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17458 Commits

Author SHA1 Message Date
Jonathan Challinger c630a87e37 AP_BoardConfig: add targetted check for cube black internal sensors 2019-04-24 11:47:56 +10:00
Jonathan Challinger 10c930d62d AP_Baro: make crc4 a static member of AP_Baro_MS56xx 2019-04-24 11:47:56 +10:00
Jonathan Challinger b02d58444f AP_HAL_ChibiOS: add define HAL_CHIBIOS_ARCH_CUBEBLACK to cubeblack hwdef 2019-04-24 11:47:08 +10:00
Andrew Tridgell a9b5a0fea0 AC_WPNav: prevent I term buildup during landing 
this prevents I term buildup in the XY velocity controller during
landing. This to account for the EKF giving a non-zero horizontal
velocity when we have touched down. The I term buildup in the XY
velocity controller can lead to the attitude error going above the
level for disabling the relax function as the throttle mix is
changed. That results in large motor outputs which can tip over the
vehicle after touchdown.

Thanks to Leonard for the suggestion
 2019-02-27 20:06:15 +09:00
Andrew Tridgell 6668a2e602 AP_RangeFinder: fixed lightware serial with LW20 lidar 
it needs a longer serial write to force it to serial mode from i2c
 2019-02-27 20:06:06 +09:00
Andrew Tridgell f04efe7985 HAL_ChibiOS: allocate threads from any heap 
this fixes a failure on MatekF405-Wing where it fails to allocate the
SPI thread for the IMU
 2019-02-27 11:59:45 +11:00
Andrew Tridgell 5ce1c14674 AP_NavEKF3: fixed EKF compass switching 
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
 2019-02-09 16:02:08 +11:00
Andrew Tridgell 95522b5486 AP_NavEKF2: fixed EKF compass switching 
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
 2019-02-09 16:02:08 +11:00
Andrew Tridgell f614dcbb18 AP_Compass: change to 3 compasses in SITL 2019-02-09 16:02:08 +11:00
Andrew Tridgell 30d11f6a40 Filter: fixed crash on zero cutoff frequency 
this fixes #10435
 2019-02-09 16:02:08 +11:00
Andrew Tridgell 5a0e0179d8 HAL_ChibiOS: fixed mini-pix uart order 2019-02-09 16:02:08 +11:00
Andrew Tridgell 2f7121a073 HAL_ChibiOS: fixed CAN on Pixhawk4 and PH4-mini 
the silent pins floating disabled CAN
 2019-02-09 16:02:08 +11:00
Andrew Tridgell b72378db9c HAL_ChibiOS: setup APJ board IDs in environment 2019-02-09 12:27:35 +09:00
Randy Mackay 835c0d8991 AC_PosControl: remove unnecessary init of last_update_xy_ms 2019-02-02 11:34:38 +09:00
hongle 44da0d03d7 AP_RSSI: add V5 Nano to the RSSI_ANA_PIN param description 2019-02-02 10:34:49 +09:00
Michael du Breuil d93eb0306d AP_RSSI: Remove APM doc references 2019-02-02 10:34:48 +09:00
Randy Mackay df4dcf3c8f AC_PosControl: constify dt calcs 2019-02-02 10:34:47 +09:00
Randy Mackay 0929d0333b AC_WPNav: use dt from pos controller 2019-02-02 10:34:46 +09:00
Randy Mackay 4f74075e53 AC_PosControl: increase accuracy of dt calcs 2019-02-02 10:34:45 +09:00
Peter Barker 2550c9922d AP_RSSI: make RSSI work on ChibiOS 2019-02-01 14:01:10 +09:00
Rob Ratcliff 6af9be44a7 RC_Channel: treat UINT16_MAX as a value of 0 in set_override 
Addresses ignore R/C override issue documented here:
https://github.com/ArduPilot/ardupilot/issues/1667
 2019-01-24 11:20:10 +09:00
Andrew Tridgell fa365b6f8d HAL_ChibiOS: disable USART6_TX on fmuv5 
this prevents it acting as a pullup on SBUS input for Pixhawk4. Thanks
to David Sidrane for the suggestion.

