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21059 Commits

Author SHA1 Message Date
Peter Barker
74670a77be GCS_MAVLink: avoid allocating a GCS_MAVLINK per mavlink channel 2019-08-14 18:25:43 +10:00
Peter Barker
13c22c667d AP_UAVCAN: add missing override keywords 2019-08-14 16:33:29 +10:00
Peter Barker
54b200a777 AP_HAL_ChibiOS: add missing uavcan-related override keywords 2019-08-14 16:33:29 +10:00
Randy Mackay
973caf26f7 AP_ToshibaCAN: constify some local variables 2019-08-14 13:29:14 +09:00
Randy Mackay
fbf5ecfe8c AP_ToshibaCAN: ensure motors are off when vehicle is disarmed 2019-08-14 13:29:14 +09:00
Peter Hall
4afcc9c289 SITL: sailboat allow motor sailing 2019-08-14 09:26:01 +09:00
Peter Barker
20be080325 AP_Logger: correct example to add required override keywords 2019-08-14 09:41:54 +10:00
Peter Barker
67bf00c1c3 GCS_MAVLink: ensure payload space before sending message ack 
Also add comment about how we shouldn't be sending this message at all.
 2019-08-13 16:48:17 +10:00
Peter Barker
bb542ca39a GCS_MAVLink: queue AUTOPILOT_VERSION for sending instead of direct-send 
Also allows the message to be requested for streaming or with
REQUEST_MESSAGE

We weren't checking for buffer space before sending this out, so it was
a possible source of corruption.
 2019-08-13 16:29:45 +10:00
Andrew Tridgell
5e40921b42 HAL_ChibiOS: fixed reboot hold in bootloader 
thanks to Tom for noticing this
 2019-08-12 22:21:13 -07:00
Peter Barker
e18174e4ac AP_Logger: correct use of uninitialised stack value 2019-08-13 10:43:05 +10:00
Anthony Velte
5d2f114947 AP_HAL_SITL: Add scrimmage simulator support 2019-08-13 10:07:26 +10:00
Anthony Velte
92a9ab6c6d SITL: Add scrimmage simulator support 2019-08-13 10:07:26 +10:00
Peter Barker
1adda1ccf0 AP_Compass: move automatic declination setting into AP_Compass itself 2019-08-13 10:02:13 +10:00
Andrew Tridgell
8d7262994b AP_GPS: support yaw in GPS_INPUT mavlink GPS 
useful for Vicon setups
 2019-08-12 10:25:40 +10:00
Randy Mackay
c7ca9c04f8 AP_Math: add comment to vector2f::point_on_segment 2019-08-10 12:21:01 +09:00
Randy Mackay
a1a2733926 AC_Avoidance: reduce OA path planner look ahead and margin param defaults 2019-08-09 15:51:26 +09:00
Peter Barker
a5ec64fc99 AC_Fence: tidy get_breach_distance 
The polygon fence will soon be able to supply a breach distance -
prepare for that.
 2019-08-08 16:47:41 +09:00
Peter Barker
6a241cc3e9 AC_Fence: remove pointless sanity check 2019-08-08 16:47:41 +09:00
Randy Mackay
2bfc26621a AP_Arming: resolve check_failed compiler warning 2019-08-08 12:53:51 +09:00
Peter Hall
2a3676003a SITL: sailboat add tide 2019-08-07 14:34:07 +09:00
Peter Hall
90bf224e7f SITL: sailboat add wave simulation and parameters 2019-08-07 14:34:07 +09:00
Peter Barker
57528b94cf GCS_MAVLink: allow complete() call on subclasses to fail 
Also terminate uploads if any error occurs fetching items
 2019-08-07 12:07:59 +10:00
Randy Mackay
1b533295a8 AR_AttitudeControl: minor comment fixes 2019-08-06 20:00:05 +09:00
Peter Hall
65d8047165 AR_AttitudeControl: fix sailboat heel PID 2019-08-06 20:00:05 +09:00
Peter Barker
4b012ab62b GCS_MAVLink: deny upload of non-MISSION items if not doing mavlink2 2019-08-06 13:58:44 +10:00
Peter Barker
4e95832433 GCS_MAVLink: send mission acks for bad MISSION_ITEM requests 2019-08-06 13:58:44 +10:00
Peter Barker
afd623a6fa GCS_MAVLink: use send_message to send mission items 
It is less error-prone to use this new send_message function.

In particular, one of the parameters to these functions was using the
wrong constant when sending a mission item message.
 2019-08-06 13:58:44 +10:00
Peter Barker
8fc6e16a4a GCS_MAVLink: fill missing seq and type fields in MISSION_ITEM 
GCS_MAVLink: fill mission type in return MISSION_ITEM packets

GCS_MAVLink: fill in return sequence number for MISSION_ITEM messages
 2019-08-06 13:58:44 +10:00
Peter Barker
b2d9d7b6a0 AP_Logger: const-struct many structures, use temp for navekf object 2019-08-06 11:45:04 +10:00
Henry Wurzburg
b6518b6b46 AP_HAL_ChiibOS: change omnibusf4 board type to be unique 2019-08-06 11:20:11 +10:00
murata
0b1987ae36 AP_RangeFinder: Use common hexadecimal to character number conversion method 2019-08-06 10:14:12 +10:00
murata
e4455491aa AP_GPS: Use common hexadecimal character to number conversion method 2019-08-06 10:14:12 +10:00
murata
a39228c453 AP_Common: Make hexadecimal character number conversion method common 2019-08-06 10:14:12 +10:00
Pierre Kancir
1a71519e17 AP_HAL_SITL: add missing header 2019-08-06 09:37:30 +10:00
Pierre Kancir
17c0cf8d5c AP_Common: check for feenableexcept on WAF 2019-08-06 09:37:30 +10:00
Bill Geyer
fbf2b62300 AP_Motors: Tradheli - Make H3-120 swashplate the default 2019-08-06 08:24:59 +09:00
Bill Geyer
7ecc368d4f AP_Motors: tradheli - remove white space in param values 2019-08-06 08:24:59 +09:00
Randy Mackay
488d1ab60a AC_Avoidance: replace Write_OA with Write_OABendyRuler and Write_OADijkstra 2019-08-06 08:15:45 +09:00
Randy Mackay
b666b172c4 AP_Logger: replace Write_OA with Write_OABendyRuler and Write_OADijkstra 2019-08-06 08:15:45 +09:00
Randy Mackay
f5a307fb13 AR_WPNav: add speed_min parameter 
Should be set to boat's plane speed and ensure vehicle does not slow below this speed in corners
 2019-08-05 17:04:43 -06:00
Peter Barker
61ed6e07eb AP_NavEKF3: shorten EKF3 initialisation send-text string 
Now:
pbarker@bluebottle:~/rc/ardupilot(master)$ echo -n "EKF3 IMU1 buffers IMU=11 OBS=4 OF=10, dt=0.0120" | wc
      0       7      47
pbarker@bluebottle:~/rc/ardupilot(master)$

