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31733 Commits

Author SHA1 Message Date
Peter Barker
6ce2e17232 AP_AHRS: use FieldBitmaskEnum and FieldValueEnum 2023-01-25 19:50:34 +11:00
rishabsingh3003
7c3d499712 hwdef: Add MatekL431-HWTelem 2023-01-25 18:15:28 +11:00
Peter Barker
2a263972b2 AP_RCProtocol: iterate over array size rather than to last entry 
This can move us towards not instantiating backends (having an _num_backends) at some stage.

More typical of what we do throughout the code, and makes the derefernces on the subsequent lines a lot more comfortable to casual browsing.
 2023-01-25 09:14:16 +11:00
Andrew Tridgell
0f35286041 SITL: fixed SIM lidar for FlightAxis 2023-01-24 16:09:23 +11:00
Andrew Tridgell
b43701fffa HAL_SITL: exit on close of port 0 on cygwin 
this fixes a long standing problem with SITL not exiting when you
close connection in MissionPlanner
 2023-01-24 15:48:04 +11:00
Henry Wurzburg
3a4d33c776 AP_Scripting:Updates to schedules and sports_aero messages 2023-01-24 11:39:39 +11:00
Henry Wurzburg
7db1048f91 AP_TemperatureSensor:correct TEMP sensor metadata 2023-01-24 11:16:51 +11:00
Andrew Tridgell
08d420a08c AP_InertialSensor: reject 0xff frames from BMI088 gyro 
a log on a board with a BMI088 seems to show that this happened
 2023-01-24 11:16:39 +11:00
Andrew Tridgell
c19554e23a AP_Math: added Vector3i comparison 2023-01-24 11:16:39 +11:00
Iampete1
fc7804f03a AP_Arming: use check_enabked hepler to always check if all bit is set 2023-01-24 11:09:51 +11:00
Randy Mackay
923520d455 AP_VisualOdom: handle voxl yaw and pos jump on reset 2023-01-24 11:07:02 +11:00
Randy Mackay
115d33e300 AP_VIsualOdom: general purpose align yaw and position methods 2023-01-24 11:07:02 +11:00
Randy Mackay
6114e1f2ea RC_Channel: integrate visodom rename of requset_align_yaw_to_ahrs 2023-01-24 11:07:02 +11:00
Randy Mackay
8336814607 AP_VisualOdom: rename align_sensor_to_vehicle to align_yaw_to_ahrs 
also separate request to align from code that actually performs the alignment
 2023-01-24 11:07:02 +11:00
Peter Barker
08e42d2699 AP_VideoTX: use minimize.inc for Tramp and SmartAudio 
... and rename HAL_SMARTAUDIO_ENABLED
 2023-01-24 11:03:27 +11:00
Peter Barker
8075d33ae5 AP_Vehicle: use minimize.inc for Tramp and SmartAudio 
... and rename HAL_SMARTAUDIO_ENABLED
 2023-01-24 11:03:27 +11:00
Peter Barker
e0f6b264d0 AP_HAL_ChibiOS: use minimize.inc for Tramp and SmartAudio 
... and rename HAL_SMARTAUDIO_ENABLED
 2023-01-24 11:03:27 +11:00
Peter Barker
de91b9289c RC_Channel: add and use AP_VIDEOTX_ENABLED 2023-01-24 11:03:27 +11:00
Peter Barker
20f504d337 AP_VideoTX: add and use AP_VIDEOTX_ENABLED 2023-01-24 11:03:27 +11:00
Peter Barker
a81bce6da4 AP_Vehicle: add and use AP_VIDEOTX_ENABLED 2023-01-24 11:03:27 +11:00
Peter Barker
c139f7c730 AP_RCProtocol: add and use AP_VIDEOTX_ENABLED 2023-01-24 11:03:27 +11:00
Peter Barker
2656bcf5fa AP_OSD: add and use AP_VIDEOTX_ENABLED 2023-01-24 11:03:27 +11:00
Peter Barker
3a604ecfdf AP_HAL_ChibiOS: add and use AP_VIDEOTX_ENABLED 2023-01-24 11:03:27 +11:00
Randy Mackay
b8ace06077 AP_Mount: servo mount yaw handling fix 2023-01-24 10:59:10 +11:00
Andy Piper
a0b8e22a63 AP_GyroFFT: change default FFT frequency range to something more useful 2023-01-24 10:56:33 +11:00
Andy Piper
c3a402a02f AP_GyroFFT: emit notifications for FFT notch tune 2023-01-24 10:56:33 +11:00
Andy Piper
31a216f670 AP_HAL: ensure the DSP tracked peaks do not overflow the buffer 2023-01-24 10:56:33 +11:00
Andy Piper
500f59d839 Filter: allow freq_min_ratio to be set on harmonic notch filter 
allow harmonics to be set
 2023-01-24 10:56:33 +11:00
Andy Piper
bd05b548a7 AP_InertialSensor: use freq_min_ratio on notch tune setup 
set harmonics in notch setup
 2023-01-24 10:56:33 +11:00
Andy Piper
4199ccc292 AP_GyroFFT: correct notch calculation for FFT tune. 
