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26424 Commits

Author SHA1 Message Date
Randy Mackay
bc0da915c4 AP_Math: add SplineCurve library 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>

includes corrections from peer review
 2021-04-03 12:07:59 +09:00
Leonard Hall
af7403f4e9 AP_Math: add SCurve library 
SCurve const more local variables
rename update to get_jerk_vel_pos_at_time
removed unused update
debug output in SITL
fixes to ensure finished at end of path
fixes including validity check
includes corrections from peer review
 2021-04-03 12:07:59 +09:00
Randy Mackay
0e506a71a1 AP_Math: remove control's limit_vector_length 
these have been moved to Vector2f and Vector3f
 2021-04-03 12:07:59 +09:00
Randy Mackay
e2b46d05dc AP_Math: Vector2,3 get limit_length methods 2021-04-03 12:07:59 +09:00
Leonard Hall
3bb0482795 AP_Math: add update_pos_vel_accel to control 
also add shape_vel, shape_pos_vel and stopping_distance
also add calculation of kinematic limits
 2021-04-03 12:07:59 +09:00
Randy Mackay
67f2c79717 AP_InternalError: added invalid_arguments failure 
this is intended to catch problems where we have unexpectedly received
invalid arguments.  For example an out-of-bounds target speed that
should have been caught somewhere else.

running out of bits so we use a single bit to capture invalid inputs to or output from a calculation
 2021-04-03 12:07:59 +09:00
Peter Barker
018b1425ce AP_AdvancedFailsafe: remove APM from description 2021-04-01 22:49:34 +11:00
Josh Henderson
fb789a07ce AC_WP_Nav_OA: origin_loc & dest_loc should use _terrain_alt_oabak 2021-04-01 14:44:40 +09:00
Sergey Bokhantsev
ef95bf088c AP_Motors: Constrain get_throttle_hover value with allowed range 2021-04-01 13:06:02 +09:00
Samuel Tabor
a301808e7a SITL: Add parsing of airspeed to SIM_JSON 2021-03-31 19:26:02 +11:00
Iampete1
0b8cdaf392 AP_Scripting: add mission command receve function, binding and example 2021-03-31 19:23:13 +11:00
Iampete1
849ad8c6de AP_Mission: support MAV_CMD_DO_SEND_SCRIPT_MESSAGE 2021-03-31 19:23:13 +11:00
Iampete1
82228469c8 AP_Scripting: add reset_remianing battery binding 2021-03-31 19:21:59 +11:00
Iampete1
9fdceeded3 AP_BattMoniter: add reset remaining per-instance rename existing to _mask 2021-03-31 19:21:59 +11:00
Iampete1
0fe38da522 GCS_MAVLink: rename battery reset function 2021-03-31 19:21:59 +11:00
Randy Mackay
d343c569c2 AP_Arming: check for only first compass being disabled 
If only the first compass is disabled, users may expect other enabled compasses to be used but they won't be
 2021-03-31 19:16:01 +11:00
Randy Mackay
64c4b6a42b AP_Compass: remove unused set_use_for_yaw 2021-03-31 19:16:01 +11:00
Andrew Tridgell
46f35a6910 AP_Baro: work around bad WHOAMI read on DPS310 
this fixes an issue with bad read of WHOAMI on a mRoPixracerPro. We
don't know how the sensor gets in a state where WHOAMI can't be read,
but toggling CS does fix it
 2021-03-31 13:26:52 +11:00
Michelle Rossouw
7d42c3c834 SITL: Added simple blimp simulator 2021-03-31 12:27:07 +11:00
Michelle Rossouw
ac893b4013 AP_Vehicle: added blimp vehicle type 2021-03-31 12:27:07 +11:00
Michelle Rossouw
8bc0f100a2 AP_Param: added blimp frame type 2021-03-31 12:27:07 +11:00
Michelle Rossouw
d06161e8ee AP_HAL_SITL: Added support for blimp simulator 2021-03-31 12:27:07 +11:00
Peter Barker
e5a8acb227 RC_Channel: return MAV_RESULT_FAILED from do_aux_function if invalid function 2021-03-31 11:36:09 +11:00
Peter Barker
115e895c82 GCS_MAVLink: return MAV_RESULT_FAILED from do_aux_function if invalid function 2021-03-31 11:36:09 +11:00
Peter Barker
30539ac8ac RC_Channel: add method on RC_Channels to execute aux function 2021-03-31 11:36:09 +11:00
Peter Barker
d4a0222f76 AP_Mission: allow an auxillary function to be triggered as a DO command 2021-03-31 11:36:09 +11:00
Peter Barker
2d61ded1f3 GCS_MAVLink: add option to execute auxillary functions via mavlink 2021-03-31 11:36:09 +11:00
Peter Barker
7ea5bc7e3e AP_EFI: use enum class for protocol 2021-03-30 21:40:35 +11:00
Andrew Tridgell
f0d6b79e8a HAL_ChibiOS: fixed skyviper builds with BMM150 2021-03-30 13:31:50 +09:00
Michael du Breuil
c0017abb63 AP_Notify: Remove indirection on RGBLed of init()->hw_init() 
Saves a bit of flash, and just makes the code a bit more obvious
 2021-03-30 11:18:45 +11:00
Peter Barker
f926c27470 AP_Arming: add LANDING arm/disarm method for Copter 2021-03-30 09:00:26 +09:00
Josh Henderson
5551deab4b AC_WPNav: make Location(Vector3f) require ALTFRAME 2021-03-30 08:56:35 +09:00
Josh Henderson
1b584a95ba AC_Avoidance: make Location(Vector3f) require ALTFRAME 2021-03-30 08:56:35 +09:00
Josh Henderson
dce01fbb43 AP_Common: make Location(Vector3f) require ALTFRAME 2021-03-30 08:56:35 +09:00
Peter Barker
d0b3b926c0 AP_HAL_Linux: split out a calculate_thread_priority method 2021-03-30 10:49:06 +11:00
Peter Barker
cfacb5d34d AP_HAL_ChibiOS: split out a calculate_thread_priority method 2021-03-30 10:49:06 +11:00
Iampete1
8b278b52b3 AP_Scripting: add GPIO inputs and exmaple 2021-03-30 10:44:43 +11:00
Iampete1
4315a69b9d AP_HAL_Linux: add semaphore to AnalogIn::channel to make it thread safe 2021-03-30 10:44:43 +11:00
Iampete1
7c96522e44 AP_HAL_ChibiOS: add semaphore to AnalogIn::channel to make it thread safe 2021-03-30 10:44:43 +11:00
Iampete1
f2c2e8c1eb AP_Scripting: add PWM and GPIO to analog input example 2021-03-30 10:44:43 +11:00
Iampete1
e0621179ef AP_Scripting: add PWMSource bindings 2021-03-30 10:44:43 +11:00
Iampete1
590be4049c AP_Scripting: support userdata alias 2021-03-30 10:44:43 +11:00
Iampete1
9d739cfa42 AP_scripting: add bindings and example for analog inputs 2021-03-30 10:44:43 +11:00
Michael du Breuil
e5de148ad1 AP_BattMonitor: Fix nullptr deref when resetting a battery 2021-03-30 09:47:44 +11:00
Siddharth Purohit
d1dcfd91b5 AP_CANManager: do select before sending passthrough message 2021-03-30 08:05:00 +11:00
Siddharth Purohit
cb118c6b73 AP_CANManager: improve robustness of slcan passthrough under high rate 2021-03-30 08:05:00 +11:00
Andrew Tridgell
07313ae71d HAL_ChibiOS: fixed 2nd CAN inferface on F4/F7 
CAN1_TX_IRQn is an enum not a defined. This was broken by the recent
change to support different CAN ordering
 2021-03-29 20:14:29 +11:00
QioTek
0190a42e47 AP_Airspeed: added ASP5033 driver 2021-03-28 07:50:34 +11:00
Randy Mackay
b8d4dbfbb3 AP_Mission: options parameter description per vehicle 2021-03-27 08:20:43 +09:00
Randy Mackay
a17086816f AP_Scripting: proximity bindings depend upon HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay
d4f1eacbed AP_Logger: use of AP_Proximity checks HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay
f67cdf5a81 AC_Avoidance: use of AP_Proximity checks HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay
b8f9c3b9c0 GCS_MAVLink: use of AP_Proximity checks HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay
d53c8b1dd0 AP_Arming: skip checks if not HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay
1fad5d46e7 AP_Proximity: add #if HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Emre Saldiran
9e97c2e095 AP_Scripting: change set_target_posvel_circle example tart location calculation 2021-03-25 21:01:41 +09:00
Andrew Tridgell
1f60eb68ec AP_Math: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell
dcf6bcea6e AP_InertialSensor: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell
b9df270df6 AP_HAL_SITL: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell
0601259d20 AP_HAL_Linux: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell
ebc1f9acf6 AP_HAL: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell
2473d3f7f8 AP_HAL_Empty: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell
88e277420f AP_HAL_ChibiOS: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell
0f5dd40052 AP_Compass: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Josh Henderson
070ad226ce AP_Logger: OABR correct altitude logging frame and specifier 2021-03-24 20:30:54 +09:00
zhouzhiwen2000
afde83d2f9 AP_Baro: Fix occasional problems with SPL06 
Sometimes SPL06 has init problems, that's due to failure of reading using SPI for the first time. The SPL06 is a dual protocol sensor(I2C and SPI), sometimes it takes one SPI operation to convert it to SPI mode.
 2021-03-24 14:29:30 +11:00
Peter Barker
f261045a2d AP_Logger: multiply IO thread timeout according to SITL speedup 
Intended to solve issues we're now getting on CI where the IO thread is
blocking-on-write and the main thread is calling it dead.
 2021-03-24 12:54:20 +11:00
Emre Saldiran
dc290a8884 AP_Scripting: set_target_posvel example script 2021-03-24 08:55:48 +09:00
Emre Saldiran
1a3a2a0437 AP_Scripting: add set_target_posvel_NED binding 2021-03-24 08:55:48 +09:00
Emre Saldiran
858d69ca0e AP_Vehicle: add set_target_posvel_NED method 2021-03-24 08:55:48 +09:00
zhouzhiwen2000
7c6d5d9bf4 AP_OpticalFlow:add UPFLOW sensor 2021-03-24 08:42:14 +09:00
Peter Barker
82a28e2a58 AP_Logger: do not log soon after file transfer unless we're armed 
mavlink log reads fail randomly, and you end up with a very large number
of log files as we keep closing logs off and then discovering we should
be logging
 2021-03-24 08:57:03 +11:00
chobitsfan
73a3b5f832 AC_Fence: remove unused declaration 2021-03-24 08:50:48 +11:00
Peter Barker
f4591faeed AP_NavEKF3: simplify taking of GPS measurements 2021-03-23 15:11:33 +11:00
Michel Pastor
46fb88e5a0 AP_OSD: Fix ground and wind speed varying length 2021-03-23 12:16:35 +11:00
Rishabh
06a7086562 AP_Scripting: Add proximity status binding 2021-03-23 10:02:18 +09:00
Andrew Tridgell
2d4dfe8a2a HAL_ChibiOS: fixed (unused) FF_FS_TIMEOUT 
this change was harmless as we don't define FF_FS_REENTRANT
 2021-03-23 12:01:20 +11:00
Andrew Tridgell
ffb2876f58 HAL_ChibiOS: disable unused ChibiOS features 2021-03-23 12:01:20 +11:00
Andrew Tridgell
744a2fe535 HAL_ChibiOS: use uint32_t for bit timing in passthru 
we should not use systime_t as it may be 16 bit
 2021-03-23 12:01:20 +11:00
Andrew Tridgell
c3d16cf2e2 HAL_ChibiOS: use defines for G4 messageram 
review fix
 2021-03-23 12:01:20 +11:00
Andrew Tridgell
b4e4d48e52 HAL_ChibiOS: switch OMNIBUSF7V2 timer for RCIN 
this avoids a conflict with shared interrupt on TIM1
 2021-03-23 12:01:20 +11:00
Andrew Tridgell
ff31e10d9e HAL_ChibiOS: ensure that RCIN DMA channel is not shared 
RCIN DMA cannot be shared as it runs all the time
 2021-03-23 12:01:20 +11:00
Andrew Tridgell
2842730868 HAL_ChibiOS: fixed F3 CAN build 2021-03-23 12:01:20 +11:00
Andrew Tridgell
4f1c43862e HAL_SITL: support arrays of CAN interfaces 
allows for multi-bus in AP_Periph
 2021-03-23 12:01:20 +11:00
Andrew Tridgell
2fc7ea1a8b HAL_ChibiOS: added G4-ESC hwdef 2021-03-23 12:01:20 +11:00
Andrew Tridgell
353eca79b6 HAL_ChibiOS: fixed 32/64 micros bug in CAN select() 2021-03-23 12:01:20 +11:00
Andrew Tridgell
bac9b27a3f HAL_ChibiOS: enable analogin on G4 2021-03-23 12:01:20 +11:00
Andrew Tridgell
ac9e6ba86d HAL_ChibiOS: fix label for CCM on G4 2021-03-23 12:01:20 +11:00
Andrew Tridgell
7496b8bff5 HAL_ChibiOS: fixed DMAR register offset 
use offsetof() instead of a magic value
 2021-03-23 12:01:20 +11:00
Andrew Tridgell
4f10565f82 HAL_ChibiOS: fixed CANFD build on H7 2021-03-23 12:01:20 +11:00
Andrew Tridgell
f2ac61f6ba HAL_ChibiOS: enable DShot on G4 2021-03-23 12:01:20 +11:00
Andrew Tridgell
f57b1b9c4b HAL_ChibiOS: support logical/physical CAN bus mapping 
allow for first CAN interface to be CAN2 or CAN3
 2021-03-23 12:01:20 +11:00
Andrew Tridgell
2f7ff778be HAL_ChibiOS: fixed bug in DMA resolver 
idsets can be empty for a peripheral
 2021-03-23 12:01:20 +11:00
Andrew Tridgell
ec8abf0b2f AP_FlashStorage: support STM32G4 
needs to write in multiples of 8 bytes, and can only write if all 1s
 2021-03-23 12:01:20 +11:00
Andrew Tridgell
439a944801 HAL_ChibiOS: added support for STM32G474 MCU 2021-03-23 12:01:20 +11:00
Andy Piper
e1d71486e4 AP_HAL_ChibiOS: build fixes for ChibiOS 20.3.x 2021-03-23 12:01:20 +11:00
Andy Piper
c26f49fb0a AP_IOMCU: ChibiOS 20.3.x build fix 2021-03-23 12:01:20 +11:00
Andrew Tridgell
5b59445471 AP_HAL_ChibiOS: fixes for build with 20.3.x ChibiOS 2021-03-23 12:01:20 +11:00
Hwurzburg
c1f56c4b22 AP_OSD: Add cell voltage and resting voltage displays 
Co-authored-by:shellixyz
 2021-03-23 10:24:12 +11:00
Paul Riseborough
1018801522 AP_NavEKF3: White space and comment fixes 2021-03-23 10:05:59 +11:00
Paul Riseborough
7113387d27 AP_NavEKF3: Use better defined data type 2021-03-23 10:05:59 +11:00
Paul Riseborough
ac87cab6bc AP_NavEKF3: constify array index variable 2021-03-23 10:05:59 +11:00
Paul Riseborough
1498b516a3 AP_NavEKF3: Don't try to learn gyro biases that are poorly observable 2021-03-23 10:05:59 +11:00
Paul Riseborough
44be7161c0 AP_NavEKF3: Reduce yaw drift when operating without external aiding 
Also fixes bug in the determination of the total angular variance threshold for when to fuse a zero innovation yaw measurement.
 2021-03-23 10:05:59 +11:00
Paul Riseborough
53c4b163ce AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity 
Also re-tune default sensitivity based on user supplied logs with noisy gyro data.
 2021-03-23 10:05:59 +11:00
Paul Riseborough
e7b08c1ffc AP_NavEKF3: Update log message format description 2021-03-23 10:05:59 +11:00
Paul Riseborough
918606e71d AP_NavEKF3: Don't use fake measurements to learn dvel bias 2021-03-23 10:05:59 +11:00
Paul Riseborough
c709ad9c80 AP_NavEKF3: Add missing axis specific dvel bias update inhibit 2021-03-23 10:05:59 +11:00
Paul Riseborough
073e273732 AP_NavEKF3: Don't allow yaw alignment until tilt alignment completed 2021-03-23 10:05:59 +11:00
Paul Riseborough
a07427fd30 AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight 2021-03-23 10:05:59 +11:00
priseborough
4b1c334bba AP_NavEKF3: improve stability of co-variance matrix processing 
This patch prevents the delta velocity bias state variances collapsing due to insufficient process noise and causing bad bias estimates to form.
 2021-03-23 10:05:59 +11:00
Randy Mackay
526065a6a4 AP_OAPathPlanner: minor format fix 2021-03-22 20:40:59 +09:00
QioTek
fe30612bb0 AP_HAL_ChibiOS: release ICM20649 reserve sensor 
BMI055 & BMI088 out of stock, release ICM20649 reserve sensor
 2021-03-22 19:05:03 +11:00
Rishabh
711b497cc3 AC_Loiter: Make avoidance optional while using loiter controller 2021-03-22 14:04:42 +09:00
Andrew Tridgell
bbd32844d1 HAL_ChibiOS: switch more boards to 32k FRAM 
this enables the parameter backup/restore on those boards, as well as
more waypoints

