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57487 Commits

Author SHA1 Message Date
Andrew Tridgell bfc9b6e389 AP_TECS: fixed descent or lack of climb bug 
this fixes a state where we either cannot climb or descend in an
uncontrolled manner in a TECS controlled mode

the conditions under which this happened were:

- _use_synthetic_airspeed_once was true due to quadplane takeoff
- we left _thr_clip_status as MAX from previous use of synthetic airspeed
- then run without airspeed

note that this can also impact users with an airspeed sensor if they
disable it or it fails in flight, particularly during a climb
 2023-10-13 16:40:51 +11:00
Peter Barker 9b44444a28 autotest: CI fixes for 4.4 2023-10-13 16:40:51 +11:00
Peter Barker fcd00f65e9 SITL: fix balancebot yaw reset to be kinimatically consistent 
... or at least closer to it.

We were hard-resetting the yaw to zero when the vehicle was upright.  That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.

Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
Backport of PR https://github.com/ArduPilot/ardupilot/pull/25046
 2023-10-13 16:40:51 +11:00
Peter Barker 2b211dcfaf SITL: reset balancebot to vertical in a kinmetically consistent manner 
The hard-reset of all state variables means we feed the EKF inconsistent gyro data.  Attempt to upright the vehicle with a simple p-gain when it is disarmed, as if someone is pushing the thing back upright
Backport of PR https://github.com/ArduPilot/ardupilot/pull/24314
 2023-10-13 16:40:51 +11:00
Peter Barker 99491d2436 autotest: give Rover longer to arrive home 
vagaries of interaction with Python script means we need to give this more time when running balancebot
Backport of PR https://github.com/ArduPilot/ardupilot/pull/23442
 2023-10-13 16:40:51 +11:00
Tom Pittenger a98678a0f9 Tools/autotest: fix Deepstall CI 
Backport from PR https://github.com/ArduPilot/ardupilot/pull/24667
 2023-10-13 16:40:51 +11:00
Peter Barker 4f44760912 autotest: allow more time for deepstall text 
intermittent failures in CI - perhaps due to Plane dynamics changes
Backport of PR https://github.com/ArduPilot/ardupilot/pull/23524
 2023-10-13 16:40:51 +11:00
Peter Barker c37557736c autotest: add an epsilon for achieved servo output for speed scaling test 
right on the threshold
backport from PR https://github.com/ArduPilot/ardupilot/pull/23823
 2023-10-13 16:40:51 +11:00
Peter Barker c2f384ec48 autotest: remove unnecessary try/except from Sprayer test 
backport from https://github.com/ArduPilot/ardupilot/pull/23823
 2023-10-13 16:40:51 +11:00
Tom Pittenger c6c4a3d355 Tools/autotest: extend WindEstimates duration 
backport from PR https://github.com/ArduPilot/ardupilot/pull/24666
 2023-10-13 16:40:51 +11:00
bugobliterator f95e16bca6 AP_OpenDroneID: ensure Persistent memory is not read continuously 2023-10-13 16:40:51 +11:00
bugobliterator 54db689b0f GCS_MAVLink: move sysid_my_gcs to be public 2023-10-13 16:40:51 +11:00
bugobliterator 47908cb185 AP_Periph: move sysid_my_gcs to be public 2023-10-13 16:40:51 +11:00
bugobliterator e36ab2e51b Blimp: move sysid_my_gcs to be public 2023-10-13 16:40:51 +11:00
bugobliterator 88f4e4e33f ArduSub: move sysid_my_gcs to be public 2023-10-13 16:40:51 +11:00
bugobliterator 72809eea03 ArduPlane: move sysid_my_gcs to be public 2023-10-13 16:40:51 +11:00
bugobliterator f5568d7ce5 ArduCopter: move sysid_my_gcs to be public 2023-10-13 16:40:51 +11:00
bugobliterator 962c2c35cf AntennaTracker: move sysid_my_gcs to be public 2023-10-13 16:40:51 +11:00
