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26568 Commits

Author SHA1 Message Date
Andrew Tridgell 6d40d5bda0 AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-28 14:41:27 +09:00
Andrew Tridgell 4000983884 AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-28 14:41:27 +09:00
QioTek 7b38bdb455 AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649 
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
 2021-08-28 14:41:27 +09:00
Hwurzburg 4761bd0eff AP_HAL_Chibios: Change RC in to RCINT to free a DMA channel 2021-08-28 14:41:27 +09:00
Andrew Tridgell 4143a21088 HAL_ChibiOS: allow FlywooF745 to build again 2021-08-28 14:41:27 +09:00
Andy Piper 479157a741 AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-28 14:41:27 +09:00
Leonard Hall b6c4ccb683 AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-28 14:41:27 +09:00
Leonard Hall 283c83fb6e AC_WPNav: Fix Jerk units 2021-08-28 14:41:27 +09:00
Leonard Hall bb5b00d920 AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-28 14:41:27 +09:00
Leonard Hall feafbe81a3 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-28 14:41:27 +09:00
Iampete1 e1972c7132 AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-28 14:41:27 +09:00
Randy Mackay 61cf45c944 AP_Scripting: copter-fast-descent.lua example script 2021-08-28 14:41:27 +09:00
Randy Mackay 400c9ee6b0 AP_Vehicle: add virtual set_target methods 2021-08-28 14:41:27 +09:00
Randy Mackay ee81583669 AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-28 14:41:27 +09:00
Randy Mackay 08c2508e0c AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-28 14:41:27 +09:00
Randy Mackay a4664cc388 AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-28 14:41:27 +09:00
Randy Mackay 93b7e614f6 AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-28 14:41:27 +09:00
Randy Mackay a2a732c91c AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-28 14:41:27 +09:00
Randy Mackay 3bebd0bfaa AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-28 14:41:27 +09:00
Iampete1 2868128847 AP_Vehicle: #ifdef scripting specific functions 2021-08-28 14:41:27 +09:00
Iampete1 ac70c38187 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 14:41:27 +09:00
Randy Mackay cede4bb028 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-28 14:41:27 +09:00
Pierre Kancir fad42e8c9c AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 14:41:27 +09:00
Pierre Kancir 3043ab6b01 AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 14:41:27 +09:00
Pierre Kancir adb82e13ee AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 14:41:27 +09:00
Andrew Tridgell 84d9ff108e 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 14:41:27 +09:00
Andy Piper 3c8dbf8e30 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 14:41:27 +09:00
Randy Mackay 945600a49e AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-28 14:41:27 +09:00
Andrew Tridgell cc5bfc8375 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 14:41:27 +09:00
Andrew Tridgell 7ae696340a SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-28 14:41:27 +09:00
Hwurzburg 8b484738a5 AP_OSD: fixes bug introduced by #16477 2021-08-14 10:44:08 +09:00
Pierre Kancir ae59533af1 AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-14 10:44:08 +09:00
Randy Mackay a3c658ea01 AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-14 10:44:08 +09:00
Randy Mackay 25af40adde AP_NavEKF2: remove unused EK2_GSF_DELAY param 2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi 7b77dd39e0 AC_Avoid: use proximity_avoidance_enabled function 2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi 4044ea1a42 AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled 2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi 03e382b1e3 AC_Avoidance: handle upward proximity enable and disable 2021-08-14 10:44:08 +09:00
Andy Piper d6b991768e AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-14 10:44:08 +09:00
Andy Piper 87018b859e AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-14 10:44:08 +09:00
Pierre Kancir aad2733d06 AP_ESC_Telem: prevent possible overrun 2021-08-14 10:44:08 +09:00
Pierre Kancir 2c62d32ca8 AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-14 10:44:08 +09:00
Pierre Kancir 04a4a27a14 AP_ESC_Telem: fix out of bound access 2021-08-14 10:44:08 +09:00
Pierre Kancir 61a50c5481 AP_OSD: check for nullptr before using it 2021-08-14 10:44:08 +09:00
Leonard Hall ba70c50a07 AP_Math: Spelling fix 2021-08-14 10:44:08 +09:00
Leonard Hall a363468281 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-14 10:44:08 +09:00
Leonard Hall eb652b71f9 AC_WPNav: support Control: Refactor to use Jerk 2021-08-14 10:44:08 +09:00
Leonard Hall eff91e87ca AP_Math: Control: Refactor to use Jerk 2021-08-14 10:44:08 +09:00
Leonard Hall 397cd8cbe0 AP_Math: Control: protect against divide by zero 2021-08-14 10:44:08 +09:00
Leonard Hall 8cd70f2569 AC_WPNav: Fix Angle Vel units on function 2021-08-14 10:44:08 +09:00
Leonard Hall 0ee9dbc059 AC_AttitudeControl: Fix Angle Vel units on function 2021-08-14 10:44:08 +09:00