Andrew Tridgell
477599b3d7
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
2021-12-18 12:17:22 +09:00
Andrew Tridgell
a17a0c130d
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
2021-11-29 19:02:38 +09:00
Andrew Tridgell
f8acd38adc
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
2021-11-29 19:02:38 +09:00
Andrew Tridgell
50e6d67a66
Plane: update for new double precision position APIs
2021-06-24 21:34:30 +10:00
Hwurzburg
4f48233b43
ArduPlane: add QRTL always as Q_RTL_MODE option
2021-06-14 09:08:20 +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
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
3611b1dbf7
Plane: added check for QPOS initialisation
...
thanks to Kris for noticing this!
2021-06-10 13:50:29 +10:00
Andrew Tridgell
db34577755
Plane: use a separate bit for landing reposition in quadplanes
...
when repositioning stop descent
2021-06-10 13:50:29 +10:00
Andrew Tridgell
06cd077c36
Plane: fixed stick mixing with land reposition in quadplanes
...
prevent stick mixing overriding landing control
2021-06-10 13:50:29 +10:00
Andrew Tridgell
0ecc02c53a
Plane: fixed constructor of accel_ef filter
2021-06-08 11:14:52 +10:00
Andrew Tridgell
aa904d6bbc
Plane: fixed guided mode handling with new approach code
...
ensure we treat guided approach as not a vtol mode
2021-06-05 13:05:30 +10:00
Andrew Tridgell
0232fa7456
Plane: cope with fwd thrust loss in Q approach
...
if throttle is saturated and descending and low airspeed then declare
thrust loss
2021-06-05 13:05:30 +10:00
Andrew Tridgell
a7b809d5d4
Plane: added approach and airbrake options
...
this defaults VTOL landings to have an approach and airbraking stage,
allowing for more efficient landings. Can be disabled by setting
Q_OPTIONS bit 16
2021-06-05 13:05:30 +10:00
Andrew Tridgell
b4992cc226
Plane: added accessors for poscontrol state
...
allows for time since state entered
2021-06-05 13:05:30 +10:00
Andrew Tridgell
f1f7f01300
Plane: slave fixed wing desired rate to multicopter desired rate
...
this ensures that the two rate controllers don't fight each other when
in a VTOL mode
2021-06-05 13:05:30 +10:00
Andrew Tridgell
d1f6d913d5
Plane: adjust reposition landing code
...
use accel with 1s timeconstant
2021-05-24 20:13:37 +10:00
Andrew Tridgell
71fa52d5c6
Plane: fixed slowing descent in final phase of QLAND
2021-05-24 20:13:37 +10:00
Andrew Tridgell
ec1cbb06fd
Plane: allow reposition in auto land
2021-05-24 20:13:37 +10:00
Andrew Tridgell
6eafcdb558
Plane: added Q_OPTION bit for throttle control of landing speed
2021-05-24 20:13:37 +10:00
Andrew Tridgell
5a880c74b6
Plane: use input shaping from pos_control
...
smoother navigation with new input shaping code
2021-05-24 20:13:37 +10:00
Andrew Tridgell
a6ec7d9f23
Plane: ensure xy controller is initialised
2021-05-24 20:13:37 +10:00
Iampete1
572e401894
Plane: fix QRTl terrain following
2021-05-02 18:51:27 +10:00
Peter Hall
33f9e3d4b6
plane: add tailsitter transision rates, give more info in transision complete messages
2021-04-07 17:55:48 +10:00
Iampete1
e81dc36ed6
Plane: add option do do a VTOL approach RTL
2021-03-29 11:29:12 +11:00
Hwurzburg
8aabf7c22a
Plane: Add VTOL descent rate, convert existing rate to climb rate only
...
Co-authored-by: Reko Merio K9260@student.jamk.fi
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
2021-03-23 14:32:46 +11:00
Iampete1
1d050a01ce
Plane: Quadplane: add Q_OPTION to ignore forward flight angle limits in Q modes
2021-03-02 11:16:35 +11:00
Mark Whitehorn
236961f17f
Plane: use get_frame_class/type string methods
...
use AP_Enum<> for frame_class/type
remove invalid copterTS check
improve quadplane setup failure message
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
2021-02-09 12:43:53 +11:00
Patrick José Pereira
cdc7f891a9
ArduPlane: Add missing const in member functions
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2021-02-03 18:45:14 +11:00
Iampete1
e4fbe64616
Plane: add QuadPlane singleton
2021-01-19 11:18:10 +11:00
Andrew Tridgell
a0fcef6ceb
Plane: added tilt vectoring in fixed wing modes
...
