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52504 Commits

Author SHA1 Message Date
Andrew Tridgell 5aba7bef29 Plane: base yaw in overshoot on target speed not scaled speed 
this prevents an oscillating due to the speed changing as we yaw,
resulting in a different yaw target
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 9485a9a62c Plane: improve target airspeed in landing approach 
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach

this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 0c3276da42 Tools: adjust Dalby mission for VTOL_LAND distance 2022-08-12 02:49:33 -04:00
Andrew Tridgell d4300a8202 Plane: added an arming check for VTOL land too short 
this is meant to catch bad mission setup, especially for UGCS, which
planes waypoints right on top of the landing point
 2022-08-12 02:49:33 -04:00
Andrew Tridgell c52b64a78a AP_AHRS: use wind from simulation if available with EKF type 10 2022-08-12 02:49:33 -04:00
Andrew Tridgell 87579565de SITL: fill in wind from flightaxis 2022-08-12 02:49:33 -04:00
Andrew Tridgell a51071678f Plane: in overshoot allow up to the Q WP speed 
this prevents us using too much battery when we are a long way from
the landing point
 2022-08-12 02:49:33 -04:00
Andrew Tridgell bc115da98d Plane: limit target accel in POSITION1 
don't ask for more than 2* transition limit, and reset when we enter
overshoot case
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 2c6925b616 Plane: adjust target vector for wind in overshoot 
at low speeds we want to keep the nose pointed into the wind on
landings
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 088c41f506 Plane: cope with overshoot in POSITION1 VTOL land state 
when we overshoot run a simple position controller that tries to point
the nose at the landing point and aims for the position2 speed
threshold
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 9918739e8d Plane: version to 4.2.2 2022-08-12 02:49:33 -04:00
Andrew Tridgell 83e0a53267 Plane: prepare for 4.2.2 stable 2022-08-12 02:49:33 -04:00
Andrew Tridgell 1bc973cfa8 Plane: fixed int8_t wrap with FWD_BAT_VOLT_MAX 
this could cause crazy throttle values when the ratio pushes us over
127
 2022-08-12 02:49:33 -04:00
Randy Mackay 4fcfa4b2cd Copter: version to 4.2.2 2022-07-18 13:29:15 +09:00
Randy Mackay 2e9d723405 Copter: 4.2.2-attempt2 release notes 2022-07-18 13:29:15 +09:00
Randy Mackay 582b531cfa Copter: version to 4.2.2-rc2 2022-07-04 11:41:44 +09:00
Randy Mackay 5aadde9add Copter: release notes for 4.2.2-rc2 2022-07-04 11:41:44 +09:00
Randy Mackay 9610a57f7a Rover: version to 4.2.2 2022-06-28 08:43:25 +09:00
Randy Mackay 42138f59b4 Rover: 4.2.2 release notes 2022-06-28 08:43:25 +09:00
Randy Mackay 1496b899fe Copter: version to 4.2.2 2022-06-28 08:43:25 +09:00
Randy Mackay cfd6ab0b4f Copter: 4.2.2 release notes 2022-06-28 08:43:25 +09:00
Randy Mackay e762380f1c Rover: version to 4.2.2-rc1 2022-06-21 19:41:34 +09:00
Randy Mackay b9bca88a6f Rover: 4.2.2-rc1 release notes 2022-06-21 19:41:34 +09:00
Randy Mackay 14f0dd55a5 Copter: version to 4.2.2-rc1 2022-06-21 19:41:34 +09:00
Randy Mackay 0af26aadf5 Copter: 4.2.2-rc1 release notes 2022-06-21 19:41:34 +09:00
Bill Geyer 904be11f1a AC_AutoTune: fix tradheli bug with load gain set 2022-06-21 19:41:34 +09:00
