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52,581 Commits 71 Branches 511 Tags 729 MiB
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29168 Commits

Author SHA1 Message Date
Andrew Tridgell
202e606892 hwdef: changed Pixhawk6C board type to 56 
production bootloader uses 56
 2022-08-02 18:03:52 +10:00
Andy Piper
e058103bda AP_HAL_ChibiOS: hwdef for Foxeer Reaper F745v2. 
README for Reaper F745v2
 2022-08-02 18:03:52 +10:00
Andrew Tridgell
cf3e7aff58 hwdef: added telem3 on Pixhawk6X 2022-08-02 18:03:52 +10:00
Andrew Tridgell
a4a057a660 hwdef: added Pixhawk6C support 2022-08-02 18:03:52 +10:00
Andrew Tridgell
573da3882b AP_Compass: HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE for Pixhawk6C 2022-08-02 18:03:52 +10:00
Andrew Tridgell
adcd7850c0 AP_Compass: removed "AK09916 Wrong id" message 
we don't need this on every board that doesn't have an I2C AK09916
 2022-08-02 18:03:52 +10:00
Andrew Tridgell
5bd665370d hwdef: fixed Pixhawk6X ALT_RAM_MAP check 2022-08-02 18:03:52 +10:00
Andrew Tridgell
c969578970 hwdef: added Pixhawk6X support 
a new H753 based board similar to the Pixhawk5X
 2022-08-02 18:03:52 +10:00
Andrew Tridgell
d82c7a7221 HAL_ChibiOS: added support for ALT_RAM_MAP on H7 
for compatibility with the px4 H7 bootloader
 2022-08-02 18:03:52 +10:00
Andrew Tridgell
669c16a114 HAL_ChibiOS: enable ITCM and DTCM on H7 at startup 
these may have been disabled by the px4 H7 bootloader
 2022-08-02 18:03:52 +10:00
Andrew Tridgell
fe9d33b945 AP_BattMonitor: make healthy() check all configured monitors 
GCS reporting for SYS_STATUS should check all healthy, not just first
backend
 2022-08-02 18:03:52 +10:00
Andrew Tridgell
84db86ed2c AP_BattMonitor: allow INA2xx battery monitors to be powered after boot 
the device doesn't show up till main battery is connected, so we need
this change to allow for separate avionics battery and main battery
with avionics battery powered on first
 2022-08-02 18:03:52 +10:00
Andrew Tridgell
5cff4ce1c8 AP_BattMonitor: report arming unhealthy if backend unhealthy 
important for i2c based battery backends
 2022-08-02 18:03:52 +10:00
Andrew Tridgell
11c9645d7d AP_AHRS: use wind from simulation if available with EKF type 10 2022-08-02 07:50:55 +10:00
Andrew Tridgell
5aff248950 SITL: fill in wind from flightaxis 2022-08-02 07:50:55 +10:00
Randy Mackay
c01cbed8b0 GCS_MAVLink: learn routes even on private channels 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
49ab4b9e08 AP_Scripting: sync quicktune with master 2022-06-17 14:07:00 +10:00
Andy Piper
6f1d0a4e72 AP_GyroFFT: make sure the parameters are updated at least once on startup 2022-06-17 14:07:00 +10:00
Andy Piper
a2318eea99 AP_Arming: make sure FFT gets initialized when arming checks are off 2022-06-17 14:07:00 +10:00
Andy Piper
8233d24ff3 AP_HAL_ChibiOS: add support for MambaF405 2022 MK4 
mark DMA on MambaF405US-I2C UARTs
correct RSSI pin on MambaF405US-I2C
 2022-06-17 14:07:00 +10:00
Andy Piper
ab612bd0a9 AP_HAL_ChibiOS: hwdef for MambaH743v4 
support BMI270 on MambaH743v4 and increase flash SPI clock
add bi-directional dshot to MambaH743
add README and pinout for MambaH743
 2022-06-17 14:07:00 +10:00
Andy Piper
c328d9a531 AP_InertialSensor: don't print error when probing non-existant BMI270 
fix device locking at startup on BMI270
 2022-06-17 14:07:00 +10:00
Andy Piper
eb834fbfa3 AP_Logger: support W25N01GV flash chips 
add separate driver for W25N01GV triggered via HAL_LOGGING_DATAFLASH_DRIVER
move flash_test() into AP_Logger_Block.
cleanup use of 4k sector commands to account for chips that only have block commands
 2022-06-17 14:07:00 +10:00
Andy Piper
ebb276c2aa AP_RCTelemetry: don't spam mode changes on CRSF startup 
rewrite device ping bootstrap to avoid ping flood
enable device pings on CRSF in the event of TX loss.
only send pings if not negotiating the version
 2022-06-17 14:07:00 +10:00
Andy Piper
333e6839f5 AP_RCProtocol: reset UART on RX failure for CRSF 
update CRSF timestamps to use microseconds
implement RX liveness protocol and implement for CRSF
 2022-06-17 14:07:00 +10:00
Andy Piper
4c28ade29c AP_RCProtocol: check for bad frames in CRSF decoding. 2022-06-17 14:07:00 +10:00
Mohammad Hefny
9043fc06d8 AP_Rangefinder: preserve new address 2022-06-17 14:07:00 +10:00
Andy Piper
0aeec158bc AP_OSD: update parameter menu flightmodes for plane and copter. 2022-06-17 14:07:00 +10:00
Andrew Tridgell
d6c5b7a8ad AP_Rangefinder: fixed scaling on PWM driver and enable SCALING parameter 
this fixes a bug introduced here:

  https://github.com/ArduPilot/ardupilot/pull/18829

and allows the scaling of PWM rangefinders to be adjusted
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
b44478217f AP_InertialSensor: fixed build with logging disabled 
fixes CubeOrange-periph build
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
795c2385ee AP_BoardConfig: fixed build with logging disabled 
fixes CubeOrange-periph build
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
1ac8a6e67f AP_GPS: fixed build without logging 2022-06-17 14:07:00 +10:00
Andrew Tridgell
7300cbbc96 AP_Logger: don't compiler AP_Logger.cpp if logging not enabled 
for some reason this fixes f103-GPS build, even though the code wasn't
referenced
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
8c9966c4cf AP_Logger: save crash_dump.bin to sdcard on boot 
on each boot write crash_dump.bin to the microSD if it is available
this makes it easier for users to send in their crash dumps, and less
likely they will overwrite it with a fw update
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
d529897681 AP_UAVCAN: added a check for memory corruption in the pool 2022-06-17 14:07:00 +10:00
Andrew Tridgell
cc7e112a8f AP_UAVCAN: added dynamically allocated pool size param 
allow for smaller pool size to save memory
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
395982cd34 AC_AttitudeControl: reduced default quadplane VTOL pos XY gains 2022-06-17 14:07:00 +10:00
Peter Barker
6fd8eea917 AP_Filesystem: correct run-length encoding in param download 
If a parameter's name was a prefix of the previous name we would
suffer an integer-wrap problem and incorrectly encode the parameter name
 2022-06-17 14:07:00 +10:00
Andrew Tridgell
a91894ff2d AP_NavEKF3: log set source events 2022-06-17 14:07:00 +10:00
Andrew Tridgell
56c5a607e3 AP_DAL: added set source events for EKF3 2022-06-17 14:07:00 +10:00
Iampete1
b201c5b238 AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane 2022-06-17 14:07:00 +10:00
Andy Piper
83b421bac1 AR_Motors: make sure ESC type is initialized early 2022-06-17 14:07:00 +10:00
Andy Piper
8f3e655ff8 AP_Motors: make sure ESC type is initialized early 2022-06-17 14:07:00 +10:00
Andy Piper
a87a23a746 SRV_Channel: add BLHeli_S ESC type 2022-06-17 14:07:00 +10:00
Andy Piper
578b5d9627 AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths 2022-06-17 14:07:00 +10:00
Andy Piper
92b5a1c615 AP_HAL: add BLHeli_S ESC type and use it to control bitwidths 
adjust BLHeli_S bitwidth and ticks to support more ESC variants.
 2022-06-17 14:07:00 +10:00
Randy Mackay
69203b27c8 AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7 2022-06-17 14:07:00 +10:00
Randy Mackay
24eaa270c8 AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-06-17 14:07:00 +10:00
Andy Piper
9baa8d104a AC_AutoTune: allow high ANGLE_P gains 2022-06-17 14:07:00 +10:00
Andy Piper
5cb5168406 AP_HAL: add bitwidth hal definitions. 
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
 2022-06-17 14:07:00 +10:00
Andy Piper
baeee9c8d1 AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-06-17 14:07:00 +10:00
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