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27,553 Commits 71 Branches 509 Tags 752 MiB
Copter-3.5
Commit Graph

2661 Commits

Author SHA1 Message Date
Randy Mackay
6a4c8efd7b Plane: integrate simpler Log_Write_EKF 2017-09-11 08:42:58 +09:00
Peter Barker
4abfcd0bd1 Plane: StartUnstartedLogging replaces logging_started/start_logging 2017-06-15 10:28:57 +09:00
Peter Barker
20755b8244 Plane: simplify should_log (NFC) 2017-06-15 10:28:43 +09:00
Peter Barker
378015691b Plane: stop appending lf to PERF message 2017-05-01 16:21:55 +01:00
Peter Barker
084242cf03 Plane: move init of DataFlash references into vehicle init 
It is possible to start a log before the existing codepath is crossed.
 2017-05-01 15:04:34 +01:00
Andrew Tridgell
708b483d77 Plane: prepare for 3.8.0beta5 2017-05-01 20:30:32 +10:00
Andrew Tridgell
2706c9d57a Plane: use common send_queued_parameters() 2017-05-01 14:36:10 +10:00
Andrew Tridgell
351304ebcb Plane: don't set fly-forward when transitioning 
when quad motors are providing assistance don't see the fly-forward
flag in the AHRS. This will lower the chance of EKF yaw confusion
 2017-05-01 14:27:45 +10:00
Andrew Tridgell
3eeff938b0 Plane: call BoardConfig.init_safety() at end of startup 
this fixes a bug where motors can start on soft reboot
 2017-04-30 21:47:04 +10:00
Mark Whitehorn
dc10675965 ArduPlane: suppress differential thrust when throttle is zero 
this prevents motors from spinning when disarming in FBWA
 2017-04-28 16:08:50 -07:00
Andrew Tridgell
5a57aafb98 Plane: reduce pitch demand on takeoff on roll error 2017-04-28 16:34:33 +10:00
Andrew Tridgell
954905e0eb Plane: allow battery failsafe with usb connected 
some people connect USB to allow connections from a companion
computer. The arming check is sufficient to prevent unwanted battery
failsafes when bench testing
 2017-04-28 16:33:49 +10:00
Andrew Tridgell
888edcd709 Plane: fixed duplicate include of AP_ADC library 2017-04-27 18:32:26 +10:00
Andrew Tridgell
7ea0f65590 Plane: removed incorrect comment 2017-04-24 16:56:23 +10:00
Andrew Tridgell
06b0742481 Plane: fixed jump in qhover on takeoff 
Z controller PID is from -1 to 1

thanks to Leonard for spotting this
 2017-04-24 16:55:41 +10:00
Andrew Tridgell
b9debba509 Plane: make ground test easier for tilt 2017-04-24 16:55:41 +10:00
Andrew Tridgell
76870f8e01 Plane: improve fast/slow tilt in ground tests 
when disarmed use the slow tilts so users can judge the rates it will
use in flight
 2017-04-24 16:55:41 +10:00
Andrew Tridgell
aab20317a0 Plane: fixed position control in QLAND_FINAL 2017-04-24 16:55:41 +10:00
Andrew Tridgell
b1f1ace736 Plane: support vectored yaw tiltrotors 
this adds support for tiltrotors which control yaw by vectoring the
forward motors. This avoids the need for the rear motor on a
tilt-tricopter to have a tilt servo
 2017-04-24 16:54:41 +10:00
Andrew Tridgell
fedabd1ace Plane: added logging of quadplane desired yaw 
makes analysis of takeoffs easier
 2017-04-24 16:52:16 +10:00
Andrew Tridgell
2d9c3e3d93 Plane: added EKF yaw reset handling to quadplane 
this follows the implementation from copter. Thanks to Leonard for the
suggestion
 2017-04-24 16:52:16 +10:00
Andrew Tridgell
516bf26719 Plane: fixed QRTL change when coming from loiter 
the nav controller can think we have already reached the loiter target
if we were last in a LOITER when we switch to RTL. In that case it
would switch to QRTL immediately

