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3737 Commits

Author SHA1 Message Date
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
Mark Whitehorn bcdd16025b Plane: replace AP_MotorsMatrixTS with AP_MotorsMatrix 2020-09-08 10:50:31 +10:00
Hwurzburg 96f5e2a20a Plane: Update THR_FAILSAFE param metadata 2020-09-04 07:08:03 +10:00
Samuel Tabor 93bcfc4c3e Plane: Assign flap channel in set_control_channels() to avoid expensive call in set_servos_flaps(). 2020-09-03 07:55:51 +10:00
Samuel Tabor 590ebb180c Plane: Update airbrake channel assignment in set_control_channels() to avoid expensive call in airbrake_update() 2020-09-02 10:10:09 -07:00
Samuel Tabor f1290a2e17 Plane: Add use of airbrakes, used when throttle is negative OR via RC channel option. 2020-09-02 10:10:09 -07:00
Iampete1 abee62abc4 Plane: use throttle in for transition max comparison 2020-08-30 18:19:40 +10:00
Peter Barker 75aa8b7e6e Plane: log speed scaler into AETR 2020-08-29 18:52:46 +10:00
Andrew Tridgell bf0f359445 Plane: fixed LOITER_TO_ALT with terrain target 
many thanks to Pompecukor for finding this!

Fixes #14951
 2020-08-25 10:39:18 +10:00
Samuel Tabor 67c152cef2 Plane: Move cruise state into cruise flight mode. 2020-08-22 09:30:15 +10:00
Samuel Tabor 334fd4afbc Plane: Remove update_navigation() method. 2020-08-20 13:02:06 +10:00
Samuel Tabor 836be4b4b4 Plane: Remove _navigate indirection in Mode. 2020-08-20 13:02:06 +10:00
Samuel Tabor 6a27866df4 Plane: Call plane.update_loiter() rather than plane.mode_loiter.navigate(). 2020-08-20 13:02:06 +10:00
Samuel Tabor 06eea6ed9f Plane: Move navigation functions into flight mode classes. 2020-08-20 13:02:06 +10:00
Siddharth Purohit fb180fa431 Plane: move to using CANManager library 2020-08-19 17:31:09 +10:00
Peter Barker 306eaf4d03 ArduPlane: use an enumeration for the AP_Avoidance recovery action 2020-08-19 11:38:19 +10:00
Mark Whitehorn ee65940dfa Plane: enable yaw in qstabilize:air_mode at zero throttle 2020-08-13 08:47:27 +10:00
Mark Whitehorn 4630e9af30 Plane: add Mode::is_vtol_man_mode 
and make use of is_vtol_mode in in_vtol_mode
 2020-08-13 08:47:27 +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
Michael du Breuil 99ad126986 Plane: Fix redundant call to SpdHgt_Controller->get_land_airspeed() 2020-08-11 09:47:24 +10:00
Andrew Tridgell 3c705d1c60 Plane: added THR_FAILSAFE=2 option 
this allows for RC inputs to be ignored at low throttle, but won't
trigger failsafe. It is meant for users flying BVLOS missions, where
they want GCS failsafe enabled, but don't want RC failsafe, and want
to be sure that RC inputs will be ignored at low RC throttle values

Thanks to suggestion from Pompecukor
 2020-08-07 14:01:20 +10:00
Samuel Tabor aa776b06a4 Plane: Use sq() rather than powf() in soaring.cpp. 2020-08-05 11:58:54 +10:00
Samuel Tabor b2d63c5049 Plane: Refactor soaring.cpp. 2020-08-05 11:58:54 +10:00
Peter Barker ac85ec9924 Plane: log AHRS synthetic airspeed 2020-08-04 23:12:03 +10:00
Andrew Tridgell 6466912ac0 Plane: don't crosstrack after AUTO VTOL takeoff 2020-08-04 09:26:08 +10:00
Andy Piper b649afe9e5 Plane: make mount/gimbal inclusion configurable per-board 2020-08-04 09:18:14 +10:00
Tom Pittenger c7c9461fc0 Plane: update ModeReasons to not use UNKNOWN reason 2020-07-28 11:52:39 -07:00
Andrew Tridgell cce2532901 Plane: fixed use of VTOL control for missions 
