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32127 Commits

Author SHA1 Message Date
Randy Mackay c3d97aeb0f AC_PID: AC_PID_2D integrates SlewCalculator2D 2023-08-01 16:48:42 +09:00
Randy Mackay 1e17d35c09 Filter: add SlewCalculator2D 2023-08-01 16:48:42 +09:00
Randy Mackay 60663e5115 Filter: SlewLimiter definitions moved to cpp 2023-08-01 16:48:42 +09:00
Randy Mackay b669298c6f AP_Vehicle: add get_steering_and_throttle 2023-08-01 16:48:42 +09:00
Randy Mackay 3d16dd5b82 AR_PosControl: add singleton and get_srate 2023-08-01 16:48:42 +09:00
Randy Mackay 72f8372adc AR_AttitudeControl: add singleton and get_srate 2023-08-01 16:48:42 +09:00
tiralonghipol 1c57ca14aa AP_HAL_ChibiOS: add new board BlitzF745AIO 2023-08-01 16:48:42 +09:00
Andy Piper 84d98514a9 AP_HAL_ChibiOS: correct incorrect defaults for serial ports on FoxeerH743v1 2023-08-01 16:48:42 +09:00
Andy Piper 352bc482af AP_RCProtocol: report tracer frame rate correctly 2023-08-01 16:48:42 +09:00
Andy Piper de730eef64 AP_RCProtocol: rescan at CRSFv3 baud rates to avoid RX loss on soft reboot 2023-08-01 16:48:42 +09:00
Randy Mackay d5b01ee404 AR_PosControl: limit and zero velocity I-term 
zero in forward-back direction
limit in lateral direction
 2023-08-01 16:48:42 +09:00
Randy Mackay d3e4dd08d1 AR_AttitudeContol: add steering_limited checks 2023-08-01 16:48:42 +09:00
Randy Mackay 5702c6a672 AP_Math: Vector2f::projected made const 2023-08-01 16:48:42 +09:00
Andy Piper dada9f8720 AP_HAL_ChibiOS: correct comment in HEEWING-F405 v1 2023-08-01 16:48:42 +09:00
Andy Piper 1227b7ab02 AP_HAL_ChibiOS: HEEWING-F405v2 which includes dataflash logging 2023-08-01 16:48:42 +09:00
Andy Piper 168756ce76 AP_NavEKF3: fix docs on ABIAS_P_NSE_DEFAULT 2023-08-01 16:48:42 +09:00
Andrew Tridgell 2d8600ea91 AP_Mount: prevent SIYI driver crash if serial port not setup 
if MNT1_TYPE=8 and no serial protocol set to gimbal then a camera
trigger can crash the vehicle
 2023-08-01 16:48:42 +09:00
Andy Piper 886f24764c AP_BLHeli: add battery status MSP handling 
give internal error if an unknown MSP command occurs
 2023-08-01 16:48:42 +09:00
HelloLeFei a4b5c3001e AP_HAL_ChibiOS: add HEEWING-F405 flight controller 
add bi-directional dshot
add back in features.
juggle DMA allocations to allow CRSF to work correctly
disable dshot on PWM 10 as it is not used
do not enable quadplane by default
do not disable arming checks
run ICM42688 at 1Mhz for low speed to avoid gyro noise
add HEEWING README and picture
 2023-08-01 16:48:42 +09:00
Mikhail Degtiarenko ed8ae82267 AP_HAL_ChibiOS: add SPL06 to MambaH743v4 
The Diatone Mamba MK4 H743 v2 Flight Control have moved from the DPS280 barometer to using SPL06.

