Andrew Tridgell
f3d4380874
Plane: limiting POS1 landing target speed
...
prevent very high target speeds when the target velocity profile is
above the initial speed in POSITION1. Always allow up to 2*Q_WP_SPEED,
but don't go above the initial speed
2021-11-23 09:53:50 +11:00
Andrew Tridgell
d9ab125d8f
Plane: limited VFWD integrator to cruise throttle
...
in some situations (such as when landing approach is disabled) the
vfwd integrator can wind up to extreme values. This can put a huge
load on an electric quadplane as it is running both forward and vtol
motors, and the downforce from being nose down can be extreme.
It should never need to go above the cruise throttle in any reasonable
situation, so limit it to cruise to ensure we don't apply too much
forward throttle
2021-11-23 09:15:34 +11:00
Andrew Tridgell
2a862bd663
Plane: display VTOL pos1 state change when approach disabled
2021-11-23 09:06:30 +11:00
Andrew Tridgell
77c0383fe2
Plane: added QRTL as RCn_OPTION
2021-11-22 07:48:05 +11:00
Andrew Tridgell
157f4593da
RC_Channel: added QRTL mode on a switch
2021-11-22 07:46:13 +11:00
Andrew Tridgell
5a26b15652
Plane: fixed chute release on low value of RC option
...
only release on flag high
fixes #18843
2021-11-18 15:19:41 +11:00
Andrew Tridgell
37a1b32944
Plane: prepare for 4.1.3 release
2021-11-16 16:06:10 +11:00
Andrew Tridgell
7a0ebbdb4d
Plane: update release notes for 4.1.3
2021-11-16 16:05:41 +11:00
Andrew Tridgell
27e1c66193
ChibiOS: fixed mkdir DMA for 4.1
2021-11-16 12:02:52 +11:00
Andrew Tridgell
0168b23db1
Plane: suppress spurious EKF yaw reset message
...
this makes plane match copter, emitting a yaw reset event, but not
worrying user. This message came out on each boot when EKF3 first
became active
2021-11-15 14:56:01 +11:00
Andrew Tridgell
28e5f255b7
hwdef: added alternative Durandal 20602 IMU
2021-11-11 08:29:39 +11:00
Andrew Tridgell
ea139ddd1e
Plane: enable fixed wing autotune switch
2021-11-09 20:35:38 +11:00
Andrew Tridgell
4e4a9083d4
RC_Channel: added fixed wing autotune rc option
2021-11-09 20:35:38 +11:00
Andrew Tridgell
4f2e96901b
Plane: prepare for 4.1.3beta1 release
2021-11-09 09:26:16 +11:00
Andrew Tridgell
9d3f4adca3
Plane: rename release-notes.txt to ReleaseNotes.txt
2021-11-09 09:25:51 +11:00
Andrew Tridgell
dfb45597d2
Plane: update release notes for 4.1.3beta1
2021-11-09 09:24:13 +11:00
Andrew Tridgell
0160782857
Plane: allow for new guided destination during guided takeoff
...
if you set a very high alt for takeoff this is useful
2021-11-09 08:36:27 +11:00
Andrew Tridgell
b6449f41c2
Plane: fixed overshoot in guided takeoff of quadplanes
2021-11-09 08:03:28 +11:00
Andrew Tridgell
bb60c7280c
AP_ADSB: bugfix vertical velocity sign was backwards
2021-11-09 07:49:05 +11:00
Andrew Tridgell
cfbbeea1ec
AP_NavEKF3: fixed switch to non-zero primary on disarm
...
if EK3_PRIMARY is not zero then we were not switching to it when
disarmed
2021-11-09 07:44:41 +11:00
Andrew Tridgell
77ca90b3d0
Plane: default rate max to 75 for quadplane VTOL
...
this reduces overshoot when VTOL tune is less than ideal
2021-11-09 07:43:33 +11:00
Andrew Tridgell
418c5bd036
Plane: fixed a bug in POSITION1 speed thresholds (for plane 4.1)
...
we were comparing two different speeds in the threshold for going to
Q_WP_SPEED limit. The reason the two speeds were different was the
wp_nav init happened before the defaults were setup for quadplanes
this fixes both bugs
2021-11-06 12:30:15 +11:00
Andrew Tridgell
9f5b91036c
AP_UAVCAN: added CAN_Dn_UC_OPTION parameter
...
this allows for 2 ways of controlling conflicts in the UAVCAN DNA
database. The first is to set CAN_Dn_UC_OPTION to 1, which resets the
DNA database, thus clearing any node conflicts.
