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59925 Commits

Author SHA1 Message Date
Peter Barker 12a06ee0ae AP_AHRS: make a pair of methods static on AP_AHRS_Backend 
these don't use any information from the specific backend, but they are called within the backends so making them static on that class is handy
 2023-09-19 13:20:15 +10:00
Peter Barker a5bfd58524 AP_AHRS: remove un-needed AP_AHRS_Backend::getCorrectedDeltaVelocityNED 
over-kill, and can be derived from backend biases if required
 2023-09-19 12:51:31 +10:00
Tom Pittenger ca7c410b8b AP_Periph: add CAN3 to param CAN_MIRROR_PORTS desc 2023-09-19 12:17:28 +10:00
Michael du Breuil 6897dd08ef Tools: AP_Periph: Add CAN_MIRROR 
This allows us to mirror CAN traffic between ports on demand.
 2023-09-19 12:17:28 +10:00
Andy Piper 1b1e5b1085 hwdef: correct inversion pin on MambaF405v2 
correct battery setup for MambaF405v2
provide suitable serial defaults for MambaF405v2
reallocate DMA channels to allow full DMA on USART3 and NeoPixel on MambaF405v2
add camera control pin to MambaF405v2
 2023-09-19 11:43:58 +10:00
Peter Barker 9bcd9df7dd AP_AHRS: move load_watchdog_home into correct cpp file 
NFC, just moving the code out of the DCM backend file
 2023-09-19 11:35:45 +10:00
Peter Barker 622b83da9e AP_AHRS: move set_home method into correct .cpp file 
NFC, just moving the code in prepration for allowing DCM to be compiled out
 2023-09-19 11:35:45 +10:00
Peter Barker f8a4dd02d9 AP_AHRS: simplify specification of primary IMU indices 
given that DCM doesn't specify to use the primary accel or gyro when fetching the data from the Ins library, it shouldn't be special-cased here when asked what the primary IMU and accel are.  Note that this was asking for the *configured* backend type, rather than the active EKF type, making these clauses even stranger.

This also changes the definition of the "primary IMU index" to be whichever gyro is active rather than the accel.  Since we don't currently split primary gyro/primary accel, this is a reasonable change.
 2023-09-19 11:34:37 +10:00
Peter Barker e83b6bcfcb AP_AHRS: remove get_primary_IMU_index from public interface 2023-09-19 11:34:37 +10:00
Peter Barker 0b4007d22c AP_AHRS: make comment match code behaviour in airspeed DCM-fallback 
the comment here was incorrect; we do not need EKF3 to have a good wind estimate to fall back to DCM here.

