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4603 Commits

Author SHA1 Message Date
Andrew Tridgell f19bb07bb4 Plane: prepare for 4.4.4 release 2024-01-07 10:59:29 +11:00
Andrew Tridgell 0b94b57a67 Plane: release notes for 4.4.4 2024-01-07 10:59:28 +11:00
Randy Mackay fed6342bc0 Plane: version to 4.4.4-beta1 2024-01-07 10:59:28 +11:00
Randy Mackay 08dbf98138 Plane: 4.4.4-beta1 release notes 2024-01-07 10:59:28 +11:00
Andrew Tridgell 6bfd8753c3 Plane: prepare for 4.4.3 release 2024-01-07 10:59:28 +11:00
Andrew Tridgell d46e51f1ff Plane: update release notes for 4.4.3 2024-01-07 10:59:28 +11:00
Andrew Tridgell 9870944f14 Plane: prepare for 4.4.3-beta1 2024-01-07 10:59:28 +11:00
Andrew Tridgell 71d8349a56 Plane: release notes for 4.4.3-beta1 2024-01-07 10:59:28 +11:00
Peter Barker 4002c2a0af Plane: use origin-relative altitudes rather than home-relative 2024-01-07 10:59:28 +11:00
Andrew Tridgell 0f208c7d90 Plane: prepare for 4.4.2 release 2024-01-07 10:59:28 +11:00
Andrew Tridgell 5244fb48fa Plane: update release notes for 4.4.2 2024-01-07 10:59:28 +11:00
Randy Mackay bf02ebcf30 Plane: version to 4.4.2-beta1 2024-01-07 10:59:28 +11:00
Randy Mackay 1baed6585b Plane: 4.4.2-beta1 release notes 2024-01-07 10:59:28 +11:00
Andrew Tridgell 33f81370f4 Plane: use deadzone in stick mixing 
this prevents small RC input deviations from impacting non-pilot
controlled modes via stick mixing
 2024-01-07 10:59:28 +11:00
Andrew Tridgell 278587b04a Plane: fixed terrain RTL with rally points 
this fixes a bug where if the terrain database cache does not have the
tile for the location of a rally point then RTL to the rally point
with TERRAIN_FOLLOW=1 will not track terrain

The underlying issue is that Location::loc.change_alt_frame() will
return false if the location is not in the terrain memory cache. We
can't just extrapolate as the rally point could be in a totally
different terrain area to the current location. So instead we set it
as terrain_following_pending and fix it as soon as the terrain cache
is filled.

fixes https://github.com/ArduPilot/ardupilot/issues/25157
 2024-01-07 10:59:28 +11:00
bugobliterator be9411c981 ArduPlane: move sysid_my_gcs to be public 2024-01-07 10:59:27 +11:00
Andrew Tridgell 97b5eba10c Plane: prepare for 4.4.1 release 2024-01-07 10:59:27 +11:00
Andrew Tridgell d62a467091 Plane: release notes for 4.4.1 2024-01-07 10:59:27 +11:00
Randy Mackay 4008302504 Plane: version to 4.4.1-beta2 2024-01-07 10:59:27 +11:00
Randy Mackay 28722febf1 Plane: 4.4.1-beta2 release notes 2024-01-07 10:59:27 +11:00
Andrew Tridgell 2aa2a29df0 Plane: prepare for 4.4.1-beta1 2024-01-07 10:59:27 +11:00
Andrew Tridgell 8d3339542d Plane: release notes for 4.4.1-beta1 2024-01-07 10:59:27 +11:00
Andrew Tridgell c74bb29adf Plane: fixed nav_roll/nav_pitch when waiting for VTOL takeoff 
the nav_roll_cd and nav_pitch_cd were not being set in the VTOL
takeoff code when disarmed. This led to small increments accumulating
in the stick mixing code, leading to large control surface movements
before arming
 2024-01-07 10:59:26 +11:00
Andrew Tridgell 54e1afb00e Plane: prepare for 4.4.0 2024-01-07 10:59:26 +11:00
Andrew Tridgell 2352b0cbcf Plane: release notes from 4.4.0 2024-01-07 10:59:26 +11:00
Andrew Tridgell 973ab8b771 Plane: prepare for 4.4.0-beta5 2024-01-07 10:59:26 +11:00
Andrew Tridgell 2384133bee Plane: update release notes for 4.4.0beta5 2024-01-07 10:59:26 +11:00
Nicholas Ionata 90c48b5a1b Plane: reset target altitude time on mode enter 2024-01-07 10:59:26 +11:00
Andrew Tridgell dea06cbeb7 Plane: prepare for 4.4.0-beta4 2024-01-07 10:59:26 +11:00
Andrew Tridgell 11b254db83 Plane: update release notes for 4.4.0-beta4 2024-01-07 10:59:26 +11:00
Michael du Breuil bf16d9c452 Plane: On vtol landings if from a mission perform crosstracking 2024-01-07 10:59:26 +11:00
Andrew Tridgell 7fe95679db Plane: update release notes 2024-01-07 10:59:26 +11:00
Andrew Tridgell 25bd798a7d Plane: prepare for 4.4.0beta3 2024-01-07 10:59:26 +11:00
Andrew Tridgell d425b20ca0 Plane: update release notes for 4.4.0beta3 2024-01-07 10:59:26 +11:00
Andrew Tridgell 5ea3d8bde2 Plane: fixed transition started airspeed message 
this message was lost in recent refactoring
 2024-01-07 10:59:25 +11:00
Paul Riseborough 5554ad4311 Plane: Fix bug that can cause early exit from loiter to alt and time wp's 
The check for the aircraft being lined up for a tangent exit has an early breakout condition if the next waypoint is too close to the loiter circle which can prevent the required ground course to waypoint ever being achieved. This check was using the WP_LOITER_RAD parameter value, not the actual radius being used which can be set differently by the mission plan. If a large value for WP_LOITER_RAD was set and being over-written by the mission plan with a smaller value compatible with the distance to the next waypoint, the aircraft would still exit early.
 2024-01-07 10:59:25 +11:00
Andrew Tridgell ac71bbcef4 Plane: fixed TECS state reset in VTOL auto 
this fixes a bug where TECS maintains its slow integrator while in a
VTOL hover mode in AUTO or GUIDED.

