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34208 Commits

Author SHA1 Message Date
Mykhailo Kuznietsov 6c4d988631 AC_AttitudeControl: Fix some typos 
Fixed some typos found in the code.
 2023-10-12 18:30:42 +11:00
Andrew Tridgell 3ba12d16db AP_DroneCAN: fixed sim on hw build 
tested using:

Tools/scripts/sitl-on-hardware/sitl-on-hw.py --board Pixhawk6C --vehicle plane --simclass Plane --frame plane
 2023-10-12 18:29:32 +11:00
jfbblue0922 0f1e766269 AP_HAL_ChibiOS: JFB110 board definition 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2023-10-12 17:03:04 +11:00
Peter Barker 28d827cedc AP_HAL_ChibiOS: add RTC support to GPS periphs that log 
this re-adds support for RTC into GPS peripherals that also log.  This was removed as these boards were calling methods on the nullptr
 2023-10-11 19:17:27 +11:00
Peter Barker cf96791fe2 AP_HAL_ChibiOS: add and use HAP_PERIPH_ENABLE_RTC 2023-10-11 19:17:27 +11:00
Peter Barker 2175a4a271 AP_GPS: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker f9de53fd09 AP_RTC: remove code if AP_RTC_ENABLED is false 2023-10-11 19:17:27 +11:00
Peter Barker bb6287893d GCS_MAVLink: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker 23f5fcffb2 AP_Stats: add and use an AP_RTC_config.h 2023-10-11 19:17:27 +11:00
Peter Barker 93cd64ad36 AP_RCTelemetry: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker 6c80b28685 AP_OSD: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker 0e0f50b661 AP_NMEA_Output: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker 8f2c35d1e9 AP_MSP: add and use an AP_RTC_config.h 2023-10-11 19:17:27 +11:00
Peter Barker 48b10a3105 AP_Mount: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker 7f90de0973 AP_Logger: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker f90093b628 AP_Hott_Telem: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker 53f4709a78 AP_HAL_ChibiOS: disable RTC on periphs 
the singleton isn't instantiated
 2023-10-11 19:17:27 +11:00
Peter Barker 6dc80006d3 AP_BoardConfig: add and use an AP_RTC_config.h 2023-10-11 19:17:27 +11:00
Peter Barker fdcd13746d AP_ADSB: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker 68f74f9fc4 AP_RTC: add AP_RTC_config.h 2023-10-11 19:17:27 +11:00
Henry Wurzburg 912a088c2b hwdef: Create correct README and add defaults to ease setup 2023-10-11 19:11:16 +11:00
Tim Tuxworth 12f9fe9456 AP_AHRS: Correct/clarify AHRS_WIND_MAX description 2023-10-11 19:09:00 +11:00
Peter Barker ce1bb64686 GCS_MAVLink: handle EKF_SOURCE_SET as both long and int 2023-10-11 18:37:02 +11:00
Rhys Mainwaring 3bf8b4f1bf AP_DDS: use ROS convention for node name 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2023-10-11 18:00:24 +11:00
muramura 007c3460ea AP_ChibiOS: Delete the same definition 2023-10-11 14:42:32 +11:00
Willian Galvani 107474b792 GCS_Common: use int8_t for rangefinder quality_pct 2023-10-11 08:29:58 +11:00
Willian Galvani 7953cd9a89 AP_RangeFinder: change get_signal_quality signature to use int8_t 2023-10-11 08:29:58 +11:00
Clyde McQueen dfe6c21ea5 AP_RangeFinder_MAVLink: implement get_signal_quality_pct 
Co-authored-by:  Willian Galvani <williangalvani@gmail.com>
 2023-10-11 08:29:58 +11:00
Willian Galvani 494b3076ac AP_RangeFinder: add quality to Blue Robotics Ping1D driver 2023-10-11 08:29:58 +11:00
Willian Galvani fd4da61067 AP_RangeFinder: log signal quality 2023-10-11 08:29:58 +11:00
Peter Barker 88dd8130f6 AP_GPS: correct placement of voiding clause 
should be voided when no logging, not just on periph...
