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Commit Graph

80 Commits (e49dc306ec9dfcfaa0e17548f4a280eddef63d56)

Author SHA1 Message Date
Samuel Tabor e78d6fee0a AP_Soaring: Ensure minimum cruise times are respected when RC switch position is changed.
4 years ago
Samuel Tabor 9a7f80789f AP_Soaring: Update vario tau calculation to use SOAR_THML_BANK.
4 years ago
Samuel Tabor d578b4d3db AP_Soaring: Fix incorrect use of aparm.loiter_radius.
4 years ago
Patrick José Pereira 705a885d82 AP_Soaring: Add missing const in member functions
4 years ago
Tom Pittenger a5d33cacb5 AP_Soaring: add units to param SOAR_THML_BANK
4 years ago
Samuel Tabor 4ec1e55833 AP_Soaring: Add SOAR_THML_BANK parameter and associated logic.
4 years ago
Peter Barker 4bbf623cac AP_Soaring: remove unused variables
4 years ago
Samuel Tabor b6f92989a7 AP_Soaring: Only compile if HAL_SOARING_ENABLED.
4 years ago
Samuel Tabor 10111f92d5 Plane: Rename SOARING_ENABLED to HAL_SOARING_ENABLED and don't compare to ENABLED.
4 years ago
Samuel Tabor 0a738395fa Plane: Add THERMAL mode for thermal soaring.
4 years ago
Samuel Tabor f926dc62ed AP_Soaring: Reduce default value for minimum cruise time.
4 years ago
Samuel Tabor e0f524d425 Plane: Soaring: Use circling time as timeout if less than 20s.
4 years ago
Samuel Tabor 440d17e0de AP_Soaring: Add accessor for SOAR_ALT_CUTOFF.
4 years ago
Randy Mackay d53045db10 AP_Soaring: minor spelling fix
4 years ago
Samuel Tabor 861b57cb09 AP_Soaring: Add EXIT_COMMANDED status used when pilot changes switch position when thermalling.
4 years ago
Samuel Tabor 18b33a439d AP_Soaring: Allow continued thermalling in manual mode changes RC switch position.
5 years ago
Samuel Tabor 4726e670d5 AP_Soaring: Fix description of SOAR_MAX_DRIFT.
5 years ago
Samuel Tabor 611217f63e AP_Soaring: Use RC aux function rather than read RC directly.
5 years ago
Samuel Tabor b21f9030b7 AP_Soaring: Update parameter ranges.
5 years ago
Peter Barker 64e300a00c AP_Soaring: add documentation for VAR dataflash log message
5 years ago
Peter Barker 69093aa7b1 AP_Soaring: stop taking AHRS as constructor argument
5 years ago
Samuel Tabor 4a39a43c10 AP_Soaring: Add log documentation.
5 years ago
Samuel Tabor b9daae062c AP_Soaring: Use enum class rather than typedef enum for states and hide details of these.
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 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 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 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 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