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52,247 Commits 71 Branches 509 Tags 716 MiB
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52247 Commits

Author SHA1 Message Date
Tim Tuxworth 7dbfd2ebf7 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.
 2022-03-30 19:12:45 +09:00
Andrew Tridgell 77bc475ad6 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
 2022-03-30 19:12:45 +09:00
Peter Barker 545ee8be9e autotest: set RL_AUTOLAND=1 for more tests 2022-03-30 19:12:45 +09:00
Andrew Tridgell ca7f189daf autotest: adjust for RTL_AUTOLAND failure 2022-03-30 19:12:45 +09:00
Andrew Tridgell 09ffe959e1 Plane: check that RTL_AUTOLAND is set if using DO_LAND_START 2022-03-30 19:12:45 +09:00
Andrew Tridgell 7f51c5c55d AP_Arming: make mission checks virtual 2022-03-30 19:12:45 +09:00
Andrew Tridgell b74a76c03d AP_Arming: display a warning if arming checks disabled when arming 2022-03-30 19:12:45 +09:00
Andrew Tridgell dfd9ead46f 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
 2022-03-30 19:12:45 +09:00
Andrew Tridgell 513afb046f 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
 2022-03-30 19:12:45 +09:00
Andrew Tridgell 06b77f2cf1 Plane: use set_lean_angle_max_cd() 
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
 2022-03-30 19:12:45 +09:00
Andrew Tridgell 965fedd8c9 AC_AttitudeControl: added set_lean_angle_max_cd() 2022-03-30 19:12:45 +09:00
Andrew Tridgell eebd2f99e4 AC_Autorotation: use accel_to_angle() 2022-03-30 19:12:45 +09:00
Andrew Tridgell 838831d30e AC_WPNav: use angle/accel functions 2022-03-30 19:12:45 +09:00
Andrew Tridgell c6b9e5fd68 AP_Math: added angle_to_accel() and accel_to_angle() 2022-03-30 19:12:45 +09:00
Andrew Tridgell d1a2cafb01 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
 2022-03-30 19:12:45 +09:00
Andrew Tridgell d666f6ed02 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
 2022-03-30 19:12:45 +09:00
Andrew Tridgell 147f06c589 Plane: prepare for 4.2.0beta2 2022-03-30 19:12:45 +09:00
Andrew Tridgell d6f82c5e31 Plane: added release notes for 4.2.0beta2 2022-03-30 19:12:45 +09:00
Randy Mackay 0890514a30 Rover: version to 4.2.0-beta2 2022-03-12 08:00:49 +09:00
Randy Mackay b5276fa599 Rover: 4.2.0-beta2 release notes 2022-03-12 08:00:49 +09:00
Randy Mackay bd04d78434 Copter: version to 4.2.0-beta2 2022-03-12 08:00:49 +09:00
Randy Mackay da100588be Copter: 4.2.0-beta2 release notes 2022-03-12 08:00:49 +09:00
Randy Mackay fe35550cdd Copter: fix takeoff to terrain alt 2022-03-12 08:00:49 +09:00
Randy Mackay 6060ef580f Copter: rename auto_take_off_xx to auto_takeoff_xx 2022-03-12 08:00:49 +09:00
Andrew Tridgell 743f0bc3f9 Plane: protect against short stop_distance 2022-03-12 08:00:49 +09:00
Leonard Hall c31116ebda AC_PosControl: Decay posiiton error during relax 2022-03-12 08:00:49 +09:00
Leonard Hall 3eb741125c AC_AttitudeControl: AC_PosControl: add soften for landing 2022-03-12 08:00:49 +09:00
Iampete1 9f32204f15 Plane: quadplane: double log QPOS state change 2022-03-12 08:00:49 +09:00
Peter Barker 4631392f31 Plane: use has_valid_input in place of checking throttle counter 2022-03-12 08:00:49 +09:00
Henry Wurzburg 0c571e6d66 ArduPlane: clarify and simplify RC failsafe messages 2022-03-12 08:00:49 +09:00
Peter Barker 51c51c6f29 ArduPlane: add RebootRequred to stream rate parameters 2022-03-12 08:00:49 +09:00
Peter Barker 5a289c527b AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files 2022-03-12 08:00:49 +09:00
Andy Piper 5a049ac0af waf: move external flash binaries to regular name to aid publishing 2022-03-12 08:00:49 +09:00
Iampete1 f13adbaaf1 Rover: loiter: sailboats don't try and sail directly into the wind 2022-03-12 08:00:49 +09:00
m 6d349dd6d6 Copter: Pause/Continue in AUTO and GUIDED modes with SCurves 2022-03-12 08:00:49 +09:00
Leonard Hall 232e1b550d Copter: Add pause in guided mode 2022-03-12 08:00:49 +09:00
Leonard Hall 1cd8bfd4a6 Copter: WP Pause support 2022-03-12 08:00:49 +09:00
Leonard Hall 14096d4eae Copter: tighten auto_takeoff_complete checks 2022-03-12 08:00:49 +09:00
Leonard Hall 6da1c20b3b Copter: remove loiter_nav from auto 2022-03-12 08:00:49 +09:00
Leonard Hall 53b1d74e4a Copter: auto and guided takeoff use postion controller 2022-03-12 08:00:49 +09:00
Leonard Hall 7825168008 Copter: use position controller for landing reposition 2022-03-12 08:00:49 +09:00
Andrew Tridgell b4b2024982 AP_Math: fixed build error on cygwin 
ensure variables are always initialised
 2022-03-12 08:00:49 +09:00
Leonard Hall 0d31f60dd2 AP_Math: SCurve: Increase corner speeds 2022-03-12 08:00:49 +09:00
Leonard Hall fa12b0ac53 AP_Math: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-12 08:00:49 +09:00
Leonard Hall d0213dd886 AC_WPNav: Support pause 2022-03-12 08:00:49 +09:00
Leonard Hall f5be448c14 AC_WPNav: init optionally accepts stopping point 2022-03-12 08:00:49 +09:00
Leonard Hall 38d2d51820 AC_Loiter: use Pos_Control soften_for_landing_xy 2022-03-12 08:00:49 +09:00
Leonard Hall d186cef7e0 AC_WPNav: Increase corner speeds 2022-03-12 08:00:49 +09:00
Leonard Hall a415cad30c AC_WP_Nav: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-12 08:00:49 +09:00
Andrew Tridgell 4873739e28 Tools: added Sierra-F9P bootloader 2022-03-12 08:00:49 +09:00