Peter Barker
fc722b5efc
AP_Tuning: add and use AP_TUNING_ENABLED
2023-09-21 07:07:58 +10:00
Peter Barker
1208938d3b
SITL: fix balancebot yaw reset to be kinimatically consistent
...
... or at least closer to it.
We were hard-resetting the yaw to zero when the vehicle was upright. That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.
Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
2023-09-20 22:59:41 +10:00
James O'Shannessy
70bee8e67a
AP_HAL_ChibiOS: Explicitly include InternalError
...
Debug builds utilise internal error in the Util class.
The include was being passed up from Logger->LoggerMessageWriter->LoggerBackend->Bitmask.
Periph Builds tend not to have HAL_LOGGING_ENABLED, and so the include was not present.
2023-09-20 19:51:48 +10:00
Peter Barker
8e57d66a0d
AP_AHRS: move AP_AHRS_DCM::groundspeed_vector into correct file
2023-09-20 19:06:10 +10:00
Peter Barker
b44682d1a6
GCS_MAVLink: handle CAN_FORWARD as both command_INT and COMMAND_LONG
2023-09-20 17:50:56 +10:00
Peter Barker
3c93fd3c5f
AP_CANManager: handle CAN_FORWARD as both command_INT and COMMAND_LONG
2023-09-20 17:50:56 +10:00
Peter Barker
712237ec3a
autotest: add test for Plane MAV_CMD_DO_PARACUTE
2023-09-20 17:37:59 +10:00
Peter Barker
63c88fea58
Plane: handle DO_PARACHUTE as both COMMAND_LONG and COMMAND_INT
2023-09-20 17:37:59 +10:00
Andy Piper
2c44d75f27
AP_HAL: relax F4 notch constraints slightly to allow triple notch on quads
2023-09-20 17:37:24 +10:00
Andy Piper
36fc7521ea
AP_HAL_ChibiOS: modify prescaler based on dshot type
2023-09-20 17:35:44 +10:00
Andy Piper
5c0f049739
AP_HAL: simplify prescaler calculation and allow choosing highest frequency
...
Update tests to reflect BLHeli_S requirements and add in L431
2023-09-20 17:35:44 +10:00
Peter Barker
53d12ab46d
AP_AHRS: rename EKFType::NONE to EKFType::DCM
2023-09-20 17:15:10 +10:00
Peter Barker
613524d7d5
autotest: Copter: add test for DO_CHANGE_SPEED in guided mode
2023-09-20 15:44:38 +10:00
Peter Barker
c61022f596
Copter: handle DO_CHANGE_SPEED as both COMMAND_LONG and COMMAND_INT
2023-09-20 15:44:38 +10:00
Peter Barker
c352de2dd8
autotest: add test for Copter MISSION_START mavlink command
2023-09-20 09:39:31 +10:00
Peter Barker
b3dd5c20c5
Copter: handle MISSION_START as both COMMAND_LONG and COMMAND_INT
2023-09-20 09:39:31 +10:00
Henry Wurzburg
4a15d9cc1b
AP_TempertureSensor:clarify temp sourec for pitot tube
2023-09-19 10:15:45 -07:00
Peter Barker
d7a9e40395
autotest: reuse Copter motor test for QuadPlane
2023-09-19 20:31:03 +10:00
Peter Barker
06f1ac07bc
Plane: accept motor test as both command long and command int
2023-09-19 20:31:03 +10:00
Peter Barker
164b7328bd
Tools: add COMPASS_CAL_ENABLED to build_options.py
2023-09-19 16:54:59 +10:00
Peter Barker
d2ad165a4a
RC_Channel: correct compilation with COMPASS_CAL_ENABLED off
2023-09-19 16:54:59 +10:00
Peter Barker
acf437b258
AP_Compass: correct compilation with COMPASS_CAL_ENABLED off
2023-09-19 16:54:59 +10:00
Peter Barker
12a06ee0ae
AP_AHRS: make a pair of methods static on AP_AHRS_Backend
...
these don't use any information from the specific backend, but they are called within the backends so making them static on that class is handy
2023-09-19 13:20:15 +10:00
Peter Barker
a5bfd58524
AP_AHRS: remove un-needed AP_AHRS_Backend::getCorrectedDeltaVelocityNED
...
over-kill, and can be derived from backend biases if required
2023-09-19 12:51:31 +10:00
Tom Pittenger
ca7c410b8b
AP_Periph: add CAN3 to param CAN_MIRROR_PORTS desc
2023-09-19 12:17:28 +10:00
Michael du Breuil
6897dd08ef
Tools: AP_Periph: Add CAN_MIRROR
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This allows us to mirror CAN traffic between ports on demand.
