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4262 Commits

Author SHA1 Message Date
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
Andrew Tridgell 1c89b7f3a2 Plane: check for VTOL takeoff in AUTO 
if the "only arm in Q modes" bit is set in Q_OPTIONS then check that
in AUTO mode we are in a VTOL takeoff WP
 2021-12-07 12:51:18 +11:00
Hwurzburg 274111a5ea ArduPlane: clean up short failsafe 2021-12-07 10:09:33 +11:00
Andrew Tridgell 522056d6f7 Plane: release notes for 4.1.5beta1 2021-12-04 18:06:38 +11:00
Andrew Tridgell ca13503f41 ArduPlane: revert compass parameter changes 2021-12-04 16:51:53 +11:00
Andrew Tridgell e7c7cdd653 Plane: reset VTOL takeoff if not armed 
we need to reset the takeoff target position while disarmed so we
don't use spurious position information from before we get good GPS
lock.

also remove the "Resetting previous waypoint" message as it doesn't
provide useful information and is just a distraction (it would be
printed continuously while waiting for arming with this PR)
 2021-12-04 16:51:02 +11:00
Andrew Tridgell e342ce0da4 Plane: fixed reset of steering locked course 
reset when we have not been steering for 1s, to ensure that an old
locked course is not used
 2021-12-04 07:41:35 +11:00
Andrew Tridgell 5f52171776 Plane: added QRTL as RCn_OPTION 2021-12-02 08:29:07 +11:00
Andrew Tridgell de4a4a775a Plane: fixed use before init bug in VTOL land 
found by Peter Barker with valgrind
 2021-12-01 19:42:42 +11:00
Andrew Tridgell 56870ad7d6 Plane: use yaw rate controller in NAV_SCRIPT_TIME 2021-11-30 16:19:26 +11:00
Andrew Tridgell 55d8afa1dd Plane: support autotune for yaw rate control 2021-11-30 16:19:26 +11:00
Andrew Tridgell b619ee4970 Plane: added support for rate yaw control 
to enable for ACRO mode, set ACRO_YAW_RATE to desired maximum rate in
degrees/second, and set YAW_RATE_ENABLE=1 to enable PID tuning of yaw
rate controller

pair programmed with Andy Palmer and Matthew Hampsey
 2021-11-30 16:19:26 +11:00
Iampete1 06c9a69975 Plane: remove compass params underscore 2021-11-30 08:14:43 +09:00
Josh Henderson 52adda7c4c Plane: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson c6dd39773d ArduPlane: inav use _xy() 2021-11-30 10:08:07 +11:00
Andrew Tridgell 1af384ad12 Plane: updated release notes for 4.1.4 2021-11-25 09:05:29 +11:00
Andrew Tridgell 36562ed30b Plane: limited VFWD integrator to cruise throttle 
in some situations (such as when landing approach is disabled) the
vfwd integrator can wind up to extreme values. This can put a huge
load on an electric quadplane as it is running both forward and vtol
motors, and the downforce from being nose down can be extreme.

It should never need to go above the cruise throttle in any reasonable
situation, so limit it to cruise to ensure we don't apply too much
forward throttle
 2021-11-24 18:49:24 +11:00
kniuk 6581afcb8d deleted set_target_altitude_location from set_next_WP 2021-11-24 18:08:26 +11:00
Andrew Tridgell 77c43d9ba1 Plane: limiting POS1 landing target speed 
prevent very high target speeds when the target velocity profile is
above the initial speed in POSITION1. Always allow up to 2*Q_WP_SPEED,
but don't go above the initial speed
 2021-11-24 07:15:21 +11:00
Andrew Tridgell 8d59e6fa48 Plane: fixed variable name 
thanks to Peter for noticing
 2021-11-22 13:15:29 +11:00
Hwurzburg 5cafccd447 ArduPlane: fix flare rc switch action with flight option bit 10 active 2021-11-21 21:00:04 +11:00
Peter Hall 151ef760a4 Plane: quadplane: log postition controller PIDs 2021-11-21 09:01:58 +11:00
Andrew Tridgell 734edd8085 Plane: fixed chute release on low value of RC option 
only release on flag high
fixes #18843
 2021-11-18 15:19:18 +11:00
Andrew Tridgell ae81bbc5ed Plane: suppress spurious EKF yaw reset message 
this makes plane match copter, emitting a yaw reset event, but not
worrying user. This message came out on each boot when EKF3 first
became active
 2021-11-17 20:54:12 +11:00
Michel Pastor 685d34d615 Plane: fix bug causing wrong thr max and slew to be used during takeoff 
Fix bug introduced in 3d34e061fe which causes flight_stage to be
FLIGHT_NORMAL instead of FLIGHT_TAKEOFF during takeoff stage causing
itself at least the use of THR_MAX and THR_SLEWRATE instead of
respectively TKOFF_THR_MAX and TKOFF_THR_SLEW and perhaps has other
consequences.

