1d050a01ce
Plane: Quadplane: add Q_OPTION to ignore forward flight angle limits in Q modes
2021-03-02 11:16:35 +11:00
236961f17f
Plane: use get_frame_class/type string methods
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use AP_Enum<> for frame_class/type
remove invalid copterTS check
improve quadplane setup failure message
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
2021-02-09 12:43:53 +11:00
cdc7f891a9
ArduPlane: Add missing const in member functions
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2021-02-03 18:45:14 +11:00
e4fbe64616
Plane: add QuadPlane singleton
2021-01-19 11:18:10 +11:00
a0fcef6ceb
Plane: added tilt vectoring in fixed wing modes
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this allows for vectoring for roll and pitch in fixed wing modes on
tilt-vectored quadplanes
2021-01-05 08:23:28 +11:00
c8b3c91ae5
Plane: Tailsitter add disk theory and altitude gain scailing
2020-12-22 11:00:59 +11:00
24508f08dc
Plane: don't relax pitch attitude controller for vectored tailsitters in throttle_wait
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add is_vectored_tailsitter()
instantiate AC_AttitudeControl_TS for tailsitters
2020-12-21 12:56:24 +11:00
e94cf561d0
Plane: use rull euler control for fwd transition of tilt vectored planes
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this gives strong yaw control and wind handling for tilt vectored
planes in forward transitions. It relaxes the yaw if the user either
demands yaw with stick input or plane navigation is demanding a roll
angle for a turn
When navigation is demanded we setup yaw rate for a coordinated turn
2020-12-21 12:05:50 +11:00
abd5f8351d
Plane: don't reset yaw target in TRANSITION_TIMER for tilt-vectored quadplanes
2020-12-21 12:05:50 +11:00
ad14e153e8
Plane: fixed tilt vectoring to cope with large tilt angles
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This uses vectoring for both roll and yaw when tilted, and uses
differential thrust for yaw when tilted
2020-12-16 08:45:11 +11:00
d984ddc163
Plane: apply circular limits to QLOITER pilot angles
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This uses the same logic as Copters get_pilot_desired_angle() to apply
a circular limit and the limits in Q_ANGLE_MAX and Q_LOIT_ANG_MAX to
loiter pilot angles.
Co-authored-by: Kris <kris968658@gmail.com>
2020-12-01 11:22:49 +11:00
c03de6bdbe
Plane: log Qassist state
2020-11-17 10:15:27 +11:00
eea62bf733
Plane: added optional ground effect compensation for quadplanes
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this allows for landings in aircraft badly effected by ground effect
to be compensated for
2020-11-10 12:05:48 +11:00
2d80dcd937
Plane: remove tailsitter VTOL transition race condition
2020-11-04 18:34:00 +11:00
b225ae43ab
Plane: always log tailsitter scalefactor
2020-11-03 10:38:51 +11:00
840f129153
Plane: remove unused tailsitter scailing option
2020-11-03 10:38:51 +11:00
e6ba53856a
Plane: tailsitter: ask for FW state don't check
2020-10-27 11:04:52 +11:00
0201692eeb
Plane: Q_OPTION to disable synthetic airspeed assist
2020-10-07 18:20:08 +11:00
6621b69836
Plane: log quadplane transision state
2020-09-30 18:15:42 +10:00
f972d3dc2f
Plane: Quadplane: tailsitter only change view once transision is complete
2020-09-30 18:15:42 +10:00
629f2153e0
Plane: move arming delay logic into AP_Arming_Plane
2020-09-08 10:54:42 +10:00
2b4772269d
Plane: tiltrotors: allow vectored yaw motor tilt when disarmed
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add disarm tilt delay
add arming delay
add Q_OPTIONS for disarmed motor tilt and delayed arming
add comment explaining arming delay option
eliminate millis() wrap in arming delay
2020-09-08 10:54:42 +10:00
06eea6ed9f
Plane: Move navigation functions into flight mode classes.
