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116 Commits

Author SHA1 Message Date
Andrew Tridgell 11fbeb9b8f 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
 2021-10-17 19:03:42 -04:00
Andrew Tridgell d67f82e02d Plane: added manual input expo for MANUAL, ACRO and TRAINING 
this is easier than setting up mode specific expo in radios for flying
in manual modes
 2021-08-28 14:41:27 +09:00
Peter Barker 055e82276e ArduPlane: remove HIL support 2021-06-15 09:47:31 +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
Peter Hall d3dca4c17d Plane: consistantly slew all three throttles 2021-04-27 09:37:32 +10:00
Paul Riseborough 1dc79f0be8 Plane: Clarify calculation used to detect throw 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
Patrick José Pereira cdc7f891a9 ArduPlane: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Peter Barker 6baaf03c8c Plane: move auto_throttle_mode to being a method on each mode 2021-01-10 16:04:30 +11:00
Andrew Tridgell 8e3c6124eb Plane: added support for rear motor tilt 
needed for X8 tilt tri test aircraft for this PR
 2020-12-21 12:05:50 +11:00
Iampete1 024d2b7435 Plane: always output flaperons and dspoilers 2020-11-03 10:44:07 +11:00
Hwurzburg cf055fd1e0 Plane: add midposition to flare RC option sw 2020-10-27 10:47:07 +11:00
Hwurzburg b61ee34b6b ArduPlane: add RC option for landing flare 2020-10-13 11:36:19 +11:00
Andy Piper d16872cca5 Plane: compile out ADSB mode if required 2020-09-24 08:22:16 -07:00
Samuel Tabor 93bcfc4c3e Plane: Assign flap channel in set_control_channels() to avoid expensive call in set_servos_flaps(). 2020-09-03 07:55:51 +10:00
Samuel Tabor 590ebb180c Plane: Update airbrake channel assignment in set_control_channels() to avoid expensive call in airbrake_update() 2020-09-02 10:10:09 -07:00
Samuel Tabor f1290a2e17 Plane: Add use of airbrakes, used when throttle is negative OR via RC channel option. 2020-09-02 10:10:09 -07:00
Henry Wurzburg 16a15f5450 ArduPlane: add CROW flaps mode select switch 2020-07-16 13:30:45 +10:00
Paul Riseborough e5bd99a66f ArduPlane: Signal EKF to expect takeoff start to improve GSF yaw estimate 2020-07-07 15:33:58 +10:00
Mark Whitehorn d5b1b20274 Plane: implement manual forward throttle for QACRO, QSTABILIZE and QHOVER 
add parameter Q_FWD_THR_MAX for scaling manual throttle
allow forward motor tilt when disarmed
add FWD_THR_CH as an RC option
change Q_FWD_THR_MAX to percent
change RC_OPTION FWD_THR to 209
move assignment of rc_fwd_thr_ch to one_second_loop
move arming check from forward_throttle_pct to set_servos
change Q_FWD_THR_MAX TO Q_FWD_MANTHR_MAX
expand description of Q_FWD_MANTHR_MAX
add pre-arm check for VTOL manual forward throttle
change VTOL fwd throttle input to percent
 2020-07-07 08:37:46 +10:00
Mark Whitehorn ab2eb6185f Plane: also limit throttle during quadplane transitions 2020-06-16 11:43:18 +10:00
Paul Riseborough fdb4f908bb ArduPlane: Fix bug in forward throttle voltage compensation 
The existing code does not adjust the upper and lower throttle limits with the result that at and of discharge climb and reverse thrust performance is significantly degraded.
