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21687 Commits

Author SHA1 Message Date
Peter Barker f0a6e90e50 AP_NavEKF2: zero H_MAG to prevent compiler error 2024-07-31 17:22:29 +10:00
Andrew Tridgell b445971365 AP_BoardConfig: disable STLink debug pins by default (4.0 version) 
this avoids leaving the debug pins in a state where they may be
vulnerable to ESD issues
 2021-12-21 09:23:01 +09:00
Rishabh d66101d22f AP_Proximity: Check for valid reading before pushing to OA DB 2021-03-22 14:21:38 +09:00
pkocmoud 10cd0bb596 hwdef: update FRAM size to 32768 2021-02-17 14:42:39 +11:00
pkocmoud 46001d6915 hwdef: Back Port updated hwdefs for mRo boards 2021-02-17 14:42:39 +11:00
Andrew Tridgell 4ed19f5f0b HAL_ChibiOS: fixed build on Durandal 2021-02-07 11:01:08 +11:00
Andrew Tridgell 8d284938db AP_GPS: fixed pre-arm check on ublox M9 GPS 
this prevents a failure from config of SOL and TMODE messages
 2021-02-06 09:23:30 +11:00
Andrew Tridgell 93eb226cdc AP_NavEKF2: only fuse airspeed if healthy 2021-02-05 19:10:11 +11:00
Andrew Tridgell 1d7519d0c9 AP_NavEKF3: only fuse airspeed if healthy 2021-02-05 19:10:06 +11:00
Andrew Tridgell 0dafabf552 AP_GPS: don't accept infinite accuracies for blending 
these result in NaN values for velocities
 2021-02-05 19:00:30 +11:00
Andrew Tridgell d359cdff3f AP_GPS: prevent UAVCAN GPS from giving infinite accuracy values 
this can happen due to the complex encodings of accuracies in UAVCAN
 2021-02-05 19:00:27 +11:00
Andrew Tridgell f8beca190c AP_GPS: fixed constrained NaN in EKF3 caused by bad GPS blending 
if the accuracies reported are very low then we can do a division by
zero and this results in a constraining NaN for GPS vertical velocity
filter in NavEKF3_core::calcGpsGoodToAlign
 2021-02-05 19:00:24 +11:00
Andrew Tridgell 82ae3fe635 AP_NavEKF3: fixed memory corruption on push before init 
this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption

found using the new memory guard system
 2021-02-05 18:57:50 +11:00
Andrew Tridgell a86734171c AP_NavEKF2: fixed memory corruption on push before init 
this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption

found using the new memory guard system
 2021-02-05 18:57:50 +11:00
Andrew Tridgell 5e1aef5361 HAL_ChibiOS: expand storage to 32k on boards with 32k FRAM 2021-02-05 18:18:56 +11:00
Andrew Tridgell f041bc9271 AP_HAL: change SITL to 32k eeprom.bin 2021-02-05 18:09:25 +11:00
Andrew Tridgell b14232c85e GCS_MAVLINK: support deliberate parameter corruption 2021-02-05 18:09:12 +11:00
Andrew Tridgell 5ba02a2125 StorageManager: added parameter backup region 2021-01-26 16:23:57 +11:00
Andrew Tridgell 0a7588e451 AP_InternalError: sync with master 
added params_restored error
 2021-01-26 16:23:33 +11:00
Andrew Tridgell 38af4e8e3d AP_Param: support restoring from parameter backup region 
if header on primary parameter storage is corrupt then restore from
backup
 2021-01-26 16:20:19 +11:00
Andy Piper 754c051aa5 AP_HAL_ChibiOS: don't timeout after 11 bits on serial irqs 2021-01-16 08:51:47 -05:00
Siddharth Purohit 838064082f AP_HAL_ChibiOS: keep a backup of storage for last 100 boots 2021-01-06 08:31:11 +11:00
bnsgeyer a5bcd65d41 AP_Motors: tradheli - add support to determine below mid collective 2020-12-23 06:36:16 -05:00
bnsgeyer cd3ee597c7 AP_Motors: updates to new integrator and make selectable 2020-12-23 06:36:16 -05:00
bnsgeyer ec01b9400f AC_PID: add support to smoothly reset the integrator 2020-12-23 06:36:16 -05:00
bnsgeyer f9570b3999 AP_Motors: Tradheli support for integrator management and hover collective learning 2020-12-23 06:36:16 -05:00
bnsgeyer c052b58f70 AC_AttitudeControl: Tradheli support for integrator management and hover collective learning 2020-12-23 06:36:16 -05:00
bnsgeyer 76aaba0d70 AP_Motors: add DCP trim feature for Dual Heli 2020-12-21 08:32:43 +09:00
Andrew Tridgell ea3d217388 GCS_MAVLink: use MAV_SYS_STATUS_PREARM_CHECK 
this allows GCS to continually display prearm check status
 2020-12-01 09:47:32 +09:00
Andy Piper c0e033cb14 Filter: correct harmonic notch docs and provide better defaults. 2020-12-01 09:37:49 +09:00
Hwurzburg 6557cb83a4 AP_GPS: expand gps rate description 2020-12-01 09:36:50 +09:00
Randy Mackay 3dfcc2a1b7 AC_PosControl: fix typo in posxy_p param desc 2020-11-25 17:42:32 +09:00
Phillip Kocmoud 44fb4b5e67 hwdef:PixracerPro - Fix analog volt pin assignments 2020-11-25 17:42:32 +09:00
Tatsuya Yamaguchi a008f7e71a GCS_MAVLink: use micro64 instead of micros for time_usec 2020-11-25 17:42:32 +09:00
yaapu 1226808909 AP_RCProtocol: fix fport rssi 2020-11-25 17:42:32 +09:00
Andy Piper 79b9f557c1 AP_Logger: correct units on raw accel data 2020-11-25 17:42:32 +09:00
Peter Barker 78a8c41f94 AC_PrecLand: correct @User field in ACC_P_NSE documentation 2020-11-25 17:42:32 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 8615b18c26 AP_NavEKF3: fix vertical flyaways when rangefinder stops providing data 2020-11-25 17:42:32 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 2b02c84ae4 AP_NavEKF2: fix vertical flyaways when rangefinder stops providing data 2020-11-25 17:42:32 +09:00
Andrew Tridgell cbfc505003 HAL_ChibiOS: fixed a race condition in UART DMA transmit 
this fixes an issue seen on one board which caused a watchdog on high
uart DMA load. We have reproduced the issue on another board by
forcing a very high DMA transfer rate on the same DMA channel while
also requesting very high transfer rates on the UART. The likely race
is in the DMA transmit timeout code, and the simplest fix is to lock
out interrupts during the DMA setup to ensure the tx timeout cannot
trigger during the setup
 2020-10-08 08:25:00 +11:00
Andrew Tridgell ba8fb3230b AP_IOMCU: fixed bug in SBUS output when scanning for FPort input 
when we are looking for FPort input, we normally switch UART3 on the
IOMCU to 115200 to look for inverted inputs at 115200 baudrate. We
need to disable this switching when we have SBUS output enabled to
prevent a change in the SBUS output baudrate

Many thanks to afishman for finding this bug

Fixes #15522
 2020-10-07 15:10:47 +11:00
Andrew Tridgell 627c7c7df0 HAL_ChibiOS: enable telem3 on Durandal 
the RCIN issue is not there in the final production boards
 2020-10-02 20:14:37 +10:00
Andrew Tridgell 82de5b9429 HAL_ChibiOS: fixed fast sampling on F32Lightning 
this SPI bus on this board can't handle 8MHz
 2020-10-02 10:15:07 +10:00
Andrew Tridgell fc306128ba AP_Mission: added contains_terrain_relative() 
used in plane arming check
 2020-10-02 10:10:45 +10:00
Andrew Tridgell 0434d496c7 AP_Mission: Added force resume for when MIS_RESTART=1 2020-10-02 10:07:51 +10:00
Josh Welsh 8f76573ed6 AP_Airspeed: Add additional DLVR support 20inH2O 30inH2O 60inH2O 2020-10-02 10:07:51 +10:00
Andrew Tridgell c9a337efcc RC_Channel: fixed use of radio_in out of range for angle inputs 
this prevents mis-calculation of the angle when RC input goes outside
of the configured range. This impacted on throttle nudge in plane when
reverse thrust was enabled

thanks to Pompecukor for reporting!
 2020-10-02 10:07:51 +10:00
Andrew Tridgell a40290fb0f AP_NavEKF3: apply min GPS accuracy at measurement point 
this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
 2020-10-02 10:07:51 +10:00
Andrew Tridgell f0781f15a1 AP_NavEKF2: apply min GPS accuracy at measurement point 
this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
 2020-10-02 10:07:51 +10:00
Andrew Tridgell 2f85bd54ea AP_IOMCU: fixed handling of RC ignore failsafe option 
this allows for ignoring SBUS failsafe on boards using an IOMCU
 2020-10-02 10:07:51 +10:00