this works around a bug in the ICM-20602 that can cause the Y facttory
offset register to change unexpectedly. We don't know what triggers
this.
The fix is to save the factory offset at boot and restore it if it
changes. We log a message describing the change, but don't mark the
IMU unhealthy as this happens too often and we don't want to fallback
to a 2nd less good quality IMU (eg. MPU6000 on MatekH743)
In the case you only have a forward-pointing LIDAR we'd send messages
for each of the other orientations from proximty's horizontal-distances
array, chewing up bandwidth and processing time.
In the case you only have a forward-pointing LIDAR we'd send messages
for each of the other orientations from proximty's horizontal-distances
array, chewing up bandwidth and processing time.
This should resolve a problem in autotest where we don't detect the
fence as being breached as ArduPilot never announces the fact it has
breached - it just changes mode to RTL but the interval on the
FENCE_STATUS message never aligns with the time the vehicle is breached.
this takes better advantage of the new UART code. Log download over
USB gets to 730 kbyte/s. For comparison, with the 4.0 code on the same
H7 we get about 300 kbyte/s
this gains about 20k of RAM, and has almost no impact on log download
speed at 921600 on a F427. The improved threading means we can afford
to have smaller buffers
refactor rcout into separate thread and process all dshot requests there
move uart DMA completion to event model
process dshot locks in strick reverse order when unlocking
convert Shared_DMA to use mutexes
move UART transmit to a thread-per-uart
do blocking UART DMA transactions
do blocking dshot DMA transactions
trim stack sizes
cancel dma transactions on dshot when timeout occurs
support contention stats on blocking locking
move thread supression into chibios_hwdef.py
invalidate DMA bounce buffer correctly
separate UART initialisation into two halves
cleanup UART transaction timeouts
add @SYS/uarts.txt
move half-duplex handling to TX thread
correct thread statistics after use of ExpandingString
set unbuffered TX thread priority owner + 1
correctly unlock serial_led_send()
don't share IMU RX on KakuteF7Mini
observe dshot pulse time more accurately.
set TRBUFF bit for UART DMA transfers
deal with UART DMA timeouts correctly
don't deadlock on reverse ordered DMA locks
change PORT_INT_REQUIRED_STACK to 128
