23732690a7
Plane: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
4 years ago
064b0bcc63
Plane: seperate kinimatic shaping from pid limit setting
4 years ago
50e6d67a66
Plane: update for new double precision position APIs
4 years ago
61ac45dd5a
Plane: use cleaned up APIs
4 years ago
66bc673442
Plane: fixed attitude control during QPOS_AIRBRAKE
...
this fixes a bug where we used the multicopter rate control when in
airbrake approach stage, which could lead to attitude going out of
control
4 years ago
6eab9b9c15
plane: quadplane: skip QPOS_POSITION1 on tailsitters
4 years ago
4f48233b43
ArduPlane: add QRTL always as Q_RTL_MODE option
4 years ago
0c8e81964e
Plane: reset yaw controller on entry to POSITION1
...
this fixes a yaw change when we finish landing approach in
QRTL. Thanks to Henry for noticing this
4 years ago
4307390820
Plane: fixed distance threshold for vtol land
4 years ago
f749c2c3ad
Plane: fixed issue with overspeed in QPOS_POSITIION1
...
this fixes the backflip issue on the convergence that Henry found
4 years ago
ae6220aace
Plane: cope with zero distance to target in QPOS_POSITION1
4 years ago
0f9e7001d1
Plane: limit speed in POSITION1 based on angle
...
this prevents trying to fly a quadplane fast backwards or sideways. If
flying backwards then a 3x reduction is used. For sideways a 2x
reduction is used
4 years ago
74ac9964f1
Plane: improved POSITION1 speed profile
...
allow acceleration up to the Q_WP_SPEED, and assume a decel profile
matching Q_TRANS_DECEL for approach speed
4 years ago
5f8e90cd6f
Plane: metadata fix for Q_OPTIONS
4 years ago
3611b1dbf7
Plane: added check for QPOS initialisation
...
thanks to Kris for noticing this!
4 years ago
db34577755
Plane: use a separate bit for landing reposition in quadplanes
...
when repositioning stop descent
4 years ago
06cd077c36
Plane: fixed stick mixing with land reposition in quadplanes
...
prevent stick mixing overriding landing control
4 years ago
f970735d47
Plane: fixed handling of NAV_LOITER_TIME with Q_GUIDED_MODE=1
...
and made logic of in_vtol_mode() easier to read
4 years ago
aa904d6bbc
Plane: fixed guided mode handling with new approach code
...
ensure we treat guided approach as not a vtol mode
4 years ago
f15497c6a9
Plane: only do fwd thrust loss detection in SLT vehicles
...
on tilt rotors and tailsitters it doesn't make sense to switch to
POSITION1 at low speeds when in APPROACH
4 years ago
0232fa7456
Plane: cope with fwd thrust loss in Q approach
...
if throttle is saturated and descending and low airspeed then declare
thrust loss
4 years ago
fbf5083e6a
Plane: avoid transition in QRTL
...
if close to home and already in a VTOL mode then don't transition
4 years ago
77ee922473
Plane: fixed NAV_CONTROLLER_OUTPUT in QRTL
4 years ago
245ded2f2d
Plane: fixed handling of loss of fwd thrust in QRTL
4 years ago
c7a14a5da1
Plane: disable cross-track in Q approach modes and QRTL
4 years ago
46722500b0
Plane: default Q_TRANS_DECEL to 6 for tailsitters
4 years ago
a7b809d5d4
Plane: added approach and airbrake options
...
this defaults VTOL landings to have an approach and airbraking stage,
allowing for more efficient landings. Can be disabled by setting
Q_OPTIONS bit 16
4 years ago
ddfc9e8300
Plane: improved quadplane auto-land into wind
...
when heading is strong we need to ramp up pitch limit slowly to
prevent a big dive
4 years ago
b4992cc226
Plane: added accessors for poscontrol state
...
allows for time since state entered
4 years ago
f1f7f01300
Plane: slave fixed wing desired rate to multicopter desired rate
...
this ensures that the two rate controllers don't fight each other when
in a VTOL mode
4 years ago
68a1100c64
Plane: use new APIs for takeoff/touchdown expected
4 years ago
bf14c32109
Plane: correct description of Q_TAILSIT_MOTMX param
4 years ago
e275ec9e63
Plane: Rename set_yaw_target_to_current_heading
4 years ago
38ed4a2dd6
ArduPlane: make centideg metadata incr and range consistent
4 years ago
8b3b6cf693
Plane: Fix before squash
4 years ago
d1f6d913d5
Plane: adjust reposition landing code
...
use accel with 1s timeconstant
4 years ago
5857e750ce
Plane: provide target velocity in QPOS descent
4 years ago
71fa52d5c6
Plane: fixed slowing descent in final phase of QLAND
4 years ago
ec1cbb06fd
Plane: allow reposition in auto land
4 years ago
6eafcdb558
Plane: added Q_OPTION bit for throttle control of landing speed
4 years ago
24375cf9c1
Plane: change printf calls to send_text
4 years ago
52b4c257ec
Plane: prevent oscillation in GUIDED mode hover
4 years ago
5a880c74b6
Plane: use input shaping from pos_control
...
smoother navigation with new input shaping code
4 years ago
a6ec7d9f23
Plane: ensure xy controller is initialised
4 years ago
9d52333afc
Plane: don't start descent till under 3m/s
4 years ago
4bae8f03a4
Copter: Use PosControl fixes
4 years ago
57952861d6
Plane: PosControl Update
4 years ago
ff2ae1d7d1
Plane: integrate AC_PosControl::get_roll_cd rename
4 years ago
1ce63bf433
Plane: minor format and comment fixes
4 years ago
1a182a52da
Plane: init terrain to locaiton and wpnav sub sytems
4 years ago
Leonard Hall
Andrew Tridgell
Iampete1
Hwurzburg