Plane: add AirMode RC option for quadplanes #14671

kd0aij · 2020-06-23T15:30:09Z

add Q_OPTION for AirMode (auto-enabled if RCx_OPTION ARMDISARM assigned). There is no behavior change unless an RC option is assigned for either ARMDISARM or AIRMODE.

This improves control in VTOL modes with the throttle near zero (SPIN_MIN) by preventing throttle suppression and by setting throttle mix to manual when in manual throttle modes.

includes a bugfix for manual throttle mix for qacro

ArduPlane/Plane.h

IamPete1 · 2020-06-23T16:02:15Z

Do we need a Qoption and a switch?

Hwurzburg · 2020-06-23T16:16:53Z

I think Mark was concerned about altering existing operation....if its mirroring Copter it would only need to make airmode active if armed by switch function 41 and then add the air mode disable switch like copter just added...but that is different than now with switch 41

kd0aij · 2020-06-23T17:48:55Z

@IamPete1 Without the new q_option (defaulting to 0) this would change behavior for quadplane users who used a switch for arming.
@Hwurzburg I just realized that this implementation for Q_OPTION=AIRMODE completely overrides the RC_OPTION for airmode; if you set that option bit airmode is always ON when armed, regardless of the RC switch position. But if you use rudder arming, you can turn airmode on and off (while armed) using the assigned switch.

Hwurzburg · 2020-06-23T19:02:48Z

yep,I would think that the option would turn on AIRMODE with no AIRMODE switch (better use an arm/disarm switch then), but that the AIRMODE switch, if configured, would determine when it was on or off....and disarm/arm switch is independent of all of this....assuming you want to keep the same profile as now...wont be like copter, but ....not a problem I guess...

IamPete1 · 2020-06-23T20:06:03Z

I would remove the ability for Airmode via arming/disarming switch, that was really accident on copter. If you going to have to have a switch you might as well have it dedicate to Airmode.

kd0aij · 2020-06-23T20:06:10Z

@Hwurzburg Tested in SITL:
(edited)
If you set the new Q_OPTIONS bit 7, and have arming on a switch, you'll have airmode at all times when armed unless
rudder arming is enabled, then you can't get airmode unless you set an RC option to AIRMODE. Then the RC_OPTION switch controls airmode, regardless of rudder_arming_type and Q_OPTIONS.

I believe this now behaves the same as copter only if the Q_OPTIONS bit is set, and does not change existing behavior unless the new RC_OPTION is assigned.

Hwurzburg · 2020-06-24T22:30:01Z

Mark, with option bit set...is it when rudder arming is enabled? or used to arm? that the switch is needed to get into AIRMODE....in copter if you arm by rudder, you need the switch....so the option bit is only for airmode on arm switch, right? with no arm/disarm you need the airmode switch, right?

also, I think you need to update RC_Channel.cpp with the AIRMODE switch metadata now that Plane uses it,right?

kd0aij · 2020-06-24T23:19:43Z

I forgot there was separate metadata for each vehicle... will update the plane entry.

Is my description of the options bit and rc_option above ambiguous or unclear? That is essentially the same text I'd propose to add to the wiki.

Hwurzburg · 2020-06-25T00:24:43Z

"If you set the new Q_OPTIONS bit 7, and have arming on a switch, you'll have airmode at all times when armed." okay and what if you armed with the rudder?immediate air mode and jumping around until you release rudder? is AIRMODE active then? this is not what Copter does, so I do think it might be unclear a bit...thats why I asked?

kd0aij · 2020-06-25T02:31:47Z

The next paragraph is "If rudder arming is enabled, then you can't get airmode unless you set an RC option to AIRMODE. Then the switch controls airmode, regardless of rudder_arming_type and Q_OPTIONS."

I can't see how that doesn't answer your question, but maybe I'm missing something?

