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52632 Commits

Author SHA1 Message Date
Andrew Tridgell bf5ec297d7 hwdef: switched to pixracer LED scheme for Pixhawk6X 2022-08-02 18:03:52 +10:00
Andrew Tridgell 47c30ac777 hwdef: disable I2C DMA on Pixhawk6C and enable compass compensation 2022-08-02 18:03:52 +10:00
Andy Piper 7aab708727 AP_InertialSensor: support for fast sampling rates on ICM-42xxx series 
thoughtfully set anti-aliasing filters on ICM-42xxx series
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 39384a84c9 hwdef: added compass compensation for 3 boards 
use the new compass heater compensation for 4 compasses across 3
boards
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 05433bfee6 AP_Compass: switch to a general method of heater compensation 
this allows any board to easily setup heater compensation for an
internal compass. The offsets are in body frame (previously in sensor
frame) and are sensor specific using bus device IDs
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 314daa3cfb hwdef: added missing ADC channel on Pixhawk6X 2022-08-02 18:03:52 +10:00
Andrew Tridgell 14e5bb3a4a hwdef: disable I2C DMA on Pixhawk6X 
this prevents an issue with the BMI088 and external compass on GPS1
 2022-08-02 18:03:52 +10:00
Andrew Tridgell c89d3bfc07 hwdef: fixed rotation of bmi088 on Holybro6X 2022-08-02 18:03:52 +10:00
Andrew Tridgell 3754f36fac AP_InertialSensor: re-enable notch filter on 42688 
thanks to Andy for pointing out this is for an internal resonance
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 2a0b2d9919 AP_InertialSensor: enable 180Hz LPF on ICM42670 2022-08-02 18:03:52 +10:00
Andrew Tridgell b0c8b65756 AP_InertialSensor: enable AAF at 488Hz for gyro+accel on ICM42688 
this should improve vibration handling
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 4ed6ef56b7 AP_InertialSensor: added support for ICM42670 IMU 2022-08-02 18:03:52 +10:00
Andrew Tridgell 1263b63886 hwdef: fixed orientation of Pixhawk6X ICM42670 2022-08-02 18:03:52 +10:00
Andrew Tridgell 499cc99b1f Tools: updated decode_devid.py 2022-08-02 18:03:52 +10:00
Andrew Tridgell 62a88100be AP_BoardConfig: allow for BMI088 for Holybro 6X 
and tighten check on CUAV-X6 and Holybro-6X to check all 3 IMUs
 2022-08-02 18:03:52 +10:00
Andrew Tridgell c9abea40be hwdef: use right name for ICM42670 SPI device 2022-08-02 18:03:52 +10:00
Andrew Tridgell d22e0a24d5 Plane: allow for throttle control in MANUAL when disarmed 
pass base throttle down to ICE subsystem to allow for throttle when
disarmed in MANUAL
 2022-08-02 18:03:52 +10:00
Andrew Tridgell ca0141ec9d AP_ICEngine: added option for throttle control while disarmed 
this uses the passed in base throttle when disarmed
 2022-08-02 18:03:52 +10:00
Andrew Tridgell d0a35cb355 Plane: when ICE overrides throttle zero the vfwd integrator 2022-08-02 18:03:52 +10:00
Andrew Tridgell 46bd787a49 AP_ICEngine: added option to force low throttle on engine off 
this fixes an issue with EFI engines that use low throttle demand to
stop the engine, instead of using an ignition channel. This option
needs to be set on these aircraft to prevent the idle governor or the
fwd throttle integrator in quadplanes from keeping the engine on when
the pilot asks for it to be off.
 2022-08-02 18:03:52 +10:00
Andrew Tridgell c7d1ca6036 Plane: don't failsafe when in RTL_AUTOLAND landing sequence 
when in AUTO and already in the landing sequence then don't trigger a
failsafe
 2022-08-02 18:03:52 +10:00
Andrew Tridgell ca932e26d1 hwdef: MFE-PixSurveyA1 rename PixSurveyA1 2022-08-02 18:03:52 +10:00
xiao 1f58408110 HAL_ChibiOS: hwdef: add new hardware MFE-PixSurveyA1 2022-08-02 18:03:52 +10:00
Andrew Tridgell f13da57c7d Plane: fixed combination of passby and acceptance dist WP 
when a user sets a passby distance we should calculate the turn point
based on the extrapolated distance, not the original waypoint

