Iampete1
e6968395c6
Plane: remove none-functional NAV_CONTROLLER param
2021-09-08 20:32:52 +09:00
Iampete1
71e2e25313
Plane: attitude: in vtol modes call mode run and stabalize with surfaces
2021-09-08 18:06:58 +10:00
Iampete1
c73207b4b0
Plane: quadplane: remove init mode and control run methods
2021-09-08 18:06:58 +10:00
Iampete1
a985e47d45
Plane: system: don't try and switch to VTOL modes if quadplane is not enabled
2021-09-08 18:06:58 +10:00
Iampete1
e4feea9457
Plane: mode enter init auto state vtol mode to is_vtol_mode
2021-09-08 18:06:58 +10:00
Iampete1
2582159d1a
Plane: mode.h remove init method
2021-09-08 18:06:58 +10:00
Iampete1
fae22b34b7
Plane: mode_qstabilize: combine enter and init
2021-09-08 18:06:58 +10:00
Iampete1
63be15e018
Plane: mode_qrtl: combine enter and init
2021-09-08 18:06:58 +10:00
Iampete1
fa908b0a1d
Plane: mode_qloiter: combine enter and init
2021-09-08 18:06:58 +10:00
Iampete1
70d9d20faf
Plane: mode_qland: combine enter and init
2021-09-08 18:06:58 +10:00
Iampete1
5ebd439712
Plane: mode_qhover: combine enter and init
2021-09-08 18:06:58 +10:00
Iampete1
f055471d8a
Plane: mode_qautotune: call init
2021-09-08 18:06:58 +10:00
Iampete1
64aba43b56
Plane: mode_qacro: combine enter and init
2021-09-08 18:06:58 +10:00
Iampete1
fd7a879c85
Plane: remove unused params
2021-09-08 17:21:23 +10:00
Hwurzburg
327f3a0803
ArduPlane: add option for man throttle center to be TRIM_THROTTLE
2021-09-07 10:02:26 +10:00
Iampete1
95fbf39f72
Plane: quadplane: check_attitude_relax use the last time the controllers were run not the last time relax was checked
2021-09-07 09:09:47 +10:00
Iampete1
fb8fb34cfc
Plane: tailsitter: don't relax attitude control in transision to VTOL, rely on check_attitude_relax to do the right thing
2021-09-07 09:09:47 +10:00
Hwurzburg
5ca652a243
Plane: rename tailistter motor class to more correct singl/dual motor layout
2021-09-06 10:14:05 +10:00
Peter Barker
d6a2056cca
ArduPlane: make bad-mode-number notification consistent across vehicles
2021-09-01 19:45:46 +09:00
Peter Barker
0a8e1575b1
Plane: reuse set_mode_by_number implementation
...
Was just duplicated
2021-09-01 19:45:46 +09:00
Iampete1
88f2f7ccae
Plane: remove unused param OVERRIDE_SAFETY
2021-09-01 18:46:18 +10:00
Andrew Tridgell
3bb17697fd
Plane: fixed params for Q_TAILSIT_ENABLE
2021-09-01 14:04:35 +10:00
Iampete1
7f8b7b66a9
Plane: tailsitter: add enable = 2 for force q assit and assisted flight airmode
2021-09-01 08:33:24 +10:00
Iampete1
f1477a6c29
Plane: quadplane: add assisted flight only airmode
2021-09-01 08:33:24 +10:00
Iampete1
4efa9866fa
Plane: arming: do not disable asisted flight airmode on disarm
2021-09-01 08:33:24 +10:00
Iampete1
46670f7bd0
Plane: quadplane: move tailsitter items to dedicated setup
2021-09-01 08:33:24 +10:00
Iampete1
700a92f036
plane: quadplane: tailsitter: run FW transition check and assist immediately
2021-08-31 10:34:33 +10:00
Peter Hall
657fcb7f59
Plane: quadplane: set `last_pidz_init_ms`
2021-08-31 09:58:03 +10:00
Iampete1
3c44a4fe6b
Plane: radio: remove recompute_pwm_no_deadzone calls in training mode
2021-08-31 09:48:59 +10:00
TunaLobster
d31f3eb4c5
Plane: Add TRIM_PITCH_CD FLIGHT_OPTIONS bits for GCS and OSD
2021-08-31 09:32:10 +10:00
Andrew Tridgell
a39a948c57
Plane: updated releases notes for 4.1.0beta6
2021-08-29 11:35:08 +10:00
Peter Barker
bfe9208849
ArduPlane: add and use HAL_BUTTON_ENABLE
2021-08-25 19:03:42 +10:00
Iampete1
70ab9ba3b6
Plane: tailsitter: remove pilot prop-hanging teaching params and code.
2021-08-25 18:47:51 +10:00
Hwurzburg
551d55a85c
ArduPlane: add thr position trigger to ThrLandCtrl Q_OPTION
2021-08-25 12:32:59 +10:00
Andrew Tridgell
3228b0e670
Plane: added MCU_STATUS message
2021-08-25 07:11:31 +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
Samuel Tabor
65a38b26a4
ArduPlane: altitude: rangefinder correction should be relative to the altitude source being used for navigation. This avoid applying it twice when there is an existing correction saved.
