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32940 Commits

Author SHA1 Message Date
Randy Mackay 65fd8a7120 AP_Mount: Siyi implements body-frame yaw limits 2023-06-13 10:08:02 +10:00
Randy Mackay 39eb46fd26 AP_Mount: backend set_angle_target enforces bf limits 2023-06-13 10:08:02 +10:00
Andrew Tridgell 514434193d hwdef: save flash on several boards with DFU 
omit bootloader on boards with DFU and low on flash
 2023-06-12 12:42:45 +10:00
Andrew Tridgell 3c0a9af505 hwdef: added no_bootloader_DFU.inc 2023-06-12 12:42:45 +10:00
Peter Barker d806dd8ef1 AP_Param: allow AP_SCRIPTING_ENABLED to come from hwdef files 2023-06-09 16:10:52 +10:00
Peter Barker 82c1af78d1 AP_EFI: allow AP_SCRIPTING_ENABLED to come from hwdef files 2023-06-09 16:10:52 +10:00
Peter Barker 6c9ea896c7 AP_Motors: allow AP_SCRIPTING_ENABLED to come from hwdef files 2023-06-09 16:10:52 +10:00
Peter Barker 615bf8e5ee AC_AttitudeControl: allow AP_SCRIPTING_ENABLED to come from hwdef files 2023-06-09 16:10:52 +10:00
Peter Barker d519ab604e AP_Scripting: allow AP_SCRIPTING_ENABLED to come from hwdef files 2023-06-09 16:10:52 +10:00
Peter Barker 3aaeb0f29c AP_HAL_ChibiOS: allow AP_SCRIPTING_ENABLED to come from hwdef files 2023-06-09 16:10:52 +10:00
Asif Khan caf35b71a6 AP_Mount: fix SiYi gimbal upside-down facing not working 2023-06-09 09:38:43 +10:00
Peter Barker 15dc15df3f AP_PiccoloCAN: remove double-definition of HAL_PICCOLOCAN_ENABLED 
also trust minimize_features.inc to remove this feature where not desired
 2023-06-09 08:00:46 +10:00
Oliver Walters 5e68e473c9 AP_PiccoloCAN: Add precompiler checks 
- Only compile if HAL_PICCOLO_CAN_ENABLE flag is set
 2023-06-09 08:00:46 +10:00
Oliver Walters e6f1437ccf AP_PiccoloCAN: Remove unnecessary files 2023-06-09 08:00:46 +10:00
Oliver 97e58d9df9 AP_PiccoloCAN: Remove old ESC structure 
- No longer needed
- Now replaced with class-based implementation
 2023-06-09 08:00:46 +10:00
Oliver a246cf71f3 AP_PiccoloCAN: Split device functionality into separate files 2023-06-09 08:00:46 +10:00
Oliver b3d82bdd57 AP_PiccoloCAN: Add protocol files for transmuter 
(cherry picked from commit 25d118c468ab04c179152d43356074a68286514b)
 2023-06-09 08:00:46 +10:00
Oliver Walters 687489f858 AP_EFI: Update EGT for Currawong ECU 
- Currawong ECU does not report EGT
- Change to report this value as NAN
 2023-06-09 07:58:07 +10:00
davidsastresas e1e2d68815 GCS_Common: handle CMD_DO_SET_ROI_NONE for command int packets 2023-06-08 21:12:50 +10:00
Ryan Friedman 2b906bc714 AP_DDS: Fix typo with pts serial port when in UDP 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-08 20:20:21 +10:00
Paul Riseborough 4d03327470 AP_NavEKF3: Fix sign error in position fix delay compensation 2023-06-08 16:31:22 +10:00
Peter Barker 0ec35718d7 AP_HAL_ChibiOS: use HAL_PROXIMITY_ENABLED in place of HAL_PERIPH_ENABLE_PRX 
boolean truth rather than defines, and simplifies code
 2023-06-08 11:53:01 +10:00
Peter Barker 78c5fe097b AP_Mount: correct compilation when HAL_MOUNT_SERVO_ENABLED is 0 
... but still do the parameter conversion
 2023-06-08 11:52:44 +10:00
bugobliterator 5a967fd597 AP_DroneCAN: add support for semaphore around allocate/free blocks in libcanard 2023-06-08 10:15:50 +10:00
Andrew Tridgell f99fa6a703 AP_DroneCAN: use separate tx and rx semaphores 
this prevents a deadlock on callback for DroneCAN receiver
 2023-06-08 10:15:50 +10:00
Andrew Tridgell 3034aef570 AP_DroneCAN: add a delay after an event on process 
ensure MCU gives up some time
 2023-06-08 10:15:50 +10:00
Andrew Tridgell dc8366c31e AP_DroneCAN: fixed queue ordering bug in sending DroneCAN frames 
this caused RTK RTCM data to be corrupted on send
 2023-06-08 10:15:50 +10:00
Andrew Tridgell 0cfd9c2ed5 HAL_ChibiOS: don't consider a MAVCAN send failure as a send failure 
this prevents duplicate sends if MAVCAN buffer is full
 2023-06-08 10:15:50 +10:00
Andrew Tridgell f0a0a4cfa9 AP_DroneCAN: move tx frame to loop context 
prevent contents from previous frame being used
 2023-06-08 10:15:50 +10:00
Andrew Tridgell e1dd452b66 AP_DroneCAN: fixed C++ type narrowing warnings 2023-06-08 10:15:50 +10:00
bugobliterator 3dca277488 AP_DroneCAN: use canard cleanup 2023-06-08 10:15:50 +10:00
Andrew Tridgell 531b12e272 AP_GPS: fixed RTCM injection for DroneCAN GPS 
need to check broadcast() return
 2023-06-08 10:15:50 +10:00
Andrew Tridgell 49389ccce6 AP_DroneCAN: removed unused function declaration 2023-06-08 10:15:50 +10:00
Alexander Keller 6ba526fa25 AP_GPS:Comform to ardupilot undulation definition 2023-06-08 09:48:30 +10:00
Ryan Friedman da2beb1ec1 AP_DDS: Improve subscriber safety 
* Remove unused void* functions
* Switch subscriber handling based on ID
* Use enums instead of relying on manual alignment of indices in code
* Pass topic by reference using local stack
* Relates to #23964

