Commit Graph

29155 Commits

Author SHA1 Message Date
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