* SF45 fixes to restart the state machine if sensor does not init correctly (#23565)
* fixes to restart the state machine if sensor does not init correctly
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* fixes
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* increase fail count
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* remove extra flush, switch from warn to debug, add enum states for sensor bring-up
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* remove dead code, decrease restart fail count metric, break out of loop with consec errors if over the fail count and not init
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* remove tel2 default from sf45 (#24602)
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* fix to orientation offsets for scaled yaw, removed unused param
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* Shift vertical orientation above scaling yaw operation, cp angle sign change
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* SENS: RNG: SF45 changed data processing and publication design, moved to a publishing per sector design.
other minor improvements
* SENS: RNG: SF45: Fixed sf45 parser, added general checks to avoid potential out-of-bound access
* SENS: RNG: SF45:Fix startup problems, increase frequency, robust parser, use nonblocking reads
* SENS: RNG: SF45: Added timeout to sensor measurements, to compensate the lower loop time of CollisionPrevention
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: Claudio Chies <61051109+Claudio-Chies@users.noreply.github.com>
Co-authored-by: Alexander Lerach <alexander@auterion.com>
This configures the RTC clock to use the HSE instead of the not existing
LSE clock which prevents boot waiting for the not existing LSE crystal
for a few seconds on startup.
* gps: heading fixes for NMEA/Unicore
This updates the GPS submodule which includes NMEA/Unicore fixes:
- Add correct return value for sat infos
- Only publish on position updates
- Request required topics at 5 Hz for Unicore
* gps: build fix
This resets the USARTs' clock source selection to the default, in case
it has been changed by the bootloader.
This is required if booting from the ArduPilot bootloader which happens
to reset the clock selection to PLL.
Without this fix, UARTs (including the console) is garbled, so
presumably at an invalid baudrate.
Backports:
stm32h755II backport
stm32h7: allow Ethernet MAC without PHY
imxrt: imxrt11xx set core clock to 1p15v regardless of ocotp
imxrt: Correctly update PLL, bit has to toggled instead of being set
This fixes various edge cases when input is set to both: RC and
MAVLink gimbal protocol v2.
Specifically:
- We no longer immediately reset primary control if there is no update,
otherwise this will reset immediately after an commands.
- Talking of commands: GIMBAL_MANAGER_CONFIGURE no longer switches
control to MAVLink but only an actual incoming setpoint command does.
- And incoming setpoint command only triggers UpdatedActiveOnce which
means we will check RC again afterwards and if there is big movement
switch back to RC. That's the intuitive thing to do until we have
better reporting about who/what is in control.
- Also, with RC we no longer always set us to be in control but only on
major movement.
Andrew Brahim