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48574 Commits

Author SHA1 Message Date
Andrew Tridgell af654f0cb7 AP_RCProtocol: raise SBUS frame gap 
cope with UART input for newer SBUS receivers
 2022-01-31 19:40:42 +09:00
Andrew Tridgell 6869a0b0a2 AP_GPS: drop default GPS lag to 0.1s 
this impacts UAVCAN GPS modules, which these days usually have at
least u-blox M8
 2022-01-31 19:40:42 +09:00
Andrew Tridgell b63ca21a5e Plane: fixed use of expo values in radio 
backport of https://github.com/ArduPilot/ardupilot/pull/19751
 2022-01-31 19:40:42 +09:00
Andrew Tridgell b3e2958995 AP_Filesystem: fixed a param ftp bug 
if param count changes we need to zero the file size
 2022-01-31 19:40:42 +09:00
Andrew Tridgell f67f5a3c95 Plane: prepare for 4.1.6 release 2022-01-31 19:40:42 +09:00
Andrew Tridgell b10686e599 Plane: update release notes for 4.1.6 2022-01-31 19:40:42 +09:00
Andrew Tridgell 97cb2dd1c0 AP_NavEKF3: fixed gaps in EKF logging 
timestamps should not be static as otherwise some lanes will not be
logged
 2022-01-31 19:40:42 +09:00
Andrew Tridgell 6cf2522990 AP_BattMonitor: fixed a segv with BATT_MONITOR=14 
this causes a hang on boot on some boards
 2022-01-31 19:40:42 +09:00
Andrew Tridgell 4f61f4e3fa Plane: add a low pass filter to speed scaler 
this is needed due to the filtering done on the target rate in
AC_PID. With a low filter rate in AC_PID a step in the speed scaler
results in a step in the FF output due to the mismatch in the
instantaneous SS and the filtered target rate
 2022-01-31 19:40:42 +09:00
Randy Mackay 2fb939a1ca Copter: version to 4.1.3 2021-12-31 14:01:03 +09:00
Randy Mackay 91073966a5 Copter: 4.1.3 release notes 2021-12-31 14:00:30 +09:00
Randy Mackay c8dca51a80 Copter: version to 4.1.3-rc1 2021-12-22 10:03:38 +09:00
Randy Mackay 76b8b4e11b Copter: 4.1.3-rc2 release notes 2021-12-22 10:03:38 +09:00
Andrew Tridgell d5d70ff302 Plane: prepare for 4.1.6beta1 2021-12-22 10:03:38 +09:00
Andrew Tridgell 8372701191 Plane: update release notes for 4.1.6beta1 2021-12-22 10:03:38 +09:00
Mingchen Zhang 83db4e56d0 AP_SmartAudio: fix a bug that would starve the lower priority thread, such as scripting. 2021-12-21 11:29:57 +11:00
Andrew Tridgell 8c09da0ee6 AC_AutoTune: limit autotune target rates to parameter limits 
this makes it safer to autotune a large vehicle which may become
unstable at very high target rates
 2021-12-21 11:29:57 +11:00
Andrew Tridgell 3233528e37 AC_AttitudeControl: added get_ang_vel_yaw_max_rads() 2021-12-21 11:29:57 +11:00
Andrew Tridgell a1ede5d2a3 AP_NavEKF3: Add missing covariance row reset 2021-12-21 11:29:57 +11:00
Andrew Tridgell fde9083d9c AP_InertialSensor: added support for IIM-42652 and ICM-40605 sensors 
handle new Invensense v3 sensor types
 2021-12-21 11:29:57 +11:00
Andrew Tridgell 65563ece66 AP_InertialSensor: added support for ICM-20608-D sensor 2021-12-21 11:29:57 +11:00
Andrew Tridgell 14ccee4991 AP_RCTelemetry: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:27:16 +11:00
Andrew Tridgell 0a018c323c AP_RangeFinder: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:27:16 +11:00
Andrew Tridgell f516977491 AP_Proximity: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:27:16 +11:00
Andrew Tridgell b79962f38e AP_ADSB: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:27:16 +11:00
Andrew Tridgell a69cf0c936 AP_RCProtocol: fixed multi-protocol search with added uart 2021-12-21 11:27:16 +11:00
Andrew Tridgell d8ffd01145 AP_SerialManager: added have_serial() method 
this checks if we have the protocol without setting the options on the
uart
 2021-12-21 11:27:16 +11:00
Andrew Tridgell 3dc4cdd6af AP_BoardConfig: disable STLink debug pins by default 
this avoids leaving the debug pins in a state where they may be
vulnerable to ESD issues
 2021-12-21 11:24:17 +11:00
Randy Mackay e8c7b63713 Copter: version to 4.1.3-rc1 2021-12-18 12:17:22 +09:00
Randy Mackay 9f276ba66b Copter: 4.1.3-rc1 release notes 2021-12-18 12:17:22 +09:00
Bill Geyer bc29005308 AP_Motors: add spool down complete flag 2021-12-18 12:17:22 +09:00
Andrew Tridgell 5d40d11993 Plane: prepare for 4.1.5 release 2021-12-18 12:17:22 +09:00
Andrew Tridgell 12d3b09691 Plane: updated release notes for 4.1.5 2021-12-18 12:17:22 +09:00
Andrew Tridgell 9606527edd AP_UAVCAN: use soft armed state for DroneCAN ARMING_STATUS 
this fixes motortest on quadplanes, so that ESCs see an armed state
during the test
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 32a4d9c9b8 Plane: prepare for 4.1.5beta1 2021-12-18 12:17:22 +09:00
Andrew Tridgell 7b1bfdd956 Plane: release notes for 4.1.5beta1 2021-12-18 12:17:22 +09:00
Andrew Tridgell ab4fb4a7de HAL_ChibiOS: use a 16 bit sysinterval_t on 16 bit timers 
prevent mixed size subtraction errors
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 39d7447695 Plane: reset VTOL takeoff if not armed 
we need to reset the takeoff target position while disarmed so we
don't use spurious position information from before we get good GPS
lock.

