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
Andrew Tridgell
16c7ab81dc
Plane: pass rc_speed to motor backend constructors
...
this sets the right speed as early as possible
2018-07-28 15:25:57 +10:00
IamPete1
20c67019b0
Plane: added Q_TAILSIT_THSCMX
...
this provides more flexibility in tailsitter throttle scaling
2018-07-19 09:48:25 +10:00
Andrew Tridgell
d8a7618e15
Plane: update use of AC_Loiter controller for quadplane
...
this changes the way the loiter controller is initialised for QLOITER,
after discussions with Leonard.
The way we were doing it could cause a sudden acceleration demand when
switching into QLOITER.
This also changes the default loiter parameters to reduce the maximum
acceleration that will be applied in QLOITER. Many thanks to Leonard for
the advice
2018-06-11 08:40:58 +09:00
Andrew Tridgell
d07f8aa42b
Plane: fixed a bug in transition to QSTABILIZE for tailsitters
...
this bug was found bug Marco on his tailsitter. It resulted in zero
throttle for 2s in transition from FBWA to QSTABILIZE
2018-04-25 18:01:12 +10:00
Randy Mackay
840a6e4147
Plane: quadplane uses AC_Loiter
...
includes param conversion
2018-04-04 10:45:10 +09:00
Peter Barker
f6a185a3c3
Plane: factor vehicle's mavlink send_heartbeat
2018-04-03 13:05:19 +01:00
Randy Mackay
548a7f8fcf
Plane: add minor comment to quadplane
2018-03-16 13:50:57 +09:00
Leonard Hall
ee745d2cd2
Plane: quad plane uses rate-control control during transitions
2018-03-16 13:50:57 +09:00
Leonard Hall
a16d4ddad7
Plane: quadplane uses poscontrol instead of loiter
2018-03-16 13:50:57 +09:00
Randy Mackay
c5d838125b
Plane: quadplane logs PSC message
2018-03-16 13:50:57 +09:00
Randy Mackay
09cad7c59d
Plane: quadplane integrates attitude control inertial_frame_reset
2018-03-16 13:50:57 +09:00
Randy Mackay
03c162432e
Plane: quadplane provides dt to AC_WPNav::set_pilot_desired_acceleration
2018-03-16 13:50:57 +09:00
Randy Mackay
a0a9a68fbc
Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC
...
Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
2018-03-16 13:50:57 +09:00
Leonard Hall
aa47b19dea
Plane: remove quadplane calls to multicopter poscontrol's freeze_ff_xy
2018-03-16 13:50:57 +09:00
Randy Mackay
ddcd08d6b6
Plane: PSC_ACCZ param name shortened
2018-01-31 08:48:21 +09:00
Michael du Breuil
aec7521da4
Plane: Fix truncation of a time interval
...
Truncating the a millisecond time delta to uint16_t causes it to wrap
every 65 seconds, which could momentarily reset the desired climb rate
2018-01-25 14:30:49 +11:00
Randy Mackay
d579e086cf
Plane: quadplane param index comment for moved PIDs
2018-01-24 21:14:53 +09:00
Andrew Tridgell
20b05e4228
Plane: added conversion code for PID layout change
...
this copes with the move of multicopter PIDs inside the position
controller
2018-01-24 18:23:59 +11:00
Randy Mackay
7b1157e2d8
Plane: remove setting accel_z PID controller's dt
...
This is handled within pos-controller's set_dt function
2018-01-23 12:00:43 +09:00
Randy Mackay
f41f4dc6e5
Plane: move pos-control pids to pos-control library
2018-01-23 12:00:43 +09:00
Randy Mackay
017e71a748
Plane: quadplane velocity pi moves to position control library
2018-01-23 12:00:43 +09:00
luweikxy
25224cd261
Plane: remove dead code from do_vtol_land
2017-12-14 20:52:18 +09:00
Andrew Tridgell
f7a735b990
Plane: fixed transitions for tailsitters after auto-takeoff
...
need to use angle wait
2017-11-19 16:06:02 +11:00
Andrew Tridgell
957c1f6d23
Plane: extend QLOITER transition pitch limit
...
use twice transition time for pitch envelope to reduce QLOITER
transition harshness
2017-11-05 21:35:32 +11:00
Andrew Tridgell
9c8cd6c1cc
Plane: added Q_TRANS_DECEL
...
this gives a deceleration rate for QRTL transition from RTL, and also
for transitions to QLOITER
2017-11-05 20:44:42 +11:00
Andrew Tridgell
e27c54a312
Plane: smooth out fwd tailsitter transition
...
use Q_TRANSITION_MS and the transition angle to pitch forward more
slowly
2017-11-05 17:25:00 +11:00
Michael du Breuil
d52f5155f0
Plane: Rename rc failsafe state members
2017-11-02 16:46:08 -07:00
nick2204
7d91755bd1
Plane: update Q_OPTIONS docs
...
