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659 Commits

Author SHA1 Message Date
Henry Wurzburg c6a822abe1 Plane: fix error in Qplane wait for rudder neutral 2023-04-25 10:27:21 +10:00
Iampete1 74e4466cb4 Plane: use dedicated quadplane function for stick mixing enable 2023-04-25 10:06:50 +10:00
Henry Wurzburg 1415418d6e Plane:Takeoff on rudder arm only after return to neutral 2023-04-25 09:28:45 +10:00
Mirko Denecke eb6c5aa7d3 ArduPlane: remove unused update_transition() definition 2023-04-25 09:10:11 +10:00
Nick Exton 674d7facde Plane: Use Location::same_loc_as() in QuadPlane::waypoint_controller() 2023-04-04 09:40:45 +10:00
Henry Wurzburg a86ff90b97 ArduPlane: add AUTO VTOL landing abort AUX sw 2023-03-14 10:52:23 +11:00
Andrew Tridgell 38d7bcff6b Plane: re-init throttle wait on quadplane arm and disarm 
this prevents yaw from rudder arming on 2nd flight
 2023-02-26 07:06:09 +11:00
Andrew Tridgell a57e6455ab Plane: use is_armed_and_safety_off() 
this no longer sets soft_armed false when safety is on, and instead
uses is_armed_and_safety_off() when appropriate
 2023-02-21 07:44:09 +11:00
Andrew Tridgell 99f997161a Plane: holdoff auto takeoff till rudder neutral 
when arming with rudder we need to hold off the takeoff until the user
has released the rudder stick or we can yaw badly during the takeoff
 2023-02-09 07:02:32 +11:00
Andrew Tridgell 2989e2deba Plane: added support for NAV_PACKAGE_PLACE mission item 
this works in conjunction with a lua script to allow for a wide
variety of package place options
 2023-02-09 07:02:12 +11:00
Peter Barker 648a13d3f7 ArduPlane: add and use AP_ADVANCEDFAILSAFE_ENABLED 2023-02-08 19:00:13 +11:00
Andrew Tridgell 6623f1156c Plane: transition pitch limit should not apply to FBWA 
pilot should be able to override pitch, very important on motor
failure to control glide
 2023-01-30 09:19:14 +11:00
Iampete1 bf9d49b72d Plane: Quadaplane: add param for min QRTL altitude when close to home 2023-01-25 19:34:53 +11:00
Henry Wurzburg 636a18f98f Plane: Update Q_OPTIONS metadata to new format 2023-01-03 10:29:44 +11:00
Iampete1 a99748a13d Plane: Quadaplane: use land_at_climb_rate_cm only when landing 2022-12-30 20:25:58 +09:00
Leonard Hall 87c684b5ee Plane: Vtol: use land_at_climb_rate_cm for vertical rate control 2022-12-30 20:25:58 +09:00
Jeremy 0db6146f60 Plane: Added Y4 config to Quadplane 2022-12-27 15:19:28 +11:00
Peter Barker 0cf56ea320 ArduPlane: make and use AP_LANDINGGEAR_ENABLED 2022-12-14 18:30:23 +11:00
Leonard Hall 16ccdeb058 Plane: Support changing update period in Motors 2022-12-13 17:10:06 +11:00
Leonard Hall 0bc5e68aed Plane: Support changing update period 2022-12-13 17:10:06 +11:00
Andrew Tridgell 99066a27f8 Plane: ensure we init z controller when inactive 
this prevents us getting the AC_PosControl internal error, which is
turning up as a common false positive.
 2022-12-05 07:50:05 +11:00
Peter Hall 148c8d6eec Plane: Quadplane: tiltrotor: add Q_OPTION to keep motors tilted up when disarmed in FW modes 2022-11-29 10:51:23 +11:00
Iampete1 edf89b02ea Plane: Quadplane: 0 rate_bf_yaw_target as more or less the same as radians value in cd funcion 2022-11-25 18:13:00 +11:00
Andrew Tridgell 8a0708efe8 Plane: scale VTOL angle P gains with airspeed 
During POSITION1 back-transiton we scale the MC angle P gains with
airspeed to reduce the chance of oscillations. At higher airspeeds the
fixed wing controller dominates so we should use the fixed wing angle
P gain.
 2022-10-18 07:38:39 +11:00
Iampete1 a774f314a2 Plane: Quadplane: SLT: enforce TECS pitch limits to beat race 2022-10-11 11:18:41 +11:00
mattbooker 821ef1d4d9 Plane: Fixed divide by zero error when transitioning to guided 2022-10-07 08:22:48 +11:00
Andrew Tridgell 22cd568a4c Plane: removed use of "blended" earth frame accel 2022-08-21 18:51:59 +10:00
Mirko Denecke ba13f4d116 ArduPlane: remove unused limit_length calculation in overshoot 2022-08-16 12:05:00 +10:00
Michael du Breuil f183b21fc5 Plane: Support vtol landing options on NAV_VTOL_LAND 
This allows the same mission to contain both circular and straight
landing items, and doesn't require on the fly tweaking
 2022-08-15 17:05:00 -07:00
Iampete1 ee778dbd3a Plane: Quadplane: add option_is_set helper for Q_OPTIONS 2022-08-09 13:21:00 +10:00
Iampete1 821053e580 Plane: Quadplane: allow servo auto trim for motors only tailsitter assist 2022-08-09 10:56:41 +10:00
Andrew Tridgell b133e98102 Plane: improve target airspeed in landing approach 
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach

this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
 2022-08-03 12:26:57 +10:00
Andrew Tridgell f9f0f60815 Plane: base yaw in overshoot on target speed not scaled speed 
this prevents an oscillating due to the speed changing as we yaw,
resulting in a different yaw target
 2022-08-02 07:49:34 +10:00
Andrew Tridgell 5bdd43457c Plane: in overshoot allow up to the Q WP speed 
this prevents us using too much battery when we are a long way from
the landing point
 2022-08-02 07:49:34 +10:00
Andrew Tridgell fa371b92a8 Plane: limit target accel in POSITION1 
don't ask for more than 2* transition limit, and reset when we enter
overshoot case
 2022-08-02 07:49:34 +10:00
Andrew Tridgell afd21298d5 Plane: adjust target vector for wind in overshoot 
at low speeds we want to keep the nose pointed into the wind on
landings
 2022-08-02 07:49:34 +10:00
Andrew Tridgell a1e7072cb1 Plane: cope with overshoot in POSITION1 VTOL land state 
when we overshoot run a simple position controller that tries to point
the nose at the landing point and aims for the position2 speed
threshold
 2022-08-02 07:49:34 +10:00
Iampete1 a592f76282 ArduPlane: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
Peter Barker b0bee613d4 ArduPlane: add and use AP_ICENGINE_ENABLE 2022-07-22 08:48:16 +10:00
Iampete1 712611c50e Plane: Quadplane: add yaw command model 2022-07-13 18:26:36 +10:00
Henry Wurzburg 6bb567465a Plane: fixed misspellings of 'transition' 2022-07-01 11:54:16 -07:00
Mirko Denecke 463aed4b8f ArduPlane: fix Q_RTL_MODE parameter doc 2022-06-30 10:50:09 +10:00
Iampete1 0cd1f605f6 Plane: Quadplane: always reset to QPOS_NONE on mode entry 2022-06-23 08:37:00 +10:00
Iampete1 f2a162b963 Plane: rotate Qassist desired rates correctly 2022-06-21 10:01:30 +10:00
Iampete1 d251c51ca1 Plane: Quadplane: QRTL climb to QRTL alt first if in Q mode 2022-06-21 09:11:08 +10:00
Andrew Tridgell 42f553626e Plane: adjust down default quadplane gains 
make it better for a typical quadplane, the defaults were more
suitable on smaller aircraft
 2022-06-16 21:26:49 +10:00
Iampete1 34609d327d Plane: Quadplane: force convertions of Q_M_PMW_* params if invalid and add arming check 2022-06-08 17:08:23 +10:00
Andrew Tridgell 6423a2dfb9 Plane: use pos_control for weathervane attitude 
this makes no difference as wp_nav just passes through, but right API
to call
 2022-06-03 18:19:53 +10:00
Andrew Tridgell ae6b877fd3 Plane: added Q_NAVALT_MIN 
this is equivalent to copters WP_NAVALT_MIN parameter for takeoff. Not
implemented for land yet

this is useful for vehicles with significant GPS velocity noise on
takeoff, preventing dragging the landing gear
 2022-06-03 18:19:53 +10:00
Andrew Tridgell fa26b69298 Plane: fixed false positive in landing detector 
this fixes a case where we can get false positive on the landing
detector for quadplanes.

The issue happens if we cross the LAND_DESCEND to LAND_FINAL threshold
while pilot repositioning is active, with stale information in
landing_detect.lower_limit_start_ms as we don't run should_relax() in
LAND_DESCEND
 2022-05-23 13:05:17 +10:00