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35823 Commits

Author SHA1 Message Date
Maxim Buzdalov 9978b8f97f AP_Arming: do not wait 10 seconds with single gyro/accel 2024-04-02 11:23:01 +11:00
Peter Barker f28cfc9a3b hwdef: remove handling of FULL_CHIBIOS_BOOTLOADER directive 
the string FULL_CHIBIOS_BOOTLOADER doesn't exist anywhere else in the source code
 2024-04-02 11:20:48 +11:00
Iampete1 b08034373f AP_Logger: `Write_VER` keep g++ 7.5 happy by removeing non-trivial designated initializers 2024-04-02 11:13:55 +11:00
Iampete1 afe257a8db AP_Mission: take location in `get_landing_sequence_start`, `jump_to_landing_sequence`, `jump_to_abort_landing_sequence`, and `is_best_land_sequence`, add helpers for scripting 2024-04-02 11:11:59 +11:00
Iampete1 b16f70a83d AP_Landing: `restart_landing_sequence` get current location and pass it to `get_landing_sequence_start` 2024-04-02 11:11:59 +11:00
Clyde McQueen 10f39c3d28 GCS_Common: defer to AP_AHRS::set_origin to write logs 2024-04-02 11:00:22 +11:00
Clyde McQueen f422537f70 AP_AHRS: set_origin calls Log_Write_Home_And_Origin on success 2024-04-02 11:00:22 +11:00
rmaia 30ea932e9b AP_RCTelemetry: add extended RC link stats OSD fields 
Adds RSSI dBm, SNR, LQ, Tx power and active antenna OSD fields
 2024-04-02 10:30:24 +11:00
rmaia ea91d6e171 AP_RCProtocol: add extended RC link stats OSD fields 
Adds RSSI dBm, SNR, LQ, Tx power and active antenna OSD fields
 2024-04-02 10:30:24 +11:00
rmaia a1a87bd1f5 AP_OSD: add extended RC link stats OSD fields 
Adds RSSI dBm, SNR, LQ, Tx power and active antenna OSD fields
 2024-04-02 10:30:24 +11:00
Andrew Tridgell 1794c128a2 AP_Scripting: raise max FLTE for yaw to 8 
better yaw for many vehicles
 2024-04-02 10:28:34 +11:00
Henry Wurzburg b83a895d7b HWDEF: allow all build targets for non-integrated boarda 2024-04-02 10:17:21 +11:00
rishabsingh3003 b22e4fa085 AP_RangeFinder: Refactor RDS02UF rangefinder 2024-04-01 16:12:53 +11:00
rishabsingh3003 276ee86f38 AP_Math: Add RDS02UF RangeFinder CRC 2024-04-01 16:12:53 +11:00
rishabsingh3003 fc0084fe83 SITL: Update RDS02UF CRC 2024-04-01 16:12:53 +11:00
zebulon-86 871292cb29 AP_RangeFinder:add support for RDS02UF radar driver on serial 
parameter RNGFNDx_TYPE is 42

Apply suggestions from code review

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2024-04-01 16:12:53 +11:00
James O'Shannessy ac271cf4e0 AP_InertialSensor: Improve bitmask indicating persistent parameters on bootloader flash 
INS_TCAL_OPTIONS parameter description indicates a singular bit in a bitmask to persist Accels/TCAL parameters, however there are two separate bits for persistence.
 2024-03-26 11:39:11 +11:00
Henry Wurzburg 0cfdc75c90 add 60x22 to OSD_TXT_RES metadata 2024-03-26 11:37:16 +11:00
Andrew Tridgell 17a61ab14b AP_OSD: allow size of SITL OSD to be set with parameters 2024-03-26 11:36:48 +11:00
Andrew Tridgell feb8c3be67 SITL: added SIM_OSD_ROWS and SIM_OSD_COLUMNS 2024-03-26 11:36:48 +11:00
Iampete1 8ccec7615c AP_OSD: use `set_and_default` when ensuring first screen is enabled 2024-03-26 11:36:00 +11:00
Iampete1 c4691bef94 AP_DAL: Standalone: add int8 parameter set_and_default method to avoid include 2024-03-26 11:35:36 +11:00
Iampete1 21df26de75 AP_NavEKF3: use set_and_defualt when changing imu mask 2024-03-26 11:35:36 +11:00
Iampete1 b95b51f1a1 AP_NavEKF2: use set_and_defualt when changing imu mask 2024-03-26 11:35:36 +11:00
Ryan Friedman 6fc8185716 AP_ExternalAHRS: Only use GPS data when populating GPS fields 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:23:06 +11:00
Ryan Friedman 35451c7021 AP_ExternalAHRS: Check backend pre-arm before origin 
* This allows the backend to report more detailed errors
* Before this, many pre-arm errors were hidden by origin failure
* If pre-arm could report multiple errors, that would be ideal