 2023-10-10 08:37:57 +09:00
Peter Barker 805901dc18 GCS_MAVLink: allow PREFLIGHT_STORAGE as COMMAND_INT and COMMAND_LONG 2023-10-10 08:29:26 +09:00
Iampete1 d8e18a0fc7 Filter: LowPassFilter2p: constrain cuttoff to 40% of sample rate 2023-10-10 08:26:05 +09:00
rishabsingh3003 5897aab566 hwdef: add MatekL431 ADSB Periph 2023-10-09 16:18:13 -07:00
Henry Wurzburg 5a64cc9e8e AP_AHRS: add airspeed estimate status logging 2023-10-10 08:11:10 +09:00
Iampete1 85234b5b18 AP_GyroFFT: update harmonics to uint32 2023-10-10 08:07:16 +09:00
Iampete1 e35a459090 AP_InertialSensor: call init for harmonic notch params 2023-10-10 08:07:16 +09:00
Iampete1 b68ece1007 Filter: HarmonicNotch: convert harmonics to int32 param 2023-10-10 08:07:16 +09:00
muramura fa0f089fe1 AP_Winch: Make healthy strings common 2023-10-09 17:06:59 +09:00
Andrew Tridgell 65099d0626 Tools: allow Ohm units in parameters 2023-10-08 11:04:21 +11:00
Andrew Tridgell e9fc3ab570 AP_BattMonitor: added SHUNT parameter to INS2xx driver 
some vendors want different shunt resistors
 2023-10-08 11:04:21 +11:00
Andrew Tridgell 6e26f088bf AP_InertialSensor: fixed the error value for BMI088 
the bad value is -32768 not 0xffff (which is -1)

-32768 badly corrupts the low-pass filter, and is what we see in logs
(a large negative spike on all 3 axes)

update to bug fix from:
https://github.com/ArduPilot/ardupilot/pull/23033
 2023-10-08 10:52:27 +11:00
Peter Barker 53115c73f9 AP_GPS: have AP_GPS_UBLOX use boolean uart read 2023-10-06 16:34:50 +11:00
thu5cob 49d7d0b1c4 HAL_ChibiOS: Fix stm32l4+ flash issue 
stm32l4+ flash reset register has been reset properly
 2023-10-06 14:52:34 +11:00
Henry Wurzburg de7dd9d692 hwdef:add VTX power control to SpeedyBeeF405-Wing 2023-10-06 14:51:52 +11:00
Peter Barker 77945be031 GCS_MAVLink: cope with NaNs being passed in when doing conversion to command_int 2023-10-05 20:44:12 +11:00
Peter Barker 3b2dec7ec6 hwdef: CubeOrangePlus: build abin files 
... for use with flash-from-SD-card
 2023-10-05 18:55:48 +11:00
Anthony Luo 51cbaed9d9 SITL: fix typos 2023-10-05 12:54:43 +11:00
rishabsingh3003 368f744435 AP_Proximity: Minor fixes to LD06 driver 2023-10-05 08:23:00 +11:00
Adithya Patil 98d8c94fee AP_Proximity: add driver for LD06 2023-10-05 08:23:00 +11:00
Joshua Henderson 8e634f05d9 AP_Math: add CRC8_generic method 2023-10-05 08:23:00 +11:00
muramura 78e9846f4e AC_Fence: Change the description to match the actual value(NFC) 2023-10-05 08:22:22 +11:00
alexklimaj e1b991a84a hwdef: ARKV6X ADIS16507 example 2023-10-05 08:21:50 +11:00
muramura f19439e769 AP_Avoidance: Change division to multiplication 2023-10-05 08:19:14 +11:00
Anthony Luo 021d9717c4 SITL: document airspeed params 2023-10-05 08:18:44 +11:00
Peter Barker 57c2f7b2de GCS_MAVLink: handle DO_AUX_FUNCTION as both long and int 2023-10-04 19:01:22 +11:00
Pierre Kancir 5af5e1969b AP_OLC: add unit tests 2023-10-04 19:00:34 +11:00
Pierre Kancir 02b3da65f0 AP_OLC: use right type and static const variable 2023-10-04 19:00:34 +11:00
Iampete1 a068569f8a AP_Scripting: add basic print 2023-10-04 18:34:08 +11:00
Andrew Tridgell 020807a064 AP_Scripting: added INF_Inject EFI driver 2023-10-04 18:29:10 +11:00
Iampete1 e7ee287664 AP_TempratureSensor: add support for analog sensor with polynomial 2023-10-04 18:28:09 +11:00
Iampete1 53948b1070 AP_TemperatureSensor: support var pointer backend params 2023-10-04 18:28:09 +11:00
Peter Barker fe9932855b hwdef: HerePro requires AHRS to compile 2023-10-04 18:10:58 +11:00
Peter Barker 33b0bf699e GCS_MAVLink: allow compilation when GPS library not available 2023-10-04 18:10:58 +11:00
Peter Barker fa4c7d8eb0 AP_AHRS: allow compilation when GPS not available 2023-10-04 18:10:58 +11:00
Peter Barker 61be71eea6 AP_Common: make Location.cpp compile without AP::ahrs() available 2023-10-04 18:10:58 +11:00
Michelle Rossouw e59b7a5215 AP_OSD: Make per-cell voltage be shown to two decimal places again 2023-10-04 18:09:17 +11:00
Andy Piper dd7f65ec51 AP_Scripting: support set_num_neopixel_rgb() 2023-10-04 18:06:17 +11:00
Andy Piper 1035ac76b2 AP_Notify: add support for NeoPixelRGB via set_num_neopixel_rgb() 2023-10-04 18:06:17 +11:00
Andy Piper c91ca2d87a AP_SerialLED: add support for NeoPixelRGB via set_num_neopixel_rgb() 2023-10-04 18:06:17 +11:00
Andy Piper 9ff3d21c20 AP_HAL_ChibiOS: add support for NeoPixelRGB 2023-10-04 18:06:17 +11:00
Andy Piper 4c911dce68 AP_HAL: Add support for NeoPixelRGB 2023-10-04 18:06:17 +11:00
Randy Mackay 8999790ff0 AP_Mount: Xacti digital zoom percentage fix 2023-10-03 13:48:41 +09:00
Randy Mackay 6690b19364 AP_Mount: Xacti supports optical zoom 2023-10-03 13:48:41 +09:00
Randy Mackay 0b18de050a AP_Mount: Xacti minor format update 2023-10-03 13:48:41 +09:00
Randy Mackay 454a57000b AP_Winch: Daiwa gets stuck protection 2023-10-03 10:27:22 +09:00
Randy Mackay 8b86cebec1 AP_Winch: minor comment improvement 2023-10-03 10:27:22 +09:00
Randy Mackay 28746e84ae AP_Scripting: winch-control gets .md file 2023-10-03 12:13:06 +11:00
Randy Mackay e914c38cef AP_Scripting: winch-test becomes winch-control applet 2023-10-03 12:13:06 +11:00
Randy Mackay 0c16049f94 AP_Scripting: winch-test param name typo fix 2023-10-03 12:13:06 +11:00
Peter Barker 423a88f9cd GCS_MAVLink: handle message interval commands as both long and int 2023-10-03 10:12:21 +09:00
Peter Barker c1110d4b43 AP_RCProtocol: disable raw logging if no RC_Channel 
We're asking the singleton here for information on whether we should do raw logging.  We may not actually be compiling the RC_Channel library in.
