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Commit Graph

3847 Commits

Author SHA1 Message Date
Iampete1
004f873dc7 Plane: update Quadplane FRAME_CLASS description 2021-01-26 11:07:36 +09:00
Andrew Tridgell
5f4b5c4b94 Plane: prevent failsafe from changing mode during landing 
this prevents RC or GCS failsafe from triggering a mode change during
a landing
 2021-01-26 11:17:10 +11:00
Peter Barker
87486739d1 Plane: disallow changing to INITIALISING mode 2021-01-26 10:47:27 +11:00
Randy Mackay
d487d6152e Plane: ahrs pre-arm always runs position checks 2021-01-26 10:46:49 +11:00
Peter Barker
95bc9cca79 ArduPlane: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Randy Mackay
0d0ff63242 Plane: ensure wp_nav::wp_and_spline_init is called at least once 2021-01-20 18:22:44 +11:00
Iampete1
e4fbe64616 Plane: add QuadPlane singleton 2021-01-19 11:18:10 +11:00
Peter Hall
05fb14e5d9 Plane: tailsitter start transition from initial pitch 2021-01-19 10:46:58 +11:00
Iampete1
4dec597372 Plane: move quadplane logging to QuadPlane: update() 2021-01-19 10:24:05 +11:00
Samuel Tabor
d97a81bfea Plane: Re-order logic in soaring.cpp. 2021-01-13 18:35:53 +11:00
Samuel Tabor
a8549f5e5f Plane: Use const method on modes classes to mark those that support auto switch to THERMAL mode. 2021-01-13 18:35:53 +11:00
Peter Barker
b698546b70 ArduPlane: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
Pierre Kancir
742cfc543f Plane: fix parameter unit 2021-01-12 10:21:55 +11:00
Josh Henderson
cc1e395854 ArduPlane: privatize AHRS logging 2021-01-12 10:13:22 +11:00
Peter Barker
6baaf03c8c Plane: move auto_throttle_mode to being a method on each mode 2021-01-10 16:04:30 +11:00
Peter Barker
f6cb1b5ad6 Plane: use a method on Mode for auto-navigation-mode 
Avoids the state getting stale, which it will with a failed attempt to
go into qautotune, for example.
 2021-01-10 16:04:30 +11:00
Peter Barker
a1ea1306a1 Plane: use pure-virtual method for allows_throttle_nudging 
In place of a state variable which could become stale
 2021-01-10 16:04:30 +11:00
Andrew Tridgell
6a804c3a09 Plane: update release notes for 4.0.8beta1 
# Conflicts:
#	ArduPlane/release-notes.txt
 2021-01-06 09:37:39 +11:00
Peter Hall
0c68ec7b5c Plane: add limit to pid log metadata 2021-01-05 10:27:28 +11:00
Andrew Tridgell
96c2a5c77c Plane: added scaling for Q_TAILSIT_VFGAIN 
this scales the vectoring in fixed wing flight to remove the impact of
surface speed scaling and add throttle scaling
 2021-01-05 08:23:28 +11:00
Andrew Tridgell
a0fcef6ceb Plane: added tilt vectoring in fixed wing modes 
this allows for vectoring for roll and pitch in fixed wing modes on
tilt-vectored quadplanes
 2021-01-05 08:23:28 +11:00
Michael du Breuil
2909623057 Plane: Ensure that only one form of throttle nudging is active at once 2021-01-03 12:47:14 +11:00
Hwurzburg
913d1b81b2 Plane: correct bug that prevents QACRO rudder disarm 2021-01-02 08:59:31 +11:00
Tom Pittenger
c653ff880a Plane: extend Stream rates param count to match MAVLINK_COMM_NUM_BUFFER 2020-12-29 07:52:09 -07:00
Peter Barker
9b2ef4f6f1 Plane: move rudder-arming arm checks into Plane's AP_Arming 2020-12-29 12:55:27 +11:00
Hwurzburg
5b471c4c0e Plane: move loiter,thermal out of auto fs group 2020-12-29 10:55:00 +11:00
Iampete1
33e397c524 Plane: tailsitter: output 0 tilt with 0 vector gain 2020-12-22 11:00:59 +11:00
