases in the failsafe check functions) have been simulated with FS_LONG_ACTN = 0, 1, and 2, FS_SHORT_ACTN = 0, 1, and 2, and FS_GCS_ENABL = 0, 1, and 2. In all cases the results are identical to those with the original code.
 2014-11-14 11:35:27 +11:00
Andrew Tridgell c8060cb9f7 Plane: use load factor to limit nav_roll_cd 
this calculates the aerodymanic load factor from smoothed airspeed and
uses it to limit roll to keep it below the level where the load factor
would take us past the aerodymanic limit of the airframe
 2014-11-12 13:36:02 +11:00
Andrew Tridgell 44ee1fcd3c Plane: prevent large G_Dt_max report on startup 2014-11-10 07:09:31 +11:00
Andrew Tridgell 16fd113020 RC_Channel: added channel_function() 
this is used in the plane mixing code
 2014-11-07 10:39:07 +11:00
Andrew Tridgell 913004beb0 Plane: added OVERRIDE_CHAN parameter 
this allows both for testing PX4IO override on the ground, and for
forced manual override while flying, including re-arming after in-air
reboot
 2014-11-07 10:39:07 +11:00
Andrew Tridgell ad58822cb5 Plane: removed impossible boolean check 2014-10-24 22:04:05 +11:00
Andrew Tridgell 959cd11cb1 Plane: save a byte in auto_state 
keep single bits together to save space on APM2
 2014-10-24 22:03:34 +11:00
Michael Day 01f611daa9 Plane: "Go around" operation. Assumes go around behavior follows land wp. 2014-10-24 21:51:46 +11:00
Michael Day c1b949a74f Plane: Bugfix. Changing to landing sequence now works at mission end. 2014-10-24 21:42:06 +11:00
Andrew Tridgell 240e87dc2c Plane: update for new AP_InertialSensor API 2014-10-24 12:10:38 +11:00
Andrew Tridgell 05c325a12a Plane: display min as well as max loop delta_t 2014-10-22 18:27:12 +11:00
Andrew Tridgell f87da51b37 Plane: prevent calling jump_to_landing_sequence() too often 2014-10-20 08:36:20 +11:00
Andrew Tridgell 7ecc87a787 Plane: improved check for reaching RTL point for auto-land 2014-10-20 08:36:20 +11:00
Michael Day be17bfd972 Plane: Added parameter RTL_AUTOLAND and implementation. 2014-10-20 08:36:20 +11:00
Andrew Tridgell 4c984d9331 Plane: start preparing for 3.1.2 2014-10-13 10:25:53 +11:00
Andrew Tridgell 71d786187e Plane: make auto takeoff independent of compass 
this solves a problem of poor initial yaw due to poor compass offsets
causing a takeoff to not be in the direction the plane is pointing. A
summed gyro is used until the GPS speed is above 5m/s for 2 seconds,
then the GPS heading corrected by the summed gyro error is used for L1
based navigation for the rest of the takeoff
 2014-10-07 07:17:46 +11:00
Andrew Tridgell 4b01cee330 Plane: send heartbeat to AFS when calibrating sensors 2014-09-24 12:02:39 +10:00
Andrew Tridgell 7b4181dc14 Plane: prepare for 3.1.1 release 2014-09-12 11:07:26 +10:00
Andrew Tridgell 988662027e Plane: moved LAND_PITCH_CD into TECS 2014-08-27 20:13:19 +10:00
Andrew Tridgell 186806c768 Plane: lowpass the rangefinder correction, not height 
this should produce less lag as the rangefinder correction should be
changing much less
 2014-08-27 18:25:17 +10:00
Andrew Tridgell a6ee46086c Plane: allow continued use of rangefinder data for 5s after loss of contact 
this allows short outages to be ridden out
 2014-08-27 17:14:19 +10:00
