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22980 Commits

Author SHA1 Message Date
Samuel Tabor
15cef55e97 SITL: Make thermal drift relative to 100m alt to avoid so much change with wind speed and direction." 2020-04-08 09:11:54 +10:00
Samuel Tabor
8072f6b858 AP_Soaring: Make the trigger VSPEED take account of thermalling sink. 2020-04-08 09:11:54 +10:00
Samuel Tabor
650b464831 AP_Soaring: Move drift check to separate function and check drift with reference to mission segment, allowing drift in right direction. LOITER target, not current position, is now used. 2020-04-08 09:11:54 +10:00
Samuel Tabor
45cb663d73 AP_Math: Add template for Vector2f::projected. 2020-04-08 09:11:54 +10:00
Samuel Tabor
fab74f8927 AP_Soaring: Calculate expected thermalling sink live and avoid divide by zero by limiting airspeed to that corresponding to CL max (generously assumed 1.5 for glider). 2020-04-08 09:11:54 +10:00
Samuel Tabor
75f772b269 AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER. 2020-04-08 09:11:54 +10:00
Samuel Tabor
684ee11fc3 AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring. 2020-04-08 09:11:54 +10:00
Samuel Tabor
dc8c062fbe AP_TECS: Correct an error in the SEBdot FF term. 2020-04-08 09:11:54 +10:00
Samuel Tabor
247738518e AP_TECS: Add a feed-forward term from adjusted demanded airspeed to nav pitch. 2020-04-08 09:11:54 +10:00
Samuel Tabor
a27c99fab9 AP_TECS: Return the adjusted demanded airspeed. The aspd_error mavlink message now shows the rate-limited airspeed. 2020-04-08 09:11:54 +10:00
Samuel Tabor
ae27f96361 SITL: Make soaring thermals slanted. 2020-04-08 09:11:54 +10:00
Samuel Tabor
013628bd1d Plane: Soaring - better reporting of exit due to drift. 2020-04-08 09:11:54 +10:00
Samuel Tabor
e1b2360781 AP_Soaring: Add a maximum allowable drift distance when thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor
936d4232c9 AP_Soaring: Add a 60s first order filter on climb rate. If this becomes negative exit thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor
30249e8006 AP_Soaring: Add a check of whether altitude has been lost overall when thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor
5082c9be8b SITL: Add plane-soaring type, including parameters, mission, simulated thermals and glider sim settings. 2020-04-08 09:11:54 +10:00
Tom Pittenger
f24095e9ed AP_Soaring: inhibit msg spam when lingering in loiter waiting for heading to line up 2020-04-08 09:11:54 +10:00
Samuel Tabor
3211c03f58 AP_Soaring: Remove unused methods, clean up and log position in N/E rather than Lat/Lng. 
Fix
 2020-04-08 09:11:54 +10:00
Samuel Tabor
152c1507e0 AP_Soaring: Make the EKF states the actual NE position of the thermal, rather than the position relative to aircraft. 2020-04-08 09:11:54 +10:00
Samuel Tabor
d7abd296ef AP_Soaring: Avoid calculations in lat/lng. 2020-04-08 09:11:54 +10:00
Samuel Tabor
0cccc8dc29 AP_Soaring: Fix issue with loiter radius being saved as zero due to initialisation order. This caused incorrect calculation of thermal climb potential and cases of staying in thermals that should have been abandoned. 2020-04-08 09:11:54 +10:00
Samuel Tabor
c135b00b7b AP_Soaring: Remove redundant check for new vario data. 2020-04-08 09:11:54 +10:00
Samuel Tabor
64460be0d0 AP_Soaring: Implement vario based on acceleration rather than differentiated airspeed. 2020-04-08 09:11:54 +10:00
Tom Pittenger
f6396d7a6d Plane: add reason to exit Thermal loiter and adjust LOW alt reaon to cause RTL 2020-04-08 09:11:54 +10:00
Tom Pittenger
52ae093a97 AP_Soaring: add reason to exit Thermal loiter 2020-04-08 09:11:54 +10:00
Michael du Breuil
73c5c2e1bb AP_Arming: Check that sticks are neutral 2020-04-07 14:01:12 -07:00
Michael du Breuil
2b9aa9bc21 RC_Channel: Add option bit for arming checking the throttle input (opt-in) 
Also adds interface to find out what channel is used for rudder arming
 2020-04-07 14:01:12 -07:00
murata
7ec0cb47a5 AP_Compass: const extern hal reference 2020-04-07 20:45:51 +09:00
murata
f83f6c71e4 AP_Logger: const extern hal reference 2020-04-07 20:45:51 +09:00
murata
264a90bb45 AP_Logger: Change to coding style (NFC) 
AP_Logger: Change to coding style (NFC)
 2020-04-07 20:37:33 +09:00
Rishabh
76b4e42bca AP_Logger: Logger documentation TimeUS and typo fix 2020-04-07 18:57:01 +10:00
Rishabh
fe4d1f9316 AC_AutoTune: Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Rishabh
b0134460e5 AP_NavEKF:Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Rishabh
eeb55f8b16 TECS: Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Peter Barker
59dfaad749 SITL: provide method to retrieve desired speedup 2020-04-07 14:51:32 +10:00
Peter Barker
78e432af0c AP_HAL_SITL: do not let outbound queue length to grow too far 
This basically limits our loop rate to whatever is listening on uartA
can handle in terms of mavlink traffic.
 2020-04-07 14:51:32 +10:00
Peter Barker
7028eb8d24 AP_HAL_SITL: provide method to get amount of data still pending in outbound system queues 2020-04-07 14:51:32 +10:00
bugobliterator
9d7022514e HAL_SITL: ensure that unique id string end in null char 2020-04-07 09:40:05 +10:00
Andy Piper
b8878380d6 AP_Camera: add RunCam device type 2 documentation 2020-04-06 20:27:32 +10:00
Andy Piper
e3d22b9d27 AP_Camera: if exiting a RunCam submenu reset the submenu index to the top 2020-04-06 20:15:38 +10:00
Andrew Tridgell
be674fc36c AP_NavEKF3: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-04-06 17:30:29 +10:00
Andrew Tridgell
c9755cf9e6 AP_NavEKF2: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-04-06 17:30:29 +10:00
Peter Barker
2ed550966d AP_Logger: correct units for velocity on OF log message 2020-04-06 10:46:45 +10:00
Peter Barker
64c973b592 SITL: add documentation for AirSim ASM1,ASM2 log messages 2020-04-06 10:46:45 +10:00
Peter Barker
e477f6c840 AC_PosControl: add documentation for PSC log message 2020-04-06 10:46:45 +10:00
Peter Barker
33f17d7739 AP_Logger: document ARSP,ASP2,CAM,TRIG,POWR,TERR,CSV,CMD,OF,AHR2 2020-04-06 10:46:45 +10:00
Peter Barker
3fb61c4cf0 AP_Logger: add documentation for more log messages 
ERR,DSF,EV,SIM,ORGN,POS,LGR,MON,TSYN,IMU,IMUT
 2020-04-05 12:49:19 +10:00
Peter Barker
09152cd254 AP_Logger: correct time field name on DMS 2020-04-05 12:49:19 +10:00
Peter Barker
50c60aa8f2 AP_Logger: add documentation for ACC1,ACC2,ACC3,DMS,GPA,GPA2,GPS2,GYR1,GYR2,GYR3,MAVC,PM 2020-04-05 10:12:03 +10:00
Peter Barker
a92206d090 AP_Logger: log dataflash-over-mavlink timestamp in micros rather than millis 
... like the vast majority of our dataflash messages
 2020-04-05 10:10:49 +10:00
Andrew Tridgell
376116c99b HAL_ChibiOS: fixed skyviper-journey build 2020-04-04 10:47:15 +11:00
Peter Barker
e41ea5a273 AP_Logger: add docco for BAR2,BAR3,MSG,RAD,RALY,RFND,RPM,RSSI 2020-04-04 10:05:15 +11:00
Mark Whitehorn
442fa60651 APM_Control: validate parameter ARSPD_FBW_MIN 2020-04-02 19:43:06 -07:00
Randy Mackay
9c8a5a7392 AP_Math: add comments above some quaternion methods 
thanks to jchallinger
 2020-04-03 10:16:07 +09:00
Peter Barker
b2ad4dabb8 AP_Hott_Telem: correct GPS fix character 
https://discuss.ardupilot.org/t/bug-in-ap-hott-telem-cpp-copter-4-0-4dev/53939/2

Thanks to @fs007
 2020-04-01 19:24:58 +11:00
Peter Barker
93fb5354da AP_Beacon: pozyx: remove dead and pointless code 2020-04-01 15:42:47 +09:00
Siddharth Purohit
a3a3abbf23 SRV_Channels: fix unannotated fall-through between switch labels 2020-04-01 17:10:36 +11:00
Siddharth Purohit
b0cbbb4bea GCS_Common: fix unannotated fall-through between switch labels 2020-04-01 17:10:36 +11:00
Siddharth Purohit
afc0cf8f3b AP_ToshibaCAN: fix unused variable error 2020-04-01 17:10:36 +11:00
Siddharth Purohit
575ac9224e AP_Arming: fix error unannotated fall-through between switch labels 2020-04-01 17:10:36 +11:00
Andrew Tridgell
8e3aba5dc5 AP_RAMTRON: fixed build with gcc 9.x 2020-04-01 17:08:48 +11:00
Andrew Tridgell
077ab22767 AP_GPS: fixed AP_Periph build with gcc 9.x 2020-04-01 17:08:48 +11:00
Andrew Tridgell
4456732911 AP_GPS: fixed rotation of moving baseline GPS 
we were off by 180 degrees. Thanks to Jaime for noticing this!
 2020-04-01 17:08:19 +11:00
Phillip Kocmoud
46582944e2 AP_RAMTRON: Add FM25V02A Extended Temperature 
As shown in https://www.cypress.com/file/139671/download Page 11
 2020-04-01 12:46:05 +11:00
Peter Barker
1770199c41 AP_Logger: add documentation for MAV and PARM 2020-04-01 10:13:03 +11:00
Peter Barker
6f685b8ac5 AP_HAL_SITL: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
Peter Barker
ec460b4244 AP_Vehicle: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
Peter Barker
73e43d8da5 AP_HAL: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
Peter Barker
9ba2aecbb8 AP_HAL_ChibiOS: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
yaapu
fed8ecc3b0 AP_Frsky_Telem: fix for protocol=4 GAlt=0 and GSPd=0 
This fixes protocol 4 GPS altitude and speed error, both were reported as constant 0
for cal_gps_position() was never called
 2020-03-31 13:09:35 +11:00
Peter Barker
a3e2e156e7 AP_HAL_Linux: do not create ConsoleDevices for Replay or examples 
Uusally problems evidence themsleves with stdin not working correctly -
for example, "git add -p" skipping through all queries as if the
user was just pressing enter.
 2020-03-31 11:22:21 +11:00
Andrew Tridgell
21e93dae34 GCS_MAVLink: send only old value for readonly param set 
this prevents a condition where the GCS can display the wrong value if
the 2nd PARAM_VALUE is lost

Note that groundstations can tell the set failed due to readonly in
the following ways:

 1) look for the statustext: Param write denied (PARAMNAME)

 2) see that the value came back with the old value, with index of
   65535

 3) can repeat the send, looking for (1) and (2)

Michael has proposed we add a PARAM_VALUE mavlink2 flags
extension. That would be nice, but we should still make this change to
fix the issue with mavlink 1.0
 2020-03-31 11:19:58 +11:00
Peter Barker
55d37e5d0e GCS_MAVLink: correct slowing down of waypoint re-requests 
These re-requests shouldn't be slowed down by a factor of 20.

