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25452 Commits

Author SHA1 Message Date
E Thomas
2ee052b36e AP_GPS: Made GPS_DISABLE prevent last_fix_time_ms updates 2021-01-23 17:25:00 +11:00
Peter Barker
ade1c487d8 AP_Logger: remove default reason argument for Write_Mode 
All callers now supply this
 2021-01-22 17:27:26 +11:00
Leonard Hall
25fff17e48 AC_AttitudeControl: constify some local variables 2021-01-22 14:22:18 +09:00
Peter Barker
3582b69e9c AP_NavEKF3: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker
445a461f12 AP_NavEKF2: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker
401cccca19 AP_NavEKF2: correct description on NKF3.SVT 2021-01-21 21:26:17 +11:00
Peter Barker
b3bacdd33c AP_NavEKF3: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker
dddb285209 AP_NavEKF2: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker
5ad0ac6727 AP_NavEKF3: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Peter Barker
6b60bae068 AP_NavEKF2: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Peter Barker
e32ca819fc GCS_MAVLink: mark results as unused 2021-01-21 20:41:17 +11:00
Peter Barker
60d0b0f07c AP_AHRS: add WARN_IF_UNUSED to some getters 2021-01-21 20:41:17 +11:00
Andrew Tridgell
6c8a57c2d7 AP_InertialSensor: review fixes 2021-01-21 13:09:21 +11:00
Andrew Tridgell
3ff71c7814 AP_InertialSensor: changes from review feedback 2021-01-21 13:09:21 +11:00
Andrew Tridgell
b12a663f7a AP_InertialSensor: apply accel scaling 2021-01-21 13:09:21 +11:00
Andrew Tridgell
9febcc0f98 SITL: added accel scaling parameters 2021-01-21 13:09:21 +11:00
Andrew Tridgell
73ddde3629 AP_InertialSensor: changes for new SITL IMU params 2021-01-21 13:09:21 +11:00
Andrew Tridgell
b5089580a9 SITL: cleanup IMU parameters 
allow for biases per IMU
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
5e60fac37e AP_InertialSensor: remove unused variable 2021-01-21 13:09:21 +11:00
Andrew Tridgell
285b53fe07 AP_InertialSensor: use vector polyfit 
this reduces memory usage
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
a1fb0592a9 AP_Math: specialise polyfit for vectors 
this is needed to get the precision good enough for wide temperature
ranges when summing the resulting polygon coefficients
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
c8aaceb6ac AP_LeakDetector: remove warning message on all non-sub builds 
pointless pragma
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
d0d480e858 AP_Compass: fixed matrix inverse for new name 2021-01-21 13:09:21 +11:00
Andrew Tridgell
8278a8a00b AP_AccelCal: rename from review feedback 2021-01-21 13:09:21 +11:00
Andrew Tridgell
2e2ccb40b2 AP_AccelCal: fixed inverse matrix call for new name 2021-01-21 13:09:21 +11:00
Andrew Tridgell
999268cbba AP_Math: fixup matrix algorithms to be in cpp file 
this fixes an issue where optimize O2 was forced on any file that
included AP_Math.h. It also fixes the test suite for matrix_alg, and
fixes the type handling to be consistent
 2021-01-21 13:09:21 +11:00
bugobliterator
3b3e2c01f8 AP_Math: templatize matrix_alg methods 2021-01-21 13:09:21 +11:00
Andrew Tridgell
ffe20f7958 AP_InertialSensor: use a fixed reference temperature of 35C 
this allows us to timeout the calibration when the temperature stops
rising as the polynomial no longer depends on the maximum temperature
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
dc58b0b950 AP_InertialSensor: changes from review feedback 
thanks Sid!
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
9561f24c0e AP_Filesystem: added @SYS/persistent.parm 2021-01-21 13:09:21 +11:00
Andrew Tridgell
5ed19c764e HAL_ChibiOS: expose load_persistent_params for @SYS 2021-01-21 13:09:21 +11:00
Andrew Tridgell
1680e6e7d6 AP_HAL: expose load_persistent_params() in hal.util 2021-01-21 13:09:21 +11:00
Andrew Tridgell
c9a83c8127 AP_InertialSensor: added INS_TCAL_OPTIONS 
make persistent params optional, and allow save of accelcal
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
5c823debc0 HAL_ChibiOS: support saving persistent parameters to bootloader sector 
when we flash the bootloader we can save key peristent parameters to
the end of the bootloader sector, allowing them to persistent across
changes of firmware type

This allows for factory temperature calibration
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
504f500fae AP_Common: added get_writeable_string to ExpandingString 2021-01-21 13:09:21 +11:00
Andrew Tridgell
1ddc21c9bb AP_InertialSensor: support saving tempcal params persistently 2021-01-21 13:09:21 +11:00
Andrew Tridgell
8caea96ab1 AP_InertialSensor: start auto-learning at boot 
This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
7cb7ad3636 AP_InertialSensor: fixed build error 2021-01-21 13:09:21 +11:00
Andrew Tridgell
2e9f61fe49 AP_InertialSensor: fixed IMU index display in msgs 
start at 1 for users
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
d5b511f4a0 AP_InertialSensor: fixed start timer for temperature in SITL 
when we are doing an autotest we want the temperature to start
climbing when we first set SIM_IMUT_FIXED=0
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
30e55d8dfc AP_InertialSensor: cope with user changing TMAX while calibrating 2021-01-21 13:09:21 +11:00
Andrew Tridgell
68526262b7 AP_Arming: don't allow arming during IMU temp cal 2021-01-21 13:09:21 +11:00
Andrew Tridgell
e2e97c67ce AP_InertialSensor: catch user attempt to change TMAX during cal 2021-01-21 13:09:21 +11:00
Andrew Tridgell
73e53369e8 AP_Notify: added notify events for temperature calibration 2021-01-21 13:09:21 +11:00
Andrew Tridgell
3fb720354d AP_InertialSensor: added notify events for temperature calibration 2021-01-21 13:09:21 +11:00
Andrew Tridgell
cc3579ea5d AP_InertialSensor: change TCAL sampling to be even in temperature 2021-01-21 13:09:21 +11:00
Andrew Tridgell
cf47c19c0d Filter: fixed low pass 2p filter to auto-init 
this prevents the init to zero for temperature filters
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
4495414d05 Filter: added reset with value to LowPassFilter2p 2021-01-21 13:09:21 +11:00
Andrew Tridgell
fc0f8b990a AP_InertialSensor: added online learning of temp cal 
use INS_TCAL1_ENABLE=2 to start learning
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
64d9f43d94 AP_Math: added polygon fitting code 2021-01-21 13:09:21 +11:00
Andrew Tridgell
720f9a1de0 AP_Math: cleanup maths functions 
use class template instantiation, and cleanup const in matrix code
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
6f6f89e5aa AP_InertialSensor: enable temperature sensor on LSM9DS0 
