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26565 Commits

Author SHA1 Message Date
Leonard Hall
767281dc76 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-23 10:19:49 +09:00
Leonard Hall
4bbc69ef6e AC_WPNav: Auto Terain following update 2021-07-23 10:19:49 +09:00
Andy Piper
a9187a50cf AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-23 10:19:48 +09:00
Leonard Hall
a765e266f4 AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-23 10:19:48 +09:00
Hwurzburg
4664ed6d7d RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-23 10:19:48 +09:00
Hwurzburg
a09f38b195 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-23 10:19:48 +09:00
Andy Piper
2ef5a9170e AP_RCTelemetry: correct firmware string length for CRSF 2021-07-23 10:19:48 +09:00
Leonard Hall
82ba9e06a1 AC_WPNav: Remove unused function 2021-07-23 10:19:48 +09:00
Leonard Hall
05f21d7665 AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-23 10:19:48 +09:00
Leonard Hall
49da46af16 AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-23 10:19:48 +09:00
Leonard Hall
b2032ee2e3 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-23 10:19:48 +09:00
Leonard Hall
d9c0670dcd AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall
5f7607bbf0 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall
2075e2ffc4 AC_AttitudeControl: Add terain following to guided 2021-07-23 10:19:47 +09:00
Randy Mackay
d22f8fbc35 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-23 10:19:47 +09:00
Leonard Hall
80b90a7ac3 AC_WPNav: move code to generate terrain following kinematic path 2021-07-23 10:19:47 +09:00
Leonard Hall
9244183798 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-23 10:19:47 +09:00
Leonard Hall
612b00ef00 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-23 10:19:47 +09:00
Andrew Tridgell
cb14275e43 AP_Math: added test for SCurve::calculate_path 
this was the values shown in the core dump for failing guided mode
test in CI
 2021-07-23 10:19:47 +09:00
Andy Piper
35d34ee9ae AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot 2021-07-23 10:19:47 +09:00
Randy Mackay
0cbcb9dc91 AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-23 10:19:47 +09:00
Andrew Tridgell
4384b9ea36 AP_Common: update tests for 4.1 2021-07-23 10:19:47 +09:00
Andrew Tridgell
4218452475 HAL_ChibiOS: raise DMA contention threshold for H7 2021-07-23 10:19:47 +09:00
Andrew Tridgell
aab77f7046 AP_SerialManager: document DisableFIFO bit 2021-07-23 10:19:47 +09:00
Andrew Tridgell
eafd3c2952 AP_SerialManager: call set_options() before first UART use 
this ensures options are set before the first begin() call
 2021-07-23 10:19:47 +09:00
Andrew Tridgell
91afec69dc HAL_ChibiOS: implement NOFIFO option for uarts 2021-07-23 10:19:47 +09:00
Andrew Tridgell
2cc98114a4 AP_HAL: added serial option for disabling FIFO on uarts 2021-07-23 10:19:47 +09:00
Andrew Tridgell
c9403afc75 AP_Math: fixed build 2021-07-23 10:19:47 +09:00
Andrew Tridgell
1a7ee954a6 HAL_SITL: update for changed SITL API 2021-07-23 10:19:46 +09:00
Andrew Tridgell
70d540127c SITL: added SIM2 message 
useful for EKF debugging

# Conflicts:
#	libraries/SITL/SIM_Aircraft.cpp
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
05fbe78b9f SITL: separate origin and home in SITL 
this allows for accurate sensor data when flying a very long distance
from the takeoff location
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
a43bd0ae18 AP_DAL: update GPS yaw API to add timestamp 2021-07-23 10:19:46 +09:00
Andrew Tridgell
f1cbfb3e46 AP_GPS: change handling of moving baseline yaw 
this changes yaw handling in a few ways:

 - GPS yaw now has a timestamp associated with the yaw separate from
   the timestamp associated with the GPS fix

 - we no longer force the primary to change to the UBLOX MB rover when
   it has a GPS yaw. This means we don't change GPS primary due to GPS
   loss, which keeps the GPS more stable. It also increases accuracy
   as the rover is always less accurate in position and velocity than
   the base

 - now we force the primary to be the MB base if the other GPS is a
   rover and the base has GPS lock
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
faec3e1a8a AP_NavEKF: sync for 4.1.0beta 2021-07-23 10:19:46 +09:00
Andrew Tridgell
f60c592af3 AP_Math: sync for 4.1.0beta releases 2021-07-23 10:19:46 +09:00
Andrew Tridgell
01156ed348 AP_Common: make longitude_scale() a static 
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:

 pos1 + offs = pos2
 pos2 - offs == pos1
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
c9b9a6a616 HAL_ChibiOS: run storage writes at 1kHz not 100Hz 
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.

Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
 2021-07-23 10:19:46 +09:00
Peter Barker
304927a41e AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-23 10:19:46 +09:00
Andrew Tridgell
c31de1a5ca AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
56ddaa1a99 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-23 10:19:46 +09:00
Andrew Tridgell
579e4566c6 AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
d43e95a39a AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-23 10:19:46 +09:00
Andrew Tridgell
e409202bef AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
399cd4ea03 AP_Common: added ftype precision offset call 
# Conflicts:
#	libraries/AP_Common/Location.cpp
#	libraries/AP_Common/Location.h
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
163a37efa7 AP_NavEKF3: convert code_gen.py to ftype 2021-07-23 10:19:46 +09:00
Andrew Tridgell
5531703548 AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-23 10:19:46 +09:00
Andrew Tridgell
c988f23389 AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-23 10:19:46 +09:00
Andrew Tridgell
e11c94602b HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7 2021-07-23 10:19:46 +09:00
Andrew Tridgell
1119ffe6ba AP_NavEKF3: allow for double EKF build 2021-07-23 10:19:46 +09:00
Andrew Tridgell
edbaf9f3c1 AP_NavEKF2: allow for double EKF build 2021-07-23 10:19:46 +09:00
Andrew Tridgell
d31ca6ca8c AP_NavEKF: allow for double EKF build 2021-07-23 10:19:46 +09:00
Andrew Tridgell
6484a9666c AP_Mount: use ZERO_FARRAY() 2021-07-23 10:19:45 +09:00
Andrew Tridgell
6bcc0737ae AP_Motors: fixup build for ftype conflict 2021-07-23 10:19:45 +09:00
Andrew Tridgell
9629b19ec1 AP_Common: added double methods for SITL 2021-07-23 10:19:45 +09:00
Andrew Tridgell
970ae3dd76 SITL: fixup offset calls 2021-07-23 10:19:45 +09:00
Andrew Tridgell
232ccfe477 AP_Math: allow for double EKF build 2021-07-23 10:19:45 +09:00
Andrew Tridgell
712fbd08dc HAL_ChibiOS: use SRAM1 as first ram segment on H7 
this is needed to give the linker more than 128k for static variables
with double precision maths.
 2021-07-23 10:19:45 +09:00
Andrew Tridgell
53ecf048d1 AP_HAL: allow for double EKF build 2021-07-23 10:19:45 +09:00
Andrew Tridgell
079577a6e5 APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-23 10:19:45 +09:00
Andrew Tridgell
36b22cffb6 AP_Notify: disable DShot buzzer by default 2021-07-23 10:19:45 +09:00
Andy Piper
c265d70d3d AP_Notify: re-enable display on 1Mb boards 2021-07-23 10:19:45 +09:00
Andrew Tridgell
3a683be219 HAL_ChibiOS: always send zero DShot when disarmed 
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.

