Commit Graph

195 Commits

Author SHA1 Message Date
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 2a288824c0 Plane: make STAB_PITCH_DOWN in degrees
try to avoid new centi-degrees parameters
2014-08-06 17:59:18 +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
Matthias Badaire 57253fc2ee Rover: Add SERIAL2_PROTOCOL for GCS and FRSky telemtry
This allows selection of protocol type on telem2. The default is MAVLink, but can be selected as FrSky protocol
2014-07-29 17:08:20 -07:00
Andrew Tridgell b158b7e5a9 Plane: replace HAVE_AP_TERRAIN with AP_TERRAIN_AVAILABLE 2014-07-25 07:59:54 +10:00
Andrew Tridgell 3e320d71ab Plane: added TERRAIN_FOLLOW parameter
when enabled RTL, CRUISE and rally points will use terrain altitude
2014-07-24 21:50:19 +10:00
Andrew Tridgell 32bfeed169 Plane: incorporate terrain mavlink calls 2014-07-24 21:45:47 +10:00
Andrew Tridgell 28e1449e8d Plane: updates for new AP_RangeFinder API 2014-07-08 15:07:50 +10:00
Andrew Tridgell 055d8fe7aa Plane: added TKOFF_THR_MAX parameter 2014-05-24 22:19:50 +10:00
Andrew Tridgell d87619c2f1 Plane: added 4 new parameters to control takeoff
this gives flexible control for taildragger takeoff
2014-05-23 07:30:58 +10:00
Andrew Tridgell 94d528e548 Plane: changed baudrate parameters to 16 bit 2014-05-21 12:45:25 +10:00
Michael Day 568fc9e6c9 Plane: Now using AP_Rally library. 2014-04-19 09:16:05 +10:00
Andrew Tridgell d30c4ffe80 Plane: added AUTOTUNE_LEVEL parameter 2014-04-13 22:12:27 +10:00
Emile Castelnuovo a111d174c1 Plane: added VRBRAIN #defines and #includes 2014-04-08 16:19:20 +10:00
Andrew Tridgell e19341ca32 Plane: convert to new GPS driver API 2014-04-01 06:38:24 +11:00
Michael Day f921d4fbac Plane: FENCE_RET_RALLY param. Plane returns to rally point on breach. 2014-03-27 09:26:20 +11:00
Michael Day 25f23cf16c Plane: Sends MAV_SYS_STATUS_GEOFENCE and also allows GCS to enable/disable fence. 2014-03-27 09:26:20 +11:00
Andrew Tridgell ff70c87f0b Plane: support 14 RC channels on PX4 2014-03-25 14:47:05 +11:00
Randy Mackay fdaf3fc177 Plane: add AP_Mission object to parameter list 2014-03-19 12:10:54 +09:00
Randy Mackay a76e2ab02e Plane: reserve NavEKF slot in param list even when not used
Although this wasn't a problem immediatley, if someone had added a
parameter after k_param_NavEKF it's position in eeprom could have moved
as AP_AHRS_NAVEKF_AVAILABLE was enabled/disabled
2014-02-21 13:53:05 +09:00
Paul Riseborough 8c4b0b9be9 Plane : NavEKF Mavlink tunable parameter - first attempt 2014-02-15 05:48:22 +11:00
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
Pat Hickey f8dec9ae4a ArduPlane: fixes to use CONFIG_HAL_BOARD instead of CONFIG_APM_HARDWARE 2012-12-20 14:51:37 +11:00
Andrew Tridgell 92cd631ce5 Plane: added THR_PASS_STAB parameter
this allows direct passthru of throttle in STABILIZE and FBWA, which
is useful for nitro planes wher you have a throttle cut switch that
drops the throttle below normal minimum.
2012-11-26 23:33:05 +11:00
Andrew Tridgell 8f108e2eb3 APM: added AMP_OFFSET option
thanks to Alexey Kozin!
2012-11-21 13:34:27 +11:00
Andrew Tridgell 3aeaf2ece6 APM: k_param_imu is now unused 2012-11-20 18:32:27 +11:00
rmackay9 d9b4407e64 AP_InertialSensor: changes after review with Tridge.
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
2012-11-07 19:21:15 +09:00
Andrew Tridgell 8652bfee8d APM: added RSSI_PIN option for receiver RSSI
this allows you to configure the pin for receiver RSSI without
recompiling
2012-11-06 22:04:41 +11:00
Andrew Tridgell 07c291bb73 APM: fixed a comment typo 2012-10-16 17:21:04 +11:00
rmackay9 775489d658 ArduPlane: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery monitor 2012-10-13 20:51:41 +09:00
Andrew Tridgell 6bae5ecd51 APM: added THR_SUPP_MAN option
this allows for manual throttle control during auto throttle
suppression. This is useful for keeping a petrol engine idling before
takeoff
2012-09-22 20:17:06 +10:00
Andrew Tridgell cebb67e1df APM: removed the unused sonar code
when we start supporting a sonar we'll add a AP_Sonar library, like
AP_Airspeed
2012-09-19 19:35:22 +10:00
Andrew Tridgell 2324997e16 APM: added ALT_OFFSET parameter
useful to adjust for barometric pressure changes during a long flight
2012-09-19 16:23:25 +10:00
Andrew Tridgell 5c3595e0dc APM: fixed throttle nudging
The nudge value depended on RC3_TRIM, which is not a reliable
value. It tried to only take effect when the throttle stick was above
50%, but if RC3_TRIM was high for some reason (say 1500) then it would
actually depress the throttle by a large amount, which could cause the
plane to stall.

