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Copter-4.4
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32259 Commits

Author SHA1 Message Date
Davide_Lentini
d9e3e6ab1c AP_HAL_ChibiOS: luminousbee5 hwdefs and default.parm update 
fix: restored storage folders for luminousbee5 in hwdef
 2023-09-05 19:40:15 +09:00
Willian Galvani
4b3f5fbb02 AP_MotorsUGV: add asymmetry factor for skid-steering 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2023-09-05 19:40:15 +09:00
Andrew Tridgell
d471372d0d AP_Scripting: added log_file_content method 
this allows for aerobatics to log the schedule for easier log review
 2023-09-05 19:40:15 +09:00
Andy Piper
e54124f7e5 AP_HAL_ChibiOS: pull RTS lines low on Pixhawk6C to avoid glitches on startup 2023-09-05 19:40:15 +09:00
Willian Galvani
4deef903a8 AP_HAL_Linux: update Navigator available GPIOs 
The comment was wrong. gpio 26 is actually used for the PCA Output Enable signal.
This also adds GPIO18, which is the one broken out to the PWM0 pin
 2023-09-05 19:40:15 +09:00
Iampete1
abf6a25db7 AP_BattMonitor: UAVCAN: allow battery reset if not using CAN SoC 2023-09-05 19:40:15 +09:00
Paul Riseborough
04e15e9a4c AP_NavEKF3: Update EK3_GLITCH_RADIUS metadata 2023-09-05 19:40:15 +09:00
Paul Riseborough
31d510042f AP_NavEKF3: increase innovation variance instead of clipping innovations 2023-09-05 19:40:15 +09:00
Paul Riseborough
7a4acadc9f AP_NavEKF3: Provide option to clip velocity and position innovations 2023-09-05 19:40:15 +09:00
Andy Piper
2767ffe654 AP_HAL_ChibiOS: add 8 bi-directional dshot channels to KakuteH7-Wing 2023-09-05 19:40:15 +09:00
Peter Barker
f4798f3773 hwdef: qiotek: correct HAL_BATT_MONITOR_DEFAULT define name 2023-09-05 19:40:15 +09:00
Peter Barker
15d5be8a4b hwdef: add hwdef for SDMODELH7V1 2023-09-05 19:40:15 +09:00
Andrew Tridgell
97bcbf656d GCS_MAVLink: fixed corruption of FTP reply component ID 
this led to not being able to do FTP transfers with
support.ardupilot.org unless MissionPlanner used the same component ID
as the support engineer GCS
 2023-09-05 19:40:15 +09:00
Andrew Tridgell
dbfce61d69 AP_Param: fixed parameter defaults array length handling 
we need to add up the total for all comma separated parameter files
 2023-09-05 19:40:15 +09:00
Andrew Tridgell
d5e7cdc944 AP_UAVCAN: make himark servo optional in build 
and only allocate handlers if enabled
 2023-09-05 19:40:15 +09:00
Andrew Tridgell
60dc2c1e1c AP_UAVCAN: added Hobbywing ESC support 2023-09-05 19:40:15 +09:00
Andrew Tridgell
714f6e1660 AP_PiccoloCAN: expand servo status logging 2023-09-05 19:40:15 +09:00
Andrew Tridgell
a08918960f AP_Logger: expand servo status logging 2023-09-05 19:40:15 +09:00
Andrew Tridgell
118d20943a AP_UAVCAN: support Himark servo protocol 2023-09-05 19:40:15 +09:00
Andy Piper
160d791087 AP_HAL_ChibiOS: change incorrect I2C internal mask from SkystarsH7HD bdshot 2023-08-21 21:41:11 +09:00
Andrew Tridgell
e9fdcd9994 hwdef: allow Pixhawk1-1M-bdshot to build for 4.4.0 2023-08-14 08:44:43 +09:00
Andrew Tridgell
f89e90f60b AP_GPS: fixed RTK injection when first module is a BASE 
this is a partial backport of #24132 which fixes RTK injection when
the 1st GPS module is a DroneCAN RTK rover. Without this change RTCM
injection for RTK fix on the base will only work if it happens to come
up as the first module
 2023-08-14 08:44:43 +09:00
Andrew Tridgell
