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238 Commits

Author SHA1 Message Date
Andrew Tridgell d8a7618e15 Plane: update use of AC_Loiter controller for quadplane 
this changes the way the loiter controller is initialised for QLOITER,
after discussions with Leonard.

The way we were doing it could cause a sudden acceleration demand when
switching into QLOITER.

This also changes the default loiter parameters to reduce the maximum
acceleration that will be applied in QLOITER. Many thanks to Leonard for
the advice
 2018-06-11 08:40:58 +09:00
Andrew Tridgell d07f8aa42b Plane: fixed a bug in transition to QSTABILIZE for tailsitters 
this bug was found bug Marco on his tailsitter. It resulted in zero
throttle for 2s in transition from FBWA to QSTABILIZE
 2018-04-25 18:01:12 +10:00
Randy Mackay 840a6e4147 Plane: quadplane uses AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Peter Barker f6a185a3c3 Plane: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Randy Mackay 548a7f8fcf Plane: add minor comment to quadplane 2018-03-16 13:50:57 +09:00
Leonard Hall ee745d2cd2 Plane: quad plane uses rate-control control during transitions 2018-03-16 13:50:57 +09:00
Leonard Hall a16d4ddad7 Plane: quadplane uses poscontrol instead of loiter 2018-03-16 13:50:57 +09:00
Randy Mackay c5d838125b Plane: quadplane logs PSC message 2018-03-16 13:50:57 +09:00
Randy Mackay 09cad7c59d Plane: quadplane integrates attitude control inertial_frame_reset 2018-03-16 13:50:57 +09:00
Randy Mackay 03c162432e Plane: quadplane provides dt to AC_WPNav::set_pilot_desired_acceleration 2018-03-16 13:50:57 +09:00
Randy Mackay a0a9a68fbc Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC 
Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
 2018-03-16 13:50:57 +09:00
Leonard Hall aa47b19dea Plane: remove quadplane calls to multicopter poscontrol's freeze_ff_xy 2018-03-16 13:50:57 +09:00
Randy Mackay ddcd08d6b6 Plane: PSC_ACCZ param name shortened 2018-01-31 08:48:21 +09:00
Michael du Breuil aec7521da4 Plane: Fix truncation of a time interval 
Truncating the a millisecond time delta to uint16_t causes it to wrap
every 65 seconds, which could momentarily reset the desired climb rate
 2018-01-25 14:30:49 +11:00
Randy Mackay d579e086cf Plane: quadplane param index comment for moved PIDs 2018-01-24 21:14:53 +09:00
Andrew Tridgell 20b05e4228 Plane: added conversion code for PID layout change 
this copes with the move of multicopter PIDs inside the position
controller
 2018-01-24 18:23:59 +11:00
Randy Mackay 7b1157e2d8 Plane: remove setting accel_z PID controller's dt 
This is handled within pos-controller's set_dt function
 2018-01-23 12:00:43 +09:00
Randy Mackay f41f4dc6e5 Plane: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay 017e71a748 Plane: quadplane velocity pi moves to position control library 2018-01-23 12:00:43 +09:00
luweikxy 25224cd261 Plane: remove dead code from do_vtol_land 2017-12-14 20:52:18 +09:00
Andrew Tridgell f7a735b990 Plane: fixed transitions for tailsitters after auto-takeoff 
need to use angle wait
 2017-11-19 16:06:02 +11:00
Andrew Tridgell 957c1f6d23 Plane: extend QLOITER transition pitch limit 
use twice transition time for pitch envelope to reduce QLOITER
transition harshness
 2017-11-05 21:35:32 +11:00
Andrew Tridgell 9c8cd6c1cc Plane: added Q_TRANS_DECEL 
this gives a deceleration rate for QRTL transition from RTL, and also
for transitions to QLOITER
 2017-11-05 20:44:42 +11:00
Andrew Tridgell e27c54a312 Plane: smooth out fwd tailsitter transition 
use Q_TRANSITION_MS and the transition angle to pitch forward more
slowly
 2017-11-05 17:25:00 +11:00
Michael du Breuil d52f5155f0 Plane: Rename rc failsafe state members 2017-11-02 16:46:08 -07:00
nick2204 7d91755bd1 Plane: update Q_OPTIONS docs 
Made q_options description a little clearer
 2017-11-01 09:38:42 +11:00
Andrew Tridgell 1085069851 Plane: use WP_LOITER_RAD if RTL_RADIUS is 0 for QRTL 2017-10-30 16:52:19 +11:00
Andrew Tridgell 552faa8f67 Plane: smoother tailsitter transitions 
this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
 2017-10-30 16:30:38 +11:00
Andrew Tridgell af893ddde7 Plane: implement Q_OPTIONS 
this allows for NAV_TAKEOFF to be treated as NAV_VTOL_TAKEOFF in
quadplanes, and for level flight to be maintained during quadplane
transitions
 2017-10-30 16:30:10 +11:00
Andrew Tridgell 02f8d888c3 Plane: relax controllers when disarmed 
this prevents any remaining integrator from a previous flight stage from
affecting flight across a disarm
 2017-10-30 16:30:10 +11:00
Andrew Tridgell 92ee05b925 Plane: fixed motor channel handling 2017-10-25 11:39:11 +11:00
Andrew Tridgell 6526ff504d Plane: fix for changes to AP_Motors API 2017-10-22 15:52:50 +11:00
Andrew Tridgell e008559b6e Plane: support LOITER_TO_ALT in quadplanes 2017-10-21 18:50:01 +11:00
Andrew Tridgell 8178ab4037 Plane: make mav_type in HEARTBEAT configurable 
needed for qgc to setup for quadplanes
 2017-10-20 15:41:06 +11:00
Andrew Tridgell 0aed5a9a57 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 15:41:04 +11:00
Andrew Tridgell 1a95dcbdd7 Plane: update docs for Q_YAW_RATE_MAX 2017-10-20 15:40:58 +11:00
Andrew Tridgell f5b4d8d99c Plane: added frame type 11 for FlreFlyY6 2017-10-06 11:36:34 +11:00
Ferruccio Vicari 85ab3edc5f Plane: Smoother transition to QLOITER and QLAND 
Use estimated stopping position
 2017-09-21 07:57:38 +10:00
mirkix 7c6be7c421 Plane: change format of reset alt target message 2017-09-20 20:28:53 +10:00
mirkix b682f3f6d9 Plane: fix parameter units 2017-09-19 11:34:26 +10:00
Andrew Tridgell 35c1a732a6 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 10:21:53 +10:00
Tom Pittenger 85b7f1bbb4 Plane: guided takeoff success should return true 2017-09-13 14:46:22 -07:00
Andrew Tridgell 600a5c44d2 Plane: allow changing of target altitude in GUIDED 2017-09-09 08:14:09 +10:00
Andrew Tridgell bc17c26dbf 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
 2017-09-09 08:14:09 +10:00
Andrew Tridgell b6809655d4 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
 2017-09-09 08:14:09 +10:00
Andrew Tridgell 8411ac5c57 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
 2017-09-09 08:14:09 +10:00
Andrew Tridgell baee71a5b4 Plane: added GUIDED takeoff for quadplanes 
this allows takeoff in GUIDED mode in the same way as copters
 2017-09-09 08:14:09 +10:00
Andrew Tridgell a88e663191 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 07:22:13 +10:00
Andrew Tridgell 909f109b3f Plane: don't start a transition while disarmed 
this can caused flooding of the GCS console while disarmed in FBWA
mode
 2017-07-30 12:39:36 -07:00
Peter Barker c058fba5ac Plane: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00