Andrew Tridgell
f7a735b990
Plane: fixed transitions for tailsitters after auto-takeoff
...
need to use angle wait
7 years ago
Andrew Tridgell
85573b3ff3
Plane: fixed a division by zero
...
if min airspeed is zero
7 years ago
Andrew Tridgell
e06f160dc9
Plane: disable rudder scaling in tailsitters
...
this is most often implemented as dual-motor differential thrust, and
we don't want to do surface speed scaling for that.
In the future we'll move this scaling so it can be done on rudders for
3D planes
7 years ago
Peter Barker
ee5f550475
Plane: AP_Camera uses GPS singleton
7 years ago
Peter Barker
b4294c00f6
Plane: use gps singleton for GCS functions
7 years ago
André Kjellstrup
1d27e21d83
Plane: Option to trig by distance only when in AUTO mode
7 years ago
Andrew Tridgell
bf1aa64345
Plane: updated release notes for 3.8.3
7 years ago
Andrew Tridgell
271373e1e8
Plane: added a not on min slew rate for throttle
7 years ago
Michael du Breuil
767018b1d4
Plane: Support unlocking cruise heading with rudder
7 years ago
Michael du Breuil
bd32b5deb7
Plane: update isFlying() landing check
...
When we are landing a sink_rate < -0.2f means the vehicle is climbing,
which should never happen during an approach for any supported landing
type (slope or deepstall), and on hard impacts with the ground its
common for the vehicle altitude to be projected to low and climb back to
the correct altitude slowly (but at a higher rate). This changes the
check to only consider sinks while on approach as acceptable.
7 years ago
Tom Pittenger
8029a7f10e
Plane: add Tom Pittenger to developers list
...
Plane: add Tom Pittenger to developers list. He was added to main Plane.h as "Lead Developer" here *https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/Plane.h#L2 ) but never to the main ArduPilot.c file.
7 years ago
Andrew Tridgell
5843086760
Plane: update release notes for 3.8.3beta4
7 years ago
Andrew Tridgell
957c1f6d23
Plane: extend QLOITER transition pitch limit
...
use twice transition time for pitch envelope to reduce QLOITER
transition harshness
7 years ago
Andrew Tridgell
bbf98fae46
Plane: fixed a warning
7 years ago
Andrew Tridgell
9c8cd6c1cc
Plane: added Q_TRANS_DECEL
...
this gives a deceleration rate for QRTL transition from RTL, and also
for transitions to QLOITER
7 years ago
Andrew Tridgell
e27c54a312
Plane: smooth out fwd tailsitter transition
...
use Q_TRANSITION_MS and the transition angle to pitch forward more
slowly
7 years ago
Andrew Tridgell
21164ef409
Plane: added tailsitter surface speed scaling
...
added scaling of control surfaces by throttle when in hover. This helps
the controller remain stable over a wide range of throttle levels, such
as when descending or rapidly climbing
7 years ago
Michael du Breuil
83decd1370
ArduPlane: Only run is_flying landing checks when in landing stage
7 years ago
Andrew Tridgell
126d5ce5d4
Plane: re-implement MIXING_OFFSET
...
this was lost in the conversion of SRV_Channels
7 years ago
Michael du Breuil
e63e39c411
Plane: Don't broadcast PWM value that tripped throttle failsafe
7 years ago
Michael du Breuil
d52f5155f0
Plane: Rename rc failsafe state members
7 years ago
nick2204
7d91755bd1
Plane: update Q_OPTIONS docs
...
Made q_options description a little clearer
7 years ago
Andrew Tridgell
1bee1dd210
Plane: log currently used airspeed
...
this logs whatever airspeed is being used for flight
7 years ago
Andrew Tridgell
43ee462813
Plane: prepare for 3.8.3beta2
7 years ago
Andrew Tridgell
f14f40d3ef
Plane: fixed GUIDED loiter with Q_RTL_MODE=1
...
this was broken by the recent RTL_RADIUS changes
thanks to Nick for noticing this!
7 years ago
Andrew Tridgell
84e5cd7e14
Plane: update release notes for 3.8.3beta1
7 years ago
Andrew Tridgell
1085069851
Plane: use WP_LOITER_RAD if RTL_RADIUS is 0 for QRTL
7 years ago
Andrew Tridgell
aa430a6e2c
Plane: use RTL_RADIUS for QRTL threshold
...
when Q_RTL_MODE=1 in a quadplane use RTL_RADIUS as the distance to
switch to QRTL mode. We navigate to the destination using direct
waypoint navigation instead of using a loiter circle.
7 years ago
Andrew Tridgell
552faa8f67
Plane: smoother tailsitter transitions
...
this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
7 years ago
Andrew Tridgell
c24ee9192b
Plane: prevent a float exception at pitch 90
...
this can happen with a tailsitter
7 years ago
Andrew Tridgell
214434a2d7
Plane: fixed tailsitter ANGLE_WAIT transition
...
we need vtol control during transition from hover to fwd flight
7 years ago
Andrew Tridgell
af893ddde7
Plane: implement Q_OPTIONS
...
this allows for NAV_TAKEOFF to be treated as NAV_VTOL_TAKEOFF in
quadplanes, and for level flight to be maintained during quadplane
transitions
7 years ago
Andrew Tridgell
02f8d888c3
Plane: relax controllers when disarmed
...
this prevents any remaining integrator from a previous flight stage from
affecting flight across a disarm
7 years ago
Peter Barker
d49be616da
Plane: call ins's periodic function
7 years ago
Tom Pittenger
8adacfeea3
Plane: always log MODE and include reason when logging is enabled
7 years ago
Andrew Tridgell
92ee05b925
Plane: fixed motor channel handling
7 years ago
Peter Barker
4ce051af82
Plane: ensure we're in short failsafe before using failsafe.ch3_timer_ms
7 years ago
Peter Barker
ff88b0dfda
Plane: remove redundant failsafe string
7 years ago
Peter Barker
7feef72b34
Plane: improve failsafe notifications
7 years ago
Peter Barker
01d8c506d2
Plane: add option to entirely disable short failsafe
7 years ago
Andrew Tridgell
6526ff504d
Plane: fix for changes to AP_Motors API
7 years ago
Andrew Tridgell
e008559b6e
Plane: support LOITER_TO_ALT in quadplanes
7 years ago
Andrew Tridgell
8178ab4037
Plane: make mav_type in HEARTBEAT configurable
...
needed for qgc to setup for quadplanes
7 years ago
Andrew Tridgell
0aed5a9a57
Plane: prevent controller windup on ground
...
when on the ground in an auto-throttle mode lik FBWB or CRUISE, we may
have the throttle suppressed. In that case we should not run the
multicopter controller on quadplanes, or it may build up control which
will then apply on takeoff. This is particularly severe for aircraft
that are not level on the ground, such as taildragger quadplanes
Fixes https://discuss.ardupilot.org/t/quadplane-flips-on-takeoff/22095
many thanks to Sriram for reporting
7 years ago
Andrew Tridgell
1a95dcbdd7
Plane: update docs for Q_YAW_RATE_MAX
7 years ago
Michael du Breuil
615f6dfadb
Plane: Don't log PIDL messages
7 years ago
Michael du Breuil
cc55e5a8fa
Plane: Don't log SONR if there are no rangefinders
7 years ago
Andrew Tridgell
f81ec9b1b3
Plane: support simple accelcal
7 years ago
Andrew Tridgell
f5b4d8d99c
Plane: added frame type 11 for FlreFlyY6
7 years ago
Michael du Breuil
52fc2c82af
Plane: Report GPS health
7 years ago