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52,457 Commits 71 Branches 510 Tags 766 MiB
0aeec158bc
Commit Graph

29091 Commits

Author SHA1 Message Date
Andy Piper
0aeec158bc AP_OSD: update parameter menu flightmodes for plane and copter. 2022-06-17 14:07:00 +10:00
Andrew Tridgell
d6c5b7a8ad 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
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
b44478217f AP_InertialSensor: fixed build with logging disabled 
fixes CubeOrange-periph build
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
795c2385ee AP_BoardConfig: fixed build with logging disabled 
fixes CubeOrange-periph build
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
1ac8a6e67f AP_GPS: fixed build without logging 2022-06-17 14:07:00 +10:00
Andrew Tridgell
7300cbbc96 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
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
8c9966c4cf 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
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
d529897681 AP_UAVCAN: added a check for memory corruption in the pool 2022-06-17 14:07:00 +10:00
Andrew Tridgell
cc7e112a8f AP_UAVCAN: added dynamically allocated pool size param 
allow for smaller pool size to save memory
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
395982cd34 AC_AttitudeControl: reduced default quadplane VTOL pos XY gains 2022-06-17 14:07:00 +10:00
Peter Barker
6fd8eea917 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
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
a91894ff2d AP_NavEKF3: log set source events 2022-06-17 14:07:00 +10:00
Andrew Tridgell
56c5a607e3 AP_DAL: added set source events for EKF3 2022-06-17 14:07:00 +10:00
Iampete1
b201c5b238 AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane 2022-06-17 14:07:00 +10:00
Andy Piper
83b421bac1 AR_Motors: make sure ESC type is initialized early 2022-06-17 14:07:00 +10:00
Andy Piper
8f3e655ff8 AP_Motors: make sure ESC type is initialized early 2022-06-17 14:07:00 +10:00
Andy Piper
a87a23a746 SRV_Channel: add BLHeli_S ESC type 2022-06-17 14:07:00 +10:00
Andy Piper
578b5d9627 AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths 2022-06-17 14:07:00 +10:00
Andy Piper
92b5a1c615 AP_HAL: add BLHeli_S ESC type and use it to control bitwidths 
adjust BLHeli_S bitwidth and ticks to support more ESC variants.
 2022-06-17 14:07:00 +10:00
Randy Mackay
69203b27c8 AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7 2022-06-17 14:07:00 +10:00
Randy Mackay
24eaa270c8 AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-06-17 14:07:00 +10:00
Andy Piper
9baa8d104a AC_AutoTune: allow high ANGLE_P gains 2022-06-17 14:07:00 +10:00
Andy Piper
5cb5168406 AP_HAL: add bitwidth hal definitions. 
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
 2022-06-17 14:07:00 +10:00
Andy Piper
baeee9c8d1 AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-06-17 14:07:00 +10:00
Leonard Hall
c9f1b8912c AC_AttitudeControl: Allow diabling of slew limit 2022-06-17 14:07:00 +10:00
Andrew Tridgell
0f230ee4c6 AP_InertialSensor: call notch param update with semaphore held 2022-06-17 14:07:00 +10:00
Andrew Tridgell
c06f69e77d AP_GyroFFT: added defaults for FFT with no notch 
allow for testing with FFT enabled, and defaulting number of
frequencies to look for
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
85db0c498b AP_InertialSensor: fixed the last notch values to be per-instance 
thanks to Andy for noticing this
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
a6dd296cc8 AP_GyroFFT: skip disabled notches 2022-06-17 14:07:00 +10:00
Andrew Tridgell
7b08a6c00c AP_InertialSensor: don't update disabled notches 2022-06-17 14:07:00 +10:00
Andrew Tridgell
66ad3051c3 AP_GyroFFT: allow for 2 FFT based notches 2022-06-17 14:07:00 +10:00
Andrew Tridgell
975fc6b70d AP_Vehicle: implement common harmonic notch update code 2022-06-17 14:07:00 +10:00
Andrew Tridgell
f8c1c39868 AP_RPM: use HarmonicNotch class 2022-06-17 14:07:00 +10:00
Andrew Tridgell
5080c32197 AP_GyroFFT: use HarmonicNotch class 2022-06-17 14:07:00 +10:00
Andrew Tridgell
d893d9bc89 AP_Arming: use HarmonicNotch class 2022-06-17 14:07:00 +10:00
Andrew Tridgell
e799649e6c AP_InertialSensor: switch to HarmonicNotch class 
this makes the logic much easier to follow, without indexes into
arrays
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
1de23e564e Filter: removed parameters from the old notch filter 
saves some flash space
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
e763386651 AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT 2022-06-17 14:07:00 +10:00
Andrew Tridgell
0467c1aef6 AP_Arming: added arming check for conflicting notch modes 2022-06-17 14:07:00 +10:00
Andrew Tridgell
b429bb7b98 Filter: clarify meaning of 1st harmonic 2022-06-17 14:07:00 +10:00
Andrew Tridgell
559f4c00c3 Filter: added RPM2 harmonic notch type 2022-06-17 14:07:00 +10:00
Andrew Tridgell
f9de6dff1c AP_Vehicle: support two full harmonic notch filters 2022-06-17 14:07:00 +10:00
Andrew Tridgell
3d025a7c5c AP_RPM: support two full harmonic notch filters 2022-06-17 14:07:00 +10:00
Andrew Tridgell
25d00e433e AP_InertialSensor: support two full harmonic notch filters 2022-06-17 14:07:00 +10:00
Andrew Tridgell
2d0cfb3fad 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
 2022-05-23 17:35:21 +10:00
Andrew Tridgell
9a5e8d3927 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-23 17:35:21 +10:00
Andrew Tridgell
9f187c0711 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
 2022-05-19 17:09:45 +10:00
Peter Barker
9cf802c843 AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-19 17:09:45 +10:00
Andrew Tridgell
9d0f5ce7b0 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-19 17:09:45 +10:00
Andrew Tridgell
1e31dc61a8 AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-19 17:09:45 +10:00