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17516 Commits

Author SHA1 Message Date
Andrew Tridgell 51223409be HAL_ChibiOS: fixed iomcu build with flash driver 2019-05-28 17:47:19 +09:00
Andrew Tridgell 25aaefa0e6 HAL_SITL: added empty flash driver 2019-05-28 17:47:19 +09:00
Andrew Tridgell 33eecbb696 HAL_Linux: added empty flash driver 2019-05-28 17:47:19 +09:00
Andrew Tridgell c9eb9d8076 HAL_Empty: added empty flash driver 2019-05-28 17:47:19 +09:00
Andrew Tridgell e4aae50e44 HAL_ChibiOS: implement flash driver 2019-05-28 17:47:19 +09:00
Andrew Tridgell 608fd54f62 AP_HAL: added hal.flash driver 
needed for semaphore
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 2fbe6edf47 AP_HAL: added save/restore of attitude in backup registers 2019-05-28 17:47:19 +09:00
Andrew Tridgell 952ef7c361 HAL_ChibiOS: added save/restore of attitude in backup registers 2019-05-28 17:47:19 +09:00
Andrew Tridgell 46bb88173e AP_AHRS: added save/restore of attitude in backup registers 2019-05-28 17:47:19 +09:00
Andrew Tridgell 3bd1a08c5e HAL_ChibiOS: fixed build with older gcc 2019-05-28 17:47:19 +09:00
Andrew Tridgell 4fc4573f81 AP_AHRS: save/restore home to backup registers 
restore on watchdog reset
 2019-05-28 17:47:19 +09:00
Andrew Tridgell db35064c95 HAL_ChibiOS: save/restore home position in backup registers 2019-05-28 17:47:19 +09:00
Andrew Tridgell a42293b986 AP_HAL: added save/restore of home to backup registers 2019-05-28 17:47:19 +09:00
Andrew Tridgell 12dfccf65a AP_InertialSensor: prevent watchdog in accelcal 2019-05-28 17:47:19 +09:00
Andrew Tridgell 020ce245b9 HAL_ChibiOS: allow for delay in bootloader flash 2019-05-28 17:47:19 +09:00
Andrew Tridgell 3222084f2d HAL_ChibiOS: fixed watchdog timeout setting 2019-05-28 17:47:19 +09:00
Andrew Tridgell 756a629b24 GCS_MAVLink: added method to lockup autopilot 
used for watchdog testing

# Conflicts:
#	libraries/GCS_MAVLink/GCS_Common.cpp
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 27aba29109 AP_Logger: prevent log erase from triggering watchdog 
# Conflicts:
#	libraries/DataFlash/DataFlash_File.cpp
 2019-05-28 17:47:19 +09:00
Andrew Tridgell a378f2b8fa AP_Logger: force logging on an armed watchdog reset 
and don't clear sdcard space
 2019-05-28 17:47:19 +09:00
Andrew Tridgell f217f504e5 HAL_ChibiOS: implement was_watchdog_armed() 2019-05-28 17:47:19 +09:00
Andrew Tridgell 44e3b20038 AP_HAL: added was_watchdog_armed() 
allow decisions to be based on whether this is a watchdog reset and we
were armed
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 682362945c AP_BoardConfig: auto-restore safety state on watchdog reset 
# Conflicts:
#	libraries/AP_BoardConfig/board_drivers.cpp
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 4edd270bd9 HAL_ChibiOS: added ability to restore safety state on watchdog reset 
# Conflicts:
#	libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 92f12deb51 AP_HAL: added was_watchdog_safety_off() 
used to restore safety state on watchdog reset
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 6c7fd8e9ed HAL_ChibiOS: change to 2s timeout on watchdog 
a bit more of a safety net against false positives for stable release
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 6361482ba6 HAL_ChibiOS: fixed watchdog on H7 2019-05-28 17:47:19 +09:00
Andrew Tridgell f4d8026d6d AP_Compass: flag compass cal as long expected delay 2019-05-28 17:47:19 +09:00
Andrew Tridgell de2ae7ad24 HAL_ChibiOS: implement scheduler->expect_delay_ms() 
# Conflicts:
#	libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
#	libraries/AP_HAL_ChibiOS/Scheduler.h
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 2590457c75 AP_Logger: handle long delays in opening log files 2019-05-28 17:47:19 +09:00
Andrew Tridgell a341eebe69 AP_HAL: added expect_delay_ms() to Scheduler 
used to notify scheduler of long expected delay in main thread
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 8cd0133a4d HAL_ChibiOS: added commented out test code for watchdog 2019-05-28 17:47:19 +09:00
Andrew Tridgell 43dfc67b96 AP_Baro: skip cal on watchdog reset 2019-05-28 17:47:19 +09:00
Andrew Tridgell 69528a9892 AP_Airspeed: skip cal on watchdog reset 2019-05-28 17:47:19 +09:00
Andrew Tridgell e105bf258c AP_InertialSensor: skip gyro cal on watchdog reset 2019-05-28 17:47:19 +09:00
Andrew Tridgell 0f0fdf1398 HAL_ChibiOS: implement was_watchdog_reset() 
# Conflicts:
#	libraries/AP_HAL_ChibiOS/Util.h
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 44b6a70377 AP_HAL: added was_watchdog_reset() 
# Conflicts:
#	libraries/AP_HAL/Util.h
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 4858506a0b HAL_ChibiOS: record reason for reset 
allows us to tell if reset was due to watchdog
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 96923da60c HAL_ChibiOS: use BRD_OPTIONS to enable watchdog 
# Conflicts:
#	libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
 2019-05-28 17:47:19 +09:00
Andrew Tridgell 78e234bb6f AP_BoardConfig: added BRD_OPTIONS 
used to enable STM32 watchdog

