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Commit Graph

4134 Commits

Author SHA1 Message Date
Bob Long
728d1e76fe Plane: clean up cm-to-m conversion in nav_control_output 2021-09-21 09:40:00 +10:00
Bob Long
f2d32fc800 Plane: quadplane: fix wp_dist reporting for VTOL landings 
After hitting the approach stage of a VTOL landing in auto, nav_controller_output sends zero as the distance to waypoint.
 2021-09-21 09:40:00 +10:00
Iampete1
df36853da2 Plane: support ARMDISARM_AIRMODE 2021-09-21 09:36:24 +10:00
Iampete1
cc89a8cc48 Plane: remove airmode Q_OPTION 2021-09-21 09:36:24 +10:00
Iampete1
db416bbeef Plane: convert to new ARMDISAM based on quadplane param 2021-09-21 09:36:24 +10:00
Shiv Tyagi
cdb4ec8ad0 Plane : Improved LAND_THEN_NEUTRL to work on all control surfaces 
This fixes the issue #18593

Co-Authored-By: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2021-09-17 22:06:24 -05:00
Andrew Tridgell
baec0d83f2 Plane: moved accel cal update to vehicle code 2021-09-17 14:07:14 +10:00
Andrew Tridgell
7547ad53d3 Plane: allow for new guided destination during guided takeoff 
if you set a very high alt for takeoff this is useful
 2021-09-17 10:06:08 +10:00
Andrew Tridgell
8bee839931 Plane: fixed overshoot in guided takeoff of quadplanes 2021-09-17 10:06:08 +10:00
Iampete1
c4a1ae42e5 Plane: Quadpalne: move tiltrotor functionality to own class 2021-09-17 08:24:17 +10:00
Iampete1
1d5ea351c4 Plane: re-init RTL modes if home set 2021-09-15 14:10:15 +01:00
Iampete1
478bf37246 Plane: used correct WP radius for VTOL flight 2021-09-15 20:36:56 +10:00
Iampete1
a368549a9d Plane: tailsitter: only flag tilt limit on vectored vehicles 2021-09-15 18:03:12 +10:00
Andrew Tridgell
ad8669ae74 Plane: update release notes for 4.1.0beta8 2021-09-15 14:21:12 +10:00
Hwurzburg
01c41dc213 Plane:Tailsitter: add relaxed POSXY defaults 2021-09-15 07:40:12 +10:00
Peter Barker
974af3edea Plane: correct compilation when QUADPLANE disabled 2021-09-14 13:55:01 +10:00
Peter Barker
3d34e061fe ArduPlane: add and use HAL_QUADPLANE_ENABLED 2021-09-14 11:23:18 +10:00
Josh Henderson
1da21c3b21 Quadplane: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Andrew Tridgell
cb307891e0 Plane: fixed bad yaw rate demands in tailsitter fixed wing modes 
this prevents the pilot putting in crazy yaw rate demands due to the
use of rudder stick in fixed wing modes for tailsitters while still
allowing for FBWA flat turns if the user wants them.

