Andrew Tridgell
01b6eaf200
Plane: updated release notes for 4.1.0beta3
2021-07-23 10:19:45 +09:00
Andrew Tridgell
06066c1af2
Plane: fixed motor test with DShot VTOL motors
...
need to arm when running the motor test
2021-07-23 10:19:45 +09:00
Andrew Tridgell
080ebe9cb2
Plane: prepare for 4.1.0beta2 release
2021-07-23 10:19:45 +09:00
Andrew Tridgell
5132442b1e
Plane: prepare for 4.1.0beta1 release
2021-07-23 10:19:45 +09:00
Hwurzburg
ac76a63931
ArduPlane: remove values metadata from log bitmask
2021-06-30 09:24:26 +09:00
Hwurzburg
8310f4a718
Plane: fix bug in tilt position for QLOITER and QRTL if THR_MIN !=0
2021-06-29 10:58:11 +10:00
Andrew Tridgell
92197bd5a9
Plane: fixed longitude wrap in verify_nav_wp
...
thanks to @Khancyr
2021-06-25 15:33:55 +10:00
Andrew Tridgell
50e6d67a66
Plane: update for new double precision position APIs
2021-06-24 21:34:30 +10:00
Andrew Tridgell
61ac45dd5a
Plane: use cleaned up APIs
2021-06-24 20:28:45 +10:00
Andrew Tridgell
4d7bb82f9e
Plane: updated release notes for 4.1.0beta2
2021-06-24 20:15:01 +10:00
Andrew Tridgell
66bc673442
Plane: fixed attitude control during QPOS_AIRBRAKE
...
this fixes a bug where we used the multicopter rate control when in
airbrake approach stage, which could lead to attitude going out of
control
2021-06-22 07:42:20 +10:00
Peter Barker
055e82276e
ArduPlane: remove HIL support
2021-06-15 09:47:31 +10:00
Iampete1
6eab9b9c15
plane: quadplane: skip QPOS_POSITION1 on tailsitters
2021-06-15 09:25:58 +10:00
Peter Hall
85743be4f3
Revert "Plane: cope with Q pitch limit larger than fixed wing limit"
...
This reverts commit 74da3c74ac
.
2021-06-15 09:25:58 +10:00
Hwurzburg
e958306343
Plane: Add options to USE_REVERSE_THRUST to cover all flight modes
2021-06-15 07:05:02 +10:00
Hwurzburg
4f48233b43
ArduPlane: add QRTL always as Q_RTL_MODE option
2021-06-14 09:08:20 +10:00
Andrew Tridgell
80afba3bd2
Plane: updated release notes for 4.1.0beta1
2021-06-14 08:25:05 +10:00
Andrew Tridgell
0c8e81964e
Plane: reset yaw controller on entry to POSITION1
...
this fixes a yaw change when we finish landing approach in
QRTL. Thanks to Henry for noticing this
2021-06-14 07:53:32 +10:00
Andrew Tridgell
4307390820
Plane: fixed distance threshold for vtol land
2021-06-13 07:50:02 +10:00
Andrew Tridgell
f749c2c3ad
Plane: fixed issue with overspeed in QPOS_POSITIION1
...
this fixes the backflip issue on the convergence that Henry found
2021-06-13 07:50:02 +10:00
Andrew Tridgell
ae6220aace
Plane: cope with zero distance to target in QPOS_POSITION1
2021-06-10 13:50:29 +10:00
Andrew Tridgell
0f9e7001d1
Plane: limit speed in POSITION1 based on angle
...
this prevents trying to fly a quadplane fast backwards or sideways. If
flying backwards then a 3x reduction is used. For sideways a 2x
reduction is used
2021-06-10 13:50:29 +10:00
Andrew Tridgell
74ac9964f1
Plane: improved POSITION1 speed profile
...
allow acceleration up to the Q_WP_SPEED, and assume a decel profile
matching Q_TRANS_DECEL for approach speed
2021-06-10 13:50:29 +10:00
Andrew Tridgell
5f8e90cd6f
Plane: metadata fix for Q_OPTIONS
2021-06-10 13:50:29 +10:00
Andrew Tridgell
3611b1dbf7
Plane: added check for QPOS initialisation
...
thanks to Kris for noticing this!
