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57198 Commits

Author SHA1 Message Date
Andrew Tridgell 678b81563d 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 10:53:57 +10:00
Andrew Tridgell 488b6a92b5 Plane: fixed transition started airspeed message 
this message was lost in recent refactoring
 2023-07-04 10:53:57 +10:00
Paul Riseborough f45f0d09e1 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 10:53:57 +10:00
Andrew Tridgell cb430470cf 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 10:53:57 +10:00
Randy Mackay 07ec058155 Copter: version to 4.4.0-beta3 2023-07-04 10:53:57 +10:00
Randy Mackay b1c7614bf9 Copter: 4.4.0-beta3 release notes 2023-07-04 10:53:57 +10:00
Randy Mackay 6921c7138b Rover: version to 4.4.0-beta3 2023-07-04 10:53:57 +10:00
Randy Mackay bed8a9de27 Rover: 4.4.0-beta3 release notes 2023-07-04 10:53:57 +10:00
Andy Piper 25ccd609d7 AP_HAL_ChibiOS: remove bdshot from speedybeef4 as it doesn't work and increases flash usage 2023-07-04 10:53:57 +10:00
Andy Piper 49c3d4e049 AP_HAL_ChibiOS: Pixhawk1-bdshot 2023-07-04 10:53:57 +10:00
Michael du Breuil b3837ee911 AP_ADSB: Fix spam of lost transciever message at update() rate 2023-07-04 10:53:57 +10:00
Andy Piper f7e657f6c5 AC_AutoTune: correct incorrect min raw rate valuee 2023-07-04 10:53:57 +10:00
Andrew Tridgell 86b6785fca 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 10:53:57 +10:00
Andrew Tridgell 5e657c4e7f 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 10:53:57 +10:00
Andrew Tridgell 38a26f26a7 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 10:53:57 +10:00
Stephen Dade f32e2c9ddb Rover: Lower minimum circle tracking distance 2023-07-04 10:53:57 +10:00
Peter Barker a75ee432c8 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 10:53:57 +10:00
Andy Piper a357d14f4b AP_HAL_ChibiOS: Pixhawk6X bdshot version 2023-07-04 10:53:57 +10:00
Andrew Tridgell 3df9e40ebc 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 10:53:57 +10:00
Tatsuya Yamaguchi 5a214efcaa Copter: add has_user_takeoff in ZigZag mode 2023-07-04 10:53:57 +10:00
jfbblue0922 3f3ba237fb AP_HAL_ChibiOS: jfb100 gets shorter EXT_WDOG_INTERVAL_MS 2023-07-04 10:53:57 +10:00
jfbblue0922 9e19e12040 AP_HAL_CHibiOS: JFB100 hwdef fix for ext watchdog 2023-07-04 10:53:57 +10:00
jfbblue0922 4d7cce1b36 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 10:53:57 +10:00
Andrew Tridgell f4a59b3a7e 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 10:53:57 +10:00
Alexander Keller 94a3f2aff2 AP_GPS:Comform to ardupilot undulation definition 2023-07-04 10:53:57 +10:00
davidsastresas ec79c3ffae GCS_Common: handle CMD_DO_SET_ROI_NONE for command int packets 2023-07-04 10:53:57 +10:00
Randy Mackay 113ed38f82 AP_SerialManager: improve OPTIONS desc for Swap bit 2023-07-04 10:53:57 +10:00
Randy Mackay 8b825b4ea7 AP_SerialManager: generalise SToRM32 serial protocol desc and enum 2023-07-04 10:53:57 +10:00
Henry Wurzburg 96681b03aa Plane: Make mode takeoff entry climb to TKOFF_ALT before loitering 2023-07-04 10:53:57 +10:00
Iampete1 3a34cf4562 AP_Motors: Heli RSC: remove incorrect set range call 2023-07-04 10:53:57 +10:00
Henry Wurzburg 72b525cff6 Plane: fix error in Qplane wait for rudder neutral 2023-07-04 10:53:57 +10:00
Henry Wurzburg a8f6464121 Tools: add Holybro KakuteH7-Wing 2023-07-04 10:53:57 +10:00
Henry Wurzburg f917554c4a AP_HAL_ChibiOS: add Holybro KakuteH7-Wing 2023-07-04 10:53:57 +10:00
Andrew Tridgell 602f7d1336 Plane: prepare for 4.4.0beta2 2023-06-08 18:45:20 +10:00
Andrew Tridgell ad1055e9ea Plane: adjust 4.4.0beta2 release notes 2023-06-08 18:45:08 +10:00
Randy Mackay abac633fe0 Copter: update 4.4.0-beta2 release notes 2023-06-08 18:41:06 +10:00
Randy Mackay 5422ed01f2 Rover: update 4.4.0-beta2 release notes 2023-06-08 18:41:06 +10:00
Randy Mackay 3f81bc482b github: remove elf_diff from checks we run 2023-06-08 18:41:06 +10:00
Randy Mackay 0f287073a6 Copter: version to 4.4.0-beta2 2023-06-08 18:41:06 +10:00
Randy Mackay e52075b861 Copter: 4.4.0-beta2 release notes 2023-06-08 18:41:06 +10:00
Randy Mackay ddc8b492de Rover: version to 4.4.0-beta2 2023-06-08 18:41:06 +10:00
Randy Mackay 375a209a9b Rover: 4.4.0-beta2 release notes 2023-06-08 18:41:06 +10:00
Randy Mackay 8c173a9d9a Rover: add circle mode 
also auto mode support loiter turns
 2023-06-08 18:41:06 +10:00
Shiv Tyagi b38a334056 Rover: add dock mode to INTIAL_MODE and MODE1 params 2023-06-08 18:41:06 +10:00
Randy Mackay d0a7c3cf95 Rover: auto mode format fix 2023-06-08 18:41:06 +10:00
Randy Mackay a3d6bcc5da AR_PosControl: add input_pos_vel_accel target 2023-06-08 18:41:06 +10:00
Randy Mackay 823e7c53b5 AP_HAL_ChibiOS: JFB100 LED definition fix 2023-06-08 18:41:06 +10:00
Randy Mackay f7ee365907 AP_InertialSensor: SCHA63T comment fix 2023-06-08 18:41:06 +10:00
Randy Mackay 538a0ef966 AP_HAL_ChibiOS: JFB100 board def fixup 2023-06-08 18:41:06 +10:00
Randy Mackay edc5e598f8 AP_InertialSensor: SCHA63T loses unused ret bool 2023-06-08 18:41:06 +10:00