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35367 Commits

Author SHA1 Message Date
Andrew Tridgell e3744e8069 AP_Compass: workaround hardware bug in IST8310 whoami 
the WAI (whoami) register is writeable. Not only is it writeable, but
the written value is persistent across a power cycle. You have to
remove power for about 30s for it to finally go back to the right
default value of 0x10

this makes using WAI as a test for finding a IST8310 problematic. The
best we can do is send a soft reset which will reset it to default for
us to then check
 2024-05-16 10:59:52 +10:00
Andy Piper b00a2facfb AC_AutoTune: zero out D_FF during twitching 2024-05-16 10:59:52 +10:00
Clyde McQueen 2c5ea71c38 AP_RangeFinder: fix Lua timeout 2024-05-16 10:59:52 +10:00
Andy Piper d27e724df8 AP_HAL_ChibiOS: add SDMODELV2 2024-05-16 10:59:52 +10:00
Iampete1 13c5ddc4a3 AC_Avoid: add "BACKZ_SPD" vertical backup speed limit parameter 2024-05-16 10:59:51 +10:00
Andy Piper 92ff18da1b AP_HAL: make NeoPixel high-low proportions match for 0 and 1 2024-05-16 10:59:51 +10:00
Andy Piper 7781cbb0a3 AP_HAL_ChibiOS: correct GPS output on MambaH743v4 2024-05-16 10:59:51 +10:00
Andrew Tridgell 9b78e008cf AP_Scripting: fixed float register save/restore in setjmp/longjmp 
the register save must happen before the setjmp() call, which means
outside of the LUAI_TRY() macro. We also should be saving all 32
floating point registers
 2024-05-16 10:59:51 +10:00
Andy Piper 41dc94e03a AP_IOMCU: allow up to 16 channels of servo data to be sent to the iomcu 2024-05-01 15:47:27 +09:00
Brad Bosch 91521037d3 GCS_MAVLink: Avoid serial passthrough buffer exhausted/lost data 
Just don't read more than we can write.
 2024-05-01 15:47:27 +09:00
Peter Barker 11cdc1d26f AP_Arming: force user to ack crashdump or get prearm failure 2024-04-30 20:29:20 +09:00
Randy Mackay ad0c6a8a30 AP_HAL_ChibiOS: correct CUAV-Nora periph power comment 2024-04-30 20:29:20 +09:00
Randy Mackay 3b3eca6dda AP_HAL_ChibiOS: correct CUAV-X7 periph power comment 2024-04-30 20:29:20 +09:00
Randy Mackay ef5d3f1ba7 AP_HAL_ChibiOS: Durandal peripheral power on at startup 2024-04-30 20:29:20 +09:00
Randy Mackay 86adc78fdc AP_HAL_ChibiOS: Pixhawk5X peripheral power on at startup 2024-04-30 20:29:20 +09:00
Randy Mackay 2c870b0440 AP_HAL_ChibiOS: Pixhawk6C peripheral power on at startup 2024-04-30 20:29:20 +09:00
Randy Mackay f5cd5e4c39 AP_HAL_ChibiOS: Pixhawk6X peripheral power on at startup 2024-04-30 20:29:20 +09:00
Iampete1 a9b653d33e Filter: HarmonicNotchFilter: convert harmonics as a bitmask 2024-04-30 20:29:20 +09:00
Iampete1 8ec92052b1 AP_Param: add convert_bitmask_parameter_width method 2024-04-30 20:29:20 +09:00
Andy Piper 2eac45c4bf AP_IOMCU: account for possibility of SBUS_OUT in PWM structures 2024-04-30 20:29:20 +09:00
Andy Piper a7d93582bc AP_HAL_ChibiOS: iFlight BLITZ Mini F745 2024-04-30 20:29:20 +09:00
Andy Piper d1a41dd87b AP_HAL_ChibiOS: iFlight Blitz F745 2024-04-30 20:29:20 +09:00
Randy Mackay 578e5a0193 AP_DAL: visual odom get_delay_ms return fix 2024-04-30 20:29:20 +09:00
Randy Mackay 4b9a4cad65 RC_Channel: add mount LRF enable aux function 2024-04-30 20:29:20 +09:00
Randy Mackay b7e4aecc99 AP_Mount: add set_rangefinder_enable for ViewPro 2024-04-30 20:29:20 +09:00
Tim Tuxworth 1da6100907 AP_Mount: Do not override default mode when first connecting to RC 2024-04-30 20:29:20 +09:00
Andy Piper e3b8a7b4bd AP_HAL_ChibiOS: fixups for FoxeerF405v2 2024-04-30 20:29:20 +09:00
Paul Riseborough 9cfd082b5c AP_NavEKF3: Change yaw source to stop compass use when calibrating 2024-04-30 20:29:20 +09:00
Andrew Tridgell 0c4a1f86d7 hwdef: the RM3100 should run at max 1MHz on SPI bus 2024-04-30 20:29:20 +09:00
Andy Piper 47eb646de4 AP_HAL_ChibiOS: allow H7RF to build 2024-04-30 20:29:20 +09:00
Andy Piper 2cd660408a AP_HAL_ChibiOS: fixup FoxeerF405v2 build 2024-04-30 20:29:20 +09:00
Randy Mackay ce448c4228 AP_NavEKF3: define Yaw alignment min GPS speed per vehicle 2024-04-30 20:29:20 +09:00
Randy Mackay c549794c05 RC_Channel: integrate AP_CAMERA_SET_CAMERA_SOURCE_ENABLED 2024-04-30 20:29:20 +09:00
Randy Mackay e89721e428 AP_Mission: support set-camera-source 2024-04-30 20:29:20 +09:00
Randy Mackay c42230211d AP_Mount: add set_camera_source support 2024-04-30 20:29:20 +09:00
Randy Mackay 9f8e081813 AP_Camera: support set-camera-source mavlink command 2024-04-30 20:29:20 +09:00
Randy Mackay 987f095f9f GCS_MAVLink: forward set-camera-source to AP_Camera 2024-04-30 20:29:20 +09:00
Ryan Friedman 5405dff072 AP_ExternalAHRS: Only use GPS data when populating GPS fields 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-04-30 20:29:20 +09:00
Ryan Friedman 28975fff27 AP_ExternalAHRS: Check backend pre-arm before origin 
* This allows the backend to report more detailed errors
* Before this, many pre-arm errors were hidden by origin failure
* If pre-arm could report multiple errors, that would be ideal

