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26639 Commits

Author SHA1 Message Date
Randy Mackay
82ef14a692 Copter: terrain spelling fix 2021-09-10 17:07:03 +10:00
Randy Mackay
dbba55d779 AC_WPNav: terrain spelling fix 2021-09-10 17:07:03 +10:00
Leonard Hall
3e65570b36 AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-10 17:07:03 +10:00
Leonard Hall
b16ce057c1 AC_WPNav: Separate landing and terrain following. 2021-09-10 17:07:03 +10:00
Leonard Hall
2441f88072 AC_Autotune: Separate landing and terrain following. 2021-09-10 17:07:03 +10:00
Leonard Hall
ce6b336f7d AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-10 17:07:03 +10:00
Iampete1
f13ab11c88 SRV_Channel: call update_aux_servo_function in function_assigned 2021-09-10 17:07:03 +10:00
Andrew Tridgell
1b398d6956 HAL_ChibiOS: use more USB buffers on higher end F7 chips 2021-09-10 17:07:03 +10:00
Andrew Tridgell
991352b76b 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.
 2021-09-10 17:07:03 +10:00
Andrew Tridgell
f4266463c9 GCS_MAVLink: check for null comm_port before writing 
this was found when adding debug code to write to a specific channel
 2021-09-10 17:07:03 +10:00
Pierre Kancir
98bc5969b0 AP_Rangefinder: fix override in constructor 2021-09-10 17:07:03 +10:00
Andrew Tridgell
d2aeeb6bad AP_DAL: fixed a bug in RMGH logging 2021-09-10 09:26:44 +10:00
Andrew Tridgell
ee24310a95 AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-09-10 09:12:34 +10:00
Andrew Tridgell
3c1a3201c6 HAL_ChibiOS: fixed GPIO lines for QioTekZealotF427 2021-09-03 18:25:13 +10:00
Andrew Tridgell
febca7a952 AP_Declination: added a test suite for AP_Declination 
use test vectors from MAVProxy mavextra
 2021-09-03 14:45:38 +10:00
Andrew Tridgell
907d044c89 AP_Declination: fixed rounding in mag field 
thanks to Angela for noticing this
 2021-09-03 14:45:35 +10:00
QioTek
69d7a7c1e4 AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649 
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
 2021-08-29 11:24:18 +10:00
Hwurzburg
41e753ea47 AP_HAL_Chibios: Change RC in to RCINT to free a DMA channel 2021-08-29 11:24:18 +10:00
Andrew Tridgell
3d0ee4fead HAL_ChibiOS: allow FlywooF745 to build again 2021-08-28 12:50:32 +10:00
Andy Piper
0431d43a40 AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-28 12:50:32 +10:00
Leonard Hall
78dd9e2a49 AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-28 12:50:32 +10:00
Leonard Hall
9a0b9407a8 AC_WPNav: Fix Jerk units 2021-08-28 12:50:32 +10:00
Leonard Hall
052524728b AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-28 12:50:32 +10:00
Leonard Hall
1c2655f565 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-28 12:50:32 +10:00
Iampete1
4fe9a34308 AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-28 12:50:32 +10:00
Randy Mackay
380f3aece2 AP_Scripting: copter-fast-descent.lua example script 2021-08-28 12:50:32 +10:00
Randy Mackay
d17e88aa88 AP_Vehicle: add virtual set_target methods 2021-08-28 12:50:32 +10:00
Randy Mackay
432de2cdcf AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-28 12:50:32 +10:00
Randy Mackay
3ccdc69855 AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-28 12:50:32 +10:00
Randy Mackay
056cb073be AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-28 12:50:32 +10:00
Randy Mackay
9edb44151e AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-28 12:50:32 +10:00
Randy Mackay
aeba1dba93 AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-28 12:50:32 +10:00
Randy Mackay
b8a1662ce1 AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-28 12:50:32 +10:00
Iampete1
4cf67b2888 AP_Vehicle: #ifdef scripting specific functions 2021-08-28 12:50:32 +10:00
Iampete1
c1e4ed6512 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 12:50:32 +10:00
Randy Mackay
88ebcffc73 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-28 12:50:32 +10:00
Pierre Kancir
73efa895e2 AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 12:50:32 +10:00
Pierre Kancir
0bc97871a7 AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 12:50:32 +10:00
Pierre Kancir
7a2fba689d AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 12:50:32 +10:00
Andrew Tridgell
957740db4f 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 12:50:32 +10:00
Andy Piper
e7e3b478fc 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 12:50:32 +10:00
Randy Mackay
94ed5b876f AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-28 12:50:32 +10:00
mateksys
714d11863e Tools: added MatekF765-SE to autobuild 2021-08-25 18:54:05 +10:00
mateksys
97b6467075 AP_HAL_ChibiOS: add MatekF765-SE hwdef as a variant of MatekF765-Wing 2021-08-25 18:54:05 +10:00
Peter Barker
398f731442 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-25 18:34:07 +10:00
Andrew Tridgell
128c21cba2 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
 2021-08-16 15:05:24 +10:00
Andrew Tridgell
f858120069 SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-16 15:05:21 +10:00
Andrew Tridgell
10574f5188 AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-16 15:03:55 +10:00
Andrew Tridgell
a427abab0d 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
 2021-08-16 15:03:55 +10:00
Hwurzburg
