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21479 Commits

Author SHA1 Message Date
bnsgeyer 5898986b0a AP_Motor: tradheli align swash params btwn frames and fix metadata 2020-02-05 10:09:20 +11:00
Peter Barker 5871cdad23 AP_Math: remove unit_mod concept from wrap functions 
devcall decided it would be clearer to have non-shared implementation
for the _cd variants
 2020-02-05 10:09:20 +11:00
Peter Barker 5e9aaca8df AP_NavEKF2: initialise Kfusion stack variable to fix compilation 
This fixes the compilation, as previous patches have done.
 2020-02-05 10:09:20 +11:00
Peter Barker ec991969c7 AP_HAL_ChibiOS: correct include of mavlink header for analog debug 2020-02-05 10:09:20 +11:00
liang 9c44ebaced AP_Baro: LPS22H: correct formatting 2020-02-05 10:09:20 +11:00
Andrew Tridgell de12430977 AP_NavEKF2: fixed build with g++ 9.1 
this is a false positive, but the cost of clearing this array is low,
and it saves a much more complex fix
 2020-02-05 10:09:20 +11:00
murata 6de2311689 AP_Radio: Change direct value to define name 2020-02-05 10:09:20 +11:00
murata a74123148b AP_Compass: Change direct value to define name 2020-02-05 10:09:20 +11:00
Andrew Tridgell 5d67618968 AP_NavEKF2: added comment (review request) 2020-02-05 10:09:20 +11:00
Andrew Tridgell 164813bcc2 AP_NavEKF2: moved some of the intermediate vars to the stack 
this keeps stack frames below 1k, while giving faster access to the
variables and saving more memory
 2020-02-05 10:09:20 +11:00
Andrew Tridgell 6ffffff8c6 AP_NavEKF3: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2020-02-05 10:09:00 +11:00
Andrew Tridgell a48d97c307 AP_NavEKF2: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2020-02-05 10:08:10 +11:00
Peter Barker 5ce16f81ff AP_ADSB: use ObjectBuffer in place of AP_Buffer 2020-02-05 10:05:59 +11:00
Peter Barker ed5848238c AP_Buffer: remove as it is replaced with ObjectBuffer 2020-02-05 10:05:59 +11:00
Willian Galvani 8f6ca7bb8f APMotors6DOF: add roll factor for motors 4 and 5 for SIMPLEROV_4 and SIMPLEROV_5 2020-02-05 10:05:59 +11:00
Willian Galvani f5ba04d098 APMotors6DOF: add case for SIMPLEROV_3 2020-02-05 10:05:59 +11:00
Peter Barker 552cc4be5c AP_HAL_SITL: catch SIGTERM and exit with zero exit status 2020-02-05 10:05:59 +11:00
Andrew Tridgell 7ecbec5b96 HAL_SITL: added MotorBoat 2020-02-05 10:05:59 +11:00
Andrew Tridgell be083aab1a SITL: added a MotorBoat class 
a sailboat with zero sail area
 2020-02-05 10:05:59 +11:00
Lucas De Marchi 77a06de66f AP_RangeFinder: update minimum fw version of TFMiniPlus 
Version 2.0.3 has important fixes to avoid having the sensor to lock up.
Let's make sure we check for it and warn on console.
 2020-02-05 10:05:59 +11:00
Peter Hall 5b434e814a APM_Control: AR_AttitudeControl: add description for new PID params 2020-02-05 10:05:59 +11:00
Andrew Tridgell d85a7e4c4b AP_Logger: fixed use of old irqsave() API 2020-02-05 10:04:08 +11:00
Michael du Breuil af0c55b4df AP_HAL_ChibiOS: Only include MAVLink when using the MAVLink debugging 2020-02-05 10:04:08 +11:00
Michael du Breuil bfe4d6ee82 GCS_MAVLink: remove some unused includes 2020-02-05 10:04:08 +11:00
Peter Barker 506126cb44 AC_AutoTune: correct abs to fabsf for roll_cd and pitch_cd 2020-02-05 10:04:08 +11:00
Peter Barker 3e9f470bfb AP_L1_Control: wrap_180_cd no longer solely returns floats 2020-02-05 10:04:08 +11:00
Peter Barker 7c2c809b06 APM_Control: wrap_180_cd no longer solely returns floats 2020-02-05 10:04:08 +11:00
Peter Barker 33ef991282 AP_Math: stop returning float for integer wrap_180/wrap_360 etc 2020-02-05 10:04:08 +11:00
Peter Barker 818402ab99 AP_Math: add more tests for wrap functions 2020-02-05 10:04:08 +11:00
Peter Barker 89cfdb678f AC_WPNav: do not calculate NEU vector from invalid location 2020-02-05 10:04:08 +11:00
Michael du Breuil 14f43f24a9 AP_Common: Include altitude in the init check for a location 2020-02-05 10:04:08 +11:00
Andrew Tridgell 5bac7018b6 AP_GPS: use jitter correction on GPS_INPUT data 
this allows for more accurate timing when using GPS_INPUT for indoor
positioning systems
 2020-02-05 10:04:08 +11:00
Peter Barker 882d3b0c0d GCS_MAVLink: use singleton to get AP_AdvancedFailsafe pointer 2020-02-05 10:04:08 +11:00
Peter Barker 7a1afc580d AP_AdvancedFailSafe: add singleton getter 2020-02-05 10:04:08 +11:00
Andrew Tridgell f1cb9ed956 AP_FileSystem: chunk IOs to max 4k 
this prevents larger IOs from attempting to allocate too much memory
in DMA bouncebuffers
 2020-01-18 12:27:51 +11:00
Andrew Tridgell 2d817db7f3 AP_IOMCU: added a health check based on status read errors 
if we have more than 1 in 128 read status requests failing then mark
IOMCU unhealthy
 2020-01-18 12:27:42 +11:00
Andrew Tridgell 630ccb2ef9 AP_IOMCU: reduce uart buffer sizes 2020-01-18 12:27:39 +11:00
Andrew Tridgell 23005e6f46 HAL_ChibiOS: use 4k bouncebuffer for sdcard 
match AP_Logger IO size
 2020-01-18 12:27:36 +11:00
Andrew Tridgell c5b1c88948 HAL_ChibiOS: adjust dma reserve allocation 
use larger target and allow for smaller allocation
 2020-01-18 12:27:33 +11:00
Andrew Tridgell 64dc29cf98 HAL_ChibiOS: don't extend alloc of iomcu uart 2020-01-18 12:27:29 +11:00
Andrew Tridgell 7c0cb85361 HAL_ChibiOS: added checking on bouncebuffer allocation 
fail operations if DMA bouncebuffer alloc fails

# Conflicts:
#	libraries/AP_HAL_ChibiOS/I2CDevice.cpp
 2020-01-18 12:27:23 +11:00
Andrew Tridgell b60fd97f32 AP_Logger: add a semaphore to protect creation of new log formats 2020-01-18 12:26:29 +11:00
Andrew Tridgell 66b14f4aaf AP_Filesystem: fixed set_mtime semaphore 2020-01-18 12:26:25 +11:00
Michael du Breuil 0fe9763e19 AP_Param: Fix failing to invalidate the cached parameter count 
This would cause a GCS to download fewer then the requested number of
parameters
 2020-01-15 14:03:36 +11:00
Andrew Tridgell e9f60ede1b AP_SerialManager: ensure users can't break SERIAL0_PROTOCOL 
this prevents users from setting SERIAL0_PROTOCOL to something that
prevents them accessing the board. This can happen when users are
trying to setup SLCAN
 2020-01-10 19:12:10 +11:00
Andrew Tridgell 7d91460e85 AP_Declination: re-generate mag tables 
max interpolate error between -60 and 60 latitude is 13.86 mGauss
 2020-01-10 19:12:10 +11:00
Andrew Tridgell 3584f1b779 AP_Declination: update generate script 
added ability to display max error
 2020-01-10 19:12:10 +11:00
Andrew Tridgell 9261b32430 AP_GPS: fixed build 2020-01-10 19:12:10 +11:00
Andrew Tridgell 0ed02b1d88 AP_Compass: added mag_cal_fixed_yaw() 
this is a fast compass calibration that uses a yaw value provided by
the user.
 2020-01-10 18:48:52 +11:00
Andrew Tridgell aea2238936 GCS_MAVLink: support MAV_CMD_FIXED_MAG_CAL_YAW 2020-01-10 18:48:49 +11:00
Andrew Tridgell b95a31ccfc AP_RCProtocol: fixed support for 22ms multi-frame DSM 2020-01-10 18:48:42 +11:00
Andrew Tridgell 0dc22331d0 AP_Frsky_Telem: fixed a race condition with statustext handling 
this fixes an issue that can cause a hardfault. See this bug report:

https://discuss.ardupilot.org/t/hexa-crash-after-watchdog-reset/50917

ObjectArray is not thread safe
 2020-01-10 18:48:17 +11:00
Andrew Tridgell b834796f3b HAL_ChibiOS: fixed clock src for I2C4 on H7 2020-01-08 06:02:46 +11:00
Andrew Tridgell 17118977dc HAL_ChibiOS: automatically set AP_FEATURE_RTSCTS 2020-01-02 07:50:35 +11:00
Andrew Tridgell 5c4802ce25 AP_Compass: limit rotations we try to ROTATION_MAX_AUTO_ROTATION 2020-01-01 09:08:31 +11:00
Andrew Tridgell 686b9322cd AP_Math: define ROTATION_MAX_AUTO_ROTATION 
we don't want to use ROTATION_PITCH_7 in our auto rotation mix, as it
is too close to level
 2020-01-01 09:08:19 +11:00
Andrew Tridgell 8311a5be63 HAL_ChibiOS: fixed H7 I2C timing 
we were running the clock at too low speed. This affected the SSD1306 display

