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4439 Commits

Author SHA1 Message Date
Andrew Tridgell 1322b2fa28 Plane: prepare for 4.3.1 2022-10-24 22:23:43 +09:00
Andrew Tridgell 21fd2c5626 Plane: release notes for 4.3.1 2022-10-24 22:23:43 +09:00
Andrew Tridgell 2ffa22941b Plane: cover more cases in fence breach mode change 
we want to allow all landing sequence mode changes
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 6c2a3d4828 Plane: allow mode switch on fence breach for RTL_AUTOLAND 
when we are in a fence breach we by default disallow mode changes, but
we need to allow for the switch to AUTO if the reason is we are
entering a landing sequence, which is part of the RTL process which is
the fence action
 2022-10-24 22:23:43 +09:00
Andrew Tridgell e88056ab7f Plane: prepare for 4.3.1beta1 2022-10-24 22:23:43 +09:00
Andrew Tridgell e73c7616a2 Plane: release notes for 4.3.1beta1 2022-10-24 22:23:43 +09:00
Andrew Tridgell 2d4f29a6ba Plane: scale VTOL angle P gains with airspeed 
During POSITION1 back-transiton we scale the MC angle P gains with
airspeed to reduce the chance of oscillations. At higher airspeeds the
fixed wing controller dominates so we should use the fixed wing angle
P gain.
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 4ad17c5d41 Plane: log TECS target alt 
log the target alt we pass into TECS to help debug a CRUISE height
issue
 2022-10-24 22:23:43 +09:00
Iampete1 2e6007c808 Plane: Quadplane: SLT: enforce TECS pitch limits to beat race 2022-10-24 22:23:43 +09:00
Andrew Tridgell 9a1bfdaa3b Plane: prepare for 4.3.0 release 2022-10-14 17:13:21 +09:00
Andrew Tridgell 2587302e02 Plane: 4.3.0 final release notes 2022-10-14 17:13:21 +09:00
Andrew Tridgell c13a9961a9 Plane: prepare for 4.3.0beta3 2022-10-14 17:13:21 +09:00
Andrew Tridgell f6198c0137 Plane: release notes for 4.3.0beta3 2022-10-14 17:13:21 +09:00
mattbooker b1dbd13116 Plane: Fixed divide by zero error when transitioning to guided 2022-10-14 17:13:21 +09:00
Andrew Tridgell 6ff6ad7a7f Plane: prepare for 4.3.0beta2 2022-10-14 17:13:21 +09:00
Andrew Tridgell 1051f51fd1 Plane: added release notes for 4.3.0beta2 2022-10-04 16:50:15 +09:00
Michael du Breuil ff249334b6 Plane: Allow reseting target airspeed to the parameter value 2022-10-04 16:50:15 +09:00
yaapu 191a44b471 ArduPlane: fixed roll and pitch for OSD VTOL view 2022-10-04 16:50:15 +09:00
Peter Barker e2a2526506 ArduPlane: do not send MSG_RPM if RPM not enabled 2022-10-04 16:50:15 +09:00
Andrew Tridgell 0c0f23b610 Plane: prepare for 4.3.0beta1 2022-09-13 14:20:02 +09:00
Andrew Tridgell 807d7a5488 Plane: release notes for Plane 4.3.0beta1 2022-09-13 14:20:02 +09:00
Iampete1 84922cba9a Plane: Quadplane: use new motors pre arm 2022-09-07 17:54:16 +10:00
Iampete1 6358a3c962 Plane: add min airspeed arming check and constrain for speed scailing 2022-09-06 09:01:26 +10:00
Iampete1 5a53e22886 Plane: correct extened range airspeed scailing limits 2022-09-04 10:54:41 +10:00
Andrew Tridgell 22cd568a4c Plane: removed use of "blended" earth frame accel 2022-08-21 18:51:59 +10:00
Andrew Tridgell 953b754074 Plane: release notes for 4.2.3 2022-08-21 14:13:11 +10:00
Andrew Tridgell 4894cc1742 Plane: prepare for 4.2.3beta3 2022-08-19 18:44:08 +10:00
Peter Barker 0d19d7646f ArduPlane: rename OpticalFlow class to AP_OpticalFlow 
Brings us in-line with other classes in ArduPilot.

