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33549 Commits

Author SHA1 Message Date
Andrew Tridgell 9bc1a537b5 Plane: update release notes for 3.9.7 2019-04-01 17:42:13 +11:00
Andrew Tridgell f50a6b59cc AP_TECS: fixed a bug in changes from rate-limited to non-limited airspeed 
The calculation of the non-limited airspeed rate demand used the last
non-limited airspeed, whereas it should have used the last adjusted
value. This led to a single frame spike in airspeed demand, which fed
through to a sudden change in pitch integrator.
 2019-04-01 09:29:25 +11:00
Andrew Tridgell b1a8055f20 AP_TECS: prevent airspeed demand spikes causing large pitch changes 
a short term spike in the derivative of speed demand could cause the
constraint on the pitch integrator to push the pitch integrator to
very low values, causing a sharp nose down which takes a long time to
recover from
 2019-04-01 09:29:25 +11:00
Andrew Tridgell a8568402ef Plane: updated release notes for 3.9.6 2019-03-04 08:14:22 +11:00
Andrew Tridgell 9bc8a65970 Plane: prepare for 3.9.6 2019-03-04 08:13:17 +11:00
Andrew Tridgell 0360f887a0 HAL_ChibiOS: allocate threads from any heap 
this fixes a failure on MatekF405-Wing where it fails to allocate the
SPI thread for the IMU
 2019-02-27 12:00:18 +11:00
Andrew Tridgell a3fa359a63 Plane: prepare for 3.9.6beta1 2019-02-26 07:23:15 +11:00
Andrew Tridgell 8fa140de16 Plane: updated release notes for 3.9.6beta1 2019-02-26 07:22:27 +11:00
Andrew Tridgell 7b6d74be13 Plane: check motor spool state in vtol approach check 2019-02-25 13:29:00 +11:00
Andrew Tridgell 1135a91846 autotest: added defaults for compass3 offsets 2019-02-25 10:52:25 +11:00
Andrew Tridgell d71c8bc7ce AP_Compass: change to 3 compasses in SITL 2019-02-25 10:52:25 +11:00
Andrew Tridgell cc4c7d648d waf: fixed ROMFS compression to use zero timestamp 
this makes the apj file indepenent of build date, which fixes this
issue:

https://discuss.ardupilot.org/t/arducopter-waf-build-repeatability/37182
 2019-02-25 10:52:25 +11:00
Rob Ratcliff 199412adf2 RC_Channel: treat UINT16_MAX as a value of 0 in set_override 
Addresses ignore R/C override issue documented here:
https://github.com/ArduPilot/ardupilot/issues/1667
 2019-02-25 10:52:25 +11:00
Randy Mackay 8d3e1e45a7 AC_PosControl: remove unnecessary init of last_update_xy_ms 2019-02-25 10:52:25 +11:00
Andrew Tridgell f03893c2f8 HAL_ChibiOS: setup APJ board IDs in environment 2019-02-25 10:52:25 +11:00
Andrew Tridgell 3471a5d567 waf: fixed git hash in generated APJ file 
# Conflicts:
#	Tools/ardupilotwaf/chibios.py
 2019-02-25 10:52:25 +11:00
Andrew Tridgell 2187ee4611 HAL_ChibiOS: fixed mini-pix uart order 2019-02-25 10:52:25 +11:00
Andrew Tridgell 659e8395d5 AP_NavEKF3: fixed EKF compass switching 
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
 2019-02-25 10:52:25 +11:00
Andrew Tridgell fe724e40b3 AP_NavEKF2: fixed EKF compass switching 
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
 2019-02-25 10:52:25 +11:00
Andrew Tridgell 037469db30 AC_WPNav: prevent I term buildup during landing 
this prevents I term buildup in the XY velocity controller during
landing. This to account for the EKF giving a non-zero horizontal
velocity when we have touched down. The I term buildup in the XY
velocity controller can lead to the attitude error going above the
level for disabling the relax function as the throttle mix is
changed. That results in large motor outputs which can tip over the
vehicle after touchdown.

