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21442 Commits

Author SHA1 Message Date
Andrew Tridgell 27937d50ff AP_UAVCAN: added logging of UAVCAN actuator::Status messages 
this allows for logging of CAN servo status
 2020-01-08 08:35:57 +11:00
Andrew Tridgell 30e51c9f64 HAL_ChibiOS: scale uart rx buffer size with baudrate 
this ensures we have enough buffer space for a RTK GPS, as well as for
high speed comms with a companion computer
 2020-01-08 08:34:35 +11:00
Andrew Tridgell c1f18bc90d HAL_ChibiOS: fixed clock src for I2C4 on H7 2020-01-08 06:05:10 +11:00
Randy Mackay a727ba6cf7 GCS_MAVLink: send optflow message even if no height estimate 2020-01-07 15:48:06 +09:00
Andrew Tridgell 385d649e69 AP_Compass: limit rotations we try to ROTATION_MAX_AUTO_ROTATION 2020-01-07 15:47:30 +09:00
Andrew Tridgell d198b723b2 AP_Math: define ROTATION_MAX_AUTO_ROTATION 
we don't want to use ROTATION_PITCH_7 in our auto rotation mix, as it
is too close to level
 2020-01-07 15:47:27 +09:00
Matt Lawrence 0d2b42e4f4 AC_WPNav: Circle mode pilot control of rate & radius 2020-01-07 11:56:59 +09:00
Siddharth Purohit 9d8684203c AP_UAVCAN: remove unnecessary scary message UC Node Down 2019-12-30 21:28:00 +11:00
Andrew Tridgell a1b1ef4947 HAL_ChibiOS: fixed H7 I2C timing 
we were running the clock at too low speed. This affected the SSD1306 display

# Conflicts:
#	libraries/AP_HAL_ChibiOS/I2CDevice.cpp
 2019-12-30 14:29:37 +11:00
Peter Barker 88de00b251 AP_HAL: stop emitting extra CR before a LF as part of our printf 2019-12-30 12:13:49 +11:00
Pierre Kancir 2d0ae6112e AP_Compass: add register to checked ones and remove single-use goto 
Also fix comment on TMRC register setting
 2019-12-23 18:02:59 +09:00
Pierre Kancir 453e8b9f32 AP_Compass: probe for RM3100 2019-12-23 18:02:59 +09:00
Andrew Tridgell 1e2ef205de AP_InertialSensor: default fast sampling on 
if we have a first IMU capable of fast sampling then we want it
enabled by default
 2019-12-23 18:02:59 +09:00
Andrew Tridgell e4eda95fea HAL_ChibiOS: change CUAVv5Nano volt scale to 18.000 2019-12-23 18:02:59 +09:00
Andrew Tridgell 67cc9b1677 HAL_ChibiOS: removed per-board AP_FEATURE_RTSCTS and AP_FEATURE_SBUS_OUT 
not needed any more
 2019-12-23 18:02:59 +09:00
Andrew Tridgell fa69ac6458 HAL_ChibiOS: automatically set AP_FEATURE_SBUS_OUT 2019-12-23 18:02:59 +09:00
Andrew Tridgell d3b6572808 AP_BoardConfig: removed duplicate define for RTSCTS 2019-12-23 18:02:59 +09:00
Andrew Tridgell ee9aadf091 HAL_ChibiOS: automatically set AP_FEATURE_RTSCTS 2019-12-23 18:02:59 +09:00
Andrew Tridgell 20ea63e480 HAL_ChibiOS: removed PB1 and PB0 TIM1 complementary channels for F76x 
these do not work, possibly a datasheet bug
 2019-12-23 19:58:34 +11:00
Andrew Tridgell 093d411ec7 HAL_ChibiOS: switch MatekF765 to timer 12 
fixes PWM 5 and 6
 2019-12-23 19:58:32 +11:00
Andrew Tridgell 9c6cd15980 HAL_ChibiOS: ensure bootloader flash is multiple of 32 bytes 2019-12-23 17:31:15 +11:00
Andrew Tridgell cac1cc0d9b HAL_ChibiOS: account for empty uarts in uart count 
this fixes uart count on MatekF405-Wing
 2019-12-21 16:53:56 +11:00
Andrew Tridgell aad4598644 AP_SerialManager: fixed GPS in AP_Periph 
we need to have at least 4 SERIALn_* parameters to support GPS on
AP_Periph due to the odd ordering of hal.uartB as SERIAL3
 2019-12-20 17:58:36 +11:00
