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29136 Commits

Author SHA1 Message Date
Andrew Tridgell
f6a05a802e 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
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
d00ffde9e1 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
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
7a6171f566 AP_UAVCAN: added a check for memory corruption in the pool 2022-06-21 19:41:54 +09:00
Andrew Tridgell
dfd8e3be90 AP_UAVCAN: added dynamically allocated pool size param 
allow for smaller pool size to save memory
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
d9aa0d8955 AC_AttitudeControl: reduced default quadplane VTOL pos XY gains 2022-06-21 19:41:54 +09:00
Peter Barker
57d15fe717 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
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
815eaa0866 AP_NavEKF3: log set source events 2022-06-21 19:41:54 +09:00
Andrew Tridgell
0b61516b31 AP_DAL: added set source events for EKF3 2022-06-21 19:41:54 +09:00
Iampete1
b06a364197 AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane 2022-06-21 19:41:54 +09:00
Andrew Tridgell
5195decf51 AP_InertialSensor: call notch param update with semaphore held 2022-06-21 19:41:54 +09:00
Andrew Tridgell
7fd478fc4a AP_GyroFFT: added defaults for FFT with no notch 
allow for testing with FFT enabled, and defaulting number of
frequencies to look for
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
9fba96c8d0 AP_InertialSensor: fixed the last notch values to be per-instance 
thanks to Andy for noticing this
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
97d42308a7 AP_GyroFFT: skip disabled notches 2022-06-21 19:41:54 +09:00
Andrew Tridgell
5bdac5174c AP_InertialSensor: don't update disabled notches 2022-06-21 19:41:54 +09:00
Andrew Tridgell
a15259d7e5 AP_GyroFFT: allow for 2 FFT based notches 2022-06-21 19:41:54 +09:00
Andrew Tridgell
8fb1d56dfe AP_Vehicle: implement common harmonic notch update code 2022-06-21 19:41:54 +09:00
Andrew Tridgell
f1b4396c18 AP_RPM: use HarmonicNotch class 2022-06-21 19:41:54 +09:00
Andrew Tridgell
15dcfed927 AP_GyroFFT: use HarmonicNotch class 2022-06-21 19:41:54 +09:00
Andrew Tridgell
ef31de5fc5 AP_Arming: use HarmonicNotch class 2022-06-21 19:41:54 +09:00
Andrew Tridgell
43e93ccf27 AP_InertialSensor: switch to HarmonicNotch class 
this makes the logic much easier to follow, without indexes into
arrays
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
d48bc25c95 Filter: removed parameters from the old notch filter 
saves some flash space
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
3f89aa620c AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT 2022-06-21 19:41:54 +09:00
Andrew Tridgell
e80adeefa4 AP_Arming: added arming check for conflicting notch modes 2022-06-21 19:41:54 +09:00
Andrew Tridgell
05b6283a97 Filter: clarify meaning of 1st harmonic 2022-06-21 19:41:54 +09:00
Andrew Tridgell
7150dde40a Filter: added RPM2 harmonic notch type 2022-06-21 19:41:54 +09:00
Andrew Tridgell
2b6aa64d2b AP_Vehicle: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andrew Tridgell
8dbf3f39cb AP_RPM: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andrew Tridgell
ead011c615 AP_InertialSensor: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andy Piper
365904a50c AR_Motors: make sure ESC type is initialized early 2022-05-28 16:08:17 +09:00
Andy Piper
555f608b43 AP_Motors: make sure ESC type is initialized early 2022-05-28 16:08:17 +09:00
Andy Piper
03ebf1b091 SRV_Channel: add BLHeli_S ESC type 2022-05-28 16:08:17 +09:00
Andy Piper
c9d5609214 AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths 2022-05-28 16:08:17 +09:00
Andy Piper
6253578d06 AP_HAL: add BLHeli_S ESC type and use it to control bitwidths 
adjust BLHeli_S bitwidth and ticks to support more ESC variants.
 2022-05-28 16:08:17 +09:00
Randy Mackay
96f0fee7b3 AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7 2022-05-28 16:08:17 +09:00
Randy Mackay
72f0de65d2 AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-05-28 16:08:17 +09:00
Andy Piper
9f9c5c30ae AC_AutoTune: allow high ANGLE_P gains 2022-05-28 16:08:17 +09:00
Andy Piper
25d6e9b1bb AP_HAL: add bitwidth hal definitions. 