Made q_options description a little clearer
2017-11-01 09:38:42 +11:00
Andrew Tridgell
1085069851
Plane: use WP_LOITER_RAD if RTL_RADIUS is 0 for QRTL
2017-10-30 16:52:19 +11:00
Andrew Tridgell
552faa8f67
Plane: smoother tailsitter transitions
...
this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
2017-10-30 16:30:38 +11:00
Andrew Tridgell
af893ddde7
Plane: implement Q_OPTIONS
...
this allows for NAV_TAKEOFF to be treated as NAV_VTOL_TAKEOFF in
quadplanes, and for level flight to be maintained during quadplane
transitions
2017-10-30 16:30:10 +11:00
Andrew Tridgell
02f8d888c3
Plane: relax controllers when disarmed
...
this prevents any remaining integrator from a previous flight stage from
affecting flight across a disarm
2017-10-30 16:30:10 +11:00
Andrew Tridgell
92ee05b925
Plane: fixed motor channel handling
2017-10-25 11:39:11 +11:00
Andrew Tridgell
6526ff504d
Plane: fix for changes to AP_Motors API
2017-10-22 15:52:50 +11:00
Andrew Tridgell
e008559b6e
Plane: support LOITER_TO_ALT in quadplanes
2017-10-21 18:50:01 +11:00
Andrew Tridgell
8178ab4037
Plane: make mav_type in HEARTBEAT configurable
...
needed for qgc to setup for quadplanes
2017-10-20 15:41:06 +11:00
Andrew Tridgell
0aed5a9a57
Plane: prevent controller windup on ground
...
when on the ground in an auto-throttle mode lik FBWB or CRUISE, we may
have the throttle suppressed. In that case we should not run the
multicopter controller on quadplanes, or it may build up control which
will then apply on takeoff. This is particularly severe for aircraft
that are not level on the ground, such as taildragger quadplanes
Fixes https://discuss.ardupilot.org/t/quadplane-flips-on-takeoff/22095
many thanks to Sriram for reporting
2017-10-20 15:41:04 +11:00
Andrew Tridgell
1a95dcbdd7
Plane: update docs for Q_YAW_RATE_MAX
2017-10-20 15:40:58 +11:00
Andrew Tridgell
f5b4d8d99c
Plane: added frame type 11 for FlreFlyY6
2017-10-06 11:36:34 +11:00
Ferruccio Vicari
85ab3edc5f
Plane: Smoother transition to QLOITER and QLAND
...
Use estimated stopping position
2017-09-21 07:57:38 +10:00
mirkix
7c6be7c421
Plane: change format of reset alt target message
2017-09-20 20:28:53 +10:00
mirkix
b682f3f6d9
Plane: fix parameter units
2017-09-19 11:34:26 +10:00
Andrew Tridgell
35c1a732a6
Plane: allow takeoff in guided then fw loiter
...
this allows for quadplane takeoff in GUIDED with Q_GUIDED_MODE=0. The
takeoff will be VTOL, but subsequent guided points will be fixed wing
2017-09-18 10:21:53 +10:00
Tom Pittenger
85b7f1bbb4
Plane: guided takeoff success should return true
2017-09-13 14:46:22 -07:00
Andrew Tridgell
600a5c44d2
Plane: allow changing of target altitude in GUIDED
2017-09-09 08:14:09 +10:00
Andrew Tridgell
bc17c26dbf
Plane: limit pitch in transition to QLOITER and QLAND
...
when switching to QLOITER or QLAND when in forward flight, limit the
maximum pitch to prevent a sudden decelleration
2017-09-09 08:14:09 +10:00
Andrew Tridgell
b6809655d4
Plane: smooth the transition to LAND_FINAL in quadplanes
...
this makes for a much smoother change to LAND_FINAL, without a jerk as
it changes vertical speed
2017-09-09 08:14:09 +10:00
Andrew Tridgell
8411ac5c57
Plane: fixed a problem with descent rate in landings for quadplanes
...
