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52,675 Commits 71 Branches 511 Tags 761 MiB
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29252 Commits

Author SHA1 Message Date
Andrew Tridgell
5ef9c5aaa5 HAL_ChibiOS: constrain more timer timeouts 2022-04-05 17:46:52 +10:00
Andrew Tridgell
4c977eb7a0 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
 2022-04-05 17:46:52 +10:00
Andrew Tridgell
a95b429acc 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
 2022-04-05 17:46:52 +10:00
Henry Wurzburg
82235163a2 AP_Scripting: remove original aerobatics example to avoid confusion 2022-04-05 10:12:13 +10:00
Henry Wurzburg
fa81f7813c AP_Airspeed: correct metadata for params for non-Plane vehicles 2022-04-05 09:58:10 +10:00
Lokesh Ramina
11b3eccf66 AP_Periph: Hwdef CarbonixL496 update 
Modification of CarbonixL496 to add more features.
Features:
To use internal clock of MCU, Oscillator value is set to 0.
LED pin changed from PA13 to PA15
Enabled  JTAG
Add interface to GPS and ADSB.
 2022-04-05 09:57:02 +10:00
Nicholas Kruzan
d42a287db0 AP_HAL_ESP32: partitions.csv - increase app partition to 3M 2022-04-05 08:41:11 +10:00
Nicholas Kruzan
c3e071579d AP_Filesystem: AP_Filesystem_ESP32 allow_absolute_paths in ::open() 2022-04-05 08:40:26 +10:00
Andrew Tridgell
1c5a954b24 HAL_ChibiOS: incorrect class of class in uart TX timeout 
need to call chEvtGetAndClearEventsI() as we are in a system lock
state
 2022-04-04 16:59:38 +10:00
Peter Barker
fd666dc4f1 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
 2022-04-03 11:41:09 +10:00
Andrew Tridgell
a01ca35939 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
 2022-04-01 19:56:30 +11:00
Mirko Denecke
c1e0e9c305 AP_HAL_ChibiOS: fix ms5611 probe for NucleoH743 2022-03-31 16:31:13 +11:00
Randy Mackay
0dd9a8028b AR_WPNav: integrate scurve snap 2022-03-30 15:34:14 +09:00
Randy Mackay
c233f114bd AR_PosControl: fixup logging to record desired and target velocity and acceleration 2022-03-30 15:34:14 +09:00
Randy Mackay
74df1c0b22 AR_PosControl: reduce default I term to zero 2022-03-30 15:34:14 +09:00
Randy Mackay
995ff30cd6 AC_Avoid: enable slide behaviour for rover 2022-03-30 15:34:14 +09:00
Randy Mackay
5d96804ef3 AR_WPNav: add protection against zero accel max 2022-03-30 15:34:14 +09:00
Randy Mackay
a1b9fe5097 AR_WPNav: jerk time reduced to 0.1 sec 2022-03-30 15:34:14 +09:00
Randy Mackay
c6dffb990f AR_WPNav: add set_nudge_speed_max 
allows pilot to override speed_max from RC input
 2022-03-30 15:34:14 +09:00
Randy Mackay
394a5fd2fc AR_WPNav: get/set_desired_speed renamed to get/set_speed_max 
set_speed_max updates position controller limits and triggers recalculation of scurves
local _desired_speed member is no longer required because max speed is held in position controller
 2022-03-30 15:34:14 +09:00
Randy Mackay
1996085282 AR_WPNav: init accepts speed max 
also remove unused set_desired_speed_to_default
also init previous leg in set_desired_location
init accepts speed but inforces minimum
 2022-03-30 15:34:14 +09:00
Randy Mackay
a91025fa16 AR_WPNav: remove unused speed_min 2022-03-30 15:34:14 +09:00
Randy Mackay
537874c075 AR_WPNav: jerk_max maintained in position controller 2022-03-30 15:34:14 +09:00
Randy Mackay
54eee7d311 AR_WPNav: simplify init 2022-03-30 15:34:14 +09:00
Randy Mackay
d03e801b65 AR_WPNav: remove get_accel_max, get_jerk_max 2022-03-30 15:34:14 +09:00
Randy Mackay
653afbeb15 AR_WPNav: enable_overspeed added to improve sailboat support 2022-03-30 15:34:14 +09:00
Randy Mackay
2f6e098f23 AR_WPNav: always use local calculation of cross track 
also calc_crosstrack_error may return negative values
 2022-03-30 15:34:14 +09:00
Randy Mackay
729dfee01c AR_WPNav: pivot turns stop before turning 2022-03-30 15:34:14 +09:00
Randy Mackay
e0a628bb8c AR_WPNav: add is_fast_waypoint accessor 2022-03-30 15:34:14 +09:00
Randy Mackay
0bcae12ceb AR_WPNav_OA: use wpnav's expect fast updates 2022-03-30 15:34:14 +09:00
Randy Mackay
f769a18996 AR_WPNav: add set_desired_location_expect_fast_update 2022-03-30 15:34:14 +09:00
Randy Mackay
1fd9da710d AR_WPNav: add internal error if invalid destination received 2022-03-30 15:34:14 +09:00
Randy Mackay
461c5196e7 AR_WPNav: add ACCEL and JERK params and accessors 
allows users to specify a different acceleration and jerk for Auto, Guided, RTL, etc compared with manual modes (Acro, etc)
 2022-03-30 15:34:14 +09:00
Randy Mackay
47ab961f42 AR_WPNav: fix application of turn-max-g 2022-03-30 15:34:14 +09:00
Randy Mackay
b1237ffe80 AR_WPNav: always pivot at corners of at least WP_PIVOT_ANGLE 2022-03-30 15:34:14 +09:00
Randy Mackay
3d048ddcc2 AR_WPNav: fix pivot activation when reversing 2022-03-30 15:34:14 +09:00
Randy Mackay
6515e71fc1 AR_WPNav: move OA path planning handling into a separate class 2022-03-30 15:34:14 +09:00
Randy Mackay
