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26702 Commits

Author SHA1 Message Date
Andrew Tridgell
2dcac32897 Revert "AP_RCProtocol: raise SBUS frame gap" 
This reverts commit af654f0cb7.

this does not work with some SBUS receivers
 2022-02-11 08:01:48 +09:00
Randy Mackay
5f97323ce9 AP_Math: spline lateral scaler reduced to 0.5 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2022-01-31 19:41:01 +09:00
Leonard Hall
3a1f2847ec AC_AttitudeControl: AC_PosControl: use relax_integrator 2022-01-31 19:41:01 +09:00
Leonard Hall
57c0c14fac AC_AttitudeControl: use relax_integrator 2022-01-31 19:41:01 +09:00
Leonard Hall
51da9f378b AC_PID: replace reset_I_smoothly with relax_integrator 2022-01-31 19:41:01 +09:00
Leonard Hall
545a20473e AC_PID: AC_PID_2D: let I term change direction but not grow when limited 2022-01-31 19:41:01 +09:00
Leonard Hall
fcf4b8ad58 AC_AttitudeControl: AC_PosControl: Prioritize crosstrack acceleration 2022-01-31 19:41:01 +09:00
Leonard Hall
d19151103c AP_Math: Control: Add directional based acceleration limit 2022-01-31 19:41:01 +09:00
Leonard Hall
bfb7476d73 AC_AttitudeControl: AC_PosControl_Sub: Increase Jerk with Accel when out of velocity range 2022-01-31 19:41:01 +09:00
Leonard Hall
6d9969cf2a AC_AttitudeControl: AC_PosControl: Increase Jerk with Accel when out of velocity range 2022-01-31 19:41:01 +09:00
Leonard Hall
550a4a9c1a AC_AttitudeControl: AC_PosControl: Init desired accel to zero 2022-01-31 19:41:01 +09:00
Peter Barker
9ce42a067f AP_InertialSensor: correct logging of inertial-sensor reg-change logging 2022-01-31 19:41:01 +09:00
Leonard Hall
09697827cc AC_WPNav: Support error input to kinematic shaper 2022-01-31 19:41:01 +09:00
Leonard Hall
e8a067d99c AC_AttitudeControl: AC_PosControl: Support error input to kinematic shaper 2022-01-31 19:41:01 +09:00
Leonard Hall
37c6dc74ae AP_Math: Control: Adjust limit handling to improve corners 2022-01-31 19:41:01 +09:00
Iampete1
ead64a39f8 AP_Math: control: remove unneeded normalisation. 2022-01-31 19:41:01 +09:00
Randy Mackay
092730c32e AP_Math: update_pos_vel_accel methods accept limit as const reference 
also update some comments
 2022-01-31 19:41:01 +09:00
Peter Barker
109d543b80 SRV_Channel: correct casting of servo function number 2022-01-31 19:41:01 +09:00
Andrew Tridgell
31b5cbef6b AP_Arming: support Benewake CAN 2022-01-31 19:41:01 +09:00
Andrew Tridgell
cfc25c4161 AP_CANManager: support Benewake CAN 2022-01-31 19:41:01 +09:00
Andrew Tridgell
f91adfd146 AP_RangeFinder: added Benewake CAN Lidars 
includes support for setting CAN ID and min SNR
 2022-01-31 19:41:01 +09:00
Iampete1
ad9c411490 AP_Compass: never override custom orentation in calabration 2022-01-31 19:41:01 +09:00
Andrew Tridgell
d59caa95ad AP_Logger: avoid all opens of log files in main thread 
this fixes a problem with sdcards where file open is very slow. It can
trigger a watchdog if it is slow enough. Peter and I hit this issue on
a pixracer today with a new sd card
 2022-01-31 19:41:01 +09:00
Andrew Tridgell
f21e00a3ef AP_RCProtocol: raise SBUS frame gap 
cope with UART input for newer SBUS receivers
 2022-01-31 19:41:01 +09:00
Andrew Tridgell
da52e6fb74 AP_GPS: drop default GPS lag to 0.1s 
this impacts UAVCAN GPS modules, which these days usually have at
least u-blox M8
 2022-01-31 19:41:01 +09:00
Andrew Tridgell
4f6fe3389e AP_Filesystem: fixed a param ftp bug 
if param count changes we need to zero the file size
 2022-01-31 19:41:01 +09:00
Andrew Tridgell
288f4bfbb4 AP_NavEKF3: fixed gaps in EKF logging 
timestamps should not be static as otherwise some lanes will not be
