48881eeb55
Plane: fixed yaw on the ground when rudder disarming in AUTO
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when a quadplane touches down in an auto throttle mode the pilot may
use rudder to disarm. The check for rudder disarm was only active in
modes without auto-throttle. This expands it to all modes if the
throttle has hit the lower limit
2022-03-24 07:44:40 +11:00
680162cef0
Plane: added a value for RTL_AUTOLAND to disable arming check
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set RTL_AUTOLAND=3 to get go-around but not RTL DO_LAND_START usage
2022-03-23 20:22:58 +11:00
27cbe5dbbb
Plane: prevent rapid RTL/AUTO switching on fence breach
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don't switch back to RTL if already in a DO_LAND_START sequence
2022-03-23 20:21:59 +11:00
d82a306cc2
Plane: when shutting down motors force outputs to minimum
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this fixes issue #20354 where a long spool time can lead to motors
running without control for an extended period of time.
2022-03-23 18:20:42 +11:00
2784f8fa7f
Plane: remove persistent guided_WP_loc state
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So instead of updating plane.guided_WP_loc and then calling
set_guided_WP(void) to copy that state into plane.next_WP_loc we pass
the new location in the call to set_guided_WP(const Location &loc).
avoidance was the only place which was not entirely over-writing
plane.guided_WP_loc. However, plane.next_WP_loc was updated to be the
current location when we entered guided mode. If we update the
horizontal/vertical avoidance now it is relative to the current
location, not the guided wp location, which could be quite important.
2022-03-22 10:14:40 +11:00
1f5165349e
Plane: correct compilation when airspeed disabled
2022-03-20 21:47:05 +11:00
2c22cbc50e
Plane: update release notes for 4.2.0beta3
2022-03-18 21:13:54 +11:00
14700063d2
ArduPlane: convert floating point divides into multiplys
2022-03-18 15:26:44 +11:00
6ebefbdb16
Plane: added airspeed based pitch limit check
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prevent using too much pitch when at low airspeed, which can lead to
severe instability in SLT quadplanes
2022-03-18 13:36:16 +11:00
eabdaae1e7
Plane: use set_lean_angle_max_cd()
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allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
2022-03-18 13:36:16 +11:00
cc6fc2b130
Plane: improvements to POSITION1 controller
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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
2022-03-18 13:36:16 +11:00
3772029450
Plane: fixed pitch envelope after AIRBRAKE
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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
2022-03-18 13:36:16 +11:00
8b16b5ca94
Plane: adjust throttle mix for auto landing
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use mix-max during landing approach and initial descent, use min in
land final. As discussed with Leonard
2022-03-18 13:35:46 +11:00
d93449ac28
ArduPlane: split AP_HAL_SITL and HAL_SIM_ENABLED
2022-03-17 14:39:55 +11:00
21ec47f184
Plane: Display Fence Breach message in GCS
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Send a "Geofence breach" message to the Ground Control Station. Without this when the fence is breached and if anything happens as a result, such as RTL, it will happen silently.
2022-03-16 18:04:19 +11:00
a1856c5c22
Plane: added an arming check for Q_ASSIST_SPEED
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Q_ASSIST should really be enabled for all non-tailsitter
quadplanes. This arming check will help users remember to configure it
2022-03-16 09:29:14 +11:00
82937ca778
Plane: check that RTL_AUTOLAND is set if using DO_LAND_START
2022-03-14 09:52:41 +11:00
0ca48fa9da
Plane: added release notes for 4.2.0beta2
2022-03-10 13:44:05 +11:00
55c46cd868
Plane: protect against short stop_distance
2022-03-10 13:41:18 +11:00
5e14b9efe6
Plane: use pos control for most of LAND_FINAL
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this gives more accurate landing with some velocity drift
2022-03-10 07:34:20 +11:00
cc9b9813cb
Plane: review fixes
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thanks Pete!
2022-03-10 07:34:20 +11:00
f09c715d7a
Plane: wait till motors are fully up before takeoff in guided mode
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this allows for guided mode takeoff in tilt-rotors. Otherwise motors
till be pointing forward and takeoff will go very badly
2022-03-10 07:34:20 +11:00
3659669409
Plane: cope with high angle error in airbrake state
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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
2022-03-10 07:34:20 +11:00
f9ecf15973
Plane: setup target accel in POSITION1 state
2022-03-10 07:34:20 +11:00
2864e21b31
Plane: allow for a trans decel margin
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so if we are behind the velocity curve we are less likely to overshoot
landing
2022-03-10 07:34:20 +11:00
33bc067edf
Plane: fix NAV_CONTROLLER_OUTPUT in Q modes
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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
2022-03-10 07:34:20 +11:00
3fe9a55269
Plane: added APIs for lua ship landing
2022-03-10 07:34:20 +11:00
c54fb0f51b
Plane: link in AP_Follow
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ready for ship landing
2022-03-10 07:34:20 +11:00
72087335f7
Plane: removed terrain home correction
2022-03-10 07:34:20 +11:00
a7bc844780
Plane: never stick mix without valid RC input
2022-03-09 18:26:30 +11:00
c46a19bf89
ArduPlane: tailsitter: keep attitude controll throttle level upto date for smoother controller handover
2022-03-09 18:21:51 +11:00
8ccf84d9a3
Plane: disallow mavlink disarm while flying
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this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
2022-03-09 17:13:45 +11:00
962d1d112b
ArduPlane : Indentation correction
2022-03-08 14:24:46 -08:00
d8085f71af
ArduPlane : case label indentation
2022-03-08 14:24:46 -08:00
6d63e1f7d3
Plane: added Q_LAND_ALTCHG parameter
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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
2022-03-09 07:50:10 +11:00
54e57ccff0
Plane: don't prevent stick mixing in none RC failsafe
2022-03-08 11:21:13 +11:00
302c8e4b98
ArduPlane: rename within_min_dz to in_min_dz for consistency
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... consistency with in_trim_dz
2022-03-08 11:17:45 +11:00
08d53c2d64
Plane: change master version to 4.3.0dev
2022-03-02 07:44:36 +11:00
ad53ee7f0e
Plane: added release notes for 4.2.0beta1
2022-03-02 07:43:59 +11:00
c0aa20b1d0
ArduPlane: include cleanups
2022-03-01 11:21:33 +11:00
0c32e71272
ArduPlane: clarify and simplify RC failsafe messages
2022-03-01 11:05:15 +11:00
452a5df0cc
ArduPlane: add RebootRequred to stream rate parameters
2022-03-01 11:01:12 +11:00
80f8f8b14e
Plane: quadplane: double log QPOS state change
2022-03-01 10:59:07 +11:00
c26ffed47f
Plane: motor_test: use PWM min and max from RC_Channel
2022-03-01 10:47:25 +11:00
b19bfba0ec
Plane: use has_valid_input in place of checking throttle counter
2022-03-01 10:29:37 +11:00
13fa1e30ad
ArduPlane: rename and make enum RC_Channel::ControlType
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Type:: is too generic; get_type should probably be get_control_type
2022-02-27 09:55:01 +11:00
b444420329
Plane: removed controller error in transmitter tuning
2022-02-22 12:23:48 +11:00
e3e125c307
Plane: prepare for 4.1.7
2022-02-21 12:11:28 +11:00
267583db55
Plane: quadplane: never reset yaw target rates when entering QPOS1
2022-02-21 09:35:06 +11:00
9fd14dbf94
Plane: quadplane: set IO failsafe limit for all motors
2022-02-17 12:31:16 +11:00
Andrew Tridgell
Peter Barker
Henry Wurzburg
Tim Tuxworth
Iampete1
RuffaloLavoisier