This is in response to a report that CUAVv5 boards can suffer from the
parameter reset issue
 2021-03-21 11:59:12 +11:00
yaapu
b62c2d9518 AP_Frsky_Telem: added new capabilities param to frame 0x5007 2021-03-19 22:35:16 +11:00
yaapu
592fba7416 AP_Frsky_Telem: frame 0x5007 refactoring 2021-03-19 22:35:16 +11:00
murata
0536be1c88 AP_NavEKF: Change misnomer (NFC) 2021-03-19 17:49:27 +11:00
murata
a5b6ce9220 AP_NavEKF2: Change misnomer (NFC) 2021-03-19 17:49:27 +11:00
Samuel Tabor
d578b4d3db AP_Soaring: Fix incorrect use of aparm.loiter_radius. 2021-03-19 17:00:08 +11:00
Peter Barker
936aa63135 AP_Param: remove confusing comment 
The code refered to is within is_sentinel - and it has a copy of the
comment
 2021-03-19 12:21:25 +11:00
yaapu
45f7cb0c82 AP_Frsky_Telem: added passthrough frame 0x500B for height above terrain 2021-03-18 21:43:48 +11:00
Peter Barker
5e63ed908e AP_Logger: loosen constraint on failing to log replay block 
// things will almost certainly go sour.  However, if we are not
    // logging while disarmed then the EKF can be started and trying
    // to log things even 'though the backends might be saying "no".
 2021-03-18 19:38:43 +11:00
murata
6c67e191d4 AP_Mission: Change the description(NFC) 2021-03-18 12:32:59 +11:00
4712
38ea1296ca Update serial-4way-if to v20005 
Reservation of an MCU_ID area to simplificate adding of upcoming BLHeli_32 MCU.
 2021-03-18 08:10:08 +11:00
4712
6956abdb45 Some fixes for AP_BLHeli 
Added ACK_I_INVALID_CHANNEL as response for cmd_DeviceReset cmd_DeviceInitFlash on bad channel selection
Fixed params for MSP_MOTOR_CONFIG
Adapted some timeouts
 2021-03-18 08:10:08 +11:00
yaapu
59c5bbc8b8 AP_BLHeli: added missing ack to MSP_SET_MOTOR message 2021-03-18 08:10:08 +11:00
Randy Mackay
5912052a39 AP_RangeFinder: lightware legacy I2C retry count to 20 
This is consistent with the non-legacy I2C protocol
 2021-03-17 21:23:14 +09:00
Tatsuya Yamaguchi
e134d12e32 AP_Notify: add EKF failsafe notify tones 2021-03-17 20:29:32 +09:00
Iampete1
733db3de19 RC_Channel: add MODE_SWITCH_RESET option 2021-03-17 19:18:46 +11:00
Iampete1
2d91679ec2 RC_Channel: add FBWA_TAILDRAGGER option 2021-03-17 19:18:46 +11:00
Iampete1
77e1092f46 RC_Channel: do_aux_function_mission_reset to virtual 2021-03-17 19:18:46 +11:00
Iampete1
58860205ea AP_Scripting: add manual i2c get device bindings 2021-03-17 18:50:05 +11:00
Iampete1
166aedf1be AP_Scripting: add I2CDevice to auto bindings 2021-03-17 18:50:05 +11:00
Iampete1
1f0e36e10d AP_Scripting: add i2c scan example 2021-03-17 18:50:05 +11:00
Iampete1
7b3097972b AP_Scripting: generator: support pointer semaphore flag 2021-03-17 18:50:05 +11:00
Iampete1
c54634e86b AP_Scripting: generator: finish off refence access implmentation 2021-03-17 18:50:05 +11:00
Iampete1
8effa59d10 AP_Scripting: generator: support method alias and sanitised names 2021-03-17 18:50:05 +11:00
Peter Hall
9997981702 AP_Scripting: generator: support literal singltons that do not need to be fetched 2021-03-17 18:50:05 +11:00
Andy Piper
bb270014e7 AP_HAL_ChibiOS: make sure LEDs get a DMA channel on MatekH743-bdshot 2021-03-17 18:28:01 +11:00
Andy Piper
961c517274 AP_VideoTX: only mark updates when the VTX is enabled 2021-03-17 18:27:11 +11:00
Andy Piper
f1eee860c0 AP_RCTelemetry: don't process VTX frames when VTX support is disabled 2021-03-17 18:27:11 +11:00
Andy Piper
f7e23566ac AP_VideoTX: with SmartAudio v2 set the power level rather than power in dBm 2021-03-17 18:27:11 +11:00
Andy Piper
968d05a637 AP_HAL_ChibiOS: allow further LED channels to be allocated at the same length 2021-03-17 18:24:11 +11:00
Randy Mackay
a6800b8c47 AC_Avoidance: minor PathPlanner format fix 2021-03-17 15:01:46 +09:00
Randy Mackay
0d730e11cc AC_WPNav: OA stores and uses original terrain alt 2021-03-17 14:11:12 +09:00
Randy Mackay
da580bd1ea AC_WPNav: OA gets minor format fix 2021-03-17 14:11:12 +09:00
Peter Hall
aa75fc2c3d AC_PosControl: use target lean angles rather than true for init 2021-03-17 08:13:11 +09:00
Peter Hall
a43db51440 AC_AttitudeControl: add get_att_target_euler_rad function 2021-03-17 08:13:11 +09:00
Habibullah Oladepo
a74ad951de SRV_Channel: fix servo output function documentation typo 2021-03-17 08:54:13 +11:00
Andrew Tridgell
8a8db85b9c HAL_ChibiOS: fixed build of f103-trigger fw 2021-03-16 18:28:58 +11:00
Randy Mackay
b873e7fcb0 AP_Mission: read_cmd_from_storage sets all bytes of cmd 
This resolves a potential valgrind issue caused by some bytes of the cmd not being set
 2021-03-16 10:23:40 +09:00
Tatsuya Yamaguchi
2c95093d36 AP_InertialSensor: fix temperature sensor on LSM9DS0 2021-03-16 12:09:19 +11:00
Lava Chemist
4a52f945db AP_HAL_ChibiOS: Add FlywooF745 2021-03-16 11:27:23 +11:00
murata
3a006ae226 AP_GPS: Supplementary explanation of configuration parameters (NFC) 2021-03-16 10:43:18 +11:00
murata
c5b1c832ba AP_NavEKF3: Change misnomer (NFC) 2021-03-15 18:21:15 +11:00
murata
24591d68bc AP_NavEKF2: Change misnomer (NFC) 2021-03-15 18:21:15 +11:00
Hwurzburg
e1bab7374b AP_Notify: Add calibration indications for EKF temp and compass cal to RGB LED 2021-03-15 09:49:59 +09:00
Peter Barker
4605870788 AP_NavEKF3: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker
5dff32422d AP_NavEKF2: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker
5c31238f28 AP_Mount: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker
2b0bf45891 AP_InertialSensor: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker
a0fcd74b52 AP_DAL: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker
ea1884f491 AP_AHRS: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker
5123b05b2b GCS_MAVLink: add support for ATTITUDE_QUATERNION 2021-03-13 09:44:12 +11:00
Siddharth Purohit
edceb4e3a4 AP_GPS: move underscore one layer down for GPS 2021-03-12 16:32:36 +09:00
bugobliterator
49d934eb42 AP_HAL_SITL: add support for multiple periph instances 2021-03-12 16:32:36 +09:00
bugobliterator
0031fee851 AP_GPS: add support for ordering UAVCAN GPS 2021-03-12 16:32:36 +09:00
bugobliterator
67be2ed4ba AP_Arming: add support for GPS_Backends to spew failure reasons 2021-03-12 16:32:36 +09:00
Michael du Breuil
a3ddf5264d AP_GPS: Support uavcan ardupilot.gnss.Status 
Also makes the drive by change to make GPS_Backend::is_configured const
 2021-03-12 09:39:55 +11:00
Michael du Breuil
e47857a278 AP_UAVCAN: Add ardupilot.gnss.Status 2021-03-12 09:39:55 +11:00
Hwurzburg
fd9c497232 AP_OSD: Add height above terrain panel and warning 2021-03-11 11:54:47 +11:00
murata
8e8f2b93a7 AP_Motors: Add DECA frame class and type string 2021-03-09 19:59:10 +09:00
Rishabh
e9c0e50185 AP_Proximity: Filter out land detected by sensors 2021-03-09 11:02:26 +09:00
Randy Mackay
fe382e4d10 AP_Mission: minor format fixes 2021-03-09 11:49:42 +11:00
Randy Mackay
3a66b2667b AP_Mission: correct spelling of interrupted 2021-03-09 11:49:42 +11:00
Rishabh
e09e9b1e6a AP_Logger: Log raw and filtered distances from proximity lib 2021-03-08 16:33:20 +09:00
Rishabh
044e1850d4 AP_Proximity: Add a low pass filter per face for distances 2021-03-08 16:33:20 +09:00
James O'Shannessy
f028747399 GCS_MAVLink: Remove todo since plane now supports MAV Protocol Capability Mission Fence 2021-03-05 16:48:57 +11:00
James O'Shannessy
43e06e9040 AC_Fence: Fix int32_t overflow with large longitude values 2021-03-05 14:52:46 +11:00
James O'Shannessy
26811ad46d AP_Landing: Autoenable fence if required when landing was aborted 2021-03-05 14:52:46 +11:00
James O'Shannessy
8ef68c8fb0 AC_Fence: Send text to gcs when fence is auto-enabled 2021-03-05 14:52:46 +11:00
James O'Shannessy
b4bf41c6f9 AC_Fence: Adjustments to default parameters for addition to plane 2021-03-05 14:52:46 +11:00
James O'Shannessy
c316711351 ArduPlane: Add conversion from ArduPlane geofence param to AC_Fence param 2021-03-05 14:52:46 +11:00
James O'Shannessy
254c28f142 AC_Fence: Improve auto enable documentation 2021-03-05 14:52:46 +11:00
James O'Shannessy
b6d29d746b AC_Fence: Add common auto enable and auto disable 2021-03-05 14:52:46 +11:00
James O'Shannessy
e4f1e26b5c AC_Fence: Disable fence floor when disabling the rest of the fence 2021-03-05 14:52:46 +11:00
Steven Josefs
c783410494 AC_Fence: adjusted AP_GROUPINFO to contain all copters 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
22bdc3e54c AC_Fence: extend pre-arm checks 
Fix comments
 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
2e422f249a AC_Fence: small comment improvements. Do not call the same function four times 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
15e95be7d7 AC_Fence: do not delete the FENCE_ENABLE parameter. It would confuse many users. 
Talked to Randy about this. The consensus was not to delete the parameter
 2021-03-05 14:52:46 +11:00
James O'Shannessy
783a4b7965 AC_Fence: Change logic to fence enable and sys_status reporting 2021-03-05 14:52:46 +11:00
James O'Shannessy
a23e8d46da AP_Vehicle: Add additional fence mode change reason 2021-03-05 14:52:46 +11:00
James O'Shannessy
8ca69c2e89 AP_Logger: Add support for fence floor events 2021-03-05 14:52:46 +11:00
James O'Shannessy
c2abf27d78 GCS_MAVLink: Add reporting of fence floor breaches to GCS_MAVLink 
GCS_MAVLink: Add disabling of fence floor only, per mavlink spec

GCS_MAVLink: Cannot enable a fence if the fence is not present
 2021-03-05 14:52:46 +11:00
James O'Shannessy
0e73b7bce1 AP_Arming: Enable and Disable the fence when vehicle is armed/disarmed 
AP_Arming: Use auto enable flag to arm fence only when armed (as per enum)

AP_Arming: Config defines are not available in AP_Arming

Since config definitions are not available in AP_Arming, we can still rely on singleton access of the AC_Fence object.

AP_Arming: Perform fence checks for all vehicles
 2021-03-05 14:52:46 +11:00
James O'Shannessy
87b66b4b49 AC_Fence: Add parameters from Geofence to AC_Fence 
AC_Fence: Add fence floor breach checks and calculations

