Andrew Tridgell
c89d3bfc07
hwdef: fixed rotation of bmi088 on Holybro6X
2022-08-02 18:03:52 +10:00
Andrew Tridgell
3754f36fac
AP_InertialSensor: re-enable notch filter on 42688
...
thanks to Andy for pointing out this is for an internal resonance
2022-08-02 18:03:52 +10:00
Andrew Tridgell
2a0b2d9919
AP_InertialSensor: enable 180Hz LPF on ICM42670
2022-08-02 18:03:52 +10:00
Andrew Tridgell
b0c8b65756
AP_InertialSensor: enable AAF at 488Hz for gyro+accel on ICM42688
...
this should improve vibration handling
2022-08-02 18:03:52 +10:00
Andrew Tridgell
4ed6ef56b7
AP_InertialSensor: added support for ICM42670 IMU
2022-08-02 18:03:52 +10:00
Andrew Tridgell
1263b63886
hwdef: fixed orientation of Pixhawk6X ICM42670
2022-08-02 18:03:52 +10:00
Andrew Tridgell
499cc99b1f
Tools: updated decode_devid.py
2022-08-02 18:03:52 +10:00
Andrew Tridgell
62a88100be
AP_BoardConfig: allow for BMI088 for Holybro 6X
...
and tighten check on CUAV-X6 and Holybro-6X to check all 3 IMUs
2022-08-02 18:03:52 +10:00
Andrew Tridgell
c9abea40be
hwdef: use right name for ICM42670 SPI device
2022-08-02 18:03:52 +10:00
Andrew Tridgell
d22e0a24d5
Plane: allow for throttle control in MANUAL when disarmed
...
pass base throttle down to ICE subsystem to allow for throttle when
disarmed in MANUAL
2022-08-02 18:03:52 +10:00
Andrew Tridgell
ca0141ec9d
AP_ICEngine: added option for throttle control while disarmed
...
this uses the passed in base throttle when disarmed
2022-08-02 18:03:52 +10:00
Andrew Tridgell
d0a35cb355
Plane: when ICE overrides throttle zero the vfwd integrator
2022-08-02 18:03:52 +10:00
Andrew Tridgell
46bd787a49
AP_ICEngine: added option to force low throttle on engine off
...
this fixes an issue with EFI engines that use low throttle demand to
stop the engine, instead of using an ignition channel. This option
needs to be set on these aircraft to prevent the idle governor or the
fwd throttle integrator in quadplanes from keeping the engine on when
the pilot asks for it to be off.
2022-08-02 18:03:52 +10:00
Andrew Tridgell
c7d1ca6036
Plane: don't failsafe when in RTL_AUTOLAND landing sequence
...
when in AUTO and already in the landing sequence then don't trigger a
failsafe
2022-08-02 18:03:52 +10:00
Andrew Tridgell
ca932e26d1
hwdef: MFE-PixSurveyA1 rename PixSurveyA1
2022-08-02 18:03:52 +10:00
xiao
1f58408110
HAL_ChibiOS: hwdef: add new hardware MFE-PixSurveyA1
2022-08-02 18:03:52 +10:00
Andrew Tridgell
f13da57c7d
Plane: fixed combination of passby and acceptance dist WP
...
when a user sets a passby distance we should calculate the turn point
based on the extrapolated distance, not the original waypoint
also simplify the passby logic using offset_bearing()
2022-08-02 18:03:52 +10:00
Andrew Tridgell
2bfbe2b3c0
Tools: updated Pixhawk6X bootloader
2022-08-02 18:03:52 +10:00
Andrew Tridgell
202e606892
hwdef: changed Pixhawk6C board type to 56
...
production bootloader uses 56
2022-08-02 18:03:52 +10:00
Andy Piper
e058103bda
AP_HAL_ChibiOS: hwdef for Foxeer Reaper F745v2.
...
README for Reaper F745v2
2022-08-02 18:03:52 +10:00
Andy Piper
f65b6321c7
bootloaders: add Foxeer Reaper F745 v2
2022-08-02 18:03:52 +10:00
Andrew Tridgell
cf3e7aff58
hwdef: added telem3 on Pixhawk6X
2022-08-02 18:03:52 +10:00
Andrew Tridgell
dfe5c82361
Plane: fixed check for fixed wing approach QRTL start
...
ensure we are lined up, or we are at less than 0.5 of radius before we
switch to QRTL. This fixes the case where the stopping distance is
greater than the radius, prevening us from switching to QRTL while not
lined up with the landing point
2022-08-02 18:03:52 +10:00
Andrew Tridgell
a4a057a660
hwdef: added Pixhawk6C support
2022-08-02 18:03:52 +10:00
Andrew Tridgell
7515c82c55
Tools: added Pixhawk6C bootloader
2022-08-02 18:03:52 +10:00
Andrew Tridgell
573da3882b
AP_Compass: HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE for Pixhawk6C
2022-08-02 18:03:52 +10:00
Andrew Tridgell
adcd7850c0
AP_Compass: removed "AK09916 Wrong id" message
...
