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62323 Commits

Author SHA1 Message Date
Andrew Tridgell f8d13d34d9 AP_InertialSensor: stop sensors converging if motors arm 
if the user arms within 30s of startup then stop the re-init of the
sensors. This can give less accurate frequency as the sample rate may
not have settled yet, but it is better than doing init of the filters
while the vehicle may be flying

also fix a 32 bit millis wrap
 2024-12-03 16:38:15 +09:00
Andrew Tridgell 71fd9a4a08 AP_InertialSensor: fixed Q calculation for notch filters 
when doing the init() we must use the reference frequency, not the
current frequency. Using the current frequency leaves us with an
incorrect value for Q. If the current frequency is below the reference
frequency (which shouldn't happen in 4.5, but has been seen in 4.3)
then the Q can be much too low and massive phase lag can happen.

The vulnerability in 4.5.x is that the current frequency could be well
above the reference frequency. For example, the user may be doing a
motor test at 30s after boot, which is when we stop the
sensors_converging() test, and thus is the last time we call
init(). In that case we can end up with a Q which is much larger than
the one that should come from INS_HNTCH_FREQ and INS_HNTCH_BW, and
thus end up with a filter that produces a lot less attenuation than is
desired, potentially leading to instability due to high noise.

There are other scenarios that can cause this - for example a motor
test of a fwd motor at 30s after boot, or a spurious FFT peak due to
someone knocking the aircraft, or the vibration of a IC engine.
 2024-12-03 16:38:13 +09:00
Randy Mackay 2a3dc4b7bf Plane: version to 4.5.7 2024-10-15 10:19:57 +11:00
Randy Mackay 6f240ea15b Plane: 4.5.7 release notes 2024-10-15 10:19:57 +11:00
Randy Mackay 51eca21f8f Copter: version to 4.5.7 2024-10-15 10:19:57 +11:00
Randy Mackay 0e10fe2256 Copter: 4.5.7 release notes 2024-10-15 10:19:57 +11:00
Randy Mackay 3a9e7a553b Rover: version to 4.5.7 2024-10-15 10:19:57 +11:00
Randy Mackay 39fa9c3665 Rover: 4.5.7 release notes 2024-10-15 10:19:57 +11:00
Randy Mackay 3dabb0092d Tracker: version to 4.5.7 2024-10-15 10:19:57 +11:00
Randy Mackay 06b898bb22 Tracker: 4.5.7 release notes 2024-10-15 10:19:57 +11:00
Randy Mackay e569f3878d AP_GPS: revert backport to copter 4.5 the correct satellite count for NrSv do-not-use value 
This reverts commit 62fe90bb64.
 2024-10-15 10:19:57 +11:00
Randy Mackay 9a755a82d7 Plane: version to 4.5.7-beta1 2024-09-27 13:47:54 +09:00
Randy Mackay eeb679e482 Plane: 4.5.7-beta1 release notes 2024-09-27 13:47:54 +09:00
Randy Mackay b6e5e2c2b8 Copter: version to 4.5.7-beta1 2024-09-27 13:47:54 +09:00
Randy Mackay cdb59411af Copter: 4.5.7-beta1 release notes 2024-09-27 13:47:54 +09:00
Randy Mackay 2a9bb93f84 Rover: version to 4.5.7-beta1 2024-09-27 13:47:54 +09:00
Randy Mackay 846e3e4c3d Rover: 4.5.7-beta1 release notes 2024-09-27 13:47:54 +09:00
Randy Mackay 523f3e6e97 Tracker: version to 4.5.7-beta1 2024-09-27 13:47:54 +09:00
Randy Mackay b6b5b63464 Tracker: 4.5.7-beta1 release notes 2024-09-27 13:47:54 +09:00
rishabsingh3003 d7da8b315f AP_Proximity: Include database push in MR72 driver 2024-09-27 13:47:54 +09:00
bugobliterator 96f96fccad AP_DroneCAN: Fix constructor initialization order 
bad ordering was leading to dronecan dna server getting initialised before canard interface is initialised leading
 2024-09-27 13:47:54 +09:00
Andy Piper 2e6e020c04 AP_RCProtocol: only update rc value for GHST on rc frames 2024-09-27 13:47:54 +09:00
Andy Piper 7f37b83cdd AP_HAL_ChibiOS: correctly uninvert RX/TX on F4 with inverter support 2024-09-27 13:47:54 +09:00
Ferruccio Vicari 3e5dbb225a AP_Motors: fix DDVP tail servo initialization 2024-09-27 13:47:54 +09:00
Peter Barker ffadbc3a0c Plane: correct the ability to disable the takeoff atititude checks 2024-09-27 13:47:54 +09:00
Andrew Tridgell 44ede266fd waf: cope with CI python oddity 2024-09-27 13:47:54 +09:00
Andrew Tridgell bd4cf76ac9 mavlink: support python 3.12 2024-09-27 13:47:54 +09:00
Andrew Tridgell 529a64a67a waf: update to 2.0.27 
this fixes python 3.12 support
 2024-09-27 13:47:54 +09:00
Andrew Tridgell 38083d0afb DroneCAN: update libcanard 2024-09-26 20:22:55 +10:00
Andrew Tridgell 0a6af9de1c AP_DroneCAN: prevent saturation of CPU with DroneCAN thread 2024-09-26 20:22:55 +10:00
Andrew Tridgell fbb91420bc HAL_ChibiOS: limit RX timeout to 100ms 
this prevents a very long timeout in begin(), replacement with a mutex
will happen in a separate PR
 2024-09-26 20:22:55 +10:00
caijie 0f7298ea8e bootloaders: add VUAV-V7pro 2024-09-26 08:24:21 +09:00
caijie 71706f0600 AP_HAL_ChibiOS: add VUAV-V7pro 2024-09-26 08:24:21 +09:00
Chiara de Saint Giniez 62fe90bb64 AP_GPS: backport to copter 4.5 the correct satellite count for NrSv do-not-use value 2024-09-25 20:09:41 +09:00
Ryan Friedman 24036518a2 AP_DDS: Correct compilation of tests without external odom 
Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
 2024-09-25 19:48:00 +09:00
Andrew Tridgell d2d1b11643 AP_DDS: fixed cell voltages 
the std:copy was copying from uint16_t to float
 2024-09-25 19:48:00 +09:00
Ryan Friedman cc1a8ffa0e Tools: ROS2: Add missing dependencies with docs 
* Depend on all messages used in ardupilot_sitl
* Clarify limitations of wrapping with colcon
* Link github issue to support argument passthrough

