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28677 Commits

Author SHA1 Message Date
Peter Barker 9ea9c15c6a AP_GyroFFT: pass GyroFFT loop rate in Hz rather than period in us 
It just calculates this anyway

Also stops assigning a uint16_t value into a uint32_t value
 2021-12-31 11:15:20 +11:00
Andy Piper f9e14ffa30 AP_HAL_ChibiOS: add support BeastF7v2 2021-12-31 09:25:29 +11:00
Andy Piper 3fd79b8ffb AP_InertialSensor: BMI270 driver 2021-12-31 09:25:29 +11:00
Andrew Tridgell 7c8794b0bd AP_InertialSensor: fixed INS_generic example 
useful for driver development
 2021-12-30 10:02:35 +11:00
Andrew Tridgell c44b8cf73a AP_Motors: fixed PWM_TYPE range for quadplanes 
when motors don't start at SERVO1 we were applying the range to the
wrong output.

This allows users to control the PWM of individual motors precisely
for quadplanes where calibration of motors is difficult
 2021-12-29 18:40:41 +11:00
Andrew Tridgell 662327f2ea AP_InertialSensor: added support for more ADIS IMUs 
support 32 bit delta angles and velocities
 2021-12-29 18:25:18 +11:00
Peter Barker f361d9b0d0 AP_OpticalFlow: create and use AP_OPTICALFLOW_ENABLED 2021-12-29 18:12:03 +11:00
Peter Barker d2693e4276 GCS_MAVLink: create and use AP_OPTICALFLOW_ENABLED 
Including a define for each backend.
 2021-12-29 18:12:03 +11:00
Peter Barker a741499cff AP_UAVCAN: create and use AP_OPTICALFLOW_ENABLED 
Including a define for each backend.
 2021-12-29 18:12:03 +11:00
Peter Barker 1b0f21e2a3 AP_Scripting: create and use AP_OPTICALFLOW_ENABLED 
Including a define for each backend.
 2021-12-29 18:12:03 +11:00
Peter Barker 99ccbee474 AP_OpticalFlow: create and use AP_OPTICALFLOW_ENABLED 
Including a define for each backend.
 2021-12-29 18:12:03 +11:00
Peter Barker ca8436ba5d AP_DAL: create and use AP_OPTICALFLOW_ENABLED 
Including a define for each backend.
 2021-12-29 18:12:03 +11:00
Peter Barker 268032e640 SITL: add missing include file for terrain 2021-12-29 16:10:17 +11:00
Andrew Tridgell fa2ae44926 AP_BattMonitor: fixed a segv with BATT_MONITOR=14 
this causes a hang on boot on some boards
 2021-12-29 10:51:35 +11:00
MallikarjunSE 3ff9b76b08 AP_HAL_ChibiOS: Sierra-F405 support 2021-12-29 10:13:54 +11:00
MallikarjunSE eb8cfea507 AP_HAL_ChibiOS: Sierra-F412 support 2021-12-29 10:12:40 +11:00
Andrew Tridgell 7c57e1521c AP_Filesystem: support formatting of SDcard on ChibiOS 2021-12-28 16:04:57 +11:00
Andrew Tridgell 61ecf0c443 HAL_ChibiOS: cleanup SDMMC enable defines 
ensure both are set
 2021-12-28 16:04:57 +11:00
Andrew Tridgell f8e4d7facd GCS_MAVLink: support formatting of SD card 2021-12-28 16:04:57 +11:00
Andrew Tridgell 146f394d64 HAL_ChibiOS: include fatfs format code 2021-12-28 16:04:57 +11:00
Andrew Tridgell 45bfc75e4b AP_Compass: added register checking for AK09916 mode 
this allows AK09916 on I2C to recover from a power outage in flight
 2021-12-28 16:04:36 +11:00
Andrew Tridgell a33febd90a AP_NavEKF3: fixed gaps in EKF logging 
timestamps should not be static as otherwise some lanes will not be
logged
 2021-12-28 16:03:47 +11:00
Andrew Tridgell 52209d9d1a AP_NavEKF2: fixed gaps in EKF logging 
timestamps should not be static as otherwise some lanes will not be
logged
 2021-12-28 16:03:47 +11:00
Andrew Tridgell 281f041abb hwdef: fixed debug pins on two boards bootloaders 2021-12-28 10:31:25 +11:00
Andrew Tridgell 237e71b95f AP_BoardConfig: disable STLink debug pins by default 
this avoids leaving the debug pins in a state where they may be
vulnerable to ESD issues
 2021-12-28 10:31:25 +11:00
Peter Barker d8d73eb44c AP_OpticalFlow: adjust for backend file name change 2021-12-28 10:16:20 +11:00
Peter Barker 3a22ee2cc7 AP_OpticalFlow: rename OpticalFlow_backend files to include AP_ 2021-12-28 10:16:20 +11:00
Peter Barker 20c91c03a2 AP_OpticalFlow: rename OpticalFlow.cpp to AP_OpticalFlow.cpp 2021-12-28 10:16:20 +11:00
Peter Barker 6936a8eb6e GCS_MAVLink: adjust for rename of OpticalFlow.h to AP_OpticalFlow.h 2021-12-28 10:16:20 +11:00
Peter Barker f99f2bd8ab AP_Scripting: adjust for rename of OpticalFlow.h to AP_OpticalFlow.h 2021-12-28 10:16:20 +11:00
Peter Barker 3030c0b4f8 AP_OpticalFlow: adjust for rename of OpticalFlow.h to AP_OpticalFlow.h 2021-12-28 10:16:20 +11:00
Peter Barker e8fc4b33e1 AP_OpticalFlow: move OpticalFlow.h to AP_OpticalFlow.h 2021-12-28 10:16:20 +11:00
Andrew Tridgell 6a2303f72d hwdef: enable telem3 (SERIAL5) TX on Pix32v5 
this is now safe as we disable the TX/RX pins on ports with
SERIALn_PROTOCOL = -1

as this board defaults to protocol -1 for SERIAL5, we can enable this
if the user wishes to use telem3
 2021-12-28 10:13:58 +11:00
Andrew Tridgell 97fee2d1cc AP_VisualOdom: added VOXL backend type 
this will make it easier to have custom behaviour for VOXL
 2021-12-27 12:32:41 +11:00
Andrew Tridgell 8654ea886d AP_VisualOdom: support error estimates with quaternion 2021-12-27 12:32:41 +11:00
Andrew Tridgell 20dd667fdc GCS_MAVLink: support ODOMETRY message for VIO 
used by VOXL
 2021-12-27 12:32:41 +11:00
Andrew Tridgell 05f112ea17 SITL: support simulation of ODOMETRY message 2021-12-27 12:32:41 +11:00
Nikolay March cceae1acf3 hwdef: Redefine DMA priority PH4-mini 
BUG.
Without redefining priority there is no DMA on any RX of serial ports.
Now it is.
Without DMA, you cannot normally use the serial port for the CRSF protocol.
 2021-12-27 11:25:51 +11:00
Shiv Tyagi fa6adc0beb SITL: add JEDEC dataflash simulator 
We currently use AP_Logger_SITL for this purpose but we can instead add a dataflash simulator which can work with existing AP_Logger_Dataflash backend instead of using AP_Logger_SITL.