use freq_min_ratio for scaling
add harmonic calculation test
set harmonics in notch setup
 2023-01-24 10:56:33 +11:00
Prathamesh Patil
21a54b5533 AC_WPNav: AC_Circle: circle_rate param description added 2023-01-24 08:27:15 +09:00
Andrew Tridgell
29f124543b AP_Scripting: added custom telem msgs for EFI_Skypower driver 
also:
- and added parameter for enable/disable start when disarmed
- added logging for extra fields not in EFI logging
- fixed endianness of EFI tester
 2023-01-24 10:25:12 +11:00
Ryan Beall
1d70180809 AP_Landing: Add Landing Max Throttle Option 2023-01-24 10:19:56 +11:00
Ryan Beall
2a4c453cb0 AP_Landing: Correct WIND_COMP gain to percent 2023-01-24 10:19:56 +11:00
Ryan Beall
5b00c9b030 AP_Landing: Add Headwind Compensation Param 
Remove git action
 2023-01-24 10:19:56 +11:00
Ryan Beall
4355d852b1 AP_TECS: Update documentation to alert user of maximum allowed 2023-01-24 10:19:56 +11:00
Ryan Beall
738c189d5e AP_Landing: increase airspeed landing constraint to Max Airspeed 2023-01-24 10:19:56 +11:00
Iampete1
82dabd1872 AP_OSD: use new param defualting method 2023-01-24 10:16:56 +11:00
Iampete1
dcfc6ae642 PID: use new defualt pattern 2023-01-24 10:16:56 +11:00
Iampete1
18d0dbcd8a AC_PID: use new defualt pattern 2023-01-24 10:16:56 +11:00
Iampete1
46e560f3f6 AC_AttitudeControl: CommandModel: use new defualt pattern 2023-01-24 10:16:56 +11:00
Iampete1
6cd5cf8195 AP_Param: print length of defaults list as part of key dump 2023-01-24 10:16:56 +11:00
Iampete1
f90990b3a2 AC_PID: move to new method for setiung defualts 2023-01-24 10:16:56 +11:00
Iampete1
49d23e16df AP_Param: rework embedded defualts list as no longer needed 2023-01-24 10:16:56 +11:00
Iampete1
02af134ba6 AP_Param: allow defualt values to be given by const float var 2023-01-24 10:16:56 +11:00
Andrew Tridgell
f203cf321f AP_Compass: fixed field orientation for MMC3416 
the sensor is not FRD, and needs Y axis reversed to follow ArduPilot
FRD convention for magnetometers
 2023-01-23 20:10:16 +11:00
Iampete1
6c8064da96 AP_Arming: use check_enabled helper 2023-01-23 11:00:13 +09:00
Peter Barker
c440d98897 AP_AHRS: tidy available-AHRS-types enumeration 2023-01-23 10:05:17 +11:00
Ian
636f9bffa9 AP_HAL_SITL: Add new SITL driver for Webots 2023a 
The new SITL driver is based on the existing SITL driver for Gazebo and
does not require a JSON parser and implements set_interface_ports.
 2023-01-22 18:19:38 +11:00
Ian
d358ca1b32 SITL: Add Webots 2023a support and examples 
The various C Webots controllers are replaced by a single Python controller
- More readable (in my opinion)
- Does not require compilation
- Easily modifiable to run user code
- Can be blackboxed and configured via arguments when designing a robot model
- Optionally provides the ability to stream camera images over TCP
- Generalizable to copters and rovers (and probably more)
- Supports multi-vehicle simulation (including of multiple types)
- Requires no non-standard libraries (neither does current)

Higher fidelity example worlds
- Iris quadcopter demo world similar to gazebo
- Crazyflie quadcopter demo world (crazyflie models baked into webots)
- Pioneer3at rover demo world (pioneer models baked into webots)
 2023-01-22 18:19:38 +11:00
Tom Pittenger
773129bab4 AP_TemperatureSensor: add driver for MAX31865 2023-01-21 11:38:50 +11:00
Henry Wurzburg
f8c4356ce2 AP_Scripting: add error check to mission_load.lua 2023-01-21 11:09:52 +11:00
Andrew Tridgell
b71601e9e4 AP_Scripting: fixed alt frame error in ship landing 
if terrain follow is enabled then this would result in mixing a
terrain alt with an absolute alt, resulting in attempts to descend to
a negative alt
 2023-01-19 17:09:05 +11:00
Andrew Tridgell
645240cc2b AP_InertialSensor: cleanup NAMED_VALUE_FLOAT for fifo error 2023-01-19 15:44:13 +11:00
Andrew Tridgell
786ae7c67f AP_InertialSensor: fixed flood of log with fast fifo reset 2023-01-19 15:44:13 +11:00
Nicholas (Nick) Kruzan
0dc878564f AP_Scripting:examples - rangefinder_test.lua : Minor Spelling Correction 
Ratation -> Rotation
 2023-01-18 12:01:40 +00:00
Andrew Tridgell
4dec8f849f hwdef: added HolybroG4_Compass 
G4 based DroneCAN compass with RM3100
 2023-01-18 19:30:30 +11:00
Andy Piper
0234c344ab AP_HAL_ChibiOS: add vanity and build requirements to betaflight converter 2023-01-18 19:17:22 +11:00
Andy Piper
f9276f76e7 AP_HAL_ChibiOS: cope with sensor alignment not being set in betaflight config 2023-01-18 19:17:22 +11:00
Peter Barker
591d587ed0 SITL: document SIM_ESC_TELEM 
this is the perfect telemetry stream; we don't want to override other telemetry streams
 2023-01-18 18:07:23 +11:00
Peter Barker
ccf290246c AP_HAL_SITL: use parameter to enable/disable SITL ESC telem 
this is the perfect telemetry stream; we don't want to override other telemetry streams
 2023-01-18 18:07:23 +11:00
Peter Barker
aa7ab28969 AP_AHRS: add a bool wind_estimate(...) 
