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35385 Commits

Author SHA1 Message Date
Randy Mackay
02c8934712 RC_Channel: integrate AP_CAMERA_SET_CAMERA_SOURCE_ENABLED 2024-05-01 08:12:55 +09:00
Randy Mackay
d0ad56b98d AP_Mission: support set-camera-source 2024-05-01 08:12:55 +09:00
Randy Mackay
b668fbfcca AP_Mount: add set_camera_source support 2024-05-01 08:12:55 +09:00
Randy Mackay
caf15ca698 AP_Camera: support set-camera-source mavlink command 2024-05-01 08:12:55 +09:00
Randy Mackay
59837f604d GCS_MAVLink: forward set-camera-source to AP_Camera 2024-05-01 08:12:55 +09:00
Ryan Friedman
61a4ebeb08 AP_ExternalAHRS: Only use GPS data when populating GPS fields 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:55 +09:00
Ryan Friedman
e7b934dacd AP_ExternalAHRS: Check backend pre-arm before origin 
* This allows the backend to report more detailed errors
* Before this, many pre-arm errors were hidden by origin failure
* If pre-arm could report multiple errors, that would be ideal

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:55 +09:00
Ryan Friedman
a0939dd518 Save flash, reduce code duplication 
* Add generic health and time utils
* Fix bug only checking first GNSS system
* Use common logging struct
* Improve pre-arm log checks

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:55 +09:00
Ryan Friedman
029d22c2a9 AP_ExternalAHRS: Don't send init message till booted up 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:55 +09:00
Ryan Friedman
ecd11d1903 AP_ExternalAHRS: Use state watching instead 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:55 +09:00
Ryan Friedman
254923dff9 AP_ExternalAHRS: Provide warning for init failure 
* If the device hasn't initialized in 5 seconds, give a warning

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:55 +09:00
Ryan Friedman
47fa858181 AP_ExternalAHRS: Use filter data to populate EKF status report 
* Variances vs uncertainties may still be off
* Requires enabling the following packets in SensorConnect:
  * Position Uncertainty (LLH)
  * Velocity Uncertainty (NED)

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:54 +09:00
Ryan Friedman
68dd6dd1a5 AP_HAL: Fix incorrect return type 
* This caused position quantization errors in the MicroStrain7

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:54 +09:00
Ryan Friedman
1382fd5701 AP_DDS: Fix incorrect port param name 
* We want to support TCP and UDP in the future, so make sure we call it
  UDP here

