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52330 Commits

Author SHA1 Message Date
Andrew Tridgell 6c5b7c5178 Plane: prepare for 4.2.0beta6 2022-04-29 08:06:29 +09:00
Andrew Tridgell e2519e792a Plane: release notes for plane 4.2.0beta6 2022-04-29 08:06:29 +09:00
Andy Piper ec0df918e5 AP_InertialSensor: move frontend update into ramfunc. 2022-04-29 08:06:29 +09:00
Andy Piper 921379ceb9 AP_FlashIface: make sure XIP flash is ready before returning 2022-04-29 08:06:29 +09:00
Andy Piper f834d7895e AP_Bootloader: change timeout on external flash init 2022-04-29 08:06:29 +09:00
Andy Piper f3319c7fc0 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
 2022-04-29 08:06:29 +09:00
Andy Piper e0b93e73dc Tools: iFlight Chimera 7 parameters 2022-04-29 08:06:29 +09:00
Randy Mackay c53e507978 AP_Arming: add pre-arm check of disabled servo channels 2022-04-29 08:06:29 +09:00
Andy Piper 0d096985db 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
 2022-04-29 08:06:29 +09:00
Andy Piper 8a0093eae8 AP_HAL_ChibiOS: determine presence of disabled channels based on digital channels in a group 2022-04-29 08:06:29 +09:00
Andy Piper a0140fb73e AP_HAL: add accessor for disabled channels to RCOutput 2022-04-29 08:06:29 +09:00
Andy Piper a66355fa8b AP_BLHeli: keep a record of disabled motors 2022-04-29 08:06:29 +09:00
Bill Geyer 61e2b15e4e Copter: properly set feedforward enabled before exit 2022-04-29 08:06:29 +09:00
Bill Geyer cabdafeeb9 AC_AutoTune: fix gain determination fail logic 2022-04-29 08:06:29 +09:00
Bill Geyer e904f4ba38 AC_AutoTune: use failed state to exit 2022-04-29 08:06:29 +09:00
Bill Geyer 58d46114bc AC_AutoTune: use generic load gain method to save flash 2022-04-29 08:06:29 +09:00
Andy Piper 34f3ba179f bootloaders: MatekF765-Wing-bdshot bootloader 2022-04-29 08:06:29 +09:00
Andy Piper dcb634b3d8 AP_HAL_ChibiOS: bdshot version of MatekF765-Wing 2022-04-29 08:06:29 +09:00
Andy Piper 579fd22ca4 AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation 2022-04-29 08:06:29 +09:00
Andy Piper 91732555a5 AP_HAL: update prescaler tests 2022-04-29 08:06:29 +09:00
Randy Mackay 9c778d134a AP_RPM: pre-arm displays gpio vs servo_ch conflict 2022-04-29 08:06:29 +09:00
Randy Mackay 61ea5c9cb2 AP_Relay: pre-arm displays gpio vs servo_ch conflict 2022-04-29 08:06:29 +09:00
Randy Mackay 423e5cb96d AP_Button: pre-arm displays gpio vs servo_ch conflict 2022-04-29 08:06:29 +09:00
Randy Mackay e8fe09329f AP_HAL: add GPIO::pin_to_servo_channel method 2022-04-29 08:06:29 +09:00
Randy Mackay 98ac0a4106 AP_HAL_ChibiOS: GPIO comment removes mention of BRD_PWM_COUNT 2022-04-29 08:06:29 +09:00
Randy Mackay debbc36547 AP_IOMCU: valid_GPIO_pin checks if pin configured for GPIO 2022-04-29 08:06:29 +09:00
Randy Mackay 6a07a3a981 AP_IOMCU: convert_pin_number leaves input untouched on failure 2022-04-29 08:06:29 +09:00
Randy Mackay 97406f09a8 AP_RPM: avoid attach interrupt retry and spam to GCS if PIN = -1 2022-04-29 08:06:29 +09:00
xianglunkai 7e44d0bf22 AP_Proximity_Boundary_3D:correction of miswriting 2022-04-29 08:06:29 +09:00
Andrew Tridgell 5545686cec Tools: fix cygwin build error 2022-04-29 08:06:29 +09:00
Andrew Tridgell c6240312cc AP_Logger: removed annoying message on missing logs 2022-04-29 08:06:29 +09:00
Andrew Tridgell 43f1a11a5b AP_Logger: fixed log listing with gap, and EKF error on log list 
this fixes two issues:

The first issue that if we are missing a log file in the middle of the
list then it was not possible to download recent logs, as we get the
incorrect value for total number of logs. This happened for me with
107 logs, with log62 missing from the microSD. It would only show 45
available logs, so the most recent logs could not be downloaded.

