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26651 Commits

Author SHA1 Message Date
Randy Mackay
9638755b0f AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-28 17:10:29 +09:00
Randy Mackay
1f63a1a63c AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-28 17:10:29 +09:00
Iampete1
9bf151fcd7 AP_Vehicle: #ifdef scripting specific functions 2021-08-28 17:10:29 +09:00
Iampete1
a1e96f7d17 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 17:10:29 +09:00
Randy Mackay
54d6cf15e5 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-28 17:10:29 +09:00
Pierre Kancir
e5ea7e6196 AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 17:10:29 +09:00
Pierre Kancir
c4b7f6ddcf AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 17:10:29 +09:00
Pierre Kancir
4866ffc597 AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 17:10:29 +09:00
Andrew Tridgell
659c9fb10d HAL_ChibiOS: switch to minimum scheduling delta of 10us 
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.

Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.

Fixes issue #18383
 2021-08-28 17:10:29 +09:00
Andy Piper
eebcfb78c1 AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it 
change mamba F405 to active high as per betaflight
 2021-08-28 17:10:29 +09:00
Randy Mackay
b1e5e21d6d AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-28 17:10:29 +09:00
Andrew Tridgell
70e041d611 AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-28 17:10:29 +09:00
Andrew Tridgell
03de8e752a SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-28 17:10:29 +09:00
Hwurzburg
bd583452c7 AP_OSD: fixes bug introduced by #16477 2021-08-14 11:05:38 +09:00
Pierre Kancir
2a808dc53c AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-14 11:05:38 +09:00
Randy Mackay
87212e0fbf AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-14 11:05:38 +09:00
Randy Mackay
6ec43eefff AP_NavEKF2: remove unused EK2_GSF_DELAY param 2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi
b584adff59 AC_Avoid: use proximity_avoidance_enabled function 2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi
8eda43e697 AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled 2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi
2bebd8341f AC_Avoidance: handle upward proximity enable and disable 2021-08-14 11:05:38 +09:00
Andy Piper
c6247433df AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-14 11:05:38 +09:00
Andy Piper
761fc57a18 AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-14 11:05:38 +09:00
Pierre Kancir
53d69de164 AP_ESC_Telem: prevent possible overrun 2021-08-14 11:05:38 +09:00
Pierre Kancir
050e18cd03 AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-14 11:05:38 +09:00
Pierre Kancir
2d0e359065 AP_ESC_Telem: fix out of bound access 2021-08-14 11:05:38 +09:00
Pierre Kancir
6e9e529967 AP_OSD: check for nullptr before using it 2021-08-14 11:05:38 +09:00
Leonard Hall
0c48848d31 AP_Math: Spelling fix 2021-08-14 11:05:38 +09:00
Leonard Hall
f5dd8a9982 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-14 11:05:38 +09:00
Leonard Hall
b25dab9c9b AC_WPNav: support Control: Refactor to use Jerk 2021-08-14 11:05:38 +09:00
Leonard Hall
dac064e51c AP_Math: Control: Refactor to use Jerk 2021-08-14 11:05:38 +09:00
Leonard Hall
61982815cd AP_Math: Control: protect against divide by zero 2021-08-14 11:05:38 +09:00
Leonard Hall
b8cc90688e AC_WPNav: Fix Angle Vel units on function 2021-08-14 11:05:38 +09:00
Leonard Hall
dfcc6ce612 AC_AttitudeControl: Fix Angle Vel units on function 2021-08-14 11:05:38 +09:00
Leonard Hall
2436330da1 AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE 2021-08-14 11:05:38 +09:00
Leonard Hall
6b72b1fd31 AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 11:05:37 +09:00
Leonard Hall
51dbf271f9 AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 
Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
 2021-08-14 11:05:37 +09:00
Andrew Tridgell
1422c283b0 AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-14 11:05:37 +09:00
Andrew Tridgell
74f89cfbce AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 
this may help with some GPS modules
 2021-08-14 11:05:37 +09:00
Andy Piper
