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54898 Commits

Author SHA1 Message Date
Randy Mackay ed627e4284 Copter: version to 4.3.0-beta4 2022-11-21 19:33:35 +11:00
Randy Mackay 83edb2383a Copter: 4.3.0-beta4 release notes 2022-11-21 19:33:35 +11:00
Randy Mackay 285dee3807 Rover: version to 4.3.0-beta4 2022-11-21 19:33:35 +11:00
Randy Mackay 28290595b3 Rover: 4.3.0-beta4 release notes 2022-11-21 19:33:35 +11:00
Andrew Tridgell 7d0c6e4dcf Plane: prepare for 4.3.1 2022-10-24 09:19:33 +11:00
Andrew Tridgell bd326aaef8 Plane: release notes for 4.3.1 2022-10-24 09:19:20 +11:00
Andrew Tridgell 819f4140b4 Plane: cover more cases in fence breach mode change 
we want to allow all landing sequence mode changes
 2022-10-24 09:17:09 +11:00
Andrew Tridgell 4b064ecfe5 Plane: allow mode switch on fence breach for RTL_AUTOLAND 
when we are in a fence breach we by default disallow mode changes, but
we need to allow for the switch to AUTO if the reason is we are
entering a landing sequence, which is part of the RTL process which is
the fence action
 2022-10-23 18:09:42 +11:00
Andrew Tridgell 8e8ceb25ea AP_NavEKF3: fixed getLLH alt for local origin height 
this fixes a bug introduced in #21834

this fix in #21834 was correct for getPosD, but should not have been
applied to getLLH

this caused cruise mode in plane to descend/ascend by the difference
between the public and local origins on mode entry

