83bacfa89c
AP_HAL: cleanup ifdefs for SLCAN enable
2019-10-07 21:14:24 +11:00
0eb9a58f17
AP_HAL_ChibiOS: cleanup ifdefs for SLCAN enable
2019-10-07 21:14:24 +11:00
53e03816c0
AP_BoardConfig: cleanup ifdefs for SLCAN enable
2019-10-07 21:14:24 +11:00
a452f8e4ed
switch optimisation to O2
...
on average makes for faster and smaller code than O3
2019-10-06 10:58:07 +11:00
ee25d05f3c
AP_Math: make fill_nanf() use a signalling NaN
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we want use of these values to trigger a FPE
2019-10-06 10:58:07 +11:00
43df0022e1
use common variables for EKF
2019-10-06 10:58:07 +11:00
9ad9fe42bc
AP_NavEKF2: use parent class for intermediate static variables
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this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
2019-10-06 10:58:07 +11:00
46628b4401
AP_NavEKF2: make it easy to do EK2 timing tests
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for future benchmarking
2019-10-06 10:58:07 +11:00
cd9c9e0809
AP_NavEKF: fixed build with vector index checking
2019-10-06 10:58:07 +11:00
156a64aca0
AP_NavEKF: added a common parent class for EKF2 and EKF3 core classes
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this provides a common location for static intermediate variables in
EK2 and EK3. This has a few benefits:
- the compiler can determine the address of the frequently accessed
variables at compile time, making them faster
- by sharing between EK2 and EK3 we save a lot of memory if both EK2
and EK3 are enabled
- we can fill all these with NaN in SITL on every loop, which allows
us to catch cases where the variables are ever re-used between
loops, which guarantees we aren't mixing data between EKF lanes or
between EK2 and EK3
2019-10-06 10:58:07 +11:00
eb24e12666
AP_Logger: fix logging on 256Mbit flash chips
2019-10-06 10:58:07 +11:00
d7033dbf0d
AP_Logger: fix AP_Logger_Block::get_num_logs()
2019-10-06 10:58:07 +11:00
0ec6210184
HAL_ChibiOS: removed wait on CAN peripheral in H7
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these wait busy loops can take a very long time, and end up causing
interrupts to be lost elsewhere in the system, causing lost bytes on
UARTs
We should not have while loops waiting on peripharals like this. If we
do need to wait for a flag to clear then it needs to be done in a low
priority thread, or we need to check for completion in a timer
CAN still seems to work with this change, but needs flight testing
2019-10-06 10:58:07 +11:00
d017a9a60d
AP_Logger: fixed LOG_FILE_DSRMROT with delayed log stop
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now that we persist logging for 15s after disarm we need to also delay
the log rotation if LOG_FILE_DSRMROT=1. Otherwise we will put the log
data into the next log, which defeats the purpose of the 15s
persistance
2019-10-06 10:58:07 +11:00
5a25d5c42d
AP_Proximity: fixed incorrect use of fabs()
2019-10-06 10:58:07 +11:00
0b1cbc7bde
AP_AHRS: fix custom orientation ToRad conversion
2019-10-06 10:58:07 +11:00
df86990c96
GCS_MAVLink: use HAL_MEM_CLASS for status sizes
2019-10-06 10:58:07 +11:00
6cd6b37826
AP_Logger: use HAL_MEM_CLASS for logging buffer size
2019-10-06 10:58:07 +11:00
609a2d95f8
AP_Logger: try harder to use close to user buffer size
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this stops us drastically reducing buffer size when low on memory
2019-10-06 10:58:07 +11:00
3105255080
AP_HAL: added HAL_MEM_CLASS for amount of memory
2019-10-06 10:58:07 +11:00
b8a77890b6
HAL_ChibiOS: generate HAL_MEMORY_TOTAL_KB for each board
2019-10-06 10:58:07 +11:00
bd95331068
HAL_ChibiOS: added Pixhawk1-1M
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this is for 1M versions of the Pixhawk1. It is smaller than fmuv2 as
it only links the specific sensors needed for Pixhawk1
2019-10-06 10:58:07 +11:00
afdb53daca
AP_BLHeli: fix watchdog resets with telemetry active from non-multirotor motors
2019-10-06 10:58:07 +11:00
a49cc87dae
AP_NavEKF3: change optimisation from -O3 to -O2
2019-10-02 12:03:53 +10:00
fb7ddd9b9d
AP_NavEKF2: change optimisation from -O3 to -O2
2019-10-02 12:03:47 +10:00
2962211ea0
HAL_ChibiOS: changed optimisation of higher end boards to -O2
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-O3 does not seem to be a win, and takes up a lot more flash
2019-10-01 08:33:13 +10:00
560a1bf9e0
HAL_ChibiOS: disable DMA for RCIN on Pixracer
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this frees up DMA for USART1_RX, which gives DMA for input over the
SERIAL5 WiFi port, which is important for applications where a
pixracer is being fed vision data over WiFi
2019-10-01 08:32:56 +10:00
eb620f0792
AP_IOMCU: fix IO fast channel mask
2019-10-01 08:32:03 +10:00
2034bde367
HAL_ChibiOS: fix FMU fast_channel_mask
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fix IO fast channel mask
use IOMCU chmask to only set right channels
remove unused variable
2019-10-01 08:32:00 +10:00
4c22633c60
AP_GPS: fixed a bug in handling corrupt u-blox packets
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when we have corrupt input due to loss of bytes on a UART we can end
up with a u-blox packet with zero payload bytes. When that happens we
need to bypass payload reading as otherwise we will end up keeping
reading bytes until the driver resets at 4 seconds, causing a GPS
outage.
