Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-12 19:08:29 -04:00
Code Issues Packages Projects Releases Wiki Activity
28,383 Commits 71 Branches 511 Tags 791 MiB
7d6aeb7789
Commit Graph

209 Commits

Author SHA1 Message Date
Andrew Tridgell
b0e401d91b Plane: extend QLOITER transition pitch limit 
use twice transition time for pitch envelope to reduce QLOITER
transition harshness
 2017-11-05 21:40:08 +11:00
Andrew Tridgell
1583d18b20 Plane: added Q_TRANS_DECEL 
this gives a deceleration rate for QRTL transition from RTL, and also
for transitions to QLOITER
 2017-11-05 21:39:54 +11:00
Andrew Tridgell
08ef1dfbdb Plane: smooth out fwd tailsitter transition 
use Q_TRANSITION_MS and the transition angle to pitch forward more
slowly
 2017-11-05 21:39:07 +11:00
Andrew Tridgell
03d77b023d Plane: use WP_LOITER_RAD if RTL_RADIUS is 0 for QRTL 2017-10-30 16:51:46 +11:00
Andrew Tridgell
3d20973ae2 Plane: smoother tailsitter transitions 
this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
 2017-10-30 15:26:08 +11:00
Andrew Tridgell
17ef7e68b1 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
 2017-10-29 19:52:01 +11:00
Andrew Tridgell
f88f512dc6 Plane: relax controllers when disarmed 
this prevents any remaining integrator from a previous flight stage from
affecting flight across a disarm
 2017-10-29 18:15:20 +11:00
Andrew Tridgell
bf0e1ac554 Plane: support LOITER_TO_ALT in quadplanes 2017-10-21 18:50:47 +11:00
Andrew Tridgell
ec84fa0711 Plane: make mav_type in HEARTBEAT configurable 
needed for qgc to setup for quadplanes
 2017-10-20 15:39:44 +11:00
Andrew Tridgell
62273d2c1f 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 15:13:52 +11:00
Andrew Tridgell
110263ea98 Plane: update docs for Q_YAW_RATE_MAX 2017-10-19 20:59:02 +11:00
Andrew Tridgell
d88dff98a6 Plane: added frame type 11 for FlreFlyY6 2017-10-06 11:37:14 +11:00
Andrew Tridgell
6e78d2af5a 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 10:26:33 +10:00
Andrew Tridgell
3576e38858 Plane: allow changing of target altitude in GUIDED 2017-09-09 08:15:59 +10:00
Andrew Tridgell
428233c8b4 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
 2017-09-08 17:56:48 +10:00
Andrew Tridgell
2e5c36361e 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
 2017-09-08 16:43:32 +10:00
Andrew Tridgell
5ab3265ee6 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
 2017-09-08 15:59:15 +10:00
Andrew Tridgell
3e4d50f026 Plane: added GUIDED takeoff for quadplanes 
this allows takeoff in GUIDED mode in the same way as copters
 2017-09-07 10:59:55 +10:00
Andrew Tridgell
5634f19114 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 07:22:54 +10:00
Andrew Tridgell
96ad5e8f62 Plane: don't start a transition while disarmed 
this can caused flooding of the GCS console while disarmed in FBWA
mode
 2017-08-02 12:49:10 +10:00
Peter Barker
c058fba5ac Plane: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Peter Barker
5a8f01c19c Plane: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Pierre Kancir
5d0972f589 Arduplane: fix implicit cast to double warning in quadplane 2017-06-14 12:40:47 +01:00
Andrew Tridgell
1455c23230 Plane: fixed docs for tailsitter 2017-06-10 18:41:34 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
2f5f8eb323 Plane: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Andrew Tridgell
6eaad59115 Plane: improve vectored tailsitter takeoff 
this gives extra pitch input when taking off a vectored tailsitter,
allowing the motors to point straight up for easy takeoff

thanks to Leonard for the idea!
 2017-05-07 09:10:44 +10:00
Andrew Tridgell
7ea0f65590 Plane: removed incorrect comment 2017-04-24 16:56:23 +10:00
Andrew Tridgell
06b0742481 Plane: fixed jump in qhover on takeoff 
Z controller PID is from -1 to 1

thanks to Leonard for spotting this
 2017-04-24 16:55:41 +10:00
Andrew Tridgell
aab20317a0 Plane: fixed position control in QLAND_FINAL 2017-04-24 16:55:41 +10:00
Andrew Tridgell
b1f1ace736 Plane: support vectored yaw tiltrotors 
this adds support for tiltrotors which control yaw by vectoring the
forward motors. This avoids the need for the rear motor on a
tilt-tricopter to have a tilt servo
 2017-04-24 16:54:41 +10:00
Andrew Tridgell
2d9c3e3d93 Plane: added EKF yaw reset handling to quadplane 
this follows the implementation from copter. Thanks to Leonard for the
suggestion
 2017-04-24 16:52:16 +10:00
Andrew Tridgell
88e02c7b35 Plane: log the throttle mix for quadplane copter control 2017-04-19 09:08:43 +10:00
Andrew Tridgell
d5ec7b0aad Plane: fixed a sign error in the angle assist code 
thanks to Leonard for finding this!
 2017-04-18 22:09:22 +10:00
Andrew Tridgell
b15b11e32d Plane: always stabilize with tailsitters 2017-04-14 12:48:08 +10:00
Andrew Tridgell
46d910539c Plane: fixed a warning 2017-04-11 17:34:40 +10:00
Andrew Tridgell
642a6acfcb Plane: support thrust vectoring in tailsitters 
adds Q_TAILSIT_VHGAIN and Q_TAILSIT_VFGAIN, allowing for thust
vectoring in both fixed wing and hover
 2017-04-11 17:34:40 +10:00
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