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26724 Commits

Author SHA1 Message Date
Mingchen Zhang
83db4e56d0 AP_SmartAudio: fix a bug that would starve the lower priority thread, such as scripting. 2021-12-21 11:29:57 +11:00
Andrew Tridgell
8c09da0ee6 AC_AutoTune: limit autotune target rates to parameter limits 
this makes it safer to autotune a large vehicle which may become
unstable at very high target rates
 2021-12-21 11:29:57 +11:00
Andrew Tridgell
3233528e37 AC_AttitudeControl: added get_ang_vel_yaw_max_rads() 2021-12-21 11:29:57 +11:00
Andrew Tridgell
a1ede5d2a3 AP_NavEKF3: Add missing covariance row reset 2021-12-21 11:29:57 +11:00
Andrew Tridgell
fde9083d9c AP_InertialSensor: added support for IIM-42652 and ICM-40605 sensors 
handle new Invensense v3 sensor types
 2021-12-21 11:29:57 +11:00
Andrew Tridgell
65563ece66 AP_InertialSensor: added support for ICM-20608-D sensor 2021-12-21 11:29:57 +11:00
Andrew Tridgell
14ccee4991 AP_RCTelemetry: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:27:16 +11:00
Andrew Tridgell
0a018c323c AP_RangeFinder: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:27:16 +11:00
Andrew Tridgell
f516977491 AP_Proximity: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:27:16 +11:00
Andrew Tridgell
b79962f38e AP_ADSB: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:27:16 +11:00
Andrew Tridgell
a69cf0c936 AP_RCProtocol: fixed multi-protocol search with added uart 2021-12-21 11:27:16 +11:00
Andrew Tridgell
d8ffd01145 AP_SerialManager: added have_serial() method 
this checks if we have the protocol without setting the options on the
uart
 2021-12-21 11:27:16 +11:00
Andrew Tridgell
3dc4cdd6af AP_BoardConfig: disable STLink debug pins by default 
this avoids leaving the debug pins in a state where they may be
vulnerable to ESD issues
 2021-12-21 11:24:17 +11:00
Bill Geyer
bc29005308 AP_Motors: add spool down complete flag 2021-12-18 12:17:22 +09:00
Andrew Tridgell
9606527edd AP_UAVCAN: use soft armed state for DroneCAN ARMING_STATUS 
this fixes motortest on quadplanes, so that ESCs see an armed state
during the test
 2021-12-18 12:17:22 +09:00
Andrew Tridgell
ab4fb4a7de HAL_ChibiOS: use a 16 bit sysinterval_t on 16 bit timers 
prevent mixed size subtraction errors
 2021-12-18 12:17:22 +09:00
Peter Barker
c20b20ec17 AC_Fence: void index when overwriting fence count on fencepoint-close 2021-12-18 12:17:22 +09:00
Andrew Tridgell
09bc81e846 AC_Fence: fixed fence count for old upload 
when uploading a fence that is smaller than an old fence we were not
correctly setting the inclusion fence size.
 2021-12-18 12:17:22 +09:00
Andrew Tridgell
5fc3cae33a APM_Control: make 2nd reduction of P smaller 
this prevents severe P reductions when we get a small oscillation
glitch after we've already got the primary P gain
 2021-12-18 12:17:22 +09:00
李孟晓
0cdd775d24 CUAV-X7: Add servo voltage detection pin 2021-12-18 12:17:22 +09:00
Andrew Tridgell
349a035702 AP_AHRS: fixed switching airspeed sensor based on EKF3 affinity (for 4.1) 
we need to use the EKF selected airspeed sensor when the EKF is setup
to run a different sensor on each lane
 2021-12-18 12:17:22 +09:00
Andrew Tridgell
0ed40ffa8b AC_AttitudeControl: fixed limiting of throttle mix values 
use constrain instead of reset to keep as much of user requested value
as possible

