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Plane-4.1
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26702 Commits

Author SHA1 Message Date
Paul Riseborough
998cad030e AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults 
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
73229371c7 AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-25 09:30:25 +10:00
Paul Riseborough
8744b0954f AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
6637d9dece AP_NavEKF3: Revert EK3_BETA_MASK parameter extension 
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
1d3ed8e9da AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
fb6de9ad9d AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-25 09:30:25 +10:00
Paul Riseborough
ca00da81cd AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-25 09:30:25 +10:00
Paul Riseborough
c3f38ec159 AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-25 09:30:25 +10:00
Paul Riseborough
00b91b4799 AP_NavEKF3: Make bad IMU status more persistent 2021-07-25 09:30:25 +10:00
Paul Riseborough
14c2bb0c9b AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-25 09:30:25 +10:00
Paul Riseborough
fdea45a3e4 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-25 09:30:25 +10:00
Paul Riseborough
ace601f1dd AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-25 09:30:25 +10:00
Paul Riseborough
8b16d8dc4c AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-25 09:30:25 +10:00
Paul Riseborough
eb5a82dd38 AP_NavEKF3: Adjust gyro bias process noise tuning 
NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
 2021-07-25 09:30:25 +10:00
Paul Riseborough
942a1f329f AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-25 09:30:25 +10:00
Paul Riseborough
ffce6fab70 AP_NavEKF3: Retune IMU process noise 
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
77082e414b AP_NavEKF3: Make gyro bias learning less noisy 2021-07-25 09:30:25 +10:00
Paul Riseborough
a32fd0a97c AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-25 09:30:25 +10:00
Paul Riseborough
90a8dc48d1 AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-25 09:30:25 +10:00
Paul Riseborough
bb88aef1b3 AP_NavEKF3: Update covariance prediction equations 2021-07-25 09:30:25 +10:00
Paul Riseborough
b6a2f4b4f5 AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-25 09:30:25 +10:00
Andrew Tridgell
36174d198f AP_Math: fix uses of single precision 2021-07-22 16:01:01 +10:00
Randy Mackay
b375fe291f AR_WPNav: integrate PathPlanner returning path_planner_used 
Rover does not need to handle the results differently based on the planner used
 2021-07-22 16:01:01 +10:00
Randy Mackay
6dd100df7b AC_WPNav_OA: minor formatting and comment fixes 2021-07-22 16:01:01 +10:00
Randy Mackay
3242bd0ee8 AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler 
also bendy ruler uses pos controller
 2021-07-22 16:01:01 +10:00
Randy Mackay
6cbc62744b AC_Avoidance: BendyRuler returned destination are shortened 2021-07-22 16:01:01 +10:00
Randy Mackay
3177759a1d AC_Avoidance: bendy ruler format fixes 2021-07-22 16:01:01 +10:00
Randy Mackay
8d641e1bb3 AC_Avoidance: OA_PathPlanner returns which planner was used 
this replaces get_bendy_type
 2021-07-22 16:01:01 +10:00
Randy Mackay
6b74dd2ab4 AC_Avoidance: BendyRuler returns which type was used 
also make serach_xxx_path methods private
 2021-07-22 16:01:01 +10:00
Randy Mackay
7084009454 AP_Common: add Location::linear_interpolate_alt 2021-07-22 16:01:01 +10:00
Andy Piper
8cd3ae12a7 AP_BLHeli: ensure correct rotation through telemetry ESCs 2021-07-22 16:01:01 +10:00
Pierre Kancir
62be72d3ba AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-22 16:01:01 +10:00
Leonard Hall
730ac9cb20 AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-22 16:01:01 +10:00
Leonard Hall
5001f47313 WP_Nav: Return Crosstrack error 2021-07-22 16:01:01 +10:00
Leonard Hall
3d6dd8cff8 AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-22 16:01:01 +10:00
Randy Mackay
b916f7742e AC_WPNav: use get_terrain_margin instead of constant 2021-07-22 16:01:01 +10:00
Randy Mackay
7a09ac1aa6 AC_WPNav: add TER_MARGIN param 2021-07-22 16:01:01 +10:00
Leonard Hall
2dea0fa966 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-22 16:01:01 +10:00
Leonard Hall
fc8242db68 AC_WPNav: Auto Terain following update 2021-07-22 16:01:01 +10:00
Andy Piper
19ae04f1b0 AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-22 16:01:01 +10:00
