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32219 Commits

Author SHA1 Message Date
Martin Luessi
ee10f447e0 AP_HAL_ChibiOS: Move scheduler task table to RAM for H750 2023-09-14 14:10:41 +09:00
Martin Luessi
481955f067 AP_HAL_ChibiOS: Add libgcc comment to H750 linker script 2023-09-14 14:10:41 +09:00
Martin Luessi
4418ccc4a9 AP_HAL_ChibiOS: Use DTCM for vector table for external flash targets 2023-09-14 14:10:41 +09:00
Martin Luessi
d923ca6ec2 AP_HAL_ChibiOS: Move more time critical code to RAM for H750 2023-09-14 14:10:41 +09:00
Martin Luessi
e615034c83 AP_HAL_ChibiOS: increase FLASH_RAM and rename FDCAN to CAN for H750 2023-09-14 14:10:41 +09:00
Martin Luessi
321e82c451 AP_HAL_ChibiOS: Copy vector table to RAM if external flash is primary 2023-09-14 14:10:41 +09:00
Martin Luessi
47615b14cc AP_HAL_ChibiOS: Change linker script so vector table can be copied to RAM for external flash targets 2023-09-14 14:10:41 +09:00
Martin Luessi
6487c46562 AP_HAL_ChibiOS: Allow custom STM32_QSPISEL for H7 2023-09-14 14:10:41 +09:00
Andy Piper
3315e637f6 AP_HAL_ChibiOS: change incorrect I2C internal mask from SkystarsH7HD bdshot 2023-09-14 14:10:41 +09:00
Andrew Tridgell
d5c5a86ff9 hwdef: get airbotf4 building with 4.4 
minimize, same as master
 2023-09-07 18:02:36 +10:00
Andrew Tridgell
5a980e04a8 AP_Scripting: added docs for log_file_content 2023-09-05 20:14:13 +10:00
Davide_Lentini
e3dc563a85 AP_HAL_ChibiOS: luminousbee5 hwdefs and default.parm update 
fix: restored storage folders for luminousbee5 in hwdef
 2023-09-05 20:14:13 +10:00
Willian Galvani
46576685b7 AP_MotorsUGV: add asymmetry factor for skid-steering 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2023-09-05 20:14:13 +10:00
Andrew Tridgell
47405af84d AP_Scripting: added log_file_content method 
this allows for aerobatics to log the schedule for easier log review
 2023-09-05 20:14:13 +10:00
Andy Piper
87a405152f AP_HAL_ChibiOS: pull RTS lines low on Pixhawk6C to avoid glitches on startup 2023-09-05 20:14:13 +10:00
Willian Galvani
ee0f3c5f51 AP_HAL_Linux: update Navigator available GPIOs 
The comment was wrong. gpio 26 is actually used for the PCA Output Enable signal.
This also adds GPIO18, which is the one broken out to the PWM0 pin
 2023-09-05 20:14:13 +10:00
Iampete1
b7eef68974 AP_BattMonitor: UAVCAN: allow battery reset if not using CAN SoC 2023-09-05 20:14:13 +10:00
Paul Riseborough
2c5d160c67 AP_NavEKF3: Update EK3_GLITCH_RADIUS metadata 2023-09-05 20:14:13 +10:00
Paul Riseborough
096c5ebf57 AP_NavEKF3: increase innovation variance instead of clipping innovations 2023-09-05 20:14:13 +10:00
Paul Riseborough
8ec7c4e9fd AP_NavEKF3: Provide option to clip velocity and position innovations 2023-09-05 20:14:13 +10:00
Andy Piper
a2e804b81c AP_HAL_ChibiOS: add 8 bi-directional dshot channels to KakuteH7-Wing 2023-09-05 20:14:13 +10:00
Peter Barker
2e571d6483 hwdef: qiotek: correct HAL_BATT_MONITOR_DEFAULT define name 2023-09-05 20:14:13 +10:00
Peter Barker
76b328a4ae hwdef: add hwdef for SDMODELH7V1 2023-09-05 20:14:13 +10:00
Andrew Tridgell
f51f5e81f3 GCS_MAVLink: fixed corruption of FTP reply component ID 
this led to not being able to do FTP transfers with
support.ardupilot.org unless MissionPlanner used the same component ID
as the support engineer GCS
 2023-09-05 20:14:13 +10:00
Andrew Tridgell
0e85a4041f AP_Param: fixed parameter defaults array length handling 
we need to add up the total for all comma separated parameter files
 2023-09-05 20:14:13 +10:00
Andrew Tridgell
91b43c5115 AP_UAVCAN: make himark servo optional in build 
and only allocate handlers if enabled
 2023-09-05 20:14:13 +10:00
Andrew Tridgell
e23b615b85 AP_UAVCAN: added Hobbywing ESC support 2023-09-05 20:14:13 +10:00
Andrew Tridgell
8a5867e3d9 AP_PiccoloCAN: expand servo status logging 2023-09-05 20:14:13 +10:00
Andrew Tridgell
1897411b9d AP_Logger: expand servo status logging 2023-09-05 20:14:13 +10:00
Andrew Tridgell
a8df3d9b6f AP_UAVCAN: support Himark servo protocol 2023-09-05 20:14:13 +10:00
Andrew Tridgell
