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Author SHA1 Message Date
Andrew Tridgell
5c0409894c waf: fixed aligned size of bootloader in ROMFS 2019-12-23 17:38:44 +11:00
Andrew Tridgell
e7ffe5f00b HAL_ChibiOS: ensure bootloader flash is multiple of 32 bytes 2019-12-23 17:38:41 +11:00
Jacob Walser
7aca98aa39 Sub: version to 4.0.0beta2 2019-12-19 10:38:07 -05:00
Willian Galvani
642c511ba8 Sub: set alt target to surface-5cm when surface is detected 2019-12-19 10:35:31 -05:00
Willian Galvani
2af2a1ed05 Sub: Center throttle instead of zero-ing it in depth hold 
This was causing the vehicle to dive when the alt-hold was
disabled and subsequently enabled.
Probably because the filter was holding the throttle down.
 2019-12-16 10:10:41 -05:00
Willian Galvani
deccd051a0 Sub: Improve attitude control in depth hold 
This adds a specific case for yaw input only, and adds a missing
set to 'last_input_ms' which made the controls feel "sticky"
 2019-12-16 10:10:41 -05:00
Willian Galvani
265d848021 Sub: cleanup depth hold 
Remove block of code that is replicated in the flight mode init()
 2019-12-16 10:10:41 -05:00
Willian Galvani
ddd0119ccc Sub: use set_target_to_stopping_point_z() to stop instead of old logic 
This makes the control a little smoother and easier to fine-tune
the depth. The previous implementation caused large current spikes
and often made the rov shake when stopping.
 2019-12-16 10:10:41 -05:00
Willian Galvani
5a3f4777ea Sub: Use sub variant of relax_alt_hold_controllers 
It is defined in AC_PosControl_Sub.cpp
 2019-12-16 10:10:41 -05:00
Willian Galvani
d592382057 AC_PosControl_Sub: do not reset I term when relaxing alt hold controller 2019-12-16 10:10:41 -05:00
Willian Galvani
7e46685986 Sub: move trims to vehicle frame 2019-12-16 10:10:41 -05:00
Willian Galvani
9b1e0f0fa3 Sub: do not initialize rc channels 6 and higher 2019-12-10 11:08:30 -05:00
Willian Galvani
ee2bea5256 Sub: set cam mount to 0,0,0 and RC mode after initialization 2019-12-10 11:08:30 -05:00
Andrew Tridgell
a8f250c99a Sub: change version to 4.0.0beta1 2019-10-15 15:18:35 +11:00
Andrew Tridgell
c63f0ffa3e Sub: fixes for desired state 2019-10-15 15:15:25 +11:00
Willian Galvani
bf1082a8b6 Sub: Create MOTOR_DETECT mode 
This mode attempts to detect the direction of all motors and adjust parameters appropriately.
 2019-10-15 15:15:25 +11:00
Willian Galvani
79b3cfbbae APMotors_6DOF: Implement motor_is_enabled(), get_motor_angular_factors() and set_reversed(); 2019-10-15 15:15:25 +11:00
Willian Galvani
80b839dadc sub: fixup joystick changes according to review 
https://github.com/ArduPilot/ardupilot/pull/11861
 2019-10-15 15:15:25 +11:00
Justin
40d3339d9c joystick: addressed issue9801. Upon engaging input hold, the controller will not read new directional inputs until input hold is disabled or the conrols are returned to their neutral position. 2019-10-15 15:15:25 +11:00
Willian Galvani
9cc98a878c Sub: update calibration if reading is above water level 2019-10-15 15:15:25 +11:00
Willian Galvani
94c2651f86 AP_TemperatureSensor: Update TSYS01 for Pixhawk2 2019-10-15 15:15:25 +11:00
Willian Galvani
970abdfcc3 APMotors6DOF: add case for SIMPLEROV_3 2019-10-15 15:15:25 +11:00
Willian Galvani
8fcebbc8b1 APMotors6DOF: add roll factor for motors 4 and 5 for SIMPLEROV_4 and SIMPLEROV_5 2019-10-15 15:15:25 +11:00
Willian Galvani
03c75c6d5f Sub: improve motor test message 2019-10-15 15:15:25 +11:00
Willian Galvani
a79b673030 Sub: default RNGFNDR1_TYPE to mavlink 2019-10-15 15:15:25 +11:00
Willian Galvani
ff744ac37f Sub: force cam pan and tilt inputs to channels 7 and 8 2019-10-15 15:15:25 +11:00
Willian Galvani
b3b0f63e59 Sub: change stabilize mode to rate controls 2019-10-15 15:15:25 +11:00
Willian Galvani
9a07fce7e3 Sub: Enable depth hold in arbitrary attitudes 2019-10-15 15:15:25 +11:00
Willian Galvani
c045be20bb Sub: remove angle_boost logic 
This gets in the way of the vectored thrust implemented,
and is just not useful for Sub.
