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36544 Commits

Author SHA1 Message Date
Peter Barker
338e347427 AP_Notify: remove unused BUZZER_ON/OFF defines 
replaced by HAL_BUZZER_ON
 2024-07-17 11:14:05 +09:00
Oleksiy Protas
5190aee9ae AP_Camera: proper string formatting 
Incoming strings are 32 bytes and may not be null-terminated if the full width is used
 2024-07-17 10:39:46 +10:00
Thomas Watson
63ab7bec69 AP_HAL_ESP32: use correct unformatted system ID length 
Avoids stuffing uninitialized data into the ID.
 2024-07-17 09:08:51 +10:00
Thomas Watson
a3aa278589 AP_HAL_SITL: improve periph simulation efficiency 
Removes busywait for simulation state packet, dramatically reducing CPU
usage. The dominant wait time in AP_Periph is 1024 microseconds as this
is the default value of HAL_PERIPH_LOOP_DELAY_US, so a 1ms wait is
unlikely to be a problem.
 2024-07-17 09:06:16 +10:00
Andrew Tridgell
0179dc0a68 GCS_MAVLink: default MAVLink HAGL support off on low flash boards 2024-07-17 08:03:18 +10:00
Andrew Tridgell
42a1717676 AP_Scripting: added MAV_CMD_SET_HAGL example 
for external height source for fixed wing landing
 2024-07-17 08:03:18 +10:00
Peter Barker
43dbae54a3 AP_HAL: SIMState: include SITL glider header 
used if you want to use the Glider model in Sim-on-Hardware
 2024-07-16 22:28:57 +10:00
Rhys Mainwaring
4de8e04679 AR_Motors: add frame type Omni3Mecanum 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-07-16 16:28:06 +09:00
Andrew Tridgell
e93b3722c9 HAL_QURT: implement safety switch 
this ensures no outputs during initialisation
 2024-07-16 10:54:03 +10:00
Andrew Tridgell
a7363d4c14 HAL_QURT: remove ESC order mapping 
this is not consistent between ModalAI vehicles, so best done with
SERVOn_FUNCTION parameters
 2024-07-16 10:54:03 +10:00
Thomas Watson
1c54dd9e5d AP_HAL_SITL: allow disabling CAN interfaces 
Also corrects an issue where setting an invalid type could result in
undefined behavior.
 2024-07-16 10:13:11 +10:00
Thomas Watson
ca0cd9a7e8 SITL: allow disabling CAN interfaces 
Also corrects an issue where setting an invalid type could result in
undefined behavior.
 2024-07-16 10:13:11 +10:00
Peter Barker
501d0d8759 AP_Notify: stop using linux board subtype in Notify LED setup 
... instead have the board definitions define things like we do for ChibiOS
 2024-07-16 10:11:40 +10:00
Peter Barker
55308e6d79 AP_HAL: stop using linux board subtype in Notify LED setup 
... instead have the board definitions define things like we do for ChibiOS
 2024-07-16 10:11:40 +10:00
Valentin Berman
4938a6bb42 AP_EFI: DroneCAN: set the last_updated_ms field of efi_state 
The last_update_ms variable was never set in the DroneCAN implementation of the Electronic Fuel Injector sensor. This causes the function bool AP_EFI::is_healthy to always return false. Solved by adding one line of code to set the variable to the correct value.
 2024-07-14 20:19:31 +10:00
Willian Galvani
ef9763fdd7 AP_GPS: hdop and vdop are unitless 2024-07-14 17:23:15 +10:00
Iampete1
b75c62d267 AP_HAL_SITL: AnalogIn: return false for set pin to ANALOG_INPUT_NONE 2024-07-14 17:11:47 +10:00
George Zogopoulos
fb40a7f19d AP_Logger: Fix logged units 2024-07-14 17:07:11 +10:00
Andrew Tridgell
cd8b93e1c5 HAL_QURT: adjustments to support different frames 
added docs and service files, and support reboot
 2024-07-13 14:38:31 +10:00
Andrew Tridgell
f8ce4183b8 AP_Filesystem: support QURT with posix filesystem 
some features disabled
 2024-07-12 15:56:48 +10:00
Andrew Tridgell
3a6024e8ab AP_Common: support QURT 2024-07-12 15:56:48 +10:00
Andrew Tridgell
4e8f1e6092 AP_HAL: added QURT board type and header 2024-07-12 15:56:48 +10:00
Andrew Tridgell
2fe08b6177 HAL_QURT: revived QURT HAL 
