Andy Piper
2eac45c4bf
AP_IOMCU: account for possibility of SBUS_OUT in PWM structures
2024-04-30 20:29:20 +09:00
Andy Piper
a7d93582bc
AP_HAL_ChibiOS: iFlight BLITZ Mini F745
2024-04-30 20:29:20 +09:00
Andy Piper
d1a41dd87b
AP_HAL_ChibiOS: iFlight Blitz F745
2024-04-30 20:29:20 +09:00
Randy Mackay
578e5a0193
AP_DAL: visual odom get_delay_ms return fix
2024-04-30 20:29:20 +09:00
Randy Mackay
4b9a4cad65
RC_Channel: add mount LRF enable aux function
2024-04-30 20:29:20 +09:00
Randy Mackay
b7e4aecc99
AP_Mount: add set_rangefinder_enable for ViewPro
2024-04-30 20:29:20 +09:00
Tim Tuxworth
1da6100907
AP_Mount: Do not override default mode when first connecting to RC
2024-04-30 20:29:20 +09:00
Andy Piper
e3b8a7b4bd
AP_HAL_ChibiOS: fixups for FoxeerF405v2
2024-04-30 20:29:20 +09:00
Paul Riseborough
9cfd082b5c
AP_NavEKF3: Change yaw source to stop compass use when calibrating
2024-04-30 20:29:20 +09:00
Andrew Tridgell
0c4a1f86d7
hwdef: the RM3100 should run at max 1MHz on SPI bus
2024-04-30 20:29:20 +09:00
Andy Piper
47eb646de4
AP_HAL_ChibiOS: allow H7RF to build
2024-04-30 20:29:20 +09:00
Andy Piper
2cd660408a
AP_HAL_ChibiOS: fixup FoxeerF405v2 build
2024-04-30 20:29:20 +09:00
Randy Mackay
ce448c4228
AP_NavEKF3: define Yaw alignment min GPS speed per vehicle
2024-04-30 20:29:20 +09:00
Randy Mackay
c549794c05
RC_Channel: integrate AP_CAMERA_SET_CAMERA_SOURCE_ENABLED
2024-04-30 20:29:20 +09:00
Randy Mackay
e89721e428
AP_Mission: support set-camera-source
2024-04-30 20:29:20 +09:00
Randy Mackay
c42230211d
AP_Mount: add set_camera_source support
2024-04-30 20:29:20 +09:00
Randy Mackay
9f8e081813
AP_Camera: support set-camera-source mavlink command
2024-04-30 20:29:20 +09:00
Randy Mackay
987f095f9f
GCS_MAVLink: forward set-camera-source to AP_Camera
2024-04-30 20:29:20 +09:00
Ryan Friedman
5405dff072
AP_ExternalAHRS: Only use GPS data when populating GPS fields
...
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-04-30 20:29:20 +09:00
Ryan Friedman
28975fff27
AP_ExternalAHRS: Check backend pre-arm before origin
...
* This allows the backend to report more detailed errors
* Before this, many pre-arm errors were hidden by origin failure
* If pre-arm could report multiple errors, that would be ideal
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-04-30 20:29:20 +09:00
Ryan Friedman
ed92abc1b4
Save flash, reduce code duplication
...
* Add generic health and time utils
* Fix bug only checking first GNSS system
* Use common logging struct
* Improve pre-arm log checks
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-04-30 20:29:20 +09:00
Ryan Friedman
39ea2b9a13
AP_ExternalAHRS: Don't send init message till booted up
...
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-04-30 20:29:20 +09:00
Ryan Friedman
a8c16131bf
AP_ExternalAHRS: Use state watching instead
...
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-04-30 20:29:20 +09:00
Ryan Friedman
6caf427dd2
AP_ExternalAHRS: Provide warning for init failure
...
* If the device hasn't initialized in 5 seconds, give a warning
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-04-30 20:29:20 +09:00
Ryan Friedman
29fde1d6bd
AP_ExternalAHRS: Use filter data to populate EKF status report
...
