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28322 Commits

Author SHA1 Message Date
Andy Piper 2fab99d647 AP_HAL_ChibiOS: remove redundant harmonics from DSP 2021-12-22 18:13:38 +11:00
Andy Piper d4024d9216 AP_HAL: allow configuration of maximum number of notches based on MCU type 
increase notch filters in SITL
remove redundant harmonics from DSP
 2021-12-22 18:13:38 +11:00
Andy Piper d44478ff59 AP_InertialSensor: calculate number of notches based on motor count 
configure default harmonics if dynamic harmonics
set number of notches correctly for FFT operation
include static notch in filter calculation and allow harmonic options on static notch
 2021-12-22 18:13:38 +11:00
Andy Piper 34920ebd60 Filter: allow harmonics and notch-per-motor in harmonic notch 
allow default harmonics to be configured
allow combination of harmonics and indpendent centre frequencies
pre-calculate number of harmonics
 2021-12-22 18:13:38 +11:00
arbalasquide fd3c83c0d1 AP_Math: Add AUS_TO_MAH definition 2021-12-22 07:52:03 +11:00
arBalasquide 10b4eebce4 AP_BattMonitor: Add calculate_mah, add unit tests 2021-12-22 07:52:03 +11:00
Andrew Tridgell 08ca708347 AP_SerialManager: fixed AP_Periph GPS 
the disable of RX/TX pins broke AP_Periph on boards that don't enable
the GCS, as they don't have the SERIALn parameters, so we disable the
UART pins of the GPS
 2021-12-21 20:14:55 +11:00
Andrew Tridgell ba58558bd1 SITL: fixed default BATT_CAPACITY for SITL 
don't override from JSON model unless we have a value
 2021-12-21 19:53:43 +11:00
Mingchen Zhang 61e0c5b6e7 AP_SmartAudio: fix a bug that would starve the lower priority thread, such as scripting. 2021-12-21 16:03:44 +09:00
Randy Mackay e41cad8bd7 SRV_Channel: minor param desc format fix 2021-12-21 14:45:49 +09:00
Brad Stinson cd39110b68 hwdef: add support for PixC4-Jetson 
add support for building IOMCU with F103 and 8MHz clock
 2021-12-21 13:05:34 +11:00
Andrew Tridgell a39040d864 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 11:02:51 +09:00
Andrew Tridgell 53f1fc1295 AC_AttitudeControl: added get_ang_vel_yaw_max_rads() 2021-12-21 11:02:51 +09:00
Andrew Tridgell 178ae9e0c1 AP_RCTelemetry: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:07:44 +11:00
Andrew Tridgell 366ff24941 AP_RangeFinder: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:07:44 +11:00
Andrew Tridgell 93d8a0606f AP_Proximity: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:07:44 +11:00
Andrew Tridgell 0da0f6dd37 AP_ADSB: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:07:44 +11:00
Andrew Tridgell 47590a55ff AP_RCProtocol: allow changes of serial settings between protocols 
if we are searching for new protocols then allow for baudrate table
changes
 2021-12-21 11:07:44 +11:00
Andrew Tridgell deb2d6b782 AP_SerialManager: added have_serial() method 
this checks if we have the protocol without setting the options on the
uart
 2021-12-21 11:07:44 +11:00
Peter Barker 600b085cf3 AP_Logger: correct constraint of maximum message ID 2021-12-21 10:42:18 +11:00
Peter Barker 168f278959 AP_Logger: reallocate 32 IDs from vehicles to main message area 
ArduPlane uses ~18 messages and the list is relatively static, so this
should be a reasonable reallocation.

