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64,271 Commits 71 Branches 510 Tags 772 MiB
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36659 Commits

Author SHA1 Message Date
Peter Barker
84efdd5700 hwdef: SpeedyBeeF405WING: remove landing gear support 2024-07-28 12:00:02 +10:00
Andrew Tridgell
2ce6532698 AP_Math: updated EulerAngles.pdf link 2024-07-27 11:14:10 +10:00
Andrew Tridgell
98733882f5 AP_Math: added comments and a test for euler ordering 
our main euler functions did not have a comment on the ordering
convention
 2024-07-27 11:14:10 +10:00
yaapu
5b7aaae008 AP_Frsky_Telem: fix for HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL = 0 2024-07-26 20:12:40 +10:00
muramura
e86d5e113f AP_Filesystem: BOOL for binary types 2024-07-26 20:12:05 +10:00
Leonard Hall
bb1758ecb1 AC_Autotune: Add ABORT state for consistency between tests 2024-07-26 20:11:42 +10:00
Leonard Hall
bea2c5b59b AC_Autotune: Clean up Multi Variables and non functional changes 2024-07-26 20:11:42 +10:00
Peter Barker
78dc5a7b5d hwdef: FlyingMoonF427: remove MAX7456 2024-07-26 20:10:38 +10:00
Peter Barker
5b5dd638c1 hwdef: FlyingMoonH743: remove MAX7456 2024-07-26 20:10:38 +10:00
Randy Mackay
44b3217178 AP_Camera: type param desc gets topotek 2024-07-26 12:55:24 +10:00
Randy Mackay
62a03f18d8 AP_Camera: type param desc gets viewpro and xacti 2024-07-26 12:55:24 +10:00
Andy Piper
a560f89b35 AP_HAL_ChibiOS: update logging docs for 2RAW H743 2024-07-26 10:39:38 +10:00
Andy Piper
74f72db4eb AP_HAL_ChibiOS: rename 2RAWH743 to IFLIGHT_2RAW_H7 2024-07-26 10:39:38 +10:00
Andy Piper
278595cf83 AP_HAL_ChibiOS: add support for sdcard to iFlight 2RAW 2024-07-26 10:39:38 +10:00
Peter Barker
7f97e897e2 AP_Camera: add sanity check for Siyi lens change 2024-07-25 12:18:51 +10:00
muramura
f1e67ba747 AP_Mount: SWITCH statement to table reference 2024-07-25 12:18:51 +10:00
muramura
9f2da4a763 AP_Mission: Change division to multiplication 2024-07-25 11:33:55 +10:00
Peter Barker
a0ac6f22df AP_CANManager: use a switch statement to tidy driver allocation 2024-07-25 11:09:07 +10:00
Andrew Tridgell
23f628f26b hwdef: fixes for BotBloxSwitch 2024-07-25 10:57:04 +10:00
Leonard Hall
2ab3d0b3b0 AC_AttitudeControl: Add Landed Gain Backoff 2024-07-25 09:50:35 +10:00
muramura
84ff78f5c6 AP_Notify: Perform common checks first 2024-07-25 09:50:03 +10:00
James O'Shannessy
66817e207f AP_InertialSensor: Check the gyro/accel id has not been previously registered 
If the Gyro/Accel ID is already in the registered list, do not try to add it again.