found by Leonard (thanks!)
 2017-04-24 16:28:59 +10:00
Andrew Tridgell
be1b50d6e2 Plane: support auto trim for separate elevon and vtail channels 
this supports SERVO_AUTO_TRIM=1 for elevons and vtails setup using the
new separate functions
 2017-04-24 16:26:08 +10:00
Andrew Tridgell
b4ffcfa6bd Plane: added support for elevon and vtail servo functions 
these make trimming and limiting servo movement easier
 2017-04-24 16:26:08 +10:00
Peter Barker
b5b8620d04 Plane: log GPS detection state to DF on log startup 2017-04-23 21:04:17 +01:00
Eugene Shamaev
ca84ab36be Plane: AOA and SSA estimations are added to parameters and data logs 2017-04-19 20:48:42 +10:00
Andrew Tridgell
88e02c7b35 Plane: log the throttle mix for quadplane copter control 2017-04-19 09:08:43 +10:00
Andrew Tridgell
8e3f8f47c8 Plane: tilt motors fast in final stages of quadplane transition 
when transition of tilt quadplane has reached the stage where the tilted
motors are used solely for fwd thrust and rear motors are off we should
move the tilt to full forward rapidly
 2017-04-19 09:08:14 +10:00
Tom Pittenger
5b47927937 Plane: pre-launch flaps incorrectly always disabled 
Pre-launch flaps are always disabled by checking current state against zero (which it always will be) instead of the param which is what it was supposed to be checking.
 2017-04-18 14:40:17 -07:00
Andrew Tridgell
d5ec7b0aad Plane: fixed a sign error in the angle assist code 
thanks to Leonard for finding this!
 2017-04-18 22:09:22 +10:00
Andrew Tridgell
b15b11e32d Plane: always stabilize with tailsitters 2017-04-14 12:48:08 +10:00
Michael du Breuil
b850c1041f Plane: Send BATTERY_STATUS 2017-04-12 10:21:49 +09:00
Andrew Tridgell
46d910539c Plane: fixed a warning 2017-04-11 17:34:40 +10:00
Andrew Tridgell
642a6acfcb Plane: support thrust vectoring in tailsitters 
adds Q_TAILSIT_VHGAIN and Q_TAILSIT_VFGAIN, allowing for thust
vectoring in both fixed wing and hover
 2017-04-11 17:34:40 +10:00
Andrew Tridgell
664e41cec6 Plane: bring in demanded climb rate over 1 second 
when we engage the Z controller in quadplane we bring in the climb
rate slowly to prevent a sudden change in motor demand
 2017-04-09 16:45:19 +10:00
Andrew Tridgell
17ba8b3304 Plane: raise logging rate for PID and servos 2017-04-09 16:45:19 +10:00
Andrew Tridgell
0cf571d338 Plane: moved Z altitude target reset 
reset alt target whenever we have not run Z controller for 2s
 2017-04-09 16:45:19 +10:00
Mark Whitehorn
7679b758b0 Plane: add parameter RUDD_DT_GAIN for dual motor tailsitter 
controls rudder to differential thrust mixing in FW mode
 2017-04-06 08:29:44 +10:00
Michael du Breuil
876ffa351b Plane: Update L1 constructor for new arguments 2017-04-06 08:26:04 +10:00
Andrew Tridgell
acaef22416 Plane: improve transition from QSTABILIZE to FBWA or QHOVER 2017-04-05 20:00:29 +10:00
Andrew Tridgell
a9b8e4b5d3 Plane: prepare for 3.8.0beta4 2017-04-04 20:49:10 +10:00
Andrew Tridgell
36d8f730e1 Plane: setup better defaults for tailsitters 2017-04-04 10:15:08 +10:00
Andrew Tridgell
48ae2f2de0 Plane: changed default THR_MAX to 100 
we have left it at 75 for far too long
 2017-04-04 08:19:41 +10:00
Andrew Tridgell
6a90257d2a Plane: fixed attitude logging for tailsitters 2017-03-31 11:30:44 +11:00
Andrew Tridgell
c76eadf4f6 Plane: add available memory to PM message 2017-03-27 14:35:21 +09:00
Andrew Tridgell
5d06e4238f Plane: make the quadplane motors var_info dynamic 
this will allow for more quadplane motors class types
 2017-03-25 16:22:10 +11:00
Michael du Breuil
649ef0fc16 Plane: Only consider a takeoff as begun if the safety switch has been pressed 2017-03-23 16:55:47 -07:00
Andrew Tridgell
af97a3974b Plane: initialise target height correctly on quadplane transition 
this fixes a bug where a plane in QSTABILIZE would drop suddenly if
switched to FBWA when the target altitude had not been initialised
 2017-03-22 21:34:40 +11:00
Andrew Tridgell
bb158a437e Plane: handle bad Q_FRAME_CLASS 
default to quad with a warning. This prevents users getting stuck
without being able to set Q_ENABLE=1

thanks to Leonard for noticing
 2017-03-18 22:10:20 +11:00
Andrew Tridgell
e3a8d477f5 Plane: improve tiltrotor transition strategy 
avoid running forward motors at high throttle when transitioning to a
VTOL mode
 2017-03-14 14:42:20 +11:00