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52,190 Commits 71 Branches 509 Tags 731 MiB
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52190 Commits

Author SHA1 Message Date
Andrew Tridgell 2bbc197f42 Plane: added airspeed based pitch limit check 
prevent using too much pitch when at low airspeed, which can lead to
severe instability in SLT quadplanes
 2022-03-30 11:37:41 +09:00
Andrew Tridgell fe5536fc49 Plane: added an arming check for Q_ASSIST_SPEED 
Q_ASSIST should really be enabled for all non-tailsitter
quadplanes. This arming check will help users remember to configure it
 2022-03-30 11:37:41 +09:00
Andrew Tridgell 2414fe6697 Plane: use set_lean_angle_max_cd() 
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
 2022-03-30 11:37:41 +09:00
Andrew Tridgell 9aa1442b32 AC_AttitudeControl: added set_lean_angle_max_cd() 2022-03-30 11:37:41 +09:00
Andrew Tridgell 41214331e1 AC_Autorotation: use accel_to_angle() 2022-03-30 11:37:41 +09:00
Andrew Tridgell e3bddc4560 AC_WPNav: use angle/accel functions 2022-03-30 11:37:41 +09:00
Andrew Tridgell ef6db75d5a AP_Math: added angle_to_accel() and accel_to_angle() 2022-03-30 11:37:41 +09:00
Andrew Tridgell 507f344729 Plane: improvements to POSITION1 controller 
this improves 4 things in the POSITION1 controller based on logs from
4.2.0beta2. The changes are designed to increase the tolerance to
an incorrect value for Q_TRANS_DECEL, reducing landing overshoot

1) we fix the initialisation of the acceleration. The
   init_xy_controller() function assumes zero accel, so we need to
   call set_accel_desired_xy_cmss() just after that init to get the
   correct accel. Thanks to Leonard for this fix

2) if we decel more than expected due to too low Q_TRANS_DECEL we
   need to reduce the target speed, rather than putting the nose down

3) lower the default Q_P_JERK_XY to a value more appropriate for most
   quadplanes (Leonard suggested a value of 2)