also raise limit for MIX_MIN to 0.5 after discussion with Leonard
 2021-12-18 12:17:22 +09:00
Andrew Tridgell
d4d53abc49 RC_Channel: added QRTL mode on a switch 2021-12-18 12:17:22 +09:00
Andy Piper
039a556771 AP_Vehicle: correct update_dynamic_notch_at_specified_rate() 2021-11-29 19:02:38 +09:00
Andy Piper
944471bc30 AP_Vehicle: make sure notch update rate is configurable 2021-11-29 19:02:38 +09:00
Andy Piper
830130b8b6 Filter: set output slew rate to zero when max is zero. 2021-11-29 19:02:38 +09:00
Andy Piper
0c38b3f456 AC_AutoTune: set slew rate to 0 while twitching 2021-11-29 19:02:38 +09:00
Andy Piper
bac523976e AC_PID: add slew_rate modifier 2021-11-29 19:02:38 +09:00
Hwurzburg
2e24dfc731 AP_Motors: change H_COLL_HOVER to H_COL_HOVER for consistency 2021-11-29 19:02:38 +09:00
torsten
61b5d372c1 AP_FETtecOneWire: reset buf_used 
if byte is missing due to electrical noise it can now resync
 2021-11-29 19:02:38 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
d4d2a779e8 AP_FETtecOneWire: Do not write to the UART buffer if the previous transfer did not complete yet 
Required for stable operation on F4 processors
 2021-11-29 19:02:38 +09:00
Andy Piper
db00de837a AP_HAL_ChibiOS: return correct value for tx_pending(). 2021-11-29 19:02:38 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
cb81c23040 AP_HAL_ChibiOS: disable FETtec OneWire device driver 2021-11-29 19:02:38 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
4fa548c86c AP_Arming: call fettec prearm checks 2021-11-29 19:02:38 +09:00
Peter Barker
1943938bc5 SITL: add simulated FETtec ESC 2021-11-29 19:02:38 +09:00
Peter Barker
443912ed9f AP_HAL_SITL: add simulated FETtec ESC 
do not overwrite FETTecESC telemetry data w/SITL ESC data
 2021-11-29 19:02:38 +09:00
Peter Barker
8cffcde7bd AP_Math: move crc8_dvb_update into crc library 2021-11-29 19:02:38 +09:00
Pierre Kancir
64091cf24c SRV_Channel: add FETtec support 2021-11-29 19:02:38 +09:00
Pierre Kancir
381945cc63 AP_SerialManager: add FETtecOneWire protocol 2021-11-29 19:02:38 +09:00
Torsten Z
b4f4ad7c01 AP_FETtecOneWire: A serial-based ESC protocol with telemetry 
Co-authored-by: Torsten Z <t.zunker@fettec.net>
Co-authored-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>

- uses ArduPilot's coding guidelines and naming conventions
- control motor speed
- Use the AP_ESC_Telem base class to:
  - copy ESC telemetry data into MAVLink telemetry
  - save ESC telemetry data in dataflash logs
  - use RPM telemetry for dynamic notch filter frequencies
  - sum the current telemetry info from all ESCs and use it as virtual battery current monitor sensor
  - average the voltage telemetry info and use it as virtual battery voltage monitor sensor
  - average the temperature telemetry info and use it as virtual battery temperature monitor sensor
- Obey the safety switch. Keeps motors from turning
- Use `SERVO_FWT_MASK` to define which servo output should be routed to FETtec ESCs
- Use `SERVO_FWT_RVMASK` to define the rotation direction of the motors
  - `SERVO_FWT_RVMASK` changes only take effect when disarmed
- Can be compiled when `HAL_WITH_ESC_TELEM` is disabled. No telemetry data will be available but it saves a lot of memory
- pre-arm checks:
  - Check that UART is available
  - check that the desired motor channels parameter (`SERVO_FWT_MASK`) is valid
  - check that the desired motor poles parameter (`SERVO_FWT_POLES`) is valid
  - check that the all desired ESCs are found and configured
  - check that the ESCs are periodically sending telemetry data
- re-init and configure an ESC(s) if not armed (motors not spinning) when
  - telemetry communication with the ESC(s) is lost
- adds a serial simulator (--uartF=sim:fetteconewireesc) of FETtec OneWire ESCs
- adds autotest (using the simulator) to:
  - simulate telemetry voltage, current, temperature, RPM data using SITL internal variables
  - test the safety switch functionality
  - test ESC power outages
  - test `SERVO_FWT_MASK` parameter validation
  - fly a copter over a simulated serial link connection
 2021-11-29 19:02:38 +09:00
Andrew Tridgell
72647b1a85 hwdef: added alternative Durandal 20602 IMU 2021-11-29 19:02:38 +09:00
Andrew Tridgell
168eb91ed3 RC_Channel: added fixed wing autotune rc option 2021-11-29 19:02:38 +09:00
Andrew Tridgell
e844cd7625 AP_ADSB: bugfix vertical velocity sign was backwards 2021-11-29 19:02:38 +09:00
Andrew Tridgell
fd6c9d476d AP_NavEKF3: fixed switch to non-zero primary on disarm 
if EK3_PRIMARY is not zero then we were not switching to it when
disarmed
 2021-11-29 19:02:38 +09:00
Andrew Tridgell
f2e97b9342 AP_UAVCAN: added CAN_Dn_UC_OPTION parameter 
this allows for 2 ways of controlling conflicts in the UAVCAN DNA
database. The first is to set CAN_Dn_UC_OPTION to 1, which resets the
DNA database, thus clearing any node conflicts.

