7a87191fd4
Plane: use origin-relative altitudes rather than home-relative
2023-11-07 17:37:35 +09:00
5b61793b33
Plane: fixed nav_roll/nav_pitch when waiting for VTOL takeoff
...
the nav_roll_cd and nav_pitch_cd were not being set in the VTOL
takeoff code when disarmed. This led to small increments accumulating
in the stick mixing code, leading to large control surface movements
before arming
2023-09-05 19:42:25 +09:00
d339a41ba5
Plane: On vtol landings if from a mission perform crosstracking
2023-08-01 16:51:27 +09:00
4832295f47
Plane: fixed transition started airspeed message
...
this message was lost in recent refactoring
2023-07-04 12:17:52 +09:00
8395e38974
Plane: fixed TECS state reset in VTOL auto
...
this fixes a bug where TECS maintains its slow integrator while in a
VTOL hover mode in AUTO or GUIDED.
Among other things this affects PAYLOAD_PLACE and
DO_VTOL_TRANSITION. In those states the height can change while
hovering outside the control of TECS. When TECS regains control in a
fwd transition then can lead to a very large height loss or gain until
the TECS integrator can catch up
2023-07-04 12:17:52 +09:00
1ca9af90a6
Plane: improved fwd throttle during VTOL landing
...
this sets up the vwd integrator more reasonably when we are in
POSITION1 stage of VTOL landing. We need to have enough throttle to
cope with a headwind, but want it lower when we are at or above our
target closing speed so can minimise the amount of pitch up
This also makes the landing_desired_closing_velocity() consistent with
the landing speed used in approach, using average of airspeed min and
cruise speed if TECS_LAND_ARSPD is not set
The target airspeed for TECS during airbraking is now set to
ARSPD_FBW_MIN, on the basis we are trying to slow down to min speed,
and we have VTOL support which should prevent a stall.
To cope with a high headwind where ARSPD_FBW_MIN is below the headwind
we now check for too low achieved closing speed and switch to
POSITION1 which can use vfwd to get to the landing location
2023-07-04 12:17:51 +09:00
c3528c5c9e
Plane: fix error in Qplane wait for rudder neutral
2023-07-04 12:17:51 +09:00
a86ff90b97
ArduPlane: add AUTO VTOL landing abort AUX sw
2023-03-14 10:52:23 +11:00
38d7bcff6b
Plane: re-init throttle wait on quadplane arm and disarm
...
this prevents yaw from rudder arming on 2nd flight
2023-02-26 07:06:09 +11:00
a57e6455ab
Plane: use is_armed_and_safety_off()
...
this no longer sets soft_armed false when safety is on, and instead
uses is_armed_and_safety_off() when appropriate
2023-02-21 07:44:09 +11:00
99f997161a
Plane: holdoff auto takeoff till rudder neutral
...
when arming with rudder we need to hold off the takeoff until the user
has released the rudder stick or we can yaw badly during the takeoff
2023-02-09 07:02:32 +11:00
2989e2deba
Plane: added support for NAV_PACKAGE_PLACE mission item
...
this works in conjunction with a lua script to allow for a wide
variety of package place options
2023-02-09 07:02:12 +11:00
648a13d3f7
ArduPlane: add and use AP_ADVANCEDFAILSAFE_ENABLED
2023-02-08 19:00:13 +11:00
6623f1156c
Plane: transition pitch limit should not apply to FBWA
...
pilot should be able to override pitch, very important on motor
failure to control glide
2023-01-30 09:19:14 +11:00
bf9d49b72d
Plane: Quadaplane: add param for min QRTL altitude when close to home
2023-01-25 19:34:53 +11:00
636a18f98f
Plane: Update Q_OPTIONS metadata to new format
2023-01-03 10:29:44 +11:00
a99748a13d
Plane: Quadaplane: use land_at_climb_rate_cm only when landing
2022-12-30 20:25:58 +09:00
87c684b5ee
Plane: Vtol: use land_at_climb_rate_cm for vertical rate control
2022-12-30 20:25:58 +09:00
0db6146f60
Plane: Added Y4 config to Quadplane
2022-12-27 15:19:28 +11:00
0cf56ea320
ArduPlane: make and use AP_LANDINGGEAR_ENABLED
2022-12-14 18:30:23 +11:00
16ccdeb058
Plane: Support changing update period in Motors
2022-12-13 17:10:06 +11:00
0bc5e68aed
Plane: Support changing update period
2022-12-13 17:10:06 +11:00
99066a27f8
Plane: ensure we init z controller when inactive
...
this prevents us getting the AC_PosControl internal error, which is
turning up as a common false positive.