2a1013e896 AR_WPNav: set desired lat accel and crosstrack to zero when disarmed 2022-03-30 15:34:14 +09:00
Randy Mackay
a185e78271 AR_WPNav: integrate AR_PivotTurn class 
moves pivot turn feature to separate class
also does not advance along scurve path while pivotin
 2022-03-30 15:34:14 +09:00
Randy Mackay
7225d74777 AR_PivotTurn: pivot turn controller 
also reduces default pivot speed to 60deg/sec (was 90deg/sec)
add would_active and allow activation to be forced
 2022-03-30 15:34:14 +09:00
Randy Mackay
9d629f5ecd AR_WPNav: use position controller and s-curves 2022-03-30 15:34:14 +09:00
Randy Mackay
abc7bd446a AR_PosControl: rover position controller 2022-03-30 15:34:14 +09:00
Randy Mackay
8fcefb59b1 AP_Math: add Vector2f::dot 2022-03-30 15:34:14 +09:00
Andy Piper
23f8a00619 AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation 2022-03-30 17:11:09 +11:00
Andy Piper
fff82bed75 AP_HAL: update prescaler tests 2022-03-30 17:11:09 +11:00
Peter Barker
d9f819085c AP_Math: add specialisation for sq(float) 
avoids conversion to double
 2022-03-30 08:44:19 +11:00
Henry Wurzburg
479b02e5b0 HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-03-29 10:43:51 +11:00
Andrew Tridgell
0879b497a4 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
 2022-03-29 10:41:33 +11:00
Andy Piper
eb996f28cc AP_HAL_ChibiOS: spro H7 extreme updates. 
cannot currently use both IMUs on spro H7 extreme due to CPU load
 2022-03-29 10:39:35 +11:00
Andy Piper
63229d7eca AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-03-29 10:29:31 +11:00
Andy Piper
6511a65b67 SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-03-29 10:29:31 +11:00
Andy Piper
4fa0e275fd 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
 2022-03-29 10:29:31 +11:00
xianglunkai
abb0bf34d2 test_3d_lines:fix test result for test_3d_lines 2022-03-29 08:26:39 +09:00
xianglunkai
4513546845 vector3:return w1 not zero vector 2022-03-29 08:26:39 +09:00
Peter Barker
29c2c40c41 hwdef: enable both OreoLED and Solo gimbal on fmuv3 
for users running fmuv3 on their Solo
 2022-03-29 08:24:59 +09:00
Peter Barker
a30f33a674 hwdef: enable both OreoLED and Solo gimbal on CubeOrange 
for users who have replaced their CubeSolo with a CubeOrange
 2022-03-29 08:24:59 +09:00
Peter Barker
f3bf6e56c8 AP_Mount: enable Solo Gimbal only on CubeGreen 2022-03-29 08:24:59 +09:00
Peter Barker
f186f612f9 AP_HAL_ChibiOS: enable Solo Gimbal only on CubeGreen 2022-03-29 08:24:59 +09:00
Bill Geyer
7e09f68f26 AP_Math: add chirp function to support frequency sweeps in systemid and autotune 2022-03-29 08:05:41 +09:00
Bill Geyer
f1a6865caa AC_Autotune: clean up variable init for dwell 2022-03-29 08:05:41 +09:00
Bill Geyer
bd0df72863 AC_AutoTune: use chirp function in AP_Math for frequency sweeps 2022-03-29 08:05:41 +09:00
Bill Geyer
ce725764d4 AC_AutoTune: combine dwell_run_test for angle and rate 2022-03-29 08:05:41 +09:00
Bill Geyer
ba28227483 AC_AutoTune: combine dwell_init methods 2022-03-29 08:05:41 +09:00
Bill Geyer
bbc259329d AC_AutoTune:tradheli-streamline gcs messages 2022-03-29 08:05:41 +09:00
Andrew Tridgell
7dc5911572 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
 2022-03-29 07:45:23 +11:00
Andrew Tridgell
4564140745 HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-28 17:09:26 +11:00
Andrew Tridgell
b46b0d61a6 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
 2022-03-28 17:09:26 +11:00
Andrew Tridgell
5df38d0298 AP_RCProtocol: added using_uart() method 2022-03-28 17:09:26 +11:00
Andrew Tridgell
ee6a7f21ec AP_Logger: added terrain correction logging field 2022-03-28 16:01:21 +11:00
Andrew Tridgell
62dc865321 AP_Terrain: added logging of terrain correction 2022-03-28 16:01:21 +11:00
Andrew Tridgell
54f6dbf476 AP_Scripting: restored corrected boolean in height_amsl binding 2022-03-28 16:01:21 +11:00
Andrew Tridgell
f8aa4623ef HAL_SITL: don't use terrain adjustment 2022-03-28 16:01:21 +11:00
Andrew Tridgell
ed8f028359 AP_Arming: setup for terrain adjustment on arming 2022-03-28 16:01:21 +11:00
Andrew Tridgell
536b59ed42 SITL: don't use adjusted terrain in SITL 2022-03-28 16:01:21 +11:00
Andrew Tridgell
5f2c5be84a 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
 2022-03-28 16:01:21 +11:00
Peter Barker
cafad05b38 AP_GPS: rearrange send-text for consistency 2022-03-27 06:21:20 -07:00
Peter Barker
88feb74762 AP_GPS: improve parameter documentation in UAVCAN GPS 2022-03-27 06:21:20 -07:00
bugobliterator
bd2bf7fedc AP_HAL_SITL: add support for CANFD in SITL 2022-03-27 06:07:34 -07:00
bugobliterator
7d2ded8de1 AP_HAL: add support for CANFD in SITL 2022-03-27 06:07:34 -07:00
Iampete1
1521760a17 Filters: HarmonicNotch: remove statment on max number of notches harmonics from parm descripstion 2022-03-25 07:14:06 +11:00
BhumilDepani
8fa6432e3a AP_GPS: added comments in GPS_AUTO_test example sketch 
Added comments in libraries/AP_GPS/examples/GPS_AUTO_text/GPS_AUTO_test.cpp file

