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30574 Commits

Author SHA1 Message Date
Andrew Tridgell 3a72cd1ce2 AP_NavEKF3: fixed getLLH alt for local origin height 
this fixes a bug introduced in #21834

this fix in #21834 was correct for getPosD, but should not have been
applied to getLLH

this caused cruise mode in plane to descend/ascend by the difference
between the public and local origins on mode entry

fixes #21984
 2022-10-24 22:23:43 +09:00
Andrew Tridgell f0b2f4ee2a AP_AHRS: added ATSC logging 
log scale factors for angle P scaling when not == 1.0
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 154142123a AC_AttitudeControl: added single loop override of angle P gains 
this is used by quadplanes in back-transiton to prevent oscillation
caused by driving the fixed wing controller too fast
 2022-10-24 22:23:43 +09:00
Andrew Tridgell a22c7b676a APM_Control: added access to time constant 2022-10-24 22:23:43 +09:00
Iampete1 3a2c0fed61 AP_Scripting: set lua nullptr after delete 2022-10-24 22:23:43 +09:00
Andrew Tridgell c4854c3dc1 AP_RPM: fixed SITL RPM backend for new motor mask 2022-10-24 22:23:43 +09:00
Andrew Tridgell 234534d9f4 SITL: allow for extra actuators to be marked as motors 2022-10-24 22:23:43 +09:00
Andrew Tridgell 675f283c72 AP_ESC_TELEM: allow for non-continguous ESC telem motor sets 
this fixes ESC telem for quadplanes with motors at 5-8 or 9-12
 2022-10-24 22:23:43 +09:00
Andrew Tridgell c597ccb566 HAL_SITL: use motor mask for noise checking for motors 2022-10-24 22:23:43 +09:00
Andrew Tridgell 01b0586958 AP_InertialSensor: use motor_mask from SITL for which outputs are motors 
generate noise based on motor_mask
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 3db15e19b2 AP_Vehicle: removed num_dynamic_notches limit in dynamic harmonic 
use INS_MAX_NOTCHES instead, allowing for more ESCs to be added by lua
scripts
 2022-10-24 22:23:43 +09:00
Andrew Tridgell cbccda9ea1 Filter: allow for expansion of dynamic filters 
this allows for the number of dynamic filters on a harmonic notch
filter to expand at runtime, which allows for ESC RPMs to be populated
from other than AP_Motors, such as with lua scripts or for fwd motors
in a SLT quadplane
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 99786bb2d7 SITL switched to motor_mask for which actuators are motors 
this allows for any output to be an ESC, which allows for proper
simulation of quadplanes with ESCs on outputs 5-8 or 9-12, for testing
notch filtering
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 6f3d9d0e46 SITL: support playback of new GPS log format 2022-10-24 22:23:43 +09:00
Andrew Tridgell 6cab052b66 AP_GPS: fixed resolution of KSXT parsing for NMEA 
needs to be double precision for lat/lon
 2022-10-24 22:23:43 +09:00
Andrew Tridgell b0d0575906 AP_GPS: added logging to more serial GPS backends 2022-10-24 22:23:43 +09:00
Andrew Tridgell 12a273f376 AP_GPS: improve GPS debug logging 
use timestamped data allowing for much more precise playback
 2022-10-24 22:23:43 +09:00
Leonardo Garcia 2c6ccb3e05 AP_InertialSensor: Fix BMI085 accel scaling 
Original BMI088 has 24G range so it was hardcoded for *scale* within
read_fifo_accel. Added a class variable accel_range which is assigned
the correct value when the sensor type is received (16.0 or 24.0).
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 19d444bb3a GCS_MAVLink: prevent segv in ftp 
if the user disables ftp by changing BRD_OPTIONS after ftp has started
then we could dereference a nullptr
