f1477a6c29
Plane: quadplane: add assisted flight only airmode
3 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
c8b3c91ae5
Plane: Tailsitter add disk theory and altitude gain scailing
4 years ago
24508f08dc
Plane: don't relax pitch attitude controller for vectored tailsitters in throttle_wait
...
add is_vectored_tailsitter()
instantiate AC_AttitudeControl_TS for tailsitters
4 years ago
e94cf561d0
Plane: use rull euler control for fwd transition of tilt vectored planes
...
this gives strong yaw control and wind handling for tilt vectored
planes in forward transitions. It relaxes the yaw if the user either
demands yaw with stick input or plane navigation is demanding a roll
angle for a turn
When navigation is demanded we setup yaw rate for a coordinated turn
4 years ago
abd5f8351d
Plane: don't reset yaw target in TRANSITION_TIMER for tilt-vectored quadplanes
4 years ago
ad14e153e8
Plane: fixed tilt vectoring to cope with large tilt angles
...
This uses vectoring for both roll and yaw when tilted, and uses
differential thrust for yaw when tilted
4 years ago
d984ddc163
Plane: apply circular limits to QLOITER pilot angles
...
This uses the same logic as Copters get_pilot_desired_angle() to apply
a circular limit and the limits in Q_ANGLE_MAX and Q_LOIT_ANG_MAX to
loiter pilot angles.
Co-authored-by: Kris <kris968658@gmail.com>
4 years ago
c03de6bdbe
Plane: log Qassist state
4 years ago
eea62bf733
Plane: added optional ground effect compensation for quadplanes
...
this allows for landings in aircraft badly effected by ground effect
to be compensated for
4 years ago
2d80dcd937
Plane: remove tailsitter VTOL transition race condition
4 years ago
b225ae43ab
Plane: always log tailsitter scalefactor
4 years ago
840f129153
Plane: remove unused tailsitter scailing option
4 years ago
e6ba53856a
Plane: tailsitter: ask for FW state don't check
4 years ago
0201692eeb
Plane: Q_OPTION to disable synthetic airspeed assist
4 years ago
6621b69836
Plane: log quadplane transision state
4 years ago
f972d3dc2f
Plane: Quadplane: tailsitter only change view once transision is complete
4 years ago
Iampete1
Hwurzburg
Peter Barker
Andrew Tridgell
Mark Whitehorn
Patrick José Pereira