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29189 Commits

Author SHA1 Message Date
Andrew Tridgell 3fe53a6360 hwdef: align with master for 6X 2022-08-12 02:49:33 -04:00
Andrew Tridgell fcded72ae2 hwdef: switched to pixracer LED scheme for Pixhawk6X 2022-08-12 02:49:33 -04:00
Andrew Tridgell 89bb5de315 hwdef: disable I2C DMA on Pixhawk6C and enable compass compensation 2022-08-12 02:49:33 -04:00
Andy Piper 37216ca9dd AP_InertialSensor: support for fast sampling rates on ICM-42xxx series 
thoughtfully set anti-aliasing filters on ICM-42xxx series
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 255ffb48df hwdef: added compass compensation for 3 boards 
use the new compass heater compensation for 4 compasses across 3
boards
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 1fd0ed4e1f AP_Compass: switch to a general method of heater compensation 
this allows any board to easily setup heater compensation for an
internal compass. The offsets are in body frame (previously in sensor
frame) and are sensor specific using bus device IDs
 2022-08-12 02:49:33 -04:00
Andrew Tridgell ed81cfb579 hwdef: added missing ADC channel on Pixhawk6X 2022-08-12 02:49:33 -04:00
Andrew Tridgell 9b9f4f8f29 hwdef: disable I2C DMA on Pixhawk6X 
this prevents an issue with the BMI088 and external compass on GPS1
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 406620e851 hwdef: fixed rotation of bmi088 on Holybro6X 2022-08-12 02:49:33 -04:00
Andrew Tridgell e99b603eaa AP_InertialSensor: re-enable notch filter on 42688 
thanks to Andy for pointing out this is for an internal resonance
 2022-08-12 02:49:33 -04:00
Andrew Tridgell b2d4df6d40 AP_InertialSensor: enable 180Hz LPF on ICM42670 2022-08-12 02:49:33 -04:00
Andrew Tridgell b7a9dcb334 AP_InertialSensor: enable AAF at 488Hz for gyro+accel on ICM42688 
this should improve vibration handling
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 025951276f AP_InertialSensor: added support for ICM42670 IMU 2022-08-12 02:49:33 -04:00
Andrew Tridgell 3ea79004a0 hwdef: fixed orientation of Pixhawk6X ICM42670 2022-08-12 02:49:33 -04:00
Andrew Tridgell fdd72ba8ea AP_BoardConfig: allow for BMI088 for Holybro 6X 
and tighten check on CUAV-X6 and Holybro-6X to check all 3 IMUs
 2022-08-12 02:49:33 -04:00
Andrew Tridgell b51a406529 hwdef: use right name for ICM42670 SPI device 2022-08-12 02:49:33 -04:00
Andrew Tridgell 431fbacb2c AP_ICEngine: added option for throttle control while disarmed 
this uses the passed in base throttle when disarmed
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 462f518627 AP_ICEngine: added option to force low throttle on engine off 
this fixes an issue with EFI engines that use low throttle demand to
stop the engine, instead of using an ignition channel. This option
needs to be set on these aircraft to prevent the idle governor or the
fwd throttle integrator in quadplanes from keeping the engine on when
the pilot asks for it to be off.
 2022-08-12 02:49:33 -04:00
Andrew Tridgell f5deacfb80 hwdef: MFE-PixSurveyA1 rename PixSurveyA1 2022-08-12 02:49:33 -04:00
xiao e688822faa HAL_ChibiOS: hwdef: add new hardware MFE-PixSurveyA1 2022-08-12 02:49:33 -04:00
Andrew Tridgell a22d6d27cf hwdef: changed Pixhawk6C board type to 56 
production bootloader uses 56
 2022-08-12 02:49:33 -04:00
Andy Piper 982eb2e6fa AP_HAL_ChibiOS: hwdef for Foxeer Reaper F745v2. 
README for Reaper F745v2
 2022-08-12 02:49:33 -04:00
Andrew Tridgell b0160c10f5 hwdef: added telem3 on Pixhawk6X 2022-08-12 02:49:33 -04:00
Andrew Tridgell 88d49fb654 hwdef: added Pixhawk6C support 2022-08-12 02:49:33 -04:00
Andrew Tridgell 7b4d521539 AP_Compass: HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE for Pixhawk6C 2022-08-12 02:49:33 -04:00
Andrew Tridgell a3ff458528 AP_Compass: removed "AK09916 Wrong id" message 
