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36,591 Commits 71 Branches 510 Tags 772 MiB
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Commit Graph

290 Commits

Author SHA1 Message Date
Mark Whitehorn
4a6b97828f ArduPlane: add tailsitter input type TAILSITTER_INPUT_BF_ROLL 2019-03-06 15:48:51 +11:00
Mark Whitehorn
01d6f1d932 ArduPlane: add body-frame yaw mode for tailsitters 2019-03-06 15:48:51 +11:00
Mark Whitehorn
6e4a2b97f9 ArduPlane:add subclass for copter tailsitters 
cleanup and add tailsit_motmx
add constexpr and motor mask check
add support for tricopter tailsitter
don't call output_motor_mask unless armed
fix whitespace
 2019-03-06 07:53:46 +09:00
Mark Whitehorn
487ad7a90f Plane: add QACRO mode for quadplanes 
use acro_r/p/y_rate params in qacro
port ACRO throttle handling from copter

handle non-tailsitter controls
 2019-03-05 10:13:20 +11:00
IamPete1
f24c6785f2 Plane: add E-stop 2019-02-27 08:51:24 +09:00
Andrew Tridgell
136e10a781 Plane: handle VTOL landing with incorrect height 
if landing above expected height then run landing detector to allow a
switch from LAND_DESCEND to LAND_FINAL

this prevents the plane sitting on the ground until the battery runs
out
 2019-02-26 11:12:58 +11:00
Michael du Breuil
b290148ed0 Plane: Don't overwrite the quadplane loiter relax 2019-02-23 11:08:21 +11:00
Michael du Breuil
c15983c690 Plane: prevent loss of control when Q_ENABLE is set while flying 
Also rename check_throttle_suppression
 2019-02-21 21:38:03 -07:00
Michael du Breuil
25a2c77782 Plane: Fix not logging quadplane control, and over logging attitude control 2019-02-22 11:59:26 +11:00
Mark Whitehorn
95b3a5bacd ArduPlane: implement hover throttle learning for quadplanes 
disable by default
check quadplane.enable in update_hover_learn
 2019-02-16 19:04:13 -08:00
Mark Whitehorn
b9f3118374 Plane: allow changing Q_TRIM_PITCH in flight 
change float comparison to is_equal
 2019-02-12 09:42:19 +11:00
Michael du Breuil
df1632054e Plane: Update throttle mix 2019-02-05 11:05:54 +11:00
Andrew Tridgell
28cf9d2f24 Plane: allow rudder at zero throttle 
if rudder disarming is disabled
 2019-02-03 05:02:07 -08:00
Randy Mackay
4d5e13f1d4 Plane: : integrate AC_WPNav::get_speed rename to get_default_speed 2019-01-31 19:34:32 +09:00
Mark Whitehorn
5c81a78c9c Plane: tailsitter forward transition bugfix 2019-01-22 12:55:47 +11:00
Peter Barker
40856fef56 Plane: remove vestiges of old PX4_MIXER code 2019-01-19 19:31:03 +11:00
Peter Barker
6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Randy Mackay
2650b1fe93 Plane: desired-ground-idle replaces spin-when-armed 2019-01-15 11:41:44 +09:00
Andrew Tridgell
f35cebcca4 Plane: fixed EKF yaw reset 
we need to do the yaw reset before updating the rest of quadplane, or
it is not effective

thanks to Leonard for noticing the bug!
 2019-01-14 08:32:17 +11:00
Andrew Tridgell
53a1d98b68 Plane: fixed VTOL takeoff to ignore lat/lon in mission 
we should always takeoff vertically
 2019-01-11 13:48:45 +11:00
Michael du Breuil
d6cac4b52a Plane: Add a failure timer for quadplane forward transitions 
Falls over to QLAND if we fail to transition
 2019-01-08 10:52:12 +11:00
IamPete1
9c2db806f3 Plane: add units to Q_VFWD_ALT 2018-12-28 16:15:41 +11:00
Andrew Tridgell
9117dcc54b Plane: don't log QTUN when VTOL not active 2018-12-21 22:17:52 +11:00
Andrew Tridgell
d3afc9424a Plane: make QTUN logging match copter logging 2018-12-21 22:17:52 +11:00
Andrew Tridgell
1013eddfce Plane: use AHRS_View for RATE logging 2018-12-21 22:17:52 +11:00
Randy Mackay
a96c1566ec Plane: fix quadplane pos control param docs 2018-12-18 12:01:07 +00:00
Michael du Breuil
1a45755ffd Plane: Support a different landing radius for quadplane fw approach 2018-12-18 10:11:22 +11:00
Nikhil Upadhye
d1e93bae83 Plane: adding new mode QAUTOTUNE 
copter like autotune support for quadplanes and tailsitter in VTOL mode.

