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21693 Commits

Author SHA1 Message Date
Andrew Tridgell
f8ef56be1b AP_NavEKF3: apply min GPS accuracy at measurement point 
this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
 2020-08-25 12:39:11 +10:00
Siddharth Purohit
9553bc14d0 AP_Compass: fix reordering compass devid by priority at boot 2020-08-25 08:30:35 +10:00
Andrew Tridgell
92e35f6a9e RC_Channel: fixed use of radio_in out of range for angle inputs 
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!
 2020-08-12 09:51:41 +10:00
Josh Welsh
5ed5631c3c AP_Airspeed: Add additional DLVR support 20inH2O 30inH2O 60inH2O 2020-08-12 08:03:40 +10:00
Siddharth Purohit
e86e8f03e3 AP_HAL: add methods to extract devid details 2020-07-27 19:53:02 +10:00
Siddharth Purohit
b7346f50f1 AP_Compass: reset compass ids not present after compass cal 
also implement replacement mechanism for UAVCAN compasses
 2020-07-27 19:50:30 +10:00
Andrew Tridgell
a6e5e92ab7 AP_RangeFinder: fixed legacy parsing of 65436 for lightware i2c 
some lidars will probe as legacy protocol and return 65436 as range
 2020-07-27 19:49:39 +10:00
Andrew Tridgell
9bece88212 HAL_ChibiOS: enable HAL storage erase 2020-07-07 11:34:18 +10:00
Andrew Tridgell
035697458a StorageManager: use hal.storage->erase() 2020-07-07 11:33:34 +10:00
Andrew Tridgell
299d05fcd7 AP_HAL: added erase() method to Storage class 2020-07-07 11:33:30 +10:00
Andy Piper
39ee49501f AP_Compass: enable LIS3MDL and friends 2020-07-07 11:33:23 +10:00
Andrew Tridgell
db364257d8 AP_Mission: Added force resume for when MIS_RESTART=1 2020-07-07 11:28:51 +10:00
Randy Mackay
73a20f6f08 AP_AHRS: attitudes_consistent obeys always_use_EKF 2020-06-23 07:31:18 +10:00
Andrew Tridgell
756d657afd HAL_ChibiOS: increase monitor thread stack to 768 bytes 
attempt to fix issue #14582
 2020-06-23 07:31:13 +10:00
Henry Wurzburg
ff55954a3b AP_RangeFinder: rename Benewake types for easier identification 2020-06-23 07:31:10 +10:00
Andrew Tridgell
f1cf4afde7 HAL_ChibiOS: fixed default CubeOrange pin for 2nd current sensor 2020-06-23 07:31:08 +10:00
bugobliterator
a93b93b741 AP_Compass: return id of max empty compass state when prio id is 0 2020-06-23 07:31:00 +10:00
Andras Schaffer
a58415391f AP_Proximity: fix proximity ignored zone calulation 
It seems there was a typo in the checking of proximity ignored zones.
 2020-06-23 07:30:44 +10:00
Andrew Tridgell
212ab83347 AP_Mission: added contains_terrain_relative() 
used in plane arming check
 2020-06-23 07:26:58 +10:00
Andrew Tridgell
dc6257fafc HAL_ChibiOS: added Holybro Pix32v5 2020-06-12 21:23:46 +10:00
MATEKSYS
b741980a08 HAL_ChibiOS: MatekH743: move baro to I2C2 bus 2020-06-12 13:17:10 +10:00
Andrew Tridgell
a15108fee4 HAL_ChibiOS: fixed build with our old compiler 
gcc 4.9 doesn't like static_assert() in C code
 2020-06-12 13:17:07 +10:00
duccan
7415a714bc AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1 
Rework after review:
- Kept old IMU and barometer definition of crazyflie 2.0 in hwdef
- Added comment regarding soft-reset command
- Added defaults.parm for crazyflie
 2020-06-12 13:17:02 +10:00
duccan
5c979f7989 AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1 2020-06-12 13:17:00 +10:00
James Jacobsson
104ac049c6 AP_HAL_Chibios: Adjust MatekF765-Wing voltage and current scales 
The new values matches the ones from here:
http://www.mateksys.com/?portfolio=f765-wing#tab-id-5

Also verified to be a lot more accurate in real life.