* Variances vs uncertainties may still be off
* Requires enabling the following packets in SensorConnect:
* Position Uncertainty (LLH)
* Velocity Uncertainty (NED)
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-04-30 20:29:20 +09:00
Ryan Friedman
a8255f6c23
AP_HAL: Fix incorrect return type
...
* This caused position quantization errors in the MicroStrain7
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-04-30 20:29:20 +09:00
Ryan Friedman
f733f700ef
AP_DDS: Fix incorrect port param name
...
* We want to support TCP and UDP in the future, so make sure we call it
UDP here
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-04-30 20:29:20 +09:00
Andy Piper
dbfcd6c678
AP_HAL_ChibiOS: FoxeerF405v2
2024-04-30 20:29:20 +09:00
Randy Mackay
f28e0fc1d1
AC_PosControl: always update yaw targets
2024-04-30 20:29:20 +09:00
davidsastresas
efd832425c
AP_Mount: fix gimbal-device-attitude-status yaw frame flag
2024-04-30 20:29:20 +09:00
Randy Mackay
06a79ad4f5
AP_Mount: get-gimbal-device-flags reports lock state
2024-04-30 20:29:20 +09:00
Randy Mackay
1e047a9d32
AP_Mount: do-gimbal-manager-pitch-yaw can set lock state
...
Co-authored-by: davidsastresas <davidsastresas@gmail.com>
2024-04-30 20:29:20 +09:00
Randy Mackay
925fed10fe
AP_Mount: clarify yaw_lock comments
2024-04-30 20:29:20 +09:00
Randy Mackay
a1b12a86b2
AP_Mount: RC targeting mode lock state from previous mode
...
This leads to smoother transitions between RC and GCS control
2024-04-30 20:29:20 +09:00
Andrew Tridgell
02af8ac143
AP_RCProtocol: fixed underflow wrap in GHST
2024-04-08 12:08:53 +09:00
Andrew Tridgell
55724c2a63
AP_RCProtocol: added random data test
...
this triggers the CRSF crash bug that was just fixed
2024-04-08 12:08:53 +09:00
Andrew Tridgell
a617f3d617
AP_RCProtocol: fixed crc memory range error in CRSF
...
this fixes a crash bug that caused a watchdog for Henry on a
F765-Wing. The bug happens with corrupt serial data causing an
underflow in the length argument to the crc call
2024-04-08 12:08:53 +09:00
FoxSuzuran
49464303bb
AP_Proximity: add RPLidarC1 support
...
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
2024-03-22 15:36:19 +09:00
Tom Pittenger
9fcdace5f5
AP_Networking: change NET_ENABLED to NET_ENABLE
2024-03-22 15:36:19 +09:00
Tim Tuxworth
6d5b043226
AP_Networking: change NET_ENABLED to NET_ENABLE
2024-03-22 15:36:19 +09:00
Tim Tuxworth
b9cd488cd8
Chibios: CubeRed - change NET_ENABLED to NET_ENABLE
2024-03-22 15:36:19 +09:00
Andrew Tridgell
93a06789b9
HAL_ChibioOS: fixed FDCAN -> CAN labels
...
we use CAN1_RX not FDCAN1_RX in our MCU files
2024-03-22 15:36:19 +09:00
Andrew Tridgell
ce490163fe
AP_Logger: avoid logging dma.txt for normal builds
...
logging of dma.txt currently does no good as the first time you read
it you get no content. It then enables statistics in the shared_dma
code which makes all DMA operations slower, so all we are doing is
making DMA slower
2024-03-22 15:36:19 +09:00
Randy Mackay
fc705cf229
AP_Mount: viewpro fix for swapped ahrs roll pitch
2024-03-22 15:36:19 +09:00
root
9242fd9397
AP_VideoTX:add additional freq bands(Band X)
2024-03-22 15:36:19 +09:00
Andrew Tridgell
9a19cf81e3
HAL_ChibiOS: fixed a cache corruption issue on H7
...