NavEKF3 can fail to return a wind estimate, and we lose that value
 2023-01-18 11:20:32 +11:00
Peter Barker
96f359b4e3 AP_Logger: avoid logging duplicate FMT/UNIT/FMTU/MULT messages 
Failing due to being out of time meant we wouldn't incremement the counter, even though we'd emitted the item.

it is important we try to send something, so move this check to be after we increment whichever counter we are using.
 2023-01-18 10:09:43 +11:00
Peter Barker
f429aae09e AP_ESC_Telem: correct esc telem debug 
wrong format specifier
 2023-01-18 07:17:51 +11:00
Andrew Tridgell
863b4bf928 AP_Compass: fixed zero compass diagonals 
this fixes a regression from 4.2 to 4.3.

previously we automatically set the diagnoals to 1,1,1 if they were
0,0,0. We don't do that any more. I was helping a user who had copied
an old config with 0,0,0 for diagonals and did not understand two
things:

- the compass did not work in 4.3
- large vehicle mag cal didn't work
 2023-01-17 12:05:19 +11:00
Peter Barker
5078e6ea00 SITL: exclude SIM_SAIL_TYPE from non-Rover builds 2023-01-17 11:23:40 +11:00
Peter Barker
0c7ce291ec SITL: document the SIM_WOW_PIN parameter 2023-01-17 11:23:40 +11:00
Peter Barker
6c03134169 AP_HAL_SITL: use AP_CSVReader to read from Log serial-async dump 2023-01-17 11:21:48 +11:00
Peter Barker
20fc2d091c AP_CSVReader: add simple CSV reader 2023-01-17 11:21:48 +11:00
Iampete1
c99c17f1ce AMP_Control: Roll and Pitch Controller: don't reset pid_info.I in reset_I calls 2023-01-17 11:19:39 +11:00
Iampete1
2371d83620 AC_PID: dont change pid_info.I in set/reset methods 2023-01-17 11:19:39 +11:00
Peter Barker
84d49d5a88 hwdef: skyviper-v2450: remove EK3 external nav and body-frame-odometry 
Neither of these are applicable to SkyViper
 2023-01-17 10:50:37 +11:00
Peter Barker
d78ea08d24 AP_AHRS: move AP_AHRS_SIM::get_results into backend file 2023-01-17 10:49:56 +11:00
Iampete1
722ec745e9 AP_BattMoniter: don't allow equal low and critical FS thresholds 2023-01-17 10:36:09 +11:00
Andrew Tridgell
ffb6a9fb7f AP_OpenDroneID: set EMERGENCY status on crash or chute deploy 
RemoteID modules are required to set EMERGENCY status on uncontrolled
descent or crash. This fixes our implementation to do that, either via
existing vehicle crash checking code or via a parachute release
 2023-01-17 10:31:26 +11:00
chobits
f467acbe92 AP_HAL_ChibiOS: no dma for unused kakuteh7 uart2 2023-01-17 10:24:42 +11:00
Henry Wurzburg
71099c881d AP_Scripting: add error check to mission_load.lua 2023-01-17 10:24:08 +11:00
Henry Wurzburg
8865d79015 AP_Mission: add error check to mission_load.lua 2023-01-17 10:24:08 +11:00
Henry Wurzburg
c8617ccf01 AP_Scripting:Add mission to Script_Controller and improve 2023-01-17 10:24:08 +11:00
Henry Wurzburg
509d4b7fbf SITL:make MAG1 param consistent names 2023-01-17 08:45:30 +11:00
Andrew Tridgell
12c24df476 AP_HAL_SITL: added old_size to heap_realloc 2023-01-16 09:19:16 +11:00
Andrew Tridgell
deb86be1da AP_HAL_Linux: added old_size to heap_realloc 2023-01-16 09:19:16 +11:00
Andrew Tridgell
13cbccc016 AP_HAL: added old_size to heap_realloc 2023-01-16 09:19:16 +11:00
Andrew Tridgell
e255bbbd40 AP_HAL_ESP32: added old_size to heap_realloc 2023-01-16 09:19:16 +11:00
Andrew Tridgell
365de4b505 AP_HAL_ChibiOS: added old_size to heap_realloc 2023-01-16 09:19:16 +11:00
Andrew Tridgell
b45be75a98 AP_Scripting: use MultiHeap class 2023-01-16 09:19:16 +11:00
Andrew Tridgell
22a16f9672 AP_Common: added MultiHeap class 
for scripting allocation with multiple heaps
 2023-01-16 09:19:16 +11:00
Henry Wurzburg
e96a55c1b6 SITL:add SIM param metadata 2023-01-15 21:58:12 +11:00
Andrew Tridgell
a2b0bbffdb HAL_SITL: implement SIM_UART_LOSS 2023-01-15 21:57:15 +11:00
Andrew Tridgell
d3ea7b0ca6 SITL: added SIM_UART_LOSS parameter 2023-01-15 21:57:15 +11:00
Andrew Tridgell
dfdecc52c4 GCS_MAVLink: fixed FTP terminate session error 
this caused ftp downloads to intermittently fail. The cause is the FTP
client may ask for a session terminate and then immediately afterwards
a ftp open. The open would fail as the ftp session was considered
active
 2023-01-15 21:57:15 +11:00
Andrew Tridgell
abb3cdd6b8 AP_TECS: added max throttle time for takeoff with no airspeed sensor 2023-01-15 12:17:27 +11:00