 2023-10-03 11:46:43 +11:00
Michael du Breuil e41cc42e10 AP_EFI: Rate limit the megasquirt driver 
This fixes it up so that the driver actually works on things like
AP_Periph that poll at a high rate. This was never a problem with the
main firmware as EFI was run at a lower rate, but on AP_Periph this was
much to fast. This lead to spamming fresh requests and keeping the
buffer completly stuffed with requests. To compound it, the EFI device
would start over when there was a fresh request, and eventually our
buffer writes become corrupted leading to bad checksums, and a complete
failure of the comms. This prevents that situation from happening.
 2023-10-03 11:32:07 +11:00
Iampete1 9e9aaed1b5 AC_PID: Simplify update_error method by calling update all 2023-10-03 11:27:07 +11:00
Randy Mackay 18bf9669b0 AP_Mount: Xacti get_param_name_str returns empty string on failure 2023-10-03 11:24:10 +11:00
Randy Mackay 046cf5630e AP_Mount: Xacti uses GCS_SEND_TEXT 2023-10-03 11:24:10 +11:00
Randy Mackay 288f7b5650 AP_Mount: Xacti take pic reliability improved 2023-10-03 11:24:10 +11:00
Randy Mackay 4ba6375d38 AP_Mount: Xacti does not report cannot take pic 2023-10-03 11:24:10 +11:00
Iampete1 3429276224 AP_InertialSensor: add INS_RAW_LOG_OPT to allow raw logging of post, and pre+post on primary or all gyros 2023-10-03 10:24:58 +11:00
Michael du Breuil 9e32456003 AP_Motors: Add a seprate spool down time, if it's 0 use spool up time 2023-10-03 08:04:56 +09:00
Peter Barker 0cc9484b2d AP_RCTelemetry: remove some uses of gcs singleton 2023-10-03 09:47:38 +11:00
Andrew Tridgell da0870f616 HAL_ChibiOS: enable mavlink bindings for ADSB periph 2023-10-02 21:45:28 +11:00
Andrew Tridgell bf229b3dc1 HAL_SITL: enable ADSB simulator in SITL periph 2023-10-02 21:45:28 +11:00
Andrew Tridgell 92c0e7f860 GCS_MAVLink: use mavlink_frame_char_buffer() 
and remove unnecessary extra mavlink_get_channel_status() function
 2023-10-02 21:45:28 +11:00
Andrew Tridgell ac3f4f0c5e GCS_MAVLink: use mavlink_XXX_encode_status() in example code 2023-10-02 21:45:28 +11:00
Andrew Tridgell be01fcfdfd SITL: use mavlink_XXX_encode_status() 
this avoids clobbering sequence numbers and fixes race conditions
 2023-10-02 21:45:28 +11:00
Andrew Tridgell 18f3ab98e4 HAL_SITL: allow for I2C simulated devices in SITL AP_Periph 
this allows for SMBbus batteries and other I2C simulated devices
 2023-10-02 21:45:28 +11:00
Andrew Tridgell 5f5de52984 GCS_MAVLink: allow for mavlink bindings only in GCS_MAVLink 
this is used by SITL periph to allow for mavlink based simulators
 2023-10-02 21:45:28 +11:00
Andrew Tridgell 4ca2277f1a AP_Scripting: added logging to EFI_Halo6000.lua driver 
allows for log analysis of current/voltage
 2023-09-30 17:15:36 +10:00
Andrew Tridgell 4cabe0f223 AP_GPS: prevent use of blended GPS with moving baseline 
when moving baseline is enabled the rover is slaved to the base for
position and velocity, adding no additional useful data. Only the yaw
comes from the rover
 2023-09-30 09:05:08 +10:00
Andrew Tridgell 4e61fb3f26 AP_GPS: allow GPS moving baseline rover at 3Hz 
users with busy CAN bus often get significiantly lower GPS rates on a
moving baseline rover, preventing arming. This PR relaxes the required