Among other things this affects PAYLOAD_PLACE and
DO_VTOL_TRANSITION. In those states the height can change while
hovering outside the control of TECS. When TECS regains control in a
fwd transition then can lead to a very large height loss or gain until
the TECS integrator can catch up
 2024-01-07 10:59:25 +11:00
Andrew Tridgell b698ef8440 Plane: improved fwd throttle during VTOL landing 
this sets up the vwd integrator more reasonably when we are in
POSITION1 stage of VTOL landing. We need to have enough throttle to
cope with a headwind, but want it lower when we are at or above our
target closing speed so can minimise the amount of pitch up

This also makes the landing_desired_closing_velocity() consistent with
the landing speed used in approach, using average of airspeed min and
cruise speed if TECS_LAND_ARSPD is not set

The target airspeed for TECS during airbraking is now set to
ARSPD_FBW_MIN, on the basis we are trying to slow down to min speed,
and we have VTOL support which should prevent a stall.

To cope with a high headwind where ARSPD_FBW_MIN is below the headwind
we now check for too low achieved closing speed and switch to
POSITION1 which can use vfwd to get to the landing location
 2024-01-07 10:59:25 +11:00
Henry Wurzburg 36b33c586d Plane: Make mode takeoff entry climb to TKOFF_ALT before loitering 2024-01-07 10:59:25 +11:00
Henry Wurzburg 2d6004d526 Plane: fix error in Qplane wait for rudder neutral 2024-01-07 10:59:25 +11:00
Andrew Tridgell 602f7d1336 Plane: prepare for 4.4.0beta2 2023-06-08 18:45:20 +10:00
Andrew Tridgell ad1055e9ea Plane: adjust 4.4.0beta2 release notes 2023-06-08 18:45:08 +10:00
Andrew Tridgell 5178ac92bc Plane: release notes for 4.4.0-beta2 2023-06-08 18:41:06 +10:00
Andrew Tridgell 07aa7b543e Plane: fixed release notes history 
was missing 4.3.5
 2023-04-22 08:27:26 +10:00
Andrew Tridgell 66eb8ba5bf Plane: prepare for 4.4.0beta1 2023-04-21 09:48:45 +10:00
Andrew Tridgell bfbfc81720 Plane: release notes for 4.4.0beta1 2023-04-21 09:48:45 +10:00
bugobliterator 75aaebc758 ArduPlane: change INS_ to INS 2023-03-21 10:04:16 +11:00
Tom Pittenger 3ac55f97b1 Plane generalize Aux Switch VTOL abort for any plane abort landings 2023-03-15 13:31:43 -07:00
Henry Wurzburg a86ff90b97 ArduPlane: add AUTO VTOL landing abort AUX sw 2023-03-14 10:52:23 +11:00
Randy Mackay c12e15f580 Plane: remove unused do-control-video 2023-03-09 12:24:05 +11:00