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54,962 Commits 71 Branches 510 Tags 785 MiB
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30640 Commits

Author SHA1 Message Date
Andrew Tridgell
b6e7236d3c HAL_ChibiOS: make check_limit_flash_1M() available in main firmware 2022-10-14 17:13:10 +09:00
Andrew Tridgell
88795dac18 AP_Airspeed: use DEVID to maintain lineup of CAN sensors 
persist DEVID and use it to ensure that we keep the order of DroneCAN
sensors between boots. It still allows for a sensor to be swapped out
for a new one, while keeping slot of the one that hasn't been removed
 2022-10-14 17:13:10 +09:00
davidsastresas
4c9156eab9 AP_NMEA_Output.cpp: Fix conversion precision issue: 
We were casting the location in integer 32 bits
to float, and making fabsf in float as well, so
we were losing precision translated in about 40 cm
minimum variation in position for the NMEA output.

Also, even if using double and fabsF, we were still
rounding up last 2 decimals, so now the logic is
done in degree * 10e7 to not loose precision and
then converted properly before building the string
 2022-10-14 17:13:10 +09:00
Andrew Tridgell
0118b8a27f AP_ICEngine: report when engine goes into run state 2022-10-14 17:13:10 +09:00
Andrew Tridgell
f489af18eb AP_Vehicle: check for motors being nullptr 
this can happen with plane with Q_ENABLE=0
 2022-10-14 17:13:10 +09:00
Andrew Tridgell
902b60c88e AP_BoardConfig: fixed BRD_SAFETY_MASK 
this was being omitted on most boards since we changed to
SERVOn_FUNCTION=-1 method for GPIO
 2022-10-14 17:13:10 +09:00
Andrew Tridgell
e7a5bcf6aa AP_Param: fixed handling of long lines in defaults.parm 
lines longer than 100 bytes were causing the parsing to stop
 2022-10-14 17:13:10 +09:00
Kirill Shilov
84986fda01 hwdef: AIRLink: USART2 enabled in hwdef 2022-10-04 16:50:08 +09:00
Andy Piper
6fc232af92 AP_GyroFFT: correct ref_energy indexing that could lead to free memory read 
Fix doc spelling mistakes
 2022-10-04 16:50:08 +09:00
Andy Piper
a012e9a740 AP_Logger: ensure that we don't read the same block more than once, dramatically increasing performance. 2022-10-04 16:50:08 +09:00
Andrew Tridgell
ce103fe101 hwdef: reduce flash usage to allow build 2022-10-04 16:50:08 +09:00
Andrew Tridgell
9415d9fc40 AP_Scripting: delay getting EFI backend 
allow for AP_EFI startup after scripting
 2022-10-04 16:50:08 +09:00
Andrew Tridgell
24ef595af6 AP_Scripting: changed bindings to ap_object 2022-10-04 16:50:08 +09:00
Andrew Tridgell
fe2cc8315a AP_Scripting: convert HFE driver to get_backend 2022-10-04 16:50:08 +09:00
Andrew Tridgell
5d3a34ab10 AP_RPM: added AP_RPM_config.h 2022-10-04 16:50:08 +09:00
Andrew Tridgell
920d7e1bc5 AP_EFI: switched to AP_EFI_config.h 2022-10-04 16:50:08 +09:00
Andrew Tridgell
be18ed8245 AP_EFI: convert to using ap_object approach 2022-10-04 16:50:08 +09:00
Andrew Tridgell
1a68678dd6 AP_Scripting: added mag_heading example 2022-10-04 16:50:08 +09:00
Andrew Tridgell
a3c6bd0a9c AP_Scripting: added EFI HFE driver 2022-10-04 16:50:08 +09:00
Andrew Tridgell
710eb1046a AP_Scripting: added EFI_HFE tester 2022-10-04 16:50:08 +09:00
Andrew Tridgell
8fe3310ff3 AP_HAL: added id_signed for CANFrame 
makes for more efficient lua processing
 2022-10-04 16:50:08 +09:00
Andrew Tridgell
1ee32bff88 AP_Scripting: update bindings for new fields 2022-10-04 16:50:08 +09:00
Andrew Tridgell
9b789ac47f AP_EFI: added more fields 
fill in 3 remaining fields available in MAVLink
