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508 Commits

Author SHA1 Message Date
Andrew Tridgell 2b5bf45e83 Plane: only activate mission callbacks in AUTO mode 2014-03-19 12:12:24 +09:00
Randy Mackay 693ce27bf6 Plane: pass eeprom start to Mission constructor 2014-03-19 12:11:58 +09:00
Randy Mackay 802ab79c84 Plane: bug fix for setting flight_stage based on current command 2014-03-19 12:11:19 +09:00
Randy Mackay c4364a8ff5 Plane: remove unused nonnav_command variables 
non_nav_command_ID and next_nonnav_command variables removed
 2014-03-19 12:11:18 +09:00
Andrew Tridgell f036aa1780 Plane: fixed altitude for takeoff and takeoff heading 
fixes for AP_Mission integration

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:11:09 +09:00
Randy Mackay 9446e9fd2e Plane: integrate AP_Mission library 2014-03-19 12:10:58 +09:00
Andrew Tridgell 2cf98e476c Plane: added support for a separate steering channel 
good for ground steering on larger aircraft
 2014-03-05 12:57:50 +11:00
Andrew Tridgell 07826096a2 Plane: support a 2nd GPS 2014-02-26 09:24:23 +11:00
Andrew Tridgell 8a4289b56f Plane: remove unused variables 
thanks to Mike McCauley
 2014-02-24 18:49:14 +11:00
Andrew Tridgell 33851030a4 Plane: use ahrs.get_armed() 2014-02-19 10:53:26 +11:00
Paul Riseborough 98f72a4864 Plane : changed useage of ahrs.set_correct_centrifugal 2014-02-16 22:34:52 +11:00
Andrew Tridgell 99f2c8387c Plane: change to Compass::learn_offsets 2014-02-16 13:22:06 +11:00
Andrew Tridgell 59a56c9b46 Plane: enable Baro logging 2014-02-15 07:29:39 +11:00
Andrew Tridgell 566b0ccc61 Plane: call esimate_wind() 2014-02-15 05:48:24 +11:00
Paul Riseborough 24f8f02942 Plane : disable AHRS centrifugal corrections when disarmed 2014-02-15 05:48:20 +11:00
Andrew Tridgell bb4789a875 Plane: use common EKF logging 2014-02-15 05:48:16 +11:00
Andrew Tridgell 57e0eb4db5 Plane: use a const reference for home 2014-02-15 05:48:15 +11:00
Andrew Tridgell 2817a11f23 Plane: added AHR2 and SIM logging 2014-02-15 05:48:14 +11:00
Andrew Tridgell 11337ab2df Plane: updates for AHRS holding home position 2014-02-15 05:29:47 +11:00
Andrew Tridgell df5195e2c9 Plane: change for new AHRS API 2014-02-15 05:29:47 +11:00
Andrew Tridgell 2cd6efa23e Plane: added DF logging of secondary AHRS solution 2014-02-15 05:29:45 +11:00
Andrew Tridgell 9ac886f58d Plane: use AP_AHRS_NavEKF when available 2014-02-15 05:28:09 +11:00
Paul Riseborough d6ead64083 Plane : Additional NavEKF flash logging 2014-02-15 05:28:08 +11:00
Andrew Tridgell 006b9da6be Plane: only include NavEKF on fast CPUs 2014-02-15 05:28:08 +11:00
Andrew Tridgell ce9047cec5 Plane: added dataflash logging of EKF data 2014-02-15 05:28:07 +11:00
Andrew Tridgell 1fbae4dd44 Plane: enable NavEKF logging in plane 2014-02-15 05:28:07 +11:00
Andrew Tridgell cd9027adfd Plane: added NavEKF object 2014-02-15 05:27:52 +11:00
Paul Riseborough fb1345dd99 Plane : add suport for NavEKF 2014-02-15 05:27:52 +11:00
