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24811 Commits

Author SHA1 Message Date
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
Andrew Tridgell b4de6fb56a HAL_ChibiOS: added new option DEFAULTGPIO for hwdef.dat 
this allows ESD issues to be avoided by pulling all unused pins low
 2020-12-08 11:21:57 +11:00
Andrew Tridgell a1c05e74b5 AP_Vehicle: call init_safety after first loop has run 
this fixes a bug where servos can be driven to an out of range value
if PWM output happens before first loop has completed

thanks to Kris for reporting
 2020-12-08 11:14:24 +11:00
Peter Barker 7bf7402561 AP_RCTelemetry: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Peter Barker 47f0ab7f90 AP_LTM_Telem: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Peter Barker ee43663c7a AP_Frsky_Telem: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Peter Barker 55cb3e8ef0 AP_AHRS: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Andrew Tridgell f44e4aaefb HAL_ChibiOS: always set STM32_DMA_REQUIRED for non-bootloader 
this fixes an issue for uart-only AP_Periph builds
 2020-12-08 10:27:27 +11:00
Peter Barker e5423a3cf6 SITL: add terarangertower simulator 2020-12-08 09:21:06 +11:00
Peter Barker 5e2bd6d9ec AP_HAL_SITL: add terarangertower simulator 2020-12-08 09:21:06 +11:00
Peter Barker bd5c34f626 SITL: improve instructions for using simulated RPLidarA2 sensor 2020-12-08 09:21:06 +11:00
Peter Barker 7d232b24d6 SITL: improve simulated serial proximity sensor 
SITL: rename measure_distance_at_angle to include '_bf'
 2020-12-08 09:21:06 +11:00
Peter Barker b21fdb7743 AP_Generator: use enum class For Battery Failsafe 2020-12-07 15:20:14 +11:00
Peter Barker 00a8a8fe8e AP_BattMonitor: use enum class For Battery Failsafe 2020-12-07 15:20:14 +11:00
Peter Barker 0fca126d06 AP_AHRS: mark get_hagl as WARN_IF_UNUSED 2020-12-07 12:10:33 +11:00
chobits 013b39d2a6 AP_NavEKF3: fix ext nav vel timestamp cal 2020-12-07 08:54:42 +09:00
Peter Barker 1c57eed66c AP_RangeFinder: remove unused voltage_mv_orient method 
This is really backend-specific data and shouldn't be exposed
 2020-12-06 16:49:43 +11:00
Andrew Tridgell b1e7b508db HAL_ChibiOS: added HitecMosaic 2020-12-06 16:48:08 +11:00
Andrew Tridgell 1a4f094025 AP_GPS: allow hwdef override of default for GPS_COM_PORT 2020-12-06 16:48:08 +11:00
Andrew Tridgell 92bcc7667c AP_GPS: allow for SBF GPS on F3 AP_Periph 2020-12-06 16:48:08 +11:00
Andrew Tridgell 1723cf8efb HAL_ChibiOS: reduce SPI clock on MatekH743 mpu6k to 2MHz 
this fixes regular transfer errors
 2020-12-06 13:04:52 +11:00
Peter Barker bacbe21011 AP_LandingGear: move logging of LandingGear event into LandingGear 
Less code and Plane will get the event logged too.
 2020-12-05 20:45:20 +11:00
Randy Mackay 000a2b17c3 AP_NavEKF_Source: remove unused setVelZSource 2020-12-05 08:30:55 +09:00
Peter Barker 6bc8ff2ee8 SITL: factor out an I2C command/response class from simulated MaxSonar sensor 2020-12-05 09:35:53 +11:00
Peter Barker 6f7fbece49 AP_Baro: add accessor for external bus parameter 2020-12-04 16:37:10 +11:00
Peter Barker 771666ee52 AP_Baro: correct i2c transfer invocation in KellerLD 
This allows the device to work on boards which are not Pixhawk1.  For
reasons yet to be determined.
 2020-12-04 16:37:10 +11:00
Andrew Tridgell 8b5ff1a6de GCS_MAVLink: enable GCS_SEND_TEXT() to send as CAN LogMessage messages 2020-12-04 15:16:21 +11:00
Tom Pittenger e235fd311e AP_HAL_ChibiOS: fixed comment in script file 2020-12-03 20:33:51 +11:00
Andrew Tridgell 6765265a3b AP_Periph: switched to 1kHz clock for f303-periph 
and use CAN RX buffer size of 64.

This makes for more efficient CPU usage on f3, and fixes an issue with
lost CAN parameter replies causing timeouts in the CAN parameter
download protocol
 2020-12-03 20:00:55 +11:00
Peter Barker 287e9350a5 AP_NavEKF3: move log message IDs in from AP_Logger LogStructure 2020-12-03 19:22:26 +11:00
Peter Barker ea36a84b53 AP_Logger: move EK3 log message IDs into AP_NavEKF3 log structure 2020-12-03 19:22:26 +11:00
Peter Barker 79109458c2 AP_NavEKF3: move EKF3 logging structures into EKF3 LogStructure.h 2020-12-03 19:22:26 +11:00
Peter Barker f2b2998f29 AP_Logger: move EKF3 logging structures into EKF3 LogStructure.h 2020-12-03 19:22:26 +11:00
Peter Barker 64f4b078a6 AP_Logger: remove unused log_EKF* structures 2020-12-03 19:22:26 +11:00
Andrew Tridgell b289701d20 HAL_ChibiOS: removed SPI devices on f103-periph 
these are unused and saves us a couple of k of flash
 2020-12-03 15:50:50 +11:00
Andrew Tridgell 084b589f3a AP_Param: added template class AP_Enum for enum AP_Int8 values 2020-12-02 18:33:07 +11:00
Andy Piper 32edb6d0cd AP_Filesystem: add support for @SYS/dma.txt for DMA contention 2020-12-02 18:17:23 +11:00
Andy Piper cf2602f91d AP_HAL_ChibiOS: add support for @SYS/dma.txt for DMA contention 2020-12-02 18:17:23 +11:00
Andy Piper d2e01005ee AP_HAL: add support for @SYS/dma.txt for DMA contention 2020-12-02 18:17:23 +11:00
Peter Barker c5c810b724 AP_NavEKF2: use structures for logging GSF data 
This makes it look like EKF2 and is marginally more efficient.
 2020-12-02 10:30:48 +11:00
Peter Barker f94f51d9d3 AP_NavEKF2: move log message metadata to be above the structure 
This is the pattern we are adopting elsewhere to try to keep things
related as much as possible.
 2020-12-02 10:30:48 +11:00
vierfuffzig c4a644100d AP_OSD: refactor current panel and add 2nd instance 2020-12-02 06:27:59 +11:00