This was causing GPS outages every few hours in copters running 3.6.7,
and was also reproduced in SITL using SIM_GPS_BYTELOSS.
2019-10-01 08:31:20 +10:00
6108c5b5ab
AP_OSD: Add autoranging to current and speed displays
2019-09-22 21:11:06 +10:00
1433741cc9
AP_Proximity: fix rangefinder backends cm to m conversion
2019-09-22 21:09:38 +10:00
784edac137
AP_NavEKF2: correct return of empty prearm string
2019-09-22 21:09:11 +10:00
6693610c7a
AP_NavEKF3: correct return of empty prearm string
2019-09-22 21:09:04 +10:00
2bebe8f916
SITL: added SIM_LOOP_DELAY parameter
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this allows us to test high CPU load conditions by adding a delay to
each loop
2019-09-22 21:08:38 +10:00
ae4bcf0f6f
AP_Scheduler: cope with high CPU load by stretching loop times
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this adds an extra budget of time per loop when we are not achieving
scheduled tasks at a rate of at least 1/8 of the desired rate. This
fixes an issue where a vehicle can become uncontrollable if the user
asks for a SCHED_LOOP_RATE which is not achievable. As these events
happen we add extra loop budget until we are able to run all tasks. We
drop the extra time when the CPU pressure eases.
2019-09-22 21:08:34 +10:00
d916c31575
AP_Logger: added logging of extra loop time from the scheduler
2019-09-22 21:08:27 +10:00
1eb2dc2b2f
AP_RangeFinder: add missing overrides
2019-09-22 21:08:14 +10:00
575200f8c7
AP_RangeFinder: fix build
2019-09-22 21:08:11 +10:00
62c3fec45c
HAL_ChibiOS: fixes from LGTM errors
2019-09-22 21:07:54 +10:00
f6b28f3013
HAL_ChibiOS: fixed delay for OneShot125 channels
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we were delaying output for OneShot125 by 8x as much as we need to,
which reduced our max loop rate
2019-09-22 21:07:49 +10:00
372eca7dad
AP_NavEKF3: fixed use of uninitialised variable in EKF3 mag fusion
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not all elements of H_MAG are initialised, but they are used, as found
by valgrind
2019-09-22 21:07:38 +10:00
eeb6fbe5ee
HAL_ChibiOS: fixed undef for define lines
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this fixes IMU heater enable for CubeBlack+
2019-09-16 12:55:44 +10:00
dceee38d69
HAL_ChibiOS: fixed IMU order and board ID for CubeBlack+
2019-09-16 12:55:36 +10:00
e540248695
HAL_ChibiOS: hwdef: add hwdef for CubeBlack+
2019-09-16 12:55:34 +10:00
8dca2b14db
AP_BoardConfig: add support for CubeBlackPlus
2019-09-16 12:55:32 +10:00
f86a7d347d
Revert "AP_HAL_SITL: set initial PWM values to a flag value"
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This reverts commit 1735563bb7
2019-09-15 18:26:50 +10:00
6193d6cf69
AP_Compass: fix example by instantiating Baro
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Baro is required to get location, and Compass tries to get the declination based on current location
2019-09-13 08:54:21 +09:00
e91402aeb6
AP_Motors: tradheli-make all RSC params part of library
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AP_Motors: Tradheli-fix RSC mode change while armed
AP_Motors: tradheli - improve RSC param metadata
AP_Motors: tradheli-put all throttle param settings in percent
2019-09-13 08:53:54 +09:00
1735563bb7
AP_HAL_SITL: set initial PWM values to a flag value
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These should never be used. Setting them to a flag value may give a
hint to someone trying to debug a problem in the future.
2019-09-13 08:58:43 +10:00
Andrew Tridgell
Michel Pastor
vierfuffzig
Mark Whitehorn
Henry Wurzburg
Randy Mackay
Peter Barker
Lucas De Marchi
bugobliterator
bnsgeyer