dc0eaac0da hwdef: allow Pixhawk1-1M-bdshot to build for 4.4.0 2023-08-12 20:30:12 +10:00
Andrew Tridgell
4039e1bc22 AP_GPS: fixed RTK injection when first module is a BASE 
this is a partial backport of #24132 which fixes RTK injection when
the 1st GPS module is a DroneCAN RTK rover. Without this change RTCM
injection for RTK fix on the base will only work if it happens to come
up as the first module
 2023-08-12 16:29:38 +10:00
Andrew Tridgell
cfe64421f1 AP_Compass: allow override of IST8310 orientation 
this allows for vendor GPS modules and internal compass which use a
different orientation
 2023-08-12 16:29:38 +10:00
Andrew Tridgell
9c43cde3d5 hwdef: added SIYI NY flight controller 2023-08-12 16:29:38 +10:00
Andrew Tridgell
49e9cac9c0 AP_Arming: fixed auto-enable of fence with forced arm 
when a user forced armed and had FENCE_AUTOENABLE=3 for enable on
arming then the fence did not enable
 2023-08-12 16:29:38 +10:00
Peter Barker
0f46cd7a34 GCS_MAVLink: fix airspeed cal / format commands via non-USB telemetry 2023-08-12 16:29:38 +10:00
Andrew Tridgell
306519767f AP_NavEKF3: fixed race condition in updateFilterStatus() 
filter status was initially set to zero then updated. This interacts
with the IMU filtering code which checks filter status from a
different thread to determine active_EKF_type(). When the race
condition is hit then the IMU we are running notch filters on changes
for a single sample, causing a notch filter glitch
 2023-08-12 16:29:38 +10:00
Andrew Tridgell
c024c58486 AP_Airspeed: increased DroneCAN airspeed timeout 2023-08-12 16:29:38 +10:00
Andrew Tridgell
a7dff69f8f AP_Airspeed: fixed handling of unhealthy airspeed 
this fixes a bug introduced in
https://github.com/ArduPilot/ardupilot/pull/22416 which results in
using bad airspeed data on timeout. The prev_health variable is
updated by the get_pressure call
 2023-08-12 16:29:38 +10:00
Randy Mackay
41a97efcb3 AP_Scripting: add rover quicktune 2023-08-01 17:43:17 +10:00
Randy Mackay
fa817c1d32 AP_Scripting: AR_PosControl bindings 2023-08-01 17:43:17 +10:00
Randy Mackay
35513ba539 AP_Scripting: add AR_AttitudeControl srate binding 
also add AP_Vehicle:get_steering_and_throttle binding
 2023-08-01 17:43:17 +10:00
Randy Mackay
eaa2ce17de AC_PID: AC_PID_2D integrates SlewCalculator2D 2023-08-01 17:43:17 +10:00
Randy Mackay
2f847c9129 Filter: add SlewCalculator2D 2023-08-01 17:43:17 +10:00
Randy Mackay
873290de1b Filter: SlewLimiter definitions moved to cpp 2023-08-01 17:43:17 +10:00
Randy Mackay
049cb93cad AP_Vehicle: add get_steering_and_throttle 2023-08-01 17:43:17 +10:00
Randy Mackay
66814c57ef AR_PosControl: add singleton and get_srate 2023-08-01 17:43:17 +10:00
Randy Mackay
4b7e1db3e4 AR_AttitudeControl: add singleton and get_srate 2023-08-01 17:43:17 +10:00
tiralonghipol
cdd2124353 AP_HAL_ChibiOS: add new board BlitzF745AIO 2023-08-01 17:43:17 +10:00
Andy Piper
ec73566503 AP_HAL_ChibiOS: correct incorrect defaults for serial ports on FoxeerH743v1 2023-08-01 17:43:17 +10:00
Andy Piper
aa00e16cdd AP_RCProtocol: report tracer frame rate correctly 2023-08-01 17:43:17 +10:00
Andy Piper
95526881ad AP_RCProtocol: rescan at CRSFv3 baud rates to avoid RX loss on soft reboot 2023-08-01 17:43:17 +10:00
Randy Mackay
d4596e39f5 AR_PosControl: limit and zero velocity I-term 
zero in forward-back direction
limit in lateral direction
 2023-08-01 17:43:17 +10:00
Randy Mackay
c746714eaa AR_AttitudeContol: add steering_limited checks 2023-08-01 17:43:17 +10:00
Randy Mackay
2beb6f8fd0 AP_Math: Vector2f::projected made const 2023-08-01 17:43:17 +10:00
Andy Piper
b93bc2767f AP_HAL_ChibiOS: correct comment in HEEWING-F405 v1 2023-08-01 17:43:17 +10:00
Andy Piper
c36b6c1c0b AP_HAL_ChibiOS: HEEWING-F405v2 which includes dataflash logging 2023-08-01 17:43:17 +10:00
Andy Piper
7f9b9eb344 AP_NavEKF3: fix docs on ABIAS_P_NSE_DEFAULT 2023-08-01 17:43:17 +10:00
Andrew Tridgell
787d03c1a3 AP_Mount: prevent SIYI driver crash if serial port not setup 
if MNT1_TYPE=8 and no serial protocol set to gimbal then a camera
trigger can crash the vehicle