# Conflicts:
#	libraries/AP_HAL_ChibiOS/I2CDevice.cpp
 2019-12-30 14:35:57 +11:00
Peter Barker abe1a09c7a AP_HAL: stop emitting extra CR before a LF as part of our printf 2019-12-25 12:00:37 +11:00
Pierre Kancir ecdd07e793 AP_Compass: add register to checked ones and remove single-use goto 
Also fix comment on TMRC register setting
 2019-12-23 20:20:12 +11:00
Pierre Kancir d9edd3c8b5 AP_Compass: probe for RM3100 2019-12-23 20:20:01 +11:00
Andrew Tridgell 318c0a958d HAL_ChibiOS: removed PB1 and PB0 TIM1 complementary channels for F76x 
these do not work, possibly a datasheet bug
 2019-12-23 19:42:04 +11:00
Andrew Tridgell 24e48b5e81 HAL_ChibiOS: switch MatekF765 to timer 12 
fixes PWM 5 and 6
 2019-12-23 19:42:02 +11:00
Andrew Tridgell af04f1eb93 HAL_ChibiOS: ensure bootloader flash is multiple of 32 bytes 2019-12-23 17:36:28 +11:00
Andrew Tridgell 9c2caf5b12 AP_InertialSensor: default fast sampling on 
if we have a first IMU capable of fast sampling then we want it
enabled by default
 2019-12-23 09:56:26 +11:00
Andrew Tridgell f733e963df HAL_ChibiOS: scale uart rx buffer size with baudrate 
this ensures we have enough buffer space for a RTK GPS, as well as for
high speed comms with a companion computer
 2019-12-23 09:56:26 +11:00
Peter Barker 48a04d21ce AP_NMEA_Output: NavEKF constructors no longer take rangefinder 2019-12-23 09:56:26 +11:00
Randy Mackay e206134fa6 AP_NMEA_Output: 10hz rate limiting uses uint32_t 2019-12-23 09:56:26 +11:00
Peter Barker 46c384b412 AP_NMEA_Output: correct 10Hz rate limiting 
integer promotion issue
 2019-12-23 09:56:26 +11:00
Peter Barker 9fd53b0dbc AP_NMEA_Output: add example 2019-12-23 09:56:26 +11:00
Peter Barker e90b6bafca AP_NMEA_Output: skip sending sentences if no space on UART 
AP_NMEA_Output: clean scope by removing unneeded temps

AP_NMEA_Output: redo last_sent to last_run

AP_NMA_Output: early-exit if no data
 2019-12-23 09:56:26 +11:00
Andrew Tridgell 12e51965c9 HAL_ChibiOS: change CUAVv5Nano volt scale to 18.000 2019-12-23 09:56:26 +11:00
Andrew Tridgell 96bccba638 HAL_ChibiOS: fixed build of SPI clock test 2019-12-12 20:43:40 +11:00
Andrew Tridgell 87f2839f3e GCS_MAVLink: fixed critical error on prefight cal ops 2019-12-12 20:43:35 +11:00
Andrew Tridgell 595a49eec4 GCS_MAVLink: send temperature for IMUs 2019-12-09 13:25:18 +11:00
Andrew Tridgell 04827d229c AP_NavEKF2: don't use WMM tables unless we have a compass scale factor set 2019-12-09 13:18:01 +11:00
Andrew Tridgell c36687a79f SITL: added SIM_MAG_SCALING for testing scale factor errors 
# Conflicts:
#	libraries/SITL/SITL.cpp
 2019-12-09 13:18:01 +11:00
Andrew Tridgell bc7f811ff0 AP_GPS: cope with UAVCAN GPS that don't provide Aux message 
thanks to @VadimZ for the suggestion
 2019-12-09 13:18:01 +11:00
Randy Mackay 0cd737856d AP_RangeFinder: remove param conversion for 3rd and 4th 
3rd and 4th instances were not available to users unless they used their own builds which is rare
this reduces the firmware's flash size a small amount
 2019-12-09 13:18:01 +11:00
Randy Mackay 4cb470e4df AP_RangeFinder: param conversion fix 
This resolves an issue with the parameter conversion when moving from Copter-3.6.x to 4.0 (and similar moves for other vehicle types)
 2019-12-09 13:18:01 +11:00
Peter Barker 8fac70149d AP_Compass: tidy constructor 2019-12-09 13:18:01 +11:00
Peter Barker 03064f8eea AP_Compass: make compass_cal_status_t enum class Status within CompassCalibrator 2019-12-09 13:18:01 +11:00
Andrew Tridgell 342dd67dc0 AP_Compass: narrow range of allowed scale factor 2019-12-09 13:18:01 +11:00
Andrew Tridgell 536222859d AP_Compass: added COMPASS_OPTIONS 
this allows user to set that calibration requires GPS lock
 2019-12-09 13:18:01 +11:00
Andrew Tridgell 920007f3c4 AP_Compass: added estimation of compass scale factor 
this adds new COMPASS_SCALE, COMPASS_SCALE2 and COMPASS_SCALE3
parameters, which give the sensor scaling factor. It is used to
compensate for an incorrect scaling in a compass.

