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35449 Commits

Author SHA1 Message Date
Andrew Tridgell 23f2621685 AP_Scripting: improved dual log handling 
allow sync of PTHT messages between vehicle logs
 2024-02-27 21:10:01 +11:00
Andy Piper 242f679206 AP_HAL_ChibiOS: remove iomcu dshot from Pixhawk1-1M and add to Pixhawk1-bdshot 
add support for removing ROMFS from hwdef
 2024-02-27 12:06:57 +11:00
Peter Barker 2df3cb98c6 AP_NavEKF3: move initialisation of rngBcn into BeaconFusion method 2024-02-27 12:04:14 +11:00
Iampete1 744df1ceba AP_Motors: Tricopter: fix actuator indexing 2024-02-27 01:03:28 +00:00
Iampete1 c7d543f9af AP_Scripting: only try to load from ROMFS if `HAL_HAVE_AP_ROMFS_EMBEDDED_LUA` is defined 2024-02-27 11:09:08 +11:00
Iampete1 d4daa990f8 AP_HAL_ChibiOS: hwdef.py: define `HAL_HAVE_AP_ROMFS_EMBEDDED_LUA` if lua files in ROMFS 2024-02-27 11:09:08 +11:00
Peter Barker 2e2b1c9fac AP_HAL_ChibiOS: allow AP_TERRAIN_ENABLED to be turned off in hwdef 
adds the ifndef, and changes things to the path defines are undefined if it is false
 2024-02-27 11:04:02 +11:00
Peter Barker 5cc48a12e2 GCS_MAVLink: remove code based on ENABLE parameters 2024-02-27 11:02:48 +11:00
Peter Barker df8801955d AP_Vehicle: don't create compass singleton if compass not enabled 2024-02-27 11:02:48 +11:00
Peter Barker 53fd9056d8 AP_Scripting: use AP_ARMING_ENABLED and AP_COMPASS_ENABLED 
... in place of periph-specific checks
 2024-02-27 11:02:48 +11:00
Peter Barker c36b57acba AP_Compass: exclude cpp files if not AP_COMPASS_ENABLED 2024-02-27 11:02:48 +11:00
rishabsingh3003 89d8a1351c AP_RangeFinder: move multican to AP_CANSensor 2024-02-27 10:59:41 +11:00
rishabsingh3003 8a24699bfa AP_Proximity: move mutlican to AP_CANSensor 2024-02-27 10:59:41 +11:00
rishabsingh3003 94fca60882 AP_Arming: Remove MR72 2024-02-27 10:59:41 +11:00
rishabsingh3003 a707628b16 AP_CANManager: Add multiCAN interface 2024-02-27 10:59:41 +11:00
Peter Barker e6a6db9ba0 AP_GPS: correct check of reported antenna distance vs stated offset 2024-02-27 10:52:10 +11:00
Peter Barker cb2f764700 AP_GPS: improve reporting of offset vs reported-distance inaccuracy 2024-02-27 10:44:56 +11:00
Peter Barker dd628b025f AP_Param: remove unused old_top_element param from convert_class 2024-02-27 10:37:45 +11:00
Peter Barker f2e9e84278 AP_Param: simplify g2 object conversion 2024-02-27 10:37:45 +11:00
Iampete1 b7dd432409 AP_Scripting: allow loading moduels from ROMFS 2024-02-27 10:17:43 +11:00
Peter Barker ac769014c4 AP_Filesystem: list virtual @SYS, @MISSION etc directories in / 
Adds virtual directory entries for these virtual filesystems in /

RTL> ftp list
RTL> Listing /
 D @MISSION
 D @PARAM
 D @ROMFS
 D @SYS
 D APM
 D log
   V5_BT.dfu	10541
   bootlog.txt	297
   dataman	350216
   message-intervals-chan0.txt	7
Total size 352.60 kByte
ftp list @MISSION
RTL> Listing @MISSION
LIST: OP seq:7 sess:2 opcode:129 req_opcode:3 size:2 bc:0 ofs:0 plen=2 [2]
ftp list @ROMFS
RTL> Listing @ROMFS
   bootloader.bin	16448
   hwdef.dat	5743
   io_firmware.bin	40880
Total size 61.59 kByte