This also enables the extra 3 PWMs for PH4-mini
 2019-01-18 09:45:00 +11:00
Andrew Tridgell 55e362e470 AP_HAL_ChibiOS: Fix FMUv2 LED lighting up 2019-01-14 12:22:47 +11:00
Andrew Tridgell d9b6c6e0c9 AP_RCProtocol: on DSM sync error don't reset channel count 
this fixes the issue noticed by Andreyl in 3.6.5rc1
 2019-01-14 12:05:29 +11:00
Andrew Tridgell bbe09c4b59 AP_BoardConfig: fixed build 2019-01-11 12:02:59 +11:00
Andrew Tridgell ee87621ed4 HAL_ChibiOS: fixes for DrotekP3Pro 2019-01-11 12:02:59 +11:00
Kevin Lopez Alvarez 71412f4deb AP_BoardConfig: add ChibiOS FMUv4pro defines 2019-01-11 12:02:59 +11:00
Kevin Lopez Alvarez 85e79f87f6 AP_HAL: add ChibiOS FMUv4pro 2019-01-11 12:02:59 +11:00
Kevin Lopez Alvarez dd66c8919c HAL_ChibiOS: add MCU tables for STM32F469 2019-01-11 12:02:59 +11:00
Kevin Lopez Alvarez 3a06e866a7 HAL_ChibiOS: add DrotekP3Pro hardware definitions 2019-01-11 12:02:59 +11:00
Andrew Tridgell 9ed3e9eec5 HAL_ChibiOS: fixed build of sdcard 2019-01-11 09:48:16 +09:00
Andrew Tridgell a03b569d43 DataFlash: allow startup with no microSD 
this allows logging to work with insert after boot
 2019-01-11 09:48:16 +09:00
Andrew Tridgell 02987b7614 HAL_ChibiOS: try to mount microSD after boot 2019-01-11 09:48:16 +09:00
Andrew Tridgell 638b3b80d2 HAL_ChibiOS: log stdout to USB on mindpx-v2 2019-01-11 09:48:16 +09:00
Andrew Tridgell ff67c83bc1 HAL_ChibiOS: allow mount of microSD after boot 
when disarmed, try to mount sd card every 3s
 2019-01-11 09:48:16 +09:00
Andrew Tridgell da21947fe9 HAL_ChibiOS: fixed card inserted test for SDC 2019-01-11 09:48:16 +09:00
Andrew Tridgell bccddf3701 AP_BoardConfig: added BRD_SD_SLOWDOWN parameter 
allows for reduction in microSD clock speed
 2019-01-11 09:48:16 +09:00
Andrew Tridgell 6fb84cfa6b HAL_ChibiOS: support microSD slowdown 
allow use of BRD_SD_SLOWDOWN to slow down clock on microSD
 2019-01-11 09:48:16 +09:00
Andrew Tridgell e1889fbf66 AP_HAL: added set_slowdown() to SPIDevice 
used to slow down a SPI device below normal high speed operation
 2019-01-11 09:48:16 +09:00
Andrew Tridgell 058980a94d AP_HAL: added fs_init() to Util API 2019-01-11 09:48:16 +09:00
Andrew Tridgell 32d0137c08 AP_RCProtocol: bring up to date with master 
this adds new RC protocol decoders for SRXL, SUMD and ST24 as well as
updating to latest soft-serial decoder
 2019-01-11 09:31:27 +09:00
Siddharth Purohit 043c303146 HAL_ChibiOS: add CubePurple/PH2Slim board config 2019-01-11 09:16:16 +09:00
Andrew Tridgell 0ee8a8d93c HAL_ChibiOS: switched fmuv5 firmware to ChibiOS IO fw 
so users installing fmuv5 on a Pixhawk4 get the SBUS fixes
 2018-12-31 08:10:19 +11:00
Andrew Tridgell f303e5b659 HAL_ChibiOS: fixed safety switch and LEDs on PH4-mini 
fixes #10127
 2018-12-31 08:06:43 +11:00
Randy Mackay 6a0b56ee77 AP_Mount: fix extreme gimbal movements before TX is turned on 2018-12-20 09:02:02 +09:00
bnsgeyer 9ac8e98161 AP_Motors: Dualheli- fix bug for scaling second swashplate 2018-12-18 09:15:28 +09:00
Andrew Tridgell 2c75272019 HAL_ChibiOS: setup PH4 for right voltage scaling 2018-12-18 11:02:18 +11:00
Randy Mackay a9982be6fc AP_OpticalFlow: remove unnecessary init from CSOF and add comments 
also replace greater-than-zero with is_positive
 2018-12-17 09:08:27 +09:00
Randy Mackay c3407ab598 AP_OpticalFlow: driver for Cheerson CX-OF 2018-12-17 09:07:07 +09:00
Randy Mackay 4efd434357 AP_SerialManager: add optical flow to list of protocols 2018-12-17 09:05:35 +09:00
Randy Mackay 123128deac GCS_Common: optical flow comp fields should include flow 2018-12-17 09:05:27 +09:00