2021-08-19 17:59:33 +10:00
Andrew Tridgell
e1b73a5198
Plane: added slew rate and Dmod for PID_TUNING message
2021-08-19 12:08:54 +10:00
TunaLobster
cbf6c2926f
ArduPlane: Remove @RebootRequired: False
2021-08-19 10:00:16 +10:00
Peter Barker
e0d03ce565
ArduPlane: move wind-estimation-enabled state to frontend
2021-08-18 18:37:39 +10:00
Peter Barker
a84fda9b1f
Plane: adjust for rename yaw_initialised -> dcm_yaw_initialised
2021-08-18 18:37:39 +10:00
Peter Barker
5afaacc320
ArduPlane: stop sending SENSOR_OFFSETS
...
Only works for first compass instance.
We have all of these in parameters anyway.
2021-08-18 18:06:24 +10:00
Andrew Tridgell
58c823284c
Plane: mark logger Write() calls as streaming where appropriate
2021-08-18 10:20:03 +10:00
Andrew Tridgell
497a7c9819
Plane: fixed EKF fly-forward flag for tailsitters
...
for tailsitters that are always using the VTOL controllers (forced
QAssist) we need a different way to determine the fly-forward flag
2021-08-17 20:48:36 +10:00
Iampete1
baf2b4a3d8
Plane: Qstabilize: mode functions to ModeQStabilize
2021-08-17 11:46:49 +10:00
Iampete1
44e63861ce
Plane: QRTL: move functions to ModeQRTL
2021-08-17 11:46:49 +10:00
Iampete1
f75919e727
plane: QLoiter: move functions to ModeQLoiter
2021-08-17 11:46:49 +10:00
Iampete1
921116e7a3
Plane: QLand: move functions to ModeQLand
2021-08-17 11:46:49 +10:00
Iampete1
737096f342
Plane: QHover: move functions to ModeQHover
2021-08-17 11:46:49 +10:00
Iampete1
a1fa683272
plane: Qautotune: move functions to ModeQAutotune
2021-08-17 11:46:49 +10:00
Iampete1
e293866245
plane: Qacro: move functions to ModeQAcro
2021-08-17 11:46:49 +10:00
Peter Barker
515a994c59
ArduPlane: move VehicleClass handling to AHRS frontend
...
.... and renaming the enumeration while we're at it
2021-08-17 10:34:07 +10:00
Iampete1
bd2fed31ee
Plane: actualy fail to enter mode, don't just put the mode back and reutrn true
2021-08-17 10:20:53 +10:00
Iampete1
59a158d7be
Plane: don't output throtte in when safe
2021-08-16 21:22:35 +10:00
Andrew Tridgell
c6efbdd359
Plane: update release notes for 4.1.0beta5
2021-08-16 15:19:43 +10:00
Hwurzburg
9ab0d2e387
ArduPlane: add CRUISE mode RC AUX Function switch
2021-08-11 18:35:05 +10:00
Andrew Tridgell
d1d0ab41d6
Plane: added option to log PIDs at full rate
...
useful for tuning quadplanes
2021-08-10 10:13:36 +10:00
Peter Barker
5dab6b7275
Plane: remove pointless override of send_simstate
...
This is dangling after removing HIL stuff
2021-08-10 09:48:34 +10:00
Iampete1
a1ecd706b7
Plane: notify buzzer on every mode change
2021-08-10 09:47:33 +10:00
Leonard Hall
65b58dea85
Plane: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
2021-08-10 08:33:56 +09:00
Peter Hall
ed4345cb3b
Quadplane: tailsitter: provide assistance at min throttle
2021-08-08 19:41:22 +10:00
Peter Hall
2527117cf9
Quadplane: combine assistance_needed and assistance_safe functions
2021-08-08 19:41:22 +10:00
Hwurzburg
80b4cd7ae9
ArduPlane: correct Mission Reset override behaviour in Plane
2021-08-06 10:17:25 +10:00
bugobliterator
c8b2f009fd
Plane: change class name from SITL::SITL to SITL::SIM
2021-08-05 07:25:31 +10:00
Tom Pittenger
7f9bbc9cfd
Plane: fix ADSB stall speed units. Was accidently using meter/s instead of cm/s
2021-08-04 07:08:24 -07:00
Samuel Tabor
23f6f38390
Plane: soaring: No action if in landing sequence.
