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105 Commits

Author SHA1 Message Date
Iampete1 2d80dcd937 Plane: remove tailsitter VTOL transition race condition 2020-11-04 18:34:00 +11:00
Hwurzburg cf055fd1e0 Plane: add midposition to flare RC option sw 2020-10-27 10:47:07 +11:00
Hwurzburg b61ee34b6b ArduPlane: add RC option for landing flare 2020-10-13 11:36:19 +11:00
Andy Piper d16872cca5 Plane: compile out ADSB mode if required 2020-09-24 08:22:16 -07:00
Andrew Tridgell d9358b4ac2 Plane: don't allow a zero speed_scaler 
this fixes an issue with yaw damper on quadplanes when at zero
airspeed

Thanks to Vladi Portnoy for reporting this
 2020-06-29 20:09:41 +10:00
Buzz 0f5177b291 Plane: Support a set of offboard MAVLink guided controls with rates 
+ 3 rounds of fixes
 2020-05-20 15:03:21 +10:00
Michael du Breuil 37be15b3cd Plane: When stick mixing is disabled do not apply stick mixing to quadplane modes 2020-04-04 10:12:22 +11:00
Peter Hall a2e72de5ae Plane: move to airspeed_estimate with pointer 2020-01-14 22:34:37 -07:00
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