It uses the existing RUDD_DT_GAIN parameter for a gain scaling of yaw
rate for copter tailsitters
 2021-09-14 07:55:40 +10:00
Iampete1
b18da48f39 Plane: remove AUTO_FBW_STEER 2021-09-12 22:12:32 -05:00
Andrew Tridgell
3ec53e2aec Plane: prepare for 4.1.0beta7 2021-09-11 09:48:31 +10:00
Leonard Hall
f3dc47ce3d Copter: Add units to the AC_AttitudeControl Library 2021-09-09 08:01:14 +09:00
Iampete1
e6968395c6 Plane: remove none-functional NAV_CONTROLLER param 2021-09-08 20:32:52 +09:00
Iampete1
71e2e25313 Plane: attitude: in vtol modes call mode run and stabalize with surfaces 2021-09-08 18:06:58 +10:00
Iampete1
c73207b4b0 Plane: quadplane: remove init mode and control run methods 2021-09-08 18:06:58 +10:00
Iampete1
a985e47d45 Plane: system: don't try and switch to VTOL modes if quadplane is not enabled 2021-09-08 18:06:58 +10:00
Iampete1
e4feea9457 Plane: mode enter init auto state vtol mode to is_vtol_mode 2021-09-08 18:06:58 +10:00
Iampete1
2582159d1a Plane: mode.h remove init method 2021-09-08 18:06:58 +10:00
Iampete1
fae22b34b7 Plane: mode_qstabilize: combine enter and init 2021-09-08 18:06:58 +10:00
Iampete1
63be15e018 Plane: mode_qrtl: combine enter and init 2021-09-08 18:06:58 +10:00
Iampete1
fa908b0a1d Plane: mode_qloiter: combine enter and init 2021-09-08 18:06:58 +10:00
Iampete1
70d9d20faf Plane: mode_qland: combine enter and init 2021-09-08 18:06:58 +10:00
Iampete1
5ebd439712 Plane: mode_qhover: combine enter and init 2021-09-08 18:06:58 +10:00
Iampete1
f055471d8a Plane: mode_qautotune: call init 2021-09-08 18:06:58 +10:00
Iampete1
64aba43b56 Plane: mode_qacro: combine enter and init 2021-09-08 18:06:58 +10:00
Iampete1
fd7a879c85 Plane: remove unused params 2021-09-08 17:21:23 +10:00
Hwurzburg
327f3a0803 ArduPlane: add option for man throttle center to be TRIM_THROTTLE 2021-09-07 10:02:26 +10:00
Iampete1
95fbf39f72 Plane: quadplane: check_attitude_relax use the last time the controllers were run not the last time relax was checked 2021-09-07 09:09:47 +10:00
Iampete1
fb8fb34cfc Plane: tailsitter: don't relax attitude control in transision to VTOL, rely on check_attitude_relax to do the right thing 2021-09-07 09:09:47 +10:00
Hwurzburg
5ca652a243 Plane: rename tailistter motor class to more correct singl/dual motor layout 2021-09-06 10:14:05 +10:00
Peter Barker
d6a2056cca ArduPlane: make bad-mode-number notification consistent across vehicles 2021-09-01 19:45:46 +09:00
Peter Barker
0a8e1575b1 Plane: reuse set_mode_by_number implementation 
Was just duplicated
 2021-09-01 19:45:46 +09:00
Iampete1
88f2f7ccae Plane: remove unused param OVERRIDE_SAFETY 2021-09-01 18:46:18 +10:00
Andrew Tridgell
3bb17697fd Plane: fixed params for Q_TAILSIT_ENABLE 2021-09-01 14:04:35 +10:00
Iampete1
7f8b7b66a9 Plane: tailsitter: add enable = 2 for force q assit and assisted flight airmode 2021-09-01 08:33:24 +10:00
Iampete1
f1477a6c29 Plane: quadplane: add assisted flight only airmode 2021-09-01 08:33:24 +10:00
Iampete1
4efa9866fa Plane: arming: do not disable asisted flight airmode on disarm 2021-09-01 08:33:24 +10:00
Iampete1
46670f7bd0 Plane: quadplane: move tailsitter items to dedicated setup 2021-09-01 08:33:24 +10:00
Iampete1
700a92f036 plane: quadplane: tailsitter: run FW transition check and assist immediately 2021-08-31 10:34:33 +10:00
Peter Hall
657fcb7f59 Plane: quadplane: set last_pidz_init_ms 2021-08-31 09:58:03 +10:00
Iampete1
3c44a4fe6b Plane: radio: remove recompute_pwm_no_deadzone calls in training mode 2021-08-31 09:48:59 +10:00
TunaLobster
d31f3eb4c5 Plane: Add TRIM_PITCH_CD FLIGHT_OPTIONS bits for GCS and OSD 2021-08-31 09:32:10 +10:00
Andrew Tridgell
a39a948c57 Plane: updated releases notes for 4.1.0beta6 2021-08-29 11:35:08 +10:00
Peter Barker
bfe9208849 ArduPlane: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Iampete1
70ab9ba3b6 Plane: tailsitter: remove pilot prop-hanging teaching params and code. 2021-08-25 18:47:51 +10:00
Hwurzburg
551d55a85c ArduPlane: add thr position trigger to ThrLandCtrl Q_OPTION 2021-08-25 12:32:59 +10:00
Andrew Tridgell
3228b0e670 Plane: added MCU_STATUS message 2021-08-25 07:11:31 +10:00
Iampete1
d372907a98 Plane: Quadplane: add Q_OPTION to only allow arming in Qmodes and auto. 2021-08-24 10:39:12 +10:00
Samuel Tabor
65a38b26a4 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. 2021-08-19 17:59:33 +10:00
Andrew Tridgell
e1b73a5198 Plane: added slew rate and Dmod for PID_TUNING message 2021-08-19 12:08:54 +10:00
TunaLobster
cbf6c2926f ArduPlane: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
Peter Barker
e0d03ce565 ArduPlane: move wind-estimation-enabled state to frontend 2021-08-18 18:37:39 +10:00
Peter Barker
a84fda9b1f Plane: adjust for rename yaw_initialised -> dcm_yaw_initialised 2021-08-18 18:37:39 +10:00
Peter Barker
5afaacc320 ArduPlane: stop sending SENSOR_OFFSETS 
Only works for first compass instance.

