Commit Graph

621 Commits

Author SHA1 Message Date
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
Andrew Tridgell 56db91d0c3 Plane: 32 servo conversion 2022-05-22 12:07:37 +10:00
Andrew Tridgell 86c2404654 Plane: increased safety of guided -> auto quadplane takeoff
when we arm in guided mode then enter a special guided_wait_takeoff
state. We keep motors suppressed until one of the following happens

  1) disarm
  2) guided takeoff command
  3) change to AUTO with a takeoff waypoint as first nav waypoint
  4) change to another mode

while in this state we don't go to throttle unlimited, and will refuse
a change to AUTO mode if the first waypoint is not a takeoff. If we
try to switch to RTL then we will instead use QLAND

This state is needed to cope with the takeoff sequence used by QGC on
common controllers such as the MX16, which do this on a "takeoff"
swipe:

  - changes mode to GUIDED
  - arms
  - changes mode to AUTO
2022-05-18 06:43:16 +10:00
Andrew Tridgell a22e181acb Plane: account for sprung throttle in VTOL throttle suppression
when RC_OPTIONS has been changed to not check throttle for arming then
treat this like a sprung throttle for quadplane throttle suppression
in auto-throttle modes, and only unsuppress when throttle goes above
trim+dz
2022-05-15 21:17:50 +10:00
Andrew Tridgell 86d2ccf0e7 Plane: update gyro fft throttle
allows for updating or learned FFT freq
2022-05-10 08:08:56 +10:00
Henry Wurzburg 0d01ac389c Plane: add Q_OPTION for RTL always on RC failsafe for ship landing 2022-04-19 19:58:46 +10:00
Andrew Tridgell 8e37c93e7d Plane: fixed rudder control when ARMING_RUDDER != 2
when rudder disarm is disabled we should allow full yaw control
regardless of throttle level. We should also only disable left yaw
when throttle is at zero, as right yaw does not indicate pilot may be
trying to disarm
2022-04-03 09:12:03 +10:00
Peter Barker 2c42c056d8 Plane: correct EnableLandResponsition->EnableLandReposition 2022-03-31 20:30:55 +11:00
Andrew Tridgell 48881eeb55 Plane: fixed yaw on the ground when rudder disarming in AUTO
when a quadplane touches down in an auto throttle mode the pilot may
use rudder to disarm. The check for rudder disarm was only active in
modes without auto-throttle. This expands it to all modes if the
throttle has hit the lower limit
2022-03-24 07:44:40 +11:00
Andrew Tridgell d82a306cc2 Plane: when shutting down motors force outputs to minimum
this fixes issue #20354 where a long spool time can lead to motors
running without control for an extended period of time.
2022-03-23 18:20:42 +11:00
Peter Barker 1f5165349e Plane: correct compilation when airspeed disabled 2022-03-20 21:47:05 +11:00
Henry Wurzburg 14700063d2 ArduPlane: convert floating point divides into multiplys 2022-03-18 15:26:44 +11:00
Andrew Tridgell 6ebefbdb16 Plane: added airspeed based pitch limit check
prevent using too much pitch when at low airspeed, which can lead to
severe instability in SLT quadplanes
2022-03-18 13:36:16 +11:00
Andrew Tridgell eabdaae1e7 Plane: use set_lean_angle_max_cd()
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
2022-03-18 13:36:16 +11:00
Andrew Tridgell cc6fc2b130 Plane: improvements to POSITION1 controller
this improves 4 things in the POSITION1 controller based on logs from
4.2.0beta2. The changes are designed to increase the tolerance to
an incorrect value for Q_TRANS_DECEL, reducing landing overshoot

1) we fix the initialisation of the acceleration. The
   init_xy_controller() function assumes zero accel, so we need to
   call set_accel_desired_xy_cmss() just after that init to get the
   correct accel. Thanks to Leonard for this fix

2) if we decel more than expected due to too low Q_TRANS_DECEL we
   need to reduce the target speed, rather than putting the nose down

3) lower the default Q_P_JERK_XY to a value more appropriate for most
   quadplanes (Leonard suggested a value of 2)