 2020-06-12 13:16:56 +10:00
CUAVcaijie
eb6d2fe8c0 HAL_ChibiOS:Adapt to CUAV Nora V1.2 hardware 2020-06-12 13:16:54 +10:00
pkocmoud
3ca5619d52 HAL_ChibiOS: Added support for mRo Pixracer Pro flight controller 2020-06-12 13:16:51 +10:00
Andrew Tridgell
cb13b8aed1 AP_Vehicle: instantiate and init hott telem for copter4.0 2020-06-12 13:16:34 +10:00
Andrew Tridgell
a9eb620b2e AP_RangeFinder: cope with beyond max range with LightwareI2C 2020-06-02 10:38:22 +10:00
Andrew Tridgell
50f84ef6fc AP_GPS: fixed issue with GPS selection for moving baseline 
when you have a moving baseline pair of ublox GPS modules and the
rover GPS does not have full fixed RTK lock on the base GPS then we
should not use it as our primary GPS as it's position and velocity can
be badly affected by the attempts of the GPS to gain a fixed lock.

This was observed in a flight with two F9P GPS, where the GPS velocity
data from the rover GPS went way off when it lost full RTK lock. It's
status stayed at 4, so it was selected as the primary GPS
 2020-05-27 11:00:10 +10:00
Andrew Tridgell
6bf83e347d 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
 2020-05-23 14:40:49 +10:00
Andrew Tridgell
4aa00e6540 HAL_ChibiOS: disable ROMFS hwdef.dat for 4.0 release 
will be in 4.1
 2020-05-22 12:18:17 +10:00
bugobliterator
f7efd57055 HAL_ChibiOS: use FIFO mode instead of Queue mode in FDCAN driver 2020-05-22 12:18:14 +10:00
Andrew Tridgell
87ac0f42aa 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
 2020-05-15 09:07:21 +10:00
Andrew Tridgell
782c91474e SITL: fixed dup param index 2020-05-12 15:34:46 +10:00
Siddharth Purohit
e6caa5b3ac AP_Arming: add arming message for compass not detected but assigned 2020-05-11 19:47:29 +10:00
Siddharth Purohit
9d3d7dfaaa AP_Arming: Primary Compass is always at serial# 0 2020-05-11 19:47:27 +10:00
Andrew Tridgell
65e9159d0f AP_NavEKF3: fixes for new compass API 2020-05-11 19:47:23 +10:00
Andrew Tridgell
0e53dbab82 AP_NavEKF2: fixes for new compass API 2020-05-11 19:47:21 +10:00
Andrew Tridgell
dc8f6833e7 AP_Compass: merged in compass device ID changes from master 2020-05-11 19:47:18 +10:00
Andrew Tridgell
021b37f8e4 SITL: added new compass parameters 2020-05-11 19:47:16 +10:00
Andrew Tridgell
54deb4cb36 AP_Param: added find_top_level_key_by_pointer 2020-05-11 19:47:14 +10:00
Andrew Tridgell
b9e07c61f3 AP_Common: added TSIndex.h 2020-05-11 19:47:12 +10:00
Andrew Tridgell
f9a045d04d AP_Common: added IGNORE_RETURN 2020-05-11 18:15:42 +10:00
Andrew Tridgell
c776455214 AP_SerialManager: added Hott telem 2020-05-11 18:15:42 +10:00
Andrew Tridgell
c5acb559ca AP_Hott_Telem: sync with master 2020-05-11 18:15:42 +10:00
Andrew Tridgell
212473ccb0 HAL_ChibiOS: fixed CubeSolo hwdef.dat 2020-05-11 18:15:42 +10:00
Andrew Tridgell
27abff56ea AP_Notify: fixed recursion bug in tone player 2020-05-11 18:15:42 +10:00
Andrew Tridgell
56be3788ec AP_InertialSensor: resync for 4.0 2020-05-11 18:15:42 +10:00
Andrew Tridgell
4489653fbe AP_Baro: resync for 4.0 2020-05-11 18:15:42 +10:00
Andrew Tridgell
