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52,306 Commits 70 Branches 507 Tags 663 MiB
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4300 Commits

Author SHA1 Message Date
Andrew Tridgell 0ca48fa9da Plane: added release notes for 4.2.0beta2 2022-03-10 13:44:05 +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 c54fb0f51b Plane: link in AP_Follow 
ready for ship landing
 2022-03-10 07:34:20 +11:00
Andrew Tridgell 72087335f7 Plane: removed terrain home correction 2022-03-10 07:34:20 +11:00
Iampete1 a7bc844780 Plane: never stick mix without valid RC input 2022-03-09 18:26:30 +11:00
Iampete1 c46a19bf89 ArduPlane: tailsitter: keep attitude controll throttle level upto date for smoother controller handover 2022-03-09 18:21:51 +11:00
Andrew Tridgell 8ccf84d9a3 Plane: disallow mavlink disarm while flying 
this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
 2022-03-09 17:13:45 +11:00
RuffaloLavoisier 962d1d112b ArduPlane : Indentation correction 2022-03-08 14:24:46 -08:00
RuffaloVM d8085f71af ArduPlane : case label indentation 2022-03-08 14:24:46 -08:00
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 54e57ccff0 Plane: don't prevent stick mixing in none RC failsafe 2022-03-08 11:21:13 +11:00
Peter Barker 302c8e4b98 ArduPlane: rename within_min_dz to in_min_dz for consistency 
... consistency with in_trim_dz
 2022-03-08 11:17:45 +11:00
Andrew Tridgell 08d53c2d64 Plane: change master version to 4.3.0dev 2022-03-02 07:44:36 +11:00
Andrew Tridgell ad53ee7f0e Plane: added release notes for 4.2.0beta1 2022-03-02 07:43:59 +11:00
Peter Barker c0aa20b1d0 ArduPlane: include cleanups 2022-03-01 11:21:33 +11:00
Henry Wurzburg 0c32e71272 ArduPlane: clarify and simplify RC failsafe messages 2022-03-01 11:05:15 +11:00
Peter Barker 452a5df0cc ArduPlane: add RebootRequred to stream rate parameters 2022-03-01 11:01:12 +11:00
Iampete1 80f8f8b14e Plane: quadplane: double log QPOS state change 2022-03-01 10:59:07 +11:00
Iampete1 c26ffed47f Plane: motor_test: use PWM min and max from RC_Channel 2022-03-01 10:47:25 +11:00
Peter Barker b19bfba0ec Plane: use has_valid_input in place of checking throttle counter 2022-03-01 10:29:37 +11:00
Peter Barker 13fa1e30ad ArduPlane: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Andrew Tridgell b444420329 Plane: removed controller error in transmitter tuning 2022-02-22 12:23:48 +11:00
Andrew Tridgell e3e125c307 Plane: prepare for 4.1.7 2022-02-21 12:11:28 +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
Iampete1 42a2e1094c Plane: set failsafe limit for throttle left and right 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
Andrew Tridgell 5bb7b04343 Plane: added release notes for 4.1.7beta1 2022-02-12 09:00:51 +11:00
Peter Barker 458d43fc1e ArduPlane: send deprecated message warning for MAVLINK_MSG_ID_SET_HOME_POSITION 2022-02-10 12:13:43 +11:00
Iampete1 1ca1707f9f Plane: quadpalne: keep motors interlock state upto date with E-stop 2022-02-10 07:43:40 +09:00
Peter Barker d914e4e63b Plane: convert next WP alt to global frame in POSITION_TARGET_GLOBAL_INT 2022-02-09 16:09:41 +11:00
Peter Barker 10be59da17 ArduPlane: create and use location_from_command_t 2022-02-09 09:15:11 +11:00
Peter Barker e1314cc297 Plane: remove ancient convert_mixers 2022-02-08 12:19:55 +11:00
Peter Barker 4068d57930 Plane: correct spelling of mode_lotier_qland 2022-02-08 12:19:03 +11:00
Peter Barker 7c0b1f46d6 Plane: remove logging of STRT message 
SType is always 3 - and we're just about to log the entire
mission so CTOT is pointless
 2022-02-08 12:18:16 +11:00
Henry Wurzburg e82ad1ec24 ArduPlane: fix error in Tricks on a Switch qualifier 2022-02-08 11:54:38 +11:00
Peter Barker bab79d0094 ArduPlane: stop passing mission in Terrain constructor 
Terrain can use the mission singleton

This means Copter can have terrain while compiling mission out
 2022-02-08 11:20:20 +11:00
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