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Commit Graph

3963 Commits

Author SHA1 Message Date
Andrew Tridgell
68a1100c64 Plane: use new APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Hwurzburg
bf14c32109 Plane: correct description of Q_TAILSIT_MOTMX param 2021-05-30 22:36:26 -07:00
James Harton
be3cc1b679 Docs: Change all references from dev.ardupilot.org to the appropriate documentation URLs. 2021-05-31 12:20:45 +10:00
Peter Barker
3464f9b46e ArduPlane: remove optical flow pointer from AP_AHRS 
Nothing was ever using it.
 2021-05-30 10:44:42 +10:00
Leonard Hall
e275ec9e63 Plane: Rename set_yaw_target_to_current_heading 2021-05-26 16:03:05 +09:00
vierfuffzig
9a538ba15b ArduPlane: fix advanced param metadata 2021-05-25 12:36:59 +10:00
Hwurzburg
38ed4a2dd6 ArduPlane: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Leonard Hall
8b3b6cf693 Plane: Fix before squash 2021-05-24 20:13:37 +10:00
Andrew Tridgell
d1f6d913d5 Plane: adjust reposition landing code 
use accel with 1s timeconstant
 2021-05-24 20:13:37 +10:00
Andrew Tridgell
5857e750ce Plane: provide target velocity in QPOS descent 2021-05-24 20:13:37 +10:00
Andrew Tridgell
74da3c74ac Plane: cope with Q pitch limit larger than fixed wing limit 
prevents tailsitter VTOL transition timeout due to not achieving angle
 2021-05-24 20:13:37 +10:00
Andrew Tridgell
71fa52d5c6 Plane: fixed slowing descent in final phase of QLAND 2021-05-24 20:13:37 +10:00
Andrew Tridgell
ec1cbb06fd Plane: allow reposition in auto land 2021-05-24 20:13:37 +10:00
Andrew Tridgell
6eafcdb558 Plane: added Q_OPTION bit for throttle control of landing speed 2021-05-24 20:13:37 +10:00
Andrew Tridgell
24375cf9c1 Plane: change printf calls to send_text 2021-05-24 20:13:37 +10:00
Andrew Tridgell
52b4c257ec Plane: prevent oscillation in GUIDED mode hover 2021-05-24 20:13:37 +10:00
Andrew Tridgell
5a880c74b6 Plane: use input shaping from pos_control 
smoother navigation with new input shaping code
 2021-05-24 20:13:37 +10:00
Andrew Tridgell
a6ec7d9f23 Plane: ensure xy controller is initialised 2021-05-24 20:13:37 +10:00
Andrew Tridgell
9d52333afc Plane: don't start descent till under 3m/s 2021-05-24 20:13:37 +10:00
Leonard Hall
4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall
57952861d6 Plane: PosControl Update 2021-05-24 20:13:37 +10:00
Leonard Hall
ff2ae1d7d1 Plane: integrate AC_PosControl::get_roll_cd rename 2021-05-12 17:16:00 +10:00
Leonard Hall
1ce63bf433 Plane: minor format and comment fixes 2021-05-12 17:16:00 +10:00
Andy Piper
8e744a4a25 Plane: generalise ESC telemetry to allow harmonic notch handling with other ESCs 2021-05-12 17:01:11 +10:00
Pierre Kancir
8a0230e6d5 Plane: use MAVLink POSITION_TARGET_TYPEMASK 2021-05-11 09:53:50 +10:00
James O'Shannessy
5253b8a3ee ArduPlane: Fix spiralling loiters when no fence return point can be found 2021-05-05 10:59:10 +10:00
Iampete1
fd2909d53f Plane: change location refence frame correctly 2021-05-02 18:51:27 +10:00
Iampete1
1a182a52da Plane: init terrain to locaiton and wpnav sub sytems 2021-05-02 18:51:27 +10:00
Iampete1
572e401894 Plane: fix QRTl terrain following 2021-05-02 18:51:27 +10:00
Iampete1
a165a0e1bb Plane: fix loiter terrain following 2021-05-02 18:51:27 +10:00
Josh Henderson
5c8c961399 ArduPlane: Privatize AP_IntertialSensor Logging 2021-04-29 19:19:12 +10:00
Peter Barker
03d643a18a ArduPlane: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Peter Barker
453b7403b1 ArduPlane: remove duplicate log metadata fields 2021-04-27 16:38:40 +10:00
Peter Hall
d3dca4c17d Plane: consistantly slew all three throttles 2021-04-27 09:37:32 +10:00
Peter Hall
47ab0360e7 Plane: tailsitter: do not output throttle 2021-04-27 09:37:32 +10:00
Hwurzburg
09fb9a8e58 Plane: limit speed scaling in Autotakeoff wo AS sensor option 2021-04-20 09:07:09 +10:00
Andrew Tridgell
da2ddda0cb Plane: added in ATRP logging 2021-04-15 06:57:16 +10:00
Andrew Tridgell
93abd44446 Plane: added SRate to PID logging 2021-04-15 06:57:16 +10:00
Andrew Tridgell
96059a6387 Plane: allow for AUTOTUNE_LEVEL==0 2021-04-15 06:57:16 +10:00
Andrew Tridgell
d2d06af751 Plane: removed ATRP log msg 2021-04-15 06:57:16 +10:00
Andrew Tridgell
a35d8e584d Plane: change param prefixes for roll/pitch controllers 2021-04-15 06:57:16 +10:00
Andrew Tridgell
e5308db8c2 Plane: added FLIGHT_OPTIONS bit to enable yaw control in ACRO mode 
this allows for yaw damper in ACRO, which is important on some
vehicles with no vertical stabilize

