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32081 Commits

Author SHA1 Message Date
Paul Riseborough
007bc804bd AP_NavEKF3: Reduce use of GSF yaw for planes with no compass 2023-04-21 09:48:59 +10:00
Andy Piper
27628099ce AP_HAL_ChibiOS: hwdef for MatekF405-TE/VTOL including bdshot 2023-04-21 09:48:59 +10:00
bugobliterator
42d21ab9bc AP_InertialSensor: fix hardfault in BatchSampler 2023-04-21 09:48:59 +10:00
Peter Barker
f3502a71e9 AP_InertialSensor: correct access beyond array in Ins TCal 2023-04-21 09:48:59 +10:00
Peter Barker
aecffd2778 SimOnHW: correct compilation on CubeOrangePlus 
this was at 2 to reduce CPU load.

But particularly when CubeOrangePlus is playing around with auxiliary IMUs we really want to be running on SimOnHardware just what we're running on the normal firmware.  We can find CPU cycles elsewhere....
 2023-04-21 09:48:59 +10:00
Andy Piper
3e83d40bd8 AP_HAL_ChibiOS: ensure that DMA source is correct on DMA send for rcout 2023-03-26 16:46:53 +11:00
Andy Piper
aabfce2099 AP_HAL_ChibiOS: ensure the rcout TIM_UP DMA request source is re-instated after cancellation 
This fixes a bug in bdshot whereby dma cancellation could result in the wrong DMA channel
being used for dshot output and hence motors stopping
 2023-03-26 16:46:51 +11:00
Andrew Tridgell
7527c6e278 HAL_ChibiOS: support starting the clock at non-zero 
for testing time wrap bugs
 2023-03-26 16:46:47 +11:00
Andrew Tridgell
c55a2916f6 HAL_ChibiOS: switched to 64 bit maths for DShot timings 
this fixes a timer wrap bug at 71 minutes after boot that impacts
bdshot
 2023-03-26 16:46:44 +11:00
bugobliterator
b9e9d4cc4f AP_InertialSensor: fix duplicate sensor detection for AUX sensors 2023-03-24 11:55:45 +11:00
bugobliterator
f88db74356 AP_HAL_ChibiOS: add support for initialising extra sensors as AUX 2023-03-24 11:55:45 +11:00
bugobliterator
6eaa05960f AP_InertialSensor: increase the temp tolerance for INV2 driver for fifo reset 2023-03-23 08:00:05 +11:00
bugobliterator
deeeb4134c AP_NavEKF3: use INS_MAX_INSTANCES instead of MAX_EKF_CORES for IMU mask 2023-03-21 10:04:16 +11:00
bugobliterator
08bea2fcd2 AP_InertialSensor: move from INS_ top level parameters to INS 2023-03-21 10:04:16 +11:00
bugobliterator
e7533c006b SITL: add support for auxiliary IMUs 2023-03-21 10:04:16 +11:00
bugobliterator
14ae431056 AP_DAL: use MAX_EKF_CORES instead of INS_MAX_INSTANCES in ekf_low_time_remaining 2023-03-21 10:04:16 +11:00
bugobliterator
f3dc4216d2 AP_HAL_ChibiOS: allow instantiation of upto 5 IMUs on CubeOrangePlus 2023-03-21 10:04:16 +11:00
bugobliterator
4e93e99fe5 AP_NavEKF: Five IMUs need slightly more stack space with GCC 6.3.1 
The extra space is take by the inactive sensor bias state code.
 2023-03-21 10:04:16 +11:00
bugobliterator
10439cc42e AP_InertialSensor: add support for extra Aux IMUs 2023-03-21 10:04:16 +11:00
Peter Barker
1cd3e7327d AP_EFI: add defines for Lutan and MegaSquirt 2023-03-21 09:01:13 +11:00
Peter Barker
615f36f8a0 AP_UAVCAN: tidy AP_EFI defines 2023-03-21 09:01:13 +11:00
Peter Barker
1e38200293 AP_PiccoloCAN: tidy AP_EFI defines 2023-03-21 09:01:13 +11:00
Peter Barker
593983df7a AP_EFI: tidy AP_EFI defines 2023-03-21 09:01:13 +11:00
Peter Barker
e76462f005 AP_OSD: move OSD minimizement to minimize_features.inc 2023-03-21 08:47:53 +11:00
Peter Barker
8278d5ad76 AP_HAL_ChibiOS: move OSD minimizement to minimize_features.inc 2023-03-21 08:47:53 +11:00
Peter Barker
1ffc5d2faa AP_OSD: add and use AP_OSD_config.h 2023-03-21 08:47:53 +11:00
Peter Barker
6ebd73f144 AP_RCTelemetry: add and use AP_RCTelemetry_config.h 2023-03-21 08:47:53 +11:00
Peter Barker
35e3dcd83b AP_RCProtocol: HAL_LOGGING_ENABLED in place of checking build types 
We don't care how logging works, just that it does
 2023-03-21 08:31:27 +11:00
Michael Oborne
76beaeab64 CubeOrangePlus-SimOnHardWare: add support 2023-03-20 10:09:31 -07:00
Henry Wurzburg
ed7a622928 AP_Arming:correct RUDDER_ARMING description 2023-03-20 10:03:39 -07:00
Henry Wurzburg
0a96f037f5 AP_Scripting:provide altitude loss safety abort for plane aerobatics 2023-03-20 04:48:57 -07:00
QioTek
011fdf6e2b AP_RAMTRON: added PB85RS128C and PB85RS2MC 2023-03-19 17:22:53 +11:00
Peter Barker
8e15b2f349 AP_Mission: correct missing transitive include problem 2023-03-19 09:08:41 +11:00
Peter Barker
d200ed1b08 AP_HAL_ChibiOS: correct defaulting of camera backends in minimize_features.inc 2023-03-19 09:08:41 +11:00
Peter Barker
b850c9cb16 AP_Notify: correct config boards include 
Important to include AP_HAL_Boards.h directly, rather than relying on someone else having done it or getting it transitively
 2023-03-19 09:08:41 +11:00
Peter Barker
59af9436db AP_Gripper: correct config boards include 
Important to include AP_HAL_Boards.h directly, rather than relying on someone else having done it or getting it transitively
 2023-03-19 09:08:41 +11:00
Peter Barker
84bf020897 AP_GPS: correct config boards include 
Important to include AP_HAL_Boards.h directly, rather than relying on someone else having done it or getting it transitively
 2023-03-19 09:08:41 +11:00
Peter Barker
191e5eb9c9 AP_Generator: correct config boards include 
Important to include AP_HAL_Boards.h directly, rather than relying on someone else having done it or getting it transitively
 2023-03-19 09:08:41 +11:00
Peter Barker
48544e3e70 AP_Camera: correct config boards include 
Important to include AP_HAL_Boards.h directly, rather than relying on someone else having done it or getting it transitively
 2023-03-19 09:08:41 +11:00
Andrew Tridgell
0489323551 HAL_ChibiOS: Revert "HAL_ChibiOS: fix a memory corruption bug on STM32H757" 
This reverts commit 63633368f5.