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-25 19:48:00 +09:00
Ryan Friedman 7668bda1d9 AP_DDS: Use common quaternion initialization function 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-25 19:48:00 +09:00
Rhys Mainwaring 742db947cd AP_DDS: ensure zero rotation quaternions are normalised 
- ROS expects quaternions to be normalised and the default message constructor does not enforce this.
- Fix normalisation for pose stamped.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-09-25 19:48:00 +09:00
Rhys Mainwaring bd1a28c64c AP_DDS: add param DDS_DOMAIN_ID 
- Require reboot.
- Set DDS_DOMAIN_ID range: 0 to 232..

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-09-25 19:48:00 +09:00
Ryan Friedman a5c8f45b7d Tools: ros2: Fix plane launch headless 
* Install models for other users
* Fix bool parsing in some launch args
 2024-09-25 19:48:00 +09:00
Ryan Friedman d520b77f77 Tools: Expose map/console mavproxy args 
* These can be set in ros2 launch calls now

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-25 19:48:00 +09:00
Tiziano Fiorenzani 4ffa74e23b Tools: ardupilot_sitl launch file to include an out parameter for mavproxy 2024-09-25 19:48:00 +09:00
cuav-chen2 2ac7cf2d46 hwdef: backport CUAV-7-Nano hwdef defines 2024-09-12 09:18:01 +09:00
Randy Mackay 7ce11b4194 Copter: version to 4.5.6 2024-09-04 07:33:50 +10:00
Randy Mackay 3f24a7be68 Copter: 4.5.6 release notes 2024-09-04 07:33:50 +10:00
Randy Mackay 96fe67fc44 Plane: version to 4.5.6 2024-09-04 07:33:50 +10:00
Randy Mackay 034feb3828 Plane: 4.5.6 release notes 2024-09-04 07:33:50 +10:00
Randy Mackay 851ff720ca Rover: version to 4.5.6 2024-09-04 07:33:50 +10:00
Randy Mackay 9845999ed9 Rover: 4.5.6 release notes 2024-09-04 07:33:50 +10:00