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29081 Commits

Author SHA1 Message Date
Peter Barker 937f0a3e40 AP_Filesystem: correct run-length encoding in param download 
If a parameter's name was a prefix of the previous name we would
suffer an integer-wrap problem and incorrectly encode the parameter name
 2022-06-21 19:41:34 +09:00
Andrew Tridgell 83d78b6336 AP_NavEKF3: log set source events 2022-06-21 19:41:34 +09:00
Andrew Tridgell 8939974333 AP_DAL: added set source events for EKF3 2022-06-21 19:41:34 +09:00
Iampete1 f3d08c8eae AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane 2022-06-21 19:41:34 +09:00
Andrew Tridgell be7f0afc87 AP_InertialSensor: call notch param update with semaphore held 2022-06-21 19:41:34 +09:00
Andrew Tridgell 005de1ded2 AP_GyroFFT: added defaults for FFT with no notch 
allow for testing with FFT enabled, and defaulting number of
frequencies to look for
 2022-06-21 19:41:34 +09:00
Andrew Tridgell 70443b121f AP_InertialSensor: fixed the last notch values to be per-instance 
thanks to Andy for noticing this
 2022-06-21 19:41:34 +09:00
Andrew Tridgell a0746ec251 AP_GyroFFT: skip disabled notches 2022-06-21 19:41:34 +09:00
Andrew Tridgell afe0c02835 AP_InertialSensor: don't update disabled notches 2022-06-21 19:41:34 +09:00
Andrew Tridgell 5949abb858 AP_GyroFFT: allow for 2 FFT based notches 2022-06-21 19:41:34 +09:00
Andrew Tridgell e4c1f30aa7 AP_Vehicle: implement common harmonic notch update code 2022-06-21 19:41:34 +09:00
Andrew Tridgell 10a273a3a5 AP_RPM: use HarmonicNotch class 2022-06-21 19:41:34 +09:00
Andrew Tridgell 3ebab76395 AP_GyroFFT: use HarmonicNotch class 2022-06-21 19:41:34 +09:00
Andrew Tridgell 699d624ca1 AP_Arming: use HarmonicNotch class 2022-06-21 19:41:34 +09:00
Andrew Tridgell 7bb139a311 AP_InertialSensor: switch to HarmonicNotch class 
this makes the logic much easier to follow, without indexes into
arrays
 2022-06-21 19:41:34 +09:00
Andrew Tridgell d48e048403 Filter: removed parameters from the old notch filter 
saves some flash space
 2022-06-21 19:41:34 +09:00
Andrew Tridgell 6c61ea970d AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT 2022-06-21 19:41:34 +09:00
Andrew Tridgell f015e827bf AP_Arming: added arming check for conflicting notch modes 2022-06-21 19:41:34 +09:00
Andrew Tridgell b6e4cfc8da Filter: clarify meaning of 1st harmonic 2022-06-21 19:41:34 +09:00
Andrew Tridgell 2cfce1e3e7 Filter: added RPM2 harmonic notch type 2022-06-21 19:41:34 +09:00
Andrew Tridgell 49bf16853c AP_Vehicle: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell 7246185d0a AP_RPM: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andrew Tridgell 350140e030 AP_InertialSensor: support two full harmonic notch filters 2022-06-21 19:41:34 +09:00
Andy Piper 8cd79d08ba AR_Motors: make sure ESC type is initialized early 2022-05-28 16:08:08 +09:00
Andy Piper 7dcdf7b325 AP_Motors: make sure ESC type is initialized early 2022-05-28 16:08:08 +09:00
Andy Piper 7d00167428 SRV_Channel: add BLHeli_S ESC type 2022-05-28 16:08:08 +09:00
Andy Piper a3e79c8263 AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths 2022-05-28 16:08:08 +09:00
Andy Piper 34cb45a11e AP_HAL: add BLHeli_S ESC type and use it to control bitwidths 
adjust BLHeli_S bitwidth and ticks to support more ESC variants.
 2022-05-28 16:08:08 +09:00
Randy Mackay 4eedb2e948 AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7 2022-05-28 16:08:08 +09:00
Randy Mackay 8a5e7ff120 AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-05-28 16:08:08 +09:00
Andy Piper ece793e4b7 AC_AutoTune: allow high ANGLE_P gains 2022-05-28 16:08:08 +09:00
Andy Piper 292291b760 AP_HAL: add bitwidth hal definitions. 
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
 2022-05-28 16:08:08 +09:00
Andy Piper 19d9f157cb AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-05-28 16:08:08 +09:00
Andrew Tridgell 0bfe567c4d AP_BoardConfig: expose BRD_SAFETYENABLE on all boards 
default BRD_SAFETYENABLE to 0 on boards with no safety switch, which
gives us the same behaviour as before, but users can choose to enable
the safety

