Andrew Tridgell
87579565de
SITL: fill in wind from flightaxis
2022-08-12 02:49:33 -04:00
Bill Geyer
904be11f1a
AC_AutoTune: fix tradheli bug with load gain set
2022-06-21 19:41:34 +09:00
Randy Mackay
2065de7992
GCS_MAVLink: learn routes even on private channels
...
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
2022-06-21 19:41:34 +09:00
Andrew Tridgell
9535e3de41
AP_Scripting: sync quicktune with master
2022-06-21 19:41:34 +09:00
Andy Piper
54e6aa7d34
AP_GyroFFT: make sure the parameters are updated at least once on startup
2022-06-21 19:41:34 +09:00
Andy Piper
82eef70fba
AP_Arming: make sure FFT gets initialized when arming checks are off
2022-06-21 19:41:34 +09:00
Andy Piper
9c02682785
AP_HAL_ChibiOS: add support for MambaF405 2022 MK4
...
mark DMA on MambaF405US-I2C UARTs
correct RSSI pin on MambaF405US-I2C
2022-06-21 19:41:34 +09:00
Andy Piper
22687bd545
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 19:41:34 +09:00
Andy Piper
90e8bdba78
AP_InertialSensor: don't print error when probing non-existant BMI270
...
fix device locking at startup on BMI270
2022-06-21 19:41:34 +09:00
Andy Piper
ae6872c6f6
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 19:41:34 +09:00
Andy Piper
da04fdd491
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 19:41:34 +09:00
Andy Piper
7509cc5c3c
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 19:41:34 +09:00
Andy Piper
159b50c41a
AP_RCProtocol: check for bad frames in CRSF decoding.
2022-06-21 19:41:34 +09:00
Mohammad Hefny
dcae70abc8
AP_Rangefinder: preserve new address
2022-06-21 19:41:34 +09:00
Andy Piper
c62adb0c6d
AP_OSD: update parameter menu flightmodes for plane and copter.
2022-06-21 19:41:34 +09:00
Andrew Tridgell
fb0b32887d
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 19:41:34 +09:00
Andrew Tridgell
ee669465ce
AP_InertialSensor: fixed build with logging disabled
...
fixes CubeOrange-periph build
2022-06-21 19:41:34 +09:00
Andrew Tridgell
e3aa707db6
AP_BoardConfig: fixed build with logging disabled
...
fixes CubeOrange-periph build
2022-06-21 19:41:34 +09:00
Andrew Tridgell
d023e1cd8a
AP_GPS: fixed build without logging
2022-06-21 19:41:34 +09:00
Andrew Tridgell
d83a56b60b
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 19:41:34 +09:00
Andrew Tridgell
42b6479527
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 19:41:34 +09:00
Andrew Tridgell
fbb3271e0d
AP_UAVCAN: added a check for memory corruption in the pool
2022-06-21 19:41:34 +09:00
Andrew Tridgell
8ac08110fa
AP_UAVCAN: added dynamically allocated pool size param
...
allow for smaller pool size to save memory
2022-06-21 19:41:34 +09:00
Andrew Tridgell
06170c7449
AC_AttitudeControl: reduced default quadplane VTOL pos XY gains
2022-06-21 19:41:34 +09:00
Peter Barker
937f0a3e40
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 19:41:34 +09:00
Andrew Tridgell
83d78b6336
AP_NavEKF3: log set source events
2022-06-21 19:41:34 +09:00
Andrew Tridgell
8939974333
AP_DAL: added set source events for EKF3
2022-06-21 19:41:34 +09:00
Iampete1
f3d08c8eae
AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane
2022-06-21 19:41:34 +09:00
Andrew Tridgell
be7f0afc87
AP_InertialSensor: call notch param update with semaphore held
2022-06-21 19:41:34 +09:00
Andrew Tridgell
005de1ded2
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 19:41:34 +09:00
Andrew Tridgell
70443b121f
AP_InertialSensor: fixed the last notch values to be per-instance
...
thanks to Andy for noticing this
2022-06-21 19:41:34 +09:00
Andrew Tridgell
a0746ec251
AP_GyroFFT: skip disabled notches
2022-06-21 19:41:34 +09:00
Andrew Tridgell
afe0c02835
AP_InertialSensor: don't update disabled notches
2022-06-21 19:41:34 +09:00
Andrew Tridgell
5949abb858
AP_GyroFFT: allow for 2 FFT based notches
2022-06-21 19:41:34 +09:00
Andrew Tridgell
e4c1f30aa7
AP_Vehicle: implement common harmonic notch update code
2022-06-21 19:41:34 +09:00
Andrew Tridgell
10a273a3a5
AP_RPM: use HarmonicNotch class
2022-06-21 19:41:34 +09:00
Andrew Tridgell
3ebab76395
AP_GyroFFT: use HarmonicNotch class
2022-06-21 19:41:34 +09:00
Andrew Tridgell
699d624ca1
AP_Arming: use HarmonicNotch class
2022-06-21 19:41:34 +09:00
Andrew Tridgell
7bb139a311
AP_InertialSensor: switch to HarmonicNotch class
...