a6dab2a35a AP_Compass: allow override of IST8310 orientation 
this allows for vendor GPS modules and internal compass which use a
different orientation
 2023-08-14 08:44:43 +09:00
Andrew Tridgell
b51fe4d8a9 hwdef: added SIYI NY flight controller 2023-08-14 08:44:43 +09:00
Andrew Tridgell
49764a91c1 AP_Arming: fixed auto-enable of fence with forced arm 
when a user forced armed and had FENCE_AUTOENABLE=3 for enable on
arming then the fence did not enable
 2023-08-14 08:44:43 +09:00
Peter Barker
049a3f187b GCS_MAVLink: fix airspeed cal / format commands via non-USB telemetry 2023-08-14 08:44:43 +09:00
Andrew Tridgell
9fc8078df4 AP_NavEKF3: fixed race condition in updateFilterStatus() 
filter status was initially set to zero then updated. This interacts
with the IMU filtering code which checks filter status from a
different thread to determine active_EKF_type(). When the race
condition is hit then the IMU we are running notch filters on changes
for a single sample, causing a notch filter glitch
 2023-08-14 08:44:43 +09:00
Andrew Tridgell
a4b351008e AP_Airspeed: increased DroneCAN airspeed timeout 2023-08-14 08:44:43 +09:00
Andrew Tridgell
99b82c16eb AP_Airspeed: fixed handling of unhealthy airspeed 
this fixes a bug introduced in
https://github.com/ArduPilot/ardupilot/pull/22416 which results in
using bad airspeed data on timeout. The prev_health variable is
updated by the get_pressure call
 2023-08-14 08:44:43 +09:00
Randy Mackay
97fc3af7a0 AP_Scripting: add rover quicktune 2023-08-01 16:48:42 +09:00
Randy Mackay
25b27b5b68 AP_Scripting: AR_PosControl bindings 2023-08-01 16:48:42 +09:00
Randy Mackay
1a7595611d AP_Scripting: add AR_AttitudeControl srate binding 
also add AP_Vehicle:get_steering_and_throttle binding
 2023-08-01 16:48:42 +09:00
Randy Mackay
c3d97aeb0f AC_PID: AC_PID_2D integrates SlewCalculator2D 2023-08-01 16:48:42 +09:00
Randy Mackay
1e17d35c09 Filter: add SlewCalculator2D 2023-08-01 16:48:42 +09:00
Randy Mackay
60663e5115 Filter: SlewLimiter definitions moved to cpp 2023-08-01 16:48:42 +09:00
Randy Mackay
b669298c6f AP_Vehicle: add get_steering_and_throttle 2023-08-01 16:48:42 +09:00
Randy Mackay
3d16dd5b82 AR_PosControl: add singleton and get_srate 2023-08-01 16:48:42 +09:00
Randy Mackay
72f8372adc AR_AttitudeControl: add singleton and get_srate 2023-08-01 16:48:42 +09:00
tiralonghipol
1c57ca14aa AP_HAL_ChibiOS: add new board BlitzF745AIO 2023-08-01 16:48:42 +09:00
Andy Piper
84d98514a9 AP_HAL_ChibiOS: correct incorrect defaults for serial ports on FoxeerH743v1 2023-08-01 16:48:42 +09:00
Andy Piper
352bc482af AP_RCProtocol: report tracer frame rate correctly 2023-08-01 16:48:42 +09:00
Andy Piper
de730eef64 AP_RCProtocol: rescan at CRSFv3 baud rates to avoid RX loss on soft reboot 2023-08-01 16:48:42 +09:00
Randy Mackay
d5b01ee404 AR_PosControl: limit and zero velocity I-term 
zero in forward-back direction
limit in lateral direction
 2023-08-01 16:48:42 +09:00
Randy Mackay
d3e4dd08d1 AR_AttitudeContol: add steering_limited checks 2023-08-01 16:48:42 +09:00
Randy Mackay
5702c6a672 AP_Math: Vector2f::projected made const 2023-08-01 16:48:42 +09:00
Andy Piper
dada9f8720 AP_HAL_ChibiOS: correct comment in HEEWING-F405 v1 2023-08-01 16:48:42 +09:00
Andy Piper
1227b7ab02 AP_HAL_ChibiOS: HEEWING-F405v2 which includes dataflash logging 2023-08-01 16:48:42 +09:00
Andy Piper
168756ce76 AP_NavEKF3: fix docs on ABIAS_P_NSE_DEFAULT 2023-08-01 16:48:42 +09:00