Removes ambiguity with AP_HAL::OpticalFlow which can cause compilation errors as we start to make code more portable across targets
 2022-08-18 14:24:01 +10:00
Iampete1 2b0492e6aa Plane: disalow mode change during fence recovery if option is set 2022-08-17 17:21:30 +10:00
Iampete1 a8a1e619df Plane: only trigger fence action for new breaches 2022-08-17 17:21:30 +10:00
Iampete1 367984a6b8 Plane: set fence manual recovery on mode change 2022-08-17 17:21:30 +10:00
Mirko Denecke ba13f4d116 ArduPlane: remove unused limit_length calculation in overshoot 2022-08-16 12:05:00 +10:00
Randy Mackay c255b3b5b6 Plane: replace send-mount-status with send-gimbal-device-attitude-status 2022-08-15 20:29:25 -04:00
Peter Barker 3f4a472899 ArduPlane: move call to compass cal update up to AP_Vehicle 2022-08-16 10:06:44 +10:00
Michael du Breuil f183b21fc5 Plane: Support vtol landing options on NAV_VTOL_LAND 
This allows the same mission to contain both circular and straight
landing items, and doesn't require on the fly tweaking
 2022-08-15 17:05:00 -07:00
Andrew Tridgell 204a8cdc55 Plane: release notes for 4.2.3beta2 2022-08-10 06:09:23 +10:00
Peter Barker 127bf7aa09 ArduPlane: make terrain checks common between Copter and Plane 2022-08-09 14:31:14 +10:00
Andrew Tridgell 2e32c753b9 Plane: added arming check for terrain data 2022-08-09 14:31:14 +10:00
Iampete1 ee778dbd3a Plane: Quadplane: add option_is_set helper for Q_OPTIONS 2022-08-09 13:21:00 +10:00
Henry Wurzburg 905572eff5 ArduPlane: update logging bitmask metadata to new style 2022-08-09 11:38:16 +10:00
Iampete1 821053e580 Plane: Quadplane: allow servo auto trim for motors only tailsitter assist 2022-08-09 10:56:41 +10:00
Joshua Henderson a9da91bc8d Plane: add TECS Logbitmask to TECS constructor 2022-08-09 09:44:50 +10:00
Andrew Tridgell b133e98102 Plane: improve target airspeed in landing approach 
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach

this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
 2022-08-03 12:26:57 +10:00
Andrew Tridgell 54280c2ae0 Plane: update release notes for 4.2.3beta1 2022-08-02 18:07:42 +10:00
Henry Wurzburg 7bb947e4b4 Plane: change log bitmask metadata to refer to correct logs 2022-08-02 11:06:53 +10:00
Henry Wurzburg fcf29539de Plane: fix attitude/AOA logging and rates 2022-08-02 10:52:52 +10:00
Andrew Tridgell f9f0f60815 Plane: base yaw in overshoot on target speed not scaled speed 
this prevents an oscillating due to the speed changing as we yaw,
resulting in a different yaw target
 2022-08-02 07:49:34 +10:00
Andrew Tridgell 3201ecd381 Plane: added an arming check for VTOL land too short 
this is meant to catch bad mission setup, especially for UGCS, which
planes waypoints right on top of the landing point
 2022-08-02 07:49:34 +10:00
Andrew Tridgell 5bdd43457c Plane: in overshoot allow up to the Q WP speed 
this prevents us using too much battery when we are a long way from
the landing point
 2022-08-02 07:49:34 +10:00
Andrew Tridgell fa371b92a8 Plane: limit target accel in POSITION1 
don't ask for more than 2* transition limit, and reset when we enter
overshoot case
 2022-08-02 07:49:34 +10:00