Andrew Tridgell
d15c5ce233 AP_Vehicle: added takeoff_throttle_max_t for fixed wing 2023-01-15 12:17:27 +11:00
Peter Barker
08f652fe2c AP_HAL_ChibiOS: ignore array bounds check while checking 0x0 for writes 
Fixes compiler error on g++ 12

../../libraries/AP_HAL_ChibiOS/Scheduler.cpp:568:20: error: array subscript 0 is outside array bounds of 'const uint8_t [0]' [-Werror=array-bounds]
  568 |         if (addr0[i] != 0) {
 2023-01-12 23:30:15 +11:00
Peter Barker
c42754b691 AP_AHRS: create an AP_AHRS_SIM backend 2023-01-12 13:11:40 +11:00
Henry Wurzburg
c79672b96c SITL: add SITL param metadata and fix a few 2023-01-12 09:19:27 +11:00
Peter Barker
9cb3bfbe05 AP_HAL_ChibiOS: disable batch sampler on SkyViper-v2450 
saves ~1.8kB
 2023-01-11 19:08:41 +11:00
Peter Barker
e5c3dd871c AP_InertialSensor: create explicit define for AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED 
this allows the batch sampler to be removed for size reasons, or because you don't have logging enabled
 2023-01-11 19:08:41 +11:00
Andy Piper
c620ba58df AP_Motors: use _dt instead of loop rate for throttle slew calculation 2023-01-11 18:59:52 +11:00
Andy Piper
80fb33fb8b AP_AHRS: add throttle slew to RATE 
log PD scaling values
 2023-01-11 18:59:52 +11:00
Andy Piper
53b7f96a5d AC_AttitudeControl: boost PD on roll and pitch when slew limit is hit 
boost angle P when slew limit is hit
move to a single parameter for thrust-gain boosting
add PD scaling support
 2023-01-11 18:59:52 +11:00
Andy Piper
f3ecb4ee6c AC_PID: support PD boosting 2023-01-11 18:59:52 +11:00
Andy Piper
ad94c5cab1 AP_Motors: calculate throttle slew rate 
use derivative filter and apply filtering to slew detector
 2023-01-11 18:59:52 +11:00
Andy Piper
9caf94b5e4 AP_HAL_ChibiOS: simple conversion tool for betaflight pin definitions 2023-01-11 18:57:33 +11:00
Andy Piper
094a52e433 AP_HAL_ChibiOS: FoxeerH743 hwdef 2023-01-11 18:57:33 +11:00
Iampete1
15daff879e AP_Param: add shared Info defines 2023-01-11 18:41:34 +11:00
Iampete1
dd31742463 AP_Param: align param info structures to save flash 2023-01-11 18:41:34 +11:00
Iampete1
5c013552ed AP_OSD: align param info structures to save flash 2023-01-11 18:41:34 +11:00
Iampete1
57e35f39b1 AP_NMEA_Output: align param info structures to save flash 2023-01-11 18:41:34 +11:00
Peter Barker
37b54a7c9c AP_Param: correct compilation when debugging enabled 
Correct passing through ov varargs from macro
 2023-01-11 13:55:36 +11:00
MAD-CRAZY-MAN
63efa7e480 hwdef: update thepeach hwdef-bl.dat 2023-01-11 10:00:57 +11:00
Peter Barker
c71c93e2b0 AP_Vehicle: make check_var_info void 
Given all the callers die anyway, make it void
 2023-01-10 10:48:15 +11:00
Peter Barker
7f9714d722 AP_Param: make check_var_info void 
Given all the callers die anyway, make it void
 2023-01-10 10:48:15 +11:00
Iampete1
e2535d1197 AP_OSD: rework param defualting 2023-01-10 10:42:52 +11:00
Peter Barker
551dae8759 AP_AHRS: break out an AP_AHRS_config.h 2023-01-10 10:27:39 +11:00
Andrew Tridgell
10c5ecb46a AP_Scripting: added example for generator throttle control 2023-01-10 10:19:51 +11:00
Henry Wurzburg
787cce4fc3 AP_Scripting: sport_aerobatics trick additions and fixes 2023-01-10 09:41:41 +11:00
Randy Mackay
0d18ee71fa GCS_MAVlink: send_autopilot_state_for_gimbal_device sends ef z-axis rate target 2023-01-09 10:34:34 +09:00
Randy Mackay
78f1b18b64 AP_Vehicle: replace get_rate_bf_targets with get_rate_ef_targets 2023-01-09 10:34:34 +09:00
Randy Mackay
5981e8bbaa AC_AttitudeControl: add get_rate_ef_targets accessor 2023-01-09 10:34:34 +09:00
Andrew Tridgell
3d5ef88c43 AC_AttitudeControl: fixed time wrap bug in is_active_xy() 
this failed at 70 minutes
 2023-01-08 16:02:42 +11:00
Andrew Tridgell
f39f4e35c2 GCS_MAVLink: optimise FTP for available bandwidth 
when we don't have hardware flow control don't use more than 1/3 of
available bandwidth for ftp outgoing transfers. This makes parameter
download faster on radios without flow control
 2023-01-08 15:11:32 +11:00
Andrew Tridgell
a14c5b2955 AP_HAL: check for null buffer in ObjectBuffer get_size() 2023-01-08 15:11:32 +11:00
Andrew Tridgell
