Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 01:48:29 -04:00
Code Issues Packages Projects Releases Wiki Activity
52,359 Commits 71 Branches 510 Tags 785 MiB
fdadbdc4d1
Commit Graph

29036 Commits

Author SHA1 Message Date
Andrew Tridgell
e1c74ee6e5 HAL_ChibiOS: use 16 byte lines for flash storage on H7 
this halves the number of flash writes needed, and makes flash storage
twice as space efficient on H7

On H7 we need to write 32 bytes at a time to flash, which corresponds
to 30 bytes of data in AP_FlashStorage. By using a 16 byte storage
line we don't waste as much space
 2022-04-09 17:04:26 +09:00
Andrew Tridgell
0a3ca205eb HAL_ChibiOS: increase monitor thread stack by 512 
this is needed to ensure that the log writes of MON and WDOG don't
overflow monitor thread stack
 2022-04-09 17:04:26 +09:00
Andrew Tridgell
a03b9ec034 HAL_ChibiOS: added expected delays on flash writes 
this prevents a long loop internal error on disarm after a large
amount of flash writes when armed on a board with flash storage
 2022-04-09 17:04:26 +09:00
Andrew Tridgell
86f7365c1c HAL_ChibiOS: disable interrupts during flash operations 
we have now shown that interrupts being enabled during flash
operations can cause the infamous "68ms" bug, or watchdog when using a
32 bit timer on boards using flash for storage

The issue is quite repeatable with a load of a very large waypoint
file (over 500 waypoints) using "wp ftpload" in MAVProxy. This puts a
huge load on flash storage.

Our current working theory is that while doing flash writes for
storage on dual-bank we block access to only one bank, so if another
thread uses a timeout function with a short timeout while the flash
write is happening and chVTDoTickI calls code which crosses the flash
bank boundary then it can cause chVTDoTickI to violate the assumption
that no more than CH_CFG_ST_DELTA ticks pass while it is calculating
the value to set in the system timer. In that case we get a delay of a
full timer wrap, which is 68ms on boards with 16 bit timer and 70
minutes on boards with 32 bit timer
 2022-04-09 17:04:26 +09:00
Andrew Tridgell
8d4130ee11 Revert "hwdef: changed MatekH743 to a 32 bit timer" 
This reverts commit 7dc5911572.
 2022-04-09 17:04:26 +09:00
Andrew Tridgell
0c2041d415 HAL_ChibiOS: constrain more timer timeouts 2022-04-09 17:04:26 +09:00
Andrew Tridgell
ce1fc5406c HAL_ChibiOS: prevent long timeouts in DShot 
this prevents bad calculated timeouts in DShot. The timeout would
sometimes come out as 0xFFFFFFFF, which led to an assert and could
block the thread

This fix is meant to be minimilistic to allow it to be merged easily
into 4.2. A better fix would fix all the uint32_t wrap handling in
DShot
 2022-04-09 17:04:26 +09:00
Andrew Tridgell
1f30cf93cf AP_Math: added unsigned versions of constrain functions 
sometimes it really does matter that we use constrain_uint32() instead
of constrain_int32(). For example, if we have a value like 0xFFFFFFFF
then the result will be very different

we should use unsigned constrain when dealing with unsigned values
 2022-04-09 17:04:26 +09:00
Andrew Tridgell
2ad485bb09 AP_Logger: fixed @SYS file logging 
the key fix is the reset of the fd to -1. Without that fix we only
ever log @SYS/uarts.txt

The timing change is needed to get the files out in a reasonable
time. The function is actually getting called at 100Hz or less, not
1kHz (measured on MatekH743 copter at 400Hz). So we need to run it
faster to get the files logged in a reasonable time
 2022-04-09 17:04:26 +09:00
Andy Piper
b3bd0d3fbb AP_HAL_ChibiOS: spro H7 extreme updates. 
cannot currently use both IMUs on spro H7 extreme due to CPU load
 2022-04-09 17:04:26 +09:00
Peter Barker
da97462385 AP_AHRS: subtract accel bias from correct ins accel instance 
In the case that you have INS_USE indicating IMUs should be used, but
EK3_IMU_MASK leaving some IMUs unused, we subtract the bias from the
wrong INS data
 2022-04-09 17:04:26 +09:00
Andrew Tridgell
a039500e53 AP_Logger: increase stack of log_io thread by 256 
This was seem on omnibusf4pro, it is a bit too close:

  log_io PRI= 59 sp=0x20015CC0 STACK=144/1656
 2022-04-09 17:04:26 +09:00
Bill Geyer
cfaef178f4 AP_Math: add chirp function to support frequency sweeps in systemid and autotune 2022-03-30 11:37:41 +09:00
Bill Geyer
53b91b0c67 AC_Autotune: clean up variable init for dwell 2022-03-30 11:37:41 +09:00
Bill Geyer
f3fba7d844 AC_AutoTune: use chirp function in AP_Math for frequency sweeps 2022-03-30 11:37:41 +09:00
Bill Geyer
74db41806b AC_AutoTune: combine dwell_run_test for angle and rate 2022-03-30 11:37:41 +09:00
Bill Geyer
4680f73715 AC_AutoTune: combine dwell_init methods 2022-03-30 11:37:41 +09:00
Bill Geyer
8156831e0e AC_AutoTune:tradheli-streamline gcs messages 2022-03-30 11:37:41 +09:00
Peter Barker
42e567207e AC_AutoTune: Vector tidying 2022-03-30 11:37:41 +09:00
Peter Barker
97ed1ac4c7 AC_AutoTune_Heli: use structure assignment to clear structures 2022-03-30 11:37:41 +09:00
Peter Barker
e2dad1af4d AC_AutoTune: use structure assignment for test results 2022-03-30 11:37:41 +09:00
Peter Barker
ecf3d16a4d AC_AutoTune: createstructure to hold specific test's sweep results 2022-03-30 11:37:41 +09:00
Henry Wurzburg
c4a31b1d07 HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-03-30 11:37:41 +09:00
Andy Piper
b8e37317c2 AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-03-30 11:37:41 +09:00
Andy Piper
295e36d7d6 SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-03-30 11:37:41 +09:00
Andy Piper
15ec9d5ab4 AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands 
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
 2022-03-30 11:37:41 +09:00
AndKe
0351cd42c4 AP_HAL_ChibiOS: add OREOLED to CubeGreen 2022-03-30 11:37:41 +09:00
Andrew Tridgell
fde2930fa6 hwdef: changed MatekH743 to a 32 bit timer 
the 68ms issue is still present on this board. Switching to a 32 bit
timer will fix it, but loses us the tonealarm support
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
3713769e57 AP_Param: fixed param class conversion code 
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.