This fixes a bug introduced in this PR:
https://github.com/ArduPilot/ardupilot/pull/25900
the bug is that when we don't go via the bouncebuffer on H7 we were
also skipping the cache invalidate/flush ops. This caused data
corruption for filesystem operations, particularly noticible as lua
scripts failing to load with parse errors or log corruption
2024-03-22 15:36:19 +09:00
Minderring
6d7c267955
hwdef: added MicoAir405v2
2024-03-22 15:36:19 +09:00
Andy Piper
355e834acd
AP_HAL_ChibiOS: Orqa F405 Pro
2024-03-22 15:36:19 +09:00
Ryan Friedman
a1e40c4216
AP_ExternalAHRS: SIM_MicroStrain support quaternion attitude
...
* This replaces IMU orientation
* Fixed some usage docs
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-03-22 15:36:19 +09:00
Ryan Friedman
2a78b59526
AP_ExternalAHRS: Populate orientation from filter
...
* Populating AHRS orientation from IMU was not correct
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-03-22 15:36:18 +09:00
Iampete1
312061b76c
AP_Filesystem: crc32: Ensure checksum value is initialized
2024-03-14 09:33:55 +09:00
Andrew Tridgell
431ef6b4ba
AP_InertialSensor: fixed accel cal simple to remove unused IMUs
...
when we change EAHRS_SENSORS to remove use of IMU from an external
AHRS we need to be able to zero the accel and gyro offsets to get
prearms to pass
2024-03-14 09:33:55 +09:00
Andy Piper
0426686c92
AP_HAL_ChibiOS: always normalize ESC channel when using iomcu
2024-03-14 09:33:55 +09:00
Andy Piper
a1b9897b37
AP_HAL_ChibiOS: use standard FPV config for SpeedyBeeF405WING
2024-03-14 09:33:55 +09:00
Randy Mackay
2680b1188d
AP_HAL_ChibiOS: CubeRedSecondary IMU orientation fix
...
Also remove duplicate RC_IN serial protocol
2024-03-14 09:33:55 +09:00
Andrew Tridgell
884c3eeb34
AP_HAL_ChibiOS: remove iomcu dshot from Pixhawk1-1M and add to Pixhawk1-bdshot
...
add support for removing ROMFS from hwdef
2024-03-14 09:33:55 +09:00
Andrew Tridgell
dba0497541
hwdef: fixed Pixhawk1-1M build
2024-03-14 09:33:55 +09:00
Peter Barker
e9ef9c04a5
GCS_MAVLink: make rally/fence item conversion methods public
2024-03-14 09:33:55 +09:00
Peter Barker
95046e617e
AP_FileSystem: permit upload of fence/rally via ftp
2024-03-14 09:33:55 +09:00
subashchandar
809a76d419
AP_HAL_ChibiOS: hwdef: Add new hardware pixflamingo f7
2024-03-14 09:33:55 +09:00
Randy Mackay
7df12b4d22
AP_HAL_ChibiOS: AP_Periph does not use AP_VisualOdom
2024-03-14 09:33:55 +09:00
Randy Mackay
fc5f6bcd69
AP_Scripting: EKF source switching for ExtNav and optflow
2024-03-14 09:33:55 +09:00
Randy Mackay
67a289686f
AP_Scripting: add VisualOdom bindings
2024-03-14 09:33:55 +09:00
Randy Mackay
855aa66bd0
AP_DDS: send quality of zero to AP_VisualOdom
2024-03-14 09:33:55 +09:00
Randy Mackay
d7837c7098
GCS_MAVLink: send Odometry quality to VisualOdom
2024-03-14 09:33:55 +09:00
Randy Mackay
4fcd8b1068
AP_VisualOdom: use Odometry quality
2024-03-14 09:33:55 +09:00
Randy Mackay
94150368ee
SITL: vicon send odometry with quality of 50
2024-03-14 09:33:55 +09:00
Randy Mackay
a2bc0ca858
SITL: vicon param descriptions
2024-03-14 09:33:55 +09:00
Andrew Tridgell
da052f4a10
AP_Scripting: add file system crc32 binding
2024-03-14 09:33:55 +09:00
Andrew Tridgell
f8767d6443
AP_Arming: added arming check for fence storage
2024-03-14 09:33:55 +09:00
Andrew Tridgell
1dfa76b1e5
AC_Fence: allow for fence storage on microSD
2024-03-14 09:33:55 +09:00
Andrew Tridgell
42ba8ac8d6
AP_BoardConfig: added BRD_SD_FENCE
...