The 3D compass calibration process will set the correct value
automatically, otherwise users can set the value to a known value for
an existing compass
 2019-12-09 13:18:01 +11:00
Randy Mackay ae234635e8 AP_Compass: minor comment fix 
Co-Authored-By: Peter Barker <pb-gh@barker.dropbear.id.au>
 2019-12-09 13:18:01 +11:00
lukezhqin f59d22aa41 AP_Compass: fix thin_samples to avoid comparing sample to itself 2019-12-09 13:18:01 +11:00
Randy Mackay b87f42bc07 AP_Compass: fix calibrator update when step one fails 2019-12-09 13:18:01 +11:00
Randy Mackay d9fde84ccb AP_Compass: rename CompassCalibrator::clear to stop 2019-12-09 13:18:01 +11:00
Randy Mackay 6c8ee8fa67 AP_Compass: remove unused calc_mean_squared_residuals 2019-12-09 13:18:01 +11:00
Randy Mackay a5e0af6868 AP_Compass: add comments to calibrator 2019-12-09 13:18:01 +11:00
Randy Mackay 243cf3b22d AP_Compass: formatting fixes 
this should be a non-functional change
 2019-12-09 13:18:01 +11:00
Randy Mackay 69a7a52e5f AP_Compass: constify get_completion_mask and remove use of auto 2019-12-09 13:18:01 +11:00
Randy Mackay cf34abba87 AP_Compass: constify get_orientation 2019-12-09 13:18:01 +11:00
Andrew Tridgell 47fe57bd8d AP_Compass: remove expected error 
this happens with AK09916 probing on invensense sensor
 2019-12-09 13:18:01 +11:00
Andrew Tridgell 3b244bbc7f AP_Compass: disable HIL for AP_Periph 
this saves several k of flash
 2019-12-09 13:18:01 +11:00
Randy Mackay 88761e59f0 AP_Compass: LEARN param default to 0 for all vehicles 2019-12-09 13:18:01 +11:00
Andrew Tridgell 1afd603fa8 AP_Compass: don't show too many params when max compasses 1 2019-12-09 13:18:01 +11:00
Andrew Tridgell 2d25adca33 HAL_ChibiOS: fixed build of sparky2 
running out of flash
 2019-12-09 13:18:01 +11:00
Andrew Tridgell 9f76d2cf50 AP_BLHeli: fixed critical errors caused by BLHeli code 2019-12-09 13:18:01 +11:00
Andrew Tridgell 1fa764c915 HAL_ChibiOS: update mRoX21-777 I2C mask 
all external
 2019-12-09 12:58:55 +11:00
Phillip Kocmoud 0fffc77dae HAL_ChibiOS: update mRoControlZeroF7 I2C mask 2019-12-09 12:58:52 +11:00
Andrew Tridgell 59b576ebf3 AP_BattMonitor: added Durandal selection for batt mon pins 2019-12-09 12:57:44 +11:00
Andrew Tridgell 5fe0cd16ab HAL_ChibiOS: enable MatekF765 LED pin 
- use tonealarm for buzzer
 - add more baro options
 2019-12-09 12:56:40 +11:00
yaapu 4bf6f4c297 Ap_Frsky_Telem: replaced the passthrough scheduler with a WFQ one. 
This replaces the default scheduler with a WFQ one
 2019-12-09 12:56:13 +11:00
vierfuffzig 91c77e6df4 AP_BLHeli: fix eRPM conversion 2019-12-09 12:55:37 +11:00
Andy Piper 00406180c4 AP_HAL_ChibiOS: specify Durdanal IMUs so that ordering is correct 2019-12-09 12:54:14 +11:00
Henry Wurzburg 4d4b4d46a2 HWDEF: Speedybeef4 change I2C internal mask to 0 to allow probing ext baros 2019-12-09 12:54:06 +11:00
Andrew Tridgell 3a1b24c9bb HAL_ChibiOS: fixed handling of 16bit timer wrap 
this fixes #12948
 2019-12-09 12:45:20 +11:00
Andrew Tridgell 6f9abb8a4b HAL_ChibiOS: added assert for systime_t size 2019-12-09 12:45:09 +11:00
Andrew Tridgell 9a978c1eef AP_Airspeed: switched to recursive semaphore 
this is needed by the SDP3X driver. It is the simplest fix for the
issue
 2019-11-20 07:35:07 +11:00
Andrew Tridgell 99932a3319 AP_GPS: fixed cast for comparison with txspace 2019-11-19 07:49:55 +11:00
Andrew Tridgell c8f6697859 AP_TECS: removed TECS_LAND_PMIN 
thanks to TunaLobster for pointing out that it is redundent
 2019-11-19 07:47:33 +11:00
Andrew Tridgell 9035195fca AP_UAVCAN: support RTCMStream for RTCM injection 2019-11-17 11:58:52 +11:00
Andrew Tridgell 0080f3c011 AP_GPS: fixed sizes of config items 2019-11-17 11:57:51 +11:00
Michael du Breuil ea337209e6 AP_GPS: UBlox: Fix the assumption that all keys are 1 byte keys 2019-11-17 11:57:48 +11:00
Michael du Breuil 62f69cf92f AP_GPS: UBlox fix not listing the time mode as a configuration reason 2019-11-17 11:57:45 +11:00
Andrew Tridgell 3b75b4e5ad AP_GPS: fixed TMODE config issue on non-F9 GPS 
thanks to Michel Pastor for reporting this
 2019-11-17 11:57:39 +11:00
Andrew Tridgell 58b0f4acf6 AP_GPS: added automatic config of TMODE on F9 
the Drotek F9 GPS ships with TMODE enabled, which means we don't get a
3D fix.

This also adds the VALGET/VALSET msgs we will need for automatic
moving baseline config
 2019-11-17 11:56:53 +11:00
Andrew Tridgell 76f4420710 AP_GPS: support Fix2 message for UAVCAN 
this allows for RTK fix levels
 2019-11-17 11:56:11 +11:00
Andrew Tridgell 022dbb2e30 AP_GPS: support RTCMStream for RTCM injection on UAVCAN 2019-11-17 11:55:44 +11:00
Andrew Tridgell 6eb4ccd428 HAL_ChibiOS: retain OPENDRAIN if set on a pin 
this allows OPENDRAIN when set on a pin to be retained when set with a
pinMode(). This fixes a partially lit B/E LED on the Pixhawk4
 2019-11-17 11:45:55 +11:00
vierfuffzig 1821fc9594 AP_RTC: add local time support 2019-11-17 11:40:29 +11:00
Andrew Tridgell d3d4dff9ba AP_OSD: add clock panel 2019-11-17 11:36:07 +11:00
Andrew Tridgell c3bc1e3dd4 AP_Baro: added register checking and reset to DPS280 driver 
this is to fix an issue found on a mRoControlZeroF7
 2019-11-17 11:29:53 +11:00
Michael du Breuil a9fabdb278 AP_Logger: Fix logging of current on non primary instances 2019-11-17 11:29:38 +11:00
Andrew Tridgell 752c2872f9 RC_Channel: added RC option for new takeoff mode 2019-11-17 11:29:13 +11:00
Andrew Tridgell df5e154144 AP_RangeFinder: fixed failover between rangefinders 
this fixes the case where we have one rangefinder that can handle
short range and another that is good for long range but no good for
short range (quite common, eg radar and lidar)

If possible we want to use the first rangefinder that is in range for
the right orientation. If none are in range then use the first for the
orientation
 2019-11-17 11:27:13 +11:00
Andrew Tridgell b19ad689a6 AP_GPS: fixed GPS to UART mapping 
this allows for first GPS as UAVCAN and 2nd as UART. That is not
possible currently unless you waste a uart
 2019-11-17 11:26:44 +11:00
Andrew Tridgell a5e79f4231 AP_TECS: added TECS_LAND_PMIN for min pitch in flare 
this is useful to narrow the range of available pitch after flare
 2019-11-17 11:26:07 +11:00
Peter Barker fffed10692 GCS_MAVLink: check reply channel for space rather than current channel 2019-11-02 14:08:47 +11:00
Andrew Tridgell 65c3d4ff20 HAL_ChibiOS: enable advanced timers if we have any N PWM channels 2019-11-02 13:46:43 +11:00
Andrew Tridgell 88e78afb19 HAL_ChibiOS: fixed SPI timeout bug 
thanks to CUAV for noticing
 2019-11-01 21:54:43 +11:00
Andrew Tridgell 3c1a362d90 GCS_MAVLink: fixed uninitialised bytes in send_named_float() 
this fixes an issue with mavproxy with python3
 2019-10-17 11:52:53 +11:00
liang 194ea66912 AP_Airspeed: protect sample timestamp while get data 2019-10-15 21:12:15 +11:00
Andrew Tridgell 6ebb9ad84a AP_HAL: enabled SLCAN on fmuv2 and Pixhawk1-1M 
this fits for now, and is needed for CAN GPS for now
 2019-10-07 21:14:24 +11:00
Andrew Tridgell 42c4b41bf6 AP_UAVCAN: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell 83bacfa89c AP_HAL: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell 0eb9a58f17 AP_HAL_ChibiOS: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell 53e03816c0 AP_BoardConfig: cleanup ifdefs for SLCAN enable 2019-10-07 21:14:24 +11:00
Andrew Tridgell a452f8e4ed switch optimisation to O2 
on average makes for faster and smaller code than O3
 2019-10-06 10:58:07 +11:00
Andrew Tridgell ee25d05f3c AP_Math: make fill_nanf() use a signalling NaN 
we want use of these values to trigger a FPE
 2019-10-06 10:58:07 +11:00
Andrew Tridgell 43df0022e1 use common variables for EKF 2019-10-06 10:58:07 +11:00
Andrew Tridgell 9ad9fe42bc AP_NavEKF2: use parent class for intermediate static variables 
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
 2019-10-06 10:58:07 +11:00
Andrew Tridgell 46628b4401 AP_NavEKF2: make it easy to do EK2 timing tests 
for future benchmarking
 2019-10-06 10:58:07 +11:00
Andrew Tridgell cd9c9e0809 AP_NavEKF: fixed build with vector index checking 2019-10-06 10:58:07 +11:00
Andrew Tridgell 156a64aca0 AP_NavEKF: added a common parent class for EKF2 and EKF3 core classes 
this provides a common location for static intermediate variables in
EK2 and EK3. This has a few benefits:

 - the compiler can determine the address of the frequently accessed
   variables at compile time, making them faster

 - by sharing between EK2 and EK3 we save a lot of memory if both EK2
   and EK3 are enabled

 - we can fill all these with NaN in SITL on every loop, which allows
   us to catch cases where the variables are ever re-used between
   loops, which guarantees we aren't mixing data between EKF lanes or
   between EK2 and EK3
 2019-10-06 10:58:07 +11:00
Michel Pastor eb24e12666 AP_Logger: fix logging on 256Mbit flash chips 2019-10-06 10:58:07 +11:00
Michel Pastor d7033dbf0d AP_Logger: fix AP_Logger_Block::get_num_logs() 2019-10-06 10:58:07 +11:00
Andrew Tridgell 0ec6210184 HAL_ChibiOS: removed wait on CAN peripheral in H7 
these wait busy loops can take a very long time, and end up causing
interrupts to be lost elsewhere in the system, causing lost bytes on
UARTs

We should not have while loops waiting on peripharals like this. If we
do need to wait for a flag to clear then it needs to be done in a low
priority thread, or we need to check for completion in a timer

