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48618 Commits

Author SHA1 Message Date
Randy Mackay 714cb94457 Copter: version to 4.1.3-rc1 2021-12-18 12:17:38 +09:00
Randy Mackay 8f458fcb9f Copter: 4.1.3-rc1 release notes 2021-12-18 12:17:38 +09:00
Bill Geyer 814c52fbb7 AP_Motors: add spool down complete flag 2021-12-18 12:17:38 +09:00
Andrew Tridgell f8cde71389 Plane: prepare for 4.1.5 release 2021-12-18 12:17:38 +09:00
Andrew Tridgell 36e4df2496 Plane: updated release notes for 4.1.5 2021-12-18 12:17:38 +09:00
Andrew Tridgell 3b25bc3edb 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 12:17:38 +09:00
Andrew Tridgell e9eac12faa Plane: prepare for 4.1.5beta1 2021-12-18 12:17:38 +09:00
Andrew Tridgell c955a09524 Plane: release notes for 4.1.5beta1 2021-12-18 12:17:38 +09:00
Andrew Tridgell 07cff1ce1b HAL_ChibiOS: use a 16 bit sysinterval_t on 16 bit timers 
prevent mixed size subtraction errors
 2021-12-18 12:17:38 +09:00
Andrew Tridgell a5c6ecb7ea 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 12:17:38 +09:00
Andrew Tridgell b0bc29272a 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 12:17:38 +09:00
Peter Barker b4d1689825 autotest: comment out probably-defunct test 2021-12-18 12:17:38 +09:00
Peter Barker 0a1191ea1f AC_Fence: void index when overwriting fence count on fencepoint-close 2021-12-18 12:17:38 +09:00
Andrew Tridgell 50c14e62cf 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 12:17:38 +09:00
Andrew Tridgell 0a8bd53f5e 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 12:17:38 +09:00
李孟晓 9814580149 CUAV-X7: Add servo voltage detection pin 2021-12-18 12:17:38 +09:00
Andrew Tridgell 7f84e296a6 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 12:17:38 +09:00
Andrew Tridgell a724f6910e Plane: prepare for 4.1.4 release 2021-12-18 12:17:38 +09:00
Andrew Tridgell 1a682dfdfb Plane: updated release notes for 4.1.4 2021-12-18 12:17:38 +09:00
Andrew Tridgell 2924ae76da 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 12:17:38 +09:00
Andrew Tridgell e918c72705 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 12:17:38 +09:00
Andrew Tridgell 54122ffe84 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 12:17:38 +09:00
Andrew Tridgell 38a5feefb6 Plane: display VTOL pos1 state change when approach disabled 2021-12-18 12:17:38 +09:00
Andrew Tridgell b6d852ac13 Plane: added QRTL as RCn_OPTION 2021-12-18 12:17:38 +09:00
Andrew Tridgell f25918e170 RC_Channel: added QRTL mode on a switch 2021-12-18 12:17:38 +09:00
Andrew Tridgell 5a9c61b84c Plane: fixed chute release on low value of RC option 
only release on flag high
fixes #18843
 2021-12-18 12:17:38 +09:00
Randy Mackay 34cab60fb6 Rover: version to 4.1.2 2021-12-07 20:03:36 +09:00
Randy Mackay 6abeb949d0 Rover: 4.1.2 release notes 2021-12-07 20:03:14 +09:00
Randy Mackay 493de243f9 Copter: version to 4.1.2 2021-12-07 20:01:15 +09:00
Randy Mackay 4934c15c03 Copter: 4.1.2 release notes 2021-12-07 20:01:15 +09:00
Randy Mackay 63175b2aeb Rover: version to 4.1.2-rc1 2021-11-29 19:02:57 +09:00
Randy Mackay b22b2a40fa Rover: 4.1.2-rc1 release notes 2021-11-29 19:02:57 +09:00
Randy Mackay 0463af3a83 Copter: version to 4.1.2-rc1 2021-11-29 19:02:57 +09:00
Randy Mackay 1bbeceb882 Copter: 4.1.2-rc1 release notes 2021-11-29 19:02:57 +09:00
Andy Piper de27e2ce25 AP_Vehicle: correct update_dynamic_notch_at_specified_rate() 2021-11-29 19:02:57 +09:00
Andy Piper 187a12103c AP_Vehicle: make sure notch update rate is configurable 2021-11-29 19:02:57 +09:00
Andy Piper 476713f9e3 Filter: set output slew rate to zero when max is zero. 2021-11-29 19:02:57 +09:00
Andy Piper fddd555b9a autotest: set SMAX during autotune test 2021-11-29 19:02:57 +09:00
Andy Piper facd9614b8 AC_AutoTune: set slew rate to 0 while twitching 2021-11-29 19:02:57 +09:00
Andy Piper 273ed18d34 AC_PID: add slew_rate modifier 2021-11-29 19:02:57 +09:00
Hwurzburg e3d7dd0776 AP_Motors: change H_COLL_HOVER to H_COL_HOVER for consistency 2021-11-29 19:02:57 +09:00
Randy Mackay aa7cce055f Copter: surface tracking timeout fix 
also restructure update_surface_offset and add comments

Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2021-11-29 19:02:57 +09:00
torsten 7f4e3aebe3 AP_FETtecOneWire: reset buf_used 
if byte is missing due to electrical noise it can now resync
 2021-11-29 19:02:57 +09:00
Peter Barker 60c51cd509 autotest: FETtec tests: give vehicle a chance to realise ESCs are dead 
Should remove the race condition where we disable an ESC but the vehicle
doesn't realise and lets the vehicle arm.

Also, waiting this long causes the ESCs to just go missing, not give a
telemetry failure
 2021-11-29 19:02:57 +09:00
Dr.-Ing. Amilcar do Carmo Lucas b9b988fff4 AP_FETtecOneWire: Do not write to the UART buffer if the previous transfer did not complete yet 
Required for stable operation on F4 processors
 2021-11-29 19:02:57 +09:00
Andy Piper 98c03b498d AP_HAL_ChibiOS: return correct value for tx_pending(). 2021-11-29 19:02:57 +09:00
Dr.-Ing. Amilcar do Carmo Lucas c88d91bdc1 AP_HAL_ChibiOS: disable FETtec OneWire device driver 2021-11-29 19:02:57 +09:00
Dr.-Ing. Amilcar do Carmo Lucas dda50fffed AP_Arming: call fettec prearm checks 2021-11-29 19:02:57 +09:00
Peter Barker ac844ccde2 autotest: add test for FETtec OneWire ESCs 
make sure the SERVO_FWT_MASK is valid:
  - it can have bit gaps between active channels, but channels higher than 12 are not allowed (AP_EST_TELEM limitation)
  - Explain that the FETtec ESC IDs inside the FETtec Firmware need to be contiguous and start at 1.
add tests for ESC power outages
add test that safety switch zeroes PWM for FETtec ESC
a gap in the beginning of the SERVO_FTW_MASK is now allowed, test it
 2021-11-29 19:02:57 +09:00
Peter Barker bc6b412083 SITL: add simulated FETtec ESC 2021-11-29 19:02:57 +09:00