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Commit Graph

26443 Commits

Author SHA1 Message Date
Andrew Tridgell
17193d3175 AP_Common: fixed Location class for wrap at 180 degrees longitude 
this allows us to fly missions across the date line
 2021-07-04 08:19:11 +10:00
Leonard Hall
83b4616a7b AC_PosControl: fixup ekf reset 2021-07-04 08:19:11 +10:00
Andrew Tridgell
92e407a0bc AP_IRLock: convert SITL backends to double precision position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
a82890c0db AC_PrecLand: convert SITL backends to double precision position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
f45ef772f3 AP_Math: added matrix3 tofloat and todouble 2021-07-04 08:19:11 +10:00
Andrew Tridgell
214d9ad0f8 AP_Common: added double methods for SITL 2021-07-04 08:19:11 +10:00
Andrew Tridgell
b0f2545a9f SITL: convert to double precision for positions 2021-07-04 08:19:11 +10:00
Andrew Tridgell
d2e94a49b7 AC_WPNav: convert circle, loiter and WPNav to double position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
0af57de50c AC_AttitudeControl: convert poscontrol to use double position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
e6a1cee08f AC_PID: convert AC_P_2D to double 2021-07-04 08:19:11 +10:00
Andrew Tridgell
c2211db91d AP_Math: implement double versions of some position control methods 2021-07-04 08:19:11 +10:00
Andrew Tridgell
d40475cf7b AP_Math: define postype_t and vectors 2021-07-04 08:19:11 +10:00
Andrew Tridgell
683f7949fd HAL_SITL: implement initial GPS position offsets 2021-07-04 08:19:11 +10:00
Andrew Tridgell
2f2d1c985a AP_Math: added tofloat() and todouble() methods to Vector2 and Vector3 2021-07-04 08:19:11 +10:00
Andrew Tridgell
f73564f593 SITL: added SIM_INIT_LAT_OFS and SIM_INIT_LON_OFS 
these give an initial lat/lon offset to the GPS in SITL so we can end
up with an origin a long way from the final position
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
e191c48d9f AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-07-04 08:19:11 +10:00
Andrew Tridgell
889bd2547f AP_Math: cleanups from Leonards feedback 2021-07-04 08:19:11 +10:00
Andrew Tridgell
6bde607aaa AC_AttitudeControl: fixed comment 2021-07-04 08:19:11 +10:00
Andrew Tridgell
848cac37c2 AP_Math: cleanup API comments on control code 2021-07-04 08:19:11 +10:00
Andrew Tridgell
52d20cedad AC_WPNav: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
a4220b1584 AC_AttitudeControl: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
6e99028d69 AP_Math: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
070a004f26 AP_Math: make vector3 xy() method return a reference 2021-07-04 08:19:11 +10:00
Siddharth Purohit
5a113cd8ad AP_PiccoloCAN: fix missing _telem_sem 2021-07-04 08:19:11 +10:00
Oliver
72ceee5539 AP_PiccoloCAN: Explicit initialization of AP_HAL::CANFrame instances 2021-07-04 08:19:11 +10:00
Oliver
ffbe038790 AP_PiccoloCAN: Remove unncessary floating point operations 2021-07-04 08:19:11 +10:00
Oliver
e9d8945930 AP_PiccoloCAN: Update code to match new esc telemetry / logging architecture 2021-07-04 08:19:11 +10:00
Oliver Walters
5a9c899f4b AP_PiccoloCAN: Increase number of supported channels from 12 -> 16 2021-07-04 08:19:11 +10:00
Oliver Walters
1a37b51ff7 AP_PiccoloCAN: Record servo telemetry information to log 
- Servo position
- Servo speed
- Servo force / torque
- Servo duty cycle

Updated servo protocol file to accommodate extra variable data
 2021-07-04 08:19:11 +10:00
Oliver Walters
c8ba301bb2 AP_PiccoloCAN: Send servo commands for active channels 
- For each channel, check if a non-motor function is assigned
- If so, send the function value out to the servo
 2021-07-04 08:19:11 +10:00
Oliver Walters
77417677d3 AP_PiccoloCAN: Framework for CAN servo outputs 2021-07-04 08:19:11 +10:00