2021-08-04 06:52:56 +10:00
Josh Henderson
66cd413473
ArduPlane: remove POSITION_TARGET_TYPEMASK_FORCE_SET
2021-08-03 12:48:38 +10:00
Iampete1
7ff592d29e
Plane: Quadplane: move mode functions to mode classes in-place
2021-08-03 12:28:31 +10:00
Iampete1
4a5e4f9c85
Plane: mode: add quadplane refences
2021-08-03 12:28:31 +10:00
Iampete1
a808d5c688
Plane: mode: add run and init methods
2021-08-03 12:28:31 +10:00
Iampete1
03d17437c3
Plane: mode_takeoff: call base mode constuctor
2021-08-03 12:28:31 +10:00
Peter Barker
435988a300
Plane: don't reset home on GPS startup on watchdog reset
2021-08-03 10:36:50 +10:00
Peter Barker
cfe25f71e3
ArduPlane: use mission singleton inside AP_AdvancedFailsafe
2021-08-03 10:35:24 +10:00
Andrew Tridgell
e7702a4216
Plane: mark log messages as streaming
2021-08-03 10:23:36 +10:00
Hwurzburg
1e4a6c9236
ArduPlane: Correct OSD horizon for VTOL modes and TRIM_PITCH_CD in Fixed Wing
2021-08-03 10:09:28 +10:00
Peter Barker
7e8f812909
Plane: don't allow motortest if motors not allocated
2021-08-02 10:24:49 +10:00
Andrew Tridgell
b037507c48
Plane: mark master as 4.2.0dev
2021-08-01 06:06:26 +10:00
Peter Barker
c348f602d9
ArduPlane: use AP::compass().available in place of enabled()
2021-07-30 12:19:42 +10:00
Peter Barker
85e8b362a7
ArduPlane: stop using AHRS as conduit for Compass pointer
2021-07-30 12:19:42 +10:00
Peter Barker
c1e263695f
Plane: remove unimplemented function declaration
2021-07-30 11:23:06 +10:00
Iampete1
f18428b357
Plane: #ifdef scripting specific functions
2021-07-28 18:18:32 +10:00
Hwurzburg
b539a534e9
Plane: improve description of Q_TRIM_PITCH
2021-07-27 12:49:33 +10:00
Iampete1
beefd95079
Plane: QuadPlane: tailsitter param conversion, set and use new enable param
2021-07-27 09:08:34 +10:00
Iampete1
0eab3faf32
Plane: use new tailsiter class
2021-07-27 09:08:34 +10:00
Iampete1
2bc2b9533b
Plane: QuadPlane: move tailsitter to class
2021-07-27 09:08:34 +10:00
Andrew Tridgell
716697f337
Plane: updated release notes for 4.1.0beta4
2021-07-25 18:31:48 +10:00
Andrew Tridgell
73952dfecb
Plane: update ATRP logging
2021-07-24 15:32:55 +10:00
Andrew Tridgell
f472da8e90
Plane: added ONESHOT_MASK parameter
...
after discussion with Paul on servo latency
2021-07-23 14:47:14 +10:00
Andrew Tridgell
1ae669bb01
Plane: added manual input expo for MANUAL, ACRO and TRAINING
...
this is easier than setting up mode specific expo in radios for flying
in manual modes
2021-07-23 14:47:14 +10:00
Andrew Tridgell
c0d942af4c
Plane: disable EKF3 default airspeed fusion by default
...
this fusion can cause problems with wind estimation, disable by
default for now
2021-07-22 18:20:45 +10:00
Andrew Tridgell
8e6abf5976
ArduPlane: replaced Pixhawk with more appropriate wording in docs
2021-07-22 07:48:12 +10:00
Peter Barker
06c2faaec5
ArduPlane: rename for AHRS restructuring
2021-07-21 21:01:39 +10:00
Peter Barker
e3b8fc6646
ArduPlane: remove ability to use DCM as AHRS
2021-07-21 21:01:39 +10:00
Peter Barker
354c1091f8
ArduPlane: stop taking references to ahrs in APM_Control
2021-07-21 18:27:23 +10:00
Hwurzburg
19213d3627
Plane: Allow yaw at zero throttle in VTOL descents
2021-07-20 11:10:25 +10:00
Iampete1
015b971ccb
Plane: add new dynamic mixer frame class
2021-07-20 09:19:28 +10:00
Andrew Tridgell
d41e400c86
Plane: added acro and training modes RC option
2021-07-20 09:00:46 +10:00
Peter Barker
93323f1f39
Plane: stop setting terrain singleton; libraries use singleton
2021-07-12 17:34:44 +10:00
Leonard Hall
7db568c85a
Plane: seperate kinimatic shaping from pid limit setting
2021-07-10 20:25:05 +09:00
WillyZehnder
0ce6157900
Plane: GCS_Plane.cpp Fix chronological sequence
...
to avoid inappropriate critical warning CRT:NoRCReceiver by ensuring the
call of plane.failsafe.last_valid_rc_ms before calling millis()
2021-07-07 18:56:09 +10:00
Peter Barker
5b7ec1fab4
Plane: do not run any prearm checks if we are armed or arming is not required
...
Co-authored-by: TunaLobster <unknown>
2021-07-07 18:20:54 +10:00
Stephen Dade
d6a123b58b
ArduPlane: Add support for HIGH_LATENCY2 messages
2021-07-07 17:10:05 +10:00
Hwurzburg
8dee32e64f
Plane: Add TX FF tuning for Pitch/Roll/Yaw QuadPlane PIDs
2021-07-06 09:00:16 +10:00
Andrew Tridgell
7ca0aa7c94
Plane: updated release notes for 4.1.0beta3
2021-07-05 16:24:04 +10:00
Andrew Tridgell
8482f9af27
Plane: fixed motor test with DShot VTOL motors
...
need to arm when running the motor test
2021-07-05 07:36:28 +10:00
Samuel Tabor
5e5452cf73
Plane: mode_thermal: adjust messages to reference parameter names
2021-06-30 18:21:03 +10:00
Hwurzburg
ac76a63931
ArduPlane: remove values metadata from log bitmask
2021-06-30 09:24:26 +09:00
Hwurzburg
8310f4a718
Plane: fix bug in tilt position for QLOITER and QRTL if THR_MIN !=0
2021-06-29 10:58:11 +10:00
Andrew Tridgell
92197bd5a9
Plane: fixed longitude wrap in verify_nav_wp
...
