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26241 Commits

Author SHA1 Message Date
Andrew Tridgell
1279772d92 AP_Logger: disallow log creation in main thread when armed 
this fixes an issue where the sd card fails in flight and then
re-mounts. When that happens the logging backend can trigger a new log
open. That causes filesystem operations in the main thread while
flying. That can cause long delays or even a watchdog.

Thanks to Giacomo for noticing this on his flying wing
 2021-06-09 15:08:28 +10:00
Josh Henderson
757fc1d679 AC_WPNav: ensure that wp_radius greater than min 
Co-authored-by: Murata,Katsutoshi <ma2maru@gmail.com>
 2021-06-09 10:55:15 +09:00
Pierre Kancir
117ca8a6ef AP_Rangefinder: make backend get_reading() pure virtual 2021-06-09 10:52:00 +09:00
Pierre Kancir
88b5ff8c6f AP_Rangefinder: make get_temp const 2021-06-09 10:52:00 +09:00
Andrew Tridgell
3a6bafc6a6 SITL: fixed order of rotations in tilt vehicles 
tilt is in body frame, not rotated arm frame, so needs to be applied
2nd
 2021-06-08 19:11:32 +10:00
Peter Barker
ff048990d9 AP_OSD: correct format string issues 
AP_OSD: remove spurious % in fmt string

AP_OSD: cast to (signed) to fix fmt string issue

AP_OSD: cast to (unsigned) to fix fmt string issues
 2021-06-08 17:08:43 +10:00
Peter Barker
e06f937486 AP_OSD: add FMT_PRINT to write(...) call 2021-06-08 17:08:43 +10:00
TunaLobster
2359de250d AP_Scripting: add example of fixed wing doublets via scripting 2021-06-08 14:48:27 +10:00
Peter Barker
09e82e52e1 AP_HAL_ChibiOS: disable AP_EFI on MatekF405-Wing and omnibusf4pro 2021-06-08 14:08:34 +10:00
Peter Barker
e5fba1c8cc AP_EFI: disable AP_EFI on MatekF405-Wing and omnibusf4pro 2021-06-08 14:08:34 +10:00
Randy Mackay
f8d39e65ec AP_VisualOdom: pre_arm check fix for camera attitude 2021-06-08 12:55:17 +09:00
Randy Mackay
ab5d4da776 AP_AHRS: attitudes_consistent fix for roll-pitch difference calc 
previously yaw difference would appear as roll, pitch differrences
 2021-06-08 12:55:17 +09:00
Randy Mackay
b263a1d751 AP_Math: add Quaternion::roll_pitch_difference 2021-06-08 12:55:17 +09:00
Andrew Tridgell
ac2080ff93 AP_ESC_Telem: don't send mavlink msgs if we've never data any data 2021-06-08 12:30:30 +10:00
Peter Barker
4abf854c45 AP_Common: remove weird cast of location object 2021-06-08 12:14:17 +10:00
李孟晓
27089b4d2b AP_BattMonitor: Fix the comment of BATTx_OPTIONS 2021-06-08 11:16:19 +10:00
Andrew Tridgell
7fadbba086 AP_WindVane: fixed copying of filter objects 2021-06-08 11:14:52 +10:00
Andrew Tridgell
fbbb4a1183 AP_Soaring: fixed filter constructor calls 
fixes valgrind error from copy of filter objects on the stack
 2021-06-08 11:14:52 +10:00
Andrew Tridgell
a2d0f569c9 AP_WheelEncoder: fixed PID constructor calls 2021-06-08 11:14:52 +10:00
Andrew Tridgell
476e9fc15a AC_PID: use CLASS_NO_COPY() 2021-06-08 11:14:52 +10:00
Andrew Tridgell
cd1f5ca494 Filter: use CLASS_NO_COPY 2021-06-08 11:14:52 +10:00
Andrew Tridgell
6c0c6a1f48 AP_Common: added CLASS_NO_COPY() macro 
used to make it easy to forbid copy of classes
 2021-06-08 11:14:52 +10:00
Michel Pastor