41de8286ef GCS_MAVLink: check for alloc failure of ObjectBuffer 2023-01-08 15:11:32 +11:00
Andrew Tridgell
db45682b3d AP_Scripting: check for alloc failure of ObjectBuffer 2023-01-08 15:11:32 +11:00
Andrew Tridgell
03f4ab515d AP_HAL_Linux: check for alloc failure of ObjectBuffer 2023-01-08 15:11:32 +11:00
Andrew Tridgell
6bff28d5d5 AP_CANManager: check for alloc failure of ObjectBuffer 2023-01-08 15:11:32 +11:00
Andrew Tridgell
e184e78e52 AC_Avoidance: check for alloc failure of ObjectBuffer 2023-01-08 15:11:32 +11:00
Andrew Tridgell
57ee3a4e02 GCS_MAVLink: send FTP replies directly from the FTP thread 
this saves over 700 bytes of memory while also making ftp faster
 2023-01-08 15:11:32 +11:00
Andrew Tridgell
7a741a0a2d AP_GPS: fixed use of undulation for GPS2_RAW 
GPS2_RAW needs to use undulation of 2nd receiver
 2023-01-08 13:30:11 +11:00
Andrew Tridgell
17c25780c7 AP_GPS: support UNIHEADINGA message for Unicore NMEA 
this allows for good yaw even without a RTK fix, which makes yaw with
dual-antenna Unicore GPS modules much more useful
 2023-01-08 13:30:11 +11:00
murata
42a2a51dc7 AP_Landing: Change from division to multiplication 2023-01-06 11:31:09 -08:00
Andrew Tridgell
b80dca38ff GCS_MAVLINK: added check_payload_size() method 
this saves flash by moving common code to cpp
 2023-01-06 22:50:42 +11:00
Peter Barker
54a4b7a98b GCS_MAVLink: use chibios_hwdef.py to disable fence on AP_Periph 2023-01-06 12:39:06 +11:00
Peter Barker
28592269ff AP_HAL_ChibiOS: use chibios_hwdef.py to disable fence on AP_Periph 2023-01-06 12:39:06 +11:00
Iampete1
3299976eae AP_Airspeed: move setting of first backend defualts to constructor to avoid race 2023-01-05 08:27:45 +11:00
Andrew Tridgell
0b7353bb89 AP_Filesystem: detect inconsistent parameter count 
on incorrect param count invalidate it so a 2nd param ftp will get the
right count
 2023-01-04 21:50:24 +11:00
Andrew Tridgell
f0bc31cdc3 AP_Vehicle: invalidate param count at end of vehicle startup 2023-01-04 21:50:24 +11:00
Peter Barker
3854e4a99d AP_AHRS: get_relative_position_D_home: don't use home until set 2023-01-04 18:11:01 +11:00
Peter Barker
341d66800a hwdef: minimize features on VRBrain-v52 and VRCore-v10 
these are failing to build on the firmware server
 2023-01-04 18:06:18 +11:00
Peter Barker
fe4e4b0aff AP_HAL: correct sitl-on-hw compilation for Helicopters 2023-01-04 18:04:28 +11:00
Peter Barker
95527894de AP_InertialSensor: define AP_INERTIALSENSOR_ENABLED in a new AP_InertialSensor_config.h 2023-01-04 18:02:34 +11:00
Peter Barker
e8c5296087 AP_HAL: define AP_INERTIALSENSOR_ENABLED in a new AP_InertialSensor_config.h 2023-01-04 18:02:34 +11:00
Peter Barker
de54bcbc21 AP_HAL_ChibiOS: define AP_INERTIALSENSOR_ENABLED in a new AP_InertialSensor_config.h 2023-01-04 18:02:34 +11:00
Henry Wurzburg
8de4195ffc AP_Scripting: add readme.md file and completion 2023-01-04 16:20:12 +11:00
Andrew Tridgell
ea89f04a56 AP_Scripting: script switching system 
Co-authored-by:Henry Wurzburg (hwurzburg@yahoo.com)
 2023-01-04 16:20:12 +11:00
Peter Barker
c728483a7e AP_HAL_SITL: add option to create uart connection to file 2023-01-04 12:29:49 +11:00
Andy Piper
2c990f9e1c AP_HAL_ChibiOS: MambaH743 v2 with dual ICM42688 2023-01-04 08:12:44 +11:00
murata
0fedd83208 AP_SerialManager: Add 2Mbps for simulator 2023-01-03 12:52:07 +11:00
Kirill Shilov
4e3081cdf8 AIRLink hwdef: added heater parameters 2023-01-03 12:08:57 +11:00
Peter Barker
389eb3ac50 AP_HAL_ChibiOS: minimize Mamba405-2022 2023-01-03 11:39:18 +11:00
Peter Barker
6524bf3729 AP_Logger: create and use AP_Logger_config.h 2023-01-03 11:24:14 +11:00
Henry Wurzburg
bd27a8c650 AP_Scripting: Update readmes for aerobatics 2023-01-03 11:22:52 +11:00
Peter Barker
798cc2633f AP_SerialManager: implement parameter CopyFieldsFrom and use it 2023-01-03 11:08:43 +11:00
Peter Barker
7432123e42 AP_Button: implement parameter CopyFieldsFrom and use it 2023-01-03 11:08:43 +11:00
Peter Barker
80c79f1529 AP_Arming: only require AP_RALLY_ENABLED if MIS_ITEM_CHECK_RALLY 
It's OK to not have AP_RALLY_ENABLED if the user isn't requiring that a rally point be avaiable.  i.e. if the user is requesting that there be a landing point that doesn't infer rally must be compiled in!