Closes #11952
 2019-08-05 19:50:32 +10:00
Peter Barker
95b8c12454 AP_Arming: mark check_failed as taking a format string 2019-08-05 14:18:05 +10:00
Andrew Tridgell
9672dce335 SITL: switch vicon simulation to use VISION_POSITION_ESTIMATE 
this is a more commonly used message
 2019-08-05 13:58:08 +10:00
James
e474b7dcfe AP_BattMonitor: add PWM Fuel Level Sensor 
this sensor produces PWM between 1100 and 1900, giving fuel level as a
percentage
 2019-08-05 11:35:16 +10:00
Peter Barker
46ad04aab7 AP_GPS: correct format string warnings in SBF driver 2019-08-05 11:20:35 +10:00
Peter Barker
df01bed14f AP_Compass: take GCS link in place of channel to calibration routines 2019-08-05 09:23:10 +10:00
Peter Barker
cf0b7cf016 GCS_MAVLink: pass link object in place of channel to compass cal 
Also eliminate intermediate function as just adding noise
 2019-08-05 09:23:10 +10:00
Randy Mackay
01a713a812 AP_RangeFinder: param desc rename from PX4-PWM to just PWM 
the PWM driver is available for many boards
 2019-08-04 21:15:49 +10:00
Rajat Singhal
bd9120b725 SITL: Add script for multi-vehicle sim with AirSim 2019-08-04 07:57:46 +10:00
Rajat Singhal
8e7ab23b4f SITL: Add RC support for Airsim 
Adds variable length float array parsing
 2019-08-04 07:57:46 +10:00
Rajat Singhal
2954f2b4d0 SITL: Delete Airsim Readme 
Wiki Page has been added - http://ardupilot.org/dev/docs/sitl-with-airsim.html
 2019-08-04 07:57:46 +10:00
Rajat Singhal
ad5d3cb9f1 SITL: Add Airsim quadx lidar params 2019-08-04 07:57:46 +10:00
Rajat Singhal
8f1c9759b8 AP_Proximity: Add AirSimSITL lidar sensor 2019-08-04 07:57:46 +10:00
Rajat Singhal
2d25971801 SITL: Add Lidar Sensor for Airsim 
Adds variable length array of vector3f parsing
 2019-08-04 07:57:46 +10:00
Leonard Hall
7f5d6662b3 AC_AttitudeControl: Support seperate roll and pitch limits 2019-08-03 12:06:32 +09:00
Leonard Hall
036b47ec56 AP_Motors: Add seperate roll and pitch limits 2019-08-03 12:06:32 +09:00
hoangthien94
fc9ff2b09a AP_NavEKF2: add method to check if ext nav is used for yaw 2019-08-03 08:44:11 +09:00
hoangthien94
916de076ec AP_AHRS: add method to check if ext nav is used for yaw 2019-08-03 08:44:11 +09:00
Tom Pittenger
6d1362d569 AP_Proximity: allow MAV driver to accept negative increments and sanity check distances 2019-08-02 09:50:13 -06:00
Tom Pittenger
b8dcdca909 AP_Proximity: add Object Avoidance Database, remove old Sector->Location converter 2019-08-02 09:50:13 -06:00
Tom Pittenger
9ad6d14c16 AC_Avoidance: add Object Avoidance Database 2019-08-02 09:50:13 -06:00
Tom Pittenger
2dba187d30 SITL: Morse scanner lidar to use larger MAVLink msg instead of raw data squeezed into 8 sectors 2019-08-02 09:50:13 -06:00
Tom Pittenger
3f99def25a SITL: fix Morse simulator camera and changed default mission to indoor 2019-08-02 09:50:13 -06:00
SergeyBokhantsev
c73a4fd227 RC_Channel: unify debounce code 2019-08-02 12:34:02 +01:00
vierfuffzig
6b1046f0ac AP_OSD: add primary airspeed item 
and fix param description
 2019-08-02 09:22:55 +09:00
Peter Barker
71533c7c5c GCS_MAVLink: correct frame on rally mission items 2019-08-02 09:17:04 +10:00
Peter Barker
880e96448b GCS_MAVLink: tighten type on mavlink_coordinate_frame_to_location_alt_frame 2019-08-01 17:45:30 +10:00
Peter Barker
979a9fb679 GCS_MAVLink: ensure item being converted is a rally point 2019-08-01 17:44:37 +10:00
Andrew Tridgell
4fca69c5e9 HAL_ChibiOS: renamed Pixhawk6 to Durandal 
new name for FC from Holybro
 2019-08-01 14:11:06 +10:00
Andrew Tridgell
4f243aca02 AP_TECS: prevent rapid changing of pitch limits on landing approach 
when on landing approach we estimate time to flare based on two noisy
numbers, the vertical speed and height above ground. With noisy
rangefinders this can change rapidly, which resulted in the pitch
limit changing rapidly, leading to a porpoising movement

this limits the rate of change, and also prevents it coming down once
it has nosed up due to pending flare on approach
 2019-08-01 11:28:22 +10:00
Andrew Tridgell
4fd3008b4e AP_TECS: log pitch limits 2019-08-01 11:28:22 +10:00
Andrew Tridgell
3c8ed3d8e1 AP_TECS: fixed flare pitch limits 
when limits are out of bounds
 2019-08-01 11:28:22 +10:00
Andrew Tridgell
d72ded4a9e AP_TECS: prevent numerical error with zero max throttle 2019-08-01 11:28:22 +10:00
Andrew Tridgell
587aa33617 AP_TECS: added TECS_OPTIONS 
used for full-time glider
 2019-08-01 11:28:22 +10:00
Andrew Tridgell
df0cc40bba AP_TECS: allow TECS_PITCH_MAX to be negative 2019-08-01 11:28:22 +10:00
Andrew Tridgell
be9c98db12 AP_GPS: ensure we have full timestamp before setting RTC clock 
thanks to Martin Sollie for this bug report
 2019-07-31 20:13:55 +10:00
Siddharth Purohit
10e8e8e9cc AP_BoardConfig_CAN: fix bad get_slcan_serial method 2019-07-31 17:24:13 +10:00
Andrew Tridgell
c9567783e6 AP_Baro: use sensor_config_error on baro cal failure 
this allows the user to fix parameters
 2019-07-31 14:30:49 +10:00
Michael du Breuil
5645709e50 AP_Baro: Rearrange the sensor struct 
Saves 12 bytes of RAM, 144 bytes of flash on CubeBlack
 2019-07-31 14:30:25 +10:00
Andrew Tridgell
e1ce735886 AP_InertialSensor: special check for CubeBlack to force INS_USE3=1 
this will cope with users loading old parameter files
 2019-07-31 12:53:57 +10:00
Andrew Tridgell
6f58260d99 AP_Baro: check for all 1 ADC read on MS5611 2019-07-31 12:53:57 +10:00
Andrew Tridgell
0c314c36b6 AP_Logger: log baro health 2019-07-31 12:53:57 +10:00
Andrew Tridgell
a196c54db6 AP_Baro: consider a baro unhealthy when outside of -200 to 200 C 
this helps detects unhealthy baros on SPI where we can't detect comms
failure
 2019-07-31 12:53:57 +10:00
Andrew Tridgell
123800ccd2 AP_InertialSensor: default INS_USE3 to 1 2019-07-31 12:53:57 +10:00
Michael du Breuil
c19e4f2147 AP_Mission: Refactor read_cmd_from_storage for clarity 2019-07-31 09:13:43 +10:00
Andrew Tridgell
0f6b8375bb AP_RangeFinder: added a 1.5 delay to probe of LW20 I2C 
the LW20 takes a long time to boot and be ready to probe
 2019-07-30 13:32:36 +10:00
Andrew Tridgell
bcfdc91900 AP_BoardConfig: added BRD_BOOT_DELAY 
this allows for a configurable boot delay in case a board has
peripherals that take a long time to bootup
 2019-07-30 13:32:36 +10:00
Andrew Tridgell
2572885159 AP_Param: flush() after converting parameters 
this prevents a race in sub where a set_default_by_name() directly
follows a parameter conversion for ARMING_CHECK. Without the flush the
default is written to storage by the IO queue draining after the set()
 2019-07-30 10:42:16 +10:00
Michael du Breuil
4396540a22 AP_Arming: Add rangefinder checks 2019-07-30 10:42:16 +10:00
Michael du Breuil
3202a2e0a6 AP_Rangefinder: Add arming checks 2019-07-30 10:42:16 +10:00
Michael du Breuil
f06251a07f AP_Param: Delay param dumps to avoid running out of buffer space 2019-07-30 10:42:16 +10:00
Michael du Breuil
1677c11855 AP_Scripting: Cope with new AP_GPS::first_unconfigured_gps 2019-07-30 10:12:43 +10:00
Michael du Breuil
4b2cb45ac0 AP_Arming: Cope with new AP_GPS::first_unconfigured_gps 2019-07-30 10:12:43 +10:00
Michael du Breuil
d33006a2e7 AP_GPS: Refactor first_unconfigured_gps to return bool 2019-07-30 10:12:43 +10:00
Peter Barker
11b9737b34 AP_AccelCal: remove wrapper around send_text 
With our statustext queueing system this check is not just wrong but
redundant.
 2019-07-30 10:06:42 +10:00
Randy Mackay
00cc4ace8a RC_Channel: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Randy Mackay
84b502b0c4 AP_RangeFinder: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Randy Mackay
6a154c4e4c AP_InertialSensor: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Randy Mackay
f211a0e40c AP_RSSI: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Randy Mackay
64637dba8f AP_GPS: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Randy Mackay
767408ffe9 GCS_MAVLink: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Randy Mackay
b3431685a8 AP_ADSB: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Randy Mackay
480a3ebb03 AP_RangeFinder: LightwareSerial driver handles invalid distances 
reports the longer of 100m or RNGFNDx_MAX_CM+1m
 2019-07-30 08:05:35 +09:00
Andrew Tridgell
fc65e04ef2 AP_NavEKF3: fixed baro innovation gate when on ground with AIDING_NONE 
when on the ground without a position source we would disable the
innovation gate for the barometer. This meant that a single (or small
number of) really bad baro readings would be fused into the EKF,
causing it to destabilise

