cc6fc2b130
Plane: improvements to POSITION1 controller
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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
5e14b9efe6
Plane: use pos control for most of LAND_FINAL
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this gives more accurate landing with some velocity drift
3 years ago
cc9b9813cb
Plane: review fixes
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thanks Pete!
3 years ago
f9ecf15973
Plane: setup target accel in POSITION1 state
3 years ago
3fe9a55269
Plane: added APIs for lua ship landing
3 years ago
6d63e1f7d3
Plane: added Q_LAND_ALTCHG parameter
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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
aab6c94936
Plane: don't weathervane in AIRBRAKE state
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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
a79359dc67
Plane: use new weathervane library
3 years ago
3a5c7ea8fc
Plane: quadplane: add transtion fail action param
3 years ago
abe9e4425b
Plane: quadplane: remvoe unused loiter initial pitch varable
3 years ago
18e427d27d
Plane: add Q_OPTION to force fw trans on fail instead of QLAND
3 years ago
77c43d9ba1
Plane: limiting POS1 landing target speed
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prevent very high target speeds when the target velocity profile is
above the initial speed in POSITION1. Always allow up to 2*Q_WP_SPEED,
but don't go above the initial speed
3 years ago
9210488550
Plane: quadplane: limit pitch for all transitions into position control modes
3 years ago
af8688b300
Quadplane: add transiton class
3 years ago
b74dca02ca
Plane: avoid qpos approach when very close to destination
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this prevents a fwd transition when doing something like LOITER_TIME
close to a VTOL_LAND wp. We use 1.5 times the stopping distance at
cruise airspeed for the threshold
3 years ago
19b5044223
Plane: fixed VTOL state error when using Q_ENABLE=2
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this ensures the poscontrol state is reset if it has not been
initialised before a VTOL loiter operation
thanks to Pete Hall for finding this
3 years ago
73e9c9bb43
Plane: quadplane: forward throttle reutrn float
3 years ago
bcad5a7ba6
ArduPlane: handle renaming of AP_InertialNav_NavEKF to AP_InertialNav
3 years ago
30c9cccf78
Plane: Quadplane remove THR_MIN_PWM and THR_MAX_PWM
3 years ago
1148bb1234
Plane: Quadplane: add loiter to alt then QLAND mode
4 years ago
fd5faa866f
Plane: always log QPOS when changing control state
4 years ago
e83b598040
Plane: Quadplane: check attitude relax before running controllers, don't run controls if not going to output
4 years ago
cc89a8cc48
Plane: remove airmode Q_OPTION
4 years ago
c4a1ae42e5
Plane: Quadpalne: move tiltrotor functionality to own class
4 years ago
3d34e061fe
ArduPlane: add and use HAL_QUADPLANE_ENABLED
4 years ago
c73207b4b0
Plane: quadplane: remove init mode and control run methods
4 years ago
f1477a6c29
Plane: quadplane: add assisted flight only airmode
4 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
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this fixes the backflip issue on the convergence that Henry found
4 years ago
74ac9964f1
Plane: improved POSITION1 speed profile
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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
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thanks to Kris for noticing this!
4 years ago
db34577755
Plane: use a separate bit for landing reposition in quadplanes
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when repositioning stop descent
4 years ago
06cd077c36
Plane: fixed stick mixing with land reposition in quadplanes
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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
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ensure we treat guided approach as not a vtol mode
4 years ago
0232fa7456
Plane: cope with fwd thrust loss in Q approach
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if throttle is saturated and descending and low airspeed then declare
thrust loss
4 years ago
a7b809d5d4
Plane: added approach and airbrake options
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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
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allows for time since state entered
4 years ago
f1f7f01300
Plane: slave fixed wing desired rate to multicopter desired rate
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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
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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
Andrew Tridgell
Gone4Dirt
Iampete1
Hwurzburg
Peter Barker