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:54 +09:00
Andy Piper
6086d85676 AP_HAL_ChibiOS: FoxeerF405v2 2024-05-01 08:12:54 +09:00
Randy Mackay
55e8c781d8 AC_PosControl: always update yaw targets 2024-05-01 08:12:54 +09:00
davidsastresas
ca5646b139 AP_Mount: fix gimbal-device-attitude-status yaw frame flag 2024-05-01 08:12:54 +09:00
Randy Mackay
8280835f22 AP_Mount: get-gimbal-device-flags reports lock state 2024-05-01 08:12:54 +09:00
Randy Mackay
977dc2fde0 AP_Mount: do-gimbal-manager-pitch-yaw can set lock state 
Co-authored-by: davidsastresas <davidsastresas@gmail.com>
 2024-05-01 08:12:54 +09:00
Randy Mackay
ce1e5481c8 AP_Mount: clarify yaw_lock comments 2024-05-01 08:12:54 +09:00
Randy Mackay
0387a66f39 AP_Mount: RC targeting mode lock state from previous mode 
This leads to smoother transitions between RC and GCS control
 2024-05-01 08:12:54 +09:00
Andrew Tridgell
2346cb6d81 AP_RCProtocol: fixed underflow wrap in GHST 2024-04-08 12:22:46 +09:00
Andrew Tridgell
0c3940563e AP_RCProtocol: added random data test 
this triggers the CRSF crash bug that was just fixed
 2024-04-08 12:22:46 +09:00
Andrew Tridgell
7430e4594a AP_RCProtocol: fixed crc memory range error in CRSF 
this fixes a crash bug that caused a watchdog for Henry on a
F765-Wing. The bug happens with corrupt serial data causing an
underflow in the length argument to the crc call
 2024-04-08 12:22:46 +09:00
FoxSuzuran
3b766d1501 AP_Proximity: add RPLidarC1 support 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-03-22 17:49:41 +11:00
Tom Pittenger
8098f913e4 AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-22 17:49:41 +11:00
Tim Tuxworth
8b21da0c02 AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-22 17:49:41 +11:00
Tim Tuxworth
5178aa82a0 Chibios: CubeRed - change NET_ENABLED to NET_ENABLE 2024-03-22 17:49:41 +11:00
Andrew Tridgell
8a8f7a885d HAL_ChibioOS: fixed FDCAN -> CAN labels 
we use CAN1_RX not FDCAN1_RX in our MCU files
 2024-03-22 17:49:41 +11:00
Andrew Tridgell
13fc927c90 AP_Logger: avoid logging dma.txt for normal builds 
logging of dma.txt currently does no good as the first time you read
it you get no content. It then enables statistics in the shared_dma
code which makes all DMA operations slower, so all we are doing is
making DMA slower
 2024-03-22 17:49:41 +11:00
Randy Mackay
9d940d0d0a AP_Mount: viewpro fix for swapped ahrs roll pitch 2024-03-22 17:49:41 +11:00
root
54239d30b1 AP_VideoTX:add additional freq bands(Band X) 2024-03-22 17:49:41 +11:00
Andrew Tridgell
9a709be045 HAL_ChibiOS: fixed a cache corruption issue on H7 
This fixes a bug introduced in this PR:

https://github.com/ArduPilot/ardupilot/pull/25900

the bug is that when we don't go via the bouncebuffer on H7 we were
also skipping the cache invalidate/flush ops. This caused data
corruption for filesystem operations, particularly noticible as lua
scripts failing to load with parse errors or log corruption
 2024-03-22 17:49:41 +11:00
Minderring
4d1dd060f5 hwdef: added MicoAir405v2 2024-03-22 17:49:41 +11:00
Andy Piper
663fdd1ba3 AP_HAL_ChibiOS: Orqa F405 Pro 2024-03-22 17:49:40 +11:00
Ryan Friedman
2b17c42c38 AP_ExternalAHRS: SIM_MicroStrain support quaternion attitude 
* This replaces IMU orientation
* Fixed some usage docs

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-22 17:49:40 +11:00
Ryan Friedman
41dca581f9 AP_ExternalAHRS: Populate orientation from filter 
* Populating AHRS orientation from IMU was not correct

