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35387 Commits

Author SHA1 Message Date
Andy Piper 8cb8bf3613 AP_HAL_ChibiOS: fixup FoxeerF405v2 build 2024-05-01 08:07:41 +10:00
Randy Mackay f6187fa003 AP_NavEKF3: define Yaw alignment min GPS speed per vehicle 2024-05-01 08:07:41 +10:00
Randy Mackay 63e78ba5a8 RC_Channel: integrate AP_CAMERA_SET_CAMERA_SOURCE_ENABLED 2024-05-01 08:07:41 +10:00
Randy Mackay 4e9431cbd5 AP_Mission: support set-camera-source 2024-05-01 08:07:41 +10:00
Randy Mackay ce747d8314 AP_Mount: add set_camera_source support 2024-05-01 08:07:41 +10:00
Randy Mackay c95f3c5c9a AP_Camera: support set-camera-source mavlink command 2024-05-01 08:07:41 +10:00
Randy Mackay 0356a356cb GCS_MAVLink: forward set-camera-source to AP_Camera 2024-05-01 08:07:41 +10:00
Ryan Friedman d0cfa58dee AP_ExternalAHRS: Only use GPS data when populating GPS fields 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman 62301fc005 AP_ExternalAHRS: Check backend pre-arm before origin 
* This allows the backend to report more detailed errors
* Before this, many pre-arm errors were hidden by origin failure
* If pre-arm could report multiple errors, that would be ideal

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman ce0970b211 Save flash, reduce code duplication 
* Add generic health and time utils
* Fix bug only checking first GNSS system
* Use common logging struct
* Improve pre-arm log checks

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman c948863de1 AP_ExternalAHRS: Don't send init message till booted up 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman de6244d078 AP_ExternalAHRS: Use state watching instead 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman 95257aa7df AP_ExternalAHRS: Provide warning for init failure 
* If the device hasn't initialized in 5 seconds, give a warning

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman 596424057d AP_ExternalAHRS: Use filter data to populate EKF status report 
* Variances vs uncertainties may still be off
* Requires enabling the following packets in SensorConnect:
  * Position Uncertainty (LLH)
  * Velocity Uncertainty (NED)

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman a4282356be AP_HAL: Fix incorrect return type 
* This caused position quantization errors in the MicroStrain7

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman b8287aba70 AP_DDS: Fix incorrect port param name 
* We want to support TCP and UDP in the future, so make sure we call it
  UDP here