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-04-30 20:29:20 +09:00
Ryan Friedman ed92abc1b4 Save flash, reduce code duplication 
* Add generic health and time utils
* Fix bug only checking first GNSS system
* Use common logging struct
* Improve pre-arm log checks

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-04-30 20:29:20 +09:00
Ryan Friedman 39ea2b9a13 AP_ExternalAHRS: Don't send init message till booted up 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-04-30 20:29:20 +09:00
Ryan Friedman a8c16131bf AP_ExternalAHRS: Use state watching instead 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-04-30 20:29:20 +09:00
Ryan Friedman 6caf427dd2 AP_ExternalAHRS: Provide warning for init failure 
* If the device hasn't initialized in 5 seconds, give a warning

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-04-30 20:29:20 +09:00
Ryan Friedman 29fde1d6bd AP_ExternalAHRS: Use filter data to populate EKF status report 
* Variances vs uncertainties may still be off
* Requires enabling the following packets in SensorConnect:
  * Position Uncertainty (LLH)
  * Velocity Uncertainty (NED)

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-04-30 20:29:20 +09:00
Ryan Friedman a8255f6c23 AP_HAL: Fix incorrect return type 
* This caused position quantization errors in the MicroStrain7

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-04-30 20:29:20 +09:00
Ryan Friedman f733f700ef AP_DDS: Fix incorrect port param name 
* We want to support TCP and UDP in the future, so make sure we call it
  UDP here

