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24851 Commits

Author SHA1 Message Date
Randy Mackay 2eb5114688 AP_Scripting: ahrs-source.lua plays tune when source set changes 2020-12-23 19:02:59 +11:00
Randy Mackay 69cb8e6bc6 AP_Scripting: ahrs-soruce.lua uses RCx_OPTION 300 
this removes the potential conflict with zigzag mode
 2020-12-23 19:02:59 +11:00
Andy Piper 3db6203fb6 AP_InertialSensor: reduce FIFO buffer size to avoid DMA contention 2020-12-23 18:03:12 +11:00
Phillip Kocmoud 062c6cef41 HAL_ChibiOS: Fix typo relating to pin PB7:I2C4_SDA 2020-12-23 06:43:19 +11:00
Peter Barker b5316c3b52 SITL: stash pressure in sitl_fdm structure 
It's not a great way of getting the data where needed - but it is
something.
 2020-12-22 23:07:24 +11:00
Peter Barker a8b93881d3 AP_HAL_SITL: stash pressure in sitl_fdm structure 
It's not a great way of getting the data where needed - but it is
something.
 2020-12-22 23:07:24 +11:00
Peter Barker e0aa3c78e5 AP_HAL_SITL: remove unimplemented methods 2020-12-22 23:07:24 +11:00
Peter Barker 0bb6f8897e SITL: add simulated DLVR airspeed sensor 2020-12-22 23:07:24 +11:00
bnsgeyer 09b9ad83dc AP_Motors: tradheli - add support to determine below mid collective 2020-12-21 23:33:48 -05:00
bnsgeyer 6c8a85ee04 AP_Motors: updates to new integrator and make selectable 2020-12-21 23:33:48 -05:00
bnsgeyer c565536afa AC_PID: add support to smoothly reset the integrator 2020-12-21 23:33:48 -05:00
bnsgeyer 84fb3afbcb AP_Motors: Tradheli support for integrator management and hover collective learning 2020-12-21 23:33:48 -05:00
bnsgeyer 04e2cceaff AC_AttitudeControl: Tradheli support for integrator management and hover collective learning 2020-12-21 23:33:48 -05:00
Tom Pittenger c01726b07d SRV_Channel: reduce dependencies for AP_Periph builds 2020-12-21 18:27:07 -08:00
Siddharth Purohit 5b58163c35 AP_HAL_ChibiOS: add HAL_PERIPH_ENABLE_RCOUT_TRANSLATOR to CubeBlack-periph and CubeOrange-periph 2020-12-21 18:27:07 -08:00
Tom Pittenger da74d755d0 AP_HAL_ChibiOS: add new HAL_PWM_COUNT define 2020-12-21 18:27:07 -08:00
Iampete1 69bec46fa8 AP_Motors: Tailsitter: don't apply roll and pitch compsation gain 2020-12-22 11:00:59 +11:00
Randy Mackay 20f1603b73 AP_NavEKF: source skips compass pre-arm check 2020-12-21 16:56:38 +09:00
Randy Mackay 4998b536b4 AP_NavEKF: source returns YawSource None if COMPASS_USE all zero 2020-12-21 16:56:38 +09:00
Randy Mackay dfd1c23cd3 AP_NavEKF: source format fix 2020-12-21 16:56:38 +09:00
Randy Mackay 39be85cef4 AP_NavEKF3: integrate Source loss of init 2020-12-21 16:56:38 +09:00
Andrew Tridgell 218c0e4385 AP_NavEKF: Source's active_source_set becomes index 2020-12-21 16:56:38 +09:00
Andrew Tridgell 89f9b9e9b0 AP_NavEKF3: use AP_Enum to make code clearer 2020-12-21 16:56:38 +09:00
