e2535a3851
HAL_ChibiOS: fixed USB pass-thru for 2nd USB endpoint
...
we need to align the endpoint ID in the structure
2023-06-08 10:05:36 +09:00
4f0a573c73
AP_AHRS: don't reject airspeed using EKF if dead-reckoning
...
when dead-reckoning the EKF wind estimate can diverge from reality,
leading to us rejecting a valid airspeed sensor. We are best off
trusting airspeed if we are dead-reckoning
2023-06-08 10:05:36 +09:00
303dad5ab6
AP_BoardConfig: fixed documentation of safety options
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on and off were reversed
2023-06-08 10:05:36 +09:00
d00d5e09aa
Filter: SlewLimiter: always caculate slew limit
2023-06-08 10:05:36 +09:00
f0bf42706d
AP_BattMonitor: allow max amps to be configured on INA2XX
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this allows for higer current ranges with lower resolution
2023-06-08 10:05:36 +09:00
73a904a0ec
hwdef: use zero address for INA2XX to allow for different sensors
2023-06-08 10:05:36 +09:00
ee75016a12
AP_BattMonitor: auto-probe INA2XX address if address is zero
...
this makes life easier for users who don't know which device they have
2023-06-08 10:05:36 +09:00
abf4ba725a
AP_BattMonitor: support INA228 and INA238 battery monitor
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I2C monitors with similar functionality to INA226
2023-06-08 10:05:36 +09:00
25f0860866
AC_AutoTune: load test gains for correct axis when testing yaw D
2023-06-08 10:05:36 +09:00
880cffed9a
AP_NavEKF3: Increase delta velocity bias state process noise
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Required due to state variance collapse on ground with some systems using RTK GPS.
2023-06-08 10:05:36 +09:00
365e3aa62a
AP_NavEKF3: Strengthen recovery from bad delta velocity bias learning
2023-06-08 10:05:36 +09:00
acfa1f108a
AP_NavEKF3: Increase default value of EK3_ABIAS_P_NSE
...
This is required because some hardware setups with RTK GPS have experienced a collapse of the delta velocity state variances.
2023-06-08 10:05:36 +09:00
954a3cf1e2
AP_NavEKF3: Retune and fix delta velocity bias state variance protection
2023-06-08 10:05:36 +09:00
7ac3209c93
AP_NavEKF: ensure gyro biases are numbers
...
avoid errors during compass mot
2023-06-08 10:05:36 +09:00
565c65803a
AP_NavEKF3: Lock in wind state estimates when using srag to dead reckon
2023-06-08 10:05:36 +09:00
78e6ff53b4
AP_ICEngine: fixed a bug engine control when running
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if you have a mission item for engine control with delayed start at
height and the engine is already running them it would put the ICE
subsystem into a state where it would no longer start the engine
It was actually 2 bugs:
- an engine control to do a height delayed start should be ignored if
the engine is already running. This prevents an engine control to
start the engine from stopping the engine
- a start_chan high should always try to start the engine
immediately, even if in the wait state
2023-06-08 10:05:36 +09:00
18128ce3ad
AP_RCProtocol: return true on initial protocol detection
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we need to tell the IO firmware that a byte was consumed when we first
detect a protocol as otherwise the next bad byte on DSM will lock us
on the DSM port
2023-06-08 10:05:35 +09:00
c98b85a1a2
AP_IOMCU: fixed issue with not regaining RC input
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this fixes an issue where when you lose R/C input on IOMCU that you
may not regain it when R/C comes back.
The issue stems from us still processing the DSM uart when we are
using the SD3 "SBUS" uart for RC input, and still doing the switch of
the SD3 config every 2 seconds.
When we are not searching for a new protocol we should not be changing
UART config
2023-06-08 10:05:35 +09:00
22a904f102
AP_NavEKF3: handle core setup failure
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ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
2023-06-08 10:05:35 +09:00
d7c90c5a5b
AP_NavEKF2: handle core setup failure
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ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
2023-06-08 10:05:35 +09:00
6d5c34dfa8
AP_Param: added set() to AP_Enum
2023-06-08 10:05:35 +09:00
0a4f34cdd2
AP_Logger: do not rotate logs when disarming if we are replay-logging
2023-06-08 10:05:35 +09:00
397b521536
AP_Logger: added LOG_DARM_RATEMAX
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this sets the logging rate max when disarmed. In combination with
LOG_DISARMED=3 it gives a very nice setup to get always on logging
with very little addition to the log sizes. It is particularly useful
in combination with LOG_REPLAY=1
2023-06-08 10:05:35 +09:00
4938593d4c
AP_Logger: added LOG_DISARMED=3
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when LOG_DISARMED is set to 3 then we log while disarmed but if we
reboot without ever arming the log is discarded. This allows for using
LOG_DISARMED without filling the microSD.