use xy controller instead of xyz controller, which prevents calling z
controller twice, which led to poor height control
2017-09-09 08:14:09 +10:00
Andrew Tridgell
baee71a5b4
Plane: added GUIDED takeoff for quadplanes
...
this allows takeoff in GUIDED mode in the same way as copters
2017-09-09 08:14:09 +10:00
Andrew Tridgell
a88e663191
Plane: adjust target altitude slowly in QRTL mode
...
this fixes a sudden throttle drop when starting the descent in QRTL mode
thanks to Marco for finding this issue
2017-09-07 07:22:13 +10:00
Andrew Tridgell
909f109b3f
Plane: don't start a transition while disarmed
...
this can caused flooding of the GCS console while disarmed in FBWA
mode
2017-07-30 12:39:36 -07:00
Peter Barker
c058fba5ac
Plane: eliminate GCS_MAVLINK::send_statustext_all
2017-07-11 23:53:53 +01:00
Peter Barker
5a8f01c19c
Plane: use send_text method on the GCS singleton
2017-07-09 17:17:29 -04:00
Pierre Kancir
5d0972f589
Arduplane: fix implicit cast to double warning in quadplane
2017-06-14 12:40:47 +01:00
Andrew Tridgell
1455c23230
Plane: fixed docs for tailsitter
2017-06-10 18:41:34 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
2f5f8eb323
Plane: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
Andrew Tridgell
6eaad59115
Plane: improve vectored tailsitter takeoff
...
this gives extra pitch input when taking off a vectored tailsitter,
allowing the motors to point straight up for easy takeoff
thanks to Leonard for the idea!
2017-05-07 09:10:44 +10:00
Andrew Tridgell
7ea0f65590
Plane: removed incorrect comment
2017-04-24 16:56:23 +10:00
Andrew Tridgell
06b0742481
Plane: fixed jump in qhover on takeoff
...
Z controller PID is from -1 to 1
thanks to Leonard for spotting this
2017-04-24 16:55:41 +10:00
Andrew Tridgell
aab20317a0
Plane: fixed position control in QLAND_FINAL
2017-04-24 16:55:41 +10:00
Andrew Tridgell
b1f1ace736
Plane: support vectored yaw tiltrotors
...
this adds support for tiltrotors which control yaw by vectoring the
forward motors. This avoids the need for the rear motor on a
tilt-tricopter to have a tilt servo
2017-04-24 16:54:41 +10:00
Andrew Tridgell
2d9c3e3d93
Plane: added EKF yaw reset handling to quadplane
...
this follows the implementation from copter. Thanks to Leonard for the
suggestion
2017-04-24 16:52:16 +10:00
Andrew Tridgell
88e02c7b35
Plane: log the throttle mix for quadplane copter control
2017-04-19 09:08:43 +10:00
Andrew Tridgell
d5ec7b0aad
Plane: fixed a sign error in the angle assist code
...
thanks to Leonard for finding this!
2017-04-18 22:09:22 +10:00
Andrew Tridgell
b15b11e32d
Plane: always stabilize with tailsitters
2017-04-14 12:48:08 +10:00
Andrew Tridgell
46d910539c
Plane: fixed a warning
2017-04-11 17:34:40 +10:00
Andrew Tridgell
642a6acfcb
Plane: support thrust vectoring in tailsitters
...
adds Q_TAILSIT_VHGAIN and Q_TAILSIT_VFGAIN, allowing for thust
vectoring in both fixed wing and hover
2017-04-11 17:34:40 +10:00
Andrew Tridgell
664e41cec6
Plane: bring in demanded climb rate over 1 second
...
when we engage the Z controller in quadplane we bring in the climb
rate slowly to prevent a sudden change in motor demand
2017-04-09 16:45:19 +10:00
Andrew Tridgell
0cf571d338
Plane: moved Z altitude target reset
...
reset alt target whenever we have not run Z controller for 2s
2017-04-09 16:45:19 +10:00
Mark Whitehorn
7679b758b0
Plane: add parameter RUDD_DT_GAIN for dual motor tailsitter
...
controls rudder to differential thrust mixing in FW mode
2017-04-06 08:29:44 +10:00
Andrew Tridgell
acaef22416
Plane: improve transition from QSTABILIZE to FBWA or QHOVER
2017-04-05 20:00:29 +10:00
Andrew Tridgell
36d8f730e1
Plane: setup better defaults for tailsitters
2017-04-04 10:15:08 +10:00
Andrew Tridgell
5d06e4238f
Plane: make the quadplane motors var_info dynamic
...
