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
6251d0510a
Plane: obey pitch trim and throttle pitch feed forward in new controllers
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
12 years ago
11ad9d5a2d
Plane: auto-invert pitch control when upside down
...
this helps to recover when flying inverted, for example when in manual
and hitting the lower altitude geofence
12 years ago
4e2b88f6e6
Plane: added ATT_CONTROLLER option to select attitude controller
...
set to 1 for the new APM_Control library
12 years ago
8c5b603848
Plane: use new APM_Control API
12 years ago
9584aa89d9
Plane: replaced constrain() with constrain_float()
12 years ago
3d7a4d0e6e
Plane: added ELEVON_OUTPUT option
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this is like the vtail mixer, but for elevons
12 years ago
0b8c2da4df
Plane: support 12 output channels on PX4
12 years ago
4f225eff57
Plane: if airspeed enabled, require 5m/s to unsuppress throttle
12 years ago
8f091e70c8
Plane: move elevon variables into a structure
12 years ago
11eb0cfce1
Plane: update for new AP_Navigation controller class
...
this switches ArduPlane over to use the L1 navigation controller, via
a generic nav_controller object pointer.
Note that the nav_controller controls all types of navigation now,
including level flight and heading hold. This provides a cleaner
abstraction than the old method of special case navigation handling
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
12 years ago
e58f49aeaf
Plane: copy rudder out in TRAINING mode
...
we were doing rudder mixing in training mode, which shouldn't be done
12 years ago
bd2b9fbe9d
Plane: simplify the VTail mixer to be more like a hardware mixer
...
this should make it easier to trim the vtail
12 years ago
406921faf1
Plane: added VTAIL_OUTPUT option
...
this allows for software vtail mixing
12 years ago
683a2919d1
Plane: prevent stick mixing when throttle is below failsafe threshold
...
this fixes issue #40
12 years ago
2506c216dd
Plane: added a second type of stick mixing
...
this changes STICK_MIXING from a boolean to a tri-state. With
STICK_MIXING=1 it now uses FBW style mixing. With STICK_MIXING=2 it
uses the old style of direct stick mixing.
12 years ago
e390726bdd
Plane: prevent overflow on large PID gains
...
this uses get_pid_4500() to prevent overflow of servo_out on large PID gains
12 years ago
dfb14d760b
Plane: added HIL_SERVOS option
...
this allows for real servo output in HIL
12 years ago
c2055557f5
Plane: add support for GPS fix type 2D
12 years ago
1d983b3f2e
Plane: fixed X accel triggering of auto
12 years ago
0a385cc0ff
Plane: added TKOFF_THR_MINACC option
...
this is used for triggering auto takeoff with a hand launched plane
12 years ago
9697ff5d6d
Plane: Added extra parameter to specify at what speed in auto-takeoff throttle should engage
...
This adds TKOFF_THR_MINSPD in m/s
12 years ago
e93888dee9
Plane: make a throttle_cruise of 0 mean always zero throttle
...
this can be used for parachute landing missions
Thanks to Chris Miser for the suggestion
12 years ago
b9a5be6c8b
Plane: added secondary elevator support
12 years ago
9058949558
Plane: fixed some warnings
12 years ago
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
12 years ago
4cdb3cd390
Plane: use GRAVITY_MSS
12 years ago
feca411943
Plane: added new TRAINING mode
...
this mode gives manual control when the roll or pitch is within the
set limits (the same limits as FBW mode), and prevents the pilot from
flying beyond those limits, essentially a "attitude limited manual"
mode
12 years ago
cf18534163
Plane: use new functions
12 years ago
f8dec9ae4a
ArduPlane: fixes to use CONFIG_HAL_BOARD instead of CONFIG_APM_HARDWARE
12 years ago
92b0c302f2
ArduPlane: Ported to AP_HAL
12 years ago
f5abc2c25e
Plane: switch to an enum for flight modes
12 years ago
0260559147
Plane: fixed throttle slew limit code
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starting at 1000 is a very bad idea - a petrol engine could cut out
12 years ago
697c386075
Plane: use correct throttle range in slewrate
12 years ago
92cd631ce5
Plane: added THR_PASS_STAB parameter
...
this allows direct passthru of throttle in STABILIZE and FBWA, which
is useful for nitro planes wher you have a throttle cut switch that
drops the throttle below normal minimum.
12 years ago
61f2e18e2e
APM: allow ailerons to move fully during servo demo
12 years ago
fcbd3a823b
APM: added a new type of auxilary aileron, with rc input
...
a AileronWithInput assumes you have setup your RC transmitter to give
the right trim and input on the secondary aileron
12 years ago
ef727bbb3c
ArduPlane: move to use new INS library instead of IMU library
12 years ago
c7b47a0e47
APM: allow for arbitrary ranges and reversal on 2nd aileron
...
this ensures you can setup a 2nd aileron with different reversal from
main aileron
12 years ago
81d507d39e
APM: fixed differential spoilers in manual mode
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make them follow the elevons
12 years ago
8c0296b27a
APM: fixed additional aileron channels in manual mode
12 years ago
8c46fced16
APM: Added functionality to use differential spoilers in elevon mode
...
spoiler 1 and 2 are connected to 2 auxiliary channels, functions are
set to 16 on left wing and 17 om right wing respectively. Worked in
FBW + mode (auto etc.). No manual mode supported yet (need more
channels in my case).
12 years ago
Andrew Tridgell
Paul Riseborough
Randy Mackay
Michael Warren
James Bielman
Pat Hickey
Xichen Shi