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26258 Commits

Author SHA1 Message Date
Tom Pittenger 1feec460c4 AP_HAL_ChibiOS: enable BattMon MPPT PacketDigital to CubeOrange-periph 2021-06-09 18:36:18 +10:00
Tom Pittenger adccc3deb7 AP_BattMonitor: add support for AP_Periph MPPT driver 2021-06-09 18:36:18 +10:00
Tom Pittenger 0590352bef SRV_Channel: do not use AP_UAVCAN unless LIBUAVCAN is enabled 2021-06-09 18:36:18 +10:00
Tom Pittenger 806b6a63bf AP_HAL: reorganize precompiler for HAL_ENABLE_LIBUAVCAN_DRIVERS and HAL_MAX_PROTOCOL_DRIVERS 2021-06-09 18:36:18 +10:00
Tom Pittenger bdf0efbbe7 AP_CANManager: reorganize precompiler for HAL_ENABLE_LIBUAVCAN_DRIVERS and HAL_MAX_PROTOCOL_DRIVERS 2021-06-09 18:36:18 +10:00
Tom Pittenger f764bd6547 AP_HAL_ChibiOS: disable EventSource only when CH_CFG_USE_EVENTS is false 
(cherry picked from commit 6e7542a70ca2343ab8d18470deaf5fc2d27390af) from bugobliterator
 2021-06-09 18:36:18 +10:00
Andrew Tridgell f09abc705b HAL_ChibiOS: bring us to 18k free for MatekF405-Wing plane build 2021-06-09 18:07:00 +10:00
Andrew Tridgell 6c24a030a6 GCS_MAVLink: use HAL_EFI_ENABLED 2021-06-09 18:07:00 +10:00
Andrew Tridgell 6a1e3afe33 AP_RPM: use HAL_EFI_ENABLED 2021-06-09 18:07:00 +10:00
Andrew Tridgell cc6d799e7a AP_EFI: change to use HAL_EFI_ENABLED 2021-06-09 18:07:00 +10:00
Pierre Kancir 519b1a6913 AP_Math: correct and increase unit test coverage 
AP_Math: correct some tests

AP_Math: more vector2 tests

AP_Math: make test_vector2 complete

AP_Math: add initial unittest for vector3
 2021-06-09 18:06:18 +10:00
Andy Piper 88bbec01b0 AP_Common: add firmware string without git hash. 2021-06-09 17:35:11 +10:00
Andy Piper 96acb46fbf AP_RCTelemetry: correct VTX power settings and pass parameter requests more quickly 
return parameter ids when CRSF folder request is made
turn off telemetry while processing parameters
 2021-06-09 17:35:11 +10:00
Andy Piper 4a05e65367 AP_BLHeli: ensure digital motor masks are setup correctly regardless of AUTO setting 2021-06-09 17:28:53 +10:00
Andy Piper cf257074c6 AP_Camera: support RunCam Hybrid correctly 2021-06-09 17:04:27 +10:00
Andrew Tridgell f2b7d44772 AP_Compass: fixed build with AP_Periph compass 2021-06-09 15:09:46 +10:00
Andrew Tridgell b23afc4a9e AP_Filesystem: disallow file operations from main thread while armed 
this stops all file operations from the main thread while armed,
allowing for a 3s grace time on arming to allow for initial log
file creation
 2021-06-09 15:08:28 +10:00
Andrew Tridgell 1279772d92 AP_Logger: disallow log creation in main thread when armed 
this fixes an issue where the sd card fails in flight and then
re-mounts. When that happens the logging backend can trigger a new log
open. That causes filesystem operations in the main thread while
flying. That can cause long delays or even a watchdog.

