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26913 Commits

Author SHA1 Message Date
Andrew Tridgell 9a262d19ed AP_GPS: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Andrew Tridgell b450b59acc AP_ESC_Telem: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Andrew Tridgell bbfd2e962e AP_BattMonitor: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Andrew Tridgell 166d13d8c3 AP_Baro: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Andrew Tridgell 5dab362286 AP_AHRS: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Andrew Tridgell f3181ae0f6 AC_PrecLand: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Andrew Tridgell 5af59fb555 AC_Avoidance: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Andrew Tridgell 662f7a0191 AP_Logger: added LOG_FILE_RATEMAX parameter 
this allows for a global "maximum rate in Hz for streaming messages"
setting
 2021-08-03 10:23:36 +10:00
Hwurzburg b69308858a AP_Vehicle: correct OSD horizon for VTOL modes and TRIM_PITCH_CD in FW modes 2021-08-03 10:09:28 +10:00
Hwurzburg b2a100f41b AP_OSD: correct OSD horizon for VTOL modes and TRIM_PITCH_CD in FW modes 2021-08-03 10:09:28 +10:00
Josh Henderson 289264f1dd AP_BattMonitor: move analog parameters to subgroupvarptr 2021-08-03 09:36:26 +10:00
Josh Henderson e37efa45de AP_BattMonitor: add SMBus address param and create SMBus subtree 2021-08-03 09:36:26 +10:00
Iampete1 612ea70e5b SITL: add JSON Master 2021-08-03 09:22:19 +10:00
Iampete1 41c167ba89 SITL: add SIM_JSON_MASTER param 2021-08-03 09:22:19 +10:00
Iampete1 4505dce64d SITL: SIM_JSON: add no time sync to JSON format 2021-08-03 09:22:19 +10:00
Iampete1 5ff0f42372 AP_HAL_SITL: add slave JSON instances 2021-08-03 09:22:19 +10:00
Peter Barker 383807e334 AP_AHRS: move AOA state to private in frontend 
AP_AHRS: make update_AOA_SSA non-virtual
 2021-08-02 20:55:04 +10:00
Tatsuya Yamaguchi 43da962d34 AC_Avoid: use proximity_avoidance_enabled function 2021-08-02 08:52:41 +09:00
Tatsuya Yamaguchi 04deabbacb AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled 2021-08-02 08:52:41 +09:00
Andrew Tridgell 47854ac4b7 APM_Control: lower the tuning trigger threshold 
this allows for slower stick movements during tuning

This is based on analysing the log from kir850 on rcgroups
 2021-07-31 10:01:14 +10:00
Peter Barker 944b82a7be AP_Compass: make is_calibrating const 2021-07-30 17:37:08 +10:00
Peter Barker d131cf01d3 AP_AHRS: use compass reference rather than pointer 2021-07-30 17:37:08 +10:00
Peter Barker d5ea202c20 AP_Compass: mark COMPASS_ENABLED as @RebootRequired 2021-07-30 12:19:42 +10:00
Peter Barker 431c186306 GCS_MAVLink: use AP::compass().available in place of enabled() 2021-07-30 12:19:42 +10:00
Peter Barker c351150a46 AP_Compass: use AP::compass().available in place of enabled() 2021-07-30 12:19:42 +10:00
