Commit Graph

48482 Commits

Author SHA1 Message Date
Andrew Tridgell
0160782857 Plane: allow for new guided destination during guided takeoff
if you set a very high alt for takeoff this is useful
2021-11-09 08:36:27 +11:00
Andrew Tridgell
b6449f41c2 Plane: fixed overshoot in guided takeoff of quadplanes 2021-11-09 08:03:28 +11:00
Andrew Tridgell
bb60c7280c AP_ADSB: bugfix vertical velocity sign was backwards 2021-11-09 07:49:05 +11:00
Andrew Tridgell
cfbbeea1ec AP_NavEKF3: fixed switch to non-zero primary on disarm
if EK3_PRIMARY is not zero then we were not switching to it when
disarmed
2021-11-09 07:44:41 +11:00
Andrew Tridgell
77ca90b3d0 Plane: default rate max to 75 for quadplane VTOL
this reduces overshoot when VTOL tune is less than ideal
2021-11-09 07:43:33 +11:00
Andrew Tridgell
418c5bd036 Plane: fixed a bug in POSITION1 speed thresholds (for plane 4.1)
we were comparing two different speeds in the threshold for going to
Q_WP_SPEED limit. The reason the two speeds were different was the
wp_nav init happened before the defaults were setup for quadplanes

this fixes both bugs
2021-11-06 12:30:15 +11:00
Andrew Tridgell
9f5b91036c AP_UAVCAN: added CAN_Dn_UC_OPTION parameter
this allows for 2 ways of controlling conflicts in the UAVCAN DNA
database. The first is to set CAN_Dn_UC_OPTION to 1, which resets the
DNA database, thus clearing any node conflicts.

The second is to set CAN_Dn_UC_OPTION to 2, which ignores node
conflicts in the DNA database

These options are useful for vehicles with UAVCAN smart batteries
where the node ID is fixed but the hwid changes and you want to do
battery swapping (possibly without rebooting)
2021-11-03 05:51:27 +11:00
Andrew Tridgell
040c83176e git: changed to https git protocol 2021-11-02 19:31:14 +11:00
Mohammad Hefny
4d3dde9d30 AP_Notify: link to notify module 2021-11-01 10:51:58 +11:00
Mohammad Hefny
316a0e3d11 AP_Batt: link to battery monitor 2021-11-01 10:51:58 +11:00
Mohammad Hefny
ffa8412df5 AP_HAL_Linux: define board features on Linux module 2021-11-01 10:51:58 +11:00
Mohammad Hefny
565b6f5ef9 AP_HAL: define board features 2021-11-01 10:51:58 +11:00
Andrew Tridgell
0ddb5c565e Tools: define obal board 2021-11-01 10:51:58 +11:00
Andrew Tridgell
19574ec8f8 Plane: suppress rate D terms in ground mode
this prevents a common oscillation issue on the ground
2021-10-30 18:52:06 +11:00
Andrew Tridgell
0404b7cb4f APM_Control: suppress roll/pitch D term in ground_mode
prevent oscillations which are quite common
2021-10-30 18:49:34 +11:00
Andrew Tridgell
833f4945ed Plane: avoid qpos approach when very close to destination
this prevents a fwd transition when doing something like LOITER_TIME
close to a VTOL_LAND wp. We use 1.5 times the stopping distance at
cruise airspeed for the threshold
2021-10-29 11:14:10 +11:00
Andrew Tridgell
e1accc9a30 Plane: fixed VTOL state error when using Q_ENABLE=2
this ensures the poscontrol state is reset if it has not been
initialised before a VTOL loiter operation