This was a left-over from when we did these in terms of 20ms intervals
(50Hz loop rate)
 2020-03-31 11:15:04 +11:00
Peter Barker
ca7fcc093c GCS_MAVLink: correct return type on get_stream_slowdown_ms 
Only used in one place.  On slow links may have caused us to re-request
a waypoint too often.  "Too often" is still >1s intervals.
 2020-03-31 11:15:04 +11:00
Peter Barker
0b756547be GCS_MAVLink: add stream_slowdown to MAV message 2020-03-31 11:13:11 +11:00
Peter Barker
be6ed0be9f AP_Logger: add stream_slowdown to MAV message 2020-03-31 11:13:11 +11:00
Peter Barker
46a014b399 AP_Notify: remove recursive call to play in next_action 
Infinite recursion is bad.

See https://github.com/ArduPilot/ardupilot/issues/13868
 2020-03-31 11:06:30 +11:00
Peter Barker
7028f1adba GCS_MAVLink: GCS_FTP: remove redundant more_pending variable 
This is taken care of by the "break" statements
 2020-03-31 10:38:13 +11:00
Peter Barker
a09ac895e9 GCS_MAVLink: remove dead assignment 
This value is never used
 2020-03-31 10:38:13 +11:00
Peter Barker
2b08af69bc AP_GPS: fix dereference-of-nullptr warning from scan-build 
This is kind-of a false positive as this in practise could never be
nullptr.
 2020-03-31 10:37:16 +11:00
Michael du Breuil
18baf18041 GCS_MAVLink: Remove redundant assignment to the command 
This is done internally by the conversion to mission_item_int_t
 2020-03-31 10:35:49 +11:00
Peter Barker
609b66a053 AP_NavEKF3: rename struct log_NKF2a to log_XKF2 2020-03-31 10:25:59 +11:00
Peter Barker
8a28fa2244 AP_Logger: rename struct log_NKF2a to log_XKF2 2020-03-31 10:25:59 +11:00
Gone4Dirt
c97cc71382 AP_Camera: Correct trigger behaviour when cmd is switched off then on again 2020-03-31 10:05:40 +11:00
Gone4Dirt
d813ee27de AP_Mission: Added immediate trigger for DO_SET_CAM_TRIGG_DIST 2020-03-31 10:05:40 +11:00
Randy Mackay
cca361a942 AP_VisualOdom: minor format and comment fixes 2020-03-30 20:31:38 +09:00
Randy Mackay
ecf5abc1f2 GCS_MAVLink: minor format fix 2020-03-30 20:20:08 +09:00
Randy Mackay
7a48a3f354 AP_Math: minor comment fix 2020-03-30 20:20:02 +09:00
Henry Wurzburg
a637073dad AP_HAL_Chibios: add tenth PWM output to MatekF405-Wing 2020-03-30 11:23:14 +11:00
Peter Barker
aeb45bf146 AP_Logger: fix extremely unlikely nullptr dereference in SITL sanity checks 2020-03-29 08:07:29 +11:00
Michael du Breuil
75b133926f AP_Scripting: Cleanups to remove false posive warnings 2020-03-28 21:16:09 +11:00
Michael du Breuil
d50e9865bd AP_Scripting: Delete the lua object if we failed to allocate the required memory 2020-03-28 21:16:09 +11:00
Michael du Breuil
6753e99604 AP_Scripting: Add a return around luaL_error 
This is the normal method of calling luaL_error which longjmp's away,
and it helps the static analysis tools realize that anything afterwards
will not be reached
 2020-03-28 21:16:09 +11:00
Andrew Tridgell
e7fdf8fad1 GCS_MAVLink: reduced delay between ftp packets 2020-03-28 15:28:03 +11:00
Andrew Tridgell
5c9ae33151 GCS_MAVLink: support variable sized packets in burst read 
this allows packet size to be tailored to the transport
 2020-03-28 15:28:03 +11:00
Andrew Tridgell
8a84dbc19e GCS_MAVLink: slow down telemetry during ftp 2020-03-28 15:28:03 +11:00
Andrew Tridgell
5047eb88e2 AP_Scripting: use @ROMFS 2020-03-28 15:28:03 +11:00
Andrew Tridgell
10c709a5a1 AP_Filesystem: use @ROMFS 2020-03-28 15:28:03 +11:00
Andrew Tridgell
a8f7212d79 AP_Filesystem: fixed open for write in ROMFS 2020-03-28 15:28:03 +11:00
Andrew Tridgell
e0957c2bcc HAL_ChibiOS: include hwdef.dat in ROMFS 
this allows download via ftp
 2020-03-28 15:28:03 +11:00
Andrew Tridgell
c1d4a5bd35 GCS_MAVLINK: prevent closedir() with nullptr 2020-03-28 15:28:03 +11:00
Andrew Tridgell
8d1bf46dab AP_Param: use smaller param area for all 1M flash boards 2020-03-28 15:28:03 +11:00
Andrew Tridgell
ebec738b88 AP_Scripting: enable lua scripts in ROMFS 2020-03-28 15:28:03 +11:00
Andrew Tridgell
ea57b7b3cd HAL_ChibiOS: embed ROMFS files from hwdef directory 
this allows for a scripts/ directory under hwdef board directory to
embed lua scripts
 2020-03-28 15:28:03 +11:00
Andrew Tridgell
28082774b6 GCS_MAVLink: use new DirHandle for directory listings 2020-03-28 15:28:03 +11:00
Andrew Tridgell
a91c587ef3 AP_Scripting: use new DirHandle for directory listings 2020-03-28 15:28:03 +11:00
Andrew Tridgell
b5cc1f236a AP_Logger: use new DirHandle for directory listings 2020-03-28 15:28:03 +11:00
Andrew Tridgell
6583f7c13e AP_Filesystem: added VFS system for multiple backends 2020-03-28 15:28:03 +11:00
Andrew Tridgell
98542d0c0b AP_ROMFS: added directory listing interface 2020-03-28 15:28:03 +11:00
Andrew Tridgell
6360c67858 AP_OSD: avoid build when OSD disabled 2020-03-28 15:28:03 +11:00
Andrew Tridgell
822460ce7d HAL_ChibiOS: fixed strdup() on ChibiOS 2020-03-28 15:28:03 +11:00
Peter Barker
051a7dc298 AP_NavEKF: add onboard LogMessage documentation 2020-03-27 08:05:53 +11:00
Peter Barker
7f0e722a33 AP_Logger: add onboard LogMessage documentation 2020-03-27 08:05:53 +11:00
Andrew Tridgell
6d42e9502b AP_Compass: fixed unreg compass check for AP_Periph 
this fixes detection of compasses on peripherals where
COMPASS_MAX_UNREG_DEV is 0
 2020-03-26 18:10:13 +11:00
Daniel Magree
b3ff81648b Nav_EKF3: varInnovBodyVel assigned the innovation covariance, rather than inverse 2020-03-25 21:52:49 +11:00
Andrew Tridgell
0f6f684bab AP_Airspeed: expose get_corrected_pressure() 
needed for AP_Periph
 2020-03-25 20:37:00 +11:00
Henry Wurzburg
c34c857123 AP_Logger: update logger meta-data, add to gitignore 2020-03-25 14:20:53 +11:00
Peter Hall
53caf516f9 SRV_Channel: add missing ProfiLED description values 2020-03-24 13:37:20 +09:00
Andrew Tridgell
f299a4af33 RC_Channel: added RC_OPTION bit for protocol logging 2020-03-24 09:10:36 +09:00
Andrew Tridgell
087da57858 AP_RCProtocol: added logging of RC prototol input bytes 2020-03-24 09:10:36 +09:00
bugobliterator
edaf9fa086 AP_Scripting: remove unused user of realloc from lua 2020-03-24 10:32:14 +11:00
bugobliterator
8215537f99 HAL_ChibiOS: deprecate realloc for ChibiOS build, so as to return error when used 2020-03-24 10:32:14 +11:00
bugobliterator
afea703aaf AP_HAL: ensure libc realloc is available for all platforms except ChibiOS 2020-03-24 10:32:14 +11:00
bugobliterator
89d03f0243 AP_HAL_ChibiOS: implement standard realloc method 2020-03-24 10:32:14 +11:00
bugobliterator
c615bd9874 AP_HAL: implement standard realloc method 2020-03-24 10:32:14 +11:00
bugobliterator
88de9572aa AP_Common: use standard realloc method from HAL 2020-03-24 10:32:14 +11:00
Rishabh
59af2fcbbb AP_WindVane: Fix duplicate values in Param 2020-03-24 10:26:04 +11:00
Rishabh
44d35942b6 AP_RSSI: Fix duplicate values in ANA_PIN 2020-03-24 10:26:04 +11:00
Rishabh
9e8894139c AP_BattMonitor: Fix duplicate values in VOLT_PIN param 2020-03-24 10:26:04 +11:00
Peter Barker
f4f2caeef2 AP_Tuning: avoid name collision with Copter's PTUN message 2020-03-22 18:35:14 +11:00
Peter Barker
2b5f15fe78 AP_TECS: add missing field documentation in TECS and TEC2 2020-03-22 18:35:14 +11:00
Peter Barker
35ad582440 AP_Logger: correct various onboard log message documentation 2020-03-22 18:35:14 +11:00
Peter Barker
cf0875bb00 AC_AutoTune: add missing axis field to ATUN message 2020-03-22 18:35:14 +11:00
Peter Barker
af62d7d7b6 AP_GyroFFT: inline used-only-once Log_Write parameters 
This simplifies the code a little (no need to make these constants you
need to go and look up), and also makes external parsing easier.
 2020-03-22 18:35:14 +11:00
Henry Wurzburg
8155f5dcbf AP_TECS: fix typos in logger message meta-data 2020-03-22 10:04:53 +11:00
Henry Wurzburg
7bb5d92dcc AP_Logger: fix typos in logger message meta-data 2020-03-22 10:04:53 +11:00
Peter Barker
1065317332 AC_AutoTune: add documentation for ATUN log message 2020-03-21 09:34:43 +11:00
Peter Barker
fa50b5f76d AP_Logger: add more metadata for logged messages 
LogStructure: add MAG log information

