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57,245 Commits 71 Branches 509 Tags 758 MiB
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32128 Commits

Author SHA1 Message Date
Randy Mackay 034bf32a7a AP_Scripting: add AR_AttitudeControl srate binding 
also add AP_Vehicle:get_steering_and_throttle binding
 2023-08-01 16:51:27 +09:00
Randy Mackay d7631cc139 AC_PID: AC_PID_2D integrates SlewCalculator2D 2023-08-01 16:51:27 +09:00
Randy Mackay e81a18c83b Filter: add SlewCalculator2D 2023-08-01 16:51:27 +09:00
Randy Mackay e2f0cf9c77 Filter: SlewLimiter definitions moved to cpp 2023-08-01 16:51:27 +09:00
Randy Mackay 651e5ec62a AP_Vehicle: add get_steering_and_throttle 2023-08-01 16:51:27 +09:00
Randy Mackay 6540d12d66 AR_PosControl: add singleton and get_srate 2023-08-01 16:51:27 +09:00
Randy Mackay 6c87dcd32d AR_AttitudeControl: add singleton and get_srate 2023-08-01 16:51:27 +09:00
tiralonghipol cf92859abd AP_HAL_ChibiOS: add new board BlitzF745AIO 2023-08-01 16:51:27 +09:00
Andy Piper 926154c679 AP_HAL_ChibiOS: correct incorrect defaults for serial ports on FoxeerH743v1 2023-08-01 16:51:27 +09:00
Andy Piper 79485f72d4 AP_RCProtocol: report tracer frame rate correctly 2023-08-01 16:51:27 +09:00
Andy Piper 959d7ef80d AP_RCProtocol: rescan at CRSFv3 baud rates to avoid RX loss on soft reboot 2023-08-01 16:51:27 +09:00
Randy Mackay 869d1aea38 AR_PosControl: limit and zero velocity I-term 
zero in forward-back direction
limit in lateral direction
 2023-08-01 16:51:27 +09:00
Randy Mackay d6faa6e25f AR_AttitudeContol: add steering_limited checks 2023-08-01 16:51:27 +09:00
Randy Mackay 4f91d237cf AP_Math: Vector2f::projected made const 2023-08-01 16:51:27 +09:00
Andy Piper a43ea834fb AP_HAL_ChibiOS: correct comment in HEEWING-F405 v1 2023-08-01 16:51:27 +09:00
Andy Piper b511b73875 AP_HAL_ChibiOS: HEEWING-F405v2 which includes dataflash logging 2023-08-01 16:51:27 +09:00
Andy Piper c70509f3c6 AP_NavEKF3: fix docs on ABIAS_P_NSE_DEFAULT 2023-08-01 16:51:27 +09:00
Andrew Tridgell b12034bbb8 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 16:51:27 +09:00
Andy Piper 64b0cd1424 AP_BLHeli: add battery status MSP handling 
give internal error if an unknown MSP command occurs
 2023-08-01 16:51:27 +09:00
HelloLeFei 14d060aec3 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 16:51:27 +09:00
Mikhail Degtiarenko 925fb1e460 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 16:51:27 +09:00
Andrew Tridgell 1ee1919602 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 16:51:27 +09:00
bugobliterator 2bb19228a7 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 16:51:27 +09:00
Andrew Tridgell ddeb795782 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 16:51:27 +09:00
Andrew Tridgell 3ebbf672d7 HAL_ChibiOS: implement newlib alloc functions as malloc wrappers 
this fixes issue #24106
 2023-07-04 15:12:55 +09:00
Peter Barker b18dee217b AP_Notify: add driver for IS31FL3195 LED 2023-07-04 12:17:52 +09:00
Peter Barker fa9cb45fcb AP_Notify: add driver for LP5562 LED 2023-07-04 12:17:52 +09:00
Andrew Tridgell daa8d19d33 AP_Scripting: updated VTOL quicktune docs 2023-07-04 12:17:52 +09:00
Andrew Tridgell ec511357eb AP_Scripting: fixed lua-check warnings in VTOL-quicktune 2023-07-04 12:17:52 +09:00
Andrew Tridgell bb0f12fea4 AP_Scripting: fixed use of QUIK_ENABLE in VTOL-quicktune 
this was lost when the cached access was added
 2023-07-04 12:17:52 +09:00
Andrew Tridgell 87d992fdfc 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 12:17:52 +09:00
Andy Piper cd0d30d69c AP_HAL_ChibiOS: remove bdshot from speedybeef4 as it doesn't work and increases flash usage 2023-07-04 12:17:52 +09:00
Andy Piper 2b9395a42d AP_HAL_ChibiOS: Pixhawk1-bdshot 2023-07-04 12:17:52 +09:00
Michael du Breuil 0a959508f7 AP_ADSB: Fix spam of lost transciever message at update() rate 2023-07-04 12:17:51 +09:00
Andy Piper 2d57407b02 AC_AutoTune: correct incorrect min raw rate valuee 2023-07-04 12:17:51 +09:00
Andrew Tridgell e2dd996da1 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 12:17:51 +09:00
Andrew Tridgell 3dd9513a03 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 12:17:51 +09:00
Peter Barker 6b384ace77 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 12:17:51 +09:00
Andy Piper 18f5051005 AP_HAL_ChibiOS: Pixhawk6X bdshot version 2023-07-04 12:17:51 +09:00
jfbblue0922 36dbba0068 AP_HAL_ChibiOS: jfb100 gets shorter EXT_WDOG_INTERVAL_MS 2023-07-04 12:17:51 +09:00
jfbblue0922 95ea5b3b92 AP_HAL_CHibiOS: JFB100 hwdef fix for ext watchdog 2023-07-04 12:17:51 +09:00
jfbblue0922 4b31fe20df 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 12:17:51 +09:00
Andrew Tridgell 7b2e103ec3 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 12:17:51 +09:00
Alexander Keller 5d22115787 AP_GPS:Comform to ardupilot undulation definition 2023-07-04 12:17:51 +09:00
davidsastresas 0fa4e7cc1f GCS_Common: handle CMD_DO_SET_ROI_NONE for command int packets 2023-07-04 12:17:51 +09:00
Randy Mackay f2157b3d87 AP_SerialManager: improve OPTIONS desc for Swap bit 2023-07-04 12:17:51 +09:00
Randy Mackay ac28d560dd AP_SerialManager: generalise SToRM32 serial protocol desc and enum 2023-07-04 12:17:51 +09:00
Iampete1 9c6f57fb05 AP_Motors: Heli RSC: remove incorrect set range call 2023-07-04 12:17:51 +09:00
Henry Wurzburg 22d3146f38 AP_HAL_ChibiOS: add Holybro KakuteH7-Wing 2023-07-04 12:17:51 +09:00
Randy Mackay 9124c45ca9 AR_PosControl: add input_pos_vel_accel target 2023-06-08 10:05:36 +09:00