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4588 Commits

Author SHA1 Message Date
bugobliterator 0662cfac07 ArduPlane: move sysid_my_gcs to be public 2023-10-13 16:28:51 +09:00
Andrew Tridgell 075f8685cc Plane: prepare for 4.4.1 release 2023-10-13 16:28:51 +09:00
Andrew Tridgell 3853b6edde Plane: release notes for 4.4.1 2023-10-13 16:28:51 +09:00
Randy Mackay 1bafd9d18c Plane: version to 4.4.1-beta2 2023-09-14 14:17:01 +09:00
Randy Mackay 406a341de1 Plane: 4.4.1-beta2 release notes 2023-09-14 14:17:01 +09:00
Andrew Tridgell d6973b2e4a Plane: prepare for 4.4.1-beta1 2023-09-05 19:42:25 +09:00
Andrew Tridgell afda6702f9 Plane: release notes for 4.4.1-beta1 2023-09-05 19:42:25 +09:00
Andrew Tridgell 5b61793b33 Plane: fixed nav_roll/nav_pitch when waiting for VTOL takeoff 
the nav_roll_cd and nav_pitch_cd were not being set in the VTOL
takeoff code when disarmed. This led to small increments accumulating
in the stick mixing code, leading to large control surface movements
before arming
 2023-09-05 19:42:25 +09:00
Andrew Tridgell dc41723823 Plane: prepare for 4.4.0 2023-08-18 17:37:41 +09:00
Andrew Tridgell 44f24db7a7 Plane: release notes from 4.4.0 2023-08-18 17:37:41 +09:00
Andrew Tridgell bd0a91e2df Plane: prepare for 4.4.0-beta5 2023-08-14 08:49:48 +09:00
Andrew Tridgell 3601dea9e7 Plane: update release notes for 4.4.0beta5 2023-08-14 08:49:48 +09:00
Nicholas Ionata 3a7c0a6e7e Plane: reset target altitude time on mode enter 2023-08-14 08:49:48 +09:00
Andrew Tridgell 0a3c50ab4b Plane: prepare for 4.4.0-beta4 2023-08-14 08:49:48 +09:00
Andrew Tridgell fa4256edac Plane: update release notes for 4.4.0-beta4 2023-08-14 08:49:48 +09:00
Michael du Breuil d339a41ba5 Plane: On vtol landings if from a mission perform crosstracking 2023-08-01 16:51:27 +09:00
Andrew Tridgell 4e0237da4a Plane: update release notes 2023-07-04 15:12:55 +09:00
Andrew Tridgell 58d66d7a1e Plane: prepare for 4.4.0beta3 2023-07-04 15:12:55 +09:00
Andrew Tridgell 90d715e7c2 Plane: update release notes for 4.4.0beta3 2023-07-04 12:17:52 +09:00
Andrew Tridgell 4832295f47 Plane: fixed transition started airspeed message 
this message was lost in recent refactoring
 2023-07-04 12:17:52 +09:00
Paul Riseborough 96f23868f2 Plane: Fix bug that can cause early exit from loiter to alt and time wp's 
The check for the aircraft being lined up for a tangent exit has an early breakout condition if the next waypoint is too close to the loiter circle which can prevent the required ground course to waypoint ever being achieved. This check was using the WP_LOITER_RAD parameter value, not the actual radius being used which can be set differently by the mission plan. If a large value for WP_LOITER_RAD was set and being over-written by the mission plan with a smaller value compatible with the distance to the next waypoint, the aircraft would still exit early.
 2023-07-04 12:17:52 +09:00
Andrew Tridgell 8395e38974 Plane: fixed TECS state reset in VTOL auto 
this fixes a bug where TECS maintains its slow integrator while in a
VTOL hover mode in AUTO or GUIDED.

Among other things this affects PAYLOAD_PLACE and
DO_VTOL_TRANSITION. In those states the height can change while
hovering outside the control of TECS. When TECS regains control in a
fwd transition then can lead to a very large height loss or gain until
the TECS integrator can catch up
 2023-07-04 12:17:52 +09:00
Andrew Tridgell 1ca9af90a6 Plane: improved fwd throttle during VTOL landing 
this sets up the vwd integrator more reasonably when we are in
POSITION1 stage of VTOL landing. We need to have enough throttle to
cope with a headwind, but want it lower when we are at or above our
target closing speed so can minimise the amount of pitch up

This also makes the landing_desired_closing_velocity() consistent with
the landing speed used in approach, using average of airspeed min and
cruise speed if TECS_LAND_ARSPD is not set

The target airspeed for TECS during airbraking is now set to
ARSPD_FBW_MIN, on the basis we are trying to slow down to min speed,
and we have VTOL support which should prevent a stall.