 2023-01-03 11:04:44 +11:00
Henry Wurzburg
65547f41c7 AP_Scripting: rename TRIK to TRIKR for sport_aerobatics 2023-01-03 11:03:36 +11:00
Andrew Tridgell
d6c258e9d0 AP_Declination: update magnetic field tables 
now using igrf13
 2023-01-03 11:01:32 +11:00
Peter Barker
84215ff662 AP_Terrain: only include GCS_MAVLink if terrain is enabled 2023-01-03 10:47:28 +11:00
Iampete1
f0c1673b62 AP_Scripting: bindings: logger: support more formats 2023-01-03 10:45:51 +11:00
Iampete1
3d9794a503 AP_ExternalAHRS: VectorNav: remove reset and wait as it causes baro calibration issues 2023-01-03 10:32:20 +11:00
Iampete1
621e01fbcc SITL: VectorNav: update simulated VN-300 for new packet type 2023-01-03 10:32:20 +11:00
Iampete1
759f035636 AP_ExtneralAHRS: add option to use uncompensated IMU values on vector nav 2023-01-03 10:32:20 +11:00
Iampete1
9040eac91b AP_ExtneralAHRS: VectorNav: get uncompensated IMU values 2023-01-03 10:32:20 +11:00
Iampete1
f441640aba AP_ExternalAHRS: VectorNac: VN-300 remove unused data fields 2023-01-03 10:32:20 +11:00
Iampete1
2e465b4c18 AP_InertialSensor: External: report name in output banner 2023-01-03 10:32:20 +11:00
Iampete1
ec1814da34 AP_ExternalAHRS: add get_name function for reporting 2023-01-03 10:32:20 +11:00
Iampete1
33b09ff0cb AP_ExternalAHRS: add enabled method 2023-01-03 10:32:20 +11:00
Iampete1
f933f148ed AP_AHRS: always run external AHRS arming check if enabled 2023-01-03 10:32:20 +11:00
Iampete1
8710a651ce AP_ExternalAHRS: VectorNAV: add support for VN-100 2023-01-03 10:32:20 +11:00
Peter Barker
959b3049c0 GCS_MAVLink: rename HAL_INS_ENABLED to AP_INERTIALSENSOR_ENABLED 2023-01-03 10:28:42 +11:00
Peter Barker
ee98d75173 AP_InertialSensor: rename HAL_INS_ENABLED to AP_INERTIALSENSOR_ENABLED 2023-01-03 10:28:42 +11:00
Peter Barker
1725e794ed AP_HAL: rename HAL_INS_ENABLED to AP_INERTIALSENSOR_ENABLED 2023-01-03 10:28:42 +11:00
Peter Barker
5d84fbbedb AP_HAL_ChibiOS: rename HAL_INS_ENABLED to AP_INERTIALSENSOR_ENABLED 2023-01-03 10:28:42 +11:00
Peter Barker
0d64dc5a14 AP_Frsky_Telem: rename HAL_INS_ENABLED to AP_INERTIALSENSOR_ENABLED 2023-01-03 10:28:42 +11:00
Peter Barker
c0d9201740 AP_Compass: rename HAL_INS_ENABLED to AP_INERTIALSENSOR_ENABLED 2023-01-03 10:28:42 +11:00
Peter Barker
ed642df063 AP_Arming: add required AP_Relay.h include 2023-01-03 10:19:54 +11:00
Peter Barker
4776ae653c AP_Parachute: use relay singleton in Parachute 2023-01-03 10:19:54 +11:00
Iampete1
58ac399aa9 AP_Airspeed: add allocare method for periph 2023-01-03 10:17:56 +11:00
Iampete1
baa642896e SITL: update for new airspeed tube order param name 2023-01-03 10:17:56 +11:00
Iampete1
e39b62a0e6 AP_HAL_ChibiOS: Swan-K1 update airspeed tube order param name 2023-01-03 10:17:56 +11:00
Iampete1
bfab3e8b04 AP_Airspeed: AP_Airspeed_Params: provide dummy var table to save flash 2023-01-03 10:17:56 +11:00
Iampete1
a20c07b745 AP_Airspeed: add global enable parameter 2023-01-03 10:17:56 +11:00
Iampete1
0bb7e8a789 AP_Airspeed: add param conversion to per-instance 2023-01-03 10:17:56 +11:00
Iampete1
e8802d1858 AP_Airspeed: remove old param conversion 2023-01-03 10:17:56 +11:00
Gone4Dirt
0138d0c2cc AP_Airspeed: move params to seperate file 2023-01-03 10:17:56 +11:00
ChriKrawi
5e8cbbd238 AP_HAL_ChibiOS: hwdat-file modified to support bmi270 imu 2023-01-03 09:34:29 +11:00
Andrew Tridgell
49fdc30532 hwdef: remove unnecessary RANGEFINDER_MAX_INSTANCES 2023-01-02 15:42:55 +11:00
Andrew Tridgell
673aa5ceb7 HAL_ChibiOS: default to max 1 rangefinder in periph 2023-01-02 15:42:55 +11:00
Leonard Hall
7857bb2210 AP_Gripper: Add Neutral state after init 2022-12-31 12:29:31 +09:00
Henry Wurzburg
175c2c950e AP_Scripting:fix format error in readme file 2022-12-30 14:39:43 -08:00
Andy Piper
7f7305a6d9 AP_InertialSensor: use correct include for sim-on-hardware 2022-12-31 09:32:32 +11:00
Andy Piper
921f51d08a AP_HAL: correct AP_SIM_FRAME_CLASS name 2022-12-31 09:32:32 +11:00
Leonard Hall
aeb25ca20a AP_Math: extend the control.cpp test suite 2022-12-30 20:25:58 +09:00
Andrew Tridgell
f0d8a383d1 AP_Math: added a control.cpp test suite 2022-12-30 20:25:58 +09:00
Leonard Hall
140dc61f2a AC_AttitudeControl: AC_PosControl: Simplify and clarify use of vertical controllers 2022-12-30 20:25:58 +09:00
Leonard Hall
ac3a3d9576 AP_Math: Target velocity can reduce when limited 
AP_Math: Target velocity can reduce when limited
