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65321 Commits

Author SHA1 Message Date
Randy Mackay be1c87f3d1 Copter: zigzag uses desired xy instead of actual 2024-10-04 09:25:56 +09:00
Randy Mackay e06c9048e0 Tools: add copter pos offset test 2024-10-04 09:25:56 +09:00
Leonard Hall 4d116ceefe AR_PosControl: integrate PSC logging update 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-10-04 09:25:56 +09:00
Leonard Hall 399336f7ce AC_PID: AC_P_2D comment fix 2024-10-04 09:25:56 +09:00
Leonard Hall 6d2631811d Blimp: integrate PSC logging update 2024-10-04 09:25:56 +09:00
Leonard Hall 6db90646b9 Sub: updates for offset handling 2024-10-04 09:25:56 +09:00
Leonard Hall ae01a8f26d Plane: updates for offset handling 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-10-04 09:25:56 +09:00
Randy Mackay 7c35f967d9 Sub: auto integrates get-closest-point-on-edge dist 2024-10-04 09:25:56 +09:00
Randy Mackay 73dfeac547 AP_Scripting: copter-slung-payload suppresses oscillation 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2024-10-04 09:25:56 +09:00
Randy Mackay bff288d498 AP_Scripting: mavlink_msgs global-position-int and heartbeat 2024-10-04 09:25:56 +09:00
Randy Mackay 51ec6dfd73 AP_Scripting: add copter-posoffset example script 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2024-10-04 09:25:56 +09:00
Randy Mackay 0c81f111fb AP_Scripting: add set_posvelaccel_offset binding 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2024-10-04 09:25:56 +09:00
Leonard Hall 1c59ec8b94 Copter: PosHold supports offsets 2024-10-04 09:25:56 +09:00
Randy Mackay 5ca7daf915 Copter: payload place uses desired alt instead of actual 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2024-10-04 09:25:56 +09:00
Randy Mackay c38bbbd5f4 Copter: RTL path subtracts offsets 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2024-10-04 09:25:56 +09:00
Randy Mackay 0bcff6cec0 Copter: support set_posvelaccel_offset in auto 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2024-10-04 09:25:56 +09:00
Randy Mackay df2ae532c2 Copter: auto integrates get-closest-point-on-edge dist 2024-10-04 09:25:56 +09:00
Randy Mackay 91926674e9 Copter: minor comment fix to auto mode 2024-10-04 09:25:56 +09:00
Leonard Hall 37a7635c66 AC_Loiter: updates to offset handling 2024-10-04 09:25:56 +09:00
Randy Mackay e20c7edf68 AC_Loiter: optimise get-posvelaccel-target usage 2024-10-04 09:25:56 +09:00
Randy Mackay 2753b7030b AC_Circle: get-closest-point-on-circle returns dist 2024-10-04 09:25:56 +09:00
Randy Mackay 9ca47cf465 AC_Circle: integrate pos vel accel offsets 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2024-10-04 09:25:56 +09:00
Leonard Hall 9185b82b7a AC_WPNav: get_closest_point_on_circle uses is_positive 2024-10-04 09:25:56 +09:00
Randy Mackay 951ff473c3 AC_WPNav: support pos vel accel offsets 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2024-10-04 09:25:56 +09:00
Randy Mackay c706d01d7f AC_PosControl: implement singleton 2024-10-04 09:25:56 +09:00
Leonard Hall 9fb8a0f1ac AC_PosControl: support 3D pos, vel, accel offsets 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-10-04 09:25:56 +09:00
Peter Barker e40ae8e649 autotest: install terrain handlers in TerrainLoiter test 
needs terrain, was passing because previous tests were providing hte autopilot with the data
 2024-10-02 18:10:45 +10:00
Peter Barker 653aff7f8a Tools: split Plane tests into tests1a and tests1b 2024-10-02 18:10:45 +10:00
Peter Barker c330e8e824 .github: split Plane tests into tests1a and tests1b 2024-10-02 18:10:45 +10:00
Peter Barker 23513e3f9a Tools: use /usr/bin/env to find python3 
going directly to /usr/bin/python3 means we don't use the venv python
 2024-10-02 18:10:34 +10:00
Peter Barker 96f7d8a969 Plane: avoid calling quadplane methods if quadplane not available 
one block was guarded, the second not
 2024-10-02 17:18:46 +10:00
George Zogopoulos 68003a5eb4 AP_TECS: Reverted pitch limitation order 2024-10-02 17:09:07 +10:00
George Zogopoulos 121adf5f6d AP_TECS: Throttle limits refactor 2024-10-02 17:09:07 +10:00
George Zogopoulos 36991de2b8 autotest: Improved takeoff tests 
- Also added a ground rolling takeoff test.
