Commit Graph

32234 Commits

Author SHA1 Message Date
Peter Barker af2d4b0fc5 AP_GPS: correct uBlox M10 configuration on minimised boards 2023-11-14 11:12:11 +09:00
yjuav cb82d7cb38 hwdef: add YJUAV_A6SE_H743 board support (4.4 backport) 2023-11-07 17:37:35 +09:00
Andrew Tridgell 43a58acffc AP_ESC_Telem: expose update_telem_data for scripting 2023-11-07 17:37:35 +09:00
Andrew Tridgell 0eafdf2069 AP_Scripting: added bindings for telemetry data for ESCs
allows more complete ESC protocol implementation in scripting
2023-11-07 17:37:35 +09:00
Peter Barker fd8395f003 GCS_MAVLink: correct mavlink result when airspeed not available
only in progress if we have started a task running
2023-11-07 17:37:35 +09:00
Andrew Tridgell a45daaf7f8 hwdef: bugfixes for BETAFPV-F405 2023-11-07 17:37:35 +09:00
bugobliterator bec4f86dc9 AP_HAL_ChibiOS: enable save/restore of SPI SCK pin during spiStop Start for CubeOrangePlus 2023-11-07 17:37:35 +09:00
bugobliterator c8e8978f24 AP_HAL_ChibiOS: add option to set HAL_SPI_SCK_SAVE_RESTORE 2023-11-07 17:37:35 +09:00
bugobliterator a1661f8918 AP_HAL_ChibiOS: fix mode setting for ICM45686 on CubeOrangePlus 2023-11-07 17:37:35 +09:00
bugobliterator 985192d3e7 AP_HAL_ChibiOS: add support for saving and restoring SCK pin state
when SPI goes into undefined state during reset
2023-11-07 17:37:35 +09:00
Andrew Tridgell 9fa2535fa9 AP_Mount: fixed SIYI parser bug
this caused lots of lost packets
2023-11-07 17:37:35 +09:00
Andrew Tridgell 63047042a6 AP_GPS: implement the GPS_DRV_OPTION for ellisoid height in mode drivers
this allows a lot more drivers to use the GPS_DRV_OPTION but to use
ellisoid height. Particularly useful for DroneCAN GPS modules

using ellisoid height instead of AMSL is useful in some specialised
application
2023-11-07 17:37:35 +09:00
Hayden 12a70d00c5 AP_Compass: fix AK09916 hangup issue 2023-11-07 17:37:35 +09:00
Andrew Tridgell 0f144eeb8a AP_InertialSensor: fix for ICM42688 stuck gyro issue
these undocumented bits in register 0x4d control the "adaptive full
scale range" mode of the ICM42688. The feature is enabled by default
but has a bug where it gives "stuck" gyro values for short periods
(between 1ms and 2ms):, leading to a significant gyro bias at longer
time scales, enough to in some cases cause a vehicle to crash if it is
unable to switch to an alternative IMU

this fixes https://github.com/ArduPilot/ardupilot/issues/25025
2023-11-07 17:37:35 +09:00
Andrew Tridgell fd8685f29e Filter: protect against extremely low notch filter frequencies
an incorrectly configured ESC telemetry source can lead to a notch
running at very low frequencies. A simple example is a lua script like
this:

function update()
   esc_telem:update_rpm(12, 0, 0)
   return update, 10
end
return update()

where motor 12 is unused.

with that script in place we get a 1.0078 Hz filter which leads to
massive phase lag and a crashed aircraft

this is a safety protection. We should also try to find out why the
INS_HNTCH_FREQ lower limit is not working
2023-11-07 17:37:35 +09:00
Andrew Tridgell b6f9863ea4 AP_GPS: allow GPS moving baseline rover at 3Hz
users with busy CAN bus often get significiantly lower GPS rates on a
moving baseline rover, preventing arming. This PR relaxes the required
frame rate as the EKF is quite happy with 3Hz yaw and the yaw is the
only data consumed from a moving baseline rover
2023-10-13 16:28:52 +09:00
Andrew Tridgell 19ca00afde AP_Logger: added build directory to VER message
this allows log review tools to use right parameter and mode map when vendor has changed the
vehicle type strings
2023-10-13 16:28:52 +09:00
Andrew Tridgell b0683ad07d AP_RCProtocol: protect against invalid data in SBUS 2023-10-13 16:28:52 +09:00
Andrew Tridgell f9aa81b78e AP_OpenDroneID: only load from persistent memory in init()
we do not want to do this from update() as it is an expensive call
2023-10-13 16:28:52 +09:00
Henry Wurzburg 6f80bc33b5 AP_OSD:Update/correct DisplayPort BF MSP symbols 2023-10-13 16:28:52 +09:00
Henry Wurzburg b18ae9ffa9 AP_OSD:add option to convert home,wind,waypoint and gndspd arrows for BF font set 2023-10-13 16:28:52 +09:00
Andrew Tridgell 74224421d5 AP_BattMonitor: added SHUNT parameter to INS2xx driver
some vendors want different shunt resistors
2023-10-13 16:28:52 +09:00
Andrew Tridgell d7bfb1cf27 AP_InertialSensor: fixed the error value for BMI088
the bad value is -32768 not 0xffff (which is -1)

