e0765747e7
Plane: add new tailsitter bodyframe roll option
6 years ago
825055d736
Plane: add rate-only option for QACRO mode
6 years ago
6414f0e48e
Plane: skip plane assignments in QACRO
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
b4103d04cc
Plane: never use vfwd motor if vtol motors shutdown
6 years ago
7908ad437e
Plane: allow fwd motor to run in VTOL land hor positioning
...
this fixes an issue with vtol landings below the takeoff point
6 years ago
ca7566fff9
Plane: use enum class for ArmingMethod and ArmingRequired
6 years ago
cbb0bfb809
Plane: is_flying_vtol: if spool mode is shut down we are not flying
...
The subsequent check for get_throttle passes if you switch from QHOVER
to MANUAL on the ground while armed. get_throttle returns > 0.01 - but
the motors are shut down so no output occurs.
6 years ago
4a6b97828f
ArduPlane: add tailsitter input type TAILSITTER_INPUT_BF_ROLL
6 years ago
01d6f1d932
ArduPlane: add body-frame yaw mode for tailsitters
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
f24c6785f2
Plane: add E-stop
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
25a2c77782
Plane: Fix not logging quadplane control, and over logging attitude control
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
28cf9d2f24
Plane: allow rudder at zero throttle
...
if rudder disarming is disabled
6 years ago
4d5e13f1d4
Plane: : integrate AC_WPNav::get_speed rename to get_default_speed
6 years ago
5c81a78c9c
Plane: tailsitter forward transition bugfix
6 years ago
40856fef56
Plane: remove vestiges of old PX4_MIXER code
6 years ago
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
6 years ago
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
6 years ago
2650b1fe93
Plane: desired-ground-idle replaces spin-when-armed
6 years ago
f35cebcca4
Plane: fixed EKF yaw reset
...
we need to do the yaw reset before updating the rest of quadplane, or
it is not effective
thanks to Leonard for noticing the bug!
6 years ago
53a1d98b68
Plane: fixed VTOL takeoff to ignore lat/lon in mission
...
we should always takeoff vertically
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
9c2db806f3
Plane: add units to Q_VFWD_ALT
6 years ago
9117dcc54b
Plane: don't log QTUN when VTOL not active
6 years ago
d3afc9424a
Plane: make QTUN logging match copter logging
6 years ago
1013eddfce
Plane: use AHRS_View for RATE logging
6 years ago
a96c1566ec
Plane: fix quadplane pos control param docs
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
b6519c88a5
Plane: fixed a bug in Q_ASSIST_ modes for tiltrotors
...
when a tilt-rotor drops below Q_ASSIST_SPEED we need to keep it in the
airspeed wait state until it has regained airspeed, otherwise we will
end up with too low throttle
6 years ago
0943ace7a9
Plane: Zero Yaw correction during transition
...
and relax attitude controller when not using lift motors.
6 years ago
c081ce9adb
Plane: don't relax attitude controllers for tailsitters
...
this fixes an issue with testing control movement when disarmed
6 years ago
da69bf3391
Plane: added an abstraction for reverse thrust
...
use have_reverse_thrust() and get_throttle_input()
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
4e3e39a3e8
Plane: make libraries get EKF control limits themselves
6 years ago
02d37d43d2
Plane: Disallow climbs during TRANSITION_AIRSPEED_WAIT
6 years ago
b2ef6b901e
Plane: Cope with AC_PosControl renaming
6 years ago
b6efc8a20b
Plane: reduce some copy pasted code
6 years ago
Mark Whitehorn
Andrew Tridgell
Peter Barker
IamPete1
Michael du Breuil
Randy Mackay
Nikhil Upadhye
Leonard Hall