7fe77855e1 AP_OSD: fixes bug introduced by #16477 2021-08-14 16:41:52 +10:00
Pierre Kancir
90d345b64e AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-14 16:41:52 +10:00
Randy Mackay
837df29179 AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-14 16:41:52 +10:00
Randy Mackay
78704a2f9c AP_NavEKF2: remove unused EK2_GSF_DELAY param 2021-08-14 16:41:52 +10:00
Tatsuya Yamaguchi
e10f6e2a42 AC_Avoid: use proximity_avoidance_enabled function 2021-08-14 16:41:52 +10:00
Tatsuya Yamaguchi
3d2290c4a3 AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled 2021-08-14 16:41:52 +10:00
Tatsuya Yamaguchi
ca5d307001 AC_Avoidance: handle upward proximity enable and disable 2021-08-14 16:41:52 +10:00
Andy Piper
67876e94e0 AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-14 16:41:52 +10:00
Andy Piper
1746ab3cfe AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-14 16:41:52 +10:00
Pierre Kancir
c36feb62f1 AP_ESC_Telem: prevent possible overrun 2021-08-14 16:41:52 +10:00
Pierre Kancir
3463bb24ae AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-14 16:41:52 +10:00
Pierre Kancir
92581d802b AP_ESC_Telem: fix out of bound access 2021-08-14 16:41:52 +10:00
Pierre Kancir
ba5323e78a AP_OSD: check for nullptr before using it 2021-08-14 16:41:52 +10:00
Leonard Hall
ce9be29980 AP_Math: Spelling fix 2021-08-14 16:41:52 +10:00
Leonard Hall
62c4a34660 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall
42d4a75d3b AC_WPNav: support Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall
3d75c936f2 AP_Math: Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall
7e60feab4a AP_Math: Control: protect against divide by zero 2021-08-14 16:41:52 +10:00
Leonard Hall
551e5fe4dc AC_WPNav: Fix Angle Vel units on function 2021-08-14 16:41:52 +10:00
Leonard Hall
3f33ac0a82 AC_AttitudeControl: Fix Angle Vel units on function 2021-08-14 16:41:52 +10:00
Leonard Hall
b1cd9434a9 AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE 2021-08-14 16:41:52 +10:00
Leonard Hall
0d52cd4aeb AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 16:41:52 +10:00
Leonard Hall
a9fb5ceb5c AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 
Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
 2021-08-14 16:41:52 +10:00
Andrew Tridgell
a7c3b2244a AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-14 16:41:52 +10:00
Andrew Tridgell
96580ee4f3 AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 
this may help with some GPS modules
 2021-08-14 16:41:52 +10:00
Andy Piper
150290dd25 AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-14 16:41:52 +10:00
Randy Mackay
c1b67d295f AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-14 16:41:52 +10:00
Andrew Tridgell
ae725421bc AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-14 16:41:52 +10:00
Leonard Hall
628206b5e8 AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-14 16:41:52 +10:00
Andy Piper
a1f0ad63a9 AP_Motors: remove tri yaw servo from motor mask 2021-08-14 16:41:52 +10:00
Andrew Tridgell
9ed2e35229 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-08-14 16:41:52 +10:00
bugobliterator
c539fe9bc2 AP_RangeFinder: use separate register_driver method while contructing CAN Driver 2021-08-14 16:41:52 +10:00
bugobliterator
97a04c85f0 AP_EFI: use separate register_driver method while contructing CAN Driver 2021-08-14 16:41:52 +10:00
bugobliterator
36b3fcc1a0 AP_BattMonitor: use separate register_driver method while contructing CAN Driver 2021-08-14 16:41:52 +10:00
bugobliterator
b6a86533fc AP_CANSensor: create a separate register driver method 2021-08-14 16:41:52 +10:00
Andrew Tridgell
6609faff9e APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-07-25 09:30:25 +10:00
Andrew Tridgell
c63548a5f3 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-07-25 09:30:25 +10:00
Andrew Tridgell
506e03251a AP_AHRS: build fix 2021-07-25 09:30:25 +10:00
Paul Riseborough
998cad030e AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults 
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
73229371c7 AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-25 09:30:25 +10:00
Paul Riseborough
8744b0954f AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
6637d9dece AP_NavEKF3: Revert EK3_BETA_MASK parameter extension 
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
1d3ed8e9da AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
fb6de9ad9d AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-25 09:30:25 +10:00
Paul Riseborough
ca00da81cd AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-25 09:30:25 +10:00
Paul Riseborough
c3f38ec159 AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-25 09:30:25 +10:00
Paul Riseborough
00b91b4799 AP_NavEKF3: Make bad IMU status more persistent 2021-07-25 09:30:25 +10:00
Paul Riseborough
14c2bb0c9b AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-25 09:30:25 +10:00
Paul Riseborough
fdea45a3e4 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-25 09:30:25 +10:00
Paul Riseborough
ace601f1dd AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-25 09:30:25 +10:00
Paul Riseborough
8b16d8dc4c AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-25 09:30:25 +10:00