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
110263ea98
Plane: update docs for Q_YAW_RATE_MAX
2017-10-19 20:59:02 +11:00
d88dff98a6
Plane: added frame type 11 for FlreFlyY6
2017-10-06 11:37:14 +11:00
6e78d2af5a
Plane: allow takeoff in guided then fw loiter
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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
3576e38858
Plane: allow changing of target altitude in GUIDED
2017-09-09 08:15:59 +10:00
428233c8b4
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
2017-09-08 17:56:48 +10:00
2e5c36361e
Plane: smooth the transition to LAND_FINAL in quadplanes
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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
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
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
5634f19114
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 07:22:54 +10:00
96ad5e8f62
Plane: don't start a transition while disarmed
...
this can caused flooding of the GCS console while disarmed in FBWA
mode
2017-08-02 12:49:10 +10:00
c058fba5ac
Plane: eliminate GCS_MAVLINK::send_statustext_all
2017-07-11 23:53:53 +01:00
5a8f01c19c
Plane: use send_text method on the GCS singleton
2017-07-09 17:17:29 -04:00
5d0972f589
Arduplane: fix implicit cast to double warning in quadplane
2017-06-14 12:40:47 +01:00
1455c23230
Plane: fixed docs for tailsitter
2017-06-10 18:41:34 +10:00
2f5f8eb323
Plane: Use SI units conventions in parameter units
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Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +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
7ea0f65590
Plane: removed incorrect comment
2017-04-24 16:56:23 +10:00
06b0742481
Plane: fixed jump in qhover on takeoff
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Z controller PID is from -1 to 1
thanks to Leonard for spotting this
2017-04-24 16:55:41 +10:00
aab20317a0
Plane: fixed position control in QLAND_FINAL
2017-04-24 16:55:41 +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
...
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
d5ec7b0aad
Plane: fixed a sign error in the angle assist code
...
thanks to Leonard for finding this!
2017-04-18 22:09:22 +10:00
b15b11e32d
Plane: always stabilize with tailsitters
2017-04-14 12:48:08 +10:00
46d910539c
Plane: fixed a warning
2017-04-11 17:34:40 +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
0cf571d338
Plane: moved Z altitude target reset
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reset alt target whenever we have not run Z controller for 2s
2017-04-09 16:45:19 +10:00
7679b758b0
Plane: add parameter RUDD_DT_GAIN for dual motor tailsitter
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controls rudder to differential thrust mixing in FW mode
2017-04-06 08:29:44 +10:00
acaef22416
Plane: improve transition from QSTABILIZE to FBWA or QHOVER
2017-04-05 20:00:29 +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
af97a3974b
Plane: initialise target height correctly on quadplane transition
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this fixes a bug where a plane in QSTABILIZE would drop suddenly if
switched to FBWA when the target altitude had not been initialised
2017-03-22 21:34:40 +11:00
bb158a437e
Plane: handle bad Q_FRAME_CLASS
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default to quad with a warning. This prevents users getting stuck
without being able to set Q_ENABLE=1
thanks to Leonard for noticing
2017-03-18 22:10:20 +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
4ff5bf5af5
Plane: zero integrators and set throttle mix
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this zeros fixed wing integrators during TRANSITION_AIRSPEED_WAIT and
uses a zero throttle mix during TRANSITION_TIMER. This should allow
the fixed wing controller more time to adapt to forward flight
2017-02-26 09:20:51 +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
d5a3f844f1
Plane: changes for AC_WPNav
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
0fc04b0158
Plane: setup plane frame type parameter flags
2017-02-14 19:50:01 +11:00
c294519925
Plane: lower default Q_M_SPOOL_TIME to 0.25
2017-02-14 09:23:17 +09:00
013eb254a2
Plane: use standard unit descriptor for milliseconds
2017-01-27 16:57:42 +09:00
07cedd8a66
Plane: prevent stability shutdown in transition
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this prevents the vertical motors from shutting down while
transitioning if the desired throttle was too low at the start of the
transition
2017-01-25 19:01:15 +11:00
0d4405106f
Plane: removed forcing of trim for motors in quadplane
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this caused problems with tricopter tail servos
2017-01-25 19:01:15 +11:00
Andrew Tridgell
Peter Barker
Pierre Kancir
Dr.-Ing. Amilcar Do Carmo Lucas
Mark Whitehorn
priseborough