AP_GPS: added comments to GPS_AUTO_test example sketch

Added comments in libraries/AP_GPS/examples/GPS_AUTO_text/GPS_AUTO_test.cpp file

AP_GPS: added comments to GPS_AUTO_test example sketch

AP_GPS: add comments to GPS_AUTO_text example sketch

AP_GPS: added comments in GPS_AUTO_test example sketch
 2022-03-24 22:07:36 +11:00
Randy Mackay
fc668b4bca AP_Scripting: copter fast descent gets improved slowdown 2022-03-24 19:21:54 +09:00
HefnySco
53c1c235b8 AP_HAL:RPI read cpu by revision 2022-03-24 00:51:27 -07:00
Andrew Tridgell
7947494cab HAL_ChibiOS: prevent conflicting RC input 
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
 2022-03-24 16:09:43 +11:00
Andy Piper
458ff45fe6 AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-24 11:20:09 +09:00
Randy Mackay
2d5d74b7a8 AP_BLHeli: add reboot required to some parameters 2022-03-24 11:20:09 +09:00
Randy Mackay
5561a5e82e AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-24 08:01:48 +09:00
MallikarjunSE
bf0ce19942 hwdef: RM3100 no false rotation 2022-03-24 07:47:11 +11:00
MallikarjunSE
549883772c hwdef: RM3100 reversal mask 2022-03-24 07:47:11 +11:00
Andrew Tridgell
ce27ec2276 AP_BattMonitor: fixed battery remaining of sum battery 
and move to common function for update_consumed()
 2022-03-23 20:21:38 +11:00
bugobliterator
79c45049e0 AP_GPS: only use PPS time when there is atleast 2D Fix 2022-03-23 19:10:47 +11:00
bugobliterator
2dceb9a3ed AP_HAL_ChibiOS: ensure that common ram is selected for bootloader/app comms in STM32H7 2022-03-23 19:09:21 +11:00
bugobliterator
39b771c3a9 AP_Scripting: add support for can_printf in lua 2022-03-23 18:59:43 +11:00
Andrew Tridgell
73eabb1fd0 GCS_MAVLink: send GCS voltage to GCS 
may be resting voltage of option enabled
 2022-03-22 11:12:54 +11:00
Andrew Tridgell
9c067f360f AP_BattMonitor: added option to send resting voltage to GCS 2022-03-22 11:12:54 +11:00
Peter Barker
f1ec657c41 GCS_MAVLink: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker
fe863b9567 AP_Vehicle: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker
38a1c4412a AP_Mount: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker
3dae386ae3 AP_InertialSensor: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker
df4911cbcb AP_NavEKF3: avoid direct use of Location alt field 2022-03-22 10:33:37 +11:00