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27205 Commits

Author SHA1 Message Date
Andrew Tridgell
39f44147b8 HAL_ChibiOS: reduce the impact of UART DMA contention 
this changes the heuristics for UART TX DMA allocation to greatly
reduce the chances of DMA contention causing long delays on other
devices

This fixes issues with FETTec driver output and gimbal status messages
as reported by Amilcar and OlliW. The problem is particularly bad when
no GPS is connected to GPS1 on fmuv3 and derived boards (such as
CubeBlack)

key changes:

 - remember the contention_counter across begin() calls, as the GPS
   calls begin with new baudrates regularly

 - added a is_shared() API to Shared_DMA, allowing the UART driver to
   avoid TX DMA on shared streams when at low baudrates.
 2021-08-31 07:55:27 +10:00
Andrew Tridgell
dc252aa8f5 GCS_MAVLink: check for null comm_port before writing 
this was found when adding debug code to write to a specific channel
 2021-08-31 07:55:27 +10:00
Rishabh
ee176d26e9 AC_PrecLand: Raise internal error if state machine is running while precland is disabled 2021-08-30 14:08:44 +09:00
Iampete1
7d536666b4 SITL: SIM_Sailboat: remove use of AHRS 2021-08-30 13:40:37 +10:00
Marek Łukasiewicz
5de6c690d8 HAL_ChibiOS: Rename STM32F412 hw definition file 2021-08-30 10:27:45 +10:00
Pierre Kancir
60155a7fec Filter: add more unittests 2021-08-30 09:51:25 +10:00
Pierre Kancir
fd38be843a Filter: finish modefilter test 2021-08-30 09:51:25 +10:00
Peter Barker
0792caab83 AP_AHRS: factor out an update_notify_from_filter_status 2021-08-28 23:11:09 +10:00
Peter Barker
ca6d214bb3 AP_AHRS: remove unused getGpsGlitchStatus method 2021-08-28 19:46:13 +10:00
Iampete1
6628fd2837 SITL: swap rotation direciton of motor 2 for lower yaw offset 2021-08-28 10:32:59 +09:00
Teo
4988f72ee2 RC_Channel: removed dead code 2021-08-28 10:29:06 +09:00
bugobliterator
fd95c32d88 AP_HAL_ChibiOS: add CubeOrange Periph Heavy build 2021-08-27 09:17:30 -07:00
Pierre Kancir
cc39eafe02 AP_GyroFFT: ensure we got float division when there are needed instead of integer divisions 2021-08-27 13:42:03 +10:00
Pierre Kancir
23a67a9e60 AP_GyroFFT: checking that uint16_t is negative is useless 2021-08-27 13:42:03 +10:00
Pierre Kancir
39fd32aa9e AP_GyroFFT: reduce first_harmonic scope 2021-08-27 13:42:03 +10:00
Andrew Tridgell
858a6b7e87 HAL_ChibiOS: allow FlywooF745 to build again 2021-08-27 07:45:58 +10:00
Pierre Kancir
bcfb07b39f AP_Rangefinder: fix override in constructor 2021-08-26 21:48:19 +10:00
Randy Mackay
b524094216 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-26 12:23:32 +09:00
Leonard Hall
ff58054d1b AC_AttitudeControl: AC_PosControl: Clean up to use .xy() 2021-08-26 12:22:52 +09:00
Leonard Hall
8223d664a7 AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-26 12:22:52 +09:00
Leonard Hall
520883b504 AC_WPNav: Fix Jerk units 2021-08-26 12:22:52 +09:00
Leonard Hall
9c097dd6be AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-26 12:22:52 +09:00
Leonard Hall
445e52b821 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-26 12:22:52 +09:00
Randy Mackay
b396169084 AP_Scripting: copter-fast-descent.lua example script 2021-08-26 11:25:54 +09:00
Randy Mackay
1a7826295f AP_Vehicle: add virtual set_target methods 2021-08-26 11:25:54 +09:00
Randy Mackay
e8155bc47c AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-26 11:25:54 +09:00
Randy Mackay
a3b4c8efd8 AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-26 11:25:54 +09:00
Randy Mackay
5eb65c9a1f AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-26 11:25:54 +09:00
Pierre Kancir
ec03c9eaf4 AP_Scheduler: correct pointer checking 2021-08-26 10:17:22 +10:00
Andrew Tridgell
1655beeca9 AP_MSP: fixed build without MSP 
found by custom.ardupilot.org
 2021-08-26 10:01:35 +10:00
olliw42
