// @Description: When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value.
// @Description: When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value.
Let the warning flag be added by the build system and not when/if the
header AP_Common.h is included. Both waf and make were already updated
to contain these warnings. Besides being in the wrong place, with
clang++ we actually can't add "-Wno-" definitions in build system
because we enable all of the in the header with -Wall.
Copy the missing warnings from AP_Common.h and reorder the warnings to
be more clear on intent. This will later let us remove the warnings from
the header.
Copy the missing warnings from AP_Common.h and reorder the warnings to
be more clear on intent. This will later let us remove the warnings from
the header.
The ublox driver will now continuosly poll for the settings from the GPS and correct any that are found to be in correct.
This status is then reported to the arming library as an additional arming check, allowing the user to be sure that the
gps is correctly configured before using it. If a user has a GPS2 configured that is not present they will fail the arming
checks until after they have disabled the second GPS.
2 new parameters were introduced as well:
-GPS_AUTO_CONFIG: Will not request any configuration packets to attempt to change them. (If the packet is recieved then
a update will be sent to it, but in testing this scenario never occured. This is set to 1 or 0 to change the setting.
(Defaults to 1 enabling auto config)
-GPS_GNSS_MODE2: Behaves the same way as GPS_GNSS_MODE but only applies to the second GPS.
GPS drivers are now allowed 2 seconds of non responsiveness before being unloaded
By running waf with option -v, waf was complaining about the update_submodule
tasks having the same identifier. That happened because the default uid()
method depended on the class name, inputs and outputs. Since this type of task
doesn't have input nor output file, we need to override uid() so that it uses
the submodule path for the task identifier.
when a NMEA sentence is corrupted we should discard it
completely. This change prevents us considering a set of sentences
that includes corrupted sentences from being seen as new data
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
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 TECS_APPR_SMAX - sink rate max during approach
Tom Pittenger
Lucas De Marchi
Andrew Tridgell
Michael du Breuil
Gustavo Jose de Sousa
Randy Mackay