Fixes #11903
 2019-07-30 08:23:21 +10:00
Andrew Tridgell
098701ec79 AP_NavEKF2: fixed baro innovation gate when on ground with AIDING_NONE 
when on the ground without a position source we would disable the
innovation gate for the barometer. This meant that a single (or small
number of) really bad baro readings would be fused into the EKF,
causing it to destabilise

Fixes #11903
 2019-07-30 08:23:21 +10:00
Randy Mackay
0e9688a4e1 AP_Scripting: resolve gcs::send_text compiler warning 2019-07-29 09:23:13 +09:00
Andrew Tridgell
adcf9c4fa4 HAL_ChibiOS: added commented out baro on SPI5 for fmuv5 
useful for SPI debugging
 2019-07-29 10:09:08 +10:00
Andrew Tridgell
04944fa6ce AP_NavEKF3: review fixes 
thanks Paul!
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
e7163afe06 AP_NavEKF2: review fixes 
thanks Paul!
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
451fe840ee AP_NavEKF3: ensure that EKF origin stays in sync on all cores 
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
c57b25b4c9 AP_NavEKF2: ensure that EKF origin stays in sync on all cores 
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
0fcb2037e1 AP_NavEKF3: use origin lat for earth rates 
home may not yet be set when this code is run, so using home may be
invalid
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
a01faa2f00 AP_NavEKF2: use origin lat for earth rates 
home may not yet be set when this code is run, so using home may be
invalid
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
a3411efdb5 AP_NavEKF3: set origin on all cores 
when EKF origin is set, make sure it is set on all cores
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
742ae0b750 AP_NavEKF2: set origin on all cores 
when EKF origin is set, make sure it is set on all cores
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
3818d8ecda AP_NavEKF3: restrict setting of EKF origin 
only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is
used for indoor operation
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
5db41147ed AP_NavEKF2: restrict setting of EKF origin 
only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is
used for indoor operation
 2019-07-29 10:08:22 +10:00
Randy Mackay
95bc52de8e AP_Logger: fix PRX distance scaling 
distance values logged are in meters
 2019-07-26 21:51:44 -07:00
Andrew Tridgell
98f578394f HAL_ChibiOS: default OTG2 protocol to mavlink2 on most boards 
For boards that haven't yet had a driver update in MissionPlanner to
cope with the 2nd OTG interface this change makes both interfaces work
as MAVLink

