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21285 Commits

Author SHA1 Message Date
Peter Barker 438c29e924 AP_Notify: add a simulated buzzer for SITL 2020-02-05 10:15:48 +11:00
Peter Barker da3403112a AP_HAL_SITL: add a simulated buzzer 2020-02-05 10:15:48 +11:00
Peter Barker ff3ba8b05f SITL: add a simulated buzzer 2020-02-05 10:15:48 +11:00
Andrew Tridgell ba23ce7857 AP_ADSB: added handle_adsb_vehicle() API 
this allows for UAVCAN ADSB adapters
 2020-02-05 10:15:17 +11:00
Andrew Tridgell da943524d1 AP_ADSB: added singleton interface 2020-02-05 10:15:17 +11:00
Andrew Tridgell 2451d1bf38 AP_UAVCAN: support ADSB over UAVCAN 2020-02-05 10:15:17 +11:00
Andrew Tridgell ad2d9d1666 HAL_ChibiOS: added a f103-ADSB firmware 
for presenting a ping ADSB device as UAVCAN
 2020-02-05 10:13:53 +11:00
Andrew Tridgell 43fb6bfdd1 HAL_ChibiOS: split out f103-GPS from base f103-periph 
this makes it easier to create more peripheral variants
 2020-02-05 10:13:53 +11:00
Michael du Breuil 9ba3bfbab5 AP_Scripting: Add an example message interval script 2020-02-05 10:13:53 +11:00
Michael du Breuil 4eaf4b72ad AP_Scripting: Add a one arg variant of uint32_t, and expose table unpack 2020-02-05 10:13:53 +11:00
Bill Geyer 362abc143a AP_Motors: make init_targets_on_arming global 2020-02-05 10:13:53 +11:00
bnsgeyer 47b1a20238 AC_AttitudeControl: incorporate SysID into tradheli 2020-02-05 10:13:53 +11:00
Leonard Hall e9ff670df5 AC_AttitudeControl: Support System ID tests 2020-02-05 10:13:53 +11:00
Andrew Tridgell a610279eb0 HAL_ChibiOS: reduce max compasses to 1 on AP_Periph 2020-02-05 10:13:53 +11:00
Michael du Breuil f4a1410434 AP_Motors: Fix safe disarm 2020-02-05 10:13:53 +11:00
Leonard Hall 0719626d2b AP_Motors: Use safety timer to enable pwm before spool up 2020-02-05 10:13:53 +11:00
Michael du Breuil 9b2fcdfb82 AP_Scripting: Raise default heap size 2020-02-05 10:13:53 +11:00
Michael du Breuil 4fc5eccb8f AP_Scripting: Stop running scripts if the enable flag ever goes false 2020-02-05 10:13:53 +11:00
Peter Barker 3d59d2d6c8 AP_Vehicle: add singleton 2020-02-05 10:13:53 +11:00
Leonard Hall 92402da5ef Copter: add voltage compensation to _throttle_thrust_max 2020-02-05 10:13:53 +11:00
Andrew Tridgell e3cbb3a6b4 AP_GPS: fixed UAVCAN GPS status when disconnected 
this fixes the status reported for a UAVCAN GPS when the cable is
unplugged. It should be "NO GPS", but was instead reporting "NO
FIX". The user had no way to distinguish between not finding a CAN GPS
at all and it not getting satellites