Oliver Walters
9af4fa46d3 AP_PiccoloCAN: Add support for CBS servo protocol 
- Adds protocol files for the servo protocol
- Generated using Protogen tool
 2021-07-04 08:19:11 +10:00
Siddharth Purohit
37673762f9 AP_UAVCAN: Use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
58f09029ad SRV_Channel: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
4e15531c87 GCS_MAVLink: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
3895942282 AP_ToshibaCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
67dbbc34b7 AP_RangeFinder: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
d6ac420055 AP_PiccoloCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
67278d54ae AP_Notify: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
274ce7b516 AP_KDECAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
5014c65276 AP_HAL_SITL: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
9ed015f1c7 AP_HAL_Linux: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
f8d313cfd6 AP_HAL_ChibiOS: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
c640f0d3d9 AP_HAL: split into HAL_CANMANAGER_ENABLED and HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
17459128bf AP_HAL: Use HAL_ENABLE_CANMANAGER instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
fc1bc6b852 AP_Filesystem: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
b32f687a6b AP_CANManager: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Leonard Hall
ee9ae3e570 AC_AttitudeControl: AC_PosControl: Init and stopping point fixes 2021-07-04 08:19:10 +10:00
bugobliterator
086f184c36 AP_HAL_ChibiOS: allow embedded bootloader to be excluded 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-07-04 08:19:10 +10:00
Peter Barker
d2c195b2a5 AP_Motors: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
4bdb245244 AP_Logger: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
ff91bca2e2 AP_LandingGear: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
131bec811a AP_InertialSensor: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
e76d78e8b3 AP_GPS: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
9340042e31 AP_BoardConfig: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
76d2cb7282 AP_Baro: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
fef68262ae AP_Arming: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
9690d78095 AP_ADSB: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
cc121b5b6d AC_Fence: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
fbd93bd535 AC_Avoidance: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
0c271e8d06 AC_AutoTune: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
2712556fca RC_Channel: add rc channel option to disable all airspeed sensors 2021-07-04 08:19:10 +10:00
Peter Barker
6d91950d4e AP_Airspeed: add rc channel option to disable all airspeed sensors 2021-07-04 08:19:10 +10:00
Paul Riseborough
28a55e8478 AP_NavEKF3: Remove unused class variable rngBcnTimeout 2021-07-04 08:19:10 +10:00
Paul Riseborough
18e949d035 AP_NavEKF3: Ensure postion timeout flag and timer is always reset 2021-07-04 08:19:10 +10:00
Paul Riseborough
43e84c4061 AP_NavEKF3: Fade each vert vel variance clip count over 1 second 2021-07-04 08:19:10 +10:00
Paul Riseborough
7bd944ef3e AP_NavEKF3: Clean up initialisation of boolean array 2021-07-04 08:19:10 +10:00
Paul Riseborough
4b88b2ccec AP_NavEKF3: Remove unwanted line 2021-07-04 08:19:10 +10:00
Paul Riseborough
2565f3917c AP_NavEKF3: Protect against collapse of velocity and position variances 2021-07-04 08:19:10 +10:00
Paul Riseborough
e5c34172c1 AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata 2021-07-04 08:19:10 +10:00
Paul Riseborough
2161e59369 AP_NavEKF3: Fix bug preventing height reset if badIMUdata 2021-07-04 08:19:10 +10:00
Paul Riseborough