bugobliterator bfbae2d8e6 AP_HAL_ChibiOS: remove Chip ID as Basic ID mechanism 2023-10-13 16:40:51 +11:00
bugobliterator 371ebe8afc AP_OpenDroneID: remove Chip ID as Basic ID mechanism 2023-10-13 16:40:51 +11:00
bugobliterator c2ca9d6ea1 AP_HAL_ChibiOS: explain DID_OPTIONS config in CubeOrange-ODID/defaults.parm 2023-10-13 16:40:51 +11:00
bugobliterator 9b30602515 AP_OpenDroneID: add support for persistent storage of UAS ID 2023-10-13 16:40:51 +11:00
bugobliterator 06c2c02dc0 AP_HAL: add support for get_persistent_param_by_name 2023-10-13 16:40:51 +11:00
bugobliterator 3b7352d3a7 AP_HAL_ChibiOS: add support for get_persistent_param_by_name 2023-10-13 16:40:51 +11:00
bugobliterator c75fba3d21 AP_HAL_ChibiOS: add support for storing OpenDroneID in bootloader sector 2023-10-13 16:40:51 +11:00
Andy Piper 3bc082211b hwdef: ensure SpeedyBeeF405Mini builds on plane 2023-10-13 16:40:51 +11:00
Andy Piper 53bf4e9e8e hwdef: adjust serial protocol defaults on various boards for 4.4 naming scheme 2023-10-13 16:40:51 +11:00
Andy Piper 5a860009bb hwdef: SpeedyBeeF405Mini 2023-10-13 16:40:51 +11:00
Peter Barker 1dcb31eb6e GCS_MAVLink: correct sensors when no baros found 
GCSs will know we have no baros on-board, as will the RC telemetry library
 2023-10-13 16:40:51 +11:00
Andy Piper ee5b529ed2 bootloaders: SpeedyBeeF405Mini 2023-10-13 16:40:51 +11:00
Andy Piper bcd5da1780 AP_HAL_ChibiOS: T-Motor H743 Mini 2023-10-13 16:40:51 +11:00
Andy Piper 421e535ffa bootloaders: TMotor H743 Mini bootloader 2023-10-13 16:40:51 +11:00
Andy Piper 5fdc7d9326 AP_HAL_ChibiOS: provide mcu defaults in betaflight conversion 2023-10-13 16:40:51 +11:00
Andy Piper 29c204c0bc AP_HAL_ChibiOS: correct hwdef generator battery scale 2023-10-13 16:40:51 +11:00
Andy Piper d179103c67 AP_HAL_ChibiOS: cope with different IMU drivers in hwdef conversion 2023-10-13 16:40:51 +11:00
Andy Piper 1124b05fc8 bootloaders: mRoControlZeroOEMH7 bdshot version 2023-10-13 16:40:51 +11:00
Andy Piper ad04fadf2d hwdef: mRoControlZeroOEMH7 bdshot version 2023-10-13 16:40:51 +11:00
Andy Piper 01cd698947 hwdef: correct inversion pin on MambaF405v2 
correct battery setup for MambaF405v2
provide suitable serial defaults for MambaF405v2
reallocate DMA channels to allow full DMA on USART3 and NeoPixel on MambaF405v2
add camera control pin to MambaF405v2
 2023-10-13 16:40:51 +11:00
Andy Piper cd6ad72cdb AP_HAL_ChibiOS: betafpv F450 AIO hwdef 2023-10-13 16:40:51 +11:00
Andy Piper de35407713 bootloaders: add BETAFPV F405 AIO 2023-10-13 16:40:51 +11:00
Andy Piper ddd2b7dab0 AP_HAL_ChibiOS: allow 8 bdshot channels on mRoControlZeroH7 2023-10-13 16:40:51 +11:00
Andy Piper cf997df79f AP_NavEKF: fallback to no baro on boards that have no baro 2023-10-13 16:40:51 +11:00
Paul Riseborough 1a7a6b6dd9 AP_NavEKF3: Allow operation with EK3_SRCx_POSZ = 0 (NONE) 2023-10-13 16:40:51 +11:00
Paul Riseborough b05919ea88 AP_NavEKF: Allow EK3_SRCx_POSZ to be set to 0 (NONE) 2023-10-13 16:40:51 +11:00
Andy Piper 276578c509 AP_NavEKF3: allow high values of EK3_ALT_M_NSE for boards without baros 2023-10-13 16:40:51 +11:00
Davide_Lentini ce1eff398c AP_HAL_ChibiOS: Update luminousbee5 defaults.parm 2023-10-13 16:40:51 +11:00
Randy Mackay 00c119c643 Copter: version to 4.4.1 2023-10-13 16:40:51 +11:00
Randy Mackay cb6b45e30c Copter: 4.4.1 release notes 2023-10-13 16:40:51 +11:00
Andrew Tridgell 4ccbfb1fad Plane: prepare for 4.4.1 release 2023-09-26 13:24:29 +10:00
Andrew Tridgell 8708b1c67a Plane: release notes for 4.4.1 2023-09-26 13:24:29 +10:00