Leonard Hall
902560953b AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-22 16:01:01 +10:00
Hwurzburg
b59f5ec7a1 RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-22 16:01:01 +10:00
Hwurzburg
319cc7a199 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-22 16:01:01 +10:00
Andy Piper
4540244e2a AP_RCTelemetry: correct firmware string length for CRSF 2021-07-22 16:01:01 +10:00
Leonard Hall
14cfcf18c2 AC_WPNav: Remove unused function 2021-07-22 16:01:01 +10:00
Leonard Hall
fcca42410a AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-22 16:01:01 +10:00
Leonard Hall
c3c3a47e9a AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-22 16:01:01 +10:00
Leonard Hall
ebd8401652 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-22 16:01:01 +10:00
Leonard Hall
30aa636ba1 AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:01 +10:00
Leonard Hall
c1484f4b31 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:00 +10:00
Leonard Hall
9d8fdf3e85 AC_AttitudeControl: Add terain following to guided 2021-07-22 16:01:00 +10:00
Randy Mackay
3e2949ce98 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-22 16:01:00 +10:00
Leonard Hall
0269c49c14 AC_WPNav: move code to generate terrain following kinematic path 2021-07-22 16:01:00 +10:00
Leonard Hall
d5d7e3d5d3 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-22 16:01:00 +10:00
Leonard Hall
a546a9ac14 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-22 16:01:00 +10:00
Andrew Tridgell
3fd0bf734b AP_Math: added test for SCurve::calculate_path 
this was the values shown in the core dump for failing guided mode
test in CI
 2021-07-22 16:01:00 +10:00
Andy Piper
560a5ea225 AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot 2021-07-22 16:01:00 +10:00
Randy Mackay
5697e5616c AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-22 16:01:00 +10:00
Andrew Tridgell
8165a81256 AP_Common: update tests for 4.1 2021-07-22 16:01:00 +10:00
Andrew Tridgell
d128c1a86f HAL_ChibiOS: raise DMA contention threshold for H7 2021-07-22 16:01:00 +10:00
Andrew Tridgell
52e4b522f9 AP_SerialManager: document DisableFIFO bit 2021-07-22 16:01:00 +10:00
Andrew Tridgell
18d90f76b5 AP_SerialManager: call set_options() before first UART use 
this ensures options are set before the first begin() call
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
c2b310ad86 HAL_ChibiOS: implement NOFIFO option for uarts 2021-07-22 16:01:00 +10:00
Andrew Tridgell
c37310b966 AP_HAL: added serial option for disabling FIFO on uarts 2021-07-22 16:01:00 +10:00
Andrew Tridgell
0579870593 AP_Math: fixed build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
97da800b67 HAL_SITL: update for changed SITL API 2021-07-22 16:01:00 +10:00
Andrew Tridgell
8fc7f661e8 SITL: added SIM2 message 
useful for EKF debugging

# Conflicts:
#	libraries/SITL/SIM_Aircraft.cpp
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
29f694ffdd SITL: separate origin and home in SITL 
this allows for accurate sensor data when flying a very long distance
from the takeoff location
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
f8e315fc65 AP_DAL: update GPS yaw API to add timestamp 2021-07-22 16:01:00 +10:00
Andrew Tridgell
4b2c766857 AP_GPS: change handling of moving baseline yaw 
this changes yaw handling in a few ways:

 - GPS yaw now has a timestamp associated with the yaw separate from
   the timestamp associated with the GPS fix

 - we no longer force the primary to change to the UBLOX MB rover when
   it has a GPS yaw. This means we don't change GPS primary due to GPS
   loss, which keeps the GPS more stable. It also increases accuracy
   as the rover is always less accurate in position and velocity than
   the base

 - now we force the primary to be the MB base if the other GPS is a
   rover and the base has GPS lock
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
de254d59f1 AP_NavEKF: sync for 4.1.0beta 2021-07-22 16:01:00 +10:00
Andrew Tridgell
dd2995af5d AP_Math: sync for 4.1.0beta releases 2021-07-22 16:01:00 +10:00
Andrew Tridgell
1d46e77942 AP_Common: make longitude_scale() a static 
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:

 pos1 + offs = pos2
 pos2 - offs == pos1
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
f0bc4bca84 HAL_ChibiOS: run storage writes at 1kHz not 100Hz 
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.

Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
 2021-07-22 16:01:00 +10:00
Peter Barker
156a220d5b AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-22 16:01:00 +10:00
Andrew Tridgell
9f03f5a9a9 AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
4408eecb18 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-22 16:01:00 +10:00
Andrew Tridgell
cc03255245 AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
8c9663e47c AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-22 16:01:00 +10:00
Andrew Tridgell
c05e93e51e AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
f2668f8e8e AP_Common: added ftype precision offset call 
# Conflicts:
#	libraries/AP_Common/Location.cpp
#	libraries/AP_Common/Location.h
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
edb11d4d71 AP_NavEKF3: convert code_gen.py to ftype 2021-07-22 16:01:00 +10:00
Andrew Tridgell
823ed4c309 AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-22 16:01:00 +10:00
Andrew Tridgell
b6fb7383e7 AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-22 16:01:00 +10:00
Andrew Tridgell
fa3f3dd218 HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7 2021-07-22 16:01:00 +10:00
Andrew Tridgell
a6c5b65f4a AP_NavEKF3: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
380b9b39ed AP_NavEKF2: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
10facfc519 AP_NavEKF: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
4dfa6258d9 AP_Mount: use ZERO_FARRAY() 2021-07-22 16:01:00 +10:00
Andrew Tridgell
26820c3a8c AP_Motors: fixup build for ftype conflict 2021-07-22 16:01:00 +10:00
Andrew Tridgell
425c8aafb1 AP_Common: added double methods for SITL 2021-07-22 16:01:00 +10:00
Andrew Tridgell
d698987070 SITL: fixup offset calls 2021-07-22 16:01:00 +10:00
Andrew Tridgell
e7afa628d1 AP_Math: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
c6c197d4fb HAL_ChibiOS: use SRAM1 as first ram segment on H7 
this is needed to give the linker more than 128k for static variables
with double precision maths.
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
309500c84f AP_HAL: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
ae013dd5e6 APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-05 16:09:34 +10:00
Andrew Tridgell
2ac01f207a AP_Notify: disable DShot buzzer by default 2021-07-04 18:28:20 +10:00
Andy Piper
b5bb401b97 AP_Notify: re-enable display on 1Mb boards 2021-07-04 08:24:40 +10:00
Andrew Tridgell
2d4e77e9b1 HAL_ChibiOS: always send zero DShot when disarmed 
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.

See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
 2021-07-04 08:24:17 +10:00
Andrew Tridgell
bf867fb792 AP_Logger: fixed log creation on forced arm 
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
 2021-07-04 08:23:29 +10:00
Randy Mackay
8722bb7ff9 GCS_MAVLink: send water depth and temp 2021-07-04 08:19:11 +10:00
Andrew Tridgell
937f316d14 AP_Common: use longitude scaling from definitions.h 2021-07-04 08:19:11 +10:00
Andrew Tridgell
0e37a44942 AP_Math: fixed the value LATLON_TO_CM 
it didn't have enough digits of precision, and was inconsistent with
LOCATION_SCALING_FACTOR
 2021-07-04 08:19:11 +10:00
Peter Barker
3134e15c77 AP_BattMonitor: correct static_assert call 2021-07-04 08:19:11 +10:00
Peter Barker
6de7d1d1df AP_HAL_SITL: reduce scope of loop variable 2021-07-04 08:19:11 +10:00
Leonard Hall
e21b8a5b29 AC_WPNav: use shaping_tc_z_s for terrain following time constant. 2021-07-04 08:19:11 +10:00
Leonard Hall
68b882d404 AC_AttitudeControl: Add shaping_tc_z_s accessor 2021-07-04 08:19:11 +10:00
Andrew Tridgell
86e8731fc5 AP_Mount: fixed longitude subtraction 2021-07-04 08:19:11 +10:00
Peter Barker
b7b7c7d86b AP_Common: add test for longitude wrapping 2021-07-04 08:19:11 +10:00
Andrew Tridgell
17193d3175 AP_Common: fixed Location class for wrap at 180 degrees longitude 
this allows us to fly missions across the date line
 2021-07-04 08:19:11 +10:00
Leonard Hall
83b4616a7b AC_PosControl: fixup ekf reset 2021-07-04 08:19:11 +10:00
Andrew Tridgell
92e407a0bc AP_IRLock: convert SITL backends to double precision position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
a82890c0db AC_PrecLand: convert SITL backends to double precision position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
f45ef772f3 AP_Math: added matrix3 tofloat and todouble 2021-07-04 08:19:11 +10:00
Andrew Tridgell
214d9ad0f8 AP_Common: added double methods for SITL 2021-07-04 08:19:11 +10:00
Andrew Tridgell
