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26559 Commits

Author SHA1 Message Date
Randy Mackay 9edb44151e AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-28 12:50:32 +10:00
Randy Mackay aeba1dba93 AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-28 12:50:32 +10:00
Randy Mackay b8a1662ce1 AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-28 12:50:32 +10:00
Iampete1 4cf67b2888 AP_Vehicle: #ifdef scripting specific functions 2021-08-28 12:50:32 +10:00
Iampete1 c1e4ed6512 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 12:50:32 +10:00
Randy Mackay 88ebcffc73 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-28 12:50:32 +10:00
Pierre Kancir 73efa895e2 AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 12:50:32 +10:00
Pierre Kancir 0bc97871a7 AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 12:50:32 +10:00
Pierre Kancir 7a2fba689d AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 12:50:32 +10:00
Andrew Tridgell 957740db4f HAL_ChibiOS: switch to minimum scheduling delta of 10us 
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.

Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.

Fixes issue #18383
 2021-08-28 12:50:32 +10:00
Andy Piper e7e3b478fc AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it 
change mamba F405 to active high as per betaflight
 2021-08-28 12:50:32 +10:00
Randy Mackay 94ed5b876f AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-28 12:50:32 +10:00
mateksys 714d11863e Tools: added MatekF765-SE to autobuild 2021-08-25 18:54:05 +10:00
mateksys 97b6467075 AP_HAL_ChibiOS: add MatekF765-SE hwdef as a variant of MatekF765-Wing 2021-08-25 18:54:05 +10:00
Peter Barker 398f731442 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-25 18:34:07 +10:00
Andrew Tridgell 128c21cba2 AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-16 15:05:24 +10:00
Andrew Tridgell f858120069 SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-16 15:05:21 +10:00
Andrew Tridgell 10574f5188 AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-16 15:03:55 +10:00
Andrew Tridgell a427abab0d AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-16 15:03:55 +10:00
Hwurzburg 7fe77855e1 AP_OSD: fixes bug introduced by #16477 2021-08-14 16:41:52 +10:00
Pierre Kancir 90d345b64e AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-14 16:41:52 +10:00
Randy Mackay 837df29179 AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-14 16:41:52 +10:00
Randy Mackay 78704a2f9c AP_NavEKF2: remove unused EK2_GSF_DELAY param 2021-08-14 16:41:52 +10:00
Tatsuya Yamaguchi e10f6e2a42 AC_Avoid: use proximity_avoidance_enabled function 2021-08-14 16:41:52 +10:00
Tatsuya Yamaguchi 3d2290c4a3 AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled 2021-08-14 16:41:52 +10:00
Tatsuya Yamaguchi ca5d307001 AC_Avoidance: handle upward proximity enable and disable 2021-08-14 16:41:52 +10:00
Andy Piper 67876e94e0 AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-14 16:41:52 +10:00
Andy Piper 1746ab3cfe AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-14 16:41:52 +10:00
Pierre Kancir c36feb62f1 AP_ESC_Telem: prevent possible overrun 2021-08-14 16:41:52 +10:00
Pierre Kancir 3463bb24ae AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-14 16:41:52 +10:00
Pierre Kancir 92581d802b AP_ESC_Telem: fix out of bound access 2021-08-14 16:41:52 +10:00
Pierre Kancir ba5323e78a AP_OSD: check for nullptr before using it 2021-08-14 16:41:52 +10:00
Leonard Hall ce9be29980 AP_Math: Spelling fix 2021-08-14 16:41:52 +10:00
Leonard Hall 62c4a34660 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall 42d4a75d3b AC_WPNav: support Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall 3d75c936f2 AP_Math: Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall 7e60feab4a AP_Math: Control: protect against divide by zero 2021-08-14 16:41:52 +10:00
Leonard Hall 551e5fe4dc AC_WPNav: Fix Angle Vel units on function 2021-08-14 16:41:52 +10:00
Leonard Hall 3f33ac0a82 AC_AttitudeControl: Fix Angle Vel units on function 2021-08-14 16:41:52 +10:00
Leonard Hall b1cd9434a9 AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE 2021-08-14 16:41:52 +10:00
Leonard Hall 0d52cd4aeb AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 16:41:52 +10:00
Leonard Hall a9fb5ceb5c AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 
Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
 2021-08-14 16:41:52 +10:00
Andrew Tridgell a7c3b2244a AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-14 16:41:52 +10:00
Andrew Tridgell 96580ee4f3 AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 
this may help with some GPS modules
 2021-08-14 16:41:52 +10:00
Andy Piper 150290dd25 AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-14 16:41:52 +10:00
Randy Mackay c1b67d295f AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-14 16:41:52 +10:00
Andrew Tridgell ae725421bc AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-14 16:41:52 +10:00
Leonard Hall 628206b5e8 AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-14 16:41:52 +10:00
Andy Piper a1f0ad63a9 AP_Motors: remove tri yaw servo from motor mask 2021-08-14 16:41:52 +10:00
Andrew Tridgell 9ed2e35229 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-08-14 16:41:52 +10:00