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48467 Commits

Author SHA1 Message Date
Andrew Tridgell 833f4945ed Plane: avoid qpos approach when very close to destination 
this prevents a fwd transition when doing something like LOITER_TIME
close to a VTOL_LAND wp. We use 1.5 times the stopping distance at
cruise airspeed for the threshold
 2021-10-29 11:14:10 +11:00
Andrew Tridgell e1accc9a30 Plane: fixed VTOL state error when using Q_ENABLE=2 
this ensures the poscontrol state is reset if it has not been
initialised before a VTOL loiter operation

thanks to Pete Hall for finding this
 2021-10-29 11:14:10 +11:00
Samuel Tabor 0de9ebe77d ArduPlane: altitude: rangefinder correction should be relative to the altitude source being used for navigation. This avoid applying it twice when there is an existing correction saved. 2021-10-26 10:49:00 +11:00
Samuel Tabor ab74913c83 AP_Landing_Slope: Log height used for flare timing. 2021-10-26 10:49:00 +11:00
Samuel Tabor 07962a2a59 autotest: fly_mission should respect mission_timeout when waiting for wps. 2021-10-26 10:49:00 +11:00
Samuel Tabor 0cd985bf3a autotest: Add plane test for landing with barometer drift. 2021-10-26 10:49:00 +11:00
Iampete1 9c9bc6b20f Plane: Quadplane: allow scripting matrix frame class 2021-10-20 18:41:42 +11:00
Andrew Tridgell 20416b38b2 Plane: prepare for 4.1.2 release 2021-10-17 15:49:55 +11:00
Andrew Tridgell 1180850cfe Plane: update release notes for 4.1.2 2021-10-17 15:49:46 +11:00
Andrew Tridgell ed53f62457 Plane: prepare for 4.1.2beta2 2021-10-16 20:44:47 +11:00
Andrew Tridgell e83c9bb071 Plane: update release notes for 4.1.2beta2 2021-10-16 20:43:55 +11:00
Randy Mackay 94163667d2 Copter: version to 4.1.1-rc1 2021-10-16 20:43:55 +11:00
Randy Mackay 699b3060fe Copter: 4.1.1-rc1 release notes 2021-10-16 20:43:55 +11:00
Bill Geyer b260dcc7e2 Copter: fix tradheli landing detector bug 2021-10-16 20:43:55 +11:00
Pierre Kancir f590ab0676 Copter: fix takeoff end report on EXTEND_STATE 
regression from https://github.com/ArduPilot/ardupilot/pull/18700.
thanks to @arduouspilot on discuss to notice this, see https://discuss.ardupilot.org/t/extended-sys-state-never-changes-once-guided-takeoff-is-started/76996/3
 2021-10-16 20:43:55 +11:00
Ben Wolsieffer 1d634cc2be AP_Control: apply pitch rate limit to turn coordination 
At high bank angles, for example when rolling to/from inverted, a large turn
coordination pitch rate offset is requested. Before this patch, this offset was
not subject to the configured pitch rate limit, which could result in pitch
controller integrator windup.
 2021-10-16 19:52:45 +11:00
Andrew Tridgell 9c8648d99c Plane: don't apply fw pitch limit in VTOL control for tailsitters 
tailsitters may have narrow fixed wing limits but need high limits for
landing in high wind

found this on a HWing which was essentially impossible to auto land
 2021-10-16 19:52:45 +11:00
Andrew Tridgell 5cc1345ca5 AP_RCProtocol: check for RC protocol switching enable 
by default don't allow protocol switching after initial protocol is
found
 2021-10-16 19:52:45 +11:00
Andrew Tridgell 3812469b33 RC_Channel: added RC_OPTION bit for allowing RC protocol switching 
this is meant to prevent accidential switching to a disconnected pin
 2021-10-16 19:52:45 +11:00
Andrew Tridgell 8b7545b4a5 Plane: reset target speed on disarm 
allows for multiple auto missions with DO_CHANGE_SPEED
 2021-10-16 19:52:45 +11:00
Andrew Tridgell 300a00226b Plane: apply the takeoff throttle slew limit to quadplanes 
this applies the limit when we are in a fwd transition, both in AUTO
modes and stabilized modes
 2021-10-16 19:52:45 +11:00
bugobliterator 874a610255 AP_HAL_ChibiOS: account for TXFIFO when doing flow control detection 2021-10-15 20:01:25 +11:00
Andy Piper aa0f01005c AP_Filesystem: fix ftp burst read with credit to deanharken 2021-10-15 20:01:25 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 9c25a25fa7 Copter: Send ESC telemetry over mavlink while doing compassmot 
compassmot can be used to bypass all PID control loops (this avoids forwarding IMU noise to the motors) while stress-testing the ESCs+motors.
So that temperatures can be monitored in real-time during those long tests, send ESC telemetry as well.
 2021-10-15 20:01:25 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 8a038418a9 GCS_MAVLink: add ESC_TELEMETRY_1_TO_4 to the mavlink_id_to_ap_message_id table 2021-10-15 20:01:25 +11:00
Andrew Tridgell 691794bb41 AP_NavEKF3: added EK3_PRIMARY parameter 
allows for selection of which IMU to use on startup
 2021-10-13 18:09:56 +11:00
Andrew Tridgell 9bf95912b9 Plane: prepare for 4.1.2beta1 2021-10-10 18:07:43 +11:00
Andrew Tridgell 66667b9d7f Plane: update release notes for 4.1.2beta1 2021-10-10 18:07:25 +11:00
Andrew Tridgell 15de5b49e1 APM_Control: only save autotune gains when P finished 
this prevents saving values which are temporarily high due to tuning
process

