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32207 Commits

Author SHA1 Message Date
Peter Barker b06ba1bacd SITL: fix balancebot yaw reset to be kinimatically consistent 
... or at least closer to it.

We were hard-resetting the yaw to zero when the vehicle was upright.  That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.

Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
Backport of PR https://github.com/ArduPilot/ardupilot/pull/25046
 2024-01-07 10:59:27 +11:00
Peter Barker 186678848d SITL: reset balancebot to vertical in a kinmetically consistent manner 
The hard-reset of all state variables means we feed the EKF inconsistent gyro data.  Attempt to upright the vehicle with a simple p-gain when it is disarmed, as if someone is pushing the thing back upright
Backport of PR https://github.com/ArduPilot/ardupilot/pull/24314
 2024-01-07 10:59:27 +11:00
bugobliterator 4bc1c1501f AP_OpenDroneID: ensure Persistent memory is not read continuously 2024-01-07 10:59:27 +11:00
bugobliterator 185620ccca GCS_MAVLink: move sysid_my_gcs to be public 2024-01-07 10:59:27 +11:00
bugobliterator 84e69fb47a AP_HAL_ChibiOS: remove Chip ID as Basic ID mechanism 2024-01-07 10:59:27 +11:00
bugobliterator 5d604a33b5 AP_OpenDroneID: remove Chip ID as Basic ID mechanism 2024-01-07 10:59:27 +11:00
bugobliterator e0c4d43c81 AP_HAL_ChibiOS: explain DID_OPTIONS config in CubeOrange-ODID/defaults.parm 2024-01-07 10:59:27 +11:00
bugobliterator 48850c8304 AP_OpenDroneID: add support for persistent storage of UAS ID 2024-01-07 10:59:27 +11:00
bugobliterator 13e8691720 AP_HAL: add support for get_persistent_param_by_name 2024-01-07 10:59:27 +11:00
bugobliterator 5a8bb80605 AP_HAL_ChibiOS: add support for get_persistent_param_by_name 2024-01-07 10:59:27 +11:00
bugobliterator 12e4ee9d3f AP_HAL_ChibiOS: add support for storing OpenDroneID in bootloader sector 2024-01-07 10:59:27 +11:00
Andy Piper f6f8b316ca hwdef: ensure SpeedyBeeF405Mini builds on plane 2024-01-07 10:59:27 +11:00
Andy Piper dae8e6afb9 hwdef: adjust serial protocol defaults on various boards for 4.4 naming scheme 2024-01-07 10:59:27 +11:00
Andy Piper 04d6c2e3c3 hwdef: SpeedyBeeF405Mini 2024-01-07 10:59:27 +11:00
Peter Barker b68820a1b6 GCS_MAVLink: correct sensors when no baros found 
GCSs will know we have no baros on-board, as will the RC telemetry library
 2024-01-07 10:59:27 +11:00
Andy Piper 3671a237c2 AP_HAL_ChibiOS: T-Motor H743 Mini 2024-01-07 10:59:27 +11:00
Andy Piper bded542bd3 AP_HAL_ChibiOS: provide mcu defaults in betaflight conversion 2024-01-07 10:59:27 +11:00
Andy Piper 12ddd6414e AP_HAL_ChibiOS: correct hwdef generator battery scale 2024-01-07 10:59:27 +11:00
Andy Piper f335d9c6a1 AP_HAL_ChibiOS: cope with different IMU drivers in hwdef conversion 2024-01-07 10:59:27 +11:00
Andy Piper f56bb8ee65 hwdef: mRoControlZeroOEMH7 bdshot version 2024-01-07 10:59:27 +11:00
Andy Piper 6aae2e58ea hwdef: correct inversion pin on MambaF405v2 
correct battery setup for MambaF405v2
provide suitable serial defaults for MambaF405v2
reallocate DMA channels to allow full DMA on USART3 and NeoPixel on MambaF405v2
add camera control pin to MambaF405v2
 2024-01-07 10:59:27 +11:00
Andy Piper 35220057ed AP_HAL_ChibiOS: betafpv F450 AIO hwdef 2024-01-07 10:59:27 +11:00