https://www.diatone.us/products/mamba-mk4-h743-v2-flight-control-30mm-m3l
 2023-08-01 16:48:42 +09:00
Andrew Tridgell 8f55281cb8 ChibiOS: disable DMA on I2C on F7 and H7 by default 
this was already done on many (most?) boards, and greatly reduces DMA
sharing which improves performance of UARTs. This changes the default
to no DMA on I2C
 2023-08-01 16:48:42 +09:00
bugobliterator 0c12b3bfaf AP_Scripting: stash and restore FPU register context in LUAI_TRY 
this fixes an issue where a lua library function triggers an exception
after it does a math operation which changes the floating point
registers on M7 MCUs (such as STM32H7). An example is math.random()
which calls math_random(), which pre-calculates a double value before
checking if the arguments to the call are valid. When it then checks
and finds invalid values the exception longjmp does not restore the
floating point registers.
 2023-08-01 16:48:42 +09:00
Andrew Tridgell 1dbc39d1f4 AP_Scripting: added bindings for VTOL motor loss 
this allows a script to take an action on loss of a VTOL motor
 2023-08-01 16:48:42 +09:00
Andrew Tridgell 0d6f49c67d HAL_ChibiOS: implement newlib alloc functions as malloc wrappers 
this fixes issue #24106
 2023-07-04 15:08:27 +09:00
Peter Barker 3c43fb6de8 AP_Notify: add driver for IS31FL3195 LED 2023-07-04 12:16:30 +09:00
Peter Barker c1f30b24e0 AP_Notify: add driver for LP5562 LED 2023-07-04 12:16:30 +09:00
Andrew Tridgell 15f4924499 AP_Scripting: updated VTOL quicktune docs 2023-07-04 12:16:30 +09:00
Andrew Tridgell a3f1ccb5e2 AP_Scripting: fixed lua-check warnings in VTOL-quicktune 2023-07-04 12:16:30 +09:00
Andrew Tridgell 8ecc43ddbc AP_Scripting: fixed use of QUIK_ENABLE in VTOL-quicktune 
this was lost when the cached access was added
 2023-07-04 12:16:30 +09:00
Andrew Tridgell fa18fc072b AP_Scripting: added QUIK_MAX_REDUCE parameter to VTOL-quicktune.lua 
this limits the amount that rate gains can reduce from the original
values in a quicktune. Large reductions in rate gains can be
incorrectly triggered by a frame resonance or gust of wind which can
result in gains that are dangerously low, which can trigger an angle P
oscillation
 2023-07-04 12:16:30 +09:00
Andy Piper ad5b8563b5 AP_HAL_ChibiOS: remove bdshot from speedybeef4 as it doesn't work and increases flash usage 2023-07-04 12:16:30 +09:00
Andy Piper 287053961c AP_HAL_ChibiOS: Pixhawk1-bdshot 2023-07-04 12:16:30 +09:00
Michael du Breuil 4cf19a74b4 AP_ADSB: Fix spam of lost transciever message at update() rate 2023-07-04 12:16:30 +09:00
Andy Piper 42e18db221 AC_AutoTune: correct incorrect min raw rate valuee 2023-07-04 12:16:30 +09:00
Andrew Tridgell 1d686ff806 AP_NavEKF3: fixed velocity reset on AID_NONE 
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
 2023-07-04 12:16:30 +09:00
Andrew Tridgell 6db228900b AP_NavEKF2: fixed velocity reset on AID_NONE 
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
 2023-07-04 12:16:30 +09:00
Peter Barker e363438c23 AP_Arming: reword GPS pre-arm failure 
M10S (no storage) throws this for a considerable period of time and the wording makes this process sound scary.
 2023-07-04 12:16:30 +09:00
Andy Piper 1d74020aac AP_HAL_ChibiOS: Pixhawk6X bdshot version 2023-07-04 12:16:30 +09:00
jfbblue0922 fbd77be980 AP_HAL_ChibiOS: jfb100 gets shorter EXT_WDOG_INTERVAL_MS 2023-07-04 12:16:30 +09:00
jfbblue0922 ce39ae40aa AP_HAL_CHibiOS: JFB100 hwdef fix for ext watchdog 2023-07-04 12:16:30 +09:00
jfbblue0922 7b60ac7afa AP_HAL_ChibiOS: support external watchdog gpio 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>

optional support to toggle GPIO pin at 10hz
 2023-07-04 12:16:30 +09:00
Andrew Tridgell cce16c9ada AP_GPS: fixed ublox M10S auto-config 
this copes with the M10S rejecting multiple-key VALGET calls. We fall
back to fetching one at a time
 2023-07-04 12:16:30 +09:00
Alexander Keller 6f38788575 AP_GPS:Comform to ardupilot undulation definition 2023-07-04 12:16:30 +09:00
davidsastresas eb5e86ecf0 GCS_Common: handle CMD_DO_SET_ROI_NONE for command int packets 2023-07-04 12:16:30 +09:00
Randy Mackay 954c3666cc AP_SerialManager: improve OPTIONS desc for Swap bit 2023-07-04 12:16:30 +09:00
Randy Mackay 5713560a81 AP_SerialManager: generalise SToRM32 serial protocol desc and enum 2023-07-04 12:16:30 +09:00
Iampete1 ea9e051220 AP_Motors: Heli RSC: remove incorrect set range call 2023-07-04 12:16:30 +09:00
Henry Wurzburg 323ab6f5a1 AP_HAL_ChibiOS: add Holybro KakuteH7-Wing 2023-07-04 12:16:30 +09:00
Randy Mackay ec2cdda03e AR_PosControl: add input_pos_vel_accel target 2023-06-08 09:29:59 +10:00
Randy Mackay 7db0c888e4 AP_HAL_ChibiOS: JFB100 LED definition fix 2023-06-08 09:29:59 +10:00