Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
48,617 Commits 71 Branches 509 Tags 756 MiB
Commit Graph

26693 Commits

Author SHA1 Message Date
Andy Piper 98c03b498d AP_HAL_ChibiOS: return correct value for tx_pending(). 2021-11-29 19:02:57 +09:00
Dr.-Ing. Amilcar do Carmo Lucas c88d91bdc1 AP_HAL_ChibiOS: disable FETtec OneWire device driver 2021-11-29 19:02:57 +09:00
Dr.-Ing. Amilcar do Carmo Lucas dda50fffed AP_Arming: call fettec prearm checks 2021-11-29 19:02:57 +09:00
Peter Barker bc6b412083 SITL: add simulated FETtec ESC 2021-11-29 19:02:57 +09:00
Peter Barker a62cd781be AP_HAL_SITL: add simulated FETtec ESC 
do not overwrite FETTecESC telemetry data w/SITL ESC data
 2021-11-29 19:02:57 +09:00
Peter Barker da34e63374 AP_Math: move crc8_dvb_update into crc library 2021-11-29 19:02:57 +09:00
Pierre Kancir f1ac606f98 SRV_Channel: add FETtec support 2021-11-29 19:02:57 +09:00
Pierre Kancir 551a1a800a AP_SerialManager: add FETtecOneWire protocol 2021-11-29 19:02:57 +09:00
Torsten Z db197c0068 AP_FETtecOneWire: A serial-based ESC protocol with telemetry 
Co-authored-by: Torsten Z <t.zunker@fettec.net>
Co-authored-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>

- uses ArduPilot's coding guidelines and naming conventions
- control motor speed
- Use the AP_ESC_Telem base class to:
  - copy ESC telemetry data into MAVLink telemetry
  - save ESC telemetry data in dataflash logs
  - use RPM telemetry for dynamic notch filter frequencies
  - sum the current telemetry info from all ESCs and use it as virtual battery current monitor sensor
  - average the voltage telemetry info and use it as virtual battery voltage monitor sensor
  - average the temperature telemetry info and use it as virtual battery temperature monitor sensor
- Obey the safety switch. Keeps motors from turning
- Use `SERVO_FWT_MASK` to define which servo output should be routed to FETtec ESCs
- Use `SERVO_FWT_RVMASK` to define the rotation direction of the motors
  - `SERVO_FWT_RVMASK` changes only take effect when disarmed
- Can be compiled when `HAL_WITH_ESC_TELEM` is disabled. No telemetry data will be available but it saves a lot of memory
- pre-arm checks:
  - Check that UART is available
  - check that the desired motor channels parameter (`SERVO_FWT_MASK`) is valid
  - check that the desired motor poles parameter (`SERVO_FWT_POLES`) is valid
  - check that the all desired ESCs are found and configured
  - check that the ESCs are periodically sending telemetry data
- re-init and configure an ESC(s) if not armed (motors not spinning) when
  - telemetry communication with the ESC(s) is lost
- adds a serial simulator (--uartF=sim:fetteconewireesc) of FETtec OneWire ESCs
- adds autotest (using the simulator) to:
  - simulate telemetry voltage, current, temperature, RPM data using SITL internal variables
  - test the safety switch functionality
  - test ESC power outages
  - test `SERVO_FWT_MASK` parameter validation
  - fly a copter over a simulated serial link connection
 2021-11-29 19:02:57 +09:00
Andrew Tridgell 3a65df9bca hwdef: added alternative Durandal 20602 IMU 2021-11-29 19:02:57 +09:00
Andrew Tridgell 58a97a844e RC_Channel: added fixed wing autotune rc option 2021-11-29 19:02:57 +09:00
Andrew Tridgell 0fc47d793a AP_ADSB: bugfix vertical velocity sign was backwards 2021-11-29 19:02:57 +09:00
Andrew Tridgell bd441ef816 AP_NavEKF3: fixed switch to non-zero primary on disarm 
if EK3_PRIMARY is not zero then we were not switching to it when
disarmed
 2021-11-29 19:02:57 +09:00
Andrew Tridgell a7973b3e7a AP_UAVCAN: added CAN_Dn_UC_OPTION parameter 
this allows for 2 ways of controlling conflicts in the UAVCAN DNA
database. The first is to set CAN_Dn_UC_OPTION to 1, which resets the
DNA database, thus clearing any node conflicts.