2020-08-20 13:02:06 +10:00
e22d9398d3
Plane: add AirMode RC option for quadplanes
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add Q_OPTION for AirMode (auto-enabled if RCx_OPTION ARMDISARM assigned)
bugfix: manual throttle mix for qacro
qualify auto airmode on/off
add Air Mode to Plane RC_OPTION metadata
restrict airmode to manual throttle modes
add qhover to manual throttle mix
move air_mode from Plane to QuadPlane
add Mode::is_vtol_man_throttle()
2020-08-13 08:47:27 +10:00
08a710235d
Plane: add tailsitter assist with motors only option
2020-07-09 06:49:24 +10:00
6710bab006
Plane: add Q_OPTIONS to defaut to Qassist force enabled
2020-07-09 06:49:24 +10:00
d5b1b20274
Plane: implement manual forward throttle for QACRO, QSTABILIZE and QHOVER
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add parameter Q_FWD_THR_MAX for scaling manual throttle
allow forward motor tilt when disarmed
add FWD_THR_CH as an RC option
change Q_FWD_THR_MAX to percent
change RC_OPTION FWD_THR to 209
move assignment of rc_fwd_thr_ch to one_second_loop
move arming check from forward_throttle_pct to set_servos
change Q_FWD_THR_MAX TO Q_FWD_MANTHR_MAX
expand description of Q_FWD_MANTHR_MAX
add pre-arm check for VTOL manual forward throttle
change VTOL fwd throttle input to percent
2020-07-07 08:37:46 +10:00
3a0538449c
Plane: added Q_ASSIST_DELAY parameter
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this allows tuning of the time between assistance thresholds being met
and assistance kicking in. It also changes the default delay from 1s
down to 0.5s based on analysis of a flight where assistance was too
slow
2020-07-01 20:57:32 +10:00
568e13fbb9
Plane: allow for continue after land for quadplanes
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this allows for a new takeoff after a quadplane auto landing
2020-06-02 09:12:22 +09:00
7688430029
Plane: allow Qassit for fw to vtol transision
2020-05-26 09:01:47 +10:00
87cd9a4791
Plane: allow Qassist for tailsitters
2020-05-26 09:01:47 +10:00
2467d7b5c7
Plane: add Qassist switch
2020-05-26 09:01:47 +10:00
40cc5a5006
ArduPlane: Improve EKF failsafe in VTOL modes
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Replicates Copter behaviour with a three step process if the EKF sustains a loss of navigation as detected by high GPS innovation test ratios:
1) Attempts a yaw reset using the GSF estimate if available
2) Attempts a lane switch
3) Falls back to a non-position mode
2020-05-14 10:40:48 +10:00
59a2667870
Plane: quadplane's throttle mix uses filtered accelerations
2020-05-12 09:56:09 +10:00
6c730ccfec
Plane: start tailsitter forward transition from current pitch angle
2020-04-21 09:50:57 +10:00
c6a6427d6a
Plane: prevent lidar glitches from triggering land final
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this prevents short term lidar glitches from triggering the change
from descend to final in quadplane
2020-02-27 13:15:46 +11:00
f2ab428cdd
Plane: rename update_throttle_mix
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was called update_throttle_thr_mix
also minor format fixes
2020-02-25 16:52:40 +09:00
760909d046
Plane: Prevent FS action overiding VTOL land
2019-12-31 11:42:59 +11:00
56b2c697d2
Plane: change tailsitter_input to bitmask
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update parameter metadata for Q_TAILSIT_INPUT and Q_FRAME_TYPE
2019-12-18 08:33:29 +11:00
14fc6c5446
Plane: add logging for tailsitter gainscaling and clean up tailsitter body-frame roll input handling
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fix metadata for tailsitter param GSCMSK
rework roll/yaw scaling for body-frame roll options
add constraints on body-frame roll and yaw inputs
move speed_scaler logging into QTUN message
2019-12-18 08:33:29 +11:00
95da094bfe
Plane: update tailsitter speedscaling logic
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add tailsitter gain scaling option mask and logging
tailsitter qassist bugfix; thanks, @iampete
apply roll limit in tailsitter bodyframe roll control
add define for future exclusion of tailsitter gainscaling debug code/logging
tailsitter bodyframe roll and qacro input scaling bugfixes:
respect Q_TAILSIT_RLL_MX and roll/yaw scale parameters in bodyframe roll modes
fix unintended swap of Q_ACRO_RLL/YAW_RATE params in QACRO mode
don't scale motor tilt
Co-authored-by: IamPete1 <33176108+IamPete1@users.noreply.github.com>
2019-12-18 08:33:29 +11:00
36baaeb3a0
Plane: added option to run idle governor in MANUAL mode
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useful for quadplane testing