AC_Fence: Add event logging to enable/disable of fence floor

AC_Fence: Adjust sys_status reporting to look at total fence count

AC_Fence: Make retrieving of the return point accessible

AC_Fence: Check whether fence is enabled or autoenable is set for arming checks

Checks whether the fence is currently enabled OR if the fence is intended to be enabled automatically.
These checks are used to find out enabled fences, or prearm checks
 2021-03-05 14:52:46 +11:00
Paul Riseborough
9b53d505ea AP_AHRS: Handle airspeed estimation with have_inertial_nav() == false 2021-03-05 12:10:01 +11:00
Paul Riseborough
e3eea0a54a AP_NavEKF3: Use specialised function for in-flight plane yaw alignment 2021-03-05 12:10:01 +11:00
Paul Riseborough
4675aea0bf AP_NavEKF3: Update parameter description 2021-03-05 12:10:01 +11:00
Paul Riseborough
246b80dc06 AP_NavEKF3: Don't return a 0,0 lat,lng unless absolutely necessary 2021-03-05 12:10:01 +11:00
Paul Riseborough
aa49e92edc AP_AHRS: Remove unused AP_AHRS_NavEKF::yaw_alignment_complete API 2021-03-05 12:10:01 +11:00
Paul Riseborough
1a3258a039 AP_AHRS: Fall back to DCM airspeed estimate if EKF velocity not available 2021-03-05 12:10:01 +11:00
Paul Riseborough
a50be71b41 AP_NavEKF3: Fix inconsistency in reporting raw GPS position validity 2021-03-05 12:10:01 +11:00
Paul Riseborough
ec401083bf AP_AHRS: Remove unused variable 2021-03-05 12:10:01 +11:00
Paul Riseborough
af2bf6097b AP_AHRS: Add accessor function for EKF3 yaw alignment status 2021-03-05 12:10:01 +11:00
Paul Riseborough
6a603019d5 AP_NavEKF3: Add accessor function for yaw alignment status 2021-03-05 12:10:01 +11:00
Paul Riseborough
3634a942a1 AP_NavEKF3: Fix bug causing unwanted use of default airspeed 2021-03-05 12:10:01 +11:00
Paul Riseborough
a0faa55ef5 AP_AHRS: Fix rebase build error 2021-03-05 12:10:01 +11:00
Paul Riseborough
912db3512e AP_NavEKF3: Fix EKF selection bug 2021-03-05 12:10:01 +11:00
Paul Riseborough
85c0040fa3 AP_NavEKF3: Improve inFlight detection for fixed wing 
Better handle case where no airspeed sensor is being used with a hand launch.
 2021-03-05 12:10:01 +11:00
Andrew Tridgell
6d6ec44d59 AP_AHRS: fixed build on boards without EKF2 2021-03-05 12:10:01 +11:00
Paul Riseborough
295c1e1308 AP_NavEKF3: Reset covariances when falling back to non aiding mode 2021-03-05 12:10:01 +11:00
Paul Riseborough
adae7365e1 AP_NavEKF3: Fix LLH reporting bug 2021-03-05 12:10:01 +11:00
Paul Riseborough
ddadc45854 AP_NavEKF3: Reset states when falling back into non aiding mode. 2021-03-05 12:10:01 +11:00
Paul Riseborough
b92eca7b66 AP_NavEKF3: Select startup aiding mode after landing without yaw sensor 2021-03-05 12:10:01 +11:00
Paul Riseborough
afb31bc4f5 AP_NavEKF: Add underflow protection to yaw GSF weight normalisation 
This improves protection against a condition where if all yaw hypothesis filers have very large innovations, the weights of Gaussian densities can underflow leading to failure of the weights to converge.
 2021-03-05 12:10:01 +11:00
Paul Riseborough
d1d790019c AP_AHRS: Improve use of estimated airspeed 
Enable default airspeed variance to be specified externally to the EKF
Enable use of EKF airspeed estimates
 2021-03-05 12:10:01 +11:00
Paul Riseborough
9a5a264aa0 AP_NavEKF3: Improve wind estimation without airspeed sensing 
Enable default airspeed variance to be specified externally
Improve control of sideslip fusion
Don't modify non wind states unnecessarily when using synthesised air data measurements
 2021-03-05 12:10:01 +11:00
Paul Riseborough
ac00776184 AP_NavEKF2: DAL interface compatibility change 2021-03-05 12:10:01 +11:00
Paul Riseborough
296fb567ca AP_DAL: Enable default airspeed variance to be specified externally 2021-03-05 12:10:01 +11:00
murata
9228925bea AP_Motors: Battery voltage compensation maximum voltage 2021-03-05 08:48:20 +09:00
Tatsuya Yamaguchi
ecf928d68b AP_Proximity: change PRX_IGN_WIDx range from 45 to 127 2021-03-04 17:40:07 +09:00
Josh Henderson
267d19b0de SITL: SIM_Vicon fix observation interval limit 2021-03-04 16:12:54 +09:00
Josh Henderson
dceb76c9f1 SITL: SIM_VICON output MAVLink vision_position_delta 2021-03-04 16:12:54 +09:00
Peter Barker
e3de88d1d4 GCS_MAVLink: handle MAV_CMD_DO_SET_MISSION_CURRENT 2021-03-04 11:59:33 +11:00
Randy Mackay
f0ffaa5624 AR_AttitudeControl: reset speed filter and I term when stopped 2021-03-04 09:07:32 +09:00
James O'Shannessy
f6231db618 AC_Fence: Add breach calculation variant to use LLA 
Adds a parameter to make selection between vector pos_cm from origin and lat/lng.
 2021-03-04 10:31:58 +11:00
murata
e041b647d7 AP_Mount: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
murata
6e6e807223 AP_NavEKF: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
murata
ae565aef1a AP_NavEKF3: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
murata
af639f7812 AP_NavEKF2: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
Hugo Trippaers
0dbe2e072c AP_Mount: Set relative pan to true for servo mounts 2021-03-03 18:55:38 +11:00
Hugo Trippaers
44902ef535 AP_Mount: Add parameter to control relative pan option for servo mounts 
* Change from a dedicated parameter to a reusable options field
 2021-03-03 18:55:38 +11:00
Hugo Trippaers
bcee4b7b82 AP_Mount: Add parameter to control relative pan option for servo mounts 2021-03-03 18:55:38 +11:00
Pierre Kancir
2953aa3748 AP_NMEA: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir
77367c1376 AP_AHRS: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir
8b1d35bc76 AP_Module: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir
67540dc5bb AP_InertialSensor: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir
ce34ce6def AP_Baro: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir
aaf7504ac8 AP_Module: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir
c8a7ab1a75 AP_InertialSensor: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir
f2570d49a1 AP_Scheduler: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir
1082a799c2 AP_Compass: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir
95d0c67a99 AP_Baro: fix example 2021-03-03 18:07:38 +11:00
Samuel Tabor
fb8ec292cd AP_TECS: Clarify TECS_THR_DAMP and TECS_LAND_TDAMP descriptions. 2021-03-03 18:05:22 +11:00
Andy Piper
d6575fb6ad AP_HAL_ChibiOS: bdshot configs for CubeYellow and mRoControlZeroH7 2021-03-03 18:02:26 +11:00
Michael du Breuil
f227d67d58 AP_GPS: Remove unused enum 2021-03-03 10:00:15 +09:00
Randy Mackay
79c9b4b523 AC_WPNav: increase default speed to 10m/s and accel to 2.5m/s/s 2021-03-03 08:03:39 +09:00
murata
3824277d11 AC_Fence: Add Smart RTL or LAND to the fence action 2021-03-03 07:59:03 +09:00
Peter Barker
a97786c01d RC_Channel: use RC channel options 203 and 204 for throttle and yaw 
This gives us a 200 + n mapping for the traditional AETR mapping.

Unfortunately, it will break walking robots until they update their
parameters
 2021-03-03 08:42:00 +11:00
Peter Barker
7480a2a00b GCS_MAVLink: correct output of AHRS2 mavlink message 
The || here was causing short-circuiting
 2021-03-02 20:48:36 +11:00
Peter Barker
03bb3237ef SITL: set default RPM_TYPE to 10 for FlightAxis 2021-03-02 15:41:44 +11:00
Peter Barker
4d2cf8c95b AP_Frsky_SPort: correct handling of RPM sensor data 
Nails support down to just two RPM sensors for the time being.

Simplifies things (there was an issue here when I corrected RPM-in-SITL)
 2021-03-02 15:41:44 +11:00
Peter Barker
370db00096 AP_RPM: add explicit RPM_TYPE_SITL 
Old behaviour is that anything that wasn't claimed (or failed to
allocate) would become a SITL RPM sensor.  This meant we always had at
least one RPM sensor which was allocated but never provided valid data.

New behaviour is that if you want a SITL RPM sensor you have to set type
to 10.
 2021-03-02 15:41:44 +11:00
Peter Barker
c059338386 AP_Frsky_Telem: use location from AHRS not GPS 
The AHRS may be able to supply information even in the absense of an
actual GPS unit.
 2021-03-02 15:41:44 +11:00
Andrew Tridgell
4fbdb59398 HAL_ChibiOS: prevent sharing the same DMA stream on TIMn_UP channels 
this avoids an issue with DShot where we run the same DMA stream on
two timers at once
 2021-03-02 11:58:38 +11:00
Andy Piper
6cb263056d AP_HAL_ChibiOS: build fix for iomcu 2021-03-02 11:58:38 +11:00
Andy Piper
d0e4d510cf AP_HAL_ChibiOS: order PWM timers by DMA UP stream id to prevent deadlocks in dshot 2021-03-02 11:58:38 +11:00
Iampete1
e64a7b2884 AP_Mount: type enable flag 2021-03-02 10:09:19 +11:00
Iampete1
3306484023 AP_NavEKF2: log position offset as float in meters 2021-03-02 10:03:12 +11:00
Iampete1
8173cd442a AP_NavEKF3 log position offset as float in meters 2021-03-02 10:03:12 +11:00
Paul Riseborough
0971ef55a4 AP_NavEKF3: Fix bug preventing EKFGSF running when needed for reset 
The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
 2021-03-02 07:28:24 +11:00
Paul Riseborough
948650dbe5 AP_NavEKF2: Fix bug preventing EKFGSF running when needed for reset 
The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
 2021-03-02 07:28:24 +11:00
Andrew Tridgell
e884e4c5ac AP_Math: added fixedwing_turn_rate() helper 2021-02-27 14:42:20 +11:00
Yash Vadi
b450740fb0 AP_Button: update BTN_FUNCx param descriptions 2021-02-26 12:30:13 +11:00
Andrew Tridgell
35149ae8b2 AP_Scripting: allow scripting startup with no sdcard 
as scripts can be in ROMFS we should still create the thread without
the scripts directory
 2021-02-25 11:34:39 -07:00
Peter Barker
9932aa99f7 GCS_MAVlink: return identical seq in MISSION_CURRENT if possible after set 
// because MISSION_SET_CURRENT is a message not a command,
        // there is not ACK associated with us successfully changing
        // our waypoint.  Some GCSs use the fact we return exactly the
        // same mission sequence number in this packet as an ACK - so
        // if they send a MISSION_SET_CURRENT with seq number of 4
        // then they expect to receive a MISSION_CURRENT message with
        // exactly that sequence number in it, even if ArduPilot never
        // actually holds that as a sequence number (e.g. packet.seq==0).
 2021-02-24 19:00:34 +11:00
Andrew Tridgell
14791c335b HAL_ChibiOS: fixed build of f3 boards without PWM out 2021-02-24 18:25:02 +11:00
Andrew Tridgell
9d87645c6e AP_IOMCU: fixed event handling bug in IOMCU code 
if a a message send fails to IOMCU then we were discarding all
currently pending non-recurring events. This means that states like
oneshot enable would be lost if the IOMCU reset.

We now re-trigger all events that have not yet been handled
 2021-02-24 18:21:08 +11:00
Andrew Tridgell
9126579b77 AP_IOMCU: added memory to debug code 2021-02-24 18:21:08 +11:00
Andrew Tridgell
243cf2199d HAL_ChibiOS: disable shared DMA on IOMCU 
this saves about 600 bytes of ram
 2021-02-24 18:21:08 +11:00
Andrew Tridgell
bf999f701f AP_InertialSensor: fixed ICM-20602 y offset bug 
this works around a bug in the ICM-20602 that can cause the Y facttory
offset register to change unexpectedly. We don't know what triggers
this.