logged
 2022-01-31 19:41:01 +09:00
Andrew Tridgell
b1da3467c4 AP_BattMonitor: fixed a segv with BATT_MONITOR=14 
this causes a hang on boot on some boards
 2022-01-31 19:41:01 +09:00
Mingchen Zhang
a17bbe2dfd AP_SmartAudio: fix a bug that would starve the lower priority thread, such as scripting. 2021-12-22 10:03:29 +09:00
Andrew Tridgell
96793c43c7 AC_AutoTune: limit autotune target rates to parameter limits 
this makes it safer to autotune a large vehicle which may become
unstable at very high target rates
 2021-12-22 10:03:29 +09:00
Andrew Tridgell
ad7caa39c3 AC_AttitudeControl: added get_ang_vel_yaw_max_rads() 2021-12-22 10:03:29 +09:00
Andrew Tridgell
4555b4dd81 AP_NavEKF3: Add missing covariance row reset 2021-12-22 10:03:29 +09:00
Andrew Tridgell
4a180f1f32 AP_InertialSensor: added support for IIM-42652 and ICM-40605 sensors 
handle new Invensense v3 sensor types
 2021-12-22 10:03:29 +09:00
Andrew Tridgell
7e543d7643 AP_InertialSensor: added support for ICM-20608-D sensor 2021-12-22 10:03:29 +09:00
Andrew Tridgell
02f671f33a AP_RCTelemetry: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-22 10:03:29 +09:00
Andrew Tridgell
f32bdbf6d6 AP_RangeFinder: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-22 10:03:29 +09:00
Andrew Tridgell
0e24b4ad44 AP_Proximity: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-22 10:03:29 +09:00
Andrew Tridgell
6728a7f681 AP_ADSB: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-22 10:03:29 +09:00
Andrew Tridgell
63ff047c16 AP_RCProtocol: fixed multi-protocol search with added uart 2021-12-22 10:03:29 +09:00
Andrew Tridgell
9984e56e53 AP_SerialManager: added have_serial() method 
this checks if we have the protocol without setting the options on the
uart
 2021-12-22 10:03:29 +09:00
Andrew Tridgell
4ee292ec5e AP_BoardConfig: disable STLink debug pins by default 
this avoids leaving the debug pins in a state where they may be
vulnerable to ESD issues
 2021-12-22 10:03:29 +09:00
Bill Geyer
814c52fbb7 AP_Motors: add spool down complete flag 2021-12-18 12:17:38 +09:00
Andrew Tridgell
3b25bc3edb AP_UAVCAN: use soft armed state for DroneCAN ARMING_STATUS 
this fixes motortest on quadplanes, so that ESCs see an armed state
during the test
 2021-12-18 12:17:38 +09:00
Andrew Tridgell
07cff1ce1b HAL_ChibiOS: use a 16 bit sysinterval_t on 16 bit timers 
prevent mixed size subtraction errors
 2021-12-18 12:17:38 +09:00
Peter Barker
0a1191ea1f AC_Fence: void index when overwriting fence count on fencepoint-close 2021-12-18 12:17:38 +09:00
Andrew Tridgell
50c14e62cf AC_Fence: fixed fence count for old upload 
when uploading a fence that is smaller than an old fence we were not
correctly setting the inclusion fence size.
 2021-12-18 12:17:38 +09:00
Andrew Tridgell
0a8bd53f5e APM_Control: make 2nd reduction of P smaller 
this prevents severe P reductions when we get a small oscillation
glitch after we've already got the primary P gain
 2021-12-18 12:17:38 +09:00
李孟晓
9814580149 CUAV-X7: Add servo voltage detection pin 2021-12-18 12:17:38 +09:00
Andrew Tridgell
7f84e296a6 AP_AHRS: fixed switching airspeed sensor based on EKF3 affinity (for 4.1) 
we need to use the EKF selected airspeed sensor when the EKF is setup
to run a different sensor on each lane
 2021-12-18 12:17:38 +09:00
Andrew Tridgell
2924ae76da AC_AttitudeControl: fixed limiting of throttle mix values 
use constrain instead of reset to keep as much of user requested value
as possible

also raise limit for MIX_MIN to 0.5 after discussion with Leonard
 2021-12-18 12:17:38 +09:00