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21002 Commits

Author SHA1 Message Date
Andrew Tridgell b19ad689a6 AP_GPS: fixed GPS to UART mapping 
this allows for first GPS as UAVCAN and 2nd as UART. That is not
possible currently unless you waste a uart
 2019-11-17 11:26:44 +11:00
Andrew Tridgell a5e79f4231 AP_TECS: added TECS_LAND_PMIN for min pitch in flare 
this is useful to narrow the range of available pitch after flare
 2019-11-17 11:26:07 +11:00
Peter Barker fffed10692 GCS_MAVLink: check reply channel for space rather than current channel 2019-11-02 14:08:47 +11:00
Andrew Tridgell 65c3d4ff20 HAL_ChibiOS: enable advanced timers if we have any N PWM channels 2019-11-02 13:46:43 +11:00
Andrew Tridgell 88e78afb19 HAL_ChibiOS: fixed SPI timeout bug 
thanks to CUAV for noticing
 2019-11-01 21:54:43 +11:00
Andrew Tridgell 3c1a362d90 GCS_MAVLink: fixed uninitialised bytes in send_named_float() 
this fixes an issue with mavproxy with python3
 2019-10-17 11:52:53 +11:00
liang 194ea66912 AP_Airspeed: protect sample timestamp while get data 2019-10-15 21:12:15 +11:00
Andrew Tridgell 6ebb9ad84a AP_HAL: enabled SLCAN on fmuv2 and Pixhawk1-1M 
this fits for now, and is needed for CAN GPS for now
 2019-10-07 21:14:24 +11:00
Andrew Tridgell 42c4b41bf6 AP_UAVCAN: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell 83bacfa89c AP_HAL: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell 0eb9a58f17 AP_HAL_ChibiOS: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell 53e03816c0 AP_BoardConfig: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell a452f8e4ed switch optimisation to O2 
on average makes for faster and smaller code than O3
 2019-10-06 10:58:07 +11:00
Andrew Tridgell ee25d05f3c AP_Math: make fill_nanf() use a signalling NaN 
we want use of these values to trigger a FPE
 2019-10-06 10:58:07 +11:00
Andrew Tridgell 43df0022e1 use common variables for EKF 2019-10-06 10:58:07 +11:00
Andrew Tridgell 9ad9fe42bc AP_NavEKF2: use parent class for intermediate static variables 
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
 2019-10-06 10:58:07 +11:00
Andrew Tridgell 46628b4401 AP_NavEKF2: make it easy to do EK2 timing tests 
for future benchmarking
 2019-10-06 10:58:07 +11:00
Andrew Tridgell cd9c9e0809 AP_NavEKF: fixed build with vector index checking 2019-10-06 10:58:07 +11:00
Andrew Tridgell 156a64aca0 AP_NavEKF: added a common parent class for EKF2 and EKF3 core classes 
this provides a common location for static intermediate variables in
EK2 and EK3. This has a few benefits:

 - the compiler can determine the address of the frequently accessed
   variables at compile time, making them faster

 - by sharing between EK2 and EK3 we save a lot of memory if both EK2
   and EK3 are enabled

 - we can fill all these with NaN in SITL on every loop, which allows
   us to catch cases where the variables are ever re-used between
   loops, which guarantees we aren't mixing data between EKF lanes or
   between EK2 and EK3
 2019-10-06 10:58:07 +11:00
Michel Pastor eb24e12666 AP_Logger: fix logging on 256Mbit flash chips 2019-10-06 10:58:07 +11:00
Michel Pastor d7033dbf0d AP_Logger: fix AP_Logger_Block::get_num_logs() 2019-10-06 10:58:07 +11:00
Andrew Tridgell 0ec6210184 HAL_ChibiOS: removed wait on CAN peripheral in H7 
these wait busy loops can take a very long time, and end up causing
interrupts to be lost elsewhere in the system, causing lost bytes on
UARTs

We should not have while loops waiting on peripharals like this. If we
do need to wait for a flag to clear then it needs to be done in a low
priority thread, or we need to check for completion in a timer