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-08 09:47:50 +10:00
Peter Barker 312254f761 GCS_MAVLink: correct detection of feature AP_FILESYSTEM_FORMAT_ENABLED 2023-06-08 08:55:26 +10:00
Peter Barker 294b975335 AP_Filesystem: correct detection of feature AP_FILESYSTEM_FORMAT_ENABLED 2023-06-08 08:55:26 +10:00
Peter Barker c463b0d154 AP_Math: add alternate implementation of parity for AP_Periph 
the __builtin_parity methods hardfault on AP_Periph builds
 2023-06-07 21:41:14 +10:00
Peter Barker 109e29f048 AP_RCProtocol: move use of __builtin_parity to crc 2023-06-07 21:41:14 +10:00
Peter Barker 43ecdc64b6 AP_Math: move use of __builtin_parity to crc 2023-06-07 21:41:14 +10:00
Peter Barker f17dfbc584 AP_HAL_ChibiOS: correct heavy periph compilation 
canmanager isn't enabled, so no piccolocan
 2023-06-07 18:24:05 +10:00
Peter Barker 3517884002 RC_Channel: create define specifically for the developer feature for killing IMUs 2023-06-07 18:23:01 +10:00
Peter Barker baf5d34256 AP_InertialSensor: create define specifically for the developer feature for killing IMUs 2023-06-07 18:23:01 +10:00
Peter Barker 82e15536d2 AP_HAL_ChibiOS: create define specifically for the developer feature for killing IMUs 2023-06-07 18:23:01 +10:00
Pierre Kancir 95c345e6fb AP_JSButton: add unittest 2023-06-07 17:16:15 +10:00
Andrew Tridgell 533577924e AP_Scripting: fixed temperatures for Halo6000 driver 
temps are offset by 40 deg C
 2023-06-07 07:27:46 +10:00
Tom Pittenger d23d808f07 AP_ADSB: fix SageTech MXS climbRate sign 2023-06-06 20:09:28 +10:00
Peter Barker 5984857751 AP_ADSB: correct climbRate in SageTechMXS 
down vs up issue
 2023-06-06 20:09:28 +10:00
Peter Barker 030c34345d AP_InertialNav: clarify get_vert_pos_rate AHRS method name to include 'D' 2023-06-06 20:09:28 +10:00
Peter Barker 904707de15 AP_AHRS: clarify get_vert_pos_rate AHRS method name to include 'D' 2023-06-06 20:09:28 +10:00
Peter Barker 15682fa6c9 AP_ADSB: clarify get_vert_pos_rate AHRS method name to include 'D' 2023-06-06 20:09:28 +10:00
Martin Luessi b336526765 AP_HAL_ChibiOS: Move scheduler task table to RAM for H750 2023-06-06 19:19:10 +10:00
Martin Luessi 82280b6a8d AP_HAL_ChibiOS: Rename STM32_FORCE_CLOCK_INIT to HAL_FORCE_CLOCK_INIT 2023-06-06 19:19:10 +10:00
Martin Luessi 350dfc235e AP_HAL_ChibiOS: Add libgcc comment to H750 linker script 2023-06-06 19:19:10 +10:00
Martin Luessi f55261c852 AP_HAL_ChibiOS: Use DTCM for vector table for external flash targets 2023-06-06 19:19:10 +10:00
Martin Luessi ab03c49ea8 AP_HAL_ChibiOS: Move more time critical code to RAM for H750 2023-06-06 19:19:10 +10:00
Martin Luessi 00c8c24b1e AP_HAL_ChibiOS: increase FLASH_RAM and rename FDCAN to CAN for H750 2023-06-06 19:19:10 +10:00
Martin Luessi 0c93800ec1 AP_HAL_ChibiOS: Copy vector table to RAM if external flash is primary 2023-06-06 19:19:10 +10:00
Martin Luessi 84ccd046c6 AP_HAL_ChibiOS: Change linker script so vector table can be copied to RAM for external flash targets 2023-06-06 19:19:10 +10:00
Martin Luessi f5e6b055b6 AP_HAL_ChibiOS: Allow custom STM32_QSPISEL for H7 2023-06-06 19:19:10 +10:00
Martin Luessi 01f030da7c AP_HAL_ChibiOS: Option to force clock init 2023-06-06 19:19:10 +10:00
Andrew Tridgell 1ab278d127 GCS_MAVLink: support EXTERNAL_POSITION_ESTIMATE command_int 2023-06-06 15:19:12 +10:00
Paul Riseborough 34a5657e3e AP_AHRS: Add handlers for external lat lng position set 2023-06-06 15:19:12 +10:00
Paul Riseborough 3677cb025d AP_NavEKF3: Add handlers for external lat lng position set 2023-06-06 15:19:12 +10:00
Paul Riseborough 48f0edaffc AP_DAL: Add handlers for external lat lng position set 2023-06-06 15:19:12 +10:00
Andrew Tridgell 2703928fb2 AP_Filesystem: enable filesystem format on all boards 
this works in ChibiOS 21.xx
 2023-06-06 15:19:00 +10:00
Andrew Tridgell 6f469c48e7 HAL_ChibiOS: support f_mkfs on all boards 2023-06-06 15:19:00 +10:00
Ryan Friedman 8cf855970d AP_DDS: Fix unitialized memory 
* Found under valgrind