CAN still seems to work with this change, but needs flight testing
 2019-10-06 10:58:07 +11:00
Andrew Tridgell d017a9a60d AP_Logger: fixed LOG_FILE_DSRMROT with delayed log stop 
now that we persist logging for 15s after disarm we need to also delay
the log rotation if LOG_FILE_DSRMROT=1. Otherwise we will put the log
data into the next log, which defeats the purpose of the 15s
persistance
 2019-10-06 10:58:07 +11:00
Andrew Tridgell 5a25d5c42d AP_Proximity: fixed incorrect use of fabs() 2019-10-06 10:58:07 +11:00
vierfuffzig 0b1cbc7bde AP_AHRS: fix custom orientation ToRad conversion 2019-10-06 10:58:07 +11:00
Andrew Tridgell df86990c96 GCS_MAVLink: use HAL_MEM_CLASS for status sizes 2019-10-06 10:58:07 +11:00
Andrew Tridgell 6cd6b37826 AP_Logger: use HAL_MEM_CLASS for logging buffer size 2019-10-06 10:58:07 +11:00
Andrew Tridgell 609a2d95f8 AP_Logger: try harder to use close to user buffer size 
this stops us drastically reducing buffer size when low on memory
 2019-10-06 10:58:07 +11:00
Andrew Tridgell 3105255080 AP_HAL: added HAL_MEM_CLASS for amount of memory 2019-10-06 10:58:07 +11:00
Andrew Tridgell b8a77890b6 HAL_ChibiOS: generate HAL_MEMORY_TOTAL_KB for each board 2019-10-06 10:58:07 +11:00
Andrew Tridgell bd95331068 HAL_ChibiOS: added Pixhawk1-1M 
this is for 1M versions of the Pixhawk1. It is smaller than fmuv2 as
it only links the specific sensors needed for Pixhawk1
 2019-10-06 10:58:07 +11:00
vierfuffzig afdb53daca AP_BLHeli: fix watchdog resets with telemetry active from non-multirotor motors 2019-10-06 10:58:07 +11:00
Andrew Tridgell a49cc87dae AP_NavEKF3: change optimisation from -O3 to -O2 2019-10-02 12:03:53 +10:00
Andrew Tridgell fb7ddd9b9d AP_NavEKF2: change optimisation from -O3 to -O2 2019-10-02 12:03:47 +10:00
Andrew Tridgell 2962211ea0 HAL_ChibiOS: changed optimisation of higher end boards to -O2 
-O3 does not seem to be a win, and takes up a lot more flash
 2019-10-01 08:33:13 +10:00
Andrew Tridgell 560a1bf9e0 HAL_ChibiOS: disable DMA for RCIN on Pixracer 
this frees up DMA for USART1_RX, which gives DMA for input over the
SERIAL5 WiFi port, which is important for applications where a
pixracer is being fed vision data over WiFi
 2019-10-01 08:32:56 +10:00
Mark Whitehorn eb620f0792 AP_IOMCU: fix IO fast channel mask 2019-10-01 08:32:03 +10:00
Mark Whitehorn 2034bde367 HAL_ChibiOS: fix FMU fast_channel_mask 
fix IO fast channel mask
use IOMCU chmask to only set right channels
remove unused variable
 2019-10-01 08:32:00 +10:00
Andrew Tridgell 4c22633c60 AP_GPS: fixed a bug in handling corrupt u-blox packets 
when we have corrupt input due to loss of bytes on a UART we can end
up with a u-blox packet with zero payload bytes. When that happens we
need to bypass payload reading as otherwise we will end up keeping
reading bytes until the driver resets at 4 seconds, causing a GPS
outage.

This was causing GPS outages every few hours in copters running 3.6.7,
and was also reproduced in SITL using SIM_GPS_BYTELOSS.
 2019-10-01 08:31:20 +10:00
Henry Wurzburg 6108c5b5ab AP_OSD: Add autoranging to current and speed displays 2019-09-22 21:11:06 +10:00
Randy Mackay 1433741cc9 AP_Proximity: fix rangefinder backends cm to m conversion 2019-09-22 21:09:38 +10:00
Peter Barker 784edac137 AP_NavEKF2: correct return of empty prearm string 2019-09-22 21:09:11 +10:00
Peter Barker 6693610c7a AP_NavEKF3: correct return of empty prearm string 2019-09-22 21:09:04 +10:00
Andrew Tridgell 2bebe8f916 SITL: added SIM_LOOP_DELAY parameter 
this allows us to test high CPU load conditions by adding a delay to
each loop
 2019-09-22 21:08:38 +10:00
Andrew Tridgell ae4bcf0f6f AP_Scheduler: cope with high CPU load by stretching loop times 
this adds an extra budget of time per loop when we are not achieving
scheduled tasks at a rate of at least 1/8 of the desired rate. This
fixes an issue where a vehicle can become uncontrollable if the user
asks for a SCHED_LOOP_RATE which is not achievable. As these events
happen we add extra loop budget until we are able to run all tasks. We
drop the extra time when the CPU pressure eases.
 2019-09-22 21:08:34 +10:00
Andrew Tridgell d916c31575 AP_Logger: added logging of extra loop time from the scheduler 2019-09-22 21:08:27 +10:00
Lucas De Marchi 1eb2dc2b2f AP_RangeFinder: add missing overrides 2019-09-22 21:08:14 +10:00
Lucas De Marchi 575200f8c7 AP_RangeFinder: fix build 2019-09-22 21:08:11 +10:00
Andrew Tridgell 62c3fec45c HAL_ChibiOS: fixes from LGTM errors 2019-09-22 21:07:54 +10:00
Andrew Tridgell f6b28f3013 HAL_ChibiOS: fixed delay for OneShot125 channels 
we were delaying output for OneShot125 by 8x as much as we need to,
which reduced our max loop rate
 2019-09-22 21:07:49 +10:00
Andrew Tridgell 372eca7dad AP_NavEKF3: fixed use of uninitialised variable in EKF3 mag fusion 
not all elements of H_MAG are initialised, but they are used, as found
by valgrind
 2019-09-22 21:07:38 +10:00
Andrew Tridgell eeb6fbe5ee HAL_ChibiOS: fixed undef for define lines 
this fixes IMU heater enable for CubeBlack+
 2019-09-16 12:55:44 +10:00
Andrew Tridgell dceee38d69 HAL_ChibiOS: fixed IMU order and board ID for CubeBlack+ 2019-09-16 12:55:36 +10:00
bugobliterator e540248695 HAL_ChibiOS: hwdef: add hwdef for CubeBlack+ 2019-09-16 12:55:34 +10:00
bugobliterator 8dca2b14db AP_BoardConfig: add support for CubeBlackPlus 2019-09-16 12:55:32 +10:00
Andrew Tridgell f86a7d347d Revert "AP_HAL_SITL: set initial PWM values to a flag value" 
This reverts commit 1735563bb7.

This commit broke RC input on high channels with sim_vehicle.py, plane
getc RC failsafe immediately
 2019-09-15 18:26:50 +10:00
Peter Barker 6193d6cf69 AP_Compass: fix example by instantiating Baro 
Baro is required to get location, and Compass tries to get the declination based on current location
 2019-09-13 08:54:21 +09:00
bnsgeyer e91402aeb6 AP_Motors: tradheli-make all RSC params part of library 
AP_Motors: Tradheli-fix RSC mode change while armed

AP_Motors: tradheli - improve RSC param metadata

AP_Motors: tradheli-put all throttle param settings in percent
 2019-09-13 08:53:54 +09:00
Peter Barker 1735563bb7 AP_HAL_SITL: set initial PWM values to a flag value 
These should never be used.  Setting them to a flag value may give a
hint to someone trying to debug a problem in the future.
 2019-09-13 08:58:43 +10:00
Peter Barker 8da978b913 GCS_MAVLink: use sending_mavlink1 method in send_rc_channels_raw 2019-09-12 16:10:23 +10:00
Peter Barker 5dad0e5410 AP_HAL: a few more simple tests for snprintf 2019-09-12 16:08:59 +10:00
Andrew Tridgell 28cca004f2 HAL_ChibiOS: added default params for skyviper-journey 2019-09-12 14:02:36 +10:00
Andrew Tridgell 1dca0a16f5 HAL_ChibiOS: rename skyviper-f412 to skyviper-journey 2019-09-12 14:02:36 +10:00
Andrew Tridgell dcbbc86f34 AP_Radio: added support for Skyviper 2018 model radios 
fixes #12273
 2019-09-12 14:02:36 +10:00
mhefny 375510ecc2 SITL: adding wind simulation in Webots 2019-09-12 13:22:26 +10:00
mhefny bfb7e3af3b SITL: sending wind data to Webots controller 2019-09-12 13:22:26 +10:00
Andrew Tridgell 8bb6a67b36 GCS_MAVLink: refuse set of read-only parameters 2019-09-12 10:50:30 +10:00
Andrew Tridgell 6573857a90 AP_Param: support @READONLY marker in param files 
allows for read-only parameters embedded in firmware
 2019-09-12 10:50:30 +10:00
Andrew Tridgell 4a6fdc00c9 AP_AdvancedFailsafe: added AFS_MAX_RANGE option 
this allows a maximum range since first arm to be set in
AFS_MAX_RANGE. This value (in km) will trigger the configured
termination type if the GPS location shows that it has been breached.

