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52,415 Commits 71 Branches 510 Tags 785 MiB
49bf16853c
Commit Graph

29061 Commits

Author SHA1 Message Date
Andrew Tridgell
49bf16853c AP_Vehicle: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell
7246185d0a AP_RPM: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell
350140e030 AP_InertialSensor: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
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