b15b11e32d
Plane: always stabilize with tailsitters
2017-04-14 12:48:08 +10:00
46d910539c
Plane: fixed a warning
2017-04-11 17:34:40 +10:00
642a6acfcb
Plane: support thrust vectoring in tailsitters
...
adds Q_TAILSIT_VHGAIN and Q_TAILSIT_VFGAIN, allowing for thust
vectoring in both fixed wing and hover
2017-04-11 17:34:40 +10:00
664e41cec6
Plane: bring in demanded climb rate over 1 second
...
when we engage the Z controller in quadplane we bring in the climb
rate slowly to prevent a sudden change in motor demand
2017-04-09 16:45:19 +10:00
0cf571d338
Plane: moved Z altitude target reset
...
reset alt target whenever we have not run Z controller for 2s
2017-04-09 16:45:19 +10:00
7679b758b0
Plane: add parameter RUDD_DT_GAIN for dual motor tailsitter
...
controls rudder to differential thrust mixing in FW mode
2017-04-06 08:29:44 +10:00
acaef22416
Plane: improve transition from QSTABILIZE to FBWA or QHOVER
2017-04-05 20:00:29 +10:00
36d8f730e1
Plane: setup better defaults for tailsitters
2017-04-04 10:15:08 +10:00
5d06e4238f
Plane: make the quadplane motors var_info dynamic
...
this will allow for more quadplane motors class types
2017-03-25 16:22:10 +11:00
af97a3974b
Plane: initialise target height correctly on quadplane transition
...
this fixes a bug where a plane in QSTABILIZE would drop suddenly if
switched to FBWA when the target altitude had not been initialised
2017-03-22 21:34:40 +11:00
bb158a437e
Plane: handle bad Q_FRAME_CLASS
...
default to quad with a warning. This prevents users getting stuck
without being able to set Q_ENABLE=1
thanks to Leonard for noticing
2017-03-18 22:10:20 +11:00
3f7e7d456f
Plane: in fixed wing mode slave quadplane attitude rate controller
...
For quadplanes this uses the attitude controller from fixed wing
when using the multicopter controller to assist fixed wing
flight. This prevents a rate mismatch between the two controller
leading to oscillation
2017-03-14 14:42:20 +11:00
2db8589f49
Plane: smarter Z controller initialisation for quadplanes
...
this is more generic than the previous one used only for the full
position controller
2017-03-14 14:42:20 +11:00
4ff5bf5af5
Plane: zero integrators and set throttle mix
...
this zeros fixed wing integrators during TRANSITION_AIRSPEED_WAIT and
uses a zero throttle mix during TRANSITION_TIMER. This should allow
the fixed wing controller more time to adapt to forward flight
2017-02-26 09:20:51 +11:00
c061d5615b
Plane: added manual input mask for tailsitter prop-hang
...
This adds new parameters Q_TAILSIT_MASK and Q_TAILSIT_MASKCH. These
parameters allow a user to use the tailsitter capabilities of a 3D
plane to teach themselves to prop-hang.
It works by allowing the user to setup a switch on their transmitter
to enable manual pass-thru of a set of the input channels to outputs
when in tailsitter hover. The user can then use that switch to allow
learning of hover control in a 3D plane one channel (or two channels)
at a time.
2017-02-26 09:20:13 +11:00
3bb25eb194
Plane: added Q_TAILSIT_INPUT
...
this allows the user to control tailsitters either in body frame (like
a plane) or in earth frame (like a multicopter). This is useful for
people wanting to learn to fly prop-hang on 3D planes
2017-02-26 09:20:13 +11:00
ea5186340b
Plane: added Q_TILT_RATE_UP and Q_TILT_RATE_DN as separate parameters
...
allow control of tilt rate separately for UP and DOWN
always allow at least 90 degrees/second for switching to MANUAL
2017-02-25 17:53:26 +11:00
e8b11924f8
Plane: split out the tailsitter transition complete code
...
