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50,702 Commits 71 Branches 509 Tags 753 MiB
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4174 Commits

Author SHA1 Message Date
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
Hwurzburg
5cafccd447 ArduPlane: fix flare rc switch action with flight option bit 10 active 2021-11-21 21:00:04 +11:00
Peter Hall
151ef760a4 Plane: quadplane: log postition controller PIDs 2021-11-21 09:01:58 +11:00
Andrew Tridgell
734edd8085 Plane: fixed chute release on low value of RC option 
only release on flag high
fixes #18843
 2021-11-18 15:19:18 +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
Michel Pastor
685d34d615 Plane: fix bug causing wrong thr max and slew to be used during takeoff 
Fix bug introduced in 3d34e061fe which causes flight_stage to be
FLIGHT_NORMAL instead of FLIGHT_TAKEOFF during takeoff stage causing
itself at least the use of THR_MAX and THR_SLEWRATE instead of
respectively TKOFF_THR_MAX and TKOFF_THR_SLEW and perhaps has other
consequences.

Could be really bad if TKOFF_THR_MAX needs to be much higher
than THR_MAX or if TKOFF_THR_SLEW needs to be much lower than
THR_SLEWRATE and cause a crash on takeoff due to low airspeed or torque
roll
 2021-11-17 19:37:39 +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
17395f362e ArduPlane: allow specification of Scheduler table priorities 2021-11-17 19:00:04 +11:00
Andrew Tridgell
e5106b990e Plane: update release notes for 4.1.3 2021-11-16 16:08:18 +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
Andrew Tridgell
de44dceda4 Plane: enable fixed wing autotune switch 2021-11-10 18:46:34 +11:00
Iampete1
773c48b30c Plane: tailsitter: start transtion from desired pitch not actual 2021-11-09 13:44:30 +00:00
Iampete1
51caf15f94 Plane: manual stabilize: keep nav pitch and roll up to date 2021-11-09 13:44:30 +00:00
Iampete1
68f252e0df Plane: tiltrotor: allow tilt wing as flap 2021-11-09 10:46:09 +11:00
Iampete1
5ba2bd675a Plane: move quadplane arming checks to own function and add angle max and tiltrotor / tailsitter checks 2021-11-09 10:45:22 +11:00
Peter Barker
7c3de472b2 Plane: support send_extended_sys_state 2021-11-09 10:22:24 +11:00
Andrew Tridgell
893046608c Plane: update release notes for 4.1.3beta1 2021-11-09 09:27:27 +11:00
Andrew Tridgell
0c1e576544 Plane: added support for NAV_SCRIPT_TIME 2021-11-08 21:08:52 +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
554e7f8d1c ArduPlane: move EFI to AP_Vehicle 2021-11-05 09:22:17 +11:00
Peter Barker
6a12d3f5d9 Plane: use enum class for StickMixing 2021-11-03 18:06:00 +11:00
Iampete1
e33954d561 Plane: tailsitter transition tidyups 2021-11-02 10:14:36 +11:00
Iampete1
af8688b300 Quadplane: add transiton class 2021-11-02 10:14:36 +11:00
Iampete1
9073d16b09 Tiltrotor: add transtion class 2021-11-02 10:14:36 +11:00
Iampete1
ce5b81869d Plane: Tailsitter: add transtion class 2021-11-02 10:14:36 +11:00
Iampete1
7af1b40fb8 Plane: system use new transtion class 2021-11-02 10:14:36 +11:00
Iampete1
99d98cc5b8 Plane: add transition class as friend 2021-11-02 10:14:36 +11:00
Iampete1
23a413946b Plane: Qacro: use new transition class 2021-11-02 10:14:36 +11:00
Iampete1
f25e5087c0 Plane: attitude: use new transition class 2021-11-02 10:14:36 +11:00
Andrew Tridgell
9c617a18f4 Plane: suppress rate D terms in ground mode 
this prevents a common oscillation issue on the ground
 2021-10-30 18:45:53 +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
Andrew Tridgell
51ccc1822c Plane: rename ReleaseNotes.txt to be more consistent with copter 2021-10-27 15:32:32 +11:00
Hwurzburg
8d94e58ec9 ArduPlane: add RC option to plane for emergency remote landing that forces FS actions to FBWA 2021-10-26 10:34:28 +11:00
Iampete1
bfbd0d93c1 Plane: Quadplane: continue in mode loiter to Qland on failsafe, as with Qland 2021-10-26 10:13:55 +11:00
Hwurzburg
085c5c815b Plane: Fix bug with mode return on short fs exit and add FBWB action 2021-10-26 10:12:48 +11:00
Sebastian Quilter
013de11916 ArduPlane: make rangefinder ranges m rather than cm 2021-10-21 21:28:53 +11:00
Iampete1
73e9c9bb43 Plane: quadplane: forward throttle reutrn float 2021-10-20 18:29:58 +11:00
Iampete1
2f93c1f9e4 Plane: stabilizer roll and pitch to floats 2021-10-20 18:29:58 +11:00
Iampete1
b31ce6734a Plane: get throttle input return float 2021-10-20 18:29:58 +11:00
Iampete1
2f4661c52f Plane: use float for set/get output scaled 2021-10-20 18:29:58 +11:00
Peter Barker
bcad5a7ba6 ArduPlane: handle renaming of AP_InertialNav_NavEKF to AP_InertialNav 2021-10-20 18:09:36 +11:00
Peter Barker
987d67b867 ArduPlane: move SITL object up to AP_Vehicle 2021-10-19 11:34:43 +11:00
Peter Barker
eef8115ffc ArduPlane: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
Andrew Tridgell
5684ca13fa Plane: update release notes for 4.1.2 2021-10-17 15:51:50 +11:00
Andrew Tridgell
34110e387f Plane: update release notes for 4.1.2beta2 2021-10-16 20:45:37 +11:00