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26702 Commits

Author SHA1 Message Date
Andrew Tridgell
d876ecb0e6 Revert "AP_RCProtocol: raise SBUS frame gap" 
This reverts commit af654f0cb7.

this does not work with some SBUS receivers
 2022-02-10 16:42:58 +11:00
Randy Mackay
6822a093d6 AP_Math: spline lateral scaler reduced to 0.5 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2022-01-31 19:40:42 +09:00
Leonard Hall
13ea5ab640 AC_AttitudeControl: AC_PosControl: use relax_integrator 2022-01-31 19:40:42 +09:00
Leonard Hall
49cff9affe AC_AttitudeControl: use relax_integrator 2022-01-31 19:40:42 +09:00
Leonard Hall
0d2f653bcc AC_PID: replace reset_I_smoothly with relax_integrator 2022-01-31 19:40:42 +09:00
Leonard Hall
1728fe7355 AC_PID: AC_PID_2D: let I term change direction but not grow when limited 2022-01-31 19:40:42 +09:00
Leonard Hall
fc97d0b976 AC_AttitudeControl: AC_PosControl: Prioritize crosstrack acceleration 2022-01-31 19:40:42 +09:00
Leonard Hall
908b3ed659 AP_Math: Control: Add directional based acceleration limit 2022-01-31 19:40:42 +09:00
Leonard Hall
74557c8039 AC_AttitudeControl: AC_PosControl_Sub: Increase Jerk with Accel when out of velocity range 2022-01-31 19:40:42 +09:00
Leonard Hall
06ad6077f3 AC_AttitudeControl: AC_PosControl: Increase Jerk with Accel when out of velocity range 2022-01-31 19:40:42 +09:00
Leonard Hall
3da0852bfb AC_AttitudeControl: AC_PosControl: Init desired accel to zero 2022-01-31 19:40:42 +09:00
Peter Barker
f40102dda5 AP_InertialSensor: correct logging of inertial-sensor reg-change logging 2022-01-31 19:40:42 +09:00
Leonard Hall
85ea69f26d AC_WPNav: Support error input to kinematic shaper 2022-01-31 19:40:42 +09:00
Leonard Hall
ec43282934 AC_AttitudeControl: AC_PosControl: Support error input to kinematic shaper 2022-01-31 19:40:42 +09:00
Leonard Hall
ebf3638926 AP_Math: Control: Adjust limit handling to improve corners 2022-01-31 19:40:42 +09:00
Iampete1
aef3a87eed AP_Math: control: remove unneeded normalisation. 2022-01-31 19:40:42 +09:00
Randy Mackay
dfb379c835 AP_Math: update_pos_vel_accel methods accept limit as const reference 
also update some comments
 2022-01-31 19:40:42 +09:00
Peter Barker
f669e76b96 SRV_Channel: correct casting of servo function number 2022-01-31 19:40:42 +09:00
Andrew Tridgell
2e7b672544 AP_Arming: support Benewake CAN 2022-01-31 19:40:42 +09:00
Andrew Tridgell
5ef00293c7 AP_CANManager: support Benewake CAN 2022-01-31 19:40:42 +09:00
Andrew Tridgell
c7217efdaf AP_RangeFinder: added Benewake CAN Lidars 
includes support for setting CAN ID and min SNR
 2022-01-31 19:40:42 +09:00
Iampete1
efe07490aa AP_Compass: never override custom orentation in calabration 2022-01-31 19:40:42 +09:00
Andrew Tridgell
2ee6473693 AP_Logger: avoid all opens of log files in main thread 
this fixes a problem with sdcards where file open is very slow. It can
trigger a watchdog if it is slow enough. Peter and I hit this issue on
a pixracer today with a new sd card
 2022-01-31 19:40:42 +09:00
Andrew Tridgell
af654f0cb7 AP_RCProtocol: raise SBUS frame gap 
cope with UART input for newer SBUS receivers
 2022-01-31 19:40:42 +09:00
Andrew Tridgell
6869a0b0a2 AP_GPS: drop default GPS lag to 0.1s 
this impacts UAVCAN GPS modules, which these days usually have at
least u-blox M8
 2022-01-31 19:40:42 +09:00
Andrew Tridgell
b3e2958995 AP_Filesystem: fixed a param ftp bug 
if param count changes we need to zero the file size
 2022-01-31 19:40:42 +09:00
Andrew Tridgell
97cb2dd1c0 AP_NavEKF3: fixed gaps in EKF logging 
