Andrew Tridgell
c36687a79f
SITL: added SIM_MAG_SCALING for testing scale factor errors
...
# Conflicts:
# libraries/SITL/SITL.cpp
2019-12-09 13:18:01 +11:00
Andrew Tridgell
bc7f811ff0
AP_GPS: cope with UAVCAN GPS that don't provide Aux message
...
thanks to @VadimZ for the suggestion
2019-12-09 13:18:01 +11:00
Randy Mackay
0cd737856d
AP_RangeFinder: remove param conversion for 3rd and 4th
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3rd and 4th instances were not available to users unless they used their own builds which is rare
this reduces the firmware's flash size a small amount
2019-12-09 13:18:01 +11:00
Randy Mackay
4cb470e4df
AP_RangeFinder: param conversion fix
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This resolves an issue with the parameter conversion when moving from Copter-3.6.x to 4.0 (and similar moves for other vehicle types)
2019-12-09 13:18:01 +11:00
Peter Barker
8fac70149d
AP_Compass: tidy constructor
2019-12-09 13:18:01 +11:00
Peter Barker
03064f8eea
AP_Compass: make compass_cal_status_t enum class Status within CompassCalibrator
2019-12-09 13:18:01 +11:00
Andrew Tridgell
342dd67dc0
AP_Compass: narrow range of allowed scale factor
2019-12-09 13:18:01 +11:00
Andrew Tridgell
536222859d
AP_Compass: added COMPASS_OPTIONS
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this allows user to set that calibration requires GPS lock
2019-12-09 13:18:01 +11:00
Andrew Tridgell
920007f3c4
AP_Compass: added estimation of compass scale factor
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this adds new COMPASS_SCALE, COMPASS_SCALE2 and COMPASS_SCALE3
parameters, which give the sensor scaling factor. It is used to
compensate for an incorrect scaling in a compass.
The 3D compass calibration process will set the correct value
automatically, otherwise users can set the value to a known value for
an existing compass
2019-12-09 13:18:01 +11:00
Randy Mackay
ae234635e8
AP_Compass: minor comment fix
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Co-Authored-By: Peter Barker <pb-gh@barker.dropbear.id.au>
2019-12-09 13:18:01 +11:00
lukezhqin
f59d22aa41
AP_Compass: fix thin_samples to avoid comparing sample to itself
2019-12-09 13:18:01 +11:00
Randy Mackay
b87f42bc07
AP_Compass: fix calibrator update when step one fails
2019-12-09 13:18:01 +11:00
Randy Mackay
d9fde84ccb
AP_Compass: rename CompassCalibrator::clear to stop
2019-12-09 13:18:01 +11:00
Randy Mackay
6c8ee8fa67
AP_Compass: remove unused calc_mean_squared_residuals
2019-12-09 13:18:01 +11:00
Randy Mackay
a5e0af6868
AP_Compass: add comments to calibrator
2019-12-09 13:18:01 +11:00
Randy Mackay
243cf3b22d
AP_Compass: formatting fixes
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this should be a non-functional change
2019-12-09 13:18:01 +11:00
Randy Mackay
69a7a52e5f
AP_Compass: constify get_completion_mask and remove use of auto
2019-12-09 13:18:01 +11:00
Randy Mackay
cf34abba87
AP_Compass: constify get_orientation
2019-12-09 13:18:01 +11:00
Andrew Tridgell
47fe57bd8d
AP_Compass: remove expected error
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this happens with AK09916 probing on invensense sensor
2019-12-09 13:18:01 +11:00
Andrew Tridgell
3b244bbc7f
AP_Compass: disable HIL for AP_Periph
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this saves several k of flash