based around new SDK for ModalAI Voxl2 vehicles
 2024-07-12 15:56:48 +10:00
Peter Barker
75f9c4e4fc AP_HAL: chiibos.h: die nicely if HAL_HAVE_PIXRACER_LED is used 2024-07-11 20:08:13 +10:00
Peter Barker
e42c9a588e SITL: add support for simulated GPIO LEDs 2024-07-11 20:08:13 +10:00
Peter Barker
bad755f4a5 AP_HAL: add support for simulated GPIO LEDs 2024-07-11 20:08:13 +10:00
Clyde McQueen
630d3fa8a7 AP_NavEKF3: log mag fusion selection to XKFS 2024-07-11 16:16:27 +10:00
Iampete1
a551b4f296 AP_SerialManager: remove Volz port config 2024-07-11 13:07:24 +10:00
Iampete1
8eceff2d7a AP_Volz_Protocol: move output to thread 2024-07-11 13:07:24 +10:00
Iampete1
0c5160f05c AP_Volz_Protocol: add range parameter allowing smaller range for improved PWM resolution 2024-07-11 13:07:24 +10:00
Iampete1
71f3dbf098 AP_Volz_Protocol: use popcount 2024-07-11 13:07:24 +10:00
Iampete1
871e9101ff AP_Volz_Protocol: add CMD union helper 2024-07-11 13:07:24 +10:00
Andrew Tridgell
b34d0c9c87 AP_HAL: removed vector based I2C get_device 
this is unused and prevents building on QURT
 2024-07-11 11:20:47 +10:00
Andrew Tridgell
dbba4559ee HAL_Linux: removed unused I2C vector get_device 2024-07-11 11:20:47 +10:00
Andrew Tridgell
192972e502 AP_HAL: avoid vector include in I2C API 
this doesn't work on QURT build and is unused
 2024-07-11 11:20:47 +10:00
Andrew Tridgell
ebc7cc2daf AP_OpticalFlow: cleanup printf warnings 2024-07-11 09:34:29 +10:00
Andrew Tridgell
c40099a162 AP_Rangefinder: cleanup printf warnings 2024-07-11 09:34:29 +10:00
Andrew Tridgell
991ea6326d AP_Compass: cleanup warnings in printf calls 2024-07-11 09:34:29 +10:00
Peter Barker
f4f79905cc AP_Notify: example: do not instantiate AP_BoardLED unless the board supports it 2024-07-11 09:34:00 +10:00
Peter Barker
71332dd039 AP_GPS: example: do not instantiate AP_BoardLED unless the board supports it 2024-07-11 09:34:00 +10:00
Peter Barker
ab43668c45 AP_Notify: adjust hwdef files for define renames 2024-07-11 09:34:00 +10:00
Peter Barker
3b764c5812 AP_HAL: adjust hwdef files for define renames 2024-07-11 09:34:00 +10:00
Peter Barker
956ac243e1 AP_HAL_ChibiOS: adjust hwdef files for define renames 2024-07-11 09:34:00 +10:00
Peter Barker
8370e0b08b AP_Notify: create sanity in GPIO-based LED defines 2024-07-11 09:34:00 +10:00
Andrew Tridgell
393cd3252b AP_HAL_SITL: switched ENABLE_HEAP to an #if 2024-07-11 09:28:17 +10:00
Andrew Tridgell
3980cbbb82 AP_HAL_Linux: switched ENABLE_HEAP to an #if 2024-07-11 09:28:17 +10:00
Andrew Tridgell
f235b71f6b AP_HAL: switched ENABLE_HEAP to an #if 2024-07-11 09:28:17 +10:00
Andrew Tridgell
15ef6b1192 AP_HAL_ESP32: switched ENABLE_HEAP to an #if 2024-07-11 09:28:17 +10:00
Andrew Tridgell
64f6abd4d4 AP_HAL_ChibiOS: switched ENABLE_HEAP to an #if 2024-07-11 09:28:17 +10:00
Andrew Tridgell
429294fa1d AP_Baro: avoid i2c errors with ICP101XX 
this sensor doesn't like reading at higher than expected rate
 2024-07-11 09:27:33 +10:00
Andrew Tridgell
a02cd4b432 AP_Baro: fixed link with clang for shared library 
avoid unused symbols
 2024-07-11 09:27:09 +10:00
Andrew Tridgell
3608a78398 AP_Baro: fixed build with clang 2024-07-11 09:27:09 +10:00
Andrew Tridgell
60f582a6b2 AP_BattMonitor: support I2C INA231 battery monitor 2024-07-11 09:26:17 +10:00
Andrew Tridgell
75ebf96adb AP_Filesystem: allow for filesystem with no dtype 2024-07-11 09:25:05 +10:00
Andrew Tridgell
64ed86a82e GCS_MAVLINK: cope with dirent not having dtype 2024-07-11 09:25:05 +10:00
Andrew Tridgell
c2e52af1e2 AP_Filesystem: make fgets() much more efficient 
normally fgets is on a buffered FILE handle. For AP_Filesystem we use
an unbuffered file descriptor. This means we were reading one byte at
a time from the file

