Commit Graph

57203 Commits

Author SHA1 Message Date
Peter Barker 3ba349fdb6 AP_Logger: add and use RC_Channel_config.h 2023-03-22 14:25:09 +11:00
Peter Barker b26cd59da6 AP_RCProtocol: add and use RC_Channel_config.h 2023-03-22 14:25:09 +11:00
Peter Barker 32086826de AP_HAL_ChibiOS: add and use RC_Channel_config.h 2023-03-22 14:25:09 +11:00
Peter Barker f81de35cd5 RC_Channel: add and use RC_Channel_config.h 2023-03-22 14:25:09 +11:00
Peter Barker 3c3f383601 AP_GPS: decouple status enumeration from MAVLink fix types
This moves us towards being able to compile the GPS library without having the MAVLink headers available.  We shouldn't need those headers when building for Periph.

If the headers are available then we ensure our values match mavlink so we can do a simple cast from one to the other
2023-03-22 14:23:41 +11:00
Iampete1 4934808ba8 AP_HAL_ChibiOS: GPIO: retry pins after ISR flood and add arming check 2023-03-22 09:27:35 +11:00
Iampete1 7617606629 AP_HAL: GPIO: add arming check 2023-03-22 09:27:35 +11:00
Iampete1 88f645afc2 AP_Arming: call hal GPIO check 2023-03-22 09:27:35 +11:00
Peter Barker 67bb7417ec GCS_MAVLink: routing: do not process our own packets locally
returning true from this method means we will process the packets locally.

If that message changes the vehicle state that could be bad.
2023-03-22 09:26:19 +11:00
Pierre Kancir d05b598ce5 .github: add dds testing workflow
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com>
2023-03-22 09:22:36 +11:00
Pierre Kancir 546e70ff92 Tools: split dds test into SITL and STM 2023-03-22 09:22:36 +11:00
Ryan Friedman f604dd5cdf Tools: CI: Add building DDS to a STM32H7 board
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-03-22 09:22:36 +11:00
Ryan Friedman 74e7703288 waf: Remove unused XRCE_DEPENDENCIES
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-03-22 09:22:36 +11:00
Ryan Friedman 4e574f7683 pre-commit: Add python formatter for wscript and XML formatter
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-03-22 09:22:36 +11:00
Ryan Friedman d1639f5d58 autotest: Add option to enable dds
* Disabled by default

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Arsh Pratap <arshpratapofficial@gmail.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
2023-03-22 09:22:36 +11:00
Ryan Friedman c7cac9abae waf: Add building DDS client to waf
* Had to ignore pre-commit hooks for isort and mypy since there are unrelated broken issues in the file

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Arsh Pratap <arshpratapofficial@gmail.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
2023-03-22 09:22:36 +11:00
Ryan Friedman d361fec745 AP_Vehicle: Add DDS initialization and params to the vehicle if enabled
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Arsh Pratap <arshpratapofficial@gmail.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
Co-authored-by: Russ Webber <russ@rw.id.au>
2023-03-22 09:22:36 +11:00
Ryan Friedman 0905ffa438 AP_DDS: Add initial DDS Client support
* Use clang to verify no unused files
* Add a topic table to prepare for code generating interfaces
* Generated IDL's to to a generated directory in build
* Use black to format python files
* Populate a ROS time maessage with Linux epoch time for ROS time
* Add workarounds for PoseStamped and TwistStamped with manual mods to IDL

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Co-authored-by: Arsh Pratap <arshpratapofficial@gmail.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
Co-authored-by: Russ Webber <russ@rw.id.au>
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
2023-03-22 09:22:36 +11:00
Ryan Friedman d8e221b872 AP_SerialManager: Add enum for DDS over serial
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Co-authored-by: Arsh Pratap <arshpratapofficial@gmail.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
2023-03-22 09:22:36 +11:00
Ryan Friedman 5dbfec1e33 AP_HAL_ChibiOS: Add poll implementation
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Arsh Pratap <arshpratapofficial@gmail.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
2023-03-22 09:22:36 +11:00
Ryan Friedman 75900523da .gitmodules: Add DDS dependencies
* Use interal forks

