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62324 Commits

Author SHA1 Message Date
Andrew Tridgell d34c1940c4 AP_InertialSensor: stop sensors converging if motors arm 
if the user arms within 30s of startup then stop the re-init of the
sensors. This can give less accurate frequency as the sample rate may
not have settled yet, but it is better than doing init of the filters
while the vehicle may be flying

also fix a 32 bit millis wrap
 2024-12-03 16:39:50 +09:00
Andrew Tridgell 6a5889726c AP_InertialSensor: fixed Q calculation for notch filters 
when doing the init() we must use the reference frequency, not the
current frequency. Using the current frequency leaves us with an
incorrect value for Q. If the current frequency is below the reference
frequency (which shouldn't happen in 4.5, but has been seen in 4.3)
then the Q can be much too low and massive phase lag can happen.

The vulnerability in 4.5.x is that the current frequency could be well
above the reference frequency. For example, the user may be doing a
motor test at 30s after boot, which is when we stop the
sensors_converging() test, and thus is the last time we call
init(). In that case we can end up with a Q which is much larger than
the one that should come from INS_HNTCH_FREQ and INS_HNTCH_BW, and
thus end up with a filter that produces a lot less attenuation than is
desired, potentially leading to instability due to high noise.

There are other scenarios that can cause this - for example a motor
test of a fwd motor at 30s after boot, or a spurious FFT peak due to
someone knocking the aircraft, or the vibration of a IC engine.
 2024-12-03 16:39:48 +09:00
Willian Galvani f17cca848f AP_HAL: add BMP390 option for navigator 2024-11-05 10:07:25 +09:00
Randy Mackay 52bed8d542 Plane: version to 4.5.7 2024-10-16 10:47:47 +09:00
Randy Mackay 0a2459042f Plane: 4.5.7 release notes 2024-10-16 10:47:47 +09:00
Randy Mackay 9c7ec60a88 Copter: version to 4.5.7 2024-10-16 10:47:47 +09:00
Randy Mackay 133c23f44b Copter: 4.5.7 release notes 2024-10-16 10:47:47 +09:00
Randy Mackay 39389d5dd7 Rover: version to 4.5.7 2024-10-16 10:47:47 +09:00
Randy Mackay 917ab8fd01 Rover: 4.5.7 release notes 2024-10-16 10:47:47 +09:00
Randy Mackay f75fab8137 Tracker: version to 4.5.7 2024-10-16 10:47:47 +09:00
Randy Mackay b7066ab806 Tracker: 4.5.7 release notes 2024-10-16 10:47:47 +09:00
Randy Mackay 131e04e6a9 AP_GPS: revert backport to copter 4.5 the correct satellite count for NrSv do-not-use value 
This reverts commit 62fe90bb64.
 2024-10-16 10:47:47 +09:00
Randy Mackay 7b5ef6df77 Plane: version to 4.5.7-beta1 2024-09-27 14:19:56 +09:00
Randy Mackay bf2952f5ee Plane: 4.5.7-beta1 release notes 2024-09-27 14:19:56 +09:00
Randy Mackay 566d4073d0 Copter: version to 4.5.7-beta1 2024-09-27 14:19:56 +09:00
Randy Mackay 191eb1aa92 Copter: 4.5.7-beta1 release notes 2024-09-27 14:19:56 +09:00
Randy Mackay 50e8d9c7c6 Rover: version to 4.5.7-beta1 2024-09-27 14:19:56 +09:00
Randy Mackay f01765a2ab Rover: 4.5.7-beta1 release notes 2024-09-27 14:19:56 +09:00
Randy Mackay 7931174f48 Tracker: version to 4.5.7-beta1 2024-09-27 14:19:56 +09:00
Randy Mackay b2ac7a149e Tracker: 4.5.7-beta1 release notes 2024-09-27 14:19:56 +09:00
rishabsingh3003 6721f424d6 AP_Proximity: Include database push in MR72 driver 2024-09-27 14:19:56 +09:00
bugobliterator 4c01cbbbcd AP_DroneCAN: Fix constructor initialization order 
bad ordering was leading to dronecan dna server getting initialised before canard interface is initialised leading
 2024-09-27 14:19:56 +09:00
Andy Piper 129ca14ee3 AP_RCProtocol: only update rc value for GHST on rc frames 2024-09-27 14:19:56 +09:00
Andy Piper cceec91c7c AP_HAL_ChibiOS: correctly uninvert RX/TX on F4 with inverter support 2024-09-27 14:19:56 +09:00
Ferruccio Vicari 03035f081e AP_Motors: fix DDVP tail servo initialization 2024-09-27 14:19:56 +09:00
Peter Barker e7de1b9273 Plane: correct the ability to disable the takeoff atititude checks 2024-09-27 14:19:56 +09:00
Andrew Tridgell 929c46a647 waf: cope with CI python oddity 2024-09-27 14:19:56 +09:00
Andrew Tridgell 08d785d6a4 mavlink: support python 3.12 2024-09-27 14:19:56 +09:00
Andrew Tridgell 9c21aa1912 waf: update to 2.0.27 
this fixes python 3.12 support
 2024-09-27 14:19:56 +09:00
Andrew Tridgell 89cec11f6c DroneCAN: update libcanard 2024-09-27 14:19:56 +09:00
Andrew Tridgell c68a9cf26f AP_DroneCAN: prevent saturation of CPU with DroneCAN thread 2024-09-27 14:19:56 +09:00
Andrew Tridgell acee3f7594 HAL_ChibiOS: limit RX timeout to 100ms 
this prevents a very long timeout in begin(), replacement with a mutex
will happen in a separate PR
 2024-09-27 14:19:56 +09:00
caijie f1bdb1dffc bootloaders: add VUAV-V7pro 2024-09-27 14:19:56 +09:00
caijie f07865c40e AP_HAL_ChibiOS: add VUAV-V7pro 2024-09-27 14:19:56 +09:00
Chiara de Saint Giniez eff242a7c7 AP_GPS: backport to copter 4.5 the correct satellite count for NrSv do-not-use value 2024-09-27 14:19:56 +09:00
Ryan Friedman b43c139752 AP_DDS: Correct compilation of tests without external odom 
Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
 2024-09-27 14:19:56 +09:00
Andrew Tridgell 776297dcc8 AP_DDS: fixed cell voltages 
the std:copy was copying from uint16_t to float
 2024-09-27 14:19:56 +09:00
Ryan Friedman 5cb0700478 Tools: ROS2: Add missing dependencies with docs 
* Depend on all messages used in ardupilot_sitl
* Clarify limitations of wrapping with colcon
* Link github issue to support argument passthrough