617024bdfa GCS_Mavlink: scale across full valid range 2021-08-26 09:44:59 +10:00
olliw42
bacfe82c66 GCS_MAVLINK: add receiver_rssi() method, and use it 2021-08-26 09:44:59 +10:00
Marek S. Łukasiewicz
47f2e13024 HAL_ChibiOS: Add hwdef for BirdCANdy 2021-08-26 09:43:39 +10:00
Iampete1
2a834508ae AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-25 23:48:52 +01:00
Peter Barker
1387ed06bd AP_WindVane: remove empty contructors 2021-08-25 20:42:23 +10:00
Peter Barker
47455f12db AP_Vehicle: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Peter Barker
9dd02f0c2b AP_Scripting: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Peter Barker
c9fd7ee00d AP_Button: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Peter Barker
4ae3ad555d AP_Arming: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Samuel Tabor
3ead096329 AP_Soaring: Initialize filter to the current filtered measurement 2021-08-25 19:00:46 +10:00
Michael du Breuil
e3109e4b29 AP_Logger: Use actual MAVLink constant 
This isn't a functional change, it just improves the readibility of the
file
 2021-08-25 18:52:21 +10:00
Randy Mackay
4bdb428cfe AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-25 18:39:09 +10:00
Randy Mackay
8548695e5d AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-25 18:39:09 +10:00
Randy Mackay
1725eda961 AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-25 18:39:09 +10:00
Peter Barker
9114d4fc86 AP_AHRS: make home-relative functions AHRS-frontend only 2021-08-25 18:32:07 +10:00
Peter Barker
e8066aa993 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-25 18:28:12 +10:00
Peter Barker
a933652950 AP_AHRS: return perfect airspeed estimate for EKF-type 10 
... rather than the EKF3 estimate
 2021-08-25 18:28:12 +10:00
Pierre Kancir
29b13ff98a AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-25 16:37:13 +09:00
Pierre Kancir
ae11353d81 AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-25 16:37:13 +09:00
Pierre Kancir
4481bc6147 AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-25 16:37:13 +09:00
yaapu
617b023c6f AP_Frsky_Telem: added frame 0x500C for true/apparent WIND info 2021-08-25 17:13:16 +10:00
yaapu
d91e2008d3 AP_RCTelemetry: incremented WFQ scheduler slots to 20 2021-08-25 17:13:16 +10:00
yaapu
7e3395eebd AP_OSD: added a new backend for msp displayport aka canvas mode support 2021-08-25 17:12:15 +10:00
yaapu
188b7a50a9 AP_MSP: added a new backend for msp displayport aka canvas mode support 2021-08-25 17:12:15 +10:00
yaapu
05686f3c60 AP_MSP: fixed MSP RC out command 2021-08-25 17:12:15 +10:00
yaapu
c1e50dc676 AP_SerialManager: added a new MSP DisplayPort serial backend 2021-08-25 17:12:15 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
d907328f80 AP_FETtecOneWire: README.md clarity improvements 2021-08-25 16:05:05 +10:00
Randy Mackay
04c8ad6150 RC_Channel: rename visodom_calibrate to visodom_align 
This should be a non-functional change
 2021-08-25 15:42:02 +10:00
Josh Henderson
b94fb40a33 SITL: add unit tests for SIM_MS5611 2021-08-25 12:37:43 +10:00
bugobliterator
a32a32ab43 HAL_ChibiOS: change name for USART2_CTS pin in STM32H757xx.py 2021-08-25 10:09:23 +10:00
bugobliterator
21ad3c7ac1 AP_HAL_ChibiOS: add HereID board 2021-08-25 10:09:23 +10:00
Gone4Dirt
c94b9e8a19 AP_RPM: Mark type = PWM as not used in docs 2021-08-25 09:36:58 +10:00
Gone4Dirt
b402a50bb2 SITL: Remove RPM params from examples that are set to defaults 2021-08-25 09:36:58 +10:00
Gone4Dirt
7be9773f95 SITL: Update RPM param in FlightAxis defaults 2021-08-25 09:36:58 +10:00
Gone4Dirt
df1280e999 AP_RPM: Whitespace changes 2021-08-25 09:36:58 +10:00
Gone4Dirt
5bb4729d61 AP_RPM: Restructure params to be per instance of _params 2021-08-25 09:36:58 +10:00
Iampete1
58e14b2dc3 AC_Loiter: update ANG_MAX param description 2021-08-24 22:14:08 +01:00
Andrew Tridgell