Mark Whitehorn 7446a9c33c AC_AttitudeControl: make relax_attitude_controllers() non-virtual 2020-12-21 12:56:24 +11:00
Mark Whitehorn cc2c631d23 AC_AttitudeControl: add AC_AttitudeControl_TS 
move tailsitter body-frame roll input method to new subclass
override relax_attitude_controllers in AttitudeControl_TS
 2020-12-21 12:56:24 +11:00
Andrew Tridgell 7f3a851dd3 SRV_Channel: added support for rear motor tilt 2020-12-21 12:05:50 +11:00
Tatsuya Yamaguchi 4dc5162d0a AP_RangeFinder: change i2c reading frequency to 50Hz 2020-12-19 08:14:54 -03:00
ashvath 54708d916b AP_RangeFinder: TFminiPlus driver outputs init failure to ground station 2020-12-19 08:14:54 -03:00
Tatsuya Yamaguchi b0ee6393ae AP_RangeFinder: TFminiPlus: set frame rate to 250hz 2020-12-19 08:14:54 -03:00
Dr.-Ing. Amilcar do Carmo Lucas d76825feeb GCS_MAVLink: adapt to upstream changes in the distance_sensor mavlink message 2020-12-19 19:54:03 +11:00
Tom Pittenger f670f7a9b6 AP_HAL_ChibiOS: change ADSB to use param ADSB_PORT instead of define 2020-12-17 23:24:04 -08:00
Tom Pittenger 5c98e18236 AP_HAL_CubeORange-periph: enable HAL_PERIPH_ALLOW_MAVLINK_UART_OR_USB_REBOOT_CMD on USB 2020-12-18 06:59:09 +11:00
Peter Barker 6dfd2f2ff9 AP_NavEKF3: use use_EKFGSFYaw to reduce code duplication 2020-12-17 16:00:29 +09:00
Andrew Tridgell a31ea88ff5 SITL: use async SOAP requests for flightaxis 
this greatly improves performance for cygwin
 2020-12-17 16:13:55 +11:00
Andrew Tridgell 8d6d5c6b49 SITL: removed flightaxis threading 2020-12-17 16:13:55 +11:00
Andrew Tridgell b4201436dd HAL_ChibiOS: fixed flash space on 16k bl boards 
this avoids the stm32_flash_recent_erase() function which added around
800 bytes to the bootloader. It is not needed
 2020-12-17 12:51:25 +11:00
bnsgeyer 62758ffd99 AP_Motors: Dual-heli-keep intermeshing from using DCP to yaw mixer 2020-12-16 19:52:23 -05:00
PittRBM 3f405590c7 AP_Motors: Dual Heli-add support for intermeshing rotor 2020-12-16 19:52:23 -05:00
bnsgeyer ebd83b756b AP_Motors: add DCP trim feature for Dual Heli 2020-12-17 09:01:02 +11:00
Peter Barker f12191b4b1 AP_Param: fix typo 2020-12-16 19:30:29 +11:00
Peter Barker 840c386a33 AP_Param: add _FLAG to AP_PARAM_NO_SHIFT 
Just for consistency with the other flags
 2020-12-16 19:30:29 +11:00
Randy Mackay a2cca60beb AP_NavEKF3: constify EKFGSF_getYaw 2020-12-16 19:18:29 +11:00
Randy Mackay 754002525e AP_NavEKF: constify EKFGSF_yaw members 2020-12-16 19:18:29 +11:00
Randy Mackay 0c3fcfd9d6 AP_NavEKF3: add missing break to case statements 2020-12-16 19:18:29 +11:00
Randy Mackay 9cb529cfd6 AP_NavEKF3: minor formatting fix 
also replace tab with spaces
 2020-12-16 19:18:29 +11:00
Sebastian Witt 6cfaae4e7d AP_HAL_ChibiOS: Support for Diatone MambaF405 MK2 2020-12-16 19:07:07 +11:00
Andy Piper e6d0e38129 AP_RCProtocol: allow handshake to initiate RC connection. Support listen-only SRXL2 devices. 