This stops an issue seen on a CubeOrangePlus BG3 where, during the very first boot after a parameter wipe, software incorrectly registers a fourth IMU.
The Fourth IMU is registered because the AUX IMU is the same DevID as the third ICM45686.
 2024-07-25 09:49:35 +10:00
Luca Pescante
028017e38e ArduCopter/RC_Channel: add option 219 
(Transmitter Tuning)
 2024-07-25 09:40:13 +10:00
bugobliterator
8a4b925c71 AP_HAL_ChibiOS: add support for PPP between CubeRed Primary and Secondary 2024-07-25 09:37:16 +10:00
bugobliterator
4909ad4e4f AP_Networking: add debug code for PPP 2024-07-25 09:37:16 +10:00
bugobliterator
993d694fbb AP_HAL_ChibiOS: allow setup for low noise clock mismatch tolerant UART line 2024-07-25 09:37:16 +10:00
bugobliterator
025077b6f4 AP_HAL_ChibiOS: add support for recording UART Rx errors 2024-07-25 09:37:16 +10:00
mduclehcm
25a406e633 AP_Mount: Conditionally define serial_instance to fix unused variable compile error 
- Wrapped the definition of `serial_instance` with preprocessor directives to ensure it is only defined when necessary.
- This resolves the compile error caused by the unused variable when no features requiring `serial_instance` are enabled.
 2024-07-25 09:35:46 +10:00
Paul Riseborough
4904c718a5 AP_NavEKF3: Fix yaw alignment bug 
When the  yaw is aligned to the GPS yaw, the recordYawResetsCompleted() function should be called the same as for any other yaw reset.
 2024-07-25 09:34:48 +10:00
rishabsingh3003
07b6c57173 AP_TemperatureSensor: Extend analog sensor backend to 5th order polynomial 2024-07-24 17:53:08 +10:00
rishabsingh3003
3ab3388752 AP_ESC_Telem: Add ifndef before defining ESC_TELEM_MAX_ESCS 2024-07-24 17:45:24 +10:00
Randy Mackay
2b64787099 AP_Mount: topotek spelling fix 2024-07-24 17:28:24 +10:00
Randy Mackay
cfd1e98333 AP_Mount: topotek safely parses version 2024-07-24 17:28:24 +10:00
Randy Mackay
1b77751aef AP_SmartRTL: add point made public 2024-07-24 17:22:44 +10:00
Henry Wurzburg
76abc6850f Filter: add "source" to option 5 2024-07-24 17:20:30 +10:00
Randy Mackay
a1579bc31e SITL: integrate SlungPayload 2024-07-24 17:09:06 +10:00
Randy Mackay
5c2b758f42 SITL: add SlungPayload 2024-07-24 17:09:06 +10:00
George Zogopoulos
e170710de9 SITL: Glider improvements 
Fixed balloon going below ground.
Enabled glider torque logging.
 2024-07-24 17:03:48 +10:00
Peter Barker
478d26d69c AP_Notify: rename LED_1 pin define to AP_NOTIFY_GPIO_LED_1_PIN 2024-07-24 09:13:50 +10:00
Peter Barker
a4577685a7 AP_HAL_ChibiOS: rename LED_1 pin define to AP_NOTIFY_GPIO_LED_1_PIN 2024-07-24 09:13:50 +10:00
Peter Barker
cc190f537f AP_OSD: correct compilation with AP_RRSI_ENABLED false 
Co-authored-by: David Buzz <davidbuzz@gmail.com>
 2024-07-24 09:11:39 +10:00
Peter Barker
1afa801b19 AP_LTM_Telem: correct compilation with AP_RRSI_ENABLED false 
Co-authored-by: David Buzz <davidbuzz@gmail.com>
 2024-07-24 09:11:39 +10:00
Andy Piper
ccfbfddf7e AC_Fence: address minor review comments 2024-07-24 08:24:06 +10:00
Andy Piper
55075961b2 AP_Mission: address minor review comments 2024-07-24 08:24:06 +10:00
Andrew Tridgell
68f2593089 AC_Fence: fixed FENCE_AUTOENABLE=2 
needs to auto-enable on takeoff complete
 2024-07-24 08:24:06 +10:00
Andy Piper
5bc3727145 AC_Fence: support FENCE_OPTIONS on copter 2024-07-24 08:24:06 +10:00
Andy Piper
29a320b310 AC_Avoidance: correctly set back away speed for minimum alt fences 2024-07-24 08:24:06 +10:00
Andy Piper
37e0923ec2 AP_Arming: allow precise wording of fence pre-arm messages 2024-07-24 08:24:06 +10:00
Andy Piper
f0456f29dd AC_Fence: always disable Min Alt fence on landing 
allow precise pre-arm messages
 2024-07-24 08:24:06 +10:00
Andy Piper
255fac215f AP_Mission: generic fence handling in missions 2024-07-24 08:24:06 +10:00
Andy Piper
04dd7de1ed AC_Fence: disable fences for landing by suppressing in the fence check rather than using a state machine 
simplify takeoff auto-enablement
 2024-07-24 08:24:06 +10:00
Andy Piper
d5c6f3fe06 AC_Fence: add reset_fence_floor_enable() and use it in plane when landing is aborted 2024-07-24 08:24:06 +10:00
Peter Barker
a4c7819117 AC_Fence: clear breach of disabled fence 
skip breach checks if no fences
correct initialisation of _num_fences in the case of no fences in eeprom
 2024-07-24 08:24:06 +10:00
Andy Piper
3fabec4158 AP_Arming: ensure fence enablement on arming is inverted on disarming 2024-07-24 08:24:06 +10:00
Andy Piper
174d5f07bb AC_Fence: ensure fence enablement on arming is inverted on disarming 
correct detection of polyfence
 2024-07-24 08:24:06 +10:00
Andy Piper
f0f8187c7f AC_Fence: add ability to auto-enable fence floor while doing fence checks 
control copter floor fence with autoenable
autoenable floor fence with a margin
check for manual recovery only after having checked the fences
make auto-disabling for minimum altitude fence an option
output message when fence floor auto-enabled
re-use fence floor auto-enable/disable from plane