thanks to CUAV for reporting
 2020-02-05 10:13:53 +11:00
murata 2a003bcd13 AP_RangeFinder: Add TF03-180 2020-02-05 10:13:53 +11:00
Randy Mackay 9413c63548 SRV_Channel: renamed EPM to Gripper in FUNCTION param docs 2020-02-05 10:13:53 +11:00
Andrew Tridgell f24de4e2bc AP_NavEKF3: set a min yaw accuracy from GPS of 5 degrees 
GPS modules tend to be rather optimistic about their yaw accuracy. By
setting a min or 5 degrees we prevent the user constantly getting
warnings about yaw innovations
 2020-02-05 10:13:53 +11:00
Andrew Tridgell 0b435559bd AP_GPS: improved checking for valid yaw for moving baseline 
and fixed check for carrSolnFixed
 2020-02-05 10:13:53 +11:00
Michael du Breuil a0475874a7 AP_GPS: UBLOX: Parse RELPOSNED messages 
This does not yet:
  - validate the receiver configuration
  - manage timing out stale GPS heading info
  - relPosNormalized usage isn't clear, which may defeat the STRICT_LENGTH_CHECK
 2020-02-05 10:13:53 +11:00
Michael du Breuil 624ed28ef8 AP_Logger: Log GPS yaw accuracy 2020-02-05 10:13:53 +11:00
Michael du Breuil 7b9d3594fb AP_Scripting: Fix generation of uint32_t arguments 
This also fixes the message interval description not generating
correctly, it must have been manually edited before
 2020-02-05 10:13:53 +11:00
Andrew Tridgell 45a6df0cee HAL_ChibiOS: drop mRoControlZeroF7 DPS310 clock to 5MHz 2020-02-05 10:13:53 +11:00
Randy Mackay ba8e916e44 GCS_Mavlink: handle_preflight_reboot made virtual 2020-02-05 10:13:53 +11:00
Henry Wurzburg 40af63daf3 AP_HAL_ChibiOS/hwdef: update KakuteF4 readme 2020-02-05 10:13:52 +11:00
Andy Piper be2ef926b0 AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini 2020-02-05 10:13:52 +11:00
Andy Piper 3d289d105b Filter: set the harmonic notch filter ref default to zero (disabled) 
Modify parameter descriptions for tradheli
 2020-02-05 10:13:52 +11:00
Leonard Hall 39f07e9ee7 AP_Motors: Add variable to record the final thrust value 
Add Throttle_Out for other frames
 2020-02-05 10:13:52 +11:00
Andrew Tridgell 4a16e791d6 AP_InertialSensor: publish an IMU temperature 
makes testing of mavlink extension easier
 2020-02-05 10:13:52 +11:00
Andrew Tridgell a832c3bff0 GCS_MAVLink: supply IMU temperature in mavlink extensions 2020-02-05 10:13:52 +11:00
Andrew Tridgell 339da0d07f HAL_ChibiOS: fixed padding of neopixel bits 
lack of padding at start caused occasional glitches in colors
displayed
 2020-02-05 10:12:13 +11:00
Peter Barker 7c5e84d572 AP_Proximity: declare RangeFinder as a class to avoid circular include issue 2020-02-05 10:12:13 +11:00
Peter Barker f0ee5a6aea AP_BoardConfig: correct include of AP_Vehicle_Type 2020-02-05 10:12:13 +11:00
Peter Barker f5fc308f9e DataFlash: adjust for new vehicle base class 2020-02-05 10:12:13 +11:00
Peter Barker 5818d86420 AP_Mission: adjust for new vehicle base class 2020-02-05 10:12:13 +11:00
Peter Barker 31065bc9d2 AP_Compass: adjust for new vehicle base class 2020-02-05 10:12:13 +11:00
Peter Barker 55eab1546d AP_AccelCal: adjust for new vehicle base class 2020-02-05 10:12:13 +11:00
Peter Barker 245152e91b AC_AttitudeControl: adjust for new vehicle base class 2020-02-05 10:12:13 +11:00
Peter Barker dbb1f01445 AP_Vehicle: move many members up to base class 2020-02-05 10:12:13 +11:00
Peter Barker 6db60ec711 AP_Arming: remove bogus ARMING_CHECK_NONE 'bitmask value' 
This looks like a bitmask value, but if you treat it like one (and
people have in the past!) by using logical operations then you get the
incorrect result.

