Samuel Tabor
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5ac801b2ac
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AP_Soaring: Use 64 bit variable for time to avoid overflow.
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5 years ago |
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Samuel Tabor
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528dcc3f6b
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Autotest: Add test for soaring.
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5 years ago |
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Samuel Tabor
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e7418637ee
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Plane: In FBWB make target alt track current if soaring is enabled and suppressing throttle.
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5 years ago |
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Samuel Tabor
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ed7e359f4d
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Plane: Make target altitude track current altitude when gliding.
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5 years ago |
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Samuel Tabor
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2260fda4ec
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AP_Soaring: Detect changes in active parameter/switch position.
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5 years ago |
|
Samuel Tabor
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fdf7eae01c
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AP_Soaring: Adjust initial EKF values and limit R to 40.0m.
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5 years ago |
|
Samuel Tabor
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ff1725b549
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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.
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5 years ago |
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Samuel Tabor
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1160c59a89
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AP_Soaring: Remove dsp bias and log this.
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5 years ago |
|
Samuel Tabor
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c28c573da1
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AP_Soaring: Also log acceleration.
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5 years ago |
|
Samuel Tabor
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7555f5abf8
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AP_Soaring: Fix incorrect trig function and log the expected sink.
|
5 years ago |
|
Samuel Tabor
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17f1fa9600
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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
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AP_Soaring: Cleanup variometer.
|
5 years ago |
|
Samuel Tabor
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62a34e0f8d
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AP_Soaring: Calculate filter time constant based on airspeed and loiter radius, using 3x circline rate.
|
5 years ago |
|
Samuel Tabor
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2b40182b34
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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.
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5 years ago |
|
Samuel Tabor
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15cef55e97
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SITL: Make thermal drift relative to 100m alt to avoid so much change with wind speed and direction."
|
5 years ago |
|
Samuel Tabor
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8072f6b858
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AP_Soaring: Make the trigger VSPEED take account of thermalling sink.
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5 years ago |
|
Samuel Tabor
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650b464831
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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.
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5 years ago |
|
Samuel Tabor
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45cb663d73
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AP_Math: Add template for Vector2f::projected.
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5 years ago |
|
Samuel Tabor
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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).
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5 years ago |
|
Samuel Tabor
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5963164a22
|
Plane: Soaring, make zero SOAR_MAX_RADIUS always RTL, and -1 never.
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5 years ago |
|
Samuel Tabor
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75f772b269
|
AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER.
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5 years ago |
|
Samuel Tabor
|
298088268a
|
Plane: Soaring, don't wait for heading if too low, and add timeout otherwise.
|
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.
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5 years ago |
|
Samuel Tabor
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a27c99fab9
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AP_TECS: Return the adjusted demanded airspeed. The aspd_error mavlink message now shows the rate-limited airspeed.
|
5 years ago |
|
Samuel Tabor
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ae27f96361
|
SITL: Make soaring thermals slanted.
|
5 years ago |
|
Samuel Tabor
|
a18d6e925d
|
AP_Soaring: Improved default sim parameters.
|
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
|
96bc0e1e03
|
Plane: Soaring: Reset loiter.sum_cd when good to continue thermalling, so that exit heading acceptance criteria does not grow.
|
5 years ago |
|
Samuel Tabor
|
e7736fb5e7
|
AP_Soaring: Line up on current, not next, nav command.
|
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
|
a56b1dadb9
|
Plane: fix bug with headingLinedUp when loiter.sum_cd was negative.
|
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
|
394fbb1a50
|
Plane: unified soaring exit behavior: auto heads to next wp, cruise continues cruise heading, FBW to home
|
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.
Fix
|
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
|
ce9450846b
|
Plane: fix soaring typo
|
5 years ago |
|
Tom Pittenger
|
ec8f82422a
|
Plane: move loiter heading init for auto into auto helper, and properly reset it in loiter mode enter
|
5 years ago |
|
Tom Pittenger
|
fd4b7c823e
|
Plane: improved soaring exit options
|
5 years ago |
|
Tom Pittenger
|
f397c168e8
|
Plane: refactor loiter heading exit logic
|
5 years ago |
|
Tom Pittenger
|
f6396d7a6d
|
Plane: add reason to exit Thermal loiter and adjust LOW alt reaon to cause RTL
|
5 years ago |