LogStructure: add MODE log information

LogStructure: add PID log information

AP_Logger: add ATT information

AP_Logger: add documentation for BAT log message

LogStructure: add RCIN and RCOU messages

AP_Logger: add VIBE message information
 2020-03-21 09:34:43 +11:00
Peter Barker
de36b6a16a AP_Logger: add LoggerMessage metadata for GPS message 2020-03-20 13:05:46 +11:00
Peter Barker
55ee3362b9 AP_Logger: add example of documentation for a log structure 2020-03-20 13:05:46 +11:00
Peter Barker
6c56f24e30 AP_TECS: add documentation for TECS and TEC2 2020-03-20 13:05:46 +11:00
Andrew Tridgell
fc0b2ef920 HAL_ChibiOS: added half-duplex protection for non-inverted 
to prevent output bytes being seen as input bytes we disable half
duplex during transmit. This was previously only done for non-inverted
UARTs. This patch enables it whether we are inverted or not. This
greatly reduces the number of bad input bytes.
 2020-03-20 12:37:52 +11:00
Andrew Tridgell
6b35497129 AP_RCProtocol: moved fport variables into class 
reduced pollution of global namespace
 2020-03-20 12:37:52 +11:00
Andrew Tridgell
a1069d85cb AP_RCProtocol: fixed bug in FPort parser 
if we got invalid frame->type values we would overrun the buffer and
cause memory corruption. This was the cause of the bug Polarijet found
 2020-03-20 12:37:52 +11:00
Peter Hall
3f7ab6289d AP_Scripting: move scripting_test.lua from examples to tests 2020-03-19 15:28:39 -07:00
Peter Hall
524d59ad78 AP_Scripting: add math and strings test scripts 2020-03-19 15:28:39 -07:00
Randy Mackay
05b563cf54 AP_Scripting: fixup comment in set-target-location example script 2020-03-19 15:17:11 -07:00
Randy Mackay
0846746932 AP_Scripting: add copter-fly-vertical-circle example script 2020-03-19 15:17:11 -07:00
Randy Mackay
fa0fb9ef34 AP_Scripting: add set-target-velocity example script 2020-03-19 15:17:11 -07:00
Randy Mackay
d7fb84c765 AP_Scripting: make bindings 2020-03-19 15:17:11 -07:00
Randy Mackay
60b3c6ca94 AP_Scripting: add bindings for start_takeoff and set_target_velocity_NED 2020-03-19 15:17:11 -07:00
Randy Mackay
849adcd678 AP_Vehicle: add start_takeoff and set_target_velocity_NED for use in scripting 2020-03-19 15:17:11 -07:00
Peter Hall
d37efe1b38 AP_Scripting: regenerate bindings 2020-03-19 14:59:34 -07:00
Peter Hall
67bfedd845 AP_Scripting: add button example script 2020-03-19 14:59:34 -07:00
Peter Hall
f5052b68a8 AP_Scripting: add binding for AP_Button get_button_state 2020-03-19 14:59:34 -07:00
Peter Hall
ecd7e12dd3 AP_Button: add crude debouncing and get_button_state function 2020-03-19 14:59:34 -07:00
Peter Barker
a59c3670c8 AP_HAL_ChibiOS: stash lr_thd in watchdog hardfault handler 2020-03-19 16:03:58 +11:00
Peter Barker
97b07d9c84 GCS_MAVLink: add option to get the autopilot to hard-fault itself 2020-03-19 16:03:58 +11:00
Andrew Tridgell
f00314a5d1 AP_GPS: removed dead blending code 2020-03-17 12:13:54 +11:00
Andrew Tridgell
9fa034d1de AP_GPS: fixed antenna offset for blending 
we were accessing beyond the end of the antenna_offset array
 2020-03-17 12:13:54 +11:00
Peter Barker
0665c379de AP_Compass: correct use of incorrect backend-count macro 2020-03-17 11:25:16 +11:00
Patrick José Pereira
1635054c4f AP_Math: Add missing constexpr 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-03-17 10:23:47 +11:00
Peter Barker
c9f2b9ff87 AR_AttitudeControl: correct spelling error in param docs 2020-03-16 17:44:35 +11:00
Patrick José Pereira
e65cc35fb0 AP_HAL_Linux: Use template to generate raspberry pins 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-03-15 22:35:50 -07:00
Andrew Tridgell
5a4b648cf5 HAL_ChibiOS: disable flash fallback for boards with FRAM 
this saves on flash and prevents confusing results when fram fails
 2020-03-14 13:47:25 +11:00
Nick Exton
741abaf760 AP_Param: Add static assert on NVM struct sizes 2020-03-14 13:47:25 +11:00
Nick Exton
4cd39a4619 HAL_ChibiOS: improved selection of storage backend 2020-03-14 13:47:25 +11:00
Nick Exton
f9ec9c037a AP_RAMTRON: improved driver robustness 
- added retries on all operations
- detect errors with a CRC
- fixed detection of fujitsu devices
 2020-03-14 13:47:25 +11:00
Andy Piper
104dd7cd75 AP_HAL_ChibiOS: remove board subtype for OmnibusNanoV6 2020-03-14 10:20:46 +11:00
Andrew Tridgell
add7615ed9 AP_HAL: removed unnecessary subtypes 2020-03-14 08:35:32 +11:00
Andrew Tridgell
986ad0dc27 HAL_ChibiOS: removed unnecessary subtype defines 2020-03-14 08:35:32 +11:00
Andrew Tridgell
c3f2117590 HAL_ChibiOS: fixed R9Pilot board ID 2020-03-14 07:05:22 +11:00
Peter Barker
4c19eb4bab AP_NavEKF3: use compass reference rather than repeatedly asking AHRS for it 2020-03-13 08:26:18 +11:00
Peter Barker
903d81c263 AP_NavEKF2: use compass reference rather than repeatedly asking AHRS for it 2020-03-13 08:26:18 +11:00
Peter Barker
8679e95fca AP_Logger: add comments about message_writer being leaked 
These are really "shouldn't happen", and only happen at startup, so
impact of the memory leak is quite limited.

