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52369 Commits

Author SHA1 Message Date
Andrew Tridgell 89465d2126 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
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 4bc35ba04d HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 0ae1ac182a 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
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 9ba73d362d AP_RCProtocol: added using_uart() method 2022-03-28 20:53:56 +11:00
Andy Piper 674d3aa915 scripts: add KakuteH7 and KakuteH7-bdshot. 2022-03-28 20:53:56 +11:00
Andy Piper 5d4adef8b7 bootloaders: bootloader for KakuteH7-bdshot 2022-03-28 20:53:56 +11:00
Andy Piper 4c4d60778c AP_HAL_ChibiOS: add KakuteH7-bdshot target 2022-03-28 20:53:56 +11:00
Andrew Tridgell f0f19ce8fb AP_BattMonitor: fixed battery remaining of sum battery 
and move to common function for update_consumed()
 2022-03-28 20:53:56 +11:00
Randy Mackay 50cf7c9f94 AP_BLHeli: add reboot required to some parameters 2022-03-28 20:53:56 +11:00
Andy Piper bafe46882f AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-28 20:53:56 +11:00
Randy Mackay 43beccd86c AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 86899b279f 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
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 6a769b728e 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
 2022-03-28 20:53:56 +11:00
Andrew Tridgell f1f6c34132 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
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 727e066fa9 Plane: prevent rapid RTL/AUTO switching on fence breach 
don't switch back to RTL if already in a DO_LAND_START sequence
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 04f464772b 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.
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 3ffc08ae91 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
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 36ba3fab9e GCS_MAVLink: send GCS voltage to GCS 
may be resting voltage of option enabled
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 11e17a49d3 AP_BattMonitor: added option to send resting voltage to GCS 2022-03-28 20:53:56 +11:00
Andrew Tridgell 7bdeeb24e2 Plane: prepare for 4.2.0beta3 2022-03-18 20:30:00 +11:00
Andrew Tridgell fdccae7b5e Plane: update release notes for 4.2.0beta3 2022-03-18 20:29:33 +11:00
Henry Wurzburg 5f866ed369 Tools: clarify and simplify RC failsafe messages 2022-03-18 20:25:56 +11:00
Andrew Tridgell ef9341f8a9 autotest: add test for THR_FAILSAFE==2 and throttle output 2022-03-18 20:23:46 +11:00
Andrew Tridgell de173707bc autotest: more changes for plane disarm disallow 2022-03-18 20:13:50 +11:00
Andrew Tridgell 5df777e889 autotest: flake8 warning fixes 2022-03-18 20:12:47 +11:00
Andrew Tridgell 912df2992f autotest: adjust for arming change in plane 
expect disarm to fail when airmode on
 2022-03-18 18:19:49 +11:00
Andrew Tridgell 0f3e33e766 CI: remove test_size for stable releases 
this makes no sense as tests against master size
 2022-03-18 14:47:00 +11:00
Andy Piper 6ddb813fba AP_Declination: ensure indexing into declination tables is always correct 
add constants for table sizes
 2022-03-18 14:30:36 +11:00
Tim Tuxworth 6e915df31b 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.
 2022-03-18 14:30:03 +11:00
Andrew Tridgell 8b7366d619 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
 2022-03-18 14:24:46 +11:00
Peter Barker 85171e94e0 autotest: set RL_AUTOLAND=1 for more tests 2022-03-18 14:23:31 +11:00
Andrew Tridgell 5abd244874 autotest: adjust for RTL_AUTOLAND failure 2022-03-18 14:23:27 +11:00
Andrew Tridgell 6e3a2663bf Plane: check that RTL_AUTOLAND is set if using DO_LAND_START 2022-03-18 14:23:23 +11:00
Andrew Tridgell 3cef6b8167 AP_Arming: make mission checks virtual 2022-03-18 14:23:20 +11:00
Andrew Tridgell 518b126f52 AP_Arming: display a warning if arming checks disabled when arming 2022-03-18 14:22:53 +11:00
Andrew Tridgell 14571ee24b 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
 2022-03-16 08:12:20 +11:00
Andrew Tridgell d7052b4d5a 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
 2022-03-16 07:09:30 +11:00
Andrew Tridgell 0bab0dc26c Plane: use set_lean_angle_max_cd() 
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
 2022-03-16 07:09:30 +11:00
Andrew Tridgell 66c13d29b7 AC_AttitudeControl: added set_lean_angle_max_cd() 2022-03-16 07:09:30 +11:00
Andrew Tridgell ecbcbbe044 AC_Autorotation: use accel_to_angle() 2022-03-15 09:25:53 +11:00
Andrew Tridgell f398cf8814 AC_WPNav: use angle/accel functions 2022-03-15 09:25:36 +11:00
Andrew Tridgell a16357fb08 AP_Math: added angle_to_accel() and accel_to_angle() 2022-03-15 09:25:18 +11:00
Andrew Tridgell 6839533e5d 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
 2022-03-14 13:52:06 +11:00
Andrew Tridgell 965a571063 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
 2022-03-14 11:06:29 +11:00
Andrew Tridgell 139411f0c5 Plane: prepare for 4.2.0beta2 2022-03-10 13:43:16 +11:00
Andrew Tridgell 42c2ec053a Plane: added release notes for 4.2.0beta2 2022-03-10 13:43:08 +11:00
Andrew Tridgell 0aeb7e1500 Plane: protect against short stop_distance 2022-03-10 11:11:10 +11:00
Leonard Hall b9628f106d AC_PosControl: Decay posiiton error during relax 2022-03-10 10:49:54 +11:00
Leonard Hall 94b83d34b1 AC_AttitudeControl: AC_PosControl: add soften for landing 2022-03-10 10:48:16 +11:00
Iampete1 8fd386f50b Plane: quadplane: double log QPOS state change 2022-03-10 10:46:17 +11:00