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
13c27e0eb8
Plane: Missing Loiter Init on accel
6 years ago
5136b90d27
Plane: do attitude relax after 100ms
7 years ago
7372a7b5f9
QuadPlane: Remove repeat I term reset
7 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
7 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
e11c7c6069
QuadPlane: remove true from init of loiter
7 years ago
3d923d0572
Plane: Send a quadplane version of NAV_CONTROLLER_OUTPUT
7 years ago
16c7ab81dc
Plane: pass rc_speed to motor backend constructors
...
this sets the right speed as early as possible
7 years ago
20c67019b0
Plane: added Q_TAILSIT_THSCMX
...
this provides more flexibility in tailsitter throttle scaling
7 years ago
d8a7618e15
Plane: update use of AC_Loiter controller for quadplane
...
this changes the way the loiter controller is initialised for QLOITER,
after discussions with Leonard.
The way we were doing it could cause a sudden acceleration demand when
switching into QLOITER.
This also changes the default loiter parameters to reduce the maximum
acceleration that will be applied in QLOITER. Many thanks to Leonard for
the advice
7 years ago
d07f8aa42b
Plane: fixed a bug in transition to QSTABILIZE for tailsitters
...
this bug was found bug Marco on his tailsitter. It resulted in zero
throttle for 2s in transition from FBWA to QSTABILIZE
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
548a7f8fcf
Plane: add minor comment to quadplane
7 years ago
ee745d2cd2
Plane: quad plane uses rate-control control during transitions
7 years ago
a16d4ddad7
Plane: quadplane uses poscontrol instead of loiter
7 years ago
c5d838125b
Plane: quadplane logs PSC message
7 years ago
09cad7c59d
Plane: quadplane integrates attitude control inertial_frame_reset
7 years ago
03c162432e
Plane: quadplane provides dt to AC_WPNav::set_pilot_desired_acceleration
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
aa47b19dea
Plane: remove quadplane calls to multicopter poscontrol's freeze_ff_xy
7 years ago
ddcd08d6b6
Plane: PSC_ACCZ param name shortened
7 years ago
aec7521da4
Plane: Fix truncation of a time interval
...
Truncating the a millisecond time delta to uint16_t causes it to wrap
every 65 seconds, which could momentarily reset the desired climb rate
7 years ago
d579e086cf
Plane: quadplane param index comment for moved PIDs
7 years ago
20b05e4228
Plane: added conversion code for PID layout change
...
this copes with the move of multicopter PIDs inside the position
controller
7 years ago
7b1157e2d8
Plane: remove setting accel_z PID controller's dt
...
This is handled within pos-controller's set_dt function
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
25224cd261
Plane: remove dead code from do_vtol_land
7 years ago
f7a735b990
Plane: fixed transitions for tailsitters after auto-takeoff
...
need to use angle wait
7 years ago
957c1f6d23
Plane: extend QLOITER transition pitch limit
...
use twice transition time for pitch envelope to reduce QLOITER
transition harshness
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
e27c54a312
Plane: smooth out fwd tailsitter transition
...
use Q_TRANSITION_MS and the transition angle to pitch forward more
slowly
7 years ago
d52f5155f0
Plane: Rename rc failsafe state members
7 years ago
7d91755bd1
Plane: update Q_OPTIONS docs
...
Made q_options description a little clearer
7 years ago
1085069851
Plane: use WP_LOITER_RAD if RTL_RADIUS is 0 for QRTL
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
...
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
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
92ee05b925
Plane: fixed motor channel handling
7 years ago
6526ff504d
Plane: fix for changes to AP_Motors API
7 years ago
e008559b6e
Plane: support LOITER_TO_ALT in quadplanes
7 years ago
8178ab4037
Plane: make mav_type in HEARTBEAT configurable
...
needed for qgc to setup for quadplanes
7 years ago
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
1a95dcbdd7
Plane: update docs for Q_YAW_RATE_MAX
7 years ago
Peter Barker
Michael du Breuil
Leonard Hall
Andrew Tridgell
IamPete1
Randy Mackay
luweikxy
nick2204