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4455 Commits

Author SHA1 Message Date
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
Andrew Tridgell fa26b69298 Plane: fixed false positive in landing detector 
this fixes a case where we can get false positive on the landing
detector for quadplanes.

The issue happens if we cross the LAND_DESCEND to LAND_FINAL threshold
while pilot repositioning is active, with stale information in
landing_detect.lower_limit_start_ms as we don't run should_relax() in
LAND_DESCEND
 2022-05-23 13:05:17 +10:00
Iampete1 b017fc2196 ArduPlane: allow FBWB alt control option in LOITER 
Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
 2022-05-22 12:09:43 +10:00
Andrew Tridgell 56db91d0c3 Plane: 32 servo conversion 2022-05-22 12:07:37 +10:00
Henry Wurzburg a3336f3d4f Plane: Add P/D only tune sets for quadplanes 2022-05-21 09:10:31 +10:00
Andrew Tridgell 5664f75ced Plane: update release notes for 4.2.1beta1 2022-05-19 17:11:20 +10:00
Andrew Tridgell 53a7866ba3 Plane: cope with QGC retrying AUTO mode 
QGC tries several times to enter AUTO even when it is refused. We need
to keep refusing
 2022-05-19 06:11:57 +10:00
Andrew Tridgell 86c2404654 Plane: increased safety of guided -> auto quadplane takeoff 
when we arm in guided mode then enter a special guided_wait_takeoff
state. We keep motors suppressed until one of the following happens

  1) disarm
  2) guided takeoff command
  3) change to AUTO with a takeoff waypoint as first nav waypoint
  4) change to another mode

while in this state we don't go to throttle unlimited, and will refuse
a change to AUTO mode if the first waypoint is not a takeoff. If we
try to switch to RTL then we will instead use QLAND

This state is needed to cope with the takeoff sequence used by QGC on
common controllers such as the MX16, which do this on a "takeoff"
swipe:

  - changes mode to GUIDED
  - arms
  - changes mode to AUTO
 2022-05-18 06:43:16 +10:00
Andrew Tridgell a22e181acb Plane: account for sprung throttle in VTOL throttle suppression 
when RC_OPTIONS has been changed to not check throttle for arming then
treat this like a sprung throttle for quadplane throttle suppression
in auto-throttle modes, and only unsuppress when throttle goes above
trim+dz
 2022-05-15 21:17:50 +10:00
Andrew Tridgell 20f641de99 Plane: refuse arming if we are in a landing sequence 
this helps when the aircraft has gone into a landing sequence due to a
failsafe before it is armed. Arming while in the landing sequence is
very unlikely to be what the user wants
 2022-05-15 21:17:50 +10:00
Peter Barker d5fdc2027f ArduPlane: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-11 17:40:35 +10:00
Peter Barker 6152b8618f ArduPlane: remove handling of MAVLINK_MSG_ID_SET_HOME_POSITION 
We decided to remove this after 4.2 was out in favour of
MAV_CMD_DO_SET_HOME which has been available since 2015.

The gcs-maintainers list was notified in Feburary.
 2022-05-10 09:46:22 +10:00
Andrew Tridgell 86d2ccf0e7 Plane: update gyro fft throttle 
allows for updating or learned FFT freq
 2022-05-10 08:08:56 +10:00
Andrew Tridgell 8aba79b8a0 Plane: release notes for 4.2.0 2022-05-04 10:33:50 +10:00
Peter Barker e2e3e228b3 ArduPlane: tidy includes 2022-05-03 09:14:58 +10:00
Mirko Denecke d6bca7405a ArduPlane: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Andrew Tridgell 12d829e740 Plane: release notes for plane 4.2.0beta6 2022-04-28 18:19:40 +10:00
Peter Barker 91e784f28d Plane: do not use guided waypoint for loiter location 
Currently this waypoint is set 10,000m away by the avoidance behaviour

