e342ce0da4
Plane: fixed reset of steering locked course
...
reset when we have not been steering for 1s, to ensure that an old
locked course is not used
3 years ago
56870ad7d6
Plane: use yaw rate controller in NAV_SCRIPT_TIME
3 years ago
55d8afa1dd
Plane: support autotune for yaw rate control
3 years ago
b619ee4970
Plane: added support for rate yaw control
...
to enable for ACRO mode, set ACRO_YAW_RATE to desired maximum rate in
degrees/second, and set YAW_RATE_ENABLE=1 to enable PID tuning of yaw
rate controller
pair programmed with Andy Palmer and Matthew Hampsey
3 years ago
5cafccd447
ArduPlane: fix flare rc switch action with flight option bit 10 active
3 years ago
70562021ac
ArduPlane: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED
3 years ago
b9d240460b
Plane: remove SpdHgt and use TECS direct
3 years ago
0c1e576544
Plane: added support for NAV_SCRIPT_TIME
3 years ago
6a12d3f5d9
Plane: use enum class for StickMixing
3 years ago
f25e5087c0
Plane: attitude: use new transition class
3 years ago
9c617a18f4
Plane: suppress rate D terms in ground mode
...
this prevents a common oscillation issue on the ground
3 years ago
2f93c1f9e4
Plane: stabilizer roll and pitch to floats
3 years ago
b31ce6734a
Plane: get throttle input return float
3 years ago
2f4661c52f
Plane: use float for set/get output scaled
3 years ago
3d34e061fe
ArduPlane: add and use HAL_QUADPLANE_ENABLED
4 years ago
b18da48f39
Plane: remove AUTO_FBW_STEER
4 years ago
71e2e25313
Plane: attitude: in vtol modes call mode run and stabalize with surfaces
4 years ago
0eab3faf32
Plane: use new tailsiter class
4 years ago
1ae669bb01
Plane: added manual input expo for MANUAL, ACRO and TRAINING
...
this is easier than setting up mode specific expo in radios for flying
in manual modes
4 years ago
06cd077c36
Plane: fixed stick mixing with land reposition in quadplanes
...
prevent stick mixing overriding landing control
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
09fb9a8e58
Plane: limit speed scaling in Autotakeoff wo AS sensor option
4 years ago
e5308db8c2
Plane: added FLIGHT_OPTIONS bit to enable yaw control in ACRO mode
...
this allows for yaw damper in ACRO, which is important on some
vehicles with no vertical stabilize
See
https://discuss.ardupilot.org/t/rudderless-split-rudder-flying-wing/69273/4
4 years ago
33f9e3d4b6
plane: add tailsitter transision rates, give more info in transision complete messages
4 years ago
fef8b37b11
Plane: Address Randy review comments
4 years ago
aae092b88f
ArduPlane: Remove all unused geofence capability
...
ArduPlane: Remove missed geofence logic
4 years ago
17fb585bf1
ArduPlane: Add support for AC_Fence
...
ArduPlane: Remove some geofence logic from ArduPlane
ArduPlane: Refactor action and mode return implementation
ArduPlane: Use polyfence to find the return point.
4 years ago
c913d8134d
Plane: use ahrs.groundspeed() instead of gps call
...
this fixes a zero of integrator when dead-reckoning after GPS has died
4 years ago
6baaf03c8c
Plane: move auto_throttle_mode to being a method on each mode
4 years ago
f6cb1b5ad6
Plane: use a method on Mode for auto-navigation-mode
...
Avoids the state getting stale, which it will with a failed attempt to
go into qautotune, for example.
4 years ago
2d80dcd937
Plane: remove tailsitter VTOL transition race condition
4 years ago
cf055fd1e0
Plane: add midposition to flare RC option sw
4 years ago
b61ee34b6b
ArduPlane: add RC option for landing flare
4 years ago
d16872cca5
Plane: compile out ADSB mode if required
4 years ago
d9358b4ac2
Plane: don't allow a zero speed_scaler
...
this fixes an issue with yaw damper on quadplanes when at zero
airspeed
Thanks to Vladi Portnoy for reporting this
5 years ago
0f5177b291
Plane: Support a set of offboard MAVLink guided controls with rates
...
+ 3 rounds of fixes
5 years ago
37be15b3cd
Plane: When stick mixing is disabled do not apply stick mixing to quadplane modes
5 years ago
a2e72de5ae
Plane: move to airspeed_estimate with pointer
5 years ago
470a60f828
Plane: reset steering in MANUAL or when not stabilising
6 years ago
aa18c75689
Plane: decay fw rate integrators when at low airspeed
...
this prevents large fixed wing control surface integrators from
causing issues when we have wind from behind in hover
6 years ago
ebe2278f5d
Plane: reset rate controller integrators if not run for 2s
...
this prevents a bug where integrator buildup can happen from a
previous flight mode
6 years ago
6970a66cad
Plane: refactor stick_mixing to library
6 years ago
0270c57530
Plane: massive refactor and creation of Mode class
6 years ago
487ad7a90f
Plane: add QACRO mode for quadplanes
...
use acro_r/p/y_rate params in qacro
port ACRO throttle handling from copter
handle non-tailsitter controls
6 years ago
843c92ced5
Plane: Remove some redundant code/state resets
6 years ago
e6bc44f471
Plane: Fix cases where quadplane level transition was not applied
6 years ago
d1e93bae83
Plane: adding new mode QAUTOTUNE
...
copter like autotune support for quadplanes and tailsitter in VTOL mode.
cleanup
6 years ago
fa04c2d094
Plane: prevent jitter on surfaces due to speed scaling
...
when disarmed the k_throttle output can oscillate due to stage in the
loop we are at, even though actual output is zero. This can cause
jitter in the speed scaling, which causes surface movement
To fix, don't use k_throttle value when disarmed
6 years ago
da69bf3391
Plane: added an abstraction for reverse thrust
...
use have_reverse_thrust() and get_throttle_input()
6 years ago
1c162c8b64
Plane: ensure speed scaling covers full aircraft speed range
...
this is important for very fast or very slow aircraft
6 years ago
Andrew Tridgell
Hwurzburg
Peter Barker
Iampete1
Dr.-Ing. Amilcar do Carmo Lucas
James O'Shannessy
Andy Piper
Buzz
Michael du Breuil
Peter Hall
Tom Pittenger
Tom Pittenger
Mark Whitehorn
Nikhil Upadhye