use both roll and pitch to trigger completion of transition. This
copes with situations where the plane has managed to get itself rolled
over far enough that it can't recover into hover
2017-02-18 17:26:43 +11:00
d5a3f844f1
Plane: changes for AC_WPNav
2017-02-18 17:26:43 +11:00
c787f4c56f
Plane: initial support for tailsitter transitions
2017-02-18 17:26:43 +11:00
83f3cee99e
Plane: initial hooks for tailsitter support
2017-02-18 17:26:43 +11:00
0fc04b0158
Plane: setup plane frame type parameter flags
2017-02-14 19:50:01 +11:00
c294519925
Plane: lower default Q_M_SPOOL_TIME to 0.25
2017-02-14 09:23:17 +09:00
013eb254a2
Plane: use standard unit descriptor for milliseconds
2017-01-27 16:57:42 +09:00
07cedd8a66
Plane: prevent stability shutdown in transition
...
this prevents the vertical motors from shutting down while
transitioning if the desired throttle was too low at the start of the
transition
2017-01-25 19:01:15 +11:00
0d4405106f
Plane: removed forcing of trim for motors in quadplane
...
this caused problems with tricopter tail servos
2017-01-25 19:01:15 +11:00
5c820adad4
Plane: fixed tilt transition with binary tilt servo
...
once the tilt is fully fwd then force transition as done at any
airspeed
2017-01-25 19:01:15 +11:00
586f8a9ca8
Plane: fixes for tilt quadplane after rebase
2017-01-25 19:01:15 +11:00
54bca768b8
Plane: added Q_TILT_TYPE for retract servo tiltrotors
2017-01-25 19:01:15 +11:00
2f100b0804
Plane: removed separate tricopter quadplane build
...
can all be done with one build now
2017-01-12 17:39:37 +11:00
b83f50be0f
Plane: use new SRV_Channels API
2017-01-12 17:39:37 +11:00
1c4bf77cf6
Plane: added custom conversion of Q_FRAME_CLASS parameter
2016-12-31 10:56:01 +09:00
934ef55338
Plane: quadplane instantiates motor matrix outside of case
...
Thanks to khancyr for noticing this
2016-12-31 10:55:23 +09:00
c6dec5c3f6
Plane: quad plane uses consolidated multicopter classes
2016-12-31 10:55:23 +09:00
da1f784e78
Plane : quadplane change to float to avoid the loss of a fractional part
2016-12-05 12:39:31 -08:00
f556f705e6
Plane: move various g params to aparms
2016-11-25 19:07:30 -08:00
0d1e50b50b
Plane: fix typo, check wp_nav is initialized
2016-10-27 14:39:50 +11:00
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
0445b51143
Plane: fixed throttle slew rate in manual for quadplanes
2016-10-12 09:55:37 +11:00
b3eecb87ac
Plane: To define the same wording.
2016-10-06 10:03:23 -07:00
cb61840ad2
Plane: tell TECS to use synthetic airspeed during transition
2016-10-05 11:52:52 +11:00
4e017bf5b3
Plane: fixed loiter mode when Q_GUIDED_MODE=1
...
This fixes the fixed wing behaviour of LOITER mode whne
Q_GUIDED_MODE=1.
Many thanks to the PertUAV team for finding and reporting this bug
2016-10-01 08:37:17 +10:00
841828541d
Plane: fixed auto ICE engine cut in QLAND final
2016-09-29 05:18:55 +10:00
6d09897b19
Plane: fixed VTOL motor termination in AFS
2016-09-27 11:53:45 +10:00
dac7f45326
Plane: fixed use of multicopter mix_max
...
we need a settable mix_max for some vehicles
2016-09-21 12:23:19 +10:00
9b83781b4f
Plane: fixed mixer arming error with FMUv4
...
thanks to Tim Gold for reporting this
2016-09-11 08:25:40 +10:00
6849f2223d
Plane: set initial alt target on takeoff completion
...
