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715 Commits

Author SHA1 Message Date
Andrew Tridgell 5e3f26744a Plane: drop min Q_TRANSITION_MS to 500ms 
Rolf makes a good argument for why some quadplanes need less than 2s
 2024-04-11 07:16:15 +10:00
Andrew Tridgell 4d2c7f3d64 Plane: don't special case tilt rotors for motors shutdown 
this allows for Q_M_SPOOL_TIME to work correctly for back transition
 2024-03-06 08:01:52 +11:00
Paul Riseborough c8b5de34b5 Plane: Update description for Q_BCK_PIT_LIM 2024-02-23 15:26:47 +11:00
Paul Riseborough 95fb20dcd5 Plane: Prevent overloading quadplane wing during VTOL braking 
Plane: Fix description for TECS_BCK_PIT_LIM

Plane: Add diagnostics logging for VTOL upper pitch limit calc

Plane: Rework "Prevent overloading quadplane wing during VTOL braking"

Implement an independent speed scaler calculation. During VTOL modes the plane surface speed scaler does not follow a 1/IAS function at low airspeed.
 2024-02-23 15:26:47 +11:00
Paul Riseborough 378c2fd6c9 Plane: Fix tilt rotor surging during high speed QLOITER flight 2024-02-23 15:26:47 +11:00
Iampete1 c84e5b337e Plane: move forward throttle output in VTOL modes to QuadPlane update 2024-01-30 11:06:09 +11:00
Andrew Tridgell a4302e5fb8 Plane: tidy 2 comments 2024-01-23 15:00:30 +11:00
Andrew Tridgell 108a0b77bd Plane: Q_ACCEL_Z -> Q_PILOT_ACCEL_Z 2024-01-23 15:00:30 +11:00
Andrew Tridgell 57e88e2242 Plane: Q_VELZ_MAX -> Q_PILOT_SPD_UP and Q_VELZ_MAX_DN -> Q_PILOT_SPD_DN 2024-01-23 15:00:30 +11:00
Andrew Tridgell 2d0a236b49 Plane: Q_LAND_SPEED -> Q_LAND_FINAL_SPD 2024-01-23 15:00:30 +11:00
Andrew Tridgell 89a947cdca ArduPlane: change LIM_ROLL_CD to ROLL_LIMIT_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell 17d6192e22 ArduPlane: convert LIM_PITCH_MIN/MAX -> PTCH_LIM_MIN/MAX_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell 912e2f224b ArduPlane: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN and AIRSPEED_MAX 2024-01-23 15:00:30 +11:00
Andrew Tridgell 94edcc4654 ArduPlane: change TRIM_ARSPD_CM to AIRSPEED_CRUISE 2024-01-23 15:00:30 +11:00
Tim Tuxworth 3cf0de2224 Plane: convert parameter TRIM_PITCH_CD to TRIM_PITCH_DEG 2024-01-23 15:00:30 +11:00
Peter Barker 6ee5ab41fd ArduPlane: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Iampete1 3e955d12fa Plane: Quadaplane: add helper `allow_forward_throttle_in_vtol_mode` 2024-01-16 11:07:53 +11:00
Peter Barker b3897c020e ArduPlane: make AHRS attitude member variables private 2024-01-14 12:47:47 +11:00
Iampete1 c98bdd155a Plane: Quadplane: log tailsitter speed scailing in TSIT msg 2023-12-19 11:20:42 +11:00
Lachlan Conn d5cc1d4ad0 Plane: QAssist speed warning added 
Also updated the severity of other QAssist messages
 2023-12-13 18:08:36 +11:00
Iampete1 41f61da0d9 Plane: Quadplane: add `get_throttle_input` method that behaves the same as Plane::get_throttle_input did 2023-11-29 18:15:01 +11:00
Henry Wurzburg 73f58d3624 ArduPlane: expand explanations in FWD THR docs 2023-11-07 10:57:04 +11:00
Iampete1 a6206bde3c Plane: move to new `using_airspeed_sensor` ahrs method 2023-10-31 10:39:21 +11:00
