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48745 Commits

Author SHA1 Message Date
Randy Mackay 9f276ba66b Copter: 4.1.3-rc1 release notes 2021-12-18 12:17:22 +09:00
Bill Geyer bc29005308 AP_Motors: add spool down complete flag 2021-12-18 12:17:22 +09:00
Andrew Tridgell 5d40d11993 Plane: prepare for 4.1.5 release 2021-12-18 12:17:22 +09:00
Andrew Tridgell 12d3b09691 Plane: updated release notes for 4.1.5 2021-12-18 12:17:22 +09:00
Andrew Tridgell 9606527edd AP_UAVCAN: use soft armed state for DroneCAN ARMING_STATUS 
this fixes motortest on quadplanes, so that ESCs see an armed state
during the test
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 32a4d9c9b8 Plane: prepare for 4.1.5beta1 2021-12-18 12:17:22 +09:00
Andrew Tridgell 7b1bfdd956 Plane: release notes for 4.1.5beta1 2021-12-18 12:17:22 +09:00
Andrew Tridgell ab4fb4a7de HAL_ChibiOS: use a 16 bit sysinterval_t on 16 bit timers 
prevent mixed size subtraction errors
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 39d7447695 Plane: reset VTOL takeoff if not armed 
we need to reset the takeoff target position while disarmed so we
don't use spurious position information from before we get good GPS
lock.

also remove the "Resetting previous waypoint" message as it doesn't
provide useful information and is just a distraction (it would be
printed continuously while waiting for arming with this PR)
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 9ee5912e8b Plane: fixed reset of steering locked course 
reset when we have not been steering for 1s, to ensure that an old
locked course is not used
 2021-12-18 12:17:22 +09:00
Peter Barker f9496843de autotest: comment out probably-defunct test 2021-12-18 12:17:22 +09:00
Peter Barker c20b20ec17 AC_Fence: void index when overwriting fence count on fencepoint-close 2021-12-18 12:17:22 +09:00
Andrew Tridgell 09bc81e846 AC_Fence: fixed fence count for old upload 
when uploading a fence that is smaller than an old fence we were not
correctly setting the inclusion fence size.
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 5fc3cae33a APM_Control: make 2nd reduction of P smaller 
this prevents severe P reductions when we get a small oscillation
glitch after we've already got the primary P gain
 2021-12-18 12:17:22 +09:00
李孟晓 0cdd775d24 CUAV-X7: Add servo voltage detection pin 2021-12-18 12:17:22 +09:00
Andrew Tridgell 349a035702 AP_AHRS: fixed switching airspeed sensor based on EKF3 affinity (for 4.1) 
we need to use the EKF selected airspeed sensor when the EKF is setup
to run a different sensor on each lane
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 2d4e056db0 Plane: prepare for 4.1.4 release 2021-12-18 12:17:22 +09:00
Andrew Tridgell 22942f5874 Plane: updated release notes for 4.1.4 2021-12-18 12:17:22 +09:00
Andrew Tridgell 0ed40ffa8b AC_AttitudeControl: fixed limiting of throttle mix values 
use constrain instead of reset to keep as much of user requested value
as possible

also raise limit for MIX_MIN to 0.5 after discussion with Leonard
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 477599b3d7 Plane: limiting POS1 landing target speed 
prevent very high target speeds when the target velocity profile is
above the initial speed in POSITION1. Always allow up to 2*Q_WP_SPEED,
but don't go above the initial speed
 2021-12-18 12:17:22 +09:00
Andrew Tridgell e95c4658a9 Plane: limited VFWD integrator to cruise throttle 
in some situations (such as when landing approach is disabled) the
vfwd integrator can wind up to extreme values. This can put a huge
load on an electric quadplane as it is running both forward and vtol
motors, and the downforce from being nose down can be extreme.

