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655 Commits

Author SHA1 Message Date
Henry Wurzburg 0d01ac389c Plane: add Q_OPTION for RTL always on RC failsafe for ship landing 2022-04-19 19:58:46 +10:00
Andrew Tridgell 8e37c93e7d 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
 2022-04-03 09:12:03 +10:00
Peter Barker 2c42c056d8 Plane: correct EnableLandResponsition->EnableLandReposition 2022-03-31 20:30:55 +11:00
Andrew Tridgell 48881eeb55 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
 2022-03-24 07:44:40 +11:00
Andrew Tridgell d82a306cc2 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.
 2022-03-23 18:20:42 +11:00
Peter Barker 1f5165349e Plane: correct compilation when airspeed disabled 2022-03-20 21:47:05 +11:00
Henry Wurzburg 14700063d2 ArduPlane: convert floating point divides into multiplys 2022-03-18 15:26:44 +11:00
Andrew Tridgell 6ebefbdb16 Plane: added airspeed based pitch limit check 
prevent using too much pitch when at low airspeed, which can lead to
severe instability in SLT quadplanes
 2022-03-18 13:36:16 +11:00
Andrew Tridgell eabdaae1e7 Plane: use set_lean_angle_max_cd() 
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
 2022-03-18 13:36:16 +11:00
Andrew Tridgell cc6fc2b130 Plane: improvements to POSITION1 controller 
this improves 4 things in the POSITION1 controller based on logs from
4.2.0beta2. The changes are designed to increase the tolerance to
an incorrect value for Q_TRANS_DECEL, reducing landing overshoot

1) we fix the initialisation of the acceleration. The
   init_xy_controller() function assumes zero accel, so we need to
   call set_accel_desired_xy_cmss() just after that init to get the
   correct accel. Thanks to Leonard for this fix

2) if we decel more than expected due to too low Q_TRANS_DECEL we
   need to reduce the target speed, rather than putting the nose down

3) lower the default Q_P_JERK_XY to a value more appropriate for most
   quadplanes (Leonard suggested a value of 2)

4) fixed the pitch envelope from Q_BACKTRANS_MS to start after the
   airbrake phase is complete
 2022-03-18 13:36:16 +11:00
Andrew Tridgell 3772029450 Plane: fixed pitch envelope after AIRBRAKE 
we need to setup last_fw_mode_ms and last_fw_nav_pitch_cd when we
enter POSITION1 mode so that the expanding envelope pitch limit from
Q_BACKTRANS_MS is applied correctly
 2022-03-18 13:36:16 +11:00
Andrew Tridgell 8b16b5ca94 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
 2022-03-18 13:35:46 +11:00
Andrew Tridgell a1856c5c22 Plane: added an arming check for Q_ASSIST_SPEED 
Q_ASSIST should really be enabled for all non-tailsitter
quadplanes. This arming check will help users remember to configure it
 2022-03-16 09:29:14 +11:00
Andrew Tridgell 55c46cd868 Plane: protect against short stop_distance 2022-03-10 13:41:18 +11:00
Andrew Tridgell 5e14b9efe6 Plane: use pos control for most of LAND_FINAL 
this gives more accurate landing with some velocity drift
 2022-03-10 07:34:20 +11:00
Andrew Tridgell cc9b9813cb Plane: review fixes 
thanks Pete!
 2022-03-10 07:34:20 +11:00
Andrew Tridgell f09c715d7a Plane: wait till motors are fully up before takeoff in guided mode 
this allows for guided mode takeoff in tilt-rotors. Otherwise motors
till be pointing forward and takeoff will go very badly
 2022-03-10 07:34:20 +11:00
Andrew Tridgell 3659669409 Plane: cope with high angle error in airbrake state 
if we are flying too far off the target vector then exit airbrake
state. This prevents flying for a long distance away from the landing
point in airbrake mode
 2022-03-10 07:34:20 +11:00
Andrew Tridgell f9ecf15973 Plane: setup target accel in POSITION1 state 2022-03-10 07:34:20 +11:00
Andrew Tridgell 2864e21b31 Plane: allow for a trans decel margin 
so if we are behind the velocity curve we are less likely to overshoot
landing
 2022-03-10 07:34:20 +11:00
Andrew Tridgell 33bc067edf Plane: fix NAV_CONTROLLER_OUTPUT in Q modes 
Q modes don't always use wp_nav, but do use pos_control

