Commit Graph

61854 Commits

Author SHA1 Message Date
rishabsingh3003 639f336d32 AP_Arming: Add check for CAN MR72 2024-03-14 11:29:35 +11:00
rishabsingh3003 4709cf9440 AP_Proximity: Add support for CAN MR72 2024-03-14 11:29:35 +11:00
rishabsingh3003 1d2aecb0ed AP_CANMangaer: Add support for CAN MR72 2024-03-14 11:29:35 +11:00
Andrew Tridgell ab68066e9c Rover: version to 4.5.0-beta2 2024-02-14 11:20:30 +11:00
Andrew Tridgell 8c01048426 Plane: version to 4.5.0-beta2 2024-02-14 11:20:30 +11:00
Andrew Tridgell 74590e9176 Copter: version to 4.5.0-beta2 2024-02-14 11:20:30 +11:00
Andrew Tridgell 66df82ae3d Rover: release notes for 4.5.0-beta2 2024-02-14 11:20:30 +11:00
Andrew Tridgell 70ba0f2c6d Plane: release notes for 4.5.0-beta2 2024-02-14 11:20:30 +11:00
Andrew Tridgell 2c8220f9fe Copter: release notes for 4.5.0-beta2 2024-02-14 11:20:30 +11:00
Andy Piper 6822c96d76 Copter: filter ekf variances for failsafe and vibration checks
add a parameter to control EKF failsafe filtering
2024-02-14 11:20:30 +11:00
bugobliterator d76617f54c AP_GPS: broaden the acceptance criteria for GPS Yaw measurement 2024-02-14 11:20:30 +11:00
Iampete1 6be66f4010 AP_Parachute: do relay conversion if ever enabled 2024-02-14 11:20:30 +11:00
Andrew Tridgell ccaeb0fd45 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
2024-02-14 11:20:30 +11:00
Andrew Tridgell f585ab7c4f Plane: fixed handling of arming with safety on
if safety is on and you force arm them turn safety off then Q modes
cannot run the motors as the AP_Motors armed state will still be off.

This ensures that the motors are armed immediately we arm. This
matches what copter does when arming with safety on
2024-02-14 11:20:30 +11:00
Andrew Tridgell c1e4332ba5 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
2024-02-14 11:20:30 +11:00
yjuav bdb5352086 hwdef: add YJUAV_A6Ultra board support 2024-02-14 11:20:30 +11:00
Randy Mackay 59ce292af5 Mount: Siyi waits for non-zero cam firmware version 2024-02-14 11:20:30 +11:00
David O'Connor 739234e5f7 Tools: add AnyLeaf H7 board 2024-02-14 11:20:30 +11:00
David O'Connor d7daf8d6a5 hwdef: add AnyLeaf H7 board 2024-02-14 11:20:30 +11:00
Andy Piper 019b9f5c35 AP_RCProtocol: discriminate GHST and CRSF based on first byte
do not change to GHST baudrate unless it has been specifically configured
2024-02-14 11:20:30 +11:00
Andrew Tridgell dcf5730561 HAL_Linux: fixed float calc of time for onboard flow 2024-02-14 11:20:30 +11:00
Andrew Tridgell 04adf7c4f0 HAL_SITL: use integer maths for clocks
same fix as for HAL_Linux
2024-02-14 11:20:30 +11:00
Andrew Tridgell 5df46312e8 HAL_Linux: fixed time function to use integer maths
avoid floating point rounding errors after long uptimes.

thanks to Richard (RSAXVC) for finding this
2024-02-14 11:20:30 +11:00
Andrew Tridgell e04fd1f05a AP_Scripting: prevent double close in web server 2024-02-14 11:20:30 +11:00
Andrew Tridgell 4851d103e1 AP_Scripting: prevent re-use of closed socket
this prevents a null pointer dereference after a close of a network
socket
2024-02-14 11:20:30 +11:00
Andrew Tridgell 2b1723fd2e waf: avoid trying to compile .github directory as DSDL 2024-02-14 11:20:30 +11:00
Andrew Tridgell f9933f32ff DroneCAN: update DSDL compiler, libcanard and pydronecan
fixed handling of bad multi-frame messages
2024-02-14 11:20:30 +11:00
Randy Mackay 6714e07796 Copter: version to 4.5.0-beta1 2024-01-31 10:04:33 +11:00
Randy Mackay 81a1513c97 Copter: 4.5.0-beta1 release notes 2024-01-31 10:04:33 +11:00
Randy Mackay 32179336a5 Rover: version to 4.5.0-beta1 2024-01-31 10:04:33 +11:00
Randy Mackay 99012b016d Rover: 4.5.0-beta1 release notes 2024-01-31 10:04:33 +11:00
Randy Mackay 0eb0e64447 Plane: version to 4.5.0-beta1 2024-01-31 10:04:33 +11:00
Randy Mackay 6eb4f6c59f Plane: 4.5.0-beta1 release notes 2024-01-31 10:04:33 +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 f98a7d6ac1 waf: removed old UAVCAN defines 2024-01-25 11:44:49 +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 113ada0524 Tools: 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 03fe367459 Rover: 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 55710e7f7b Blimp: 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 aa14e73a0b ArduSub: 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 2f0cb8b650 ArduPlane: 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 8cda4ad924 ArduCopter: 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 c7f7ec3312 AntennaTracker: 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 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 1ec61c57ba Rover: 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