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Commit Graph

4199 Commits

Author SHA1 Message Date
Iampete1
e33954d561 Plane: tailsitter transition tidyups 2021-11-02 10:14:36 +11:00
Iampete1
af8688b300 Quadplane: add transiton class 2021-11-02 10:14:36 +11:00
Iampete1
9073d16b09 Tiltrotor: add transtion class 2021-11-02 10:14:36 +11:00
Iampete1
ce5b81869d Plane: Tailsitter: add transtion class 2021-11-02 10:14:36 +11:00
Iampete1
7af1b40fb8 Plane: system use new transtion class 2021-11-02 10:14:36 +11:00
Iampete1
99d98cc5b8 Plane: add transition class as friend 2021-11-02 10:14:36 +11:00
Iampete1
23a413946b Plane: Qacro: use new transition class 2021-11-02 10:14:36 +11:00
Iampete1
f25e5087c0 Plane: attitude: use new transition class 2021-11-02 10:14:36 +11:00
Andrew Tridgell
9c617a18f4 Plane: suppress rate D terms in ground mode 
this prevents a common oscillation issue on the ground
 2021-10-30 18:45:53 +11:00
Andrew Tridgell
b74dca02ca Plane: avoid qpos approach when very close to destination 
this prevents a fwd transition when doing something like LOITER_TIME
close to a VTOL_LAND wp. We use 1.5 times the stopping distance at
cruise airspeed for the threshold
 2021-10-29 20:22:19 +11:00
Andrew Tridgell
19b5044223 Plane: fixed VTOL state error when using Q_ENABLE=2 
this ensures the poscontrol state is reset if it has not been
initialised before a VTOL loiter operation

thanks to Pete Hall for finding this
 2021-10-29 20:22:19 +11:00
Andrew Tridgell
51ccc1822c Plane: rename ReleaseNotes.txt to be more consistent with copter 2021-10-27 15:32:32 +11:00
Hwurzburg
8d94e58ec9 ArduPlane: add RC option to plane for emergency remote landing that forces FS actions to FBWA 2021-10-26 10:34:28 +11:00
Iampete1
bfbd0d93c1 Plane: Quadplane: continue in mode loiter to Qland on failsafe, as with Qland 2021-10-26 10:13:55 +11:00
Hwurzburg
085c5c815b Plane: Fix bug with mode return on short fs exit and add FBWB action 2021-10-26 10:12:48 +11:00
Sebastian Quilter
013de11916 ArduPlane: make rangefinder ranges m rather than cm 2021-10-21 21:28:53 +11:00
Iampete1
73e9c9bb43 Plane: quadplane: forward throttle reutrn float 2021-10-20 18:29:58 +11:00
Iampete1
2f93c1f9e4 Plane: stabilizer roll and pitch to floats 2021-10-20 18:29:58 +11:00
Iampete1
b31ce6734a Plane: get throttle input return float 2021-10-20 18:29:58 +11:00
Iampete1
2f4661c52f Plane: use float for set/get output scaled 2021-10-20 18:29:58 +11:00
Peter Barker
bcad5a7ba6 ArduPlane: handle renaming of AP_InertialNav_NavEKF to AP_InertialNav 2021-10-20 18:09:36 +11:00
Peter Barker
987d67b867 ArduPlane: move SITL object up to AP_Vehicle 2021-10-19 11:34:43 +11:00
Peter Barker
eef8115ffc ArduPlane: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
Andrew Tridgell
5684ca13fa Plane: update release notes for 4.1.2 2021-10-17 15:51:50 +11:00
Andrew Tridgell
34110e387f Plane: update release notes for 4.1.2beta2 2021-10-16 20:45:37 +11:00
Tom Pittenger
c450145fd5 Plane: move ADSB mavlink handling from vehicles to common library 2021-10-14 19:55:27 -07:00
Josh Henderson
8af299f978 Plane: HIGH_Latency2 check get_temperature return and return INT8_MIN 2021-10-13 19:40:45 +11:00
Andrew Tridgell
faba02a3f5 Plane: apply the takeoff throttle slew limit to quadplanes 
this applies the limit when we are in a fwd transition, both in AUTO
modes and stabilized modes
 2021-10-13 18:53:45 +11:00
Iampete1
e99a5c6ef4 Plane: Quadplane: reinstate THR PWM param discriptions for stable users 2021-10-11 22:19:17 -04:00
Iampete1
30c9cccf78 Plane: Quadplane remove THR_MIN_PWM and THR_MAX_PWM 2021-10-11 22:19:17 -04:00
Iampete1
d1d6342165 Plane: update_throttle_range dont set_throttle_range 2021-10-11 22:19:17 -04:00
Andrew Tridgell
493d8979d5 Plane: reset target speed on disarm 
allows for multiple auto missions with DO_CHANGE_SPEED
 2021-10-11 10:47:52 +11:00
Andrew Tridgell
bf425a1edf Plane: update release notes for 4.1.2beta1 2021-10-10 18:08:36 +11:00
Andrew Tridgell
570ecdc2e0 Plane: don't apply fw pitch limit in VTOL control for tailsitters 
tailsitters may have narrow fixed wing limits but need high limits for
landing in high wind