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Andy Piper 129222ba5d AP_HAL_ChibiOS: FoxeerF405v2 2024-05-01 08:07:41 +10:00
Randy Mackay 1152af7ab3 AC_PosControl: always update yaw targets 2024-05-01 08:07:41 +10:00
davidsastresas da91f2d263 AP_Mount: fix gimbal-device-attitude-status yaw frame flag 2024-05-01 08:07:41 +10:00
Randy Mackay d8a948714f AP_Mount: get-gimbal-device-flags reports lock state 2024-05-01 08:07:41 +10:00
Randy Mackay cfb042f6c4 AP_Mount: do-gimbal-manager-pitch-yaw can set lock state 
Co-authored-by: davidsastresas <davidsastresas@gmail.com>
 2024-05-01 08:07:41 +10:00
Randy Mackay ada8cf6758 AP_Mount: clarify yaw_lock comments 2024-05-01 08:07:41 +10:00
Randy Mackay a5e89c7023 AP_Mount: RC targeting mode lock state from previous mode 
This leads to smoother transitions between RC and GCS control
 2024-05-01 08:07:41 +10:00
Andrew Tridgell 620ad676e0 AP_RCProtocol: fixed underflow wrap in GHST 2024-04-08 11:19:06 +09:00
Andrew Tridgell 104d50cf8c AP_RCProtocol: added random data test 
this triggers the CRSF crash bug that was just fixed
 2024-04-08 11:19:06 +09:00
Andrew Tridgell 253e51a5c6 AP_RCProtocol: fixed crc memory range error in CRSF 
this fixes a crash bug that caused a watchdog for Henry on a
F765-Wing. The bug happens with corrupt serial data causing an
underflow in the length argument to the crc call
 2024-04-08 11:19:06 +09:00
FoxSuzuran 7d28fdc3c9 AP_Proximity: add RPLidarC1 support 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-03-22 17:25:33 +11:00
Tom Pittenger 67ba6054a0 AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-22 17:25:33 +11:00
Tim Tuxworth dac9cd7d1d AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-22 17:25:33 +11:00
Tim Tuxworth 1ecd911843 Chibios: CubeRed - change NET_ENABLED to NET_ENABLE 2024-03-22 17:25:33 +11:00
Andrew Tridgell e503bcc23f HAL_ChibioOS: fixed FDCAN -> CAN labels 
we use CAN1_RX not FDCAN1_RX in our MCU files
 2024-03-22 17:25:33 +11:00
Andrew Tridgell 167ac06da9 AP_Logger: avoid logging dma.txt for normal builds 
logging of dma.txt currently does no good as the first time you read
it you get no content. It then enables statistics in the shared_dma
code which makes all DMA operations slower, so all we are doing is
making DMA slower
 2024-03-22 17:25:33 +11:00
Randy Mackay 72374c450a AP_Mount: viewpro fix for swapped ahrs roll pitch 2024-03-22 17:25:33 +11:00
root f6eebe3fb1 AP_VideoTX:add additional freq bands(Band X) 2024-03-22 17:25:33 +11:00
Andrew Tridgell 7b54b8a9f0 HAL_ChibiOS: fixed a cache corruption issue on H7 
This fixes a bug introduced in this PR:

https://github.com/ArduPilot/ardupilot/pull/25900

the bug is that when we don't go via the bouncebuffer on H7 we were
also skipping the cache invalidate/flush ops. This caused data
corruption for filesystem operations, particularly noticible as lua
scripts failing to load with parse errors or log corruption
 2024-03-22 17:25:33 +11:00
Minderring 0825aef191 hwdef: added MicoAir405v2 2024-03-22 17:25:33 +11:00
Andy Piper 8e02b6e5d0 AP_HAL_ChibiOS: Orqa F405 Pro 2024-03-22 17:25:33 +11:00
Ryan Friedman 713351893c AP_ExternalAHRS: SIM_MicroStrain support quaternion attitude 
* This replaces IMU orientation
* Fixed some usage docs

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-22 17:25:33 +11:00
Ryan Friedman ea0156f72a AP_ExternalAHRS: Populate orientation from filter 
* Populating AHRS orientation from IMU was not correct