b0f2545a9f SITL: convert to double precision for positions 2021-07-04 08:19:11 +10:00
Andrew Tridgell
d2e94a49b7 AC_WPNav: convert circle, loiter and WPNav to double position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
0af57de50c AC_AttitudeControl: convert poscontrol to use double position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
e6a1cee08f AC_PID: convert AC_P_2D to double 2021-07-04 08:19:11 +10:00
Andrew Tridgell
c2211db91d AP_Math: implement double versions of some position control methods 2021-07-04 08:19:11 +10:00
Andrew Tridgell
d40475cf7b AP_Math: define postype_t and vectors 2021-07-04 08:19:11 +10:00
Andrew Tridgell
683f7949fd HAL_SITL: implement initial GPS position offsets 2021-07-04 08:19:11 +10:00
Andrew Tridgell
2f2d1c985a AP_Math: added tofloat() and todouble() methods to Vector2 and Vector3 2021-07-04 08:19:11 +10:00
Andrew Tridgell
f73564f593 SITL: added SIM_INIT_LAT_OFS and SIM_INIT_LON_OFS 
these give an initial lat/lon offset to the GPS in SITL so we can end
up with an origin a long way from the final position
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
e191c48d9f AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-07-04 08:19:11 +10:00
Andrew Tridgell
889bd2547f AP_Math: cleanups from Leonards feedback 2021-07-04 08:19:11 +10:00
Andrew Tridgell
6bde607aaa AC_AttitudeControl: fixed comment 2021-07-04 08:19:11 +10:00
Andrew Tridgell
848cac37c2 AP_Math: cleanup API comments on control code 2021-07-04 08:19:11 +10:00
Andrew Tridgell
52d20cedad AC_WPNav: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
a4220b1584 AC_AttitudeControl: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
6e99028d69 AP_Math: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
070a004f26 AP_Math: make vector3 xy() method return a reference 2021-07-04 08:19:11 +10:00
Siddharth Purohit
5a113cd8ad AP_PiccoloCAN: fix missing _telem_sem 2021-07-04 08:19:11 +10:00
Oliver
72ceee5539 AP_PiccoloCAN: Explicit initialization of AP_HAL::CANFrame instances 2021-07-04 08:19:11 +10:00
Oliver
ffbe038790 AP_PiccoloCAN: Remove unncessary floating point operations 2021-07-04 08:19:11 +10:00
Oliver
e9d8945930 AP_PiccoloCAN: Update code to match new esc telemetry / logging architecture 2021-07-04 08:19:11 +10:00
Oliver Walters
5a9c899f4b AP_PiccoloCAN: Increase number of supported channels from 12 -> 16 2021-07-04 08:19:11 +10:00
Oliver Walters
1a37b51ff7 AP_PiccoloCAN: Record servo telemetry information to log 
- Servo position
- Servo speed
- Servo force / torque
- Servo duty cycle

Updated servo protocol file to accommodate extra variable data
 2021-07-04 08:19:11 +10:00
Oliver Walters
c8ba301bb2 AP_PiccoloCAN: Send servo commands for active channels 
- For each channel, check if a non-motor function is assigned
- If so, send the function value out to the servo
 2021-07-04 08:19:11 +10:00
Oliver Walters
77417677d3 AP_PiccoloCAN: Framework for CAN servo outputs 2021-07-04 08:19:11 +10:00
Oliver Walters
9af4fa46d3 AP_PiccoloCAN: Add support for CBS servo protocol 
- Adds protocol files for the servo protocol
- Generated using Protogen tool
 2021-07-04 08:19:11 +10:00
Siddharth Purohit
37673762f9 AP_UAVCAN: Use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
58f09029ad SRV_Channel: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
4e15531c87 GCS_MAVLink: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
3895942282 AP_ToshibaCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
67dbbc34b7 AP_RangeFinder: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
d6ac420055 AP_PiccoloCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
67278d54ae AP_Notify: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
274ce7b516 AP_KDECAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
5014c65276 AP_HAL_SITL: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
9ed015f1c7 AP_HAL_Linux: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
f8d313cfd6 AP_HAL_ChibiOS: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
c640f0d3d9 AP_HAL: split into HAL_CANMANAGER_ENABLED and HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
17459128bf AP_HAL: Use HAL_ENABLE_CANMANAGER instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
fc1bc6b852 AP_Filesystem: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
b32f687a6b AP_CANManager: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Leonard Hall
ee9ae3e570 AC_AttitudeControl: AC_PosControl: Init and stopping point fixes 2021-07-04 08:19:10 +10:00