we don't need this on every board that doesn't have an I2C AK09916
2022-08-02 18:03:52 +10:00
Andrew Tridgell
5bd665370d
hwdef: fixed Pixhawk6X ALT_RAM_MAP check
2022-08-02 18:03:52 +10:00
Andrew Tridgell
c969578970
hwdef: added Pixhawk6X support
...
a new H753 based board similar to the Pixhawk5X
2022-08-02 18:03:52 +10:00
Andrew Tridgell
d82c7a7221
HAL_ChibiOS: added support for ALT_RAM_MAP on H7
...
for compatibility with the px4 H7 bootloader
2022-08-02 18:03:52 +10:00
Andrew Tridgell
669c16a114
HAL_ChibiOS: enable ITCM and DTCM on H7 at startup
...
these may have been disabled by the px4 H7 bootloader
2022-08-02 18:03:52 +10:00
Andrew Tridgell
462cb806ec
Tools: added Pixhawk6X bootloader
2022-08-02 18:03:52 +10:00
Andrew Tridgell
fe9d33b945
AP_BattMonitor: make healthy() check all configured monitors
...
GCS reporting for SYS_STATUS should check all healthy, not just first
backend
2022-08-02 18:03:52 +10:00
Andrew Tridgell
84db86ed2c
AP_BattMonitor: allow INA2xx battery monitors to be powered after boot
...
the device doesn't show up till main battery is connected, so we need
this change to allow for separate avionics battery and main battery
with avionics battery powered on first
2022-08-02 18:03:52 +10:00
Andrew Tridgell
5cff4ce1c8
AP_BattMonitor: report arming unhealthy if backend unhealthy
...
important for i2c based battery backends
2022-08-02 18:03:52 +10:00
Andrew Tridgell
7a8929086e
Plane: improve target airspeed in landing approach
...
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach
this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
2022-08-02 18:03:52 +10:00
Andrew Tridgell
4e2bddac47
Plane: base yaw in overshoot on target speed not scaled speed
...
this prevents an oscillating due to the speed changing as we yaw,
resulting in a different yaw target
2022-08-02 07:50:55 +10:00
Andrew Tridgell
ffafa1f9aa
Plane: improve target airspeed in landing approach
...
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach
this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
2022-08-02 07:50:55 +10:00
Andrew Tridgell
8db3df0cc1
Tools: adjust Dalby mission for VTOL_LAND distance
2022-08-02 07:50:55 +10:00
Andrew Tridgell
475283fb8a
Plane: added an arming check for VTOL land too short
...
this is meant to catch bad mission setup, especially for UGCS, which
planes waypoints right on top of the landing point
2022-08-02 07:50:55 +10:00
Andrew Tridgell
11c9645d7d
AP_AHRS: use wind from simulation if available with EKF type 10
2022-08-02 07:50:55 +10:00
Andrew Tridgell
5aff248950
SITL: fill in wind from flightaxis
2022-08-02 07:50:55 +10:00
Andrew Tridgell
77aefa4342
Plane: in overshoot allow up to the Q WP speed
...
this prevents us using too much battery when we are a long way from
the landing point
2022-08-02 07:50:55 +10:00
Andrew Tridgell
f415a7675d
Plane: limit target accel in POSITION1
...
don't ask for more than 2* transition limit, and reset when we enter
overshoot case
2022-08-02 07:50:55 +10:00
Andrew Tridgell
a5582bf322
Plane: adjust target vector for wind in overshoot
...
at low speeds we want to keep the nose pointed into the wind on
landings
2022-08-02 07:50:55 +10:00
Andrew Tridgell
dbc3744faa
Plane: cope with overshoot in POSITION1 VTOL land state
...
when we overshoot run a simple position controller that tries to point
the nose at the landing point and aims for the position2 speed
threshold
2022-08-02 07:50:55 +10:00
Andrew Tridgell
693c9d9128
Plane: version to 4.2.2
2022-06-24 11:41:46 +10:00
Andrew Tridgell
aed0c776a7
Plane: prepare for 4.2.2 stable
2022-06-24 11:41:12 +10:00
Andrew Tridgell
90b0471ddc
Plane: fixed int8_t wrap with FWD_BAT_VOLT_MAX
...
this could cause crazy throttle values when the ratio pushes us over
127
2022-06-23 08:39:32 +10:00
Andrew Tridgell
9d4f0d3ec2
Plane: prepare for 4.2.2beta1
2022-06-17 14:08:10 +10:00
