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26741 Commits

Author SHA1 Message Date
Randy Mackay 945600a49e AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-28 14:41:27 +09:00
Andrew Tridgell cc5bfc8375 AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-28 14:41:27 +09:00
Andrew Tridgell 7ae696340a SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-28 14:41:27 +09:00
Hwurzburg 8b484738a5 AP_OSD: fixes bug introduced by #16477 2021-08-14 10:44:08 +09:00
Pierre Kancir ae59533af1 AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-14 10:44:08 +09:00
Randy Mackay a3c658ea01 AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-14 10:44:08 +09:00
Randy Mackay 25af40adde AP_NavEKF2: remove unused EK2_GSF_DELAY param 2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi 7b77dd39e0 AC_Avoid: use proximity_avoidance_enabled function 2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi 4044ea1a42 AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled 2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi 03e382b1e3 AC_Avoidance: handle upward proximity enable and disable 2021-08-14 10:44:08 +09:00
Andy Piper d6b991768e AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-14 10:44:08 +09:00
Andy Piper 87018b859e AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-14 10:44:08 +09:00
Pierre Kancir aad2733d06 AP_ESC_Telem: prevent possible overrun 2021-08-14 10:44:08 +09:00
Pierre Kancir 2c62d32ca8 AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-14 10:44:08 +09:00
Pierre Kancir 04a4a27a14 AP_ESC_Telem: fix out of bound access 2021-08-14 10:44:08 +09:00
Pierre Kancir 61a50c5481 AP_OSD: check for nullptr before using it 2021-08-14 10:44:08 +09:00
Leonard Hall ba70c50a07 AP_Math: Spelling fix 2021-08-14 10:44:08 +09:00
Leonard Hall a363468281 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-14 10:44:08 +09:00
Leonard Hall eb652b71f9 AC_WPNav: support Control: Refactor to use Jerk 2021-08-14 10:44:08 +09:00
Leonard Hall eff91e87ca AP_Math: Control: Refactor to use Jerk 2021-08-14 10:44:08 +09:00
Leonard Hall 397cd8cbe0 AP_Math: Control: protect against divide by zero 2021-08-14 10:44:08 +09:00
Leonard Hall 8cd70f2569 AC_WPNav: Fix Angle Vel units on function 2021-08-14 10:44:08 +09:00
Leonard Hall 0ee9dbc059 AC_AttitudeControl: Fix Angle Vel units on function 2021-08-14 10:44:08 +09:00
Leonard Hall 988f2dbb7e AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE 2021-08-14 10:44:08 +09:00
Leonard Hall 2e6e3d7b89 AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 10:44:08 +09:00
Leonard Hall b3a10e45ba AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 
Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
 2021-08-14 10:44:08 +09:00
Andrew Tridgell 516df460b8 AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-14 10:44:08 +09:00
Andrew Tridgell f735804035 AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 
this may help with some GPS modules
 2021-08-14 10:44:08 +09:00
Andy Piper 796fdab984 AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-14 10:44:08 +09:00
Randy Mackay 3c5bd942a6 AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-14 10:44:08 +09:00
Andrew Tridgell c00fa705b7 AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-14 10:44:08 +09:00
Leonard Hall 8d41b2225b AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-14 10:44:08 +09:00
Andy Piper d2c084bf69 AP_Motors: remove tri yaw servo from motor mask 2021-08-14 10:44:08 +09:00
Andrew Tridgell d7c72af849 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-08-14 10:44:08 +09:00
bugobliterator 62d89e840f AP_RangeFinder: use separate register_driver method while contructing CAN Driver 2021-08-14 10:44:08 +09:00
bugobliterator f33188b95f AP_EFI: use separate register_driver method while contructing CAN Driver 2021-08-14 10:44:08 +09:00
bugobliterator b8c2a18eaf AP_BattMonitor: use separate register_driver method while contructing CAN Driver 2021-08-14 10:44:08 +09:00
bugobliterator cf535481e9 AP_CANSensor: create a separate register driver method 2021-08-14 10:44:08 +09:00
Andrew Tridgell c1f72d6683 AP_AHRS: build fix 2021-07-22 19:07:36 +09:00
Paul Riseborough b2c24a0b58 AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults 
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
 2021-07-22 19:07:36 +09:00
