035ac3800a
Plane: use G_Dt for acro angle integration
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also cleanup some other uses of performance timing
2013-10-12 13:30:27 +11:00
a33573352e
Plane: fixes for updated AP_Math and AHRS APIs
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Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:30:04 +10:00
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
965dc228c2
Plane: fixed GUIDED mode change of altitude down
2013-07-22 12:50:02 +10:00
608345415b
Plane: pass aircraft parameters to attitude controllers
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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
113bc20f8a
Plane: added a new CRUISE flight mode
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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
73928b82a6
Plane: fixed FBWB airspeed control
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thanks to Gabor for reporting this!
2013-07-11 11:58:54 +10:00
7aa360b176
Plane: added relative_altitude helper functions
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prevents some code duplication
2013-07-10 14:04:22 +10:00
1d6748cf3f
Plane: use a glide slope in RTL when descending
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when above the target altitude in RTL come down slowly, when below
climb rapidly
This fixes issue #39
2013-07-05 14:56:58 +10:00
a5bda3ffef
Plane: changed to using a "aircraft parameters" structure
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this structure can be passed to libraries to give them easy access to
critical user parameters
2013-07-04 16:56:57 +10:00
93cd0f9a31
Plane: switch to new AP_Scheduler
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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
fb9bf21522
Plane: allow channel mapping of first 4 channels
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this makes it easier to support DSM and SBUS radios
2013-06-03 16:23:48 +10:00
55f7d18979
Plane: avoid copying the DCM matrix
2013-05-05 21:51:09 +10:00
3663426550
Plane: Fixed bug in groundspeed_undershoot that could cause a fly-away in windy conditions.
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Use the component of velocity in the forward direction rather than the magnitude
2013-05-05 21:51:08 +10:00
75f4a43e2d
Plane: fixed LOITER_TURNS command
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and cleanup more loiter variables
2013-04-15 21:31:11 +10:00
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
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
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
a165f0d138
Plane: removed old angle wrap code
2013-03-29 13:13:50 +11:00
c2055557f5
Plane: add support for GPS fix type 2D
2013-03-27 11:41:51 +09:00
8c0f065ee4
Plane: fixed an integer multiply error that caused poor altitude on landing
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the control of altitude between waypoints was broken due to an integer
overflow
2013-02-13 19:32:44 +11:00
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
ebb7f27962
Plane: minor signed/type fixups
2013-01-27 13:16:26 +11:00
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
5631f865b2
Update floating point calculations to use floats instead of doubles.
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- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
cf18534163
Plane: use new functions
2012-12-20 14:53:22 +11:00
84300c85d6
APM: make it possible to run the CLI on any serial port
2012-11-21 21:41:34 +11:00
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
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
96ea350143
APM: added XTRK_MIN_DIST option
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this allows you to disable crosstrack correction on short legs
2012-09-08 10:06:44 +10:00
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
909e39d667
uncrustify ArduPlane/navigation.pde
2012-08-21 18:58:17 -07:00
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
92bdc23ab6
APM: minor formatting fix
2012-08-15 12:39:34 +10:00
d9b09d2c93
APM: allow for navigation by dead-reckoning
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we now ask AHRS if we have a position estimate, and use that if
available
2012-08-11 12:01:08 +10:00
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
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
de3c9ce56d
Airspeed: change APM to use new AP_Airspeed library
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the next step is AHRS dead reckoning
2012-07-16 11:21:50 +10:00
6ee9f1ae97
APM: use new location functions
2012-07-04 12:42:46 +10:00
8afd196907
APM: adapt ArduPlane for AHRS framework
2012-03-19 17:29:02 +11:00
5bda871d60
added comment on using GPS ground course
2011-12-23 11:13:01 +11:00
2ef4c79a7c
Minimum ground speed patch from Claudio Natoli. Thanks Claudio!
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This patch will boost the target airspeed as necessary to keep the ground speed above a parameter value - param_min_groundspeed. Airspeed is still limited to FBW-max. Setting min_groundspeed to zero (default) disables the feature.
2011-12-09 16:43:25 -07:00
31159a7e1b
modify crosstrack calc
2011-11-13 08:25:24 +08:00
645b9c1d48
Initial rewrite of command logic.
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Changes mission structure so that conditional and immediate commands are located between associated waypoints instead of after the second waypoint.
2011-10-27 13:45:52 -06:00
e61d742345
GCS: make the two GCS links gcs0 and gcs3
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the artifical separation between 'gcs' and 'hil' just leads to
confusion. This also simplifies the code a bit more, and saves us a
bit more text
2011-09-19 11:04:02 +10:00
e0dc1271d6
imported ArduPlane from ArduPilotMega svn
2011-09-09 11:29:39 +10:00
Andrew Tridgell
priseborough
Randy Mackay
Jochen Tuchbreiter
James Bielman
uncrustify
Doug Weibel
Michael Oborne