This also fixes an issue with connecting under a windows VM within
vmware
 2019-07-26 21:58:57 +10:00
Peter Barker
5e55aedd20 GCS_MAVLink: add printf-format attribute to send_text methods 2019-07-26 10:54:41 +10:00
Peter Barker
678c11f048 AP_GPS: supply format string to send_text 2019-07-26 10:54:41 +10:00
Peter Barker
65c46ac322 AP_AccelCal: supply format string to send_text 2019-07-26 10:54:41 +10:00
Peter Barker
4c434c2df9 AP_Math: add WARN_IF_UNUSED to bool methods 2019-07-26 09:26:02 +09:00
Leonard Hall
4aa74c5c53 AP_Logger: Missing label change 2019-07-26 09:16:51 +09:00
Andrew Tridgell
2b3ced752b AP_Motors: fixed typo in MotorsMatrixTS update for FF 2019-07-25 17:38:15 +09:00
Leonard Hall
fb790cadda Tools: update parameter files after PID upgrade 2019-07-25 17:38:15 +09:00
Leonard Hall
6f14673f08 APM_Control: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall
f913108efd AP_Winch: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall
3d831e4c04 AP_WheelEncoder: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall
c7196a4232 AC_AutoTune: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall
0bb9db5139 AP_Motors: add feedforward input to mixers 2019-07-25 17:38:15 +09:00
Leonard Hall
979b54b33e AC_PosControl: support update to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall
30746267ec AC_AttitudeControl_Heli: support for updates to AC_PID library 
includes rename get_leaky_i to update_leaky_i
 2019-07-25 17:38:15 +09:00
Leonard Hall
bbe33e38f3 AC_AttitudeControl: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall
ee820258ad AC_HELI_PID: support for upgrade to PID object 
updates parameters based on new PID library
rename get_leaky_i to update_leaky_i and move FILT locations
 2019-07-25 17:38:15 +09:00
Leonard Hall
ab0bdc9fe6 AC_PID: upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall
94ee2fb2fd AP_Logger: add error to PID message 2019-07-25 17:38:15 +09:00
Leonard Hall
157f786adf Global: rename desired to target in PID info 2019-07-25 17:38:15 +09:00
bugobliterator
cba98096e9 HAL_ChibiOS: move to using hardcoded heater PWM polarity in iofirmware 2019-07-25 17:05:41 +10:00
bugobliterator
c07fe55b87 AP_IOMCU: remove autodetection of heater pin polarity, instead hardcode it 2019-07-25 17:05:41 +10:00
Michael du Breuil
852f85ec10 AP_Scripting: Fix bad return types on is_nan, is_inf, is_zero 2019-07-24 16:03:46 +10:00
Michael du Breuil
9e04939adf AP_Scripting: Protect send_text from reading the stack 
Also fixes small alignment problem in generated code
 2019-07-24 16:03:46 +10:00
Peter Barker
81222fbde0 SITL: correct RC2_REV to RC2_REVERSED in comment 2019-07-24 13:36:26 +09:00
Peter Barker
a89593856d AP_Logger: remove dangling print_mode method declaration 2019-07-24 13:35:01 +09:00
Peter Barker
0bbe049477 GCS_MAVLink: assert max length of statustexts we send to the GCS 2019-07-22 23:05:15 -07:00
Siddharth Purohit
db9f7c3dd5 AP_NavEKF3: do logging for 3rd EKF core 2019-07-23 12:34:38 +10:00
Siddharth Purohit
1527a5b97c AP_NavEKF2: do logging for 3rd EKF core 2019-07-23 12:34:38 +10:00
Siddharth Purohit
359dd3f71c AP_Logger: add logging for 3rd instance of EKF core 2019-07-23 12:34:38 +10:00
Michael du Breuil
6caa700c09 AP_Scripting: Add literal support to the binding layer 2019-07-23 10:05:29 +09:00
Michael du Breuil
5d3cfcb59c AP_Arming: Add scripting method 2019-07-23 10:05:29 +09:00
Michael du Breuil
3b8ecc182c AP_RCMapper: Fix sub only documentation on channels 2019-07-23 09:29:48 +10:00
Michael du Breuil
f79a3100d0 AP_Scripting: Add arming call, improve range check casting 2019-07-22 14:32:54 +09:00
Mirko Denecke
bb7f80b452 AP_HAL_Linux: UARTDriver remove unused field and tabs 2019-07-21 21:52:42 -07:00
Mirko Denecke
633eb11bfd AP_RCProtocol: IBUS remove unused field 2019-07-22 09:12:57 +09:00
Andrew Tridgell
c173f8e24d AP_Airspeed: support both 5inH2O and 10inH2O versions of DLVR sensor 
useful for faster aircraft
 2019-07-19 21:39:30 -07:00
vierfuffzig
d1f80a841f AP_OSD_Screen: fix param descriptions 2019-07-20 14:23:55 +10:00
Randy Mackay
e45db32957 AP_Scripting: add AP_arming binding 2019-07-19 19:44:13 -07:00
Andrew Tridgell
58b739db18 GCS_MAVLink: allow non-register device access with devop 
useful for i2c devices such as LW20 lidar
 2019-07-19 17:05:23 +10:00
Andrew Tridgell
e57228646e HAL_ChibiOS: added unused CS pins for fmuv5 
these are needed to ensure SPI works correctly if the unused pins are
later attached to a device
 2019-07-19 16:58:10 +10:00
Andrew Tridgell
c5c96c76ee AP_HAL: added logging of hardware fault information in watchdog 
this may help trackdown software bugs that trigger hard faults
 2019-07-19 16:02:41 +10:00
Andrew Tridgell
12dd33ac2b HAL_ChibiOS: added logging of hardware fault information in watchdog 
this may help trackdown software bugs that trigger hard faults
 2019-07-19 16:02:41 +10:00
Josh Prochaska
6440069e7c SITL: include replace.h for AirSim to fix missing memrchr() on MacOS 2019-07-19 15:43:39 +10:00
Michael du Breuil
0054544bd3 AP_Scripting: Add support for enums to be passed through 2019-07-19 09:34:05 +09:00
Michael du Breuil
6e7367b86f AP_Scripting: Reduce lua stack usage 2019-07-19 09:34:05 +09:00
Randy Mackay
10da6d553c Copter: improve OctaV roll factors 2019-07-18 11:19:28 +09:00
Peter Barker
93ca243987 GCS_MAVLink: rearrange mission item handling code 
This splits the missionitemprotocol handling entirely into separate
header files and separate compilation units.
 2019-07-18 10:48:57 +09:00
Henry Wurzburg
ee079a50dc OSD: fixes missing param def for SATS_EN and typos 2019-07-18 08:51:44 +10:00
Peter Barker
210c2070a1 GCS_MAVLink: remove include of AP_Param.h in GCS_MAVLink.h 
This will help break include loops.
 2019-07-17 18:05:29 +10:00
Leonard Hall
78be1067a8 AC_AttitudeControl: Alt Hold init bug 2019-07-17 09:09:25 +09:00
Henry Wurzburg
deb3d6d8c3 OSD: Add panel parameter descriptions 2019-07-17 09:42:49 +10:00
Rajat Singhal
825c027f95 SITL: Added initial Airsim QuadX parameter file 2019-07-17 07:26:50 +10:00
Rajat Singhal
864f99f247 SITL: Added Readme for Airsim setup & usage 2019-07-17 07:26:50 +10:00
Rajat Singhal
4d1f4f3386 HAL_SITL: enable airsim SITL backend 2019-07-17 07:26:50 +10:00
Rajat Singhal
ffbfdbf1df SITL: Added support for Airsim simulator 
Supports Lock-Step Scheduling, has JSON sensor packet parsing
 2019-07-17 07:26:50 +10:00
Pierre Kancir
b1506ca652 GCS_MAVLink: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
9a734c1fc7 AP_VisualOdom: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
82de3efc09 AP_Terrain: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
c4ec373b20 AP_RangeFinder: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
5b745aa1f1 AP_Proximity: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
e7ae1b4fb6 AP_OpticalFlow: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
ad4563df2d AP_Notify: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
f3e40b4906 AP_Mount: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
781e9ae9c1 AP_Logger: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
13ac187fd8 AP_GPS: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
09f0f34fe5 AP_Camera: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
b67bab01f6 AP_BattMonitor: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
78cd3cc722 AP_ADSB: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
a44ed03a91 AP_AccelCal: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
a9814d34c7 AC_PrecLand: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Pierre Kancir
bf74cb4e99 AC_Fence: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Michael du Breuil
13840337ec AP_InertialNav: Remove unneeded methods 2019-07-16 12:11:42 +09:00
Peter Barker
c6126ec720 AP_Avoidance: stop copying adsb vehicle onto stack in src_id_for_adsb_vehicle 2019-07-16 10:30:55 +10:00
murata
fa78987046 RC_Channel: Match output type and variable type 2019-07-16 10:11:13 +10:00
murata
954e6a0c50 AP_RCProtocol: Match output type and variable type 2019-07-16 10:11:13 +10:00
murata
88c681586f AP_Param: Match output type and variable type 2019-07-16 10:11:13 +10:00
murata
2e4dda5ece AP_HAL: Match output type and variable type 2019-07-16 10:11:13 +10:00
Peter Barker
459680e7c8 GCS_MAVLink: make Avoidance responsible for sending collision message 2019-07-16 09:52:54 +10:00
Peter Barker
fd61bae0bd AP_Avoidance: take responsibility for sending collision message 2019-07-16 09:52:54 +10:00
Andrew Tridgell
289678cfc5 AP_Notify: play error tone if we have no microSD at boot 2019-07-16 09:32:41 +10:00
Peter Barker
21d6f81a12 AP_SmartRTL: rangefinder no longer takes SerialManager in constructor 2019-07-16 09:29:48 +10:00
Peter Barker
ca15a24433 AP_OpticalFlow: rangefinder no longer takes SerialManager in constructor 2019-07-16 09:29:48 +10:00
Peter Barker