found this on a HWing which was essentially impossible to auto land
 2021-10-10 06:35:20 +11:00
Andrew Tridgell
8550765c25 Plane: update release notes for 4.1.1 
# Conflicts:
#	ArduPlane/mode_qrtl.cpp
#	ArduPlane/quadplane.cpp
P
 2021-10-08 13:31:04 +11:00
Peter Barker
3a6a6b63f2 Plane: use mode name instead of number in failsafe text 
We have the method, we should use it
 2021-10-07 13:01:07 +11:00
Hwurzburg
4e731bf4e2 Plane: add VTOL POS1 notification to QRTL mode 2021-10-06 11:38:32 +11:00
Peter Barker
3e031e78e5 Plane: add comment about us sending airspeed error in wrong units 2021-10-05 11:20:55 +11:00
Andrew Tridgell
2be23fff2b Plane: obey Q_RTL_ALT when in POS1 and POS2 states 
this fixes the alt target for when user has disabled the quadplane
approach code
 2021-10-02 12:46:59 +10:00
Hwurzburg
636358b668 Plane: add param for throttle control in transition to VTOL 2021-10-01 22:04:51 +01:00
Iampete1
c178962200 Plane: tailsitter: only apply throttle scaling once in assised flight 2021-10-01 22:04:51 +01:00
bugobliterator
ae4d368267 Plane: replace config_error with allocation_error 2021-09-30 08:51:26 +10:00
Peter Barker
e1aa863eae Plane: stop passing current_loc into AP_Camera 2021-09-29 18:33:01 +10:00
Iampete1
958748f8cf Plane: tailsitter: reset FW yaw I allong with roll and pitch when in assist 2021-09-29 17:12:33 +10:00
Michel Pastor
7cb2619413 Plane: fix flawed logic in throttle voltage comp params check 2021-09-29 17:05:17 +10:00
Andrew Tridgell
b417aad807 Plane: update release notes for 4.1.0 stable 2021-09-28 15:53:18 +10:00
Iampete1
a350ebb358 Plane: quadplane: do_vtol_land remove uneded I reset 2021-09-28 10:51:21 +10:00
Iampete1
4b62bd9180 Plane: add Loiter to QLand to Flight mode switch 2021-09-28 09:31:13 +10:00
Iampete1
682798d044 PLane: support Loiter to Qland battery failsafe action 2021-09-28 09:31:13 +10:00
Iampete1
0a1cad772c Plane: LoiterAltQLand: support handle_guided_request 2021-09-28 09:31:13 +10:00
Iampete1
a0260b05b3 Plane: handle_guided_request per mode 2021-09-28 09:31:13 +10:00
Iampete1
1148bb1234 Plane: Quadplane: add loiter to alt then QLAND mode 2021-09-28 09:31:13 +10:00
Iampete1
0549e08c5c Plane: add mehtod to check terrain by mode 2021-09-28 09:31:13 +10:00
Iampete1
dc2ba8236a Plane: trim_radio: check manual mode and rotation rates and add mesages 2021-09-28 09:16:24 +10:00
Iampete1
90dd36285e Plane: support TRIM_TO_CURRENT_SERVO_RC RC option to trigger trim radio function 2021-09-28 09:16:24 +10:00
Iampete1
cbfa4e5746 Plane: remove trim_radio mavlink option 2021-09-28 09:16:24 +10:00
Iampete1
8e693e5cd1 Plane: remove TRIM_AUTO param 2021-09-28 09:16:24 +10:00
Andrew Tridgell
fd5faa866f Plane: always log QPOS when changing control state 2021-09-27 21:21:53 +10:00
Andrew Tridgell
9d0b7f8efe Plane: removed set_state to QPOS_POSITION1 in do_vtol_land 
we are immediately replacing the state with QPOS_APPROACH, so the
set_state is not needed, and triggers a call to
attitude_control->reset_yaw_target_and_rate() which can badly impact
euler rates for tailsitters
 2021-09-27 21:21:53 +10:00
Peter Hall
e83b598040 Plane: Quadplane: check attitude relax before running controllers, don't run controls if not going to output 2021-09-25 12:53:11 +10:00
bugobliterator
4b62dd75b0 ArduPlane: fix casting to pass format check 2021-09-22 21:36:34 +10:00
Iampete1
cdfda2bd9b Plane: allow arming in quided with only arm in Qmodes Q_OPTION 2021-09-22 18:14:16 +10:00
Iampete1
b63e68a5ef Plane: fix RC init order to avoid error message 2021-09-21 17:49:47 +10:00
Peter Barker
9aee98eeb8 Plane: log groundspeed undershoot 2021-09-21 11:12:17 +10:00
Bob Long
84a89b0b94 Plane: fix units in Plane::get_wp_distance_m() 2021-09-21 09:40:00 +10:00
Bob Long
728d1e76fe Plane: clean up cm-to-m conversion in nav_control_output 2021-09-21 09:40:00 +10:00
Bob Long
f2d32fc800 Plane: quadplane: fix wp_dist reporting for VTOL landings 
After hitting the approach stage of a VTOL landing in auto, nav_controller_output sends zero as the distance to waypoint.
 2021-09-21 09:40:00 +10:00
Iampete1
df36853da2 Plane: support ARMDISARM_AIRMODE 2021-09-21 09:36:24 +10:00
Iampete1
cc89a8cc48 Plane: remove airmode Q_OPTION 2021-09-21 09:36:24 +10:00
Iampete1
db416bbeef Plane: convert to new ARMDISAM based on quadplane param 2021-09-21 09:36:24 +10:00
Shiv Tyagi
cdb4ec8ad0 Plane : Improved LAND_THEN_NEUTRL to work on all control surfaces 
This fixes the issue #18593