91d0a44524 AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-14 11:05:37 +09:00
Randy Mackay
6670a48811 AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-14 11:05:37 +09:00
Andrew Tridgell
37533db6f1 AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-14 11:05:37 +09:00
Leonard Hall
5c16e81f8f AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-14 11:05:37 +09:00
Andy Piper
7bad54f638 AP_Motors: remove tri yaw servo from motor mask 2021-08-14 11:05:37 +09:00
Andrew Tridgell
d88d811ab3 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-08-14 11:05:37 +09:00
bugobliterator
cc4fc42ed0 AP_RangeFinder: use separate register_driver method while contructing CAN Driver 2021-08-14 11:05:37 +09:00
bugobliterator
d27acbce2d AP_EFI: use separate register_driver method while contructing CAN Driver 2021-08-14 11:05:37 +09:00
bugobliterator
ae0d11a26d AP_BattMonitor: use separate register_driver method while contructing CAN Driver 2021-08-14 11:05:37 +09:00
bugobliterator
1bac7283ab AP_CANSensor: create a separate register driver method 2021-08-14 11:05:37 +09:00
Andrew Tridgell
ddbcfafe30 AP_AHRS: build fix 2021-07-23 10:19:50 +09:00
Paul Riseborough
d90c67a079 AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults 
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
 2021-07-23 10:19:50 +09:00
Paul Riseborough
28224c001a AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-23 10:19:50 +09:00
Paul Riseborough
5a3f785798 AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-23 10:19:50 +09:00
Paul Riseborough
4b4bb18f50 AP_NavEKF3: Revert EK3_BETA_MASK parameter extension 
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
 2021-07-23 10:19:50 +09:00
Paul Riseborough
a98583e0ca AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-23 10:19:50 +09:00
Paul Riseborough
51a1b9ae9a AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-23 10:19:50 +09:00
Paul Riseborough
edd75e3981 AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-23 10:19:50 +09:00
Paul Riseborough
6166b666b6 AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-23 10:19:50 +09:00
Paul Riseborough
835b97f5e8 AP_NavEKF3: Make bad IMU status more persistent 2021-07-23 10:19:50 +09:00
Paul Riseborough
3ce5633701 AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-23 10:19:50 +09:00
Paul Riseborough
a220ca20a6 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-23 10:19:50 +09:00
Paul Riseborough
e7ff7f629d AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-23 10:19:50 +09:00
Paul Riseborough
82f585a515 AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-23 10:19:50 +09:00
Paul Riseborough
7b40e89463 AP_NavEKF3: Adjust gyro bias process noise tuning 
NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
 2021-07-23 10:19:50 +09:00
Paul Riseborough
082f8e42f6 AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-23 10:19:50 +09:00
Paul Riseborough
315d9ef9d8 AP_NavEKF3: Retune IMU process noise 
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
 2021-07-23 10:19:50 +09:00
Paul Riseborough
344f2d0eb7 AP_NavEKF3: Make gyro bias learning less noisy 2021-07-23 10:19:50 +09:00
Paul Riseborough
fcf7a7c8f7 AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-23 10:19:49 +09:00
Paul Riseborough
4096e75b15 AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-23 10:19:49 +09:00
Paul Riseborough
5cb4cf870d AP_NavEKF3: Update covariance prediction equations 2021-07-23 10:19:49 +09:00
Paul Riseborough
14edac7e5c AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-23 10:19:49 +09:00
Andrew Tridgell
c2e221dd09 AP_Math: fix uses of single precision 2021-07-23 10:19:49 +09:00
Randy Mackay
e4684f65dc AR_WPNav: integrate PathPlanner returning path_planner_used 
Rover does not need to handle the results differently based on the planner used
 2021-07-23 10:19:49 +09:00
Randy Mackay
0c9fbf9456 AC_WPNav_OA: minor formatting and comment fixes 2021-07-23 10:19:49 +09:00
Randy Mackay
b95c6b5e5d AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler 
also bendy ruler uses pos controller
 2021-07-23 10:19:49 +09:00
Randy Mackay
c991ff4318 AC_Avoidance: BendyRuler returned destination are shortened 2021-07-23 10:19:49 +09:00