this allows for temperature calibration of the LSM303D in CubeBlack
and Pixhawk1
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
0c156e324b AP_Compass: enable temperature on lsm303d 2021-01-21 13:09:21 +11:00
Andrew Tridgell
c0ba7c29ca SITL: use TCal class for temp adjustment in SITL 2021-01-21 13:09:21 +11:00
Andrew Tridgell
4bdf506d10 AP_InertialSensor: apply 1e-5 scale factor 
this keeps the params in a reasonable range for parameter editors
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
0f6f6bac6b AP_InertialSensor: expose TCal class for use in SITL 2021-01-21 13:09:21 +11:00
Andrew Tridgell
7921e042f1 AP_InertialSensor: added IMU temperature calibration support 
this adds parameters that can be setup by an external script for
compensating for temperature variation in gyros and accels using a 3rd
order polynomial
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
580cd143b8 AP_AccelCal: added active() method 2021-01-21 13:09:21 +11:00
Siddharth Purohit
f53d80374b SITL: fix build for macos systems 2021-01-21 13:09:21 +11:00
Peter Barker
e58d2ecf2f GCS_MAVLink: add mavlink command option to create a 250ms long loop 2021-01-21 11:35:57 +11:00
Andrew Tridgell
d81c2ee407 HAL_ChibiOS: allow for some embedded parameters on AP_Periph builds 2021-01-21 06:19:46 +11:00
murata
fd91cb03b4 SITL: Change the Kelvin value to a defined name 2021-01-20 20:27:19 +11:00
bugobliterator
8b90eb23e0 AP_HAL_ChibiOS: distcc doesn't like lst generation commands 2021-01-20 19:21:14 +11:00
Randy Mackay
031be010ac AC_AttitudeControl: tailsitter sets target rates more efficiently 2021-01-20 18:21:12 +11:00
Leonard Hall
4e2c7880c5 AC_Avoidance: use AP_Math control functions 2021-01-20 18:19:40 +11:00
Leonard Hall
e2308e9414 AC_Loiter: use AP_Math control tools common functions 2021-01-20 18:19:40 +11:00
Randy Mackay
6320338771 AC_PosControl: use AP_Math control functions 2021-01-20 18:19:40 +11:00
Leonard Hall
1129a3fd59 AC_AttitudeControl: use AP_Math control functions 2021-01-20 18:19:40 +11:00
Leonard Hall
1e38440c83 AP_Math: add control common functions 2021-01-20 18:19:40 +11:00
Andy Piper
2fadcf6ba0 AP_HAL_ChibiOS: handle UP/CH channel sharing on H7 correctly 2021-01-20 18:15:17 +11:00
Andy Piper
9e641a32ad AP_HAL_ChibiOS: don't share flash SPI on BeastH7 and compile with -Os 2021-01-20 18:12:57 +11:00
Andy Piper
2b885cd79f AP_HAL_ChibiOS: ensure that serial LED setup goes via an intermediate buffer 
protect serial LED buffer transfers with mutex
protect serial LED buffer size with mutex
prevent serial LED interactions before rcout is ready
allocate a serial led buffer per channel that needs it
setup clock mask when needed
 2021-01-20 18:10:18 +11:00
yaapu
ecfcd98f8a AP_RCTelemetry: apply a 5s hysteresis to RF mode changes and rate reporting 2021-01-20 18:06:24 +11:00
Andy Piper
23158480c7 AP_RCTelemetry: calculate CRSF custom frame support correctly 2021-01-20 18:06:24 +11:00
Andy Piper
39219451bd AP_RCTelemetry: detect CRSF tracer RX and switch to 250Hz high speed telemetry 2021-01-20 18:06:24 +11:00
Andy Piper
f6a2d20579 AP_RCProtocol: add tracer 250Hz mode 2021-01-20 18:06:24 +11:00
yaapu
79640e5d94 RC_Channel: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu
1c3b7d5ecd GCS_MAVLink: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu
6b26a64f77 AP_Frsky_Telem: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu
5ef20aec27 AP_RCProtocol: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu
4933544489 AP_RCTelemetry: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
Andrew Tridgell
9db0862d61 HAL_Linux: use nullptr for vnav rcinput 
this makes it clearer what is going on
 2021-01-20 13:49:26 +11:00
Michael du Breuil
15fd8480f8 AP_EFI: Correct a bad conversion from Kelvin to Celsius 
(was off by 0.15 degrees)
 2021-01-20 11:10:25 +11:00
Andrew Tridgell
dff6a5bff9 HAL_Empty: allow return of last value in RCOutput 
this is needed for linux boards with no native RCOutput that use SBUS
out on a serial port to ensure they can display the servo values in
the GCS
 2021-01-20 10:06:45 +11:00
Andrew Tridgell
1ce77111e5 AP_AHRS: allow override of default EKF type 2021-01-20 10:06:45 +11:00
Andrew Tridgell
009cb8f62b HAL_Linux: setup RCIN for vnav 2021-01-20 10:06:45 +11:00
Andrew Tridgell
a9f8c9517c AP_HAL: added vnav linux target 2021-01-20 10:06:45 +11:00
Andrew Tridgell
103d6c54e1 AP_ExternalAHRS: added vnav linux target 2021-01-20 10:06:45 +11:00
Peter Barker
933aba66f8 AP_HAL_SITL: avoid nullptr dereference in Replay 2021-01-19 15:15:35 +11:00
Peter Barker
c0ea19e5c5 SITL: add test for maxbotixi2cxl 2021-01-19 11:20:47 +11:00
Peter Barker
78b49a2c35 AP_RangeFinder: maxbotix: use i2c-address parameter 2021-01-19 11:20:47 +11:00
Iampete1
9be19b0bfa AP_Scripting: add plane spesific quadplane in_vtol_mode binding 2021-01-19 11:18:10 +11:00
Iampete1
7de14f2e2f AP_Scripting: desc: update AP_Terrain depends 2021-01-19 11:18:10 +11:00
Iampete1
2a75432fa2 AP_Scripting: Generator: support depends 2021-01-19 11:18:10 +11:00
Pierre Kancir
30a4747898 GCS_MAVLink: send sim_state msg 2021-01-19 10:40:43 +11:00
Pierre Kancir
c1f1208c89 SITL: add support for SIM_STATE msg 2021-01-19 10:40:43 +11:00
Andrew Tridgell
d9dbcb17c4 AP_Math: enable constrain value with line numbers on all boards 2021-01-19 10:24:39 +11:00
Andrew Tridgell
5def8a64ab SITL: avoid negative current and voltage in flightaxis 
RealFlight9 will sometimes give meaningless negative values
 2021-01-19 10:21:35 +11:00
Andrew Tridgell
53326a08ed AP_DAL: add 10k to SITL memory available 
this is needed as the SITL data structures are larger than on STM32
due to pointer size. This means we sometimes fail to replay in SITL as
we refuse to allocate an EKF core
 2021-01-18 13:01:00 +11:00
bugobliterator
c02c546077 AP_HAL_ChibiOS: add support for inline comments in hwdef.dat 2021-01-18 09:37:11 +11:00
bugobliterator
41693403e2 AP_HAL_ChibiOS: retain memory of past conflicts in dma_resolver 2021-01-18 09:37:11 +11:00
Randy Mackay
0cc9fd2b5d AP_AHRS_NavEKF: get_secondary_quat and position may return EKF3 value 2021-01-16 08:24:23 +09:00
Randy Mackay
1b3ad9cd8d AP_AHRS: use ekf3 by default 2021-01-16 08:24:23 +09:00
Randy Mackay
60633f5a7f AP_NavEKF2: disable ekf2 by default 2021-01-16 08:24:23 +09:00
Randy Mackay
4492e5024c AP_NavEKF3: enable ekf3 by default 2021-01-16 08:24:23 +09:00
Andrew Tridgell
ed8d86e5e6 GCS_MAVLINK: support deliberate parameter corruption 2021-01-16 06:47:10 +11:00
Andrew Tridgell
6ca68bfba3 AP_HAL: enable 32k storage on SITL 2021-01-16 06:47:10 +11:00
