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1248 Commits

Author SHA1 Message Date
Peter Barker 2d5452d540 ArduSub: support preflight calibration via command_int 2023-09-13 17:24:07 +10:00
Peter Barker f064dcd902 ArduSub: pass mavlink_message_t to handle_command_*_packet 
the "special case" blocks are getting longer and longer.  Merge the switch statements for the command type to be handled by passing around the message.
 2023-08-22 10:11:33 +10:00
Willian Galvani 9d768c0843 Sub: create and use defaults_table 2023-07-31 12:32:06 -03:00
Rakesh Vivekanandan 1127d1e678 Sub: Guided Mode: Improved guided_set_destination_posvel() to support handling of yaw control. 2023-07-28 15:38:01 -03:00
Rakesh Vivekanandan 79bf9dd05d Sub: Guided Mode: Improved guided_set_velocity() and fixed Z-controller in guided_vel_control_run() 2023-07-28 15:38:01 -03:00
Rakesh Vivekanandan d77ac1ae72 Sub: Guided Mode: Improved guided_set_destination() such that it can accept a desired yaw/yaw rate as input along with a position setpoint. 2023-07-28 15:38:01 -03:00
Rakesh Vivekanandan 7628fa45bf Sub: GCS_Mavlink: Improved the functionality of SET_POSITION_TARGET_LOCAL_NED's callback. 2023-07-28 15:38:01 -03:00
Rakesh Vivekanandan 6a36c05e4e Sub: Guided Mode: Helper function guided_set_yaw_state() to set yaw state and targets when the vehicle is in guided mode. 2023-07-28 12:04:54 -03:00
Willian Galvani e12ed0fe1c Sub: set defaults for MOT_PWM_MIN and MOT_PWM_MAX 2023-07-27 10:46:18 -03:00
Rakesh Vivekanandan d8b171e52b Sub: Introduced AUTO_YAW_RATE mode and its features. 2023-07-27 10:24:59 -03:00
Randy Mackay 816f9494b4 Sub: log MNT at 10hz 2023-07-26 17:33:18 +10:00
Willian Galvani 7ebe3c4bf1 Sub: rename mode files from control_ to mode_ 2023-07-13 14:56:40 -03:00
Willian Galvani 9b70ac1286 Sub: big mode refactor 2023-07-13 14:56:40 -03:00
Willian Galvani d31f0d2312 Sub: Add AP_Stats 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2023-07-13 07:17:11 -03:00
Andrew Tridgell 46c214e9d4 ArduSub: removed set_blocking_writes_all calls 2023-07-12 17:06:02 +10:00
Henry Wurzburg f59293c5a4 ArduSub: allow scaled passthru to go to trim on rc failsafe 2023-06-29 21:37:12 +10:00
Peter Barker d9e89eb602 ArduSub: add option to disable relay and servorelay libraries 2023-06-20 09:36:39 +10:00
Jeevan K 078e1e0e89 ArduSub: Updated comment 2023-06-19 20:01:04 +10:00
Jeevan K 7200cdf4dd ArduSub: Comment Typo Fix 2023-06-19 20:01:04 +10:00
bugobliterator 6866ceb2e2 ArduSub: move sysid_my_gcs to be public 2023-06-17 14:49:22 +10:00
Peter Barker 76a2d89b51 ArduSub: move call of notify.update up to AP_Vehicle 2023-05-17 18:41:15 +10:00
Tom Pittenger 8a530ee0a6 Tools: move AP_KDECAN build to AP_Vehicle 2023-04-17 11:52:52 +10:00
bugobliterator 20bbff13c6 ArduSub: change INS_ to INS 2023-03-21 10:04:16 +11:00
Randy Mackay a6afff837d Sub: remove unused do-control-video 2023-03-09 12:24:05 +11:00
Leonard Hall 6930e8872d Sub: Add support for terrain altitude time constant 2023-03-07 13:41:35 +11:00
Randy Mackay e9d9326410 Sub: integrate camera frontend/backend split 2023-03-01 18:18:51 +11:00
Iampete1 4b30810d11 Sub: remove duplicate MOTB log documentation 2023-02-28 11:06:32 +11:00
Peter Barker 3bbe5ee3ff ArduSub: add support for mavlink in-progress message 2023-02-21 17:07:41 +11:00
rishabsingh3003 34702ed986 Sub: Obey loiter_ccw flag for loiter turns 2023-02-15 19:14:43 +11:00
Peter Barker 77039f38f6 ArduSub: add and use AP_ADVANCEDFAILSAFE_ENABLED 2023-02-08 19:00:13 +11:00
Pierre Kancir 8d12ca567b Sub: unify firmware name 2023-02-08 12:47:49 +11:00
Peter Barker 90f41c72f4 ArduSub: avoid using struct Location 
clang reports this could be a problem when compiling under some EABIs.  Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
 2023-02-04 22:51:54 +11:00
Iampete1 ff6c3f8889 ArduSub: use check_enabled helper 2023-01-23 11:00:13 +09:00
Peter Barker d91cbf08c8 Sub: include SIM_ parameters in documentation 2023-01-17 11:23:40 +11:00
Iampete1 30ba68e5c7 ArduSub: use shared param info defines 2023-01-11 18:41:34 +11:00
Peter Barker 276303dccc ArduSub: make check_var_info void 
Given all the callers die anyway, make it void
 2023-01-10 10:48:15 +11:00
Peter Barker 7e3233f8e8 ArduSub: remove logging of first home location into CMD message set 2023-01-03 11:22:18 +11:00
Ohad Nir 8d366c16fb Sub:consider RC_CHANNELS_OVERRIDE for pilot_input_failsafe 2022-12-17 11:57:22 +11:00
Peter Barker 076deb4d97 ArduSub: code-generate chan-fetching methods 
A recent PR had to change every single one of these methods, which was kind of unfortunate.