-32768 badly corrupts the low-pass filter, and is what we see in logs
(a large negative spike on all 3 axes)

update to bug fix from:
https://github.com/ArduPilot/ardupilot/pull/23033
2023-10-13 16:28:52 +09:00
alexklimaj 4292021144 hwdef: arkv6x default to no IO MCU 2023-10-13 16:28:52 +09:00
Henry Wurzburg 193fd3315e hwdef:add VTX power control to SpeedyBeeF405-Wing 2023-10-13 16:28:52 +09:00
Peter Barker 3a37b61cae AP_TECS: ensure good TECS state before running update_pitch_throttle
update_pitch_throttle can be called when update_50hz hasn't run in a very long time, or ever.  This requires a main loop rate >50Hz, and for the mode change to occur in the same loop that update_50Hz doesn't run but update_pitch_throttle does.
2023-10-13 16:28:52 +09:00
Andrew Tridgell 5d76b4e9fc AP_TECS: fixed descent or lack of climb bug
this fixes a state where we either cannot climb or descend in an
uncontrolled manner in a TECS controlled mode

the conditions under which this happened were:

- _use_synthetic_airspeed_once was true due to quadplane takeoff
- we left _thr_clip_status as MAX from previous use of synthetic airspeed
- then run without airspeed

note that this can also impact users with an airspeed sensor if they
disable it or it fails in flight, particularly during a climb
2023-10-13 16:28:52 +09:00
Peter Barker 6c2a12f5ab 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.
Backport of PR https://github.com/ArduPilot/ardupilot/pull/25046
2023-10-13 16:28:51 +09:00
Peter Barker 9d70db6df1 SITL: reset balancebot to vertical in a kinmetically consistent manner
The hard-reset of all state variables means we feed the EKF inconsistent gyro data.  Attempt to upright the vehicle with a simple p-gain when it is disarmed, as if someone is pushing the thing back upright
Backport of PR https://github.com/ArduPilot/ardupilot/pull/24314
2023-10-13 16:28:51 +09:00
bugobliterator 7f10222a27 AP_OpenDroneID: ensure Persistent memory is not read continuously 2023-10-13 16:28:51 +09:00
bugobliterator 884049bb14 GCS_MAVLink: move sysid_my_gcs to be public 2023-10-13 16:28:51 +09:00
bugobliterator 809ca6191d AP_HAL_ChibiOS: remove Chip ID as Basic ID mechanism 2023-10-13 16:28:51 +09:00
bugobliterator 38220a8c4d AP_OpenDroneID: remove Chip ID as Basic ID mechanism 2023-10-13 16:28:51 +09:00
bugobliterator 1d7c406d60 AP_HAL_ChibiOS: explain DID_OPTIONS config in CubeOrange-ODID/defaults.parm 2023-10-13 16:28:51 +09:00
bugobliterator b05df95c3d AP_OpenDroneID: add support for persistent storage of UAS ID 2023-10-13 16:28:51 +09:00
bugobliterator 55504e7fcc AP_HAL: add support for get_persistent_param_by_name 2023-10-13 16:28:51 +09:00
bugobliterator 3f5365ed54 AP_HAL_ChibiOS: add support for get_persistent_param_by_name 2023-10-13 16:28:51 +09:00
bugobliterator d6f0c1e316 AP_HAL_ChibiOS: add support for storing OpenDroneID in bootloader sector 2023-10-13 16:28:51 +09:00
Andy Piper 1a8ae96b0d hwdef: ensure SpeedyBeeF405Mini builds on plane 2023-10-13 16:28:51 +09:00
Andy Piper 8116812ae8 hwdef: adjust serial protocol defaults on various boards for 4.4 naming scheme 2023-10-13 16:28:51 +09:00
Andy Piper 64db5c8310 hwdef: SpeedyBeeF405Mini 2023-10-13 16:28:51 +09:00
Peter Barker b85e77a0d4 GCS_MAVLink: correct sensors when no baros found
GCSs will know we have no baros on-board, as will the RC telemetry library
2023-10-13 16:28:51 +09:00
Andy Piper 7e29b7bdf6 AP_HAL_ChibiOS: T-Motor H743 Mini 2023-10-13 16:28:51 +09:00
Andy Piper 5b489ec140 AP_HAL_ChibiOS: provide mcu defaults in betaflight conversion 2023-10-13 16:28:51 +09:00
Andy Piper d9b5bcbd9d AP_HAL_ChibiOS: correct hwdef generator battery scale 2023-10-13 16:28:51 +09:00
Andy Piper 8d6b6e478c AP_HAL_ChibiOS: cope with different IMU drivers in hwdef conversion 2023-10-13 16:28:51 +09:00
Andy Piper 7e40b64dad hwdef: mRoControlZeroOEMH7 bdshot version 2023-10-13 16:28:51 +09:00
Andy Piper 997066ef1a 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
2023-10-13 16:28:51 +09:00
Andy Piper c74e96528b AP_HAL_ChibiOS: betafpv F450 AIO hwdef 2023-10-13 16:28:51 +09:00
Andy Piper 3c870e0b10 AP_HAL_ChibiOS: allow 8 bdshot channels on mRoControlZeroH7 2023-10-13 16:28:51 +09:00