ardupilot

Commit Graph

Author	SHA1	Message	Date
Henry Wurzburg	0d01ac389c	Plane: add Q_OPTION for RTL always on RC failsafe for ship landing	3 years ago
Andrew Tridgell	8e37c93e7d	Plane: fixed rudder control when ARMING_RUDDER != 2 when rudder disarm is disabled we should allow full yaw control regardless of throttle level. We should also only disable left yaw when throttle is at zero, as right yaw does not indicate pilot may be trying to disarm	3 years ago
Peter Barker	2c42c056d8	Plane: correct EnableLandResponsition->EnableLandReposition	3 years ago
Andrew Tridgell	48881eeb55	Plane: fixed yaw on the ground when rudder disarming in AUTO when a quadplane touches down in an auto throttle mode the pilot may use rudder to disarm. The check for rudder disarm was only active in modes without auto-throttle. This expands it to all modes if the throttle has hit the lower limit	3 years ago
Andrew Tridgell	d82a306cc2	Plane: when shutting down motors force outputs to minimum this fixes issue #20354 where a long spool time can lead to motors running without control for an extended period of time.	3 years ago
Peter Barker	1f5165349e	Plane: correct compilation when airspeed disabled	3 years ago
Henry Wurzburg	14700063d2	ArduPlane: convert floating point divides into multiplys	3 years ago
Andrew Tridgell	6ebefbdb16	Plane: added airspeed based pitch limit check prevent using too much pitch when at low airspeed, which can lead to severe instability in SLT quadplanes	3 years ago
Andrew Tridgell	eabdaae1e7	Plane: use set_lean_angle_max_cd() allows for a wider range of Q_TRANS_DECEL while landing on the desired landing point	3 years ago
Andrew Tridgell	cc6fc2b130	Plane: improvements to POSITION1 controller this improves 4 things in the POSITION1 controller based on logs from 4.2.0beta2. The changes are designed to increase the tolerance to an incorrect value for Q_TRANS_DECEL, reducing landing overshoot 1) we fix the initialisation of the acceleration. The init_xy_controller() function assumes zero accel, so we need to call set_accel_desired_xy_cmss() just after that init to get the correct accel. Thanks to Leonard for this fix 2) if we decel more than expected due to too low Q_TRANS_DECEL we need to reduce the target speed, rather than putting the nose down 3) lower the default Q_P_JERK_XY to a value more appropriate for most quadplanes (Leonard suggested a value of 2) 4) fixed the pitch envelope from Q_BACKTRANS_MS to start after the airbrake phase is complete	3 years ago
Andrew Tridgell	3772029450	Plane: fixed pitch envelope after AIRBRAKE we need to setup last_fw_mode_ms and last_fw_nav_pitch_cd when we enter POSITION1 mode so that the expanding envelope pitch limit from Q_BACKTRANS_MS is applied correctly	3 years ago
Andrew Tridgell	8b16b5ca94	Plane: adjust throttle mix for auto landing use mix-max during landing approach and initial descent, use min in land final. As discussed with Leonard	3 years ago
Andrew Tridgell	a1856c5c22	Plane: added an arming check for Q_ASSIST_SPEED Q_ASSIST should really be enabled for all non-tailsitter quadplanes. This arming check will help users remember to configure it	3 years ago
Andrew Tridgell	55c46cd868	Plane: protect against short stop_distance	3 years ago
Andrew Tridgell	5e14b9efe6	Plane: use pos control for most of LAND_FINAL this gives more accurate landing with some velocity drift	3 years ago
Andrew Tridgell	cc9b9813cb	Plane: review fixes thanks Pete!	3 years ago
Andrew Tridgell	f09c715d7a	Plane: wait till motors are fully up before takeoff in guided mode this allows for guided mode takeoff in tilt-rotors. Otherwise motors till be pointing forward and takeoff will go very badly	3 years ago
Andrew Tridgell	3659669409	Plane: cope with high angle error in airbrake state if we are flying too far off the target vector then exit airbrake state. This prevents flying for a long distance away from the landing point in airbrake mode	3 years ago