Fixing this requires putting in a virtual destructor on the
MessageWriter class - this and the calls add up to several hundred bytes
of flash.
 2020-03-12 15:10:42 +11:00
Andrew Tridgell
87b97f8bee AP_Scripting: added a VTOL failsafe example script 
if fwd motor is lost try to make best effort to get home
 2020-03-12 08:36:40 +11:00
Andrew Tridgell
e815b97c66 AP_Scripting: regenerate bindings 2020-03-12 08:36:40 +11:00
Andrew Tridgell
564740f06b AP_Scripting: added get_vibration and get_target_location bindings 2020-03-12 08:36:40 +11:00
Andrew Tridgell
393a8785f3 AP_AHRS: implement get_vibration method on AHRS 2020-03-12 08:36:40 +11:00
Andrew Tridgell
d192544107 AP_Vehicle: added get_target_location() method 
for scripting
 2020-03-12 08:36:40 +11:00
Andrew Tridgell
be7e142888 AP_Scripting: regenerate bindings for RPM 2020-03-12 08:36:40 +11:00
Andrew Tridgell
609b535dda AP_Scripting: added RPM interface 2020-03-12 08:36:40 +11:00
Andrew Tridgell
39fc324854 GCS_MAVLink: convert to new get_rpm() API 2020-03-12 08:36:40 +11:00
Andrew Tridgell
4f54d9b75f AP_WindVane: convert to new get_rpm() API 2020-03-12 08:36:40 +11:00
Andrew Tridgell
ed37ebede8 AP_Logger: convert to new get_rpm() API 2020-03-12 08:36:40 +11:00
Andrew Tridgell
a93aa27cc1 AP_ICEngine: convert to new get_rpm() API 2020-03-12 08:36:40 +11:00
Andrew Tridgell
0f83da7e16 AP_Hott_Telem: convert to new get_rpm() API 2020-03-12 08:36:40 +11:00
Andrew Tridgell
429c21b887 AC_Autorotation: convert to new get_rpm() API 2020-03-12 08:36:40 +11:00
Andrew Tridgell
22ce90af34 AP_RPM: changed get_rpm() API to be scripting compatible 
return a bool and use a reference for the value
 2020-03-12 08:36:40 +11:00
Peter Barker
934d05f4ff AP_Compass: correct incorrect and misleading comment 2020-03-11 22:24:36 +11:00
Peter Barker
621d029207 AP_Vehicle: add warning about get_scheduler_task implementations 
We don't initialise these values we pass in.  Considering how few times
we need to get this right, requiring it of the implementation would seem
to make sense and save a few bytes.
 2020-03-11 22:23:56 +11:00
Andrew Tridgell
aaf828c9d4 GCS_MAVLink: consider NO_CHANGE as success for bootloader flash 
this prevents GCS users from seeing "update failed"
 2020-03-11 16:30:06 +11:00
Andrew Tridgell
d8b33bcac9 AP_InertialSensor: suppress expected errors from invensense IMUs 2020-03-11 16:30:06 +11:00
Andrew Tridgell
1540cf958b HAL_ChibiOS: improve error messages for flashing bootloader 
send progress as statustext messages
 2020-03-11 16:30:06 +11:00
Andrew Tridgell
cf7c2b1475 HAL_ChibiOS: suppress SPI timeout error for expected delay 2020-03-11 16:30:06 +11:00
Andrew Tridgell
65cd223023 HAL_ChibiOS: implement in_expected_delay() 2020-03-11 16:30:06 +11:00
Andrew Tridgell
58b4b523fd AP_HAL: added in_expected_delay() 
allows for error message suppression when delays are expected
 2020-03-11 16:30:06 +11:00
Randy Mackay
06b62107c7 AC_PosControl: move freeze_ff_z to be with other z-axis methods 
Also minor comment fix to get_stopping_point_xy
 2020-03-11 10:39:18 +09:00
Leonard Hall
25f1a4a4e1 AC_WPNav: add shift_wp_origin_to_current_pos_xy 
also add shift_wp_origin_and_destination_to_stopping_point_xy
 2020-03-11 10:39:18 +09:00
Leonard Hall
29332ac112 AC_PosControl: add relax_velocity_controller_xy 2020-03-11 10:39:18 +09:00
Andrew Tridgell
d35fff5186 HAL_ChibiOS: set CS pins high while in bootloader 
this appears to be the root cause of the parameter resets on
CubeOrange. We need to ensure the CS pin is not floating or random
noise on the SPI bus for FRAM can cause the FRAM to become corrupt
 2020-03-11 09:53:06 +11:00
Gone4Dirt
537a259ab6 AP_Mission: added to rewind mission on resume with MAV_CMD_DO_SET_RESUME_REPEAT_DIST 2020-03-11 09:48:40 +11:00
Peter Barker
ebfa910774 GCS_MAVLink: GCS_Dummy: add missing CR to console output of statustexts 
send_text and friends don't expect the caller to add the CR; the GCS
will add one.  Since we're jsut emitting to console, add one ourselves.
 2020-03-10 19:07:08 +11:00
Peter Barker
1db081b095 AP_Vehicle: move AP_PARM_KEY_DUMP function up to AP_Vehicle base class 
Common to all vehicles now, including Tracker
 2020-03-10 11:00:14 +11:00
Peter Barker
d0edfd2c0d AP_HAL_ChibiOS: VRUBrain-v51: reduce AP_MAX_EMBEDDED_PARAM to 1024 
Stops us overflowing on Copter and Plane builds
 2020-03-10 10:50:18 +11:00
Peter Barker
f8058bcf70 AP_HAL_Linux: avoid segfaults during early panics 
singletons failing to be singleton can cause the segfaults.  This is
more a tidiness thing - but better not to have cascading failures.
 2020-03-10 10:45:09 +11:00
Peter Barker
19249a13fd AP_Scripting: tell the user where their scripts directory is on failure 2020-03-10 08:43:03 +09:00
Peter Hall
e95e996cc4 AP_Scripting: Add led matrix examples 2020-03-10 10:37:26 +11:00
Peter Hall
bf76a8c727 AP_Scripting: update LED_roll example 2020-03-10 10:37:26 +11:00
Peter Hall
3002089396 AP_HAL_SITL: update function names 2020-03-10 10:37:26 +11:00
Peter Hall
e1c2977adc AP_Notify: support ProfiLEDs 2020-03-10 10:37:26 +11:00
Peter Hall
fe5779fd88 AP_HAL_ChibiOS: add support for ProfiLEDs 2020-03-10 10:37:26 +11:00
Peter Hall
6ab13333c2 AP_HAL: support ProfiLEDs 2020-03-10 10:37:26 +11:00
Peter Hall
f1fee1ebc5 AP_SerialLED: support ProfiLEDs 2020-03-10 10:37:26 +11:00
Peter Hall
8dccea4a15 AP_Scripting: regenerate bindings 2020-03-10 10:37:26 +11:00
Peter Hall
426f5e6180 AP_Scripting: support ProfiLEDs 2020-03-10 10:37:26 +11:00
Peter Hall
001f71e3de SRV_Channel: add ProfiLED ouputs 2020-03-10 10:37:26 +11:00
Andrew Tridgell
16f34778fc HAL_ChibiOS: added f103-HWESC target 2020-03-04 16:21:06 +11:00
Andrew Tridgell
bca1bd2c72 HAL_ChibiOS: added f303-HWESC firmware 2020-03-04 16:21:06 +11:00
Randy Mackay
1486421581 AP_Scripting: rename arming-check-batt-temp example script 2020-03-04 11:28:10 +09:00
Randy Mackay
8d12c25555 AP_Vehicle: formatting fixes 2020-03-03 10:06:38 -07:00
Randy Mackay
2526aaeb74 AP_Scripting: set-target-location example script 2020-03-03 10:06:38 -07:00
Randy Mackay
ae8c8b71b2 AP_Scripting: make bindings 2020-03-03 10:06:38 -07:00
Randy Mackay
989241a6bd AP_Scripting: fix limits on Location alt field binding 2020-03-03 10:06:38 -07:00
Randy Mackay
e8699ab9fe AP_Scripting: add Location.alt to bindings 2020-03-03 10:06:38 -07:00
Randy Mackay
1e2fc444b6 AP_Scripting: add set_target_location binding 2020-03-03 10:06:38 -07:00
Randy Mackay
6f5d733ba9 AP_Vehicle: add set_target_location method 2020-03-03 10:06:38 -07:00
Peter Hall
fc0d845b6c AP_Scripting: add NMEA decode example 2020-03-03 09:57:07 -07:00
Peter Barker
12f7337030 AP_Radio: correct for recent semaphore bool/void changes 2020-03-03 21:56:33 +09:00
Peter Barker
a32e54ea17 AP_Arming: correct toymode compilation for recent disarm-reason changes 2020-03-03 21:56:33 +09:00
Rishabh
f3e66055e5 GCS_MAVLink: Alert GCS if user tries calibration while vehicle is armed 2020-03-03 11:37:19 +11:00
Rishabh
cbccdfa8a3 AP_Compass: Alert GCS if user tries to calibrate compass while vehicle is armed 2020-03-03 11:37:19 +11:00
Peter Barker
d1f74faed7 AP_Notify: remove bad HIGH/LOW defines 
These are just terrible defines to have in a header which can be
included into random files.  These symbols can confuse construction of
enumerations, for example.
 2020-03-03 10:46:06 +11:00
Peter Barker
09562e1f13 AP_HAL_Linux: use constants for high/low rather than defines, like ChibiOS 
These are really bad defines to have hanging around for general use.
 2020-03-03 10:46:06 +11:00
Peter Barker
1a123e5f8d AP_HAL_ChibiOS: avoid referencing flash sector/page 22 on 1MB boards 2020-03-03 10:13:53 +11:00
Peter Barker
c917cd4dbb AP_HAL_Linux: make a static-const hal references references to external symbol 2020-03-03 10:12:14 +11:00
Peter Barker
2d2fdf8bd0 AP_HAL_ChibiOS: make a static-const hal a reference to the external symbol 2020-03-03 10:12:14 +11:00
Peter Hall
2f036c65f3 AP_Motors: MotorsMulticopter fix floating boost output 2020-03-02 18:22:30 +09:00
Peter Hall
71f1755c97 AP_Scripting: update plane-wind-fs example 2020-02-27 18:33:56 -07:00
Peter Hall
6587653e14 AP_Scripting: regnerate bindings 2020-02-27 18:07:31 -07:00
Peter Hall
129dc16bdb AP_Scripting: add mission scripting example 2020-02-27 18:07:31 -07:00
Peter Hall
46714d69a5 AP_Mission: add get id functions for scripting 2020-02-27 18:07:31 -07:00
Peter Hall
370b6473a2 AP_Scripting: add AP_Mission bindings 2020-02-27 18:07:31 -07:00
Andrew Tridgell
fbbba887e5 AP_Notify: implement SIM_LED_LAYOUT 
added support for luminousbee layout
 2020-02-27 13:12:26 +11:00
Andrew Tridgell
09b272b840 SITL: added SIM_LED_LAYOUT parameter 
for layout of simulated LEDs
 2020-02-27 13:12:26 +11:00
Andrew Tridgell
ccc7d48c20 HAL_ChibiOS: reserve plenty of DMA memory for luminousbee4 2020-02-27 13:12:26 +11:00
Andrew Tridgell
e582432a2f AP_Scripting: regen bindings 2020-02-27 13:12:26 +11:00
Andrew Tridgell
2277e22bc7 AP_SerialLED: added define for LED limit 2020-02-27 13:12:26 +11:00
Andrew Tridgell
5ad4ceef71 AP_SerialLED: allow more than 32 LEDs 2020-02-27 13:12:26 +11:00
Andrew Tridgell
fe86d8bb0c AP_Scripting: adjust for updated LED API 2020-02-27 13:12:26 +11:00
Andrew Tridgell
dbba89a024 AP_Notify: allow up to 64 LEDs on a pin 2020-02-27 13:12:26 +11:00
Andrew Tridgell
09d10df3a3 HAL_SITL: allow more than 32 LEDs on a pin 2020-02-27 13:12:26 +11:00
Andrew Tridgell
669b98c6df HAL_ChibiOS: allow more than 32 WS2812 LEDs on a pin 2020-02-27 13:12:26 +11:00
Andrew Tridgell
5d15d867b5 AP_HAL: adjust LED API to allow more than 32 LEDs on a pin 2020-02-27 13:12:26 +11:00
Andrew Tridgell
5bfd607300 HAL_ChibiOS: added luminousbee4 flight controller 2020-02-27 13:12:26 +11:00
Peter Barker
fbe2e75b9f GCS_MAVLink: divide time allowed to send messages fairly 2020-02-27 08:49:59 +11:00
murata
c6f12e519b AP_SerialManager: Add a description 2020-02-26 12:18:40 +11:00
Bill Geyer
bf345b0dd4 AC_AttitudeControlHeli: update filter parameter desc mins 2020-02-26 08:02:27 +09:00
Randy Mackay
aff854f485 AC_AttitudeControl: update param ranges 2020-02-26 08:02:27 +09:00
Randy Mackay
6297306492 AP_LandingGear: add OPTIONS param to auto deploy and retract 2020-02-26 08:01:00 +09:00
Randy Mackay
cc33c8d116 AP_Scripting: make bindings 2020-02-25 19:55:54 +09:00
Randy Mackay
c0bc696b86 AP_Scripting: add arming-check-batt-temp example script 2020-02-25 19:55:54 +09:00
Randy Mackay
ccaa74655c AP_Scripting: support external authorisation for arming 2020-02-25 19:55:54 +09:00
Randy Mackay
05a8e34d5c AP_Arming: support auxiliary authorisation 2020-02-25 19:55:54 +09:00
Randy Mackay
2ee5f9dcc5 AP_Logger: ARM msg logs ArmChecks as uint32_t 2020-02-25 19:55:54 +09:00
Randy Mackay
df8bf27a7f AP_Arming: get_enabled_checks returns uint32_t 2020-02-25 19:55:54 +09:00
Randy Mackay
8ad9a49900 AP_Mount: ignore rc trim when calculating desired mount angles 2020-02-25 17:38:24 +09:00
Randy Mackay
cd38940ecf RC_Channel: formatting fixes 2020-02-25 17:38:24 +09:00
Randy Mackay
77d5165c01 RC_Channel: add norm_input_ignore_trim 
same as norm_input but ignores the trim value
 2020-02-25 17:38:24 +09:00
Andrew Tridgell
8f83bf5e80 AP_Compass: fixed in-flight learning for all compasses 
after recent changes only first compass was learnt

