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29200 Commits

Author SHA1 Message Date
Andrew Tridgell a95b429acc AP_Math: added unsigned versions of constrain functions 
sometimes it really does matter that we use constrain_uint32() instead
of constrain_int32(). For example, if we have a value like 0xFFFFFFFF
then the result will be very different

we should use unsigned constrain when dealing with unsigned values
 2022-04-05 17:46:52 +10:00
Henry Wurzburg 82235163a2 AP_Scripting: remove original aerobatics example to avoid confusion 2022-04-05 10:12:13 +10:00
Henry Wurzburg fa81f7813c AP_Airspeed: correct metadata for params for non-Plane vehicles 2022-04-05 09:58:10 +10:00
Lokesh Ramina 11b3eccf66 AP_Periph: Hwdef CarbonixL496 update 
Modification of CarbonixL496 to add more features.
Features:
To use internal clock of MCU, Oscillator value is set to 0.
LED pin changed from PA13 to PA15
Enabled  JTAG
Add interface to GPS and ADSB.
 2022-04-05 09:57:02 +10:00
Nicholas Kruzan d42a287db0 AP_HAL_ESP32: partitions.csv - increase app partition to 3M 2022-04-05 08:41:11 +10:00
Nicholas Kruzan c3e071579d AP_Filesystem: AP_Filesystem_ESP32 allow_absolute_paths in ::open() 2022-04-05 08:40:26 +10:00
Andrew Tridgell 1c5a954b24 HAL_ChibiOS: incorrect class of class in uart TX timeout 
need to call chEvtGetAndClearEventsI() as we are in a system lock
state
 2022-04-04 16:59:38 +10:00
Peter Barker fd666dc4f1 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
 2022-04-03 11:41:09 +10:00
Andrew Tridgell a01ca35939 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
 2022-04-01 19:56:30 +11:00
Mirko Denecke c1e0e9c305 AP_HAL_ChibiOS: fix ms5611 probe for NucleoH743 2022-03-31 16:31:13 +11:00
Randy Mackay 0dd9a8028b AR_WPNav: integrate scurve snap 2022-03-30 15:34:14 +09:00
Randy Mackay c233f114bd AR_PosControl: fixup logging to record desired and target velocity and acceleration 2022-03-30 15:34:14 +09:00
Randy Mackay 74df1c0b22 AR_PosControl: reduce default I term to zero 2022-03-30 15:34:14 +09:00
Randy Mackay 995ff30cd6 AC_Avoid: enable slide behaviour for rover 2022-03-30 15:34:14 +09:00
Randy Mackay 5d96804ef3 AR_WPNav: add protection against zero accel max 2022-03-30 15:34:14 +09:00
Randy Mackay a1b9fe5097 AR_WPNav: jerk time reduced to 0.1 sec 2022-03-30 15:34:14 +09:00
Randy Mackay c6dffb990f AR_WPNav: add set_nudge_speed_max 
allows pilot to override speed_max from RC input
 2022-03-30 15:34:14 +09:00
Randy Mackay 394a5fd2fc AR_WPNav: get/set_desired_speed renamed to get/set_speed_max 
set_speed_max updates position controller limits and triggers recalculation of scurves
local _desired_speed member is no longer required because max speed is held in position controller
 2022-03-30 15:34:14 +09:00
Randy Mackay 1996085282 AR_WPNav: init accepts speed max 
also remove unused set_desired_speed_to_default
also init previous leg in set_desired_location
init accepts speed but inforces minimum
 2022-03-30 15:34:14 +09:00
Randy Mackay a91025fa16 AR_WPNav: remove unused speed_min 2022-03-30 15:34:14 +09:00
Randy Mackay 537874c075 AR_WPNav: jerk_max maintained in position controller 2022-03-30 15:34:14 +09:00
Randy Mackay 54eee7d311 AR_WPNav: simplify init 2022-03-30 15:34:14 +09:00
