Commit Graph

57228 Commits

Author SHA1 Message Date
Randy Mackay
5702c6a672 AP_Math: Vector2f::projected made const 2023-08-01 16:48:42 +09:00
Randy Mackay
a05860bd64 Rover: circle uses lower accel and fix forward-back accel 2023-08-01 16:48:42 +09:00
Randy Mackay
c26d046633 Rover: circle mode loses input shaping 2023-08-01 16:48:42 +09:00
Randy Mackay
7c602ade29 Rover: circle checks max speed and min radius 2023-08-01 16:48:42 +09:00
Andy Piper
dada9f8720 AP_HAL_ChibiOS: correct comment in HEEWING-F405 v1 2023-08-01 16:48:42 +09:00
Andy Piper
1227b7ab02 AP_HAL_ChibiOS: HEEWING-F405v2 which includes dataflash logging 2023-08-01 16:48:42 +09:00
Andy Piper
076d92e853 bootloaders: bootloader for HEEWING-F405v2 2023-08-01 16:48:42 +09:00
Andy Piper
168756ce76 AP_NavEKF3: fix docs on ABIAS_P_NSE_DEFAULT 2023-08-01 16:48:42 +09:00
Andrew Tridgell
2d8600ea91 AP_Mount: prevent SIYI driver crash if serial port not setup
if MNT1_TYPE=8 and no serial protocol set to gimbal then a camera
trigger can crash the vehicle
2023-08-01 16:48:42 +09:00
Andy Piper
886f24764c AP_BLHeli: add battery status MSP handling
give internal error if an unknown MSP command occurs
2023-08-01 16:48:42 +09:00
Andy Piper
e98cb3591b bootloaders: add HeeWing F405 2023-08-01 16:48:42 +09:00
HelloLeFei
a4b5c3001e AP_HAL_ChibiOS: add HEEWING-F405 flight controller
add bi-directional dshot
add back in features.
juggle DMA allocations to allow CRSF to work correctly
disable dshot on PWM 10 as it is not used
do not enable quadplane by default
do not disable arming checks
run ICM42688 at 1Mhz for low speed to avoid gyro noise
add HEEWING README and picture
2023-08-01 16:48:42 +09:00
Mikhail Degtiarenko
ed8ae82267 AP_HAL_ChibiOS: add SPL06 to MambaH743v4
The Diatone Mamba MK4 H743 v2 Flight Control have moved from the DPS280 barometer to using SPL06.

https://www.diatone.us/products/mamba-mk4-h743-v2-flight-control-30mm-m3l
2023-08-01 16:48:42 +09:00
Andrew Tridgell
8f55281cb8 ChibiOS: disable DMA on I2C on F7 and H7 by default
this was already done on many (most?) boards, and greatly reduces DMA
sharing which improves performance of UARTs. This changes the default
to no DMA on I2C
2023-08-01 16:48:42 +09:00
bugobliterator
0c12b3bfaf AP_Scripting: stash and restore FPU register context in LUAI_TRY
this fixes an issue where a lua library function triggers an exception
after it does a math operation which changes the floating point
registers on M7 MCUs (such as STM32H7). An example is math.random()
which calls math_random(), which pre-calculates a double value before
checking if the arguments to the call are valid. When it then checks
and finds invalid values the exception longjmp does not restore the
floating point registers.
2023-08-01 16:48:42 +09:00
Andrew Tridgell
1dbc39d1f4 AP_Scripting: added bindings for VTOL motor loss
this allows a script to take an action on loss of a VTOL motor
2023-08-01 16:48:42 +09:00
Randy Mackay
3c4abe469a Copter: update 4.4.0-beta3 release notes 2023-07-04 15:12:06 +09:00
Randy Mackay
bac5ff18d6 Rover: update 4.4.0-beta3 release notes 2023-07-04 15:11:59 +09:00
Andrew Tridgell
48ad73c4e5 Plane: update release notes 2023-07-04 15:08:27 +09:00
Andrew Tridgell
0d6f49c67d HAL_ChibiOS: implement newlib alloc functions as malloc wrappers
this fixes issue #24106
2023-07-04 15:08:27 +09:00
Andrew Tridgell
7f83b233e3 waf: wrap newlib alloc functions on ChibiOS
this prevents scripting and string library functions from calling sbrk
based alloction functions that are not thread safe
2023-07-04 15:08:26 +09:00
Andrew Tridgell
837d490299 Plane: prepare for 4.4.0beta3 2023-07-04 15:08:26 +09:00
Randy Mackay
801189af73 Copter: update 4.4.0-beta3 release notes 2023-07-04 12:16:30 +09:00
Randy Mackay
8477b23ba5 Rover: update 4.4.0-beta3 release notes 2023-07-04 12:16:30 +09:00
Andrew Tridgell
375d146518 Plane: update release notes for 4.4.0beta3 2023-07-04 12:16:30 +09:00
Peter Barker
3c43fb6de8 AP_Notify: add driver for IS31FL3195 LED 2023-07-04 12:16:30 +09:00
Peter Barker
c1f30b24e0 AP_Notify: add driver for LP5562 LED 2023-07-04 12:16:30 +09:00
Andrew Tridgell
15f4924499 AP_Scripting: updated VTOL quicktune docs 2023-07-04 12:16:30 +09:00
Andrew Tridgell
a3f1ccb5e2 AP_Scripting: fixed lua-check warnings in VTOL-quicktune 2023-07-04 12:16:30 +09:00
Andrew Tridgell
8ecc43ddbc AP_Scripting: fixed use of QUIK_ENABLE in VTOL-quicktune
this was lost when the cached access was added
2023-07-04 12:16:30 +09:00
Andrew Tridgell
fa18fc072b AP_Scripting: added QUIK_MAX_REDUCE parameter to VTOL-quicktune.lua
this limits the amount that rate gains can reduce from the original
values in a quicktune. Large reductions in rate gains can be
incorrectly triggered by a frame resonance or gust of wind which can
result in gains that are dangerously low, which can trigger an angle P
oscillation
2023-07-04 12:16:30 +09:00
Andrew Tridgell
fa75c75b72 Plane: fixed transition started airspeed message
this message was lost in recent refactoring
2023-07-04 12:16:30 +09:00
Paul Riseborough
b544081ee6 Plane: Fix bug that can cause early exit from loiter to alt and time wp's
The check for the aircraft being lined up for a tangent exit has an early breakout condition if the next waypoint is too close to the loiter circle which can prevent the required ground course to waypoint ever being achieved. This check was using the WP_LOITER_RAD parameter value, not the actual radius being used which can be set differently by the mission plan. If a large value for WP_LOITER_RAD was set and being over-written by the mission plan with a smaller value compatible with the distance to the next waypoint, the aircraft would still exit early.
2023-07-04 12:16:30 +09:00
Andrew Tridgell
61ed17b6c5 Plane: fixed TECS state reset in VTOL auto
this fixes a bug where TECS maintains its slow integrator while in a
VTOL hover mode in AUTO or GUIDED.