frame rate as the EKF is quite happy with 3Hz yaw and the yaw is the
only data consumed from a moving baseline rover
 2023-09-30 09:05:08 +10:00
Andrew Tridgell 4a181ede62 AP_TECS: fixed descent or lack of climb bug 
this fixes a state where we either cannot climb or descend in an
uncontrolled manner in a TECS controlled mode

the conditions under which this happened were:

- _use_synthetic_airspeed_once was true due to quadplane takeoff
- we left _thr_clip_status as MAX from previous use of synthetic airspeed
- then run without airspeed

note that this can also impact users with an airspeed sensor if they
disable it or it fails in flight, particularly during a climb
 2023-09-28 20:37:41 +10:00
Peter Barker f358ddd771 AP_GPS: add an AP_GPS_FixType header 
useful when you need nice symbols for the numbers, but are not compiling the GPS headers in
 2023-09-27 14:14:57 -07:00
Samuel Tabor 40f62949b3 Send lat lon in SIM_STATE as int32_t extensions 2023-09-27 14:14:37 -07:00
Tom Pittenger 8c4d00e6f2 SITL: add a thermal at home 2023-09-27 12:19:00 -07:00
Peter Barker ef8cd449ec GCS_MAVLink: handle MAV_CMD_DO_FLIGHTTERMINATION as both long and int 2023-09-27 11:27:45 -07:00
Tom Pittenger eeb7dc26fb AP_ICEngine: minor OPTIONS param spelling fix 2023-09-27 08:43:27 -07:00
Michael du Breuil e8deb491de AP_ICEngine: Add an option to disable starting while disarmed 2023-09-27 08:43:27 -07:00
Peter Barker 8cfdf10cf1 AP_Vehicle: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-27 16:38:15 +10:00
Peter Barker 132b04562d AP_Notify: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-27 16:38:15 +10:00
Peter Barker e2975a67e7 AP_HAL_ChibiOS: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-27 16:38:15 +10:00
Peter Barker 0824eca776 AP_GPS: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-27 16:38:15 +10:00
Peter Barker 9a054876ff AP_Compass: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-27 16:38:15 +10:00
Paul Riseborough 75789bd94d AC_PosControl: Add monitoring and reporting of forward accel saturation 2023-09-27 11:43:45 +10:00
Andrew Tridgell 936d6ed378 RC_Channel: added VFWD_THR_OVERRIDE 2023-09-27 11:43:45 +10:00
Andrew Tridgell 9c7c995185 AP_ICEngine: added ICE_DISABLED state 2023-09-27 11:43:45 +10:00
Pierre Kancir 01f94e9aa5 AP_Logger: don't virtual out_of_time_for_writing_messages for DF 
This save use some flash against the solution with override
 2023-09-27 08:15:42 +10:00
Pierre Kancir 06836b947f AP_Logger: make some functions final 2023-09-27 08:15:42 +10:00
Pierre Kancir 2fff57708a RC_Channel: Remove static from get_override_mask and make const 2023-09-27 08:15:42 +10:00
Pierre Kancir 247a72b823 AP_Logger: fix warning for implicit overrided function 2023-09-27 08:15:42 +10:00
Clyde McQueen 924a391d55 AP_Scripting: add sub bindings for joystick buttons 2023-09-27 08:14:36 +10:00
Clyde McQueen 5e11ccaa32 AP_JSButton: reserve 4 button functions for script access 2023-09-27 08:14:36 +10:00
Buenobarbie 5748e7b840 AP_Scripting: New script example 2023-09-27 08:14:15 +10:00
daniel.li ec601684e6 AP_Baro: Fix GCS DPS310 HWID issue 
DPS280/DPS310 use the same driver(AP_Baro_DPS280.cpp/h), but it is necessary to distinguish between the two.