we don't need this on every board that doesn't have an I2C AK09916
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 51f4d0b22e hwdef: fixed Pixhawk6X ALT_RAM_MAP check 2022-08-12 02:49:33 -04:00
Andrew Tridgell 520d015866 hwdef: added Pixhawk6X support 
a new H753 based board similar to the Pixhawk5X
 2022-08-12 02:49:33 -04:00
Andrew Tridgell a7fb8b8e75 HAL_ChibiOS: added support for ALT_RAM_MAP on H7 
for compatibility with the px4 H7 bootloader
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 9427847f6a HAL_ChibiOS: enable ITCM and DTCM on H7 at startup 
these may have been disabled by the px4 H7 bootloader
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 459158c51b AP_BattMonitor: make healthy() check all configured monitors 
GCS reporting for SYS_STATUS should check all healthy, not just first
backend
 2022-08-12 02:49:33 -04:00
Andrew Tridgell 5332bf152a AP_BattMonitor: allow INA2xx battery monitors to be powered after boot 
the device doesn't show up till main battery is connected, so we need
this change to allow for separate avionics battery and main battery
with avionics battery powered on first
 2022-08-12 02:49:33 -04:00
Andrew Tridgell e38506bc57 AP_BattMonitor: report arming unhealthy if backend unhealthy 
important for i2c based battery backends
 2022-08-12 02:49:33 -04:00
Andrew Tridgell c52b64a78a AP_AHRS: use wind from simulation if available with EKF type 10 2022-08-12 02:49:33 -04:00
Andrew Tridgell 87579565de SITL: fill in wind from flightaxis 2022-08-12 02:49:33 -04:00
Bill Geyer 904be11f1a AC_AutoTune: fix tradheli bug with load gain set 2022-06-21 19:41:34 +09:00
Randy Mackay 2065de7992 GCS_MAVLink: learn routes even on private channels 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2022-06-21 19:41:34 +09:00
Andrew Tridgell 9535e3de41 AP_Scripting: sync quicktune with master 2022-06-21 19:41:34 +09:00
Andy Piper 54e6aa7d34 AP_GyroFFT: make sure the parameters are updated at least once on startup 2022-06-21 19:41:34 +09:00
Andy Piper 82eef70fba AP_Arming: make sure FFT gets initialized when arming checks are off 2022-06-21 19:41:34 +09:00
Andy Piper 9c02682785 AP_HAL_ChibiOS: add support for MambaF405 2022 MK4 
mark DMA on MambaF405US-I2C UARTs
correct RSSI pin on MambaF405US-I2C
 2022-06-21 19:41:34 +09:00
Andy Piper 22687bd545 AP_HAL_ChibiOS: hwdef for MambaH743v4 
support BMI270 on MambaH743v4 and increase flash SPI clock
add bi-directional dshot to MambaH743
add README and pinout for MambaH743
 2022-06-21 19:41:34 +09:00
Andy Piper 90e8bdba78 AP_InertialSensor: don't print error when probing non-existant BMI270 
fix device locking at startup on BMI270
 2022-06-21 19:41:34 +09:00
Andy Piper ae6872c6f6 AP_Logger: support W25N01GV flash chips 
add separate driver for W25N01GV triggered via HAL_LOGGING_DATAFLASH_DRIVER
move flash_test() into AP_Logger_Block.
cleanup use of 4k sector commands to account for chips that only have block commands
 2022-06-21 19:41:34 +09:00
Andy Piper da04fdd491 AP_RCTelemetry: don't spam mode changes on CRSF startup 
rewrite device ping bootstrap to avoid ping flood
enable device pings on CRSF in the event of TX loss.
only send pings if not negotiating the version
 2022-06-21 19:41:34 +09:00
Andy Piper 7509cc5c3c AP_RCProtocol: reset UART on RX failure for CRSF 
update CRSF timestamps to use microseconds
implement RX liveness protocol and implement for CRSF
 2022-06-21 19:41:34 +09:00
Andy Piper 159b50c41a AP_RCProtocol: check for bad frames in CRSF decoding. 2022-06-21 19:41:34 +09:00
Mohammad Hefny dcae70abc8 AP_Rangefinder: preserve new address 2022-06-21 19:41:34 +09:00
Andy Piper c62adb0c6d AP_OSD: update parameter menu flightmodes for plane and copter. 2022-06-21 19:41:34 +09:00
Andrew Tridgell fb0b32887d AP_Rangefinder: fixed scaling on PWM driver and enable SCALING parameter 
this fixes a bug introduced here:

  https://github.com/ArduPilot/ardupilot/pull/18829

and allows the scaling of PWM rangefinders to be adjusted
 2022-06-21 19:41:34 +09:00
Andrew Tridgell ee669465ce AP_InertialSensor: fixed build with logging disabled 
fixes CubeOrange-periph build
 2022-06-21 19:41:34 +09:00
Andrew Tridgell e3aa707db6 AP_BoardConfig: fixed build with logging disabled 
fixes CubeOrange-periph build
 2022-06-21 19:41:34 +09:00
Andrew Tridgell d023e1cd8a AP_GPS: fixed build without logging 2022-06-21 19:41:34 +09:00
Andrew Tridgell d83a56b60b AP_Logger: don't compiler AP_Logger.cpp if logging not enabled 
for some reason this fixes f103-GPS build, even though the code wasn't
referenced
 2022-06-21 19:41:34 +09:00
Andrew Tridgell 42b6479527 AP_Logger: save crash_dump.bin to sdcard on boot 
on each boot write crash_dump.bin to the microSD if it is available
this makes it easier for users to send in their crash dumps, and less
likely they will overwrite it with a fw update
 2022-06-21 19:41:34 +09:00
Andrew Tridgell fbb3271e0d AP_UAVCAN: added a check for memory corruption in the pool 2022-06-21 19:41:34 +09:00
Andrew Tridgell 8ac08110fa AP_UAVCAN: added dynamically allocated pool size param 
allow for smaller pool size to save memory
 2022-06-21 19:41:34 +09:00
Andrew Tridgell 06170c7449 AC_AttitudeControl: reduced default quadplane VTOL pos XY gains 2022-06-21 19:41:34 +09:00
Peter Barker 937f0a3e40 AP_Filesystem: correct run-length encoding in param download 
If a parameter's name was a prefix of the previous name we would
suffer an integer-wrap problem and incorrectly encode the parameter name
 2022-06-21 19:41:34 +09:00
Andrew Tridgell 83d78b6336 AP_NavEKF3: log set source events 2022-06-21 19:41:34 +09:00
Andrew Tridgell 8939974333 AP_DAL: added set source events for EKF3 2022-06-21 19:41:34 +09:00
Iampete1 f3d08c8eae AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane 2022-06-21 19:41:34 +09:00
Andrew Tridgell be7f0afc87 AP_InertialSensor: call notch param update with semaphore held 2022-06-21 19:41:34 +09:00
Andrew Tridgell 005de1ded2 AP_GyroFFT: added defaults for FFT with no notch 
allow for testing with FFT enabled, and defaulting number of
frequencies to look for
 2022-06-21 19:41:34 +09:00
Andrew Tridgell 70443b121f AP_InertialSensor: fixed the last notch values to be per-instance 
thanks to Andy for noticing this
 2022-06-21 19:41:34 +09:00
Andrew Tridgell a0746ec251 AP_GyroFFT: skip disabled notches 2022-06-21 19:41:34 +09:00
Andrew Tridgell afe0c02835 AP_InertialSensor: don't update disabled notches 2022-06-21 19:41:34 +09:00
Andrew Tridgell 5949abb858 AP_GyroFFT: allow for 2 FFT based notches 2022-06-21 19:41:34 +09:00
Andrew Tridgell e4c1f30aa7 AP_Vehicle: implement common harmonic notch update code 2022-06-21 19:41:34 +09:00
Andrew Tridgell 10a273a3a5 AP_RPM: use HarmonicNotch class 2022-06-21 19:41:34 +09:00
Andrew Tridgell 3ebab76395 AP_GyroFFT: use HarmonicNotch class 2022-06-21 19:41:34 +09:00
Andrew Tridgell 699d624ca1 AP_Arming: use HarmonicNotch class 2022-06-21 19:41:34 +09:00
Andrew Tridgell 7bb139a311 AP_InertialSensor: switch to HarmonicNotch class 
this makes the logic much easier to follow, without indexes into
arrays
 2022-06-21 19:41:34 +09:00
Andrew Tridgell d48e048403 Filter: removed parameters from the old notch filter 
saves some flash space
 2022-06-21 19:41:34 +09:00
Andrew Tridgell 6c61ea970d AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT 2022-06-21 19:41:34 +09:00
Andrew Tridgell f015e827bf AP_Arming: added arming check for conflicting notch modes 2022-06-21 19:41:34 +09:00
Andrew Tridgell b6e4cfc8da Filter: clarify meaning of 1st harmonic 2022-06-21 19:41:34 +09:00
Andrew Tridgell 2cfce1e3e7 Filter: added RPM2 harmonic notch type 2022-06-21 19:41:34 +09:00
Andrew Tridgell 49bf16853c AP_Vehicle: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell 7246185d0a AP_RPM: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell 350140e030 AP_InertialSensor: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andy Piper 8cd79d08ba AR_Motors: make sure ESC type is initialized early 2022-05-28 16:08:08 +09:00
Andy Piper 7dcdf7b325 AP_Motors: make sure ESC type is initialized early 2022-05-28 16:08:08 +09:00
Andy Piper 7d00167428 SRV_Channel: add BLHeli_S ESC type 2022-05-28 16:08:08 +09:00
Andy Piper a3e79c8263 AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths 2022-05-28 16:08:08 +09:00
Andy Piper 34cb45a11e AP_HAL: add BLHeli_S ESC type and use it to control bitwidths 
adjust BLHeli_S bitwidth and ticks to support more ESC variants.
 2022-05-28 16:08:08 +09:00
Randy Mackay 4eedb2e948 AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7 2022-05-28 16:08:08 +09:00
Randy Mackay 8a5e7ff120 AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-05-28 16:08:08 +09:00
Andy Piper ece793e4b7 AC_AutoTune: allow high ANGLE_P gains 2022-05-28 16:08:08 +09:00
Andy Piper 292291b760 AP_HAL: add bitwidth hal definitions. 
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
 2022-05-28 16:08:08 +09:00
Andy Piper 19d9f157cb AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-05-28 16:08:08 +09:00
Andrew Tridgell 0bfe567c4d AP_BoardConfig: expose BRD_SAFETYENABLE on all boards 
default BRD_SAFETYENABLE to 0 on boards with no safety switch, which
gives us the same behaviour as before, but users can choose to enable
the safety

