Commit Graph

23034 Commits

Author SHA1 Message Date
Peter Barker b16c1ea647 AP_HAL_Empty: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Barker 8f54de4184 AP_HAL_ChibiOS: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Barker a8d03990ec AP_HAL: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Hall bfd71fdae1 RC_Channel: add Qassist switch 2020-05-26 09:01:47 +10:00
Andrew Tridgell 5bfcb0ed4a SRV_Channel: Add servo chan override w/ timeout
Adds a feature to override a servo output for a given time. Scripting
bindings and example included.
2020-05-25 14:10:01 +10:00
Andrew Tridgell 5e74152444 AP_Scripting: Add servo chan override w/ timeout
Adds a feature to override a servo output for a given time. Scripting bindings and example included.
2020-05-25 14:10:01 +10:00
Andrew Tridgell cf0f95f81e AP_BLHeli: allow for negative temperatures from BLHeli32 ESCs
ESCs can send negative values
2020-05-25 13:53:32 +10:00
Andrew Tridgell a0cf4e158a AP_Compass: revert change to RM3100 scale factor and increase scale limit
This reverts the change from #13895 and instead resolves the issue by
increasing the scale factor limit to 1.4

There is an open question as to why some RM3100 compasses show a
different scale factor (by about 1.25 times) to other versions of the
same sensor. As we haven't resolved this properly it seems the correct
thing to do is follow the datasheet but allow for a wider range of
scale factors to cope with the variation between sensors
2020-05-24 15:06:15 +10:00
Peter Barker 49918d070e AP_Logger: add documentation for ESC LoggerMessage 2020-05-24 13:07:35 +10:00
Peter Barker cc60faa58e AP_Logger: use single message number for all ESCs by using instance # 2020-05-24 13:07:35 +10:00
Andy Piper 63b5711a4d AP_Compass: use a separate slot for the custom compass rotation 2020-05-24 07:46:17 +10:00
Andy Piper acff7daba5 AP_RCProtocol: scale SRXL2 using published conversion values. switch SRXL2 channels to match ArduPilot 2020-05-24 07:45:01 +10:00
Andy Piper 6da1f3bf2e AP_GyroFFT: filter energy, harmonic and amplitude fit. Make a better guess at harmonic matching
add filtered second and third harmonics and log them
make sure we use all of the gyro samples available on each axis rather than skipping
separate gyro update from fft start to minimize time in fast loop
add FFT_HMNC_PEAK to allow users to select which noise peak and which axis will be tracked.
make sure the self-test runs once and display the results
report self-test failure reason. make sure self-test runs for all windows.
always give logging a chance to run at IO_PRIORITY
add log message documentation
make sure the engine still runs even when the arming check has been disabled
record last FFT update time and cycle time and fallback to throttle estimate when update is too old
delay for longer in FFT thread between cycles to cope on F4
try really hard to get a viable frequency estimate
change range on MAXHZ/MINHZ to reflect that 50Hz is actually quite dangerous
swap the center peak for one of the shoulders if there is temporarily a closer match with the frequency trend
when FFT is disabled still log harmonic notch frequency
use distance matrix to find most appropriate peak
use a median filter to remove outliers before filtering
discount peaks that are relatively too low in energy
make sure harmonic fit is tracked for both potential targets
convert all gyro buffers to ObjectBuffer<float> for lock-free access
run all FFT steps inside the FFT thread
calculate cycle time and loop delay correctly
drop samples when the ring buffer is full
2020-05-24 07:43:34 +10:00
Andy Piper fab8168f5c AP_Arming: allow FFT to report failure reason. allow FFT check to be disabled.
document FFT arming check and make sure the appropriate side effect happens regardless
2020-05-24 07:43:34 +10:00