this allows for vectoring for roll and pitch in fixed wing modes on
tilt-vectored quadplanes
2021-01-05 08:23:28 +11:00
Iampete1
c8b3c91ae5
Plane: Tailsitter add disk theory and altitude gain scailing
2020-12-22 11:00:59 +11:00
Mark Whitehorn
24508f08dc
Plane: don't relax pitch attitude controller for vectored tailsitters in throttle_wait
...
add is_vectored_tailsitter()
instantiate AC_AttitudeControl_TS for tailsitters
2020-12-21 12:56:24 +11:00
Andrew Tridgell
e94cf561d0
Plane: use rull euler control for fwd transition of tilt vectored planes
...
this gives strong yaw control and wind handling for tilt vectored
planes in forward transitions. It relaxes the yaw if the user either
demands yaw with stick input or plane navigation is demanding a roll
angle for a turn
When navigation is demanded we setup yaw rate for a coordinated turn
2020-12-21 12:05:50 +11:00
Andrew Tridgell
abd5f8351d
Plane: don't reset yaw target in TRANSITION_TIMER for tilt-vectored quadplanes
2020-12-21 12:05:50 +11:00
Andrew Tridgell
ad14e153e8
Plane: fixed tilt vectoring to cope with large tilt angles
...
This uses vectoring for both roll and yaw when tilted, and uses
differential thrust for yaw when tilted
2020-12-16 08:45:11 +11:00
Andrew Tridgell
d984ddc163
Plane: apply circular limits to QLOITER pilot angles
...
This uses the same logic as Copters get_pilot_desired_angle() to apply
a circular limit and the limits in Q_ANGLE_MAX and Q_LOIT_ANG_MAX to
loiter pilot angles.
Co-authored-by: Kris <kris968658@gmail.com>
2020-12-01 11:22:49 +11:00
Iampete1
c03de6bdbe
Plane: log Qassist state
2020-11-17 10:15:27 +11:00
Andrew Tridgell
eea62bf733
Plane: added optional ground effect compensation for quadplanes
...
this allows for landings in aircraft badly effected by ground effect
to be compensated for
2020-11-10 12:05:48 +11:00
Iampete1
2d80dcd937
Plane: remove tailsitter VTOL transition race condition
2020-11-04 18:34:00 +11:00
Iampete1
b225ae43ab
Plane: always log tailsitter scalefactor
2020-11-03 10:38:51 +11:00
Iampete1
840f129153
Plane: remove unused tailsitter scailing option
2020-11-03 10:38:51 +11:00
Iampete1
e6ba53856a
Plane: tailsitter: ask for FW state don't check
2020-10-27 11:04:52 +11:00
Iampete1
0201692eeb
Plane: Q_OPTION to disable synthetic airspeed assist
2020-10-07 18:20:08 +11:00
Iampete1
6621b69836
Plane: log quadplane transision state
2020-09-30 18:15:42 +10:00
Iampete1
f972d3dc2f
Plane: Quadplane: tailsitter only change view once transision is complete
2020-09-30 18:15:42 +10:00
Mark Whitehorn
629f2153e0
Plane: move arming delay logic into AP_Arming_Plane
2020-09-08 10:54:42 +10:00
Mark Whitehorn
2b4772269d
Plane: tiltrotors: allow vectored yaw motor tilt when disarmed
...
add disarm tilt delay
add arming delay
add Q_OPTIONS for disarmed motor tilt and delayed arming
add comment explaining arming delay option
eliminate millis() wrap in arming delay
2020-09-08 10:54:42 +10:00
Samuel Tabor
06eea6ed9f
Plane: Move navigation functions into flight mode classes.
2020-08-20 13:02:06 +10:00
Mark Whitehorn
e22d9398d3
Plane: add AirMode RC option for quadplanes
...
add Q_OPTION for AirMode (auto-enabled if RCx_OPTION ARMDISARM assigned)
bugfix: manual throttle mix for qacro
qualify auto airmode on/off
add Air Mode to Plane RC_OPTION metadata
restrict airmode to manual throttle modes
add qhover to manual throttle mix
move air_mode from Plane to QuadPlane
add Mode::is_vtol_man_throttle()
2020-08-13 08:47:27 +10:00