Andrew Tridgell
b749756c29
Plane: setup SMAX for Q modes
...
this enables logging of rates, which helps with tuning
2021-04-13 10:28:47 +10:00
Peter Hall
105f94f1fd
Plane: tailsitter: transistion to and from inverted flight
2021-04-13 10:02:28 +10:00
Peter Hall
5a941ce02f
PLane: tailsitter: instant transition when disarmed
2021-04-07 17:55:48 +10:00
Peter Hall
33f9e3d4b6
plane: add tailsitter transision rates, give more info in transision complete messages
2021-04-07 17:55:48 +10:00
Iampete1
75dc0ced10
Plane: Quadplane: remove outdated Z controller reset
2021-04-07 17:37:30 +10:00
Iampete1
d1fabe0c3d
Plane: VTOL: remove motors config error
2021-03-30 10:58:05 +11:00
Iampete1
e81dc36ed6
Plane: add option do do a VTOL approach RTL
2021-03-29 11:29:12 +11:00
Hwurzburg
8aabf7c22a
Plane: Add VTOL descent rate, convert existing rate to climb rate only
...
Co-authored-by: Reko Merio K9260@student.jamk.fi
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
2021-03-23 14:32:46 +11:00
Hwurzburg
d15e01d390
Plane: fix DO_CHANGE_SPEED airspeed to impact only AUTO and GUIDED modes
2021-03-16 10:09:34 +11:00
James O'Shannessy
5dd40afe0a
ArduPlane: Retrigger fence breach if mode
...
ArduPlane: Move auto enabling code to common fence library
2021-03-05 14:52:46 +11:00
James O'Shannessy
8a99d9dd00
ArduPlane: Use auto enable and auto disable from AC_Fence
2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
4f7ffc5eb1
Plane: move fence disable code to a function to enable reusability
2021-03-05 14:52:46 +11:00
Randy Mackay
4c8ada111b
Plane: quadplane defaults Q_WP_SPEED to 500
...
Q_WP_ACCEL default is set to 100
2021-03-03 08:03:39 +09:00
Iampete1
1d050a01ce
Plane: Quadplane: add Q_OPTION to ignore forward flight angle limits in Q modes
2021-03-02 11:16:35 +11:00
Iampete1
8ebe64a274
Plane: Quadplane disable forward motor assist in Q modes if rangefinder is out of range low
2021-02-28 18:48:56 +11:00
Andrew Tridgell
44df1dd0ca
Plane: fixed the pitch control in transition for tilt rotors
...
this fixes an issue found by Henry. If level transition is set when
transitioning to FBWA from a Q mode, and the pilot pulls back on the
pitch stick to demand pitch up then the plane would go into a
high-alpha flight state with low vertical throttle so it would not
climb, resulting in it never getting past airspeed wait state
2021-02-28 11:33:18 +11:00
Andrew Tridgell
319368e4b7
Plane: fixed yaw on fwd transition in tilt quadplanes
...
this fixes the coordinated turn calculation for yaw rate in tilt
quadplanes, and also only applies it if demanding at least 10 degrees
roll.
this fixes an issue when the pilot has a small roll demand in FBWA
from slightly off roll RC trim
thanks to Henry for helping diagnose this!
2021-02-27 14:42:20 +11:00
Mark Whitehorn
236961f17f
Plane: use get_frame_class/type string methods
...
use AP_Enum<> for frame_class/type
remove invalid copterTS check
improve quadplane setup failure message
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
2021-02-09 12:43:53 +11:00
Patrick José Pereira
cdc7f891a9
ArduPlane: Add missing const in member functions
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2021-02-03 18:45:14 +11:00
Iampete1
004f873dc7
Plane: update Quadplane FRAME_CLASS description
2021-01-26 11:07:36 +09:00
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
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
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
Iampete1
54ee2c35fb
Plane: rename tailsitter scailing max param to match min and update descriptions
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
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
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
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
Iampete1
42887891be
Plane: tailsitter: make sure alt target is abover current alt
2020-11-17 10:15:27 +11:00
Iampete1
c03de6bdbe
Plane: log Qassist state
2020-11-17 10:15:27 +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
Mark Whitehorn
c054218568
Plane: report quadplane setup errors in config_error loop
2020-11-05 15:04:10 +11:00
Iampete1
5f67f8130b
Plane: tailsitters use Z stopping point on transition
2020-11-04 18:34:00 +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
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
Andrew Tridgell
e5bad28f1d
Plane: added Q_ASSIST_ALT parameter
...
this allows for quadplane assistance in fixed wing modes when the
aircraft drops below a given altitude. This could help save an
aircraft that is flying badly in fixed wing mode
2019-11-09 20:17:36 +11:00
Andrew Tridgell
680a89671f
Plane: fixed doc path for Q_AUTOTUNE
2019-11-01 09:31:40 +11:00
Leonard Hall
87b49c64f8
Plane: limit ATC_MOT_MIX_MAX in case of a fly away
2019-10-31 12:23:48 +08:00
Michael du Breuil
ee96ec7f0d
Plane: Support new AP_Vehicle::set_mode
2019-10-25 08:48:22 +08:00