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Implement assisted autorotation for Heli’s #22871

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Implement assisted autorotation for Heli’s #22871

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Commits on Jan 20, 2024

  1. AC_Autorotation: Assisted Autorotation Implementation

    @Ferruccio1984 @bnsgeyer
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  2. Copter: Assisted Autorotation Implementation

    @Ferruccio1984 @bnsgeyer
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  3. AP_Motors: Support for Assisted Autorotation 

    retrieve collective hover setting
get governor rpm setpoint
    @Ferruccio1984 @bnsgeyer
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  4. AC_Autorotation: fix error for autotest

    @bnsgeyer
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  5. AC_Autorotation: fix parameter naming

    @bnsgeyer
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  6. Copter: fix style on mode_autorotate.cpp

    @bnsgeyer
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  7. AC_Autorotation: fix style on AC_Autorotation.cpp

    @bnsgeyer
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  8. Heli: Simplify passing rangefinder measurement to autorotation

    @MattKear @bnsgeyer
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  9. AP_Motors_Heli: Add helper to get hover col angle

    @MattKear @bnsgeyer
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  10. AC_Autorotation: Create Init function and directly access AP_Motors_H… 

    …eli for param values to delete object globals
    @MattKear @bnsgeyer
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  11. Copter: Pass motors ptr to autorotation object

    @MattKear @bnsgeyer
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  12. Copter: Remove now unused function calls to Autorotate object

    @MattKear @bnsgeyer
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  13. AC_Autorotation: White space changes and minor formatting

    @MattKear @bnsgeyer
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  14. AC_Autorotation: Fix and rename average z accel function

    @MattKear @bnsgeyer
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  15. Copter: Update average z accel function name in autorotation

    @MattKear @bnsgeyer
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  16. AC_Autorotation: tidy up logging

    @MattKear @bnsgeyer
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  17. AC_Autorotation: Consolidate controller inits

    @MattKear @bnsgeyer
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  18. Copter: Autorotation: Consolidate controller inits

    @MattKear @bnsgeyer
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  19. AC_Autorotation 

    -Fix constants definition
-Description of variables in header
    @Ferruccio1984 @bnsgeyer
    Ferruccio1984 authored and bnsgeyer committed Jan 20, 2024
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Commits on Jan 27, 2024

  1. AC_Autorotation: update name of altitude estimation function

    @Ferruccio1984 @bnsgeyer
    Ferruccio1984 authored and bnsgeyer committed Jan 27, 2024
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  2. AC_Autorotation: squared gravitational acc const

    @Ferruccio1984 @bnsgeyer
    Ferruccio1984 authored and bnsgeyer committed Jan 27, 2024
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  3. AC_Autorotation: remove array zeroing of sink rate derivative

    @Ferruccio1984 @bnsgeyer
    Ferruccio1984 authored and bnsgeyer committed Jan 27, 2024
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  4. Copter: move time_to_impact to local float

    @bnsgeyer
    bnsgeyer committed Jan 27, 2024
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Commits on Feb 9, 2024

  1. Copter: Autorotation mode: simplify time_to_impact

    @MattKear @bnsgeyer
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  2. AC_Autorotation: Tidy up time to impact calculation

    @MattKear @bnsgeyer
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  3. AC_Autorotation: Add helper functions to move phase init functionaili… 

    …ty from mode down into library
    @MattKear @bnsgeyer
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  4. Copter: autorotation mode: Move phase init functions down into autoro… 

    …tation obj to simplify code
    @MattKear @bnsgeyer
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  5. Copter: autorotation mode: remove unused variables

    @MattKear @bnsgeyer
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  6. Copter: autorotation mode: simplify hover autorotation check

    @MattKear @bnsgeyer
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  7. Copter: Autorotation Mode: rename get_flare_status to is_flare_comple… 

    …te to improve readability
    @MattKear @bnsgeyer
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  8. AC_Autorotation: Rename get_flare_status to is_flare_complete to impr… 

    …ove readability
    @MattKear @bnsgeyer
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  9. AC_Autorotation: Add flare height helper

    @MattKear @bnsgeyer
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  10. Copter: remove land detector in mode autorotate and fix for disarm delay