See
https://discuss.ardupilot.org/t/break-in-latest-master-in-flight-compass-calibration/52602
 2020-02-25 12:40:27 +11:00
Peter Barker
727c12c388 GCS_MAVLink: move initialisation of serial and gcs to AP_Vehicle 2020-02-25 11:50:55 +11:00
Peter Barker
2ede027635 AP_Vehicle: move initialisation of serial and gcs to AP_Vehicle 2020-02-25 11:50:55 +11:00
Peter Barker
2b7af4d70b AP_Vehicle: fold init_vehicle back into AP_Vehicle init method 2020-02-25 11:47:52 +11:00
Peter Barker
a7c493d037 AP_BoardConfig: fold init_vehicle back into AP_Vehicle init method 2020-02-25 11:47:52 +11:00
Peter Hall
0ca6b7cf77 AP_HAL_ChibiOS: retry neopixel until successful send 2020-02-25 11:15:55 +11:00
Peter Barker
e2c9f6a8a1 GCS_MAVLink: add flags to MAV dataflash log 
holds various pieces of simple information about a link
 2020-02-25 10:59:22 +11:00
Peter Barker
10c9bc3659 AP_Logger: add flags to MAV dataflash log 
holds various pieces of simple information about a link
 2020-02-25 10:59:22 +11:00
Gone4Dirt
d813a70c8d AP_Mission: Added force resume for when MIS_RESTART=1 2020-02-25 10:05:12 +11:00
Andy Piper
3b25a8ae2e AP_GyroFFT: adjust default FFT lengths for boards that can cope and are likely to have BMI088 2020-02-25 08:35:09 +11:00
Andy Piper
509341957f AP_HAL: check for div0 in quinn's estimator 2020-02-25 08:35:09 +11:00
Andy Piper
507bd9eea9 AP_InertialSensor: add in user-specified background noise when there is no rpm noise 2020-02-25 08:35:09 +11:00
Andrew Tridgell
41b74ec014 HAL_ChibiOS: use DNA by default for all AP_Periph builds 
this makes multiple sensors of the same type on the bus easier
 2020-02-22 12:28:16 +11:00
Andrew Tridgell
6139860a64 HAL_ChibiOS: use default USB IDs for fmuv3 2020-02-22 12:17:05 +11:00
Peter Barker
4d0c61970d ArduSub: log disarm method 2020-02-22 12:16:29 +11:00
Peter Barker
347f64264d RC_Channel: log disarm method 2020-02-22 12:16:29 +11:00
Peter Barker
f8f4ed7ee0 GCS_MAVLink: log disarm method 2020-02-22 12:16:29 +11:00
Peter Barker
1e82ae4676 AP_Scripting: log disarm method 2020-02-22 12:16:29 +11:00
Peter Barker
7b9cdd6d06 AP_Arming: log disarm method 2020-02-22 12:16:29 +11:00
Andy Piper
41b41c05f3 AP_InertialSensor: scale SITL motor noise by SIM_VIB_MOT_MULT 2020-02-22 11:15:37 +11:00
Andy Piper
2033cf3b4a SITL: add SIM_VIB_MOT_MULT to allow motor noise to have a different amplitude to the fixed frequency noise 2020-02-22 11:15:37 +11:00
Andy Piper
c0c61660b0 SITL: quadplane updates 2020-02-22 11:15:37 +11:00
Andy Piper
dcdd1707f7 AP_HAL_SITL: make throttle comply with quadplane dynamics 2020-02-22 11:15:37 +11:00
Andy Piper
0e9b2a26c5 AP_InertialSensor: SITL the raw sample rate is not the same as the sensor rate 
use regulated time for frequency noise to avoid spurious harmonics
SITL sensors must be true separate instances
don't compile in FFT structures if DSP disabled
 2020-02-22 11:15:37 +11:00
Andy Piper
a16bb2f188 AP_Scheduler: allow registration of tasks at loop rate 2020-02-22 11:15:37 +11:00
Andy Piper
7663c67eec AP_Arming: gyrofft arming checks 2020-02-22 11:15:37 +11:00
Andy Piper
6613d4da3d AP_Vehicle: add FFT configuration and initialization 
add arming checks to validate FFT performance
allow gyros to be sampled at either the fastloop rate or gyro rate.
add gyro and parameter update loops for GyroFFT
add GYRO_FFT aux function
save FFT results on disarm
 2020-02-22 11:15:37 +11:00
Andy Piper
4c1816a983 Copter: port betaflight in-flight fft analysis to arducopter and expose as a log message 
add harmonic notch tracking mode
call AP_GyroFFT::update_freq_hover() from update_throttle_hover()
move gyrofft configuration and control to AP_Vehicle
move fft logging to fft library
 2020-02-22 11:15:37 +11:00
Andy Piper
6f5b991f28 Filter: add harmonic notch dynamic tracking mode 
move definition of HNF_MAX_HARMONICS
 2020-02-22 11:15:37 +11:00
Andy Piper
127a0e9b41 AP_HAL_Linux: add in empty dsp driver 2020-02-22 11:15:37 +11:00
Andy Piper
7d36bc4422 AP_GyroFFT: new FFT library for motor peak analysis using HAL DSP abstraction 
add dynamic gyro windows
control inclusion based on HAL_WITH_DSP and GYROFFT_ENABLED
target appropriate ARM cpus
constrain window sizes to be achievable
improve FFT signal accuracy through configurable window overlap and quinn's estimator
calculate energy weighted center frequency
add support for learning hover frequency and throttle reference
calculate power spectrum rather than amplitude
record noise as a per-bin power spectrum
calculate true SNR per-bin and use that to determine there is a signal
add user config for SNR signal level
constrain frequency scanning to MAXHZ
calculate and learn the peak bandwidth at the configured attenuation
allow enabling/disabling dynamically through rc function
MAXHZ should be below Nyquist
Incorporate full range of MAXHZ to MINHZ
update FFT analysis in a separate thread
allocate memory in a specific region
constrain window size by CPU class
do not allocate any resources when not enabled
Prevent self-check and analysis interfering with each other
put configuration and initialization to AP_Vehicle
add logging
fix significant issues with threading, locking and sample buffer access
use both calculated noise peaks together with the harmonic notch configuration to detemine which peak represents the fundamental harmonic that should be tracked
record harmonic fit
add CMSIS 5 libraries and headers
allow larger FFT lengths on Linux and SITL
 2020-02-22 11:15:37 +11:00
Andy Piper
7571b4d95c AP_HAL_SITL: SITL version of DSP implementation 2020-02-22 11:15:37 +11:00
Andy Piper
495a89459f AP_HAL_Empty: empty implementation of HAL FFT 2020-02-22 11:15:37 +11:00
Andy Piper
3d0cf7e12a AP_HAL_ChibiOS: hardware M4-Cortex and M7-Cortex (and H7) implementation of HAL FFT abstraction 
implements an FFT engine based on the betaflight feature using ARM hardware accelerated CMSIS library
make the FFT feature optional
add dynamic gyro windows
add quinns and candans estimators and record in DSP state
disable DSP for boards with limited flash
calculate power spectrum rather than amplitude
start/analyse version of analysis to support threading
allocate memory in a specific region
constrain window size by CPU class
control inclusion of DSP based on board size
 2020-02-22 11:15:37 +11:00
Andy Piper
f4a99a1589 AP_HAL: hardware abstraction for FFT. 
control inclusion of FFT based on HAL_WITH_DSP and HAL_GYROFFT_ENABLED. target appropriate ARM cpus
define hanning window and quinn's estimator
start/analyse version of FFT to support threading
allocate memory in a specific region
calculate frequency and noise bandwidth of two noisiest peaks
control inclusion of DSP based on board size
 2020-02-22 11:15:37 +11:00
Andy Piper
3d9776dd6d AP_InertialSensor: expose statically filtered gyro values for FFT analysis and allow sampling to gyro window for FFT analysis. 
FFT windows can be dynamically allocated
add harmonic notch dynamic tracking mode
unwind gyro window allocation in the case of failure
allow access to harmonic notch harmonics
 2020-02-22 11:15:37 +11:00
bnsgeyer
593ff6818d AC_WPNAV:make speed changes during missions obey WPNAV_ACCEL 
Includes commits by rmackay9
AC_WPNav: fixup max speed acceleration
AC_WPNav: simplify the initialisation of poscontrol's max speed
          Changed at Leonard's request to keep things simpler
 2020-02-22 08:53:41 +09:00
Randy Mackay
fc2e15651e AC_PosControl: allow smaller changes in max speed and accel 
also small changes in max speed for z-axis
 2020-02-22 08:53:41 +09:00
ashvath100
1c77df9169 SITL: Rename morse-rover to morse-skid 2020-02-21 08:23:54 +09:00
yaapu
b4bdc76a53 AP_RCProtocol: handle 0x10 and 0x00 frames, check scheduler delay and fix incoming crc 
Respond to 0x10 when the rx is controlling bandwidth, else respond only to 0x00
but in this case never exceed a max number of consecutive frames.
Always respond to polling and if necessary send a null frame.
moved delay check after get_telem_data() to account for scheduler time
align incoming to outgoing crc
 2020-02-21 09:29:15 +11:00
yaapu
0c5618c9e7 AP_Frsky_Telem: add semaphores to ahrs access and fix potential array out of bounds access 
use a semaphore for non atomic ahrs calls and fix a potential array out of bounds
access for faster than sport telemetry links.
 2020-02-21 07:54:59 +11:00
Pierre Kancir
95ee01082f AP_HAL_SITL: update search for dumpstack.sh 2020-02-20 20:41:26 +11:00
Andy Piper
387b5e7002 AP_Camera: bug fixes to support 5-key remote RunCams 
allow the boot-time recording state to be configured
only process events on state transitions. Simplifies logic and debugging.
support regular Split 2s
allow menu enter/exit in 5-key mode
match betaflight with 5-Key OSD which requires an "enter" key
 2020-02-20 19:58:43 +11:00
Andrew Tridgell
20ea1a3dc7 GCS_MAVLink: don't send statustext from other than main thread 
This fixes high stack usage in the RCIN thread when it notifies the
GCS of a new RCIN protocol. The problem is severe when signing is
enabled, as signing adds over 500 bytes to stack cost of sending a
mavlink msg

fixes issue #13615
 2020-02-20 10:39:29 +11:00
Michael du Breuil
d7a59bc449 AP_Scripting: Reduce the sleep time with no scripts 
Lowering the sleep time when no scripts are pending, causes starting a
REPL session to respond much faster (this cuts the latency from up to 10
seconds to 1 second before the session is ready to start).

Also lowers the default scripting debug level to hide the statustext
from users, as in the general case this is just a spammy message if it
occurs, and we should be finding better reporting bits to get this to
the user.
 2020-02-19 13:24:23 -07:00
Andrew Tridgell
772438f3ed AP_NavEKF3: fixed use of antenna position when switching GPS primary 
when GPS primary switches we were using a position which had not been
corrected for antenna offset. This was used for calculating the reset
for sensor change.

This fixes that (trivial fix) and also fixes a similar issue on
position reset
 2020-02-19 18:12:54 +11:00
Andrew Tridgell
9030590a88 AP_NavEKF2: fixed use of antenna position when switching GPS primary 
when GPS primary switches we were using a position which had not been
corrected for antenna offset. This was used for calculating the reset
for sensor change.

