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Commit Graph

141 Commits

Author SHA1 Message Date
Mark Whitehorn f054301ec2 Plane: add QACRO roll/pitch/yaw rate params 2019-04-23 09:46:38 +10:00
Mark Whitehorn 8bcf2439ad Plane: quadplane stabilize manual throttle midpoint and expo 
move throttle curve logic to AP_Math

use parameter THROTTLE_EXPO in get_pilot_throttle
 2019-04-23 09:46:38 +10:00
Tom Pittenger 0270c57530 Plane: massive refactor and creation of Mode class 2019-04-02 16:28:52 +11:00
Mark Whitehorn e0765747e7 Plane: add new tailsitter bodyframe roll option 2019-03-26 14:50:37 +11:00
Peter Barker 1a55f0ffab Plane: FrSky support has moved to GCS 2019-03-19 14:39:14 +11:00
Andrew Tridgell 2b6210d594 Plane: use WP height for height above ground in vtol landing 
this allows for landings above or below the takeoff height without
requiring the use of terrain data. It allows both the use of vfwd
motor for holding against wind, and the correct height for land final
descent rate
 2019-03-18 14:47:27 +11:00
Peter Barker cf45b54070 Plane: quadplane use prearm checks from Attitude and Position controllers 2019-03-12 10:14:14 +11:00
Mark Whitehorn 4a6b97828f ArduPlane: add tailsitter input type TAILSITTER_INPUT_BF_ROLL 2019-03-06 15:48:51 +11:00
Mark Whitehorn 6e4a2b97f9 ArduPlane:add subclass for copter tailsitters 
cleanup and add tailsit_motmx
add constexpr and motor mask check
add support for tricopter tailsitter
don't call output_motor_mask unless armed
fix whitespace
 2019-03-06 07:53:46 +09:00
Mark Whitehorn 487ad7a90f Plane: add QACRO mode for quadplanes 
use acro_r/p/y_rate params in qacro
port ACRO throttle handling from copter

handle non-tailsitter controls
 2019-03-05 10:13:20 +11:00
Andrew Tridgell 136e10a781 Plane: handle VTOL landing with incorrect height 
if landing above expected height then run landing detector to allow a
switch from LAND_DESCEND to LAND_FINAL

this prevents the plane sitting on the ground until the battery runs
out
 2019-02-26 11:12:58 +11:00
Michael du Breuil b290148ed0 Plane: Don't overwrite the quadplane loiter relax 2019-02-23 11:08:21 +11:00
Michael du Breuil c15983c690 Plane: prevent loss of control when Q_ENABLE is set while flying 
Also rename check_throttle_suppression
 2019-02-21 21:38:03 -07:00
Mark Whitehorn 95b3a5bacd ArduPlane: implement hover throttle learning for quadplanes 
disable by default
check quadplane.enable in update_hover_learn
 2019-02-16 19:04:13 -08:00
Mark Whitehorn b9f3118374 Plane: allow changing Q_TRIM_PITCH in flight 
change float comparison to is_equal
 2019-02-12 09:42:19 +11:00
Michael du Breuil df1632054e Plane: Update throttle mix 2019-02-05 11:05:54 +11:00
Michael du Breuil d6cac4b52a Plane: Add a failure timer for quadplane forward transitions 
Falls over to QLAND if we fail to transition
 2019-01-08 10:52:12 +11:00
Michael du Breuil 69c87c6c4a Plane: Disallow arming if quadplane has been requested but isn't available 2018-12-28 18:09:21 +11:00
Andrew Tridgell d3afc9424a Plane: make QTUN logging match copter logging 2018-12-21 22:17:52 +11:00
Michael du Breuil 1a45755ffd Plane: Support a different landing radius for quadplane fw approach 2018-12-18 10:11:22 +11:00
Nikhil Upadhye d1e93bae83 Plane: adding new mode QAUTOTUNE 
copter like autotune support for quadplanes and tailsitter in VTOL mode.