4) fixed the pitch envelope from Q_BACKTRANS_MS to start after the
   airbrake phase is complete
 2022-03-30 11:37:41 +09:00
Andrew Tridgell d65730f94f Plane: fixed pitch envelope after AIRBRAKE 
we need to setup last_fw_mode_ms and last_fw_nav_pitch_cd when we
enter POSITION1 mode so that the expanding envelope pitch limit from
Q_BACKTRANS_MS is applied correctly
 2022-03-30 11:37:41 +09:00
Andrew Tridgell d11cd68c27 Plane: prepare for 4.2.0beta2 2022-03-30 11:37:41 +09:00
Andrew Tridgell dc12bb7c25 Plane: added release notes for 4.2.0beta2 2022-03-30 11:37:41 +09:00
Randy Mackay 5370afb839 Rover: version to 4.2.0-beta2 2022-03-12 08:01:18 +09:00
Randy Mackay c8af00f985 Rover: 4.2.0-beta2 release notes 2022-03-12 08:01:18 +09:00
Randy Mackay 3c57f8ec4a Copter: version to 4.2.0-beta2 2022-03-12 08:01:18 +09:00
Randy Mackay 15e87fc547 Copter: 4.2.0-beta2 release notes 2022-03-12 08:01:18 +09:00
Randy Mackay e8b10f45ee Copter: fix takeoff to terrain alt 2022-03-12 08:01:18 +09:00
Randy Mackay 1ab9cd1d86 Copter: rename auto_take_off_xx to auto_takeoff_xx 2022-03-12 08:01:18 +09:00
Andrew Tridgell 8cd961838e Plane: protect against short stop_distance 2022-03-12 08:01:18 +09:00
Leonard Hall f6e5a11571 AC_PosControl: Decay posiiton error during relax 2022-03-12 08:01:18 +09:00
Leonard Hall 7402444ffe AC_AttitudeControl: AC_PosControl: add soften for landing 2022-03-12 08:01:18 +09:00
Iampete1 2a7e0e225e Plane: quadplane: double log QPOS state change 2022-03-12 08:01:18 +09:00
Peter Barker dab83e292e Plane: use has_valid_input in place of checking throttle counter 2022-03-12 08:01:18 +09:00
Henry Wurzburg 1b7fe466cb ArduPlane: clarify and simplify RC failsafe messages 2022-03-12 08:01:18 +09:00
Peter Barker 0a56aa5b17 ArduPlane: add RebootRequred to stream rate parameters 2022-03-12 08:01:18 +09:00
Peter Barker 0feed119cd AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files 2022-03-12 08:01:18 +09:00
Andy Piper 875e5c232f waf: move external flash binaries to regular name to aid publishing 2022-03-12 08:01:18 +09:00
Iampete1 034d5a048d Rover: loiter: sailboats don't try and sail directly into the wind 2022-03-12 08:01:18 +09:00
m eff8313edf Copter: Pause/Continue in AUTO and GUIDED modes with SCurves 2022-03-12 08:01:18 +09:00
Leonard Hall 4bdfc0d88e Copter: Add pause in guided mode 2022-03-12 08:01:18 +09:00
Leonard Hall 98fa2f35ae Copter: WP Pause support 2022-03-12 08:01:18 +09:00
Leonard Hall 2aa3c0c478 Copter: tighten auto_takeoff_complete checks 2022-03-12 08:01:18 +09:00
Leonard Hall b32072c130 Copter: remove loiter_nav from auto 2022-03-12 08:01:18 +09:00
Leonard Hall 806e82a603 Copter: auto and guided takeoff use postion controller 2022-03-12 08:01:18 +09:00
Leonard Hall 4d712d61dc Copter: use position controller for landing reposition 2022-03-12 08:01:18 +09:00
Andrew Tridgell bbfcf37d5d AP_Math: fixed build error on cygwin 
ensure variables are always initialised
 2022-03-12 08:01:18 +09:00
Leonard Hall 1ccc2311ba AP_Math: SCurve: Increase corner speeds 2022-03-12 08:01:18 +09:00
Leonard Hall 1386ac40cf AP_Math: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-12 08:01:18 +09:00
Leonard Hall 9e7716273a AC_WPNav: Support pause 2022-03-12 08:01:18 +09:00
Leonard Hall ed11b95281 AC_WPNav: init optionally accepts stopping point 2022-03-12 08:01:18 +09:00
Leonard Hall 0de932345a AC_Loiter: use Pos_Control soften_for_landing_xy 2022-03-12 08:01:18 +09:00
Leonard Hall 43d59769fe AC_WPNav: Increase corner speeds 2022-03-12 08:01:18 +09:00
Leonard Hall c16e736bc6 AC_WP_Nav: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-12 08:01:18 +09:00
Andrew Tridgell 7d9c7a8780 Tools: added Sierra-F9P bootloader 2022-03-12 08:01:18 +09:00
MallikarjunSE ca5c60bb69 Tools: Rename board 2022-03-12 08:01:18 +09:00
MallikarjunSE 3fc302f7ad AP_HAL_ChibiOS: Add Sierra-F9P support 2022-03-12 08:01:18 +09:00
Andy Piper 0297e2e313 AP_HAL_ChibiOS: normalize BeastH7v2 in line with BeastF7v2 definition 2022-03-12 08:01:18 +09:00
Evgeniy c53837141f AP_HAL_ChibiOS: BeastH7v2 board added 2022-03-12 08:01:18 +09:00
Andrew Tridgell bffa7d9893 hwdef: fixed buzzer on CUAV_GPS peripheral 2022-03-12 08:01:18 +09:00
MallikarjunSE 2598257e76 hwdef: hwdef update with watchdog 2022-03-12 08:01:18 +09:00
MallikarjunSE 00a276df9c hwdef:update storage pages and enable watchdog 2022-03-12 08:01:18 +09:00