 2022-10-04 16:50:08 +09:00
Andrew Tridgell
7f0d71ef98 AP_Scripting: added EFI testing script 2022-10-04 16:50:08 +09:00
Andrew Tridgell
6b08b2a2fd AP_Scripting: added EFI_SkyPower driver 2022-10-04 16:50:08 +09:00
Andrew Tridgell
23e2b6a374 AP_EFI: removed array from cylinder_status 
this array was never used and just makes doing drivers harder. Removed
to reduce complexity
 2022-10-04 16:50:08 +09:00
Joshua Henderson
75abceeb85 AP_EFI: add EFI scripting driver 2022-10-04 16:50:08 +09:00
Andrew Tridgell
7b975a1b71 AP_Scripting: update docs 2022-10-04 16:50:08 +09:00
Joshua Henderson
d71496206f AP_Scripting: add scripting EFI bindings 2022-10-04 16:50:08 +09:00
Joshua Henderson
c1f2c1a382 AP_Vehicle: EFI increase loop rate to 50Hz 2022-10-04 16:50:08 +09:00
Andrew Tridgell
d492d017e8 AP_PiccoloCAN: fix for new param set 2022-10-04 16:50:08 +09:00
Reilly Callaway
10eb5d3867 AP_PiccoloCAN: SendECU throttle commands over CAN 2022-10-04 16:50:08 +09:00
Reilly Callaway
26116675bf AP_EFI: Add Currawong ECU packet decoding 2022-10-04 16:50:08 +09:00
Reilly Callaway
6f6725019a AP_EFI: Add ECU density parameter for Currawong fuel flow calculations 2022-10-04 16:50:08 +09:00
Reilly Callaway
af07ec124b AP_EFI: Add Currawong ECU to known types 2022-10-04 16:50:08 +09:00
Reilly Callaway
be580bbbf8 AP_PiccoloCAN: Add Currawong ECU message handling 2022-10-04 16:50:08 +09:00
Reilly Callaway
95f28b3693 AP_PiccoloCAN: Add Currawong ECU piccolo protocol 2022-10-04 16:50:08 +09:00
Reilly Callaway
49b7efe4cb AP_EFI: Add currawong ECU EFI backend 2022-10-04 16:50:08 +09:00
Reilly Callaway
d3ee4ebf64 AP_Math: Add kg/m^3 to g/cm^3 conversion define 2022-10-04 16:50:08 +09:00
Andrew Tridgell
232c31053e AP_UAVCAN: support sending pulses as PWM for DroneCAN actuators 2022-10-04 16:50:08 +09:00
Andy Piper
a5a8bfaf43 Filter: optimize notch filter frequency updates when the requested frequency has not changed 2022-10-04 16:50:08 +09:00
yaapu
99a73a6a12 AP_MSP: move arming status to MSP telemetry base class 2022-10-04 16:50:08 +09:00
yaapu
9e0425495e AP_OSD: New per screen PARAMs for OSD overlay resolution and font 
This adds
 OSDn_TXT_RES to select SD/HD overlay resoloution
 OSDn_FONT_INDEX for font index selection

Right now support is limited to MSP Displayport OSD devices
 2022-10-04 16:50:08 +09:00
Randy Mackay
2e70b585b4 AP_Mount: remove set_mode overrides 
The mode state is local to the driver and does not depend upon successful communication with the gimbal
 2022-10-04 16:50:08 +09:00
yaapu
871627eb2d AP_OSD: Fixed UART thread ownership for the MSP DisplayPort OSD Backend 2022-10-04 16:50:08 +09:00
Henry Wurzburg
c49fede360 SRV_Channel: change sw and output names to match new MOUNT params 2022-10-04 16:50:08 +09:00
Henry Wurzburg
9e365dfc36 RC_Channel: change sw and output names to match new MOUNT params 2022-10-04 16:50:08 +09:00
Michael du Breuil
6a5ad848a4 AP_Arming: Expose ARMING_OPTIONS to all vehicles 2022-10-04 16:50:08 +09:00
murata
40a03367f3 AP_InertialSensor: Allow gyro counts to be returned 2022-10-04 16:50:08 +09:00
Andy Piper
b159268af2 AP_InertialSensor: make sure dynamic notches always get updates so that slew limiting is not too aggressive 2022-10-04 16:50:08 +09:00
Andy Piper
c468958e60 Filter: constrain harmonic notch center frequency changes to be within a slew limit 
raise notch filter slew for smaller aircraft
ensure NotchFilter init() resets the center frequency
 2022-10-04 16:50:08 +09:00