- Rebased conflict resolution originating from https://github.com/ArduPilot/ardupilot/pull/28030
 2024-10-02 17:09:07 +10:00
George Zogopoulos 6ce6ef8fff Plane: Takeoff improvements 
- TAKEOFF and AUTO flight modes now should have identical takeoff
- Prevent behaviour switching past climb altitude in TAKEOFF mode.
- Refactor set_pitch_min/max methods.
  Max was already there, now renamed.
  Min is newly introduced.
  behaviour.
- Remove enforcement of min takeoff throttle logic from servos.cpp.
  It is now handled only by takeoff.cpp.
- Take TKOFF_LVL_ALT into consideration in AUTO as well.
- Fixed pitch setpoint when TKOFF_ROTATE_SPD>0.
- Roll navigation in mode TAKEOFF during climb should now work again.
- Now the TAKEOFF loiter waypoint is set by the bearing of the
aircraft while on TKOFF_LVL_ALT, as in the last stable release, instead
of TKOFF_ALT.
- Using TRIM_THROTTLE in takeoffs, when TKOFF_THR_MIN==0
 2024-10-02 17:09:07 +10:00
George Zogopoulos 880ebbcdad AP_TECS: Takeoff improvements 
- Refactor and split set_pitch_max_limit method.
- New _update_pitch_limits to encapsulate all relevant functionality.
- Automatically reset if pitch and throttle are overriden.
- nullified TAKEOFF alt_dem offset on external throttle.
- Simplify use of TKOFF_THR_MIN.
- Prevent takeoff altitude overshoot by capping the altitude setpoint offset.
- Move pitch limits after vertical acceleration limitation.
 2024-10-02 17:09:07 +10:00
Tarik 5ea787a46d Autotest: Modify look_for_wiggle to test for individual servo movements 2024-10-02 17:05:45 +10:00
Tarik 9d58bfb91e Plane: Stage control surface wiggles one after another 2024-10-02 17:05:45 +10:00
Peter Barker b73bef5b13 autotest: correct frame in reposition command 2024-10-02 12:10:16 +10:00
Bayu Laksono efe003743c AP_Notify: Add GPIO driver and buzzer 2024-10-01 21:06:39 -05:00
Bayu Laksono 6d672d42b9 AP_HAL_ESP32: Add GPIO driver and buzzer 2024-10-01 21:06:39 -05:00
Stephen Dade dad98d99eb Tools: Fix message rate setting in tests 2024-10-02 09:22:43 +10:00
Stephen Dade 9042e7de1a Tools: Add test for SET_MESSAGE_INTERVAL limiting 2024-10-02 09:22:43 +10:00
Stephen Dade 9a563e222f GCS_MAVLink: Check if set_message_interval is too fast 2024-10-02 09:22:43 +10:00
Willian Galvani 1a15e50434 CI: add navigator64 build 2024-10-02 06:18:32 +10:00
Willian Galvani 64b9d0ebea Tools: ardupilotwaf: add entry for 64bit versions of Navigator 2024-10-02 06:18:32 +10:00
Ryan Friedman 9d6190b4fd Tools: Do not use system packages on openSUSE 
* We only tested on apt, don't blindly change dev env stuff that's not
  tested in CI

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
 2024-10-01 16:00:56 +10:00
Ryan Friedman 1bdc635ba8 AP_DDS: Implement joystick support 
Signed-off-by: Ryan Friedman <ryan.friedman+github@avinc.com>
Co-Authored-by: Tiziano Fiorenzani
 2024-10-01 10:46:35 +10:00
Andrew Tridgell b6f20e3786 AP_Scripting: docs update 2024-10-01 10:45:10 +10:00
Andrew Tridgell 3bbde7c302 AP_Scripting: test update 2024-10-01 10:45:10 +10:00