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-04-30 20:29:20 +09:00
Andy Piper dbfcd6c678 AP_HAL_ChibiOS: FoxeerF405v2 2024-04-30 20:29:20 +09:00
Randy Mackay f28e0fc1d1 AC_PosControl: always update yaw targets 2024-04-30 20:29:20 +09:00
davidsastresas efd832425c AP_Mount: fix gimbal-device-attitude-status yaw frame flag 2024-04-30 20:29:20 +09:00
Randy Mackay 06a79ad4f5 AP_Mount: get-gimbal-device-flags reports lock state 2024-04-30 20:29:20 +09:00
Randy Mackay 1e047a9d32 AP_Mount: do-gimbal-manager-pitch-yaw can set lock state 
Co-authored-by: davidsastresas <davidsastresas@gmail.com>
 2024-04-30 20:29:20 +09:00
Randy Mackay 925fed10fe AP_Mount: clarify yaw_lock comments 2024-04-30 20:29:20 +09:00
Randy Mackay a1b12a86b2 AP_Mount: RC targeting mode lock state from previous mode 
This leads to smoother transitions between RC and GCS control
 2024-04-30 20:29:20 +09:00
Andrew Tridgell 02af8ac143 AP_RCProtocol: fixed underflow wrap in GHST 2024-04-08 12:08:53 +09:00
Andrew Tridgell 55724c2a63 AP_RCProtocol: added random data test 
this triggers the CRSF crash bug that was just fixed
 2024-04-08 12:08:53 +09:00
Andrew Tridgell a617f3d617 AP_RCProtocol: fixed crc memory range error in CRSF 
this fixes a crash bug that caused a watchdog for Henry on a
F765-Wing. The bug happens with corrupt serial data causing an
underflow in the length argument to the crc call
 2024-04-08 12:08:53 +09:00
FoxSuzuran 49464303bb AP_Proximity: add RPLidarC1 support 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-03-22 15:36:19 +09:00
Tom Pittenger 9fcdace5f5 AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-22 15:36:19 +09:00
Tim Tuxworth 6d5b043226 AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-22 15:36:19 +09:00
Tim Tuxworth b9cd488cd8 Chibios: CubeRed - change NET_ENABLED to NET_ENABLE 2024-03-22 15:36:19 +09:00
Andrew Tridgell 93a06789b9 HAL_ChibioOS: fixed FDCAN -> CAN labels 
we use CAN1_RX not FDCAN1_RX in our MCU files
 2024-03-22 15:36:19 +09:00
Andrew Tridgell ce490163fe AP_Logger: avoid logging dma.txt for normal builds 
logging of dma.txt currently does no good as the first time you read
it you get no content. It then enables statistics in the shared_dma
code which makes all DMA operations slower, so all we are doing is
making DMA slower
 2024-03-22 15:36:19 +09:00
Randy Mackay fc705cf229 AP_Mount: viewpro fix for swapped ahrs roll pitch 2024-03-22 15:36:19 +09:00
root 9242fd9397 AP_VideoTX:add additional freq bands(Band X) 2024-03-22 15:36:19 +09:00
Andrew Tridgell 9a19cf81e3 HAL_ChibiOS: fixed a cache corruption issue on H7 
This fixes a bug introduced in this PR:

https://github.com/ArduPilot/ardupilot/pull/25900

the bug is that when we don't go via the bouncebuffer on H7 we were
also skipping the cache invalidate/flush ops. This caused data
corruption for filesystem operations, particularly noticible as lua
scripts failing to load with parse errors or log corruption
 2024-03-22 15:36:19 +09:00
Minderring 6d7c267955 hwdef: added MicoAir405v2 2024-03-22 15:36:19 +09:00
Andy Piper 355e834acd AP_HAL_ChibiOS: Orqa F405 Pro 2024-03-22 15:36:19 +09:00
Ryan Friedman a1e40c4216 AP_ExternalAHRS: SIM_MicroStrain support quaternion attitude 
* This replaces IMU orientation
* Fixed some usage docs

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-22 15:36:19 +09:00
Ryan Friedman 2a78b59526 AP_ExternalAHRS: Populate orientation from filter 
* Populating AHRS orientation from IMU was not correct

