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52253 Commits

Author SHA1 Message Date
Randy Mackay 7c894a24e5 Copter: 4.2.0-beta3 release notes 2022-03-30 19:12:45 +09:00
Bill Geyer 152c98831b AP_Math: add chirp function to support frequency sweeps in systemid and autotune 2022-03-30 19:12:45 +09:00
Bill Geyer eae1e6cda7 AC_Autotune: clean up variable init for dwell 2022-03-30 19:12:45 +09:00
Bill Geyer f782215194 AC_AutoTune: use chirp function in AP_Math for frequency sweeps 2022-03-30 19:12:45 +09:00
Bill Geyer 9d1c560faa Copter: make systemid use new chirp math function 2022-03-30 19:12:45 +09:00
Bill Geyer da7164c1e4 AC_AutoTune: combine dwell_run_test for angle and rate 2022-03-30 19:12:45 +09:00
Bill Geyer 68f0eb9e5d AC_AutoTune: combine dwell_init methods 2022-03-30 19:12:45 +09:00
Bill Geyer 14fea56206 AC_AutoTune:tradheli-streamline gcs messages 2022-03-30 19:12:45 +09:00
Peter Barker cade8b36a0 AC_AutoTune: Vector tidying 2022-03-30 19:12:45 +09:00
Peter Barker 1a84c17fee AC_AutoTune_Heli: use structure assignment to clear structures 2022-03-30 19:12:45 +09:00
Peter Barker 55af020639 AC_AutoTune: use structure assignment for test results 2022-03-30 19:12:45 +09:00
Peter Barker 3686f32671 AC_AutoTune: createstructure to hold specific test's sweep results 2022-03-30 19:12:45 +09:00
Henry Wurzburg 94c0701f17 HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-03-30 19:12:45 +09:00
Andy Piper bb86b35f03 AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-03-30 19:12:45 +09:00
Andy Piper 15614bd879 SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-03-30 19:12:45 +09:00
Andy Piper 70bba0cc99 AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands 
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
 2022-03-30 19:12:45 +09:00
Randy Mackay d62c543031 Rover: balance bot stands in acro with no position estimate 2022-03-30 19:12:45 +09:00
AndKe 1805ff4e6d AP_HAL_ChibiOS: add OREOLED to CubeGreen 2022-03-30 19:12:45 +09:00
Andrew Tridgell 9bdd5844a8 Plane: prepare for 4.2.0beta4 release 2022-03-30 19:12:45 +09:00
Andrew Tridgell 6247e908f6 Plane: added release notes for 4.2.0beta4 2022-03-30 19:12:45 +09:00
Andrew Tridgell 5a24abafe9 hwdef: changed MatekH743 to a 32 bit timer 
the 68ms issue is still present on this board. Switching to a 32 bit
timer will fix it, but loses us the tonealarm support
 2022-03-30 19:12:45 +09:00
Andrew Tridgell c74ace877a AP_Param: fixed param class conversion code 
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.

I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
 2022-03-30 19:12:45 +09:00
Andrew Tridgell e4cf969168 AP_Logger: added terrain correction logging field 2022-03-30 19:12:45 +09:00
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