30029f59db AP_OSD_Screen: make BLH RPM fixed length 2021-06-08 10:40:44 +10:00
Peter Barker
ef2e273ee6 AP_Scheduler: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker
102543684e AP_Rally: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker
fd4fb15e7d AP_Mission: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker
b681dc940a AP_Logger: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker
3ba57fed89 AP_HAL_ChibiOS: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker
15cd41ca19 AP_GPS: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker
c11a6bbb47 AP_Filesystem: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Josh Henderson
80a17cb97f AP_BattMonitor: get Mavlink charge state 2021-06-08 09:27:13 +10:00
Josh Henderson
518666b5f0 GCS_MAVLink: Add battery_charge_state to Battery_Status message 2021-06-08 09:27:13 +10:00
Andy Piper
96d0e8cf3f AP_Motors: add comments to AP_MotorsUGV 2021-06-07 20:16:26 +09:00
Andy Piper
9eea3f1030 AP_BLHeli: add auto support to rover 2021-06-07 20:16:26 +09:00
Andy Piper
7c213a8bbf AP_Motors: move AP_MotorsUGV here 
add singleton and motor_mask to AP_MotorsUGV
 2021-06-07 20:16:26 +09:00
Andrew Tridgell
96577b47f0 GCS_MAVLink: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell
f6ec48e0e2 AP_Scheduler: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell
50e7c81f46 AP_Logger: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell
dfc4b37df1 AP_HAL_Linux: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell
7c5c805381 AP_HAL: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell
684e32068b AP_Compass: removed perf counters 2021-06-07 14:29:27 +10:00
Peter Barker
d6348a0786 AP_NavEKF3: remove getBodyFrameOdomDebug 
Not used after we moved logging to be within AP_NavEKF3
 2021-06-07 09:28:52 +10:00
Peter Barker
dd3ab29b2f AP_NavEKF3: remove getFilterGpsStatus 
Not needed after we moved logging into NavEKF3
 2021-06-07 09:25:53 +10:00
Peter Barker
aaae7bda6b GCS_MAVLink: provide compatability with bad integer-stored radii 2021-06-06 11:41:30 +10:00
Peter Barker
76408c77dd AC_Fence: provide compatability with bad integer-stored radii 2021-06-06 11:41:30 +10:00
Peter Barker
e3db030d7a AC_Fence: load and store fence radii in floats 
These were simply being cast down to integers
 2021-06-06 11:41:30 +10:00
Peter Barker
e644a9dda8 StorageManager: add read_float and write_float 2021-06-06 11:41:30 +10:00
Andrew Tridgell
67fea9f2f8 HAL_ChibiOS: fixed DMA disable on contention 
this fixes a problem with the automatic DMA disable on DMA contention
in UARTs. This fixes issue #14581

the problem was that while tx_dma_enabled was correctly set to false,
it would keep looping inside write_pending_bytes_DMA() if the data
arrived in the write buffer at a faster rate than it could be sent
out, which did happen with a mavlink stream rate of 4Hz. This means it
kept using DMA even with tx_dma_enabled set to false. The result was
that the automatic flow control code never got a chance to run and we
didn't switch back to non-DMA for these low baudrate contended UARTs
 2021-06-05 19:03:03 +10:00
Andrew Tridgell
3128d71aac HAL_ChibiOS: display uart even when not initialised 