Places which were checking for equivalence to ARMING_CHECK_NONE now
simply check the bitmask to see if it is all-empty.
 2020-02-05 10:12:13 +11:00
murata 73a9f31424 AP_Motors: Change to description(NFC) 2020-02-05 10:12:13 +11:00
Andrew Tridgell a34b135a57 AP_BoardConfig: fixed CAN init without SLCAN 2020-02-05 10:12:13 +11:00
Henry Wurzburg 2c3d57a373 Rover: implement steering trim save in armed/manual mode only 2020-02-05 10:12:13 +11:00
Randy Mackay da0c1d1b42 AP_Follow: add clear_offsets_if_required method 
this restores the offsets to zero if they were initialised from zero when the lead vehicle was first spotted
 2020-02-05 10:10:37 +11:00
Ebin 767cabf8e5 SITL: Yaw rate calculation uses wheel offset 2020-02-05 10:10:37 +11:00
Peter Barker 63e8c5abcb AP_WheelEncoder: add SITL backend 
AP_WheelEncoder: added update function for SITL quadrature encoder
 2020-02-05 10:10:37 +11:00
Peter Barker e6346587d7 AP_Logger: tidy MessageWriter stages using enum class 2020-02-05 10:10:37 +11:00
Henry Wurzburg d95cbc81b3 AP_BLHeli: Change descriptions in SERVO_BLH_PORT param to actual AP port 2020-02-05 10:10:37 +11:00
Andrew Tridgell 4638c57819 AP_Motors: enable docs for hover thr learning in plane 2020-02-05 10:10:37 +11:00
Randy Mackay 59f2b42bd9 AP_SmartRTL: fixup compile error 
fix typo introduced by me attempting a minor fixup before merging
 2020-02-05 10:10:37 +11:00
Peter Barker 2deea7835f AP_Logger: correct uninitialised value when logging all rally points 2020-02-05 10:10:37 +11:00
Henry Wurzburg 6f5d9a686e AP_SmartRTL: give warning buffer is about to fill-up 2020-02-05 10:10:37 +11:00
Henry Wurzburg edc7fefe2a AP_Follow: hide params not used by Rover 2020-02-05 10:10:37 +11:00
Randy Mackay 9f5d629503 GCS_MAVLink: add comment above set-message-interval 2020-02-05 10:10:37 +11:00
Randy Mackay b3fbceccb2 GCS_MAVLink: minor fix to set_message_interval 2020-02-05 10:10:37 +11:00
Tatsuya Yamaguchi ce588f004d AP_Scripting: add set_message_interval binding 2020-02-05 10:10:37 +11:00
Tatsuya Yamaguchi 48307e2268 GCS_MAVLink: add set_message_interval functions 2020-02-05 10:10:37 +11:00
Andrew Tridgell 4e799be144 AP_Scheduler: use fill_nanf() on each scheduler function 2020-02-05 10:10:37 +11:00
Andrew Tridgell 161154bf05 AP_NavEKF2: fixed build 
broken by recent common variable change
 2020-02-05 10:10:37 +11:00
Andrew Tridgell 8984a8fa85 HAL_SITL: pre-fill stack on each loop with NaN 
this allows us to catch use of uninitialised stack variables in SITL
without having valgrind running
 2020-02-05 10:10:37 +11:00
Andrew Tridgell b1e0299a0f AP_NavEKF3: use parent class for intermediate static variables 
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
 2020-02-05 10:10:20 +11:00
Andrew Tridgell da7dc71195 AP_NavEKF2: use parent class for intermediate static variables 
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
 2020-02-05 10:10:20 +11:00
IamPete1 b5e78f9260 AP_Motors: add reversed tricopter option 2020-02-05 10:10:20 +11:00
Peter Barker 3939a24f95 AP_ADSB: move is_valid_octal to is_valid_callsign and add tests for it 2020-02-05 10:10:20 +11:00
Peter Barker 6e4813cc92 AP_Math: move is_valid_octal into adsb 
This doesn't ensure the value is octal digits - there's more magic in
it.
 2020-02-05 10:10:20 +11:00
mhefny 919208c47c SITL: removed unnecessary files of webots 2020-02-05 10:10:20 +11:00
Peter Barker dae920634f AP_Baro: exclude Sub pressure transducers from non-sub builds 2020-02-05 10:10:20 +11:00
Andrew Tridgell f5cd193f71 AP_Common: removed fcntl overrides 
not needed with AP_Filesystem, and fixes lots of warnings with newer
compilers
 2020-02-05 10:10:20 +11:00
Andrew Tridgell 6ebfbb4b94 AP_HAL: fixed build on g++ 7.3 for stm32 
the system maths headers don't like our maths defines, but are happy
if we include math.h first
 2020-02-05 10:10:20 +11:00
Henry Wurzburg df32ec154f AP_OSD: add current averaging filter to reduce jitter (~5 sample timeconstant) 2020-02-05 10:10:20 +11:00
Randy Mackay 633fd0f6c9 AC_Avoidance: add enabled and margin accessors 2020-02-05 10:10:20 +11:00
Randy Mackay f188f7e05e RC_Channels: define surface tracking auxiliary function 2020-02-05 10:10:20 +11:00
Randy Mackay 1edac100ac AC_Avoid: add support for complex fence types 
AP_OABendyRuler: support exclusion polygons

AP_OADijkstra: support exclusion polygons

AC_Avoid: adjust_velocity supports exclusion polygons

AC_Avoidance: handle fence::get_boundary_points returning nullptr instead of setting num_points to zero

AC_Avoidance: Dijkstra's works with only exclusion polygons

AC_Avoidance: Dijkstra: check for fence counts instead of polyfence validity

We really only care whether fences can be returned - and they won't be
returned unless they are valid

AC_Avoidance: BendyRuler: just try to get inclusion fence rather than checking validity