# Conflicts:
#	libraries/AP_BoardConfig/AP_BoardConfig.cpp
#	libraries/AP_BoardConfig/AP_BoardConfig.h
 2019-05-28 17:47:19 +09:00
Andrew Tridgell a7906f9e42 HAL_ChibiOS: added IWDG watchdog support 
this resets the MCU if the main loop stops for 1 second

# Conflicts:
#	libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
 2019-05-28 17:47:19 +09:00
Guglielmo 234b3391a9 AP_HAL_SITL: fix pthread SITL build on MacOS 2019-05-28 17:47:19 +09:00
Andrew Tridgell d58bb700a3 HAL_ChibiOS: fixed brick2 valid status in POWR flags for fmuv5 
and fixed sense of VBUS
 2019-05-03 10:34:08 +10:00
Phillip Kocmoud 57f2f1488e AP_Compass: Increase default MAX compass offset 
After discussing the @tridge and @rmackay9 it was suggested that raising the maximum allowable compass offset value would allow users of the LIS3MDL and possibly others with larger compass offsets to fly with the default setting. 

This has been deemed a fairly safe change that still allows for sufficient overhead to prevent saturation.
 2019-04-30 12:42:14 +09:00
Michael du Breuil 35706def4d AP_GPS: Log reciever status to GPS SD card 
This improves log analysis of bad GPS health messages when you have a
report of bad GPS health but lost the MAVLink message, or didn't have
access to the autopilot log with the information for some reason.
 2019-04-30 10:48:59 +09:00
Michael du Breuil 94cc27a2f6 AP_GPS: Remove external event from GPS data stream 
If the event pin floats, this can lead to UART congestion, causing the
EKF to reject the GPS data, and the vehicle will drift around the sky in
a most disturbing manner
 2019-04-30 10:48:56 +09:00
Francisco Ferreira 09c210e10f AP_GPS: use proper macro in array sizes 2019-04-30 10:48:54 +09:00
Francisco Ferreira 75527ef567 AP_GPS: correct blending check 2019-04-30 10:48:51 +09:00
Francisco Ferreira d88d8fc178 AP_GPS: fix out-of-bounds array access 2019-04-30 10:48:49 +09:00
Michael du Breuil 958b7866c9 AP_GPS: Ensure a lag value is always provided 
The value may not be the optimal value for the driver, but we should
always try to provide a value for the caller
 2019-04-30 10:48:46 +09:00
Andrew Tridgell b1f441abd4 HAL_ChibiOS: mark SDIO and SDMMC IO as pullup 
this is needed for boards such as PixhackV3 which don't have hardware
pullups. Thanks to Hongle for reporting this.
 2019-04-30 10:48:00 +09:00
Randy Mackay 2d1e02fada AP_OpticalFlow: support cx-of on all boards 2019-04-30 10:47:49 +09:00
Andrew Tridgell b26ae4594f HAL_ChibiOS: change CUAVv5Nano default PWM count to 11 2019-04-30 10:47:38 +09:00
Andrew Tridgell fc86a7db11 HAL_ChibiOS: fixed CUAVv5Nano uarts 2019-04-30 10:47:36 +09:00
Andrew Tridgell a9c868a154 HAL_ChibiOS: support for CUAVv5Nano board 
F765 with no IOMCU
 2019-04-30 10:47:34 +09:00
Andrew Tridgell 06cfdedfb2 HAL_ChibiOS: fixed fallback to microSD for storage 
this is used when FRAM fails on a board with microSD support. The
double init caused the validate() in the FATFS code to fail
 2019-04-30 10:47:31 +09:00
Andrew Tridgell 481a6ea570 AP_Rangefinder: probe all I2C buses for rangefinders 2019-04-30 10:47:28 +09:00
Andrew Tridgell 87ae7ac422 AP_InertialSensor: don't set INS_ENABLE_MASK to found IMUs 
this is needed for detection of failed cubes
 2019-04-24 12:24:12 +10:00