c3bf090815 AP_AHRS: rangefinder no longer takes SerialManager in constructor 2019-07-16 09:29:48 +10:00
Peter Barker
c0993509f7 GCS_MAVLink: declare GCS_MAVLINK as a class as it hasn't been defined yet 2019-07-16 09:29:48 +10:00
Peter Barker
90edc8b51a AP_ADSB: move include of AHRS to .cpp 
Not used in header, helps fix include loops
 2019-07-16 09:29:48 +10:00
Peter Barker
ac96461c6c AP_RangeFinder: use AP_SerialManager singleton 2019-07-16 09:29:48 +10:00
Peter Barker
d7fd88bbca AP_Avoidance: stop taking reference to ahrs in constructor 2019-07-16 09:29:48 +10:00
Peter Barker
f85bad752e RC_Channel: add both clear and reset options to Rover and Plane docs 2019-07-16 09:24:18 +10:00
Peter Barker
aab787b08b RC_Channel: move mission reset in from Copter 2019-07-16 09:24:18 +10:00
Randy Mackay
84ba6e859c AP_OADijkstra: redo visgraphs if polyfence is changed 2019-07-15 13:45:10 +09:00
Peter Barker
edc8401457 AP_Mount: remove pointless virtual declarations 2019-07-15 09:15:06 +09:00
Andrew Tridgell
2d5e4dcfa2 HAL_ChibiOS: fixed SemLine data in WDOG msg 
semline was being overwritten in the setup() call
 2019-07-15 08:08:54 +10:00
Michael du Breuil
da3602b90d AP_Logger: Log unknown battery values as out of band 2019-07-14 00:28:00 -07:00
Michael du Breuil
ed584313bd AP_Scripting: Remove unneeded debug output, fix the index for singleton errors 2019-07-14 00:28:00 -07:00
Michael du Breuil
b3c6d3d75a GCS_MAVLink: Refactor battery current interface 2019-07-14 00:28:00 -07:00
Michael du Breuil
10410b696c AP_OSD: Refactor battery current interface 2019-07-14 00:28:00 -07:00
Michael du Breuil
e3f1ef0c5e AP_Motors: Refactor battery current interface 2019-07-14 00:28:00 -07:00
Michael du Breuil
ee3511c1fa AP_Logger: Refactor battery current interface 2019-07-14 00:28:00 -07:00
Michael du Breuil
ea82d6ea4c AP_FrSkyTelem: Refactor battery current interface 2019-07-14 00:28:00 -07:00
Michael du Breuil
58dbbd6d0e AP_Compass: Refactor battery current backend 2019-07-14 00:28:00 -07:00
Michael du Breuil
be25a703c0 AP_Scripting: Update battery interface 2019-07-14 00:28:00 -07:00
Michael du Breuil
0a4e3a77b3 AP_BattMonitor: Refactor interface for fetching current related data 2019-07-14 00:28:00 -07:00
vierfuffzig
bed92e8ca8 AP_HAL_ChibiOS: fix buzzer pin define on OMNIBUSF7V2 2019-07-13 17:26:43 +10:00
Andrew Tridgell
2f79639e36 HAL_ChibiOS: added support for MatekF765-Wing 2019-07-13 15:23:45 +10:00
Andrew Tridgell
1ffc2cbe41 AP_Airspeed: allow setting of default airspeed pin 2019-07-13 15:23:45 +10:00
priseborough
209a32b8b9 AP_NavEKF3: Fix bug in use of external 321 yaw to align 2019-07-13 11:05:57 +10:00
priseborough
122f214416 AP_NavEKF3: Don't allow mag to interfere with use of external yaw sensor 2019-07-13 11:05:57 +10:00
Andrew Tridgell
b56914b879 AP_NavEKF3: use GPS yaw if available and enabled 
this allows a suitable GPS to be used as an external yaw source
 2019-07-13 11:05:57 +10:00
priseborough
0c4f92d4c1 AP_NavEKF3: Add control logic to use external yaw sensor 2019-07-13 11:05:57 +10:00
priseborough
71d358803a AP_NavEKF3: Fix yaw sensor alignment status reporting 2019-07-13 11:05:57 +10:00
priseborough
977a7b68ed AP_NavEKF3: Add push to buffer for external yaw sensor data 2019-07-13 11:05:57 +10:00
priseborough
0a971c5181 AP_NavEKF3: Add function to reset yaw to external measurement 2019-07-13 11:05:57 +10:00
Andrew Tridgell
62575a194c AP_NavEKF3: Add data buffers for yaw sensor 2019-07-13 11:05:57 +10:00
priseborough
87c7649d09 AP_NavEKF3: Add interface for yaw angle measurements 2019-07-13 11:05:57 +10:00
Andrew Tridgell
a2e75876bf AP_Logger: added logging of GPS yaw 
some GPS modules can give true yaw, whether moving or not
 2019-07-13 11:05:57 +10:00
Grant Morphett
64ed76326b AP_GPS: Adding support for the NMEA GPHDT sentence 
The NMEA GPHDT sentence can be used to determine the vehicles bearing
instead of a compass even when the vehicle is stationary.  This type
of GPS is normally very expensive and does the bearing using some sort
of phase ambituity algorithm.
 2019-07-13 11:05:57 +10:00
Grant Morphett
fdcdbddecc AP_HAL_SITL: Send NMEA GPHDT sentence if enabled. 
and add VTG message
 2019-07-13 11:05:57 +10:00
Andrew Tridgell
5c3afa2621 SITL: use AP_Math/definitions.h 2019-07-13 11:05:57 +10:00
Andrew Tridgell
2480a62e55 AP_Math: added speed/distance conversions 2019-07-13 11:05:57 +10:00
Grant Morphett
2ce7955614 SITL: Create gps_hdt_enabled varible for enable/disable HDT GPS sentence 2019-07-13 11:05:57 +10:00
Michael du Breuil
d58783664d AP_Scripting: Update generator to not use readline 2019-07-12 16:55:12 -07:00
Peter Barker
f21fcca9d0 AC_WPNav: take references to inav's position rather than a copy 2019-07-12 21:56:06 +09:00
reubenfinch
cabd6aec8f AP_HAL_ChibiOS: Correct the README.md for fmuv5 boards 
the IST8310 magnetometer uses I2C, not SPI
 2019-07-12 10:59:48 +01:00
Peter Barker
bca411b2c4 AP_Arming: reduce length of internal errors errorstring prefix 
MissionPlanner's HUD requires a short string for this to be useful
 2019-07-12 18:39:06 +10:00
Andrew Tridgell
2f0a4ff1ab HAL_ChibiOS: fixed build on boards with less than max uarts 2019-07-12 17:01:21 +10:00
Andrew Tridgell
1919268801 HAL_ChibiOS: added OTG2 on all F7 and H7 boards with CAN 
allows for SLCAN on 2nd port
 2019-07-12 17:01:21 +10:00
Andrew Tridgell
02014776e8 HAL_ChibiOS: auto-set HAL_HAVE_DUAL_USB_CDC 2019-07-12 17:01:21 +10:00
Andrew Tridgell
4ff008b803 AP_SerialManager: added uartH support 2019-07-12 17:01:21 +10:00
Andrew Tridgell
ac7a67fda0 HAL_SITL: added uartH 2019-07-12 17:01:21 +10:00
Andrew Tridgell
019f441b2f HAL_Linux: added uartH 2019-07-12 17:01:21 +10:00
Andrew Tridgell
4e560a4ae5 HAL_Empty: added uartH 2019-07-12 17:01:21 +10:00
Andrew Tridgell
0075b96f3a HAL_ChibiOS: added uartH 2019-07-12 17:01:21 +10:00
Andrew Tridgell
bee487e9da AP_HAL: added uartH 2019-07-12 17:01:21 +10:00
Siddharth Purohit
c50912ed6a AP_HAL: define HAL_HAVE_DUAL_USB_CDC if not defined 2019-07-12 17:01:21 +10:00
Siddharth Purohit
7f297a43dc SerialManager: add support for SLCAN protocol as parameter 2019-07-12 17:01:21 +10:00
Siddharth Purohit
fe44384c95 BoardConfig_CAN: return serial port with switch between parameter and passthrough 2019-07-12 17:01:21 +10:00
Siddharth Purohit
dcf17e5bc2 HAL_ChibiOS: hwdef: add support for dual cdc on CubeYellow and CubeOrange 2019-07-12 17:01:21 +10:00
Siddharth Purohit
2f0d1336e6 HAL_ChibiOS: add support for dual usd cdc 2019-07-12 17:01:21 +10:00
murata
89484a8f64 AP_Beacon: Common modbus crc method 2019-07-12 15:33:21 +10:00
murata
d7b2271197 AP_RangeFinder: Common modbus crc method 2019-07-12 15:33:21 +10:00
murata
c5a471e778 AP_Math: Common modbus crc method 2019-07-12 15:33:21 +10:00
Randy Mackay
27e802eaa6 AP_Scripting: add AP_AHRS method get_roll, pitch, yaw 2019-07-12 13:57:28 +09:00
Randy Mackay
32e25d8b57 AP_AHRS: add accessor for roll, pitch and yaw 2019-07-12 13:57:28 +09:00
anbello
b65f5bf632 ChibiOS: hwdef revo-mini correct IMU rotation 2019-07-12 14:01:06 +10:00
Andrew Tridgell
d2fe47d2e0 HAL_ChibiOS: dither heater pins to prevent magnetic impact 2019-07-12 12:46:27 +10:00
Andrew Tridgell
76a8d494c3 AP_IOMCU: dither heater pin to prevent 1Hz impact on mags 
with the simpler duty cycle code we see a 1Hz 25 mGauss cycle in the
internal mags
 2019-07-12 12:46:27 +10:00
Leonard Hall
77f8ec9f43 AP_Motors: formatting fixes 2019-07-12 09:29:40 +09:00
Peter Barker
ef8baf28ad AP_Airspeed: clarify mavlink packet assembly is re-ordered field order 
This makes it clear that the fields must be arranged according to the
order in the header file rather than that in the message definition
 2019-07-11 11:53:35 +10:00
Andrew Tridgell
b12cc57c64 HAL_ChibiOS: switched on fast sampling on IMU3 by default on hex cubes 
as some people are flying with EK2_IMU_MASK=7 this reduces the risk of
aliasing on IMU3
 2019-07-11 10:24:45 +10:00
Andrew Tridgell
634db441f8 AP_NavEKF3: origin handling fixes from Francisco 2019-07-11 06:40:55 +10:00
Andrew Tridgell
2427440e13 AP_NavEKF2: origin handling fixes from Francisco 2019-07-11 06:40:55 +10:00
Peter Barker
6cb8fcc466 GCS_MAVLink: move use of AP_AHRS_NAVEKF_AVAILABLE into cpp file 
This is defined in AP_AHRS which we only get transitively in the header
 2019-07-09 22:32:57 +10:00
Peter Barker
9f33fb6085 AP_Terrain: add missing AP_AHRS include 2019-07-09 22:32:57 +10:00
Peter Barker
00cfea03bc AP_Airspeed: add missing includes for AHRS 2019-07-09 22:32:57 +10:00
Peter Barker
ec0a93ff9c AC_Avoidance: add missing includes for AP_AHRS 2019-07-09 22:32:57 +10:00
Peter Barker
1ebbe45fe1 GCS_MAVLink: split sending of RC_CHANNELS and RC_CHANNELS_RAW 
Before this patch is applied we may never send the second message
because there's not room for it in the buffer and we can't return
failure-to-send (always interpreted as "retry") as we're in a void function.