also remove the "Resetting previous waypoint" message as it doesn't
provide useful information and is just a distraction (it would be
printed continuously while waiting for arming with this PR)
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 9ee5912e8b Plane: fixed reset of steering locked course 
reset when we have not been steering for 1s, to ensure that an old
locked course is not used
 2021-12-18 12:17:22 +09:00
Peter Barker f9496843de autotest: comment out probably-defunct test 2021-12-18 12:17:22 +09:00
Peter Barker c20b20ec17 AC_Fence: void index when overwriting fence count on fencepoint-close 2021-12-18 12:17:22 +09:00
Andrew Tridgell 09bc81e846 AC_Fence: fixed fence count for old upload 
when uploading a fence that is smaller than an old fence we were not
correctly setting the inclusion fence size.
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 5fc3cae33a APM_Control: make 2nd reduction of P smaller 
this prevents severe P reductions when we get a small oscillation
glitch after we've already got the primary P gain
 2021-12-18 12:17:22 +09:00
李孟晓 0cdd775d24 CUAV-X7: Add servo voltage detection pin 2021-12-18 12:17:22 +09:00
Andrew Tridgell 349a035702 AP_AHRS: fixed switching airspeed sensor based on EKF3 affinity (for 4.1) 
we need to use the EKF selected airspeed sensor when the EKF is setup
to run a different sensor on each lane
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 2d4e056db0 Plane: prepare for 4.1.4 release 2021-12-18 12:17:22 +09:00
Andrew Tridgell 22942f5874 Plane: updated release notes for 4.1.4 2021-12-18 12:17:22 +09:00
Andrew Tridgell 0ed40ffa8b AC_AttitudeControl: fixed limiting of throttle mix values 
use constrain instead of reset to keep as much of user requested value
as possible

also raise limit for MIX_MIN to 0.5 after discussion with Leonard
 2021-12-18 12:17:22 +09:00
Andrew Tridgell 477599b3d7 Plane: limiting POS1 landing target speed 
prevent very high target speeds when the target velocity profile is
above the initial speed in POSITION1. Always allow up to 2*Q_WP_SPEED,
but don't go above the initial speed
 2021-12-18 12:17:22 +09:00
Andrew Tridgell e95c4658a9 Plane: limited VFWD integrator to cruise throttle 
in some situations (such as when landing approach is disabled) the
vfwd integrator can wind up to extreme values. This can put a huge
load on an electric quadplane as it is running both forward and vtol
motors, and the downforce from being nose down can be extreme.

It should never need to go above the cruise throttle in any reasonable
situation, so limit it to cruise to ensure we don't apply too much
forward throttle
 2021-12-18 12:17:22 +09:00