this makes the logic much easier to follow, without indexes into
arrays
2022-06-21 19:41:34 +09:00
Andrew Tridgell
d48e048403
Filter: removed parameters from the old notch filter
...
saves some flash space
2022-06-21 19:41:34 +09:00
Andrew Tridgell
6c61ea970d
AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT
2022-06-21 19:41:34 +09:00
Andrew Tridgell
f015e827bf
AP_Arming: added arming check for conflicting notch modes
2022-06-21 19:41:34 +09:00
Andrew Tridgell
b6e4cfc8da
Filter: clarify meaning of 1st harmonic
2022-06-21 19:41:34 +09:00
Andrew Tridgell
2cfce1e3e7
Filter: added RPM2 harmonic notch type
2022-06-21 19:41:34 +09:00
Andrew Tridgell
49bf16853c
AP_Vehicle: support two full harmonic notch filters
2022-06-21 19:41:34 +09:00
Andrew Tridgell
7246185d0a
AP_RPM: support two full harmonic notch filters
2022-06-21 19:41:34 +09:00
Andrew Tridgell
350140e030
AP_InertialSensor: support two full harmonic notch filters
2022-06-21 19:41:34 +09:00
Andy Piper
8cd79d08ba
AR_Motors: make sure ESC type is initialized early
2022-05-28 16:08:08 +09:00
Andy Piper
7dcdf7b325
AP_Motors: make sure ESC type is initialized early
2022-05-28 16:08:08 +09:00
Andy Piper
7d00167428
SRV_Channel: add BLHeli_S ESC type
2022-05-28 16:08:08 +09:00
Andy Piper
a3e79c8263
AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths
2022-05-28 16:08:08 +09:00
Andy Piper
34cb45a11e
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 16:08:08 +09:00
Randy Mackay
4eedb2e948
AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7
2022-05-28 16:08:08 +09:00
Randy Mackay
8a5e7ff120
AP_NavEKF3: replace AP_HAL::millis() with dal.millis()
2022-05-28 16:08:08 +09:00
Andy Piper
ece793e4b7
AC_AutoTune: allow high ANGLE_P gains
2022-05-28 16:08:08 +09:00
Andy Piper
292291b760
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 16:08:08 +09:00
Andy Piper
19d9f157cb
AP_HAL_ChibiOS: move bitwidths to AP_HAL
2022-05-28 16:08:08 +09:00
Andrew Tridgell
0bfe567c4d
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 16:08:08 +09:00
Andrew Tridgell
49af52b735
HAL_ChibiOS: always start with safety enabled
...
we want it enabled during early boot to prevent incorrect ESC and
servo output
2022-05-28 16:08:08 +09:00
Andrew Tridgell
4adb3ddfa2
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 16:08:08 +09:00
Peter Barker
aa59e0a63e
AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS
2022-05-28 16:08:08 +09:00
Andrew Tridgell
aa873ad9f4
AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason
2022-05-28 16:08:08 +09:00
Andrew Tridgell
2f73ce408f
AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next()
2022-05-28 16:08:08 +09:00
Andrew Tridgell
8066478679
AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor
...
we need to use the pressure from the sensor we are calibrating
2022-05-28 16:08:08 +09:00
Andrew Tridgell
4e6f0c0ef4
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 16:08:08 +09:00
Peter Barker
5f39602d8c
AP_Compass: do not use GSF if any model has been clipped
2022-05-28 16:08:08 +09:00
Andrew Tridgell
1e82319bfa
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 16:08:08 +09:00
Andrew Tridgell
6bf9556612
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 16:08:08 +09:00
Joshua Henderson
7a2d48389c
AP_Airspeed: remove negative pressure set unhealthy
2022-05-28 16:08:08 +09:00
Leonard Hall
0b4b5e473b
AC_AttitudeControl: Allow diabling of slew limit
2022-05-16 08:15:26 +09:00
Andrew Tridgell
6b790eaca0
hwdef: added FlyingMoonF427 support
2022-05-16 08:15:26 +09:00
Andrew Tridgell
707bc9502f
hwdef: added FlyingMoonF407 board support
2022-05-16 08:15:26 +09:00
Andrew Tridgell
ed18123f95
HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103
...
need to check new pin not old pin
2022-05-16 08:15:26 +09:00
Andrew Tridgell
bcc548bbd8
AP_Logger: fixed a bug in wrapped log count
...
fixes #20687
2022-05-16 08:15:26 +09:00
Andrew Tridgell
6332d5972f
AP_AHRS: fixed bug in blended EKF bias
...
