Samuel Tabor
b6f92989a7
AP_Soaring: Only compile if HAL_SOARING_ENABLED.
2020-09-24 07:30:48 +10:00
Samuel Tabor
f926dc62ed
AP_Soaring: Reduce default value for minimum cruise time.
2020-09-10 09:18:52 -07:00
Samuel Tabor
861b57cb09
AP_Soaring: Add EXIT_COMMANDED status used when pilot changes switch position when thermalling.
2020-09-08 16:54:45 -07:00
Samuel Tabor
18b33a439d
AP_Soaring: Allow continued thermalling in manual mode changes RC switch position.
2020-08-19 13:38:56 +10:00
Samuel Tabor
4726e670d5
AP_Soaring: Fix description of SOAR_MAX_DRIFT.
2020-07-31 10:26:50 -07:00
Samuel Tabor
611217f63e
AP_Soaring: Use RC aux function rather than read RC directly.
2020-07-21 09:38:04 +10:00
Samuel Tabor
b21f9030b7
AP_Soaring: Update parameter ranges.
2020-06-02 10:36:51 -07:00
Peter Barker
69093aa7b1
AP_Soaring: stop taking AHRS as constructor argument
...
... use singleton instead
2020-05-05 17:35:14 +10:00
Samuel Tabor
4a39a43c10
AP_Soaring: Add log documentation.
2020-04-08 09:11:54 +10:00
Samuel Tabor
b9daae062c
AP_Soaring: Use enum class rather than typedef enum for states and hide details of these.
2020-04-08 09:11:54 +10:00
Samuel Tabor
6e75890bd9
AP_Soaring: Add a low pass of target position from EKF before using it.
2020-04-08 09:11:54 +10:00
Samuel Tabor
56649fa8eb
AP_Soaring: Fix too-long status message.
2020-04-08 09:11:54 +10:00
Samuel Tabor
d54c7f1b7a
AP_Soaring: Fix bug when no soaring activation RC channel set.
2020-04-08 09:11:54 +10:00
Samuel Tabor
fbd0df81a7
AP_Soaring: Report changes in active status.
2020-04-08 09:11:54 +10:00
Samuel Tabor
e1f7122566
AP_Soaring: Improve tracking of enabled/disabled status.
2020-04-08 09:11:54 +10:00
Samuel Tabor
2260fda4ec
AP_Soaring: Detect changes in active parameter/switch position.
2020-04-08 09:11:54 +10:00
Samuel Tabor
ff1725b549
AP_Soaring: Make enable channel 3 position. PWM above 1400us allows most soaring features, but above 1700us is required before any automatic switch to LOITER mode.
2020-04-08 09:11:54 +10:00
Samuel Tabor
2b40182b34
AP_Soaring: Reduce drift feed-forward by ratio of climb rate to thermal core strength. This is consistent with assumption that each packet of air, rising at core strength, is convected with the ambient wind speed.
2020-04-08 09:11:54 +10:00
Samuel Tabor
8072f6b858
AP_Soaring: Make the trigger VSPEED take account of thermalling sink.
2020-04-08 09:11:54 +10:00
Samuel Tabor
650b464831
AP_Soaring: Move drift check to separate function and check drift with reference to mission segment, allowing drift in right direction. LOITER target, not current position, is now used.
2020-04-08 09:11:54 +10:00
Samuel Tabor
fab74f8927
AP_Soaring: Calculate expected thermalling sink live and avoid divide by zero by limiting airspeed to that corresponding to CL max (generously assumed 1.5 for glider).
2020-04-08 09:11:54 +10:00
Samuel Tabor
75f772b269
AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER.
2020-04-08 09:11:54 +10:00
Samuel Tabor
684ee11fc3
AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring.
2020-04-08 09:11:54 +10:00
Samuel Tabor
013628bd1d
Plane: Soaring - better reporting of exit due to drift.
2020-04-08 09:11:54 +10:00
Samuel Tabor
e1b2360781
AP_Soaring: Add a maximum allowable drift distance when thermalling.