Andrew Tridgell b6319a9d19 Plane: keep an estimate of the rangefinder altitude 
only accept data when we have had 10 samples in a row in range at 50Hz
 2014-08-27 17:14:19 +10:00
Andrew Tridgell 5f3ac159ba Plane: start working towards 3.1.1 2014-08-27 17:14:19 +10:00
Andrew Tridgell e880de67ed Plane: prepare for 3.1.0 release 2014-08-26 06:20:37 +10:00
Andrew Tridgell 6e5344bc8d Plane: prepare beta4 2014-08-25 22:20:52 +10:00
Andrew Tridgell 7649907ec2 Plane: run terrain.update() more often 
this provides faster checking of mission waypoints
 2014-08-25 14:55:40 +10:00
Andrew Tridgell f2f730ba9b Plane: added FBWA_TDRAG_CHAN parameter 
this allows for testing taildragger takeoffs in FBWA mode
 2014-08-24 19:39:51 +10:00
Andrew Tridgell 79fa22e4ad Plane: use gcs_send_text_fmt() for SCHED_DEBUG timing 
lets values be saved in mavlink logs
 2014-08-19 10:08:17 +10:00
Andrew Tridgell cf410f8d12 Plane: prepare for 3.1.0-beta3 2014-08-17 18:25:46 +10:00
Andrew Tridgell 1ce3d1d4a4 Plane: update for AFS API change 2014-08-17 18:07:50 +10:00
Andrew Tridgell 9fff67ec89 Plane: update for APM_OBC API change 2014-08-17 09:13:29 +10:00
Andrew Tridgell dad95648a0 Plane: split landing code into landing.pde 
this is in preparation for more complex landing code using the
rangefinder
 2014-08-13 21:38:05 +10:00
Andrew Tridgell 7def71d43a Plane: improved landing approach and flare 
flare if we are within the specified time of landing either vertically
or horizontally
 2014-08-13 21:38:05 +10:00
Andrew Tridgell ce9b14f0c8 Plane: convert to using StorageManager 2014-08-13 18:46:44 +10:00
Andrew Tridgell e6f5a31944 Plane: prepare for 3.1.0-beta2 2014-08-10 07:20:29 +10:00
Andrew Tridgell 5e997b20f6 Plane: move battery init to after parameter load 2014-08-09 22:50:14 +10:00
Andrew Tridgell 2b89d728f3 Plane: rename to 3.1.0-beta1 2014-08-07 14:14:54 +10:00
Andrew Tridgell bfe7c47aea Plane: prepare new beta 2014-08-07 13:28:29 +10:00
Andrew Tridgell 9184e47f84 Plane: added TERRAIN_LOOKAHD parameter 
distance to look forward for terrain following
 2014-08-07 09:31:03 +10:00
Andrew Tridgell 781abc7593 Plane: fix for changed AP_Terrain API 2014-08-06 17:59:19 +10:00
Andrew Tridgell 448b3f60e0 Plane: use dataflash logging for terrain 2014-08-06 17:59:19 +10:00
Andrew Tridgell d54bb68270 Plane: prevent cross-track on some WP types 
when finishing a takeoff or when a user forces a WP change don't do
any cross-tracking. This avoids a problem where the plane tries to
line up with a track completely unrelated to the track currently being
flown
 2014-08-04 21:02:13 +10:00
Andrew Tridgell 09a679368b Plane: use bitfields in auto_state 2014-08-04 21:02:13 +10:00
Andrew Tridgell 8610d9a8ea Plane: added GLIDE_SLOPE_MIN parameter 
this is used to prevent slow glide slopes being used for small
altitude changes in missions. This allows more accurate tracking of
altitude with terrain changes
 2014-08-04 21:02:13 +10:00
Andrew Tridgell b64ab07ca4 Plane: added STAB_PITCH_DN_CD parameter 
this adds some down trim when at throttle levels below the trim
throttle in FBWA mode.

defaults to 200 centi-degrees. I may adjust based on flight tests
 2014-08-03 17:17:20 +10:00