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-22 17:49:40 +11:00
Iampete1
1b2556cde6 AP_Filesystem: crc32: Ensure checksum value is initialized 2024-03-14 11:42:44 +11:00
Andrew Tridgell
dcee5e9693 AP_InertialSensor: fixed accel cal simple to remove unused IMUs 
when we change EAHRS_SENSORS to remove use of IMU from an external
AHRS we need to be able to zero the accel and gyro offsets to get
prearms to pass
 2024-03-14 11:42:44 +11:00
Andy Piper
8a392be078 AP_HAL_ChibiOS: always normalize ESC channel when using iomcu 2024-03-14 11:42:44 +11:00
Andy Piper
e0b4143cad AP_HAL_ChibiOS: use standard FPV config for SpeedyBeeF405WING 2024-03-14 11:42:44 +11:00
Randy Mackay
f6de0f19bb AP_HAL_ChibiOS: CubeRedSecondary IMU orientation fix 
Also remove duplicate RC_IN serial protocol
 2024-03-14 11:42:44 +11:00
Andrew Tridgell
8cd8d7b6e5 AP_HAL_ChibiOS: remove iomcu dshot from Pixhawk1-1M and add to Pixhawk1-bdshot 
add support for removing ROMFS from hwdef
 2024-03-14 11:42:44 +11:00
Andrew Tridgell
5deb2b07f4 hwdef: fixed Pixhawk1-1M build 2024-03-14 11:42:44 +11:00
Peter Barker
3b715ade6b GCS_MAVLink: make rally/fence item conversion methods public 2024-03-14 11:42:44 +11:00
Peter Barker
c6e7ba8131 AP_FileSystem: permit upload of fence/rally via ftp 2024-03-14 11:42:44 +11:00
subashchandar
5fa8bfb187 AP_HAL_ChibiOS: hwdef: Add new hardware pixflamingo f7 2024-03-14 11:42:44 +11:00
Randy Mackay
6ae7b3385f AP_HAL_ChibiOS: AP_Periph does not use AP_VisualOdom 2024-03-14 11:42:44 +11:00
Randy Mackay
825761292a AP_Scripting: EKF source switching for ExtNav and optflow 2024-03-14 11:42:44 +11:00
Randy Mackay
26cb4b122e AP_Scripting: add VisualOdom bindings 2024-03-14 11:42:44 +11:00
Randy Mackay
906d740cb6 AP_DDS: send quality of zero to AP_VisualOdom 2024-03-14 11:42:44 +11:00
Randy Mackay
e450582180 GCS_MAVLink: send Odometry quality to VisualOdom 2024-03-14 11:42:44 +11:00
Randy Mackay
4160232b38 AP_VisualOdom: use Odometry quality 2024-03-14 11:42:43 +11:00
Randy Mackay
7af0015b69 SITL: vicon send odometry with quality of 50 2024-03-14 11:42:43 +11:00
Randy Mackay
25a6839346 SITL: vicon param descriptions 2024-03-14 11:42:43 +11:00
Andrew Tridgell
1bce79d038 AP_Scripting: add file system crc32 binding 2024-03-14 11:42:43 +11:00
Andrew Tridgell
f96f91d132 AP_Arming: added arming check for fence storage 2024-03-14 11:42:43 +11:00
Andrew Tridgell
2541992dc4 AC_Fence: allow for fence storage on microSD 2024-03-14 11:42:43 +11:00
Andrew Tridgell
f0890f8882 AP_BoardConfig: added BRD_SD_FENCE 
allow for fence storage on microSD
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
a0f74af407 RC_Channel: disable GPS on external AHRS with GPS_DISABLE 2024-03-14 11:42:43 +11:00
Andrew Tridgell
b3689bc244 AP_AHRS: don't use accel/gyro from ExternalAHRS unless enabled 2024-03-14 11:42:43 +11:00
Pulak Gautam
32df9cfa94 AP_ExternalAHRS: added missing #if AHRS logging 2024-03-14 11:42:43 +11:00
Andrew Tridgell
c536532b40 AP_ExternalAHRS: check for origin in pre-arm check 2024-03-14 11:42:43 +11:00
Andrew Tridgell
c6c0de9889 AP_ExternalAHRS: make get_accel() and get_gyro() bool 2024-03-14 11:42:43 +11:00
Andrew Tridgell
77e5446595 AP_ExternalAHRS: added support for GPS disable and fwd flight 
allow backends to determine if we are in fixed wing flight and/or the
GPS is disabled by the user
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
3a586b2215 AP_ExternalAHRS: added EAHRS_LOG_RATE and common logging 
common logging for all EAHRS backends
 2024-03-14 11:42:43 +11:00
Iampete1
827c5b3919 AP_Gernerator: IE 2400: MAV_SEVERITY level depends on error code 2024-03-14 11:42:43 +11:00
Andrew Tridgell
f8fb920d16 SITL: fixed the vehicle type of the simulated ship 
this was broken by https://github.com/ArduPilot/ardupilot/pull/23763