allow for fence storage on microSD
2024-03-14 09:33:55 +09:00
Andrew Tridgell
421f3f20dd
RC_Channel: disable GPS on external AHRS with GPS_DISABLE
2024-03-14 09:33:55 +09:00
Andrew Tridgell
9931e77a65
AP_AHRS: don't use accel/gyro from ExternalAHRS unless enabled
2024-03-14 09:33:55 +09:00
Pulak Gautam
abe4e1632e
AP_ExternalAHRS: added missing #if AHRS logging
2024-03-14 09:33:55 +09:00
Andrew Tridgell
324205e37a
AP_ExternalAHRS: check for origin in pre-arm check
2024-03-14 09:33:55 +09:00
Andrew Tridgell
4810c81b25
AP_ExternalAHRS: make get_accel() and get_gyro() bool
2024-03-14 09:33:55 +09:00
Andrew Tridgell
1f1392ddbc
AP_ExternalAHRS: added support for GPS disable and fwd flight
...
allow backends to determine if we are in fixed wing flight and/or the
GPS is disabled by the user
2024-03-14 09:33:55 +09:00
Andrew Tridgell
2895fd3bec
AP_ExternalAHRS: added EAHRS_LOG_RATE and common logging
...
common logging for all EAHRS backends
2024-03-14 09:33:55 +09:00
Iampete1
b6fe7ea25f
AP_Gernerator: IE 2400: MAV_SEVERITY level depends on error code
2024-03-14 09:33:55 +09:00
Andrew Tridgell
5646cfbd57
SITL: fixed the vehicle type of the simulated ship
...
this was broken by https://github.com/ArduPilot/ardupilot/pull/23763
we need to look for other places where we have assumed the MAVLink
field orderin in recent changes
2024-03-14 09:33:55 +09:00
Andrew Tridgell
252d133110
AP_Scripting: support precision loiter in quadplanes
...
and allow for moving landing target
2024-03-14 09:33:55 +09:00
Andrew Tridgell
efa83d5d6d
SITL: added moving precland simulator
...
added SIM_PLD_SHIP to make the precland location track the SIM_SHIP
location, giving a nice way of having a landing marker on a moving
ship
2024-03-14 09:33:55 +09:00
Andrew Tridgell
e759268ab3
AP_Scripting: fixed race condition in ship landing
...
and fixed lua warnings
2024-03-14 09:33:55 +09:00
Andrew Tridgell
fe31c672a9
AP_Scripting: added plane_precland lua script
2024-03-14 09:33:55 +09:00
Andrew Tridgell
89ffe01dad
AP_Scripting: added docs for precland
2024-03-14 09:33:55 +09:00
Andrew Tridgell
3edab2a211
AP_Scripting: added bindings for AC_PrecLand
2024-03-14 09:33:55 +09:00
Andrew Tridgell
c9bc4bcdd2
SITL: fixed precland simulator
...
fixed units of height, was mixed cm and m, now just m AMSL
2024-03-14 09:33:55 +09:00
Andrew Tridgell
409f3c37e3
AC_PrecLand: added get_target_location and get_target_velocity
2024-03-14 09:33:55 +09:00
Andrew Tridgell
ae790750ed
AP_TECS: fixed adjusting speed without airspeed sensor
...
the pitch trim variable that was not connected in aparm is needed to
allow tuning of the flight speed using PTCH_TRIM_DEG and
TRIM_THROTTLE.
This was broken in 4.4.x by this PR:
https://github.com/ArduPilot/ardupilot/pull/22191
2024-03-14 09:33:55 +09:00
Andy Piper
2a61cc73fe
AP_HAL_ChibiOS: BlitzF745AIO update to ICM-42688
...
enable OSD
use minimal FPV config
enable compass probing
pull uart pins high in bootloader for ELRS
2024-03-14 09:33:55 +09:00
Andrew Tridgell
aa1871a3f4
AP_HAL_SITL: fixed get_baud_rate()
2024-03-14 09:33:55 +09:00
Andrew Tridgell
65f7257601
AP_HAL_Linux: fixed get_baud_rate()
2024-03-14 09:33:55 +09:00
Andrew Tridgell
80cd126f99
AP_HAL_ESP32: fixed get_baud_rate()
2024-03-14 09:33:55 +09:00
Andrew Tridgell
c94b5d837a
AP_SerialManager: default GPS baud to 230400
...
