Randy Mackay
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d53045db10
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AP_Soaring: minor spelling fix
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4 years ago |
Samuel Tabor
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861b57cb09
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AP_Soaring: Add EXIT_COMMANDED status used when pilot changes switch position when thermalling.
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4 years ago |
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Samuel Tabor
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18b33a439d
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AP_Soaring: Allow continued thermalling in manual mode changes RC switch position.
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5 years ago |
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Samuel Tabor
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4726e670d5
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AP_Soaring: Fix description of SOAR_MAX_DRIFT.
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5 years ago |
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Samuel Tabor
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611217f63e
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AP_Soaring: Use RC aux function rather than read RC directly.
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5 years ago |
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Samuel Tabor
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b21f9030b7
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AP_Soaring: Update parameter ranges.
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5 years ago |
Peter Barker
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64e300a00c
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AP_Soaring: add documentation for VAR dataflash log message
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5 years ago |
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Peter Barker
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69093aa7b1
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AP_Soaring: stop taking AHRS as constructor argument
... use singleton instead
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5 years ago |
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Samuel Tabor
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4a39a43c10
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AP_Soaring: Add log documentation.
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5 years ago |
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Samuel Tabor
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b9daae062c
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AP_Soaring: Use enum class rather than typedef enum for states and hide details of these.
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5 years ago |
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Samuel Tabor
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6e75890bd9
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AP_Soaring: Add a low pass of target position from EKF before using it.
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5 years ago |
|
Samuel Tabor
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f23efdd13b
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AP_Soaring: Make vario time constant public.
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5 years ago |
|
Samuel Tabor
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56649fa8eb
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AP_Soaring: Fix too-long status message.
|
5 years ago |
|
Samuel Tabor
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d54c7f1b7a
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AP_Soaring: Fix bug when no soaring activation RC channel set.
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5 years ago |
|
Samuel Tabor
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fbd0df81a7
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AP_Soaring: Report changes in active status.
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5 years ago |
|
Samuel Tabor
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e1f7122566
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AP_Soaring: Improve tracking of enabled/disabled status.
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5 years ago |
|
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 |
|
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
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7d3ff28974
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AP_Soaring: Correct bug with reversed arguments.
|
5 years ago |
|
Samuel Tabor
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16b7de4029
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AP_Soaring: Cleanup variometer.
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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.
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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 |
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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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fab74f8927
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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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75f772b269
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AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER.
|
5 years ago |
|
Samuel Tabor
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684ee11fc3
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AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring.
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5 years ago |
|
Samuel Tabor
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013628bd1d
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Plane: Soaring - better reporting of exit due to drift.
|
5 years ago |
|
Samuel Tabor
|
e1b2360781
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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.
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5 years ago |
|
Samuel Tabor
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30249e8006
|
AP_Soaring: Add a check of whether altitude has been lost overall when thermalling.
|
5 years ago |
Tom Pittenger
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f24095e9ed
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AP_Soaring: inhibit msg spam when lingering in loiter waiting for heading to line up
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5 years ago |
|
Samuel Tabor
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3211c03f58
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AP_Soaring: Remove unused methods, clean up and log position in N/E rather than Lat/Lng.
Fix
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5 years ago |
|
Samuel Tabor
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152c1507e0
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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
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d7abd296ef
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AP_Soaring: Avoid calculations in lat/lng.
|
5 years ago |
|
Samuel Tabor
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0cccc8dc29
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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
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c135b00b7b
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AP_Soaring: Remove redundant check for new vario data.
|
5 years ago |
|
Samuel Tabor
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64460be0d0
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AP_Soaring: Implement vario based on acceleration rather than differentiated airspeed.
|
5 years ago |
|
Tom Pittenger
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52ae093a97
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AP_Soaring: add reason to exit Thermal loiter
|
5 years ago |
|
Peter Barker
|
e85a4dcd7d
|
AP_Soaring: remove empty Units: parameter doc entries
These break parameter generation
|
5 years ago |
Peter Hall
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850eee2f84
|
AP_Soaring: move to airspeed_estimate with pointer
|
5 years ago |
|
Peter Barker
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a5ff46950c
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AP_Soaring: move include of logger to .cpp file
|
6 years ago |
|
Peter Barker
|
61e261caf5
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AP_Soaring: remove definition of 'N' macro in favour of scoped variable
|
6 years ago |
Pierre Kancir
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51437ccc53
|
AP_Soaring: use get_distance_NE instead of location_diff
|
6 years ago |
