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1b7b705856
Commit Graph

26965 Commits

Author SHA1 Message Date
Dr.-Ing. Amilcar do Carmo Lucas
1b7b705856 AP_FETtecOneWire: Convert into an ArduPilot device driver 
Co-authored-by: Torsten Z <t.zunker@fettec.net>
    Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>

- use ArduPilot's coding guidelines and naming conventions
- control motor speed
- copy ESC telemetry data into MAVLink telemetry
- save ESC telemetry data in dataflash logs
- use RPM telemetry for dynamic notch filter frequencies
- sum the current telemetry info from all ESCs and use it as virtual battery current monitor sensor
- average the voltage telemetry info and use it as virtual battery voltage monitor sensor
- average the temperature telemetry info and use it as virtual battery temperature monitor sensor
- report telemetry communication error rate in the dataflash logs
- warn the user if there is a gap in the bitmask parameter.
- re-enumerate all ESCs if not armed (motors not spinning) when
  - there is a gap in their address space IDs
  - communication with one of the ESCs is lost
  - some of the configured ESCs are not found
  - some of the configured ESCs are not correctly configured
- allows the user to configure motor rotation direction per ESC (only gets updated if not armed)
- adds a serial simulator of FETtec OneWire ESCs
- adds autotest (using the simulator) to fly a copter over a simulated serial link connection
 2021-08-13 16:22:37 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
38a825c987 AP_HAL_ChibiOS: disable FETtec OneWire device driver 2021-08-13 16:22:37 +10:00
Peter Barker
2cf22112a2 AP_Arming: call fettec prearm checks 2021-08-13 16:22:37 +10:00
Peter Barker
97057a1350 SITL: add simulated FETtec ESC 2021-08-13 16:22:37 +10:00
Peter Barker
26f2393014 AP_HAL_SITL: add simulated FETtec ESC 2021-08-13 16:22:37 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
72a69ec274 AP_ESC_Telem: implement get_active_esc_mask() 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-08-13 16:22:37 +10:00
Peter Barker
2251e442cc AP_Math: move crc8_dvb_update into crc library 2021-08-13 16:22:37 +10:00
Pierre Kancir
2020fbaa26 SRV_Channel: add FETtec support 2021-08-13 16:22:37 +10:00
Pierre Kancir
c1ad7253b6 AP_SerialManager: add FETtecOneWire protocol 2021-08-13 16:22:37 +10:00
Pierre Kancir
6346739466 AP_FETtecOneWire: Conversion to C++ and initial ArduPilot support 2021-08-13 16:22:37 +10:00
Torsten Z
35861ab616 AP_FETtecOneWire: Initial protocol implementation in C provided by FETtec 2021-08-13 16:22:37 +10:00
Scott Parlane
4d95a9d1c3 AP_InertialSensor: BMI160: Allow configuring the rotation 2021-08-13 12:32:28 +10:00
Scott Parlane
700edd241f AP_InertialSensor: BMI160: Make it possible to use I2C 
The BMI160 chip talks the same protocol over SPI and I2C,
so simply allowing I2C in hwdef is sufficient to allow it to be used.
 2021-08-13 12:32:28 +10:00
Scott Parlane
6554c535a1 AP_InertialSensor: BMI160: Remove linux-only restriction 2021-08-13 12:32:28 +10:00
Hwurzburg
400cf31df1 AP_Scripting: Add mission selection applet 2021-08-13 08:18:55 +10:00
Andy Piper
b6ec06ac0f AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-12 19:07:51 +09:00
Andy Piper
68fd87091c AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-12 19:07:51 +09:00
Andy Piper
b9598dac00 RC_Channel: add turtle mode to RC option 150 2021-08-12 19:00:51 +09:00
Andy Piper
a51e58022f AP_HAL_ChibiOS: add accessor for reversed mask 
allow mask updates to be disabled
send dshot commands even if armed - they will be accepted as long as throttle is at zero
only accept low-priority dshot commands while disarmed