Paul Riseborough 762529a987 AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-22 19:07:36 +09:00
Paul Riseborough dd9cc70ad4 AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-22 19:07:36 +09:00
Paul Riseborough 84693ea3c4 AP_NavEKF3: Revert EK3_BETA_MASK parameter extension 
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
 2021-07-22 19:07:36 +09:00
Paul Riseborough d841615710 AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-22 19:07:36 +09:00
Paul Riseborough 1812d8ea3a AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-22 19:07:36 +09:00
Paul Riseborough 6d6699f9f9 AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-22 19:07:36 +09:00
Paul Riseborough 7abecb4e0e AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-22 19:07:36 +09:00
Paul Riseborough 1cc7dc59a1 AP_NavEKF3: Make bad IMU status more persistent 2021-07-22 19:07:36 +09:00
Paul Riseborough 6907fa8e88 AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-22 19:07:36 +09:00
Paul Riseborough 662bda1bbd AP_NavEKF3: Add accessor function for vibration affected status 2021-07-22 19:07:36 +09:00
Paul Riseborough f37caffb31 AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-22 19:07:36 +09:00
Paul Riseborough 36ead940d6 AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-22 19:07:36 +09:00
Paul Riseborough 82ed96a927 AP_NavEKF3: Adjust gyro bias process noise tuning 
NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
 2021-07-22 19:07:36 +09:00
Paul Riseborough 3714c1b2e2 AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-22 19:07:36 +09:00
Paul Riseborough a24df9d633 AP_NavEKF3: Retune IMU process noise 
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
 2021-07-22 19:07:36 +09:00
Paul Riseborough 5a3e0e7f17 AP_NavEKF3: Make gyro bias learning less noisy 2021-07-22 19:07:36 +09:00
Paul Riseborough 827d871c85 AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-22 19:07:36 +09:00
Paul Riseborough aa13e86ac9 AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-22 19:07:36 +09:00
Paul Riseborough cb6371e952 AP_NavEKF3: Update covariance prediction equations 2021-07-22 19:07:36 +09:00
Paul Riseborough 4f8f187b81 AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-22 19:07:36 +09:00
Andrew Tridgell 7f3bc8ba1f AP_Math: fix uses of single precision 2021-07-22 19:07:36 +09:00
Randy Mackay 92008ebb8f AR_WPNav: integrate PathPlanner returning path_planner_used 
Rover does not need to handle the results differently based on the planner used
 2021-07-22 19:07:36 +09:00
Randy Mackay cca86c7a24 AC_WPNav_OA: minor formatting and comment fixes 2021-07-22 19:07:36 +09:00
Randy Mackay 0a5d6c48e6 AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler 
also bendy ruler uses pos controller
 2021-07-22 19:07:36 +09:00
Randy Mackay 55e23d7230 AC_Avoidance: BendyRuler returned destination are shortened 2021-07-22 19:07:36 +09:00
Randy Mackay ae81e8ab2b AC_Avoidance: bendy ruler format fixes 2021-07-22 19:07:36 +09:00
Randy Mackay f98efd7ef8 AC_Avoidance: OA_PathPlanner returns which planner was used 
this replaces get_bendy_type
 2021-07-22 19:07:36 +09:00
Randy Mackay 1536249b33 AC_Avoidance: BendyRuler returns which type was used 
also make serach_xxx_path methods private
 2021-07-22 19:07:36 +09:00
Randy Mackay d946a2c95d AP_Common: add Location::linear_interpolate_alt 2021-07-22 19:07:36 +09:00
Andy Piper b6ce206c3d AP_BLHeli: ensure correct rotation through telemetry ESCs 2021-07-22 19:07:36 +09:00
Pierre Kancir 9f2bfd330d AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-22 19:07:36 +09:00
Leonard Hall 9d1a51969b AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-22 19:07:36 +09:00
Leonard Hall efd854562f WP_Nav: Return Crosstrack error 2021-07-22 19:07:36 +09:00
Leonard Hall 8e31de412c AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-22 19:07:36 +09:00
Randy Mackay aad2f883d6 AC_WPNav: use get_terrain_margin instead of constant 2021-07-22 19:07:36 +09:00
Randy Mackay 9775d23883 AC_WPNav: add TER_MARGIN param 2021-07-22 19:07:36 +09:00
Leonard Hall dbf1020c16 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-22 19:07:36 +09:00
Leonard Hall 185c6cf845 AC_WPNav: Auto Terain following update 2021-07-22 19:07:36 +09:00
Andy Piper 3efb3336a5 AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-22 19:07:36 +09:00