Andrew Tridgell
2d8600ea91 AP_Mount: prevent SIYI driver crash if serial port not setup 
if MNT1_TYPE=8 and no serial protocol set to gimbal then a camera
trigger can crash the vehicle
 2023-08-01 16:48:42 +09:00
Andy Piper
886f24764c AP_BLHeli: add battery status MSP handling 
give internal error if an unknown MSP command occurs
 2023-08-01 16:48:42 +09:00
HelloLeFei
a4b5c3001e AP_HAL_ChibiOS: add HEEWING-F405 flight controller 
add bi-directional dshot
add back in features.
juggle DMA allocations to allow CRSF to work correctly
disable dshot on PWM 10 as it is not used
do not enable quadplane by default
do not disable arming checks
run ICM42688 at 1Mhz for low speed to avoid gyro noise
add HEEWING README and picture
 2023-08-01 16:48:42 +09:00
Mikhail Degtiarenko
ed8ae82267 AP_HAL_ChibiOS: add SPL06 to MambaH743v4 
The Diatone Mamba MK4 H743 v2 Flight Control have moved from the DPS280 barometer to using SPL06.

https://www.diatone.us/products/mamba-mk4-h743-v2-flight-control-30mm-m3l
 2023-08-01 16:48:42 +09:00
Andrew Tridgell
8f55281cb8 ChibiOS: disable DMA on I2C on F7 and H7 by default 
this was already done on many (most?) boards, and greatly reduces DMA
sharing which improves performance of UARTs. This changes the default
to no DMA on I2C
 2023-08-01 16:48:42 +09:00
bugobliterator
0c12b3bfaf AP_Scripting: stash and restore FPU register context in LUAI_TRY 
this fixes an issue where a lua library function triggers an exception
after it does a math operation which changes the floating point
registers on M7 MCUs (such as STM32H7). An example is math.random()
which calls math_random(), which pre-calculates a double value before
checking if the arguments to the call are valid. When it then checks
and finds invalid values the exception longjmp does not restore the
floating point registers.
 2023-08-01 16:48:42 +09:00
Andrew Tridgell
1dbc39d1f4 AP_Scripting: added bindings for VTOL motor loss 
this allows a script to take an action on loss of a VTOL motor
 2023-08-01 16:48:42 +09:00
Andrew Tridgell
0d6f49c67d HAL_ChibiOS: implement newlib alloc functions as malloc wrappers 
this fixes issue #24106
 2023-07-04 15:08:27 +09:00
Peter Barker
3c43fb6de8 AP_Notify: add driver for IS31FL3195 LED 2023-07-04 12:16:30 +09:00
Peter Barker
c1f30b24e0 AP_Notify: add driver for LP5562 LED 2023-07-04 12:16:30 +09:00
Andrew Tridgell
15f4924499 AP_Scripting: updated VTOL quicktune docs 2023-07-04 12:16:30 +09:00
Andrew Tridgell
a3f1ccb5e2 AP_Scripting: fixed lua-check warnings in VTOL-quicktune 2023-07-04 12:16:30 +09:00
Andrew Tridgell
8ecc43ddbc AP_Scripting: fixed use of QUIK_ENABLE in VTOL-quicktune 
this was lost when the cached access was added
 2023-07-04 12:16:30 +09:00
Andrew Tridgell
fa18fc072b AP_Scripting: added QUIK_MAX_REDUCE parameter to VTOL-quicktune.lua 
this limits the amount that rate gains can reduce from the original
values in a quicktune. Large reductions in rate gains can be
incorrectly triggered by a frame resonance or gust of wind which can
result in gains that are dangerously low, which can trigger an angle P
oscillation
 2023-07-04 12:16:30 +09:00
Andy Piper
ad5b8563b5 AP_HAL_ChibiOS: remove bdshot from speedybeef4 as it doesn't work and increases flash usage 2023-07-04 12:16:30 +09:00
Andy Piper
287053961c AP_HAL_ChibiOS: Pixhawk1-bdshot 2023-07-04 12:16:30 +09:00
