Andy Piper
5d4adef8b7
bootloaders: bootloader for KakuteH7-bdshot
2022-03-28 20:53:56 +11:00
Andy Piper
4c4d60778c
AP_HAL_ChibiOS: add KakuteH7-bdshot target
2022-03-28 20:53:56 +11:00
Andrew Tridgell
f0f19ce8fb
AP_BattMonitor: fixed battery remaining of sum battery
...
and move to common function for update_consumed()
2022-03-28 20:53:56 +11:00
Randy Mackay
50cf7c9f94
AP_BLHeli: add reboot required to some parameters
2022-03-28 20:53:56 +11:00
Andy Piper
bafe46882f
AP_HAL_ChibiOS: correct channel offsets for dshot commands
...
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
2022-03-28 20:53:56 +11:00
Randy Mackay
43beccd86c
AP_HAL_ChibiOS: reversible DShot fix
...
Co-authored-by: Andy Piper <github@andypiper.com>
2022-03-28 20:53:56 +11:00
Andrew Tridgell
86899b279f
HAL_ChibiOS: prevent conflicting RC input
...
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
2022-03-28 20:53:56 +11:00
Andrew Tridgell
6a769b728e
Plane: fixed yaw on the ground when rudder disarming in AUTO
...
when a quadplane touches down in an auto throttle mode the pilot may
use rudder to disarm. The check for rudder disarm was only active in
modes without auto-throttle. This expands it to all modes if the
throttle has hit the lower limit
2022-03-28 20:53:56 +11:00
Andrew Tridgell
f1f6c34132
Plane: added a value for RTL_AUTOLAND to disable arming check
...
set RTL_AUTOLAND=3 to get go-around but not RTL DO_LAND_START usage
2022-03-28 20:53:56 +11:00
Andrew Tridgell
727e066fa9
Plane: prevent rapid RTL/AUTO switching on fence breach
...
don't switch back to RTL if already in a DO_LAND_START sequence
2022-03-28 20:53:56 +11:00
Andrew Tridgell
04f464772b
Plane: when shutting down motors force outputs to minimum
...
this fixes issue #20354 where a long spool time can lead to motors
running without control for an extended period of time.
2022-03-28 20:53:56 +11:00
Andrew Tridgell
3ffc08ae91
AP_GPS: prevent switching to a dead GPS
...
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
2022-03-28 20:53:56 +11:00
Andrew Tridgell
36ba3fab9e
GCS_MAVLink: send GCS voltage to GCS
...
may be resting voltage of option enabled
2022-03-28 20:53:56 +11:00
Andrew Tridgell
11e17a49d3
AP_BattMonitor: added option to send resting voltage to GCS
2022-03-28 20:53:56 +11:00
Andrew Tridgell
7bdeeb24e2
Plane: prepare for 4.2.0beta3
2022-03-18 20:30:00 +11:00
Andrew Tridgell
fdccae7b5e
Plane: update release notes for 4.2.0beta3
2022-03-18 20:29:33 +11:00
Henry Wurzburg
5f866ed369
Tools: clarify and simplify RC failsafe messages
2022-03-18 20:25:56 +11:00
Andrew Tridgell
ef9341f8a9
autotest: add test for THR_FAILSAFE==2 and throttle output
2022-03-18 20:23:46 +11:00
Andrew Tridgell
de173707bc
autotest: more changes for plane disarm disallow
2022-03-18 20:13:50 +11:00
Andrew Tridgell
5df777e889
autotest: flake8 warning fixes
2022-03-18 20:12:47 +11:00
Andrew Tridgell
912df2992f
autotest: adjust for arming change in plane
...
expect disarm to fail when airmode on
2022-03-18 18:19:49 +11:00
Andrew Tridgell
0f3e33e766
CI: remove test_size for stable releases
...
this makes no sense as tests against master size
2022-03-18 14:47:00 +11:00
Andy Piper
6ddb813fba
AP_Declination: ensure indexing into declination tables is always correct
...
add constants for table sizes
2022-03-18 14:30:36 +11:00
Tim Tuxworth
6e915df31b
Plane: Display Fence Breach message in GCS
...
Send a "Geofence breach" message to the Ground Control Station. Without this when the fence is breached and if anything happens as a result, such as RTL, it will happen silently.
