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30215 Commits

Author SHA1 Message Date
Peter Barker ecde9f8c3f AP_HAL_ChibiOS: make HAL_FLASH_PROTECTION a boolean, stop checking for definition 2022-08-16 08:10:16 +10:00
Andrew Tridgell b6186db24e AP_OpenDroneID: report if we lose operator location 2022-08-15 12:45:06 +10:00
Andrew Tridgell a9d97d90c4 hwdef: removed APP_DESCRIPTOR settings 
not needed
 2022-08-15 09:18:34 +10:00
Andrew Tridgell 8b9570975b hwdef: added AP_OPENDRONEID_ENABLED to hwdef-bl.dat 2022-08-15 09:18:34 +10:00
Andrew Tridgell a8ab7c3865 HAL_ChibiOS: auto-define AP_CHECK_FIRMWARE_ENABLED for AP_Periph 2022-08-15 09:18:34 +10:00
Andrew Tridgell f7e4b5c72d AP_Vehicle: use AP_CheckFirmware 2022-08-15 09:18:34 +10:00
Andrew Tridgell aeb6d2ab89 AP_CheckFirmware: added library for checking firmware ID and CRC 2022-08-15 09:18:34 +10:00
Andrew Tridgell 68f05c7386 AP_OpenDroneID: added AP_OpenDroneID_config.h 2022-08-15 09:18:34 +10:00
Andrew Tridgell 673fed92c7 AP_OpenDroneID: fixed checking of payload space 
this fixes DroneCAN operation without a mavlink channel set
 2022-08-15 08:54:48 +10:00
Peter Barker d092e767ea AP_Common: correct gtests 
AFAIK it's invalid to new a zero-length array.
 2022-08-15 07:39:39 +10:00
Andrew Tridgell 2a95ced697 GCS_MAVLINK: pass OPEN_DRONE_ID_SYSTEM_UPDATE to library 2022-08-14 22:02:43 +10:00
Andrew Tridgell b52c280704 AP_OpenDroneID: check available tx space and fixed message rates 
ensure we don't lose messages due to lack of serial TX space, and
fixed update rate of LOCATION and SYSTEM_UPDATE msgs
 2022-08-14 22:02:43 +10:00
Andrew Tridgell 0fc6c813a1 AP_OpenDroneID: implement OPEN_DRONE_ID_SYSTEM_UPDATE 
this is a bandwidth efficient way to update the OPEN_DRONE_ID_SYSTEM message data when there is limited uplink bandwidth. Testing on real vehicles shows that with RFD900x radios at an air data rate of 125kbit/s with OPEN_DRONE_ID messages with 1Hz update (as required by FAA RemoteID standard) that there is significant impact on the ability of the GCS to give commands to the flight controller. For example, I got a high degree of packet loss in downloading parameter pre-flight, and many/most in-flight commands failed from the GCS.
By using this message we can use the minimum required bandwidth for updating operator location while remaining FAA RemoteID standard compliant
 2022-08-14 22:02:43 +10:00
Peter Barker 26d3ffc27d GCS_MAVLink: correct INS_generic example 
segfaults due to lack of singletoin objects in examples
 2022-08-13 20:53:29 +10:00
Peter Barker a4773413e4 AP_InertialSensor: correct INS_generic example 
segfaults due to lack of singletoin objects in examples
 2022-08-13 20:53:29 +10:00
Andy Piper 3521090dd5 AP_HAL_ChibiOS: correct HAL_SPI_CHECK_CLOCK_FREQ build error 2022-08-12 20:53:36 +10:00
Andy Piper a6312ac893 AP_InertialSensor: correctly detect bad frames on regular ICM42xxx 2022-08-12 20:53:36 +10:00
Andy Piper 2b7bb84838 AP_HAL_ChibiOS: increase ICM42xxx SPI clock to 16Mhz on MatekH743 2022-08-12 20:53:36 +10:00
Andy Piper 221ab9752e AP_InertialSensor: synchronise fifo reads on the ICM42xxx 2022-08-12 20:53:36 +10:00
Peter Barker 48fd37cd25 AP_DroneID: add missing element to constructor 2022-08-11 21:06:04 +01:00
Peter Barker 67a87800f9 AP_OpenDroneID: correct compilation under gcc 7.5.0 2022-08-11 13:31:59 +10:00
Peter Barker f345c16fda AP_Math: add dignostic message for SCurve internal error 2022-08-10 22:18:42 +10:00
Peter Barker 5b3a6daa7b AP_Mission: rename contains_terrain_relative->contains_terrain_alt_items 
can we rename "constains_terrain_relative" to "contains_terrain_alt"? No big deal of course but "terrain_alt" is what we use in Copter so it's more likely to show up in searches.
 2022-08-10 18:04:22 +10:00
Peter Barker 6709c6d72d AP_Arming: rename contains_terrain_relative->contains_terrain_alt_items 
can we rename "constains_terrain_relative" to "contains_terrain_alt"? No big deal of course but "terrain_alt" is what we use in Copter so it's more likely to show up in searches.
 2022-08-10 18:04:22 +10:00
Peter Barker 1c7e2f5094 AP_HAL_SITL: correct bind-value SIM_RC_FAIL handling 
If SITL is not receiving any sitl rc input (so _sitl_rc_in.recv(...) is allways returns -1 then the bind-values code would never be crossed so the RC input values would remain at their initialisation values rather than honouring the SIM_RC_FAIL setting which says they should go to bind values (notably throttle-to-950)
 2022-08-10 17:14:21 +10:00
bugobliterator fce49232b2 hwdef: disable power reset on peripheral line 2022-08-10 17:06:29 +10:00
Andrew Tridgell cdf8cad801 AP_GPS: fixed undulation for DroneCAN GPS 2022-08-10 05:04:18 +10:00
Andrew Tridgell 74a66ede95 AP_OpenDroneID: prevent sending of lost transmitter msg too fast 2022-08-10 05:04:18 +10:00
Andrew Tridgell 0e037c99f3 hwdef: support moving baseline yaw with Holybro G4 CAN GPS 2022-08-09 21:05:08 +10:00
Andrew Tridgell 6c3de20569 hwdef: support moving baseline GPS yaw on MatekL431-Periph 2022-08-09 21:04:37 +10:00
Shiv Tyagi 998119d011 SITL: fix var naming for precland device center 2022-08-09 18:00:11 +10:00
Andrew Tridgell 23744819dc hwdef: added two OpenDroneID enabled builds 2022-08-09 14:37:08 +10:00
Andrew Tridgell 9ce11159b0 AP_UAVCAN: support OpenDroneID 2022-08-09 14:37:08 +10:00
Joshua Henderson ed47b10e0c AP_Arming: add OpenDroneID Mandatory Arming Check 2022-08-09 14:37:08 +10:00
Roel Schiphorst 3bd792295c GCS_MAVLINK: add OpenDroneID messages 2022-08-09 14:37:08 +10:00
Joshua Henderson c52ae2edb4 AP_Vehicle: add OpenDroneID library 2022-08-09 14:37:08 +10:00
Roel Schiphorst d346633996 AP_OpenDroneID: add OpenDrone ID library 2022-08-09 14:37:08 +10:00
Joshua Henderson 378dff5568 AP_GPS: added get_undulation support 2022-08-09 14:37:08 +10:00
Peter Barker 541cfa022b AP_Terrain: fix bad prearms-pass-when-they-shouldn't issue 
The squares surrounding the current location were only checked when we went to send a terrain request.  This means it was possible that:
 - the number of pending requests could go to zero
 - prearm checks would pass
 - vehicle arm is attempted by the user (or a script, or ....)
 - the code would call AP_Terrain::send_requests which would create more pending requests
 - the arming sequence would fail

