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Author SHA1 Message Date
Willian Galvani
9a07fce7e3 Sub: Enable depth hold in arbitrary attitudes 2019-10-15 15:15:25 +11:00
Willian Galvani
c045be20bb Sub: remove angle_boost logic 
This gets in the way of the vectored thrust implemented,
and is just not useful for Sub.
 2019-10-15 15:08:26 +11:00
Willian Galvani
ac1ef0bc6a Sub: AP_Motors6DOF: create get_throttle_in_bidirectional() 2019-10-15 15:08:26 +11:00
Willian Galvani
efddff71bf SITL: Sub: add angular drag based on a laminar, external flow 2019-10-15 15:08:26 +11:00
Willian Galvani
6bcd2162b9 SITL: Sub: Fix rotational physics logic 2019-10-15 15:08:26 +11:00
Willian Galvani
a1c5b7ba55 SITL: Sub: Use proper phyisics for thrusters 2019-10-15 15:08:26 +11:00
Willian Galvani
237ad94f92 SITL: Submarine: add torque for static stability 
Subs are statically stable regarding pitch and roll.
This patch reproduces this in SITL
 2019-10-15 15:08:26 +11:00
Willian Galvani
78248a1083 SITL: add deadzones to Sub thrusters PWM signals 2019-10-15 15:08:26 +11:00
Willian Galvani
9abe4fc445 SITL: Fix buoyancy direction for earth-frame 
Previously the sub would just go upwards, so rolling it 180º caused it to sink
 2019-10-15 15:08:26 +11:00
Willian Galvani
9cd0aef53e SITL: Add 6dof frame for Sub 2019-10-15 15:08:26 +11:00
Willian Galvani
0ba93c0787 SITL: get rid of frame_vectored.h for Sub 2019-10-15 15:08:06 +11:00
Willian Galvani
d4987be5f2 Sub: rate-limit init_motor_test() calls 2019-10-15 15:08:06 +11:00
Willian Galvani
1092e961ee Sub: Accept position_target_global_int for depth control in ALT_HOLD 2019-10-15 15:08:06 +11:00
Andrew Tridgell
fe889b6f4e Plane: prepare for release of 4.0.0beta3 2019-10-07 21:39:21 +11:00
Andrew Tridgell
82d2a02971 Plane: updated release notes for 4.0.0beta3 2019-10-07 21:38:51 +11:00
Andrew Tridgell
b3834457bd Plane: check airspeed and active Z controll for hover learning 2019-10-07 21:18:28 +11:00
Michael du Breuil
4f3762d8c2 Plane: Resore old default behaviour for throttle curves 
The change in this made QStabilize behave very differently then it had,
which is quite shocking in a test flight.
 2019-10-07 21:17:30 +11:00
Andrew Tridgell
6ebb9ad84a AP_HAL: enabled SLCAN on fmuv2 and Pixhawk1-1M 
this fits for now, and is needed for CAN GPS for now
 2019-10-07 21:14:24 +11:00
Andrew Tridgell
42c4b41bf6 AP_UAVCAN: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell
83bacfa89c AP_HAL: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell
0eb9a58f17 AP_HAL_ChibiOS: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell
53e03816c0 AP_BoardConfig: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell
a452f8e4ed switch optimisation to O2 
on average makes for faster and smaller code than O3
 2019-10-06 10:58:07 +11:00
Andrew Tridgell
ee25d05f3c AP_Math: make fill_nanf() use a signalling NaN 
we want use of these values to trigger a FPE
 2019-10-06 10:58:07 +11:00
Andrew Tridgell
43df0022e1 use common variables for EKF 2019-10-06 10:58:07 +11:00
Andrew Tridgell
9ad9fe42bc AP_NavEKF2: use parent class for intermediate static variables 
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
Andrew Tridgell
46628b4401 AP_NavEKF2: make it easy to do EK2 timing tests 
for future benchmarking
 2019-10-06 10:58:07 +11:00
Andrew Tridgell
cd9c9e0809 AP_NavEKF: fixed build with vector index checking 2019-10-06 10:58:07 +11:00
Andrew Tridgell
156a64aca0 AP_NavEKF: added a common parent class for EKF2 and EKF3 core classes 
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
Michel Pastor
eb24e12666 AP_Logger: fix logging on 256Mbit flash chips 2019-10-06 10:58:07 +11:00
Michel Pastor
d7033dbf0d AP_Logger: fix AP_Logger_Block::get_num_logs() 2019-10-06 10:58:07 +11:00
Andrew Tridgell
0ec6210184 HAL_ChibiOS: removed wait on CAN peripheral in H7 
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
Andrew Tridgell
d017a9a60d AP_Logger: fixed LOG_FILE_DSRMROT with delayed log stop 
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
Andrew Tridgell
5a25d5c42d AP_Proximity: fixed incorrect use of fabs() 2019-10-06 10:58:07 +11:00
vierfuffzig
0b1cbc7bde AP_AHRS: fix custom orientation ToRad conversion 2019-10-06 10:58:07 +11:00
Andrew Tridgell
df86990c96 GCS_MAVLink: use HAL_MEM_CLASS for status sizes 2019-10-06 10:58:07 +11:00
Andrew Tridgell
6cd6b37826 AP_Logger: use HAL_MEM_CLASS for logging buffer size 2019-10-06 10:58:07 +11:00
Andrew Tridgell
609a2d95f8 AP_Logger: try harder to use close to user buffer size 
this stops us drastically reducing buffer size when low on memory
 2019-10-06 10:58:07 +11:00
Andrew Tridgell
3105255080 AP_HAL: added HAL_MEM_CLASS for amount of memory 2019-10-06 10:58:07 +11:00
Andrew Tridgell
b8a77890b6 HAL_ChibiOS: generate HAL_MEMORY_TOTAL_KB for each board 2019-10-06 10:58:07 +11:00
Andrew Tridgell
9c30e7a6a6 Tools: autobuild Pixhawk1-1M 2019-10-06 10:58:07 +11:00
Andrew Tridgell
9c640b7f8b Tools: added bootloaders for Pixhawk1-1M 2019-10-06 10:58:07 +11:00
Andrew Tridgell
bd95331068 HAL_ChibiOS: added Pixhawk1-1M 
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
vierfuffzig
afdb53daca AP_BLHeli: fix watchdog resets with telemetry active from non-multirotor motors 2019-10-06 10:58:07 +11:00
Andrew Tridgell
14aa2a0acb HAL_ChibiOS: re-enable full features on KakuteF7 and OMNIBUSF7V2 
we now have enough space with recent changes for these boards
 2019-10-06 10:58:07 +11:00
Andrew Tridgell
a49cc87dae AP_NavEKF3: change optimisation from -O3 to -O2 2019-10-02 12:03:53 +10:00
Andrew Tridgell
fb7ddd9b9d AP_NavEKF2: change optimisation from -O3 to -O2 2019-10-02 12:03:47 +10:00
Andrew Tridgell
2962211ea0 HAL_ChibiOS: changed optimisation of higher end boards to -O2 
-O3 does not seem to be a win, and takes up a lot more flash
 2019-10-01 08:33:13 +10:00
Andrew Tridgell
560a1bf9e0 HAL_ChibiOS: disable DMA for RCIN on Pixracer 
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
Mark Whitehorn
cf348c7512 IO_Firmware: update binaries (gcc version 6.3.1 20170620... 6-2017-q2-update) 2019-10-01 08:32:11 +10:00