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28332 Commits

Author SHA1 Message Date
Andrew Tridgell 62273d2c1f Plane: prevent controller windup on ground 
when on the ground in an auto-throttle mode lik FBWB or CRUISE, we may
have the throttle suppressed. In that case we should not run the
multicopter controller on quadplanes, or it may build up control which
will then apply on takeoff. This is particularly severe for aircraft
that are not level on the ground, such as taildragger quadplanes

Fixes https://discuss.ardupilot.org/t/quadplane-flips-on-takeoff/22095

many thanks to Sriram for reporting
 2017-10-20 15:13:52 +11:00
Andrew Tridgell 110263ea98 Plane: update docs for Q_YAW_RATE_MAX 2017-10-19 20:59:02 +11:00
Andrew Tridgell d88dff98a6 Plane: added frame type 11 for FlreFlyY6 2017-10-06 11:37:14 +11:00
Andrew Tridgell 5b4e57414d AP_Airspeed: fixed airspeed autocal 
don't use negative pressures
 2017-09-22 18:28:32 +10:00
Mark Whitehorn a39cfda192 AP_Airspeed: eliminate airspeed positive bias 2017-09-22 18:28:07 +10:00
Andrew Tridgell ce5903f758 Plane: fixed MANUAL_RCMASK 
ensure it only applies in MANUAL, and fixed input scaling in px4io
 2017-09-19 16:59:16 +10:00
Rufus Wong add27e4b3b AP_Compass: Add break to prevent fallthrough of PIXRACER to PIXHAWK_PRO 2017-09-18 19:57:52 +10:00
Andrew Tridgell 6e78d2af5a Plane: allow takeoff in guided then fw loiter 
this allows for quadplane takeoff in GUIDED with Q_GUIDED_MODE=0. The
takeoff will be VTOL, but subsequent guided points will be fixed wing
 2017-09-18 10:26:33 +10:00
Andrew Tridgell f829f5615b Plane: prepare for 3.8.2 release 2017-09-11 09:56:12 +10:00
Andrew Tridgell 1d22b7f5d7 Plane: update release notes for 3.8.2 2017-09-11 09:55:41 +10:00
Andrew Tridgell 31af23cab6 Plane: added MANUAL_CONTROL support 
allows for joystick with QGC
 2017-09-11 07:56:15 +10:00
Andrew Tridgell fd07a82c8f Plane: prepare for 3.8.2beta1 2017-09-09 08:28:01 +10:00
Andrew Tridgell 3576e38858 Plane: allow changing of target altitude in GUIDED 2017-09-09 08:15:59 +10:00
Andrew Tridgell 428233c8b4 Plane: limit pitch in transition to QLOITER and QLAND 
when switching to QLOITER or QLAND when in forward flight, limit the
maximum pitch to prevent a sudden decelleration
 2017-09-08 17:56:48 +10:00
Andrew Tridgell 2e5c36361e Plane: smooth the transition to LAND_FINAL in quadplanes 
this makes for a much smoother change to LAND_FINAL, without a jerk as
it changes vertical speed
 2017-09-08 16:43:32 +10:00
Andrew Tridgell 5ab3265ee6 Plane: fixed a problem with descent rate in landings for quadplanes 
use xy controller instead of xyz controller, which prevents calling z
controller twice, which led to poor height control
 2017-09-08 15:59:15 +10:00
Andrew Tridgell eafbdee118 AC_AttitudeControl: added a update_vel_controller_xy() API 
this allows for just XY control of velocity for quadplanes
 2017-09-08 15:58:59 +10:00
Andrew Tridgell 3e4d50f026 Plane: added GUIDED takeoff for quadplanes 
this allows takeoff in GUIDED mode in the same way as copters
 2017-09-07 10:59:55 +10:00
Andrew Tridgell 5634f19114 Plane: adjust target altitude slowly in QRTL mode 
this fixes a sudden throttle drop when starting the descent in QRTL mode
thanks to Marco for finding this issue
 2017-09-07 07:22:54 +10:00
Michael du Breuil e4c20986c6 AP_GPS: SBF: Reject short packets early, allow 256 byte long messages to be decoded 2017-09-06 10:42:49 +10:00
Andrew Tridgell ff220d5348 AP_GPS: make SBF driver more robust 
this fixes a crash bug in the SBF GPS driver where a badly formed packet
could cause crc16_ccitt to reference invalid memory
 2017-09-06 10:42:46 +10:00
Andrew Tridgell d8b8b1ee33 Plane: prepare for 3.8.1 release 2017-09-03 15:33:25 +10:00
Michael du Breuil 740e1c4326 GCS_MAVLink: Correct a bug in the FOR_EACH_ACTIVE_CHANNEL macro 2017-08-31 11:02:26 +10:00
Andrew Tridgell 427c046145 Plane: prepare for 3.8.1beta1 2017-08-29 07:22:38 +10:00
Andrew Tridgell c8b00ed605 PX4NuttX: submodule update 
added flag for nsh exit
 2017-08-28 18:00:26 +10:00
Andrew Tridgell 32ee618a8f AP_SerialManager: enable debug console use for other protocols 
this allows SERIAL5_PROTOCOL to be set on FMUv2 and FMUv3 for use by
other protocols
 2017-08-28 18:00:24 +10:00
Andrew Tridgell efa07ea6b5 HAL_PX4: allow uart5 to be used for non-nsh on FMUv2/FMUv3 2017-08-28 18:00:21 +10:00
Andrew Tridgell fdc6a30a35 Plane: fixed minacc and delay for launch 
See
https://discuss.ardupilot.org/t/tkoff-thr-minacc-and-tkoff-thr-delay-doesnt-work-together/19928
 2017-08-28 17:55:50 +10:00
Andrew Tridgell 7829e6652d SITL: added simple launch sim for plane 
allow for bungee, catapult and hand launches
 2017-08-28 17:55:47 +10:00
Andrew Tridgell 992baa7026 RC_Channel: fixed bug in manual with TRIM == MIN 
This fixes the bug described here:

https://discuss.ardupilot.org/t/arduplane-reverse-thrust-setup/18324/5

which otherwise would prevent output with TRIM == MIN or TRIM == MAX
 2017-08-26 20:31:36 +10:00
Andrew Tridgell 1b6d20db7f Plane: removed TRIM_RC_AT_START parameter 
this option caused a lot more problems than it solved, and is buggy
 2017-08-26 20:16:09 +10:00
Andrew Tridgell 775b60f9a9 Plane: fixed bug in TRIM_AUTO 
fixed trim for differential spoilers
 2017-08-26 20:16:00 +10:00
Andrew Tridgell d08fcf25f2 Plane: updated release notes 2017-08-10 15:59:44 +10:00
Andrew Tridgell e66f30eb90 Plane: prepare for plane 3.8.0 release 2017-08-05 16:38:21 +10:00
Michael du Breuil e00811375b AP_NavEKF3: Fix possible compass nullptr dereference 2017-08-02 12:49:14 +10:00
Michael du Breuil b09b7f7867 AP_NavEKF2: Fix possible compass nullptr dereference 2017-08-02 12:49:14 +10:00
Andrew Tridgell 6b72a025d4 Tools: improve devid decode 2017-08-02 12:49:13 +10:00
Andrew Tridgell 186a1f4a0b Plane: cope better with more RC trim/min/max values 
when min > trim we need to do RC scaling via rc_config. This loses the
ability to go beyond RC limits, but that can be coped with using
MANUAL_RCMASK
 2017-08-02 12:49:13 +10:00
Andrew Tridgell c20ea87ef8 Plane: fixes from review 
thanks Francisco
 2017-08-02 12:49:13 +10:00
Andrew Tridgell 76818c1ff4 Plane: improve px4_mixer handling of servo trim/min/max 2017-08-02 12:49:13 +10:00
Andrew Tridgell bf6853d3fe Plane: implement MANUAL_RCMASK 
this replaces the functionality of the old "with input"
aileron/elevator functions, but in a much more flexible way. It means
that people who want to fly in MANAUL mode will have the ability to
have full control of trims and mixing using transmitter mixers if they
need that functionality
 2017-08-02 12:49:13 +10:00
Andrew Tridgell 20bddf4d5a SRV_Channel: added copy_radio_in_out_mask() 2017-08-02 12:49:13 +10:00
Andrew Tridgell 0ebc7b5122 Plane: added AETR log message 
this makes debugging mixers much easier
 2017-08-02 12:49:12 +10:00
Andrew Tridgell 8e6fa0a707 Tools: updated parameters to remove ELEVON and VTAIL settings 2017-08-02 12:49:12 +10:00
Andrew Tridgell fd3e459eb6 autotest: adjust default params for new mixing 2017-08-02 12:49:12 +10:00
Andrew Tridgell 4600f623db Plane: fixed px4_mixer for new function based mixing 
this fixes the OVERRIDE_CHAN functionality to work correctly with the
new function based mixing code

It isn't a perfect match for ArduPilot mixing, but it is very close
for the key control surfaces, including mixed surfaces
 2017-08-02 12:49:12 +10:00
Andrew Tridgell 7c888f4a12 Plane: removed old elevon and vtail mixers 
now only use the function based mixing, and auto-convert on startup
 2017-08-02 12:49:12 +10:00
Andrew Tridgell 336fbfbdbc SRV_Channel: added get/set for reversed and function 
these are needed in plane for auto-conversion of old elevon code
 2017-08-02 12:49:12 +10:00
Andrew Tridgell 470ae43ba4 SRV_Channel: prevent negative slew rate 
thanks to Michael for pointing this out
 2017-08-02 12:49:12 +10:00
Andrew Tridgell 5c10d81f60 Plane: always setup target airspeed 
this sets up a target airspeed even when flying without an airspeed
sensor. This is needed for quadplanes without airspeed sensors where
we use synthetic airspeed during the transition in TECS
 2017-08-02 12:49:11 +10:00