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32085 Commits

Author SHA1 Message Date
Alexander Keller 94a3f2aff2 AP_GPS:Comform to ardupilot undulation definition 2023-07-04 10:53:57 +10:00
davidsastresas ec79c3ffae GCS_Common: handle CMD_DO_SET_ROI_NONE for command int packets 2023-07-04 10:53:57 +10:00
Randy Mackay 113ed38f82 AP_SerialManager: improve OPTIONS desc for Swap bit 2023-07-04 10:53:57 +10:00
Randy Mackay 8b825b4ea7 AP_SerialManager: generalise SToRM32 serial protocol desc and enum 2023-07-04 10:53:57 +10:00
Iampete1 3a34cf4562 AP_Motors: Heli RSC: remove incorrect set range call 2023-07-04 10:53:57 +10:00
Henry Wurzburg f917554c4a AP_HAL_ChibiOS: add Holybro KakuteH7-Wing 2023-07-04 10:53:57 +10:00
Randy Mackay a3d6bcc5da AR_PosControl: add input_pos_vel_accel target 2023-06-08 18:41:06 +10:00
Randy Mackay 823e7c53b5 AP_HAL_ChibiOS: JFB100 LED definition fix 2023-06-08 18:41:06 +10:00
Randy Mackay f7ee365907 AP_InertialSensor: SCHA63T comment fix 2023-06-08 18:41:06 +10:00
Randy Mackay 538a0ef966 AP_HAL_ChibiOS: JFB100 board def fixup 2023-06-08 18:41:06 +10:00
Randy Mackay edc5e598f8 AP_InertialSensor: SCHA63T loses unused ret bool 2023-06-08 18:41:06 +10:00
jfbblue0922 2764305f8e AP_HAL_ChibiOS: add JFB100 board definition 2023-06-08 18:41:06 +10:00
Randy Mackay adee71fe22 AP_InertialSensor: formatting fixes 2023-06-08 18:41:06 +10:00
jfbblue0922 de7e388ed4 AP_InertialSensor: add SCHA63T IMU support 2023-06-08 18:41:06 +10:00
jfbblue0922 2e6a16907b AP_Math: add crc8_sae 2023-06-08 18:41:06 +10:00
Henry Wurzburg 58d03f01ec AP_Notify: fix incorrect buzzer pin type to stop always instantiating 2023-06-08 18:41:06 +10:00
James O'Shannessy 87b47d5ea1 AP_BattMonitor: Fixes the setting of a default parameter for battery instance #2 set in hwdef 2023-06-08 18:41:06 +10:00
Randy Mackay d669a2b079 AC_WPNav: wpnav speed param check fixed 2023-06-08 18:41:06 +10:00
Andrew Tridgell 641ab1b7d5 HAL_ChibiOS: fixed USB pass-thru for 2nd USB endpoint 
we need to align the endpoint ID in the structure
 2023-06-08 18:41:06 +10:00
Andrew Tridgell 6b8dfcdeac AP_AHRS: don't reject airspeed using EKF if dead-reckoning 
when dead-reckoning the EKF wind estimate can diverge from reality,
leading to us rejecting a valid airspeed sensor. We are best off
trusting airspeed if we are dead-reckoning
 2023-06-08 18:41:06 +10:00
Andrew Tridgell fe0268b2b8 AP_BoardConfig: fixed documentation of safety options 
on and off were reversed
 2023-06-08 18:41:06 +10:00
Iampete1 c161875659 Filter: SlewLimiter: always caculate slew limit 2023-06-08 18:41:06 +10:00
Andrew Tridgell b8b2bfafdf AP_BattMonitor: allow max amps to be configured on INA2XX 
this allows for higer current ranges with lower resolution
 2023-06-08 18:41:06 +10:00
Andrew Tridgell 0aa51a6ed3 hwdef: use zero address for INA2XX to allow for different sensors 2023-06-08 18:41:06 +10:00
Andrew Tridgell cc9ca6f013 AP_BattMonitor: auto-probe INA2XX address if address is zero 
this makes life easier for users who don't know which device they have
 2023-06-08 18:41:06 +10:00
Andrew Tridgell 443fbb7666 AP_BattMonitor: support INA228 and INA238 battery monitor 
I2C monitors with similar functionality to INA226
 2023-06-08 18:41:06 +10:00
Andy Piper c1943261ad AC_AutoTune: load test gains for correct axis when testing yaw D 2023-06-08 18:41:06 +10:00
Paul Riseborough d5c6d1c8a8 AP_NavEKF3: Increase delta velocity bias state process noise 
Required due to state variance collapse on ground with some systems using RTK GPS.
 2023-06-08 18:41:06 +10:00
Paul Riseborough 328354999b AP_NavEKF3: Strengthen recovery from bad delta velocity bias learning 2023-06-08 18:41:06 +10:00
Paul Riseborough 388c4738dc AP_NavEKF3: Increase default value of EK3_ABIAS_P_NSE 
This is required because some hardware setups with RTK GPS have experienced a collapse of the delta velocity state variances.
 2023-06-08 18:41:06 +10:00
Paul Riseborough d04a301e9a AP_NavEKF3: Retune and fix delta velocity bias state variance protection 2023-06-08 18:41:06 +10:00
Andy Piper f00f1af1d1 AP_NavEKF: ensure gyro biases are numbers 
avoid errors during compass mot
 2023-06-08 18:41:06 +10:00
Paul Riseborough 61b276995b AP_NavEKF3: Lock in wind state estimates when using srag to dead reckon 2023-06-08 18:41:06 +10:00
Andrew Tridgell 91e8099c34 AP_ICEngine: fixed a bug engine control when running 
if you have a mission item for engine control with delayed start at
height and the engine is already running them it would put the ICE
subsystem into a state where it would no longer start the engine