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-22 17:25:33 +11:00
Iampete1 5e35718a91 AP_Filesystem: crc32: Ensure checksum value is initialized 2024-03-14 11:29:35 +11:00
Andrew Tridgell 7c2b1cd055 AP_InertialSensor: fixed accel cal simple to remove unused IMUs 
when we change EAHRS_SENSORS to remove use of IMU from an external
AHRS we need to be able to zero the accel and gyro offsets to get
prearms to pass
 2024-03-14 11:29:35 +11:00
Andy Piper d69e6ae997 AP_HAL_ChibiOS: always normalize ESC channel when using iomcu 2024-03-14 11:29:35 +11:00
Andy Piper df19d143f2 AP_HAL_ChibiOS: use standard FPV config for SpeedyBeeF405WING 2024-03-14 11:29:35 +11:00
Randy Mackay 0232ff446c AP_HAL_ChibiOS: CubeRedSecondary IMU orientation fix 
Also remove duplicate RC_IN serial protocol
 2024-03-14 11:29:35 +11:00
Andrew Tridgell 69ad34a416 AP_HAL_ChibiOS: remove iomcu dshot from Pixhawk1-1M and add to Pixhawk1-bdshot 
add support for removing ROMFS from hwdef
 2024-03-14 11:29:35 +11:00
Andrew Tridgell dad293cad9 hwdef: fixed Pixhawk1-1M build 2024-03-14 11:29:35 +11:00
Peter Barker 68a5120120 GCS_MAVLink: make rally/fence item conversion methods public 2024-03-14 11:29:35 +11:00
Peter Barker de211412c0 AP_FileSystem: permit upload of fence/rally via ftp 2024-03-14 11:29:35 +11:00
subashchandar 8842162866 AP_HAL_ChibiOS: hwdef: Add new hardware pixflamingo f7 2024-03-14 11:29:35 +11:00
Randy Mackay 8a956c4e02 AP_HAL_ChibiOS: AP_Periph does not use AP_VisualOdom 2024-03-14 11:29:35 +11:00
Randy Mackay 867c46ebb6 AP_Scripting: EKF source switching for ExtNav and optflow 2024-03-14 11:29:35 +11:00
Randy Mackay 7b8541f9cb AP_Scripting: add VisualOdom bindings 2024-03-14 11:29:35 +11:00
Randy Mackay 34b1049715 AP_DDS: send quality of zero to AP_VisualOdom 2024-03-14 11:29:35 +11:00
Randy Mackay e74d2b8e64 GCS_MAVLink: send Odometry quality to VisualOdom 2024-03-14 11:29:35 +11:00
Randy Mackay 7288105935 AP_VisualOdom: use Odometry quality 2024-03-14 11:29:35 +11:00
Randy Mackay 02f8397a31 SITL: vicon send odometry with quality of 50 2024-03-14 11:29:35 +11:00
Randy Mackay 52690ce0d4 SITL: vicon param descriptions 2024-03-14 11:29:35 +11:00
Andrew Tridgell 3b156b90ac AP_Scripting: add file system crc32 binding 2024-03-14 11:29:35 +11:00
Andrew Tridgell ab462acc96 AP_Arming: added arming check for fence storage 2024-03-14 11:29:35 +11:00
Andrew Tridgell ba2014b110 AC_Fence: allow for fence storage on microSD 2024-03-14 11:29:35 +11:00
Andrew Tridgell c67f3b574a AP_BoardConfig: added BRD_SD_FENCE 
allow for fence storage on microSD
 2024-03-14 11:29:35 +11:00
Andrew Tridgell ce96a870ab RC_Channel: disable GPS on external AHRS with GPS_DISABLE 2024-03-14 11:29:35 +11:00
Andrew Tridgell d786937ea3 AP_AHRS: don't use accel/gyro from ExternalAHRS unless enabled 2024-03-14 11:29:35 +11:00
Pulak Gautam 32cc2c452c AP_ExternalAHRS: added missing #if AHRS logging 2024-03-14 11:29:35 +11:00
Andrew Tridgell 8e9a4c1a9c AP_ExternalAHRS: check for origin in pre-arm check 2024-03-14 11:29:35 +11:00
Andrew Tridgell 88dc0384ab AP_ExternalAHRS: make get_accel() and get_gyro() bool 2024-03-14 11:29:35 +11:00
Andrew Tridgell 301116db03 AP_ExternalAHRS: added support for GPS disable and fwd flight 
allow backends to determine if we are in fixed wing flight and/or the
GPS is disabled by the user
 2024-03-14 11:29:35 +11:00
Andrew Tridgell 0b9c7409b2 AP_ExternalAHRS: added EAHRS_LOG_RATE and common logging 
common logging for all EAHRS backends
 2024-03-14 11:29:35 +11:00
Iampete1 3e083e5ceb AP_Gernerator: IE 2400: MAV_SEVERITY level depends on error code 2024-03-14 11:29:35 +11:00
Andrew Tridgell cb807934ee SITL: fixed the vehicle type of the simulated ship 
this was broken by https://github.com/ArduPilot/ardupilot/pull/23763

