Pr add rotary encoder by anant3110 · Pull Request #14 · AirboundInc/ardupilot

anant3110 · 2025-09-10T10:44:06Z

Add rotary encoder with quadrature architecture to measure angles

ISR based system called from HAL
Define in ArduPlane, with other sensors and servos
Add parameters to assign the appropriate pins and variables for the rotary encoder
Add synchronous modules that update a global instance at a fixed time
Add data flash logs as "RENC"

botmayank

Move stuff to quadplane/tailsitter or as localized to our files as possible.

libraries/AP_Logger/LogStructure.h

ArduPlane/Plane.h

ArduPlane/Parameters.cpp

ArduPlane/quadplane.cpp

anant3110 · 2025-09-26T13:15:25Z

ArduPlane/quadplane.cpp

    AP_GROUPINFO("BCK_PIT_LIM", 38, QuadPlane, q_bck_pitch_lim, 10.0f),

+
+    AP_SUBGROUPINFO(tailsitter.rotary_encoder, "RENC_", 39, QuadPlane, AP_RotaryEncoder), 


This had to be added here, there was no way to do this from tailsitter.cpp

coderabbitai · 2025-11-13T06:19:12Z

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…f the directory

…upts

* Freeze climb rate during RTL phases * Expose time to freeze crt before land descent as param * Add current timestamp to logging * Disable vh power if negative * Add desphi logging * Remove unused fixed wing attitude logs * Fix unit in docstring for param

…mits

anant3110 · 2026-01-27T11:30:04Z

Merged conflicts resolved. Conflicts were in version.h and default params. Added default params from ardupilot-develop.

* Update last_pos2_ms time for non-rtl modes to freeze climb rate * Move set climb rate 0 for pos2 height control out of tailsitter check

…EK3 to DCM (#25) * Add control surface checks lua script * Update parachute lua script log * Add door auto control script * Update version.h * Add wvane lo threshold to pix6c defaults param file * Add all airbound params to defaults.parm with q_tailsit_wv ones as readonly * Reduce default param list basis recent flights * Update version.h * Change EK3 airspeed estimate source from EK3 to DCM Update version.h --------- Co-authored-by: Mayank Joneja <mayankj@airbound.co>

* Modify Pixhawk6C-bdshot default parameter list - Update version.h to rc4 - Update default params in lua scripts * Handle gimbal lock singularity specifically for pitch in ahrs view * Update version to rc5 * Add simple ahrs pitch based check to correct att pitch beyond 90 * Add rot matrix based check for nose down belly up/down * Swap pitch corrections in ahrs view --------- Co-authored-by: akshar-airbound <aksharp@airbound.co>

* Modify Pixhawk6C-bdshot default parameter list - Update version.h to rc4 - Update default params in lua scripts * Handle gimbal lock singularity specifically for pitch in ahrs view * Update version to rc5 * Add simple ahrs pitch based check to correct att pitch beyond 90 * Add rot matrix based check for nose down belly up/down * Swap pitch corrections in ahrs view * Add logging for ahrs view compensation * Fix logging of pitch before and after compensation * Add logging for att target axis angle * Add logging of att body and error quat as axis angle * Add flags for belly up/down and nose down in logs * Update version to rc6 * Change version to 4.5.7.3 rc1 * Change mode check for landing phase for doors script * Check valid landing mission commands * Add check for vtol land descent from quadplane * Force doors open under takeoff alt_trig_m and don't check for transitions during takeoff * Add a landing latch flag to only trigger doors basis modes * Initialize servo pwm open close based on specific defaults * Update version to 4.5.7.2 hf1 * Update version to v4.5.7.2 - hf1 * Fix vtol flight check logic basis latch * Add global override param for doors auto logic * Fix num params for door script * Fix docstring for ATPC logging --------- Co-authored-by: akshar-airbound <aksharp@airbound.co>

botmayank

Address comments, if changes are too tough to manage here, close this and open a new PR based on 4.5.7.2 hf1

botmayank · 2026-01-28T05:30:38Z

ArduPlane/Attitude.cpp

    const float roll_out = stabilize_roll_get_roll_out();
-    SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, roll_out);
+
+#if HAL_LOGGING_ENABLED


@anant3110 remove these logs, not needed

botmayank · 2026-01-28T05:31:13Z

ArduPlane/Log.cpp

        logger.Write_PID(LOG_PIDE_MSG, quadplane.pos_control->get_vel_xy_pid().get_pid_info_y());
    }
+
+        // Write tailsitter specific log at same rate as PIDs


Fix comment indent

botmayank · 2026-01-28T05:32:09Z

ArduPlane/system.cpp

 void Plane::init_ardupilot()
 {
-
+    


botmayank · 2026-01-28T05:34:36Z

libraries/AP_Param/AP_Param.cpp

 */
 void AP_Param::load_param_defaults(const volatile char *ptr, int32_t length, bool last_pass)
 {
+    const volatile char *original_ptr = ptr;  // Save original pointer for offset calculations


