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52566 Commits

Author SHA1 Message Date
Randy Mackay 624889e456 Rover: version to 4.2.0-rc4 2022-06-17 14:07:00 +10:00
Randy Mackay c9654de4d7 Rover: 4.2.0-rc4 release notes 2022-06-17 14:07:00 +10:00
Randy Mackay 65e342cf10 Copter: version to 4.2.0-rc4 2022-06-17 14:07:00 +10:00
Randy Mackay 5ecd6680dc Copter: 4.2.0-rc4 release notes 2022-06-17 14:07:00 +10:00
Leonard Hall 272e82bf53 Copter: Dissable yaw slew in loiter 2022-06-17 14:07:00 +10:00
Leonard Hall c9f1b8912c AC_AttitudeControl: Allow diabling of slew limit 2022-06-17 14:07:00 +10:00
Bill Geyer 78c50bf0bb Copter: fix position ctrl init for guided takeof 2022-06-17 14:07:00 +10:00
Randy Mackay 3c7421d895 Copter: vibration compensation turns off in manual modes 2022-06-17 14:07:00 +10:00
Randy Mackay 10cc9b3ce4 Rover: version to 4.2.0-rc3 2022-06-17 14:07:00 +10:00
Randy Mackay 5c875d8293 Rover: 4.2.0-rc3 release notes 2022-06-17 14:07:00 +10:00
Randy Mackay db362077b2 Copter: version to 4.2.0-rc3 2022-06-17 14:07:00 +10:00
Randy Mackay 9381e42ef9 Copter: 4.2.0-rc3 release notes 2022-06-17 14:07:00 +10:00
Andrew Tridgell 0f230ee4c6 AP_InertialSensor: call notch param update with semaphore held 2022-06-17 14:07:00 +10:00
Andrew Tridgell c06f69e77d AP_GyroFFT: added defaults for FFT with no notch 
allow for testing with FFT enabled, and defaulting number of
frequencies to look for
 2022-06-17 14:07:00 +10:00
Andrew Tridgell 85db0c498b AP_InertialSensor: fixed the last notch values to be per-instance 
thanks to Andy for noticing this
 2022-06-17 14:07:00 +10:00
Andrew Tridgell a6dd296cc8 AP_GyroFFT: skip disabled notches 2022-06-17 14:07:00 +10:00
Andrew Tridgell 7b08a6c00c AP_InertialSensor: don't update disabled notches 2022-06-17 14:07:00 +10:00
Andrew Tridgell 66ad3051c3 AP_GyroFFT: allow for 2 FFT based notches 2022-06-17 14:07:00 +10:00
Andrew Tridgell 975fc6b70d AP_Vehicle: implement common harmonic notch update code 2022-06-17 14:07:00 +10:00
Andrew Tridgell 5f2cc8960d Plane: moved harmonic notch update code to AP_Vehicle 2022-06-17 14:07:00 +10:00
Andrew Tridgell 2a5d662d84 Copter: moved harmonic notch update code to AP_Vehicle 2022-06-17 14:07:00 +10:00
Andrew Tridgell f8c1c39868 AP_RPM: use HarmonicNotch class 2022-06-17 14:07:00 +10:00
Andrew Tridgell 5080c32197 AP_GyroFFT: use HarmonicNotch class 2022-06-17 14:07:00 +10:00
Andrew Tridgell d893d9bc89 AP_Arming: use HarmonicNotch class 2022-06-17 14:07:00 +10:00
Andrew Tridgell e799649e6c AP_InertialSensor: switch to HarmonicNotch class 
this makes the logic much easier to follow, without indexes into
arrays
 2022-06-17 14:07:00 +10:00
Andrew Tridgell 1de23e564e Filter: removed parameters from the old notch filter 
saves some flash space
 2022-06-17 14:07:00 +10:00
Andrew Tridgell e763386651 AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT 2022-06-17 14:07:00 +10:00
Andrew Tridgell 0467c1aef6 AP_Arming: added arming check for conflicting notch modes 2022-06-17 14:07:00 +10:00
Andrew Tridgell a23a25f6b3 Plane: param conversion for INS_NOTCH to INS_HNTC2 2022-06-17 14:07:00 +10:00
Andrew Tridgell b429bb7b98 Filter: clarify meaning of 1st harmonic 2022-06-17 14:07:00 +10:00
Andrew Tridgell 5e1489eeff Plane: support harmonic notch on 2nd RPM sensor 2022-06-17 14:07:00 +10:00
Andrew Tridgell 711ec6ce70 Copter: support harmonic notch on 2nd RPM sensor 2022-06-17 14:07:00 +10:00
Andrew Tridgell 559f4c00c3 Filter: added RPM2 harmonic notch type 2022-06-17 14:07:00 +10:00
Andrew Tridgell a617057f36 Copter: update for changed INS_NOTCH parameter name 2022-06-17 14:07:00 +10:00
Andrew Tridgell e894dfe339 Plane: support two full harmonic notch filters 2022-06-17 14:07:00 +10:00
Andrew Tridgell 4c5ea5dfdf Copter: support two full harmonic notch filters 2022-06-17 14:07:00 +10:00
Andrew Tridgell f9de6dff1c AP_Vehicle: support two full harmonic notch filters 2022-06-17 14:07:00 +10:00
Andrew Tridgell 3d025a7c5c AP_RPM: support two full harmonic notch filters 2022-06-17 14:07:00 +10:00
Andrew Tridgell 25d00e433e AP_InertialSensor: support two full harmonic notch filters 2022-06-17 14:07:00 +10:00
Andrew Tridgell 54a5bd007d Plane: prepare for 4.2.1 release 2022-05-23 17:36:17 +10:00
Andrew Tridgell b8ed81ca5f Plane: release notes for 4.2.1 2022-05-23 17:35:21 +10:00
Andrew Tridgell 031f69df15 Plane: fixed false positive in landing detector 
this fixes a case where we can get false positive on the landing
detector for quadplanes.

