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26600 Commits

Author SHA1 Message Date
Andrew Tridgell 0ad778f4c1 HAL_ChibiOS: fixed RTSCTS flow control issue 
this fixes an issue reported on MatekH743, but also applies to other
boards. When not using DMA if there have been bytes written before the
auto flow control detection was enabled then these must be cleared
from _total_written so the flow control detection can work correctly
 2021-09-15 16:03:33 +09:00
Andrew Tridgell 4fcd3756af AP_RCProtocol: increase CRSF frame timeout to account for scheduling delays 2021-09-10 14:32:03 +09:00
Leonard Hall 6bfc28059c AC_WPNav: Fix calculation of _scurve_jerk_time using radians. 2021-09-10 14:08:46 +09:00
Andy Piper 97f182c493 AP_HAL_ChibiOS: bdshot version of CUAVv5 2021-09-10 14:08:46 +09:00
Andy Piper 13f8d41e03 AP_HAL_ChibiOS: bdshot version of CUAVv5Nano 2021-09-10 14:08:46 +09:00
Leonard Hall 8a1e452d3c AC_AttitudeControl: AC_PosControl: Change set_correction_speed_accel_z to use input arguments 2021-09-10 14:08:46 +09:00
Andrew Tridgell ace1a72b93 AC_WPNav: cope with negative WPNAV_SPEED_DN 
a user set WPNAV_SPEED_DN to a negative value, with odd results. Take
absolute value to cope. Even though the param docs clearly say range
should be positive, it is one where it is easy to think it should be
negative
 2021-09-10 14:08:46 +09:00
Peter Barker 8639b5e4c3 AC_WPNav: monitor WPNAV_SPEED for changes 2021-09-10 14:08:46 +09:00
Josh Henderson 156da6431f AC_WPNav: simplify get_wp_destination_loc 2021-09-10 14:08:46 +09:00
Randy Mackay ac57e91e8f AC_WPNav: protect against divide-by-zero 2021-09-10 14:08:46 +09:00
Randy Mackay e0143d4008 AC_WPNav: move definitions to .cpp file 2021-09-10 14:08:46 +09:00
Randy Mackay f22f8f6200 Copter: terrain spelling fix 2021-09-10 14:08:46 +09:00
Randy Mackay 93197133be AC_WPNav: terrain spelling fix 2021-09-10 14:08:46 +09:00
Leonard Hall 3e62c17577 AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-10 14:08:46 +09:00
Leonard Hall ee26d72682 AC_WPNav: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Leonard Hall baf58607fa AC_Autotune: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Leonard Hall 00ff3cec46 AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Iampete1 11426792ef SRV_Channel: call update_aux_servo_function in function_assigned 2021-09-10 14:08:46 +09:00
Andrew Tridgell 78ca572634 HAL_ChibiOS: use more USB buffers on higher end F7 chips 2021-09-10 14:08:46 +09:00
Andrew Tridgell a48f0ef90d HAL_ChibiOS: reduce the impact of UART DMA contention 
this changes the heuristics for UART TX DMA allocation to greatly
reduce the chances of DMA contention causing long delays on other
devices

This fixes issues with FETTec driver output and gimbal status messages
as reported by Amilcar and OlliW. The problem is particularly bad when
no GPS is connected to GPS1 on fmuv3 and derived boards (such as
CubeBlack)

key changes:

 - remember the contention_counter across begin() calls, as the GPS
   calls begin with new baudrates regularly

 - added a is_shared() API to Shared_DMA, allowing the UART driver to
   avoid TX DMA on shared streams when at low baudrates.
 2021-09-10 14:08:46 +09:00
Andrew Tridgell 3bc9507530 GCS_MAVLink: check for null comm_port before writing 
this was found when adding debug code to write to a specific channel
 2021-09-10 14:08:46 +09:00
Pierre Kancir 21de22f10d AP_Rangefinder: fix override in constructor 2021-09-10 14:08:46 +09:00
Andrew Tridgell 8209a5ac5c AP_DAL: fixed a bug in RMGH logging 2021-09-10 14:08:46 +09:00
Andrew Tridgell 8731a13fb5 AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-09-10 14:08:46 +09:00
Andrew Tridgell aa8ebc403e HAL_ChibiOS: fixed GPIO lines for QioTekZealotF427 2021-09-10 14:08:46 +09:00
Andrew Tridgell f232fc551b AP_Declination: added a test suite for AP_Declination 
use test vectors from MAVProxy mavextra
 2021-09-10 14:08:46 +09:00
Andrew Tridgell 042b512877 AP_Declination: fixed rounding in mag field 
thanks to Angela for noticing this
 2021-09-10 14:08:46 +09:00
mateksys c5ed3c391a Tools: added MatekF765-SE to autobuild 2021-08-28 17:10:29 +09:00
mateksys 96b4cee01d AP_HAL_ChibiOS: add MatekF765-SE hwdef as a variant of MatekF765-Wing 2021-08-28 17:10:29 +09:00
Peter Barker 32c7a0d6e4 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-28 17:10:29 +09:00
Andrew Tridgell a11948e175 APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-08-28 17:10:29 +09:00
Andrew Tridgell 8268a59130 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-08-28 17:10:29 +09:00
Andrew Tridgell 06577318ff AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-28 17:10:29 +09:00
Andrew Tridgell c2672784be AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-28 17:10:29 +09:00
QioTek ce7d5341eb AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649 
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
 2021-08-28 17:10:29 +09:00
Hwurzburg 3cf3ed8fff AP_HAL_Chibios: Change RC in to RCINT to free a DMA channel 2021-08-28 17:10:29 +09:00
Andrew Tridgell 72d115bec4 HAL_ChibiOS: allow FlywooF745 to build again 2021-08-28 17:10:29 +09:00
Andy Piper 7698a006ad AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-28 17:10:29 +09:00
Leonard Hall f9452ec17a AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-28 17:10:29 +09:00
Leonard Hall a1975d7535 AC_WPNav: Fix Jerk units 2021-08-28 17:10:29 +09:00
Leonard Hall 70d2062809 AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-28 17:10:29 +09:00
Leonard Hall d0521e6906 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-28 17:10:29 +09:00
Iampete1 c47bc995d1 AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-28 17:10:29 +09:00
Randy Mackay 9a26509eee AP_Scripting: copter-fast-descent.lua example script 2021-08-28 17:10:29 +09:00
Randy Mackay 4a05d7a05a AP_Vehicle: add virtual set_target methods 2021-08-28 17:10:29 +09:00
Randy Mackay e5b3596831 AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-28 17:10:29 +09:00
Randy Mackay 79f0a02675 AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-28 17:10:29 +09:00
Randy Mackay d61c16d83c AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-28 17:10:29 +09:00
Randy Mackay 07e875aba2 AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-28 17:10:29 +09:00
Randy Mackay 9638755b0f AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-28 17:10:29 +09:00