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57394 Commits

Author SHA1 Message Date
Andrew Tridgell 429e7d2fc9 Tools: allow Ohm units in parameters 
# Conflicts:
#	Tools/autotest/param_metadata/param.py
#	libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
 2024-01-07 10:59:28 +11:00
Andrew Tridgell 3c367d3af4 AP_InertialSensor: fixed the error value for BMI088 
the bad value is -32768 not 0xffff (which is -1)

-32768 badly corrupts the low-pass filter, and is what we see in logs
(a large negative spike on all 3 axes)

update to bug fix from:
https://github.com/ArduPilot/ardupilot/pull/23033
 2024-01-07 10:59:28 +11:00
alexklimaj b447157205 hwdef: arkv6x default to no IO MCU 2024-01-07 10:59:28 +11:00
Henry Wurzburg 223ea12689 hwdef:add VTX power control to SpeedyBeeF405-Wing 2024-01-07 10:59:27 +11:00
Peter Barker e55e9428e5 AP_TECS: ensure good TECS state before running update_pitch_throttle 
update_pitch_throttle can be called when update_50hz hasn't run in a very long time, or ever.  This requires a main loop rate >50Hz, and for the mode change to occur in the same loop that update_50Hz doesn't run but update_pitch_throttle does.
 2024-01-07 10:59:27 +11:00
Andrew Tridgell 5f69bda431 AP_TECS: fixed descent or lack of climb bug 
this fixes a state where we either cannot climb or descend in an
uncontrolled manner in a TECS controlled mode

the conditions under which this happened were:

- _use_synthetic_airspeed_once was true due to quadplane takeoff
- we left _thr_clip_status as MAX from previous use of synthetic airspeed
- then run without airspeed

note that this can also impact users with an airspeed sensor if they
disable it or it fails in flight, particularly during a climb
 2024-01-07 10:59:27 +11:00
Peter Barker 379a905abd autotest: CI fixes for 4.4 2024-01-07 10:59:27 +11:00
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
Peter Barker 2caa9321d3 autotest: give Rover longer to arrive home 
vagaries of interaction with Python script means we need to give this more time when running balancebot
Backport of PR https://github.com/ArduPilot/ardupilot/pull/23442
 2024-01-07 10:59:27 +11:00
Tom Pittenger 33842ad1c9 Tools/autotest: fix Deepstall CI 
Backport from PR https://github.com/ArduPilot/ardupilot/pull/24667
 2024-01-07 10:59:27 +11:00
Peter Barker 247a0e696a autotest: allow more time for deepstall text 
intermittent failures in CI - perhaps due to Plane dynamics changes
Backport of PR https://github.com/ArduPilot/ardupilot/pull/23524
 2024-01-07 10:59:27 +11:00
Peter Barker e66b85c0e1 autotest: add an epsilon for achieved servo output for speed scaling test 
right on the threshold
backport from PR https://github.com/ArduPilot/ardupilot/pull/23823
 2024-01-07 10:59:27 +11:00
Peter Barker 1557951b16 autotest: remove unnecessary try/except from Sprayer test 
backport from https://github.com/ArduPilot/ardupilot/pull/23823
 2024-01-07 10:59:27 +11:00
Tom Pittenger 91f33182a1 Tools/autotest: extend WindEstimates duration 
backport from PR https://github.com/ArduPilot/ardupilot/pull/24666
 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 ac531812e2 AP_Periph: move sysid_my_gcs to be public 2024-01-07 10:59:27 +11:00
bugobliterator bb2470121a Blimp: move sysid_my_gcs to be public 2024-01-07 10:59:27 +11:00
bugobliterator 338e6ae21e ArduSub: move sysid_my_gcs to be public 2024-01-07 10:59:27 +11:00
bugobliterator be9411c981 ArduPlane: move sysid_my_gcs to be public 2024-01-07 10:59:27 +11:00
bugobliterator b5108e07eb ArduCopter: move sysid_my_gcs to be public 2024-01-07 10:59:27 +11:00
bugobliterator ea60051067 AntennaTracker: 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 f2dcb1cbf0 bootloaders: SpeedyBeeF405Mini 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 8620247f8b bootloaders: TMotor H743 Mini bootloader 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 860deb6c42 bootloaders: mRoControlZeroOEMH7 bdshot version 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 c37178eb9c bootloaders: add BETAFPV F405 AIO 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