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52387 Commits

Author SHA1 Message Date
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
Andrew Tridgell d010bc8b55 Plane: increased safety of guided -> auto quadplane takeoff 
when we arm in guided mode then enter a special guided_wait_takeoff
state. We keep motors suppressed until one of the following happens

  1) disarm
  2) guided takeoff command
  3) change to AUTO with a takeoff waypoint as first nav waypoint
  4) change to another mode

while in this state we don't go to throttle unlimited, and will refuse
a change to AUTO mode if the first waypoint is not a takeoff. If we
try to switch to RTL then we will instead use QLAND

This state is needed to cope with the takeoff sequence used by QGC on
common controllers such as the MX16, which do this on a "takeoff"
swipe:

  - changes mode to GUIDED
  - arms
  - changes mode to AUTO
 2022-05-28 16:08:17 +09:00
Andrew Tridgell d614594526 AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor 
we need to use the pressure from the sensor we are calibrating
 2022-05-28 16:08:17 +09:00
Andrew Tridgell 52458b6f54 AP_NavEKF: getYawData also provides number of clipping models 
In the case of the compass calibrator we do not want to use the GSF
result if any model is degenerate.  We've had a compass calibrate in
flight 180-degrees out from what it should have.
 2022-05-28 16:08:17 +09:00
Peter Barker 2a5e9f76ac AP_Compass: do not use GSF if any model has been clipped 2022-05-28 16:08:17 +09:00
Peter Barker c06aced405 autotest: adjust current wp reset 2022-05-28 16:08:17 +09:00
Andrew Tridgell 4dd7bb280e autotest: reset mission on takeoff for quadplanes 2022-05-28 16:08:17 +09:00
Andrew Tridgell 669e11b80d Plane: account for sprung throttle in VTOL throttle suppression 
when RC_OPTIONS has been changed to not check throttle for arming then
treat this like a sprung throttle for quadplane throttle suppression
in auto-throttle modes, and only unsuppress when throttle goes above
trim+dz
 2022-05-28 16:08:17 +09:00
Andrew Tridgell eed5079295 Plane: refuse arming if we are in a landing sequence 
this helps when the aircraft has gone into a landing sequence due to a
failsafe before it is armed. Arming while in the landing sequence is
very unlikely to be what the user wants
 2022-05-28 16:08:17 +09:00
Andrew Tridgell ee41132483 AP_EFI: added fuel usage integration for Lutan EFI 
allows for EFI_COEF1 and EFI_COEF2 to be set to get fuel consumption
on GCS
 2022-05-28 16:08:17 +09:00
Andrew Tridgell 40a5c628c9 autotest: reset mission on takeoff for quadplanes 2022-05-28 16:08:17 +09:00
Andrew Tridgell bb1ee4e34c AP_Mission: improved handling of large LOITER_TURNS 
instead of wrapping we should use MIN with 255, which is closer to
what was requested
 2022-05-28 16:08:17 +09:00
Joshua Henderson 5ac3f9aa33 AP_Airspeed: remove negative pressure set unhealthy 2022-05-28 16:08:17 +09:00
Andrew Tridgell de168fe827 Plane: update gyro fft throttle 
allows for updating or learned FFT freq
 2022-05-28 16:08:17 +09:00
Randy Mackay ce668594cb Rover: version to 4.2.0 2022-05-23 16:10:01 +09:00
Randy Mackay 61af0ec90d Rover: 4.2.0 release notes 2022-05-23 16:10:01 +09:00
Randy Mackay c73ab0b25c Copter: version to 4.2.0 2022-05-23 16:10:01 +09:00
Randy Mackay 083cd8f47b Copter: 4.2.0 release notes 2022-05-23 16:10:01 +09:00
Randy Mackay 8ee85bdbd1 Rover: version to 4.2.0-rc4 2022-05-16 08:16:16 +09:00
Randy Mackay e37c2fd66a Rover: 4.2.0-rc4 release notes 2022-05-16 08:16:16 +09:00
Randy Mackay e9adc5d36d Copter: version to 4.2.0-rc4 2022-05-16 08:16:16 +09:00
Randy Mackay fdc6b3ee53 Copter: 4.2.0-rc4 release notes 2022-05-16 08:16:16 +09:00
Leonard Hall 70c1b27c6f Copter: Dissable yaw slew in loiter 2022-05-16 08:16:16 +09:00
Leonard Hall f65a6a302b AC_AttitudeControl: Allow diabling of slew limit 2022-05-16 08:16:16 +09:00
Bill Geyer d050df5629 Copter: fix position ctrl init for guided takeof 2022-05-16 08:16:16 +09:00
Randy Mackay 1dafa2ba9c Copter: vibration compensation turns off in manual modes 2022-05-16 08:16:16 +09:00
Andrew Tridgell 2a700f677a hwdef: added FlyingMoonF427 support 2022-05-16 08:16:16 +09:00
Andrew Tridgell de13751213 Tools: added FlyingMoonF427 bootloader 2022-05-16 08:16:16 +09:00
Andrew Tridgell 008671f16a hwdef: added FlyingMoonF407 board support 2022-05-16 08:16:16 +09:00
Andrew Tridgell 9383a01fec Tools: added FlyingMoon407 bootloader 2022-05-16 08:16:16 +09:00
Andrew Tridgell a324cf80e5 HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103 
need to check new pin not old pin
 2022-05-16 08:16:16 +09:00
Andrew Tridgell 32cb2442a9 AP_Logger: fixed a bug in wrapped log count 
fixes #20687
 2022-05-16 08:16:16 +09:00
Randy Mackay ae31ed4fde Rover: version to 4.2.0-rc3 2022-05-07 08:40:54 +09:00
Randy Mackay cc79f43226 Rover: 4.2.0-rc3 release notes 2022-05-07 08:40:54 +09:00
Randy Mackay d0cd3cafd2 Copter: version to 4.2.0-rc3 2022-05-07 08:40:54 +09:00
Randy Mackay 56a855dba7 Copter: 4.2.0-rc3 release notes 2022-05-07 08:40:54 +09:00
Andrew Tridgell c0a3c641b2 Plane: prepare for 4.2.0 stable release 2022-05-07 08:40:54 +09:00
Andrew Tridgell 32532209a2 Plane: release notes for 4.2.0 2022-05-07 08:40:54 +09:00
Andrew Tridgell 63140014c1 AP_AHRS: fixed bug in blended EKF bias 
The bug fix in #20431 was incomplete, and ended up with the wrong
blended accel bias. This fixes it
 2022-05-07 08:40:54 +09:00
Andrew Tridgell 274d526a69 AP_Scripting: added quicktune.lua script 
rapid tuning for VTOL control
 2022-05-07 08:40:54 +09:00