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385 Commits

Author SHA1 Message Date
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
Peter Barker 74dbcac40e ArduPlane: log disarm method 2020-02-22 12:16:29 +11:00
Andrew Tridgell 7a14992cce Plane: reset TECS at end of auto VTOL takeoff 2020-02-16 17:04:07 +11:00
Andrew Tridgell 0bfab20bd0 Plane: fixed a bug in LOITER_TURNS in quadplanes 
if NAV_LOITER_TURNS is used with Q_GUIDED_MODE=1 then we would orbit
forever. This ensures we do exit the loiter
 2020-02-12 13:52:32 +11:00
Peter Hall a2e72de5ae Plane: move to airspeed_estimate with pointer 2020-01-14 22:34:37 -07:00
Gone4Dirt 760909d046 Plane: Prevent FS action overiding VTOL land 2019-12-31 11:42:59 +11:00
Mark Whitehorn 56b2c697d2 Plane: change tailsitter_input to bitmask 
update parameter metadata for Q_TAILSIT_INPUT and Q_FRAME_TYPE
 2019-12-18 08:33:29 +11:00
Mark Whitehorn c16f3a2cba Plane: simplify body-frame roll axis swapping and constrain yaw rate max 2019-12-18 08:33:29 +11:00
Mark Whitehorn 14fc6c5446 Plane: add logging for tailsitter gainscaling and clean up tailsitter body-frame roll input handling 
fix metadata for tailsitter param GSCMSK
rework roll/yaw scaling for body-frame roll options
add constraints on body-frame roll and yaw inputs
move speed_scaler logging into QTUN message
 2019-12-18 08:33:29 +11:00
kd0aij 95da094bfe Plane: update tailsitter speedscaling logic 
add tailsitter gain scaling option mask and logging
tailsitter qassist bugfix; thanks, @iampete
apply roll limit in tailsitter bodyframe roll control
add define for future exclusion of tailsitter gainscaling debug code/logging
tailsitter bodyframe roll and qacro input scaling bugfixes:
  respect Q_TAILSIT_RLL_MX and roll/yaw scale parameters in bodyframe roll modes
  fix unintended swap of Q_ACRO_RLL/YAW_RATE params in QACRO mode
don't scale motor tilt

Co-authored-by: IamPete1 <33176108+IamPete1@users.noreply.github.com>
 2019-12-18 08:33:29 +11:00
Peter Barker 1fdb4b429f Plane: use https:// scheme for ardupilot URLs 2019-12-10 07:53:46 +11:00
Andrew Tridgell 36baaeb3a0 Plane: added option to run idle governor in MANUAL mode 
useful for quadplane testing
 2019-11-17 20:10:54 +11:00