Leonard Hall b4277c49ca AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-22 19:07:36 +09:00
Hwurzburg e1cf91af15 RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-22 19:07:36 +09:00
Hwurzburg f3e0a9e848 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-22 19:07:36 +09:00
Andy Piper dd69a9b5ba AP_RCTelemetry: correct firmware string length for CRSF 2021-07-22 19:07:36 +09:00
Leonard Hall 49148f28e7 AC_WPNav: Remove unused function 2021-07-22 19:07:36 +09:00
Leonard Hall 3bf7e493b4 AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-22 19:07:36 +09:00
Leonard Hall 370b980876 AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-22 19:07:36 +09:00
Leonard Hall a29794ab49 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-22 19:07:36 +09:00
Leonard Hall 23b7d1060d AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-22 19:07:36 +09:00
Leonard Hall 731a6bcb31 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-22 19:07:36 +09:00
Leonard Hall 52166c94fe AC_AttitudeControl: Add terain following to guided 2021-07-22 19:07:36 +09:00
Randy Mackay f3c25397c7 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-22 19:07:36 +09:00
Leonard Hall ec53ea7f8e AC_WPNav: move code to generate terrain following kinematic path 2021-07-22 19:07:36 +09:00
Leonard Hall b6b4d9869c AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-22 19:07:36 +09:00
Leonard Hall 91e22680a5 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-22 19:07:36 +09:00
Andrew Tridgell aa4bbdfce1 AP_Math: added test for SCurve::calculate_path 
this was the values shown in the core dump for failing guided mode
test in CI
 2021-07-22 19:07:36 +09:00
Andy Piper e0bd344582 AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot 2021-07-22 19:07:36 +09:00
Randy Mackay e139bfa1b8 AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-22 19:07:36 +09:00
Andrew Tridgell f8e23f5d3d AP_Common: update tests for 4.1 2021-07-22 19:07:36 +09:00
Andrew Tridgell 7e069b40eb HAL_ChibiOS: raise DMA contention threshold for H7 2021-07-22 19:07:36 +09:00
Andrew Tridgell a81ef9c272 AP_SerialManager: document DisableFIFO bit 2021-07-22 19:07:36 +09:00
Andrew Tridgell fcc9e4627c AP_SerialManager: call set_options() before first UART use 
this ensures options are set before the first begin() call
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 126d5a8d23 HAL_ChibiOS: implement NOFIFO option for uarts 2021-07-22 19:07:36 +09:00
Andrew Tridgell ae3b21b28a AP_HAL: added serial option for disabling FIFO on uarts 2021-07-22 19:07:36 +09:00
Andrew Tridgell 9a469bdaa9 AP_Math: fixed build 2021-07-22 19:07:36 +09:00
Andrew Tridgell d3163c8f48 HAL_SITL: update for changed SITL API 2021-07-22 19:07:36 +09:00
Andrew Tridgell 1f5d16bff8 SITL: added SIM2 message 
useful for EKF debugging

# Conflicts:
#	libraries/SITL/SIM_Aircraft.cpp
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 34eb9f7328 SITL: separate origin and home in SITL 
this allows for accurate sensor data when flying a very long distance
from the takeoff location
 2021-07-22 19:07:36 +09:00
Andrew Tridgell da2b69d521 AP_DAL: update GPS yaw API to add timestamp 2021-07-22 19:07:36 +09:00
Andrew Tridgell d7dea5c28c AP_GPS: change handling of moving baseline yaw 
this changes yaw handling in a few ways:

 - GPS yaw now has a timestamp associated with the yaw separate from
   the timestamp associated with the GPS fix

 - we no longer force the primary to change to the UBLOX MB rover when
   it has a GPS yaw. This means we don't change GPS primary due to GPS
   loss, which keeps the GPS more stable. It also increases accuracy
   as the rover is always less accurate in position and velocity than
   the base

 - now we force the primary to be the MB base if the other GPS is a
   rover and the base has GPS lock
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 966deb1148 AP_NavEKF: sync for 4.1.0beta 2021-07-22 19:07:36 +09:00
Andrew Tridgell 5660d31ca2 AP_Math: sync for 4.1.0beta releases 2021-07-22 19:07:36 +09:00
Andrew Tridgell 6ee9e445a9 AP_Common: make longitude_scale() a static 
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:

 pos1 + offs = pos2
 pos2 - offs == pos1
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 0a04bb4b05 HAL_ChibiOS: run storage writes at 1kHz not 100Hz 
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.

Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
 2021-07-22 19:07:36 +09:00
Peter Barker c4dbbfcc07 AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-22 19:07:36 +09:00
Andrew Tridgell aadf179286 AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 93e1bd0160 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-22 19:07:36 +09:00
Andrew Tridgell 9acb16acca AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 3df7c1a7c7 AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-22 19:07:36 +09:00
Andrew Tridgell 5543706626 AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-22 19:07:36 +09:00
Andrew Tridgell a8844a8428 AP_Common: added ftype precision offset call 
# Conflicts:
#	libraries/AP_Common/Location.cpp
#	libraries/AP_Common/Location.h
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 87b4ca47e8 AP_NavEKF3: convert code_gen.py to ftype 2021-07-22 19:07:36 +09:00
Andrew Tridgell 7bb971f07d AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-22 19:07:36 +09:00
Andrew Tridgell 395d2f1f7e AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-22 19:07:36 +09:00
Andrew Tridgell 63de37341c HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7 2021-07-22 19:07:36 +09:00
Andrew Tridgell 4f0f4608b9 AP_NavEKF3: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell 601eb12efb AP_NavEKF2: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell 78e87b32d6 AP_NavEKF: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell 557fee7add AP_Mount: use ZERO_FARRAY() 2021-07-22 19:07:36 +09:00
Andrew Tridgell 045f8f2299 AP_Motors: fixup build for ftype conflict 2021-07-22 19:07:36 +09:00
Andrew Tridgell 9246442482 AP_Common: added double methods for SITL 2021-07-22 19:07:36 +09:00
Andrew Tridgell c1012d69ab SITL: fixup offset calls 2021-07-22 19:07:36 +09:00
Andrew Tridgell dddd78daf7 AP_Math: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell 3239caf852 HAL_ChibiOS: use SRAM1 as first ram segment on H7 
this is needed to give the linker more than 128k for static variables
with double precision maths.
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 4e4646d9d7 AP_HAL: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell 3b64d41408 APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 07acfd49b2 AP_Notify: disable DShot buzzer by default 2021-07-22 19:07:36 +09:00
Andy Piper 1f324d7cbf AP_Notify: re-enable display on 1Mb boards 2021-07-22 19:07:36 +09:00
Andrew Tridgell 7cd3c29ab2 HAL_ChibiOS: always send zero DShot when disarmed 
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.