2023-06-08 10:05:35 +09:00
f0cca1aaf4
AP_Logger: use AP_Enum for log_disarmed
2023-06-08 10:05:35 +09:00
b4c48d366a
AP_HAL_ChibiOS: Add SpeedyBeeF405WING
2023-06-08 10:05:35 +09:00
3a40f41f29
AP_HAL_ChibiOS: correct locking on LED thread
2023-06-08 10:05:35 +09:00
175f4dfd4f
AP_HAL_ChibiOS: move LED processing to a separate thread
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LED processing on a separate thread allows much longer LED lengths to be handled without
compromising dshot timing or timeouts. The thread is also run at a lower priority to
reflect its lack of flight criticality
2023-06-08 10:05:35 +09:00
c17fffc20d
AP_HAL: add helper functions for LEDs
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add PRIORITY_LED for led output thread
2023-06-08 10:05:35 +09:00
c0288f8f1b
AP_HAL_ChibiOS: reduce IMU SPI low speed to 1Mhz to avoid chip initialization issues
2023-06-08 10:05:35 +09:00
f6408f9d9b
AP_HAL_ChibiOS: FoxeerH743 GA release
2023-06-08 10:05:35 +09:00
b2aed56431
AP_HAL_ChibiOS: update MambaF405v2 for ICM42688, bdshot and DMA on UART1
2023-06-08 10:05:35 +09:00
177c736bb7
AP_HAL_ChibiOS: add BMI270 and ICM42688 to FlywooF745
2023-06-08 10:05:35 +09:00
b4adae5428
AP_HAL_ChibiOS: remove erroneous FlywooF745v2
2023-06-08 10:05:35 +09:00
73b3d3c62b
AP_HAL_ChibiOS: hwdef for FlywooF745v2
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Add SPL06 baro to FlywooF745v1
2023-06-08 10:05:35 +09:00
3c99766a5a
AP_NavEKF3: Improve protection against GPS glitches during yaw alignment
2023-04-21 09:48:59 +10:00
007bc804bd
AP_NavEKF3: Reduce use of GSF yaw for planes with no compass
2023-04-21 09:48:59 +10:00
27628099ce
AP_HAL_ChibiOS: hwdef for MatekF405-TE/VTOL including bdshot
2023-04-21 09:48:59 +10:00
42d21ab9bc
AP_InertialSensor: fix hardfault in BatchSampler
2023-04-21 09:48:59 +10:00
f3502a71e9
AP_InertialSensor: correct access beyond array in Ins TCal
2023-04-21 09:48:59 +10:00
aecffd2778
SimOnHW: correct compilation on CubeOrangePlus
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this was at 2 to reduce CPU load.
But particularly when CubeOrangePlus is playing around with auxiliary IMUs we really want to be running on SimOnHardware just what we're running on the normal firmware. We can find CPU cycles elsewhere....
2023-04-21 09:48:59 +10:00
3e83d40bd8
AP_HAL_ChibiOS: ensure that DMA source is correct on DMA send for rcout
2023-03-26 16:46:53 +11:00
aabfce2099
AP_HAL_ChibiOS: ensure the rcout TIM_UP DMA request source is re-instated after cancellation
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This fixes a bug in bdshot whereby dma cancellation could result in the wrong DMA channel
being used for dshot output and hence motors stopping
2023-03-26 16:46:51 +11:00
7527c6e278
HAL_ChibiOS: support starting the clock at non-zero
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for testing time wrap bugs
2023-03-26 16:46:47 +11:00
c55a2916f6
HAL_ChibiOS: switched to 64 bit maths for DShot timings
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this fixes a timer wrap bug at 71 minutes after boot that impacts
bdshot
2023-03-26 16:46:44 +11:00
b9e9d4cc4f
AP_InertialSensor: fix duplicate sensor detection for AUX sensors
2023-03-24 11:55:45 +11:00
f88db74356
AP_HAL_ChibiOS: add support for initialising extra sensors as AUX
2023-03-24 11:55:45 +11:00
6eaa05960f
AP_InertialSensor: increase the temp tolerance for INV2 driver for fifo reset
2023-03-23 08:00:05 +11:00
deeeb4134c
AP_NavEKF3: use INS_MAX_INSTANCES instead of MAX_EKF_CORES for IMU mask
2023-03-21 10:04:16 +11:00
08bea2fcd2
AP_InertialSensor: move from INS_ top level parameters to INS
2023-03-21 10:04:16 +11:00
Andrew Tridgell
Iampete1
Andy Piper
Paul Riseborough
Peter Barker
Henry Wurzburg
bugobliterator