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37033 Commits

Author SHA1 Message Date
koehlert
9beca76f44 GCS_MAVLink: fix includes to ap_message 
"GSC_config.h" is needed for HIGHRES_IMU_ENABLED flag.
 2024-09-11 08:57:24 +09:00
Andy Piper
bb2249f766 AC_AttitudeControl: record latest gyro value and time used for logging 
move Write_Rate() to AC_AttitudeControl
move RATE log structure to AC_AttitudeControl
 2024-09-10 16:33:04 +01:00
Andy Piper
c7b0dfc915 AC_AutoTune: Write_Rate() moved to AC_AttitudeControl 2024-09-10 16:33:04 +01:00
Andy Piper
4f4e822d88 AP_AHRS: move Write_Rate() to AC_AttitudeControl 
move RATE log structure to AC_AttitudeControl
 2024-09-10 16:33:04 +01:00
xianglunkai
c40422cde3 AP_Proximity_DroneCAN: fix code stype 2024-09-10 23:36:44 +10:00
Peter Barker
154229006a AP_MSP: avoid nullptr dereference on bad rcmap 2024-09-10 22:00:50 +10:00
Peter Barker
9cbb494092 RC_Channel: avoid nullptr dereference on bad rcmap value entry 2024-09-10 22:00:50 +10:00
Randy Mackay
aa65a2ab54 AP_Mount: siyi supports camera-thermal-range 2024-09-10 20:59:49 +09:00
Randy Mackay
6f2a88f707 AP_Camera: support send-thermal-range 2024-09-10 20:59:49 +09:00
Randy Mackay
2db7a9520a GCS_MAVLink: support camera-thermal-range 2024-09-10 20:59:49 +09:00
Thomas Watson
aca624486d AP_DroneCAN: DNAServer: don't "allocate" broadcast ID 
While technically legal, it's unlikely to have been tested and an
allocatee might do silly things. Also makes the logic a bit more clear
and improves the failure message.
 2024-09-10 12:35:04 +10:00
Thomas Watson
5a1c825ea2 AP_DroneCAN: DNAServer: clean up and optimize allocation 2024-09-10 12:35:04 +10:00
Thomas Watson
4427cbee71 AP_DroneCAN: DNAServer: avoid clearing node ID during allocation 
Not necessary and wastes flash.
 2024-09-10 12:35:04 +10:00
Thomas Watson
854b769cfe hwdef: remove non-ublox GPSes from MatekL431-Periph 
Saves enough flash to get it building again (11K now free). These
backends are default for other boards and so are built in CI.
 2024-09-10 12:30:23 +10:00
Peter Barker
222a26ee20 AP_Scripting: tweak conditions for scripting-requires-filesystem 
AP_FILESYSTEM_READING_ENABLED isn't quite right as we can't read scripts from @SYS.
 2024-09-10 11:47:37 +10:00
Peter Barker
78f0175e20 GCS_MAVLink: reject SET_MESSAGE_INTERVAL commands with p3 set 
this is going to be used for changing the rate of a specific instance of a message at some stage

we have to reject it for now so that when the index is used the GCS is told that their message is invalid in this older version of the autopilot
 2024-09-10 11:43:52 +10:00
olliw42
3c9965f5e5 AP_DroneCAN: set protocol in tunnel.Targetted message according to protocol parameter 2024-09-10 11:41:59 +10:00
Andy Piper
8dee817acf AP_AHRS: log attitude and attitude target at full resolution in degrees 2024-09-10 10:54:55 +10:00
Andrew Tridgell
05fbc4767d SRV_Channel: added lift_release 
for releasing a balloon or other lift device
 2024-09-10 10:15:34 +10:00
Iampete1
b1fe1f18d4 AP_Airspeed: healthy: check enabled first for instance range check 2024-09-10 09:48:31 +10:00
Andrew Tridgell
cf45dbf284 AP_NavEKF2: fixed return of common origin 
when common origin is set we should return that, not backends private
origin
 2024-09-10 09:28:50 +10:00
Andrew Tridgell
be5ecab686 AP_AHRS: added common origin logic 
this aligns the origin between EKF2, EKF3 and ExternalAHRS, making for
smooth transitions between AHRS backends in flight
 2024-09-10 09:28:50 +10:00
Andrew Tridgell
91a5cfea6b AP_ExternalAHRS: added set_origin() call 
and remove code that aligns origin to AHRS, this will be handled by
the AHRS common origin logic
 2024-09-10 09:28:50 +10:00
Andrew Tridgell
3444de06b1 AP_NavEKF2: allow setOrigin when using GPS 
this allows for use of a common origin between backends, and aligns
with EKF3 behaviour
 2024-09-10 09:28:50 +10:00
Peter Barker
777aab6e0c AP_Scripting: no warning if no ./scripts and no real filesystem 
it is possible to build for boards without storage (so no Posix, no Fatafs), but still have scripts in ROMFS.