Michael du Breuil
4cf19a74b4 AP_ADSB: Fix spam of lost transciever message at update() rate 2023-07-04 12:16:30 +09:00
Andy Piper
42e18db221 AC_AutoTune: correct incorrect min raw rate valuee 2023-07-04 12:16:30 +09:00
Andrew Tridgell
1d686ff806 AP_NavEKF3: fixed velocity reset on AID_NONE 
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
 2023-07-04 12:16:30 +09:00
Andrew Tridgell
6db228900b AP_NavEKF2: fixed velocity reset on AID_NONE 
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
 2023-07-04 12:16:30 +09:00
Peter Barker
e363438c23 AP_Arming: reword GPS pre-arm failure 
M10S (no storage) throws this for a considerable period of time and the wording makes this process sound scary.
 2023-07-04 12:16:30 +09:00
Andy Piper
1d74020aac AP_HAL_ChibiOS: Pixhawk6X bdshot version 2023-07-04 12:16:30 +09:00
jfbblue0922
fbd77be980 AP_HAL_ChibiOS: jfb100 gets shorter EXT_WDOG_INTERVAL_MS 2023-07-04 12:16:30 +09:00
jfbblue0922
ce39ae40aa AP_HAL_CHibiOS: JFB100 hwdef fix for ext watchdog 2023-07-04 12:16:30 +09:00
jfbblue0922
7b60ac7afa AP_HAL_ChibiOS: support external watchdog gpio 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>

optional support to toggle GPIO pin at 10hz
 2023-07-04 12:16:30 +09:00
Andrew Tridgell
cce16c9ada AP_GPS: fixed ublox M10S auto-config 
this copes with the M10S rejecting multiple-key VALGET calls. We fall
back to fetching one at a time
 2023-07-04 12:16:30 +09:00
Alexander Keller
6f38788575 AP_GPS:Comform to ardupilot undulation definition 2023-07-04 12:16:30 +09:00
davidsastresas
eb5e86ecf0 GCS_Common: handle CMD_DO_SET_ROI_NONE for command int packets 2023-07-04 12:16:30 +09:00
Randy Mackay
954c3666cc AP_SerialManager: improve OPTIONS desc for Swap bit 2023-07-04 12:16:30 +09:00
Randy Mackay
5713560a81 AP_SerialManager: generalise SToRM32 serial protocol desc and enum 2023-07-04 12:16:30 +09:00
Iampete1
ea9e051220 AP_Motors: Heli RSC: remove incorrect set range call 2023-07-04 12:16:30 +09:00
Henry Wurzburg
323ab6f5a1 AP_HAL_ChibiOS: add Holybro KakuteH7-Wing 2023-07-04 12:16:30 +09:00
Randy Mackay
ec2cdda03e AR_PosControl: add input_pos_vel_accel target 2023-06-08 09:29:59 +10:00
Randy Mackay
7db0c888e4 AP_HAL_ChibiOS: JFB100 LED definition fix 2023-06-08 09:29:59 +10:00
Randy Mackay
c74eea54c5 AP_InertialSensor: SCHA63T comment fix 2023-06-08 09:29:59 +10:00
Randy Mackay
9960e1e128 AP_HAL_ChibiOS: JFB100 board def fixup 2023-06-08 09:29:59 +10:00
Randy Mackay
655bdb3390 AP_InertialSensor: SCHA63T loses unused ret bool 2023-06-08 09:29:59 +10:00
jfbblue0922
4b556ea472 AP_HAL_ChibiOS: add JFB100 board definition 2023-06-08 09:29:59 +10:00
Randy Mackay
fbfd8d506a AP_InertialSensor: formatting fixes 2023-06-08 09:29:59 +10:00
jfbblue0922
81424e2d05 AP_InertialSensor: add SCHA63T IMU support 2023-06-08 09:29:59 +10:00
jfbblue0922
7cfa0a6848 AP_Math: add crc8_sae 2023-06-08 09:29:59 +10:00
Henry Wurzburg
ed81577bcc AP_Notify: fix incorrect buzzer pin type to stop always instantiating 2023-06-08 09:29:59 +10:00
James O'Shannessy
d8721a72a2 AP_BattMonitor: Fixes the setting of a default parameter for battery instance #2 set in hwdef 2023-06-08 09:29:59 +10:00
Randy Mackay
110901e95d AC_WPNav: wpnav speed param check fixed 2023-06-08 09:29:59 +10:00
Andrew Tridgell
169d180961 HAL_ChibiOS: fixed USB pass-thru for 2nd USB endpoint 
we need to align the endpoint ID in the structure
