Andy Piper
e47a22ccff
AP_Declination: ensure indexing into declination tables is always correct
...
add constants for table sizes
2022-03-30 11:37:41 +09:00
Tim Tuxworth
ebf5040bd2
Plane: Display Fence Breach message in GCS
...
Send a "Geofence breach" message to the Ground Control Station. Without this when the fence is breached and if anything happens as a result, such as RTL, it will happen silently.
2022-03-30 11:37:41 +09:00
Andrew Tridgell
4490af3bfe
Plane: adjust throttle mix for auto landing
...
use mix-max during landing approach and initial descent, use min in
land final. As discussed with Leonard
2022-03-30 11:37:41 +09:00
Peter Barker
f93f8daee7
autotest: set RL_AUTOLAND=1 for more tests
2022-03-30 11:37:41 +09:00
Andrew Tridgell
4003ddb2cb
autotest: adjust for RTL_AUTOLAND failure
2022-03-30 11:37:41 +09:00
Andrew Tridgell
a1e022cf59
Plane: check that RTL_AUTOLAND is set if using DO_LAND_START
2022-03-30 11:37:41 +09:00
Andrew Tridgell
b21203bfcf
AP_Arming: make mission checks virtual
2022-03-30 11:37:41 +09:00
Andrew Tridgell
9648323d0a
AP_Arming: display a warning if arming checks disabled when arming
2022-03-30 11:37:41 +09:00
Andrew Tridgell
2bbc197f42
Plane: added airspeed based pitch limit check
...
prevent using too much pitch when at low airspeed, which can lead to
severe instability in SLT quadplanes
2022-03-30 11:37:41 +09:00
Andrew Tridgell
fe5536fc49
Plane: added an arming check for Q_ASSIST_SPEED
...
Q_ASSIST should really be enabled for all non-tailsitter
quadplanes. This arming check will help users remember to configure it
2022-03-30 11:37:41 +09:00
Andrew Tridgell
2414fe6697
Plane: use set_lean_angle_max_cd()
...
allows for a wider range of Q_TRANS_DECEL while landing on the desired
landing point
2022-03-30 11:37:41 +09:00
Andrew Tridgell
9aa1442b32
AC_AttitudeControl: added set_lean_angle_max_cd()
2022-03-30 11:37:41 +09:00
Andrew Tridgell
41214331e1
AC_Autorotation: use accel_to_angle()
2022-03-30 11:37:41 +09:00
Andrew Tridgell
e3bddc4560
AC_WPNav: use angle/accel functions
2022-03-30 11:37:41 +09:00
Andrew Tridgell
ef6db75d5a
AP_Math: added angle_to_accel() and accel_to_angle()
2022-03-30 11:37:41 +09:00
Andrew Tridgell
507f344729
Plane: improvements to POSITION1 controller
...
this improves 4 things in the POSITION1 controller based on logs from
4.2.0beta2. The changes are designed to increase the tolerance to
an incorrect value for Q_TRANS_DECEL, reducing landing overshoot
1) we fix the initialisation of the acceleration. The
init_xy_controller() function assumes zero accel, so we need to
call set_accel_desired_xy_cmss() just after that init to get the
correct accel. Thanks to Leonard for this fix
2) if we decel more than expected due to too low Q_TRANS_DECEL we
need to reduce the target speed, rather than putting the nose down
3) lower the default Q_P_JERK_XY to a value more appropriate for most
quadplanes (Leonard suggested a value of 2)
4) fixed the pitch envelope from Q_BACKTRANS_MS to start after the
airbrake phase is complete
2022-03-30 11:37:41 +09:00
Andrew Tridgell
d65730f94f
Plane: fixed pitch envelope after AIRBRAKE
...