2019-11-17 20:10:54 +11:00
e5bad28f1d
Plane: added Q_ASSIST_ALT parameter
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this allows for quadplane assistance in fixed wing modes when the
aircraft drops below a given altitude. This could help save an
aircraft that is flying badly in fixed wing mode
2019-11-09 20:17:36 +11:00
1a2abae902
Plane: reduce QTUN log rate to 25Hz
2019-10-20 06:24:46 +11:00
9405fd6958
Plane: remove unused location argument to control_auto
2019-10-08 10:49:51 +11:00
5c43b18672
Plane: fixed height_above_ground() for case when rangefinder is below min
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this prevents a rangefinder that goes below min distance from causing
the calculations that depend on height above ground to fail
2019-09-17 09:36:26 +10:00
4f22dff14d
Plane: Add an airspeed limit for quadplane takeoffs
2019-09-09 22:06:25 -06:00
77afcf6a1b
Plane: Abort takeoffs that take to long to complete
2019-09-09 22:06:25 -06:00
44f6f7335e
Plane: Added Quadplane option for QRTL failsafe action
2019-07-05 11:25:56 +10:00
76663d66e8
Plane: support bicopter tiltrotors
2019-07-02 10:15:17 +10:00
4a7ce1b384
Plane: clean up qacro
2019-05-08 08:44:52 +10:00
f054301ec2
Plane: add QACRO roll/pitch/yaw rate params
2019-04-23 09:46:38 +10:00
8bcf2439ad
Plane: quadplane stabilize manual throttle midpoint and expo
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move throttle curve logic to AP_Math
use parameter THROTTLE_EXPO in get_pilot_throttle
2019-04-23 09:46:38 +10:00
0270c57530
Plane: massive refactor and creation of Mode class
2019-04-02 16:28:52 +11:00
e0765747e7
Plane: add new tailsitter bodyframe roll option
2019-03-26 14:50:37 +11:00
1a55f0ffab
Plane: FrSky support has moved to GCS
2019-03-19 14:39:14 +11:00
2b6210d594
Plane: use WP height for height above ground in vtol landing
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this allows for landings above or below the takeoff height without
requiring the use of terrain data. It allows both the use of vfwd
motor for holding against wind, and the correct height for land final
descent rate
2019-03-18 14:47:27 +11:00
cf45b54070
Plane: quadplane use prearm checks from Attitude and Position controllers
2019-03-12 10:14:14 +11:00
4a6b97828f
ArduPlane: add tailsitter input type TAILSITTER_INPUT_BF_ROLL
2019-03-06 15:48:51 +11:00
6e4a2b97f9
ArduPlane:add subclass for copter tailsitters
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cleanup and add tailsit_motmx
add constexpr and motor mask check
add support for tricopter tailsitter
don't call output_motor_mask unless armed
fix whitespace
2019-03-06 07:53:46 +09:00
487ad7a90f
Plane: add QACRO mode for quadplanes
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use acro_r/p/y_rate params in qacro
port ACRO throttle handling from copter
handle non-tailsitter controls
2019-03-05 10:13:20 +11:00
136e10a781
Plane: handle VTOL landing with incorrect height
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if landing above expected height then run landing detector to allow a
switch from LAND_DESCEND to LAND_FINAL
this prevents the plane sitting on the ground until the battery runs
out
2019-02-26 11:12:58 +11:00
b290148ed0
Plane: Don't overwrite the quadplane loiter relax
2019-02-23 11:08:21 +11:00
c15983c690
Plane: prevent loss of control when Q_ENABLE is set while flying
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Also rename check_throttle_suppression
2019-02-21 21:38:03 -07:00
95b3a5bacd
ArduPlane: implement hover throttle learning for quadplanes
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disable by default
check quadplane.enable in update_hover_learn
2019-02-16 19:04:13 -08:00
b9f3118374
Plane: allow changing Q_TRIM_PITCH in flight
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change float comparison to is_equal
2019-02-12 09:42:19 +11:00
df1632054e
Plane: Update throttle mix
2019-02-05 11:05:54 +11:00
d6cac4b52a
Plane: Add a failure timer for quadplane forward transitions
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Falls over to QLAND if we fail to transition
2019-01-08 10:52:12 +11:00
69c87c6c4a
Plane: Disallow arming if quadplane has been requested but isn't available
2018-12-28 18:09:21 +11:00
d3afc9424a
Plane: make QTUN logging match copter logging
2018-12-21 22:17:52 +11:00
1a45755ffd
Plane: Support a different landing radius for quadplane fw approach
2018-12-18 10:11:22 +11:00
d1e93bae83
Plane: adding new mode QAUTOTUNE
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copter like autotune support for quadplanes and tailsitter in VTOL mode.
