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27333 Commits

Author SHA1 Message Date
Leonard Hall
445e52b821 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-26 12:22:52 +09:00
Randy Mackay
b396169084 AP_Scripting: copter-fast-descent.lua example script 2021-08-26 11:25:54 +09:00
Randy Mackay
1a7826295f AP_Vehicle: add virtual set_target methods 2021-08-26 11:25:54 +09:00
Randy Mackay
e8155bc47c AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-26 11:25:54 +09:00
Randy Mackay
a3b4c8efd8 AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-26 11:25:54 +09:00
Randy Mackay
5eb65c9a1f AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-26 11:25:54 +09:00
Pierre Kancir
ec03c9eaf4 AP_Scheduler: correct pointer checking 2021-08-26 10:17:22 +10:00
Andrew Tridgell
1655beeca9 AP_MSP: fixed build without MSP 
found by custom.ardupilot.org
 2021-08-26 10:01:35 +10:00
olliw42
617024bdfa GCS_Mavlink: scale across full valid range 2021-08-26 09:44:59 +10:00
olliw42
bacfe82c66 GCS_MAVLINK: add receiver_rssi() method, and use it 2021-08-26 09:44:59 +10:00
Marek S. Łukasiewicz
47f2e13024 HAL_ChibiOS: Add hwdef for BirdCANdy 2021-08-26 09:43:39 +10:00
Iampete1
2a834508ae AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-25 23:48:52 +01:00
Peter Barker
1387ed06bd AP_WindVane: remove empty contructors 2021-08-25 20:42:23 +10:00
Peter Barker
47455f12db AP_Vehicle: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Peter Barker
9dd02f0c2b AP_Scripting: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Peter Barker
c9fd7ee00d AP_Button: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Peter Barker
4ae3ad555d AP_Arming: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Samuel Tabor
3ead096329 AP_Soaring: Initialize filter to the current filtered measurement 2021-08-25 19:00:46 +10:00
Michael du Breuil
e3109e4b29 AP_Logger: Use actual MAVLink constant 
This isn't a functional change, it just improves the readibility of the
file
 2021-08-25 18:52:21 +10:00
Randy Mackay
4bdb428cfe AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-25 18:39:09 +10:00
Randy Mackay
8548695e5d AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-25 18:39:09 +10:00
Randy Mackay
1725eda961 AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-25 18:39:09 +10:00
Peter Barker
9114d4fc86 AP_AHRS: make home-relative functions AHRS-frontend only 2021-08-25 18:32:07 +10:00
Peter Barker
e8066aa993 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-25 18:28:12 +10:00
Peter Barker
a933652950 AP_AHRS: return perfect airspeed estimate for EKF-type 10 
... rather than the EKF3 estimate
 2021-08-25 18:28:12 +10:00
Pierre Kancir
29b13ff98a AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-25 16:37:13 +09:00
Pierre Kancir
ae11353d81 AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-25 16:37:13 +09:00
Pierre Kancir
4481bc6147 AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-25 16:37:13 +09:00
yaapu
617b023c6f AP_Frsky_Telem: added frame 0x500C for true/apparent WIND info 2021-08-25 17:13:16 +10:00
yaapu
d91e2008d3 AP_RCTelemetry: incremented WFQ scheduler slots to 20 2021-08-25 17:13:16 +10:00
yaapu
7e3395eebd AP_OSD: added a new backend for msp displayport aka canvas mode support 2021-08-25 17:12:15 +10:00
yaapu
188b7a50a9 AP_MSP: added a new backend for msp displayport aka canvas mode support 2021-08-25 17:12:15 +10:00
yaapu
05686f3c60 AP_MSP: fixed MSP RC out command 2021-08-25 17:12:15 +10:00
yaapu
c1e50dc676 AP_SerialManager: added a new MSP DisplayPort serial backend 2021-08-25 17:12:15 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
d907328f80 AP_FETtecOneWire: README.md clarity improvements 2021-08-25 16:05:05 +10:00
Randy Mackay