Co-Authored-By: Divyateja Pasupuleti <divyateja2004@gmail.com>
 2021-12-25 09:14:31 +11:00
Shiv Tyagi 3533e1e0ed AP_Logger: remove AP_Logger_SITL 
We now use jedec dataflash simulator for this purpose. Hence, we should remove these files and all references to HAL_LOGGING_SITL_ENABLED

Co-Authored-By: Divyateja Pasupuleti <divyateja2004@gmail.com>
 2021-12-25 09:14:31 +11:00
Shiv Tyagi af950e266b AP_HAL_SITL: add dataflash to spi device table 
We simulate jedec flash for logging. Hence, we need to add dataflash to device table. Also, we need to remove HAL_LOGGING_SITL_ENABLED since we no longer need it

Co-Authored-By: Divyateja Pasupuleti <divyateja2004@gmail.com>
 2021-12-25 09:14:31 +11:00
Peter Barker 939407a26f AP_NMEA_Output: remove pointless use of intermediate res variables 2021-12-23 21:04:18 +11:00
Peter Barker 97ea8b52af AP_Baro: KellerLD: clean up reading of calibration data 
Co-authored-by: Josh Henderson <hendjoshsr71@gmail.com>

Checks all return values from transfer functions to avoid use of
uninitialised data.
 2021-12-22 18:50:58 +11:00
yaapu c0663da918 AP_RCTelemetry: added ExpressLRS support 2021-12-22 18:48:49 +11:00
yaapu 55bfa41d13 AP_RC_Protocol: added ExpressLRS support 2021-12-22 18:48:49 +11:00
yaapu 76bd10bf02 AP_RCProtocol: added custom telemetry frame types and subtypes to debug trace 2021-12-22 18:48:49 +11:00
mateksys be601acd89 AP_HAL_ChibiOS: add MatekF405-TE hwdef 2021-12-22 18:47:37 +11:00
Peter Hall 98c5704b92 AP_TECS: add reset throttle I function 2021-12-22 18:46:14 +11:00
Andy Piper fbaa2e7b09 AP_Math: allow selection of inline version of vector operations for performance. 2021-12-22 18:23:33 +11:00
Andy Piper fbdeea2d03 Filter: optimize hot parts of notch filter updates 2021-12-22 18:23:33 +11:00
Andy Piper 6e3b502110 AP_InertialSensor: inline vector ops for backends and temp cal 2021-12-22 18:23:33 +11:00
Andy Piper 9ba1cbc9d8 AP_Vehicle: log up to 12 harmonic notch frequencies 2021-12-22 18:13:38 +11:00
Andy Piper c50ccd1d09 AP_GyroFFT: use harmonics for harmonics and number of notches elsewhere 
modify energy based on peak width
always log harmonic notch frequencies
 2021-12-22 18:13:38 +11:00
Andy Piper 5259272326 AP_HAL_Empty: remove redundant harmonics from DSP 2021-12-22 18:13:38 +11:00
Andy Piper fa91e74fde AP_HAL_SITL: remove redundant harmonics from DSP 2021-12-22 18:13:38 +11:00
Andy Piper 2fab99d647 AP_HAL_ChibiOS: remove redundant harmonics from DSP 2021-12-22 18:13:38 +11:00
Andy Piper d4024d9216 AP_HAL: allow configuration of maximum number of notches based on MCU type 
increase notch filters in SITL
remove redundant harmonics from DSP
 2021-12-22 18:13:38 +11:00
Andy Piper d44478ff59 AP_InertialSensor: calculate number of notches based on motor count 
configure default harmonics if dynamic harmonics
set number of notches correctly for FFT operation
include static notch in filter calculation and allow harmonic options on static notch
 2021-12-22 18:13:38 +11:00
Andy Piper 34920ebd60 Filter: allow harmonics and notch-per-motor in harmonic notch 
allow default harmonics to be configured
allow combination of harmonics and indpendent centre frequencies
pre-calculate number of harmonics
 2021-12-22 18:13:38 +11:00
arbalasquide fd3c83c0d1 AP_Math: Add AUS_TO_MAH definition 2021-12-22 07:52:03 +11:00
arBalasquide 10b4eebce4 AP_BattMonitor: Add calculate_mah, add unit tests 2021-12-22 07:52:03 +11:00
Andrew Tridgell 08ca708347 AP_SerialManager: fixed AP_Periph GPS 
the disable of RX/TX pins broke AP_Periph on boards that don't enable
the GCS, as they don't have the SERIALn parameters, so we disable the
UART pins of the GPS
 2021-12-21 20:14:55 +11:00
Andrew Tridgell ba58558bd1 SITL: fixed default BATT_CAPACITY for SITL 
don't override from JSON model unless we have a value
 2021-12-21 19:53:43 +11:00
Mingchen Zhang 61e0c5b6e7 AP_SmartAudio: fix a bug that would starve the lower priority thread, such as scripting. 2021-12-21 16:03:44 +09:00
Randy Mackay e41cad8bd7 SRV_Channel: minor param desc format fix 2021-12-21 14:45:49 +09:00
Brad Stinson cd39110b68 hwdef: add support for PixC4-Jetson 
add support for building IOMCU with F103 and 8MHz clock
 2021-12-21 13:05:34 +11:00
Andrew Tridgell a39040d864 AC_AutoTune: limit autotune target rates to parameter limits 
this makes it safer to autotune a large vehicle which may become
unstable at very high target rates
 2021-12-21 11:02:51 +09:00
Andrew Tridgell 53f1fc1295 AC_AttitudeControl: added get_ang_vel_yaw_max_rads() 2021-12-21 11:02:51 +09:00
Andrew Tridgell 178ae9e0c1 AP_RCTelemetry: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:07:44 +11:00
Andrew Tridgell 366ff24941 AP_RangeFinder: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:07:44 +11:00
Andrew Tridgell 93d8a0606f AP_Proximity: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:07:44 +11:00
Andrew Tridgell 0da0f6dd37 AP_ADSB: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:07:44 +11:00
Andrew Tridgell 47590a55ff AP_RCProtocol: allow changes of serial settings between protocols 
if we are searching for new protocols then allow for baudrate table
changes
 2021-12-21 11:07:44 +11:00
Andrew Tridgell deb2d6b782 AP_SerialManager: added have_serial() method 
this checks if we have the protocol without setting the options on the
uart
 2021-12-21 11:07:44 +11:00
Peter Barker 600b085cf3 AP_Logger: correct constraint of maximum message ID 2021-12-21 10:42:18 +11:00
Peter Barker 168f278959 AP_Logger: reallocate 32 IDs from vehicles to main message area 
ArduPlane uses ~18 messages and the list is relatively static, so this
should be a reasonable reallocation.

We're using a lot of Log_Write(...) to create messages dynamically - but
that requires IDs and we only left space for about 18 before this patch

More space is left to ease future use of IDs in some libraries
 2021-12-21 10:42:18 +11:00
Jaaaky db8d08b349 SRV_Channel: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 71154105e4 SITL: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky e991bff0d5 AP_VisualOdom: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 3008a480d5 AP_UAVCAN: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 37a08507df AP_ToshibaCAN: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky e92c900b56 AP_Scheduler: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 8512652511 AP_RCTelemetry: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 91e3441c6d AP_RCProtocol: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 485227b2c1 AP_Param: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky da3b064a31 AP_OSD: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky bbb38504d6 AP_InertialSensor: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 08d44815f6 AP_HAL_Linux: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky f588b08004 AP_HAL_ESP32: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky f1f31c1aef AP_HAL_ChibiOS: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 60fcfae2de AP_GyroFFT: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 6433547592 AP_GPS: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky c7b1e05f1d AP_FETtecOneWire: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky bfb9b1ac73 AP_Declination: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky d27f122295 AP_Compass: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky f8f9038092 AP_Baro: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky 0c16ebec6c AC_PrecLand: Fix multi #include's 2021-12-21 10:38:46 +11:00
Shiv Tyagi 4b7b5a4d90 AP_OSD: fix code causing errors when OSD is compiled out 
This fixes the code causing problem in compiling out OSD
 2021-12-21 10:06:01 +11:00
Hwurzburg ff3c4b8bda RC_Channel: add RC option to report CRSF LQ as RSSI 
Co-author: Jules Gilson <julesgilson@yahoo.co.uk>
 2021-12-21 10:04:33 +11:00
Hwurzburg a18a4e5719 AP_RCTelemetry: add RC option to report CRSF LQ as RSSI 
Co-author: Jules Gilson <julesgilson@yahoo.co.uk>
 2021-12-21 10:04:33 +11:00
Hwurzburg eaa557106a AP_RCProtocol: add RC option to report CRSF LQ as RSSI 
Co-author: Jules Gilson <julesgilson@yahoo.co.uk>
 2021-12-21 10:04:33 +11:00
RickReeser d95c997606 AC_PosControl: fix comment 
In ArduCopter/mode.cpp, ignore_descent_limit is FALSE unless landing:

        // do not ignore limits until we have slowed down for landing
        ignore_descent_limit = (MAX(g2.land_alt_low,100) > get_alt_above_ground_cm()) || copter.ap.land_complete_maybe;
 2021-12-21 07:41:47 +09:00
Iampete1 3606022cd7 AP_Scripting: add MiniCheetah CAN motor driver example 2021-12-21 08:51:22 +11:00
Peter Barker f6fa676411 AP_AIS: correct number of bytes to read from device 2021-12-20 18:39:01 +09:00
bugobliterator 62945e1d85 AP_HAL_ChibiOS: use common directory reference wrt hwdef scripts 2021-12-20 12:47:25 +11:00
Paul Riseborough 5178f4a7d0 AP_NavEKF3: Add missing covariance row reset 2021-12-20 09:28:37 +11:00
Oliver 80c7c9f16a AP_PiccoloCAN: Bug fix for ESC temperature data 
- Fixes issues with temperature data in telemetry and logs
- Use the maximum of available temperature values for the ESC (where available)
 2021-12-19 10:50:37 +11:00
Peter Barker a281c3ef91 AP_HAL_ChibiOS: remove stray 'No Crash Detected' diagnostic 2021-12-19 10:48:44 +11:00
Peter Barker bdeec0868e AP_HAL_ChibiOS: turn wind-compensation off in hwdef defaults 2021-12-19 10:45:16 +11:00
Peter Barker 5ff410f2cb AP_Baro: turn wind-compensation off using hwdef defaults 2021-12-19 10:45:16 +11:00
Peter Barker c6734ad825 AP_InertialSensor: correct logging of inertial-sensor reg-change logging 2021-12-18 21:25:27 +11:00
bugobliterator f0073e472b HAL_ChibiOS: set SWD pins pulled up and low by default 2021-12-17 22:51:18 -08:00
Shiv Tyagi c34301d925 AP_BattMonitor: remove MPPT_PacketDigital from Type enum 
we have removed AP_BattMonitor_MPPT_PacketDigital, hence this should be removed too
 2021-12-17 20:24:25 +09:00
Shiv Tyagi 814e0f9cac AP_Arming: remove Driver_Type_MPPT_PacketDigital from CAN checks 
we have removed AP_BattMonitor_MPPT_PacketDigital, hence this should be removed too
 2021-12-17 20:24:25 +09:00
Shiv Tyagi b2073e4e1c AP_HAL_ChibiOS: remove stray define HAL_PERIPH_ENABLE_BATTERY_MPPT_PACKETDIGITAL 
We have removed the class AP_BattMonitor_MPPT_PacketDigital, hence this should be removed too
 2021-12-17 20:24:25 +09:00
Shiv Tyagi d846a81055 AP_CANManager: remove MPPT_PacketDigital parameter description 
We have removed the class AP_BattMonitor_MPPT_PacketDigital, we should also remove these from parameter descriptions and enums
 2021-12-17 20:24:25 +09:00
Shiv Tyagi ef5b43ca95 AP_Baro_KellerLD : add SensorMode enum and _p_mode property 
This adds SensorMode enum and _p_mode property which is used to set _p_mode_offset

Co-Authored-By: Josh Henderson <69225461+hendjoshsr71@users.noreply.github.com>
Co-Authored-By: ES-Alexander <25898329+ES-Alexander@users.noreply.github.com>
 2021-12-17 11:58:19 +11:00
Shiv Tyagi dd00fd720d AP_Baro_KellerLD : set/update _p_mode_offset based on _p_mode 
This initialises/updates _p_mode_offset on the basis of _p_mode

Co-Authored-By: Josh Henderson <69225461+hendjoshsr71@users.noreply.github.com>
Co-Authored-By: ES-Alexander <25898329+ES-Alexander@users.noreply.github.com>
 2021-12-17 11:58:19 +11:00
Jaaaky 6cae738ab8 StorageManager: fix write_block() comment 2021-12-17 09:53:47 +09:00
Tom Pittenger e48adbf1c0 AP_ADSB: post link to uAvionix UCP protocol 2021-12-17 09:53:02 +09:00
Peter Barker 0cb4425eb9 AP_NavEKF3: fix type, 'willbe' -> 'will be' 2021-12-17 09:44:57 +09:00
Peter Barker 1886b2dccd AP_NavEKF2: fix type, 'willbe' -> 'will be' 2021-12-17 09:44:57 +09:00
QioTek e5a8695640 AP_InertialSensor: added support for ICM-20608-D sensor 2021-12-17 07:58:48 +11:00
Leonard Hall b7801947af AC_PID: AC_PID_2D: let I term change direction but not grow when limited 2021-12-16 09:54:49 +09:00
Leonard Hall 90db81354b AC_AttitudeControl: AC_PosControl: Prioritize crosstrack acceleration 2021-12-16 09:54:49 +09:00
Leonard Hall 1e124ca957 AP_Math: Control: Add directional based acceleration limit 
AP_Math: Control: Add directional based acceleration limit
 2021-12-16 09:54:49 +09:00
Shiv Tyagi b34a7e46a8 AP_BatteryMonitor: remove AP_BattMonitor_MPPT_PacketDigital class 
since latest versions of PacketDigital MPPT support UAVCAN, we can remove this older class
 2021-12-16 09:39:43 +09:00
Samuel Tabor 719aa4bc53 AP_Soaring: Add speed-to-fly calculation used if SOAR_CRSE_ARSPD<0. 2021-12-16 07:12:24 +11:00
Samuel Tabor c44fed34d4 AP_Soaring: Override airspeed and flap angle. 2021-12-16 07:12:24 +11:00
Samuel Tabor 3ab9dda6f5 AP_Soaring: Store reference to glide polar params in variometer 2021-12-16 07:12:24 +11:00
Peter Barker 508d7df739 AP_SerialManager: remove duplication of SERIALn_PROTOCOL values 
... and SERIALn_BAUD while we're at it
 2021-12-16 07:11:33 +11:00
bugobliterator 957da68da5 AP_Compass: fix compilation issue with declaring var after goto 2021-12-15 22:11:10 +11:00
Peter Barker 2205b95c99 AP_Math: create double versions of is_zero, is_positive and is_negative 
Seeks to prevent