This PR also makes us *much* more lenient in what we accept for looking at virtual filesystems, so

ftp list @SYS
ftp list /@SYS
ftp list @SYS/
ftp list /@SYS/

should all work
 2024-02-27 10:07:01 +11:00
Peter Barker e9d065c1cc AP_NavEKF3: tidy population of fusion reports 
simply take a refefence and use it
 2024-02-26 20:55:41 +11:00
Peter Barker df3267c9ba waf: remove SKETCH and SKETCHNAME from build sysmte 
... renaming one of them to AP_BUILD_TARGET
 2024-02-26 15:42:25 +11:00
Andrew Piper 6d6c790e37 AP_GPS: fragments_received is a bitmask not a count 2024-02-26 09:23:08 +11:00
Paul Riseborough 870c6c5080 AP_TECS: Remove unused variable 2024-02-26 09:20:12 +11:00
Paul Riseborough aecbd116e7 AP_TECS: Add /0 protection 2024-02-26 09:20:12 +11:00
Paul Riseborough 846eaecc0b AP_TECS: Add option for speed to increase up to FBW max during descent 2024-02-26 09:20:12 +11:00
Richard Allen bf1d364201 HAL_Linux: reduce delay(ms) jitter 
Fix delay(1) rarely returning immediately.
On my RPi4, this once per 5-20k calls that worked.

Reduce the last call to microsleep according to the
remaining time needed in the last loop iteration.
 2024-02-26 09:15:52 +11:00
Simon Hancock 2a67cbe681 AP_Logger: Add metadata for VER and FILE messages 2024-02-25 17:53:08 +11:00
Peter Barker fc1c30bc36 AP_MSP: correct compilation when GPS disabled 
../../libraries/AP_MSP/AP_MSP_Telem_Backend.cpp: In member function 'virtual void AP_MSP_Telem_Backend::update_gps_state(AP_MSP_Telem_Backend::gps_state_t&)':
../../libraries/AP_MSP/AP_MSP_Telem_Backend.cpp:206:5: error: 'AP_GPS' was not declared in this scope; did you mean 'RAW_GPS'?
  206 |     AP_GPS& gps = AP::gps();
      |     ^~~~~~
      |     RAW_GPS
compilation terminated due to -Wfatal-errors.
 2024-02-25 12:47:40 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 957b05e53e AP_PiccoloCAN: Remove duplicated code 
Fix doxygen markup for consistency
Fix typos
 2024-02-25 10:19:23 +11:00
Maxim Buzdalov 0ede7f5075 AP_ESC_Telem: replace selected repeated indexing with references 2024-02-25 10:15:39 +11:00
Maxim Buzdalov 58d82000db AP_ESC_Telem: split logging and invalidation, deduplicate micros64() 2024-02-25 10:15:39 +11:00
Maxim Buzdalov 8a576f884e AP_ESC_Telem: remove redundant initialization 2024-02-25 10:15:39 +11:00
Maxim Buzdalov 5329ab8d92 AP_ESC_Telem: cleanup whitespace 2024-02-25 10:15:39 +11:00
Maxim Buzdalov 4e280795b2 AP_ESC_Telem: for RPM, log NaN instead of 0 when there are no measurements 2024-02-25 10:15:39 +11:00
lthall 728d9a9f96 Copter: AC_AttitudeControl: RP_FILT_HZ to RPY_FILT_HZ 2024-02-24 08:45:35 +09:00
lthall 44977938d8 AC_CustomControl: RP_FILT_HZ to RPY_FILT_HZ 2024-02-24 08:45:35 +09:00
Andy Piper 5b2d760365 AC_AttitudeControl: ensure yaw gets a FLTD default 2024-02-24 08:45:35 +09:00
Peter Barker f0616b1b84 AC_PID: avoid use of uninitialised stack data in example 2024-02-24 08:19:50 +09:00
Peter Barker 26d4e0d285 AP_RCProtocol: correct assignment of new_input in rcprotocol detecion 
caused RCP protocol detection to break for everything other than DroneCAN
 2024-02-23 11:23:13 +11:00
Peter Barker b19f8ed57f AP_RCProtocol: CRSF: use subtraction with times, not time+timedelta 2024-02-22 20:46:40 +11:00
Andy Piper b071d76565 AP_RCProtocol: decode high duty-cycle CRSF frames using frame markers rather than timeouts 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-02-22 20:46:40 +11:00
Andy Piper aa9ea03c7c AP_RCProtocol: add tests for CRSF and fix protocol test 
fixed RCProtocolTest on SITL and make it pass/fail with an exit code

Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-02-22 20:46:40 +11:00
Andrew Tridgell 632bb71c87 GCS_MAVLink: use can_printf_severity() for AP_Periph 2024-02-22 15:03:01 +11:00
Andrew Tridgell ed27e30f9e AP_DroneCAN: map DroneCAN debug levels to MAV_SEVERITY levels 2024-02-22 15:03:01 +11:00
Peter Barker 21a01c5587 AP_GPS: remove dead GPS_MINDGPS variable 2024-02-22 14:41:29 +11:00
Andy Piper 76c0b0a8e0 SITL: squash static_assert warnings 2024-02-22 14:40:55 +11:00
Andy Piper 4d419bb918 AP_Logger: remove unused variables 2024-02-22 14:40:55 +11:00
Andy Piper 1ba5898b82 AP_Param: remove unused variable 2024-02-22 14:40:55 +11:00
Andy Piper a5b28cf3e3 AP_RCProtocol: squash compile warning 2024-02-22 14:40:55 +11:00
Andy Piper 01d04917cb AP_Mount: squash static_assert warnings 2024-02-22 14:40:55 +11:00
Andy Piper 61dbc7a665 AP_Filesystem: remove unused variables 2024-02-22 14:40:55 +11:00
Andrew Tridgell 4fca2ee852 AP_GPS: prevent announcing DroneCAN at 5Hz 2024-02-22 13:27:54 +11:00
Clyde McQueen b486c1cb46 AP_Scripting: expose sub rangefinder methods 2024-02-21 18:59:20 -03:00
Clyde McQueen 37e7c33916 AP_JSButton: add SURFTRAK mode 2024-02-21 18:59:20 -03:00
Andrew Tridgell feff639c15 AP_ROMFS: fixed duplicate directories 2024-02-22 07:43:16 +11:00
Iampete1 a9eadd9f01 GCS_MAVLink: FTP: strip trailing `/` in dir list request 2024-02-22 07:43:16 +11:00
Iampete1 785e0c4c62 AP_ROMFS: don't require / in filename 2024-02-22 07:43:16 +11:00
Iampete1 93d8de2834 AP_Filesystem: support full direcotry listing in ROMFS 2024-02-22 07:43:16 +11:00
Peter Barker f3b9304d80 RC_Channel: move gripper up to AP_Vehicle 
also make the singleton return a reference rather than a pointer
 2024-02-21 21:05:12 +11:00
Peter Barker 362867415f GCS_MAVLink: move gripper up to AP_Vehicle 
also make the singleton return a reference rather than a pointer
 2024-02-21 21:05:12 +11:00
Peter Barker 9bdb886bb8 AP_Vehicle: move gripper up to AP_Vehicle 
also make the singleton return a reference rather than a pointer
 2024-02-21 21:05:12 +11:00
Peter Barker b41d82c989 AP_Mission: move gripper up to AP_Vehicle 
also make the singleton return a reference rather than a pointer
 2024-02-21 21:05:12 +11:00
Peter Barker 9a1a412152 AP_Gripper: move gripper up to AP_Vehicle 
also make the singleton return a reference rather than a pointer
 2024-02-21 21:05:12 +11:00
Peter Barker b22185436e AP_Param: allow AP_PARAM_KEY_DUMP from sim_vehicle cmdline 
./Tools/autotest/sim_vehicle.py -v ArduCopter --map --configure-define=AP_PARAM_KEY_DUMP=1
 2024-02-21 21:05:12 +11:00
Peter Barker 3a38aeda59 AP_HAL_ChibiOS: set scheduler task to -4 when running callback tasks 2024-02-21 18:56:50 +11:00
bugobliterator 402c8a5e4d GCS_MAVLink: fix version setting in CheckFirmware app descriptor 2024-02-21 18:54:17 +11:00
bugobliterator fd3c723103 AP_CheckFirmware: add separate AP_CheckFirmwareDefine for correctly setting firmware versions 2024-02-21 18:54:17 +11:00
bugobliterator c54521511c AP_CheckFirmware: allow access to app descriptor from bootloader 2024-02-21 18:54:17 +11:00
bugobliterator 7fabce6cb6 AP_Bootloader: add support for printing current firmware and boot status 2024-02-21 18:54:17 +11:00
Peter Barker 3ab5f8139c AP_RCProtocol: remove unused enumeration 2024-02-21 18:35:30 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 4996c17a75 AP_Stats: Only reset statistics if the user explicitly sets AP_Stats_RESET parameter to zero. 
This allows users to load parameter files (in MP, MAVProxy or any other GCS) without
accidentally reseting the statistics, because the AP_STATS_RESET value contained in
the parameter file will be ignored (unless it is zero and it is usually not zero).
The other statistics parameters are read-only, and the GCS should be clever enough to not set those.