thanks to @Khancyr
2021-06-25 15:33:55 +10:00
Andrew Tridgell
50e6d67a66
Plane: update for new double precision position APIs
2021-06-24 21:34:30 +10:00
Andrew Tridgell
61ac45dd5a
Plane: use cleaned up APIs
2021-06-24 20:28:45 +10:00
Andrew Tridgell
4d7bb82f9e
Plane: updated release notes for 4.1.0beta2
2021-06-24 20:15:01 +10:00
Andrew Tridgell
66bc673442
Plane: fixed attitude control during QPOS_AIRBRAKE
...
this fixes a bug where we used the multicopter rate control when in
airbrake approach stage, which could lead to attitude going out of
control
2021-06-22 07:42:20 +10:00
Peter Barker
055e82276e
ArduPlane: remove HIL support
2021-06-15 09:47:31 +10:00
Iampete1
6eab9b9c15
plane: quadplane: skip QPOS_POSITION1 on tailsitters
2021-06-15 09:25:58 +10:00
Peter Hall
85743be4f3
Revert "Plane: cope with Q pitch limit larger than fixed wing limit"
...
This reverts commit 74da3c74ac
.
2021-06-15 09:25:58 +10:00
Hwurzburg
e958306343
Plane: Add options to USE_REVERSE_THRUST to cover all flight modes
2021-06-15 07:05:02 +10:00
Hwurzburg
4f48233b43
ArduPlane: add QRTL always as Q_RTL_MODE option
2021-06-14 09:08:20 +10:00
Andrew Tridgell
80afba3bd2
Plane: updated release notes for 4.1.0beta1
2021-06-14 08:25:05 +10:00
Andrew Tridgell
0c8e81964e
Plane: reset yaw controller on entry to POSITION1
...
this fixes a yaw change when we finish landing approach in
QRTL. Thanks to Henry for noticing this
2021-06-14 07:53:32 +10:00
Andrew Tridgell
4307390820
Plane: fixed distance threshold for vtol land
2021-06-13 07:50:02 +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
ae6220aace
Plane: cope with zero distance to target in QPOS_POSITION1
2021-06-10 13:50:29 +10:00
Andrew Tridgell
0f9e7001d1
Plane: limit speed in POSITION1 based on angle
...
this prevents trying to fly a quadplane fast backwards or sideways. If
flying backwards then a 3x reduction is used. For sideways a 2x
reduction is used
2021-06-10 13:50:29 +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
5f8e90cd6f
Plane: metadata fix for Q_OPTIONS
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
0937d903a1
Plane: use HAL_EFI_ENABLED
2021-06-09 18:07:00 +10:00
Andrew Tridgell
0ecc02c53a
Plane: fixed constructor of accel_ef filter
2021-06-08 11:14:52 +10:00
Iampete1
438ca0a6c4
Plane: tailsitter: increase severity level of failed transisisons.
2021-06-08 10:56:09 +10:00
Andrew Tridgell
f970735d47
Plane: fixed handling of NAV_LOITER_TIME with Q_GUIDED_MODE=1
...
and made logic of in_vtol_mode() easier to read
2021-06-05 13:05:30 +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
1165fcab99
Plane: removed incorrect URL
2021-06-05 13:05:30 +10:00
Andrew Tridgell
fd19ff3bea
Plane: offset guided start point when using Q_GUIDED_MODE
2021-06-05 13:05:30 +10:00
Andrew Tridgell
f15497c6a9
Plane: only do fwd thrust loss detection in SLT vehicles
...
on tilt rotors and tailsitters it doesn't make sense to switch to
POSITION1 at low speeds when in APPROACH
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
fbf5083e6a
Plane: avoid transition in QRTL
...
if close to home and already in a VTOL mode then don't transition
2021-06-05 13:05:30 +10:00
Andrew Tridgell
3bb840f794
Plane: implement slow descent in QRTL approach
...
this approaches in QRTL at ALT_HOLD_RTL alt, then descends to
Q_RTL_ALT close to the destination
2021-06-05 13:05:30 +10:00
Andrew Tridgell
77ee922473
Plane: fixed NAV_CONTROLLER_OUTPUT in QRTL
2021-06-05 13:05:30 +10:00
Andrew Tridgell
245ded2f2d
Plane: fixed handling of loss of fwd thrust in QRTL
2021-06-05 13:05:30 +10:00
Andrew Tridgell
c7a14a5da1
Plane: disable cross-track in Q approach modes and QRTL
2021-06-05 13:05:30 +10:00
Andrew Tridgell
46722500b0
Plane: default Q_TRANS_DECEL to 6 for tailsitters
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
ddfc9e8300
Plane: improved quadplane auto-land into wind
...
when heading is strong we need to ramp up pitch limit slowly to
prevent a big dive
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
062a15ce11
Plane: set_takeoff_expected should only get set when not flying
2021-06-02 11:13:16 +09:00
Andrew Tridgell
68a1100c64
Plane: use new APIs for takeoff/touchdown expected
2021-06-02 11:13:16 +09:00
Hwurzburg
bf14c32109
Plane: correct description of Q_TAILSIT_MOTMX param
2021-05-30 22:36:26 -07:00
James Harton
be3cc1b679
Docs: Change all references from dev.ardupilot.org to the appropriate documentation URLs.