 2023-09-27 08:11:52 +10:00
Peter Barker 486ed2965e AP_AHRS: add AP_AHRS_DCM_ENABLED 
preliminary commit to add the bulk of the changes which are not problematic
 2023-09-27 08:00:54 +10:00
Peter Barker 34a508bfd8 AP_VisualOdom: visualodom requires DCM to work 2023-09-27 08:00:54 +10:00
Peter Barker eb05093f34 AP_Compass: compass calibration requires DCM 2023-09-27 08:00:54 +10:00
Randy Mackay 7a56d887b9 AP_Winch: Options param for init state and verbose output 2023-09-27 06:48:06 +09:00
Peter Barker 0f6bf8994f GCS_MAVLink: handle MAV_CMD_AIRFRAME_CONFIGURATION as both LONG and INT 2023-09-26 11:37:42 +10:00
Andy Piper ad126cc96e AP_SerialManager: only enable configuration ports that are available 2023-09-26 11:31:08 +10:00
Andy Piper 82452758b4 AP_HAL_ChibiOS: write out serial ports that are available when configuring 2023-09-26 11:31:08 +10:00
Iampete1 7bbd4a7c7d AP_Scripting: add some missing dependencies 2023-09-26 11:29:42 +10:00
Iampete1 82628c2559 AP_Scripting: bindings: allow GCS without high latency 2023-09-26 11:29:42 +10:00
Iampete1 6ae2fc2ca0 AP_Scripting: support per method dependencies 2023-09-26 11:29:42 +10:00
Randy Mackay bb6d0ec9ca AP_Scripting: winch-test simplification 2023-09-26 11:12:19 +10:00
Randy Mackay 200bc6c849 AP_Mission: image-stop-capture fix for instance 2023-09-26 10:53:22 +10:00
Randy Mackay b08fa29574 AP_Mission: start-image-capture with all zeros takes single pic 
fails if no cameras configured
 2023-09-26 10:53:22 +10:00
Randy Mackay 999a3fe8d9 AP_Camera: image-stop-capture fix for instance 2023-09-26 10:53:22 +10:00
Randy Mackay fb35d97abf AP_Camera: start-image-capture with all zeros takes single pic 
returns failed if no cameras configured
 2023-09-26 10:53:22 +10:00
Randy Mackay 9e3ab558b3 AP_Camera: take_pic and take_multiple_pic report success 
Methods return success if at least one backend succeeds
 2023-09-26 10:53:22 +10:00
Randy Mackay 66337af882 AP_Camera: fix reporting of mount take_picture 2023-09-26 10:53:22 +10:00
Iampete1 f9c8ad8de8 AP_Generator: IE 650/800: does have fuel remaining 2023-09-26 10:47:50 +10:00
Iampete1 9599318fff AC_PID: apply PD limit in such that limit flag is set and reported P and D terms are correct 2023-09-26 10:41:05 +10:00
Iampete1 93ccec3203 AP_Logger: Write_PID: add PD sum limit flag 2023-09-26 10:41:05 +10:00
Iampete1 5def9e7038 AP_Logger: PID move limit to flag bit 2023-09-26 10:41:05 +10:00
Leonard Hall 029950ef05 APM_Control: Support PD Max 2023-09-26 10:41:05 +10:00
Leonard Hall 8068f72be3 AP_WheelEncoder: Support PD Max 2023-09-26 10:41:05 +10:00
Leonard Hall df014a2c05 AC_CustomControl: Support PD Max 2023-09-26 10:41:05 +10:00
Leonard Hall ac0244e430 AC_AttitudeControl: Support PD Max 2023-09-26 10:41:05 +10:00
Leonard Hall 3de0bcefdb AC_PID: Support PD Max 2023-09-26 10:41:05 +10:00
AndKe 2030e6c9e2 SMBus :expanded SoloBMS to 6s 2023-09-26 10:17:02 +10:00
Henry Wurzburg a901d23de4 AP_TECS: correct/expand param metadata re synth airspeed 2023-09-26 09:04:51 +10:00
Peter Barker 429dbefade AP_AHRS: fill in error string when invalid backend specified 2023-09-25 08:11:23 +10:00
Peter Barker 34bceb8eec SITL: log achieved speedup rate 2023-09-23 19:49:02 +10:00
Peter Barker 4791e6f367 AP_Generator: use HAL_LOGGING_ENABLED 2023-09-23 13:59:42 +10:00
Asif Khan 65be0bd1ba GCS_MAVLink: add MAV_CMD_IMAGE_STOP_CAPTURE support 
Co-authored-by: Zachary Zalass <zachzalass@gmail.com>
 2023-09-21 21:05:01 +10:00
Asif Khan 844d552b22 AP_Mission: add MAV_CMD_IMAGE_STOP_CAPTURE support 
Co-authored-by: Zachary Zalass <zachzalass@gmail.com>
 2023-09-21 21:05:01 +10:00
Asif Khan f30af5e072 AP_Camera: add MAV_CMD_IMAGE_STOP_CAPTURE support 
Co-authored-by: Zachary Zalass <zachzalass@gmail.com>
 2023-09-21 21:05:01 +10:00
Asif Khan 518feedf41 AP_Mission: add MAV_CMD_START_CAPTURE support in mission 2023-09-21 21:05:01 +10:00
Asif Khan 2cc080620c AP_Camera: fix MAV_CMD_START_CAPTURE handling 2023-09-21 21:05:01 +10:00
Andrew Tridgell 89bd6ab218 AP_GPS: implement the GPS_DRV_OPTION for ellisoid height in mode drivers 
this allows a lot more drivers to use the GPS_DRV_OPTION but to use
ellisoid height. Particularly useful for DroneCAN GPS modules

using ellisoid height instead of AMSL is useful in some specialised
application
 2023-09-21 19:36:26 +10:00
Peter Barker fc722b5efc AP_Tuning: add and use AP_TUNING_ENABLED 2023-09-21 07:07:58 +10:00
Peter Barker 1208938d3b SITL: fix balancebot yaw reset to be kinimatically consistent 
... or at least closer to it.