The second is to set CAN_Dn_UC_OPTION to 2, which ignores node
conflicts in the DNA database
These options are useful for vehicles with UAVCAN smart batteries
where the node ID is fixed but the hwid changes and you want to do
battery swapping (possibly without rebooting)
2021-11-03 05:51:27 +11:00
Andrew Tridgell
040c83176e
git: changed to https git protocol
2021-11-02 19:31:14 +11:00
Mohammad Hefny
4d3dde9d30
AP_Notify: link to notify module
2021-11-01 10:51:58 +11:00
Mohammad Hefny
316a0e3d11
AP_Batt: link to battery monitor
2021-11-01 10:51:58 +11:00
Mohammad Hefny
ffa8412df5
AP_HAL_Linux: define board features on Linux module
2021-11-01 10:51:58 +11:00
Mohammad Hefny
565b6f5ef9
AP_HAL: define board features
2021-11-01 10:51:58 +11:00
Andrew Tridgell
0ddb5c565e
Tools: define obal board
2021-11-01 10:51:58 +11:00
Andrew Tridgell
19574ec8f8
Plane: suppress rate D terms in ground mode
...
this prevents a common oscillation issue on the ground
2021-10-30 18:52:06 +11:00
Andrew Tridgell
0404b7cb4f
APM_Control: suppress roll/pitch D term in ground_mode
...
prevent oscillations which are quite common
2021-10-30 18:49:34 +11:00
Andrew Tridgell
833f4945ed
Plane: avoid qpos approach when very close to destination
...
this prevents a fwd transition when doing something like LOITER_TIME
close to a VTOL_LAND wp. We use 1.5 times the stopping distance at
cruise airspeed for the threshold
2021-10-29 11:14:10 +11:00
Andrew Tridgell
e1accc9a30
Plane: fixed VTOL state error when using Q_ENABLE=2
...
this ensures the poscontrol state is reset if it has not been
initialised before a VTOL loiter operation
thanks to Pete Hall for finding this
2021-10-29 11:14:10 +11:00
Samuel Tabor
0de9ebe77d
ArduPlane: altitude: rangefinder correction should be relative to the altitude source being used for navigation. This avoid applying it twice when there is an existing correction saved.
2021-10-26 10:49:00 +11:00
Samuel Tabor
ab74913c83
AP_Landing_Slope: Log height used for flare timing.
2021-10-26 10:49:00 +11:00
Samuel Tabor
07962a2a59
autotest: fly_mission should respect mission_timeout when waiting for wps.
2021-10-26 10:49:00 +11:00
Samuel Tabor
0cd985bf3a
autotest: Add plane test for landing with barometer drift.
2021-10-26 10:49:00 +11:00
Iampete1
9c9bc6b20f
Plane: Quadplane: allow scripting matrix frame class
2021-10-20 18:41:42 +11:00
Andrew Tridgell
20416b38b2
Plane: prepare for 4.1.2 release
2021-10-17 15:49:55 +11:00
Andrew Tridgell
1180850cfe
Plane: update release notes for 4.1.2
2021-10-17 15:49:46 +11:00
Andrew Tridgell
ed53f62457
Plane: prepare for 4.1.2beta2
2021-10-16 20:44:47 +11:00
Andrew Tridgell
e83c9bb071
Plane: update release notes for 4.1.2beta2
2021-10-16 20:43:55 +11:00
Randy Mackay
94163667d2
Copter: version to 4.1.1-rc1
2021-10-16 20:43:55 +11:00
Randy Mackay
699b3060fe
Copter: 4.1.1-rc1 release notes
2021-10-16 20:43:55 +11:00
Bill Geyer
b260dcc7e2
Copter: fix tradheli landing detector bug
2021-10-16 20:43:55 +11:00
Pierre Kancir
f590ab0676
Copter: fix takeoff end report on EXTEND_STATE
...
regression from https://github.com/ArduPilot/ardupilot/pull/18700 .
thanks to @arduouspilot on discuss to notice this, see https://discuss.ardupilot.org/t/extended-sys-state-never-changes-once-guided-takeoff-is-started/76996/3
2021-10-16 20:43:55 +11:00
Ben Wolsieffer
1d634cc2be
AP_Control: apply pitch rate limit to turn coordination
...
At high bank angles, for example when rolling to/from inverted, a large turn
coordination pitch rate offset is requested. Before this patch, this offset was
not subject to the configured pitch rate limit, which could result in pitch
controller integrator windup.
2021-10-16 19:52:45 +11:00
Andrew Tridgell
9c8648d99c
Plane: don't apply fw pitch limit in VTOL control for tailsitters
...
tailsitters may have narrow fixed wing limits but need high limits for
landing in high wind
found this on a HWing which was essentially impossible to auto land
2021-10-16 19:52:45 +11:00
Andrew Tridgell
5cc1345ca5
AP_RCProtocol: check for RC protocol switching enable
...
by default don't allow protocol switching after initial protocol is
found
2021-10-16 19:52:45 +11:00
Andrew Tridgell
3812469b33
RC_Channel: added RC_OPTION bit for allowing RC protocol switching
...
this is meant to prevent accidential switching to a disconnected pin
2021-10-16 19:52:45 +11:00
