Replicates Copter behaviour with a three step process if the EKF sustains a loss of navigation as detected by high GPS innovation test ratios:
1) Attempts a yaw reset using the GSF estimate if available
2) Attempts a lane switch
3) Falls back to a non-position mode
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
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>
this allows for quadplane assistance in fixed wing modes when the
aircraft drops below a given altitude. This could help save an
aircraft that is flying badly in fixed wing mode
this allows for landings above or below the takeoff height without
requiring the use of terrain data. It allows both the use of vfwd
motor for holding against wind, and the correct height for land final
descent rate
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
if landing above expected height then run landing detector to allow a
switch from LAND_DESCEND to LAND_FINAL
this prevents the plane sitting on the ground until the battery runs
out
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
Peter Hall
Paul Riseborough
Randy Mackay
Henry Wurzburg
Andrew Tridgell
Gone4Dirt
Mark Whitehorn
sas
Michael du Breuil
Tom Pittenger
Peter Barker
Nikhil Upadhye