a96c1566ec
Plane: fix quadplane pos control param docs
6 years ago
1a45755ffd
Plane: Support a different landing radius for quadplane fw approach
6 years ago
d1e93bae83
Plane: adding new mode QAUTOTUNE
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copter like autotune support for quadplanes and tailsitter in VTOL mode.
cleanup
6 years ago
71708ee4ea
Plane: quadplane uses set_defaults_from_table
6 years ago
c6e70c0454
Plane: add roll limit for tailsitters
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Quadplane: add tailsitter pitch params
6 years ago
b6519c88a5
Plane: fixed a bug in Q_ASSIST_ modes for tiltrotors
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when a tilt-rotor drops below Q_ASSIST_SPEED we need to keep it in the
airspeed wait state until it has regained airspeed, otherwise we will
end up with too low throttle
6 years ago
0943ace7a9
Plane: Zero Yaw correction during transition
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and relax attitude controller when not using lift motors.
6 years ago
c081ce9adb
Plane: don't relax attitude controllers for tailsitters
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this fixes an issue with testing control movement when disarmed
6 years ago
da69bf3391
Plane: added an abstraction for reverse thrust
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use have_reverse_thrust() and get_throttle_input()
6 years ago
c59b2c156a
Plane: fixes for Q_TRIM_PITCH
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improved documentation and variable names
6 years ago
5a7bd61e8c
Quadplane: add trim params
6 years ago
8e906e0ba0
Plane: Add support for a loiter to alt approach to VTOL landing
6 years ago
4e3e39a3e8
Plane: make libraries get EKF control limits themselves
6 years ago
02d37d43d2
Plane: Disallow climbs during TRANSITION_AIRSPEED_WAIT
6 years ago
b2ef6b901e
Plane: Cope with AC_PosControl renaming
6 years ago
b6efc8a20b
Plane: reduce some copy pasted code
6 years ago
13c27e0eb8
Plane: Missing Loiter Init on accel
6 years ago
5136b90d27
Plane: do attitude relax after 100ms
7 years ago
7372a7b5f9
QuadPlane: Remove repeat I term reset
7 years ago
ef154cf3fa
Plane: fixed relaxing of attitude controller on transition
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this fixes an issue found by Leonard where the attitude controller
could have residual control left over from a previous transition when
engaging the VTOL attitude controller
7 years ago
f9e56f9d12
Plane: Respect frame type on VTOL_TAKEOFF commands
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allow missioncommands to fail to start
7 years ago
925d76bb8c
Plane: Small cleanup to quadplane const (and clarity)
7 years ago
e11c7c6069
QuadPlane: remove true from init of loiter
7 years ago
3d923d0572
Plane: Send a quadplane version of NAV_CONTROLLER_OUTPUT
7 years ago
16c7ab81dc
Plane: pass rc_speed to motor backend constructors
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this sets the right speed as early as possible
7 years ago
20c67019b0
Plane: added Q_TAILSIT_THSCMX
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this provides more flexibility in tailsitter throttle scaling
7 years ago
d8a7618e15
Plane: update use of AC_Loiter controller for quadplane
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this changes the way the loiter controller is initialised for QLOITER,
after discussions with Leonard.
The way we were doing it could cause a sudden acceleration demand when
switching into QLOITER.
This also changes the default loiter parameters to reduce the maximum
acceleration that will be applied in QLOITER. Many thanks to Leonard for
the advice
7 years ago
d07f8aa42b
Plane: fixed a bug in transition to QSTABILIZE for tailsitters
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this bug was found bug Marco on his tailsitter. It resulted in zero
throttle for 2s in transition from FBWA to QSTABILIZE
7 years ago
840a6e4147
Plane: quadplane uses AC_Loiter
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includes param conversion
7 years ago
f6a185a3c3
Plane: factor vehicle's mavlink send_heartbeat
7 years ago
548a7f8fcf
Plane: add minor comment to quadplane
7 years ago
ee745d2cd2
Plane: quad plane uses rate-control control during transitions
7 years ago
a16d4ddad7
Plane: quadplane uses poscontrol instead of loiter
7 years ago
c5d838125b
Plane: quadplane logs PSC message
7 years ago
09cad7c59d
Plane: quadplane integrates attitude control inertial_frame_reset
7 years ago
03c162432e
Plane: quadplane provides dt to AC_WPNav::set_pilot_desired_acceleration
7 years ago
a0a9a68fbc
Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC
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Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
7 years ago
aa47b19dea
Plane: remove quadplane calls to multicopter poscontrol's freeze_ff_xy
7 years ago
ddcd08d6b6
Plane: PSC_ACCZ param name shortened
7 years ago
aec7521da4
Plane: Fix truncation of a time interval
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Truncating the a millisecond time delta to uint16_t causes it to wrap
every 65 seconds, which could momentarily reset the desired climb rate
7 years ago
d579e086cf
Plane: quadplane param index comment for moved PIDs
7 years ago
20b05e4228
Plane: added conversion code for PID layout change
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this copes with the move of multicopter PIDs inside the position
controller
7 years ago
7b1157e2d8
Plane: remove setting accel_z PID controller's dt
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This is handled within pos-controller's set_dt function
7 years ago
f41f4dc6e5
Plane: move pos-control pids to pos-control library
7 years ago
017e71a748
Plane: quadplane velocity pi moves to position control library
7 years ago
25224cd261
Plane: remove dead code from do_vtol_land
7 years ago
f7a735b990
Plane: fixed transitions for tailsitters after auto-takeoff
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need to use angle wait
7 years ago
957c1f6d23
Plane: extend QLOITER transition pitch limit
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use twice transition time for pitch envelope to reduce QLOITER
transition harshness
7 years ago
9c8cd6c1cc
Plane: added Q_TRANS_DECEL
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this gives a deceleration rate for QRTL transition from RTL, and also
for transitions to QLOITER
7 years ago
e27c54a312
Plane: smooth out fwd tailsitter transition
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use Q_TRANSITION_MS and the transition angle to pitch forward more
slowly
7 years ago
Randy Mackay
Michael du Breuil
Nikhil Upadhye
IamPete1
Andrew Tridgell
Leonard Hall
Peter Barker
luweikxy