this fixes two problems:

  - CAN servos and ESCs work on boards with no safety switch
    (eg. MatekH743 with CAN)

  - during startup we could get spurious outputs before out aircraft
    type is setup
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 49af52b735 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 4adb3ddfa2 AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter 
this allows for an offset in ESC numbering for much more efficient CAN
bandwidth usage.

For example, on a coaxial OctoQuad quadplane the ESCs are typically
setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN
buses, with one CAN bus for the top layer and the one bus for the
bottom layer (allowing for VTOL flight with one bus failed).

Without this offset parameter you would be sending RawCommand messages
like this:

bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]

this is very wasteful of bus bandwidth, with bus1 using 3x the
bandwidth it should and bus2 using 4x the bandwidth it should (the
above will take 3 can frames for bus1, and 4 can frames for bus 2)

With this patch you can set:

CAN_D1_UC_ESC_OF = 4
CAN_D2_UC_ESC_OF = 8

and you will get this on the bus:

bus1: [ ESC1, ESC2, ESC3, ESC4 ]
bus2: [ ESC1, ESC2, ESC3, ESC4 ]

that takes just 1 can frame per send on each bus
 2022-05-28 16:08:08 +09:00
Peter Barker aa59e0a63e AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:08 +09:00
Andrew Tridgell aa873ad9f4 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-28 16:08:08 +09:00
Andrew Tridgell 2f73ce408f AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-28 16:08:08 +09:00
Andrew Tridgell 8066478679 AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor 
we need to use the pressure from the sensor we are calibrating
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 4e6f0c0ef4 AP_NavEKF: getYawData also provides number of clipping models 
In the case of the compass calibrator we do not want to use the GSF
result if any model is degenerate.  We've had a compass calibrate in
flight 180-degrees out from what it should have.
 2022-05-28 16:08:08 +09:00
Peter Barker 5f39602d8c AP_Compass: do not use GSF if any model has been clipped 2022-05-28 16:08:08 +09:00
Andrew Tridgell 1e82319bfa AP_EFI: added fuel usage integration for Lutan EFI 
allows for EFI_COEF1 and EFI_COEF2 to be set to get fuel consumption
on GCS
 2022-05-28 16:08:08 +09:00
Andrew Tridgell 6bf9556612 AP_Mission: improved handling of large LOITER_TURNS 
instead of wrapping we should use MIN with 255, which is closer to
what was requested
 2022-05-28 16:08:08 +09:00
Joshua Henderson 7a2d48389c AP_Airspeed: remove negative pressure set unhealthy 2022-05-28 16:08:08 +09:00
Leonard Hall 0b4b5e473b AC_AttitudeControl: Allow diabling of slew limit 2022-05-16 08:15:26 +09:00
Andrew Tridgell 6b790eaca0 hwdef: added FlyingMoonF427 support 2022-05-16 08:15:26 +09:00
Andrew Tridgell 707bc9502f hwdef: added FlyingMoonF407 board support 2022-05-16 08:15:26 +09:00
Andrew Tridgell ed18123f95 HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103 
need to check new pin not old pin
 2022-05-16 08:15:26 +09:00
Andrew Tridgell bcc548bbd8 AP_Logger: fixed a bug in wrapped log count 
fixes #20687
 2022-05-16 08:15:26 +09:00