Andrew Tridgell
7547ad53d3
Plane: allow for new guided destination during guided takeoff
...
if you set a very high alt for takeoff this is useful
2021-09-17 10:06:08 +10:00
Andrew Tridgell
8bee839931
Plane: fixed overshoot in guided takeoff of quadplanes
2021-09-17 10:06:08 +10:00
Iampete1
c4a1ae42e5
Plane: Quadpalne: move tiltrotor functionality to own class
2021-09-17 08:24:17 +10:00
Peter Barker
3d34e061fe
ArduPlane: add and use HAL_QUADPLANE_ENABLED
2021-09-14 11:23:18 +10:00
Josh Henderson
1da21c3b21
Quadplane: use vector.xy().length() instead of norm(x,y)
2021-09-14 10:43:46 +10:00
Andrew Tridgell
cb307891e0
Plane: fixed bad yaw rate demands in tailsitter fixed wing modes
...
this prevents the pilot putting in crazy yaw rate demands due to the
use of rudder stick in fixed wing modes for tailsitters while still
allowing for FBWA flat turns if the user wants them.
It uses the existing RUDD_DT_GAIN parameter for a gain scaling of yaw
rate for copter tailsitters
2021-09-14 07:55:40 +10:00
Iampete1
c73207b4b0
Plane: quadplane: remove init mode and control run methods
2021-09-08 18:06:58 +10:00
Iampete1
95fbf39f72
Plane: quadplane: check_attitude_relax use the last time the controllers were run not the last time relax was checked
2021-09-07 09:09:47 +10:00
Hwurzburg
5ca652a243
Plane: rename tailistter motor class to more correct singl/dual motor layout
2021-09-06 10:14:05 +10:00
Iampete1
f1477a6c29
Plane: quadplane: add assisted flight only airmode
2021-09-01 08:33:24 +10:00
Iampete1
46670f7bd0
Plane: quadplane: move tailsitter items to dedicated setup
2021-09-01 08:33:24 +10:00
Iampete1
700a92f036
plane: quadplane: tailsitter: run FW transition check and assist immediately
2021-08-31 10:34:33 +10:00
Peter Hall
657fcb7f59
Plane: quadplane: set last_pidz_init_ms
2021-08-31 09:58:03 +10:00
Iampete1
70ab9ba3b6
Plane: tailsitter: remove pilot prop-hanging teaching params and code.
2021-08-25 18:47:51 +10:00
Hwurzburg
551d55a85c
ArduPlane: add thr position trigger to ThrLandCtrl Q_OPTION
2021-08-25 12:32:59 +10:00
Iampete1
d372907a98
Plane: Quadplane: add Q_OPTION to only allow arming in Qmodes and auto.
2021-08-24 10:39:12 +10:00
TunaLobster
cbf6c2926f
ArduPlane: Remove @RebootRequired: False
2021-08-19 10:00:16 +10:00
Andrew Tridgell
58c823284c
Plane: mark logger Write() calls as streaming where appropriate
2021-08-18 10:20:03 +10:00
Iampete1
baf2b4a3d8
Plane: Qstabilize: mode functions to ModeQStabilize
2021-08-17 11:46:49 +10:00
Iampete1
44e63861ce
Plane: QRTL: move functions to ModeQRTL
2021-08-17 11:46:49 +10:00
Iampete1
f75919e727
plane: QLoiter: move functions to ModeQLoiter
2021-08-17 11:46:49 +10:00
Iampete1
921116e7a3
Plane: QLand: move functions to ModeQLand
2021-08-17 11:46:49 +10:00
Iampete1
737096f342
Plane: QHover: move functions to ModeQHover
2021-08-17 11:46:49 +10:00
Iampete1
a1fa683272
plane: Qautotune: move functions to ModeQAutotune
2021-08-17 11:46:49 +10:00
Iampete1
e293866245
plane: Qacro: move functions to ModeQAcro
2021-08-17 11:46:49 +10:00
Leonard Hall
65b58dea85
Plane: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
2021-08-10 08:33:56 +09:00
Peter Hall
ed4345cb3b
Quadplane: tailsitter: provide assistance at min throttle
2021-08-08 19:41:22 +10:00
Peter Hall
2527117cf9
Quadplane: combine assistance_needed and assistance_safe functions
2021-08-08 19:41:22 +10:00
Iampete1
7ff592d29e
Plane: Quadplane: move mode functions to mode classes in-place
2021-08-03 12:28:31 +10:00
Hwurzburg
b539a534e9
Plane: improve description of Q_TRIM_PITCH
2021-07-27 12:49:33 +10:00
Iampete1
beefd95079
Plane: QuadPlane: tailsitter param conversion, set and use new enable param
2021-07-27 09:08:34 +10:00
Iampete1
0eab3faf32
Plane: use new tailsiter class
2021-07-27 09:08:34 +10:00
Iampete1
2bc2b9533b
Plane: QuadPlane: move tailsitter to class
2021-07-27 09:08:34 +10:00
Peter Barker
06c2faaec5
ArduPlane: rename for AHRS restructuring
2021-07-21 21:01:39 +10:00
Hwurzburg
19213d3627
Plane: Allow yaw at zero throttle in VTOL descents
2021-07-20 11:10:25 +10:00
Iampete1
015b971ccb
Plane: add new dynamic mixer frame class
2021-07-20 09:19:28 +10:00
Peter Barker
93323f1f39
Plane: stop setting terrain singleton; libraries use singleton
2021-07-12 17:34:44 +10:00
Leonard Hall
7db568c85a
Plane: seperate kinimatic shaping from pid limit setting
2021-07-10 20:25:05 +09:00
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
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
Iampete1
6eab9b9c15
plane: quadplane: skip QPOS_POSITION1 on tailsitters
2021-06-15 09:25:58 +10:00
Hwurzburg
4f48233b43
ArduPlane: add QRTL always as Q_RTL_MODE option
2021-06-14 09:08:20 +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