cleanup
 2018-12-14 16:33:11 +11:00
Randy Mackay
71708ee4ea Plane: quadplane uses set_defaults_from_table 2018-12-06 12:23:41 +09:00
IamPete1
c6e70c0454 Plane: add roll limit for tailsitters 
Quadplane: add tailsitter pitch params
 2018-12-01 09:40:07 +11:00
Andrew Tridgell
b6519c88a5 Plane: fixed a bug in Q_ASSIST_ modes for tiltrotors 
when a tilt-rotor drops below Q_ASSIST_SPEED we need to keep it in the
airspeed wait state until it has regained airspeed, otherwise we will
end up with too low throttle
 2018-11-30 18:17:42 +11:00
Leonard Hall
0943ace7a9 Plane: Zero Yaw correction during transition 
and relax attitude controller when not using lift motors.
 2018-11-30 18:16:29 +11:00
Andrew Tridgell
c081ce9adb Plane: don't relax attitude controllers for tailsitters 
this fixes an issue with testing control movement when disarmed
 2018-11-30 13:01:53 +11:00
Andrew Tridgell
da69bf3391 Plane: added an abstraction for reverse thrust 
use have_reverse_thrust() and get_throttle_input()
 2018-11-16 08:33:35 +11:00
Andrew Tridgell
c59b2c156a Plane: fixes for Q_TRIM_PITCH 
improved documentation and variable names
 2018-11-12 17:05:04 +11:00
IamPete1
5a7bd61e8c Quadplane: add trim params 2018-11-12 17:05:04 +11:00
Michael du Breuil
8e906e0ba0 Plane: Add support for a loiter to alt approach to VTOL landing 2018-11-10 18:58:54 +11:00
Peter Barker
4e3e39a3e8 Plane: make libraries get EKF control limits themselves 2018-10-09 10:47:38 +11:00
Michael du Breuil
02d37d43d2 Plane: Disallow climbs during TRANSITION_AIRSPEED_WAIT 2018-10-02 09:35:47 +10:00
Michael du Breuil
b2ef6b901e Plane: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Michael du Breuil
b6efc8a20b Plane: reduce some copy pasted code 2018-09-20 13:47:21 -07:00
Leonard Hall
13c27e0eb8 Plane: Missing Loiter Init on accel 2018-09-19 17:29:55 +09:00
Andrew Tridgell
5136b90d27 Plane: do attitude relax after 100ms 2018-09-15 11:00:29 +10:00
Leonard Hall
7372a7b5f9 QuadPlane: Remove repeat I term reset 2018-09-15 11:00:29 +10:00
Andrew Tridgell
ef154cf3fa Plane: fixed relaxing of attitude controller on transition 
this fixes an issue found by Leonard where the attitude controller
could have residual control left over from a previous transition when
engaging the VTOL attitude controller
 2018-09-15 11:00:29 +10:00
Michael du Breuil
f9e56f9d12 Plane: Respect frame type on VTOL_TAKEOFF commands 
allow missioncommands to fail to start
 2018-09-11 06:42:00 +10:00
Michael du Breuil
925d76bb8c Plane: Small cleanup to quadplane const (and clarity) 2018-09-04 15:11:41 +10:00
Leonard Hall
e11c7c6069 QuadPlane: remove true from init of loiter 2018-09-04 13:37:28 +09:00
Michael du Breuil
3d923d0572 Plane: Send a quadplane version of NAV_CONTROLLER_OUTPUT 2018-08-07 09:49:01 +10:00