Instead, immediately enter loiter mode
 2022-04-21 06:59:39 +10:00
Henry Wurzburg 0d01ac389c Plane: add Q_OPTION for RTL always on RC failsafe for ship landing 2022-04-19 19:58:46 +10:00
Andrew Tridgell 15084cb6f3 Plane: moved harmonic notch update code to AP_Vehicle 2022-04-19 09:39:03 +10:00
Andrew Tridgell 7aafd5cf98 Plane: param conversion for INS_NOTCH to INS_HNTC2 2022-04-19 09:39:03 +10:00
Andrew Tridgell d57abb1230 Plane: support harmonic notch on 2nd RPM sensor 2022-04-19 09:39:03 +10:00
Andrew Tridgell c1d841dd93 Plane: support two full harmonic notch filters 2022-04-19 09:39:03 +10:00
Sanket Sharma 594160daf3 Plane: Updated highest airspeed limit when armed 2022-04-18 14:54:57 +10:00
Andrew Tridgell 627f62d23b Plane: param conversion for INS_NOTCH to INS_HNTC2 2022-04-16 08:14:06 +10:00
Peter Barker fd4a00a654 ArduPlane: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Andrew Tridgell 3bdcff263d Plane: release notes for 4.2.0beta5 2022-04-07 10:07:25 +10:00
Andrew Tridgell 8e37c93e7d Plane: fixed rudder control when ARMING_RUDDER != 2 
when rudder disarm is disabled we should allow full yaw control
regardless of throttle level. We should also only disable left yaw
when throttle is at zero, as right yaw does not indicate pilot may be
trying to disarm
 2022-04-03 09:12:03 +10:00
Peter Barker 2c42c056d8 Plane: correct EnableLandResponsition->EnableLandReposition 2022-03-31 20:30:55 +11:00
Mark Whitehorn 910406e82d Plane: handle AIRBRAKE RC option 2022-03-29 22:51:10 +01:00
Andrew Tridgell c32a2d542c Plane: added release notes for 4.2.0beta4 2022-03-28 20:55:43 +11:00
Andrew Tridgell 48881eeb55 Plane: fixed yaw on the ground when rudder disarming in AUTO 
when a quadplane touches down in an auto throttle mode the pilot may
use rudder to disarm. The check for rudder disarm was only active in
modes without auto-throttle. This expands it to all modes if the
throttle has hit the lower limit
 2022-03-24 07:44:40 +11:00
Andrew Tridgell 680162cef0 Plane: added a value for RTL_AUTOLAND to disable arming check 
set RTL_AUTOLAND=3 to get go-around but not RTL DO_LAND_START usage
 2022-03-23 20:22:58 +11:00
Andrew Tridgell 27cbe5dbbb Plane: prevent rapid RTL/AUTO switching on fence breach 
don't switch back to RTL if already in a DO_LAND_START sequence
 2022-03-23 20:21:59 +11:00
Andrew Tridgell d82a306cc2 Plane: when shutting down motors force outputs to minimum 
this fixes issue #20354 where a long spool time can lead to motors
running without control for an extended period of time.
 2022-03-23 18:20:42 +11:00
Peter Barker 2784f8fa7f Plane: remove persistent guided_WP_loc state 
So instead of updating plane.guided_WP_loc and then calling
set_guided_WP(void) to copy that state into plane.next_WP_loc we pass
the new location in the call to set_guided_WP(const Location &loc).

avoidance was the only place which was not entirely over-writing
plane.guided_WP_loc.  However, plane.next_WP_loc was updated to be the
current location when we entered guided mode.  If we update the
horizontal/vertical avoidance now it is relative to the current
location, not the guided wp location, which could be quite important.
 2022-03-22 10:14:40 +11:00
Peter Barker 1f5165349e Plane: correct compilation when airspeed disabled 2022-03-20 21:47:05 +11:00
Andrew Tridgell 2c22cbc50e Plane: update release notes for 4.2.0beta3 2022-03-18 21:13:54 +11:00
Henry Wurzburg 14700063d2 ArduPlane: convert floating point divides into multiplys 2022-03-18 15:26:44 +11:00
Andrew Tridgell 6ebefbdb16 Plane: added airspeed based pitch limit check 
prevent using too much pitch when at low airspeed, which can lead to
severe instability in SLT quadplanes
 2022-03-18 13:36:16 +11:00
Andrew Tridgell eabdaae1e7 Plane: use set_lean_angle_max_cd() 
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
 2022-03-18 13:36:16 +11:00
Andrew Tridgell cc6fc2b130 Plane: improvements to POSITION1 controller 
this improves 4 things in the POSITION1 controller based on logs from
4.2.0beta2. The changes are designed to increase the tolerance to
an incorrect value for Q_TRANS_DECEL, reducing landing overshoot

