Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity
57,487 Commits 71 Branches 509 Tags 752 MiB
Tracker-4.4
Commit Graph

32257 Commits

Author SHA1 Message Date
Peter Barker
b06ba1bacd SITL: fix balancebot yaw reset to be kinimatically consistent 
... or at least closer to it.

We were hard-resetting the yaw to zero when the vehicle was upright.  That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.

Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
Backport of PR https://github.com/ArduPilot/ardupilot/pull/25046
 2024-01-07 10:59:27 +11:00
Peter Barker
186678848d SITL: reset balancebot to vertical in a kinmetically consistent manner 
The hard-reset of all state variables means we feed the EKF inconsistent gyro data.  Attempt to upright the vehicle with a simple p-gain when it is disarmed, as if someone is pushing the thing back upright
Backport of PR https://github.com/ArduPilot/ardupilot/pull/24314
 2024-01-07 10:59:27 +11:00
bugobliterator
4bc1c1501f AP_OpenDroneID: ensure Persistent memory is not read continuously 2024-01-07 10:59:27 +11:00
bugobliterator
185620ccca GCS_MAVLink: move sysid_my_gcs to be public 2024-01-07 10:59:27 +11:00
bugobliterator
84e69fb47a AP_HAL_ChibiOS: remove Chip ID as Basic ID mechanism 2024-01-07 10:59:27 +11:00
bugobliterator
5d604a33b5 AP_OpenDroneID: remove Chip ID as Basic ID mechanism 2024-01-07 10:59:27 +11:00
bugobliterator
e0c4d43c81 AP_HAL_ChibiOS: explain DID_OPTIONS config in CubeOrange-ODID/defaults.parm 2024-01-07 10:59:27 +11:00
bugobliterator
48850c8304 AP_OpenDroneID: add support for persistent storage of UAS ID 2024-01-07 10:59:27 +11:00
bugobliterator
13e8691720 AP_HAL: add support for get_persistent_param_by_name 2024-01-07 10:59:27 +11:00
bugobliterator
5a8bb80605 AP_HAL_ChibiOS: add support for get_persistent_param_by_name 2024-01-07 10:59:27 +11:00
bugobliterator
12e4ee9d3f AP_HAL_ChibiOS: add support for storing OpenDroneID in bootloader sector 2024-01-07 10:59:27 +11:00
Andy Piper
f6f8b316ca hwdef: ensure SpeedyBeeF405Mini builds on plane 2024-01-07 10:59:27 +11:00
Andy Piper
dae8e6afb9 hwdef: adjust serial protocol defaults on various boards for 4.4 naming scheme 2024-01-07 10:59:27 +11:00
Andy Piper
04d6c2e3c3 hwdef: SpeedyBeeF405Mini 2024-01-07 10:59:27 +11:00
Peter Barker
b68820a1b6 GCS_MAVLink: correct sensors when no baros found 
GCSs will know we have no baros on-board, as will the RC telemetry library
 2024-01-07 10:59:27 +11:00
Andy Piper
3671a237c2 AP_HAL_ChibiOS: T-Motor H743 Mini 2024-01-07 10:59:27 +11:00
Andy Piper
bded542bd3 AP_HAL_ChibiOS: provide mcu defaults in betaflight conversion 2024-01-07 10:59:27 +11:00
Andy Piper
12ddd6414e AP_HAL_ChibiOS: correct hwdef generator battery scale 2024-01-07 10:59:27 +11:00
Andy Piper
f335d9c6a1 AP_HAL_ChibiOS: cope with different IMU drivers in hwdef conversion 2024-01-07 10:59:27 +11:00
Andy Piper
f56bb8ee65 hwdef: mRoControlZeroOEMH7 bdshot version 2024-01-07 10:59:27 +11:00
Andy Piper
6aae2e58ea hwdef: correct inversion pin on MambaF405v2 