this is the most common baudrate
2024-03-14 09:33:55 +09:00
Andrew Tridgell
ae13e7dd2e
AP_GPS: do initial probe at default baudrate
...
this makes for much faster probe for most users
2024-03-14 09:33:55 +09:00
Peter Barker
1e4c291d33
AP_GPS: correct check of reported antenna distance vs stated offset
2024-03-14 09:33:55 +09:00
Andrew Tridgell
09401ca316
AP_GPS: added option to decode RTCM injected data
...
this allows for redundent RTCM links (eg. WiFi and SiK links for light
show drones) without causing corruption into the GPS.
If the GPS_DRV_OPTION bit is set then we instantiate a separate RTCM3
decoder per mavlink channel, and only inject when we get a full packet
that passes the RTCM 24 bit CRC
2024-03-14 09:33:55 +09:00
Andrew Tridgell
127ea4ab95
GCS_MAVLink: pass channel number to AP_GPS on RTCM injection
2024-03-14 09:33:55 +09:00
Andrew Piper
66ccaee83b
AP_GPS: fragments_received is a bitmask not a count
2024-03-14 09:33:55 +09:00
Paul Riseborough
de080b2499
AP_TECS: Remove unused variable
2024-03-14 09:33:55 +09:00
Paul Riseborough
1654bacc2b
AP_TECS: Add /0 protection
2024-03-14 09:33:55 +09:00
Paul Riseborough
1aeb0ba23c
AP_TECS: Add option for speed to increase up to FBW max during descent
2024-03-14 09:33:55 +09:00
lthall
002bd5b1ea
Copter: AC_AttitudeControl: RP_FILT_HZ to RPY_FILT_HZ
2024-03-14 09:33:54 +09:00
lthall
ef45942a8a
AC_CustomControl: RP_FILT_HZ to RPY_FILT_HZ
2024-03-14 09:33:54 +09:00
Andy Piper
3721b434e1
AC_AttitudeControl: ensure yaw gets a FLTD default
2024-03-14 09:33:54 +09:00
Iampete1
f1821ce4fc
AC_AttitudeControl: fix reset_target_and_rate method
2024-03-14 09:33:54 +09:00
Randy Mackay
9ec47e0651
AP_Camera: fix video recording while armed
2024-03-14 09:33:54 +09:00
Andrew Tridgell
ef911d30d8
AP_Param: fixed build of CubeOrange-periph
2024-03-14 09:33:54 +09:00
Andrew Tridgell
dd1e91528d
AP_Param: fixed cygwin build
...
the cygwin build is not generating binaries failing with:
undefined reference to `AP_Param::load_param_defaults(char const volatile*, int, bool)
there is a 2nd problem that the CI test for cygwin doesn't fail when
the build fails. That will be addressed separately
2024-03-14 09:33:54 +09:00
Peter Barker
08a45293f2
AP_BattMonitor: fix compilation when scripting in but scripted-battery out
...
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
2024-03-14 09:33:54 +09:00
Rhys Mainwaring
1110dd7a7b
AP_DDS: use msg_prefix in GCS_SEND_TEXT
...
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-03-14 09:33:54 +09:00
Rhys Mainwaring
ed0a7d5e6e
AP_DDS: use microxrcedds_gen default-container-prealloc-size
...
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-03-14 09:33:54 +09:00
Rhys Mainwaring
9a01419c27
AP_DDS: remove unused TFMessage variable
...
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-03-14 09:33:54 +09:00
Peter Barker
3f2e3615e5
AP_RCProtocol: CRSF: use subtraction with times, not time+timedelta
2024-03-14 09:33:54 +09:00
Andrew Tridgell
fd6b3cda0e
AP_RCProtocol: decode high duty-cycle CRSF frames using frame markers rather than timeouts
...