we need to look for other places where we have assumed the MAVLink
field orderin in recent changes
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
f6fe929608 AP_Scripting: support precision loiter in quadplanes 
and allow for moving landing target
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
3b8b55ac6e SITL: added moving precland simulator 
added SIM_PLD_SHIP to make the precland location track the SIM_SHIP
location, giving a nice way of having a landing marker on a moving
ship
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
1c72e1666d AP_Scripting: fixed race condition in ship landing 
and fixed lua warnings
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
24399d809c AP_Scripting: added plane_precland lua script 2024-03-14 11:42:43 +11:00
Andrew Tridgell
4decfcfe70 AP_Scripting: added docs for precland 2024-03-14 11:42:43 +11:00
Andrew Tridgell
a87139da62 AP_Scripting: added bindings for AC_PrecLand 2024-03-14 11:42:43 +11:00
Andrew Tridgell
205fb22674 SITL: fixed precland simulator 
fixed units of height, was mixed cm and m, now just m AMSL
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
43a29f66d0 AC_PrecLand: added get_target_location and get_target_velocity 2024-03-14 11:42:43 +11:00
Andrew Tridgell
8851a92dfd AP_TECS: fixed adjusting speed without airspeed sensor 
the pitch trim variable that was not connected in aparm is needed to
allow tuning of the flight speed using PTCH_TRIM_DEG and
TRIM_THROTTLE.

This was broken in 4.4.x by this PR:

https://github.com/ArduPilot/ardupilot/pull/22191
 2024-03-14 11:42:43 +11:00
Andy Piper
5a6a19560c AP_HAL_ChibiOS: BlitzF745AIO update to ICM-42688 
enable OSD
use minimal FPV config
enable compass probing
pull uart pins high in bootloader for ELRS
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
767fb372a8 AP_HAL_SITL: fixed get_baud_rate() 2024-03-14 11:42:43 +11:00
Andrew Tridgell
ae46038585 AP_HAL_Linux: fixed get_baud_rate() 2024-03-14 11:42:43 +11:00
Andrew Tridgell
f4635e028d AP_HAL_ESP32: fixed get_baud_rate() 2024-03-14 11:42:43 +11:00
Andrew Tridgell
10aa028d15 AP_SerialManager: default GPS baud to 230400 
this is the most common baudrate
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
3926927104 AP_GPS: do initial probe at default baudrate 
this makes for much faster probe for most users
 2024-03-14 11:42:43 +11:00
Peter Barker
b30563e10b AP_GPS: correct check of reported antenna distance vs stated offset 2024-03-14 11:42:43 +11:00
Andrew Tridgell
e979a9076c AP_GPS: added option to decode RTCM injected data 
this allows for redundent RTCM links (eg. WiFi and SiK links for light
show drones) without causing corruption into the GPS.

If the GPS_DRV_OPTION bit is set then we instantiate a separate RTCM3
decoder per mavlink channel, and only inject when we get a full packet
that passes the RTCM 24 bit CRC
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
49731fcf3b GCS_MAVLink: pass channel number to AP_GPS on RTCM injection 2024-03-14 11:42:43 +11:00
Andrew Piper
a779dfc15d AP_GPS: fragments_received is a bitmask not a count 2024-03-14 11:42:43 +11:00
Paul Riseborough
5156509d3c AP_TECS: Remove unused variable 2024-03-14 11:42:43 +11:00
Paul Riseborough
f73dd09162 AP_TECS: Add /0 protection 2024-03-14 11:42:43 +11:00
Paul Riseborough
f47f44ce88 AP_TECS: Add option for speed to increase up to FBW max during descent 2024-03-14 11:42:43 +11:00
lthall
0f4f780f6e Copter: AC_AttitudeControl: RP_FILT_HZ to RPY_FILT_HZ 2024-03-14 11:42:43 +11:00
lthall
dd70afd24c AC_CustomControl: RP_FILT_HZ to RPY_FILT_HZ 2024-03-14 11:42:43 +11:00
Andy Piper
2c26c9c38c AC_AttitudeControl: ensure yaw gets a FLTD default 2024-03-14 11:42:43 +11:00
Iampete1
e140fea834 AC_AttitudeControl: fix reset_target_and_rate method 2024-03-14 11:42:43 +11:00
Randy Mackay
885dd15cd1 AP_Camera: fix video recording while armed 2024-03-14 11:42:43 +11:00
Andrew Tridgell
23e69995af AP_Param: fixed build of CubeOrange-periph 2024-03-14 11:42:43 +11:00
Andrew Tridgell
7665f919aa AP_Param: fixed cygwin build 
the cygwin build is not generating binaries failing with:

   undefined reference to `AP_Param::load_param_defaults(char const volatile*, int, bool)

there is a 2nd problem that the CI test for cygwin doesn't fail when
the build fails. That will be addressed separately
 2024-03-14 11:42:43 +11:00
Peter Barker
de78a4311f AP_BattMonitor: fix compilation when scripting in but scripted-battery out 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-03-14 11:42:43 +11:00
Rhys Mainwaring
0145fbf6b8 AP_DDS: use msg_prefix in GCS_SEND_TEXT 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-14 11:42:43 +11:00
Rhys Mainwaring
f57d42e188 AP_DDS: use microxrcedds_gen default-container-prealloc-size 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-14 11:42:43 +11:00
Rhys Mainwaring
c6966a1dcb AP_DDS: remove unused TFMessage variable 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-14 11:42:43 +11:00
Peter Barker
3fd12a8936 AP_RCProtocol: CRSF: use subtraction with times, not time+timedelta 2024-03-14 11:42:43 +11:00
Andrew Tridgell
96b59987b2 AP_RCProtocol: decode high duty-cycle CRSF frames using frame markers rather than timeouts 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-03-14 11:42:43 +11:00
Peter Barker
e5a154c0f5 AP_RCProtocol: correct CSRF->CRSF 
Co-authored-by: Andy Piper <github@andypiper.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-03-14 11:42:43 +11:00
Andy Piper
bca40640f2 AP_RCProtocol: add tests for CRSF and fix protocol test 
fixed RCProtocolTest on SITL and make it pass/fail with an exit code

Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-03-14 11:42:43 +11:00
rishabsingh3003
9acbe2fc6a AC_Avoid: Remove sensor status checks 2024-03-14 11:42:43 +11:00
rishabsingh3003
6cb654c5a2 AP_Proximity: Improve get_status handling 2024-03-14 11:42:43 +11:00
rishabsingh3003
22ace12538 AP_RangeFinder: move multican to AP_CANSensor 2024-03-14 11:42:43 +11:00
rishabsingh3003
f32e6b733b AP_Proximity: move mutlican to AP_CANSensor 2024-03-14 11:42:43 +11:00
rishabsingh3003
31b59ebe98 AP_Arming: Remove MR72 2024-03-14 11:42:43 +11:00
rishabsingh3003
e520fa0dc2 AP_CANManager: Add multiCAN interface 2024-03-14 11:42:43 +11:00
rishabsingh3003
3f6091fb80 AP_Arming: Add check for CAN MR72 2024-03-14 11:42:43 +11:00
rishabsingh3003
c9a829ddf7 AP_Proximity: Add support for CAN MR72 2024-03-14 11:42:43 +11:00
rishabsingh3003
9655ce1c3a AP_CANMangaer: Add support for CAN MR72 2024-03-14 11:42:43 +11:00
bugobliterator
3e09c17552 AP_GPS: broaden the acceptance criteria for GPS Yaw measurement 2024-03-14 11:42:42 +11:00
Iampete1
6841c31e1b AP_Parachute: do relay conversion if ever enabled 2024-03-14 11:42:42 +11:00
Andrew Tridgell
3047c1ed92 HAL_ChibiOS: fixed CANFD timings (again!) 
the timing table was not correct, thanks to APD for pointing this out.

