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52,175 Commits 71 Branches 509 Tags 715 MiB
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4294 Commits

Author SHA1 Message Date
Andrew Tridgell 8cd961838e Plane: protect against short stop_distance 2022-03-12 08:01:18 +09:00
Iampete1 2a7e0e225e Plane: quadplane: double log QPOS state change 2022-03-12 08:01:18 +09:00
Peter Barker dab83e292e Plane: use has_valid_input in place of checking throttle counter 2022-03-12 08:01:18 +09:00
Henry Wurzburg 1b7fe466cb ArduPlane: clarify and simplify RC failsafe messages 2022-03-12 08:01:18 +09:00
Peter Barker 0a56aa5b17 ArduPlane: add RebootRequred to stream rate parameters 2022-03-12 08:01:18 +09:00
Andrew Tridgell f8f15d9ff9 Plane: disallow mavlink disarm while flying 
this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
 2022-03-12 08:01:18 +09:00
Iampete1 c9e2fe4e54 ArduPlane: tailsitter: keep attitude controll throttle level upto date for smoother controller handover 2022-03-12 08:01:18 +09:00
Iampete1 c8c3bcf8f3 Plane: never stick mix without valid RC input 2022-03-12 08:01:18 +09:00
Iampete1 4324db6580 Plane: don't prevent stick mixing in none RC failsafe 2022-03-12 08:01:18 +09:00
Andrew Tridgell 928f22cd15 Plane: use pos control for most of LAND_FINAL 
this gives more accurate landing with some velocity drift
 2022-03-12 08:01:18 +09:00
Andrew Tridgell 1cd1e57567 Plane: review fixes 
thanks Pete!
 2022-03-12 08:01:18 +09:00
Andrew Tridgell e539e293c9 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
 2022-03-12 08:01:18 +09:00
Andrew Tridgell b74ba4d780 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
 2022-03-12 08:01:18 +09:00
Andrew Tridgell 281377065c Plane: setup target accel in POSITION1 state 2022-03-12 08:01:18 +09:00
Andrew Tridgell 5119808e8b Plane: allow for a trans decel margin 
so if we are behind the velocity curve we are less likely to overshoot
landing
 2022-03-12 08:01:18 +09:00
Andrew Tridgell 773d261c6a 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
 2022-03-12 08:01:18 +09:00
Andrew Tridgell fe26956947 Plane: added APIs for lua ship landing 2022-03-12 08:01:18 +09:00
Andrew Tridgell a8adf187ae Plane: link in AP_Follow 
ready for ship landing
 2022-03-12 08:01:18 +09:00
Andrew Tridgell 29bad99038 Plane: removed terrain home correction 2022-03-12 08:01:18 +09:00
Andrew Tridgell e001fa9cc6 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
 2022-03-12 08:01:18 +09:00
Andrew Tridgell 392d879f56 Plane: prepare for 4.2.0beta1 2022-03-12 08:01:18 +09:00
Andrew Tridgell 868dbf6ef3 Plane: added release notes for 4.2.0beta1 2022-03-12 08:01:18 +09:00
Peter Barker 13fa1e30ad ArduPlane: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Andrew Tridgell b444420329 Plane: removed controller error in transmitter tuning 2022-02-22 12:23:48 +11:00
Andrew Tridgell e3e125c307 Plane: prepare for 4.1.7 2022-02-21 12:11:28 +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
Iampete1 42a2e1094c Plane: set failsafe limit for throttle left and right 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
Andrew Tridgell 5bb7b04343 Plane: added release notes for 4.1.7beta1 2022-02-12 09:00:51 +11:00
Peter Barker 458d43fc1e ArduPlane: send deprecated message warning for MAVLINK_MSG_ID_SET_HOME_POSITION 2022-02-10 12:13:43 +11:00
Iampete1 1ca1707f9f Plane: quadpalne: keep motors interlock state upto date with E-stop 2022-02-10 07:43:40 +09:00
Peter Barker d914e4e63b Plane: convert next WP alt to global frame in POSITION_TARGET_GLOBAL_INT 2022-02-09 16:09:41 +11:00
Peter Barker 10be59da17 ArduPlane: create and use location_from_command_t 2022-02-09 09:15:11 +11:00
Peter Barker e1314cc297 Plane: remove ancient convert_mixers 2022-02-08 12:19:55 +11:00
Peter Barker 4068d57930 Plane: correct spelling of mode_lotier_qland 2022-02-08 12:19:03 +11:00
Peter Barker 7c0b1f46d6 Plane: remove logging of STRT message 
SType is always 3 - and we're just about to log the entire
mission so CTOT is pointless
 2022-02-08 12:18:16 +11:00
Henry Wurzburg e82ad1ec24 ArduPlane: fix error in Tricks on a Switch qualifier 2022-02-08 11:54:38 +11:00
Peter Barker bab79d0094 ArduPlane: stop passing mission in Terrain constructor 
Terrain can use the mission singleton

This means Copter can have terrain while compiling mission out
 2022-02-08 11:20:20 +11:00
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
Peter Barker dd06a93c06 Plane: remove unused TRUE/FALSE defines 2022-02-07 21:20:21 +11:00
Peter Barker 9878701095 Plane: remove unused DEBUG define 2022-02-07 21:20:21 +11:00
Peter Barker 90310f4c6e Plane: remove unused 'ALT_CONTROL' enumeration 2022-02-07 21:20:21 +11:00
Henry Wurzburg ea9d35c99d ArduPlane: extend nav_scripting to all modes 2022-02-07 21:19:28 +11:00
Hwurzburg ad30d476c8 Plane: enforce acro rate limits in aerobatics scripting 2022-02-07 12:35:31 +11:00
Hwurzburg 0efb2f2048 Plane: disable TECS use during NAV_SCRIPT_TIME 2022-02-07 12:34:15 +11:00