Could be really bad if TKOFF_THR_MAX needs to be much higher
than THR_MAX or if TKOFF_THR_SLEW needs to be much lower than
THR_SLEWRATE and cause a crash on takeoff due to low airspeed or torque
roll
 2021-11-17 19:37:39 +11:00
Iampete1 9210488550 Plane: quadplane: limit pitch for all transitions into position control modes 2021-11-17 19:10:56 +11:00
Peter Barker 17395f362e ArduPlane: allow specification of Scheduler table priorities 2021-11-17 19:00:04 +11:00
Andrew Tridgell e5106b990e Plane: update release notes for 4.1.3 2021-11-16 16:08:18 +11:00
Peter Barker 70562021ac ArduPlane: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker 203103bae5 ArduPlane: ensure ENABLE_SCRIPTING is always defined 2021-11-15 20:27:40 +11:00
Iampete1 b9d240460b Plane: remove SpdHgt and use TECS direct 2021-11-13 08:05:39 +11:00
Andrew Tridgell de44dceda4 Plane: enable fixed wing autotune switch 2021-11-10 18:46:34 +11:00
Iampete1 773c48b30c Plane: tailsitter: start transtion from desired pitch not actual 2021-11-09 13:44:30 +00:00
Iampete1 51caf15f94 Plane: manual stabilize: keep nav pitch and roll up to date 2021-11-09 13:44:30 +00:00
Iampete1 68f252e0df Plane: tiltrotor: allow tilt wing as flap 2021-11-09 10:46:09 +11:00
Iampete1 5ba2bd675a Plane: move quadplane arming checks to own function and add angle max and tiltrotor / tailsitter checks 2021-11-09 10:45:22 +11:00
Peter Barker 7c3de472b2 Plane: support send_extended_sys_state 2021-11-09 10:22:24 +11:00
Andrew Tridgell 893046608c Plane: update release notes for 4.1.3beta1 2021-11-09 09:27:27 +11:00
Andrew Tridgell 0c1e576544 Plane: added support for NAV_SCRIPT_TIME 2021-11-08 21:08:52 +11:00
Andrew Tridgell d3742989ef Plane: default rate max to 75 for quadplane VTOL 
this reduces overshoot when VTOL tune is less than ideal
 2021-11-07 06:58:53 +11:00
Andrew Tridgell debae1381c Plane: fixed a bug in POSITION1 speed thresholds 
we were comparing two different speeds in the threshold for going to
Q_WP_SPEED limit. The reason the two speeds were different was the
wp_nav init happened before the defaults were setup for quadplanes

this fixes both bugs
 2021-11-06 20:00:10 +11:00
Peter Barker 554e7f8d1c ArduPlane: move EFI to AP_Vehicle 2021-11-05 09:22:17 +11:00
Peter Barker 6a12d3f5d9 Plane: use enum class for StickMixing 2021-11-03 18:06:00 +11:00
Iampete1 e33954d561 Plane: tailsitter transition tidyups 2021-11-02 10:14:36 +11:00
Iampete1 af8688b300 Quadplane: add transiton class 2021-11-02 10:14:36 +11:00
Iampete1 9073d16b09 Tiltrotor: add transtion class 2021-11-02 10:14:36 +11:00
Iampete1 ce5b81869d Plane: Tailsitter: add transtion class 2021-11-02 10:14:36 +11:00
Iampete1 7af1b40fb8 Plane: system use new transtion class 2021-11-02 10:14:36 +11:00
Iampete1 99d98cc5b8 Plane: add transition class as friend 2021-11-02 10:14:36 +11:00
Iampete1 23a413946b Plane: Qacro: use new transition class 2021-11-02 10:14:36 +11:00
Iampete1 f25e5087c0 Plane: attitude: use new transition class 2021-11-02 10:14:36 +11:00
Andrew Tridgell 9c617a18f4 Plane: suppress rate D terms in ground mode 
this prevents a common oscillation issue on the ground
 2021-10-30 18:45:53 +11:00
Andrew Tridgell b74dca02ca Plane: avoid qpos approach when very close to destination 
this prevents a fwd transition when doing something like LOITER_TIME
close to a VTOL_LAND wp. We use 1.5 times the stopping distance at
cruise airspeed for the threshold
 2021-10-29 20:22:19 +11:00
Andrew Tridgell 19b5044223 Plane: fixed VTOL state error when using Q_ENABLE=2 
this ensures the poscontrol state is reset if it has not been
initialised before a VTOL loiter operation