cleanup
2018-12-14 16:33:11 +11:00
71708ee4ea
Plane: quadplane uses set_defaults_from_table
2018-12-06 12:23:41 +09:00
c6e70c0454
Plane: add roll limit for tailsitters
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Quadplane: add tailsitter pitch params
2018-12-01 09:40:07 +11:00
c59b2c156a
Plane: fixes for Q_TRIM_PITCH
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improved documentation and variable names
2018-11-12 17:05:04 +11:00
5a7bd61e8c
Quadplane: add trim params
2018-11-12 17:05:04 +11:00
8e906e0ba0
Plane: Add support for a loiter to alt approach to VTOL landing
2018-11-10 18:58:54 +11:00
b6efc8a20b
Plane: reduce some copy pasted code
2018-09-20 13:47:21 -07:00
ef154cf3fa
Plane: fixed relaxing of attitude controller on transition
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this fixes an issue found by Leonard where the attitude controller
could have residual control left over from a previous transition when
engaging the VTOL attitude controller
2018-09-15 11:00:29 +10:00
f9e56f9d12
Plane: Respect frame type on VTOL_TAKEOFF commands
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allow missioncommands to fail to start
2018-09-11 06:42:00 +10:00
925d76bb8c
Plane: Small cleanup to quadplane const (and clarity)
2018-09-04 15:11:41 +10:00
3d923d0572
Plane: Send a quadplane version of NAV_CONTROLLER_OUTPUT
2018-08-07 09:49:01 +10:00
20c67019b0
Plane: added Q_TAILSIT_THSCMX
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this provides more flexibility in tailsitter throttle scaling
2018-07-19 09:48:25 +10:00
840a6e4147
Plane: quadplane uses AC_Loiter
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includes param conversion
2018-04-04 10:45:10 +09:00
f6a185a3c3
Plane: factor vehicle's mavlink send_heartbeat
2018-04-03 13:05:19 +01:00
a0a9a68fbc
Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC
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Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
2018-03-16 13:50:57 +09:00
f41f4dc6e5
Plane: move pos-control pids to pos-control library
2018-01-23 12:00:43 +09:00
017e71a748
Plane: quadplane velocity pi moves to position control library
2018-01-23 12:00:43 +09:00
af007c5f0f
Plane: tighten handleMessage result type
2017-12-01 17:01:10 +00:00
9c8cd6c1cc
Plane: added Q_TRANS_DECEL
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this gives a deceleration rate for QRTL transition from RTL, and also
for transitions to QLOITER
2017-11-05 20:44:42 +11:00
21164ef409
Plane: added tailsitter surface speed scaling
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added scaling of control surfaces by throttle when in hover. This helps
the controller remain stable over a wide range of throttle levels, such
as when descending or rapidly climbing
2017-11-05 17:05:08 +11:00
552faa8f67
Plane: smoother tailsitter transitions
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this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
2017-10-30 16:30:38 +11:00
af893ddde7
Plane: implement Q_OPTIONS
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this allows for NAV_TAKEOFF to be treated as NAV_VTOL_TAKEOFF in
quadplanes, and for level flight to be maintained during quadplane
transitions
2017-10-30 16:30:10 +11:00
8178ab4037
Plane: make mav_type in HEARTBEAT configurable
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needed for qgc to setup for quadplanes
2017-10-20 15:41:06 +11:00
bc17c26dbf
Plane: limit pitch in transition to QLOITER and QLAND
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when switching to QLOITER or QLAND when in forward flight, limit the
maximum pitch to prevent a sudden decelleration
2017-09-09 08:14:09 +10:00
baee71a5b4
Plane: added GUIDED takeoff for quadplanes
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this allows takeoff in GUIDED mode in the same way as copters
2017-09-09 08:14:09 +10:00
a88e663191
Plane: adjust target altitude slowly in QRTL mode
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this fixes a sudden throttle drop when starting the descent in QRTL mode
thanks to Marco for finding this issue
2017-09-07 07:22:13 +10:00
6eaad59115
Plane: improve vectored tailsitter takeoff
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this gives extra pitch input when taking off a vectored tailsitter,
allowing the motors to point straight up for easy takeoff
thanks to Leonard for the idea!
2017-05-07 09:10:44 +10:00
b1f1ace736
Plane: support vectored yaw tiltrotors
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this adds support for tiltrotors which control yaw by vectoring the
forward motors. This avoids the need for the rear motor on a
tilt-tricopter to have a tilt servo
2017-04-24 16:54:41 +10:00
2d9c3e3d93
Plane: added EKF yaw reset handling to quadplane
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this follows the implementation from copter. Thanks to Leonard for the
suggestion
2017-04-24 16:52:16 +10:00
Iampete1
Mark Whitehorn
Patrick José Pereira
Andrew Tridgell
Samuel Tabor
Peter Hall
Paul Riseborough
Randy Mackay
Henry Wurzburg
Gone4Dirt
sas
Michael du Breuil
Tom Pittenger
Peter Barker
Nikhil Upadhye