2023-09-19 12:17:28 +10:00
Andy Piper
1b1e5b1085
hwdef: correct inversion pin on MambaF405v2
...
correct battery setup for MambaF405v2
provide suitable serial defaults for MambaF405v2
reallocate DMA channels to allow full DMA on USART3 and NeoPixel on MambaF405v2
add camera control pin to MambaF405v2
2023-09-19 11:43:58 +10:00
Peter Barker
9bcd9df7dd
AP_AHRS: move load_watchdog_home into correct cpp file
...
NFC, just moving the code out of the DCM backend file
2023-09-19 11:35:45 +10:00
Peter Barker
622b83da9e
AP_AHRS: move set_home method into correct .cpp file
...
NFC, just moving the code in prepration for allowing DCM to be compiled out
2023-09-19 11:35:45 +10:00
Peter Barker
f8a4dd02d9
AP_AHRS: simplify specification of primary IMU indices
...
given that DCM doesn't specify to use the primary accel or gyro when fetching the data from the Ins library, it shouldn't be special-cased here when asked what the primary IMU and accel are. Note that this was asking for the *configured* backend type, rather than the active EKF type, making these clauses even stranger.
This also changes the definition of the "primary IMU index" to be whichever gyro is active rather than the accel. Since we don't currently split primary gyro/primary accel, this is a reasonable change.
2023-09-19 11:34:37 +10:00
Peter Barker
e83b6bcfcb
AP_AHRS: remove get_primary_IMU_index from public interface
2023-09-19 11:34:37 +10:00
Peter Barker
0b4007d22c
AP_AHRS: make comment match code behaviour in airspeed DCM-fallback
...
the comment here was incorrect; we do not need EKF3 to have a good wind estimate to fall back to DCM here.
Also restructure the code to make it more obvious that this is what's going on.
2023-09-19 11:30:45 +10:00
Peter Barker
c30bceb2a0
AP_AHRS: return location inside backend_results structure
...
with the change to cache results inside AP::ahrs().state we no longer need to worry about the backend's attempts to project the last-known-location forwards according to amount of time elapsed since that last-known-location was calculated.
2023-09-19 11:25:49 +10:00
Henry Wurzburg
5bb96d31e3
Tools: limit AFS to Plane and fix symbol lookup
2023-09-19 11:19:06 +10:00
Peter Barker
f22818a4b0
autotest: run reboots with cmd_int
2023-09-19 11:16:10 +10:00
Peter Barker
5ed1344115
Tools: handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN as INT or LONG
2023-09-19 11:16:10 +10:00
Peter Barker
624cfc8fcc
ArduCopter: handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN as INT or LONG
2023-09-19 11:16:10 +10:00
Peter Barker
5b0393e280
GCS_MAVLink: handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN as INT or LONG
2023-09-19 11:16:10 +10:00
Peter Barker
8e4755f202
Tools: handle DO_PARACHUTE as both command_long and command_int
2023-09-19 11:14:29 +10:00
Peter Barker
4c6918afea
ArduCopter: handle DO_PARACHUTE as both command_long and command_int
2023-09-19 11:14:29 +10:00
Henry Wurzburg
4508f23893
AP_OSD:Update/correct DisplayPort BF MSP symbols
2023-09-19 11:13:54 +10:00
Randy Mackay
ee7df6b060
AP_Mount: Xacti sets datetime
2023-09-19 10:58:52 +10:00
Randy Mackay
5e77ca483d
AP_Mount: Xacti slides reduced flash usage
2023-09-19 10:58:52 +10:00
Randy Mackay
b7d44c75a6
AP_Mount: Xacti gets reduced call to AP_HAL::millis()
2023-09-19 10:58:52 +10:00
Randy Mackay
fc24b45d56
AP_Mount: Xacti handles firmware ver and status
2023-09-19 10:58:52 +10:00
Randy Mackay
1f11d5f3fc
AP_DroneCAN: support string parameters
2023-09-19 10:58:52 +10:00
Randy Mackay
2835deb0de
Tools: autotest FlyEachFrame yaw rate relaxed
2023-09-19 10:53:04 +10:00
Randy Mackay
3f531d18bc
Tools: SITL default tricopter yaw servo trim fix
2023-09-19 10:53:04 +10:00
Randy Mackay
df0dad79bf
Tools: SITL default copter yaw tune improvement
2023-09-19 10:53:04 +10:00
Iampete1
fa1c5f62aa
Plane: Tailsitter: use motor I term for pitch in assist if not surfaces are setup
2023-09-19 09:35:19 +10:00