also simplify the passby logic using offset_bearing()
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 2bfbe2b3c0 Tools: updated Pixhawk6X bootloader 2022-08-02 18:03:52 +10:00
Andrew Tridgell 202e606892 hwdef: changed Pixhawk6C board type to 56 
production bootloader uses 56
 2022-08-02 18:03:52 +10:00
Andy Piper e058103bda AP_HAL_ChibiOS: hwdef for Foxeer Reaper F745v2. 
README for Reaper F745v2
 2022-08-02 18:03:52 +10:00
Andy Piper f65b6321c7 bootloaders: add Foxeer Reaper F745 v2 2022-08-02 18:03:52 +10:00
Andrew Tridgell cf3e7aff58 hwdef: added telem3 on Pixhawk6X 2022-08-02 18:03:52 +10:00
Andrew Tridgell dfe5c82361 Plane: fixed check for fixed wing approach QRTL start 
ensure we are lined up, or we are at less than 0.5 of radius before we
switch to QRTL. This fixes the case where the stopping distance is
greater than the radius, prevening us from switching to QRTL while not
lined up with the landing point
 2022-08-02 18:03:52 +10:00
Andrew Tridgell a4a057a660 hwdef: added Pixhawk6C support 2022-08-02 18:03:52 +10:00
Andrew Tridgell 7515c82c55 Tools: added Pixhawk6C bootloader 2022-08-02 18:03:52 +10:00
Andrew Tridgell 573da3882b AP_Compass: HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE for Pixhawk6C 2022-08-02 18:03:52 +10:00
Andrew Tridgell adcd7850c0 AP_Compass: removed "AK09916 Wrong id" message 
we don't need this on every board that doesn't have an I2C AK09916
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 5bd665370d hwdef: fixed Pixhawk6X ALT_RAM_MAP check 2022-08-02 18:03:52 +10:00
Andrew Tridgell c969578970 hwdef: added Pixhawk6X support 
a new H753 based board similar to the Pixhawk5X
 2022-08-02 18:03:52 +10:00
Andrew Tridgell d82c7a7221 HAL_ChibiOS: added support for ALT_RAM_MAP on H7 
for compatibility with the px4 H7 bootloader
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 669c16a114 HAL_ChibiOS: enable ITCM and DTCM on H7 at startup 
these may have been disabled by the px4 H7 bootloader
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 462cb806ec Tools: added Pixhawk6X bootloader 2022-08-02 18:03:52 +10:00
Andrew Tridgell fe9d33b945 AP_BattMonitor: make healthy() check all configured monitors 
GCS reporting for SYS_STATUS should check all healthy, not just first
backend
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 84db86ed2c AP_BattMonitor: allow INA2xx battery monitors to be powered after boot 
the device doesn't show up till main battery is connected, so we need
this change to allow for separate avionics battery and main battery
with avionics battery powered on first
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 5cff4ce1c8 AP_BattMonitor: report arming unhealthy if backend unhealthy 
important for i2c based battery backends
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 7a8929086e Plane: improve target airspeed in landing approach 
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach

this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
 2022-08-02 18:03:52 +10:00
Andrew Tridgell 4e2bddac47 Plane: base yaw in overshoot on target speed not scaled speed 
this prevents an oscillating due to the speed changing as we yaw,
resulting in a different yaw target
 2022-08-02 07:50:55 +10:00
Andrew Tridgell ffafa1f9aa Plane: improve target airspeed in landing approach 
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach

this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
 2022-08-02 07:50:55 +10:00
Andrew Tridgell 8db3df0cc1 Tools: adjust Dalby mission for VTOL_LAND distance 2022-08-02 07:50:55 +10:00
Andrew Tridgell 475283fb8a Plane: added an arming check for VTOL land too short 
this is meant to catch bad mission setup, especially for UGCS, which
planes waypoints right on top of the landing point
 2022-08-02 07:50:55 +10:00
Andrew Tridgell 11c9645d7d AP_AHRS: use wind from simulation if available with EKF type 10 2022-08-02 07:50:55 +10:00
Andrew Tridgell 5aff248950 SITL: fill in wind from flightaxis 2022-08-02 07:50:55 +10:00
Andrew Tridgell 77aefa4342 Plane: in overshoot allow up to the Q WP speed 
this prevents us using too much battery when we are a long way from
the landing point
 2022-08-02 07:50:55 +10:00