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
2024-03-14 09:33:54 +09:00
Peter Barker
7b727a8ac1
AP_RCProtocol: correct CSRF->CRSF
...
Co-authored-by: Andy Piper <github@andypiper.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
2024-03-14 09:33:54 +09:00
Andy Piper
69d3968b9f
AP_RCProtocol: add tests for CRSF and fix protocol test
...
fixed RCProtocolTest on SITL and make it pass/fail with an exit code
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
2024-03-14 09:33:54 +09:00
rishabsingh3003
40068358c5
AC_Avoid: Remove sensor status checks
2024-03-12 11:30:17 +11:00
rishabsingh3003
a42f537e61
AP_Proximity: Improve get_status handling
2024-03-12 11:30:17 +11:00
rishabsingh3003
6a87f59d59
AP_RangeFinder: move multican to AP_CANSensor
2024-03-12 11:30:17 +11:00
rishabsingh3003
488bcf6125
AP_Proximity: move mutlican to AP_CANSensor
2024-03-12 11:30:17 +11:00
rishabsingh3003
f552247d4e
AP_Arming: Remove MR72
2024-03-12 11:30:17 +11:00
rishabsingh3003
4aaefb7b9e
AP_CANManager: Add multiCAN interface
2024-03-12 11:30:17 +11:00
rishabsingh3003
19b6b3bef9
AP_Arming: Add check for CAN MR72
2024-03-12 11:30:17 +11:00
rishabsingh3003
771a2da715
AP_Proximity: Add support for CAN MR72
2024-03-12 11:30:17 +11:00
rishabsingh3003
03ad0b9631
AP_CANMangaer: Add support for CAN MR72
2024-03-12 11:30:17 +11:00
bugobliterator
6fa4259b21
AP_GPS: broaden the acceptance criteria for GPS Yaw measurement
2024-02-14 09:21:15 +09:00
Iampete1
eba74e53c7
AP_Parachute: do relay conversion if ever enabled
2024-02-14 09:21:15 +09:00
Andrew Tridgell
e36a6226a8
HAL_ChibiOS: fixed CANFD timings (again!)
...
the timing table was not correct, thanks to APD for pointing this out.
This is recalculated from
https://www.kvaser.com/support/calculators/can-fd-bit-timing-calculator ,
with transmitter timing delay compensation added and tested with Salae
captures to ensure we are getting the right bit rates
2024-02-14 09:21:15 +09:00
Andrew Tridgell
e2bccebfb8
AP_Param: fixed setting of defaults for dynamic param trees
...
when we load a VARPTR subtree we need to re-scan the parameter
defaults file from @ROMFS/defaults.parm in case there are defaults
applicable to this subtree
2024-02-14 09:21:15 +09:00
yjuav
9bf73db55e
hwdef: add YJUAV_A6Ultra board support
2024-02-14 09:21:15 +09:00
Randy Mackay
1c41244fe5
Mount: Siyi waits for non-zero cam firmware version
2024-02-14 09:21:15 +09:00
David O'Connor
ef10be5918
hwdef: add AnyLeaf H7 board
2024-02-14 09:21:15 +09:00
Andy Piper
3f8c4770b0
AP_RCProtocol: discriminate GHST and CRSF based on first byte
...
do not change to GHST baudrate unless it has been specifically configured
2024-02-14 09:21:15 +09:00
Andrew Tridgell
2c378f4ba0
HAL_Linux: fixed float calc of time for onboard flow
2024-02-14 09:21:15 +09:00
Andrew Tridgell
350be1b24f
HAL_SITL: use integer maths for clocks
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same fix as for HAL_Linux
2024-02-14 09:21:15 +09:00
Andrew Tridgell
55d2404e4c
HAL_Linux: fixed time function to use integer maths
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avoid floating point rounding errors after long uptimes.
