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32156 Commits

Author SHA1 Message Date
bugobliterator
2bb19228a7 AP_Scripting: stash and restore FPU register context in LUAI_TRY 
this fixes an issue where a lua library function triggers an exception
after it does a math operation which changes the floating point
registers on M7 MCUs (such as STM32H7). An example is math.random()
which calls math_random(), which pre-calculates a double value before
checking if the arguments to the call are valid. When it then checks
and finds invalid values the exception longjmp does not restore the
floating point registers.
 2023-08-01 16:51:27 +09:00
Andrew Tridgell
ddeb795782 AP_Scripting: added bindings for VTOL motor loss 
this allows a script to take an action on loss of a VTOL motor
 2023-08-01 16:51:27 +09:00
Andrew Tridgell
3ebbf672d7 HAL_ChibiOS: implement newlib alloc functions as malloc wrappers 
this fixes issue #24106
 2023-07-04 15:12:55 +09:00
Peter Barker
b18dee217b AP_Notify: add driver for IS31FL3195 LED 2023-07-04 12:17:52 +09:00
Peter Barker
fa9cb45fcb AP_Notify: add driver for LP5562 LED 2023-07-04 12:17:52 +09:00
Andrew Tridgell
daa8d19d33 AP_Scripting: updated VTOL quicktune docs 2023-07-04 12:17:52 +09:00
Andrew Tridgell
ec511357eb AP_Scripting: fixed lua-check warnings in VTOL-quicktune 2023-07-04 12:17:52 +09:00
Andrew Tridgell
bb0f12fea4 AP_Scripting: fixed use of QUIK_ENABLE in VTOL-quicktune 
this was lost when the cached access was added
 2023-07-04 12:17:52 +09:00
Andrew Tridgell
87d992fdfc AP_Scripting: added QUIK_MAX_REDUCE parameter to VTOL-quicktune.lua 
this limits the amount that rate gains can reduce from the original
values in a quicktune. Large reductions in rate gains can be
incorrectly triggered by a frame resonance or gust of wind which can
result in gains that are dangerously low, which can trigger an angle P
oscillation
 2023-07-04 12:17:52 +09:00
Andy Piper
cd0d30d69c AP_HAL_ChibiOS: remove bdshot from speedybeef4 as it doesn't work and increases flash usage 2023-07-04 12:17:52 +09:00
Andy Piper
2b9395a42d AP_HAL_ChibiOS: Pixhawk1-bdshot 2023-07-04 12:17:52 +09:00
Michael du Breuil
0a959508f7 AP_ADSB: Fix spam of lost transciever message at update() rate 2023-07-04 12:17:51 +09:00
Andy Piper
2d57407b02 AC_AutoTune: correct incorrect min raw rate valuee 2023-07-04 12:17:51 +09:00
Andrew Tridgell
e2dd996da1 AP_NavEKF3: fixed velocity reset on AID_NONE 
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
 2023-07-04 12:17:51 +09:00
Andrew Tridgell
3dd9513a03 AP_NavEKF2: fixed velocity reset on AID_NONE 
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
 2023-07-04 12:17:51 +09:00
Peter Barker
6b384ace77 AP_Arming: reword GPS pre-arm failure 
M10S (no storage) throws this for a considerable period of time and the wording makes this process sound scary.
 2023-07-04 12:17:51 +09:00
Andy Piper
18f5051005 AP_HAL_ChibiOS: Pixhawk6X bdshot version 2023-07-04 12:17:51 +09:00
jfbblue0922
36dbba0068 AP_HAL_ChibiOS: jfb100 gets shorter EXT_WDOG_INTERVAL_MS 2023-07-04 12:17:51 +09:00
jfbblue0922
95ea5b3b92 AP_HAL_CHibiOS: JFB100 hwdef fix for ext watchdog 2023-07-04 12:17:51 +09:00
jfbblue0922
4b31fe20df AP_HAL_ChibiOS: support external watchdog gpio 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>

