Peter Barker
266d384ca7
ArduPlane: rename AP_AHRS::get_position to get_location
2022-01-25 10:47:22 +11:00
Iampete1
32488a5e3a
Plane: add MOTB logging at 10hz
2022-01-18 10:18:10 +11:00
Iampete1
3a5c7ea8fc
Plane: quadplane: add transtion fail action param
2022-01-11 11:02:33 +11:00
Peter Hall
2ffebebddc
Plane: tailsitter: provide min throttle limit based on disk therory outflow velocity
2022-01-11 10:37:38 +11:00
Iampete1
ca1b5b1db2
Plane: Quadplane: use get_frame_and_type_string
2022-01-05 19:51:19 +11:00
Peter Hall
d4eb2c6396
Plane: quadplane: QPOS_POSITION1 tailsitters use input_vel_accel method
2022-01-04 10:42:12 +11:00
Iampete1
4848ac9166
Plane: quadplane: don't use `is_active_z()`, becasue its wrong
2022-01-04 10:42:12 +11:00
Iampete1
fb1f6b57ad
Plane: Quadplane: never run Z controller if motors are not throttle unlimited
2022-01-04 10:42:12 +11:00
Peter Hall
c215fa0745
Plane: Quadplane: never run Z controller in tailsiter VTOL transtion
2022-01-04 10:42:12 +11:00
Peter Hall
9df753551e
Plane: quadplane: tailsitter: always relax pitch after transtion
2022-01-04 10:42:12 +11:00
Peter Hall
67d7ba490f
Plane: quadplane: pass time to tailsitter.in_vtol_transition where avalable
2022-01-04 10:42:12 +11:00
Hwurzburg
18e427d27d
Plane: add Q_OPTION to force fw trans on fail instead of QLAND
2021-12-24 13:55:15 +11:00
Iampete1
2154738421
Plane: Quadplane: only advance to QPOS_POSITION2 once tilts have finished slewing
2021-12-22 18:46:14 +11:00
Iampete1
eac52fe08f
Plane: quadplane: don't ouput VTOL throttle on tiltrotor with no VTOL motors and till fully forward
2021-12-22 18:46:14 +11:00
Iampete1
6116eaeb32
Plane: quadplane: enhance tiltrotor transtion to better deal with tiltrotors with all motors tilting
2021-12-22 18:46:14 +11:00
Hwurzburg
049f5f2135
Plane: fix divide by zero in transition time
2021-12-10 19:10:51 -08:00
Andrew Tridgell
e7c7cdd653
Plane: reset VTOL takeoff if not armed
...
we need to reset the takeoff target position while disarmed so we
don't use spurious position information from before we get good GPS
lock.
also remove the "Resetting previous waypoint" message as it doesn't
provide useful information and is just a distraction (it would be
printed continuously while waiting for arming with this PR)
2021-12-04 16:51:02 +11:00
Josh Henderson
52adda7c4c
Plane: INAV rename for neu & cm/cms
2021-11-30 10:08:07 +11:00
Josh Henderson
c6dd39773d
ArduPlane: inav use _xy()
2021-11-30 10:08:07 +11:00
Andrew Tridgell
36562ed30b
Plane: limited VFWD integrator to cruise throttle
...
in some situations (such as when landing approach is disabled) the
vfwd integrator can wind up to extreme values. This can put a huge
load on an electric quadplane as it is running both forward and vtol
motors, and the downforce from being nose down can be extreme.
It should never need to go above the cruise throttle in any reasonable
situation, so limit it to cruise to ensure we don't apply too much
forward throttle
2021-11-24 18:49:24 +11:00
Andrew Tridgell
77c43d9ba1
Plane: limiting POS1 landing target speed
...
prevent very high target speeds when the target velocity profile is
above the initial speed in POSITION1. Always allow up to 2*Q_WP_SPEED,
but don't go above the initial speed
2021-11-24 07:15:21 +11:00
Andrew Tridgell
8d59e6fa48
Plane: fixed variable name
...
thanks to Peter for noticing
2021-11-22 13:15:29 +11:00
Andrew Tridgell
ae81bbc5ed
Plane: suppress spurious EKF yaw reset message
...
