d7d528560d
Plane: don't start summing for loiter until we reach loiter circle
9 years ago
f3638f421e
Plane: fix short loiters exiting early
9 years ago
f60b3fd6c7
Plane: remove "Command recieved" statustext
9 years ago
f4ccf94dfc
Plane: added QLAND mode
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for VTOL landing. Use for failsafe as well
9 years ago
927efa90f8
Plane: fixed log printing of Q modes
9 years ago
1df7baa5c5
Plane: update quadplane param description increment
9 years ago
ff249788bf
Plane: add a default Navigation option as explained in the param docs
9 years ago
f66d5f7a8c
Plane: use ahrs.get_origin instead of ekf.getOriginLLH
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This ensures we get the origin from the active EKF
9 years ago
75be40ea59
Plane: add LAND_THR_SLEW
9 years ago
ed6aa4ed17
Plane: added throttle limiting via max power (current*voltage)
9 years ago
bf5005103c
Plane: allow loiter waypoints to have a zero lat/lng or alt to mean use current
9 years ago
be3941efdf
Plane: unify loiter mission items to require heading to next wp
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- except loiter_unlimited because it never exits
9 years ago
9e452838ab
Plane: loiter missions to default to loiter_radius if mission says 0 or 1.
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- except loiter_unlim which uses RTL_loiter, although I'm not sure why.
9 years ago
ed98617d42
Plane: utilize radius for loiter commands
9 years ago
f35d05e374
Plane: improved quadplane default gains
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0.25 is better for an average quadplane for roll/pitch
0.5 is a bit high for accel-z, 0.3 is better
9 years ago
93ac82e1f6
Plane: write voltage/current much more frequently
9 years ago
fabe235130
ArduPlane: initialize the fail_test variable
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* Clang complains if variables are not initialized
9 years ago
5f5035933f
ArduPlane: static cast to uint8 on initialization of struct
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* clang requires that the casting be explicit
9 years ago
968f07f583
Plane: allow live quadplane PID tuning
9 years ago
b8fc524954
Plane: enforce expected flight_stage in TECS
9 years ago
993e5b438c
Plane: add to LAND_NEUTRL behavior
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offer netrual vs disabled outputs
9 years ago
6399d00950
Plane: convert to using static send_statustext
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- no more MSG_STATUSTEXT
- TODO: replace calls to gcs_send_text and gcs_send_text_fmt to GCS_MAVLINK::send_statustext()
9 years ago
ad78a31255
Plane: move set_dataflash(0 for static logging
9 years ago
881dabf048
Plane: add missionLoaded arming check fail for mis.len <= 1
9 years ago
1acf25b6e2
Plane: use set_dataflash()
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give GCS_MAVLINK a dataflash object for logging text messages
9 years ago
b84b480086
Plane: added PID tuning for quadplane modes
9 years ago
e2abaefc44
Plane: check SCHED_LOOP_RATE for quadplane
9 years ago
0b22b520b8
ArduPlane: remove unused CMAKE define
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This is a leftover from previos cmake build system.
9 years ago
ca4017d093
Plane: defines.h should not use defines from config.h
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config.h includes defines.h early, so defines in config.h are unavailable
9 years ago
d0edfa5dfa
Plane: compile warning fix
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/ardupilot/ArduPlane/quadplane.cpp:773:107: warning: implicit conversion from 'float' to 'double' when passing argument to function [-Wdouble-promotion]
9 years ago
0b26a34f22
Plane: new param LAND_THEN_NEUTRL
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// @Description : When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain.
9 years ago
8ecf54bf75
Plane: use throttle slew when in quadplane assisted flight
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this prevents a sudden throttle change on a petrol motor when
transitioning
9 years ago
a280396645
Plane: nonfunctional change, comment only. Units were in old in comment
9 years ago
c837fbca2f
Plane: 3/3 new param TECS_LAND_SRC for Land Sink Rate Change
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// @Description : When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value.
9 years ago
8ac6343730
Plane: removing mission_cmd in TECS and making it bool is_landing
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this is reverse-thrust cleanup suggested by Tridge
9 years ago
d04b5e735f
Plane: add SYS_STATUS reverse_motor
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- helpful to tell GCS to interpret VFR_HUD as negative when bit is enabled
- throttle is sent as abs()
9 years ago
fa53263ca9
Plane: make throttle_percentage() signed
9 years ago
ebec68c55b
Plane: param desc to increase THR_MIN range to include negative thrust
9 years ago
f369899509
Plane: restrict rudder arming where reverse_thrust is enabled and commanding negative
9 years ago
a920b7322d
Plane: more desc for param USE_REV_THRUST
9 years ago
046741d23b
Plane: abort landing at 90% throttle instead of 95%
9 years ago
b098466e87
Plane: reduce redundant logging of STAT from 6 Hz to 5 Hz
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- STAT log entry was being done every 5 Hz plus at 1 Hz. This removes the 1Hz.
9 years ago
66fcd8f58a
Plane: run is_crashed at 5hz instead of 1hz
9 years ago
93185be1ff
Plane: reset land_pre_flare on mode change
9 years ago
2e92089ce6
Plane: Reverse Thrust
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Reverse thrust for controlled landings, even with much steeper approach slopes. This is achieved by allowing throttle demand to go negative to maintain a target airspeed. A Pre-Flare stage was added, triggered by an altitude, to allow for a slower airspeed just before land. That lower airspeed can be near stall.
new params LAND_PF_ALT, LAND_PF_SEC, LAND_PF_ARSPD, USE_REV_THRUST
9 years ago
1cb094f12e
Plane: make throttle signed (pos and neg)
9 years ago
b8d5369ebd
Plane: add flight stage LAND_PREFLARE
9 years ago
f8d8616598
Plane: support all types of multicopters in quadplane
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adds Q_FRAME_CLASS for class of multicopter frame
9 years ago
eeda1b56de
Plane: don't do throttle nudge while in geofence failsafe
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user stick inputs should not apply when outside fence
9 years ago
9157f634eb
Plane: Add Tom Pittenger to authors list
9 years ago
Andrew Tridgell
Tom Pittenger
Michael du Breuil
Don Gagne
Randy Mackay
Will Sackfield
Lucas De Marchi
Peter Barker