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Arsh Pratap <arshpratapofficial@gmail.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
Co-authored-by: Russ Webber <russ@rw.id.au>
2023-03-22 09:22:36 +11:00
Tom Pittenger 456a87de95 Rover: bugfix PRECISION_LANDING needing AP_GRIPPER_ENABLED 2023-03-21 13:28:11 -07:00
Henry Wurzburg 87e8c5e0ba RC_Channel:rename 173 option more appropriately 2023-03-21 14:04:07 +00:00
Leonard Hall 6d5bc17c8e Copter: Add TKOFF_TH_MAX 2023-03-21 19:51:03 +09:00
Peter Barker fab0adf636 Blimp: remove unused defines from config.h 2023-03-20 19:26:44 -07:00
Peter Barker a303ddb6e3 Blimp: remove vestiges of system identification mode 2023-03-20 19:26:44 -07:00
Nicholas Kruzan 522f480b2d Tools: add jolnir on install script
Allow to install dev environment on distros that have 'jolnir' as release name
2023-03-20 19:25:01 -07:00
Andy Piper 0408ff0ab1 AP_NavEKF: ensure gyro biases are numbers
avoid errors during compass mot
2023-03-21 12:18:33 +11:00
Peter Barker 8db14c2bbf AP_RCProtocol: tidy enablement RC FastSBUS support
use the the hwdef to turn it off on IOMCU
2023-03-21 12:08:06 +11:00
Peter Barker 1326d1c3df AP_HAL_ChibiOS: tidy enablement RC FastSBUS support
use the the hwdef to turn it off on IOMCU
2023-03-21 12:08:06 +11:00
Iampete1 add8123d00 RC_Channel: move to multi line param @Values 2023-03-21 11:41:18 +11:00
Iampete1 65374a01a3 Tools: autotest: param metadata: allow parsing multi line values 2023-03-21 11:41:18 +11:00
Iampete1 8b36fde0c1 AP_Periph: fix proximity parameter path 2023-03-21 11:41:18 +11:00
Robert Taylor 805ed73d94 AP_HAL_ChibiOS: Fix bug where STM32L496 would not init CAN2
This is due to the way that the APB peripheral was configured. RCC_APB1ENR1_CAN2EN was not accounted for in the CAN hardware init, so CAN2 clock init was never attempted.
I copied the way CAN1 is initialized based on different hardware description headers.
2023-03-21 11:35:17 +11:00
Leonard Hall bfbc76e172 Blimp: Guided Yaw Fix 2023-03-21 08:23:12 +09:00
Leonard Hall 715bb6e705 Copter: Guided Yaw Fix 2023-03-21 08:23:12 +09:00
Peter Barker f12777f369 autotest: add test for GuidedYawRate being indpendent of set-rate rate
A bug is being fixed where we couldn't achieve the maximum rate due to the input speed of the guided command.

This makes sure the rate achieved is independent of the rate at which the attitude rate is being set
2023-03-21 08:23:12 +09:00
bugobliterator deeeb4134c AP_NavEKF3: use INS_MAX_INSTANCES instead of MAX_EKF_CORES for IMU mask 2023-03-21 10:04:16 +11:00
bugobliterator 4808b5bfa1 Replay: change INS_ to INS 2023-03-21 10:04:16 +11:00
bugobliterator c9f13d0c6e Rover: change INS_ to INS 2023-03-21 10:04:16 +11:00
bugobliterator 581eb83f04 Blimp: change INS_ to INS 2023-03-21 10:04:16 +11:00
bugobliterator 20bbff13c6 ArduSub: change INS_ to INS 2023-03-21 10:04:16 +11:00
bugobliterator 75aaebc758 ArduPlane: change INS_ to INS 2023-03-21 10:04:16 +11:00
bugobliterator 3012450b4a ArduCopter: change INS_ to INS 2023-03-21 10:04:16 +11:00
bugobliterator 0b5256468d AntennaTracker: change INS_ to INS 2023-03-21 10:04:16 +11:00
bugobliterator 08bea2fcd2 AP_InertialSensor: move from INS_ top level parameters to INS 2023-03-21 10:04:16 +11:00
bugobliterator 7d61a5df8e wscript: add support for setting number of auxiliary IMUs 2023-03-21 10:04:16 +11:00
bugobliterator e7533c006b SITL: add support for auxiliary IMUs 2023-03-21 10:04:16 +11:00
bugobliterator 327ec0c355 Tools: enable aux IMUs while testing Plane 2023-03-21 10:04:16 +11:00
bugobliterator e2509b7c6b autotest: add support for setting number of auxiliary IMUs 2023-03-21 10:04:16 +11:00