timestamps should not be static as otherwise some lanes will not be
logged
 2022-01-31 19:40:42 +09:00
Andrew Tridgell
6cf2522990 AP_BattMonitor: fixed a segv with BATT_MONITOR=14 
this causes a hang on boot on some boards
 2022-01-31 19:40:42 +09:00
Mingchen Zhang
83db4e56d0 AP_SmartAudio: fix a bug that would starve the lower priority thread, such as scripting. 2021-12-21 11:29:57 +11:00
Andrew Tridgell
8c09da0ee6 AC_AutoTune: limit autotune target rates to parameter limits 
this makes it safer to autotune a large vehicle which may become
unstable at very high target rates
 2021-12-21 11:29:57 +11:00
Andrew Tridgell
3233528e37 AC_AttitudeControl: added get_ang_vel_yaw_max_rads() 2021-12-21 11:29:57 +11:00
Andrew Tridgell
a1ede5d2a3 AP_NavEKF3: Add missing covariance row reset 2021-12-21 11:29:57 +11:00
Andrew Tridgell
fde9083d9c AP_InertialSensor: added support for IIM-42652 and ICM-40605 sensors 
handle new Invensense v3 sensor types
 2021-12-21 11:29:57 +11:00
Andrew Tridgell
65563ece66 AP_InertialSensor: added support for ICM-20608-D sensor 2021-12-21 11:29:57 +11:00
Andrew Tridgell
14ccee4991 AP_RCTelemetry: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:27:16 +11:00
Andrew Tridgell
0a018c323c AP_RangeFinder: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:27:16 +11:00
Andrew Tridgell
f516977491 AP_Proximity: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:27:16 +11:00
Andrew Tridgell
b79962f38e AP_ADSB: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:27:16 +11:00
Andrew Tridgell
a69cf0c936 AP_RCProtocol: fixed multi-protocol search with added uart 2021-12-21 11:27:16 +11:00
Andrew Tridgell
d8ffd01145 AP_SerialManager: added have_serial() method 
this checks if we have the protocol without setting the options on the
uart
 2021-12-21 11:27:16 +11:00
Andrew Tridgell
3dc4cdd6af AP_BoardConfig: disable STLink debug pins by default 
this avoids leaving the debug pins in a state where they may be
vulnerable to ESD issues
 2021-12-21 11:24:17 +11:00
Bill Geyer
bc29005308 AP_Motors: add spool down complete flag 2021-12-18 12:17:22 +09:00
Andrew Tridgell
9606527edd AP_UAVCAN: use soft armed state for DroneCAN ARMING_STATUS 
this fixes motortest on quadplanes, so that ESCs see an armed state
during the test
 2021-12-18 12:17:22 +09:00
Andrew Tridgell
ab4fb4a7de HAL_ChibiOS: use a 16 bit sysinterval_t on 16 bit timers 
prevent mixed size subtraction errors
 2021-12-18 12:17:22 +09:00
Peter Barker
c20b20ec17 AC_Fence: void index when overwriting fence count on fencepoint-close 2021-12-18 12:17:22 +09:00
Andrew Tridgell
09bc81e846 AC_Fence: fixed fence count for old upload 
when uploading a fence that is smaller than an old fence we were not
correctly setting the inclusion fence size.
 2021-12-18 12:17:22 +09:00
Andrew Tridgell
5fc3cae33a APM_Control: make 2nd reduction of P smaller 
this prevents severe P reductions when we get a small oscillation
glitch after we've already got the primary P gain
 2021-12-18 12:17:22 +09:00
李孟晓
0cdd775d24 CUAV-X7: Add servo voltage detection pin 2021-12-18 12:17:22 +09:00
Andrew Tridgell
349a035702 AP_AHRS: fixed switching airspeed sensor based on EKF3 affinity (for 4.1) 
we need to use the EKF selected airspeed sensor when the EKF is setup
to run a different sensor on each lane
 2021-12-18 12:17:22 +09:00
Andrew Tridgell
0ed40ffa8b AC_AttitudeControl: fixed limiting of throttle mix values 
use constrain instead of reset to keep as much of user requested value
as possible

also raise limit for MIX_MIN to 0.5 after discussion with Leonard
 2021-12-18 12:17:22 +09:00