Andrew Tridgell 043c80dbe6 Plane: use new board_voltage() method 2014-02-14 21:50:59 +11:00
Andrew Tridgell 04f2c07b2b Plane: use new RC_Channels API 2014-02-06 10:17:16 +11:00
Andrew Tridgell f06152530c Plane: prepare for 2.78b release 2014-01-31 12:15:27 +11:00
Andrew Tridgell 7009c4aead Plane: prepare for 2.78 release 2014-01-30 14:26:46 +11:00
Andrew Tridgell 6b12f13d64 Plane: prepare 2.78beta2 2014-01-29 22:05:21 +11:00
Andrew Tridgell 9f683e6b9b Plane: prepare 2.78beta1 2014-01-27 14:08:43 +11:00
Andrew Tridgell c37a7cd9e1 Plane: update AP_Notify flags for arming state 2014-01-23 21:40:34 +11:00
Andrew Tridgell ab4a5d676e Plane: ready for 2.77 release 2014-01-20 19:41:19 +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 d3adf4c32c Plane: enable AP_BoardConfig 2014-01-20 17:06:28 +11:00
Andrew Tridgell ada0dd5504 Plane: check both ground and airspeed in autocal test 
when the airspeed ratio is far too low we were not raising it as the
airspeed was never getting above the minimum airspeed

Pair-Programmed-With: Jon Challinger
 2014-01-17 10:29:28 +11:00
Andrew Tridgell a15336079e Plane: start logging when first needed 2014-01-14 13:51:49 +11:00
Andrew Tridgell 8755747da0 Plane: only log when armed by default 
use safety switch if arming not enabled
 2014-01-14 13:07:43 +11:00
Andrew Tridgell def782c441 Plane: use uppercase names on microSD card where possible 2014-01-14 12:46:26 +11:00
Andrew Tridgell 9df5887aab Plane: fixed redundent logging 2013-12-31 15:55:33 +11:00
Andrew Tridgell f35cf2beba Plane: use file based logs in SITL 2013-12-29 07:14:31 +11:00
Andrew Tridgell 72473e4317 Plane: use AP_HAL available_memory() call 2013-12-28 14:51:37 +11:00
Andrew Tridgell 6856cc6e4b Plane: break up GPS and logging, allow GPS update at 50Hz 
this prevents mismatches in GPS message arrival and accel message
arrival from causing small DCM errors
 2013-12-28 14:25:54 +11:00
Andrew Tridgell 263f3b116b Plane: added FS_GCS_ENABL==2 option 
this allows GCS failsafe when the GCS isn't getting updates from the
aircraft
 2013-12-20 11:39:00 +11:00
Andrew Tridgell 77c6e51887 Plane: allow throttle failsafe on no RC input 
on PX4 we just stop getting input on loss of RC - we need to consider
this to be "throttle failsafe"
 2013-12-20 09:43:04 +11:00
Andrew Tridgell 4f242aedec Plane: fixed a bug where mode would not revert on geo-fence disable 
the mode would not revert if the switch was in position 0
 2013-12-17 14:14:13 +11:00
Andrew Tridgell e0b511e367 Plane: enable new log download functions 2013-12-17 11:51:35 +11:00
Andrew Tridgell 3508a14542 Plane: small arming tidyups 2013-12-11 17:29:26 +11:00
Michael Day b0a0316dd6 Plane: Now using AP_Arming library. 2013-12-11 17:29:23 +11:00
Andrew Tridgell b637ab35e4 Plane: lower the priority of mount update 2013-12-09 17:34:07 +11:00
Andrew Tridgell d642254f18 Plane: breakup one second loop into 3 pieces 
this prevents it not running when gimbal is active