04c8ad6150 RC_Channel: rename visodom_calibrate to visodom_align 
This should be a non-functional change
 2021-08-25 15:42:02 +10:00
Josh Henderson
b94fb40a33 SITL: add unit tests for SIM_MS5611 2021-08-25 12:37:43 +10:00
bugobliterator
a32a32ab43 HAL_ChibiOS: change name for USART2_CTS pin in STM32H757xx.py 2021-08-25 10:09:23 +10:00
bugobliterator
21ad3c7ac1 AP_HAL_ChibiOS: add HereID board 2021-08-25 10:09:23 +10:00
Gone4Dirt
c94b9e8a19 AP_RPM: Mark type = PWM as not used in docs 2021-08-25 09:36:58 +10:00
Gone4Dirt
b402a50bb2 SITL: Remove RPM params from examples that are set to defaults 2021-08-25 09:36:58 +10:00
Gone4Dirt
7be9773f95 SITL: Update RPM param in FlightAxis defaults 2021-08-25 09:36:58 +10:00
Gone4Dirt
df1280e999 AP_RPM: Whitespace changes 2021-08-25 09:36:58 +10:00
Gone4Dirt
5bb4729d61 AP_RPM: Restructure params to be per instance of _params 2021-08-25 09:36:58 +10:00
Iampete1
58e14b2dc3 AC_Loiter: update ANG_MAX param description 2021-08-24 22:14:08 +01:00
Andrew Tridgell
e9427f1dae HAL_ChibiOS: removed remnants of CHIBIOS_ADC_MAVLINK_DEBUG 2021-08-25 07:11:31 +10:00
Andrew Tridgell
5bacd35eaa HAL_ChibiOS: review fixes 2021-08-25 07:11:31 +10:00
Andrew Tridgell
4cebcede31 HAL_ChibiOS: switched to fix allocation for BMDA streams on H7 
this avoids issues with BDMA stream assignments due to bugs found
while testing boards with both I2C4 and SPI6
 2021-08-25 07:11:31 +10:00
Andrew Tridgell
5c3056e50d GCS_MAVLink: added MCU_STATUS message 2021-08-25 07:11:31 +10:00
Andrew Tridgell
0f59e1ebb8 AP_Logger: log MCU temperature and voltage 2021-08-25 07:11:31 +10:00
Andrew Tridgell
57e87b9820 HAL_ChibiOS: measure MCU temperature and ref voltage on H7 
this uses ADC3 to measure the internal MCU temperature and the reference
voltage. This uses a currently unused BDMA channel
 2021-08-25 07:11:31 +10:00
Andrew Tridgell
c91410f4b7 AP_HAL: added MCU status support 2021-08-25 07:11:31 +10:00
Randy Mackay
5de30cc7cf AP_Scripting: ahrs-source-gps-optflow script fixups from peer review 
also dded assert on optical flow to ensure the script is used with a version of AP that includes the optical flow bindings
 2021-08-24 16:49:04 +09:00
Randy Mackay
9313535a35 AP_OpticalFlow: SITL driver applies _FX/YSCALER params 2021-08-24 16:49:04 +09:00
Randy Mackay
2aa17916b1 AP_Scripting: add ahrs-source-gps-optflow 
this supports automatic switching between GPS and opticalflow
 2021-08-24 16:49:04 +09:00
Randy Mackay
df187d5d3f AP_Scripting: add optical flow bindings 2021-08-24 16:49:04 +09:00
Randy Mackay
d1f2acd813 AP_NavEKF3: rename varInnovOptFlow to flowVarInnov 
also renamed innovOptFlow to flowInnov
 2021-08-24 16:49:04 +09:00
Randy Mackay
85ade10e85 AP_NavEKF3: ofDataNew made local 2021-08-24 16:49:04 +09:00
Randy Mackay
11847cfcf5 AP_NavEKF3: always calculate optical flow innovations and variances 2021-08-24 16:49:04 +09:00
Randy Mackay
914a8dca49 AP_NavEKF3: for loops use uint8_t instead of unsigned 2021-08-24 16:49:04 +09:00
Randy Mackay
5779ebd177 AP_NavEKF3: remove unused Tbn_flow 2021-08-24 16:49:04 +09:00
Randy Mackay
f9fd63e01e AP_NavEKF3: remove unused optflow calcs 2021-08-24 16:49:04 +09:00
Hwurzburg
00a1cbffde AP_CANManager: correct metadata for values 2021-08-24 10:52:33 +10:00
Peter Barker
f02ffac9a4 AP_SerialManager: reserve Id 41 for CoDev serially-attached ESCs 2021-08-24 10:24:02 +10:00
Peter Barker
e2722c8e12 AP_AHRS: move active_accel_instance into DCM private header section 2021-08-24 10:23:36 +10:00
Peter Barker
d6c7c59199 AP_AHRS: remove custom_rotation matrix to frontend 
Only one of these per vehicle
 2021-08-24 10:23:36 +10:00
Peter Barker
645a5302d0 AP_AHRS: move DCM parameters into DCM header 2021-08-24 10:23:36 +10:00
Peter Barker