The fix is to save the factory offset at boot and restore it if it
changes. We log a message describing the change, but don't mark the
IMU unhealthy as this happens too often and we don't want to fallback
to a 2nd less good quality IMU (eg. MPU6000 on MatekH743)
 2021-02-24 18:18:37 +11:00
Andrew Tridgell
4cddf37984 AP_InertialSensor: log unexpected register changes 
when the register checking code finds an error we will log what
register changed and to what value
 2021-02-24 18:18:37 +11:00
Andrew Tridgell
c23f61b79a HAL_ChibiOS: set internal error on panic 2021-02-24 18:18:37 +11:00
Andrew Tridgell
f250c4d684 AP_InertialSensor: added an internal error for panic 
ensure users cannot arm while in a panic
 2021-02-24 18:18:37 +11:00
Andrew Tridgell
7010eae9e8 AP_HAL: remember details of register check fails 
this allows for logging of register resets
 2021-02-24 18:18:37 +11:00
Andrew Tridgell
85ef6b7ac6 AP_InertialSensor: added optional logging of register changes 2021-02-24 18:18:37 +11:00
Andrew Tridgell
eec05c1f48 HAL_ChibiOS: fixed a race and null ptr deref in dshot 
if a dshot is cancelled then the waiter can be nullptr
 2021-02-24 15:39:10 +11:00
murata
dee040b14a AP_Notify: Change division to multiplication 2021-02-24 11:06:54 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
48ab08fb67 AP_ESC_Telem: Fix copy & paste typo 2021-02-24 12:49:05 +11:00
Andy Piper
b102391163 AP_HAL_ChibiOS: don't send rcout events without rcout thread 2021-02-24 08:55:12 +11:00
Andrew Tridgell
f7098c1635 AP_ROMFS: added crc check in ROMFS decompression 2021-02-23 20:20:07 +11:00
Andrew Tridgell
1c74f14162 AP_ROMFS: fixed range check in tinflate 
this could cause valid compressed data to fail decompression
 2021-02-23 20:20:07 +11:00
Sebastian Quilter
b4119aa07b AP_OSD: remove font bins from gitignore 2021-02-23 15:22:22 +11:00
Sebastian Quilter
bea8bf3afb AP_OSD: Add draw_vtx_power() 2021-02-23 15:22:22 +11:00
Sebastian Quilter
e44eb47143 AP_OSD: Update fonts to include mW char 2021-02-23 15:22:22 +11:00
Peter Barker
a3dcf5a6ff AP_NavEKF: move GSF logging from EKF files into GSF files 2021-02-23 12:36:33 +11:00
Peter Barker
65b780fad5 AP_NavEKF3: move GSF logging from EKF files into GSF files 2021-02-23 12:36:33 +11:00
Peter Barker
d668243d1e AP_NavEKF2: move GSF logging from EKF files into GSF files 2021-02-23 12:36:33 +11:00
Peter Barker
a17a8faf42 AP_Logger: move GSF logging from EKF files into GSF files 2021-02-23 12:36:33 +11:00
Peter Barker
cfe9dc32d1 GCS_MAVLink: only send distance_sensor messages if valid data seen 
In the case you only have a forward-pointing LIDAR we'd send messages
for each of the other orientations from proximty's horizontal-distances
array, chewing up bandwidth and processing time.
 2021-02-23 10:02:47 +09:00
Peter Barker
9a66a1564c AP_Proximity: only send distance_sensor messages if valid data seen 
In the case you only have a forward-pointing LIDAR we'd send messages
for each of the other orientations from proximty's horizontal-distances
array, chewing up bandwidth and processing time.
 2021-02-23 10:02:47 +09:00
Andy Piper
fcd35ba0f8 AP_Vehicle: move AP_Vehicle to AP_Vehicle 2021-02-23 11:43:32 +11:00
Andy Piper
8df8898464 RC_Channel: move AP_VideoTX to AP_VideoTX 2021-02-23 11:43:32 +11:00
Andy Piper
7039d67474 AP_VideoTX: move AP_VideoTX to AP_VideoTX 2021-02-23 11:43:32 +11:00
Andy Piper
74318dd0dd AP_Vehicle: move AP_VideoTX to AP_VideoTX 2021-02-23 11:43:32 +11:00
Andy Piper
dd310fd12f AP_RCProtocol: move AP_VideoTX to AP_VideoTX 2021-02-23 11:43:32 +11:00
Andy Piper
d97079e53b AP_RCTelemetry: move AP_VideoTX to AP_VideoTX 2021-02-23 11:43:32 +11:00
Peter Barker
c5e62eb6e4 GCS_MAVLink: schedule current waypoint rather than immediate send 
This message may not fit in our outgoing buffer
 2021-02-23 11:27:22 +11:00
Patrick José Pereira
0e76006dc5 SRV_Channel: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira
300a14aaae SITL: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira
ba2adac869 GCS_MAVLink: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira
3b0dac3198 AP_NavEKF3: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira
4f81aa82e2 AP_LeakDetector: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira
d749fce378 AP_LandingGear: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira
1038581bcb AP_HAL_SITL: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira
9965cbb79a AP_Generator: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Peter Barker
a0172fd2ca AC_Fence: emit a FENCE_STATUS message if we newly-breach the fences 
This should resolve a problem in autotest where we don't detect the
fence as being breached as ArduPilot never announces the fact it has
breached - it just changes mode to RTL but the interval on the
FENCE_STATUS message never aligns with the time the vehicle is breached.
 2021-02-23 08:28:02 +09:00
Mirko Denecke
edc2b0c94e AP_HAL_ChibiOS: fix copy and paste typo 2021-02-23 08:15:50 +09:00
Andrew Tridgell
17031707e3 AP_Scripting: added pcall example 
this shows how to catch errors in scripts to make them robust against
runtime errors
 2021-02-23 09:59:37 +11:00
Paul Riseborough
342e6b35fa AP_NavEKF3: Fix use of incorrect ballistic coefficient parameter 2021-02-22 13:21:03 +09:00
Paul Riseborough
7370cd9f00 AP_NavEKF3: Fix typo and update parameter description 2021-02-22 13:21:03 +09:00
Randy Mackay
0c9559db6d AP_Motors: fixup octaquad CW_X motor directions 2021-02-22 11:00:44 +09:00
Peter Barker
1afa0a7ff2 GCS_MAVLink: remove unused member 
and a bogus comment
 2021-02-20 21:48:25 +11:00
Andrew Tridgell
7af20e9ea3 HAL_ChibiOS: increase H7 serial buffer sizes 
this takes better advantage of the new UART code. Log download over
USB gets to 730 kbyte/s. For comparison, with the 4.0 code on the same
H7 we get about 300 kbyte/s
 2021-02-20 20:49:45 +11:00
Andrew Tridgell
3b88a3273b HAL_ChibiOS: adjust up uart tx stack size 
lowest was showing 80 bytes free, which is too close to the 64 byte
level where we trigger an internal error
 2021-02-20 14:37:11 +11:00
Andrew Tridgell
5e0f175223 HAL_ChibiOS: adjust UART buffer sizes for new UART code 
this gains about 20k of RAM, and has almost no impact on log download
speed at 921600 on a F427. The improved threading means we can afford
to have smaller buffers
 2021-02-20 14:37:11 +11:00
Andy Piper
4e61ba2dc8 AP_HAL_ChibiOS: reduce stack sizes for rcout, uart_rx and storage. 2021-02-20 14:37:11 +11:00
Andy Piper
94de238751 AP_HAL_ChibiOS: disable RCOUT thread on iomcu and rebuild iomcu. 2021-02-20 14:37:11 +11:00
Andy Piper
f9c5f9be00 AP_HAL_ChibiOS: make dshot DMA unlock event driven in order to allow unlocking from rcout thread 
refactor rcout into separate thread and process all dshot requests there
move uart DMA completion to event model
process dshot locks in strick reverse order when unlocking
convert Shared_DMA to use mutexes
move UART transmit to a thread-per-uart
do blocking UART DMA transactions
do blocking dshot DMA transactions
trim stack sizes
cancel dma transactions on dshot when timeout occurs
support contention stats on blocking locking
move thread supression into chibios_hwdef.py
invalidate DMA bounce buffer correctly
separate UART initialisation into two halves
cleanup UART transaction timeouts
add @SYS/uarts.txt
move half-duplex handling to TX thread
correct thread statistics after use of ExpandingString
set unbuffered TX thread priority owner + 1
correctly unlock serial_led_send()
don't share IMU RX on KakuteF7Mini
observe dshot pulse time more accurately.
set TRBUFF bit for UART DMA transfers
deal with UART DMA timeouts correctly
don't deadlock on reverse ordered DMA locks
change PORT_INT_REQUIRED_STACK to 128
 2021-02-20 14:37:11 +11:00
Andy Piper
c388fd9214 AP_Filesystem: add @SYS/uarts.txt 2021-02-20 14:37:11 +11:00
Andy Piper
a07b238c7d AP_HAL: add PRIORITY_RCOUT 
don't allow UART copies
add @SYS/uarts.txt
 2021-02-20 14:37:11 +11:00
Iampete1
bf7920f2d7 AP_Scripting: use helper for not supported error saving 1K of flash 2021-02-18 15:12:58 -07:00
Leonard Hall
f0f87be06d AC_PID: AC_PI_2D format changes 2021-02-18 12:59:39 +09:00
mateksys
7eb4e9b370 AP_Periph: set PORT defaults for F405-MatekGPS 2021-02-18 11:51:50 +11:00
mateksys
97c2b7228e AP_Periph: Matek F303 and F405 AP_Periph use DSP310 baro 2021-02-18 11:51:50 +11:00
Tom Pittenger
8019cc160a AP_ICEngine: make it obvious that update_idle_gov does nothing if disabled 2021-02-18 09:45:30 +11:00
Peter Barker
f124cf0991 AP_Hott_Telem: use GPS single-char representation of fix type 2021-02-18 08:59:23 +11:00
Peter Barker
9da9d8c94b AP_GPS: provide method for getting single char representing fix type 
Should allow us to be consistent across places in the code base that
need a compact representation for a user display.
 2021-02-18 08:59:23 +11:00
Leonard Hall
e788d63686 AC_AttitudeControl: clear up comment for inertial_frame_reset 2021-02-17 21:19:18 +09:00
Andy Piper
4c2cbdab8d AP_HAL_ChibiOS: only setup half-duplex for receive when transmit is fully over 2021-02-17 20:09:48 +11:00
Andy Piper
5c32007cdf AP_HAL_ChibiOS: ensure stop bits can be set before UART begin 2021-02-17 20:09:48 +11:00
Peter Hall
43763091bd AP_Scripting: add send_named_float to simple loop example 2021-02-17 18:49:20 +11:00
Peter Hall
fc95664580 AP_Scripting: add GCS send_named_float binding 2021-02-17 18:49:20 +11:00
Andy Piper
3371c272fb AP_Notify: make LED_NTF_LEN changes require a reboot 
don't dynamically update LED length
 2021-02-17 18:36:36 +11:00
Andy Piper
3a9107245c AP_HAL_ChibiOS: allocate DMA and LED buffers correctly when the length changes 
calculate DMAR pulse times correctly
ensure 50us pulse separation for LED
make sure the LEDs are signalled for output
only allow LED length to be set once
 2021-02-17 18:36:36 +11:00
Andy Piper
a98f85502a AP_RCTelemetry: add support for SmartAudio protocol. 
treat VTX frequency as a first class citizen, match band/channel to frequency
update CRSF to use new VTX configuration
use a 6-position switch to control VTX power
add support for VTX GCS announcement
announce VTX updates on CRSF
support pitmode-until-arm and pitmode-on-disarm

Co-authored-by: luis.martinez.exts <luis.martinez@juntadeandalucia.es>
 2021-02-17 18:23:33 +11:00
Andy Piper
ea3af39773 RC_Channel: add support for 6-position switch and use it for VTX power 2021-02-17 18:23:33 +11:00
Andy Piper
6f91e053d5 AP_VideoTX: new library to support the SmartAudio protocol 
set the VTX parameters to what was actually configured by the VTX
use change band/change frequency when appropriate
set power levels appropriately for protocol version.

Co-authored-by: luis.martinez.exts <luis.martinez@juntadeandalucia.es>
 2021-02-17 18:23:33 +11:00
Andy Piper
2d0fe8b883 AP_SerialManager: add support for the SmartAudio protocol 
Co-authored-by: luis.martinez.exts <luis.martinez@juntadeandalucia.es>
 2021-02-17 18:23:33 +11:00
Andy Piper
b79ff9475d AP_Vehicle: add support for the SmartAudio protocol 
Co-authored-by: luis.martinez.exts <luis.martinez@juntadeandalucia.es>
 2021-02-17 18:23:33 +11:00
Peter Barker
c20c4a6308 AP_HAL_SITL: set bus in read-size of rdwr transaction 2021-02-17 14:23:07 +11:00
Peter Barker
1c4e1aab05 AP_Logger: move gps logging structures into AP_GPS 2021-02-17 11:30:01 +11:00
Peter Barker
c2cba52ad8 AP_GPS: move gps logging structures into AP_GPS 2021-02-17 11:30:01 +11:00
Peter Barker
eefcc92f24 GCS_MAVLink: take MAV_CMD_DO_SPRAYER as a mavlink command 2021-02-16 22:36:43 +11:00
Peter Barker
c3b005e1d9 AP_Mission: add mission command to turn sprayer on and off 2021-02-16 22:36:43 +11:00
Rishabh
98287a1b2f AC_Avoid: Use previous avoidance vel for limiting accel 2021-02-16 20:08:00 +09:00
Rishabh
cbf57af1f3 AC_Avoid: Limit acceleration while simple avoidance is active 2021-02-16 20:08:00 +09:00
Rishabh
865f3cda79 AC_Avoid: Add param to switch off proximity avoidance based on alt 2021-02-16 20:08:00 +09:00
Peter Hall
c1a831bbf4 GCS_MAVLink: sensor flags, only mark AHRS as enabled once initialised 2021-02-16 12:54:28 +11:00
Andrew Tridgell
a42bfd5df5 AP_Baro: added MS5611 baro compensation for -15 to -40C 2021-02-16 11:20:57 +11:00
Michael du Breuil
4c4e613f6a AP_GPS: Don't send SBF config unless there is free space in the port 2021-02-15 16:31:45 -07:00
Michael du Breuil
c0da87c066 AP_HAL_ChibiOS: Update HitecMosaic to reflect changes to GPS config 2021-02-15 16:31:45 -07:00
Michael du Breuil
4d42996068 AP_GPS: Force the buadrate on SBF units 2021-02-15 16:31:45 -07:00
Peter Barker
01eb64ce73 AP_RPM: don't present RPM2_PIN parameter if RPM_MAX_INSTANCES <=1 2021-02-16 08:26:18 +09:00
Andrew Tridgell
6d1511f3eb GCS_MAVLink: added method to force save calibration 
useful after reloading parameters
 2021-02-15 07:24:40 +11:00
Andrew Tridgell
f8e0227c8c AP_Compass: added force_save_calibration() 2021-02-15 07:24:40 +11:00
Andrew Tridgell
25dd08a1fd AP_InertialSensor: added force_save_calibration() 2021-02-15 07:24:40 +11:00
Andrew Tridgell
9de1519928 HAL_ChibiOS: prevent hw flow control from hogging a DMA channel 
When hw flow control is enabled check the CTS pin before we grab the
DMA channel to prevent a long timeout trying to send to a blocked port
from holding a DMA channel against another device

this fixes issue #16587
 2021-02-15 07:23:56 +11:00
Andrew Tridgell
106162b0c5 AP_MSP: removed date/time from MSP 
we don't want to use real dates here as that would mean we don't get
consistent builds. Being able to reproduce the exact build at a later
date is a valuable property of the code

The git hash should be enough
 2021-02-13 19:24:48 +11:00
Andrew Tridgell
0cc4409845 HAL_ChibiOS: fixed handling of invalid channel for LED write 
this prevents a null ptr dereference when an invalid channel (such as
one on IOMCU) is used for LEDs
 2021-02-13 15:11:10 +11:00
Andrew Tridgell
098a17fe2e HAL_ChibiOS: fixed CubeOrange ADSB param name 2021-02-13 13:06:20 +11:00
Rishabh
f107ce3951 AP_Proximity: Use 3 sectors for simple avoidance boundary 2021-02-12 16:48:16 +09:00
Rishabh
8cab737bdd AP_Proximity: Follow NED convention 2021-02-12 16:48:16 +09:00
Rishabh
74bda4952d AC_Avoid: Return early if velocity is unchanged in proximity avoidance 2021-02-12 16:48:16 +09:00
Randy Mackay
eafd702773 AC_WPNav: add comment clarifying get_wp_destination alt frame 2021-02-11 13:01:37 +09:00
Mark Whitehorn
bb15c18cc3 GCS_MAVLink: send message when MAVFTP init fails 2021-02-10 23:06:36 +11:00
Pierre Kancir
eb78a473f6 AP_Vehicle: correct virtual specifier 2021-02-10 18:49:42 +11:00
Pierre Kancir
7430a415fb AP_Tuning: use AUX_PWM_TRIGGER_LOW and AUX_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Pierre Kancir
67bdec3325 AP_OSD: use AUX_PWM_TRIGGER_LOW and AUX_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Pierre Kancir
9362039feb AP_ICEngine: use AUX_PWM_TRIGGER_LOW and AUX_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Pierre Kancir
287645cf68 RC_Channel: use AUX_PWM_TRIGGER_LOW and AUX_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Pierre Kancir
a631ca4eac AP_Button: add AUX_SWITCH_PWM_TRIGGER_LOW and AUX_SWITCH_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Pierre Kancir
0725cbdffc RC_Channel: add AUX_SWITCH_PWM_TRIGGER_LOW and AUX_SWITCH_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Pierre Kancir
68a27e3b41 AP_Arming: use RC_CALIB_MIN_LIMIT_PWM and RC_CALIB_MAX_LIMIT_PWM 2021-02-10 18:48:06 +11:00
Pierre Kancir
9dcaf155a6 RC_Channel: add use RC_CALIB_MIN_LIMIT_PWM and RC_CALIB_MAX_LIMIT_PWM 2021-02-10 18:48:06 +11:00
Randy Mackay
1ee7f00192 AP_VisualOdom: fix T265 criteria for aligning to AHRS 2021-02-10 18:37:45 +11:00
Leonard Hall
f53242b323 AC_AttitudeControl: rename thrust_heading_rotation_angles args 2021-02-10 18:35:58 +11:00
Leonard Hall
ad6e2eeed8 AC_AttitudeControl: remove feed-forward from run_quat 2021-02-10 18:35:58 +11:00
Andy Piper
20d8696a0a AP_HAL_ChibiOS: BeastH7 has DPS310 baro 2021-02-10 18:33:59 +11:00
Leonard Hall
8ace1bfad1 AC_PosControl: const local vars and remove todo 2021-02-10 13:26:23 +09:00
Iampete1
6d650e74f2 AP_Scripting: add fault tolerant hex MotorsMatrix example 2021-02-10 11:16:27 +09:00
Randy Mackay
f4e6d63a7c AP_VisualOdom: minor formatting fixes 2021-02-09 20:17:39 +09:00
Gone4Dirt
d928b80629 AP_SmartRTL: Add option to ignore pilot yaw 2021-02-09 19:39:17 +09:00
Randy Mackay
0703a1cf93 AC_PosControl: add PSCZ logging 2021-02-09 19:33:52 +09:00
Randy Mackay
9f914d9e7d AC_PosControl: add get_z_accel_cmss helper function 2021-02-09 19:33:52 +09:00
Randy Mackay
3ae8af6b21 AP_Logger: add PSCZ logging 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>