AC_Avoidance: BendyRuler supports exclusion circles

AC_Avoid: Dijkstra support for exclusion circles

AC_Avoid: BendyRuler support for inclusion circles

AC_Avoid: stop an inclusion/exclusion circular fences

AC_Avoid: stop at inclusion/exclusion circular fences

AC_Avoid: fixes to Dijkstra's use of inclusion/exclusion circles and polygons

AP_Avoidance: take semaphores when interacting with AHRS and polyfence

AC_Avoid: Dijkstra's fix for some_fences_enabled inclusion circles
 2020-02-05 10:09:54 +11:00
Randy Mackay 8674997a24 AP_Logger: add error code to Write_OADijkstra 2020-02-05 10:09:54 +11:00
Peter Barker 422aebce95 AP_Proximity: polyfence valid() has been renamed 2020-02-05 10:09:54 +11:00
Peter Barker 56473413d7 AC_Fence: support for multiple polygon fences 
AC_Fence: add interface for retrieving exclusion polygons

AC_Fence: add interface to get exlusion polygons to polyfence loader

AC_Fence: add suport for inclusion circles

AC_Fence: add option for compiling-out FENCE_POINT protocol support

AC_Fence: get_exclusion_polygon and get_boundary_points set num_points to zero on failure

AC_Fence: use Debug(...) to hide debug messages

AC_PolyFence_loader: add methods to retrieve all inclusion zones

AC_PolyFence_loader: valid simply returns true if a polygon boundary can be returned

AC_Fence: add get_exclusion_circle

AC_Fence: add get_exclusion_circle_update_ms accessor

AC_Fence: PolyFence_loader gets inclusion circle accessors

AC_PolyFence_loader: add and use semaphore to protect loaded fence

AC_Fence: move fence breach check below fence type checks

This allows us to provide more information to the user about why they
are breached.

For example, if the radius is negative you are considered in breach of
it - but we'd tell you you were breached, not that your radius was
invalid

AC_Fence: clear the fence if we discover the user has set the fence count to zero
 2020-02-05 10:09:54 +11:00
Peter Barker 179db476bf GCS_MAVLink: allow upload of fence using mission item protocol 
GCS_MAVLink: add support for fence inclusion circles

GCS_MAVLink: factor out a transfer_is_complete; start commenting properly
 2020-02-05 10:09:54 +11:00
Peter Barker 107b9d95ba AP_OADijkstra: cope with polyfence holding boundary points 2020-02-05 10:09:54 +11:00
Peter Barker 9c89f9cc8b AP_OABendyRuler: cope with polyfence holding boundary points 2020-02-05 10:09:54 +11:00
Peter Barker 0c92a6d091 AC_Avoidance: cope with polyfence holding boundary points 2020-02-05 10:09:54 +11:00
Peter Barker 75b022378a GCS_MAVLink: cope with polyfence holding boundary points 2020-02-05 10:09:54 +11:00
Peter Barker c6aa243a2b AP_Proximity: cope with polyfence holding boundary points 2020-02-05 10:09:54 +11:00
Peter Barker 6064f22615 AC_Fence: move polygon points into AC_Fence_Polygon 2020-02-05 10:09:54 +11:00
Peter Barker 63256a6df5 AP_Math: define != for Vector2<int> 2020-02-05 10:09:54 +11:00
Peter Barker eea711be66 StorageManager: add write_uint8 alias for write_byte 2020-02-05 10:09:54 +11:00
Peter Barker dc5852dad8 AP_InternalError: add a general should-not-be-here bit 2020-02-05 10:09:54 +11:00
Peter Barker 4e793e7169 GCS_MAVLink: squelched rally-points-received message 2020-02-05 10:09:54 +11:00
Willian Galvani 5c00aa5921 AP_TemperatureSensor: Update TSYS01 for Pixhawk2 2020-02-05 10:09:54 +11:00
Peter Barker 35ea916adf AP_Relay: change parameter name from relay to instance 2020-02-05 10:09:54 +11:00
Peter Barker 47b9cb2e28 AP_Relay: tidy, reduce flash usage 2020-02-05 10:09:54 +11:00
Peter Hall 3a58aeb6c6 AR_WPNav: make get_stopping_location public 2020-02-05 10:09:54 +11:00
Henry Wurzburg dffed8e008 AP_OSD: distance total fix for slow vehicles 2020-02-05 10:09:54 +11:00
Willian Galvani 8ad195dd51 APMotors_6DOF: Implement motor_is_enabled(), get_motor_angular_factors() and set_reversed(); 2020-02-05 10:09:54 +11:00
Peter Hall 1e02cbe009 AP_Windvane: caculate vehicles current tack 2020-02-05 10:09:54 +11:00