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Commit Graph

26652 Commits

Author SHA1 Message Date
mateksys
3af1e507a4 ChibiOS: add icm42605 as substitution for icm20602 2021-10-18 18:06:45 -04:00
Paul Riseborough
cd53c9f6a5 AP_NavEKF3: fix wind speed covariance initialisation bug 2021-10-18 18:06:45 -04:00
Andrew Tridgell
0ad778f4c1 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
 2021-09-15 16:03:33 +09:00
Andrew Tridgell
4fcd3756af AP_RCProtocol: increase CRSF frame timeout to account for scheduling delays 2021-09-10 14:32:03 +09:00
Leonard Hall
6bfc28059c AC_WPNav: Fix calculation of _scurve_jerk_time using radians. 2021-09-10 14:08:46 +09:00
Andy Piper
97f182c493 AP_HAL_ChibiOS: bdshot version of CUAVv5 2021-09-10 14:08:46 +09:00
Andy Piper
13f8d41e03 AP_HAL_ChibiOS: bdshot version of CUAVv5Nano 2021-09-10 14:08:46 +09:00
Leonard Hall
8a1e452d3c AC_AttitudeControl: AC_PosControl: Change set_correction_speed_accel_z to use input arguments 2021-09-10 14:08:46 +09:00
Andrew Tridgell
ace1a72b93 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 14:08:46 +09:00
Peter Barker
8639b5e4c3 AC_WPNav: monitor WPNAV_SPEED for changes 2021-09-10 14:08:46 +09:00
Josh Henderson
156da6431f AC_WPNav: simplify get_wp_destination_loc 2021-09-10 14:08:46 +09:00
Randy Mackay
ac57e91e8f AC_WPNav: protect against divide-by-zero 2021-09-10 14:08:46 +09:00
Randy Mackay
e0143d4008 AC_WPNav: move definitions to .cpp file 2021-09-10 14:08:46 +09:00
Randy Mackay
f22f8f6200 Copter: terrain spelling fix 2021-09-10 14:08:46 +09:00
Randy Mackay
93197133be AC_WPNav: terrain spelling fix 2021-09-10 14:08:46 +09:00
Leonard Hall
3e62c17577 AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-10 14:08:46 +09:00
Leonard Hall
ee26d72682 AC_WPNav: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Leonard Hall
baf58607fa AC_Autotune: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Leonard Hall
00ff3cec46 AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Iampete1
11426792ef SRV_Channel: call update_aux_servo_function in function_assigned 2021-09-10 14:08:46 +09:00
Andrew Tridgell
78ca572634 HAL_ChibiOS: use more USB buffers on higher end F7 chips 2021-09-10 14:08:46 +09:00
Andrew Tridgell
a48f0ef90d 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 14:08:46 +09:00
Andrew Tridgell
3bc9507530 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 14:08:46 +09:00
Pierre Kancir
21de22f10d AP_Rangefinder: fix override in constructor 2021-09-10 14:08:46 +09:00
Andrew Tridgell
8209a5ac5c AP_DAL: fixed a bug in RMGH logging 2021-09-10 14:08:46 +09:00
Andrew Tridgell
8731a13fb5 AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-09-10 14:08:46 +09:00
Andrew Tridgell
aa8ebc403e HAL_ChibiOS: fixed GPIO lines for QioTekZealotF427 2021-09-10 14:08:46 +09:00
Andrew Tridgell
f232fc551b AP_Declination: added a test suite for AP_Declination 
use test vectors from MAVProxy mavextra
 2021-09-10 14:08:46 +09:00
Andrew Tridgell
042b512877 AP_Declination: fixed rounding in mag field 
thanks to Angela for noticing this
 2021-09-10 14:08:46 +09:00
mateksys
c5ed3c391a Tools: added MatekF765-SE to autobuild 2021-08-28 17:10:29 +09:00
mateksys
96b4cee01d AP_HAL_ChibiOS: add MatekF765-SE hwdef as a variant of MatekF765-Wing 2021-08-28 17:10:29 +09:00
Peter Barker
32c7a0d6e4 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-28 17:10:29 +09:00
Andrew Tridgell
a11948e175 APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-08-28 17:10:29 +09:00
Andrew Tridgell
8268a59130 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-08-28 17:10:29 +09:00
Andrew Tridgell
06577318ff AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-28 17:10:29 +09:00
Andrew Tridgell
c2672784be AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-28 17:10:29 +09:00
QioTek
ce7d5341eb AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649 
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
 2021-08-28 17:10:29 +09:00
Hwurzburg
3cf3ed8fff AP_HAL_Chibios: Change RC in to RCINT to free a DMA channel 2021-08-28 17:10:29 +09:00
Andrew Tridgell
72d115bec4 HAL_ChibiOS: allow FlywooF745 to build again 2021-08-28 17:10:29 +09:00
Andy Piper
7698a006ad AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-28 17:10:29 +09:00
Leonard Hall
f9452ec17a AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-28 17:10:29 +09:00
Leonard Hall
a1975d7535 AC_WPNav: Fix Jerk units 2021-08-28 17:10:29 +09:00
Leonard Hall
70d2062809 AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-28 17:10:29 +09:00
Leonard Hall
d0521e6906 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-28 17:10:29 +09:00
Iampete1
c47bc995d1 AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-28 17:10:29 +09:00
Randy Mackay
9a26509eee AP_Scripting: copter-fast-descent.lua example script 2021-08-28 17:10:29 +09:00
Randy Mackay
4a05d7a05a AP_Vehicle: add virtual set_target methods 2021-08-28 17:10:29 +09:00
Randy Mackay
e5b3596831 AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-28 17:10:29 +09:00
Randy Mackay
79f0a02675 AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-28 17:10:29 +09:00
Randy Mackay
d61c16d83c AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-28 17:10:29 +09:00
Randy Mackay
07e875aba2 AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-28 17:10:29 +09:00
Randy Mackay
9638755b0f AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-28 17:10:29 +09:00
Randy Mackay
1f63a1a63c AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-28 17:10:29 +09:00
Iampete1
9bf151fcd7 AP_Vehicle: #ifdef scripting specific functions 2021-08-28 17:10:29 +09:00
Iampete1
a1e96f7d17 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 17:10:29 +09:00
Randy Mackay
54d6cf15e5 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-28 17:10:29 +09:00
Pierre Kancir
e5ea7e6196 AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 17:10:29 +09:00
Pierre Kancir
c4b7f6ddcf AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 17:10:29 +09:00
Pierre Kancir
4866ffc597 AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 17:10:29 +09:00
Andrew Tridgell
659c9fb10d HAL_ChibiOS: switch to minimum scheduling delta of 10us 
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.

Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.

Fixes issue #18383
 2021-08-28 17:10:29 +09:00
Andy Piper
eebcfb78c1 AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it 
change mamba F405 to active high as per betaflight
 2021-08-28 17:10:29 +09:00
Randy Mackay
b1e5e21d6d AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-28 17:10:29 +09:00
Andrew Tridgell
70e041d611 AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-28 17:10:29 +09:00
Andrew Tridgell
03de8e752a SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-28 17:10:29 +09:00
Hwurzburg
bd583452c7 AP_OSD: fixes bug introduced by #16477 2021-08-14 11:05:38 +09:00
Pierre Kancir
2a808dc53c AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-14 11:05:38 +09:00
Randy Mackay
87212e0fbf AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-14 11:05:38 +09:00
Randy Mackay
6ec43eefff AP_NavEKF2: remove unused EK2_GSF_DELAY param 2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi
b584adff59 AC_Avoid: use proximity_avoidance_enabled function 2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi
8eda43e697 AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled 2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi
2bebd8341f AC_Avoidance: handle upward proximity enable and disable 2021-08-14 11:05:38 +09:00
Andy Piper
c6247433df AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-14 11:05:38 +09:00
Andy Piper
761fc57a18 AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-14 11:05:38 +09:00
Pierre Kancir
53d69de164 AP_ESC_Telem: prevent possible overrun 2021-08-14 11:05:38 +09:00
Pierre Kancir
050e18cd03 AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-14 11:05:38 +09:00
Pierre Kancir
2d0e359065 AP_ESC_Telem: fix out of bound access 2021-08-14 11:05:38 +09:00
Pierre Kancir
6e9e529967 AP_OSD: check for nullptr before using it 2021-08-14 11:05:38 +09:00
Leonard Hall
0c48848d31 AP_Math: Spelling fix 2021-08-14 11:05:38 +09:00
Leonard Hall
f5dd8a9982 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-14 11:05:38 +09:00
Leonard Hall
b25dab9c9b AC_WPNav: support Control: Refactor to use Jerk 2021-08-14 11:05:38 +09:00
Leonard Hall
dac064e51c AP_Math: Control: Refactor to use Jerk 2021-08-14 11:05:38 +09:00
Leonard Hall
61982815cd AP_Math: Control: protect against divide by zero 2021-08-14 11:05:38 +09:00
Leonard Hall
b8cc90688e AC_WPNav: Fix Angle Vel units on function 2021-08-14 11:05:38 +09:00
Leonard Hall
dfcc6ce612 AC_AttitudeControl: Fix Angle Vel units on function 2021-08-14 11:05:38 +09:00
Leonard Hall
2436330da1 AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE 2021-08-14 11:05:38 +09:00
Leonard Hall
6b72b1fd31 AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 11:05:37 +09:00
Leonard Hall
51dbf271f9 AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 
Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
 2021-08-14 11:05:37 +09:00
Andrew Tridgell
1422c283b0 AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-14 11:05:37 +09:00
Andrew Tridgell
74f89cfbce AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 
this may help with some GPS modules
 2021-08-14 11:05:37 +09:00
Andy Piper
91d0a44524 AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-14 11:05:37 +09:00
Randy Mackay
6670a48811 AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-14 11:05:37 +09:00
Andrew Tridgell
37533db6f1 AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-14 11:05:37 +09:00
Leonard Hall
5c16e81f8f AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-14 11:05:37 +09:00
Andy Piper
7bad54f638 AP_Motors: remove tri yaw servo from motor mask 2021-08-14 11:05:37 +09:00
Andrew Tridgell
d88d811ab3 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-08-14 11:05:37 +09:00
bugobliterator
cc4fc42ed0 AP_RangeFinder: use separate register_driver method while contructing CAN Driver 2021-08-14 11:05:37 +09:00
bugobliterator
d27acbce2d AP_EFI: use separate register_driver method while contructing CAN Driver 2021-08-14 11:05:37 +09:00
bugobliterator
ae0d11a26d AP_BattMonitor: use separate register_driver method while contructing CAN Driver 2021-08-14 11:05:37 +09:00
bugobliterator
1bac7283ab AP_CANSensor: create a separate register driver method 2021-08-14 11:05:37 +09:00
Andrew Tridgell
ddbcfafe30 AP_AHRS: build fix 2021-07-23 10:19:50 +09:00