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52,634 Commits 71 Branches 510 Tags 770 MiB
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29186 Commits

Author SHA1 Message Date
Andy Piper
77651637c0 AP_InertialSensor: support for fast sampling rates on ICM-42xxx series 
thoughtfully set anti-aliasing filters on ICM-42xxx series
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
3e3949b45d hwdef: added compass compensation for 3 boards 
use the new compass heater compensation for 4 compasses across 3
boards
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
6167bae280 AP_Compass: switch to a general method of heater compensation 
this allows any board to easily setup heater compensation for an
internal compass. The offsets are in body frame (previously in sensor
frame) and are sensor specific using bus device IDs
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
f16d2cc2aa hwdef: added missing ADC channel on Pixhawk6X 2022-08-12 02:49:51 -04:00
Andrew Tridgell
4488d4d290 hwdef: disable I2C DMA on Pixhawk6X 
this prevents an issue with the BMI088 and external compass on GPS1
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
22d4cd9865 hwdef: fixed rotation of bmi088 on Holybro6X 2022-08-12 02:49:51 -04:00
Andrew Tridgell
5f62658383 AP_InertialSensor: re-enable notch filter on 42688 
thanks to Andy for pointing out this is for an internal resonance
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
84f493664d AP_InertialSensor: enable 180Hz LPF on ICM42670 2022-08-12 02:49:51 -04:00
Andrew Tridgell
929cc22928 AP_InertialSensor: enable AAF at 488Hz for gyro+accel on ICM42688 
this should improve vibration handling
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
5b6fc2f97d AP_InertialSensor: added support for ICM42670 IMU 2022-08-12 02:49:51 -04:00
Andrew Tridgell
aedc20e938 hwdef: fixed orientation of Pixhawk6X ICM42670 2022-08-12 02:49:51 -04:00
Andrew Tridgell
9ac5e03bc3 AP_BoardConfig: allow for BMI088 for Holybro 6X 
and tighten check on CUAV-X6 and Holybro-6X to check all 3 IMUs
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
6ca513fe28 hwdef: use right name for ICM42670 SPI device 2022-08-12 02:49:51 -04:00
Andrew Tridgell
add565508c AP_ICEngine: added option for throttle control while disarmed 
this uses the passed in base throttle when disarmed
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
ef473a4372 AP_ICEngine: added option to force low throttle on engine off 
this fixes an issue with EFI engines that use low throttle demand to
stop the engine, instead of using an ignition channel. This option
needs to be set on these aircraft to prevent the idle governor or the
fwd throttle integrator in quadplanes from keeping the engine on when
the pilot asks for it to be off.
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
b7c7510268 hwdef: MFE-PixSurveyA1 rename PixSurveyA1 2022-08-12 02:49:51 -04:00
xiao
f9645365dc HAL_ChibiOS: hwdef: add new hardware MFE-PixSurveyA1 2022-08-12 02:49:51 -04:00
Andrew Tridgell
2600b3fb2a hwdef: changed Pixhawk6C board type to 56 
production bootloader uses 56
 2022-08-12 02:49:51 -04:00
Andy Piper
49454b3745 AP_HAL_ChibiOS: hwdef for Foxeer Reaper F745v2. 
README for Reaper F745v2
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
ddf6d34de7 hwdef: added telem3 on Pixhawk6X 2022-08-12 02:49:51 -04:00
Andrew Tridgell
3c3a55201d hwdef: added Pixhawk6C support 2022-08-12 02:49:51 -04:00
Andrew Tridgell
6eeabaf7f1 AP_Compass: HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE for Pixhawk6C 2022-08-12 02:49:51 -04:00
Andrew Tridgell
64a232e912 AP_Compass: removed "AK09916 Wrong id" message 
we don't need this on every board that doesn't have an I2C AK09916
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