See this bug report
https://discuss.ardupilot.org/t/plane-4-1-0-stable/76507/45
 2021-10-10 18:04:55 +11:00
Andrew Tridgell c8b3227aa7 Plane: prepare for 4.1.1 release 2021-10-08 13:27:39 +11:00
Andrew Tridgell 0980401d2f Plane: update release notes for 4.1.1 
# Conflicts:
#	ArduPlane/mode_qrtl.cpp
#	ArduPlane/quadplane.cpp
P
 2021-10-08 13:27:30 +11:00
Andrew Tridgell 8572595dfa HAL_ChibiOS: fixed orientation of ICM42605 on QiotekZealotF427 2021-10-08 13:21:18 +11:00
Andrew Tridgell edfb18877e AP_Scripting: fixed bug in string logging with logger.write() 
this dereferenced a bad pointer, leading to crash and watchdog

thanks to Charlie for finding this!
 2021-10-08 13:18:21 +11:00
Randy Mackay 3cca7cfe11 Copter: version to 4.1.0 2021-10-08 13:14:09 +11:00
Randy Mackay 29644d468f Copter: 4.1.0 release notes 2021-10-08 13:14:09 +11:00
Andrew Tridgell 9328fae953 AP_Scripting: avoid a error in lua with gcc 10.2 on STM32 with -Werror 2021-10-08 13:14:09 +11:00
Andrew Tridgell 67ebee599e AP_InertialSensor: fixed build warning 2021-10-08 13:14:09 +11:00
Andrew Tridgell 8450f02c2f AP_Compass: fixed build warning on g++ 10.2 2021-10-08 13:14:09 +11:00
Randy Mackay 2e895a7aac Copter: version to 4.1.0-rc4 2021-10-08 13:14:09 +11:00
Randy Mackay 78028464c4 Copter: 4.1.0-rc4 release notes 2021-10-08 13:14:09 +11:00
lthall e69875a2bc AC_AttitudeControl: Fix initialize bug 2021-10-08 13:14:09 +11:00
Andy Piper 657e72ce07 AP_SerialManager: correct docs for SERIAL8 2021-10-08 13:14:09 +11:00
lthall 1e84144d33 AC_AttitudeControl: AC_PosControl: Update PSC logging to include desired 2021-10-08 13:14:09 +11:00
Leonard Hall 455cea443b AP_Logger: Update PSC logging to include desired 2021-10-08 13:14:09 +11:00
Peter Barker 209d7dda0c AP_Logger: specify frames on PSC fields 2021-10-08 13:14:09 +11:00
Randy Mackay 630a074d19 Copter: version to 4.1.0-rc3 2021-10-08 13:14:09 +11:00
Randy Mackay 27eabb4f94 Copter: 4.1.0-rc3 release notes 2021-10-08 13:14:09 +11:00
Randy Mackay 2fb790ae38 Copter: guided mode remains in takeoff submode longer 2021-10-08 13:14:09 +11:00
Randy Mackay 37fc2a6940 Copter: guided takeoff supports autoyaw 
allows both pilot controlled and externally controlled yaw control
 2021-10-08 13:14:09 +11:00
Tatsuya Yamaguchi e4e281d5a2 Copter: add use_pilot_yaw to ModeSmartRTL class 2021-10-08 13:14:09 +11:00