Commit Graph

233 Commits

Author SHA1 Message Date
Michael du Breuil 7405bb7b85 Plane: Support new battery failsafes 2018-03-27 22:12:21 +01:00
night-ghost 98b8a61ca8 Plane: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
David Ingraham a6aeebad4b Plane: Add support for AP_Gripper 2018-03-01 14:14:43 +11:00
Tom Pittenger 512b327cd4 Plane: failsafe events to use enums instead of magical numbers : Non-functional change 2017-12-07 00:19:32 -08:00
Michael du Breuil 8630037fd7 Plane: Parameterize the home altitude reset conditions 2017-08-29 13:09:46 -07:00
Andrew Tridgell d541ac509f Plane: removed TRIM_RC_AT_START parameter
this option caused a lot more problems than it solved, and is buggy
2017-08-29 07:35:49 +10:00
Peter Barker 1a665280e9 Plane: remove CLI 2017-08-14 10:23:50 +09:00
Andrew Tridgell cff692ca48 Plane: implement MANUAL_RCMASK
this replaces the functionality of the old "with input"
aileron/elevator functions, but in a much more flexible way. It means
that people who want to fly in MANAUL mode will have the ability to
have full control of trims and mixing using transmitter mixers if they
need that functionality
2017-08-01 08:25:32 +10:00
Andrew Tridgell 0266168e69 Plane: removed old elevon and vtail mixers
now only use the function based mixing, and auto-convert on startup
2017-08-01 08:25:32 +10:00
Eugene Shamaev b95ebadf8b ArduPlane: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Andrew Tridgell 51b39ea3a1 Plane: removed ancient "mix_mode" type elevon mixing
this has been deprecated for a long time
2017-07-03 11:17:42 +10:00
Andrew Tridgell c9e4423997 Plane: re-implement flaperons
implement as scaled output instead of PWM output

this will break some peoples setups, but gives much easier setup and
more consistent behaviour
2017-07-03 11:17:42 +10:00
Mark Whitehorn 7679b758b0 Plane: add parameter RUDD_DT_GAIN for dual motor tailsitter
controls rudder to differential thrust mixing in FW mode
2017-04-06 08:29:44 +10:00
Andrey Kolobov 35d406aeab Plane: added a soaring controller to Arduplane 2017-03-14 08:53:10 +11:00
Michael du Breuil 7a1cbf76d3 Plane: Remove ALT_MIX
Closes #4998, and fix a tab/spaces error on the previous parameter
2017-02-13 09:18:52 +11:00
Michael du Breuil 2326eee9a0 Plane: Move loiter_radius to vehicle 2017-01-30 10:43:54 -08:00
Andrew Tridgell b83f50be0f Plane: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
priseborough 38a0e8a6ae ArduPlane: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Tom Pittenger 6544afbcba Plane: Migrate the rest of "LAND_" params from Plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger bfbfc3ea3d Plane: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger fa991297db Plane: create new "LAND_" param block for AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger f556f705e6 Plane: move various g params to aparms 2016-11-25 19:07:30 -08:00
Peter Barker 98ae6c776a Plane: support for AP_Stats (flight time, bootcount, runtime) 2016-10-29 14:53:25 +09:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Andrew Tridgell 3a8e38ee12 Plane: added SYSID_ENFORCE parameter
this allows safer sharing of telemetry links between aircraft
2016-10-15 17:12:13 +11:00
Andrew Tridgell 8170df7ba8 Plane: added servo remapping object 2016-10-15 16:59:35 +11:00
Tom Pittenger 285e41bac6 Plane: add avoidance_adsb framework for object avoidance 2016-08-17 22:38:54 -07:00
Andrew Tridgell 5d6dfd927b Plane: changes for AP_AdvancedFailsafe naming 2016-08-16 12:55:50 +10:00
Tom Pittenger fc50f145ce Revert "ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter)."
This reverts commit da1b18d918.
2016-08-07 17:54:24 -07:00
AndersonRayner da1b18d918 ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter). 2016-08-04 10:09:04 -07:00
Andrew Tridgell 327a057ee0 Plane: added internal combustion engine support
this allows for automatic engine start and restart
2016-07-25 10:06:03 +10:00
Andrew Tridgell 3f0a8d1761 Plane: added AP_Button support for plane
this also adds the g2 parameter table
2016-07-22 15:01:20 +10:00
Andrew Tridgell 1256c2f351 Plane: changed for AP_Vehicle API change 2016-06-24 11:39:23 +10:00
E Thomas 7d824247af Differential spoilers support, elevon offset
Fixed differential spoilers support, added elevon offset
See PR #2935
2016-06-06 21:55:50 -07:00
Andrew Tridgell 191d6df0ea Plane: moved EKF2 to a new parameter index
the meanings of many of the parameters have changed. Best to use a new
index to prevent old parameters from causing crashes
2016-05-25 19:35:17 +10:00
Tom Pittenger 6746b4227a Plane: handle large negative baro offsets (corner case) to self-trigger a land-abort go-around
new param: LAND_ABORT_DEG
@Description: This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is higher than the intended slope path. Steeper slopes can result in crashes so this allows the option to remember the baro offset and self-abort the landing and come around for a another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC > 0.
2016-05-17 15:41:09 -07:00
Tom Pittenger 034cd2413e Plane: re-calc landing glide slope to gracefully handle baro offset during long flights
New param: LAND_SLOPE_RCALC
@Description: This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m.

