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Commit Graph

97 Commits

Author SHA1 Message Date
Andrew Tridgell
470a60f828 Plane: reset steering in MANUAL or when not stabilising 2019-08-22 20:10:09 +10:00
Andrew Tridgell
aa18c75689 Plane: decay fw rate integrators when at low airspeed 
this prevents large fixed wing control surface integrators from
causing issues when we have wind from behind in hover
 2019-07-07 18:16:47 +10:00
Andrew Tridgell
ebe2278f5d Plane: reset rate controller integrators if not run for 2s 
this prevents a bug where integrator buildup can happen from a
previous flight mode
 2019-07-07 18:16:47 +10:00
Tom Pittenger
6970a66cad Plane: refactor stick_mixing to library 2019-05-03 13:14:11 -07:00
Tom Pittenger
0270c57530 Plane: massive refactor and creation of Mode class 2019-04-02 16:28:52 +11:00
Mark Whitehorn
487ad7a90f Plane: add QACRO mode for quadplanes 
use acro_r/p/y_rate params in qacro
port ACRO throttle handling from copter

handle non-tailsitter controls
 2019-03-05 10:13:20 +11:00
Michael du Breuil
843c92ced5 Plane: Remove some redundant code/state resets 2019-01-15 10:45:50 +11:00
Michael du Breuil
e6bc44f471 Plane: Fix cases where quadplane level transition was not applied 2018-12-31 10:36:32 +11:00
Nikhil Upadhye
d1e93bae83 Plane: adding new mode QAUTOTUNE 
copter like autotune support for quadplanes and tailsitter in VTOL mode.

cleanup
 2018-12-14 16:33:11 +11:00
Andrew Tridgell
fa04c2d094 Plane: prevent jitter on surfaces due to speed scaling 
when disarmed the k_throttle output can oscillate due to stage in the
loop we are at, even though actual output is zero. This can cause
jitter in the speed scaling, which causes surface movement

To fix, don't use k_throttle value when disarmed
 2018-12-06 17:44:11 +11:00
Andrew Tridgell
da69bf3391 Plane: added an abstraction for reverse thrust 
use have_reverse_thrust() and get_throttle_input()
 2018-11-16 08:33:35 +11:00
Andrew Tridgell
1c162c8b64 Plane: ensure speed scaling covers full aircraft speed range 
this is important for very fast or very slow aircraft
 2018-11-02 15:30:50 +11:00
Andrew Tridgell
2215913b02 Plane: added speed scaling reduction for Q modes 
when in a Q mode reduce surface movements at low airspeed, in case we
have the wind from behind us. This prevents the control surfaces from
causing instability
 2018-09-14 19:28:29 +10:00
Michael du Breuil
8417bcc7d5 Plane: Add flight options bitmask 2018-08-28 09:40:53 +10:00
Tom Pittenger
512b327cd4 Plane: failsafe events to use enums instead of magical numbers : Non-functional change 2017-12-07 00:19:32 -08:00
Andrew Tridgell
85573b3ff3 Plane: fixed a division by zero 
if min airspeed is zero
 2017-11-19 16:04:40 +11:00
Michael du Breuil
d52f5155f0 Plane: Rename rc failsafe state members 2017-11-02 16:46:08 -07:00
Andrew Tridgell
552faa8f67 Plane: smoother tailsitter transitions 
this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
 2017-10-30 16:30:38 +11:00
Andrew Tridgell
af893ddde7 Plane: implement Q_OPTIONS 
this allows for NAV_TAKEOFF to be treated as NAV_VTOL_TAKEOFF in
quadplanes, and for level flight to be maintained during quadplane
transitions
 2017-10-30 16:30:10 +11:00
Michael du Breuil
1bb806edb2 Plane: Use new landing interfaces 2017-03-02 12:38:59 +11:00
Andrew Tridgell
c787f4c56f Plane: initial support for tailsitter transitions 2017-02-18 17:26:43 +11:00
Michael du Breuil
29b16dbafd Plane: Refactor to request relative altitudes from AHRS 
Removes the need for plane to do the math for finding the relative height.