correct battery setup for MambaF405v2
provide suitable serial defaults for MambaF405v2
reallocate DMA channels to allow full DMA on USART3 and NeoPixel on MambaF405v2
add camera control pin to MambaF405v2
 2024-01-07 10:59:27 +11:00
Andy Piper
35220057ed AP_HAL_ChibiOS: betafpv F450 AIO hwdef 2024-01-07 10:59:27 +11:00
Andy Piper
194b30ec7e AP_HAL_ChibiOS: allow 8 bdshot channels on mRoControlZeroH7 2024-01-07 10:59:27 +11:00
Andy Piper
b39aead878 AP_NavEKF: fallback to no baro on boards that have no baro 2024-01-07 10:59:27 +11:00
Paul Riseborough
325eed46ec AP_NavEKF3: Allow operation with EK3_SRCx_POSZ = 0 (NONE) 2024-01-07 10:59:27 +11:00
Paul Riseborough
229e402f88 AP_NavEKF: Allow EK3_SRCx_POSZ to be set to 0 (NONE) 2024-01-07 10:59:27 +11:00
Andy Piper
b405030fcc AP_NavEKF3: allow high values of EK3_ALT_M_NSE for boards without baros 2024-01-07 10:59:27 +11:00
Davide_Lentini
df7ceadac8 AP_HAL_ChibiOS: Update luminousbee5 defaults.parm 2024-01-07 10:59:27 +11:00
Mohammad Hefny
10bcafc977 AP_HAL_Linux: Fix RPI check using enumerations 2024-01-07 10:59:27 +11:00
Henry Wurzburg
6f8d78710d AP_HAL_ChibiOS:improve MambaF405MINI defaults 2024-01-07 10:59:27 +11:00
Andrew Tridgell
0f62a6dee8 hwdef: get airbotf4 building with 4.4 
minimize, same as master
 2024-01-07 10:59:27 +11:00
Martin Luessi
367792ad3a AP_HAL_ChibiOS: Add RADIX2HD target 2024-01-07 10:59:27 +11:00
Martin Luessi
0b2b218b34 AP_HAL_ChibiOS: Allow custom STM32_PLL1_DIVQ_VALUE for H7 2024-01-07 10:59:27 +11:00
yjuav
46430e7e4e hwdef: add YJUAV_A6SE board support 2024-01-07 10:59:27 +11:00
Andy Piper
cc8b2a427c AP_HAL_ChibiOS: use old CRT1_AREAS_NUMBER 2024-01-07 10:59:27 +11:00
Martin Luessi
703d581f93 AP_HAL_ChibiOS: RAM initialization and linker files changes for external flash targets 2024-01-07 10:59:27 +11:00
Martin Luessi
18e4593bcd AP_HAL_ChibiOS: Use custom H750 linker script 2024-01-07 10:59:27 +11:00
Martin Luessi
7fe79f1f34 AP_HAL_ChibiOS: Fix H750 linker script 2024-01-07 10:59:27 +11:00
Martin Luessi
6dda91c92f AP_HAL_ChibiOS: Allow custom linker script, change extflash linker script 2024-01-07 10:59:27 +11:00
Martin Luessi
a1bfea6481 AP_HAL_ChibiOS: Move scheduler task table to RAM for H750 2024-01-07 10:59:27 +11:00
Martin Luessi
4cae583872 AP_HAL_ChibiOS: Add libgcc comment to H750 linker script 2024-01-07 10:59:27 +11:00
Martin Luessi
6de5f3c7f7 AP_HAL_ChibiOS: Use DTCM for vector table for external flash targets 2024-01-07 10:59:27 +11:00
Martin Luessi
13ca44423d AP_HAL_ChibiOS: Move more time critical code to RAM for H750 2024-01-07 10:59:27 +11:00
Martin Luessi
3f6933cb1c AP_HAL_ChibiOS: increase FLASH_RAM and rename FDCAN to CAN for H750 2024-01-07 10:59:27 +11:00
Martin Luessi
9b2616c8e6 AP_HAL_ChibiOS: Copy vector table to RAM if external flash is primary 2024-01-07 10:59:27 +11:00
Martin Luessi
71a985d7a2 AP_HAL_ChibiOS: Change linker script so vector table can be copied to RAM for external flash targets 2024-01-07 10:59:27 +11:00
Martin Luessi
9c12ee89e1 AP_HAL_ChibiOS: Allow custom STM32_QSPISEL for H7 2024-01-07 10:59:27 +11:00