AUTO and QRTL setup the plane navigation as well, so can use the L1
data
 2022-03-10 07:34:20 +11:00
Andrew Tridgell 3fe9a55269 Plane: added APIs for lua ship landing 2022-03-10 07:34:20 +11:00
Andrew Tridgell 6d63e1f7d3 Plane: added Q_LAND_ALTCHG parameter 
this is the threshold height change over 4 seconds for a landing to be
detected. It can be raised if landing detection is very slow
 2022-03-09 07:50:10 +11:00
Iampete1 80f8f8b14e Plane: quadplane: double log QPOS state change 2022-03-01 10:59:07 +11:00
Peter Barker b19bfba0ec Plane: use has_valid_input in place of checking throttle counter 2022-03-01 10:29:37 +11:00
Iampete1 267583db55 Plane: quadplane: never reset yaw target rates when entering QPOS1 2022-02-21 09:35:06 +11:00
Iampete1 9fd14dbf94 Plane: quadplane: set IO failsafe limit for all motors 2022-02-17 12:31:16 +11:00
Andrew Tridgell 1bdc9b5bf8 Plane: fixed in_vtol logic so QRTL can AIRBRAKE 2022-02-16 07:43:01 +11:00
Andrew Tridgell aab6c94936 Plane: don't weathervane in AIRBRAKE state 
this prevents unwanted VTOL motor throttle while trying to slow
down. In this stage the slaving of yaw rate to fixed wing roll control
is sufficient
 2022-02-16 07:43:01 +11:00
Andrew Tridgell 2846f87eeb Plane: reduce height gain in auto landing for tiltrotors 
avoid running the motors while tilted past the tilt max if we are in
AIRBRAKE state. This stops a large amount of forward thrust from the
tilted motors while trying to slow down, while still maintaining
attitude control
 2022-02-16 07:43:01 +11:00
Iampete1 1ca1707f9f Plane: quadpalne: keep motors interlock state upto date with E-stop 2022-02-10 07:43:40 +09:00
Peter Hall 717b18a680 Plane: quadplane: add allow_weathervane transtion class method 2022-02-08 10:38:16 +11:00
Peter Hall 6a719664d3 Plane: quadplane: pass takeoff and landing state to weathervane 2022-02-08 10:38:16 +11:00
Gone4Dirt a79359dc67 Plane: use new weathervane library 2022-02-08 10:38:16 +11:00
murata f8383df5a4 Plane: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
Bill Geyer 54bdde8845 Copter: fix parameter issue with quadplane 2022-02-01 23:06:51 -05:00
Peter Barker 266d384ca7 ArduPlane: rename AP_AHRS::get_position to get_location 2022-01-25 10:47:22 +11:00
Iampete1 32488a5e3a Plane: add MOTB logging at 10hz 2022-01-18 10:18:10 +11:00
Iampete1 3a5c7ea8fc Plane: quadplane: add transtion fail action param 2022-01-11 11:02:33 +11:00
Peter Hall 2ffebebddc Plane: tailsitter: provide min throttle limit based on disk therory outflow velocity 2022-01-11 10:37:38 +11:00
Iampete1 ca1b5b1db2 Plane: Quadplane: use get_frame_and_type_string 2022-01-05 19:51:19 +11:00
Peter Hall d4eb2c6396 Plane: quadplane: QPOS_POSITION1 tailsitters use input_vel_accel method 2022-01-04 10:42:12 +11:00
Iampete1 4848ac9166 Plane: quadplane: don't use `is_active_z()`, becasue its wrong 2022-01-04 10:42:12 +11:00
Iampete1 fb1f6b57ad Plane: Quadplane: never run Z controller if motors are not throttle unlimited 2022-01-04 10:42:12 +11:00
Peter Hall c215fa0745 Plane: Quadplane: never run Z controller in tailsiter VTOL transtion 2022-01-04 10:42:12 +11:00
Peter Hall 9df753551e Plane: quadplane: tailsitter: always relax pitch after transtion 2022-01-04 10:42:12 +11:00
Peter Hall 67d7ba490f Plane: quadplane: pass time to tailsitter.in_vtol_transition where avalable 2022-01-04 10:42:12 +11:00
Hwurzburg 18e427d27d Plane: add Q_OPTION to force fw trans on fail instead of QLAND 2021-12-24 13:55:15 +11:00
Iampete1 2154738421 Plane: Quadplane: only advance to QPOS_POSITION2 once tilts have finished slewing 2021-12-22 18:46:14 +11:00
Iampete1 eac52fe08f Plane: quadplane: don't ouput VTOL throttle on tiltrotor with no VTOL motors and till fully forward 2021-12-22 18:46:14 +11:00
Iampete1 6116eaeb32 Plane: quadplane: enhance tiltrotor transtion to better deal with tiltrotors with all motors tilting 2021-12-22 18:46:14 +11:00
Hwurzburg 049f5f2135 Plane: fix divide by zero in transition time 2021-12-10 19:10:51 -08:00
Andrew Tridgell e7c7cdd653 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)
 2021-12-04 16:51:02 +11:00
Josh Henderson 52adda7c4c Plane: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson c6dd39773d ArduPlane: inav use _xy() 2021-11-30 10:08:07 +11:00
