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9e866449e1
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26590 Commits

Author SHA1 Message Date
Randy Mackay
9e866449e1 AC_WPNav: move definitions to .cpp file 2021-09-10 17:07:03 +10:00
Randy Mackay
82ef14a692 Copter: terrain spelling fix 2021-09-10 17:07:03 +10:00
Randy Mackay
dbba55d779 AC_WPNav: terrain spelling fix 2021-09-10 17:07:03 +10:00
Leonard Hall
3e65570b36 AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-10 17:07:03 +10:00
Leonard Hall
b16ce057c1 AC_WPNav: Separate landing and terrain following. 2021-09-10 17:07:03 +10:00
Leonard Hall
2441f88072 AC_Autotune: Separate landing and terrain following. 2021-09-10 17:07:03 +10:00
Leonard Hall
ce6b336f7d AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-10 17:07:03 +10:00
Iampete1
f13ab11c88 SRV_Channel: call update_aux_servo_function in function_assigned 2021-09-10 17:07:03 +10:00
Andrew Tridgell
1b398d6956 HAL_ChibiOS: use more USB buffers on higher end F7 chips 2021-09-10 17:07:03 +10:00
Andrew Tridgell
991352b76b HAL_ChibiOS: reduce the impact of UART DMA contention 
this changes the heuristics for UART TX DMA allocation to greatly
reduce the chances of DMA contention causing long delays on other
devices

This fixes issues with FETTec driver output and gimbal status messages
as reported by Amilcar and OlliW. The problem is particularly bad when
no GPS is connected to GPS1 on fmuv3 and derived boards (such as
CubeBlack)

key changes:

 - remember the contention_counter across begin() calls, as the GPS
   calls begin with new baudrates regularly

 - added a is_shared() API to Shared_DMA, allowing the UART driver to
   avoid TX DMA on shared streams when at low baudrates.
 2021-09-10 17:07:03 +10:00
Andrew Tridgell
f4266463c9 GCS_MAVLink: check for null comm_port before writing 
this was found when adding debug code to write to a specific channel
 2021-09-10 17:07:03 +10:00
Pierre Kancir
98bc5969b0 AP_Rangefinder: fix override in constructor 2021-09-10 17:07:03 +10:00
Andrew Tridgell
d2aeeb6bad AP_DAL: fixed a bug in RMGH logging 2021-09-10 09:26:44 +10:00
Andrew Tridgell
ee24310a95 AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-09-10 09:12:34 +10:00
Andrew Tridgell
3c1a3201c6 HAL_ChibiOS: fixed GPIO lines for QioTekZealotF427 2021-09-03 18:25:13 +10:00
Andrew Tridgell
febca7a952 AP_Declination: added a test suite for AP_Declination 
use test vectors from MAVProxy mavextra
 2021-09-03 14:45:38 +10:00
Andrew Tridgell
907d044c89 AP_Declination: fixed rounding in mag field 
thanks to Angela for noticing this
 2021-09-03 14:45:35 +10:00
QioTek
69d7a7c1e4 AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649 
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
 2021-08-29 11:24:18 +10:00
Hwurzburg
41e753ea47 AP_HAL_Chibios: Change RC in to RCINT to free a DMA channel 2021-08-29 11:24:18 +10:00
Andrew Tridgell
3d0ee4fead HAL_ChibiOS: allow FlywooF745 to build again 2021-08-28 12:50:32 +10:00
Andy Piper
0431d43a40 AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-28 12:50:32 +10:00
Leonard Hall
78dd9e2a49 AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-28 12:50:32 +10:00
Leonard Hall
9a0b9407a8 AC_WPNav: Fix Jerk units 2021-08-28 12:50:32 +10:00
Leonard Hall
052524728b AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-28 12:50:32 +10:00
Leonard Hall
1c2655f565 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-28 12:50:32 +10:00
Iampete1
4fe9a34308 AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-28 12:50:32 +10:00
Randy Mackay
380f3aece2 AP_Scripting: copter-fast-descent.lua example script 2021-08-28 12:50:32 +10:00
Randy Mackay
d17e88aa88 AP_Vehicle: add virtual set_target methods 2021-08-28 12:50:32 +10:00
Randy Mackay
432de2cdcf AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-28 12:50:32 +10:00
Randy Mackay
3ccdc69855 AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-28 12:50:32 +10:00
Randy Mackay
056cb073be AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-28 12:50:32 +10:00
Randy Mackay
9edb44151e AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-28 12:50:32 +10:00
Randy Mackay
aeba1dba93 AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-28 12:50:32 +10:00
Randy Mackay
b8a1662ce1 AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-28 12:50:32 +10:00
Iampete1
4cf67b2888 AP_Vehicle: #ifdef scripting specific functions 2021-08-28 12:50:32 +10:00
Iampete1
c1e4ed6512 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 12:50:32 +10:00
Randy Mackay
88ebcffc73 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-28 12:50:32 +10:00
Pierre Kancir
73efa895e2 AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 12:50:32 +10:00
Pierre Kancir
0bc97871a7 AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 12:50:32 +10:00
Pierre Kancir
7a2fba689d AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 12:50:32 +10:00
Andrew Tridgell
957740db4f HAL_ChibiOS: switch to minimum scheduling delta of 10us 
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.

Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.

Fixes issue #18383
 2021-08-28 12:50:32 +10:00
Andy Piper
e7e3b478fc AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it 
change mamba F405 to active high as per betaflight
 2021-08-28 12:50:32 +10:00
Randy Mackay
94ed5b876f AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-28 12:50:32 +10:00
mateksys
714d11863e Tools: added MatekF765-SE to autobuild 2021-08-25 18:54:05 +10:00
mateksys
97b6467075 AP_HAL_ChibiOS: add MatekF765-SE hwdef as a variant of MatekF765-Wing 2021-08-25 18:54:05 +10:00
Peter Barker
398f731442 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-25 18:34:07 +10:00
Andrew Tridgell
128c21cba2 AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-16 15:05:24 +10:00
Andrew Tridgell
f858120069 SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-16 15:05:21 +10:00
Andrew Tridgell
10574f5188 AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-16 15:03:55 +10:00
Andrew Tridgell
a427abab0d AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-16 15:03:55 +10:00