I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
adabaca240 AP_Logger: added terrain correction logging field 2022-03-30 11:37:41 +09:00
Andrew Tridgell
14145959e0 AP_Terrain: added logging of terrain correction 2022-03-30 11:37:41 +09:00
Andrew Tridgell
262163eb0f AP_Scripting: restored corrected boolean in height_amsl binding 2022-03-30 11:37:41 +09:00
Andrew Tridgell
eac02acef8 HAL_SITL: don't use terrain adjustment 2022-03-30 11:37:41 +09:00
Andrew Tridgell
59409fd6b7 AP_Arming: setup for terrain adjustment on arming 2022-03-30 11:37:41 +09:00
Andrew Tridgell
78f83d5411 SITL: don't use adjusted terrain in SITL 2022-03-30 11:37:41 +09:00
Andrew Tridgell
502539671d AP_Terrain: added terrain reference adjustment 
this restores the terrain adjustment functionality removed in #19946,
but without the problematic approach of always using home (which can
be moved in flight) and with a TERR_OFS_MAX parameter to limit the
amount of adjustment
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
a8ca9d5b98 HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
f159caa203 HAL_ChibiOS: switch between IOMCU and RCProt rapidly 
keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
1b13a9d15b AP_RCProtocol: added using_uart() method 2022-03-30 11:37:41 +09:00
Andy Piper
147e07a29a AP_HAL_ChibiOS: add KakuteH7-bdshot target 2022-03-30 11:37:41 +09:00
Andrew Tridgell
b805f91b18 AP_BattMonitor: fixed battery remaining of sum battery 
and move to common function for update_consumed()
 2022-03-30 11:37:41 +09:00
Randy Mackay
3584a6cac9 AP_BLHeli: add reboot required to some parameters 2022-03-30 11:37:41 +09:00
Andy Piper
6721aa5f9e AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-30 11:37:41 +09:00
Randy Mackay
ba8cb8f198 AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
b550d771c8 HAL_ChibiOS: prevent conflicting RC input 
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
68b4c38180 AP_GPS: prevent switching to a dead GPS 
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
9105c931b5 GCS_MAVLink: send GCS voltage to GCS 
may be resting voltage of option enabled
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
d900eeac50 AP_BattMonitor: added option to send resting voltage to GCS 2022-03-30 11:37:41 +09:00
Andy Piper
e47a22ccff AP_Declination: ensure indexing into declination tables is always correct 
add constants for table sizes
 2022-03-30 11:37:41 +09:00
Andrew Tridgell
b21203bfcf AP_Arming: make mission checks virtual 2022-03-30 11:37:41 +09:00
Andrew Tridgell
9648323d0a AP_Arming: display a warning if arming checks disabled when arming 2022-03-30 11:37:41 +09:00
Andrew Tridgell
9aa1442b32 AC_AttitudeControl: added set_lean_angle_max_cd() 2022-03-30 11:37:41 +09:00
Andrew Tridgell
41214331e1 AC_Autorotation: use accel_to_angle() 2022-03-30 11:37:41 +09:00
Andrew Tridgell
e3bddc4560 AC_WPNav: use angle/accel functions 2022-03-30 11:37:41 +09:00
Andrew Tridgell
ef6db75d5a AP_Math: added angle_to_accel() and accel_to_angle() 2022-03-30 11:37:41 +09:00
Leonard Hall
f6e5a11571 AC_PosControl: Decay posiiton error during relax 2022-03-12 08:01:18 +09:00
Leonard Hall
7402444ffe AC_AttitudeControl: AC_PosControl: add soften for landing 2022-03-12 08:01:18 +09:00
Peter Barker
0feed119cd AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files 2022-03-12 08:01:18 +09:00
Andrew Tridgell
bbfcf37d5d AP_Math: fixed build error on cygwin 
ensure variables are always initialised
 2022-03-12 08:01:18 +09:00
Leonard Hall
1ccc2311ba AP_Math: SCurve: Increase corner speeds 2022-03-12 08:01:18 +09:00
Leonard Hall
1386ac40cf AP_Math: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-12 08:01:18 +09:00
Leonard Hall
9e7716273a AC_WPNav: Support pause 2022-03-12 08:01:18 +09:00
Leonard Hall
ed11b95281 AC_WPNav: init optionally accepts stopping point 2022-03-12 08:01:18 +09:00
