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4003 Commits

Author SHA1 Message Date
Andrew Tridgell c857f889b3 Plane: default rate max to 75 for quadplane VTOL 
this reduces overshoot when VTOL tune is less than ideal
 2021-11-29 19:02:38 +09:00
Andrew Tridgell 79c7a238b1 Plane: fixed a bug in POSITION1 speed thresholds (for plane 4.1) 
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
 2021-11-29 19:02:38 +09:00
Andrew Tridgell 352046d7f9 Plane: suppress rate D terms in ground mode 
this prevents a common oscillation issue on the ground
 2021-11-29 19:02:38 +09:00
Andrew Tridgell a17a0c130d 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
 2021-11-29 19:02:38 +09:00
Andrew Tridgell f8acd38adc 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
 2021-11-29 19:02:38 +09:00
Samuel Tabor 4e86cc8b41 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. 2021-11-29 19:02:38 +09:00
Iampete1 3fde3942b8 Plane: Quadplane: allow scripting matrix frame class 2021-11-29 19:02:38 +09:00
Andrew Tridgell 7916fc7852 Plane: prepare for 4.1.2 release 2021-11-29 19:02:38 +09:00
Andrew Tridgell 2e6362a794 Plane: update release notes for 4.1.2 2021-11-29 19:02:38 +09:00
Andrew Tridgell cb0817ccb5 Plane: prepare for 4.1.2beta2 2021-11-29 19:02:38 +09:00
Andrew Tridgell 5b4321275f Plane: update release notes for 4.1.2beta2 2021-11-29 19:02:38 +09:00
Andrew Tridgell d19426b8df 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
 2021-10-17 19:03:42 -04:00
Andrew Tridgell 4107eee94f Plane: reset target speed on disarm 
allows for multiple auto missions with DO_CHANGE_SPEED
 2021-10-17 19:03:42 -04:00
Andrew Tridgell 11fbeb9b8f Plane: apply the takeoff throttle slew limit to quadplanes 
this applies the limit when we are in a fwd transition, both in AUTO
modes and stabilized modes
 2021-10-17 19:03:42 -04:00
Andrew Tridgell 87ad83e076 Plane: prepare for 4.1.2beta1 2021-10-17 19:03:42 -04:00
Andrew Tridgell 3e94692cba Plane: update release notes for 4.1.2beta1 2021-10-17 19:03:42 -04:00
Andrew Tridgell 8ae0c79752 Plane: prepare for 4.1.1 release 2021-10-17 19:03:42 -04:00
Andrew Tridgell 4185bdf05d Plane: update release notes for 4.1.1 
# Conflicts:
#	ArduPlane/mode_qrtl.cpp
#	ArduPlane/quadplane.cpp
P
 2021-10-17 19:03:42 -04:00
Andrew Tridgell e4967fa28c Plane: prepare for 4.1.0 stable release 2021-10-17 19:03:42 -04:00
Andrew Tridgell 7fccaf76f4 Plane: update release notes for 4.1.0 stable 2021-10-17 19:03:42 -04:00
Andrew Tridgell edf7c2aa08 Plane: prepare for 4.1.0beta8 2021-10-17 19:03:42 -04:00
Andrew Tridgell 839d877d89 Plane: update release notes for 4.1.0beta8 2021-10-17 19:03:42 -04:00
Andrew Tridgell d9511f735c Plane: release 4.1.0beta7 2021-10-17 19:03:42 -04:00
Andrew Tridgell b79d63b9e0 Plane: prepare for 4.1.0beta7 2021-10-17 19:03:42 -04:00
Andrew Tridgell 1878e7d023 Plane: prepare for 4.1.0beta6 2021-10-17 19:03:42 -04:00
Andrew Tridgell da783d6c98 Plane: updated releases notes for 4.1.0beta6 2021-10-17 19:03:42 -04:00
Peter Hall b2ce4e1c44 Plane: quadplane: set `last_pidz_init_ms` 2021-09-10 14:07:37 +09:00
Andrew Tridgell ce6a0bb3fb Plane: prepare for 4.1.0beta5 2021-08-28 14:41:27 +09:00
Andrew Tridgell 73ec73b845 Plane: update release notes for 4.1.0beta5 2021-08-28 14:41:27 +09:00
Andrew Tridgell ac96330435 Plane: added option to log PIDs at full rate 
useful for tuning quadplanes
 2021-08-28 14:41:27 +09:00
Andrew Tridgell a107891dab Plane: prepare for 4.1.0beta4 2021-08-28 14:41:27 +09:00
Andrew Tridgell 632117c422 Plane: updated release notes for 4.1.0beta4 2021-08-28 14:41:27 +09:00
Andrew Tridgell da5c187ac7 Plane: update ATRP logging 2021-08-28 14:41:27 +09:00
Andrew Tridgell 401534ac89 Plane: added ONESHOT_MASK parameter 
after discussion with Paul on servo latency
 2021-08-28 14:41:27 +09:00
Andrew Tridgell d67f82e02d Plane: added manual input expo for MANUAL, ACRO and TRAINING 
this is easier than setting up mode specific expo in radios for flying
in manual modes
 2021-08-28 14:41:27 +09:00
WillyZehnder aa5e74a5d9 Plane: GCS_Plane.cpp Fix chronological sequence 
to avoid inappropriate critical warning CRT:NoRCReceiver by ensuring the
call of plane.failsafe.last_valid_rc_ms before calling millis()
 2021-08-28 14:41:27 +09:00
Peter Barker b5d75b287d Plane: do not run any prearm checks if we are armed or arming is not required 
Co-authored-by: TunaLobster <unknown>
 2021-08-28 14:41:27 +09:00
Iampete1 267e001212 Plane: #ifdef scripting specific functions 2021-08-28 14:41:27 +09:00
Peter Barker ebec8076c4 Plane: don't allow motortest if motors not allocated 2021-08-14 10:44:08 +09:00
Leonard Hall 23732690a7 Plane: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 10:44:08 +09:00
Andrew Tridgell 645386cba6 Plane: disable EKF3 default airspeed fusion by default 
this fusion can cause problems with wind estimation, disable by
default for now
 2021-07-22 19:07:36 +09:00
Leonard Hall 064b0bcc63 Plane: seperate kinimatic shaping from pid limit setting 2021-07-22 19:07:36 +09:00
Andrew Tridgell 4ed4adacfa Plane: prepare for 4.1.0beta3 2021-07-22 19:07:36 +09:00
Andrew Tridgell 14c006bb1a Plane: updated release notes for 4.1.0beta3 2021-07-22 19:07:36 +09:00
Andrew Tridgell ff93999a94 Plane: fixed motor test with DShot VTOL motors 
need to arm when running the motor test
 2021-07-22 19:07:36 +09:00
Andrew Tridgell c53eacf73d Plane: prepare for 4.1.0beta2 release 2021-07-22 19:07:36 +09:00
Andrew Tridgell f4974107e1 Plane: prepare for 4.1.0beta1 release 2021-07-22 19:07:36 +09:00
Hwurzburg ac76a63931 ArduPlane: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Hwurzburg 8310f4a718 Plane: fix bug in tilt position for QLOITER and QRTL if THR_MIN !=0 2021-06-29 10:58:11 +10:00
Andrew Tridgell 92197bd5a9 Plane: fixed longitude wrap in verify_nav_wp 
thanks to @Khancyr
 2021-06-25 15:33:55 +10:00