Andrew Tridgell
24d4a4cf5e
AP_BattMonitor: added support for INA239 SPI battery monitor
2022-12-20 10:44:52 +11:00
Andrew Tridgell
76d0c0f408
AP_BattMonitor: hide unused parameters in peripherals
2022-12-20 10:44:52 +11:00
Andrew Tridgell
eb704510d6
HAL_ChibiOS: default to one battery monitor backend in peripherals
2022-12-20 10:44:52 +11:00
Andrew Tridgell
87b4b031bf
AP_AHRS: if DCM has no yaw source then don't fallback when hovering
...
this copes with quadplanes with no compass. With a compass we are
better off using EKF when not in fly-forward as it will give better
height control.
This makes QHOVER for takeoff in quadplanes with no compass a lot more
flyable
2022-12-20 10:34:22 +11:00
Andrew Tridgell
56c8cffc07
AP_AHRS: auto-enable EKF3 for misconfiguration
...
this fixes a "climb away" in quadplanes when AHRS_EKF_TYPE=2 and
EK2_ENABLE=0. The user has ARMING_CHECK=5390 to disable key arming
checks, and the plane flew on DCM as the configured EKF wasn't
enabled.
This resulted in AHRS::get_origin() returning false as it couldn't ask
EKF2 for the origin (as EKF2 was not enabled or instantiated)
The result was an incorrect calculation for target height during the
descent stage of QRTL, resulting in a climb away until the user took
over
2022-12-20 10:34:22 +11:00
Andrew Tridgell
8bf8d4889a
AP_NavEKF3: added get_enable()
2022-12-20 10:34:22 +11:00
Andrew Tridgell
fadb9007d0
AP_NavEKF2: added get_enable()
2022-12-20 10:34:22 +11:00
Andrew Tridgell
f53c865c7a
AP_GPS: only create GPS logs for active GPS backends
2022-12-20 10:23:58 +11:00
Andrew Tridgell
fc5ae600ef
AP_GPS: fixed handling of empty HDT/THS sentences
...
fixes #22432
2022-12-20 10:23:58 +11:00
Andrew Tridgell
01cad1c4aa
SITL: added SIM_GPS_LOG_NUM
...
for replaying GPS logs recorded with --enable-gps-logging
2022-12-20 10:23:58 +11:00
Andrew Tridgell
761e4a05e2
AP_GPS: don't consume Heading message if we have RelPosHeading
...
this avoids 2 conflicting yaw sources
2022-12-20 10:23:58 +11:00
Andrew Tridgell
b0c006deca
AP_GPS: suppress string truncation warnings
2022-12-20 10:23:58 +11:00
Andrew Tridgell
898187950e
AP_GPS: give yaw information for AP_Periph from Unicore GPS
...
this allows for CAN GPS yaw with length and height checks with unicore
GPS
2022-12-20 10:23:58 +11:00
Andrew Tridgell
2fd575aca2
AP_GPS: allow for DroneCAN GPS other than u-blox rover with yaw
...
single module, dual antenna GPS can give yaw information
2022-12-20 10:23:58 +11:00
Andrew Tridgell
907acd6e5f
hwdef: added C-RTK2-HP AP_Periph
...
this is a UM982 Unicore GPS from CUAV with support for dual-antenna
GPS yaw
2022-12-20 10:23:58 +11:00
Andrew Tridgell
d7a3c643a6
AP_GPS: improved unicore setup
...
log version information and improve auto-bauding
2022-12-20 10:23:58 +11:00
Andrew Tridgell
3c1a54c3df
AP_GPS: added measured lag for Unicore GPS
...
measured as 0.14s from flight log
2022-12-20 10:23:58 +11:00
Andrew Tridgell
9cebe3b880
AP_GPS: added a common velocity_to_speed_course()
...
this saves flash using common code
2022-12-20 10:23:58 +11:00
Andrew Tridgell
78dac16520
SITL: make serial buffer size configurable
...
we need a larger buffer size for NMEA GPS modules
2022-12-20 10:23:58 +11:00
Andrew Tridgell
29f1c31854
AP_GPS: added GPYW logging for GPS yaw
...
this makes it much easier to debug GPS yaw issues, by logging the raw
data even if the yaw is rejected
2022-12-20 10:23:58 +11:00
Andrew Tridgell
c453ff1ce2
AP_GPS: fixed vertical velocity with AGRICA support
...
and add health check for unicore GPS
2022-12-20 10:23:58 +11:00
Andrew Tridgell
55683c51f5
AP_GPS: review changes
2022-12-20 10:23:58 +11:00
Andrew Tridgell
d2d6dc8ce4
AP_GPS: only give time if we have a 3D fix
...
and ensure we configure rate for GGA and RMC for Unicore
2022-12-20 10:23:58 +11:00
Andrew Tridgell
6c9cbe1a58
AP_GPS: fixed NMEA time reporting
...
