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48467 Commits

Author SHA1 Message Date
Andrew Tridgell 991352b76b 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 17:07:03 +10:00
Andrew Tridgell f4266463c9 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 17:07:03 +10:00
Pierre Kancir 98bc5969b0 AP_Rangefinder: fix override in constructor 2021-09-10 17:07:03 +10:00
Andrew Tridgell d2aeeb6bad AP_DAL: fixed a bug in RMGH logging 2021-09-10 09:26:44 +10:00
Andrew Tridgell ee24310a95 AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-09-10 09:12:34 +10:00
Andrew Tridgell 3c1a3201c6 HAL_ChibiOS: fixed GPIO lines for QioTekZealotF427 2021-09-03 18:25:13 +10:00
Andrew Tridgell febca7a952 AP_Declination: added a test suite for AP_Declination 
use test vectors from MAVProxy mavextra
 2021-09-03 14:45:38 +10:00
Andrew Tridgell 907d044c89 AP_Declination: fixed rounding in mag field 
thanks to Angela for noticing this
 2021-09-03 14:45:35 +10:00
Peter Hall b331921bc9 Plane: quadplane: set `last_pidz_init_ms` 2021-08-31 09:58:17 +10:00
Andrew Tridgell 87a1e2004b Plane: prepare for 4.1.0beta6 2021-08-29 11:30:40 +10:00
Andrew Tridgell e98bbcee91 Plane: updated releases notes for 4.1.0beta6 2021-08-29 11:29:01 +10:00
QioTek 69d7a7c1e4 AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649 
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
 2021-08-29 11:24:18 +10:00
Hwurzburg 41e753ea47 AP_HAL_Chibios: Change RC in to RCINT to free a DMA channel 2021-08-29 11:24:18 +10:00
Randy Mackay aaed545c23 Copter: version to 4.1.0-beta8 2021-08-28 12:50:32 +10:00
Randy Mackay 7d5ae496a9 Copter: 4.1.0-beta8 release notes 2021-08-28 12:50:32 +10:00
Andrew Tridgell 3d0ee4fead HAL_ChibiOS: allow FlywooF745 to build again 2021-08-28 12:50:32 +10:00
Andrew Tridgell 2906345fd3 Tools: add Flywoo boards to board list and manifest 2021-08-28 12:50:32 +10:00
Andy Piper 0431d43a40 AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-28 12:50:32 +10:00
Andrew Tridgell 9cf66e88bc Tools: bootloader for FlywooF745Nano 2021-08-28 12:50:32 +10:00
Leonard Hall 78dd9e2a49 AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-28 12:50:32 +10:00
Leonard Hall 9a0b9407a8 AC_WPNav: Fix Jerk units 2021-08-28 12:50:32 +10:00
Leonard Hall 052524728b AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-28 12:50:32 +10:00
Leonard Hall 1c2655f565 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-28 12:50:32 +10:00
Iampete1 4fe9a34308 AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-28 12:50:32 +10:00
Randy Mackay 380f3aece2 AP_Scripting: copter-fast-descent.lua example script 2021-08-28 12:50:32 +10:00
Randy Mackay 11b72b599e Copter: implement new set_target methods 2021-08-28 12:50:32 +10:00
Randy Mackay d17e88aa88 AP_Vehicle: add virtual set_target methods 2021-08-28 12:50:32 +10:00
Randy Mackay 432de2cdcf AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-28 12:50:32 +10:00
Randy Mackay 3ccdc69855 AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-28 12:50:32 +10:00
Randy Mackay 056cb073be AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-28 12:50:32 +10:00
Randy Mackay 54c4a9f88a Copter: fix ModeGuided::set_destination_posvel 2021-08-28 12:50:32 +10:00
Randy Mackay 9edb44151e AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-28 12:50:32 +10:00
Randy Mackay aeba1dba93 AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-28 12:50:32 +10:00
Randy Mackay 179b5db74d Copter: implement get_circle_radius, set_circle_rate 2021-08-28 12:50:32 +10:00
Randy Mackay b8a1662ce1 AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-28 12:50:32 +10:00
Iampete1 36f23fd498 Rover: #ifdef scripting specific functions 2021-08-28 12:50:32 +10:00
Iampete1 a04e2575b6 Plane: #ifdef scripting specific functions 2021-08-28 12:50:32 +10:00
Iampete1 20dfffb38a Copter: #ifdef scripting specific functions 2021-08-28 12:50:32 +10:00
Iampete1 4cf67b2888 AP_Vehicle: #ifdef scripting specific functions 2021-08-28 12:50:32 +10:00
Iampete1 c1e4ed6512 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 12:50:32 +10:00
Randy Mackay 88ebcffc73 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-28 12:50:32 +10:00
Pierre Kancir 73efa895e2 AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 12:50:32 +10:00
Pierre Kancir 0bc97871a7 AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 12:50:32 +10:00
Pierre Kancir 7a2fba689d AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 12:50:32 +10:00
bnsgeyer 026b026264 Copter: Allow Tradheli to spoolup in guided or auto mode 2021-08-28 12:50:32 +10:00
Andrew Tridgell 957740db4f HAL_ChibiOS: switch to minimum scheduling delta of 10us 
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.

Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.

Fixes issue #18383
 2021-08-28 12:50:32 +10:00
Andy Piper e7e3b478fc AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it 
change mamba F405 to active high as per betaflight
 2021-08-28 12:50:32 +10:00
Randy Mackay 94ed5b876f AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-28 12:50:32 +10:00
mateksys 714d11863e Tools: added MatekF765-SE to autobuild 2021-08-25 18:54:05 +10:00
mateksys 97b6467075 AP_HAL_ChibiOS: add MatekF765-SE hwdef as a variant of MatekF765-Wing 2021-08-25 18:54:05 +10:00