066fed18ce
Plane: account for sprung throttle in VTOL throttle suppression
...
when RC_OPTIONS has been changed to not check throttle for arming then
treat this like a sprung throttle for quadplane throttle suppression
in auto-throttle modes, and only unsuppress when throttle goes above
trim+dz
2022-05-28 16:08:08 +09:00
ee8ae2eebd
Plane: refuse arming if we are in a landing sequence
...
this helps when the aircraft has gone into a landing sequence due to a
failsafe before it is armed. Arming while in the landing sequence is
very unlikely to be what the user wants
2022-05-28 16:08:08 +09:00
57aaaa2a89
Plane: update gyro fft throttle
...
allows for updating or learned FFT freq
2022-05-28 16:08:08 +09:00
23f3a3de68
Plane: prepare for 4.2.0 stable release
2022-05-07 08:40:41 +09:00
f51f9875ae
Plane: release notes for 4.2.0
2022-05-07 08:40:41 +09:00
279e457344
Plane: prepare for 4.2.0beta6
2022-04-29 07:54:06 +09:00
e977092363
Plane: release notes for plane 4.2.0beta6
2022-04-29 07:54:06 +09:00
ec2a33589c
Plane: Updated highest airspeed limit when armed
2022-04-29 07:54:06 +09:00
71cc0dc02d
Plane: add Q_OPTION for RTL always on RC failsafe for ship landing
2022-04-29 07:54:06 +09:00
6a3c36bfd2
Plane: param conversion for INS_NOTCH to INS_HNTC2
2022-04-29 07:54:06 +09:00
9e45882340
Plane: do not use guided waypoint for loiter location
...
Currently this waypoint is set 10,000m away by the avoidance behaviour
Instead, immediately enter loiter mode
2022-04-29 07:54:06 +09:00
35fbea927d
Plane: prepare for 4.2.0beta5
2022-04-09 17:04:26 +09:00
ce532197d6
Plane: release notes for 4.2.0beta5
2022-04-09 17:04:26 +09:00
eb20c90e4a
Plane: fixed rudder control when ARMING_RUDDER != 2
...
when rudder disarm is disabled we should allow full yaw control
regardless of throttle level. We should also only disable left yaw
when throttle is at zero, as right yaw does not indicate pilot may be
trying to disarm
2022-04-09 17:04:26 +09:00
dfeb6debce
Plane: prepare for 4.2.0beta4 release
2022-03-30 11:37:41 +09:00
616d73e36f
Plane: added release notes for 4.2.0beta4
2022-03-30 11:37:41 +09:00
4457fb4bb0
Plane: fixed yaw on the ground when rudder disarming in AUTO
...
when a quadplane touches down in an auto throttle mode the pilot may
use rudder to disarm. The check for rudder disarm was only active in
modes without auto-throttle. This expands it to all modes if the
throttle has hit the lower limit
2022-03-30 11:37:41 +09:00
3aa52bb5ee
Plane: added a value for RTL_AUTOLAND to disable arming check
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set RTL_AUTOLAND=3 to get go-around but not RTL DO_LAND_START usage
2022-03-30 11:37:41 +09:00
97e13afd1e
Plane: prevent rapid RTL/AUTO switching on fence breach
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don't switch back to RTL if already in a DO_LAND_START sequence
2022-03-30 11:37:41 +09:00
547b5ab38a
Plane: when shutting down motors force outputs to minimum
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this fixes issue #20354 where a long spool time can lead to motors
running without control for an extended period of time.
2022-03-30 11:37:41 +09:00
527722bcf0
Plane: prepare for 4.2.0beta3
2022-03-30 11:37:41 +09:00
6284413ac9
Plane: update release notes for 4.2.0beta3
2022-03-30 11:37:41 +09:00
ebf5040bd2
Plane: Display Fence Breach message in GCS
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Send a "Geofence breach" message to the Ground Control Station. Without this when the fence is breached and if anything happens as a result, such as RTL, it will happen silently.
2022-03-30 11:37:41 +09:00
4490af3bfe
Plane: adjust throttle mix for auto landing
...
use mix-max during landing approach and initial descent, use min in
land final. As discussed with Leonard
2022-03-30 11:37:41 +09:00
a1e022cf59
Plane: check that RTL_AUTOLAND is set if using DO_LAND_START
2022-03-30 11:37:41 +09:00
2bbc197f42
Plane: added airspeed based pitch limit check
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prevent using too much pitch when at low airspeed, which can lead to
severe instability in SLT quadplanes
2022-03-30 11:37:41 +09:00
fe5536fc49
Plane: added an arming check for Q_ASSIST_SPEED
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Q_ASSIST should really be enabled for all non-tailsitter
quadplanes. This arming check will help users remember to configure it
2022-03-30 11:37:41 +09:00
2414fe6697
Plane: use set_lean_angle_max_cd()
...
