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52330 Commits

Author SHA1 Message Date
Andrew Tridgell eb52867dad AP_Terrain: added logging of terrain correction 2022-03-30 19:12:45 +09:00
Andrew Tridgell 6fa866d1b4 AP_Scripting: restored corrected boolean in height_amsl binding 2022-03-30 19:12:45 +09:00
Andrew Tridgell 34e473a21a HAL_SITL: don't use terrain adjustment 2022-03-30 19:12:45 +09:00
Andrew Tridgell cffbc08ad8 AP_Arming: setup for terrain adjustment on arming 2022-03-30 19:12:45 +09:00
Andrew Tridgell ae4dfb9c1e SITL: don't use adjusted terrain in SITL 2022-03-30 19:12:45 +09:00
Andrew Tridgell 54fc430dec AP_Terrain: added terrain reference adjustment 
this restores the terrain adjustment functionality removed in #19946,
but without the problematic approach of always using home (which can
be moved in flight) and with a TERR_OFS_MAX parameter to limit the
amount of adjustment
 2022-03-30 19:12:45 +09:00
Andrew Tridgell 6c3062d972 HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-30 19:12:45 +09:00
Andrew Tridgell e079d93b2d HAL_ChibiOS: switch between IOMCU and RCProt rapidly 
keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
 2022-03-30 19:12:45 +09:00
Andrew Tridgell fb644b2078 AP_RCProtocol: added using_uart() method 2022-03-30 19:12:45 +09:00
Andy Piper 22d29352cf scripts: add KakuteH7 and KakuteH7-bdshot. 2022-03-30 19:12:45 +09:00
Andy Piper 8901f3eed9 bootloaders: bootloader for KakuteH7-bdshot 2022-03-30 19:12:45 +09:00
Andy Piper 7393425ea4 AP_HAL_ChibiOS: add KakuteH7-bdshot target 2022-03-30 19:12:45 +09:00
Andrew Tridgell d4a4bc87b3 AP_BattMonitor: fixed battery remaining of sum battery 
and move to common function for update_consumed()
 2022-03-30 19:12:45 +09:00
Randy Mackay 0bb1138d49 AP_BLHeli: add reboot required to some parameters 2022-03-30 19:12:45 +09:00
Andy Piper f5615f94fa AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-30 19:12:45 +09:00
Randy Mackay 596893b199 AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-30 19:12:45 +09:00
Andrew Tridgell df9679c73a 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
 2022-03-30 19:12:45 +09:00
Andrew Tridgell a51f595ef0 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
 2022-03-30 19:12:45 +09:00
Andrew Tridgell e764a96198 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
 2022-03-30 19:12:45 +09:00
Andrew Tridgell b764b4c1e4 Plane: prevent rapid RTL/AUTO switching on fence breach 
don't switch back to RTL if already in a DO_LAND_START sequence
 2022-03-30 19:12:45 +09:00
Andrew Tridgell a977898bd3 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.
 2022-03-30 19:12:45 +09:00
Andrew Tridgell 7d790feb93 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
 2022-03-30 19:12:45 +09:00
Andrew Tridgell 47a30d609c GCS_MAVLink: send GCS voltage to GCS 
may be resting voltage of option enabled
 2022-03-30 19:12:45 +09:00
Andrew Tridgell 85b1a4d7cc AP_BattMonitor: added option to send resting voltage to GCS 2022-03-30 19:12:45 +09:00
Andrew Tridgell dc8ade101f Plane: prepare for 4.2.0beta3 2022-03-30 19:12:45 +09:00
Andrew Tridgell 87a32a2c68 Plane: update release notes for 4.2.0beta3 2022-03-30 19:12:45 +09:00
Henry Wurzburg 6aaf131760 Tools: clarify and simplify RC failsafe messages 2022-03-30 19:12:45 +09:00
Andrew Tridgell 4ad58d310b autotest: add test for THR_FAILSAFE==2 and throttle output 2022-03-30 19:12:45 +09:00
Andrew Tridgell 6e91b87fb0 autotest: more changes for plane disarm disallow 2022-03-30 19:12:45 +09:00
Andrew Tridgell 16af5800db autotest: flake8 warning fixes 2022-03-30 19:12:45 +09:00
Andrew Tridgell de5ce51913 autotest: adjust for arming change in plane 
expect disarm to fail when airmode on
 2022-03-30 19:12:45 +09:00
Andrew Tridgell 5b0d09e14c CI: remove test_size for stable releases 
this makes no sense as tests against master size
 2022-03-30 19:12:45 +09:00
Andy Piper cf9afacf9a AP_Declination: ensure indexing into declination tables is always correct 
add constants for table sizes
 2022-03-30 19:12:45 +09:00
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