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23105 Commits

Author SHA1 Message Date
Andrew Tridgell
cab3630009 AP_InertialSensor: switched to supplying timestamps for SITL 
this allows the time step to change on each loop as we no longer use
the average sensor rate when calculating deltas
 2020-06-03 18:11:06 +10:00
Andrew Tridgell
e4596efe9b SITL: added SIM_RATE_HZ 
this allows the physics step size to be changed while flying the
internal models, which allows for lower CPU usage
 2020-06-03 18:11:06 +10:00
Andras Schaffer
43bef1ac9e AP_Proximity: fix proximity ignored zone calulation 
It seems there was a typo in the checking of proximity ignored zones.
 2020-06-03 16:11:55 +09:00
Peter Barker
f842c27070 AP_HAL_SITL: correct clearing of UART drivers 2020-06-03 17:00:44 +10:00
Peter Barker
f3bee7fa03 AP_HAL_Linux: correct clearing of UART drivers 2020-06-03 17:00:44 +10:00
Peter Barker
931c77fa77 AP_HAL_ChibiOS: correct clearing of UART drivers 2020-06-03 17:00:44 +10:00
Randy Mackay
c936307ecf RC_Channel: minor format fix to option param desc 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi
ea3c11030c RC_Channel: add ZIGZAG_Auto Aux switch 2020-06-03 15:21:21 +09:00
Samuel Tabor
b21f9030b7 AP_Soaring: Update parameter ranges. 2020-06-02 10:36:51 -07:00
TunaLobster
a13ddc1096 AP_Scripting: add binding for get_output_pwm 2020-06-02 12:53:24 +10:00
Andrew Tridgell
78858bbcdd AP_GPS: switch ublox over to 230400 baud 
this ensures we have sufficient bandwidth for raw data
 2020-06-01 17:18:17 -07:00
Andrew Tridgell
d9d53d380d AP_Landing: implement continue after land for fixed wing landings 
this makes touch and go missions possible
 2020-06-02 09:12:22 +09:00
Andrew Tridgell
7c49723f19 AP_Mission: added continue after land mission option 
this allows for option to continue a mission after a landing is
complete. The default in copter was to continue, so adding this
option makes copter not continue by default. Plane already disarmed on
land complete.
 2020-06-02 09:12:22 +09:00
Henry Wurzburg
f9b02a6814 AP_RangeFinder: HC-SR04: Add glitch filter 2020-06-02 09:58:53 +10:00
Peter Barker
fc1ea612b1 AP_RangeFinder: add support for HC-SR04 rangefinder 2020-06-02 09:58:53 +10:00
Michael du Breuil
400220e210 AP_BattMonitor: Rearrange arming check order 2020-06-02 09:55:36 +10:00
Andrew Tridgell
2dcf8a3b08 AP_RangeFinder: cope with beyond max range with LightwareI2C 2020-06-02 08:49:38 +09:00
mmk0102
22d052b711 AP_Arming: check for duplicate auxswitch options 2020-06-02 09:43:31 +10:00
Randy Mackay
93d8458d2a AP_NavEKF3: FuseVelPosNED uses ext nav vel err in obs data check 2020-06-02 08:33:42 +09:00
Randy Mackay
d37eec5fd8 AP_NavEKF3: ext nav vel corrected for sensor position when recalled from buffer 2020-06-02 08:33:42 +09:00
Randy Mackay
79901ffc1b AP_VisualOdom: pass velocity error to logger 2020-06-02 08:33:42 +09:00
Randy Mackay
08f6b2128e AP_Logger: add VISV field descriptions 2020-06-02 08:33:42 +09:00
Randy Mackay
714975662d AP_Logger: VISP message gets velocity error field 2020-06-02 08:33:42 +09:00
Randy Mackay
31763424a3 SITL: speed up vicon messages to avoid EKF timeouts during resets 2020-06-02 08:33:42 +09:00
Randy Mackay
630bc01101 AP_HAL_SITL: send vehicle velocity to sitl vicon class 2020-06-02 08:33:42 +09:00
Randy Mackay
c8f6cb233b SITL: vicon supports sending vision-speed-estimate 
SIM_VICON_TMASK controls which of the 3 supported messages are sent
SIM_VICON_VGLI_X/Y/Z allows introducing a velocity glitch
 2020-06-02 08:33:42 +09:00
Randy Mackay
3a209d5d84 SITL: SIM_Vicon loses unused obs_elements structure 2020-06-02 08:33:42 +09:00
Randy Mackay
cad9889656 AP_AHRS: send vision-speed-estimates to EKF3 2020-06-02 08:33:42 +09:00
chobits
c7817eaca1 AP_NavEKF3: support VISION_SPEED_ESTIMATE 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2020-06-02 08:33:42 +09:00
Randy Mackay
bdb67532b0 AP_Math: clarify get_vel_correction_for_sensor_offset comment 2020-06-02 08:33:42 +09:00
Randy Mackay
4639e8a698 AP_Math: add get_vel_correction_for_sensor_offset 2020-06-01 17:51:24 +09:00
chobits
9b480ca755 AP_Logger: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
chobits
66a5f645d7 AP_VisualOdom: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
chobits
ff6e4c4f9a GCS_MAVLink: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
chobits
dee095b4a4 AP_NavEKF2: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
chobits
c9e363d529 AP_AHRS: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