Among other things this affects PAYLOAD_PLACE and
DO_VTOL_TRANSITION. In those states the height can change while
hovering outside the control of TECS. When TECS regains control in a
fwd transition then can lead to a very large height loss or gain until
the TECS integrator can catch up
2023-07-04 12:16:30 +09:00
Randy Mackay
0f160ab331 Copter: version to 4.4.0-beta3 2023-07-04 12:16:30 +09:00
Randy Mackay
6c27cca17a Copter: 4.4.0-beta3 release notes 2023-07-04 12:16:30 +09:00
Randy Mackay
83a97df22e Rover: version to 4.4.0-beta3 2023-07-04 12:16:30 +09:00
Randy Mackay
880dcc1713 Rover: 4.4.0-beta3 release notes 2023-07-04 12:16:30 +09:00
Andy Piper
ad5b8563b5 AP_HAL_ChibiOS: remove bdshot from speedybeef4 as it doesn't work and increases flash usage 2023-07-04 12:16:30 +09:00
Andy Piper
287053961c AP_HAL_ChibiOS: Pixhawk1-bdshot 2023-07-04 12:16:30 +09:00
Michael du Breuil
4cf19a74b4 AP_ADSB: Fix spam of lost transciever message at update() rate 2023-07-04 12:16:30 +09:00
Andy Piper
42e18db221 AC_AutoTune: correct incorrect min raw rate valuee 2023-07-04 12:16:30 +09:00
Andrew Tridgell
dc690432f1 Tools: fixed RefindGPS test
this test was relying on the EKF bug fixed in this PR. The copter was
actually fully landing and touching the ground in the LAND phase
whereas the original intention of this test was that it not touch the
ground in LAND. See the graph in
https://github.com/ArduPilot/ardupilot/pull/17104 where the test was
added
2023-07-04 12:16:30 +09:00
Andrew Tridgell
1d686ff806 AP_NavEKF3: fixed velocity reset on AID_NONE
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
2023-07-04 12:16:30 +09:00
Andrew Tridgell
6db228900b AP_NavEKF2: fixed velocity reset on AID_NONE
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
2023-07-04 12:16:30 +09:00
Stephen Dade
fba9098f8f Rover: Lower minimum circle tracking distance 2023-07-04 12:16:30 +09:00
Peter Barker
e363438c23 AP_Arming: reword GPS pre-arm failure
M10S (no storage) throws this for a considerable period of time and the wording makes this process sound scary.
2023-07-04 12:16:30 +09:00
Andy Piper
1d74020aac AP_HAL_ChibiOS: Pixhawk6X bdshot version 2023-07-04 12:16:30 +09:00
Andrew Tridgell
c084381ff7 Plane: improved fwd throttle during VTOL landing
this sets up the vwd integrator more reasonably when we are in
POSITION1 stage of VTOL landing. We need to have enough throttle to
cope with a headwind, but want it lower when we are at or above our
target closing speed so can minimise the amount of pitch up

This also makes the landing_desired_closing_velocity() consistent with
the landing speed used in approach, using average of airspeed min and
cruise speed if TECS_LAND_ARSPD is not set

The target airspeed for TECS during airbraking is now set to
ARSPD_FBW_MIN, on the basis we are trying to slow down to min speed,
and we have VTOL support which should prevent a stall.

To cope with a high headwind where ARSPD_FBW_MIN is below the headwind
we now check for too low achieved closing speed and switch to
POSITION1 which can use vfwd to get to the landing location
2023-07-04 12:16:30 +09:00
Tatsuya Yamaguchi
be105eb430 Copter: add has_user_takeoff in ZigZag mode 2023-07-04 12:16:30 +09:00