Randy Mackay
39f086cabf
Copter: version to 4.1.1
2021-12-13 10:49:32 +11:00
Randy Mackay
5973d1b50b
Copter: 4.1.1 release notes
2021-12-13 10:49:32 +11:00
Andrew Tridgell
5e4de872ac
HAL_ChibiOS: use a 16 bit sysinterval_t on 16 bit timers
...
prevent mixed size subtraction errors
2021-12-13 10:49:32 +11:00
Andrew Tridgell
8c0a6e0b3e
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)
2021-12-13 10:49:32 +11:00
Andrew Tridgell
c6ea5b6382
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
2021-12-13 10:49:32 +11:00
Peter Barker
559387c864
AC_Fence: void index when overwriting fence count on fencepoint-close
2021-12-13 10:49:32 +11:00
Andrew Tridgell
3a52bc29a3
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.
2021-12-13 10:49:32 +11:00
Andrew Tridgell
ce2d77dc39
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
2021-11-25 15:00:12 +11:00
李孟晓
e99e0f941d
CUAV-X7: Add servo voltage detection pin
2021-11-25 14:57:18 +11:00
Andrew Tridgell
6cf92b4726
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
2021-11-25 14:52:17 +11:00
Andrew Tridgell
0f9844094a
Plane: prepare for 4.1.4 release
2021-11-25 09:04:03 +11:00
Andrew Tridgell
be0f018e89
Plane: updated release notes for 4.1.4
2021-11-25 09:03:48 +11:00
Andrew Tridgell
9defb72733
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
2021-11-23 15:51:01 +11:00
Andrew Tridgell
f3d4380874
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
2021-11-23 09:53:50 +11:00
Andrew Tridgell
d9ab125d8f
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
2021-11-23 09:15:34 +11:00
Andrew Tridgell
2a862bd663
Plane: display VTOL pos1 state change when approach disabled
2021-11-23 09:06:30 +11:00
Andrew Tridgell
77c0383fe2
Plane: added QRTL as RCn_OPTION
2021-11-22 07:48:05 +11:00
Andrew Tridgell
157f4593da
RC_Channel: added QRTL mode on a switch
2021-11-22 07:46:13 +11:00
Andrew Tridgell
5a26b15652
Plane: fixed chute release on low value of RC option
...
only release on flag high
fixes #18843
2021-11-18 15:19:41 +11:00
Andrew Tridgell
37a1b32944
Plane: prepare for 4.1.3 release
2021-11-16 16:06:10 +11:00
Andrew Tridgell
7a0ebbdb4d
Plane: update release notes for 4.1.3
2021-11-16 16:05:41 +11:00
Andrew Tridgell
27e1c66193
ChibiOS: fixed mkdir DMA for 4.1
2021-11-16 12:02:52 +11:00
Andrew Tridgell
0168b23db1
Plane: suppress spurious EKF yaw reset message
...
this makes plane match copter, emitting a yaw reset event, but not
worrying user. This message came out on each boot when EKF3 first
became active
2021-11-15 14:56:01 +11:00
Andrew Tridgell
28e5f255b7
hwdef: added alternative Durandal 20602 IMU
2021-11-11 08:29:39 +11:00
Andrew Tridgell
ea139ddd1e
Plane: enable fixed wing autotune switch
2021-11-09 20:35:38 +11:00
Andrew Tridgell
4e4a9083d4
RC_Channel: added fixed wing autotune rc option
2021-11-09 20:35:38 +11:00
Andrew Tridgell
4f2e96901b
Plane: prepare for 4.1.3beta1 release
2021-11-09 09:26:16 +11:00
Andrew Tridgell
9d3f4adca3
Plane: rename release-notes.txt to ReleaseNotes.txt
2021-11-09 09:25:51 +11:00
Andrew Tridgell
dfb45597d2
Plane: update release notes for 4.1.3beta1
2021-11-09 09:24:13 +11:00
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
