Henry Wurzburg
73f58d3624
ArduPlane: expand explanations in FWD THR docs
2023-11-07 10:57:04 +11:00
Iampete1
a6206bde3c
Plane: move to new `using_airspeed_sensor` ahrs method
2023-10-31 10:39:21 +11:00
Michael du Breuil
b630efd4db
ArduPlane: Pass the 4th parameter to ICE for engine start
2023-10-24 14:11:39 -07:00
Peter Barker
aa78f53498
Plane: use origin-relative altitudes rather than home-relative
2023-10-18 19:49:06 +11:00
Henry Wurzburg
a26ee15216
Plane:force min transition timer to 2 sec
2023-10-17 14:32:24 +11:00
Mykhailo Kuznietsov
b7c040e8bc
ArduPlane: Fix some typos
...
Fixed some typos found in the code.
2023-10-12 18:30:42 +11:00
Andrew Tridgell
babdb3625a
Plane: moved assign tilt to the run() function
...
this prevents double calling and fixes qhover
2023-09-27 11:43:45 +10:00
Paul Riseborough
2f0bbf14a4
Plane: fix metadata units for Q_FWD_PIT_LIM
2023-09-27 11:43:45 +10:00
Paul Riseborough
3866f2b4b5
Plane: Rework pitch limiting in QuadPlane::assign_tilt_to_fwd_thr
...
Don't unnecessarily increase the forward pitch limit when position control forward action is saturated.
2023-09-27 11:43:45 +10:00
Paul Riseborough
acf8dbaeee
Plane: Add diagnostics logging to QuadPlane::assign_tilt_to_fwd_thr
2023-09-27 11:43:45 +10:00
Paul Riseborough
fa5aef050c
Plane: Restructure throttle scaling and pitch limiting to enable logging
2023-09-27 11:43:45 +10:00
Paul Riseborough
c2d6db13ec
Plane: explicitly type cast pitch limit
2023-09-27 11:43:45 +10:00
Paul Riseborough
90eacaeb88
Plane: fix centi-degree scaling bug
2023-09-27 11:43:45 +10:00
Paul Riseborough
da595bbf88
Plane: Add protection for failed quadplane forward thrust motor
2023-09-27 11:43:45 +10:00
Andrew Tridgell
e3ce7d966b
Plane: fixes from review
2023-09-27 11:43:45 +10:00
Andrew Tridgell
573de2fc17
Plane: implement methods for aux switch control of vfwd code
...
and use a common function for the active method
2023-09-27 11:43:45 +10:00
Paul Riseborough
4993dcb814
Plane: Remove duplicated parameter check
2023-09-27 11:43:45 +10:00
Paul Riseborough
daea00168b
Plane: Use Q_FWD_THR_USE parameter to control modes that use Q_FWD_THR_GAIN
2023-09-27 11:43:45 +10:00
Paul Riseborough
ed91d428e1
Plane: Default Q_FWD_THR_GAIN to 0 and update meta data
2023-09-27 11:43:45 +10:00
Paul Riseborough
7bbd0ed74e
Plane: prevent wind up of Q-mode velocity controller I term
2023-09-27 11:43:45 +10:00
Paul Riseborough
b3a1807349
Plane: Fix use of q_fwd_nav_pitch_lim_cd class variable
2023-09-27 11:43:45 +10:00
Paul Riseborough
16895003df
Plane: if statement cleanup in QuadPlane::assign_tilt_to_fwd_thr
2023-09-27 11:43:45 +10:00
Paul Riseborough
04e5f6b5f6
Plane: use forward tilt instead of forward throttle when close to ground
2023-09-27 11:43:45 +10:00
Paul Riseborough
8988de3c7c
Plane: Allow non positive values of Q_FWD_PIT_LIM to be used
2023-09-27 11:43:45 +10:00
Paul Riseborough
e866998b21
Plane: Rename q_fwd_tilt_lim to q_fwd_pitch_lim
2023-09-27 11:43:45 +10:00
Paul Riseborough
c15bb3f1e3
Plane: remove code that can never run
2023-09-27 11:43:45 +10:00
Paul Riseborough
98220c7315
Plane: Handle reset of q_fwd_throttle in QuadPlane::mode_enter(void)
2023-09-27 11:43:45 +10:00
Paul Riseborough
2d3431a1ac
Plane: Improve use of forward flight motors and tilting rotors in Q modes
2023-09-27 11:43:45 +10:00
Henry Wurzburg
f5beb4772d
ArduPlane: correct/expand param metadata re synth airspeed
2023-09-26 09:04:51 +10:00
Andy Piper
f25e67e3eb
Plane: add option to scale FF in VTOL modes based on ratio of angle gains
2023-09-13 18:02:44 +10:00
Andrew Tridgell
9d98244730
Plane: fixed nav_roll/nav_pitch when waiting for VTOL takeoff
...
