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52394 Commits

Author SHA1 Message Date
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
Peter Barker 5f39602d8c AP_Compass: do not use GSF if any model has been clipped 2022-05-28 16:08:08 +09:00
Peter Barker 7a7d7f91ef autotest: adjust current wp reset 2022-05-28 16:08:08 +09:00
Andrew Tridgell 77f98b4072 autotest: reset mission on takeoff for quadplanes 2022-05-28 16:08:08 +09:00
Andrew Tridgell 066fed18ce Plane: account for sprung throttle in VTOL throttle suppression 
when RC_OPTIONS has been changed to not check throttle for arming then
treat this like a sprung throttle for quadplane throttle suppression
in auto-throttle modes, and only unsuppress when throttle goes above
trim+dz
 2022-05-28 16:08:08 +09:00
Andrew Tridgell ee8ae2eebd Plane: refuse arming if we are in a landing sequence 
this helps when the aircraft has gone into a landing sequence due to a
failsafe before it is armed. Arming while in the landing sequence is
very unlikely to be what the user wants
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 1e82319bfa AP_EFI: added fuel usage integration for Lutan EFI 
allows for EFI_COEF1 and EFI_COEF2 to be set to get fuel consumption
on GCS
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 4aaa0ce6b2 autotest: reset mission on takeoff for quadplanes 2022-05-28 16:08:08 +09:00
Andrew Tridgell 6bf9556612 AP_Mission: improved handling of large LOITER_TURNS 
instead of wrapping we should use MIN with 255, which is closer to
what was requested
 2022-05-28 16:08:08 +09:00
Joshua Henderson 7a2d48389c AP_Airspeed: remove negative pressure set unhealthy 2022-05-28 16:08:08 +09:00
Andrew Tridgell 57aaaa2a89 Plane: update gyro fft throttle 
allows for updating or learned FFT freq
 2022-05-28 16:08:08 +09:00
Randy Mackay 678921699c Rover: version to 4.2.0 2022-05-23 16:09:51 +09:00
Randy Mackay a02a23e396 Rover: 4.2.0 release notes 2022-05-23 16:09:51 +09:00
Randy Mackay 584192266c Copter: version to 4.2.0 2022-05-23 16:09:51 +09:00
Randy Mackay 132f97bcf3 Copter: 4.2.0 release notes 2022-05-23 16:09:51 +09:00
Randy Mackay fdadbdc4d1 Rover: version to 4.2.0-rc4 2022-05-16 08:15:26 +09:00
Randy Mackay 4875a65069 Rover: 4.2.0-rc4 release notes 2022-05-16 08:15:26 +09:00
Randy Mackay 14b63538e1 Copter: version to 4.2.0-rc4 2022-05-16 08:15:26 +09:00
Randy Mackay ff7e385b2b Copter: 4.2.0-rc4 release notes 2022-05-16 08:15:26 +09:00
Leonard Hall c59f6267a9 Copter: Dissable yaw slew in loiter 2022-05-16 08:15:26 +09:00
Leonard Hall 0b4b5e473b AC_AttitudeControl: Allow diabling of slew limit 2022-05-16 08:15:26 +09:00
Bill Geyer 4ae97ce639 Copter: fix position ctrl init for guided takeof 2022-05-16 08:15:26 +09:00
Randy Mackay 4fded652dc Copter: vibration compensation turns off in manual modes 2022-05-16 08:15:26 +09:00
Andrew Tridgell 6b790eaca0 hwdef: added FlyingMoonF427 support 2022-05-16 08:15:26 +09:00
Andrew Tridgell 10da0739ae Tools: added FlyingMoonF427 bootloader 2022-05-16 08:15:26 +09:00
Andrew Tridgell 707bc9502f hwdef: added FlyingMoonF407 board support 2022-05-16 08:15:26 +09:00
Andrew Tridgell be023c5359 Tools: added FlyingMoon407 bootloader 2022-05-16 08:15:26 +09:00
Andrew Tridgell ed18123f95 HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103 
need to check new pin not old pin
 2022-05-16 08:15:26 +09:00
Andrew Tridgell bcc548bbd8 AP_Logger: fixed a bug in wrapped log count 
fixes #20687
 2022-05-16 08:15:26 +09:00
Randy Mackay f1add64def Rover: version to 4.2.0-rc3 2022-05-07 08:40:41 +09:00