this will allow for more quadplane motors class types
2017-03-25 16:22:10 +11:00
Andrew Tridgell
af97a3974b
Plane: initialise target height correctly on quadplane transition
...
this fixes a bug where a plane in QSTABILIZE would drop suddenly if
switched to FBWA when the target altitude had not been initialised
2017-03-22 21:34:40 +11:00
Andrew Tridgell
bb158a437e
Plane: handle bad Q_FRAME_CLASS
...
default to quad with a warning. This prevents users getting stuck
without being able to set Q_ENABLE=1
thanks to Leonard for noticing
2017-03-18 22:10:20 +11:00
Andrew Tridgell
3f7e7d456f
Plane: in fixed wing mode slave quadplane attitude rate controller
...
For quadplanes this uses the attitude controller from fixed wing
when using the multicopter controller to assist fixed wing
flight. This prevents a rate mismatch between the two controller
leading to oscillation
2017-03-14 14:42:20 +11:00
Andrew Tridgell
2db8589f49
Plane: smarter Z controller initialisation for quadplanes
...
this is more generic than the previous one used only for the full
position controller
2017-03-14 14:42:20 +11:00
Andrew Tridgell
4ff5bf5af5
Plane: zero integrators and set throttle mix
...
this zeros fixed wing integrators during TRANSITION_AIRSPEED_WAIT and
uses a zero throttle mix during TRANSITION_TIMER. This should allow
the fixed wing controller more time to adapt to forward flight
2017-02-26 09:20:51 +11:00
Andrew Tridgell
c061d5615b
Plane: added manual input mask for tailsitter prop-hang
...
This adds new parameters Q_TAILSIT_MASK and Q_TAILSIT_MASKCH. These
parameters allow a user to use the tailsitter capabilities of a 3D
plane to teach themselves to prop-hang.
It works by allowing the user to setup a switch on their transmitter
to enable manual pass-thru of a set of the input channels to outputs
when in tailsitter hover. The user can then use that switch to allow
learning of hover control in a 3D plane one channel (or two channels)
at a time.
2017-02-26 09:20:13 +11:00
Andrew Tridgell
3bb25eb194
Plane: added Q_TAILSIT_INPUT
...
this allows the user to control tailsitters either in body frame (like
a plane) or in earth frame (like a multicopter). This is useful for
people wanting to learn to fly prop-hang on 3D planes
2017-02-26 09:20:13 +11:00
Andrew Tridgell
ea5186340b
Plane: added Q_TILT_RATE_UP and Q_TILT_RATE_DN as separate parameters
...
allow control of tilt rate separately for UP and DOWN
always allow at least 90 degrees/second for switching to MANUAL
2017-02-25 17:53:26 +11:00
Andrew Tridgell
e8b11924f8
Plane: split out the tailsitter transition complete code
...
use both roll and pitch to trigger completion of transition. This
copes with situations where the plane has managed to get itself rolled
over far enough that it can't recover into hover
2017-02-18 17:26:43 +11:00
Andrew Tridgell
d5a3f844f1
Plane: changes for AC_WPNav
2017-02-18 17:26:43 +11:00
Andrew Tridgell
c787f4c56f
Plane: initial support for tailsitter transitions
2017-02-18 17:26:43 +11:00
Andrew Tridgell
83f3cee99e
Plane: initial hooks for tailsitter support
2017-02-18 17:26:43 +11:00
Andrew Tridgell
0fc04b0158
Plane: setup plane frame type parameter flags
2017-02-14 19:50:01 +11:00
Andrew Tridgell
c294519925
Plane: lower default Q_M_SPOOL_TIME to 0.25
2017-02-14 09:23:17 +09:00
priseborough
013eb254a2
Plane: use standard unit descriptor for milliseconds
2017-01-27 16:57:42 +09:00
Andrew Tridgell
07cedd8a66
Plane: prevent stability shutdown in transition
...
this prevents the vertical motors from shutting down while
transitioning if the desired throttle was too low at the start of the
transition
2017-01-25 19:01:15 +11:00
Andrew Tridgell
0d4405106f
Plane: removed forcing of trim for motors in quadplane
...
this caused problems with tricopter tail servos
2017-01-25 19:01:15 +11:00
Andrew Tridgell
5c820adad4
Plane: fixed tilt transition with binary tilt servo
...
