Randy Mackay
65e342cf10
Copter: version to 4.2.0-rc4
2022-06-17 14:07:00 +10:00
Randy Mackay
5ecd6680dc
Copter: 4.2.0-rc4 release notes
2022-06-17 14:07:00 +10:00
Leonard Hall
272e82bf53
Copter: Dissable yaw slew in loiter
2022-06-17 14:07:00 +10:00
Leonard Hall
c9f1b8912c
AC_AttitudeControl: Allow diabling of slew limit
2022-06-17 14:07:00 +10:00
Bill Geyer
78c50bf0bb
Copter: fix position ctrl init for guided takeof
2022-06-17 14:07:00 +10:00
Randy Mackay
3c7421d895
Copter: vibration compensation turns off in manual modes
2022-06-17 14:07:00 +10:00
Randy Mackay
10cc9b3ce4
Rover: version to 4.2.0-rc3
2022-06-17 14:07:00 +10:00
Randy Mackay
5c875d8293
Rover: 4.2.0-rc3 release notes
2022-06-17 14:07:00 +10:00
Randy Mackay
db362077b2
Copter: version to 4.2.0-rc3
2022-06-17 14:07:00 +10:00
Randy Mackay
9381e42ef9
Copter: 4.2.0-rc3 release notes
2022-06-17 14:07:00 +10:00
Andrew Tridgell
0f230ee4c6
AP_InertialSensor: call notch param update with semaphore held
2022-06-17 14:07:00 +10:00
Andrew Tridgell
c06f69e77d
AP_GyroFFT: added defaults for FFT with no notch
...
allow for testing with FFT enabled, and defaulting number of
frequencies to look for
2022-06-17 14:07:00 +10:00
Andrew Tridgell
85db0c498b
AP_InertialSensor: fixed the last notch values to be per-instance
...
thanks to Andy for noticing this
2022-06-17 14:07:00 +10:00
Andrew Tridgell
a6dd296cc8
AP_GyroFFT: skip disabled notches
2022-06-17 14:07:00 +10:00
Andrew Tridgell
7b08a6c00c
AP_InertialSensor: don't update disabled notches
2022-06-17 14:07:00 +10:00
Andrew Tridgell
66ad3051c3
AP_GyroFFT: allow for 2 FFT based notches
2022-06-17 14:07:00 +10:00
Andrew Tridgell
975fc6b70d
AP_Vehicle: implement common harmonic notch update code
2022-06-17 14:07:00 +10:00
Andrew Tridgell
5f2cc8960d
Plane: moved harmonic notch update code to AP_Vehicle
2022-06-17 14:07:00 +10:00
Andrew Tridgell
2a5d662d84
Copter: moved harmonic notch update code to AP_Vehicle
2022-06-17 14:07:00 +10:00
Andrew Tridgell
f8c1c39868
AP_RPM: use HarmonicNotch class
2022-06-17 14:07:00 +10:00
Andrew Tridgell
5080c32197
AP_GyroFFT: use HarmonicNotch class
2022-06-17 14:07:00 +10:00
Andrew Tridgell
d893d9bc89
AP_Arming: use HarmonicNotch class
2022-06-17 14:07:00 +10:00
Andrew Tridgell
e799649e6c
AP_InertialSensor: switch to HarmonicNotch class
...
this makes the logic much easier to follow, without indexes into
arrays
2022-06-17 14:07:00 +10:00
Andrew Tridgell
1de23e564e
Filter: removed parameters from the old notch filter
...
saves some flash space
2022-06-17 14:07:00 +10:00
Andrew Tridgell
e763386651
AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT
2022-06-17 14:07:00 +10:00
Andrew Tridgell
0467c1aef6
AP_Arming: added arming check for conflicting notch modes
2022-06-17 14:07:00 +10:00
Andrew Tridgell
a23a25f6b3
Plane: param conversion for INS_NOTCH to INS_HNTC2
2022-06-17 14:07:00 +10:00
Andrew Tridgell
b429bb7b98
Filter: clarify meaning of 1st harmonic
2022-06-17 14:07:00 +10:00
Andrew Tridgell
5e1489eeff
Plane: support harmonic notch on 2nd RPM sensor
2022-06-17 14:07:00 +10:00
Andrew Tridgell
711ec6ce70
Copter: support harmonic notch on 2nd RPM sensor
2022-06-17 14:07:00 +10:00
Andrew Tridgell
559f4c00c3
Filter: added RPM2 harmonic notch type
2022-06-17 14:07:00 +10:00
Andrew Tridgell
a617057f36
Copter: update for changed INS_NOTCH parameter name
2022-06-17 14:07:00 +10:00
Andrew Tridgell
e894dfe339
Plane: support two full harmonic notch filters
2022-06-17 14:07:00 +10:00
Andrew Tridgell
4c5ea5dfdf
Copter: support two full harmonic notch filters
2022-06-17 14:07:00 +10:00
Andrew Tridgell
f9de6dff1c
AP_Vehicle: support two full harmonic notch filters
2022-06-17 14:07:00 +10:00
Andrew Tridgell
3d025a7c5c
AP_RPM: support two full harmonic notch filters
2022-06-17 14:07:00 +10:00
Andrew Tridgell
25d00e433e
AP_InertialSensor: support two full harmonic notch filters
2022-06-17 14:07:00 +10:00
Andrew Tridgell
54a5bd007d
Plane: prepare for 4.2.1 release
2022-05-23 17:36:17 +10:00
Andrew Tridgell
b8ed81ca5f
Plane: release notes for 4.2.1
2022-05-23 17:35:21 +10:00
Andrew Tridgell
031f69df15
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
2022-05-23 17:35:21 +10:00
Andrew Tridgell
2d0cfb3fad
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
2022-05-23 17:35:21 +10:00
Andrew Tridgell
9a5e8d3927
HAL_ChibiOS: always start with safety enabled
...
we want it enabled during early boot to prevent incorrect ESC and
servo output
2022-05-23 17:35:21 +10:00
Andrew Tridgell
bd22f0073c
Plane: prepare for 4.2.1beta1
2022-05-19 17:10:04 +10:00
Andrew Tridgell
2fadfa8690
Plane: update release notes for 4.2.1beta1
2022-05-19 17:10:04 +10:00
Andrew Tridgell
d4146a1672
Plane: cope with QGC retrying AUTO mode
...
QGC tries several times to enter AUTO even when it is refused. We need
to keep refusing
2022-05-19 17:09:45 +10:00
Andrew Tridgell
80c27a426c
autotest: don't try to arm in RTL mode for quadplanes
2022-05-19 17:09:45 +10:00
Andrew Tridgell
9f187c0711
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
2022-05-19 17:09:45 +10:00
Andrew Tridgell
defe800745
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
2022-05-19 17:09:45 +10:00
Peter Barker
86fd9e112a
ArduSub: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS
2022-05-19 17:09:45 +10:00
Peter Barker
338ae69f15
ArduCopter: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS
2022-05-19 17:09:45 +10:00