This is recalculated from
https://www.kvaser.com/support/calculators/can-fd-bit-timing-calculator,
with transmitter timing delay compensation added and tested with Salae
captures to ensure we are getting the right bit rates
 2024-03-14 11:42:42 +11:00
Andrew Tridgell
f1fedaac72 AP_Param: fixed setting of defaults for dynamic param trees 
when we load a VARPTR subtree we need to re-scan the parameter
defaults file from @ROMFS/defaults.parm in case there are defaults
applicable to this subtree
 2024-03-14 11:42:42 +11:00
yjuav
7f98c7f737 hwdef: add YJUAV_A6Ultra board support 2024-03-14 11:42:42 +11:00
Randy Mackay
4a4521379d Mount: Siyi waits for non-zero cam firmware version 2024-03-14 11:42:42 +11:00
David O'Connor
8621495480 hwdef: add AnyLeaf H7 board 2024-03-14 11:42:42 +11:00
Andy Piper
c9c25f5468 AP_RCProtocol: discriminate GHST and CRSF based on first byte 
do not change to GHST baudrate unless it has been specifically configured
 2024-03-14 11:42:42 +11:00
Andrew Tridgell
0638eae1d9 HAL_Linux: fixed float calc of time for onboard flow 2024-03-14 11:42:42 +11:00
Andrew Tridgell
992eba3a36 HAL_SITL: use integer maths for clocks 
same fix as for HAL_Linux
 2024-03-14 11:42:42 +11:00
Andrew Tridgell
093f6e4a00 HAL_Linux: fixed time function to use integer maths 
avoid floating point rounding errors after long uptimes.

thanks to Richard (RSAXVC) for finding this
 2024-03-14 11:42:42 +11:00
Andrew Tridgell
4424f4e9f8 AP_Scripting: prevent double close in web server 2024-03-14 11:42:42 +11:00
Andrew Tridgell
decd6c91ad AP_Scripting: prevent re-use of closed socket 
this prevents a null pointer dereference after a close of a network
socket
 2024-03-14 11:42:42 +11:00
Andrew Tridgell
a3143ab009 AP_Param: don't enable param backup on all boards 
this fixes an issue with resetting of parameters when going between
4.4.x and 4.5.x on MatekH743, and on any other board using flash
storage where the storage size has increased from 16k to 32k between
4.4.x and 4.5.x

The problem is that when you update to 4.5.x the parameter code stored
a backup of parameters in the StorageParamBak storage region which is
in the last section of storage. When you downgrade to 4.4.x the
AP_FlashStorage::load_sector() code tries to load this data and gets
an error as it is beyond the end of the available 16k storage. This
triggers an erase_all() and loss of parameters
 2024-01-28 08:43:14 +11:00
Andrew Tridgell
6e3369611e HAL_ChibiOS: enable clock management on G4 
this allows for a different clock tree in the main fw from the
bootloader
 2024-01-25 11:44:52 +11:00
Andrew Tridgell
06a8aef998 HAL_ChibiOS: switched G4 FDCAN clock to 80MHz 
this requires main CPU clock at 160 MHz instead of 168 MHz
 2024-01-25 11:44:44 +11:00
Andrew Tridgell
2d965684f6 HAL_ChibiOS: fixed CANFD timings 
our CANFD timings were resulting in a lot of busoff errors. Here is an
example of master at 1Mbit/5MBit:

Getting @SYS/can0_stats.txt as -
------- Clock Config -------
CAN_CLK_FREQ:   80MHz
Std Timings: bitrate=1000000 presc=7
sjw=0 bs1=7 bs2=0 sample_point=90.00000%
FD Timings:  bitrate=5000000 presc=1
sjw=0 bs1=5 bs2=0 sample_point=90.00000%
------- CAN Interface Stats -------
tx_requests:    2689
tx_rejected:    0
tx_overflow:    443
tx_success:     7
tx_timedout:    2232
tx_abort:       0
rx_received:    18470
rx_overflow:    0
rx_errors:      0
num_busoff_err: 34439
num_events:     18477
ECR:            F8
fdf_rx:         18467
fdf_tx_req:     2182
fdf_tx:         0

here is an example with the new timings:

------- Clock Config -------
CAN_CLK_FREQ:   80MHz
Std Timings: bitrate=1000000 presc=8
sjw=1 bs1=8 bs2=1 sample_point=90.00000%
FD Timings:  bitrate=8000000 presc=2
sjw=3 bs1=8 bs2=3 sample_point=80.00000%
------- CAN Interface Stats -------
tx_requests:    3023
tx_rejected:    0
tx_overflow:    0
tx_success:     3023
tx_timedout:    0
tx_abort:       0
rx_received:    27865
rx_overflow:    0
rx_errors:      0
num_busoff_err: 0
num_events:     30888
ECR:            0
fdf_rx:         27862
fdf_tx_req:     3016
fdf_tx:         3016

I am testing between a CubeOrange and a Pixhawk6X. I tested 1, 2, 4, 5
and 8 MBit (which are the only valid FD bitrates in our parameters)

Many thanks to Kai from Salient Motion for finding this issue and
providing the corrected timing table
 2024-01-25 11:44:32 +11:00
Peter Barker
f18e196fa9 GCS_MAVLink: use virtual method for GCS_MAVLink::handle_message 
use more appropriate naming for the method.
 2024-01-24 09:07:41 +11:00
Peter Barker
475ef8a06d AP_Mission: fix use of uninitialised stack data 
loading missions via FTP ends up using uninitialised stack data when storing missions.
 2024-01-24 09:04:28 +11:00
Hayden Donald
a81f2785aa AP_HAL_ChibiOS: Use correct pin config for ADC2 and ADC3 2024-01-24 08:03:24 +11:00
MallikarjunSE
873e2eac7d AP_HAL_ChibiOS: update truenav hwdef 2024-01-24 07:58:09 +11:00
J.R. Bronkar
784a21bcab AP_Mission: fractional Loiter Turn Support 
Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
 2024-01-22 20:27:20 -08:00
Andrew Tridgell
50b95c81ca AP_Param: whitespace fix 2024-01-23 15:00:30 +11:00
Andrew Tridgell
b051719836 SITL: fixed name of pitch limit parameters 2024-01-23 15:00:30 +11:00
Andrew Tridgell
e714f0a7a3 AP_HAL_ChibiOS: fixed name of pitch limit parameters 2024-01-23 15:00:30 +11:00
Andrew Tridgell
315f4963cc SITL: fixed parameter names 2024-01-23 15:00:30 +11:00
Andrew Tridgell
4f182f3194 AP_Scripting: fixed parameter names 2024-01-23 15:00:30 +11:00
Andrew Tridgell
061ac459f8 RC_Channel: tidy a comment for LAND_PITCH_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
f51fa31aae AP_TECS: fixed param names in comments 2024-01-23 15:00:30 +11:00
Andrew Tridgell
77877584f8 AP_Scripting: fixed example script 2024-01-23 15:00:30 +11:00
Andrew Tridgell
15a9909127 SITL: tidy TRIM_PITCH to PTCH_TRIM_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
3643eb6d2a AP_Vehicle: tidy TRIM_PITCH to PTCH_TRIM_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
04d72d3adc SITL: convert param files for LAND_PITCH_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
2c73c56403 AP_TECS: convert LAND_PITCH_CD to LAND_PITCH_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
3fddc487df AP_Landing: convert LAND_PITCH_CD to LAND_PITCH_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
bea9102d72 SITL: convert param files LIM_ROLL_CD -> ROLL_LIMIT_DEG 2024-01-23 15:00:30 +11:00