Peter Hall

AP_InertialSensor: Logging: only log single notch frequency unless per-motor, never log fixed

1

Firstly stops logging centre frequency of a fixed notch. Its just the frequency set in the params. Secondly it splits logging into one message for per motor and one for...

APM_Control: Plane controllers: only autotune if not in assisted flight

1

Tuning FW gains is not valid if Q motors are also stabilising. Gone via singleton but could also pass a bool.

Plane: always report the airspeed estimate being used in VFR hud

6

Currently a unused airspeed sensor (`ARSPD_USE` = 0) will be reported rather than the airspeed estimate that the vehicle is actually flying to. This changes to use the same criteria...

Airspeed message: update

12

This moves the Airspeed message it to common and re-works it in preparation for a ArduPilot implementation (https://github.com/ArduPilot/ardupilot/pull/21729#issuecomment-1263644965). This drops several fields to save bandwidth. Changes two pressures to a...

This moves the application of throttle limits to the main `apply_throttle_limits` function that all other modes used here: https://github.com/ArduPilot/ardupilot/blob/e01e697343cf3eb9b0991d7153f135b60b96f965/ArduPlane/servos.cpp#L507 This makes manual mode behave the same as any other mode....

This moves `euler_rate_to_ang_vel`, `ang_vel_to_euler_rate` and `euler_accel_limit` to use Quaternions. The goal is to minimize the use of the euler representation of target attitude with the eventual goal of removing it....

AC_AttitudeControl: keep _euler_angle_target up to date with _attitude_target quaternion in attitude_controller_run_quat

5

This ensures `_euler_angle_target` is updated to stay in sync with the `_attitude_target` quaternion in the `attitude_controller_run_quat` call. This should mean its a better representation of what is actually going on,...

AP_Scripting: add ROMFS to lua path

1

This allows `require` to find modules in ROMFS. Possibly helps with other file system methods too. Note that this adds the new search path even if we don't have ROMFS...

Plane: QRTL: add interactive return altitude graph

13

Adds a interactive graph that changes with user inputs to show return altitude.  Changing Q_RTL_ALT:  Someone who knows HTML better than I do could probably make it neater....

Common: add MAV_CMD_DO_LAND_REJOIN

6

This adds support for a new "land rejoin" waypoint. This acts as a marker to the autopilot that it can rejoin a mission at any point after this marker and...