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4570 Commits

Author SHA1 Message Date
Andrew Tridgell d425b20ca0 Plane: update release notes for 4.4.0beta3 2024-01-07 10:59:26 +11:00
Andrew Tridgell 5ea3d8bde2 Plane: fixed transition started airspeed message 
this message was lost in recent refactoring
 2024-01-07 10:59:25 +11:00
Paul Riseborough 5554ad4311 Plane: Fix bug that can cause early exit from loiter to alt and time wp's 
The check for the aircraft being lined up for a tangent exit has an early breakout condition if the next waypoint is too close to the loiter circle which can prevent the required ground course to waypoint ever being achieved. This check was using the WP_LOITER_RAD parameter value, not the actual radius being used which can be set differently by the mission plan. If a large value for WP_LOITER_RAD was set and being over-written by the mission plan with a smaller value compatible with the distance to the next waypoint, the aircraft would still exit early.
 2024-01-07 10:59:25 +11:00
Andrew Tridgell ac71bbcef4 Plane: fixed TECS state reset in VTOL auto 
this fixes a bug where TECS maintains its slow integrator while in a
VTOL hover mode in AUTO or GUIDED.

Among other things this affects PAYLOAD_PLACE and
DO_VTOL_TRANSITION. In those states the height can change while
hovering outside the control of TECS. When TECS regains control in a
fwd transition then can lead to a very large height loss or gain until
the TECS integrator can catch up
 2024-01-07 10:59:25 +11:00
Andrew Tridgell b698ef8440 Plane: improved fwd throttle during VTOL landing 
this sets up the vwd integrator more reasonably when we are in
POSITION1 stage of VTOL landing. We need to have enough throttle to
cope with a headwind, but want it lower when we are at or above our
target closing speed so can minimise the amount of pitch up

This also makes the landing_desired_closing_velocity() consistent with
the landing speed used in approach, using average of airspeed min and
cruise speed if TECS_LAND_ARSPD is not set

The target airspeed for TECS during airbraking is now set to
ARSPD_FBW_MIN, on the basis we are trying to slow down to min speed,
and we have VTOL support which should prevent a stall.

To cope with a high headwind where ARSPD_FBW_MIN is below the headwind
we now check for too low achieved closing speed and switch to
POSITION1 which can use vfwd to get to the landing location
 2024-01-07 10:59:25 +11:00
Henry Wurzburg 36b33c586d Plane: Make mode takeoff entry climb to TKOFF_ALT before loitering 2024-01-07 10:59:25 +11:00
Henry Wurzburg 2d6004d526 Plane: fix error in Qplane wait for rudder neutral 2024-01-07 10:59:25 +11:00
Andrew Tridgell 602f7d1336 Plane: prepare for 4.4.0beta2 2023-06-08 18:45:20 +10:00
Andrew Tridgell ad1055e9ea Plane: adjust 4.4.0beta2 release notes 2023-06-08 18:45:08 +10:00
Andrew Tridgell 5178ac92bc Plane: release notes for 4.4.0-beta2 2023-06-08 18:41:06 +10:00
Andrew Tridgell 07aa7b543e Plane: fixed release notes history 
was missing 4.3.5
 2023-04-22 08:27:26 +10:00
Andrew Tridgell 66eb8ba5bf Plane: prepare for 4.4.0beta1 2023-04-21 09:48:45 +10:00
Andrew Tridgell bfbfc81720 Plane: release notes for 4.4.0beta1 2023-04-21 09:48:45 +10:00
bugobliterator 75aaebc758 ArduPlane: change INS_ to INS 2023-03-21 10:04:16 +11:00
Tom Pittenger 3ac55f97b1 Plane generalize Aux Switch VTOL abort for any plane abort landings 2023-03-15 13:31:43 -07:00
Henry Wurzburg a86ff90b97 ArduPlane: add AUTO VTOL landing abort AUX sw 2023-03-14 10:52:23 +11:00
Randy Mackay c12e15f580 Plane: remove unused do-control-video 2023-03-09 12:24:05 +11:00
Iampete1 d97bd6f5c3 Plane: titrotor: is_motor_tilting: dont cast to uint8 2023-03-07 10:28:11 +11:00
Tom Pittenger 96ee3651d2 Plane: Auto takeoff roll-limits to use TKOFF_LVL_ALT 2023-03-02 09:24:13 +11:00
Randy Mackay d9795d3580 Plane: integrate camera frontend/backend split 2023-03-01 18:18:51 +11:00
Andrew Tridgell 8637f2d9c6 Plane: release notes for 4.3.4 2023-03-01 12:58:01 +11:00
Andrew Tridgell a0634d8b5b Plane: constrain tilt range for vectored yaw 
this prevents a case where we can demand unlimited vectored yaw,
leading to loss of control

