Andrew Tridgell
d00ffde9e1
AP_Logger: save crash_dump.bin to sdcard on boot
...
on each boot write crash_dump.bin to the microSD if it is available
this makes it easier for users to send in their crash dumps, and less
likely they will overwrite it with a fw update
2022-06-21 19:41:54 +09:00
Andrew Tridgell
7a6171f566
AP_UAVCAN: added a check for memory corruption in the pool
2022-06-21 19:41:54 +09:00
Andrew Tridgell
dfd8e3be90
AP_UAVCAN: added dynamically allocated pool size param
...
allow for smaller pool size to save memory
2022-06-21 19:41:54 +09:00
Andrew Tridgell
d9aa0d8955
AC_AttitudeControl: reduced default quadplane VTOL pos XY gains
2022-06-21 19:41:54 +09:00
Peter Barker
57d15fe717
AP_Filesystem: correct run-length encoding in param download
...
If a parameter's name was a prefix of the previous name we would
suffer an integer-wrap problem and incorrectly encode the parameter name
2022-06-21 19:41:54 +09:00
Andrew Tridgell
815eaa0866
AP_NavEKF3: log set source events
2022-06-21 19:41:54 +09:00
Andrew Tridgell
0b61516b31
AP_DAL: added set source events for EKF3
2022-06-21 19:41:54 +09:00
Iampete1
b06a364197
AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane
2022-06-21 19:41:54 +09:00
Andrew Tridgell
5195decf51
AP_InertialSensor: call notch param update with semaphore held
2022-06-21 19:41:54 +09:00
Andrew Tridgell
7fd478fc4a
AP_GyroFFT: added defaults for FFT with no notch
...
allow for testing with FFT enabled, and defaulting number of
frequencies to look for
2022-06-21 19:41:54 +09:00
Andrew Tridgell
9fba96c8d0
AP_InertialSensor: fixed the last notch values to be per-instance
...
thanks to Andy for noticing this
2022-06-21 19:41:54 +09:00
Andrew Tridgell
97d42308a7
AP_GyroFFT: skip disabled notches
2022-06-21 19:41:54 +09:00
Andrew Tridgell
5bdac5174c
AP_InertialSensor: don't update disabled notches
2022-06-21 19:41:54 +09:00
Andrew Tridgell
a15259d7e5
AP_GyroFFT: allow for 2 FFT based notches
2022-06-21 19:41:54 +09:00
Andrew Tridgell
8fb1d56dfe
AP_Vehicle: implement common harmonic notch update code
2022-06-21 19:41:54 +09:00
Andrew Tridgell
f1b4396c18
AP_RPM: use HarmonicNotch class
2022-06-21 19:41:54 +09:00
Andrew Tridgell
15dcfed927
AP_GyroFFT: use HarmonicNotch class
2022-06-21 19:41:54 +09:00
Andrew Tridgell
ef31de5fc5
AP_Arming: use HarmonicNotch class
2022-06-21 19:41:54 +09:00
Andrew Tridgell
43e93ccf27
AP_InertialSensor: switch to HarmonicNotch class
...
this makes the logic much easier to follow, without indexes into
arrays
2022-06-21 19:41:54 +09:00
Andrew Tridgell
d48bc25c95
Filter: removed parameters from the old notch filter
...
saves some flash space
2022-06-21 19:41:54 +09:00
Andrew Tridgell
3f89aa620c
AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT
2022-06-21 19:41:54 +09:00
Andrew Tridgell
e80adeefa4
AP_Arming: added arming check for conflicting notch modes
2022-06-21 19:41:54 +09:00
Andrew Tridgell
05b6283a97
Filter: clarify meaning of 1st harmonic
2022-06-21 19:41:54 +09:00
Andrew Tridgell
7150dde40a
Filter: added RPM2 harmonic notch type
2022-06-21 19:41:54 +09:00
Andrew Tridgell
2b6aa64d2b
AP_Vehicle: support two full harmonic notch filters
2022-06-21 19:41:54 +09:00
Andrew Tridgell
8dbf3f39cb
AP_RPM: support two full harmonic notch filters
2022-06-21 19:41:54 +09:00
Andrew Tridgell
ead011c615
AP_InertialSensor: support two full harmonic notch filters
2022-06-21 19:41:54 +09:00
Andy Piper
365904a50c
AR_Motors: make sure ESC type is initialized early
2022-05-28 16:08:17 +09:00
Andy Piper
555f608b43
AP_Motors: make sure ESC type is initialized early
2022-05-28 16:08:17 +09:00
Andy Piper
03ebf1b091
SRV_Channel: add BLHeli_S ESC type
2022-05-28 16:08:17 +09:00
Andy Piper
c9d5609214
AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths
2022-05-28 16:08:17 +09:00
Andy Piper
6253578d06
AP_HAL: add BLHeli_S ESC type and use it to control bitwidths
...
adjust BLHeli_S bitwidth and ticks to support more ESC variants.
