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Commit Graph

4341 Commits

Author SHA1 Message Date
Henry Wurzburg c8bc0b7e0d ArduPlane: clarify and simplify RC failsafe messages 2022-03-10 10:44:56 +11:00
Peter Barker f10f3da159 ArduPlane: add RebootRequred to stream rate parameters 2022-03-10 10:44:53 +11:00
Andrew Tridgell e0e60c8654 Plane: disallow mavlink disarm while flying 
this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
 2022-03-10 08:24:39 +11:00
Iampete1 a71b406287 ArduPlane: tailsitter: keep attitude controll throttle level upto date for smoother controller handover 2022-03-10 08:24:35 +11:00
Iampete1 d5af006e5c Plane: never stick mix without valid RC input 2022-03-10 08:24:27 +11:00
Iampete1 7265ed552b Plane: don't prevent stick mixing in none RC failsafe 2022-03-10 08:24:21 +11:00
Andrew Tridgell 1d2a64951c Plane: use pos control for most of LAND_FINAL 
this gives more accurate landing with some velocity drift
 2022-03-10 07:36:30 +11:00
Andrew Tridgell c4ce86a839 Plane: review fixes 
thanks Pete!
 2022-03-10 07:36:21 +11:00
Andrew Tridgell c41a3af59d Plane: wait till motors are fully up before takeoff in guided mode 
this allows for guided mode takeoff in tilt-rotors. Otherwise motors
till be pointing forward and takeoff will go very badly
 2022-03-10 07:36:08 +11:00
Andrew Tridgell 32404f5aa5 Plane: cope with high angle error in airbrake state 
if we are flying too far off the target vector then exit airbrake
state. This prevents flying for a long distance away from the landing
point in airbrake mode
 2022-03-10 07:36:05 +11:00
Andrew Tridgell 948ae05922 Plane: setup target accel in POSITION1 state 2022-03-10 07:36:01 +11:00
Andrew Tridgell 395cf1b6dd Plane: allow for a trans decel margin 
so if we are behind the velocity curve we are less likely to overshoot
landing
 2022-03-10 07:35:58 +11:00
Andrew Tridgell d0ce3c8774 Plane: fix NAV_CONTROLLER_OUTPUT in Q modes 
Q modes don't always use wp_nav, but do use pos_control

AUTO and QRTL setup the plane navigation as well, so can use the L1
data
 2022-03-10 07:35:32 +11:00
Andrew Tridgell 25f57af2e3 Plane: added APIs for lua ship landing 2022-03-10 07:35:29 +11:00
Andrew Tridgell abae8518f0 Plane: link in AP_Follow 
ready for ship landing
 2022-03-10 07:35:25 +11:00
Andrew Tridgell 46ede1b73f Plane: removed terrain home correction 2022-03-10 07:35:03 +11:00
Andrew Tridgell 38662b98d8 Plane: added Q_LAND_ALTCHG parameter 
this is the threshold height change over 4 seconds for a landing to be
detected. It can be raised if landing detection is very slow
 2022-03-09 07:50:54 +11:00
Andrew Tridgell bb81a3bd3b Plane: prepare for 4.2.0beta1 2022-03-02 07:42:57 +11:00
Andrew Tridgell 88de8cdc21 Plane: added release notes for 4.2.0beta1 2022-03-02 07:42:48 +11:00
Peter Barker 13fa1e30ad ArduPlane: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Andrew Tridgell b444420329 Plane: removed controller error in transmitter tuning 2022-02-22 12:23:48 +11:00
Andrew Tridgell e3e125c307 Plane: prepare for 4.1.7 2022-02-21 12:11:28 +11:00
