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57,123 Commits 71 Branches 509 Tags 778 MiB
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32053 Commits

Author SHA1 Message Date
Paul Riseborough 565c65803a AP_NavEKF3: Lock in wind state estimates when using srag to dead reckon 2023-06-08 10:05:36 +09:00
Andrew Tridgell 78e6ff53b4 AP_ICEngine: fixed a bug engine control when running 
if you have a mission item for engine control with delayed start at
height and the engine is already running them it would put the ICE
subsystem into a state where it would no longer start the engine

It was actually 2 bugs:

 - an engine control to do a height delayed start should be ignored if
   the engine is already running. This prevents an engine control to
   start the engine from stopping the engine

 - a start_chan high should always try to start the engine
   immediately, even if in the wait state
 2023-06-08 10:05:36 +09:00
Andrew Tridgell 18128ce3ad AP_RCProtocol: return true on initial protocol detection 
we need to tell the IO firmware that a byte was consumed when we first
detect a protocol as otherwise the next bad byte on DSM will lock us
on the DSM port
 2023-06-08 10:05:35 +09:00
Andrew Tridgell c98b85a1a2 AP_IOMCU: fixed issue with not regaining RC input 
this fixes an issue where when you lose R/C input on IOMCU that you
may not regain it when R/C comes back.

The issue stems from us still processing the DSM uart when we are
using the SD3 "SBUS" uart for RC input, and still doing the switch of
the SD3 config every 2 seconds.

When we are not searching for a new protocol we should not be changing
UART config
 2023-06-08 10:05:35 +09:00
Andrew Tridgell 22a904f102 AP_NavEKF3: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-06-08 10:05:35 +09:00
Andrew Tridgell d7c90c5a5b AP_NavEKF2: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-06-08 10:05:35 +09:00
Andrew Tridgell 6d5c34dfa8 AP_Param: added set() to AP_Enum 2023-06-08 10:05:35 +09:00
Peter Barker 0a4f34cdd2 AP_Logger: do not rotate logs when disarming if we are replay-logging 2023-06-08 10:05:35 +09:00
Andrew Tridgell 397b521536 AP_Logger: added LOG_DARM_RATEMAX 
this sets the logging rate max when disarmed. In combination with
LOG_DISARMED=3 it gives a very nice setup to get always on logging
with very little addition to the log sizes. It is particularly useful
in combination with LOG_REPLAY=1
 2023-06-08 10:05:35 +09:00
Andrew Tridgell 4938593d4c AP_Logger: added LOG_DISARMED=3 
when LOG_DISARMED is set to 3 then we log while disarmed but if we
reboot without ever arming the log is discarded. This allows for using
LOG_DISARMED without filling the microSD.
 2023-06-08 10:05:35 +09:00
Andrew Tridgell f0cca1aaf4 AP_Logger: use AP_Enum for log_disarmed 2023-06-08 10:05:35 +09:00
Henry Wurzburg b4c48d366a AP_HAL_ChibiOS: Add SpeedyBeeF405WING 2023-06-08 10:05:35 +09:00
Andy Piper 3a40f41f29 AP_HAL_ChibiOS: correct locking on LED thread 2023-06-08 10:05:35 +09:00
Andy Piper 175f4dfd4f AP_HAL_ChibiOS: move LED processing to a separate thread 
LED processing on a separate thread allows much longer LED lengths to be handled without
compromising dshot timing or timeouts. The thread is also run at a lower priority to
reflect its lack of flight criticality
 2023-06-08 10:05:35 +09:00
Andy Piper c17fffc20d AP_HAL: add helper functions for LEDs 
add PRIORITY_LED for led output thread
 2023-06-08 10:05:35 +09:00
Andy Piper c0288f8f1b AP_HAL_ChibiOS: reduce IMU SPI low speed to 1Mhz to avoid chip initialization issues 2023-06-08 10:05:35 +09:00
Andy Piper f6408f9d9b AP_HAL_ChibiOS: FoxeerH743 GA release 2023-06-08 10:05:35 +09:00
Andy Piper b2aed56431 AP_HAL_ChibiOS: update MambaF405v2 for ICM42688, bdshot and DMA on UART1 2023-06-08 10:05:35 +09:00
Andy Piper 177c736bb7 AP_HAL_ChibiOS: add BMI270 and ICM42688 to FlywooF745 2023-06-08 10:05:35 +09:00
Andy Piper b4adae5428 AP_HAL_ChibiOS: remove erroneous FlywooF745v2 2023-06-08 10:05:35 +09:00
Andy Piper 73b3d3c62b AP_HAL_ChibiOS: hwdef for FlywooF745v2 
Add SPL06 baro to FlywooF745v1
 2023-06-08 10:05:35 +09:00
Paul Riseborough 3c99766a5a AP_NavEKF3: Improve protection against GPS glitches during yaw alignment 2023-04-21 09:48:59 +10:00
Paul Riseborough 007bc804bd AP_NavEKF3: Reduce use of GSF yaw for planes with no compass 2023-04-21 09:48:59 +10:00
Andy Piper 27628099ce AP_HAL_ChibiOS: hwdef for MatekF405-TE/VTOL including bdshot 2023-04-21 09:48:59 +10:00
bugobliterator 42d21ab9bc AP_InertialSensor: fix hardfault in BatchSampler 2023-04-21 09:48:59 +10:00
Peter Barker f3502a71e9 AP_InertialSensor: correct access beyond array in Ins TCal 2023-04-21 09:48:59 +10:00
Peter Barker aecffd2778 SimOnHW: correct compilation on CubeOrangePlus 
this was at 2 to reduce CPU load.