this broke CAN1 on some H743 boards
 2023-03-19 07:17:28 +11:00
Randy Mackay
e5be8e9bf0 AP_Scripting: copter deadreckoning lua check fixes 2023-03-18 08:55:21 +09:00
Randy Mackay
3d39f9bb20 AP_Scripting: copter deadreckon applet gets param desc and md 2023-03-18 08:55:21 +09:00
Randy Mackay
bf0d096276 AP_Scripting: copter deadreckoning moved to applet directory 2023-03-18 08:55:21 +09:00
Andrew Tridgell
63633368f5 HAL_ChibiOS: fix a memory corruption bug on STM32H757 
this fixes an issue where a variable in SRAM1 gets set to a bad value
when we reset AHB1 with the top bit (a reserved bit)

the bug was only reproducible with this particular commit:

https://github.com/tridge/ardupilot/commits/cubeorangplus-crash-boot-bisect

but likely is just luck that it triggered on that commit. In this
instance it triggered as AP_OSD::singleton was reset to non-nullptr,
causing a panic() in AP_OSD::AP_OSD()

compiler was gcc 10.2-2020-q4
 2023-03-18 08:35:51 +11:00
Andrew Tridgell
32578b796b hwdef: fixed polarity of VDD_5V_PERIPH_EN on several boards 
we can tell these are incorrect as they init to LOW, and previously we
didn't have handling of VDD_5V_PERIPH_EN, so we know that LOW is
enabled or the boards would not have worked

