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37526 Commits

Author SHA1 Message Date
shen 9d21b3396e hwdef: Add AEROFOX H7 2024-12-07 18:10:09 +11:00
Andy Piper ad539ffa03 AP_RCTelemetry: add missing CRSF scheduler table entry 2024-12-05 10:03:27 -06:00
Randy Mackay 1308efb9a4 AP_Scripting: promote video-stream-information to applet 2024-12-05 16:46:48 +09:00
Randy Mackay 3325bdd7df AP_Scripting: set-video-stream-info encoding binding and docs 2024-12-05 16:46:48 +09:00
Randy Mackay 6f6613fefd AP_Camera: set-stream-information loses send-text 2024-12-05 16:46:48 +09:00
Thomas Watson d7b26a2205 AC_AutoTune: fix tracking of maximum angular acceleration 
Issue introduced in https://github.com/ArduPilot/ardupilot/pull/27370
and partially fixed in https://github.com/ArduPilot/ardupilot/pull/27762,
though evidently not properly tested.

Failing to track the maximum can result in dangerously low values being
calculated for `ATC_ACCEL_[RPY]_MAX` and the vehicle becoming unflyable.

Make the variable a reference so that the maximum value is preserved
between function calls.
 2024-12-05 09:18:56 +09:00
Andy Piper 88f6125a94 AP_InertialSensor: belt and braces checks 2024-12-04 07:45:05 +11:00
Andy Piper 277386e6e2 AP_HAL_ChibiOS: add cork()/push() check 2024-12-04 07:45:05 +11:00
Andy Piper 4b0fa15278 AP_InertialSensor: address review comments 2024-12-04 07:45:05 +11:00
Andy Piper 8fc4a6a6e9 AP_HAL_ChibiOS: add comments to force_push on rcout 2024-12-04 07:45:05 +11:00
Andy Piper 398a70ec4b AP_InertialSensor: avoid multiple allocations of rate loop buffer 
add nullptr checks and comments to FastRateBuffer
 2024-12-04 07:45:05 +11:00
Andy Piper 6db09c9fdd AP_InertialSensor: keep a queue of gyro samples for use by the rate thread 
decimate the gyro window locally
configure rate loop buffer based on AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
allow backends to be updated from rate thread
output debug error if rate loop buffer overruns
add support for updating filter parameters independently of propagating samples
add rate loop config abstraction that allows code to be elided on non-copter builds
must be using harmonic notch to use rate thread
mediate fast rate loop buffer using mutex and binary semaphore
ensure gyro samples are used when the rate loop buffer isn't

Co-Authored-By: Andrew Tridgell <andrew@tridgell.net>
 2024-12-04 07:45:05 +11:00
Andy Piper a3de217dee AP_HAL_ChibiOS: ensure dshot rate can be set dynamically 
honour the requested dshot rate as near as possible
 2024-12-04 07:45:05 +11:00
Andy Piper 3cc4b1991c AP_HAL_ChibiOS: compile MambaH743v4 at -O2 2024-12-04 07:45:05 +11:00
Andy Piper 048a3af785 AP_HAL_ChibiOS: allow forcing of trigger_groups() 2024-12-04 07:45:05 +11:00
Andy Piper 76897e9674 AP_HAL: set HAL_INS_RATE_LOOP in boards 
restrict rate loop to H7 and F7
 2024-12-04 07:45:05 +11:00
Andy Piper c4ab8e25c4 AP_HAL: allow forcing of trigger_groups() 2024-12-04 07:45:05 +11:00
Andrew Tridgell 6ac35ce9af AP_Vehicle: use update_dynamic_notch() directly in rate loop 2024-12-04 07:45:05 +11:00
Randy Mackay eaf20db6ea AP_Scripting: ahrs/ekf origin script promoted to an applet 2024-12-03 11:15:00 +11:00
Andrew Tridgell 445c03c69c AP_ServoTelem: added active mask 
and fixed typo in logging
 2024-12-03 07:38:17 +11:00
Andrew Tridgell bf5555ccd3 AP_DroneCAN: actuator status is measured, not commanded 2024-12-03 07:38:17 +11:00
Iampete1 38c3257151 AP_Vechicle: add `AP_Servo_Telem` and call at 50Hz 2024-12-03 07:38:17 +11:00
Iampete1 e003cc511d add `AP_Servo_Telem` 2024-12-03 07:38:17 +11:00
Iampete1 d0bbc02995 AP_Logger: remove `Write_ServoStatus` and `CSRV` definition 2024-12-03 07:38:17 +11:00
Iampete1 9be1a751da AP_Volz_Protocol: send incomming servo telem data to new `AP_Servo_Telem` lib 2024-12-03 07:38:17 +11:00
Iampete1 71137dac31 AP_PiccoloCAN: send incomming servo telem data to new `AP_Servo_Telem` lib 2024-12-03 07:38:17 +11:00
Iampete1 d5c29735d6 AP_DroneCAN: send incomming servo telem data to new `AP_Servo_Telem` lib 2024-12-03 07:38:17 +11:00
Iampete1 2863dcfb94 AP_Logger: add new unit `t` for torque in N.m 2024-12-03 07:38:17 +11:00
Thomas Watson adfc415cff SITL: fix testing and simulated register scaling 
* make test actually test something

