Merge pull request #34 from tony2157/Copter-4.1

BLISSv1.6.6-Copter 4.1.5

.gitignore

@@ -16,6 +16,7 @@
 /tmp/*
 # Exclude all bins but allow font bins
 *.bin
+!*_bl.bin
 !font*.bin
 *.d
 *.dfu

.gitmodules

@@ -1,21 +1,21 @@
 [submodule "modules/uavcan"]
  path = modules/uavcan
- url = git://github.com/ArduPilot/uavcan.git
+ url = https://github.com/ArduPilot/uavcan.git
 [submodule "modules/waf"]
  path = modules/waf
- url = git://github.com/ArduPilot/waf.git
+ url = https://github.com/ArduPilot/waf.git
 [submodule "modules/gbenchmark"]
  path = modules/gbenchmark
- url = git://github.com/google/benchmark.git
+ url = https://github.com/google/benchmark.git
 [submodule "modules/mavlink"]
  path = modules/mavlink
- url = git://github.com/ArduPilot/mavlink
+ url = https://github.com/ArduPilot/mavlink
 [submodule "gtest"]
  path = modules/gtest
- url = git://github.com/ArduPilot/googletest
+ url = https://github.com/ArduPilot/googletest
 [submodule "modules/ChibiOS"]
  path = modules/ChibiOS
- url = git://github.com/ArduPilot/ChibiOS.git
+ url = https://github.com/ArduPilot/ChibiOS.git
 [submodule "modules/libcanard"]
  path = modules/libcanard
- url = git://github.com/ArduPilot/libcanard.git
+ url = https://github.com/ArduPilot/libcanard.git

ArduCopter/Copter.h

@@ -301,8 +301,8 @@ class Copter : public AP_Vehicle {
  Surface surface = Surface::GROUND;
  uint32_t last_update_ms; // system time of last update to target_alt_cm
  uint32_t last_glitch_cleared_ms; // system time of last handle glitch recovery
- bool valid_for_logging; // true if target_alt_cm is valid for logging
- bool reset_target; // true if target should be reset because of change in tracking_state
+ bool valid_for_logging; // true if we have a desired target altitude
+ bool reset_target; // true if target should be reset because of change in surface being tracked
  } surface_tracking;
 
