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48121 Commits

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Author SHA1 Message Date
Andrew Tridgell
92197bd5a9 Plane: fixed longitude wrap in verify_nav_wp 
thanks to @Khancyr
 2021-06-25 15:33:55 +10:00
Andrew Tridgell
220107b2a6 Tools: added boat circuit for Rabi 2021-06-25 15:33:55 +10:00
Andrew Tridgell
702f95d4c6 Sub: fixed longitude wrap 2021-06-25 15:33:55 +10:00
Andrew Tridgell
396094a82c Tools: added a mission around Rabi, close to -180 degrees lon 2021-06-25 15:33:55 +10:00
Peter Barker
f69e2a49f6 AP_Common: add test for longitude wrapping 2021-06-25 15:33:55 +10:00
Andrew Tridgell
77d83b9c77 AP_Common: fixed Location class for wrap at 180 degrees longitude 
this allows us to fly missions across the date line
 2021-06-25 15:33:55 +10:00
Andrew Tridgell
75ae2548a7 Tools: added some locations close to the date line 2021-06-25 15:33:55 +10:00
Leonard Hall
5475d1153c AC_PosControl: fixup ekf reset 2021-06-25 10:01:49 +09:00
Andrew Tridgell
3204ce4bf1 Tools: added --postype-single for sim_vehicle.py 2021-06-24 21:34:30 +10:00
Andrew Tridgell
895ab6c089 waf: added --postype-single option 
for SITL with single precision postype_t
 2021-06-24 21:34:30 +10:00
Andrew Tridgell
4895a08ab2 AP_IRLock: convert SITL backends to double precision position 2021-06-24 21:34:30 +10:00
Andrew Tridgell
f209504a12 AC_PrecLand: convert SITL backends to double precision position 2021-06-24 21:34:30 +10:00
Andrew Tridgell
aa03afafa7 AP_Math: added matrix3 tofloat and todouble 2021-06-24 21:34:30 +10:00
Andrew Tridgell
61faeb2d7f AP_Common: added double methods for SITL 2021-06-24 21:34:30 +10:00
Andrew Tridgell
fb275c9874 SITL: convert to double precision for positions 2021-06-24 21:34:30 +10:00
Andrew Tridgell
70f874e288 Sub: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell
50e6d67a66 Plane: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell
bada2670a6 Copter: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell
1d00cab9e6 AC_WPNav: convert circle, loiter and WPNav to double position 2021-06-24 21:34:30 +10:00
Andrew Tridgell
66186e5221 AC_AttitudeControl: convert poscontrol to use double position 2021-06-24 21:34:30 +10:00
Andrew Tridgell
c8079a318c AC_PID: convert AC_P_2D to double 2021-06-24 21:34:30 +10:00
Andrew Tridgell
9b91cfe4ee AP_Math: implement double versions of some position control methods 2021-06-24 21:34:30 +10:00
Andrew Tridgell
3a3a30ab22 AP_Math: define postype_t and vectors 2021-06-24 21:34:30 +10:00
Andrew Tridgell
3fc88b19b8 HAL_SITL: implement initial GPS position offsets 2021-06-24 21:34:30 +10:00
Andrew Tridgell
3315ec5acc AP_Math: added tofloat() and todouble() methods to Vector2 and Vector3 2021-06-24 21:34:30 +10:00
Andrew Tridgell
cf149a9d18 SITL: added SIM_INIT_LAT_OFS and SIM_INIT_LON_OFS 
these give an initial lat/lon offset to the GPS in SITL so we can end
up with an origin a long way from the final position
 2021-06-24 21:34:30 +10:00
Andrew Tridgell
7819cc6400 AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-06-24 20:28:45 +10:00
Andrew Tridgell
639570505b AP_Math: cleanups from Leonards feedback 2021-06-24 20:28:45 +10:00
Andrew Tridgell
5f053bd53a AC_AttitudeControl: fixed comment 2021-06-24 20:28:45 +10:00
Andrew Tridgell
566dd8ca8b AP_Math: cleanup API comments on control code 2021-06-24 20:28:45 +10:00
Andrew Tridgell
18dd373ff5 Sub: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Andrew Tridgell
61ac45dd5a Plane: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Andrew Tridgell
d89388c4cc Copter: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Andrew Tridgell
bf91168cd6 AC_WPNav: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Andrew Tridgell
fd68233fed AC_AttitudeControl: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Andrew Tridgell
86f09cad09 AP_Math: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Andrew Tridgell
fe4abc521a AP_Math: make vector3 xy() method return a reference 2021-06-24 20:28:45 +10:00
Andrew Tridgell
4d7bb82f9e Plane: updated release notes for 4.1.0beta2 2021-06-24 20:15:01 +10:00
Peter Barker
4c173e01ef autotest: increase number of parameter retries 
sets were failing just after we uploaded very large numbers of
parameters.  I'm guessing the parameter queue in ArduPilot is still
full.
 2021-06-24 17:58:31 +10:00
Peter Barker
4bb91d1ec1 autotest: shift where we print which attempt we are doing 2021-06-24 17:58:31 +10:00
Siddharth Purohit
43bb543aff AP_PiccoloCAN: fix missing _telem_sem 2021-06-24 17:15:08 +10:00
Oliver
9aba85dadc AP_PiccoloCAN: Explicit initialization of AP_HAL::CANFrame instances 2021-06-24 15:51:21 +10:00
Oliver
dade859ff9 AP_PiccoloCAN: Remove unncessary floating point operations 2021-06-24 15:51:21 +10:00
Oliver
06eb844ede AP_PiccoloCAN: Update code to match new esc telemetry / logging architecture 2021-06-24 15:51:21 +10:00
Oliver Walters
de3c4cc9da AP_PiccoloCAN: Increase number of supported channels from 12 -> 16 2021-06-24 15:51:21 +10:00
Oliver Walters
fb16b085c0 AP_PiccoloCAN: Record servo telemetry information to log 
- Servo position
- Servo speed
- Servo force / torque
- Servo duty cycle

Updated servo protocol file to accommodate extra variable data
 2021-06-24 15:51:21 +10:00
Oliver Walters
115c1224de AP_PiccoloCAN: Send servo commands for active channels 
- For each channel, check if a non-motor function is assigned
- If so, send the function value out to the servo
 2021-06-24 15:51:21 +10:00
Oliver Walters
7b0da02a18 AP_PiccoloCAN: Framework for CAN servo outputs 2021-06-24 15:51:21 +10:00
Oliver Walters
43b7b4eb3b AP_PiccoloCAN: Add support for CBS servo protocol 
- Adds protocol files for the servo protocol
- Generated using Protogen tool
 2021-06-24 15:51:21 +10:00
Siddharth Purohit
9494a439ec AP_UAVCAN: Use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS 2021-06-24 09:02:42 +10:00