Peter Barker 78e63a8852 AP_NMEA_Output: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Peter Barker c34284b6eb AP_NavEKF3: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Peter Barker dec4ba86b6 AP_NavEKF2: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Peter Barker dc82487fae AP_Mount: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Peter Barker b5b4ec94c9 AP_DAL: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Peter Barker 1d9bfdf8dd AP_Compass: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Peter Barker ca58aa9c5f AP_AHRS: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Peter Barker 74859095a9 AP_DAL: add and use compass.available() 
Covers both being enabled and initialised
 2021-07-30 12:19:42 +10:00
Peter Barker 658c978c9d AP_Compass: add and use compass.available() 
Covers both being enabled and initialised
 2021-07-30 12:19:42 +10:00
Peter Barker 8bbed968de AP_Compass: remove unused variable 2021-07-30 12:19:42 +10:00
Tatsuya Yamaguchi 4f12c94346 AC_Avoidance: handle upward proximity enable and disable 2021-07-30 12:04:50 +10:00
Peter Barker e4bceb2417 AP_AHRS: move AOA/SSA to AP_AHRS, don't recalc on fetch 2021-07-30 11:23:06 +10:00
Andrew Tridgell 4df62ce719 HAL_ChibiOS: added mRo-M10095 G491 peripheral 2021-07-30 10:20:52 +10:00
Andrew Tridgell 4fce1ae092 HAL_ChibiOS: added G491 support 2021-07-30 10:20:52 +10:00
Andrew Tridgell 0e7c2a27a6 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-07-30 06:51:21 +10:00
Iampete1 bb624074dd APM_Control: remove outdated tuning guide 2021-07-28 18:26:31 +10:00
Iampete1 4b28f53644 AP_Scripting: add change alt frame method to location userdata 2021-07-28 18:19:23 +10:00
Iampete1 88d4ada96d AP_Vehicle: #ifdef scripting specific functions 2021-07-28 18:18:32 +10:00
Iampete1 e5d4620372 AP_Compass: update orientation param values 2021-07-28 18:09:05 +10:00
Iampete1 9cceb2d5c1 AP_AHRS: update orientation param values 2021-07-28 18:09:05 +10:00
Iampete1 22100dd37c AP_Math: move to 32 digit rotation constants 2021-07-28 18:09:05 +10:00
Iampete1 78e025af39 AP_Compass: add Calibrator index test 2021-07-28 18:09:05 +10:00
Iampete1 5ecfd3fbce AP_Math: remove unused ROTATION_MAX_AUTO_ROTATION define 2021-07-28 18:09:05 +10:00
Iampete1 36a80d46e3 AP_Compass: support auto orientation for new rotations 2021-07-28 18:09:05 +10:00
Iampete1 dbd95f8163 AP_Math: make duplicate rotations clear 2021-07-28 18:09:05 +10:00
Iampete1 080f6c295c AP_Math: examples: rotations: add test for duplicate rotations. 2021-07-28 18:09:05 +10:00
Iampete1 f8220a8adf AP_Math: tests: test quaternion rotation is the same as vector 2021-07-28 18:09:05 +10:00
Iampete1 6c5424aad6 AP_Math: add roll +- 45 rotations 2021-07-28 18:09:05 +10:00
Andrew Tridgell 4b9311d87d AP_Motors: added new MOT_PWM_TYPE=8 for PWM range 
this allows multirotors to set individual PWM ranges per motor. This
is needed for heliquads flying as multirotors
 2021-07-28 17:40:40 +10:00
Hwurzburg 8b7b4d6796 AP_HAL_Chibios: Change RC in to RCINT to free a DMA channel 2021-07-28 17:24:06 +10:00
Peter Barker f557d41145 AP_AHRS: rotate quaternions into vehicle body frame 
DCM was having it both ways depending on whether it was
primary/secondary.

These are mostly uses for reporting, in which case you would expect the
quaternion to match the eulers.
