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Author SHA1 Message Date
Leonard Hall
2d64bb8aa1 Blimp: Payload Place enhancements 2022-12-31 12:29:31 +09:00
Leonard Hall
dbe6a1e319 Copter: Payload Place enhancements 2022-12-31 12:29:31 +09:00
Leonard Hall
7857bb2210 AP_Gripper: Add Neutral state after init 2022-12-31 12:29:31 +09:00
Peter Barker
7d38164176 autotest: add simple test for LoiterAltQLand 2022-12-31 10:58:19 +11:00
rishabsingh3003
a57ed97ba1 Copter: set paraam default for user parameters 2022-12-30 14:40:55 -08:00
Henry Wurzburg
175c2c950e AP_Scripting:fix format error in readme file 2022-12-30 14:39:43 -08:00
Andy Piper
7f7305a6d9 AP_InertialSensor: use correct include for sim-on-hardware 2022-12-31 09:32:32 +11:00
Andy Piper
921f51d08a AP_HAL: correct AP_SIM_FRAME_CLASS name 2022-12-31 09:32:32 +11:00
Leonard Hall
aeb25ca20a AP_Math: extend the control.cpp test suite 2022-12-30 20:25:58 +09:00
Andrew Tridgell
f0d8a383d1 AP_Math: added a control.cpp test suite 2022-12-30 20:25:58 +09:00
Iampete1
a99748a13d Plane: Quadaplane: use land_at_climb_rate_cm only when landing 2022-12-30 20:25:58 +09:00
Leonard Hall
502989d5f3 Copter: Update use of input_vel_accel_z 2022-12-30 20:25:58 +09:00
Leonard Hall
87c684b5ee Plane: Vtol: use land_at_climb_rate_cm for vertical rate control 2022-12-30 20:25:58 +09:00
Leonard Hall
140dc61f2a AC_AttitudeControl: AC_PosControl: Simplify and clarify use of vertical controllers 2022-12-30 20:25:58 +09:00
Leonard Hall
ac3a3d9576 AP_Math: Target velocity can reduce when limited 
AP_Math: Target velocity can reduce when limited
 2022-12-30 20:25:58 +09:00
Leonard Hall
05aa879b61 AC_AttitudeControl: AC_PosControl: Comment fix and small efficiency gain 2022-12-30 20:25:58 +09:00
Leonard Hall
114e8e2f52 AP_Math: Control Tools Enhancments 
AP_Math: Control Tools Enhancments
 2022-12-30 20:25:58 +09:00
Leonard Hall
fea86f78ca AutoTest: Increase mission timeout to account for lower corner acceleration 2022-12-30 17:03:32 +09:00
Leonard Hall
ed24a635c6 AC_WPNav: Add corner acceleration limit parameter 2022-12-30 17:03:32 +09:00
Leonard Hall
638379d3ed AC_WPNav: remove _wp_accel_cmss.set_and_save_ifchanged 2022-12-30 15:16:08 +09:00
Leonard Hall
b8547b4de6 Copter: Fix Auto Takeoff when complete_alt_cm is current altitude 2022-12-30 09:29:58 +09:00
Peter Barker
d23be442a1 test_build_options.py: add a list of must-have-defines for a board to compile 
these are likely to be barometers at least initially...
 2022-12-30 10:59:52 +11:00
Peter Barker
6651818215 autotest: test_build_options.py: correct invocation of test_enable_features 2022-12-30 10:59:52 +11:00
Andrew Tridgell
cc05de8e57 AP_FETtecOneWire: change comments to not use @param 
these comments break the MissionPlanner param parser