Andy Piper 8ac79da643 AP_InertialSensor: FFT gyro window would overflow on windows >= 256
convert FFT buffers to ObjectBuffer<float> for lock-free access
push gyro samples directly into the FFT ring buffer from the gyro thread
2020-05-24 07:43:34 +10:00
Andy Piper d873ec4533 AP_Vehicle: separate gyrofft gyro sampling from fft initiation
move FFT gyro sampling into fast loop for all vehicles
rename FFT update method
2020-05-24 07:43:34 +10:00
Andy Piper 13e40a3002 AP_HAL_Empty: add harmonics to DSP
add DSP vector mean function
add ObjectBuffer signature
2020-05-24 07:43:34 +10:00
Andy Piper 33c1523905 AP_HAL_ChibiOS: add harmonics to DSP
add vector_mean_float() to DSP
allow fft_start() to use ObjectBuffer<float> for lock-free access
2020-05-24 07:43:34 +10:00
Andy Piper ee87ef7013 AP_HAL_SITL: make harmonics part of DSP
add vector mean function to dsp
allow fft_start() to use ObjectBuffer<float> for lock-free access
2020-05-24 07:43:34 +10:00
Andy Piper e2ef0bd36e AP_HAL: collect data for three largest peaks
new dsp peak detection algorithm
add DSP sketch with frequency ascii art
tool to generate gyro data frames from batch sampled DF logs
add generated data from real Y6B flight
allow fft_start() to use ObjectBuffer<float> for lock-free access
allow ObjectBuffer to be resized
2020-05-24 07:43:34 +10:00
Peter Barker 5bbb02e03b SITL: add support for simulated proximity sensors 2020-05-22 17:06:16 +10:00
Peter Barker be9fc57e8f AP_HAL_SITL: add support for simulated RPLidarA2 2020-05-22 17:06:16 +10:00
Andy Piper f5320e8816 AP_Compass: make sure SITL rotation gets initialized like all the others
don't remove a custom rotation that has already been set
2020-05-21 16:28:27 +10:00
bugobliterator 7b9f0f3fd7 HAL_ChibiOS: use FIFO mode instead of Queue mode in FDCAN driver 2020-05-21 15:32:53 +10:00
Gone4Dirt b2d2bf61da AP_Motors: Support autorotation windows on external governors 2020-05-20 21:56:09 -04:00
Henry Wurzburg 23e7e2d193 AP_RangeFinder: rename Benewake types for easier identification 2020-05-21 08:45:30 +09:00
Paul Riseborough af19fea268 AP_NavEKF2: Fix 3-axis mag fusion per axis error handling
Ensure that if fusion checks for an axis fails, fusion will not be perfomred for all axes.
2020-05-20 15:09:32 +10:00
Buzz d4df145b4b ArduPlane: option to keep landing throttle at thr_min during flare and touchdown, not zero. 2020-05-20 11:29:45 +10:00
Buzz dc3db0476b AP_Landing: option to keep landing throttle at thr_min during flare and touchdown, not zero. 2020-05-20 11:29:45 +10:00
Andy Piper 9f02b1b1a8 AP_NavEKF2: fix typo in comment
Signed-off-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
2020-05-20 07:29:31 +09:00
Andrew Tridgell 97f335396b AP_Scripting: fixed memory leak 2020-05-19 09:09:48 +10:00
Peter Hall b368188b01 AP_Scripting: add AP_Logger binding 2020-05-19 09:09:48 +10:00
Peter Hall be37a8a2b6 AP_Scripting: add example logging serial to dataflash 2020-05-19 09:09:48 +10:00
Peter Hall 11dc3e05e3 AP_Scripting: add SD file and dataflash logging example 2020-05-19 09:09:48 +10:00
Peter Hall 19ba9abc89 AP_Logger: add function and make public for scripting use 2020-05-19 09:09:48 +10:00
Peter Hall aa657626f2 AP_Scripting: examples: plane-wind-fs: read in CRT_MAH 2020-05-18 11:25:13 -07:00
Paul Riseborough 939331ae8d AP_NavEKF3: Fix double iteration of axes in SelectMagFusion 2020-05-18 09:38:45 +10:00
bugobliterator 05fe49a51f AP_Math: disable INEXACT flag from Float exception 2020-05-17 16:12:43 +10:00
bugobliterator 07907ac81d HAL_SITL: fix gcc build on macosx 2020-05-17 16:12:43 +10:00
Mark Whitehorn a54f286c1b SITL: fixed running of example programs 2020-05-16 11:06:35 +10:00
Peter Barker 115751833b AP_Logger: process pending rotate on arming
If the user arms the vehicle during the logging-persist-timeout we
should rotate the log immediately.
2020-05-15 16:02:09 +10:00
