b29b609bcc
Plane: added AFS support for quadplanes
9 years ago
76b6cbbda1
Plane: prevent motor startup on reboot in quadplanes
...
we need to prevent RC overrides within px4io from running
9 years ago
63317e9430
Plane: added throttle suppression for quadplanes
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this tries to prevent motor start when on ground. Motors instead go
into spin_when_armed state
9 years ago
f65b46385c
Plane: added engine cut on land final in quadplane
9 years ago
9201a57c83
QuadPlane: include AC_Avoidance, AC_Fence
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This is required because of AC_WPNav's use of the new avoidance library to stop at the fence
9 years ago
b456a38432
QuadPlane: remove throttle_mid
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motor's hover throttle is automatically updated
9 years ago
f2b0f09d6f
QuadPlane: remove THR_MIN
9 years ago
b1b73e2d99
Plane: improved quadplane landing detector
...
look for no vertical position change for 5s as well as low motors
9 years ago
69f29b51d1
Plane: new param Q_VFWD_ALT to disable VFWD motor below this altitude. Also uses rangefinder
9 years ago
f83a6ca1ff
Plane: fixed variable misspelling
9 years ago
978a89efa6
Plane: added new ESC calibration method
9 years ago
ba3576f027
Plane: added tuning error reporting for quadplanes
9 years ago
52ea443d65
Plane: added Q_THR_MIN
9 years ago
6b358a5618
Plane: added Q_GUIDED_MODE parameter
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this allows you to do hybrid VTOL and fixed wing guided mode
9 years ago
3bd5b42c69
Plane: refactor quadplane land controller as general VTOL position controller
9 years ago
6fdaaa7d98
Plane: new tilt compensation method
9 years ago
46bf2b83f5
Plane: use equal thrust in tiltrotors when over Q_TILT_MAX
9 years ago
bbb5f68bb7
Plane: added initial support for tiltrotors and tiltwings
9 years ago
89a2a92885
Plane: support better build time selection of multicopter frame type
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makes it possible to do "make sitl-tri"
9 years ago
db5f50e08e
Plane: convert tuning to use AP_Tuning library
9 years ago
0fd044c1f7
Plane: added Q_RTL_MODE parameter
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used to switch to VTOL landing on RTL
9 years ago
66d3668ac4
Plane: rapid climb in QRTL if below target altitude
9 years ago
4666b25258
Plane: initial implementation of QRTL for quadplane RTL
9 years ago
460885c478
Plane: refactored quadplane landing controller
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allow use in other than AUTO mode
9 years ago
19a1edcd2b
Plane: lower default velocity controller gains for quadplanes
...
we're getting too many XY velocity controller oscillations. Better to
start with smaller gains
9 years ago
6f4d66f346
Plane: support building quadplane with forced motors class
9 years ago
9c0d984a4e
Plane: support forced motor class in quadplane
9 years ago
0aa1ae048d
Plane: fixed is_flying() for VTOL flight
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otherwise we may disarm mid-flight!
9 years ago
76400a9959
Plane: support DO_VTOL_TRANSITION as a mission item
9 years ago
a549225e60
Plane: support Y6 frame class in quadplane
9 years ago
de33779382
Plane: added Q_WVANE_MINROLL
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this allows for some roll trim without weathervaning
9 years ago
d013878c17
Plane: improved speed limiting on landing approach in VTOL mode
9 years ago
f34af03891
Plane: added Q_WVANE_GAIN
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this controls weathervaning in VTOL modes. Defaults to off
9 years ago
e9e43dc016
Plane: added Q_VFWD_GAIN for forward motor in VTOL modes
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this allows for velocity control using the forward motor in VTOL modes
9 years ago
27fb35253c
Plane: added in-flight transmitter tuning
9 years ago
1fe9582ac3
Plane: back to velocity controller for quadplane landing
...
now with much smoother attitude control thanks to some help from
Leonard
9 years ago
5f1ad68bd9
Plane: improved velocity controller for quadplane landing
9 years ago
5cc4b20c73
Plane: smooth out final descent for landing
9 years ago
ae51e51c6a
Plane: use velocity controller for initial quadplane landing
9 years ago
9cf909607f
Plane: setup reasonable quadplane defaults
9 years ago
52caed2573
Plane: QTUN df messages angle boost field as float
9 years ago
70f81ee338
Plane: remove multicopter PID parameters
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These have been moved to the AC_AttitudeControl class
9 years ago
f73c8ab8ed
Plane: allow testing of all motors in sequence
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this makes for an easier startup test for a quadplane, allowing a
single MAVLink command to test that all motors are working correctly
in the right sequence
9 years ago
4d7beab8cc
Plane: added QTUN logging for quadplane
9 years ago
0a199945a2
Plane: added copter RATE logging for quadplane
9 years ago
1fa075e7a8
Plane: change default quadplane gains
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lower filter frequency, higher I gain for roll/pitch
9 years ago
89970e4eaa
Plane: support motor_test for quadplanes
9 years ago
f4ccf94dfc
Plane: added QLAND mode
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for VTOL landing. Use for failsafe as well
9 years ago
f35d05e374
Plane: improved quadplane default gains
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0.25 is better for an average quadplane for roll/pitch
0.5 is a bit high for accel-z, 0.3 is better
9 years ago
b84b480086
Plane: added PID tuning for quadplane modes
9 years ago
Andrew Tridgell
Randy Mackay
Tom Pittenger