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26680 Commits

Author SHA1 Message Date
Andrew Tridgell
f2e97b9342 AP_UAVCAN: added CAN_Dn_UC_OPTION parameter 
this allows for 2 ways of controlling conflicts in the UAVCAN DNA
database. The first is to set CAN_Dn_UC_OPTION to 1, which resets the
DNA database, thus clearing any node conflicts.

The second is to set CAN_Dn_UC_OPTION to 2, which ignores node
conflicts in the DNA database

These options are useful for vehicles with UAVCAN smart batteries
where the node ID is fixed but the hwid changes and you want to do
battery swapping (possibly without rebooting)
 2021-11-29 19:02:38 +09:00
Mohammad Hefny
89135ff831 AP_Notify: link to notify module 2021-11-29 19:02:38 +09:00
Mohammad Hefny
97ae5d8bca AP_Batt: link to battery monitor 2021-11-29 19:02:38 +09:00
Mohammad Hefny
11944811df AP_HAL_Linux: define board features on Linux module 2021-11-29 19:02:38 +09:00
Mohammad Hefny
8ce6d7e101 AP_HAL: define board features 2021-11-29 19:02:38 +09:00
Andrew Tridgell
c7d89b7288 APM_Control: suppress roll/pitch D term in ground_mode 
prevent oscillations which are quite common
 2021-11-29 19:02:38 +09:00
Samuel Tabor
541435cb83 AP_Landing_Slope: Log height used for flare timing. 2021-11-29 19:02:38 +09:00
Ben Wolsieffer
5d12b14672 AP_Control: apply pitch rate limit to turn coordination 
At high bank angles, for example when rolling to/from inverted, a large turn
coordination pitch rate offset is requested. Before this patch, this offset was
not subject to the configured pitch rate limit, which could result in pitch
controller integrator windup.
 2021-10-17 19:03:42 -04:00
Andrew Tridgell
189d6d6ed6 AP_RCProtocol: check for RC protocol switching enable 
by default don't allow protocol switching after initial protocol is
found
 2021-10-17 19:03:42 -04:00
Andrew Tridgell
f01fce2e24 RC_Channel: added RC_OPTION bit for allowing RC protocol switching 
this is meant to prevent accidential switching to a disconnected pin
 2021-10-17 19:03:42 -04:00
bugobliterator
56d33cce7a AP_HAL_ChibiOS: account for TXFIFO when doing flow control detection 2021-10-17 19:03:42 -04:00
Andy Piper
71f5c6f4fb AP_Filesystem: fix ftp burst read with credit to deanharken 2021-10-17 19:03:42 -04:00
Andrew Tridgell
f3dd4cafcb AP_NavEKF3: added EK3_PRIMARY parameter 
allows for selection of which IMU to use on startup
 2021-10-17 19:03:42 -04:00
Andrew Tridgell
a1c94bb788 APM_Control: only save autotune gains when P finished 
this prevents saving values which are temporarily high due to tuning
process

See this bug report
https://discuss.ardupilot.org/t/plane-4-1-0-stable/76507/45
 2021-10-17 19:03:42 -04:00
Andrew Tridgell
ad13c8816d HAL_ChibiOS: fixed orientation of ICM42605 on QiotekZealotF427 2021-10-17 19:03:42 -04:00
Andrew Tridgell
68c8fe2b92 AP_Scripting: fixed bug in string logging with logger.write() 
this dereferenced a bad pointer, leading to crash and watchdog