Andrew Tridgell edffc3001b AP_AHRS: ensure AHRS never uses an unhealthy gyro 2019-04-24 11:47:56 +10:00
Jonathan Challinger c630a87e37 AP_BoardConfig: add targetted check for cube black internal sensors 2019-04-24 11:47:56 +10:00
Jonathan Challinger 10c930d62d AP_Baro: make crc4 a static member of AP_Baro_MS56xx 2019-04-24 11:47:56 +10:00
Jonathan Challinger b02d58444f AP_HAL_ChibiOS: add define HAL_CHIBIOS_ARCH_CUBEBLACK to cubeblack hwdef 2019-04-24 11:47:08 +10:00
Andrew Tridgell a9b5a0fea0 AC_WPNav: prevent I term buildup during landing 
this prevents I term buildup in the XY velocity controller during
landing. This to account for the EKF giving a non-zero horizontal
velocity when we have touched down. The I term buildup in the XY
velocity controller can lead to the attitude error going above the
level for disabling the relax function as the throttle mix is
changed. That results in large motor outputs which can tip over the
vehicle after touchdown.

Thanks to Leonard for the suggestion
 2019-02-27 20:06:15 +09:00
Andrew Tridgell 6668a2e602 AP_RangeFinder: fixed lightware serial with LW20 lidar 
it needs a longer serial write to force it to serial mode from i2c
 2019-02-27 20:06:06 +09:00
Andrew Tridgell f04efe7985 HAL_ChibiOS: allocate threads from any heap 
this fixes a failure on MatekF405-Wing where it fails to allocate the
SPI thread for the IMU
 2019-02-27 11:59:45 +11:00
Andrew Tridgell 5ce1c14674 AP_NavEKF3: fixed EKF compass switching 
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
 2019-02-09 16:02:08 +11:00
Andrew Tridgell 95522b5486 AP_NavEKF2: fixed EKF compass switching 
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
 2019-02-09 16:02:08 +11:00
Andrew Tridgell f614dcbb18 AP_Compass: change to 3 compasses in SITL 2019-02-09 16:02:08 +11:00
Andrew Tridgell 30d11f6a40 Filter: fixed crash on zero cutoff frequency 
this fixes #10435
 2019-02-09 16:02:08 +11:00
Andrew Tridgell 5a0e0179d8 HAL_ChibiOS: fixed mini-pix uart order 2019-02-09 16:02:08 +11:00
Andrew Tridgell 2f7121a073 HAL_ChibiOS: fixed CAN on Pixhawk4 and PH4-mini 
the silent pins floating disabled CAN
 2019-02-09 16:02:08 +11:00
Andrew Tridgell b72378db9c HAL_ChibiOS: setup APJ board IDs in environment 2019-02-09 12:27:35 +09:00
Randy Mackay 835c0d8991 AC_PosControl: remove unnecessary init of last_update_xy_ms 2019-02-02 11:34:38 +09:00
hongle 44da0d03d7 AP_RSSI: add V5 Nano to the RSSI_ANA_PIN param description 2019-02-02 10:34:49 +09:00
Michael du Breuil d93eb0306d AP_RSSI: Remove APM doc references 2019-02-02 10:34:48 +09:00
Randy Mackay df4dcf3c8f AC_PosControl: constify dt calcs 2019-02-02 10:34:47 +09:00
Randy Mackay 0929d0333b AC_WPNav: use dt from pos controller 2019-02-02 10:34:46 +09:00
Randy Mackay 4f74075e53 AC_PosControl: increase accuracy of dt calcs 2019-02-02 10:34:45 +09:00
Peter Barker 2550c9922d AP_RSSI: make RSSI work on ChibiOS 2019-02-01 14:01:10 +09:00
Rob Ratcliff 6af9be44a7 RC_Channel: treat UINT16_MAX as a value of 0 in set_override 
Addresses ignore R/C override issue documented here:
https://github.com/ArduPilot/ardupilot/issues/1667
 2019-01-24 11:20:10 +09:00
Andrew Tridgell fa365b6f8d HAL_ChibiOS: disable USART6_TX on fmuv5 
this prevents it acting as a pullup on SBUS input for Pixhawk4. Thanks
to David Sidrane for the suggestion.

