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65813 Commits

Author SHA1 Message Date
Randy Mackay 5a1a8d1c10 AP_Mount: add get_attitude_quaternion method 2024-12-10 19:57:06 +09:00
Henry Wurzburg 051c2dcd35 Tools: add Plane autoland applet 2024-12-10 13:18:41 +11:00
Henry Wurzburg 637fea1f2d AP_Scripting: add Plane autoland applet 2024-12-10 13:18:41 +11:00
rishabsingh3003 031b5268a8 autotest: add test for stuck tether simulation 2024-12-10 10:48:00 +11:00
rishabsingh3003 99f4f13369 SITL: Add simulator for tethered vehicle 2024-12-10 10:48:00 +11:00
Andy Piper af0fe69085 AP_HAL_ChibiOS: don't throw an internal error on mismatched cork/push 2024-12-09 23:46:37 +00:00
Andy Piper 1d6d11283e AP_HAL: protect against invalid values when calculating Jain's estimator 2024-12-10 10:43:17 +11:00
Randy Mackay ec215c3a29 AP_DDS: default IP to 192.168.144.x 2024-12-10 10:37:30 +11:00
Randy Mackay 9d9eaa3150 AP_Networking: default IP to 192.168.144.x 2024-12-10 10:37:30 +11:00
Vincent Poon 13481ce4d8 add bmi270 support to kakuteh7 2024-12-10 10:33:26 +11:00
Rhys Mainwaring 3c561e215f AP_HAL_ESP32: set default cpu frequency to 240MHz 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-12-10 10:32:47 +11:00
Thomas Watson a14fb9ab28 AP_HAL_ESP32: regenerate sdkconfig after sdkconfig.defaults change 
Ensures the sdkconfig does not get out of date as updates are made to
the defaults. The sdkconfig can still be manually changed for testing.
 2024-12-10 10:32:47 +11:00
Thomas Watson 535f6875a8 AP_HAL_ESP32: move generated sdkconfig to build folder 
Ensures it gets cleaned with `./waf clean`. Users will hopefully delete
and not be confused by the old one as it will now show up as an
untracked file.
 2024-12-10 10:32:47 +11:00
YI-BOYANG 1b51d6ace3 Tools: add GEPRC_TAKER_H743 2024-12-10 10:30:54 +11:00
YI-BOYANG 122eb21b45 AP_HAL_ChibiOS: add GEPRC_TAKER_H743 2024-12-10 10:30:54 +11:00
Andrew Tridgell 7759bc7662 hwdef: enable IMU in HolybroG4_GPS 
IMU rate zero by default
 2024-12-10 09:29:37 +11:00
Andrew Tridgell 60f6a9deec waf: enable IMU in simulated AP_Periph 2024-12-10 09:29:37 +11:00
Andrew Tridgell 4c0ef40d3b AP_Periph: fixed IMU in periph 
wait_for_sample() can't handle very low sample rates without a
separate delay() by a ms value
 2024-12-10 09:29:37 +11:00
Andrew Tridgell 02ea371eae hwdef: added baro in HolybroG4_GPS 
new units have a ICP201XX baro

disable baro by default to avoid issues with airflow and GPS modules
installed on the outside of the aircraft
 2024-12-10 09:29:37 +11:00
Andrew Tridgell 4d31a7320a AP_InertialSensor: stop sensors converging if motors arm 
if the user arms within 30s of startup then stop the re-init of the
sensors. This can give less accurate frequency as the sample rate may
not have settled yet, but it is better than doing init of the filters
while the vehicle may be flying

also fix a 32 bit millis wrap
 2024-12-09 07:40:48 +11:00
Andrew Tridgell 8e1acb10fd Filter: enable 4 filters on low-flash boards 2024-12-09 07:40:06 +11:00
Andrew Tridgell 7a0af16d6c Tools: allow PID filtering to be enabled on custom build server 
we have a small plane with a SpeedyBeedF405Wing, 1M flash, that needs
PID filtering for some structural modes
 2024-12-09 07:40:06 +11:00
Iampete1 e4de4c9b41 AP_Scripting: Examples: message_interval: give checker a hint about types 2024-12-08 08:09:06 +09:00
shen 9d21b3396e hwdef: Add AEROFOX H7 2024-12-07 18:10:09 +11:00
shen f9285112a8 Tools: add AEROFOX H7 bootloaders 2024-12-07 18:10:09 +11:00
Andy Piper ad539ffa03 AP_RCTelemetry: add missing CRSF scheduler table entry 2024-12-05 10:03:27 -06:00
Randy Mackay 1308efb9a4 AP_Scripting: promote video-stream-information to applet 2024-12-05 16:46:48 +09:00
Randy Mackay 3325bdd7df AP_Scripting: set-video-stream-info encoding binding and docs 2024-12-05 16:46:48 +09:00
Randy Mackay 6f6613fefd AP_Camera: set-stream-information loses send-text 2024-12-05 16:46:48 +09:00
Thomas Watson d7b26a2205 AC_AutoTune: fix tracking of maximum angular acceleration 
Issue introduced in https://github.com/ArduPilot/ardupilot/pull/27370
and partially fixed in https://github.com/ArduPilot/ardupilot/pull/27762,
though evidently not properly tested.