Randy Mackay 6c20264d9c AP_NavEKF3: minor comment fix 2020-05-15 11:23:07 +09:00
Randy Mackay 5ad3611142 AP_NavEKF3: improve ext nav glitch handling
replaces extNavTimeout with posTimeout
replaces lastExtNavPassTime_ms with lastPosPassTime_ms
2020-05-15 11:23:07 +09:00
Randy Mackay b2dd6446c8 SITL: add comment to SIM_VICON 2020-05-15 10:07:52 +09:00
Randy Mackay b71403c11a AP_VisualOdom: provide delay to ahrs:writeBodyFrameOdom 2020-05-15 10:07:52 +09:00
Randy Mackay b2ad1caf75 AP_AHRS: writeBodyFrameOdom accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay ef02942459 AP_NavEKF3: writeBodyFrameOdom accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay 69560ec147 AP_VisualOdom: provide delay to ahrs::writeExtNavData 2020-05-15 10:07:52 +09:00
Randy Mackay 762e82d49d AP_AHRS: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay c28fd27b02 AP_NavEKF3: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay f26a2a47b4 AP_NavEKF2: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay 366d03a533 SITL: add VICON_YAWERR
this allows simulating an error in the camera's reported yaw
2020-05-15 09:22:07 +10:00
Randy Mackay bf9ee4ada8 SITL: remove unused MAG_ERROR and VICON_HSTLEN params 2020-05-15 09:22:07 +10:00
Andrew Tridgell fd32dff45a AP_IOMCU: force safety off on IOMCU reset
if safety was forced off previously and we get an IOMCU reset then
force it off when the reset happens so vehicle can keep flying
2020-05-14 18:28:50 +10:00
mhefny 9f56b656e0 SITL: Revamp Examples to support multiple drones 2020-05-14 18:05:16 +10:00
mhefny 5a64156862 SITL: SITL-Webots timing is received from Webots only 2020-05-14 18:05:16 +10:00
Paul Riseborough 318811210f AP_NavEKF3: Don't perform emergency yaw reset unless commanded externally
This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
2020-05-14 10:40:48 +10:00
Paul Riseborough c94de61e29 AP_NavEKF2: Don't perform emergency yaw reset unless commanded externally
This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
2020-05-14 10:40:48 +10:00
Andrew Tridgell fc28cd4fa2 GCS_MAVLink: fixed a ftp duplicate reply
this fixes a bug in burst replies where the duplicate reply may have
the wrong offset. This causes the "paramftp bad type" error
2020-05-14 09:53:42 +10:00
chobits a7aa43f5d5 AP_NavEKF2: ext nav will not reset yaw if compass is used 2020-05-14 08:04:55 +09:00
Randy Mackay 45e6896d95 AP_NavEKF3: ensure extnav angle error is at least 5deg 2020-05-14 08:02:13 +10:00
Andy Piper e9b939ccb5 AP_Scripting: build fix for macOS 2020-05-13 11:59:03 -07:00
Andrew Tridgell 36869f668b AP_Scripting: fixed build on cygwin with deep directories 2020-05-12 19:55:21 +10:00
Andrew Tridgell 50db7f1648 AP_Scripting: update README.md 2020-05-12 19:55:21 +10:00
Andrew Tridgell 9cf464e570 AP_Scripting: removed the old Makefile 2020-05-12 19:55:21 +10:00
Andrew Tridgell 2c6fd13899 AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
Andrew Tridgell 5c8e4a4d7b AP_Scripting: removed old generated bindings 2020-05-12 19:55:21 +10:00
Buzz 9d9fdd1cb0 AP_Scripting: add big demo script for editing and updating mission item/s from lua. 2020-05-12 14:20:26 +10:00
Buzz 816474b6e8 AP_Scripting: rebuild bindings 2020-05-12 09:58:14 +10:00
Buzz 963b25059d AP_Scripting: allow to get/set/create arbitrary mission items
fetch item/s by their index, and review wp data, etc.  
AP_Mission: ran mission files through approved astyle  as they were non-compliant before this( astyle --options=Tools/CodeStyle/astylerc   )
2020-05-12 09:58:14 +10:00
Andrew Tridgell d16f31711e AP_RangeFinder: fixed mixing UAVCAN and non-UAVCAN rangefinders
UAVCAN rangefinders add themselves to the frontend drivers as the
devices appear. If they turn up before RangeFinder::init() is run then
this prevented init() from scanning for the other rangefinders as
num_instances is non-zero