Andrew Tridgell 36562ed30b 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
 2021-11-24 18:49:24 +11:00
Andrew Tridgell 77c43d9ba1 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
 2021-11-24 07:15:21 +11:00
Andrew Tridgell 8d59e6fa48 Plane: fixed variable name 
thanks to Peter for noticing
 2021-11-22 13:15:29 +11:00
Andrew Tridgell ae81bbc5ed 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
 2021-11-17 20:54:12 +11:00
Iampete1 9210488550 Plane: quadplane: limit pitch for all transitions into position control modes 2021-11-17 19:10:56 +11:00
Peter Barker 70562021ac ArduPlane: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker 203103bae5 ArduPlane: ensure ENABLE_SCRIPTING is always defined 2021-11-15 20:27:40 +11:00
Iampete1 b9d240460b Plane: remove SpdHgt and use TECS direct 2021-11-13 08:05:39 +11:00
Peter Barker 7c3de472b2 Plane: support send_extended_sys_state 2021-11-09 10:22:24 +11:00
Andrew Tridgell d3742989ef Plane: default rate max to 75 for quadplane VTOL 
this reduces overshoot when VTOL tune is less than ideal
 2021-11-07 06:58:53 +11:00
Andrew Tridgell debae1381c Plane: fixed a bug in POSITION1 speed thresholds 
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
 2021-11-06 20:00:10 +11:00
Peter Barker 6a12d3f5d9 Plane: use enum class for StickMixing 2021-11-03 18:06:00 +11:00
Iampete1 af8688b300 Quadplane: add transiton class 2021-11-02 10:14:36 +11:00
Andrew Tridgell b74dca02ca 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
 2021-10-29 20:22:19 +11:00
Andrew Tridgell 19b5044223 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
 2021-10-29 20:22:19 +11:00
Iampete1 73e9c9bb43 Plane: quadplane: forward throttle reutrn float 2021-10-20 18:29:58 +11:00
Iampete1 b31ce6734a Plane: get throttle input return float 2021-10-20 18:29:58 +11:00
Peter Barker eef8115ffc ArduPlane: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
Iampete1 e99a5c6ef4 Plane: Quadplane: reinstate THR PWM param discriptions for stable users 2021-10-11 22:19:17 -04:00
Iampete1 30c9cccf78 Plane: Quadplane remove THR_MIN_PWM and THR_MAX_PWM 2021-10-11 22:19:17 -04:00
Iampete1 d1d6342165 Plane: update_throttle_range dont set_throttle_range 2021-10-11 22:19:17 -04:00
Andrew Tridgell 570ecdc2e0 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
 2021-10-10 06:35:20 +11:00
Hwurzburg 4e731bf4e2 Plane: add VTOL POS1 notification to QRTL mode 2021-10-06 11:38:32 +11:00
Andrew Tridgell 2be23fff2b Plane: obey Q_RTL_ALT when in POS1 and POS2 states 
this fixes the alt target for when user has disabled the quadplane
approach code
 2021-10-02 12:46:59 +10:00
bugobliterator ae4d368267 Plane: replace config_error with allocation_error 2021-09-30 08:51:26 +10:00
Iampete1 a350ebb358 Plane: quadplane: do_vtol_land remove uneded I reset 2021-09-28 10:51:21 +10:00
Andrew Tridgell fd5faa866f Plane: always log QPOS when changing control state 2021-09-27 21:21:53 +10:00
Andrew Tridgell 9d0b7f8efe Plane: removed set_state to QPOS_POSITION1 in do_vtol_land 
we are immediately replacing the state with QPOS_APPROACH, so the
set_state is not needed, and triggers a call to
attitude_control->reset_yaw_target_and_rate() which can badly impact
euler rates for tailsitters
 2021-09-27 21:21:53 +10:00
Peter Hall e83b598040 Plane: Quadplane: check attitude relax before running controllers, don't run controls if not going to output 2021-09-25 12:53:11 +10:00
bugobliterator 4b62dd75b0 ArduPlane: fix casting to pass format check 2021-09-22 21:36:34 +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 cc89a8cc48 Plane: remove airmode Q_OPTION 2021-09-21 09:36:24 +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
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 c73207b4b0 Plane: quadplane: remove init mode and control run methods 2021-09-08 18:06:58 +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
Hwurzburg 5ca652a243 Plane: rename tailistter motor class to more correct singl/dual motor layout 2021-09-06 10:14:05 +10:00
Iampete1 f1477a6c29 Plane: quadplane: add assisted flight only airmode 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