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4019 Commits

Author SHA1 Message Date
Andrew Tridgell 2d4e056db0 Plane: prepare for 4.1.4 release 2021-12-18 12:17:22 +09:00
Andrew Tridgell 22942f5874 Plane: updated release notes for 4.1.4 2021-12-18 12:17:22 +09:00
Andrew Tridgell 477599b3d7 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
 2021-12-18 12:17:22 +09:00
Andrew Tridgell e95c4658a9 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
 2021-12-18 12:17:22 +09:00
Andrew Tridgell f4d832df44 Plane: display VTOL pos1 state change when approach disabled 2021-12-18 12:17:22 +09:00
Andrew Tridgell ff6a0b55e7 Plane: added QRTL as RCn_OPTION 2021-12-18 12:17:22 +09:00
Andrew Tridgell 5b77c57c26 Plane: fixed chute release on low value of RC option 
only release on flag high
fixes #18843
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 617f8e3979 Plane: prepare for 4.1.3 release 2021-11-29 19:02:38 +09:00
Andrew Tridgell fee5be32d6 Plane: update release notes for 4.1.3 2021-11-29 19:02:38 +09:00
Andrew Tridgell 206d5e468c 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
 2021-11-29 19:02:38 +09:00
Andrew Tridgell 845e2ab888 Plane: enable fixed wing autotune switch 2021-11-29 19:02:38 +09:00
Andrew Tridgell 662849f2d9 Plane: prepare for 4.1.3beta1 release 2021-11-29 19:02:38 +09:00
Andrew Tridgell 22ffd62aa9 Plane: rename release-notes.txt to ReleaseNotes.txt 2021-11-29 19:02:38 +09:00
Andrew Tridgell 6c77f660dc Plane: update release notes for 4.1.3beta1 2021-11-29 19:02:38 +09:00
Andrew Tridgell ab9a453b47 Plane: allow for new guided destination during guided takeoff 
if you set a very high alt for takeoff this is useful
 2021-11-29 19:02:38 +09:00
Andrew Tridgell 2d73a0bc38 Plane: fixed overshoot in guided takeoff of quadplanes 2021-11-29 19:02:38 +09:00
Andrew Tridgell c857f889b3 Plane: default rate max to 75 for quadplane VTOL 
this reduces overshoot when VTOL tune is less than ideal
 2021-11-29 19:02:38 +09:00
Andrew Tridgell 79c7a238b1 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
 2021-11-29 19:02:38 +09:00
Andrew Tridgell 352046d7f9 Plane: suppress rate D terms in ground mode 
this prevents a common oscillation issue on the ground
 2021-11-29 19:02:38 +09:00
Andrew Tridgell a17a0c130d 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
 2021-11-29 19:02:38 +09:00
Andrew Tridgell f8acd38adc 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
 2021-11-29 19:02:38 +09:00
Samuel Tabor 4e86cc8b41 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. 2021-11-29 19:02:38 +09:00
Iampete1 3fde3942b8 Plane: Quadplane: allow scripting matrix frame class 2021-11-29 19:02:38 +09:00
Andrew Tridgell 7916fc7852 Plane: prepare for 4.1.2 release 2021-11-29 19:02:38 +09:00
Andrew Tridgell 2e6362a794 Plane: update release notes for 4.1.2 2021-11-29 19:02:38 +09:00
Andrew Tridgell cb0817ccb5 Plane: prepare for 4.1.2beta2 2021-11-29 19:02:38 +09:00
Andrew Tridgell 5b4321275f Plane: update release notes for 4.1.2beta2 2021-11-29 19:02:38 +09:00
Andrew Tridgell d19426b8df 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
 2021-10-17 19:03:42 -04:00
Andrew Tridgell 4107eee94f Plane: reset target speed on disarm 
allows for multiple auto missions with DO_CHANGE_SPEED
 2021-10-17 19:03:42 -04:00
Andrew Tridgell 11fbeb9b8f Plane: apply the takeoff throttle slew limit to quadplanes 
this applies the limit when we are in a fwd transition, both in AUTO
modes and stabilized modes
 2021-10-17 19:03:42 -04:00
Andrew Tridgell 87ad83e076 Plane: prepare for 4.1.2beta1 2021-10-17 19:03:42 -04:00
Andrew Tridgell 3e94692cba Plane: update release notes for 4.1.2beta1 2021-10-17 19:03:42 -04:00
Andrew Tridgell 8ae0c79752 Plane: prepare for 4.1.1 release 2021-10-17 19:03:42 -04:00
Andrew Tridgell 4185bdf05d Plane: update release notes for 4.1.1 
# Conflicts:
#	ArduPlane/mode_qrtl.cpp
#	ArduPlane/quadplane.cpp
P
 2021-10-17 19:03:42 -04:00
Andrew Tridgell e4967fa28c Plane: prepare for 4.1.0 stable release 2021-10-17 19:03:42 -04:00
Andrew Tridgell 7fccaf76f4 Plane: update release notes for 4.1.0 stable 2021-10-17 19:03:42 -04:00
Andrew Tridgell edf7c2aa08 Plane: prepare for 4.1.0beta8 2021-10-17 19:03:42 -04:00
Andrew Tridgell 839d877d89 Plane: update release notes for 4.1.0beta8 2021-10-17 19:03:42 -04:00
Andrew Tridgell d9511f735c Plane: release 4.1.0beta7 2021-10-17 19:03:42 -04:00
Andrew Tridgell b79d63b9e0 Plane: prepare for 4.1.0beta7 2021-10-17 19:03:42 -04:00
Andrew Tridgell 1878e7d023 Plane: prepare for 4.1.0beta6 2021-10-17 19:03:42 -04:00
Andrew Tridgell da783d6c98 Plane: updated releases notes for 4.1.0beta6 2021-10-17 19:03:42 -04:00
Peter Hall b2ce4e1c44 Plane: quadplane: set `last_pidz_init_ms` 2021-09-10 14:07:37 +09:00
Andrew Tridgell ce6a0bb3fb Plane: prepare for 4.1.0beta5 2021-08-28 14:41:27 +09:00
Andrew Tridgell 73ec73b845 Plane: update release notes for 4.1.0beta5 2021-08-28 14:41:27 +09:00
Andrew Tridgell ac96330435 Plane: added option to log PIDs at full rate 
useful for tuning quadplanes
 2021-08-28 14:41:27 +09:00
Andrew Tridgell a107891dab Plane: prepare for 4.1.0beta4 2021-08-28 14:41:27 +09:00
Andrew Tridgell 632117c422 Plane: updated release notes for 4.1.0beta4 2021-08-28 14:41:27 +09:00
Andrew Tridgell da5c187ac7 Plane: update ATRP logging 2021-08-28 14:41:27 +09:00
Andrew Tridgell 401534ac89 Plane: added ONESHOT_MASK parameter 
after discussion with Paul on servo latency
 2021-08-28 14:41:27 +09:00