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180 Commits

Author SHA1 Message Date
George Zogopoulos 3b247a346a Plane: TKOFF_THR_MIN is applied to SLT transitions 
Also split in_transition() to forward and backward.
 2024-08-28 18:18:55 +10:00
George Zogopoulos 773c91cec1 ArduPlane: Added minimum throttle during TAKEOFF mode 
This is a rework so that servos.cpp is responsible for setting the
throttle limits under more circumstances and always notifies TECS when
it does so.

Additionally, the TAKEOFF mode has been improved with a new parameters
TKOFF_MODE and TKOFF_THR_MIN that extend the throttle behaviour.
 2024-07-29 15:50:32 +10:00
Iampete1 6b32227d2f Plane: output nav scripting throttle with rest of nav scripting stuff 2024-02-13 10:50:03 +11:00
Andrew Tridgell ee884ab137 ArduPlane: convert LAND_PITCH_CD to LAND_PITCH_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell 17d6192e22 ArduPlane: convert LIM_PITCH_MIN/MAX -> PTCH_LIM_MIN/MAX_DEG 2024-01-23 15:00:30 +11:00
Tim Tuxworth 3cf0de2224 Plane: convert parameter TRIM_PITCH_CD to TRIM_PITCH_DEG 2024-01-23 15:00:30 +11:00
Iampete1 a6206bde3c Plane: move to new `using_airspeed_sensor` ahrs method 2023-10-31 10:39:21 +11:00
Mykhailo Kuznietsov b7c040e8bc ArduPlane: Fix some typos 
Fixed some typos found in the code.
 2023-10-12 18:30:42 +11:00
Andy Piper f25e67e3eb Plane: add option to scale FF in VTOL modes based on ratio of angle gains 2023-09-13 18:02:44 +10:00
Andrew Tridgell 94201f12c6 Plane: use deadzone in stick mixing 
this prevents small RC input deviations from impacting non-pilot
controlled modes via stick mixing
 2023-09-10 12:25:40 +10:00
Iampete1 045cde5fcf Plane: output rudder and steering directly removing steering_control struct 2023-08-05 08:41:05 +10:00
Iampete1 2254252aff Plane: move mode manual reset into run function removing manual early return 2023-05-24 18:19:53 +10:00
Iampete1 0d6d16d4e4 Plane: Quadplane: move modes fully to run function 2023-05-23 09:52:55 +10:00
Iampete1 4ca071045c Plane: move defualt attitude control to base class 2023-05-02 09:29:40 +10:00
Iampete1 6111e9d9db Plane: move Stabilize functions into mode 2023-05-02 09:29:40 +10:00
Henry Wurzburg b4c79c9105 Plane:add FlightOptions helper 2023-04-26 17:35:25 +10:00
Iampete1 74e4466cb4 Plane: use dedicated quadplane function for stick mixing enable 2023-04-25 10:06:50 +10:00
Iampete1 5ec479579f Plane: move guided roll, pitch and throttle overrides upto guided mode 2023-04-18 09:36:06 +10:00
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
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
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
Andrew Tridgell 7735614634 Plane: implement set_rudder_offset() 2023-02-08 16:25:39 +11:00
Iampete1 d928e8b002 Plane: stop passing speed_scaler all over the place 2023-02-07 10:17:09 +11:00
Iampete1 2d51b2c9b8 Plane: remove direct roll/pitch stick mixing support 2023-02-01 18:45:10 +11:00
Henry Wurzburg 10b69e1c1f Plane:expand yaw autotune to other modes 2023-01-31 10:02:16 +11:00
Leonard Hall 0bc5e68aed Plane: Support changing update period 2022-12-13 17:10:06 +11:00
Andrew Tridgell 49d0a4906a Plane: added turn corrdination to autotune yaw rate tuning 
this makes it much easier to do a yaw rate autotune, and also means
you don't need to use the rudder stick at all, as the yaw controller
is already exercised nicely with roll movements, so overall the tune
is faster and more accurate as less cross-axis coupling
 2022-12-06 09:02:44 +11:00
Peter Barker de4dda2d17 ArduPlane: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Andrew Tridgell 41fbbd92bc Plane: zero error on release of sticks 
this locks the attitude at exactly the stick release position on each
axis

