aepko/Ardupilot2
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21,570 Commits 72 Branches 509 Tags 683 MiB
183369b92a
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2124 Commits

Author SHA1 Message Date
Tom Pittenger
183369b92a Plane: take advantage of L1 stale flag and correctly inhibit flight stage if not lined up on approach 2016-04-21 21:30:58 -07:00
Tom Pittenger
c5a3b1b134 Plane: non-functional change - change labels for approach flight stage criteria 2016-04-21 21:30:56 -07:00
Tom Pittenger
c238645e53 Plane: limit roll before calculating load factor 2016-04-21 21:30:56 -07:00
Tom Pittenger
aadd9a18ce Plane: log L1 xtrack error integrator and remove extra yaw logging 2016-04-21 21:30:55 -07:00
Tom Pittenger
85913bd237 Plane: rely on flight stage to know if we're doing auto_land in TECS 2016-04-21 21:30:53 -07:00
Tom Pittenger
6a83ad419a Plane: moved update_flight_stage() inside setup_glide_slope() 
the glide_slope gets calculated every time there's a major event such as mission item change or wp_proportion change so its good to update the flight stage then too because.
also logging stage when stage changes, might as well get an extra data point in there when it's timely
 2016-04-21 21:30:51 -07:00
Tom Pittenger
ec3e9014e4 Plane: move target land_airspeed logic to top layer 
- this is to allow min groundspeed to be enforced which is otherwise lost when TECS assigns a target airspeed at the lower level
 2016-04-21 21:30:50 -07:00
Andrew Tridgell
a549225e60 Plane: support Y6 frame class in quadplane 2016-04-22 10:28:16 +10:00
Rimvydas Naktinis
df922dacfa Plane: Suppress throttle when parachute release initiated, not after release. 2016-04-21 09:53:22 -07:00
Andrew Tridgell
2a1985d0f9 Plane: fixed loiter radius at end of mission 2016-04-21 22:29:29 +10:00
Andrew Tridgell
de33779382 Plane: added Q_WVANE_MINROLL 
this allows for some roll trim without weathervaning
 2016-04-21 21:52:25 +10:00
Michael du Breuil
ef348473eb Plane: Remove tecs_hgt_afe from the 50hz tecs update 2016-04-21 17:03:00 +10:00
Michael du Breuil
f5749b44cd Plane: Move position update to 50hz loop rather then the 10hz 2016-04-21 16:53:20 +10:00
Andrew Tridgell
cf7b6123a9 Plane: log the number of lost log messages 2016-04-21 16:45:02 +10:00
Andrew Tridgell
8683616d8c Plane: redo scheduler table and improve perf logging 
The scheduler table was still setup for a worst case CPU of
AVR2560. Adjust times for the stm32 and improve perf logging
 2016-04-21 16:45:02 +10:00
Andrew Tridgell
a7006a7784 Plane: refactor perf variables into a structure 2016-04-21 16:45:02 +10:00
Andrew Tridgell
d013878c17 Plane: improved speed limiting on landing approach in VTOL mode 2016-04-20 18:07:04 +10:00
Andrew Tridgell
d8b0d17fe4 Plane: added weathervaning to landing reposition 2016-04-20 17:12:59 +10:00
Andrew Tridgell
f34af03891 Plane: added Q_WVANE_GAIN 
this controls weathervaning in VTOL modes. Defaults to off
 2016-04-20 17:12:59 +10:00
Andrew Tridgell
e9e43dc016 Plane: added Q_VFWD_GAIN for forward motor in VTOL modes 
this allows for velocity control using the forward motor in VTOL modes
 2016-04-20 16:25:19 +10:00
Lucas De Marchi
0095f6168e ArduPlane: fix handling of SET_HOME_POSITION 
Location.altitude is stored in cm.