This feature, in combination with the @READONLY apj parameter feature,
is intended to be used to meet regulatory restrictions on a vehicles
maximum range
 2019-09-12 09:59:17 +10:00
Andrew Tridgell 6af9d55e70 AP_OSD: fixed vsnprintf return assumption 2019-09-12 08:43:31 +10:00
Andrew Tridgell 98c2606c0a GCS_MAVLink: fixed assumption on return of snprintf 2019-09-12 08:43:31 +10:00
Peter Barker 412bf24b9a AP_HAL: add gtests for snprintf 2019-09-12 07:42:40 +10:00
Andrew Tridgell 54b9524c0b AP_RangeFinder: make LightWare I2C native work with more hw versions 
this allows the native i2c lightware driver to work with a wide range
of lidars from LightWare, removing the specific version check, and the
version specific config commands
 2019-09-12 07:40:32 +10:00
Andy Piper 8e385d7453 AP_InertialSensor: correct formatting 2019-09-11 18:41:05 +10:00
Leonard Hall 6f3be90147 Filter: Alter Notch filter formula to remove /0 and allow perfect notch. 
This formulation of the notch equations lets the user specify the depth of the Notch. The presence of a diveide by A prevents the gain going to zero and therefore achieving a perfect notch. It also provides the risk that a user may attempt to do this and cause a divide by zero error. This change adds the ability to achive a perfect notch and removes the possibility of a divide by zero.

Add Notch Filter parameter checking
 2019-09-11 18:41:05 +10:00
Andy Piper 9b9fb0d593 Filter: sanity check the harmonic notch sample rate on initialization. do not allow harmonics to go above the nyquist frequency 2019-09-11 18:41:05 +10:00
Andy Piper 5b7f9f6bea AP_InertialSensor: while sensors are converging update the filters sample rates. if gyro filtering produces invalid output, keep the previous value 2019-09-11 18:41:05 +10:00
Andy Piper bc5916ebc9 Filter: comment on reserved config. cope with notch allocation failure. 2019-09-11 18:41:05 +10:00
Andy Piper a9a7fe3ea5 AP_InertialSensor: ensure harmonic notch gets appropriate defaults 2019-09-11 18:41:05 +10:00
Andy Piper 3261677e01 AP_InertialSensor: remove _ prefix from methods. use changed filter methods. 2019-09-11 18:41:05 +10:00
Andy Piper 334ebadd5a Filter: add comments and address review comments for harmonic notch 2019-09-11 18:41:05 +10:00
Andy Piper 50f7e50634 AP_InertialSensor: add harmonic notch filter to gyro filter chain 
Allow dynamic updates to the calculated frequency. Convert bandwidth and frequency to floats.
backend variables do not need to be indexed per-backed
 2019-09-11 18:41:05 +10:00
Andy Piper 366bc06089 Filter: New HarmonicNotchFilter 
This delegates updates to a bank of NotchFilters located at an rpm frequency and harmonics. Center frequency can be updated dynamically. Notch parameters are configurable, including the number of harmonics to filter on. Updates to the filter parameters are optimized across the notch bank. Convert notch bandwidth and frequency to floats.

allow all filter harmonics to be controlled.

add destructor to harmonic notch.

don't allocate sub-filters for harmonic notch if no harmonics set.
 2019-09-11 18:41:05 +10:00
Andrew Tridgell fae2e44eac AP_NavEKF3: reset inhibitMagStates on in-flight yaw reset 
this is needed to prevent the next ConstrainVariances() from zeroing
the variances, which leads to very slow learning of mag states
 2019-09-11 14:22:18 +10:00
Andrew Tridgell 71ad90819e AP_Compass: don't reset SITL compass offsets if set by user 
makes for easier EKF compass bias learning testing
 2019-09-11 14:22:18 +10:00
Peter Barker 10675ab5c4 AP_HAL: correct include ordering in srxl.h 
The header needs stdint.h which it was only getting because it was
included after stdint.h in the cpp file.

Stop including standard headers before other ArduPilot headers
 2019-09-11 14:19:14 +10:00
Andrew Tridgell 4197fdeb2a AP_HAL: fixed bug in vsnprintf() 
we need to return the number of bytes that would have been printed if
the buffer was big enough to support use cases such as vasprintf()
which needs to know how many bytes to allocate
 2019-09-11 13:41:03 +10:00
Peter Hall 102a231c3f AP_WindVane: rename abs to true wind 2019-09-11 11:22:12 +09:00
Rajat Singhal 5147b607c0 SITL: Correct Airsim params 2019-09-11 08:28:28 +10:00
Randy Mackay 246bfcf4a1 AP_Common: expanding array checks memory before allocating 2019-09-11 06:56:35 +10:00
Peter Barker 15308af230 AP_HAL_SITL: avoid lockstep scheduling issue with semaphores 
If there is another thread holding a lock that the main thread wants to
take while pretending to be the IO thread, we will wait forever as we do
not move SITL time forward while pretending to be the IO thread.