Matt Lawrence 886153abf5 Frame_Params: Fix Solo params for copter 4 2019-12-18 14:08:32 +11:00
Randy Mackay 4407b1ada0 AP_NMEA_Output: 10hz rate limiting uses uint32_t 2019-12-17 11:01:05 +09:00
Peter Barker de5d8c5480 AP_NMEA_Output: correct 10Hz rate limiting 
integer promotion issue
 2019-12-17 11:00:25 +09:00
Andrew Tridgell fdc7dac61c SITL: added SIM_MAG_SCALING 2019-12-16 21:04:53 +11:00
Andrew Tridgell 9fb973eb9f AP_UAVCAN: support RTCMStream for RTCM injection 2019-12-16 18:46:17 +11:00
Andrew Tridgell d0ced1b7b2 AP_GPS: support RTCMStream for RTCM injection on UAVCAN 2019-12-16 18:44:57 +11:00
Andrew Tridgell a7bd55d7be AP_GPS: cope with UAVCAN GPS that don't provide Aux message 
thanks to @VadimZ for the suggestion
 2019-12-16 18:42:26 +11:00
Andrew Tridgell 17ec9534cb AP_GPS: support Fix2 message for UAVCAN 
this allows for RTK fix levels
 2019-12-16 18:42:23 +11:00
Peter Barker 76c275756b AP_Compass: tidy constructor 2019-12-16 18:28:36 +11:00
Peter Barker fcc490b68f AP_Compass: make compass_cal_status_t enum class Status within CompassCalibrator 2019-12-16 18:28:31 +11:00
Andrew Tridgell d3226e1f94 AP_Compass: narrow range of allowed scale factor 2019-12-16 18:28:28 +11:00
Andrew Tridgell 3e2d7aa1e2 AP_Compass: added COMPASS_OPTIONS 
this allows user to set that calibration requires GPS lock
 2019-12-16 18:28:26 +11:00
Andrew Tridgell fad20439a1 AP_Compass: added estimation of compass scale factor 
this adds new COMPASS_SCALE, COMPASS_SCALE2 and COMPASS_SCALE3
parameters, which give the sensor scaling factor. It is used to
compensate for an incorrect scaling in a compass.

The 3D compass calibration process will set the correct value
automatically, otherwise users can set the value to a known value for
an existing compass
 2019-12-16 18:28:24 +11:00
Randy Mackay d005e68a9d AP_Compass: minor comment fix 
Co-Authored-By: Peter Barker <pb-gh@barker.dropbear.id.au>
 2019-12-16 18:28:21 +11:00
lukezhqin 82e9797984 AP_Compass: fix thin_samples to avoid comparing sample to itself 2019-12-16 18:28:18 +11:00
Randy Mackay 537d91e7e1 AP_Compass: fix calibrator update when step one fails 2019-12-16 18:28:16 +11:00
Randy Mackay 80b4eaa87a AP_Compass: rename CompassCalibrator::clear to stop 2019-12-16 18:28:13 +11:00
Randy Mackay b862cc0333 AP_Compass: remove unused calc_mean_squared_residuals 2019-12-16 18:28:11 +11:00
Randy Mackay 233e3bae61 AP_Compass: add comments to calibrator 2019-12-16 18:28:09 +11:00
Randy Mackay 015eed7159 AP_Compass: formatting fixes 
this should be a non-functional change
 2019-12-16 18:28:06 +11:00
Randy Mackay e26be17c91 AP_Compass: constify get_completion_mask and remove use of auto 2019-12-16 18:28:04 +11:00
Randy Mackay 1e932ce0f7 AP_Compass: constify get_orientation 2019-12-16 18:28:02 +11:00
Andrew Tridgell 2e0351e74a HAL_ChibiOS: lower gains on CubyOrange and Yellow heater 
this should reduce the chance of baro oscillation due to rapid change
in heater temperature
 2019-12-16 18:26:22 +11:00
Andrew Tridgell 5d98edb689 AP_GPS: fixed build after TMODE changes 2019-12-16 18:20:57 +11:00
Leonard Hall fd03320926 AC_AutoTune: Add check for reverse response abort. 2019-12-16 15:07:51 +09:00
Randy Mackay 083be9331a AP_Proximity: new lightware SF40C driver 
New driver using latest streaming interface
Old driver left in place because older devices cannot be updated
