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3962 Commits

Author SHA1 Message Date
Leonard Hall a4003474b8 Plane: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:01 +10:00
Andrew Tridgell db37898e36 Plane: prepare for 4.1.0beta3 2021-07-05 16:23:07 +10:00
Andrew Tridgell 136c6a509c Plane: updated release notes for 4.1.0beta3 2021-07-05 16:22:27 +10:00
Andrew Tridgell 002bc51fd5 Plane: fixed motor test with DShot VTOL motors 
need to arm when running the motor test
 2021-07-04 18:20:29 +10:00
Hwurzburg 41b54fecf9 ArduPlane: remove values metadata from log bitmask 2021-07-04 08:19:11 +10:00
Hwurzburg 809569661e Plane: fix bug in tilt position for QLOITER and QRTL if THR_MIN !=0 2021-07-04 08:19:11 +10:00
Andrew Tridgell 51a3bc170b Plane: fixed longitude wrap in verify_nav_wp 
thanks to @Khancyr
 2021-07-04 08:19:11 +10:00
Andrew Tridgell 5a1097f6a7 Plane: update for new double precision position APIs 2021-07-04 08:19:11 +10:00
Andrew Tridgell da3955ee02 Plane: use cleaned up APIs 2021-07-04 08:19:11 +10:00
Peter Barker 298ac962fa ArduPlane: remove HIL support 2021-07-04 08:19:10 +10:00
Hwurzburg 02e03f4b2e Plane: Add options to USE_REVERSE_THRUST to cover all flight modes 2021-07-04 08:19:10 +10:00
Hwurzburg 82c6d37a59 ArduPlane: add QRTL always as Q_RTL_MODE option 2021-07-04 08:19:10 +10:00
Andrew Tridgell 1872fabebf Plane: prepare for 4.1.0beta2 release 2021-06-24 18:18:57 +10:00
Andrew Tridgell 9471126242 Plane: updated release notes for 4.1.0beta2 2021-06-24 18:17:30 +10:00
Iampete1 e3a38bdc51 plane: quadplane: skip QPOS_POSITION1 on tailsitters 2021-06-24 18:00:50 +10:00
Peter Hall c01fbc658b Revert "Plane: cope with Q pitch limit larger than fixed wing limit" 
This reverts commit 74da3c74ac.
 2021-06-24 18:00:47 +10:00
Andrew Tridgell 49ec2072d0 Plane: fixed attitude control during QPOS_AIRBRAKE 
this fixes a bug where we used the multicopter rate control when in
airbrake approach stage, which could lead to attitude going out of
control
 2021-06-19 11:55:06 +10:00
Andrew Tridgell 558ccbc926 Plane: prepare for 4.1.0beta1 release 2021-06-14 08:23:24 +10:00
Andrew Tridgell 4ed443635c Plane: updated release notes for 4.1.0beta1 2021-06-14 08:23:12 +10:00
Andrew Tridgell 0c8e81964e Plane: reset yaw controller on entry to POSITION1 
this fixes a yaw change when we finish landing approach in
QRTL. Thanks to Henry for noticing this
 2021-06-14 07:53:32 +10:00
Andrew Tridgell 4307390820 Plane: fixed distance threshold for vtol land 2021-06-13 07:50:02 +10:00
Andrew Tridgell f749c2c3ad Plane: fixed issue with overspeed in QPOS_POSITIION1 
this fixes the backflip issue on the convergence that Henry found
 2021-06-13 07:50:02 +10:00
Andrew Tridgell ae6220aace Plane: cope with zero distance to target in QPOS_POSITION1 2021-06-10 13:50:29 +10:00
Andrew Tridgell 0f9e7001d1 Plane: limit speed in POSITION1 based on angle 
this prevents trying to fly a quadplane fast backwards or sideways. If
flying backwards then a 3x reduction is used. For sideways a 2x
reduction is used
 2021-06-10 13:50:29 +10:00
Andrew Tridgell 74ac9964f1 Plane: improved POSITION1 speed profile 
allow acceleration up to the Q_WP_SPEED, and assume a decel profile
matching Q_TRANS_DECEL for approach speed
 2021-06-10 13:50:29 +10:00
Andrew Tridgell 5f8e90cd6f Plane: metadata fix for Q_OPTIONS 2021-06-10 13:50:29 +10:00
Andrew Tridgell 3611b1dbf7 Plane: added check for QPOS initialisation 
thanks to Kris for noticing this!