The second is to set CAN_Dn_UC_OPTION to 2, which ignores node
conflicts in the DNA database

These options are useful for vehicles with UAVCAN smart batteries
where the node ID is fixed but the hwid changes and you want to do
battery swapping (possibly without rebooting)
 2021-11-29 19:02:38 +09:00
Mohammad Hefny
89135ff831 AP_Notify: link to notify module 2021-11-29 19:02:38 +09:00
Mohammad Hefny
97ae5d8bca AP_Batt: link to battery monitor 2021-11-29 19:02:38 +09:00
Mohammad Hefny
11944811df AP_HAL_Linux: define board features on Linux module 2021-11-29 19:02:38 +09:00
Mohammad Hefny
8ce6d7e101 AP_HAL: define board features 2021-11-29 19:02:38 +09:00
Andrew Tridgell
c7d89b7288 APM_Control: suppress roll/pitch D term in ground_mode 
prevent oscillations which are quite common
 2021-11-29 19:02:38 +09:00
Samuel Tabor
541435cb83 AP_Landing_Slope: Log height used for flare timing. 2021-11-29 19:02:38 +09:00
Ben Wolsieffer
5d12b14672 AP_Control: apply pitch rate limit to turn coordination 
At high bank angles, for example when rolling to/from inverted, a large turn
coordination pitch rate offset is requested. Before this patch, this offset was
not subject to the configured pitch rate limit, which could result in pitch
controller integrator windup.
 2021-10-17 19:03:42 -04:00
Andrew Tridgell
189d6d6ed6 AP_RCProtocol: check for RC protocol switching enable 
by default don't allow protocol switching after initial protocol is
found
 2021-10-17 19:03:42 -04:00
Andrew Tridgell
f01fce2e24 RC_Channel: added RC_OPTION bit for allowing RC protocol switching 
this is meant to prevent accidential switching to a disconnected pin
 2021-10-17 19:03:42 -04:00
bugobliterator
56d33cce7a AP_HAL_ChibiOS: account for TXFIFO when doing flow control detection 2021-10-17 19:03:42 -04:00
Andy Piper
71f5c6f4fb AP_Filesystem: fix ftp burst read with credit to deanharken 2021-10-17 19:03:42 -04:00
Andrew Tridgell
f3dd4cafcb AP_NavEKF3: added EK3_PRIMARY parameter 
allows for selection of which IMU to use on startup
 2021-10-17 19:03:42 -04:00
Andrew Tridgell
a1c94bb788 APM_Control: only save autotune gains when P finished 
this prevents saving values which are temporarily high due to tuning
process

See this bug report
https://discuss.ardupilot.org/t/plane-4-1-0-stable/76507/45
 2021-10-17 19:03:42 -04:00
Andrew Tridgell
ad13c8816d HAL_ChibiOS: fixed orientation of ICM42605 on QiotekZealotF427 2021-10-17 19:03:42 -04:00
Andrew Tridgell
68c8fe2b92 AP_Scripting: fixed bug in string logging with logger.write() 
this dereferenced a bad pointer, leading to crash and watchdog

