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52,262 Commits 71 Branches 509 Tags 716 MiB
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28978 Commits

Author SHA1 Message Date
Andrew Tridgell a661f3e7a7 AP_Logger: fixed @SYS file logging 
the key fix is the reset of the fd to -1. Without that fix we only
ever log @SYS/uarts.txt

The timing change is needed to get the files out in a reasonable
time. The function is actually getting called at 100Hz or less, not
1kHz (measured on MatekH743 copter at 400Hz). So we need to run it
faster to get the files logged in a reasonable time
 2022-04-07 10:05:28 +10:00
Andy Piper 0da6b97485 AP_HAL_ChibiOS: spro H7 extreme updates. 
cannot currently use both IMUs on spro H7 extreme due to CPU load
 2022-04-07 10:05:28 +10:00
Peter Barker 6a21152b67 AP_AHRS: subtract accel bias from correct ins accel instance 
In the case that you have INS_USE indicating IMUs should be used, but
EK3_IMU_MASK leaving some IMUs unused, we subtract the bias from the
wrong INS data
 2022-04-07 10:05:28 +10:00
Andrew Tridgell 283742edf1 AP_Logger: increase stack of log_io thread by 256 
This was seem on omnibusf4pro, it is a bit too close:

  log_io PRI= 59 sp=0x20015CC0 STACK=144/1656
 2022-04-07 10:05:28 +10:00
Bill Geyer 559f90b814 AP_Math: add chirp function to support frequency sweeps in systemid and autotune 2022-04-07 10:05:28 +10:00
Bill Geyer 250782c7f8 AC_Autotune: clean up variable init for dwell 2022-04-07 10:05:28 +10:00
Bill Geyer 61222462b3 AC_AutoTune: use chirp function in AP_Math for frequency sweeps 2022-04-07 10:05:28 +10:00
Bill Geyer 80aed73632 AC_AutoTune: combine dwell_run_test for angle and rate 2022-04-07 10:05:28 +10:00
Bill Geyer 0846880049 AC_AutoTune: combine dwell_init methods 2022-04-07 10:05:28 +10:00
Bill Geyer 3a6c5b27f6 AC_AutoTune:tradheli-streamline gcs messages 2022-04-07 10:05:28 +10:00
Peter Barker c33256b3c2 AC_AutoTune: Vector tidying 2022-04-07 10:05:28 +10:00
Peter Barker a0aa04efcc AC_AutoTune_Heli: use structure assignment to clear structures 2022-04-07 10:05:28 +10:00
Peter Barker 225112045c AC_AutoTune: use structure assignment for test results 2022-04-07 10:05:28 +10:00
Peter Barker 3886f88b8c AC_AutoTune: createstructure to hold specific test's sweep results 2022-04-07 10:05:28 +10:00
Henry Wurzburg a0c286a8ed HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-04-07 10:05:28 +10:00
Andy Piper 89c8057e98 AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-04-07 10:05:28 +10:00
Andy Piper de526b07dc SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-04-07 10:05:28 +10:00
Andy Piper f7624662b7 AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands 
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
 2022-04-07 10:05:28 +10:00
AndKe 0451c405b4 AP_HAL_ChibiOS: add OREOLED to CubeGreen 2022-04-07 10:05:28 +10:00
Andrew Tridgell 3487f8f251 hwdef: changed MatekH743 to a 32 bit timer 
the 68ms issue is still present on this board. Switching to a 32 bit
timer will fix it, but loses us the tonealarm support
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 43df023a4d AP_Param: fixed param class conversion code 
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.

I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 739192f579 AP_Logger: added terrain correction logging field 2022-03-28 20:53:56 +11:00
Andrew Tridgell 76a924559b AP_Terrain: added logging of terrain correction 2022-03-28 20:53:56 +11:00
Andrew Tridgell 278d87e6f2 AP_Scripting: restored corrected boolean in height_amsl binding 2022-03-28 20:53:56 +11:00
Andrew Tridgell 8d6bfac43c HAL_SITL: don't use terrain adjustment 2022-03-28 20:53:56 +11:00
Andrew Tridgell 8c026ec701 AP_Arming: setup for terrain adjustment on arming 2022-03-28 20:53:56 +11:00
Andrew Tridgell 75bd6a4b6a SITL: don't use adjusted terrain in SITL 2022-03-28 20:53:56 +11:00
Andrew Tridgell 89465d2126 AP_Terrain: added terrain reference adjustment 
this restores the terrain adjustment functionality removed in #19946,
but without the problematic approach of always using home (which can
be moved in flight) and with a TERR_OFS_MAX parameter to limit the
amount of adjustment
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 4bc35ba04d HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 0ae1ac182a HAL_ChibiOS: switch between IOMCU and RCProt rapidly 
keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 9ba73d362d AP_RCProtocol: added using_uart() method 2022-03-28 20:53:56 +11:00
Andy Piper 4c4d60778c AP_HAL_ChibiOS: add KakuteH7-bdshot target 2022-03-28 20:53:56 +11:00
Andrew Tridgell f0f19ce8fb AP_BattMonitor: fixed battery remaining of sum battery 
and move to common function for update_consumed()
 2022-03-28 20:53:56 +11:00
Randy Mackay 50cf7c9f94 AP_BLHeli: add reboot required to some parameters 2022-03-28 20:53:56 +11:00
Andy Piper bafe46882f AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-28 20:53:56 +11:00
Randy Mackay 43beccd86c AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 86899b279f HAL_ChibiOS: prevent conflicting RC input 
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 3ffc08ae91 AP_GPS: prevent switching to a dead GPS 
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 36ba3fab9e GCS_MAVLink: send GCS voltage to GCS 
may be resting voltage of option enabled
 2022-03-28 20:53:56 +11:00
Andrew Tridgell 11e17a49d3 AP_BattMonitor: added option to send resting voltage to GCS 2022-03-28 20:53:56 +11:00
Andy Piper 6ddb813fba AP_Declination: ensure indexing into declination tables is always correct 
add constants for table sizes
 2022-03-18 14:30:36 +11:00
Andrew Tridgell 3cef6b8167 AP_Arming: make mission checks virtual 2022-03-18 14:23:20 +11:00
Andrew Tridgell 518b126f52 AP_Arming: display a warning if arming checks disabled when arming 2022-03-18 14:22:53 +11:00
Andrew Tridgell 66c13d29b7 AC_AttitudeControl: added set_lean_angle_max_cd() 2022-03-16 07:09:30 +11:00
Andrew Tridgell ecbcbbe044 AC_Autorotation: use accel_to_angle() 2022-03-15 09:25:53 +11:00
Andrew Tridgell f398cf8814 AC_WPNav: use angle/accel functions 2022-03-15 09:25:36 +11:00
Andrew Tridgell a16357fb08 AP_Math: added angle_to_accel() and accel_to_angle() 2022-03-15 09:25:18 +11:00
Leonard Hall b9628f106d AC_PosControl: Decay posiiton error during relax 2022-03-10 10:49:54 +11:00
Leonard Hall 94b83d34b1 AC_AttitudeControl: AC_PosControl: add soften for landing 2022-03-10 10:48:16 +11:00
Peter Barker a7aa4155ad AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files 2022-03-10 10:36:09 +11:00