horizontal speed was not being setup when doing waypoint missions in
VTOL mode
 2020-07-28 08:06:14 +10:00
Peter Hall cd46c5006a ArduPlane: remove duplicate fail-safe time check 2020-07-28 08:04:50 +10:00
Iampete1 62354527d4 Plane: zero throttle nudge in RC failsafe 2020-07-28 08:03:16 +10:00
Henry Wurzburg 3617e0c729 ArduPlane: fix airspeed messages for consistency 2020-07-21 09:41:05 +10:00
Samuel Tabor 419f7c9998 Plane: Convert SOAR_ENABLE_CH to RCX_OPTION. 2020-07-21 09:38:04 +10:00
Samuel Tabor 611217f63e AP_Soaring: Use RC aux function rather than read RC directly. 2020-07-21 09:38:04 +10:00
Samuel Tabor 455ebaadf2 RC_Channel: Add soaring aux function. 2020-07-21 09:38:04 +10:00
Michael du Breuil 6c6e4eff67 Plane: adhoc MAVLink DO_LAND_START changing mode to auto is known to be a GCS reason 2020-07-17 09:15:05 +09:00
Henry Wurzburg 16a15f5450 ArduPlane: add CROW flaps mode select switch 2020-07-16 13:30:45 +10:00
Mirko Denecke 10a85892cf ArduPlane: update_trigger() is now called in AP_Camera update() 2020-07-15 08:37:28 +09:00
Paul Riseborough 585a6a6967 Plane: Log D gain limit cycle gain scaler 
Used by roll and pitch loops in APM_Control
 2020-07-13 13:47:50 +10:00
TunaLobster aca70ffd34 ArduPlane: Update Log_Write_Fast comment for accuracy 2020-07-11 19:15:21 +10:00
Iampete1 08a710235d Plane: add tailsitter assist with motors only option 2020-07-09 06:49:24 +10:00
Iampete1 6710bab006 Plane: add Q_OPTIONS to defaut to Qassist force enabled 2020-07-09 06:49:24 +10:00
Henry Wurzburg 4115603f13 ArduPlane: add terrain follow disable switch for CRUISE/FBWB 2020-07-08 13:39:42 +10:00
Paul Riseborough e5bd99a66f ArduPlane: Signal EKF to expect takeoff start to improve GSF yaw estimate 2020-07-07 15:33:58 +10:00
Michael du Breuil 955a05c4d5 Plane: Refactor mav_cmd_do_reposition to be consistent with copter 2020-07-07 10:34:19 +10:00
Mark Whitehorn 2af6e255d1 RC_Channel: add RC option for VTOL manual forward throttle 
fix RC_OPTION metadata for 209: Forward Throttle
 2020-07-07 08:37:46 +10:00
Mark Whitehorn d5b1b20274 Plane: implement manual forward throttle for QACRO, QSTABILIZE and QHOVER 
add parameter Q_FWD_THR_MAX for scaling manual throttle
allow forward motor tilt when disarmed
add FWD_THR_CH as an RC option
change Q_FWD_THR_MAX to percent
change RC_OPTION FWD_THR to 209
move assignment of rc_fwd_thr_ch to one_second_loop
move arming check from forward_throttle_pct to set_servos
change Q_FWD_THR_MAX TO Q_FWD_MANTHR_MAX
expand description of Q_FWD_MANTHR_MAX
add pre-arm check for VTOL manual forward throttle
change VTOL fwd throttle input to percent
 2020-07-07 08:37:46 +10:00
Peter Barker ee2118f93a Plane: add support for AP_Generator 2020-07-03 08:21:42 +09:00
Peter Barker d47569ccef Plane: correct ASSIST_ANGLE description 2020-07-01 20:57:32 +10:00
Andrew Tridgell 3a0538449c Plane: added Q_ASSIST_DELAY parameter 
this allows tuning of the time between assistance thresholds being met
and assistance kicking in. It also changes the default delay from 1s
down to 0.5s based on analysis of a flight where assistance was too
slow
 2020-07-01 20:57:32 +10:00
Andrew Tridgell d9358b4ac2 Plane: don't allow a zero speed_scaler 
this fixes an issue with yaw damper on quadplanes when at zero
airspeed

Thanks to Vladi Portnoy for reporting this
 2020-06-29 20:09:41 +10:00