74709c6292 AP_AHRS: move groundspeed vector up to AP_AHRS_DCM 
The other estimators all have their own implementation of this
 2021-08-24 10:23:36 +10:00
Peter Barker
8169910866 AP_AHRS: move frontend parameters up / DCM parameters down 2021-08-24 10:23:36 +10:00
Peter Barker
62f6a5b033 AP_Compass: fail calibration unless at least 1 compass to cal 2021-08-24 10:18:38 +10:00
Josh Henderson
3c9547caff AP_Baro_SITL: use temp_board_offset and timeout 2021-08-24 09:55:01 +10:00
Josh Henderson
e8dcdd60c5 SITL: param use baro temp_board_offset instead of temp_flight 2021-08-24 09:55:01 +10:00
Iampete1
8c61d1a18d AP_Radio: hide params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1
9bcd706dae AP_Proximity: hide params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1
2bad7734db AP_landing: hide deepstall params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1
280171e96b AP_Beacon: hide params with enable flag 2021-08-24 09:38:46 +10:00
Mohammad Hefny
2a14181e69 update to new files names 2021-08-24 07:45:41 +10:00
Mohammad Hefny
ac30fbd7b0 SITL: Webots2021b Compatible 2021-08-24 07:45:41 +10:00
Rishabh
ae98545202 AC_PrecLand: Add prec landing state machine 2021-08-23 15:00:56 +09:00
Rishabh
d4edd84573 AC_Precland: Allow landing retry and failsafe handling 2021-08-23 15:00:56 +09:00
Peter Barker
44803b92c7 SITL: correct SIM_FETtecOneWire consume function 
when this was factored out the parameter wasn't taken into account.
 2021-08-23 13:47:35 +10:00
Andrew Tridgell
531ca4289e HAL_ChibiOS: switch to minimum scheduling delta of 10us 
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.

Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.

Fixes issue #18383
 2021-08-23 10:45:44 +10:00
Peter Barker
5613610641 AP_Arming: remove redundant checks_to_perform check 
This is identical to the check just above it
 2021-08-23 08:51:38 +09:00
Peter Barker
066ad0f8da APM_Control: remove unused variables 2021-08-23 08:39:41 +09:00
Andrew Tridgell
4e98636a53 AP_Terrain: added a TERRAIN_MARGIN parameter 
this sets the acceptance margin for GCS generated terrain data. You
can raise this to allow old data generated with the less accurate
longitude scaling to be used
 2021-08-22 20:32:46 +10:00
Iampete1
df7321c0da AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-21 09:54:33 +01:00
Peter Barker
70aef84997 AP_HAL_ChibiOS: remove definitions of BOARD_PWM_COUNT_DEFAULT 
No longer used
 2021-08-20 10:51:19 +10:00
Peter Barker
815f7017d4 AP_BoardConfig: remove definitions of BOARD_PWM_COUNT_DEFAULT 
No longer used
 2021-08-20 10:51:19 +10:00
Andrew Tridgell
fed927f1a4 AP_RCTelemetry: fixed CRSF build dependency issue 
found on custom.ardupilot.org
 2021-08-20 06:46:15 +10:00
Samuel Tabor
27f0320452 AP_Landing_Slope: Log height used for flare timing. 2021-08-19 17:59:33 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
7498d5c296 AP_FETtecOneWire: Fix compilation on some exotic compilers 2021-08-19 17:57:58 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
92a75661e0 AP_FETtecOneWire: Fix state of CRC error counters after _fast_throttle_cmd_count overflow 2021-08-19 17:57:58 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
2f4c79fd1e AP_FETtecOneWire: only check for telemetry if it has been requested at some point 
Only check for telemetry after sending a fast-throttle request for that particular ESC
Added more debug information from message handling state machine
 2021-08-19 17:57:58 +10:00
Tom Pittenger
b9918cd0d5 AP_ADSB: added Ping200X driver /w UCP protocol 2021-08-19 17:49:27 +10:00
Tom Pittenger
896dd49c96 GCS_MAVLink: add MAV_CMD_ADSB_IDENT cmd 2021-08-19 17:49:27 +10:00
Tom Pittenger
8c9dcf4ad8 AP_Math: added CRC16_CCITT non-standard variant 2021-08-19 17:49:27 +10:00
