Commit Graph

123 Commits

Author SHA1 Message Date
Andrew Tridgell c3b7e76c28 Plane: added flaperon support
this adds FLAPERON_OUTPUT and FLAP_IN_CHANNEL to allow both manual
and auto flap control for both normal flaps and flaperons
2014-02-06 12:38:59 +11:00
Andrew Tridgell 6cabca690e Plane: fixed RSSI_RANGE enum
many thanks to Valince for spotting this
2014-01-31 12:14:18 +11:00
Andrew Tridgell 3a986474e0 Plane: added RSSI_RANGE parameter 2014-01-30 11:29:35 +11:00
Andrew Tridgell d3adf4c32c Plane: enable AP_BoardConfig 2014-01-20 17:06:28 +11:00
Andrew Tridgell 874110b29d Plane: make LOG_BITMASK 32 bits 2014-01-14 13:06:52 +11:00
Michael Day c87d72353f Plane: Introducing FENCE_RETALT parameter. 2013-12-31 09:48:20 +11:00
Michael Day b0a0316dd6 Plane: Now using AP_Arming library. 2013-12-11 17:29:23 +11:00
Andrew Tridgell 5a0cb5dea4 Plane: added sonar logging to dataflash 2013-11-28 21:49:27 +11:00
Andrew Tridgell 8383abc1fe Plane: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD 2013-11-26 13:00:03 +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 490a061c6f Plane: added HIL_ERR_LIMIT
this allows DCM to recover if HIL attitude drifts too far from true attitude
2013-11-23 18:50:57 +11:00
Andrew Tridgell 5bf1463e7a Plane: added RALLY_LIMIT_KM
this will prevent an embarressing use of a rally point from the wrong
airfield
2013-10-06 14:51:13 +11:00
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
Andrew Tridgell 081510d37a Plane: added ACRO_LOCKING parameter
this enables/disables the attitude locking in acro mode, allowing acro
to be a pure rate controller
2013-10-05 07:45:12 +10:00
Michael Day 497c95de8e Plane: Add support for rally points.
Added parameter RALLY_TOTAL.

Added handlers for new MAVLink messages RALLY_POINT and
RALLY_FETCH_POINT.

defines.h modified to make room in EEPROM to store rally points.

rally.pde added and is responsible for ensuring rally points get
stored in the correct spot in EEPROM.

Multiple Rally/RTL point support now done.  If rally points have
been defined, then when RTL mode is entered, the closest Rally
point is chosend and the plane loiters at that point.

Note only 10 rally points can be defined; this is to save space in
the APM's EEPROM.
2013-10-03 12:21:08 +10:00
Randy Mackay c64d444b5a Plane: integrate BattMonitor 2013-10-03 11:16:08 +09:00
Andrew Tridgell dd6a69f588 Plane: added WP_MAX_RADIUS parameter
useful when using AUTO_FBW_STEER for manual steering in competitions
2013-09-13 17:43:08 +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 accfd46633 Plane: update for new APM_Control API 2013-08-14 14:57:41 +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 74dabad1f3 Plane: added SKIP_GYRO_CAL parameter
useful for starting the sim at high altitudes, and for starting planes
without having to hold them still
2013-07-22 12:50:01 +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 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 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 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 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
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 27bc0cdc2c Plane: rename old channel_* globals
prevent the old "g." names from being used
2013-06-03 16:37:51 +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 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 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 dd633fcf3f Plane: make voltage and battery capacity failsafe settable at runtime
this also fixes issue #292
2013-05-22 20:33:57 +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 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 0b8c2da4df Plane: support 12 output channels on PX4 2013-04-25 20:10:53 +10:00
Andrew Tridgell 78538d0543 Plane: removed old HDNG2RLL PID control
not used with L1
2013-04-15 10:52:32 +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 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 406921faf1 Plane: added VTAIL_OUTPUT option
this allows for software vtail mixing
2013-04-05 15:22:11 +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 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 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 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 e0e22b63a7 Plane: removed INPUT_VOLTS parameter
no longer needed
2013-03-08 10:01:33 +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 b6295c12e1 Plane: fixes for new AP_Relay interface 2013-01-02 10:18:45 +11:00