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52,316 Commits 71 Branches 511 Tags 718 MiB
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29020 Commits

Author SHA1 Message Date
Bill Geyer
0846880049 AC_AutoTune: combine dwell_init methods 2022-04-07 10:05:28 +10:00
Bill Geyer
3a6c5b27f6 AC_AutoTune:tradheli-streamline gcs messages 2022-04-07 10:05:28 +10:00
Peter Barker
c33256b3c2 AC_AutoTune: Vector tidying 2022-04-07 10:05:28 +10:00
Peter Barker
a0aa04efcc AC_AutoTune_Heli: use structure assignment to clear structures 2022-04-07 10:05:28 +10:00
Peter Barker
225112045c AC_AutoTune: use structure assignment for test results 2022-04-07 10:05:28 +10:00
Peter Barker
3886f88b8c AC_AutoTune: createstructure to hold specific test's sweep results 2022-04-07 10:05:28 +10:00
Henry Wurzburg
a0c286a8ed HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-04-07 10:05:28 +10:00
Andy Piper
89c8057e98 AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-04-07 10:05:28 +10:00
Andy Piper
de526b07dc SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-04-07 10:05:28 +10:00
Andy Piper
f7624662b7 AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands 
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
 2022-04-07 10:05:28 +10:00
AndKe
0451c405b4 AP_HAL_ChibiOS: add OREOLED to CubeGreen 2022-04-07 10:05:28 +10:00
Andrew Tridgell
3487f8f251 hwdef: changed MatekH743 to a 32 bit timer 
the 68ms issue is still present on this board. Switching to a 32 bit
timer will fix it, but loses us the tonealarm support
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
43df023a4d AP_Param: fixed param class conversion code 
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.

I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
739192f579 AP_Logger: added terrain correction logging field 2022-03-28 20:53:56 +11:00
Andrew Tridgell
76a924559b AP_Terrain: added logging of terrain correction 2022-03-28 20:53:56 +11:00
Andrew Tridgell
278d87e6f2 AP_Scripting: restored corrected boolean in height_amsl binding 2022-03-28 20:53:56 +11:00
Andrew Tridgell
8d6bfac43c HAL_SITL: don't use terrain adjustment 2022-03-28 20:53:56 +11:00
Andrew Tridgell
8c026ec701 AP_Arming: setup for terrain adjustment on arming 2022-03-28 20:53:56 +11:00
Andrew Tridgell
75bd6a4b6a SITL: don't use adjusted terrain in SITL 2022-03-28 20:53:56 +11:00
Andrew Tridgell
89465d2126 AP_Terrain: added terrain reference adjustment 
this restores the terrain adjustment functionality removed in #19946,
but without the problematic approach of always using home (which can
be moved in flight) and with a TERR_OFS_MAX parameter to limit the
amount of adjustment
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
4bc35ba04d HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
0ae1ac182a HAL_ChibiOS: switch between IOMCU and RCProt rapidly 
keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
9ba73d362d AP_RCProtocol: added using_uart() method 2022-03-28 20:53:56 +11:00
Andy Piper
4c4d60778c AP_HAL_ChibiOS: add KakuteH7-bdshot target 2022-03-28 20:53:56 +11:00
Andrew Tridgell
f0f19ce8fb AP_BattMonitor: fixed battery remaining of sum battery 
and move to common function for update_consumed()
 2022-03-28 20:53:56 +11:00
Randy Mackay
50cf7c9f94 AP_BLHeli: add reboot required to some parameters 2022-03-28 20:53:56 +11:00
Andy Piper
bafe46882f AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-28 20:53:56 +11:00
Randy Mackay
43beccd86c AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
86899b279f HAL_ChibiOS: prevent conflicting RC input 
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
3ffc08ae91 AP_GPS: prevent switching to a dead GPS 
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
36ba3fab9e GCS_MAVLink: send GCS voltage to GCS 
may be resting voltage of option enabled
