Andrew Tridgell
3ebab76395
AP_GyroFFT: use HarmonicNotch class
2022-06-21 19:41:34 +09:00
Andrew Tridgell
699d624ca1
AP_Arming: use HarmonicNotch class
2022-06-21 19:41:34 +09:00
Andrew Tridgell
7bb139a311
AP_InertialSensor: switch to HarmonicNotch class
...
this makes the logic much easier to follow, without indexes into
arrays
2022-06-21 19:41:34 +09:00
Andrew Tridgell
d48e048403
Filter: removed parameters from the old notch filter
...
saves some flash space
2022-06-21 19:41:34 +09:00
Andrew Tridgell
6c61ea970d
AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT
2022-06-21 19:41:34 +09:00
Andrew Tridgell
f015e827bf
AP_Arming: added arming check for conflicting notch modes
2022-06-21 19:41:34 +09:00
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
