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4363 Commits

Author SHA1 Message Date
Andrew Tridgell
557c96b7f6 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
 2022-04-07 10:05:28 +10:00
Andrew Tridgell
64d95c27c2 Plane: prepare for 4.2.0beta4 release 2022-03-28 20:53:56 +11:00
Andrew Tridgell
2b4683c30d Plane: added release notes for 4.2.0beta4 2022-03-28 20:53:56 +11:00
Andrew Tridgell
6a769b728e 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
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
f1f6c34132 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
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
727e066fa9 Plane: prevent rapid RTL/AUTO switching on fence breach 
don't switch back to RTL if already in a DO_LAND_START sequence
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
04f464772b 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.
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
7bdeeb24e2 Plane: prepare for 4.2.0beta3 2022-03-18 20:30:00 +11:00
Andrew Tridgell
fdccae7b5e Plane: update release notes for 4.2.0beta3 2022-03-18 20:29:33 +11:00
Tim Tuxworth
6e915df31b 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.
 2022-03-18 14:30:03 +11:00
Andrew Tridgell
8b7366d619 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 14:24:46 +11:00
Andrew Tridgell
6e3a2663bf Plane: check that RTL_AUTOLAND is set if using DO_LAND_START 2022-03-18 14:23:23 +11:00
Andrew Tridgell
14571ee24b 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
 2022-03-16 08:12:20 +11:00
Andrew Tridgell
d7052b4d5a 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 07:09:30 +11:00
Andrew Tridgell
0bab0dc26c Plane: use set_lean_angle_max_cd() 
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
 2022-03-16 07:09:30 +11:00
Andrew Tridgell
6839533e5d 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
 2022-03-14 13:52:06 +11:00
Andrew Tridgell
965a571063 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
 2022-03-14 11:06:29 +11:00
Andrew Tridgell
139411f0c5 Plane: prepare for 4.2.0beta2 2022-03-10 13:43:16 +11:00
Andrew Tridgell
42c2ec053a Plane: added release notes for 4.2.0beta2 2022-03-10 13:43:08 +11:00
Andrew Tridgell
0aeb7e1500 Plane: protect against short stop_distance 2022-03-10 11:11:10 +11:00
Iampete1
8fd386f50b Plane: quadplane: double log QPOS state change 2022-03-10 10:46:17 +11:00
Peter Barker
9981a08791 Plane: use has_valid_input in place of checking throttle counter 2022-03-10 10:45:39 +11:00
Henry Wurzburg
c8bc0b7e0d ArduPlane: clarify and simplify RC failsafe messages 2022-03-10 10:44:56 +11:00
Peter Barker
f10f3da159 ArduPlane: add RebootRequred to stream rate parameters 2022-03-10 10:44:53 +11:00
Andrew Tridgell
e0e60c8654 Plane: disallow mavlink disarm while flying 
this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
 2022-03-10 08:24:39 +11:00
Iampete1
a71b406287 ArduPlane: tailsitter: keep attitude controll throttle level upto date for smoother controller handover 2022-03-10 08:24:35 +11:00
Iampete1
d5af006e5c Plane: never stick mix without valid RC input 2022-03-10 08:24:27 +11:00
Iampete1
7265ed552b Plane: don't prevent stick mixing in none RC failsafe 2022-03-10 08:24:21 +11:00
Andrew Tridgell
1d2a64951c Plane: use pos control for most of LAND_FINAL 
this gives more accurate landing with some velocity drift
 2022-03-10 07:36:30 +11:00
Andrew Tridgell
c4ce86a839 Plane: review fixes 
thanks Pete!
 2022-03-10 07:36:21 +11:00
Andrew Tridgell
c41a3af59d 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 07:36:08 +11:00
Andrew Tridgell
32404f5aa5 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 07:36:05 +11:00
Andrew Tridgell
948ae05922 Plane: setup target accel in POSITION1 state 2022-03-10 07:36:01 +11:00
Andrew Tridgell
395cf1b6dd 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 07:35:58 +11:00
Andrew Tridgell
d0ce3c8774 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 07:35:32 +11:00
Andrew Tridgell
25f57af2e3 Plane: added APIs for lua ship landing 2022-03-10 07:35:29 +11:00
Andrew Tridgell
abae8518f0 Plane: link in AP_Follow 
ready for ship landing
 2022-03-10 07:35:25 +11:00
Andrew Tridgell
46ede1b73f Plane: removed terrain home correction 2022-03-10 07:35:03 +11:00
Andrew Tridgell
38662b98d8 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 07:50:54 +11:00
Andrew Tridgell
bb81a3bd3b Plane: prepare for 4.2.0beta1 2022-03-02 07:42:57 +11:00
Andrew Tridgell
88de8cdc21 Plane: added release notes for 4.2.0beta1 2022-03-02 07:42:48 +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