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541 Commits

Author SHA1 Message Date
Andrew Tridgell d3742989ef Plane: default rate max to 75 for quadplane VTOL 
this reduces overshoot when VTOL tune is less than ideal
 2021-11-07 06:58:53 +11:00
Andrew Tridgell debae1381c Plane: fixed a bug in POSITION1 speed thresholds 
we were comparing two different speeds in the threshold for going to
Q_WP_SPEED limit. The reason the two speeds were different was the
wp_nav init happened before the defaults were setup for quadplanes

this fixes both bugs
 2021-11-06 20:00:10 +11:00
Peter Barker 6a12d3f5d9 Plane: use enum class for StickMixing 2021-11-03 18:06:00 +11:00
Iampete1 af8688b300 Quadplane: add transiton class 2021-11-02 10:14:36 +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
Iampete1 73e9c9bb43 Plane: quadplane: forward throttle reutrn float 2021-10-20 18:29:58 +11:00
Iampete1 b31ce6734a Plane: get throttle input return float 2021-10-20 18:29:58 +11:00
Peter Barker eef8115ffc ArduPlane: factor substring from allocation_error parameter 2021-10-18 12:49:44 +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 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
Hwurzburg 4e731bf4e2 Plane: add VTOL POS1 notification to QRTL mode 2021-10-06 11:38:32 +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
bugobliterator ae4d368267 Plane: replace config_error with allocation_error 2021-09-30 08:51:26 +10:00
Iampete1 a350ebb358 Plane: quadplane: do_vtol_land remove uneded I reset 2021-09-28 10:51:21 +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
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 cc89a8cc48 Plane: remove airmode Q_OPTION 2021-09-21 09:36:24 +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
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 c73207b4b0 Plane: quadplane: remove init mode and control run methods 2021-09-08 18:06:58 +10:00
Iampete1 95fbf39f72 Plane: quadplane: check_attitude_relax use the last time the controllers were run not the last time relax was checked 2021-09-07 09:09:47 +10:00
Hwurzburg 5ca652a243 Plane: rename tailistter motor class to more correct singl/dual motor layout 2021-09-06 10:14:05 +10:00
Iampete1 f1477a6c29 Plane: quadplane: add assisted flight only airmode 2021-09-01 08:33:24 +10:00
Iampete1 46670f7bd0 Plane: quadplane: move tailsitter items to dedicated setup 2021-09-01 08:33:24 +10:00
Iampete1 700a92f036 plane: quadplane: tailsitter: run FW transition check and assist immediately 2021-08-31 10:34:33 +10:00
Peter Hall 657fcb7f59 Plane: quadplane: set `last_pidz_init_ms` 2021-08-31 09:58:03 +10:00
Iampete1 70ab9ba3b6 Plane: tailsitter: remove pilot prop-hanging teaching params and code. 2021-08-25 18:47:51 +10:00
Hwurzburg 551d55a85c ArduPlane: add thr position trigger to ThrLandCtrl Q_OPTION 2021-08-25 12:32:59 +10:00
Iampete1 d372907a98 Plane: Quadplane: add Q_OPTION to only allow arming in Qmodes and auto. 2021-08-24 10:39:12 +10:00
TunaLobster cbf6c2926f ArduPlane: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
Andrew Tridgell 58c823284c Plane: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Iampete1 baf2b4a3d8 Plane: Qstabilize: mode functions to ModeQStabilize 2021-08-17 11:46:49 +10:00
Iampete1 44e63861ce Plane: QRTL: move functions to ModeQRTL 2021-08-17 11:46:49 +10:00
Iampete1 f75919e727 plane: QLoiter: move functions to ModeQLoiter 2021-08-17 11:46:49 +10:00
Iampete1 921116e7a3 Plane: QLand: move functions to ModeQLand 2021-08-17 11:46:49 +10:00
Iampete1 737096f342 Plane: QHover: move functions to ModeQHover 2021-08-17 11:46:49 +10:00
Iampete1 a1fa683272 plane: Qautotune: move functions to ModeQAutotune 2021-08-17 11:46:49 +10:00
Iampete1 e293866245 plane: Qacro: move functions to ModeQAcro 2021-08-17 11:46:49 +10:00
Leonard Hall 65b58dea85 Plane: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-10 08:33:56 +09:00
Peter Hall ed4345cb3b Quadplane: tailsitter: provide assistance at min throttle 2021-08-08 19:41:22 +10:00