But particularly when CubeOrangePlus is playing around with auxiliary IMUs we really want to be running on SimOnHardware just what we're running on the normal firmware.  We can find CPU cycles elsewhere....
 2023-04-21 09:48:59 +10:00
Andy Piper 3e83d40bd8 AP_HAL_ChibiOS: ensure that DMA source is correct on DMA send for rcout 2023-03-26 16:46:53 +11:00
Andy Piper aabfce2099 AP_HAL_ChibiOS: ensure the rcout TIM_UP DMA request source is re-instated after cancellation 
This fixes a bug in bdshot whereby dma cancellation could result in the wrong DMA channel
being used for dshot output and hence motors stopping
 2023-03-26 16:46:51 +11:00
Andrew Tridgell 7527c6e278 HAL_ChibiOS: support starting the clock at non-zero 
for testing time wrap bugs
 2023-03-26 16:46:47 +11:00
Andrew Tridgell c55a2916f6 HAL_ChibiOS: switched to 64 bit maths for DShot timings 
this fixes a timer wrap bug at 71 minutes after boot that impacts
bdshot
 2023-03-26 16:46:44 +11:00
bugobliterator b9e9d4cc4f AP_InertialSensor: fix duplicate sensor detection for AUX sensors 2023-03-24 11:55:45 +11:00
bugobliterator f88db74356 AP_HAL_ChibiOS: add support for initialising extra sensors as AUX 2023-03-24 11:55:45 +11:00
bugobliterator 6eaa05960f AP_InertialSensor: increase the temp tolerance for INV2 driver for fifo reset 2023-03-23 08:00:05 +11:00
bugobliterator deeeb4134c AP_NavEKF3: use INS_MAX_INSTANCES instead of MAX_EKF_CORES for IMU mask 2023-03-21 10:04:16 +11:00
bugobliterator 08bea2fcd2 AP_InertialSensor: move from INS_ top level parameters to INS 2023-03-21 10:04:16 +11:00
bugobliterator e7533c006b SITL: add support for auxiliary IMUs 2023-03-21 10:04:16 +11:00
bugobliterator 14ae431056 AP_DAL: use MAX_EKF_CORES instead of INS_MAX_INSTANCES in ekf_low_time_remaining 2023-03-21 10:04:16 +11:00
bugobliterator f3dc4216d2 AP_HAL_ChibiOS: allow instantiation of upto 5 IMUs on CubeOrangePlus 2023-03-21 10:04:16 +11:00
bugobliterator 4e93e99fe5 AP_NavEKF: Five IMUs need slightly more stack space with GCC 6.3.1 
The extra space is take by the inactive sensor bias state code.
 2023-03-21 10:04:16 +11:00
bugobliterator 10439cc42e AP_InertialSensor: add support for extra Aux IMUs 2023-03-21 10:04:16 +11:00
Peter Barker 1cd3e7327d AP_EFI: add defines for Lutan and MegaSquirt 2023-03-21 09:01:13 +11:00
Peter Barker 615f36f8a0 AP_UAVCAN: tidy AP_EFI defines 2023-03-21 09:01:13 +11:00
Peter Barker 1e38200293 AP_PiccoloCAN: tidy AP_EFI defines 2023-03-21 09:01:13 +11:00
Peter Barker 593983df7a AP_EFI: tidy AP_EFI defines 2023-03-21 09:01:13 +11:00
Peter Barker e76462f005 AP_OSD: move OSD minimizement to minimize_features.inc 2023-03-21 08:47:53 +11:00
Peter Barker 8278d5ad76 AP_HAL_ChibiOS: move OSD minimizement to minimize_features.inc 2023-03-21 08:47:53 +11:00
Peter Barker 1ffc5d2faa AP_OSD: add and use AP_OSD_config.h 2023-03-21 08:47:53 +11:00
Peter Barker 6ebd73f144 AP_RCTelemetry: add and use AP_RCTelemetry_config.h 2023-03-21 08:47:53 +11:00
Peter Barker 35e3dcd83b AP_RCProtocol: HAL_LOGGING_ENABLED in place of checking build types 
We don't care how logging works, just that it does
 2023-03-21 08:31:27 +11:00