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22500 Commits (d7ce3ff72eae214cb419a06c83d60813a603b255)

Author SHA1 Message Date
Samuel Tabor 3228cc3309 AP_TECS: Update descriptions of pitch feed-forward parameters.
5 years ago
Samuel Tabor 6e75890bd9 AP_Soaring: Add a low pass of target position from EKF before using it.
5 years ago
Samuel Tabor f23efdd13b AP_Soaring: Make vario time constant public.
5 years ago
Samuel Tabor d04c6cb02e TECS: Don't override the speedweight to 0 if synthetic airspeed is in use.
5 years ago
Samuel Tabor 56649fa8eb AP_Soaring: Fix too-long status message.
5 years ago
Samuel Tabor d54c7f1b7a AP_Soaring: Fix bug when no soaring activation RC channel set.
5 years ago
Samuel Tabor fbd0df81a7 AP_Soaring: Report changes in active status.
5 years ago
Samuel Tabor e1f7122566 AP_Soaring: Improve tracking of enabled/disabled status.
5 years ago
Samuel Tabor 5ac801b2ac AP_Soaring: Use 64 bit variable for time to avoid overflow.
5 years ago
Samuel Tabor 2260fda4ec AP_Soaring: Detect changes in active parameter/switch position.
5 years ago
Samuel Tabor fdf7eae01c AP_Soaring: Adjust initial EKF values and limit R to 40.0m.
5 years ago
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.
5 years ago
Samuel Tabor 1160c59a89 AP_Soaring: Remove dsp bias and log this.
5 years ago
Samuel Tabor c28c573da1 AP_Soaring: Also log acceleration.
5 years ago
Samuel Tabor 7555f5abf8 AP_Soaring: Fix incorrect trig function and log the expected sink.
5 years ago
Samuel Tabor 17f1fa9600 AP_Soaring: Fix use of double precision sqrt.
5 years ago
Samuel Tabor 7d3ff28974 AP_Soaring: Correct bug with reversed arguments.
5 years ago
Samuel Tabor 16b7de4029 AP_Soaring: Cleanup variometer.
5 years ago
Samuel Tabor 62a34e0f8d AP_Soaring: Calculate filter time constant based on airspeed and loiter radius, using 3x circline rate.
5 years ago
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.
5 years ago
Samuel Tabor 15cef55e97 SITL: Make thermal drift relative to 100m alt to avoid so much change with wind speed and direction."
5 years ago
Samuel Tabor 8072f6b858 AP_Soaring: Make the trigger VSPEED take account of thermalling sink.
5 years ago
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.
5 years ago
Samuel Tabor 45cb663d73 AP_Math: Add template for Vector2f::projected.
5 years ago
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).
5 years ago
Samuel Tabor 75f772b269 AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER.
5 years ago
Samuel Tabor 684ee11fc3 AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring.
5 years ago
Samuel Tabor dc8c062fbe AP_TECS: Correct an error in the SEBdot FF term.
5 years ago
Samuel Tabor 247738518e AP_TECS: Add a feed-forward term from adjusted demanded airspeed to nav pitch.
5 years ago
Samuel Tabor a27c99fab9 AP_TECS: Return the adjusted demanded airspeed. The aspd_error mavlink message now shows the rate-limited airspeed.
5 years ago
Samuel Tabor ae27f96361 SITL: Make soaring thermals slanted.
5 years ago
Samuel Tabor 013628bd1d Plane: Soaring - better reporting of exit due to drift.
5 years ago
Samuel Tabor e1b2360781 AP_Soaring: Add a maximum allowable drift distance when thermalling.
5 years ago
Samuel Tabor 936d4232c9 AP_Soaring: Add a 60s first order filter on climb rate. If this becomes negative exit thermalling.
5 years ago
Samuel Tabor 30249e8006 AP_Soaring: Add a check of whether altitude has been lost overall when thermalling.
5 years ago
Samuel Tabor 5082c9be8b SITL: Add plane-soaring type, including parameters, mission, simulated thermals and glider sim settings.
5 years ago
Tom Pittenger f24095e9ed AP_Soaring: inhibit msg spam when lingering in loiter waiting for heading to line up
5 years ago
Samuel Tabor 3211c03f58 AP_Soaring: Remove unused methods, clean up and log position in N/E rather than Lat/Lng.
5 years ago
Samuel Tabor 152c1507e0 AP_Soaring: Make the EKF states the actual NE position of the thermal, rather than the position relative to aircraft.
5 years ago
Samuel Tabor d7abd296ef AP_Soaring: Avoid calculations in lat/lng.
5 years ago
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.
5 years ago
Samuel Tabor c135b00b7b AP_Soaring: Remove redundant check for new vario data.
5 years ago
Samuel Tabor 64460be0d0 AP_Soaring: Implement vario based on acceleration rather than differentiated airspeed.
5 years ago
Tom Pittenger f6396d7a6d Plane: add reason to exit Thermal loiter and adjust LOW alt reaon to cause RTL
5 years ago
Tom Pittenger 52ae093a97 AP_Soaring: add reason to exit Thermal loiter
5 years ago
Michael du Breuil 73c5c2e1bb AP_Arming: Check that sticks are neutral
5 years ago
Michael du Breuil 2b9aa9bc21 RC_Channel: Add option bit for arming checking the throttle input (opt-in)
5 years ago
murata 7ec0cb47a5 AP_Compass: const extern hal reference
5 years ago
murata f83f6c71e4 AP_Logger: const extern hal reference
5 years ago
murata 264a90bb45 AP_Logger: Change to coding style (NFC)
5 years ago