d1fabe0c3d
Plane: VTOL: remove motors config error
4 years ago
e81dc36ed6
Plane: add option do do a VTOL approach RTL
4 years ago
8aabf7c22a
Plane: Add VTOL descent rate, convert existing rate to climb rate only
...
Co-authored-by: Reko Merio K9260@student.jamk.fi
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
4 years ago
d15e01d390
Plane: fix DO_CHANGE_SPEED airspeed to impact only AUTO and GUIDED modes
4 years ago
5dd40afe0a
ArduPlane: Retrigger fence breach if mode
...
ArduPlane: Move auto enabling code to common fence library
4 years ago
8a99d9dd00
ArduPlane: Use auto enable and auto disable from AC_Fence
4 years ago
4f7ffc5eb1
Plane: move fence disable code to a function to enable reusability
4 years ago
4c8ada111b
Plane: quadplane defaults Q_WP_SPEED to 500
...
Q_WP_ACCEL default is set to 100
4 years ago
1d050a01ce
Plane: Quadplane: add Q_OPTION to ignore forward flight angle limits in Q modes
4 years ago
8ebe64a274
Plane: Quadplane disable forward motor assist in Q modes if rangefinder is out of range low
4 years ago
44df1dd0ca
Plane: fixed the pitch control in transition for tilt rotors
...
this fixes an issue found by Henry. If level transition is set when
transitioning to FBWA from a Q mode, and the pilot pulls back on the
pitch stick to demand pitch up then the plane would go into a
high-alpha flight state with low vertical throttle so it would not
climb, resulting in it never getting past airspeed wait state
4 years ago
319368e4b7
Plane: fixed yaw on fwd transition in tilt quadplanes
...
this fixes the coordinated turn calculation for yaw rate in tilt
quadplanes, and also only applies it if demanding at least 10 degrees
roll.
this fixes an issue when the pilot has a small roll demand in FBWA
from slightly off roll RC trim
thanks to Henry for helping diagnose this!
4 years ago
236961f17f
Plane: use get_frame_class/type string methods
...
use AP_Enum<> for frame_class/type
remove invalid copterTS check
improve quadplane setup failure message
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
4 years ago
cdc7f891a9
ArduPlane: Add missing const in member functions
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
4 years ago
004f873dc7
Plane: update Quadplane FRAME_CLASS description
4 years ago
0d0ff63242
Plane: ensure wp_nav::wp_and_spline_init is called at least once
4 years ago
e4fbe64616
Plane: add QuadPlane singleton
4 years ago
05fb14e5d9
Plane: tailsitter start transition from initial pitch
4 years ago
4dec597372
Plane: move quadplane logging to QuadPlane: update()
4 years ago
742cfc543f
Plane: fix parameter unit
4 years ago
cc1e395854
ArduPlane: privatize AHRS logging
4 years ago
6baaf03c8c
Plane: move auto_throttle_mode to being a method on each mode
4 years ago
a0fcef6ceb
Plane: added tilt vectoring in fixed wing modes
...
this allows for vectoring for roll and pitch in fixed wing modes on
tilt-vectored quadplanes
4 years ago
54ee2c35fb
Plane: rename tailsitter scailing max param to match min and update descriptions
4 years ago
c8b3c91ae5
Plane: Tailsitter add disk theory and altitude gain scailing
4 years ago
dd7a860f23
Plane: always instantiate AC_AttitudeControl_TS
4 years ago
24508f08dc
Plane: don't relax pitch attitude controller for vectored tailsitters in throttle_wait
...
add is_vectored_tailsitter()
instantiate AC_AttitudeControl_TS for tailsitters
4 years ago
8e3c6124eb
Plane: added support for rear motor tilt
...
needed for X8 tilt tri test aircraft for this PR
4 years ago
e94cf561d0
Plane: use rull euler control for fwd transition of tilt vectored planes
...
this gives strong yaw control and wind handling for tilt vectored
planes in forward transitions. It relaxes the yaw if the user either
demands yaw with stick input or plane navigation is demanding a roll
angle for a turn
When navigation is demanded we setup yaw rate for a coordinated turn
4 years ago
abd5f8351d
Plane: don't reset yaw target in TRANSITION_TIMER for tilt-vectored quadplanes
4 years ago
ad14e153e8
Plane: fixed tilt vectoring to cope with large tilt angles
...
This uses vectoring for both roll and yaw when tilted, and uses
differential thrust for yaw when tilted
4 years ago
8658023dad
Plane: Add lower CHECK_SCALE defaults for QuadPlane
4 years ago
cd6ddf7d4f
Plane: fixed disable of geofence on quadplane landing
...
fixes #15917
4 years ago
d984ddc163
Plane: apply circular limits to QLOITER pilot angles
...
This uses the same logic as Copters get_pilot_desired_angle() to apply
a circular limit and the limits in Q_ANGLE_MAX and Q_LOIT_ANG_MAX to
loiter pilot angles.
Co-authored-by: Kris <kris968658@gmail.com>
4 years ago
42887891be
Plane: tailsitter: make sure alt target is abover current alt
4 years ago
c03de6bdbe
Plane: log Qassist state
4 years ago
eea62bf733
Plane: added optional ground effect compensation for quadplanes
...
this allows for landings in aircraft badly effected by ground effect
to be compensated for
4 years ago
c054218568
Plane: report quadplane setup errors in config_error loop
4 years ago
5f67f8130b
Plane: tailsitters use Z stopping point on transition
4 years ago
b225ae43ab
Plane: always log tailsitter scalefactor
4 years ago
840f129153
Plane: remove unused tailsitter scailing option
4 years ago
85480c8865
Plane: update frame_type parameter description
4 years ago
2acbef5579
Plane: tailsitters in VTOL transition use FW rates
4 years ago
0201692eeb
Plane: Q_OPTION to disable synthetic airspeed assist
4 years ago
6621b69836
Plane: log quadplane transision state
4 years ago
f972d3dc2f
Plane: Quadplane: tailsitter only change view once transision is complete
4 years ago
8c856b3ed2
Plane: Add missing Q_OPTIONS metadata for all options
4 years ago
d16872cca5
Plane: compile out ADSB mode if required
4 years ago
e9b8a20312
Plane: fixed hover learn in quadplanes for THR_MIN>0
...
petrol quadplanes commonly have THR_MIN>0, and without this change
cannot ever learn the hover throttle
5 years ago
629f2153e0
Plane: move arming delay logic into AP_Arming_Plane
5 years ago
Iampete1
Hwurzburg
James O'Shannessy
Dr.-Ing. Amilcar do Carmo Lucas
Randy Mackay
Andrew Tridgell
Mark Whitehorn
Patrick José Pereira
Pierre Kancir
Josh Henderson
Peter Barker
Andy Piper