2021-05-31 12:20:45 +10:00
Peter Barker
3464f9b46e
ArduPlane: remove optical flow pointer from AP_AHRS
...
Nothing was ever using it.
2021-05-30 10:44:42 +10:00
Leonard Hall
e275ec9e63
Plane: Rename set_yaw_target_to_current_heading
2021-05-26 16:03:05 +09:00
vierfuffzig
9a538ba15b
ArduPlane: fix advanced param metadata
2021-05-25 12:36:59 +10:00
Hwurzburg
38ed4a2dd6
ArduPlane: make centideg metadata incr and range consistent
2021-05-25 10:10:18 +10:00
Leonard Hall
8b3b6cf693
Plane: Fix before squash
2021-05-24 20:13:37 +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
5857e750ce
Plane: provide target velocity in QPOS descent
2021-05-24 20:13:37 +10:00
Andrew Tridgell
74da3c74ac
Plane: cope with Q pitch limit larger than fixed wing limit
...
prevents tailsitter VTOL transition timeout due to not achieving angle
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
24375cf9c1
Plane: change printf calls to send_text
2021-05-24 20:13:37 +10:00
Andrew Tridgell
52b4c257ec
Plane: prevent oscillation in GUIDED mode hover
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
Andrew Tridgell
9d52333afc
Plane: don't start descent till under 3m/s
2021-05-24 20:13:37 +10:00
Leonard Hall
4bae8f03a4
Copter: Use PosControl fixes
2021-05-24 20:13:37 +10:00
Leonard Hall
57952861d6
Plane: PosControl Update
2021-05-24 20:13:37 +10:00
Leonard Hall
ff2ae1d7d1
Plane: integrate AC_PosControl::get_roll_cd rename
2021-05-12 17:16:00 +10:00
Leonard Hall
1ce63bf433
Plane: minor format and comment fixes
2021-05-12 17:16:00 +10:00
Andy Piper
8e744a4a25
Plane: generalise ESC telemetry to allow harmonic notch handling with other ESCs
2021-05-12 17:01:11 +10:00
Pierre Kancir
8a0230e6d5
Plane: use MAVLink POSITION_TARGET_TYPEMASK
2021-05-11 09:53:50 +10:00
James O'Shannessy
5253b8a3ee
ArduPlane: Fix spiralling loiters when no fence return point can be found
2021-05-05 10:59:10 +10:00
Iampete1
fd2909d53f
Plane: change location refence frame correctly
2021-05-02 18:51:27 +10:00
Iampete1
1a182a52da
Plane: init terrain to locaiton and wpnav sub sytems
2021-05-02 18:51:27 +10:00
Iampete1
572e401894
Plane: fix QRTl terrain following
2021-05-02 18:51:27 +10:00
Iampete1
a165a0e1bb
Plane: fix loiter terrain following
2021-05-02 18:51:27 +10:00
Josh Henderson
5c8c961399
ArduPlane: Privatize AP_IntertialSensor Logging
2021-04-29 19:19:12 +10:00
Peter Barker
03d643a18a
ArduPlane: log auxillary function invocations
2021-04-29 13:00:40 +10:00
Peter Barker
453b7403b1
ArduPlane: remove duplicate log metadata fields
2021-04-27 16:38:40 +10:00
Peter Hall
d3dca4c17d
Plane: consistantly slew all three throttles
2021-04-27 09:37:32 +10:00
Peter Hall
47ab0360e7
Plane: tailsitter: do not output throttle
2021-04-27 09:37:32 +10:00
Hwurzburg
09fb9a8e58
Plane: limit speed scaling in Autotakeoff wo AS sensor option
2021-04-20 09:07:09 +10:00
Andrew Tridgell
da2ddda0cb
Plane: added in ATRP logging
2021-04-15 06:57:16 +10:00
Andrew Tridgell
93abd44446
Plane: added SRate to PID logging
2021-04-15 06:57:16 +10:00
Andrew Tridgell
96059a6387
Plane: allow for AUTOTUNE_LEVEL==0
2021-04-15 06:57:16 +10:00
Andrew Tridgell
d2d06af751
Plane: removed ATRP log msg
2021-04-15 06:57:16 +10:00
Andrew Tridgell
a35d8e584d
Plane: change param prefixes for roll/pitch controllers
2021-04-15 06:57:16 +10:00
Andrew Tridgell
e5308db8c2
Plane: added FLIGHT_OPTIONS bit to enable yaw control in ACRO mode
...
this allows for yaw damper in ACRO, which is important on some
vehicles with no vertical stabilize
See
https://discuss.ardupilot.org/t/rudderless-split-rudder-flying-wing/69273/4
2021-04-15 06:22:29 +10:00
Samuel Tabor
4cc92c6b3e
Plane: Constrain target_airspeed_cm by min as well as max airspeed.
2021-04-14 06:43:09 -07:00
Samuel Tabor
baf31fd825
Plane: Ensure trim airspeed is applied if in auto with no DO_SPEED command received.