Hwurzburg · 2020-06-25T03:08:27Z

Its just a matter of having every statement true on its own and not qualified by later statements. I would word it thus:

If the Q_OPTIONS bit 7 is set to "1", and only have arming possible via an ARM/DISARM RCx_OPTIONS switch, or via GCS arm command, then AIRMODE will be active at all times when armed.
If rudder arming is enabled (ARMING_RUDDER = 1 or 2), then AIRMODE can only be activated by using an AIRMODE RCx_OPTIONS switch.

kd0aij · 2020-06-25T12:38:48Z

OK, I thought you were saying the behavior was not what you wanted.
If this gets merged, I'll let you write the wiki entry :)

@IamPete1 In reply to your last comment the Q_OPTIONS bit for airmode on arming was specifically requested by Henry.

Hwurzburg · 2020-06-25T13:46:09Z

so that people migrating from Copter to QuadPlane have the same experience in VTOL modes

ArduPlane/quadplane.cpp

kd0aij · 2020-07-08T00:25:20Z

@Hwurzburg I changed this to limit auto-airmode to switch arming only:
If you set the new Q_OPTIONS bit 7, and arm using a switch, arming/disarming also turns airmode on/off.
If you assign an aux switch for AirMode, that switch controls airmode, with no exceptions.

Hwurzburg · 2020-07-08T12:41:35Z

super! sorry my last addition causes you to fix and rebase!

ArduPlane/quadplane.cpp

kd0aij · 2020-07-14T16:12:25Z

ArduPlane/quadplane.cpp

@@ -1920,6 +1920,11 @@ void QuadPlane::update_throttle_suppression(void)
        return;
    }

+    // if in a VTOL manual throttle mode and air_mode is on then allow motors to run
+    if (plane.control_mode->is_vtol_man_throttle() && air_mode == AirMode::ON) {


throttle suppression (and throttle mix) behavior changes restricted to qstab and qhover using new accessor in Mode class

kd0aij · 2020-07-28T15:34:24Z

Demos in RF8/SITL

Convergence tilt-tri, QSTABILIZE mode: takeoff then cut throttle to zero, first with airmode off, then with airmode on
https://youtu.be/DFXEZXBejnE

BlackCat tailsitter, QSTABILIZE mode: flying around at zero throttle in airmode, airmode switched off at 40 seconds; complete loss of control.
https://youtu.be/1DeOen5ySoE

add Q_OPTION for AirMode (auto-enabled if RCx_OPTION ARMDISARM assigned) bugfix: manual throttle mix for qacro qualify auto airmode on/off add Air Mode to Plane RC_OPTION metadata restrict airmode to manual throttle modes add qhover to manual throttle mix move air_mode from Plane to QuadPlane add Mode::is_vtol_man_throttle()

tridge · 2020-08-04T00:38:05Z

Henry will do testing

and make use of is_vtol_mode in in_vtol_mode

kd0aij · 2020-08-04T15:31:01Z

@peterbarker I added a commit to extend the autotest with the additional testing that Tridge suggested. Does that change look OK to you?

Tools/autotest/quadplane.py

peterbarker · 2020-08-05T23:50:38Z

@kd0aij thanks for fixing that test up. Just waiting for test results now, I think.

tridge · 2020-08-12T22:47:22Z

thanks to @Hwurzburg for testing!

kd0aij requested review from IamPete1, Hwurzburg and andyp1per June 23, 2020 15:30

andyp1per approved these changes Jun 23, 2020

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kd0aij added 2 commits August 3, 2020 08:58

RC_Channel: update Plane RC_Option metadata

4b46a6b

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kd0aij added 3 commits August 3, 2020 20:26

autotest: add quadplane airmode test

bea66aa

Plane: add Mode::is_vtol_man_mode

f264c28

and make use of is_vtol_mode in in_vtol_mode

Plane: enable yaw in qstabilize:air_mode at zero throttle

8afa939

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autotest: expand quadplane AirMode autotest

cd3335f

kd0aij force-pushed the pr-airmode-plane branch from e8f8113 to cd3335f Compare August 5, 2020 12:55

tridge merged commit d0ff26e into ArduPilot:master Aug 12, 2020

Hwurzburg removed the WikiNeeded needs wiki update label Aug 21, 2020

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Plane: add AirMode RC option for quadplanes #14671

Plane: add AirMode RC option for quadplanes #14671

kd0aij commented Jun 23, 2020 •

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Plane: add AirMode RC option for quadplanes #14671

Plane: add AirMode RC option for quadplanes #14671

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