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52395 Commits

Author SHA1 Message Date
Peter Barker e2b0e23902 Tracker: update version.h for beta1 2022-05-26 10:31:30 +10:00
Peter Barker a9e81ad483 Tracker: release notes for Tracker-4.2 beta1 2022-05-26 10:31:30 +10:00
Randy Mackay e87091918a Rover: version to 4.2.0 2022-05-25 13:40:24 +10:00
Randy Mackay 7709122807 Rover: 4.2.0 release notes 2022-05-25 13:40:24 +10:00
Randy Mackay 02a003f0a4 Copter: version to 4.2.0 2022-05-25 13:40:24 +10:00
Randy Mackay 025da65212 Copter: 4.2.0 release notes 2022-05-25 13:40:24 +10:00
Randy Mackay b63ca3a796 Rover: version to 4.2.0-rc4 2022-05-25 13:40:24 +10:00
Randy Mackay d7309234da Rover: 4.2.0-rc4 release notes 2022-05-25 13:40:24 +10:00
Randy Mackay bd2693b3c6 Copter: version to 4.2.0-rc4 2022-05-25 13:40:24 +10:00
Randy Mackay 7290839362 Copter: 4.2.0-rc4 release notes 2022-05-25 13:40:24 +10:00
Leonard Hall f27eebed55 Copter: Dissable yaw slew in loiter 2022-05-25 13:40:24 +10:00
Leonard Hall e47102cecc AC_AttitudeControl: Allow diabling of slew limit 2022-05-25 13:40:23 +10:00
Bill Geyer a4e53a9e2d Copter: fix position ctrl init for guided takeof 2022-05-25 13:40:23 +10:00
Randy Mackay d03aad5254 Copter: vibration compensation turns off in manual modes 2022-05-25 13:40:23 +10:00
Randy Mackay 5cc946c3f2 Rover: version to 4.2.0-rc3 2022-05-25 13:40:23 +10:00
Randy Mackay a5bd0b6779 Rover: 4.2.0-rc3 release notes 2022-05-25 13:40:23 +10:00
Randy Mackay 57420deb7a Copter: version to 4.2.0-rc3 2022-05-25 13:40:23 +10:00
Randy Mackay 04f7b58829 Copter: 4.2.0-rc3 release notes 2022-05-25 13:40:23 +10:00
Andrew Tridgell 54a5bd007d Plane: prepare for 4.2.1 release 2022-05-23 17:36:17 +10:00
Andrew Tridgell b8ed81ca5f Plane: release notes for 4.2.1 2022-05-23 17:35:21 +10:00
Andrew Tridgell 031f69df15 Plane: fixed false positive in landing detector 
this fixes a case where we can get false positive on the landing
detector for quadplanes.

The issue happens if we cross the LAND_DESCEND to LAND_FINAL threshold
while pilot repositioning is active, with stale information in
landing_detect.lower_limit_start_ms as we don't run should_relax() in
LAND_DESCEND
 2022-05-23 17:35:21 +10:00
Andrew Tridgell 2d0cfb3fad AP_BoardConfig: expose BRD_SAFETYENABLE on all boards 
default BRD_SAFETYENABLE to 0 on boards with no safety switch, which
gives us the same behaviour as before, but users can choose to enable
the safety

this fixes two problems:

  - CAN servos and ESCs work on boards with no safety switch
    (eg. MatekH743 with CAN)

  - during startup we could get spurious outputs before out aircraft
    type is setup
 2022-05-23 17:35:21 +10:00
Andrew Tridgell 9a5e8d3927 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-23 17:35:21 +10:00
Andrew Tridgell bd22f0073c Plane: prepare for 4.2.1beta1 2022-05-19 17:10:04 +10:00
Andrew Tridgell 2fadfa8690 Plane: update release notes for 4.2.1beta1 2022-05-19 17:10:04 +10:00
Andrew Tridgell d4146a1672 Plane: cope with QGC retrying AUTO mode 
QGC tries several times to enter AUTO even when it is refused. We need
to keep refusing
 2022-05-19 17:09:45 +10:00
Andrew Tridgell 80c27a426c autotest: don't try to arm in RTL mode for quadplanes 2022-05-19 17:09:45 +10:00
Andrew Tridgell 9f187c0711 AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter 
this allows for an offset in ESC numbering for much more efficient CAN
bandwidth usage.

For example, on a coaxial OctoQuad quadplane the ESCs are typically
setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN
buses, with one CAN bus for the top layer and the one bus for the
bottom layer (allowing for VTOL flight with one bus failed).