It should never need to go above the cruise throttle in any reasonable
situation, so limit it to cruise to ensure we don't apply too much
forward throttle
 2021-12-18 12:17:22 +09:00
Andrew Tridgell f4d832df44 Plane: display VTOL pos1 state change when approach disabled 2021-12-18 12:17:22 +09:00
Andrew Tridgell ff6a0b55e7 Plane: added QRTL as RCn_OPTION 2021-12-18 12:17:22 +09:00
Andrew Tridgell d4d53abc49 RC_Channel: added QRTL mode on a switch 2021-12-18 12:17:22 +09:00
Andrew Tridgell 5b77c57c26 Plane: fixed chute release on low value of RC option 
only release on flag high
fixes #18843
 2021-12-18 12:17:22 +09:00
Randy Mackay 03bf772aaf Copter: version to 4.1.2 2021-12-07 19:54:09 +09:00
Randy Mackay b9fed02b3e Copter: 4.1.2 release notes 2021-12-07 19:53:57 +09:00
Randy Mackay d6a4cc6fa3 Copter: version to 4.1.2-rc1 2021-11-29 19:02:38 +09:00
Randy Mackay 5c9ab4926e Copter: 4.1.2-rc1 release notes 2021-11-29 19:02:38 +09:00
Andy Piper 039a556771 AP_Vehicle: correct update_dynamic_notch_at_specified_rate() 2021-11-29 19:02:38 +09:00
Andy Piper 944471bc30 AP_Vehicle: make sure notch update rate is configurable 2021-11-29 19:02:38 +09:00
Andy Piper 830130b8b6 Filter: set output slew rate to zero when max is zero. 2021-11-29 19:02:38 +09:00
Andy Piper ae1f274919 autotest: set SMAX during autotune test 2021-11-29 19:02:38 +09:00
Andy Piper 0c38b3f456 AC_AutoTune: set slew rate to 0 while twitching 2021-11-29 19:02:38 +09:00
Andy Piper bac523976e AC_PID: add slew_rate modifier 2021-11-29 19:02:38 +09:00
Hwurzburg 2e24dfc731 AP_Motors: change H_COLL_HOVER to H_COL_HOVER for consistency 2021-11-29 19:02:38 +09:00
Randy Mackay 7990cbbf6f Copter: surface tracking timeout fix 
also restructure update_surface_offset and add comments

Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2021-11-29 19:02:38 +09:00
torsten 61b5d372c1 AP_FETtecOneWire: reset buf_used 
if byte is missing due to electrical noise it can now resync
 2021-11-29 19:02:38 +09:00
Peter Barker 2bf777ccb7 autotest: FETtec tests: give vehicle a chance to realise ESCs are dead 
Should remove the race condition where we disable an ESC but the vehicle
doesn't realise and lets the vehicle arm.

Also, waiting this long causes the ESCs to just go missing, not give a
telemetry failure
 2021-11-29 19:02:38 +09:00
Dr.-Ing. Amilcar do Carmo Lucas d4d2a779e8 AP_FETtecOneWire: Do not write to the UART buffer if the previous transfer did not complete yet 
Required for stable operation on F4 processors
 2021-11-29 19:02:38 +09:00
Andy Piper db00de837a AP_HAL_ChibiOS: return correct value for tx_pending(). 2021-11-29 19:02:38 +09:00
Dr.-Ing. Amilcar do Carmo Lucas cb81c23040 AP_HAL_ChibiOS: disable FETtec OneWire device driver 2021-11-29 19:02:38 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 4fa548c86c AP_Arming: call fettec prearm checks 2021-11-29 19:02:38 +09:00
Peter Barker 4903224b47 autotest: add test for FETtec OneWire ESCs 
make sure the SERVO_FWT_MASK is valid:
  - it can have bit gaps between active channels, but channels higher than 12 are not allowed (AP_EST_TELEM limitation)
  - Explain that the FETtec ESC IDs inside the FETtec Firmware need to be contiguous and start at 1.
add tests for ESC power outages
add test that safety switch zeroes PWM for FETtec ESC
a gap in the beginning of the SERVO_FTW_MASK is now allowed, test it
 2021-11-29 19:02:38 +09:00
Peter Barker 1943938bc5 SITL: add simulated FETtec ESC 2021-11-29 19:02:38 +09:00
Peter Barker 443912ed9f AP_HAL_SITL: add simulated FETtec ESC 
do not overwrite FETTecESC telemetry data w/SITL ESC data
 2021-11-29 19:02:38 +09:00
Peter Barker 8cffcde7bd AP_Math: move crc8_dvb_update into crc library 2021-11-29 19:02:38 +09:00
Pierre Kancir 64091cf24c SRV_Channel: add FETtec support 2021-11-29 19:02:38 +09:00
Pierre Kancir 4049c15557 Tools: link AP_FETtecOneWire 2021-11-29 19:02:38 +09:00
Pierre Kancir 381945cc63 AP_SerialManager: add FETtecOneWire protocol 2021-11-29 19:02:38 +09:00