Rishabh
e7d98648e6 AR_WPNav: Reset WP origin if recovering from OA 2020-05-30 08:55:45 +09:00
Rishabh
44f0aef5e9 AP_OAPathPlanner: Add param to reset WP origin while recovering from Bendy 2020-05-30 08:55:45 +09:00
Gone4Dirt
1b7672a84f AP_Motors: Correctly adjust heli run up timer in bailout 2020-05-28 18:50:08 -04:00
Iampete1
141ab622a3 SITL: examples: JSON: MATLAB: add pnet linux compiled 2020-05-29 08:25:24 +10:00
Iampete1
13965133b0 SITL: examples: JSON: add MATLAB example 2020-05-29 08:25:24 +10:00
Iampete1
fa712082d7 SITL: examples: add JSON readme 2020-05-29 08:25:24 +10:00
Iampete1
ce0cb9660f SITL: examples: add MATLAB TCP/UDP/IP Toolbox 2020-05-29 08:25:24 +10:00
Iampete1
0c6efa5f26 SITL: add JSON backend 2020-05-29 08:25:24 +10:00
Iampete1
c31a4f4b14 AP_HAL_SITL: add JSON backend 2020-05-29 08:25:24 +10:00
CUAVcaijie
220e6999c7 HAL_ChibiOS:Adapt to CUAV Nora V1.2 hardware 2020-05-28 19:13:49 +10:00
Peter Barker
1ebfc79eb0 AP_HAL_Linux: enable console for examples 
Turns out we *do* need this for examples.  We're back to stuffing up
terminals where examples have been run, but that can be addressed later.
 2020-05-28 13:49:47 +10:00
pkocmoud
7809dc849c HAL_ChibiOS: Added support for mRo Pixracer Pro flight controller 2020-05-27 21:22:56 +10:00
Andrew Tridgell
529bfe8fcd 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 10:59:46 +10:00
MisterMower
41245acf14 AP_Logger: Added units to CurrTot message 
Units are not associated with the CurrTot message. AP_BattMonitor.h indicates the total current consumed is reported in mAh. This change sets the units for CurrTot to Ampere seconds and applies a multiplier of 3.6 to convert the reported mAh value to Ampere seconds.
 2020-05-26 16:19:14 +10:00
Peter Barker
6cdee8c830 AP_BLHeli: read more efficiently from telemetry UART 2020-05-26 15:59:11 +10:00
Peter Barker
6d9e563ede AP_HAL_ChibiOS: override read(buffer,count) method to be more efficient 2020-05-26 15:59:11 +10:00
Peter Barker
d259c03079 AP_HAL: BetterStream add a read(uint8_t*buffer, uint16_t count method 2020-05-26 15:59:11 +10:00
Peter Barker
1d9c2b1726 AP_Logger: add documentation for SBPH and SBRH 2020-05-26 14:13:06 +10:00
Henry Wurzburg
9c72525bbf AP_HAL_ChibiOS: Add unused LED output as GPIO in OmnibusF4Pro def 2020-05-26 10:51:32 +10:00
Peter Barker
19dc07250d AP_NavEKF2: clarify yaw reset error message 
The current wording can be taken to indicate that the mag sensors
stopped, causing this issue.
 2020-05-26 10:05:35 +10:00
Peter Barker
bf3cb977fd AP_NavEKF3: clarify yaw reset error message 
The current wording can be taken to indicate that the mag sensors
stopped, causing this issue.
 2020-05-26 10:05:35 +10:00
vierfuffzig
6fa7dca68b AP-Baro: fix init without baro 2020-05-26 10:04:22 +10:00
yaapu
13592cef91 AP_Frsky_Telem: removed time constraint to allow SITL regression testing 2020-05-26 10:02:12 +10:00
yaapu
6303c700d4 AP_Frsky_Telem: prevent SPort frame fragmentation by writing whole 8byte frames vs writing single bytes 
general scheduler delays could introduce small delays when writing SPort frames to the uart one byte
at the time potentially leading to rx desyncs on the SPort bus.
This fix replaces single byte writes with full frame writes.

The library has around 10ms to repond to polling so to guarantee frame integrity responses taking
longer than 7500us are discarded
 2020-05-26 10:02:12 +10:00
Peter Barker
af80c4a29f AP_RangeFinder: remove move-to-error-state for LeddarOne driver 
Just because there's a lot in your input buffer doesn't necessarily mean
the rangefinder is faulty.
 2020-05-26 09:20:32 +10:00
Peter Barker
3bf1ac5918 AP_BLHeli: trim annoying LF from debug "Bad CRC" line 2020-05-26 09:20:32 +10:00
Peter Barker
67e4756f19 AP_Hott_Telem: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
90038339dc AP_UAVCAN: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
95f9769041 AP_RangeFinder: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
f1182637a6 AP_IOMCU: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
71f6262294 AP_EFI: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
d012cf8d47 AP_Camera: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
a073469423 AP_BLHeli: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
80615c44ff AP_HAL_SITL: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Barker
9a9743e6ba AP_HAL_Linux: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
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