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4031 Commits

Author SHA1 Message Date
Andrew Tridgell 1cad8ffddc Plane: fixed use of expo values in radio 
backport of https://github.com/ArduPilot/ardupilot/pull/19751
 2022-01-31 19:41:01 +09:00
Andrew Tridgell 23a81dd274 Plane: prepare for 4.1.6 release 2022-01-31 19:41:01 +09:00
Andrew Tridgell f5c1aec0b6 Plane: update release notes for 4.1.6 2022-01-31 19:41:01 +09:00
Andrew Tridgell 695a59b278 Plane: add a low pass filter to speed scaler 
this is needed due to the filtering done on the target rate in
AC_PID. With a low filter rate in AC_PID a step in the speed scaler
results in a step in the FF output due to the mismatch in the
instantaneous SS and the filtered target rate
 2022-01-31 19:41:01 +09:00
Andrew Tridgell 74f0c95005 Plane: prepare for 4.1.6beta1 2021-12-22 10:03:29 +09:00
Andrew Tridgell e51e617f59 Plane: update release notes for 4.1.6beta1 2021-12-22 10:03:29 +09:00
Andrew Tridgell f8cde71389 Plane: prepare for 4.1.5 release 2021-12-18 12:17:38 +09:00
Andrew Tridgell 36e4df2496 Plane: updated release notes for 4.1.5 2021-12-18 12:17:38 +09:00
Andrew Tridgell e9eac12faa Plane: prepare for 4.1.5beta1 2021-12-18 12:17:38 +09:00
Andrew Tridgell c955a09524 Plane: release notes for 4.1.5beta1 2021-12-18 12:17:38 +09:00
Andrew Tridgell a5c6ecb7ea Plane: reset VTOL takeoff if not armed 
we need to reset the takeoff target position while disarmed so we
don't use spurious position information from before we get good GPS
lock.

also remove the "Resetting previous waypoint" message as it doesn't
provide useful information and is just a distraction (it would be
printed continuously while waiting for arming with this PR)
 2021-12-18 12:17:38 +09:00
Andrew Tridgell b0bc29272a Plane: fixed reset of steering locked course 
reset when we have not been steering for 1s, to ensure that an old
locked course is not used
 2021-12-18 12:17:38 +09:00
Andrew Tridgell a724f6910e Plane: prepare for 4.1.4 release 2021-12-18 12:17:38 +09:00
Andrew Tridgell 1a682dfdfb Plane: updated release notes for 4.1.4 2021-12-18 12:17:38 +09:00
Andrew Tridgell e918c72705 Plane: limiting POS1 landing target speed 
prevent very high target speeds when the target velocity profile is
above the initial speed in POSITION1. Always allow up to 2*Q_WP_SPEED,
but don't go above the initial speed
 2021-12-18 12:17:38 +09:00
Andrew Tridgell 54122ffe84 Plane: limited VFWD integrator to cruise throttle 
in some situations (such as when landing approach is disabled) the
vfwd integrator can wind up to extreme values. This can put a huge
load on an electric quadplane as it is running both forward and vtol
motors, and the downforce from being nose down can be extreme.

It should never need to go above the cruise throttle in any reasonable
situation, so limit it to cruise to ensure we don't apply too much
forward throttle
 2021-12-18 12:17:38 +09:00
Andrew Tridgell 38a5feefb6 Plane: display VTOL pos1 state change when approach disabled 2021-12-18 12:17:38 +09:00
Andrew Tridgell b6d852ac13 Plane: added QRTL as RCn_OPTION 2021-12-18 12:17:38 +09:00
Andrew Tridgell 5a9c61b84c Plane: fixed chute release on low value of RC option 
only release on flag high
fixes #18843
 2021-12-18 12:17:38 +09:00
Andrew Tridgell c939c735d2 Plane: prepare for 4.1.3 release 2021-11-29 19:02:57 +09:00
Andrew Tridgell 693762c8eb Plane: update release notes for 4.1.3 2021-11-29 19:02:57 +09:00
Andrew Tridgell 983b5276ab Plane: suppress spurious EKF yaw reset message 
this makes plane match copter, emitting a yaw reset event, but not
worrying user. This message came out on each boot when EKF3 first
became active
 2021-11-29 19:02:57 +09:00
Andrew Tridgell 62144737fb Plane: enable fixed wing autotune switch 2021-11-29 19:02:57 +09:00
Andrew Tridgell 45907eb6c0 Plane: prepare for 4.1.3beta1 release 2021-11-29 19:02:57 +09:00
Andrew Tridgell 241d1adcf9 Plane: rename release-notes.txt to ReleaseNotes.txt 2021-11-29 19:02:57 +09:00
Andrew Tridgell e2a978a86a Plane: update release notes for 4.1.3beta1 2021-11-29 19:02:57 +09:00
Andrew Tridgell 35de0855f3 Plane: allow for new guided destination during guided takeoff 
if you set a very high alt for takeoff this is useful
 2021-11-29 19:02:57 +09:00
Andrew Tridgell 76f4ead7c1 Plane: fixed overshoot in guided takeoff of quadplanes 2021-11-29 19:02:57 +09:00
Andrew Tridgell 6d4615ac7a Plane: default rate max to 75 for quadplane VTOL 
this reduces overshoot when VTOL tune is less than ideal
 2021-11-29 19:02:57 +09:00
Andrew Tridgell 1a33ca3ebe Plane: fixed a bug in POSITION1 speed thresholds (for plane 4.1) 
we were comparing two different speeds in the threshold for going to
Q_WP_SPEED limit. The reason the two speeds were different was the
wp_nav init happened before the defaults were setup for quadplanes