2021-06-10 13:50:29 +10:00
Andrew Tridgell
db34577755
Plane: use a separate bit for landing reposition in quadplanes
...
when repositioning stop descent
2021-06-10 13:50:29 +10:00
Andrew Tridgell
06cd077c36
Plane: fixed stick mixing with land reposition in quadplanes
...
prevent stick mixing overriding landing control
2021-06-10 13:50:29 +10:00
Andrew Tridgell
0937d903a1
Plane: use HAL_EFI_ENABLED
2021-06-09 18:07:00 +10:00
Andrew Tridgell
0ecc02c53a
Plane: fixed constructor of accel_ef filter
2021-06-08 11:14:52 +10:00
Iampete1
438ca0a6c4
Plane: tailsitter: increase severity level of failed transisisons.
2021-06-08 10:56:09 +10:00
Andrew Tridgell
f970735d47
Plane: fixed handling of NAV_LOITER_TIME with Q_GUIDED_MODE=1
...
and made logic of in_vtol_mode() easier to read
2021-06-05 13:05:30 +10:00
Andrew Tridgell
aa904d6bbc
Plane: fixed guided mode handling with new approach code
...
ensure we treat guided approach as not a vtol mode
2021-06-05 13:05:30 +10:00
Andrew Tridgell
1165fcab99
Plane: removed incorrect URL
2021-06-05 13:05:30 +10:00
Andrew Tridgell
fd19ff3bea
Plane: offset guided start point when using Q_GUIDED_MODE
2021-06-05 13:05:30 +10:00
Andrew Tridgell
f15497c6a9
Plane: only do fwd thrust loss detection in SLT vehicles
...
on tilt rotors and tailsitters it doesn't make sense to switch to
POSITION1 at low speeds when in APPROACH
2021-06-05 13:05:30 +10:00
Andrew Tridgell
0232fa7456
Plane: cope with fwd thrust loss in Q approach
...
if throttle is saturated and descending and low airspeed then declare
thrust loss
2021-06-05 13:05:30 +10:00
Andrew Tridgell
fbf5083e6a
Plane: avoid transition in QRTL
...
if close to home and already in a VTOL mode then don't transition
2021-06-05 13:05:30 +10:00
Andrew Tridgell
3bb840f794
Plane: implement slow descent in QRTL approach
...
this approaches in QRTL at ALT_HOLD_RTL alt, then descends to
Q_RTL_ALT close to the destination
2021-06-05 13:05:30 +10:00
Andrew Tridgell
77ee922473
Plane: fixed NAV_CONTROLLER_OUTPUT in QRTL
2021-06-05 13:05:30 +10:00
Andrew Tridgell
245ded2f2d
Plane: fixed handling of loss of fwd thrust in QRTL
2021-06-05 13:05:30 +10:00
Andrew Tridgell
c7a14a5da1
Plane: disable cross-track in Q approach modes and QRTL
2021-06-05 13:05:30 +10:00
Andrew Tridgell
46722500b0
Plane: default Q_TRANS_DECEL to 6 for tailsitters
2021-06-05 13:05:30 +10:00
Andrew Tridgell
a7b809d5d4
Plane: added approach and airbrake options
...
this defaults VTOL landings to have an approach and airbraking stage,
allowing for more efficient landings. Can be disabled by setting
Q_OPTIONS bit 16
2021-06-05 13:05:30 +10:00
Andrew Tridgell
ddfc9e8300
Plane: improved quadplane auto-land into wind
...
when heading is strong we need to ramp up pitch limit slowly to
prevent a big dive
2021-06-05 13:05:30 +10:00
Andrew Tridgell
b4992cc226
Plane: added accessors for poscontrol state
...
allows for time since state entered
2021-06-05 13:05:30 +10:00
Andrew Tridgell
f1f7f01300
Plane: slave fixed wing desired rate to multicopter desired rate
...
this ensures that the two rate controllers don't fight each other when
in a VTOL mode
2021-06-05 13:05:30 +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
Hwurzburg
bf14c32109
Plane: correct description of Q_TAILSIT_MOTMX param
2021-05-30 22:36:26 -07:00
James Harton
be3cc1b679
Docs: Change all references from dev.ardupilot.org to the appropriate documentation URLs.