810a1cbc52 AP_FlashStorage: resync for 4.0 update 2020-05-11 18:15:42 +10:00
Andrew Tridgell
13e6e71c3b AP_BoardConfig: added BRD_ALT_CONFIG 2020-05-11 18:15:42 +10:00
Andrew Tridgell
07db366d5d AP_RAMTRON: resync for 4.0 2020-05-11 18:15:42 +10:00
Andrew Tridgell
a335c19d95 AP_Frsky_Telem: support FPort 2020-05-11 18:15:42 +10:00
Andrew Tridgell
b2882c2cbc RC_Channel: added fport pad option 2020-05-11 18:15:42 +10:00
Andrew Tridgell
422da90ed6 AP_RCProtocol: added fport prototol support 2020-05-11 18:15:42 +10:00
Andrew Tridgell
432d07e1c4 AP_InternalError: resync for 4.0 update 2020-05-11 18:15:42 +10:00
Andrew Tridgell
3abe309df0 AP_IOMCU: resync for 4.0 update 2020-05-11 18:15:42 +10:00
Andrew Tridgell
7de195e3f6 HAL_SITL: resync for 4.0 update 2020-05-11 18:15:42 +10:00
Andrew Tridgell
e6c8b61b38 HAL_Linux: resync for 4.0 update 2020-05-11 18:15:42 +10:00
Andrew Tridgell
c9d5b8056e HAL_ChibiOS: resync for 4.0 update 2020-05-11 18:15:42 +10:00
Andrew Tridgell
418098694d AP_HAL: re-sync APIs for 4.0 update 2020-05-11 18:15:42 +10:00
Andrew Tridgell
e2c2c60556 AP_GPS: sync with master for new yaw handling 2020-05-11 18:15:42 +10:00
Andrew Tridgell
e18e16041f GCS_MAVLink: fixed build with updated mavlink xml 2020-05-11 18:15:42 +10:00
Andrew Tridgell
b5ca36762d mavlink: update for GPS yaw 2020-05-11 18:15:42 +10:00
Andrew Tridgell
f1ae653159 HAL_ChibiOS: switch non-composite USB ID 
use newly allocated 0x1209/0x5740
 2020-05-11 18:15:42 +10:00
Andrew Tridgell
6968d67a05 HAL_ChibiOS: set CS pins high while in bootloader 
this appears to be the root cause of the parameter resets on
CubeOrange. We need to ensure the CS pin is not floating or random
noise on the SPI bus for FRAM can cause the FRAM to become corrupt
 2020-05-11 18:15:40 +10:00
Andrew Tridgell
c8b47cfd9b GCS_MAVLink: consider NO_CHANGE as success for bootloader flash 
this prevents GCS users from seeing "update failed"
 2020-05-11 18:15:40 +10:00
Andrew Tridgell
a905f27ee8 AP_InertialSensor: suppress expected errors from invensense IMUs 2020-05-11 18:15:40 +10:00
Andrew Tridgell
a607054d6f HAL_ChibiOS: improve error messages for flashing bootloader 
send progress as statustext messages
 2020-05-11 18:15:40 +10:00
Andrew Tridgell
6baebbef79 AP_HAL: use enum for flash_bootloader() result 2020-05-11 18:15:40 +10:00
Andrew Tridgell
31830d9e5a HAL_ChibiOS: suppress SPI timeout error for expected delay 2020-05-11 18:15:40 +10:00
Andrew Tridgell
ab9330f04f HAL_ChibiOS: implement in_expected_delay() 2020-05-11 18:15:40 +10:00
Andrew Tridgell
1f0465c7c8 AP_HAL: added in_expected_delay() 
allows for error message suppression when delays are expected
 2020-05-11 18:15:40 +10:00
Andrew Tridgell
92c7c32853 AP_GPS: don't accept a zero GNSS timestamp from UAVCAN GPS 
this is needed for a bug in AP_Periph 1.0 which could briefly send a
zero timestamp on first fix marked as a UTC time
 2020-05-11 18:15:40 +10:00
Andrew Tridgell
32d8769823 HAL_ChibiOS: fixed race condition in storage write 
we could mark a line as clean when it should be dirty if we lose a
race condition between storage thread and writer
