Andrew Tridgell
513afb046f
Plane: added an arming check for Q_ASSIST_SPEED
...
Q_ASSIST should really be enabled for all non-tailsitter
quadplanes. This arming check will help users remember to configure it
2022-03-30 19:12:45 +09:00
Andrew Tridgell
06b77f2cf1
Plane: use set_lean_angle_max_cd()
...
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
2022-03-30 19:12:45 +09:00
Andrew Tridgell
d1a2cafb01
Plane: improvements to POSITION1 controller
...
this improves 4 things in the POSITION1 controller based on logs from
4.2.0beta2. The changes are designed to increase the tolerance to
an incorrect value for Q_TRANS_DECEL, reducing landing overshoot
1) we fix the initialisation of the acceleration. The
init_xy_controller() function assumes zero accel, so we need to
call set_accel_desired_xy_cmss() just after that init to get the
correct accel. Thanks to Leonard for this fix
2) if we decel more than expected due to too low Q_TRANS_DECEL we
need to reduce the target speed, rather than putting the nose down
3) lower the default Q_P_JERK_XY to a value more appropriate for most
quadplanes (Leonard suggested a value of 2)
4) fixed the pitch envelope from Q_BACKTRANS_MS to start after the
airbrake phase is complete
2022-03-30 19:12:45 +09:00
Andrew Tridgell
d666f6ed02
Plane: fixed pitch envelope after AIRBRAKE
...
we need to setup last_fw_mode_ms and last_fw_nav_pitch_cd when we
enter POSITION1 mode so that the expanding envelope pitch limit from
Q_BACKTRANS_MS is applied correctly
2022-03-30 19:12:45 +09:00
Andrew Tridgell
147f06c589
Plane: prepare for 4.2.0beta2
2022-03-30 19:12:45 +09:00
Andrew Tridgell
d6f82c5e31
Plane: added release notes for 4.2.0beta2
2022-03-30 19:12:45 +09:00
Andrew Tridgell
743f0bc3f9
Plane: protect against short stop_distance
2022-03-12 08:00:49 +09:00
Iampete1
9f32204f15
Plane: quadplane: double log QPOS state change
2022-03-12 08:00:49 +09:00
Peter Barker
4631392f31
Plane: use has_valid_input in place of checking throttle counter
2022-03-12 08:00:49 +09:00
Henry Wurzburg
0c571e6d66
ArduPlane: clarify and simplify RC failsafe messages
2022-03-12 08:00:49 +09:00
Peter Barker
51c51c6f29
ArduPlane: add RebootRequred to stream rate parameters
2022-03-12 08:00:49 +09:00
Andrew Tridgell
06e911da4b
Plane: disallow mavlink disarm while flying
...
this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
2022-03-12 08:00:49 +09:00
Iampete1
2ac2257d83
ArduPlane: tailsitter: keep attitude controll throttle level upto date for smoother controller handover
2022-03-12 08:00:49 +09:00
Iampete1
93b4eae6db
Plane: never stick mix without valid RC input
2022-03-12 08:00:49 +09:00
Iampete1
ea41f6d70a
Plane: don't prevent stick mixing in none RC failsafe
2022-03-12 08:00:49 +09:00
Andrew Tridgell
fbe1672d22
Plane: use pos control for most of LAND_FINAL
...
this gives more accurate landing with some velocity drift
2022-03-12 08:00:49 +09:00
Andrew Tridgell
49e83841d4
Plane: review fixes
...
thanks Pete!
2022-03-12 08:00:49 +09:00
Andrew Tridgell
0a2f347c36
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
2022-03-12 08:00:49 +09:00
Andrew Tridgell
9d1e218f4c
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
2022-03-12 08:00:49 +09:00
Andrew Tridgell
993248b6d5
Plane: setup target accel in POSITION1 state
2022-03-12 08:00:49 +09:00
Andrew Tridgell
c5b7fd03d8
Plane: allow for a trans decel margin
...
so if we are behind the velocity curve we are less likely to overshoot
landing
2022-03-12 08:00:49 +09:00
Andrew Tridgell
d7913104cb
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
2022-03-12 08:00:49 +09:00
Andrew Tridgell
2b257663dc
Plane: added APIs for lua ship landing
2022-03-12 08:00:49 +09:00
Andrew Tridgell
0e70270f49
Plane: link in AP_Follow
...
ready for ship landing
2022-03-12 08:00:49 +09:00
Andrew Tridgell
59c56a5fc5
Plane: removed terrain home correction
2022-03-12 08:00:49 +09:00
Andrew Tridgell
fc7a8a1a19
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
2022-03-12 08:00:49 +09:00
Andrew Tridgell
47739344b8
Plane: prepare for 4.2.0beta1
2022-03-12 08:00:49 +09:00
Andrew Tridgell
66cda54be1
Plane: added release notes for 4.2.0beta1
2022-03-12 08:00:49 +09:00
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
