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4030 Commits

Author SHA1 Message Date
Andrew Tridgell b79d63b9e0 Plane: prepare for 4.1.0beta7 2021-10-17 19:03:42 -04:00
Andrew Tridgell 1878e7d023 Plane: prepare for 4.1.0beta6 2021-10-17 19:03:42 -04:00
Andrew Tridgell da783d6c98 Plane: updated releases notes for 4.1.0beta6 2021-10-17 19:03:42 -04:00
Peter Hall b2ce4e1c44 Plane: quadplane: set `last_pidz_init_ms` 2021-09-10 14:07:37 +09:00
Andrew Tridgell ce6a0bb3fb Plane: prepare for 4.1.0beta5 2021-08-28 14:41:27 +09:00
Andrew Tridgell 73ec73b845 Plane: update release notes for 4.1.0beta5 2021-08-28 14:41:27 +09:00
Andrew Tridgell ac96330435 Plane: added option to log PIDs at full rate 
useful for tuning quadplanes
 2021-08-28 14:41:27 +09:00
Andrew Tridgell a107891dab Plane: prepare for 4.1.0beta4 2021-08-28 14:41:27 +09:00
Andrew Tridgell 632117c422 Plane: updated release notes for 4.1.0beta4 2021-08-28 14:41:27 +09:00
Andrew Tridgell da5c187ac7 Plane: update ATRP logging 2021-08-28 14:41:27 +09:00
Andrew Tridgell 401534ac89 Plane: added ONESHOT_MASK parameter 
after discussion with Paul on servo latency
 2021-08-28 14:41:27 +09:00
Andrew Tridgell d67f82e02d 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
 2021-08-28 14:41:27 +09:00
WillyZehnder aa5e74a5d9 Plane: GCS_Plane.cpp Fix chronological sequence 
to avoid inappropriate critical warning CRT:NoRCReceiver by ensuring the
call of plane.failsafe.last_valid_rc_ms before calling millis()
 2021-08-28 14:41:27 +09:00
Peter Barker b5d75b287d Plane: do not run any prearm checks if we are armed or arming is not required 
Co-authored-by: TunaLobster <unknown>
 2021-08-28 14:41:27 +09:00
Iampete1 267e001212 Plane: #ifdef scripting specific functions 2021-08-28 14:41:27 +09:00
Peter Barker ebec8076c4 Plane: don't allow motortest if motors not allocated 2021-08-14 10:44:08 +09:00
Leonard Hall 23732690a7 Plane: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 10:44:08 +09:00
Andrew Tridgell 645386cba6 Plane: disable EKF3 default airspeed fusion by default 
this fusion can cause problems with wind estimation, disable by
default for now
 2021-07-22 19:07:36 +09:00
Leonard Hall 064b0bcc63 Plane: seperate kinimatic shaping from pid limit setting 2021-07-22 19:07:36 +09:00
Andrew Tridgell 4ed4adacfa Plane: prepare for 4.1.0beta3 2021-07-22 19:07:36 +09:00
Andrew Tridgell 14c006bb1a Plane: updated release notes for 4.1.0beta3 2021-07-22 19:07:36 +09:00
Andrew Tridgell ff93999a94 Plane: fixed motor test with DShot VTOL motors 
need to arm when running the motor test
 2021-07-22 19:07:36 +09:00
Andrew Tridgell c53eacf73d Plane: prepare for 4.1.0beta2 release 2021-07-22 19:07:36 +09:00
Andrew Tridgell f4974107e1 Plane: prepare for 4.1.0beta1 release 2021-07-22 19:07:36 +09:00
Hwurzburg ac76a63931 ArduPlane: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Hwurzburg 8310f4a718 Plane: fix bug in tilt position for QLOITER and QRTL if THR_MIN !=0 2021-06-29 10:58:11 +10:00
Andrew Tridgell 92197bd5a9 Plane: fixed longitude wrap in verify_nav_wp 
thanks to @Khancyr
 2021-06-25 15:33:55 +10:00
Andrew Tridgell 50e6d67a66 Plane: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell 61ac45dd5a Plane: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Andrew Tridgell 4d7bb82f9e Plane: updated release notes for 4.1.0beta2 2021-06-24 20:15:01 +10:00
Andrew Tridgell 66bc673442 Plane: fixed attitude control during QPOS_AIRBRAKE 
this fixes a bug where we used the multicopter rate control when in
airbrake approach stage, which could lead to attitude going out of
control
 2021-06-22 07:42:20 +10:00
Peter Barker 055e82276e ArduPlane: remove HIL support 2021-06-15 09:47:31 +10:00
Iampete1 6eab9b9c15 plane: quadplane: skip QPOS_POSITION1 on tailsitters 2021-06-15 09:25:58 +10:00
Peter Hall 85743be4f3 Revert "Plane: cope with Q pitch limit larger than fixed wing limit" 
This reverts commit 74da3c74ac.
