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a2707b48c5
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35165 Commits

Author SHA1 Message Date
Andrew Tridgell
a2707b48c5 HAL_ChibiOS: enable clock management on G4 
this allows for a different clock tree in the main fw from the
bootloader
 2024-01-25 11:44:02 +11:00
Andrew Tridgell
2d031a4d20 HAL_ChibiOS: switched G4 FDCAN clock to 80MHz 
this requires main CPU clock at 160 MHz instead of 168 MHz
 2024-01-25 11:44:02 +11:00
Andrew Tridgell
1c8048df8f 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 11:44:02 +11:00
Thomas Watson
52468f0238 AP_ROMFS: fix buffer null terminator 
Ensure buffer is properly null terminated without changing the indicated
size even for uncompressed data.
 2024-01-25 11:24:31 +11:00
Thomas Watson
d13193150c AP_ROMFS: store size in file structure instead of compressed stream 
Cleans up code.
 2024-01-25 11:24:31 +11:00
Thomas Watson
d46cb3fd85 AP_ROMFS: embed raw DEFLATE streams 
Saves size not including unnecessary headers or code to parse them.
 2024-01-25 11:24:31 +11:00
Iampete1
8c72304ab9 AC_Avoidance: AP_OADijkstra: correct use of uninitialised value when retrying fence 2024-01-24 19:20:02 +11:00
Peter Barker
c33d665906 GCS_MAVLink: make rally/fence item conversion methods public 2024-01-24 19:14:41 +11:00
Peter Barker
3ef2139f4b AP_FileSystem: permit upload of fence/rally via ftp 2024-01-24 19:14:41 +11:00
Simon Hancock
1bfd9f3763 AP_Logger: Correct for loop condition 2024-01-24 19:09:55 +11:00
Peter Barker
5e5bca2bba GCS_MAVLink: handle RADIO_STATUS is GCS base class 2024-01-24 18:43:15 +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
Andrew Tridgell
3fddc487df AP_Landing: convert LAND_PITCH_CD to LAND_PITCH_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
bea9102d72 SITL: convert param files LIM_ROLL_CD -> ROLL_LIMIT_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
a6bceccd82 AP_HAL_ChibiOS: convert param files LIM_ROLL_CD -> ROLL_LIMIT_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
cfc30fac44 AP_Vehicle: change LIM_ROLL_CD to ROLL_LIMIT_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
0430923639 APM_Control: change LIM_ROLL_CD to ROLL_LIMIT_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
74e455ef6a SITL: convert param files for pitch limits 2024-01-23 15:00:30 +11:00
Andrew Tridgell
862b0ed8d6 AP_HAL_ChibiOS: convert param files for pitch limits 2024-01-23 15:00:30 +11:00
Andrew Tridgell
718fff0e96 AP_Vehicle: convert LIM_PITCH_MIN/MAX -> PTCH_LIM_MIN/MAX_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
7d5685c55f AP_TECS: convert LIM_PITCH_MIN/MAX -> PTCH_LIM_MIN/MAX_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
93c4b75a60 APM_Control: convert LIM_PITCH_MIN/MAX -> PTCH_LIM_MIN/MAX_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell
d0757b5aec SITL: param rename for CRUISE_ALT_FLOOR 2024-01-23 15:00:30 +11:00
Andrew Tridgell
54f38b7570 SITL: convert ALT_HOLD_RTL and ALT_HOLD_FBWCM 2024-01-23 15:00:30 +11:00
Andrew Tridgell
a0c2f5eadb AP_Scripting: convert ALT_HOLD_RTL to RTL_ALTITUDE 2024-01-23 15:00:30 +11:00
Andrew Tridgell
5147ccd4e1 AP_OSD: convert ALT_HOLD_RTL to RTL_ALTITUDE 2024-01-23 15:00:30 +11:00
Andrew Tridgell
e5199a71d6 AP_HAL_ChibiOS: convert ALT_HOLD_RTL to RTL_ALTITUDE 2024-01-23 15:00:30 +11:00
Andrew Tridgell
1f7f4bac73 AP_Vehicle: convert MIN_GNDSPEED_CM to MIN_GROUNDSPEED 2024-01-23 15:00:30 +11:00
Andrew Tridgell
c2038ee18e AP_Landing: convert MIN_GNDSPEED_CM to MIN_GROUNDSPEED 2024-01-23 15:00:30 +11:00
Andrew Tridgell
a87dea0139 SITL: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN and AIRSPEED_MAX 2024-01-23 15:00:30 +11:00
Andrew Tridgell
d65809ffc1 AP_TECS: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN and AIRSPEED_MAX 2024-01-23 15:00:30 +11:00
Andrew Tridgell
8fd0bc6f6a AP_Scripting: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN and AIRSPEED_MAX 2024-01-23 15:00:30 +11:00
Andrew Tridgell
fdf286f0b0 AP_OSD: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN and AIRSPEED_MAX 2024-01-23 15:00:30 +11:00
Andrew Tridgell
180a738e19 AP_Landing: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN and AIRSPEED_MAX 2024-01-23 15:00:30 +11:00