Gone4Dirt
760909d046
Plane: Prevent FS action overiding VTOL land
2019-12-31 11:42:59 +11:00
Mark Whitehorn
56b2c697d2
Plane: change tailsitter_input to bitmask
...
update parameter metadata for Q_TAILSIT_INPUT and Q_FRAME_TYPE
2019-12-18 08:33:29 +11:00
Mark Whitehorn
14fc6c5446
Plane: add logging for tailsitter gainscaling and clean up tailsitter body-frame roll input handling
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fix metadata for tailsitter param GSCMSK
rework roll/yaw scaling for body-frame roll options
add constraints on body-frame roll and yaw inputs
move speed_scaler logging into QTUN message
2019-12-18 08:33:29 +11:00
kd0aij
95da094bfe
Plane: update tailsitter speedscaling logic
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add tailsitter gain scaling option mask and logging
tailsitter qassist bugfix; thanks, @iampete
apply roll limit in tailsitter bodyframe roll control
add define for future exclusion of tailsitter gainscaling debug code/logging
tailsitter bodyframe roll and qacro input scaling bugfixes:
respect Q_TAILSIT_RLL_MX and roll/yaw scale parameters in bodyframe roll modes
fix unintended swap of Q_ACRO_RLL/YAW_RATE params in QACRO mode
don't scale motor tilt
Co-authored-by: IamPete1 <33176108+IamPete1@users.noreply.github.com>
2019-12-18 08:33:29 +11:00
Andrew Tridgell
36baaeb3a0
Plane: added option to run idle governor in MANUAL mode
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useful for quadplane testing
2019-11-17 20:10:54 +11:00
Andrew Tridgell
e5bad28f1d
Plane: added Q_ASSIST_ALT parameter
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this allows for quadplane assistance in fixed wing modes when the
aircraft drops below a given altitude. This could help save an
aircraft that is flying badly in fixed wing mode
2019-11-09 20:17:36 +11:00
Mark Whitehorn
1a2abae902
Plane: reduce QTUN log rate to 25Hz
2019-10-20 06:24:46 +11:00
sas
9405fd6958
Plane: remove unused location argument to control_auto
2019-10-08 10:49:51 +11:00
Andrew Tridgell
5c43b18672
Plane: fixed height_above_ground() for case when rangefinder is below min
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this prevents a rangefinder that goes below min distance from causing
the calculations that depend on height above ground to fail
2019-09-17 09:36:26 +10:00
Michael du Breuil
4f22dff14d
Plane: Add an airspeed limit for quadplane takeoffs
2019-09-09 22:06:25 -06:00
Michael du Breuil
77afcf6a1b
Plane: Abort takeoffs that take to long to complete
2019-09-09 22:06:25 -06:00
Hwurzburg
44f6f7335e
Plane: Added Quadplane option for QRTL failsafe action
2019-07-05 11:25:56 +10:00
IamPete1
76663d66e8
Plane: support bicopter tiltrotors
2019-07-02 10:15:17 +10:00
Mark Whitehorn
4a7ce1b384
Plane: clean up qacro
2019-05-08 08:44:52 +10:00
Mark Whitehorn
f054301ec2
Plane: add QACRO roll/pitch/yaw rate params
2019-04-23 09:46:38 +10:00
Mark Whitehorn
8bcf2439ad
Plane: quadplane stabilize manual throttle midpoint and expo
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move throttle curve logic to AP_Math
use parameter THROTTLE_EXPO in get_pilot_throttle
2019-04-23 09:46:38 +10:00
Tom Pittenger
0270c57530
Plane: massive refactor and creation of Mode class
2019-04-02 16:28:52 +11:00
Mark Whitehorn
e0765747e7
Plane: add new tailsitter bodyframe roll option
2019-03-26 14:50:37 +11:00
Peter Barker
1a55f0ffab
Plane: FrSky support has moved to GCS
2019-03-19 14:39:14 +11:00
Andrew Tridgell
2b6210d594
Plane: use WP height for height above ground in vtol landing
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this allows for landings above or below the takeoff height without
requiring the use of terrain data. It allows both the use of vfwd
motor for holding against wind, and the correct height for land final
descent rate
2019-03-18 14:47:27 +11:00
Peter Barker
cf45b54070
Plane: quadplane use prearm checks from Attitude and Position controllers
2019-03-12 10:14:14 +11:00
Mark Whitehorn
4a6b97828f
ArduPlane: add tailsitter input type TAILSITTER_INPUT_BF_ROLL
2019-03-06 15:48:51 +11:00
Mark Whitehorn
6e4a2b97f9
ArduPlane:add subclass for copter tailsitters
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cleanup and add tailsit_motmx
add constexpr and motor mask check
add support for tricopter tailsitter
don't call output_motor_mask unless armed
fix whitespace
2019-03-06 07:53:46 +09:00
