Plane: send attitude target message implementation (for quadplanes) #25253
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this copes with the M10S rejecting multiple-key VALGET calls. We fall back to fetching one at a time
Co-authored-by: Randy Mackay <[email protected]> optional support to toggle GPIO pin at 10hz
this sets up the vwd integrator more reasonably when we are in POSITION1 stage of VTOL landing. We need to have enough throttle to cope with a headwind, but want it lower when we are at or above our target closing speed so can minimise the amount of pitch up This also makes the landing_desired_closing_velocity() consistent with the landing speed used in approach, using average of airspeed min and cruise speed if TECS_LAND_ARSPD is not set The target airspeed for TECS during airbraking is now set to ARSPD_FBW_MIN, on the basis we are trying to slow down to min speed, and we have VTOL support which should prevent a stall. To cope with a high headwind where ARSPD_FBW_MIN is below the headwind we now check for too low achieved closing speed and switch to POSITION1 which can use vfwd to get to the landing location
M10S (no storage) throws this for a considerable period of time and the wording makes this process sound scary.
The ResetVelocity() function is only supposed to reset XY states, not Z state. Resetting the Z state for velocity results in a large velocity glitch if a vehicle is descending or ascending when aiding switches to AID_NONE this fixes ArduPilot#19386
The ResetVelocity() function is only supposed to reset XY states, not Z state. Resetting the Z state for velocity results in a large velocity glitch if a vehicle is descending or ascending when aiding switches to AID_NONE this fixes ArduPilot#19386
this test was relying on the EKF bug fixed in this PR. The copter was actually fully landing and touching the ground in the LAND phase whereas the original intention of this test was that it not touch the ground in LAND. See the graph in ArduPilot#17104 where the test was added
… increases flash usage
miodine
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I did as it was requested - I applied the most recent suggestions, reverted any chages done in the logging part, and squashed the commits altogether. |
IamPete1
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Oct 16, 2023
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@miodine I have marked for the dev cal which is this evening on Discord, your welcome to come along. https://ardupilot.org/dev/docs/ardupilot-discord-server.html#weekly-dev-calls |
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All right, then I'll await the results of your discussion. Sorry for my clumsiness with all that, and thanks for the guidance |
miodine
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tridge
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Oct 17, 2023
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| const Quaternion quat = plane.quadplane.attitude_control->get_attitude_target_quat(); | ||
| const Vector3f ang_vel = plane.quadplane.attitude_control->get_attitude_target_ang_vel(); |
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this needs to be against master, not plane-4.4 |
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@IamPete1 will rework this as a PR against master |
Minor modification - implementation of the send_attitude_target msg. streaming (for quadplanes). The code is analogous in its structure and functionality to the implementation in Copter Co-Authored-By: Peter Hall <[email protected]>
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…into Plane-4.4-mods
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Minor mod to the communication routine, whose purpose is to expose the target attitude for a plane operating in VTOL mode.
Might be useful for external in-flight PID tuning applications.