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52,476 Commits 71 Branches 509 Tags 738 MiB
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52476 Commits

Author SHA1 Message Date
Andrew Tridgell d48bc25c95 Filter: removed parameters from the old notch filter 
saves some flash space
 2022-06-21 19:41:54 +09:00
Andrew Tridgell 3f89aa620c AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT 2022-06-21 19:41:54 +09:00
Andrew Tridgell e80adeefa4 AP_Arming: added arming check for conflicting notch modes 2022-06-21 19:41:54 +09:00
Andrew Tridgell 542ed5a6e2 Plane: param conversion for INS_NOTCH to INS_HNTC2 2022-06-21 19:41:54 +09:00
Andrew Tridgell 05b6283a97 Filter: clarify meaning of 1st harmonic 2022-06-21 19:41:54 +09:00
Andrew Tridgell 6b6bd8aeb9 Plane: support harmonic notch on 2nd RPM sensor 2022-06-21 19:41:54 +09:00
Andrew Tridgell d1b1c6e7f9 Copter: support harmonic notch on 2nd RPM sensor 2022-06-21 19:41:54 +09:00
Andrew Tridgell 7150dde40a Filter: added RPM2 harmonic notch type 2022-06-21 19:41:54 +09:00
Andrew Tridgell 2a9899629b Copter: update for changed INS_NOTCH parameter name 2022-06-21 19:41:54 +09:00
Andrew Tridgell 2cea3d21b5 Plane: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andrew Tridgell 0ecb2200d8 Copter: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andrew Tridgell 2b6aa64d2b AP_Vehicle: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andrew Tridgell 8dbf3f39cb AP_RPM: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andrew Tridgell ead011c615 AP_InertialSensor: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Randy Mackay fbf719b247 Rover: version to 4.2.1 2022-06-07 07:30:44 +09:00
Randy Mackay e0810a1f41 Rover: 4.2.1 release notes 2022-06-07 07:30:44 +09:00
Randy Mackay 5c7a60c450 Copter: version to 4.2.1 2022-06-07 07:30:44 +09:00
Randy Mackay 86b113403e Copter: 4.2.1 release notes 2022-06-07 07:30:44 +09:00
Randy Mackay 456b38aa2a Rover: version to 4.2.1-rc1 2022-05-28 16:08:17 +09:00
Randy Mackay 15553a6727 Rover: 4.2.1-rc1 release notes 2022-05-28 16:08:17 +09:00
Randy Mackay b6b38f231c Copter: version to 4.2.1-rc1 2022-05-28 16:08:17 +09:00
Randy Mackay 2b152a81f0 Copter: 4.2.1-rc1 release notes 2022-05-28 16:08:17 +09:00
Andy Piper 365904a50c AR_Motors: make sure ESC type is initialized early 2022-05-28 16:08:17 +09:00
Andy Piper 555f608b43 AP_Motors: make sure ESC type is initialized early 2022-05-28 16:08:17 +09:00
Andy Piper 03ebf1b091 SRV_Channel: add BLHeli_S ESC type 2022-05-28 16:08:17 +09:00
Andy Piper c9d5609214 AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths 2022-05-28 16:08:17 +09:00
Andy Piper 6253578d06 AP_HAL: add BLHeli_S ESC type and use it to control bitwidths 
adjust BLHeli_S bitwidth and ticks to support more ESC variants.
 2022-05-28 16:08:17 +09:00
Rishabh f93023737b Copter: Do not allow automatic yaw while prec land retry 2022-05-28 16:08:17 +09:00
Randy Mackay 96f0fee7b3 AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7 2022-05-28 16:08:17 +09:00
Randy Mackay 72f0de65d2 AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-05-28 16:08:17 +09:00
Andy Piper 9f9c5c30ae AC_AutoTune: allow high ANGLE_P gains 2022-05-28 16:08:17 +09:00
Andy Piper 25d6e9b1bb AP_HAL: add bitwidth hal definitions. 
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
 2022-05-28 16:08:17 +09:00
Andy Piper 9af46cbf5e AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-05-28 16:08:17 +09:00
Andrew Tridgell 9fa04ad130 Plane: prepare for 4.2.1 release 2022-05-28 16:08:17 +09:00
Andrew Tridgell c1be8152ba Plane: release notes for 4.2.1 2022-05-28 16:08:17 +09:00
Andrew Tridgell b0c8c49643 Plane: fixed false positive in landing detector 
this fixes a case where we can get false positive on the landing
detector for quadplanes.

The issue happens if we cross the LAND_DESCEND to LAND_FINAL threshold
while pilot repositioning is active, with stale information in
landing_detect.lower_limit_start_ms as we don't run should_relax() in
LAND_DESCEND
 2022-05-28 16:08:17 +09:00
Andrew Tridgell 957eb68bee AP_BoardConfig: expose BRD_SAFETYENABLE on all boards 
default BRD_SAFETYENABLE to 0 on boards with no safety switch, which
gives us the same behaviour as before, but users can choose to enable
the safety

this fixes two problems:

  - CAN servos and ESCs work on boards with no safety switch
    (eg. MatekH743 with CAN)

  - during startup we could get spurious outputs before out aircraft
    type is setup
 2022-05-28 16:08:17 +09:00
Andrew Tridgell b2086d1e96 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-28 16:08:17 +09:00
Andrew Tridgell 400e5e9117 Plane: prepare for 4.2.1beta1 2022-05-28 16:08:17 +09:00
Andrew Tridgell febdc3950d Plane: update release notes for 4.2.1beta1 2022-05-28 16:08:17 +09:00
Andrew Tridgell cfeccefcae Plane: cope with QGC retrying AUTO mode 
QGC tries several times to enter AUTO even when it is refused. We need
to keep refusing
 2022-05-28 16:08:17 +09:00
Andrew Tridgell e16d357e1b autotest: don't try to arm in RTL mode for quadplanes 2022-05-28 16:08:17 +09:00
Andrew Tridgell 39de7be71f AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter 
this allows for an offset in ESC numbering for much more efficient CAN
bandwidth usage.

For example, on a coaxial OctoQuad quadplane the ESCs are typically
setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN
buses, with one CAN bus for the top layer and the one bus for the
bottom layer (allowing for VTOL flight with one bus failed).

Without this offset parameter you would be sending RawCommand messages
like this:

bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]

this is very wasteful of bus bandwidth, with bus1 using 3x the
bandwidth it should and bus2 using 4x the bandwidth it should (the
above will take 3 can frames for bus1, and 4 can frames for bus 2)

With this patch you can set:

CAN_D1_UC_ESC_OF = 4
CAN_D2_UC_ESC_OF = 8

and you will get this on the bus:

bus1: [ ESC1, ESC2, ESC3, ESC4 ]
bus2: [ ESC1, ESC2, ESC3, ESC4 ]

that takes just 1 can frame per send on each bus
 2022-05-28 16:08:17 +09:00
Andrew Tridgell be6ee8b564 Copter: allow VTOL_TAKEOFF and VTOL_LAND as synonyms 
this allows is_takeoff_next() to be in common, and reduces confusion
if user selects VTOL_TAKEOFF in a GCS mission editor
 2022-05-28 16:08:17 +09:00
Peter Barker 601d5268fa ArduSub: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:17 +09:00
Peter Barker 689e26bab9 ArduCopter: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:17 +09:00
Peter Barker 37b3f48786 ArduPlane: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:17 +09:00
Peter Barker d435181756 AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:17 +09:00
Andrew Tridgell 913b789592 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-28 16:08:17 +09:00
Andrew Tridgell 0fd3fac65f AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-28 16:08:17 +09:00