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
6f5d3a0dfd AP_AHRS: don't reject airspeed using EKF if dead-reckoning 
when dead-reckoning the EKF wind estimate can diverge from reality,
leading to us rejecting a valid airspeed sensor. We are best off
trusting airspeed if we are dead-reckoning
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
5f6a1f7f71 AP_BoardConfig: fixed documentation of safety options 
on and off were reversed
 2023-06-08 09:29:59 +10:00
Iampete1
5d1bb3b1ca Filter: SlewLimiter: always caculate slew limit 2023-06-08 09:29:59 +10:00
Andrew Tridgell
250a4ffcef AP_BattMonitor: allow max amps to be configured on INA2XX 
this allows for higer current ranges with lower resolution
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
67cfbcfc41 hwdef: use zero address for INA2XX to allow for different sensors 2023-06-08 09:29:59 +10:00
Andrew Tridgell
b8b9f82084 AP_BattMonitor: auto-probe INA2XX address if address is zero 
this makes life easier for users who don't know which device they have
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
f54d851364 AP_BattMonitor: support INA228 and INA238 battery monitor 
I2C monitors with similar functionality to INA226
 2023-06-08 09:29:59 +10:00
Andy Piper
ebd66e88e0 AC_AutoTune: load test gains for correct axis when testing yaw D 2023-06-08 09:29:59 +10:00
Paul Riseborough
d98a60c2e1 AP_NavEKF3: Increase delta velocity bias state process noise 
Required due to state variance collapse on ground with some systems using RTK GPS.
 2023-06-08 09:29:59 +10:00
Paul Riseborough
da22519de8 AP_NavEKF3: Strengthen recovery from bad delta velocity bias learning 2023-06-08 09:29:59 +10:00
Paul Riseborough
17003ff0f5 AP_NavEKF3: Increase default value of EK3_ABIAS_P_NSE 
This is required because some hardware setups with RTK GPS have experienced a collapse of the delta velocity state variances.
 2023-06-08 09:29:59 +10:00
Paul Riseborough
9c93cb8d46 AP_NavEKF3: Retune and fix delta velocity bias state variance protection 2023-06-08 09:29:59 +10:00
Andy Piper
383297f6be AP_NavEKF: ensure gyro biases are numbers 
avoid errors during compass mot
 2023-06-08 09:29:59 +10:00
Paul Riseborough
444f90352f AP_NavEKF3: Lock in wind state estimates when using srag to dead reckon 2023-06-08 09:29:59 +10:00
Andrew Tridgell
41e922c60e AP_ICEngine: fixed a bug engine control when running 
if you have a mission item for engine control with delayed start at
height and the engine is already running them it would put the ICE
subsystem into a state where it would no longer start the engine

It was actually 2 bugs:

 - an engine control to do a height delayed start should be ignored if
   the engine is already running. This prevents an engine control to
   start the engine from stopping the engine

 - a start_chan high should always try to start the engine
   immediately, even if in the wait state
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
87c767df5c AP_RCProtocol: return true on initial protocol detection 
we need to tell the IO firmware that a byte was consumed when we first
detect a protocol as otherwise the next bad byte on DSM will lock us
on the DSM port
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
3b50123f18 AP_IOMCU: fixed issue with not regaining RC input 
this fixes an issue where when you lose R/C input on IOMCU that you
may not regain it when R/C comes back.