Andy Piper 194b30ec7e AP_HAL_ChibiOS: allow 8 bdshot channels on mRoControlZeroH7 2024-01-07 10:59:27 +11:00
Andy Piper b39aead878 AP_NavEKF: fallback to no baro on boards that have no baro 2024-01-07 10:59:27 +11:00
Paul Riseborough 325eed46ec AP_NavEKF3: Allow operation with EK3_SRCx_POSZ = 0 (NONE) 2024-01-07 10:59:27 +11:00
Paul Riseborough 229e402f88 AP_NavEKF: Allow EK3_SRCx_POSZ to be set to 0 (NONE) 2024-01-07 10:59:27 +11:00
Andy Piper b405030fcc AP_NavEKF3: allow high values of EK3_ALT_M_NSE for boards without baros 2024-01-07 10:59:27 +11:00
Davide_Lentini df7ceadac8 AP_HAL_ChibiOS: Update luminousbee5 defaults.parm 2024-01-07 10:59:27 +11:00
Mohammad Hefny 10bcafc977 AP_HAL_Linux: Fix RPI check using enumerations 2024-01-07 10:59:27 +11:00
Henry Wurzburg 6f8d78710d AP_HAL_ChibiOS:improve MambaF405MINI defaults 2024-01-07 10:59:27 +11:00
Andrew Tridgell 0f62a6dee8 hwdef: get airbotf4 building with 4.4 
minimize, same as master
 2024-01-07 10:59:27 +11:00
Martin Luessi 367792ad3a AP_HAL_ChibiOS: Add RADIX2HD target 2024-01-07 10:59:27 +11:00
Martin Luessi 0b2b218b34 AP_HAL_ChibiOS: Allow custom STM32_PLL1_DIVQ_VALUE for H7 2024-01-07 10:59:27 +11:00
yjuav 46430e7e4e hwdef: add YJUAV_A6SE board support 2024-01-07 10:59:27 +11:00
Andy Piper cc8b2a427c AP_HAL_ChibiOS: use old CRT1_AREAS_NUMBER 2024-01-07 10:59:27 +11:00
Martin Luessi 703d581f93 AP_HAL_ChibiOS: RAM initialization and linker files changes for external flash targets 2024-01-07 10:59:27 +11:00
Martin Luessi 18e4593bcd AP_HAL_ChibiOS: Use custom H750 linker script 2024-01-07 10:59:27 +11:00
Martin Luessi 7fe79f1f34 AP_HAL_ChibiOS: Fix H750 linker script 2024-01-07 10:59:27 +11:00
Martin Luessi 6dda91c92f AP_HAL_ChibiOS: Allow custom linker script, change extflash linker script 2024-01-07 10:59:27 +11:00
Martin Luessi a1bfea6481 AP_HAL_ChibiOS: Move scheduler task table to RAM for H750 2024-01-07 10:59:27 +11:00
Martin Luessi 4cae583872 AP_HAL_ChibiOS: Add libgcc comment to H750 linker script 2024-01-07 10:59:27 +11:00
Martin Luessi 6de5f3c7f7 AP_HAL_ChibiOS: Use DTCM for vector table for external flash targets 2024-01-07 10:59:27 +11:00
Martin Luessi 13ca44423d AP_HAL_ChibiOS: Move more time critical code to RAM for H750 2024-01-07 10:59:27 +11:00
Martin Luessi 3f6933cb1c AP_HAL_ChibiOS: increase FLASH_RAM and rename FDCAN to CAN for H750 2024-01-07 10:59:27 +11:00
Martin Luessi 9b2616c8e6 AP_HAL_ChibiOS: Copy vector table to RAM if external flash is primary 2024-01-07 10:59:27 +11:00
Martin Luessi 71a985d7a2 AP_HAL_ChibiOS: Change linker script so vector table can be copied to RAM for external flash targets 2024-01-07 10:59:27 +11:00
Martin Luessi 9c12ee89e1 AP_HAL_ChibiOS: Allow custom STM32_QSPISEL for H7 2024-01-07 10:59:27 +11:00
Andrew Tridgell e224a27623 AP_Scripting: added docs for log_file_content 2024-01-07 10:59:27 +11:00
Davide_Lentini 7ca0371e60 AP_HAL_ChibiOS: luminousbee5 hwdefs and default.parm update 
fix: restored storage folders for luminousbee5 in hwdef
 2024-01-07 10:59:27 +11:00
Willian Galvani 8d52fb2f64 AP_MotorsUGV: add asymmetry factor for skid-steering 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2024-01-07 10:59:27 +11:00