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:22:06 +11:00
Ryan Friedman 95ac178f20 Save flash, reduce code duplication 
* Add generic health and time utils
* Fix bug only checking first GNSS system
* Use common logging struct
* Improve pre-arm log checks

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:22:06 +11:00
Ryan Friedman 9edc0f8ec6 AP_ExternalAHRS: Don't send init message till booted up 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:22:06 +11:00
Ryan Friedman d383a19c29 AP_ExternalAHRS: Use state watching instead 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:22:06 +11:00
Ryan Friedman 67b89a9b1f AP_ExternalAHRS: Provide warning for init failure 
* If the device hasn't initialized in 5 seconds, give a warning

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:22:06 +11:00
Ryan Friedman dc2815e9f5 AP_ExternalAHRS: Use filter data to populate EKF status report 
* Variances vs uncertainties may still be off
* Requires enabling the following packets in SensorConnect:
  * Position Uncertainty (LLH)
  * Velocity Uncertainty (NED)

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:11:39 +11:00
Peter Barker 8fc76e7455 hwdef: remove extraneous lines from hwdef files 
these either come from includes are duplicated in these files
 2024-03-26 11:09:03 +11:00
Peter Barker 395f438b42 chibios_hwdef.py: print error message if a define is re-defined at top level with same value 2024-03-26 11:09:03 +11:00
Peter Barker eca2fd92b2 chibios_hwdef.py: correct extraction of intdefines 
another regex problem
 2024-03-26 11:09:03 +11:00
Peter Barker 58c0823264 AP_Radio: correct guards around code in AP_Radio_cc2500 
these were missed in a cleanup; the header is already guarded with these
 2024-03-26 11:07:42 +11:00
Peter Barker 1f3b4c47a0 hwdef: make a skyviper.inc, use it on skyviper-journey 2024-03-26 11:07:42 +11:00
Peter Barker 44477c3b62 AP_Notify: remove VRBrain board sub-types 
these were only used to turn choose between AP_Notify LED backends, which can be done much more neatly with specific features defines.
 2024-03-26 11:06:13 +11:00
Peter Barker 3387cad322 AP_HAL: remove VRBrain board sub-types 
these were only used to turn choose between AP_Notify LED backends, which can be done much more neatly with specific features defines.
 2024-03-26 11:06:13 +11:00
Peter Barker df19fed523 AP_HAL_ChibiOS: remove VRBrain board sub-types 
these were only used to turn choose between AP_Notify LED backends, which can be done much more neatly with specific features defines.
 2024-03-26 11:06:13 +11:00
Peter Barker 6cb6d605ec AP_HAL: remove HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 
this isn't used for anything
 2024-03-26 10:59:23 +11:00
Peter Barker d663f14e3e AP_HAL_ChibiOS: remove HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 
this isn't used for anything
 2024-03-26 10:59:23 +11:00
Peter Barker b3b4b8905f AP_GPS: add prearm check for blending-enabled-but-not-available 2024-03-26 10:57:35 +11:00
Peter Barker fcd36664d0 AP_Arming: add prearm check for blending-enabled-but-not-available 2024-03-26 10:57:35 +11:00
Peter Barker a0b2753766 AP_GPS: remove blended GPS from small boards 
