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55,988 Commits 71 Branches 510 Tags 757 MiB
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31344 Commits

Author SHA1 Message Date
Leonard Hall
7857bb2210 AP_Gripper: Add Neutral state after init 2022-12-31 12:29:31 +09:00
Henry Wurzburg
175c2c950e AP_Scripting:fix format error in readme file 2022-12-30 14:39:43 -08:00
Andy Piper
7f7305a6d9 AP_InertialSensor: use correct include for sim-on-hardware 2022-12-31 09:32:32 +11:00
Andy Piper
921f51d08a AP_HAL: correct AP_SIM_FRAME_CLASS name 2022-12-31 09:32:32 +11:00
Leonard Hall
aeb25ca20a AP_Math: extend the control.cpp test suite 2022-12-30 20:25:58 +09:00
Andrew Tridgell
f0d8a383d1 AP_Math: added a control.cpp test suite 2022-12-30 20:25:58 +09:00
Leonard Hall
140dc61f2a AC_AttitudeControl: AC_PosControl: Simplify and clarify use of vertical controllers 2022-12-30 20:25:58 +09:00
Leonard Hall
ac3a3d9576 AP_Math: Target velocity can reduce when limited 
AP_Math: Target velocity can reduce when limited
 2022-12-30 20:25:58 +09:00
Leonard Hall
05aa879b61 AC_AttitudeControl: AC_PosControl: Comment fix and small efficiency gain 2022-12-30 20:25:58 +09:00
Leonard Hall
114e8e2f52 AP_Math: Control Tools Enhancments 
AP_Math: Control Tools Enhancments
 2022-12-30 20:25:58 +09:00
Leonard Hall
ed24a635c6 AC_WPNav: Add corner acceleration limit parameter 2022-12-30 17:03:32 +09:00
Leonard Hall
638379d3ed AC_WPNav: remove _wp_accel_cmss.set_and_save_ifchanged 2022-12-30 15:16:08 +09:00
Andrew Tridgell
cc05de8e57 AP_FETtecOneWire: change comments to not use @param 
these comments break the MissionPlanner param parser

see these errors in MissionPlanner.log

```
2022-12-30 08:28:42,641  INFO MissionPlanner.Utilities.ParameterMetaDataParser - using cache https://raw.oborne.me/ardupilot/ardupilot/master/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp (D:\a\MissionPlanner\MissionPlanner\ExtLibs\Utilities\ParameterMetaDataParser.cs:503) [65]
2022-12-30 08:28:42,641 ERROR MissionPlanner.Utilities.ParameterMetaDataParser - Invalid MetaFrame Blimp (D:\a\MissionPlanner\MissionPlanner\ExtLibs\Utilities\ParameterMetaDataParser.cs:390) [70]
2022-12-30 08:28:42,641  INFO MissionPlanner.Utilities.ParameterMetaDataParser - using cache https://raw.oborne.me/ardupilot/ardupilot/master/libraries/AP_Proximity/AP_Proximity_Params.cpp (D:\a\MissionPlanner\MissionPlanner\ExtLibs\Utilities\ParameterMetaDataParser.cs:503) [71]
2022-12-30 08:28:42,642 ERROR MissionPlanner.Utilities.ParameterMetaDataParser - Bad Key - Value @param b blue brightness
*/
void AP_FETtecOneWire::led_color(const uint8_t r, const uint8_t g, const uint8_t b)
{
    for (uint8_t i=0; i<_esc_count; i++) {
        auto &esc = _escs[i];
        if (esc.state != ESCState::RUNNING) {
            continue;
        }
        transmit_config_request(PackedMessage<LEDColour>{esc.id, LEDColour{r, g, b}});
    }
}
```
 2022-12-30 09:54:09 +11:00
Andrew Tridgell
d5a0421bbb AP_Scripting: fixed derry turn in aerobatics 2022-12-29 07:49:15 +11:00
Andrew Tridgell
6edfe7368e AP_Scripting: don't start aerobatics until we have a ahrs estimates 
prevents nil derefernce in loading tricks
 2022-12-29 07:48:53 +11:00
Peter Barker
e43b1dd2eb SITL: tidy simulated proximity sensor constructors 2022-12-28 21:52:27 +11:00
Andy Piper
16ca2e1179 AP_InertialSensor: use 234Hz accel LPF and 532Hz gyro LPF on BMI088 to more closely match Invensense 
synchronize fifo reads with backend update on BMI088
 2022-12-28 18:18:26 +11:00
Andy Piper
d29ccba3f7 AP_Vehicle: constrain FFT notch updates to obey reference frequency 2022-12-28 18:14:56 +11:00
Andy Piper
90cdc1aa52 AP_InertialSensor: allow FFT window to be captured post-filter 
selectively apply filters twice to make sure that FFT is not tracking itself
clean-up notch disablement for non-DSP builds
use filter gyro data for FFT when analysing post-filter
always apply LPF after all of the notches
move to a phased application of window information for FFT
tap FFT gyro window at the appropriate place for downsampled FFTs
add accessor for FFT notch
document notch uses cases and flow
 2022-12-28 18:14:56 +11:00
Andy Piper
9eb561639b AP_InertialSensor: add support for reading and writing INS data from a file in SITL 
allow sketch to be stopped at end of SITL samples
 2022-12-28 18:14:56 +11:00
Andy Piper
ec7be5c417 SITL: add parameters to control reading and writing IMU data to a file 
add exit on stop to reading IMU data from a file
 2022-12-28 18:14:56 +11:00
Andy Piper
5ea3415a41 AP_HAL_SITL: allow SITL sketches to run 
allow sketchname to be set
 2022-12-28 18:14:56 +11:00
Andy Piper
7acdaf2dd0 AP_Vehicle: add vehicle motor noise check 2022-12-28 18:14:56 +11:00
Andy Piper
449d9814ab AP_GyroFFT: add FFT_OPTIONS to allow post-filter sampling of IMUs 
provide method to determine noise at a particular frequency
add ability to record per-peak SnR
correct bad array indexing leading to free memory read
track all three axes for health and peaks
remove slewed frequency values, since slewing is now done in the filters
ReplayGyroFFT initial implementation
allow IMU data to be read and written from a file
only build Replay on SITL
correctly calibrate FFT in Replay
better noise simulation in Replay
FTN3 logging
allow FFT peaks to swap indefinitely as long as they both still exist.
Leads to much smoother frequency transitions
increase the energy gap required to switch the tracked peak
use exit on stop for Replay
filter noise tracking more aggressively for post-filter samples
remove message and use appropriate gyro window
when using post-filter do not fallback to throttle-based estimate