Andrew Tridgell
f93e2f6717 HAL_ChibiOS: enable 32k FRAM on H7 boards 2021-01-16 06:47:10 +11:00
Andrew Tridgell
9e15efcbb5 AP_InertialSensor: added params restored internal error 2021-01-16 06:47:10 +11:00
Andrew Tridgell
4d58bcb321 AP_Param: support restoring from parameter backup region 
if header on primary parameter storage is corrupt then restore from
backup
 2021-01-16 06:47:10 +11:00
Andrew Tridgell
03a033c5c4 StorageManager: added support for 32k storage with param backup 
when HAL_STORAGE_SIZE == 32768 then add:

 - 1280 more bytes for params
 - double waypoint space
 - add a parameter backup area
 2021-01-16 06:47:10 +11:00
pkocmoud
7b61a4d8c2 HAL_ChibiOS: support F7 with no crystal 2021-01-15 15:48:01 +11:00
Andy Piper
099d6aa72e AP_NavEKF3: add filter reset when vehicle is idle for too long 2021-01-15 15:47:20 +11:00
Andy Piper
cb5be4fcc1 AP_HAL_ChibiOS: don't share IMU DMA on MatekH743 to avoid SPI DMA contention 2021-01-15 14:32:39 +11:00
chobitsfan
26a3a02c81 AP_NavEKF3: use posxy_source in all places 2021-01-14 16:49:12 +09:00
李孟晓
40dbb316c1 AP_BattMonitor: ignore SoC option for UAVCAN devices 2021-01-13 18:30:53 +11:00
Andrew Tridgell
eeb728237f AP_Compass: removed error on BMM150 
it may be probed at multiple addresses, don't throw lots of errors
 2021-01-13 18:10:25 +11:00
Andy Piper
e781572d53 AP_HAL_ChibiOS: support iFlight BeastF7 
reduce DMA contention on BeastH7 and correct sharing
add README's for BeastF7 and BeastH7
 2021-01-13 18:09:33 +11:00
Andy Piper
fdbf2d369a AP_HAL_ChibiOS: do not take bi-dir path when in serial DMA 2021-01-13 18:03:41 +11:00
yaapu
89802ed6fc AP_MSP:Tools: use BATTERY_STATE.voltage_cv for cell voltage calculation to replicate actual DJI Goggles behaviour 
This becomes apparent when pack voltage is above DJI's hard limit of 25.5v
with this fix the cell voltage is correct even for 12s packs just like on real hardware
 2021-01-13 17:59:15 +11:00
yaapu
b84baf06d3 AP_OpticalFlow: fix MAVLink opflow driver, only apply yaw to flowRate as body rate comes from AHRS 2021-01-13 17:56:27 +11:00
yaapu
5b2d430a2a AP_OpticalFlow: fix CXOF opflow driver, only apply yaw to flowRate as body rate comes from AHRS 2021-01-13 17:56:27 +11:00
Andrew Tridgell
8728148db6 AP_Notify: don't do startup tone on AP_Periph devices 2021-01-13 15:18:40 +11:00
Igor Campos
174700b7ad AP_Mount: Implement roll control on Solo gimbal 2021-01-13 08:39:03 +11:00
Tatsuya Yamaguchi
985642af32 AP_Avoidance: update the description of AVD_F_ALT_MIN to specify MSL 2021-01-12 21:59:44 +09:00
chobits
e73d28fe19 AP_NavEKF3: remove redundant extnav code 2021-01-12 21:56:36 +09:00
Josh Henderson
8e705a5eed AP_Logger: move BAT & BCL logging functions to AP_BattMonitor 2021-01-12 17:43:55 +11:00
Josh Henderson
e91953fa3b AP_BattMonitor: move log BAT & BCL into AP_BattMonitor 2021-01-12 17:43:55 +11:00
Josh Henderson
dfa8e55622 AP_BattMonitor: add has_temperature method to Backend 2021-01-12 17:43:55 +11:00
Peter Barker
b92b343d4e SITL: add simulator for ICM40609 2021-01-12 17:43:36 +11:00
Peter Barker
239b09fb34 AP_InertialSensor: add simulator for ICM40609 2021-01-12 17:43:36 +11:00
Peter Barker
3d577d94e8 GCS_MAVLink: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
Peter Barker
b229c552e6 AP_Arming: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
Peter Barker
0052500d67 GCS_MAVLink: split out a handle_command_component_arm_disarm 2021-01-12 08:48:44 +09:00
Brad Bosch
a2192eda5e GCS_MAVLink: use RADIO_STATUS message txbuf field 
this avoids overrunning radio buffer in queued_param_send()
 2021-01-12 10:46:15 +11:00
bugobliterator
4346264113 AP_HAL_ChibiOS: ensure UP and CH timer channels share DMA for H7 2021-01-12 10:45:03 +11:00
Peter Barker
96981baadf AP_CanManager: use milliseconds for timeout 
The use of PRIu64 was breaking people's builds
 2021-01-12 10:38:54 +11:00
Peter Barker
9099a9b622 AP_AHRS: correct names for active EKF type 2021-01-12 10:23:08 +11:00
Josh Henderson
0ebbf0f74e AP_Logger: move AP_AHRS functions out 2021-01-12 10:13:22 +11:00
Josh Henderson
62ff9a4d4b AP_AHRS: move logging functions to AHRS 2021-01-12 10:13:22 +11:00
Josh Henderson
8ce5113c74 AC_AutoTune: privatize AHRS logging 2021-01-12 10:13:22 +11:00
Andy Piper
e9ea360a99 AP_HAL_ChibiOS: don't timeout after 11 bits on serial irqs 2021-01-12 09:58:58 +11:00
Andrew Tridgell
957842f7eb AP_InertialSensor: added support for v3 Invensense sensors 
starting with ICM-40609, ICM-42688 and ICM-42605
 2021-01-11 14:43:35 +11:00
Andrew Tridgell
14433c3ae3 HAL_ChibiOS: enable ICM-40609 on mRoNexus 2021-01-11 14:43:35 +11:00
yaapu
0f49058fbd AP_MSP: fix for missing ACK on unsupported MSP messages 
MSP requires all messages to be acknowledged even if unsupported
 2021-01-11 08:54:15 +11:00
Andrew Tridgell
882d9c4e23 GCS_MAVLink: adjust stack sizes 2021-01-10 08:28:55 +11:00
Andrew Tridgell
dc57454ac5 AP_Logger: adjust stack sizes 2021-01-10 08:28:55 +11:00
Andrew Tridgell
afbdd69165 AP_HAL_ChibiOS: adjust stack sizes 2021-01-10 08:28:55 +11:00
Andy Piper
8fb403c569 AP_HAL_ChibiOS: make sure BDMA channels are not adjacent 2021-01-10 08:11:37 +11:00
Andy Piper
186c28c275 AP_BLHeli: correct bi-dir mask enablement 2021-01-09 09:47:40 +11:00
Peter Barker
416dd98140 AP_Logger: check HAL_LOGGING_DATAFLASH only for definition 
As the hwdefs only define the symbol, don't set it to a value...
 2021-01-08 12:48:55 +11:00
Peter Barker
7d42f473fc AP_Logger: allow each backend to be compiled out 2021-01-08 12:48:55 +11:00
yaapu
480c9f10df AP_OpticalFlow: fix for msp opflow sensor alignement 2021-01-08 09:29:23 +09:00
Michael Oborne
d2720da4a2 AP_GPS: support yaw for UAVCAN GPS 2021-01-07 15:56:28 +11:00
Michael Oborne
5ef3e1bec3 UAVCAN: add dsdl for gps heading 2021-01-07 15:56:28 +11:00
Peter Barker
e8d24a1f68 AP_Logger: initialise logger instance variables in header 2021-01-07 10:42:13 +11:00
Peter Barker
80e8688888 AP_Logger: remove perf counters 2021-01-07 09:20:00 +11:00
Andy Piper
b3946a667c AP_Logger: omnibusF4pro needs more stack for logging and logging needs to take precedence over ftp 2021-01-07 07:43:52 +11:00
chobits
b0fa5fadcd AP_Logger: fix BCN multiplier 2021-01-06 21:48:32 +11:00
Peter Barker
c590aa061f RC_Channel: return uint32_t for number of ms overrides should live 2021-01-06 18:33:15 +11:00
Peter Barker
ef0b860a48 AP_Logger: remove Prep and NeedPrep functions 
These were only being called directly after Init(), so just tacked them
onto the end of those functions.

The checks in NeedPrep turned out to be mostly redundant.