Randy Mackay
075c05baea AC_Avoidance: bendy ruler format fixes 2021-07-23 10:19:49 +09:00
Randy Mackay
0b26bace7f AC_Avoidance: OA_PathPlanner returns which planner was used 
this replaces get_bendy_type
 2021-07-23 10:19:49 +09:00
Randy Mackay
980909deb5 AC_Avoidance: BendyRuler returns which type was used 
also make serach_xxx_path methods private
 2021-07-23 10:19:49 +09:00
Randy Mackay
400731df1b AP_Common: add Location::linear_interpolate_alt 2021-07-23 10:19:49 +09:00
Andy Piper
74a8891099 AP_BLHeli: ensure correct rotation through telemetry ESCs 2021-07-23 10:19:49 +09:00
Pierre Kancir
3cee86e63f AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-23 10:19:49 +09:00
Leonard Hall
6f5d2008e3 AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-23 10:19:49 +09:00
Leonard Hall
6f26ca6b65 WP_Nav: Return Crosstrack error 2021-07-23 10:19:49 +09:00
Leonard Hall
d6df47fd06 AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-23 10:19:49 +09:00
Randy Mackay
fce7db0d18 AC_WPNav: use get_terrain_margin instead of constant 2021-07-23 10:19:49 +09:00
Randy Mackay
33ec14ce70 AC_WPNav: add TER_MARGIN param 2021-07-23 10:19:49 +09:00
Leonard Hall
767281dc76 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-23 10:19:49 +09:00
Leonard Hall
4bbc69ef6e AC_WPNav: Auto Terain following update 2021-07-23 10:19:49 +09:00
Andy Piper
a9187a50cf AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-23 10:19:48 +09:00
Leonard Hall
a765e266f4 AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-23 10:19:48 +09:00
Hwurzburg
4664ed6d7d RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-23 10:19:48 +09:00
Hwurzburg
a09f38b195 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-23 10:19:48 +09:00
Andy Piper
2ef5a9170e AP_RCTelemetry: correct firmware string length for CRSF 2021-07-23 10:19:48 +09:00
Leonard Hall
82ba9e06a1 AC_WPNav: Remove unused function 2021-07-23 10:19:48 +09:00
Leonard Hall
05f21d7665 AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-23 10:19:48 +09:00
Leonard Hall
49da46af16 AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-23 10:19:48 +09:00
Leonard Hall
b2032ee2e3 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-23 10:19:48 +09:00
Leonard Hall
d9c0670dcd AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall
5f7607bbf0 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall
2075e2ffc4 AC_AttitudeControl: Add terain following to guided 2021-07-23 10:19:47 +09:00
Randy Mackay
d22f8fbc35 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-23 10:19:47 +09:00
Leonard Hall
80b90a7ac3 AC_WPNav: move code to generate terrain following kinematic path 2021-07-23 10:19:47 +09:00
Leonard Hall
9244183798 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-23 10:19:47 +09:00
Leonard Hall
612b00ef00 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-23 10:19:47 +09:00
Andrew Tridgell
cb14275e43 AP_Math: added test for SCurve::calculate_path 
this was the values shown in the core dump for failing guided mode
test in CI
 2021-07-23 10:19:47 +09:00
Andy Piper
35d34ee9ae AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot 2021-07-23 10:19:47 +09:00
Randy Mackay
0cbcb9dc91 AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-23 10:19:47 +09:00
Andrew Tridgell
4384b9ea36 AP_Common: update tests for 4.1 2021-07-23 10:19:47 +09:00
Andrew Tridgell
4218452475 HAL_ChibiOS: raise DMA contention threshold for H7 2021-07-23 10:19:47 +09:00
Andrew Tridgell
aab77f7046 AP_SerialManager: document DisableFIFO bit 2021-07-23 10:19:47 +09:00
Andrew Tridgell
eafd3c2952 AP_SerialManager: call set_options() before first UART use 
this ensures options are set before the first begin() call
 2021-07-23 10:19:47 +09:00
Andrew Tridgell
91afec69dc HAL_ChibiOS: implement NOFIFO option for uarts 2021-07-23 10:19:47 +09:00
Andrew Tridgell
2cc98114a4 AP_HAL: added serial option for disabling FIFO on uarts 2021-07-23 10:19:47 +09:00
Andrew Tridgell
c9403afc75 AP_Math: fixed build 2021-07-23 10:19:47 +09:00
Andrew Tridgell
1a7ee954a6 HAL_SITL: update for changed SITL API 2021-07-23 10:19:46 +09:00
Andrew Tridgell
70d540127c SITL: added SIM2 message 
useful for EKF debugging