fixes #21984
 2022-10-23 09:53:57 +11:00
Andrew Tridgell 4682336743 Plane: prepare for 4.3.1beta1 2022-10-19 10:24:53 +11:00
Andrew Tridgell e2dc4ba85a Plane: release notes for 4.3.1beta1 2022-10-19 10:24:53 +11:00
Andrew Tridgell 6699ecf7a4 AP_AHRS: added ATSC logging 
log scale factors for angle P scaling when not == 1.0
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 7e1b43db62 AC_AttitudeControl: added single loop override of angle P gains 
this is used by quadplanes in back-transiton to prevent oscillation
caused by driving the fixed wing controller too fast
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 71d299932d APM_Control: added access to time constant 2022-10-19 10:24:53 +11:00
Andrew Tridgell 00b4b5b7ed Plane: scale VTOL angle P gains with airspeed 
During POSITION1 back-transiton we scale the MC angle P gains with
airspeed to reduce the chance of oscillations. At higher airspeeds the
fixed wing controller dominates so we should use the fixed wing angle
P gain.
 2022-10-19 10:24:53 +11:00
Iampete1 56066eb470 AP_Scripting: set lua nullptr after delete 2022-10-19 10:24:53 +11:00
Andrew Tridgell 5aef5473de Plane: log TECS target alt 
log the target alt we pass into TECS to help debug a CRUISE height
issue
 2022-10-19 10:24:53 +11:00
Andrew Tridgell a313a1db3d AP_RPM: fixed SITL RPM backend for new motor mask 2022-10-19 10:24:53 +11:00
Andrew Tridgell 92f42074c0 SITL: allow for extra actuators to be marked as motors 2022-10-19 10:24:53 +11:00
Andrew Tridgell 3dad2a0987 AP_ESC_TELEM: allow for non-continguous ESC telem motor sets 
this fixes ESC telem for quadplanes with motors at 5-8 or 9-12
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 9ffdf2511f HAL_SITL: use motor mask for noise checking for motors 2022-10-19 10:24:53 +11:00
Andrew Tridgell 21ea1d7d47 AP_InertialSensor: use motor_mask from SITL for which outputs are motors 
generate noise based on motor_mask
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 7f990ee7e1 AP_Vehicle: removed num_dynamic_notches limit in dynamic harmonic 
use INS_MAX_NOTCHES instead, allowing for more ESCs to be added by lua
scripts
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 5d29027025 Filter: allow for expansion of dynamic filters 
this allows for the number of dynamic filters on a harmonic notch
filter to expand at runtime, which allows for ESC RPMs to be populated
from other than AP_Motors, such as with lua scripts or for fwd motors
in a SLT quadplane
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 72afcddba1 SITL switched to motor_mask for which actuators are motors 
this allows for any output to be an ESC, which allows for proper
simulation of quadplanes with ESCs on outputs 5-8 or 9-12, for testing
notch filtering
 2022-10-19 10:24:53 +11:00
Iampete1 5f89ed5c73 Plane: Quadplane: SLT: enforce TECS pitch limits to beat race 2022-10-19 10:22:11 +11:00
Andrew Tridgell 1200c0e0d3 waf: added --enable-gps-logging 2022-10-19 10:22:11 +11:00
Andrew Tridgell 79b7ad31aa SITL: support playback of new GPS log format 2022-10-19 10:22:11 +11:00
Andrew Tridgell 489737c2ca AP_GPS: fixed resolution of KSXT parsing for NMEA 
needs to be double precision for lat/lon
 2022-10-19 10:22:11 +11:00
Andrew Tridgell 5cfd7e639f AP_GPS: added logging to more serial GPS backends 2022-10-19 10:22:11 +11:00
Andrew Tridgell 1d3cdfb73b AP_GPS: improve GPS debug logging 
use timestamped data allowing for much more precise playback
 2022-10-19 10:22:11 +11:00
Leonardo Garcia d7b3bf4675 AP_InertialSensor: Fix BMI085 accel scaling 
Original BMI088 has 24G range so it was hardcoded for *scale* within
read_fifo_accel. Added a class variable accel_range which is assigned
the correct value when the sensor type is received (16.0 or 24.0).
 2022-10-19 10:22:11 +11:00
Andrew Tridgell 41db7a1998 GCS_MAVLink: prevent segv in ftp 
if the user disables ftp by changing BRD_OPTIONS after ftp has started
then we could dereference a nullptr
 2022-10-19 10:22:11 +11:00
Andrew Tridgell 1be58e632b AP_Scripting: added rc:get_aux_cached() example 2022-10-19 10:22:11 +11:00
Andrew Tridgell 32073557dc AP_Scripting: added get_aux_cached() RC binding 2022-10-19 10:22:11 +11:00
Andrew Tridgell 4b3395c9be RC_Channel: added cache of aux functions for scripting 
allows for scripting to act on aux functions
 2022-10-19 10:22:11 +11:00
Andrew Tridgell 23405811b8 AP_Common: added setonoff() method for bitmask 2022-10-19 10:22:11 +11:00
Andrew Tridgell 4157ad5c5c AP_Scripting: added relay get() binding 2022-10-19 10:22:11 +11:00
Andrew Tridgell e79ad57def AP_Relay: added get() method for scripting 2022-10-19 10:22:11 +11:00
bugobliterator 0c40fffb66 modules: update chibios 2022-10-19 10:22:11 +11:00
Andrew Tridgell fb10145092 waf: ensure we don't try to use non-implemented functions 2022-10-19 10:22:11 +11:00
Andrew Tridgell cde3674559 Tools: added CubePilot to board recognition for uploader.py 
for CubeOrangePlus
 2022-10-19 10:22:11 +11:00
Andrew Tridgell 89517eac8c HAL_ChibiOS: fixed build error with gcc 11.3 2022-10-19 10:22:11 +11:00
Andrew Tridgell 2ce936db94 AP_Scripting: fixed use of clock and time in lua 
not available on stm32
 2022-10-19 10:22:11 +11:00
Andrew Tridgell 00d6f94907 GCS_MAVLINK: fixed warning in ftp build with gcc 11.3 2022-10-19 10:22:11 +11:00
Willian Galvani 286f5d1765 Tools: attempt to fix Sub flapping test 2022-10-19 10:22:11 +11:00
Randy Mackay 62d9c6b314 Copter: version to 4.3.0-beta3 2022-10-19 10:22:11 +11:00
Randy Mackay 58e42981f1 Copter: 4.3.0-beta3 release notes 2022-10-19 10:22:11 +11:00
Randy Mackay dccc32bec5 Rover: version to 4.3.0-beta3 2022-10-19 10:22:11 +11:00
Randy Mackay e50563faf7 Rover: 4.3.0-beta3 release notes 2022-10-19 10:22:11 +11:00