see these errors in MissionPlanner.log

```
2022-12-30 08:28:42,641  INFO MissionPlanner.Utilities.ParameterMetaDataParser - using cache https://raw.oborne.me/ardupilot/ardupilot/master/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp (D:\a\MissionPlanner\MissionPlanner\ExtLibs\Utilities\ParameterMetaDataParser.cs:503) [65]
2022-12-30 08:28:42,641 ERROR MissionPlanner.Utilities.ParameterMetaDataParser - Invalid MetaFrame Blimp (D:\a\MissionPlanner\MissionPlanner\ExtLibs\Utilities\ParameterMetaDataParser.cs:390) [70]
2022-12-30 08:28:42,641  INFO MissionPlanner.Utilities.ParameterMetaDataParser - using cache https://raw.oborne.me/ardupilot/ardupilot/master/libraries/AP_Proximity/AP_Proximity_Params.cpp (D:\a\MissionPlanner\MissionPlanner\ExtLibs\Utilities\ParameterMetaDataParser.cs:503) [71]
2022-12-30 08:28:42,642 ERROR MissionPlanner.Utilities.ParameterMetaDataParser - Bad Key - Value @param b blue brightness
*/
void AP_FETtecOneWire::led_color(const uint8_t r, const uint8_t g, const uint8_t b)
{
    for (uint8_t i=0; i<_esc_count; i++) {
        auto &esc = _escs[i];
        if (esc.state != ESCState::RUNNING) {
            continue;
        }
        transmit_config_request(PackedMessage<LEDColour>{esc.id, LEDColour{r, g, b}});
    }
}
```
 2022-12-30 09:54:09 +11:00
Henry Wurzburg
1b39f00517 ArduPlane:test new flight options formats 2022-12-29 16:14:54 +11:00
Andrew Tridgell
d5a0421bbb AP_Scripting: fixed derry turn in aerobatics 2022-12-29 07:49:15 +11:00
Andrew Tridgell
6edfe7368e AP_Scripting: don't start aerobatics until we have a ahrs estimates 
prevents nil derefernce in loading tricks
 2022-12-29 07:48:53 +11:00
Peter Barker
e43b1dd2eb SITL: tidy simulated proximity sensor constructors 2022-12-28 21:52:27 +11:00
Andy Piper
16ca2e1179 AP_InertialSensor: use 234Hz accel LPF and 532Hz gyro LPF on BMI088 to more closely match Invensense 
synchronize fifo reads with backend update on BMI088
 2022-12-28 18:18:26 +11:00
Andy Piper
d29ccba3f7 AP_Vehicle: constrain FFT notch updates to obey reference frequency 2022-12-28 18:14:56 +11:00
Andy Piper
90cdc1aa52 AP_InertialSensor: allow FFT window to be captured post-filter 
selectively apply filters twice to make sure that FFT is not tracking itself
clean-up notch disablement for non-DSP builds
use filter gyro data for FFT when analysing post-filter
always apply LPF after all of the notches
move to a phased application of window information for FFT
tap FFT gyro window at the appropriate place for downsampled FFTs
add accessor for FFT notch
document notch uses cases and flow
 2022-12-28 18:14:56 +11:00
Andy Piper
60dcb0423a autotest: add basic FFT post-filter test 
record gyro data in FFT postfilter test
check post-filter gyro logging and change notch settings for post-filter FFT
add motor noise test
FFT SNR now has sensible default for post-filter
 2022-12-28 18:14:56 +11:00
Andy Piper
9eb561639b AP_InertialSensor: add support for reading and writing INS data from a file in SITL 
allow sketch to be stopped at end of SITL samples
 2022-12-28 18:14:56 +11:00
Andy Piper
ec7be5c417 SITL: add parameters to control reading and writing IMU data to a file 
add exit on stop to reading IMU data from a file
 2022-12-28 18:14:56 +11:00
Andy Piper
5ea3415a41 AP_HAL_SITL: allow SITL sketches to run 
allow sketchname to be set
 2022-12-28 18:14:56 +11:00
Andy Piper
b19b14404b Copter: log FFT messages at 25Hz if fast filter tuning is set 2022-12-28 18:14:56 +11:00
Andy Piper
7acdaf2dd0 AP_Vehicle: add vehicle motor noise check 2022-12-28 18:14:56 +11:00
Andy Piper
449d9814ab AP_GyroFFT: add FFT_OPTIONS to allow post-filter sampling of IMUs 
provide method to determine noise at a particular frequency
add ability to record per-peak SnR
correct bad array indexing leading to free memory read
track all three axes for health and peaks
remove slewed frequency values, since slewing is now done in the filters
ReplayGyroFFT initial implementation
allow IMU data to be read and written from a file
only build Replay on SITL
correctly calibrate FFT in Replay
better noise simulation in Replay
FTN3 logging
allow FFT peaks to swap indefinitely as long as they both still exist.
Leads to much smoother frequency transitions
increase the energy gap required to switch the tracked peak
use exit on stop for Replay
filter noise tracking more aggressively for post-filter samples
remove message and use appropriate gyro window
when using post-filter do not fallback to throttle-based estimate

AP_GyroFFT: default SnR to 10 when using post-filter samples
 2022-12-28 18:14:56 +11:00
Peter Barker
cbecb20614 autotest: param_parse.py: allow Values and Bitmasks to span multiple lines 2022-12-28 13:21:18 +11:00
Peter Barker
f8b8f652db Plane: break FLIGHT_OPTIONS metadata onto separate lines 2022-12-28 13:21:18 +11:00
Peter Barker
b716793a0e AP_NavEKF3: remove duplicated lines in parameter metadata 2022-12-28 13:21:18 +11:00
Leonard Hall
78942911b7 AC_AttitudeControl: AC_PosControl: Include FF in _pid_vel_xy integrator initialisation 2022-12-28 08:25:31 +09:00
Henry Wurzburg
d6a5d31625 AP_Scripting:add rate based aerobatics 2022-12-27 18:20:34 +11:00
Jeremy
0db6146f60 Plane: Added Y4 config to Quadplane 2022-12-27 15:19:28 +11:00
Peter Barker
a71911c19f autotest: ensure vehicle is armed before issuing takeoff command 
sending the arm command isn't sufficient if there are other arming problems.

Caught a test failing when throttle was found to be high - I think the rc(3, 1700) was managing to have effect before we processed the arm command because of the way the input queues to ArduPilot SITL work
 2022-12-27 11:32:19 +11:00
Peter Barker
89ecd8fb17 autotest: create a context-per-check whentesting motors blocked 
without this all subsequent tests will find the string in the context's collection of statustexts.  So use a context-per-mode
 2022-12-27 11:32:19 +11:00
Iampete1
da0927b076 Plane: Quadaplane: remove RTL navigate incorrect comment and unnedded check 2022-12-27 11:26:16 +11:00
Iampete1
4a21af22cb Plane: move mode update_target_altitude to correct files 2022-12-27 10:30:14 +11:00
Mohammad Hefny
feece150c6 AP_HAL_Linux: Raspberry 64OS Address fix 2022-12-27 10:03:41 +11:00
Peter Barker
5a429a9a79 github: macosx: remove github-installed Python symlinks in /usr/local/bin 
installing packages fails as symlinks that brew wants to install already exist

https://github.com/orgs/Homebrew/discussions/3895
 2022-12-26 14:14:38 +11:00