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52,262 Commits 71 Branches 509 Tags 753 MiB
6a6a5adae0
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28978 Commits

Author SHA1 Message Date
Andrew Tridgell
6a6a5adae0 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
 2022-04-09 17:12:27 +09:00
Andy Piper
4f8c486278 AP_HAL_ChibiOS: spro H7 extreme updates. 
cannot currently use both IMUs on spro H7 extreme due to CPU load
 2022-04-09 17:12:27 +09:00
Peter Barker
45aebfdf74 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
 2022-04-09 17:12:27 +09:00
Andrew Tridgell
58e356557a 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
 2022-04-09 17:12:27 +09:00
Bill Geyer
152c98831b AP_Math: add chirp function to support frequency sweeps in systemid and autotune 2022-03-30 19:12:45 +09:00
Bill Geyer
eae1e6cda7 AC_Autotune: clean up variable init for dwell 2022-03-30 19:12:45 +09:00
Bill Geyer
f782215194 AC_AutoTune: use chirp function in AP_Math for frequency sweeps 2022-03-30 19:12:45 +09:00
Bill Geyer
da7164c1e4 AC_AutoTune: combine dwell_run_test for angle and rate 2022-03-30 19:12:45 +09:00
Bill Geyer
68f0eb9e5d AC_AutoTune: combine dwell_init methods 2022-03-30 19:12:45 +09:00
Bill Geyer
14fea56206 AC_AutoTune:tradheli-streamline gcs messages 2022-03-30 19:12:45 +09:00
Peter Barker
cade8b36a0 AC_AutoTune: Vector tidying 2022-03-30 19:12:45 +09:00
Peter Barker
1a84c17fee AC_AutoTune_Heli: use structure assignment to clear structures 2022-03-30 19:12:45 +09:00
Peter Barker
55af020639 AC_AutoTune: use structure assignment for test results 2022-03-30 19:12:45 +09:00
Peter Barker
3686f32671 AC_AutoTune: createstructure to hold specific test's sweep results 2022-03-30 19:12:45 +09:00
Henry Wurzburg
94c0701f17 HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-03-30 19:12:45 +09:00
Andy Piper
bb86b35f03 AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-03-30 19:12:45 +09:00
Andy Piper
15614bd879 SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-03-30 19:12:45 +09:00
Andy Piper
70bba0cc99 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
 2022-03-30 19:12:45 +09:00
AndKe
1805ff4e6d AP_HAL_ChibiOS: add OREOLED to CubeGreen 2022-03-30 19:12:45 +09:00
Andrew Tridgell
5a24abafe9 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
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
c74ace877a 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
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
e4cf969168 AP_Logger: added terrain correction logging field 2022-03-30 19:12:45 +09:00
Andrew Tridgell
eb52867dad AP_Terrain: added logging of terrain correction 2022-03-30 19:12:45 +09:00
Andrew Tridgell
6fa866d1b4 AP_Scripting: restored corrected boolean in height_amsl binding 2022-03-30 19:12:45 +09:00
Andrew Tridgell
34e473a21a HAL_SITL: don't use terrain adjustment 2022-03-30 19:12:45 +09:00
Andrew Tridgell
cffbc08ad8 AP_Arming: setup for terrain adjustment on arming 2022-03-30 19:12:45 +09:00
Andrew Tridgell
ae4dfb9c1e SITL: don't use adjusted terrain in SITL 2022-03-30 19:12:45 +09:00
Andrew Tridgell
54fc430dec 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
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
6c3062d972 HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
e079d93b2d 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
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
fb644b2078 AP_RCProtocol: added using_uart() method 2022-03-30 19:12:45 +09:00
Andy Piper
7393425ea4 AP_HAL_ChibiOS: add KakuteH7-bdshot target 2022-03-30 19:12:45 +09:00
Andrew Tridgell
d4a4bc87b3 AP_BattMonitor: fixed battery remaining of sum battery 
and move to common function for update_consumed()
 2022-03-30 19:12:45 +09:00
Randy Mackay
0bb1138d49 AP_BLHeli: add reboot required to some parameters 2022-03-30 19:12:45 +09:00
Andy Piper
f5615f94fa AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-30 19:12:45 +09:00
Randy Mackay
596893b199 AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
df9679c73a HAL_ChibiOS: prevent conflicting RC input 
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
7d790feb93 AP_GPS: prevent switching to a dead GPS 
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
47a30d609c GCS_MAVLink: send GCS voltage to GCS 
may be resting voltage of option enabled
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
85b1a4d7cc AP_BattMonitor: added option to send resting voltage to GCS 2022-03-30 19:12:45 +09:00
Andy Piper
cf9afacf9a AP_Declination: ensure indexing into declination tables is always correct 
add constants for table sizes
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
7f51c5c55d AP_Arming: make mission checks virtual 2022-03-30 19:12:45 +09:00
Andrew Tridgell
b74a76c03d AP_Arming: display a warning if arming checks disabled when arming 2022-03-30 19:12:45 +09:00
Andrew Tridgell
965fedd8c9 AC_AttitudeControl: added set_lean_angle_max_cd() 2022-03-30 19:12:45 +09:00
Andrew Tridgell
eebd2f99e4 AC_Autorotation: use accel_to_angle() 2022-03-30 19:12:45 +09:00
Andrew Tridgell
838831d30e AC_WPNav: use angle/accel functions 2022-03-30 19:12:45 +09:00
Andrew Tridgell
c6b9e5fd68 AP_Math: added angle_to_accel() and accel_to_angle() 2022-03-30 19:12:45 +09:00
Leonard Hall
c31116ebda AC_PosControl: Decay posiiton error during relax 2022-03-12 08:00:49 +09:00
Leonard Hall
3eb741125c AC_AttitudeControl: AC_PosControl: add soften for landing 2022-03-12 08:00:49 +09:00
Peter Barker
5a289c527b AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files 2022-03-12 08:00:49 +09:00