 2019-10-15 15:08:26 +11:00
Willian Galvani
ac1ef0bc6a Sub: AP_Motors6DOF: create get_throttle_in_bidirectional() 2019-10-15 15:08:26 +11:00
Willian Galvani
efddff71bf SITL: Sub: add angular drag based on a laminar, external flow 2019-10-15 15:08:26 +11:00
Willian Galvani
6bcd2162b9 SITL: Sub: Fix rotational physics logic 2019-10-15 15:08:26 +11:00
Willian Galvani
a1c5b7ba55 SITL: Sub: Use proper phyisics for thrusters 2019-10-15 15:08:26 +11:00
Willian Galvani
237ad94f92 SITL: Submarine: add torque for static stability 
Subs are statically stable regarding pitch and roll.
This patch reproduces this in SITL
 2019-10-15 15:08:26 +11:00
Willian Galvani
78248a1083 SITL: add deadzones to Sub thrusters PWM signals 2019-10-15 15:08:26 +11:00
Willian Galvani
9abe4fc445 SITL: Fix buoyancy direction for earth-frame 
Previously the sub would just go upwards, so rolling it 180º caused it to sink
 2019-10-15 15:08:26 +11:00
Willian Galvani
9cd0aef53e SITL: Add 6dof frame for Sub 2019-10-15 15:08:26 +11:00
Willian Galvani
0ba93c0787 SITL: get rid of frame_vectored.h for Sub 2019-10-15 15:08:06 +11:00
Willian Galvani
d4987be5f2 Sub: rate-limit init_motor_test() calls 2019-10-15 15:08:06 +11:00
Willian Galvani
1092e961ee Sub: Accept position_target_global_int for depth control in ALT_HOLD 2019-10-15 15:08:06 +11:00
Andrew Tridgell
fe889b6f4e Plane: prepare for release of 4.0.0beta3 2019-10-07 21:39:21 +11:00
Andrew Tridgell
82d2a02971 Plane: updated release notes for 4.0.0beta3 2019-10-07 21:38:51 +11:00
Andrew Tridgell
b3834457bd Plane: check airspeed and active Z controll for hover learning 2019-10-07 21:18:28 +11:00
Michael du Breuil
4f3762d8c2 Plane: Resore old default behaviour for throttle curves 
The change in this made QStabilize behave very differently then it had,
which is quite shocking in a test flight.
 2019-10-07 21:17:30 +11:00
Andrew Tridgell
6ebb9ad84a AP_HAL: enabled SLCAN on fmuv2 and Pixhawk1-1M 
this fits for now, and is needed for CAN GPS for now
 2019-10-07 21:14:24 +11:00
Andrew Tridgell
42c4b41bf6 AP_UAVCAN: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell
83bacfa89c AP_HAL: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell
0eb9a58f17 AP_HAL_ChibiOS: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell
53e03816c0 AP_BoardConfig: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell
a452f8e4ed switch optimisation to O2 
on average makes for faster and smaller code than O3
 2019-10-06 10:58:07 +11:00