Mark Whitehorn
487ad7a90f
Plane: add QACRO mode for quadplanes
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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
Andrew Tridgell
136e10a781
Plane: handle VTOL landing with incorrect height
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if landing above expected height then run landing detector to allow a
switch from LAND_DESCEND to LAND_FINAL
this prevents the plane sitting on the ground until the battery runs
out
2019-02-26 11:12:58 +11:00
Michael du Breuil
b290148ed0
Plane: Don't overwrite the quadplane loiter relax
2019-02-23 11:08:21 +11:00
Michael du Breuil
c15983c690
Plane: prevent loss of control when Q_ENABLE is set while flying
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Also rename check_throttle_suppression
2019-02-21 21:38:03 -07:00
Mark Whitehorn
95b3a5bacd
ArduPlane: implement hover throttle learning for quadplanes
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disable by default
check quadplane.enable in update_hover_learn
2019-02-16 19:04:13 -08:00
Mark Whitehorn
b9f3118374
Plane: allow changing Q_TRIM_PITCH in flight
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change float comparison to is_equal
2019-02-12 09:42:19 +11:00
Michael du Breuil
df1632054e
Plane: Update throttle mix
2019-02-05 11:05:54 +11:00
Michael du Breuil
d6cac4b52a
Plane: Add a failure timer for quadplane forward transitions
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Falls over to QLAND if we fail to transition
2019-01-08 10:52:12 +11:00
Michael du Breuil
69c87c6c4a
Plane: Disallow arming if quadplane has been requested but isn't available
2018-12-28 18:09:21 +11:00
Andrew Tridgell
d3afc9424a
Plane: make QTUN logging match copter logging
2018-12-21 22:17:52 +11:00
Michael du Breuil
1a45755ffd
Plane: Support a different landing radius for quadplane fw approach
2018-12-18 10:11:22 +11:00
Nikhil Upadhye
d1e93bae83
Plane: adding new mode QAUTOTUNE
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copter like autotune support for quadplanes and tailsitter in VTOL mode.
cleanup
2018-12-14 16:33:11 +11:00
Randy Mackay
71708ee4ea
Plane: quadplane uses set_defaults_from_table
2018-12-06 12:23:41 +09:00
IamPete1
c6e70c0454
Plane: add roll limit for tailsitters
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Quadplane: add tailsitter pitch params
2018-12-01 09:40:07 +11:00
Andrew Tridgell
c59b2c156a
Plane: fixes for Q_TRIM_PITCH
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improved documentation and variable names
2018-11-12 17:05:04 +11:00
IamPete1
5a7bd61e8c
Quadplane: add trim params
2018-11-12 17:05:04 +11:00
Michael du Breuil
8e906e0ba0
Plane: Add support for a loiter to alt approach to VTOL landing
2018-11-10 18:58:54 +11:00
Michael du Breuil
b6efc8a20b
Plane: reduce some copy pasted code
2018-09-20 13:47:21 -07:00
Andrew Tridgell
ef154cf3fa
Plane: fixed relaxing of attitude controller on transition
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this fixes an issue found by Leonard where the attitude controller
could have residual control left over from a previous transition when
engaging the VTOL attitude controller
2018-09-15 11:00:29 +10:00
Michael du Breuil
f9e56f9d12
Plane: Respect frame type on VTOL_TAKEOFF commands
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allow missioncommands to fail to start
2018-09-11 06:42:00 +10:00
Michael du Breuil
925d76bb8c
Plane: Small cleanup to quadplane const (and clarity)
2018-09-04 15:11:41 +10:00
Michael du Breuil
3d923d0572
Plane: Send a quadplane version of NAV_CONTROLLER_OUTPUT
2018-08-07 09:49:01 +10:00
IamPete1
20c67019b0
Plane: added Q_TAILSIT_THSCMX
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this provides more flexibility in tailsitter throttle scaling
2018-07-19 09:48:25 +10:00
Randy Mackay
840a6e4147
Plane: quadplane uses AC_Loiter
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includes param conversion
2018-04-04 10:45:10 +09:00
Peter Barker
f6a185a3c3
Plane: factor vehicle's mavlink send_heartbeat
2018-04-03 13:05:19 +01:00
Randy Mackay
a0a9a68fbc
Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC
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Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
2018-03-16 13:50:57 +09:00
Randy Mackay
f41f4dc6e5
Plane: move pos-control pids to pos-control library
2018-01-23 12:00:43 +09:00