basic NMEA does not have an itow, so we need to use time_week_ms
this caused us to always display the time as the start of the GPS week
on NMEA
2022-12-20 10:23:58 +11:00
Andrew Tridgell
a7c5c6b728
AP_GPS: allow for disabling of NMEA Unicore support
2022-12-20 10:23:58 +11:00
Andrew Tridgell
2837471ddf
AP_GPS: fixed build without GPS_MOVING_BASELINE
2022-12-20 10:23:58 +11:00
Andrew Tridgell
02d6931c4d
AP_GPS: fixed re-probing of NMEA GPS
...
when we lost fix on a NMEA GPS we should retain the driver as long as
it is still sending us NMEA messages that pass the CRC check. This
fixes a bug where we would re-probe the GPS (searching baudrates) when
we lost position
2022-12-20 10:23:58 +11:00
Andrew Tridgell
ad9dfe2d51
AP_GPS: added support for Unicore NMEA GPS
...
this includes dual-antenna moving baseline support, 3D velocity and accuracies
2022-12-20 10:23:58 +11:00
Andrew Tridgell
b9642b549b
AP_GPS: make GPS_MB parameters clearer
...
offsets are from the 2nd antenna to the base (primary) antenna
2022-12-20 10:23:58 +11:00
Tatsuya Yamaguchi
366a325fc0
AP_NavEKF3: do not check the second range finder if RANGEFINDER_MAX_INSTANCES is 1
2022-12-20 10:05:24 +11:00
Tatsuya Yamaguchi
a51c3206b2
AP_NavEKF2: do not check the second range finder if RANGEFINDER_MAX_INSTANCES is 1
2022-12-20 10:05:24 +11:00
Andrew Tridgell
0f04611970
AP_Baro: auto-set field elevation from origin
2022-12-20 10:04:38 +11:00
Tatsuya Yamaguchi
ccc5ba3cbd
SITL: change HDOP from 2.0 to 1.2
2022-12-19 08:28:45 +09:00
Peter Barker
59a70c6713
AP_TemperatureSensor: correct compilation when TSYS01 compiled out
2022-12-18 09:19:12 +11:00
Kirill Shilov
8a51c73e4a
AIRLink: added LTE module enable pin to hwdef
2022-12-18 07:19:42 +11:00
Andrew Tridgell
6dcb137b29
AP_Scripting: fixed error on bad cmd in mission
2022-12-17 15:35:35 +11:00
alexklimaj
6ddf2e039f
hwdef: Add ARK RTK GPS AP Periph
2022-12-17 12:46:22 +11:00
Ari Krupnik
205329575a
AP_Scripting: Lua applet starts/stops video recording on arm/disarm
2022-12-17 11:55:50 +11:00
MAD-CRAZY-MAN
eb91ab87fa
hwdef: added ThePeach K1/R1
2022-12-16 14:16:16 +11:00
Randy Mackay
5fa6914137
AP_Mount: siyi recording send-text demoted to INFO
2022-12-16 08:15:53 +09:00
Randy Mackay
6efa35e889
AP_Mount: Siyi fix for record ON OFF reporting
2022-12-16 08:15:53 +09:00
Randy Mackay
6bd4afeb48
AP_Mount: siyi a8 fix for gimbal-config-info message
...
Siyi A8 uses a different format from Z10 for this message
2022-12-16 08:15:53 +09:00
Andrew Tridgell
57d60f86b5
AP_Scripting: new version of knife-edge compensation in aerobatics
...
this is a simpler approach based on sin(roll)*cos(pitch)
2022-12-16 10:09:17 +11:00
Peter Barker
70a5d8be76
GCS_MAVLink: remove unnecessary include of OpticalFlow header in GCS.h
...
introduces unnecessary dependencies
2022-12-15 21:07:31 +11:00
Peter Barker
54418a319e
AP_HAL_ChibiOS: add missing bouncebuffer include
2022-12-15 21:06:30 +11:00
Peter Barker
a874938636
AP_GPS: fix GPS_AUTO example
2022-12-15 21:05:35 +11:00
Randy Mackay
624e731ca5
AP_Arming: correct prefix is ahrs is waiting for home
2022-12-15 10:55:47 +09:00
Randy Mackay
76ef43ddf0
AP_Arming: only compare AHRS vs GPS if GPS is enabled
2022-12-15 10:55:47 +09:00
Randy Mackay
6bc3fcd294
AP_Arming: minor format fix
2022-12-15 10:55:47 +09:00
Paul Riseborough
fd7c4bc841
AP_Logger: Add option to disable disarmed logging on USB connection
...
AP_Logger: Update LOG_DISARMED parameter description
2022-12-15 10:38:15 +11:00
