Copter 4.0.5 merge #3
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This implements a max quota of GPIO interrupts per 100ms period to prevent high interrupt counts from consuming all CPU and causing a lockup. The limit is set as 10k interrupts per 0.1s period. That limit should be high enough for all reasonable uses of GPIO interrupt handlers while being below the level that causes significant CPU loads and flight issues This addresses issue ArduPilot#15384
This allows more channels to be passed to RCInput_UDP protocol while also allowing less than 8 channels - this is similar to the approach used by SITL in which the packet size is used to figure out the number of channels. (cherry picked from commit 29d8586)
this allows for ignoring SBUS failsafe on boards using an IOMCU
this fixes an issue a RTK GPS gives 1cm horizontal and vertical accuracy and that causes the variances to get too small
this fixes an issue a RTK GPS gives 1cm horizontal and vertical accuracy and that causes the variances to get too small
this prevents mis-calculation of the angle when RC input goes outside of the configured range. This impacted on throttle nudge in plane when reverse thrust was enabled thanks to Pompecukor for reporting!
used in plane arming check
this SPI bus on this board can't handle 8MHz
the RCIN issue is not there in the final production boards
when we are looking for FPort input, we normally switch UART3 on the IOMCU to 115200 to look for inverted inputs at 115200 baudrate. We need to disable this switching when we have SBUS output enabled to prevent a change in the SBUS output baudrate Many thanks to afishman for finding this bug Fixes ArduPilot#15522
this fixes an issue seen on one board which caused a watchdog on high uart DMA load. We have reproduced the issue on another board by forcing a very high DMA transfer rate on the same DMA channel while also requesting very high transfer rates on the UART. The likely race is in the DMA transmit timeout code, and the simplest fix is to lock out interrupts during the DMA setup to ensure the tx timeout cannot trigger during the setup
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