Commit Graph

4351 Commits

Author SHA1 Message Date
Andrew Tridgell
d4300a8202 Plane: added an arming check for VTOL land too short
this is meant to catch bad mission setup, especially for UGCS, which
planes waypoints right on top of the landing point
2022-08-12 02:49:33 -04:00
Andrew Tridgell
a51071678f Plane: in overshoot allow up to the Q WP speed
this prevents us using too much battery when we are a long way from
the landing point
2022-08-12 02:49:33 -04:00
Andrew Tridgell
bc115da98d Plane: limit target accel in POSITION1
don't ask for more than 2* transition limit, and reset when we enter
overshoot case
2022-08-12 02:49:33 -04:00
Andrew Tridgell
2c6925b616 Plane: adjust target vector for wind in overshoot
at low speeds we want to keep the nose pointed into the wind on
landings
2022-08-12 02:49:33 -04:00
Andrew Tridgell
088c41f506 Plane: cope with overshoot in POSITION1 VTOL land state
when we overshoot run a simple position controller that tries to point
the nose at the landing point and aims for the position2 speed
threshold
2022-08-12 02:49:33 -04:00
Andrew Tridgell
9918739e8d Plane: version to 4.2.2 2022-08-12 02:49:33 -04:00
Andrew Tridgell
83e0a53267 Plane: prepare for 4.2.2 stable 2022-08-12 02:49:33 -04:00
Andrew Tridgell
1bc973cfa8 Plane: fixed int8_t wrap with FWD_BAT_VOLT_MAX
this could cause crazy throttle values when the ratio pushes us over
127
2022-08-12 02:49:33 -04:00
Andrew Tridgell
a2172d5b8e Plane: prepare for 4.2.2beta1 2022-06-21 19:41:34 +09:00
Andrew Tridgell
9f3309667c Plane: prepare for 4.2.2beta1 2022-06-21 19:41:34 +09:00
Andrew Tridgell
4a637efbfe Plane: added Q_NAVALT_MIN
this is equivalent to copters WP_NAVALT_MIN parameter for takeoff. Not
implemented for land yet

this is useful for vehicles with significant GPS velocity noise on
takeoff, preventing dragging the landing gear
2022-06-21 19:41:34 +09:00
Iampete1
7c0a44237c Plane: Quadplane: force convertions of Q_M_PMW_* params if invalid and add arming check 2022-06-21 19:41:34 +09:00
Andrew Tridgell
9da7d6a4cf Plane: adjust down default quadplane gains
make it better for a typical quadplane, the defaults were more
suitable on smaller aircraft
2022-06-21 19:41:34 +09:00
Andrew Tridgell
6201115c76 Plane: moved harmonic notch update code to AP_Vehicle 2022-06-21 19:41:34 +09:00
Andrew Tridgell
13df45adff Plane: param conversion for INS_NOTCH to INS_HNTC2 2022-06-21 19:41:34 +09:00
Andrew Tridgell
fd00fef01a Plane: support harmonic notch on 2nd RPM sensor 2022-06-21 19:41:34 +09:00
Andrew Tridgell
800c21fc41 Plane: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell
5460d7c10c Plane: prepare for 4.2.1 release 2022-05-28 16:08:08 +09:00
Andrew Tridgell
4d8cb8bd67 Plane: release notes for 4.2.1 2022-05-28 16:08:08 +09:00
Andrew Tridgell
e5d379cf75 Plane: fixed false positive in landing detector
this fixes a case where we can get false positive on the landing
detector for quadplanes.

The issue happens if we cross the LAND_DESCEND to LAND_FINAL threshold
while pilot repositioning is active, with stale information in
landing_detect.lower_limit_start_ms as we don't run should_relax() in
LAND_DESCEND
2022-05-28 16:08:08 +09:00
Andrew Tridgell
b5f9ccbb74 Plane: prepare for 4.2.1beta1 2022-05-28 16:08:08 +09:00
Andrew Tridgell
2db13505ab Plane: update release notes for 4.2.1beta1 2022-05-28 16:08:08 +09:00
Andrew Tridgell
50267e255f Plane: cope with QGC retrying AUTO mode
QGC tries several times to enter AUTO even when it is refused. We need
to keep refusing
2022-05-28 16:08:08 +09:00
Peter Barker
cbe9a24d89 ArduPlane: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:08 +09:00
Andrew Tridgell
e02e0d793c Plane: increased safety of guided -> auto quadplane takeoff
when we arm in guided mode then enter a special guided_wait_takeoff
state. We keep motors suppressed until one of the following happens

  1) disarm
  2) guided takeoff command
  3) change to AUTO with a takeoff waypoint as first nav waypoint
  4) change to another mode

while in this state we don't go to throttle unlimited, and will refuse
a change to AUTO mode if the first waypoint is not a takeoff. If we
try to switch to RTL then we will instead use QLAND

This state is needed to cope with the takeoff sequence used by QGC on
common controllers such as the MX16, which do this on a "takeoff"
swipe:

  - changes mode to GUIDED
  - arms
  - changes mode to AUTO
2022-05-28 16:08:08 +09:00
Andrew Tridgell
066fed18ce Plane: account for sprung throttle in VTOL throttle suppression
when RC_OPTIONS has been changed to not check throttle for arming then
treat this like a sprung throttle for quadplane throttle suppression
in auto-throttle modes, and only unsuppress when throttle goes above
trim+dz
2022-05-28 16:08:08 +09:00
Andrew Tridgell
ee8ae2eebd Plane: refuse arming if we are in a landing sequence
this helps when the aircraft has gone into a landing sequence due to a
failsafe before it is armed. Arming while in the landing sequence is
very unlikely to be what the user wants
2022-05-28 16:08:08 +09:00
Andrew Tridgell
57aaaa2a89 Plane: update gyro fft throttle
allows for updating or learned FFT freq
2022-05-28 16:08:08 +09:00
Andrew Tridgell
23f3a3de68 Plane: prepare for 4.2.0 stable release 2022-05-07 08:40:41 +09:00
Andrew Tridgell
f51f9875ae Plane: release notes for 4.2.0 2022-05-07 08:40:41 +09:00
Andrew Tridgell
279e457344 Plane: prepare for 4.2.0beta6 2022-04-29 07:54:06 +09:00
Andrew Tridgell
e977092363 Plane: release notes for plane 4.2.0beta6 2022-04-29 07:54:06 +09:00
Sanket Sharma
ec2a33589c Plane: Updated highest airspeed limit when armed 2022-04-29 07:54:06 +09:00
Andrew Tridgell
71cc0dc02d Plane: add Q_OPTION for RTL always on RC failsafe for ship landing 2022-04-29 07:54:06 +09:00
Andrew Tridgell
6a3c36bfd2 Plane: param conversion for INS_NOTCH to INS_HNTC2 2022-04-29 07:54:06 +09:00
Peter Barker
9e45882340 Plane: do not use guided waypoint for loiter location
Currently this waypoint is set 10,000m away by the avoidance behaviour

Instead, immediately enter loiter mode
2022-04-29 07:54:06 +09:00
Andrew Tridgell
35fbea927d Plane: prepare for 4.2.0beta5 2022-04-09 17:04:26 +09:00
Andrew Tridgell
ce532197d6 Plane: release notes for 4.2.0beta5 2022-04-09 17:04:26 +09:00
Andrew Tridgell
eb20c90e4a Plane: fixed rudder control when ARMING_RUDDER != 2
when rudder disarm is disabled we should allow full yaw control
regardless of throttle level. We should also only disable left yaw
when throttle is at zero, as right yaw does not indicate pilot may be
trying to disarm
2022-04-09 17:04:26 +09:00
Andrew Tridgell
dfeb6debce Plane: prepare for 4.2.0beta4 release 2022-03-30 11:37:41 +09:00
Andrew Tridgell
616d73e36f Plane: added release notes for 4.2.0beta4 2022-03-30 11:37:41 +09:00
Andrew Tridgell
4457fb4bb0 Plane: fixed yaw on the ground when rudder disarming in AUTO
when a quadplane touches down in an auto throttle mode the pilot may
use rudder to disarm. The check for rudder disarm was only active in
modes without auto-throttle. This expands it to all modes if the
throttle has hit the lower limit
2022-03-30 11:37:41 +09:00
Andrew Tridgell
3aa52bb5ee Plane: added a value for RTL_AUTOLAND to disable arming check
set RTL_AUTOLAND=3 to get go-around but not RTL DO_LAND_START usage
2022-03-30 11:37:41 +09:00
Andrew Tridgell
97e13afd1e Plane: prevent rapid RTL/AUTO switching on fence breach
don't switch back to RTL if already in a DO_LAND_START sequence
2022-03-30 11:37:41 +09:00
Andrew Tridgell
547b5ab38a Plane: when shutting down motors force outputs to minimum
this fixes issue #20354 where a long spool time can lead to motors
running without control for an extended period of time.
2022-03-30 11:37:41 +09:00
Andrew Tridgell
527722bcf0 Plane: prepare for 4.2.0beta3 2022-03-30 11:37:41 +09:00
Andrew Tridgell
6284413ac9 Plane: update release notes for 4.2.0beta3 2022-03-30 11:37:41 +09:00
Tim Tuxworth
ebf5040bd2 Plane: Display Fence Breach message in GCS
Send a "Geofence breach" message to the Ground Control Station. Without this when the fence is breached and if anything happens as a result, such as RTL, it will happen silently.
2022-03-30 11:37:41 +09:00
Andrew Tridgell
4490af3bfe Plane: adjust throttle mix for auto landing
use mix-max during landing approach and initial descent, use min in
land final. As discussed with Leonard
2022-03-30 11:37:41 +09:00
Andrew Tridgell
a1e022cf59 Plane: check that RTL_AUTOLAND is set if using DO_LAND_START 2022-03-30 11:37:41 +09:00