This also adds a boolean option THROTTLE_NUDGE to allow disabling of
throttle nudging
2012-09-09 19:39:04 +10:00
Andrew Tridgell 164c60d25f APM: added RUDDER_STEER option
when enabled, this uses only the rudder to steer during takeoff and
landing, using aileron only for levelling
2012-09-08 10:07:03 +10:00
Andrew Tridgell 96ea350143 APM: added XTRK_MIN_DIST option
this allows you to disable crosstrack correction on short legs
2012-09-08 10:06:44 +10:00
Andrew Tridgell f6c3197cd2 APM: added new TELEM_DELAY parameter
number of seconds to delay telemetry
2012-08-30 08:59:39 +10:00
Andrew Tridgell fce01464b1 APM: added ALT_CTRL_ALG parameter
this allows you to select different altitude control algorithms. The
current choices are for the default (automatic based on if airspeed is
available), or to force a non-airspeed algorithm

The idea is to make it possible to use airspeed for some things (like
wind speed, speed scaling) but not for alt control
2012-08-28 20:18:24 +10:00
Andrew Tridgell c9cf483822 APM: added XTRK_USE_WIND parameter
when enabled this will use the wind estimation code to adjust the
navigation bearing, allowing the navigation code to cope with much
higher levels of wind while using a compass
2012-08-25 17:49:26 +10:00
Andrew Tridgell d445482ace APM: added optional use of new APM_Control library
thanks to Jon Challinger for the new controllers!
2012-08-22 12:45:14 +10:00
uncrustify 70048f3d6f uncrustify ArduPlane/Parameters.h 2012-08-21 19:19:51 -07:00
Andrew Tridgell 5e690d5680 APM: added parameter FBWB_ELEV_REV
this fixes issue 343
2012-08-17 15:04:53 +10:00
Andrew Tridgell ad73c229ab APM: added LAND_FLARE_ALT and LAND_FLARE_SEC
these allow you to configure the altitude and time before touchdown to
flare the plane and lock the heading. Useful on larger planes.
2012-08-15 18:11:16 +10:00
Andrew Tridgell 1252ddfe0c APM: rename RDRSTEER to WHEELSTEER
thanks to Jon for the suggestion
2012-08-15 16:28:59 +10:00
Andrew Tridgell e26e8b3b67 APM: added RDRSTEER_ PID for steering on ground
this allows for rolling takeoff with steering, and use of rudder in
landing
2012-08-15 12:39:35 +10:00
Andrew Tridgell 2865434d02 APM: added 'OBC' failsafe module for ArduPlane
this adds FS_* parameters for setting up APM to follow the outback
challenge failsafe rules.

This includes:

 - manual pin
 - heartbeat pin
 - waypoint for heartbeat failure
 - waypoint for GPS failure
2012-08-15 12:39:34 +10:00
Andrew Tridgell 5498d347f3 APM: Added RST_MISSION_CH option
this allows a pilot to reset the mission using a transmitter
switch. Very useful for repeating a mission during testing
2012-08-09 10:33:16 +10:00
Andrew Tridgell e133900c68 APM: Added STICK_MIXING option
this replaces the compile time option. Disabling during long distance
flights when the transmitter may be out of range is useful.
2012-08-09 08:53:29 +10:00
Amilcar Lucas d34549f386 Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Andrew Tridgell 5bfd1200d6 APM: change variables to use _cm, _cd and _ms suffix for units
this makes it less likely that we mix up units
2012-08-08 12:12:30 +10:00