CAN still seems to work with this change, but needs flight testing
 2019-10-06 10:58:07 +11:00
Andrew Tridgell d017a9a60d AP_Logger: fixed LOG_FILE_DSRMROT with delayed log stop 
now that we persist logging for 15s after disarm we need to also delay
the log rotation if LOG_FILE_DSRMROT=1. Otherwise we will put the log
data into the next log, which defeats the purpose of the 15s
persistance
 2019-10-06 10:58:07 +11:00
Andrew Tridgell 5a25d5c42d AP_Proximity: fixed incorrect use of fabs() 2019-10-06 10:58:07 +11:00
vierfuffzig 0b1cbc7bde AP_AHRS: fix custom orientation ToRad conversion 2019-10-06 10:58:07 +11:00
Andrew Tridgell df86990c96 GCS_MAVLink: use HAL_MEM_CLASS for status sizes 2019-10-06 10:58:07 +11:00
Andrew Tridgell 6cd6b37826 AP_Logger: use HAL_MEM_CLASS for logging buffer size 2019-10-06 10:58:07 +11:00
Andrew Tridgell 609a2d95f8 AP_Logger: try harder to use close to user buffer size 
this stops us drastically reducing buffer size when low on memory
 2019-10-06 10:58:07 +11:00
Andrew Tridgell 3105255080 AP_HAL: added HAL_MEM_CLASS for amount of memory 2019-10-06 10:58:07 +11:00
Andrew Tridgell b8a77890b6 HAL_ChibiOS: generate HAL_MEMORY_TOTAL_KB for each board 2019-10-06 10:58:07 +11:00
Andrew Tridgell bd95331068 HAL_ChibiOS: added Pixhawk1-1M 
this is for 1M versions of the Pixhawk1. It is smaller than fmuv2 as
it only links the specific sensors needed for Pixhawk1
 2019-10-06 10:58:07 +11:00
vierfuffzig afdb53daca AP_BLHeli: fix watchdog resets with telemetry active from non-multirotor motors 2019-10-06 10:58:07 +11:00
Andrew Tridgell a49cc87dae AP_NavEKF3: change optimisation from -O3 to -O2 2019-10-02 12:03:53 +10:00
Andrew Tridgell fb7ddd9b9d AP_NavEKF2: change optimisation from -O3 to -O2 2019-10-02 12:03:47 +10:00
Andrew Tridgell 2962211ea0 HAL_ChibiOS: changed optimisation of higher end boards to -O2 
-O3 does not seem to be a win, and takes up a lot more flash
 2019-10-01 08:33:13 +10:00
Andrew Tridgell 560a1bf9e0 HAL_ChibiOS: disable DMA for RCIN on Pixracer 
this frees up DMA for USART1_RX, which gives DMA for input over the
SERIAL5 WiFi port, which is important for applications where a
pixracer is being fed vision data over WiFi
 2019-10-01 08:32:56 +10:00
Mark Whitehorn eb620f0792 AP_IOMCU: fix IO fast channel mask 2019-10-01 08:32:03 +10:00
Mark Whitehorn 2034bde367 HAL_ChibiOS: fix FMU fast_channel_mask 
fix IO fast channel mask
use IOMCU chmask to only set right channels
remove unused variable
 2019-10-01 08:32:00 +10:00
Andrew Tridgell 4c22633c60 AP_GPS: fixed a bug in handling corrupt u-blox packets 
when we have corrupt input due to loss of bytes on a UART we can end
up with a u-blox packet with zero payload bytes. When that happens we
need to bypass payload reading as otherwise we will end up keeping
reading bytes until the driver resets at 4 seconds, causing a GPS
outage.

This was causing GPS outages every few hours in copters running 3.6.7,
and was also reproduced in SITL using SIM_GPS_BYTELOSS.
 2019-10-01 08:31:20 +10:00
Henry Wurzburg 6108c5b5ab AP_OSD: Add autoranging to current and speed displays 2019-09-22 21:11:06 +10:00
Randy Mackay 1433741cc9 AP_Proximity: fix rangefinder backends cm to m conversion 2019-09-22 21:09:38 +10:00
Peter Barker 784edac137 AP_NavEKF2: correct return of empty prearm string 2019-09-22 21:09:11 +10:00
Peter Barker 6693610c7a AP_NavEKF3: correct return of empty prearm string 2019-09-22 21:09:04 +10:00
Andrew Tridgell 2bebe8f916 SITL: added SIM_LOOP_DELAY parameter 
this allows us to test high CPU load conditions by adding a delay to
each loop
 2019-09-22 21:08:38 +10:00
Andrew Tridgell ae4bcf0f6f AP_Scheduler: cope with high CPU load by stretching loop times 
this adds an extra budget of time per loop when we are not achieving
scheduled tasks at a rate of at least 1/8 of the desired rate. This
fixes an issue where a vehicle can become uncontrollable if the user
asks for a SCHED_LOOP_RATE which is not achievable. As these events
happen we add extra loop budget until we are able to run all tasks. We
drop the extra time when the CPU pressure eases.
 2019-09-22 21:08:34 +10:00
Andrew Tridgell d916c31575 AP_Logger: added logging of extra loop time from the scheduler 2019-09-22 21:08:27 +10:00
Lucas De Marchi 1eb2dc2b2f AP_RangeFinder: add missing overrides 2019-09-22 21:08:14 +10:00
Lucas De Marchi 575200f8c7 AP_RangeFinder: fix build 2019-09-22 21:08:11 +10:00
Andrew Tridgell 62c3fec45c HAL_ChibiOS: fixes from LGTM errors 2019-09-22 21:07:54 +10:00
Andrew Tridgell f6b28f3013 HAL_ChibiOS: fixed delay for OneShot125 channels 
we were delaying output for OneShot125 by 8x as much as we need to,
which reduced our max loop rate
 2019-09-22 21:07:49 +10:00