Without this offset parameter you would be sending RawCommand messages
like this:

bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]

this is very wasteful of bus bandwidth, with bus1 using 3x the
bandwidth it should and bus2 using 4x the bandwidth it should (the
above will take 3 can frames for bus1, and 4 can frames for bus 2)

With this patch you can set:

CAN_D1_UC_ESC_OF = 4
CAN_D2_UC_ESC_OF = 8

and you will get this on the bus:

bus1: [ ESC1, ESC2, ESC3, ESC4 ]
bus2: [ ESC1, ESC2, ESC3, ESC4 ]

that takes just 1 can frame per send on each bus
 2022-05-19 17:09:45 +10:00
Andrew Tridgell defe800745 Copter: allow VTOL_TAKEOFF and VTOL_LAND as synonyms 
this allows is_takeoff_next() to be in common, and reduces confusion
if user selects VTOL_TAKEOFF in a GCS mission editor
 2022-05-19 17:09:45 +10:00
Peter Barker 86fd9e112a ArduSub: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-19 17:09:45 +10:00
Peter Barker 338ae69f15 ArduCopter: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-19 17:09:45 +10:00
Peter Barker 1a4bb9b319 ArduPlane: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-19 17:09:45 +10:00
Peter Barker 9cf802c843 AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-19 17:09:45 +10:00
Andrew Tridgell 9d0f5ce7b0 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-19 17:09:45 +10:00
Andrew Tridgell 1e31dc61a8 AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-19 17:09:45 +10:00
Andrew Tridgell c093c5d945 Plane: increased safety of guided -> auto quadplane takeoff 
when we arm in guided mode then enter a special guided_wait_takeoff
state. We keep motors suppressed until one of the following happens

  1) disarm
  2) guided takeoff command
  3) change to AUTO with a takeoff waypoint as first nav waypoint
  4) change to another mode

while in this state we don't go to throttle unlimited, and will refuse
a change to AUTO mode if the first waypoint is not a takeoff. If we
try to switch to RTL then we will instead use QLAND

This state is needed to cope with the takeoff sequence used by QGC on
common controllers such as the MX16, which do this on a "takeoff"
swipe:

  - changes mode to GUIDED
  - arms
  - changes mode to AUTO
 2022-05-19 17:09:45 +10:00
Andrew Tridgell 72b5212baf AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor 
we need to use the pressure from the sensor we are calibrating
 2022-05-19 17:09:45 +10:00
Andrew Tridgell 68a43b3c79 AP_NavEKF: getYawData also provides number of clipping models 
In the case of the compass calibrator we do not want to use the GSF
result if any model is degenerate.  We've had a compass calibrate in
flight 180-degrees out from what it should have.
 2022-05-19 17:09:45 +10:00
Peter Barker 1764b88624 AP_Compass: do not use GSF if any model has been clipped 2022-05-19 17:09:45 +10:00
Peter Barker a3edc8588c autotest: adjust current wp reset 2022-05-19 17:09:45 +10:00
Andrew Tridgell d14897b1b1 autotest: reset mission on takeoff for quadplanes 2022-05-19 17:09:45 +10:00
Andrew Tridgell 1f7354951d Plane: account for sprung throttle in VTOL throttle suppression 
when RC_OPTIONS has been changed to not check throttle for arming then
treat this like a sprung throttle for quadplane throttle suppression
in auto-throttle modes, and only unsuppress when throttle goes above
trim+dz
 2022-05-19 17:09:45 +10:00
Andrew Tridgell 24f5802858 Plane: refuse arming if we are in a landing sequence 
this helps when the aircraft has gone into a landing sequence due to a
failsafe before it is armed. Arming while in the landing sequence is
very unlikely to be what the user wants
 2022-05-19 17:09:45 +10:00
Andrew Tridgell bbd250a5c9 AP_EFI: added fuel usage integration for Lutan EFI 
allows for EFI_COEF1 and EFI_COEF2 to be set to get fuel consumption
on GCS
 2022-05-19 17:09:45 +10:00
Andrew Tridgell 84febebf3b autotest: reset mission on takeoff for quadplanes 2022-05-19 17:09:45 +10:00
Andrew Tridgell 29915f83c9 AP_Mission: improved handling of large LOITER_TURNS 
instead of wrapping we should use MIN with 255, which is closer to
what was requested
 2022-05-19 17:09:45 +10:00
Joshua Henderson 811aeed7ed AP_Airspeed: remove negative pressure set unhealthy 2022-05-10 16:59:04 +10:00
Andrew Tridgell 0124e9b54c Plane: update gyro fft throttle 
allows for updating or learned FFT freq
 2022-05-10 11:21:47 +10:00
Andrew Tridgell f7360ade04 hwdef: added FlyingMoonF427 support 2022-05-09 07:27:10 +10:00
Andrew Tridgell 8e7afaa52e Tools: added FlyingMoonF427 bootloader 2022-05-09 07:27:07 +10:00