Andrew Tridgell
888edcd709
Plane: fixed duplicate include of AP_ADC library
2017-04-27 18:32:26 +10:00
Andrew Tridgell
7ea0f65590
Plane: removed incorrect comment
2017-04-24 16:56:23 +10:00
Andrew Tridgell
06b0742481
Plane: fixed jump in qhover on takeoff
...
Z controller PID is from -1 to 1
thanks to Leonard for spotting this
2017-04-24 16:55:41 +10:00
Andrew Tridgell
b9debba509
Plane: make ground test easier for tilt
2017-04-24 16:55:41 +10:00
Andrew Tridgell
76870f8e01
Plane: improve fast/slow tilt in ground tests
...
when disarmed use the slow tilts so users can judge the rates it will
use in flight
2017-04-24 16:55:41 +10:00
Andrew Tridgell
aab20317a0
Plane: fixed position control in QLAND_FINAL
2017-04-24 16:55:41 +10:00
Andrew Tridgell
b1f1ace736
Plane: support vectored yaw tiltrotors
...
this adds support for tiltrotors which control yaw by vectoring the
forward motors. This avoids the need for the rear motor on a
tilt-tricopter to have a tilt servo
2017-04-24 16:54:41 +10:00
Andrew Tridgell
fedabd1ace
Plane: added logging of quadplane desired yaw
...
makes analysis of takeoffs easier
2017-04-24 16:52:16 +10:00
Andrew Tridgell
2d9c3e3d93
Plane: added EKF yaw reset handling to quadplane
...
this follows the implementation from copter. Thanks to Leonard for the
suggestion
2017-04-24 16:52:16 +10:00
Andrew Tridgell
516bf26719
Plane: fixed QRTL change when coming from loiter
...
the nav controller can think we have already reached the loiter target
if we were last in a LOITER when we switch to RTL. In that case it
would switch to QRTL immediately
found by Leonard (thanks!)
2017-04-24 16:28:59 +10:00
Andrew Tridgell
be1b50d6e2
Plane: support auto trim for separate elevon and vtail channels
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this supports SERVO_AUTO_TRIM=1 for elevons and vtails setup using the
new separate functions
2017-04-24 16:26:08 +10:00
Andrew Tridgell
b4ffcfa6bd
Plane: added support for elevon and vtail servo functions
...
these make trimming and limiting servo movement easier
2017-04-24 16:26:08 +10:00
Peter Barker
b5b8620d04
Plane: log GPS detection state to DF on log startup
2017-04-23 21:04:17 +01:00
Eugene Shamaev
ca84ab36be
Plane: AOA and SSA estimations are added to parameters and data logs
2017-04-19 20:48:42 +10:00
Andrew Tridgell
88e02c7b35
Plane: log the throttle mix for quadplane copter control
2017-04-19 09:08:43 +10:00
Andrew Tridgell
8e3f8f47c8
Plane: tilt motors fast in final stages of quadplane transition
...
when transition of tilt quadplane has reached the stage where the tilted
motors are used solely for fwd thrust and rear motors are off we should
move the tilt to full forward rapidly
2017-04-19 09:08:14 +10:00
Tom Pittenger
5b47927937
Plane: pre-launch flaps incorrectly always disabled
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Pre-launch flaps are always disabled by checking current state against zero (which it always will be) instead of the param which is what it was supposed to be checking.
2017-04-18 14:40:17 -07:00
Andrew Tridgell
d5ec7b0aad
Plane: fixed a sign error in the angle assist code
...
thanks to Leonard for finding this!
2017-04-18 22:09:22 +10:00
Andrew Tridgell
b15b11e32d
Plane: always stabilize with tailsitters
2017-04-14 12:48:08 +10:00
Michael du Breuil
b850c1041f
Plane: Send BATTERY_STATUS
2017-04-12 10:21:49 +09:00
Andrew Tridgell
46d910539c
Plane: fixed a warning
2017-04-11 17:34:40 +10:00
Andrew Tridgell
642a6acfcb
Plane: support thrust vectoring in tailsitters
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adds Q_TAILSIT_VHGAIN and Q_TAILSIT_VFGAIN, allowing for thust
vectoring in both fixed wing and hover
2017-04-11 17:34:40 +10:00
Andrew Tridgell
664e41cec6
Plane: bring in demanded climb rate over 1 second
...