 #if RPM_ENABLED == ENABLED

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,78 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.1.5 19-Feb-2022 / 4.1.5-rc1 10-Feb-2022
+Changes from 4.1.4
+1) Bug fixes
+ a) attitude control I-term always reset when landed (previously only reset after spool down)
+ b) revert SBUS RC frame gap change from 4.1.4
+------------------------------------------------------------------
+Copter 4.1.4 08-Feb-2022 / 4.1.4-rc1 27-Jan-2022
+Changes from 4.1.3
+1) Benewake CAN Lidar support
+2) CAN GPS default lag dropped to 0.1 seconds (was 0.22 seconds)
+3) Bug fixes
+ a) Compass custom orientation is never overwritten during calibration
+ b) EKF logging gaps fixed (some messages were occasionally being skipped)
+ c) Guided mode cornering improvements
+ d) IMU logging fix for IREG message (records IMU register changes)
+ e) LOITER_TO_ALT mission command's climb rate fixed (could climb or descend too quickly)
+ f) Position controller init fix to avoid twitch on vehicles with high vibrations
+ g) Position controller init fix to better handle high speed entry to flight mode
+ h) Position controller prioritises reducing cross track error
+ i) Position controller relax fix
+ j) SBUS RC frame gap increased to better handle some new receivers
+ k) SERVOx_FUNCTION protection to avoid memory overwrite if set too high
+ l) SD card init triggering watchdog fixed
+ m) Spline path max lateral acceleration reduced (vehicle stays on path better but may be slower)
+ n) Takeoff bug fix if taking off below home or frame specified as MSL
+------------------------------------------------------------------
+Copter 4.1.3 31-Dec-2021 / 4.1.3-rc2 21-Dec-2021
+Changes from 4.1.3-rc1
+1) Suport for IIM-42652, ICM-40605 and ICM-20608-D IMUs
+2) Bug fixes
+ a) Autotune twitches at no more than ATC_RATE_R/P/Y_MAX param value
+ b) SmartAudio high CPU load fix (previously it could starve other threads of CPU)
+ c) Debug pins disabled by default to prevent rare inflight reset due to electrostatic discharge
+ d) EKF3 reset causing bad accel biases fixed
+ e) RC protocol detection fix that forced PH4-mini users to powerup autopilot before transmitter
+------------------------------------------------------------------
+Copter 4.1.3-rc1 18-Dec-2021
+Changes from 4.1.2
+1) Enhancements:
+ a) CUAV-X7 servo voltage detection support
+2) Bug fixes
+ a) Main loop delay fix for boards with 16 bit timers (affects KakuteF4, MatekH743, MatekF405, MatekF765, SpeedybeeF4)
+ b) MOT_MIX_MAX constrained between 0.1 and 4.0 (would previously reset to 0.5 if set too high or low)
+ c) Polygon Fence upload fix when replacing fence with one that has fewer points
+ d) TradHeli fix for missions which continue after a Land command
+------------------------------------------------------------------
+Copter 4.1.2 07-Dec-2021 / 4.1.2-rc1 22-Nov-2021
+Changes from 4.1.1
+1) CAN_Dn_UC_OPTION param added to help resolve DroneCAN DNA conflicts
+2) Durandal with alternative ICM-20602 IMU
+3) OBAL autopilot support (Open Board Architecture for Linux)
+4) FETtec One ESC protocol support
+5) Bug Fixes
+ a) ADSB vertical velocity reporting fix
+ b) APM/LOGS directory creation fixed on some boards
+ c) AutoTune fix to disable SMAX limits that could interfere with tune
+ d) EKF3 fix to switch to non-zero primary core when disarmed
+ e) Notch filter update rate fix
+ f) Surface tracking fix if rangefinder glitches
+ g) TradHeli rename of H_COLL_HOVER to H_COL_HOVER
+------------------------------------------------------------------
+Copter 4.1.1 10-Nov-2021 / 4.1.1-rc1 16-Oct-2021
+Changes from 4.1.0 
+1) EK3_PRIMARY allows selection of which EKF core/IMU to use on startup
+2) ESC telemetry sent during compassmot
+3) TradHeli landing detector improvement
+4) Bug Fixes
+ a) Auto/Guided mode fix to EXTENDED_SYS_STATE message's "landed state" field after takeoff
+ b) MAVFTP init fix (could cause slow parameter download)
+ c) Scripting fix when logging strings
+ d) Serial flow control fix (affected at least Lightware LW20 serial lidar)
+ e) QiotekZealotF427 IMU (ICM42605) orientation fixed
+------------------------------------------------------------------
 Copter 4.1.0 08-Oct-2021 / 4.1.0-rc4 01-Oct-2021
 Changes from 4.1.0-rc3
 1) Position controller PSC/Z logging changed to PSCN/E/D and includes "desired"

ArduCopter/UserCode.cpp

@@ -113,13 +113,13 @@ void Copter::user_vpbatt_monitor()
  Vector3f velocity;
  copter.ahrs.get_velocity_NED(velocity);
  if(velocity[2] < 0){
- int_wvspd = int_wvspd + _wind_speed*dt/1000;
+ int_wvspd = int_wvspd + _wind_speed*dt/1000.0f;
  }
 
  // Calculate the Descent-Energy-consumption per meter height (function of wind speed)
- float Whm = 1.5e-6f*int_wvspd + 7e-3;
+ float Whm = 1.5e-6f*int_wvspd + 7.1e-3f;
  // Constrain lower values
- Whm = Whm > 0.01 ? Whm : 0.01;
+ Whm = Whm > 0.0105f ? Whm : 0.0105f;
 
