32488a5e3a
Plane: add MOTB logging at 10hz
3 years ago
3a5c7ea8fc
Plane: quadplane: add transtion fail action param
3 years ago
2ffebebddc
Plane: tailsitter: provide min throttle limit based on disk therory outflow velocity
3 years ago
ca1b5b1db2
Plane: Quadplane: use get_frame_and_type_string
3 years ago
d4eb2c6396
Plane: quadplane: QPOS_POSITION1 tailsitters use input_vel_accel method
3 years ago
4848ac9166
Plane: quadplane: don't use `is_active_z()`, becasue its wrong
3 years ago
fb1f6b57ad
Plane: Quadplane: never run Z controller if motors are not throttle unlimited
3 years ago
c215fa0745
Plane: Quadplane: never run Z controller in tailsiter VTOL transtion
3 years ago
9df753551e
Plane: quadplane: tailsitter: always relax pitch after transtion
3 years ago
67d7ba490f
Plane: quadplane: pass time to tailsitter.in_vtol_transition where avalable
3 years ago
18e427d27d
Plane: add Q_OPTION to force fw trans on fail instead of QLAND
3 years ago
2154738421
Plane: Quadplane: only advance to QPOS_POSITION2 once tilts have finished slewing
3 years ago
eac52fe08f
Plane: quadplane: don't ouput VTOL throttle on tiltrotor with no VTOL motors and till fully forward
3 years ago
6116eaeb32
Plane: quadplane: enhance tiltrotor transtion to better deal with tiltrotors with all motors tilting
3 years ago
049f5f2135
Plane: fix divide by zero in transition time
3 years ago
e7c7cdd653
Plane: reset VTOL takeoff if not armed
...
we need to reset the takeoff target position while disarmed so we
don't use spurious position information from before we get good GPS
lock.
also remove the "Resetting previous waypoint" message as it doesn't
provide useful information and is just a distraction (it would be
printed continuously while waiting for arming with this PR)
3 years ago
52adda7c4c
Plane: INAV rename for neu & cm/cms
3 years ago
c6dd39773d
ArduPlane: inav use _xy()
3 years ago
36562ed30b
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
3 years ago
77c43d9ba1
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
3 years ago
8d59e6fa48
Plane: fixed variable name
...
thanks to Peter for noticing
3 years ago
ae81bbc5ed
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
3 years ago
9210488550
Plane: quadplane: limit pitch for all transitions into position control modes
3 years ago
70562021ac
ArduPlane: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED
3 years ago
203103bae5
ArduPlane: ensure ENABLE_SCRIPTING is always defined
3 years ago
b9d240460b
Plane: remove SpdHgt and use TECS direct
3 years ago
7c3de472b2
Plane: support send_extended_sys_state
3 years ago
d3742989ef
Plane: default rate max to 75 for quadplane VTOL
...
this reduces overshoot when VTOL tune is less than ideal
3 years ago
debae1381c
Plane: fixed a bug in POSITION1 speed thresholds
...
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
3 years ago
6a12d3f5d9
Plane: use enum class for StickMixing
3 years ago
af8688b300
Quadplane: add transiton class
3 years ago
b74dca02ca
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
3 years ago
19b5044223
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
3 years ago
73e9c9bb43
Plane: quadplane: forward throttle reutrn float
3 years ago
b31ce6734a
Plane: get throttle input return float
3 years ago
eef8115ffc
ArduPlane: factor substring from allocation_error parameter
3 years ago
e99a5c6ef4
Plane: Quadplane: reinstate THR PWM param discriptions for stable users
3 years ago
30c9cccf78
Plane: Quadplane remove THR_MIN_PWM and THR_MAX_PWM
3 years ago
d1d6342165
Plane: update_throttle_range dont set_throttle_range
3 years ago
570ecdc2e0
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
3 years ago
4e731bf4e2
Plane: add VTOL POS1 notification to QRTL mode
3 years ago
2be23fff2b
Plane: obey Q_RTL_ALT when in POS1 and POS2 states
...
this fixes the alt target for when user has disabled the quadplane
approach code
3 years ago
ae4d368267
Plane: replace config_error with allocation_error
3 years ago
a350ebb358
Plane: quadplane: do_vtol_land remove uneded I reset
3 years ago
fd5faa866f
Plane: always log QPOS when changing control state
3 years ago
9d0b7f8efe
Plane: removed set_state to QPOS_POSITION1 in do_vtol_land
...
we are immediately replacing the state with QPOS_APPROACH, so the
set_state is not needed, and triggers a call to
attitude_control->reset_yaw_target_and_rate() which can badly impact
euler rates for tailsitters
3 years ago
e83b598040
Plane: Quadplane: check attitude relax before running controllers, don't run controls if not going to output
3 years ago
4b62dd75b0
ArduPlane: fix casting to pass format check
3 years ago
f2d32fc800
Plane: quadplane: fix wp_dist reporting for VTOL landings
...
After hitting the approach stage of a VTOL landing in auto, nav_controller_output sends zero as the distance to waypoint.
3 years ago
cc89a8cc48
Plane: remove airmode Q_OPTION
3 years ago
Iampete1
Hwurzburg
Andrew Tridgell
Josh Henderson
Peter Barker
bugobliterator
Bob Long