 2021-01-06 18:25:21 +11:00
Josh Henderson
1c49a0b44d AP_Logger: only log Battery Status for active monitors 2021-01-06 18:23:15 +11:00
Peter Barker
496267115c AP_RangeFinder: MAVLink: use larger of min ranges / smaller of max ranges 2021-01-06 15:33:41 +11:00
Peter Barker
81ab322daa SITL: correct max_distance in simulated mavlink rangefinder 2021-01-06 15:33:41 +11:00
Peter Barker
cba5f142a7 AP_RangeFinder: correct MAVLink backend's out-of-range checks 2021-01-06 15:33:41 +11:00
Peter Barker
223e775a3c AP_RangeFinder_MAVLink: only set sensor type if we accept a reading 2021-01-06 15:33:41 +11:00
Peter Barker
40eb9a8b99 AP_RangeFinder: do not start the mavlink rangefinder as healthy 
Also takes the opportunity to clean things up a little
 2021-01-06 15:33:41 +11:00
Gone4Dirt
c96ca2483e AP_Generator: Make sensor unhealthy msg consistent with other sensors 2021-01-06 09:59:34 +11:00
Andrew Tridgell
59fa794818 AP_NavEKF3: constrain vertical error 
this prevents a floating point exception with external AHRS
 2021-01-05 21:13:12 +11:00
Andrew Tridgell
1e75bb971e AP_NavEKF2: constrain vertical error 
this prevents a floating point exception with external AHRS
 2021-01-05 21:13:12 +11:00
Andrew Tridgell
ce561ab249 AP_Logger: log active EKF type as ATT.AEKF 2021-01-05 21:13:12 +11:00
Andrew Tridgell
b73131cdbc AP_AHRS: review fixes 2021-01-05 21:13:12 +11:00
Andrew Tridgell
4e33b74d69 AP_AHRS: call external AHRS update 2021-01-05 21:13:12 +11:00
Andrew Tridgell
b5b9b57c9e AP_AHRS: added external AHRS mavlink status 2021-01-05 21:13:12 +11:00
Andrew Tridgell
75ad1a7d31 AP_AHRS: send a text msg when active EKF changes 2021-01-05 21:13:12 +11:00
Andrew Tridgell
9dbd2d3eba AP_AHRS: expose active EKF type for logging 2021-01-05 21:13:12 +11:00
Andrew Tridgell
7cc71dc573 HAL_SITL: support VectorNav simulation 2021-01-05 21:13:12 +11:00
Andrew Tridgell
f57971eafe SITL: added VectorNav simulator 2021-01-05 21:13:12 +11:00
Andrew Tridgell
e284c5694d AP_AHRS: added AHRS_EKF_TYPE=11 for external AHRS 2021-01-05 21:13:12 +11:00
Andrew Tridgell
b74e5c0e2f AP_InertialSensor: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Andrew Tridgell
4f176c25de AP_InertialSensor: relax IMU wait time for low loop rates 
allow for waiting for all IMUs for up to 1/3 of the loop time
 2021-01-05 21:13:12 +11:00
Andrew Tridgell
bf51478dd1 AP_GPS: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Andrew Tridgell
a068e95a48 AP_Compass: added ExternalAHRS driver 2021-01-05 21:13:12 +11:00
Andrew Tridgell
75c789fc57 AP_Baro: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Andrew Tridgell
66297bd061 AP_Vehicle: added ExternalAHRS param tree and object 
using EAHRS param prefix
 2021-01-05 21:13:12 +11:00
Andrew Tridgell
0f08236e7c AP_SerialManager: added serial AHRS type 2021-01-05 21:13:12 +11:00
Andrew Tridgell
ae4d152d51 AP_SerialManager: added find_portnum() API 
used for allocating device IDs
 2021-01-05 21:13:12 +11:00
Andrew Tridgell
1b60be96d1 AP_ExternalAHRS: added support for external AHRS systems 
First supported is VectorNav VN-300 on serial
 2021-01-05 21:13:12 +11:00
Arsh
3d5addeee0 AP_HAL:examples:AnalogIn: Added comments in the AnalogIn example 2021-01-05 20:43:04 +11:00
Randy Mackay
3a075850f6 AC_Autorotation: minor comment fix 2021-01-05 17:19:43 +09:00
Peter Barker
b6833eee9b SITL: correct SMBus block reads 2021-01-05 14:45:20 +11:00
Peter Barker
8be50910e4 SITL: add support for simulated TSYS01 temperature sensor 2021-01-05 12:01:51 +11:00
Peter Barker
ecd21fbc4c AP_TemperatureSensor: add support for simulated TSYS01 temperature sensor 2021-01-05 12:01:51 +11:00
murata
d7533843d5 AC_AttitudeControl: Set the gravitational acceleration value to the defined value 2021-01-05 09:11:14 +09:00
murata
219dc2e7da AP_InertialSensor: Set the gravitational acceleration value to the defined value 2021-01-05 09:11:14 +09:00
murata
2eee8e389d AP_L1_Control: Set the gravitational acceleration value to the defined value 2021-01-05 09:11:14 +09:00
TsuyoshiKawamura
441be7e04b AP_Scripting: add rangefinder status_orient 2021-01-05 11:03:42 +11:00
Randy Mackay
647c568ab9 AP_NavEKF3: out-of-date comments removed 
GPS, Static and ExtNav yaw buffers have been separated
 2021-01-05 10:58:06 +11:00
Randy Mackay
27c998ad94 AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS 2021-01-05 10:58:06 +11:00
Randy Mackay
77af6df730 AP_NavEKF: rename EXTERNAL to GPS 2021-01-05 10:58:06 +11:00
Randy Mackay
c14b4a8b6c AP_NavEKF3: add support for GSF as yaw source 2021-01-05 10:58:06 +11:00
Randy Mackay
0fb168d6ab AP_NavEKF: source supports GSF yaw 2021-01-05 10:58:06 +11:00
Randy Mackay
5891c6ace8 AP_NavEKF3: separate GPS yaw from ExtNav yaw 2021-01-05 10:58:06 +11:00
Randy Mackay
6850b48ea1 AP_NavEKF3: add comments for yaw sensor variables 2021-01-05 10:58:06 +11:00
Randy Mackay
fca8eb0778 AP_NavEKF_Source: add ExtNav yaw source 2021-01-05 10:58:06 +11:00
Peter Hall
1f7d796845 AP_Scripting: add fast param bindings and example 2021-01-05 10:55:36 +11:00
Peter Hall
9dae370356 AP_Scripting: add param accesss helper 2021-01-05 10:55:36 +11:00
Andrew Tridgell
16753a51f4 HAL_Linux: use ExpandingString 2021-01-05 10:52:00 +11:00
Andrew Tridgell
42bc9adfb7 HAL_ChibiOS: use ExpandingString for @SYS buffers 2021-01-05 10:52:00 +11:00
Andrew Tridgell
6da0212ce4 AP_Scheduler: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
c21b6b4a16 AP_HAL_SITL: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
96cbde0ee6 AP_HAL: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
c924a9917e AP_Filesystem: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
0c6b4a1045 AP_CANManager: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
6c1891fcb3 AP_Common: added ExpandingString class 
useful for @SYS output construction
 2021-01-05 10:52:00 +11:00
Peter Hall
1a14c8a05b AC_PID: populate pid_info limit feild 2021-01-05 10:27:28 +11:00
Peter Hall
b2e1d88da8 AP_Logger: add limit flag to PID logs 2021-01-05 10:27:28 +11:00
Andrew Tridgell
69d3264e55 StorageManager: allow for CANDNA storage on F405 boards 
this allows for boards using the log structure storage with 15360
bytes of storage have a CANDNA area.

This fixes CAN support on F405 boards
 2021-01-05 10:25:17 +11:00
Peter Barker
8f8283e0f0 AP_Motors: rc_map_mask -> motor_mask_to_srv_channel_mask 
the naming of this function precedes our rc/srv-channel split
 2021-01-05 10:19:32 +11:00
Peter Barker
d24e569b20 GCS_MAVLink: add option to panic the autopilot 2021-01-05 10:04:25 +11:00
Peter Barker
ca6c133042 AP_HAL_ChibiOS: do not reuse va_list after it has been ended 2021-01-05 10:04:25 +11:00
Andrew Tridgell
a74d087fd8 SRV_Channel: prevent FPE with SERVOn_MIN==SERVOn_MAX 2021-01-05 08:23:28 +11:00
Josh Henderson
4a7f663cad AP_Logger: README add multiplier descriptions 
Add clarity to the multipliers and descriptions
 2021-01-04 20:45:38 +11:00
Andy Piper
27d7c73c8e AP_RCProtocol: rc_protocols_mask must be set before bootstrap occurs 2021-01-04 20:04:19 +11:00
Josh Henderson
ceb2c87970 SITL: align default i2c device bus for BattMonitor 2021-01-04 18:30:09 +11:00
Peter Barker
c81df7b5ad AP_Math: add tests for circle-segment-intersection 2021-01-04 13:58:42 +11:00
Peter Barker
f534963413 AP_Math: consolidate error checking 2021-01-04 13:58:42 +11:00
murata
4ffc559ccc AP_Math: judge isnan judgment before operation 2021-01-04 13:58:42 +11:00
Peter Barker
8977f3a859 SITL: correct I2C message handling 2021-01-04 12:49:20 +11:00
Peter Barker
23d393e108 SITL: add I2C 8Bit-register methods 2021-01-04 12:49:20 +11:00
Peter Barker
3c16f164df AP_HAL_SITL: correct I2C callback interval 2021-01-04 11:26:12 +11:00
Andrew Tridgell
324ff178d8 HAL_ChibiOS: fixed CUAV_GPS defaults.parm 2021-01-03 16:24:12 -08:00
Tom Pittenger
113f792ad1 AP_HAL_ChibiOS: update periph targets who have buzzer/LEDs with notify 2021-01-03 16:24:12 -08:00
Tom Pittenger
7dde981de6 AP_Notify: add public accessor and param defaults 2021-01-03 16:24:12 -08:00
Andrew Tridgell
6f4bfed82d HAL_ChibiOS: fixed build with alarm and no PWM channels 
this fixes a build error due to conditional always being false when