Randy Mackay d03e801b65 AR_WPNav: remove get_accel_max, get_jerk_max 2022-03-30 15:34:14 +09:00
Randy Mackay 653afbeb15 AR_WPNav: enable_overspeed added to improve sailboat support 2022-03-30 15:34:14 +09:00
Randy Mackay 2f6e098f23 AR_WPNav: always use local calculation of cross track 
also calc_crosstrack_error may return negative values
 2022-03-30 15:34:14 +09:00
Randy Mackay 729dfee01c AR_WPNav: pivot turns stop before turning 2022-03-30 15:34:14 +09:00
Randy Mackay e0a628bb8c AR_WPNav: add is_fast_waypoint accessor 2022-03-30 15:34:14 +09:00
Randy Mackay 0bcae12ceb AR_WPNav_OA: use wpnav's expect fast updates 2022-03-30 15:34:14 +09:00
Randy Mackay f769a18996 AR_WPNav: add set_desired_location_expect_fast_update 2022-03-30 15:34:14 +09:00
Randy Mackay 1fd9da710d AR_WPNav: add internal error if invalid destination received 2022-03-30 15:34:14 +09:00
Randy Mackay 461c5196e7 AR_WPNav: add ACCEL and JERK params and accessors 
allows users to specify a different acceleration and jerk for Auto, Guided, RTL, etc compared with manual modes (Acro, etc)
 2022-03-30 15:34:14 +09:00
Randy Mackay 47ab961f42 AR_WPNav: fix application of turn-max-g 2022-03-30 15:34:14 +09:00
Randy Mackay b1237ffe80 AR_WPNav: always pivot at corners of at least WP_PIVOT_ANGLE 2022-03-30 15:34:14 +09:00
Randy Mackay 3d048ddcc2 AR_WPNav: fix pivot activation when reversing 2022-03-30 15:34:14 +09:00
Randy Mackay 6515e71fc1 AR_WPNav: move OA path planning handling into a separate class 2022-03-30 15:34:14 +09:00
Randy Mackay 2a1013e896 AR_WPNav: set desired lat accel and crosstrack to zero when disarmed 2022-03-30 15:34:14 +09:00
Randy Mackay a185e78271 AR_WPNav: integrate AR_PivotTurn class 
moves pivot turn feature to separate class
also does not advance along scurve path while pivotin
 2022-03-30 15:34:14 +09:00
Randy Mackay 7225d74777 AR_PivotTurn: pivot turn controller 
also reduces default pivot speed to 60deg/sec (was 90deg/sec)
add would_active and allow activation to be forced
 2022-03-30 15:34:14 +09:00
Randy Mackay 9d629f5ecd AR_WPNav: use position controller and s-curves 2022-03-30 15:34:14 +09:00
Randy Mackay abc7bd446a AR_PosControl: rover position controller 2022-03-30 15:34:14 +09:00
Randy Mackay 8fcefb59b1 AP_Math: add Vector2f::dot 2022-03-30 15:34:14 +09:00
Andy Piper 23f8a00619 AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation 2022-03-30 17:11:09 +11:00
Andy Piper fff82bed75 AP_HAL: update prescaler tests 2022-03-30 17:11:09 +11:00
Peter Barker d9f819085c AP_Math: add specialisation for sq(float) 
avoids conversion to double
 2022-03-30 08:44:19 +11:00
Henry Wurzburg 479b02e5b0 HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-03-29 10:43:51 +11:00
Andrew Tridgell 0879b497a4 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
 2022-03-29 10:41:33 +11:00
Andy Piper eb996f28cc AP_HAL_ChibiOS: spro H7 extreme updates. 
cannot currently use both IMUs on spro H7 extreme due to CPU load
 2022-03-29 10:39:35 +11:00
Andy Piper 63229d7eca AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-03-29 10:29:31 +11:00
Andy Piper 6511a65b67 SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-03-29 10:29:31 +11:00
Andy Piper 4fa0e275fd 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
 2022-03-29 10:29:31 +11:00