bugobliterator
086f184c36 AP_HAL_ChibiOS: allow embedded bootloader to be excluded 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-07-04 08:19:10 +10:00
Peter Barker
d2c195b2a5 AP_Motors: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
4bdb245244 AP_Logger: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
ff91bca2e2 AP_LandingGear: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
131bec811a AP_InertialSensor: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
e76d78e8b3 AP_GPS: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
9340042e31 AP_BoardConfig: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
76d2cb7282 AP_Baro: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
fef68262ae AP_Arming: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
9690d78095 AP_ADSB: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
cc121b5b6d AC_Fence: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
fbd93bd535 AC_Avoidance: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
0c271e8d06 AC_AutoTune: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
2712556fca RC_Channel: add rc channel option to disable all airspeed sensors 2021-07-04 08:19:10 +10:00
Peter Barker
6d91950d4e AP_Airspeed: add rc channel option to disable all airspeed sensors 2021-07-04 08:19:10 +10:00
Paul Riseborough
28a55e8478 AP_NavEKF3: Remove unused class variable rngBcnTimeout 2021-07-04 08:19:10 +10:00
Paul Riseborough
18e949d035 AP_NavEKF3: Ensure postion timeout flag and timer is always reset 2021-07-04 08:19:10 +10:00
Paul Riseborough
43e84c4061 AP_NavEKF3: Fade each vert vel variance clip count over 1 second 2021-07-04 08:19:10 +10:00
Paul Riseborough
7bd944ef3e AP_NavEKF3: Clean up initialisation of boolean array 2021-07-04 08:19:10 +10:00
Paul Riseborough
4b88b2ccec AP_NavEKF3: Remove unwanted line 2021-07-04 08:19:10 +10:00
Paul Riseborough
2565f3917c AP_NavEKF3: Protect against collapse of velocity and position variances 2021-07-04 08:19:10 +10:00
Paul Riseborough
e5c34172c1 AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata 2021-07-04 08:19:10 +10:00
Paul Riseborough
2161e59369 AP_NavEKF3: Fix bug preventing height reset if badIMUdata 2021-07-04 08:19:10 +10:00
Paul Riseborough
5a793e77c2 AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata 2021-07-04 08:19:10 +10:00
Leonard Hall
b73182db3c AC_AttitudeControl: AC_PosControl: change force_descend to ignore_descent_limit 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
7c939c5c00 RC_Channel: add const in member functions 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
14719826c8 AP_Arming: add flight mode conflict check 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
956f7d5e30 RC_Channel: add flight mode conflict check 2021-07-04 08:19:10 +10:00
Leonard Hall
20158ddf5f AC_AttitudeControl:AC_PosControl: vibration failsafe fix 2021-07-04 08:19:10 +10:00
CallanDaniel
16f7348f96 AP_AHRS: add semaphore around set_home() 
added semaphore around set_home() to avoid thread racing
 2021-07-04 08:19:10 +10:00
CallanDaniel
d1a228b086 AP_Scripting: add get_origin and set_home bindings 
added bindings and example scripts for set_home and get_origin
 2021-07-04 08:19:10 +10:00
Josh Henderson
c881fac1de AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying 2021-07-04 08:19:10 +10:00
Josh Henderson
678fe0480a AP_NavEKF2: Fix #17789 core's EKF origin altitude different if flying 2021-07-04 08:19:10 +10:00
Josh Henderson
b85afc0adc AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf3
 2021-07-04 08:19:10 +10:00
Josh Henderson
4e119ddeec AP_NavEKF2: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf2
 2021-07-04 08:19:10 +10:00
Michael du Breuil
ebab492700 AP_RangeFinder: Rearrange parameters to reduce memory usage 
Saves 4 bytes per instance, and with 10 instances this gives us an extra
40 bytes of RAM
 2021-07-04 08:19:10 +10:00
Michael du Breuil
2b6c9b931c AP_BattMonitor: Rearrange battery parameters to reduce memory usage 
Saves 8 bytes per Params instance, which we have 9 of on every vehicle,
for a total saving of 72 bytes
 2021-07-04 08:19:10 +10:00
Michael du Breuil
9e989bfd44 AP_Mission: Cleanup the header to reduce flash cost 
Removes unneeded set's of memory that is already zero'd. It also changes
_flags to be all bool to match the actual usage, and removes the width
specifiers from them. This increases the RAM cost of AP_Mission by 4
bytes, but saves on flash. The RAM cost was eliminated by rearranging
members.