The second issue is that get_num_logs() was very slow if there were a
lot of log files in a directory. This would cause EKF errors and ESC
resets. Using a opendir/readdir loop is much faster (approx 10x faster
in my testing with 107 logs on a MatekH743).
 2022-04-29 08:06:29 +09:00
xianglunkai fa3c1fef18 AP_Logger: must set default fd = -1 2022-04-29 08:06:29 +09:00
Sanket Sharma 7bc15282aa Plane: Updated highest airspeed limit when armed 2022-04-29 08:06:29 +09:00
Andrew Tridgell 04de0cb382 Plane: add Q_OPTION for RTL always on RC failsafe for ship landing 2022-04-29 08:06:29 +09:00
Andrew Tridgell b7dc09acbc SITL: update for changed INS_NOTCH parameter name 2022-04-29 08:06:29 +09:00
Andrew Tridgell 43a73d7941 Tools: update for changed INS_NOTCH parameter name 2022-04-29 08:06:29 +09:00
Andrew Tridgell 19b4a5fdf5 AP_HAL_ChibiOS: update for changed INS_NOTCH parameter name 2022-04-29 08:06:29 +09:00
Andrew Tridgell 70decb3282 Plane: param conversion for INS_NOTCH to INS_HNTC2 2022-04-29 08:06:29 +09:00
Andrew Tridgell e7823e9f36 Copter: param conversion for INS_NOTCH to INS_HNTC2 2022-04-29 08:06:29 +09:00
Andrew Tridgell 5db3a06751 AP_InertialSensor: move INS_HNTC2 to a new parameter table ID 2022-04-29 08:06:29 +09:00
QioTek 4289b6bc1b AP_HAL_ChibiOS: ICM4 series sensors as an alternative with IMU3. 
AP_HAL_ChibiOS:  ICM4 series sensors as an alternative with IMU3.
 2022-04-29 08:06:29 +09:00
mateksys 81e6426dc6 AP_HAL_ChibiOS:add icm42688p as substitution 2022-04-29 08:06:29 +09:00
Andrew Tridgell 5e0bfa9a60 AP_Scripting: increase default heap size in SITL and on F7/H7 
if we have 500k or more memory then use 100k heap for Lua, making
setup easier
 2022-04-29 08:06:29 +09:00
Andrew Tridgell d2bb387218 AC_AttitudeControl: use deadzone for pitch 
when pitch for nose-in and tail-in is enabled we should use the
deadzone
 2022-04-29 08:06:29 +09:00
Andrew Tridgell 8cc03726f3 AC_AttitudeControl: added an option for pitch weathervaning 
when nose-in or tail-in, if the aircraft has significant pitch
asymmetry in hover then we would spin around in no wind if we use
pitch as an input

this makes pitch input for nose-in and tail-in optional and off by
default to preserve existing behaviour
 2022-04-29 08:06:29 +09:00
Andrew Tridgell d75e0c7a1c HAL_ChibiOS: disable fatal exceptions for DMA errors 
this zeros-watchdog was caused by a SPI DMA error on STM32F405:

  https://discuss.ardupilot.org/t/crash-with-4-2-0-beta-and-4-3-0-daily-bdshot/83297

we had incorrectly left these internal errors enabled when asserts
were not enabled. That led to a osalSysHalt()

without these we get an spi_fail internal error, caught by the
SPIDevice code
 2022-04-29 08:06:29 +09:00
Peter Barker d44ad0a2a7 Plane: do not use guided waypoint for loiter location 
Currently this waypoint is set 10,000m away by the avoidance behaviour

Instead, immediately enter loiter mode
 2022-04-29 08:06:29 +09:00
Andrew Tridgell 2ee2742707 AP_InertialSensor: catch FIFO overruns on BMI088 
we have seen errors where the BMI088 gets out of sync, so that the 3
axes are rotated. The data is shifted by 4 bytes, so that X=Z, Y=X
and Z=Y

this changes the BMI088 to "stop on full" mode, which is what Bosch
use in their example drivers, and also catches FIFO overrun events and
triggers a full FIFO reset. This should fix the problem with the FIFO
sync
 2022-04-29 08:06:29 +09:00
Andrew Tridgell 7b757facd2 autotest: fixed annoying gdb pagination on reboot 2022-04-29 08:06:29 +09:00