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52423 Commits

Author SHA1 Message Date
Andrew Tridgell 13df45adff Plane: param conversion for INS_NOTCH to INS_HNTC2 2022-06-21 19:41:34 +09:00
Andrew Tridgell b6e4cfc8da Filter: clarify meaning of 1st harmonic 2022-06-21 19:41:34 +09:00
Andrew Tridgell fd00fef01a Plane: support harmonic notch on 2nd RPM sensor 2022-06-21 19:41:34 +09:00
Andrew Tridgell 81ed8598ff Copter: support harmonic notch on 2nd RPM sensor 2022-06-21 19:41:34 +09:00
Andrew Tridgell 2cfce1e3e7 Filter: added RPM2 harmonic notch type 2022-06-21 19:41:34 +09:00
Andrew Tridgell 9741a0b8cd Copter: update for changed INS_NOTCH parameter name 2022-06-21 19:41:34 +09:00
Andrew Tridgell 800c21fc41 Plane: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell 027f924e16 Copter: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell 49bf16853c AP_Vehicle: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell 7246185d0a AP_RPM: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell 350140e030 AP_InertialSensor: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Randy Mackay c8b6b67494 Rover: version to 4.2.1 2022-06-06 20:59:04 +09:00
Randy Mackay 62e7940ad7 Rover: 4.2.1 release notes 2022-06-06 20:59:04 +09:00
Randy Mackay 747ffc85b8 Copter: version to 4.2.1 2022-06-06 20:59:04 +09:00
Randy Mackay 6b2c49e2fb Copter: 4.2.1 release notes 2022-06-06 20:59:04 +09:00
Randy Mackay 5761aa1255 Rover: version to 4.2.1-rc1 2022-05-28 16:08:08 +09:00
Randy Mackay 96aeac4ffc Rover: 4.2.1-rc1 release notes 2022-05-28 16:08:08 +09:00
Randy Mackay 859bbd2aaf Copter: version to 4.2.1-rc1 2022-05-28 16:08:08 +09:00
Randy Mackay 457d893386 Copter: 4.2.1-rc1 release notes 2022-05-28 16:08:08 +09:00
Andy Piper 8cd79d08ba AR_Motors: make sure ESC type is initialized early 2022-05-28 16:08:08 +09:00
Andy Piper 7dcdf7b325 AP_Motors: make sure ESC type is initialized early 2022-05-28 16:08:08 +09:00
Andy Piper 7d00167428 SRV_Channel: add BLHeli_S ESC type 2022-05-28 16:08:08 +09:00
Andy Piper a3e79c8263 AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths 2022-05-28 16:08:08 +09:00
Andy Piper 34cb45a11e AP_HAL: add BLHeli_S ESC type and use it to control bitwidths 
adjust BLHeli_S bitwidth and ticks to support more ESC variants.
 2022-05-28 16:08:08 +09:00
Rishabh a436ca3cee Copter: Do not allow automatic yaw while prec land retry 2022-05-28 16:08:08 +09:00
Randy Mackay 4eedb2e948 AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7 2022-05-28 16:08:08 +09:00
Randy Mackay 8a5e7ff120 AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-05-28 16:08:08 +09:00
Andy Piper ece793e4b7 AC_AutoTune: allow high ANGLE_P gains 2022-05-28 16:08:08 +09:00
Andy Piper 292291b760 AP_HAL: add bitwidth hal definitions. 
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
 2022-05-28 16:08:08 +09:00
Andy Piper 19d9f157cb AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-05-28 16:08:08 +09:00
Andrew Tridgell 5460d7c10c Plane: prepare for 4.2.1 release 2022-05-28 16:08:08 +09:00
Andrew Tridgell 4d8cb8bd67 Plane: release notes for 4.2.1 2022-05-28 16:08:08 +09:00
Andrew Tridgell e5d379cf75 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
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 0bfe567c4d 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
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 49af52b735 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-28 16:08:08 +09:00
Andrew Tridgell b5f9ccbb74 Plane: prepare for 4.2.1beta1 2022-05-28 16:08:08 +09:00
Andrew Tridgell 2db13505ab Plane: update release notes for 4.2.1beta1 2022-05-28 16:08:08 +09:00
Andrew Tridgell 50267e255f Plane: cope with QGC retrying AUTO mode 
QGC tries several times to enter AUTO even when it is refused. We need
to keep refusing
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 9e992aa982 autotest: don't try to arm in RTL mode for quadplanes 2022-05-28 16:08:08 +09:00
Andrew Tridgell 4adb3ddfa2 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
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 009f3e9ea8 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
 2022-05-28 16:08:08 +09:00
Peter Barker 6634b0926e ArduSub: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:08 +09:00
Peter Barker 202b0136aa ArduCopter: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:08 +09:00
Peter Barker cbe9a24d89 ArduPlane: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:08 +09:00
Peter Barker aa59e0a63e AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:08 +09:00
Andrew Tridgell aa873ad9f4 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-28 16:08:08 +09:00
Andrew Tridgell 2f73ce408f AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-28 16:08:08 +09:00
Andrew Tridgell e02e0d793c 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
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 8066478679 AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor 
we need to use the pressure from the sensor we are calibrating
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 4e6f0c0ef4 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.
 2022-05-28 16:08:08 +09:00