this prevents a sudden motor spike at the start of the transition
2016-09-02 11:12:19 +10:00
3052e8f80b
Plane: quadplane calls attitude control parameter check
2016-09-02 09:27:19 +09:00
3d0516fd57
Plane: added Q_ASSIST_ANGLE
...
this automatically provides quadplane assistance if the angular error
is over the given value for 1 second while flying faster than
Q_ASSIST_SPEED
2016-08-30 08:35:18 +10:00
33f17588b2
Plane: added auto fence enable on VTOL takeoff
...
fixes issue#724
2016-08-29 18:04:42 +10:00
c81d8364ac
Plane: check for safety switch state in quadplane motor output
...
get_soft_armed() will be false if safety on
2016-08-29 17:55:35 +10:00
ca32bcc58d
Plane: add new flight mode AVOID_ADSB to mimic GUIDED
2016-08-17 22:38:54 -07:00
b29b609bcc
Plane: added AFS support for quadplanes
2016-08-16 12:56:12 +10:00
31fb4cc427
Plane: force trims for VTOL motors
2016-08-16 12:53:34 +10:00
fc50f145ce
Revert "ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter)."
...
This reverts commit da1b18d918
2016-08-07 17:54:24 -07:00
da1b18d918
ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter).
2016-08-04 10:09:04 -07:00
63317e9430
Plane: added throttle suppression for quadplanes
...
this tries to prevent motor start when on ground. Motors instead go
into spin_when_armed state
2016-08-04 09:43:40 -07:00
388b7ad6bd
Plane: fixed is_flying_vtol() for non-quadplane
2016-07-27 07:43:16 +10:00
f65b46385c
Plane: added engine cut on land final in quadplane
2016-07-25 15:46:17 +10:00
9602d208a2
Plane: fixed disarm by rudder in quadplane
2016-07-25 06:08:36 +10:00
c926d7d41f
Plane: fixed typo in quadplane landing detector
...
thanks to Paul for spotting this!
2016-07-08 18:38:43 +10:00
66e43bf6a2
Plane: start with low integrator on back quadplane transition
...
When changing to alt_hold controller in quadplane with significant
airspeed set the initial integrator to minus the hover throttle to
allow the accel controller to climb slowly
2016-06-27 10:18:20 +10:00
f1bca63094
Plane: consolidate input_euler_angle calls to use smoothing gain
2016-06-24 17:17:19 +09:00
ef1385c9ed
QuadPlane: add comment that eeprom 28 and 41 were used for THR_MIN, MID
2016-06-18 11:55:49 +09:00
b456a38432
QuadPlane: remove throttle_mid
...
motor's hover throttle is automatically updated
2016-06-18 11:55:49 +09:00
2523ba892b
QuadPlane: set attitude vs throttle priority in attitude controller
2016-06-18 11:55:49 +09:00
f2b0f09d6f
QuadPlane: remove THR_MIN
2016-06-18 11:55:49 +09:00
b1b73e2d99
Plane: improved quadplane landing detector
...
look for no vertical position change for 5s as well as low motors
2016-06-16 18:17:56 +10:00
773962940c
Plane: quadplane for fwd_throttle integrator inhibit reverse thrust and allow min>0 for petrol
2016-06-13 14:31:50 -07:00
b6196dfa92
Plane: compiler warning in print: float to double promotion
2016-06-13 14:03:40 -07:00
107691b7a7
Plane: fixed initial descent rate in quadplane auto land
2016-06-11 14:37:44 +10:00
19834c12e2
Plane: log start of quadplane transition
2016-06-10 17:48:32 +10:00
8156b3f7de
Plane: fixed quadplane landing transition altitude
2016-06-10 17:48:32 +10:00
07564aa03f
Plane: fixed an attitude control bug in quadplane transition
...
