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57128 Commits

Author SHA1 Message Date
Paul Riseborough d98a60c2e1 AP_NavEKF3: Increase delta velocity bias state process noise 
Required due to state variance collapse on ground with some systems using RTK GPS.
 2023-06-08 09:29:59 +10:00
Paul Riseborough da22519de8 AP_NavEKF3: Strengthen recovery from bad delta velocity bias learning 2023-06-08 09:29:59 +10:00
Paul Riseborough 17003ff0f5 AP_NavEKF3: Increase default value of EK3_ABIAS_P_NSE 
This is required because some hardware setups with RTK GPS have experienced a collapse of the delta velocity state variances.
 2023-06-08 09:29:59 +10:00
Paul Riseborough 9c93cb8d46 AP_NavEKF3: Retune and fix delta velocity bias state variance protection 2023-06-08 09:29:59 +10:00
Andy Piper 383297f6be AP_NavEKF: ensure gyro biases are numbers 
avoid errors during compass mot
 2023-06-08 09:29:59 +10:00
Paul Riseborough 444f90352f AP_NavEKF3: Lock in wind state estimates when using srag to dead reckon 2023-06-08 09:29:59 +10:00
Andrew Tridgell 41e922c60e AP_ICEngine: fixed a bug engine control when running 
if you have a mission item for engine control with delayed start at
height and the engine is already running them it would put the ICE
subsystem into a state where it would no longer start the engine

It was actually 2 bugs:

 - an engine control to do a height delayed start should be ignored if
   the engine is already running. This prevents an engine control to
   start the engine from stopping the engine

 - a start_chan high should always try to start the engine
   immediately, even if in the wait state
 2023-06-08 09:29:59 +10:00
Andrew Tridgell cf81c1448e waf: added -g option to configure 
this adds debug symbolds to the build without enabling other debug
code. This is needed for analysing watchdog crash dumps
 2023-06-08 09:29:59 +10:00
Andrew Tridgell e1a982541b Tools: update IO firmware 2023-06-08 09:29:59 +10:00
Andrew Tridgell 87c767df5c AP_RCProtocol: return true on initial protocol detection 
we need to tell the IO firmware that a byte was consumed when we first
detect a protocol as otherwise the next bad byte on DSM will lock us
on the DSM port
 2023-06-08 09:29:59 +10:00
Andrew Tridgell 3b50123f18 AP_IOMCU: fixed issue with not regaining RC input 
this fixes an issue where when you lose R/C input on IOMCU that you
may not regain it when R/C comes back.

The issue stems from us still processing the DSM uart when we are
using the SD3 "SBUS" uart for RC input, and still doing the switch of
the SD3 config every 2 seconds.