thanks to Pete Hall for finding this
 2021-10-29 20:22:19 +11:00
Andrew Tridgell 51ccc1822c Plane: rename ReleaseNotes.txt to be more consistent with copter 2021-10-27 15:32:32 +11:00
Hwurzburg 8d94e58ec9 ArduPlane: add RC option to plane for emergency remote landing that forces FS actions to FBWA 2021-10-26 10:34:28 +11:00
Iampete1 bfbd0d93c1 Plane: Quadplane: continue in mode loiter to Qland on failsafe, as with Qland 2021-10-26 10:13:55 +11:00
Hwurzburg 085c5c815b Plane: Fix bug with mode return on short fs exit and add FBWB action 2021-10-26 10:12:48 +11:00
Sebastian Quilter 013de11916 ArduPlane: make rangefinder ranges m rather than cm 2021-10-21 21:28:53 +11:00
Iampete1 73e9c9bb43 Plane: quadplane: forward throttle reutrn float 2021-10-20 18:29:58 +11:00
Iampete1 2f93c1f9e4 Plane: stabilizer roll and pitch to floats 2021-10-20 18:29:58 +11:00
Iampete1 b31ce6734a Plane: get throttle input return float 2021-10-20 18:29:58 +11:00
Iampete1 2f4661c52f Plane: use float for set/get output scaled 2021-10-20 18:29:58 +11:00
Peter Barker bcad5a7ba6 ArduPlane: handle renaming of AP_InertialNav_NavEKF to AP_InertialNav 2021-10-20 18:09:36 +11:00
Peter Barker 987d67b867 ArduPlane: move SITL object up to AP_Vehicle 2021-10-19 11:34:43 +11:00
Peter Barker eef8115ffc ArduPlane: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
Andrew Tridgell 5684ca13fa Plane: update release notes for 4.1.2 2021-10-17 15:51:50 +11:00
Andrew Tridgell 34110e387f Plane: update release notes for 4.1.2beta2 2021-10-16 20:45:37 +11:00
Tom Pittenger c450145fd5 Plane: move ADSB mavlink handling from vehicles to common library 2021-10-14 19:55:27 -07:00
Josh Henderson 8af299f978 Plane: HIGH_Latency2 check get_temperature return and return INT8_MIN 2021-10-13 19:40:45 +11:00
Andrew Tridgell faba02a3f5 Plane: apply the takeoff throttle slew limit to quadplanes 
this applies the limit when we are in a fwd transition, both in AUTO
modes and stabilized modes
 2021-10-13 18:53:45 +11:00
Iampete1 e99a5c6ef4 Plane: Quadplane: reinstate THR PWM param discriptions for stable users 2021-10-11 22:19:17 -04:00
Iampete1 30c9cccf78 Plane: Quadplane remove THR_MIN_PWM and THR_MAX_PWM 2021-10-11 22:19:17 -04:00
Iampete1 d1d6342165 Plane: update_throttle_range dont set_throttle_range 2021-10-11 22:19:17 -04:00
Andrew Tridgell 493d8979d5 Plane: reset target speed on disarm 
allows for multiple auto missions with DO_CHANGE_SPEED
 2021-10-11 10:47:52 +11:00
Andrew Tridgell bf425a1edf Plane: update release notes for 4.1.2beta1 2021-10-10 18:08:36 +11:00
Andrew Tridgell 570ecdc2e0 Plane: don't apply fw pitch limit in VTOL control for tailsitters 
tailsitters may have narrow fixed wing limits but need high limits for
landing in high wind

found this on a HWing which was essentially impossible to auto land
 2021-10-10 06:35:20 +11:00
Andrew Tridgell 8550765c25 Plane: update release notes for 4.1.1 
# Conflicts:
#	ArduPlane/mode_qrtl.cpp
#	ArduPlane/quadplane.cpp
P
 2021-10-08 13:31:04 +11:00
Peter Barker 3a6a6b63f2 Plane: use mode name instead of number in failsafe text 
We have the method, we should use it
 2021-10-07 13:01:07 +11:00
Hwurzburg 4e731bf4e2 Plane: add VTOL POS1 notification to QRTL mode 2021-10-06 11:38:32 +11:00