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4617 Commits

Author SHA1 Message Date
Iampete1 e194cb704c Plane: fix throttle going bellow min in fbwa RC failsafe 2023-07-26 18:30:49 +10:00
Randy Mackay 84752fbeaa Plane: log MNT at 10hz 2023-07-26 17:33:18 +10:00
Henry Wurzburg 9dbcce4460 Plane:expand log metadata for QTUN 2023-07-25 00:04:17 +01:00
Andy Piper 761c7a0161 ArduPlane: fix incorrect float conversion 2023-07-18 11:06:02 +10:00
Andy Piper 49096422e7 Plane: allow notch frequencies to be logged at full rate 2023-07-18 11:03:47 +10:00
Michael du Breuil a8102d6662 Plane: On vtol landings if from a mission perform crosstracking 2023-07-18 10:44:11 +10:00
Andrew Tridgell 435a83f106 ArduPlane: removed set_blocking_writes_all calls 2023-07-12 17:06:02 +10:00
Andrew Tridgell a57647e3b4 Plane: update release notes 2023-07-04 16:19:36 +10:00
Tom Pittenger 606ef1b269 Plane: is_landing/is_taking_off not to req scripting 2023-07-03 22:44:00 -07:00
Andrew Tridgell b271a20e97 Plane: update release notes for 4.4.0beta3 2023-07-04 14:02:01 +10:00
Iampete1 f89563f987 Plane: Training: output rudder from mode run function 2023-07-04 10:44:13 +10:00
Andrew Tridgell 40ce471fec Plane: fixed transition started airspeed message 
this message was lost in recent refactoring
 2023-07-04 07:22:01 +10:00
Andrew Tridgell 086d0907dd 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
 2023-07-03 07:03:14 +10:00
Henry Wurzburg 979d810912 ArduPlane: allow scaled passthru to go to trim on rc failsafe 2023-06-29 21:37:12 +10:00
Iampete1 61682f6551 Plane: implement FLTMODE_GCSBLOCK bitmask 2023-06-28 12:56:25 +01:00
Andrew Tridgell ccd38ddee0 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
 2023-06-27 11:40:55 +10:00
Henry Wurzburg 3f7f7cd3a1 Plane:remove duplication in setting servos in MANUAL 2023-06-27 11:04:53 +10:00
Iampete1 6b106c401c Plane: Quadplane: check with motors if motor test is allowed 2023-06-27 10:24:15 +10:00
Tom Pittenger 4eeb1f18d3 Plane: fixup is_landing and is_taking_off members 2023-06-26 06:54:56 -07:00
Zach Flathers b35b94f553 Plane: update based on PR feedback 2023-06-26 06:54:56 -07:00
Zach Flathers 6177cbbfe2 Plane: Add is_landing/is_taking_off scripting support 2023-06-26 06:54:56 -07:00
Iampete1 2f4b617464 Plane: remove SYS_NUM_RESETS, replaced by STAT_BOOTCNT 2023-06-20 11:10:36 +10:00
Peter Barker 9d3ebf0d54 ArduPlane: add option to disable relay and servorelay libraries 2023-06-20 09:36:39 +10:00
bugobliterator f3159eeb58 ArduPlane: move sysid_my_gcs to be public 2023-06-17 14:49:22 +10:00
Paul Riseborough c92f71842b ArduPlane: Enable ground speed undershoot correction without GPS 
The code had a bug where if GPS fix was lost, the demanded airspeed would be set to the measured or estimated airspeed causing unpredictable variations in the demanded airspeed.
This patch prevents the minimum ground speed protection speed up from running if the ground speed undershoot cannot be calculated.
This patch extends the range of conditions over which the minimum ground speed functionality can be used by enabling the ground speed undershoot to be calculated when the navigation system is able to estimate velocity.
