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776 Commits

Author SHA1 Message Date
Andrew Tridgell
c5e2cfcc3e Plane: preparing for 2.71-beta 2013-04-02 09:25:24 +11:00
Andrew Tridgell
2506c216dd Plane: added a second type of stick mixing 
this changes STICK_MIXING from a boolean to a tri-state. With
STICK_MIXING=1 it now uses FBW style mixing. With STICK_MIXING=2 it
uses the old style of direct stick mixing.
 2013-04-02 08:52:56 +11:00
Andrew Tridgell
5d54215221 Plane: use int16_t() not int() to ensure simulator matches AVR 2013-04-01 22:17:05 +11:00
Andrew Tridgell
e390726bdd Plane: prevent overflow on large PID gains 
this uses get_pid_4500() to prevent overflow of servo_out on large PID gains
 2013-04-01 22:17:04 +11:00
Andrew Tridgell
624ebced38 Plane: document INVERTEDFLT_CH 2013-04-01 22:17:04 +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
6cc4aadc06 Plane: report compass health in SYS_STATUS 2013-03-29 13:48:40 +11:00
Andrew Tridgell
a165f0d138 Plane: removed old angle wrap code 2013-03-29 13:13:50 +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
fcde3ceb24 Plane: also avoid rudder on takeoff with TOFF_HEAD_HOLD==0 2013-03-27 16:36:39 +11:00
Randy Mackay
a49fe272ad Plane: replace gps fix with status 
Required to ensure 3d fix is used for initialising home
 2013-03-27 11:42:02 +09:00
Randy Mackay
c2055557f5 Plane: add support for GPS fix type 2D 2013-03-27 11:41:51 +09:00
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
1d983b3f2e Plane: fixed X accel triggering of auto 2013-03-22 11:53:45 +11:00
Andrew Tridgell
1a36c3684b Plane: fixed GPS test (detection of uBlox needs 10Hz poll) 2013-03-21 22:45:17 +11:00
Andrew Tridgell
6948e0c473 Plane: only enter CLI is link is idle when 3 enters are hit 
this will prevent binary contents of RADIO packets being interpreted
as CLI enter line-feeds
 2013-03-21 21:57:54 +11:00
Andrew Tridgell
0e37ae4400 Plane: change CLI timeout to 20s 2013-03-21 17:34:34 +11:00
John Stäck
c9576e59f9 Add set command to setup menu (and changed show command), same as for ArduCopter. Not included when building for 1280. 2013-03-19 11:40:25 +09:00
Randy Mackay
36834e77b5 Copter: remove support for CLI Slider 2013-03-18 14:07:04 +09:00
Andrew Tridgell
36ff950b12 Plane: fixed MAVLink target IDs in fence point message 
thanks to Kevin Hester for finding this
 2013-03-12 15:04:48 +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
87c6545ac6 Plane: don't trigger GCS failsafe if GCS never connected 
The we have never received a heartbeat message from the GCS then don't
use the lack of heartbeat to trigger a failsafe event
 2013-03-09 13:48:39 +11:00
Andrew Tridgell
e93888dee9 Plane: make a throttle_cruise of 0 mean always zero throttle 
this can be used for parachute landing missions

Thanks to Chris Miser for the suggestion
 2013-03-09 13:48:39 +11:00
Andrew Tridgell
e0e22b63a7 Plane: removed INPUT_VOLTS parameter 
no longer needed
 2013-03-08 10:01:33 +11:00
Andrew Tridgell
2331c84423 Plane: use voltage_average() to not depend on INPUT_VOLTS 2013-03-03 16:16:01 +11:00
Andrew Tridgell
de55e19eec Plane: updates for new dataflash API 2013-03-01 07:18:26 +11:00
Andrew Tridgell
b3213b7113 Plane: fixes for new DataFlash API 2013-03-01 07:18:25 +11:00
Andrew Tridgell
5f4c5f8201 Plane: update SERIAL0_BAUD parameter description 2013-02-22 08:39:02 +11:00