The issue stems from us still processing the DSM uart when we are
using the SD3 "SBUS" uart for RC input, and still doing the switch of
the SD3 config every 2 seconds.

When we are not searching for a new protocol we should not be changing
UART config
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
784bfb53f2 AP_NavEKF3: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
259e51e0e8 AP_NavEKF2: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
2bbffdd6c6 AP_Param: added set() to AP_Enum 2023-06-08 09:29:59 +10:00
Peter Barker
38279fc5dd AP_Logger: do not rotate logs when disarming if we are replay-logging 2023-06-08 09:29:59 +10:00
Andrew Tridgell
e3537cb01d AP_Logger: added LOG_DARM_RATEMAX 
this sets the logging rate max when disarmed. In combination with
LOG_DISARMED=3 it gives a very nice setup to get always on logging
with very little addition to the log sizes. It is particularly useful
in combination with LOG_REPLAY=1
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
1c78e4f7f9 AP_Logger: added LOG_DISARMED=3 
when LOG_DISARMED is set to 3 then we log while disarmed but if we
reboot without ever arming the log is discarded. This allows for using
LOG_DISARMED without filling the microSD.
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
f69188d43a AP_Logger: use AP_Enum for log_disarmed 2023-06-08 09:29:59 +10:00
Henry Wurzburg
b23b6cd4bf AP_HAL_ChibiOS: Add SpeedyBeeF405WING 2023-06-08 09:29:59 +10:00
Andy Piper
69c0b1c567 AP_HAL_ChibiOS: correct locking on LED thread 2023-05-28 07:53:16 +10:00
Andy Piper
e8d1afd108 AP_HAL_ChibiOS: move LED processing to a separate thread 
LED processing on a separate thread allows much longer LED lengths to be handled without
compromising dshot timing or timeouts. The thread is also run at a lower priority to
reflect its lack of flight criticality
 2023-05-28 07:53:16 +10:00
Andy Piper
f97cd5c5ab AP_HAL: add helper functions for LEDs 
add PRIORITY_LED for led output thread
 2023-05-28 07:53:16 +10:00
Andy Piper
c042577827 AP_HAL_ChibiOS: reduce IMU SPI low speed to 1Mhz to avoid chip initialization issues 2023-05-25 18:12:00 +01:00
Andy Piper
d1600d3bf7 AP_HAL_ChibiOS: FoxeerH743 GA release 2023-05-24 17:21:41 +10:00
Andy Piper
9afcc8cf24 AP_HAL_ChibiOS: update MambaF405v2 for ICM42688, bdshot and DMA on UART1 2023-05-24 17:20:05 +10:00
Andy Piper
a667e3728c AP_HAL_ChibiOS: add BMI270 and ICM42688 to FlywooF745 2023-05-24 17:20:05 +10:00
Andy Piper
d5535cc0cf AP_HAL_ChibiOS: remove erroneous FlywooF745v2 2023-05-24 17:20:05 +10:00
Andy Piper
3ec036c4ea AP_HAL_ChibiOS: hwdef for FlywooF745v2 
Add SPL06 baro to FlywooF745v1
 2023-05-24 17:20:05 +10:00
Paul Riseborough
3c99766a5a AP_NavEKF3: Improve protection against GPS glitches during yaw alignment 2023-04-21 09:48:59 +10:00
Paul Riseborough
007bc804bd AP_NavEKF3: Reduce use of GSF yaw for planes with no compass 2023-04-21 09:48:59 +10:00
Andy Piper
27628099ce AP_HAL_ChibiOS: hwdef for MatekF405-TE/VTOL including bdshot 2023-04-21 09:48:59 +10:00
bugobliterator
42d21ab9bc AP_InertialSensor: fix hardfault in BatchSampler 2023-04-21 09:48:59 +10:00
Peter Barker
f3502a71e9 AP_InertialSensor: correct access beyond array in Ins TCal 2023-04-21 09:48:59 +10:00
Peter Barker
aecffd2778 SimOnHW: correct compilation on CubeOrangePlus 
this was at 2 to reduce CPU load.

