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54,842 Commits 71 Branches 509 Tags 758 MiB
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54842 Commits

Author SHA1 Message Date
Andrew Tridgell 3a9f1475a7 Plane: cover more cases in fence breach mode change 
we want to allow all landing sequence mode changes
 2022-10-24 22:23:32 +09:00
Andrew Tridgell 5a75b78cec Plane: allow mode switch on fence breach for RTL_AUTOLAND 
when we are in a fence breach we by default disallow mode changes, but
we need to allow for the switch to AUTO if the reason is we are
entering a landing sequence, which is part of the RTL process which is
the fence action
 2022-10-24 22:23:32 +09:00
Andrew Tridgell b9a168fe3d 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 22:23:32 +09:00
Andrew Tridgell aa12184bd4 Plane: prepare for 4.3.1beta1 2022-10-24 22:23:32 +09:00
Andrew Tridgell e09a634c63 Plane: release notes for 4.3.1beta1 2022-10-24 22:23:32 +09:00
Andrew Tridgell 3b7b365ae3 AP_AHRS: added ATSC logging 
log scale factors for angle P scaling when not == 1.0
 2022-10-24 22:23:32 +09:00
Andrew Tridgell 71ad3587dd 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 22:23:32 +09:00
Andrew Tridgell f6069c35f4 APM_Control: added access to time constant 2022-10-24 22:23:32 +09:00
Andrew Tridgell 1f7b4dcef6 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 22:23:32 +09:00
Iampete1 5d2f47a4bc AP_Scripting: set lua nullptr after delete 2022-10-24 22:23:32 +09:00
Andrew Tridgell e986983b8a Plane: log TECS target alt 
log the target alt we pass into TECS to help debug a CRUISE height
issue
 2022-10-24 22:23:32 +09:00
Andrew Tridgell 220fd7caa1 AP_RPM: fixed SITL RPM backend for new motor mask 2022-10-24 22:23:32 +09:00
Andrew Tridgell e4a747c247 SITL: allow for extra actuators to be marked as motors 2022-10-24 22:23:32 +09:00
Andrew Tridgell a35055a6ec 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 22:23:32 +09:00
Andrew Tridgell e584a07610 HAL_SITL: use motor mask for noise checking for motors 2022-10-24 22:23:32 +09:00
Andrew Tridgell d062688b30 AP_InertialSensor: use motor_mask from SITL for which outputs are motors 
generate noise based on motor_mask
 2022-10-24 22:23:32 +09:00
Andrew Tridgell 4dba724fc7 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 22:23:32 +09:00
Andrew Tridgell 3e8fd1800f 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 22:23:32 +09:00
Andrew Tridgell cca7a540ea 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 22:23:32 +09:00
Iampete1 46fae47a06 Plane: Quadplane: SLT: enforce TECS pitch limits to beat race 2022-10-24 22:23:32 +09:00
Andrew Tridgell 854061fdbe waf: added --enable-gps-logging 2022-10-24 22:23:32 +09:00
Andrew Tridgell ead4974b01 SITL: support playback of new GPS log format 2022-10-24 22:23:32 +09:00
Andrew Tridgell 0e09a07de0 AP_GPS: fixed resolution of KSXT parsing for NMEA 
needs to be double precision for lat/lon
 2022-10-24 22:23:32 +09:00
Andrew Tridgell 4a6673c04e AP_GPS: added logging to more serial GPS backends 2022-10-24 22:23:32 +09:00
Andrew Tridgell 6e3ca69ae6 AP_GPS: improve GPS debug logging 
use timestamped data allowing for much more precise playback
 2022-10-24 22:23:32 +09:00
Leonardo Garcia 9b78f6af08 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 22:23:32 +09:00
Andrew Tridgell b99952e7f3 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 22:23:32 +09:00
Andrew Tridgell e9a5c2553a AP_Scripting: added rc:get_aux_cached() example 2022-10-24 22:23:32 +09:00
Andrew Tridgell 71696b9fb0 AP_Scripting: added get_aux_cached() RC binding 2022-10-24 22:23:32 +09:00
Andrew Tridgell 9ccf043884 RC_Channel: added cache of aux functions for scripting 
allows for scripting to act on aux functions
 2022-10-24 22:23:32 +09:00
Andrew Tridgell 1a49c33a4a AP_Common: added setonoff() method for bitmask 2022-10-24 22:23:32 +09:00
Andrew Tridgell 04fb0b8ebc AP_Scripting: added relay get() binding 2022-10-24 22:23:32 +09:00
Andrew Tridgell dcecff3bef AP_Relay: added get() method for scripting 2022-10-24 22:23:32 +09:00
bugobliterator 263ea03f13 modules: update chibios 2022-10-24 22:23:32 +09:00
Andrew Tridgell fd126b0d37 waf: ensure we don't try to use non-implemented functions 2022-10-24 22:23:32 +09:00
Andrew Tridgell 8555a815d8 Tools: added CubePilot to board recognition for uploader.py 
for CubeOrangePlus
 2022-10-24 22:23:32 +09:00
Andrew Tridgell 5c9e222366 HAL_ChibiOS: fixed build error with gcc 11.3 2022-10-24 22:23:32 +09:00
Andrew Tridgell bc14301e58 AP_Scripting: fixed use of clock and time in lua 
not available on stm32
 2022-10-24 22:23:32 +09:00
Andrew Tridgell 80302ba27c GCS_MAVLINK: fixed warning in ftp build with gcc 11.3 2022-10-24 22:23:32 +09:00
Willian Galvani 40d514e1c3 Tools: attempt to fix Sub flapping test 2022-10-24 22:23:32 +09:00
Randy Mackay 553af39593 Copter: version to 4.3.0-beta3 2022-10-14 17:13:10 +09:00
Randy Mackay 69ebb6cf34 Copter: 4.3.0-beta3 release notes 2022-10-14 17:13:10 +09:00
Randy Mackay af443fe5c0 Rover: version to 4.3.0-beta3 2022-10-14 17:13:10 +09:00
Randy Mackay 614c01c93e Rover: 4.3.0-beta3 release notes 2022-10-14 17:13:10 +09:00
Andrew Tridgell c4632777e7 Plane: prepare for 4.3.0 release 2022-10-14 17:13:10 +09:00
Andrew Tridgell 669f45f8aa Plane: 4.3.0 final release notes 2022-10-14 17:13:10 +09:00
Andrew Tridgell 4fab724c76 RC_Channel: add winch enable to option param docs for Copter 2022-10-14 17:13:10 +09:00
Iampete1 8877f45578 AP_Scripting: clear alocated i2c devices on scripting stop 2022-10-14 17:13:10 +09:00
Iampete1 bc1c2bbed4 AP_Scripting: add maunal i2c binding allowing read of sequentual registers 2022-10-14 17:13:10 +09:00
Iampete1 e7ee0ce526 AP_Scripting: allow maunal apobject bindings 2022-10-14 17:13:10 +09:00