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32097 Commits

Author SHA1 Message Date
Andy Piper
ad5b8563b5 AP_HAL_ChibiOS: remove bdshot from speedybeef4 as it doesn't work and increases flash usage 2023-07-04 12:16:30 +09:00
Andy Piper
287053961c AP_HAL_ChibiOS: Pixhawk1-bdshot 2023-07-04 12:16:30 +09:00
Michael du Breuil
4cf19a74b4 AP_ADSB: Fix spam of lost transciever message at update() rate 2023-07-04 12:16:30 +09:00
Andy Piper
42e18db221 AC_AutoTune: correct incorrect min raw rate valuee 2023-07-04 12:16:30 +09:00
Andrew Tridgell
1d686ff806 AP_NavEKF3: fixed velocity reset on AID_NONE 
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
 2023-07-04 12:16:30 +09:00
Andrew Tridgell
6db228900b AP_NavEKF2: fixed velocity reset on AID_NONE 
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
 2023-07-04 12:16:30 +09:00
Peter Barker
e363438c23 AP_Arming: reword GPS pre-arm failure 
M10S (no storage) throws this for a considerable period of time and the wording makes this process sound scary.
 2023-07-04 12:16:30 +09:00
Andy Piper
1d74020aac AP_HAL_ChibiOS: Pixhawk6X bdshot version 2023-07-04 12:16:30 +09:00
jfbblue0922
fbd77be980 AP_HAL_ChibiOS: jfb100 gets shorter EXT_WDOG_INTERVAL_MS 2023-07-04 12:16:30 +09:00
jfbblue0922
ce39ae40aa AP_HAL_CHibiOS: JFB100 hwdef fix for ext watchdog 2023-07-04 12:16:30 +09:00
jfbblue0922
7b60ac7afa AP_HAL_ChibiOS: support external watchdog gpio 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>