Andrew Tridgell
139acc0530 Plane: ignore control mode changes when in throttle failsafe 
this prevents the receiver causing a temporary mode change
 2013-02-21 11:21:39 +11:00
Andrew Tridgell
1ebaa14a99 Plane: prepare for 2.70 release 2013-02-21 09:49:15 +11:00
Andrew Tridgell
0a0b51cc63 Plane: reset AHRS trim after a level operation 2013-02-20 11:56:02 +11:00
Andrew Tridgell
24826c0c74 Plane: default the stream rates to 1Hz 2013-02-20 10:08:49 +11:00
Andrew Tridgell
1007f2ef07 Plane: fixed a bug with setting stream rates 
this is what caused the "no sensors" problem in the 2.69 release
 2013-02-20 09:32:01 +11:00
Randy Mackay
9c984b18db Plane: integrate automatic roll and pitch trims 2013-02-19 13:30:51 +09:00
Andrew Tridgell
c989099665 Plane: enable PX4IO dual telemetry devices 2013-02-18 13:56:21 +11:00
Andrew Tridgell
e8806b14ec Plane: enable MAV_CMD_DO_DIGICAM_CONTROL 2013-02-14 09:35:56 +11:00
Andrew Tridgell
8c0f065ee4 Plane: fixed an integer multiply error that caused poor altitude on landing 
the control of altitude between waypoints was broken due to an integer
overflow
 2013-02-13 19:32:44 +11:00
Andrew Tridgell
2f677acf3b Plane: update firmware version to 2.69 2013-02-11 15:02:08 +11:00
Andrew Tridgell
9f70c6c70d Plane: make CIRCLE mode hold altitude 
this will prevent us losing a lot of altitude during the initial
failsafe phase
 2013-02-11 13:52:25 +11:00
Andrew Tridgell
9d3224ef34 Plane: fixed target speed reload on landing 
thanks to Doug for this fix!
 2013-02-11 11:40:36 +11:00
Michael Oborne
88840eb759 Send FS state to gcs for AP 2013-02-09 10:11:26 +08:00
Andrew Tridgell
c41b927a15 Plane: added shell command for px4 
used to launch nsh for PX4IO firmware upgrades
 2013-02-07 15:04:33 +11:00
Andrew Tridgell
3913c42183 Plane: fixed bit combination 
bitwise, not arithmetic
 2013-02-05 10:33:10 +11:00
Jochen Tuchbreiter
c5f19f5df8 Plane: Implement issue 80: counterclockwise loiter 
- libraries/AP_Common/AP_Common.h: Use bit 2 of Location.options to store
  loiter direction
- ArduPlane/defines.h: New bitmask MASK_OPTIONS_LOITER_DIRECTION for struct
  Location bit 2
- ArduPlane/ArduPlane.pde: New variable loiter_direction
- ArduPlane/GCS_Mavlink.pde: For mavlink loiter-commands use sign of param3 to
  detemine direction. Set Location.option flag accordingly
- ArduPlane/commands.pde: Make sure loiter-directions get saved into EEPROM
  correctly
- ArduPlane/commands_logic.pde: Set loiter_direction on all loiter-actions
  as well as RTL/instant loiter
- ArduPlane/navigation.pde: Yield loiter_direction in update_loiter
 2013-02-05 10:29:31 +11:00
Brandon Jones
fa7839941f After Plane: cleanup driver declaration 4d9a74d, HIL_MODE_ATTITUDE with MAG_ENABLE=1 set results in continuous reboot/APM crash. Added define for AP_COMPASS_HIL when HIL_MODE_ATTITUDE is enabled. 2013-02-05 09:04:34 +11:00
Michael
b9a5be6c8b Plane: added secondary elevator support 2013-02-05 08:57:58 +11:00
Andrew Tridgell
e762c43312 Plane: switch to an array for stream rates 
this saves a couple of hundred bytes of flash.
 2013-02-05 08:20:41 +11:00
Pat Hickey
85d783d5a9 ArduPlane: fixed memory unsafe member access in GCS_MAVLINK 2013-02-02 22:43:59 -08:00
Andrew Tridgell
ebb7f27962 Plane: minor signed/type fixups 2013-01-27 13:16:26 +11:00