2019-12-09 13:18:01 +11:00
Randy Mackay
88761e59f0
AP_Compass: LEARN param default to 0 for all vehicles
2019-12-09 13:18:01 +11:00
Andrew Tridgell
1afd603fa8
AP_Compass: don't show too many params when max compasses 1
2019-12-09 13:18:01 +11:00
Andrew Tridgell
2d25adca33
HAL_ChibiOS: fixed build of sparky2
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running out of flash
2019-12-09 13:18:01 +11:00
Andrew Tridgell
9f76d2cf50
AP_BLHeli: fixed critical errors caused by BLHeli code
2019-12-09 13:18:01 +11:00
Andrew Tridgell
1fa764c915
HAL_ChibiOS: update mRoX21-777 I2C mask
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all external
2019-12-09 12:58:55 +11:00
Phillip Kocmoud
0fffc77dae
HAL_ChibiOS: update mRoControlZeroF7 I2C mask
2019-12-09 12:58:52 +11:00
Andrew Tridgell
59b576ebf3
AP_BattMonitor: added Durandal selection for batt mon pins
2019-12-09 12:57:44 +11:00
Andrew Tridgell
5fe0cd16ab
HAL_ChibiOS: enable MatekF765 LED pin
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- use tonealarm for buzzer
- add more baro options
2019-12-09 12:56:40 +11:00
yaapu
4bf6f4c297
Ap_Frsky_Telem: replaced the passthrough scheduler with a WFQ one.
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This replaces the default scheduler with a WFQ one
2019-12-09 12:56:13 +11:00
vierfuffzig
91c77e6df4
AP_BLHeli: fix eRPM conversion
2019-12-09 12:55:37 +11:00
Andy Piper
00406180c4
AP_HAL_ChibiOS: specify Durdanal IMUs so that ordering is correct
2019-12-09 12:54:14 +11:00
Henry Wurzburg
4d4b4d46a2
HWDEF: Speedybeef4 change I2C internal mask to 0 to allow probing ext baros
2019-12-09 12:54:06 +11:00
Andrew Tridgell
3a1b24c9bb
HAL_ChibiOS: fixed handling of 16bit timer wrap
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this fixes #12948
2019-12-09 12:45:20 +11:00
Andrew Tridgell
6f9abb8a4b
HAL_ChibiOS: added assert for systime_t size
2019-12-09 12:45:09 +11:00
Andrew Tridgell
9a978c1eef
AP_Airspeed: switched to recursive semaphore
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this is needed by the SDP3X driver. It is the simplest fix for the
issue
2019-11-20 07:35:07 +11:00
Andrew Tridgell
99932a3319
AP_GPS: fixed cast for comparison with txspace
2019-11-19 07:49:55 +11:00
Andrew Tridgell
c8f6697859
AP_TECS: removed TECS_LAND_PMIN
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thanks to TunaLobster for pointing out that it is redundent
2019-11-19 07:47:33 +11:00
Andrew Tridgell
9035195fca
AP_UAVCAN: support RTCMStream for RTCM injection
2019-11-17 11:58:52 +11:00
Andrew Tridgell
0080f3c011
AP_GPS: fixed sizes of config items
2019-11-17 11:57:51 +11:00
Michael du Breuil
ea337209e6
AP_GPS: UBlox: Fix the assumption that all keys are 1 byte keys
2019-11-17 11:57:48 +11:00
Michael du Breuil
62f69cf92f
AP_GPS: UBlox fix not listing the time mode as a configuration reason
2019-11-17 11:57:45 +11:00
Andrew Tridgell
3b75b4e5ad
AP_GPS: fixed TMODE config issue on non-F9 GPS
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thanks to Michel Pastor for reporting this
2019-11-17 11:57:39 +11:00
Andrew Tridgell
58b0f4acf6
AP_GPS: added automatic config of TMODE on F9
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the Drotek F9 GPS ships with TMODE enabled, which means we don't get a
3D fix.