Andrew Tridgell 1b19d09653 AP_InertialSensor: fixed orientation of 2nd OmnibusF7V2 IMU 2018-12-17 09:01:07 +09:00
Randy Mackay 5d8b2002f1 AP_Follow: add get bearing and distance accessors 
used for reporting purposes
 2018-12-17 08:59:22 +09:00
Randy Mackay 0107600c69 AP_Follow: move enabled accessor to top of definition file 2018-12-17 08:59:18 +09:00
Randy Mackay 2aeac20772 AP_Follow: remove send-text to GCS 2018-12-17 08:59:13 +09:00
Andrew Tridgell 02d05d2e76 AP_Follow: fixed handling of FOLL_SYSID parameter 
removed separate variable and use parameter only
 2018-12-17 08:56:15 +09:00
Andrew Tridgell 258f472028 HAL_ChibiOS: detect stuck I2C bus and clear with SCL 
This detects the I2C bus becoming stuck with SDA low after a timeout
and clears the bus by toggling SCL. Many thanks to @jhw84 for the
suggestion
 2018-12-14 15:49:11 +11:00
Andrew Tridgell 3ffee081a4 HAL_ChibiOS: added palReadLineMode() function 
used to change and restore line modes
 2018-12-14 15:49:08 +11:00
Andrew Tridgell 22ed074030 AP_OSD: fixed fonts for new font system 2018-11-29 15:35:50 +11:00
Andrew Tridgell 5e162cb0e1 HAL_ChibiOS: use ChibiOS IO firmware for Pixhawk4 2018-11-28 09:12:19 +11:00
Andrew Tridgell 352a7667a7 HAL_ChibiOS: allow ROMFS to override a file 
this allows a hwdef.dat with an include to change an embedded file
specified in the include
 2018-11-28 09:10:10 +11:00
Matt d3edb53fcd AP_BattMonitor: Increase solo's power off button delay time 
The Solo battery's power button needs to be held to power off. The
debounce time before it plays the power off tone is too low.
Occasionally it causes the user to not hold the button long enough.
This corrects the delay before playing the power off tone.
 2018-11-24 11:13:25 +09:00
Randy Mackay af220a2118 AP_RangeFinder: benewake tfmini always provide cm distances 
a misunderstanding of the datasheet led to the mistaken idea that while in short-range-mode the distances were returned in millimeters
 2018-11-22 08:58:14 +09:00
Randy Mackay ed3ed7270c RangeFinder: benewake buffer uses uint8_t 2018-11-19 11:46:28 +09:00
Andrew Tridgell dbae45e868 AP_RCProtocol: fixed DSM parser for 8 channels 
this ensures we remember channels from the previous frame, avoiding a
bug with more than 7 channels
 2018-11-19 11:37:40 +09:00
Andrew Tridgell 4f82f574e9 AP_RPM: set pin to input before attaching interrupt 
this fixes input on AUX6 on CubeBlack
 2018-11-15 12:38:22 +11:00
Randy Mackay 4de971b879 AP_RangeFinder: fix benewake checksum check 2018-11-15 09:49:18 +09:00
Randy Mackay 8fdb67d955 DataFlash: log rangefinder status in RFND msg 2018-11-15 09:49:14 +09:00
Randy Mackay 54494a71e6 AP_RangeFinder: benewake returns at least 12m or 22m when out-of-range 
value logged and shown to the user will be at least 12m for TFmini or 22m for TF02 which ensure the user won't see the range drop even if they have configured a very short useable distance
 2018-11-15 09:49:11 +09:00
Randy Mackay bb61b7e5e9 AP_RangeFinder: benewake logic reordering 
this should be a non-functional change
 2018-11-15 09:47:57 +09:00
Randy Mackay 54717c4f53 AP_RangeFinder: benewake lidar returns max range + 1m when out-of-range 
also returns out-of-range when signal is weak
 2018-11-15 09:47:30 +09:00
Randy Mackay b579a36d8d AP_RangeFinder: Benewake driver discards distances over 327m 2018-11-06 12:32:11 +09:00
Peter Barker 46b035419e DataFlash: add sanity checks around EraseAll 2018-11-06 12:31:02 +09:00