Further, if you are on a mavlink2 connection we will not send out the
RC_CHANNELS_RAW message, depriving the user of any RC_CHANNELS messages.

This patch does have the drawback of doing more work on a mavlink1
connection - it has to fetch the data twice.  On the other hand, it also
allows the GCS to set the message rates independently for both
RC_CHANNELS and RC_CHANNELS_RAW so one or the other can be squelched.
That could be handy for reducing bandwidth if you know you're not using
more than 8 input channels.
 2019-07-09 13:08:45 +10:00
Peter Barker
41bddf682f AP_Camera: remove unused includes 2019-07-09 12:47:18 +10:00
Peter Barker
a966c75deb SITL: remove unused forward declaration of AP_Logger 2019-07-09 10:57:20 +10:00
Peter Barker
b7fa43e630 AP_Tuning: tidy includes 2019-07-09 10:57:20 +10:00
Peter Barker
c0f25a96fb AP_TECS: move include of logger to .cpp file 2019-07-09 10:57:20 +10:00
Peter Barker
ce4cdfd497 AP_SpdHgtControl: remove unused includes 2019-07-09 10:57:20 +10:00
Peter Barker
a5ff46950c AP_Soaring: move include of logger to .cpp file 2019-07-09 10:57:20 +10:00
Peter Barker
a037920de4 AP_Mount: tidy use of AP_Logger.h 2019-07-09 10:57:20 +10:00
Peter Barker
cb692c6946 APM_Control: move logger include to .cpp 2019-07-09 10:57:20 +10:00
Peter Barker
e01ea2f5f9 SITL: support a count of baros 2019-07-09 10:01:23 +10:00
Peter Barker
c283bb968b AP_Baro: support 0 detected simulated baros 2019-07-09 10:01:23 +10:00
Peter Barker
848a70acd4 AP_HAL_SITL: fix rebooting while in sensor config error loop 2019-07-09 10:01:23 +10:00
Peter Barker
7c102b90fa AP_Logger: use singletons when logging camera information 2019-07-09 09:32:39 +10:00
Peter Barker
01773d9025 AP_Camera: use singletons for relay and ahrs insead of storing references 2019-07-09 09:32:39 +10:00
Peter Barker
c8353c1c13 GCS_MAVLink: fill target system and target component in MISSION_ITEM responses 2019-07-09 09:25:06 +10:00
Peter Barker
fe8d631964 AP_HAL_SITL: ensure termination of readlink-derived progname 2019-07-08 13:18:22 +10:00
Andrew Tridgell
3b0bd67afb HAL_ChibiOS: enable CAN on Pixhawk6 2019-07-08 12:19:20 +10:00
Siddharth Purohit
76ff347026 AP_UAVCAN: remove singleton interface from slcan_router 2019-07-08 12:18:29 +10:00
Siddharth Purohit
2f153a3577 HAL_ChibiOS: remove singleton interface from slcan_router 2019-07-08 12:18:29 +10:00
Siddharth Purohit
28288a7329 BoardConfig_CAN: remove singleton interface for slcan_router 2019-07-08 12:18:29 +10:00
Siddharth Purohit
3e194903cc AP_UAVCAN: add Flow message to the sniffer test 2019-07-08 12:18:29 +10:00
Siddharth Purohit
67c925865c HAL_ChibiOS: add support for CAN on STM32H7 boards 2019-07-08 12:18:29 +10:00
Siddharth Purohit
1cd8e0e237 BoardConfig: set slcan can port to 0 as default 
This is to ensure that can bus filters are actually used
 2019-07-08 12:18:29 +10:00
Peter Barker
b123abbe90 AP_Notify: add SITL Notify display 2019-07-08 10:56:54 +10:00
Peter Barker
a61028c55d AP_HAL_ChibiOS: disable scripting if USE_FATFS=no 2019-07-08 09:55:46 +10:00
U-REDMOND\akolobov
6dd906f07f HAL_SITL: Integrating Silent Wings SITL with the sim_vehicle 2019-07-08 09:32:59 +10:00
U-REDMOND\akolobov
3330b62d3c SITL: aded support for SilentWings simulator 2019-07-08 09:32:59 +10:00
Randy Mackay
bd3d352554 AC_Avoidance: remove comment from Dijkstra's 2019-07-07 04:08:34 -07:00
Randy Mackay
655ddd4ab3 AC_Avoidance: Dijkstra's ignores invalid polygon fences 2019-07-07 04:08:34 -07:00
Randy Mackay
614b0f6dc8 AP_Math: Polygon_intersects handles unclosed polygons 2019-07-07 04:08:34 -07:00
PraiseSatan
bad5fb418d AP_RCProtocol: added ibus RX support to recieve channel data from ibus transmitters. 2019-07-07 20:49:18 +10:00
Andrew Tridgell
92783bccfa AP_NavEKF3: don't allow height datum reset when not on ground 2019-07-07 19:20:32 +10:00
Andrew Tridgell
e8d9a1fae9 AP_NavEKF2: don't allow height datum reset when not on ground 2019-07-07 19:20:32 +10:00
Andrew Tridgell
3f9e48951b AP_NavEKF3: set terrainState to zero on height datum reset 2019-07-07 19:20:32 +10:00
Andrew Tridgell
f5fd38aef2 AP_NavEKF2: set terrainState to zero on height datum reset 2019-07-07 19:20:32 +10:00
Andrew Tridgell
f3fc910abe AP_NavEKF3: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-07 19:20:32 +10:00
Andrew Tridgell
9372073f63 AP_NavEKF2: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-07 19:20:32 +10:00
Andrew Tridgell
b9a5794671 AP_NavEKF3: ensure that both AMSL and relative alt are correct after a reset 
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
 2019-07-07 19:20:32 +10:00
Andrew Tridgell
20ebb2500b AP_NavEKF2: ensure that both AMSL and relative alt are correct after a reset 
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
 2019-07-07 19:20:32 +10:00
Andrew Tridgell
a38b030c41 RC_Channel: disable kill IMU with HAL_MINIMIZE_FEATURES 2019-07-07 19:03:01 +10:00
Andrew Tridgell
8e5c0fa32b AP_InertialSensor: disable kill IMUs with HAL_MINIMIZE_FEATURES 2019-07-07 19:03:01 +10:00
Andrew Tridgell
2208689893 AP_NavEKF3: don't use disabled gyros in opticalflow takeoff detection 2019-07-07 19:03:01 +10:00
Andrew Tridgell
ddef40fa3d AP_NavEKF2: don't use disabled gyros in opticalflow takeoff detection 2019-07-07 19:03:01 +10:00
Andrew Tridgell
a45e364252 AP_Mount: don't use disabled IMUs in solo gimbal code 2019-07-07 19:03:01 +10:00
Andrew Tridgell
3dd7e7e83a AP_AHRS: only use enabled IMUs in DCM 
honor the INS_USE parameters for DCM
 2019-07-07 19:03:01 +10:00
Andrew Tridgell
09d3392aee AP_InertialSensor: zero accumulators on time step 
this zeros the delta angle and delta velocity accumulators when a
sensor is unavailable for a period of 0.1s. This prevents garbage
values being passed into the EKF when a sensor dies and then becomes
available again some time later
 2019-07-07 19:03:01 +10:00
Andrew Tridgell
3444e82ef9 AP_InertialSensor: added RC switch for killing IMUs 2019-07-07 19:03:01 +10:00
Andrew Tridgell
30d27147a8 RC_Channel: added RC switch for killing IMUs 2019-07-07 19:03:01 +10:00
Andrew Tridgell
898150e460 HAL_ChibiOS: cope with calling delay_microseconds_boost() multiple times 
needed for updated IMU wait code
 2019-07-07 19:03:01 +10:00
Andrew Tridgell
053f0cb689 AP_InertialSensor: try much harder to get all IMU samples 
this we ensures we get new data for all active IMUs on each loop,
rather than sometimes returning with some IMUs not having data.

This matters as not having a sample on an IMU for a single loop can
cause an EKF IMU failover, which will degrade the learned bias
variances