Andy Piper 9077d41df1 Plane: add support for tracking fft peaks and individual motor rpms with harmonic notches 
log harmonic notch even if FFT is disabled. Fallback to throttle notch for BLHeli
move harmonic notch update to AP_Vehicle
 2020-06-21 19:09:35 +10:00
Michael du Breuil 43526e718e Plane: Remove the use of RTL_RADIUS from LOITER_UNLIM mission items 2020-06-19 11:10:29 -07:00
Mark Whitehorn ab2eb6185f Plane: also limit throttle during quadplane transitions 2020-06-16 11:43:18 +10:00
Peter Barker 1206df6f0c ArduPlane: remove use of Vector2 as function 2020-06-16 11:00:44 +10:00
Paul Riseborough 97d7d563c4 ArduPlane: Improve parameter description for FWD_BAT_VOLT_MAX/MIN 2020-06-16 10:17:33 +10:00
Paul Riseborough fdb4f908bb ArduPlane: Fix bug in forward throttle voltage compensation 
The existing code does not adjust the upper and lower throttle limits with the result that at and of discharge climb and reverse thrust performance is significantly degraded.
 2020-06-16 10:17:33 +10:00
vierfuffzig 147ebb74f4 Plane Parameters: fix THR_MAX param description 
makes clear that thr is constrained in stabilized modes too unless passthrough is set, aligns with THR_MIN description.
 2020-06-12 10:23:41 +10:00
Peter Barker 6c4812e408 ArduPlane: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos' 2020-06-12 08:11:46 +10:00
Peter Barker f59d2fdbf4 ArduPlane: add and use accessor for last-RADIO_STATUS.remrssi-ms 2020-06-09 10:20:29 +10:00
Iampete1 2121ddf736 Plane: drop unneeded call to calc_pwm 2020-06-09 09:04:14 +10:00
Andrew Tridgell fbd774fde9 Plane: set pressure alt for vtol motors 2020-06-05 11:35:53 +10:00
Iampete1 4b7d45e549 Plane: label and sort plane.h functions 2020-06-05 09:32:31 +10:00
Andrew Tridgell 568e13fbb9 Plane: allow for continue after land for quadplanes 
this allows for a new takeoff after a quadplane auto landing
 2020-06-02 09:12:22 +09:00
Michael du Breuil 911570e9f3 Plane: Protect against a divide by 0 when calculating the forward throttle compensation 2020-06-02 09:38:51 +10:00
Andrew Tridgell ebcbc6d449 Plane: update release notes for 4.0.6beta1 2020-05-27 13:27:27 +10:00
Peter Hall 7688430029 Plane: allow Qassit for fw to vtol transision 2020-05-26 09:01:47 +10:00
Peter Hall 87cd9a4791 Plane: allow Qassist for tailsitters 2020-05-26 09:01:47 +10:00
Peter Hall 2467d7b5c7 Plane: add Qassist switch 2020-05-26 09:01:47 +10:00
Tom Pittenger 0a5021fdcf Plane: bugfix: never reset auto_state.sink_rate 2020-05-23 18:49:12 -07:00
Andrew Tridgell 26c2555c3c Plane: increased allowed time for mavlink send to 750us 
this is to allow more time to get streams out at low loop rates
 2020-05-23 11:54:41 +10:00
Buzz 0f5177b291 Plane: Support a set of offboard MAVLink guided controls with rates 
+ 3 rounds of fixes
 2020-05-20 15:03:21 +10:00
Buzz d4df145b4b ArduPlane: option to keep landing throttle at thr_min during flare and touchdown, not zero. 2020-05-20 11:29:45 +10:00
Iampete1 f9ff8e5f11 Plane: align GCS PID with logged 2020-05-19 09:04:16 +10:00
Andrew Tridgell 8b21f5117a Plane: implement RTL_CLIMB_MIN parameter 
this allows for an initial climb on RTL where roll is limited to
LEVEL_ROLL_LIMIT
 2020-05-18 13:04:04 +10:00
Paul Riseborough 0c9433873c ArduPlane: Modify ekf failsafe checks 
Restore velocity check and make the logic closer to what ArduCopter does.