only bootstrap when SRXL2 is the only configured protocol (RC_PROTOCOLS=256)
remove spurious 0 initializers
 2020-12-16 18:06:49 +11:00
李孟晓 aae2d0082d AP_BattMonitor_UAVCAN: Fix issue with multiple batteries not working 2020-12-16 12:44:21 +11:00
Andrew Tridgell c504e2db04 AP_Motors: added disable_yaw_torque() method 
this is used for tilt-vectored quadplanes to use only vectoring for
yaw control. This avoids some nasty transition issues
 2020-12-16 08:45:11 +11:00
Paul Riseborough 908b348c31 AP_NavEKF3: Fix typo in enum label 2020-12-15 19:29:16 +11:00
Randy Mackay e819dbdd64 AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code 2020-12-15 19:29:16 +11:00
Randy Mackay c2edae905f AP_NavEKF3: simplify logic when updating yawAngDataStatic 2020-12-15 19:29:16 +11:00
Randy Mackay 843ddb4fdc AP_NavEKF3: minor format fix 2020-12-15 19:29:16 +11:00
Paul Riseborough a9e76d44af AP_NavEKF3: Clean up yaw fusion logic 2020-12-15 19:29:16 +11:00
Paul Riseborough ccfd89240b AP_NavEKF3: Fix error in calculation of static 312 order yaw reference 2020-12-15 19:29:16 +11:00
Peter Barker 44cafa0dcc RC_Channel: add auxillary function to change to FBWA 2020-12-15 19:14:33 +11:00
Dr.-Ing. Amilcar do Carmo Lucas f77ab30f7a Revert "AP_NavEKF3: Remove unsupported parameter unit descriptions" 
This reverts commit 4f4a2f446d.
Makes more sense to add those to the list of supported units
 2020-12-15 18:22:36 +11:00
Andrew Tridgell 2e18334165 HAL_SITL: fixed baudrate 0 set in SITL 
this fixes MSP sensors in SITL with real uarts
 2020-12-15 11:36:16 +11:00
Andrew Tridgell 7b6392fcb5 HAL_Empty: fixed build 2020-12-15 10:32:46 +11:00
Andrew Tridgell d6c5fc36d8 HAL_Linux: only init serial(0) 
we should not pre-init all uarts, it wastes memory if unused
 2020-12-15 10:32:46 +11:00
Andrew Tridgell 19723e6e75 AP_HAL: make uart pointers private 
this ensures they cannot be used by library or vehicle code, so we
will be able to remove them in future
 2020-12-15 10:32:46 +11:00
Andrew Tridgell 195ec0316a AP_HAL: fixed example fw for SERIAL naming 2020-12-15 10:32:46 +11:00
Andrew Tridgell 6249abaf8f RC_Channel: fixed example firmware 2020-12-15 10:32:46 +11:00
Andrew Tridgell 5406699ec8 AP_SerialManager: removed unnecessary uart pointer in state structure 2020-12-15 10:32:46 +11:00
Andrew Tridgell 348dfeff6e HAL_Linux: use a loop for serial tick 2020-12-15 10:32:46 +11:00
Andrew Tridgell bf546f363d HAL_ChibiOS: don't init serial 1 and 3 
these should not be treated as special. Initialising them early just
wastes memory if the end up not being used
 2020-12-15 10:32:46 +11:00
Andrew Tridgell 6df118e7b4 GCS_MAVLink: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell 23e629715e AP_SerialManager: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell cf187ff837 AP_HAL_SITL: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell db76eebd85 AP_HAL_Linux: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell 95c0852b13 AP_HAL: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell e54fc4b0de AP_HAL_ChibiOS: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell e02047861a AP_GPS: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell 0f5a75f5b9 AP_BoardConfig: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell 8678759da4 AP_HAL: added hal.serial() access to uarts 
this gives access to serial ports in the SERIALn_ order. It is inlined
by the compiler so using hal.uartB and hal.serial(3) generates
idential code on stm32 (tested on H7).