apply reversed and reversible mask as servo channels
 2021-08-12 19:00:51 +09:00
Andy Piper
09e0135ecb AP_HAL: add accessor for reversed mask 
allow mask updates to be disabled
document mask types
define DSHOT_ZERO_THROTTLE
 2021-08-12 19:00:51 +09:00
Andy Piper
5ece42bce0 RC_Channel: add turtle mode 2021-08-12 19:00:51 +09:00
Andy Piper
513aa592e4 AP_Motors: add accessors for turtle mode 2021-08-12 19:00:51 +09:00
Tom Pittenger
00cc8a4042 AP_BattMonitor: fix mppt sequence bug 
closes https://github.com/ArduPilot/ardupilot/issues/18283
 2021-08-12 14:37:04 +10:00
Pierre Kancir
bff899e8f2 AP_OSD: check for nullptr before using it 2021-08-12 13:56:53 +10:00
Pierre Kancir
99456ba1f8 AP_Logger: fix MAVLink logger random failure on SITL 
rand() return an int
 2021-08-12 13:55:22 +10:00
Pierre Kancir
8216905f47 AP_NavEKF3: remove unecessary assignements 2021-08-12 10:39:49 +09:00
Pierre Kancir
d95f503a32 AP_NavEKF2: remove unecessary assignements 2021-08-12 10:39:49 +09:00
Pierre Kancir
adf86357aa AP_ESC_Telem: prevent possible overrun 2021-08-12 11:20:24 +10:00
Pierre Kancir
7739ddefd0 AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-12 11:20:24 +10:00
Pierre Kancir
a0175441a0 AP_ESC_Telem: fix out of bound access 2021-08-12 11:20:24 +10:00
Randy Mackay
b399649c36 AP_Torqeedo: increase speed cmd at 50hz 
under human control the tiller/battery only sends at 3hz but in testing it is capable of at least 50hz (but not as much as 100hz)
 2021-08-12 10:54:36 +10:00
Peter Barker
29aed55a74 AP_AHRS: remove pointless zeroing of gyro_estimate vector 
This value is assigned to in the following "if" block in both the for
and against cases, and isn't used to determine the new value.
 2021-08-12 08:52:24 +10:00
Peter Barker
73bad9fd2d AP_AHRS: move fly_forward flag to front end 
This same flag is requested by the DAL so AN_NavEKF2 and AP_NavEKF3 can
use it in their estimates - so AP_AHRS_DCM accessing it via the same
mechanism is not out-of-shape
 2021-08-11 15:36:22 -07:00
bugobliterator
6bbfe35c73 AP_Logger: do not use AP_Scheduler for AP_Periph builds 2021-08-12 07:57:12 +10:00
Peter Barker
1db7e9e2e2 AP_NavEKF: log EKF data source set changes 2021-08-11 19:28:28 +09:00
Peter Barker
110d48e6fa AP_Logger: add events for changing EKF data source set changes 2021-08-11 19:28:28 +09:00
Peter Barker
e9c56a2b0a AP_AHRS: move takeoff/touchdown flags to frontend 2021-08-11 18:45:34 +10:00
Pierre Kancir
c19391d540 AP_Filesystem: correct file open flags for append 2021-08-11 18:43:53 +10:00
giacomo892
8da8b34b49 AP_OSD: Add option to disable Crosshair on horizon element 2021-08-11 18:42:11 +10:00
Hwurzburg
42128a70b8 RC_Channel: add CRUISE mode RC AUX Function switch 2021-08-11 18:35:05 +10:00
Leonard Hall
ad2a152751 AP_Math: Spelling fix 2021-08-11 17:07:29 +09:00
Leonard Hall
71ccffd7c9 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-11 17:07:29 +09:00
Leonard Hall
a1b47f36ef AC_WPNav: support Control: Refactor to use Jerk 2021-08-11 17:07:29 +09:00
Leonard Hall
8961695369 AP_Math: Control: Refactor to use Jerk 2021-08-11 17:07:29 +09:00
Leonard Hall
3a8924c185 AP_Math: Control: protect against divide by zero 2021-08-11 17:07:29 +09:00
Leonard Hall
32b2510893 AC_WPNav: Fix Angle Vel units on function 2021-08-11 17:07:29 +09:00
Leonard Hall
f57175a84f AC_AttitudeControl: Fix Angle Vel units on function 2021-08-11 17:07:29 +09:00
Pierre Kancir
0a922426a2 AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-11 15:17:08 +10:00
Pierre Kancir
4bccdada16 AC_Avoidance: do fence pointer check before using it 2021-08-11 13:43:23 +10:00
ES-Alexander
600df16604 Add pressure offset based on device P-mode 2021-08-10 18:30:04 -04:00