Andy Piper
0279c86f7f AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it 
change mamba F405 to active high as per betaflight
 2021-08-19 17:05:42 +10:00
Andrew Tridgell
f822d8f5f6 AP_Scripting: example script for testing EKF3/DCM switching 2021-08-19 14:42:28 +10:00
Andrew Tridgell
973466856c AC_WPNav: update variable name for consistency 2021-08-19 14:42:28 +10:00
Andrew Tridgell
285798446a AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-19 14:42:28 +10:00
Andrew Tridgell
53e7436525 AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-19 14:42:28 +10:00
bugobliterator
d64621e349 HAL_ChibiOS: remove duplicate FLASH_RESERVE_START_KB from hwdef 2021-08-19 14:20:58 +10:00
bugobliterator
ddc50a8420 AP_GPS: add option to set a dedicated line for Moving Baseline Data 2021-08-19 14:20:58 +10:00
bugobliterator
e9faab288c GCS_MAVLink: allow mavftp on AP_Periph 2021-08-19 14:20:58 +10:00
bugobliterator
a8ab20abd9 AP_HAL_ChibiOS: allow sending stats via mavftp on AP_Periph 2021-08-19 14:20:58 +10:00
bugobliterator
6b64cfd6c1 AP_FileSystem_Sys: allow sending stats via mavftp on AP_Periph 2021-08-19 14:20:58 +10:00
bugobliterator
e8c4b99a99 AP_UAVCAN: add support for setting parameters on CAN nodes 2021-08-19 14:20:58 +10:00
bugobliterator
4f65705c99 AP_HAL_ChibiOS: set proper name for CAN terminators on HerePro 2021-08-19 14:20:58 +10:00
bugobliterator
d32111b376 AP_GPS: fix handling of RTCM3 parser with user notification for bad cfg 2021-08-19 14:20:58 +10:00
bugobliterator
3b58463bfd AP_GPS: initialise uavcan drv interim_state with state structure at startup 2021-08-19 14:20:58 +10:00
bugobliterator
85d8becb8c AP_GPS: add support for auto config Moving Baseline for AP_Periph GPS 2021-08-19 14:20:58 +10:00
bugobliterator
c7907bb8fb AP_HAL_ChibiOS: update config for dual gps heading in HerePro 2021-08-19 14:20:58 +10:00
bugobliterator
9fc57e40b4 AP_GPS: add support for dual GPS heading using Periph GPSes 2021-08-19 14:20:58 +10:00
bugobliterator
e29ddebe3c AP_CANManager: remove unused variable from SLCANIface code 2021-08-19 14:20:58 +10:00
bugobliterator
ddc82f7619 AP_UAVCAN: add messages for doing MovingBaseline Heading over UAVCAN 2021-08-19 14:20:58 +10:00
Randy Mackay
2fba31332b GCS_MAVLink: support MAV_CMD_SET_EKF_SOURCE_SET command 
this allows external systems to set the active EKF source set
 2021-08-19 12:11:08 +10:00
Andrew Tridgell
d92c5589a9 GCS_MAVLink: added fields for new mavlink2 extensions 2021-08-19 12:08:54 +10:00
Andrew Tridgell
46287dcb00 SITL: fixed plane-tailsitter model 
it doesn't play well with smoothing
 2021-08-19 12:08:54 +10:00
Peter Barker
be076e5b1a AP_Math: correct descriptions of quaternion functions 2021-08-19 10:00:35 +10:00
TunaLobster
8cd47433ed AP_FETtecOneWire: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
TunaLobster
d6a5622fcb AP_NavEKF3: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
TunaLobster
7dd40f0cab AP_NavEKF2: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
TunaLobster
642bd85306 AP_ICEngine: spelling and grammer fixes inc in param description 2021-08-19 10:00:16 +10:00
TunaLobster
c0d484570c AP_EFI: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
Peter Barker
f465a9336e AP_Button: add debounce on PWM input 
Co-authored-by: jmachuca77 <jaime@element.aero>
 2021-08-18 18:47:28 +10:00
Peter Barker
5d49d29c27 AP_AHRS: move wind-estimation-enabled state to frontend 2021-08-18 18:37:39 +10:00
Peter Barker
d2822635ca AP_VisualOdom: adjust for rename yaw_initialised -> dcm_yaw_initialised 2021-08-18 18:37:39 +10:00
Peter Barker
8daa0a099c AP_AHRS: rename yaw_initialised access method to dcm_yaw_initialised 
This is what it really means.