See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 1b44375eea AP_Logger: fixed log creation on forced arm 
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
 2021-07-22 19:07:36 +09:00
Randy Mackay 3900a4f14a GCS_MAVLink: send water depth and temp 2021-06-30 12:05:09 +09:00
Andrew Tridgell a7f31929ea AP_Common: use longitude scaling from definitions.h 2021-06-29 17:26:34 +09:00
Andrew Tridgell 978ea307b0 AP_Math: fixed the value LATLON_TO_CM 
it didn't have enough digits of precision, and was inconsistent with
LOCATION_SCALING_FACTOR
 2021-06-29 17:26:34 +09:00
Peter Barker 819c331acd AP_BattMonitor: correct static_assert call 2021-06-28 11:05:00 +09:00
Peter Barker 67ebdc300b AP_HAL_SITL: reduce scope of loop variable 2021-06-27 10:57:07 +10:00
Leonard Hall fcde1e7370 AC_WPNav: use shaping_tc_z_s for terrain following time constant. 2021-06-25 16:54:05 +09:00
Leonard Hall 8f493e3021 AC_AttitudeControl: Add shaping_tc_z_s accessor 2021-06-25 16:54:05 +09:00
Andrew Tridgell f12a7dd04b AP_Mount: fixed longitude subtraction 2021-06-25 15:33:55 +10:00
Peter Barker f69e2a49f6 AP_Common: add test for longitude wrapping 2021-06-25 15:33:55 +10:00
Andrew Tridgell 77d83b9c77 AP_Common: fixed Location class for wrap at 180 degrees longitude 
this allows us to fly missions across the date line
 2021-06-25 15:33:55 +10:00
Leonard Hall 5475d1153c AC_PosControl: fixup ekf reset 2021-06-25 10:01:49 +09:00
Andrew Tridgell 4895a08ab2 AP_IRLock: convert SITL backends to double precision position 2021-06-24 21:34:30 +10:00
Andrew Tridgell f209504a12 AC_PrecLand: convert SITL backends to double precision position 2021-06-24 21:34:30 +10:00
Andrew Tridgell aa03afafa7 AP_Math: added matrix3 tofloat and todouble 2021-06-24 21:34:30 +10:00
Andrew Tridgell 61faeb2d7f AP_Common: added double methods for SITL 2021-06-24 21:34:30 +10:00
Andrew Tridgell fb275c9874 SITL: convert to double precision for positions 2021-06-24 21:34:30 +10:00
Andrew Tridgell 1d00cab9e6 AC_WPNav: convert circle, loiter and WPNav to double position 2021-06-24 21:34:30 +10:00
Andrew Tridgell 66186e5221 AC_AttitudeControl: convert poscontrol to use double position 2021-06-24 21:34:30 +10:00
Andrew Tridgell c8079a318c AC_PID: convert AC_P_2D to double 2021-06-24 21:34:30 +10:00
Andrew Tridgell 9b91cfe4ee AP_Math: implement double versions of some position control methods 2021-06-24 21:34:30 +10:00
Andrew Tridgell 3a3a30ab22 AP_Math: define postype_t and vectors 2021-06-24 21:34:30 +10:00
Andrew Tridgell 3fc88b19b8 HAL_SITL: implement initial GPS position offsets 2021-06-24 21:34:30 +10:00
Andrew Tridgell 3315ec5acc AP_Math: added tofloat() and todouble() methods to Vector2 and Vector3 2021-06-24 21:34:30 +10:00
Andrew Tridgell cf149a9d18 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
 2021-06-24 21:34:30 +10:00
Andrew Tridgell 7819cc6400 AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-06-24 20:28:45 +10:00
Andrew Tridgell 639570505b AP_Math: cleanups from Leonards feedback 2021-06-24 20:28:45 +10:00
Andrew Tridgell 5f053bd53a AC_AttitudeControl: fixed comment 2021-06-24 20:28:45 +10:00
Andrew Tridgell 566dd8ca8b AP_Math: cleanup API comments on control code 2021-06-24 20:28:45 +10:00
Andrew Tridgell bf91168cd6 AC_WPNav: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Andrew Tridgell fd68233fed AC_AttitudeControl: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Andrew Tridgell 86f09cad09 AP_Math: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Andrew Tridgell fe4abc521a AP_Math: make vector3 xy() method return a reference 2021-06-24 20:28:45 +10:00
Siddharth Purohit 43bb543aff AP_PiccoloCAN: fix missing _telem_sem 2021-06-24 17:15:08 +10:00
Oliver 9aba85dadc AP_PiccoloCAN: Explicit initialization of AP_HAL::CANFrame instances 2021-06-24 15:51:21 +10:00
Oliver dade859ff9 AP_PiccoloCAN: Remove unncessary floating point operations 2021-06-24 15:51:21 +10:00