this was particularly noticible before the fix in #23023 - if you
armed for a 2nd time in QHOVER after moving the throttle above 10% so
throttle_wait was cleared then the motors would try to tilt fully so
one motor is in fwd flight position. This would cause a prop strike
while on the ground
 2023-02-26 08:52:16 +11:00
Andrew Tridgell 38d7bcff6b Plane: re-init throttle wait on quadplane arm and disarm 
this prevents yaw from rudder arming on 2nd flight
 2023-02-26 07:06:09 +11:00
Tom Pittenger 7a6f398668 Plane: add TKOFF_GND_PITCH 2023-02-23 11:12:39 +11:00
Iampete1 eefa3b1ce4 Plane: move training mode function to mode training 2023-02-22 19:26:59 +11:00
Iampete1 f6b0c3775c Plane: move mode acro functions to mode acro 2023-02-22 19:26:59 +11:00
Peter Barker c18276e19b ArduPlane: add support for mavlink in-progress message 2023-02-21 17:07:41 +11:00
Iampete1 50eaa1cc54 Plane: move acro stabilization into mode acro 2023-02-21 11:27:24 +11:00
Iampete1 6bb0096b9d Plane: move training stabilize function to training mode 2023-02-21 11:27:24 +11:00
Iampete1 549dd3875d Plane: add mode ahrs convenience refence 2023-02-21 11:27:24 +11:00
Andrew Tridgell a57e6455ab Plane: use is_armed_and_safety_off() 
this no longer sets soft_armed false when safety is on, and instead
uses is_armed_and_safety_off() when appropriate
 2023-02-21 07:44:09 +11:00
Iampete1 5586f4ad3a Plane: arming: modes: don't always display 2023-02-20 10:55:32 +00:00
Andrew Tridgell 312d37306e Plane: ensure home is up to date on arming 
remove any discrepancy which has crept in over the last few seconds

this also ensures that relative_altitude is updated, and copes with
the EKF refusing the resetHeightDatum call
 2023-02-19 10:45:42 +11:00
Iampete1 2ffe677d39 Plane: combine per mode arm and pre-arm checks 2023-02-15 19:43:40 +11:00
Andrew Tridgell 4a96221a70 Plane: release notes for 4.3.4-beta1 2023-02-12 17:37:07 +11:00
Andrew Tridgell 99f997161a Plane: holdoff auto takeoff till rudder neutral 
when arming with rudder we need to hold off the takeoff until the user
has released the rudder stick or we can yaw badly during the takeoff
 2023-02-09 07:02:32 +11:00
Andrew Tridgell 2989e2deba Plane: added support for NAV_PACKAGE_PLACE mission item 
this works in conjunction with a lua script to allow for a wide
variety of package place options
 2023-02-09 07:02:12 +11:00
Peter Barker 648a13d3f7 ArduPlane: add and use AP_ADVANCEDFAILSAFE_ENABLED 2023-02-08 19:00:13 +11:00
Andrew Tridgell 7735614634 Plane: implement set_rudder_offset() 2023-02-08 16:25:39 +11:00
Pierre Kancir 321801a2c3 Plane: unify firmware name 2023-02-08 12:47:49 +11:00
Iampete1 d928e8b002 Plane: stop passing speed_scaler all over the place 2023-02-07 10:17:09 +11:00
Peter Barker f0e17957f4 ArduPlane: avoid using struct Location 
clang reports this could be a problem when compiling under some EABIs.  Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
 2023-02-04 22:51:54 +11:00
TsuyoshiKawamura 220e58ca6d Plane: correct spelling in ReleaseNotes.txt 2023-02-01 14:16:28 +00:00
Iampete1 2d51b2c9b8 Plane: remove direct roll/pitch stick mixing support 2023-02-01 18:45:10 +11:00
Iampete1 a63a32d6f3 Plane: QRTL: combine threshold radius for QRTL and RTL 2023-01-31 10:57:21 +11:00
Henry Wurzburg 10b69e1c1f Plane:expand yaw autotune to other modes 2023-01-31 10:02:16 +11:00
Andrew Tridgell 6623f1156c Plane: transition pitch limit should not apply to FBWA 
pilot should be able to override pitch, very important on motor
failure to control glide
 2023-01-30 09:19:14 +11:00
Iampete1 76a10d9b26 Plane: relative_ground_altitude allow passing bool for terrain use 2023-01-25 19:34:53 +11:00
Iampete1 928a923f43 Plane: Quadaplane: QRTL use stopping point for climb submode altitude threshold 2023-01-25 19:34:53 +11:00
Iampete1 bf9d49b72d Plane: Quadaplane: add param for min QRTL altitude when close to home 2023-01-25 19:34:53 +11:00