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57,200 Commits 71 Branches 509 Tags 717 MiB
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57200 Commits

Author SHA1 Message Date
Andrew Tridgell a3f1ccb5e2 AP_Scripting: fixed lua-check warnings in VTOL-quicktune 2023-07-04 12:16:30 +09:00
Andrew Tridgell 8ecc43ddbc AP_Scripting: fixed use of QUIK_ENABLE in VTOL-quicktune 
this was lost when the cached access was added
 2023-07-04 12:16:30 +09:00
Andrew Tridgell fa18fc072b AP_Scripting: added QUIK_MAX_REDUCE parameter to VTOL-quicktune.lua 
this limits the amount that rate gains can reduce from the original
values in a quicktune. Large reductions in rate gains can be
incorrectly triggered by a frame resonance or gust of wind which can
result in gains that are dangerously low, which can trigger an angle P
oscillation
 2023-07-04 12:16:30 +09:00
Andrew Tridgell fa75c75b72 Plane: fixed transition started airspeed message 
this message was lost in recent refactoring
 2023-07-04 12:16:30 +09:00
Paul Riseborough b544081ee6 Plane: Fix bug that can cause early exit from loiter to alt and time wp's 
The check for the aircraft being lined up for a tangent exit has an early breakout condition if the next waypoint is too close to the loiter circle which can prevent the required ground course to waypoint ever being achieved. This check was using the WP_LOITER_RAD parameter value, not the actual radius being used which can be set differently by the mission plan. If a large value for WP_LOITER_RAD was set and being over-written by the mission plan with a smaller value compatible with the distance to the next waypoint, the aircraft would still exit early.
 2023-07-04 12:16:30 +09:00
Andrew Tridgell 61ed17b6c5 Plane: fixed TECS state reset in VTOL auto 
this fixes a bug where TECS maintains its slow integrator while in a
VTOL hover mode in AUTO or GUIDED.

Among other things this affects PAYLOAD_PLACE and
DO_VTOL_TRANSITION. In those states the height can change while
hovering outside the control of TECS. When TECS regains control in a
fwd transition then can lead to a very large height loss or gain until
the TECS integrator can catch up
 2023-07-04 12:16:30 +09:00
Randy Mackay 0f160ab331 Copter: version to 4.4.0-beta3 2023-07-04 12:16:30 +09:00
Randy Mackay 6c27cca17a Copter: 4.4.0-beta3 release notes 2023-07-04 12:16:30 +09:00
Randy Mackay 83a97df22e Rover: version to 4.4.0-beta3 2023-07-04 12:16:30 +09:00
Randy Mackay 880dcc1713 Rover: 4.4.0-beta3 release notes 2023-07-04 12:16:30 +09:00
Andy Piper ad5b8563b5 AP_HAL_ChibiOS: remove bdshot from speedybeef4 as it doesn't work and increases flash usage 2023-07-04 12:16:30 +09:00
Andy Piper 287053961c AP_HAL_ChibiOS: Pixhawk1-bdshot 2023-07-04 12:16:30 +09:00
Michael du Breuil 4cf19a74b4 AP_ADSB: Fix spam of lost transciever message at update() rate 2023-07-04 12:16:30 +09:00
Andy Piper 42e18db221 AC_AutoTune: correct incorrect min raw rate valuee 2023-07-04 12:16:30 +09:00
Andrew Tridgell dc690432f1 Tools: fixed RefindGPS test 
this test was relying on the EKF bug fixed in this PR. The copter was
actually fully landing and touching the ground in the LAND phase
whereas the original intention of this test was that it not touch the
ground in LAND. See the graph in
https://github.com/ArduPilot/ardupilot/pull/17104 where the test was
added
 2023-07-04 12:16:30 +09:00
Andrew Tridgell 1d686ff806 AP_NavEKF3: fixed velocity reset on AID_NONE 
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
 2023-07-04 12:16:30 +09:00
Andrew Tridgell 6db228900b AP_NavEKF2: fixed velocity reset on AID_NONE 
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
 2023-07-04 12:16:30 +09:00
Stephen Dade fba9098f8f Rover: Lower minimum circle tracking distance 2023-07-04 12:16:30 +09:00
Peter Barker e363438c23 AP_Arming: reword GPS pre-arm failure 
M10S (no storage) throws this for a considerable period of time and the wording makes this process sound scary.
 2023-07-04 12:16:30 +09:00
Andy Piper 1d74020aac AP_HAL_ChibiOS: Pixhawk6X bdshot version 2023-07-04 12:16:30 +09:00
Andrew Tridgell c084381ff7 Plane: improved fwd throttle during VTOL landing 
this sets up the vwd integrator more reasonably when we are in
POSITION1 stage of VTOL landing. We need to have enough throttle to
cope with a headwind, but want it lower when we are at or above our
target closing speed so can minimise the amount of pitch up

This also makes the landing_desired_closing_velocity() consistent with
the landing speed used in approach, using average of airspeed min and
cruise speed if TECS_LAND_ARSPD is not set

The target airspeed for TECS during airbraking is now set to
ARSPD_FBW_MIN, on the basis we are trying to slow down to min speed,
and we have VTOL support which should prevent a stall.

