Andy Piper
0da6b97485
AP_HAL_ChibiOS: spro H7 extreme updates.
...
cannot currently use both IMUs on spro H7 extreme due to CPU load
2022-04-07 10:05:28 +10:00
Peter Barker
6a21152b67
AP_AHRS: subtract accel bias from correct ins accel instance
...
In the case that you have INS_USE indicating IMUs should be used, but
EK3_IMU_MASK leaving some IMUs unused, we subtract the bias from the
wrong INS data
2022-04-07 10:05:28 +10:00
Andrew Tridgell
283742edf1
AP_Logger: increase stack of log_io thread by 256
...
This was seem on omnibusf4pro, it is a bit too close:
log_io PRI= 59 sp=0x20015CC0 STACK=144/1656
2022-04-07 10:05:28 +10:00
Bill Geyer
559f90b814
AP_Math: add chirp function to support frequency sweeps in systemid and autotune
2022-04-07 10:05:28 +10:00
Bill Geyer
250782c7f8
AC_Autotune: clean up variable init for dwell
2022-04-07 10:05:28 +10:00
Bill Geyer
61222462b3
AC_AutoTune: use chirp function in AP_Math for frequency sweeps
2022-04-07 10:05:28 +10:00
Bill Geyer
80aed73632
AC_AutoTune: combine dwell_run_test for angle and rate
2022-04-07 10:05:28 +10:00
Bill Geyer
0846880049
AC_AutoTune: combine dwell_init methods
2022-04-07 10:05:28 +10:00
Bill Geyer
3a6c5b27f6
AC_AutoTune:tradheli-streamline gcs messages
2022-04-07 10:05:28 +10:00
Peter Barker
c33256b3c2
AC_AutoTune: Vector tidying
2022-04-07 10:05:28 +10:00
Peter Barker
a0aa04efcc
AC_AutoTune_Heli: use structure assignment to clear structures
2022-04-07 10:05:28 +10:00
Peter Barker
225112045c
AC_AutoTune: use structure assignment for test results
2022-04-07 10:05:28 +10:00
Peter Barker
3886f88b8c
AC_AutoTune: createstructure to hold specific test's sweep results
2022-04-07 10:05:28 +10:00
Henry Wurzburg
a0c286a8ed
HWDEF: add SLCAN OTG port, correct defaults.param errors
2022-04-07 10:05:28 +10:00
Andy Piper
89c8057e98
AP_HAL_SITL: correct disable channel maths
...
unilaterally write rcoutput to appease the sitl gods
2022-04-07 10:05:28 +10:00
Andy Piper
de526b07dc
SRV_Channel: don't count disabled channels in mask and setup functions
...
disable channels that are not in use
2022-04-07 10:05:28 +10:00
Andy Piper
f7624662b7
AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands
...
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
2022-04-07 10:05:28 +10:00
AndKe
0451c405b4
AP_HAL_ChibiOS: add OREOLED to CubeGreen
2022-04-07 10:05:28 +10:00
Andrew Tridgell
3487f8f251
hwdef: changed MatekH743 to a 32 bit timer
...
the 68ms issue is still present on this board. Switching to a 32 bit
timer will fix it, but loses us the tonealarm support
2022-03-28 20:53:56 +11:00
Andrew Tridgell
43df023a4d
AP_Param: fixed param class conversion code
...
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.
I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
2022-03-28 20:53:56 +11:00
Andrew Tridgell
739192f579
AP_Logger: added terrain correction logging field
2022-03-28 20:53:56 +11:00
Andrew Tridgell
76a924559b
AP_Terrain: added logging of terrain correction
2022-03-28 20:53:56 +11:00
Andrew Tridgell
278d87e6f2
AP_Scripting: restored corrected boolean in height_amsl binding
2022-03-28 20:53:56 +11:00
Andrew Tridgell
8d6bfac43c
HAL_SITL: don't use terrain adjustment
2022-03-28 20:53:56 +11:00
Andrew Tridgell
8c026ec701
AP_Arming: setup for terrain adjustment on arming
2022-03-28 20:53:56 +11:00
Andrew Tridgell
75bd6a4b6a
SITL: don't use adjusted terrain in SITL
2022-03-28 20:53:56 +11:00
Andrew Tridgell
89465d2126
AP_Terrain: added terrain reference adjustment
...