Remove unnecessary initialisation.
 2020-05-14 10:40:48 +10:00
Paul Riseborough 85e53d53e1 ArduPlane: Don't use optical flow health when assessing EKF nav health 
Plane currently doesn't use optical flow for navigation - it is used fo terrain height estimation.
 2020-05-14 10:40:48 +10:00
Paul Riseborough 3a10838c65 ArduPlane: Don't check variances if not available 2020-05-14 10:40:48 +10:00
Paul Riseborough 70a02f31ab ArduPlane: More efficient type use 2020-05-14 10:40:48 +10:00
Paul Riseborough 5b312e9f09 ArduPlane: Fix logic error 2020-05-14 10:40:48 +10:00
Paul Riseborough cd5714d059 ArduPlane: Allow EKF dead reckoning to continue after loss of GPS 2020-05-14 10:40:48 +10:00
Paul Riseborough 40cc5a5006 ArduPlane: Improve EKF failsafe in VTOL modes 
Replicates Copter behaviour with a three step process if the EKF sustains a loss of navigation as detected by high GPS innovation test ratios:

1) Attempts a yaw reset using the GSF estimate if available
2) Attempts a lane switch
3) Falls back to a non-position mode
 2020-05-14 10:40:48 +10:00
Randy Mackay 59a2667870 Plane: quadplane's throttle mix uses filtered accelerations 2020-05-12 09:56:09 +10:00
Michael du Breuil 9eaf7f5528 Plane: Fix VTOL yaw for STICK_MIXING 0 2020-05-08 08:44:03 +10:00
Peter Barker 8222b5db62 Plane: AP_Soaring no longer takes AHRS in constructor 2020-05-05 17:35:14 +10:00
Tom Pittenger 87c75332e7 Plane: ignore guided cmds from mavlink if we're in avoidADSB. 
This change makes it behave like MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED
 2020-05-05 10:51:16 +10:00
Peter Barker f17ea78a6c Plane: move sending of WIND message to GCS namespace 2020-05-05 10:29:13 +10:00
Peter Barker e75fa6fb15 Plane: move sending of AOA_SSA message to GCS namespace 2020-05-05 10:29:13 +10:00
Iampete1 3ded030fa8 Plane: compensate forward throttle for battery voltage drop 2020-05-05 09:46:41 +10:00
Peter Barker 86c765d8c9 ArduPlane: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Andrew Tridgell d0a509eef1 ArduPlane: invalidate param count when changing param tree structure 2020-04-29 07:36:55 +10:00
Paul Riseborough 0efdb2b66b ArduPlane: Send default airspeed to estimators 2020-04-24 09:43:23 +10:00
Randy Mackay 9a43a31f24 Plane: do not send ahrs3 mavlink message 2020-04-22 14:11:17 +09:00
Henry Wurzburg 3397bce235 Plane: Quadplane tailsit transition to FW throttle level change 2020-04-21 09:51:47 +10:00
Henry Wurzburg 6c730ccfec Plane: start tailsitter forward transition from current pitch angle 2020-04-21 09:50:57 +10:00
Rishabh 0c5d68dfeb Plane: Replace update_vel_controller_xy() with update_xy_controller() 2020-04-21 09:22:45 +10:00
Mark Whitehorn bada075daa Plane: expand description of CTUN.Aspd to indicate when estimate or measurement is reported 2020-04-18 15:33:43 +10:00
Peter Barker f5f4576835 ArduPlane: remove comment for already-removed in-delay-callback function 
These are now attached to completely unrelated functions, which is
pretty bad.
 2020-04-16 15:11:35 +09:00
Andrew Tridgell 156fe0846f Plane: fixed plane landing gear to obey LGR_OPTIONS bits 
we forced landing gear retract/deploy on takeoff and landing when we
should be following the options bits
 2020-04-15 17:10:31 +10:00
Rishabh 6989cb0131 Plane: Use AHRS for heading in mode loiter 2020-04-10 12:18:35 +10:00
Samuel Tabor b9daae062c AP_Soaring: Use enum class rather than typedef enum for states and hide details of these. 2020-04-08 09:11:54 +10:00