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52,437 Commits 71 Branches 510 Tags 770 MiB
9fba96c8d0
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29075 Commits

Author SHA1 Message Date
Andrew Tridgell
9fba96c8d0 AP_InertialSensor: fixed the last notch values to be per-instance 
thanks to Andy for noticing this
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
97d42308a7 AP_GyroFFT: skip disabled notches 2022-06-21 19:41:54 +09:00
Andrew Tridgell
5bdac5174c AP_InertialSensor: don't update disabled notches 2022-06-21 19:41:54 +09:00
Andrew Tridgell
a15259d7e5 AP_GyroFFT: allow for 2 FFT based notches 2022-06-21 19:41:54 +09:00
Andrew Tridgell
8fb1d56dfe AP_Vehicle: implement common harmonic notch update code 2022-06-21 19:41:54 +09:00
Andrew Tridgell
f1b4396c18 AP_RPM: use HarmonicNotch class 2022-06-21 19:41:54 +09:00
Andrew Tridgell
15dcfed927 AP_GyroFFT: use HarmonicNotch class 2022-06-21 19:41:54 +09:00
Andrew Tridgell
ef31de5fc5 AP_Arming: use HarmonicNotch class 2022-06-21 19:41:54 +09:00
Andrew Tridgell
43e93ccf27 AP_InertialSensor: switch to HarmonicNotch class 
this makes the logic much easier to follow, without indexes into
arrays
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
d48bc25c95 Filter: removed parameters from the old notch filter 
saves some flash space
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
3f89aa620c AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT 2022-06-21 19:41:54 +09:00
Andrew Tridgell
e80adeefa4 AP_Arming: added arming check for conflicting notch modes 2022-06-21 19:41:54 +09:00
Andrew Tridgell
05b6283a97 Filter: clarify meaning of 1st harmonic 2022-06-21 19:41:54 +09:00
Andrew Tridgell
7150dde40a Filter: added RPM2 harmonic notch type 2022-06-21 19:41:54 +09:00
Andrew Tridgell
2b6aa64d2b AP_Vehicle: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andrew Tridgell
8dbf3f39cb AP_RPM: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andrew Tridgell
ead011c615 AP_InertialSensor: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andy Piper
365904a50c AR_Motors: make sure ESC type is initialized early 2022-05-28 16:08:17 +09:00
Andy Piper
555f608b43 AP_Motors: make sure ESC type is initialized early 2022-05-28 16:08:17 +09:00
Andy Piper
03ebf1b091 SRV_Channel: add BLHeli_S ESC type 2022-05-28 16:08:17 +09:00
Andy Piper
c9d5609214 AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths 2022-05-28 16:08:17 +09:00
Andy Piper
6253578d06 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 16:08:17 +09:00
Randy Mackay
96f0fee7b3 AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7 2022-05-28 16:08:17 +09:00
Randy Mackay
72f0de65d2 AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-05-28 16:08:17 +09:00
Andy Piper
9f9c5c30ae AC_AutoTune: allow high ANGLE_P gains 2022-05-28 16:08:17 +09:00
Andy Piper
25d6e9b1bb 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 16:08:17 +09:00
Andy Piper
9af46cbf5e AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-05-28 16:08:17 +09:00
Andrew Tridgell
957eb68bee 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 16:08:17 +09:00
Andrew Tridgell
b2086d1e96 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-28 16:08:17 +09:00
Andrew Tridgell
39de7be71f 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 16:08:17 +09:00
Peter Barker
d435181756 AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:17 +09:00
Andrew Tridgell
913b789592 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-28 16:08:17 +09:00
Andrew Tridgell
0fd3fac65f AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-28 16:08:17 +09:00
Andrew Tridgell
d614594526 AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor 
we need to use the pressure from the sensor we are calibrating
 2022-05-28 16:08:17 +09:00
Andrew Tridgell
52458b6f54 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 16:08:17 +09:00
Peter Barker
2a5e9f76ac AP_Compass: do not use GSF if any model has been clipped 2022-05-28 16:08:17 +09:00
Andrew Tridgell
ee41132483 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 16:08:17 +09:00
Andrew Tridgell
bb1ee4e34c 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 16:08:17 +09:00
Joshua Henderson
5ac3f9aa33 AP_Airspeed: remove negative pressure set unhealthy 2022-05-28 16:08:17 +09:00
Leonard Hall
f65a6a302b AC_AttitudeControl: Allow diabling of slew limit 2022-05-16 08:16:16 +09:00
Andrew Tridgell
2a700f677a hwdef: added FlyingMoonF427 support 2022-05-16 08:16:16 +09:00
Andrew Tridgell
008671f16a hwdef: added FlyingMoonF407 board support 2022-05-16 08:16:16 +09:00
Andrew Tridgell
a324cf80e5 HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103 
need to check new pin not old pin
 2022-05-16 08:16:16 +09:00
Andrew Tridgell
32cb2442a9 AP_Logger: fixed a bug in wrapped log count 
fixes #20687
 2022-05-16 08:16:16 +09:00
Andrew Tridgell
63140014c1 AP_AHRS: fixed bug in blended EKF bias 
The bug fix in #20431 was incomplete, and ended up with the wrong
blended accel bias. This fixes it
 2022-05-07 08:40:54 +09:00
Andrew Tridgell
274d526a69 AP_Scripting: added quicktune.lua script 
rapid tuning for VTOL control
 2022-05-07 08:40:54 +09:00
Andrew Tridgell
5483e26374 AP_Scripting: added get_rpy_srate binding 
and norm_input_dz binding
 2022-05-07 08:40:54 +09:00
Andrew Tridgell
cd48dd0b6d AC_AttitudeControl: added get_rpy_srate() 2022-05-07 08:40:54 +09:00
Andrew Tridgell
2f60c452e6 AP_Compass: fixed custom orientation in 3 compass drivers 
this prevents an internal error and mag failure with DroneCAN, MSP or
ExternalAHRS compasses
 2022-05-07 08:40:54 +09:00
Andy Piper
ec0df918e5 AP_InertialSensor: move frontend update into ramfunc. 2022-04-29 08:06:29 +09:00