1) we fix the initialisation of the acceleration. The
   init_xy_controller() function assumes zero accel, so we need to
   call set_accel_desired_xy_cmss() just after that init to get the
   correct accel. Thanks to Leonard for this fix

2) if we decel more than expected due to too low Q_TRANS_DECEL we
   need to reduce the target speed, rather than putting the nose down

3) lower the default Q_P_JERK_XY to a value more appropriate for most
   quadplanes (Leonard suggested a value of 2)

4) fixed the pitch envelope from Q_BACKTRANS_MS to start after the
   airbrake phase is complete
 2022-03-18 13:36:16 +11:00
Andrew Tridgell 3772029450 Plane: fixed pitch envelope after AIRBRAKE 
we need to setup last_fw_mode_ms and last_fw_nav_pitch_cd when we
enter POSITION1 mode so that the expanding envelope pitch limit from
Q_BACKTRANS_MS is applied correctly
 2022-03-18 13:36:16 +11:00
Andrew Tridgell 8b16b5ca94 Plane: adjust throttle mix for auto landing 
use mix-max during landing approach and initial descent, use min in
land final. As discussed with Leonard
 2022-03-18 13:35:46 +11:00
Peter Barker d93449ac28 ArduPlane: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Tim Tuxworth 21ec47f184 Plane: Display Fence Breach message in GCS 
Send a "Geofence breach" message to the Ground Control Station. Without this when the fence is breached and if anything happens as a result, such as RTL, it will happen silently.
 2022-03-16 18:04:19 +11:00
Andrew Tridgell a1856c5c22 Plane: added an arming check for Q_ASSIST_SPEED 
Q_ASSIST should really be enabled for all non-tailsitter
quadplanes. This arming check will help users remember to configure it
 2022-03-16 09:29:14 +11:00
Andrew Tridgell 82937ca778 Plane: check that RTL_AUTOLAND is set if using DO_LAND_START 2022-03-14 09:52:41 +11:00
Andrew Tridgell 0ca48fa9da Plane: added release notes for 4.2.0beta2 2022-03-10 13:44:05 +11:00
Andrew Tridgell 55c46cd868 Plane: protect against short stop_distance 2022-03-10 13:41:18 +11:00
Andrew Tridgell 5e14b9efe6 Plane: use pos control for most of LAND_FINAL 
this gives more accurate landing with some velocity drift
 2022-03-10 07:34:20 +11:00
Andrew Tridgell cc9b9813cb Plane: review fixes 
thanks Pete!
 2022-03-10 07:34:20 +11:00
Andrew Tridgell f09c715d7a Plane: wait till motors are fully up before takeoff in guided mode 
this allows for guided mode takeoff in tilt-rotors. Otherwise motors
till be pointing forward and takeoff will go very badly
 2022-03-10 07:34:20 +11:00
Andrew Tridgell 3659669409 Plane: cope with high angle error in airbrake state 
if we are flying too far off the target vector then exit airbrake
state. This prevents flying for a long distance away from the landing
point in airbrake mode
 2022-03-10 07:34:20 +11:00
Andrew Tridgell f9ecf15973 Plane: setup target accel in POSITION1 state 2022-03-10 07:34:20 +11:00
Andrew Tridgell 2864e21b31 Plane: allow for a trans decel margin 
so if we are behind the velocity curve we are less likely to overshoot
landing
 2022-03-10 07:34:20 +11:00
Andrew Tridgell 33bc067edf Plane: fix NAV_CONTROLLER_OUTPUT in Q modes 
Q modes don't always use wp_nav, but do use pos_control