2020-04-08 09:11:54 +10:00
Samuel Tabor
936d4232c9
AP_Soaring: Add a 60s first order filter on climb rate. If this becomes negative exit thermalling.
2020-04-08 09:11:54 +10:00
Samuel Tabor
30249e8006
AP_Soaring: Add a check of whether altitude has been lost overall when thermalling.
2020-04-08 09:11:54 +10:00
Tom Pittenger
f24095e9ed
AP_Soaring: inhibit msg spam when lingering in loiter waiting for heading to line up
2020-04-08 09:11:54 +10:00
Samuel Tabor
3211c03f58
AP_Soaring: Remove unused methods, clean up and log position in N/E rather than Lat/Lng.
...
Fix
2020-04-08 09:11:54 +10:00
Samuel Tabor
152c1507e0
AP_Soaring: Make the EKF states the actual NE position of the thermal, rather than the position relative to aircraft.
2020-04-08 09:11:54 +10:00
Samuel Tabor
d7abd296ef
AP_Soaring: Avoid calculations in lat/lng.
2020-04-08 09:11:54 +10:00
Samuel Tabor
0cccc8dc29
AP_Soaring: Fix issue with loiter radius being saved as zero due to initialisation order. This caused incorrect calculation of thermal climb potential and cases of staying in thermals that should have been abandoned.
2020-04-08 09:11:54 +10:00
Samuel Tabor
c135b00b7b
AP_Soaring: Remove redundant check for new vario data.
2020-04-08 09:11:54 +10:00
Tom Pittenger
52ae093a97
AP_Soaring: add reason to exit Thermal loiter
2020-04-08 09:11:54 +10:00
Peter Barker
e85a4dcd7d
AP_Soaring: remove empty Units: parameter doc entries
...
These break parameter generation
2020-02-19 15:09:16 +11:00
Peter Barker
a5ff46950c
AP_Soaring: move include of logger to .cpp file
2019-07-09 10:57:20 +10:00
Pierre Kancir
51437ccc53
AP_Soaring: use get_distance_NE instead of location_diff
2019-04-08 08:00:52 -07:00
Dr.-Ing. Amilcar do Carmo Lucas
31a32c7ea0
AP_Soaring: replace location_offset() and get_distance() function calls with Location object member function calls
...
This allows removing duplicated code
2019-02-28 11:44:09 +11:00
Peter Barker
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
2019-01-18 18:08:20 +11:00
Michael du Breuil
b757354c88
AP_Soaring: Use RC_Channels instead of hal.rcin
2018-04-11 21:47:07 +01:00
Peter Barker
c93aea24c6
AP_Soaring: correct compiler warnings
...
In file included from ../../libraries/AP_Soaring/AP_Soaring.cpp:1:
../../libraries/AP_Soaring/AP_Soaring.h:32:34: warning: private field
'_aparm' is not used [-Wunused-private-field]
const AP_Vehicle::FixedWing &_aparm;
2018-03-02 09:26:37 +09:00
murata
8070c13963
AP_Soaring: delete \n from the log using gcs().send_text
2018-02-02 09:41:23 +09:00
Peter Barker
196f94aaae
AP_Soaring: eliminate GCS_MAVLINK::send_statustext_all
2017-07-11 23:53:53 +01:00
samuelctabor
f6b3c00b19
AP_Soaring: Fix initialisers in SoaringController. In-line method to get altitude in Variometer.
2017-06-07 20:10:11 +10:00
samuelctabor
4cbff71689
AP_Soaring: Separate the vario functionality into a seperate class from the soaring/thermalling functionality.
2017-06-07 20:10:03 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
b4244efb87
AP_Soaring: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
Andrey Kolobov
9f2f070439
AP_Soaring: adding const qualifiers to some of soaring controller's methods
2017-03-14 08:53:11 +11:00
Andrew Tridgell
2b2fed735b
AP_Soaring: fixed SOAR logging
2017-03-14 08:53:10 +11:00
Andrey Kolobov
42f5b5a232
AP_Soaring: fixes for matrixN changes
2017-03-14 08:53:10 +11:00