Andrew Tridgell
e224a27623 AP_Scripting: added docs for log_file_content 2024-01-07 10:59:27 +11:00
Davide_Lentini
7ca0371e60 AP_HAL_ChibiOS: luminousbee5 hwdefs and default.parm update 
fix: restored storage folders for luminousbee5 in hwdef
 2024-01-07 10:59:27 +11:00
Willian Galvani
8d52fb2f64 AP_MotorsUGV: add asymmetry factor for skid-steering 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2024-01-07 10:59:27 +11:00
Andrew Tridgell
ce04c44a27 AP_Scripting: added log_file_content method 
this allows for aerobatics to log the schedule for easier log review
 2024-01-07 10:59:27 +11:00
Andy Piper
2611ba47e1 AP_HAL_ChibiOS: pull RTS lines low on Pixhawk6C to avoid glitches on startup 2024-01-07 10:59:27 +11:00
Willian Galvani
bdeced9cb7 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
 2024-01-07 10:59:27 +11:00
Iampete1
5d8a8db6cc AP_BattMonitor: UAVCAN: allow battery reset if not using CAN SoC 2024-01-07 10:59:27 +11:00
Paul Riseborough
96318bff4a AP_NavEKF3: Update EK3_GLITCH_RADIUS metadata 2024-01-07 10:59:27 +11:00
Paul Riseborough
99a5bd2c0d AP_NavEKF3: increase innovation variance instead of clipping innovations 2024-01-07 10:59:27 +11:00
Paul Riseborough
04fc8c3bcc AP_NavEKF3: Provide option to clip velocity and position innovations 2024-01-07 10:59:27 +11:00
Andy Piper
d972e931cd AP_HAL_ChibiOS: add 8 bi-directional dshot channels to KakuteH7-Wing 2024-01-07 10:59:27 +11:00
Peter Barker
8d2a1f3971 hwdef: qiotek: correct HAL_BATT_MONITOR_DEFAULT define name 2024-01-07 10:59:27 +11:00
Peter Barker
d8883e6cdc hwdef: add hwdef for SDMODELH7V1 2024-01-07 10:59:26 +11:00
Andrew Tridgell
861aa745f3 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
 2024-01-07 10:59:26 +11:00
Andrew Tridgell
b4537312f2 AP_Param: fixed parameter defaults array length handling 
we need to add up the total for all comma separated parameter files
 2024-01-07 10:59:26 +11:00
Andrew Tridgell
10d170be75 AP_UAVCAN: make himark servo optional in build 
and only allocate handlers if enabled
 2024-01-07 10:59:26 +11:00
Andrew Tridgell
e9912e7799 AP_UAVCAN: added Hobbywing ESC support 2024-01-07 10:59:26 +11:00
Andrew Tridgell
4b6ab27d1d AP_PiccoloCAN: expand servo status logging 2024-01-07 10:59:26 +11:00
Andrew Tridgell
c7e6b00f20 AP_Logger: expand servo status logging 2024-01-07 10:59:26 +11:00
Andrew Tridgell
6b4934bd8e AP_UAVCAN: support Himark servo protocol 2024-01-07 10:59:26 +11:00
Andy Piper
9b2d0b9a75 AP_HAL_ChibiOS: change incorrect I2C internal mask from SkystarsH7HD bdshot 2024-01-07 10:59:26 +11:00
Andrew Tridgell
aacbd2aa6a hwdef: allow Pixhawk1-1M-bdshot to build for 4.4.0 2024-01-07 10:59:26 +11:00
Andrew Tridgell
daa44701e9 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
 2024-01-07 10:59:26 +11:00
Andrew Tridgell
9f392559bd AP_Compass: allow override of IST8310 orientation 
this allows for vendor GPS modules and internal compass which use a
different orientation
 2024-01-07 10:59:26 +11:00
Andrew Tridgell
e34350aa48 hwdef: added SIYI NY flight controller 2024-01-07 10:59:26 +11:00
