674d7facde
Plane: Use Location::same_loc_as() in QuadPlane::waypoint_controller()
2023-04-04 09:40:45 +10:00
a86ff90b97
ArduPlane: add AUTO VTOL landing abort AUX sw
2023-03-14 10:52:23 +11:00
38d7bcff6b
Plane: re-init throttle wait on quadplane arm and disarm
...
this prevents yaw from rudder arming on 2nd flight
2023-02-26 07:06:09 +11:00
a57e6455ab
Plane: use is_armed_and_safety_off()
...
this no longer sets soft_armed false when safety is on, and instead
uses is_armed_and_safety_off() when appropriate
2023-02-21 07:44:09 +11:00
99f997161a
Plane: holdoff auto takeoff till rudder neutral
...
when arming with rudder we need to hold off the takeoff until the user
has released the rudder stick or we can yaw badly during the takeoff
2023-02-09 07:02:32 +11:00
2989e2deba
Plane: added support for NAV_PACKAGE_PLACE mission item
...
this works in conjunction with a lua script to allow for a wide
variety of package place options
2023-02-09 07:02:12 +11:00
648a13d3f7
ArduPlane: add and use AP_ADVANCEDFAILSAFE_ENABLED
2023-02-08 19:00:13 +11:00
6623f1156c
Plane: transition pitch limit should not apply to FBWA
...
pilot should be able to override pitch, very important on motor
failure to control glide
2023-01-30 09:19:14 +11:00
bf9d49b72d
Plane: Quadaplane: add param for min QRTL altitude when close to home
2023-01-25 19:34:53 +11:00
636a18f98f
Plane: Update Q_OPTIONS metadata to new format
2023-01-03 10:29:44 +11:00
a99748a13d
Plane: Quadaplane: use land_at_climb_rate_cm only when landing
2022-12-30 20:25:58 +09:00
87c684b5ee
Plane: Vtol: use land_at_climb_rate_cm for vertical rate control
2022-12-30 20:25:58 +09:00
0db6146f60
Plane: Added Y4 config to Quadplane
2022-12-27 15:19:28 +11:00
0cf56ea320
ArduPlane: make and use AP_LANDINGGEAR_ENABLED
2022-12-14 18:30:23 +11:00
16ccdeb058
Plane: Support changing update period in Motors
2022-12-13 17:10:06 +11:00
0bc5e68aed
Plane: Support changing update period
2022-12-13 17:10:06 +11:00
99066a27f8
Plane: ensure we init z controller when inactive
...
this prevents us getting the AC_PosControl internal error, which is
turning up as a common false positive.
2022-12-05 07:50:05 +11:00
148c8d6eec
Plane: Quadplane: tiltrotor: add Q_OPTION to keep motors tilted up when disarmed in FW modes
2022-11-29 10:51:23 +11:00
edf89b02ea
Plane: Quadplane: 0 rate_bf_yaw_target as more or less the same as radians value in cd funcion
2022-11-25 18:13:00 +11:00
8a0708efe8
Plane: scale VTOL angle P gains with airspeed
...
During POSITION1 back-transiton we scale the MC angle P gains with
airspeed to reduce the chance of oscillations. At higher airspeeds the
fixed wing controller dominates so we should use the fixed wing angle
P gain.
2022-10-18 07:38:39 +11:00
a774f314a2
Plane: Quadplane: SLT: enforce TECS pitch limits to beat race
2022-10-11 11:18:41 +11:00
821ef1d4d9
Plane: Fixed divide by zero error when transitioning to guided
2022-10-07 08:22:48 +11:00
22cd568a4c
Plane: removed use of "blended" earth frame accel
2022-08-21 18:51:59 +10:00
ba13f4d116
ArduPlane: remove unused limit_length calculation in overshoot
2022-08-16 12:05:00 +10:00
f183b21fc5
Plane: Support vtol landing options on NAV_VTOL_LAND
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This allows the same mission to contain both circular and straight
landing items, and doesn't require on the fly tweaking
2022-08-15 17:05:00 -07:00
ee778dbd3a
Plane: Quadplane: add option_is_set helper for Q_OPTIONS
2022-08-09 13:21:00 +10:00
821053e580
Plane: Quadplane: allow servo auto trim for motors only tailsitter assist
2022-08-09 10:56:41 +10:00
b133e98102
Plane: improve target airspeed in landing approach
...
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach
this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
2022-08-03 12:26:57 +10:00
f9f0f60815
Plane: base yaw in overshoot on target speed not scaled speed
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this prevents an oscillating due to the speed changing as we yaw,
resulting in a different yaw target
2022-08-02 07:49:34 +10:00
5bdd43457c
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
2022-08-02 07:49:34 +10:00
fa371b92a8
Plane: limit target accel in POSITION1
...
don't ask for more than 2* transition limit, and reset when we enter
overshoot case
2022-08-02 07:49:34 +10:00
afd21298d5
Plane: adjust target vector for wind in overshoot
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at low speeds we want to keep the nose pointed into the wind on
landings
2022-08-02 07:49:34 +10:00
a1e7072cb1
Plane: cope with overshoot in POSITION1 VTOL land state
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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
2022-08-02 07:49:34 +10:00
a592f76282
ArduPlane: change AC_FENCE to AP_FENCE_ENABLED
2022-07-27 19:04:56 +10:00
b0bee613d4
ArduPlane: add and use AP_ICENGINE_ENABLE
2022-07-22 08:48:16 +10:00
712611c50e
Plane: Quadplane: add yaw command model
2022-07-13 18:26:36 +10:00
6bb567465a
Plane: fixed misspellings of 'transition'
2022-07-01 11:54:16 -07:00
463aed4b8f
ArduPlane: fix Q_RTL_MODE parameter doc
2022-06-30 10:50:09 +10:00
0cd1f605f6
Plane: Quadplane: always reset to QPOS_NONE on mode entry
2022-06-23 08:37:00 +10:00
f2a162b963
Plane: rotate Qassist desired rates correctly
2022-06-21 10:01:30 +10:00
d251c51ca1
Plane: Quadplane: QRTL climb to QRTL alt first if in Q mode
2022-06-21 09:11:08 +10:00
42f553626e
Plane: adjust down default quadplane gains
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make it better for a typical quadplane, the defaults were more
suitable on smaller aircraft
2022-06-16 21:26:49 +10:00
34609d327d
Plane: Quadplane: force convertions of Q_M_PMW_* params if invalid and add arming check
2022-06-08 17:08:23 +10:00
6423a2dfb9
Plane: use pos_control for weathervane attitude
...
this makes no difference as wp_nav just passes through, but right API
to call
2022-06-03 18:19:53 +10:00
ae6b877fd3
Plane: added Q_NAVALT_MIN
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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
2022-06-03 18:19:53 +10:00
fa26b69298
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
2022-05-23 13:05:17 +10:00
56db91d0c3
Plane: 32 servo conversion
2022-05-22 12:07:37 +10:00
86c2404654
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
2022-05-18 06:43:16 +10:00
a22e181acb
Plane: account for sprung throttle in VTOL throttle suppression
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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
2022-05-15 21:17:50 +10:00
86d2ccf0e7
Plane: update gyro fft throttle
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allows for updating or learned FFT freq
2022-05-10 08:08:56 +10:00
Nick Exton
Henry Wurzburg
Andrew Tridgell
Peter Barker
Iampete1
Leonard Hall
Jeremy
mattbooker
Mirko Denecke
Michael du Breuil