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
