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4397 Commits

Author SHA1 Message Date
Andrew Tridgell
b133e98102 Plane: improve target airspeed in landing approach 
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach

this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
 2022-08-03 12:26:57 +10:00
Andrew Tridgell
54280c2ae0 Plane: update release notes for 4.2.3beta1 2022-08-02 18:07:42 +10:00
Henry Wurzburg
7bb947e4b4 Plane: change log bitmask metadata to refer to correct logs 2022-08-02 11:06:53 +10:00
Henry Wurzburg
fcf29539de Plane: fix attitude/AOA logging and rates 2022-08-02 10:52:52 +10:00
Andrew Tridgell
f9f0f60815 Plane: base yaw in overshoot on target speed not scaled speed 
this prevents an oscillating due to the speed changing as we yaw,
resulting in a different yaw target
 2022-08-02 07:49:34 +10:00
Andrew Tridgell
3201ecd381 Plane: added an arming check for VTOL land too short 
this is meant to catch bad mission setup, especially for UGCS, which
planes waypoints right on top of the landing point
 2022-08-02 07:49:34 +10:00
Andrew Tridgell
5bdd43457c Plane: in overshoot allow up to the Q WP speed 
this prevents us using too much battery when we are a long way from
the landing point
 2022-08-02 07:49:34 +10:00
Andrew Tridgell
fa371b92a8 Plane: limit target accel in POSITION1 
don't ask for more than 2* transition limit, and reset when we enter
overshoot case
 2022-08-02 07:49:34 +10:00
Andrew Tridgell
afd21298d5 Plane: adjust target vector for wind in overshoot 
at low speeds we want to keep the nose pointed into the wind on
landings
 2022-08-02 07:49:34 +10:00
Andrew Tridgell
a1e7072cb1 Plane: cope with overshoot in POSITION1 VTOL land state 
when we overshoot run a simple position controller that tries to point
the nose at the landing point and aims for the position2 speed
threshold
 2022-08-02 07:49:34 +10:00
Iampete1
a592f76282 ArduPlane: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
Iampete1
2b8958f931 Plane: Fence moved to vehicle 2022-07-27 19:04:56 +10:00
Peter Barker
b0bee613d4 ArduPlane: add and use AP_ICENGINE_ENABLE 2022-07-22 08:48:16 +10:00
Andrew Tridgell
25e317d6b1 Plane: check G_Dt to catch startup errors 
this catches cases where constructors lead to G_Dt being incorrect
 2022-07-21 14:21:17 +10:00
Iampete1
7c505ad0ff Plane: set defualt format version 2022-07-20 17:59:59 +10:00
Iampete1
040e08f4b1 Plane: tailsitter: dont check if flying its always true in vtol transtion 2022-07-20 17:40:08 +10:00
Iampete1
98887a984b Plane: FW approach: use abs value for loiter sum check 2022-07-20 17:02:07 +10:00
Iampete1
2bda3c44c6 Plane: FW approach: correct wrap on breakout direction check 2022-07-20 17:02:07 +10:00
Iampete1
2e342d7852 Plane: FW approach: allways use correct loiter direction 2022-07-20 17:02:07 +10:00
Iampete1
7a88dc9348 Plane: VTOL aproach threshold use path proprtion rarther than radius 2022-07-20 17:02:07 +10:00
Iampete1
3f410be344 Plane: log ATT on none quadplanes 2022-07-19 11:15:04 +10:00
Iampete1
dd2221338b Plane: fence: do not re-trigger if mode change for expected reason 2022-07-19 09:44:36 +10:00
Iampete1
90f2bf3ba2 Plane: remove duplicate last mode reason 2022-07-19 09:44:36 +10:00
Andrew Tridgell
28d2967883 Plane: allow for throttle control in MANUAL when disarmed 
pass base throttle down to ICE subsystem to allow for throttle when
disarmed in MANUAL
 2022-07-18 20:55:56 +10:00
Andrew Tridgell
5f5f70d20a Plane: fixed check for fixed wing approach QRTL start 
ensure we are lined up, or we are at less than 0.5 of radius before we
switch to QRTL. This fixes the case where the stopping distance is
greater than the radius, prevening us from switching to QRTL while not
lined up with the landing point
 2022-07-13 20:10:19 +10:00
Iampete1
712611c50e Plane: Quadplane: add yaw command model 2022-07-13 18:26:36 +10:00
Andrew Tridgell
3385d3ae62 Plane: support NAV_DELAY in plane 
allow for delayed takeoff, and takeoff at a particular time (for swarm
takeoff)