This patch simply allows time to move forward if we've failed to take a
semaphore immediately and need to wait.
 2019-09-10 21:01:37 +10:00
Andy Piper dde6dec145 AP_InertialSensor: correct reboot documentation for batch logger and filters 2019-09-10 20:29:56 +10:00
Randy Mackay 0e1a2efb7c EKF3: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder 2019-09-10 18:44:52 +10:00
Randy Mackay 94a52b3525 EKF2: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder 2019-09-10 18:44:52 +10:00
Andrew Tridgell b33afde884 HAL_ChibiOS: allow safety button on CUAV_GPS to be used for "stay in bootloader" 
allows for recovery of bad CAN firmware
 2019-09-10 16:22:33 +10:00
Andrew Tridgell c6a9f067e2 HAL_ChibiOS: enable LEDs on CUAV_GPS 2019-09-10 16:22:33 +10:00
Andrew Tridgell 3dfe15443d HAL_ChibiOS: fixed orientation of CUAV_GPS compass 2019-09-10 16:22:33 +10:00
Andrew Tridgell 21cce1385a AP_UAVCAN: support safety buttons on UAVCAN 
the button works in parallel with any button attached by IOMCU or by a
pin, and obeys all the same BRD_SAFETY* options
 2019-09-10 16:22:33 +10:00
Andrew Tridgell 03c1a8bfd9 HAL_ChibiOS: use safety button logic from AP_BoardConfig 2019-09-10 16:22:33 +10:00
Andrew Tridgell 5a96e374ba AP_BoardConfig: moved logic for safety button press to AP_BoardConfig 
this allows for common code between CAN and pin safety switches, as
well as making the code neater as most of the logic is related to
AP_BoardConfig options
 2019-09-10 16:22:33 +10:00
Andrew Tridgell 82a98ef95d AP_Notify: added NTZ_BUZZ_VOLUME parameter 
it is fairly non-linear, but does work
 2019-09-10 16:22:33 +10:00
Andrew Tridgell 39f4f7c208 AP_UAVCAN: added safety LED and button messages 2019-09-10 16:22:33 +10:00
Andrew Tridgell 0ea67943b9 HAL_ChibiOS: enable safety button on CUAV_GPS 2019-09-10 16:22:33 +10:00
Andrew Tridgell c6c1c4bc31 AP_UAVCAN: support safety LEDs on UAVCAN 2019-09-10 16:22:33 +10:00
Andrew Tridgell 186eedf838 HAL_ChibiOS: enable safety LED 2019-09-10 16:22:33 +10:00
Andrew Tridgell 75696997cc HAL_ChibiOS: added buzzer support to CUAV_GPS 2019-09-10 16:22:33 +10:00
Andrew Tridgell 7c57546eb1 AP_Notify: support UAVCAN buzzers 2019-09-10 16:22:33 +10:00
Andrew Tridgell d55f76c88e AP_UAVCAN: added buzzer support 2019-09-10 16:22:33 +10:00
Peter Barker 8fc55b9678 GCS_MAVLink: remove comm_get_available 
available returns an unsigned integer, so this was just weird
 2019-09-10 15:45:27 +10:00
Andrew Tridgell cbe0af2463 HAL_ChibiOS: setup for LEDs on KakuteF4 
this makes Kopis1 display LEDs properly
 2019-09-10 13:03:28 +10:00
Andrew Tridgell a4924e1c0b AP_Notify: allow setting of LED count in hwdef.dat 2019-09-10 13:03:28 +10:00
Andrew Tridgell 28b5f2b021 AP_Notify: simplify NeoPixel driver 
use new API to avoid complexities
 2019-09-10 13:03:28 +10:00
Andrew Tridgell f441223b55 HAL_ChibiOS: implement updated NeoPixel API 
allow for N leds per chain, and setting separate colours per led in
each chain
 2019-09-10 13:03:28 +10:00
Andrew Tridgell 1cb608a9f4 AP_HAL: allow neopixel LEDs to be set more flexibly 
allow for N leds per chain, with RGB control of each
 2019-09-10 13:03:28 +10:00
Tom Pittenger aa602b5e1b AP_Notify: add NeoPixel driver 2019-09-10 13:03:28 +10:00
Tom Pittenger e3416b66dc AP_HAL_ChibiOS: add Neopixel output type, similar to dshot 2019-09-10 13:03:28 +10:00
Tom Pittenger 52be3903c0 SRV_Channel: add neopixel as an output type 2019-09-10 13:03:28 +10:00
Randy Mackay aba4a1fdc8 AC_Avoidance: remove OADatabase check that can never be true 2019-09-10 09:15:56 +10:00
Randy Mackay 0dd8525c99 AP_HAL_SITL: resolve compiler warning in sitl_airspeed by using fabsf 2019-09-10 09:15:56 +10:00
Randy Mackay 2d128e0079 AP_Proximity: remove unused var from AriSimSITL 2019-09-10 09:15:56 +10:00
Randy Mackay d4b047fc1f SITL: Gripper_EPM compiler warning resolved by using float and fabsf 2019-09-10 09:15:56 +10:00
Randy Mackay 1fd7618238 SITL: remove unused time_diff member 2019-09-10 09:15:56 +10:00
Michael du Breuil 9a7d64e8fc AP_NavEKF3: Allow the GPS to be responsible for logging 2019-09-10 09:09:17 +10:00
Michael du Breuil a4d10b2e86 AP_NavEKF2: Allow the GPS to be responsible for logging 2019-09-10 09:09:17 +10:00
Michael du Breuil f857eb4640 AP_GPS: Take responsibility for logging the GPS if the EKF wants logging 2019-09-10 09:09:17 +10:00
Willian Galvani b92473111c AP_LeakDetector: Mark Leak pins RebootRequired 2019-09-09 09:53:28 -07:00
Andy Piper 6f3334b460 AP_Filesystem: build fixes for SITL on macOS 2019-09-09 20:18:00 +10:00
Andrew Tridgell 91e8752c17 HAL_ChibiOS: wrap more libc functions 
this saves a few k of flash as it avoids linking libc versions of some
functions
 2019-09-09 13:31:30 +10:00
Andrew Tridgell 3166f84954 HAL_ChibiOS: added vsnprintf wrapper 
this allows us to use a common snprintf implementation
 2019-09-09 13:31:30 +10:00
Michael du Breuil ba3cfbfb54 AP_RTC: Don't allow RTC times before 2019 2019-09-09 04:43:29 +10:00
Andrew Tridgell aa20be4270 AP_RCProtocol: fixed SUMD with 16 channels 
with 16 channels it is more than 3ms per frame
 2019-09-07 10:02:26 +10:00
Andrew Tridgell df387dc396 AP_Compass: allow rotation of BMM150 compass 2019-09-07 09:53:21 +10:00
Andrew Tridgell 1cb775e2c2 AP_Compass: probe more addresses for IST8310 
IST8310 can be on 4 possible i2c addresses
 2019-09-07 07:35:54 +10:00
Andrew Tridgell 5e5c30efe8 HAL_SITL: allow SITL to use SERIALn_PROTOCOL=23 
this allows for testing of RC input protocol parsing in SITL
 2019-09-06 08:51:45 +10:00
Andrew Tridgell c8de2ec9c7 AP_RCProtocol: added update() method for use by SITL 2019-09-06 08:51:45 +10:00
Andrew Tridgell 4b48e80c26 AP_SerialManager: fixed AP_Periph build 2019-09-06 08:51:45 +10:00
Andrew Tridgell 83872c23e5 HAL_ChibiOS: fixed AP_Periph build 2019-09-06 08:51:45 +10:00
Andrew Tridgell fd80220d3e HAL_ChibiOS: setup PH4-mini RCIN port by default 2019-09-06 08:51:45 +10:00
Andrew Tridgell 54649a0e4f HAL_ChibiOS: fixed KakuteF4 define for SERIAL2 2019-09-06 08:51:45 +10:00
Andrew Tridgell 06b272705e HAL_ChibiOS: run RCIN thread at 1kHz 
this gives fast enough response for SBUS parsing on a UART
 2019-09-06 08:51:45 +10:00