 2022-03-28 20:53:56 +11:00
Andrew Tridgell
11e17a49d3 AP_BattMonitor: added option to send resting voltage to GCS 2022-03-28 20:53:56 +11:00
Andy Piper
6ddb813fba AP_Declination: ensure indexing into declination tables is always correct 
add constants for table sizes
 2022-03-18 14:30:36 +11:00
Andrew Tridgell
3cef6b8167 AP_Arming: make mission checks virtual 2022-03-18 14:23:20 +11:00
Andrew Tridgell
518b126f52 AP_Arming: display a warning if arming checks disabled when arming 2022-03-18 14:22:53 +11:00
Andrew Tridgell
66c13d29b7 AC_AttitudeControl: added set_lean_angle_max_cd() 2022-03-16 07:09:30 +11:00
Andrew Tridgell
ecbcbbe044 AC_Autorotation: use accel_to_angle() 2022-03-15 09:25:53 +11:00
Andrew Tridgell
f398cf8814 AC_WPNav: use angle/accel functions 2022-03-15 09:25:36 +11:00
Andrew Tridgell
a16357fb08 AP_Math: added angle_to_accel() and accel_to_angle() 2022-03-15 09:25:18 +11:00
Leonard Hall
b9628f106d AC_PosControl: Decay posiiton error during relax 2022-03-10 10:49:54 +11:00
Leonard Hall
94b83d34b1 AC_AttitudeControl: AC_PosControl: add soften for landing 2022-03-10 10:48:16 +11:00
Peter Barker
a7aa4155ad AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files 2022-03-10 10:36:09 +11:00
Andrew Tridgell
58cc0b4289 AP_Math: fixed build error on cygwin 
ensure variables are always initialised
 2022-03-10 10:31:02 +11:00
Leonard Hall
d7f283d3b5 AP_Math: SCurve: Increase corner speeds 2022-03-10 10:30:53 +11:00
Leonard Hall
594fc3f02d AP_Math: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-10 10:30:49 +11:00
Leonard Hall
9c70fc1aa9 AC_WPNav: Support pause 2022-03-10 10:30:31 +11:00
Leonard Hall
8049efabbc AC_WPNav: init optionally accepts stopping point 2022-03-10 10:30:29 +11:00
Leonard Hall
f9192b0c2c AC_Loiter: use Pos_Control soften_for_landing_xy 2022-03-10 10:30:26 +11:00
Leonard Hall
54f17d4a82 AC_WPNav: Increase corner speeds 2022-03-10 10:30:22 +11:00
Leonard Hall
2936b6cb5e AC_WP_Nav: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-10 10:30:20 +11:00
MallikarjunSE
2a39b3733e AP_HAL_ChibiOS: Add Sierra-F9P support 2022-03-10 08:30:11 +11:00
Andy Piper
6a9d01e3ac AP_HAL_ChibiOS: normalize BeastH7v2 in line with BeastF7v2 definition 2022-03-10 08:27:31 +11:00
Evgeniy
9b940b3e51 AP_HAL_ChibiOS: BeastH7v2 board added 2022-03-10 08:27:29 +11:00
Andrew Tridgell
e4fd86f679 hwdef: fixed buzzer on CUAV_GPS peripheral 2022-03-10 08:27:17 +11:00
MallikarjunSE
5c4d896f40 hwdef: hwdef update with watchdog 2022-03-10 08:27:11 +11:00
MallikarjunSE
a553cb08b1 hwdef:update storage pages and enable watchdog 2022-03-10 08:27:08 +11:00
murata
bc0954e124 hwdef: Set the maximum number of barometric pressure sensors to 1 2022-03-10 08:26:57 +11:00
murata
d8fec32b9a hwdef: Maximum number of battery monitors is 1 2022-03-10 08:26:54 +11:00
Andrew Tridgell
0df1dd6999 hwdef: enable GPS_MOVING_BASELINE on FreeflyRTK and f303-GPS 
this allows for F9P based dual-GPS yaw on DroneCAN peripherals with
auto-config
 2022-03-10 08:26:32 +11:00
Andrew Tridgell
83404f7537 hwdef: added HolybroG4_GPS 2022-03-10 08:26:26 +11:00
Andrew Tridgell
f501c32a21 HAL_ChibiOS: fixed min/max inversion in MCU voltage logging 2022-03-10 08:26:20 +11:00
Andy Piper
85d73eeb5c AP_HAL: always choose high for dshot prescaler calculation 2022-03-10 08:25:59 +11:00
Iampete1
150fc527d7 AP_PiccoloCAN: GPIO servo does not count as active 2022-03-10 08:22:40 +11:00
Iampete1
d069b6503b AP_Arming: don't arming check servo functions set to GPIO 2022-03-10 08:22:31 +11:00
Tom Pittenger
4eb39b8dae AP_Airspeed: improve description of ARSPD_TUBE_ORDR 2022-03-10 07:41:00 +11:00
Iampete1
832ac24bb9 AP_Airspeed: rename get_health_failure_probability to get_health_probability 2022-03-10 07:40:57 +11:00
Iampete1
ff2fdb65ef AP_Airspeed: Health: use reading from correct airspeed sensor 2022-03-10 07:40:54 +11:00