 2013-12-09 17:34:07 +11:00
Randy Mackay b6462c23af Plane: disable external leds 2013-11-30 22:53:55 +09:00
Andrew Tridgell 5a0cb5dea4 Plane: added sonar logging to dataflash 2013-11-28 21:49:27 +11:00
Andrew Tridgell a05a32dbda Plane: added RCIN and SRVO logging 2013-11-26 09:04:43 +11:00
Andrew Tridgell 2fa5e6310d Plane: added 3rd telemetry stream on platforms that have it 
this generalises the gcs object usage
 2013-11-23 19:29:22 +11:00
Andrew Tridgell 53c3dff334 Plane: allow changing of loiter direction while loitering 
useful for causing path capture failures in the sim
 2013-11-07 11:54:28 +11:00
Andrew Tridgell 1328bbf040 Plane: log the AHRS error terms in dataflash 
also log raw IMU at 10Hz with default config
 2013-11-07 10:19:13 +11:00
Andrew Tridgell 691eaabe94 Plane: prepare for 2.76 release 2013-11-05 15:55:08 +11:00
Andrew Tridgell 5e4b243c7b Plane: make DataFlash objects static 2013-11-04 21:37:50 +11:00
Andrew Tridgell 231b5ab793 Plane: prevent too large combined pitch/roll angles 
this reduces the roll limit by cos(pitch) and pitch minimum by
cos(roll). This prevents unreasonable attitudes in all stabilised
modes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-11-04 21:21:42 +11:00
Andrew Tridgell ff5f2ceae5 Plane: update for API changes 2013-11-04 21:21:42 +11:00
Andrew Tridgell b1c9b57c73 Plane: mark 2.76beta1 2013-11-02 21:48:17 +11:00
Andrew Tridgell 26a3860af2 Plane: fixed PM message 2013-11-02 21:41:30 +11:00
Andrew Tridgell bcb0deb888 Plane: ready for 2.75 release 2013-10-28 18:22:25 +11:00
Andrew Tridgell 3ff407cb75 Plane: improved perf monitoring with SCHED_DEBUG 2013-10-28 17:10:00 +11:00
Andrew Tridgell a407609dbe Plane: tag 2.75beta5 2013-10-26 07:57:35 +11:00
Andrew Tridgell b897285737 Plane: set system time on GPS lock 2013-10-24 14:22:48 +11:00
Andrew Tridgell 210ca08abd Plane: changed to 2.75beta4 2013-10-18 11:53:51 +11:00
Andrew Tridgell 4239498b62 Plane: moved fast_loop() into main scheduler table 2013-10-15 09:52:23 +11:00
Andrew Tridgell a3168bcbaa Plane: fixes for AP_Mount API 2013-10-13 11:03:31 +09:00
Andrew Tridgell 035ac3800a Plane: use G_Dt for acro angle integration 
also cleanup some other uses of performance timing
 2013-10-12 13:30:27 +11:00
Andrew Tridgell 05115684c1 Plane: pass FlightStage to TECS 
this will allow for better throttle and pitch control on landing
 2013-10-12 13:14:30 +11:00
Andrew Tridgell 72505cf4e5 Plane: release 2.75beta3 2013-10-11 16:29:08 +11:00
Andrew Tridgell 8e5d1430da Plane: use ins.wait_for_sample() 2013-10-08 17:31:15 +11:00
Andrew Tridgell 2bb497703c Plane: avoid delay_microseconds() until fixed on PX4 2013-10-08 14:55:38 +11:00
Andrew Tridgell 48ed480d59 Plane: improved latency of main loop 
use a 500usec delay
 2013-10-08 11:50:54 +11:00
Andrew Tridgell e6af7dad3d Plane: switched to L3G4200D driver for Linux 2013-10-08 11:50:54 +11:00
