Andy Piper
7dcdf7b325
AP_Motors: make sure ESC type is initialized early
2022-05-28 16:08:08 +09:00
Andy Piper
7d00167428
SRV_Channel: add BLHeli_S ESC type
2022-05-28 16:08:08 +09:00
Andy Piper
a3e79c8263
AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths
2022-05-28 16:08:08 +09:00
Andy Piper
34cb45a11e
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 16:08:08 +09:00
Randy Mackay
4eedb2e948
AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7
2022-05-28 16:08:08 +09:00
Randy Mackay
8a5e7ff120
AP_NavEKF3: replace AP_HAL::millis() with dal.millis()
2022-05-28 16:08:08 +09:00
Andy Piper
ece793e4b7
AC_AutoTune: allow high ANGLE_P gains
2022-05-28 16:08:08 +09:00
Andy Piper
292291b760
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 16:08:08 +09:00
Andy Piper
19d9f157cb
AP_HAL_ChibiOS: move bitwidths to AP_HAL
2022-05-28 16:08:08 +09:00
Andrew Tridgell
0bfe567c4d
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 16:08:08 +09:00
Andrew Tridgell
49af52b735
HAL_ChibiOS: always start with safety enabled
...
we want it enabled during early boot to prevent incorrect ESC and
servo output
2022-05-28 16:08:08 +09:00
Andrew Tridgell
4adb3ddfa2
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 16:08:08 +09:00
Peter Barker
aa59e0a63e
AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS
2022-05-28 16:08:08 +09:00
Andrew Tridgell
aa873ad9f4
AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason
2022-05-28 16:08:08 +09:00
Andrew Tridgell
2f73ce408f
AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next()
2022-05-28 16:08:08 +09:00
Andrew Tridgell
8066478679
AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor
...
we need to use the pressure from the sensor we are calibrating
2022-05-28 16:08:08 +09:00
Andrew Tridgell
4e6f0c0ef4
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 16:08:08 +09:00
Peter Barker
5f39602d8c
AP_Compass: do not use GSF if any model has been clipped
2022-05-28 16:08:08 +09:00
Andrew Tridgell
1e82319bfa
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 16:08:08 +09:00
Andrew Tridgell
6bf9556612
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 16:08:08 +09:00
Joshua Henderson
7a2d48389c
AP_Airspeed: remove negative pressure set unhealthy
2022-05-28 16:08:08 +09:00
Leonard Hall
0b4b5e473b
AC_AttitudeControl: Allow diabling of slew limit
2022-05-16 08:15:26 +09:00
Andrew Tridgell
6b790eaca0
hwdef: added FlyingMoonF427 support
2022-05-16 08:15:26 +09:00
Andrew Tridgell
707bc9502f
hwdef: added FlyingMoonF407 board support
2022-05-16 08:15:26 +09:00
Andrew Tridgell
ed18123f95
HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103
...
need to check new pin not old pin
2022-05-16 08:15:26 +09:00
Andrew Tridgell
bcc548bbd8
AP_Logger: fixed a bug in wrapped log count
...
fixes #20687
2022-05-16 08:15:26 +09:00
Andrew Tridgell
6332d5972f
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 08:40:41 +09:00
Andrew Tridgell
fc999ed264
AP_Scripting: added quicktune.lua script
...
rapid tuning for VTOL control
2022-05-07 08:40:41 +09:00
Andrew Tridgell
58cdcf6968
AP_Scripting: added get_rpy_srate binding
...
and norm_input_dz binding
2022-05-07 08:40:41 +09:00
Andrew Tridgell
9f49570f7f
AC_AttitudeControl: added get_rpy_srate()
2022-05-07 08:40:41 +09:00
Andrew Tridgell
3c6e4d907c
AP_Compass: fixed custom orientation in 3 compass drivers
...
this prevents an internal error and mag failure with DroneCAN, MSP or
ExternalAHRS compasses
2022-05-03 10:07:44 +10:00
Andy Piper
05c90c4684
AP_InertialSensor: move frontend update into ramfunc.
2022-04-29 07:54:06 +09:00
Andy Piper
2169874117
AP_FlashIface: make sure XIP flash is ready before returning
2022-04-29 07:54:06 +09:00
Andy Piper
9300ab8d02
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 07:54:06 +09:00
Randy Mackay
a3d595f68f
AP_Arming: add pre-arm check of disabled servo channels
2022-04-29 07:54:06 +09:00
Andy Piper
bafab0fddf
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 07:54:06 +09:00
Andy Piper
ff5a813b4f
AP_HAL_ChibiOS: determine presence of disabled channels based on digital channels in a group
2022-04-29 07:54:06 +09:00
Andy Piper
007174d36a
AP_HAL: add accessor for disabled channels to RCOutput
2022-04-29 07:54:06 +09:00
Andy Piper
a673a481fd
AP_BLHeli: keep a record of disabled motors
2022-04-29 07:54:06 +09:00
Bill Geyer
fd7b713799
AC_AutoTune: fix gain determination fail logic
2022-04-29 07:54:06 +09:00
Bill Geyer
fa28fed0d4
AC_AutoTune: use failed state to exit
2022-04-29 07:54:06 +09:00
Bill Geyer
de0a36874e
AC_AutoTune: use generic load gain method to save flash
2022-04-29 07:54:06 +09:00
Andy Piper
cfb8830fad
AP_HAL_ChibiOS: bdshot version of MatekF765-Wing
2022-04-29 07:54:06 +09:00
Andy Piper
33c9ffd874
AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation
2022-04-29 07:54:06 +09:00
Andy Piper
7552219c5b
AP_HAL: update prescaler tests
2022-04-29 07:54:06 +09:00
Randy Mackay
a7d89829bf
AP_RPM: pre-arm displays gpio vs servo_ch conflict
2022-04-29 07:54:06 +09:00
Randy Mackay
b366689282
AP_Relay: pre-arm displays gpio vs servo_ch conflict
2022-04-29 07:54:06 +09:00
Randy Mackay
1444545b6a
AP_Button: pre-arm displays gpio vs servo_ch conflict
2022-04-29 07:54:06 +09:00
Randy Mackay
f3db67b322
AP_HAL: add GPIO::pin_to_servo_channel method
2022-04-29 07:54:06 +09:00
Randy Mackay
343115a242
AP_HAL_ChibiOS: GPIO comment removes mention of BRD_PWM_COUNT
2022-04-29 07:54:06 +09:00
