4e148959c9
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
2018-09-14 10:51:40 +10:00
eb7f752ec5
Plane: added Q_TAILSIT_THSCMX
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this provides more flexibility in tailsitter throttle scaling
2018-07-19 14:46:53 +10:00
840a6e4147
Plane: quadplane uses AC_Loiter
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includes param conversion
2018-04-04 10:45:10 +09:00
f6a185a3c3
Plane: factor vehicle's mavlink send_heartbeat
2018-04-03 13:05:19 +01:00
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
f41f4dc6e5
Plane: move pos-control pids to pos-control library
2018-01-23 12:00:43 +09:00
017e71a748
Plane: quadplane velocity pi moves to position control library
2018-01-23 12:00:43 +09:00
af007c5f0f
Plane: tighten handleMessage result type
2017-12-01 17:01:10 +00:00
9c8cd6c1cc
Plane: added Q_TRANS_DECEL
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this gives a deceleration rate for QRTL transition from RTL, and also
for transitions to QLOITER
2017-11-05 20:44:42 +11:00
21164ef409
Plane: added tailsitter surface speed scaling
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added scaling of control surfaces by throttle when in hover. This helps
the controller remain stable over a wide range of throttle levels, such
as when descending or rapidly climbing
2017-11-05 17:05:08 +11:00
552faa8f67
Plane: smoother tailsitter transitions
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this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
2017-10-30 16:30:38 +11:00
af893ddde7
Plane: implement Q_OPTIONS
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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
8178ab4037
Plane: make mav_type in HEARTBEAT configurable
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needed for qgc to setup for quadplanes
2017-10-20 15:41:06 +11:00
bc17c26dbf
Plane: limit pitch in transition to QLOITER and QLAND
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when switching to QLOITER or QLAND when in forward flight, limit the
maximum pitch to prevent a sudden decelleration
2017-09-09 08:14:09 +10:00
baee71a5b4
Plane: added GUIDED takeoff for quadplanes
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this allows takeoff in GUIDED mode in the same way as copters
2017-09-09 08:14:09 +10:00
a88e663191
Plane: adjust target altitude slowly in QRTL mode
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this fixes a sudden throttle drop when starting the descent in QRTL mode
thanks to Marco for finding this issue
2017-09-07 07:22:13 +10:00
6eaad59115
Plane: improve vectored tailsitter takeoff
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this gives extra pitch input when taking off a vectored tailsitter,
allowing the motors to point straight up for easy takeoff
thanks to Leonard for the idea!
2017-05-07 09:10:44 +10:00
b1f1ace736
Plane: support vectored yaw tiltrotors
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this adds support for tiltrotors which control yaw by vectoring the
forward motors. This avoids the need for the rear motor on a
tilt-tricopter to have a tilt servo
2017-04-24 16:54:41 +10:00
2d9c3e3d93
Plane: added EKF yaw reset handling to quadplane
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this follows the implementation from copter. Thanks to Leonard for the
suggestion
2017-04-24 16:52:16 +10:00
88e02c7b35
Plane: log the throttle mix for quadplane copter control
2017-04-19 09:08:43 +10:00
642a6acfcb
Plane: support thrust vectoring in tailsitters
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adds Q_TAILSIT_VHGAIN and Q_TAILSIT_VFGAIN, allowing for thust
vectoring in both fixed wing and hover
2017-04-11 17:34:40 +10:00
664e41cec6
Plane: bring in demanded climb rate over 1 second
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when we engage the Z controller in quadplane we bring in the climb
rate slowly to prevent a sudden change in motor demand
2017-04-09 16:45:19 +10:00
36d8f730e1
Plane: setup better defaults for tailsitters
2017-04-04 10:15:08 +10:00
5d06e4238f
Plane: make the quadplane motors var_info dynamic
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this will allow for more quadplane motors class types
2017-03-25 16:22:10 +11:00
e3a8d477f5
Plane: improve tiltrotor transition strategy
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avoid running forward motors at high throttle when transitioning to a
VTOL mode
2017-03-14 14:42:20 +11:00
3f7e7d456f
Plane: in fixed wing mode slave quadplane attitude rate controller
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For quadplanes this uses the attitude controller from fixed wing
when using the multicopter controller to assist fixed wing
flight. This prevents a rate mismatch between the two controller
leading to oscillation
2017-03-14 14:42:20 +11:00
2db8589f49
Plane: smarter Z controller initialisation for quadplanes
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this is more generic than the previous one used only for the full
position controller
2017-03-14 14:42:20 +11:00
c061d5615b
Plane: added manual input mask for tailsitter prop-hang
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This adds new parameters Q_TAILSIT_MASK and Q_TAILSIT_MASKCH. These
parameters allow a user to use the tailsitter capabilities of a 3D
plane to teach themselves to prop-hang.
