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
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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
515d726ee0
Plane: use RC_Channel::rc_channel() instead of rc_ch[]
2013-06-03 16:23:48 +10:00
Andrew Tridgell
eba7d6da9a
Plane: removed the old crash_timer code
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This code is less relevent with the new L1 navigation, and could cause
issues with the pilot not having control after a long dive.
Thanks to Soren for pointing out the issues
See issue #305
2013-05-28 11:19:28 +10:00
Andrew Tridgell
9f0f482dd7
Plane: fixed LOITER_TIME to start when loiter starts
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thanks to Paul Riseborough for finding this bug!
2013-04-15 21:39:14 +10:00
Andrew Tridgell
75f4a43e2d
Plane: fixed LOITER_TURNS command
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and cleanup more loiter variables
2013-04-15 21:31:11 +10:00
Andrew Tridgell
e918293e86
Plane: explain verify_*() commands
2013-04-15 14:41:15 +10:00
Andrew Tridgell
19b92b5bd8
Plane: removed "circle waypoint" completion test
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this is redundent with the location_passed_point() test
2013-04-15 14:39:18 +10:00
Andrew Tridgell
994d8e354a
Plane: allow for negative WP_LOITER_RAD for conter-clockwise loiter
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this follows the same convention as missions
2013-04-15 10:52:32 +10:00
priseborough
70a186464b
Plane: added LEVEL_ROLL_LIMIT parameter
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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
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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
tobias
217b8d7a59
cleanup: use const for struct Location pointers and references
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this allows the compiler to generate more efficient code
2013-04-09 12:10:32 +10:00
Andrew Tridgell
a69c9ff674
Plane: added logging of DIGICAM events
2013-04-02 13:08:38 +11:00
Andrew Tridgell
dfb14d760b
Plane: added HIL_SERVOS option
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this allows for real servo output in HIL
2013-03-30 14:38:43 +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
c2055557f5
Plane: add support for GPS fix type 2D
2013-03-27 11:41:51 +09:00
Andrew Tridgell
e8806b14ec
Plane: enable MAV_CMD_DO_DIGICAM_CONTROL
2013-02-14 09:35:56 +11:00
Andrew Tridgell
9d3224ef34
Plane: fixed target speed reload on landing
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thanks to Doug for this fix!
2013-02-11 11:40:36 +11:00
Jochen Tuchbreiter
c5f19f5df8
Plane: Implement issue 80: counterclockwise loiter
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- 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
Andrew Tridgell
ebb7f27962
Plane: minor signed/type fixups
2013-01-27 13:16:26 +11:00
Randy Mackay
d2767b911c
AP_Math: switch get_distance_cm to return uint32_t
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Includes changes required on ArduCopter and ArduPlane side as well
2013-01-26 17:04:12 +09:00
Andrew Tridgell
9a2e77b797
Plane: fully disable relay and mount code on APM1-1280
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this saves some more flash space
2012-12-20 14:53:23 +11:00
Pat Hickey
92b0c302f2
ArduPlane: Ported to AP_HAL
2012-12-20 14:51:36 +11:00
Andrew Tridgell
84300c85d6
APM: make it possible to run the CLI on any serial port
2012-11-21 21:41:34 +11:00
Andrew Tridgell
2324997e16
APM: added ALT_OFFSET parameter
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useful to adjust for barometric pressure changes during a long flight
2012-09-19 16:23:25 +10:00
Andrew Tridgell
7e8ef0ae95
APM: fixed handling of DO_REPEAT_SERVO and DO_REPEAT_RELAY
2012-09-17 14:45:47 +10:00
Andrew Tridgell
127117b640
APM: ensure DO_SET_SERVO channels are enabled
2012-09-16 15:08:14 +10:00
Andrew Tridgell
589c8fcc12
APM: report throttle and ground speed mission changes
2012-09-12 13:09:32 +10:00
Andrew Tridgell
7e672628ea
APM: removed the GPS_enabled flag
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this fixes using GPS_PROTOCOL to specify a specific GPS with a GPS
that takes a few updates before it works (eg. needing baud rate
changes).
This makes it easier to use an APM1-1280 with more features enabled
2012-09-11 13:37:34 +10:00
Andrew Tridgell
f26b9ab286
APM: prevent crosstrack from takeoff point after takeoff completion
2012-09-08 11:37:14 +10:00
Andrew Tridgell
85e9fa8c3b
APM: fixed another problem with DO_JUMP
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off by one error!
2012-08-28 20:18:24 +10:00
Andrew Tridgell
d13d117e61
APM: removed reset_I() and instead auto-reset integrator in PID library
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this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
2012-08-28 20:18:23 +10:00
Andrew Tridgell
c9cf483822
APM: added XTRK_USE_WIND parameter
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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
4668f8b7db
APM: ensure takeoff_complete is reset
2012-08-22 16:17:55 +10:00
Andrew Tridgell
95c941664f
APM: fixed bug in do_jump() navigation
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this avoids a problem where the jump can cause the next command to be
reset to 0
2012-08-22 15:29:46 +10:00
uncrustify
4793162a9d
uncrustify ArduPlane/commands_logic.pde
2012-08-21 18:58:11 -07:00
Andrew Tridgell
6300fa7399
math: more abs() fixes
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abs() is 16 bit
2012-08-16 15:17:42 +10:00
Andrew Tridgell
ad73c229ab
APM: added LAND_FLARE_ALT and LAND_FLARE_SEC
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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
df3c8a5bc0
APM: when land_complete is true, use land_pitch
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this gives a flare on final landing
2012-08-15 12:39:35 +10:00
Andrew Tridgell
2d7fcbd14b
APM: reload airspeed and throttle after landing
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this allows for restarting a mission after landing with reasonable
airspeed values
2012-08-15 12:39:35 +10:00
Andrew Tridgell
e26e8b3b67
APM: added RDRSTEER_ PID for steering on ground
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this allows for rolling takeoff with steering, and use of rudder in
landing
2012-08-15 12:39:35 +10:00
Andrew Tridgell
52064772ee
APM: report speed changes via MAVLink
2012-08-15 12:39:35 +10:00
Andrew Tridgell
ff6301fb46
APM: show waypoint number in jump message
2012-08-15 12:39:34 +10:00
Andrew Tridgell
93f1d5645b
APM: fixed LOITER_TIME and LOITER_TURNS
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These now follow the mavlink spec. Loiter time is in seconds, and
loiter turns is now 32 bit angle, so can handle larger numbers of
turns.
2012-08-15 12:39:34 +10:00
Andrew Tridgell
dc47074dbd
MAVLink: removed the need for Mavlink_compat.h
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we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
2012-08-09 12:22:46 +10:00
Andrew Tridgell
5bfd1200d6
APM: change variables to use _cm, _cd and _ms suffix for units
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this makes it less likely that we mix up units
2012-08-08 12:12:30 +10:00
Amilcar Lucas
95f2af6d2d
Implement set ROI
2012-08-04 18:44:29 +02:00
Andrew Tridgell
07992bc943
APM: fixed build
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the SET_ROI commands are not supported yet
2012-07-26 10:03:36 +10:00
Jason Short
e574f3c8cf
Arduplane: Fixed unsigned int comparison warning
2012-07-18 23:07:34 -07:00
Andrew Tridgell
d6e370886f
APM: rename airspeed_cruise to airspeed_cruise_cm to make the units clearer
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it is in cm/s, not m/s
2012-07-19 11:50:41 +10:00