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21309 Commits

Author SHA1 Message Date
Jaaaky fc5e1362a9 AP_NavEKF3: added EK3_MAG_EF_LIM parameter 
Adapted from EKF2 implementation as of commits
3835d2613, e9ed3540f and df4fc0fff
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
 2020-02-05 10:43:36 +11:00
Vlad-Andrei Dorobantu f2489b6405 AP_Compass: corrected the cause of SIGSEGV signal when running AP_Compass_test 2020-02-05 10:43:36 +11:00
Siddharth Purohit 90e83bdabd AP_KDECAN: update prearm method to support snprintf methods 2020-02-05 10:43:36 +11:00
Siddharth Purohit 719f4610a0 AP_Arming: add support for reporting UAVCAN Server errors 2020-02-05 10:43:36 +11:00
Siddharth Purohit 3c1e99cc6b AP_Math: add method for generating hash 2020-02-05 10:43:36 +11:00
Siddharth Purohit e266188963 HAL_ChibiOS: remove unused code 2020-02-05 10:16:44 +11:00
Siddharth Purohit 1197ab9479 StorageManager: add storage aread for CAN Dynamic Node Alloc 2020-02-05 10:16:44 +11:00
Siddharth Purohit 53cea84bf8 AP_UAVCAN: setup uavcan server with internal storage 2020-02-05 10:16:44 +11:00
Peter Barker b437daf2b7 AP_Mission: add sanity check that 16-bit commands aren't stored_in_location 
This is a rather confusing problem when it happens during development,
so a sanity check is good.  What you see in dev is that your latitude
gets corrupted between when you store and retrieve it, with no warnings
that you're doing something wrong.
 2020-02-05 10:16:44 +11:00
Randy Mackay f2f1dbeccd AP_Logger: add vibration failsafe error subsystem 2020-02-05 10:16:44 +11:00
Leonard Hall 7d8458fd22 AC_PosControl: add high vibration compensation 2020-02-05 10:16:44 +11:00
Randy Mackay e142b33090 AC_PID: update pid_info when integrator set 2020-02-05 10:16:44 +11:00
Randy Mackay 7f5be1cc9e AP_InertialNav: use ekf::get_vert_pos_rate during high vibration 2020-02-05 10:16:44 +11:00
Randy Mackay 15ca5f5511 AP_NavEKF3: reduce EK3_HRT_FILT max to 30 2020-02-05 10:16:44 +11:00
Paul Riseborough c5e3f7df7f AP_NavEKF3: Add missing vertical position derivative calculation 2020-02-05 10:16:44 +11:00
Randy Mackay 607f57e4d1 AP_NavEKF2: reduce EK2_HRT_FILT max to 30 2020-02-05 10:16:44 +11:00
Paul Riseborough e868b9dc35 AP_NavEKF2: Add missing vertical position derivative calculation 
Use a third order order complementary filter to estimate the rate of change of vertical position output.
 2020-02-05 10:16:44 +11:00
Randy Mackay 27bde0f2db AP_AHRS: add get_innovations 2020-02-05 10:16:44 +11:00
Leonard Hall 476f853ab3 RC_Channel: Support for Standby functions 2020-02-05 10:16:43 +11:00
Leonard Hall 9e89710d49 AP_Logger: Support for Standby functions 2020-02-05 10:16:23 +11:00
Leonard Hall fe0c05d7e4 AC_AttitudeControl: Support for Standby functions 2020-02-05 10:16:23 +11:00
Michael du Breuil 025fbfad8d AP_Scripting: Fix up uint32_t manipulation, fix AP_Notify 
This also adds a touched up version of the foxhunt demo that was done at
the 2019 developer unconf
 2020-02-05 10:16:23 +11:00
Peter Barker 9fde3e6297 AP_HAL_SITL: ToneAlarm doesn't play tones if disabled via param 2020-02-05 10:16:10 +11:00
