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Commit Graph

229 Commits

Author SHA1 Message Date
Iampete1
1148bb1234 Plane: Quadplane: add loiter to alt then QLAND mode 2021-09-28 09:31:13 +10:00
Andrew Tridgell
fd5faa866f Plane: always log QPOS when changing control state 2021-09-27 21:21:53 +10:00
Peter Hall
e83b598040 Plane: Quadplane: check attitude relax before running controllers, don't run controls if not going to output 2021-09-25 12:53:11 +10:00
Iampete1
cc89a8cc48 Plane: remove airmode Q_OPTION 2021-09-21 09:36:24 +10:00
Iampete1
c4a1ae42e5 Plane: Quadpalne: move tiltrotor functionality to own class 2021-09-17 08:24:17 +10:00
Peter Barker
3d34e061fe ArduPlane: add and use HAL_QUADPLANE_ENABLED 2021-09-14 11:23:18 +10:00
Iampete1
c73207b4b0 Plane: quadplane: remove init mode and control run methods 2021-09-08 18:06:58 +10:00
Iampete1
f1477a6c29 Plane: quadplane: add assisted flight only airmode 2021-09-01 08:33:24 +10:00
Hwurzburg
551d55a85c ArduPlane: add thr position trigger to ThrLandCtrl Q_OPTION 2021-08-25 12:32:59 +10:00
Iampete1
d372907a98 Plane: Quadplane: add Q_OPTION to only allow arming in Qmodes and auto. 2021-08-24 10:39:12 +10:00
Peter Hall
2527117cf9 Quadplane: combine assistance_needed and assistance_safe functions 2021-08-08 19:41:22 +10:00
Iampete1
7ff592d29e Plane: Quadplane: move mode functions to mode classes in-place 2021-08-03 12:28:31 +10:00
Iampete1
2bc2b9533b Plane: QuadPlane: move tailsitter to class 2021-07-27 09:08:34 +10:00
Peter Barker
06c2faaec5 ArduPlane: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Andrew Tridgell
50e6d67a66 Plane: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Hwurzburg
4f48233b43 ArduPlane: add QRTL always as Q_RTL_MODE option 2021-06-14 09:08:20 +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
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
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
0ecc02c53a Plane: fixed constructor of accel_ef filter 2021-06-08 11:14:52 +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
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
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
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
d1f6d913d5 Plane: adjust reposition landing code 
use accel with 1s timeconstant
 2021-05-24 20:13:37 +10:00
Andrew Tridgell
71fa52d5c6 Plane: fixed slowing descent in final phase of QLAND 2021-05-24 20:13:37 +10:00
Andrew Tridgell
ec1cbb06fd Plane: allow reposition in auto land 2021-05-24 20:13:37 +10:00
Andrew Tridgell
6eafcdb558 Plane: added Q_OPTION bit for throttle control of landing speed 2021-05-24 20:13:37 +10:00
Andrew Tridgell
5a880c74b6 Plane: use input shaping from pos_control 
smoother navigation with new input shaping code
 2021-05-24 20:13:37 +10:00
Andrew Tridgell
a6ec7d9f23 Plane: ensure xy controller is initialised 2021-05-24 20:13:37 +10:00
Iampete1
572e401894 Plane: fix QRTl terrain following 2021-05-02 18:51:27 +10:00
Peter Hall
33f9e3d4b6 plane: add tailsitter transision rates, give more info in transision complete messages 2021-04-07 17:55:48 +10:00
Iampete1
e81dc36ed6 Plane: add option do do a VTOL approach RTL 2021-03-29 11:29:12 +11:00
Hwurzburg
8aabf7c22a Plane: Add VTOL descent rate, convert existing rate to climb rate only 
Co-authored-by: Reko Merio K9260@student.jamk.fi
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-03-23 14:32:46 +11:00
Iampete1
1d050a01ce Plane: Quadplane: add Q_OPTION to ignore forward flight angle limits in Q modes 2021-03-02 11:16:35 +11:00
Mark Whitehorn
236961f17f Plane: use get_frame_class/type string methods 
use AP_Enum<> for frame_class/type
remove invalid copterTS check
improve quadplane setup failure message

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-02-09 12:43:53 +11:00
Patrick José Pereira
cdc7f891a9 ArduPlane: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Iampete1
e4fbe64616 Plane: add QuadPlane singleton 2021-01-19 11:18:10 +11:00
Andrew Tridgell
a0fcef6ceb Plane: added tilt vectoring in fixed wing modes 
this allows for vectoring for roll and pitch in fixed wing modes on
tilt-vectored quadplanes
 2021-01-05 08:23:28 +11:00
Iampete1
c8b3c91ae5 Plane: Tailsitter add disk theory and altitude gain scailing 2020-12-22 11:00:59 +11:00
Mark Whitehorn
24508f08dc Plane: don't relax pitch attitude controller for vectored tailsitters in throttle_wait 
add is_vectored_tailsitter()
instantiate AC_AttitudeControl_TS for tailsitters
 2020-12-21 12:56:24 +11:00
Andrew Tridgell
e94cf561d0 Plane: use rull euler control for fwd transition of tilt vectored planes 
this gives strong yaw control and wind handling for tilt vectored
planes in forward transitions. It relaxes the yaw if the user either
demands yaw with stick input or plane navigation is demanding a roll
angle for a turn

When navigation is demanded we setup yaw rate for a coordinated turn
 2020-12-21 12:05:50 +11:00
Andrew Tridgell
abd5f8351d Plane: don't reset yaw target in TRANSITION_TIMER for tilt-vectored quadplanes 2020-12-21 12:05:50 +11:00
Andrew Tridgell
ad14e153e8 Plane: fixed tilt vectoring to cope with large tilt angles 
This uses vectoring for both roll and yaw when tilted, and uses
differential thrust for yaw when tilted
 2020-12-16 08:45:11 +11:00
Andrew Tridgell
d984ddc163 Plane: apply circular limits to QLOITER pilot angles 
This uses the same logic as Copters get_pilot_desired_angle() to apply
a circular limit and the limits in Q_ANGLE_MAX and Q_LOIT_ANG_MAX to
loiter pilot angles.

Co-authored-by: Kris <kris968658@gmail.com>
 2020-12-01 11:22:49 +11:00
Iampete1
c03de6bdbe Plane: log Qassist state 2020-11-17 10:15:27 +11:00
Andrew Tridgell
eea62bf733 Plane: added optional ground effect compensation for quadplanes 
this allows for landings in aircraft badly effected by ground effect
to be compensated for
 2020-11-10 12:05:48 +11:00