NUM_GROUPS==0 by using a C++ iterator. It also makes the code neater
 2021-01-04 09:04:06 +11:00
Peter Barker
8e34388a20 SITL: move simulated maxsonari2c to bus 0 
.... where the driver expects it by default
 2021-01-03 20:36:54 +11:00
Peter Barker
e5fd661caf SITL: correct I2C multi-bus support 2021-01-03 20:36:54 +11:00
Peter Barker
21ffa4d259 SITL: add sanity check for duplicate bus/addr I2C devices 2021-01-03 20:36:54 +11:00
Peter Barker
995f5d1dad SITL: increase quad scanner range to 18m 
Matches the value we send for Rover, which is useful until we can
reflect on the simulation to discover its maximum range
 2021-01-03 18:54:54 +11:00
Rishabh
2f5f55f680 SITL: Added quadcopter morse example with laser scanner 2021-01-03 18:54:54 +11:00
Peter Barker
b1239dcd06 SITL: correct OBSTACLE_DISTANCE message output from SIM_Morse 2021-01-03 17:49:44 +11:00
Andy Piper
40090dcce9 AP_UAVCAN: compile fix for debug/assertions 2021-01-03 08:57:13 +11:00
Andy Piper
176c648156 AP_Terrain: compile fix for gcc 9 2021-01-03 08:57:13 +11:00
Andy Piper
779c2a9e5f AP_Logger: move logger IO to a separate thread 2021-01-02 22:30:08 +11:00
Andrew Tridgell
09603e29ce AP_Compass: fixed external handling for BMM150 2021-01-02 10:31:15 +11:00
Andrew Tridgell
3d4a8829f3 AP_Compass: added BMM150 as available external mag 2021-01-02 10:31:15 +11:00
Andrew Tridgell
e747edbcf2 AP_NavEKF3: fixed init order for scheduler 
this can impact replay of EKF2
 2021-01-02 10:30:26 +11:00
Andrew Tridgell
b36bfe4206 AP_NavEKF2: fixed init order for scheduler 
this can impact replay of EKF2
 2021-01-02 10:30:26 +11:00
Hwurzburg
ce361e51bf HAL_ChibiOS: Reinstate HAL_MINIMIZE_FEATURES for 1MB F7 boards 2021-01-02 08:57:47 +11:00
Andrew Tridgell
6ed4eca57f AP_CANManager: fixed use of CANSensor on multiple ports 
we should not increment _num_drivers if we don't have a driver yet
 2021-01-02 06:25:20 +11:00
Andrew Tridgell
418367c266 HAL_SITL: allow --home to specify a location from locations.txt 
this will make it easy to use a named location in MissionPlanner SITL
 2021-01-01 17:30:32 +11:00
Andrew Tridgell
a4517032c5 AP_UAVCAN: log all UAVCAN devices in CAND log message 2021-01-01 17:30:14 +11:00
Andrew Tridgell
0ae9b28198 AP_Logger: added get_log_start_count() 
used by UAVCAN to know if it should log CAN devices on log rotation
 2021-01-01 17:30:14 +11:00
Andrew Tridgell
4fdf315760 AP_Logger: use null terminated strings 
this prevents logging garbage for strings that are shorter than the
length specifier (eg. 'Z'). This assumes we will not want to log
binary data as strings
 2021-01-01 17:30:14 +11:00
Andrew Tridgell
66c05bef76 AP_RangeFinder: added USD1 CAN driver 
also known as uLanding CAN
 2021-01-01 17:29:54 +11:00
Andrew Tridgell
943918d511 AP_Arming: added USD1 CAN 2021-01-01 17:29:54 +11:00
Andrew Tridgell
b7fa1a4b98 AP_CANManager: added USD1 CAN driver type 2021-01-01 17:29:54 +11:00
Michael du Breuil
60af6633cf AP_EFI: Add NWPMU CAN driver 2021-01-01 17:29:54 +11:00
Andrew Tridgell
fb84baf8a5 AP_Arming: added EFI_NWPMU 2021-01-01 17:29:54 +11:00
Andrew Tridgell
db798ace05 AP_CANManager: added EFI_NWPMU 2021-01-01 17:29:54 +11:00
Andrew Tridgell
32c3a2feef AP_CANManager: added CANSensor class 
this makes creation of custom CAN protocol handlers much easier
 2021-01-01 17:29:54 +11:00
Andrew Tridgell
e260c7ad59 HAL_ChibiOS: update f303-MatekGPS to allow disable of MSP 
and use DMA for MSP
 2021-01-01 15:40:13 +11:00
David B. Bitton
8dbe0a71ba AP_HAL_ChibiOS: add support for Toshiba LED 2020-12-31 11:02:10 -08:00
Tom Pittenger
8e6278f269 AP_ADSB: add Sagetech XP driver 2020-12-30 17:56:38 -08:00
Tom Pittenger
ffd3d1da1d AP_SerialManager: add support for ADSB protocol 2020-12-30 17:56:38 -08:00
Tom Pittenger
afaca30075 AP_HAL: add helpers le24toh_ptr(), be24toh_ptr(), put_le24_ptr(), put_be24_ptr() 2020-12-30 17:56:38 -08:00
Hwurzburg
e11677807b Plane: Unify tilt servo names 2020-12-30 21:21:57 +11:00
Andy Piper
401e5c2073 AP_HAL_ChibiOS: add support for bidir DShot support in RCOutput 
add support for sampling GPIO pins using timer
don't restart pwm group when not doing bi-dir
fix hwdef generation preproc for TIM DMA
decode telemetry at the start of the dshot cycle
calculate dshot pulse separation correctly and ensure we output rapidly enough
calculate dshot min periods and timeouts correctly
refactor dshot_send() into dshot_send_groups()
use bi-dir dshot channel mask
selectively enable bi-dir RC Channels
process bi-dir mask correctly when allocating DMA channels
allow UP and CH DMA channel sharing
optionally enable bidir vars in hwdef.

enable bi-dir dshot in KakuteF7Mini
enable bi-dir dshot in OmnibusF4Pro
enable bi-dir dshot in OmnibusNanoV6
enable bi-dir dshot in MatekF405
enable bi-dir dshot in fmuv5
enable bi-dir dshot in fmuv3
enable bi-dir dshot in OmnibusF7V2
enable bi-dir dshot in OmnibusNanoV6
enable bi-dir dshot in CubeOrange
enable bi-dir dshot in Pixracer
enable bi-dir dshot in mRoPixracerPro

Co-authored-by: bugobliterator <siddharthbharatpurohit@gmail.com>
 2020-12-30 19:14:16 +11:00
Andy Piper
5436784d38 AP_Logger: add ESC error rate 2020-12-30 19:14:16 +11:00
Andy Piper
1c79f22ba2 AP_HAL: make erpm accessible from RCOutput 
give access to erpm error rate
add bi-directional dshot mask modifier
 2020-12-30 19:14:16 +11:00
Andy Piper
c8b2f11ab6 AP_InternalError: add dma_fail 2020-12-30 19:14:16 +11:00
Andy Piper
f60fdde492 AP_BLHeli: return motor frequencies from bi-dir dshot if available 
add channel mask to cater for bi-dir dshot
call into rcout to setup bi-dir dshot
log bi-dir telemetry even when regular telemetry is disabled
don't expose bi-dir dshot if not compiled in
 2020-12-30 19:14:16 +11:00
oneWayOut
654aea1cd1 SITL: delete unused parameter 'Vector3f &body_accel' in Plane::calculate_forces() 2020-12-30 18:59:12 +11:00
murata
282590668d AP_RangeFinder: Make measurement time and call back time static constant 
Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com>
 2020-12-30 18:29:35 +11:00
Andy Piper
253ce18184 AP_HAL_SITL: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
526ae5d2f4 AP_HAL_Empty: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
74633e55cc AP_HAL_Linux: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
07f199ea1a AP_HAL_ChibiOS: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
9e7c60178d AP_HAL: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
048deeb43e AP_Logger: check is_system_initialized() when determining liveness 2020-12-30 18:16:59 +11:00
Andy Piper
c8e464ebea AP_HAL: add HAL_ENABLE_THREAD_STATISTICS to boards 2020-12-30 18:15:05 +11:00
Andy Piper
83c8807b39 AP_HAL_ChibiOS: when HAL_ENABLE_THREAD_STATISTICS is defined add ChibiOS thread stats to threads.txt 
define HAL_ENABLE_THREAD_STATISTICS in hwdef.h
 2020-12-30 18:15:05 +11:00
Andy Piper
b6a008c73d AP_Filesystem: increase ftp thread buffer size when HAL_ENABLE_THREAD_STATISTICS is defined 2020-12-30 18:15:05 +11:00
Andy Piper
a4b2930223 AP_HAL_ChibiOS: iFlight Beast H7 AIO hwdef 2020-12-30 18:13:03 +11:00
ukmook
bf34041211 AP_HAL_ChibiOS: add support for Pixracer-periph 2020-12-29 07:52:39 -07:00
Peter Barker
b8827e6486 GCS_MAVLink: allow control to be return to radio for higher-numbered RC_CHANNELS_OVERRIDE 2020-12-29 15:03:34 +11:00
Peter Barker
6f4bbd3f57 GCS_MAVLink: for high RC_CHANNELS_OVERRIDE channels zero means ignore the field 2020-12-29 15:03:34 +11:00
Hwurzburg
9728dee344 AP_Button: expand info in metadata 2020-12-29 11:11:40 +11:00
Andrew Tridgell
e6c5382a28 GCS_MAVLINK: fixed FPE in DO_SET_ROI 
this prevents a floating point exception when MissionPlanner sends an
invalid DO_SET_ROI

See https://github.com/ArduPilot/MissionPlanner/issues/2528
 2020-12-28 11:53:03 +11:00
Arsh
3df1bd84e1 AP_NavEKF_Source:Fixed some style issues 2020-12-28 08:46:24 +09:00
Tom Pittenger
5432c9957a AP_HAL_ChibiOS: rename AP_PERIPH_<feature>_DEFAULT to HAL_PERIPH_<feature>_DEFAULT 2020-12-28 09:16:02 +11:00
Andrew Tridgell
9fcf36bad9 AP_RCProtocol: save memory in IO firmware 
disable FPort2 to save memory.
