Andrew Tridgell
664e41cec6
Plane: bring in demanded climb rate over 1 second
...
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
Andrew Tridgell
0cf571d338
Plane: moved Z altitude target reset
...
reset alt target whenever we have not run Z controller for 2s
2017-04-09 16:45:19 +10:00
Mark Whitehorn
7679b758b0
Plane: add parameter RUDD_DT_GAIN for dual motor tailsitter
...
controls rudder to differential thrust mixing in FW mode
2017-04-06 08:29:44 +10:00
Andrew Tridgell
acaef22416
Plane: improve transition from QSTABILIZE to FBWA or QHOVER
2017-04-05 20:00:29 +10:00
Andrew Tridgell
36d8f730e1
Plane: setup better defaults for tailsitters
2017-04-04 10:15:08 +10:00
Andrew Tridgell
5d06e4238f
Plane: make the quadplane motors var_info dynamic
...
this will allow for more quadplane motors class types
2017-03-25 16:22:10 +11:00
Andrew Tridgell
af97a3974b
Plane: initialise target height correctly on quadplane transition
...
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
Andrew Tridgell
bb158a437e
Plane: handle bad Q_FRAME_CLASS
...
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
Andrew Tridgell
3f7e7d456f
Plane: in fixed wing mode slave quadplane attitude rate controller
...
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
Andrew Tridgell
2db8589f49
Plane: smarter Z controller initialisation for quadplanes
...
this is more generic than the previous one used only for the full
position controller
2017-03-14 14:42:20 +11:00
Andrew Tridgell
4ff5bf5af5
Plane: zero integrators and set throttle mix
...
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
Andrew Tridgell
c061d5615b
Plane: added manual input mask for tailsitter prop-hang
...
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
Andrew Tridgell
3bb25eb194
Plane: added Q_TAILSIT_INPUT
...
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
Andrew Tridgell
ea5186340b
Plane: added Q_TILT_RATE_UP and Q_TILT_RATE_DN as separate parameters
...
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
Andrew Tridgell
e8b11924f8
Plane: split out the tailsitter transition complete code
...
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
Andrew Tridgell
d5a3f844f1
Plane: changes for AC_WPNav
2017-02-18 17:26:43 +11:00
Andrew Tridgell
c787f4c56f
Plane: initial support for tailsitter transitions
2017-02-18 17:26:43 +11:00
Andrew Tridgell
83f3cee99e
Plane: initial hooks for tailsitter support
2017-02-18 17:26:43 +11:00
Andrew Tridgell
0fc04b0158
Plane: setup plane frame type parameter flags
2017-02-14 19:50:01 +11:00
Andrew Tridgell
c294519925
Plane: lower default Q_M_SPOOL_TIME to 0.25
2017-02-14 09:23:17 +09:00
priseborough
013eb254a2
Plane: use standard unit descriptor for milliseconds
2017-01-27 16:57:42 +09:00
Andrew Tridgell
07cedd8a66
Plane: prevent stability shutdown in transition
...
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
Andrew Tridgell
0d4405106f
Plane: removed forcing of trim for motors in quadplane
...
this caused problems with tricopter tail servos
2017-01-25 19:01:15 +11:00
Andrew Tridgell
5c820adad4
Plane: fixed tilt transition with binary tilt servo
...
once the tilt is fully fwd then force transition as done at any
airspeed
2017-01-25 19:01:15 +11:00
Andrew Tridgell
586f8a9ca8
Plane: fixes for tilt quadplane after rebase
2017-01-25 19:01:15 +11:00
Andrew Tridgell
54bca768b8
Plane: added Q_TILT_TYPE for retract servo tiltrotors
2017-01-25 19:01:15 +11:00
Andrew Tridgell
2f100b0804
Plane: removed separate tricopter quadplane build
...
can all be done with one build now
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
Andrew Tridgell
1c4bf77cf6
Plane: added custom conversion of Q_FRAME_CLASS parameter
2016-12-31 10:56:01 +09:00
Randy Mackay
934ef55338
Plane: quadplane instantiates motor matrix outside of case
...
Thanks to khancyr for noticing this
2016-12-31 10:55:23 +09:00
Randy Mackay
c6dec5c3f6
Plane: quad plane uses consolidated multicopter classes
2016-12-31 10:55:23 +09:00
Pierre Kancir
da1f784e78
Plane : quadplane change to float to avoid the loss of a fractional part
2016-12-05 12:39:31 -08:00
Tom Pittenger
f556f705e6
Plane: move various g params to aparms
2016-11-25 19:07:30 -08:00
expntly
0d1e50b50b
Plane: fix typo, check wp_nav is initialized
2016-10-27 14:39:50 +11:00
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
0445b51143
Plane: fixed throttle slew rate in manual for quadplanes
2016-10-12 09:55:37 +11:00
murata
b3eecb87ac
Plane: To define the same wording.
2016-10-06 10:03:23 -07:00
Andrew Tridgell
cb61840ad2
Plane: tell TECS to use synthetic airspeed during transition
2016-10-05 11:52:52 +11:00
Andrew Tridgell
4e017bf5b3
Plane: fixed loiter mode when Q_GUIDED_MODE=1
...
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
Andrew Tridgell
841828541d
Plane: fixed auto ICE engine cut in QLAND final
2016-09-29 05:18:55 +10:00
Andrew Tridgell
6d09897b19
Plane: fixed VTOL motor termination in AFS
2016-09-27 11:53:45 +10:00
Andrew Tridgell
dac7f45326
Plane: fixed use of multicopter mix_max
...
we need a settable mix_max for some vehicles
2016-09-21 12:23:19 +10:00
Andrew Tridgell
9b83781b4f
Plane: fixed mixer arming error with FMUv4
...
thanks to Tim Gold for reporting this
2016-09-11 08:25:40 +10:00
Andrew Tridgell
6849f2223d
Plane: set initial alt target on takeoff completion
...
this prevents a sudden motor spike at the start of the transition
2016-09-02 11:12:19 +10:00
Randy Mackay
3052e8f80b
Plane: quadplane calls attitude control parameter check
2016-09-02 09:27:19 +09:00
Andrew Tridgell
3d0516fd57
Plane: added Q_ASSIST_ANGLE
...
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
Andrew Tridgell
33f17588b2
Plane: added auto fence enable on VTOL takeoff
...
fixes issue#724
2016-08-29 18:04:42 +10:00
Andrew Tridgell
c81d8364ac
Plane: check for safety switch state in quadplane motor output
...
get_soft_armed() will be false if safety on
2016-08-29 17:55:35 +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
b29b609bcc
Plane: added AFS support for quadplanes
2016-08-16 12:56:12 +10:00