 2023-06-15 08:59:02 +10:00
Andrew Tridgell a80e0fe11a Plane: release notes for 4.4.0-beta2 2023-06-08 18:48:10 +10:00
Andrew Tridgell 425603b883 Plane: final release notes for 4.3.7 2023-05-31 11:35:26 +10:00
Andrew Tridgell 1ecd943769 Plane: fixed AP_ICEngine constructor call 
now uses singleton
 2023-05-30 07:29:55 +10:00
Andrew Tridgell 890c0844d0 Plane: release notes for 4.3.7-beta1 2023-05-24 20:05:25 +10:00
Iampete1 2254252aff Plane: move mode manual reset into run function removing manual early return 2023-05-24 18:19:53 +10:00
Iampete1 0d6d16d4e4 Plane: Quadplane: move modes fully to run function 2023-05-23 09:52:55 +10:00
Henry Wurzburg 641b086c0f Plane: Make mode takeoff entry climb to TKOFF_ALT before loitering 2023-05-20 08:52:47 +10:00
Paul Riseborough 52743787b2 Plane: Fix bug that can cause early exit from loiter to alt and time wp's 
The check for the aircraft being lined up for a tangent exit has an early breakout condition if the next waypoint is too close to the loiter circle which can prevent the required ground course to waypoint ever being achieved. This check was using the WP_LOITER_RAD parameter value, not the actual radius being used which can be set differently by the mission plan. If a large value for WP_LOITER_RAD was set and being over-written by the mission plan with a smaller value compatible with the distance to the next waypoint, the aircraft would still exit early.
 2023-05-18 02:35:47 -07:00
Andrew Tridgell 6870a15280 Plane: implement AP_PLANE_BLACKBOX_LOGGING 
this allows for auto-arming of plane when we reach a specified 3D GPS
speed. Used for blackbox logging of F3A maneuvers
 2023-05-18 12:59:09 +10:00
Peter Barker 59bc070555 ArduPlane: move call of notify.update up to AP_Vehicle 2023-05-17 18:41:15 +10:00
Iampete1 a20841e166 Plane: correct AETR log description ranges 2023-05-10 17:28:49 +10:00
Iampete1 4ca071045c Plane: move defualt attitude control to base class 2023-05-02 09:29:40 +10:00
Iampete1 6111e9d9db Plane: move Stabilize functions into mode 2023-05-02 09:29:40 +10:00
Iampete1 bb80881c10 Plane: don't trigger RC failsafe until RC has been received for the first time 2023-05-02 09:11:18 +10:00
Michael du Breuil 24c5fe54df Plane: Support a long failsafe that goes straight to auto 
This is very useful with an aircraft that is expected to be autonomously
operating in auto from takeoff to landing. It is convient to have a GCS
connected or RC, but the loss of either isn't considered a reason to
terminate the mission.
 2023-04-28 09:37:12 +10:00
Randy Mackay 238d3354cc Plane: version to 4.5.0-dev 2023-04-26 17:45:52 +10:00
Henry Wurzburg b4c79c9105 Plane:add FlightOptions helper 2023-04-26 17:35:25 +10:00
Henry Wurzburg c6a822abe1 Plane: fix error in Qplane wait for rudder neutral 2023-04-25 10:27:21 +10:00
Iampete1 74e4466cb4 Plane: use dedicated quadplane function for stick mixing enable 2023-04-25 10:06:50 +10:00
Henry Wurzburg 1415418d6e Plane:Takeoff on rudder arm only after return to neutral 2023-04-25 09:28:45 +10:00
Mirko Denecke eb6c5aa7d3 ArduPlane: remove unused update_transition() definition 2023-04-25 09:10:11 +10:00
Andrew Tridgell e8b740df51 Plane: release notes for 4.4.0beta1 2023-04-21 09:52:55 +10:00
Peter Barker 068443718e GCS_MAVLink: deprecate use of MISSION_SET_CURRENT message 
The mavlink command MAV_CMD_DO_SET_MISSION_CURRENT has been in place since January 2019 and is superior to this.
 2023-04-18 10:24:26 +10:00
Iampete1 5ec479579f Plane: move guided roll, pitch and throttle overrides upto guided mode 2023-04-18 09:36:06 +10:00
Iampete1 5f56a603a8 Plane: Quadplane: use new motors thrust linearization, don't send air density ratio 2023-04-18 09:32:22 +10:00