Co-Authored-By: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2021-09-17 22:06:24 -05:00
Andrew Tridgell
baec0d83f2 Plane: moved accel cal update to vehicle code 2021-09-17 14:07:14 +10:00
Andrew Tridgell
7547ad53d3 Plane: allow for new guided destination during guided takeoff 
if you set a very high alt for takeoff this is useful
 2021-09-17 10:06:08 +10:00
Andrew Tridgell
8bee839931 Plane: fixed overshoot in guided takeoff of quadplanes 2021-09-17 10:06:08 +10:00
Iampete1
c4a1ae42e5 Plane: Quadpalne: move tiltrotor functionality to own class 2021-09-17 08:24:17 +10:00
Iampete1
1d5ea351c4 Plane: re-init RTL modes if home set 2021-09-15 14:10:15 +01:00
Iampete1
478bf37246 Plane: used correct WP radius for VTOL flight 2021-09-15 20:36:56 +10:00
Iampete1
a368549a9d Plane: tailsitter: only flag tilt limit on vectored vehicles 2021-09-15 18:03:12 +10:00
Andrew Tridgell
ad8669ae74 Plane: update release notes for 4.1.0beta8 2021-09-15 14:21:12 +10:00
Hwurzburg
01c41dc213 Plane:Tailsitter: add relaxed POSXY defaults 2021-09-15 07:40:12 +10:00
Peter Barker
974af3edea Plane: correct compilation when QUADPLANE disabled 2021-09-14 13:55:01 +10:00
Peter Barker
3d34e061fe ArduPlane: add and use HAL_QUADPLANE_ENABLED 2021-09-14 11:23:18 +10:00
Josh Henderson
1da21c3b21 Quadplane: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Andrew Tridgell
cb307891e0 Plane: fixed bad yaw rate demands in tailsitter fixed wing modes 
this prevents the pilot putting in crazy yaw rate demands due to the
use of rudder stick in fixed wing modes for tailsitters while still
allowing for FBWA flat turns if the user wants them.

It uses the existing RUDD_DT_GAIN parameter for a gain scaling of yaw
rate for copter tailsitters
 2021-09-14 07:55:40 +10:00
Iampete1
b18da48f39 Plane: remove AUTO_FBW_STEER 2021-09-12 22:12:32 -05:00
Andrew Tridgell
3ec53e2aec Plane: prepare for 4.1.0beta7 2021-09-11 09:48:31 +10:00
Leonard Hall
f3dc47ce3d Copter: Add units to the AC_AttitudeControl Library 2021-09-09 08:01:14 +09:00
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