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30711 Commits

Author SHA1 Message Date
Andy Piper e6e96bcf5e AP_HAL_ChibiOS: probe external compasses on foxeer reaper f745 2023-02-14 16:35:40 +09:00
Andy Piper be6bd4be8b AP_HAL_ChibiOS: enable VTX power on MambaH743v4 2023-02-14 16:35:40 +09:00
bugobliterator e2fede3e3b AP_HAL_ChibiOS: add support for CubeOrangePlus BG edition 2023-02-14 16:25:55 +09:00
Andrew Tridgell 01bbbc1f45 AP_IOMCU: fixed an issue with double reset of IOMCU 
if the IOMCU resets twice in quick succession then the code that
restores the safety state while flying can fail, leading to the
aircraft trying to continue flying with safety on

This results from two issues:

- a race in handling the last_safety_off variable
- the fact that plane sets the soft_armed state based on safety state
 2023-02-14 16:25:55 +09:00
Bob Long 33fafed63c AP_Baro: fix bug in alt error arming check 
get_altitude_difference already subtracts MSL altitude
 2023-02-14 16:25:54 +09:00
Andrew Tridgell 9853fc4a65 RC_Channel: disable FFT notch tune feature 
See https://github.com/ArduPilot/ardupilot/pull/22686
 2023-02-14 16:25:54 +09:00
Andy Piper 703020be12 AP_HAL: ensure the DSP tracked peaks do not overflow the buffer 2023-02-14 16:25:54 +09:00
rishabsingh3003 4d437c3368 AC_Precland: Add option to resume precland after manual override 2023-02-14 16:25:54 +09:00
Andrew Tridgell 8219b50023 AP_CANManager: add an output buffer for MAVCAN 
this fixes firmware update of peripheral nodes using MAVCAN
 2023-02-14 16:25:54 +09:00
Peter Barker 3d7c6a9cfb AP_Logger: avoid logging duplicate FMT/UNIT/FMTU/MULT messages 
Failing due to being out of time meant we wouldn't incremement the counter, even though we'd emitted the item.

it is important we try to send something, so move this check to be after we increment whichever counter we are using.
 2023-02-14 16:25:54 +09:00
Andrew Tridgell 1b9f695188 AP_OpenDroneID: set EMERGENCY status on crash or chute deploy 
RemoteID modules are required to set EMERGENCY status on uncontrolled
descent or crash. This fixes our implementation to do that, either via
existing vehicle crash checking code or via a parachute release
 2023-02-14 16:25:54 +09:00
Andrew Tridgell 59d5691e37 AP_Compass: fixed zero compass diagonals 
this fixes a regression from 4.2 to 4.3.

previously we automatically set the diagnoals to 1,1,1 if they were
0,0,0. We don't do that any more. I was helping a user who had copied
an old config with 0,0,0 for diagonals and did not understand two
things:

- the compass did not work in 4.3
- large vehicle mag cal didn't work
 2023-02-14 16:25:54 +09:00
Randy Mackay f677d876a7 GCS_MAVlink: send_autopilot_state_for_gimbal_device sends ef z-axis rate target 2023-02-14 16:25:54 +09:00
Randy Mackay 2616afc5c8 AP_Vehicle: replace get_rate_bf_targets with get_rate_ef_targets 2023-02-14 16:25:54 +09:00
Randy Mackay fa77792d69 AC_AttitudeControl: add get_rate_ef_targets accessor 2023-02-14 16:25:54 +09:00
Andrew Tridgell 481cb4d03d AP_RCProtocol: on IOMCU don't allow protocol to change once detected 
this prevents a crash where in-flight noise causes an incorrect
protocol detection, such as DSM for a SBUS input
 2023-02-14 16:25:53 +09:00
Andrew Tridgell 93136f84a2 AP_Scripting: fixed alt frame error in ship landing 
if terrain follow is enabled then this would result in mixing a
terrain alt with an absolute alt, resulting in attempts to descend to
a negative alt
 2023-01-20 10:12:59 +09:00
Andrew Tridgell 9032a91b1e AP_InertialSensor: cleanup NAMED_VALUE_FLOAT for fifo error 2023-01-20 10:12:59 +09:00
Andrew Tridgell c89d5448b2 AP_InertialSensor: fixed flood of log with fast fifo reset 2023-01-20 10:12:59 +09:00
Andrew Tridgell d48ab3b384 GCS_MAVLink: fixed FTP terminate session error 
this caused ftp downloads to intermittently fail. The cause is the FTP
client may ask for a session terminate and then immediately afterwards
a ftp open. The open would fail as the ftp session was considered
active
 2023-01-20 10:12:59 +09:00
Andrew Tridgell f2c9b3ac06 hwdef: save flash to get 4.3.3 building on some low flash boards 2023-01-10 10:14:12 +09:00
Andy Piper bd506117f2 AP_HAL_ChibiOS: support for MambaF405-2022B 
Co-authored-by: vidmantas zemleris <vidmantas.zemleris@gmail.com>
 2023-01-10 10:14:12 +09:00
Andy Piper 2a8c6cace0 AP_HAL_ChibiOS: MambaH743 v2 with dual ICM42688 2023-01-10 10:14:12 +09:00
Andy Piper 2daf595537 AP_HAL_ChibiOS: add UART baudrate accessor 2023-01-10 10:14:12 +09:00
Andy Piper 97fa597e19 AP_HAL: add UART baudrate accessor 2023-01-10 10:14:12 +09:00
Andy Piper d7f0bf786a RC_Channel: add option to support ELRS at 420kbaud 2023-01-10 10:14:12 +09:00
Andy Piper 3838749062 AP_RCTelemetry: report CRSF link rate rather than mode. 
Encode actual protocol being used
cleanup is_elrs() and version numbers
 2023-01-10 10:14:12 +09:00
Andy Piper a4e198d5b0 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
 2023-01-10 10:14:12 +09:00
Andrew Tridgell 5cbd810e41 AC_AttitudeControl: fixed time wrap bug in is_active_xy() 
this failed at 70 minutes
 2023-01-10 10:14:12 +09:00
Kirill Shilov fe2f5acff6 AIRLink hwdef: added heater parameters 2023-01-10 10:14:12 +09:00
Andrew Tridgell 1f05ee2232 GCS_MAVLink: optimise FTP for available bandwidth 
when we don't have hardware flow control don't use more than 1/3 of
available bandwidth for ftp outgoing transfers. This makes parameter
download faster on radios without flow control
 2023-01-10 10:14:12 +09:00
Andrew Tridgell 5de8fcc777 AP_HAL: check for null buffer in ObjectBuffer get_size() 2023-01-10 10:14:12 +09:00
Andrew Tridgell 247b8d0739 GCS_MAVLink: check for alloc failure of ObjectBuffer 2023-01-10 10:14:12 +09:00
Andrew Tridgell 68352534be AP_Scripting: check for alloc failure of ObjectBuffer 2023-01-10 10:14:12 +09:00
Andrew Tridgell 9154db9ae2 AP_HAL_Linux: check for alloc failure of ObjectBuffer 2023-01-10 10:14:12 +09:00
Andrew Tridgell a99dd1fabf AC_Avoidance: check for alloc failure of ObjectBuffer 2023-01-10 10:14:12 +09:00
Andrew Tridgell bbee8312dd GCS_MAVLink: send FTP replies directly from the FTP thread 
this saves over 700 bytes of memory while also making ftp faster
 2023-01-10 10:14:12 +09:00
bugobliterator 77cb12772d AP_HAL_ChibiOS: swap order of ICM20602 and ICM20948_ext on CubeYellow 2023-01-10 10:14:12 +09:00
bugobliterator 0d2a83d1d8 AP_HAL_ChibiOS: enable fast fifo reset for CubeYellow as well 2023-01-10 10:14:12 +09:00
bugobliterator 8f79452093 AP_HAL_ChibiOS: enable fast reset on ICM20602 for CubeOrange HW 2023-01-10 10:14:12 +09:00
bugobliterator 8c3f086e21 AP_InertialSensor: add option to enable fast fifo reset on ICM20602 2023-01-10 10:14:12 +09:00
bugobliterator 3f074ef1c0 AP_InertialSensor: add fast reset for ICM20602 instead of full reset on bad temp sample 2023-01-10 10:14:12 +09:00
Leonard Hall 0af7cd59e1 AC_WPNav: remove _wp_accel_cmss.set_and_save_ifchanged 2023-01-10 10:14:11 +09:00
Leonard Hall 4ab1153c4a AP_Math: extend the control.cpp test suite 2023-01-10 10:14:11 +09:00
Andrew Tridgell bd2a560743 AP_Math: added a control.cpp test suite 2023-01-10 10:14:11 +09:00
Leonard Hall 70c18bde27 AC_AttitudeControl: AC_PosControl: Simplify and clarify use of vertical controllers 2023-01-10 10:14:11 +09:00
Leonard Hall 6ccc91556d AP_Math: Target velocity can reduce when limited 
AP_Math: Target velocity can reduce when limited
 2023-01-10 10:14:11 +09:00
Leonard Hall 161f197513 AC_AttitudeControl: AC_PosControl: Comment fix and small efficiency gain 2023-01-10 10:14:11 +09:00
Leonard Hall 1c6592d231 AP_Math: Control Tools Enhancments 
AP_Math: Control Tools Enhancments
 2023-01-10 10:14:11 +09:00
Leonard Hall 6d290cc787 AC_AttitudeControl: AC_PosControl: Include FF in _pid_vel_xy integrator initialisation 2023-01-10 10:14:11 +09:00