once the tilt is fully fwd then force transition as done at any
airspeed
2017-01-25 19:01:15 +11:00
Andrew Tridgell
586f8a9ca8
Plane: fixes for tilt quadplane after rebase
2017-01-25 19:01:15 +11:00
Andrew Tridgell
54bca768b8
Plane: added Q_TILT_TYPE for retract servo tiltrotors
2017-01-25 19:01:15 +11:00
Andrew Tridgell
2f100b0804
Plane: removed separate tricopter quadplane build
...
can all be done with one build now
2017-01-12 17:39:37 +11:00
Andrew Tridgell
b83f50be0f
Plane: use new SRV_Channels API
2017-01-12 17:39:37 +11:00
Andrew Tridgell
1c4bf77cf6
Plane: added custom conversion of Q_FRAME_CLASS parameter
2016-12-31 10:56:01 +09:00
Randy Mackay
934ef55338
Plane: quadplane instantiates motor matrix outside of case
...
Thanks to khancyr for noticing this
2016-12-31 10:55:23 +09:00
Randy Mackay
c6dec5c3f6
Plane: quad plane uses consolidated multicopter classes
2016-12-31 10:55:23 +09:00
Pierre Kancir
da1f784e78
Plane : quadplane change to float to avoid the loss of a fractional part
2016-12-05 12:39:31 -08:00
Tom Pittenger
f556f705e6
Plane: move various g params to aparms
2016-11-25 19:07:30 -08:00
expntly
0d1e50b50b
Plane: fix typo, check wp_nav is initialized
2016-10-27 14:39:50 +11:00
Mathieu OTHACEHE
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Andrew Tridgell
0445b51143
Plane: fixed throttle slew rate in manual for quadplanes
2016-10-12 09:55:37 +11:00
murata
b3eecb87ac
Plane: To define the same wording.
2016-10-06 10:03:23 -07:00
Andrew Tridgell
cb61840ad2
Plane: tell TECS to use synthetic airspeed during transition
2016-10-05 11:52:52 +11:00
Andrew Tridgell
4e017bf5b3
Plane: fixed loiter mode when Q_GUIDED_MODE=1
...
This fixes the fixed wing behaviour of LOITER mode whne
Q_GUIDED_MODE=1.
Many thanks to the PertUAV team for finding and reporting this bug
2016-10-01 08:37:17 +10:00
Andrew Tridgell
841828541d
Plane: fixed auto ICE engine cut in QLAND final
2016-09-29 05:18:55 +10:00
Andrew Tridgell
6d09897b19
Plane: fixed VTOL motor termination in AFS
2016-09-27 11:53:45 +10:00
Andrew Tridgell
dac7f45326
Plane: fixed use of multicopter mix_max
...
we need a settable mix_max for some vehicles
2016-09-21 12:23:19 +10:00
Andrew Tridgell
9b83781b4f
Plane: fixed mixer arming error with FMUv4
...
thanks to Tim Gold for reporting this
2016-09-11 08:25:40 +10:00
Andrew Tridgell
6849f2223d
Plane: set initial alt target on takeoff completion
...
this prevents a sudden motor spike at the start of the transition
2016-09-02 11:12:19 +10:00
Randy Mackay
3052e8f80b
Plane: quadplane calls attitude control parameter check
2016-09-02 09:27:19 +09:00
Andrew Tridgell
3d0516fd57
Plane: added Q_ASSIST_ANGLE
...
this automatically provides quadplane assistance if the angular error
is over the given value for 1 second while flying faster than
Q_ASSIST_SPEED
2016-08-30 08:35:18 +10:00
Andrew Tridgell
33f17588b2
Plane: added auto fence enable on VTOL takeoff
...
fixes issue#724
2016-08-29 18:04:42 +10:00
Andrew Tridgell
c81d8364ac
Plane: check for safety switch state in quadplane motor output
...
get_soft_armed() will be false if safety on
2016-08-29 17:55:35 +10:00
Tom Pittenger
ca32bcc58d
Plane: add new flight mode AVOID_ADSB to mimic GUIDED
2016-08-17 22:38:54 -07:00
Andrew Tridgell
b29b609bcc
Plane: added AFS support for quadplanes
2016-08-16 12:56:12 +10:00
Andrew Tridgell
31fb4cc427
Plane: force trims for VTOL motors
2016-08-16 12:53:34 +10:00
Tom Pittenger
fc50f145ce
Revert "ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter)."
...