Peter Barker a94b1ed65e SITL: create SITL tonealarm files to hold enable parameter 2020-02-05 10:16:10 +11:00
Peter Barker 438c29e924 AP_Notify: add a simulated buzzer for SITL 2020-02-05 10:15:48 +11:00
Peter Barker da3403112a AP_HAL_SITL: add a simulated buzzer 2020-02-05 10:15:48 +11:00
Peter Barker ff3ba8b05f SITL: add a simulated buzzer 2020-02-05 10:15:48 +11:00
Andrew Tridgell ba23ce7857 AP_ADSB: added handle_adsb_vehicle() API 
this allows for UAVCAN ADSB adapters
 2020-02-05 10:15:17 +11:00
Andrew Tridgell da943524d1 AP_ADSB: added singleton interface 2020-02-05 10:15:17 +11:00
Andrew Tridgell 2451d1bf38 AP_UAVCAN: support ADSB over UAVCAN 2020-02-05 10:15:17 +11:00
Andrew Tridgell ad2d9d1666 HAL_ChibiOS: added a f103-ADSB firmware 
for presenting a ping ADSB device as UAVCAN
 2020-02-05 10:13:53 +11:00
Andrew Tridgell 43fb6bfdd1 HAL_ChibiOS: split out f103-GPS from base f103-periph 
this makes it easier to create more peripheral variants
 2020-02-05 10:13:53 +11:00
Michael du Breuil 9ba3bfbab5 AP_Scripting: Add an example message interval script 2020-02-05 10:13:53 +11:00
Michael du Breuil 4eaf4b72ad AP_Scripting: Add a one arg variant of uint32_t, and expose table unpack 2020-02-05 10:13:53 +11:00
Bill Geyer 362abc143a AP_Motors: make init_targets_on_arming global 2020-02-05 10:13:53 +11:00
bnsgeyer 47b1a20238 AC_AttitudeControl: incorporate SysID into tradheli 2020-02-05 10:13:53 +11:00
Leonard Hall e9ff670df5 AC_AttitudeControl: Support System ID tests 2020-02-05 10:13:53 +11:00
Andrew Tridgell a610279eb0 HAL_ChibiOS: reduce max compasses to 1 on AP_Periph 2020-02-05 10:13:53 +11:00
Michael du Breuil f4a1410434 AP_Motors: Fix safe disarm 2020-02-05 10:13:53 +11:00
Leonard Hall 0719626d2b AP_Motors: Use safety timer to enable pwm before spool up 2020-02-05 10:13:53 +11:00
Michael du Breuil 9b2fcdfb82 AP_Scripting: Raise default heap size 2020-02-05 10:13:53 +11:00
Michael du Breuil 4fc5eccb8f AP_Scripting: Stop running scripts if the enable flag ever goes false 2020-02-05 10:13:53 +11:00
Peter Barker 3d59d2d6c8 AP_Vehicle: add singleton 2020-02-05 10:13:53 +11:00
Leonard Hall 92402da5ef Copter: add voltage compensation to _throttle_thrust_max 2020-02-05 10:13:53 +11:00
Andrew Tridgell e3cbb3a6b4 AP_GPS: fixed UAVCAN GPS status when disconnected 
this fixes the status reported for a UAVCAN GPS when the cable is
unplugged. It should be "NO GPS", but was instead reporting "NO
FIX". The user had no way to distinguish between not finding a CAN GPS
at all and it not getting satellites

thanks to CUAV for reporting
 2020-02-05 10:13:53 +11:00
murata 2a003bcd13 AP_RangeFinder: Add TF03-180 2020-02-05 10:13:53 +11:00
Randy Mackay 9413c63548 SRV_Channel: renamed EPM to Gripper in FUNCTION param docs 2020-02-05 10:13:53 +11:00
Andrew Tridgell f24de4e2bc AP_NavEKF3: set a min yaw accuracy from GPS of 5 degrees 
GPS modules tend to be rather optimistic about their yaw accuracy. By
setting a min or 5 degrees we prevent the user constantly getting
warnings about yaw innovations
 2020-02-05 10:13:53 +11:00