This also fixes a race condition in updating num_instances in the
UAVCAN backend
2020-05-12 09:45:15 +10:00
Andrew Tridgell 603e5c4b55 AP_RangeFinder: added get_address()
allows AP_Periph to supply sensor_id for multiple CAN rangefinders
2020-05-11 18:36:46 +10:00
Peter Barker 5100c9fb8c GCS_Common: whitelist AUTOPILOT_VERSION for in_delay_callback sending
GCSs may request this very early on in the boot process, particularly
for SITL.

If we try to send it during a delay callback then we end up dropping it
at the moment - but we'd already sent the ack in response to the
request.
2020-05-11 15:22:38 +10:00
Peter Barker ca4af94833 AP_Logger: prevent potential infinite recursion in log-open codepath
If anything in start_new_log did logging (for example, by sending a
statustext), we end up infinitely recursing.

With the patch:

diff --git a/libraries/AP_Logger/AP_Logger_File.cpp b/libraries/AP_Logger/AP_Logger_File.cpp
index 69b8ef0431..eb422d10f8 100644
--- a/libraries/AP_Logger/AP_Logger_File.cpp
+++ b/libraries/AP_Logger/AP_Logger_File.cpp
@@ -778,6 +778,7 @@ void AP_Logger_File::PrepForArming()
  */
 void AP_Logger_File::start_new_log(void)
 {
+    gcs().send_text(MAV_SEVERITY_WARNING, "Starting new log");
     stop_logging();

     start_new_log_reset_variables();
pbarker@bluebottle:~/rc/ardupilot(master)$

We see:

    at ../../libraries/AP_Logger/AP_Logger_File.cpp:781
    this=0x555555ad9d30, pBuffer=0x7fffff8209d0, size=75, is_critical=true)
    at ../../libraries/AP_Logger/AP_Logger_Backend.cpp:372
    this=0x555555ad9d30, pBuffer=0x7fffff8209d0, size=75)
    at ../../libraries/AP_Logger/AP_Logger_Backend.h:32
    this=0x555555ad9d30, message=0x7fffff820b10 "Starting new log")
    at ../../libraries/AP_Logger/LogFile.cpp:466
    this=0x555555a6d758 <copter+11384>,
    message=0x7fffff820b10 "Starting new log")
    at ../../libraries/AP_Logger/AP_Logger.cpp:752
    this=0x555555a6e708 <copter+15400>, severity=MAV_SEVERITY_WARNING,
    fmt=0x5555557d64d0 "Starting new log", arg_list=0x7fffff820be0,
    dest_bitmask=1 '\001') at ../../libraries/GCS_MAVLink/GCS_Common.cpp:1847
    this=0x555555a6e708 <copter+15400>, severity=MAV_SEVERITY_WARNING,
    fmt=0x5555557d64d0 "Starting new log", arg_list=0x7fffff820be0)
    at ../../libraries/GCS_MAVLink/GCS.cpp:53
    this=0x555555a6e708 <copter+15400>, severity=MAV_SEVERITY_WARNING,
    fmt=0x5555557d64d0 "Starting new log")
    at ../../libraries/GCS_MAVLink/GCS.cpp:60
    at ../../libraries/AP_Logger/AP_Logger_File.cpp:781
    this=0x555555ad9d30, pBuffer=0x7fffff820dc0, size=75, is_critical=true)
    at ../../libraries/AP_Logger/AP_Logger_Backend.cpp:372

I'm not aware of any instances in the code where this will actually
happen - but it could easily sneak in.
2020-05-11 15:12:36 +10:00
Henry Wurzburg 12d5602926 AP_HAL_ChibiOS: Add ability to use UART3 and UART4 in bd alt config 4 2020-05-11 14:18:35 +10:00
Peter Barker 50523ed0fa AP_HAL_ChibiOS: remove pointless initialisations
These are never stack-allocated.