Andrew Tridgell
e2898197ac 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
 2024-01-07 10:59:26 +11:00
Peter Barker
64d5c5f033 GCS_MAVLink: fix airspeed cal / format commands via non-USB telemetry 2024-01-07 10:59:26 +11:00
Andrew Tridgell
e5577e0284 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
 2024-01-07 10:59:26 +11:00
Andrew Tridgell
e78b1d4514 AP_Airspeed: increased DroneCAN airspeed timeout 2024-01-07 10:59:26 +11:00
Andrew Tridgell
dfad23cc81 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
 2024-01-07 10:59:26 +11:00
Randy Mackay
2efea9b6d1 AP_Scripting: add rover quicktune 2024-01-07 10:59:26 +11:00
Randy Mackay
d77604b4be AP_Scripting: AR_PosControl bindings 2024-01-07 10:59:26 +11:00
Randy Mackay
edcfb3cb1a AP_Scripting: add AR_AttitudeControl srate binding 
also add AP_Vehicle:get_steering_and_throttle binding
 2024-01-07 10:59:26 +11:00
Randy Mackay
1aa1a31c52 AC_PID: AC_PID_2D integrates SlewCalculator2D 2024-01-07 10:59:26 +11:00
Randy Mackay
8b6ac9e224 Filter: add SlewCalculator2D 2024-01-07 10:59:26 +11:00
Randy Mackay
5a761747b9 Filter: SlewLimiter definitions moved to cpp 2024-01-07 10:59:26 +11:00
Randy Mackay
e25b8b2d46 AP_Vehicle: add get_steering_and_throttle 2024-01-07 10:59:26 +11:00
Randy Mackay
1f158ffa9b AR_PosControl: add singleton and get_srate 2024-01-07 10:59:26 +11:00
Randy Mackay
984d4a991e AR_AttitudeControl: add singleton and get_srate 2024-01-07 10:59:26 +11:00
tiralonghipol
f5a9feccb7 AP_HAL_ChibiOS: add new board BlitzF745AIO 2024-01-07 10:59:26 +11:00
Andy Piper
575eb887f5 AP_HAL_ChibiOS: correct incorrect defaults for serial ports on FoxeerH743v1 2024-01-07 10:59:26 +11:00
Andy Piper
50e95b6919 AP_RCProtocol: report tracer frame rate correctly 2024-01-07 10:59:26 +11:00
Andy Piper
de7ef61a29 AP_RCProtocol: rescan at CRSFv3 baud rates to avoid RX loss on soft reboot 2024-01-07 10:59:26 +11:00
Randy Mackay
f58ad2216d AR_PosControl: limit and zero velocity I-term 
zero in forward-back direction
limit in lateral direction
 2024-01-07 10:59:26 +11:00
Randy Mackay
d00abc58ee AR_AttitudeContol: add steering_limited checks 2024-01-07 10:59:26 +11:00
Randy Mackay
c138a6ab3d AP_Math: Vector2f::projected made const 2024-01-07 10:59:26 +11:00
Andy Piper
bd4f2a5f12 AP_HAL_ChibiOS: correct comment in HEEWING-F405 v1 2024-01-07 10:59:26 +11:00
Andy Piper
425fa9770d AP_HAL_ChibiOS: HEEWING-F405v2 which includes dataflash logging 2024-01-07 10:59:26 +11:00
Andy Piper
86482cc780 AP_NavEKF3: fix docs on ABIAS_P_NSE_DEFAULT 2024-01-07 10:59:26 +11:00
Andrew Tridgell
c319a4d71b 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
 2024-01-07 10:59:26 +11:00
Andy Piper
c0e27c7861 AP_BLHeli: add battery status MSP handling 
give internal error if an unknown MSP command occurs
 2024-01-07 10:59:26 +11:00
HelloLeFei
980a6e0a2b 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
 2024-01-07 10:59:26 +11:00
Mikhail Degtiarenko
f2958e3128 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
 2024-01-07 10:59:26 +11:00