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4064 Commits

Author SHA1 Message Date
Leonard Hall
7db568c85a Plane: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
WillyZehnder
0ce6157900 Plane: GCS_Plane.cpp Fix chronological sequence 
to avoid inappropriate critical warning CRT:NoRCReceiver by ensuring the
call of plane.failsafe.last_valid_rc_ms before calling millis()
 2021-07-07 18:56:09 +10:00
Peter Barker
5b7ec1fab4 Plane: do not run any prearm checks if we are armed or arming is not required 
Co-authored-by: TunaLobster <unknown>
 2021-07-07 18:20:54 +10:00
Stephen Dade
d6a123b58b ArduPlane: Add support for HIGH_LATENCY2 messages 2021-07-07 17:10:05 +10:00
Hwurzburg
8dee32e64f Plane: Add TX FF tuning for Pitch/Roll/Yaw QuadPlane PIDs 2021-07-06 09:00:16 +10:00
Andrew Tridgell
7ca0aa7c94 Plane: updated release notes for 4.1.0beta3 2021-07-05 16:24:04 +10:00
Andrew Tridgell
8482f9af27 Plane: fixed motor test with DShot VTOL motors 
need to arm when running the motor test
 2021-07-05 07:36:28 +10:00
Samuel Tabor
5e5452cf73 Plane: mode_thermal: adjust messages to reference parameter names 2021-06-30 18:21:03 +10:00
Hwurzburg
ac76a63931 ArduPlane: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Hwurzburg
8310f4a718 Plane: fix bug in tilt position for QLOITER and QRTL if THR_MIN !=0 2021-06-29 10:58:11 +10:00
Andrew Tridgell
92197bd5a9 Plane: fixed longitude wrap in verify_nav_wp 
thanks to @Khancyr
 2021-06-25 15:33:55 +10:00
Andrew Tridgell
50e6d67a66 Plane: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell
61ac45dd5a Plane: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Andrew Tridgell
4d7bb82f9e Plane: updated release notes for 4.1.0beta2 2021-06-24 20:15:01 +10:00
Andrew Tridgell
66bc673442 Plane: fixed attitude control during QPOS_AIRBRAKE 
this fixes a bug where we used the multicopter rate control when in
airbrake approach stage, which could lead to attitude going out of
control
 2021-06-22 07:42:20 +10:00
Peter Barker
055e82276e ArduPlane: remove HIL support 2021-06-15 09:47:31 +10:00
Iampete1
6eab9b9c15 plane: quadplane: skip QPOS_POSITION1 on tailsitters 2021-06-15 09:25:58 +10:00
Peter Hall
85743be4f3 Revert "Plane: cope with Q pitch limit larger than fixed wing limit" 
This reverts commit 74da3c74ac.