 2019-12-16 15:04:52 +09:00
Randy Mackay 88460f4406 AP_Proximity: backup lightware SF40C driver to v09 2019-12-16 15:04:48 +09:00
Peter Barker 922cd629c0 AP_Proximity: remove empty constructors 
Well, some of them were only essentially empty
 2019-12-16 15:00:15 +09:00
Peter Barker 8bd7841c6e AP_Proximity: use rangefinder singleton 2019-12-16 15:00:06 +09:00
Peter Barker 730257fe26 GCS_MAVLink: adjust for proximity status namespace change 2019-12-16 15:00:03 +09:00
Peter Barker ed720e73c1 AC_Logger: adjust for proximity status namespace change 2019-12-16 15:00:01 +09:00
Peter Barker 7b4129ab0d AC_Arming: adjust for proximity status namespace change 2019-12-16 14:59:57 +09:00
Peter Barker 83b6fdbb04 AC_Avoid: adjust for proximity status namespace change 2019-12-16 14:59:53 +09:00
Peter Barker 31fbfa8d6e AP_Proximity: use enum class for status 2019-12-16 14:59:48 +09:00
Peter Barker b57b69685a AP_Proximity: correct checking of valid instance in various getters 2019-12-16 14:59:45 +09:00
Peter Barker 21a5618517 GCS_MAVLink: adjust for proximity rangefinder types changing namespacing 2019-12-16 14:59:41 +09:00
Peter Barker ee0dd26007 AP_Proximity: use enum class for proximity type 
Removes verbiage from AP_Proximity.cpp
 2019-12-16 14:59:39 +09:00
Peter Barker 79c2b310b5 AP_Proximity: stop passing serial manager around, use singleton 2019-12-16 14:59:30 +09:00
Randy Mackay d2e6df570c AP_RangeFinder: TYPE param desc clarification for Benewake lidar 
This renames some of the TYPE parameter's driver options:

19 :BenewakeTF02 is unchanged
20: BenewakeTFMini becomes BenewakeTFMini/Plus-Serial
25: BenewakeTFMiniPlus becomes BenewakeTFMini/Plus-I2C
27: BenewakeTF03 is unchanged
 2019-12-16 14:55:07 +09:00
Randy Mackay 19f3060439 AP_RangeFinder: update Type and Pin parameter values 
The _TYPE change is to remove the "v2" from the LidarLite description because both v2 and v3 are supported
The _PIN change is to make it more clear that any of the auxiliary pwm pins can be used for PWM input
 2019-12-16 14:54:55 +09:00
bnsgeyer 47d36edf8d AP_Motors: Tradheli-incorporate DDFP for counter clockwise rotating rotors 2019-12-16 14:20:48 +09:00
bnsgeyer c8572502aa AC_InputManager: Change STAB_COL params to percent 2019-12-16 14:20:14 +09:00
Andrew Tridgell 418eb48bb2 GCS_MAVLink: fixed critical error on prefight cal ops 2019-12-16 14:18:57 +09:00
Andrew Tridgell cfc531be8d HAL_ChibiOS: fixed build of SPI clock test 2019-12-16 14:18:55 +09:00
bnsgeyer d8bd024d8f AP_Motors: tradheli-update parameter display names 2019-12-16 14:18:19 +09:00
Randy Mackay 04fcbacb9f GCS_MAVLink: remove send-text re allocating for fence 2019-12-16 14:17:51 +09:00
Randy Mackay e5ac849cbf AC_Fence: turn off debug msg re memory allocation 2019-12-16 14:17:49 +09:00
Andrew Tridgell 35dd28ec88 HAL_ChibiOS: fixed handling of 16bit timer wrap 
this fixes #12948
 2019-12-16 14:17:11 +09:00
Andrew Tridgell a9d11d718d AP_InternalError: added hex and decimal comments 
makes looking up codes faster from logs
 2019-12-16 14:17:06 +09:00
Andrew Tridgell e35f253803 HAL_ChibiOS: added assert for systime_t size 2019-12-16 14:17:04 +09:00
Andy Piper 805d8ed776 AP_InertialSensor: correct loop rate on BMI055, clean up setting of loop rate on BMI055 and BMI088 2019-12-16 14:16:08 +09:00