we need to setup last_fw_mode_ms and last_fw_nav_pitch_cd when we
enter POSITION1 mode so that the expanding envelope pitch limit from
Q_BACKTRANS_MS is applied correctly
2022-03-30 11:37:41 +09:00
Andrew Tridgell
d11cd68c27
Plane: prepare for 4.2.0beta2
2022-03-30 11:37:41 +09:00
Andrew Tridgell
dc12bb7c25
Plane: added release notes for 4.2.0beta2
2022-03-30 11:37:41 +09:00
Randy Mackay
5370afb839
Rover: version to 4.2.0-beta2
2022-03-12 08:01:18 +09:00
Randy Mackay
c8af00f985
Rover: 4.2.0-beta2 release notes
2022-03-12 08:01:18 +09:00
Randy Mackay
3c57f8ec4a
Copter: version to 4.2.0-beta2
2022-03-12 08:01:18 +09:00
Randy Mackay
15e87fc547
Copter: 4.2.0-beta2 release notes
2022-03-12 08:01:18 +09:00
Randy Mackay
e8b10f45ee
Copter: fix takeoff to terrain alt
2022-03-12 08:01:18 +09:00
Randy Mackay
1ab9cd1d86
Copter: rename auto_take_off_xx to auto_takeoff_xx
2022-03-12 08:01:18 +09:00
Andrew Tridgell
8cd961838e
Plane: protect against short stop_distance
2022-03-12 08:01:18 +09:00
Leonard Hall
f6e5a11571
AC_PosControl: Decay posiiton error during relax
2022-03-12 08:01:18 +09:00
Leonard Hall
7402444ffe
AC_AttitudeControl: AC_PosControl: add soften for landing
2022-03-12 08:01:18 +09:00
Iampete1
2a7e0e225e
Plane: quadplane: double log QPOS state change
2022-03-12 08:01:18 +09:00
Peter Barker
dab83e292e
Plane: use has_valid_input in place of checking throttle counter
2022-03-12 08:01:18 +09:00
Henry Wurzburg
1b7fe466cb
ArduPlane: clarify and simplify RC failsafe messages
2022-03-12 08:01:18 +09:00
Peter Barker
0a56aa5b17
ArduPlane: add RebootRequred to stream rate parameters
2022-03-12 08:01:18 +09:00
Peter Barker
0feed119cd
AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files
2022-03-12 08:01:18 +09:00
Andy Piper
875e5c232f
waf: move external flash binaries to regular name to aid publishing
2022-03-12 08:01:18 +09:00
Iampete1
034d5a048d
Rover: loiter: sailboats don't try and sail directly into the wind
2022-03-12 08:01:18 +09:00
m
eff8313edf
Copter: Pause/Continue in AUTO and GUIDED modes with SCurves
2022-03-12 08:01:18 +09:00
Leonard Hall
4bdfc0d88e
Copter: Add pause in guided mode
2022-03-12 08:01:18 +09:00
Leonard Hall
98fa2f35ae
Copter: WP Pause support
2022-03-12 08:01:18 +09:00
Leonard Hall
2aa3c0c478
Copter: tighten auto_takeoff_complete checks
2022-03-12 08:01:18 +09:00
Leonard Hall
b32072c130
Copter: remove loiter_nav from auto
2022-03-12 08:01:18 +09:00
Leonard Hall
806e82a603
Copter: auto and guided takeoff use postion controller
2022-03-12 08:01:18 +09:00
Leonard Hall
4d712d61dc
Copter: use position controller for landing reposition
2022-03-12 08:01:18 +09:00
Andrew Tridgell
bbfcf37d5d
AP_Math: fixed build error on cygwin
...
ensure variables are always initialised
2022-03-12 08:01:18 +09:00
Leonard Hall
1ccc2311ba
AP_Math: SCurve: Increase corner speeds
2022-03-12 08:01:18 +09:00
Leonard Hall
1386ac40cf
AP_Math: Convert S-Curves to use maximum Snap to remove minimum time between waypoints
2022-03-12 08:01:18 +09:00
Leonard Hall
9e7716273a
AC_WPNav: Support pause
2022-03-12 08:01:18 +09:00
Leonard Hall
ed11b95281
AC_WPNav: init optionally accepts stopping point
2022-03-12 08:01:18 +09:00
Leonard Hall
0de932345a
AC_Loiter: use Pos_Control soften_for_landing_xy
2022-03-12 08:01:18 +09:00
Leonard Hall
43d59769fe
AC_WPNav: Increase corner speeds
2022-03-12 08:01:18 +09:00
Leonard Hall
c16e736bc6
AC_WP_Nav: Convert S-Curves to use maximum Snap to remove minimum time between waypoints
2022-03-12 08:01:18 +09:00
