aeed2b1a9d
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 17:12:27 +09:00
9bdd5844a8
Plane: prepare for 4.2.0beta4 release
2022-03-30 19:12:45 +09:00
6247e908f6
Plane: added release notes for 4.2.0beta4
2022-03-30 19:12:45 +09:00
a51f595ef0
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 19:12:45 +09:00
e764a96198
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 19:12:45 +09:00
b764b4c1e4
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 19:12:45 +09:00
a977898bd3
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 19:12:45 +09:00
dc8ade101f
Plane: prepare for 4.2.0beta3
2022-03-30 19:12:45 +09:00
87a32a2c68
Plane: update release notes for 4.2.0beta3
2022-03-30 19:12:45 +09:00
7dbfd2ebf7
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 19:12:45 +09:00
77bc475ad6
Plane: adjust throttle mix for auto landing
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use mix-max during landing approach and initial descent, use min in
land final. As discussed with Leonard
2022-03-30 19:12:45 +09:00
09ffe959e1
Plane: check that RTL_AUTOLAND is set if using DO_LAND_START
2022-03-30 19:12:45 +09:00
dfd9ead46f
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 19:12:45 +09:00
513afb046f
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 19:12:45 +09:00
06b77f2cf1
Plane: use set_lean_angle_max_cd()
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allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
2022-03-30 19:12:45 +09:00
d1a2cafb01
Plane: improvements to POSITION1 controller
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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 19:12:45 +09:00
d666f6ed02
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 19:12:45 +09:00
147f06c589
Plane: prepare for 4.2.0beta2
2022-03-30 19:12:45 +09:00
d6f82c5e31
Plane: added release notes for 4.2.0beta2
2022-03-30 19:12:45 +09:00
743f0bc3f9
Plane: protect against short stop_distance
2022-03-12 08:00:49 +09:00
9f32204f15
Plane: quadplane: double log QPOS state change
2022-03-12 08:00:49 +09:00
4631392f31
Plane: use has_valid_input in place of checking throttle counter
2022-03-12 08:00:49 +09:00
0c571e6d66
ArduPlane: clarify and simplify RC failsafe messages
2022-03-12 08:00:49 +09:00
51c51c6f29
ArduPlane: add RebootRequred to stream rate parameters
2022-03-12 08:00:49 +09:00
06e911da4b
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 08:00:49 +09:00
2ac2257d83
ArduPlane: tailsitter: keep attitude controll throttle level upto date for smoother controller handover
2022-03-12 08:00:49 +09:00
93b4eae6db
Plane: never stick mix without valid RC input
2022-03-12 08:00:49 +09:00
ea41f6d70a
Plane: don't prevent stick mixing in none RC failsafe
2022-03-12 08:00:49 +09:00
fbe1672d22
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 08:00:49 +09:00
49e83841d4
Plane: review fixes
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thanks Pete!
2022-03-12 08:00:49 +09:00
0a2f347c36
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 08:00:49 +09:00
9d1e218f4c
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 08:00:49 +09:00
993248b6d5
Plane: setup target accel in POSITION1 state
2022-03-12 08:00:49 +09:00
c5b7fd03d8
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 08:00:49 +09:00
d7913104cb
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 08:00:49 +09:00
2b257663dc
Plane: added APIs for lua ship landing
2022-03-12 08:00:49 +09:00
0e70270f49
Plane: link in AP_Follow
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ready for ship landing
2022-03-12 08:00:49 +09:00
59c56a5fc5
Plane: removed terrain home correction
2022-03-12 08:00:49 +09:00
fc7a8a1a19
Plane: added Q_LAND_ALTCHG parameter
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this is the threshold height change over 4 seconds for a landing to be
detected. It can be raised if landing detection is very slow
2022-03-12 08:00:49 +09:00
47739344b8
Plane: prepare for 4.2.0beta1
2022-03-12 08:00:49 +09:00
66cda54be1
Plane: added release notes for 4.2.0beta1
2022-03-12 08:00:49 +09:00
13fa1e30ad
ArduPlane: rename and make enum RC_Channel::ControlType
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Type:: is too generic; get_type should probably be get_control_type
2022-02-27 09:55:01 +11:00
b444420329
Plane: removed controller error in transmitter tuning
2022-02-22 12:23:48 +11:00
e3e125c307
Plane: prepare for 4.1.7
2022-02-21 12:11:28 +11:00
267583db55
Plane: quadplane: never reset yaw target rates when entering QPOS1
2022-02-21 09:35:06 +11:00
9fd14dbf94
Plane: quadplane: set IO failsafe limit for all motors
2022-02-17 12:31:16 +11:00
42a2e1094c
Plane: set failsafe limit for throttle left and right
2022-02-17 12:31:16 +11:00
1bdc9b5bf8
Plane: fixed in_vtol logic so QRTL can AIRBRAKE
2022-02-16 07:43:01 +11:00
aab6c94936
Plane: don't weathervane in AIRBRAKE state
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this prevents unwanted VTOL motor throttle while trying to slow
down. In this stage the slaving of yaw rate to fixed wing roll control
is sufficient
2022-02-16 07:43:01 +11:00
2846f87eeb
Plane: reduce height gain in auto landing for tiltrotors
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avoid running the motors while tilted past the tilt max if we are in
AIRBRAKE state. This stops a large amount of forward thrust from the
tilted motors while trying to slow down, while still maintaining
attitude control
2022-02-16 07:43:01 +11:00
Andrew Tridgell
Tim Tuxworth
Iampete1
Peter Barker
Henry Wurzburg