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52264 Commits

Author SHA1 Message Date
Andrew Tridgell 057340cb1d HAL_ChibiOS: prevent long timeouts in DShot 
this prevents bad calculated timeouts in DShot. The timeout would
sometimes come out as 0xFFFFFFFF, which led to an assert and could
block the thread

This fix is meant to be minimilistic to allow it to be merged easily
into 4.2. A better fix would fix all the uint32_t wrap handling in
DShot
 2022-04-09 17:12:27 +09:00
Andrew Tridgell 2b4a17fef7 AP_Math: added unsigned versions of constrain functions 
sometimes it really does matter that we use constrain_uint32() instead
of constrain_int32(). For example, if we have a value like 0xFFFFFFFF
then the result will be very different

we should use unsigned constrain when dealing with unsigned values
 2022-04-09 17:12:27 +09:00
Andrew Tridgell 6a6a5adae0 AP_Logger: fixed @SYS file logging 
the key fix is the reset of the fd to -1. Without that fix we only
ever log @SYS/uarts.txt

The timing change is needed to get the files out in a reasonable
time. The function is actually getting called at 100Hz or less, not
1kHz (measured on MatekH743 copter at 400Hz). So we need to run it
faster to get the files logged in a reasonable time
 2022-04-09 17:12:27 +09:00
Andy Piper 97ebd35cc5 bootloaders: update spracing h7 extreme bootloader 2022-04-09 17:12:27 +09:00
Andy Piper 4f8c486278 AP_HAL_ChibiOS: spro H7 extreme updates. 
cannot currently use both IMUs on spro H7 extreme due to CPU load
 2022-04-09 17:12:27 +09:00
Peter Barker 45aebfdf74 AP_AHRS: subtract accel bias from correct ins accel instance 
In the case that you have INS_USE indicating IMUs should be used, but
EK3_IMU_MASK leaving some IMUs unused, we subtract the bias from the
wrong INS data
 2022-04-09 17:12:27 +09:00
Andrew Tridgell aeed2b1a9d Plane: fixed rudder control when ARMING_RUDDER != 2 
when rudder disarm is disabled we should allow full yaw control
regardless of throttle level. We should also only disable left yaw
when throttle is at zero, as right yaw does not indicate pilot may be
trying to disarm
 2022-04-09 17:12:27 +09:00
Andrew Tridgell 58e356557a AP_Logger: increase stack of log_io thread by 256 
This was seem on omnibusf4pro, it is a bit too close:

  log_io PRI= 59 sp=0x20015CC0 STACK=144/1656
 2022-04-09 17:12:27 +09:00
Randy Mackay 32c4261306 Rover: version to 4.2.0-beta3 2022-03-30 19:12:45 +09:00
Randy Mackay 3aa5225a66 Rover: 4.2.0-beta3 release notes 2022-03-30 19:12:45 +09:00
Randy Mackay ec1a669d98 Copter: version to 4.2.0-beta3 2022-03-30 19:12:45 +09:00
Randy Mackay 7c894a24e5 Copter: 4.2.0-beta3 release notes 2022-03-30 19:12:45 +09:00
Bill Geyer 152c98831b AP_Math: add chirp function to support frequency sweeps in systemid and autotune 2022-03-30 19:12:45 +09:00
Bill Geyer eae1e6cda7 AC_Autotune: clean up variable init for dwell 2022-03-30 19:12:45 +09:00
Bill Geyer f782215194 AC_AutoTune: use chirp function in AP_Math for frequency sweeps 2022-03-30 19:12:45 +09:00
Bill Geyer 9d1c560faa Copter: make systemid use new chirp math function 2022-03-30 19:12:45 +09:00
Bill Geyer da7164c1e4 AC_AutoTune: combine dwell_run_test for angle and rate 2022-03-30 19:12:45 +09:00
Bill Geyer 68f0eb9e5d AC_AutoTune: combine dwell_init methods 2022-03-30 19:12:45 +09:00
Bill Geyer 14fea56206 AC_AutoTune:tradheli-streamline gcs messages 2022-03-30 19:12:45 +09:00
Peter Barker cade8b36a0 AC_AutoTune: Vector tidying 2022-03-30 19:12:45 +09:00
Peter Barker 1a84c17fee AC_AutoTune_Heli: use structure assignment to clear structures 2022-03-30 19:12:45 +09:00
Peter Barker 55af020639 AC_AutoTune: use structure assignment for test results 2022-03-30 19:12:45 +09:00
Peter Barker 3686f32671 AC_AutoTune: createstructure to hold specific test's sweep results 2022-03-30 19:12:45 +09:00
Henry Wurzburg 94c0701f17 HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-03-30 19:12:45 +09:00
Andy Piper bb86b35f03 AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-03-30 19:12:45 +09:00
Andy Piper 15614bd879 SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-03-30 19:12:45 +09:00
Andy Piper 70bba0cc99 AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands 
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
 2022-03-30 19:12:45 +09:00
Randy Mackay d62c543031 Rover: balance bot stands in acro with no position estimate 2022-03-30 19:12:45 +09:00
AndKe 1805ff4e6d AP_HAL_ChibiOS: add OREOLED to CubeGreen 2022-03-30 19:12:45 +09:00
Andrew Tridgell 9bdd5844a8 Plane: prepare for 4.2.0beta4 release 2022-03-30 19:12:45 +09:00
Andrew Tridgell 6247e908f6 Plane: added release notes for 4.2.0beta4 2022-03-30 19:12:45 +09:00
Andrew Tridgell 5a24abafe9 hwdef: changed MatekH743 to a 32 bit timer 
the 68ms issue is still present on this board. Switching to a 32 bit
timer will fix it, but loses us the tonealarm support
 2022-03-30 19:12:45 +09:00
Andrew Tridgell c74ace877a AP_Param: fixed param class conversion code 
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.