It works by allowing the user to setup a switch on their transmitter
to enable manual pass-thru of a set of the input channels to outputs
when in tailsitter hover. The user can then use that switch to allow
learning of hover control in a 3D plane one channel (or two channels)
at a time.
2017-02-26 09:20:13 +11:00
3bb25eb194
Plane: added Q_TAILSIT_INPUT
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this allows the user to control tailsitters either in body frame (like
a plane) or in earth frame (like a multicopter). This is useful for
people wanting to learn to fly prop-hang on 3D planes
2017-02-26 09:20:13 +11:00
ea5186340b
Plane: added Q_TILT_RATE_UP and Q_TILT_RATE_DN as separate parameters
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allow control of tilt rate separately for UP and DOWN
always allow at least 90 degrees/second for switching to MANUAL
2017-02-25 17:53:26 +11:00
e8b11924f8
Plane: split out the tailsitter transition complete code
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use both roll and pitch to trigger completion of transition. This
copes with situations where the plane has managed to get itself rolled
over far enough that it can't recover into hover
2017-02-18 17:26:43 +11:00
c787f4c56f
Plane: initial support for tailsitter transitions
2017-02-18 17:26:43 +11:00
83f3cee99e
Plane: initial hooks for tailsitter support
2017-02-18 17:26:43 +11:00
5c820adad4
Plane: fixed tilt transition with binary tilt servo
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once the tilt is fully fwd then force transition as done at any
airspeed
2017-01-25 19:01:15 +11:00
54bca768b8
Plane: added Q_TILT_TYPE for retract servo tiltrotors
2017-01-25 19:01:15 +11:00
2f100b0804
Plane: removed separate tricopter quadplane build
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can all be done with one build now
2017-01-12 17:39:37 +11:00
c6dec5c3f6
Plane: quad plane uses consolidated multicopter classes
2016-12-31 10:55:23 +09:00
152edf7189
Global: remove mode line from headers
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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
574976a3b7
Plane: include AP_Proximity in quadplane
2016-10-13 20:21:07 +09:00
4e017bf5b3
Plane: fixed loiter mode when Q_GUIDED_MODE=1
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This fixes the fixed wing behaviour of LOITER mode whne
Q_GUIDED_MODE=1.
Many thanks to the PertUAV team for finding and reporting this bug
2016-10-01 08:37:17 +10:00
6d09897b19
Plane: fixed VTOL motor termination in AFS
2016-09-27 11:53:45 +10:00
dac7f45326
Plane: fixed use of multicopter mix_max
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we need a settable mix_max for some vehicles
2016-09-21 12:23:19 +10:00
3d0516fd57
Plane: added Q_ASSIST_ANGLE
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this automatically provides quadplane assistance if the angular error
is over the given value for 1 second while flying faster than
Q_ASSIST_SPEED
2016-08-30 08:35:18 +10:00
b29b609bcc
Plane: added AFS support for quadplanes
2016-08-16 12:56:12 +10:00
76b6cbbda1
Plane: prevent motor startup on reboot in quadplanes
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we need to prevent RC overrides within px4io from running
2016-08-16 12:53:34 +10:00
63317e9430
Plane: added throttle suppression for quadplanes
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this tries to prevent motor start when on ground. Motors instead go
into spin_when_armed state
2016-08-04 09:43:40 -07:00
f65b46385c
Plane: added engine cut on land final in quadplane
2016-07-25 15:46:17 +10:00
9201a57c83
QuadPlane: include AC_Avoidance, AC_Fence
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This is required because of AC_WPNav's use of the new avoidance library to stop at the fence
2016-06-22 11:38:15 +09:00
b456a38432
QuadPlane: remove throttle_mid
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motor's hover throttle is automatically updated
2016-06-18 11:55:49 +09:00
f2b0f09d6f
QuadPlane: remove THR_MIN
2016-06-18 11:55:49 +09:00
Andrew Tridgell
IamPete1
Randy Mackay
Peter Barker
Mathieu OTHACEHE