Andrew Tridgell 0b435559bd AP_GPS: improved checking for valid yaw for moving baseline 
and fixed check for carrSolnFixed
 2020-02-05 10:13:53 +11:00
Michael du Breuil a0475874a7 AP_GPS: UBLOX: Parse RELPOSNED messages 
This does not yet:
  - validate the receiver configuration
  - manage timing out stale GPS heading info
  - relPosNormalized usage isn't clear, which may defeat the STRICT_LENGTH_CHECK
 2020-02-05 10:13:53 +11:00
Michael du Breuil 624ed28ef8 AP_Logger: Log GPS yaw accuracy 2020-02-05 10:13:53 +11:00
Michael du Breuil 7b9d3594fb AP_Scripting: Fix generation of uint32_t arguments 
This also fixes the message interval description not generating
correctly, it must have been manually edited before
 2020-02-05 10:13:53 +11:00
Andrew Tridgell 45a6df0cee HAL_ChibiOS: drop mRoControlZeroF7 DPS310 clock to 5MHz 2020-02-05 10:13:53 +11:00
Randy Mackay ba8e916e44 GCS_Mavlink: handle_preflight_reboot made virtual 2020-02-05 10:13:53 +11:00
Henry Wurzburg 40af63daf3 AP_HAL_ChibiOS/hwdef: update KakuteF4 readme 2020-02-05 10:13:52 +11:00
Andy Piper be2ef926b0 AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini 2020-02-05 10:13:52 +11:00
Andy Piper 3d289d105b Filter: set the harmonic notch filter ref default to zero (disabled) 
Modify parameter descriptions for tradheli
 2020-02-05 10:13:52 +11:00
Leonard Hall 39f07e9ee7 AP_Motors: Add variable to record the final thrust value 
Add Throttle_Out for other frames
 2020-02-05 10:13:52 +11:00
Andrew Tridgell 4a16e791d6 AP_InertialSensor: publish an IMU temperature 
makes testing of mavlink extension easier
 2020-02-05 10:13:52 +11:00
Andrew Tridgell a832c3bff0 GCS_MAVLink: supply IMU temperature in mavlink extensions 2020-02-05 10:13:52 +11:00
Andrew Tridgell 339da0d07f HAL_ChibiOS: fixed padding of neopixel bits 
lack of padding at start caused occasional glitches in colors
displayed
 2020-02-05 10:12:13 +11:00
Peter Barker 7c5e84d572 AP_Proximity: declare RangeFinder as a class to avoid circular include issue 2020-02-05 10:12:13 +11:00
Peter Barker f0ee5a6aea AP_BoardConfig: correct include of AP_Vehicle_Type 2020-02-05 10:12:13 +11:00
Peter Barker f5fc308f9e DataFlash: adjust for new vehicle base class 2020-02-05 10:12:13 +11:00
Peter Barker 5818d86420 AP_Mission: adjust for new vehicle base class 2020-02-05 10:12:13 +11:00
Peter Barker 31065bc9d2 AP_Compass: adjust for new vehicle base class 2020-02-05 10:12:13 +11:00
Peter Barker 55eab1546d AP_AccelCal: adjust for new vehicle base class 2020-02-05 10:12:13 +11:00
Peter Barker 245152e91b AC_AttitudeControl: adjust for new vehicle base class 2020-02-05 10:12:13 +11:00
Peter Barker dbb1f01445 AP_Vehicle: move many members up to base class 2020-02-05 10:12:13 +11:00
Peter Barker 6db60ec711 AP_Arming: remove bogus ARMING_CHECK_NONE 'bitmask value' 
This looks like a bitmask value, but if you treat it like one (and
people have in the past!) by using logical operations then you get the
incorrect result.

Places which were checking for equivalence to ARMING_CHECK_NONE now
simply check the bitmask to see if it is all-empty.