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-27 14:19:56 +09:00
Ryan Friedman b630940981 AP_DDS: Use common quaternion initialization function 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-27 14:19:56 +09:00
Rhys Mainwaring 600f6eade0 AP_DDS: ensure zero rotation quaternions are normalised 
- ROS expects quaternions to be normalised and the default message constructor does not enforce this.
- Fix normalisation for pose stamped.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-09-27 14:19:56 +09:00
Rhys Mainwaring c685b919cd AP_DDS: add param DDS_DOMAIN_ID 
- Require reboot.
- Set DDS_DOMAIN_ID range: 0 to 232..

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-09-27 14:19:56 +09:00
Ryan Friedman 75e6749a11 Tools: ros2: Fix plane launch headless 
* Install models for other users
* Fix bool parsing in some launch args
 2024-09-27 14:19:56 +09:00
Ryan Friedman 638dcc8a3e Tools: Expose map/console mavproxy args 
* These can be set in ros2 launch calls now

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-27 14:19:56 +09:00
Tiziano Fiorenzani 3ac13448c7 Tools: ardupilot_sitl launch file to include an out parameter for mavproxy 2024-09-27 14:19:56 +09:00
cuav-chen2 0cab92a806 hwdef: backport CUAV-7-Nano hwdef defines 2024-09-12 09:24:09 +09:00
Randy Mackay c61efecb04 Copter: version to 4.5.6 2024-09-04 07:54:42 +09:00
Randy Mackay 7f9bb6c01d Copter: 4.5.6 release notes 2024-09-04 07:54:42 +09:00
Randy Mackay c56df29d34 Plane: version to 4.5.6 2024-09-04 07:54:42 +09:00
Randy Mackay 62a8a6154f Plane: 4.5.6 release notes 2024-09-04 07:54:42 +09:00
Randy Mackay fc0558a4d4 Rover: version to 4.5.6 2024-09-04 07:54:42 +09:00