includes const log_PSCZ declaration
also changed PSZ ThO to percentage
 2021-02-09 19:33:52 +09:00
Josh Henderson
8135d9e60a AP_VisualOdom: Privatize Logging 2021-02-09 19:33:14 +09:00
Josh Henderson
00e3bda2f5 AP_Logger: Privatize AP_VisualOdom Logging 2021-02-09 19:33:14 +09:00
Iampete1
9ace8ed216 AP_Motors: Matrix 6DoF scripting add get_frame_string 2021-02-09 12:43:54 +09:00
Iampete1
7d5e5f8dd7 AC_AttitudeControl: add SITL panic to remind us to implent the quarternion 2021-02-09 12:43:54 +09:00
Peter Hall
cc26a520bc AP_MotorsMatrix: init to virtual and remove duplicate set initalised 2021-02-09 12:43:54 +09:00
Iampete1
1395f9ce79 AP_Scripting: add 6DoF motors matrix bindings and example 2021-02-09 12:43:54 +09:00
Iampete1
28e8c5e56e AP_Scripting: add 6DoF attitude control bindings and example 2021-02-09 12:43:54 +09:00
Iampete1
5c3725d899 AP_Motors: add 6DoF scripting matrix mixer 2021-02-09 12:43:54 +09:00
Iampete1
791e68b4ef AC_AttitudeControl: add 6DoF support 2021-02-09 12:43:54 +09:00
Gone4Dirt
f490c9d799 AC_Autorotation: Add copter vehicle type to flight log metadata 2021-02-08 22:09:49 -05:00
Gone4Dirt
6dc100728f AP_Motors: Fix spelling of autorotation flag 2021-02-08 22:09:49 -05:00
Mark Whitehorn
9bc8a8c912 AP_Motors: make frame*string getters more const 2021-02-09 12:43:53 +11:00
Mark Whitehorn
6b2184a53a AP_Motors: add frame_class and frame_type strings 
move frame_class/type string assignments down into subclasses
 2021-02-09 12:43:53 +11:00
Andrew Tridgell
814393c9c2 HAL_ChibiOS: switch from DPS280 to DPS310 in boards that use the DPS310 2021-02-09 11:37:07 +11:00
Andrew Tridgell
dad55b496b AP_Baro: support DPS310 temperature fix 
separate DPS310 from DSP280
 2021-02-09 11:37:07 +11:00
Randy Mackay
1814524fcb AP_NavEKF3: fix using_external_yaw when using external nav 
the first if would always return true meaning the method would always return false when using external nav
thanks to David Sastre for finding this!
 2021-02-09 11:35:39 +11:00
Andrew Tridgell
86fda93781 HAL_ChibiOS: added heater correction of AK09916 
this fixes a problem with the internal compass being impacted by the
magnetic field from the heater
 2021-02-09 11:32:19 +11:00
Andrew Tridgell
a90b54ba6e AP_Compass: allow for AK09916 correction by heater duty cycle 2021-02-09 11:32:19 +11:00
Andrew Tridgell
1097d04e5d AP_BoardConfig: added get_heater_duty_cycle() 2021-02-09 11:32:19 +11:00
Andrew Tridgell
5920c52285 Scripting: simple relay example 
toggle at 50Hz
 2021-02-09 10:23:06 +11:00
Andrew Tridgell
2ab8ad0ef0 HAL_ChibiOS: added Durandal pinout details 2021-02-09 07:14:02 +11:00
Randy Mackay
d1dda86f60 AC_AutoTune: report step in lower case 
also shortens displayed accuracy to 0.1deg and removes one pair of brackets
we should use lower case for reporting because it is easier to read and it takes up less space when displayed on MP's HUD (and probably other GCSs too)
 2021-02-06 14:45:53 +09:00
Randy Mackay
25beab4c82 AC_AutoTune: add failure to level warning 2021-02-06 14:45:53 +09:00
Randy Mackay
4032ac9884 AC_AutoTune: level criteria is 5deg for plane and 2.5 for all others 2021-02-06 14:45:53 +09:00
Michael du Breuil
623951a262 AP_HAL_ChibiOS: Add some extra GPS SBF config 2021-02-05 11:52:29 -07:00
Michael du Breuil
5f3b1b92a4 AP_GPS: SBF don't send configuration until we've recieved a prompt 
This fixes a configuration problem with SBF unit's where sometimes we
fail to detect the GPS unit continously, until it's been manually
configured. This was tested by doing a hard reset to the GPS unit.

This also now accepts a set of defines from the hwdef, or build
environment, which allows us to specify extra config options.
 2021-02-05 11:52:29 -07:00
Michael du Breuil
d9ffd04a96 AP_GPS: Broadcast the detect message on AP_Periph over CAN 2021-02-05 11:52:29 -07:00
basti
a3c47e0a23 AP_OSD: add SD-card handling to font README 2021-02-05 19:48:06 +11:00
Peter Barker
3da156e358 AP_InertialSensor: prevent nullptr dereference in SITL 2021-02-05 15:02:12 +11:00
Andrew Tridgell
6144136b61 Filter: fixed reset of filters to first value 
the delay elements were set incorrectly
 2021-02-05 15:01:22 +11:00
Tom Pittenger
d1e6b0befb AP_HAL_ChibiOS: Add ADC1 support to STM32F3 
This is useful for AP_Periph battery monitoring
 2021-02-04 16:30:38 -08:00
murata
09f04e8a5a AP_RangeFinder: Devices are enabled and disabled by type 
AP_RangeFinder: Devices are enabled and disabled by type

AP_RangeFinder: Delete some description of I2C function address.
 2021-02-05 09:44:27 +11:00
Andrew Tridgell
b8e82a56f3 HAL_ChibiOS: don't start rout ticks till after full system init 
this prevents an occasional boot hang on systems with DShot
enabled. We shouldn't be starting DShot output till after setup() is
complete as the outputs are still being configured
 2021-02-05 07:17:57 +11:00
Peter Barker
f847758272 Filter: add gtest suite 2021-02-04 20:50:48 +11:00
Peter Barker
514dfa4b71 SITL: SF45B: increase resolution to 1 degree 
The mode filter tends to squish a lot of data if we don't get this
correct.
 2021-02-04 20:50:21 +11:00
Tatsuya Yamaguchi
83417c1df7 AP_Notify: modify NTF_BUZZ_VOLUME description 2021-02-04 17:27:00 +09:00
Peter Barker
ee2f615352 AP_Proximity: RPLidarA2: correct face distances are assigned to 2021-02-04 16:57:48 +11:00
WillyZehnder
acfe815305 AP_Scripting: make get_control_mode_reason available to lua 2021-02-04 08:32:35 +09:00
Peter Barker
84953c2e39 AP_BattMonitor: fix constexpr-and-MIN don't get along bug 
lib/libArduCopter_libs.a(AP_BattMonitor_SMBus_NeoDesign.cpp.0.o): In function `AP_BattMonitor_SMBus_NeoDesign::timer()':
/home/pbarker/rc/ardupilot/build/sitl/../../libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.cpp:27: undefined reference to `AP_BattMonitor_SMBus_NeoDesign::max_cell_count'
collect2: error: ld returned 1 exit status
 2021-02-04 09:17:57 +11:00
Patrick José Pereira
ba293084e3 SITL: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Patrick José Pereira
61bcbfea14 AP_TempCalibration: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Patrick José Pereira
12cd138030 AP_HAL: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Patrick José Pereira
6bdc1704f4 AP_GPS: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Patrick José Pereira
e9a299d96e AP_CANManager: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Andy Piper
2cdc202d19 AP_HAL_ChibiOS: use non-cachable SRAM3 for DMA on H743 
Adjust SRAM1+SRAM2 to 256k as describe in the H743 reference manual
Provide access to mem_info() information

Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2021-02-03 23:35:44 +11:00
Andy Piper
cfac268f13 AP_Filesystem: add @SYS/memory.txt 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2021-02-03 23:35:44 +11:00
Andy Piper
0eff201016 AP_HAL: add mem_info() 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2021-02-03 23:35:44 +11:00
murata
de9382b0f4 AP_Mission: Reflecting the result of the process 2021-02-03 22:15:02 +11:00
murata
698f967b63 GCS_MAVLink: Notify the maximum number of missions 
Update libraries/GCS_MAVLink/MissionItemProtocol.cpp

Co-authored-by: WickedShell <Wicked.Shell.Scripts@gmail.com>

GCS_MAVLink: Notify the maximum number of missions
 2021-02-03 20:31:50 +11:00
Michael du Breuil
f854477efe AP_BattMonitor: Limit the scope of possible corruption if the NeoDesigns gets a bad cell count 2021-02-03 19:21:39 +11:00
Marko
00d0fe876d AP_Compass: Added support for internal i2c bus to VRBrain-v51 
Now the internal compass HMC5883 of the VRBrain-v51 is correctly recognized

Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com>
 2021-02-03 19:00:48 +11:00
Andy Piper
06a1500f98 AP_HAL_ChibiOS: ensure GPIO pins get undef'ed properly 
minimise bi-directional dshot configs for:

CubeOrange
Durandal
MatekF405
MatekH743
OmnibusNanoV6
Pixracer
mRoPixracerPro
omnibusf4pro
CUAV-X7
 2021-02-03 18:49:06 +11:00
Patrick José Pereira
07c3435f9d SITL: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
7b6f1225ba AP_WheelEncoder: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
b8360a08c7 AP_Vehicle: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
9904b397d8 AP_UAVCAN: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
6b2e4296db AP_TemperatureSensor: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
e146483e72 AP_Stats: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
705a885d82 AP_Soaring: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
0da2d9f8eb AP_SmartRTL: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
bffda55639 AP_Scripting: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
806bc4898b AP_Scheduler: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
efffed0510 AP_RangeFinder: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
2ae7edc8b2 AP_RTC: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
8f96580e9d AP_RCProtocol: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
a902c1d54b AP_OSD: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
3df3d002ff AP_Notify: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
53eb2f2bf4 AP_NavEKF2: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
cc39e36ee1 AP_Mount: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
bdc14c60fb AP_Motors: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
266ed9541b AP_Mission: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
5d7d955378 AP_Math: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
18d8f19801 AP_Logger: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
41c653f973 AP_LandingGear: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
d006012cee AP_L1_Control: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
dc6f5aec92 AP_HAL_SITL: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
6899c0b5af AP_HAL: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
98a8e6e370 AP_GyroFFT: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
2e75425a2a AP_GPS: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
aa55578008 AP_Frsky_Telem: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
be37f10d61 AP_ExternalAHRS: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
842360b5e3 AP_Compass: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
5375980aa6 AP_Camera: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
001e516fa7 AP_Button: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
3fcf430a2c AP_BoardConfig: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
d190fff887 AP_BattMonitor: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
6a824b1467 AP_Baro: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
f6937babfa AP_Avoidance: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
7e01935893 AP_ADSB: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
f9732b6c70 AC_PID: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
345fe1a9e4 AC_Fence: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
e4fb439a96 AC_Avoidance: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
7be27235f3 AC_Autorotation: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
0ecbaa867d AC_AutoTune: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
e3d018c401 AC_AttitudeControl: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
03582ff77c AP_WindVane: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
e8e41c512e GCS_MAVLINK: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira
45a819c98e StorageManager: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Michel Pastor
41f7587637 ChibiOS: Add SWD pins to SuccexF4 bootloader 2021-02-03 18:37:46 +11:00
Andy Piper
881fd4f37c AP_HAL_ChibiOS: use buffered writes for CRSF telemetry 2021-02-03 18:28:28 +11:00
Peter Barker
f15a1fbd62 AP_Vehicle: move control_mode_reason up to AP_Vehicle 2021-02-03 18:24:52 +11:00
auturgy
24268cc6de AP_HAL_ChibiOS: add MatekH743-periph hwdef 2021-02-03 18:17:44 +11:00
mateksys
b91c65b4a4 AP_HAL_ChibiOS: add f405-MatekGPS & MatekF405-CAN hwdef 2021-02-03 18:09:35 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
11bf02c2c4 AP_Logger: correct spelling in metadata 2021-02-03 17:47:28 +11:00
huhen
9ba35580db HAL_ChibiOS: Init kakutef7 motor pins for correct initialization of some ESCs 2021-02-03 13:13:32 +11:00
Arsh
18f56fbac5 AP_HAL:examples:Printf: Improvements in the Printf example 2021-02-03 13:02:49 +11:00
yaapu
d5868e3c7d AP_Frsky_Telem: added telemetry support for RPM sensors 1 and 2 for SPort, FPort/FPort2 and passthrough over crossfire 2021-02-03 12:49:38 +11:00
Andrew Tridgell
cfe63f8657 AP_OSD: changed OSD screen switching logic 
this prevents us constantly changing screens when a PWM is given that
matches multiple screens. Instead the first matching screen is used
 2021-02-03 10:09:41 +11:00
Josh Henderson
275c2849cf AP_Baro: Privatize Logging 2021-02-02 17:55:27 +11:00
Josh Henderson
c32dd4bb5d AP_Logger: Privatize AP_Baro Logging 2021-02-02 17:55:27 +11:00
Michael du Breuil
05b9aa2fa2 AP_UAVCAN: Broadcast ArmingStatus regularly 2021-02-02 10:57:57 +11:00
Josh Henderson
d6dc8864db AP_Camera: Privatize AP_Camera 2021-02-02 10:10:17 +11:00
Josh Henderson
d142b3ba16 AP_Logger: Privatize AP_Camera Logging 2021-02-02 10:10:17 +11:00
Rishabh
401d365491 AC_WPNav: Adapt to 3-D Avoidance changes 2021-02-01 14:34:13 +09:00
Rishabh
f3d825bebe AP_Math: Add unit tests for 3-D lines 2021-02-01 14:34:13 +09:00
Rishabh
de67e2b70c AP_Proximity: refactor changes done for 3-D Boundary 2021-02-01 14:34:13 +09:00
Rishabh
37a14a78df AC_Avoid: Refactor changes for 3-D avoidance 2021-02-01 14:34:13 +09:00
Rishabh
5092bc2f6d AC_Avoid: Simplify accessing boundary 2021-02-01 14:34:13 +09:00
Rishabh
d359c5ddf2 AC_Avoid: Let user take control if they are backing away at a greater speed than what we have calculated 2021-02-01 14:34:13 +09:00
Rishabh
91132d00d9 AC_Avoid: Add deadzone to backaway code 2021-02-01 14:34:13 +09:00
Rishabh
343ba1a693 AP_Proximity: Use only valid boundary for Simple Avoidance 2021-02-01 14:34:13 +09:00
Randy Mackay
71d928aab9 AP_Proximity: TeraRangerTowerEvo uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
5c9a65cff6 AP_Proximity: TeraRangerTower uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
d4a6ebd273 AP_Proximity: SITL backend uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
518078c901 AP_Proximity: RPLidarA2 uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
babba91632 AP_Proximity: RangeFinder backend uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
2d77adf720 AP_Proximity: MAV backend uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
a65e0affe4 AP_Proximity: LightwareSF45B uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
623bd6923e AP_Proximity: LightwareSF40C_v09 uses update Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
4fda6b38f7 AP_Proximity: LightwareSF40C uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
ad899de78c AP_Proximity: backend uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
ef9bc64bb1 AP_Proximity: AirSimSITL uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
279b534f67 AP_Proximity: remove duplicate definition 
PROXIMITY_NUM_LAYERS is defined in AP_Proximity_Boundary_3D
 2021-02-01 14:34:13 +09:00
Randy Mackay
5a0cc08dcc AP_Proximity: refactor Boundary_3D 
rename stack to layer
swap order of layer and sector within arrays
rename Boundary_Location to Face
rename get_sector to get_face
rename set_attributes to set_face_attributes
get_distance returns bool and fills in argument instead of returning distance
 2021-02-01 14:34:13 +09:00
Rishabh
ad6e013171 AC_Avoid: Support 3D Simple Avoidance and Bacakway 2021-02-01 14:34:13 +09:00
Rishabh
43717ea55c AP_Proximity: Add OBSTACLE_DISTANCE_3D mavlink message 2021-02-01 14:34:13 +09:00
Rishabh
36bba2e02c AP_Proximity: Convert Proximity Backend drivers to use 3D Boundary methods 2021-02-01 14:34:13 +09:00
Rishabh
4fce715a9a AP_Proximity: Shift methods to Proximity_Boundary_3D class and support 3D Boundary 2021-02-01 14:34:13 +09:00
Rishabh
7569d8bf8e AP_Proximity: Add AP_Proximity_Boundary_3D class 2021-02-01 14:34:13 +09:00
Rishabh
a5fafe57d8 GCS_MAVLink: Add support for OBSTACLE_DISTANCE_3D 2021-02-01 14:34:13 +09:00
Rishabh
1262d73071 AP_Math: Add new methods to support 3D avoidance 2021-02-01 14:34:13 +09:00
Rishabh
79d5e432ee AP_Math: Add new method to extrapolate 3D vector given distance, yaw, pitch 2021-02-01 14:34:13 +09:00
Peter Barker
dbae56eb3a AP_Logger: panic in SITL if we fail to log a Replay block 
// failing to log a block means that when we go to replay the log
    // things will almost certainly go sour.
 2021-01-31 10:46:26 +11:00
Tom Pittenger
a5d33cacb5 AP_Soaring: add units to param SOAR_THML_BANK 2021-01-29 11:20:09 -08:00
Samuel Tabor
4ec1e55833 AP_Soaring: Add SOAR_THML_BANK parameter and associated logic. 2021-01-29 11:20:09 -08:00
yaapu
4fbba17506 AP_Scripting: added bindings for frsky telemetry library 2021-01-29 09:55:22 +11:00
yaapu
24382e25fc AP_Frsky_Telem: added support for sending frsky telemetry data from scripting 2021-01-29 09:55:22 +11:00
Michael du Breuil
0f363809f5 AP_GPS: Fix some unit errors with the GPS blended instance 
Also add a static assert and some docs on the fact that blending only
works with 2 actual recievers at the moment

