aepko/Ardupilot2
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52,446 Commits 72 Branches 509 Tags 683 MiB
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4312 Commits

Author SHA1 Message Date
Peter Barker
1f5165349e Plane: correct compilation when airspeed disabled 2022-03-20 21:47:05 +11:00
Andrew Tridgell
2c22cbc50e Plane: update release notes for 4.2.0beta3 2022-03-18 21:13:54 +11:00
Henry Wurzburg
14700063d2 ArduPlane: convert floating point divides into multiplys 2022-03-18 15:26:44 +11:00
Andrew Tridgell
6ebefbdb16 Plane: added airspeed based pitch limit check 
prevent using too much pitch when at low airspeed, which can lead to
severe instability in SLT quadplanes
 2022-03-18 13:36:16 +11:00
Andrew Tridgell
eabdaae1e7 Plane: use set_lean_angle_max_cd() 
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
 2022-03-18 13:36:16 +11:00
Andrew Tridgell
cc6fc2b130 Plane: improvements to POSITION1 controller 
this improves 4 things in the POSITION1 controller based on logs from
4.2.0beta2. The changes are designed to increase the tolerance to
an incorrect value for Q_TRANS_DECEL, reducing landing overshoot

1) we fix the initialisation of the acceleration. The
   init_xy_controller() function assumes zero accel, so we need to
   call set_accel_desired_xy_cmss() just after that init to get the
   correct accel. Thanks to Leonard for this fix

2) if we decel more than expected due to too low Q_TRANS_DECEL we
   need to reduce the target speed, rather than putting the nose down

3) lower the default Q_P_JERK_XY to a value more appropriate for most
   quadplanes (Leonard suggested a value of 2)

4) fixed the pitch envelope from Q_BACKTRANS_MS to start after the
   airbrake phase is complete
 2022-03-18 13:36:16 +11:00
Andrew Tridgell
3772029450 Plane: fixed pitch envelope after AIRBRAKE 
we need to setup last_fw_mode_ms and last_fw_nav_pitch_cd when we
enter POSITION1 mode so that the expanding envelope pitch limit from
Q_BACKTRANS_MS is applied correctly
 2022-03-18 13:36:16 +11:00
Andrew Tridgell
8b16b5ca94 Plane: adjust throttle mix for auto landing 
use mix-max during landing approach and initial descent, use min in
land final. As discussed with Leonard
 2022-03-18 13:35:46 +11:00
Peter Barker
d93449ac28 ArduPlane: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Tim Tuxworth
21ec47f184 Plane: Display Fence Breach message in GCS 
Send a "Geofence breach" message to the Ground Control Station. Without this when the fence is breached and if anything happens as a result, such as RTL, it will happen silently.
 2022-03-16 18:04:19 +11:00
Andrew Tridgell
a1856c5c22 Plane: added an arming check for Q_ASSIST_SPEED 
Q_ASSIST should really be enabled for all non-tailsitter
quadplanes. This arming check will help users remember to configure it
 2022-03-16 09:29:14 +11:00
Andrew Tridgell
82937ca778 Plane: check that RTL_AUTOLAND is set if using DO_LAND_START 2022-03-14 09:52:41 +11:00
Andrew Tridgell
0ca48fa9da Plane: added release notes for 4.2.0beta2 2022-03-10 13:44:05 +11:00
Andrew Tridgell
55c46cd868 Plane: protect against short stop_distance 2022-03-10 13:41:18 +11:00
Andrew Tridgell
5e14b9efe6 Plane: use pos control for most of LAND_FINAL 
this gives more accurate landing with some velocity drift
 2022-03-10 07:34:20 +11:00
Andrew Tridgell
cc9b9813cb Plane: review fixes 
thanks Pete!
 2022-03-10 07:34:20 +11:00
Andrew Tridgell
f09c715d7a Plane: wait till motors are fully up before takeoff in guided mode 
this allows for guided mode takeoff in tilt-rotors. Otherwise motors
till be pointing forward and takeoff will go very badly
 2022-03-10 07:34:20 +11:00
Andrew Tridgell
3659669409 Plane: cope with high angle error in airbrake state 
if we are flying too far off the target vector then exit airbrake
state. This prevents flying for a long distance away from the landing
point in airbrake mode
 2022-03-10 07:34:20 +11:00
Andrew Tridgell
f9ecf15973 Plane: setup target accel in POSITION1 state 2022-03-10 07:34:20 +11:00
Andrew Tridgell
2864e21b31 Plane: allow for a trans decel margin 
so if we are behind the velocity curve we are less likely to overshoot
landing
 2022-03-10 07:34:20 +11:00
Andrew Tridgell
33bc067edf Plane: fix NAV_CONTROLLER_OUTPUT in Q modes 
Q modes don't always use wp_nav, but do use pos_control

