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4319 Commits

Author SHA1 Message Date
Sanket Sharma
ec2a33589c Plane: Updated highest airspeed limit when armed 2022-04-29 07:54:06 +09:00
Andrew Tridgell
71cc0dc02d Plane: add Q_OPTION for RTL always on RC failsafe for ship landing 2022-04-29 07:54:06 +09:00
Andrew Tridgell
6a3c36bfd2 Plane: param conversion for INS_NOTCH to INS_HNTC2 2022-04-29 07:54:06 +09:00
Peter Barker
9e45882340 Plane: do not use guided waypoint for loiter location 
Currently this waypoint is set 10,000m away by the avoidance behaviour

Instead, immediately enter loiter mode
 2022-04-29 07:54:06 +09:00
Andrew Tridgell
35fbea927d Plane: prepare for 4.2.0beta5 2022-04-09 17:04:26 +09:00
Andrew Tridgell
ce532197d6 Plane: release notes for 4.2.0beta5 2022-04-09 17:04:26 +09:00
Andrew Tridgell
eb20c90e4a 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 17:04:26 +09:00
Andrew Tridgell
dfeb6debce Plane: prepare for 4.2.0beta4 release 2022-03-30 11:37:41 +09:00
Andrew Tridgell
616d73e36f Plane: added release notes for 4.2.0beta4 2022-03-30 11:37:41 +09:00
Andrew Tridgell
4457fb4bb0 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 11:37:41 +09:00
Andrew Tridgell
3aa52bb5ee Plane: added a value for RTL_AUTOLAND to disable arming check 
set RTL_AUTOLAND=3 to get go-around but not RTL DO_LAND_START usage
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
97e13afd1e Plane: prevent rapid RTL/AUTO switching on fence breach 
don't switch back to RTL if already in a DO_LAND_START sequence
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
547b5ab38a Plane: when shutting down motors force outputs to minimum 
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 11:37:41 +09:00
Andrew Tridgell
527722bcf0 Plane: prepare for 4.2.0beta3 2022-03-30 11:37:41 +09:00
Andrew Tridgell
6284413ac9 Plane: update release notes for 4.2.0beta3 2022-03-30 11:37:41 +09:00
Tim Tuxworth
ebf5040bd2 Plane: Display Fence Breach message in GCS 
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 11:37:41 +09:00
Andrew Tridgell
4490af3bfe Plane: adjust throttle mix for auto landing 
use mix-max during landing approach and initial descent, use min in
land final. As discussed with Leonard
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
a1e022cf59 Plane: check that RTL_AUTOLAND is set if using DO_LAND_START 2022-03-30 11:37:41 +09:00
Andrew Tridgell
2bbc197f42 Plane: added airspeed based pitch limit check 
prevent using too much pitch when at low airspeed, which can lead to
severe instability in SLT quadplanes
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
fe5536fc49 Plane: added an arming check for Q_ASSIST_SPEED 
Q_ASSIST should really be enabled for all non-tailsitter
quadplanes. This arming check will help users remember to configure it
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
2414fe6697 Plane: use set_lean_angle_max_cd() 
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
507f344729 Plane: improvements to POSITION1 controller 
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 11:37:41 +09:00
Andrew Tridgell
d65730f94f Plane: fixed pitch envelope after AIRBRAKE 
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 11:37:41 +09:00
Andrew Tridgell
d11cd68c27 Plane: prepare for 4.2.0beta2 2022-03-30 11:37:41 +09:00
Andrew Tridgell
dc12bb7c25 Plane: added release notes for 4.2.0beta2 2022-03-30 11:37:41 +09:00
Andrew Tridgell
8cd961838e Plane: protect against short stop_distance 2022-03-12 08:01:18 +09:00
Iampete1
2a7e0e225e Plane: quadplane: double log QPOS state change 2022-03-12 08:01:18 +09:00
Peter Barker
dab83e292e Plane: use has_valid_input in place of checking throttle counter 2022-03-12 08:01:18 +09:00
Henry Wurzburg
1b7fe466cb ArduPlane: clarify and simplify RC failsafe messages 2022-03-12 08:01:18 +09:00
Peter Barker
0a56aa5b17 ArduPlane: add RebootRequred to stream rate parameters 2022-03-12 08:01:18 +09:00
Andrew Tridgell
f8f15d9ff9 Plane: disallow mavlink disarm while flying 
this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
 2022-03-12 08:01:18 +09:00
Iampete1
c9e2fe4e54 ArduPlane: tailsitter: keep attitude controll throttle level upto date for smoother controller handover 2022-03-12 08:01:18 +09:00
Iampete1
c8c3bcf8f3 Plane: never stick mix without valid RC input 2022-03-12 08:01:18 +09:00
Iampete1
4324db6580 Plane: don't prevent stick mixing in none RC failsafe 2022-03-12 08:01:18 +09:00
Andrew Tridgell
928f22cd15 Plane: use pos control for most of LAND_FINAL 
this gives more accurate landing with some velocity drift
 2022-03-12 08:01:18 +09:00
Andrew Tridgell
1cd1e57567 Plane: review fixes 
thanks Pete!
 2022-03-12 08:01:18 +09:00
Andrew Tridgell
e539e293c9 Plane: wait till motors are fully up before takeoff in guided mode 
this allows for guided mode takeoff in tilt-rotors. Otherwise motors
till be pointing forward and takeoff will go very badly
 2022-03-12 08:01:18 +09:00
Andrew Tridgell
b74ba4d780 Plane: cope with high angle error in airbrake state 
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 08:01:18 +09:00
Andrew Tridgell
281377065c Plane: setup target accel in POSITION1 state 2022-03-12 08:01:18 +09:00
Andrew Tridgell
5119808e8b Plane: allow for a trans decel margin 
so if we are behind the velocity curve we are less likely to overshoot
landing
 2022-03-12 08:01:18 +09:00
Andrew Tridgell
773d261c6a Plane: fix NAV_CONTROLLER_OUTPUT in Q modes 
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 08:01:18 +09:00
Andrew Tridgell
fe26956947 Plane: added APIs for lua ship landing 2022-03-12 08:01:18 +09:00
Andrew Tridgell
a8adf187ae Plane: link in AP_Follow 
ready for ship landing
 2022-03-12 08:01:18 +09:00
Andrew Tridgell
29bad99038 Plane: removed terrain home correction 2022-03-12 08:01:18 +09:00
Andrew Tridgell
e001fa9cc6 Plane: added Q_LAND_ALTCHG parameter 
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 08:01:18 +09:00
Andrew Tridgell
392d879f56 Plane: prepare for 4.2.0beta1 2022-03-12 08:01:18 +09:00
Andrew Tridgell
868dbf6ef3 Plane: added release notes for 4.2.0beta1 2022-03-12 08:01:18 +09:00
Peter Barker
13fa1e30ad ArduPlane: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Andrew Tridgell
b444420329 Plane: removed controller error in transmitter tuning 2022-02-22 12:23:48 +11:00
Andrew Tridgell
e3e125c307 Plane: prepare for 4.1.7 2022-02-21 12:11:28 +11:00