thanks to Richard (RSAXVC) for finding this
2024-02-14 09:21:15 +09:00
Andrew Tridgell
c51d326f53
AP_Scripting: prevent double close in web server
2024-02-14 09:21:15 +09:00
Andrew Tridgell
d98036990e
AP_Scripting: prevent re-use of closed socket
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this prevents a null pointer dereference after a close of a network
socket
2024-02-14 09:21:15 +09:00
Andrew Tridgell
7c47049076
AP_Param: don't enable param backup on all boards
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this fixes an issue with resetting of parameters when going between
4.4.x and 4.5.x on MatekH743, and on any other board using flash
storage where the storage size has increased from 16k to 32k between
4.4.x and 4.5.x
The problem is that when you update to 4.5.x the parameter code stored
a backup of parameters in the StorageParamBak storage region which is
in the last section of storage. When you downgrade to 4.4.x the
AP_FlashStorage::load_sector() code tries to load this data and gets
an error as it is beyond the end of the available 16k storage. This
triggers an erase_all() and loss of parameters
2024-01-28 08:43:57 +11:00
Andrew Tridgell
6e3369611e
HAL_ChibiOS: enable clock management on G4
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this allows for a different clock tree in the main fw from the
bootloader
2024-01-25 11:44:52 +11:00
Andrew Tridgell
06a8aef998
HAL_ChibiOS: switched G4 FDCAN clock to 80MHz
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this requires main CPU clock at 160 MHz instead of 168 MHz
2024-01-25 11:44:44 +11:00
Andrew Tridgell
2d965684f6
HAL_ChibiOS: fixed CANFD timings
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our CANFD timings were resulting in a lot of busoff errors. Here is an
example of master at 1Mbit/5MBit:
Getting @SYS/can0_stats.txt as -
------- Clock Config -------
CAN_CLK_FREQ: 80MHz
Std Timings: bitrate=1000000 presc=7
sjw=0 bs1=7 bs2=0 sample_point=90.00000%
FD Timings: bitrate=5000000 presc=1
sjw=0 bs1=5 bs2=0 sample_point=90.00000%
------- CAN Interface Stats -------
tx_requests: 2689
tx_rejected: 0
tx_overflow: 443
tx_success: 7
tx_timedout: 2232
tx_abort: 0
rx_received: 18470
rx_overflow: 0
rx_errors: 0
num_busoff_err: 34439
num_events: 18477
ECR: F8
fdf_rx: 18467
fdf_tx_req: 2182
fdf_tx: 0
here is an example with the new timings:
------- Clock Config -------
CAN_CLK_FREQ: 80MHz
Std Timings: bitrate=1000000 presc=8
sjw=1 bs1=8 bs2=1 sample_point=90.00000%
FD Timings: bitrate=8000000 presc=2
sjw=3 bs1=8 bs2=3 sample_point=80.00000%
------- CAN Interface Stats -------
tx_requests: 3023
tx_rejected: 0
tx_overflow: 0
tx_success: 3023
tx_timedout: 0
tx_abort: 0
rx_received: 27865
rx_overflow: 0
rx_errors: 0
num_busoff_err: 0
num_events: 30888
ECR: 0
fdf_rx: 27862
fdf_tx_req: 3016
fdf_tx: 3016
I am testing between a CubeOrange and a Pixhawk6X. I tested 1, 2, 4, 5
and 8 MBit (which are the only valid FD bitrates in our parameters)
Many thanks to Kai from Salient Motion for finding this issue and
providing the corrected timing table
2024-01-25 11:44:32 +11:00
Peter Barker
f18e196fa9
GCS_MAVLink: use virtual method for GCS_MAVLink::handle_message
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use more appropriate naming for the method.
2024-01-24 09:07:41 +11:00
Peter Barker
475ef8a06d
AP_Mission: fix use of uninitialised stack data
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loading missions via FTP ends up using uninitialised stack data when storing missions.
2024-01-24 09:04:28 +11:00
Hayden Donald
a81f2785aa
AP_HAL_ChibiOS: Use correct pin config for ADC2 and ADC3
2024-01-24 08:03:24 +11:00
MallikarjunSE
873e2eac7d
AP_HAL_ChibiOS: update truenav hwdef
2024-01-24 07:58:09 +11:00
J.R. Bronkar
784a21bcab
AP_Mission: fractional Loiter Turn Support
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Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
2024-01-22 20:27:20 -08:00
Andrew Tridgell
50b95c81ca
AP_Param: whitespace fix
2024-01-23 15:00:30 +11:00