Andy Piper
c232cf3d4f AP_Vehicle: make sure notches are not spurious disabled when not using throttle notch 2022-10-04 16:50:08 +09:00
Yuri
95ec0185c4 AP_HAL_ChibiOS: define skyviper short board names 2022-10-04 16:50:08 +09:00
Yuri
0dd396daeb GCS_MAVLink: increase short board names to 23 chars 2022-10-04 16:50:08 +09:00
Yuri
b11a280b6d AP_Radio: increase short board names to 23 chars 2022-10-04 16:50:08 +09:00
Yuri
0c7aadc8f8 AP_Logger: increase short board names to 23 chars 2022-10-04 16:50:08 +09:00
Yuri
b6eca86a96 AP_HAL_SITL: increase short board names to 23 chars 2022-10-04 16:50:08 +09:00
Yuri
ebe27b95a9 AP_HAL_Linux: increase short board names to 23 chars 2022-10-04 16:50:08 +09:00
Yuri
8519ccfa2f AP_HAL_ESP32: increase short board names to 23 chars 2022-10-04 16:50:08 +09:00
Yuri
4a2cb5f3dd AP_HAL_ChibiOS: define CubeOrange-SimOnHardWare short board name 2022-10-04 16:50:08 +09:00
Yuri
acb4702689 AP_HAL_ChibiOS: increase short board names to 23 chars 2022-10-04 16:50:08 +09:00
Yuri
d9b19b797d AP_HAL: increase short board names to 23 chars 2022-10-04 16:50:08 +09:00
Peter Barker
5647db13ea AP_GPS: use default case for sending blob 
This structure avoids a compiler warning that a statement isn't reachable when all backends are compiled out.
 2022-10-04 16:50:08 +09:00
Peter Barker
eacfbc599e AP_GPS: no init blobs for SBF/GSOF/NOVA/SITL 2022-10-04 16:50:08 +09:00
Peter Barker
1bb7d045c7 AP_GPS: cycle through baud rates for SBF/GSOF/NOVA/SITL 2022-10-04 16:50:08 +09:00
Iampete1
d1d020fb50 SRV_Channel: adjust trim, check all channels for range limit 2022-10-04 16:50:08 +09:00
Paul Riseborough
829def567b AP_NavEKF3: Allow wind states to recover faster when airspeed sensor failed 2022-10-04 16:50:08 +09:00
Andrew Tridgell
2afbbfde21 AP_Airspeed: allow EKF checking without wind max 2022-10-04 16:50:08 +09:00
Paul Riseborough
02e30b067f AP_Airspeed: Update documentation for used parameter index warnings 2022-10-04 16:50:08 +09:00
Andrew Tridgell
3303ca717e AP_Logger: fixed missing doc field 2022-10-04 16:50:08 +09:00
Paul Riseborough
a782f849da AP_Airspeed: remove unsupported parameter units descriptor 2022-10-04 16:50:08 +09:00
Paul Riseborough
bd0d320fe4 AP_Airspeed: Add tuning advice for ARSP_WIND_GATE 2022-10-04 16:50:08 +09:00
Paul Riseborough
b3f289d3d1 AP_Airspeed: Add hysteresis to consistency check 2022-10-04 16:50:08 +09:00
Paul Riseborough
3d2fbf9438 AP_TECS: Assume flight at cruise speed if speed measurement not available 2022-10-04 16:50:08 +09:00
Paul Riseborough
fa06e3e612 AP_Airspeed: Enable use of EKF3 to check airspeed health 2022-10-04 16:50:08 +09:00
Paul Riseborough
a49eca341e AP_Logger: Fix ARSP data type string 2022-10-04 16:50:08 +09:00
Paul Riseborough
9f523547ca AP_Logger: Add consistency test ratio to ASPD logging 2022-10-04 16:50:08 +09:00
Paul Riseborough
f613c4088e AP_AHRS: Add accessor function for airspeed health monitoring 2022-10-04 16:50:08 +09:00
Paul Riseborough
66e26bb5cc AP_NavEKF3: Allow reporting of airspeed consistency for a deselected sensor 2022-10-04 16:50:08 +09:00
Paul Riseborough
037cf9d2e9 AP_NavEKF3: Add accessor function for airspeed health monitoring 2022-10-04 16:50:08 +09:00
Paul Riseborough
991959ddf7 AP_NavEKF3: Enable monitoring of unhealthy airspeed sensors 
Innovations and innovation test ratios will still be calculated and reported for an unhealthy sensor, but the EKF states wnd covariance matrix will not be modified.