We were hard-resetting the yaw to zero when the vehicle was upright.  That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.

Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
 2023-09-20 22:59:41 +10:00
James O'Shannessy 70bee8e67a AP_HAL_ChibiOS: Explicitly include InternalError 
Debug builds utilise internal error in the Util class.

The include was being passed up from Logger->LoggerMessageWriter->LoggerBackend->Bitmask.
Periph Builds tend not to have HAL_LOGGING_ENABLED, and so the include was not present.
 2023-09-20 19:51:48 +10:00
Peter Barker 8e57d66a0d AP_AHRS: move AP_AHRS_DCM::groundspeed_vector into correct file 2023-09-20 19:06:10 +10:00
Peter Barker b44682d1a6 GCS_MAVLink: handle CAN_FORWARD as both command_INT and COMMAND_LONG 2023-09-20 17:50:56 +10:00
Peter Barker 3c93fd3c5f AP_CANManager: handle CAN_FORWARD as both command_INT and COMMAND_LONG 2023-09-20 17:50:56 +10:00
Andy Piper 2c44d75f27 AP_HAL: relax F4 notch constraints slightly to allow triple notch on quads 2023-09-20 17:37:24 +10:00
Andy Piper 36fc7521ea AP_HAL_ChibiOS: modify prescaler based on dshot type 2023-09-20 17:35:44 +10:00
Andy Piper 5c0f049739 AP_HAL: simplify prescaler calculation and allow choosing highest frequency 
Update tests to reflect BLHeli_S requirements and add in L431
 2023-09-20 17:35:44 +10:00
Peter Barker 53d12ab46d AP_AHRS: rename EKFType::NONE to EKFType::DCM 2023-09-20 17:15:10 +10:00
Henry Wurzburg 4a15d9cc1b AP_TempertureSensor:clarify temp sourec for pitot tube 2023-09-19 10:15:45 -07:00
Peter Barker d2ad165a4a RC_Channel: correct compilation with COMPASS_CAL_ENABLED off 2023-09-19 16:54:59 +10:00
Peter Barker acf437b258 AP_Compass: correct compilation with COMPASS_CAL_ENABLED off 2023-09-19 16:54:59 +10:00
Peter Barker 12a06ee0ae AP_AHRS: make a pair of methods static on AP_AHRS_Backend 
these don't use any information from the specific backend, but they are called within the backends so making them static on that class is handy
 2023-09-19 13:20:15 +10:00
Peter Barker a5bfd58524 AP_AHRS: remove un-needed AP_AHRS_Backend::getCorrectedDeltaVelocityNED 
over-kill, and can be derived from backend biases if required
 2023-09-19 12:51:31 +10:00
Andy Piper 1b1e5b1085 hwdef: correct inversion pin on MambaF405v2 
correct battery setup for MambaF405v2
provide suitable serial defaults for MambaF405v2
reallocate DMA channels to allow full DMA on USART3 and NeoPixel on MambaF405v2
add camera control pin to MambaF405v2
 2023-09-19 11:43:58 +10:00
Peter Barker 9bcd9df7dd AP_AHRS: move load_watchdog_home into correct cpp file 
NFC, just moving the code out of the DCM backend file
 2023-09-19 11:35:45 +10:00
Peter Barker 622b83da9e AP_AHRS: move set_home method into correct .cpp file 
NFC, just moving the code in prepration for allowing DCM to be compiled out
 2023-09-19 11:35:45 +10:00
Peter Barker f8a4dd02d9 AP_AHRS: simplify specification of primary IMU indices 
given that DCM doesn't specify to use the primary accel or gyro when fetching the data from the Ins library, it shouldn't be special-cased here when asked what the primary IMU and accel are.  Note that this was asking for the *configured* backend type, rather than the active EKF type, making these clauses even stranger.

This also changes the definition of the "primary IMU index" to be whichever gyro is active rather than the accel.  Since we don't currently split primary gyro/primary accel, this is a reasonable change.
 2023-09-19 11:34:37 +10:00
Peter Barker e83b6bcfcb AP_AHRS: remove get_primary_IMU_index from public interface 2023-09-19 11:34:37 +10:00
Peter Barker 0b4007d22c AP_AHRS: make comment match code behaviour in airspeed DCM-fallback 
the comment here was incorrect; we do not need EKF3 to have a good wind estimate to fall back to DCM here.

Also restructure the code to make it more obvious that this is what's going on.
 2023-09-19 11:30:45 +10:00
Peter Barker c30bceb2a0 AP_AHRS: return location inside backend_results structure 
with the change to cache results inside AP::ahrs().state we no longer need to worry about the backend's attempts to project the last-known-location forwards according to amount of time elapsed since that last-known-location was calculated.