This fixes that (trivial fix) and also fixes a similar issue on
position reset
 2020-02-19 18:12:54 +11:00
Andrew Tridgell
b49a76bb20 AP_Filesystem: fixed EOF on file read 
should return number of bytes read. This fixes an issue with MAVProxy
ftp client
 2020-02-19 18:11:41 +11:00
Andrew Tridgell
1cb711d35d AP_Filesystem: make SITL take paths relative to starting directory 
this makes SITL filesystem behave more like a real device
 2020-02-19 18:11:41 +11:00
Siddharth Purohit
f00a39af52 AP_Compass: run style script on Compass.cpp 2020-02-19 13:59:53 +09:00
Siddharth Purohit
faacd03e3a AP_Common: add method that can help to put contraint on accessor type 2020-02-19 13:59:53 +09:00
Siddharth Purohit
1d2985e967 AP_Param: add method to find key of top level group variable by pointer 2020-02-19 13:59:53 +09:00
Siddharth Purohit
8a7dcafa0f SITL: add parameter MAG_DEVID in SITL 2020-02-19 13:59:53 +09:00
Siddharth Purohit
8d227d401a AP_Compass: modify compass driver to support consistent ordering and hotplugging 2020-02-19 13:59:53 +09:00
Siddharth Purohit
545331024f AP_NavEKF3: Primary compass is always at serial number 0 2020-02-19 13:59:53 +09:00
Siddharth Purohit
4cca1c307c AP_NavEKF2: Primary compass is always at serial number 0 2020-02-19 13:59:53 +09:00
Siddharth Purohit
7da331535c AP_Arming: add arming message for compass not detected but assigned 2020-02-19 13:59:53 +09:00
Siddharth Purohit
defc1b5fcb ArduCopter: add arming message for compass not detected but assigned 2020-02-19 13:59:53 +09:00
Siddharth Purohit
653fad44d4 AP_Arming: Primary Compass is always at serial# 0 2020-02-19 13:59:53 +09:00
Peter Barker
baf375e7a0 AP_WheelEncoder: add param docs for new PID filter parameters 2020-02-19 15:09:16 +11:00
Peter Barker
e85a4dcd7d AP_Soaring: remove empty Units: parameter doc entries 
These break parameter generation
 2020-02-19 15:09:16 +11:00
Peter Barker
6d7ee65a5f AP_AdvancedFailsafe: correct WP_GPS_LOSS param documentation block 2020-02-19 15:09:16 +11:00
Peter Barker
370e378bf6 AP_ICEngine: correct IDLE_DB parameter documentation 2020-02-19 15:09:16 +11:00
Rishabh
c65d1ff8d8 HAL_SITL: support new motor orders 2020-02-19 11:28:25 +09:00
Rishabh
08f27f7668 SITL: Added cwx motor setup for hexa, octa and octaquad 2020-02-19 11:28:25 +09:00
Rishabh
aec65ed6ff AP_Motors: Added cwx motor setup for hexa, octa and octaquad 2020-02-19 11:28:25 +09:00
Peter Barker
1190b9ff19 AP_Proximity: TeraRangerTower uses intermediate serial class 2020-02-19 11:12:37 +09:00
Peter Barker
107c424a5c AP_Proximity: LightWareSF40C_v09 uses intermediate serial class 2020-02-19 11:12:37 +09:00
Peter Barker
97320e8938 AP_Proximity: TeraRangerTowerEvo uses intermediate serial class 2020-02-19 11:12:37 +09:00
Peter Barker
0d4e72622e AP_Proximity: RPLidarA2 uses intermediate serial class 2020-02-19 11:12:37 +09:00
Peter Barker
788e466c90 AP_Proximity: LightWareSF40C used intermediate serial class 2020-02-19 11:12:37 +09:00
Peter Barker
fcdb833f46 AP_Proximity: add intermediate AP_Proximity_Backend_Serial class 2020-02-19 11:12:37 +09:00
Michael du Breuil
1f8c030eba GCS_MAVLink: Allow scripting to start/stop the REPL 2020-02-18 17:23:22 -07:00
Michael du Breuil
cf06beb1e6 AP_Scripting: Add support for REPL over MAVLink 2020-02-18 17:23:22 -07:00
Michael du Breuil
296c014d14 GCS_MAVLink: Fix excess trimming of autopilot version 2020-02-19 09:10:02 +11:00
Peter Hall
7bef426531 AP_Logger: EKF4 change flags state from uint16_t to uint32_t 2020-02-19 06:45:07 +11:00
Peter Hall
47e3fda8e9 AP_NavEKF3: add initalized flag and change to uint32_t 2020-02-19 06:45:07 +11:00
Peter Hall
e0eeb4f863 AP_NavEKF2: add initalized flag and change to uint32_t 2020-02-19 06:45:07 +11:00
Peter Hall
9ec5355dfc AP_NavEKF: add initalized flag and change to uint32_t 2020-02-19 06:45:07 +11:00
Peter Barker
d24d1c587a AP_Scripting: add documentation for DEBUG_LVL parameter 2020-02-18 20:25:58 +09:00
Gone4Dirt
44718cd00f AP_Mission: Check if failsafes should interupt landing approach 2020-02-18 21:03:29 +11:00
Andrew Tridgell
32ecd904bd GCS_MAVLink: use MAV_SYS_STATUS_PREARM_CHECK 
this allows GCS to continually display prearm check status
 2020-02-18 15:16:02 +11:00
Henry Wurzburg
bf1b48b940 AP_Notify: add mah consumed to BAT line in OLED displays 2020-02-18 15:15:52 +11:00
Peter Barker
7f64c6159d AP_Landing_Deepstall: correct missing parameter docs 2020-02-18 13:28:03 +11:00
mhefny
b935aa3355 SITL:adding slow-motion option argv -d for Quad & Tricopter controllers 2020-02-18 11:31:50 +11:00
mhefny
9cb3662db6 SITL:Webots-better time sync 2020-02-18 11:31:50 +11:00
murata
147a940451 SITL: Indicates that the message is SIM only 2020-02-18 11:23:52 +11:00
Andrew Tridgell
b5e091bc84 AP_Airspeed: hide unused parameters for AP_Periph 2020-02-18 11:15:05 +11:00
Matt Lawrence
05b94de9a0 AP_Camera: Make trigger type enum class 2020-02-18 11:13:27 +11:00
Matt Lawrence
27e825b058 RC_Channel: Add GoPro mode toggle Aux switch 2020-02-18 11:13:27 +11:00
Matt Lawrence
c84dcd9bf8 GCS_Mavlink: Add routing for GoPro heartbeat 2020-02-18 11:13:27 +11:00
Matt Lawrence
a2af217adf AP_Camera: Add handling of GoPro mavlink commands 2020-02-18 11:13:27 +11:00
Michael du Breuil
c1a599d0bd AP_Scripting: Reduce memory associated with the sandbox 2020-02-18 10:38:09 +11:00
Peter Barker
87a31c6409 GCS_MAVLink: don't recalculate max parameter count if not streaming params 2020-02-18 10:33:41 +11:00
Peter Hall
4ee17aea3d AP_Scripting: regenerate bindings 2020-02-18 10:18:12 +11:00
Peter Hall
a04a34ff6a AP_Scripting: add param get and set example 2020-02-18 10:18:12 +11:00
Peter Hall
1f139414bc AP_Scripting: add param get, set and save bindings 2020-02-18 10:18:12 +11:00
Peter Hall
5164eacc4a AP_Param: add get and set functions 2020-02-18 10:18:12 +11:00
Peter Hall
623c1aa3cd AP_Param: add singleton 2020-02-18 10:18:12 +11:00
Mirko Denecke
899335e30b SITL: fix DisplayName and description of parameter 2020-02-18 09:29:47 +11:00
Mirko Denecke
2f435d5099 SITL: fix DisplayName and description of parameter 2020-02-18 09:29:15 +11:00
Michael du Breuil
a0bfc823b3 AP_Scripting: Support libraries holding the scheduler lock 2020-02-18 09:16:10 +11:00
Michael du Breuil
c257cea375 AP_Scheduler: Add a lock that is held during all normal operations 2020-02-18 09:16:10 +11:00
Randy Mackay
53fb333f0c AP_Follow: minor format fix to FOLL_ALT_TYPE param desc 2020-02-17 14:30:18 +09:00
pkocmoud
8c764bb568 hwdef: switch to (0) DNA as the default NODEID 2020-02-17 12:48:37 +11:00
pkocmoud
8f6d2aab7a hwdef: add mRo M10025 KITCAN 2020-02-17 12:48:37 +11:00
Andrew Tridgell
2a03144fdb AP_SpdHgtControl: added reset() 2020-02-16 17:04:07 +11:00
Andrew Tridgell
176d3c0b2f AP_TECS: added reset() method 
used at end of VTOL takeoff
 2020-02-16 17:04:07 +11:00
bnsgeyer
d4e5e1bd3d AP_Motors: tradheli - fix quad heli collective structure 2020-02-14 09:29:50 +09:00
Randy Mackay
e36d4d19e2 AC_AttitudeControl_Heli: fix VFF and ILMI param descriptions 2020-02-14 09:20:17 +09:00
Randy Mackay
5e60ae8a26 AC_PosControl: add missing ACCZ param descriptions 2020-02-14 09:20:11 +09:00
ashvath
66f123e2b4 SITL: Example for skid rover 2020-02-13 09:04:32 +11:00
ashvath
774b79e632 SITL: Parameters for skid rover 2020-02-13 09:04:32 +11:00
ashvath
5e2b693be4 SITL: Parameters for steering/throttle rover 2020-02-13 09:04:32 +11:00
ashvath
677dec5894 SITL: example for steering/throttle rover 2020-02-13 09:04:32 +11:00
ashvath
71f8c7cabb SITL: support for steering/throttle rover 2020-02-13 09:04:32 +11:00
Peter Barker
adcfb60850 AP_RangeFinder: comment out no-loner-used PX4 enum entry 2020-02-12 21:18:47 +11:00
Peter Barker
6febbcdc13 AP_RangeFinder: remove incorrect and misleading comment 
Wrong on several counts.  detect calls this method.  The constructor
doesn't initialise the rangefinder.  detect doesn't return boolean.
 2020-02-12 21:18:47 +11:00
Andrew Tridgell
bebfef369f HAL_ChibiOS: fixed power flags for CUAV-Nora 2020-02-12 21:17:49 +11:00
CUAVcaijie
561808ba3c HAL_ChibiOS: Added support for CUAV Nora flight controller 2020-02-12 21:17:49 +11:00
Andrew Tridgell
a0fe1a7598 HAL_ChibiOS: produce more accurate clocks for DShot and PWM 2020-02-12 18:12:39 +11:00
Andrew Tridgell
9e0edba31d HAL_ChibiOS: raised timer clocks to 200MHz 
this gives more flexibility in setting up timers for DShot
 2020-02-12 18:12:39 +11:00
Andrew Tridgell
8b93e0f57d HAL_ChibiOS: prevent double init of USB 
this prevented init of USB CubeBlack on Windows. Thanks to Randy for
reporting
 2020-02-12 17:44:09 +11:00
Andrew Tridgell
adf17414e0 HAL_ChibiOS: fixed output string for non-DMA capable chan 
this fixes a problem where the user requests DShot (which rquired DMA)
on an output channel which cannot allocate a DMA channel. We end up
sending normal PWM, so the string representation of the output modes
should reflect that
 2020-02-12 14:08:40 +11:00
Randy Mackay
1d8e4ce5ac AP_ToshibaCAN: move usage_sec in telemetry struct 
According to WickedShell this saves 48bytes of RAM
 2020-02-12 11:58:34 +09:00
Randy Mackay
8c227a5a18 AP_Scripting: add esc-usage.lua 
example script to retrieve esc usage time
 2020-02-12 11:58:34 +09:00
Randy Mackay
fb2d7242f4 AP_Scripting: make bindings 2020-02-12 11:58:34 +09:00
Randy Mackay
617b8b45d2 AP_Scripting: add AP_ESC_Telem bindings 2020-02-12 11:58:34 +09:00
Randy Mackay
72612d3cb9 AP_Vehicle: add AP_ESC_Telem 2020-02-12 11:58:34 +09:00
Randy Mackay
35737d484e AP_ESC_Telem: wrapper for ESCs with feedback 2020-02-12 11:58:34 +09:00
Randy Mackay
415ba0f40d AP_ToshibaCAN: add accessors for use by scripts 2020-02-12 11:58:34 +09:00
Randy Mackay
2bc91cbc4d AP_ToshibaCAN: request usage time from ESC 2020-02-12 11:58:34 +09:00
Randy Mackay
9fd315f061 AP_ToshibaCAN: add get_motor_request_data_cmd helper function 2020-02-12 11:58:34 +09:00
Andrew Tridgell
e8ab35a192 HAL_ChibiOS: fixed stdout in early startup bug 
this caused a failure to boot on some boards if they tried to print
messages in early startup code before hal was initialised

thanks to @Shadowru for reporting the issue
 2020-02-12 13:51:10 +11:00
Peter Hall
b1742b4e19 GCS_Mavlink: constrain battery current to avoid wrap 2020-02-12 08:04:39 +11:00
Peter Hall
2bd6d4674b AP_HAL: utility: add thread safe ring buffer duplicate 2020-02-12 07:05:05 +11:00
Peter Hall
1ee14ffa75 AP_Param: use thread safe object buffer 2020-02-12 07:05:05 +11:00
Patrick José Pereira
a183d00b7e AP_RangeFinder: BLPing: Rework class to work with new firmware version 3.28 
- Uses the continuous message request