 2021-07-04 08:19:10 +10:00
Michael du Breuil
b2d2c6db69 AP_Airspeed: Remove unneeded initilization 
We pre zero all memory
 2021-07-04 08:19:10 +10:00
Andy Piper
9c7e2f5914 AP_HAL_ChibiOS: add 1Hz update_channel_masks() 
Send dshot commands in update function
 2021-07-04 08:19:10 +10:00
Andy Piper
32b172669c SRV_Channel: call rcout->update_channel_masks() at 1Hz 2021-07-04 08:19:10 +10:00
Andy Piper
6e35b458c5 AP_Arming: remove call to rcout->prepare_for_arming() 2021-07-04 08:19:10 +10:00
Andy Piper
c995ff1452 AP_HAL: add 1Hz update_channel_masks() 2021-07-04 08:19:10 +10:00
Nicola Grossenbacher
37b6233d94 AP_Compass: added probe method for MMC3416 compass 2021-07-04 08:19:10 +10:00
Iampete1
712e3afd21 AP_BattMoniter: log in Ah and Wh, add percentage to log 2021-07-04 08:19:10 +10:00
Iampete1
c5dba34e4c AP_Logger: add Wh units 2021-07-04 08:19:10 +10:00
Iampete1
be1cca1368 AP_BatteryMoniter: fix mah to wah conversion 2021-07-04 08:19:10 +10:00
Pierre Kancir
ba4634a775 AP_Common: add more unitttests 2021-07-04 08:19:10 +10:00
Peter Barker
b7c2b56a66 AP_Motors: tidy frame description strings 
Before: AP: Frame: TRI/
After: AP: Frame: TRI
 2021-07-04 08:19:10 +10:00
Leonard Hall
32a174c453 AC_WPNav: AC_Loiter: Remove extra accel limit 2021-07-04 08:19:10 +10:00
Leonard Hall
ab8f3c21ec AC_AttitudeControl: AC_PosControl: Remove extra accel limit 2021-07-04 08:19:10 +10:00
Peter Barker
bf8f327938 SITL: increase servo_filter array size 
used for plane-dspoiler frame
 2021-07-04 08:19:10 +10:00
Peter Barker
15c39ecf69 SITL: panic if we attempt to filter out-of-range servo index 2021-07-04 08:19:10 +10:00
Peter Hall
1597ca9464 AP_Scripting: update 6DoF mixer example 2021-07-04 08:19:10 +10:00
Peter Hall
5a1fdf9f78 AC_AttitudeControl: add thrust vector methods to 6DoF multi 2021-07-04 08:19:10 +10:00
Leonard Hall
0bdeda215f AP_Motors: correct expo parameter description and internal limits 2021-07-04 08:19:10 +10:00
Peter Barker
8d9d3ca437 GCS_MAVLink: add support for MAV_CMD_RUN_PREARM_CHECKS 2021-07-04 08:19:10 +10:00
Pierre Kancir
6c3bae10ed AP_Common: add more unit tests 2021-07-04 08:19:10 +10:00
Randy Mackay
a9717ea5ff AC_WPNav: move get_yaw lower in AC_WPNav.h 
this is a non-functional change
 2021-07-04 08:19:10 +10:00
Peter Barker
f8646af2b1 Tools: add follow-copter.sh for SITL 
Another copy of this script -  but this one doesn't need Morse or AirSim
 2021-07-04 08:19:10 +10:00
Andy Piper
f09b01c5ad AP_HAL_ChibiOS: add OREO support to CubeSolo. 