 2022-10-04 16:50:08 +09:00
Andy Piper
ec7b9aa272 AP_RPM: fix reporting of RPM from the harmonic notch 2022-10-04 16:50:08 +09:00
Andrew Tridgell
37da615334 AP_Motors: added a SPIN_MIN check 
and check SPIN_ARM <= SPIN_MIN
 2022-10-04 16:50:08 +09:00
Andrew Tridgell
2fcd371857 AP_BoardConfig: load CUAVv6X defaults when detected 2022-10-04 16:50:08 +09:00
Andrew Tridgell
bcd8ccf038 AP_Param: make load_defaults_file() available on ChibiOS 2022-10-04 16:50:08 +09:00
Andrew Tridgell
b77db1f590 hwdef: added CUAV_V6X default parameters 2022-10-04 16:50:08 +09:00
Andrew Tridgell
6bb477715d AP_CANManager: disable SLCAN when armed 
this disables SLCAN if enabled using CAN_SLCAN_CPORT and
SERIALn_PROTOCOL=22 when we are armed, to reduce load on the CAN
thread from the very inefficient SLCAN processing
 2022-10-04 16:50:08 +09:00
Andrew Tridgell
6a048da6ad hwdef: reduced memory usage on MatekF405-CAN board 2022-10-04 16:50:08 +09:00
Andy Piper
71e860feec AP_HAL_ChibiOS: make sure SkystarsH7HD has functioning VTX on Camera 1 by default 2022-10-04 16:50:08 +09:00
Andy Piper
23c6ea320c AP_HAL_ChibiOS: put RX on UART1 on Skystars H7HD bdshot 
make sure VTX has power on Skystars H7HD at boot
 2022-10-04 16:50:08 +09:00
Andy Piper
f3fbc6691e AP_HAL_ChibiOS: hwdef for bdshot variant of SkystarsH7HD 
Correct bootloader storage location for SkystarsH7HD
 2022-10-04 16:50:08 +09:00
yaapu
bc26aabafb ArduPlane: fixed roll and pitch for OSD VTOL view 2022-10-04 16:50:08 +09:00
Bob Long
c170f1bccf AP_Mission: initialize jump-tracking in init() 2022-10-04 16:50:08 +09:00
Peter Barker
5f1388f366 AP_Mission: zero frame field when filling mavlink_int from mavlink_cmd 
Callers should be filling their bits in after calling this.
