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Commits on Dec 17, 2019

• Plane: add logging for tailsitter gainscaling and clean up tailsitter body-frame roll input handling

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• AC_AttitudeControl: fix argument order in tailsitter bodyframe roll input methods

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  kd0aij

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• AP_Motors: add copter tailsitter differential torque frames

  

  kd0aij

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• Plane: update tailsitter speedscaling logic

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• Sub: remove unused TERRAIN_FOLLOW parameter

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• Tools: copter tests replace TERRAIN_FOLLOW with RTL_ALT_TYPE

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• Copter: remove out-of-date comment from terrain failsafe check

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• Copter: precision landing does not use terrain database

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• Copter: improve RTL terrain following

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• Copter: move RTLState to ModeRTL

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• AP_Logger: add error code for rtl missing rangefinder

  rmackay9

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• Copter: zigzag uses renamed AC_WPNav::rangefinder_used_and_healthy

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• AC_WPNav: add get_terrain_source and rename existing method

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• Tools: fixed compiler path for autotest

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• RC_Channel: added LOITER switch for plane

  

  giacomo892

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• Plane: added RC option for LOITER mode

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• SITL: fixed airsim example scripts

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• autotest: more airsim tuning improvements

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• SITL: improved AirSim quadX tuning

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• SITL: fixed accuracy of lat/lon in AirSim

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• Copter: 4.0.0-rc3 release notes update

  rmackay9

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• Copter: 4.0.0-rc3 release notes

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• AP_NavEKF3: use instance number when logging rather than multiple message IDs

  

  peterbarker

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• AP_NavEKF2: use instance number when logging rather than multiple message IDs

  

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• LogStructure: adjust for using instance numbers on NavEKF libraries

  

  peterbarker

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• SITL: only recalculate ahrs rotation matrix if necessary

  

  kd0aij

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• SITL: include ahrs_orientation in airspeed calculation

  

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Commits on Dec 16, 2019

• Tools: align ci gcc with environment gcc v6 on arm

  

  andyp1per

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• AP_InertialSensor: add rpm-based motor noise to gyros and accels

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• Tools: add motor vibration test and support for post-test fft

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• AP_RPM: use updated rpm information for sitl

  

  andyp1per

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• SITL: add rpm-based motor noise per-motor to gyros and accels

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  andyp1per

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• SITL: Fix sensor data calculation in Airsim

  

  rajat2004

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• Plane: update release notes for 4.0.2beta2

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• Plane: updated release notes for 4.0.2beta1

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