Thread 1 "ardurover" received signal SIGFPE, Arithmetic exception.
is_positive<double> (fVal1=9.6315720352771873e+44)
    at ../../libraries/AP_Math/AP_Math.h:66
66          return (static_cast<float>(fVal1) >= FLT_EPSILON);
 2021-12-15 19:33:55 +11:00
yaapu c6c285b5a2 AP_Frsky_Telem: added frame 0x500D for waypoint data 2021-12-15 18:15:47 +11:00
Andrew Tridgell 32d846520c SRV_Channel: validate function number before array access 
this fixes an issue with invalid SERVOn_FUNCTION values for array
index.
 2021-12-15 18:10:45 +11:00
Bill Geyer afaff18bd0 AP_Motors: modifications based on suggested changes 2021-12-14 22:50:05 -05:00
Bill Geyer a8d74c6414 AP_Motors: Tradheli- add governor engaged message over GCS 2021-12-14 22:50:05 -05:00
Bill Geyer 2ac157b188 AP_Motors: Tradheli- fix governor spool up bug 2021-12-14 22:50:05 -05:00
MidwestAire 22c2329063 AP_Motors:Heli_RSC - throttle curve _control_output does not need a constrain_float 
- change lower limit of governor enaged output to 150% of idle speed
- add governor_reset() function
- remove governor defaults from header
- rearrange governor metadata in alphabetical order, assign new eeprom slot for rpm
 2021-12-14 22:50:05 -05:00
MidwestAire 77f0fdf112 AP_Motors:clean up whitespace in heli motors class 2021-12-14 22:50:05 -05:00
Bill Geyer ea90217e09 AP_Motors: fix heli RSC parameter indices 2021-12-14 22:50:05 -05:00
Bill Geyer 05e8285f93 AP_Motors: use RPM singleton to get rpm in RSC 2021-12-14 22:50:05 -05:00
MidwestAire 301238fb8a AP_Motors:Heli_RSC - update governor to new torque integrating design with autothrottle 2021-12-14 22:50:05 -05:00
MidwestAire 42a131522b AP_Motors:Heli - new rotor speed control modes for autothrottle governor 2021-12-14 22:50:05 -05:00
Stephen Dade 68ca18329c AP_HAL: Add UART option to not override streamrates 2021-12-15 14:14:07 +11:00
Stephen Dade fb5ac63a63 AP_HAL_ChibiOS: Fix get_options() to use uint16_t 2021-12-15 14:14:07 +11:00
Stephen Dade 42c584a377 AP_SerialManager: Add UART option to not override streamrates 2021-12-15 14:14:07 +11:00
Stephen Dade 038ae432ab GCS_MAVLink: Add UART option to not override streamrates 2021-12-15 14:14:07 +11:00
Randy Mackay 09388b7408 AP_Math: minor comment fix 2021-12-15 11:58:23 +09:00
Peter Barker 1c18b27427 AP_Button: use CopyValuesFrom to avoid duplication 2021-12-15 09:54:06 +11:00
Hwurzburg b95d3df7ab AP_RangeFinder: change UAVCAN to DroneCAN in param metadata 2021-12-15 09:53:21 +11:00
Hwurzburg 84d0cdb5d0 AP_OpticalFlow: change UAVCAN to DroneCAN in param metadata 2021-12-15 09:53:21 +11:00
Hwurzburg 7ec7a9c444 AP_Notify: change UAVCAN to DroneCAN in param metadata 2021-12-15 09:53:21 +11:00
Hwurzburg 2f493f08b4 AP_Gripper: change UAVCAN to DroneCAN in param metadata 2021-12-15 09:53:21 +11:00
Hwurzburg 35cc90d117 AP_GPS: change UAVCAN in metadata to DroneCAN 2021-12-15 09:53:21 +11:00
Hwurzburg 8ddb12d9cb AP_Compass: change UAVCAN in metadata to DroneCAN 2021-12-15 09:53:21 +11:00
Hwurzburg 71f8a1f25e AP_CANManager: change UAVCAN in metadata to DroneCAN 2021-12-15 09:53:21 +11:00
Hwurzburg 38e8e15200 AP_BattMonitor: change UAVCAN in metadata to DroneCAN 2021-12-15 09:53:21 +11:00
Hwurzburg 7c6816ec70 AP_Airspeed: change UAVCAN in metadata to DroneCAN 2021-12-15 09:53:21 +11:00
Andrew Tridgell 9e86629800 AP_Arming: log @SYS/storage.bin 
this allows for reproduction of tricky issues involving the exact data
in storage
 2021-12-15 08:01:38 +11:00
Andrew Tridgell 045daaf191 AP_Logger: speed up logging of crash_dump.bin 
dump 450k crash log in about 1 minute
 2021-12-15 08:01:38 +11:00
Andrew Tridgell 6f34fa7919 AP_Logger: allow for logged files over 32k in size 
crash_dump.bin can be large
 2021-12-15 08:01:38 +11:00
Andrew Tridgell a8eed76f61 AP_Arming: log @SYS/crash_dump.bin 2021-12-15 08:01:38 +11:00
Stephen Dade c49fd7e908 GCS_MAVLink: Don't start with MAVLink1 messages on a MAVLink2 connection 2021-12-14 12:20:07 +09:00
Peter Barker 7cbe48d1f6 hwdef: fix CubeOrange-periph-heavy build 2021-12-14 14:11:35 +11:00
Iampete1 9cace37b03 AHRS: RATE log: add missing ff terms 2021-12-14 10:14:28 +09:00
QioTek 586c2064a6 AP_InertialSensor: added support for IIM-42652 and ICM-40605 sensors 
handle new Invensense v3 sensor types
 2021-12-14 11:38:36 +11:00
Peter Barker 7b90326888 AP_Vehicle: declare get_control_output only if scripting is enabled 
It's right there in the comments - this should only be defined if
scripting is enabled.