 2020-02-05 10:12:13 +11:00
murata 73a9f31424 AP_Motors: Change to description(NFC) 2020-02-05 10:12:13 +11:00
Andrew Tridgell a34b135a57 AP_BoardConfig: fixed CAN init without SLCAN 2020-02-05 10:12:13 +11:00
Henry Wurzburg 2c3d57a373 Rover: implement steering trim save in armed/manual mode only 2020-02-05 10:12:13 +11:00
Randy Mackay da0c1d1b42 AP_Follow: add clear_offsets_if_required method 
this restores the offsets to zero if they were initialised from zero when the lead vehicle was first spotted
 2020-02-05 10:10:37 +11:00
Ebin 767cabf8e5 SITL: Yaw rate calculation uses wheel offset 2020-02-05 10:10:37 +11:00
Peter Barker 63e8c5abcb AP_WheelEncoder: add SITL backend 
AP_WheelEncoder: added update function for SITL quadrature encoder
 2020-02-05 10:10:37 +11:00
Peter Barker e6346587d7 AP_Logger: tidy MessageWriter stages using enum class 2020-02-05 10:10:37 +11:00
Henry Wurzburg d95cbc81b3 AP_BLHeli: Change descriptions in SERVO_BLH_PORT param to actual AP port 2020-02-05 10:10:37 +11:00
Andrew Tridgell 4638c57819 AP_Motors: enable docs for hover thr learning in plane 2020-02-05 10:10:37 +11:00
Randy Mackay 59f2b42bd9 AP_SmartRTL: fixup compile error 
fix typo introduced by me attempting a minor fixup before merging
 2020-02-05 10:10:37 +11:00
Peter Barker 2deea7835f AP_Logger: correct uninitialised value when logging all rally points 2020-02-05 10:10:37 +11:00
Henry Wurzburg 6f5d9a686e AP_SmartRTL: give warning buffer is about to fill-up 2020-02-05 10:10:37 +11:00
Henry Wurzburg edc7fefe2a AP_Follow: hide params not used by Rover 2020-02-05 10:10:37 +11:00
Randy Mackay 9f5d629503 GCS_MAVLink: add comment above set-message-interval 2020-02-05 10:10:37 +11:00
Randy Mackay b3fbceccb2 GCS_MAVLink: minor fix to set_message_interval 2020-02-05 10:10:37 +11:00
Tatsuya Yamaguchi ce588f004d AP_Scripting: add set_message_interval binding 2020-02-05 10:10:37 +11:00
Tatsuya Yamaguchi 48307e2268 GCS_MAVLink: add set_message_interval functions 2020-02-05 10:10:37 +11:00
Andrew Tridgell 4e799be144 AP_Scheduler: use fill_nanf() on each scheduler function 2020-02-05 10:10:37 +11:00
Andrew Tridgell 161154bf05 AP_NavEKF2: fixed build 
broken by recent common variable change
 2020-02-05 10:10:37 +11:00
Andrew Tridgell 8984a8fa85 HAL_SITL: pre-fill stack on each loop with NaN 
this allows us to catch use of uninitialised stack variables in SITL
without having valgrind running
 2020-02-05 10:10:37 +11:00
Andrew Tridgell b1e0299a0f AP_NavEKF3: use parent class for intermediate static variables 
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
 2020-02-05 10:10:20 +11:00
Andrew Tridgell da7dc71195 AP_NavEKF2: use parent class for intermediate static variables 
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
 2020-02-05 10:10:20 +11:00
IamPete1 b5e78f9260 AP_Motors: add reversed tricopter option 2020-02-05 10:10:20 +11:00
Peter Barker 3939a24f95 AP_ADSB: move is_valid_octal to is_valid_callsign and add tests for it 2020-02-05 10:10:20 +11:00
Peter Barker 6e4813cc92 AP_Math: move is_valid_octal into adsb 
This doesn't ensure the value is octal digits - there's more magic in
it.
 2020-02-05 10:10:20 +11:00
mhefny 919208c47c SITL: removed unnecessary files of webots 2020-02-05 10:10:20 +11:00
Peter Barker dae920634f AP_Baro: exclude Sub pressure transducers from non-sub builds 2020-02-05 10:10:20 +11:00
Andrew Tridgell f5cd193f71 AP_Common: removed fcntl overrides 
not needed with AP_Filesystem, and fixes lots of warnings with newer
compilers
 2020-02-05 10:10:20 +11:00
Andrew Tridgell 6ebfbb4b94 AP_HAL: fixed build on g++ 7.3 for stm32 
the system maths headers don't like our maths defines, but are happy
if we include math.h first
 2020-02-05 10:10:20 +11:00
Henry Wurzburg df32ec154f AP_OSD: add current averaging filter to reduce jitter (~5 sample timeconstant) 2020-02-05 10:10:20 +11:00