Oliver 06eb844ede AP_PiccoloCAN: Update code to match new esc telemetry / logging architecture 2021-06-24 15:51:21 +10:00
Oliver Walters de3c4cc9da AP_PiccoloCAN: Increase number of supported channels from 12 -> 16 2021-06-24 15:51:21 +10:00
Oliver Walters fb16b085c0 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
 2021-06-24 15:51:21 +10:00
Oliver Walters 115c1224de 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
 2021-06-24 15:51:21 +10:00
Oliver Walters 7b0da02a18 AP_PiccoloCAN: Framework for CAN servo outputs 2021-06-24 15:51:21 +10:00
Oliver Walters 43b7b4eb3b AP_PiccoloCAN: Add support for CBS servo protocol 
- Adds protocol files for the servo protocol
- Generated using Protogen tool
 2021-06-24 15:51:21 +10:00
Siddharth Purohit 9494a439ec AP_UAVCAN: Use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 69cc0b4615 SRV_Channel: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 02c74a8fa1 GCS_MAVLink: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 5d8a6d167f AP_ToshibaCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 0795225475 AP_RangeFinder: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 6d8972e63b AP_PiccoloCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 895039cdce AP_Notify: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 1a2c51d6df AP_KDECAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 81f6e3c585 AP_HAL_SITL: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 35344d1aef AP_HAL_Linux: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 882b01bae3 AP_HAL_ChibiOS: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit c7185a1e7f AP_HAL: split into HAL_CANMANAGER_ENABLED and HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 5acce3055f AP_HAL: Use HAL_ENABLE_CANMANAGER instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit ee22747b48 AP_Filesystem: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 603b302ffd AP_CANManager: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Leonard Hall 47b0ac663a AC_AttitudeControl: AC_PosControl: Init and stopping point fixes 2021-06-24 09:01:07 +10:00
bugobliterator 7e8f11b749 AP_HAL_ChibiOS: allow embedded bootloader to be excluded 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-06-24 08:36:30 +10:00
Peter Barker 183cee3f2c AP_Motors: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker dd8af14e57 AP_Logger: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker 215bc51775 AP_LandingGear: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker 731cf038f0 AP_InertialSensor: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker c0c3f92c39 AP_GPS: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker 955ea710b8 AP_BoardConfig: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker c95b56d8fe AP_Baro: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker d0dbfef2c2 AP_Arming: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker c129d50f4b AP_ADSB: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker a8b37d7064 AC_Fence: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker 5d52053232 AC_Avoidance: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker 092885f67f AC_AutoTune: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker 5d6b733d6d RC_Channel: add rc channel option to disable all airspeed sensors 2021-06-23 15:13:13 +10:00
Peter Barker 6da68e39f8 AP_Airspeed: add rc channel option to disable all airspeed sensors 2021-06-23 15:13:13 +10:00
Paul Riseborough 1281033931 AP_NavEKF3: Remove unused class variable rngBcnTimeout 2021-06-23 13:26:02 +09:00
Paul Riseborough 9d85a4292e AP_NavEKF3: Ensure postion timeout flag and timer is always reset 2021-06-23 13:26:02 +09:00
Paul Riseborough de3c6d6e5c AP_NavEKF3: Fade each vert vel variance clip count over 1 second 2021-06-23 13:26:02 +09:00
Paul Riseborough ac92182153 AP_NavEKF3: Clean up initialisation of boolean array 2021-06-23 13:26:02 +09:00