Disable SBUS_NI as it is not needed on IOMCU as it has a dedicated
inverter
 2020-12-28 08:27:23 +11:00
Hwurzburg
c73158ebe7 Update functions for rear tilt servos 
and unity names
 2020-12-27 15:21:10 +11:00
Tom Pittenger
e3e876d4ed AP_SerialManager: clear default protocols for AP_Periph 2020-12-25 16:24:50 -07:00
Tom Pittenger
083088bfff AP_HAL_ChibiOS: adjust defaults to use param instead of hardcoded defaults 2020-12-25 16:24:50 -07:00
Peter Barker
7b9fbe3b30 AP_Mount: support MAV_MOUNT_MODE_HOME_LOCATION to point at HOME 2020-12-25 12:17:27 +11:00
Ari Krupnik
cfb1213f43 AP_HAL: standard spelling of variant 2020-12-25 00:01:50 +11:00
Ari Krupnik
79e1f5e8bd AP_HAL_ChibiOS: standard spelling of variant 2020-12-25 00:01:50 +11:00
Ari Krupnik
1d288316cc AP_GPS: standard spelling of variant 2020-12-25 00:01:50 +11:00
Peter Barker
69c97c1565 SITL: add support for multiple i2c buses 2020-12-24 16:05:49 +11:00
Peter Barker
bddea9e046 AP_HAL_SITL: add support for multiple i2c buses 2020-12-24 16:05:49 +11:00
Randy Mackay
2eb5114688 AP_Scripting: ahrs-source.lua plays tune when source set changes 2020-12-23 19:02:59 +11:00
Randy Mackay
69cb8e6bc6 AP_Scripting: ahrs-soruce.lua uses RCx_OPTION 300 
this removes the potential conflict with zigzag mode
 2020-12-23 19:02:59 +11:00
Andy Piper
3db6203fb6 AP_InertialSensor: reduce FIFO buffer size to avoid DMA contention 2020-12-23 18:03:12 +11:00
Phillip Kocmoud
062c6cef41 HAL_ChibiOS: Fix typo relating to pin PB7:I2C4_SDA 2020-12-23 06:43:19 +11:00
Peter Barker
b5316c3b52 SITL: stash pressure in sitl_fdm structure 
It's not a great way of getting the data where needed - but it is
something.
 2020-12-22 23:07:24 +11:00
Peter Barker
a8b93881d3 AP_HAL_SITL: stash pressure in sitl_fdm structure 
It's not a great way of getting the data where needed - but it is
something.
 2020-12-22 23:07:24 +11:00
Peter Barker
e0aa3c78e5 AP_HAL_SITL: remove unimplemented methods 2020-12-22 23:07:24 +11:00
Peter Barker
0bb6f8897e SITL: add simulated DLVR airspeed sensor 2020-12-22 23:07:24 +11:00
bnsgeyer
09b9ad83dc AP_Motors: tradheli - add support to determine below mid collective 2020-12-21 23:33:48 -05:00
bnsgeyer
6c8a85ee04 AP_Motors: updates to new integrator and make selectable 2020-12-21 23:33:48 -05:00
bnsgeyer
c565536afa AC_PID: add support to smoothly reset the integrator 2020-12-21 23:33:48 -05:00
bnsgeyer
84fb3afbcb AP_Motors: Tradheli support for integrator management and hover collective learning 2020-12-21 23:33:48 -05:00
bnsgeyer
04e2cceaff AC_AttitudeControl: Tradheli support for integrator management and hover collective learning 2020-12-21 23:33:48 -05:00
Tom Pittenger
c01726b07d SRV_Channel: reduce dependencies for AP_Periph builds 2020-12-21 18:27:07 -08:00
Siddharth Purohit
5b58163c35 AP_HAL_ChibiOS: add HAL_PERIPH_ENABLE_RCOUT_TRANSLATOR to CubeBlack-periph and CubeOrange-periph 2020-12-21 18:27:07 -08:00
Tom Pittenger
da74d755d0 AP_HAL_ChibiOS: add new HAL_PWM_COUNT define 2020-12-21 18:27:07 -08:00
Iampete1
69bec46fa8 AP_Motors: Tailsitter: don't apply roll and pitch compsation gain 2020-12-22 11:00:59 +11:00
Randy Mackay
20f1603b73 AP_NavEKF: source skips compass pre-arm check 2020-12-21 16:56:38 +09:00
Randy Mackay
4998b536b4 AP_NavEKF: source returns YawSource None if COMPASS_USE all zero 2020-12-21 16:56:38 +09:00
Randy Mackay
dfd1c23cd3 AP_NavEKF: source format fix 2020-12-21 16:56:38 +09:00
Randy Mackay
39be85cef4 AP_NavEKF3: integrate Source loss of init 2020-12-21 16:56:38 +09:00
Andrew Tridgell
218c0e4385 AP_NavEKF: Source's active_source_set becomes index 2020-12-21 16:56:38 +09:00
Andrew Tridgell
89f9b9e9b0 AP_NavEKF3: use AP_Enum to make code clearer 2020-12-21 16:56:38 +09:00
Mark Whitehorn
7446a9c33c AC_AttitudeControl: make relax_attitude_controllers() non-virtual 2020-12-21 12:56:24 +11:00
Mark Whitehorn
cc2c631d23 AC_AttitudeControl: add AC_AttitudeControl_TS 
move tailsitter body-frame roll input method to new subclass
override relax_attitude_controllers in AttitudeControl_TS
 2020-12-21 12:56:24 +11:00
Andrew Tridgell
7f3a851dd3 SRV_Channel: added support for rear motor tilt 2020-12-21 12:05:50 +11:00
Tatsuya Yamaguchi
4dc5162d0a AP_RangeFinder: change i2c reading frequency to 50Hz 2020-12-19 08:14:54 -03:00
ashvath
54708d916b AP_RangeFinder: TFminiPlus driver outputs init failure to ground station 2020-12-19 08:14:54 -03:00
Tatsuya Yamaguchi
b0ee6393ae AP_RangeFinder: TFminiPlus: set frame rate to 250hz 2020-12-19 08:14:54 -03:00
Dr.-Ing. Amilcar do Carmo Lucas
d76825feeb GCS_MAVLink: adapt to upstream changes in the distance_sensor mavlink message 2020-12-19 19:54:03 +11:00
Tom Pittenger
f670f7a9b6 AP_HAL_ChibiOS: change ADSB to use param ADSB_PORT instead of define 2020-12-17 23:24:04 -08:00
Tom Pittenger
5c98e18236 AP_HAL_CubeORange-periph: enable HAL_PERIPH_ALLOW_MAVLINK_UART_OR_USB_REBOOT_CMD on USB 2020-12-18 06:59:09 +11:00
Peter Barker
6dfd2f2ff9 AP_NavEKF3: use use_EKFGSFYaw to reduce code duplication 2020-12-17 16:00:29 +09:00
Andrew Tridgell
a31ea88ff5 SITL: use async SOAP requests for flightaxis 
this greatly improves performance for cygwin
 2020-12-17 16:13:55 +11:00
Andrew Tridgell
8d6d5c6b49 SITL: removed flightaxis threading 2020-12-17 16:13:55 +11:00
Andrew Tridgell
b4201436dd HAL_ChibiOS: fixed flash space on 16k bl boards 
this avoids the stm32_flash_recent_erase() function which added around
800 bytes to the bootloader. It is not needed
 2020-12-17 12:51:25 +11:00
bnsgeyer
62758ffd99 AP_Motors: Dual-heli-keep intermeshing from using DCP to yaw mixer 2020-12-16 19:52:23 -05:00
PittRBM
3f405590c7 AP_Motors: Dual Heli-add support for intermeshing rotor 2020-12-16 19:52:23 -05:00
bnsgeyer
ebd83b756b AP_Motors: add DCP trim feature for Dual Heli 2020-12-17 09:01:02 +11:00
Peter Barker
f12191b4b1 AP_Param: fix typo 2020-12-16 19:30:29 +11:00
Peter Barker
840c386a33 AP_Param: add _FLAG to AP_PARAM_NO_SHIFT 
Just for consistency with the other flags
 2020-12-16 19:30:29 +11:00
Randy Mackay
a2cca60beb AP_NavEKF3: constify EKFGSF_getYaw 2020-12-16 19:18:29 +11:00
Randy Mackay
754002525e AP_NavEKF: constify EKFGSF_yaw members 2020-12-16 19:18:29 +11:00
Randy Mackay
0c3fcfd9d6 AP_NavEKF3: add missing break to case statements 2020-12-16 19:18:29 +11:00
Randy Mackay
9cb529cfd6 AP_NavEKF3: minor formatting fix 
also replace tab with spaces
 2020-12-16 19:18:29 +11:00
Sebastian Witt
6cfaae4e7d AP_HAL_ChibiOS: Support for Diatone MambaF405 MK2 2020-12-16 19:07:07 +11:00
Andy Piper
e6d0e38129 AP_RCProtocol: allow handshake to initiate RC connection. Support listen-only SRXL2 devices. 