auto-disable on landing
do not update enable parameter when controlling through mavlink
make sure get_enabled_fences() actually returns enabled fences.
make current fences enabled internal state rather than persistent
implement auto options correctly and on copter
add fence names utility
use ExpandingString for constructing fence names
correctly check whether fences are enabled or not and disable min alt for landing in all auto modes
add enable_configured() for use by mavlink and rc
add events for all fence types
make sure that auto fences are no longer candidates after manual updates
add fence debug
make sure rc switch is the ultimate authority on fences
reset auto mask when enabling or disabling fencing
ensure auto-enable on arming works as intended
simplify printing fence notices
reset autofences when auot-enablement is changed
 2024-07-24 08:24:06 +10:00
Andy Piper
370b0d7b9c AP_Logger: add events for all fence types 2024-07-24 08:24:06 +10:00
Andy Piper
0288e1e79c RC_Channel: use fence enable_configured() 2024-07-24 08:24:06 +10:00
Andy Piper
d16615923d AP_Frsky_Telem: use fence enable_configured() 2024-07-24 08:24:06 +10:00
Andy Piper
0c6ea4790d AP_Common: fix initialization of ExpandingString so that it can be used on the stack 
zero out passed in buffers for ExpandingString
 2024-07-24 08:24:06 +10:00
Andy Piper
3dbcbe0026 AP_Arming: do not enable minimim altitude fence on arming 
call appropriate fence method for auto-enablement
 2024-07-24 08:24:06 +10:00
Andy Piper
8287d4f2d0 AC_Avoidance: take into account minimum altitude fence when calculating climb rate 2024-07-24 08:24:06 +10:00
Andy Piper
95b39f64e3 AP_Mission: add comment about new fence API 2024-07-24 08:24:06 +10:00
Andy Piper
f73154349b GCS_MAVLink: use bitmask based enablement for fences 2024-07-24 08:24:06 +10:00
Bob Long
230269bed8 HAL_ChibiOS: add adjustable wdg timeout for hwdefs 
This allows the watchdog timeout to be adjusted in the hwdef.dat file,
so that critical nodes like ESCs can recover more quickly.
 2024-07-23 19:53:38 +10:00
Andrew Tridgell
03bdbea77c hwdef: enable relay support in MatekL431-DShot fw 
the PWM expansion boards can also be used for relay control, often
combined with PWM output
 2024-07-23 18:42:56 +10:00
Rhys Mainwaring
4354072d34 SITL: SIM_Rover: add simulation for omni3 mecanum rover 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-07-23 13:27:04 +10:00
James O'Shannessy
ce0ae33c5b AP_HAL_ChibiOS: Capture the case where the persistent parameter is the newer format INSn_ACC_ID 
This fixes the handling of the newer INSn_* parameters when loading those stored in persistent memory.
 2024-07-23 12:06:18 +10:00
James O'Shannessy
c771440ea4 AP_InertialSensor: Fix persistent storing of IMU Z Scale 
Fixes INSn_ACCSCAL_Z not being stored in persistent storage when bootloader is flashed.
 2024-07-23 11:59:49 +10:00
xiaozhou
e2cb4ba232 AP_Mount: Topotek image tracking fix 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-07-23 10:51:09 +10:00
xiaozhou
69e4005bb6 AP_Mount: Topotek retrieves model name 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-07-23 10:51:09 +10:00
xiaozhou
858aff5f4f AP_Mount: Topotek handles new version format 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-07-23 10:51:09 +10:00
muramura
7731fc09e2 AP_HAL_SITL: If HAL_CAN_WITH_SOCKETCAN is undefined, treat it as NONE 2024-07-23 10:47:16 +10:00
Michael du Breuil
edaddc0431 AP_TECS: Use aircraft stall speed 
When stall prevention is enabled we were scaling from the aircraft's
minimum flight speed. However this is normally already picked as being
above the stall speed, and for a variety of reasons we may want to pin
the aircraft at a higher minimum speed. But if the aircraft was
commanded to fly to close to that minimum speed as soon as it banked for
a pattern it would command a increase in speed to keep it away from
stalling. However if your minimum speed is far from stalling this
increase was incorrect. To make it worse what this actually results in
happening is an aircraft diving for more speed (over 10 m/s on some
aircraft) as well as descending to gain that speed resulting in over 200
foot deviations in altitude control.
 2024-07-23 10:37:24 +10:00
Michael du Breuil
5005809e74 AP_Vehicle: add stall speed parameter for plane 2024-07-23 10:37:24 +10:00
Thomas Watson
b64ed6ca56 AP_Scripting: dynamically load some binding objects 
Only create the binding object (singleton metatable/userdata or C
function reference) once the user first references a particular
singleton or userdata creation function. Once created, the object is
stored into the script's environment so it doesn't get recreated on the
next reference and there isn't any further overhead. The userdatas are
no longer shared between scripts which imposes a slight memory penalty
for multiple scripts using the same singleton but this avoids an
additional lookup time cost.

