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52177 Commits

Author SHA1 Message Date
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
Iampete1 dbb4fafa74 Rover: loiter: sailboats don't try and sail directly into the wind 2022-03-10 10:34:03 +11:00
m 280792abef Copter: Pause/Continue in AUTO and GUIDED modes with SCurves 2022-03-10 10:32:06 +11:00
Leonard Hall 16e3ef06fa Copter: Add pause in guided mode 2022-03-10 10:32:02 +11:00
Leonard Hall 453ef6f800 Copter: WP Pause support 2022-03-10 10:32:00 +11:00
Leonard Hall bcddd0b949 Copter: tighten auto_takeoff_complete checks 2022-03-10 10:31:57 +11:00
Leonard Hall 3d8a6533d9 Copter: remove loiter_nav from auto 2022-03-10 10:31:54 +11:00
Leonard Hall 310a7ccaaa Copter: auto and guided takeoff use postion controller 2022-03-10 10:31:50 +11:00
Leonard Hall 44c1b3a789 Copter: use position controller for landing reposition 2022-03-10 10:31:46 +11:00
Andrew Tridgell 58cc0b4289 AP_Math: fixed build error on cygwin 
ensure variables are always initialised
 2022-03-10 10:31:02 +11:00
Leonard Hall d7f283d3b5 AP_Math: SCurve: Increase corner speeds 2022-03-10 10:30:53 +11:00
Leonard Hall 594fc3f02d AP_Math: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-10 10:30:49 +11:00
Leonard Hall 9c70fc1aa9 AC_WPNav: Support pause 2022-03-10 10:30:31 +11:00
Leonard Hall 8049efabbc AC_WPNav: init optionally accepts stopping point 2022-03-10 10:30:29 +11:00
Leonard Hall f9192b0c2c AC_Loiter: use Pos_Control soften_for_landing_xy 2022-03-10 10:30:26 +11:00
Leonard Hall 54f17d4a82 AC_WPNav: Increase corner speeds 2022-03-10 10:30:22 +11:00
Leonard Hall 2936b6cb5e AC_WP_Nav: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-10 10:30:20 +11:00
Andrew Tridgell 38fb4038ed Tools: added Sierra-F9P bootloader 2022-03-10 08:31:02 +11:00
MallikarjunSE 0670bcba34 Tools: Rename board 2022-03-10 08:30:15 +11:00
MallikarjunSE 2a39b3733e AP_HAL_ChibiOS: Add Sierra-F9P support 2022-03-10 08:30:11 +11:00
Andy Piper 6a9d01e3ac AP_HAL_ChibiOS: normalize BeastH7v2 in line with BeastF7v2 definition 2022-03-10 08:27:31 +11:00
Evgeniy 9b940b3e51 AP_HAL_ChibiOS: BeastH7v2 board added 2022-03-10 08:27:29 +11:00
Andrew Tridgell e4fd86f679 hwdef: fixed buzzer on CUAV_GPS peripheral 2022-03-10 08:27:17 +11:00
MallikarjunSE 5c4d896f40 hwdef: hwdef update with watchdog 2022-03-10 08:27:11 +11:00
MallikarjunSE a553cb08b1 hwdef:update storage pages and enable watchdog 2022-03-10 08:27:08 +11:00
murata bc0954e124 hwdef: Set the maximum number of barometric pressure sensors to 1 2022-03-10 08:26:57 +11:00
murata d8fec32b9a hwdef: Maximum number of battery monitors is 1 2022-03-10 08:26:54 +11:00
Andrew Tridgell 0df1dd6999 hwdef: enable GPS_MOVING_BASELINE on FreeflyRTK and f303-GPS 
this allows for F9P based dual-GPS yaw on DroneCAN peripherals with
auto-config
 2022-03-10 08:26:32 +11:00
Andrew Tridgell 83404f7537 hwdef: added HolybroG4_GPS 2022-03-10 08:26:26 +11:00
Andrew Tridgell f501c32a21 HAL_ChibiOS: fixed min/max inversion in MCU voltage logging 2022-03-10 08:26:20 +11:00
Andy Piper 85d73eeb5c AP_HAL: always choose high for dshot prescaler calculation 2022-03-10 08:25:59 +11:00
Andrew Tridgell e0e60c8654 Plane: disallow mavlink disarm while flying 
this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
 2022-03-10 08:24:39 +11:00
Iampete1 a71b406287 ArduPlane: tailsitter: keep attitude controll throttle level upto date for smoother controller handover 2022-03-10 08:24:35 +11:00
Iampete1 d5af006e5c Plane: never stick mix without valid RC input 2022-03-10 08:24:27 +11:00
Iampete1 7265ed552b Plane: don't prevent stick mixing in none RC failsafe 2022-03-10 08:24:21 +11:00
Iampete1 150fc527d7 AP_PiccoloCAN: GPIO servo does not count as active 2022-03-10 08:22:40 +11:00
Iampete1 d069b6503b AP_Arming: don't arming check servo functions set to GPIO 2022-03-10 08:22:31 +11:00
Andrew Tridgell 67a1d159d4 AP_Periph: fixed moving baseline yaw for single CAN peripherals 
the AP_GPS_UAVCAN driver requires this param for auto-config of MB yaw
on DroneCAN GPS
 2022-03-10 08:21:44 +11:00