this fixes GPS on Pixhawk1
 2023-03-17 17:40:51 +11:00
Randy Mackay
5b96998e62 AP_Mission: add camera zoom and focus support 
also image-start-capture, video-start-capture, video-stop-capture
 2023-03-16 07:47:01 +09:00
Randy Mackay
a3e3e5fd2d GCS_MAVLink: send mav-cmd-set-camera-zoom to AP_Camera 
also send focus and image capture
 2023-03-16 07:47:01 +09:00
Randy Mackay
227daf31f7 AP_Camera: support mav-cmd-set-camera-zoom from GCS 
also support focus and image capture commands
 2023-03-16 07:47:01 +09:00
Randy Mackay
267f459c7e AP_Camera: remove unnecessary includes 2023-03-16 07:47:01 +09:00
Randy Mackay
a8b9b2742d GCS_MAVLink: move camera command handling to AP_Camera 2023-03-16 07:47:01 +09:00
Randy Mackay
9ccf08a0f8 AP_Camera: add handle_command_long 2023-03-16 07:47:01 +09:00
Peter Barker
3bc42b888f AP_EFI: use uint16_t to store offset 
prevents infinite loop if there are exactly 255 bytes ready to read
 2023-03-15 13:34:17 -07:00
Peter Barker
440db27807 AP_RCProtocol: correct use of MAX_CHANNELS in SRXL2 
This is a little all over the place.  Safe, but ARRAY_SIZE ensures correctness, and we save memory...
 2023-03-15 13:33:45 -07:00
Peter Barker
d5bca05fb6 AP_RCProtocol: SRXL2 uses own define for max-channels 
Different protocol, different count.
 2023-03-15 13:33:45 -07:00
Tom Pittenger
6b4cf06243 RC_Channel: rename Aux SW for AUTO_VTOL to PLANE_AUTO_L:AND_ABORT 2023-03-15 13:31:43 -07:00
Rhys Mainwaring
c4a86919bb AP_WindVane: use body frame when setting apparent wind in sitl physics backend 
- Change behaviour to expect apparent wind in body rather than NED frame.
- Remove dependency on AP::ahrs().yaw.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2023-03-15 12:58:49 +00:00
Peter Barker
9d099fbcd5 AP_RCProtocol: add option to not include SRXL in build 2023-03-15 22:45:23 +11:00
Peter Barker
1c5f5b6ef2 AP_HAL_ChibiOS: add option to not include SRXL in build 2023-03-15 22:45:23 +11:00
Andrew Tridgell
d659642826 SITL: prevent a conflict with a _serialize() macro on cygwin 
some cygwin versions define a macro _serialize with 1 argument
 2023-03-15 19:32:22 +11:00
Pierre Kancir
f0777b5cb0 SITL: constraint SITL rover to 360deg/s yaw rate on ackerman 
This prevent the gsf to blow up due to the rover reaching 1042 deg/s yaw rate.
 2023-03-15 19:31:26 +11:00
Andrew Tridgell
3e2fdc7a0d hwdef: added rGNSS GPS peripheral 2023-03-15 19:08:53 +11:00
Andrew Tridgell
d29d4d97e7 hwdef: added rFCU board 2023-03-15 19:08:53 +11:00
Andrew Tridgell
91227433e9 HAL_ChibiOS: support VDD_5V_PERIPH_EN with active high 2023-03-15 19:08:53 +11:00
Andrew Tridgell
34a52142c8 AP_InertialSensor: added support using the 2nd IMU for heater control 2023-03-15 19:08:53 +11:00
Andrew Tridgell
eb4f544535 AP_BoardConfig: support multiple heater pins 2023-03-15 19:08:53 +11:00
Peter Barker
a32180f709 AP_Generator: rename fuel_remain_pct to fuel_remain_scale 2023-03-15 19:08:18 +11:00
Peter Barker
6bc9b7c435 AP_BattMonitor: rename fuel_remain_pct to fuel_remain_scale 2023-03-15 19:08:18 +11:00
Peter Barker
144c3ef42c AP_HAL_ChibiOS: add and use option to compile SLCAN support out of code 2023-03-15 19:08:09 +11:00
Peter Barker
c1c8158687 AP_CANManager: add and use option to compile SLCAN support out of code 2023-03-15 19:08:09 +11:00
AerofoxTech
8395f48ec1 hwdef: add a new air speed module for Aerofox 2023-03-15 19:07:00 +11:00
Iampete1
8bd374d835 Filter: HarmonicNotch: update FREQ description 2023-03-15 18:53:55 +11:00