It's also possible for the arming to succeed, and then we're flying in violation of the intended prearm checks.

Doing things in the update function has the additional advantage of making things more efficient as we can push out terrain requests more often.
 2022-08-09 14:31:14 +10:00
Peter Barker c2d91a3bdb AP_Mission: mark mission as changed upon mission clear 2022-08-09 14:31:14 +10:00
Peter Barker 50fb56a74f AP_Mission: memoise result of contains_terrain_relative 
527 items takes ~2200us on CubeOrange which is way too long
 2022-08-09 14:31:14 +10:00
Peter Barker 4c674b64fb AP_Terrain: correct wait-for-terrain prearm check 
looking at pending is insufficient as we may have more mission items to check to see if they need other pieces of terrain.  That is, terr_pending can go to zero momentarily and then go back to a non-zero number as Terrain's update method checks the mission and rally libraries for more terrain requirements.

Without this patch the prearm checks can momentarily pass, allowing the vehicle to arm.  The vehicle could hit a terrain failsafe later if it doesn't manage to get the data while in flight.
 2022-08-09 14:31:14 +10:00
Peter Barker d688e6068b AP_Terrain: move terrain prearm checks to AP_Terrain 2022-08-09 14:31:14 +10:00
Peter Barker 96ef34acac AP_Arming: move terrain prearm checks to AP_Terrain 2022-08-09 14:31:14 +10:00
Peter Barker 3bcd4fa22a AP_Arming: make terrain checks common between Copter and Plane 2022-08-09 14:31:14 +10:00
Andrew Tridgell bad0120d3c AP_Mission: added contains_terrain_relative() 
used in plane arming check
 2022-08-09 14:31:14 +10:00
Iampete1 2d06261be3 AP_Gripper: apply auto close to all backends. 2022-08-09 13:23:35 +10:00
Leonard Hall 4bf622dbaf AP_Gripper: Add feedback when already in state 2022-08-09 13:23:35 +10:00
Leonard Hall 64d69c5977 AP_Gripper: Servo Gipper enhancments 2022-08-09 13:23:35 +10:00
Tamas Nepusz 1ae299b717 RC_Channel: reserve RX aux functions 248-249 for Skybrush 2022-08-09 13:22:07 +10:00