Andrew Tridgell
460885c478
Plane: refactored quadplane landing controller
...
allow use in other than AUTO mode
2016-04-30 14:34:46 +10:00
Andrew Tridgell
19a1edcd2b
Plane: lower default velocity controller gains for quadplanes
...
we're getting too many XY velocity controller oscillations. Better to
start with smaller gains
2016-04-29 10:02:45 +10:00
Andrew Tridgell
6f4d66f346
Plane: support building quadplane with forced motors class
2016-04-28 22:40:45 +10:00
Andrew Tridgell
9c0d984a4e
Plane: support forced motor class in quadplane
2016-04-28 22:37:24 +10:00
Andrew Tridgell
0aa1ae048d
Plane: fixed is_flying() for VTOL flight
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otherwise we may disarm mid-flight!
2016-04-23 21:03:46 +10:00
Andrew Tridgell
76400a9959
Plane: support DO_VTOL_TRANSITION as a mission item
2016-04-23 21:03:46 +10:00
Andrew Tridgell
a549225e60
Plane: support Y6 frame class in quadplane
2016-04-22 10:28:16 +10:00
Andrew Tridgell
de33779382
Plane: added Q_WVANE_MINROLL
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this allows for some roll trim without weathervaning
2016-04-21 21:52:25 +10:00
Andrew Tridgell
d013878c17
Plane: improved speed limiting on landing approach in VTOL mode
2016-04-20 18:07:04 +10:00
Andrew Tridgell
f34af03891
Plane: added Q_WVANE_GAIN
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this controls weathervaning in VTOL modes. Defaults to off
2016-04-20 17:12:59 +10:00
Andrew Tridgell
e9e43dc016
Plane: added Q_VFWD_GAIN for forward motor in VTOL modes
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this allows for velocity control using the forward motor in VTOL modes
2016-04-20 16:25:19 +10:00
Andrew Tridgell
27fb35253c
Plane: added in-flight transmitter tuning
2016-04-16 20:26:43 +10:00
Andrew Tridgell
1fe9582ac3
Plane: back to velocity controller for quadplane landing
...
now with much smoother attitude control thanks to some help from
Leonard
2016-04-10 22:01:19 +10:00
Andrew Tridgell
5f1ad68bd9
Plane: improved velocity controller for quadplane landing
2016-04-04 09:50:35 +10:00
Andrew Tridgell
5cc4b20c73
Plane: smooth out final descent for landing
2016-04-02 22:45:51 +11:00
Andrew Tridgell
ae51e51c6a
Plane: use velocity controller for initial quadplane landing
2016-04-02 20:54:01 +11:00
Andrew Tridgell
9cf909607f
Plane: setup reasonable quadplane defaults
2016-04-01 16:40:06 +11:00
Randy Mackay
52caed2573
Plane: QTUN df messages angle boost field as float
2016-04-01 11:59:30 +09:00
Randy Mackay
70f81ee338
Plane: remove multicopter PID parameters
...
These have been moved to the AC_AttitudeControl class
2016-04-01 11:59:30 +09:00
Andrew Tridgell
f73c8ab8ed
Plane: allow testing of all motors in sequence
...
this makes for an easier startup test for a quadplane, allowing a
single MAVLink command to test that all motors are working correctly
in the right sequence
2016-04-01 11:09:51 +11:00
Andrew Tridgell
4d7beab8cc
Plane: added QTUN logging for quadplane
2016-03-25 12:33:19 +11:00
Andrew Tridgell
0a199945a2
Plane: added copter RATE logging for quadplane
2016-03-25 12:13:59 +11:00
Andrew Tridgell
1fa075e7a8
Plane: change default quadplane gains
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lower filter frequency, higher I gain for roll/pitch
2016-03-25 10:16:15 +11:00
Andrew Tridgell
89970e4eaa
Plane: support motor_test for quadplanes
2016-03-13 10:05:10 +11:00
Andrew Tridgell
f4ccf94dfc
Plane: added QLAND mode
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for VTOL landing. Use for failsafe as well
2016-03-09 18:20:41 +11:00
Andrew Tridgell
f35d05e374
Plane: improved quadplane default gains
...
0.25 is better for an average quadplane for roll/pitch
0.5 is a bit high for accel-z, 0.3 is better
2016-02-29 21:46:27 +11:00
Andrew Tridgell
b84b480086
Plane: added PID tuning for quadplane modes
2016-02-20 20:20:27 +11:00
Andrew Tridgell
f8d8616598
Plane: support all types of multicopters in quadplane
...
adds Q_FRAME_CLASS for class of multicopter frame
2016-02-08 11:00:19 +11:00
Andrew Tridgell
3a9ebe3a8a
Plane: added Q_TRAN_PIT_MAX
2016-01-19 11:05:56 +11:00
Andrew Tridgell
7e29761b99
Plane: try to smooth auto VTOL transitions
2016-01-19 11:05:56 +11:00
Andrew Tridgell
52c4715c94
Plane: fixed init bug on low memory for quadplane
2016-01-09 07:38:55 +11:00
Andrew Tridgell
787a6994a4
Plane: added Q_THR_MID parameter
2016-01-09 07:38:55 +11:00
Andrew Tridgell
b1177521ef
Plane: show throttle level in vtol modes
2016-01-09 07:38:54 +11:00
Andrew Tridgell
70018ee0cb
Plane: fixed final descent for VTOL auto landing
2016-01-09 07:38:54 +11:00
Andrew Tridgell
f259cf4b3f
Plane: added Q_YAW_RATE_MAX parameter
2016-01-09 07:38:54 +11:00
Andrew Tridgell
418464ab8c
Plane: added quadplane version of is_flying()
2016-01-09 07:38:53 +11:00
Andrew Tridgell
f068a8c913
Plane: added support for VTOL_TAKEOFF and VTOL_LAND commands
2016-01-09 07:38:53 +11:00
Andrew Tridgell
5e784ddb5c
Plane: consider flying status for throttle_wait
2016-01-09 07:38:53 +11:00
Andrew Tridgell
7afa2a493d
Plane: implement VTOL flight stage
2016-01-09 07:38:53 +11:00
Andrew Tridgell
0d6b353bcb
Plane: added quad assistance and auto support for quadplane
2016-01-09 07:38:52 +11:00
Andrew Tridgell
48e1a0641f
Plane: added throttle wait to quadplane
2016-01-09 07:38:52 +11:00
Andrew Tridgell
2983576067
Plane: added QLOITER mode
...
quadplane loiter
2016-01-09 07:38:52 +11:00
Andrew Tridgell
00ca292160
Plane: improved quadplane transition
2016-01-09 07:38:52 +11:00
Andrew Tridgell
ca85c332d6
Plane: separate QSTABILIZE and QHOVER modes
2016-01-09 07:38:52 +11:00
Andrew Tridgell
6468fc6d93
Plane: Initial implementation of quadplane
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adds "HOVER" mode
2016-01-09 07:38:52 +11:00