we need to look for other places where we have assumed the MAVLink
field orderin in recent changes
 2024-03-14 11:29:35 +11:00
Andrew Tridgell 717cab9b40 AP_Scripting: support precision loiter in quadplanes 
and allow for moving landing target
 2024-03-14 11:29:35 +11:00
Andrew Tridgell fee23d0ba5 SITL: added moving precland simulator 
added SIM_PLD_SHIP to make the precland location track the SIM_SHIP
location, giving a nice way of having a landing marker on a moving
ship
 2024-03-14 11:29:35 +11:00
Andrew Tridgell dc77c83d0e AP_Scripting: fixed race condition in ship landing 
and fixed lua warnings
 2024-03-14 11:29:35 +11:00
Andrew Tridgell 1b4ad9fc15 AP_Scripting: added plane_precland lua script 2024-03-14 11:29:35 +11:00
Andrew Tridgell 33428d9a9f AP_Scripting: added docs for precland 2024-03-14 11:29:35 +11:00
Andrew Tridgell 3a7107a779 AP_Scripting: added bindings for AC_PrecLand 2024-03-14 11:29:35 +11:00
Andrew Tridgell 2f7e758325 SITL: fixed precland simulator 
fixed units of height, was mixed cm and m, now just m AMSL
 2024-03-14 11:29:35 +11:00
Andrew Tridgell 845c04e08c AC_PrecLand: added get_target_location and get_target_velocity 2024-03-14 11:29:35 +11:00
Andrew Tridgell 7a1cd82bd8 AP_TECS: fixed adjusting speed without airspeed sensor 
the pitch trim variable that was not connected in aparm is needed to
allow tuning of the flight speed using PTCH_TRIM_DEG and
TRIM_THROTTLE.

This was broken in 4.4.x by this PR:

https://github.com/ArduPilot/ardupilot/pull/22191
 2024-03-14 11:29:35 +11:00
Andy Piper af6fcf28af AP_HAL_ChibiOS: BlitzF745AIO update to ICM-42688 
enable OSD
use minimal FPV config
enable compass probing
pull uart pins high in bootloader for ELRS
 2024-03-14 11:29:35 +11:00
Andrew Tridgell 973e70ab3c AP_HAL_SITL: fixed get_baud_rate() 2024-03-14 11:29:35 +11:00
Andrew Tridgell b4160ddd93 AP_HAL_Linux: fixed get_baud_rate() 2024-03-14 11:29:35 +11:00
Andrew Tridgell ad93f871d4 AP_HAL_ESP32: fixed get_baud_rate() 2024-03-14 11:29:35 +11:00
Andrew Tridgell 6d12f49a90 AP_SerialManager: default GPS baud to 230400 
this is the most common baudrate
 2024-03-14 11:29:35 +11:00
Andrew Tridgell 137e4e051c AP_GPS: do initial probe at default baudrate 
this makes for much faster probe for most users
 2024-03-14 11:29:35 +11:00
Peter Barker 04018e79a7 AP_GPS: correct check of reported antenna distance vs stated offset 2024-03-14 11:29:35 +11:00
Andrew Tridgell b261466258 AP_GPS: added option to decode RTCM injected data 
this allows for redundent RTCM links (eg. WiFi and SiK links for light
show drones) without causing corruption into the GPS.