 2020-06-16 10:17:33 +10:00
Iampete1 2121ddf736 Plane: drop unneeded call to calc_pwm 2020-06-09 09:04:14 +10:00
Michael du Breuil 911570e9f3 Plane: Protect against a divide by 0 when calculating the forward throttle compensation 2020-06-02 09:38:51 +10:00
Buzz d4df145b4b ArduPlane: option to keep landing throttle at thr_min during flare and touchdown, not zero. 2020-05-20 11:29:45 +10:00
Iampete1 3ded030fa8 Plane: compensate forward throttle for battery voltage drop 2020-05-05 09:46:41 +10:00
Andrew Tridgell 156fe0846f Plane: fixed plane landing gear to obey LGR_OPTIONS bits 
we forced landing gear retract/deploy on takeoff and landing when we
should be following the options bits
 2020-04-15 17:10:31 +10:00
Samuel Tabor 684ee11fc3 AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring. 2020-04-08 09:11:54 +10:00
Andrew Tridgell bd341691e2 Plane: fixed flaperon auto-trim 
fixed direction of flaperon automatic trim with SERVO_AUTO_TRIM
 2020-03-23 15:20:08 +11:00
Peter Hall 660c9a8a60 Plane: move from FLAP_IN_CHANNEL to RCx_Option 2020-01-01 08:11:01 +11:00
Michael du Breuil 7d8005ef27 Plane: Update flaperons for all control modes 
Fixes flaperons not working during takeoff, and is generally slightly
easier to reason about
 2019-12-24 16:58:46 +11:00
Peter Barker c93d17b4b2 ArduPlane: use enum-class for SRV_CHANNEL_LIMIT_TRIM and friends 2019-11-26 10:17:17 +11:00
Andrew Tridgell 36baaeb3a0 Plane: added option to run idle governor in MANUAL mode 
useful for quadplane testing
 2019-11-17 20:10:54 +11:00
Andrew Tridgell 2b27cd2ce9 Plane: Add EFI Support 2019-11-17 20:10:54 +11:00
Andrew Tridgell ff400243e0 Plane: added a new TAKEOFF flight mode 
takeoff then circle in direction of takeoff
 2019-10-17 12:19:43 +11:00
Andrew Tridgell 7751352a86 Plane: implement VTOL landing for AFS termination 
this allows for vertical landing as an AFS_TERM_ACTION
 2019-09-12 09:59:17 +10:00
IamPete1 27286b659b Plane: servos: update dspoiler auto trim 2019-09-01 09:00:16 +10:00
IamPete1 76663d66e8 Plane: support bicopter tiltrotors 2019-07-02 10:15:17 +10:00
IamPete1 fb4b092917 plane: restore thr_min behaviour and update description 2019-04-23 09:39:45 +10:00
Tom Pittenger ade6281923 Plane: use #if ADVANCED_FAILSAFE == ENABLED just like Rover and Copter 2019-04-03 17:46:50 -07:00
IamPete1 520f5f7894 Plane: add crow flap options paramiter 2019-04-04 09:18:11 +11:00
Tom Pittenger 0270c57530 Plane: massive refactor and creation of Mode class 2019-04-02 16:28:52 +11:00
Andrew Tridgell 954b6ae791 Plane: fixed WAIT_ALTITUDE wiggle 
when wiggle value is zero servos should be neutral
 2019-03-30 10:49:41 +11:00
Peter Barker ca7566fff9 Plane: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Andrew Tridgell c290b1f3b5 Plane: fixed servo jitter due to airspeed estimate from throttle 
when we have no other airspeed source and we are armed we get airspeed
from throttle. the default setting of k_throttle in the radio code
caused an oscillation of the value used in the airspeed estimate, each
time a RC frame came in.
 2019-02-22 14:42:17 +11:00
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
Andrew Tridgell 5dbf603450 Plane: separate out slew limit logic for left/right throttles 2019-02-03 05:06:37 -08:00
IamPete1 eaed0a2d47 Plane: make rudder differnal thrust global 2019-01-15 10:19:19 +11:00
Andrew Tridgell 6c7af3830b Plane: apply throttle slew to dual-motor setups 
thanks to Alex for noticing this issue
 2018-12-04 09:08:31 +11:00