Also a small optimization to not call get_rate_ms() twice
 2021-01-28 11:55:30 +11:00
Andy Piper
6f5d5c2bf9 AAP_HAL_ChibiOS: allow asserts to be printed on a GPIO pin 2021-01-27 19:36:58 +11:00
Andy Piper
d41c92d317 AP_HAL_ChibiOS: don't overwrite fault handler data, register forced faults 2021-01-27 19:13:18 +11:00
Andy Piper
20d928a86a AP_HAL_ChibiOS: don't share DMA on OmnibusNanoV6 for Flash SPI 2021-01-27 19:04:49 +11:00
Andy Piper
873d35acd9 AP_HAL_ChibiOS: bi-directional dshot for MatekH743 2021-01-27 18:58:38 +11:00
Andy Piper
877dde4736 AP_HAL_ChibiOS: on BeastF7 share TIM3 UP/CH and give flash SPI dedicated channel 2021-01-27 18:54:43 +11:00
Andy Piper
2395018000 AP_BLHeli: don't log invalid bi-dir dshot values as they are never used 2021-01-27 18:54:10 +11:00
Andy Piper
9249b73e8b AP_HAL_ChibiOS: correctly allow mixing of bidir and non-bidir channels 2021-01-27 18:49:15 +11:00
Andy Piper
2823fa7245 AP_HAL_ChibiOS: never write bytes that have not been erased on H7 
Be more careful about flash failure conditions on H7
 2021-01-27 18:30:36 +11:00
Andy Piper
78735a946e AP_HAL_ChibiOS: allow STM32_FLASH_DISABLE_ISR for H7 2021-01-27 18:30:36 +11:00
Andrew Tridgell
155de6d2bc HAL_ChibiOS: fixed build of AP_Periph on H7 2021-01-27 18:24:03 +11:00
Andrew Tridgell
0535c4f592 AP_InertialSensor: default TMAX to 70 
if user forgets to set this then better to just timeout rather than
calibrating over a small range
 2021-01-27 09:49:35 +11:00
Andrew Tridgell
9861a02c60 HAL_ChibiOS: save INS_ACC*ID persistent parameters 
this enables full factory accelerometer calibration, so the user is
not required to run an accelcal, even if they change vehicle type
 2021-01-27 09:49:35 +11:00
Andrew Tridgell
bdb364d461 AP_InertialSensor: save the accelerometer ID parameters 
this is needed for factory accel cal
 2021-01-27 09:49:35 +11:00
Andrew Tridgell
87528f47c8 AP_IOMCU: prevent internal error on bootloader flash 
when we flash the bootloader on boards with an IOMCU we expect a long
delay as the CPU stops during the flash
 2021-01-27 09:49:35 +11:00
Andrew Tridgell
6163659887 AP_HAL: prevent a single bad transfer causing an IMU to be marked unhealthy 
This is a response to this issue:
https://discuss.ardupilot.org/t/gyro-problem-after-waypoint-log-analisys

The 2nd gyro went bad with a large offset. Then the first gyro was
marked unhealthy, forcing the EKF to switch to the 2nd gyro. That
resulted in a crash.

I think the SPI bus was getting bad transfers and the register check
code happened to get a bad transfer, thereby marking the first gyro
unhealthy

This change ensures we only fail the register check if two transfers
in a row are bad. This makes it much less likely that a noisy bus will
lead to an unhealthy gyro
 2021-01-27 09:47:55 +11:00
Iampete1
ebfe593e38 AP_Scripting: add example script setting up a custom MotorMatrix 2021-01-26 11:07:36 +09:00
Iampete1
5c397d4674 AP_Scripting: add MotorMatrix bindings 2021-01-26 11:07:36 +09:00
Iampete1
fca6f7027b AP_Motors: allow Matrix config from scripting 2021-01-26 11:07:36 +09:00
Peter Hall
d0e1e85b9e AP_Motors: add get_frame_mav_type 2021-01-26 11:07:36 +09:00
Randy Mackay
f6cb0819ef AP_NavEKF3: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Randy Mackay
8ecac27777 AP_NavEKF_Source; pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Randy Mackay
62932f884f AP_AHRS: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Andrew Tridgell
1716fcf995 GCS_MAVLink: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell
ac35867c17 AP_Param: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell
12b93e2922 AP_OSD: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell
6c684538d3 AP_Param: greatly speed up param download with disabled parameters 
allows fast skip over disabled subgroups. This removes a long delay
with param download on a MatekF405-STD where the final parameters
associated with the OSD took 80ms to fetch, causing a long loop delay
 2021-01-26 10:43:09 +11:00
Peter Barker
d426d8e1f8 AP_GPS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Peter Barker
358069df24 AP_AHRS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
WillyZehnder
2e2ec79992 RC_Channel: reserve AUX_FUNC for MISSION_RELATIVE 2021-01-26 10:14:11 +11:00
Andrew Tridgell
2843cfa42d AP_InertialSensor: use mavlink statustext for cal info 2021-01-25 16:24:50 +11:00
Andrew Tridgell
b542f947f7 AP_InertialSensor: don't mark accels as calibrating during trim 
we need the accels with offsets applied when doing accel trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell
e908a996af AP_InertialSensor: support SIM_ACC_TRIM 
and cleanup vector maths
 2021-01-25 16:24:50 +11:00
Andrew Tridgell
7292b4f260 SITL: added SIM_ACC_TRIM_{X,Y,Z} for simulating IMU trim 
this will enable an autotest for AHRS trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell
ddc4d08e8f AP_NavEKF3: make drag fusion optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell
1ccda938cb AP_NavEKF3: make external navigation optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell
8da511f039 AP_NavEKF3: make body odomotry build depend on vehicle type 
saves about 11k of flash
 2021-01-24 11:56:52 +11:00
E Thomas
2ee052b36e AP_GPS: Made GPS_DISABLE prevent last_fix_time_ms updates 2021-01-23 17:25:00 +11:00
Peter Barker
ade1c487d8 AP_Logger: remove default reason argument for Write_Mode 
All callers now supply this
 2021-01-22 17:27:26 +11:00
Leonard Hall
25fff17e48 AC_AttitudeControl: constify some local variables 2021-01-22 14:22:18 +09:00
Peter Barker
3582b69e9c AP_NavEKF3: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker
445a461f12 AP_NavEKF2: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker
401cccca19 AP_NavEKF2: correct description on NKF3.SVT 2021-01-21 21:26:17 +11:00
Peter Barker
b3bacdd33c AP_NavEKF3: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker
dddb285209 AP_NavEKF2: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker
5ad0ac6727 AP_NavEKF3: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Peter Barker
6b60bae068 AP_NavEKF2: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Peter Barker
e32ca819fc GCS_MAVLink: mark results as unused 2021-01-21 20:41:17 +11:00
Peter Barker
60d0b0f07c AP_AHRS: add WARN_IF_UNUSED to some getters 2021-01-21 20:41:17 +11:00
Andrew Tridgell
6c8a57c2d7 AP_InertialSensor: review fixes 2021-01-21 13:09:21 +11:00
Andrew Tridgell
3ff71c7814 AP_InertialSensor: changes from review feedback 2021-01-21 13:09:21 +11:00
Andrew Tridgell
b12a663f7a AP_InertialSensor: apply accel scaling 2021-01-21 13:09:21 +11:00
Andrew Tridgell
9febcc0f98 SITL: added accel scaling parameters 2021-01-21 13:09:21 +11:00
Andrew Tridgell
73ddde3629 AP_InertialSensor: changes for new SITL IMU params 2021-01-21 13:09:21 +11:00
Andrew Tridgell
b5089580a9 SITL: cleanup IMU parameters 
allow for biases per IMU
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
5e60fac37e AP_InertialSensor: remove unused variable 2021-01-21 13:09:21 +11:00
Andrew Tridgell
285b53fe07 AP_InertialSensor: use vector polyfit 
this reduces memory usage
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
a1fb0592a9 AP_Math: specialise polyfit for vectors 
this is needed to get the precision good enough for wide temperature
ranges when summing the resulting polygon coefficients
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
c8aaceb6ac AP_LeakDetector: remove warning message on all non-sub builds 
pointless pragma
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
d0d480e858 AP_Compass: fixed matrix inverse for new name 2021-01-21 13:09:21 +11:00
Andrew Tridgell
8278a8a00b AP_AccelCal: rename from review feedback 2021-01-21 13:09:21 +11:00
Andrew Tridgell
2e2ccb40b2 AP_AccelCal: fixed inverse matrix call for new name 2021-01-21 13:09:21 +11:00
Andrew Tridgell
999268cbba AP_Math: fixup matrix algorithms to be in cpp file 
this fixes an issue where optimize O2 was forced on any file that
included AP_Math.h. It also fixes the test suite for matrix_alg, and
fixes the type handling to be consistent
 2021-01-21 13:09:21 +11:00
bugobliterator
3b3e2c01f8 AP_Math: templatize matrix_alg methods 2021-01-21 13:09:21 +11:00
Andrew Tridgell
ffe20f7958 AP_InertialSensor: use a fixed reference temperature of 35C 
this allows us to timeout the calibration when the temperature stops
rising as the polynomial no longer depends on the maximum temperature
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
dc58b0b950 AP_InertialSensor: changes from review feedback 
thanks Sid!
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
9561f24c0e AP_Filesystem: added @SYS/persistent.parm 2021-01-21 13:09:21 +11:00
Andrew Tridgell
5ed19c764e HAL_ChibiOS: expose load_persistent_params for @SYS 2021-01-21 13:09:21 +11:00
Andrew Tridgell
1680e6e7d6 AP_HAL: expose load_persistent_params() in hal.util 2021-01-21 13:09:21 +11:00
Andrew Tridgell
c9a83c8127 AP_InertialSensor: added INS_TCAL_OPTIONS 
make persistent params optional, and allow save of accelcal
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
5c823debc0 HAL_ChibiOS: support saving persistent parameters to bootloader sector 
when we flash the bootloader we can save key peristent parameters to
the end of the bootloader sector, allowing them to persistent across
changes of firmware type