 2023-09-19 11:25:49 +10:00
Peter Barker 5b0393e280 GCS_MAVLink: handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN as INT or LONG 2023-09-19 11:16:10 +10:00
Henry Wurzburg 4508f23893 AP_OSD:Update/correct DisplayPort BF MSP symbols 2023-09-19 11:13:54 +10:00
Randy Mackay ee7df6b060 AP_Mount: Xacti sets datetime 2023-09-19 10:58:52 +10:00
Randy Mackay 5e77ca483d AP_Mount: Xacti slides reduced flash usage 2023-09-19 10:58:52 +10:00
Randy Mackay b7d44c75a6 AP_Mount: Xacti gets reduced call to AP_HAL::millis() 2023-09-19 10:58:52 +10:00
Randy Mackay fc24b45d56 AP_Mount: Xacti handles firmware ver and status 2023-09-19 10:58:52 +10:00
Randy Mackay 1f11d5f3fc AP_DroneCAN: support string parameters 2023-09-19 10:58:52 +10:00
Peter Barker 1d4a77d33a AP_OSD: correct compilation when OSD compiled out 2023-09-19 08:22:16 +09:00
Iampete1 d3d606ab69 AP_SmartRTL: fix disable if second point fails to add 2023-09-19 08:01:47 +09:00
Nick Exton 1dd7d7dd7b AP_Mount: In Siyi, change severity of warnings for Data Loss and No Card 2023-09-19 07:59:15 +09:00
Nick Exton bad73df582 AP_Mount: In Siyi, clean up toggling of video recording 2023-09-19 07:59:15 +09:00
Nick Exton a8e10ca59b AP_Mount: In Siyi, request gimbal config when set_motion_mode() changes mode 2023-09-19 07:59:15 +09:00
Nick Exton d3358ff3af AP_Mount: Make Siyi set_motion_mode() only send on change 2023-09-19 07:59:15 +09:00
Nick Exton 62858ff91f AP_Mount: Siyi set_motion_mode() now returns bool 
And the mode param is now const.
 2023-09-19 07:59:15 +09:00
Nick Exton 9fe5f4151e AP_Mount: In Siyi, use config info received from gimbal 2023-09-19 07:59:15 +09:00
Nick Exton 188a5654c2 AP_Mount: Siyi set_lock() becomes set_motion_mode() 
We have three motion modes on the Siyi: Lock, Follow and FPV.

Partially addresses #22900
 2023-09-19 07:59:15 +09:00
Henry Wurzburg d13085d4bb HWDEF:Correct hwdef of BETAFPV-F405 2023-09-19 08:03:58 +10:00
Andrew Tridgell ebffc8fc65 HAL_ChibiOS: fixed CAN statistics on F4/L4/F3/F7 2023-09-19 07:33:53 +10:00
Peter Barker 273b9ea354 GCS_MAVLink: correct sensors when no baros found 
GCSs will know we have no baros on-board, as will the RC telemetry library
 2023-09-19 07:28:30 +10:00
subashchandar d1e8cef9b6 AP_HAL_ChibiOS: Increase limit for Storage pages 
STm32l4+ has 512 flash pages in dual flash mode
 2023-09-17 21:03:37 +10:00
subashchandar 2207f7bb14 AP_HAL_ChibiOS: change adc sampling rate 
STm32l4r5 adc sampling rate.
 2023-09-17 21:02:42 +10:00
James O'Shannessy 9b06395573 AP_Mount: Fix brace enclosed initializer list for older compilers 2023-09-16 14:59:00 +09:00
Peter Barker 62950169f7 AP_Notify: tidy use of DiscreteRGB 2023-09-16 08:47:37 +09:00
Nick Exton 83636e6ef3 AP_Mount: In Siyi, fix missing braces in process_packet() 2023-09-15 20:13:55 +09:00
Davide_Lentini 5b0d7928bd hwdef: Update luminousbee5 defaults.parm 2023-09-14 12:40:59 +10:00
Michael du Breuil dcfd9f6586 AP_HAL_ChibiOS: Add sw-nav-f405 target 
Navlight board with a compass, requires #24945 for status light to work
 2023-09-14 10:56:20 +10:00
Michael du Breuil 3243751e0b AP_Notify: Reenable the DiscreteRGB backend 2023-09-14 10:55:26 +10:00
Henry Wurzburg ae05df22eb HWDEF: Correct define errors in HEEWING and Tmotor bds 2023-09-14 10:38:01 +10:00
Ep Pravitra db72fd16d4 AP_AdvancedFailsafe: make GCS failsafe timeout a parameter 2023-09-13 18:06:28 +10:00
zvldz 8e08a9bdf6 AP_VideoTX:add additional freq bands 2023-09-13 18:05:24 +10:00
Andy Piper 2f807230d0 AP_AHRS: rename get_angle_P_scale_logging() 2023-09-13 18:02:44 +10:00
Andy Piper 31a2acb7ad AC_AttitudeControl: rename get_angle_P_scale_logging() 2023-09-13 18:02:44 +10:00
Andy Piper ab24f97275 APM_Control: implement single-cycle feed-forward scaler for roll and pitch 2023-09-13 18:02:44 +10:00
Peter Barker df911e9e76 AP_Notify: remove unused enumeration 
this was copied over into the OreoLED driver
 2023-09-13 17:34:30 +10:00
Peter Barker 4f0b328674 GCS_MAVLink: support preflight calibration via command_int 2023-09-13 17:24:07 +10:00
TunaLobster 6f80f8f200 AP_HAL_ChibiOS: Add hwdef for ARK_CANNODE 2023-09-13 17:06:02 +10:00
Andy Piper f02b34fc02 hwdef: mRoControlZeroOEMH7 bdshot version 2023-09-13 17:04:24 +10:00
Andy Piper feabd1f568 AP_HAL_ChibiOS: hwdef for Flywoo F405 Pro 2023-09-13 17:03:51 +10:00
Andy Piper 9387236e6c AP_HAL_ChibiOS: prefer bi-directional dshot channels that can be shared on F4 and F7 2023-09-13 17:03:51 +10:00
rishabsingh3003 8a1fa0e096 Copter: Allow fast descend while Prec Landing 2023-09-13 11:49:16 +10:00
rishabsingh3003 d5a5f4f863 AC_PrecLand: Allow fast descend 2023-09-13 11:49:16 +10:00
Nick Exton cc25f2915a AP_Mount: In Siyi, fix calculation of attitude quaternion 
Order of rotation for Siyi gimbals is (yaw, roll, pitch), which is 312
order. Quaternion::from_euler() function assumes a 321 order of
rotation (yaw, pitch, roll).