The second is to set CAN_Dn_UC_OPTION to 2, which ignores node
conflicts in the DNA database

These options are useful for vehicles with UAVCAN smart batteries
where the node ID is fixed but the hwid changes and you want to do
battery swapping (possibly without rebooting)
 2021-11-29 19:02:57 +09:00
Mohammad Hefny 345607ec73 AP_Notify: link to notify module 2021-11-29 19:02:57 +09:00
Mohammad Hefny 72294648bf AP_Batt: link to battery monitor 2021-11-29 19:02:57 +09:00
Mohammad Hefny 71393942e0 AP_HAL_Linux: define board features on Linux module 2021-11-29 19:02:57 +09:00
Mohammad Hefny c05e9507d0 AP_HAL: define board features 2021-11-29 19:02:57 +09:00
Andrew Tridgell b330a6b24e APM_Control: suppress roll/pitch D term in ground_mode 
prevent oscillations which are quite common
 2021-11-29 19:02:57 +09:00
Samuel Tabor 8f5264b3e7 AP_Landing_Slope: Log height used for flare timing. 2021-11-29 19:02:57 +09:00
Ben Wolsieffer cb75e2a7e6 AP_Control: apply pitch rate limit to turn coordination 
At high bank angles, for example when rolling to/from inverted, a large turn
coordination pitch rate offset is requested. Before this patch, this offset was
not subject to the configured pitch rate limit, which could result in pitch
controller integrator windup.
 2021-10-18 18:06:45 -04:00
Andrew Tridgell 8ea702ed81 AP_RCProtocol: check for RC protocol switching enable 
by default don't allow protocol switching after initial protocol is
found
 2021-10-18 18:06:45 -04:00
Andrew Tridgell 8c123cc6e5 RC_Channel: added RC_OPTION bit for allowing RC protocol switching 
this is meant to prevent accidential switching to a disconnected pin
 2021-10-18 18:06:45 -04:00
bugobliterator e38c7403d5 AP_HAL_ChibiOS: account for TXFIFO when doing flow control detection 2021-10-18 18:06:45 -04:00
Andy Piper a0474d7228 AP_Filesystem: fix ftp burst read with credit to deanharken 2021-10-18 18:06:45 -04:00
Andrew Tridgell 3c8aa259e6 AP_NavEKF3: added EK3_PRIMARY parameter 
allows for selection of which IMU to use on startup
 2021-10-18 18:06:45 -04:00
Andrew Tridgell ae8ac42a60 APM_Control: only save autotune gains when P finished 
this prevents saving values which are temporarily high due to tuning
process

See this bug report
https://discuss.ardupilot.org/t/plane-4-1-0-stable/76507/45
 2021-10-18 18:06:45 -04:00
Andrew Tridgell ab9008a242 HAL_ChibiOS: fixed orientation of ICM42605 on QiotekZealotF427 2021-10-18 18:06:45 -04:00
Andrew Tridgell c1c245f21b AP_Scripting: fixed bug in string logging with logger.write() 
this dereferenced a bad pointer, leading to crash and watchdog