Andrew Tridgell 61dd04ccb5 Plane: auto-update home and baro calibration when disarmed 
this takes advantage of the PX4 arming state to ensure position and
baro calibration is updated
 2013-10-05 18:45:45 +10:00
Andrew Tridgell d275f50539 Plane: added GROUND_STEER_ALT and GROUND_STEER_DPS 
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
Randy Mackay 9388ea3848 Plane: integrate BattMonitor exhausted method 
BatteryMonitor object made static
Removed unused macros for battery voltage and current monitoring
 2013-10-03 11:16:21 +09:00
Randy Mackay c64d444b5a Plane: integrate BattMonitor 2013-10-03 11:16:08 +09:00
Andrew Tridgell 65976831e2 Plane: moved Linux logs to logs directory 2013-10-01 13:05:18 +10:00
Andrew Tridgell eef693f243 Plane: removed some compat code 
fixes warnings
 2013-09-30 21:06:43 +10:00
Andrew Tridgell 444d053dc2 Plane: enable Oilpan and BMP085 on Linux 2013-09-29 01:02:05 +10:00
Andrew Tridgell f68778d453 Plane: be friendly to multi-tasking OSes 2013-09-28 22:04:15 +10:00
Andrew Tridgell 287db19119 Plane: updates for Stub -> HIL 2013-09-28 22:04:15 +10:00
Andrew Tridgell 1fd0f73e3f Plane: use DataFlash_File on Linux 2013-09-28 21:24:02 +10:00
Andrew Tridgell c3d0b315cf Plane: added HAL_LINUX includes 2013-09-28 21:24:02 +10:00
Andrew Tridgell 650ff258db Plane: update for new INS API 2013-09-27 10:49:00 +10:00
Mike McCauley 6a8c1a0c36 Plane: Added flymaple to ArduPlane 2013-09-24 13:51:28 +10:00
Andrew Tridgell b28a4f21f2 Plane: fixed uartA baud rates for APM1 2013-09-21 09:30:29 +10:00
Andrew Tridgell 4bd6b2f428 Plane: use new usb_connected() function 2013-09-19 16:23:58 +10:00
Andrew Tridgell 150e7a3f16 Plane: prevent arming tone on startup 2013-09-18 10:56:06 +10:00
Andrew Tridgell 95a696ea36 Plane: enable failsafe battery reporting 2013-09-18 10:50:34 +10:00
Andrew Tridgell ec0c894306 Plane: use the projected position for geofencing and waypoints 2013-09-17 21:05:25 +10:00
Andrew Tridgell 43ffe91546 Plane: added FS_ACTION of 2 for glide 
this allows people without specified settings in their receiver for
failsafe to choose FBWA zero throttle glide on throttle failsafe. That
can be a better choice when flying at a R/C club field
 2013-09-15 15:05:39 +10:00
Andrew Tridgell cc6acac1dd Plane: added AUTO_FBW_STEER option 
this is an unusual option that gives FBWA flight control in AUTO
mode. It is being added to support use of APM in an aerial robotics
competition where students need to pilot the plane, but they still
need waypoint triggering of payloads
 2013-09-13 14:38:09 +10:00
Andrew Tridgell de7b42e323 Plane: changed to AP_Vehicle.h 2013-09-13 11:46:54 +10:00
Andrew Tridgell f6688582a6 Plane: added FENCE_ACTION=3 behaviour 
this makes it safer to enable the geofence as a receiver failsafe
mode. It retains manual throttle control, so if it triggers on the
ground due to the receiver losing signal from the transmitter then the
throttle can be kept low, preventing an unexpected takeoff.
