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57355 Commits

Author SHA1 Message Date
Randy Mackay 2b8cb04829 Rover: update 4.4.0-beta3 release notes 2023-07-04 12:17:52 +09:00
Andrew Tridgell 90d715e7c2 Plane: update release notes for 4.4.0beta3 2023-07-04 12:17:52 +09:00
Peter Barker b18dee217b AP_Notify: add driver for IS31FL3195 LED 2023-07-04 12:17:52 +09:00
Peter Barker fa9cb45fcb AP_Notify: add driver for LP5562 LED 2023-07-04 12:17:52 +09:00
Andrew Tridgell daa8d19d33 AP_Scripting: updated VTOL quicktune docs 2023-07-04 12:17:52 +09:00
Andrew Tridgell ec511357eb AP_Scripting: fixed lua-check warnings in VTOL-quicktune 2023-07-04 12:17:52 +09:00
Andrew Tridgell bb0f12fea4 AP_Scripting: fixed use of QUIK_ENABLE in VTOL-quicktune 
this was lost when the cached access was added
 2023-07-04 12:17:52 +09:00
Andrew Tridgell 87d992fdfc 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 12:17:52 +09:00
Andrew Tridgell 4832295f47 Plane: fixed transition started airspeed message 
this message was lost in recent refactoring
 2023-07-04 12:17:52 +09:00
Paul Riseborough 96f23868f2 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 12:17:52 +09:00
Andrew Tridgell 8395e38974 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 12:17:52 +09:00
Randy Mackay 6fbb052c41 Copter: version to 4.4.0-beta3 2023-07-04 12:17:52 +09:00
Randy Mackay 33f3c13699 Copter: 4.4.0-beta3 release notes 2023-07-04 12:17:52 +09:00
Randy Mackay 0c06a383b9 Rover: version to 4.4.0-beta3 2023-07-04 12:17:52 +09:00
Randy Mackay 78c3963548 Rover: 4.4.0-beta3 release notes 2023-07-04 12:17:52 +09:00
Andy Piper cd0d30d69c AP_HAL_ChibiOS: remove bdshot from speedybeef4 as it doesn't work and increases flash usage 2023-07-04 12:17:52 +09:00
Andy Piper 2b9395a42d AP_HAL_ChibiOS: Pixhawk1-bdshot 2023-07-04 12:17:52 +09:00
Michael du Breuil 0a959508f7 AP_ADSB: Fix spam of lost transciever message at update() rate 2023-07-04 12:17:51 +09:00
Andy Piper 2d57407b02 AC_AutoTune: correct incorrect min raw rate valuee 2023-07-04 12:17:51 +09:00
Andrew Tridgell 8f8956e86d 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 12:17:51 +09:00
Andrew Tridgell e2dd996da1 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 12:17:51 +09:00
Andrew Tridgell 3dd9513a03 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 12:17:51 +09:00
Stephen Dade e5ccbeb55e Rover: Lower minimum circle tracking distance 2023-07-04 12:17:51 +09:00
Peter Barker 6b384ace77 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 12:17:51 +09:00
Andy Piper 18f5051005 AP_HAL_ChibiOS: Pixhawk6X bdshot version 2023-07-04 12:17:51 +09:00
Andrew Tridgell 1ca9af90a6 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 12:17:51 +09:00
Tatsuya Yamaguchi 86e9679ebb Copter: add has_user_takeoff in ZigZag mode 2023-07-04 12:17:51 +09:00
jfbblue0922 36dbba0068 AP_HAL_ChibiOS: jfb100 gets shorter EXT_WDOG_INTERVAL_MS 2023-07-04 12:17:51 +09:00
jfbblue0922 95ea5b3b92 AP_HAL_CHibiOS: JFB100 hwdef fix for ext watchdog 2023-07-04 12:17:51 +09:00
jfbblue0922 4b31fe20df AP_HAL_ChibiOS: support external watchdog gpio 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>

optional support to toggle GPIO pin at 10hz
 2023-07-04 12:17:51 +09:00
Andrew Tridgell 7b2e103ec3 AP_GPS: fixed ublox M10S auto-config 
this copes with the M10S rejecting multiple-key VALGET calls. We fall
back to fetching one at a time
 2023-07-04 12:17:51 +09:00
Alexander Keller 5d22115787 AP_GPS:Comform to ardupilot undulation definition 2023-07-04 12:17:51 +09:00
davidsastresas 0fa4e7cc1f GCS_Common: handle CMD_DO_SET_ROI_NONE for command int packets 2023-07-04 12:17:51 +09:00
Randy Mackay f2157b3d87 AP_SerialManager: improve OPTIONS desc for Swap bit 2023-07-04 12:17:51 +09:00
Randy Mackay ac28d560dd AP_SerialManager: generalise SToRM32 serial protocol desc and enum 2023-07-04 12:17:51 +09:00
Henry Wurzburg 5169382677 Plane: Make mode takeoff entry climb to TKOFF_ALT before loitering 2023-07-04 12:17:51 +09:00
Iampete1 9c6f57fb05 AP_Motors: Heli RSC: remove incorrect set range call 2023-07-04 12:17:51 +09:00
Henry Wurzburg c3528c5c9e Plane: fix error in Qplane wait for rudder neutral 2023-07-04 12:17:51 +09:00
Henry Wurzburg 0c38c1c7b7 Tools: add Holybro KakuteH7-Wing 2023-07-04 12:17:51 +09:00
Henry Wurzburg 22d3146f38 AP_HAL_ChibiOS: add Holybro KakuteH7-Wing 2023-07-04 12:17:51 +09:00
Andrew Tridgell abb3bcfb1d Plane: prepare for 4.4.0beta2 2023-07-04 12:17:51 +09:00
Andrew Tridgell 6d71a4a5c6 Plane: adjust 4.4.0beta2 release notes 2023-07-04 12:17:51 +09:00
Randy Mackay df2be63e21 Copter: update 4.4.0-beta2 release notes 2023-06-08 10:05:36 +09:00
Randy Mackay 6b3e486163 Rover: update 4.4.0-beta2 release notes 2023-06-08 10:05:36 +09:00
Randy Mackay adb5a3a68b github: remove elf_diff from checks we run 2023-06-08 10:05:36 +09:00
Randy Mackay d8a35e5dec Copter: version to 4.4.0-beta2 2023-06-08 10:05:36 +09:00
Randy Mackay 9d2696f422 Copter: 4.4.0-beta2 release notes 2023-06-08 10:05:36 +09:00
Randy Mackay a8f2a6d14b Rover: version to 4.4.0-beta2 2023-06-08 10:05:36 +09:00
Randy Mackay 218936aefa Rover: 4.4.0-beta2 release notes 2023-06-08 10:05:36 +09:00
Randy Mackay cdbe9ba17d Rover: add circle mode 
also auto mode support loiter turns
 2023-06-08 10:05:36 +09:00