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-06 10:42:02 +10:00
Andy Piper 3de424e74f AP_HAL_ChibiOS: Pixhawk1-bdshot 2023-06-06 10:24:11 +10:00
Peter Barker 1f565295a3 AP_RCTelemetry: use minimize_features.inc for more features 2023-06-06 10:14:02 +10:00
Peter Barker 179b79a00c AP_PiccoloCAN: use minimize_features.inc for more features 2023-06-06 10:14:02 +10:00
Peter Barker 1509cfc2b4 AP_Notify: use minimize_features.inc for more features 2023-06-06 10:14:02 +10:00
Peter Barker afccfee001 AP_NMEA_Output: use minimize_features.inc for more features 2023-06-06 10:14:02 +10:00
Peter Barker cd472b8f52 AP_Mount: use minimize_features.inc for more features 2023-06-06 10:14:02 +10:00
Peter Barker 0ff0a30d03 AP_LTM_Telem: use minimize_features.inc for more features 2023-06-06 10:14:02 +10:00
Peter Barker cf24382e58 AP_HAL_ChibiOS: use minimize_features.inc for more features 2023-06-06 10:14:02 +10:00
Peter Barker 3f70f2104a AP_GPS: use minimize_features.inc for more features 2023-06-06 10:14:02 +10:00
Peter Barker 41f622f892 AP_Generator: use minimize_features.inc for more features 2023-06-06 10:14:02 +10:00
Peter Barker 3bf1e61eb2 AP_Baro: use minimize_features.inc for more features 2023-06-06 10:14:02 +10:00
mateksys 6187cd0350 hwdef: added MSP support in MatekL431-GPS 2023-06-06 07:30:25 +10:00
Ryan Friedman 33c1e23e55 AP_Param: Use math header function names for type punning 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-05 09:09:13 +10:00
Ryan Friedman cf2b65877e AP_Math: Move conversion utilites next to AP_Math 
* This is next to the constraining functions

