Commit Graph

29058 Commits

Author SHA1 Message Date
Andy Piper 8cd79d08ba AR_Motors: make sure ESC type is initialized early 2022-05-28 16:08:08 +09:00
Andy Piper 7dcdf7b325 AP_Motors: make sure ESC type is initialized early 2022-05-28 16:08:08 +09:00
Andy Piper 7d00167428 SRV_Channel: add BLHeli_S ESC type 2022-05-28 16:08:08 +09:00
Andy Piper a3e79c8263 AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths 2022-05-28 16:08:08 +09:00
Andy Piper 34cb45a11e AP_HAL: add BLHeli_S ESC type and use it to control bitwidths
adjust BLHeli_S bitwidth and ticks to support more ESC variants.
2022-05-28 16:08:08 +09:00
Randy Mackay 4eedb2e948 AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7 2022-05-28 16:08:08 +09:00
Randy Mackay 8a5e7ff120 AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-05-28 16:08:08 +09:00
Andy Piper ece793e4b7 AC_AutoTune: allow high ANGLE_P gains 2022-05-28 16:08:08 +09:00
Andy Piper 292291b760 AP_HAL: add bitwidth hal definitions.
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
2022-05-28 16:08:08 +09:00
Andy Piper 19d9f157cb AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-05-28 16:08:08 +09:00
Andrew Tridgell 0bfe567c4d AP_BoardConfig: expose BRD_SAFETYENABLE on all boards
default BRD_SAFETYENABLE to 0 on boards with no safety switch, which
gives us the same behaviour as before, but users can choose to enable
the safety

this fixes two problems:

  - CAN servos and ESCs work on boards with no safety switch
    (eg. MatekH743 with CAN)

  - during startup we could get spurious outputs before out aircraft
    type is setup
2022-05-28 16:08:08 +09:00
Andrew Tridgell 49af52b735 HAL_ChibiOS: always start with safety enabled
we want it enabled during early boot to prevent incorrect ESC and
servo output
2022-05-28 16:08:08 +09:00
Andrew Tridgell 4adb3ddfa2 AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter
this allows for an offset in ESC numbering for much more efficient CAN
bandwidth usage.

For example, on a coaxial OctoQuad quadplane the ESCs are typically
setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN
buses, with one CAN bus for the top layer and the one bus for the
bottom layer (allowing for VTOL flight with one bus failed).

Without this offset parameter you would be sending RawCommand messages
like this:

bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]

this is very wasteful of bus bandwidth, with bus1 using 3x the
bandwidth it should and bus2 using 4x the bandwidth it should (the
above will take 3 can frames for bus1, and 4 can frames for bus 2)

With this patch you can set:

CAN_D1_UC_ESC_OF = 4
CAN_D2_UC_ESC_OF = 8

and you will get this on the bus:

bus1: [ ESC1, ESC2, ESC3, ESC4 ]
bus2: [ ESC1, ESC2, ESC3, ESC4 ]