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
 2022-05-28 16:08:17 +09:00
Andy Piper
9af46cbf5e AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-05-28 16:08:17 +09:00
Andrew Tridgell
957eb68bee 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
 2022-05-28 16:08:17 +09:00
Andrew Tridgell
b2086d1e96 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-28 16:08:17 +09:00
Andrew Tridgell
39de7be71f 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
 2022-05-28 16:08:17 +09:00
Peter Barker
d435181756 AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:17 +09:00
Andrew Tridgell
913b789592 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-28 16:08:17 +09:00
Andrew Tridgell
0fd3fac65f AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-28 16:08:17 +09:00
Andrew Tridgell
d614594526 AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor 
we need to use the pressure from the sensor we are calibrating
 2022-05-28 16:08:17 +09:00
Andrew Tridgell
52458b6f54 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.
 2022-05-28 16:08:17 +09:00
Peter Barker
2a5e9f76ac AP_Compass: do not use GSF if any model has been clipped 2022-05-28 16:08:17 +09:00
Andrew Tridgell
ee41132483 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
 2022-05-28 16:08:17 +09:00
Andrew Tridgell
bb1ee4e34c AP_Mission: improved handling of large LOITER_TURNS 
instead of wrapping we should use MIN with 255, which is closer to
what was requested
 2022-05-28 16:08:17 +09:00
Joshua Henderson
5ac3f9aa33 AP_Airspeed: remove negative pressure set unhealthy 2022-05-28 16:08:17 +09:00
Leonard Hall
f65a6a302b AC_AttitudeControl: Allow diabling of slew limit 2022-05-16 08:16:16 +09:00
Andrew Tridgell
2a700f677a hwdef: added FlyingMoonF427 support 2022-05-16 08:16:16 +09:00
Andrew Tridgell
008671f16a hwdef: added FlyingMoonF407 board support 2022-05-16 08:16:16 +09:00
Andrew Tridgell
a324cf80e5 HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103 
need to check new pin not old pin
 2022-05-16 08:16:16 +09:00
Andrew Tridgell
32cb2442a9 AP_Logger: fixed a bug in wrapped log count 
fixes #20687
 2022-05-16 08:16:16 +09:00
Andrew Tridgell
63140014c1 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
 2022-05-07 08:40:54 +09:00
Andrew Tridgell
274d526a69 AP_Scripting: added quicktune.lua script 
rapid tuning for VTOL control
 2022-05-07 08:40:54 +09:00
Andrew Tridgell
5483e26374 AP_Scripting: added get_rpy_srate binding 
and norm_input_dz binding
 2022-05-07 08:40:54 +09:00
Andrew Tridgell
cd48dd0b6d AC_AttitudeControl: added get_rpy_srate() 2022-05-07 08:40:54 +09:00
Andrew Tridgell
2f60c452e6 AP_Compass: fixed custom orientation in 3 compass drivers 
this prevents an internal error and mag failure with DroneCAN, MSP or
ExternalAHRS compasses
 2022-05-07 08:40:54 +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
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
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
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
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
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
Andrew Tridgell
b7dc09acbc SITL: 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
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
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
李孟晓
2dae778103 AP_HAL_ChibiOS: CUAV-Nora: add usart3 support 2022-04-09 17:12:27 +09:00
Andy Piper
9ce281ae14 AP_HAL_ChibiOS: fix dshot timeout bug where the elapsed pulse is longer than the send time 
dshot timeouts should be no longer than the pulse interval
use correct timestamp for dmar send time
 2022-04-09 17:12:27 +09:00
Andrew Tridgell
eccec866f5 HAL_ChibiOS: incorrect class of class in uart TX timeout 
need to call chEvtGetAndClearEventsI() as we are in a system lock
state
 2022-04-09 17:12:27 +09:00
Andrew Tridgell
f3c19575e9 HAL_ChibiOS: fixed H7 flash storage 
this fixes the flash re-init problem when flash storage fills on
H7. It was caused by rejecting writes where one or more of the 32 byte
chunks was not all 0xff but was equal to the current data. That
happens when writing to the sector header in AP_FlashStorage

it also moves the interrupt disable inside the loop to allow for
other interrupts to run between blocks
 2022-04-09 17:12:27 +09:00