this uses lseek to make fgets() much more efficient by reading the max
buffer size at a time in the file
 2024-07-11 09:24:38 +10:00
Peter Barker
b2a7fcda5c AP_GPS: resolve compilation problem with timeval 
./../libraries/AP_GPS/AP_GPS_SITL.cpp:37:27: error: aggregate 'timeval first_tv' has incomplete type and cannot be defined
    37 |     static struct timeval first_tv;
       |                           ^~~~~~~~
 compilation terminated due to -Wfatal-errors.

 Waf: Leaving directory `/ardupilot/src/build/sitl'
 Build failed
  -> task in 'objs/AP_GPS' failed (exit status 1):
  {task 135805090486368: cxx AP_GPS_SITL.cpp -> AP_GPS_SITL.cpp.0.o}
 2024-07-11 09:22:12 +10:00
Andrew Tridgell
7477c4e205 AP_Scripting: fixed remove call 
need to use AP_Filesystem
 2024-07-11 07:43:35 +10:00
Andrew Tridgell
ffc78722f7 HAL_ESP32: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
c4addb7dd0 AP_HAL_SITL: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
2374d6f444 AP_HAL_Linux: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
d54b69a5fe AP_HAL: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
04bd5aa010 AP_HAL_Empty: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
e86e012896 AP_HAL_ChibiOS: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
4d5095cea1 AP_DDS: fixed cell voltages 
the std:copy was copying from uint16_t to float
 2024-07-11 07:25:33 +10:00
Peter Barker
7f0f851243 hwdef: remove bogus EK2_RPRIMARY from Cube defaults files 
looks likely, but hasn't ever existed
 2024-07-10 22:35:51 +10:00
Peter Barker
4231275f50 AP_Compass: remove default clause from set_status switch 
forces someone to consider what they need to do for any new state
 2024-07-10 18:18:31 +10:00
Peter Barker
afd8d8255f AP_Compass: use switch statement in failed() method 2024-07-10 18:18:31 +10:00
Peter Barker
ef0de65347 AP_InertialSensor: tidy IMU killing 2024-07-10 18:17:00 +10:00
muramura
d6a79c0e02 RC_Channel: Add a MOUNT2 retract 
Update libraries/RC_Channel/RC_Channel.cpp

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-07-10 17:45:28 +10:00
Peter Barker
31f3a796f1 AP_Proximity: avoid use of int16_t-read call 2024-07-10 17:01:09 +10:00
MattKear
2025712505 AP_RPM: Improve rpm logging 2024-07-10 12:24:15 +10:00
Michael du Breuil
aafa2f3998 AP_Math: Remove template parameter from constructor 
Not valid in C++20, and makes GCC 14.1.1 very unhappy.
 2024-07-10 10:07:24 +10:00
muramura
e48044dc45 AP_InertialSensor: Clearly state the maximum G-force 2024-07-10 10:07:16 +10:00
muramura
9f6edd8d55 AP_Mount: Increment the serial instance 2024-07-10 08:31:25 +09:00
Ep Pravitra
f3d55d821e SITL: fix json airspeed 
Airspeed calculation for JSON was not quite working because velocity_air_ef was not updated in SIM_JSON.cpp

Update libraries/SITL/SIM_JSON.cpp

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
Update libraries/SITL/SIM_JSON.cpp

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>

comment changes

remove redundant airspeed calculation
 2024-07-10 08:24:19 +10:00
James O'Shannessy
9924462618 AP_Mission: Allow Param4 to be uploaded with NaN 
By default, QGroundControl will attempt to upload Loiter Unlimited with a NaN in param4.
Given this field could be NaN, we allow it through the parser.