Iampete1 267583db55 Plane: quadplane: never reset yaw target rates when entering QPOS1 2022-02-21 09:35:06 +11:00
Iampete1 9fd14dbf94 Plane: quadplane: set IO failsafe limit for all motors 2022-02-17 12:31:16 +11:00
Iampete1 42a2e1094c Plane: set failsafe limit for throttle left and right 2022-02-17 12:31:16 +11:00
Andrew Tridgell 1bdc9b5bf8 Plane: fixed in_vtol logic so QRTL can AIRBRAKE 2022-02-16 07:43:01 +11:00
Andrew Tridgell aab6c94936 Plane: don't weathervane in AIRBRAKE state 
this prevents unwanted VTOL motor throttle while trying to slow
down. In this stage the slaving of yaw rate to fixed wing roll control
is sufficient
 2022-02-16 07:43:01 +11:00
Andrew Tridgell 2846f87eeb Plane: reduce height gain in auto landing for tiltrotors 
avoid running the motors while tilted past the tilt max if we are in
AIRBRAKE state. This stops a large amount of forward thrust from the
tilted motors while trying to slow down, while still maintaining
attitude control
 2022-02-16 07:43:01 +11:00
Andrew Tridgell 5bb7b04343 Plane: added release notes for 4.1.7beta1 2022-02-12 09:00:51 +11:00
Peter Barker 458d43fc1e ArduPlane: send deprecated message warning for MAVLINK_MSG_ID_SET_HOME_POSITION 2022-02-10 12:13:43 +11:00
Iampete1 1ca1707f9f Plane: quadpalne: keep motors interlock state upto date with E-stop 2022-02-10 07:43:40 +09:00
Peter Barker d914e4e63b Plane: convert next WP alt to global frame in POSITION_TARGET_GLOBAL_INT 2022-02-09 16:09:41 +11:00
Peter Barker 10be59da17 ArduPlane: create and use location_from_command_t 2022-02-09 09:15:11 +11:00
Peter Barker e1314cc297 Plane: remove ancient convert_mixers 2022-02-08 12:19:55 +11:00
Peter Barker 4068d57930 Plane: correct spelling of mode_lotier_qland 2022-02-08 12:19:03 +11:00
Peter Barker 7c0b1f46d6 Plane: remove logging of STRT message 
SType is always 3 - and we're just about to log the entire
mission so CTOT is pointless
 2022-02-08 12:18:16 +11:00
Henry Wurzburg e82ad1ec24 ArduPlane: fix error in Tricks on a Switch qualifier 2022-02-08 11:54:38 +11:00
Peter Barker bab79d0094 ArduPlane: stop passing mission in Terrain constructor 
Terrain can use the mission singleton

This means Copter can have terrain while compiling mission out
 2022-02-08 11:20:20 +11:00
Peter Hall 717b18a680 Plane: quadplane: add allow_weathervane transtion class method 2022-02-08 10:38:16 +11:00
Peter Hall 6a719664d3 Plane: quadplane: pass takeoff and landing state to weathervane 2022-02-08 10:38:16 +11:00
Gone4Dirt a79359dc67 Plane: use new weathervane library 2022-02-08 10:38:16 +11:00
Peter Barker dd06a93c06 Plane: remove unused TRUE/FALSE defines 2022-02-07 21:20:21 +11:00
Peter Barker 9878701095 Plane: remove unused DEBUG define 2022-02-07 21:20:21 +11:00
Peter Barker 90310f4c6e Plane: remove unused 'ALT_CONTROL' enumeration 2022-02-07 21:20:21 +11:00
Henry Wurzburg ea9d35c99d ArduPlane: extend nav_scripting to all modes 2022-02-07 21:19:28 +11:00
Hwurzburg ad30d476c8 Plane: enforce acro rate limits in aerobatics scripting 2022-02-07 12:35:31 +11:00