See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
 2021-07-23 10:19:45 +09:00
Andrew Tridgell
a757706797 AP_Logger: fixed log creation on forced arm 
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
 2021-07-23 10:19:45 +09:00
Randy Mackay
3900a4f14a GCS_MAVLink: send water depth and temp 2021-06-30 12:05:09 +09:00
Andrew Tridgell
a7f31929ea AP_Common: use longitude scaling from definitions.h 2021-06-29 17:26:34 +09:00
Andrew Tridgell
978ea307b0 AP_Math: fixed the value LATLON_TO_CM 
it didn't have enough digits of precision, and was inconsistent with
LOCATION_SCALING_FACTOR
 2021-06-29 17:26:34 +09:00
Peter Barker
819c331acd AP_BattMonitor: correct static_assert call 2021-06-28 11:05:00 +09:00
Peter Barker
67ebdc300b AP_HAL_SITL: reduce scope of loop variable 2021-06-27 10:57:07 +10:00
Leonard Hall
fcde1e7370 AC_WPNav: use shaping_tc_z_s for terrain following time constant. 2021-06-25 16:54:05 +09:00
Leonard Hall
8f493e3021 AC_AttitudeControl: Add shaping_tc_z_s accessor 2021-06-25 16:54:05 +09:00
Andrew Tridgell
f12a7dd04b AP_Mount: fixed longitude subtraction 2021-06-25 15:33:55 +10:00
Peter Barker
f69e2a49f6 AP_Common: add test for longitude wrapping 2021-06-25 15:33:55 +10:00
Andrew Tridgell
77d83b9c77 AP_Common: fixed Location class for wrap at 180 degrees longitude 
this allows us to fly missions across the date line
 2021-06-25 15:33:55 +10:00
Leonard Hall
5475d1153c AC_PosControl: fixup ekf reset 2021-06-25 10:01:49 +09:00
Andrew Tridgell
4895a08ab2 AP_IRLock: convert SITL backends to double precision position 2021-06-24 21:34:30 +10:00
Andrew Tridgell
f209504a12 AC_PrecLand: convert SITL backends to double precision position 2021-06-24 21:34:30 +10:00
Andrew Tridgell
aa03afafa7 AP_Math: added matrix3 tofloat and todouble 2021-06-24 21:34:30 +10:00
Andrew Tridgell
61faeb2d7f AP_Common: added double methods for SITL 2021-06-24 21:34:30 +10:00
Andrew Tridgell
fb275c9874 SITL: convert to double precision for positions 2021-06-24 21:34:30 +10:00
Andrew Tridgell
1d00cab9e6 AC_WPNav: convert circle, loiter and WPNav to double position 2021-06-24 21:34:30 +10:00
Andrew Tridgell
66186e5221 AC_AttitudeControl: convert poscontrol to use double position 2021-06-24 21:34:30 +10:00
Andrew Tridgell
c8079a318c AC_PID: convert AC_P_2D to double 2021-06-24 21:34:30 +10:00
Andrew Tridgell
9b91cfe4ee AP_Math: implement double versions of some position control methods 2021-06-24 21:34:30 +10:00
Andrew Tridgell
3a3a30ab22 AP_Math: define postype_t and vectors 2021-06-24 21:34:30 +10:00
Andrew Tridgell
3fc88b19b8 HAL_SITL: implement initial GPS position offsets 2021-06-24 21:34:30 +10:00
Andrew Tridgell
3315ec5acc AP_Math: added tofloat() and todouble() methods to Vector2 and Vector3 2021-06-24 21:34:30 +10:00
Andrew Tridgell
cf149a9d18 SITL: added SIM_INIT_LAT_OFS and SIM_INIT_LON_OFS 
these give an initial lat/lon offset to the GPS in SITL so we can end
up with an origin a long way from the final position
 2021-06-24 21:34:30 +10:00
Andrew Tridgell
7819cc6400 AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-06-24 20:28:45 +10:00
Andrew Tridgell
639570505b AP_Math: cleanups from Leonards feedback 2021-06-24 20:28:45 +10:00
Andrew Tridgell
5f053bd53a AC_AttitudeControl: fixed comment 2021-06-24 20:28:45 +10:00
Andrew Tridgell
566dd8ca8b AP_Math: cleanup API comments on control code 2021-06-24 20:28:45 +10:00
Andrew Tridgell
bf91168cd6 AC_WPNav: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Andrew Tridgell
fd68233fed AC_AttitudeControl: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Andrew Tridgell
86f09cad09 AP_Math: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Andrew Tridgell
fe4abc521a AP_Math: make vector3 xy() method return a reference 2021-06-24 20:28:45 +10:00
Siddharth Purohit
43bb543aff AP_PiccoloCAN: fix missing _telem_sem 2021-06-24 17:15:08 +10:00
Oliver
9aba85dadc AP_PiccoloCAN: Explicit initialization of AP_HAL::CANFrame instances 2021-06-24 15:51:21 +10:00
Oliver
dade859ff9 AP_PiccoloCAN: Remove unncessary floating point operations 2021-06-24 15:51:21 +10:00
Oliver
06eb844ede AP_PiccoloCAN: Update code to match new esc telemetry / logging architecture 2021-06-24 15:51:21 +10:00
Oliver Walters
de3c4cc9da AP_PiccoloCAN: Increase number of supported channels from 12 -> 16 2021-06-24 15:51:21 +10:00
Oliver Walters
fb16b085c0 AP_PiccoloCAN: Record servo telemetry information to log 
- Servo position
- Servo speed
- Servo force / torque
- Servo duty cycle