So generate the methods using a #define so the duplication happens at preprocessor-time.
 2022-12-15 08:31:54 +11:00
Leonard Hall 231fc2b18b Sub: Support changing update period in Motors 2022-12-13 17:10:06 +11:00
Leonard Hall 76c76a6928 Sub: Support changing update period 2022-12-13 17:10:06 +11:00
Wiktor Maslowski ec2d5d0756 ArduSub: fix long booting 2022-11-25 11:09:43 +09:00
ES-Alexander 82ab14c1d8 ArduSub: Parameters: mention PilotGain message 2022-11-23 15:39:31 -08:00
Peter Barker 9e69f8211e ArduSub: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Peter Barker b0818d72e6 ArduSub: tidy AP_SerialManager.h includes 2022-11-08 09:49:19 +11:00
Peter Barker 0d0b470a0d ArduSub: rename parameter name BRD_SAFETYENABLE to BRD_SAFETY_DEFLT 2022-10-26 19:53:03 +11:00
Peter Barker 1d326db931 ArduSub: move setting of MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW sensors flags up 2022-10-19 21:00:48 +11:00
Peter Barker 78808456af ArduSub: stop sending BATTERY2 by default 2022-10-18 11:12:49 +11:00
Tom Pittenger ea27d40cf6 Sub: use new function from TempSensor refactor 2022-10-18 10:05:31 +11:00
Tom Pittenger be42e53303 Sub: use new AP_TemperatureSensor library 
Co-authored-by: Joshua Henderson <hendjoshsr71@gmail.com>
 2022-10-18 10:05:31 +11:00
jackhong12 4a4f361a17 all: use CLASS_NO_COPY() macro 2022-10-04 11:23:04 +11:00
Peter Barker 82ddfc2a52 ArduSub: add AP_GRIPPER_ENABLED 2022-10-04 10:58:34 +11:00
Willian Galvani 232083c4d2 Sub: update baro calibration even if armed 
This is harmless and prevents a "bounce-back" effect when the depth
is badly calibrated. This can happen when rebooting the vehicle underwater
without a proper depth calibration.
 2022-09-28 10:19:38 -03:00
Peter Barker 365d2ef3ff ArduSub: add missing include 2022-09-28 20:10:21 +10:00
Peter Barker 7546530050 ArduSub: correct compilation with rally disabled 2022-09-27 10:16:47 +10:00
Peter Barker 9b5d70f7b5 ArduSub: add and use AP_CAMERA_ENABLED 2022-09-21 11:58:38 +10:00
Peter Barker 48308b8156 ArduSub: add and use AP_RPM_ENABLED 2022-09-20 09:28:27 +10:00
Willian Galvani 830c1a4a3e Sub: stop position control when in velocity mode 2022-09-15 11:06:23 -03:00
Michael du Breuil e5a6e1133f Sub: Don't send HWSTATUS by default 2022-09-13 14:27:06 +10:00
Randy Mackay d5c87d87cf Sub: integrate MNT1_ param rename 2022-09-06 13:53:25 +09:00
Randy Mackay ff382d8f7c Sub: default RC7 and 8 to gimbal yaw and pitch control 2022-09-06 13:53:25 +09:00
Andrew Tridgell b3e4306b70 Sub: removed use of "blended" earth frame accel 2022-08-21 18:51:59 +10:00
Peter Barker 2cb5a0cc26 ArduSub: rename OpticalFlow class to AP_OpticalFlow 
Brings us in-line with other classes in ArduPilot.