39532a50b1 hwdef: fixed Pixhawk6X ALT_RAM_MAP check 2022-08-12 02:49:51 -04:00
Andrew Tridgell
bc212f4c48 hwdef: added Pixhawk6X support 
a new H753 based board similar to the Pixhawk5X
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
091ca3f22e HAL_ChibiOS: added support for ALT_RAM_MAP on H7 
for compatibility with the px4 H7 bootloader
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
262dd267ae HAL_ChibiOS: enable ITCM and DTCM on H7 at startup 
these may have been disabled by the px4 H7 bootloader
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
105da09a47 AP_BattMonitor: make healthy() check all configured monitors 
GCS reporting for SYS_STATUS should check all healthy, not just first
backend
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
9eab488dd8 AP_BattMonitor: allow INA2xx battery monitors to be powered after boot 
the device doesn't show up till main battery is connected, so we need
this change to allow for separate avionics battery and main battery
with avionics battery powered on first
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
b8bef122ac AP_BattMonitor: report arming unhealthy if backend unhealthy 
important for i2c based battery backends
 2022-08-12 02:49:51 -04:00
Andrew Tridgell
9ffb0b0b2d AP_AHRS: use wind from simulation if available with EKF type 10 2022-08-12 02:49:51 -04:00
Andrew Tridgell
174a031a03 SITL: fill in wind from flightaxis 2022-08-12 02:49:51 -04:00
Bill Geyer
d65819bf03 AC_AutoTune: fix tradheli bug with load gain set 2022-06-21 19:41:54 +09:00
Randy Mackay
d311341db2 GCS_MAVLink: learn routes even on private channels 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
dc3ad902e1 AP_Scripting: sync quicktune with master 2022-06-21 19:41:54 +09:00
Andy Piper
d600c7b4db AP_GyroFFT: make sure the parameters are updated at least once on startup 2022-06-21 19:41:54 +09:00
Andy Piper
4d3c9e2eea AP_Arming: make sure FFT gets initialized when arming checks are off 2022-06-21 19:41:54 +09:00
Andy Piper
6c29164953 AP_HAL_ChibiOS: add support for MambaF405 2022 MK4 
mark DMA on MambaF405US-I2C UARTs
correct RSSI pin on MambaF405US-I2C
 2022-06-21 19:41:54 +09:00
Andy Piper
4f053a4c8f AP_HAL_ChibiOS: hwdef for MambaH743v4 
support BMI270 on MambaH743v4 and increase flash SPI clock
add bi-directional dshot to MambaH743
add README and pinout for MambaH743
 2022-06-21 19:41:54 +09:00
Andy Piper
dd0ee0312c AP_InertialSensor: don't print error when probing non-existant BMI270 
fix device locking at startup on BMI270
 2022-06-21 19:41:54 +09:00
Andy Piper
7f2c48da72 AP_Logger: support W25N01GV flash chips 
add separate driver for W25N01GV triggered via HAL_LOGGING_DATAFLASH_DRIVER
move flash_test() into AP_Logger_Block.
cleanup use of 4k sector commands to account for chips that only have block commands
 2022-06-21 19:41:54 +09:00
Andy Piper
ccbc24a480 AP_RCTelemetry: don't spam mode changes on CRSF startup 
rewrite device ping bootstrap to avoid ping flood
enable device pings on CRSF in the event of TX loss.
only send pings if not negotiating the version
 2022-06-21 19:41:54 +09:00
Andy Piper
c198cbdd52 AP_RCProtocol: reset UART on RX failure for CRSF 
update CRSF timestamps to use microseconds
implement RX liveness protocol and implement for CRSF
 2022-06-21 19:41:54 +09:00
Andy Piper
f4431b6bd0 AP_RCProtocol: check for bad frames in CRSF decoding. 2022-06-21 19:41:54 +09:00
Mohammad Hefny
85d2acc7ba AP_Rangefinder: preserve new address 2022-06-21 19:41:54 +09:00
Andy Piper
a22bf84cae AP_OSD: update parameter menu flightmodes for plane and copter. 2022-06-21 19:41:54 +09:00
Andrew Tridgell
67c4db5627 AP_Rangefinder: fixed scaling on PWM driver and enable SCALING parameter 
this fixes a bug introduced here:

  https://github.com/ArduPilot/ardupilot/pull/18829

and allows the scaling of PWM rangefinders to be adjusted
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
4f0bfc1795 AP_InertialSensor: fixed build with logging disabled 
fixes CubeOrange-periph build
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
fa19fd0bfe AP_BoardConfig: fixed build with logging disabled 
fixes CubeOrange-periph build
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
2454be6038 AP_GPS: fixed build without logging 2022-06-21 19:41:54 +09:00
Andrew Tridgell
f6a05a802e AP_Logger: don't compiler AP_Logger.cpp if logging not enabled 
for some reason this fixes f103-GPS build, even though the code wasn't
referenced
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
d00ffde9e1 AP_Logger: save crash_dump.bin to sdcard on boot 
on each boot write crash_dump.bin to the microSD if it is available
this makes it easier for users to send in their crash dumps, and less
likely they will overwrite it with a fw update
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
7a6171f566 AP_UAVCAN: added a check for memory corruption in the pool 2022-06-21 19:41:54 +09:00
Andrew Tridgell
dfd8e3be90 AP_UAVCAN: added dynamically allocated pool size param 
allow for smaller pool size to save memory
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
d9aa0d8955 AC_AttitudeControl: reduced default quadplane VTOL pos XY gains 2022-06-21 19:41:54 +09:00
Peter Barker
57d15fe717 AP_Filesystem: correct run-length encoding in param download 
If a parameter's name was a prefix of the previous name we would
suffer an integer-wrap problem and incorrectly encode the parameter name
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
815eaa0866 AP_NavEKF3: log set source events 2022-06-21 19:41:54 +09:00
Andrew Tridgell
0b61516b31 AP_DAL: added set source events for EKF3 2022-06-21 19:41:54 +09:00
Iampete1
b06a364197 AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane 2022-06-21 19:41:54 +09:00
Andrew Tridgell
5195decf51 AP_InertialSensor: call notch param update with semaphore held 2022-06-21 19:41:54 +09:00
Andrew Tridgell
7fd478fc4a AP_GyroFFT: added defaults for FFT with no notch 
allow for testing with FFT enabled, and defaulting number of
frequencies to look for
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
9fba96c8d0 AP_InertialSensor: fixed the last notch values to be per-instance 
thanks to Andy for noticing this
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
97d42308a7 AP_GyroFFT: skip disabled notches 2022-06-21 19:41:54 +09:00
Andrew Tridgell
5bdac5174c AP_InertialSensor: don't update disabled notches 2022-06-21 19:41:54 +09:00
Andrew Tridgell
a15259d7e5 AP_GyroFFT: allow for 2 FFT based notches 2022-06-21 19:41:54 +09:00
Andrew Tridgell
8fb1d56dfe AP_Vehicle: implement common harmonic notch update code 2022-06-21 19:41:54 +09:00
Andrew Tridgell
f1b4396c18 AP_RPM: use HarmonicNotch class 2022-06-21 19:41:54 +09:00
Andrew Tridgell
15dcfed927 AP_GyroFFT: use HarmonicNotch class 2022-06-21 19:41:54 +09:00
Andrew Tridgell
ef31de5fc5 AP_Arming: use HarmonicNotch class 2022-06-21 19:41:54 +09:00
Andrew Tridgell
43e93ccf27 AP_InertialSensor: switch to HarmonicNotch class 
this makes the logic much easier to follow, without indexes into
arrays
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
d48bc25c95 Filter: removed parameters from the old notch filter 
saves some flash space
 2022-06-21 19:41:54 +09:00
Andrew Tridgell
3f89aa620c AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT 2022-06-21 19:41:54 +09:00
Andrew Tridgell
e80adeefa4 AP_Arming: added arming check for conflicting notch modes 2022-06-21 19:41:54 +09:00
Andrew Tridgell
05b6283a97 Filter: clarify meaning of 1st harmonic 2022-06-21 19:41:54 +09:00
Andrew Tridgell
7150dde40a Filter: added RPM2 harmonic notch type 2022-06-21 19:41:54 +09:00
Andrew Tridgell
2b6aa64d2b AP_Vehicle: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andrew Tridgell
8dbf3f39cb AP_RPM: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andrew Tridgell
ead011c615 AP_InertialSensor: support two full harmonic notch filters 2022-06-21 19:41:54 +09:00
Andy Piper
365904a50c AR_Motors: make sure ESC type is initialized early 2022-05-28 16:08:17 +09:00
Andy Piper
555f608b43 AP_Motors: make sure ESC type is initialized early 2022-05-28 16:08:17 +09:00
Andy Piper
03ebf1b091 SRV_Channel: add BLHeli_S ESC type 2022-05-28 16:08:17 +09:00
Andy Piper
c9d5609214 AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths 2022-05-28 16:08:17 +09:00
Andy Piper
6253578d06 AP_HAL: add BLHeli_S ESC type and use it to control bitwidths 
adjust BLHeli_S bitwidth and ticks to support more ESC variants.
 2022-05-28 16:08:17 +09:00
Randy Mackay
96f0fee7b3 AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7 2022-05-28 16:08:17 +09:00
Randy Mackay
72f0de65d2 AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-05-28 16:08:17 +09:00
Andy Piper
9f9c5c30ae AC_AutoTune: allow high ANGLE_P gains 2022-05-28 16:08:17 +09:00
Andy Piper
25d6e9b1bb AP_HAL: add bitwidth hal definitions. 
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
 2022-05-28 16:08:17 +09:00
Andy Piper
9af46cbf5e AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-05-28 16:08:17 +09:00
Andrew Tridgell
957eb68bee AP_BoardConfig: expose BRD_SAFETYENABLE on all boards 
default BRD_SAFETYENABLE to 0 on boards with no safety switch, which
gives us the same behaviour as before, but users can choose to enable
the safety

