ae9201342a
Plane: allow FLAP_IN_CHANNEL to control k_flap and k_flap_auto too
11 years ago
c3b7e76c28
Plane: added flaperon support
...
this adds FLAPERON_OUTPUT and FLAP_IN_CHANNEL to allow both manual
and auto flap control for both normal flaps and flaperons
11 years ago
c16e3a035f
Plane: fixed disarmed throttle in HIL
11 years ago
b0a0316dd6
Plane: Now using AP_Arming library.
11 years ago
17c9cedac1
Plane: send out HIL servo updates as soon as we can
...
this improves the servo responsiveness of HIL a lot
11 years ago
56f574684d
Plane: fixed throttle failsafe with reversed throttle
11 years ago
231b5ab793
Plane: prevent too large combined pitch/roll angles
...
this reduces the roll limit by cos(pitch) and pitch minimum by
cos(roll). This prevents unreasonable attitudes in all stabilised
modes
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
11 years ago
035ac3800a
Plane: use G_Dt for acro angle integration
...
also cleanup some other uses of performance timing
11 years ago
536fbb4a30
Plane: if pilot gives aileron input then disable ground steering
...
otherwise it would be very tricky to do a low pass!
12 years ago
d32e58db84
Plane: split out the channel stick mixing
...
makes code a bit clearer
12 years ago
3be939eb03
Plane: give manual steering when still
...
useful for servo testing
12 years ago
d275f50539
Plane: added GROUND_STEER_ALT and GROUND_STEER_DPS
...
this uses the new AP_SteerController steering controller developed for
the rover code to allow for ground steering of planes
12 years ago
081510d37a
Plane: added ACRO_LOCKING parameter
...
this enables/disables the attitude locking in acro mode, allowing acro
to be a pure rate controller
12 years ago
996eda0080
Plane: Report MAV_STATE_ACTIVE if flying, MAV_STATE_STANDBY otherwise
...
(There are also various error states MAV_STATE_CRITICAL that are unchanged
by this check in).
The is_flying() check is similar to the code in suppress_throttle, but
I wanted to make it very optimistic on thinking we are flying - which is
not what you want for set_throttle...
(AC has similar MAV_STATE_ACTIVE vs MAV_STATE_STANDBY behavior now)
12 years ago
e455ee0a94
Plane: fixed throttle suppression for AUTO_FBW_STEER=1
12 years ago
1869cd52e1
Plane: fixed AUTO_FBW_STEER stick mixing
12 years ago
328e900364
Plane: changed TKOFF_THR_DELAY default to 2
...
this makes it safer for hand launch with pusher props
12 years ago
43cf0736a3
Plane: Auto Takeoff Check updates
...
Adds additional launch angle protection and protection against early
exit from auto causing unexpected motor start on re-entry
12 years ago
43ffe91546
Plane: added FS_ACTION of 2 for glide
...
this allows people without specified settings in their receiver for
failsafe to choose FBWA zero throttle glide on throttle failsafe. That
can be a better choice when flying at a R/C club field
12 years ago
cc6acac1dd
Plane: added AUTO_FBW_STEER option
...
this is an unusual option that gives FBWA flight control in AUTO
mode. It is being added to support use of APM in an aerial robotics
competition where students need to pilot the plane, but they still
need waypoint triggering of payloads
12 years ago
f6688582a6
Plane: added FENCE_ACTION=3 behaviour
...
this makes it safer to enable the geofence as a receiver failsafe
mode. It retains manual throttle control, so if it triggers on the
ground due to the receiver losing signal from the transmitter then the
throttle can be kept low, preventing an unexpected takeoff.
12 years ago
accfd46633
Plane: update for new APM_Control API
12 years ago
890b77447a
Plane: allow integrator in stabilize mode when no stick input
...
fixes issue #472
12 years ago
233b033e8c
Plane: removed old speed/altitude control algorithms
...
Use TECS only. This makes the code a lot simpler and easier to
properly document
12 years ago
29c854e676
Plane: remove unused function
12 years ago
51b9cf3e76
Plane: move failsafe variables into a structure
...
this makes the logic a bit easier to follow
12 years ago
608345415b
Plane: pass aircraft parameters to attitude controllers
...
also cope with rename of airspeed min/max variables
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
12 years ago
dbd47b2a30
Plane: make TECS the default speed/height controller
12 years ago
dc024d425a
Plane: re-do roll hanging in ACRO mode
...
this avoids the euler angle zeros of the previous method by using a
gyro integrator on the roll axis
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
12 years ago
b37f79d307
Plane: update for new APM_Control API
12 years ago
113bc20f8a
Plane: added a new CRUISE flight mode
...
See
http://diydrones.com/group/apmusergroup/forum/topics/feature-request-hold-heading-mode
this fixes issue #438
12 years ago
cc57bfcf12
Plane: fixed handling of deadzone in ACRO mode
...
RC_Channel norm_input() does not take account of the dead zone
12 years ago
fc67f51901
Plane: added ACRO_ROLL_RATE and ACRO_PITCH_RATE parameters
...
default to 180 degrees/second, which seems reasonable
12 years ago
608007361b
Plane: added initial implementation of ACRO mode
...
rate based control with attitude locking
12 years ago
3c97fad2ec
Plane: changes for GPS field changes
12 years ago
7aa360b176
Plane: added relative_altitude helper functions
...
prevents some code duplication
12 years ago
1355b6d89d
Plane: break-up scheduling into smaller pieces
...
ensure mavlink sends don't push us over a scheduling boundary
12 years ago
d30dd7c3f1
Plane: only run TECS when in an auto-throttle mode
...
this prevents integrator buildup in user controlled modes
12 years ago
a5bda3ffef
Plane: changed to using a "aircraft parameters" structure
...
this structure can be passed to libraries to give them easy access to
critical user parameters
12 years ago
d62636d309
Plane: added new TECS altitude controller
...
Includes improvements to takeoff/launch detect logic to support hand
launching for X-8 flight
12 years ago
75ef7c26e1
Plane: update takeoff course when conditions met
...
This allows for change of heading before the final takeoff conditions
are met
thanks to Greg Fletcher for suggesting this
12 years ago
570ecea6c6
Plane: added secondary rudder support
12 years ago
056e0ca40d
Plane: APM2 doesn't have channel 9 PWM output
12 years ago
a1f64d606a
Plane: fixed remaining places where primary channel ordering was assumed
...
should now use rcmap for all inputs
12 years ago
fb9bf21522
Plane: allow channel mapping of first 4 channels
...
this makes it easier to support DSM and SBUS radios
12 years ago
bb3171ab5f
Plane: zero attitude integrators on the ground
12 years ago
cd55ed45e2
Plane: removed the old roll/pitch/yaw PID controllers
...
use the new controllers, with auto parameter conversion
12 years ago
eba7d6da9a
Plane: removed the old crash_timer code
...
This code is less relevent with the new L1 navigation, and could cause
issues with the pilot not having control after a long dive.
Thanks to Soren for pointing out the issues
See issue #305
12 years ago
767d9d0eb5
Plane: fixed stick mixing in AUTO modes
...
the mixing was asymmetric. Many thanks to Soren Kuula for noticing this!
12 years ago
c81421e275
Plane: added MIXING_GAIN parameter
...
this allows for the full range of output on both channels, but can
saturate
12 years ago
Andrew Tridgell
Michael Day
Kevin Hester
Paul Riseborough