This reverts commit da1b18d918
.
2016-08-07 17:54:24 -07:00
AndersonRayner
da1b18d918
ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter).
2016-08-04 10:09:04 -07:00
Andrew Tridgell
63317e9430
Plane: added throttle suppression for quadplanes
...
this tries to prevent motor start when on ground. Motors instead go
into spin_when_armed state
2016-08-04 09:43:40 -07:00
Andrew Tridgell
388b7ad6bd
Plane: fixed is_flying_vtol() for non-quadplane
2016-07-27 07:43:16 +10:00
Andrew Tridgell
f65b46385c
Plane: added engine cut on land final in quadplane
2016-07-25 15:46:17 +10:00
Andrew Tridgell
9602d208a2
Plane: fixed disarm by rudder in quadplane
2016-07-25 06:08:36 +10:00
Andrew Tridgell
c926d7d41f
Plane: fixed typo in quadplane landing detector
...
thanks to Paul for spotting this!
2016-07-08 18:38:43 +10:00
Andrew Tridgell
66e43bf6a2
Plane: start with low integrator on back quadplane transition
...
When changing to alt_hold controller in quadplane with significant
airspeed set the initial integrator to minus the hover throttle to
allow the accel controller to climb slowly
2016-06-27 10:18:20 +10:00
Leonard Hall
f1bca63094
Plane: consolidate input_euler_angle calls to use smoothing gain
2016-06-24 17:17:19 +09:00
Randy Mackay
ef1385c9ed
QuadPlane: add comment that eeprom 28 and 41 were used for THR_MIN, MID
2016-06-18 11:55:49 +09:00
Randy Mackay
b456a38432
QuadPlane: remove throttle_mid
...
motor's hover throttle is automatically updated
2016-06-18 11:55:49 +09:00
Randy Mackay
2523ba892b
QuadPlane: set attitude vs throttle priority in attitude controller
2016-06-18 11:55:49 +09:00
Randy Mackay
f2b0f09d6f
QuadPlane: remove THR_MIN
2016-06-18 11:55:49 +09:00
Andrew Tridgell
b1b73e2d99
Plane: improved quadplane landing detector
...
look for no vertical position change for 5s as well as low motors
2016-06-16 18:17:56 +10:00
Tom Pittenger
773962940c
Plane: quadplane for fwd_throttle integrator inhibit reverse thrust and allow min>0 for petrol
2016-06-13 14:31:50 -07:00
Tom Pittenger
b6196dfa92
Plane: compiler warning in print: float to double promotion
2016-06-13 14:03:40 -07:00
Andrew Tridgell
107691b7a7
Plane: fixed initial descent rate in quadplane auto land
2016-06-11 14:37:44 +10:00
Andrew Tridgell
19834c12e2
Plane: log start of quadplane transition
2016-06-10 17:48:32 +10:00
Andrew Tridgell
8156b3f7de
Plane: fixed quadplane landing transition altitude
2016-06-10 17:48:32 +10:00
Andrew Tridgell
07564aa03f
Plane: fixed an attitude control bug in quadplane transition
...
The motors would briefly spike at the end of the transition which
could cause a major pitch deviation
2016-06-10 17:48:32 +10:00
Tom Pittenger
69f29b51d1
Plane: new param Q_VFWD_ALT to disable VFWD motor below this altitude. Also uses rangefinder
2016-06-10 17:48:31 +10:00
Tom Pittenger
b9cee76bbe
Plane: fix quadplane integrator to always clip to at least 0 to throttle_max
2016-06-03 23:46:18 -07:00
Tom Pittenger
82763ec8a9
Plane quadplane to use relative_ground_altitude() to take advantage of rangefinder easier
2016-06-03 23:44:21 -07:00
Andrew Tridgell
77b7852ff0
Plane: adjust recommend ranges for quadplane Q_VFWD_GAIN and Q_WVANE_GAIN
2016-06-04 11:04:15 +10:00
Tom Pittenger
f83a6ca1ff
Plane: fixed variable misspelling
2016-06-02 15:10:51 -07:00
Andrew Tridgell
978a89efa6
Plane: added new ESC calibration method
2016-06-02 18:10:37 +10:00
Andrew Tridgell
ba3576f027
Plane: added tuning error reporting for quadplanes
2016-05-28 17:33:30 +10:00
Andrew Tridgell
b56d784ae4
Plane: limit to zero pitch in quadplane on initial transition
2016-05-28 15:08:46 +10:00