Only saves 16 bytes - but several lines
2020-05-10 18:03:36 +10:00
Randy Mackay 67903a29e2 AP_NavEKF3: fix getLLH when no GPS 2020-05-10 15:35:55 +10:00
Randy Mackay b95bc9076b AP_NavEKF2: fix getLLH when no GPS 2020-05-10 15:35:55 +10:00
Andrew Tridgell 2200dfefdb HAL_ChibiOS: during setup() we expect delays
this may fix occasional internal errors on SPI during startup
2020-05-10 15:12:43 +10:00
Andrew Tridgell 04e29d58e3 RC_Channel: avoid invalid misaligned access in example 2020-05-10 15:11:22 +10:00
Andrew Tridgell 5350ea5c58 AP_NavEKF3: avoid build warnings with g++ 9 2020-05-10 15:11:22 +10:00
Andrew Tridgell 3e853344f3 AP_Math: avoid build warnings 2020-05-10 15:11:22 +10:00
Andrew Tridgell 87c2858bde GCS_MAVLink: give banner on param download with ftp
thanks to Peter for noticing
2020-05-10 15:10:21 +10:00
Andrew Tridgell 259cb0aafd HAL_ChibiOS: removed EKF2 define, not needed any more 2020-05-10 15:09:54 +10:00
Andrew Tridgell 8868ac2d6f AP_AHRS: disable EKF2 by default on 1M boards 2020-05-10 15:09:54 +10:00
Andrew Tridgell 61d036acf3 HAL_ChibiOS: added build time check for right system clock
this helps prevent cases where we underclock a chip due to mistake in
headers or hwdef.dat
2020-05-10 15:09:28 +10:00
Andrew Tridgell 69676cd614 HAL_ChibiOS: support 24MHz f3 MCUs 2020-05-10 15:09:28 +10:00
Henry Wurzburg 3f735e7e54 HAL_ChibiOS: Make full UART4 available as bd config option 2020-05-10 08:00:57 +10:00
Henry Wurzburg 225a305cb9 AP_HAL_ChibiOS:Remove alt config since its not useful (no TX available) 2020-05-10 08:00:21 +10:00
Henry Wurzburg 8b3f07416c AP_NAVEKF3: change plane check_scaler value to match EKF2 value 2020-05-10 07:59:27 +10:00
Andrew Tridgell cd5aae20c1 AP_NavEKF3: fixed scary message for non-compass planes 2020-05-09 12:33:33 +10:00
Andrew Tridgell 4a80313fdd AP_Compass: added get_num_enabled()
used by EKF3
2020-05-09 12:33:33 +10:00
Michael du Breuil ceb0a9c827 AP_Airspeed: Rearrange state to save memory
Saves 8 bytes per airspeed sensor (2 backends for 8 total), and removes
the unneeded width specifier, which has no impact on used memory, and
saves us 88 bytes of flash because we don't have to do work to shift the
bits around.
2020-05-06 18:15:08 +10:00
Peter Barker 64e300a00c AP_Soaring: add documentation for VAR dataflash log message 2020-05-06 13:23:51 +10:00
Peter Barker 446dc61979 AP_InternalError: add warning on the internal error_t type 2020-05-06 13:23:15 +10:00
Peter Barker 70a9abfaff AP_InternalError: emit stringification of internal errors 2020-05-06 13:23:15 +10:00
Peter Barker 75514dfdfe AP_Arming: emit stringification of internal errors 2020-05-06 13:23:15 +10:00
Peter Barker 69093aa7b1 AP_Soaring: stop taking AHRS as constructor argument
... use singleton instead
2020-05-05 17:35:14 +10:00
Peter Barker f1f30a2fee AP_UAVCAN: regularise CAN pre-arm failure messages
AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
2020-05-05 11:27:53 +10:00
Peter Barker 245b962d92 AP_PiccoloCAN: regularise CAN pre-arm failure messages
AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
2020-05-05 11:27:53 +10:00