Merge branch 'ArduPilot:master' into master

ArduPilot · Jul 1, 2024 · 5c2a061 · 5c2a061
2 parents b3d6cdc + e2f18d9
commit 5c2a061
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Showing 5 changed files with 72 additions and 21 deletions.
diff --git a/Tools/autotest/default_params/copter-heli-dual.parm b/Tools/autotest/default_params/copter-heli-dual.parm
@@ -1,9 +1,9 @@
 FRAME_CLASS 11
 ATC_ANG_PIT_P 4.5
 ATC_ANG_YAW_P 4.5
-ATC_RAT_PIT_D    0.0005
-ATC_RAT_PIT_P    0.02
-ATC_RAT_PIT_FF   0.0
+ATC_RAT_PIT_D    0.005
+ATC_RAT_PIT_P    0.15
+ATC_RAT_PIT_FF   0.44
 ATC_RAT_YAW_D    0.0015
 ATC_RAT_YAW_P    0.14685
 ATC_HOVR_ROL_TRM 0

diff --git a/Tools/autotest/default_params/glider.parm b/Tools/autotest/default_params/glider.parm
@@ -1,6 +1,3 @@
-LIM_PITCH_MAX 1000
-LIM_PITCH_MIN -1500
-LIM_ROLL_CD 3000
 
 THR_MAX 0
 THR_FAILSAFE 2
@@ -9,6 +6,11 @@ RTL_RADIUS 175
 WP_RADIUS 90
 KFF_RDDRMIX 0.07
 
+# fixed wing tuning
+PTCH_LIM_MAX_DEG 10
+PTCH_LIM_MIN_DEG -15
+ROLL_LIMIT_DEG 30
+
 RLL_RATE_FF 0.6
 RLL_RATE_P 0.5
 RLL_RATE_I 0.14
@@ -26,9 +28,10 @@ PTCH2SRV_TCONST 0.45
 PTCH2SRV_RMAX_UP 75
 PTCH2SRV_RMAX_DN 75
 
-
-ARSPD_FBW_MIN 17
-ARSPD_FBW_MAX 45
+AIRSPEED_CRUISE  38
+AIRSPEED_MIN     17
+AIRSPEED_MAX     45
+ARSPD_USE        1
 
 HOME_RESET_ALT -1
 
@@ -47,3 +50,40 @@ NAVL1_LIM_BANK 30
 
 SCHED_LOOP_RATE 200
 
+WP_LOITER_RAD    230
+
+CHUTE_ENABLED    1.000000
+CHUTE_TYPE       10.000000
+CHUTE_SERVO_ON   1900.000000
+CHUTE_OPTIONS    1.000000
+
+INS_ACCSCAL_X    1.001000
+INS_ACCSCAL_Y    1.001000
+INS_ACCSCAL_Z    1.001000
+INS_ACCOFFS_X    0.001000
+INS_ACCOFFS_Y    0.001000
+INS_ACCOFFS_Z    0.001000
+INS_ACC2SCAL_X   1.001000
+INS_ACC2SCAL_Y   1.001000
+INS_ACC2SCAL_Z   1.001000
+INS_ACC2OFFS_X   0.001000
+INS_ACC2OFFS_Y   0.001000
+INS_ACC2OFFS_Z   0.001000
+
+SIM_SERVO_SPEED  0.110000
+SIM_SERVO_DELAY  0.010000
+SIM_SERVO_FILTER 10
+
+SIM_GLD_BLN_BRST 50000
+
+SERVO1_MIN       1000
+SERVO1_MAX       2000
+SERVO1_FUNCTION  0
+SERVO2_FUNCTION  4
+SERVO3_TRIM      1460.000000
+SERVO3_REVERSED  1
+SERVO3_FUNCTION  19
+SERVO4_REVERSED  1
+SERVO5_FUNCTION  4
+SERVO6_FUNCTION  56
+SERVO9_FUNCTION  27
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h
@@ -443,15 +443,6 @@ class NavEKF2 {
         NO_SETUP,
         NUM_INIT_FAILURES
     };
-    // initialization failure reasons
-    const char* initFailureReason[int(InitFailures::NUM_INIT_FAILURES)] {
-        "EKF2: unknown initialization failure",
-        "EKF2: EK2_enable is false",
-        "EKF2: no IMUs available",
-        "EKF2: EK2_IMU_MASK is zero",
-        "EKF2: insufficient memory available",
-        "EKF2: core setup failed"
-    };
     InitFailures initFailure;
 
     // update the yaw reset data to capture changes due to a lane switch

diff --git a/libraries/SITL/SIM_Glider.cpp b/libraries/SITL/SIM_Glider.cpp
@@ -14,6 +14,26 @@
  */
 /*
   glider model for high altitude balloon drop
+
+  controls:
+    - servo6: balloon lift, 1000 for no lift, 2000 for maximum lift
+    - servo10: balloon cut, this cuts away the balloon when high
+
+  Note that the glider starts off in a lifted by tail pose, with pitch
+  -80 degrees. The balloon then lifts the glider above the ground. The
+  balloon automatically bursts at a height of SIM_GLD_BLN_BRST meters,
+  or can be cut away early with servo10.
+
+  The maximum rate of the balloon lift is in SIM_GLD_BLN_RATE, in m/s
+
+  To perform a takeoff first arm on the ground then use
+    servo set 6 2000
+  to release the ground hold. Use this to cut away the balloon:
+    servo set 10 2000
+
+  For an automatic mission, NAV_ALTITUDE_WAIT should be used to wait
+  for a desired altitude under balloon lift. Then a DO_SET_SERVO with
+  servo 10 and a value of 2000 to cut away the balloon.
  */
 
 #include "SIM_Glider.h"

diff --git a/libraries/SITL/SIM_Helicopter.cpp b/libraries/SITL/SIM_Helicopter.cpp
@@ -33,7 +33,7 @@ Helicopter::Helicopter(const char *frame_str) :
         _time_delay = 30;
         nominal_rpm = 1300;
         mass = 9.08f;
-        iyy = 0.2f;
+        iyy = 5.0f;
     } else if (strstr(frame_str, "-compound")) {
         frame_type = HELI_FRAME_COMPOUND;
         _time_delay = 50;
@@ -218,7 +218,7 @@ void Helicopter::update(const struct sitl_input &input)
 
     case HELI_FRAME_DUAL: {
 
-        float Ma1s = 617.5f;
+        float Ma1s = 617.5f/5.0f;
         float Lb1s = 3588.6f;
         float Mu = 0.003f;
         float Lv = -0.006f;
@@ -259,7 +259,7 @@ void Helicopter::update(const struct sitl_input &input)
 
         // rotational acceleration, in rad/s/s, in body frame
         rot_accel.x = (_tpp_angle_1.x + _tpp_angle_2.x) * Lb1s + Lv * velocity_air_bf.y;
-        rot_accel.y = (_tpp_angle_1.y + _tpp_angle_2.y) * Ma1s + (thrust_1 - thrust_2) * hub_dist / iyy + Mu * velocity_air_bf.x + hub_dist * gyro.y * Zw;
+        rot_accel.y = (_tpp_angle_1.y + _tpp_angle_2.y) * Ma1s + (thrust_1 - thrust_2) * hub_dist / iyy + Mu * velocity_air_bf.x;
         rot_accel.z = (_tpp_angle_1.x * thrust_1 - _tpp_angle_2.x * thrust_2) * hub_dist / (iyy * 2.0f) - 0.5f * gyro.z;
 
         lateral_y_thrust = GRAVITY_MSS * (_tpp_angle_1.x + _tpp_angle_2.x) + Yv * velocity_air_bf.y;