 2021-07-28 17:20:28 +10:00
Peter Barker ad89e9777c GCS_MAVLink: send primary quat in ATTITUDE_QUATERNION 2021-07-28 17:20:28 +10:00
Peter Barker 118d3f085f AP_Math: quaternion: add from_euler(Vector3&) 2021-07-28 17:20:28 +10:00
Andrew Tridgell 0f3dc195b6 AP_InertialSensor: fixed build warning 2021-07-27 19:50:21 +10:00
Andrew Tridgell aa0a77049e AP_Compass: fixed build warning on g++ 10.2 2021-07-27 19:50:21 +10:00
Peter Barker 5160b4f6ca AP_AHRS: move AP_NMEA_Output to AHRS frontend 2021-07-27 16:55:35 +10:00
Iampete1 7d3fa242d7 RC_Channel: add AUTO RTL option 2021-07-27 09:00:11 +09:00
Iampete1 32b3c8ea08 AP_Mission: caculate distance to do_land_start with no location correctly 2021-07-27 09:00:11 +09:00
Iampete1 cea54c48cd AP_BattMoniter: add Auto RTL option 2021-07-27 09:00:11 +09:00
Iampete1 9047b19e59 AP_Scripting: bindings for CANFrame and ScriptingCANBuffer 2021-07-27 09:04:17 +10:00
Iampete1 44276be3a1 AP_Scripting: add CANSensor and manaul bindings to load. 2021-07-27 09:04:17 +10:00
Iampete1 e29dd0e7e7 AP_Scripting: add CAN read and write examples 2021-07-27 09:04:17 +10:00
Iampete1 8c7cad8663 AP_Scripting: generator support depends keyword on AP_Object 2021-07-27 09:04:17 +10:00
Iampete1 432793a18a AP_Arming: support scripting CAN driver 2021-07-27 09:04:17 +10:00
Iampete1 bd36053abc AP_CANManager: support scripting CAN driver 2021-07-27 09:04:17 +10:00
mateksys 08cd1171bf Tools: added MatekF765-SE to autobuild 2021-07-26 18:13:46 +10:00
Hwurzburg 207de0ed4d AP_Landing: remove DeepStall from 1MB boards 2021-07-26 16:19:12 +10:00
Hwurzburg 8ec4b77cd7 AP_SerialManager: relabel protocol 29 to avoid confusion with CRSF RC 2021-07-26 14:40:43 +09:00
Andrew Tridgell cbb2ba8d62 SRV_Channel: added doc of SERVOn_FUNCTION=-1 for GPIO 2021-07-26 15:12:17 +10:00
Peter Barker 2cdc4f5698 AP_HAL: add basic tests for ringbuffer 2021-07-26 15:10:01 +10:00
Andrew Tridgell 90aed6f338 AP_HAL: fixed get_size() on ObjectBuffer to be consistent with set_size() 2021-07-26 15:10:01 +10:00
bugobliterator 3d03979b16 GCS_MAVLink: add support for mavlink out on AP_Periph 2021-07-26 13:45:43 +10:00
Isaac Alich 35beae6037 AP_HAL_ChibiOS: Make final tweaks to MambaF405US-I2C 2021-07-25 17:44:22 +10:00
Isaac Alich bdcb32456e AP_HAL_ChibiOS: Add support for MambaF405US-I2C based boards 2021-07-25 09:28:17 +10:00
MHefny 280788bfdf AP_HAL_LINUX:toggle gpio port 2021-07-24 09:16:08 -07:00
Andrew Tridgell d95f6c8c2f AP_Arming: added button arming check 2021-07-24 18:18:57 +10:00
Andrew Tridgell d8b8facdd0 HAL_ChibiOS: fixed off by 1 bug in GPIO check 2021-07-24 18:18:57 +10:00
Andrew Tridgell ef93165f28 AP_Button: added arming check 2021-07-24 18:18:57 +10:00
Andrew Tridgell 45cf726a4b APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-07-24 15:32:55 +10:00
bugobliterator 98f5eb28db AP_RangeFinder: use separate register_driver method while contructing CAN Driver 2021-07-23 16:01:29 +10:00
bugobliterator 59242739c7 AP_EFI: use separate register_driver method while contructing CAN Driver 2021-07-23 16:01:29 +10:00
bugobliterator e553acd3e3 AP_BattMonitor: use separate register_driver method while contructing CAN Driver 2021-07-23 16:01:29 +10:00
bugobliterator 6e61867e7f AP_CANSensor: create a separate register driver method 2021-07-23 16:01:29 +10:00
Andrew Tridgell c5ef672fb5 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-07-23 14:47:14 +10:00
Tatsuya Yamaguchi a3e176284d AP_Scripting: add AP_InertialSensor binding 2021-07-23 09:32:04 +09:00
Peter Barker 88d49effe7 AP_AHRS: move variable init into variable declaration 2021-07-23 09:55:14 +10:00
Peter Barker 15e5831002 AP_AHRS: remove unused get_expected_mag_field method 
there's get_mag_field_NED on AP_AHRS....
