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