Updated servo protocol file to accommodate extra variable data
 2021-06-24 15:51:21 +10:00
Oliver Walters
115c1224de AP_PiccoloCAN: Send servo commands for active channels 
- For each channel, check if a non-motor function is assigned
- If so, send the function value out to the servo
 2021-06-24 15:51:21 +10:00
Oliver Walters
7b0da02a18 AP_PiccoloCAN: Framework for CAN servo outputs 2021-06-24 15:51:21 +10:00
Oliver Walters
43b7b4eb3b AP_PiccoloCAN: Add support for CBS servo protocol 
- Adds protocol files for the servo protocol
- Generated using Protogen tool
 2021-06-24 15:51:21 +10:00
Siddharth Purohit
9494a439ec AP_UAVCAN: Use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
69cc0b4615 SRV_Channel: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
02c74a8fa1 GCS_MAVLink: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
5d8a6d167f AP_ToshibaCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
0795225475 AP_RangeFinder: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
6d8972e63b AP_PiccoloCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
895039cdce AP_Notify: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
1a2c51d6df AP_KDECAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
81f6e3c585 AP_HAL_SITL: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
35344d1aef AP_HAL_Linux: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
882b01bae3 AP_HAL_ChibiOS: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
c7185a1e7f AP_HAL: split into HAL_CANMANAGER_ENABLED and HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
5acce3055f AP_HAL: Use HAL_ENABLE_CANMANAGER instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
ee22747b48 AP_Filesystem: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit
603b302ffd AP_CANManager: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Leonard Hall
47b0ac663a AC_AttitudeControl: AC_PosControl: Init and stopping point fixes 2021-06-24 09:01:07 +10:00
bugobliterator
7e8f11b749 AP_HAL_ChibiOS: allow embedded bootloader to be excluded 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-06-24 08:36:30 +10:00
Peter Barker
183cee3f2c AP_Motors: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
dd8af14e57 AP_Logger: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
215bc51775 AP_LandingGear: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
731cf038f0 AP_InertialSensor: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
c0c3f92c39 AP_GPS: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
955ea710b8 AP_BoardConfig: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
c95b56d8fe AP_Baro: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
d0dbfef2c2 AP_Arming: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
c129d50f4b AP_ADSB: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
a8b37d7064 AC_Fence: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
5d52053232 AC_Avoidance: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
092885f67f AC_AutoTune: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
5d6b733d6d RC_Channel: add rc channel option to disable all airspeed sensors 2021-06-23 15:13:13 +10:00
Peter Barker
6da68e39f8 AP_Airspeed: add rc channel option to disable all airspeed sensors 2021-06-23 15:13:13 +10:00
Paul Riseborough
1281033931 AP_NavEKF3: Remove unused class variable rngBcnTimeout 2021-06-23 13:26:02 +09:00
Paul Riseborough
9d85a4292e AP_NavEKF3: Ensure postion timeout flag and timer is always reset 2021-06-23 13:26:02 +09:00
Paul Riseborough
de3c6d6e5c AP_NavEKF3: Fade each vert vel variance clip count over 1 second 2021-06-23 13:26:02 +09:00
Paul Riseborough
ac92182153 AP_NavEKF3: Clean up initialisation of boolean array 2021-06-23 13:26:02 +09:00
Paul Riseborough
b0763f04f1 AP_NavEKF3: Remove unwanted line 2021-06-23 13:26:02 +09:00
Paul Riseborough
b7aad13cc8 AP_NavEKF3: Protect against collapse of velocity and position variances 2021-06-23 13:26:02 +09:00
Paul Riseborough
36160ba9ce AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata 2021-06-23 13:26:02 +09:00
Paul Riseborough
5d00b7d042 AP_NavEKF3: Fix bug preventing height reset if badIMUdata 2021-06-23 13:26:02 +09:00
Paul Riseborough
e4eb8339d0 AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata 2021-06-23 13:26:02 +09:00
Leonard Hall
ffc64c3042 AC_AttitudeControl: AC_PosControl: change force_descend to ignore_descent_limit 2021-06-23 10:58:50 +09:00
Tatsuya Yamaguchi
001b2a825d RC_Channel: add const in member functions 2021-06-23 11:32:40 +10:00
Tatsuya Yamaguchi
fb682a61cb AP_Arming: add flight mode conflict check 2021-06-23 11:32:40 +10:00
Tatsuya Yamaguchi
5a8ebeda1d RC_Channel: add flight mode conflict check 2021-06-23 11:32:40 +10:00
Leonard Hall
d599052da3 AC_AttitudeControl:AC_PosControl: vibration failsafe fix 2021-06-23 10:29:23 +09:00
CallanDaniel
76f5db93dc AP_AHRS: add semaphore around set_home() 
added semaphore around set_home() to avoid thread racing
 2021-06-23 10:11:02 +09:00