See
https://discuss.ardupilot.org/t/rudderless-split-rudder-flying-wing/69273/4
 2021-04-15 06:22:29 +10:00
Samuel Tabor
4cc92c6b3e Plane: Constrain target_airspeed_cm by min as well as max airspeed. 2021-04-14 06:43:09 -07:00
Samuel Tabor
baf31fd825 Plane: Ensure trim airspeed is applied if in auto with no DO_SPEED command received. 2021-04-14 06:43:09 -07:00
Peter Barker
6a32afcd72 ArduPlane: tidy setting of sensor status flags 2021-04-14 18:03:27 +10:00
Andrew Tridgell
b749756c29 Plane: setup SMAX for Q modes 
this enables logging of rates, which helps with tuning
 2021-04-13 10:28:47 +10:00
Andrew Tridgell
b984dd4a62 Plane: added in FF component in tailsitters 
this is needed for decent control of tailsitters
 2021-04-13 10:28:47 +10:00
Peter Hall
105f94f1fd Plane: tailsitter: transistion to and from inverted flight 2021-04-13 10:02:28 +10:00
Peter Hall
5a941ce02f PLane: tailsitter: instant transition when disarmed 2021-04-07 17:55:48 +10:00
Peter Hall
33f9e3d4b6 plane: add tailsitter transision rates, give more info in transision complete messages 2021-04-07 17:55:48 +10:00
Peter Barker
aa973c5245 ArduPlane: move handling of last-seen-SYSID_MYGCS up to GCS base class 2021-04-07 17:54:21 +10:00
Iampete1
75dc0ced10 Plane: Quadplane: remove outdated Z controller reset 2021-04-07 17:37:30 +10:00
Stavros Korokithakis
3c19579988 Plane: Push the TECS to climb in all circumstances 2021-04-06 21:37:01 +10:00
Randy Mackay
ff8b69fbad Plane: update tuning to integrate poscon changes 2021-04-03 12:07:59 +09:00
Peter Barker
cb8ca17035 ArduPlane: return MAV_RESULT_FAILED from do_aux_function if invalid function 2021-03-31 11:36:09 +11:00
Iampete1
d1fabe0c3d Plane: VTOL: remove motors config error 2021-03-30 10:58:05 +11:00
Iampete1
e81dc36ed6 Plane: add option do do a VTOL approach RTL 2021-03-29 11:29:12 +11:00
Peter Barker
a32d45eb04 ArduPlane: remove Log_Write_Performance which is not called anywhere 2021-03-26 16:35:08 +11:00
Iampete1
60d26723ae Plane: make TERRAIN_FOLLOW at AP_int32 bitmask, per mode option 2021-03-24 10:15:18 +11:00
Hwurzburg
8aabf7c22a Plane: Add VTOL descent rate, convert existing rate to climb rate only 
Co-authored-by: Reko Merio K9260@student.jamk.fi
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-03-23 14:32:46 +11:00
Mark Whitehorn
c2ad2d6090 Plane: tailsitter.input_type bugfix 2021-03-23 11:54:09 +11:00
Hwurzburg
0eb5369543 Plane: allow max auto pitch in hand launch takeoffs 2021-03-23 09:56:22 +11:00
Iampete1
660d301f9b Plane: chan param converison 2021-03-17 19:18:46 +11:00
Iampete1
cca5e62c89 Plane: move RST_SWITCH_CH to RCx_OPTION 2021-03-17 19:18:46 +11:00
Iampete1
7226a3a9dc Plane: move FBWA_TDRAG_CHAN to RC Options 2021-03-17 19:18:46 +11:00
Iampete1
5f555e5314 Plane: move CHUTE_CHAN to RC Options 2021-03-17 19:18:46 +11:00
Iampete1
eeab196d91 Plane: move RST_MISSION_CH to RC option 2021-03-17 19:18:46 +11:00
Stavros Korokithakis
29043d62e9 Add FLIGHT_OPTION to climb before RTL 2021-03-16 11:58:47 +11:00
Peter Barker
0b35708f33 Plane: set tailsitter throttle output when disarmed 2021-03-16 10:41:44 +11:00
Peter Barker
000ff90a71 autotest: remove thrust-to-actuator to armed section 2021-03-16 10:41:44 +11:00
Hwurzburg
d15e01d390 Plane: fix DO_CHANGE_SPEED airspeed to impact only AUTO and GUIDED modes 2021-03-16 10:09:34 +11:00
Samuel Tabor
ed48558985 ArduPlane: Correct description of KFF_THR2PTCH parameter. 2021-03-12 20:11:02 -08:00
Siddharth Purohit
1b8519ee53 ArduPlane: move underscore one layer down for GPS 2021-03-12 16:32:36 +09:00
James O'Shannessy
198ec9a678 ArduPlane: Fix use of nullptr when AC_FENCE configured as DISABLED 
Parameter upgrade needs to grab singleton as the fence library may not be built in to plane.
 2021-03-05 16:48:57 +11:00
James O'Shannessy
560943d6e0 ArduPlane: corrections to returning to the previous mode if fence was disabled while under action 2021-03-05 14:52:46 +11:00
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
James O'Shannessy
2c66e164d0 ArduPlane: Improvements to parameter upgrading between versions 2021-03-05 14:52:46 +11:00
James O'Shannessy
af733b2f09 ArduPlane: Convert and remap old parameters 2021-03-05 14:52:46 +11:00
James O'Shannessy
f774196b52 ArduPlane: Cleanup of unnecessary comments in fence logic 2021-03-05 14:52:46 +11:00
James O'Shannessy
c316711351 ArduPlane: Add conversion from ArduPlane geofence param to AC_Fence param 2021-03-05 14:52:46 +11:00
James O'Shannessy
8a99d9dd00 ArduPlane: Use auto enable and auto disable from AC_Fence 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
4f7ffc5eb1 Plane: move fence disable code to a function to enable reusability 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
fef8b37b11 Plane: Address Randy review comments 2021-03-05 14:52:46 +11:00
James O'Shannessy
aae092b88f ArduPlane: Remove all unused geofence capability 
ArduPlane: Remove missed geofence logic
 2021-03-05 14:52:46 +11:00
James O'Shannessy
17fb585bf1 ArduPlane: Add support for AC_Fence 
ArduPlane: Remove some geofence logic from ArduPlane

