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29046 Commits

Author SHA1 Message Date
Andrew Tridgell 39de7be71f 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 16:08:17 +09:00
Peter Barker d435181756 AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-28 16:08:17 +09:00
Andrew Tridgell 913b789592 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-28 16:08:17 +09:00
Andrew Tridgell 0fd3fac65f AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-28 16:08:17 +09:00
Andrew Tridgell d614594526 AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor 
we need to use the pressure from the sensor we are calibrating
 2022-05-28 16:08:17 +09:00
Andrew Tridgell 52458b6f54 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 16:08:17 +09:00
Peter Barker 2a5e9f76ac AP_Compass: do not use GSF if any model has been clipped 2022-05-28 16:08:17 +09:00
Andrew Tridgell ee41132483 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 16:08:17 +09:00
Andrew Tridgell bb1ee4e34c 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 16:08:17 +09:00
Joshua Henderson 5ac3f9aa33 AP_Airspeed: remove negative pressure set unhealthy 2022-05-28 16:08:17 +09:00
Leonard Hall f65a6a302b AC_AttitudeControl: Allow diabling of slew limit 2022-05-16 08:16:16 +09:00
Andrew Tridgell 2a700f677a hwdef: added FlyingMoonF427 support 2022-05-16 08:16:16 +09:00
Andrew Tridgell 008671f16a hwdef: added FlyingMoonF407 board support 2022-05-16 08:16:16 +09:00
Andrew Tridgell a324cf80e5 HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103 
need to check new pin not old pin
 2022-05-16 08:16:16 +09:00
Andrew Tridgell 32cb2442a9 AP_Logger: fixed a bug in wrapped log count 
fixes #20687
 2022-05-16 08:16:16 +09:00
Andrew Tridgell 63140014c1 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 08:40:54 +09:00
Andrew Tridgell 274d526a69 AP_Scripting: added quicktune.lua script 
rapid tuning for VTOL control
 2022-05-07 08:40:54 +09:00
Andrew Tridgell 5483e26374 AP_Scripting: added get_rpy_srate binding 
and norm_input_dz binding
 2022-05-07 08:40:54 +09:00
Andrew Tridgell cd48dd0b6d AC_AttitudeControl: added get_rpy_srate() 2022-05-07 08:40:54 +09:00
Andrew Tridgell 2f60c452e6 AP_Compass: fixed custom orientation in 3 compass drivers 
this prevents an internal error and mag failure with DroneCAN, MSP or
ExternalAHRS compasses
 2022-05-07 08:40:54 +09:00
Andy Piper ec0df918e5 AP_InertialSensor: move frontend update into ramfunc. 2022-04-29 08:06:29 +09:00
Andy Piper 921379ceb9 AP_FlashIface: make sure XIP flash is ready before returning 2022-04-29 08:06:29 +09:00
Andy Piper f3319c7fc0 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 08:06:29 +09:00
Randy Mackay c53e507978 AP_Arming: add pre-arm check of disabled servo channels 2022-04-29 08:06:29 +09:00
Andy Piper 0d096985db 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 08:06:29 +09:00
Andy Piper 8a0093eae8 AP_HAL_ChibiOS: determine presence of disabled channels based on digital channels in a group 2022-04-29 08:06:29 +09:00
Andy Piper a0140fb73e AP_HAL: add accessor for disabled channels to RCOutput 2022-04-29 08:06:29 +09:00
Andy Piper a66355fa8b AP_BLHeli: keep a record of disabled motors 2022-04-29 08:06:29 +09:00
Bill Geyer cabdafeeb9 AC_AutoTune: fix gain determination fail logic 2022-04-29 08:06:29 +09:00
Bill Geyer e904f4ba38 AC_AutoTune: use failed state to exit 2022-04-29 08:06:29 +09:00
Bill Geyer 58d46114bc AC_AutoTune: use generic load gain method to save flash 2022-04-29 08:06:29 +09:00
Andy Piper dcb634b3d8 AP_HAL_ChibiOS: bdshot version of MatekF765-Wing 2022-04-29 08:06:29 +09:00
Andy Piper 579fd22ca4 AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation 2022-04-29 08:06:29 +09:00
Andy Piper 91732555a5 AP_HAL: update prescaler tests 2022-04-29 08:06:29 +09:00
Randy Mackay 9c778d134a AP_RPM: pre-arm displays gpio vs servo_ch conflict 2022-04-29 08:06:29 +09:00
Randy Mackay 61ea5c9cb2 AP_Relay: pre-arm displays gpio vs servo_ch conflict 2022-04-29 08:06:29 +09:00
Randy Mackay 423e5cb96d AP_Button: pre-arm displays gpio vs servo_ch conflict 2022-04-29 08:06:29 +09:00
Randy Mackay e8fe09329f AP_HAL: add GPIO::pin_to_servo_channel method 2022-04-29 08:06:29 +09:00
Randy Mackay 98ac0a4106 AP_HAL_ChibiOS: GPIO comment removes mention of BRD_PWM_COUNT 2022-04-29 08:06:29 +09:00
Randy Mackay debbc36547 AP_IOMCU: valid_GPIO_pin checks if pin configured for GPIO 2022-04-29 08:06:29 +09:00
Randy Mackay 6a07a3a981 AP_IOMCU: convert_pin_number leaves input untouched on failure 2022-04-29 08:06:29 +09:00
Randy Mackay 97406f09a8 AP_RPM: avoid attach interrupt retry and spam to GCS if PIN = -1 2022-04-29 08:06:29 +09:00
xianglunkai 7e44d0bf22 AP_Proximity_Boundary_3D:correction of miswriting 2022-04-29 08:06:29 +09:00
Andrew Tridgell c6240312cc AP_Logger: removed annoying message on missing logs 2022-04-29 08:06:29 +09:00
Andrew Tridgell 43f1a11a5b AP_Logger: fixed log listing with gap, and EKF error on log list 
this fixes two issues:

The first issue that if we are missing a log file in the middle of the
list then it was not possible to download recent logs, as we get the
incorrect value for total number of logs. This happened for me with
107 logs, with log62 missing from the microSD. It would only show 45
available logs, so the most recent logs could not be downloaded.

The second issue is that get_num_logs() was very slow if there were a
lot of log files in a directory. This would cause EKF errors and ESC
resets. Using a opendir/readdir loop is much faster (approx 10x faster
in my testing with 107 logs on a MatekH743).
 2022-04-29 08:06:29 +09:00
xianglunkai fa3c1fef18 AP_Logger: must set default fd = -1 2022-04-29 08:06:29 +09:00
Andrew Tridgell b7dc09acbc SITL: update for changed INS_NOTCH parameter name 2022-04-29 08:06:29 +09:00
Andrew Tridgell 19b4a5fdf5 AP_HAL_ChibiOS: update for changed INS_NOTCH parameter name 2022-04-29 08:06:29 +09:00
Andrew Tridgell 5db3a06751 AP_InertialSensor: move INS_HNTC2 to a new parameter table ID 2022-04-29 08:06:29 +09:00
QioTek 4289b6bc1b AP_HAL_ChibiOS: ICM4 series sensors as an alternative with IMU3. 
AP_HAL_ChibiOS:  ICM4 series sensors as an alternative with IMU3.
 2022-04-29 08:06:29 +09:00