 2016-04-18 13:07:45 +10:00
Michael du Breuil
c17ea21a97 Plane: Add support for DO_REPOSITION via COMMAND_INT 
also allows guided to change loiter directions
 2016-04-17 19:00:03 -07:00
Andrew Tridgell
62574b35b5 Plane: fixed negative loiter radius values 2016-04-18 09:33:20 +10:00
Andrew Tridgell
edd15f15c0 Plane: added some fixed wing in-flight transmitter tuning 2016-04-16 20:47:18 +10:00
Andrew Tridgell
27fb35253c Plane: added in-flight transmitter tuning 2016-04-16 20:26:43 +10:00
Tom Pittenger
436062ef37 Plane: improved crash detection 
- fixes bug where a bungee launch is configured but the aircraft gets bumped and triggers the prop to spin up. This will now detect that and "crash' and disable the motor
 2016-04-14 22:34:46 -07:00
Grant Morphett
2887e48178 Plane: Fixed bug with landing flare for high values of LAND_FLARE_SEC 
I had an issue in SITL where my plane would round the last WP staring
its landing approach and immediately limit the roll to 5degress even
before the plane had finished turning the corner so it would go WAY
off course.  For a high value of LAND_FLARE_SEC (mine was 5) the math
works out the plane has landed if
    height <= sink_rate * land_flare_sec
During the banking of the last corner the plane started to decend and
quickly set itself up for a 6.1m/s sink rate which is normal.  It was
at 30 meters altitude.  As you can see at this point the math thinks
the plane has landed so limits the roll.  The solution was to ensure
the plane had covered at least 50% of the distance toward the final
waypoint before allowing a flare to happen.  Note that LAND_FLARE_SEC
above 2 is considered very high and this normally wouldn't occur.
 2016-04-15 13:02:11 +10:00
Andrew Tridgell
154fe15c67 Plane: fixed build warning 2016-04-15 09:22:41 +10:00
Tom Pittenger
ff57884eca Plane: renamed variable, non-functional change 2016-04-14 13:18:35 -07:00
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
Michael du Breuil
78442b7e81 Plane: make the initialization of the gcs instances follow the define 2016-04-11 17:54:46 -07:00
Andrew Tridgell
06bcf0df4b Plane: change default loop rate for quadplanes to 300Hz 2016-04-11 09:32:45 +10:00
Andrew Tridgell
1fe9582ac3 Plane: back to velocity controller for quadplane landing 
now with much smoother attitude control thanks to some help from
Leonard
 2016-04-10 22:01:19 +10:00
Andrew Tridgell
4a5c4a5189 Plane: not in vtol mode when quadplane not enabled 
prevents logging error in auto if quadplane not enabled and running a
VTOL mission command
 2016-04-10 22:01:18 +10:00
Ricardo de Almeida Gonzaga
5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
Andrew Tridgell
97a7192f76 Plane: make it more obvious that AUTO_FBW_STEER is not for normal use 2016-04-06 07:58:23 +10:00
Andrew Tridgell
5f1ad68bd9 Plane: improved velocity controller for quadplane landing 2016-04-04 09:50:35 +10:00
Andrew Tridgell
8b30569ad1 Plane: setup quadplane earlier in startup 
this ensures the GCS gets the full parameter list as the param count
will be set before mavlink starts
 2016-04-03 06:49:38 +10:00
Andrew Tridgell
5cc4b20c73 Plane: smooth out final descent for landing 2016-04-02 22:45:51 +11:00
Andrew Tridgell
197cefaaa7 Plane: prevent large nose-down on start of velocity controller 2016-04-02 21:19:06 +11:00
Andrew Tridgell
ae51e51c6a Plane: use velocity controller for initial quadplane landing 2016-04-02 20:54:01 +11:00
Andrew Tridgell
b1266603a6 Plane: setup immediate pitch limit on quadplane takeoff 
this prevents a single loop with large pitch down demand
 2016-04-02 19:53:48 +11:00
Andrew Tridgell
913cf9dd37 Plane: set min quad throttle to 10% 
fixes spin when armed
 2016-04-01 22:18:51 +11:00
Andrew Tridgell
7f85c14c96 Plane: fixed landing detector for new AP_Motors code 2016-04-01 21:54:32 +11:00
Andrew Tridgell
70679a06aa Plane: fixed quadplane throttle control in AUTO 2016-04-01 17:29:51 +11:00
Andrew Tridgell
52cc369f15 Plane: fixed typo in AP_Motors conversion 2016-04-01 16:45:01 +11:00
Andrew Tridgell
e7f7afcc4d Plane: added correct filter defaults 2016-04-01 16:44:49 +11:00
Andrew Tridgell
9cf909607f Plane: setup reasonable quadplane defaults 2016-04-01 16:40:06 +11:00
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
Randy Mackay
b96ea15220 Plane: quadplane uses AC_AttitudeControl_Multi 2016-04-01 11:59:30 +09:00