 2022-12-30 20:25:58 +09:00
Leonard Hall
05aa879b61 AC_AttitudeControl: AC_PosControl: Comment fix and small efficiency gain 2022-12-30 20:25:58 +09:00
Leonard Hall
114e8e2f52 AP_Math: Control Tools Enhancments 
AP_Math: Control Tools Enhancments
 2022-12-30 20:25:58 +09:00
Leonard Hall
ed24a635c6 AC_WPNav: Add corner acceleration limit parameter 2022-12-30 17:03:32 +09:00
Leonard Hall
638379d3ed AC_WPNav: remove _wp_accel_cmss.set_and_save_ifchanged 2022-12-30 15:16:08 +09:00
Andrew Tridgell
cc05de8e57 AP_FETtecOneWire: change comments to not use @param 
these comments break the MissionPlanner param parser

see these errors in MissionPlanner.log

```
2022-12-30 08:28:42,641  INFO MissionPlanner.Utilities.ParameterMetaDataParser - using cache https://raw.oborne.me/ardupilot/ardupilot/master/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp (D:\a\MissionPlanner\MissionPlanner\ExtLibs\Utilities\ParameterMetaDataParser.cs:503) [65]
2022-12-30 08:28:42,641 ERROR MissionPlanner.Utilities.ParameterMetaDataParser - Invalid MetaFrame Blimp (D:\a\MissionPlanner\MissionPlanner\ExtLibs\Utilities\ParameterMetaDataParser.cs:390) [70]
2022-12-30 08:28:42,641  INFO MissionPlanner.Utilities.ParameterMetaDataParser - using cache https://raw.oborne.me/ardupilot/ardupilot/master/libraries/AP_Proximity/AP_Proximity_Params.cpp (D:\a\MissionPlanner\MissionPlanner\ExtLibs\Utilities\ParameterMetaDataParser.cs:503) [71]
2022-12-30 08:28:42,642 ERROR MissionPlanner.Utilities.ParameterMetaDataParser - Bad Key - Value @param b blue brightness
*/
void AP_FETtecOneWire::led_color(const uint8_t r, const uint8_t g, const uint8_t b)
{
    for (uint8_t i=0; i<_esc_count; i++) {
        auto &esc = _escs[i];
        if (esc.state != ESCState::RUNNING) {
            continue;
        }
        transmit_config_request(PackedMessage<LEDColour>{esc.id, LEDColour{r, g, b}});
    }
}
```
 2022-12-30 09:54:09 +11:00
Andrew Tridgell
d5a0421bbb AP_Scripting: fixed derry turn in aerobatics 2022-12-29 07:49:15 +11:00
Andrew Tridgell
6edfe7368e AP_Scripting: don't start aerobatics until we have a ahrs estimates 
prevents nil derefernce in loading tricks
 2022-12-29 07:48:53 +11:00
Peter Barker
e43b1dd2eb SITL: tidy simulated proximity sensor constructors 2022-12-28 21:52:27 +11:00
Andy Piper
16ca2e1179 AP_InertialSensor: use 234Hz accel LPF and 532Hz gyro LPF on BMI088 to more closely match Invensense 
synchronize fifo reads with backend update on BMI088
 2022-12-28 18:18:26 +11:00
Andy Piper
d29ccba3f7 AP_Vehicle: constrain FFT notch updates to obey reference frequency 2022-12-28 18:14:56 +11:00
Andy Piper
90cdc1aa52 AP_InertialSensor: allow FFT window to be captured post-filter 
selectively apply filters twice to make sure that FFT is not tracking itself
clean-up notch disablement for non-DSP builds
use filter gyro data for FFT when analysing post-filter
always apply LPF after all of the notches
move to a phased application of window information for FFT
tap FFT gyro window at the appropriate place for downsampled FFTs
add accessor for FFT notch
document notch uses cases and flow
 2022-12-28 18:14:56 +11:00
Andy Piper
9eb561639b AP_InertialSensor: add support for reading and writing INS data from a file in SITL 
allow sketch to be stopped at end of SITL samples
 2022-12-28 18:14:56 +11:00
Andy Piper
ec7be5c417 SITL: add parameters to control reading and writing IMU data to a file 
add exit on stop to reading IMU data from a file
 2022-12-28 18:14:56 +11:00
Andy Piper
5ea3415a41 AP_HAL_SITL: allow SITL sketches to run 
allow sketchname to be set
 2022-12-28 18:14:56 +11:00
Andy Piper
7acdaf2dd0 AP_Vehicle: add vehicle motor noise check 2022-12-28 18:14:56 +11:00
Andy Piper
449d9814ab AP_GyroFFT: add FFT_OPTIONS to allow post-filter sampling of IMUs 
provide method to determine noise at a particular frequency
add ability to record per-peak SnR
correct bad array indexing leading to free memory read
track all three axes for health and peaks
remove slewed frequency values, since slewing is now done in the filters
ReplayGyroFFT initial implementation
allow IMU data to be read and written from a file
only build Replay on SITL
correctly calibrate FFT in Replay
better noise simulation in Replay
FTN3 logging
allow FFT peaks to swap indefinitely as long as they both still exist.