This also adds the VALGET/VALSET msgs we will need for automatic
moving baseline config
2019-11-17 11:56:53 +11:00
Andrew Tridgell
76f4420710
AP_GPS: support Fix2 message for UAVCAN
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this allows for RTK fix levels
2019-11-17 11:56:11 +11:00
Andrew Tridgell
022dbb2e30
AP_GPS: support RTCMStream for RTCM injection on UAVCAN
2019-11-17 11:55:44 +11:00
Andrew Tridgell
6eb4ccd428
HAL_ChibiOS: retain OPENDRAIN if set on a pin
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this allows OPENDRAIN when set on a pin to be retained when set with a
pinMode(). This fixes a partially lit B/E LED on the Pixhawk4
2019-11-17 11:45:55 +11:00
vierfuffzig
1821fc9594
AP_RTC: add local time support
2019-11-17 11:40:29 +11:00
Andrew Tridgell
d3d4dff9ba
AP_OSD: add clock panel
2019-11-17 11:36:07 +11:00
Andrew Tridgell
c3bc1e3dd4
AP_Baro: added register checking and reset to DPS280 driver
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this is to fix an issue found on a mRoControlZeroF7
2019-11-17 11:29:53 +11:00
Michael du Breuil
a9fabdb278
AP_Logger: Fix logging of current on non primary instances
2019-11-17 11:29:38 +11:00
Andrew Tridgell
752c2872f9
RC_Channel: added RC option for new takeoff mode
2019-11-17 11:29:13 +11:00
Andrew Tridgell
df5e154144
AP_RangeFinder: fixed failover between rangefinders
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this fixes the case where we have one rangefinder that can handle
short range and another that is good for long range but no good for
short range (quite common, eg radar and lidar)
If possible we want to use the first rangefinder that is in range for
the right orientation. If none are in range then use the first for the
orientation
2019-11-17 11:27:13 +11:00
Andrew Tridgell
b19ad689a6
AP_GPS: fixed GPS to UART mapping
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this allows for first GPS as UAVCAN and 2nd as UART. That is not
possible currently unless you waste a uart
2019-11-17 11:26:44 +11:00
Andrew Tridgell
a5e79f4231
AP_TECS: added TECS_LAND_PMIN for min pitch in flare
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this is useful to narrow the range of available pitch after flare
2019-11-17 11:26:07 +11:00
Peter Barker
fffed10692
GCS_MAVLink: check reply channel for space rather than current channel
2019-11-02 14:08:47 +11:00
Andrew Tridgell
65c3d4ff20
HAL_ChibiOS: enable advanced timers if we have any N PWM channels
2019-11-02 13:46:43 +11:00
Andrew Tridgell
88e78afb19
HAL_ChibiOS: fixed SPI timeout bug
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thanks to CUAV for noticing
2019-11-01 21:54:43 +11:00
Andrew Tridgell
3c1a362d90
GCS_MAVLink: fixed uninitialised bytes in send_named_float()
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this fixes an issue with mavproxy with python3
2019-10-17 11:52:53 +11:00
liang
194ea66912
AP_Airspeed: protect sample timestamp while get data
2019-10-15 21:12:15 +11:00
Andrew Tridgell
6ebb9ad84a
AP_HAL: enabled SLCAN on fmuv2 and Pixhawk1-1M
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this fits for now, and is needed for CAN GPS for now
2019-10-07 21:14:24 +11:00
Andrew Tridgell
42c4b41bf6
AP_UAVCAN: cleanup ifdefs for SLCAN enable
2019-10-07 21:14:24 +11:00
Andrew Tridgell
83bacfa89c
AP_HAL: cleanup ifdefs for SLCAN enable
2019-10-07 21:14:24 +11:00
Andrew Tridgell
0eb9a58f17
AP_HAL_ChibiOS: cleanup ifdefs for SLCAN enable
2019-10-07 21:14:24 +11:00
Andrew Tridgell
53e03816c0
AP_BoardConfig: cleanup ifdefs for SLCAN enable
2019-10-07 21:14:24 +11:00
Andrew Tridgell
a452f8e4ed
switch optimisation to O2
...
