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52,566 Commits 71 Branches 509 Tags 789 MiB
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52566 Commits

Author SHA1 Message Date
Andrew Tridgell d22e0a24d5 Plane: allow for throttle control in MANUAL when disarmed 
pass base throttle down to ICE subsystem to allow for throttle when
disarmed in MANUAL
 2022-08-02 18:03:52 +10:00
Andrew Tridgell ca0141ec9d AP_ICEngine: added option for throttle control while disarmed 
this uses the passed in base throttle when disarmed
 2022-08-02 18:03:52 +10:00
Andrew Tridgell d0a35cb355 Plane: when ICE overrides throttle zero the vfwd integrator 2022-08-02 18:03:52 +10:00
Andrew Tridgell 46bd787a49 AP_ICEngine: added option to force low throttle on engine off 
this fixes an issue with EFI engines that use low throttle demand to
stop the engine, instead of using an ignition channel. This option
needs to be set on these aircraft to prevent the idle governor or the
fwd throttle integrator in quadplanes from keeping the engine on when
the pilot asks for it to be off.
 2022-08-02 18:03:52 +10:00
Andrew Tridgell c7d1ca6036 Plane: don't failsafe when in RTL_AUTOLAND landing sequence 
when in AUTO and already in the landing sequence then don't trigger a
failsafe
 2022-08-02 18:03:52 +10:00
Andrew Tridgell ca932e26d1 hwdef: MFE-PixSurveyA1 rename PixSurveyA1 2022-08-02 18:03:52 +10:00
xiao 1f58408110 HAL_ChibiOS: hwdef: add new hardware MFE-PixSurveyA1 2022-08-02 18:03:52 +10:00
Andrew Tridgell f13da57c7d Plane: fixed combination of passby and acceptance dist WP 
when a user sets a passby distance we should calculate the turn point
based on the extrapolated distance, not the original waypoint

also simplify the passby logic using offset_bearing()
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 2bfbe2b3c0 Tools: updated Pixhawk6X bootloader 2022-08-02 18:03:52 +10:00
Andrew Tridgell 202e606892 hwdef: changed Pixhawk6C board type to 56 
production bootloader uses 56
 2022-08-02 18:03:52 +10:00
Andy Piper e058103bda AP_HAL_ChibiOS: hwdef for Foxeer Reaper F745v2. 
README for Reaper F745v2
 2022-08-02 18:03:52 +10:00
Andy Piper f65b6321c7 bootloaders: add Foxeer Reaper F745 v2 2022-08-02 18:03:52 +10:00
Andrew Tridgell cf3e7aff58 hwdef: added telem3 on Pixhawk6X 2022-08-02 18:03:52 +10:00
Andrew Tridgell dfe5c82361 Plane: fixed check for fixed wing approach QRTL start 
ensure we are lined up, or we are at less than 0.5 of radius before we
switch to QRTL. This fixes the case where the stopping distance is
greater than the radius, prevening us from switching to QRTL while not
lined up with the landing point
 2022-08-02 18:03:52 +10:00
Andrew Tridgell a4a057a660 hwdef: added Pixhawk6C support 2022-08-02 18:03:52 +10:00
Andrew Tridgell 7515c82c55 Tools: added Pixhawk6C bootloader 2022-08-02 18:03:52 +10:00
Andrew Tridgell 573da3882b AP_Compass: HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE for Pixhawk6C 2022-08-02 18:03:52 +10:00
Andrew Tridgell adcd7850c0 AP_Compass: removed "AK09916 Wrong id" message 
we don't need this on every board that doesn't have an I2C AK09916
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 5bd665370d hwdef: fixed Pixhawk6X ALT_RAM_MAP check 2022-08-02 18:03:52 +10:00
Andrew Tridgell c969578970 hwdef: added Pixhawk6X support 
a new H753 based board similar to the Pixhawk5X
 2022-08-02 18:03:52 +10:00
Andrew Tridgell d82c7a7221 HAL_ChibiOS: added support for ALT_RAM_MAP on H7 
for compatibility with the px4 H7 bootloader
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 669c16a114 HAL_ChibiOS: enable ITCM and DTCM on H7 at startup 
these may have been disabled by the px4 H7 bootloader
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 462cb806ec Tools: added Pixhawk6X bootloader 2022-08-02 18:03:52 +10:00
Andrew Tridgell fe9d33b945 AP_BattMonitor: make healthy() check all configured monitors 
GCS reporting for SYS_STATUS should check all healthy, not just first
backend
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 84db86ed2c AP_BattMonitor: allow INA2xx battery monitors to be powered after boot 
the device doesn't show up till main battery is connected, so we need
this change to allow for separate avionics battery and main battery
with avionics battery powered on first
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 5cff4ce1c8 AP_BattMonitor: report arming unhealthy if backend unhealthy 
important for i2c based battery backends
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 7a8929086e Plane: improve target airspeed in landing approach 
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach

this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 4e2bddac47 Plane: base yaw in overshoot on target speed not scaled speed 
this prevents an oscillating due to the speed changing as we yaw,
resulting in a different yaw target
 2022-08-02 07:50:55 +10:00
Andrew Tridgell ffafa1f9aa Plane: improve target airspeed in landing approach 
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach

this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
 2022-08-02 07:50:55 +10:00
Andrew Tridgell 8db3df0cc1 Tools: adjust Dalby mission for VTOL_LAND distance 2022-08-02 07:50:55 +10:00
Andrew Tridgell 475283fb8a Plane: added an arming check for VTOL land too short 
this is meant to catch bad mission setup, especially for UGCS, which
planes waypoints right on top of the landing point
 2022-08-02 07:50:55 +10:00
Andrew Tridgell 11c9645d7d AP_AHRS: use wind from simulation if available with EKF type 10 2022-08-02 07:50:55 +10:00
Andrew Tridgell 5aff248950 SITL: fill in wind from flightaxis 2022-08-02 07:50:55 +10:00
Andrew Tridgell 77aefa4342 Plane: in overshoot allow up to the Q WP speed 
this prevents us using too much battery when we are a long way from
the landing point
 2022-08-02 07:50:55 +10:00
Andrew Tridgell f415a7675d Plane: limit target accel in POSITION1 
don't ask for more than 2* transition limit, and reset when we enter
overshoot case
 2022-08-02 07:50:55 +10:00
Andrew Tridgell a5582bf322 Plane: adjust target vector for wind in overshoot 
at low speeds we want to keep the nose pointed into the wind on
landings
 2022-08-02 07:50:55 +10:00
Andrew Tridgell dbc3744faa Plane: cope with overshoot in POSITION1 VTOL land state 
when we overshoot run a simple position controller that tries to point
the nose at the landing point and aims for the position2 speed
threshold
 2022-08-02 07:50:55 +10:00
Andrew Tridgell 693c9d9128 Plane: version to 4.2.2 2022-06-24 11:41:46 +10:00
Andrew Tridgell aed0c776a7 Plane: prepare for 4.2.2 stable 2022-06-24 11:41:12 +10:00
Andrew Tridgell 90b0471ddc Plane: fixed int8_t wrap with FWD_BAT_VOLT_MAX 
this could cause crazy throttle values when the ratio pushes us over
127
 2022-06-23 08:39:32 +10:00
Andrew Tridgell 9d4f0d3ec2 Plane: prepare for 4.2.2beta1 2022-06-17 14:08:10 +10:00
Andrew Tridgell b01ba1aa40 Plane: prepare for 4.2.2beta1 2022-06-17 14:07:00 +10:00
Randy Mackay c01cbed8b0 GCS_MAVLink: learn routes even on private channels 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2022-06-17 14:07:00 +10:00
Andrew Tridgell 49ab4b9e08 AP_Scripting: sync quicktune with master 2022-06-17 14:07:00 +10:00
Andy Piper 6f1d0a4e72 AP_GyroFFT: make sure the parameters are updated at least once on startup 2022-06-17 14:07:00 +10:00
Andy Piper a2318eea99 AP_Arming: make sure FFT gets initialized when arming checks are off 2022-06-17 14:07:00 +10:00
Andy Piper 733672ce18 bootloaders: add MambaF405-2022 bootloaders 2022-06-17 14:07:00 +10:00
Andy Piper 10d2136b5c Tools: add MambaF405 2022 MK4 2022-06-17 14:07:00 +10:00
Andy Piper 8233d24ff3 AP_HAL_ChibiOS: add support for MambaF405 2022 MK4 
mark DMA on MambaF405US-I2C UARTs
correct RSSI pin on MambaF405US-I2C
 2022-06-17 14:07:00 +10:00
Andy Piper 6f77e44f27 Tools: add MambaH743 to manifest generator 2022-06-17 14:07:00 +10:00