Paul Riseborough b0763f04f1 AP_NavEKF3: Remove unwanted line 2021-06-23 13:26:02 +09:00
Paul Riseborough b7aad13cc8 AP_NavEKF3: Protect against collapse of velocity and position variances 2021-06-23 13:26:02 +09:00
Paul Riseborough 36160ba9ce AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata 2021-06-23 13:26:02 +09:00
Paul Riseborough 5d00b7d042 AP_NavEKF3: Fix bug preventing height reset if badIMUdata 2021-06-23 13:26:02 +09:00
Paul Riseborough e4eb8339d0 AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata 2021-06-23 13:26:02 +09:00
Leonard Hall ffc64c3042 AC_AttitudeControl: AC_PosControl: change force_descend to ignore_descent_limit 2021-06-23 10:58:50 +09:00
Tatsuya Yamaguchi 001b2a825d RC_Channel: add const in member functions 2021-06-23 11:32:40 +10:00
Tatsuya Yamaguchi fb682a61cb AP_Arming: add flight mode conflict check 2021-06-23 11:32:40 +10:00
Tatsuya Yamaguchi 5a8ebeda1d RC_Channel: add flight mode conflict check 2021-06-23 11:32:40 +10:00
Leonard Hall d599052da3 AC_AttitudeControl:AC_PosControl: vibration failsafe fix 2021-06-23 10:29:23 +09:00
CallanDaniel 76f5db93dc AP_AHRS: add semaphore around set_home() 
added semaphore around set_home() to avoid thread racing
 2021-06-23 10:11:02 +09:00
CallanDaniel a617175881 AP_Scripting: add get_origin and set_home bindings 
added bindings and example scripts for set_home and get_origin
 2021-06-23 10:11:02 +09:00
Josh Henderson 64dc3bbe41 AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying 2021-06-22 12:01:10 +10:00
Josh Henderson 0561637350 AP_NavEKF2: Fix #17789 core's EKF origin altitude different if flying 2021-06-22 12:01:10 +10:00
Josh Henderson 0ae3730f11 AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf3
 2021-06-22 12:01:10 +10:00
Josh Henderson d7ecd6883d AP_NavEKF2: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf2
 2021-06-22 12:01:10 +10:00
Michael du Breuil b3a1e6a1ce 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
 2021-06-22 10:08:02 +10:00
Michael du Breuil 0de9d3e759 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
 2021-06-22 10:08:02 +10:00
Michael du Breuil fa7a89ef83 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.
 2021-06-22 10:08:02 +10:00
Michael du Breuil 29d6900888 AP_Airspeed: Remove unneeded initilization 
We pre zero all memory
 2021-06-22 10:08:02 +10:00
Andy Piper 9e99f724e5 AP_HAL_ChibiOS: add 1Hz update_channel_masks() 
Send dshot commands in update function
 2021-06-22 09:55:27 +10:00
Andy Piper c7cc53d224 SRV_Channel: call rcout->update_channel_masks() at 1Hz 2021-06-22 09:55:27 +10:00
Andy Piper 2e1368d8a7 AP_Arming: remove call to rcout->prepare_for_arming() 2021-06-22 09:55:27 +10:00
Andy Piper 61f1c3c9ce AP_HAL: add 1Hz update_channel_masks() 2021-06-22 09:55:27 +10:00
Nicola Grossenbacher 755ca37326 AP_Compass: added probe method for MMC3416 compass 2021-06-22 09:52:49 +10:00
Andrew Tridgell ed93caadd5 HAL_ChibiOS: fixed build of VRUBrain-v51 
overflowing flash
 2021-06-21 16:48:10 -07:00
Iampete1 cab8274690 AP_BattMoniter: log in Ah and Wh, add percentage to log 2021-06-22 09:19:40 +10:00
Iampete1 188cf71ee2 AP_Logger: add Wh units 2021-06-22 09:19:40 +10:00
Iampete1 8ea9803193 AP_BatteryMoniter: fix mah to wah conversion 2021-06-22 09:19:40 +10:00
Pierre Kancir 983e402804 AP_Common: add more unitttests 2021-06-21 21:16:29 +10:00
Andrew Tridgell ece3cf5241 AP_Logging: update EKF while waiting for log open 
this prevents the EKF getting unhappy when we arm
 2021-06-21 20:15:17 +10:00
Peter Barker c28a03728d AP_Motors: tidy frame description strings 
Before: AP: Frame: TRI/
After: AP: Frame: TRI
 2021-06-21 16:30:37 +10:00
Leonard Hall 8610edb664 AC_WPNav: AC_Loiter: Remove extra accel limit 2021-06-21 14:14:23 +09:00
Leonard Hall d9529e1be3 AC_AttitudeControl: AC_PosControl: Remove extra accel limit 2021-06-21 14:14:23 +09:00
Peter Barker 4909f6f0f1 SITL: increase servo_filter array size 
used for plane-dspoiler frame
 2021-06-21 14:13:18 +10:00