But particularly when CubeOrangePlus is playing around with auxiliary IMUs we really want to be running on SimOnHardware just what we're running on the normal firmware.  We can find CPU cycles elsewhere....
 2023-04-21 09:48:59 +10:00
Andy Piper
3e83d40bd8 AP_HAL_ChibiOS: ensure that DMA source is correct on DMA send for rcout 2023-03-26 16:46:53 +11:00
Andy Piper
aabfce2099 AP_HAL_ChibiOS: ensure the rcout TIM_UP DMA request source is re-instated after cancellation 
This fixes a bug in bdshot whereby dma cancellation could result in the wrong DMA channel
being used for dshot output and hence motors stopping
 2023-03-26 16:46:51 +11:00
Andrew Tridgell
7527c6e278 HAL_ChibiOS: support starting the clock at non-zero 
for testing time wrap bugs
 2023-03-26 16:46:47 +11:00
Andrew Tridgell
c55a2916f6 HAL_ChibiOS: switched to 64 bit maths for DShot timings 
this fixes a timer wrap bug at 71 minutes after boot that impacts
bdshot
 2023-03-26 16:46:44 +11:00
bugobliterator
b9e9d4cc4f AP_InertialSensor: fix duplicate sensor detection for AUX sensors 2023-03-24 11:55:45 +11:00
bugobliterator
f88db74356 AP_HAL_ChibiOS: add support for initialising extra sensors as AUX 2023-03-24 11:55:45 +11:00
bugobliterator
6eaa05960f AP_InertialSensor: increase the temp tolerance for INV2 driver for fifo reset 2023-03-23 08:00:05 +11:00
bugobliterator
deeeb4134c AP_NavEKF3: use INS_MAX_INSTANCES instead of MAX_EKF_CORES for IMU mask 2023-03-21 10:04:16 +11:00
bugobliterator
08bea2fcd2 AP_InertialSensor: move from INS_ top level parameters to INS 2023-03-21 10:04:16 +11:00
bugobliterator
e7533c006b SITL: add support for auxiliary IMUs 2023-03-21 10:04:16 +11:00
bugobliterator
14ae431056 AP_DAL: use MAX_EKF_CORES instead of INS_MAX_INSTANCES in ekf_low_time_remaining 2023-03-21 10:04:16 +11:00
bugobliterator
f3dc4216d2 AP_HAL_ChibiOS: allow instantiation of upto 5 IMUs on CubeOrangePlus 2023-03-21 10:04:16 +11:00
bugobliterator
4e93e99fe5 AP_NavEKF: Five IMUs need slightly more stack space with GCC 6.3.1 
The extra space is take by the inactive sensor bias state code.
 2023-03-21 10:04:16 +11:00
bugobliterator
10439cc42e AP_InertialSensor: add support for extra Aux IMUs 2023-03-21 10:04:16 +11:00
Peter Barker
1cd3e7327d AP_EFI: add defines for Lutan and MegaSquirt 2023-03-21 09:01:13 +11:00
Peter Barker
615f36f8a0 AP_UAVCAN: tidy AP_EFI defines 2023-03-21 09:01:13 +11:00
Peter Barker
1e38200293 AP_PiccoloCAN: tidy AP_EFI defines 2023-03-21 09:01:13 +11:00