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57385 Commits

Author SHA1 Message Date
Peter Barker 6c2a12f5ab SITL: fix balancebot yaw reset to be kinimatically consistent 
... or at least closer to it.

We were hard-resetting the yaw to zero when the vehicle was upright.  That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.

Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
Backport of PR https://github.com/ArduPilot/ardupilot/pull/25046
 2023-10-13 16:28:51 +09:00
Peter Barker 9d70db6df1 SITL: reset balancebot to vertical in a kinmetically consistent manner 
The hard-reset of all state variables means we feed the EKF inconsistent gyro data.  Attempt to upright the vehicle with a simple p-gain when it is disarmed, as if someone is pushing the thing back upright
Backport of PR https://github.com/ArduPilot/ardupilot/pull/24314
 2023-10-13 16:28:51 +09:00
Peter Barker dafebe481e autotest: give Rover longer to arrive home 
vagaries of interaction with Python script means we need to give this more time when running balancebot
Backport of PR https://github.com/ArduPilot/ardupilot/pull/23442
 2023-10-13 16:28:51 +09:00
Tom Pittenger e7467ec8ca Tools/autotest: fix Deepstall CI 
Backport from PR https://github.com/ArduPilot/ardupilot/pull/24667
 2023-10-13 16:28:51 +09:00
Peter Barker ecfa87c2a9 autotest: allow more time for deepstall text 
intermittent failures in CI - perhaps due to Plane dynamics changes
Backport of PR https://github.com/ArduPilot/ardupilot/pull/23524
 2023-10-13 16:28:51 +09:00
Peter Barker c2e45a0f0a autotest: add an epsilon for achieved servo output for speed scaling test 
right on the threshold
backport from PR https://github.com/ArduPilot/ardupilot/pull/23823
 2023-10-13 16:28:51 +09:00
Peter Barker 610e231f5f autotest: remove unnecessary try/except from Sprayer test 
backport from https://github.com/ArduPilot/ardupilot/pull/23823
 2023-10-13 16:28:51 +09:00
Tom Pittenger 1eb2568774 Tools/autotest: extend WindEstimates duration 
backport from PR https://github.com/ArduPilot/ardupilot/pull/24666
 2023-10-13 16:28:51 +09:00
bugobliterator 7f10222a27 AP_OpenDroneID: ensure Persistent memory is not read continuously 2023-10-13 16:28:51 +09:00
bugobliterator 884049bb14 GCS_MAVLink: move sysid_my_gcs to be public 2023-10-13 16:28:51 +09:00
bugobliterator fcd8a12c0d AP_Periph: move sysid_my_gcs to be public 2023-10-13 16:28:51 +09:00
bugobliterator b74d2bff67 Blimp: move sysid_my_gcs to be public 2023-10-13 16:28:51 +09:00
bugobliterator a7f9ec4d7c ArduSub: move sysid_my_gcs to be public 2023-10-13 16:28:51 +09:00
bugobliterator 0662cfac07 ArduPlane: move sysid_my_gcs to be public 2023-10-13 16:28:51 +09:00
bugobliterator 6902a089ca ArduCopter: move sysid_my_gcs to be public 2023-10-13 16:28:51 +09:00
bugobliterator bf407e8c6c AntennaTracker: move sysid_my_gcs to be public 2023-10-13 16:28:51 +09:00
bugobliterator 809ca6191d AP_HAL_ChibiOS: remove Chip ID as Basic ID mechanism 2023-10-13 16:28:51 +09:00
bugobliterator 38220a8c4d AP_OpenDroneID: remove Chip ID as Basic ID mechanism 2023-10-13 16:28:51 +09:00
bugobliterator 1d7c406d60 AP_HAL_ChibiOS: explain DID_OPTIONS config in CubeOrange-ODID/defaults.parm 2023-10-13 16:28:51 +09:00
bugobliterator b05df95c3d AP_OpenDroneID: add support for persistent storage of UAS ID 2023-10-13 16:28:51 +09:00