* fix scaling to match datasheet values
 2024-12-02 10:10:01 -06:00
Thomas Watson 190c3aa7ab AP_BattMonitor: INA3221: fix up based on real experience 
* correctly validate channel parameter and improve other parameter
access

* dynamically enable channels to avoid spending time converting unused
channels

* implement tracking of reading health

* correct reading scaling by using datasheet values

* accumulate measured current to track used mAh and Wh

* make configurable using #defines (and hwdef) for integrators

* correctly separate and lock frontend and backend state. Note that
_state of frontend can only be accessed in `read()` method.
 2024-12-02 10:10:01 -06:00
Peter Barker 4cfbeb11e3 SITL: add support for ina3221 triple-channel current/voltage sensor 2024-12-02 10:10:01 -06:00
Peter Barker 5bc3b629f4 AP_BattMonitor: add support for ina3221 triple-channel current/voltage sensor 2024-12-02 10:10:01 -06:00
Andrew Tridgell 53ee7d6e75 AP_InertialSensor: fixed check for changes to notch filters 
if the configured freq changes on any type of notch then A and Q
change, so init must be called. This does not affect only Fixed
notches
 2024-11-30 17:59:47 +11:00
Jonathan Challinger 564879594e AP_NavEKF3: fix computation of rho 2024-11-29 19:20:05 +11:00
Andrew Tridgell 10209a2a13 AP_Scripting: added UltraMotion servo driver 2024-11-28 09:24:03 +11:00
Andrew Tridgell 1c6ac0990c AP_Scripting: added UltraMotion servo driver 
see https://www.ultramotion.com/servo-cylinder/
 2024-11-28 09:24:03 +11:00
Andrew Tridgell fb3a50096d AP_Scripting: added get_output_pwm_chan 2024-11-28 09:24:03 +11:00
Andrew Tridgell d6b38f4009 SRV_Channel: added get_output_pwm_chan() for scripting 
allows for servo drivers to be written in lua
 2024-11-28 09:24:03 +11:00
George Zogopoulos 2f9ff3ef73 Plane: Call new TECS method in case of altitude change 2024-11-27 19:35:03 +11:00
George Zogopoulos 5b8a702b54 AP_TECS: Added method to handle home altitude change 2024-11-27 19:35:03 +11:00
George Zogopoulos 0f9268c6c8 AP_TECS: Delete redundant _hgt_afe setting 2024-11-27 19:35:03 +11:00
Andrew Tridgell 3a1faf6f54 AP_Quicktune: adjust defaults 
change QWIK_ANGLE_MAX to 10. this is a very conservative value, we may
raise it based on user feedback.

Lower the default SMAX to 4 to be a bit more conservative for larger
vehicles
 2024-11-27 14:07:38 +11:00
Andrew Tridgell 8edaf88efa hwdef: removed QAUTOTUNE disable 
now disabled by default
 2024-11-27 14:07:38 +11:00
Michelle Rossouw edcddcb82e AP_Quicktune: Added Quicktune 
C++ version of lua script, with some enhancements
 2024-11-27 14:07:38 +11:00
Michelle Rossouw 316bfd3263 RC_Channel: Added Quicktune 2024-11-27 14:07:38 +11:00
yaapu 3c19312c56 Ap_Frsky_Telem: fix for apparent wind passthrough telemetry frame 2024-11-27 13:46:37 +11:00
Hayden Donald 83520d611b AP_HAL_ChibiOS: CubeNode ETH add HAL_PERIPH_SHOW_SERIAL_MANAGER_PARAMS 2024-11-27 11:53:25 +11:00
Hayden Donald 2308968737 AP_HAL_ChibiOS: CubeNode-ETH add LEDs 
Added the LEDs for CubeNode-ETH to the hwdef
 2024-11-27 11:53:25 +11:00
Hayden Donald a29b8a4f5a AP_HAL_ChibiOS: CubeNode-ETH fix incorrect pin for CTS 
Fixed an incorrect pin for UART8_CTS (PC11 should be PC12)
 2024-11-27 11:53:25 +11:00
Ryan Friedman e7e700d9f2 AP_Terrain: Add const to locals 
Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
 2024-11-26 15:42:04 +11:00