 2021-06-15 09:25:58 +10:00
Hwurzburg
e958306343 Plane: Add options to USE_REVERSE_THRUST to cover all flight modes 2021-06-15 07:05:02 +10:00
Hwurzburg
4f48233b43 ArduPlane: add QRTL always as Q_RTL_MODE option 2021-06-14 09:08:20 +10:00
Andrew Tridgell
80afba3bd2 Plane: updated release notes for 4.1.0beta1 2021-06-14 08:25:05 +10:00
Andrew Tridgell
0c8e81964e Plane: reset yaw controller on entry to POSITION1 
this fixes a yaw change when we finish landing approach in
QRTL. Thanks to Henry for noticing this
 2021-06-14 07:53:32 +10:00
Andrew Tridgell
4307390820 Plane: fixed distance threshold for vtol land 2021-06-13 07:50:02 +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
ae6220aace Plane: cope with zero distance to target in QPOS_POSITION1 2021-06-10 13:50:29 +10:00
Andrew Tridgell
0f9e7001d1 Plane: limit speed in POSITION1 based on angle 
this prevents trying to fly a quadplane fast backwards or sideways. If
flying backwards then a 3x reduction is used. For sideways a 2x
reduction is used
 2021-06-10 13:50:29 +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
5f8e90cd6f Plane: metadata fix for Q_OPTIONS 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
0937d903a1 Plane: use HAL_EFI_ENABLED 2021-06-09 18:07:00 +10:00
Andrew Tridgell
0ecc02c53a Plane: fixed constructor of accel_ef filter 2021-06-08 11:14:52 +10:00
Iampete1
438ca0a6c4 Plane: tailsitter: increase severity level of failed transisisons. 2021-06-08 10:56:09 +10:00
Andrew Tridgell
f970735d47 Plane: fixed handling of NAV_LOITER_TIME with Q_GUIDED_MODE=1 
and made logic of in_vtol_mode() easier to read
 2021-06-05 13:05:30 +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
1165fcab99 Plane: removed incorrect URL 2021-06-05 13:05:30 +10:00
Andrew Tridgell
fd19ff3bea Plane: offset guided start point when using Q_GUIDED_MODE 2021-06-05 13:05:30 +10:00
Andrew Tridgell
f15497c6a9 Plane: only do fwd thrust loss detection in SLT vehicles 
on tilt rotors and tailsitters it doesn't make sense to switch to
POSITION1 at low speeds when in APPROACH
 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
fbf5083e6a Plane: avoid transition in QRTL 
if close to home and already in a VTOL mode then don't transition
 2021-06-05 13:05:30 +10:00
Andrew Tridgell
3bb840f794 Plane: implement slow descent in QRTL approach 
this approaches in QRTL at ALT_HOLD_RTL alt, then descends to
Q_RTL_ALT close to the destination
 2021-06-05 13:05:30 +10:00
Andrew Tridgell
77ee922473 Plane: fixed NAV_CONTROLLER_OUTPUT in QRTL 2021-06-05 13:05:30 +10:00
Andrew Tridgell
245ded2f2d Plane: fixed handling of loss of fwd thrust in QRTL 2021-06-05 13:05:30 +10:00
Andrew Tridgell
c7a14a5da1 Plane: disable cross-track in Q approach modes and QRTL 2021-06-05 13:05:30 +10:00
Andrew Tridgell
46722500b0 Plane: default Q_TRANS_DECEL to 6 for tailsitters 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
ddfc9e8300 Plane: improved quadplane auto-land into wind 
when heading is strong we need to ramp up pitch limit slowly to
prevent a big dive
 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
062a15ce11 Plane: set_takeoff_expected should only get set when not flying 2021-06-02 11:13:16 +09:00
Andrew Tridgell
68a1100c64 Plane: use new APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Hwurzburg
bf14c32109 Plane: correct description of Q_TAILSIT_MOTMX param 2021-05-30 22:36:26 -07:00
James Harton
be3cc1b679 Docs: Change all references from dev.ardupilot.org to the appropriate documentation URLs. 2021-05-31 12:20:45 +10:00
Peter Barker
3464f9b46e ArduPlane: remove optical flow pointer from AP_AHRS 
Nothing was ever using it.
