Commit Graph

56141 Commits

Author SHA1 Message Date
Andrew Tridgell 673aa5ceb7 HAL_ChibiOS: default to max 1 rangefinder in periph 2023-01-02 15:42:55 +11:00
olliw42 a89d5e1c83 Plane: QArco name4 longer than 4 2023-01-01 13:44:10 -08:00
Leonard Hall 2d64bb8aa1 Blimp: Payload Place enhancements 2022-12-31 12:29:31 +09:00
Leonard Hall dbe6a1e319 Copter: Payload Place enhancements 2022-12-31 12:29:31 +09:00
Leonard Hall 7857bb2210 AP_Gripper: Add Neutral state after init 2022-12-31 12:29:31 +09:00
Peter Barker 7d38164176 autotest: add simple test for LoiterAltQLand 2022-12-31 10:58:19 +11:00
rishabsingh3003 a57ed97ba1 Copter: set paraam default for user parameters 2022-12-30 14:40:55 -08:00
Henry Wurzburg 175c2c950e AP_Scripting:fix format error in readme file 2022-12-30 14:39:43 -08:00
Andy Piper 7f7305a6d9 AP_InertialSensor: use correct include for sim-on-hardware 2022-12-31 09:32:32 +11:00
Andy Piper 921f51d08a AP_HAL: correct AP_SIM_FRAME_CLASS name 2022-12-31 09:32:32 +11:00
Leonard Hall aeb25ca20a AP_Math: extend the control.cpp test suite 2022-12-30 20:25:58 +09:00
Andrew Tridgell f0d8a383d1 AP_Math: added a control.cpp test suite 2022-12-30 20:25:58 +09:00
Iampete1 a99748a13d Plane: Quadaplane: use land_at_climb_rate_cm only when landing 2022-12-30 20:25:58 +09:00
Leonard Hall 502989d5f3 Copter: Update use of input_vel_accel_z 2022-12-30 20:25:58 +09:00
Leonard Hall 87c684b5ee Plane: Vtol: use land_at_climb_rate_cm for vertical rate control 2022-12-30 20:25:58 +09:00
Leonard Hall 140dc61f2a AC_AttitudeControl: AC_PosControl: Simplify and clarify use of vertical controllers 2022-12-30 20:25:58 +09:00
Leonard Hall ac3a3d9576 AP_Math: Target velocity can reduce when limited
AP_Math: Target velocity can reduce when limited
2022-12-30 20:25:58 +09:00
Leonard Hall 05aa879b61 AC_AttitudeControl: AC_PosControl: Comment fix and small efficiency gain 2022-12-30 20:25:58 +09:00
Leonard Hall 114e8e2f52 AP_Math: Control Tools Enhancments
AP_Math: Control Tools Enhancments
2022-12-30 20:25:58 +09:00
Leonard Hall fea86f78ca AutoTest: Increase mission timeout to account for lower corner acceleration 2022-12-30 17:03:32 +09:00
Leonard Hall ed24a635c6 AC_WPNav: Add corner acceleration limit parameter 2022-12-30 17:03:32 +09:00
Leonard Hall 638379d3ed AC_WPNav: remove _wp_accel_cmss.set_and_save_ifchanged 2022-12-30 15:16:08 +09:00
Leonard Hall b8547b4de6 Copter: Fix Auto Takeoff when complete_alt_cm is current altitude 2022-12-30 09:29:58 +09:00
Peter Barker d23be442a1 test_build_options.py: add a list of must-have-defines for a board to compile
these are likely to be barometers at least initially...
2022-12-30 10:59:52 +11:00
Peter Barker 6651818215 autotest: test_build_options.py: correct invocation of test_enable_features 2022-12-30 10:59:52 +11:00
Andrew Tridgell cc05de8e57 AP_FETtecOneWire: change comments to not use @param
these comments break the MissionPlanner param parser