This allows for factory temperature calibration
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
504f500fae AP_Common: added get_writeable_string to ExpandingString 2021-01-21 13:09:21 +11:00
Andrew Tridgell
1ddc21c9bb AP_InertialSensor: support saving tempcal params persistently 2021-01-21 13:09:21 +11:00
Andrew Tridgell
8caea96ab1 AP_InertialSensor: start auto-learning at boot 
This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
7cb7ad3636 AP_InertialSensor: fixed build error 2021-01-21 13:09:21 +11:00
Andrew Tridgell
2e9f61fe49 AP_InertialSensor: fixed IMU index display in msgs 
start at 1 for users
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
d5b511f4a0 AP_InertialSensor: fixed start timer for temperature in SITL 
when we are doing an autotest we want the temperature to start
climbing when we first set SIM_IMUT_FIXED=0
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
30e55d8dfc AP_InertialSensor: cope with user changing TMAX while calibrating 2021-01-21 13:09:21 +11:00
Andrew Tridgell
68526262b7 AP_Arming: don't allow arming during IMU temp cal 2021-01-21 13:09:21 +11:00
Andrew Tridgell
e2e97c67ce AP_InertialSensor: catch user attempt to change TMAX during cal 2021-01-21 13:09:21 +11:00
Andrew Tridgell
73e53369e8 AP_Notify: added notify events for temperature calibration 2021-01-21 13:09:21 +11:00
Andrew Tridgell
3fb720354d AP_InertialSensor: added notify events for temperature calibration 2021-01-21 13:09:21 +11:00
Andrew Tridgell
cc3579ea5d AP_InertialSensor: change TCAL sampling to be even in temperature 2021-01-21 13:09:21 +11:00
Andrew Tridgell
cf47c19c0d Filter: fixed low pass 2p filter to auto-init 
this prevents the init to zero for temperature filters
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
4495414d05 Filter: added reset with value to LowPassFilter2p 2021-01-21 13:09:21 +11:00
Andrew Tridgell
fc0f8b990a AP_InertialSensor: added online learning of temp cal 
use INS_TCAL1_ENABLE=2 to start learning
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
64d9f43d94 AP_Math: added polygon fitting code 2021-01-21 13:09:21 +11:00
Andrew Tridgell
720f9a1de0 AP_Math: cleanup maths functions 
use class template instantiation, and cleanup const in matrix code
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
6f6f89e5aa AP_InertialSensor: enable temperature sensor on LSM9DS0 
this allows for temperature calibration of the LSM303D in CubeBlack
and Pixhawk1
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
0c156e324b AP_Compass: enable temperature on lsm303d 2021-01-21 13:09:21 +11:00
Andrew Tridgell
c0ba7c29ca SITL: use TCal class for temp adjustment in SITL 2021-01-21 13:09:21 +11:00
Andrew Tridgell
4bdf506d10 AP_InertialSensor: apply 1e-5 scale factor 
this keeps the params in a reasonable range for parameter editors
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
0f6f6bac6b AP_InertialSensor: expose TCal class for use in SITL 2021-01-21 13:09:21 +11:00
Andrew Tridgell
7921e042f1 AP_InertialSensor: added IMU temperature calibration support 
this adds parameters that can be setup by an external script for
compensating for temperature variation in gyros and accels using a 3rd
order polynomial
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
580cd143b8 AP_AccelCal: added active() method 2021-01-21 13:09:21 +11:00
Siddharth Purohit
f53d80374b SITL: fix build for macos systems 2021-01-21 13:09:21 +11:00
Peter Barker
e58d2ecf2f GCS_MAVLink: add mavlink command option to create a 250ms long loop 2021-01-21 11:35:57 +11:00
Andrew Tridgell
d81c2ee407 HAL_ChibiOS: allow for some embedded parameters on AP_Periph builds 2021-01-21 06:19:46 +11:00
murata
fd91cb03b4 SITL: Change the Kelvin value to a defined name 2021-01-20 20:27:19 +11:00
bugobliterator
8b90eb23e0 AP_HAL_ChibiOS: distcc doesn't like lst generation commands 2021-01-20 19:21:14 +11:00
Randy Mackay
031be010ac AC_AttitudeControl: tailsitter sets target rates more efficiently 2021-01-20 18:21:12 +11:00
Leonard Hall
4e2c7880c5 AC_Avoidance: use AP_Math control functions 2021-01-20 18:19:40 +11:00
Leonard Hall
e2308e9414 AC_Loiter: use AP_Math control tools common functions 2021-01-20 18:19:40 +11:00
Randy Mackay
6320338771 AC_PosControl: use AP_Math control functions 2021-01-20 18:19:40 +11:00
Leonard Hall
1129a3fd59 AC_AttitudeControl: use AP_Math control functions 2021-01-20 18:19:40 +11:00
Leonard Hall
1e38440c83 AP_Math: add control common functions 2021-01-20 18:19:40 +11:00
Andy Piper
2fadcf6ba0 AP_HAL_ChibiOS: handle UP/CH channel sharing on H7 correctly 2021-01-20 18:15:17 +11:00
Andy Piper
9e641a32ad AP_HAL_ChibiOS: don't share flash SPI on BeastH7 and compile with -Os 2021-01-20 18:12:57 +11:00
Andy Piper
2b885cd79f AP_HAL_ChibiOS: ensure that serial LED setup goes via an intermediate buffer 
protect serial LED buffer transfers with mutex
protect serial LED buffer size with mutex
prevent serial LED interactions before rcout is ready
allocate a serial led buffer per channel that needs it
setup clock mask when needed
 2021-01-20 18:10:18 +11:00
yaapu
ecfcd98f8a AP_RCTelemetry: apply a 5s hysteresis to RF mode changes and rate reporting 2021-01-20 18:06:24 +11:00
Andy Piper
23158480c7 AP_RCTelemetry: calculate CRSF custom frame support correctly 2021-01-20 18:06:24 +11:00
Andy Piper
39219451bd AP_RCTelemetry: detect CRSF tracer RX and switch to 250Hz high speed telemetry 2021-01-20 18:06:24 +11:00
Andy Piper
f6a2d20579 AP_RCProtocol: add tracer 250Hz mode 2021-01-20 18:06:24 +11:00
yaapu
79640e5d94 RC_Channel: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu
1c3b7d5ecd GCS_MAVLink: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu
6b26a64f77 AP_Frsky_Telem: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu
5ef20aec27 AP_RCProtocol: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu
4933544489 AP_RCTelemetry: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
Andrew Tridgell
9db0862d61 HAL_Linux: use nullptr for vnav rcinput 
this makes it clearer what is going on
 2021-01-20 13:49:26 +11:00
Michael du Breuil
15fd8480f8 AP_EFI: Correct a bad conversion from Kelvin to Celsius 
(was off by 0.15 degrees)
 2021-01-20 11:10:25 +11:00
Andrew Tridgell
dff6a5bff9 HAL_Empty: allow return of last value in RCOutput 
this is needed for linux boards with no native RCOutput that use SBUS
out on a serial port to ensure they can display the servo values in
the GCS
 2021-01-20 10:06:45 +11:00
Andrew Tridgell
1ce77111e5 AP_AHRS: allow override of default EKF type 2021-01-20 10:06:45 +11:00
Andrew Tridgell
009cb8f62b HAL_Linux: setup RCIN for vnav 2021-01-20 10:06:45 +11:00
Andrew Tridgell
a9f8c9517c AP_HAL: added vnav linux target 2021-01-20 10:06:45 +11:00
Andrew Tridgell
103d6c54e1 AP_ExternalAHRS: added vnav linux target 2021-01-20 10:06:45 +11:00
Peter Barker
933aba66f8 AP_HAL_SITL: avoid nullptr dereference in Replay 2021-01-19 15:15:35 +11:00
Peter Barker
c0ea19e5c5 SITL: add test for maxbotixi2cxl 2021-01-19 11:20:47 +11:00
Peter Barker
78b49a2c35 AP_RangeFinder: maxbotix: use i2c-address parameter 2021-01-19 11:20:47 +11:00
Iampete1
9be19b0bfa AP_Scripting: add plane spesific quadplane in_vtol_mode binding 2021-01-19 11:18:10 +11:00
Iampete1
7de14f2e2f AP_Scripting: desc: update AP_Terrain depends 2021-01-19 11:18:10 +11:00
Iampete1
2a75432fa2 AP_Scripting: Generator: support depends 2021-01-19 11:18:10 +11:00
Pierre Kancir
30a4747898 GCS_MAVLink: send sim_state msg 2021-01-19 10:40:43 +11:00
Pierre Kancir
c1f1208c89 SITL: add support for SIM_STATE msg 2021-01-19 10:40:43 +11:00
Andrew Tridgell
d9dbcb17c4 AP_Math: enable constrain value with line numbers on all boards 2021-01-19 10:24:39 +11:00
Andrew Tridgell
5def8a64ab SITL: avoid negative current and voltage in flightaxis 
RealFlight9 will sometimes give meaningless negative values
 2021-01-19 10:21:35 +11:00
Andrew Tridgell
53326a08ed AP_DAL: add 10k to SITL memory available 
this is needed as the SITL data structures are larger than on STM32
due to pointer size. This means we sometimes fail to replay in SITL as
we refuse to allocate an EKF core
 2021-01-18 13:01:00 +11:00
bugobliterator
c02c546077 AP_HAL_ChibiOS: add support for inline comments in hwdef.dat 2021-01-18 09:37:11 +11:00
bugobliterator
41693403e2 AP_HAL_ChibiOS: retain memory of past conflicts in dma_resolver 2021-01-18 09:37:11 +11:00
Randy Mackay
0cc9fd2b5d AP_AHRS_NavEKF: get_secondary_quat and position may return EKF3 value 2021-01-16 08:24:23 +09:00
Randy Mackay
1b3ad9cd8d AP_AHRS: use ekf3 by default 2021-01-16 08:24:23 +09:00
Randy Mackay
60633f5a7f AP_NavEKF2: disable ekf2 by default 2021-01-16 08:24:23 +09:00
Randy Mackay
4492e5024c AP_NavEKF3: enable ekf3 by default 2021-01-16 08:24:23 +09:00
Andrew Tridgell
ed8d86e5e6 GCS_MAVLINK: support deliberate parameter corruption 2021-01-16 06:47:10 +11:00
Andrew Tridgell
6ca68bfba3 AP_HAL: enable 32k storage on SITL 2021-01-16 06:47:10 +11:00
Andrew Tridgell
f93e2f6717 HAL_ChibiOS: enable 32k FRAM on H7 boards 2021-01-16 06:47:10 +11:00
Andrew Tridgell
9e15efcbb5 AP_InertialSensor: added params restored internal error 2021-01-16 06:47:10 +11:00
Andrew Tridgell
4d58bcb321 AP_Param: support restoring from parameter backup region 
if header on primary parameter storage is corrupt then restore from
backup
 2021-01-16 06:47:10 +11:00
Andrew Tridgell
03a033c5c4 StorageManager: added support for 32k storage with param backup 
when HAL_STORAGE_SIZE == 32768 then add:

 - 1280 more bytes for params
 - double waypoint space
 - add a parameter backup area
 2021-01-16 06:47:10 +11:00
pkocmoud
7b61a4d8c2 HAL_ChibiOS: support F7 with no crystal 2021-01-15 15:48:01 +11:00
Andy Piper
099d6aa72e AP_NavEKF3: add filter reset when vehicle is idle for too long 2021-01-15 15:47:20 +11:00
Andy Piper
cb5be4fcc1 AP_HAL_ChibiOS: don't share IMU DMA on MatekH743 to avoid SPI DMA contention 2021-01-15 14:32:39 +11:00
chobitsfan
26a3a02c81 AP_NavEKF3: use posxy_source in all places 2021-01-14 16:49:12 +09:00
李孟晓
40dbb316c1 AP_BattMonitor: ignore SoC option for UAVCAN devices 2021-01-13 18:30:53 +11:00
Andrew Tridgell
eeb728237f AP_Compass: removed error on BMM150 
it may be probed at multiple addresses, don't throw lots of errors
 2021-01-13 18:10:25 +11:00
Andy Piper
e781572d53 AP_HAL_ChibiOS: support iFlight BeastF7 
reduce DMA contention on BeastH7 and correct sharing
add README's for BeastF7 and BeastH7
 2021-01-13 18:09:33 +11:00
Andy Piper
fdbf2d369a AP_HAL_ChibiOS: do not take bi-dir path when in serial DMA 2021-01-13 18:03:41 +11:00
yaapu
89802ed6fc AP_MSP:Tools: use BATTERY_STATE.voltage_cv for cell voltage calculation to replicate actual DJI Goggles behaviour 
This becomes apparent when pack voltage is above DJI's hard limit of 25.5v
with this fix the cell voltage is correct even for 12s packs just like on real hardware
 2021-01-13 17:59:15 +11:00
yaapu
b84baf06d3 AP_OpticalFlow: fix MAVLink opflow driver, only apply yaw to flowRate as body rate comes from AHRS 2021-01-13 17:56:27 +11:00
yaapu
5b2d430a2a AP_OpticalFlow: fix CXOF opflow driver, only apply yaw to flowRate as body rate comes from AHRS 2021-01-13 17:56:27 +11:00
Andrew Tridgell
8728148db6 AP_Notify: don't do startup tone on AP_Periph devices 2021-01-13 15:18:40 +11:00
Igor Campos
174700b7ad AP_Mount: Implement roll control on Solo gimbal 2021-01-13 08:39:03 +11:00
Tatsuya Yamaguchi
985642af32 AP_Avoidance: update the description of AVD_F_ALT_MIN to specify MSL 2021-01-12 21:59:44 +09:00
chobits
e73d28fe19 AP_NavEKF3: remove redundant extnav code 2021-01-12 21:56:36 +09:00
Josh Henderson
8e705a5eed AP_Logger: move BAT & BCL logging functions to AP_BattMonitor 2021-01-12 17:43:55 +11:00
Josh Henderson
e91953fa3b AP_BattMonitor: move log BAT & BCL into AP_BattMonitor 2021-01-12 17:43:55 +11:00
Josh Henderson
dfa8e55622 AP_BattMonitor: add has_temperature method to Backend 2021-01-12 17:43:55 +11:00
Peter Barker
b92b343d4e SITL: add simulator for ICM40609 2021-01-12 17:43:36 +11:00
Peter Barker
239b09fb34 AP_InertialSensor: add simulator for ICM40609 2021-01-12 17:43:36 +11:00
Peter Barker
3d577d94e8 GCS_MAVLink: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
Peter Barker
b229c552e6 AP_Arming: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
Peter Barker
0052500d67 GCS_MAVLink: split out a handle_command_component_arm_disarm 2021-01-12 08:48:44 +09:00
Brad Bosch
a2192eda5e GCS_MAVLink: use RADIO_STATUS message txbuf field 
this avoids overrunning radio buffer in queued_param_send()
 2021-01-12 10:46:15 +11:00
bugobliterator
4346264113 AP_HAL_ChibiOS: ensure UP and CH timer channels share DMA for H7 2021-01-12 10:45:03 +11:00
Peter Barker
96981baadf AP_CanManager: use milliseconds for timeout 
The use of PRIu64 was breaking people's builds
 2021-01-12 10:38:54 +11:00
Peter Barker
9099a9b622 AP_AHRS: correct names for active EKF type 2021-01-12 10:23:08 +11:00
Josh Henderson
0ebbf0f74e AP_Logger: move AP_AHRS functions out 2021-01-12 10:13:22 +11:00
Josh Henderson
62ff9a4d4b AP_AHRS: move logging functions to AHRS 2021-01-12 10:13:22 +11:00
Josh Henderson
8ce5113c74 AC_AutoTune: privatize AHRS logging 2021-01-12 10:13:22 +11:00
Andy Piper
e9ea360a99 AP_HAL_ChibiOS: don't timeout after 11 bits on serial irqs 2021-01-12 09:58:58 +11:00
Andrew Tridgell
957842f7eb AP_InertialSensor: added support for v3 Invensense sensors 
starting with ICM-40609, ICM-42688 and ICM-42605
 2021-01-11 14:43:35 +11:00
Andrew Tridgell
14433c3ae3 HAL_ChibiOS: enable ICM-40609 on mRoNexus 2021-01-11 14:43:35 +11:00
yaapu
0f49058fbd AP_MSP: fix for missing ACK on unsupported MSP messages 
MSP requires all messages to be acknowledged even if unsupported
 2021-01-11 08:54:15 +11:00
Andrew Tridgell
882d9c4e23 GCS_MAVLink: adjust stack sizes 2021-01-10 08:28:55 +11:00
Andrew Tridgell
dc57454ac5 AP_Logger: adjust stack sizes 2021-01-10 08:28:55 +11:00
Andrew Tridgell
afbdd69165 AP_HAL_ChibiOS: adjust stack sizes 2021-01-10 08:28:55 +11:00
Andy Piper
8fb403c569 AP_HAL_ChibiOS: make sure BDMA channels are not adjacent 2021-01-10 08:11:37 +11:00
Andy Piper
186c28c275 AP_BLHeli: correct bi-dir mask enablement 2021-01-09 09:47:40 +11:00
Peter Barker
416dd98140 AP_Logger: check HAL_LOGGING_DATAFLASH only for definition 
As the hwdefs only define the symbol, don't set it to a value...
 2021-01-08 12:48:55 +11:00
Peter Barker
7d42f473fc AP_Logger: allow each backend to be compiled out 2021-01-08 12:48:55 +11:00
yaapu
480c9f10df AP_OpticalFlow: fix for msp opflow sensor alignement 2021-01-08 09:29:23 +09:00
Michael Oborne
d2720da4a2 AP_GPS: support yaw for UAVCAN GPS 2021-01-07 15:56:28 +11:00
Michael Oborne
5ef3e1bec3 UAVCAN: add dsdl for gps heading 2021-01-07 15:56:28 +11:00
Peter Barker
e8d24a1f68 AP_Logger: initialise logger instance variables in header 2021-01-07 10:42:13 +11:00
Peter Barker
80e8688888 AP_Logger: remove perf counters 2021-01-07 09:20:00 +11:00
Andy Piper
b3946a667c AP_Logger: omnibusF4pro needs more stack for logging and logging needs to take precedence over ftp 2021-01-07 07:43:52 +11:00
chobits
b0fa5fadcd AP_Logger: fix BCN multiplier 2021-01-06 21:48:32 +11:00
Peter Barker
c590aa061f RC_Channel: return uint32_t for number of ms overrides should live 2021-01-06 18:33:15 +11:00
Peter Barker
ef0b860a48 AP_Logger: remove Prep and NeedPrep functions 
These were only being called directly after Init(), so just tacked them
onto the end of those functions.