 2021-07-23 09:55:14 +10:00
Peter Barker 5b372dae06 AP_AHRS: stop storing gyro drift rate as variable 
This is constant and is just folded into whereever it is used.
 2021-07-23 09:55:14 +10:00
Peter Barker a4d98a457b AP_AHRS: move init of dcm state into variable declarations 2021-07-23 09:55:14 +10:00
Peter Barker 4f9201a160 AP_AHRS: move parameters back into AP_AHRS.h 
metadata collection kind of dies otherwise
 2021-07-22 21:21:40 +10:00
Peter Barker d351b7c7dc AP_AHRS: fix includes for moved files 2021-07-22 21:21:40 +10:00
Peter Barker b7d4166b28 AP_AHRS: rename AP_AHRS_NavEKF.* to AP_AHRS.* 2021-07-22 21:21:40 +10:00
Peter Barker 97b394a5ef AP_AHRS: rename AP_AHRS.* to AP_AHRS_Backend.* 2021-07-22 21:21:40 +10:00
Paul Riseborough 17ead96250 AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults 
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
 2021-07-22 18:20:45 +10:00
Paul Riseborough aa6ac4a874 AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-22 18:20:45 +10:00
Paul Riseborough 8fd1e98701 AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 0088b0f3fe AP_NavEKF3: Revert EK3_BETA_MASK parameter extension 
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 59d31cc7d5 AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 5fa3ed5755 AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-22 18:20:45 +10:00
Paul Riseborough 7497590363 AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-22 18:20:45 +10:00
Paul Riseborough 3e123c0a30 AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-22 18:20:45 +10:00
Paul Riseborough e3bdbcd8ea AP_NavEKF3: Make bad IMU status more persistent 2021-07-22 18:20:45 +10:00
Paul Riseborough 8f1b98a0cb AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-22 18:20:45 +10:00
Paul Riseborough ccc95d8726 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-22 18:20:45 +10:00
Paul Riseborough ed61287410 AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-22 18:20:45 +10:00
Paul Riseborough 62d70a628e AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-22 18:20:45 +10:00
Paul Riseborough 5eb7751682 AP_NavEKF3: Adjust gyro bias process noise tuning 
NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
 2021-07-22 18:20:45 +10:00
Paul Riseborough 72dc998509 AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-22 18:20:45 +10:00
Paul Riseborough 0f2661c31c AP_NavEKF3: Retune IMU process noise 
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 171eed5d85 AP_NavEKF3: Make gyro bias learning less noisy 2021-07-22 18:20:45 +10:00
Paul Riseborough ce4d13091a AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-22 18:20:45 +10:00
Paul Riseborough 6242ce19fa AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-22 18:20:45 +10:00
Paul Riseborough bb9eed28a9 AP_NavEKF3: Update covariance prediction equations 2021-07-22 18:20:45 +10:00
Paul Riseborough 7b8e935880 AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-22 18:20:45 +10:00
Andrew Tridgell 0048167f16 SITL: added SIM2 message 
useful for EKF debugging
 2021-07-22 10:19:02 +10:00
Randy Mackay e9f6a5afdf AR_WPNav: integrate PathPlanner returning path_planner_used 
Rover does not need to handle the results differently based on the planner used