this fixes two problems:

  - CAN servos and ESCs work on boards with no safety switch
    (eg. MatekH743 with CAN)

  - during startup we could get spurious outputs before out aircraft
    type is setup
 2022-05-28 16:08:17 +09:00
Andrew Tridgell
b2086d1e96 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-28 16:08:17 +09:00
Andrew Tridgell
39de7be71f AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter 
this allows for an offset in ESC numbering for much more efficient CAN
bandwidth usage.

For example, on a coaxial OctoQuad quadplane the ESCs are typically
setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN
buses, with one CAN bus for the top layer and the one bus for the
bottom layer (allowing for VTOL flight with one bus failed).

Without this offset parameter you would be sending RawCommand messages
like this:

bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]

this is very wasteful of bus bandwidth, with bus1 using 3x the
bandwidth it should and bus2 using 4x the bandwidth it should (the
above will take 3 can frames for bus1, and 4 can frames for bus 2)

With this patch you can set:

CAN_D1_UC_ESC_OF = 4
CAN_D2_UC_ESC_OF = 8

and you will get this on the bus:

bus1: [ ESC1, ESC2, ESC3, ESC4 ]
bus2: [ ESC1, ESC2, ESC3, ESC4 ]

that takes just 1 can frame per send on each bus
 2022-05-28 16:08:17 +09:00
Peter Barker
d435181756 AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:17 +09:00
Andrew Tridgell
913b789592 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-28 16:08:17 +09:00
Andrew Tridgell
0fd3fac65f AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-28 16:08:17 +09:00
Andrew Tridgell
d614594526 AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor 
we need to use the pressure from the sensor we are calibrating
 2022-05-28 16:08:17 +09:00
Andrew Tridgell
52458b6f54 AP_NavEKF: getYawData also provides number of clipping models 
In the case of the compass calibrator we do not want to use the GSF
result if any model is degenerate.  We've had a compass calibrate in
flight 180-degrees out from what it should have.
 2022-05-28 16:08:17 +09:00
Peter Barker
2a5e9f76ac AP_Compass: do not use GSF if any model has been clipped 2022-05-28 16:08:17 +09:00
Andrew Tridgell
ee41132483 AP_EFI: added fuel usage integration for Lutan EFI 
allows for EFI_COEF1 and EFI_COEF2 to be set to get fuel consumption
on GCS
 2022-05-28 16:08:17 +09:00
Andrew Tridgell
bb1ee4e34c AP_Mission: improved handling of large LOITER_TURNS 
instead of wrapping we should use MIN with 255, which is closer to
what was requested
 2022-05-28 16:08:17 +09:00
Joshua Henderson
5ac3f9aa33 AP_Airspeed: remove negative pressure set unhealthy 2022-05-28 16:08:17 +09:00