Rover overrides this but that is protected by AP_SCRIPTING_ENABLED.
 2021-12-14 11:38:06 +11:00
Peter Barker 7c126b1e7b SRV_Channel: make function an Enum16 2021-12-14 11:28:33 +11:00
Peter Barker b1cff2d3f5 AP_Param: add AP_Enum16 for AP_Int16 enumerated values 2021-12-14 11:28:33 +11:00
Peter Barker 31dd17a743 AP_Compass: avoid loaded-value checks in case of HAL_USE_EMPTY_STORAGE 2021-12-14 11:13:28 +11:00
Peter Barker 15ec2c9c40 AP_NavEKF3: allow boards to override NavEKF3 features 2021-12-14 11:12:50 +11:00
Josh Henderson d79a9b7497 AP_BattMonitor: use SOC 127 as an invalid SOC flag 2021-12-14 09:11:48 +09:00
Peter Barker f461605d88 GCS_MAVLink: make logging dependent on HAL_LOGGING_ENABLED not HAL_BUILD_AP_PERIPH 2021-12-14 10:34:06 +11:00
Peter Barker 8973dfa8e0 AP_RangeFinder: use HAL_LOGGING_ENABLED in place of HAL_BUILD_AP_PERIPH 2021-12-14 10:34:06 +11:00
Peter Barker 70d98336bc AP_BattMonitor: make logging dependent on HAL_LOGGING_ENABLED not HAL_BUILD_AP_PERIPH 
We have logging on some periphs now
 2021-12-14 10:34:06 +11:00
Andrew Tridgell ee7464140a HAL_ChibiOS: avoid re-writing hwdef.h if unchanged 
this makes dependency handling faster
 2021-12-14 09:37:17 +11:00
Andrew Tridgell 0e5beb423e HAL_ChibiOS: sort shared dma mask 
this prevents an unnecessary change in hwdef.h on reconfigure
 2021-12-14 09:37:17 +11:00
Peter Barker fbe46f400f AP_HAL_SITL: stop passing home_str to _sitl_setup 
This is poked into the model now
 2021-12-13 09:30:33 +11:00
Peter Barker 2f77fef10e AP_HAL_SITL: permit float-equal while we do comparison vs INFINITY 2021-12-13 08:38:17 +11:00
hfujikawa77 1f1c3796c1 AP_Button: fix RCx_OPTION value in source comment 2021-12-12 21:03:57 +11:00
murata 23253d0d26 AP_L1_Control: Simplify the decision process by initializing the stack variables 2021-12-11 12:27:40 -08:00
Peter Barker 497e6df326 SITL: correct submarine rangefinding 2021-12-11 20:10:10 +11:00
Peter Barker 6fcf724b67 SITL: tidy range calculations 
Also return INFINITY if the rangefinder can't see the ground
 2021-12-11 20:10:10 +11:00
Peter Barker acbe567202 AP_HAL_SITL: consolidate rangefinder range calculations 2021-12-11 20:10:10 +11:00
Hwurzburg 83d3aace44 RC_Channel: correct Rover metadata 2021-12-11 09:55:30 +11:00
Andrew Tridgell c9b35ccfc8 hwdef: enable ESC telem on CarbonixL496 2021-12-10 08:11:24 -08:00
Andrew Tridgell 5e43370e35 SRV_Channel: added get_motor_num() 
map back from a channel to a motor number, for ESC telemetry reporting
 2021-12-10 08:11:24 -08:00
Andrew Tridgell 604f2430f8 AP_BLHeli: allow for no uart in update() 2021-12-10 08:11:24 -08:00
Andrew Tridgell 9359f39e30 SRV_Channel: allow for AP_Periph ESC telemetry 2021-12-10 08:11:24 -08:00
Andrew Tridgell 9da03668ae AP_ESC_Telem: allow build with AP_Periph 2021-12-10 08:11:24 -08:00
Andrew Tridgell c6bde6745a SRV_Channel: allow BLHeli build with AP_Periph 2021-12-10 08:11:24 -08:00
Andrew Tridgell 778de59fff AP_BLHeli: allow build as part of AP_Periph 2021-12-10 08:11:24 -08:00
Peter Barker 522b12135f AP_Common: correct UINT32_VALUE 2021-12-10 08:07:43 -08:00
Peter Barker 06c58bc476 AP_SerialManager: remove unused extern bool reference 
This isn't used - or even defined.
 2021-12-10 19:40:04 +09:00
Peter Barker 69f4b25f81 AP_AHRS: mark type column in ORGN as instance 2021-12-08 08:31:21 +09:00
Randy Mackay d0747c5f20 GCS_MAVLink: battery status reports fault bitmask 2021-12-07 02:12:06 -08:00
Randy Mackay dea7e969bd AP_BattMonitor_UAVCAN: re-format text based fault reporting and add get_mavlink_fault_bitmask 2021-12-07 02:12:06 -08:00
Tom Pittenger 1724d4911d AP_BattMonitor: add UAVCAN MPPT PacketDigital driver 2021-12-07 02:12:06 -08:00
Andrew Tridgell 639447142a APM_Control: use EKF yaw bias to correct fixed wing yaw damper 2021-12-07 17:05:54 +11:00
Andrew Tridgell 304b7df8c2 AP_AHRS: make the EKF accel bias accessible 
needed for fixed wing yaw damper
 2021-12-07 17:05:54 +11:00
Peter Barker 6e8c7c6b03 AP_HAL_SITL: remove unused mag-data delay buffer state variables 
This delay buffer code is now in AP_Compass_SITL
 2021-12-07 16:41:11 +11:00
Leonard Hall 30ddc4e06c AC_WPNav: Support error input to kinematic shaper 2021-12-07 09:47:42 +09:00
Leonard Hall 9017ac6723 AC_AttitudeControl: AC_PosControl: Support error input to kinematic shaper 2021-12-07 09:47:42 +09:00
Leonard Hall 718c094293 AP_Math: Control: Adjust limit handling to improve corners 2021-12-07 09:47:42 +09:00
Peter Barker 66d8be825f AP_Logger: move LogOriginType into AP_AHRS 
only used to log the origins by the AHRS library
 2021-12-07 11:31:44 +11:00
Peter Barker 1dd34d87e7 AP_AHRS: move LogOriginType into AP_AHRS 
only used to log the origins by the AHRS library
 2021-12-07 11:31:44 +11:00
Andrew Tridgell fe7e2ed657 AP_Scripting: added throttle and height controller to aerobatic example 
changed rolling circle to take the radius and number of
circles. negative radius for negative yaw rate and negative number of
circles for left roll
 2021-12-07 10:33:13 +11:00
Andrew Tridgell 140adc126a AP_Scripting: expand to 6 SCR_USER parameters 2021-12-07 10:33:13 +11:00
Andrew Tridgell 67649fe17d hwdef: added CarbonixL496 AP_Periph node 2021-12-07 10:23:54 +11:00
Andrew Tridgell c5fc2fa709 HAL_ChibiOS: enable DShot on L4 MCUs for AP_Periph 2021-12-07 10:23:54 +11:00
Andrew Tridgell fbadc24fca HAL_ChibiOS: support 12MHz crystal on L4xx MCUs 2021-12-07 10:23:54 +11:00
Hwurzburg d132f0f3fb AP_Vehicle: clean up short failsafe 2021-12-07 10:09:33 +11:00
Peter Barker d72d0578a3 AP_Scripting: correct compilation when HAL_LOGGER_FILE_CONTENTS_ENABLED is 0 2021-12-07 09:36:48 +11:00
Peter Barker cce14d8461 AP_HAL_SITL: remove unused _home_str member 2021-12-07 09:36:22 +11:00
Andrew Tridgell 9e5fcb4ced AP_UAVCAN: removed old vendor DSDL and add README.md 
this DSDL is in https://github.com/DroneCAN/DSDL now
 2021-12-06 20:17:02 +11:00
Andrew Tridgell 5afe055a46 AP_UAVCAN: use soft armed state for DroneCAN ARMING_STATUS 
this fixes motortest on quadplanes, so that ESCs see an armed state
during the test
 2021-12-06 20:16:23 +11:00
Peter Barker bedacac816 AP_Torqeedo: simplify conversion of master error code into string 2021-12-06 14:50:15 +11:00
Randy Mackay 6f98c26b67 AP_Torqeedo: display master error code 2021-12-06 14:50:15 +11:00
Bill Geyer 3b40df133e AP_Motors: add spool down complete flag 2021-12-05 22:12:13 -05:00
Peter Barker 8cc7f51de1 AP_HAL_SITL: tidy set/get of hw RTC 2021-12-06 12:58:43 +11:00
Peter Barker d8e4669e07 AP_HAL_Linux: tidy set/get of hw RTC 2021-12-06 12:58:43 +11:00
Peter Barker f50d48f005 AP_HAL: tidy set/get of hw RTC 2021-12-06 12:58:43 +11:00
Andrew Tridgell 0944c24978 SITL: revert compass parameter changes 2021-12-04 16:51:53 +11:00
Andrew Tridgell 468444bef9 AP_NavEKF3: revert compass parameter changes 2021-12-04 16:51:53 +11:00
Andrew Tridgell efc78359d7 AP_NavEKF2: revert compass parameter changes 2021-12-04 16:51:53 +11:00
Andrew Tridgell 0d12fa7937 AP_HAL_ESP32: revert compass parameter changes 2021-12-04 16:51:53 +11:00
Andrew Tridgell 2c2369bf03 AP_HAL_ChibiOS: revert compass parameter changes 2021-12-04 16:51:53 +11:00
Andrew Tridgell 8eb40bafc5 AP_Compass: revert compass parameter changes 2021-12-04 16:51:53 +11:00
Andrew Tridgell 7ab343dd66 AP_RangeFinder: fixed support for multiple Benewake_CAN CAN lidars 2021-12-04 16:31:35 +11:00
Peter Barker 308f4e99b4 AP_NavEKF3: correct structure used for logging 
XKF4 and XKF5 are clones of NKF4 and NKF5, which is why this worked
 2021-12-03 15:34:21 +09:00
Randy Mackay ec6ea03b80 AP_HAL_ChibiOS: update CubeBlack-pinout image 
CAN1 and CAN2 port labels have been swapped
 2021-12-03 13:49:20 +09:00
Rishabh 6dea779b1e AP_Proximity: Add Cygbot D1 2021-12-03 08:02:50 +09:00
Andrew Tridgell 05ec2be62b hwdef: updated KakuteH7 battery scale defaults 
thanks to Vincent at Holybro
 2021-12-02 18:17:49 +11:00
Iampete1 7ad1886667 AP_Compass: reinstate MOTCT underscore 2021-12-02 12:27:09 +11:00
Iampete1 bf21ce8af6 AP_Compass: add new line after old param metadata 2021-12-02 12:27:09 +11:00
Andrew Tridgell 0554fb2d4f RC_Channel: added QRTL mode on a switch 2021-12-02 08:29:07 +11:00
Shiv Tyagi 339a07b8d3 AP_Devo_Telem: compile out devo telemetry 
Devo telemetry is one of the most rarely used features (almost never used since added) we should compile it out from our code
 2021-12-01 19:16:44 +11:00
Andy Piper 5224468ec6 AP_RCProtocol: process CRSF crc per-byte 2021-12-01 19:04:19 +11:00
bugobliterator f9bb9b4fc0 AP_HAL_ChibiOS: log heap and bss memory regions if enough space 2021-12-01 18:17:50 +11:00
bugobliterator 3855767ff2 AP_FileSystem: mention of HAL_CRASH_DUMP_FLASHPAGE not required 2021-12-01 18:17:50 +11:00
bugobliterator 4efe75683a HAL_ChibiOS: mention of HAL_CRASH_DUMP_FLASHPAGE not required 2021-12-01 18:17:50 +11:00
bugobliterator 878940292d HAL_ChibiOS: no need to mention END reserve for Crash Dump anymore 2021-12-01 18:17:50 +11:00
bugobliterator ee35350129 HAL_ChibiOS: setup for recording crashdump at the remaining flash space 2021-12-01 18:17:50 +11:00
bugobliterator 52c7886270 HAL_ChibiOS: fix issue with failing to write final buffer 2021-12-01 18:17:50 +11:00
bugobliterator eae3fb016f HAL_ChibiOS: dump per thread stack for crash 2021-12-01 18:17:50 +11:00
bugobliterator f02a7b560b AP_HAL_ChibiOS: update last_crash_dump api 2021-12-01 18:17:50 +11:00
bugobliterator 0c69ebc50e AP_HAL: update last_crash_dump api 2021-12-01 18:17:50 +11:00
bugobliterator b1e25ec4fd AP_Filesystem: fetch crash_log directly rather than via buffer 2021-12-01 18:17:50 +11:00
Andrew Tridgell 312a6461b6 HAL_ChibiOS: enable UART7 on Swan-K1 
useful extra UART for debug
 2021-12-01 18:08:54 +11:00
Andrew Tridgell 06ef5aed14 AP_Scripting: added an example of OOP programming 
very useful pattern for more complex scripts
 2021-12-01 17:40:34 +11:00
Randy Mackay 4096a70a1f AP_Math: update_pos_vel_accel methods accept limit as const reference 
also update some comments
 2021-12-01 12:45:46 +09:00
Randy Mackay f6e6ca197f Location: get_vector_from_origin gets units comment 2021-12-01 09:03:40 +09:00
Randy Mackay a3886be920 AC_PosControl: minor formatting fix 2021-12-01 08:54:34 +09:00
Randy Mackay 3a492c8e3c AR_WPNav: minor comment improvement 2021-12-01 08:54:18 +09:00
Peter Barker 56b0f8b218 AC_Fence: void index when overwriting fence count on fencepoint-close 2021-11-30 20:50:32 +11:00
Andrew Tridgell 8a95a7d80d AC_Fence: fixed fence count for old upload 
when uploading a fence that is smaller than an old fence we were not
correctly setting the inclusion fence size.
 2021-11-30 20:50:32 +11:00
Peter Barker af92c9679f AC_Fence: make invalid polygon vertex count clearer 2021-11-30 20:50:32 +11:00
Andrew Tridgell c83da810da APM_Control: tweaks from review feedback 2021-11-30 16:19:26 +11:00
Andrew Tridgell d52f5a9034 AP_Scripting: added rolling circle to aerobatics example 2021-11-30 16:19:26 +11:00
Andrew Tridgell ab333d0708 Ap_Scripting: added earth frame yaw tracking off WPs 
this uses the new yaw rate controller to do EF tracking, so we follow
towards the next WP while doing the roll
 2021-11-30 16:19:26 +11:00
Andrew Tridgell 3a3cb92efd Ap_Scripting: fixed plane aerobatics for full yaw rate control 2021-11-30 16:19:26 +11:00
Andrew Tridgell 81d20ae49d APM_Control: support yaw rate controller autotune 2021-11-30 16:19:26 +11:00
Andrew Tridgell 6685ce0527 APM_Control: added yaw rate controller for fixed wing 
enabled with YAW_RATE_ENABLE parameter
 2021-11-30 16:19:26 +11:00
Andrew Tridgell 5a996f308b APM_Control: fixed code style of plane rate controllers 2021-11-30 16:19:26 +11:00
Peter Barker 99b1659e4b AP_Math: memcpy nanfs rather than iteratively setting them 2021-11-30 10:35:38 +11:00
Peter Barker b32b31aecd SRV_Channel: correct casting of servo function number 2021-11-30 10:32:16 +11:00
Andrew Tridgell 724301ea53 APM_Control: make 2nd reduction of P smaller 
this prevents severe P reductions when we get a small oscillation
glitch after we've already got the primary P gain
 2021-11-30 10:31:34 +11:00
Josh Henderson 34b3b7999e CubeYellow: define HAL_CHIBIOS_ARCH_CUBE 2021-11-30 10:20:54 +11:00
Josh Henderson 188c3a781e CubeSolo: define HAL_CHIBIOS_ARCH_CUBE 2021-11-30 10:20:54 +11:00
Josh Henderson e78edac2a0 CubePurple: define HAL_CHIBIOS_ARCH_CUBE 2021-11-30 10:20:54 +11:00
Josh Henderson b37c214f28 CubeOrange: define HAL_CHIBIOS_ARCH_CUBE 2021-11-30 10:20:54 +11:00
Josh Henderson db3be4d07c CubeBlack: define HAL_CHIBIOS_ARCH_CUBE 2021-11-30 10:20:54 +11:00
Josh Henderson 27bcec9d6e AP_InertialSensor: for all Cubes ensure use of non-isolated IMU 2021-11-30 10:20:54 +11:00
Josh Henderson a89f58a775 AP_NavEKF3: allow define for IMU_MASK_DEFAULT 2021-11-30 10:20:54 +11:00
Josh Henderson 9f2082496c AP_NavEKF2: allow define for IMU_MASK_DEFAULT 2021-11-30 10:20:54 +11:00
Josh Henderson c7b986f30a CubeYellow: set default EKF_IMU_MASK 2021-11-30 10:20:54 +11:00
Josh Henderson b8411c22c5 CubeOrange: set default EKF_IMU_MASK 2021-11-30 10:20:54 +11:00
Peter Barker a4b3c7eb46 AP_Terrain: cast result of labs to unsigned 
Fixes:

../../libraries/AP_Terrain/TerrainGCS.cpp: In member function ‘void AP_Terrain::
handle_terrain_data(const mavlink_message_t&)’:
../../libraries/AP_Terrain/AP_Terrain.h:65:55: error: comparison between signed
and unsigned integer expressions [-Werror=sign-compare]
 #define TERRAIN_LATLON_EQUAL(v1, v2) (labs((v1)-(v2)) <= unsigned(margin.get()*
100))
                                       ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
~~~~
../../libraries/AP_Terrain/AP_Terrain.h:65:55: note: in definition of macro ‘TER
RAIN_LATLON_EQUAL’
 #define TERRAIN_LATLON_EQUAL(v1, v2) (labs((v1)-(v2)) <= unsigned(margin.get()*
100))
                                                       ^~
compilation terminated due to -Wfatal-errors.
cc1plus: some warnings being treated as errors

In file included from ../../libraries/AP_Terrain/TerrainUtil.cpp:24:0:
../../libraries/AP_Terrain/TerrainUtil.cpp: In member function ‘AP_Terrain::grid
_cache& AP_Terrain::find_grid_cache(const AP_Terrain::grid_info&)’:
../../libraries/AP_Terrain/AP_Terrain.h:65:55: error: comparison between signed
and unsigned integer expressions [-Werror=sign-compare]
 #define TERRAIN_LATLON_EQUAL(v1, v2) (labs((v1)-(v2)) <= unsigned(margin.get()*
100))
                                       ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
~~~~

