Andrew Tridgell
061b0580b3
AP_Math: added unsigned versions of constrain functions
...
sometimes it really does matter that we use constrain_uint32() instead
of constrain_int32(). For example, if we have a value like 0xFFFFFFFF
then the result will be very different
we should use unsigned constrain when dealing with unsigned values
2022-04-07 10:05:28 +10:00
Andrew Tridgell
a661f3e7a7
AP_Logger: fixed @SYS file logging
...
the key fix is the reset of the fd to -1. Without that fix we only
ever log @SYS/uarts.txt
The timing change is needed to get the files out in a reasonable
time. The function is actually getting called at 100Hz or less, not
1kHz (measured on MatekH743 copter at 400Hz). So we need to run it
faster to get the files logged in a reasonable time
2022-04-07 10:05:28 +10:00
Andy Piper
eef3ab9e94
bootloaders: update spracing h7 extreme bootloader
2022-04-07 10:05:28 +10:00
Andy Piper
0da6b97485
AP_HAL_ChibiOS: spro H7 extreme updates.
...
cannot currently use both IMUs on spro H7 extreme due to CPU load
2022-04-07 10:05:28 +10:00
Peter Barker
6a21152b67
AP_AHRS: subtract accel bias from correct ins accel instance
...
In the case that you have INS_USE indicating IMUs should be used, but
EK3_IMU_MASK leaving some IMUs unused, we subtract the bias from the
wrong INS data
2022-04-07 10:05:28 +10:00
Andrew Tridgell
557c96b7f6
Plane: fixed rudder control when ARMING_RUDDER != 2
...
when rudder disarm is disabled we should allow full yaw control
regardless of throttle level. We should also only disable left yaw
when throttle is at zero, as right yaw does not indicate pilot may be
trying to disarm
2022-04-07 10:05:28 +10:00
Andrew Tridgell
283742edf1
AP_Logger: increase stack of log_io thread by 256
...
This was seem on omnibusf4pro, it is a bit too close:
log_io PRI= 59 sp=0x20015CC0 STACK=144/1656
2022-04-07 10:05:28 +10:00
Randy Mackay
874e00b4c2
Rover: version to 4.2.0-beta3
2022-04-07 10:05:28 +10:00
Randy Mackay
bf4236b35a
Rover: 4.2.0-beta3 release notes
2022-04-07 10:05:28 +10:00
Randy Mackay
cd6d9110bd
Copter: version to 4.2.0-beta3
2022-04-07 10:05:28 +10:00
Randy Mackay
e949b0b999
Copter: 4.2.0-beta3 release notes
2022-04-07 10:05:28 +10:00
Bill Geyer
559f90b814
AP_Math: add chirp function to support frequency sweeps in systemid and autotune
2022-04-07 10:05:28 +10:00
Bill Geyer
250782c7f8
AC_Autotune: clean up variable init for dwell
2022-04-07 10:05:28 +10:00
Bill Geyer
61222462b3
AC_AutoTune: use chirp function in AP_Math for frequency sweeps
2022-04-07 10:05:28 +10:00
Bill Geyer
f236afe049
Copter: make systemid use new chirp math function
2022-04-07 10:05:28 +10:00
Bill Geyer
80aed73632
AC_AutoTune: combine dwell_run_test for angle and rate
2022-04-07 10:05:28 +10:00
Bill Geyer
0846880049
AC_AutoTune: combine dwell_init methods
2022-04-07 10:05:28 +10:00
Bill Geyer
3a6c5b27f6
AC_AutoTune:tradheli-streamline gcs messages
2022-04-07 10:05:28 +10:00
Peter Barker
c33256b3c2
AC_AutoTune: Vector tidying
2022-04-07 10:05:28 +10:00
Peter Barker
a0aa04efcc
AC_AutoTune_Heli: use structure assignment to clear structures
2022-04-07 10:05:28 +10:00
Peter Barker
225112045c
AC_AutoTune: use structure assignment for test results
2022-04-07 10:05:28 +10:00
Peter Barker
3886f88b8c
AC_AutoTune: createstructure to hold specific test's sweep results
2022-04-07 10:05:28 +10:00
Henry Wurzburg
a0c286a8ed
HWDEF: add SLCAN OTG port, correct defaults.param errors
2022-04-07 10:05:28 +10:00
Andy Piper
89c8057e98
AP_HAL_SITL: correct disable channel maths
...
unilaterally write rcoutput to appease the sitl gods
2022-04-07 10:05:28 +10:00
Andy Piper
de526b07dc
SRV_Channel: don't count disabled channels in mask and setup functions
...
disable channels that are not in use
2022-04-07 10:05:28 +10:00
Andy Piper
f7624662b7
AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands
...