e9427f1dae HAL_ChibiOS: removed remnants of CHIBIOS_ADC_MAVLINK_DEBUG 2021-08-25 07:11:31 +10:00
Andrew Tridgell
5bacd35eaa HAL_ChibiOS: review fixes 2021-08-25 07:11:31 +10:00
Andrew Tridgell
4cebcede31 HAL_ChibiOS: switched to fix allocation for BMDA streams on H7 
this avoids issues with BDMA stream assignments due to bugs found
while testing boards with both I2C4 and SPI6
 2021-08-25 07:11:31 +10:00
Andrew Tridgell
5c3056e50d GCS_MAVLink: added MCU_STATUS message 2021-08-25 07:11:31 +10:00
Andrew Tridgell
0f59e1ebb8 AP_Logger: log MCU temperature and voltage 2021-08-25 07:11:31 +10:00
Andrew Tridgell
57e87b9820 HAL_ChibiOS: measure MCU temperature and ref voltage on H7 
this uses ADC3 to measure the internal MCU temperature and the reference
voltage. This uses a currently unused BDMA channel
 2021-08-25 07:11:31 +10:00
Andrew Tridgell
c91410f4b7 AP_HAL: added MCU status support 2021-08-25 07:11:31 +10:00
Randy Mackay
5de30cc7cf AP_Scripting: ahrs-source-gps-optflow script fixups from peer review 
also dded assert on optical flow to ensure the script is used with a version of AP that includes the optical flow bindings
 2021-08-24 16:49:04 +09:00
Randy Mackay
9313535a35 AP_OpticalFlow: SITL driver applies _FX/YSCALER params 2021-08-24 16:49:04 +09:00
Randy Mackay
2aa17916b1 AP_Scripting: add ahrs-source-gps-optflow 
this supports automatic switching between GPS and opticalflow
 2021-08-24 16:49:04 +09:00
Randy Mackay
df187d5d3f AP_Scripting: add optical flow bindings 2021-08-24 16:49:04 +09:00
Randy Mackay
d1f2acd813 AP_NavEKF3: rename varInnovOptFlow to flowVarInnov 
also renamed innovOptFlow to flowInnov
 2021-08-24 16:49:04 +09:00
Randy Mackay
85ade10e85 AP_NavEKF3: ofDataNew made local 2021-08-24 16:49:04 +09:00
Randy Mackay
11847cfcf5 AP_NavEKF3: always calculate optical flow innovations and variances 2021-08-24 16:49:04 +09:00
Randy Mackay
914a8dca49 AP_NavEKF3: for loops use uint8_t instead of unsigned 2021-08-24 16:49:04 +09:00
Randy Mackay
5779ebd177 AP_NavEKF3: remove unused Tbn_flow 2021-08-24 16:49:04 +09:00
Randy Mackay
f9fd63e01e AP_NavEKF3: remove unused optflow calcs 2021-08-24 16:49:04 +09:00
Hwurzburg
00a1cbffde AP_CANManager: correct metadata for values 2021-08-24 10:52:33 +10:00
Peter Barker
f02ffac9a4 AP_SerialManager: reserve Id 41 for CoDev serially-attached ESCs 2021-08-24 10:24:02 +10:00
Peter Barker
e2722c8e12 AP_AHRS: move active_accel_instance into DCM private header section 2021-08-24 10:23:36 +10:00
Peter Barker
d6c7c59199 AP_AHRS: remove custom_rotation matrix to frontend 
Only one of these per vehicle
 2021-08-24 10:23:36 +10:00
Peter Barker
645a5302d0 AP_AHRS: move DCM parameters into DCM header 2021-08-24 10:23:36 +10:00
Peter Barker
74709c6292 AP_AHRS: move groundspeed vector up to AP_AHRS_DCM 
The other estimators all have their own implementation of this
 2021-08-24 10:23:36 +10:00
Peter Barker
8169910866 AP_AHRS: move frontend parameters up / DCM parameters down 2021-08-24 10:23:36 +10:00
Peter Barker
62f6a5b033 AP_Compass: fail calibration unless at least 1 compass to cal 2021-08-24 10:18:38 +10:00
Josh Henderson
3c9547caff AP_Baro_SITL: use temp_board_offset and timeout 2021-08-24 09:55:01 +10:00
Josh Henderson
e8dcdd60c5 SITL: param use baro temp_board_offset instead of temp_flight 2021-08-24 09:55:01 +10:00
Iampete1
8c61d1a18d AP_Radio: hide params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1
9bcd706dae AP_Proximity: hide params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1
2bad7734db AP_landing: hide deepstall params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1
280171e96b AP_Beacon: hide params with enable flag 2021-08-24 09:38:46 +10:00
Mohammad Hefny
2a14181e69 update to new files names 2021-08-24 07:45:41 +10:00
Mohammad Hefny
ac30fbd7b0 SITL: Webots2021b Compatible 2021-08-24 07:45:41 +10:00