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
Iampete1
cc89a8cc48
Plane: remove airmode Q_OPTION
2021-09-21 09:36:24 +10:00
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