The issue happens if we cross the LAND_DESCEND to LAND_FINAL threshold
while pilot repositioning is active, with stale information in
landing_detect.lower_limit_start_ms as we don't run should_relax() in
LAND_DESCEND
 2022-05-23 17:35:21 +10:00
Andrew Tridgell 2d0cfb3fad AP_BoardConfig: expose BRD_SAFETYENABLE on all boards 
default BRD_SAFETYENABLE to 0 on boards with no safety switch, which
gives us the same behaviour as before, but users can choose to enable
the safety

this fixes two problems:

  - CAN servos and ESCs work on boards with no safety switch
    (eg. MatekH743 with CAN)

  - during startup we could get spurious outputs before out aircraft
    type is setup
 2022-05-23 17:35:21 +10:00
Andrew Tridgell 9a5e8d3927 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-23 17:35:21 +10:00
Andrew Tridgell bd22f0073c Plane: prepare for 4.2.1beta1 2022-05-19 17:10:04 +10:00
Andrew Tridgell 2fadfa8690 Plane: update release notes for 4.2.1beta1 2022-05-19 17:10:04 +10:00
Andrew Tridgell d4146a1672 Plane: cope with QGC retrying AUTO mode 
QGC tries several times to enter AUTO even when it is refused. We need
to keep refusing
 2022-05-19 17:09:45 +10:00
Andrew Tridgell 80c27a426c autotest: don't try to arm in RTL mode for quadplanes 2022-05-19 17:09:45 +10:00
Andrew Tridgell 9f187c0711 AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter 
this allows for an offset in ESC numbering for much more efficient CAN
bandwidth usage.

For example, on a coaxial OctoQuad quadplane the ESCs are typically
setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN
buses, with one CAN bus for the top layer and the one bus for the
bottom layer (allowing for VTOL flight with one bus failed).

Without this offset parameter you would be sending RawCommand messages
like this:

bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]

this is very wasteful of bus bandwidth, with bus1 using 3x the
bandwidth it should and bus2 using 4x the bandwidth it should (the
above will take 3 can frames for bus1, and 4 can frames for bus 2)

With this patch you can set:

CAN_D1_UC_ESC_OF = 4
CAN_D2_UC_ESC_OF = 8

and you will get this on the bus:

bus1: [ ESC1, ESC2, ESC3, ESC4 ]
bus2: [ ESC1, ESC2, ESC3, ESC4 ]

that takes just 1 can frame per send on each bus
 2022-05-19 17:09:45 +10:00
Andrew Tridgell defe800745 Copter: allow VTOL_TAKEOFF and VTOL_LAND as synonyms 
this allows is_takeoff_next() to be in common, and reduces confusion
if user selects VTOL_TAKEOFF in a GCS mission editor
 2022-05-19 17:09:45 +10:00