Iampete1
c62c19c798 Plane: tailsitter: apply gain scailing to Tilts in motors only Qassist 2020-12-22 11:00:59 +11:00
Iampete1
54ee2c35fb Plane: rename tailsitter scailing max param to match min and update descriptions 2020-12-22 11:00:59 +11:00
Iampete1
0976979045 Plane: tailsitter: set motor limit flags 2020-12-22 11:00:59 +11:00
Iampete1
c8b3c91ae5 Plane: Tailsitter add disk theory and altitude gain scailing 2020-12-22 11:00:59 +11:00
Mark Whitehorn
9bf89e5635 Plane: add check for vectored tailsitter in tailsitter_transition_vtol_complete 2020-12-21 12:56:24 +11:00
Mark Whitehorn
dd7a860f23 Plane: always instantiate AC_AttitudeControl_TS 2020-12-21 12:56:24 +11:00
Mark Whitehorn
24508f08dc Plane: don't relax pitch attitude controller for vectored tailsitters in throttle_wait 
add is_vectored_tailsitter()
instantiate AC_AttitudeControl_TS for tailsitters
 2020-12-21 12:56:24 +11:00
Andrew Tridgell
8e3c6124eb Plane: added support for rear motor tilt 
needed for X8 tilt tri test aircraft for this PR
 2020-12-21 12:05:50 +11:00
Andrew Tridgell
e94cf561d0 Plane: use rull euler control for fwd transition of tilt vectored planes 
this gives strong yaw control and wind handling for tilt vectored
planes in forward transitions. It relaxes the yaw if the user either
demands yaw with stick input or plane navigation is demanding a roll
angle for a turn

When navigation is demanded we setup yaw rate for a coordinated turn
 2020-12-21 12:05:50 +11:00
Andrew Tridgell
abd5f8351d Plane: don't reset yaw target in TRANSITION_TIMER for tilt-vectored quadplanes 2020-12-21 12:05:50 +11:00
Andrew Tridgell
ad14e153e8 Plane: fixed tilt vectoring to cope with large tilt angles 
This uses vectoring for both roll and yaw when tilted, and uses
differential thrust for yaw when tilted
 2020-12-16 08:45:11 +11:00
Peter Barker
1307a2fea8 ArduPlane: add auxillary function to change to FBWA 2020-12-15 19:14:33 +11:00
Habibullah Oladepo
739fec001f Plane: Fix typos in Parameters.cpp 2020-12-13 10:51:38 -08:00
Tom Pittenger
04f6b2e26e Plane: remove unnecessary ::cork() in init 2020-12-11 17:48:11 +11:00
yaapu
141010ac39 ArduPlane: added virtual getters for waypoint info 2020-12-10 12:39:44 +11:00
Tom Pittenger
4a35159cba Plane: reset baro_takeoff_alt while disarmed 2020-12-09 18:17:53 +11:00
Andrew Tridgell
cd2f2f96eb rename barometer parameters to BARO prefix 2020-12-08 13:22:17 +11:00
Peter Barker
719ca3f95f Plane: be consistent about strings in fence auto-enable/disable 2020-12-08 12:26:35 +11:00
Andrew Tridgell
2d0201855e ArduPlane: moved init_safety to AP_Vehicle 2020-12-08 11:14:24 +11:00
Peter Barker
5fae2652ab ArduPlane: let AHRS get the airspeed sensor from the singleton 2020-12-07 15:57:28 -08:00
Hwurzburg
8658023dad Plane: Add lower CHECK_SCALE defaults for QuadPlane 2020-12-07 11:49:01 +11:00
Andrew Tridgell
cd6ddf7d4f Plane: fixed disable of geofence on quadplane landing 
fixes #15917
 2020-12-02 18:33:07 +11:00
Andrew Tridgell
52f61c7ac1 Plane: make FENCE_AUTOENABLE an AP_Enum 2020-12-02 18:33:07 +11:00
Andrew Tridgell
d984ddc163 Plane: apply circular limits to QLOITER pilot angles 
This uses the same logic as Copters get_pilot_desired_angle() to apply
a circular limit and the limits in Q_ANGLE_MAX and Q_LOIT_ANG_MAX to
loiter pilot angles.

