Andrew Tridgell
5602fcba66
Plane: use deadzone in stick mixing
...
this prevents small RC input deviations from impacting non-pilot
controlled modes via stick mixing
2023-10-13 16:26:01 +09:00
Iampete1
eefa3b1ce4
Plane: move training mode function to mode training
2023-02-22 19:26:59 +11:00
Iampete1
f6b0c3775c
Plane: move mode acro functions to mode acro
2023-02-22 19:26:59 +11:00
Iampete1
50eaa1cc54
Plane: move acro stabilization into mode acro
2023-02-21 11:27:24 +11:00
Iampete1
6bb0096b9d
Plane: move training stabilize function to training mode
2023-02-21 11:27:24 +11:00
Andrew Tridgell
a57e6455ab
Plane: use is_armed_and_safety_off()
...
this no longer sets soft_armed false when safety is on, and instead
uses is_armed_and_safety_off() when appropriate
2023-02-21 07:44:09 +11:00
Andrew Tridgell
7735614634
Plane: implement set_rudder_offset()
2023-02-08 16:25:39 +11:00
Iampete1
d928e8b002
Plane: stop passing speed_scaler all over the place
2023-02-07 10:17:09 +11:00
Iampete1
2d51b2c9b8
Plane: remove direct roll/pitch stick mixing support
2023-02-01 18:45:10 +11:00
Henry Wurzburg
10b69e1c1f
Plane:expand yaw autotune to other modes
2023-01-31 10:02:16 +11:00
Leonard Hall
0bc5e68aed
Plane: Support changing update period
2022-12-13 17:10:06 +11:00
Andrew Tridgell
49d0a4906a
Plane: added turn corrdination to autotune yaw rate tuning
...
this makes it much easier to do a yaw rate autotune, and also means
you don't need to use the rudder stick at all, as the yaw controller
is already exercised nicely with roll movements, so overall the tune
is faster and more accurate as less cross-axis coupling
2022-12-06 09:02:44 +11:00
Peter Barker
de4dda2d17
ArduPlane: change namespace of MultiCopter and FixedWing params
...
this stops the libraries knowing anything about AP_Vehicle
2022-11-09 19:04:37 +11:00
Andrew Tridgell
41fbbd92bc
Plane: zero error on release of sticks
...
this locks the attitude at exactly the stick release position on each
axis
thanks to Adrian Nagy for feedback
2022-11-02 07:55:37 +11:00
Andrew Tridgell
499fe79221
Plane: implement quaternion based ACRO mode
...
when ACRO_LOCKING=2 this implements a quaternion based ACRO
controller, which allows for accurate rolls and knife edge
2022-11-01 15:00:26 +11:00
Andrew Tridgell
500ac9b99c
Plane: cleanup abort of NAV_SCRIPT
...
use the same enable flag for tricks and auto NAV_SCRIPT_TIME and
ensure we disable if the script stops controlling
2022-10-29 21:22:29 +11:00
Andrew Tridgell
bffc09eaf5
Plane: fixed yaw rate tuning in AUTOTUNE mode
...
don't reset yaw rate controller continuously while we are trying to
use it
2022-10-23 12:18:20 +11:00
MatthewHampsey
1dc18ec85a
Plane: reset yaw rate PID for scripting
2022-09-22 05:55:15 +10:00
Iampete1
6358a3c962
Plane: add min airspeed arming check and constrain for speed scailing
2022-09-06 09:01:26 +10:00
Iampete1
5a53e22886
Plane: correct extened range airspeed scailing limits
2022-09-04 10:54:41 +10:00
Iampete1
a592f76282
ArduPlane: change AC_FENCE to AP_FENCE_ENABLED
2022-07-27 19:04:56 +10:00
Iampete1
b017fc2196
ArduPlane: allow FBWB alt control option in LOITER
...
Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
2022-05-22 12:09:43 +10:00
Sanket Sharma
594160daf3
Plane: Updated highest airspeed limit when armed
2022-04-18 14:54:57 +10:00
Iampete1
a7bc844780
Plane: never stick mix without valid RC input
2022-03-09 18:26:30 +11:00
Iampete1
54e57ccff0
Plane: don't prevent stick mixing in none RC failsafe
2022-03-08 11:21:13 +11:00
Henry Wurzburg
ea9d35c99d
ArduPlane: extend nav_scripting to all modes
2022-02-07 21:19:28 +11:00
Andrew Tridgell
fb019eb0f3
Plane: add a low pass filter to speed scaler
...
this is needed due to the filtering done on the target rate in
AC_PID. With a low filter rate in AC_PID a step in the speed scaler
results in a step in the FF output due to the mismatch in the
instantaneous SS and the filtered target rate
2021-12-29 18:36:05 +11:00
Andrew Tridgell
336b666f83
Plane: fixed stick mixing and throttle nudge in QRTL approach
...
thanks to Henry for noticing this
2021-12-28 16:04:12 +11:00
Andrew Tridgell
e342ce0da4
Plane: fixed reset of steering locked course
...
reset when we have not been steering for 1s, to ensure that an old
locked course is not used
2021-12-04 07:41:35 +11:00
Andrew Tridgell
56870ad7d6
Plane: use yaw rate controller in NAV_SCRIPT_TIME
2021-11-30 16:19:26 +11:00
Andrew Tridgell
55d8afa1dd
Plane: support autotune for yaw rate control
2021-11-30 16:19:26 +11:00
Andrew Tridgell
b619ee4970
Plane: added support for rate yaw control
...
to enable for ACRO mode, set ACRO_YAW_RATE to desired maximum rate in
degrees/second, and set YAW_RATE_ENABLE=1 to enable PID tuning of yaw
rate controller
pair programmed with Andy Palmer and Matthew Hampsey
2021-11-30 16:19:26 +11:00
Hwurzburg
5cafccd447
ArduPlane: fix flare rc switch action with flight option bit 10 active
2021-11-21 21:00:04 +11:00
Peter Barker
70562021ac
ArduPlane: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED
2021-11-15 20:27:40 +11:00
Iampete1
b9d240460b
Plane: remove SpdHgt and use TECS direct
2021-11-13 08:05:39 +11:00
Andrew Tridgell
0c1e576544
Plane: added support for NAV_SCRIPT_TIME
2021-11-08 21:08:52 +11:00
Peter Barker
6a12d3f5d9
Plane: use enum class for StickMixing
2021-11-03 18:06:00 +11:00
Iampete1
f25e5087c0
Plane: attitude: use new transition class
2021-11-02 10:14:36 +11:00
Andrew Tridgell
9c617a18f4
Plane: suppress rate D terms in ground mode
...
this prevents a common oscillation issue on the ground
2021-10-30 18:45:53 +11:00
Iampete1
2f93c1f9e4
Plane: stabilizer roll and pitch to floats
2021-10-20 18:29:58 +11:00
Iampete1
b31ce6734a
Plane: get throttle input return float
2021-10-20 18:29:58 +11:00
Iampete1
2f4661c52f
Plane: use float for set/get output scaled
2021-10-20 18:29:58 +11:00
Peter Barker
3d34e061fe
ArduPlane: add and use HAL_QUADPLANE_ENABLED
2021-09-14 11:23:18 +10:00
Iampete1
b18da48f39
Plane: remove AUTO_FBW_STEER
2021-09-12 22:12:32 -05:00
Iampete1
71e2e25313
Plane: attitude: in vtol modes call mode run and stabalize with surfaces
2021-09-08 18:06:58 +10:00
Iampete1
0eab3faf32
Plane: use new tailsiter class
2021-07-27 09:08:34 +10:00
Andrew Tridgell
1ae669bb01
Plane: added manual input expo for MANUAL, ACRO and TRAINING
...
this is easier than setting up mode specific expo in radios for flying
in manual modes
2021-07-23 14:47:14 +10:00
Andrew Tridgell
06cd077c36
Plane: fixed stick mixing with land reposition in quadplanes
...
prevent stick mixing overriding landing control
2021-06-10 13:50:29 +10:00
Andrew Tridgell
f1f7f01300
Plane: slave fixed wing desired rate to multicopter desired rate
...
this ensures that the two rate controllers don't fight each other when
in a VTOL mode
2021-06-05 13:05:30 +10:00
Hwurzburg
09fb9a8e58
Plane: limit speed scaling in Autotakeoff wo AS sensor option
2021-04-20 09:07:09 +10:00