 2021-07-22 08:51:41 +09:00
Randy Mackay 83e85c7125 AC_WPNav_OA: minor formatting and comment fixes 2021-07-22 08:51:41 +09:00
Randy Mackay cf797dfca9 AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler 
also bendy ruler uses pos controller
 2021-07-22 08:51:41 +09:00
Randy Mackay dd4b3295f4 AC_Avoidance: BendyRuler returned destination are shortened 2021-07-22 08:51:41 +09:00
Randy Mackay faadaafd53 AC_Avoidance: bendy ruler format fixes 2021-07-22 08:51:41 +09:00
Randy Mackay 6d6324a328 AC_Avoidance: OA_PathPlanner returns which planner was used 
this replaces get_bendy_type
 2021-07-22 08:51:41 +09:00
Randy Mackay d7d41aea38 AC_Avoidance: BendyRuler returns which type was used 
also make serach_xxx_path methods private
 2021-07-22 08:51:41 +09:00
Randy Mackay 70c6694798 AP_Common: add Location::linear_interpolate_alt 2021-07-22 08:51:41 +09:00
Randy Mackay 7daacfd63e AP_Math: vector2f gets float.h include 2021-07-22 08:51:41 +09:00
Randy Mackay 52bb8112b3 AP_Math: control.h needs vector2/3 includes 2021-07-22 08:51:41 +09:00
Andrew Tridgell 95cbb69d3c AP_Parachute: added CHUTE_OPTIONS 
allow for servo release forever to cope with high altitude drops where
servo may be frozen
 2021-07-22 07:49:14 +10:00
Andrew Tridgell f91e995e98 AP_Arming: check pin arming_checks 2021-07-22 07:48:12 +10:00
Andrew Tridgell 8660e98b57 AP_Parachute: added arming_checks() 2021-07-22 07:48:12 +10:00
Andrew Tridgell 09ad43dea3 AP_Relay: added arming_checks 2021-07-22 07:48:12 +10:00
Andrew Tridgell d827b35e57 AP_RPM: implement arming_checks() 2021-07-22 07:48:12 +10:00
Andrew Tridgell 9b78fa7fb8 HAL_SITL: implement valid_pin() 2021-07-22 07:48:12 +10:00
Andrew Tridgell d302d3c90a HAL_ChibiOS: implement valid_pin() 2021-07-22 07:48:12 +10:00
Andrew Tridgell 4dcff3d900 AP_HAL: added valid_pin() GPIO API 2021-07-22 07:48:12 +10:00
Andrew Tridgell a0ef4f76e2 AP_RangeFinder: replaced Pixhawk with more appropriate wording in docs 2021-07-22 07:48:12 +10:00
Andrew Tridgell 6888ddc4cc AP_LeakDetector: replaced Pixhawk with more appropriate wording in docs 2021-07-22 07:48:12 +10:00
Andrew Tridgell b6dbc618dc AP_Compass: replaced Pixhawk with more appropriate wording in docs 2021-07-22 07:48:12 +10:00
Andrew Tridgell fdd294b0f3 AP_BoardConfig: replaced Pixhawk with more appropriate wording in docs 2021-07-22 07:48:12 +10:00
Andrew Tridgell b0fc5c3041 AP_WindVane: replaced PixhawkAUX1 with AUX1 
not everything is a pixhawk
 2021-07-22 07:48:12 +10:00
Andrew Tridgell 8b388f80c5 AP_WheelEncoder: replaced PixhawkAUX1 with AUX1 
not everything is a pixhawk
 2021-07-22 07:48:12 +10:00
Andrew Tridgell 9691581c81 AP_RSSI: replaced PixhawkAUX1 with AUX1 
not everything is a pixhawk
 2021-07-22 07:48:12 +10:00
Andrew Tridgell 095ab7c9d7 AP_RPM: replaced PixhawkAUX1 with AUX1 
not everything is a pixhawk
 2021-07-22 07:48:12 +10:00
Andrew Tridgell 25057d26a0 AP_WindVane: default pins to -1 2021-07-22 07:48:12 +10:00
Andrew Tridgell d0a26b6dc6 AP_WheelEncoder: default pins to -1 2021-07-22 07:48:12 +10:00
Andrew Tridgell 958843c0a9 AP_RSSI: default RSSI pin to -1 2021-07-22 07:48:12 +10:00
Andrew Tridgell 7eaab583d4 AP_RPM: stop defaulting RPM_PIN to 54 2021-07-22 07:48:12 +10:00