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-05 09:09:13 +10:00
Ryan Friedman 0faf1a2152 AP_HAL: Use new AP_Math utils 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-05 09:09:13 +10:00
Ryan Friedman 1cb8bf6308 AP_Common: Remove type punning utils to AP_Math 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-05 09:09:13 +10:00
Ryan Friedman 42abfa9e0e AP_ExternalAHRS: Use sparse-endian be32to<ftype>_ptr 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-05 09:09:13 +10:00
Ryan Friedman 35c8951395 AP_HAL: Add methods for beNto<floatingType> conversions 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-05 09:09:13 +10:00
Ryan Friedman e6f523dad1 AP_Param: Use explicit type instead of auto for crc 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-05 09:09:13 +10:00
Ryan Friedman c382eb192a AP_Param: Switch from type punning to defined behavior 
* This was undefined behavior in the C++ standard
* Use the safer options in AP_Common
* Removes a compiler warning

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-05 09:09:13 +10:00
Ryan Friedman d0b8e672c0 AP_ExternalAHRS: Switch from type punning to defined behavior 
* This was undefined behavior in the C++ standard
* Use the safer options in AP_Common
* Removes a compiler warning

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-05 09:09:13 +10:00
Ryan Friedman d40b02fbbd AP_Common: Add type-punning alternative 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-05 09:09:13 +10:00
Andrew Tridgell 146cc3312c HAL_ChibiOS: implement ff_memalloc, fixing mkdir() after format 
this implements FATFS memory allocation in the HAL_ChibiOS malloc.c
which fixes mkdir() after a format of the microSD

The strategy is to deny large allocations and try for DMA allocations
if possible. This both fixes mkdir() and makes filesystem operations
faster as we have less copying of memory via the bouncebuffer
 2023-06-03 17:07:04 +10:00
Andrew Tridgell 4946ce5431 HAL_ChibiOS: revert recent USB changes 
these are causing some boards to crash on startup. Tested with a
QiotekZealotH743 which doesn't get out of setup_usb_strings()

once we have debugged this we can re-add the functionality
 2023-06-03 16:50:30 +10:00
Peter Barker f192d2644c AP_AHRS: make ExternalAHRS an AP_AHRS_Backend 2023-06-01 12:45:56 +10:00
arshPratap 5168f39463 AP_DDS: Add Subscriber support with Joy 
* Register subscriber and deserialize sensor_msgs/Joy

Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Co-authored-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-01 11:37:59 +10:00
Peter Barker 02802c88ad hwdef: minimize CRUbrain51 
get it compiling again
 2023-06-01 11:37:12 +10:00
Andy Piper de6f2ef552 AP_HAL_ChibiOS: remove bdshot from speedybeef4 as it doesn't work and increases flash usage 2023-05-31 20:45:27 +01:00
bugobliterator f7d3969116 AP_HAL_ChibiOS: enable write protection on USB msd 
also fixes support for MSD on FS
 2023-05-31 18:40:17 +10:00
bugobliterator a9ef3b031e AP_HAL_ChibiOS: add support for setting baudrate for ACM port in USB MSD 2023-05-31 18:40:17 +10:00
bugobliterator fa631c11a1 AP_HAL_ChibiOS: fix script for HerePro 2023-05-31 18:40:17 +10:00
bugobliterator a05d7ae645 AP_HAL_ChibiOS: do not init usb in sdcard_init 2023-05-31 18:40:17 +10:00