5a793e77c2 AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata 2021-07-04 08:19:10 +10:00
Leonard Hall
b73182db3c AC_AttitudeControl: AC_PosControl: change force_descend to ignore_descent_limit 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
7c939c5c00 RC_Channel: add const in member functions 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
14719826c8 AP_Arming: add flight mode conflict check 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
956f7d5e30 RC_Channel: add flight mode conflict check 2021-07-04 08:19:10 +10:00
Leonard Hall
20158ddf5f AC_AttitudeControl:AC_PosControl: vibration failsafe fix 2021-07-04 08:19:10 +10:00
CallanDaniel
16f7348f96 AP_AHRS: add semaphore around set_home() 
added semaphore around set_home() to avoid thread racing
 2021-07-04 08:19:10 +10:00
CallanDaniel
d1a228b086 AP_Scripting: add get_origin and set_home bindings 
added bindings and example scripts for set_home and get_origin
 2021-07-04 08:19:10 +10:00
Josh Henderson
c881fac1de AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying 2021-07-04 08:19:10 +10:00
Josh Henderson
678fe0480a AP_NavEKF2: Fix #17789 core's EKF origin altitude different if flying 2021-07-04 08:19:10 +10:00
Josh Henderson
b85afc0adc AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf3
 2021-07-04 08:19:10 +10:00
Josh Henderson
4e119ddeec AP_NavEKF2: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf2
 2021-07-04 08:19:10 +10:00
Michael du Breuil
ebab492700 AP_RangeFinder: Rearrange parameters to reduce memory usage 
Saves 4 bytes per instance, and with 10 instances this gives us an extra
40 bytes of RAM
 2021-07-04 08:19:10 +10:00
Michael du Breuil
2b6c9b931c AP_BattMonitor: Rearrange battery parameters to reduce memory usage 
Saves 8 bytes per Params instance, which we have 9 of on every vehicle,
for a total saving of 72 bytes
 2021-07-04 08:19:10 +10:00
Michael du Breuil
9e989bfd44 AP_Mission: Cleanup the header to reduce flash cost 
Removes unneeded set's of memory that is already zero'd. It also changes
_flags to be all bool to match the actual usage, and removes the width
specifiers from them. This increases the RAM cost of AP_Mission by 4
bytes, but saves on flash. The RAM cost was eliminated by rearranging
members.
 2021-07-04 08:19:10 +10:00
Michael du Breuil
b2d2c6db69 AP_Airspeed: Remove unneeded initilization 
We pre zero all memory
 2021-07-04 08:19:10 +10:00
Andy Piper
9c7e2f5914 AP_HAL_ChibiOS: add 1Hz update_channel_masks() 
Send dshot commands in update function
 2021-07-04 08:19:10 +10:00
Andy Piper
32b172669c SRV_Channel: call rcout->update_channel_masks() at 1Hz 2021-07-04 08:19:10 +10:00
Andy Piper
6e35b458c5 AP_Arming: remove call to rcout->prepare_for_arming() 2021-07-04 08:19:10 +10:00
Andy Piper
c995ff1452 AP_HAL: add 1Hz update_channel_masks() 2021-07-04 08:19:10 +10:00
Nicola Grossenbacher
37b6233d94 AP_Compass: added probe method for MMC3416 compass 2021-07-04 08:19:10 +10:00
Iampete1
712e3afd21 AP_BattMoniter: log in Ah and Wh, add percentage to log 2021-07-04 08:19:10 +10:00
Iampete1
c5dba34e4c AP_Logger: add Wh units 2021-07-04 08:19:10 +10:00
Iampete1
be1cca1368 AP_BatteryMoniter: fix mah to wah conversion 2021-07-04 08:19:10 +10:00
Pierre Kancir
ba4634a775 AP_Common: add more unitttests 2021-07-04 08:19:10 +10:00
Peter Barker
b7c2b56a66 AP_Motors: tidy frame description strings 
Before: AP: Frame: TRI/
After: AP: Frame: TRI
 2021-07-04 08:19:10 +10:00
Leonard Hall
32a174c453 AC_WPNav: AC_Loiter: Remove extra accel limit 2021-07-04 08:19:10 +10:00
Leonard Hall
ab8f3c21ec AC_AttitudeControl: AC_PosControl: Remove extra accel limit 2021-07-04 08:19:10 +10:00
Peter Barker
bf8f327938 SITL: increase servo_filter array size 
used for plane-dspoiler frame
 2021-07-04 08:19:10 +10:00