Also put the relevant state within the DCM object
 2021-08-18 18:37:39 +10:00
Iampete1
60e0f47918 AP_Arming: always check configured on copter and blimp 2021-08-18 18:30:51 +10:00
Peter Hall
2ec36d7f7f AP_Scripting: add quadplane in_assisted_flight binding 2021-08-18 18:07:20 +10:00
Peter Barker
a91d30369e GCS_MAVLink: stop sending SENSOR_OFFSETS 
Only works for first compass instance.

We have all of these in parameters anyway.
 2021-08-18 18:06:24 +10:00
Andy Piper
b78d848a5d AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-18 17:06:09 +10:00
Andy Piper
3790957d02 RC_Channel: add turtle mode docs 2021-08-18 10:49:13 +10:00
Andrew Tridgell
477f936560 SITL: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
11afdb1ef2 AP_WindVane: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
61d5910d0a AP_TECS: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
ab89a94d22 AP_Soaring: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
0bdbdcec21 AP_RCProtocol: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
c0c32a63cc AP_IOMCU: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
d07bf97da6 AP_GyroFFT: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
17b91903ed AP_Generator: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
de1e44c77e AP_Follow: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
4faa16b0a7 AP_ExternalAHRS: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
87ae238ea0 AP_EFI: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
ffe8add56d AP_Compass: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
730f5cc7e8 AP_BoardConfig: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
a2790f57c0 AP_BattMonitor: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
c80a2c2ef6 AP_Baro: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
d9ee2b3c6c AC_AutoTune: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
8acc093d1a AC_Autorotation: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
c99f9312db AC_AttitudeControl: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
872cae6063 AP_Logger: fixed rate limiting of WriteV messages 2021-08-18 10:20:03 +10:00
Peter Hall
8e62385d8d RC_Channel: add lua helper 2021-08-17 11:01:00 +01:00
Peter Hall
5eee3c4eb0 AP_Scripting: add binding to get RC_Channel by number 2021-08-17 11:01:00 +01:00
Josh Henderson
aaa8600d7b SITL: SIM_MS5611 fix D1&D2 when temperature compensated & forward_conversion check 2021-08-17 19:08:23 +10:00
Rishabh
d9534d9526 AC_Precland: Add new parameter to descend only when close to target 2021-08-17 15:09:55 +09:00
Peter Barker
608608f32f AP_AHRS: internalise application of correct_centrifugal 
This is a DCM-only option but that's not clear with the interface.
Internalise the variable and base it off build type.
 2021-08-17 10:36:46 +10:00
Peter Barker
fc6d8222e7 AP_DAL: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Peter Barker
1cfd9f57ce AP_AHRS: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Randy Mackay
a1eb84ebfd AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-17 10:13:39 +10:00
Andrew Tridgell
5c86cc6828 AP_NavEKF3: added EK3_PRIMARY parameter 
allows for selection of which IMU to use on startup
 2021-08-17 06:42:42 +10:00
Andrew Tridgell
25ee57080f AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-16 08:33:34 +10:00
Andrew Tridgell
9507f7883f SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-16 08:33:34 +10:00
Pierre Kancir
aebe2beba5 AP_HAL_SITL: check that _sitl is not nullptr before using it 2021-08-14 10:20:33 +10:00
Pierre Kancir
c91c570814 AP_HAL_SITL: don't use timer_event() that is static from the _scheduler instance 2021-08-14 10:20:33 +10:00
Hwurzburg
0d3b1d90b0 AP_OSD: fixes bug introduced by #16477 2021-08-14 10:17:42 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
a3d9a1d463 AP_FETtecOneWire: Do not write to the UART buffer if the previous transfer did not complete yet 
Required for stable operation on F4 processors
 2021-08-13 16:22:37 +10:00
Peter Barker
ea7c7f9d19 AP_FETtecOneWire: complete rewrite of the ESC-configuration state machine 
Co-authored-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>

tidy message sending using templates
Calculate and enforce the minimum update period.