ArduPlane: Refactor action and mode return implementation

ArduPlane: Use polyfence to find the return point.
 2021-03-05 14:52:46 +11:00
Paul Riseborough
baea2c33bd Plane: remove unnecessary call to setTakeoffExpected 
This is already set from inside Plane::set_servos_controlled when throttle up and or launch accel is detected.
 2021-03-05 12:10:01 +11:00
Paul Riseborough
1dc79f0be8 Plane: Clarify calculation used to detect throw 2021-03-05 12:10:01 +11:00
Paul Riseborough
4e648734fa Plane: Fix takeoff pitch for hand launch 2021-03-05 12:10:01 +11:00
Paul Riseborough
39e1eb238d Plane: make detection of impending takeoff more likely 2021-03-05 12:10:01 +11:00
Paul Riseborough
a1bde16abd Plane: Fix failure to disarm after landing in strong winds 2021-03-05 12:10:01 +11:00
Paul Riseborough
ad582a90dd Plane: Don't set takeoff expected until vehicle is armed. 2021-03-05 12:10:01 +11:00
Paul Riseborough
f5f13b9a47 Plane: Set default airspeed variance using airspeed range 2021-03-05 12:10:01 +11:00
Paul Riseborough
82f68464d4 Plane: Don't lower nose when hand launching 2021-03-05 12:10:01 +11:00
Peter Barker
f85e55a611 Plane: override mission-changing-command to reset some state 2021-03-04 11:59:33 +11:00
Tom Pittenger
5c8d3a87db Plane: change SRx_ docs value 1 50 2021-03-03 18:17:22 +11:00
Iampete1
69275582fa QuadPlane: fix loiter to RTL instant QRTL switch 2021-03-03 15:07:22 +11:00
Randy Mackay
4c8ada111b Plane: quadplane defaults Q_WP_SPEED to 500 
Q_WP_ACCEL default is set to 100
 2021-03-03 08:03:39 +09:00
Iampete1
1d050a01ce Plane: Quadplane: add Q_OPTION to ignore forward flight angle limits in Q modes 2021-03-02 11:16:35 +11:00
Iampete1
8ebe64a274 Plane: Quadplane disable forward motor assist in Q modes if rangefinder is out of range low 2021-02-28 18:48:56 +11:00
Andrew Tridgell
44df1dd0ca Plane: fixed the pitch control in transition for tilt rotors 
this fixes an issue found by Henry. If level transition is set when
transitioning to FBWA from a Q mode, and the pilot pulls back on the
pitch stick to demand pitch up then the plane would go into a
high-alpha flight state with low vertical throttle so it would not
climb, resulting in it never getting past airspeed wait state
 2021-02-28 11:33:18 +11:00