Userdata and ap_objects aren't eligible for this optimization as the C++
code might want a particular metatable at any time.

Saves ~9.3K Lua heap.
 2024-07-23 10:34:52 +10:00
Thomas Watson
059af2117d AP_Scripting: place bindings into global table 
The global table is then used as the __index metamethod of each state's
environment table. Avoids the overhead of loading binding objects into
each state. The binding objects are immutable from Lua so sandboxing is
not violated.

Does have the slight downside that a script can no longer know all the
binding names by enumerating _ENV.

Saves ~700B of memory per loaded script.
 2024-07-23 10:34:52 +10:00
Thomas Watson
9cbec043d0 AP_Scripting: remove __call metamethod from singleton metatables 
The __call metamethod was set to the metatable itself. With __call not
present, Lua will try to call the metatable (and fail), which is the
same behavior as with the __call metamethod set to the metatable.

Saves ~2K Lua heap.
 2024-07-23 10:34:52 +10:00
Thomas Watson
8e303675fe AP_Scripting: don't put userdata and ap_objects into globals 
They are never accessed from globals. Only their metatables are
accessed, using luaL_getmetatable.

Saves ~2.9K of Lua heap.
 2024-07-23 10:34:52 +10:00
Thomas Watson
50eac0ef31 AP_Scripting: keep enum definitions in flash 
Saves ~100B of statically allocated RAM.
 2024-07-23 10:34:52 +10:00
chiara-septentrio
fc8147ead0 AP_GPS:Septentrio constellation choice 2024-07-23 10:32:32 +10:00
Peter Barker
56773f09b4 AP_Scripting: docs for get_resistance 2024-07-22 09:09:26 +10:00
Peter Barker
6514a3522b AP_Scripting: add battery-resistance-checking example 2024-07-22 09:09:26 +10:00
Peter Barker
e94ebe4d1a AP_Scripting: add battery resistance to bindings 2024-07-22 09:09:26 +10:00
Peter Barker
ba135b9008 SITL: split MAVLink and physical gimbal simulations 2024-07-21 17:01:47 +10:00
Peter Barker
ed3aeb39fd AP_HAL_SITL: split MAVLink and physical gimbal simulations 2024-07-21 17:01:47 +10:00
Peter Barker
fc28e2d7b8 SITL: adjust for renaming of Gimbal to SoloGimbal 2024-07-21 14:22:05 +10:00
Peter Barker
9b3809c89f AP_HAL_SITL: adjust for renaming of Gimbal to SoloGimbal 2024-07-21 14:22:05 +10:00
Peter Barker
1ce6aa7e38 AP_HAL: adjust for renaming of Gimbal to SoloGimbal 2024-07-21 14:22:05 +10:00
Peter Barker
ae4254bba8 SITL: rename SIM_Gimbal files to SIM_SoloGimbal 2024-07-21 14:22:05 +10:00
Willian Galvani
aca9940534 AP_Scripting: add Readme.md for generating message definitions 2024-07-20 20:45:41 +01:00
Peter Barker
9c1fe4e1c9 SIM_VectorNav: stop using nmea_printf on buffer data 
can't use nmea_printf here as the buffer data won't be null-terminated
 2024-07-20 22:44:19 +10:00
Peter Barker
dcf342d7e3 SITL: add instructions on testing simulated mavlink gimbal 2024-07-20 22:44:10 +10:00
Peter Barker
2584cfd786 SITL: use distinct source system for gimbal 
gimbal was sending mavlink into ArduPilot with the target system's own sysid/compid tuple.  ArduPilot was simply discarding these as its own messages being looped back to it
 2024-07-20 22:44:10 +10:00
Peter Barker
16a9e53bdb AP_Mount: tidy Solo defines 2024-07-20 22:44:10 +10:00
Peter Barker
70729df4c0 AP_HAL: enable Solo Gimbal in SITL 2024-07-20 22:44:10 +10:00
Rhys Mainwaring
5919ef69cb AP_DDS: add param DDS_DOMAIN_ID 
- Require reboot.
- Set DDS_DOMAIN_ID range: 0 to 232..

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-07-20 19:13:53 +10:00
Stephen Dade
887a890c4a SITL: Add skid steering motorboat 2024-07-20 19:10:09 +10:00
Peter Barker
1626611e0b SITL: add documentation for SIM_ACC?_RND parameters 2024-07-20 13:43:44 +10:00
bugobliterator
5a54d9a2ec AP_Networking: allow reconnection to TCP server or client 2024-07-17 18:20:14 +10:00