Disable unused features to save flash
forced time gaps between all transmits
correct ESC reset functionality
Avoid re-initialization repeatition
Make sure we stop FETtec if safety is on (ignore reverse) this reduces duplicated code
Error count calculation changed
   as the telemetry error count is absolute only the overflow status can be safed and used for the percentage calculation
Update the README to add autotests information
FETtec needs a time gap between frames
  This allows running at high fast_loop_rates
do not send fast_throttle data if a configuration command just got sent
Example parameter configuration file is for a Quadcopter with ESCs connected to Telem2
remove two FIXME
fix compilation in master
Fix the ESC not re-initializing issue.
  Now we re-init whenever we loose connection
RVMASK parameter changes only take effect when not armed
Improve documentation
Always use the same wording when referring to fast-throttle commands
fix pre-arm check message
assure the length of the memmove is positive
Set HAL_AP_FETTEC_CONFIGURE_ESCS to 0 when no ESC hardware is available and you want to test the UART send function
 2021-08-13 16:22:37 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
1b7b705856 AP_FETtecOneWire: Convert into an ArduPilot device driver 
Co-authored-by: Torsten Z <t.zunker@fettec.net>
    Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>

- use ArduPilot's coding guidelines and naming conventions
- control motor speed
- copy ESC telemetry data into MAVLink telemetry
- save ESC telemetry data in dataflash logs
- use RPM telemetry for dynamic notch filter frequencies
- sum the current telemetry info from all ESCs and use it as virtual battery current monitor sensor
- average the voltage telemetry info and use it as virtual battery voltage monitor sensor
- average the temperature telemetry info and use it as virtual battery temperature monitor sensor
- report telemetry communication error rate in the dataflash logs
- warn the user if there is a gap in the bitmask parameter.
- re-enumerate all ESCs if not armed (motors not spinning) when
  - there is a gap in their address space IDs
  - communication with one of the ESCs is lost
  - some of the configured ESCs are not found
  - some of the configured ESCs are not correctly configured
- allows the user to configure motor rotation direction per ESC (only gets updated if not armed)
- adds a serial simulator of FETtec OneWire ESCs
- adds autotest (using the simulator) to fly a copter over a simulated serial link connection
 2021-08-13 16:22:37 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
38a825c987 AP_HAL_ChibiOS: disable FETtec OneWire device driver 2021-08-13 16:22:37 +10:00
Peter Barker
2cf22112a2 AP_Arming: call fettec prearm checks 2021-08-13 16:22:37 +10:00
Peter Barker
97057a1350 SITL: add simulated FETtec ESC 2021-08-13 16:22:37 +10:00
Peter Barker
26f2393014 AP_HAL_SITL: add simulated FETtec ESC 2021-08-13 16:22:37 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
72a69ec274 AP_ESC_Telem: implement get_active_esc_mask() 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-08-13 16:22:37 +10:00
Peter Barker
2251e442cc AP_Math: move crc8_dvb_update into crc library 2021-08-13 16:22:37 +10:00
Pierre Kancir
2020fbaa26 SRV_Channel: add FETtec support 2021-08-13 16:22:37 +10:00
Pierre Kancir
c1ad7253b6 AP_SerialManager: add FETtecOneWire protocol 2021-08-13 16:22:37 +10:00
Pierre Kancir
6346739466 AP_FETtecOneWire: Conversion to C++ and initial ArduPilot support 2021-08-13 16:22:37 +10:00
Torsten Z
35861ab616 AP_FETtecOneWire: Initial protocol implementation in C provided by FETtec 2021-08-13 16:22:37 +10:00
Scott Parlane
4d95a9d1c3 AP_InertialSensor: BMI160: Allow configuring the rotation 2021-08-13 12:32:28 +10:00
Scott Parlane
700edd241f AP_InertialSensor: BMI160: Make it possible to use I2C 
The BMI160 chip talks the same protocol over SPI and I2C,
so simply allowing I2C in hwdef is sufficient to allow it to be used.