don't rely on thread allocation for uart info display
 2021-06-05 18:52:33 +10:00
Andrew Tridgell
c34d8e80e9 HAL_ChibiOS: fixed serial info indexing for EMPTY uarts 2021-06-05 18:52:33 +10:00
Andrew Tridgell
6fab8feeae HAL_ChibiOS: implement uart_info per-uart 
this allows for some UARTs to be of EMPTY type
 2021-06-05 18:52:33 +10:00
Andrew Tridgell
23cf128541 HAL_Empty: implement uart_info() 2021-06-05 18:52:33 +10:00
Andrew Tridgell
d8a6d9c5c4 AP_HAL: added uart_info() method 2021-06-05 18:52:33 +10:00
Andrew Tridgell
135a4d2c83 HAL_ChibiOS: fixed order and labelling of @SYS/uarts.txt 2021-06-05 18:52:33 +10:00
Andrew Tridgell
71f207403e AP_Common: make angles in degrees end in _deg 
to make it obvious it is not radians
 2021-06-05 13:05:30 +10:00
Andrew Tridgell
eba1d499d4 AP_SpdHgtControl: added get_max_sinkrate() 2021-06-05 13:05:30 +10:00
Andrew Tridgell
a789bb372b AP_TECS: added get_max_sinkrate() API 2021-06-05 13:05:30 +10:00
Andrew Tridgell
a895bc1846 HAL_ChibiOS: reduce flash on VRBranin-v51 2021-06-05 13:05:30 +10:00
Andrew Tridgell
154ae64e63 AP_Math: support either polarity in linear_interpolate() 2021-06-05 13:05:30 +10:00
Peter Barker
d77d258442 AP_Math: add tests for the sqrt_controller 2021-06-04 23:00:19 +10:00
yaapu
c615706971 AP_Frsky_Telem: added a parameter to set the default FRSky sensor ID for passthrough telemetry 2021-06-03 13:58:55 +10:00
honglang
847ce3b311 AP_HAL_ChibiOS: CUAV X7/Nora: use icm42688 instead of bmi088 2021-06-03 13:57:27 +10:00
Randy Mackay
3f77c52720 AP_BoardConfig: minor change to BRD_IMU_TARGTEMP param desc 
Users should reboot if the param is changed to -1 because the heater pin could be left on
 2021-06-02 18:17:59 +10:00
yaapu
870c280946 AP_Frsky_Telem: upgraded SERIAL_PROTOCOL 4 telemetry to 2 bytes data IDs 
This upgrades standard SPort telemetry from older 1byte IDs to newer 2bytes IDs.

Older 1 byte data IDs are not supported by the FRSky ETHOS ecosystem so this
migration is required to allow ArduPilot to seamlessly work with ETHOS.
This migration requires users to do a new sensor discovery in OpenTX.
 2021-06-02 17:33:15 +10:00
yaapu
a5e1a45e7a AP_Frsky_Telem: added hud throttle [-100,100] to frame 0x5001 scaled to [-63,63] on 7bits 2021-06-02 17:30:09 +10:00
Siddharth Purohit
cd5b764fd8 AP_NavEKF3: use first usable compass index to set magSelectIndex 2021-06-02 17:10:19 +10:00
Siddharth Purohit
124eaf1a38 AP_NavEKF2: use first usable compass index to set magSelectIndex 2021-06-02 17:10:19 +10:00
Siddharth Purohit
a52f04ddde AP_DAL: add interface for first usable compass 2021-06-02 17:10:19 +10:00
Siddharth Purohit
1d29619e51 Revert "AP_Arming: check for only first compass being disabled" 
This reverts commit d343c569c2.
 2021-06-02 17:10:19 +10:00
Siddharth Purohit
8590bfea63 AP_Compass: use first available compass in priority list 2021-06-02 17:10:19 +10:00
James O'Shannessy
1794eefd33 AP_Mission: Fixes crash in copter when uploading MAV_CMD_NAV_LAND with NaN as p4 
Uploading a mission created in QGC with MAV_CMD_NAV_LAND (instead of return to launch) results in crash of copter because p4 is not set.