 2021-05-30 10:44:42 +10:00
Leonard Hall
e275ec9e63 Plane: Rename set_yaw_target_to_current_heading 2021-05-26 16:03:05 +09:00
vierfuffzig
9a538ba15b ArduPlane: fix advanced param metadata 2021-05-25 12:36:59 +10:00
Hwurzburg
38ed4a2dd6 ArduPlane: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Leonard Hall
8b3b6cf693 Plane: Fix before squash 2021-05-24 20:13:37 +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
5857e750ce Plane: provide target velocity in QPOS descent 2021-05-24 20:13:37 +10:00
Andrew Tridgell
74da3c74ac Plane: cope with Q pitch limit larger than fixed wing limit 
prevents tailsitter VTOL transition timeout due to not achieving angle
 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
24375cf9c1 Plane: change printf calls to send_text 2021-05-24 20:13:37 +10:00
Andrew Tridgell
52b4c257ec Plane: prevent oscillation in GUIDED mode hover 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
Andrew Tridgell
9d52333afc Plane: don't start descent till under 3m/s 2021-05-24 20:13:37 +10:00
Leonard Hall
4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall
57952861d6 Plane: PosControl Update 2021-05-24 20:13:37 +10:00
Leonard Hall
ff2ae1d7d1 Plane: integrate AC_PosControl::get_roll_cd rename 2021-05-12 17:16:00 +10:00
Leonard Hall
1ce63bf433 Plane: minor format and comment fixes 2021-05-12 17:16:00 +10:00
Andy Piper
8e744a4a25 Plane: generalise ESC telemetry to allow harmonic notch handling with other ESCs 2021-05-12 17:01:11 +10:00
Pierre Kancir
8a0230e6d5 Plane: use MAVLink POSITION_TARGET_TYPEMASK 2021-05-11 09:53:50 +10:00
James O'Shannessy
5253b8a3ee ArduPlane: Fix spiralling loiters when no fence return point can be found 2021-05-05 10:59:10 +10:00
Iampete1
fd2909d53f Plane: change location refence frame correctly 2021-05-02 18:51:27 +10:00
Iampete1
1a182a52da Plane: init terrain to locaiton and wpnav sub sytems 2021-05-02 18:51:27 +10:00
Iampete1
572e401894 Plane: fix QRTl terrain following 2021-05-02 18:51:27 +10:00
Iampete1
a165a0e1bb Plane: fix loiter terrain following 2021-05-02 18:51:27 +10:00
Josh Henderson
5c8c961399 ArduPlane: Privatize AP_IntertialSensor Logging 2021-04-29 19:19:12 +10:00
Peter Barker
03d643a18a ArduPlane: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Peter Barker
453b7403b1 ArduPlane: remove duplicate log metadata fields 2021-04-27 16:38:40 +10:00
Peter Hall
d3dca4c17d Plane: consistantly slew all three throttles 2021-04-27 09:37:32 +10:00
Peter Hall
47ab0360e7 Plane: tailsitter: do not output throttle 2021-04-27 09:37:32 +10:00
Hwurzburg
09fb9a8e58 Plane: limit speed scaling in Autotakeoff wo AS sensor option 2021-04-20 09:07:09 +10:00
Andrew Tridgell
da2ddda0cb Plane: added in ATRP logging 2021-04-15 06:57:16 +10:00
Andrew Tridgell
93abd44446 Plane: added SRate to PID logging 2021-04-15 06:57:16 +10:00
Andrew Tridgell
96059a6387 Plane: allow for AUTOTUNE_LEVEL==0 2021-04-15 06:57:16 +10:00
Andrew Tridgell
d2d06af751 Plane: removed ATRP log msg 2021-04-15 06:57:16 +10:00
Andrew Tridgell
a35d8e584d Plane: change param prefixes for roll/pitch controllers 2021-04-15 06:57:16 +10:00
Andrew Tridgell
e5308db8c2 Plane: added FLIGHT_OPTIONS bit to enable yaw control in ACRO mode 
this allows for yaw damper in ACRO, which is important on some
vehicles with no vertical stabilize

See
https://discuss.ardupilot.org/t/rudderless-split-rudder-flying-wing/69273/4