Michael du Breuil b630efd4db ArduPlane: Pass the 4th parameter to ICE for engine start 2023-10-24 14:11:39 -07:00
Peter Barker aa78f53498 Plane: use origin-relative altitudes rather than home-relative 2023-10-18 19:49:06 +11:00
Henry Wurzburg a26ee15216 Plane:force min transition timer to 2 sec 2023-10-17 14:32:24 +11:00
Mykhailo Kuznietsov b7c040e8bc ArduPlane: Fix some typos 
Fixed some typos found in the code.
 2023-10-12 18:30:42 +11:00
Andrew Tridgell babdb3625a Plane: moved assign tilt to the run() function 
this prevents double calling and fixes qhover
 2023-09-27 11:43:45 +10:00
Paul Riseborough 2f0bbf14a4 Plane: fix metadata units for Q_FWD_PIT_LIM 2023-09-27 11:43:45 +10:00
Paul Riseborough 3866f2b4b5 Plane: Rework pitch limiting in QuadPlane::assign_tilt_to_fwd_thr 
Don't unnecessarily increase the forward pitch limit when position control forward action is saturated.
 2023-09-27 11:43:45 +10:00
Paul Riseborough acf8dbaeee Plane: Add diagnostics logging to QuadPlane::assign_tilt_to_fwd_thr 2023-09-27 11:43:45 +10:00
Paul Riseborough fa5aef050c Plane: Restructure throttle scaling and pitch limiting to enable logging 2023-09-27 11:43:45 +10:00
Paul Riseborough c2d6db13ec Plane: explicitly type cast pitch limit 2023-09-27 11:43:45 +10:00
Paul Riseborough 90eacaeb88 Plane: fix centi-degree scaling bug 2023-09-27 11:43:45 +10:00
Paul Riseborough da595bbf88 Plane: Add protection for failed quadplane forward thrust motor 2023-09-27 11:43:45 +10:00
Andrew Tridgell e3ce7d966b Plane: fixes from review 2023-09-27 11:43:45 +10:00
Andrew Tridgell 573de2fc17 Plane: implement methods for aux switch control of vfwd code 
and use a common function for the active method
 2023-09-27 11:43:45 +10:00
Paul Riseborough 4993dcb814 Plane: Remove duplicated parameter check 2023-09-27 11:43:45 +10:00
Paul Riseborough daea00168b Plane: Use Q_FWD_THR_USE parameter to control modes that use Q_FWD_THR_GAIN 2023-09-27 11:43:45 +10:00
Paul Riseborough ed91d428e1 Plane: Default Q_FWD_THR_GAIN to 0 and update meta data 2023-09-27 11:43:45 +10:00
Paul Riseborough 7bbd0ed74e Plane: prevent wind up of Q-mode velocity controller I term 2023-09-27 11:43:45 +10:00
Paul Riseborough b3a1807349 Plane: Fix use of q_fwd_nav_pitch_lim_cd class variable 2023-09-27 11:43:45 +10:00
Paul Riseborough 16895003df Plane: if statement cleanup in QuadPlane::assign_tilt_to_fwd_thr 2023-09-27 11:43:45 +10:00
Paul Riseborough 04e5f6b5f6 Plane: use forward tilt instead of forward throttle when close to ground 2023-09-27 11:43:45 +10:00
Paul Riseborough 8988de3c7c Plane: Allow non positive values of Q_FWD_PIT_LIM to be used 2023-09-27 11:43:45 +10:00
Paul Riseborough e866998b21 Plane: Rename q_fwd_tilt_lim to q_fwd_pitch_lim 2023-09-27 11:43:45 +10:00
Paul Riseborough c15bb3f1e3 Plane: remove code that can never run 2023-09-27 11:43:45 +10:00
Paul Riseborough 98220c7315 Plane: Handle reset of q_fwd_throttle in QuadPlane::mode_enter(void) 2023-09-27 11:43:45 +10:00
Paul Riseborough 2d3431a1ac Plane: Improve use of forward flight motors and tilting rotors in Q modes 2023-09-27 11:43:45 +10:00
Henry Wurzburg f5beb4772d ArduPlane: correct/expand param metadata re synth airspeed 2023-09-26 09:04:51 +10:00