The return value of labs is signed
 2021-11-30 10:16:01 +11:00
Iampete1 e24c90a871 AP_Compass: reinstate old param descriptions 2021-11-30 08:14:43 +09:00
Iampete1 6ba87dfe9a AP_Compass: add param conversion 2021-11-30 08:14:43 +09:00
Iampete1 e818decc39 AP_NavEKF3: update compass param discription 2021-11-30 08:14:43 +09:00
Iampete1 4303b61f94 AP_NavEKF2: update compass param discription 2021-11-30 08:14:43 +09:00
Iampete1 95713959ec SITL: exmaples: use new compass params 2021-11-30 08:14:43 +09:00
Iampete1 ab9609022b AP_HAL_ESP32: use new compass param names 2021-11-30 08:14:43 +09:00
Iampete1 0c519db602 hwdef: use new compass param names in defualts.parm 2021-11-30 08:14:43 +09:00
Iampete1 2fa2e70e7e AP_Compass: SITL: use new scale param 2021-11-30 08:14:43 +09:00
Iampete1 071ff39ff8 AP_Compass: move instance params to shared table 2021-11-30 08:14:43 +09:00
Shiv Tyagi e1a528213d AP_Rangefinder: Use default address for TFMiniPlus I2C unless configured 
This fixes the issue #13419. If RNGFNDx_ADDR is not configured, it uses default address for TFmini i2c
 2021-11-30 10:09:24 +11:00
Josh Henderson 04ba26a080 AP_InertialNav: rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson e10edabd5d AC_WPNav: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson bd9361b701 AC_AutoTune: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson e11529ac01 AC_AttitudeControl: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson da418ed520 AC_AttitudeControl: rename Inav get_position_xy() & get_velocity_xy() 2021-11-30 10:08:07 +11:00
Josh Henderson 027336dbb8 AP_InertialNav: rename to get_position_xy() & get_velocity_xy() 2021-11-30 10:08:07 +11:00
Josh Henderson 28d9be1cc0 AP_Math: get_horizontal_cm() simplify 2021-11-30 10:08:07 +11:00
Josh Henderson 9e11f09a7f AC_WPNav: inav use _xy() 2021-11-30 10:08:07 +11:00
Josh Henderson 77711e1505 AP_PosControl: inav use _xy() 2021-11-30 10:08:07 +11:00
Josh Henderson 6243532e69 AC_AttitudeControl: get_bearing & get_horizontal_distance use Vector2f 2021-11-30 10:08:07 +11:00
Josh Henderson 2a15cf86ad AP_Math: Location get_bearing & get_horizontal_distance use Vector2f 2021-11-30 10:08:07 +11:00
Josh Henderson d5769f70ac AC_WPNav: get_bearing & get_horizontal_distance use Vector2f 2021-11-30 10:08:07 +11:00
Andrew Tridgell 5fe5d3a3d3 AP_Arming: support Benewake CAN 2021-11-30 09:49:20 +11:00
Andrew Tridgell 4f6da39bb7 AP_CANManager: support Benewake CAN 2021-11-30 09:49:20 +11:00
Andrew Tridgell 3f85eab272 AP_RangeFinder: added Benewake CAN Lidars 
includes support for setting CAN ID and min SNR
 2021-11-30 09:49:20 +11:00
Peter Barker ba63e9a17b GCS_MAVLink: correct send_scaled_imu gyro-count check 2021-11-29 15:08:23 +11:00
Peter Barker 7abf07f233 hwdef: remove unused HAL_NO_GCS defines 
This became HAL_GCS_ENABLED, off by default on Periph
 2021-11-26 12:25:40 +11:00
Charlie-Burge a9c4895514 SITL: reduce SLV2 logger message size 2021-11-26 12:24:46 +11:00
Ryan Beall beecca8da9 AP_TECS: Connsider throttle saturation in height demand limiting 2021-11-25 15:02:09 +11:00
m c729fc7796 AP_Mission: Decode MAV_CMD_DO_PAUSE_CONTINUE commands 2021-11-25 08:18:27 +09:00
Peter Barker 11cbd68296 AP_HAL_SITL: remove incorrect use of ARRAY_SIZE 
This was converted to a linked list....
 2021-11-24 18:26:17 +11:00
Peter Barker 139c460fa5 hwdef: remove unused define NO_DATAFLASH 2021-11-24 18:18:06 +11:00
Josh Henderson c7a4ae9cce SITL: comment for sim_i2c parameters 2021-11-24 13:54:49 +11:00
Andrew Tridgell 0141ec5be7 AP_AHRS: fixed switching airspeed sensor based on EKF3 affinity 
we need to use the EKF selected airspeed sensor when the EKF is setup
to run a different sensor on each lane
 2021-11-24 13:52:13 +11:00
Peter Barker f848fa3a86 AP_Logger: turn dataflash logging off by default 2021-11-24 13:23:40 +11:00
Peter Barker ee68072c62 AP_HAL_ChibiOS: chibios_hwdef: use ifndef pattern for AP_FETTEC_ONEWIRE_ENABLED 2021-11-24 12:01:22 +11:00
Peter Barker bd63ce3eb6 AP_FETtecOneWire: rely on AP_FETTEC_ONEWIRE_ENABLED being set in hwdef.h 2021-11-24 12:01:22 +11:00
Peter Barker fd97d79cb4 SRV_Channels: move fetteconewire out of AP_Periph #if 2021-11-24 12:01:22 +11:00
Peter Barker 2bfd2f1c32 SRV_Channel: rename HAL_AP_FETTEC_ONEWIRE_ENABLED to AP_FETTEC_ONEWIRE_ENABLED 2021-11-24 12:01:22 +11:00
Peter Barker 5d005df92f AP_HAL_ChibiOS: rename HAL_AP_FETTEC_ONEWIRE_ENABLED to AP_FETTEC_ONEWIRE_ENABLED 2021-11-24 12:01:22 +11:00
Peter Barker 1590fcf0bf AP_FETtecOneWire: rename HAL_AP_FETTEC_ONEWIRE_ENABLED to AP_FETTEC_ONEWIRE_ENABLED 2021-11-24 12:01:22 +11:00
Peter Barker e1b32d16b7 AP_Arming: rename HAL_AP_FETTEC_ONEWIRE_ENABLED to AP_FETTEC_ONEWIRE_ENABLED 2021-11-24 12:01:22 +11:00
Andrew Tridgell a4a0607160 AP_Compass: added AP_RM3100_REVERSAL_MASK 
this allows for fixing setups where the RM3100 has been installed on a
board with one or more axes reversed
 2021-11-24 07:17:13 +11:00
Peter Barker f9580c0dfe AP_Airspeed: add date for parameter conversion code 2021-11-23 12:27:14 +00:00
Andrew Tridgell 1b0631669c AC_AttitudeControl: fixed limiting of throttle mix values 
use constrain instead of reset to keep as much of user requested value
as possible

also raise limit for MIX_MIN to 0.5 after discussion with Leonard
 2021-11-23 16:47:25 +09:00
Peter Barker ca232bb510 GCS_MAVLink: signal quality reporting 2021-11-23 18:20:58 +11:00
Peter Barker f6aeb01994 AP_RangeFinder: signal quality reporting 2021-11-23 18:20:58 +11:00
Peter Barker 8843c17f9d SITL: LightwareSerial: return 130m when out-of-range-high 2021-11-23 18:20:58 +11:00
Peter Barker 2dd3263650 SITL: cap digits in LightWareSerial measurements 
this was hitting the buffer-length limit in the ArduPilot rangefinder
driver as soon as we hit the 100m mark
 2021-11-23 18:20:58 +11:00
Shiv Tyagi 4483b9d6fe AP_Motors: add matrix for deca-cwx frame 
This adds a missing matrix for deca-cwx frame
 2021-11-23 15:52:25 +09:00
Iampete1 6162775dd0 AC_PID: P 1D, P 2D: remove unused limit flags 2021-11-23 13:49:02 +09:00
Iampete1 be6598708e AC_PosControl: remove unused limit flags 2021-11-23 13:49:02 +09:00
Iampete1 460df9bb50 AP_Math: control: remove unneeded normalisation. 2021-11-23 13:47:10 +09:00
Peter Hall 82dd216195 AC_PID_2D: correct limit caculation 2021-11-23 13:47:10 +09:00
Peter Barker 6a13613a0f AP_BoardConfig: correct va_list memory over-read error 
A va_list can only be used once - so take a copy each time we want to
use it
 2021-11-23 11:46:09 +11:00
Iampete1 467caa5259 RC_Channel: remove landinggear switch message 2021-11-23 11:40:44 +11:00
Iampete1 b818401563 AP_LandingGear: add enable param 2021-11-23 11:40:44 +11:00
Peter Barker bd33267fd3 AP_Logger: do not use dataflash on SITL 2021-11-23 11:24:46 +11:00
Peter Barker ea03d4e44b AP_Logger: eliminate HAL_LOGGING_DATAFLASH 
This define didn't add anything over HAL_LOGGING_DATAFLASH_ENABLED - and
predates it.
 2021-11-23 11:24:46 +11:00
Peter Barker 9a2d9898ba AP_HAL_ChibiOS: eliminate HAL_LOGGING_DATAFLASH 
This define didn't add anything over HAL_LOGGING_DATAFLASH_ENABLED - and
predates it.
 2021-11-23 11:24:46 +11:00
Tom Pittenger 684ad39a02 AP_Mission: PLANE to refuse NAV_SPLINE_WAYPOINT missions items 2021-11-23 11:23:02 +11:00
Randy Mackay 7cd767fe6d AR_WPNav: improve pivot turn accuracy to 5deg (was 10) 2021-11-23 11:18:15 +11:00
Samuel Tabor 27078bccda AP_TECS: Log input height demands. 2021-11-23 11:15:50 +11:00
Peter Barker 494dcc6ba3 SITL: make SITL::ADSB a SITL::SerialDevice 2021-11-23 11:09:29 +11:00
Peter Barker cdccc67fb8 AP_HAL_SITL: make SITL::ADSB a SITL::SerialDevice 2021-11-23 11:09:29 +11:00
Tom Pittenger 659c35d1a9 SITL: expire stationary sim_adsb targets after an hour 2021-11-23 09:16:04 +11:00
Tom Pittenger ec5820044b AP_Math: add defines for AP_SEC_PER_HOUR and AP_MSEC_PER_HOUR 2021-11-23 09:16:04 +11:00
Andrew Tridgell 6b249aefbc AP_DAL: support 9 uarts 2021-11-22 22:48:59 +11:00
Andrew Tridgell 0b567e95dc hwdef: added OTG2 for MatekF765-SE 2021-11-22 22:48:59 +11:00
Andrew Tridgell 1815ed32e9 AP_SerialManager: support up to 9 UARTs 2021-11-22 22:48:59 +11:00
Andrew Tridgell 3b3abdeef0 AP_HAL_SITL: support up to 9 UARTs 2021-11-22 22:48:59 +11:00
Andrew Tridgell 018ac68061 AP_HAL_Linux: support up to 9 UARTs 2021-11-22 22:48:59 +11:00
Andrew Tridgell 8c2074907b AP_HAL: support up to 9 UARTs 2021-11-22 22:48:59 +11:00
Andrew Tridgell ccf89c2031 AP_HAL_ESP32: support up to 9 UARTs 2021-11-22 22:48:59 +11:00
Andrew Tridgell e2618bdc06 AP_HAL_Empty: support up to 9 UARTs 2021-11-22 22:48:59 +11:00
Andrew Tridgell fc6a82de1b AP_HAL_ChibiOS: support up to 9 UARTs 2021-11-22 22:48:59 +11:00
Peter Barker bcee8b56ee AP_Param: simplify set_defaults_from_table error path 2021-11-22 22:43:02 +11:00
李孟晓 dfe2ade495 CUAV-X7: Add servo voltage detection pin 2021-11-22 16:39:15 +11:00
Andrew Tridgell a78200fa24 RC_Channel: added parachute for plane 2021-11-22 13:22:54 +11:00
Hwurzburg 1162d556c6 RC_Channel: fix flare rc switch action with flight option bit 10 active 2021-11-21 21:00:04 +11:00
Peter Barker e7f1a273e5 AP_HAL_ChibiOS: remove unused pin-related defines 
Unused
 2021-11-20 11:08:48 +11:00
Hwurzburg 2f4bcfb21c AP_Motors: change H_COLL_HOVER to H_COL_HOVER for consistency 2021-11-18 14:37:05 -05:00
Peter Barker 409147a291 AP_RCProtocol: add support for DJI Fast SBUS 
It's just SBUS... but with increased opportunities for corruption
 2021-11-18 17:19:04 +11:00
Randy Mackay 0de96f3f4a AP_InertialSensor: vibe units m/s/s 
also specify no multiplier
 2021-11-18 13:23:06 +09:00
Andrew Tridgell bee44b03b0 AP_Notify: make the buzzer pin configurable on all boards 
this allows any board to setup a buzzer pin on any available
GPIO. Previously the pin if set in hwdef.dat was not configurable
 2021-11-18 15:22:03 +11:00
Andrew Tridgell c5ff9ac23f AP_Parachute: added arming check for chute released 2021-11-18 15:21:15 +11:00
Wynn, Jesse Stewart a7321cbae1 AP_RangeFinder_LightWareSerial: check dist for lost signal flags 
consider messages valid only if they are non-negative AND if the value is not a known lost-signal reading
 2021-11-18 12:06:57 +11:00
Andy Piper 77acf9bcc2 AP_Vehicle: correct update_dynamic_notch_at_specified_rate() 2021-11-17 13:35:34 +00:00
Andy Piper ac263e5659 AP_Vehicle: make sure notch update rate is configurable 2021-11-17 13:35:34 +00:00
Andrew Tridgell fbeaa3be6b hwdef: change MatekH743 to -Os 
leave space for more features
 2021-11-17 19:39:26 +11:00
Randy Mackay e85a95f21c AR_AttitudeControl: reduce some param defaults 
These reductions are based on experirence helping users setup new vehicle.  In the vast majority of cases the existing values are too high