add back RunCam and Spektrum support to MatekF405-Wing
remove gripper support from MatekF405-Wing
 2021-07-04 08:19:10 +10:00
Andy Piper
69ef1e5058 AP_Notify: allow display and oreo leds to be disabled 2021-07-04 08:19:10 +10:00
giacomo892
70a66ddad2 AP_SmartAudio: Add pull down VTX option 2021-07-04 08:19:10 +10:00
giacomo892
41c5f35699 AP_VideoTX: Add pull down VTX option 2021-07-04 08:19:10 +10:00
giacomo892
b6b329d668 AP_SmartAudio: Remove useless variable and comment 2021-07-04 08:19:10 +10:00
giacomo892
ad69ba2f6c AP_VideoTX: Add band names to GCS 2021-07-04 08:19:10 +10:00
giacomo892
f7e66c44c9 AP_VideoTX: Add configuration_finished functions 2021-07-04 08:19:10 +10:00
giacomo892
06a1442ec6 AP_SmartAudio: Add configuration_finished and configuration_pending functions 2021-07-04 08:19:10 +10:00
giacomo892
e8085fac97 AP_OSD_Screen: Blink the OSD VTX Power element indicating configuration in progress 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
9114caf213 AP_Proximity: fix proximity status for upward facing rangefinder 2021-07-04 08:19:10 +10:00
Randy Mackay
dbc9b0c2f9 AC_Loiter: init brake_accel and fix brake timer type 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
7335e4640f AR_WPNav: add WP_PIVOT_DELAY parameter 2021-07-04 08:19:10 +10:00
Peter Barker
8fbd9b5e40 AP_Compass: remove unused setup_earth_field 2021-07-04 08:19:10 +10:00
Peter Barker
43cce260a0 GCS_MAVLink: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
fd8eb3c6c0 AP_InertialSensor: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
3a8d3c38e7 AP_HAL: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
2ff4ec80ad AP_GPS: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
76aa7c485c AP_Compass: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
759c37271a AP_Baro: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
77718b1611 AP_Airspeed: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
1122642f50 AP_AHRS: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
42c47d6d84 AP_BattMonitor: add cells 13 and 14 for SITL only 
Allows for testing higher-cell-count scenarios
 2021-07-04 08:19:10 +10:00
Peter Barker
023c84f84a AP_BattMonitor: add assertion to avoid memory over-read 2021-07-04 08:19:10 +10:00
Peter Barker
170062804f SITL: add accessor for battery voltage 2021-07-04 08:19:10 +10:00
Peter Barker
6c473a80c2 SITL: add maxell to i2c bus and make it 14-cells 2021-07-04 08:19:10 +10:00
Peter Barker
cbd6dd3887 AP_BattMonitor: switch to Log_Write for BCL2 
Just for the flash savings on smaller boards
 2021-07-04 08:19:10 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
222ef40321 AP_BattMonitor: Increase the max. nr. of supported battery cells from 12 to 14 
Uses a second message, because the original message does not support any more fields
 2021-07-04 08:19:10 +10:00
Iampete1
06e64b5585 AP_Scripting: add SN-GCJA5 particle sensor example 2021-07-04 08:19:10 +10:00
Peter Barker
3101b08489 GCS_MAVLink: correct decimation of SENSOR_STATUS message 
static infers shared between all backends
 2021-07-04 08:19:10 +10:00
Rishabh
36259bc195 AC_PrecLand: Use rotate_xy instead of matrix multiplication 2021-07-04 08:19:10 +10:00
Rishabh
7528d6ee7e AC_PrecLand: Account for vertical camera offset in alt calculations 2021-07-04 08:19:10 +10:00
Rishabh
f7cbdb5559 AC_PrecLand: Initialize EKF before using its output 2021-07-04 08:19:10 +10:00
murata
d32bce85d1 AP_Scheduler: Change the Task Performance Notification Level to Information 2021-07-04 08:19:10 +10:00