Failing to track the maximum can result in dangerously low values being
calculated for `ATC_ACCEL_[RPY]_MAX` and the vehicle becoming unflyable.

Make the variable a reference so that the maximum value is preserved
between function calls.
 2024-12-05 09:18:56 +09:00
George Zogopoulos 9a5f81aa95 Plane: Added check for takeoff level-off timeout 
When an airspeed sensor is not used, during a takeoff, the pitch angle
is asymptotically driven to 0 as the takeoff altitude is approached.
Some airplanes will then stop climbing and fail to reach altitude.

To prevent an indefinite wait for the takeoff altitude to be reached, a
dedicated level-off timeout has been introduced.
 2024-12-04 18:07:30 +11:00
George Zogopoulos 768b2eabc4 autotest: Created test for unsuccessful takeoff level off 2024-12-04 18:07:30 +11:00
Andy Piper 3ed6ada2e3 Copter: allocation failure on rate thread start 2024-12-04 07:45:05 +11:00
Andy Piper 88f6125a94 AP_InertialSensor: belt and braces checks 2024-12-04 07:45:05 +11:00
Andy Piper 277386e6e2 AP_HAL_ChibiOS: add cork()/push() check 2024-12-04 07:45:05 +11:00
Andy Piper 4b0fa15278 AP_InertialSensor: address review comments 2024-12-04 07:45:05 +11:00
Andy Piper 96a70df75b Copter: address review comments 2024-12-04 07:45:05 +11:00
Andy Piper 3d43f2053f Copter: move RTDT logging to fast path 
log after motor output in fast rate thread
 2024-12-04 07:45:05 +11:00
Andy Piper 8fc4a6a6e9 AP_HAL_ChibiOS: add comments to force_push on rcout 2024-12-04 07:45:05 +11:00
Andy Piper 398a70ec4b AP_InertialSensor: avoid multiple allocations of rate loop buffer 
add nullptr checks and comments to FastRateBuffer
 2024-12-04 07:45:05 +11:00
Andy Piper c823374986 Copter: ensure decimated rates are never 0 in rate thread 2024-12-04 07:45:05 +11:00
Andy Piper 6db09c9fdd AP_InertialSensor: keep a queue of gyro samples for use by the rate thread 
decimate the gyro window locally
configure rate loop buffer based on AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
allow backends to be updated from rate thread
output debug error if rate loop buffer overruns
add support for updating filter parameters independently of propagating samples
add rate loop config abstraction that allows code to be elided on non-copter builds
must be using harmonic notch to use rate thread
mediate fast rate loop buffer using mutex and binary semaphore
ensure gyro samples are used when the rate loop buffer isn't

Co-Authored-By: Andrew Tridgell <andrew@tridgell.net>
 2024-12-04 07:45:05 +11:00
Andy Piper dcf25200c6 Copter: correctly set fast rate thread rates 2024-12-04 07:45:05 +11:00
Andy Piper 21106380b3 waf: add rate loop config abstraction that allows code to be elided on non-copter builds 2024-12-04 07:45:05 +11:00
Andy Piper ba6da82f07 scripts: add AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED to build_options.py and extract_features.py 2024-12-04 07:45:05 +11:00
Andy Piper a3de217dee AP_HAL_ChibiOS: ensure dshot rate can be set dynamically 
honour the requested dshot rate as near as possible
 2024-12-04 07:45:05 +11:00
Andy Piper 3cc4b1991c AP_HAL_ChibiOS: compile MambaH743v4 at -O2 2024-12-04 07:45:05 +11:00
Andy Piper 048a3af785 AP_HAL_ChibiOS: allow forcing of trigger_groups() 2024-12-04 07:45:05 +11:00
Andy Piper 76897e9674 AP_HAL: set HAL_INS_RATE_LOOP in boards 
restrict rate loop to H7 and F7
 2024-12-04 07:45:05 +11:00
Andy Piper c4ab8e25c4 AP_HAL: allow forcing of trigger_groups() 2024-12-04 07:45:05 +11:00