those boards which are not including all backends will lose blended after this
 2024-03-26 10:57:35 +11:00
davidsastresas 0b7710420b AP_Mount: fix gimbal-device-attitude-status yaw frame flag 2024-03-26 10:49:30 +11:00
Randy Mackay affc1b4eb4 AP_Mount: get-gimbal-device-flags reports lock state 2024-03-26 10:49:30 +11:00
Randy Mackay c392089ae7 AP_Mount: do-gimbal-manager-pitch-yaw can set lock state 
Co-authored-by: davidsastresas <davidsastresas@gmail.com>
 2024-03-26 10:49:30 +11:00
Randy Mackay d0d33b0b36 AP_Mount: clarify yaw_lock comments 2024-03-26 10:49:30 +11:00
Randy Mackay 4755a60863 AP_Mount: RC targeting mode lock state from previous mode 
This leads to smoother transitions between RC and GCS control
 2024-03-26 10:49:30 +11:00
Randy Mackay 65b4db5ede AP_NavEKF3: define Yaw alignment min GPS speed per vehicle 2024-03-26 10:01:42 +11:00
Peter Barker 964c30e053 AP_RCProtocol: add support for RC input from SITL FDM data 2024-03-25 22:35:04 +11:00
Peter Barker db0188d3a3 AP_HAL_SITL: add support for RC input from SITL FDM data 2024-03-25 22:35:04 +11:00
Peter Barker 729c911462 SITL: add and use AP_RCProtocol_UDP 2024-03-25 22:35:04 +11:00
Peter Barker 1357b4ac33 AP_RCProtocol: add and use AP_RCProtocol_UDP 2024-03-25 22:35:04 +11:00
Peter Barker 4005bce85c AP_HAL_SITL: add and use AP_RCProtocol_UDP 2024-03-25 22:35:04 +11:00
Peter Barker 4a996c81fb AP_HAL: add and use AP_RCProtocol_UDP 2024-03-25 22:35:04 +11:00
Randy Mackay 1eb2a3009d AC_PosControl: always update yaw targets 2024-03-25 11:03:25 +09:00
Randy Mackay e9cffbb56e RC_Channel: integrate AP_CAMERA_SET_CAMERA_SOURCE_ENABLED 2024-03-25 09:19:18 +09:00
Randy Mackay 3a570943d5 AP_Mission: support set-camera-source 2024-03-25 09:19:18 +09:00
Randy Mackay a6a5cde34c AP_Mount: add set_camera_source support 2024-03-25 09:19:18 +09:00
Randy Mackay 5a22fb8da5 AP_Camera: support set-camera-source mavlink command 2024-03-25 09:19:18 +09:00
Randy Mackay ff7486e3cc GCS_MAVLink: forward set-camera-source to AP_Camera 2024-03-25 09:19:18 +09:00
Ryan Friedman 650db2db35 AP_HAL: Fix incorrect return type 
* This caused position quantization errors in the MicroStrain7

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-25 08:06:46 +11:00
Peter Barker 813f0cf428 hwdef: remove save_some_flash.inc 
all but one board was getting all of these includes from minimize_fpv_osd, and the remaining board had most lines foming from minimize_features.inc.

This file has served its purpose, its role now taken on by minimize_fpv_osd.inc
 2024-03-24 20:15:53 +11:00
Ryan Friedman bd518dc140 AP_DDS: Fix incorrect port param name 
* We want to support TCP and UDP in the future, so make sure we call it
  UDP here

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-24 11:27:22 +11:00
Peter Barker 85d25b205f hwdef: remove unused STM32_PWM_USE_ADVANCED defines 2024-03-23 22:04:34 +11:00
Peter Barker 5d369b2634 chibios_hwdef.py: correct extraction of intdefines from hwdef files 
many of our hwdef files contain lines which look like this:

define STM32_PWM_USE_ADVANCED TRUE

The current regex does not allow for numbers in those define, so the regex ends up matching "STM" as a name....