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-02-11 11:49:11 -05:00
Andrew Tridgell
f7eba43cb8 GCS_MAVLink: raise ftp stack size to 3072 from 1024 
this prevents memory corruption on directory listing
 2020-02-11 13:32:17 +11:00
Randy Mackay
d40862de9c AP_ServoRelayEvents: do-set-servo affects sprayer and gripper 2020-02-11 11:08:02 +11:00
Randy Mackay
e0af13a6ad SRV_Channel: remove release and choke from FUNCTION param description 
release (aka eggdrop) was 11
choke was 68
 2020-02-11 11:08:02 +11:00
Matt Lawrence
e6f32f4572 AP_HAL_ChibiOS: Fix waf --default-parameters 
If a defaults.parm file was present in the hwdef, waf ignored the --default-parameters=xyz.parm command line argument.  This will allow it to use that command line argument specified file.
 2020-02-11 11:00:01 +11:00
Peter Barker
73e51c480a RC_Channel: correct RC_set_override parameter name 
This was just misnamed.  All callers appear to be passing ms in.
 2020-02-10 13:46:33 -07:00
Peter Barker
0cf747cdbe SITL: remove RCMAP_ parameters from SilentWings parameters 
These files contain a lot of values which happen to be the defaults.
These are some of them.
 2020-02-10 13:55:05 +11:00
Peter Barker
bea8765da7 AP_AdvancedFailsafe: remove unused RCMAP includes 2020-02-10 13:55:05 +11:00
Peter Barker
aa356b563d SRV_Channel: remove unused RCMAP includes 2020-02-10 13:55:05 +11:00
yaapu
b606c0df64 AP_Frsky_Telem: added VSpd to telemetry protocol 4 
The Frsky vario "virtual" sensor was reporting altitude but not vertical speed.
This patch adds VSpd as a new sensor when protocol 4 is selected.
GPS frsky sensor is migrated to 2 byte sensor ID and needs rediscovery if using the previous 1 byte version
 2020-02-09 20:52:58 +11:00
Andrew Tridgell
12f31e328f HAL_ChibiOS: fixed dshot docs for Pixhawk4 2020-02-08 14:15:37 +11:00
Randy Mackay
76c982ced8 AP_HAL_CHibiOS: update Pixhawk4 README to 16 pwm outputs 
also correct Main PWM ouput's number of groups
 2020-02-08 14:14:32 +11:00
Peter Barker
df614cc34f AP_HAL_SITL: print valid model names if none supplied 2020-02-07 15:03:05 +11:00
Andrew Tridgell
521cf4d6a1 AP_Compass: removed annoying startup messages 
these happen due to sensor probing for older configs
 2020-02-06 15:25:46 -07:00
Andre Kjellstrup
a2322a828c AP_Battmonitor_SMBus_Solo: removed unused code/options 2020-02-06 15:04:18 -07:00
Peter Barker
de2cf89b60 AP_Vehicle: initialise scheduler early 
So the loop rate gets clamped before we memoise it and the loop period
in AP_Scheduler
 2020-02-06 14:41:06 +11:00
Peter Barker
5580196b1c AP_Scheduler: move clamping of loop rate to init function 
Parameters may not be available in the constructor, and that's what we
need to be clamping.
 2020-02-06 14:41:06 +11:00
Peter Barker
a523bb4b68 AP_Vehicle: let AP_Vehicle handle loop() 2020-02-06 14:41:06 +11:00
Peter Barker
51a1ee83a6 AP_HAL_SITL: correct name on stacktrace files 
We write these files out for many more things than just segfaults
 2020-02-06 13:48:11 +11:00
Pierre Kancir
f1f784f81d AP_TemperatureSensor: fix TSYS01 warning on SITL 2020-02-05 17:10:58 -05:00
Tatsuya Yamaguchi
5688031f02 AC_Fence: add the description of FENCE_ACTION in Rover 2020-02-05 14:58:56 +09:00
Tatsuya Yamaguchi
0b8ad28272 SRV_Channel: add sprayer and camera aperture output 2020-02-05 14:44:07 +09:00
Willian Galvani
4afdff746e AP_HAL: Fix Navigator orientation 
The Rev2 prototype board had the IMU rotated
 2020-02-04 22:47:16 -05:00
Andrew Tridgell
bdef7d7158 HAL_ChibiOS: fixed default fast sampling on CubeOrange and Durandal 2020-02-05 12:48:51 +11:00
Andrew Tridgell
e0cd790505 HAL_ChibiOS: fixed spektrum RC input on Pixracer 
RCININT is inverted compared to RCIN, so need to enable SBUS_INV pin
 2020-02-05 10:45:36 +11:00
Peter Barker
ab7ee46423 AP_InertialSensor: mark some parameters as Calibration parameters 2020-02-04 20:29:09 +11:00
Peter Barker
cc3f6468e3 AP_Compass: mark some parameters as Calibration parameters 2020-02-04 20:29:09 +11:00
Peter Hall
556d90ca0c AC_Avoidance: keep track of velocity liminting status 2020-02-04 10:24:33 +09:00
Peter Hall
ba811052f8 GCS_Mavlink: report on fence limiting 2020-02-04 10:24:33 +09:00
Randy Mackay
7a5f57f940 GCS_MAVLink: send rc output mode banner to GCS 2020-02-04 12:23:33 +11:00
Randy Mackay
a71ae54d3a AP_HAL: add RCOutput::get_output_mode_banner 2020-02-04 12:23:33 +11:00
chobits
a54f24c8c0 AP_NavEKF2: switch to optflow if gps is jammed 2020-02-04 10:13:57 +09:00
Michael Dornisch
455bd86f1a AP_Notify: Created NTF_NEO_LEN to change length of Neopixel strings 2020-02-04 11:48:52 +11:00
Peter Hall
2c5b0ffa29 AP_BlHeli: always report test results and report band channel once 2020-02-04 10:38:20 +11:00
Peter Hall
d5843ff03a AP_BLHeli: stop motors if conection lost in motor test 2020-02-04 10:38:20 +11:00
Peter Hall
38f68c4eba AP_Blheli: allow connection with mixed reversible and normal 2020-02-04 10:38:20 +11:00
Randy Mackay
176e8b8861 AP_OpticalFlow: add orient-yaw parameter units 2020-02-03 19:35:40 +09:00
Randy Mackay
7d8952a48a AP_RangeFinder: fix offset param for PWM driver 2020-02-03 19:32:34 +09:00
giacomo892
529f067914 HAL_ChibiOS: save more flash on SuccexF4 2020-02-02 06:02:59 +11:00
giacomo892
23a42b1914 HAL_ChibiOS: disable parachute and sprayer on SuccexF4 2020-02-02 06:02:59 +11:00
Randy Mackay
52ca1e016e AP_RangeFinder: minor fix in POS param description 2020-02-01 08:46:03 +09:00
Randy Mackay
6677c807ae AP_WheelEncoder: add POS param range of 5m 2020-02-01 08:46:03 +09:00
Randy Mackay
c9b82aa822 AP_VisualOdom: POS param range of 5m and 1cm increment 2020-02-01 08:46:03 +09:00
Randy Mackay
9f3154372d AP_RangeFinder: POS param range of 5m and 1cm increment 2020-02-01 08:46:03 +09:00
Randy Mackay
dd49f199cb AP_OpticalFlow: reduce POS param range to 5m and add increment 2020-02-01 08:46:03 +09:00
Randy Mackay
b7f6f4a05e AP_InertialSensor: reduce POS param range to 5m and add increment 2020-02-01 08:46:03 +09:00
Randy Mackay
b31a9fd54a AC_PrecLand: POS param range of 5m and 1cm increment 2020-02-01 08:46:03 +09:00
Randy Mackay
a19634b9d2 AP_GPS: reduce POS param range to 5m and add increment 2020-02-01 08:46:03 +09:00
Andrew Tridgell
8b2629bfc1 HAL_ChibiOS: save 7k flash for boards close to flash limit 2020-02-01 06:58:43 +11:00
Andrew Tridgell
aa3642d9de AP_Param: save 7k flash for HAL_MINIMIZE_FEATURES boards 2020-02-01 06:58:43 +11:00
Leonard Hall
152205fd52 AC_AutoTune: fix restoring of original gains 
current_gain_type was not being set when load_gains was called meaning subsequent calls to load_gains would fail if gain_type was GAIN_ORIGINAL
 2020-01-31 19:40:21 +09:00
murata
58c823acc1 SRV_Channel: Change from direct value to defined value 2020-01-31 11:34:08 +11:00
Andrew Tridgell
c8395bb2c1 HAL_ChibiOS: use blocking semaphore for new_input() 
this prevents a race where we continually fail to get new input
 2020-01-31 11:09:07 +11:00
Andrew Tridgell
05f095f338 HAL_ChibiOS: fixed build 2020-01-31 11:09:07 +11:00
Andrew Tridgell
3fe3c8ecdc HAL_ChibiOS: implement pulse_input_enable() 
and cleanup use of mutexes in RC input
 2020-01-31 11:09:07 +11:00
Andrew Tridgell
9c0cf0871b HAL_ChibiOS: added disable() API for pulse input 2020-01-31 11:09:07 +11:00
Andrew Tridgell
258b8b71ea AP_IOMCU: use more efficient read API for rcin 2020-01-31 11:09:07 +11:00
Andrew Tridgell
8e67c3459a AP_RCProtocol: added multi-channel read() API 
and use pulse_input_enable() to disable pulse input when not needed
 2020-01-31 11:09:07 +11:00
Andrew Tridgell
3105c6a050 AP_HAL: added pulse_input_enable() API 
this allows disabling pulse input at runtime to lower CPU load on
IOMCU when decoding via a UART
 2020-01-31 11:09:07 +11:00
Andrew Tridgell
ae9e8c3dbc HAL_SITL: fixed bitmask error on storage erase 2020-01-31 11:06:29 +11:00
Andrew Tridgell
cbbf61af93 HAL_Linux: fixed bitmask error on storage erase 2020-01-31 11:06:29 +11:00
Andrew Tridgell
27c114828b HAL_ChibiOS: fixed bitmask error on storage erase 2020-01-31 11:06:29 +11:00
Peter Barker
bff97eb150 AP_HAL_ChibiOS: assert that storage size is an even number of storage-lines 2020-01-30 19:53:02 +11:00
Peter Barker
c4ed6d0e96 AP_Motors: ensure _pwm_min and _pwm_max are not equal 
AP_Motors: adjust check_mot_pwm_params for clarity
 2020-01-30 14:49:16 +09:00
Randy Mackay
bff978570f AP_MotorsMulticopter: fixup check_mot_pwm_params 
fix _pwm_max is positive check
returns true if params are valid
constify method
 2020-01-30 10:01:54 +09:00
Randy Mackay
f00bf77af7 AP_MotorsMulticopter: minor formatting fix 2020-01-30 08:33:00 +09:00
ashvath
d97fdcac31 Copter: function for mot_pwm checks 2020-01-30 08:29:56 +09:00
Rishabh
ded7c422f7 HAL_SITL: support new motor orders 2020-01-29 16:57:23 +09:00
Rishabh
dc662a56b2 SITL: Added DJI Hexa and Octa for SITL 2020-01-29 16:57:23 +09:00
Rishabh
38533b2f09 AP_Motors: Added DJI_X motor setup for hexacopter and octacopter 2020-01-29 16:57:23 +09:00
Randy Mackay
84e6c59fdd AC_AttitudeControlHeli: fix update_althold_lean_angle_max use of throttle_in 2020-01-29 10:59:28 +09:00
Randy Mackay
3c8aa955d5 AC_AttitudeControlSub: fix update_althold_lean_angle_max use of throttle_in 2020-01-29 10:59:27 +09:00
Leonardo Felipe L. S. dos Santos
07f45e1ef9 AC_AttitudeControlMulti: fix update_althold_lean_angle_max use of 
throttle_in
 2020-01-29 10:58:56 +09:00
Peter Barker
623c84ae74 AP_HAL_SITL: implement trap method 2020-01-29 10:27:01 +11:00
Peter Barker
1344827c07 AP_HAL: add empty overridable trap method 2020-01-29 10:27:01 +11:00
Peter Barker
1650979a2b GCS_MAVLink: add support for MAV_CMD_DEBUG_TRAP 2020-01-29 10:27:01 +11:00
Andrew Tridgell
0e7ddebd15 GCS_MAVLink: fix for updated mavlink extensions 2020-01-29 08:16:59 +11:00
Andrew Tridgell
0a9a1c5314 AP_EFI: fix for updated mavlink extensions 2020-01-29 08:16:59 +11:00
Peter Barker
e248bdfb16 GCS_MAVLink: split statustexts into 50-byte chunks using mav2 extensions 2020-01-28 19:56:38 +11:00
Peter Barker
a1f0452940 AP_Hott_Telem: avoid 1-byte overwrite in prearm check string 
In file included from /usr/include/string.h:494:0,
                 from ../../libraries/AP_HAL/AP_HAL_Namespace.h:3,
                 from ../../libraries/AP_HAL/AP_HAL.h:5,
                 from ../../libraries/AP_Hott_Telem/AP_Hott_Telem.h:17,
                 from ../../libraries/AP_Hott_Telem/AP_Hott_Telem.cpp:23:
In function ‘char* strncpy(char*, const char*, size_t)’,
    inlined from ‘void AP_Hott_Telem::send_Vario()’ at ../../libraries/AP_Hott_Telem/AP_Hott_Telem.cpp:366:20:
/usr/include/x86_64-linux-gnu/bits/string_fortified.h:106:71: warning: ‘char* __builtin___strncpy_chk(char*, const char*, long unsigned int, long unsigned int)’: specified bound 8 exceeds the size 7 of the destination [-Wstringop-overflow=]
   return __builtin___strncpy_chk (__dest, __src, __len, __bos (__dest));
                                                                       ^
In function ‘char* strncpy(char*, const char*, size_t)’,
    inlined from ‘void AP_Hott_Telem::send_Vario()’ at ../../libraries/AP_Hott_Telem/AP_Hott_Telem.cpp:368:20:
/usr/include/x86_64-linux-gnu/bits/string_fortified.h:106:71: warning: ‘char* __builtin___strncpy_chk(char*, const char*, long unsigned int, long unsigned int)’: specified bound 8 exceeds the size 7 of the destination [-Wstringop-overflow=]
   return __builtin___strncpy_chk (__dest, __src, __len, __bos (__dest));
 2020-01-28 17:06:29 +11:00
Andrew Tridgell
b47181a86f AP_OpticalFlow: probe all I2C buses for px4flow on Hex Cubes 2020-01-28 14:54:30 +09:00
Peter Barker
07c7a98269 AP_Vehicle: move some common init_ardupilot code up to AP_Vehicle 2020-01-28 11:34:51 +11:00
Peter Barker
1211ea88b5 AP_Vehicle: move setup method up to AP_Vehicle base class 2020-01-28 11:34:51 +11:00
Peter Barker
4647c6ef62 StorageManager: use pragmas to set storage layout rather than call 
We don't need the flexibility to reset this, it's a waste of bytes and
something that could go wrong.  AP_Periph led the way with using
pragmas here.
 2020-01-28 11:34:51 +11:00
Michael du Breuil
7bc1f4ff9b AP_RangeFinder: a to close reading is not the minimum distance 2020-01-28 11:32:19 +11:00
Peter Barker
8b20c82a18 AP_Camera: send mavlink camera feedback message even if no logger 2020-01-27 17:03:06 -07:00
Peter Hall
de684530f1 SRV_Channel: add wing sail elevator output 2020-01-28 08:26:41 +09:00
Rob Ratcliff
5c388507d4 RC_Channel: fix handling of rc_override_time of -1 2020-01-27 19:21:54 +09:00
Andrew Tridgell
dd1426cf73 HAL_SITL: allow for separate position for 2nd GPS 
makes for better simulation of moving baseline
 2020-01-26 16:55:17 +11:00
Andrew Tridgell
fb3496b63b SITL: added SIM_GPS2_POS 
and re-arrange two sets of GPS parameters to be arrays
 2020-01-26 16:55:17 +11:00
Jaaaky
e8df08a4d3 AP_Terrain: Avoid update() IO operations when not enabled 2020-01-26 10:35:29 +11:00
Andrew Tridgell
a7b6887f44 HAL_ChibiOS: added a f303-Universal build target 2020-01-26 09:12:55 +11:00
Andrew Tridgell
2fa6f534ab AP_RangeFinder: added get_type() API 2020-01-26 09:12:55 +11:00
Andrew Tridgell
7efd5248ee AP_GPS: added get_type() API 2020-01-26 09:12:55 +11:00
Andrew Tridgell
7a812a5516 HAL_ChibiOS: use cortex m7 instructions on F7/H7 2020-01-25 08:50:09 +11:00
murata
b0af48745e AP_RangeFinder: VL53L1X LONG can be specified 
AP_RangeFinder: VL53L1X LONG can be specified