When we are not searching for a new protocol we should not be changing
UART config
 2023-06-08 09:29:59 +10:00
Andrew Tridgell 784bfb53f2 AP_NavEKF3: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-06-08 09:29:59 +10:00
Andrew Tridgell 259e51e0e8 AP_NavEKF2: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-06-08 09:29:59 +10:00
Andrew Tridgell 2bbffdd6c6 AP_Param: added set() to AP_Enum 2023-06-08 09:29:59 +10:00
Peter Barker 38279fc5dd AP_Logger: do not rotate logs when disarming if we are replay-logging 2023-06-08 09:29:59 +10:00
Andrew Tridgell e3537cb01d AP_Logger: added LOG_DARM_RATEMAX 
this sets the logging rate max when disarmed. In combination with
LOG_DISARMED=3 it gives a very nice setup to get always on logging
with very little addition to the log sizes. It is particularly useful
in combination with LOG_REPLAY=1
 2023-06-08 09:29:59 +10:00
Andrew Tridgell 1c78e4f7f9 AP_Logger: added LOG_DISARMED=3 
when LOG_DISARMED is set to 3 then we log while disarmed but if we
reboot without ever arming the log is discarded. This allows for using
LOG_DISARMED without filling the microSD.
 2023-06-08 09:29:59 +10:00
Andrew Tridgell f69188d43a AP_Logger: use AP_Enum for log_disarmed 2023-06-08 09:29:59 +10:00
Henry Wurzburg c64b9972a5 Tools: Add SpeedyBeeF405WING 2023-06-08 09:29:59 +10:00
Henry Wurzburg b23b6cd4bf AP_HAL_ChibiOS: Add SpeedyBeeF405WING 2023-06-08 09:29:59 +10:00
Andy Piper 69c0b1c567 AP_HAL_ChibiOS: correct locking on LED thread 2023-05-28 07:53:16 +10:00
Andy Piper e8d1afd108 AP_HAL_ChibiOS: move LED processing to a separate thread 
LED processing on a separate thread allows much longer LED lengths to be handled without
compromising dshot timing or timeouts. The thread is also run at a lower priority to
reflect its lack of flight criticality
 2023-05-28 07:53:16 +10:00
Andy Piper f97cd5c5ab AP_HAL: add helper functions for LEDs 
add PRIORITY_LED for led output thread
 2023-05-28 07:53:16 +10:00
Andy Piper c042577827 AP_HAL_ChibiOS: reduce IMU SPI low speed to 1Mhz to avoid chip initialization issues 2023-05-25 18:12:00 +01:00
Andy Piper d1600d3bf7 AP_HAL_ChibiOS: FoxeerH743 GA release 2023-05-24 17:21:41 +10:00
Andy Piper 9afcc8cf24 AP_HAL_ChibiOS: update MambaF405v2 for ICM42688, bdshot and DMA on UART1 2023-05-24 17:20:05 +10:00
Andy Piper 31c3b3e8ef bootloaders: remove FlywooF745v2 bootloaders 2023-05-24 17:20:05 +10:00
Andy Piper a667e3728c AP_HAL_ChibiOS: add BMI270 and ICM42688 to FlywooF745 2023-05-24 17:20:05 +10:00
Andy Piper d5535cc0cf AP_HAL_ChibiOS: remove erroneous FlywooF745v2 2023-05-24 17:20:05 +10:00
Andy Piper 74c790cfc2 bootloaders: bootloaders for Flywoo F745v2 2023-05-24 17:20:05 +10:00
Andy Piper 3ec036c4ea AP_HAL_ChibiOS: hwdef for FlywooF745v2 
Add SPL06 baro to FlywooF745v1
 2023-05-24 17:20:05 +10:00
Andrew Tridgell 867ff238b8 Plane: fixed release notes history 
was missing 4.3.5
 2023-04-22 12:59:58 +10:00
Randy Mackay d0edf79b8f Copter: 4.4.0-beta1 release notes update 2023-04-21 09:48:59 +10:00
Randy Mackay 56e907b3ac Rover: 4.4.0-beta1 release notes update 2023-04-21 09:48:59 +10:00
Andrew Tridgell 7fd85dd860 Plane: prepare for 4.4.0beta1 2023-04-21 09:48:59 +10:00
Andrew Tridgell 06b39878f7 Plane: release notes for 4.4.0beta1 2023-04-21 09:48:59 +10:00
Randy Mackay 411ddc53d7 Copter: update 4.4.0-beta1 release notes based on peer feedback 2023-04-21 09:48:59 +10:00
Randy Mackay 5b413acf7a Copter: version to 4.4.0-beta1 2023-04-21 09:48:59 +10:00
Randy Mackay 6ca71b337f Copter: 4.4.0-beta1 release notes 2023-04-21 09:48:59 +10:00
Randy Mackay 209b7140d7 Rover: version to 4.4.0-beta1 2023-04-21 09:48:59 +10:00
Randy Mackay bbad767525 Rover: 4.4.0-beta1 release notes 2023-04-21 09:48:59 +10:00
Paul Riseborough 3c99766a5a AP_NavEKF3: Improve protection against GPS glitches during yaw alignment 2023-04-21 09:48:59 +10:00
Paul Riseborough 007bc804bd AP_NavEKF3: Reduce use of GSF yaw for planes with no compass 2023-04-21 09:48:59 +10:00
Andy Piper 7c24ce1a3a bootloaders: bootloaders for MatekF405-TE/VTOL-bdshot 2023-04-21 09:48:59 +10:00
Andy Piper 27628099ce AP_HAL_ChibiOS: hwdef for MatekF405-TE/VTOL including bdshot 2023-04-21 09:48:59 +10:00
bugobliterator 42d21ab9bc AP_InertialSensor: fix hardfault in BatchSampler 2023-04-21 09:48:59 +10:00
Peter Barker f3502a71e9 AP_InertialSensor: correct access beyond array in Ins TCal 2023-04-21 09:48:59 +10:00
Peter Barker aecffd2778 SimOnHW: correct compilation on CubeOrangePlus 
this was at 2 to reduce CPU load.

But particularly when CubeOrangePlus is playing around with auxiliary IMUs we really want to be running on SimOnHardware just what we're running on the normal firmware.  We can find CPU cycles elsewhere....
 2023-04-21 09:48:59 +10:00
Randy Mackay 6b11b3df24 Copter: 4.3.6 release notes 2023-04-21 09:48:59 +10:00
Randy Mackay fd76cbbb7a Copter: 4.3.6-beta2 release notes 2023-04-21 09:48:59 +10:00