Commit Graph

57402 Commits

Author SHA1 Message Date
Andrew Tridgell 5602fcba66 Plane: use deadzone in stick mixing
this prevents small RC input deviations from impacting non-pilot
controlled modes via stick mixing
2023-10-13 16:26:01 +09:00
Andrew Tridgell 39f83c91b3 AP_GPS: allow GPS moving baseline rover at 3Hz
users with busy CAN bus often get significiantly lower GPS rates on a
moving baseline rover, preventing arming. This PR relaxes the required
frame rate as the EKF is quite happy with 3Hz yaw and the yaw is the
only data consumed from a moving baseline rover
2023-10-13 16:26:01 +09:00
Andrew Tridgell 6fa5d0bec0 AP_Logger: added build directory to VER message
this allows log review tools to use right parameter and mode map when vendor has changed the
vehicle type strings
2023-10-13 16:26:01 +09:00
Andrew Tridgell 1dd2377b0c Tools: rebuild IO firmware for SBUS change 2023-10-13 16:26:01 +09:00
Andrew Tridgell 58fd462ed0 AP_RCProtocol: protect against invalid data in SBUS 2023-10-13 16:26:01 +09:00
Andrew Tridgell b84e3010c6 Plane: fixed terrain RTL with rally points
this fixes a bug where if the terrain database cache does not have the
tile for the location of a rally point then RTL to the rally point
with TERRAIN_FOLLOW=1 will not track terrain

The underlying issue is that Location::loc.change_alt_frame() will
return false if the location is not in the terrain memory cache. We
can't just extrapolate as the rally point could be in a totally
different terrain area to the current location. So instead we set it
as terrain_following_pending and fix it as soon as the terrain cache
is filled.

fixes https://github.com/ArduPilot/ardupilot/issues/25157
2023-10-13 16:26:01 +09:00
Andrew Tridgell 6abe721ca3 AP_OpenDroneID: only load from persistent memory in init()
we do not want to do this from update() as it is an expensive call
2023-10-13 16:26:01 +09:00
Henry Wurzburg e4171b1ead AP_OSD:Update/correct DisplayPort BF MSP symbols 2023-10-13 16:26:01 +09:00
Henry Wurzburg ef496d3583 AP_OSD:add option to convert home,wind,waypoint and gndspd arrows for BF font set 2023-10-13 16:26:01 +09:00
Andrew Tridgell 645773e158 AP_BattMonitor: added SHUNT parameter to INS2xx driver
some vendors want different shunt resistors
2023-10-13 16:26:01 +09:00
Andrew Tridgell bc94439417 Tools: allow Ohm units in parameters
# Conflicts:
#	Tools/autotest/param_metadata/param.py
#	libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
2023-10-13 16:26:01 +09:00
Andrew Tridgell e0ec7a9c9d AP_InertialSensor: fixed the error value for BMI088
the bad value is -32768 not 0xffff (which is -1)

-32768 badly corrupts the low-pass filter, and is what we see in logs
(a large negative spike on all 3 axes)

update to bug fix from:
https://github.com/ArduPilot/ardupilot/pull/23033
2023-10-13 16:26:01 +09:00
alexklimaj 586cf85de8 hwdef: arkv6x default to no IO MCU 2023-10-13 16:26:01 +09:00
Henry Wurzburg 32b341ae0e hwdef:add VTX power control to SpeedyBeeF405-Wing 2023-10-13 16:26:01 +09:00
Peter Barker de83a1b27b AP_TECS: ensure good TECS state before running update_pitch_throttle
update_pitch_throttle can be called when update_50hz hasn't run in a very long time, or ever.  This requires a main loop rate >50Hz, and for the mode change to occur in the same loop that update_50Hz doesn't run but update_pitch_throttle does.
2023-10-13 16:26:01 +09:00
Andrew Tridgell dbe21844ca AP_TECS: fixed descent or lack of climb bug
this fixes a state where we either cannot climb or descend in an
uncontrolled manner in a TECS controlled mode

the conditions under which this happened were:

- _use_synthetic_airspeed_once was true due to quadplane takeoff
- we left _thr_clip_status as MAX from previous use of synthetic airspeed
- then run without airspeed

note that this can also impact users with an airspeed sensor if they
disable it or it fails in flight, particularly during a climb
2023-10-13 16:26:01 +09:00
Peter Barker 013a3f0bd6 autotest: CI fixes for 4.4 2023-10-13 16:26:01 +09:00
Peter Barker 02d90bd159 SITL: fix balancebot yaw reset to be kinimatically consistent
... or at least closer to it.

We were hard-resetting the yaw to zero when the vehicle was upright.  That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.

Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
Backport of PR https://github.com/ArduPilot/ardupilot/pull/25046
2023-10-13 16:26:01 +09:00
Peter Barker 7b4790171d SITL: reset balancebot to vertical in a kinmetically consistent manner
The hard-reset of all state variables means we feed the EKF inconsistent gyro data.  Attempt to upright the vehicle with a simple p-gain when it is disarmed, as if someone is pushing the thing back upright
Backport of PR https://github.com/ArduPilot/ardupilot/pull/24314
2023-10-13 16:26:01 +09:00
Peter Barker 98e41e55c5 autotest: give Rover longer to arrive home
vagaries of interaction with Python script means we need to give this more time when running balancebot
Backport of PR https://github.com/ArduPilot/ardupilot/pull/23442
2023-10-13 16:26:01 +09:00
Tom Pittenger 95a743f6dc Tools/autotest: fix Deepstall CI
Backport from PR https://github.com/ArduPilot/ardupilot/pull/24667
2023-10-13 16:26:01 +09:00
Peter Barker 6b62c8e1cf autotest: allow more time for deepstall text
intermittent failures in CI - perhaps due to Plane dynamics changes
Backport of PR https://github.com/ArduPilot/ardupilot/pull/23524
2023-10-13 16:26:01 +09:00
Peter Barker 18e269dd81 autotest: add an epsilon for achieved servo output for speed scaling test
right on the threshold
backport from PR https://github.com/ArduPilot/ardupilot/pull/23823
2023-10-13 16:26:01 +09:00
Peter Barker 737748ee54 autotest: remove unnecessary try/except from Sprayer test
backport from https://github.com/ArduPilot/ardupilot/pull/23823
2023-10-13 16:26:01 +09:00
Tom Pittenger d9cb0c35d3 Tools/autotest: extend WindEstimates duration
backport from PR https://github.com/ArduPilot/ardupilot/pull/24666
2023-10-13 16:26:01 +09:00
bugobliterator e93c9cf4c8 AP_OpenDroneID: ensure Persistent memory is not read continuously 2023-10-13 16:26:01 +09:00
bugobliterator 091e1e4894 GCS_MAVLink: move sysid_my_gcs to be public 2023-10-13 16:26:01 +09:00
bugobliterator 86b058a842 AP_Periph: move sysid_my_gcs to be public 2023-10-13 16:26:01 +09:00
bugobliterator 7f9a0a4908 Blimp: move sysid_my_gcs to be public 2023-10-13 16:26:01 +09:00
bugobliterator 6897a909f7 ArduSub: move sysid_my_gcs to be public 2023-10-13 16:26:01 +09:00
bugobliterator 44420fe9c7 ArduPlane: move sysid_my_gcs to be public 2023-10-13 16:26:01 +09:00
bugobliterator c2a4df1369 ArduCopter: move sysid_my_gcs to be public 2023-10-13 16:26:01 +09:00
bugobliterator 622d0066fb AntennaTracker: move sysid_my_gcs to be public 2023-10-13 16:26:01 +09:00
bugobliterator 5a336c988a AP_HAL_ChibiOS: remove Chip ID as Basic ID mechanism 2023-10-13 16:26:01 +09:00
bugobliterator 71358b1523 AP_OpenDroneID: remove Chip ID as Basic ID mechanism 2023-10-13 16:26:01 +09:00
bugobliterator 50246c33c9 AP_HAL_ChibiOS: explain DID_OPTIONS config in CubeOrange-ODID/defaults.parm 2023-10-13 16:26:01 +09:00
bugobliterator 86ac95635d AP_OpenDroneID: add support for persistent storage of UAS ID 2023-10-13 16:26:01 +09:00
bugobliterator bd7e969e7d AP_HAL: add support for get_persistent_param_by_name 2023-10-13 16:26:01 +09:00
bugobliterator 3e76e12ca6 AP_HAL_ChibiOS: add support for get_persistent_param_by_name 2023-10-13 16:26:01 +09:00
bugobliterator cbdfdfa0cb AP_HAL_ChibiOS: add support for storing OpenDroneID in bootloader sector 2023-10-13 16:26:01 +09:00
Andy Piper 4b32ca7c55 hwdef: ensure SpeedyBeeF405Mini builds on plane 2023-10-13 16:26:01 +09:00
Andy Piper fdcd7eb467 hwdef: adjust serial protocol defaults on various boards for 4.4 naming scheme 2023-10-13 16:26:01 +09:00
Andy Piper 4ecf41d325 hwdef: SpeedyBeeF405Mini 2023-10-13 16:26:01 +09:00
Peter Barker 349d258b50 GCS_MAVLink: correct sensors when no baros found
GCSs will know we have no baros on-board, as will the RC telemetry library
2023-10-13 16:26:01 +09:00
Andy Piper 698dd872d7 bootloaders: SpeedyBeeF405Mini 2023-10-13 16:26:01 +09:00
Andy Piper a010c16cbd AP_HAL_ChibiOS: T-Motor H743 Mini 2023-10-13 16:26:01 +09:00
Andy Piper 439310b7d7 bootloaders: TMotor H743 Mini bootloader 2023-10-13 16:26:01 +09:00
Andy Piper 78cbdc62fa AP_HAL_ChibiOS: provide mcu defaults in betaflight conversion 2023-10-13 16:26:01 +09:00
Andy Piper 4e1b1845fe AP_HAL_ChibiOS: correct hwdef generator battery scale 2023-10-13 16:26:01 +09:00
Andy Piper 1e9ff09a57 AP_HAL_ChibiOS: cope with different IMU drivers in hwdef conversion 2023-10-13 16:26:01 +09:00