    @Ferruccio1984 @bnsgeyer
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  11. AC_Autorotation: add touchdown complete check and subsequent lowering… 

    … of the collective
    @Ferruccio1984 @bnsgeyer
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  12. AC_Autorotation: Remove touch down complete bool and just use the tim… 

    …er. Also make the lowering of the collective to zero thrust when on ground and do it smoothly.
    @MattKear @bnsgeyer
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  13. AC_Autorotation: Let copter do all of the height above ground estimat… 

    …ion, change all measurements to height above ground to be the same variable.
    @MattKear @bnsgeyer
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  14. Copter: Use copters inertial navigation interpolation of the rangefin… 

    …der measurement for heigh above ground in the autorotation lib. We don't need to check for range finder out of range because inertial nave will interpolate for this case and we check against ground clearance in the autorotation lib.
    @MattKear @bnsgeyer
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  15. Copter: Autorotation Mode: Make the hover autorotation it's own fligh… 

    …t phase
    @MattKear @bnsgeyer
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  16. AC_Autorotation: Add helpers for state machine logic tidy up and remo… 

    …ve now needed variables and functions.
    @MattKear @bnsgeyer
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  17. 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 @bnsgeyer
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  18. AC_Autorotation: Make param defaults numeric values if the defines ar… 

    …e not used elsewhere in the code.
    @MattKear @bnsgeyer
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  19. AC_Autorotation: Added Comments and whitespace fixups

    @MattKear @bnsgeyer
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  20. AC_Autorotation: Fix data type for time_on_ground

    @MattKear @bnsgeyer
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  21. Copter: Autorotation Mode: Whitespace changes, comments updated, and … 

    …remove unused define.
    @MattKear @bnsgeyer
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  22. Copter: Autorotation Mode: Use standard earth_to_body2D velocity rota… 

    …tion
    @MattKear @bnsgeyer
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  23. AC_Autorotation: Add options param and give roll-yaw control scheme o… 

    …ptions
    @MattKear @bnsgeyer
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  24. Copter: Autorotation mode: Make control schemes for roll and yaw opti… 

    …onal
    @MattKear @bnsgeyer
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  25. AC_Autorotation: Remove sink derivative and only use filtered accel.

    @MattKear @bnsgeyer
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  26. Copter: Autorotation Mode: Remove calls to update derive sink rate

    @MattKear @bnsgeyer
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  27. Copter: Autorotation mode: Simplify rpm warning message code structur… 

    …e and utilise a timer
    @MattKear @bnsgeyer
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  28. Copter: Autorotation Mode: Update comments and white space change

    @MattKear @bnsgeyer
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  29. AC_Autorotation: update comments

    @MattKear @bnsgeyer
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  30. AC_Autorotation: Remove unused variables

    @MattKear @bnsgeyer
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Commits on Feb 16, 2024

  1. AC_Autorotation: fix options param index

    @MattKear @bnsgeyer
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  2. Copter: Always update the ground distance in the autorotation library… 

    … to prevent a race on mode init.
    @MattKear @bnsgeyer
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  3. AP_Motors: Heli: Add helper to calculated norm collective from a give… 

    …n blade pitch angle
    @MattKear @bnsgeyer
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  4. AC_Autorotation: Simplify bad RPM handling, leaving to RPM lib to det… 

    …ermine unhealthy. Col defaults to ang of -2 if no RPM
    @MattKear @bnsgeyer
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  5. Copter: Autorotation mode: remove bad rpm handling

    @MattKear @bnsgeyer
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  6. AP_Motors: temporary fix to prevent I-term decay during autorotations

    @Ferruccio1984 @bnsgeyer
    Ferruccio1984 authored and bnsgeyer committed Feb 16, 2024
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  7. AP_Motors: return collective land position 

    post touchdown condition requires collective to be lowered below land_col_min_pct in order to get the disarm logic to disarm the aircraft
    @Ferruccio1984 @bnsgeyer
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  8. AC_Autorotation: fix for post touchdown disarming 

    -collective gets lowered below land_col_min_pct in order to get the aircraft disarmed
-adjusted thresholds of lfare update and flare complete check
    @Ferruccio1984 @bnsgeyer
    Ferruccio1984 authored and bnsgeyer committed Feb 16, 2024
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