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
2022-04-07 10:05:28 +10:00
Randy Mackay
1ea2efc159
Rover: balance bot stands in acro with no position estimate
2022-04-07 10:05:28 +10:00
AndKe
0451c405b4
AP_HAL_ChibiOS: add OREOLED to CubeGreen
2022-04-07 10:05:28 +10:00
Randy Mackay
f21d4bae3a
Rover: version to 4.2.0-beta2
2022-04-07 10:05:28 +10:00
Randy Mackay
5e5f409656
Rover: 4.2.0-beta2 release notes
2022-04-07 10:05:28 +10:00
Randy Mackay
e19d15651c
Copter: version to 4.2.0-beta2
2022-04-07 10:05:28 +10:00
Randy Mackay
5aafdc6a81
Copter: 4.2.0-beta2 release notes
2022-04-07 10:05:28 +10:00
Randy Mackay
1d012aa5f9
Copter: fix takeoff to terrain alt
2022-04-07 10:05:28 +10:00
Randy Mackay
85e2854e73
Copter: rename auto_take_off_xx to auto_takeoff_xx
2022-04-07 10:05:28 +10:00
Andrew Tridgell
64d95c27c2
Plane: prepare for 4.2.0beta4 release
2022-03-28 20:53:56 +11:00
Andrew Tridgell
2b4683c30d
Plane: added release notes for 4.2.0beta4
2022-03-28 20:53:56 +11:00
Andrew Tridgell
3487f8f251
hwdef: changed MatekH743 to a 32 bit timer
...
the 68ms issue is still present on this board. Switching to a 32 bit
timer will fix it, but loses us the tonealarm support
2022-03-28 20:53:56 +11:00
Andrew Tridgell
43df023a4d
AP_Param: fixed param class conversion code
...
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.
I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
2022-03-28 20:53:56 +11:00
Andrew Tridgell
739192f579
AP_Logger: added terrain correction logging field
2022-03-28 20:53:56 +11:00
Andrew Tridgell
76a924559b
AP_Terrain: added logging of terrain correction
2022-03-28 20:53:56 +11:00
Andrew Tridgell
278d87e6f2
AP_Scripting: restored corrected boolean in height_amsl binding
2022-03-28 20:53:56 +11:00
Andrew Tridgell
8d6bfac43c
HAL_SITL: don't use terrain adjustment
2022-03-28 20:53:56 +11:00
Andrew Tridgell
8c026ec701
AP_Arming: setup for terrain adjustment on arming
2022-03-28 20:53:56 +11:00
Andrew Tridgell
75bd6a4b6a
SITL: don't use adjusted terrain in SITL
2022-03-28 20:53:56 +11:00
Andrew Tridgell
89465d2126
AP_Terrain: added terrain reference adjustment
...
this restores the terrain adjustment functionality removed in #19946 ,
but without the problematic approach of always using home (which can
be moved in flight) and with a TERR_OFS_MAX parameter to limit the
amount of adjustment
2022-03-28 20:53:56 +11:00
Andrew Tridgell
4bc35ba04d
HAL_ChibiOS: display source of RC input
...
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
2022-03-28 20:53:56 +11:00
Andrew Tridgell
0ae1ac182a
HAL_ChibiOS: switch between IOMCU and RCProt rapidly
...
keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
2022-03-28 20:53:56 +11:00
Andrew Tridgell
9ba73d362d
AP_RCProtocol: added using_uart() method
2022-03-28 20:53:56 +11:00
Andy Piper
674d3aa915
scripts: add KakuteH7 and KakuteH7-bdshot.
2022-03-28 20:53:56 +11:00
Andy Piper
5d4adef8b7
bootloaders: bootloader for KakuteH7-bdshot
2022-03-28 20:53:56 +11:00