Also restructure the code to make it more obvious that this is what's going on.
 2023-09-19 11:30:45 +10:00
Peter Barker c30bceb2a0 AP_AHRS: return location inside backend_results structure 
with the change to cache results inside AP::ahrs().state we no longer need to worry about the backend's attempts to project the last-known-location forwards according to amount of time elapsed since that last-known-location was calculated.
 2023-09-19 11:25:49 +10:00
Henry Wurzburg 5bb96d31e3 Tools: limit AFS to Plane and fix symbol lookup 2023-09-19 11:19:06 +10:00
Peter Barker f22818a4b0 autotest: run reboots with cmd_int 2023-09-19 11:16:10 +10:00
Peter Barker 5ed1344115 Tools: handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN as INT or LONG 2023-09-19 11:16:10 +10:00
Peter Barker 624cfc8fcc ArduCopter: handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN as INT or LONG 2023-09-19 11:16:10 +10:00
Peter Barker 5b0393e280 GCS_MAVLink: handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN as INT or LONG 2023-09-19 11:16:10 +10:00
Peter Barker 8e4755f202 Tools: handle DO_PARACHUTE as both command_long and command_int 2023-09-19 11:14:29 +10:00
Peter Barker 4c6918afea ArduCopter: handle DO_PARACHUTE as both command_long and command_int 2023-09-19 11:14:29 +10:00
Henry Wurzburg 4508f23893 AP_OSD:Update/correct DisplayPort BF MSP symbols 2023-09-19 11:13:54 +10:00
Randy Mackay ee7df6b060 AP_Mount: Xacti sets datetime 2023-09-19 10:58:52 +10:00
Randy Mackay 5e77ca483d AP_Mount: Xacti slides reduced flash usage 2023-09-19 10:58:52 +10:00
Randy Mackay b7d44c75a6 AP_Mount: Xacti gets reduced call to AP_HAL::millis() 2023-09-19 10:58:52 +10:00
Randy Mackay fc24b45d56 AP_Mount: Xacti handles firmware ver and status 2023-09-19 10:58:52 +10:00
Randy Mackay 1f11d5f3fc AP_DroneCAN: support string parameters 2023-09-19 10:58:52 +10:00
Randy Mackay 2835deb0de Tools: autotest FlyEachFrame yaw rate relaxed 2023-09-19 10:53:04 +10:00
Randy Mackay 3f531d18bc Tools: SITL default tricopter yaw servo trim fix 2023-09-19 10:53:04 +10:00
Randy Mackay df0dad79bf Tools: SITL default copter yaw tune improvement 2023-09-19 10:53:04 +10:00
Iampete1 fa1c5f62aa Plane: Tailsitter: use motor I term for pitch in assist if not surfaces are setup 2023-09-19 09:35:19 +10:00
Tom Pittenger ea207c4b4a AP_Periph: add AP_PERIPH_SAFTEY_SWITCH_ENABLED 2023-09-19 09:29:26 +10:00
Peter Barker 1d4a77d33a AP_OSD: correct compilation when OSD compiled out 2023-09-19 08:22:16 +09:00
Iampete1 d3d606ab69 AP_SmartRTL: fix disable if second point fails to add 2023-09-19 08:01:47 +09:00
Nick Exton 1dd7d7dd7b AP_Mount: In Siyi, change severity of warnings for Data Loss and No Card 2023-09-19 07:59:15 +09:00
Nick Exton bad73df582 AP_Mount: In Siyi, clean up toggling of video recording 2023-09-19 07:59:15 +09:00
Nick Exton a8e10ca59b AP_Mount: In Siyi, request gimbal config when set_motion_mode() changes mode 2023-09-19 07:59:15 +09:00
Nick Exton d3358ff3af AP_Mount: Make Siyi set_motion_mode() only send on change 2023-09-19 07:59:15 +09:00
Nick Exton 62858ff91f AP_Mount: Siyi set_motion_mode() now returns bool 
And the mode param is now const.
 2023-09-19 07:59:15 +09:00
Nick Exton 9fe5f4151e AP_Mount: In Siyi, use config info received from gimbal 2023-09-19 07:59:15 +09:00
Nick Exton 188a5654c2 AP_Mount: Siyi set_lock() becomes set_motion_mode() 
We have three motion modes on the Siyi: Lock, Follow and FPV.

Partially addresses #22900
 2023-09-19 07:59:15 +09:00
Henry Wurzburg d13085d4bb HWDEF:Correct hwdef of BETAFPV-F405 2023-09-19 08:03:58 +10:00
Andrew Tridgell ebffc8fc65 HAL_ChibiOS: fixed CAN statistics on F4/L4/F3/F7 2023-09-19 07:33:53 +10:00
Peter Barker 273b9ea354 GCS_MAVLink: correct sensors when no baros found 
GCSs will know we have no baros on-board, as will the RC telemetry library
 2023-09-19 07:28:30 +10:00
Henry Wurzburg 6d1fed9657 Tools:add qualifier for ADSB type in readme 2023-09-18 13:41:04 -07:00
Peter Barker 23150a0830 autotest: loosen constraint on achieved angles 
apparently within 5 degrees is asking too much....
 2023-09-18 20:40:18 +10:00
subashchandar d1e8cef9b6 AP_HAL_ChibiOS: Increase limit for Storage pages 
STm32l4+ has 512 flash pages in dual flash mode
 2023-09-17 21:03:37 +10:00
subashchandar 2207f7bb14 AP_HAL_ChibiOS: change adc sampling rate 
STm32l4r5 adc sampling rate.
 2023-09-17 21:02:42 +10:00
Peter Barker ecbad5b35a autotest: add test for ArduPlane fly-inverted mission item 2023-09-17 09:54:51 +10:00
James O'Shannessy 9b06395573 AP_Mount: Fix brace enclosed initializer list for older compilers 2023-09-16 14:59:00 +09:00
Peter Barker 62950169f7 AP_Notify: tidy use of DiscreteRGB 2023-09-16 08:47:37 +09:00
Nick Exton 83636e6ef3 AP_Mount: In Siyi, fix missing braces in process_packet() 2023-09-15 20:13:55 +09:00
Randy Mackay b407591663 Copter: 4.4.1-beta2 release notes 2023-09-14 16:24:18 +09:00