 2021-04-15 06:22:29 +10:00
Samuel Tabor
4cc92c6b3e Plane: Constrain target_airspeed_cm by min as well as max airspeed. 2021-04-14 06:43:09 -07:00
Samuel Tabor
baf31fd825 Plane: Ensure trim airspeed is applied if in auto with no DO_SPEED command received. 2021-04-14 06:43:09 -07:00
Peter Barker
6a32afcd72 ArduPlane: tidy setting of sensor status flags 2021-04-14 18:03:27 +10:00
Andrew Tridgell
b749756c29 Plane: setup SMAX for Q modes 
this enables logging of rates, which helps with tuning
 2021-04-13 10:28:47 +10:00
Andrew Tridgell
b984dd4a62 Plane: added in FF component in tailsitters 
this is needed for decent control of tailsitters
 2021-04-13 10:28:47 +10:00
Peter Hall
105f94f1fd Plane: tailsitter: transistion to and from inverted flight 2021-04-13 10:02:28 +10:00
Peter Hall
5a941ce02f PLane: tailsitter: instant transition when disarmed 2021-04-07 17:55:48 +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
Peter Barker
aa973c5245 ArduPlane: move handling of last-seen-SYSID_MYGCS up to GCS base class 2021-04-07 17:54:21 +10:00
Iampete1
75dc0ced10 Plane: Quadplane: remove outdated Z controller reset 2021-04-07 17:37:30 +10:00
Stavros Korokithakis
3c19579988 Plane: Push the TECS to climb in all circumstances 2021-04-06 21:37:01 +10:00
Randy Mackay
ff8b69fbad Plane: update tuning to integrate poscon changes 2021-04-03 12:07:59 +09:00
Peter Barker
cb8ca17035 ArduPlane: return MAV_RESULT_FAILED from do_aux_function if invalid function 2021-03-31 11:36:09 +11:00
Iampete1
d1fabe0c3d Plane: VTOL: remove motors config error 2021-03-30 10:58:05 +11:00
Iampete1
e81dc36ed6 Plane: add option do do a VTOL approach RTL 2021-03-29 11:29:12 +11:00
Peter Barker
a32d45eb04 ArduPlane: remove Log_Write_Performance which is not called anywhere 2021-03-26 16:35:08 +11:00
Iampete1
60d26723ae Plane: make TERRAIN_FOLLOW at AP_int32 bitmask, per mode option 2021-03-24 10:15:18 +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
Mark Whitehorn
c2ad2d6090 Plane: tailsitter.input_type bugfix 2021-03-23 11:54:09 +11:00
Hwurzburg
0eb5369543 Plane: allow max auto pitch in hand launch takeoffs 2021-03-23 09:56:22 +11:00
Iampete1
660d301f9b Plane: chan param converison 2021-03-17 19:18:46 +11:00
Iampete1
cca5e62c89 Plane: move RST_SWITCH_CH to RCx_OPTION 2021-03-17 19:18:46 +11:00
Iampete1
7226a3a9dc Plane: move FBWA_TDRAG_CHAN to RC Options 2021-03-17 19:18:46 +11:00
Iampete1
5f555e5314 Plane: move CHUTE_CHAN to RC Options 2021-03-17 19:18:46 +11:00
Iampete1
eeab196d91 Plane: move RST_MISSION_CH to RC option 2021-03-17 19:18:46 +11:00
Stavros Korokithakis
29043d62e9 Add FLIGHT_OPTION to climb before RTL 2021-03-16 11:58:47 +11:00
Peter Barker
0b35708f33 Plane: set tailsitter throttle output when disarmed 2021-03-16 10:41:44 +11:00
Peter Barker
000ff90a71 autotest: remove thrust-to-actuator to armed section 2021-03-16 10:41:44 +11:00
Hwurzburg
d15e01d390 Plane: fix DO_CHANGE_SPEED airspeed to impact only AUTO and GUIDED modes 2021-03-16 10:09:34 +11:00
Samuel Tabor
ed48558985 ArduPlane: Correct description of KFF_THR2PTCH parameter. 2021-03-12 20:11:02 -08:00
Siddharth Purohit
1b8519ee53 ArduPlane: move underscore one layer down for GPS 2021-03-12 16:32:36 +09:00
James O'Shannessy
198ec9a678 ArduPlane: Fix use of nullptr when AC_FENCE configured as DISABLED 
Parameter upgrade needs to grab singleton as the fence library may not be built in to plane.