optional support to toggle GPIO pin at 10hz
 2023-07-04 12:17:51 +09:00
Andrew Tridgell
7b2e103ec3 AP_GPS: fixed ublox M10S auto-config 
this copes with the M10S rejecting multiple-key VALGET calls. We fall
back to fetching one at a time
 2023-07-04 12:17:51 +09:00
Alexander Keller
5d22115787 AP_GPS:Comform to ardupilot undulation definition 2023-07-04 12:17:51 +09:00
davidsastresas
0fa4e7cc1f GCS_Common: handle CMD_DO_SET_ROI_NONE for command int packets 2023-07-04 12:17:51 +09:00
Randy Mackay
f2157b3d87 AP_SerialManager: improve OPTIONS desc for Swap bit 2023-07-04 12:17:51 +09:00
Randy Mackay
ac28d560dd AP_SerialManager: generalise SToRM32 serial protocol desc and enum 2023-07-04 12:17:51 +09:00
Iampete1
9c6f57fb05 AP_Motors: Heli RSC: remove incorrect set range call 2023-07-04 12:17:51 +09:00
Henry Wurzburg
22d3146f38 AP_HAL_ChibiOS: add Holybro KakuteH7-Wing 2023-07-04 12:17:51 +09:00
Randy Mackay
9124c45ca9 AR_PosControl: add input_pos_vel_accel target 2023-06-08 10:05:36 +09:00
Randy Mackay
189e3634f1 AP_HAL_ChibiOS: JFB100 LED definition fix 2023-06-08 10:05:36 +09:00
Randy Mackay
26ee1f1df6 AP_InertialSensor: SCHA63T comment fix 2023-06-08 10:05:36 +09:00
Randy Mackay
348bf59bd0 AP_HAL_ChibiOS: JFB100 board def fixup 2023-06-08 10:05:36 +09:00
Randy Mackay
21a6e48f99 AP_InertialSensor: SCHA63T loses unused ret bool 2023-06-08 10:05:36 +09:00
jfbblue0922
e9bda3a311 AP_HAL_ChibiOS: add JFB100 board definition 2023-06-08 10:05:36 +09:00
Randy Mackay
4637156e6c AP_InertialSensor: formatting fixes 2023-06-08 10:05:36 +09:00
jfbblue0922
a908341b6c AP_InertialSensor: add SCHA63T IMU support 2023-06-08 10:05:36 +09:00
jfbblue0922
123b8113e8 AP_Math: add crc8_sae 2023-06-08 10:05:36 +09:00
Henry Wurzburg
c6eaee053c AP_Notify: fix incorrect buzzer pin type to stop always instantiating 2023-06-08 10:05:36 +09:00
James O'Shannessy
98560d9a17 AP_BattMonitor: Fixes the setting of a default parameter for battery instance #2 set in hwdef 2023-06-08 10:05:36 +09:00
Randy Mackay
4959ec9100 AC_WPNav: wpnav speed param check fixed 2023-06-08 10:05:36 +09:00
Andrew Tridgell
e2535a3851 HAL_ChibiOS: fixed USB pass-thru for 2nd USB endpoint 
we need to align the endpoint ID in the structure
 2023-06-08 10:05:36 +09:00
Andrew Tridgell
4f0a573c73 AP_AHRS: don't reject airspeed using EKF if dead-reckoning 
when dead-reckoning the EKF wind estimate can diverge from reality,
leading to us rejecting a valid airspeed sensor. We are best off
trusting airspeed if we are dead-reckoning
 2023-06-08 10:05:36 +09:00
Andrew Tridgell
303dad5ab6 AP_BoardConfig: fixed documentation of safety options 
on and off were reversed
 2023-06-08 10:05:36 +09:00
Iampete1
d00d5e09aa Filter: SlewLimiter: always caculate slew limit 2023-06-08 10:05:36 +09:00
Andrew Tridgell
f0bf42706d AP_BattMonitor: allow max amps to be configured on INA2XX 
this allows for higer current ranges with lower resolution
 2023-06-08 10:05:36 +09:00
Andrew Tridgell
73a904a0ec hwdef: use zero address for INA2XX to allow for different sensors 2023-06-08 10:05:36 +09:00
Andrew Tridgell
ee75016a12 AP_BattMonitor: auto-probe INA2XX address if address is zero 
this makes life easier for users who don't know which device they have
 2023-06-08 10:05:36 +09:00
Andrew Tridgell
abf4ba725a AP_BattMonitor: support INA228 and INA238 battery monitor 
I2C monitors with similar functionality to INA226
 2023-06-08 10:05:36 +09:00
Andy Piper
25f0860866 AC_AutoTune: load test gains for correct axis when testing yaw D 2023-06-08 10:05:36 +09:00
Paul Riseborough
880cffed9a AP_NavEKF3: Increase delta velocity bias state process noise 
Required due to state variance collapse on ground with some systems using RTK GPS.
 2023-06-08 10:05:36 +09:00
Paul Riseborough
365e3aa62a AP_NavEKF3: Strengthen recovery from bad delta velocity bias learning 2023-06-08 10:05:36 +09:00
Paul Riseborough
acfa1f108a AP_NavEKF3: Increase default value of EK3_ABIAS_P_NSE 
This is required because some hardware setups with RTK GPS have experienced a collapse of the delta velocity state variances.
 2023-06-08 10:05:36 +09:00
Paul Riseborough
954a3cf1e2 AP_NavEKF3: Retune and fix delta velocity bias state variance protection 2023-06-08 10:05:36 +09:00
Andy Piper
7ac3209c93 AP_NavEKF: ensure gyro biases are numbers 
avoid errors during compass mot
 2023-06-08 10:05:36 +09:00
Paul Riseborough
565c65803a AP_NavEKF3: Lock in wind state estimates when using srag to dead reckon 2023-06-08 10:05:36 +09:00
Andrew Tridgell
78e6ff53b4 AP_ICEngine: fixed a bug engine control when running 
if you have a mission item for engine control with delayed start at
height and the engine is already running them it would put the ICE
subsystem into a state where it would no longer start the engine