Thanks to Giacomo for noticing this on his flying wing
 2021-06-09 15:08:28 +10:00
Josh Henderson 757fc1d679 AC_WPNav: ensure that wp_radius greater than min 
Co-authored-by: Murata,Katsutoshi <ma2maru@gmail.com>
 2021-06-09 10:55:15 +09:00
Pierre Kancir 117ca8a6ef AP_Rangefinder: make backend get_reading() pure virtual 2021-06-09 10:52:00 +09:00
Pierre Kancir 88b5ff8c6f AP_Rangefinder: make get_temp const 2021-06-09 10:52:00 +09:00
Andrew Tridgell 3a6bafc6a6 SITL: fixed order of rotations in tilt vehicles 
tilt is in body frame, not rotated arm frame, so needs to be applied
2nd
 2021-06-08 19:11:32 +10:00
Peter Barker ff048990d9 AP_OSD: correct format string issues 
AP_OSD: remove spurious % in fmt string

AP_OSD: cast to (signed) to fix fmt string issue

AP_OSD: cast to (unsigned) to fix fmt string issues
 2021-06-08 17:08:43 +10:00
Peter Barker e06f937486 AP_OSD: add FMT_PRINT to write(...) call 2021-06-08 17:08:43 +10:00
TunaLobster 2359de250d AP_Scripting: add example of fixed wing doublets via scripting 2021-06-08 14:48:27 +10:00
Peter Barker 09e82e52e1 AP_HAL_ChibiOS: disable AP_EFI on MatekF405-Wing and omnibusf4pro 2021-06-08 14:08:34 +10:00
Peter Barker e5fba1c8cc AP_EFI: disable AP_EFI on MatekF405-Wing and omnibusf4pro 2021-06-08 14:08:34 +10:00
Randy Mackay f8d39e65ec AP_VisualOdom: pre_arm check fix for camera attitude 2021-06-08 12:55:17 +09:00
Randy Mackay ab5d4da776 AP_AHRS: attitudes_consistent fix for roll-pitch difference calc 
previously yaw difference would appear as roll, pitch differrences
 2021-06-08 12:55:17 +09:00
Randy Mackay b263a1d751 AP_Math: add Quaternion::roll_pitch_difference 2021-06-08 12:55:17 +09:00
Andrew Tridgell ac2080ff93 AP_ESC_Telem: don't send mavlink msgs if we've never data any data 2021-06-08 12:30:30 +10:00
Peter Barker 4abf854c45 AP_Common: remove weird cast of location object 2021-06-08 12:14:17 +10:00
李孟晓 27089b4d2b AP_BattMonitor: Fix the comment of BATTx_OPTIONS 2021-06-08 11:16:19 +10:00
Andrew Tridgell 7fadbba086 AP_WindVane: fixed copying of filter objects 2021-06-08 11:14:52 +10:00
Andrew Tridgell fbbb4a1183 AP_Soaring: fixed filter constructor calls 
fixes valgrind error from copy of filter objects on the stack
 2021-06-08 11:14:52 +10:00
Andrew Tridgell a2d0f569c9 AP_WheelEncoder: fixed PID constructor calls 2021-06-08 11:14:52 +10:00
Andrew Tridgell 476e9fc15a AC_PID: use CLASS_NO_COPY() 2021-06-08 11:14:52 +10:00
Andrew Tridgell cd1f5ca494 Filter: use CLASS_NO_COPY 2021-06-08 11:14:52 +10:00
Andrew Tridgell 6c0c6a1f48 AP_Common: added CLASS_NO_COPY() macro 
used to make it easy to forbid copy of classes
 2021-06-08 11:14:52 +10:00
Michel Pastor 30029f59db AP_OSD_Screen: make BLH RPM fixed length 2021-06-08 10:40:44 +10:00
Peter Barker ef2e273ee6 AP_Scheduler: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker 102543684e AP_Rally: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker fd4fb15e7d AP_Mission: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker b681dc940a AP_Logger: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker 3ba57fed89 AP_HAL_ChibiOS: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker 15cd41ca19 AP_GPS: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker c11a6bbb47 AP_Filesystem: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Josh Henderson 80a17cb97f AP_BattMonitor: get Mavlink charge state 2021-06-08 09:27:13 +10:00
Josh Henderson 518666b5f0 GCS_MAVLink: Add battery_charge_state to Battery_Status message 2021-06-08 09:27:13 +10:00
Andy Piper 96d0e8cf3f AP_Motors: add comments to AP_MotorsUGV 2021-06-07 20:16:26 +09:00
Andy Piper 9eea3f1030 AP_BLHeli: add auto support to rover 2021-06-07 20:16:26 +09:00
Andy Piper 7c213a8bbf AP_Motors: move AP_MotorsUGV here 
add singleton and motor_mask to AP_MotorsUGV
 2021-06-07 20:16:26 +09:00
Andrew Tridgell 96577b47f0 GCS_MAVLink: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell f6ec48e0e2 AP_Scheduler: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell 50e7c81f46 AP_Logger: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell dfc4b37df1 AP_HAL_Linux: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell 7c5c805381 AP_HAL: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell 684e32068b AP_Compass: removed perf counters 2021-06-07 14:29:27 +10:00
Peter Barker d6348a0786 AP_NavEKF3: remove getBodyFrameOdomDebug 
Not used after we moved logging to be within AP_NavEKF3
 2021-06-07 09:28:52 +10:00
Peter Barker dd3ab29b2f AP_NavEKF3: remove getFilterGpsStatus 
Not needed after we moved logging into NavEKF3
 2021-06-07 09:25:53 +10:00
Peter Barker aaae7bda6b GCS_MAVLink: provide compatability with bad integer-stored radii 2021-06-06 11:41:30 +10:00
Peter Barker 76408c77dd AC_Fence: provide compatability with bad integer-stored radii 2021-06-06 11:41:30 +10:00
Peter Barker e3db030d7a AC_Fence: load and store fence radii in floats 
These were simply being cast down to integers
 2021-06-06 11:41:30 +10:00
Peter Barker e644a9dda8 StorageManager: add read_float and write_float 2021-06-06 11:41:30 +10:00
Andrew Tridgell 67fea9f2f8 HAL_ChibiOS: fixed DMA disable on contention 
this fixes a problem with the automatic DMA disable on DMA contention
in UARTs. This fixes issue #14581

