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55,772 Commits 70 Branches 507 Tags 660 MiB
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4486 Commits

Author SHA1 Message Date
Henry Wurzburg 06730ab1bc ArduPlane: add warning for large offset cal 2022-12-13 17:08:42 +11:00
Peter Barker 92a658c298 Plane: call adjust_altitude_target after setting waypoint 
if we're too close to the next waypoint then we can end up using stale altitude target data when deciding whether a waypoint is complete or not.
 2022-12-13 11:41:23 +11:00
Iampete1 b957ef1289 Plane: QRTL if RTL is expecting to VTOL land and close home with VTOL motors active 2022-12-13 10:32:32 +11:00
Andrew Tridgell 8dff38a4a1 Plane: updated release notes for 4.3.2beta2 2022-12-12 08:02:06 +11:00
Iampete1 152eb47020 Plane: Quadaplane: add aux function for QStabilize mode 2022-12-06 11:22:35 +11:00
Andrew Tridgell 289f76ac9c Plane: added FAST_TASK() for key scheduler tasks 
this will be needed with #22298 as that now relies on integrating
position based on loop times
 2022-12-06 11:17:04 +11:00
Andrew Tridgell 6db842e967 Plane: ensure smoothed airspeed is > 0 
prevent possible divide by zero
 2022-12-06 09:02:44 +11:00
Andrew Tridgell 49d0a4906a Plane: added turn corrdination to autotune yaw rate tuning 
this makes it much easier to do a yaw rate autotune, and also means
you don't need to use the rudder stick at all, as the yaw controller
is already exercised nicely with roll movements, so overall the tune
is faster and more accurate as less cross-axis coupling
 2022-12-06 09:02:44 +11:00
Andrew Tridgell 99066a27f8 Plane: ensure we init z controller when inactive 
this prevents us getting the AC_PosControl internal error, which is
turning up as a common false positive.
 2022-12-05 07:50:05 +11:00
Iampete1 d66485c60a Plane: Quadplane: use uint16_t for output_motor_mask 2022-11-29 10:53:59 +11:00
Peter Hall 148c8d6eec Plane: Quadplane: tiltrotor: add Q_OPTION to keep motors tilted up when disarmed in FW modes 2022-11-29 10:51:23 +11:00
Iampete1 edf89b02ea Plane: Quadplane: 0 rate_bf_yaw_target as more or less the same as radians value in cd funcion 2022-11-25 18:13:00 +11:00
Wiktor Maslowski 72391d3649 ArduPlane: fix long booting 2022-11-25 11:09:43 +09:00
Peter Barker 447392c7f4 Plane: factor out handle_manual_control_axes 2022-11-23 19:33:46 +11:00
Henry Wurzburg b9863d8514 Plane: enable QUAUTOTUNE build option 2022-11-22 10:58:03 +11:00
Andrew Tridgell bff68b112c Plane: update release notes for 4.3.2-beta1 2022-11-21 19:37:33 +11:00
Andrew Tridgell 21c9737ffa Plane: increase NAV_SCRIPT timeout to 1s 
this is needed for processing of very complex schedules
 2022-11-14 20:35:31 +11:00
Andrew Tridgell 15a2e0c1c8 Plane: only apply THR_MIN if ICE has allow_throttle_while_disarmed 
this fixes the disarmed throttle to be zero on normal aircraft
 2022-11-14 11:14:09 +11:00
Peter Barker de4dda2d17 ArduPlane: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Henry Wurzburg a84f6b6dee Plane: added AUTOTUNE_AXES function to normal tune 
Co-authored-by: Peter Hall
 2022-11-08 10:54:36 +11:00
Andrew Tridgell a94f75fe29 Plane: fixed changing modes causing aerobatics abort 2022-11-07 21:22:43 +11:00
Andrew Tridgell 41fbbd92bc Plane: zero error on release of sticks 
this locks the attitude at exactly the stick release position on each
axis

thanks to Adrian Nagy for feedback
 2022-11-02 07:55:37 +11:00
Andrew Tridgell 499fe79221 Plane: implement quaternion based ACRO mode 
when ACRO_LOCKING=2 this implements a quaternion based ACRO
