Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 01:48:29 -04:00
Code Issues Packages Projects Releases Wiki Activity
52,459 Commits 71 Branches 510 Tags 785 MiB
159b50c41a
Commit Graph

29093 Commits

Author SHA1 Message Date
Andy Piper
159b50c41a AP_RCProtocol: check for bad frames in CRSF decoding. 2022-06-21 19:41:34 +09:00
Mohammad Hefny
dcae70abc8 AP_Rangefinder: preserve new address 2022-06-21 19:41:34 +09:00
Andy Piper
c62adb0c6d AP_OSD: update parameter menu flightmodes for plane and copter. 2022-06-21 19:41:34 +09:00
Andrew Tridgell
fb0b32887d 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
 2022-06-21 19:41:34 +09:00
Andrew Tridgell
ee669465ce AP_InertialSensor: fixed build with logging disabled 
fixes CubeOrange-periph build
 2022-06-21 19:41:34 +09:00
Andrew Tridgell
e3aa707db6 AP_BoardConfig: fixed build with logging disabled 
fixes CubeOrange-periph build
 2022-06-21 19:41:34 +09:00
Andrew Tridgell
d023e1cd8a AP_GPS: fixed build without logging 2022-06-21 19:41:34 +09:00
Andrew Tridgell
d83a56b60b 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
 2022-06-21 19:41:34 +09:00
Andrew Tridgell
42b6479527 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
 2022-06-21 19:41:34 +09:00
Andrew Tridgell
fbb3271e0d AP_UAVCAN: added a check for memory corruption in the pool 2022-06-21 19:41:34 +09:00
Andrew Tridgell
8ac08110fa AP_UAVCAN: added dynamically allocated pool size param 
allow for smaller pool size to save memory
 2022-06-21 19:41:34 +09:00
Andrew Tridgell
06170c7449 AC_AttitudeControl: reduced default quadplane VTOL pos XY gains 2022-06-21 19:41:34 +09:00
Peter Barker
937f0a3e40 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
 2022-06-21 19:41:34 +09:00
Andrew Tridgell
83d78b6336 AP_NavEKF3: log set source events 2022-06-21 19:41:34 +09:00
Andrew Tridgell
8939974333 AP_DAL: added set source events for EKF3 2022-06-21 19:41:34 +09:00
Iampete1
f3d08c8eae AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane 2022-06-21 19:41:34 +09:00
Andrew Tridgell
be7f0afc87 AP_InertialSensor: call notch param update with semaphore held 2022-06-21 19:41:34 +09:00
Andrew Tridgell
005de1ded2 AP_GyroFFT: added defaults for FFT with no notch 
allow for testing with FFT enabled, and defaulting number of
frequencies to look for
 2022-06-21 19:41:34 +09:00
Andrew Tridgell
70443b121f AP_InertialSensor: fixed the last notch values to be per-instance 
thanks to Andy for noticing this
 2022-06-21 19:41:34 +09:00
Andrew Tridgell
a0746ec251 AP_GyroFFT: skip disabled notches 2022-06-21 19:41:34 +09:00
Andrew Tridgell
afe0c02835 AP_InertialSensor: don't update disabled notches 2022-06-21 19:41:34 +09:00
Andrew Tridgell
5949abb858 AP_GyroFFT: allow for 2 FFT based notches 2022-06-21 19:41:34 +09:00
Andrew Tridgell
e4c1f30aa7 AP_Vehicle: implement common harmonic notch update code 2022-06-21 19:41:34 +09:00
Andrew Tridgell
10a273a3a5 AP_RPM: use HarmonicNotch class 2022-06-21 19:41:34 +09:00
Andrew Tridgell
3ebab76395 AP_GyroFFT: use HarmonicNotch class 2022-06-21 19:41:34 +09:00
Andrew Tridgell
699d624ca1 AP_Arming: use HarmonicNotch class 2022-06-21 19:41:34 +09:00
Andrew Tridgell
7bb139a311 AP_InertialSensor: switch to HarmonicNotch class 
this makes the logic much easier to follow, without indexes into
arrays
 2022-06-21 19:41:34 +09:00
Andrew Tridgell
d48e048403 Filter: removed parameters from the old notch filter 
saves some flash space
 2022-06-21 19:41:34 +09:00
Andrew Tridgell
6c61ea970d AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT 2022-06-21 19:41:34 +09:00
Andrew Tridgell
f015e827bf AP_Arming: added arming check for conflicting notch modes 2022-06-21 19:41:34 +09:00
Andrew Tridgell
b6e4cfc8da Filter: clarify meaning of 1st harmonic 2022-06-21 19:41:34 +09:00
Andrew Tridgell
2cfce1e3e7 Filter: added RPM2 harmonic notch type 2022-06-21 19:41:34 +09:00
Andrew Tridgell
49bf16853c AP_Vehicle: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell
7246185d0a AP_RPM: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell
350140e030 AP_InertialSensor: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andy Piper
8cd79d08ba AR_Motors: make sure ESC type is initialized early 2022-05-28 16:08:08 +09:00
Andy Piper
7dcdf7b325 AP_Motors: make sure ESC type is initialized early 2022-05-28 16:08:08 +09:00
Andy Piper
7d00167428 SRV_Channel: add BLHeli_S ESC type 2022-05-28 16:08:08 +09:00
Andy Piper
a3e79c8263 AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths 2022-05-28 16:08:08 +09:00
Andy Piper
34cb45a11e AP_HAL: add BLHeli_S ESC type and use it to control bitwidths 
adjust BLHeli_S bitwidth and ticks to support more ESC variants.
 2022-05-28 16:08:08 +09:00
Randy Mackay
4eedb2e948 AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7 2022-05-28 16:08:08 +09:00
Randy Mackay
8a5e7ff120 AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-05-28 16:08:08 +09:00
Andy Piper
ece793e4b7 AC_AutoTune: allow high ANGLE_P gains 2022-05-28 16:08:08 +09:00
Andy Piper
292291b760 AP_HAL: add bitwidth hal definitions. 
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
 2022-05-28 16:08:08 +09:00
Andy Piper
19d9f157cb AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-05-28 16:08:08 +09:00
Andrew Tridgell
0bfe567c4d 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
 2022-05-28 16:08:08 +09:00
Andrew Tridgell
49af52b735 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-28 16:08:08 +09:00
Andrew Tridgell
4adb3ddfa2 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
 2022-05-28 16:08:08 +09:00
Peter Barker
aa59e0a63e AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:08 +09:00
Andrew Tridgell
aa873ad9f4 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-28 16:08:08 +09:00