 2021-08-13 12:32:28 +10:00
Scott Parlane
6554c535a1 AP_InertialSensor: BMI160: Remove linux-only restriction 2021-08-13 12:32:28 +10:00
Hwurzburg
400cf31df1 AP_Scripting: Add mission selection applet 2021-08-13 08:18:55 +10:00
Andy Piper
b6ec06ac0f AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-12 19:07:51 +09:00
Andy Piper
68fd87091c AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-12 19:07:51 +09:00
Andy Piper
b9598dac00 RC_Channel: add turtle mode to RC option 150 2021-08-12 19:00:51 +09:00
Andy Piper
a51e58022f AP_HAL_ChibiOS: add accessor for reversed mask 
allow mask updates to be disabled
send dshot commands even if armed - they will be accepted as long as throttle is at zero
only accept low-priority dshot commands while disarmed
apply reversed and reversible mask as servo channels
 2021-08-12 19:00:51 +09:00
Andy Piper
09e0135ecb AP_HAL: add accessor for reversed mask 
allow mask updates to be disabled
document mask types
define DSHOT_ZERO_THROTTLE
 2021-08-12 19:00:51 +09:00
Andy Piper
5ece42bce0 RC_Channel: add turtle mode 2021-08-12 19:00:51 +09:00
Andy Piper
513aa592e4 AP_Motors: add accessors for turtle mode 2021-08-12 19:00:51 +09:00
Tom Pittenger
00cc8a4042 AP_BattMonitor: fix mppt sequence bug 
closes https://github.com/ArduPilot/ardupilot/issues/18283
 2021-08-12 14:37:04 +10:00
Pierre Kancir
bff899e8f2 AP_OSD: check for nullptr before using it 2021-08-12 13:56:53 +10:00
Pierre Kancir
99456ba1f8 AP_Logger: fix MAVLink logger random failure on SITL 
rand() return an int
 2021-08-12 13:55:22 +10:00
Pierre Kancir
8216905f47 AP_NavEKF3: remove unecessary assignements 2021-08-12 10:39:49 +09:00
Pierre Kancir
d95f503a32 AP_NavEKF2: remove unecessary assignements 2021-08-12 10:39:49 +09:00
Pierre Kancir
adf86357aa AP_ESC_Telem: prevent possible overrun 2021-08-12 11:20:24 +10:00
Pierre Kancir
7739ddefd0 AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-12 11:20:24 +10:00
Pierre Kancir
a0175441a0 AP_ESC_Telem: fix out of bound access 2021-08-12 11:20:24 +10:00
Randy Mackay
b399649c36 AP_Torqeedo: increase speed cmd at 50hz 
under human control the tiller/battery only sends at 3hz but in testing it is capable of at least 50hz (but not as much as 100hz)
 2021-08-12 10:54:36 +10:00
Peter Barker
29aed55a74 AP_AHRS: remove pointless zeroing of gyro_estimate vector 
This value is assigned to in the following "if" block in both the for
and against cases, and isn't used to determine the new value.
 2021-08-12 08:52:24 +10:00
Peter Barker
73bad9fd2d AP_AHRS: move fly_forward flag to front end 
This same flag is requested by the DAL so AN_NavEKF2 and AP_NavEKF3 can
use it in their estimates - so AP_AHRS_DCM accessing it via the same
mechanism is not out-of-shape
 2021-08-11 15:36:22 -07:00
bugobliterator
6bbfe35c73 AP_Logger: do not use AP_Scheduler for AP_Periph builds 2021-08-12 07:57:12 +10:00
Peter Barker
1db7e9e2e2 AP_NavEKF: log EKF data source set changes 2021-08-11 19:28:28 +09:00
Peter Barker
110d48e6fa AP_Logger: add events for changing EKF data source set changes 2021-08-11 19:28:28 +09:00
Peter Barker
e9c56a2b0a AP_AHRS: move takeoff/touchdown flags to frontend 2021-08-11 18:45:34 +10:00
Pierre Kancir
c19391d540 AP_Filesystem: correct file open flags for append 2021-08-11 18:43:53 +10:00
giacomo892
8da8b34b49 AP_OSD: Add option to disable Crosshair on horizon element 2021-08-11 18:42:11 +10:00
Hwurzburg
42128a70b8 RC_Channel: add CRUISE mode RC AUX Function switch 2021-08-11 18:35:05 +10:00
Leonard Hall
ad2a152751 AP_Math: Spelling fix 2021-08-11 17:07:29 +09:00
Leonard Hall
71ccffd7c9 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-11 17:07:29 +09:00
Leonard Hall
a1b47f36ef AC_WPNav: support Control: Refactor to use Jerk 2021-08-11 17:07:29 +09:00
Leonard Hall
8961695369 AP_Math: Control: Refactor to use Jerk 2021-08-11 17:07:29 +09:00