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 781fed2390 AP_Scripting: added rc:get_aux_cached() example 2022-10-24 22:23:43 +09:00
Andrew Tridgell 06b18183e0 AP_Scripting: added get_aux_cached() RC binding 2022-10-24 22:23:43 +09:00
Andrew Tridgell 3c8a46d2c5 RC_Channel: added cache of aux functions for scripting 
allows for scripting to act on aux functions
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 30997a2b05 AP_Common: added setonoff() method for bitmask 2022-10-24 22:23:43 +09:00
Andrew Tridgell efd5c2a47e AP_Scripting: added relay get() binding 2022-10-24 22:23:43 +09:00
Andrew Tridgell 9366ae9c7e AP_Relay: added get() method for scripting 2022-10-24 22:23:43 +09:00
Andrew Tridgell 973bc41cfa HAL_ChibiOS: fixed build error with gcc 11.3 2022-10-24 22:23:43 +09:00
Andrew Tridgell ba6797da0f AP_Scripting: fixed use of clock and time in lua 
not available on stm32
 2022-10-24 22:23:43 +09:00
Andrew Tridgell bcccc6e191 GCS_MAVLINK: fixed warning in ftp build with gcc 11.3 2022-10-24 22:23:43 +09:00
Andrew Tridgell fdd1c71ab2 RC_Channel: add winch enable to option param docs for Copter 2022-10-14 17:13:21 +09:00
Iampete1 6571a95120 AP_Scripting: clear alocated i2c devices on scripting stop 2022-10-14 17:13:21 +09:00
Iampete1 207efe3b03 AP_Scripting: add maunal i2c binding allowing read of sequentual registers 2022-10-14 17:13:21 +09:00
Iampete1 a6b5febe3d AP_Scripting: allow maunal apobject bindings 2022-10-14 17:13:21 +09:00
Andrew Tridgell ecaa3fbcf7 AP_Vehicle: implement 1M/2M warnings 
encourage users to run the right firmware for their boards
 2022-10-14 17:13:21 +09:00
Andrew Tridgell a258a40681 hwdef: added warning messages about flash size 2022-10-14 17:13:21 +09:00
Andrew Tridgell d3e4cc59b0 HAL_ChibiOS: make check_limit_flash_1M() available in main firmware 2022-10-14 17:13:21 +09:00
Andrew Tridgell 18320b0469 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 17:13:21 +09:00
davidsastresas 735083ebd8 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 17:13:21 +09:00
Andrew Tridgell b06ec29d5c AP_ICEngine: report when engine goes into run state 2022-10-14 17:13:21 +09:00
Andrew Tridgell e072655649 AP_Vehicle: check for motors being nullptr 
this can happen with plane with Q_ENABLE=0
 2022-10-14 17:13:21 +09:00
Andrew Tridgell 6a0bd4c88e 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 17:13:21 +09:00
Andrew Tridgell 259dbe35dc AP_Param: fixed handling of long lines in defaults.parm 
lines longer than 100 bytes were causing the parsing to stop
 2022-10-14 17:13:21 +09:00
Kirill Shilov 18970613f9 hwdef: AIRLink: USART2 enabled in hwdef 2022-10-04 16:50:15 +09:00
Andy Piper a51a615588 AP_GyroFFT: correct ref_energy indexing that could lead to free memory read 
Fix doc spelling mistakes
 2022-10-04 16:50:15 +09:00
Andy Piper c93029edc4 AP_Logger: ensure that we don't read the same block more than once, dramatically increasing performance. 2022-10-04 16:50:15 +09:00
Andrew Tridgell 98d2775a72 hwdef: reduce flash usage to allow build 2022-10-04 16:50:15 +09:00
Andrew Tridgell a9a7e4f4d2 AP_Scripting: delay getting EFI backend 
allow for AP_EFI startup after scripting
 2022-10-04 16:50:15 +09:00
Andrew Tridgell cbd528cfaf AP_Scripting: changed bindings to ap_object 2022-10-04 16:50:15 +09:00
Andrew Tridgell 186e579036 AP_Scripting: convert HFE driver to get_backend 2022-10-04 16:50:15 +09:00
Andrew Tridgell 3b5561aa88 AP_RPM: added AP_RPM_config.h 2022-10-04 16:50:15 +09:00
Andrew Tridgell 079a3e66af AP_EFI: switched to AP_EFI_config.h 2022-10-04 16:50:15 +09:00