only bootstrap when SRXL2 is the only configured protocol (RC_PROTOCOLS=256)
remove spurious 0 initializers
 2020-12-16 18:06:49 +11:00
李孟晓
aae2d0082d AP_BattMonitor_UAVCAN: Fix issue with multiple batteries not working 2020-12-16 12:44:21 +11:00
Andrew Tridgell
c504e2db04 AP_Motors: added disable_yaw_torque() method 
this is used for tilt-vectored quadplanes to use only vectoring for
yaw control. This avoids some nasty transition issues
 2020-12-16 08:45:11 +11:00
Paul Riseborough
908b348c31 AP_NavEKF3: Fix typo in enum label 2020-12-15 19:29:16 +11:00
Randy Mackay
e819dbdd64 AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code 2020-12-15 19:29:16 +11:00
Randy Mackay
c2edae905f AP_NavEKF3: simplify logic when updating yawAngDataStatic 2020-12-15 19:29:16 +11:00
Randy Mackay
843ddb4fdc AP_NavEKF3: minor format fix 2020-12-15 19:29:16 +11:00
Paul Riseborough
a9e76d44af AP_NavEKF3: Clean up yaw fusion logic 2020-12-15 19:29:16 +11:00
Paul Riseborough
ccfd89240b AP_NavEKF3: Fix error in calculation of static 312 order yaw reference 2020-12-15 19:29:16 +11:00
Peter Barker
44cafa0dcc RC_Channel: add auxillary function to change to FBWA 2020-12-15 19:14:33 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
f77ab30f7a Revert "AP_NavEKF3: Remove unsupported parameter unit descriptions" 
This reverts commit 4f4a2f446d.
Makes more sense to add those to the list of supported units
 2020-12-15 18:22:36 +11:00
Andrew Tridgell
2e18334165 HAL_SITL: fixed baudrate 0 set in SITL 
this fixes MSP sensors in SITL with real uarts
 2020-12-15 11:36:16 +11:00
Andrew Tridgell
7b6392fcb5 HAL_Empty: fixed build 2020-12-15 10:32:46 +11:00
Andrew Tridgell
d6c5fc36d8 HAL_Linux: only init serial(0) 
we should not pre-init all uarts, it wastes memory if unused
 2020-12-15 10:32:46 +11:00
Andrew Tridgell
19723e6e75 AP_HAL: make uart pointers private 
this ensures they cannot be used by library or vehicle code, so we
will be able to remove them in future
 2020-12-15 10:32:46 +11:00
Andrew Tridgell
195ec0316a AP_HAL: fixed example fw for SERIAL naming 2020-12-15 10:32:46 +11:00
Andrew Tridgell
6249abaf8f RC_Channel: fixed example firmware 2020-12-15 10:32:46 +11:00
Andrew Tridgell
5406699ec8 AP_SerialManager: removed unnecessary uart pointer in state structure 2020-12-15 10:32:46 +11:00
Andrew Tridgell
348dfeff6e HAL_Linux: use a loop for serial tick 2020-12-15 10:32:46 +11:00
Andrew Tridgell
bf546f363d HAL_ChibiOS: don't init serial 1 and 3 
these should not be treated as special. Initialising them early just
wastes memory if the end up not being used
 2020-12-15 10:32:46 +11:00
Andrew Tridgell
6df118e7b4 GCS_MAVLink: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
23e629715e AP_SerialManager: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
cf187ff837 AP_HAL_SITL: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
db76eebd85 AP_HAL_Linux: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
95c0852b13 AP_HAL: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
e54fc4b0de AP_HAL_ChibiOS: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
e02047861a AP_GPS: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
0f5a75f5b9 AP_BoardConfig: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
8678759da4 AP_HAL: added hal.serial() access to uarts 
this gives access to serial ports in the SERIALn_ order. It is inlined
by the compiler so using hal.uartB and hal.serial(3) generates
idential code on stm32 (tested on H7).

This is a step towards eliminating hal.uartX completely and the
horrible uartB ordering
 2020-12-15 10:32:46 +11:00
Jaaaky
4ec1c2ea67 AP_IOMCU: Remove duplicate includes from AP_IOMCU.cpp 2020-12-15 10:01:54 +11:00
Andrew Tridgell
8b8029fdfe AP_Param: cope better with flooding the save queue with one param 2020-12-14 18:53:02 +11:00
Andrew Tridgell
5a8acea0dd AP_Param: fixed lockup in scripting due to save queue 
this is a quick fix for a lockup in scripting due to the mission API
holding the scheduler semaphore when it is updating the mission count
parameter
 2020-12-14 18:53:02 +11:00
Phillip Kocmoud
ce87b62dcc AP_Periph: Add alternate ordering of NCP5623 LED colors 2020-12-12 14:57:35 +11:00
Peter Barker
7449b3eea4 AP_HAL_SITL: fix help output 2020-12-12 10:01:20 +11:00
Paul Riseborough
8f32430294 AP_NavEKF3: Fix white spaces 2020-12-11 15:21:41 +11:00
Paul Riseborough
bdc202378a AP_NavEKF3: fix white space 2020-12-11 15:21:41 +11:00
Paul Riseborough
ed17d8e48f AP_NavEKF3: Improve parameter display names 2020-12-11 15:21:41 +11:00
Paul Riseborough
171f0b399f AP_NavEKF3: Remove commented code 2020-12-11 15:21:41 +11:00
Andrew Tridgell
b86c014400 AP_NavEKF3: rename drag parameters to start with EK3_DRAG_ 2020-12-11 15:21:41 +11:00
Andrew Tridgell
3e2ff71750 AP_Baro: rename params to suit new BARO param naming 2020-12-11 15:21:41 +11:00
Paul Riseborough
47d4506e68 AP_NavEKF3: Add drag and sideslip innovation logging 2020-12-11 15:21:41 +11:00
Paul Riseborough
b258cb0539 SITL: Add momentum drag to Z axis to work around thrust model deficiencies 2020-12-11 15:21:41 +11:00
Paul Riseborough
a907c10733 SITL: Add momentum drag to multicopter model 2020-12-11 15:21:41 +11:00
Andrew Tridgell
b7f68e87b4 SITL: added barometer wind coefficients 2020-12-11 15:21:41 +11:00
Andrew Tridgell
567de3047b AP_Baro: added modelling of baro wind effects in SITL 2020-12-11 15:21:41 +11:00
Andrew Tridgell
e552fd7e5a AP_Baro: adjust for new baro params in SITL 2020-12-11 15:21:41 +11:00
Andrew Tridgell
3456bdb4eb SITL: added a separate param class for SITL baro params 
makes it easier to add more
 2020-12-11 15:21:41 +11:00
Andrew Tridgell
9563c1ed33 AP_Baro: rename wind coefficient params to be clearer 2020-12-11 15:21:41 +11:00
Paul Riseborough
4884476c09 AP_NavEKF3: Formatting and comment fixes 2020-12-11 15:21:41 +11:00
Andrew Tridgell
be4d10a95e AP_NavEKF3: rework parameter handling 
and fixed indentation
 2020-12-11 15:21:41 +11:00
Andrew Tridgell
1c1c067dee AP_Baro: rework to separate out wind coefficient params 
- disable on low flash boards
 - add an enable parameter per baro for wind coeffients
 2020-12-11 15:21:41 +11:00
Paul Riseborough
5da62aeaa2 AP_NavEKF3: Fix CI build errors 2020-12-11 15:21:41 +11:00
Paul Riseborough
0d2c235027 AP_NavEKF3: Fix #define typo 2020-12-11 15:21:41 +11:00