To cope with a high headwind where ARSPD_FBW_MIN is below the headwind
we now check for too low achieved closing speed and switch to
POSITION1 which can use vfwd to get to the landing location
 2023-07-04 12:17:51 +09:00
Henry Wurzburg 5169382677 Plane: Make mode takeoff entry climb to TKOFF_ALT before loitering 2023-07-04 12:17:51 +09:00
Henry Wurzburg c3528c5c9e Plane: fix error in Qplane wait for rudder neutral 2023-07-04 12:17:51 +09:00
Andrew Tridgell abb3bcfb1d Plane: prepare for 4.4.0beta2 2023-07-04 12:17:51 +09:00
Andrew Tridgell 6d71a4a5c6 Plane: adjust 4.4.0beta2 release notes 2023-07-04 12:17:51 +09:00
Andrew Tridgell 245851b9b5 Plane: release notes for 4.4.0-beta2 2023-06-08 10:05:36 +09:00
Andrew Tridgell 32a0194940 Plane: fixed release notes history 
was missing 4.3.5
 2023-04-22 13:01:06 +10:00
Andrew Tridgell 7fd85dd860 Plane: prepare for 4.4.0beta1 2023-04-21 09:48:59 +10:00
Andrew Tridgell 06b39878f7 Plane: release notes for 4.4.0beta1 2023-04-21 09:48:59 +10:00
bugobliterator 75aaebc758 ArduPlane: change INS_ to INS 2023-03-21 10:04:16 +11:00
Tom Pittenger 3ac55f97b1 Plane generalize Aux Switch VTOL abort for any plane abort landings 2023-03-15 13:31:43 -07:00
Henry Wurzburg a86ff90b97 ArduPlane: add AUTO VTOL landing abort AUX sw 2023-03-14 10:52:23 +11:00
Randy Mackay c12e15f580 Plane: remove unused do-control-video 2023-03-09 12:24:05 +11:00
Iampete1 d97bd6f5c3 Plane: titrotor: is_motor_tilting: dont cast to uint8 2023-03-07 10:28:11 +11:00
Tom Pittenger 96ee3651d2 Plane: Auto takeoff roll-limits to use TKOFF_LVL_ALT 2023-03-02 09:24:13 +11:00
Randy Mackay d9795d3580 Plane: integrate camera frontend/backend split 2023-03-01 18:18:51 +11:00
Andrew Tridgell 8637f2d9c6 Plane: release notes for 4.3.4 2023-03-01 12:58:01 +11:00
Andrew Tridgell a0634d8b5b Plane: constrain tilt range for vectored yaw 
this prevents a case where we can demand unlimited vectored yaw,
leading to loss of control

this was particularly noticible before the fix in #23023 - if you
armed for a 2nd time in QHOVER after moving the throttle above 10% so
throttle_wait was cleared then the motors would try to tilt fully so
one motor is in fwd flight position. This would cause a prop strike
while on the ground
 2023-02-26 08:52:16 +11:00
Andrew Tridgell 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
Tom Pittenger 7a6f398668 Plane: add TKOFF_GND_PITCH 2023-02-23 11:12:39 +11:00
Iampete1 eefa3b1ce4 Plane: move training mode function to mode training 2023-02-22 19:26:59 +11:00
Iampete1 f6b0c3775c Plane: move mode acro functions to mode acro 2023-02-22 19:26:59 +11:00
Peter Barker c18276e19b ArduPlane: add support for mavlink in-progress message 2023-02-21 17:07:41 +11:00
Iampete1 50eaa1cc54 Plane: move acro stabilization into mode acro 2023-02-21 11:27:24 +11:00
Iampete1 6bb0096b9d Plane: move training stabilize function to training mode 2023-02-21 11:27:24 +11:00
Iampete1 549dd3875d Plane: add mode ahrs convenience refence 2023-02-21 11:27:24 +11:00
Andrew Tridgell 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
Iampete1 5586f4ad3a Plane: arming: modes: don't always display 2023-02-20 10:55:32 +00:00