2022-12-05 07:50:05 +11:00
148c8d6eec
Plane: Quadplane: tiltrotor: add Q_OPTION to keep motors tilted up when disarmed in FW modes
2022-11-29 10:51:23 +11:00
edf89b02ea
Plane: Quadplane: 0 rate_bf_yaw_target as more or less the same as radians value in cd funcion
2022-11-25 18:13:00 +11:00
8a0708efe8
Plane: scale VTOL angle P gains with airspeed
...
During POSITION1 back-transiton we scale the MC angle P gains with
airspeed to reduce the chance of oscillations. At higher airspeeds the
fixed wing controller dominates so we should use the fixed wing angle
P gain.
2022-10-18 07:38:39 +11:00
a774f314a2
Plane: Quadplane: SLT: enforce TECS pitch limits to beat race
2022-10-11 11:18:41 +11:00
821ef1d4d9
Plane: Fixed divide by zero error when transitioning to guided
2022-10-07 08:22:48 +11:00
22cd568a4c
Plane: removed use of "blended" earth frame accel
2022-08-21 18:51:59 +10:00
ba13f4d116
ArduPlane: remove unused limit_length calculation in overshoot
2022-08-16 12:05:00 +10:00
f183b21fc5
Plane: Support vtol landing options on NAV_VTOL_LAND
...
This allows the same mission to contain both circular and straight
landing items, and doesn't require on the fly tweaking
2022-08-15 17:05:00 -07:00
ee778dbd3a
Plane: Quadplane: add option_is_set helper for Q_OPTIONS
2022-08-09 13:21:00 +10:00
821053e580
Plane: Quadplane: allow servo auto trim for motors only tailsitter assist
2022-08-09 10:56:41 +10:00
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
f9f0f60815
Plane: base yaw in overshoot on target speed not scaled speed
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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
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
fa371b92a8
Plane: limit target accel in POSITION1
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don't ask for more than 2* transition limit, and reset when we enter
overshoot case
2022-08-02 07:49:34 +10:00
afd21298d5
Plane: adjust target vector for wind in overshoot
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at low speeds we want to keep the nose pointed into the wind on
landings
2022-08-02 07:49:34 +10:00
a1e7072cb1
Plane: cope with overshoot in POSITION1 VTOL land state
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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
a592f76282
ArduPlane: change AC_FENCE to AP_FENCE_ENABLED
2022-07-27 19:04:56 +10:00
b0bee613d4
ArduPlane: add and use AP_ICENGINE_ENABLE
2022-07-22 08:48:16 +10:00
712611c50e
Plane: Quadplane: add yaw command model
2022-07-13 18:26:36 +10:00
6bb567465a
Plane: fixed misspellings of 'transition'
2022-07-01 11:54:16 -07:00
463aed4b8f
ArduPlane: fix Q_RTL_MODE parameter doc
2022-06-30 10:50:09 +10:00
0cd1f605f6
Plane: Quadplane: always reset to QPOS_NONE on mode entry
2022-06-23 08:37:00 +10:00
f2a162b963
Plane: rotate Qassist desired rates correctly
2022-06-21 10:01:30 +10:00
d251c51ca1
Plane: Quadplane: QRTL climb to QRTL alt first if in Q mode
2022-06-21 09:11:08 +10:00
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
34609d327d
Plane: Quadplane: force convertions of Q_M_PMW_* params if invalid and add arming check
2022-06-08 17:08:23 +10:00
6423a2dfb9
Plane: use pos_control for weathervane attitude
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this makes no difference as wp_nav just passes through, but right API
to call
2022-06-03 18:19:53 +10:00
Peter Barker
Andrew Tridgell
Michael du Breuil
Henry Wurzburg
Iampete1
Leonard Hall
Jeremy
mattbooker
Mirko Denecke