AUTO and QRTL setup the plane navigation as well, so can use the L1
data
 2022-03-10 07:34:20 +11:00
Andrew Tridgell
3fe9a55269 Plane: added APIs for lua ship landing 2022-03-10 07:34:20 +11:00
Andrew Tridgell
c54fb0f51b Plane: link in AP_Follow 
ready for ship landing
 2022-03-10 07:34:20 +11:00
Andrew Tridgell
72087335f7 Plane: removed terrain home correction 2022-03-10 07:34:20 +11:00
Iampete1
a7bc844780 Plane: never stick mix without valid RC input 2022-03-09 18:26:30 +11:00
Iampete1
c46a19bf89 ArduPlane: tailsitter: keep attitude controll throttle level upto date for smoother controller handover 2022-03-09 18:21:51 +11:00
Andrew Tridgell
8ccf84d9a3 Plane: disallow mavlink disarm while flying 
this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
 2022-03-09 17:13:45 +11:00
RuffaloLavoisier
962d1d112b ArduPlane : Indentation correction 2022-03-08 14:24:46 -08:00
RuffaloVM
d8085f71af ArduPlane : case label indentation 2022-03-08 14:24:46 -08:00
Andrew Tridgell
6d63e1f7d3 Plane: added Q_LAND_ALTCHG parameter 
this is the threshold height change over 4 seconds for a landing to be
detected. It can be raised if landing detection is very slow
 2022-03-09 07:50:10 +11:00
Iampete1
54e57ccff0 Plane: don't prevent stick mixing in none RC failsafe 2022-03-08 11:21:13 +11:00
Peter Barker
302c8e4b98 ArduPlane: rename within_min_dz to in_min_dz for consistency 
... consistency with in_trim_dz
 2022-03-08 11:17:45 +11:00
Andrew Tridgell
08d53c2d64 Plane: change master version to 4.3.0dev 2022-03-02 07:44:36 +11:00
Andrew Tridgell
ad53ee7f0e Plane: added release notes for 4.2.0beta1 2022-03-02 07:43:59 +11:00
Peter Barker
c0aa20b1d0 ArduPlane: include cleanups 2022-03-01 11:21:33 +11:00
Henry Wurzburg
0c32e71272 ArduPlane: clarify and simplify RC failsafe messages 2022-03-01 11:05:15 +11:00
Peter Barker
452a5df0cc ArduPlane: add RebootRequred to stream rate parameters 2022-03-01 11:01:12 +11:00
Iampete1
80f8f8b14e Plane: quadplane: double log QPOS state change 2022-03-01 10:59:07 +11:00
Iampete1
c26ffed47f Plane: motor_test: use PWM min and max from RC_Channel 2022-03-01 10:47:25 +11:00
Peter Barker
b19bfba0ec Plane: use has_valid_input in place of checking throttle counter 2022-03-01 10:29:37 +11:00
Peter Barker
13fa1e30ad ArduPlane: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Andrew Tridgell
b444420329 Plane: removed controller error in transmitter tuning 2022-02-22 12:23:48 +11:00
Andrew Tridgell
e3e125c307 Plane: prepare for 4.1.7 2022-02-21 12:11:28 +11:00
Iampete1
267583db55 Plane: quadplane: never reset yaw target rates when entering QPOS1 2022-02-21 09:35:06 +11:00
Iampete1
9fd14dbf94 Plane: quadplane: set IO failsafe limit for all motors 2022-02-17 12:31:16 +11:00
Iampete1
42a2e1094c Plane: set failsafe limit for throttle left and right 2022-02-17 12:31:16 +11:00
Andrew Tridgell
1bdc9b5bf8 Plane: fixed in_vtol logic so QRTL can AIRBRAKE 2022-02-16 07:43:01 +11:00
Andrew Tridgell
aab6c94936 Plane: don't weathervane in AIRBRAKE state 
this prevents unwanted VTOL motor throttle while trying to slow
down. In this stage the slaving of yaw rate to fixed wing roll control
is sufficient
 2022-02-16 07:43:01 +11:00
Andrew Tridgell
2846f87eeb Plane: reduce height gain in auto landing for tiltrotors 
avoid running the motors while tilted past the tilt max if we are in
AIRBRAKE state. This stops a large amount of forward thrust from the
tilted motors while trying to slow down, while still maintaining
attitude control
 2022-02-16 07:43:01 +11:00
Andrew Tridgell
5bb7b04343 Plane: added release notes for 4.1.7beta1 2022-02-12 09:00:51 +11:00