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28976 Commits

Author SHA1 Message Date
Peter Barker da97462385 AP_AHRS: subtract accel bias from correct ins accel instance 
In the case that you have INS_USE indicating IMUs should be used, but
EK3_IMU_MASK leaving some IMUs unused, we subtract the bias from the
wrong INS data
 2022-04-09 17:04:26 +09:00
Andrew Tridgell a039500e53 AP_Logger: increase stack of log_io thread by 256 
This was seem on omnibusf4pro, it is a bit too close:

  log_io PRI= 59 sp=0x20015CC0 STACK=144/1656
 2022-04-09 17:04:26 +09:00
Bill Geyer cfaef178f4 AP_Math: add chirp function to support frequency sweeps in systemid and autotune 2022-03-30 11:37:41 +09:00
Bill Geyer 53b91b0c67 AC_Autotune: clean up variable init for dwell 2022-03-30 11:37:41 +09:00
Bill Geyer f3fba7d844 AC_AutoTune: use chirp function in AP_Math for frequency sweeps 2022-03-30 11:37:41 +09:00
Bill Geyer 74db41806b AC_AutoTune: combine dwell_run_test for angle and rate 2022-03-30 11:37:41 +09:00
Bill Geyer 4680f73715 AC_AutoTune: combine dwell_init methods 2022-03-30 11:37:41 +09:00
Bill Geyer 8156831e0e AC_AutoTune:tradheli-streamline gcs messages 2022-03-30 11:37:41 +09:00
Peter Barker 42e567207e AC_AutoTune: Vector tidying 2022-03-30 11:37:41 +09:00
Peter Barker 97ed1ac4c7 AC_AutoTune_Heli: use structure assignment to clear structures 2022-03-30 11:37:41 +09:00
Peter Barker e2dad1af4d AC_AutoTune: use structure assignment for test results 2022-03-30 11:37:41 +09:00
Peter Barker ecf3d16a4d AC_AutoTune: createstructure to hold specific test's sweep results 2022-03-30 11:37:41 +09:00
Henry Wurzburg c4a31b1d07 HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-03-30 11:37:41 +09:00
Andy Piper b8e37317c2 AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-03-30 11:37:41 +09:00
Andy Piper 295e36d7d6 SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-03-30 11:37:41 +09:00
Andy Piper 15ec9d5ab4 AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands 
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
 2022-03-30 11:37:41 +09:00
AndKe 0351cd42c4 AP_HAL_ChibiOS: add OREOLED to CubeGreen 2022-03-30 11:37:41 +09:00
Andrew Tridgell fde2930fa6 hwdef: changed MatekH743 to a 32 bit timer 
the 68ms issue is still present on this board. Switching to a 32 bit
timer will fix it, but loses us the tonealarm support
 2022-03-30 11:37:41 +09:00
Andrew Tridgell 3713769e57 AP_Param: fixed param class conversion code 
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.

I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
 2022-03-30 11:37:41 +09:00
Andrew Tridgell adabaca240 AP_Logger: added terrain correction logging field 2022-03-30 11:37:41 +09:00
Andrew Tridgell 14145959e0 AP_Terrain: added logging of terrain correction 2022-03-30 11:37:41 +09:00
Andrew Tridgell 262163eb0f AP_Scripting: restored corrected boolean in height_amsl binding 2022-03-30 11:37:41 +09:00
Andrew Tridgell eac02acef8 HAL_SITL: don't use terrain adjustment 2022-03-30 11:37:41 +09:00
Andrew Tridgell 59409fd6b7 AP_Arming: setup for terrain adjustment on arming 2022-03-30 11:37:41 +09:00
Andrew Tridgell 78f83d5411 SITL: don't use adjusted terrain in SITL 2022-03-30 11:37:41 +09:00
Andrew Tridgell 502539671d AP_Terrain: added terrain reference adjustment 
this restores the terrain adjustment functionality removed in #19946,
but without the problematic approach of always using home (which can
be moved in flight) and with a TERR_OFS_MAX parameter to limit the
amount of adjustment
 2022-03-30 11:37:41 +09:00
Andrew Tridgell a8ca9d5b98 HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-30 11:37:41 +09:00
Andrew Tridgell f159caa203 HAL_ChibiOS: switch between IOMCU and RCProt rapidly 
keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
 2022-03-30 11:37:41 +09:00
Andrew Tridgell 1b13a9d15b AP_RCProtocol: added using_uart() method 2022-03-30 11:37:41 +09:00
Andy Piper 147e07a29a AP_HAL_ChibiOS: add KakuteH7-bdshot target 2022-03-30 11:37:41 +09:00
Andrew Tridgell b805f91b18 AP_BattMonitor: fixed battery remaining of sum battery 
and move to common function for update_consumed()
 2022-03-30 11:37:41 +09:00
Randy Mackay 3584a6cac9 AP_BLHeli: add reboot required to some parameters 2022-03-30 11:37:41 +09:00
Andy Piper 6721aa5f9e AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-30 11:37:41 +09:00
Randy Mackay ba8cb8f198 AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-30 11:37:41 +09:00
Andrew Tridgell b550d771c8 HAL_ChibiOS: prevent conflicting RC input 
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
 2022-03-30 11:37:41 +09:00
Andrew Tridgell 68b4c38180 AP_GPS: prevent switching to a dead GPS 
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
 2022-03-30 11:37:41 +09:00
Andrew Tridgell 9105c931b5 GCS_MAVLink: send GCS voltage to GCS 
may be resting voltage of option enabled
 2022-03-30 11:37:41 +09:00
Andrew Tridgell d900eeac50 AP_BattMonitor: added option to send resting voltage to GCS 2022-03-30 11:37:41 +09:00
Andy Piper e47a22ccff AP_Declination: ensure indexing into declination tables is always correct 
add constants for table sizes
 2022-03-30 11:37:41 +09:00
Andrew Tridgell b21203bfcf AP_Arming: make mission checks virtual 2022-03-30 11:37:41 +09:00
Andrew Tridgell 9648323d0a AP_Arming: display a warning if arming checks disabled when arming 2022-03-30 11:37:41 +09:00
Andrew Tridgell 9aa1442b32 AC_AttitudeControl: added set_lean_angle_max_cd() 2022-03-30 11:37:41 +09:00
Andrew Tridgell 41214331e1 AC_Autorotation: use accel_to_angle() 2022-03-30 11:37:41 +09:00
Andrew Tridgell e3bddc4560 AC_WPNav: use angle/accel functions 2022-03-30 11:37:41 +09:00
Andrew Tridgell ef6db75d5a AP_Math: added angle_to_accel() and accel_to_angle() 2022-03-30 11:37:41 +09:00
Leonard Hall f6e5a11571 AC_PosControl: Decay posiiton error during relax 2022-03-12 08:01:18 +09:00
Leonard Hall 7402444ffe AC_AttitudeControl: AC_PosControl: add soften for landing 2022-03-12 08:01:18 +09:00
Peter Barker 0feed119cd AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files 2022-03-12 08:01:18 +09:00
Andrew Tridgell bbfcf37d5d AP_Math: fixed build error on cygwin 
ensure variables are always initialised
 2022-03-12 08:01:18 +09:00
Leonard Hall 1ccc2311ba AP_Math: SCurve: Increase corner speeds 2022-03-12 08:01:18 +09:00