We're using a lot of Log_Write(...) to create messages dynamically - but
that requires IDs and we only left space for about 18 before this patch

More space is left to ease future use of IDs in some libraries
 2021-12-21 10:42:18 +11:00
Jaaaky db8d08b349 SRV_Channel: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 71154105e4 SITL: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky e991bff0d5 AP_VisualOdom: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 3008a480d5 AP_UAVCAN: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 37a08507df AP_ToshibaCAN: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky e92c900b56 AP_Scheduler: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 8512652511 AP_RCTelemetry: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 91e3441c6d AP_RCProtocol: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 485227b2c1 AP_Param: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky da3b064a31 AP_OSD: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky bbb38504d6 AP_InertialSensor: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 08d44815f6 AP_HAL_Linux: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky f588b08004 AP_HAL_ESP32: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky f1f31c1aef AP_HAL_ChibiOS: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 60fcfae2de AP_GyroFFT: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 6433547592 AP_GPS: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky c7b1e05f1d AP_FETtecOneWire: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky bfb9b1ac73 AP_Declination: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky d27f122295 AP_Compass: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky f8f9038092 AP_Baro: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 0c16ebec6c AC_PrecLand: Fix multi #include's 2021-12-21 10:38:46 +11:00
Shiv Tyagi 4b7b5a4d90 AP_OSD: fix code causing errors when OSD is compiled out 
This fixes the code causing problem in compiling out OSD
 2021-12-21 10:06:01 +11:00
Hwurzburg ff3c4b8bda RC_Channel: add RC option to report CRSF LQ as RSSI 
Co-author: Jules Gilson <julesgilson@yahoo.co.uk>
 2021-12-21 10:04:33 +11:00
Hwurzburg a18a4e5719 AP_RCTelemetry: add RC option to report CRSF LQ as RSSI 
Co-author: Jules Gilson <julesgilson@yahoo.co.uk>
 2021-12-21 10:04:33 +11:00
Hwurzburg eaa557106a AP_RCProtocol: add RC option to report CRSF LQ as RSSI 
Co-author: Jules Gilson <julesgilson@yahoo.co.uk>
 2021-12-21 10:04:33 +11:00
RickReeser d95c997606 AC_PosControl: fix comment 
In ArduCopter/mode.cpp, ignore_descent_limit is FALSE unless landing:

        // do not ignore limits until we have slowed down for landing
        ignore_descent_limit = (MAX(g2.land_alt_low,100) > get_alt_above_ground_cm()) || copter.ap.land_complete_maybe;
 2021-12-21 07:41:47 +09:00
Iampete1 3606022cd7 AP_Scripting: add MiniCheetah CAN motor driver example 2021-12-21 08:51:22 +11:00
Peter Barker f6fa676411 AP_AIS: correct number of bytes to read from device 2021-12-20 18:39:01 +09:00
bugobliterator 62945e1d85 AP_HAL_ChibiOS: use common directory reference wrt hwdef scripts 2021-12-20 12:47:25 +11:00
Paul Riseborough 5178f4a7d0 AP_NavEKF3: Add missing covariance row reset 2021-12-20 09:28:37 +11:00
Oliver 80c7c9f16a AP_PiccoloCAN: Bug fix for ESC temperature data 
- Fixes issues with temperature data in telemetry and logs
- Use the maximum of available temperature values for the ESC (where available)
 2021-12-19 10:50:37 +11:00
Peter Barker a281c3ef91 AP_HAL_ChibiOS: remove stray 'No Crash Detected' diagnostic 2021-12-19 10:48:44 +11:00
Peter Barker bdeec0868e AP_HAL_ChibiOS: turn wind-compensation off in hwdef defaults 2021-12-19 10:45:16 +11:00
Peter Barker 5ff410f2cb AP_Baro: turn wind-compensation off using hwdef defaults 2021-12-19 10:45:16 +11:00
Peter Barker c6734ad825 AP_InertialSensor: correct logging of inertial-sensor reg-change logging 2021-12-18 21:25:27 +11:00
bugobliterator f0073e472b HAL_ChibiOS: set SWD pins pulled up and low by default 2021-12-17 22:51:18 -08:00
Shiv Tyagi c34301d925 AP_BattMonitor: remove MPPT_PacketDigital from Type enum 
we have removed AP_BattMonitor_MPPT_PacketDigital, hence this should be removed too
 2021-12-17 20:24:25 +09:00
Shiv Tyagi 814e0f9cac AP_Arming: remove Driver_Type_MPPT_PacketDigital from CAN checks 
we have removed AP_BattMonitor_MPPT_PacketDigital, hence this should be removed too
 2021-12-17 20:24:25 +09:00
Shiv Tyagi b2073e4e1c AP_HAL_ChibiOS: remove stray define HAL_PERIPH_ENABLE_BATTERY_MPPT_PACKETDIGITAL 
We have removed the class AP_BattMonitor_MPPT_PacketDigital, hence this should be removed too
 2021-12-17 20:24:25 +09:00
Shiv Tyagi d846a81055 AP_CANManager: remove MPPT_PacketDigital parameter description 
We have removed the class AP_BattMonitor_MPPT_PacketDigital, we should also remove these from parameter descriptions and enums
 2021-12-17 20:24:25 +09:00
Shiv Tyagi ef5b43ca95 AP_Baro_KellerLD : add SensorMode enum and _p_mode property 
This adds SensorMode enum and _p_mode property which is used to set _p_mode_offset