This also enables the extra 3 PWMs for PH4-mini
 2019-01-18 09:45:00 +11:00
Andrew Tridgell 55e362e470 AP_HAL_ChibiOS: Fix FMUv2 LED lighting up 2019-01-14 12:22:47 +11:00
Andrew Tridgell d9b6c6e0c9 AP_RCProtocol: on DSM sync error don't reset channel count 
this fixes the issue noticed by Andreyl in 3.6.5rc1
 2019-01-14 12:05:29 +11:00
Andrew Tridgell bbe09c4b59 AP_BoardConfig: fixed build 2019-01-11 12:02:59 +11:00
Andrew Tridgell ee87621ed4 HAL_ChibiOS: fixes for DrotekP3Pro 2019-01-11 12:02:59 +11:00
Kevin Lopez Alvarez 71412f4deb AP_BoardConfig: add ChibiOS FMUv4pro defines 2019-01-11 12:02:59 +11:00
Kevin Lopez Alvarez 85e79f87f6 AP_HAL: add ChibiOS FMUv4pro 2019-01-11 12:02:59 +11:00
Kevin Lopez Alvarez dd66c8919c HAL_ChibiOS: add MCU tables for STM32F469 2019-01-11 12:02:59 +11:00
Kevin Lopez Alvarez 3a06e866a7 HAL_ChibiOS: add DrotekP3Pro hardware definitions 2019-01-11 12:02:59 +11:00
Andrew Tridgell 9ed3e9eec5 HAL_ChibiOS: fixed build of sdcard 2019-01-11 09:48:16 +09:00
Andrew Tridgell a03b569d43 DataFlash: allow startup with no microSD 
this allows logging to work with insert after boot
 2019-01-11 09:48:16 +09:00
Andrew Tridgell 02987b7614 HAL_ChibiOS: try to mount microSD after boot 2019-01-11 09:48:16 +09:00
Andrew Tridgell 638b3b80d2 HAL_ChibiOS: log stdout to USB on mindpx-v2 2019-01-11 09:48:16 +09:00
Andrew Tridgell ff67c83bc1 HAL_ChibiOS: allow mount of microSD after boot 
when disarmed, try to mount sd card every 3s
 2019-01-11 09:48:16 +09:00
Andrew Tridgell da21947fe9 HAL_ChibiOS: fixed card inserted test for SDC 2019-01-11 09:48:16 +09:00
Andrew Tridgell bccddf3701 AP_BoardConfig: added BRD_SD_SLOWDOWN parameter 
allows for reduction in microSD clock speed
 2019-01-11 09:48:16 +09:00
Andrew Tridgell 6fb84cfa6b HAL_ChibiOS: support microSD slowdown 
allow use of BRD_SD_SLOWDOWN to slow down clock on microSD
 2019-01-11 09:48:16 +09:00
Andrew Tridgell e1889fbf66 AP_HAL: added set_slowdown() to SPIDevice 
used to slow down a SPI device below normal high speed operation
 2019-01-11 09:48:16 +09:00
Andrew Tridgell 058980a94d AP_HAL: added fs_init() to Util API 2019-01-11 09:48:16 +09:00
Andrew Tridgell 32d0137c08 AP_RCProtocol: bring up to date with master 
this adds new RC protocol decoders for SRXL, SUMD and ST24 as well as
updating to latest soft-serial decoder
 2019-01-11 09:31:27 +09:00
Siddharth Purohit 043c303146 HAL_ChibiOS: add CubePurple/PH2Slim board config 2019-01-11 09:16:16 +09:00