# Conflicts:
#	libraries/SITL/SIM_Aircraft.cpp
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
05fbe78b9f SITL: separate origin and home in SITL 
this allows for accurate sensor data when flying a very long distance
from the takeoff location
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
a43bd0ae18 AP_DAL: update GPS yaw API to add timestamp 2021-07-23 10:19:46 +09:00
Andrew Tridgell
f1cbfb3e46 AP_GPS: change handling of moving baseline yaw 
this changes yaw handling in a few ways:

 - GPS yaw now has a timestamp associated with the yaw separate from
   the timestamp associated with the GPS fix

 - we no longer force the primary to change to the UBLOX MB rover when
   it has a GPS yaw. This means we don't change GPS primary due to GPS
   loss, which keeps the GPS more stable. It also increases accuracy
   as the rover is always less accurate in position and velocity than
   the base

 - now we force the primary to be the MB base if the other GPS is a
   rover and the base has GPS lock
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
faec3e1a8a AP_NavEKF: sync for 4.1.0beta 2021-07-23 10:19:46 +09:00
Andrew Tridgell
f60c592af3 AP_Math: sync for 4.1.0beta releases 2021-07-23 10:19:46 +09:00
Andrew Tridgell
01156ed348 AP_Common: make longitude_scale() a static 
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:

 pos1 + offs = pos2
 pos2 - offs == pos1
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
c9b9a6a616 HAL_ChibiOS: run storage writes at 1kHz not 100Hz 
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.

Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
 2021-07-23 10:19:46 +09:00
Peter Barker
304927a41e AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-23 10:19:46 +09:00
Andrew Tridgell
c31de1a5ca AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
56ddaa1a99 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-23 10:19:46 +09:00
Andrew Tridgell
579e4566c6 AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
d43e95a39a AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-23 10:19:46 +09:00
Andrew Tridgell
e409202bef AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
399cd4ea03 AP_Common: added ftype precision offset call 
# Conflicts:
#	libraries/AP_Common/Location.cpp
#	libraries/AP_Common/Location.h
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
163a37efa7 AP_NavEKF3: convert code_gen.py to ftype 2021-07-23 10:19:46 +09:00
Andrew Tridgell
5531703548 AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-23 10:19:46 +09:00
Andrew Tridgell
c988f23389 AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-23 10:19:46 +09:00
Andrew Tridgell
e11c94602b HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7 2021-07-23 10:19:46 +09:00
Andrew Tridgell
1119ffe6ba AP_NavEKF3: allow for double EKF build 2021-07-23 10:19:46 +09:00
Andrew Tridgell
edbaf9f3c1 AP_NavEKF2: allow for double EKF build 2021-07-23 10:19:46 +09:00
Andrew Tridgell
d31ca6ca8c AP_NavEKF: allow for double EKF build 2021-07-23 10:19:46 +09:00
Andrew Tridgell
6484a9666c AP_Mount: use ZERO_FARRAY() 2021-07-23 10:19:45 +09:00
Andrew Tridgell
6bcc0737ae AP_Motors: fixup build for ftype conflict 2021-07-23 10:19:45 +09:00
Andrew Tridgell
9629b19ec1 AP_Common: added double methods for SITL 2021-07-23 10:19:45 +09:00
Andrew Tridgell
970ae3dd76 SITL: fixup offset calls 2021-07-23 10:19:45 +09:00
Andrew Tridgell
232ccfe477 AP_Math: allow for double EKF build 2021-07-23 10:19:45 +09:00
Andrew Tridgell
712fbd08dc HAL_ChibiOS: use SRAM1 as first ram segment on H7 
this is needed to give the linker more than 128k for static variables
with double precision maths.
 2021-07-23 10:19:45 +09:00
Andrew Tridgell
53ecf048d1 AP_HAL: allow for double EKF build 2021-07-23 10:19:45 +09:00
Andrew Tridgell
079577a6e5 APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-23 10:19:45 +09:00
Andrew Tridgell
36b22cffb6 AP_Notify: disable DShot buzzer by default 2021-07-23 10:19:45 +09:00
Andy Piper
c265d70d3d AP_Notify: re-enable display on 1Mb boards 2021-07-23 10:19:45 +09:00
Andrew Tridgell
3a683be219 HAL_ChibiOS: always send zero DShot when disarmed 
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.

See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
 2021-07-23 10:19:45 +09:00
Andrew Tridgell
a757706797 AP_Logger: fixed log creation on forced arm 
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
 2021-07-23 10:19:45 +09:00
Randy Mackay
3900a4f14a GCS_MAVLink: send water depth and temp 2021-06-30 12:05:09 +09:00