Co-Authored-By: Josh Henderson <69225461+hendjoshsr71@users.noreply.github.com>
Co-Authored-By: ES-Alexander <25898329+ES-Alexander@users.noreply.github.com>
 2021-12-17 11:58:19 +11:00
Shiv Tyagi dd00fd720d AP_Baro_KellerLD : set/update _p_mode_offset based on _p_mode 
This initialises/updates _p_mode_offset on the basis of _p_mode

Co-Authored-By: Josh Henderson <69225461+hendjoshsr71@users.noreply.github.com>
Co-Authored-By: ES-Alexander <25898329+ES-Alexander@users.noreply.github.com>
 2021-12-17 11:58:19 +11:00
Jaaaky 6cae738ab8 StorageManager: fix write_block() comment 2021-12-17 09:53:47 +09:00
Tom Pittenger e48adbf1c0 AP_ADSB: post link to uAvionix UCP protocol 2021-12-17 09:53:02 +09:00
Peter Barker 0cb4425eb9 AP_NavEKF3: fix type, 'willbe' -> 'will be' 2021-12-17 09:44:57 +09:00
Peter Barker 1886b2dccd AP_NavEKF2: fix type, 'willbe' -> 'will be' 2021-12-17 09:44:57 +09:00
QioTek e5a8695640 AP_InertialSensor: added support for ICM-20608-D sensor 2021-12-17 07:58:48 +11:00
Leonard Hall b7801947af AC_PID: AC_PID_2D: let I term change direction but not grow when limited 2021-12-16 09:54:49 +09:00
Leonard Hall 90db81354b AC_AttitudeControl: AC_PosControl: Prioritize crosstrack acceleration 2021-12-16 09:54:49 +09:00
Leonard Hall 1e124ca957 AP_Math: Control: Add directional based acceleration limit 
AP_Math: Control: Add directional based acceleration limit
 2021-12-16 09:54:49 +09:00
Shiv Tyagi b34a7e46a8 AP_BatteryMonitor: remove AP_BattMonitor_MPPT_PacketDigital class 
since latest versions of PacketDigital MPPT support UAVCAN, we can remove this older class
 2021-12-16 09:39:43 +09:00
Samuel Tabor 719aa4bc53 AP_Soaring: Add speed-to-fly calculation used if SOAR_CRSE_ARSPD<0. 2021-12-16 07:12:24 +11:00
Samuel Tabor c44fed34d4 AP_Soaring: Override airspeed and flap angle. 2021-12-16 07:12:24 +11:00
Samuel Tabor 3ab9dda6f5 AP_Soaring: Store reference to glide polar params in variometer 2021-12-16 07:12:24 +11:00
Peter Barker 508d7df739 AP_SerialManager: remove duplication of SERIALn_PROTOCOL values 
... and SERIALn_BAUD while we're at it
 2021-12-16 07:11:33 +11:00
bugobliterator 957da68da5 AP_Compass: fix compilation issue with declaring var after goto 2021-12-15 22:11:10 +11:00
Peter Barker 2205b95c99 AP_Math: create double versions of is_zero, is_positive and is_negative 
Seeks to prevent