thanks to Charlie for finding this!
 2021-10-17 19:03:42 -04:00
Andrew Tridgell
0c4de1b25a HAL_ChibiOS: disable soarding on FlywooF745 for flash space 2021-10-17 19:03:42 -04:00
Dr.-Ing. Amilcar do Carmo Lucas
26e867ebf2 GCS_MAVLink: add ESC_TELEMETRY_1_TO_4 to the mavlink_id_to_ap_message_id table 2021-10-13 18:08:43 +11:00
Andrew Tridgell
6a4fd8a82e AP_Scripting: avoid a error in lua with gcc 10.2 on STM32 with -Werror 2021-10-01 17:10:28 -04:00
Andrew Tridgell
6f43ca4bf9 AP_InertialSensor: fixed build warning 2021-10-01 16:39:28 -04:00
Andrew Tridgell
7453801ad5 AP_Compass: fixed build warning on g++ 10.2 2021-10-01 16:02:35 -04:00
lthall
2d6ceaff81 AC_AttitudeControl: Fix initialize bug 2021-10-01 14:07:25 -04:00
Andy Piper
37bf545373 AP_SerialManager: correct docs for SERIAL8 2021-10-01 14:07:25 -04:00
lthall
76771b1a2b AC_AttitudeControl: AC_PosControl: Update PSC logging to include desired 2021-10-01 14:07:25 -04:00
Leonard Hall
cbce08bace AP_Logger: Update PSC logging to include desired 2021-10-01 14:07:25 -04:00
Peter Barker
0a4ba0482a AP_Logger: specify frames on PSC fields 2021-10-01 14:07:25 -04:00
Iampete1
9cba6fa7aa AP_Proximity: lower SF45B update rate 2021-09-28 06:48:17 +09:00
Andy Piper
27b5770fb4 AP_RCTelemetry: don't enter parameter mode while armed. 
exit parameter mode quickly on ping
construct and respond to ping frames correctly
 2021-09-28 06:48:17 +09:00
mateksys
02245c4142 ChibiOS: add icm42605 as substitution for icm20602 2021-09-28 06:48:17 +09:00
Paul Riseborough
39c23e11aa AP_NavEKF3: fix wind speed covariance initialisation bug 2021-09-28 06:48:17 +09:00
Andrew Tridgell
a23bd5438a HAL_ChibiOS: fixed RTSCTS flow control issue 
this fixes an issue reported on MatekH743, but also applies to other
boards. When not using DMA if there have been bytes written before the
auto flow control detection was enabled then these must be cleared
from _total_written so the flow control detection can work correctly
 2021-09-13 18:47:07 +10:00
Andrew Tridgell
7ae8aac84f AP_RCProtocol: increase CRSF frame timeout to account for scheduling delays 2021-09-10 14:07:37 +09:00
Leonard Hall
4d0cf2c11d AC_WPNav: Fix calculation of _scurve_jerk_time using radians. 2021-09-10 14:07:37 +09:00
Andy Piper
74e4097f01 AP_HAL_ChibiOS: bdshot version of CUAVv5 2021-09-10 14:07:37 +09:00
Andy Piper
2c0d14c534 AP_HAL_ChibiOS: bdshot version of CUAVv5Nano 2021-09-10 14:07:37 +09:00
Leonard Hall
e80b0355b8 AC_AttitudeControl: AC_PosControl: Change set_correction_speed_accel_z to use input arguments 2021-09-10 14:07:37 +09:00
Andrew Tridgell
adc2bf1955 AC_WPNav: cope with negative WPNAV_SPEED_DN 
a user set WPNAV_SPEED_DN to a negative value, with odd results. Take
absolute value to cope. Even though the param docs clearly say range
should be positive, it is one where it is easy to think it should be
negative
 2021-09-10 14:07:37 +09:00
Peter Barker
3fade60249 AC_WPNav: monitor WPNAV_SPEED for changes 2021-09-10 14:07:37 +09:00
Josh Henderson
2e52e2cba9 AC_WPNav: simplify get_wp_destination_loc 2021-09-10 14:07:37 +09:00
Randy Mackay
fe2b4d09c3 AC_WPNav: protect against divide-by-zero 2021-09-10 14:07:37 +09:00
Randy Mackay
173de60f25 AC_WPNav: move definitions to .cpp file 2021-09-10 14:07:37 +09:00
Randy Mackay
05ac549155 Copter: terrain spelling fix 2021-09-10 14:07:37 +09:00
Randy Mackay
b66b5cd21c AC_WPNav: terrain spelling fix 2021-09-10 14:07:37 +09:00
Leonard Hall
e0c26afc4a AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-10 14:07:37 +09:00
Leonard Hall
c404eec65c AC_WPNav: Separate landing and terrain following. 2021-09-10 14:07:37 +09:00
Leonard Hall
efd6a14d66 AC_Autotune: Separate landing and terrain following. 2021-09-10 14:07:37 +09:00
Leonard Hall
d942db7a38 AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-10 14:07:37 +09:00
Iampete1
753cb6dc20 SRV_Channel: call update_aux_servo_function in function_assigned 2021-09-10 14:07:37 +09:00
Andrew Tridgell
d0351581a0 HAL_ChibiOS: use more USB buffers on higher end F7 chips 2021-09-10 14:07:37 +09:00
Andrew Tridgell
d565549fad 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 14:07:37 +09:00
Andrew Tridgell
cbecce1d43 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 14:07:37 +09:00
Pierre Kancir
4f34ae70bf AP_Rangefinder: fix override in constructor 2021-09-10 14:07:37 +09:00
Andrew Tridgell
99d0f31059 AP_DAL: fixed a bug in RMGH logging 2021-09-10 14:07:37 +09:00
Andrew Tridgell
1ae5b5de1f AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-09-10 14:07:37 +09:00
Andrew Tridgell
8843704aca HAL_ChibiOS: fixed GPIO lines for QioTekZealotF427 2021-09-10 14:07:37 +09:00