2021-04-14 06:43:09 -07:00
Peter Barker
6a32afcd72
ArduPlane: tidy setting of sensor status flags
2021-04-14 18:03:27 +10:00
Andrew Tridgell
b749756c29
Plane: setup SMAX for Q modes
...
this enables logging of rates, which helps with tuning
2021-04-13 10:28:47 +10:00
Andrew Tridgell
b984dd4a62
Plane: added in FF component in tailsitters
...
this is needed for decent control of tailsitters
2021-04-13 10:28:47 +10:00
Peter Hall
105f94f1fd
Plane: tailsitter: transistion to and from inverted flight
2021-04-13 10:02:28 +10:00
Peter Hall
5a941ce02f
PLane: tailsitter: instant transition when disarmed
2021-04-07 17:55:48 +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
Peter Barker
aa973c5245
ArduPlane: move handling of last-seen-SYSID_MYGCS up to GCS base class
2021-04-07 17:54:21 +10:00
Iampete1
75dc0ced10
Plane: Quadplane: remove outdated Z controller reset
2021-04-07 17:37:30 +10:00
Stavros Korokithakis
3c19579988
Plane: Push the TECS to climb in all circumstances
2021-04-06 21:37:01 +10:00
Randy Mackay
ff8b69fbad
Plane: update tuning to integrate poscon changes
2021-04-03 12:07:59 +09:00
Peter Barker
cb8ca17035
ArduPlane: return MAV_RESULT_FAILED from do_aux_function if invalid function
2021-03-31 11:36:09 +11:00
Iampete1
d1fabe0c3d
Plane: VTOL: remove motors config error
2021-03-30 10:58:05 +11:00
Iampete1
e81dc36ed6
Plane: add option do do a VTOL approach RTL
2021-03-29 11:29:12 +11:00
Peter Barker
a32d45eb04
ArduPlane: remove Log_Write_Performance which is not called anywhere
2021-03-26 16:35:08 +11:00
Iampete1
60d26723ae
Plane: make TERRAIN_FOLLOW at AP_int32 bitmask, per mode option
2021-03-24 10:15:18 +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
Mark Whitehorn
c2ad2d6090
Plane: tailsitter.input_type bugfix
2021-03-23 11:54:09 +11:00
Hwurzburg
0eb5369543
Plane: allow max auto pitch in hand launch takeoffs
2021-03-23 09:56:22 +11:00
Iampete1
660d301f9b
Plane: chan param converison
2021-03-17 19:18:46 +11:00
Iampete1
cca5e62c89
Plane: move RST_SWITCH_CH to RCx_OPTION
2021-03-17 19:18:46 +11:00
Iampete1
7226a3a9dc
Plane: move FBWA_TDRAG_CHAN to RC Options
2021-03-17 19:18:46 +11:00
Iampete1
5f555e5314
Plane: move CHUTE_CHAN to RC Options
2021-03-17 19:18:46 +11:00
Iampete1
eeab196d91
Plane: move RST_MISSION_CH to RC option
2021-03-17 19:18:46 +11:00
Stavros Korokithakis
29043d62e9
Add FLIGHT_OPTION to climb before RTL
2021-03-16 11:58:47 +11:00
Peter Barker
0b35708f33
Plane: set tailsitter throttle output when disarmed
2021-03-16 10:41:44 +11:00
Peter Barker
000ff90a71
autotest: remove thrust-to-actuator to armed section
2021-03-16 10:41:44 +11:00
Hwurzburg
d15e01d390
Plane: fix DO_CHANGE_SPEED airspeed to impact only AUTO and GUIDED modes
2021-03-16 10:09:34 +11:00
Samuel Tabor
ed48558985
ArduPlane: Correct description of KFF_THR2PTCH parameter.
2021-03-12 20:11:02 -08:00
Siddharth Purohit
1b8519ee53
ArduPlane: move underscore one layer down for GPS
2021-03-12 16:32:36 +09:00
James O'Shannessy
198ec9a678
ArduPlane: Fix use of nullptr when AC_FENCE configured as DISABLED
...
Parameter upgrade needs to grab singleton as the fence library may not be built in to plane.
2021-03-05 16:48:57 +11:00
James O'Shannessy
560943d6e0
ArduPlane: corrections to returning to the previous mode if fence was disabled while under action
2021-03-05 14:52:46 +11:00
James O'Shannessy
5dd40afe0a
ArduPlane: Retrigger fence breach if mode
...
ArduPlane: Move auto enabling code to common fence library
2021-03-05 14:52:46 +11:00
James O'Shannessy
2c66e164d0
ArduPlane: Improvements to parameter upgrading between versions
2021-03-05 14:52:46 +11:00
James O'Shannessy
af733b2f09
ArduPlane: Convert and remap old parameters
2021-03-05 14:52:46 +11:00
James O'Shannessy
f774196b52
ArduPlane: Cleanup of unnecessary comments in fence logic
2021-03-05 14:52:46 +11:00
James O'Shannessy
c316711351
ArduPlane: Add conversion from ArduPlane geofence param to AC_Fence param
2021-03-05 14:52:46 +11:00
James O'Shannessy
8a99d9dd00
ArduPlane: Use auto enable and auto disable from AC_Fence
2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
4f7ffc5eb1
Plane: move fence disable code to a function to enable reusability
2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
fef8b37b11
Plane: Address Randy review comments
2021-03-05 14:52:46 +11:00
James O'Shannessy
aae092b88f
ArduPlane: Remove all unused geofence capability
...
ArduPlane: Remove missed geofence logic
2021-03-05 14:52:46 +11:00
James O'Shannessy
17fb585bf1
ArduPlane: Add support for AC_Fence
...