 2021-06-15 09:25:58 +10:00
Hwurzburg e958306343 Plane: Add options to USE_REVERSE_THRUST to cover all flight modes 2021-06-15 07:05:02 +10:00
Hwurzburg 4f48233b43 ArduPlane: add QRTL always as Q_RTL_MODE option 2021-06-14 09:08:20 +10:00
Andrew Tridgell 80afba3bd2 Plane: updated release notes for 4.1.0beta1 2021-06-14 08:25:05 +10:00
Andrew Tridgell 0c8e81964e Plane: reset yaw controller on entry to POSITION1 
this fixes a yaw change when we finish landing approach in
QRTL. Thanks to Henry for noticing this
 2021-06-14 07:53:32 +10:00
Andrew Tridgell 4307390820 Plane: fixed distance threshold for vtol land 2021-06-13 07:50:02 +10:00
Andrew Tridgell f749c2c3ad Plane: fixed issue with overspeed in QPOS_POSITIION1 
this fixes the backflip issue on the convergence that Henry found
 2021-06-13 07:50:02 +10:00
Andrew Tridgell ae6220aace Plane: cope with zero distance to target in QPOS_POSITION1 2021-06-10 13:50:29 +10:00
Andrew Tridgell 0f9e7001d1 Plane: limit speed in POSITION1 based on angle 
this prevents trying to fly a quadplane fast backwards or sideways. If
flying backwards then a 3x reduction is used. For sideways a 2x
reduction is used
 2021-06-10 13:50:29 +10:00
Andrew Tridgell 74ac9964f1 Plane: improved POSITION1 speed profile 
allow acceleration up to the Q_WP_SPEED, and assume a decel profile
matching Q_TRANS_DECEL for approach speed
 2021-06-10 13:50:29 +10:00
Andrew Tridgell 5f8e90cd6f Plane: metadata fix for Q_OPTIONS 2021-06-10 13:50:29 +10:00
Andrew Tridgell 3611b1dbf7 Plane: added check for QPOS initialisation 
thanks to Kris for noticing this!
 2021-06-10 13:50:29 +10:00
Andrew Tridgell db34577755 Plane: use a separate bit for landing reposition in quadplanes 
when repositioning stop descent
 2021-06-10 13:50:29 +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 0937d903a1 Plane: use HAL_EFI_ENABLED 2021-06-09 18:07:00 +10:00
Andrew Tridgell 0ecc02c53a Plane: fixed constructor of accel_ef filter 2021-06-08 11:14:52 +10:00
Iampete1 438ca0a6c4 Plane: tailsitter: increase severity level of failed transisisons. 2021-06-08 10:56:09 +10:00
Andrew Tridgell f970735d47 Plane: fixed handling of NAV_LOITER_TIME with Q_GUIDED_MODE=1 
and made logic of in_vtol_mode() easier to read
 2021-06-05 13:05:30 +10:00
Andrew Tridgell aa904d6bbc Plane: fixed guided mode handling with new approach code 
ensure we treat guided approach as not a vtol mode
 2021-06-05 13:05:30 +10:00
Andrew Tridgell 1165fcab99 Plane: removed incorrect URL 2021-06-05 13:05:30 +10:00
Andrew Tridgell fd19ff3bea Plane: offset guided start point when using Q_GUIDED_MODE 2021-06-05 13:05:30 +10:00
Andrew Tridgell f15497c6a9 Plane: only do fwd thrust loss detection in SLT vehicles 
on tilt rotors and tailsitters it doesn't make sense to switch to
POSITION1 at low speeds when in APPROACH
 2021-06-05 13:05:30 +10:00
Andrew Tridgell 0232fa7456 Plane: cope with fwd thrust loss in Q approach 
if throttle is saturated and descending and low airspeed then declare
thrust loss
 2021-06-05 13:05:30 +10:00
Andrew Tridgell fbf5083e6a Plane: avoid transition in QRTL 
if close to home and already in a VTOL mode then don't transition
 2021-06-05 13:05:30 +10:00
Andrew Tridgell 3bb840f794 Plane: implement slow descent in QRTL approach 
this approaches in QRTL at ALT_HOLD_RTL alt, then descends to
Q_RTL_ALT close to the destination
 2021-06-05 13:05:30 +10:00
Andrew Tridgell 77ee922473 Plane: fixed NAV_CONTROLLER_OUTPUT in QRTL 2021-06-05 13:05:30 +10:00
Andrew Tridgell 245ded2f2d Plane: fixed handling of loss of fwd thrust in QRTL 2021-06-05 13:05:30 +10:00
Andrew Tridgell c7a14a5da1 Plane: disable cross-track in Q approach modes and QRTL 2021-06-05 13:05:30 +10:00
Andrew Tridgell 46722500b0 Plane: default Q_TRANS_DECEL to 6 for tailsitters 2021-06-05 13:05:30 +10:00
Andrew Tridgell a7b809d5d4 Plane: added approach and airbrake options 
this defaults VTOL landings to have an approach and airbraking stage,
allowing for more efficient landings. Can be disabled by setting
Q_OPTIONS bit 16
 2021-06-05 13:05:30 +10:00
Andrew Tridgell ddfc9e8300 Plane: improved quadplane auto-land into wind 
when heading is strong we need to ramp up pitch limit slowly to
prevent a big dive
 2021-06-05 13:05:30 +10:00
Andrew Tridgell b4992cc226 Plane: added accessors for poscontrol state 
allows for time since state entered
 2021-06-05 13:05:30 +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
Andrew Tridgell 062a15ce11 Plane: set_takeoff_expected should only get set when not flying 2021-06-02 11:13:16 +09:00
Andrew Tridgell 68a1100c64 Plane: use new APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Hwurzburg bf14c32109 Plane: correct description of Q_TAILSIT_MOTMX param 2021-05-30 22:36:26 -07:00
James Harton be3cc1b679 Docs: Change all references from dev.ardupilot.org to the appropriate documentation URLs. 2021-05-31 12:20:45 +10:00
Peter Barker 3464f9b46e ArduPlane: remove optical flow pointer from AP_AHRS 
Nothing was ever using it.