The bug fix in #20431 was incomplete, and ended up with the wrong
blended accel bias. This fixes it
2022-05-07 08:40:41 +09:00
Andrew Tridgell
fc999ed264
AP_Scripting: added quicktune.lua script
...
rapid tuning for VTOL control
2022-05-07 08:40:41 +09:00
Andrew Tridgell
58cdcf6968
AP_Scripting: added get_rpy_srate binding
...
and norm_input_dz binding
2022-05-07 08:40:41 +09:00
Andrew Tridgell
9f49570f7f
AC_AttitudeControl: added get_rpy_srate()
2022-05-07 08:40:41 +09:00
Andrew Tridgell
3c6e4d907c
AP_Compass: fixed custom orientation in 3 compass drivers
...
this prevents an internal error and mag failure with DroneCAN, MSP or
ExternalAHRS compasses
2022-05-03 10:07:44 +10:00
Andy Piper
05c90c4684
AP_InertialSensor: move frontend update into ramfunc.
2022-04-29 07:54:06 +09:00
Andy Piper
2169874117
AP_FlashIface: make sure XIP flash is ready before returning
2022-04-29 07:54:06 +09:00
Andy Piper
9300ab8d02
AP_HAL_ChibiOS: add I2C and compass backend to drivers in memory on H750
...
move more of EKF into memory on H750
move rc handling into memory on H750
disable double math on SPRacing H7
2022-04-29 07:54:06 +09:00
Randy Mackay
a3d595f68f
AP_Arming: add pre-arm check of disabled servo channels
2022-04-29 07:54:06 +09:00
Andy Piper
bafab0fddf
SRV_Channel: observe disabled_channels when enabling channels
...
setup disabled_channels observing channels that are implied to be digital
allow none to be a valid channel function once again
2022-04-29 07:54:06 +09:00
Andy Piper
ff5a813b4f
AP_HAL_ChibiOS: determine presence of disabled channels based on digital channels in a group
2022-04-29 07:54:06 +09:00
Andy Piper
007174d36a
AP_HAL: add accessor for disabled channels to RCOutput
2022-04-29 07:54:06 +09:00
Andy Piper
a673a481fd
AP_BLHeli: keep a record of disabled motors
2022-04-29 07:54:06 +09:00
Bill Geyer
fd7b713799
AC_AutoTune: fix gain determination fail logic
2022-04-29 07:54:06 +09:00
Bill Geyer
fa28fed0d4
AC_AutoTune: use failed state to exit
2022-04-29 07:54:06 +09:00
Bill Geyer
de0a36874e
AC_AutoTune: use generic load gain method to save flash
2022-04-29 07:54:06 +09:00
Andy Piper
cfb8830fad
AP_HAL_ChibiOS: bdshot version of MatekF765-Wing
2022-04-29 07:54:06 +09:00
Andy Piper
33c9ffd874
AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation
2022-04-29 07:54:06 +09:00
Andy Piper
7552219c5b
AP_HAL: update prescaler tests
2022-04-29 07:54:06 +09:00
Randy Mackay
a7d89829bf
AP_RPM: pre-arm displays gpio vs servo_ch conflict
2022-04-29 07:54:06 +09:00
Randy Mackay
b366689282
AP_Relay: pre-arm displays gpio vs servo_ch conflict
2022-04-29 07:54:06 +09:00
Randy Mackay
1444545b6a
AP_Button: pre-arm displays gpio vs servo_ch conflict
2022-04-29 07:54:06 +09:00
Randy Mackay
f3db67b322
AP_HAL: add GPIO::pin_to_servo_channel method
2022-04-29 07:54:06 +09:00
Randy Mackay
343115a242
AP_HAL_ChibiOS: GPIO comment removes mention of BRD_PWM_COUNT
2022-04-29 07:54:06 +09:00
Randy Mackay
a52f45df62
AP_IOMCU: valid_GPIO_pin checks if pin configured for GPIO
2022-04-29 07:54:06 +09:00
Randy Mackay
34c0a0515a
AP_IOMCU: convert_pin_number leaves input untouched on failure
2022-04-29 07:54:06 +09:00