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26702 Commits

Author SHA1 Message Date
Andrew Tridgell
4aae95bf3e Revert "AP_RCProtocol: raise SBUS frame gap" 
This reverts commit af654f0cb7.

this does not work with some SBUS receivers
 2022-02-12 08:55:16 +11:00
Randy Mackay
92aebdc3a4 AP_Math: spline lateral scaler reduced to 0.5 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2022-02-12 08:55:16 +11:00
Leonard Hall
6440da0a38 AC_AttitudeControl: AC_PosControl: use relax_integrator 2022-02-12 08:55:16 +11:00
Leonard Hall
35f44beef5 AC_AttitudeControl: use relax_integrator 2022-02-12 08:55:16 +11:00
Leonard Hall
7b074eeb69 AC_PID: replace reset_I_smoothly with relax_integrator 2022-02-12 08:55:16 +11:00
Leonard Hall
f34431a91c AC_PID: AC_PID_2D: let I term change direction but not grow when limited 2022-02-12 08:55:16 +11:00
Leonard Hall
c33b8f0b75 AC_AttitudeControl: AC_PosControl: Prioritize crosstrack acceleration 2022-02-12 08:55:16 +11:00
Leonard Hall
56806b9391 AP_Math: Control: Add directional based acceleration limit 2022-02-12 08:55:16 +11:00
Leonard Hall
a56dc20742 AC_AttitudeControl: AC_PosControl_Sub: Increase Jerk with Accel when out of velocity range 2022-02-12 08:55:16 +11:00
Leonard Hall
5eae32fb5b AC_AttitudeControl: AC_PosControl: Increase Jerk with Accel when out of velocity range 2022-02-12 08:55:16 +11:00
Leonard Hall
fc7ec9f354 AC_AttitudeControl: AC_PosControl: Init desired accel to zero 2022-02-12 08:55:16 +11:00
Peter Barker
ee8d34afb1 AP_InertialSensor: correct logging of inertial-sensor reg-change logging 2022-02-12 08:55:16 +11:00
Leonard Hall
f4cdbb2707 AC_WPNav: Support error input to kinematic shaper 2022-02-12 08:55:16 +11:00
Leonard Hall
686ef10987 AC_AttitudeControl: AC_PosControl: Support error input to kinematic shaper 2022-02-12 08:55:16 +11:00
Leonard Hall
a5c9a2e32e AP_Math: Control: Adjust limit handling to improve corners 2022-02-12 08:55:16 +11:00
Iampete1
34266ce8ab AP_Math: control: remove unneeded normalisation. 2022-02-12 08:55:16 +11:00
Randy Mackay
8563c8125a AP_Math: update_pos_vel_accel methods accept limit as const reference 
also update some comments
 2022-02-12 08:55:16 +11:00
Peter Barker
ba06c3e03a SRV_Channel: correct casting of servo function number 2022-02-12 08:55:16 +11:00
Andrew Tridgell
a9161dccc6 AP_Arming: support Benewake CAN 2022-02-12 08:55:16 +11:00
Andrew Tridgell
7495cb3712 AP_CANManager: support Benewake CAN 2022-02-12 08:55:16 +11:00
Andrew Tridgell
93aeadea3b AP_RangeFinder: added Benewake CAN Lidars 
includes support for setting CAN ID and min SNR
 2022-02-12 08:55:16 +11:00
Iampete1
e707a3ea0b AP_Compass: never override custom orentation in calabration 2022-02-12 08:55:16 +11:00
Andrew Tridgell
75f7c36bc7 AP_Logger: avoid all opens of log files in main thread 
this fixes a problem with sdcards where file open is very slow. It can
trigger a watchdog if it is slow enough. Peter and I hit this issue on
a pixracer today with a new sd card
 2022-02-12 08:55:16 +11:00
Andrew Tridgell
3ad6c5523b AP_RCProtocol: raise SBUS frame gap 
cope with UART input for newer SBUS receivers
 2022-01-27 15:56:24 +11:00
Andrew Tridgell
8df5723362 AP_GPS: drop default GPS lag to 0.1s 
this impacts UAVCAN GPS modules, which these days usually have at
least u-blox M8