AUTO and QRTL setup the plane navigation as well, so can use the L1
data
 2022-03-10 07:34:20 +11:00
Andrew Tridgell 3fe9a55269 Plane: added APIs for lua ship landing 2022-03-10 07:34:20 +11:00
Andrew Tridgell c54fb0f51b Plane: link in AP_Follow 
ready for ship landing
 2022-03-10 07:34:20 +11:00
Andrew Tridgell 72087335f7 Plane: removed terrain home correction 2022-03-10 07:34:20 +11:00
Iampete1 a7bc844780 Plane: never stick mix without valid RC input 2022-03-09 18:26:30 +11:00
Iampete1 c46a19bf89 ArduPlane: tailsitter: keep attitude controll throttle level upto date for smoother controller handover 2022-03-09 18:21:51 +11:00
Andrew Tridgell 8ccf84d9a3 Plane: disallow mavlink disarm while flying 
this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
 2022-03-09 17:13:45 +11:00
RuffaloLavoisier 962d1d112b ArduPlane : Indentation correction 2022-03-08 14:24:46 -08:00
RuffaloVM d8085f71af ArduPlane : case label indentation 2022-03-08 14:24:46 -08:00
Andrew Tridgell 6d63e1f7d3 Plane: added Q_LAND_ALTCHG parameter 
this is the threshold height change over 4 seconds for a landing to be
detected. It can be raised if landing detection is very slow
 2022-03-09 07:50:10 +11:00
Iampete1 54e57ccff0 Plane: don't prevent stick mixing in none RC failsafe 2022-03-08 11:21:13 +11:00
Peter Barker 302c8e4b98 ArduPlane: rename within_min_dz to in_min_dz for consistency 
... consistency with in_trim_dz
 2022-03-08 11:17:45 +11:00
Andrew Tridgell 08d53c2d64 Plane: change master version to 4.3.0dev 2022-03-02 07:44:36 +11:00
Andrew Tridgell ad53ee7f0e Plane: added release notes for 4.2.0beta1 2022-03-02 07:43:59 +11:00
Peter Barker c0aa20b1d0 ArduPlane: include cleanups 2022-03-01 11:21:33 +11:00
Henry Wurzburg 0c32e71272 ArduPlane: clarify and simplify RC failsafe messages 2022-03-01 11:05:15 +11:00
Peter Barker 452a5df0cc ArduPlane: add RebootRequred to stream rate parameters 2022-03-01 11:01:12 +11:00
Iampete1 80f8f8b14e Plane: quadplane: double log QPOS state change 2022-03-01 10:59:07 +11:00
Iampete1 c26ffed47f Plane: motor_test: use PWM min and max from RC_Channel 2022-03-01 10:47:25 +11:00
Peter Barker b19bfba0ec Plane: use has_valid_input in place of checking throttle counter 2022-03-01 10:29:37 +11:00
Peter Barker 13fa1e30ad ArduPlane: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Andrew Tridgell b444420329 Plane: removed controller error in transmitter tuning 2022-02-22 12:23:48 +11:00
Andrew Tridgell e3e125c307 Plane: prepare for 4.1.7 2022-02-21 12:11:28 +11:00
Iampete1 267583db55 Plane: quadplane: never reset yaw target rates when entering QPOS1 2022-02-21 09:35:06 +11:00
Iampete1 9fd14dbf94 Plane: quadplane: set IO failsafe limit for all motors 2022-02-17 12:31:16 +11:00
Iampete1 42a2e1094c Plane: set failsafe limit for throttle left and right 2022-02-17 12:31:16 +11:00
Andrew Tridgell 1bdc9b5bf8 Plane: fixed in_vtol logic so QRTL can AIRBRAKE 2022-02-16 07:43:01 +11:00
Andrew Tridgell aab6c94936 Plane: don't weathervane in AIRBRAKE state 
this prevents unwanted VTOL motor throttle while trying to slow
down. In this stage the slaving of yaw rate to fixed wing roll control
is sufficient
 2022-02-16 07:43:01 +11:00
Andrew Tridgell 2846f87eeb Plane: reduce height gain in auto landing for tiltrotors 
avoid running the motors while tilted past the tilt max if we are in
AIRBRAKE state. This stops a large amount of forward thrust from the
tilted motors while trying to slow down, while still maintaining
attitude control
 2022-02-16 07:43:01 +11:00
Andrew Tridgell 5bb7b04343 Plane: added release notes for 4.1.7beta1 2022-02-12 09:00:51 +11:00
Peter Barker 458d43fc1e ArduPlane: send deprecated message warning for MAVLINK_MSG_ID_SET_HOME_POSITION 2022-02-10 12:13:43 +11:00
Iampete1 1ca1707f9f Plane: quadpalne: keep motors interlock state upto date with E-stop 2022-02-10 07:43:40 +09:00
Peter Barker d914e4e63b Plane: convert next WP alt to global frame in POSITION_TARGET_GLOBAL_INT 2022-02-09 16:09:41 +11:00
Peter Barker 10be59da17 ArduPlane: create and use location_from_command_t 2022-02-09 09:15:11 +11:00
Peter Barker e1314cc297 Plane: remove ancient convert_mixers 2022-02-08 12:19:55 +11:00
Peter Barker 4068d57930 Plane: correct spelling of mode_lotier_qland 2022-02-08 12:19:03 +11:00
Peter Barker 7c0b1f46d6 Plane: remove logging of STRT message 
SType is always 3 - and we're just about to log the entire
mission so CTOT is pointless
 2022-02-08 12:18:16 +11:00
Henry Wurzburg e82ad1ec24 ArduPlane: fix error in Tricks on a Switch qualifier 2022-02-08 11:54:38 +11:00
Peter Barker bab79d0094 ArduPlane: stop passing mission in Terrain constructor 
Terrain can use the mission singleton