AP_RangeFinder: Add VL53L1X to device number 16

AP_RangeFinder: Add VL53L1X to device number 16
 2020-01-24 13:46:35 -07:00
Andrew Tridgell
e59f32074d AP_GPS: fixed yaw error when one GPS has zero position 
the M_PI correction was only valid for one zero side. Much simpler to
always calculate difference
 2020-01-24 11:46:40 +11:00
Randy Mackay
141099078c AP_RangeFinder: increase leddarvu8 timeout to 0.5sec 2020-01-23 16:24:33 +11:00
Randy Mackay
f269004610 AP_RangeFinder: fix detect for LeddarVu8 
Co-Authored-By: Peter Barker <pb-gh@barker.dropbear.id.au>
 2020-01-23 16:24:33 +11:00
Randy Mackay
b068f15932 AP_RangeFinder: LeddarVu8 driver 2020-01-23 16:24:33 +11:00
Randy Mackay
e5c3a7f7b5 AP_RangeFinder: typo fix for LeddarOne 2020-01-23 16:24:33 +11:00
Randy Mackay
266a908b83 AP_RangeFinder: serial backend get_reading returns false 2020-01-23 16:24:33 +11:00
Randy Mackay
9ac10c3af9 AP_RangeFinder: remove virtual from _get_mav_distance_sensor_type 2020-01-23 16:24:33 +11:00
Rajat Singhal
6bbf6f380f SITL: Add rover support for Airsim 2020-01-23 15:12:50 +11:00
murata
f6595a41ae AP_Logger: Change the type of a method 2020-01-22 12:45:27 +11:00
yaapu
88f0d54574 AP_RCProtocol: fport downlink packet: fixed CRC and added missing PACKED attribute 2020-01-22 06:58:29 +11:00
Matt Lawrence
5d3ed74a37 AP_Notify: Remove pixhawk from Oreo LED comments 
Removes specific reference to pixhawk from comments since not all flight controllers are pixhawks.
 2020-01-21 13:48:54 +09:00
Matt Lawrence
3af99115fb AP_Notify: Add GCS failsafe notify tones and lights 2020-01-21 13:48:54 +09:00
Randy Mackay
b9ff846162 AC_AttitudeControl: remove old RAT_FILT param desc 2020-01-21 13:06:56 +09:00
Randy Mackay
2f568bbfcb AC_AutoTune: fix backup of yaw acceleration 2020-01-21 11:04:22 +09:00
Bill Geyer
7ee4054515 AC_AttitudeControl: tradheli-Remove Param descriptions 
This remove the old filter param description from AC 3.6 and adds the new filter param descriptions.
 2020-01-21 11:02:38 +09:00
Peter Barker
583b25e6aa AP_AHRS: allow NavEKFs to be compiled out 2020-01-21 11:53:18 +11:00
Peter Barker
73c32f403b AP_HAL_ChibiOS: do not compile EKF2 for MatekF405-Wing 2020-01-21 11:53:18 +11:00
Peter Barker
8fc64ccbe9 GCS_MAVLink: allow NavEKFs to be compiled out 2020-01-21 11:53:18 +11:00
Peter Barker
b30004c0a2 AP_SmartRTL: EKF objects have moved into AP_AHRS_NavEKF 2020-01-21 11:53:18 +11:00
Peter Barker
a4d9673f39 AP_OpticalFlow: EKF objects have moved into AP_AHRS_NavEKF 2020-01-21 11:53:18 +11:00
Peter Barker
e6150533fc AP_NMEA_Output: EKF objects have moved into AP_AHRS_NavEKF 2020-01-21 11:53:18 +11:00
Peter Barker
373b8be7ef AP_Vehicle: move EKF objects into AP_AHRS_NavEKF 2020-01-21 11:53:18 +11:00
Peter Barker
e289020332 AP_NavEKF3: stop taking ahrs in constructor 2020-01-21 11:53:18 +11:00
Peter Barker
da3d3cc21b AP_NavEKF: stop taking ahrs in constructor 2020-01-21 11:53:18 +11:00
Peter Barker
14fce28e1b AP_AHRS: move EKF objects in; this requires unconsting some methods 2020-01-21 11:53:18 +11:00
Peter Barker
d6dbdd58d3 AC_AttitudeControl: adjust for some methods on AP_AHRS become non-const 2020-01-21 11:53:18 +11:00
Peter Barker
8f550ffdd4 AP_Vehicle: change string to Initialising ArduPilot 2020-01-21 11:37:28 +11:00
Peter Barker
342e502da4 AP_vehicle: let AP_Vehicle base class worry about scheduler delay callback 2020-01-21 11:37:28 +11:00
Peter Barker
9ef23872e0 AP_HAL_SITL: check result code of pthread_attr_init 2020-01-21 11:22:20 +11:00
Peter Hall
d5729236e2 AP_Scripting: update plane-wind-fs battery RTL failsafe example 2020-01-21 10:12:45 +11:00
Peter Hall
d08b395224 AP_Motors: only ouput throttle to mask if armed 2020-01-21 10:11:16 +11:00
Peter Barker
e189b17efb AP_HAL_ChibiOS: remove unused AnalogIn fields 2020-01-21 10:06:18 +11:00
Andrew Tridgell
a8501a91c7 HAL_ChibiOS: fixed handling of write mutex 
this fixes an issue with log download on USB and mavlink throughput
caused lock contention. The issue was introduced with the changes for
unbuffered writes recently (does not affect stable releases)
 2020-01-21 08:37:25 +11:00
Andrew Tridgell
87a51899bd SRV_Channel: update SERVO_AUTO_TRIM docs 2020-01-20 06:50:36 +11:00
Andrew Tridgell
a153799e26 HAL_Linux: support inverted 115200 protocols 
this allows for FrSky FPort input
 2020-01-19 21:10:00 +11:00
Andrew Tridgell
82d77fe014 AP_UAVCAN: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell
e7f200f623 AP_Stats: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell
9d63edbf37 AP_RTC: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell
17a762fd36 AP_Notify: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell
5ae6ad2a59 AP_Mission: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell
71a0645a59 AP_Logger: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell
58708c483f AP_InertialSensor: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell
4aa78dc891 AP_HAL_SITL: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell
4b9442dad7 AP_HAL_Linux: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell
f683741a9c AP_HAL: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell
982cff0695 AP_HAL_ChibiOS: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell
cf8becfa71 AP_GPS: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell
23b3000e3a AP_Filesystem: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00