Andy Piper
d565a378b7 AP_BattMonitor: support configuring battery #2 in hwdef 2023-03-15 18:51:37 +11:00
Andy Piper
7a85121daf AP_HAL_ChibiOS: add second battery sensor to KakuteH7v2 
correct BATT2 hwdefs for various boards
 2023-03-15 18:51:37 +11:00
Tom Pittenger
4a2cbf17f9 AP_NMEA_Output: fix GPGGA hdop, fix, sats 2023-03-14 12:45:47 -07:00
Liam
41ba830008 AP_NMEA_Output: UTC time decimal places, gps fix type, number of satellites and hdop. 2023-03-14 12:45:47 -07:00
Tom Pittenger
10f7a363ed AP_Scripting: bump up SCR HEAP SIZE for large RAM devices 2023-03-14 06:57:21 -07:00
Peter Barker
8e1decc730 AP_Scripting: correct compilation when AP_EFI_Scripting is not enabled 2023-03-14 12:09:26 +11:00
Peter Barker
3eb9515aaf AP_EF: correct builds when AP_EFI_ENABLED is false 
dronecan backend was not checking for HAL_EFI_ENABLED
 2023-03-14 12:09:26 +11:00
Randy Mackay
c039c349e3 AP_Terrain: terrain offset max default to 30m 2023-03-14 11:59:49 +11:00
Peter Barker
9f3693b5a2 AP_HAL_ChibiOS: remove mavlink camera from minimized boards 2023-03-14 11:24:47 +11:00
Andy Piper
0f6d62c196 AC_AutoTune: add option for tuning yaw D-term 
don't touch yaw D or FLTE when tuning the other
make yaw D tune an "axis"
 2023-03-14 11:01:31 +11:00
Henry Wurzburg
b432222d42 RC_Channel: add AUTO VTOL landing abort AUX sw 2023-03-14 10:52:23 +11:00
Peter Barker
1cdcc0b5f1 SITL: add documentation for SIM_OPOS* and SIM_FLOAT_EXCEPT 2023-03-14 10:44:28 +11:00
Peter Barker
b070217308 AP_Generator: add defines for generator backends 2023-03-14 10:34:05 +11:00
murata
9836b7c549 AP_Notify: Use the number of arrays 2023-03-13 10:43:15 -07:00
Peter Barker
5576595006 AP_HAL_ChibiOS: specify AP_EXTERNALAHRS_ENABLED for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker
f476a47228 AP_ExternalAHRS: specify AP_EXTERNALAHRS_ENABLED for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker
1b75f564f0 AP_HAL_ChibiOS: specify compass feature enables for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker
4755f76126 AP_Compass: specify compass feature enables for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker
48ec224b8c AP_HAL_ChibiOS: specify AP_BATTERY_ESC_ENABLED for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker
fab230cd50 AP_BattMonitor: specify AP_BATTERY_ESC_ENABLED for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker
5ad5605bc8 AP_HAL: specify HAL_SUPPORT_RCOUT_SERIAL for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker
f58f8841a1 AP_HAL_ChibiOS: specify HAL_SUPPORT_RCOUT_SERIAL for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker
9fd72b6a68 AP_HAL: specify AP_STATS_ENABLED for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker
18b574a400 AP_HAL_ChibiOS: specify AP_STATS_ENABLED for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker
806f0bf97a AP_HAL_ChibiOS: specify HAL_GENERATOR_ENABLED for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker
89a77f84f1 AP_Generator: specify HAL_GENERATOR_ENABLED for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker
56d6acf985 AP_Notify: remove pointless zeroing of memory 
this is static memory
 2023-03-12 08:34:05 +11:00
Andrew Tridgell
c35d1bd82e StorageManager: fixed startup crash 
this crash was caused by AP_UAVCAN_DNA_Server declaring a storage
object on the stack, which meant file was not initialised to nullptr.
 2023-03-12 07:15:01 +11:00
Tom Pittenger
d76901bd41 AP_Mission: jumptag optimize for sd card 2023-03-11 14:02:59 +11:00