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32 Commits

Author SHA1 Message Date
George Zogopoulos 9a5f81aa95 Plane: Added check for takeoff level-off timeout 
When an airspeed sensor is not used, during a takeoff, the pitch angle
is asymptotically driven to 0 as the takeoff altitude is approached.
Some airplanes will then stop climbing and fail to reach altitude.

To prevent an indefinite wait for the takeoff altitude to be reached, a
dedicated level-off timeout has been introduced.
 2024-12-04 18:07:30 +11:00
George Zogopoulos 6ce6ef8fff Plane: Takeoff improvements 
- TAKEOFF and AUTO flight modes now should have identical takeoff
- Prevent behaviour switching past climb altitude in TAKEOFF mode.
- Refactor set_pitch_min/max methods.
  Max was already there, now renamed.
  Min is newly introduced.
  behaviour.
- Remove enforcement of min takeoff throttle logic from servos.cpp.
  It is now handled only by takeoff.cpp.
- Take TKOFF_LVL_ALT into consideration in AUTO as well.
- Fixed pitch setpoint when TKOFF_ROTATE_SPD>0.
- Roll navigation in mode TAKEOFF during climb should now work again.
- Now the TAKEOFF loiter waypoint is set by the bearing of the
aircraft while on TKOFF_LVL_ALT, as in the last stable release, instead
of TKOFF_ALT.
- Using TRIM_THROTTLE in takeoffs, when TKOFF_THR_MIN==0
 2024-10-02 17:09:07 +10:00
Iampete1 55f51eabe8 Plane: move `have_autoenabled_fences` to be private in `ModeTakeoff` 2024-07-30 09:59:01 +10:00
George Zogopoulos 773c91cec1 ArduPlane: Added minimum throttle during TAKEOFF mode 
This is a rework so that servos.cpp is responsible for setting the
throttle limits under more circumstances and always notifies TECS when
it does so.

Additionally, the TAKEOFF mode has been improved with a new parameters
TKOFF_MODE and TKOFF_THR_MIN that extend the throttle behaviour.
 2024-07-29 15:50:32 +10:00
Henry Wurzburg a6300e35d0 Plane: prevent Mode Takeoff calling fence autoenable more than once 2024-07-24 08:24:06 +10:00
Henry Wurzburg d91ff440e7 ArduPlane: fix autofence enable in takeoff mode 2024-02-13 10:45:39 +11:00
Henry Wurzburg 3973c28f15 Plane:add TKOFF_TIMEOUT to MODE TAKEOFF 2024-01-30 11:02:53 +11:00
Peter Barker b3897c020e ArduPlane: make AHRS attitude member variables private 2024-01-14 12:47:47 +11:00
Henry Wurzburg 1f78cb29b4 Plane: correct TKOFF_LVL_ALT metadata 2023-12-25 17:05:20 -07:00
Henry Wurzburg ed21c49975 Plane:correct TKOFF_DIST metadata 2023-09-07 00:49:58 -07:00
Henry Wurzburg e9414d69ff ArduPlane: add failsafe protections to Mode Takeoff 2023-08-09 17:33:58 +10:00
Henry Wurzburg 641b086c0f Plane: Make mode takeoff entry climb to TKOFF_ALT before loitering 2023-05-20 08:52:47 +10:00
Tom Pittenger 96ee3651d2 Plane: Auto takeoff roll-limits to use TKOFF_LVL_ALT 2023-03-02 09:24:13 +11:00
Tom Pittenger 7a6f398668 Plane: add TKOFF_GND_PITCH 2023-02-23 11:12:39 +11:00
Iampete1 549dd3875d Plane: add mode ahrs convenience refence 2023-02-21 11:27:24 +11:00
Peter Barker de4dda2d17 ArduPlane: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Iampete1 a592f76282 ArduPlane: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
Iampete1 2f4661c52f Plane: use float for set/get output scaled 2021-10-20 18:29:58 +11:00
Iampete1 03d17437c3 Plane: mode_takeoff: call base mode constuctor 2021-08-03 12:28:31 +10:00
James O'Shannessy 5dd40afe0a ArduPlane: Retrigger fence breach if mode 
ArduPlane: Move auto enabling code to common fence library
 2021-03-05 14:52:46 +11:00
Peter Barker 6baaf03c8c Plane: move auto_throttle_mode to being a method on each mode 2021-01-10 16:04:30 +11:00
Peter Barker f6cb1b5ad6 Plane: use a method on Mode for auto-navigation-mode 
Avoids the state getting stale, which it will with a failed attempt to
go into qautotune, for example.
 2021-01-10 16:04:30 +11:00
Peter Barker a1ea1306a1 Plane: use pure-virtual method for allows_throttle_nudging 
In place of a state variable which could become stale
 2021-01-10 16:04:30 +11:00
Peter Barker 15372e9213 ArduPlane: replace '@User: User' with '@User: Standard' 2020-09-22 14:56:04 +10:00
Samuel Tabor 836be4b4b4 Plane: Remove _navigate indirection in Mode. 2020-08-20 13:02:06 +10:00
Samuel Tabor 6a27866df4 Plane: Call plane.update_loiter() rather than plane.mode_loiter.navigate(). 2020-08-20 13:02:06 +10:00
Samuel Tabor 06eea6ed9f Plane: Move navigation functions into flight mode classes. 2020-08-20 13:02:06 +10:00
Henry Wurzburg 7828274c72 Plane: prevent jump to Circle upon Takeoff mode entry unless flying >10s 2020-03-03 18:25:02 +11:00
Andrew Tridgell abd08ac5ca Plane: fixed takeoff alt handling 
thanks to Henry for noticing
 2019-10-20 09:38:26 +11:00
Andrew Tridgell 3194059408 Plane: allow TAKEOFF mode on board with no compass 2019-10-17 12:19:43 +11:00
Andrew Tridgell f628524601 Plane: if already flying in TAKEOFF mode then skip takeoff 2019-10-17 12:19:43 +11:00
Andrew Tridgell ff400243e0 Plane: added a new TAKEOFF flight mode 
takeoff then circle in direction of takeoff
 2019-10-17 12:19:43 +11:00