Leonard Hall
3a8924c185 AP_Math: Control: protect against divide by zero 2021-08-11 17:07:29 +09:00
Leonard Hall
32b2510893 AC_WPNav: Fix Angle Vel units on function 2021-08-11 17:07:29 +09:00
Leonard Hall
f57175a84f AC_AttitudeControl: Fix Angle Vel units on function 2021-08-11 17:07:29 +09:00
Pierre Kancir
0a922426a2 AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-11 15:17:08 +10:00
Pierre Kancir
4bccdada16 AC_Avoidance: do fence pointer check before using it 2021-08-11 13:43:23 +10:00
ES-Alexander
600df16604 Add pressure offset based on device P-mode 2021-08-10 18:30:04 -04:00
ES-Alexander
5fd32d3f36 Enable offset based on P-mode 2021-08-10 18:30:04 -04:00
Andrew Tridgell
4f4a0a02f6 AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-10 10:54:14 +10:00
Andrew Tridgell
1479566921 AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 
this may help with some GPS modules
 2021-08-10 10:54:14 +10:00
Andrew Tridgell
79b0571d7e HAL_ChibiOS: added Swan K1 support 2021-08-10 10:08:05 +10:00
Andrew Tridgell
36dcc0d16d AP_RCProtocol: make SBUS frame gap configurable 2021-08-10 10:08:05 +10:00
Peter Barker
784c56f6d0 GCS_MVALink: remove virtual from send_simstate 
No longer overridden by anyone
 2021-08-10 09:48:34 +10:00
Randy Mackay
2a2cde68ef AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-10 09:44:57 +10:00
Peter Barker
ecd488b3c3 AP_AHRS: move trim-related functionality to front end 2021-08-10 09:41:19 +10:00
Andy Piper
7dea029626 AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-10 09:35:06 +10:00
Leonard Hall
4e06140c6c AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE 2021-08-10 08:33:56 +09:00
Leonard Hall
870888efeb AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-10 08:33:56 +09:00
Leonard Hall
d21b07db98 AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 
Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
 2021-08-10 08:33:56 +09:00
Iampete1
88a5372ab7 AP_AIS: log base station report message 2021-08-10 08:11:18 +09:00
Iampete1
193ee8d865 AP_AIS: add log structures 2021-08-10 08:11:18 +09:00
Iampete1
6deacda180 AP_HAL_SITL: load SIM_AIS 2021-08-10 08:11:18 +09:00
Iampete1
ce7a93ab6c SITL: add SIM_AIS 2021-08-10 08:11:18 +09:00
Peter Hall
60db4c1a62 GCS_Mavlink: add AIS msg 2021-08-10 08:11:18 +09:00
Peter Hall
c539f0cff5 AP_AIS: add 2021-08-10 08:11:18 +09:00
Peter Hall
2a58e7097f AP_Logger: LogStructure: add AIS 2021-08-10 08:11:18 +09:00
Peter Hall
d0fc5210c8 AP_SerialManager: add AIS 2021-08-10 08:11:18 +09:00
ES-Alexander
e78fc9cd5b AP_LeakDetector: enable for Pixhawk4 2021-08-09 18:55:11 -04:00
Andrew Tridgell
2d6070d449 AP_Scripting: added has_valid_input binding 2021-08-10 08:48:10 +10:00
bugobliterator
81c5a99527 AP_HAL_ChibiOS: fix invalid use of FDCAN2_IT0_IRQn enum for ifdef 2021-08-10 07:25:05 +10:00
Andrew Tridgell
3f67917c26 AP_Airspeed: check for baro baro data in SDP3X 
this matters for SDP3X as AP_Periph sensor with no baro
 2021-08-10 07:10:02 +10:00
QioTek
30e23052a0 AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649 
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
 2021-08-10 07:00:52 +10:00
Andrew Tridgell
ff59e0f72f AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-09 19:19:21 +10:00
Hwurzburg
72a927343a AP_Scripting: make LUA memory panic more helpful 2021-08-09 16:34:09 +10:00
Hwurzburg
2939efe2c6 AP_OSD: add option to convert to miless at 5280ft vs 10000ft 2021-08-09 16:33:01 +10:00
Randy Mackay
1ccbe0d0df AP_Torqeedo: fixes after peer review 2021-08-09 15:13:24 +09:00
Randy Mackay
4c7f23bb67 AP_Torqeedo: pre-arm does not provide prefix 2021-08-09 15:13:24 +09:00
Randy Mackay
b147d59ab7 AP_Torqeedo: rename TRQD_DEBUG to OPTIONS and make bitmask 2021-08-09 15:13:24 +09:00
Randy Mackay
2890c1c651 AP_Torqeedo: health reporting based on sending and receiving 2021-08-09 15:13:24 +09:00