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52,413 Commits 71 Branches 510 Tags 756 MiB
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29067 Commits

Author SHA1 Message Date
Leonard Hall
c9f1b8912c AC_AttitudeControl: Allow diabling of slew limit 2022-06-17 14:07:00 +10:00
Andrew Tridgell
0f230ee4c6 AP_InertialSensor: call notch param update with semaphore held 2022-06-17 14:07:00 +10:00
Andrew Tridgell
c06f69e77d AP_GyroFFT: added defaults for FFT with no notch 
allow for testing with FFT enabled, and defaulting number of
frequencies to look for
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
85db0c498b AP_InertialSensor: fixed the last notch values to be per-instance 
thanks to Andy for noticing this
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
a6dd296cc8 AP_GyroFFT: skip disabled notches 2022-06-17 14:07:00 +10:00
Andrew Tridgell
7b08a6c00c AP_InertialSensor: don't update disabled notches 2022-06-17 14:07:00 +10:00
Andrew Tridgell
66ad3051c3 AP_GyroFFT: allow for 2 FFT based notches 2022-06-17 14:07:00 +10:00
Andrew Tridgell
975fc6b70d AP_Vehicle: implement common harmonic notch update code 2022-06-17 14:07:00 +10:00
Andrew Tridgell
f8c1c39868 AP_RPM: use HarmonicNotch class 2022-06-17 14:07:00 +10:00
Andrew Tridgell
5080c32197 AP_GyroFFT: use HarmonicNotch class 2022-06-17 14:07:00 +10:00
Andrew Tridgell
d893d9bc89 AP_Arming: use HarmonicNotch class 2022-06-17 14:07:00 +10:00
Andrew Tridgell
e799649e6c AP_InertialSensor: switch to HarmonicNotch class 
this makes the logic much easier to follow, without indexes into
arrays
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
1de23e564e Filter: removed parameters from the old notch filter 
saves some flash space
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
e763386651 AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT 2022-06-17 14:07:00 +10:00
Andrew Tridgell
0467c1aef6 AP_Arming: added arming check for conflicting notch modes 2022-06-17 14:07:00 +10:00
Andrew Tridgell
b429bb7b98 Filter: clarify meaning of 1st harmonic 2022-06-17 14:07:00 +10:00
Andrew Tridgell
559f4c00c3 Filter: added RPM2 harmonic notch type 2022-06-17 14:07:00 +10:00
Andrew Tridgell
f9de6dff1c AP_Vehicle: support two full harmonic notch filters 2022-06-17 14:07:00 +10:00
Andrew Tridgell
3d025a7c5c AP_RPM: support two full harmonic notch filters 2022-06-17 14:07:00 +10:00
Andrew Tridgell
25d00e433e AP_InertialSensor: support two full harmonic notch filters 2022-06-17 14:07:00 +10:00
Andrew Tridgell
2d0cfb3fad AP_BoardConfig: expose BRD_SAFETYENABLE on all boards 
default BRD_SAFETYENABLE to 0 on boards with no safety switch, which
gives us the same behaviour as before, but users can choose to enable
the safety

this fixes two problems:

  - CAN servos and ESCs work on boards with no safety switch
    (eg. MatekH743 with CAN)

  - during startup we could get spurious outputs before out aircraft
    type is setup
 2022-05-23 17:35:21 +10:00
Andrew Tridgell
9a5e8d3927 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-23 17:35:21 +10:00
Andrew Tridgell
9f187c0711 AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter 
this allows for an offset in ESC numbering for much more efficient CAN
bandwidth usage.

For example, on a coaxial OctoQuad quadplane the ESCs are typically
setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN
buses, with one CAN bus for the top layer and the one bus for the
bottom layer (allowing for VTOL flight with one bus failed).