AP_GyroFFT: default SnR to 10 when using post-filter samples
 2022-12-28 18:14:56 +11:00
Peter Barker
b716793a0e AP_NavEKF3: remove duplicated lines in parameter metadata 2022-12-28 13:21:18 +11:00
Leonard Hall
78942911b7 AC_AttitudeControl: AC_PosControl: Include FF in _pid_vel_xy integrator initialisation 2022-12-28 08:25:31 +09:00
Henry Wurzburg
d6a5d31625 AP_Scripting:add rate based aerobatics 2022-12-27 18:20:34 +11:00
Mohammad Hefny
feece150c6 AP_HAL_Linux: Raspberry 64OS Address fix 2022-12-27 10:03:41 +11:00
Andrew Tridgell
36d2c267fe AP_HAL: allow for a wider range of simulation backends in SIM-on-hw 2022-12-24 07:27:04 +11:00
Andrew Tridgell
057190caa8 SITL: update SITL on hw docs 2022-12-24 07:27:04 +11:00
Andrew Tridgell
0da81f7269 SITL: remove old sitl-on-hw.sh 2022-12-24 07:27:04 +11:00
Andrew Tridgell
87a220991b SITL: new sitl-on-hw.py script 
this makes it easier to build SITL on hardware for a wide range of
frames
 2022-12-24 07:27:04 +11:00
Andrew Tridgell
fdd0d0ae53 SITL: default SIM_RATE_HZ to 400 in SITL-on-hw 2022-12-24 07:27:04 +11:00
Andrew Tridgell
5f8e655f98 AP_HAL: allow override of frame class and string for SITL on hw 2022-12-24 07:27:04 +11:00
Peter Barker
fb18adb035 hwdef: fix build for ARK_RTK_GPS 2022-12-23 21:14:15 +11:00
Henry Wurzburg
6348fd5f86 AP_HAL_ChibiOS: free space on ReaperF745 2022-12-23 11:04:35 +11:00
Henry Wurzburg
182326a76f AP_HAL_ChibiOS: rename to ReaperF745 2022-12-23 11:04:35 +11:00
Henry Wurzburg
2c5b85c9c5 AP_HAL_ChibiOS:modify hwdef for V3 of ReaperF745 2022-12-23 11:04:35 +11:00
Tatsuya Yamaguchi
dd539f8ec9 AP_DAL: call start_frame for all backends 2022-12-23 09:56:29 +11:00
Andy Piper
96060ef31e AP_HAL_ChibiOS: add UART baudrate accessor 2022-12-22 18:38:31 +00:00
Andy Piper
445aad17c9 AP_HAL: add UART baudrate accessor 2022-12-22 18:38:31 +00:00
Andy Piper
aaa6b284bd RC_Channel: add option to support ELRS at 420kbaud 2022-12-22 18:38:31 +00:00
Andy Piper
78c70c74dc AP_RCTelemetry: report CRSF link rate rather than mode. 
Encode actual protocol being used
cleanup is_elrs() and version numbers
 2022-12-22 18:38:31 +00:00
Andy Piper
425f2b946e AP_RCProtocol: check for 3 good frames for CRSF 
Move get_link_rate() and get_protocol_string() to CRSF protocol
allow ELRS at 420kbaud to be configured
allow CRSF to bootstrap at ELRS desired baudrate
 2022-12-22 18:38:31 +00:00
Bill Geyer
93b0519ad2 AP_MotorsHeli: improve collective to yaw compensation 2022-12-22 07:07:34 -05:00
Andrew Tridgell
f742845552 AP_Scripting: changed airshow rolling circle 
make it more achievable
 2022-12-22 21:13:30 +11:00
Tatsuya Yamaguchi
43160efba8 AP_Scripting: modify example script of README.md 
- avoid to call set_output_pwm before setting origin
- make get_home() once
 2022-12-22 13:25:35 +09:00
Andrew Tridgell
441a2ee00d hwdef: added RM3100 compass to C-RTK2-HP 2022-12-21 19:52:31 +11:00
Andrew Tridgell
e966e272ac hwdef: fixed build for f103-Trigger 2022-12-21 19:52:31 +11:00
Andrew Tridgell
d768c721ee HAL_ChibiOS: make it fatal to have I2C devices without an I2C_ORDER 
otherwise it is very confusing when you end up with AP_HAL_Dummy for
I2C manager
 2022-12-21 19:52:31 +11:00