 2021-06-02 17:04:38 +10:00
Andrew Tridgell
606c248e69 AP_HAL: fixed build on boards with no PWM 
this impacts mRoNexus builds
 2021-06-02 15:39:30 +10:00
Paul Riseborough
a5a25411da AP_NavEKF3: Remove unnecessary baro limiting 2021-06-02 11:13:16 +09:00
Paul Riseborough
124f016e5b AP_NavEKF3: Use parameter to set baro ground effect dead-zone 2021-06-02 11:13:16 +09:00
Paul Riseborough
76d0dcc25c AP_NavEKF3: Use common method for handling baro ground effect 2021-06-02 11:13:16 +09:00
Andrew Tridgell
dc9435a88d AP_NavEKF3: don't limit baro change when we are in fixed wing mode 2021-06-02 11:13:16 +09:00
Andrew Tridgell
ea6724aca5 AP_NavEKF2: don't limit baro change when we are in fixed wing mode 2021-06-02 11:13:16 +09:00
Andrew Tridgell
32b079911f AP_NavEKF2: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Peter Barker
c00f110f3d AP_NavEKF3: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Peter Barker
f4f713a04f AP_DAL: add takeoff and touchdown expected state 2021-06-02 11:13:16 +09:00
Peter Barker
9eeec61cec AP_AHRS: new APIs for takeoff/touchdown expected 
timeout handling now in AP_AHRS, and state stored in AHRS and
requested by AP_DAL
 2021-06-02 11:13:16 +09:00
CUAVcaijie
0ff38e1379 HAL_ChibiOS: CUAV ICM20649 on SPI6 bus replaced by ICM20689 
alternative IMUs for Nora and X7
 2021-06-02 10:49:55 +10:00
Andrew Tridgell
8701932670 HAL_ChibiOS: return zeros in dma.txt on first fetch 2021-06-01 11:36:07 +09:00
James O'Shannessy
89e4df485a AP_BattMonitor: Record and report UAVCAN Battery Info temperature correctly 2021-06-01 12:35:24 +10:00
Iampete1
c71163680f SRV_Channel: add motor 1 - 4 to Rover function description, used on OMI frame type. 2021-06-01 11:12:40 +09:00
vierfuffzig
bed7d5f125 AP_OSD: add rangefinder panel 2021-06-01 11:33:05 +10:00
Peter Barker
15658362b5 AP_NavEKF3: make time-horizon OF data a local variable 
Saves 40 bytes of RAM per core on stm32
 2021-06-01 09:56:19 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
0dbd05505b AP_BLHeli: Remove duplicated code, use existing AP_Math CRC function 2021-06-01 09:27:29 +10:00
Andrew Tridgell
5529ba36e2 HAL_ChibiOS: added HolybroGPS AP_Periph port 2021-06-01 09:19:51 +10:00
Andrew Tridgell
23c0f257b6 HAL_ChibiOS: default off serial protocols in AP_Periph 
this allows for a GPS on high numbered ports
 2021-06-01 09:19:51 +10:00
Andrew Tridgell
14dca255a4 AP_Notify: fixed probe on all internal NCP5623 LEDs 2021-06-01 09:19:51 +10:00
Andrew Tridgell
ac1e03e16a HAL_ChibiOS: move heater gains on CubeOrange to hwdef.dat 
this makes it easier for users using apjtool to override params
 2021-06-01 08:07:49 +10:00
Andrew Tridgell
244d896bfb HAL_ChibiOS: enable heater on Pix32v5 2021-06-01 08:07:49 +10:00
Andrew Tridgell
c2a13213ae AP_BoardConfig: allow for hwdef.dat setting for IMU heater gains 2021-06-01 08:07:49 +10:00
Andrew Tridgell
d5dccaa734 AP_Compass: added heater compensation to internal mag for Pix32v5 2021-06-01 08:07:49 +10:00
Hwurzburg
27620322ec AC_AttitudeControl: remove % as units on params that are unitless 2021-05-30 22:38:27 -07:00
James Harton
be3cc1b679 Docs: Change all references from dev.ardupilot.org to the appropriate documentation URLs. 2021-05-31 12:20:45 +10:00
bugobliterator
ea1795d6fe AP_HAL_ChibiOS: ensure ToneAlarm is not disabled when UAVCAN is available 2021-05-31 07:34:02 +10:00
bugobliterator
b7de9feb56 AP_Notify: ensure ToneAlarm is not disabled when UAVCAN is available 2021-05-31 07:34:02 +10:00
bugobliterator
ae80e2dd4d AP_HAL: move ToneAlarm Types to AP_Notify instead 2021-05-31 07:34:02 +10:00