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52,438 Commits 71 Branches 509 Tags 717 MiB
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52438 Commits

Author SHA1 Message Date
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 0faacbd0c6 Plane: moved harmonic notch update code to AP_Vehicle 2022-06-21 19:41:54 +09:00
Andrew Tridgell fc1aa44c0a Copter: moved harmonic notch update code to AP_Vehicle 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 542ed5a6e2 Plane: param conversion for INS_NOTCH to INS_HNTC2 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 6b6bd8aeb9 Plane: support harmonic notch on 2nd RPM sensor 2022-06-21 19:41:54 +09:00
Andrew Tridgell d1b1c6e7f9 Copter: support harmonic notch on 2nd RPM sensor 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 2a9899629b Copter: update for changed INS_NOTCH parameter name 2022-06-21 19:41:54 +09:00
Andrew Tridgell 2cea3d21b5 Plane: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andrew Tridgell 0ecb2200d8 Copter: support two full harmonic notch filters 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
Randy Mackay fbf719b247 Rover: version to 4.2.1 2022-06-07 07:30:44 +09:00
Randy Mackay e0810a1f41 Rover: 4.2.1 release notes 2022-06-07 07:30:44 +09:00
Randy Mackay 5c7a60c450 Copter: version to 4.2.1 2022-06-07 07:30:44 +09:00
Randy Mackay 86b113403e Copter: 4.2.1 release notes 2022-06-07 07:30:44 +09:00
Randy Mackay 456b38aa2a Rover: version to 4.2.1-rc1 2022-05-28 16:08:17 +09:00
Randy Mackay 15553a6727 Rover: 4.2.1-rc1 release notes 2022-05-28 16:08:17 +09:00
Randy Mackay b6b38f231c Copter: version to 4.2.1-rc1 2022-05-28 16:08:17 +09:00
Randy Mackay 2b152a81f0 Copter: 4.2.1-rc1 release notes 2022-05-28 16:08:17 +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
Rishabh f93023737b Copter: Do not allow automatic yaw while prec land retry 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 9fa04ad130 Plane: prepare for 4.2.1 release 2022-05-28 16:08:17 +09:00
Andrew Tridgell c1be8152ba Plane: release notes for 4.2.1 2022-05-28 16:08:17 +09:00
Andrew Tridgell b0c8c49643 Plane: fixed false positive in landing detector 
this fixes a case where we can get false positive on the landing
detector for quadplanes.

The issue happens if we cross the LAND_DESCEND to LAND_FINAL threshold
while pilot repositioning is active, with stale information in
landing_detect.lower_limit_start_ms as we don't run should_relax() in
LAND_DESCEND
 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