Plane: backport of fast attitude recovery PR #37
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scripting control of simulator pose
and example script
ensures we can recover from inverted flight quickly
when we start the VTOL motor stabilisation with an attitude beyond normal attitude limits we set a flag to use fixed wing attitude control (slaving VTOL rate control to fixed wing rate control) until we have recovered this avoids an issue with the shaping in the VTOL attitude controller and also fixes an issue with the VTOL controller bringing the nose down, which can cause a lot of height loss in quadplanes
we use input_rate_bf_roll_pitch_yaw_no_shaping to avoid input shaping when slaving the VTOL rate controllers to the fixed wing rate control this allows for much faster recovery in Q-assist
when we are close to a 180 degree error, go with the last direction if we are in a 40 degree angle wedge of 180 degree error
during forward transition of tiltrotors we use the VTOL attitude controller until min airspeed is reached. This fixes the FW rate controllers to be slaved to the VTOL controller for that time
if we are forcing recovery then don't use yaw control override
this avoids an issue with not pitching up
added Q_ASSIST_OPTIONS for disabling new features
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Merged, thanks! |
This was referenced Apr 1, 2025
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backport of ArduPilot#29498
This also includes this PR as it was linked and an important bugfix
ArduPilot#29494