Joshua Henderson fe88889e5b Copter: remove param docs for ACRO_RP_P and _YAW_RP 2022-06-21 19:41:34 +09:00
Shiv Tyagi 24724ff6bd Copter: avoid ascend beyond fence's max alt in circle mode 2022-06-21 19:41:34 +09:00
Andrew Tridgell a2172d5b8e Plane: prepare for 4.2.2beta1 2022-06-21 19:41:34 +09:00
Andrew Tridgell 9f3309667c Plane: prepare for 4.2.2beta1 2022-06-21 19:41:34 +09:00
Randy Mackay 2065de7992 GCS_MAVLink: learn routes even on private channels 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2022-06-21 19:41:34 +09:00
Andrew Tridgell 9535e3de41 AP_Scripting: sync quicktune with master 2022-06-21 19:41:34 +09:00
Andy Piper 54e6aa7d34 AP_GyroFFT: make sure the parameters are updated at least once on startup 2022-06-21 19:41:34 +09:00
Andy Piper 82eef70fba AP_Arming: make sure FFT gets initialized when arming checks are off 2022-06-21 19:41:34 +09:00
Andy Piper 298bc2be62 bootloaders: add MambaF405-2022 bootloaders 2022-06-21 19:41:34 +09:00
Andy Piper 557dec5b74 Tools: add MambaF405 2022 MK4 2022-06-21 19:41:34 +09:00
Andy Piper 9c02682785 AP_HAL_ChibiOS: add support for MambaF405 2022 MK4 
mark DMA on MambaF405US-I2C UARTs
correct RSSI pin on MambaF405US-I2C
 2022-06-21 19:41:34 +09:00
Andy Piper c7c599b808 Tools: add MambaH743 to manifest generator 2022-06-21 19:41:34 +09:00
Andy Piper 22687bd545 AP_HAL_ChibiOS: hwdef for MambaH743v4 
support BMI270 on MambaH743v4 and increase flash SPI clock
add bi-directional dshot to MambaH743
add README and pinout for MambaH743
 2022-06-21 19:41:34 +09:00
Andy Piper 90e8bdba78 AP_InertialSensor: don't print error when probing non-existant BMI270 
fix device locking at startup on BMI270
 2022-06-21 19:41:34 +09:00
Andy Piper ae6872c6f6 AP_Logger: support W25N01GV flash chips 
add separate driver for W25N01GV triggered via HAL_LOGGING_DATAFLASH_DRIVER
move flash_test() into AP_Logger_Block.
cleanup use of 4k sector commands to account for chips that only have block commands
 2022-06-21 19:41:34 +09:00
Andy Piper ec7381ffd9 AP_Bootloader: add MambaH743v4 board id 2022-06-21 19:41:34 +09:00
Andy Piper ee5788b130 bootloaders: add MambaH743v4 bootloader 2022-06-21 19:41:34 +09:00
Andy Piper da04fdd491 AP_RCTelemetry: don't spam mode changes on CRSF startup 
rewrite device ping bootstrap to avoid ping flood
enable device pings on CRSF in the event of TX loss.
only send pings if not negotiating the version
 2022-06-21 19:41:34 +09:00
Andy Piper 7509cc5c3c AP_RCProtocol: reset UART on RX failure for CRSF 
update CRSF timestamps to use microseconds
implement RX liveness protocol and implement for CRSF
 2022-06-21 19:41:34 +09:00
Andy Piper 159b50c41a AP_RCProtocol: check for bad frames in CRSF decoding. 2022-06-21 19:41:34 +09:00
Mohammad Hefny dcae70abc8 AP_Rangefinder: preserve new address 2022-06-21 19:41:34 +09:00
Andy Piper c62adb0c6d AP_OSD: update parameter menu flightmodes for plane and copter. 2022-06-21 19:41:34 +09:00
Andrew Tridgell fb0b32887d AP_Rangefinder: fixed scaling on PWM driver and enable SCALING parameter 
this fixes a bug introduced here:

  https://github.com/ArduPilot/ardupilot/pull/18829

and allows the scaling of PWM rangefinders to be adjusted
 2022-06-21 19:41:34 +09:00
Andrew Tridgell ee669465ce AP_InertialSensor: fixed build with logging disabled 
fixes CubeOrange-periph build
 2022-06-21 19:41:34 +09:00