The motors would briefly spike at the end of the transition which
could cause a major pitch deviation
2016-06-10 17:48:32 +10:00
69f29b51d1
Plane: new param Q_VFWD_ALT to disable VFWD motor below this altitude. Also uses rangefinder
2016-06-10 17:48:31 +10:00
b9cee76bbe
Plane: fix quadplane integrator to always clip to at least 0 to throttle_max
2016-06-03 23:46:18 -07:00
82763ec8a9
Plane quadplane to use relative_ground_altitude() to take advantage of rangefinder easier
2016-06-03 23:44:21 -07:00
77b7852ff0
Plane: adjust recommend ranges for quadplane Q_VFWD_GAIN and Q_WVANE_GAIN
2016-06-04 11:04:15 +10:00
f83a6ca1ff
Plane: fixed variable misspelling
2016-06-02 15:10:51 -07:00
978a89efa6
Plane: added new ESC calibration method
2016-06-02 18:10:37 +10:00
ba3576f027
Plane: added tuning error reporting for quadplanes
2016-05-28 17:33:30 +10:00
b56d784ae4
Plane: limit to zero pitch in quadplane on initial transition
2016-05-28 15:08:46 +10:00
20cf326093
Plane: lower throttle threshold for quadplane is_flying
2016-05-28 07:10:13 +10:00
12e0012b16
Plane: allow for NAV_LOITER_UNLIM and NAV_LOITER_TIME in quadplane
2016-05-11 15:57:41 +10:00
3fc43b94f9
Plane: separate out auto and guided VTOL states
...
this prevents a switch to AUTO from using VTOL mode incorrectly
2016-05-11 15:14:43 +10:00
52ea443d65
Plane: added Q_THR_MIN
2016-05-11 05:55:26 +10:00
a61d608915
Plane: fixed numerical error if starting VTOL landing at destination
2016-05-11 05:55:25 +10:00
357ed1f4b9
Plane: enable weathervaning in GUIDED and TAKEOFF quadplane modes
2016-05-11 05:55:25 +10:00
6b358a5618
Plane: added Q_GUIDED_MODE parameter
...
this allows you to do hybrid VTOL and fixed wing guided mode
2016-05-11 05:55:25 +10:00
3bd5b42c69
Plane: refactor quadplane land controller as general VTOL position controller
2016-05-11 05:55:25 +10:00
46bf2b83f5
Plane: use equal thrust in tiltrotors when over Q_TILT_MAX
2016-05-11 05:55:24 +10:00
bbb5f68bb7
Plane: added initial support for tiltrotors and tiltwings
2016-05-11 05:55:23 +10:00
89a2a92885
Plane: support better build time selection of multicopter frame type
...
makes it possible to do "make sitl-tri"
2016-05-11 05:55:22 +10:00
7f29903287
ArduPlane: Fix up after refactoring RC_Channel class
...
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to get and set functionsss
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
c.min_max_configured() // return true if min and max are configured
Because data members of RC_Channels are now private and so cannot be written directly
some overloads are provided in the Plane classes to provide the old functionality
new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);
new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;
Rename functions
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
2016-05-10 16:21:16 +10:00
2a7edfd3d1
Plane: fixed setting of failsafe for motors in quadplane
2016-05-07 07:25:33 +10:00
0fd044c1f7
Plane: added Q_RTL_MODE parameter
...
used to switch to VTOL landing on RTL
2016-04-30 14:34:47 +10:00
66d3668ac4
Plane: rapid climb in QRTL if below target altitude
2016-04-30 14:34:47 +10:00
4666b25258
Plane: initial implementation of QRTL for quadplane RTL
2016-04-30 14:34:47 +10:00
460885c478
Plane: refactored quadplane landing controller
...
allow use in other than AUTO mode
2016-04-30 14:34:46 +10:00
ab5ca53e2f
Plane: lower default VTOL ANGLE_MAX to 30 degrees
...
we don't really want a quadplane at 45 degrees or the wing drag gets
far too high
2016-04-29 10:23:26 +10:00
Andrew Tridgell
Mark Whitehorn
priseborough
Randy Mackay
Pierre Kancir
Tom Pittenger
expntly
Mathieu OTHACEHE
murata
AndersonRayner
Leonard Hall
skyscraper