 2021-06-10 13:50:29 +10:00
Andrew Tridgell db34577755 Plane: use a separate bit for landing reposition in quadplanes 
when repositioning stop descent
 2021-06-10 13:50:29 +10:00
Andrew Tridgell 06cd077c36 Plane: fixed stick mixing with land reposition in quadplanes 
prevent stick mixing overriding landing control
 2021-06-10 13:50:29 +10:00
Andrew Tridgell 0937d903a1 Plane: use HAL_EFI_ENABLED 2021-06-09 18:07:00 +10:00
Andrew Tridgell 0ecc02c53a Plane: fixed constructor of accel_ef filter 2021-06-08 11:14:52 +10:00
Iampete1 438ca0a6c4 Plane: tailsitter: increase severity level of failed transisisons. 2021-06-08 10:56:09 +10:00
Andrew Tridgell f970735d47 Plane: fixed handling of NAV_LOITER_TIME with Q_GUIDED_MODE=1 
and made logic of in_vtol_mode() easier to read
 2021-06-05 13:05:30 +10:00
Andrew Tridgell aa904d6bbc Plane: fixed guided mode handling with new approach code 
ensure we treat guided approach as not a vtol mode
 2021-06-05 13:05:30 +10:00
Andrew Tridgell 1165fcab99 Plane: removed incorrect URL 2021-06-05 13:05:30 +10:00
Andrew Tridgell fd19ff3bea Plane: offset guided start point when using Q_GUIDED_MODE 2021-06-05 13:05:30 +10:00
Andrew Tridgell f15497c6a9 Plane: only do fwd thrust loss detection in SLT vehicles 
on tilt rotors and tailsitters it doesn't make sense to switch to
POSITION1 at low speeds when in APPROACH
 2021-06-05 13:05:30 +10:00
Andrew Tridgell 0232fa7456 Plane: cope with fwd thrust loss in Q approach 
if throttle is saturated and descending and low airspeed then declare
thrust loss
 2021-06-05 13:05:30 +10:00
Andrew Tridgell fbf5083e6a Plane: avoid transition in QRTL 
if close to home and already in a VTOL mode then don't transition
 2021-06-05 13:05:30 +10:00
Andrew Tridgell 3bb840f794 Plane: implement slow descent in QRTL approach 
this approaches in QRTL at ALT_HOLD_RTL alt, then descends to
Q_RTL_ALT close to the destination
 2021-06-05 13:05:30 +10:00
Andrew Tridgell 77ee922473 Plane: fixed NAV_CONTROLLER_OUTPUT in QRTL 2021-06-05 13:05:30 +10:00
Andrew Tridgell 245ded2f2d Plane: fixed handling of loss of fwd thrust in QRTL 2021-06-05 13:05:30 +10:00
Andrew Tridgell c7a14a5da1 Plane: disable cross-track in Q approach modes and QRTL 2021-06-05 13:05:30 +10:00
Andrew Tridgell 46722500b0 Plane: default Q_TRANS_DECEL to 6 for tailsitters 2021-06-05 13:05:30 +10:00
Andrew Tridgell a7b809d5d4 Plane: added approach and airbrake options 
this defaults VTOL landings to have an approach and airbraking stage,
allowing for more efficient landings. Can be disabled by setting
Q_OPTIONS bit 16
 2021-06-05 13:05:30 +10:00
Andrew Tridgell ddfc9e8300 Plane: improved quadplane auto-land into wind 
when heading is strong we need to ramp up pitch limit slowly to
prevent a big dive
 2021-06-05 13:05:30 +10:00
Andrew Tridgell b4992cc226 Plane: added accessors for poscontrol state 
allows for time since state entered
 2021-06-05 13:05:30 +10:00
Andrew Tridgell f1f7f01300 Plane: slave fixed wing desired rate to multicopter desired rate 
this ensures that the two rate controllers don't fight each other when
in a VTOL mode
 2021-06-05 13:05:30 +10:00
Andrew Tridgell 062a15ce11 Plane: set_takeoff_expected should only get set when not flying 2021-06-02 11:13:16 +09:00
Andrew Tridgell 68a1100c64 Plane: use new APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00