also check for takeoff command in landing sequence arming check

this allows for takeoff->land->disarm->delay->arm->takeoff->land
missions
 2022-07-12 10:34:26 +10:00
Iampete1
50024a6ec2 Plane: add AIS to ADSB stream rate 2022-07-12 09:39:54 +10:00
Andrew Tridgell
6a1e80a03a Plane: when ICE overrides throttle zero the vfwd integrator 2022-07-10 06:56:58 +10:00
Andrew Tridgell
afb7b14703 Plane: don't failsafe when in RTL_AUTOLAND landing sequence 
when in AUTO and already in the landing sequence then don't trigger a
failsafe
 2022-07-06 17:47:48 +10:00
Andrew Tridgell
592f33bfaf Plane: fixed combination of passby and acceptance dist WP 
when a user sets a passby distance we should calculate the turn point
based on the extrapolated distance, not the original waypoint

also simplify the passby logic using offset_bearing()
 2022-07-04 10:26:47 +10:00
Henry Wurzburg
6bb567465a Plane: fixed misspellings of 'transition' 2022-07-01 11:54:16 -07:00
Mirko Denecke
463aed4b8f ArduPlane: fix Q_RTL_MODE parameter doc 2022-06-30 10:50:09 +10:00
Randy Mackay
8f54957530 Plane: do-mount-control specifies body-frame targets 
this is a non-functional change
 2022-06-29 10:56:48 +09:00
Andrew Tridgell
3fbe99ea4d Plane: prepare for 4.2.2 stable 2022-06-24 11:43:06 +10:00
Andrew Tridgell
3ffef61aec Plane: fixed int8_t wrap with FWD_BAT_VOLT_MAX 
this could cause crazy throttle values when the ratio pushes us over
127
 2022-06-23 09:25:03 +10:00
Iampete1
0cd1f605f6 Plane: Quadplane: always reset to QPOS_NONE on mode entry 2022-06-23 08:37:00 +10:00
murata
501bd61820 Plane: Initialize a string array 2022-06-22 17:25:56 +10:00
Iampete1
f2a162b963 Plane: rotate Qassist desired rates correctly 2022-06-21 10:01:30 +10:00
Iampete1
d251c51ca1 Plane: Quadplane: QRTL climb to QRTL alt first if in Q mode 2022-06-21 09:11:08 +10:00
Andrew Tridgell
e9942f9a17 Plane: prepare for 4.2.2beta1 2022-06-17 14:09:09 +10:00
Andrew Tridgell
42f553626e Plane: adjust down default quadplane gains 
make it better for a typical quadplane, the defaults were more
suitable on smaller aircraft
 2022-06-16 21:26:49 +10:00
Peter Barker
cfff881013 Plane: let AHRS update orientation in its own time 2022-06-12 17:32:11 +10:00
Iampete1
34609d327d Plane: Quadplane: force convertions of Q_M_PMW_* params if invalid and add arming check 2022-06-08 17:08:23 +10:00
Randy Mackay
402ea2b72d Plane: remove unused MSG_GIMBAL_REPORT 2022-06-07 09:27:47 +10:00
Andrew Tridgell
6423a2dfb9 Plane: use pos_control for weathervane attitude 
this makes no difference as wp_nav just passes through, but right API
to call
 2022-06-03 18:19:53 +10:00
Andrew Tridgell
ae6b877fd3 Plane: added Q_NAVALT_MIN 
this is equivalent to copters WP_NAVALT_MIN parameter for takeoff. Not
implemented for land yet

this is useful for vehicles with significant GPS velocity noise on
takeoff, preventing dragging the landing gear
 2022-06-03 18:19:53 +10:00
TunaLobster
df0a75a0bb Plane: Change throttle_override to pass in current throttle value 2022-05-26 11:30:41 -07:00
TunaLobster
9e26556408 AP_ICEngine: Add redline governor and RPM filter 
Adds a top end governor to protect the engine from exceeding design limits. Similar to idle governor.
Adds a LPF at 0.5 Hz for RPM.
 2022-05-26 11:30:41 -07:00
Andrew Tridgell
14a3e8b20c Plane: release notes for 4.2.1 2022-05-23 17:37:31 +10:00