If the GPS_DRV_OPTION bit is set then we instantiate a separate RTCM3
decoder per mavlink channel, and only inject when we get a full packet
that passes the RTCM 24 bit CRC
 2024-03-14 11:29:35 +11:00
Andrew Tridgell 141546963a GCS_MAVLink: pass channel number to AP_GPS on RTCM injection 2024-03-14 11:29:35 +11:00
Andrew Piper d919478bdd AP_GPS: fragments_received is a bitmask not a count 2024-03-14 11:29:35 +11:00
Paul Riseborough 59135b6ea0 AP_TECS: Remove unused variable 2024-03-14 11:29:35 +11:00
Paul Riseborough 9f95be4609 AP_TECS: Add /0 protection 2024-03-14 11:29:35 +11:00
Paul Riseborough 07501f634c AP_TECS: Add option for speed to increase up to FBW max during descent 2024-03-14 11:29:35 +11:00
lthall f9ad643afc Copter: AC_AttitudeControl: RP_FILT_HZ to RPY_FILT_HZ 2024-03-14 11:29:35 +11:00
lthall cabd6ca558 AC_CustomControl: RP_FILT_HZ to RPY_FILT_HZ 2024-03-14 11:29:35 +11:00
Andy Piper 604d890930 AC_AttitudeControl: ensure yaw gets a FLTD default 2024-03-14 11:29:35 +11:00
Iampete1 f1d9af3aa9 AC_AttitudeControl: fix reset_target_and_rate method 2024-03-14 11:29:35 +11:00
Randy Mackay 38eea02b6c AP_Camera: fix video recording while armed 2024-03-14 11:29:35 +11:00
Andrew Tridgell c95ead6111 AP_Param: fixed build of CubeOrange-periph 2024-03-14 11:29:35 +11:00
Andrew Tridgell a2adf57862 AP_Param: fixed cygwin build 
the cygwin build is not generating binaries failing with:

   undefined reference to `AP_Param::load_param_defaults(char const volatile*, int, bool)

there is a 2nd problem that the CI test for cygwin doesn't fail when
the build fails. That will be addressed separately
 2024-03-14 11:29:35 +11:00
Peter Barker 6f516fd037 AP_BattMonitor: fix compilation when scripting in but scripted-battery out 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-03-14 11:29:35 +11:00
Rhys Mainwaring a9c382bc13 AP_DDS: use msg_prefix in GCS_SEND_TEXT 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-14 11:29:35 +11:00
Rhys Mainwaring e917725da2 AP_DDS: use microxrcedds_gen default-container-prealloc-size 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-14 11:29:35 +11:00
Rhys Mainwaring 4691483c8e AP_DDS: remove unused TFMessage variable 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-14 11:29:35 +11:00
Peter Barker 9616309a3f AP_RCProtocol: CRSF: use subtraction with times, not time+timedelta 2024-03-14 11:29:35 +11:00
Andrew Tridgell 6caa66835b AP_RCProtocol: decode high duty-cycle CRSF frames using frame markers rather than timeouts 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-03-14 11:29:35 +11:00
Peter Barker 8f78432109 AP_RCProtocol: correct CSRF->CRSF 
Co-authored-by: Andy Piper <github@andypiper.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-03-14 11:29:35 +11:00
Andy Piper 47fe3762a0 AP_RCProtocol: add tests for CRSF and fix protocol test 
fixed RCProtocolTest on SITL and make it pass/fail with an exit code

Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-03-14 11:29:35 +11:00
rishabsingh3003 261117cd96 AC_Avoid: Remove sensor status checks 2024-03-14 11:29:35 +11:00
rishabsingh3003 7cae432014 AP_Proximity: Improve get_status handling 2024-03-14 11:29:35 +11:00
rishabsingh3003 a45b4b19fb AP_RangeFinder: move multican to AP_CANSensor 2024-03-14 11:29:35 +11:00
rishabsingh3003 3fb77c6e2f AP_Proximity: move mutlican to AP_CANSensor 2024-03-14 11:29:35 +11:00
rishabsingh3003 a1ada298e6 AP_Arming: Remove MR72 2024-03-14 11:29:35 +11:00
rishabsingh3003 73a3fdd201 AP_CANManager: Add multiCAN interface 2024-03-14 11:29:35 +11:00
rishabsingh3003 639f336d32 AP_Arming: Add check for CAN MR72 2024-03-14 11:29:35 +11:00
rishabsingh3003 4709cf9440 AP_Proximity: Add support for CAN MR72 2024-03-14 11:29:35 +11:00
rishabsingh3003 1d2aecb0ed AP_CANMangaer: Add support for CAN MR72 2024-03-14 11:29:35 +11:00
bugobliterator d76617f54c AP_GPS: broaden the acceptance criteria for GPS Yaw measurement 2024-02-14 11:20:30 +11:00
Iampete1 6be66f4010 AP_Parachute: do relay conversion if ever enabled 2024-02-14 11:20:30 +11:00
Andrew Tridgell ccaeb0fd45 HAL_ChibiOS: fixed CANFD timings (again!) 
the timing table was not correct, thanks to APD for pointing this out.

