f12658dd20
Plane: more comments on landing flare
9 years ago
fefcf39335
Plane: must be on land approach before flare alt/sec are used
9 years ago
12663eaa48
Plane: simplify flare logic
9 years ago
183369b92a
Plane: take advantage of L1 stale flag and correctly inhibit flight stage if not lined up on approach
9 years ago
c5a3b1b134
Plane: non-functional change - change labels for approach flight stage criteria
9 years ago
c238645e53
Plane: limit roll before calculating load factor
9 years ago
aadd9a18ce
Plane: log L1 xtrack error integrator and remove extra yaw logging
9 years ago
85913bd237
Plane: rely on flight stage to know if we're doing auto_land in TECS
9 years ago
6a83ad419a
Plane: moved update_flight_stage() inside setup_glide_slope()
...
the glide_slope gets calculated every time there's a major event such as mission item change or wp_proportion change so its good to update the flight stage then too because.
also logging stage when stage changes, might as well get an extra data point in there when it's timely
9 years ago
ec3e9014e4
Plane: move target land_airspeed logic to top layer
...
- this is to allow min groundspeed to be enforced which is otherwise lost when TECS assigns a target airspeed at the lower level
9 years ago
a549225e60
Plane: support Y6 frame class in quadplane
9 years ago
df922dacfa
Plane: Suppress throttle when parachute release initiated, not after release.
9 years ago
2a1985d0f9
Plane: fixed loiter radius at end of mission
9 years ago
de33779382
Plane: added Q_WVANE_MINROLL
...
this allows for some roll trim without weathervaning
9 years ago
ef348473eb
Plane: Remove tecs_hgt_afe from the 50hz tecs update
9 years ago
f5749b44cd
Plane: Move position update to 50hz loop rather then the 10hz
9 years ago
cf7b6123a9
Plane: log the number of lost log messages
9 years ago
8683616d8c
Plane: redo scheduler table and improve perf logging
...
The scheduler table was still setup for a worst case CPU of
AVR2560. Adjust times for the stm32 and improve perf logging
9 years ago
a7006a7784
Plane: refactor perf variables into a structure
9 years ago
d013878c17
Plane: improved speed limiting on landing approach in VTOL mode
9 years ago
d8b0d17fe4
Plane: added weathervaning to landing reposition
9 years ago
f34af03891
Plane: added Q_WVANE_GAIN
...
this controls weathervaning in VTOL modes. Defaults to off
9 years ago
e9e43dc016
Plane: added Q_VFWD_GAIN for forward motor in VTOL modes
...
this allows for velocity control using the forward motor in VTOL modes
9 years ago
0095f6168e
ArduPlane: fix handling of SET_HOME_POSITION
...
Location.altitude is stored in cm.
9 years ago
c17ea21a97
Plane: Add support for DO_REPOSITION via COMMAND_INT
...
also allows guided to change loiter directions
9 years ago
62574b35b5
Plane: fixed negative loiter radius values
9 years ago
edd15f15c0
Plane: added some fixed wing in-flight transmitter tuning
9 years ago
27fb35253c
Plane: added in-flight transmitter tuning
9 years ago
436062ef37
Plane: improved crash detection
...
- fixes bug where a bungee launch is configured but the aircraft gets bumped and triggers the prop to spin up. This will now detect that and "crash' and disable the motor
9 years ago
2887e48178
Plane: Fixed bug with landing flare for high values of LAND_FLARE_SEC
...
I had an issue in SITL where my plane would round the last WP staring
its landing approach and immediately limit the roll to 5degress even
before the plane had finished turning the corner so it would go WAY
off course. For a high value of LAND_FLARE_SEC (mine was 5) the math
works out the plane has landed if
height <= sink_rate * land_flare_sec
During the banking of the last corner the plane started to decend and
quickly set itself up for a 6.1m/s sink rate which is normal. It was
at 30 meters altitude. As you can see at this point the math thinks
the plane has landed so limits the roll. The solution was to ensure
the plane had covered at least 50% of the distance toward the final
waypoint before allowing a flare to happen. Note that LAND_FLARE_SEC
above 2 is considered very high and this normally wouldn't occur.
9 years ago
154fe15c67
Plane: fixed build warning
9 years ago
ff57884eca
Plane: renamed variable, non-functional change
9 years ago
3a242ee4a9
Plane: support up to 16 output channels
...
the extra channels can be used via SBUS output
9 years ago
78442b7e81
Plane: make the initialization of the gcs instances follow the define
9 years ago
06bcf0df4b
Plane: change default loop rate for quadplanes to 300Hz
9 years ago
1fe9582ac3
Plane: back to velocity controller for quadplane landing
...
now with much smoother attitude control thanks to some help from
Leonard
9 years ago
4a5c4a5189
Plane: not in vtol mode when quadplane not enabled
...
prevents logging error in auto if quadplane not enabled and running a
VTOL mission command
9 years ago
5bd034a5a8
Global: start using cmath instead of math.h
9 years ago
97a7192f76
Plane: make it more obvious that AUTO_FBW_STEER is not for normal use
9 years ago
5f1ad68bd9
Plane: improved velocity controller for quadplane landing
9 years ago
8b30569ad1
Plane: setup quadplane earlier in startup
...
this ensures the GCS gets the full parameter list as the param count
will be set before mavlink starts
9 years ago
5cc4b20c73
Plane: smooth out final descent for landing
9 years ago
197cefaaa7
Plane: prevent large nose-down on start of velocity controller
9 years ago
ae51e51c6a
Plane: use velocity controller for initial quadplane landing
9 years ago
b1266603a6
Plane: setup immediate pitch limit on quadplane takeoff
...
this prevents a single loop with large pitch down demand
9 years ago
913cf9dd37
Plane: set min quad throttle to 10%
...
fixes spin when armed
9 years ago
7f85c14c96
Plane: fixed landing detector for new AP_Motors code
9 years ago
70679a06aa
Plane: fixed quadplane throttle control in AUTO
9 years ago
52cc369f15
Plane: fixed typo in AP_Motors conversion
9 years ago
e7f7afcc4d
Plane: added correct filter defaults
9 years ago
Tom Pittenger
Andrew Tridgell
Rimvydas Naktinis
Michael du Breuil
Lucas De Marchi
Grant Morphett
Ricardo de Almeida Gonzaga