2021-05-31 12:20:45 +10:00
Peter Barker
3464f9b46e
ArduPlane: remove optical flow pointer from AP_AHRS
...
Nothing was ever using it.
2021-05-30 10:44:42 +10:00
Leonard Hall
e275ec9e63
Plane: Rename set_yaw_target_to_current_heading
2021-05-26 16:03:05 +09:00
vierfuffzig
9a538ba15b
ArduPlane: fix advanced param metadata
2021-05-25 12:36:59 +10:00
Hwurzburg
38ed4a2dd6
ArduPlane: make centideg metadata incr and range consistent
2021-05-25 10:10:18 +10:00
Leonard Hall
8b3b6cf693
Plane: Fix before squash
2021-05-24 20:13:37 +10:00
Andrew Tridgell
d1f6d913d5
Plane: adjust reposition landing code
...
use accel with 1s timeconstant
2021-05-24 20:13:37 +10:00
Andrew Tridgell
5857e750ce
Plane: provide target velocity in QPOS descent
2021-05-24 20:13:37 +10:00
Andrew Tridgell
74da3c74ac
Plane: cope with Q pitch limit larger than fixed wing limit
...
prevents tailsitter VTOL transition timeout due to not achieving angle
2021-05-24 20:13:37 +10:00
Andrew Tridgell
71fa52d5c6
Plane: fixed slowing descent in final phase of QLAND
2021-05-24 20:13:37 +10:00
Andrew Tridgell
ec1cbb06fd
Plane: allow reposition in auto land
2021-05-24 20:13:37 +10:00
Andrew Tridgell
6eafcdb558
Plane: added Q_OPTION bit for throttle control of landing speed
2021-05-24 20:13:37 +10:00
Andrew Tridgell
24375cf9c1
Plane: change printf calls to send_text
2021-05-24 20:13:37 +10:00
Andrew Tridgell
52b4c257ec
Plane: prevent oscillation in GUIDED mode hover
2021-05-24 20:13:37 +10:00
Andrew Tridgell
5a880c74b6
Plane: use input shaping from pos_control
...
smoother navigation with new input shaping code
2021-05-24 20:13:37 +10:00
Andrew Tridgell
a6ec7d9f23
Plane: ensure xy controller is initialised
2021-05-24 20:13:37 +10:00
Andrew Tridgell
9d52333afc
Plane: don't start descent till under 3m/s
2021-05-24 20:13:37 +10:00
Leonard Hall
4bae8f03a4
Copter: Use PosControl fixes
2021-05-24 20:13:37 +10:00
Leonard Hall
57952861d6
Plane: PosControl Update
2021-05-24 20:13:37 +10:00
Leonard Hall
ff2ae1d7d1
Plane: integrate AC_PosControl::get_roll_cd rename
2021-05-12 17:16:00 +10:00
Leonard Hall
1ce63bf433
Plane: minor format and comment fixes
2021-05-12 17:16:00 +10:00
Andy Piper
8e744a4a25
Plane: generalise ESC telemetry to allow harmonic notch handling with other ESCs
2021-05-12 17:01:11 +10:00
Pierre Kancir
8a0230e6d5
Plane: use MAVLink POSITION_TARGET_TYPEMASK
2021-05-11 09:53:50 +10:00
James O'Shannessy
5253b8a3ee
ArduPlane: Fix spiralling loiters when no fence return point can be found
2021-05-05 10:59:10 +10:00
Iampete1
fd2909d53f
Plane: change location refence frame correctly
2021-05-02 18:51:27 +10:00
Iampete1
1a182a52da
Plane: init terrain to locaiton and wpnav sub sytems
2021-05-02 18:51:27 +10:00
Iampete1
572e401894
Plane: fix QRTl terrain following