on average makes for faster and smaller code than O3
2019-10-06 10:58:07 +11:00
Andrew Tridgell
ee25d05f3c
AP_Math: make fill_nanf() use a signalling NaN
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we want use of these values to trigger a FPE
2019-10-06 10:58:07 +11:00
Andrew Tridgell
43df0022e1
use common variables for EKF
2019-10-06 10:58:07 +11:00
Andrew Tridgell
9ad9fe42bc
AP_NavEKF2: use parent class for intermediate static variables
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this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
2019-10-06 10:58:07 +11:00
Andrew Tridgell
46628b4401
AP_NavEKF2: make it easy to do EK2 timing tests
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for future benchmarking
2019-10-06 10:58:07 +11:00
Andrew Tridgell
cd9c9e0809
AP_NavEKF: fixed build with vector index checking
2019-10-06 10:58:07 +11:00
Andrew Tridgell
156a64aca0
AP_NavEKF: added a common parent class for EKF2 and EKF3 core classes
...
this provides a common location for static intermediate variables in
EK2 and EK3. This has a few benefits:
- the compiler can determine the address of the frequently accessed
variables at compile time, making them faster
- by sharing between EK2 and EK3 we save a lot of memory if both EK2
and EK3 are enabled
- we can fill all these with NaN in SITL on every loop, which allows
us to catch cases where the variables are ever re-used between
loops, which guarantees we aren't mixing data between EKF lanes or
between EK2 and EK3
2019-10-06 10:58:07 +11:00
Michel Pastor
eb24e12666
AP_Logger: fix logging on 256Mbit flash chips
2019-10-06 10:58:07 +11:00
Michel Pastor
d7033dbf0d
AP_Logger: fix AP_Logger_Block::get_num_logs()
2019-10-06 10:58:07 +11:00
Andrew Tridgell
0ec6210184
HAL_ChibiOS: removed wait on CAN peripheral in H7
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these wait busy loops can take a very long time, and end up causing
interrupts to be lost elsewhere in the system, causing lost bytes on
UARTs
We should not have while loops waiting on peripharals like this. If we
do need to wait for a flag to clear then it needs to be done in a low
priority thread, or we need to check for completion in a timer
CAN still seems to work with this change, but needs flight testing
2019-10-06 10:58:07 +11:00
Andrew Tridgell
d017a9a60d
AP_Logger: fixed LOG_FILE_DSRMROT with delayed log stop
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now that we persist logging for 15s after disarm we need to also delay
the log rotation if LOG_FILE_DSRMROT=1. Otherwise we will put the log
data into the next log, which defeats the purpose of the 15s
persistance
2019-10-06 10:58:07 +11:00
Andrew Tridgell
5a25d5c42d
AP_Proximity: fixed incorrect use of fabs()
2019-10-06 10:58:07 +11:00
vierfuffzig
0b1cbc7bde
AP_AHRS: fix custom orientation ToRad conversion
2019-10-06 10:58:07 +11:00
Andrew Tridgell
df86990c96
GCS_MAVLink: use HAL_MEM_CLASS for status sizes
2019-10-06 10:58:07 +11:00
Andrew Tridgell
6cd6b37826
AP_Logger: use HAL_MEM_CLASS for logging buffer size
2019-10-06 10:58:07 +11:00
Andrew Tridgell
609a2d95f8
AP_Logger: try harder to use close to user buffer size
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this stops us drastically reducing buffer size when low on memory
2019-10-06 10:58:07 +11:00
Andrew Tridgell
3105255080
AP_HAL: added HAL_MEM_CLASS for amount of memory
2019-10-06 10:58:07 +11:00
Andrew Tridgell
b8a77890b6
HAL_ChibiOS: generate HAL_MEMORY_TOTAL_KB for each board
2019-10-06 10:58:07 +11:00
Andrew Tridgell
bd95331068
HAL_ChibiOS: added Pixhawk1-1M
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this is for 1M versions of the Pixhawk1. It is smaller than fmuv2 as
it only links the specific sensors needed for Pixhawk1
2019-10-06 10:58:07 +11:00
vierfuffzig
afdb53daca
AP_BLHeli: fix watchdog resets with telemetry active from non-multirotor motors
2019-10-06 10:58:07 +11:00
Andrew Tridgell
a49cc87dae
AP_NavEKF3: change optimisation from -O3 to -O2
2019-10-02 12:03:53 +10:00
Andrew Tridgell
fb7ddd9b9d
AP_NavEKF2: change optimisation from -O3 to -O2
2019-10-02 12:03:47 +10:00
Andrew Tridgell
2962211ea0
HAL_ChibiOS: changed optimisation of higher end boards to -O2
...