It was actually 2 bugs:

 - an engine control to do a height delayed start should be ignored if
   the engine is already running. This prevents an engine control to
   start the engine from stopping the engine

 - a start_chan high should always try to start the engine
   immediately, even if in the wait state
 2023-06-08 10:05:36 +09:00
Andrew Tridgell
18128ce3ad AP_RCProtocol: return true on initial protocol detection 
we need to tell the IO firmware that a byte was consumed when we first
detect a protocol as otherwise the next bad byte on DSM will lock us
on the DSM port
 2023-06-08 10:05:35 +09:00
Andrew Tridgell
c98b85a1a2 AP_IOMCU: fixed issue with not regaining RC input 
this fixes an issue where when you lose R/C input on IOMCU that you
may not regain it when R/C comes back.

The issue stems from us still processing the DSM uart when we are
using the SD3 "SBUS" uart for RC input, and still doing the switch of
the SD3 config every 2 seconds.

When we are not searching for a new protocol we should not be changing
UART config
 2023-06-08 10:05:35 +09:00
Andrew Tridgell
22a904f102 AP_NavEKF3: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-06-08 10:05:35 +09:00
Andrew Tridgell
d7c90c5a5b AP_NavEKF2: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-06-08 10:05:35 +09:00
Andrew Tridgell
6d5c34dfa8 AP_Param: added set() to AP_Enum 2023-06-08 10:05:35 +09:00
Peter Barker
0a4f34cdd2 AP_Logger: do not rotate logs when disarming if we are replay-logging 2023-06-08 10:05:35 +09:00
Andrew Tridgell
397b521536 AP_Logger: added LOG_DARM_RATEMAX 
this sets the logging rate max when disarmed. In combination with
LOG_DISARMED=3 it gives a very nice setup to get always on logging
with very little addition to the log sizes. It is particularly useful
in combination with LOG_REPLAY=1
 2023-06-08 10:05:35 +09:00
Andrew Tridgell
4938593d4c AP_Logger: added LOG_DISARMED=3 
when LOG_DISARMED is set to 3 then we log while disarmed but if we
reboot without ever arming the log is discarded. This allows for using
LOG_DISARMED without filling the microSD.
 2023-06-08 10:05:35 +09:00
Andrew Tridgell
f0cca1aaf4 AP_Logger: use AP_Enum for log_disarmed 2023-06-08 10:05:35 +09:00
Henry Wurzburg
b4c48d366a AP_HAL_ChibiOS: Add SpeedyBeeF405WING 2023-06-08 10:05:35 +09:00
Andy Piper
3a40f41f29 AP_HAL_ChibiOS: correct locking on LED thread 2023-06-08 10:05:35 +09:00
Andy Piper
175f4dfd4f AP_HAL_ChibiOS: move LED processing to a separate thread 
LED processing on a separate thread allows much longer LED lengths to be handled without
compromising dshot timing or timeouts. The thread is also run at a lower priority to
reflect its lack of flight criticality
 2023-06-08 10:05:35 +09:00
Andy Piper
c17fffc20d AP_HAL: add helper functions for LEDs 
add PRIORITY_LED for led output thread
 2023-06-08 10:05:35 +09:00
Andy Piper
c0288f8f1b AP_HAL_ChibiOS: reduce IMU SPI low speed to 1Mhz to avoid chip initialization issues 2023-06-08 10:05:35 +09:00
Andy Piper
f6408f9d9b AP_HAL_ChibiOS: FoxeerH743 GA release 2023-06-08 10:05:35 +09:00
Andy Piper
b2aed56431 AP_HAL_ChibiOS: update MambaF405v2 for ICM42688, bdshot and DMA on UART1 2023-06-08 10:05:35 +09:00
Andy Piper
177c736bb7 AP_HAL_ChibiOS: add BMI270 and ICM42688 to FlywooF745 2023-06-08 10:05:35 +09:00
Andy Piper
b4adae5428 AP_HAL_ChibiOS: remove erroneous FlywooF745v2 2023-06-08 10:05:35 +09:00
Andy Piper
73b3d3c62b AP_HAL_ChibiOS: hwdef for FlywooF745v2 
Add SPL06 baro to FlywooF745v1
 2023-06-08 10:05:35 +09:00
Paul Riseborough
3c99766a5a AP_NavEKF3: Improve protection against GPS glitches during yaw alignment 2023-04-21 09:48:59 +10:00
Paul Riseborough
007bc804bd AP_NavEKF3: Reduce use of GSF yaw for planes with no compass 2023-04-21 09:48:59 +10:00
Andy Piper
27628099ce AP_HAL_ChibiOS: hwdef for MatekF405-TE/VTOL including bdshot 2023-04-21 09:48:59 +10:00
bugobliterator
42d21ab9bc AP_InertialSensor: fix hardfault in BatchSampler 2023-04-21 09:48:59 +10:00
Peter Barker
f3502a71e9 AP_InertialSensor: correct access beyond array in Ins TCal 2023-04-21 09:48:59 +10:00
Peter Barker
aecffd2778 SimOnHW: correct compilation on CubeOrangePlus 
this was at 2 to reduce CPU load.