This means Copter can have terrain while compiling mission out
 2022-02-08 11:20:20 +11:00
Peter Hall 717b18a680 Plane: quadplane: add allow_weathervane transtion class method 2022-02-08 10:38:16 +11:00
Peter Hall 6a719664d3 Plane: quadplane: pass takeoff and landing state to weathervane 2022-02-08 10:38:16 +11:00
Gone4Dirt a79359dc67 Plane: use new weathervane library 2022-02-08 10:38:16 +11:00
Peter Barker dd06a93c06 Plane: remove unused TRUE/FALSE defines 2022-02-07 21:20:21 +11:00
Peter Barker 9878701095 Plane: remove unused DEBUG define 2022-02-07 21:20:21 +11:00
Peter Barker 90310f4c6e Plane: remove unused 'ALT_CONTROL' enumeration 2022-02-07 21:20:21 +11:00
Henry Wurzburg ea9d35c99d ArduPlane: extend nav_scripting to all modes 2022-02-07 21:19:28 +11:00
Hwurzburg ad30d476c8 Plane: enforce acro rate limits in aerobatics scripting 2022-02-07 12:35:31 +11:00
Hwurzburg 0efb2f2048 Plane: disable TECS use during NAV_SCRIPT_TIME 2022-02-07 12:34:15 +11:00
murata f8383df5a4 Plane: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
Bill Geyer 54bdde8845 Copter: fix parameter issue with quadplane 2022-02-01 23:06:51 -05:00
Bill Geyer 9bec232c8a Plane: modify qautotune to use of multi subclass 2022-02-01 23:06:51 -05:00
Peter Hall 9ec1faf3f9 Plane: tailsitter: rate limit second half of FW transtion 2022-01-26 19:03:32 +11:00
Peter Barker d6c653bdc5 ArduPlane: move logging of SIMSTATE, AHRS2 and POS into AP_AHRS library 2022-01-25 10:59:17 +11:00
Peter Barker 266d384ca7 ArduPlane: rename AP_AHRS::get_position to get_location 2022-01-25 10:47:22 +11:00
Iampete1 f725f7bb7e Plane: set new slew limit and inherit slew limt for flaps 2022-01-25 10:12:13 +11:00
Joshua Henderson c1abcfb7c4 Plane: move Airspeed to AP_Vehicle 2022-01-19 18:21:32 +11:00
Josh Henderson 6dc5a9fc54 Plane: GCS move airspeed sensor status flags up 2022-01-19 18:21:32 +11:00
Josh Henderson 9a3fed0263 Plane: move high_latency_air_temperature up 2022-01-19 18:21:32 +11:00
Andrew Tridgell 3273ead11b Plane: use EKF climb rate estimate in VFR_HUD.climb 
EKF estimate is both more accurate and less noisy
 2022-01-18 13:26:31 +11:00
Iampete1 32488a5e3a Plane: add MOTB logging at 10hz 2022-01-18 10:18:10 +11:00
Jaaaky 852546f8cf ArduPlane: fix man_expo pitch & rudder params/variables 2022-01-12 18:27:08 +11:00
Peter Barker 0cf4254290 ArduPlane: move RPM sensor logging into AP_RPM 2022-01-11 11:09:26 +11:00
Iampete1 3a5c7ea8fc Plane: quadplane: add transtion fail action param 2022-01-11 11:02:33 +11:00
Peter Hall b64ddb9ac0 Plane: tailsitter: only set limit flags if outputs are configured 2022-01-11 10:37:38 +11:00
Peter Hall 2ffebebddc Plane: tailsitter: provide min throttle limit based on disk therory outflow velocity 2022-01-11 10:37:38 +11:00