This is a step towards eliminating hal.uartX completely and the
horrible uartB ordering
 2020-12-15 10:32:46 +11:00
Jaaaky 4ec1c2ea67 AP_IOMCU: Remove duplicate includes from AP_IOMCU.cpp 2020-12-15 10:01:54 +11:00
Andrew Tridgell 8b8029fdfe AP_Param: cope better with flooding the save queue with one param 2020-12-14 18:53:02 +11:00
Andrew Tridgell 5a8acea0dd AP_Param: fixed lockup in scripting due to save queue 
this is a quick fix for a lockup in scripting due to the mission API
holding the scheduler semaphore when it is updating the mission count
parameter
 2020-12-14 18:53:02 +11:00
Phillip Kocmoud ce87b62dcc AP_Periph: Add alternate ordering of NCP5623 LED colors 2020-12-12 14:57:35 +11:00
Peter Barker 7449b3eea4 AP_HAL_SITL: fix help output 2020-12-12 10:01:20 +11:00
Paul Riseborough 8f32430294 AP_NavEKF3: Fix white spaces 2020-12-11 15:21:41 +11:00
Paul Riseborough bdc202378a AP_NavEKF3: fix white space 2020-12-11 15:21:41 +11:00
Paul Riseborough ed17d8e48f AP_NavEKF3: Improve parameter display names 2020-12-11 15:21:41 +11:00
Paul Riseborough 171f0b399f AP_NavEKF3: Remove commented code 2020-12-11 15:21:41 +11:00
Andrew Tridgell b86c014400 AP_NavEKF3: rename drag parameters to start with EK3_DRAG_ 2020-12-11 15:21:41 +11:00
Andrew Tridgell 3e2ff71750 AP_Baro: rename params to suit new BARO param naming 2020-12-11 15:21:41 +11:00
Paul Riseborough 47d4506e68 AP_NavEKF3: Add drag and sideslip innovation logging 2020-12-11 15:21:41 +11:00
Paul Riseborough b258cb0539 SITL: Add momentum drag to Z axis to work around thrust model deficiencies 2020-12-11 15:21:41 +11:00
Paul Riseborough a907c10733 SITL: Add momentum drag to multicopter model 2020-12-11 15:21:41 +11:00
Andrew Tridgell b7f68e87b4 SITL: added barometer wind coefficients 2020-12-11 15:21:41 +11:00
Andrew Tridgell 567de3047b AP_Baro: added modelling of baro wind effects in SITL 2020-12-11 15:21:41 +11:00
Andrew Tridgell e552fd7e5a AP_Baro: adjust for new baro params in SITL 2020-12-11 15:21:41 +11:00
Andrew Tridgell 3456bdb4eb SITL: added a separate param class for SITL baro params 
makes it easier to add more
 2020-12-11 15:21:41 +11:00
Andrew Tridgell 9563c1ed33 AP_Baro: rename wind coefficient params to be clearer 2020-12-11 15:21:41 +11:00
Paul Riseborough 4884476c09 AP_NavEKF3: Formatting and comment fixes 2020-12-11 15:21:41 +11:00
Andrew Tridgell be4d10a95e AP_NavEKF3: rework parameter handling 
and fixed indentation
 2020-12-11 15:21:41 +11:00
Andrew Tridgell 1c1c067dee AP_Baro: rework to separate out wind coefficient params 
- disable on low flash boards
 - add an enable parameter per baro for wind coeffients
 2020-12-11 15:21:41 +11:00
Paul Riseborough 5da62aeaa2 AP_NavEKF3: Fix CI build errors 2020-12-11 15:21:41 +11:00
Paul Riseborough 0d2c235027 AP_NavEKF3: Fix #define typo 2020-12-11 15:21:41 +11:00
Paul Riseborough ab05e8ed4a AP_NavEKF3: Update param descriptions 2020-12-11 15:21:41 +11:00
Paul Riseborough 4f4a2f446d AP_NavEKF3: Remove unsupported parameter unit descriptions 2020-12-11 15:21:41 +11:00
Paul Riseborough 0be0498801 AP_Baro: Add static pressure positoin error correction 2020-12-11 15:21:41 +11:00