this fixes two problems:

  - CAN servos and ESCs work on boards with no safety switch
    (eg. MatekH743 with CAN)

  - during startup we could get spurious outputs before out aircraft
    type is setup
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 49af52b735 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 4adb3ddfa2 AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter 
this allows for an offset in ESC numbering for much more efficient CAN
bandwidth usage.

For example, on a coaxial OctoQuad quadplane the ESCs are typically
setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN
buses, with one CAN bus for the top layer and the one bus for the
bottom layer (allowing for VTOL flight with one bus failed).

Without this offset parameter you would be sending RawCommand messages
like this:

bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]

this is very wasteful of bus bandwidth, with bus1 using 3x the
bandwidth it should and bus2 using 4x the bandwidth it should (the
above will take 3 can frames for bus1, and 4 can frames for bus 2)

With this patch you can set:

CAN_D1_UC_ESC_OF = 4
CAN_D2_UC_ESC_OF = 8

and you will get this on the bus:

bus1: [ ESC1, ESC2, ESC3, ESC4 ]
bus2: [ ESC1, ESC2, ESC3, ESC4 ]

that takes just 1 can frame per send on each bus
 2022-05-28 16:08:08 +09:00
Peter Barker aa59e0a63e AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:08 +09:00
Andrew Tridgell aa873ad9f4 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-28 16:08:08 +09:00
Andrew Tridgell 2f73ce408f AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-28 16:08:08 +09:00
Andrew Tridgell 8066478679 AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor 
we need to use the pressure from the sensor we are calibrating
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 4e6f0c0ef4 AP_NavEKF: getYawData also provides number of clipping models 
In the case of the compass calibrator we do not want to use the GSF
result if any model is degenerate.  We've had a compass calibrate in
flight 180-degrees out from what it should have.
 2022-05-28 16:08:08 +09:00
Peter Barker 5f39602d8c AP_Compass: do not use GSF if any model has been clipped 2022-05-28 16:08:08 +09:00