Removes ambiguity with AP_HAL::OpticalFlow which can cause compilation errors as we start to make code more portable across targets
 2022-08-18 14:24:01 +10:00
Randy Mackay 796b39e908 Sub: replace send-mount-status with send-gimbal-device-attitude-status 2022-08-15 20:29:25 -04:00
Peter Barker 9576075800 ArduSub: move call to compass cal update up to AP_Vehicle 2022-08-16 10:06:44 +10:00
Iampete1 ed094ffc6b ArduSub: params always use set method 2022-08-03 13:43:48 +01:00
Iampete1 cf1e1b2969 ArduSub: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
Iampete1 2d8b9f7cbe Sub: Fence moved to vehicle 2022-07-27 19:04:56 +10:00
Iampete1 8960fce4dc Sub: set defualt format version 2022-07-20 17:59:59 +10:00
Iampete1 720117298d Sub: stop using custom pos controller 2022-07-05 16:00:03 -03:00
Randy Mackay d0c489a0be Sub: calls to mount.set_angle_target set earth-frame or body-frame 
this is a non-functional change
 2022-06-29 10:56:48 +09:00
Peter Barker c672301df3 ArduSub: adjust for when LTM telemetry is disabled 2022-06-28 20:19:41 +10:00
Randy Mackay 5add147c8d Sub: set param default for MNT_RC_RATE to 30deg/s 2022-06-21 13:37:11 +09:00
Peter Barker ac4d8404bb Sub: let AHRS update orientation in its own time 2022-06-12 17:32:11 +10:00
Randy Mackay b0b6d35a5a Sub: remove unused MSG_GIMBAL_REPORT 2022-06-07 09:27:47 +10:00
GH6947 9304fa0f52 Sub: roll pitch comments 
In ArduSub modes Auto & Guided, direct (not translated to forward/lateral) Roll and Pitch values come from the RC channels, not from wp controller. The existing comments are leftovers from ArduCopter
 2022-05-26 10:09:23 +09:00
murata 047b2d5578 Sub: Clarify that the target_yaw_rate variable is set 2022-05-20 11:21:22 +09:00
Peter Barker 317457ec1a ArduSub: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-11 17:40:35 +10:00
Peter Barker 8a9a856de8 ArduSub: move logging of compass ERR flags into AP_Compass 2022-05-10 19:46:40 +10:00
Peter Barker 1764dce39e ArduSub: remove handling of MAVLINK_MSG_ID_SET_HOME_POSITION 
We decided to remove this after 4.2 was out in favour of
MAV_CMD_DO_SET_HOME which has been available since 2015.

The gcs-maintainers list was notified in Feburary.
 2022-05-10 09:46:22 +10:00
ES-Alexander 21cd4f1976 sub: GCS_Mavlink: fix depth hold typemask bug 2022-05-05 17:22:05 -03:00
Peter Barker 5a4963e4f8 ArduSub: move error logging of sensor health into AP_Baro 2022-05-03 17:38:09 +10:00
Andy Piper 0b754aeba8 Sub: move fast_loop into scheduler tasks 2022-05-03 08:20:13 +09:00
Peter Barker 785615de2f ArduSub: tidy includes 2022-05-03 09:14:58 +10:00
Tatsuya Yamaguchi 32a39055db Sub: wscript: remove duplicated AP_RCMapper 2022-04-28 08:32:34 +09:00
Willian Galvani cd9cc1419b Sub: Improve althold to handle small inputs with payload/buyoancy better 2022-04-13 16:23:55 -03:00
Peter Barker 42383dd6f2 ArduSub: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker 07b299997d ArduSub: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +11:00
murata e52931c692 Sub: Change the process for errors 2022-03-08 14:36:19 -08:00
Shiv Tyagi 8fe9a8e9f6 Sub: change circle_nav.set_radius to circle_nav.set_radius_cm 2022-03-01 09:31:10 +09:00
Peter Barker 0a9481a557 ArduSub: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker c33590a63b ArduSub: add RebootRequred to stream rate parameters 2022-03-01 11:01:12 +11:00
Peter Barker bbc040d807 ArduSub: send deprecated message warning for MAVLINK_MSG_ID_SET_HOME_POSITION 2022-02-10 12:13:43 +11:00
Joshua Henderson fc5ecfcafd Sub: remove position_vector.cpp 2022-02-08 12:14:10 +11:00
Joshua Henderson 2836ec4ae0 Sub: SET_POSITION_TARGET_LOCAL_NED above origin 2022-02-08 12:14:10 +11:00
Peter Barker ac6842b0ac ArduSub: stop passing mission in Terrain constructor 
Terrain can use the mission singleton

This means Copter can have terrain while compiling mission out
 2022-02-08 11:20:20 +11:00
Peter Barker abbbfc0e85 ArduSub: move logging of LogEvent::SET_HOME up 2022-02-08 11:04:26 +11:00
Peter Barker 2372a4f3b6 ArduSub: provide default implemenation of handle_change_alt_request 
The TODO items to actually implement these are almost 6 years old.
Since then these methods have been burning space.

This doesn't even make sense for several vehicles, so a default
implementation which does nothing seems OK.
 2022-02-08 10:59:13 +11:00
murata a7108ed136 Sub: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
Peter Barker b2fdd39c06 Sub: mark use of get_velocity_NED as UNUSED_RESULT 
velocity will stay at zero, which seems a reasonable thing to continue
with in this function
 2022-02-02 19:32:47 +11:00