This is recalculated from
https://www.kvaser.com/support/calculators/can-fd-bit-timing-calculator,
with transmitter timing delay compensation added and tested with Salae
captures to ensure we are getting the right bit rates
 2024-02-14 11:20:30 +11:00
Andrew Tridgell c1e4332ba5 AP_Param: fixed setting of defaults for dynamic param trees 
when we load a VARPTR subtree we need to re-scan the parameter
defaults file from @ROMFS/defaults.parm in case there are defaults
applicable to this subtree
 2024-02-14 11:20:30 +11:00
yjuav bdb5352086 hwdef: add YJUAV_A6Ultra board support 2024-02-14 11:20:30 +11:00
Randy Mackay 59ce292af5 Mount: Siyi waits for non-zero cam firmware version 2024-02-14 11:20:30 +11:00
David O'Connor d7daf8d6a5 hwdef: add AnyLeaf H7 board 2024-02-14 11:20:30 +11:00
Andy Piper 019b9f5c35 AP_RCProtocol: discriminate GHST and CRSF based on first byte 
do not change to GHST baudrate unless it has been specifically configured
 2024-02-14 11:20:30 +11:00
Andrew Tridgell dcf5730561 HAL_Linux: fixed float calc of time for onboard flow 2024-02-14 11:20:30 +11:00
Andrew Tridgell 04adf7c4f0 HAL_SITL: use integer maths for clocks 
same fix as for HAL_Linux
 2024-02-14 11:20:30 +11:00
Andrew Tridgell 5df46312e8 HAL_Linux: fixed time function to use integer maths 
avoid floating point rounding errors after long uptimes.

thanks to Richard (RSAXVC) for finding this
 2024-02-14 11:20:30 +11:00
Andrew Tridgell e04fd1f05a AP_Scripting: prevent double close in web server 2024-02-14 11:20:30 +11:00
Andrew Tridgell 4851d103e1 AP_Scripting: prevent re-use of closed socket 
this prevents a null pointer dereference after a close of a network
socket
 2024-02-14 11:20:30 +11:00
Andrew Tridgell a3143ab009 AP_Param: don't enable param backup on all boards 
this fixes an issue with resetting of parameters when going between
4.4.x and 4.5.x on MatekH743, and on any other board using flash
storage where the storage size has increased from 16k to 32k between
4.4.x and 4.5.x

The problem is that when you update to 4.5.x the parameter code stored
a backup of parameters in the StorageParamBak storage region which is
in the last section of storage. When you downgrade to 4.4.x the
AP_FlashStorage::load_sector() code tries to load this data and gets
an error as it is beyond the end of the available 16k storage. This
triggers an erase_all() and loss of parameters
 2024-01-28 08:43:14 +11:00
Andrew Tridgell 6e3369611e HAL_ChibiOS: enable clock management on G4 
this allows for a different clock tree in the main fw from the
bootloader
 2024-01-25 11:44:52 +11:00
Andrew Tridgell 06a8aef998 HAL_ChibiOS: switched G4 FDCAN clock to 80MHz 
this requires main CPU clock at 160 MHz instead of 168 MHz
 2024-01-25 11:44:44 +11:00
Andrew Tridgell 2d965684f6 HAL_ChibiOS: fixed CANFD timings 
our CANFD timings were resulting in a lot of busoff errors. Here is an
example of master at 1Mbit/5MBit:

Getting @SYS/can0_stats.txt as -
------- Clock Config -------
CAN_CLK_FREQ:   80MHz
Std Timings: bitrate=1000000 presc=7
sjw=0 bs1=7 bs2=0 sample_point=90.00000%
FD Timings:  bitrate=5000000 presc=1
sjw=0 bs1=5 bs2=0 sample_point=90.00000%
------- CAN Interface Stats -------
tx_requests:    2689
tx_rejected:    0
tx_overflow:    443
tx_success:     7
tx_timedout:    2232
tx_abort:       0
rx_received:    18470
rx_overflow:    0
rx_errors:      0
num_busoff_err: 34439
num_events:     18477
ECR:            F8
fdf_rx:         18467
fdf_tx_req:     2182
fdf_tx:         0

here is an example with the new timings:

------- Clock Config -------
CAN_CLK_FREQ:   80MHz
Std Timings: bitrate=1000000 presc=8
sjw=1 bs1=8 bs2=1 sample_point=90.00000%
FD Timings:  bitrate=8000000 presc=2
sjw=3 bs1=8 bs2=3 sample_point=80.00000%
------- CAN Interface Stats -------
tx_requests:    3023
tx_rejected:    0
tx_overflow:    0
tx_success:     3023
tx_timedout:    0
tx_abort:       0
rx_received:    27865
rx_overflow:    0
rx_errors:      0
num_busoff_err: 0
num_events:     30888
ECR:            0
fdf_rx:         27862
fdf_tx_req:     3016
fdf_tx:         3016

I am testing between a CubeOrange and a Pixhawk6X. I tested 1, 2, 4, 5
and 8 MBit (which are the only valid FD bitrates in our parameters)

Many thanks to Kai from Salient Motion for finding this issue and
providing the corrected timing table
 2024-01-25 11:44:32 +11:00
Peter Barker f18e196fa9 GCS_MAVLink: use virtual method for GCS_MAVLink::handle_message 
use more appropriate naming for the method.
 2024-01-24 09:07:41 +11:00
Peter Barker 475ef8a06d AP_Mission: fix use of uninitialised stack data 
loading missions via FTP ends up using uninitialised stack data when storing missions.
 2024-01-24 09:04:28 +11:00
Hayden Donald a81f2785aa AP_HAL_ChibiOS: Use correct pin config for ADC2 and ADC3 2024-01-24 08:03:24 +11:00
MallikarjunSE 873e2eac7d AP_HAL_ChibiOS: update truenav hwdef 2024-01-24 07:58:09 +11:00
J.R. Bronkar 784a21bcab AP_Mission: fractional Loiter Turn Support 
Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
 2024-01-22 20:27:20 -08:00
Andrew Tridgell 50b95c81ca AP_Param: whitespace fix 2024-01-23 15:00:30 +11:00
Andrew Tridgell b051719836 SITL: fixed name of pitch limit parameters 2024-01-23 15:00:30 +11:00
Andrew Tridgell e714f0a7a3 AP_HAL_ChibiOS: fixed name of pitch limit parameters 2024-01-23 15:00:30 +11:00
Andrew Tridgell 315f4963cc SITL: fixed parameter names 2024-01-23 15:00:30 +11:00
Andrew Tridgell 4f182f3194 AP_Scripting: fixed parameter names 2024-01-23 15:00:30 +11:00
Andrew Tridgell 061ac459f8 RC_Channel: tidy a comment for LAND_PITCH_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell f51fa31aae AP_TECS: fixed param names in comments 2024-01-23 15:00:30 +11:00
Andrew Tridgell 77877584f8 AP_Scripting: fixed example script 2024-01-23 15:00:30 +11:00
Andrew Tridgell 15a9909127 SITL: tidy TRIM_PITCH to PTCH_TRIM_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell 3643eb6d2a AP_Vehicle: tidy TRIM_PITCH to PTCH_TRIM_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell 04d72d3adc SITL: convert param files for LAND_PITCH_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell 2c73c56403 AP_TECS: convert LAND_PITCH_CD to LAND_PITCH_DEG 2024-01-23 15:00:30 +11:00