Check this @anant3110

botmayank · 2026-01-28T05:37:21Z

libraries/AP_RotaryEncoder/AP_RotaryEncoder_config.h

+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_ROTARYENCODER_ENABLED


@anant3110 check this, feels like a roundabout way of forcing always enable

botmayank · 2026-01-28T05:37:48Z

modules/mavlink

@anant3110 fix this, submodules shouldn't be touched

botmayank · 2026-01-28T05:38:12Z

modules/DroneCAN/libcanard

@anant3110 Fix this

anant3110 self-assigned this Sep 10, 2025

anant3110 force-pushed the pr-add-rotary-encoder branch 2 times, most recently from ad5fe61 to c23fa95 Compare September 15, 2025 10:56

anant3110 marked this pull request as ready for review September 15, 2025 11:00

botmayank requested changes Sep 15, 2025

View reviewed changes

libraries/AP_Logger/LogStructure.h Show resolved Hide resolved

ArduPlane/Plane.h Outdated Show resolved Hide resolved

ArduPlane/Parameters.cpp Outdated Show resolved Hide resolved

anant3110 commented Sep 26, 2025

View reviewed changes

ArduPlane/quadplane.cpp Show resolved Hide resolved

anant3110 commented Sep 26, 2025

View reviewed changes

ArduPlane/quadplane.cpp Outdated Show resolved Hide resolved

anant3110 commented Sep 26, 2025

View reviewed changes

anant3110 force-pushed the pr-add-rotary-encoder branch 5 times, most recently from 233d783 to 91b3a17 Compare October 10, 2025 08:34

anant3110 requested a review from botmayank October 11, 2025 04:07

anant3110 force-pushed the pr-add-rotary-encoder branch from ec02c0b to 477f32b Compare November 13, 2025 06:18

anant3110 added 14 commits November 13, 2025 12:39

added quadrature rotarty encoder driver

418c288

Added definition of QuadEncoder in wscript, compiles fine

1cb1048

added _have_encoders which becomes true after encoders are configured

6b022dd

Changed logging for TV_L and TV_R

6938920

Remove the previous approach, replicate the flow from WheelEncoders

31e66d8

make AP_RotaryEncoder driver based on AP_WheelEncoder

054bfce

compile rotary encoder library and ready to integrate to tailsitter

bb489fb

Added configuration on waf to make the driver compile with the rest o…

c220679

…f the directory

Add global decleration of rotary encoder on Plane and activate interr…

531585f

…upts

Add params and integration with ArduPlane

8b224bd

Add debug messages, check irq call back on GCS

a1af079

Clean up previous debugging statments

b25be42

Remove static variables, to make both encoders work

66c5c54

Add data flash logs

e3a74eb

anant3110 and others added 17 commits November 13, 2025 12:54

Fix parameter units in the comments

9f8ceb7

Modify parameter comments and test build

3f1e922

Add position offset function

d86b91e

Add delay for initialisation of zero position and exposed parameter

61dd96a

Fix return value of get_init_time_ms() as unsigned int

33debb0

Edit parameter documentation on Quadplane.cpp for rotary encoder

904b02d

Make RENC_ to RE_ in param definition

34ea6a8

Modify parameter comments and test build

67d6ddc

Modify parameter comments and test build

f524b1e

Add position offset function

cfa57a8

Resolve merged conflicts

eb340f9

Remove redundancies after resolving merge conflicts

735da1c

Remove AP_QuadEncoder that was undeleted from one of the previous com…

4c068c5

…mits

Fix logging on TSIT parameter

dc38379

Make TSIT logs only if HAL_QUADPLANE enable

6755bad

anant3110 force-pushed the pr-add-rotary-encoder branch from d94fde4 to 6755bad Compare November 13, 2025 07:25

anant3110 added 2 commits November 13, 2025 14:42

Fix parameter comments

aa4f8c0

Add version and default params

6589657

anant3110 force-pushed the pr-add-rotary-encoder branch from 0d5c0bd to 4f25c4a Compare January 27, 2026 12:40

botmayank and others added 5 commits January 27, 2026 18:14

Update last_pos2_ms time for non-rtl modes to freeze climb rate (#19)

1b6e2c1

* Update last_pos2_ms time for non-rtl modes to freeze climb rate * Move set climb rate 0 for pos2 height control out of tailsitter check

Update version to 4.5.7.2

1a03552

anant3110 force-pushed the pr-add-rotary-encoder branch from 4f25c4a to 6a80821 Compare January 27, 2026 12:47

Merge branch 'airbound-develop' into pr-add-rotary-encoder

da6854c

botmayank requested changes Jan 28, 2026

View reviewed changes

		AP_GROUPINFO("BCK_PIT_LIM", 38, QuadPlane, q_bck_pitch_lim, 10.0f),


		AP_SUBGROUPINFO(tailsitter.rotary_encoder, "RENC_", 39, QuadPlane, AP_RotaryEncoder),


		#include <AP_HAL/AP_HAL_Boards.h>

		#ifndef AP_ROTARYENCODER_ENABLED

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anant3110 commented Sep 10, 2025 •

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