Thanks to Leonard for the suggestion
 2019-02-25 10:52:25 +11:00
Andrew Tridgell bc95c25cc9 Plane: use WP height for height above ground in vtol landing 
this allows for landings above or below the takeoff height without
requiring the use of terrain data. It allows both the use of vfwd
motor for holding against wind, and the correct height for land final
descent rate
 2019-02-25 10:52:25 +11:00
Andrew Tridgell 4b33865ee2 AP_Math: fixed inefficient sq() function 2019-02-25 10:52:25 +11:00
Michael du Breuil 9d528205c7 Plane: Update throttle mix 2019-02-25 10:52:25 +11:00
Andrew Tridgell c755deff21 Plane: allow fwd motor to run in VTOL land hor positioning 
this fixes an issue with vtol landings below the takeoff point
 2019-02-25 10:52:25 +11:00
Michael du Breuil 7a33d949ca Plane: Don't overwrite the quadplane loiter relax 2019-02-25 10:52:25 +11:00
Andrew Tridgell 51acb72152 AP_RangeFinder: fixed lightware serial with LW20 lidar 
it needs a longer serial write to force it to serial mode from i2c
 2019-02-25 10:52:25 +11:00
Andrew Tridgell 3dd4cf4d87 AP_Rangefinder: probe all I2C buses for rangefinders 2019-02-25 10:52:25 +11:00
Andrew Tridgell a2f0ff7386 Filter: fixed crash on zero cutoff frequency 
this fixes #10435
 2019-02-25 10:52:25 +11:00
Andrew Tridgell e981966640 Plane: call AHRS resetHeightDatum() on baro reset 
this prevents the AMSL estimate from the EKF going off badly if we
disarm at a high altitude
 2019-02-25 10:52:25 +11:00
Andrew Tridgell 0c2ea764ce Plane: handle VTOL landing with incorrect height 
if landing above expected height then run landing detector to allow a
switch from LAND_DESCEND to LAND_FINAL

this prevents the plane sitting on the ground until the battery runs
out
 2019-02-25 10:52:25 +11:00
Andrew Tridgell 82c85de469 Plane: separate out slew limit logic for left/right throttles 2019-02-02 12:24:00 +11:00
Andrew Tridgell 1a56659eec Plane: apply throttle slew to dual-motor setups 
thanks to Alex for noticing this issue
 2019-02-02 09:38:21 +11:00
Andrew Tridgell 45fa3913ec Plane: prepare for 3.9.5 release 2019-01-27 14:20:40 +11:00
Andrew Tridgell 25f5e9171d Plane: update release notes for 3.9.5 2019-01-27 14:20:30 +11:00
Andrew Tridgell be531e9742 Plane: fix tailsitter logged attitude targets 2019-01-25 10:14:21 +11:00
Andrew Tridgell 69bf224730 Plane: ignore battery failsafe during landing 
fixes https://github.com/ArduPilot/ardupilot/issues/10320
 2019-01-24 08:22:25 +11:00
Andrew Tridgell ba53230f70 HAL_ChibiOS: fixed CAN on Pixhawk4 and PH4-mini 
the silent pins floating disabled CAN
 2019-01-23 13:26:55 +11:00
Andrew Tridgell 98fa9454ed HAL_ChibiOS: disable USART6_TX on fmuv5 
this prevents it acting as a pullup on SBUS input for Pixhawk4. Thanks
to David Sidrane for the suggestion.

This also enables the extra 3 PWMs for PH4-mini
 2019-01-18 09:45:46 +11:00
Andrew Tridgell 71e776640f Plane: updated release notes for 3.9.5beta2 2019-01-15 14:37:10 +11:00
Andrew Tridgell 3b7c6071c5 Plane: prepare for 3.9.5beta2 2019-01-15 14:36:52 +11:00
Andrew Tridgell 55f0c1cac3 Tools: update IO_Firmware for Pixhawk4 2019-01-15 10:41:50 +11:00
Andrew Tridgell 7040b6c2d7 AP_RCProtocol: on DSM sync error don't reset channel count 
this fixes the issue noticed by Andreyl in 3.6.5rc1
 2019-01-15 10:41:50 +11:00
Andrew Tridgell c882262ff9 Plane: fixed EKF yaw reset 
we need to do the yaw reset before updating the rest of quadplane, or
it is not effective

thanks to Leonard for noticing the bug!
 2019-01-15 10:41:50 +11:00
Andrew Tridgell e33d42e659 SITL: added simulated battery for quadplane 
needed for motor interference for mag
 2019-01-15 10:41:50 +11:00
Michael du Breuil 0a7fc2fd12 AP_HAL_ChibiOS: Fix FMUv2 LED lighting up 2019-01-11 17:46:20 +11:00
Andrew Tridgell 99d8353166 Plane: update release notes 2019-01-11 13:41:57 +11:00
Andrew Tridgell 3df6f55777 Plane: update release notes for 3.9.5beta1 2019-01-11 13:34:37 +11:00
Andrew Tridgell b93aed2ceb Plane: prepare for 3.9.5beta1 2019-01-11 13:28:09 +11:00
Andrew Tridgell 81b5c3a7da HAL_ChibiOS: fixed sdcard build 2019-01-11 13:25:32 +11:00
Andrew Tridgell 12be040da2 AP_BoardConfig: fixed build 2019-01-11 13:15:36 +11:00