the nav_roll_cd and nav_pitch_cd were not being set in the VTOL
takeoff code when disarmed. This led to small increments accumulating
in the stick mixing code, leading to large control surface movements
before arming
2023-09-03 09:51:24 +10:00
Michael du Breuil
a8102d6662
Plane: On vtol landings if from a mission perform crosstracking
2023-07-18 10:44:11 +10:00
Andrew Tridgell
40ce471fec
Plane: fixed transition started airspeed message
...
this message was lost in recent refactoring
2023-07-04 07:22:01 +10:00
Andrew Tridgell
086d0907dd
Plane: fixed TECS state reset in VTOL auto
...
this fixes a bug where TECS maintains its slow integrator while in a
VTOL hover mode in AUTO or GUIDED.
Among other things this affects PAYLOAD_PLACE and
DO_VTOL_TRANSITION. In those states the height can change while
hovering outside the control of TECS. When TECS regains control in a
fwd transition then can lead to a very large height loss or gain until
the TECS integrator can catch up
2023-07-03 07:03:14 +10:00
Andrew Tridgell
ccd38ddee0
Plane: improved fwd throttle during VTOL landing
...
this sets up the vwd integrator more reasonably when we are in
POSITION1 stage of VTOL landing. We need to have enough throttle to
cope with a headwind, but want it lower when we are at or above our
target closing speed so can minimise the amount of pitch up
This also makes the landing_desired_closing_velocity() consistent with
the landing speed used in approach, using average of airspeed min and
cruise speed if TECS_LAND_ARSPD is not set
The target airspeed for TECS during airbraking is now set to
ARSPD_FBW_MIN, on the basis we are trying to slow down to min speed,
and we have VTOL support which should prevent a stall.
To cope with a high headwind where ARSPD_FBW_MIN is below the headwind
we now check for too low achieved closing speed and switch to
POSITION1 which can use vfwd to get to the landing location
2023-06-27 11:40:55 +10:00
Henry Wurzburg
c6a822abe1
Plane: fix error in Qplane wait for rudder neutral
2023-04-25 10:27:21 +10:00
Iampete1
74e4466cb4
Plane: use dedicated quadplane function for stick mixing enable
2023-04-25 10:06:50 +10:00
Henry Wurzburg
1415418d6e
Plane:Takeoff on rudder arm only after return to neutral
2023-04-25 09:28:45 +10:00
Mirko Denecke
eb6c5aa7d3
ArduPlane: remove unused update_transition() definition
2023-04-25 09:10:11 +10:00
Nick Exton
674d7facde
Plane: Use Location::same_loc_as() in QuadPlane::waypoint_controller()
2023-04-04 09:40:45 +10:00
Henry Wurzburg
a86ff90b97
ArduPlane: add AUTO VTOL landing abort AUX sw
2023-03-14 10:52:23 +11:00
Andrew Tridgell
38d7bcff6b
Plane: re-init throttle wait on quadplane arm and disarm
...
this prevents yaw from rudder arming on 2nd flight
2023-02-26 07:06:09 +11:00
Andrew Tridgell
a57e6455ab
Plane: use is_armed_and_safety_off()
...
this no longer sets soft_armed false when safety is on, and instead
uses is_armed_and_safety_off() when appropriate
2023-02-21 07:44:09 +11:00
Andrew Tridgell
99f997161a
Plane: holdoff auto takeoff till rudder neutral
...
when arming with rudder we need to hold off the takeoff until the user
has released the rudder stick or we can yaw badly during the takeoff
2023-02-09 07:02:32 +11:00
Andrew Tridgell
2989e2deba
Plane: added support for NAV_PACKAGE_PLACE mission item
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this works in conjunction with a lua script to allow for a wide
variety of package place options
2023-02-09 07:02:12 +11:00
Peter Barker
648a13d3f7
ArduPlane: add and use AP_ADVANCEDFAILSAFE_ENABLED
2023-02-08 19:00:13 +11:00
Andrew Tridgell
6623f1156c
Plane: transition pitch limit should not apply to FBWA
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pilot should be able to override pitch, very important on motor
failure to control glide
2023-01-30 09:19:14 +11:00
Iampete1
bf9d49b72d
Plane: Quadaplane: add param for min QRTL altitude when close to home
2023-01-25 19:34:53 +11:00
Henry Wurzburg
636a18f98f
Plane: Update Q_OPTIONS metadata to new format
2023-01-03 10:29:44 +11:00
Iampete1
a99748a13d
Plane: Quadaplane: use land_at_climb_rate_cm only when landing
2022-12-30 20:25:58 +09:00