I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
 2022-03-30 19:12:45 +09:00
Andrew Tridgell e4cf969168 AP_Logger: added terrain correction logging field 2022-03-30 19:12:45 +09:00
Andrew Tridgell eb52867dad AP_Terrain: added logging of terrain correction 2022-03-30 19:12:45 +09:00
Andrew Tridgell 6fa866d1b4 AP_Scripting: restored corrected boolean in height_amsl binding 2022-03-30 19:12:45 +09:00
Andrew Tridgell 34e473a21a HAL_SITL: don't use terrain adjustment 2022-03-30 19:12:45 +09:00
Andrew Tridgell cffbc08ad8 AP_Arming: setup for terrain adjustment on arming 2022-03-30 19:12:45 +09:00
Andrew Tridgell ae4dfb9c1e SITL: don't use adjusted terrain in SITL 2022-03-30 19:12:45 +09:00
Andrew Tridgell 54fc430dec AP_Terrain: added terrain reference adjustment 
this restores the terrain adjustment functionality removed in #19946,
but without the problematic approach of always using home (which can
be moved in flight) and with a TERR_OFS_MAX parameter to limit the
amount of adjustment
 2022-03-30 19:12:45 +09:00
Andrew Tridgell 6c3062d972 HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-30 19:12:45 +09:00
Andrew Tridgell e079d93b2d HAL_ChibiOS: switch between IOMCU and RCProt rapidly 
keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
 2022-03-30 19:12:45 +09:00
Andrew Tridgell fb644b2078 AP_RCProtocol: added using_uart() method 2022-03-30 19:12:45 +09:00
Andy Piper 22d29352cf scripts: add KakuteH7 and KakuteH7-bdshot. 2022-03-30 19:12:45 +09:00
Andy Piper 8901f3eed9 bootloaders: bootloader for KakuteH7-bdshot 2022-03-30 19:12:45 +09:00
Andy Piper 7393425ea4 AP_HAL_ChibiOS: add KakuteH7-bdshot target 2022-03-30 19:12:45 +09:00
Andrew Tridgell d4a4bc87b3 AP_BattMonitor: fixed battery remaining of sum battery 
and move to common function for update_consumed()
 2022-03-30 19:12:45 +09:00
Randy Mackay 0bb1138d49 AP_BLHeli: add reboot required to some parameters 2022-03-30 19:12:45 +09:00
Andy Piper f5615f94fa AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-30 19:12:45 +09:00
Randy Mackay 596893b199 AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-30 19:12:45 +09:00