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20724 Commits

Author SHA1 Message Date
Andrew Tridgell 4ca48f225d SITL: send vicon data at 70ms intervals 
this matches the max rate that EK2 will accept this data
 2019-08-26 12:27:31 +10:00
Andrew Tridgell cfc37f2089 GCS_MAVLink: log corrected timestamp for vision data 
this allows for debugging of link lag issues
 2019-08-26 12:27:31 +10:00
Andrew Tridgell 414d3eb670 AP_NavEKF2: don't fuse GPS when EK2_GPS_TYPE=3 
when using a vision position system, the user may have vision derived
GPS data coming in using GPS_INPUT msgs. We should not fuse these when
EK2_GPS_TYPE=3 as we end up fusing both vision data and GPS data,
which does not work with the current EK2 code

This change makes it possible to run EK2 and EK3 in parallel in a
Vicon, wityh EK2 using VISION_POSITION_ESTIMATE data and EK3 using
GPS_INPUT (with yaw) data.
 2019-08-26 12:27:31 +10:00
Jaaaky fee3136b44 AP_Baro: Fix floating point exception with watchdog reset 
Fixes #12132
 2019-08-26 12:24:21 +10:00
Henry Wurzburg 00c111651a ChiBios: Omnibusf4pro hwdef tweak to allow active or passive buzzer 2019-08-26 12:22:53 +10:00
Andrew Tridgell aeb58cede1 HAL_ChibiOS: I2C timeout should be send+recv, not MAX(send,recv) 
MAX() is right for SPI, not I2C
 2019-08-26 09:13:39 +10:00
Andrew Tridgell 4027d61e17 AP_Scheduler: log I2C ISR count 2019-08-26 09:13:39 +10:00
Andrew Tridgell 7d5c0e92ae AP_Logger: added logging of I2C ISR count 2019-08-26 09:13:39 +10:00
Andrew Tridgell 578e5dfdaa HAL_ChibiOS: add up i2c ISR count 2019-08-26 09:13:39 +10:00
Andrew Tridgell 9741ac0b64 AP_HAL: added I2C ISR count to PersistentData 2019-08-26 09:13:39 +10:00
Jaaaky d774bf3ea5 AP_Mission: Better AUTO watchdog restore 
This allows to run any commands following the last nav_waypoint
that may be required or change flight behavior for following wps
 2019-08-25 06:40:34 -06:00
Andrew Tridgell f8cfbb8062 HAL_ChibiOS: added ISR limit on I2C 
this will prevent any possibility of an I2C interrupt storm. This is
designed to address the most likely cause of #11642
 2019-08-25 17:12:16 +10:00
Andrew Tridgell b8602abdeb AP_InternalError: added error for i2c isr error 2019-08-25 17:12:16 +10:00
Peter Barker 2acc53ec17 GCS_MAVLink: break out of loop statement once we have a result 2019-08-24 15:33:50 +10:00
Peter Barker 052e721622 GCS_MAVLink: tweak timings debug messages 2019-08-24 15:33:50 +10:00
Peter Hall db87285153 AR_WPNav: add oa_wp_bearing_cd function 2019-08-24 09:05:29 +09:00
Peter Hall c445362fae AR_WPNav: fix wp_bearing_cd calc 2019-08-23 14:44:37 +09:00
murata 4754710e60 RangeFinder: Change to coding style (NFC) 
RangeFinder: RangeFinder: Change to coding style (NFC)
 2019-08-23 10:11:30 +09:00
Peter Barker 2049e86dda AP_Param: optionally return parameter flags in AP_Param::find(...) 2019-08-22 09:23:56 +10:00
Peter Barker 70daf0010b AP_Param: add param flag bit indicating internal-use-only 2019-08-22 09:23:56 +10:00
Peter Barker 9cf9497552 AP_Mission: mark MIS_TOTAL as internal-use-only 2019-08-22 09:23:56 +10:00
Peter Barker 4f9d1ada33 GCS_MAVLink: deny setting MIS_TOTAL parameter 
Closes #11413

GCS_MAVLink: conform to parameter protocol requirements while ignoring sets

GCS_MAVLink: use internal-use-only param bit
 2019-08-22 09:23:56 +10:00
Randy Mackay 257152aa55 SITL: sailboat motor enabled only for sailboat-motor frame 2019-08-21 19:34:13 +09:00
Randy Mackay 0ce1ce9c4f SITL: minor format changes for sailboat 2019-08-21 19:34:13 +09:00
Peter Barker 592c7acc4c AP_RTC: add clarifying comment on get_time_utc 2019-08-21 09:38:41 +10:00
Peter Barker 46c880089c AP_RTC: tighten types on get_system_clock_utc 
None of these components should ever be negative - given its source is
only ever seconds-since-epoch.
 2019-08-21 09:38:41 +10:00
Peter Hall 4492c09b3b AP_HAL_SITL: Scheduler skip set stack on Cygwin 2019-08-20 15:59:32 -07:00
murata 851ee24c99 AP_RangeFinder: Clarify the purpose of input registers 2019-08-20 14:36:29 +01:00
Gone4Dirt 5239d86d13 AP_RPM: Added Arduino RPM Sensor Debug Tool 
This debug tool has been created to help users correctly impliment
and debug various RPM sensors when an oscilloscope is unavailable.

