this fixes a bug where if the terrain database cache does not have the
tile for the location of a rally point then RTL to the rally point
with TERRAIN_FOLLOW=1 will not track terrain
The underlying issue is that Location::loc.change_alt_frame() will
return false if the location is not in the terrain memory cache. We
can't just extrapolate as the rally point could be in a totally
different terrain area to the current location. So instead we set it
as terrain_following_pending and fix it as soon as the terrain cache
is filled.
fixes https://github.com/ArduPilot/ardupilot/issues/25157
the bad value is -32768 not 0xffff (which is -1)
-32768 badly corrupts the low-pass filter, and is what we see in logs
(a large negative spike on all 3 axes)
update to bug fix from:
https://github.com/ArduPilot/ardupilot/pull/23033
update_pitch_throttle can be called when update_50hz hasn't run in a very long time, or ever. This requires a main loop rate >50Hz, and for the mode change to occur in the same loop that update_50Hz doesn't run but update_pitch_throttle does.
this fixes a state where we either cannot climb or descend in an
uncontrolled manner in a TECS controlled mode
the conditions under which this happened were:
- _use_synthetic_airspeed_once was true due to quadplane takeoff
- we left _thr_clip_status as MAX from previous use of synthetic airspeed
- then run without airspeed
note that this can also impact users with an airspeed sensor if they
disable it or it fails in flight, particularly during a climb
... or at least closer to it.
We were hard-resetting the yaw to zero when the vehicle was upright. That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.
Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
Backport of PR https://github.com/ArduPilot/ardupilot/pull/25046
The hard-reset of all state variables means we feed the EKF inconsistent gyro data. Attempt to upright the vehicle with a simple p-gain when it is disarmed, as if someone is pushing the thing back upright
Backport of PR https://github.com/ArduPilot/ardupilot/pull/24314
correct battery setup for MambaF405v2
provide suitable serial defaults for MambaF405v2
reallocate DMA channels to allow full DMA on USART3 and NeoPixel on MambaF405v2
add camera control pin to MambaF405v2