Hwurzburg 0efb2f2048 Plane: disable TECS use during NAV_SCRIPT_TIME 2022-02-07 12:34:15 +11:00
murata f8383df5a4 Plane: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
Bill Geyer 54bdde8845 Copter: fix parameter issue with quadplane 2022-02-01 23:06:51 -05:00
Bill Geyer 9bec232c8a Plane: modify qautotune to use of multi subclass 2022-02-01 23:06:51 -05:00
Peter Hall 9ec1faf3f9 Plane: tailsitter: rate limit second half of FW transtion 2022-01-26 19:03:32 +11:00
Peter Barker d6c653bdc5 ArduPlane: move logging of SIMSTATE, AHRS2 and POS into AP_AHRS library 2022-01-25 10:59:17 +11:00
Peter Barker 266d384ca7 ArduPlane: rename AP_AHRS::get_position to get_location 2022-01-25 10:47:22 +11:00
Iampete1 f725f7bb7e Plane: set new slew limit and inherit slew limt for flaps 2022-01-25 10:12:13 +11:00
Joshua Henderson c1abcfb7c4 Plane: move Airspeed to AP_Vehicle 2022-01-19 18:21:32 +11:00
Josh Henderson 6dc5a9fc54 Plane: GCS move airspeed sensor status flags up 2022-01-19 18:21:32 +11:00
Josh Henderson 9a3fed0263 Plane: move high_latency_air_temperature up 2022-01-19 18:21:32 +11:00
Andrew Tridgell 3273ead11b Plane: use EKF climb rate estimate in VFR_HUD.climb 
EKF estimate is both more accurate and less noisy
 2022-01-18 13:26:31 +11:00
Iampete1 32488a5e3a Plane: add MOTB logging at 10hz 2022-01-18 10:18:10 +11:00
Jaaaky 852546f8cf ArduPlane: fix man_expo pitch & rudder params/variables 2022-01-12 18:27:08 +11:00
Peter Barker 0cf4254290 ArduPlane: move RPM sensor logging into AP_RPM 2022-01-11 11:09:26 +11:00
Iampete1 3a5c7ea8fc Plane: quadplane: add transtion fail action param 2022-01-11 11:02:33 +11:00
Peter Hall b64ddb9ac0 Plane: tailsitter: only set limit flags if outputs are configured 2022-01-11 10:37:38 +11:00
Peter Hall 2ffebebddc Plane: tailsitter: provide min throttle limit based on disk therory outflow velocity 2022-01-11 10:37:38 +11:00
Iampete1 0fa1ddf7c2 Plane: tailsitter: always give pitch prority elevon mixing in VTOL modes 2022-01-11 10:37:38 +11:00
Iampete1 d473344177 Plane: add video stab log bit and log in ahrs_update 2022-01-05 19:56:03 +11:00
Iampete1 ca1b5b1db2 Plane: Quadplane: use get_frame_and_type_string 2022-01-05 19:51:19 +11:00
Peter Barker 89e3e27d3d ArduPlane: move INS notch filter logging into INS 2022-01-05 16:34:36 +11:00
Peter Barker 173f36c145 ArduPlane: make vehicles write notch log messages 2022-01-05 16:34:36 +11:00
Peter Hall d4eb2c6396 Plane: quadplane: QPOS_POSITION1 tailsitters use input_vel_accel method 2022-01-04 10:42:12 +11:00
Iampete1 4848ac9166 Plane: quadplane: don't use `is_active_z()`, becasue its wrong 2022-01-04 10:42:12 +11:00
Iampete1 fb1f6b57ad Plane: Quadplane: never run Z controller if motors are not throttle unlimited 2022-01-04 10:42:12 +11:00
Peter Hall c215fa0745 Plane: Quadplane: never run Z controller in tailsiter VTOL transtion 2022-01-04 10:42:12 +11:00
Peter Hall 9df753551e Plane: quadplane: tailsitter: always relax pitch after transtion 2022-01-04 10:42:12 +11:00
Peter Hall d054ca0426 Plane: quadplane: limit post VTOL transtion pitch rate on tailsitters in maunal modes 2022-01-04 10:42:12 +11:00