Paul Riseborough
ab05e8ed4a AP_NavEKF3: Update param descriptions 2020-12-11 15:21:41 +11:00
Paul Riseborough
4f4a2f446d AP_NavEKF3: Remove unsupported parameter unit descriptions 2020-12-11 15:21:41 +11:00
Paul Riseborough
0be0498801 AP_Baro: Add static pressure positoin error correction 2020-12-11 15:21:41 +11:00
Paul Riseborough
3a0105fcc3 AP_AHRS: Add accessor function for body frame airspeed vector 2020-12-11 15:21:41 +11:00
Paul Riseborough
b372d62f35 AP_NavEKF2: Add accessor function for body frame airspeed vector 2020-12-11 15:21:41 +11:00
Paul Riseborough
c9ab4b18b0 AP_NavEKF3: Add multicopter wind estimation 2020-12-11 15:21:41 +11:00
Peter Barker
ab444e1d26 RC_Channel: correct function initialisation 2020-12-11 15:21:22 +11:00
Andrew Tridgell
ac4a05ffbf AP_NavEKF3: fixed null dereference of airspeed 
this caused a segfault in replay
 2020-12-11 14:22:46 +11:00
Andrew Tridgell
2071a19a40 AP_NavEKF3: only fuse airspeed if healthy 2020-12-11 09:59:49 +11:00
Andrew Tridgell
5e72907730 AP_NavEKF2: only fuse airspeed if healthy 2020-12-11 09:59:49 +11:00
Andrew Tridgell
d16af5448b AP_DAL: added healthy() method for airspeed 2020-12-11 09:59:49 +11:00
Peter Barker
ca41a19072 AP_AHRS: AHRS itself must also be healthy to arm, not just the "backend" 2020-12-11 09:55:40 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
1d0e7d2974 GCS_MAVLink: Added cells 11...14 voltage information (13 and 14 are 0 for now) 2020-12-11 06:37:32 +11:00
yaapu
89f0ed2f8f AP_Scripting: added bindings and example for waypoint info 2020-12-10 12:39:44 +11:00
yaapu
edf2291fb0 AP_Vehicle: added getters for waypoint info, refactored osd publish_nav_info() 2020-12-10 12:39:44 +11:00
Tom Pittenger
68b2982cc6 AP_HAL_ChibiOS: CubeBlack/Orange-periph to use default HAL_SUPPORT_RCOUT_SERIAL 2020-12-09 07:53:09 -08:00
Tom Pittenger
6630645915 AP_HAL: ap_periph should disable HAL_SUPPORT_RCOUT_SERIAL by default 2020-12-09 07:53:09 -08:00
Peter Barker
449b0fb145 SITL: add simulated SF45B 2020-12-09 21:32:36 +11:00
Peter Barker
c1202e4878 AP_HAL_SITL: add simulated SF45B 2020-12-09 21:32:36 +11:00
yaapu
42b85c88ed AP_MSP: fix for multiple backends initialization 2020-12-09 19:40:22 +11:00
yaapu
e044cdfde7 AP_Frsky_Telem: fix for conditional compilation of bidir support 2020-12-09 19:19:06 +11:00
yaapu
6dfa42c958 RC_Channel: added FPORT2 to RC_PROTOCOLS parameter 2020-12-09 19:14:51 +11:00
Tom Pittenger
2203bf2400 AP_HAL_ChibiOS: Add f303-periph default RANGEFINDER_MAX_INSTANCES 1 2020-12-09 18:05:24 +11:00
Andrew Tridgell
ea57b1982f AP_Airspeed: cope with no temperature on MSP airspeed 2020-12-08 20:41:12 +11:00
Andrew Tridgell
2d75ef4f60 AP_Airspeed: handle INT16_MIN temperature for UAVCAN sensor 2020-12-08 20:41:12 +11:00
Andrew Tridgell
73fda4e6a7 AP_Airspeed: cope with zero ratio in SDP3X driver 
needed for AP_Periph
 2020-12-08 20:41:12 +11:00
Andrew Tridgell
857d905d9f AP_Airspeed: added MSP backend 2020-12-08 20:41:12 +11:00
Andrew Tridgell
ae2a310b9c AP_MSP: added airspeed support 2020-12-08 20:41:12 +11:00
giacomo892
75333dcd2f AP_Periph: support output of MSP airspeed sensor 2020-12-08 20:41:12 +11:00
Boris Borisov
19f3fda31b AP_Volz_Protocol scaling bugfix 
->Fixed incorrect scaling betwen PWM values and Volz protocol values
->In the scaling formula are hardcoded PWM values min=1000 and max=2000. The idea behind this is to be able to change Volz range, when you use SERVOn_MIN and SERVOn_MAX parameters.
 2020-12-08 15:03:26 +11:00
Andrew Tridgell
0c440d5675 HAL_ChibiOS: cope with flash erase in expected delay 
when there has been a flash erase when we are definately in an
expected delay
 2020-12-08 13:22:36 +11:00
Andrew Tridgell
445759295d SITL: fixed use of GND prefix 2020-12-08 13:22:17 +11:00
Andrew Tridgell
5e3bf0a703 GCS_MAVLink: implement BRD_OPTIONS bit for setting of internal parameters 2020-12-08 13:22:17 +11:00
Andrew Tridgell
12acc0724e AP_Frsky_Telem: implement BRD_OPTIONS bit for setting of internal parameters 2020-12-08 13:22:17 +11:00
Andrew Tridgell
d099af87b2 AP_Baro: renamed parameters and mark pressure and temperature readonly 
this is ready for BARO parameter prefix
 2020-12-08 13:22:17 +11:00
Andrew Tridgell
f543c483fc AP_BoardConfig: added BRD_OPTIONS flag for setting of internal parameters 
this allows us to make parameters read-only for normal use, but for
special developer requirements the user can unlock the parameters at
their own risk
 2020-12-08 13:22:17 +11:00
Andrew Tridgell
c731e77607 AP_Scripting: added mission clear and offset_bearing bindings 2020-12-08 12:27:00 +11:00
Peter Barker
de2802e322 AP_Airspeed: populate airspeed_raw for sensors returning airspeed reading 
Without this ARSP[x].Airspeed isn't populated
 2020-12-08 11:59:49 +11:00
murata
13c7980f0b SITL: Support for decacopters 2020-12-08 11:59:10 +11:00
murata
159a6c7ed6 AP_Motors: Support for decacopters 2020-12-08 11:59:10 +11:00
murata
a43064bb4e AP_HAL_SITL: Support for decacopters 2020-12-08 11:59:10 +11:00
Jaaaky
0e569e5566 AP_Mission: Fix comments for DO_CHANGE_SPEED 2020-12-08 11:54:25 +11:00
Peter Barker
f84cb66bc6 AP_Logger: move log ids from EKF2 and EKF3 to the 'below 128' section' 2020-12-08 11:30:10 +11:00
Peter Barker
f6d3983e1b AP_NavEKF2: move EKF2 message ids into AP_NavEKF2 2020-12-08 11:30:10 +11:00
Peter Barker
7ba03fe32d AP_Logger: move EKF2 message ids into AP_NavEKF2 2020-12-08 11:30:10 +11:00
Peter Barker
00ac8391c0 AP_NavEKF2: move EKF2 logging structures into EKF2 LogStructure.h 2020-12-08 11:30:10 +11:00
Peter Barker
346572c390 AP_Logger: move EKF2 logging structures into EKF2 LogStructure.h 2020-12-08 11:30:10 +11:00
Peter Barker
58f6570755 AP_NavEKF3: stop using QUAT_* defines from AP_Logger/LogStructure.h 
The EKFs logging is independant so we can kill EKF2...

Also use correct structure for logging XKF1; these structures were
identical.
 2020-12-08 11:30:10 +11:00
Randy Mackay
a2fe846a5f AR_WPNav: apply_speed_min used for overshoot limits 
speed_min is applied to overshoot_speed_max only instead of des_speed_lim
so that the target doesn't immediately jump to the minimum.
also constify apply_speed_min
 2020-12-08 11:29:21 +11:00
Randy Mackay
e75c572209 AR_WPNav: remove redundant private specifier 2020-12-08 11:29:21 +11:00