  // Get current altitude in meters
  copter.ahrs.get_relative_position_D_home(alt);
@@ -156,12 +156,14 @@ void Copter::user_vpbatt_monitor()
  vpbatt_now = AP_HAL::millis();
 
  //Print on terminal for debugging
- printf("Whc: %5.2f \n",Whc);
- printf("Vel_Z: %5.2f \n",velocity[2]);
- printf("int_wvspd: %5.4f \n",int_wvspd);
- printf("Whm: %5.4f \n",Whm);
- printf("Whn: %5.2f \n",Whn);
- printf("Wh_tot: %5.2f \n",Wh_tot);
+ #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+ // printf("Whc: %5.2f \n",Whc);
+ // printf("Vel_Z: %5.2f \n",velocity[2]);
+ // printf("int_wvspd: %5.4f \n",int_wvspd);
+ // printf("Whm: %5.4f \n",Whm);
+ // printf("Whn: %5.2f \n",Whn);
+ // printf("Wh_tot: %5.2f \n",Wh_tot);
+ #endif
  }
  }
  else{
@@ -441,7 +443,9 @@ void Copter::userhook_auxSwitch1()
  int32_t vp_lng = copter.current_loc.lng; // ahrs.get_home().lng;
 
  // clear mission
- copter.mode_auto.mission.clear();
+ if(!copter.mode_auto.mission.clear()){
+ gcs().send_text(MAV_SEVERITY_WARNING, "AutoVP: Mission could not be cleared");
+ }
 
  // Command #0 : home
  cmd.id = MAV_CMD_NAV_WAYPOINT;

ArduCopter/compassmot.cpp

@@ -224,6 +224,10 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
  motor_compensation[0].x,
  motor_compensation[0].y,
  motor_compensation[0].z);
+#if HAL_WITH_ESC_TELEM
+ // send ESC telemetry to monitor ESC and motor temperatures
+ AP::esc_telem().send_esc_telemetry_mavlink(gcs_chan.get_chan());
+#endif
  }
  }
 

ArduCopter/heli.cpp

@@ -5,7 +5,7 @@
 #if FRAME_CONFIG == HELI_FRAME
 
 #ifndef HELI_DYNAMIC_FLIGHT_SPEED_MIN
- #define HELI_DYNAMIC_FLIGHT_SPEED_MIN 500 // we are in "dynamic flight" when the speed is over 5m/s for 2 seconds
+ #define HELI_DYNAMIC_FLIGHT_SPEED_MIN 250 // we are in "dynamic flight" when the speed is over 2.5m/s for 2 seconds
 #endif
 
 // counter to control dynamic flight profile

ArduCopter/land_detector.cpp

@@ -61,8 +61,11 @@ void Copter::update_land_detector()
  } else {
 
 #if FRAME_CONFIG == HELI_FRAME
- // check that collective pitch is below mid collective (zero thrust) position
- bool motor_at_lower_limit = (motors->get_below_mid_collective() && fabsf(ahrs.get_roll()) < M_PI/2.0f);
+ // check for both manual collective modes and modes that use altitude hold. For manual collective (called throttle 
+ // because multi's use throttle), check that collective pitch is below mid collective (zero thrust) position. For modes 
+ // that use altitude hold, check that the pilot is commanding a descent and collective is at min allowed for altitude hold modes.
+ bool motor_at_lower_limit = ((flightmode->has_manual_throttle() && motors->get_below_mid_collective() && fabsf(ahrs.get_roll()) < M_PI/2.0f) 
+ || (motors->limit.throttle_lower && pos_control->get_vel_desired_cms().z < 0.0f));
 #else
  // check that the average throttle output is near minimum (less than 12.5% hover throttle)
  bool motor_at_lower_limit = motors->limit.throttle_lower && attitude_control->is_throttle_mix_min();