Andy Piper cce993e35b AP_HAL_ChibiOS: specify Durdanal IMUs so that ordering is correct 2019-12-16 14:15:25 +09:00
Randy Mackay f28f376f20 AP_RangeFinder: remove param conversion for 3rd and 4th 
3rd and 4th instances were not available to users unless they used their own builds which is rare
this reduces the firmware's flash size a small amount
 2019-12-16 14:09:17 +09:00
Randy Mackay eab638cfab AP_RangeFinder: param conversion fix 
This resolves an issue with the parameter conversion when moving from Copter-3.6.x to 4.0 (and similar moves for other vehicle types)
 2019-12-16 14:09:14 +09:00
Randy Mackay e28f258297 AP_Arming: add mandatory_checks 
These are checks that can never be bypassed
 2019-12-16 14:08:36 +09:00
Randy Mackay 8cb2631c14 AP_Scripting: init sends failure message 2019-12-16 14:07:35 +09:00
Randy Mackay b750193563 AP_Arming: add pre-arm system check that scripting init succeeded 2019-12-16 14:07:32 +09:00
Randy Mackay f2bb56bf1e AP_Scripting: add init failure check 2019-12-16 14:07:29 +09:00
Peter Barker 121accf392 AP_Landing: emit DEPLOY gcs text only if not already deployed 2019-12-16 14:06:00 +09:00
Gone4Dirt 3b041507e3 AP_Motors: Added support for autorotation 2019-12-16 14:05:21 +09:00
Gone4Dirt a728b431e5 AP_Vehicle: Added mode change reasons for autorotation 2019-12-16 14:05:17 +09:00
Gone4Dirt ef72d89d26 AC_Autorotation: Created autorotation library 2019-12-16 14:05:10 +09:00
Andrew Tridgell 401dfc3e0e HAL_ChibiOS: update mRoX21-777 I2C mask 
all external
 2019-12-16 14:03:38 +09:00
Peter Barker a1a82e998a GCS_MAVLink: any internal error means MAV_STATE_CRITICAL 2019-12-16 14:02:39 +09:00
Phillip Kocmoud ecdf6f1301 HAL_ChibiOS: update mRoControlZeroF7 I2C mask 2019-12-16 14:00:59 +09:00
Peter Barker 422b2cde49 AP_Camera: use corrected version of send_to_components 2019-12-16 13:56:13 +09:00
Peter Barker f94e36a806 AP_BattMonitor: use corrected version of send_to_components 2019-12-16 13:56:10 +09:00
Peter Barker 865937306c GCS_MAVLink: correct encoding used for send_to_components 
These have to be packed onto the channel - otherwise they may ge
tencoded as mavlink1 instead of mavlink2 (or vice-versa)
 2019-12-16 13:56:08 +09:00
Andrew Tridgell cf99227a8c AP_BattMonitor: added Durandal selection for batt mon pins 2019-12-16 13:54:33 +09:00
bnsgeyer ca10788533 AP_Motors: tradheli- fix metadata 2019-12-16 13:53:43 +09:00
Randy Mackay 3b024cc476 AP_Terrain: leave ENABLE as 1 if memory alloc fails 2019-12-16 13:53:12 +09:00
Randy Mackay 51b5fac511 AP_Arming: add mission and rangefinder to param desc 2019-12-16 13:53:09 +09:00
Randy Mackay ff7a21333d AP_Arming: add terrain init check to system checks 2019-12-16 13:53:01 +09:00
Randy Mackay 5bb6ada292 AP_Terrain: add init_failed 
allows external caller to determine if terrain database failed to initialise
 2019-12-16 13:52:58 +09:00
Randy Mackay 356a5fcc5a AP_Terrain: constify get_statistics and bitount64 2019-12-16 13:52:55 +09:00
Andrew Tridgell fc61cf3d3c HAL_ChibiOS: support LEDs with a wider range of frequencies 
this fixed LEDs on FMUv5 boards on first 4 aux channels. We need to
round up not round down in the resulting bitrate
 2019-12-16 13:52:17 +09:00
Andrew Tridgell 146daf8cef AP_SerialManager: don't show parameters for serial ports that don't exist 
saves a bit of user confusion
 2019-12-16 13:51:42 +09:00