when we engage the Z controller in quadplane we bring in the climb
rate slowly to prevent a sudden change in motor demand
2017-04-09 16:45:19 +10:00
Andrew Tridgell
17ba8b3304
Plane: raise logging rate for PID and servos
2017-04-09 16:45:19 +10:00
Andrew Tridgell
0cf571d338
Plane: moved Z altitude target reset
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reset alt target whenever we have not run Z controller for 2s
2017-04-09 16:45:19 +10:00
Mark Whitehorn
7679b758b0
Plane: add parameter RUDD_DT_GAIN for dual motor tailsitter
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controls rudder to differential thrust mixing in FW mode
2017-04-06 08:29:44 +10:00
Michael du Breuil
876ffa351b
Plane: Update L1 constructor for new arguments
2017-04-06 08:26:04 +10:00
Andrew Tridgell
acaef22416
Plane: improve transition from QSTABILIZE to FBWA or QHOVER
2017-04-05 20:00:29 +10:00
Andrew Tridgell
a9b8e4b5d3
Plane: prepare for 3.8.0beta4
2017-04-04 20:49:10 +10:00
Andrew Tridgell
36d8f730e1
Plane: setup better defaults for tailsitters
2017-04-04 10:15:08 +10:00
Andrew Tridgell
48ae2f2de0
Plane: changed default THR_MAX to 100
...
we have left it at 75 for far too long
2017-04-04 08:19:41 +10:00
Andrew Tridgell
6a90257d2a
Plane: fixed attitude logging for tailsitters
2017-03-31 11:30:44 +11:00
Andrew Tridgell
c76eadf4f6
Plane: add available memory to PM message
2017-03-27 14:35:21 +09:00
Andrew Tridgell
5d06e4238f
Plane: make the quadplane motors var_info dynamic
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this will allow for more quadplane motors class types
2017-03-25 16:22:10 +11:00
Michael du Breuil
649ef0fc16
Plane: Only consider a takeoff as begun if the safety switch has been pressed
2017-03-23 16:55:47 -07:00
Andrew Tridgell
af97a3974b
Plane: initialise target height correctly on quadplane transition
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this fixes a bug where a plane in QSTABILIZE would drop suddenly if
switched to FBWA when the target altitude had not been initialised
2017-03-22 21:34:40 +11:00
Andrew Tridgell
bb158a437e
Plane: handle bad Q_FRAME_CLASS
...
default to quad with a warning. This prevents users getting stuck
without being able to set Q_ENABLE=1
thanks to Leonard for noticing
2017-03-18 22:10:20 +11:00
Andrew Tridgell
e3a8d477f5
Plane: improve tiltrotor transition strategy
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avoid running forward motors at high throttle when transitioning to a
VTOL mode
2017-03-14 14:42:20 +11:00
Andrew Tridgell
3f7e7d456f
Plane: in fixed wing mode slave quadplane attitude rate controller
...
For quadplanes this uses the attitude controller from fixed wing
when using the multicopter controller to assist fixed wing
flight. This prevents a rate mismatch between the two controller
leading to oscillation
2017-03-14 14:42:20 +11:00
Andrew Tridgell
2db8589f49
Plane: smarter Z controller initialisation for quadplanes
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this is more generic than the previous one used only for the full
position controller
2017-03-14 14:42:20 +11:00
Andrew Tridgell
dd4f56dd98
Plane: added PIQ messages for quadplane PIDs
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keep them separate from fixed wing PIDs, so we can watch the
interaction between the PIDs in transitions
2017-03-14 14:42:20 +11:00
Andrew Tridgell
0e175179a6
Plane: log home and origin on logging start
2017-03-14 10:51:15 +11:00
Andrey Kolobov
35d406aeab
Plane: added a soaring controller to Arduplane
2017-03-14 08:53:10 +11:00
Michael du Breuil
9e893eacd1
Plane: Change some user facing statustexts
2017-03-08 00:59:56 -08:00
Michael du Breuil
041fe38ba6
Plane: Update build tools for deepstall PID dependency
2017-03-02 12:38:59 +11:00
Michael du Breuil
cf10b7b841
Plane: Add support for landing PID's and servo control
2017-03-02 12:38:59 +11:00
Michael du Breuil
1bb806edb2
Plane: Use new landing interfaces
2017-03-02 12:38:59 +11:00
Andrew Tridgell
abcc75009d
Plane: move relay init earlier
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allows relay pins to be used as pullups for other sensors (such as
LidarLiteV3)
2017-03-01 22:44:37 +11:00
Randy Mackay
eb746eaeef
Plane: fix SYSID_ENFORCE parameter description
2017-02-28 15:08:17 +09:00
Michael du Breuil
fbf6050876
Plane: Reset home to AHRS position rather then snapshotting GPS
2017-02-28 11:33:53 +11:00