Andrew Tridgell	f9ecf15973	Plane: setup target accel in POSITION1 state	3 years ago
Andrew Tridgell	2864e21b31	Plane: allow for a trans decel margin so if we are behind the velocity curve we are less likely to overshoot landing	3 years ago
Andrew Tridgell	33bc067edf	Plane: fix NAV_CONTROLLER_OUTPUT in Q modes Q modes don't always use wp_nav, but do use pos_control AUTO and QRTL setup the plane navigation as well, so can use the L1 data	3 years ago
Andrew Tridgell	3fe9a55269	Plane: added APIs for lua ship landing	3 years ago
Andrew Tridgell	6d63e1f7d3	Plane: added Q_LAND_ALTCHG parameter this is the threshold height change over 4 seconds for a landing to be detected. It can be raised if landing detection is very slow	3 years ago
Iampete1	80f8f8b14e	Plane: quadplane: double log QPOS state change	3 years ago
Peter Barker	b19bfba0ec	Plane: use has_valid_input in place of checking throttle counter	3 years ago
Iampete1	267583db55	Plane: quadplane: never reset yaw target rates when entering QPOS1	3 years ago
Iampete1	9fd14dbf94	Plane: quadplane: set IO failsafe limit for all motors	3 years ago
Andrew Tridgell	1bdc9b5bf8	Plane: fixed in_vtol logic so QRTL can AIRBRAKE	3 years ago
Andrew Tridgell	aab6c94936	Plane: don't weathervane in AIRBRAKE state this prevents unwanted VTOL motor throttle while trying to slow down. In this stage the slaving of yaw rate to fixed wing roll control is sufficient	3 years ago
Andrew Tridgell	2846f87eeb	Plane: reduce height gain in auto landing for tiltrotors avoid running the motors while tilted past the tilt max if we are in AIRBRAKE state. This stops a large amount of forward thrust from the tilted motors while trying to slow down, while still maintaining attitude control	3 years ago
Iampete1	1ca1707f9f	Plane: quadpalne: keep motors interlock state upto date with E-stop	3 years ago
Peter Hall	717b18a680	Plane: quadplane: add allow_weathervane transtion class method	3 years ago
Peter Hall	6a719664d3	Plane: quadplane: pass takeoff and landing state to weathervane	3 years ago
Gone4Dirt	a79359dc67	Plane: use new weathervane library	3 years ago
murata	f8383df5a4	Plane: Remove meaningless semicolons	3 years ago
Bill Geyer	54bdde8845	Copter: fix parameter issue with quadplane	3 years ago
Peter Barker	266d384ca7	ArduPlane: rename AP_AHRS::get_position to get_location	3 years ago
Iampete1	32488a5e3a	Plane: add MOTB logging at 10hz	3 years ago
Iampete1	3a5c7ea8fc	Plane: quadplane: add transtion fail action param	3 years ago
Peter Hall	2ffebebddc	Plane: tailsitter: provide min throttle limit based on disk therory outflow velocity	3 years ago
Iampete1	ca1b5b1db2	Plane: Quadplane: use get_frame_and_type_string	3 years ago
Peter Hall	d4eb2c6396	Plane: quadplane: QPOS_POSITION1 tailsitters use input_vel_accel method	3 years ago
Iampete1	4848ac9166	Plane: quadplane: don't use `is_active_z()`, becasue its wrong	3 years ago
Iampete1	fb1f6b57ad	Plane: Quadplane: never run Z controller if motors are not throttle unlimited	3 years ago
Peter Hall	c215fa0745	Plane: Quadplane: never run Z controller in tailsiter VTOL transtion	3 years ago
Peter Hall	9df753551e	Plane: quadplane: tailsitter: always relax pitch after transtion	3 years ago
Peter Hall	67d7ba490f	Plane: quadplane: pass time to tailsitter.in_vtol_transition where avalable	3 years ago
Hwurzburg	18e427d27d	Plane: add Q_OPTION to force fw trans on fail instead of QLAND	3 years ago
Iampete1	2154738421	Plane: Quadplane: only advance to QPOS_POSITION2 once tilts have finished slewing	3 years ago
Iampete1	eac52fe08f	Plane: quadplane: don't ouput VTOL throttle on tiltrotor with no VTOL motors and till fully forward	3 years ago

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605 Commits (92135400f842f47a9f646e9814f40a0e13b0230f)