 2023-09-13 11:48:47 +10:00
Henry Wurzburg 63136e9060 AP_OSD:add Aviation style AH option 2023-09-13 08:29:00 +10:00
Peter Barker 86aad6f6bf AP_Logger: log valid-input and in-rc-failsafe 
Can now sensibly log these now the RC_Channels library has the methods
 2023-09-12 19:14:18 +10:00
Leonard Hall ffc553f34f AC_AttitudeControl: Fix yaw limit calculations 2023-09-12 19:14:01 +10:00
Randy Mackay ed7ca580c2 AC_AttitudeControl: add const get_rate_pid accessors 2023-09-12 19:14:01 +10:00
Randy Mackay 11ddf9f7c7 AC_PID: add const kP accessor 2023-09-12 19:14:01 +10:00
Anthony Luo f0d7a367f4 SITL: document SIM_FLOW_* params 2023-09-12 18:56:06 +10:00
Peter Barker a391b14a6d AP_GPS: replace utility functions with compiler builtins 2023-09-12 09:48:53 +10:00
Peter Barker 10c8af3409 AP_NavEKF3: do not use fmaxF on floating point values 
it returns double, which will not fit into this float
 2023-09-12 09:47:17 +10:00
Nick Exton ac96365a61 AP_Mount: In Siyi, add check for minimum supported firmware version 2023-09-12 08:36:29 +09:00
Nick Exton fd6242964a AP_Mount: In Siyi, rename _firmware_version member to _fw_version (NFC) 2023-09-12 08:36:29 +09:00
Nick Exton 8b7b265e9f AP_Mount: In Siyi, store full firmware version info 2023-09-12 08:36:29 +09:00
Peter Barker 72f485b5a5 AP_Common: remove unused Location constructor from Vector3d 
Replaced with AHRS method
 2023-09-12 09:29:26 +10:00
Peter Barker a9c62fa565 AP_Common: Location: add offset(Vector3p &ned_offset) 2023-09-12 09:29:26 +10:00
Peter Barker 6e1e1f6596 AP_AHRS: add methods for returning location for origin offsets 2023-09-12 09:29:26 +10:00
Andy Piper f3ac8f9d75 hwdef: SpeedyBeeF405Mini 2023-09-12 09:23:39 +10:00
Peter Barker fcc2b503e5 AP_Mission: remove unused method mavlink_cmd_long_to_mission_cmd 2023-09-12 09:22:36 +10:00
Mark Whitehorn da0f382eb2 AP_Scripting: tricks-on-a-switch activation bugfix 2023-09-12 09:21:38 +10:00
Ep Pravitra 9700e65d19 AP_AdvancedFailsafe: option to automatically set mode to auto when datalink is loss 
When enabled, it ensures vehicle enters AUTO even if it is currently in other autonomous modes (for example Guided)
 2023-09-12 09:09:39 +10:00
Iampete1 2c1dde8019 AP_Scripting: Examples: UART log: remove spaces in log description 2023-09-12 08:46:00 +10:00
Randy Mackay 81cbca150b AP_Torqeedo: error code reporting fix 2023-09-12 08:44:39 +10:00
James O'Shannessy 768e2409df AP_Relay: check enabled relay mask for passing relay outputs to hardware 2023-09-11 12:21:13 +10:00
James O'Shannessy 8125ba1a41 SITL: add hardware relay enable mask for passing relays through to hardware 2023-09-11 12:21:13 +10:00
arshPratap 8c2627ca40 AP_DDS: Added Mode Switch Service 2023-09-11 09:50:14 +10:00
arshPratap 6a998fd9a8 AP_Vehicle: Added DDS_Command as a new ModeReason 2023-09-11 09:50:14 +10:00
Nick Exton d99b5c173a AP_Mount: In Siyi, fix zoom percentage in CAMERA_SETTINGS 2023-09-11 09:48:57 +10:00