 2023-08-01 17:43:17 +10:00
Andy Piper
cc19359c33 AP_BLHeli: add battery status MSP handling 
give internal error if an unknown MSP command occurs
 2023-08-01 17:43:17 +10:00
HelloLeFei
0249abb099 AP_HAL_ChibiOS: add HEEWING-F405 flight controller 
add bi-directional dshot
add back in features.
juggle DMA allocations to allow CRSF to work correctly
disable dshot on PWM 10 as it is not used
do not enable quadplane by default
do not disable arming checks
run ICM42688 at 1Mhz for low speed to avoid gyro noise
add HEEWING README and picture
 2023-08-01 17:43:17 +10:00
Mikhail Degtiarenko
a67b6c7837 AP_HAL_ChibiOS: add SPL06 to MambaH743v4 
The Diatone Mamba MK4 H743 v2 Flight Control have moved from the DPS280 barometer to using SPL06.

https://www.diatone.us/products/mamba-mk4-h743-v2-flight-control-30mm-m3l
 2023-08-01 17:43:17 +10:00
Andrew Tridgell
d81d4640ee ChibiOS: disable DMA on I2C on F7 and H7 by default 
this was already done on many (most?) boards, and greatly reduces DMA
sharing which improves performance of UARTs. This changes the default
to no DMA on I2C
 2023-08-01 10:54:28 +10:00
bugobliterator
a121f665f1 AP_Scripting: stash and restore FPU register context in LUAI_TRY 
this fixes an issue where a lua library function triggers an exception
after it does a math operation which changes the floating point
registers on M7 MCUs (such as STM32H7). An example is math.random()
which calls math_random(), which pre-calculates a double value before
checking if the arguments to the call are valid. When it then checks
and finds invalid values the exception longjmp does not restore the
floating point registers.
 2023-07-23 12:46:05 +10:00
Andrew Tridgell
a564af680b AP_Scripting: added bindings for VTOL motor loss 
this allows a script to take an action on loss of a VTOL motor
 2023-07-23 12:45:26 +10:00
Andrew Tridgell
24ec48d1e3 HAL_ChibiOS: implement newlib alloc functions as malloc wrappers 
this fixes issue #24106
 2023-07-04 15:33:59 +10:00
Peter Barker
ff6c1e009e AP_Notify: add driver for IS31FL3195 LED 2023-07-04 10:53:57 +10:00
Peter Barker
9501b61729 AP_Notify: add driver for LP5562 LED 2023-07-04 10:53:57 +10:00
Andrew Tridgell
9090bb17a5 AP_Scripting: updated VTOL quicktune docs 2023-07-04 10:53:57 +10:00
Andrew Tridgell
2aec5ccd7b AP_Scripting: fixed lua-check warnings in VTOL-quicktune 2023-07-04 10:53:57 +10:00
Andrew Tridgell
dc7efab45f AP_Scripting: fixed use of QUIK_ENABLE in VTOL-quicktune 
this was lost when the cached access was added
 2023-07-04 10:53:57 +10:00
Andrew Tridgell
678b81563d AP_Scripting: added QUIK_MAX_REDUCE parameter to VTOL-quicktune.lua 
this limits the amount that rate gains can reduce from the original
values in a quicktune. Large reductions in rate gains can be
incorrectly triggered by a frame resonance or gust of wind which can
result in gains that are dangerously low, which can trigger an angle P
oscillation
 2023-07-04 10:53:57 +10:00
Andy Piper
25ccd609d7 AP_HAL_ChibiOS: remove bdshot from speedybeef4 as it doesn't work and increases flash usage 2023-07-04 10:53:57 +10:00
Andy Piper
49c3d4e049 AP_HAL_ChibiOS: Pixhawk1-bdshot 2023-07-04 10:53:57 +10:00
Michael du Breuil
b3837ee911 AP_ADSB: Fix spam of lost transciever message at update() rate 2023-07-04 10:53:57 +10:00
Andy Piper
f7e657f6c5 AC_AutoTune: correct incorrect min raw rate valuee 2023-07-04 10:53:57 +10:00
Andrew Tridgell
5e657c4e7f AP_NavEKF3: fixed velocity reset on AID_NONE 
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
 2023-07-04 10:53:57 +10:00
Andrew Tridgell
38a26f26a7 AP_NavEKF2: fixed velocity reset on AID_NONE 
The ResetVelocity() function is only supposed to reset XY states, not
Z state. Resetting the Z state for velocity results in a large
velocity glitch if a vehicle is descending or ascending when aiding
switches to AID_NONE

this fixes #19386
 2023-07-04 10:53:57 +10:00
Peter Barker
a75ee432c8 AP_Arming: reword GPS pre-arm failure 
M10S (no storage) throws this for a considerable period of time and the wording makes this process sound scary.
