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52317 Commits

Author SHA1 Message Date
Andy Piper 5a5461825b AP_HAL_ChibiOS: determine presence of disabled channels based on digital channels in a group 2022-04-28 12:56:34 +10:00
Andy Piper 4e487c9198 AP_HAL: add accessor for disabled channels to RCOutput 2022-04-28 12:56:34 +10:00
Andy Piper 9c12221c89 AP_BLHeli: keep a record of disabled motors 2022-04-28 12:56:34 +10:00
Bill Geyer 4ad257021c Copter: properly set feedforward enabled before exit 2022-04-28 12:56:34 +10:00
Bill Geyer 6e3f1918c2 AC_AutoTune: fix gain determination fail logic 2022-04-28 12:56:34 +10:00
Bill Geyer aaa64a067a AC_AutoTune: use failed state to exit 2022-04-28 12:56:34 +10:00
Bill Geyer a7511c3d3a AC_AutoTune: use generic load gain method to save flash 2022-04-28 12:56:34 +10:00
Andy Piper b12ac3ea85 bootloaders: MatekF765-Wing-bdshot bootloader 2022-04-28 12:56:34 +10:00
Andy Piper 5dc81972f9 AP_HAL_ChibiOS: bdshot version of MatekF765-Wing 2022-04-28 12:56:34 +10:00
Andy Piper b2f201b6c3 AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation 2022-04-28 12:56:34 +10:00
Andy Piper 48e0efaddb AP_HAL: update prescaler tests 2022-04-28 12:56:34 +10:00
Randy Mackay ae287381ba AP_RPM: pre-arm displays gpio vs servo_ch conflict 2022-04-28 12:56:34 +10:00
Randy Mackay fd13965226 AP_Relay: pre-arm displays gpio vs servo_ch conflict 2022-04-28 12:56:34 +10:00
Randy Mackay 320cb974a5 AP_Button: pre-arm displays gpio vs servo_ch conflict 2022-04-28 12:56:34 +10:00
Randy Mackay 7c7121f4bd AP_HAL: add GPIO::pin_to_servo_channel method 2022-04-28 12:56:34 +10:00
Randy Mackay 64520e3c59 AP_HAL_ChibiOS: GPIO comment removes mention of BRD_PWM_COUNT 2022-04-28 12:56:34 +10:00
Randy Mackay 79e73e1683 AP_IOMCU: valid_GPIO_pin checks if pin configured for GPIO 2022-04-28 12:56:34 +10:00
Randy Mackay 892cea622f AP_IOMCU: convert_pin_number leaves input untouched on failure 2022-04-28 12:56:34 +10:00
Randy Mackay 0b18622e59 AP_RPM: avoid attach interrupt retry and spam to GCS if PIN = -1 2022-04-28 12:56:34 +10:00
xianglunkai 304a40d3b7 AP_Proximity_Boundary_3D:correction of miswriting 2022-04-28 12:56:34 +10:00
Andrew Tridgell d7ee82558a Tools: fix cygwin build error 2022-04-28 12:56:34 +10:00
Andrew Tridgell 656e699be4 AP_Logger: removed annoying message on missing logs 2022-04-28 12:56:34 +10:00
Andrew Tridgell f9765a98ff AP_Logger: fixed log listing with gap, and EKF error on log list 
this fixes two issues:

The first issue that if we are missing a log file in the middle of the
list then it was not possible to download recent logs, as we get the
incorrect value for total number of logs. This happened for me with
107 logs, with log62 missing from the microSD. It would only show 45
available logs, so the most recent logs could not be downloaded.

The second issue is that get_num_logs() was very slow if there were a
lot of log files in a directory. This would cause EKF errors and ESC
resets. Using a opendir/readdir loop is much faster (approx 10x faster
in my testing with 107 logs on a MatekH743).
 2022-04-28 12:56:34 +10:00
xianglunkai 1444aeadf0 AP_Logger: must set default fd = -1 2022-04-28 12:56:34 +10:00
Sanket Sharma f9a5272c6e Plane: Updated highest airspeed limit when armed 2022-04-28 12:56:34 +10:00
Andrew Tridgell 4e4b7db2b7 Plane: add Q_OPTION for RTL always on RC failsafe for ship landing 2022-04-28 12:56:34 +10:00
Andrew Tridgell 84ade3a93b SITL: update for changed INS_NOTCH parameter name 2022-04-28 12:56:34 +10:00
Andrew Tridgell 142848ee54 Tools: update for changed INS_NOTCH parameter name 2022-04-28 12:56:34 +10:00
Andrew Tridgell 57bcde4437 AP_HAL_ChibiOS: update for changed INS_NOTCH parameter name 2022-04-28 12:56:34 +10:00
Andrew Tridgell 46304533a8 Plane: param conversion for INS_NOTCH to INS_HNTC2 2022-04-28 12:56:34 +10:00
Andrew Tridgell 330e8c6993 Copter: param conversion for INS_NOTCH to INS_HNTC2 2022-04-28 12:56:34 +10:00
Andrew Tridgell dcda807464 AP_InertialSensor: move INS_HNTC2 to a new parameter table ID 2022-04-28 12:56:34 +10:00
QioTek 7e00f1c7e0 AP_HAL_ChibiOS: ICM4 series sensors as an alternative with IMU3. 
AP_HAL_ChibiOS:  ICM4 series sensors as an alternative with IMU3.
 2022-04-28 12:56:34 +10:00
mateksys e668601ed6 AP_HAL_ChibiOS:add icm42688p as substitution 2022-04-28 12:56:34 +10:00
Andrew Tridgell 0ac673a71c AP_Scripting: increase default heap size in SITL and on F7/H7 
if we have 500k or more memory then use 100k heap for Lua, making
setup easier
 2022-04-28 12:56:34 +10:00
Andrew Tridgell ebb352cf82 AC_AttitudeControl: use deadzone for pitch 
when pitch for nose-in and tail-in is enabled we should use the
deadzone
 2022-04-28 12:56:34 +10:00
Andrew Tridgell dbab0562d7 AC_AttitudeControl: added an option for pitch weathervaning 
when nose-in or tail-in, if the aircraft has significant pitch
asymmetry in hover then we would spin around in no wind if we use
pitch as an input