 2022-01-27 14:48:31 +11:00
Andrew Tridgell
14d6358f18 AP_Filesystem: fixed a param ftp bug 
if param count changes we need to zero the file size
 2022-01-18 06:44:49 +11:00
Andrew Tridgell
221881c4ae AP_NavEKF3: fixed gaps in EKF logging 
timestamps should not be static as otherwise some lanes will not be
logged
 2022-01-03 12:55:37 +11:00
Andrew Tridgell
2e6063495f AP_BattMonitor: fixed a segv with BATT_MONITOR=14 
this causes a hang on boot on some boards
 2022-01-03 12:55:06 +11:00
Andrew Tridgell
cda8a61903 AP_BoardConfig: disable STLink debug pins by default 
this avoids leaving the debug pins in a state where they may be
vulnerable to ESD issues
 2021-12-21 11:32:36 +11:00
Bill Geyer
22f1044d4d AP_Motors: add spool down complete flag 2021-12-21 11:32:36 +11:00
Mingchen Zhang
3e6074738a AP_SmartAudio: fix a bug that would starve the lower priority thread, such as scripting. 2021-12-21 11:29:29 +11:00
Andrew Tridgell
661876e969 AC_AutoTune: limit autotune target rates to parameter limits 
this makes it safer to autotune a large vehicle which may become
unstable at very high target rates
 2021-12-20 16:00:46 +11:00
Andrew Tridgell
3b0a9e47a7 AC_AttitudeControl: added get_ang_vel_yaw_max_rads() 2021-12-20 16:00:19 +11:00
Andrew Tridgell
689e2ad003 AP_RCTelemetry: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-20 15:54:44 +11:00
Andrew Tridgell
b1a2063142 AP_RangeFinder: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-20 15:54:42 +11:00
Andrew Tridgell
5ec59d8a3e AP_Proximity: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-20 15:54:39 +11:00
Andrew Tridgell
46fcc0fdf3 AP_ADSB: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-20 15:54:37 +11:00
Andrew Tridgell
4ebece3dfd AP_RCProtocol: fixed multi-protocol search with added uart 2021-12-20 15:54:34 +11:00
Andrew Tridgell
c682b7deab AP_SerialManager: added have_serial() method 
this checks if we have the protocol without setting the options on the
uart
 2021-12-20 15:54:31 +11:00
Andrew Tridgell
664b55a49a AP_NavEKF3: Add missing covariance row reset 2021-12-20 09:30:14 +11:00
Andrew Tridgell
6ef5a9a909 AP_InertialSensor: added support for IIM-42652 and ICM-40605 sensors 
handle new Invensense v3 sensor types
 2021-12-17 13:59:42 +11:00
Andrew Tridgell
35f8c361b7 AP_InertialSensor: added support for ICM-20608-D sensor 2021-12-17 08:00:38 +11:00
Andrew Tridgell
6fc1049439 AP_UAVCAN: use soft armed state for DroneCAN ARMING_STATUS 
this fixes motortest on quadplanes, so that ESCs see an armed state
during the test
 2021-12-13 10:49:32 +11:00
Andy Piper
93ed8212ae AP_Vehicle: correct update_dynamic_notch_at_specified_rate() 2021-12-13 10:49:32 +11:00
Andy Piper
65017887d1 AP_Vehicle: make sure notch update rate is configurable 2021-12-13 10:49:32 +11:00
Andy Piper
9dd4314341 Filter: set output slew rate to zero when max is zero. 2021-12-13 10:49:32 +11:00
Andy Piper
20a509d771 AC_AutoTune: set slew rate to 0 while twitching 2021-12-13 10:49:32 +11:00
Andy Piper
8be3c4ab83 AC_PID: add slew_rate modifier 2021-12-13 10:49:32 +11:00
Hwurzburg
ef59ab143e AP_Motors: change H_COLL_HOVER to H_COL_HOVER for consistency 2021-12-13 10:49:32 +11:00
torsten
4c050f4f7e AP_FETtecOneWire: reset buf_used 
if byte is missing due to electrical noise it can now resync
 2021-12-13 10:49:32 +11:00