thanks to Charlie for finding this!
 2021-10-17 19:03:42 -04:00
Andrew Tridgell
0c4de1b25a HAL_ChibiOS: disable soarding on FlywooF745 for flash space 2021-10-17 19:03:42 -04:00
Dr.-Ing. Amilcar do Carmo Lucas
26e867ebf2 GCS_MAVLink: add ESC_TELEMETRY_1_TO_4 to the mavlink_id_to_ap_message_id table 2021-10-13 18:08:43 +11:00
Andrew Tridgell
6a4fd8a82e AP_Scripting: avoid a error in lua with gcc 10.2 on STM32 with -Werror 2021-10-01 17:10:28 -04:00
Andrew Tridgell
6f43ca4bf9 AP_InertialSensor: fixed build warning 2021-10-01 16:39:28 -04:00
Andrew Tridgell
7453801ad5 AP_Compass: fixed build warning on g++ 10.2 2021-10-01 16:02:35 -04:00
lthall
2d6ceaff81 AC_AttitudeControl: Fix initialize bug 2021-10-01 14:07:25 -04:00
Andy Piper
37bf545373 AP_SerialManager: correct docs for SERIAL8 2021-10-01 14:07:25 -04:00
lthall
76771b1a2b AC_AttitudeControl: AC_PosControl: Update PSC logging to include desired 2021-10-01 14:07:25 -04:00
Leonard Hall
cbce08bace AP_Logger: Update PSC logging to include desired 2021-10-01 14:07:25 -04:00
Peter Barker
0a4ba0482a AP_Logger: specify frames on PSC fields 2021-10-01 14:07:25 -04:00
Iampete1
9cba6fa7aa AP_Proximity: lower SF45B update rate 2021-09-28 06:48:17 +09:00
Andy Piper
27b5770fb4 AP_RCTelemetry: don't enter parameter mode while armed. 
exit parameter mode quickly on ping
construct and respond to ping frames correctly
 2021-09-28 06:48:17 +09:00
mateksys
02245c4142 ChibiOS: add icm42605 as substitution for icm20602 2021-09-28 06:48:17 +09:00
Paul Riseborough
39c23e11aa AP_NavEKF3: fix wind speed covariance initialisation bug 2021-09-28 06:48:17 +09:00
Andrew Tridgell
a23bd5438a 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
 2021-09-13 18:47:07 +10:00
Andrew Tridgell
7ae8aac84f AP_RCProtocol: increase CRSF frame timeout to account for scheduling delays 2021-09-10 14:07:37 +09:00
Leonard Hall
4d0cf2c11d AC_WPNav: Fix calculation of _scurve_jerk_time using radians. 2021-09-10 14:07:37 +09:00
Andy Piper
74e4097f01 AP_HAL_ChibiOS: bdshot version of CUAVv5 2021-09-10 14:07:37 +09:00
Andy Piper
2c0d14c534 AP_HAL_ChibiOS: bdshot version of CUAVv5Nano 2021-09-10 14:07:37 +09:00
Leonard Hall
e80b0355b8 AC_AttitudeControl: AC_PosControl: Change set_correction_speed_accel_z to use input arguments 2021-09-10 14:07:37 +09:00
Andrew Tridgell
adc2bf1955 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 14:07:37 +09:00
Peter Barker
3fade60249 AC_WPNav: monitor WPNAV_SPEED for changes 2021-09-10 14:07:37 +09:00
Josh Henderson
2e52e2cba9 AC_WPNav: simplify get_wp_destination_loc 2021-09-10 14:07:37 +09:00
Randy Mackay
fe2b4d09c3 AC_WPNav: protect against divide-by-zero 2021-09-10 14:07:37 +09:00
Randy Mackay
173de60f25 AC_WPNav: move definitions to .cpp file 2021-09-10 14:07:37 +09:00
Randy Mackay
05ac549155 Copter: terrain spelling fix 2021-09-10 14:07:37 +09:00
Randy Mackay
b66b5cd21c AC_WPNav: terrain spelling fix 2021-09-10 14:07:37 +09:00
Leonard Hall
e0c26afc4a AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-10 14:07:37 +09:00
Leonard Hall
c404eec65c AC_WPNav: Separate landing and terrain following. 2021-09-10 14:07:37 +09:00
Leonard Hall
efd6a14d66 AC_Autotune: Separate landing and terrain following. 2021-09-10 14:07:37 +09:00
Leonard Hall
d942db7a38 AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-10 14:07:37 +09:00
Iampete1
753cb6dc20 SRV_Channel: call update_aux_servo_function in function_assigned 2021-09-10 14:07:37 +09:00
Andrew Tridgell
d0351581a0 HAL_ChibiOS: use more USB buffers on higher end F7 chips 2021-09-10 14:07:37 +09:00
Andrew Tridgell
d565549fad 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 14:07:37 +09:00
Andrew Tridgell
cbecce1d43 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 14:07:37 +09:00
Pierre Kancir
4f34ae70bf AP_Rangefinder: fix override in constructor 2021-09-10 14:07:37 +09:00
Andrew Tridgell
99d0f31059 AP_DAL: fixed a bug in RMGH logging 2021-09-10 14:07:37 +09:00
Andrew Tridgell
1ae5b5de1f AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-09-10 14:07:37 +09:00
Andrew Tridgell
8843704aca HAL_ChibiOS: fixed GPIO lines for QioTekZealotF427 2021-09-10 14:07:37 +09:00
Andrew Tridgell
76eece252b AP_Declination: added a test suite for AP_Declination 
use test vectors from MAVProxy mavextra
 2021-09-10 14:07:37 +09:00