thanks to Adrian Nagy for feedback
 2022-11-02 07:55:37 +11:00
Andrew Tridgell 499fe79221 Plane: implement quaternion based ACRO mode 
when ACRO_LOCKING=2 this implements a quaternion based ACRO
controller, which allows for accurate rolls and knife edge
 2022-11-01 15:00:26 +11:00
Andrew Tridgell 500ac9b99c Plane: cleanup abort of NAV_SCRIPT 
use the same enable flag for tricks and auto NAV_SCRIPT_TIME and
ensure we disable if the script stops controlling
 2022-10-29 21:22:29 +11:00
Andrew Tridgell bffc09eaf5 Plane: fixed yaw rate tuning in AUTOTUNE mode 
don't reset yaw rate controller continuously while we are trying to
use it
 2022-10-23 12:18:20 +11:00
MatthewHampsey 1dc18ec85a Plane: reset yaw rate PID for scripting 2022-09-22 05:55:15 +10:00
Iampete1 6358a3c962 Plane: add min airspeed arming check and constrain for speed scailing 2022-09-06 09:01:26 +10:00
Iampete1 5a53e22886 Plane: correct extened range airspeed scailing limits 2022-09-04 10:54:41 +10:00
Iampete1 a592f76282 ArduPlane: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
Iampete1 b017fc2196 ArduPlane: allow FBWB alt control option in LOITER 
Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
 2022-05-22 12:09:43 +10:00
Sanket Sharma 594160daf3 Plane: Updated highest airspeed limit when armed 2022-04-18 14:54:57 +10:00
Iampete1 a7bc844780 Plane: never stick mix without valid RC input 2022-03-09 18:26:30 +11:00
Iampete1 54e57ccff0 Plane: don't prevent stick mixing in none RC failsafe 2022-03-08 11:21:13 +11:00
Henry Wurzburg ea9d35c99d ArduPlane: extend nav_scripting to all modes 2022-02-07 21:19:28 +11:00
Andrew Tridgell fb019eb0f3 Plane: add a low pass filter to speed scaler 
this is needed due to the filtering done on the target rate in
AC_PID. With a low filter rate in AC_PID a step in the speed scaler
results in a step in the FF output due to the mismatch in the
instantaneous SS and the filtered target rate
 2021-12-29 18:36:05 +11:00
Andrew Tridgell 336b666f83 Plane: fixed stick mixing and throttle nudge in QRTL approach 
thanks to Henry for noticing this
 2021-12-28 16:04:12 +11:00
Andrew Tridgell e342ce0da4 Plane: fixed reset of steering locked course 
reset when we have not been steering for 1s, to ensure that an old
locked course is not used
 2021-12-04 07:41:35 +11:00
Andrew Tridgell 56870ad7d6 Plane: use yaw rate controller in NAV_SCRIPT_TIME 2021-11-30 16:19:26 +11:00
Andrew Tridgell 55d8afa1dd Plane: support autotune for yaw rate control 2021-11-30 16:19:26 +11:00
Andrew Tridgell b619ee4970 Plane: added support for rate yaw control 
to enable for ACRO mode, set ACRO_YAW_RATE to desired maximum rate in
degrees/second, and set YAW_RATE_ENABLE=1 to enable PID tuning of yaw
rate controller

pair programmed with Andy Palmer and Matthew Hampsey
 2021-11-30 16:19:26 +11:00
Hwurzburg 5cafccd447 ArduPlane: fix flare rc switch action with flight option bit 10 active 2021-11-21 21:00:04 +11:00