 2023-07-04 10:53:57 +10:00
Andy Piper
a357d14f4b AP_HAL_ChibiOS: Pixhawk6X bdshot version 2023-07-04 10:53:57 +10:00
jfbblue0922
3f3ba237fb AP_HAL_ChibiOS: jfb100 gets shorter EXT_WDOG_INTERVAL_MS 2023-07-04 10:53:57 +10:00
jfbblue0922
9e19e12040 AP_HAL_CHibiOS: JFB100 hwdef fix for ext watchdog 2023-07-04 10:53:57 +10:00
jfbblue0922
4d7cce1b36 AP_HAL_ChibiOS: support external watchdog gpio 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>

optional support to toggle GPIO pin at 10hz
 2023-07-04 10:53:57 +10:00
Andrew Tridgell
f4a59b3a7e AP_GPS: fixed ublox M10S auto-config 
this copes with the M10S rejecting multiple-key VALGET calls. We fall
back to fetching one at a time
 2023-07-04 10:53:57 +10:00
Alexander Keller
94a3f2aff2 AP_GPS:Comform to ardupilot undulation definition 2023-07-04 10:53:57 +10:00
davidsastresas
ec79c3ffae GCS_Common: handle CMD_DO_SET_ROI_NONE for command int packets 2023-07-04 10:53:57 +10:00
Randy Mackay
113ed38f82 AP_SerialManager: improve OPTIONS desc for Swap bit 2023-07-04 10:53:57 +10:00
Randy Mackay
8b825b4ea7 AP_SerialManager: generalise SToRM32 serial protocol desc and enum 2023-07-04 10:53:57 +10:00
Iampete1
3a34cf4562 AP_Motors: Heli RSC: remove incorrect set range call 2023-07-04 10:53:57 +10:00
Henry Wurzburg
f917554c4a AP_HAL_ChibiOS: add Holybro KakuteH7-Wing 2023-07-04 10:53:57 +10:00
Randy Mackay
a3d6bcc5da AR_PosControl: add input_pos_vel_accel target 2023-06-08 18:41:06 +10:00
Randy Mackay
823e7c53b5 AP_HAL_ChibiOS: JFB100 LED definition fix 2023-06-08 18:41:06 +10:00
Randy Mackay
f7ee365907 AP_InertialSensor: SCHA63T comment fix 2023-06-08 18:41:06 +10:00
Randy Mackay
538a0ef966 AP_HAL_ChibiOS: JFB100 board def fixup 2023-06-08 18:41:06 +10:00
Randy Mackay
edc5e598f8 AP_InertialSensor: SCHA63T loses unused ret bool 2023-06-08 18:41:06 +10:00
jfbblue0922
2764305f8e AP_HAL_ChibiOS: add JFB100 board definition 2023-06-08 18:41:06 +10:00
Randy Mackay
adee71fe22 AP_InertialSensor: formatting fixes 2023-06-08 18:41:06 +10:00
jfbblue0922
de7e388ed4 AP_InertialSensor: add SCHA63T IMU support 2023-06-08 18:41:06 +10:00
jfbblue0922
2e6a16907b AP_Math: add crc8_sae 2023-06-08 18:41:06 +10:00
Henry Wurzburg
58d03f01ec AP_Notify: fix incorrect buzzer pin type to stop always instantiating 2023-06-08 18:41:06 +10:00