Also caches the value at the same time we update current_loc, which is a
non behaviour change as that was the only time you could see a change in
the relative height propegate through the system anyways
 2017-02-13 09:23:14 +11:00
Tom Pittenger
e709705ab8 Plane: describe flight stages without using specific stage name 2017-01-26 13:11:43 -08:00
Andrew Tridgell
081909bf6a Plane: removed use of pwm_to_angle() 2017-01-12 17:39:37 +11:00
Andrew Tridgell
b83f50be0f Plane: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Tom Pittenger
063f517424 Plane, TECS, AP_Landing: rename stage LAND_ABORT to ABORT_LAND 
this will reduce confusion when searching for FLIGHT_LAND_* and you get a bunch of takeoff related hits. It will also make more sense when the landing library fully manages the FLIGHT_LAND stage entirely because it will not mange FLIGHT_LAND_ABORT
 2016-12-30 23:50:03 -08:00
Tom Pittenger
c286ceba43 Plane: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:03 -08:00
Mathieu OTHACEHE
152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell
6aa3ded666 Plane: split main servo output functions into a separate file 2016-10-15 16:59:34 +11:00
Andrew Tridgell
d6890495aa Plane: added swapped channel version of elevon/vtail/flaperon output 
this makes it possible to setup an elevon plane without changing the
transmitter reversals
 2016-09-14 11:48:05 +10:00
Tom Pittenger
ca32bcc58d Plane: add new flight mode AVOID_ADSB to mimic GUIDED 2016-08-17 22:38:54 -07:00
Andrew Tridgell
c4c7a3051a Plane: added support for secondary throttles 2016-08-16 16:14:48 +10:00
Andrew Tridgell
adb5a3ee1f Plane: re-work AFS for new AP_AdvancedFailsafe API 2016-08-16 12:55:51 +10:00
Andrew Tridgell
5d6dfd927b Plane: changes for AP_AdvancedFailsafe naming 2016-08-16 12:55:50 +10:00
Tom Pittenger
fc50f145ce Revert "ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter)." 
This reverts commit da1b18d918.
 2016-08-07 17:54:24 -07:00
AndersonRayner
da1b18d918 ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter). 2016-08-04 10:09:04 -07:00
Andrew Tridgell
327a057ee0 Plane: added internal combustion engine support 
this allows for automatic engine start and restart
 2016-07-25 10:06:03 +10:00
Andrew Tridgell
96d785f1c6 Plane: added auto_navigation_mode flag 
this fixes a problem where modes like loiter and auto would allow for
rudder stick mixing even with STICK_MIXING=0
 2016-07-05 12:52:13 +10:00
Tom Pittenger
0597dbd033 Plane: allow SET_ATTITUDE_TARGET to set rpy and throttle 2016-07-01 08:28:53 -07:00
Tom Pittenger
85afd9e245 Plane: remove guided roll flag, handle it with timer=0 2016-06-30 07:48:37 -07:00
Michael Day
8ac433f991 Plane: Can now command roll from a companion computer. 2016-06-30 10:27:44 -04:00
Andrew Tridgell
bf2e30f858 Plane: removed demo_servos() 
this really didn't help much and slows down startup
 2016-06-27 10:19:26 +10:00
E Thomas
7d824247af Differential spoilers support, elevon offset 
Fixed differential spoilers support, added elevon offset
See PR #2935
 2016-06-06 21:55:50 -07:00
Tom Pittenger
ee29f38cdf Plane: moved takeoff flap check to NORMAL checks. 
TODP: add new flight stage FLIGHT_PRE_TAKEOFF to put this sort of thing into
 2016-06-06 14:51:24 -07:00
Samuel Rosenstein
296b279f0d Plane: fixed issue with preflight flaps. Flaps now go down in preflight mode 2016-06-06 14:18:44 -07:00
Michael du Breuil
41bb237799 Plane: remove throttle surpressed message 2016-06-06 15:24:18 +10:00
Andrew Tridgell
835235127c Plane: prevent divide by zero in SITL 
harmless on PX4
 2016-06-04 19:20:18 +10:00
Tom Pittenger
af1407a155 Plane: disable parachute code when not enabled via compile option 2016-06-01 17:38:51 -07:00
Andrew Tridgell
da5ce37bbc Plane: fixed gain on -ve stick mixing past 50% 
fixed a sign error in calculating gain on -ve stick mixing beyond 50%
input

thanks to Doug Weibel for a log that showed this effect
 2016-06-02 08:07:55 +10:00
Andrew Tridgell
eee06da1b5 Plane: use HAVE_PAYLOAD_SPACE() 2016-05-21 15:25:14 +10:00