It was actually 2 bugs:

 - an engine control to do a height delayed start should be ignored if
   the engine is already running. This prevents an engine control to
   start the engine from stopping the engine

 - a start_chan high should always try to start the engine
   immediately, even if in the wait state
 2023-06-08 18:41:06 +10:00
Andy Piper 0553d06c14 AP_HAL_ChibiOS: correct locking on LED thread 2023-06-08 18:41:06 +10:00
Andy Piper b2be3c1dbc AP_HAL_ChibiOS: move LED processing to a separate thread 
LED processing on a separate thread allows much longer LED lengths to be handled without
compromising dshot timing or timeouts. The thread is also run at a lower priority to
reflect its lack of flight criticality
 2023-06-08 18:41:06 +10:00
Andy Piper cc84fd1859 AP_HAL: add helper functions for LEDs 
add PRIORITY_LED for led output thread
 2023-06-08 18:41:06 +10:00
Andy Piper 595be4d04d AP_HAL_ChibiOS: reduce IMU SPI low speed to 1Mhz to avoid chip initialization issues 2023-06-08 18:41:06 +10:00
Andy Piper 3d2fb949e0 AP_HAL_ChibiOS: FoxeerH743 GA release 2023-06-08 18:41:06 +10:00
Andy Piper 1428557140 AP_HAL_ChibiOS: update MambaF405v2 for ICM42688, bdshot and DMA on UART1 2023-06-08 18:41:06 +10:00
Andy Piper d9237518f3 AP_HAL_ChibiOS: add BMI270 and ICM42688 to FlywooF745 2023-06-08 18:41:06 +10:00
Andy Piper 129129b4ae AP_HAL_ChibiOS: remove erroneous FlywooF745v2 2023-06-08 18:41:06 +10:00
Andy Piper d8a2eb5a87 AP_HAL_ChibiOS: hwdef for FlywooF745v2 
Add SPL06 baro to FlywooF745v1
 2023-06-08 18:41:06 +10:00
Andrew Tridgell 43a4ae4a8e AP_RCProtocol: return true on initial protocol detection 
we need to tell the IO firmware that a byte was consumed when we first
detect a protocol as otherwise the next bad byte on DSM will lock us
on the DSM port
 2023-05-23 15:21:45 +10:00
Andrew Tridgell bb5cd4f475 AP_IOMCU: fixed issue with not regaining RC input 
this fixes an issue where when you lose R/C input on IOMCU that you
may not regain it when R/C comes back.

The issue stems from us still processing the DSM uart when we are
using the SD3 "SBUS" uart for RC input, and still doing the switch of
the SD3 config every 2 seconds.

When we are not searching for a new protocol we should not be changing
UART config
 2023-05-23 15:21:45 +10:00
Andrew Tridgell bbe79b3c18 AP_NavEKF3: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-05-05 13:22:51 +10:00
Andrew Tridgell d9c9875768 AP_NavEKF2: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-05-05 13:22:48 +10:00
Andrew Tridgell 030b1c855f AP_Param: added set() to AP_Enum 2023-04-26 17:36:49 +10:00
Peter Barker a39357fe29 AP_Logger: do not rotate logs when disarming if we are replay-logging 2023-04-26 17:36:49 +10:00
Andrew Tridgell 313e8e39b6 AP_Logger: added LOG_DARM_RATEMAX 
this sets the logging rate max when disarmed. In combination with
LOG_DISARMED=3 it gives a very nice setup to get always on logging
with very little addition to the log sizes. It is particularly useful
in combination with LOG_REPLAY=1
 2023-04-26 17:36:49 +10:00