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Plane: implement manual forward throttle for QACRO, QSTABILIZE and QHOVER #11763

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Plane: implement manual forward throttle for QACRO, QSTABILIZE and QHOVER #11763

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@kd0aij kd0aij commented Jul 9, 2019 •
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1 new parameter: Q_FWD_THR_MAX and a new RCx_OPTION: FWD_THR
If FWD_THR is set for an RC channel, enables manual forward throttle control via that channel
Manual throttle ranges from zero to Q_FWD_THR_MAX with 1 being full throttle.

also adds rudder control from stick input for QACRO mode

replaces #11548

Question: should there be a flight mode in which forward throttle is somehow mixed in from throttle or pitch stick instead of using a separate channel? The stock Convergence has a mode in which the pitch stick controls only forward tilt, but this means altitude is controlled only by throttle, with pitch held near zero. The result is sluggish control of altitude.
Suggestion from @Hwurzburg : mix in forward tilt from throttle when throttle stick is above hover thrust

@kd0aij kd0aij mentioned this pull request Jul 10, 2019
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kd0aij commented Jul 11, 2019 •
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Flight test with Convergence tiltrotor, pitch up to hold zero airspeed while increasing forward throttle.
At low airspeed, there is a limit beyond which roll control is degraded:
fwd_thr_limit

This was with Q_FWD_THR_MAX = 0.3, and control stability may be dependent on other parameters also, such as Q_TILT_YAW_ANGLE and Q_TILT_MAX.

@kd0aij kd0aij removed the WIP label Aug 15, 2019
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kd0aij commented Aug 15, 2019

Flight tested on E-Flite Convergence and mini-Convergence.

forward throttle and QACRO rudder control tested in SITL with RF8 BigStik Quadplane

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kd0aij commented Sep 14, 2019

rebased on master

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kd0aij commented Sep 20, 2019 •
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takeoff and landing in QHOVER mode with 20 mph wind, using forward throttle to compensate for wind.
Wind was mostly from the south and heading was into the wind.
Flight controller was Mateksys F405-Wing
T L_in_wind
log: https://drive.google.com/open?id=1IAXQmc2P-yYxSABpMEG1zlIbX63Nqwnu

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kd0aij commented Sep 27, 2019

force-pushed a whitespace fix

@kd0aij kd0aij requested a review from IamPete1 October 13, 2019 21:47
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kd0aij commented Oct 13, 2019

@IamPete1 I think you reviewed an earlier version of this PR. This one is cleaned up a bit, and I just added a new commit to allow testing the forward throttle and vectored yaw tilt functions while disarmed. The fact that they didn't work while disarmed caused a new user quite a bit of frustration.

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kd0aij commented Oct 14, 2019

SITL demo: https://discuss.ardupilot.org/t/e-flite-mini-convergence-with-ardupilot/46015/4

IamPete1
IamPete1 reviewed Oct 14, 2019
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@kd0aij kd0aij mentioned this pull request Oct 27, 2019
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@kd0aij kd0aij force-pushed the pr-man-fwd-thr branch 2 times, most recently from 524460e to f14d0e0 Compare November 3, 2019 23:47
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kd0aij commented Nov 16, 2019

rebased and added new parameter Q_FWD_THR_MIX which adds in forward throttle when above hover thrust
added throttle is in addition to the demand from rc_fwd_thr_ch

@kd0aij kd0aij mentioned this pull request Dec 21, 2019
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AP_Math: add example for plotting manual throttle curves
7c152d7 
restrict throttle_curve example to SITL builds
@kd0aij
SITL: fixed running of example programs
d5269fc
@kd0aij
Plane: implement manual forward throttle for QACRO, QSTABILIZE and QH…
431d636 
…OVER

scale manual throttle to Q_FWD_THR_MAX
add rudder control for QACRO: route copter controller yaw output to plane rudder output
allow forward/yaw motor tilt when disarmed
change param FWD_THR_CH to an RC option
add parameter Q_FWD_THR_MIX
mix in forward throttle proportional to (throttle - hover throttle)
fix rebase error
@kd0aij
RC_Channel: add RC option for VTOL manual forward throttle
169b6db
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kd0aij commented Jun 4, 2020

replaced by #14520

@kd0aij kd0aij closed this Jun 4, 2020
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