2022-03-18 14:30:03 +11:00
Andrew Tridgell
8b7366d619
Plane: adjust throttle mix for auto landing
...
use mix-max during landing approach and initial descent, use min in
land final. As discussed with Leonard
2022-03-18 14:24:46 +11:00
Peter Barker
85171e94e0
autotest: set RL_AUTOLAND=1 for more tests
2022-03-18 14:23:31 +11:00
Andrew Tridgell
5abd244874
autotest: adjust for RTL_AUTOLAND failure
2022-03-18 14:23:27 +11:00
Andrew Tridgell
6e3a2663bf
Plane: check that RTL_AUTOLAND is set if using DO_LAND_START
2022-03-18 14:23:23 +11:00
Andrew Tridgell
3cef6b8167
AP_Arming: make mission checks virtual
2022-03-18 14:23:20 +11:00
Andrew Tridgell
518b126f52
AP_Arming: display a warning if arming checks disabled when arming
2022-03-18 14:22:53 +11:00
Andrew Tridgell
14571ee24b
Plane: added airspeed based pitch limit check
...
prevent using too much pitch when at low airspeed, which can lead to
severe instability in SLT quadplanes
2022-03-16 08:12:20 +11:00
Andrew Tridgell
d7052b4d5a
Plane: added an arming check for Q_ASSIST_SPEED
...
Q_ASSIST should really be enabled for all non-tailsitter
quadplanes. This arming check will help users remember to configure it
2022-03-16 07:09:30 +11:00
Andrew Tridgell
0bab0dc26c
Plane: use set_lean_angle_max_cd()
...
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
2022-03-16 07:09:30 +11:00
Andrew Tridgell
66c13d29b7
AC_AttitudeControl: added set_lean_angle_max_cd()
2022-03-16 07:09:30 +11:00
Andrew Tridgell
ecbcbbe044
AC_Autorotation: use accel_to_angle()
2022-03-15 09:25:53 +11:00
Andrew Tridgell
f398cf8814
AC_WPNav: use angle/accel functions
2022-03-15 09:25:36 +11:00
Andrew Tridgell
a16357fb08
AP_Math: added angle_to_accel() and accel_to_angle()
2022-03-15 09:25:18 +11:00
Andrew Tridgell
6839533e5d
Plane: improvements to POSITION1 controller
...
this improves 4 things in the POSITION1 controller based on logs from
4.2.0beta2. The changes are designed to increase the tolerance to
an incorrect value for Q_TRANS_DECEL, reducing landing overshoot
1) we fix the initialisation of the acceleration. The
init_xy_controller() function assumes zero accel, so we need to
call set_accel_desired_xy_cmss() just after that init to get the
correct accel. Thanks to Leonard for this fix
2) if we decel more than expected due to too low Q_TRANS_DECEL we
need to reduce the target speed, rather than putting the nose down
3) lower the default Q_P_JERK_XY to a value more appropriate for most
quadplanes (Leonard suggested a value of 2)
4) fixed the pitch envelope from Q_BACKTRANS_MS to start after the
airbrake phase is complete
2022-03-14 13:52:06 +11:00
Andrew Tridgell
965a571063
Plane: fixed pitch envelope after AIRBRAKE
...
we need to setup last_fw_mode_ms and last_fw_nav_pitch_cd when we
enter POSITION1 mode so that the expanding envelope pitch limit from
Q_BACKTRANS_MS is applied correctly
2022-03-14 11:06:29 +11:00
Andrew Tridgell
139411f0c5
Plane: prepare for 4.2.0beta2
2022-03-10 13:43:16 +11:00
Andrew Tridgell
42c2ec053a
Plane: added release notes for 4.2.0beta2
2022-03-10 13:43:08 +11:00
Andrew Tridgell
0aeb7e1500
Plane: protect against short stop_distance
2022-03-10 11:11:10 +11:00
Leonard Hall
b9628f106d
AC_PosControl: Decay posiiton error during relax
2022-03-10 10:49:54 +11:00
Leonard Hall
94b83d34b1
AC_AttitudeControl: AC_PosControl: add soften for landing
2022-03-10 10:48:16 +11:00
Iampete1
8fd386f50b
Plane: quadplane: double log QPOS state change
2022-03-10 10:46:17 +11:00
Peter Barker
9981a08791
Plane: use has_valid_input in place of checking throttle counter
2022-03-10 10:45:39 +11:00
Henry Wurzburg
c8bc0b7e0d
ArduPlane: clarify and simplify RC failsafe messages
2022-03-10 10:44:56 +11:00
Peter Barker
f10f3da159
ArduPlane: add RebootRequred to stream rate parameters
2022-03-10 10:44:53 +11:00
Peter Barker
a7aa4155ad
AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files
2022-03-10 10:36:09 +11:00
Andy Piper
0f10a50b3d
waf: move external flash binaries to regular name to aid publishing
2022-03-10 10:35:01 +11:00