Leads to much smoother frequency transitions
increase the energy gap required to switch the tracked peak
use exit on stop for Replay
filter noise tracking more aggressively for post-filter samples
remove message and use appropriate gyro window
when using post-filter do not fallback to throttle-based estimate

AP_GyroFFT: default SnR to 10 when using post-filter samples
 2022-12-28 18:14:56 +11:00
Peter Barker
b716793a0e AP_NavEKF3: remove duplicated lines in parameter metadata 2022-12-28 13:21:18 +11:00
Leonard Hall
78942911b7 AC_AttitudeControl: AC_PosControl: Include FF in _pid_vel_xy integrator initialisation 2022-12-28 08:25:31 +09:00
Henry Wurzburg
d6a5d31625 AP_Scripting:add rate based aerobatics 2022-12-27 18:20:34 +11:00
Mohammad Hefny
feece150c6 AP_HAL_Linux: Raspberry 64OS Address fix 2022-12-27 10:03:41 +11:00
Andrew Tridgell
36d2c267fe AP_HAL: allow for a wider range of simulation backends in SIM-on-hw 2022-12-24 07:27:04 +11:00
Andrew Tridgell
057190caa8 SITL: update SITL on hw docs 2022-12-24 07:27:04 +11:00
Andrew Tridgell
0da81f7269 SITL: remove old sitl-on-hw.sh 2022-12-24 07:27:04 +11:00
Andrew Tridgell
87a220991b SITL: new sitl-on-hw.py script 
this makes it easier to build SITL on hardware for a wide range of
frames
 2022-12-24 07:27:04 +11:00
Andrew Tridgell
fdd0d0ae53 SITL: default SIM_RATE_HZ to 400 in SITL-on-hw 2022-12-24 07:27:04 +11:00
Andrew Tridgell
5f8e655f98 AP_HAL: allow override of frame class and string for SITL on hw 2022-12-24 07:27:04 +11:00
Peter Barker
fb18adb035 hwdef: fix build for ARK_RTK_GPS 2022-12-23 21:14:15 +11:00
Henry Wurzburg
6348fd5f86 AP_HAL_ChibiOS: free space on ReaperF745 2022-12-23 11:04:35 +11:00
Henry Wurzburg
182326a76f AP_HAL_ChibiOS: rename to ReaperF745 2022-12-23 11:04:35 +11:00
Henry Wurzburg
2c5b85c9c5 AP_HAL_ChibiOS:modify hwdef for V3 of ReaperF745 2022-12-23 11:04:35 +11:00
Tatsuya Yamaguchi
dd539f8ec9 AP_DAL: call start_frame for all backends 2022-12-23 09:56:29 +11:00
Andy Piper
96060ef31e AP_HAL_ChibiOS: add UART baudrate accessor 2022-12-22 18:38:31 +00:00
Andy Piper
445aad17c9 AP_HAL: add UART baudrate accessor 2022-12-22 18:38:31 +00:00
Andy Piper
aaa6b284bd RC_Channel: add option to support ELRS at 420kbaud 2022-12-22 18:38:31 +00:00
Andy Piper
78c70c74dc AP_RCTelemetry: report CRSF link rate rather than mode. 
Encode actual protocol being used
cleanup is_elrs() and version numbers
 2022-12-22 18:38:31 +00:00
Andy Piper
425f2b946e AP_RCProtocol: check for 3 good frames for CRSF 
Move get_link_rate() and get_protocol_string() to CRSF protocol
allow ELRS at 420kbaud to be configured
allow CRSF to bootstrap at ELRS desired baudrate
 2022-12-22 18:38:31 +00:00
Bill Geyer
93b0519ad2 AP_MotorsHeli: improve collective to yaw compensation 2022-12-22 07:07:34 -05:00
Andrew Tridgell
f742845552 AP_Scripting: changed airshow rolling circle 
make it more achievable
 2022-12-22 21:13:30 +11:00
Tatsuya Yamaguchi
43160efba8 AP_Scripting: modify example script of README.md 
- avoid to call set_output_pwm before setting origin
- make get_home() once
 2022-12-22 13:25:35 +09:00
Andrew Tridgell
441a2ee00d hwdef: added RM3100 compass to C-RTK2-HP 2022-12-21 19:52:31 +11:00
Andrew Tridgell
e966e272ac hwdef: fixed build for f103-Trigger 2022-12-21 19:52:31 +11:00
Andrew Tridgell
d768c721ee HAL_ChibiOS: make it fatal to have I2C devices without an I2C_ORDER 
otherwise it is very confusing when you end up with AP_HAL_Dummy for
I2C manager
 2022-12-21 19:52:31 +11:00
Randy Mackay
1a4f51d782 AP_Mount: servo driver loses unnecessary closest_limits method 2022-12-21 18:45:33 +11:00
Tom Pittenger
f8ee112e47 AP_TemperatureSensor: fix param count change when loading drivers 2022-12-20 15:19:14 -03:00
Andrew Tridgell
1f100710d2 hwdef: go to minimal GPS for MatekF405-CAN 
fixes flash overflow
 2022-12-20 12:14:24 +11:00
Iampete1
34d2a5acaa AP_WindVane: add Arduino script and readme to allow conection to Bluetooth wind-vane 2022-12-20 12:13:46 +11:00
Iampete1
e142747d1f AP_Airspeed: Periph: remove useage of hidden params and remove tuber order 2022-12-20 11:12:25 +11:00
Andrew Tridgell
8e93265928 hwdef: added MatekL431-BattMon firmware 2022-12-20 10:44:52 +11:00
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