Implement assisted autorotation for Heli’s#22871

Open

bnsgeyer wants to merge 61 commits intoArduPilot:masterfrom bnsgeyer:pr-autorotation

+851-388

Commits on Jan 20, 2024

AC_Autorotation: Assisted Autorotation Implementation

Ferruccio1984
authored and
bnsgeyer
committed
Copter: Assisted Autorotation Implementation

Ferruccio1984
authored and
bnsgeyer
committed
AP_Motors: Support for Assisted Autorotation

Ferruccio1984
authored and
bnsgeyer
committed
AC_Autorotation: fix error for autotest
bnsgeyer
committed
AC_Autorotation: fix parameter naming
bnsgeyer
committed
Copter: fix style on mode_autorotate.cpp
bnsgeyer
committed
AC_Autorotation: fix style on AC_Autorotation.cpp
bnsgeyer
committed
Heli: Simplify passing rangefinder measurement to autorotation

MattKear
authored and
bnsgeyer
committed
AP_Motors_Heli: Add helper to get hover col angle

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Create Init function and directly access AP_Motors_Heli for param values to delete object globals

MattKear
authored and
bnsgeyer
committed
Copter: Pass motors ptr to autorotation object

MattKear
authored and
bnsgeyer
committed
Copter: Remove now unused function calls to Autorotate object

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: White space changes and minor formatting

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Fix and rename average z accel function

MattKear
authored and
bnsgeyer
committed
Copter: Update average z accel function name in autorotation

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: tidy up logging

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Consolidate controller inits

MattKear
authored and
bnsgeyer
committed
Copter: Autorotation: Consolidate controller inits

MattKear
authored and
bnsgeyer
committed
AC_Autorotation

Ferruccio1984
authored and
bnsgeyer
committed

Commits on Jan 27, 2024

Commits on Feb 9, 2024

Copter: Autorotation mode: simplify time_to_impact

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Tidy up time to impact calculation

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Add helper functions to move phase init functionaility from mode down into library

MattKear
authored and
bnsgeyer
committed
Copter: autorotation mode: Move phase init functions down into autorotation obj to simplify code

MattKear
authored and
bnsgeyer
committed
Copter: autorotation mode: remove unused variables

MattKear
authored and
bnsgeyer
committed
Copter: autorotation mode: simplify hover autorotation check

MattKear
authored and
bnsgeyer
committed
Copter: Autorotation Mode: rename get_flare_status to is_flare_complete to improve readability

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Rename get_flare_status to is_flare_complete to improve readability

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Add flare height helper

MattKear
authored and
bnsgeyer
committed
Copter: remove land detector in mode autorotate and fix for disarm delay

Ferruccio1984
authored and
bnsgeyer
committed
AC_Autorotation: add touchdown complete check and subsequent lowering of the collective

Ferruccio1984
authored and
bnsgeyer
committed
AC_Autorotation: Remove touch down complete bool and just use the timer. Also make the lowering of the collective to zero thrust when on ground and do it smoothly.

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Let copter do all of the height above ground estimation, change all measurements to height above ground to be the same variable.

MattKear
authored and
bnsgeyer
committed
Copter: Use copters inertial navigation interpolation of the rangefinder measurement for heigh above ground in the autorotation lib. We don't need to check for range finder out of range because ine…

MattKear
authored and
bnsgeyer
committed
Copter: Autorotation Mode: Make the hover autorotation it's own flight phase

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Add helpers for state machine logic tidy up and remove now needed variables and functions.

MattKear
authored and
bnsgeyer
committed
Copter: Autorotation Mode: Rework logic machine to make it easier to read and to ensure flight phase progression based on heights. Also flip flag bools to be init checks.

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Make param defaults numeric values if the defines are not used elsewhere in the code.

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Added Comments and whitespace fixups

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Fix data type for time_on_ground

MattKear
authored and
bnsgeyer
committed
Copter: Autorotation Mode: Whitespace changes, comments updated, and remove unused define.

MattKear
authored and
bnsgeyer
committed
Copter: Autorotation Mode: Use standard earth_to_body2D velocity rotation

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Add options param and give roll-yaw control scheme options

MattKear
authored and
bnsgeyer
committed
Copter: Autorotation mode: Make control schemes for roll and yaw optional

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Remove sink derivative and only use filtered accel.

MattKear
authored and
bnsgeyer
committed
Copter: Autorotation Mode: Remove calls to update derive sink rate

MattKear
authored and
bnsgeyer
committed
Copter: Autorotation mode: Simplify rpm warning message code structure and utilise a timer

MattKear
authored and
bnsgeyer
committed
Copter: Autorotation Mode: Update comments and white space change

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: update comments

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Remove unused variables

MattKear
authored and
bnsgeyer
committed

Commits on Feb 16, 2024

AC_Autorotation: fix options param index

MattKear
authored and
bnsgeyer
committed
Copter: Always update the ground distance in the autorotation library to prevent a race on mode init.

MattKear
authored and
bnsgeyer
committed
AP_Motors: Heli: Add helper to calculated norm collective from a given blade pitch angle

MattKear
authored and
bnsgeyer
committed
AC_Autorotation: Simplify bad RPM handling, leaving to RPM lib to determine unhealthy. Col defaults to ang of -2 if no RPM

MattKear
authored and
bnsgeyer
committed
Copter: Autorotation mode: remove bad rpm handling

MattKear
authored and
bnsgeyer
committed
AP_Motors: temporary fix to prevent I-term decay during autorotations

Ferruccio1984
authored and
bnsgeyer
committed
AP_Motors: return collective land position

Ferruccio1984
authored and
bnsgeyer
committed
AC_Autorotation: fix for post touchdown disarming

Ferruccio1984
authored and
bnsgeyer
committed