ArduPlane: Remove some geofence logic from ArduPlane
ArduPlane: Refactor action and mode return implementation
ArduPlane: Use polyfence to find the return point.
2021-03-05 14:52:46 +11:00
Paul Riseborough
baea2c33bd
Plane: remove unnecessary call to setTakeoffExpected
...
This is already set from inside Plane::set_servos_controlled when throttle up and or launch accel is detected.
2021-03-05 12:10:01 +11:00
Paul Riseborough
1dc79f0be8
Plane: Clarify calculation used to detect throw
2021-03-05 12:10:01 +11:00
Paul Riseborough
4e648734fa
Plane: Fix takeoff pitch for hand launch
2021-03-05 12:10:01 +11:00
Paul Riseborough
39e1eb238d
Plane: make detection of impending takeoff more likely
2021-03-05 12:10:01 +11:00
Paul Riseborough
a1bde16abd
Plane: Fix failure to disarm after landing in strong winds
2021-03-05 12:10:01 +11:00
Paul Riseborough
ad582a90dd
Plane: Don't set takeoff expected until vehicle is armed.
2021-03-05 12:10:01 +11:00
Paul Riseborough
f5f13b9a47
Plane: Set default airspeed variance using airspeed range
2021-03-05 12:10:01 +11:00
Paul Riseborough
82f68464d4
Plane: Don't lower nose when hand launching
2021-03-05 12:10:01 +11:00
Peter Barker
f85e55a611
Plane: override mission-changing-command to reset some state
2021-03-04 11:59:33 +11:00
Tom Pittenger
5c8d3a87db
Plane: change SRx_ docs value 1 50
2021-03-03 18:17:22 +11:00
Iampete1
69275582fa
QuadPlane: fix loiter to RTL instant QRTL switch
2021-03-03 15:07:22 +11:00
Randy Mackay
4c8ada111b
Plane: quadplane defaults Q_WP_SPEED to 500
...
Q_WP_ACCEL default is set to 100
2021-03-03 08:03:39 +09:00
Iampete1
1d050a01ce
Plane: Quadplane: add Q_OPTION to ignore forward flight angle limits in Q modes
2021-03-02 11:16:35 +11:00
Iampete1
8ebe64a274
Plane: Quadplane disable forward motor assist in Q modes if rangefinder is out of range low
2021-02-28 18:48:56 +11:00
Andrew Tridgell
44df1dd0ca
Plane: fixed the pitch control in transition for tilt rotors
...
this fixes an issue found by Henry. If level transition is set when
transitioning to FBWA from a Q mode, and the pilot pulls back on the
pitch stick to demand pitch up then the plane would go into a
high-alpha flight state with low vertical throttle so it would not
climb, resulting in it never getting past airspeed wait state
2021-02-28 11:33:18 +11:00
Andrew Tridgell
319368e4b7
Plane: fixed yaw on fwd transition in tilt quadplanes
...
this fixes the coordinated turn calculation for yaw rate in tilt
quadplanes, and also only applies it if demanding at least 10 degrees
roll.
this fixes an issue when the pilot has a small roll demand in FBWA
from slightly off roll RC trim
thanks to Henry for helping diagnose this!
2021-02-27 14:42:20 +11:00
Andrew Tridgell
ee2f7eac80
Plane: prepare for 4.0.9
2021-02-23 08:03:12 +11:00
Andrew Tridgell
c913d8134d
Plane: use ahrs.groundspeed() instead of gps call
...
this fixes a zero of integrator when dead-reckoning after GPS has died
2021-02-21 09:13:31 +11:00
Peter Barker
1b74058842
Plane: recalculate glide slope after achieving rtl.done_climb
2021-02-13 19:34:52 +11:00
Pierre Kancir
6062e4ee81
ArduPlane: use AUX_PWM_TRIGGER_LOW and AUX_PWM_TRIGGER_HIGH
2021-02-10 18:48:06 +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
Samuel Tabor
db8aaeb63a
Plane: During takeoff keep limit at LEVEL_ROLL_LIMIT until rotate speed is reached.
2021-02-09 10:08:41 +11:00
Andrew Tridgell
2e9b2fbc2b
Plane: update release notes for 4.0.9beta1
2021-02-06 15:46:01 +11:00
Peter Barker
af29f34f2c
Plane: store previous_mode_reason only as a local
...
It's never used outside the mode-changing method.
2021-02-03 20:33:25 +11:00
Iampete1
e600df680e
Plane: instantly switch from RTL to QRTL if within radius
2021-02-03 18:53:54 +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
Peter Barker
eaa6b36077
ArduPlane: move control_mode_reason up to AP_Vehicle
2021-02-03 18:24:52 +11:00
Peter Barker
b6d0208287
Plane: allow arming in all auto-throttle modes
...
... except QRTL and QLAND which are now universally denied for arming.
2021-02-03 18:22:10 +11:00
Peter Barker
a9be4480b1
Plane: mark q modes as not having auto-throttle control
...
Reverts part of 6baaf03c8c
AvoidADSB was NOT marked as AutoThrottle before that commit but was
marked as such in that commit.
2021-02-03 18:22:10 +11:00
Samuel Tabor
d2c8eb8ce9
Plane: Allow AP_Soaring to specify loiter radius in THERMAL mode.