Thread 1 "ardurover" received signal SIGFPE, Arithmetic exception.
is_positive<double> (fVal1=9.6315720352771873e+44)
    at ../../libraries/AP_Math/AP_Math.h:66
66          return (static_cast<float>(fVal1) >= FLT_EPSILON);
 2021-12-15 19:33:55 +11:00
yaapu c6c285b5a2 AP_Frsky_Telem: added frame 0x500D for waypoint data 2021-12-15 18:15:47 +11:00
Andrew Tridgell 32d846520c SRV_Channel: validate function number before array access 
this fixes an issue with invalid SERVOn_FUNCTION values for array
index.
 2021-12-15 18:10:45 +11:00
Bill Geyer afaff18bd0 AP_Motors: modifications based on suggested changes 2021-12-14 22:50:05 -05:00
Bill Geyer a8d74c6414 AP_Motors: Tradheli- add governor engaged message over GCS 2021-12-14 22:50:05 -05:00
Bill Geyer 2ac157b188 AP_Motors: Tradheli- fix governor spool up bug 2021-12-14 22:50:05 -05:00
MidwestAire 22c2329063 AP_Motors:Heli_RSC - throttle curve _control_output does not need a constrain_float 
- change lower limit of governor enaged output to 150% of idle speed
- add governor_reset() function
- remove governor defaults from header
- rearrange governor metadata in alphabetical order, assign new eeprom slot for rpm
 2021-12-14 22:50:05 -05:00
MidwestAire 77f0fdf112 AP_Motors:clean up whitespace in heli motors class 2021-12-14 22:50:05 -05:00
Bill Geyer ea90217e09 AP_Motors: fix heli RSC parameter indices 2021-12-14 22:50:05 -05:00
Bill Geyer 05e8285f93 AP_Motors: use RPM singleton to get rpm in RSC 2021-12-14 22:50:05 -05:00
MidwestAire 301238fb8a AP_Motors:Heli_RSC - update governor to new torque integrating design with autothrottle 2021-12-14 22:50:05 -05:00
MidwestAire 42a131522b AP_Motors:Heli - new rotor speed control modes for autothrottle governor 2021-12-14 22:50:05 -05:00
Stephen Dade 68ca18329c AP_HAL: Add UART option to not override streamrates 2021-12-15 14:14:07 +11:00
Stephen Dade fb5ac63a63 AP_HAL_ChibiOS: Fix get_options() to use uint16_t 2021-12-15 14:14:07 +11:00
Stephen Dade 42c584a377 AP_SerialManager: Add UART option to not override streamrates 2021-12-15 14:14:07 +11:00
Stephen Dade 038ae432ab GCS_MAVLink: Add UART option to not override streamrates 2021-12-15 14:14:07 +11:00
Randy Mackay 09388b7408 AP_Math: minor comment fix 2021-12-15 11:58:23 +09:00
Peter Barker 1c18b27427 AP_Button: use CopyValuesFrom to avoid duplication 2021-12-15 09:54:06 +11:00
Hwurzburg b95d3df7ab AP_RangeFinder: change UAVCAN to DroneCAN in param metadata 2021-12-15 09:53:21 +11:00
Hwurzburg 84d0cdb5d0 AP_OpticalFlow: change UAVCAN to DroneCAN in param metadata 2021-12-15 09:53:21 +11:00
Hwurzburg 7ec7a9c444 AP_Notify: change UAVCAN to DroneCAN in param metadata 2021-12-15 09:53:21 +11:00
Hwurzburg 2f493f08b4 AP_Gripper: change UAVCAN to DroneCAN in param metadata 2021-12-15 09:53:21 +11:00
Hwurzburg 35cc90d117 AP_GPS: change UAVCAN in metadata to DroneCAN 2021-12-15 09:53:21 +11:00