bugobliterator 55504e7fcc AP_HAL: add support for get_persistent_param_by_name 2023-10-13 16:28:51 +09:00
bugobliterator 3f5365ed54 AP_HAL_ChibiOS: add support for get_persistent_param_by_name 2023-10-13 16:28:51 +09:00
bugobliterator d6f0c1e316 AP_HAL_ChibiOS: add support for storing OpenDroneID in bootloader sector 2023-10-13 16:28:51 +09:00
Andy Piper 1a8ae96b0d hwdef: ensure SpeedyBeeF405Mini builds on plane 2023-10-13 16:28:51 +09:00
Andy Piper 8116812ae8 hwdef: adjust serial protocol defaults on various boards for 4.4 naming scheme 2023-10-13 16:28:51 +09:00
Andy Piper 64db5c8310 hwdef: SpeedyBeeF405Mini 2023-10-13 16:28:51 +09:00
Peter Barker b85e77a0d4 GCS_MAVLink: correct sensors when no baros found 
GCSs will know we have no baros on-board, as will the RC telemetry library
 2023-10-13 16:28:51 +09:00
Andy Piper c4a67bbdc3 bootloaders: SpeedyBeeF405Mini 2023-10-13 16:28:51 +09:00
Andy Piper 7e29b7bdf6 AP_HAL_ChibiOS: T-Motor H743 Mini 2023-10-13 16:28:51 +09:00
Andy Piper cbf6da315a bootloaders: TMotor H743 Mini bootloader 2023-10-13 16:28:51 +09:00
Andy Piper 5b489ec140 AP_HAL_ChibiOS: provide mcu defaults in betaflight conversion 2023-10-13 16:28:51 +09:00
Andy Piper d9b5bcbd9d AP_HAL_ChibiOS: correct hwdef generator battery scale 2023-10-13 16:28:51 +09:00
Andy Piper 8d6b6e478c AP_HAL_ChibiOS: cope with different IMU drivers in hwdef conversion 2023-10-13 16:28:51 +09:00
Andy Piper 089bed2a76 bootloaders: mRoControlZeroOEMH7 bdshot version 2023-10-13 16:28:51 +09:00
Andy Piper 7e40b64dad hwdef: mRoControlZeroOEMH7 bdshot version 2023-10-13 16:28:51 +09:00
Andy Piper 997066ef1a hwdef: correct inversion pin on MambaF405v2 
correct battery setup for MambaF405v2
provide suitable serial defaults for MambaF405v2
reallocate DMA channels to allow full DMA on USART3 and NeoPixel on MambaF405v2
add camera control pin to MambaF405v2
 2023-10-13 16:28:51 +09:00
Andy Piper c74e96528b AP_HAL_ChibiOS: betafpv F450 AIO hwdef 2023-10-13 16:28:51 +09:00
Andy Piper 0441c63fbf bootloaders: add BETAFPV F405 AIO 2023-10-13 16:28:51 +09:00
Andy Piper 3c870e0b10 AP_HAL_ChibiOS: allow 8 bdshot channels on mRoControlZeroH7 2023-10-13 16:28:51 +09:00
Andy Piper ca846443d1 AP_NavEKF: fallback to no baro on boards that have no baro 2023-10-13 16:28:51 +09:00
Paul Riseborough 6040541973 AP_NavEKF3: Allow operation with EK3_SRCx_POSZ = 0 (NONE) 2023-10-13 16:28:51 +09:00
Paul Riseborough 089c278b42 AP_NavEKF: Allow EK3_SRCx_POSZ to be set to 0 (NONE) 2023-10-13 16:28:51 +09:00
Andy Piper 23c8142a6c AP_NavEKF3: allow high values of EK3_ALT_M_NSE for boards without baros 2023-10-13 16:28:51 +09:00
Davide_Lentini c1df42300e AP_HAL_ChibiOS: Update luminousbee5 defaults.parm 2023-10-13 16:28:51 +09:00
Randy Mackay 17070023cb Copter: version to 4.4.1 2023-10-13 16:28:51 +09:00
Randy Mackay ca835ac79b Copter: 4.4.1 release notes 2023-10-13 16:28:51 +09:00
Andrew Tridgell 075f8685cc Plane: prepare for 4.4.1 release 2023-10-13 16:28:51 +09:00
Andrew Tridgell 3853b6edde Plane: release notes for 4.4.1 2023-10-13 16:28:51 +09:00
Randy Mackay f3d3a226e4 Copter: version to 4.4.1-beta2 2023-09-14 14:17:01 +09:00
Randy Mackay 6752102863 Copter: 4.4.1-beta2 release notes 2023-09-14 14:17:01 +09:00