Without this offset parameter you would be sending RawCommand messages
like this:

bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]

this is very wasteful of bus bandwidth, with bus1 using 3x the
bandwidth it should and bus2 using 4x the bandwidth it should (the
above will take 3 can frames for bus1, and 4 can frames for bus 2)

With this patch you can set:

CAN_D1_UC_ESC_OF = 4
CAN_D2_UC_ESC_OF = 8

and you will get this on the bus:

bus1: [ ESC1, ESC2, ESC3, ESC4 ]
bus2: [ ESC1, ESC2, ESC3, ESC4 ]

that takes just 1 can frame per send on each bus
 2022-05-19 17:09:45 +10:00
Peter Barker
9cf802c843 AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-19 17:09:45 +10:00
Andrew Tridgell
9d0f5ce7b0 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-19 17:09:45 +10:00
Andrew Tridgell
1e31dc61a8 AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-19 17:09:45 +10:00
Andrew Tridgell
72b5212baf AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor 
we need to use the pressure from the sensor we are calibrating
 2022-05-19 17:09:45 +10:00
Andrew Tridgell
68a43b3c79 AP_NavEKF: getYawData also provides number of clipping models 
In the case of the compass calibrator we do not want to use the GSF
result if any model is degenerate.  We've had a compass calibrate in
flight 180-degrees out from what it should have.
 2022-05-19 17:09:45 +10:00
Peter Barker
1764b88624 AP_Compass: do not use GSF if any model has been clipped 2022-05-19 17:09:45 +10:00
Andrew Tridgell
bbd250a5c9 AP_EFI: added fuel usage integration for Lutan EFI 
allows for EFI_COEF1 and EFI_COEF2 to be set to get fuel consumption
on GCS
 2022-05-19 17:09:45 +10:00
Andrew Tridgell
29915f83c9 AP_Mission: improved handling of large LOITER_TURNS 
instead of wrapping we should use MIN with 255, which is closer to
what was requested
 2022-05-19 17:09:45 +10:00
Joshua Henderson
811aeed7ed AP_Airspeed: remove negative pressure set unhealthy 2022-05-10 16:59:04 +10:00
Andrew Tridgell
f7360ade04 hwdef: added FlyingMoonF427 support 2022-05-09 07:27:10 +10:00
Andrew Tridgell
6a55d081a7 hwdef: added FlyingMoonF407 board support 2022-05-09 07:27:04 +10:00
Andrew Tridgell
bdc900495c HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103 
need to check new pin not old pin
 2022-05-08 20:35:25 +10:00
Andrew Tridgell
24234865e5 AP_Logger: fixed a bug in wrapped log count 
fixes #20687
 2022-05-06 06:56:56 +10:00
Andrew Tridgell
d90b5a22bb AP_AHRS: fixed bug in blended EKF bias 
The bug fix in #20431 was incomplete, and ended up with the wrong
blended accel bias. This fixes it
 2022-05-04 10:33:17 +10:00
Andrew Tridgell
86e65f850e AP_Scripting: added quicktune.lua script 
rapid tuning for VTOL control
 2022-05-04 10:33:17 +10:00
Andrew Tridgell
89b9b231f5 AP_Scripting: added get_rpy_srate binding 
and norm_input_dz binding
 2022-05-04 10:33:17 +10:00
Andrew Tridgell
779d2181c5 AC_AttitudeControl: added get_rpy_srate() 2022-05-04 10:33:17 +10:00
Andrew Tridgell
6d264497e9 AP_Compass: fixed custom orientation in 3 compass drivers 
this prevents an internal error and mag failure with DroneCAN, MSP or
ExternalAHRS compasses
 2022-05-04 10:33:17 +10:00
Andy Piper
99a9c6edd7 AP_InertialSensor: move frontend update into ramfunc. 2022-04-28 12:56:34 +10:00
Andy Piper
94737870e0 AP_FlashIface: make sure XIP flash is ready before returning 2022-04-28 12:56:34 +10:00
Andy Piper
0afaaf9a53 AP_HAL_ChibiOS: add I2C and compass backend to drivers in memory on H750 
move more of EKF into memory on H750
move rc handling into memory on H750
disable double math on SPRacing H7
 2022-04-28 12:56:34 +10:00
Randy Mackay
6d6aa27b2a AP_Arming: add pre-arm check of disabled servo channels 2022-04-28 12:56:34 +10:00
Andy Piper
c08f9f7945 SRV_Channel: observe disabled_channels when enabling channels 
setup disabled_channels observing channels that are implied to be digital
allow none to be a valid channel function once again
 2022-04-28 12:56:34 +10:00
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
6e3f1918c2 AC_AutoTune: fix gain determination fail logic 2022-04-28 12:56:34 +10:00