thanks to Pete Hall for finding this
2021-10-29 11:14:10 +11:00
Samuel Tabor
0de9ebe77d ArduPlane: altitude: rangefinder correction should be relative to the altitude source being used for navigation. This avoid applying it twice when there is an existing correction saved. 2021-10-26 10:49:00 +11:00
Samuel Tabor
ab74913c83 AP_Landing_Slope: Log height used for flare timing. 2021-10-26 10:49:00 +11:00
Samuel Tabor
07962a2a59 autotest: fly_mission should respect mission_timeout when waiting for wps. 2021-10-26 10:49:00 +11:00
Samuel Tabor
0cd985bf3a autotest: Add plane test for landing with barometer drift. 2021-10-26 10:49:00 +11:00
Iampete1
9c9bc6b20f Plane: Quadplane: allow scripting matrix frame class 2021-10-20 18:41:42 +11:00
Andrew Tridgell
20416b38b2 Plane: prepare for 4.1.2 release 2021-10-17 15:49:55 +11:00
Andrew Tridgell
1180850cfe Plane: update release notes for 4.1.2 2021-10-17 15:49:46 +11:00
Andrew Tridgell
ed53f62457 Plane: prepare for 4.1.2beta2 2021-10-16 20:44:47 +11:00
Andrew Tridgell
e83c9bb071 Plane: update release notes for 4.1.2beta2 2021-10-16 20:43:55 +11:00
Randy Mackay
94163667d2 Copter: version to 4.1.1-rc1 2021-10-16 20:43:55 +11:00
Randy Mackay
699b3060fe Copter: 4.1.1-rc1 release notes 2021-10-16 20:43:55 +11:00
Bill Geyer
b260dcc7e2 Copter: fix tradheli landing detector bug 2021-10-16 20:43:55 +11:00
Pierre Kancir
f590ab0676 Copter: fix takeoff end report on EXTEND_STATE
regression from https://github.com/ArduPilot/ardupilot/pull/18700.
thanks to @arduouspilot on discuss to notice this, see https://discuss.ardupilot.org/t/extended-sys-state-never-changes-once-guided-takeoff-is-started/76996/3
2021-10-16 20:43:55 +11:00
Ben Wolsieffer
1d634cc2be AP_Control: apply pitch rate limit to turn coordination
At high bank angles, for example when rolling to/from inverted, a large turn
coordination pitch rate offset is requested. Before this patch, this offset was
not subject to the configured pitch rate limit, which could result in pitch
controller integrator windup.
2021-10-16 19:52:45 +11:00
Andrew Tridgell
9c8648d99c Plane: don't apply fw pitch limit in VTOL control for tailsitters
tailsitters may have narrow fixed wing limits but need high limits for
landing in high wind

found this on a HWing which was essentially impossible to auto land
2021-10-16 19:52:45 +11:00
Andrew Tridgell
5cc1345ca5 AP_RCProtocol: check for RC protocol switching enable
by default don't allow protocol switching after initial protocol is
found
2021-10-16 19:52:45 +11:00
Andrew Tridgell
3812469b33 RC_Channel: added RC_OPTION bit for allowing RC protocol switching
this is meant to prevent accidential switching to a disconnected pin
2021-10-16 19:52:45 +11:00
Andrew Tridgell
8b7545b4a5 Plane: reset target speed on disarm
allows for multiple auto missions with DO_CHANGE_SPEED
2021-10-16 19:52:45 +11:00
Andrew Tridgell
300a00226b Plane: apply the takeoff throttle slew limit to quadplanes
this applies the limit when we are in a fwd transition, both in AUTO
modes and stabilized modes
2021-10-16 19:52:45 +11:00
bugobliterator
874a610255 AP_HAL_ChibiOS: account for TXFIFO when doing flow control detection 2021-10-15 20:01:25 +11:00
Andy Piper
aa0f01005c AP_Filesystem: fix ftp burst read with credit to deanharken 2021-10-15 20:01:25 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
9c25a25fa7 Copter: Send ESC telemetry over mavlink while doing compassmot
compassmot can be used to bypass all PID control loops (this avoids forwarding IMU noise to the motors) while stress-testing the ESCs+motors.
So that temperatures can be monitored in real-time during those long tests, send ESC telemetry as well.
2021-10-15 20:01:25 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
8a038418a9 GCS_MAVLink: add ESC_TELEMETRY_1_TO_4 to the mavlink_id_to_ap_message_id table 2021-10-15 20:01:25 +11:00
Andrew Tridgell
691794bb41 AP_NavEKF3: added EK3_PRIMARY parameter
allows for selection of which IMU to use on startup
2021-10-13 18:09:56 +11:00
Andrew Tridgell
9bf95912b9 Plane: prepare for 4.1.2beta1 2021-10-10 18:07:43 +11:00
Andrew Tridgell
66667b9d7f Plane: update release notes for 4.1.2beta1 2021-10-10 18:07:25 +11:00
Andrew Tridgell
15de5b49e1 APM_Control: only save autotune gains when P finished
this prevents saving values which are temporarily high due to tuning
process

See this bug report
https://discuss.ardupilot.org/t/plane-4-1-0-stable/76507/45
2021-10-10 18:04:55 +11:00
Andrew Tridgell
c8b3227aa7 Plane: prepare for 4.1.1 release 2021-10-08 13:27:39 +11:00
Andrew Tridgell
0980401d2f Plane: update release notes for 4.1.1
# Conflicts:
#	ArduPlane/mode_qrtl.cpp
#	ArduPlane/quadplane.cpp
P
2021-10-08 13:27:30 +11:00
Andrew Tridgell
8572595dfa HAL_ChibiOS: fixed orientation of ICM42605 on QiotekZealotF427 2021-10-08 13:21:18 +11:00
Andrew Tridgell
edfb18877e AP_Scripting: fixed bug in string logging with logger.write()
this dereferenced a bad pointer, leading to crash and watchdog

thanks to Charlie for finding this!
2021-10-08 13:18:21 +11:00
Randy Mackay
3cca7cfe11 Copter: version to 4.1.0 2021-10-08 13:14:09 +11:00
Randy Mackay
29644d468f Copter: 4.1.0 release notes 2021-10-08 13:14:09 +11:00