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
2022-03-30 11:37:41 +09:00
507f344729
Plane: improvements to POSITION1 controller
...
this improves 4 things in the POSITION1 controller based on logs from
4.2.0beta2. The changes are designed to increase the tolerance to
an incorrect value for Q_TRANS_DECEL, reducing landing overshoot
1) we fix the initialisation of the acceleration. The
init_xy_controller() function assumes zero accel, so we need to
call set_accel_desired_xy_cmss() just after that init to get the
correct accel. Thanks to Leonard for this fix
2) if we decel more than expected due to too low Q_TRANS_DECEL we
need to reduce the target speed, rather than putting the nose down
3) lower the default Q_P_JERK_XY to a value more appropriate for most
quadplanes (Leonard suggested a value of 2)
4) fixed the pitch envelope from Q_BACKTRANS_MS to start after the
airbrake phase is complete
2022-03-30 11:37:41 +09:00
d65730f94f
Plane: fixed pitch envelope after AIRBRAKE
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we need to setup last_fw_mode_ms and last_fw_nav_pitch_cd when we
enter POSITION1 mode so that the expanding envelope pitch limit from
Q_BACKTRANS_MS is applied correctly
2022-03-30 11:37:41 +09:00
d11cd68c27
Plane: prepare for 4.2.0beta2
2022-03-30 11:37:41 +09:00
dc12bb7c25
Plane: added release notes for 4.2.0beta2
2022-03-30 11:37:41 +09:00
8cd961838e
Plane: protect against short stop_distance
2022-03-12 08:01:18 +09:00
2a7e0e225e
Plane: quadplane: double log QPOS state change
2022-03-12 08:01:18 +09:00
dab83e292e
Plane: use has_valid_input in place of checking throttle counter
2022-03-12 08:01:18 +09:00
1b7fe466cb
ArduPlane: clarify and simplify RC failsafe messages
2022-03-12 08:01:18 +09:00
0a56aa5b17
ArduPlane: add RebootRequred to stream rate parameters
2022-03-12 08:01:18 +09:00
f8f15d9ff9
Plane: disallow mavlink disarm while flying
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this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
2022-03-12 08:01:18 +09:00
c9e2fe4e54
ArduPlane: tailsitter: keep attitude controll throttle level upto date for smoother controller handover
2022-03-12 08:01:18 +09:00
c8c3bcf8f3
Plane: never stick mix without valid RC input
2022-03-12 08:01:18 +09:00
4324db6580
Plane: don't prevent stick mixing in none RC failsafe
2022-03-12 08:01:18 +09:00
928f22cd15
Plane: use pos control for most of LAND_FINAL
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this gives more accurate landing with some velocity drift
2022-03-12 08:01:18 +09:00
1cd1e57567
Plane: review fixes
...
thanks Pete!
2022-03-12 08:01:18 +09:00
e539e293c9
Plane: wait till motors are fully up before takeoff in guided mode
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this allows for guided mode takeoff in tilt-rotors. Otherwise motors
till be pointing forward and takeoff will go very badly
2022-03-12 08:01:18 +09:00
b74ba4d780
Plane: cope with high angle error in airbrake state
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if we are flying too far off the target vector then exit airbrake
state. This prevents flying for a long distance away from the landing
point in airbrake mode
2022-03-12 08:01:18 +09:00
281377065c
Plane: setup target accel in POSITION1 state
2022-03-12 08:01:18 +09:00
5119808e8b
Plane: allow for a trans decel margin
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so if we are behind the velocity curve we are less likely to overshoot
landing
2022-03-12 08:01:18 +09:00
773d261c6a
Plane: fix NAV_CONTROLLER_OUTPUT in Q modes
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Q modes don't always use wp_nav, but do use pos_control
AUTO and QRTL setup the plane navigation as well, so can use the L1
data
2022-03-12 08:01:18 +09:00
fe26956947
Plane: added APIs for lua ship landing
2022-03-12 08:01:18 +09:00
a8adf187ae
Plane: link in AP_Follow
...
ready for ship landing
2022-03-12 08:01:18 +09:00
Andrew Tridgell
Sanket Sharma
Peter Barker
Tim Tuxworth
Iampete1
Henry Wurzburg