 2021-03-05 16:48:57 +11:00
James O'Shannessy
560943d6e0 ArduPlane: corrections to returning to the previous mode if fence was disabled while under action 2021-03-05 14:52:46 +11:00
James O'Shannessy
5dd40afe0a ArduPlane: Retrigger fence breach if mode 
ArduPlane: Move auto enabling code to common fence library
 2021-03-05 14:52:46 +11:00
James O'Shannessy
2c66e164d0 ArduPlane: Improvements to parameter upgrading between versions 2021-03-05 14:52:46 +11:00
James O'Shannessy
af733b2f09 ArduPlane: Convert and remap old parameters 2021-03-05 14:52:46 +11:00
James O'Shannessy
f774196b52 ArduPlane: Cleanup of unnecessary comments in fence logic 2021-03-05 14:52:46 +11:00
James O'Shannessy
c316711351 ArduPlane: Add conversion from ArduPlane geofence param to AC_Fence param 2021-03-05 14:52:46 +11:00
James O'Shannessy
8a99d9dd00 ArduPlane: Use auto enable and auto disable from AC_Fence 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
4f7ffc5eb1 Plane: move fence disable code to a function to enable reusability 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
fef8b37b11 Plane: Address Randy review comments 2021-03-05 14:52:46 +11:00
James O'Shannessy
aae092b88f ArduPlane: Remove all unused geofence capability 
ArduPlane: Remove missed geofence logic
 2021-03-05 14:52:46 +11:00
James O'Shannessy
17fb585bf1 ArduPlane: Add support for AC_Fence 
ArduPlane: Remove some geofence logic from ArduPlane

ArduPlane: Refactor action and mode return implementation

ArduPlane: Use polyfence to find the return point.
 2021-03-05 14:52:46 +11:00
Paul Riseborough
baea2c33bd Plane: remove unnecessary call to setTakeoffExpected 
This is already set from inside Plane::set_servos_controlled when throttle up and or launch accel is detected.
 2021-03-05 12:10:01 +11:00
Paul Riseborough
1dc79f0be8 Plane: Clarify calculation used to detect throw 2021-03-05 12:10:01 +11:00
Paul Riseborough
4e648734fa Plane: Fix takeoff pitch for hand launch 2021-03-05 12:10:01 +11:00
Paul Riseborough
39e1eb238d Plane: make detection of impending takeoff more likely 2021-03-05 12:10:01 +11:00
Paul Riseborough
a1bde16abd Plane: Fix failure to disarm after landing in strong winds 2021-03-05 12:10:01 +11:00
Paul Riseborough
ad582a90dd Plane: Don't set takeoff expected until vehicle is armed. 2021-03-05 12:10:01 +11:00
Paul Riseborough
f5f13b9a47 Plane: Set default airspeed variance using airspeed range 2021-03-05 12:10:01 +11:00
Paul Riseborough
82f68464d4 Plane: Don't lower nose when hand launching 2021-03-05 12:10:01 +11:00
Peter Barker
f85e55a611 Plane: override mission-changing-command to reset some state 2021-03-04 11:59:33 +11:00
Tom Pittenger
5c8d3a87db Plane: change SRx_ docs value 1 50 2021-03-03 18:17:22 +11:00
Iampete1
69275582fa QuadPlane: fix loiter to RTL instant QRTL switch 2021-03-03 15:07:22 +11:00
Randy Mackay
4c8ada111b Plane: quadplane defaults Q_WP_SPEED to 500 
Q_WP_ACCEL default is set to 100
 2021-03-03 08:03:39 +09:00
Iampete1
1d050a01ce Plane: Quadplane: add Q_OPTION to ignore forward flight angle limits in Q modes 2021-03-02 11:16:35 +11:00
Iampete1
8ebe64a274 Plane: Quadplane disable forward motor assist in Q modes if rangefinder is out of range low 2021-02-28 18:48:56 +11:00