 2013-09-08 07:31:10 +10:00
Andrew Tridgell 4762b3e7c6 Plane: change to 2.75beta2 2013-08-30 14:02:21 +10:00
Andrew Tridgell a93f7c39a9 Plane: updates for new notify API 2013-08-30 13:01:35 +10:00
Randy Mackay ad8bd16725 Plane: integrate AP_Notify 2013-08-30 13:01:35 +10:00
Andrew Tridgell 5cec9b65c9 Plane: constrain calibration to roll/pitch limits 2013-08-30 13:01:34 +10:00
Andrew Tridgell 8dd0aa12ed Plane: prevent GPS speed spikes at startup from breaking airspeed cal 
the filter can be affected by a huge GPS velocity spike
 2013-08-18 11:42:22 +10:00
Andrew Tridgell 4425b6af7c Plane: update for new TECS API 2013-08-14 14:59:01 +10:00
Andrew Tridgell accfd46633 Plane: update for new APM_Control API 2013-08-14 14:57:41 +10:00
Andrew Tridgell 8378dc9779 Plane: use reference to AHRS 2013-08-13 13:49:34 +10:00
Andrew Tridgell a33573352e Plane: fixes for updated AP_Math and AHRS APIs 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:30:04 +10:00
Andrew Tridgell e22f58c9fc Plane: fixed build with OBC failsafe 2013-08-03 09:18:01 +10:00
Andrew Tridgell c3b5f20a45 Plane: run TECS 50Hz code when throttle suppressed 
this fixes auto-launch detection using TECS
 2013-08-02 18:46:48 +10:00
Andrew Tridgell 8428779558 Plane: make it easier to find task numbers 2013-08-02 18:46:42 +10:00
Andrew Tridgell 62cc84aba3 Plane: use new scheduler load_average() function 
this also simplifies the main loop
 2013-08-02 18:46:28 +10:00
Andrew Tridgell 233b033e8c Plane: removed old speed/altitude control algorithms 
Use TECS only. This makes the code a lot simpler and easier to
properly document
 2013-07-22 13:28:11 +10:00
Andrew Tridgell c0697d0a2d Plane: mark 2.75beta1 2013-07-22 12:50:30 +10:00
Andrew Tridgell 6e288551ab Plane: fixed reversion to pre-failsafe mode 
if AUTO was entered using GCS, we need to switch back to the old mode,
not control channel
 2013-07-22 12:50:02 +10:00
Andrew Tridgell c8a83e17d0 Plane: remove old AIR_START code 
this was never used or tested
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 7673ca0bac Plane: updates for new EAS2TAS scaling 2013-07-22 12:50:01 +10:00
Andrew Tridgell 9bbe6c1967 Plane: update to new license boilerplate for GPLv3 
we had LGPLv2 in some places, despite the fw being GPLv3
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 882aa68c16 Plane: use new airspeed calibration code 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 9b70675b12 Plane: check the control switch a bit more often 
faster response to mode changes
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 51b9cf3e76 Plane: move failsafe variables into a structure 
this makes the logic a bit easier to follow
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 608345415b Plane: pass aircraft parameters to attitude controllers 
also cope with rename of airspeed min/max variables

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-18 14:53:37 +10:00
Andrew Tridgell a4f49a28fb Plane: prepare for 2.74b release 2013-07-16 09:45:32 +10:00
Andrew Tridgell e27dd14bcc Plane: fixed FBWB aileron control 2013-07-16 09:44:23 +10:00
Andrew Tridgell e8355905dd Plane: prepare for 2.74 release 2013-07-15 11:19:38 +10:00
Andrew Tridgell dbd47b2a30 Plane: make TECS the default speed/height controller 2013-07-15 11:12:24 +10:00
Andrew Tridgell ec21922233 Plane: make wp_distance static 
removed hack in AP_Camera library
 2013-07-15 09:56:28 +10:00
Andrew Tridgell ed20c4cbc8 Plane: fixed initial reporting of battery remaining 
we were not showing battery remaining 100% until we used some battery
 2013-07-14 21:59:15 +10:00
Andrew Tridgell d4db2231d4 Plane: change to 2.73beta4 2013-07-13 21:47:22 +10:00
Andrew Tridgell dc024d425a Plane: re-do roll hanging in ACRO mode 
this avoids the euler angle zeros of the previous method by using a
gyro integrator on the roll axis

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-13 21:45:58 +10:00
Andrew Tridgell 113bc20f8a Plane: added a new CRUISE flight mode 
See
http://diydrones.com/group/apmusergroup/forum/topics/feature-request-hold-heading-mode

this fixes issue #438
 2013-07-13 21:45:58 +10:00
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 1d04290eab Plane: change to 2.74beta3 2013-07-11 11:58:54 +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 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 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 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