the "intdefines" hash which is populated from these is only used internally to chibios_hwdey.py for logic purposes, not directly in hwdef output purposes, and none of the strings which it looks at contain numbers at the moment, so this is a non-functional change.
 2024-03-23 15:23:08 +11:00
Andrew Tridgell 663a41a1f0 hwdef: probe external i2c compasses on MatekL431-GPS 2024-03-23 08:29:24 +11:00
Randy Mackay 133a5ff63c RC_Channel: add mount LRF enable aux function 2024-03-22 14:55:43 +09:00
Randy Mackay f9198b7e4e AP_Mount: add set_rangefinder_enable for ViewPro 2024-03-22 14:55:43 +09:00
Dr.-Ing. Amilcar do Carmo Lucas f0fc447aed AC_PrecLand: reduce code duplication, move common functionally to the base class 2024-03-20 19:33:14 +11:00
Randy Mackay 381fb42023 AR_WPNav: allow target position on track to stop advancing 2024-03-20 19:27:56 +11:00
Randy Mackay 158f7944fd AC_WPNav: allow target position on track to stop advancing 2024-03-20 19:27:56 +11:00
Tom Pittenger d3125fe8aa AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-20 19:08:31 +11:00
Tim Tuxworth 1941313201 AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-20 19:08:31 +11:00
Tim Tuxworth f4d19275fc Chibios: CubeRed - change NET_ENABLED to NET_ENABLE 2024-03-20 19:08:31 +11:00
Andy Piper d2b50edf12 AP_HAL_ChibiOS: Orqa F405 Pro 2024-03-20 19:04:21 +11:00
FoxSuzuran c53f55fd05 AP_Proximity: add RPLidarC1 support 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-03-20 18:58:57 +11:00
Pierre Kancir 2319a125d5 AP_Math: add missing include in vector2.h 2024-03-20 18:57:28 +11:00
Pierre Kancir 1762844686 AP_Math: remove unused include 2024-03-20 18:57:28 +11:00
Peter Barker 9120c1e324 AP_CANManager: correct includes 
neither of these headers are used in this file
 2024-03-20 18:45:52 +11:00
Peter Barker 5d5dd4630e AP_CANManager: correct filename for CANDriver_Params 
This name doesn't contain objects for CANDriver - it contains objects owned by the CAN Manager which it then uses to configure the drivers.
 2024-03-20 18:45:52 +11:00
Peter Barker f487a25e09 AP_GPS: move blended-GPS functions into AP_GPS_Blended 
collects all of these together in preparation for making a backend
 2024-03-20 18:27:28 +11:00
Randy Mackay 456c1bf39c AP_Mount: viewpro fix for swapped ahrs roll pitch 2024-03-20 17:59:48 +11:00
Andrew Tridgell d3a37d1357 HAL_ChibioOS: fixed FDCAN -> CAN labels 
we use CAN1_RX not FDCAN1_RX in our MCU files
 2024-03-20 14:26:23 +11:00
Alex P 4b082eb579 hwdef: added JHEMCUGF16F405 2024-03-19 19:53:03 +11:00
Wu 3fbf3368fc AP_HAL_ChibiOS: added RadiolinkPIX6 support 2024-03-19 19:50:42 +11:00
Peter Barker 2a010623b2 AP_GPS: allow forwards/backwards for DroneCAN type autoconfig 
ArduPilot configures a connected DroneCAN GPS based on its GPS Type.

