74da3c74ac
Plane: cope with Q pitch limit larger than fixed wing limit
...
prevents tailsitter VTOL transition timeout due to not achieving angle
4 years ago
47ab0360e7
Plane: tailsitter: do not output throttle
4 years ago
b984dd4a62
Plane: added in FF component in tailsitters
...
this is needed for decent control of tailsitters
4 years ago
105f94f1fd
Plane: tailsitter: transistion to and from inverted flight
4 years ago
5a941ce02f
PLane: tailsitter: instant transition when disarmed
4 years ago
33f9e3d4b6
plane: add tailsitter transision rates, give more info in transision complete messages
4 years ago
0b35708f33
Plane: set tailsitter throttle output when disarmed
4 years ago
000ff90a71
autotest: remove thrust-to-actuator to armed section
4 years ago
6062e4ee81
ArduPlane: use AUX_PWM_TRIGGER_LOW and AUX_PWM_TRIGGER_HIGH
4 years ago
96c2a5c77c
Plane: added scaling for Q_TAILSIT_VFGAIN
...
this scales the vectoring in fixed wing flight to remove the impact of
surface speed scaling and add throttle scaling
4 years ago
33e397c524
Plane: tailsitter: output 0 tilt with 0 vector gain
4 years ago
c62c19c798
Plane: tailsitter: apply gain scailing to Tilts in motors only Qassist
4 years ago
0976979045
Plane: tailsitter: set motor limit flags
4 years ago
c8b3c91ae5
Plane: Tailsitter add disk theory and altitude gain scailing
4 years ago
9bf89e5635
Plane: add check for vectored tailsitter in tailsitter_transition_vtol_complete
4 years ago
24508f08dc
Plane: don't relax pitch attitude controller for vectored tailsitters in throttle_wait
...
add is_vectored_tailsitter()
instantiate AC_AttitudeControl_TS for tailsitters
4 years ago
0e50023593
Plane: tailsitter: use true hover throttle in VTOL transision.
4 years ago
5e8e088978
ArduPlane:Add safety limit on tailsitter VTOL transition throttle
...
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
4 years ago
f480f4e946
Plane: tailsitter: fix Qassist back - transision
4 years ago
2d80dcd937
Plane: remove tailsitter VTOL transition race condition
4 years ago
b225ae43ab
Plane: always log tailsitter scalefactor
4 years ago
e6ba53856a
Plane: tailsitter: ask for FW state don't check
4 years ago
08a710235d
Plane: add tailsitter assist with motors only option
5 years ago
7688430029
Plane: allow Qassit for fw to vtol transision
5 years ago
87cd9a4791
Plane: allow Qassist for tailsitters
5 years ago
90494c9de6
Plane: tailsitter: allow motor test
5 years ago
56b2c697d2
Plane: change tailsitter_input to bitmask
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update parameter metadata for Q_TAILSIT_INPUT and Q_FRAME_TYPE
5 years ago
c16f3a2cba
Plane: simplify body-frame roll axis swapping and constrain yaw rate max
5 years ago
14fc6c5446
Plane: add logging for tailsitter gainscaling and clean up tailsitter body-frame roll input handling
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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
5 years ago
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>
5 years ago
124d18228b
Plane: Support seperate roll and pitch limits
6 years ago
76663d66e8
Plane: support bicopter tiltrotors
6 years ago
0a78368590
Plane: avoid arithmetic exception in powf
6 years ago
b3f093b877
Plane: remove trig calls from constexpr
6 years ago
e0765747e7
Plane: add new tailsitter bodyframe roll option
6 years ago
abfeee3a3d
Plane: fix indentation
6 years ago
f7bf10fcfc
ArduPlane: add rudder to tailsitter gain scaling
6 years ago
4a6b97828f
ArduPlane: add tailsitter input type TAILSITTER_INPUT_BF_ROLL
6 years ago
872c3df45c
Plane: tailsitter pull in copter ouputs from AP_motors
6 years ago
6e4a2b97f9
ArduPlane:add subclass for copter tailsitters
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cleanup and add tailsit_motmx
add constexpr and motor mask check
add support for tricopter tailsitter
don't call output_motor_mask unless armed
fix whitespace
6 years ago
61aff344d3
ArduPlane: add high-speed Qmode tailsitter gain scaling with support for airspeed sensor
6 years ago
1a98989ac6
Tailsitter: move mixer to AP_motors
6 years ago
da69bf3391
Plane: added an abstraction for reverse thrust
...
use have_reverse_thrust() and get_throttle_input()
6 years ago
b6efc8a20b
Plane: reduce some copy pasted code
6 years ago
20c67019b0
Plane: added Q_TAILSIT_THSCMX
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this provides more flexibility in tailsitter throttle scaling
7 years ago
3e4288d604
Plane: Use RC_Channels instead of hal.rcin
7 years ago
f41f4dc6e5
Plane: move pos-control pids to pos-control library
7 years ago
e06f160dc9
Plane: disable rudder scaling in tailsitters
...
this is most often implemented as dual-motor differential thrust, and
we don't want to do surface speed scaling for that.
In the future we'll move this scaling so it can be done on rudders for
3D planes
7 years ago
bbf98fae46
Plane: fixed a warning
7 years ago
e27c54a312
Plane: smooth out fwd tailsitter transition
...
use Q_TRANSITION_MS and the transition angle to pitch forward more
slowly
7 years ago
Andrew Tridgell
Peter Hall
Peter Barker
Pierre Kancir
Mark Whitehorn
Hwurzburg
Peter Hall
Leonard Hall
Michael du Breuil
Randy Mackay