2021-01-29 11:20:09 -08:00
Andrew Tridgell
b20604bb59
Plane: update release notes for 4.0.8
2021-01-26 17:17:40 +11:00
Iampete1
004f873dc7
Plane: update Quadplane FRAME_CLASS description
2021-01-26 11:07:36 +09:00
Andrew Tridgell
5f4b5c4b94
Plane: prevent failsafe from changing mode during landing
...
this prevents RC or GCS failsafe from triggering a mode change during
a landing
2021-01-26 11:17:10 +11:00
Peter Barker
87486739d1
Plane: disallow changing to INITIALISING mode
2021-01-26 10:47:27 +11:00
Randy Mackay
d487d6152e
Plane: ahrs pre-arm always runs position checks
2021-01-26 10:46:49 +11:00
Peter Barker
95bc9cca79
ArduPlane: use ground_course in preference to ground_course_cd
2021-01-26 10:22:28 +11:00
Randy Mackay
0d0ff63242
Plane: ensure wp_nav::wp_and_spline_init is called at least once
2021-01-20 18:22:44 +11:00
Iampete1
e4fbe64616
Plane: add QuadPlane singleton
2021-01-19 11:18:10 +11:00
Peter Hall
05fb14e5d9
Plane: tailsitter start transition from initial pitch
2021-01-19 10:46:58 +11:00
Iampete1
4dec597372
Plane: move quadplane logging to QuadPlane: update()
2021-01-19 10:24:05 +11:00
Samuel Tabor
d97a81bfea
Plane: Re-order logic in soaring.cpp.
2021-01-13 18:35:53 +11:00
Samuel Tabor
a8549f5e5f
Plane: Use const method on modes classes to mark those that support auto switch to THERMAL mode.
2021-01-13 18:35:53 +11:00
Peter Barker
b698546b70
ArduPlane: add do_disarm_checks boolean to disarm call
...
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
2021-01-12 08:48:44 +09:00
Pierre Kancir
742cfc543f
Plane: fix parameter unit
2021-01-12 10:21:55 +11:00
Josh Henderson
cc1e395854
ArduPlane: privatize AHRS logging
2021-01-12 10:13:22 +11:00
Peter Barker
6baaf03c8c
Plane: move auto_throttle_mode to being a method on each mode
2021-01-10 16:04:30 +11:00
Peter Barker
f6cb1b5ad6
Plane: use a method on Mode for auto-navigation-mode
...
Avoids the state getting stale, which it will with a failed attempt to
go into qautotune, for example.
2021-01-10 16:04:30 +11:00
Peter Barker
a1ea1306a1
Plane: use pure-virtual method for allows_throttle_nudging
...
In place of a state variable which could become stale
2021-01-10 16:04:30 +11:00
Andrew Tridgell
6a804c3a09
Plane: update release notes for 4.0.8beta1
...
# Conflicts:
# ArduPlane/release-notes.txt
2021-01-06 09:37:39 +11:00
Peter Hall
0c68ec7b5c
Plane: add limit to pid log metadata
2021-01-05 10:27:28 +11:00
Andrew Tridgell
96c2a5c77c
Plane: added scaling for Q_TAILSIT_VFGAIN
...
this scales the vectoring in fixed wing flight to remove the impact of
surface speed scaling and add throttle scaling
2021-01-05 08:23:28 +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
Michael du Breuil
2909623057
Plane: Ensure that only one form of throttle nudging is active at once
2021-01-03 12:47:14 +11:00
Hwurzburg
913d1b81b2
Plane: correct bug that prevents QACRO rudder disarm
2021-01-02 08:59:31 +11:00
Tom Pittenger
c653ff880a
Plane: extend Stream rates param count to match MAVLINK_COMM_NUM_BUFFER
2020-12-29 07:52:09 -07:00
Peter Barker
9b2ef4f6f1
Plane: move rudder-arming arm checks into Plane's AP_Arming
2020-12-29 12:55:27 +11:00
Hwurzburg
5b471c4c0e
Plane: move loiter,thermal out of auto fs group
2020-12-29 10:55:00 +11:00
Iampete1
33e397c524
Plane: tailsitter: output 0 tilt with 0 vector gain
2020-12-22 11:00:59 +11:00
Iampete1
c62c19c798
Plane: tailsitter: apply gain scailing to Tilts in motors only Qassist
2020-12-22 11:00:59 +11:00
Iampete1
54ee2c35fb
Plane: rename tailsitter scailing max param to match min and update descriptions
2020-12-22 11:00:59 +11:00
Iampete1
0976979045
Plane: tailsitter: set motor limit flags
2020-12-22 11:00:59 +11:00
Iampete1
c8b3c91ae5
Plane: Tailsitter add disk theory and altitude gain scailing
2020-12-22 11:00:59 +11:00
Mark Whitehorn
9bf89e5635
Plane: add check for vectored tailsitter in tailsitter_transition_vtol_complete
2020-12-21 12:56:24 +11:00
Mark Whitehorn
dd7a860f23
Plane: always instantiate AC_AttitudeControl_TS
2020-12-21 12:56:24 +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
8e3c6124eb
Plane: added support for rear motor tilt
...
needed for X8 tilt tri test aircraft for this PR
2020-12-21 12:05:50 +11:00