2021-05-02 18:51:27 +10:00
Iampete1
a165a0e1bb
Plane: fix loiter terrain following
2021-05-02 18:51:27 +10:00
Josh Henderson
5c8c961399
ArduPlane: Privatize AP_IntertialSensor Logging
2021-04-29 19:19:12 +10:00
Peter Barker
03d643a18a
ArduPlane: log auxillary function invocations
2021-04-29 13:00:40 +10:00
Peter Barker
453b7403b1
ArduPlane: remove duplicate log metadata fields
2021-04-27 16:38:40 +10:00
Peter Hall
d3dca4c17d
Plane: consistantly slew all three throttles
2021-04-27 09:37:32 +10:00
Peter Hall
47ab0360e7
Plane: tailsitter: do not output throttle
2021-04-27 09:37:32 +10:00
Hwurzburg
09fb9a8e58
Plane: limit speed scaling in Autotakeoff wo AS sensor option
2021-04-20 09:07:09 +10:00
Andrew Tridgell
da2ddda0cb
Plane: added in ATRP logging
2021-04-15 06:57:16 +10:00
Andrew Tridgell
93abd44446
Plane: added SRate to PID logging
2021-04-15 06:57:16 +10:00
Andrew Tridgell
96059a6387
Plane: allow for AUTOTUNE_LEVEL==0
2021-04-15 06:57:16 +10:00
Andrew Tridgell
d2d06af751
Plane: removed ATRP log msg
2021-04-15 06:57:16 +10:00
Andrew Tridgell
a35d8e584d
Plane: change param prefixes for roll/pitch controllers
2021-04-15 06:57:16 +10:00
Andrew Tridgell
e5308db8c2
Plane: added FLIGHT_OPTIONS bit to enable yaw control in ACRO mode
...
this allows for yaw damper in ACRO, which is important on some
vehicles with no vertical stabilize
See
https://discuss.ardupilot.org/t/rudderless-split-rudder-flying-wing/69273/4
2021-04-15 06:22:29 +10:00
Samuel Tabor
4cc92c6b3e
Plane: Constrain target_airspeed_cm by min as well as max airspeed.
2021-04-14 06:43:09 -07:00
Samuel Tabor
baf31fd825
Plane: Ensure trim airspeed is applied if in auto with no DO_SPEED command received.
2021-04-14 06:43:09 -07:00
Peter Barker
6a32afcd72
ArduPlane: tidy setting of sensor status flags
2021-04-14 18:03:27 +10:00
Andrew Tridgell
b749756c29
Plane: setup SMAX for Q modes
...
this enables logging of rates, which helps with tuning
2021-04-13 10:28:47 +10:00
Andrew Tridgell
b984dd4a62
Plane: added in FF component in tailsitters
...
this is needed for decent control of tailsitters
2021-04-13 10:28:47 +10:00
Peter Hall
105f94f1fd
Plane: tailsitter: transistion to and from inverted flight
2021-04-13 10:02:28 +10:00
Peter Hall
5a941ce02f
PLane: tailsitter: instant transition when disarmed
2021-04-07 17:55:48 +10:00
Peter Hall
33f9e3d4b6
plane: add tailsitter transision rates, give more info in transision complete messages
2021-04-07 17:55:48 +10:00
Peter Barker
aa973c5245
ArduPlane: move handling of last-seen-SYSID_MYGCS up to GCS base class
2021-04-07 17:54:21 +10:00
Iampete1
75dc0ced10
Plane: Quadplane: remove outdated Z controller reset
2021-04-07 17:37:30 +10:00
Stavros Korokithakis
3c19579988
Plane: Push the TECS to climb in all circumstances
2021-04-06 21:37:01 +10:00