Peter Hall 67d7ba490f Plane: quadplane: pass time to tailsitter.in_vtol_transition where avalable 2022-01-04 10:42:12 +11:00
Iampete1 9634641323 Plane: tailsitter: rate limit pitch up in VTOL pos control flight. 2022-01-04 10:42:12 +11:00
Andrew Tridgell 2691022e12 Plane: update release notes for 4.1.6 2022-01-03 13:11:18 +11:00
Andrew Tridgell 2251293ec7 Plane: fix stabilize mode 
should self-level. Broken by #19171
 2022-01-03 08:09:53 +11:00
Iampete1 abe9e4425b Plane: quadplane: remvoe unused loiter initial pitch varable 2021-12-31 08:46:31 +11:00
Andrew Tridgell fb019eb0f3 Plane: add a low pass filter to speed scaler 
this is needed due to the filtering done on the target rate in
AC_PID. With a low filter rate in AC_PID a step in the speed scaler
results in a step in the FF output due to the mismatch in the
instantaneous SS and the filtered target rate
 2021-12-29 18:36:05 +11:00
Peter Barker e55eea961f ArduPlane: create and use AP_OPTICALFLOW_ENABLED 2021-12-29 18:12:03 +11:00
Andrew Tridgell 336b666f83 Plane: fixed stick mixing and throttle nudge in QRTL approach 
thanks to Henry for noticing this
 2021-12-28 16:04:12 +11:00
Peter Barker d7fae5263f ArduPlane: adjust for rename of OpticalFlow.cpp 2021-12-28 10:16:20 +11:00
Samuel Tabor a715472353 Plane: Specify starting location to set_offset_altitude_location 2021-12-27 11:27:52 +11:00
Hwurzburg 18e427d27d Plane: add Q_OPTION to force fw trans on fail instead of QLAND 2021-12-24 13:55:15 +11:00
Iampete1 2154738421 Plane: Quadplane: only advance to QPOS_POSITION2 once tilts have finished slewing 2021-12-22 18:46:14 +11:00
Iampete1 eac52fe08f Plane: quadplane: don't ouput VTOL throttle on tiltrotor with no VTOL motors and till fully forward 2021-12-22 18:46:14 +11:00
Iampete1 6116eaeb32 Plane: quadplane: enhance tiltrotor transtion to better deal with tiltrotors with all motors tilting 2021-12-22 18:46:14 +11:00
Andy Piper aefc97fafa Plane: use calculated number of notches for dynamic harmonic 2021-12-22 18:13:38 +11:00
Andrew Tridgell db0f06fb58 Plane: update release notes for 4.1.6beta1 2021-12-21 13:21:50 +11:00
Peter Barker 278899e44c ArduPlane: tidy log message id definitions 
Add a comment indicating only 20 ids are available to the vehicle
 2021-12-21 10:42:18 +11:00
Jaaaky 50430d9fc8 ArduPlane: Fix multi #include's 2021-12-21 10:38:46 +11:00
Iampete1 055d90d49b Plane: tailsitter: add gains to scale control surface vs motors 2021-12-21 10:14:34 +11:00
Gone4Dirt d244a0b803 Plane: Make RPM log independant of RC log mask 2021-12-16 12:48:48 +11:00
Samuel Tabor c44fed34d4 AP_Soaring: Override airspeed and flap angle. 2021-12-16 07:12:24 +11:00
Peter Barker 08a8b3f155 Plane: use @CopyValuesFrom for FLTMODEn parameters 2021-12-16 07:11:33 +11:00
Iampete1 8aa4a802f3 Plane: tiltrottor: add missing ff terms 2021-12-14 10:14:28 +09:00
Andrew Tridgell c746efff4f Plane: updated release notes for 4.1.5 2021-12-13 10:55:44 +11:00
Hwurzburg 049f5f2135 Plane: fix divide by zero in transition time 2021-12-10 19:10:51 -08:00