-O3 does not seem to be a win, and takes up a lot more flash
2019-10-01 08:33:13 +10:00
Andrew Tridgell
560a1bf9e0
HAL_ChibiOS: disable DMA for RCIN on Pixracer
...
this frees up DMA for USART1_RX, which gives DMA for input over the
SERIAL5 WiFi port, which is important for applications where a
pixracer is being fed vision data over WiFi
2019-10-01 08:32:56 +10:00
Mark Whitehorn
eb620f0792
AP_IOMCU: fix IO fast channel mask
2019-10-01 08:32:03 +10:00
Mark Whitehorn
2034bde367
HAL_ChibiOS: fix FMU fast_channel_mask
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fix IO fast channel mask
use IOMCU chmask to only set right channels
remove unused variable
2019-10-01 08:32:00 +10:00
Andrew Tridgell
4c22633c60
AP_GPS: fixed a bug in handling corrupt u-blox packets
...
when we have corrupt input due to loss of bytes on a UART we can end
up with a u-blox packet with zero payload bytes. When that happens we
need to bypass payload reading as otherwise we will end up keeping
reading bytes until the driver resets at 4 seconds, causing a GPS
outage.
This was causing GPS outages every few hours in copters running 3.6.7,
and was also reproduced in SITL using SIM_GPS_BYTELOSS.
2019-10-01 08:31:20 +10:00
Henry Wurzburg
6108c5b5ab
AP_OSD: Add autoranging to current and speed displays
2019-09-22 21:11:06 +10:00
Randy Mackay
1433741cc9
AP_Proximity: fix rangefinder backends cm to m conversion
2019-09-22 21:09:38 +10:00
Peter Barker
784edac137
AP_NavEKF2: correct return of empty prearm string
2019-09-22 21:09:11 +10:00
Peter Barker
6693610c7a
AP_NavEKF3: correct return of empty prearm string
2019-09-22 21:09:04 +10:00
Andrew Tridgell
2bebe8f916
SITL: added SIM_LOOP_DELAY parameter
...
this allows us to test high CPU load conditions by adding a delay to
each loop
2019-09-22 21:08:38 +10:00
Andrew Tridgell
ae4bcf0f6f
AP_Scheduler: cope with high CPU load by stretching loop times
...
this adds an extra budget of time per loop when we are not achieving
scheduled tasks at a rate of at least 1/8 of the desired rate. This
fixes an issue where a vehicle can become uncontrollable if the user
asks for a SCHED_LOOP_RATE which is not achievable. As these events
happen we add extra loop budget until we are able to run all tasks. We
drop the extra time when the CPU pressure eases.
2019-09-22 21:08:34 +10:00
Andrew Tridgell
d916c31575
AP_Logger: added logging of extra loop time from the scheduler
2019-09-22 21:08:27 +10:00
Lucas De Marchi
1eb2dc2b2f
AP_RangeFinder: add missing overrides
2019-09-22 21:08:14 +10:00
Lucas De Marchi
575200f8c7
AP_RangeFinder: fix build
2019-09-22 21:08:11 +10:00