In this case we will use the backend AP_Filesystem_backend base class when doing file operations.  This will alway fail to open directories, so when we try to load scripts from SCRIPTS_DIRECTORY it will always fail.

This leads to a warning being emitted:

Lua: State memory usage: 2796 + 5227
AP: Lua: open directory (./scripts) failed
AP: hello, world
Time has wrapped

Which isn't great.

Detect we are working on this filesystem and don't warn.
 2024-09-10 09:10:49 +10:00
Peter Barker
61de480f62 AP_AHRS: log DCM errrp and erryaw into DCM message 2024-09-09 15:17:15 +10:00
Andrew Tridgell
9726e8e218 Filter: only update notch on init if fixed 2024-09-09 09:29:32 +10:00
Andy Piper
a8575e0646 Filter: ensure harmonic notch filters are always working 2024-09-09 09:29:32 +10:00
junan
4ee5b0ea12 AP_HAL_Linux: keep "dfd" open util fsync is done. 
Since we want to do a fsync on "dfd", it can not be closed before that.

Signed-off-by: junan <junan76@163.com>
 2024-09-09 09:28:51 +10:00
Tatsuya Yamaguchi
253d98dd53 RC_Channel: use SourceSetSelection enum class 2024-09-08 10:02:29 +10:00
Tatsuya Yamaguchi
a7f9abcff9 GCS_MAVLink: use SourceSetSelection enum class 2024-09-08 10:02:29 +10:00
Tatsuya Yamaguchi
29b9157a20 AP_Scripting: use SourceSetSelection enum class 2024-09-08 10:02:29 +10:00
Tatsuya Yamaguchi
f58d88d144 AP_AHRS: use SourceSetSelection enum class 2024-09-08 10:02:29 +10:00
Tatsuya Yamaguchi
83c544f792 AP_NavEKF3: use SourceSetSelection enum class 2024-09-08 10:02:29 +10:00
Tatsuya Yamaguchi
23ce7cc416 AP_NavEKF: define SourceSetSelection enum class and use it for clarity 2024-09-08 10:02:29 +10:00
Peter Barker
62dc5280ba AP_Parachute: remove AUX_FUNC entries based on feature defines 2024-09-08 00:55:43 +10:00
Peter Barker
b09e546fce RC_Channel: remove AUX_FUNC entries based on feature defines 2024-09-08 00:55:43 +10:00
Andrew Tridgell
3dd44dd8e0 GCS_MAVLink: zero signing key structure for valgrind 
the signing key structure is not marked as packed, which means it has
a 4 byte padding between the uint32_t magic and the uint64_t
timestamp. This gets written to the database and valgrind warns about
a write of uninitialised bytes. It is harmless as when the structure
is read the field is not used
 2024-09-07 19:23:01 +10:00
Eric
a1a4c63881 hwdef: add mpu6000 to support ReaperF745 V4 FC 2024-09-06 21:19:32 +10:00
Randy Mackay
77ba7cf04d SITL: aircraft sends wind to slung payload 2024-09-06 14:47:38 +10:00
Randy Mackay
c3a6950d6f SITL: slung payload sends pos updates at 10hz 2024-09-06 14:47:38 +10:00
Randy Mackay
8d3ce78e98 SITL: slung payload affected by wind 2024-09-06 14:47:38 +10:00
Henry Wurzburg
4107151b31 AP_ICEngine: add legacy label to gps and ice params 2024-09-06 14:46:50 +10:00
Henry Wurzburg
9f8acbab39 AP_GPS: add legacy label to gps and ice params 2024-09-06 14:46:50 +10:00
David Buzz
7846cccdaa AP_HAL_ESP32: fix RMT on s3by using channel thats compatible with both . 2024-09-06 11:54:31 +10:00
Peter Barker
784760342d Copter: remove ENABLE/ENABLED/DISABLE/DISABLED defines 2024-09-06 11:53:09 +10:00
Peter Barker
0e33a0f8f7 AP_GPS: mark GPS_TYPE as @Legacy 2024-09-06 11:52:58 +10:00
David 'Buzz' Bussenschutt
792941d4de AP_HAL_ESP32: bigger instruction cache on s3 helps performance 2024-09-06 11:52:32 +10:00
Peter Barker
c05441b959 AP_DDS: remove instance check for DDS Client 
this is probably a flow of control problem.

But the code block below this resets some state variables before returning, and will also return false in the same case this removed block does.