4) fixed the pitch envelope from Q_BACKTRANS_MS to start after the
   airbrake phase is complete
2022-03-18 13:36:16 +11:00
Andrew Tridgell 3772029450 Plane: fixed pitch envelope after AIRBRAKE
we need to setup last_fw_mode_ms and last_fw_nav_pitch_cd when we
enter POSITION1 mode so that the expanding envelope pitch limit from
Q_BACKTRANS_MS is applied correctly
2022-03-18 13:36:16 +11:00
Andrew Tridgell 8b16b5ca94 Plane: adjust throttle mix for auto landing
use mix-max during landing approach and initial descent, use min in
land final. As discussed with Leonard
2022-03-18 13:35:46 +11:00
Andrew Tridgell a1856c5c22 Plane: added an arming check for Q_ASSIST_SPEED
Q_ASSIST should really be enabled for all non-tailsitter
quadplanes. This arming check will help users remember to configure it
2022-03-16 09:29:14 +11:00
Andrew Tridgell 55c46cd868 Plane: protect against short stop_distance 2022-03-10 13:41:18 +11:00
Andrew Tridgell 5e14b9efe6 Plane: use pos control for most of LAND_FINAL
this gives more accurate landing with some velocity drift
2022-03-10 07:34:20 +11:00
Andrew Tridgell cc9b9813cb Plane: review fixes
thanks Pete!
2022-03-10 07:34:20 +11:00
Andrew Tridgell f09c715d7a Plane: wait till motors are fully up before takeoff in guided mode
this allows for guided mode takeoff in tilt-rotors. Otherwise motors
till be pointing forward and takeoff will go very badly
2022-03-10 07:34:20 +11:00
Andrew Tridgell 3659669409 Plane: cope with high angle error in airbrake state
if we are flying too far off the target vector then exit airbrake
state. This prevents flying for a long distance away from the landing
point in airbrake mode
2022-03-10 07:34:20 +11:00
Andrew Tridgell f9ecf15973 Plane: setup target accel in POSITION1 state 2022-03-10 07:34:20 +11:00
Andrew Tridgell 2864e21b31 Plane: allow for a trans decel margin
so if we are behind the velocity curve we are less likely to overshoot
landing
2022-03-10 07:34:20 +11:00
Andrew Tridgell 33bc067edf Plane: fix NAV_CONTROLLER_OUTPUT in Q modes
Q modes don't always use wp_nav, but do use pos_control

AUTO and QRTL setup the plane navigation as well, so can use the L1
data
2022-03-10 07:34:20 +11:00
Andrew Tridgell 3fe9a55269 Plane: added APIs for lua ship landing 2022-03-10 07:34:20 +11:00
Andrew Tridgell 6d63e1f7d3 Plane: added Q_LAND_ALTCHG parameter
this is the threshold height change over 4 seconds for a landing to be
detected. It can be raised if landing detection is very slow
2022-03-09 07:50:10 +11:00
Iampete1 80f8f8b14e Plane: quadplane: double log QPOS state change 2022-03-01 10:59:07 +11:00
Peter Barker b19bfba0ec Plane: use has_valid_input in place of checking throttle counter 2022-03-01 10:29:37 +11:00
Iampete1 267583db55 Plane: quadplane: never reset yaw target rates when entering QPOS1 2022-02-21 09:35:06 +11:00
Iampete1 9fd14dbf94 Plane: quadplane: set IO failsafe limit for all motors 2022-02-17 12:31:16 +11:00
Andrew Tridgell 1bdc9b5bf8 Plane: fixed in_vtol logic so QRTL can AIRBRAKE 2022-02-16 07:43:01 +11:00
Andrew Tridgell aab6c94936 Plane: don't weathervane in AIRBRAKE state
this prevents unwanted VTOL motor throttle while trying to slow
down. In this stage the slaving of yaw rate to fixed wing roll control
is sufficient
2022-02-16 07:43:01 +11:00
Andrew Tridgell 2846f87eeb Plane: reduce height gain in auto landing for tiltrotors
avoid running the motors while tilted past the tilt max if we are in
AIRBRAKE state. This stops a large amount of forward thrust from the
tilted motors while trying to slow down, while still maintaining
attitude control
2022-02-16 07:43:01 +11:00
Iampete1 1ca1707f9f Plane: quadpalne: keep motors interlock state upto date with E-stop 2022-02-10 07:43:40 +09:00
Peter Hall 717b18a680 Plane: quadplane: add allow_weathervane transtion class method 2022-02-08 10:38:16 +11:00
Peter Hall 6a719664d3 Plane: quadplane: pass takeoff and landing state to weathervane 2022-02-08 10:38:16 +11:00
Gone4Dirt a79359dc67 Plane: use new weathervane library 2022-02-08 10:38:16 +11:00