Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
52,369 Commits 71 Branches 509 Tags 814 MiB
Commit Graph

52369 Commits

Author SHA1 Message Date
Andrew Tridgell 80c27a426c autotest: don't try to arm in RTL mode for quadplanes 2022-05-19 17:09:45 +10:00
Andrew Tridgell 9f187c0711 AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter 
this allows for an offset in ESC numbering for much more efficient CAN
bandwidth usage.

For example, on a coaxial OctoQuad quadplane the ESCs are typically
setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN
buses, with one CAN bus for the top layer and the one bus for the
bottom layer (allowing for VTOL flight with one bus failed).

Without this offset parameter you would be sending RawCommand messages
like this:

bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]

this is very wasteful of bus bandwidth, with bus1 using 3x the
bandwidth it should and bus2 using 4x the bandwidth it should (the
above will take 3 can frames for bus1, and 4 can frames for bus 2)

With this patch you can set:

CAN_D1_UC_ESC_OF = 4
CAN_D2_UC_ESC_OF = 8

and you will get this on the bus:

bus1: [ ESC1, ESC2, ESC3, ESC4 ]
bus2: [ ESC1, ESC2, ESC3, ESC4 ]

that takes just 1 can frame per send on each bus
 2022-05-19 17:09:45 +10:00
Andrew Tridgell defe800745 Copter: allow VTOL_TAKEOFF and VTOL_LAND as synonyms 
this allows is_takeoff_next() to be in common, and reduces confusion
if user selects VTOL_TAKEOFF in a GCS mission editor
 2022-05-19 17:09:45 +10:00
Peter Barker 86fd9e112a ArduSub: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-19 17:09:45 +10:00
Peter Barker 338ae69f15 ArduCopter: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-19 17:09:45 +10:00
Peter Barker 1a4bb9b319 ArduPlane: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-19 17:09:45 +10:00
Peter Barker 9cf802c843 AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-19 17:09:45 +10:00
Andrew Tridgell 9d0f5ce7b0 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-19 17:09:45 +10:00
Andrew Tridgell 1e31dc61a8 AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-19 17:09:45 +10:00
Andrew Tridgell c093c5d945 Plane: increased safety of guided -> auto quadplane takeoff 
when we arm in guided mode then enter a special guided_wait_takeoff
state. We keep motors suppressed until one of the following happens

  1) disarm
  2) guided takeoff command
  3) change to AUTO with a takeoff waypoint as first nav waypoint
  4) change to another mode

while in this state we don't go to throttle unlimited, and will refuse
a change to AUTO mode if the first waypoint is not a takeoff. If we
try to switch to RTL then we will instead use QLAND

This state is needed to cope with the takeoff sequence used by QGC on
common controllers such as the MX16, which do this on a "takeoff"
swipe:

  - changes mode to GUIDED
  - arms
  - changes mode to AUTO
 2022-05-19 17:09:45 +10:00
Andrew Tridgell 72b5212baf AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor 
we need to use the pressure from the sensor we are calibrating
 2022-05-19 17:09:45 +10:00
Andrew Tridgell 68a43b3c79 AP_NavEKF: getYawData also provides number of clipping models 
In the case of the compass calibrator we do not want to use the GSF
result if any model is degenerate.  We've had a compass calibrate in
flight 180-degrees out from what it should have.
 2022-05-19 17:09:45 +10:00
Peter Barker 1764b88624 AP_Compass: do not use GSF if any model has been clipped 2022-05-19 17:09:45 +10:00
Peter Barker a3edc8588c autotest: adjust current wp reset 2022-05-19 17:09:45 +10:00
Andrew Tridgell d14897b1b1 autotest: reset mission on takeoff for quadplanes 2022-05-19 17:09:45 +10:00
Andrew Tridgell 1f7354951d Plane: account for sprung throttle in VTOL throttle suppression 
when RC_OPTIONS has been changed to not check throttle for arming then
treat this like a sprung throttle for quadplane throttle suppression
in auto-throttle modes, and only unsuppress when throttle goes above
trim+dz
 2022-05-19 17:09:45 +10:00
Andrew Tridgell 24f5802858 Plane: refuse arming if we are in a landing sequence 
this helps when the aircraft has gone into a landing sequence due to a
failsafe before it is armed. Arming while in the landing sequence is
very unlikely to be what the user wants
 2022-05-19 17:09:45 +10:00
Andrew Tridgell bbd250a5c9 AP_EFI: added fuel usage integration for Lutan EFI 
allows for EFI_COEF1 and EFI_COEF2 to be set to get fuel consumption
on GCS
 2022-05-19 17:09:45 +10:00
Andrew Tridgell 84febebf3b autotest: reset mission on takeoff for quadplanes 2022-05-19 17:09:45 +10:00
Andrew Tridgell 29915f83c9 AP_Mission: improved handling of large LOITER_TURNS 
instead of wrapping we should use MIN with 255, which is closer to
what was requested
 2022-05-19 17:09:45 +10:00
Joshua Henderson 811aeed7ed AP_Airspeed: remove negative pressure set unhealthy 2022-05-10 16:59:04 +10:00
Andrew Tridgell 0124e9b54c Plane: update gyro fft throttle 
allows for updating or learned FFT freq
 2022-05-10 11:21:47 +10:00
Andrew Tridgell f7360ade04 hwdef: added FlyingMoonF427 support 2022-05-09 07:27:10 +10:00
Andrew Tridgell 8e7afaa52e Tools: added FlyingMoonF427 bootloader 2022-05-09 07:27:07 +10:00
Andrew Tridgell 6a55d081a7 hwdef: added FlyingMoonF407 board support 2022-05-09 07:27:04 +10:00
Andrew Tridgell 7637477d16 Tools: added FlyingMoon407 bootloader 2022-05-09 07:27:01 +10:00
Andrew Tridgell bdc900495c HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103 
need to check new pin not old pin
 2022-05-08 20:35:25 +10:00
Andrew Tridgell 24234865e5 AP_Logger: fixed a bug in wrapped log count 
fixes #20687
 2022-05-06 06:56:56 +10:00
Andrew Tridgell 44735215e5 Plane: prepare for 4.2.0 stable release 2022-05-04 10:33:17 +10:00
Andrew Tridgell 06cc105967 Plane: release notes for 4.2.0 2022-05-04 10:33:17 +10:00
Andrew Tridgell d90b5a22bb AP_AHRS: fixed bug in blended EKF bias 
The bug fix in #20431 was incomplete, and ended up with the wrong
blended accel bias. This fixes it
 2022-05-04 10:33:17 +10:00
Andrew Tridgell 86e65f850e AP_Scripting: added quicktune.lua script 
rapid tuning for VTOL control
 2022-05-04 10:33:17 +10:00
Andrew Tridgell 89b9b231f5 AP_Scripting: added get_rpy_srate binding 
and norm_input_dz binding
 2022-05-04 10:33:17 +10:00
Andrew Tridgell 779d2181c5 AC_AttitudeControl: added get_rpy_srate() 2022-05-04 10:33:17 +10:00
Andrew Tridgell 6d264497e9 AP_Compass: fixed custom orientation in 3 compass drivers 
this prevents an internal error and mag failure with DroneCAN, MSP or
ExternalAHRS compasses
 2022-05-04 10:33:17 +10:00
Randy Mackay 83e0a51bfd Rover: version to 4.2.0-rc2 2022-05-04 10:33:17 +10:00
Randy Mackay 2dc3577511 Rover: 4.2.0-rc2 release notes 2022-05-04 10:33:17 +10:00
Randy Mackay 8687d58c16 Copter: version to 4.2.0-rc2 2022-05-04 10:33:17 +10:00
Randy Mackay 6b6f7bc909 Copter: 4.2.0-rc2 release notes 2022-05-04 10:33:17 +10:00
Randy Mackay e7792ce6cd Rover: version to 4.2.0-rc1 2022-05-04 10:33:17 +10:00
Randy Mackay aa52edca03 Rover: 4.2.0-rc1 release notes 2022-05-04 10:33:17 +10:00
Randy Mackay ac91e44338 Copter: version to 4.2.0-rc1 2022-05-04 10:33:17 +10:00
Randy Mackay a4e8c4ee18 Copter: 4.2.0-rc1 release notes 2022-05-04 10:33:17 +10:00
Andrew Tridgell a9cb31a5a6 Plane: prepare for 4.2.0beta6 2022-04-28 18:18:33 +10:00
Andrew Tridgell 494df9dbca Plane: release notes for plane 4.2.0beta6 2022-04-28 18:18:07 +10:00
Andy Piper 99a9c6edd7 AP_InertialSensor: move frontend update into ramfunc. 2022-04-28 12:56:34 +10:00
Andy Piper 94737870e0 AP_FlashIface: make sure XIP flash is ready before returning 2022-04-28 12:56:34 +10:00
Andy Piper 68b3b3561f AP_Bootloader: change timeout on external flash init 2022-04-28 12:56:34 +10:00
Andy Piper 0afaaf9a53 AP_HAL_ChibiOS: add I2C and compass backend to drivers in memory on H750 
move more of EKF into memory on H750
move rc handling into memory on H750
disable double math on SPRacing H7
 2022-04-28 12:56:34 +10:00
Andy Piper 3f0fb5fc58 Tools: iFlight Chimera 7 parameters 2022-04-28 12:56:34 +10:00