Resetting that state might be very important to the caller.
 2024-09-06 08:52:20 +10:00
Peter Barker
690947537a AP_HAL: examples: add missing include for AP_InertialSensor 
we instantiate this library in here
 2024-09-06 08:52:01 +10:00
Peter Barker
35d0f5c104 AP_DAL: add missing include file for Replay build 2024-09-06 08:52:01 +10:00
Peter Barker
b3c1cd1a5e APM_Control: add missing include for AP::ins() 2024-09-06 08:52:01 +10:00
Peter Barker
33f9513854 AP_NavEKF3: correct includes 2024-09-06 08:52:01 +10:00
Peter Barker
8b8307c132 AP_NavEKF2: correct includes 2024-09-06 08:52:01 +10:00
Peter Barker
b5cd3370eb AP_InertialSensor: add missing include for AHRS 
we use a method from this library
 2024-09-06 08:52:01 +10:00
Peter Barker
89c9b186e2 AP_Camera: add missing include for AP_AHRS 
We use this library's singleton
 2024-09-06 08:52:01 +10:00
Peter Barker
2bb6846d47 AP_NavEKF2: stop including AP_DAL.h in header 
it's not needed and will slow compilation down
 2024-09-06 08:52:01 +10:00
jamming
4d3e97533d AP_HAL_ChibiOS: Add a new target Holybro DroneCAN-pmu 2024-09-06 08:50:20 +10:00
Peter Barker
bfcac18eb2 hwdef: GEPRCF745BTHD: rely on custom builds for external baros 
this is overflowing - it has an onboard baro, that will have to do...
 2024-09-06 08:49:57 +10:00
Peter Barker
61b1a2d525 hwdef: remove SMBus battery support from all minimize-fpv boards 
I doubt there's a single one of these boards on the planet using stock firmware and smbus batteries.  If they exist, the custom build server can re-add this
 2024-09-06 08:49:28 +10:00
Peter Barker
94062fce5c AP_Mission: do not adjust ret_packet on get_item failure 
do not modify the return packet value at all upon failure, rather than indicating invalidity with a flag value.  We return boolean for a reason.
 2024-09-06 08:48:12 +10:00
George Zogopoulos
18e95c7979 Revert "AP_NavEKF3: Corrected logged units" 
This reverts commit 1f01f75036.
 2024-09-06 08:46:11 +10:00
Jacob Dahl
d96926050b hwdef: ARKV6x: fix RC input 2024-09-06 08:45:57 +10:00
khimaros
2e1af82044 AP_HAL_Chibios: default to MavLinkV1 on CubeSolo 
see also https://github.com/ArduPilot/ardupilot/issues/22155
 2024-09-04 19:13:05 +10:00
romi2002
e6d35b08cb hwdef: enable flash-from-SD on Pixhawk6C 
Enabled flash-from-SD support on Pixhawk6C bootloader based off Pixhawk6X hwdef (3b230c4).
 2024-09-04 19:08:46 +10:00
Andy Piper
7fc61090f2 AP_HAL_ChibiOS: add support for disabled mask on iomcu 2024-09-04 18:34:10 +10:00
Andy Piper
e5d26a579d AP_HAL_ChibiOS: correctly check for channel enablement on iomcu 2024-09-04 18:34:10 +10:00
Andy Piper
ff2c64e4b1 AP_IOMCU: add support for disabled channels 2024-09-04 18:34:10 +10:00
Andy Piper
48624f189e AP_HAL_ChibiOS: dshot commands for reverse/3D should be sent to IOMCU 
normalize servo/FMU channels for dshot commands and 3D mask
 2024-09-04 18:34:10 +10:00
Andy Piper
7f8e5aab85 AP_IOMCU: add iomcu support for reversible mask 
propagate armed state
 2024-09-04 18:34:10 +10:00
Andy Piper
fc51829b63 AP_HAL_ChibiOS: add iomcu support for reversible mask 
check armed state on iomcu before sending dshot packets
 2024-09-04 18:34:10 +10:00
rishabsingh3003
31f527c9a7 AP_Proximity: Include database push in MR72 driver 2024-09-04 18:07:27 +10:00
junan
4e1ef8ef46 AP_Baro: remove unnecessary "#ifdef HAL_BUILD_AP_PERIPH" 
Signed-off-by: junan <junan76@163.com>