Paul Riseborough 3a0105fcc3 AP_AHRS: Add accessor function for body frame airspeed vector 2020-12-11 15:21:41 +11:00
Paul Riseborough b372d62f35 AP_NavEKF2: Add accessor function for body frame airspeed vector 2020-12-11 15:21:41 +11:00
Paul Riseborough c9ab4b18b0 AP_NavEKF3: Add multicopter wind estimation 2020-12-11 15:21:41 +11:00
Peter Barker ab444e1d26 RC_Channel: correct function initialisation 2020-12-11 15:21:22 +11:00
Andrew Tridgell ac4a05ffbf AP_NavEKF3: fixed null dereference of airspeed 
this caused a segfault in replay
 2020-12-11 14:22:46 +11:00
Andrew Tridgell 2071a19a40 AP_NavEKF3: only fuse airspeed if healthy 2020-12-11 09:59:49 +11:00
Andrew Tridgell 5e72907730 AP_NavEKF2: only fuse airspeed if healthy 2020-12-11 09:59:49 +11:00
Andrew Tridgell d16af5448b AP_DAL: added healthy() method for airspeed 2020-12-11 09:59:49 +11:00
Peter Barker ca41a19072 AP_AHRS: AHRS itself must also be healthy to arm, not just the "backend" 2020-12-11 09:55:40 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 1d0e7d2974 GCS_MAVLink: Added cells 11...14 voltage information (13 and 14 are 0 for now) 2020-12-11 06:37:32 +11:00
yaapu 89f0ed2f8f AP_Scripting: added bindings and example for waypoint info 2020-12-10 12:39:44 +11:00
yaapu edf2291fb0 AP_Vehicle: added getters for waypoint info, refactored osd publish_nav_info() 2020-12-10 12:39:44 +11:00
Tom Pittenger 68b2982cc6 AP_HAL_ChibiOS: CubeBlack/Orange-periph to use default HAL_SUPPORT_RCOUT_SERIAL 2020-12-09 07:53:09 -08:00
Tom Pittenger 6630645915 AP_HAL: ap_periph should disable HAL_SUPPORT_RCOUT_SERIAL by default 2020-12-09 07:53:09 -08:00
Peter Barker 449b0fb145 SITL: add simulated SF45B 2020-12-09 21:32:36 +11:00
Peter Barker c1202e4878 AP_HAL_SITL: add simulated SF45B 2020-12-09 21:32:36 +11:00
yaapu 42b85c88ed AP_MSP: fix for multiple backends initialization 2020-12-09 19:40:22 +11:00
yaapu e044cdfde7 AP_Frsky_Telem: fix for conditional compilation of bidir support 2020-12-09 19:19:06 +11:00
yaapu 6dfa42c958 RC_Channel: added FPORT2 to RC_PROTOCOLS parameter 2020-12-09 19:14:51 +11:00
Tom Pittenger 2203bf2400 AP_HAL_ChibiOS: Add f303-periph default RANGEFINDER_MAX_INSTANCES 1 2020-12-09 18:05:24 +11:00
Andrew Tridgell ea57b1982f AP_Airspeed: cope with no temperature on MSP airspeed 2020-12-08 20:41:12 +11:00
Andrew Tridgell 2d75ef4f60 AP_Airspeed: handle INT16_MIN temperature for UAVCAN sensor 2020-12-08 20:41:12 +11:00
Andrew Tridgell 73fda4e6a7 AP_Airspeed: cope with zero ratio in SDP3X driver 
needed for AP_Periph
 2020-12-08 20:41:12 +11:00
Andrew Tridgell 857d905d9f AP_Airspeed: added MSP backend 2020-12-08 20:41:12 +11:00
Andrew Tridgell ae2a310b9c AP_MSP: added airspeed support 2020-12-08 20:41:12 +11:00
giacomo892 75333dcd2f AP_Periph: support output of MSP airspeed sensor 2020-12-08 20:41:12 +11:00
Boris Borisov 19f3fda31b AP_Volz_Protocol scaling bugfix 
->Fixed incorrect scaling betwen PWM values and Volz protocol values
->In the scaling formula are hardcoded PWM values min=1000 and max=2000. The idea behind this is to be able to change Volz range, when you use SERVOn_MIN and SERVOn_MAX parameters.