Andrew Tridgell 6983186210 AP_HAL: added get_options() method on UARTs 2019-09-06 08:51:45 +10:00
Andrew Tridgell c841b39ea2 HAL_ChibiOS: switch to AP::RC() for AP_RCProtocol 2019-09-06 08:51:45 +10:00
Andrew Tridgell bf2cf7834d HAL_ChibiOS: fixed a bug in parity/stop-bit setting on STM32F7 and H7 
and add get_options() method
 2019-09-06 08:51:45 +10:00
Andrew Tridgell 312018898f HAL_Linux: use AP::RC() 2019-09-06 08:51:45 +10:00
Andrew Tridgell 672d09c965 AP_IOMCU: use AP::RC() for AP_RCProtocol 2019-09-06 08:51:45 +10:00
Andrew Tridgell cbdb23afb5 AP_SerialManager: support SERIALn_PROTOCOL=23 for RC input 
sets up an extra RC input port
 2019-09-06 08:51:45 +10:00
Andrew Tridgell 2b856abdd1 AP_RCProtocol: support an additional uart on RC input 
this will allow for any UART to be configured as an additional RC
input source
 2019-09-06 08:51:45 +10:00
Andrew Tridgell ad2890dc5a HAL_ChibiOS: added connector pinouts for PH4-mini 2019-09-06 08:51:45 +10:00
Andrew Tridgell b72dcf6478 AP_Filesystem: use a recursive semaphore 
this is needed to cope with the mkdir("/APM") in sdcard_retry()
 2019-09-06 08:51:04 +10:00
Andrew Tridgell 7afd51d03e AP_Frsky_Telem: move FrSky handling to it's own thread 
we are getting timing issues sharing with the other users of the IO
thread. The FrSky protocols are quite timing sensitive, so this should
help
 2019-09-05 10:50:17 +10:00
Randy Mackay fb38db6640 AP_AHRS: resolve compile warning in AP_AHRS_DCM::use_compass 2019-09-05 08:39:10 +10:00
Andrew Tridgell b344946300 HAL_ChibiOS: prevent duplicate sensors in hwdef.dat 
throw an error on configure if there is a duplicate
 2019-09-05 06:37:35 +10:00
Andrew Tridgell 2c5c8106a5 HAL_ChibiOS: removed duplicate barometer from fmuv5 2019-09-04 21:24:01 +10:00
Peter Barker df5921a87c GCS_MAVLink: gate AP_DEVO_Telem behind !HAL_MINIMIZE_FEATURES 2019-09-04 17:47:33 +10:00
Andrew Tridgell 708ee47c03 HAL_ChibiOS: fixed f103 rm3100 2019-09-04 16:27:47 +10:00
Andrew Tridgell c2c8702329 HAL_ChibiOS: convert remaining boards to use COMPASS specifier 2019-09-04 16:27:47 +10:00
Andrew Tridgell 3aa01448ff HAL_ChibiOS: use COMPASS specifier for f103-periph 2019-09-04 16:27:47 +10:00
Andrew Tridgell f18a18c0ee AP_Baro: use GET_I2C_DEVICE() for i2c probes 
for consistency with compass and INS
 2019-09-04 16:27:47 +10:00
Andrew Tridgell 2bc7db4cca AP_HAL: removed old HAL_COMPASS_ defines (no longer used) 2019-09-04 16:27:47 +10:00
Andrew Tridgell bd0760f9d4 AP_Compass: removed unusued compass probes 
now only use probe lists
 2019-09-04 16:27:47 +10:00
Andrew Tridgell 43e011c7a8 AP_HAL: convert Linux compass specification to new probe list 
this avoids the special handling in AP_Compass library
 2019-09-04 16:27:47 +10:00
Andrew Tridgell 3bc8522b54 AP_Compass: added ROTATION_NONE to probes 
we no longer use defaults in the headers
 2019-09-04 16:27:47 +10:00
Andrew Tridgell f877def909 AP_Compass: removed default rotations for compass probe 
this prevents bugs where the force_external and rotation are mixed up
in hwdef.dat causing incorrect rotations
 2019-09-04 16:27:47 +10:00
Andrew Tridgell 2a48241ebb AP_Compass: fixed naming of QMC5883L driver 
needed for probe using COMPASS macro in hwdef.dat
 2019-09-04 16:27:47 +10:00
Andrew Tridgell 316e7cf7e6 HAL_ChibiOS: fixed mini-pix compass and baro probing 
removed dup baro and fixed compass probe
 2019-09-04 16:27:47 +10:00
Andrew Tridgell 2509b50852 AP_Baro: define GET_I2C_DEVICE() 2019-09-04 16:27:47 +10:00
Andrew Tridgell 15e15e0b9d AP_InertialSensor: define GET_I2C_DEVICE() 2019-09-04 16:27:47 +10:00
Andrew Tridgell beca17c638 HAL_ChibiOS: use GET_I2C_DEVICE() for i2c probing 
this allows for the driver probing to use a macro to prevent loading
of duplicate i2c devices (AP_Compass does this)
 2019-09-04 16:27:47 +10:00
Michael du Breuil e19f0ef238 AP_HAL_ChibiOS: Remove set_stop_pin from AnalogSource 2019-09-04 09:54:50 +10:00
Michael du Breuil 75b241622f AP_HAL_Empty: Remove set_stop_pin from AnalogSource 2019-09-04 09:54:50 +10:00
Michael du Breuil 979a431e4a AP_HAL_Linux: Remove set_stop_pin from AnalogSource 2019-09-04 09:54:50 +10:00
Michael du Breuil 69d3e97533 AP_HAL_SITL: Remove set_stop_pin from AnalogSource 2019-09-04 09:54:50 +10:00
Michael du Breuil c12652b325 AP_Rangefinder: Remove stop pin usage 2019-09-04 09:54:50 +10:00
Michael du Breuil 927a0521e3 AP_HAL: Remove the empty force_safety_no_wait 2019-09-04 07:14:50 +10:00
Michael du Breuil e5eeb6181d GCS_MAVLink: Remove the usage of force_safety_no_wait 2019-09-04 07:14:50 +10:00
Michael du Breuil 5711c2cbac AP_UAVCAN: Remove the usage of force_safety_no_wait 2019-09-04 07:14:50 +10:00
Michael du Breuil 53860b53ac AP_BoardConfig: Remove the usage of force_safety_no_wait 2019-09-04 07:14:50 +10:00
Michael du Breuil a74f00d045 GCS_MAVLink: Remove single use method 2019-09-03 14:35:17 +10:00
Michael du Breuil 8adc6ba3ad AP_Notify: Add an alternate LED scheme 2019-09-03 11:50:52 +10:00
E Thomas c09d6908ed Enabled active buzzer output on OmnibusNanoV6 2019-09-03 09:59:53 +10:00
Peter Barker 7ea449076f AP_NavEKF3: use timing logging from AP_NavEKF 2019-09-03 09:28:37 +10:00
Peter Barker c8fac758ee AP_NavEKF2: use timing logging from AP_NavEKF 2019-09-03 09:28:37 +10:00
Peter Barker 6d71ef5cf8 AP_Logger: move EKF timing logging out to EKF 2019-09-03 09:28:37 +10:00
Peter Barker 9e0f525f69 AP_NavEKF: move logging in from AP_Logger 2019-09-03 09:28:37 +10:00
Peter Barker 9da0efaaef GCS_MAVLink: fill SYS_STATUS bits from AC_Fence 2019-09-03 09:12:24 +10:00
Andrew Tridgell 9c900c7176 AP_RangeFinder: added driver for Lanbao CM8JL65 2019-09-03 09:10:48 +10:00
Peter Hall 2f3c0447eb RC_Channel: add fence and value for rover 2019-09-02 11:03:27 +09:00
Andrew Tridgell 172c802ffa AP_RangeFinder: support native I2C protocol on LightWare Lidars 
this supports both the native and the legacy I2C protocol for
LightWare Lidars. The native protocol is a string based protocol that
is enabled by default on new Lidars. By supporting both protocols we
avoid the need for users to re-configure their new lidar using a
serial cable before using it on I2C.