optional support to toggle GPIO pin at 10hz
 2023-07-04 12:16:30 +09:00
Andrew Tridgell
cce16c9ada AP_GPS: fixed ublox M10S auto-config 
this copes with the M10S rejecting multiple-key VALGET calls. We fall
back to fetching one at a time
 2023-07-04 12:16:30 +09:00
Alexander Keller
6f38788575 AP_GPS:Comform to ardupilot undulation definition 2023-07-04 12:16:30 +09:00
davidsastresas
eb5e86ecf0 GCS_Common: handle CMD_DO_SET_ROI_NONE for command int packets 2023-07-04 12:16:30 +09:00
Randy Mackay
954c3666cc AP_SerialManager: improve OPTIONS desc for Swap bit 2023-07-04 12:16:30 +09:00
Randy Mackay
5713560a81 AP_SerialManager: generalise SToRM32 serial protocol desc and enum 2023-07-04 12:16:30 +09:00
Iampete1
ea9e051220 AP_Motors: Heli RSC: remove incorrect set range call 2023-07-04 12:16:30 +09:00
Henry Wurzburg
323ab6f5a1 AP_HAL_ChibiOS: add Holybro KakuteH7-Wing 2023-07-04 12:16:30 +09:00
Randy Mackay
ec2cdda03e AR_PosControl: add input_pos_vel_accel target 2023-06-08 09:29:59 +10:00
Randy Mackay
7db0c888e4 AP_HAL_ChibiOS: JFB100 LED definition fix 2023-06-08 09:29:59 +10:00
Randy Mackay
c74eea54c5 AP_InertialSensor: SCHA63T comment fix 2023-06-08 09:29:59 +10:00
Randy Mackay
9960e1e128 AP_HAL_ChibiOS: JFB100 board def fixup 2023-06-08 09:29:59 +10:00
Randy Mackay
655bdb3390 AP_InertialSensor: SCHA63T loses unused ret bool 2023-06-08 09:29:59 +10:00
jfbblue0922
4b556ea472 AP_HAL_ChibiOS: add JFB100 board definition 2023-06-08 09:29:59 +10:00
Randy Mackay
fbfd8d506a AP_InertialSensor: formatting fixes 2023-06-08 09:29:59 +10:00
jfbblue0922
81424e2d05 AP_InertialSensor: add SCHA63T IMU support 2023-06-08 09:29:59 +10:00
jfbblue0922
7cfa0a6848 AP_Math: add crc8_sae 2023-06-08 09:29:59 +10:00
Henry Wurzburg
ed81577bcc AP_Notify: fix incorrect buzzer pin type to stop always instantiating 2023-06-08 09:29:59 +10:00
James O'Shannessy
d8721a72a2 AP_BattMonitor: Fixes the setting of a default parameter for battery instance #2 set in hwdef 2023-06-08 09:29:59 +10:00
Randy Mackay
110901e95d AC_WPNav: wpnav speed param check fixed 2023-06-08 09:29:59 +10:00
Andrew Tridgell
169d180961 HAL_ChibiOS: fixed USB pass-thru for 2nd USB endpoint 
we need to align the endpoint ID in the structure
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
6f5d3a0dfd AP_AHRS: don't reject airspeed using EKF if dead-reckoning 
when dead-reckoning the EKF wind estimate can diverge from reality,
leading to us rejecting a valid airspeed sensor. We are best off
trusting airspeed if we are dead-reckoning
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
5f6a1f7f71 AP_BoardConfig: fixed documentation of safety options 
on and off were reversed
 2023-06-08 09:29:59 +10:00
Iampete1
5d1bb3b1ca Filter: SlewLimiter: always caculate slew limit 2023-06-08 09:29:59 +10:00
Andrew Tridgell
250a4ffcef AP_BattMonitor: allow max amps to be configured on INA2XX 
this allows for higer current ranges with lower resolution
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
67cfbcfc41 hwdef: use zero address for INA2XX to allow for different sensors 2023-06-08 09:29:59 +10:00
Andrew Tridgell
b8b9f82084 AP_BattMonitor: auto-probe INA2XX address if address is zero 
this makes life easier for users who don't know which device they have
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
f54d851364 AP_BattMonitor: support INA228 and INA238 battery monitor 
I2C monitors with similar functionality to INA226
 2023-06-08 09:29:59 +10:00
Andy Piper
ebd66e88e0 AC_AutoTune: load test gains for correct axis when testing yaw D 2023-06-08 09:29:59 +10:00
Paul Riseborough
d98a60c2e1 AP_NavEKF3: Increase delta velocity bias state process noise 
Required due to state variance collapse on ground with some systems using RTK GPS.
 2023-06-08 09:29:59 +10:00
Paul Riseborough
da22519de8 AP_NavEKF3: Strengthen recovery from bad delta velocity bias learning 2023-06-08 09:29:59 +10:00
Paul Riseborough
17003ff0f5 AP_NavEKF3: Increase default value of EK3_ABIAS_P_NSE 
This is required because some hardware setups with RTK GPS have experienced a collapse of the delta velocity state variances.
 2023-06-08 09:29:59 +10:00
Paul Riseborough
9c93cb8d46 AP_NavEKF3: Retune and fix delta velocity bias state variance protection 2023-06-08 09:29:59 +10:00
Andy Piper
383297f6be AP_NavEKF: ensure gyro biases are numbers 
avoid errors during compass mot
 2023-06-08 09:29:59 +10:00
Paul Riseborough
444f90352f AP_NavEKF3: Lock in wind state estimates when using srag to dead reckon 2023-06-08 09:29:59 +10:00
Andrew Tridgell
41e922c60e AP_ICEngine: fixed a bug engine control when running 
if you have a mission item for engine control with delayed start at
height and the engine is already running them it would put the ICE
subsystem into a state where it would no longer start the engine

It was actually 2 bugs:

 - an engine control to do a height delayed start should be ignored if
   the engine is already running. This prevents an engine control to
   start the engine from stopping the engine

 - a start_chan high should always try to start the engine
   immediately, even if in the wait state
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
87c767df5c AP_RCProtocol: return true on initial protocol detection 
we need to tell the IO firmware that a byte was consumed when we first
detect a protocol as otherwise the next bad byte on DSM will lock us
on the DSM port
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
3b50123f18 AP_IOMCU: fixed issue with not regaining RC input 
this fixes an issue where when you lose R/C input on IOMCU that you
may not regain it when R/C comes back.

The issue stems from us still processing the DSM uart when we are
using the SD3 "SBUS" uart for RC input, and still doing the switch of
the SD3 config every 2 seconds.

When we are not searching for a new protocol we should not be changing
UART config
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
784bfb53f2 AP_NavEKF3: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-06-08 09:29:59 +10:00
Andrew Tridgell
259e51e0e8 AP_NavEKF2: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-06-08 09:29:59 +10:00