AP_Baro: Update libraries/AP_Baro/AP_Baro.h suggested by @peterbarker

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2024-09-04 14:42:21 +09:00
Andrew Tridgell
4daca86ba1 AP_Common: fixed cygwin for non-SITL builds 2024-09-04 11:12:45 +10:00
Andrii Fil
e74afdfcea GCS_MAVLink: support MAV_CMD_EXTERNAL_WIND_ESTIMATE 2024-09-04 10:14:45 +10:00
Andrii Fil
3344dba627 AP_AHRS: support MAV_CMD_EXTERNAL_WIND_ESTIMATE 2024-09-04 10:14:45 +10:00
Peter Barker
40e367e14f AP_HAL_ChibiOS: avoid use of global signed_fw in ChibiOSHWdef object 2024-09-04 09:52:55 +10:00
Peter Barker
53b726271f AP_HAL_ChibiOS: avoid use of global args in ChibiOSHWdef object 2024-09-04 09:52:55 +10:00
Hubert
b971046a07 hwdef: Update hwdef for MicoAir405v2 and MicoAir405mini 
Update MicoAir405v2 hwdef.dat: enable OPTICALFLOW

Update MicoAir405v2 defaults.parm: enable OSD_TYPE2 and adjust LOG_FILE_BUFSIZE from 16 to 8

Update MicoAir405Mini defaults.parm: adjust LOG_FILE_BUFSIZE from 16 to 8
 2024-09-04 09:52:30 +10:00
Peter Barker
90af3043bc AP_Motors: avoid use of AP_Logger.h in library headers 
this pulls in many more headers, we should avoid using it whereever we can
 2024-09-04 09:51:49 +10:00
Peter Barker
4e623bd384 APM_Control: avoid use of AP_Logger.h in library headers 
this pulls in many more headers, we should avoid using it whereever we can
 2024-09-04 09:51:49 +10:00
Peter Barker
6cfecaa86d AP_NavEKF3: use enum class for DAL MemoryType 2024-09-04 09:51:08 +10:00
Peter Barker
7d1e1ef924 AP_NavEKF2: use enum class for DAL MemoryType 2024-09-04 09:51:08 +10:00
Peter Barker
e3e350427e AP_DAL: use enum class for DAL MemoryType 2024-09-04 09:51:08 +10:00
Randy Mackay
b46d22f08b AP_Scripting: minor docs fix 2024-09-04 08:37:08 +09:00
Randy Mackay
1df029a679 AP_Scripting: minor spelling fix 2024-09-04 08:37:08 +09:00
Andrew Tridgell
34c1c70cc4 hwdef: rename BotBloxSwitch to BotBloxDroneNet 2024-09-04 09:03:56 +10:00
Peter Barker
7a930637e0 AP_RangeFinder: RDS02UF: avoid nuking partial messages after good parse 
there may be a fragment of another packet in the buffer
 2024-09-03 14:34:23 +10:00
David Buzz
61e83dcd0e AP_HAL_ESP32: improve the reported LOOP_RATE on esp32s3 to similar loop rate to classic esp32 
getting a loop rate of around 130 on both now

source modules/esp_idf/export.sh

./waf configure --board=esp32s3empty --debug
./waf copter
cd build/esp32buzz/esp-idf_build/
ninja menuconfig

./waf configure --board=esp32buzz --debug
./waf copter
cd build/esp32buzz/esp-idf_build/
ninja menuconfig

and try to get both the resulting modified sdkconfig as smiilar as possible - this causes s3 to use qio, which is faster, and also puts the wifi stuff onto CORE1 on both configs.

s3:
loop_rate: actual: 148.097137Hz, expected: 400Hz
loop_rate: actual: 147.908691Hz, expected: 400Hz

classic:
loop_rate: actual: 188.718842Hz, expected: 400Hz
loop_rate: actual: 191.819748Hz, expected: 400Hz
 2024-09-03 11:04:10 +10:00
Peter Barker
8856100e39 AP_Logger: restart logging after log transfer 2024-09-03 11:01:24 +10:00
Aaron Elijah
b63865cdc5 hwdef: force 100MBit fullduplex for BotBloxSwitch 
auto-negotiation doesn't work

also disable TX/RX swap as not needed on final board
 2024-09-03 10:41:58 +10:00
Peter Barker
771696e7d5 AP_Soaring: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker
e19ae3ec01 AP_Module: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker
42282dab65 AP_L1_Control: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker
90749b6f40 AP_InertialNav: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker
99dc2d1b39 AP_DDS: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker
42b8ee78cf AP_Compass: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker
9eec4fdff2 AP_ADSB: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker
e8f361458e AP_NavEKF3: rename gpsVelInnovTime_ms to gpsRetrieveTime_ms 
in preparation for using this for other things
 2024-09-03 10:34:02 +10:00
Peter Barker
2a6b45f4d9 AP_NavEKF3: tidy formatting of is_deadreckoning 2024-09-03 10:34:02 +10:00