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-22 15:36:18 +09:00
Iampete1 312061b76c AP_Filesystem: crc32: Ensure checksum value is initialized 2024-03-14 09:33:55 +09:00
Andrew Tridgell 431ef6b4ba AP_InertialSensor: fixed accel cal simple to remove unused IMUs 
when we change EAHRS_SENSORS to remove use of IMU from an external
AHRS we need to be able to zero the accel and gyro offsets to get
prearms to pass
 2024-03-14 09:33:55 +09:00
Andy Piper 0426686c92 AP_HAL_ChibiOS: always normalize ESC channel when using iomcu 2024-03-14 09:33:55 +09:00
Andy Piper a1b9897b37 AP_HAL_ChibiOS: use standard FPV config for SpeedyBeeF405WING 2024-03-14 09:33:55 +09:00
Randy Mackay 2680b1188d AP_HAL_ChibiOS: CubeRedSecondary IMU orientation fix 
Also remove duplicate RC_IN serial protocol
 2024-03-14 09:33:55 +09:00
Andrew Tridgell 884c3eeb34 AP_HAL_ChibiOS: remove iomcu dshot from Pixhawk1-1M and add to Pixhawk1-bdshot 
add support for removing ROMFS from hwdef
 2024-03-14 09:33:55 +09:00
Andrew Tridgell dba0497541 hwdef: fixed Pixhawk1-1M build 2024-03-14 09:33:55 +09:00
Peter Barker e9ef9c04a5 GCS_MAVLink: make rally/fence item conversion methods public 2024-03-14 09:33:55 +09:00
Peter Barker 95046e617e AP_FileSystem: permit upload of fence/rally via ftp 2024-03-14 09:33:55 +09:00
subashchandar 809a76d419 AP_HAL_ChibiOS: hwdef: Add new hardware pixflamingo f7 2024-03-14 09:33:55 +09:00
Randy Mackay 7df12b4d22 AP_HAL_ChibiOS: AP_Periph does not use AP_VisualOdom 2024-03-14 09:33:55 +09:00
Randy Mackay fc5f6bcd69 AP_Scripting: EKF source switching for ExtNav and optflow 2024-03-14 09:33:55 +09:00
Randy Mackay 67a289686f AP_Scripting: add VisualOdom bindings 2024-03-14 09:33:55 +09:00
Randy Mackay 855aa66bd0 AP_DDS: send quality of zero to AP_VisualOdom 2024-03-14 09:33:55 +09:00
Randy Mackay d7837c7098 GCS_MAVLink: send Odometry quality to VisualOdom 2024-03-14 09:33:55 +09:00
Randy Mackay 4fcd8b1068 AP_VisualOdom: use Odometry quality 2024-03-14 09:33:55 +09:00
Randy Mackay 94150368ee SITL: vicon send odometry with quality of 50 2024-03-14 09:33:55 +09:00
Randy Mackay a2bc0ca858 SITL: vicon param descriptions 2024-03-14 09:33:55 +09:00
Andrew Tridgell da052f4a10 AP_Scripting: add file system crc32 binding 2024-03-14 09:33:55 +09:00
Andrew Tridgell f8767d6443 AP_Arming: added arming check for fence storage 2024-03-14 09:33:55 +09:00
Andrew Tridgell 1dfa76b1e5 AC_Fence: allow for fence storage on microSD 2024-03-14 09:33:55 +09:00
Andrew Tridgell 42ba8ac8d6 AP_BoardConfig: added BRD_SD_FENCE 
allow for fence storage on microSD
 2024-03-14 09:33:55 +09:00
Andrew Tridgell 421f3f20dd RC_Channel: disable GPS on external AHRS with GPS_DISABLE 2024-03-14 09:33:55 +09:00
Andrew Tridgell 9931e77a65 AP_AHRS: don't use accel/gyro from ExternalAHRS unless enabled 2024-03-14 09:33:55 +09:00
Pulak Gautam abe4e1632e AP_ExternalAHRS: added missing #if AHRS logging 2024-03-14 09:33:55 +09:00
Andrew Tridgell 324205e37a AP_ExternalAHRS: check for origin in pre-arm check 2024-03-14 09:33:55 +09:00
Andrew Tridgell 4810c81b25 AP_ExternalAHRS: make get_accel() and get_gyro() bool 2024-03-14 09:33:55 +09:00
Andrew Tridgell 1f1392ddbc AP_ExternalAHRS: added support for GPS disable and fwd flight 
allow backends to determine if we are in fixed wing flight and/or the
GPS is disabled by the user
 2024-03-14 09:33:55 +09:00
Andrew Tridgell 2895fd3bec AP_ExternalAHRS: added EAHRS_LOG_RATE and common logging 
common logging for all EAHRS backends
 2024-03-14 09:33:55 +09:00
Iampete1 b6fe7ea25f AP_Gernerator: IE 2400: MAV_SEVERITY level depends on error code 2024-03-14 09:33:55 +09:00
Andrew Tridgell 5646cfbd57 SITL: fixed the vehicle type of the simulated ship 
this was broken by https://github.com/ArduPilot/ardupilot/pull/23763

we need to look for other places where we have assumed the MAVLink
field orderin in recent changes
 2024-03-14 09:33:55 +09:00