Andrew Tridgell
76eece252b AP_Declination: added a test suite for AP_Declination 
use test vectors from MAVProxy mavextra
 2021-09-10 14:07:37 +09:00
Andrew Tridgell
171f855654 AP_Declination: fixed rounding in mag field 
thanks to Angela for noticing this
 2021-09-10 14:07:37 +09:00
mateksys
29a028d361 Tools: added MatekF765-SE to autobuild 2021-08-28 14:41:27 +09:00
mateksys
de2cfe0702 AP_HAL_ChibiOS: add MatekF765-SE hwdef as a variant of MatekF765-Wing 2021-08-28 14:41:27 +09:00
Peter Barker
52d58f0670 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-28 14:41:27 +09:00
Andrew Tridgell
3e2ad2ec8a APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-08-28 14:41:27 +09:00
Andrew Tridgell
0b76a17e65 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-08-28 14:41:27 +09:00
Andrew Tridgell
6d40d5bda0 AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-28 14:41:27 +09:00
Andrew Tridgell
4000983884 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
 2021-08-28 14:41:27 +09:00
QioTek
7b38bdb455 AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649 
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
 2021-08-28 14:41:27 +09:00
Hwurzburg
4761bd0eff AP_HAL_Chibios: Change RC in to RCINT to free a DMA channel 2021-08-28 14:41:27 +09:00
Andrew Tridgell
4143a21088 HAL_ChibiOS: allow FlywooF745 to build again 2021-08-28 14:41:27 +09:00
Andy Piper
479157a741 AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-28 14:41:27 +09:00
Leonard Hall
b6c4ccb683 AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-28 14:41:27 +09:00
Leonard Hall
283c83fb6e AC_WPNav: Fix Jerk units 2021-08-28 14:41:27 +09:00
Leonard Hall
bb5b00d920 AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-28 14:41:27 +09:00
Leonard Hall
feafbe81a3 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-28 14:41:27 +09:00
Iampete1
e1972c7132 AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-28 14:41:27 +09:00
Randy Mackay
61cf45c944 AP_Scripting: copter-fast-descent.lua example script 2021-08-28 14:41:27 +09:00
Randy Mackay
400c9ee6b0 AP_Vehicle: add virtual set_target methods 2021-08-28 14:41:27 +09:00
Randy Mackay
ee81583669 AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-28 14:41:27 +09:00
Randy Mackay
08c2508e0c AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-28 14:41:27 +09:00
Randy Mackay
a4664cc388 AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-28 14:41:27 +09:00
Randy Mackay
93b7e614f6 AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-28 14:41:27 +09:00
Randy Mackay
a2a732c91c AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-28 14:41:27 +09:00
Randy Mackay
3bebd0bfaa AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-28 14:41:27 +09:00
Iampete1
2868128847 AP_Vehicle: #ifdef scripting specific functions 2021-08-28 14:41:27 +09:00
Iampete1
ac70c38187 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 14:41:27 +09:00
Randy Mackay
cede4bb028 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-28 14:41:27 +09:00
Pierre Kancir
fad42e8c9c AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 14:41:27 +09:00
Pierre Kancir
3043ab6b01 AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 14:41:27 +09:00
Pierre Kancir
adb82e13ee AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 14:41:27 +09:00
Andrew Tridgell
84d9ff108e 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 14:41:27 +09:00
Andy Piper
3c8dbf8e30 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 14:41:27 +09:00
Randy Mackay
945600a49e AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-28 14:41:27 +09:00
Andrew Tridgell
cc5bfc8375 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
 2021-08-28 14:41:27 +09:00
Andrew Tridgell
7ae696340a SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-28 14:41:27 +09:00
Hwurzburg
8b484738a5 AP_OSD: fixes bug introduced by #16477 2021-08-14 10:44:08 +09:00
Pierre Kancir
ae59533af1 AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-14 10:44:08 +09:00
Randy Mackay
a3c658ea01 AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-14 10:44:08 +09:00
Randy Mackay
25af40adde AP_NavEKF2: remove unused EK2_GSF_DELAY param 2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi
7b77dd39e0 AC_Avoid: use proximity_avoidance_enabled function 2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi
4044ea1a42 AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled 2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi
03e382b1e3 AC_Avoidance: handle upward proximity enable and disable 2021-08-14 10:44:08 +09:00
Andy Piper
d6b991768e AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-14 10:44:08 +09:00