aepko/Ardupilot2
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55,154 Commits 72 Branches 509 Tags 683 MiB
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30732 Commits

Author SHA1 Message Date
Paul Riseborough
255df7c8b5 AP_NavEKF3: Increase delta velocity bias state process noise 
Required due to state variance collapse on ground with some systems using RTK GPS.
 2023-05-25 11:33:10 +10:00
Paul Riseborough
b6b5a0121a AP_NavEKF3: Strengthen recovery from bad delta velocity bias learning 2023-05-25 11:33:10 +10:00
Paul Riseborough
119a8bb357 AP_NavEKF3: Increase default value of EK3_ABIAS_P_NSE 
This is required because some hardware setups with RTK GPS have experienced a collapse of the delta velocity state variances.
 2023-05-25 11:33:10 +10:00
Paul Riseborough
96546804b4 AP_NavEKF3: Retune and fix delta velocity bias state variance protection 2023-05-25 11:33:10 +10:00
Andy Piper
fc7f182214 AP_NavEKF: ensure gyro biases are numbers 
avoid errors during compass mot
 2023-05-25 11:33:10 +10:00
Peter Barker
708124183d AP_EFI: use uint16_t to store offset 
prevents infinite loop if there are exactly 255 bytes ready to read
 2023-05-25 11:33:10 +10:00
Andy Piper
a86e18a09d AP_HAL_ChibiOS: ensure the rcout TIM_UP DMA request source is re-instated after cancellation 
This fixes a bug in bdshot whereby dma cancellation could result in the wrong DMA channel
being used for dshot output and hence motors stopping
 2023-03-27 11:11:53 +09:00
Andy Piper
b936b474ed AP_HAL_ChibiOS: ensure that DMA source is correct on DMA send for rcout 2023-03-27 11:11:53 +09:00
Andrew Tridgell
411a15699a HAL_ChibiOS: switched to 64 bit maths for DShot timings 
this fixes a timer wrap bug at 71 minutes after boot that impacts
bdshot
 2023-03-26 11:53:36 +09:00
bugobliterator
3d1e280e84 AP_HAL_ChibiOS: add CubeOrangePlus-bdshot hwdef 2023-03-22 18:29:17 +11:00
Peter Barker
9fcb678b93 AP_Mount: rename local _chan to chan in Gremsy methods 
based on PR feedback
 2023-03-02 14:56:47 +09:00
Peter Barker
3c8e89f540 GCS_MAVLink: add method to get link (not just channel number) for mavtype and compid 2023-03-02 14:56:47 +09:00
Peter Barker
a613ae8d1d AP_Mount: correct double-mapping of port to channel number 
set_message_interval takes a port number, not a channel number (it was originally written as an internal function, after all).  Before this patch we were double-mapping from one to the other.  That works so long as the port you are mapping also corresponds to the chanel number - which it will, for example, if you are using serial2 with both serial0 and serial1 also set to mavlink.  If you set serial5_protocol to 2 an attempt to use it for controlling a gremsy it will *not* work because we map into backwards twice.
 2023-03-02 14:56:47 +09:00
Reilly Callaway
865da3a0f0 AP_PiccoloCAN: Fix ESC voltage and current telem scaling 2023-03-02 14:56:47 +09:00
bugobliterator
0458d424af AP_HAL_ChibiOS: add HAL_WITH_MCU_MONITORING define for H757 2023-03-02 14:56:47 +09:00
Randy Mackay
71361ac598 AP_Mount: servo mount yaw handling fix 2023-03-02 14:56:47 +09:00
Andrew Tridgell
0989273250 AP_AHRS: fixed earth frame accel for EKF3 with significant trim 2023-03-02 14:56:47 +09:00
Andy Piper
15b9bf6820 AP_HAL_ChibiOS: enable VTX power on MambaF405 2022 2023-03-02 14:56:47 +09:00
Iampete1
969ee8be2c AP_TECS: protect against low airspeed in reset 2023-03-02 14:56:47 +09:00
Andrew Tridgell
6978df3348 AP_GPS: don't try and configure M10 options on non-M10 GPS 
this fixes a pre-arm failure "GPS 1 failing configuration checks" on
non-M10 GPS modules, including AP_Periph

it also adds the ublox unconfigured msgs to the DroneCAN GNSS.Status
errors field for easier diagnosis of this type of issue in the future
 2023-03-02 14:56:47 +09:00
Andrew Tridgell
92f9b7e11f AP_Scripting: disable PWMSource in scripts for 4.3.4 
this avoids the interrupt handling bug. Proper fix in 4.4.x
 2023-03-01 11:57:54 +09:00
Andy Piper
2ce8005f22 AP_HAL_ChibiOS: probe external compasses on foxeer reaper f745 2023-02-14 16:30:46 +09:00
Andy Piper
79e1f4eca1 AP_HAL_ChibiOS: enable VTX power on MambaH743v4 2023-02-14 16:29:45 +09:00
bugobliterator
57e702ae31 AP_HAL_ChibiOS: add support for CubeOrangePlus BG edition 2023-02-14 16:22:17 +09:00
Andrew Tridgell
daec6e6ee3 AP_IOMCU: fixed an issue with double reset of IOMCU 
if the IOMCU resets twice in quick succession then the code that
restores the safety state while flying can fail, leading to the
aircraft trying to continue flying with safety on

This results from two issues:

- a race in handling the last_safety_off variable
- the fact that plane sets the soft_armed state based on safety state
 2023-02-14 16:22:17 +09:00
Bob Long
3fbeda3e1d AP_Baro: fix bug in alt error arming check 
get_altitude_difference already subtracts MSL altitude
 2023-02-11 09:42:55 +09:00
Andrew Tridgell
a4835634e0 RC_Channel: disable FFT notch tune feature 
See https://github.com/ArduPilot/ardupilot/pull/22686
 2023-02-11 09:42:55 +09:00
Andy Piper
7408b46fdb AP_HAL: ensure the DSP tracked peaks do not overflow the buffer 2023-02-11 09:42:55 +09:00
rishabsingh3003
4fd2288082 AC_Precland: Add option to resume precland after manual override 2023-02-11 09:42:55 +09:00
Andrew Tridgell
886210f8f1 AP_CANManager: add an output buffer for MAVCAN 
this fixes firmware update of peripheral nodes using MAVCAN
 2023-02-11 09:42:55 +09:00
Peter Barker
fd84805f68 AP_Logger: avoid logging duplicate FMT/UNIT/FMTU/MULT messages 
Failing due to being out of time meant we wouldn't incremement the counter, even though we'd emitted the item.

it is important we try to send something, so move this check to be after we increment whichever counter we are using.
 2023-02-11 09:42:55 +09:00
Andrew Tridgell
12721f37b7 AP_OpenDroneID: set EMERGENCY status on crash or chute deploy 
RemoteID modules are required to set EMERGENCY status on uncontrolled
descent or crash. This fixes our implementation to do that, either via
existing vehicle crash checking code or via a parachute release
 2023-02-11 09:42:55 +09:00
Andrew Tridgell
c483b26737 AP_Compass: fixed zero compass diagonals 
this fixes a regression from 4.2 to 4.3.

previously we automatically set the diagnoals to 1,1,1 if they were
0,0,0. We don't do that any more. I was helping a user who had copied
an old config with 0,0,0 for diagonals and did not understand two
things:

- the compass did not work in 4.3
- large vehicle mag cal didn't work
 2023-02-11 09:42:55 +09:00
Randy Mackay
81813f8015 GCS_MAVlink: send_autopilot_state_for_gimbal_device sends ef z-axis rate target 2023-02-11 09:42:55 +09:00
Randy Mackay
e678a9666d AP_Vehicle: replace get_rate_bf_targets with get_rate_ef_targets 2023-02-11 09:42:55 +09:00
Randy Mackay
f8414200c7 AC_AttitudeControl: add get_rate_ef_targets accessor 2023-02-11 09:42:55 +09:00
Andrew Tridgell
518388c9c3 AP_RCProtocol: on IOMCU don't allow protocol to change once detected 
this prevents a crash where in-flight noise causes an incorrect
protocol detection, such as DSM for a SBUS input
 2023-02-11 09:42:55 +09:00
Andrew Tridgell
af3f492473 AP_Scripting: fixed alt frame error in ship landing 
if terrain follow is enabled then this would result in mixing a
terrain alt with an absolute alt, resulting in attempts to descend to
a negative alt
 2023-01-20 09:58:14 +09:00
Andrew Tridgell
6c93d1cbdb AP_InertialSensor: cleanup NAMED_VALUE_FLOAT for fifo error 2023-01-20 09:58:14 +09:00
Andrew Tridgell
b5549078a2 AP_InertialSensor: fixed flood of log with fast fifo reset 2023-01-20 09:58:14 +09:00
Andrew Tridgell
e1883bcaa4 GCS_MAVLink: fixed FTP terminate session error 
this caused ftp downloads to intermittently fail. The cause is the FTP
client may ask for a session terminate and then immediately afterwards
a ftp open. The open would fail as the ftp session was considered
active
 2023-01-20 09:58:14 +09:00
Andrew Tridgell
9d7bbdece5 hwdef: save flash to get 4.3.3 building on some low flash boards 2023-01-10 08:12:47 +09:00
Andy Piper
67c9a04223 AP_HAL_ChibiOS: support for MambaF405-2022B 
Co-authored-by: vidmantas zemleris <vidmantas.zemleris@gmail.com>
 2023-01-10 08:12:47 +09:00
Andy Piper
6412c2cb8e AP_HAL_ChibiOS: MambaH743 v2 with dual ICM42688 2023-01-10 08:12:47 +09:00
Andy Piper
2e29f2664b AP_HAL_ChibiOS: add UART baudrate accessor 2023-01-10 08:12:47 +09:00
Andy Piper
0f90672bcd AP_HAL: add UART baudrate accessor 2023-01-10 08:12:47 +09:00
Andy Piper
5477acf3b4 RC_Channel: add option to support ELRS at 420kbaud 2023-01-10 08:12:47 +09:00
Andy Piper
ba6842d19e AP_RCTelemetry: report CRSF link rate rather than mode. 
Encode actual protocol being used
cleanup is_elrs() and version numbers
 2023-01-10 08:12:47 +09:00
Andy Piper
b7e9330953 AP_RCProtocol: check for 3 good frames for CRSF 
Move get_link_rate() and get_protocol_string() to CRSF protocol
allow ELRS at 420kbaud to be configured
allow CRSF to bootstrap at ELRS desired baudrate
 2023-01-10 08:12:47 +09:00
Andrew Tridgell
bd9f3ef696 AC_AttitudeControl: fixed time wrap bug in is_active_xy() 
this failed at 70 minutes
 2023-01-10 08:12:47 +09:00