thanks to Charlie for finding this!
 2021-10-18 18:06:45 -04:00
Andrew Tridgell faaaf94288 HAL_ChibiOS: disable soarding on FlywooF745 for flash space 2021-10-18 18:06:45 -04:00
Dr.-Ing. Amilcar do Carmo Lucas 4dfe262808 GCS_MAVLink: add ESC_TELEMETRY_1_TO_4 to the mavlink_id_to_ap_message_id table 2021-10-18 18:06:45 -04:00
Andrew Tridgell 234473d7ec AP_Scripting: avoid a error in lua with gcc 10.2 on STM32 with -Werror 2021-10-18 18:06:45 -04:00
Andrew Tridgell 9966c62ae3 AP_InertialSensor: fixed build warning 2021-10-18 18:06:45 -04:00
Andrew Tridgell 882472f25b AP_Compass: fixed build warning on g++ 10.2 2021-10-18 18:06:45 -04:00
lthall 762e2816a0 AC_AttitudeControl: Fix initialize bug 2021-10-18 18:06:45 -04:00
Andy Piper 4e8b2badf8 AP_SerialManager: correct docs for SERIAL8 2021-10-18 18:06:45 -04:00
lthall 02bf3b90b7 AC_AttitudeControl: AC_PosControl: Update PSC logging to include desired 2021-10-18 18:06:45 -04:00
Leonard Hall 0aa9423037 AP_Logger: Update PSC logging to include desired 2021-10-18 18:06:45 -04:00
Peter Barker 6d0259c59e AP_Logger: specify frames on PSC fields 2021-10-18 18:06:45 -04:00
Iampete1 343597401b AP_Proximity: lower SF45B update rate 2021-10-18 18:06:45 -04:00
Andy Piper 1393bbb91c AP_RCTelemetry: don't enter parameter mode while armed. 
exit parameter mode quickly on ping
construct and respond to ping frames correctly
 2021-10-18 18:06:45 -04:00
mateksys 3af1e507a4 ChibiOS: add icm42605 as substitution for icm20602 2021-10-18 18:06:45 -04:00
Paul Riseborough cd53c9f6a5 AP_NavEKF3: fix wind speed covariance initialisation bug 2021-10-18 18:06:45 -04:00
Andrew Tridgell 0ad778f4c1 HAL_ChibiOS: fixed RTSCTS flow control issue 
this fixes an issue reported on MatekH743, but also applies to other
boards. When not using DMA if there have been bytes written before the
auto flow control detection was enabled then these must be cleared
from _total_written so the flow control detection can work correctly
 2021-09-15 16:03:33 +09:00
Andrew Tridgell 4fcd3756af AP_RCProtocol: increase CRSF frame timeout to account for scheduling delays 2021-09-10 14:32:03 +09:00
Leonard Hall 6bfc28059c AC_WPNav: Fix calculation of _scurve_jerk_time using radians. 2021-09-10 14:08:46 +09:00
Andy Piper 97f182c493 AP_HAL_ChibiOS: bdshot version of CUAVv5 2021-09-10 14:08:46 +09:00
Andy Piper 13f8d41e03 AP_HAL_ChibiOS: bdshot version of CUAVv5Nano 2021-09-10 14:08:46 +09:00
Leonard Hall 8a1e452d3c AC_AttitudeControl: AC_PosControl: Change set_correction_speed_accel_z to use input arguments 2021-09-10 14:08:46 +09:00
Andrew Tridgell ace1a72b93 AC_WPNav: cope with negative WPNAV_SPEED_DN 
a user set WPNAV_SPEED_DN to a negative value, with odd results. Take
absolute value to cope. Even though the param docs clearly say range
should be positive, it is one where it is easy to think it should be
negative
 2021-09-10 14:08:46 +09:00
Peter Barker 8639b5e4c3 AC_WPNav: monitor WPNAV_SPEED for changes 2021-09-10 14:08:46 +09:00
Josh Henderson 156da6431f AC_WPNav: simplify get_wp_destination_loc 2021-09-10 14:08:46 +09:00
Randy Mackay ac57e91e8f AC_WPNav: protect against divide-by-zero 2021-09-10 14:08:46 +09:00
Randy Mackay e0143d4008 AC_WPNav: move definitions to .cpp file 2021-09-10 14:08:46 +09:00
Randy Mackay f22f8f6200 Copter: terrain spelling fix 2021-09-10 14:08:46 +09:00
Randy Mackay 93197133be AC_WPNav: terrain spelling fix 2021-09-10 14:08:46 +09:00
Leonard Hall 3e62c17577 AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-10 14:08:46 +09:00
Leonard Hall ee26d72682 AC_WPNav: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Leonard Hall baf58607fa AC_Autotune: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Leonard Hall 00ff3cec46 AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Iampete1 11426792ef SRV_Channel: call update_aux_servo_function in function_assigned 2021-09-10 14:08:46 +09:00
Andrew Tridgell 78ca572634 HAL_ChibiOS: use more USB buffers on higher end F7 chips 2021-09-10 14:08:46 +09:00
Andrew Tridgell a48f0ef90d HAL_ChibiOS: reduce the impact of UART DMA contention 
this changes the heuristics for UART TX DMA allocation to greatly
reduce the chances of DMA contention causing long delays on other
devices

This fixes issues with FETTec driver output and gimbal status messages
as reported by Amilcar and OlliW. The problem is particularly bad when
no GPS is connected to GPS1 on fmuv3 and derived boards (such as
CubeBlack)

key changes:

 - remember the contention_counter across begin() calls, as the GPS
   calls begin with new baudrates regularly

 - added a is_shared() API to Shared_DMA, allowing the UART driver to
   avoid TX DMA on shared streams when at low baudrates.
 2021-09-10 14:08:46 +09:00
Andrew Tridgell 3bc9507530 GCS_MAVLink: check for null comm_port before writing 
this was found when adding debug code to write to a specific channel
 2021-09-10 14:08:46 +09:00
Pierre Kancir 21de22f10d AP_Rangefinder: fix override in constructor 2021-09-10 14:08:46 +09:00
Andrew Tridgell 8209a5ac5c AP_DAL: fixed a bug in RMGH logging 2021-09-10 14:08:46 +09:00
Andrew Tridgell 8731a13fb5 AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-09-10 14:08:46 +09:00
Andrew Tridgell aa8ebc403e HAL_ChibiOS: fixed GPIO lines for QioTekZealotF427 2021-09-10 14:08:46 +09:00
Andrew Tridgell f232fc551b AP_Declination: added a test suite for AP_Declination 
use test vectors from MAVProxy mavextra
 2021-09-10 14:08:46 +09:00
Andrew Tridgell 042b512877 AP_Declination: fixed rounding in mag field 
thanks to Angela for noticing this
 2021-09-10 14:08:46 +09:00
mateksys c5ed3c391a Tools: added MatekF765-SE to autobuild 2021-08-28 17:10:29 +09:00
mateksys 96b4cee01d AP_HAL_ChibiOS: add MatekF765-SE hwdef as a variant of MatekF765-Wing 2021-08-28 17:10:29 +09:00
Peter Barker 32c7a0d6e4 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-28 17:10:29 +09:00
Andrew Tridgell a11948e175 APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-08-28 17:10:29 +09:00
Andrew Tridgell 8268a59130 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-08-28 17:10:29 +09:00
Andrew Tridgell 06577318ff AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-28 17:10:29 +09:00
Andrew Tridgell c2672784be AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-28 17:10:29 +09:00
QioTek ce7d5341eb AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649 
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
 2021-08-28 17:10:29 +09:00
Hwurzburg 3cf3ed8fff AP_HAL_Chibios: Change RC in to RCINT to free a DMA channel 2021-08-28 17:10:29 +09:00
Andrew Tridgell 72d115bec4 HAL_ChibiOS: allow FlywooF745 to build again 2021-08-28 17:10:29 +09:00
Andy Piper 7698a006ad AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-28 17:10:29 +09:00
Leonard Hall f9452ec17a AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-28 17:10:29 +09:00
Leonard Hall a1975d7535 AC_WPNav: Fix Jerk units 2021-08-28 17:10:29 +09:00
Leonard Hall 70d2062809 AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-28 17:10:29 +09:00
Leonard Hall d0521e6906 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-28 17:10:29 +09:00
Iampete1 c47bc995d1 AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-28 17:10:29 +09:00
Randy Mackay 9a26509eee AP_Scripting: copter-fast-descent.lua example script 2021-08-28 17:10:29 +09:00
Randy Mackay 4a05d7a05a AP_Vehicle: add virtual set_target methods 2021-08-28 17:10:29 +09:00
Randy Mackay e5b3596831 AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-28 17:10:29 +09:00
Randy Mackay 79f0a02675 AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-28 17:10:29 +09:00
Randy Mackay d61c16d83c AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-28 17:10:29 +09:00
Randy Mackay 07e875aba2 AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-28 17:10:29 +09:00
Randy Mackay 9638755b0f AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-28 17:10:29 +09:00
Randy Mackay 1f63a1a63c AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-28 17:10:29 +09:00
Iampete1 9bf151fcd7 AP_Vehicle: #ifdef scripting specific functions 2021-08-28 17:10:29 +09:00
Iampete1 a1e96f7d17 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 17:10:29 +09:00
Randy Mackay 54d6cf15e5 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-28 17:10:29 +09:00
Pierre Kancir e5ea7e6196 AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 17:10:29 +09:00
Pierre Kancir c4b7f6ddcf AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 17:10:29 +09:00
Pierre Kancir 4866ffc597 AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 17:10:29 +09:00