 2022-10-04 16:50:08 +09:00
Andrew Tridgell
c52f620127 AP_NavEKF3: fixed EKF3 origin alt inconsistency 
always use common origin, and adjust output posD for difference
between public and local lane origin heights
 2022-10-04 16:50:08 +09:00
Peter Barker
c39129d4fe AP_RPM: correct SITL backend compilation if RPM disabled in SITL 2022-10-04 16:50:08 +09:00
Andy Piper
202bbc3fab AP_VideoTX: ensure that Tramp changes are broadcast to the GCS 2022-10-04 16:50:08 +09:00
Andy Piper
4b06cafcc0 AP_VideoTX: fix potential buffer overrun bug 2022-10-04 16:50:08 +09:00
Andy Piper
7fafc49321 AP_VideoTX: add lookup tables for VTX power settings 
correct settings when power set is received
add support for capturing all supported power levels
learn power levels in SmartAudio 2.1
add better support for VTX power levels
don't set power to 0 if in pitmode
add option for iNav compatibility
support non-conforming SmartAudio implementations
re-enable pitmode on SmartAudio 2.0
add support for "blind" VTX setting
 2022-10-04 16:50:08 +09:00
Andrew Tridgell
b293a8cdff hwdef: rename board at request of vendor 
there are multiple AtomRCF405 boards
 2022-10-04 16:50:08 +09:00
Andrew Tridgell
ed53dc0988 SITL: fixed tailsitter airspeed in RF9 2022-09-13 14:19:47 +09:00
Andrew Tridgell
6dc63e5d86 AP_Scripting: added set_rpm_scale example 2022-09-13 14:19:47 +09:00
Andrew Tridgell
d3461452ef AP_Scripting: added set_rpm_scale API 2022-09-13 14:19:47 +09:00
Andrew Tridgell
e7ab8147b3 AP_ESC_Telem: support set_rpm_scale() call for scripting 2022-09-13 14:19:47 +09:00
Iampete1
d066588c91 AC_Fence: always clear breaches 2022-09-12 08:57:42 +09:00
olliw42
64b1277a66 AP_Mount: storm integrates find_by_mavtype_and_compid 
Note that this forces users to set their gimbal's component id while before any component id was acceptable
 2022-09-12 08:44:38 +09:00
Randy Mackay
7c9b487779 AP_Mount: gremsy integrates find_by_mavtype_and_compid 2022-09-12 08:44:38 +09:00
olliw42
c034f8a099 GCS_MAVLink: add find_by_mavtype_and_compid 2022-09-12 08:44:38 +09:00
Iampete1
64d9413871 hwdef: Hitec-Airspeed: disable UART to save flash 2022-09-11 14:02:18 +10:00
Andrew Tridgell
a0530a4816 hwdef: fixed FlyingmoonF427 servo rail voltage 2022-09-11 08:29:12 +10:00
Andrew Tridgell
ee5fc4ad8e AP_Airspeed: use row_times_mat 2022-09-11 07:57:16 +10:00
Andrew Tridgell
0d7da89ef1 SITL: fixed rotation of airspeed in tailsitters in FlightAxis 2022-09-11 07:57:16 +10:00
Andrew Tridgell
5470c6435e AP_Math: rename * operator for vector3f * matrix3f 2022-09-11 07:57:16 +10:00
Michael du Breuil
5282dba42a GCS_MAVLink: Rate limit blocking accel calibrations 
This allows us to drop any queued commands that may have arrived while
we were calibrating. Rather then entering a second and unexpected
calibration.
 2022-09-09 08:52:14 +10:00
Andrew Tridgell
dd89d68107 hwdef: added AtomRC F405 board 2022-09-09 07:14:51 +10:00
Iampete1
f3dc805978 AP_Motors: Block Spoolup: stop advance from ground idle 2022-09-07 17:03:03 +01:00
Andy Piper
2de992dcf1 AP_ESC_Telem: avoid FPE on macos 
use floats for rpm in API calls
 2022-09-07 17:03:03 +01:00
Randy Mackay
ff91bbd762 AP_Motors: add spoolup block 2022-09-07 17:03:03 +01:00
Andy Piper
b9280630f5 AP_ESC_Telem: add are_motors_running() based on rpm feedback 
add spin armed rpm to SITL
use floats for rpm in API calls
implement is_telemetry_active()
simulate ESC telemetry in SITL
 2022-09-07 17:03:03 +01:00
Andy Piper
ab64480d2b SITL: add spin armed rpm 2022-09-07 17:03:03 +01:00