 2024-02-21 18:28:23 +11:00
Peter Barker d37d70e787 AP_RCProtocol: factor out a poll_protocol method 2024-02-21 18:19:23 +11:00
Andrew Tridgell f8097379cb AP_Scripting: prevent a code path to abort() in scripting 
if scripting can't find an error handler it can call abort(). We don't
ever want to do that in ArduPilot
 2024-02-21 12:09:48 +11:00
Andrew Tridgell 3d4dbd0aed SITL: use gmtime_r() instead of gmtime() 2024-02-21 12:09:48 +11:00
Andrew Tridgell b3240ac243 AP_Scripting: use gmtime_r() instead of gmtime() 
using gmtime_r makes gmtime thread safe
 2024-02-21 12:09:48 +11:00
Andrew Tridgell 052ce823ba AP_RTC: use gmtime_r() instead of gmtime() 
using gmtime_r makes gmtime thread safe
 2024-02-21 12:09:48 +11:00
Andrew Tridgell 476587adf1 AP_NMEA_Output: use gmtime_r() instead of gmtime() 
using gmtime_r makes gmtime thread safe
 2024-02-21 12:09:48 +11:00
Andrew Tridgell fca0aa3d02 AP_MSP: use gmtime_r() instead of gmtime() 
using gmtime_r makes gmtime thread safe
 2024-02-21 12:09:48 +11:00
Andrew Tridgell 3cb3e6feda AP_Filesystem: use gmtime_r() instead of gmtime() 
using gmtime_r makes gmtime thread safe
 2024-02-21 12:09:48 +11:00
Andrew Tridgell 127c41f541 AP_ADSB: use gmtime_r() instead of gmtime() 
using gmtime_r makes gmtime thread safe
 2024-02-21 12:09:48 +11:00
Andrew Tridgell c0beda3235 AP_JSON: added JSON parsing library 2024-02-21 12:09:48 +11:00
Andrew Tridgell cb01789b9f SITL: use AP_JSON 2024-02-21 12:09:48 +11:00
Peter Barker d5e4d191d5 AP_OSD: use internal enumeration in place of mavlink enumeration 
this will let us more-easily compile without the mavlink headers
 2024-02-20 22:09:53 +11:00
Peter Barker 1515f0642b SITL: correct documentation around simulated GPS type 2024-02-20 19:35:01 +11:00
Peter Barker 5199be9914 SITL: add diagnostics when bad GPS backend specified 2024-02-20 19:35:01 +11:00
Peter Barker 494d72503a AP_GPS: use probing when probing for GPS, add detected message 2024-02-20 19:35:01 +11:00
Iampete1 c54529aaf8 SITL: SIM_Motor: include momentum drag in derived torque 2024-02-20 12:22:05 +11:00
Peter Barker bedcbc24b6 AC_CustomControl: tidy AC_CustomControl defines / add config file 2024-02-20 11:50:10 +11:00
Peter Barker 0e742fe51c AC_Fence: ensure fencepoint protocol not compiled in if not HAL_GCS_ENABLED 
also use GCS_SEND_TEXT a bit
 2024-02-20 11:47:32 +11:00
muramura f6d0f52876 AC_Fence: Replace with GCS_SEND_TEXT 2024-02-20 11:47:32 +11:00
Iampete1 5907e49cb1 AP_Scripting: ensure that all pass by refence values are initialized 2024-02-20 11:05:36 +11:00
Patrick José Pereira 3f2c82df12 GCS_MAVLink: Remove wrong usage of COMMAND_ACK message 
SET_MODE message does not exist inside the MAV_CMD enum
as described in the mavlink specification.
The system that is using SET_MODE to communicate with the
vehicle should rely on HEARTBEAT message to detect if
the mode was set correctly.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-02-20 10:08:06 +11:00
xianglunkai 9123554db3 AP_OAPathPlanner: using static constexpr instead const 2024-02-20 09:30:13 +11:00
Peter Barker c2f77d0593 AP_Generator: tidy RichenPower defines 2024-02-20 09:27:43 +11:00
Peter Barker 9c97dc99b1 AP_Logger: correct compilation when GCS not available 
... can't expect to do mavlink logging without GCS available...
 2024-02-20 09:16:59 +11:00
Peter Barker ee3c9765a4 AP_ICEngine: correct compilation when ICEngine disabled 
the starter class does things with various other objects which may not be avaialb.e  Honour AP_ICENGINE_ENABLED
 2024-02-20 09:16:23 +11:00
Andy Piper d7ae8b8bb3 AP_RCProtocol: correctly process bytes from standalone UART 2024-02-19 22:46:58 +11:00
Peter Barker cca292f222 AP_RCTelemetry: correct CSRF->CRSF 
Co-authored-by: Andy Piper <github@andypiper.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-02-19 21:38:39 +11:00