 2020-12-08 15:03:26 +11:00
Andrew Tridgell 0c440d5675 HAL_ChibiOS: cope with flash erase in expected delay 
when there has been a flash erase when we are definately in an
expected delay
 2020-12-08 13:22:36 +11:00
Andrew Tridgell 445759295d SITL: fixed use of GND prefix 2020-12-08 13:22:17 +11:00
Andrew Tridgell 5e3bf0a703 GCS_MAVLink: implement BRD_OPTIONS bit for setting of internal parameters 2020-12-08 13:22:17 +11:00
Andrew Tridgell 12acc0724e AP_Frsky_Telem: implement BRD_OPTIONS bit for setting of internal parameters 2020-12-08 13:22:17 +11:00
Andrew Tridgell d099af87b2 AP_Baro: renamed parameters and mark pressure and temperature readonly 
this is ready for BARO parameter prefix
 2020-12-08 13:22:17 +11:00
Andrew Tridgell f543c483fc AP_BoardConfig: added BRD_OPTIONS flag for setting of internal parameters 
this allows us to make parameters read-only for normal use, but for
special developer requirements the user can unlock the parameters at
their own risk
 2020-12-08 13:22:17 +11:00
Andrew Tridgell c731e77607 AP_Scripting: added mission clear and offset_bearing bindings 2020-12-08 12:27:00 +11:00
Peter Barker de2802e322 AP_Airspeed: populate airspeed_raw for sensors returning airspeed reading 
Without this ARSP[x].Airspeed isn't populated
 2020-12-08 11:59:49 +11:00
murata 13c7980f0b SITL: Support for decacopters 2020-12-08 11:59:10 +11:00
murata 159a6c7ed6 AP_Motors: Support for decacopters 2020-12-08 11:59:10 +11:00
murata a43064bb4e AP_HAL_SITL: Support for decacopters 2020-12-08 11:59:10 +11:00
Jaaaky 0e569e5566 AP_Mission: Fix comments for DO_CHANGE_SPEED 2020-12-08 11:54:25 +11:00
Peter Barker f84cb66bc6 AP_Logger: move log ids from EKF2 and EKF3 to the 'below 128' section' 2020-12-08 11:30:10 +11:00
Peter Barker f6d3983e1b AP_NavEKF2: move EKF2 message ids into AP_NavEKF2 2020-12-08 11:30:10 +11:00
Peter Barker 7ba03fe32d AP_Logger: move EKF2 message ids into AP_NavEKF2 2020-12-08 11:30:10 +11:00
Peter Barker 00ac8391c0 AP_NavEKF2: move EKF2 logging structures into EKF2 LogStructure.h 2020-12-08 11:30:10 +11:00
Peter Barker 346572c390 AP_Logger: move EKF2 logging structures into EKF2 LogStructure.h 2020-12-08 11:30:10 +11:00
Peter Barker 58f6570755 AP_NavEKF3: stop using QUAT_* defines from AP_Logger/LogStructure.h 
The EKFs logging is independant so we can kill EKF2...

Also use correct structure for logging XKF1; these structures were
identical.
 2020-12-08 11:30:10 +11:00
Randy Mackay a2fe846a5f AR_WPNav: apply_speed_min used for overshoot limits 
speed_min is applied to overshoot_speed_max only instead of des_speed_lim
so that the target doesn't immediately jump to the minimum.
also constify apply_speed_min
 2020-12-08 11:29:21 +11:00
Randy Mackay e75c572209 AR_WPNav: remove redundant private specifier 2020-12-08 11:29:21 +11:00
Andrew Tridgell b4de6fb56a HAL_ChibiOS: added new option DEFAULTGPIO for hwdef.dat 
this allows ESD issues to be avoided by pulling all unused pins low
 2020-12-08 11:21:57 +11:00