Iampete1
d83503b9d1 AC_AttitudeControl: WeatherVane: defualt to 0 gain on plane and early return 2022-03-10 07:39:49 +11:00
Andrew Tridgell
beeb46b4a5 AP_Scripting: fixed radius selection for ship landing 2022-03-10 07:36:33 +11:00
Andrew Tridgell
ce4580efd2 AP_Scripting: fixed beacon lost in ship landing 2022-03-10 07:36:27 +11:00
Andrew Tridgell
20e30fbda9 AP_Scripting: review fixes 2022-03-10 07:36:24 +11:00
Andrew Tridgell
ab54dda3ca SITL: fixed ship offset velocity correction 2022-03-10 07:36:18 +11:00
Andrew Tridgell
96a55878a7 AP_Common: improved accuracy of get_bearing() 
make base function ftype, then convert to int32_t for get_bearing_to()
 2022-03-10 07:36:14 +11:00
Andrew Tridgell
f7e10208cd AP_Scripting: update lua docs 2022-03-10 07:36:11 +11:00
Andrew Tridgell
b62e98c7e3 AP_Scripting: plane ship landing script 2022-03-10 07:35:51 +11:00
Andrew Tridgell
613e1ae7a9 AP_Scripting: added rotate_xy for Vector3f 2022-03-10 07:35:48 +11:00
Andrew Tridgell
2358e84d4e AP_Scripting: added follow API 2022-03-10 07:35:44 +11:00
Andrew Tridgell
8f8d327c82 AP_Vehicle: added update_target_location() 2022-03-10 07:35:40 +11:00
Andrew Tridgell
c0f8fd9dce SITL: added ship offset and ATTITUDE 2022-03-10 07:35:36 +11:00
Andrew Tridgell
878219be3a AP_Follow: added APIs for plane ship landing 2022-03-10 07:35:21 +11:00
Andrew Tridgell
fa4edc2ba1 SITL: removed terrain home correction 2022-03-10 07:35:00 +11:00
Andrew Tridgell
e8535115bd AP_Terrain: removed terrain home correction 2022-03-10 07:34:57 +11:00
Andrew Tridgell
3b0b7b4bf2 AP_Scripting: removed terrain home correction 2022-03-10 07:34:55 +11:00
Andrew Tridgell
7a9ac498cf AP_HAL_SITL: removed terrain home correction 2022-03-10 07:34:52 +11:00
Andrew Tridgell
6dc843b341 AP_Common: removed terrain home correction 2022-03-10 07:34:49 +11:00
Randy Mackay
cb5ee43077 AP_Follow: zreo velocities if not provided 2022-03-06 13:10:06 +11:00
Andrew Tridgell
17db2505f2 AP_Follow: support the FOLLOW_TARGET mavlink message 
this is used by qgroundcontrol, allowing follow on a mobile device

note that you must set the qgc option to "always send follow" and also
must set FOLL_ALT_TYPE=2 in ArduPilot
 2022-03-06 13:10:03 +11:00
Andrew Tridgell
16ae8fb765 AP_NavEKF3: fixed constrain indexing bug 
fixes #20180

thanks to @liyue75 for spotting this!
 2022-03-04 21:49:35 +11:00
Peter Barker
43bbfacef5 AP_Baro: reformat log message to separate fields out 2022-02-28 12:47:57 +11:00
Peter Barker
37af7e5166 RC_Channel: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Peter Barker
4e122a3d50 AP_IOMCU: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Peter Barker
14ce09279f RC_Channel: privatise switch reading functions 2022-02-27 09:51:04 +11:00
Peter Barker
d3db716dd9 RC_Channel: remove unused functions 2022-02-27 09:51:04 +11:00
Peter Barker
d41388f242 RC_Channel: privatise range accessors 2022-02-27 09:51:04 +11:00
Henry Wurzburg
f5766bb098 AP_BattMonitor: update name of type 10 to Sum of Selected Monitors 2022-02-26 08:31:24 +09:00
Randy Mackay
10e69373b3 AP_Scripting: copter-fast-descent has less aggressive slowdown at end 2022-02-26 08:05:05 +09:00
Randy Mackay
3efebcf1e0 AP_Scripting: copter-fast-descent uses small default radius 2022-02-26 08:05:05 +09:00
Randy Mackay
fc9cfe9b4a AP_Scripting: copter fast descent from Auto 
Also use custom parameters
Allow yaw to be static or point towards center
 2022-02-26 08:05:05 +09:00
Andy Piper
0696dda324 AP_FlashIface: add support for DTR variant of w25q found on SPRacingH7 2022-02-24 10:19:07 +11:00
Andy Piper
ed952a0ea0 AP_HAL_ChibiOS: allow flash to be write-protected/unprotected on reboot 
control protection support via HAL_FLASH_PROTECTION
provide support for flash protection on SPRacingH7
SPRacingH7 bootloader needs to use w25q-dtr
 2022-02-24 10:19:07 +11:00