this restores the terrain adjustment functionality removed in #19946 ,
but without the problematic approach of always using home (which can
be moved in flight) and with a TERR_OFS_MAX parameter to limit the
amount of adjustment
2022-03-28 20:53:56 +11:00
Andrew Tridgell
4bc35ba04d
HAL_ChibiOS: display source of RC input
...
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
2022-03-28 20:53:56 +11:00
Andrew Tridgell
0ae1ac182a
HAL_ChibiOS: switch between IOMCU and RCProt rapidly
...
keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
2022-03-28 20:53:56 +11:00
Andrew Tridgell
9ba73d362d
AP_RCProtocol: added using_uart() method
2022-03-28 20:53:56 +11:00
Andy Piper
4c4d60778c
AP_HAL_ChibiOS: add KakuteH7-bdshot target
2022-03-28 20:53:56 +11:00
Andrew Tridgell
f0f19ce8fb
AP_BattMonitor: fixed battery remaining of sum battery
...
and move to common function for update_consumed()
2022-03-28 20:53:56 +11:00
Randy Mackay
50cf7c9f94
AP_BLHeli: add reboot required to some parameters
2022-03-28 20:53:56 +11:00
Andy Piper
bafe46882f
AP_HAL_ChibiOS: correct channel offsets for dshot commands
...
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
2022-03-28 20:53:56 +11:00
Randy Mackay
43beccd86c
AP_HAL_ChibiOS: reversible DShot fix
...
Co-authored-by: Andy Piper <github@andypiper.com>
2022-03-28 20:53:56 +11:00
Andrew Tridgell
86899b279f
HAL_ChibiOS: prevent conflicting RC input
...
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
2022-03-28 20:53:56 +11:00
Andrew Tridgell
3ffc08ae91
AP_GPS: prevent switching to a dead GPS
...
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
2022-03-28 20:53:56 +11:00
Andrew Tridgell
36ba3fab9e
GCS_MAVLink: send GCS voltage to GCS
...
may be resting voltage of option enabled
2022-03-28 20:53:56 +11:00
Andrew Tridgell
11e17a49d3
AP_BattMonitor: added option to send resting voltage to GCS
2022-03-28 20:53:56 +11:00
Andy Piper
6ddb813fba
AP_Declination: ensure indexing into declination tables is always correct
...
add constants for table sizes
2022-03-18 14:30:36 +11:00
Andrew Tridgell
3cef6b8167
AP_Arming: make mission checks virtual
2022-03-18 14:23:20 +11:00
Andrew Tridgell
518b126f52
AP_Arming: display a warning if arming checks disabled when arming
2022-03-18 14:22:53 +11:00
Andrew Tridgell
66c13d29b7
AC_AttitudeControl: added set_lean_angle_max_cd()
2022-03-16 07:09:30 +11:00
Andrew Tridgell
ecbcbbe044
AC_Autorotation: use accel_to_angle()
2022-03-15 09:25:53 +11:00
Andrew Tridgell
f398cf8814
AC_WPNav: use angle/accel functions
2022-03-15 09:25:36 +11:00
Andrew Tridgell
a16357fb08
AP_Math: added angle_to_accel() and accel_to_angle()
2022-03-15 09:25:18 +11:00
Leonard Hall
b9628f106d
AC_PosControl: Decay posiiton error during relax
2022-03-10 10:49:54 +11:00
Leonard Hall
94b83d34b1
AC_AttitudeControl: AC_PosControl: add soften for landing
2022-03-10 10:48:16 +11:00
Peter Barker
a7aa4155ad
AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files
2022-03-10 10:36:09 +11:00
Andrew Tridgell
58cc0b4289
AP_Math: fixed build error on cygwin
...
ensure variables are always initialised
2022-03-10 10:31:02 +11:00