Iampete1
e72e5a2751 AP_Motors: add pre-arm check 2022-09-07 17:54:16 +10:00
Michael du Breuil
ff94ef1c60 GCS_MAVLink: Check for mission space before sending items 2022-09-07 17:52:23 +10:00
Randy Mackay
152ef7f78f AP_Mission: do-gimbal-manager-pitchyaw command supports multiple gimbals 2022-09-07 16:09:07 +09:00
Randy Mackay
f932add7ea AP_Mount: mav-cmd-do-gimbal-manager-pitchyaw supports multiple gimbals 2022-09-07 16:09:07 +09:00
Randy Mackay
73d817b985 AP_Mount: add access for primary instance 2022-09-07 16:09:07 +09:00
Randy Mackay
76096899ac AP_Mount: add 2nd instance 2022-09-07 16:09:07 +09:00
Michael du Breuil
0c73da5e79 AP_Logger: Strictly handle NACK/ACK 
This is a change in bevaiour. The previous behaviour was to check for a
NACK, and if it wasn't a NACK it was assumed to be an ACK. This is a bad
assumption to let people get away with, because in the future if we ever
add other options to the enum we are more likely to have to cope with
bad implementation in the wild
 2022-09-07 10:25:30 +10:00
Randy Mackay
93f62e5abe Tools: SilentWings param file MNT updates 
These parameters have been renamed but they were always the defaults
 2022-09-06 13:53:25 +09:00
Randy Mackay
c072a201bc AP_Mount: param conversion for MNT to MNT1 2022-09-06 13:53:25 +09:00
Randy Mackay
66a8775895 AP_Mount: remove param set of MNT1_TYPE to 1 if servo outputs defined 2022-09-06 13:53:25 +09:00
Randy Mackay
c20ec27c54 AP_Mount: parameter angles in degrees 
Also MNTx_RC_RATE param per backend
 2022-09-06 13:53:25 +09:00
Randy Mackay
ac769baa3c AP_Mount: Servo mount's STAB params replaced by BrushlessPWM type 2022-09-06 13:53:25 +09:00
Randy Mackay
0d9526f1c5 AP_Mount: replace RC input params with RC options 2022-09-06 13:53:25 +09:00
Randy Mackay
cc67d6f73c RC_Channel: define mount roll, pitch and yaw inputs 2022-09-06 13:53:25 +09:00
chobitsfan
43105249cb PrecLand: support LANDING_TARGET ext field 2022-09-06 12:10:21 +09:00
Andrew Tridgell
b7b02bd369 AP_Rangefinder: fixed out of range issue with benewake uart lidars 
this impacts the TF03 180m lidar
 2022-09-06 12:34:41 +10:00
Shiv Tyagi
7d3f013695 AR_PosControl: add accessor for reversed 2022-09-06 11:23:51 +09:00
Shiv Tyagi
d982c28ef2 AR_WPNav: add accessors for accel and jerk limits 2022-09-06 11:23:51 +09:00
Andrew Tridgell
e1c006c25d AP_Math: added double_to_int32 and double_to_uint32 2022-09-06 10:49:50 +10:00
Andrew Tridgell
3c232d1f67 SITL: fixes from --ubsan autotest 2022-09-06 10:49:50 +10:00
Andrew Tridgell
53997a284b AP_HAL_SITL: fixes from --ubsan autotest 2022-09-06 10:49:50 +10:00
Andrew Tridgell
b44a084a1e AP_Frsky_Telem: fixes from --ubsan autotest 2022-09-06 10:49:50 +10:00
Andrew Tridgell
c2b29a92c7 AP_ExternalAHRS: fixes from --ubsan autotest 2022-09-06 10:49:50 +10:00
Andrew Tridgell
286ea7499b AP_MSP: use BIT_IS_SET_64() 
the bitmask is 64 bits wide
 2022-09-06 10:49:50 +10:00
Andrew Tridgell
cda3fb6368 AP_Common: added BIT_IS_SET_64() 2022-09-06 10:49:50 +10:00
Andrew Tridgell
4ed55d9e21 Filter: fixed out of bound access in ModeFilter 2022-09-06 10:49:50 +10:00
Iampete1
60a75a0973 AP_Scripting: examaples move to : acsess 2022-09-06 10:39:35 +10:00
Iampete1
5b2236e88c AP_Scripting: Manual bindings: allow both : and . acsess 2022-09-06 10:39:35 +10:00
Henry Wurzburg
2c8c037b93 SRV_Channel:Correct metadata mistake in PR #21347 2022-09-06 10:35:14 +10:00
Willian Galvani
5ed2785dfa AP_HAL_Linux: create GPIO_Navigator 2022-09-06 09:34:07 +10:00