But particularly when CubeOrangePlus is playing around with auxiliary IMUs we really want to be running on SimOnHardware just what we're running on the normal firmware.  We can find CPU cycles elsewhere....
 2023-04-21 09:48:59 +10:00
Andy Piper
3e83d40bd8 AP_HAL_ChibiOS: ensure that DMA source is correct on DMA send for rcout 2023-03-26 16:46:53 +11:00
Andy Piper
aabfce2099 AP_HAL_ChibiOS: ensure the rcout TIM_UP DMA request source is re-instated after cancellation 
This fixes a bug in bdshot whereby dma cancellation could result in the wrong DMA channel
being used for dshot output and hence motors stopping
 2023-03-26 16:46:51 +11:00
Andrew Tridgell
7527c6e278 HAL_ChibiOS: support starting the clock at non-zero 
for testing time wrap bugs
 2023-03-26 16:46:47 +11:00
Andrew Tridgell
c55a2916f6 HAL_ChibiOS: switched to 64 bit maths for DShot timings 
this fixes a timer wrap bug at 71 minutes after boot that impacts
bdshot
 2023-03-26 16:46:44 +11:00
bugobliterator
b9e9d4cc4f AP_InertialSensor: fix duplicate sensor detection for AUX sensors 2023-03-24 11:55:45 +11:00
bugobliterator
f88db74356 AP_HAL_ChibiOS: add support for initialising extra sensors as AUX 2023-03-24 11:55:45 +11:00
bugobliterator
6eaa05960f AP_InertialSensor: increase the temp tolerance for INV2 driver for fifo reset 2023-03-23 08:00:05 +11:00
bugobliterator
deeeb4134c AP_NavEKF3: use INS_MAX_INSTANCES instead of MAX_EKF_CORES for IMU mask 2023-03-21 10:04:16 +11:00
bugobliterator
08bea2fcd2 AP_InertialSensor: move from INS_ top level parameters to INS 2023-03-21 10:04:16 +11:00
bugobliterator
e7533c006b SITL: add support for auxiliary IMUs 2023-03-21 10:04:16 +11:00
bugobliterator
14ae431056 AP_DAL: use MAX_EKF_CORES instead of INS_MAX_INSTANCES in ekf_low_time_remaining 2023-03-21 10:04:16 +11:00
bugobliterator
f3dc4216d2 AP_HAL_ChibiOS: allow instantiation of upto 5 IMUs on CubeOrangePlus 2023-03-21 10:04:16 +11:00
bugobliterator
4e93e99fe5 AP_NavEKF: Five IMUs need slightly more stack space with GCC 6.3.1 
The extra space is take by the inactive sensor bias state code.
 2023-03-21 10:04:16 +11:00
bugobliterator
10439cc42e AP_InertialSensor: add support for extra Aux IMUs 2023-03-21 10:04:16 +11:00
Peter Barker
1cd3e7327d AP_EFI: add defines for Lutan and MegaSquirt 2023-03-21 09:01:13 +11:00
Peter Barker
615f36f8a0 AP_UAVCAN: tidy AP_EFI defines 2023-03-21 09:01:13 +11:00
Peter Barker
1e38200293 AP_PiccoloCAN: tidy AP_EFI defines 2023-03-21 09:01:13 +11:00
Peter Barker
593983df7a AP_EFI: tidy AP_EFI defines 2023-03-21 09:01:13 +11:00
Peter Barker
e76462f005 AP_OSD: move OSD minimizement to minimize_features.inc 2023-03-21 08:47:53 +11:00
Peter Barker
8278d5ad76 AP_HAL_ChibiOS: move OSD minimizement to minimize_features.inc 2023-03-21 08:47:53 +11:00