Iampete1 0fa1ddf7c2 Plane: tailsitter: always give pitch prority elevon mixing in VTOL modes 2022-01-11 10:37:38 +11:00
Iampete1 d473344177 Plane: add video stab log bit and log in ahrs_update 2022-01-05 19:56:03 +11:00
Iampete1 ca1b5b1db2 Plane: Quadplane: use get_frame_and_type_string 2022-01-05 19:51:19 +11:00
Peter Barker 89e3e27d3d ArduPlane: move INS notch filter logging into INS 2022-01-05 16:34:36 +11:00
Peter Barker 173f36c145 ArduPlane: make vehicles write notch log messages 2022-01-05 16:34:36 +11:00
Peter Hall d4eb2c6396 Plane: quadplane: QPOS_POSITION1 tailsitters use input_vel_accel method 2022-01-04 10:42:12 +11:00
Iampete1 4848ac9166 Plane: quadplane: don't use `is_active_z()`, becasue its wrong 2022-01-04 10:42:12 +11:00
Iampete1 fb1f6b57ad Plane: Quadplane: never run Z controller if motors are not throttle unlimited 2022-01-04 10:42:12 +11:00
Peter Hall c215fa0745 Plane: Quadplane: never run Z controller in tailsiter VTOL transtion 2022-01-04 10:42:12 +11:00
Peter Hall 9df753551e Plane: quadplane: tailsitter: always relax pitch after transtion 2022-01-04 10:42:12 +11:00
Peter Hall d054ca0426 Plane: quadplane: limit post VTOL transtion pitch rate on tailsitters in maunal modes 2022-01-04 10:42:12 +11:00
Peter Hall 67d7ba490f Plane: quadplane: pass time to tailsitter.in_vtol_transition where avalable 2022-01-04 10:42:12 +11:00
Iampete1 9634641323 Plane: tailsitter: rate limit pitch up in VTOL pos control flight. 2022-01-04 10:42:12 +11:00
Andrew Tridgell 2691022e12 Plane: update release notes for 4.1.6 2022-01-03 13:11:18 +11:00
Andrew Tridgell 2251293ec7 Plane: fix stabilize mode 
should self-level. Broken by #19171
 2022-01-03 08:09:53 +11:00
Iampete1 abe9e4425b Plane: quadplane: remvoe unused loiter initial pitch varable 2021-12-31 08:46:31 +11:00
Andrew Tridgell fb019eb0f3 Plane: add a low pass filter to speed scaler 
this is needed due to the filtering done on the target rate in
AC_PID. With a low filter rate in AC_PID a step in the speed scaler
results in a step in the FF output due to the mismatch in the
instantaneous SS and the filtered target rate
 2021-12-29 18:36:05 +11:00
Peter Barker e55eea961f ArduPlane: create and use AP_OPTICALFLOW_ENABLED 2021-12-29 18:12:03 +11:00
Andrew Tridgell 336b666f83 Plane: fixed stick mixing and throttle nudge in QRTL approach 
thanks to Henry for noticing this
 2021-12-28 16:04:12 +11:00
Peter Barker d7fae5263f ArduPlane: adjust for rename of OpticalFlow.cpp 2021-12-28 10:16:20 +11:00
Samuel Tabor a715472353 Plane: Specify starting location to set_offset_altitude_location 2021-12-27 11:27:52 +11:00
Hwurzburg 18e427d27d Plane: add Q_OPTION to force fw trans on fail instead of QLAND 2021-12-24 13:55:15 +11:00