The issue is usually only seen under high load, such as requesting a
loop rate beyond what the hardware is capable of
 2019-07-07 19:03:01 +10:00
Andrew Tridgell
209bca162c AP_NavEKF3: added inactive bias learning 
this allows for biases on inactive IMUs to be learned so that an IMU
switch within an EKF lane does not cause a jump in the IMU data
 2019-07-07 19:03:01 +10:00
Andrew Tridgell
1c4c5a6850 AP_NavEKF2: learn gyro biases for inactive gyros 
this allows us to learn the gyro biases each lane would need if it had
to switch to another gyro due to a sensor failure. This prevents a
sudden change in gyro bias on IMU failure
 2019-07-07 19:03:01 +10:00
Andrew Tridgell
05bd0cb9f4 APM_Control: added decay_I() function 
used by VTOL planes to decay integrator on fixed wing components when
at very low airspeed
 2019-07-07 18:16:47 +10:00
Randy Mackay
030eab0f86 AR_WPNav: stop vehicle if OA processing fails 2019-07-07 06:46:26 +09:00
Randy Mackay
951ded1f51 AP_OAPathPlanner: report errors to caller 2019-07-07 06:46:26 +09:00
Michael du Breuil
104164d2e4 AP_Scripting: Tighten range checks on library calls 2019-07-06 09:01:13 -07:00
Peter Barker
ce45baa034 AP_NavEKF3: factor out and logging functions, reuse for 2nd core 2019-07-06 19:05:51 +10:00
Peter Barker
6a0a466f42 AP_NavEKF2: factor out and logging functions, reuse for 2nd core 2019-07-06 19:05:51 +10:00
Peter Barker
9732940220 AP_AHRS: navekf: add Log_Write access point 2019-07-06 19:05:51 +10:00
Peter Barker
f3f364de26 AP_NavEKF3: move logging in from AP_Logger 2019-07-06 19:05:51 +10:00
Peter Barker
5175d23cc1 AP_NavEKF2: move logging in from AP_Logger 2019-07-06 19:05:51 +10:00
Peter Barker
e009b7aee5 AP_Logger: move logging of EKF packets out to EKF 2019-07-06 19:05:51 +10:00
Peter Barker
c6533723de GCS_Param: correct sending of parameters of length 16 2019-07-06 18:06:17 +10:00
Andrew Tridgell
5ffb8bb546 AP_HAL: enable GPIO scripting on the Disco 2019-07-06 09:02:54 +10:00
Andrew Tridgell
2bab0efc41 HAL_Linux: implement HAL_GPIO_SCRIPT support 
this allows Linux boards to trigger an external script on GPIO
writes. This can be hooked up to relays with either RC options or
mavlink or mission items to trigger actions that can be scripted
 2019-07-06 09:02:54 +10:00
Andrew Tridgell
8a49c84d57 AP_Motors: fixed col max and min for dual heli 
fixes H_SV_MAN behaviour
 2019-07-06 08:57:18 +10:00
Andrew Tridgell
0f4c54aaa6 AP_RCProtocol: fixed a overflow in SRXL decoder 
thanks to coverity 343308 and Peter for noticing
 2019-07-06 08:53:44 +10:00
Andrew Tridgell
626c632859 SITL: fixed pitch constraint on fixed wing takeoff 
fixes issue with jet takeoff
 2019-07-05 20:12:22 +10:00
Andrew Tridgell
5bfb6ced84 AP_GPS: fixed u-blox F9 auto configuration 2019-07-05 13:31:40 +10:00
Peter Barker
502f74f0d9 AP_Logger: switch to using stderr for log structure debug 
The console output doesn't seem to appear anywhere now.
 2019-07-05 12:05:27 +10:00
Peter Barker
288952b5a2 AP_Logger: reserve W for watts as a unit 2019-07-05 12:05:04 +10:00
Peter Barker
c515d17a4a AP_ServoRelayEvents: use Relay singleton 2019-07-03 23:59:24 -07:00
Peter Barker
8e5ec84317 AP_Relay: add AP::relay() to get relay singleton 2019-07-03 23:59:24 -07:00
Rajat Singhal
82413a1528 SITL: JSBSim: Fix comments 2019-07-03 23:58:22 -07:00
Peter Barker
39b17e42d0 AP_HAL_SITL: add missing include for AP_BoardConfig.h 2019-07-04 13:57:40 +10:00
Peter Barker
ebd8170a15 GCS_MAVLink: add missing include for AP_RTC 2019-07-04 13:57:40 +10:00
Peter Barker
3d91547039 AP_Logger: add missing include for AP_RTC 2019-07-04 13:57:40 +10:00
Peter Barker
cee3d8086b AP_InternalError: move include of BoardConfig to cpp 
This breaks an include loop when building for skyviper-v2450
 2019-07-04 13:57:40 +10:00
Atxheli
7f3cb09da2 correct comment placement for second led 2019-07-04 08:36:33 +10:00
Hwurzburg
a9783de61c correct include paths, uncomment alarm pin, fix conflict with rssi 2019-07-04 08:36:33 +10:00
Hwurzburg
3e3d7b8e7f Change to "include" style for new board, fix to allow LED to be used as status indicator 2019-07-04 08:36:33 +10:00
Hwurzburg
10838387c5 Split Omnibus F4 pro and non-pro into two boards to allow pro boards to have 8 pwm outputs 2019-07-04 08:36:33 +10:00
Andrew Tridgell
5151416080 AP_NavEKF3: force first EKF lane when disarmed 
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.

This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
 2019-07-04 06:48:23 +10:00
Andrew Tridgell
567c902e75 AP_NavEKF2: force first EKF lane when disarmed 
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.

