1a2abae902
Plane: reduce QTUN log rate to 25Hz
5 years ago
9405fd6958
Plane: remove unused location argument to control_auto
5 years ago
5c43b18672
Plane: fixed height_above_ground() for case when rangefinder is below min
...
this prevents a rangefinder that goes below min distance from causing
the calculations that depend on height above ground to fail
5 years ago
4f22dff14d
Plane: Add an airspeed limit for quadplane takeoffs
5 years ago
77afcf6a1b
Plane: Abort takeoffs that take to long to complete
5 years ago
44f6f7335e
Plane: Added Quadplane option for QRTL failsafe action
6 years ago
76663d66e8
Plane: support bicopter tiltrotors
6 years ago
4a7ce1b384
Plane: clean up qacro
6 years ago
f054301ec2
Plane: add QACRO roll/pitch/yaw rate params
6 years ago
8bcf2439ad
Plane: quadplane stabilize manual throttle midpoint and expo
...
move throttle curve logic to AP_Math
use parameter THROTTLE_EXPO in get_pilot_throttle
6 years ago
0270c57530
Plane: massive refactor and creation of Mode class
6 years ago
e0765747e7
Plane: add new tailsitter bodyframe roll option
6 years ago
1a55f0ffab
Plane: FrSky support has moved to GCS
6 years ago
2b6210d594
Plane: use WP height for height above ground in vtol landing
...
this allows for landings above or below the takeoff height without
requiring the use of terrain data. It allows both the use of vfwd
motor for holding against wind, and the correct height for land final
descent rate
6 years ago
cf45b54070
Plane: quadplane use prearm checks from Attitude and Position controllers
6 years ago
4a6b97828f
ArduPlane: add tailsitter input type TAILSITTER_INPUT_BF_ROLL
6 years ago
6e4a2b97f9
ArduPlane:add subclass for copter tailsitters
...
cleanup and add tailsit_motmx
add constexpr and motor mask check
add support for tricopter tailsitter
don't call output_motor_mask unless armed
fix whitespace
6 years ago
487ad7a90f
Plane: add QACRO mode for quadplanes
...
use acro_r/p/y_rate params in qacro
port ACRO throttle handling from copter
handle non-tailsitter controls
6 years ago
136e10a781
Plane: handle VTOL landing with incorrect height
...
if landing above expected height then run landing detector to allow a
switch from LAND_DESCEND to LAND_FINAL
this prevents the plane sitting on the ground until the battery runs
out
6 years ago
b290148ed0
Plane: Don't overwrite the quadplane loiter relax
6 years ago
c15983c690
Plane: prevent loss of control when Q_ENABLE is set while flying
...
Also rename check_throttle_suppression
6 years ago
95b3a5bacd
ArduPlane: implement hover throttle learning for quadplanes
...
disable by default
check quadplane.enable in update_hover_learn
6 years ago
b9f3118374
Plane: allow changing Q_TRIM_PITCH in flight
...
change float comparison to is_equal
6 years ago
df1632054e
Plane: Update throttle mix
6 years ago
d6cac4b52a
Plane: Add a failure timer for quadplane forward transitions
...
Falls over to QLAND if we fail to transition
6 years ago
69c87c6c4a
Plane: Disallow arming if quadplane has been requested but isn't available
6 years ago
d3afc9424a
Plane: make QTUN logging match copter logging
6 years ago
1a45755ffd
Plane: Support a different landing radius for quadplane fw approach
6 years ago
d1e93bae83
Plane: adding new mode QAUTOTUNE
...
copter like autotune support for quadplanes and tailsitter in VTOL mode.
cleanup
6 years ago
71708ee4ea
Plane: quadplane uses set_defaults_from_table
6 years ago
c6e70c0454
Plane: add roll limit for tailsitters
...
Quadplane: add tailsitter pitch params
6 years ago
c59b2c156a
Plane: fixes for Q_TRIM_PITCH
...
improved documentation and variable names
6 years ago
5a7bd61e8c
Quadplane: add trim params
6 years ago
8e906e0ba0
Plane: Add support for a loiter to alt approach to VTOL landing
6 years ago
b6efc8a20b
Plane: reduce some copy pasted code
6 years ago
ef154cf3fa
Plane: fixed relaxing of attitude controller on transition
...
this fixes an issue found by Leonard where the attitude controller
could have residual control left over from a previous transition when
engaging the VTOL attitude controller
6 years ago
f9e56f9d12
Plane: Respect frame type on VTOL_TAKEOFF commands
...
allow missioncommands to fail to start
7 years ago
925d76bb8c
Plane: Small cleanup to quadplane const (and clarity)
7 years ago
3d923d0572
Plane: Send a quadplane version of NAV_CONTROLLER_OUTPUT
7 years ago
20c67019b0
Plane: added Q_TAILSIT_THSCMX
...
this provides more flexibility in tailsitter throttle scaling
7 years ago
840a6e4147
Plane: quadplane uses AC_Loiter
...
includes param conversion
7 years ago
f6a185a3c3
Plane: factor vehicle's mavlink send_heartbeat
7 years ago
a0a9a68fbc
Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC
...
Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
7 years ago
f41f4dc6e5
Plane: move pos-control pids to pos-control library
7 years ago
017e71a748
Plane: quadplane velocity pi moves to position control library
7 years ago
af007c5f0f
Plane: tighten handleMessage result type
7 years ago
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
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
552faa8f67
Plane: smoother tailsitter transitions
...
this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
7 years ago
af893ddde7
Plane: implement Q_OPTIONS
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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
Mark Whitehorn
sas
Andrew Tridgell
Michael du Breuil
Hwurzburg
IamPete1
Tom Pittenger
Peter Barker
Nikhil Upadhye
Randy Mackay