Peter Barker 85b46ea103 GCS_MAVLink: allow vehicles to override VFR_HUD.alt 2018-11-06 12:19:28 +09:00
Andrew Tridgell 0717dddc46 HAL_ChibiOS: bring copter stable up to date with hwdef.dat 
this fixes GPIO numbering, fixes terrain on some boards and adds some
new boards
 2018-11-05 19:36:40 +11:00
Andrew Tridgell d8fd590a3f AP_IOMCU: fixed a race in event trigger on startup 
this fixes the issue with initial safety option state, and with
initial safety mask
 2018-11-05 17:26:28 +09:00
Andrew Tridgell b55df3a8ee HAL_ChibiOS: ensure RC in channels are bounded 2018-11-05 17:24:19 +09:00
Andrew Tridgell e4a4828203 HAL_ChibiOS: fixed LED mapping for fmuv4 2018-10-29 14:07:30 +11:00
Nghia Nguyen f0a7df7cf9 AP_Rangefinder: Add support for Garmin LidarLite-V3HP 2018-10-27 11:18:00 +01:00
Randy Mackay 4eee1fc06a AC_Fence: get_polygon_points does not include return point 2018-10-26 15:21:24 +09:00
Randy Mackay 5082d43b0c AC_Avoid: constify a few local variables 2018-10-26 15:21:22 +09:00
Randy Mackay 55dff47d75 AC_Avoid: stop includes margin for intersection calc 
the simpler stop feature (as opposed to slide) was not including the margin when looking for intersections with the boundary meaning it could slow too late
 2018-10-26 15:21:18 +09:00
Randy Mackay 0e0472054a AP_Proximity: increase MAV driver timeout to 500ms 
this comes after testing with ROS/mavros and discovering the update rate is only 4hz
 2018-10-26 15:21:14 +09:00
Randy Mackay d9ed07919c AP_RangeFinder: check I2C dev during detect 2018-10-26 15:20:54 +09:00
JIMWAR bd353db8ab AC_Avoid: fix adjust_velocity_polygon 
adjust_velocity_polygon function ignoring boundary[0]
 2018-10-26 15:19:57 +09:00
Andrew Tridgell f4c4f061b8 AP_Notify: fixed PixracerLED on NuttX 
led_dim must be a positive number, and is not related to the led off
value
 2018-10-26 15:18:53 +09:00
Andrew Tridgell 114318a9e3 AP_HAL: fixed PX4 LED polarity 2018-10-26 15:18:53 +09:00
Andrew Tridgell 6df32d6851 AP_Notify: init gpio state for LEDs 2018-10-26 15:18:53 +09:00
Andrew Tridgell 694543e8b2 AP_Notify: fixed px4-v4 to use pixracer LED driver 2018-10-26 15:18:53 +09:00
Randy Mackay 6e8e3cdbb2 AP_HAL_ChibiOS: update kakutef7 hwdef 
This makes the kakutef7 the same as master commit bb99165
 2018-10-26 16:16:36 +10:00
Randy Mackay e8e82e99d3 AP_HAL_ChibiOS: fix safety switch option handling 2018-10-05 10:25:11 +09:00
Andrew Tridgell 4a1348a432 HAL_ChibiOS: fixed a race in DShot code 
this fixes a problem found by Daniel Met with the copter 3.6 beta
release
 2018-10-05 10:24:59 +09:00
Michael du Breuil 62f997d73c AP_AHRS: Internalize EKF getLLH altitude management 2018-10-05 10:23:53 +09:00
Michael du Breuil 294737abc8 AP_NavEKF3: Fix roundoff, and missing offset handling of getLLH 2018-10-05 10:23:50 +09:00
Michael du Breuil 85e3aea8b7 AP_NavEKF2: Fix roundoff, and missing offset handling of getLLH 2018-10-05 10:23:48 +09:00
Andrew Tridgell 1fd5017fab AP_Compass: use rotation_equal() from AP_Compass 2018-10-01 14:29:08 +09:00
Andrew Tridgell e90e89b687 AP_Math: added rotation_equal() 2018-10-01 14:29:05 +09:00
Andrew Tridgell 2ad2bb43f8 AP_Compass: fixed handling of duplication rotations 
we have some rotations that are duplicated, such as ROLL_180_YAW_90
and PITCH_180_YAW_270. This copes with those in the auto-orientation
code
 2018-10-01 14:29:02 +09:00
Randy Mackay d78c7631d4 Compass: fix compile warning in calibrator output 2018-10-01 14:28:55 +09:00
Andrew Tridgell 2f637225f2 HAL_ChibiOS: fixed RSSI voltage from IOMCU 2018-10-01 11:54:43 +09:00