default value is 2 (so, enabled by default)
2016-05-17 15:39:04 -07:00
Tom Pittenger 2ba9a04bf5 Plane: smooth-out the end of takeoff pitch by reducing takeoff pitch min via TKOFF_PLIM_SEC
@Description: This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be. (+1 squashed commits)
2016-04-21 22:54:17 -07:00
Andrew Tridgell 27fb35253c Plane: added in-flight transmitter tuning 2016-04-16 20:26:43 +10:00
Andrew Tridgell 3a242ee4a9 Plane: support up to 16 output channels
the extra channels can be used via SBUS output
2016-04-14 08:05:06 +10:00
Andrew Tridgell dd6c4d6225 Plane: fixed up parameters for quadplane
this fixes quadplane parameters for the new AP_Motors code
2016-04-01 16:17:07 +11:00
Lucas De Marchi e01d49ff53 ArduPlane: replace header guard with pragma once 2016-03-16 18:40:45 +11:00
Tom Pittenger 75be40ea59 Plane: add LAND_THR_SLEW 2016-03-02 10:54:19 -08:00
Tom Pittenger 0b26a34f22 Plane: new param LAND_THEN_NEUTRL
// @Description: When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain.
2016-02-16 23:40:44 -08:00
Tom Pittenger 2e92089ce6 Plane: Reverse Thrust
Reverse thrust for controlled landings, even with much steeper approach slopes. This is achieved by allowing throttle demand to go negative to maintain a target airspeed. A Pre-Flare stage was added, triggered by an altitude, to allow for a slower airspeed just before land. That lower airspeed can be near stall.
new params LAND_PF_ALT, LAND_PF_SEC, LAND_PF_ARSPD, USE_REV_THRUST
2016-02-09 14:18:02 +11:00
Andrew Tridgell 125af1b856 Plane: added OVERRIDE_SAFETY parameter 2016-01-29 12:20:14 +11:00
Andrew Tridgell 23eef91c59 Plane: added parameter RTL_RADIUS
this allows the loiter radius for RTL to be controlled separately from
the radius for loiter (as requested by a user)
2016-01-19 15:04:30 +11:00
Andrew Tridgell 6468fc6d93 Plane: Initial implementation of quadplane
adds "HOVER" mode
2016-01-09 07:38:52 +11:00
Andrew Tridgell 7b6d862316 Plane: support up to 14 rc inputs for all boards 2016-01-04 08:22:35 +11:00
Tom Pittenger 7cde90553d Plane: new param CRASH_ACC_THRESH
@Description: X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector.
2016-01-02 09:58:32 +11:00