To cope with a high headwind where ARSPD_FBW_MIN is below the headwind
we now check for too low achieved closing speed and switch to
POSITION1 which can use vfwd to get to the landing location
 2023-07-04 12:16:30 +09:00
Tatsuya Yamaguchi be105eb430 Copter: add has_user_takeoff in ZigZag mode 2023-07-04 12:16:30 +09:00
jfbblue0922 fbd77be980 AP_HAL_ChibiOS: jfb100 gets shorter EXT_WDOG_INTERVAL_MS 2023-07-04 12:16:30 +09:00
jfbblue0922 ce39ae40aa AP_HAL_CHibiOS: JFB100 hwdef fix for ext watchdog 2023-07-04 12:16:30 +09:00
jfbblue0922 7b60ac7afa AP_HAL_ChibiOS: support external watchdog gpio 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>

optional support to toggle GPIO pin at 10hz
 2023-07-04 12:16:30 +09:00
Andrew Tridgell cce16c9ada AP_GPS: fixed ublox M10S auto-config 
this copes with the M10S rejecting multiple-key VALGET calls. We fall
back to fetching one at a time
 2023-07-04 12:16:30 +09:00
Alexander Keller 6f38788575 AP_GPS:Comform to ardupilot undulation definition 2023-07-04 12:16:30 +09:00
davidsastresas eb5e86ecf0 GCS_Common: handle CMD_DO_SET_ROI_NONE for command int packets 2023-07-04 12:16:30 +09:00
Randy Mackay 954c3666cc AP_SerialManager: improve OPTIONS desc for Swap bit 2023-07-04 12:16:30 +09:00
Randy Mackay 5713560a81 AP_SerialManager: generalise SToRM32 serial protocol desc and enum 2023-07-04 12:16:30 +09:00
Henry Wurzburg 23d9d3fd40 Plane: Make mode takeoff entry climb to TKOFF_ALT before loitering 2023-07-04 12:16:30 +09:00
Iampete1 ea9e051220 AP_Motors: Heli RSC: remove incorrect set range call 2023-07-04 12:16:30 +09:00
Henry Wurzburg 697efb40de Plane: fix error in Qplane wait for rudder neutral 2023-07-04 12:16:30 +09:00
Henry Wurzburg 2dc76dc780 Tools: add Holybro KakuteH7-Wing 2023-07-04 12:16:30 +09:00
Henry Wurzburg 323ab6f5a1 AP_HAL_ChibiOS: add Holybro KakuteH7-Wing 2023-07-04 12:16:30 +09:00
Andrew Tridgell 12c5db057d Plane: prepare for 4.4.0beta2 2023-07-04 12:16:30 +09:00
Andrew Tridgell 8d862b7c5e Plane: adjust 4.4.0beta2 release notes 2023-07-04 12:16:30 +09:00
Randy Mackay 07f11531fd Copter: update 4.4.0-beta2 release notes 2023-06-08 09:29:59 +10:00
Randy Mackay 4a851693cd Rover: update 4.4.0-beta2 release notes 2023-06-08 09:29:59 +10:00
Randy Mackay 706bec1b2b github: remove elf_diff from checks we run 2023-06-08 09:29:59 +10:00
Randy Mackay 1ddff7eeb5 Copter: version to 4.4.0-beta2 2023-06-08 09:29:59 +10:00
Randy Mackay 8c34cb6dcb Copter: 4.4.0-beta2 release notes 2023-06-08 09:29:59 +10:00
Randy Mackay c5f359ef6e Rover: version to 4.4.0-beta2 2023-06-08 09:29:59 +10:00
Randy Mackay 21bc892be9 Rover: 4.4.0-beta2 release notes 2023-06-08 09:29:59 +10:00
Randy Mackay e4e3277146 Rover: add circle mode 
also auto mode support loiter turns
 2023-06-08 09:29:59 +10:00
Shiv Tyagi ea98e58dc6 Rover: add dock mode to INTIAL_MODE and MODE1 params 2023-06-08 09:29:59 +10:00
Randy Mackay 41b667ec0c Rover: auto mode format fix 2023-06-08 09:29:59 +10:00
Randy Mackay ec2cdda03e AR_PosControl: add input_pos_vel_accel target 2023-06-08 09:29:59 +10:00
Randy Mackay 7db0c888e4 AP_HAL_ChibiOS: JFB100 LED definition fix 2023-06-08 09:29:59 +10:00
Randy Mackay c74eea54c5 AP_InertialSensor: SCHA63T comment fix 2023-06-08 09:29:59 +10:00