this makes plane match copter, emitting a yaw reset event, but not
worrying user. This message came out on each boot when EKF3 first
became active
2021-11-17 20:54:12 +11:00
Iampete1
9210488550
Plane: quadplane: limit pitch for all transitions into position control modes
2021-11-17 19:10:56 +11:00
Peter Barker
70562021ac
ArduPlane: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED
2021-11-15 20:27:40 +11:00
Peter Barker
203103bae5
ArduPlane: ensure ENABLE_SCRIPTING is always defined
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
Peter Barker
7c3de472b2
Plane: support send_extended_sys_state
2021-11-09 10:22:24 +11:00
Andrew Tridgell
d3742989ef
Plane: default rate max to 75 for quadplane VTOL
...
this reduces overshoot when VTOL tune is less than ideal
2021-11-07 06:58:53 +11:00
Andrew Tridgell
debae1381c
Plane: fixed a bug in POSITION1 speed thresholds
...
we were comparing two different speeds in the threshold for going to
Q_WP_SPEED limit. The reason the two speeds were different was the
wp_nav init happened before the defaults were setup for quadplanes
this fixes both bugs
2021-11-06 20:00:10 +11:00
Peter Barker
6a12d3f5d9
Plane: use enum class for StickMixing
2021-11-03 18:06:00 +11:00
Iampete1
af8688b300
Quadplane: add transiton class
2021-11-02 10:14:36 +11:00
Andrew Tridgell
b74dca02ca
Plane: avoid qpos approach when very close to destination
...
this prevents a fwd transition when doing something like LOITER_TIME
close to a VTOL_LAND wp. We use 1.5 times the stopping distance at
cruise airspeed for the threshold
2021-10-29 20:22:19 +11:00
Andrew Tridgell
19b5044223
Plane: fixed VTOL state error when using Q_ENABLE=2
...
this ensures the poscontrol state is reset if it has not been
initialised before a VTOL loiter operation
thanks to Pete Hall for finding this
2021-10-29 20:22:19 +11:00
Iampete1
73e9c9bb43
Plane: quadplane: forward throttle reutrn float
2021-10-20 18:29:58 +11:00
Iampete1
b31ce6734a
Plane: get throttle input return float
2021-10-20 18:29:58 +11:00
Peter Barker
eef8115ffc
ArduPlane: factor substring from allocation_error parameter
2021-10-18 12:49:44 +11:00
Iampete1
e99a5c6ef4
Plane: Quadplane: reinstate THR PWM param discriptions for stable users
2021-10-11 22:19:17 -04:00
Iampete1
30c9cccf78
Plane: Quadplane remove THR_MIN_PWM and THR_MAX_PWM
2021-10-11 22:19:17 -04:00
Iampete1
d1d6342165
Plane: update_throttle_range dont set_throttle_range
2021-10-11 22:19:17 -04:00
Andrew Tridgell
570ecdc2e0
Plane: don't apply fw pitch limit in VTOL control for tailsitters
...
tailsitters may have narrow fixed wing limits but need high limits for
landing in high wind
found this on a HWing which was essentially impossible to auto land
2021-10-10 06:35:20 +11:00
Hwurzburg
4e731bf4e2
Plane: add VTOL POS1 notification to QRTL mode
2021-10-06 11:38:32 +11:00
Andrew Tridgell
2be23fff2b
Plane: obey Q_RTL_ALT when in POS1 and POS2 states
...
this fixes the alt target for when user has disabled the quadplane
approach code
2021-10-02 12:46:59 +10:00
bugobliterator
ae4d368267
Plane: replace config_error with allocation_error
2021-09-30 08:51:26 +10:00
Iampete1
a350ebb358
Plane: quadplane: do_vtol_land remove uneded I reset
2021-09-28 10:51:21 +10:00
Andrew Tridgell
fd5faa866f
Plane: always log QPOS when changing control state
2021-09-27 21:21:53 +10:00
Andrew Tridgell
9d0b7f8efe
Plane: removed set_state to QPOS_POSITION1 in do_vtol_land
...
we are immediately replacing the state with QPOS_APPROACH, so the
set_state is not needed, and triggers a call to
attitude_control->reset_yaw_target_and_rate() which can badly impact
euler rates for tailsitters
2021-09-27 21:21:53 +10:00
Peter Hall
e83b598040
Plane: Quadplane: check attitude relax before running controllers, don't run controls if not going to output
2021-09-25 12:53:11 +10:00
bugobliterator
4b62dd75b0
ArduPlane: fix casting to pass format check
2021-09-22 21:36:34 +10:00
Bob Long
f2d32fc800
Plane: quadplane: fix wp_dist reporting for VTOL landings
...
After hitting the approach stage of a VTOL landing in auto, nav_controller_output sends zero as the distance to waypoint.
2021-09-21 09:40:00 +10:00