 2020-05-11 18:15:40 +10:00
Randy Mackay
ab6b533612 AP_OADatabase: send_adsb uses vehicle's current altitude 2020-05-11 18:15:40 +10:00
Randy Mackay
fa6487e5b7 AP_OADatabase: available regardless of hal-minimize-features 
In Copter with minimize feature set the entire AP_PathPlanning feature including the database are unavailable
Rover has enough space for the database even with minimise features set
 2020-05-11 18:15:40 +10:00
Randy Mackay
a4e3da5c4b AP_OAPathPlanner: slow updates to 1hz, timeout to 3sec 2020-05-11 18:15:40 +10:00
Randy Mackay
ca5d11fdc7 AP_OABendyRuler: integrate oadb ekf-offset change 2020-05-11 18:15:40 +10:00
Randy Mackay
5837b253da AP_Math: add vector2f::offset_bearing 2020-05-11 18:15:40 +10:00
Randy Mackay
2ece0ac15c AP_Proximity: integrate oadb ekf-offset change 2020-05-11 18:15:40 +10:00
Randy Mackay
7b1efc4755 AP_OADatabase: replace Location with offset from origin 2020-05-11 18:15:40 +10:00
Randy Mackay
ce7ee81ede AP_Proximity: remove unused get_horizontal_distance 2020-05-11 18:15:40 +10:00
Randy Mackay
d60deafa07 AP_Proximity: sf40c combines seven readings for oadb 2020-05-11 18:15:40 +10:00
Randy Mackay
43cd419dcf AP_Proximity: always use 8 sectors and fix ignore areas 2020-05-11 18:15:40 +10:00
Randy Mackay
6523bae938 AP_OABendyRuler: integrate static object radius 2020-05-11 18:15:40 +10:00
Randy Mackay
2431dcf09b AP_OADatabase: calculate object radius based on distance and beam width 
also all object database items are normal importance
 2020-05-11 18:15:40 +10:00
Randy Mackay
74076f6bd9 AP_Proximity: integrate oadb::queue_push argument swap 2020-05-11 18:15:40 +10:00
Randy Mackay
b3bbcc6498 AP_Proximity: remove unnecessary const from database_push 
also shorten current_vehicle_bearing argument to just current_heading
 2020-05-11 18:15:40 +10:00
Randy Mackay
717cd707dc AP_OADatabase: remove unnecessary const on arguments 
also swap order of angle and distance arguments to be consistent with proximity library
 2020-05-11 18:15:40 +10:00
Kelly Schrock
5462aeae01 AP_BattMonitor: NeoDesign battery driver 
Adds a driver for the NeoDesign BMS, with variable cell count.
 2020-05-11 18:15:40 +10:00
Andrew Tridgell
f4abc918a0 AP_Battery: fixed bug in SUI driver 
fixed bug in total voltage
 2020-05-11 18:15:40 +10:00
Andrew Tridgell
7c94b314c9 AP_BattMonitor: added SUI SMBUS battery backend 
originally by Kelly Schrock
 2020-05-11 18:15:40 +10:00
Randy Mackay
e82e63e8f6 AP_BattMonitor: set default I2C bus for Solo and Maxell drivers 2020-05-11 18:15:40 +10:00
Randy Mackay
7154d448fd AP_BattMonitor: Maxell cell voltages timeout after 5sec 2020-05-11 18:15:40 +10:00
Randy Mackay
d65a202069 AP_Scripting: example to check battery cycle count 2020-05-11 18:15:40 +10:00
Randy Mackay
b8edc5702c AP_Scripting: add binding for BattMonitor's get_cycle_count method 2020-05-11 18:15:40 +10:00
murata
510688e085 AP_BattMonitor: Maxell battery on any I2C bus 2020-05-11 18:15:40 +10:00
Randy Mackay
275abc7874 AP_BattMonitor: add cycle count for smbus batteries 2020-05-11 18:15:40 +10:00