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62332 Commits

Author SHA1 Message Date
Andrew Tridgell b2246a2fa1 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 11:07:40 +11:00
Andrew Tridgell ee1756968d 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 11:07:40 +11:00
Randy Mackay 0358a9c210 Plane: version to 4.5.7 2024-10-15 10:20:43 +11:00
Randy Mackay 02ee789efe Plane: 4.5.7 release notes 2024-10-15 10:20:43 +11:00
Randy Mackay 5dc164270f Copter: version to 4.5.7 2024-10-15 10:20:43 +11:00
Randy Mackay 3bc79c31ba Copter: 4.5.7 release notes 2024-10-15 10:20:43 +11:00
Randy Mackay 62566d1b36 Rover: version to 4.5.7 2024-10-15 10:20:43 +11:00
Randy Mackay 50bcf1f997 Rover: 4.5.7 release notes 2024-10-15 10:20:43 +11:00
Randy Mackay ce8795f89d Tracker: version to 4.5.7 2024-10-15 10:20:43 +11:00
Randy Mackay 139ac15233 Tracker: 4.5.7 release notes 2024-10-15 10:20:43 +11:00
Randy Mackay 2b30e7fc30 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 10:20:43 +11:00
Randy Mackay db98715ca6 Tracker: 4.5.7-beta1 release notes 2024-10-15 10:20:43 +11:00
Randy Mackay 97ff0f6ced Tracker: 4.5.6 release notes 2024-10-15 10:20:43 +11:00
Randy Mackay 7732878a85 Tracker: 4.5.6-beta1 release notes 2024-10-15 10:20:43 +11:00
Randy Mackay 0ebe9f42d7 Tracker: 4.5.5 release notes 2024-10-15 10:20:42 +11:00
Randy Mackay 7102ccee71 AntennaTracker: 4.5.0 release notes 2024-10-15 10:20:41 +11:00
Randy Mackay 0523b2c7cf Plane: version to 4.5.7-beta1 2024-09-27 14:25:06 +09:00
Randy Mackay e02f71dd52 Plane: 4.5.7-beta1 release notes 2024-09-27 14:25:06 +09:00
Randy Mackay 6f2f576ae2 Copter: version to 4.5.7-beta1 2024-09-27 14:25:06 +09:00
Randy Mackay f2674f012c Copter: 4.5.7-beta1 release notes 2024-09-27 14:25:06 +09:00
Randy Mackay 0557990dda Rover: version to 4.5.7-beta1 2024-09-27 14:25:06 +09:00
Randy Mackay a0f3c49937 Rover: 4.5.7-beta1 release notes 2024-09-27 14:25:06 +09:00
Randy Mackay d9eaf180c8 Tracker: version to 4.5.7-beta1 2024-09-27 14:25:06 +09:00
rishabsingh3003 449a56fd52 AP_Proximity: Include database push in MR72 driver 2024-09-27 14:25:03 +09:00
bugobliterator f403594390 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 14:25:03 +09:00
Andy Piper a133a918da AP_RCProtocol: only update rc value for GHST on rc frames 2024-09-27 14:25:03 +09:00
Andy Piper 92d678f486 AP_HAL_ChibiOS: correctly uninvert RX/TX on F4 with inverter support 2024-09-27 14:25:03 +09:00
Ferruccio Vicari 53cb764912 AP_Motors: fix DDVP tail servo initialization 2024-09-27 14:25:03 +09:00
Andrew Tridgell d135fb2459 DroneCAN: update libcanard 2024-09-27 14:25:03 +09:00
Andrew Tridgell 4e008d942c AP_DroneCAN: prevent saturation of CPU with DroneCAN thread 2024-09-27 14:25:03 +09:00
Andrew Tridgell 06e3b2051d 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
 2024-09-27 14:25:03 +09:00
caijie 7264d7e16d bootloaders: add VUAV-V7pro 2024-09-27 14:25:03 +09:00
caijie 842edc7fc0 AP_HAL_ChibiOS: add VUAV-V7pro 2024-09-27 14:25:03 +09:00
Chiara de Saint Giniez 2f6ac7f942 AP_GPS: backport to copter 4.5 the correct satellite count for NrSv do-not-use value 2024-09-27 14:25:03 +09:00
Ryan Friedman d00568ac09 AP_DDS: Correct compilation of tests without external odom 
Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
 2024-09-27 14:25:03 +09:00
Andrew Tridgell 6e20752f82 AP_DDS: fixed cell voltages 
the std:copy was copying from uint16_t to float
 2024-09-27 14:25:03 +09:00
Ryan Friedman 8c06d3d460 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>
 2024-09-27 14:25:03 +09:00
Ryan Friedman 5c315cbf04 AP_DDS: Use common quaternion initialization function 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-27 14:25:03 +09:00
Rhys Mainwaring cd7f325565 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>
 2024-09-27 14:25:03 +09:00
Rhys Mainwaring 63a6004db9 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>
 2024-09-27 14:25:03 +09:00
Ryan Friedman b7721f5eda Tools: ros2: Fix plane launch headless 
* Install models for other users
* Fix bool parsing in some launch args
 2024-09-27 14:25:03 +09:00
Ryan Friedman a1e612c9ee Tools: Expose map/console mavproxy args 
* These can be set in ros2 launch calls now

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-27 14:25:03 +09:00
Tiziano Fiorenzani 688632bcf7 Tools: ardupilot_sitl launch file to include an out parameter for mavproxy 2024-09-27 14:25:03 +09:00
Peter Barker 2045ef92da Plane: correct the ability to disable the takeoff atititude checks 2024-09-24 11:49:48 +10:00
Andrew Tridgell 1e1d4a837d waf: cope with CI python oddity 2024-09-17 08:30:37 +09:00
Andrew Tridgell 5ce2924f64 mavlink: support python 3.12 2024-09-17 08:30:37 +09:00
Andrew Tridgell 92fec1705e waf: update to 2.0.27 
this fixes python 3.12 support
 2024-09-17 08:30:37 +09:00
cuav-chen2 73c708a3fb hwdef: backport CUAV-7-Nano hwdef defines 2024-09-12 09:23:45 +09:00
Randy Mackay bbf0b066e4 Copter: version to 4.5.6 2024-09-04 07:34:35 +10:00
Randy Mackay 9e42c2e507 Copter: 4.5.6 release notes 2024-09-04 07:34:35 +10:00