this fixes both bugs
 2021-11-29 19:02:57 +09:00
Andrew Tridgell 34df214cae Plane: suppress rate D terms in ground mode 
this prevents a common oscillation issue on the ground
 2021-11-29 19:02:57 +09:00
Andrew Tridgell 17e646add9 Plane: avoid qpos approach when very close to destination 
this prevents a fwd transition when doing something like LOITER_TIME
close to a VTOL_LAND wp. We use 1.5 times the stopping distance at
cruise airspeed for the threshold
 2021-11-29 19:02:57 +09:00
Andrew Tridgell 9cb67adedb Plane: fixed VTOL state error when using Q_ENABLE=2 
this ensures the poscontrol state is reset if it has not been
initialised before a VTOL loiter operation

thanks to Pete Hall for finding this
 2021-11-29 19:02:57 +09:00
Samuel Tabor cadd0b0232 ArduPlane: altitude: rangefinder correction should be relative to the altitude source being used for navigation. This avoid applying it twice when there is an existing correction saved. 2021-11-29 19:02:57 +09:00
Iampete1 a073d6b447 Plane: Quadplane: allow scripting matrix frame class 2021-11-29 19:02:57 +09:00
Andrew Tridgell 3d415dc5cd Plane: prepare for 4.1.2 release 2021-11-29 19:02:57 +09:00
Andrew Tridgell f13b0d335d Plane: update release notes for 4.1.2 2021-11-29 19:02:57 +09:00
Andrew Tridgell 00dbc23cc0 Plane: prepare for 4.1.2beta2 2021-11-29 19:02:57 +09:00
Andrew Tridgell 3d61b5084f Plane: update release notes for 4.1.2beta2 2021-11-29 19:02:57 +09:00
Andrew Tridgell ca753d4814 Plane: don't apply fw pitch limit in VTOL control for tailsitters 
tailsitters may have narrow fixed wing limits but need high limits for
landing in high wind

found this on a HWing which was essentially impossible to auto land
 2021-10-18 18:06:45 -04:00
Andrew Tridgell 109986bcee Plane: reset target speed on disarm 
allows for multiple auto missions with DO_CHANGE_SPEED
 2021-10-18 18:06:45 -04:00
Andrew Tridgell 4cdd244d9a Plane: apply the takeoff throttle slew limit to quadplanes 
this applies the limit when we are in a fwd transition, both in AUTO
modes and stabilized modes
 2021-10-18 18:06:45 -04:00
Andrew Tridgell 361d8bded6 Plane: prepare for 4.1.2beta1 2021-10-18 18:06:45 -04:00
Andrew Tridgell c519858a59 Plane: update release notes for 4.1.2beta1 2021-10-18 18:06:45 -04:00
Andrew Tridgell 4a28587647 Plane: prepare for 4.1.1 release 2021-10-18 18:06:45 -04:00
Andrew Tridgell e3b7b7a11d Plane: update release notes for 4.1.1 
# Conflicts:
#	ArduPlane/mode_qrtl.cpp
#	ArduPlane/quadplane.cpp
P
 2021-10-18 18:06:45 -04:00
Andrew Tridgell a51cb61590 Plane: prepare for 4.1.0 stable release 2021-10-18 18:06:45 -04:00
Andrew Tridgell bea216bdf5 Plane: update release notes for 4.1.0 stable 2021-10-18 18:06:45 -04:00
Andrew Tridgell 85b01a6948 Plane: prepare for 4.1.0beta8 2021-10-18 18:06:45 -04:00
Andrew Tridgell d862816998 Plane: update release notes for 4.1.0beta8 2021-10-18 18:06:45 -04:00