The RPM Sensor wiki will direct to this tool to help users.
 2019-08-20 09:13:09 +10:00
mhefny 1e41f7cc61 SITL: add Webots support and examples 2019-08-19 19:36:25 +10:00
mhefny c1c32ab615 AP_HAL_SITL: add Webots support 2019-08-19 19:36:25 +10:00
Andrew Tridgell 992016069a AP_InertialSensor: fixed watchdog on AHRS trim gyro wait 2019-08-19 14:37:46 +10:00
Peter Barker 914e6c5497 AP_HAL_Linux: check return value of system command 
Compilation fails on disco without this patch as system is declared with
attribute warn_unused_result
 2019-08-19 14:37:13 +10:00
Peter Barker 5f2dd57cca AP_Radio: add missing override keywords 
AP_Radio doesn't compile without these patches.
 2019-08-19 14:36:16 +10:00
Peter Barker 03c439f9ab GCS_MAVLink: make update_sensor_status_flags private 2019-08-17 17:45:03 +10:00
Andrew Tridgell 8ef2046f7b AP_IOMCU: use blocking writes to uart 
this avoids the issue of arming failing due to a non-zero protocol count
 2019-08-17 17:36:41 +10:00
Andrew Tridgell 8080efbc6a HAL_ChibiOS: allow for blocking unbuffered uarts 
this is used by AP_IOMCU to avoid a race condition where the mutex is
busy on write() causing a zero-length write and delayed output
 2019-08-17 17:36:41 +10:00
Andrew Tridgell 454717cf6f AP_IOMCU: cleanup IO protocol and add logging 
this cleans up the IOMCU protocol structures now we don't need to be
compatible with the old nuttx based protocol and adds logging of IOMCU
errors
 2019-08-17 17:36:41 +10:00
Andrew Tridgell 984542fa53 AP_IOMCU: fixed error handling for short packets 
this prevents short packets from the IOMCU being processed. A short
enough read could be processed as a valid status packet, which would
lead to invalid values for safety flag and servo voltage

fixes issue #12030
 2019-08-17 17:36:41 +10:00
Andrew Tridgell afc8a70ce4 HAL_ChibiOS: fixed a bug in wait_timeout() on UARTs 
wait_timeout() could return true on a read of less bytes than are
expected.
 2019-08-17 17:36:41 +10:00
Peter Barker 35c2406b17 AP_HAL_ChibiOS: add missing override keywords 
This was causing CubeOrange not to build
 2019-08-17 13:25:05 +10:00
Michael du Breuil e05047bb0b AP_Scripting: Remove unneeded function, add some more enums 2019-08-17 10:41:27 +09:00
Randy Mackay a8fd04ddf9 AC_Avoidance: Dijkstra's returns oa-not-required if path has been completed 2019-08-17 09:42:43 +09:00
Randy Mackay 452be5fd94 AC_Avoidance: Dijkstra skips calcs if current loc is same as destination 2019-08-17 09:42:43 +09:00
Randy Mackay bed21b43e1 AP_OAPathPlanner: minor fix to return original origin and dest upon failure 
this has no functional effect because the consumers are not using the origin_new and destination_new unless the ret_state was OA_SUCCESS
 2019-08-17 09:42:43 +09:00
Randy Mackay aeb98c7555 AC_WPNav: integrate OAPathPlanner 
includes these changse:
get_wp_distance_to_destination always uses oa unadjusted destination
get_wp_bearing_to_destination always uses oa unadjusted destination
stop vehicle if object avoidance fails
OA adjusted altitude interpolated from original track
 2019-08-17 09:42:43 +09:00
Randy Mackay 6361a9a204 AC_WPNav: constify get_wp_destination 2019-08-17 09:42:43 +09:00
Peter Barker 53f8aa2b92 AP_Landing: correct format string 2019-08-16 13:47:39 +10:00
Peter Barker 83b7857349 AP_RTC: add example for RTC functions 2019-08-16 13:47:13 +10:00
Rajat Singhal ad9093251e SITL: Remove unused includes 2019-08-15 20:03:31 +10:00