See: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_UNLIM
 2024-07-09 22:39:57 +10:00
Peter Barker
481e0301dd hwdef: H757_EVAL: make it not-AP_Periph 
avoids this compilation error:

../../Tools/AP_Periph/can.cpp:152:33: error: static assertion failed: DroneCAN bootloader cannot support external flash
  152 | static_assert(EXT_FLASH_SIZE_MB == 0, "DroneCAN bootloader cannot support external flash");
compilation terminated due to -Wfatal-errors.
 2024-07-09 12:00:52 +10:00
Randy Mackay
5a8ed5fb51 AP_NavEKF: option to align extnav to optflow pos estimate 2024-07-09 11:59:36 +10:00
Thomas Watson
1249388f23 AP_Common: use template parameter in bitmask functions 
Substantially improves code optimization and reduces memory usage.
 2024-07-09 11:51:41 +10:00
Thomas Watson
6a4520e8fd AP_Common: clean up bitmask operators 
Code already won't compile if there are different numbers of bits as the
template parameter will be different.
 2024-07-09 11:51:41 +10:00
Thomas Watson
b030b8e789 AP_Common: correctly bound bitmask datatypes 
Probably won't work correctly (and of questionable use) if less than 1.
The `first_set()` function might not be able to return a valid value if
greater than INT16_MAX.

unsigned int needs to be >= uint32_t so that the shift ops are in range.
 2024-07-09 11:51:41 +10:00
Thomas Watson
0b320fe303 AP_Common: unify bitmask out of bounds checking 
Ensures out-of-bounds reads and writes are never performed for setting,
clearing, and checking. Fixes test failure when the number of bits
evenly divides the word size.
 2024-07-09 11:51:41 +10:00
Thomas Watson
9a89223531 AP_Common: fix bitmask setall() 
Fixes an issue where the last word was not set to all 1s if the number
of bits evenly divided the word size.

Also fixes UB if there were 31 valid bits.
 2024-07-09 11:51:41 +10:00
Thomas Watson
122cd72d9c AP_Common: improve bitmask test coverage 2024-07-09 11:51:41 +10:00
Thomas Watson
4a2f03f851 AP_Common: test more bitmask bit widths 
Actually test different widths and reveal problems with edge cases.
 2024-07-09 11:51:41 +10:00
Thomas Watson
521cf00964 AP_Common: templatify bitmask tests 
Enables testing of different widths and edge cases.
 2024-07-09 11:51:41 +10:00
Peter Barker
aff3af67e6 AP_Logger: remove short-filename compatability code 
We used to produce files hwih looked like log1.BIN.  We moved to 00000001.BIN instead so things collate.

This code allowed the autopilot to return data from SD cards which had old logs on them.
 2024-07-09 11:34:40 +10:00
Iampete1
f3743b869d AC_PID: correct error caculation to use latest target 2024-07-09 11:33:03 +10:00
Andrew Tridgell
b19186980a AP_Mount: added sending of position data to Siyi gimbal 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
this will allow for exif tags of position for photos
 2024-07-09 11:28:57 +10:00
Peter Barker
99fb5a994e AC_WPNav: correct calculation of predict-accel when zeroing pilot desired accel 2024-07-09 10:52:14 +10:00
Peter Barker
c8a20726ff AP_NavEKF3: do not store prediction-enabled as state 
this is only used in one place, and that place is called from the same routine setting the persistent state.  The only other place which calls readIMUData shouldn't be running the prediction step, but mmay, depending on the previous setting of the prediction step.

We are not initialising this state on filter reset, so it's possible that the state will be set when we do an InitialiseFilterBootstrap, which is probably not desired
 2024-07-09 10:45:03 +10:00
Peter Barker
3208491983 AP_Logger: remove twin paths for writing FMT messages 
This stops us tracking formats-written in two places.

The Write() method will now emit formats as required and set the relevant bit in the backend-owned bitmask of formats sent.
 2024-07-09 10:40:08 +10:00
Willian Galvani
64e859ecc5 AP_Compass: warn user if fix_radius() is skipped 2024-07-09 10:13:34 +10:00
Willian Galvani
325d6f6c94 AP_Compass: use ahrs for location instead of GPS directly for calibration 2024-07-09 10:13:34 +10:00
Peter Barker
df0b4cdf6d AP_HAL_ChibiOS: chibios_hwdef.py: correct flake8 issues 2024-07-09 10:13:00 +10:00
Oleksiy Protas
6d27f69c96 GCS_MAVLink: correct a debugging message 
Probably changed from a pointer to reference at some point and forgot to update a normally disabled block
 2024-07-09 10:10:52 +10:00
Andy Piper
1b5febe046 AP_HAL_ChibiOS: iFlight 2RAWH743 2024-07-09 09:43:38 +10:00
Randy Mackay
b6c5ad450d AP_Common: char_to_hex returns 0 on invalid char 2024-07-09 09:08:51 +10:00
laozhou
611fb94660 AP_Mount: integrate topotek gimbal driver 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-07-09 09:08:51 +10:00