Co-authored-by: Kris <kris968658@gmail.com>
 2020-12-01 11:22:49 +11:00
Hwurzburg
3cdcce2123 ArduPlane: add inflight airspeed cal rc switch 2020-11-25 21:30:15 +11:00
Gone4Dirt
70246059ed Plane: Move AP_Generator to AP_Vehicle 2020-11-24 12:54:52 +11:00
Iampete1
0e50023593 Plane: tailsitter: use true hover throttle in VTOL transision. 2020-11-18 19:33:21 +11:00
Iampete1
dd3ac893b3 Plane: dont use VTOL throttle percentage in tailsitter vtol transisiton 2020-11-18 19:33:21 +11:00
Hwurzburg
5e8e088978 ArduPlane:Add safety limit on tailsitter VTOL transition throttle 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2020-11-17 11:21:17 +11:00
Iampete1
42887891be Plane: tailsitter: make sure alt target is abover current alt 2020-11-17 10:15:27 +11:00
Iampete1
f480f4e946 Plane: tailsitter: fix Qassist back - transision 2020-11-17 10:15:27 +11:00
Iampete1
c03de6bdbe Plane: log Qassist state 2020-11-17 10:15:27 +11:00
Andy Piper
fa454da315 Plane: allow OSD for TX-only screens 2020-11-11 18:13:11 +11:00
Andrew Tridgell
eea62bf733 Plane: added optional ground effect compensation for quadplanes 
this allows for landings in aircraft badly effected by ground effect
to be compensated for
 2020-11-10 12:05:48 +11:00
giacomo892
9b4441011c ArduPlane: Fix throttle nudge reset due to wrong radio timing 2020-11-10 10:20:23 +11:00
Mark Whitehorn
c054218568 Plane: report quadplane setup errors in config_error loop 2020-11-05 15:04:10 +11:00
Iampete1
2d80dcd937 Plane: remove tailsitter VTOL transition race condition 2020-11-04 18:34:00 +11:00
Iampete1
5f67f8130b Plane: tailsitters use Z stopping point on transition 2020-11-04 18:34:00 +11:00
Iampete1
024d2b7435 Plane: always output flaperons and dspoilers 2020-11-03 10:44:07 +11:00
Iampete1
b225ae43ab Plane: always log tailsitter scalefactor 2020-11-03 10:38:51 +11:00
Iampete1
840f129153 Plane: remove unused tailsitter scailing option 2020-11-03 10:38:51 +11:00
Andrew Tridgell
e5d580412e Plane: fixed usage of rangefinder in landing with RNGFND_LANDING=0 
this fixes two places where rangefinder can affect landing when
RNGFND_LANDING=0
 2020-11-03 10:08:00 +11:00
Iampete1
e6ba53856a Plane: tailsitter: ask for FW state don't check 2020-10-27 11:04:52 +11:00
Hwurzburg
cf055fd1e0 Plane: add midposition to flare RC option sw 2020-10-27 10:47:07 +11:00
Mark Whitehorn
85480c8865 Plane: update frame_type parameter description 2020-10-27 10:24:20 +11:00
Randy Mackay
0362895720 Plane: integrate ahrs::get_variances change 
offset is no longer returned
 2020-10-21 08:58:45 +09:00
Iampete1
8885aa255d Plane: correct logger Message spelling error 2020-10-14 08:17:25 +11:00
Iampete1
916b35eec8 Plane: add EAS2TAS to CTUN 2020-10-13 15:18:36 +11:00
Hwurzburg
b61ee34b6b ArduPlane: add RC option for landing flare 2020-10-13 11:36:19 +11:00
Samuel Tabor
9eef30294f Plane: Separate soaring update in mode_thermal to avoid loop rate issues. 2020-10-13 10:25:32 +11:00
Samuel Tabor
31c681c1cf Plane: Move soaring functions to mode_thermal. 2020-10-13 10:25:32 +11:00
Iampete1
2820228ad6 Plane: only do_change_speed within FBW min and max 2020-10-13 10:21:52 +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
Randy Mackay
60b4953751 Plane: integrate ahrs.pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay
eeaf135cca AP_Arming: integrate ahrs.pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay
92f34a19d3 Plane: integrate parachute check_sink_rate 
this was previously part of the update function.  It can be run before or after the update
 2020-10-06 16:14:59 +11:00
Peter Barker
2783257aa4 Plane: correct compilation when logging disabled 2020-10-06 11:25:09 +11:00
Andrew Tridgell
9f3afe5434 Plane: update release notes for 4.0.7beta1 2020-10-02 15:16:40 +10:00
Iampete1
fb467da473 Plane: use Plane target yaw for ATT log 2020-09-30 18:15:42 +10:00
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
Iampete1
b61cf72b8c Plane: tailsitters in Qassist inherit motor state 2020-09-30 18:12:44 +10:00
Andrew Tridgell
cfcd17f0d1 Plane: fixed bug in RC_Channel::has_valid_input 
needs to go false when no RCIN and THR_FAILSAFE=2. This prevents ICE
library from using RC input
 2020-09-29 10:43:41 +10:00
Samuel Tabor
589382cbb4 Plane: Add THERMAL mode to Parameters.cpp metadata. 2020-09-25 11:34:48 -07:00
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
Samuel Tabor
10111f92d5 Plane: Rename SOARING_ENABLED to HAL_SOARING_ENABLED and don't compare to ENABLED. 2020-09-24 07:30:48 +10:00
Samuel Tabor
0a738395fa Plane: Add THERMAL mode for thermal soaring. 2020-09-24 07:30:48 +10:00
Patrick José Pereira
c19801d420 ArduPlane: Use new AP_FWVersionDefine header 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-09-23 20:58:35 +10:00
Peter Barker
15372e9213 ArduPlane: replace '@User: User' with '@User: Standard' 2020-09-22 14:56:04 +10:00
Tatsuya Yamaguchi
c67a924801 Plane: replace message indicating that initialisation has completed 2020-09-22 09:52:52 +10:00
Andy Piper
c057be8ed1 Plane: conditionally compile ADSB support 2020-09-22 09:33:51 +10:00