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54,840 Commits 71 Branches 509 Tags 716 MiB
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54840 Commits

Author SHA1 Message Date
Andrew Tridgell 3a72cd1ce2 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
 2022-10-24 22:23:43 +09:00
Andrew Tridgell e88056ab7f Plane: prepare for 4.3.1beta1 2022-10-24 22:23:43 +09:00
Andrew Tridgell e73c7616a2 Plane: release notes for 4.3.1beta1 2022-10-24 22:23:43 +09:00
Andrew Tridgell f0b2f4ee2a AP_AHRS: added ATSC logging 
log scale factors for angle P scaling when not == 1.0
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 154142123a 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
 2022-10-24 22:23:43 +09:00
Andrew Tridgell a22c7b676a APM_Control: added access to time constant 2022-10-24 22:23:43 +09:00
Andrew Tridgell 2d4f29a6ba 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.
 2022-10-24 22:23:43 +09:00
Iampete1 3a2c0fed61 AP_Scripting: set lua nullptr after delete 2022-10-24 22:23:43 +09:00
Andrew Tridgell 4ad17c5d41 Plane: log TECS target alt 
log the target alt we pass into TECS to help debug a CRUISE height
issue
 2022-10-24 22:23:43 +09:00
Andrew Tridgell c4854c3dc1 AP_RPM: fixed SITL RPM backend for new motor mask 2022-10-24 22:23:43 +09:00
Andrew Tridgell 234534d9f4 SITL: allow for extra actuators to be marked as motors 2022-10-24 22:23:43 +09:00
Andrew Tridgell 675f283c72 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
 2022-10-24 22:23:43 +09:00
Andrew Tridgell c597ccb566 HAL_SITL: use motor mask for noise checking for motors 2022-10-24 22:23:43 +09:00
Andrew Tridgell 01b0586958 AP_InertialSensor: use motor_mask from SITL for which outputs are motors 
generate noise based on motor_mask
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 3db15e19b2 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
 2022-10-24 22:23:43 +09:00
Andrew Tridgell cbccda9ea1 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
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 99786bb2d7 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
 2022-10-24 22:23:43 +09:00
Iampete1 2e6007c808 Plane: Quadplane: SLT: enforce TECS pitch limits to beat race 2022-10-24 22:23:43 +09:00
Andrew Tridgell 0e4a12129f waf: added --enable-gps-logging 2022-10-24 22:23:43 +09:00
Andrew Tridgell 6f3d9d0e46 SITL: support playback of new GPS log format 2022-10-24 22:23:43 +09:00
Andrew Tridgell 6cab052b66 AP_GPS: fixed resolution of KSXT parsing for NMEA 
needs to be double precision for lat/lon
 2022-10-24 22:23:43 +09:00
Andrew Tridgell b0d0575906 AP_GPS: added logging to more serial GPS backends 2022-10-24 22:23:43 +09:00
Andrew Tridgell 12a273f376 AP_GPS: improve GPS debug logging 
use timestamped data allowing for much more precise playback
 2022-10-24 22:23:43 +09:00
Leonardo Garcia 2c6ccb3e05 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).
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 19d444bb3a 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
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 781fed2390 AP_Scripting: added rc:get_aux_cached() example 2022-10-24 22:23:43 +09:00
Andrew Tridgell 06b18183e0 AP_Scripting: added get_aux_cached() RC binding 2022-10-24 22:23:43 +09:00
Andrew Tridgell 3c8a46d2c5 RC_Channel: added cache of aux functions for scripting 
allows for scripting to act on aux functions
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 30997a2b05 AP_Common: added setonoff() method for bitmask 2022-10-24 22:23:43 +09:00
Andrew Tridgell efd5c2a47e AP_Scripting: added relay get() binding 2022-10-24 22:23:43 +09:00
Andrew Tridgell 9366ae9c7e AP_Relay: added get() method for scripting 2022-10-24 22:23:43 +09:00
bugobliterator b62e966e97 modules: update chibios 2022-10-24 22:23:43 +09:00
Andrew Tridgell bc35b3145c waf: ensure we don't try to use non-implemented functions 2022-10-24 22:23:43 +09:00
Andrew Tridgell 29dca0f915 Tools: added CubePilot to board recognition for uploader.py 
for CubeOrangePlus
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 973bc41cfa HAL_ChibiOS: fixed build error with gcc 11.3 2022-10-24 22:23:43 +09:00
Andrew Tridgell ba6797da0f AP_Scripting: fixed use of clock and time in lua 
not available on stm32
 2022-10-24 22:23:43 +09:00
Andrew Tridgell bcccc6e191 GCS_MAVLINK: fixed warning in ftp build with gcc 11.3 2022-10-24 22:23:43 +09:00
Willian Galvani 3777e4d082 Tools: attempt to fix Sub flapping test 2022-10-24 22:23:43 +09:00
Randy Mackay e272aa5159 Copter: version to 4.3.0-beta3 2022-10-14 17:13:21 +09:00
Randy Mackay b417f56816 Copter: 4.3.0-beta3 release notes 2022-10-14 17:13:21 +09:00
Randy Mackay 0261bfd78a Rover: version to 4.3.0-beta3 2022-10-14 17:13:21 +09:00
Randy Mackay d6f2c00c2a Rover: 4.3.0-beta3 release notes 2022-10-14 17:13:21 +09:00
Andrew Tridgell 9a1bfdaa3b Plane: prepare for 4.3.0 release 2022-10-14 17:13:21 +09:00
Andrew Tridgell 2587302e02 Plane: 4.3.0 final release notes 2022-10-14 17:13:21 +09:00
Andrew Tridgell fdd1c71ab2 RC_Channel: add winch enable to option param docs for Copter 2022-10-14 17:13:21 +09:00
Iampete1 6571a95120 AP_Scripting: clear alocated i2c devices on scripting stop 2022-10-14 17:13:21 +09:00
Iampete1 207efe3b03 AP_Scripting: add maunal i2c binding allowing read of sequentual registers 2022-10-14 17:13:21 +09:00
Iampete1 a6b5febe3d AP_Scripting: allow maunal apobject bindings 2022-10-14 17:13:21 +09:00
Andrew Tridgell ecaa3fbcf7 AP_Vehicle: implement 1M/2M warnings 
encourage users to run the right firmware for their boards
 2022-10-14 17:13:21 +09:00
Andrew Tridgell a258a40681 hwdef: added warning messages about flash size 2022-10-14 17:13:21 +09:00