cleanup
 2018-12-14 16:33:11 +11:00
Randy Mackay 71708ee4ea Plane: quadplane uses set_defaults_from_table 2018-12-06 12:23:41 +09:00
IamPete1 c6e70c0454 Plane: add roll limit for tailsitters 
Quadplane: add tailsitter pitch params
 2018-12-01 09:40:07 +11:00
Andrew Tridgell c59b2c156a Plane: fixes for Q_TRIM_PITCH 
improved documentation and variable names
 2018-11-12 17:05:04 +11:00
IamPete1 5a7bd61e8c Quadplane: add trim params 2018-11-12 17:05:04 +11:00
Michael du Breuil 8e906e0ba0 Plane: Add support for a loiter to alt approach to VTOL landing 2018-11-10 18:58:54 +11:00
Michael du Breuil b6efc8a20b Plane: reduce some copy pasted code 2018-09-20 13:47:21 -07:00
Andrew Tridgell ef154cf3fa Plane: fixed relaxing of attitude controller on transition 
this fixes an issue found by Leonard where the attitude controller
could have residual control left over from a previous transition when
engaging the VTOL attitude controller
 2018-09-15 11:00:29 +10:00
Michael du Breuil f9e56f9d12 Plane: Respect frame type on VTOL_TAKEOFF commands 
allow missioncommands to fail to start
 2018-09-11 06:42:00 +10:00
Michael du Breuil 925d76bb8c Plane: Small cleanup to quadplane const (and clarity) 2018-09-04 15:11:41 +10:00
Michael du Breuil 3d923d0572 Plane: Send a quadplane version of NAV_CONTROLLER_OUTPUT 2018-08-07 09:49:01 +10:00
IamPete1 20c67019b0 Plane: added Q_TAILSIT_THSCMX 
this provides more flexibility in tailsitter throttle scaling
 2018-07-19 09:48:25 +10:00
Randy Mackay 840a6e4147 Plane: quadplane uses AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Peter Barker f6a185a3c3 Plane: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Randy Mackay a0a9a68fbc Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC 
Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
 2018-03-16 13:50:57 +09:00
Randy Mackay f41f4dc6e5 Plane: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay 017e71a748 Plane: quadplane velocity pi moves to position control library 2018-01-23 12:00:43 +09:00
Peter Barker af007c5f0f Plane: tighten handleMessage result type 2017-12-01 17:01:10 +00:00
Andrew Tridgell 9c8cd6c1cc Plane: added Q_TRANS_DECEL 
this gives a deceleration rate for QRTL transition from RTL, and also
for transitions to QLOITER
 2017-11-05 20:44:42 +11:00
Andrew Tridgell 21164ef409 Plane: added tailsitter surface speed scaling 
added scaling of control surfaces by throttle when in hover. This helps
the controller remain stable over a wide range of throttle levels, such
as when descending or rapidly climbing
 2017-11-05 17:05:08 +11:00
Andrew Tridgell 552faa8f67 Plane: smoother tailsitter transitions 
this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
 2017-10-30 16:30:38 +11:00
Andrew Tridgell af893ddde7 Plane: implement Q_OPTIONS 
this allows for NAV_TAKEOFF to be treated as NAV_VTOL_TAKEOFF in
quadplanes, and for level flight to be maintained during quadplane
transitions
 2017-10-30 16:30:10 +11:00
Andrew Tridgell 8178ab4037 Plane: make mav_type in HEARTBEAT configurable 
needed for qgc to setup for quadplanes
 2017-10-20 15:41:06 +11:00
Andrew Tridgell bc17c26dbf Plane: limit pitch in transition to QLOITER and QLAND 
when switching to QLOITER or QLAND when in forward flight, limit the
maximum pitch to prevent a sudden decelleration
 2017-09-09 08:14:09 +10:00
Andrew Tridgell baee71a5b4 Plane: added GUIDED takeoff for quadplanes 
this allows takeoff in GUIDED mode in the same way as copters
 2017-09-09 08:14:09 +10:00
Andrew Tridgell a88e663191 Plane: adjust target altitude slowly in QRTL mode 
this fixes a sudden throttle drop when starting the descent in QRTL mode
thanks to Marco for finding this issue
 2017-09-07 07:22:13 +10:00
Andrew Tridgell 6eaad59115 Plane: improve vectored tailsitter takeoff 
this gives extra pitch input when taking off a vectored tailsitter,
allowing the motors to point straight up for easy takeoff

thanks to Leonard for the idea!
 2017-05-07 09:10:44 +10:00
Andrew Tridgell b1f1ace736 Plane: support vectored yaw tiltrotors 
this adds support for tiltrotors which control yaw by vectoring the
forward motors. This avoids the need for the rear motor on a
tilt-tricopter to have a tilt servo
 2017-04-24 16:54:41 +10:00
Andrew Tridgell 2d9c3e3d93 Plane: added EKF yaw reset handling to quadplane 
this follows the implementation from copter. Thanks to Leonard for the
suggestion
 2017-04-24 16:52:16 +10:00
Andrew Tridgell 88e02c7b35 Plane: log the throttle mix for quadplane copter control 2017-04-19 09:08:43 +10:00