Given parameter name changes, ArduPilot must be able to configure both new and old AP_Periphs, and new AP_Periphs have to cope with being configured by old ArduPilots.
 2024-03-19 19:50:12 +11:00
Peter Barker 94d5d92917 SITL: rename GPS_ to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker bb83c43d1b AP_Scripting: rename GPS_ to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker 0256cef7b9 AP_HAL: rename GPS_to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker 1d4e0a784c AP_HAL_ChibiOS: rename GPS_ to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker 9726e55d1c AP_GPS: rename GPS_ to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker 84a81bebfe AP_ExternalAHRS: rename GPS_ to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker 2624e38a62 AP_Beacon: rename GPS_ to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker 50c36de6a4 AP_GPS: add GPS parameter conversion functions 2024-03-19 19:50:12 +11:00
Peter Barker 89bdb14916 Tools: adjust for GPS parameter renames 2024-03-19 19:50:12 +11:00
Peter Barker fe21c576c8 SITL: adjust for GPS parameter renames 2024-03-19 19:50:12 +11:00
Peter Barker 1ee7ef37ab AP_HAL_ChibiOS: adjust for GPS parameter renames 2024-03-19 19:50:12 +11:00
Peter Barker 21fc013016 AP_GPS: use subgroup to hold GPS instance parameters 2024-03-19 19:50:12 +11:00
Andrew Tridgell 8763084a9e AP_Filesystem: avoid decompressing in directory listing 
this makes ROMFS much more efficient
 2024-03-19 19:49:47 +11:00
Andrew Tridgell aa7ae2327d AP_ROMFS: added find_size() 2024-03-19 19:49:47 +11:00
Iampete1 727f28bb99 AP_Motors: add new PWM_TYPE_ANGLE 2024-03-18 21:48:55 -03:00
Iampete1 1766bfe45a AP_Motors: Heli: add helper to log runup event 2024-03-19 11:01:50 +11:00
Andrew Tridgell b430d63a22 AP_Logger: avoid logging dma.txt for normal builds 
logging of dma.txt currently does no good as the first time you read
it you get no content. It then enables statistics in the shared_dma
code which makes all DMA operations slower, so all we are doing is
making DMA slower
 2024-03-19 10:28:55 +11:00
root 0c2e9a061b AP_VideoTX:add additional freq bands(Band X) 2024-03-19 07:30:49 +11:00
Peter Barker 565e3f0175 AP_CANManager: correct array bounds used for sanity check 
both of these are currently HAL_MAX_CAN_PROTOCOL_DRIVERS in length
 2024-03-19 07:29:58 +11:00
Peter Barker 43a4160487 AP_GyroFFT: correct compilation when AP_Arming is not compiled in 2024-03-19 07:29:17 +11:00
Peter Barker 85d1724c69 AP_NMEA_Output: stop passing serial manager to GPS init 
it can get this via the singleton
 2024-03-19 07:28:55 +11:00
Peter Barker 2292a73da1 AP_AHRS: stop passing serial manager to GPS init 
it can get this via the singleton
 2024-03-19 07:28:55 +11:00
Peter Barker fa12e08abf AP_Module: stop passing serial manager to GPS init 
it can get this via the singleton
 2024-03-19 07:28:55 +11:00
Peter Barker 8bd05941a1 AP_GPS: stop passing serial manager to GPS init 
it can get this via the singleton
 2024-03-19 07:28:55 +11:00
Peter Barker 4811a10e1a AP_GPS: exclude more code based on HAL_LOGGING_ENABLED 2024-03-19 07:28:23 +11:00
Peter Barker bafd73ba14 AP_Vehicle: allow HarmonicNotches to be compiled out of the code 2024-03-19 07:04:13 +11:00
Peter Barker ffb1fe0a1a AP_RPM: allow HarmonicNotches to be compiled out of the code 2024-03-19 07:04:13 +11:00
Peter Barker 6de3cce480 AP_InertialSensor: allow HarmonicNotches to be compiled out of the code 2024-03-19 07:04:13 +11:00
Peter Barker 2412749026 AP_GyroFFT: allow HarmonicNotches to be compiled out of the code 2024-03-19 07:04:13 +11:00
Peter Barker abd5d0e3e9 GCS_MAVLink: cope with AHRS not being available 2024-03-19 07:00:10 +11:00
Tom Pittenger 50fe9e915f AP_Rangefinder: added a rate-limited and a compile-out option for the error reporting 2024-03-18 12:40:37 -07:00
jkronk 5393af5ce4 AP_RangeFinder: add Ainstein radar driver 2024-03-18 12:40:37 -07:00
jkronk c38cdc7d72 AP_HAL_SITL: add Ainstein SITL driver 2024-03-18 12:40:37 -07:00
jkronk a7785b0798 SITL: add Ainstein SITL driver 2024-03-18 12:40:37 -07:00
Andy Piper c3ba0dd95e AP_RCTelemetry: convert Spektrum telemetry to use telemetry library 2024-03-18 14:12:25 +11:00
Andy Piper 990318193b AP_IOMCU: allow building without BLHeli support 2024-03-18 14:12:25 +11:00
Andrew Tridgell dd4bd3de69 AP_RCTelemetry: fixed check for BLHeli support 2024-03-18 14:12:25 +11:00
Andrew Tridgell 01b61ea646 AP_OSD: fixed check for BLHeli support 2024-03-18 14:12:25 +11:00
Andrew Tridgell 5fb71e945c AP_IOMCU: fixed check for BLHeli support 2024-03-18 14:12:25 +11:00
Andrew Tridgell fdf2599329 AP_BLHeli: fixed define for BLHeli support 2024-03-18 14:12:25 +11:00
Peter Barker 7ea2928e52 AP_HAL_ChibiOS: allow IOMCU to be turned off in includes 2024-03-18 09:57:12 +11:00
Andrew Tridgell ece61c29d5 AP_Scripting: fixed NaN in path lookahead at end of schedule 
this can happen at high speedups under SITL
 2024-03-17 09:07:29 +11:00
Peter Barker 5cd18dbc45 AP_CANManager: remove redundant calls to snprintf 
these only differ by the constant substring, so pull that out as a variable
 2024-03-16 22:45:14 +11:00
Andrew Tridgell e983738c38 HAL_ChibiOS: fixed a cache corruption issue on H7 
This fixes a bug introduced in this PR:

https://github.com/ArduPilot/ardupilot/pull/25900

the bug is that when we don't go via the bouncebuffer on H7 we were
also skipping the cache invalidate/flush ops. This caused data
corruption for filesystem operations, particularly noticible as lua
scripts failing to load with parse errors or log corruption
 2024-03-16 21:57:33 +11:00
Andrew Tridgell d1deb1c53b hwdef: added MatekL431-HiRes build 2024-03-16 20:10:35 +11:00
Andrew Tridgell 76343f5e6f AP_Compass: log Hires magnetic field on DroneCAN 2024-03-16 20:10:35 +11:00
David Buzz 5cd6d74d36 AP_HAL_ESP32: esp32s3 debugger readme in both .txt and .md format 2024-03-16 07:16:46 +11:00
Peter Barker 8d2109faec AP_AHRS: avoid use of AP_Motors include in header 2024-03-16 07:14:26 +11:00
Andrew Tridgell 148c176a59 Filter: use a define for nyquist cutoff 2024-03-16 06:54:27 +11:00
Andrew Tridgell 90c8359ff6 Filter: log up to 6 harmonics 2024-03-16 06:54:27 +11:00
Andrew Tridgell 7353001646 AP_InertialSensor: adjust logging descriptions 2024-03-16 06:54:27 +11:00
Andrew Tridgell d7d854a60f AP_InertialSensor: call logging function for notch centers and harmonics 2024-03-16 06:54:27 +11:00
Andrew Tridgell fd1a260d46 Filter: added logging of notch centers and 1st harmonic 
log up to 5 sources in new FCN message, or FCNS for single source
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 88fb38b524 AP_InertialSensor: added comments 2024-03-16 06:54:27 +11:00
Andrew Tridgell 89ec6ac645 AP_Logger: added VER.FV for filter version 2024-03-16 06:54:27 +11:00
Andrew Tridgell 25ffcc1580 AP_InertialSensor: use num_composite_notches() 
this prevents duplication of the logic for the priority of the double
notch vs the triple notch option
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 2286f2ce27 Filter: added test for attenuation adjustment 2024-03-16 06:54:27 +11:00
Andrew Tridgell 8b9fe4d21d Filter: adjust attenuation properly at low frequencies 
use sqrt() adjustment from Leonard
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 08ccead215 AP_InertialSensor: fixed num_filters to be uint16_t 
max is more than 256
 2024-03-16 06:54:27 +11:00
Andrew Tridgell ae75ea94eb Filter: fixed filter expansion for other than motors based RPM sources 
this also fixes the uint8_t storage of a number than can be greater
than 256. Max total notches in a single HarmonicNotchFilter is
currently 12*16*3 for 12 ESCs, with INS_HNTCH_HMNCS=0xFFFF and triple
notch
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 304890fc7d Filter: fixed test suite 
fill in a parameters structure
 2024-03-16 06:54:27 +11:00
Andrew Tridgell de8bec596e AP_InertialSensor: removed zero checks and clamping on notch filters 
and pass params object down into HarmonicNotchFilter
 2024-03-16 06:54:27 +11:00