that takes just 1 can frame per send on each bus
2022-05-28 16:08:08 +09:00
Peter Barker aa59e0a63e AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:08 +09:00
Andrew Tridgell aa873ad9f4 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-28 16:08:08 +09:00
Andrew Tridgell 2f73ce408f AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-28 16:08:08 +09:00
Andrew Tridgell 8066478679 AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor
we need to use the pressure from the sensor we are calibrating
2022-05-28 16:08:08 +09:00
Andrew Tridgell 4e6f0c0ef4 AP_NavEKF: getYawData also provides number of clipping models
In the case of the compass calibrator we do not want to use the GSF
result if any model is degenerate.  We've had a compass calibrate in
flight 180-degrees out from what it should have.
2022-05-28 16:08:08 +09:00
Peter Barker 5f39602d8c AP_Compass: do not use GSF if any model has been clipped 2022-05-28 16:08:08 +09:00
Andrew Tridgell 1e82319bfa AP_EFI: added fuel usage integration for Lutan EFI
allows for EFI_COEF1 and EFI_COEF2 to be set to get fuel consumption
on GCS
2022-05-28 16:08:08 +09:00
Andrew Tridgell 6bf9556612 AP_Mission: improved handling of large LOITER_TURNS
instead of wrapping we should use MIN with 255, which is closer to
what was requested
2022-05-28 16:08:08 +09:00
Joshua Henderson 7a2d48389c AP_Airspeed: remove negative pressure set unhealthy 2022-05-28 16:08:08 +09:00
Leonard Hall 0b4b5e473b AC_AttitudeControl: Allow diabling of slew limit 2022-05-16 08:15:26 +09:00
Andrew Tridgell 6b790eaca0 hwdef: added FlyingMoonF427 support 2022-05-16 08:15:26 +09:00
Andrew Tridgell 707bc9502f hwdef: added FlyingMoonF407 board support 2022-05-16 08:15:26 +09:00
Andrew Tridgell ed18123f95 HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103
need to check new pin not old pin
2022-05-16 08:15:26 +09:00
Andrew Tridgell bcc548bbd8 AP_Logger: fixed a bug in wrapped log count
fixes #20687
2022-05-16 08:15:26 +09:00
Andrew Tridgell 6332d5972f AP_AHRS: fixed bug in blended EKF bias
The bug fix in #20431 was incomplete, and ended up with the wrong
blended accel bias. This fixes it
2022-05-07 08:40:41 +09:00
Andrew Tridgell fc999ed264 AP_Scripting: added quicktune.lua script
rapid tuning for VTOL control
2022-05-07 08:40:41 +09:00
Andrew Tridgell 58cdcf6968 AP_Scripting: added get_rpy_srate binding
and norm_input_dz binding
2022-05-07 08:40:41 +09:00
Andrew Tridgell 9f49570f7f AC_AttitudeControl: added get_rpy_srate() 2022-05-07 08:40:41 +09:00
Andrew Tridgell 3c6e4d907c AP_Compass: fixed custom orientation in 3 compass drivers
this prevents an internal error and mag failure with DroneCAN, MSP or
ExternalAHRS compasses
2022-05-03 10:07:44 +10:00
Andy Piper 05c90c4684 AP_InertialSensor: move frontend update into ramfunc. 2022-04-29 07:54:06 +09:00
Andy Piper 2169874117 AP_FlashIface: make sure XIP flash is ready before returning 2022-04-29 07:54:06 +09:00
Andy Piper 9300ab8d02 AP_HAL_ChibiOS: add I2C and compass backend to drivers in memory on H750
move more of EKF into memory on H750
move rc handling into memory on H750
disable double math on SPRacing H7
2022-04-29 07:54:06 +09:00
Randy Mackay a3d595f68f AP_Arming: add pre-arm check of disabled servo channels 2022-04-29 07:54:06 +09:00
Andy Piper bafab0fddf SRV_Channel: observe disabled_channels when enabling channels
setup disabled_channels observing channels that are implied to be digital
allow none to be a valid channel function once again
2022-04-29 07:54:06 +09:00
Andy Piper ff5a813b4f AP_HAL_ChibiOS: determine presence of disabled channels based on digital channels in a group 2022-04-29 07:54:06 +09:00
Andy Piper 007174d36a AP_HAL: add accessor for disabled channels to RCOutput 2022-04-29 07:54:06 +09:00
Andy Piper a673a481fd AP_BLHeli: keep a record of disabled motors 2022-04-29 07:54:06 +09:00
Bill Geyer fd7b713799 AC_AutoTune: fix gain determination fail logic 2022-04-29 07:54:06 +09:00
Bill Geyer fa28fed0d4 AC_AutoTune: use failed state to exit 2022-04-29 07:54:06 +09:00
Bill Geyer de0a36874e AC_AutoTune: use generic load gain method to save flash 2022-04-29 07:54:06 +09:00
Andy Piper cfb8830fad AP_HAL_ChibiOS: bdshot version of MatekF765-Wing 2022-04-29 07:54:06 +09:00
Andy Piper 33c9ffd874 AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation 2022-04-29 07:54:06 +09:00
Andy Piper 7552219c5b AP_HAL: update prescaler tests 2022-04-29 07:54:06 +09:00
Randy Mackay a7d89829bf AP_RPM: pre-arm displays gpio vs servo_ch conflict 2022-04-29 07:54:06 +09:00
Randy Mackay b366689282 AP_Relay: pre-arm displays gpio vs servo_ch conflict 2022-04-29 07:54:06 +09:00
Randy Mackay 1444545b6a AP_Button: pre-arm displays gpio vs servo_ch conflict 2022-04-29 07:54:06 +09:00
Randy Mackay f3db67b322 AP_HAL: add GPIO::pin_to_servo_channel method 2022-04-29 07:54:06 +09:00