 2021-05-30 10:44:42 +10:00
Leonard Hall e275ec9e63 Plane: Rename set_yaw_target_to_current_heading 2021-05-26 16:03:05 +09:00
vierfuffzig 9a538ba15b ArduPlane: fix advanced param metadata 2021-05-25 12:36:59 +10:00
Hwurzburg 38ed4a2dd6 ArduPlane: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Leonard Hall 8b3b6cf693 Plane: Fix before squash 2021-05-24 20:13:37 +10:00
Andrew Tridgell d1f6d913d5 Plane: adjust reposition landing code 
use accel with 1s timeconstant
 2021-05-24 20:13:37 +10:00
Andrew Tridgell 5857e750ce Plane: provide target velocity in QPOS descent 2021-05-24 20:13:37 +10:00
Andrew Tridgell 74da3c74ac Plane: cope with Q pitch limit larger than fixed wing limit 
prevents tailsitter VTOL transition timeout due to not achieving angle
 2021-05-24 20:13:37 +10:00
Andrew Tridgell 71fa52d5c6 Plane: fixed slowing descent in final phase of QLAND 2021-05-24 20:13:37 +10:00
Andrew Tridgell ec1cbb06fd Plane: allow reposition in auto land 2021-05-24 20:13:37 +10:00
Andrew Tridgell 6eafcdb558 Plane: added Q_OPTION bit for throttle control of landing speed 2021-05-24 20:13:37 +10:00
Andrew Tridgell 24375cf9c1 Plane: change printf calls to send_text 2021-05-24 20:13:37 +10:00
Andrew Tridgell 52b4c257ec Plane: prevent oscillation in GUIDED mode hover 2021-05-24 20:13:37 +10:00
Andrew Tridgell 5a880c74b6 Plane: use input shaping from pos_control 
smoother navigation with new input shaping code
 2021-05-24 20:13:37 +10:00
Andrew Tridgell a6ec7d9f23 Plane: ensure xy controller is initialised 2021-05-24 20:13:37 +10:00
Andrew Tridgell 9d52333afc Plane: don't start descent till under 3m/s 2021-05-24 20:13:37 +10:00
Leonard Hall 4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall 57952861d6 Plane: PosControl Update 2021-05-24 20:13:37 +10:00
Leonard Hall ff2ae1d7d1 Plane: integrate AC_PosControl::get_roll_cd rename 2021-05-12 17:16:00 +10:00
Leonard Hall 1ce63bf433 Plane: minor format and comment fixes 2021-05-12 17:16:00 +10:00
Andy Piper 8e744a4a25 Plane: generalise ESC telemetry to allow harmonic notch handling with other ESCs 2021-05-12 17:01:11 +10:00
Pierre Kancir 8a0230e6d5 Plane: use MAVLink POSITION_TARGET_TYPEMASK 2021-05-11 09:53:50 +10:00
James O'Shannessy 5253b8a3ee ArduPlane: Fix spiralling loiters when no fence return point can be found 2021-05-05 10:59:10 +10:00
Iampete1 fd2909d53f Plane: change location refence frame correctly 2021-05-02 18:51:27 +10:00
Iampete1 1a182a52da Plane: init terrain to locaiton and wpnav sub sytems 2021-05-02 18:51:27 +10:00
Iampete1 572e401894 Plane: fix QRTl terrain following 2021-05-02 18:51:27 +10:00
Iampete1 a165a0e1bb Plane: fix loiter terrain following 2021-05-02 18:51:27 +10:00
Josh Henderson 5c8c961399 ArduPlane: Privatize AP_IntertialSensor Logging 2021-04-29 19:19:12 +10:00
Peter Barker 03d643a18a ArduPlane: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Peter Barker 453b7403b1 ArduPlane: remove duplicate log metadata fields 2021-04-27 16:38:40 +10:00