This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
 2019-07-04 06:48:23 +10:00
Tom Pittenger
bf11746da5 AP_AHRS: allow EKF_TYPE==10 to send a good status report 
Some GUIs, including DroneKit, will consider GPS locations invalid if the EKF status is not good
 2019-07-03 21:22:09 +10:00
Peter Barker
e58eae3c48 AP_Mount: remove unneeded typedefs 
Also note that one of these was incorrectly sized.
 2019-07-03 16:12:40 +09:00
Peter Barker
08b2676a8f AP_Notify: add comments explaining tonealarm tone format 2019-07-03 17:05:06 +10:00
Andrew Tridgell
2eb09b2910 SITL: simple implementation of a fast jet 
just increase the weight and the rest can be done with params
 2019-07-03 08:05:09 +10:00
Peter Barker
84eff51539 AP_Arming: remove stray comment on removed parameter 
Almost certainly a rebase issue
 2019-07-02 10:03:41 +10:00
Peter Barker
f31b7b5772 GCS_MAVLink: remove stray undef of undefined macro 2019-07-02 10:02:55 +10:00
Alexey Kozin
e5988f7153 AP_HAL_ChibiOS: fix voltage sensor connected to fmu adc 2019-07-02 06:42:11 +10:00
Peter Barker
7b52c41287 AP_Compass: fix example by instantiating serial_manager 2019-07-01 19:11:03 +10:00
Peter Barker
ef2589738d AP_NavEKF3: use beacon singleton 2019-07-01 07:20:58 +09:00
Peter Barker
82df167ad4 AP_NavEKF2: use beacon singleton 2019-07-01 07:20:58 +09:00
Peter Barker
d9c30f489f AP_Logger: use beacon singleton 2019-07-01 07:20:58 +09:00
Peter Barker
2bcaaf5aaf AP_AHRS: remove handling of beacon 2019-07-01 07:20:58 +09:00
Peter Barker
04ebb9de0b AP_Airspeed: use send_to_active_channels for airspeed_autocal 2019-06-29 16:04:26 +10:00
bugobliterator
7d4a758059 hwdef: fix default battery monitor pins for CubeOrange 2019-06-28 14:18:11 +10:00
bugobliterator
71ee4d573f AP_BattMonitor: add battery pin config for CubeOrange 2019-06-28 14:18:11 +10:00
Michael du Breuil
cfa54d4ca4 AP_Module: update example baro include 2019-06-27 14:56:21 +10:00
Michael du Breuil
ca65b214af AP_TECS: Include needed AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
99ff84168c AP_Terrain: Remove unneeded includes 2019-06-27 14:56:21 +10:00
Michael du Breuil
e43605cc9b AP_Airspeed: Remove a number of unneeded top level includes 2019-06-27 14:56:21 +10:00
Michael du Breuil
a6623bfad3 AP_HAL_SITL: Fix missing include for logger.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
b7bca441e5 SITL: Fix a number of includes that were coming in via AP_Airspeed 2019-06-27 14:56:21 +10:00
Michael du Breuil
1226eb825a AP_AHRS: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
1a7502b413 AP_VisualOdom: Remove uneeded include 2019-06-27 14:56:21 +10:00
Michael du Breuil
7a03b8faac AP_InertialNav: Remove undeeded includes 2019-06-27 14:56:21 +10:00
Michael du Breuil
9b162563d6 AP_Advanced_Failsafe: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
b624f6f008 AP_NavEKF3: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
f04e47fc17 AP_NavEKF2: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
6385e3ceac AP_TempCalibration: Include needed AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
9ed3242c06 AP_Tuning: Reduce header scope 2019-06-27 14:56:21 +10:00
Michael du Breuil
18e979fd4f GCS_MAVLink: Include needed AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
631b4380e1 AP_OSD: Include needed AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
6480786ab2 AP_Mount: Cleanup SoloGimalEKF headers further 2019-06-27 14:56:21 +10:00
Michael du Breuil
eeca59d1ef AP_Arming: Include needed AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
2dcbe5a49b AP_ADSB: Include needed AP_Baro.h 2019-06-27 14:56:21 +10:00
Peter Barker
61e261caf5 AP_Soaring: remove definition of 'N' macro in favour of scoped variable 2019-06-27 14:40:44 +10:00
Peter Barker
54ba686855 AP_InternalError: add bit for asking for a non-existant gcs backend 2019-06-27 07:54:45 +10:00
Michael du Breuil
67898d7320 AP_FrSky_Telem: Don't statically allocate the statustext_queue 
This saves 280 bytes of RAM
 2019-06-26 11:59:41 +10:00
Michael du Breuil
f955a4e4d5 GCS_MAVLink: Don't retain a FrSky instance if we aren't using it 
Saves 96 bytes of RAM
 2019-06-26 11:59:41 +10:00
Michael du Breuil
59e62ca2fc AP_FrSky_Telem: Make init return false if we failed to init 2019-06-26 11:59:41 +10:00
Peter Barker
278ac5e6ed GCS_MAVLink: correct deferred body timing debug 2019-06-25 19:59:49 +10:00
Peter Barker
feddaabc42 GCS_MAVLink: handle out-of-time to send messages in parent class 2019-06-25 10:29:40 +10:00
Andrew Tridgell
88111ef81a AP_BattMonitor: reset failsafe flags when we reset battery remaining 2019-06-25 09:56:25 +10:00
Andrew Tridgell
f28df4dff1 GCS_MAVLink: support MAV_CMD_BATTERY_RESET command 2019-06-25 09:56:25 +10:00
Andrew Tridgell
11518857b6 AP_BattMonitor: added reset_remaining() API 
used to allow battery swap before takeoff
 2019-06-25 09:56:25 +10:00
Peter Barker
a55c40949b GCS_MAVLink: remove pointless protocol parameter to setup_uart 2019-06-25 09:47:08 +10:00
Peter Barker
ca449cd979 GCS_MAVLink: stop pointlessly passing serial manager around 2019-06-25 09:47:08 +10:00
Peter Barker
45fab82345 GCS_MAVLink: eliminate redundant static pointer to serialmanager 2019-06-25 09:47:08 +10:00
Randy Mackay
0b62641a46 AC_Avoidance: fix Dijkstra's iteration through polygon fence points 2019-06-25 00:32:18 +08:00
Peter Barker
afd63c05ec AP_Tuning: ignore tuning selector switch unless valid RC input 2019-06-25 00:31:54 +08:00
Peter Barker
288b13868b AP_Tuning: debounce RC input 2019-06-25 00:31:54 +08:00
Andrew Tridgell
b6dbb8f464 GCS_MAVLink: always show AHRS healthy with EKF type 10 
this fixes an issue noticed by Marco with xplane
 2019-06-25 00:28:45 +08:00
Andrew Tridgell
5ac2aad2f8 AP_Mission: fixed valgrind error on writing mission items 2019-06-24 18:19:14 +08:00
Andrew Tridgell
0ca71ba725 AP_HAL: added get_last_armed_change() Util function 2019-06-21 11:40:53 +10:00
Andrew Tridgell
8fc8bc4d84 AP_Arming: notify logging system of an arming failure 2019-06-21 11:40:53 +10:00
Andrew Tridgell
dd3eec2a38 AP_Logger: persist logging for 15s after disarm or arming failure 
this will provide useful information in logs on disarms in flight or
reasons for arming failure
 2019-06-21 11:40:53 +10:00
Randy Mackay
df6c666740 AP_Common: add AP_ExpandingGeneric to reduce code size 2019-06-20 15:09:23 +09:00
Randy Mackay
4ef3005d2c AP_Common: add AP_ExpandingArray delete 2019-06-20 15:09:23 +09:00
Randy Mackay
578023483c AC_Avoidance: Dijkstra's expanding arrays use 32 elements per chunk 2019-06-20 15:09:23 +09:00
Randy Mackay
2cb89d9a02 AP_Common: expanding array uses realloc 
also make chunk_size const and recommend factor of 2
also reduce top level array's initial size to 32 elements
 2019-06-20 15:09:23 +09:00
Randy Mackay
da645c32ff AC_Avoidance: Dijkstra's specifies expanding array chunk sizes 
also add check that number of polygon points is less than 255
 2019-06-20 15:09:23 +09:00
Randy Mackay
073ce8c3db AP_ExpandingArray: add class description and remove default constructor 
also made the following changes:
replaced delete with free
renamed chunk_ptr typedef to chunk_ptr_t
 2019-06-20 15:09:23 +09:00
Randy Mackay
48a7f468bf AC_Avoidance: AP_OADijkstra and OAVisGraph use AP_ExpandingArray 2019-06-20 15:09:23 +09:00
Randy Mackay
528e7c60b0 AP_Common: add AP_ExpandingArray class 2019-06-20 15:09:23 +09:00
Peter Barker
1ff3cd442d AP_Mission: fix example by instantiating a GCS object 2019-06-20 13:40:28 +10:00
Peter Barker
c11da6a85d GCS_MAVLink: routing example: use GCS_Dummy in place of custom GCS 2019-06-20 11:41:19 +10:00
Jaaaky
061b4b7e70 AP_Airspeed: convert to unix style end-of-line 2019-06-19 16:39:09 +09:00
Andrew Tridgell
767968026a AP_AdvancedFailsafe: added docs for AFS output pins 2019-06-18 17:20:55 +01:00
Michael du Breuil
75c62154b5 AP_HAL_SITL: Add missing override declarations 2019-06-18 00:06:32 -07:00
Michael du Breuil
a34ac14ec5 AP_HAL_ChibiOS: Make BOARD_FLASH_SIZE available at configure time 2019-06-18 00:06:32 -07:00
Michael du Breuil
0a7cf77de4 AP_AHRS: Update function descriptions in header 2019-06-18 00:06:32 -07:00
Michael du Breuil
0ed3c547fd AP_Scripting: Disable by default, fix a nullable type, update README 2019-06-18 00:06:32 -07:00
Peter Barker
ccbf3234f7 AP_HAL_SITL: return RC protocol being decoded 2019-06-18 11:35:38 +10:00
Peter Barker
a9c4f1d0d5 AP_HAL_Linux: return RC protocol being decoded 2019-06-18 11:35:38 +10:00
Peter Barker
1f4de871da AP_HAL_ChibiOS: return RC protocol being decoded 2019-06-18 11:35:38 +10:00
Peter Barker
92111eea61 AP_HAL: require HALs implement rcin.protocol() to return RC protocol 2019-06-18 11:35:38 +10:00
Peter Barker
7bca6d5ec0 AP_Logger: log RC protocol each time a log is opened 2019-06-18 11:35:38 +10:00
Peter Barker
0963957b31 GCS_MAVLink: correct GCS_Dummy firmware version 2019-06-18 10:54:01 +10:00
Peter Barker
c39a622653 GCS_MAVLink: take sw_version from AP_FWVersion struct 2019-06-18 10:54:01 +10:00
Peter Barker
b48c729bb1 AP_Common: add os_sw_version to AP_FWVersion 2019-06-18 10:54:01 +10:00
Peter Barker
8f8851271a RC_Channel: add mode-changing options to Plane RC channel options 2019-06-18 10:48:47 +10:00
Peter Barker
a2c4bfea0c GCS_MAVLink: use send_to_active_channels for parameters 2019-06-18 10:27:56 +10:00
vierfuffzig
7780e8ed00 AP_HAL_ChibiOS: add support for AIO and OSD board types 
this allows init on board variant without onboard baro
 2019-06-18 10:10:22 +10:00
Michael du Breuil
6e0cceff0d AP_Common: Remove extra comparison from longitude_scale() 2019-06-18 10:09:09 +10:00
Peter Barker
4e5842a150 AP_Common: add initialised() method to Location 
Sometimes code paths are crossed when they shouldn't be.  This method
can help in the short term if a codepath is calling methods on a
Location when it is not initialised, but generally a vehicle should be
calling position_ok() and other methods rather than this one.
 2019-06-18 09:07:56 +09:00
Michael du Breuil
4aa33bec49 AP_AHRS: Remove AP_GPS.h from AP_AHRS.h 2019-06-18 10:02:05 +10:00
Michael du Breuil
197804412a APM_Control: Fix AP_GPS include 2019-06-18 10:02:05 +10:00
Michael du Breuil
a09ead5819 AP_ADSB: Fix AP_GPS include 2019-06-18 10:02:05 +10:00
Michael du Breuil
3194b073ca AP_AdvancedFailsafe: Use AP_GPS singleton 2019-06-18 10:02:05 +10:00
Michael du Breuil
157a3b1e34 AP_Airspeed: Fix AP_GPS.h include and use the singleton 2019-06-18 10:02:05 +10:00
Michael du Breuil
c70107cabb AP_Arming: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Michael du Breuil
889d9b7348 AP_Frsky: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00