this makes pitch input for nose-in and tail-in optional and off by
default to preserve existing behaviour
 2022-04-28 12:56:34 +10:00
Andrew Tridgell da2cb552fc HAL_ChibiOS: disable fatal exceptions for DMA errors 
this zeros-watchdog was caused by a SPI DMA error on STM32F405:

  https://discuss.ardupilot.org/t/crash-with-4-2-0-beta-and-4-3-0-daily-bdshot/83297

we had incorrectly left these internal errors enabled when asserts
were not enabled. That led to a osalSysHalt()

without these we get an spi_fail internal error, caught by the
SPIDevice code
 2022-04-28 12:56:34 +10:00
Peter Barker e3fce6635f Plane: do not use guided waypoint for loiter location 
Currently this waypoint is set 10,000m away by the avoidance behaviour

Instead, immediately enter loiter mode
 2022-04-28 12:56:34 +10:00
Andrew Tridgell 3e87782cc0 AP_InertialSensor: catch FIFO overruns on BMI088 
we have seen errors where the BMI088 gets out of sync, so that the 3
axes are rotated. The data is shifted by 4 bytes, so that X=Z, Y=X
and Z=Y

this changes the BMI088 to "stop on full" mode, which is what Bosch
use in their example drivers, and also catches FIFO overrun events and
triggers a full FIFO reset. This should fix the problem with the FIFO
sync
 2022-04-28 12:56:34 +10:00
Andrew Tridgell fa70d62f08 autotest: fixed annoying gdb pagination on reboot 2022-04-28 12:56:34 +10:00
Andrew Tridgell 9674489564 Plane: prepare for 4.2.0beta5 2022-04-07 10:06:25 +10:00
Andrew Tridgell 280ed2097b Plane: release notes for 4.2.0beta5 2022-04-07 10:05:28 +10:00
李孟晓 876a9f3d5e AP_HAL_ChibiOS: CUAV-Nora: add usart3 support 2022-04-07 10:05:28 +10:00
Andy Piper f51b5dab84 AP_HAL_ChibiOS: fix dshot timeout bug where the elapsed pulse is longer than the send time 
dshot timeouts should be no longer than the pulse interval
use correct timestamp for dmar send time
 2022-04-07 10:05:28 +10:00
Andrew Tridgell 11637e784f HAL_ChibiOS: incorrect class of class in uart TX timeout 
need to call chEvtGetAndClearEventsI() as we are in a system lock
state
 2022-04-07 10:05:28 +10:00
Andrew Tridgell f64beea5ee HAL_ChibiOS: fixed H7 flash storage 
this fixes the flash re-init problem when flash storage fills on
H7. It was caused by rejecting writes where one or more of the 32 byte
chunks was not all 0xff but was equal to the current data. That
happens when writing to the sector header in AP_FlashStorage

it also moves the interrupt disable inside the loop to allow for
other interrupts to run between blocks
 2022-04-07 10:05:28 +10:00
Andrew Tridgell f4826ac38a HAL_ChibiOS: use 16 byte lines for flash storage on H7 
this halves the number of flash writes needed, and makes flash storage
twice as space efficient on H7

On H7 we need to write 32 bytes at a time to flash, which corresponds
to 30 bytes of data in AP_FlashStorage. By using a 16 byte storage
line we don't waste as much space
 2022-04-07 10:05:28 +10:00
Andrew Tridgell a91b6ec28e HAL_ChibiOS: increase monitor thread stack by 512 
this is needed to ensure that the log writes of MON and WDOG don't
overflow monitor thread stack
 2022-04-07 10:05:28 +10:00
Andrew Tridgell 90751168c7 HAL_ChibiOS: added expected delays on flash writes 
this prevents a long loop internal error on disarm after a large
amount of flash writes when armed on a board with flash storage
 2022-04-07 10:05:28 +10:00