STEER_ANG_P is the default for the angle-to-rate controller and is used during pivot turns.  This value may still be slightly too high.
STEER_RATE_MAX is the maximum turn rate so the new value allows a 360 turn in 3 seconds
STEER_ACCEL_MAX is the acceleration for the turn rate meaning a vehicle can get to 120 deg/sec in 1 sec
THR_ACCEL_MAX is the maximum acceleration.  This new value means a vehicle can accelerate to 1m/s in 1 second.
 2021-11-17 19:18:23 +11:00
Randy Mackay 9c54b3d252 AR_AttitudeControl: move param defines from .h to .cpp 2021-11-17 19:18:23 +11:00
Iampete1 7b0f059968 AP_Logger: file content: log only file name if directory won't fit 2021-11-17 19:16:46 +11:00
Iampete1 09dfcdb574 AP_Logger: add scripting log structures 2021-11-17 19:16:46 +11:00
Iampete1 58ef0d0137 AP_Scripting: log files and runtime stats 2021-11-17 19:16:46 +11:00
Iampete1 f32f14b19c AP_Logger: log_file_content: copy filename 2021-11-17 19:16:46 +11:00
Iampete1 817864ce74 AP_Scripting: convert DEBUG_LVL to DEBUG_OPTS bitmask 2021-11-17 19:16:46 +11:00
Andrew Tridgell 42412b2a60 AP_BattMonitor: added VLT_OFFSET for analog 
useful for diode bias in voltage monitors

thanks to Charles from ASW and Jeff Wurzbach
 2021-11-17 19:09:40 +11:00
Peter Barker c559e27c55 AP_Vehicle: allow specification of Scheduler table priorities 2021-11-17 19:00:04 +11:00
Peter Barker e1310b2082 AP_Scheduler: allow specification of Scheduler table priorities 2021-11-17 19:00:04 +11:00
Peter Barker 1835a63bfb AP_Camera: don't use stale image number in CAMERA_FEEDBACK 2021-11-17 18:48:00 +11:00
Peter Barker 8f1c255693 AP_Camera: stash information required for camera_feedback message 
This means the data sent in the mavlink message is closer to the
information when the picture was taken, rather than when we decide we
have the space to send the mavlink message.  When we process the
deferred request to send the camera feedback message is up to the
vagaries of mavlink scheduling, so the data can become quite out-of-date
 2021-11-17 18:48:00 +11:00
Peter Barker 411ed0f50e AP_RCProtocol: use data structure for serial configurations 2021-11-16 22:06:24 +11:00
Peter Barker c1cdfb448c AP_RCProtocol: move uart flow control set out of CRSF code 
11:32 AM] AndrewTridgell: @Peter Barker we should disable flow control when we first add the uart - none of the RC protocols use flow control
[11:32 AM] AndrewTridgell: the blocking writes call isn't needed
[11:32 AM] Peter Barker: Thanks, I'll make a patch.
 2021-11-16 22:06:24 +11:00
Rishabh 647cbe8b68 AC_Avoid: Convert Dijkstras to A-star 2021-11-16 15:08:16 +09:00
TunaLobster 0b2ebfefda AP_WindVane: fix ADC scaling on IOMCU 2021-11-16 14:12:43 +11:00
TunaLobster ba9381f40c AP_RangeFinder: fix ADC scaling on IOMCU 2021-11-16 14:12:43 +11:00
TunaLobster 206a25fbcc AP_RSSI: fix ADC scaling on IOMCU 2021-11-16 14:12:43 +11:00
TunaLobster db6383eee7 AP_IOMCU: fix ADC scaling on IOMCU 2021-11-16 14:12:43 +11:00
TunaLobster 11f98f7421 AP_HAL_ChibiOS: fix ADC scaling on IOMCU 2021-11-16 14:12:43 +11:00
HefnySco 5aa3714e71 WEBOTS_SITL: adjust_params model 2021-11-16 13:30:12 +11:00
Josh Henderson fb28b39206 AP_BattMonitor: remove old parameter conversion to allow setting BATT_MONITOR to 0 2021-11-16 11:58:01 +11:00
Shiv Tyagi a747a4a19a AP_Devo_Telem: fix gpsDdToDmsFormat method 
This fixes gpsDdToDmsFormat method to correctly convert decimal degrees to degrees minutes with less precision loss
 2021-11-16 11:37:10 +11:00
Peter Barker 514368537b GCS_MAVLink: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker 6b9ef0aba8 AP_Vehicle: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker f4651f0287 AP_Scripting: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker 65b335ae0c AP_Notify: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker 55cdbd208d AP_Motors: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker ff58afd4a2 AP_Mission: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker 64aaf9d93d AP_Frsky_Telem: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker 13dc37fdcc AP_DAL: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00