see these errors in MissionPlanner.log

```
2022-12-30 08:28:42,641  INFO MissionPlanner.Utilities.ParameterMetaDataParser - using cache https://raw.oborne.me/ardupilot/ardupilot/master/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp (D:\a\MissionPlanner\MissionPlanner\ExtLibs\Utilities\ParameterMetaDataParser.cs:503) [65]
2022-12-30 08:28:42,641 ERROR MissionPlanner.Utilities.ParameterMetaDataParser - Invalid MetaFrame Blimp (D:\a\MissionPlanner\MissionPlanner\ExtLibs\Utilities\ParameterMetaDataParser.cs:390) [70]
2022-12-30 08:28:42,641  INFO MissionPlanner.Utilities.ParameterMetaDataParser - using cache https://raw.oborne.me/ardupilot/ardupilot/master/libraries/AP_Proximity/AP_Proximity_Params.cpp (D:\a\MissionPlanner\MissionPlanner\ExtLibs\Utilities\ParameterMetaDataParser.cs:503) [71]
2022-12-30 08:28:42,642 ERROR MissionPlanner.Utilities.ParameterMetaDataParser - Bad Key - Value @param b blue brightness
*/
void AP_FETtecOneWire::led_color(const uint8_t r, const uint8_t g, const uint8_t b)
{
    for (uint8_t i=0; i<_esc_count; i++) {
        auto &esc = _escs[i];
        if (esc.state != ESCState::RUNNING) {
            continue;
        }
        transmit_config_request(PackedMessage<LEDColour>{esc.id, LEDColour{r, g, b}});
    }
}
```
2022-12-30 09:54:09 +11:00
Henry Wurzburg 1b39f00517 ArduPlane:test new flight options formats 2022-12-29 16:14:54 +11:00
Andrew Tridgell d5a0421bbb AP_Scripting: fixed derry turn in aerobatics 2022-12-29 07:49:15 +11:00
Andrew Tridgell 6edfe7368e AP_Scripting: don't start aerobatics until we have a ahrs estimates
prevents nil derefernce in loading tricks
2022-12-29 07:48:53 +11:00
Peter Barker e43b1dd2eb SITL: tidy simulated proximity sensor constructors 2022-12-28 21:52:27 +11:00
Andy Piper 16ca2e1179 AP_InertialSensor: use 234Hz accel LPF and 532Hz gyro LPF on BMI088 to more closely match Invensense
synchronize fifo reads with backend update on BMI088
2022-12-28 18:18:26 +11:00
Andy Piper d29ccba3f7 AP_Vehicle: constrain FFT notch updates to obey reference frequency 2022-12-28 18:14:56 +11:00
Andy Piper 90cdc1aa52 AP_InertialSensor: allow FFT window to be captured post-filter
selectively apply filters twice to make sure that FFT is not tracking itself
clean-up notch disablement for non-DSP builds
use filter gyro data for FFT when analysing post-filter
always apply LPF after all of the notches
move to a phased application of window information for FFT
tap FFT gyro window at the appropriate place for downsampled FFTs
add accessor for FFT notch
document notch uses cases and flow
2022-12-28 18:14:56 +11:00
Andy Piper 60dcb0423a autotest: add basic FFT post-filter test
record gyro data in FFT postfilter test
check post-filter gyro logging and change notch settings for post-filter FFT
add motor noise test
FFT SNR now has sensible default for post-filter
2022-12-28 18:14:56 +11:00
Andy Piper 9eb561639b AP_InertialSensor: add support for reading and writing INS data from a file in SITL
allow sketch to be stopped at end of SITL samples
2022-12-28 18:14:56 +11:00
Andy Piper ec7be5c417 SITL: add parameters to control reading and writing IMU data to a file
add exit on stop to reading IMU data from a file
2022-12-28 18:14:56 +11:00
Andy Piper 5ea3415a41 AP_HAL_SITL: allow SITL sketches to run
allow sketchname to be set
2022-12-28 18:14:56 +11:00
Andy Piper b19b14404b Copter: log FFT messages at 25Hz if fast filter tuning is set 2022-12-28 18:14:56 +11:00
Andy Piper 7acdaf2dd0 AP_Vehicle: add vehicle motor noise check 2022-12-28 18:14:56 +11:00
Andy Piper 449d9814ab AP_GyroFFT: add FFT_OPTIONS to allow post-filter sampling of IMUs
provide method to determine noise at a particular frequency
add ability to record per-peak SnR
correct bad array indexing leading to free memory read
track all three axes for health and peaks
remove slewed frequency values, since slewing is now done in the filters
ReplayGyroFFT initial implementation
allow IMU data to be read and written from a file
only build Replay on SITL
correctly calibrate FFT in Replay
better noise simulation in Replay
FTN3 logging
allow FFT peaks to swap indefinitely as long as they both still exist.
Leads to much smoother frequency transitions
increase the energy gap required to switch the tracked peak
use exit on stop for Replay
filter noise tracking more aggressively for post-filter samples
remove message and use appropriate gyro window
when using post-filter do not fallback to throttle-based estimate

AP_GyroFFT: default SnR to 10 when using post-filter samples
2022-12-28 18:14:56 +11:00
Peter Barker cbecb20614 autotest: param_parse.py: allow Values and Bitmasks to span multiple lines 2022-12-28 13:21:18 +11:00
Peter Barker f8b8f652db Plane: break FLIGHT_OPTIONS metadata onto separate lines 2022-12-28 13:21:18 +11:00
Peter Barker b716793a0e AP_NavEKF3: remove duplicated lines in parameter metadata 2022-12-28 13:21:18 +11:00
Leonard Hall 78942911b7 AC_AttitudeControl: AC_PosControl: Include FF in _pid_vel_xy integrator initialisation 2022-12-28 08:25:31 +09:00
Henry Wurzburg d6a5d31625 AP_Scripting:add rate based aerobatics 2022-12-27 18:20:34 +11:00
Jeremy 0db6146f60 Plane: Added Y4 config to Quadplane 2022-12-27 15:19:28 +11:00
Peter Barker a71911c19f autotest: ensure vehicle is armed before issuing takeoff command
sending the arm command isn't sufficient if there are other arming problems.

Caught a test failing when throttle was found to be high - I think the rc(3, 1700) was managing to have effect before we processed the arm command because of the way the input queues to ArduPilot SITL work
2022-12-27 11:32:19 +11:00
Peter Barker 89ecd8fb17 autotest: create a context-per-check whentesting motors blocked
without this all subsequent tests will find the string in the context's collection of statustexts.  So use a context-per-mode
2022-12-27 11:32:19 +11:00
Iampete1 da0927b076 Plane: Quadaplane: remove RTL navigate incorrect comment and unnedded check 2022-12-27 11:26:16 +11:00
Iampete1 4a21af22cb Plane: move mode update_target_altitude to correct files 2022-12-27 10:30:14 +11:00