The checks in NeedPrep turned out to be mostly redundant.
 2021-01-06 18:25:21 +11:00
Josh Henderson
1c49a0b44d AP_Logger: only log Battery Status for active monitors 2021-01-06 18:23:15 +11:00
Peter Barker
496267115c AP_RangeFinder: MAVLink: use larger of min ranges / smaller of max ranges 2021-01-06 15:33:41 +11:00
Peter Barker
81ab322daa SITL: correct max_distance in simulated mavlink rangefinder 2021-01-06 15:33:41 +11:00
Peter Barker
cba5f142a7 AP_RangeFinder: correct MAVLink backend's out-of-range checks 2021-01-06 15:33:41 +11:00
Peter Barker
223e775a3c AP_RangeFinder_MAVLink: only set sensor type if we accept a reading 2021-01-06 15:33:41 +11:00
Peter Barker
40eb9a8b99 AP_RangeFinder: do not start the mavlink rangefinder as healthy 
Also takes the opportunity to clean things up a little
 2021-01-06 15:33:41 +11:00
Gone4Dirt
c96ca2483e AP_Generator: Make sensor unhealthy msg consistent with other sensors 2021-01-06 09:59:34 +11:00
Andrew Tridgell
59fa794818 AP_NavEKF3: constrain vertical error 
this prevents a floating point exception with external AHRS
 2021-01-05 21:13:12 +11:00
Andrew Tridgell
1e75bb971e AP_NavEKF2: constrain vertical error 
this prevents a floating point exception with external AHRS
 2021-01-05 21:13:12 +11:00
Andrew Tridgell
ce561ab249 AP_Logger: log active EKF type as ATT.AEKF 2021-01-05 21:13:12 +11:00
Andrew Tridgell
b73131cdbc AP_AHRS: review fixes 2021-01-05 21:13:12 +11:00
Andrew Tridgell
4e33b74d69 AP_AHRS: call external AHRS update 2021-01-05 21:13:12 +11:00
Andrew Tridgell
b5b9b57c9e AP_AHRS: added external AHRS mavlink status 2021-01-05 21:13:12 +11:00
Andrew Tridgell
75ad1a7d31 AP_AHRS: send a text msg when active EKF changes 2021-01-05 21:13:12 +11:00
Andrew Tridgell
9dbd2d3eba AP_AHRS: expose active EKF type for logging 2021-01-05 21:13:12 +11:00
Andrew Tridgell
7cc71dc573 HAL_SITL: support VectorNav simulation 2021-01-05 21:13:12 +11:00
Andrew Tridgell
f57971eafe SITL: added VectorNav simulator 2021-01-05 21:13:12 +11:00
Andrew Tridgell
e284c5694d AP_AHRS: added AHRS_EKF_TYPE=11 for external AHRS 2021-01-05 21:13:12 +11:00
Andrew Tridgell
b74e5c0e2f AP_InertialSensor: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Andrew Tridgell
4f176c25de AP_InertialSensor: relax IMU wait time for low loop rates 
allow for waiting for all IMUs for up to 1/3 of the loop time
 2021-01-05 21:13:12 +11:00
Andrew Tridgell
bf51478dd1 AP_GPS: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Andrew Tridgell
a068e95a48 AP_Compass: added ExternalAHRS driver 2021-01-05 21:13:12 +11:00
Andrew Tridgell
75c789fc57 AP_Baro: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Andrew Tridgell
66297bd061 AP_Vehicle: added ExternalAHRS param tree and object 
using EAHRS param prefix
 2021-01-05 21:13:12 +11:00
Andrew Tridgell
0f08236e7c AP_SerialManager: added serial AHRS type 2021-01-05 21:13:12 +11:00
Andrew Tridgell
ae4d152d51 AP_SerialManager: added find_portnum() API 
used for allocating device IDs
 2021-01-05 21:13:12 +11:00
Andrew Tridgell
1b60be96d1 AP_ExternalAHRS: added support for external AHRS systems 
First supported is VectorNav VN-300 on serial
 2021-01-05 21:13:12 +11:00
Arsh
3d5addeee0 AP_HAL:examples:AnalogIn: Added comments in the AnalogIn example 2021-01-05 20:43:04 +11:00
Randy Mackay
3a075850f6 AC_Autorotation: minor comment fix 2021-01-05 17:19:43 +09:00
Peter Barker
b6833eee9b SITL: correct SMBus block reads 2021-01-05 14:45:20 +11:00
Peter Barker
8be50910e4 SITL: add support for simulated TSYS01 temperature sensor 2021-01-05 12:01:51 +11:00
Peter Barker
ecd21fbc4c AP_TemperatureSensor: add support for simulated TSYS01 temperature sensor 2021-01-05 12:01:51 +11:00
murata
d7533843d5 AC_AttitudeControl: Set the gravitational acceleration value to the defined value 2021-01-05 09:11:14 +09:00
murata
219dc2e7da AP_InertialSensor: Set the gravitational acceleration value to the defined value 2021-01-05 09:11:14 +09:00
murata
2eee8e389d AP_L1_Control: Set the gravitational acceleration value to the defined value 2021-01-05 09:11:14 +09:00
TsuyoshiKawamura
441be7e04b AP_Scripting: add rangefinder status_orient 2021-01-05 11:03:42 +11:00
Randy Mackay
647c568ab9 AP_NavEKF3: out-of-date comments removed 
GPS, Static and ExtNav yaw buffers have been separated
 2021-01-05 10:58:06 +11:00
Randy Mackay
27c998ad94 AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS 2021-01-05 10:58:06 +11:00
Randy Mackay
77af6df730 AP_NavEKF: rename EXTERNAL to GPS 2021-01-05 10:58:06 +11:00
Randy Mackay
c14b4a8b6c AP_NavEKF3: add support for GSF as yaw source 2021-01-05 10:58:06 +11:00
Randy Mackay
0fb168d6ab AP_NavEKF: source supports GSF yaw 2021-01-05 10:58:06 +11:00
Randy Mackay
5891c6ace8 AP_NavEKF3: separate GPS yaw from ExtNav yaw 2021-01-05 10:58:06 +11:00
Randy Mackay
6850b48ea1 AP_NavEKF3: add comments for yaw sensor variables 2021-01-05 10:58:06 +11:00
Randy Mackay
fca8eb0778 AP_NavEKF_Source: add ExtNav yaw source 2021-01-05 10:58:06 +11:00
Peter Hall
1f7d796845 AP_Scripting: add fast param bindings and example 2021-01-05 10:55:36 +11:00
Peter Hall
9dae370356 AP_Scripting: add param accesss helper 2021-01-05 10:55:36 +11:00
Andrew Tridgell
16753a51f4 HAL_Linux: use ExpandingString 2021-01-05 10:52:00 +11:00
Andrew Tridgell
42bc9adfb7 HAL_ChibiOS: use ExpandingString for @SYS buffers 2021-01-05 10:52:00 +11:00
Andrew Tridgell
6da0212ce4 AP_Scheduler: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
c21b6b4a16 AP_HAL_SITL: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
96cbde0ee6 AP_HAL: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
c924a9917e AP_Filesystem: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
0c6b4a1045 AP_CANManager: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
6c1891fcb3 AP_Common: added ExpandingString class 
useful for @SYS output construction
 2021-01-05 10:52:00 +11:00
Peter Hall
1a14c8a05b AC_PID: populate pid_info limit feild 2021-01-05 10:27:28 +11:00
Peter Hall
b2e1d88da8 AP_Logger: add limit flag to PID logs 2021-01-05 10:27:28 +11:00
Andrew Tridgell
69d3264e55 StorageManager: allow for CANDNA storage on F405 boards 
this allows for boards using the log structure storage with 15360
bytes of storage have a CANDNA area.

This fixes CAN support on F405 boards
 2021-01-05 10:25:17 +11:00
Peter Barker
8f8283e0f0 AP_Motors: rc_map_mask -> motor_mask_to_srv_channel_mask 
the naming of this function precedes our rc/srv-channel split
 2021-01-05 10:19:32 +11:00
Peter Barker
d24e569b20 GCS_MAVLink: add option to panic the autopilot 2021-01-05 10:04:25 +11:00
Peter Barker
ca6c133042 AP_HAL_ChibiOS: do not reuse va_list after it has been ended 2021-01-05 10:04:25 +11:00
Andrew Tridgell
a74d087fd8 SRV_Channel: prevent FPE with SERVOn_MIN==SERVOn_MAX 2021-01-05 08:23:28 +11:00
Josh Henderson
4a7f663cad AP_Logger: README add multiplier descriptions 
Add clarity to the multipliers and descriptions
 2021-01-04 20:45:38 +11:00
Andy Piper
27d7c73c8e AP_RCProtocol: rc_protocols_mask must be set before bootstrap occurs 2021-01-04 20:04:19 +11:00
Josh Henderson
ceb2c87970 SITL: align default i2c device bus for BattMonitor 2021-01-04 18:30:09 +11:00
Peter Barker
c81df7b5ad AP_Math: add tests for circle-segment-intersection 2021-01-04 13:58:42 +11:00
Peter Barker
f534963413 AP_Math: consolidate error checking 2021-01-04 13:58:42 +11:00
murata
4ffc559ccc AP_Math: judge isnan judgment before operation 2021-01-04 13:58:42 +11:00
Peter Barker
8977f3a859 SITL: correct I2C message handling 2021-01-04 12:49:20 +11:00
Peter Barker
23d393e108 SITL: add I2C 8Bit-register methods 2021-01-04 12:49:20 +11:00
Peter Barker
3c16f164df AP_HAL_SITL: correct I2C callback interval 2021-01-04 11:26:12 +11:00
Andrew Tridgell
324ff178d8 HAL_ChibiOS: fixed CUAV_GPS defaults.parm 2021-01-03 16:24:12 -08:00
Tom Pittenger
113f792ad1 AP_HAL_ChibiOS: update periph targets who have buzzer/LEDs with notify 2021-01-03 16:24:12 -08:00
Tom Pittenger
7dde981de6 AP_Notify: add public accessor and param defaults 2021-01-03 16:24:12 -08:00
Andrew Tridgell
6f4bfed82d HAL_ChibiOS: fixed build with alarm and no PWM channels 
this fixes a build error due to conditional always being false when
NUM_GROUPS==0 by using a C++ iterator. It also makes the code neater
 2021-01-04 09:04:06 +11:00
Peter Barker
8e34388a20 SITL: move simulated maxsonari2c to bus 0 
.... where the driver expects it by default
 2021-01-03 20:36:54 +11:00
Peter Barker
e5fd661caf SITL: correct I2C multi-bus support 2021-01-03 20:36:54 +11:00
Peter Barker
21ffa4d259 SITL: add sanity check for duplicate bus/addr I2C devices 2021-01-03 20:36:54 +11:00
Peter Barker
995f5d1dad SITL: increase quad scanner range to 18m 
Matches the value we send for Rover, which is useful until we can
reflect on the simulation to discover its maximum range
 2021-01-03 18:54:54 +11:00
Rishabh
2f5f55f680 SITL: Added quadcopter morse example with laser scanner 2021-01-03 18:54:54 +11:00
Peter Barker
b1239dcd06 SITL: correct OBSTACLE_DISTANCE message output from SIM_Morse 2021-01-03 17:49:44 +11:00
Andy Piper
40090dcce9 AP_UAVCAN: compile fix for debug/assertions 2021-01-03 08:57:13 +11:00
Andy Piper
176c648156 AP_Terrain: compile fix for gcc 9 2021-01-03 08:57:13 +11:00
Andy Piper
779c2a9e5f AP_Logger: move logger IO to a separate thread 2021-01-02 22:30:08 +11:00
Andrew Tridgell
09603e29ce AP_Compass: fixed external handling for BMM150 2021-01-02 10:31:15 +11:00
Andrew Tridgell
3d4a8829f3 AP_Compass: added BMM150 as available external mag 2021-01-02 10:31:15 +11:00
Andrew Tridgell
e747edbcf2 AP_NavEKF3: fixed init order for scheduler 
this can impact replay of EKF2
 2021-01-02 10:30:26 +11:00
Andrew Tridgell
b36bfe4206 AP_NavEKF2: fixed init order for scheduler 
this can impact replay of EKF2
 2021-01-02 10:30:26 +11:00
Hwurzburg
ce361e51bf HAL_ChibiOS: Reinstate HAL_MINIMIZE_FEATURES for 1MB F7 boards 2021-01-02 08:57:47 +11:00
Andrew Tridgell
6ed4eca57f AP_CANManager: fixed use of CANSensor on multiple ports 
we should not increment _num_drivers if we don't have a driver yet
 2021-01-02 06:25:20 +11:00
Andrew Tridgell
418367c266 HAL_SITL: allow --home to specify a location from locations.txt 
this will make it easy to use a named location in MissionPlanner SITL
 2021-01-01 17:30:32 +11:00
Andrew Tridgell
a4517032c5 AP_UAVCAN: log all UAVCAN devices in CAND log message 2021-01-01 17:30:14 +11:00
Andrew Tridgell
0ae9b28198 AP_Logger: added get_log_start_count() 
used by UAVCAN to know if it should log CAN devices on log rotation
 2021-01-01 17:30:14 +11:00
Andrew Tridgell
4fdf315760 AP_Logger: use null terminated strings 
this prevents logging garbage for strings that are shorter than the
length specifier (eg. 'Z'). This assumes we will not want to log
binary data as strings
 2021-01-01 17:30:14 +11:00
Andrew Tridgell
66c05bef76 AP_RangeFinder: added USD1 CAN driver 
also known as uLanding CAN
 2021-01-01 17:29:54 +11:00
Andrew Tridgell
943918d511 AP_Arming: added USD1 CAN 2021-01-01 17:29:54 +11:00
Andrew Tridgell
b7fa1a4b98 AP_CANManager: added USD1 CAN driver type 2021-01-01 17:29:54 +11:00
Michael du Breuil
60af6633cf AP_EFI: Add NWPMU CAN driver 2021-01-01 17:29:54 +11:00
Andrew Tridgell
fb84baf8a5 AP_Arming: added EFI_NWPMU 2021-01-01 17:29:54 +11:00
Andrew Tridgell
db798ace05 AP_CANManager: added EFI_NWPMU 2021-01-01 17:29:54 +11:00
Andrew Tridgell
32c3a2feef AP_CANManager: added CANSensor class 
this makes creation of custom CAN protocol handlers much easier
 2021-01-01 17:29:54 +11:00
Andrew Tridgell
e260c7ad59 HAL_ChibiOS: update f303-MatekGPS to allow disable of MSP 
and use DMA for MSP
 2021-01-01 15:40:13 +11:00
David B. Bitton
8dbe0a71ba AP_HAL_ChibiOS: add support for Toshiba LED 2020-12-31 11:02:10 -08:00
Tom Pittenger
8e6278f269 AP_ADSB: add Sagetech XP driver 2020-12-30 17:56:38 -08:00
Tom Pittenger
ffd3d1da1d AP_SerialManager: add support for ADSB protocol 2020-12-30 17:56:38 -08:00
Tom Pittenger
afaca30075 AP_HAL: add helpers le24toh_ptr(), be24toh_ptr(), put_le24_ptr(), put_be24_ptr() 2020-12-30 17:56:38 -08:00
Hwurzburg
e11677807b Plane: Unify tilt servo names 2020-12-30 21:21:57 +11:00
Andy Piper
401e5c2073 AP_HAL_ChibiOS: add support for bidir DShot support in RCOutput 
add support for sampling GPIO pins using timer
don't restart pwm group when not doing bi-dir
fix hwdef generation preproc for TIM DMA
decode telemetry at the start of the dshot cycle
calculate dshot pulse separation correctly and ensure we output rapidly enough
calculate dshot min periods and timeouts correctly
refactor dshot_send() into dshot_send_groups()
use bi-dir dshot channel mask
selectively enable bi-dir RC Channels
process bi-dir mask correctly when allocating DMA channels
allow UP and CH DMA channel sharing
optionally enable bidir vars in hwdef.

enable bi-dir dshot in KakuteF7Mini
enable bi-dir dshot in OmnibusF4Pro
enable bi-dir dshot in OmnibusNanoV6
enable bi-dir dshot in MatekF405
enable bi-dir dshot in fmuv5
enable bi-dir dshot in fmuv3
enable bi-dir dshot in OmnibusF7V2
enable bi-dir dshot in OmnibusNanoV6
enable bi-dir dshot in CubeOrange
enable bi-dir dshot in Pixracer
enable bi-dir dshot in mRoPixracerPro

Co-authored-by: bugobliterator <siddharthbharatpurohit@gmail.com>
 2020-12-30 19:14:16 +11:00
Andy Piper
5436784d38 AP_Logger: add ESC error rate 2020-12-30 19:14:16 +11:00
Andy Piper
1c79f22ba2 AP_HAL: make erpm accessible from RCOutput 
give access to erpm error rate
add bi-directional dshot mask modifier
 2020-12-30 19:14:16 +11:00
Andy Piper
c8b2f11ab6 AP_InternalError: add dma_fail 2020-12-30 19:14:16 +11:00
Andy Piper
f60fdde492 AP_BLHeli: return motor frequencies from bi-dir dshot if available 
add channel mask to cater for bi-dir dshot
call into rcout to setup bi-dir dshot
log bi-dir telemetry even when regular telemetry is disabled
don't expose bi-dir dshot if not compiled in
 2020-12-30 19:14:16 +11:00
oneWayOut
654aea1cd1 SITL: delete unused parameter 'Vector3f &body_accel' in Plane::calculate_forces() 2020-12-30 18:59:12 +11:00
murata
282590668d AP_RangeFinder: Make measurement time and call back time static constant 
Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com>
 2020-12-30 18:29:35 +11:00
Andy Piper
253ce18184 AP_HAL_SITL: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
526ae5d2f4 AP_HAL_Empty: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
74633e55cc AP_HAL_Linux: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
07f199ea1a AP_HAL_ChibiOS: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00