Ferruccio 4.2 autorotation #5
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This was seem on omnibusf4pro, it is a bit too close: log_io PRI= 59 sp=0x20015CC0 STACK=144/1656
when rudder disarm is disabled we should allow full yaw control regardless of throttle level. We should also only disable left yaw when throttle is at zero, as right yaw does not indicate pilot may be trying to disarm
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
cannot currently use both IMUs on spro H7 extreme due to CPU load
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
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
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
This reverts commit 7dc5911.
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
this prevents a long loop internal error on disarm after a large amount of flash writes when armed on a board with flash storage
this is needed to ensure that the log writes of MON and WDOG don't overflow monitor thread stack
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
this fixes the flash re-init problem when flash storage fills on H7. It was caused by rejecting writes where one or more of the 32 byte chunks was not all 0xff but was equal to the current data. That happens when writing to the sector header in AP_FlashStorage it also moves the interrupt disable inside the loop to allow for other interrupts to run between blocks
need to call chEvtGetAndClearEventsI() as we are in a system lock state
…er than the send time dshot timeouts should be no longer than the pulse interval use correct timestamp for dmar send time
we have seen errors where the BMI088 gets out of sync, so that the 3 axes are rotated. The data is shifted by 4 bytes, so that X=Z, Y=X and Z=Y this changes the BMI088 to "stop on full" mode, which is what Bosch use in their example drivers, and also catches FIFO overrun events and triggers a full FIFO reset. This should fix the problem with the FIFO sync
Currently this waypoint is set 10,000m away by the avoidance behaviour Instead, immediately enter loiter mode
this zeros-watchdog was caused by a SPI DMA error on STM32F405: https://discuss.ardupilot.org/t/crash-with-4-2-0-beta-and-4-3-0-daily-bdshot/83297 we had incorrectly left these internal errors enabled when asserts were not enabled. That led to a osalSysHalt() without these we get an spi_fail internal error, caught by the SPIDevice code
when nose-in or tail-in, if the aircraft has significant pitch asymmetry in hover then we would spin around in no wind if we use pitch as an input this makes pitch input for nose-in and tail-in optional and off by default to preserve existing behaviour
when pitch for nose-in and tail-in is enabled we should use the deadzone
enables faster re-spool(user settable timer) after power engagement
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@Ferruccio1984 This PR shows the differences from your last version to what you just provided me in your Copter-4.1.1 repository. This will make it easier for me to see what you did |
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-flare&touchdown controllers; -rangefinder for distance from ground evaluation; -higher refresh rate for rangefinder; -attitude targets implementation for "guided" autorotation;
constrain collective output in range 0..1
logging modified to plot desired speed in m/s
added logging for desired sink rate during touchdown
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-enables faster re-spool(user settable timer) after power engagement -flare&touchdown controllers; -rangefinder for distance from ground evaluation; -higher refresh rate for rangefinder; -attitude targets implementation for "guided" autorotation; -retrieve zero lift collective position
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-flare&touchdown controllers; -rangefinder for distance from ground evaluation; -higher refresh rate for rangefinder; -attitude targets implementation for "guided" autorotation; -Added touchdown timer for disarm after landing -rangefinder implementation, initial energy estimate for entry phase -fix yaw rate control during autorotation turns
-improved handling of touchdown phase -added missing code for entry condition estimate -retrieval of interlock check to enter the autorotate flight mode -retrieval of headspeed moving target for entry phase -initialize entry collective position to "zero-lift" point -use of ground clearance parameter for touchdown phase
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