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45,235 Commits 71 Branches 510 Tags 757 MiB
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396 Commits

Author SHA1 Message Date
Andrew Tridgell
ad14e153e8 Plane: fixed tilt vectoring to cope with large tilt angles 
This uses vectoring for both roll and yaw when tilted, and uses
differential thrust for yaw when tilted
 2020-12-16 08:45:11 +11:00
Hwurzburg
8658023dad Plane: Add lower CHECK_SCALE defaults for QuadPlane 2020-12-07 11:49:01 +11:00
Andrew Tridgell
cd6ddf7d4f Plane: fixed disable of geofence on quadplane landing 
fixes #15917
 2020-12-02 18:33:07 +11:00
Andrew Tridgell
d984ddc163 Plane: apply circular limits to QLOITER pilot angles 
This uses the same logic as Copters get_pilot_desired_angle() to apply
a circular limit and the limits in Q_ANGLE_MAX and Q_LOIT_ANG_MAX to
loiter pilot angles.

Co-authored-by: Kris <kris968658@gmail.com>
 2020-12-01 11:22:49 +11:00
Iampete1
42887891be Plane: tailsitter: make sure alt target is abover current alt 2020-11-17 10:15:27 +11:00
Iampete1
c03de6bdbe Plane: log Qassist state 2020-11-17 10:15:27 +11:00
Andrew Tridgell
eea62bf733 Plane: added optional ground effect compensation for quadplanes 
this allows for landings in aircraft badly effected by ground effect
to be compensated for
 2020-11-10 12:05:48 +11:00
Mark Whitehorn
c054218568 Plane: report quadplane setup errors in config_error loop 2020-11-05 15:04:10 +11:00
Iampete1
5f67f8130b Plane: tailsitters use Z stopping point on transition 2020-11-04 18:34:00 +11:00
Iampete1
b225ae43ab Plane: always log tailsitter scalefactor 2020-11-03 10:38:51 +11:00
Iampete1
840f129153 Plane: remove unused tailsitter scailing option 2020-11-03 10:38:51 +11:00
Mark Whitehorn
85480c8865 Plane: update frame_type parameter description 2020-10-27 10:24:20 +11:00
Iampete1
2acbef5579 Plane: tailsitters in VTOL transition use FW rates 2020-10-13 10:07:05 +11:00
Iampete1
0201692eeb Plane: Q_OPTION to disable synthetic airspeed assist 2020-10-07 18:20:08 +11:00
Iampete1
6621b69836 Plane: log quadplane transision state 2020-09-30 18:15:42 +10:00
Iampete1
f972d3dc2f Plane: Quadplane: tailsitter only change view once transision is complete 2020-09-30 18:15:42 +10:00
Hwurzburg
8c856b3ed2 Plane: Add missing Q_OPTIONS metadata for all options 2020-09-25 13:43:59 +10:00
Andy Piper
d16872cca5 Plane: compile out ADSB mode if required 2020-09-24 08:22:16 -07:00
Andrew Tridgell
e9b8a20312 Plane: fixed hover learn in quadplanes for THR_MIN>0 
petrol quadplanes commonly have THR_MIN>0, and without this change
cannot ever learn the hover throttle
 2020-09-08 11:09:25 +10:00
Mark Whitehorn
629f2153e0 Plane: move arming delay logic into AP_Arming_Plane 2020-09-08 10:54:42 +10:00
Mark Whitehorn
2b4772269d Plane: tiltrotors: allow vectored yaw motor tilt when disarmed 
add disarm tilt delay
add arming delay
add Q_OPTIONS for disarmed motor tilt and delayed arming
add comment explaining arming delay option
eliminate millis() wrap in arming delay
 2020-09-08 10:54:42 +10:00
Mark Whitehorn
bcdd16025b Plane: replace AP_MotorsMatrixTS with AP_MotorsMatrix 2020-09-08 10:50:31 +10:00
Iampete1
abee62abc4 Plane: use throttle in for transition max comparison 2020-08-30 18:19:40 +10:00
Mark Whitehorn
ee65940dfa Plane: enable yaw in qstabilize:air_mode at zero throttle 2020-08-13 08:47:27 +10:00
Mark Whitehorn
4630e9af30 Plane: add Mode::is_vtol_man_mode 
and make use of is_vtol_mode in in_vtol_mode
 2020-08-13 08:47:27 +10:00
Mark Whitehorn
e22d9398d3 Plane: add AirMode RC option for quadplanes 
add Q_OPTION for AirMode (auto-enabled if RCx_OPTION ARMDISARM assigned)
    bugfix: manual throttle mix for qacro
    qualify auto airmode on/off
    add Air Mode to Plane RC_OPTION metadata
    restrict airmode to manual throttle modes
    add qhover to manual throttle mix
    move air_mode from Plane to QuadPlane
    add Mode::is_vtol_man_throttle()
 2020-08-13 08:47:27 +10:00
Andrew Tridgell
6466912ac0 Plane: don't crosstrack after AUTO VTOL takeoff 2020-08-04 09:26:08 +10:00
Andrew Tridgell
cce2532901 Plane: fixed use of VTOL control for missions 
horizontal speed was not being setup when doing waypoint missions in
VTOL mode
 2020-07-28 08:06:14 +10:00
Iampete1
08a710235d Plane: add tailsitter assist with motors only option 2020-07-09 06:49:24 +10:00
Iampete1
6710bab006 Plane: add Q_OPTIONS to defaut to Qassist force enabled 2020-07-09 06:49:24 +10:00
Mark Whitehorn
d5b1b20274 Plane: implement manual forward throttle for QACRO, QSTABILIZE and QHOVER 
add parameter Q_FWD_THR_MAX for scaling manual throttle
allow forward motor tilt when disarmed
add FWD_THR_CH as an RC option
change Q_FWD_THR_MAX to percent
change RC_OPTION FWD_THR to 209
move assignment of rc_fwd_thr_ch to one_second_loop
move arming check from forward_throttle_pct to set_servos
change Q_FWD_THR_MAX TO Q_FWD_MANTHR_MAX
expand description of Q_FWD_MANTHR_MAX
add pre-arm check for VTOL manual forward throttle
change VTOL fwd throttle input to percent
 2020-07-07 08:37:46 +10:00
Peter Barker
d47569ccef Plane: correct ASSIST_ANGLE description 2020-07-01 20:57:32 +10:00
Andrew Tridgell
3a0538449c Plane: added Q_ASSIST_DELAY parameter 
this allows tuning of the time between assistance thresholds being met
and assistance kicking in. It also changes the default delay from 1s
down to 0.5s based on analysis of a flight where assistance was too
slow
 2020-07-01 20:57:32 +10:00
Peter Barker
1206df6f0c ArduPlane: remove use of Vector2 as function 2020-06-16 11:00:44 +10:00
Andrew Tridgell
568e13fbb9 Plane: allow for continue after land for quadplanes 
this allows for a new takeoff after a quadplane auto landing
 2020-06-02 09:12:22 +09:00
Peter Hall
7688430029 Plane: allow Qassit for fw to vtol transision 2020-05-26 09:01:47 +10:00
Peter Hall
87cd9a4791 Plane: allow Qassist for tailsitters 2020-05-26 09:01:47 +10:00
Peter Hall
2467d7b5c7 Plane: add Qassist switch 2020-05-26 09:01:47 +10:00
Paul Riseborough
40cc5a5006 ArduPlane: Improve EKF failsafe in VTOL modes 
Replicates Copter behaviour with a three step process if the EKF sustains a loss of navigation as detected by high GPS innovation test ratios:

1) Attempts a yaw reset using the GSF estimate if available
2) Attempts a lane switch
3) Falls back to a non-position mode
 2020-05-14 10:40:48 +10:00
Randy Mackay
59a2667870 Plane: quadplane's throttle mix uses filtered accelerations 2020-05-12 09:56:09 +10:00
Michael du Breuil
9eaf7f5528 Plane: Fix VTOL yaw for STICK_MIXING 0 2020-05-08 08:44:03 +10:00
Andrew Tridgell
d0a509eef1 ArduPlane: invalidate param count when changing param tree structure 2020-04-29 07:36:55 +10:00
Henry Wurzburg
3397bce235 Plane: Quadplane tailsit transition to FW throttle level change 2020-04-21 09:51:47 +10:00
Henry Wurzburg
6c730ccfec Plane: start tailsitter forward transition from current pitch angle 2020-04-21 09:50:57 +10:00
Rishabh
0c5d68dfeb Plane: Replace update_vel_controller_xy() with update_xy_controller() 2020-04-21 09:22:45 +10:00
Andrew Tridgell
156fe0846f Plane: fixed plane landing gear to obey LGR_OPTIONS bits 
we forced landing gear retract/deploy on takeoff and landing when we
should be following the options bits
 2020-04-15 17:10:31 +10:00
Michael du Breuil
37be15b3cd Plane: When stick mixing is disabled do not apply stick mixing to quadplane modes 2020-04-04 10:12:22 +11:00
Mark Whitehorn
cbce94005b Plane: expand description of QTUN.Sscl log message field 2020-04-03 08:36:55 +11:00
Andrew Tridgell
c6a6427d6a Plane: prevent lidar glitches from triggering land final 
this prevents short term lidar glitches from triggering the change
from descend to final in quadplane
 2020-02-27 13:15:46 +11:00
Randy Mackay
f2ab428cdd Plane: rename update_throttle_mix 
was called update_throttle_thr_mix
also minor format fixes
 2020-02-25 16:52:40 +09:00