Leonard Hall
0de932345a AC_Loiter: use Pos_Control soften_for_landing_xy 2022-03-12 08:01:18 +09:00
Leonard Hall
43d59769fe AC_WPNav: Increase corner speeds 2022-03-12 08:01:18 +09:00
Leonard Hall
c16e736bc6 AC_WP_Nav: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-12 08:01:18 +09:00
MallikarjunSE
3fc302f7ad AP_HAL_ChibiOS: Add Sierra-F9P support 2022-03-12 08:01:18 +09:00
Andy Piper
0297e2e313 AP_HAL_ChibiOS: normalize BeastH7v2 in line with BeastF7v2 definition 2022-03-12 08:01:18 +09:00
Evgeniy
c53837141f AP_HAL_ChibiOS: BeastH7v2 board added 2022-03-12 08:01:18 +09:00
Andrew Tridgell
bffa7d9893 hwdef: fixed buzzer on CUAV_GPS peripheral 2022-03-12 08:01:18 +09:00
MallikarjunSE
2598257e76 hwdef: hwdef update with watchdog 2022-03-12 08:01:18 +09:00
MallikarjunSE
00a276df9c hwdef:update storage pages and enable watchdog 2022-03-12 08:01:18 +09:00
murata
0893789863 hwdef: Set the maximum number of barometric pressure sensors to 1 2022-03-12 08:01:18 +09:00
murata
78c193bd1e hwdef: Maximum number of battery monitors is 1 2022-03-12 08:01:18 +09:00
Andrew Tridgell
635e04567b hwdef: enable GPS_MOVING_BASELINE on FreeflyRTK and f303-GPS 
this allows for F9P based dual-GPS yaw on DroneCAN peripherals with
auto-config
 2022-03-12 08:01:18 +09:00
Andrew Tridgell
feb34f3a0c hwdef: added HolybroG4_GPS 2022-03-12 08:01:18 +09:00
Andrew Tridgell
3f1a138a73 HAL_ChibiOS: fixed min/max inversion in MCU voltage logging 2022-03-12 08:01:18 +09:00
Andy Piper
ce8e87bd29 AP_HAL: always choose high for dshot prescaler calculation 2022-03-12 08:01:18 +09:00
Iampete1
d21b684753 AP_PiccoloCAN: GPIO servo does not count as active 2022-03-12 08:01:18 +09:00
Iampete1
121080f77a AP_Arming: don't arming check servo functions set to GPIO 2022-03-12 08:01:18 +09:00
Tom Pittenger
bf11e304f6 AP_Airspeed: improve description of ARSPD_TUBE_ORDR 2022-03-12 08:01:18 +09:00
Iampete1
7ced9b0d32 AP_Airspeed: rename get_health_failure_probability to get_health_probability 2022-03-12 08:01:18 +09:00
Iampete1
8a4f256ad5 AP_Airspeed: Health: use reading from correct airspeed sensor 2022-03-12 08:01:18 +09:00
Iampete1
2f3b1eac6d AC_AttitudeControl: WeatherVane: defualt to 0 gain on plane and early return 2022-03-12 08:01:18 +09:00
Andrew Tridgell
82737dc863 AP_Scripting: fixed radius selection for ship landing 2022-03-12 08:01:18 +09:00
Andrew Tridgell
6815dcd688 AP_Scripting: fixed beacon lost in ship landing 2022-03-12 08:01:18 +09:00
Andrew Tridgell
cf05496687 AP_Scripting: review fixes 2022-03-12 08:01:18 +09:00
Andrew Tridgell
06f67d6937 SITL: fixed ship offset velocity correction 2022-03-12 08:01:18 +09:00
Andrew Tridgell
45c2452675 AP_Common: improved accuracy of get_bearing() 
make base function ftype, then convert to int32_t for get_bearing_to()
 2022-03-12 08:01:18 +09:00
Andrew Tridgell
cfcc7650fd AP_Scripting: update lua docs 2022-03-12 08:01:18 +09:00
Andrew Tridgell
30b73452d6 AP_Scripting: plane ship landing script 2022-03-12 08:01:18 +09:00
Andrew Tridgell
9e3bd93993 AP_Scripting: added rotate_xy for Vector3f 2022-03-12 08:01:18 +09:00
Andrew Tridgell
70e7bf4ed9 AP_Scripting: added follow API 2022-03-12 08:01:18 +09:00
Andrew Tridgell
efd884cd1e AP_Vehicle: added update_target_location() 2022-03-12 08:01:18 +09:00
Andrew Tridgell
b2620e3334 SITL: added ship offset and ATTITUDE 2022-03-12 08:01:18 +09:00
Andrew Tridgell
b0112ee804 AP_Follow: added APIs for plane ship landing 2022-03-12 08:01:18 +09:00
Andrew Tridgell
6e851d3bef SITL: removed terrain home correction 2022-03-12 08:01:18 +09:00
Andrew Tridgell
3293f04f8c AP_Terrain: removed terrain home correction 2022-03-12 08:01:18 +09:00
Andrew Tridgell
06345926c8 AP_Scripting: removed terrain home correction 2022-03-12 08:01:18 +09:00
Andrew Tridgell
a301fd8567 AP_HAL_SITL: removed terrain home correction 2022-03-12 08:01:18 +09:00