the problem was that while tx_dma_enabled was correctly set to false,
it would keep looping inside write_pending_bytes_DMA() if the data
arrived in the write buffer at a faster rate than it could be sent
out, which did happen with a mavlink stream rate of 4Hz. This means it
kept using DMA even with tx_dma_enabled set to false. The result was
that the automatic flow control code never got a chance to run and we
didn't switch back to non-DMA for these low baudrate contended UARTs
 2021-06-05 19:03:03 +10:00
Andrew Tridgell 3128d71aac HAL_ChibiOS: display uart even when not initialised 
don't rely on thread allocation for uart info display
 2021-06-05 18:52:33 +10:00
Andrew Tridgell c34d8e80e9 HAL_ChibiOS: fixed serial info indexing for EMPTY uarts 2021-06-05 18:52:33 +10:00
Andrew Tridgell 6fab8feeae HAL_ChibiOS: implement uart_info per-uart 
this allows for some UARTs to be of EMPTY type
 2021-06-05 18:52:33 +10:00
Andrew Tridgell 23cf128541 HAL_Empty: implement uart_info() 2021-06-05 18:52:33 +10:00
Andrew Tridgell d8a6d9c5c4 AP_HAL: added uart_info() method 2021-06-05 18:52:33 +10:00
Andrew Tridgell 135a4d2c83 HAL_ChibiOS: fixed order and labelling of @SYS/uarts.txt 2021-06-05 18:52:33 +10:00
Andrew Tridgell 71f207403e AP_Common: make angles in degrees end in _deg 
to make it obvious it is not radians
 2021-06-05 13:05:30 +10:00
Andrew Tridgell eba1d499d4 AP_SpdHgtControl: added get_max_sinkrate() 2021-06-05 13:05:30 +10:00
Andrew Tridgell a789bb372b AP_TECS: added get_max_sinkrate() API 2021-06-05 13:05:30 +10:00
Andrew Tridgell a895bc1846 HAL_ChibiOS: reduce flash on VRBranin-v51 2021-06-05 13:05:30 +10:00
Andrew Tridgell 154ae64e63 AP_Math: support either polarity in linear_interpolate() 2021-06-05 13:05:30 +10:00
Peter Barker d77d258442 AP_Math: add tests for the sqrt_controller 2021-06-04 23:00:19 +10:00
yaapu c615706971 AP_Frsky_Telem: added a parameter to set the default FRSky sensor ID for passthrough telemetry 2021-06-03 13:58:55 +10:00
honglang 847ce3b311 AP_HAL_ChibiOS: CUAV X7/Nora: use icm42688 instead of bmi088 2021-06-03 13:57:27 +10:00
Randy Mackay 3f77c52720 AP_BoardConfig: minor change to BRD_IMU_TARGTEMP param desc 
Users should reboot if the param is changed to -1 because the heater pin could be left on
 2021-06-02 18:17:59 +10:00
yaapu 870c280946 AP_Frsky_Telem: upgraded SERIAL_PROTOCOL 4 telemetry to 2 bytes data IDs 
This upgrades standard SPort telemetry from older 1byte IDs to newer 2bytes IDs.