2022-05-28 16:08:17 +09:00
Randy Mackay
96f0fee7b3
AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7
2022-05-28 16:08:17 +09:00
Randy Mackay
72f0de65d2
AP_NavEKF3: replace AP_HAL::millis() with dal.millis()
2022-05-28 16:08:17 +09:00
Andy Piper
9f9c5c30ae
AC_AutoTune: allow high ANGLE_P gains
2022-05-28 16:08:17 +09:00
Andy Piper
25d6e9b1bb
AP_HAL: add bitwidth hal definitions.
...
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
2022-05-28 16:08:17 +09:00
Andy Piper
9af46cbf5e
AP_HAL_ChibiOS: move bitwidths to AP_HAL
2022-05-28 16:08:17 +09:00
Andrew Tridgell
957eb68bee
AP_BoardConfig: expose BRD_SAFETYENABLE on all boards
...
default BRD_SAFETYENABLE to 0 on boards with no safety switch, which
gives us the same behaviour as before, but users can choose to enable
the safety
this fixes two problems:
- CAN servos and ESCs work on boards with no safety switch
(eg. MatekH743 with CAN)
- during startup we could get spurious outputs before out aircraft
type is setup
2022-05-28 16:08:17 +09:00
Andrew Tridgell
b2086d1e96
HAL_ChibiOS: always start with safety enabled
...
we want it enabled during early boot to prevent incorrect ESC and
servo output
2022-05-28 16:08:17 +09:00
Andrew Tridgell
39de7be71f
AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter
...
this allows for an offset in ESC numbering for much more efficient CAN
bandwidth usage.
For example, on a coaxial OctoQuad quadplane the ESCs are typically
setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN
buses, with one CAN bus for the top layer and the one bus for the
bottom layer (allowing for VTOL flight with one bus failed).
Without this offset parameter you would be sending RawCommand messages
like this:
bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
this is very wasteful of bus bandwidth, with bus1 using 3x the
bandwidth it should and bus2 using 4x the bandwidth it should (the
above will take 3 can frames for bus1, and 4 can frames for bus 2)
With this patch you can set:
CAN_D1_UC_ESC_OF = 4
CAN_D2_UC_ESC_OF = 8
and you will get this on the bus:
bus1: [ ESC1, ESC2, ESC3, ESC4 ]
bus2: [ ESC1, ESC2, ESC3, ESC4 ]
that takes just 1 can frame per send on each bus
2022-05-28 16:08:17 +09:00
Peter Barker
d435181756
AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS
2022-05-28 16:08:17 +09:00
Andrew Tridgell
913b789592
AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason
2022-05-28 16:08:17 +09:00
Andrew Tridgell
0fd3fac65f
AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next()
2022-05-28 16:08:17 +09:00
Andrew Tridgell
d614594526
AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor
...
we need to use the pressure from the sensor we are calibrating
2022-05-28 16:08:17 +09:00
Andrew Tridgell
52458b6f54
AP_NavEKF: getYawData also provides number of clipping models
...
In the case of the compass calibrator we do not want to use the GSF
result if any model is degenerate. We've had a compass calibrate in
flight 180-degrees out from what it should have.
2022-05-28 16:08:17 +09:00
Peter Barker
2a5e9f76ac
AP_Compass: do not use GSF if any model has been clipped
2022-05-28 16:08:17 +09:00
Andrew Tridgell
ee41132483
AP_EFI: added fuel usage integration for Lutan EFI
...
allows for EFI_COEF1 and EFI_COEF2 to be set to get fuel consumption
on GCS
2022-05-28 16:08:17 +09:00
Andrew Tridgell
bb1ee4e34c
AP_Mission: improved handling of large LOITER_TURNS
...
instead of wrapping we should use MIN with 255, which is closer to
what was requested
2022-05-28 16:08:17 +09:00
Joshua Henderson
5ac3f9aa33
AP_Airspeed: remove negative pressure set unhealthy
2022-05-28 16:08:17 +09:00
Leonard Hall
f65a6a302b
AC_AttitudeControl: Allow diabling of slew limit
2022-05-16 08:16:16 +09:00