This driver was originally written by Mitch Koch and Jonathan
Challinger, and ported to master by me (it required only minor
changes)
 2019-09-02 07:20:22 +10:00
Peter Hall fdb6da0793 RC_Channel: define sailboat mainsail and motor input channels 
The unusual use of 207 is in preparation for Peter Barker's RCMAP replacement PR which uses 200 to 206
 2019-09-01 09:11:25 +09:00
Peter Hall 3dd0ebaf0d AP_WindVane: add wind_speed_enabled method 2019-09-01 09:11:25 +09:00
Peter Barker ca5ee2bfbc AP_Param: correct fetching of flags for parameters 
This was sending through the flags for the group the parameter was in,
rather than the parameter itself.
 2019-08-30 06:57:30 +10:00
Andrew Tridgell bcb139f02f AP_Compass: fixed uninitialised CAN device ID bits 2019-08-29 18:37:03 +10:00
Rajat Singhal 80bbadf9ca SITL: AirSim: Store last timestamp only 
Also change the datatype of deltat
 2019-08-29 08:32:19 +10:00
Rajat Singhal 86a70e5797 SITL: Remove redundant timestep in Airsim backend 2019-08-29 08:32:19 +10:00
Rajat Singhal c056548f0d SITL: Enable Arming Checks in airsim-copter params 2019-08-29 08:32:19 +10:00
Michael du Breuil fa6e43be77 AP_Logger: Forward declare AHRS 
This reduces the number of places this is implicitly included, and helps
to reduce the scope of files that get rebuilt
 2019-08-28 13:13:03 +10:00
Michael du Breuil fe279b03b6 SITL: Directly include needed headers 2019-08-28 13:13:03 +10:00
Michael du Breuil c85c9faa6d GCS_MAVLink: Directly include needed headers 2019-08-28 13:13:03 +10:00
Michael du Breuil 1a5627ae54 AP_VisualOdom: Directly include needed headers 2019-08-28 13:13:03 +10:00
Michael du Breuil 04863f858d AP_Terrain: Directly include needed headers 2019-08-28 13:13:03 +10:00
Michael du Breuil 17cec7cf2b AP_Landing: Directly include needed headers 2019-08-28 13:13:03 +10:00
Michael du Breuil ca0dad9a7f AP_GPS: Directly include needed headers 2019-08-28 13:13:03 +10:00
Michael du Breuil 5d888abfec AP_Baro: Directly include needed headers 2019-08-28 13:13:03 +10:00
Michael du Breuil d8bce8295e AP_Arming: Directly include needed headers 2019-08-28 13:13:03 +10:00
Peter Barker 78af091869 AP_Logger: log parameter space used as part of log open 2019-08-28 11:51:09 +10:00
Peter Barker b493805fb4 AP_Param: methods to provide amount of parameter space used 
AP_Param: provide method for storage size
 2019-08-28 11:51:09 +10:00
Peter Barker 2d1357b44c AP_Mount: stop passing serial manager through to init() 2019-08-28 06:55:28 +10:00
Andrew Tridgell 6cecf15e6a AP_Baro: remove unused baro probe lines 2019-08-28 06:54:11 +10:00
Andrew Tridgell 7fa6eeaaed AP_HAL: remove unused HAL_BARO_ defines 2019-08-28 06:54:11 +10:00
Andrew Tridgell 9d94598235 AP_HAL: convert linux boards to use baro probe list 2019-08-28 06:54:11 +10:00
Andrew Tridgell 72494788f7 HAL_ChibiOS: convert more boards to use BARO specifier 2019-08-28 06:54:11 +10:00
Andrew Tridgell 60a6f1b04a AP_HAL: removed most HAL_INS_* defines 
not used any more
 2019-08-28 06:54:11 +10:00
Andrew Tridgell 1c92ecc89f AP_InertialSensor: removed old method of specifying most IMUs 
and removed dangerous default values for rotations
 2019-08-28 06:54:11 +10:00
Andrew Tridgell 0667747506 HAL_ChibiOS: convert some more boards to new IMU specifiers 2019-08-28 06:54:11 +10:00
Andrew Tridgell 96180018fb AP_HAL: convert HAL_Linux to use HAL_INS_PROBE_LIST 
makes for much simpler addition of new boards, especially with more
than one IMU
 2019-08-28 06:54:11 +10:00
Jaaaky d7abd636ac AP_HAL_SITL: Fix build with --sitl-flash-storage option 2019-08-28 06:23:04 +10:00
Andrew Tridgell dcd9003831 Revert "AP_Mission: Better AUTO watchdog restore" 
This reverts commit d774bf3ea5.
 2019-08-27 13:18:12 -06:00
Andrew Tridgell 5ce4ff916e HAL_ChibiOS: fixed Pixhawk1 gyro orientation 
this was broken by the recent switch to hwdef.dat for orientations
 2019-08-27 19:29:37 +10:00
Andrew Tridgell c99923d500 AP_InertialSensor: require gyro orientations in LSM9DS probe 
this prevents a bug where they are missing in hwdef.dat
 2019-08-27 19:29:37 +10:00
Andrew Tridgell d40835c666 AP_Logger: use AP::FS().set_mtime() 2019-08-27 15:40:43 +10:00
Andrew Tridgell b489e8a655 AP_Filesystem: added set_mtime() call 2019-08-27 15:40:43 +10:00
Andrew Tridgell 0ffe2e75be HAL_ChibiOS: fixed warnings 2019-08-27 15:40:43 +10:00
Andrew Tridgell df4cb00970 AP_Logger: added LOG_FILE_TIMEOUT parameter 
this allows for cards to be removed and re-inserted while continuing
logging
 2019-08-27 15:40:43 +10:00
Andrew Tridgell b577787f68 AP_Scripting: use AP_Filesystem API 2019-08-27 15:40:43 +10:00
Andrew Tridgell 667b4e045a AP_Logger: convert to use AP_Filesystem 2019-08-27 15:40:43 +10:00
Andrew Tridgell fb50ec2a1d AP_Notify: convert to use AP_Filesystem 2019-08-27 15:40:43 +10:00
Andrew Tridgell d160f14856 AP_UAVCAN: convert to use AP_Filesystem 2019-08-27 15:40:43 +10:00
Andrew Tridgell a4860afd32 AP_Terrain: convert to use AP_Filesystem 2019-08-27 15:40:43 +10:00
Andrew Tridgell a4258639c8 AP_Proximity: use strtol instead of sscanf 2019-08-27 15:40:43 +10:00
Andrew Tridgell 9d760a2956 HAL_ChibiOS: disable re-entrancy in FATFS 
not needed now we have a semaphore in AP_Filesystem
 2019-08-27 15:40:43 +10:00
Andrew Tridgell bf79b65e07 HAL_ChibiOS: simplify stubs code 2019-08-27 15:40:43 +10:00
Andrew Tridgell d1565a96c5 HAL_ChibiOS: wrap cacheBuffer functions 
needed to avoid problem with end() method in UARTDriver shadowing with
F7 implementation of cache macros
 2019-08-27 15:40:43 +10:00
Andrew Tridgell b867ef35c0 HAL_ChibiOS: use AP_Filesystem API 2019-08-27 15:40:43 +10:00
Andrew Tridgell 692abb11fa AP_Filesystem: define new filesystem API 2019-08-27 15:40:43 +10:00
Michael du Breuil 7fdc9fef12 AP_Scripting: Garbage collect after each run of a script 
For some reason this resolves a memory leak in a tight loop of file
open, close. This also extends the memory debug printing to be a bit
more useful.
 2019-08-27 13:54:54 +10:00
Michael du Breuil 1484a12f4b AP_HAL_Linux: Fix bad check order on heap_realloc 2019-08-27 13:54:54 +10:00
Michael du Breuil 2d40250f9b AP_HAL_SITL: Fix bad check order on heap_realloc 2019-08-27 13:54:54 +10:00
Andrew Tridgell b30f3697d2 HAL_ChibiOS: fixed build without ISR limit 2019-08-27 10:29:56 +10:00
Andrew Tridgell 97c56c068e HAL_ChibiOS: update board IDs for AP_Periph firmwares 2019-08-27 10:29:56 +10:00
Andrew Tridgell 63f39c2bd6 HAL_ChibiOS: fixed build of iomcu firmware 2019-08-27 10:29:56 +10:00
Andrew Tridgell 444af9e638 AP_BoardConfig: fixed AP_Periph build error 2019-08-27 10:29:56 +10:00
Andrew Tridgell e8e18959f7 AP_Baro: fixed baro build with AP_Periph 
no GCS available
 2019-08-27 10:29:56 +10:00
Andrew Tridgell a19e55e83c AP_Baro: added BMP388 driver 2019-08-27 10:29:56 +10:00
Andrew Tridgell 64921b64f5 HAL_ChibiOS: enable sensors in peripheral firmwares 2019-08-27 10:29:56 +10:00
Andrew Tridgell fa76d1fbe6 HAL_ChibiOS: disable watchdog save in bootloader 2019-08-27 10:29:56 +10:00
Andrew Tridgell 5cbe85ee19 HAL_ChibiOS: allow for ADC and clock overrides 2019-08-27 10:29:56 +10:00
Andrew Tridgell dc89d10ccf HAL_ChibiOS: added hwdef.dat for CUAV_GPS 2019-08-27 10:29:56 +10:00
Andrew Tridgell c8806acaf5 HAL_ChibiOS: use AP_PERIPH env var 2019-08-27 10:29:56 +10:00
Andrew Tridgell cbc83d68cd HAL_ChibiOS: allow for CAN enable override on F4 2019-08-27 10:29:56 +10:00
Andrew Tridgell fb68fa8bc9 HAL_ChibiOS: fixed typo for 512k F4 parts 2019-08-27 10:29:56 +10:00
Andrew Tridgell e51a1a88df HAL_ChibiOS: initial hwdef-bl.dat for CUAV CAN GPS 2019-08-27 10:29:56 +10:00
Andrew Tridgell 66ab585a24 HAL_ChibiOS: setup defaults for CAN app versions 2019-08-27 10:29:56 +10:00
Andrew Tridgell d711bed405 HAL_ChibiOS: set default node ID of 117 
this allows for flight controllers without DNA support
 2019-08-27 10:29:56 +10:00
Andrew Tridgell ababe1e81d HAL_ChibiOS: disable UART support in f103-periph bootloader 2019-08-27 10:29:56 +10:00
Andrew Tridgell 2facfe0baa HAL_ChibiOS: support empty UART_ORDER 
for CAN bootloader without uart support
 2019-08-27 10:29:56 +10:00
Andrew Tridgell f4576ec8f3 AP_Compass: reduce firmware size for AP_Periph 2019-08-27 10:29:56 +10:00
Andrew Tridgell 0ec3f80bbe AP_Compass: enable LIS3MDL on I2C and RM3100 on SPI 2019-08-27 10:29:56 +10:00
Andrew Tridgell 9a7b52fd15 HAL_ChibiOS: added hwdef.dat for f103-periph 2019-08-27 10:29:56 +10:00
Andrew Tridgell 16bdaaa1af HAL_ChibiOS: added support for STM31F10x for AP_Periph 2019-08-27 10:29:56 +10:00
Andrew Tridgell 24e05e96e7 AP_HAL: define support for LIS3MDL_I2C and RM3100_SPI 2019-08-27 10:29:56 +10:00
Andrew Tridgell 01472aa795 AP_FlashStorage: added support for STM32F1xx 2019-08-27 10:29:56 +10:00
Andrew Tridgell 291d72601b AP_GPS: enabled reduced size for AP_Periph support 2019-08-27 10:29:56 +10:00
Andrew Tridgell f897eae89d AP_Param: enable reduced size support for AP_Periph 2019-08-27 10:29:56 +10:00
Andrew Tridgell 88fbbfba09 AP_Vehicle: added AP_Periph vehicle type 2019-08-27 10:29:56 +10:00
Andrew Tridgell d005f066a9 StorageManager: enable use of a single storage region 2019-08-27 10:29:56 +10:00
Michael du Breuil 1e66457755 AP_Scripting: Allow the bindings to descirbe any build dependencies needed 
Scripting has a hard requirement on AP_Terrain being available, this
allows us to emit a cleaner error message if you have disabled terrain
but not scripting
 2019-08-27 09:45:35 +10:00
Peter Barker 5d9b332bcb GCS_MAVLink: log exectuted COMMAND_LONG and COMMAND_INT packets 2019-08-27 09:32:00 +10:00
Peter Barker 631725f817 AP_Logger: add Write_Command for writing out received mavlink commands 2019-08-27 09:32:00 +10:00
Peter Barker 5010de9560 AP_Notify: add static asserts for array size 
We index into these arrays so ensuring their size is worthwhile
 2019-08-27 09:29:11 +10:00
Michael du Breuil ee3fcf49c6 AP_BattMonitor: Detect bad configuration of failsafes 2019-08-26 18:57:59 +01:00
Michael du Breuil e47f97c5d3 AP_HAL: Fix bad buffer termination 2019-08-26 18:57:59 +01:00
Stone white ec911710c9 hwdef: Enable Spektrum 3.3V VDD Power on fmuv5 2019-08-26 17:27:02 +10:00
Michael du Breuil 56e35e0712 AP_HAL_ChibiOS: Remove almost redundant code duplication from the HAL 2019-08-26 17:24:09 +10:00