Older 1 byte data IDs are not supported by the FRSky ETHOS ecosystem so this
migration is required to allow ArduPilot to seamlessly work with ETHOS.
This migration requires users to do a new sensor discovery in OpenTX.
 2021-06-02 17:33:15 +10:00
yaapu a5e1a45e7a AP_Frsky_Telem: added hud throttle [-100,100] to frame 0x5001 scaled to [-63,63] on 7bits 2021-06-02 17:30:09 +10:00
Siddharth Purohit cd5b764fd8 AP_NavEKF3: use first usable compass index to set magSelectIndex 2021-06-02 17:10:19 +10:00
Siddharth Purohit 124eaf1a38 AP_NavEKF2: use first usable compass index to set magSelectIndex 2021-06-02 17:10:19 +10:00
Siddharth Purohit a52f04ddde AP_DAL: add interface for first usable compass 2021-06-02 17:10:19 +10:00
Siddharth Purohit 1d29619e51 Revert "AP_Arming: check for only first compass being disabled" 
This reverts commit d343c569c2.
 2021-06-02 17:10:19 +10:00
Siddharth Purohit 8590bfea63 AP_Compass: use first available compass in priority list 2021-06-02 17:10:19 +10:00
James O'Shannessy 1794eefd33 AP_Mission: Fixes crash in copter when uploading MAV_CMD_NAV_LAND with NaN as p4 
Uploading a mission created in QGC with MAV_CMD_NAV_LAND (instead of return to launch) results in crash of copter because p4 is not set.
 2021-06-02 17:04:38 +10:00
Andrew Tridgell 606c248e69 AP_HAL: fixed build on boards with no PWM 
this impacts mRoNexus builds
 2021-06-02 15:39:30 +10:00
Paul Riseborough a5a25411da AP_NavEKF3: Remove unnecessary baro limiting 2021-06-02 11:13:16 +09:00
Paul Riseborough 124f016e5b AP_NavEKF3: Use parameter to set baro ground effect dead-zone 2021-06-02 11:13:16 +09:00
Paul Riseborough 76d0dcc25c AP_NavEKF3: Use common method for handling baro ground effect 2021-06-02 11:13:16 +09:00
Andrew Tridgell dc9435a88d AP_NavEKF3: don't limit baro change when we are in fixed wing mode 2021-06-02 11:13:16 +09:00
Andrew Tridgell ea6724aca5 AP_NavEKF2: don't limit baro change when we are in fixed wing mode 2021-06-02 11:13:16 +09:00
Andrew Tridgell 32b079911f AP_NavEKF2: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Peter Barker c00f110f3d AP_NavEKF3: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Peter Barker f4f713a04f AP_DAL: add takeoff and touchdown expected state 2021-06-02 11:13:16 +09:00
Peter Barker 9eeec61cec AP_AHRS: new APIs for takeoff/touchdown expected 
timeout handling now in AP_AHRS, and state stored in AHRS and
requested by AP_DAL
 2021-06-02 11:13:16 +09:00
CUAVcaijie 0ff38e1379 HAL_ChibiOS: CUAV ICM20649 on SPI6 bus replaced by ICM20689 
alternative IMUs for Nora and X7
 2021-06-02 10:49:55 +10:00
Andrew Tridgell 8701932670 HAL_ChibiOS: return zeros in dma.txt on first fetch 2021-06-01 11:36:07 +09:00