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
9210488550
Plane: quadplane: limit pitch for all transitions into position control modes
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
bcad5a7ba6
ArduPlane: handle renaming of AP_InertialNav_NavEKF to AP_InertialNav
3 years ago
30c9cccf78
Plane: Quadplane remove THR_MIN_PWM and THR_MAX_PWM
3 years ago
1148bb1234
Plane: Quadplane: add loiter to alt then QLAND mode
3 years ago
fd5faa866f
Plane: always log QPOS when changing control state
3 years ago
e83b598040
Plane: Quadplane: check attitude relax before running controllers, don't run controls if not going to output
3 years ago
cc89a8cc48
Plane: remove airmode Q_OPTION
3 years ago
c4a1ae42e5
Plane: Quadpalne: move tiltrotor functionality to own class
4 years ago
3d34e061fe
ArduPlane: add and use HAL_QUADPLANE_ENABLED
4 years ago
c73207b4b0
Plane: quadplane: remove init mode and control run methods
4 years ago
f1477a6c29
Plane: quadplane: add assisted flight only airmode
4 years ago
551d55a85c
ArduPlane: add thr position trigger to ThrLandCtrl Q_OPTION
4 years ago
d372907a98
Plane: Quadplane: add Q_OPTION to only allow arming in Qmodes and auto.
4 years ago
2527117cf9
Quadplane: combine assistance_needed and assistance_safe functions
4 years ago
7ff592d29e
Plane: Quadplane: move mode functions to mode classes in-place
4 years ago
2bc2b9533b
Plane: QuadPlane: move tailsitter to class
4 years ago
06c2faaec5
ArduPlane: rename for AHRS restructuring
4 years ago
50e6d67a66
Plane: update for new double precision position APIs
4 years ago
4f48233b43
ArduPlane: add QRTL always as Q_RTL_MODE option
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
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
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
0ecc02c53a
Plane: fixed constructor of accel_ef filter
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
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
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
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
d1f6d913d5
Plane: adjust reposition landing code
...
use accel with 1s timeconstant
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
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
572e401894
Plane: fix QRTl terrain following
4 years ago
33f9e3d4b6
plane: add tailsitter transision rates, give more info in transision complete messages
4 years ago
e81dc36ed6
Plane: add option do do a VTOL approach RTL
4 years ago
8aabf7c22a
Plane: Add VTOL descent rate, convert existing rate to climb rate only
...
Co-authored-by: Reko Merio K9260@student.jamk.fi
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
4 years ago
1d050a01ce
Plane: Quadplane: add Q_OPTION to ignore forward flight angle limits in Q modes
4 years ago
236961f17f
Plane: use get_frame_class/type string methods
...
use AP_Enum<> for frame_class/type
remove invalid copterTS check
improve quadplane setup failure message
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
4 years ago
cdc7f891a9
ArduPlane: Add missing const in member functions
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
4 years ago
e4fbe64616
Plane: add QuadPlane singleton
4 years ago
a0fcef6ceb
Plane: added tilt vectoring in fixed wing modes
...
this allows for vectoring for roll and pitch in fixed wing modes on
tilt-vectored quadplanes
4 years ago
Andrew Tridgell
Iampete1
Peter Barker
Hwurzburg
Mark Whitehorn
Patrick José Pereira