controller, which allows for accurate rolls and knife edge
 2022-11-01 15:00:26 +11:00
Andrew Tridgell 500ac9b99c Plane: cleanup abort of NAV_SCRIPT 
use the same enable flag for tricks and auto NAV_SCRIPT_TIME and
ensure we disable if the script stops controlling
 2022-10-29 21:22:29 +11:00
Andrew Tridgell 06edc9a139 Plane: constrain throttle in NAV_SCRIPT 2022-10-29 21:22:29 +11:00
Andrew Tridgell 210dac7356 Plane: default takeoff pitch to 15 deg for PPDS 2022-10-29 21:22:29 +11:00
Andrew Tridgell ff5b4f1b13 Plane: unlock cruise/loiter heading while doing a scripted trick 
and reset height
 2022-10-29 21:22:29 +11:00
Henry Wurzburg 59b5a6e604 Plane: clarify ALT_HLD_FBWCM description 2022-10-26 21:21:25 +11:00
Peter Barker fdd5c048a4 ArduPlane: rename parameter name BRD_SAFETYENABLE to BRD_SAFETY_DEFLT 2022-10-26 19:53:03 +11:00
Andrew Tridgell 0c14a28aa3 Plane: check for EFI enable in messages 2022-10-25 11:44:45 +11:00
Peter Barker 3400d5e4a5 ArduPlane: use fence singleton in afs check 2022-10-25 11:31:14 +11:00
Andrew Tridgell d207e28de4 Plane: release notes for 4.3.1 2022-10-24 09:24:07 +11:00
Andrew Tridgell 6a005c893e Plane: cover more cases in fence breach mode change 
we want to allow all landing sequence mode changes
 2022-10-24 09:16:38 +11:00
Andrew Tridgell 71fdf37055 Plane: allow mode switch on fence breach for RTL_AUTOLAND 
when we are in a fence breach we by default disallow mode changes, but
we need to allow for the switch to AUTO if the reason is we are
entering a landing sequence, which is part of the RTL process which is
the fence action
 2022-10-23 20:37:40 +11:00
Andrew Tridgell 90459ed6f4 Plane: two more arguments to NAV_SCRIPT_TIME 2022-10-23 18:11:15 +11:00
Andrew Tridgell bffc09eaf5 Plane: fixed yaw rate tuning in AUTOTUNE mode 
don't reset yaw rate controller continuously while we are trying to
use it
 2022-10-23 12:18:20 +11:00
Andrew Tridgell 2b69124229 Plane: use Float16_t 2022-10-23 12:14:14 +11:00
Henry Wurzburg 1eb8b6d499 Plane:add info to LEVEL_ROLL_LIMIT description 2022-10-20 07:59:52 +11:00
Henry Wurzburg 58f8c34211 ArduPlane: update SRX descriptions 2022-10-19 23:26:45 +11:00
Peter Barker b741b9e76e ArduPlane: move setting of MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW sensors flags up 2022-10-19 21:00:48 +11:00
khanasif786 1fe6d77eeb Plane: Max altitude for FBWB using Fence altitude 2022-10-19 18:28:52 +11:00
Andrew Tridgell 1421fccdac Plane: send HYGROMETER_SENSOR data if available 2022-10-19 13:17:30 +11:00
Andrew Tridgell 5ee251e39b Plane: release notes for 4.3.1beta1 2022-10-19 10:26:07 +11:00
Peter Barker 93c1b53a67 ArduPlane: stop sending BATTERY2 by default 2022-10-18 11:12:49 +11:00
Andrew Tridgell 8a0708efe8 Plane: scale VTOL angle P gains with airspeed 
During POSITION1 back-transiton we scale the MC angle P gains with
airspeed to reduce the chance of oscillations. At higher airspeeds the
fixed wing controller dominates so we should use the fixed wing angle
P gain.
 2022-10-18 07:38:39 +11:00
Andrew Tridgell 1c043bde9a Plane: log TECS target alt 
log the target alt we pass into TECS to help debug a CRUISE height
issue
 2022-10-18 06:49:46 +11:00
Tom Pittenger 46bc30a40c Plane: add guided radius to mavlink DO_REPOSITION 2022-10-11 09:35:28 -07:00
Iampete1 a774f314a2 Plane: Quadplane: SLT: enforce TECS pitch limits to beat race 2022-10-11 11:18:41 +11:00
Andrew Tridgell be8bebc090 Plane: 4.3.0 final release notes 2022-10-09 12:25:14 +11:00
Andrew Tridgell 91e6935e0b Plane: release notes for 4.3.0beta3 2022-10-07 10:47:24 +11:00