We have all of these in parameters anyway.
 2021-08-18 18:06:24 +10:00
Andrew Tridgell
58c823284c Plane: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
497a7c9819 Plane: fixed EKF fly-forward flag for tailsitters 
for tailsitters that are always using the VTOL controllers (forced
QAssist) we need a different way to determine the fly-forward flag
 2021-08-17 20:48:36 +10:00
Iampete1
baf2b4a3d8 Plane: Qstabilize: mode functions to ModeQStabilize 2021-08-17 11:46:49 +10:00
Iampete1
44e63861ce Plane: QRTL: move functions to ModeQRTL 2021-08-17 11:46:49 +10:00
Iampete1
f75919e727 plane: QLoiter: move functions to ModeQLoiter 2021-08-17 11:46:49 +10:00
Iampete1
921116e7a3 Plane: QLand: move functions to ModeQLand 2021-08-17 11:46:49 +10:00
Iampete1
737096f342 Plane: QHover: move functions to ModeQHover 2021-08-17 11:46:49 +10:00
Iampete1
a1fa683272 plane: Qautotune: move functions to ModeQAutotune 2021-08-17 11:46:49 +10:00
Iampete1
e293866245 plane: Qacro: move functions to ModeQAcro 2021-08-17 11:46:49 +10:00
Peter Barker
515a994c59 ArduPlane: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Iampete1
bd2fed31ee Plane: actualy fail to enter mode, don't just put the mode back and reutrn true 2021-08-17 10:20:53 +10:00
Iampete1
59a158d7be Plane: don't output throtte in when safe 2021-08-16 21:22:35 +10:00
Andrew Tridgell
c6efbdd359 Plane: update release notes for 4.1.0beta5 2021-08-16 15:19:43 +10:00
Hwurzburg
9ab0d2e387 ArduPlane: add CRUISE mode RC AUX Function switch 2021-08-11 18:35:05 +10:00
Andrew Tridgell
d1d0ab41d6 Plane: added option to log PIDs at full rate 
useful for tuning quadplanes
 2021-08-10 10:13:36 +10:00
Peter Barker
5dab6b7275 Plane: remove pointless override of send_simstate 
This is dangling after removing HIL stuff
 2021-08-10 09:48:34 +10:00
Iampete1
a1ecd706b7 Plane: notify buzzer on every mode change 2021-08-10 09:47:33 +10:00
Leonard Hall
65b58dea85 Plane: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-10 08:33:56 +09:00
Peter Hall
ed4345cb3b Quadplane: tailsitter: provide assistance at min throttle 2021-08-08 19:41:22 +10:00
Peter Hall
2527117cf9 Quadplane: combine assistance_needed and assistance_safe functions 2021-08-08 19:41:22 +10:00
Hwurzburg
80b4cd7ae9 ArduPlane: correct Mission Reset override behaviour in Plane 2021-08-06 10:17:25 +10:00
bugobliterator
c8b2f009fd Plane: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +10:00
Tom Pittenger
7f9bbc9cfd Plane: fix ADSB stall speed units. Was accidently using meter/s instead of cm/s 2021-08-04 07:08:24 -07:00
Samuel Tabor
23f6f38390 Plane: soaring: No action if in landing sequence. 2021-08-04 06:52:56 +10:00
Josh Henderson
66cd413473 ArduPlane: remove POSITION_TARGET_TYPEMASK_FORCE_SET 2021-08-03 12:48:38 +10:00
Iampete1
7ff592d29e Plane: Quadplane: move mode functions to mode classes in-place 2021-08-03 12:28:31 +10:00
Iampete1
4a5e4f9c85 Plane: mode: add quadplane refences 2021-08-03 12:28:31 +10:00
Iampete1
a808d5c688 Plane: mode: add run and init methods 2021-08-03 12:28:31 +10:00
Iampete1
03d17437c3 Plane: mode_takeoff: call base mode constuctor 2021-08-03 12:28:31 +10:00
Peter Barker
435988a300 Plane: don't reset home on GPS startup on watchdog reset 2021-08-03 10:36:50 +10:00
Peter Barker
cfe25f71e3 ArduPlane: use mission singleton inside AP_AdvancedFailsafe 2021-08-03 10:35:24 +10:00
Andrew Tridgell
e7702a4216 Plane: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Hwurzburg
1e4a6c9236 ArduPlane: Correct OSD horizon for VTOL modes and TRIM_PITCH_CD in Fixed Wing 2021-08-03 10:09:28 +10:00
Peter Barker
7e8f812909 Plane: don't allow motortest if motors not allocated 2021-08-02 10:24:49 +10:00
Andrew Tridgell
b037507c48 Plane: mark master as 4.2.0dev 2021-08-01 06:06:26 +10:00
Peter Barker
c348f602d9 ArduPlane: use AP::compass().available in place of enabled() 2021-07-30 12:19:42 +10:00