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25150 Commits

Author SHA1 Message Date
Andrew Tridgell
5686dafeef AP_NavEKF3: fixed logged core for GSF messages 2020-11-16 10:28:43 +11:00
Andrew Tridgell
a2f4b16cdc AP_NavEKF2: fixed logged core for GSF messages 2020-11-16 10:28:43 +11:00
Andrew Tridgell
04f60001ff AP_Logger: allow WriteV() to work within Replay 
save formats for lookup by WriteV
 2020-11-16 10:28:43 +11:00
Andrew Tridgell
03f2e853ce AP_NavEKF3: fixed memory corruption on push before init 
this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption

found using the new memory guard system
 2020-11-15 15:42:48 +11:00
Andrew Tridgell
01cd678244 AP_NavEKF2: fixed memory corruption on push before init 
this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption

found using the new memory guard system
 2020-11-15 15:42:48 +11:00
yaapu
026ddfa679 AP_OSD: fix for sim_vehcile --osdmsp 2020-11-15 15:01:13 +11:00
Peter Barker
32ba55e756 AP_DAL: move structure used for location references into cpp 
Outside we get a copy per compilation unit.
 2020-11-14 14:19:40 +11:00
Peter Barker
8c2c6141f7 AP_DAL: remove unused antenna_offset state 2020-11-14 10:33:38 +11:00
Tom Pittenger
3cf537deed AP_BoardConfig: reorder the fixed-index enum 2020-11-14 08:38:24 +11:00
Tom Pittenger
e0e3c23a87 AP_HAL_ChibiOS/hwdef: fix misprint in comment 2020-11-14 08:00:40 +11:00
Michael du Breuil
58ee8f62e2 AP_HAL_SITL: Support SFML joystick input 2020-11-13 15:38:22 +11:00
Michael du Breuil
892fb74c96 SITL: Add parameters for SFML_Joystick 2020-11-13 15:38:22 +11:00
Andrew Tridgell
c8e604a730 AP_Scripting: fixed gcc 9.x build 2020-11-13 14:30:11 +11:00
Andrew Tridgell
c14d19be68 AP_NavEKF3: fixed gcc 9.3 build error 
gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
 2020-11-13 14:30:11 +11:00
Andrew Tridgell
7099bb6096 AP_NavEKF2: fixed gcc 9.3 build error 
gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
 2020-11-13 14:30:11 +11:00
Andrew Tridgell
19c42ca0ed AP_RCTelemetry: fixed build for gcc 9.x 2020-11-13 14:30:11 +11:00
Andrew Tridgell
c1dded0483 AP_DAL: fixed distance in rangefinder data 
thanks to Paul for noticing
 2020-11-13 11:45:42 +11:00
Andrew Tridgell
8c59575646 AP_OSD: support callsign display on OSD 
use a file "callsign.txt" on the sdcard for callsign
 2020-11-12 14:22:44 -08:00
Andrew Tridgell
c423bcca65 AP_OLC: fixed build of OSD on SITL 
failed to link with constexpr, simple fix is to use defines, which
also scopes it inside the cpp
 2020-11-12 14:22:44 -08:00
Peter Barker
a9a2c8c392 AP_HAL_SITL: only disown a sempahore once we're done with it 2020-11-12 21:19:55 +11:00
Peter Barker
545a086865 SITL: make ToshibaLED an 8-bit register device 2020-11-12 21:19:55 +11:00
Peter Barker
e21e55ba51 SITL: add I2CRegister::8Bit for 8-bit-quantity devices 2020-11-12 21:19:55 +11:00
Huibean
a00243dc5a SITL: fix copter sitl build on macos 2020-11-12 20:39:51 +11:00
Andrew Tridgell
3f4c605361 AP_Beacon: added const 2020-11-11 16:14:22 -08:00
Marek Łukasiewicz
8813057b4c AP_HAL_ChibiOS: Tweak sorting to be py2/py3 compatible 2020-11-12 10:27:31 +11:00
bugobliterator
bf4f482f5e AP_FileSystem: do listing for SYS without slash as well 2020-11-12 08:42:44 +11:00
Andrew Tridgell
02e9519ab0 AP_Filesystem: fixed stat call for @SYS files 2020-11-12 08:42:44 +11:00
Peter Barker
c787231435 AC_Fence: remove timeout for waiting on fence semaphore, make nonblocking 
Also move where we indicate we've attempted a load.
 2020-11-11 18:46:22 +09:00
bugobliterator
d0cf3365ee AP_HAL_Linux: handle uninitialised soCAN file descriptor 2020-11-11 19:52:37 +11:00
bugobliterator
eea6b4c9b9 AP_HAL_SITL: handle uninitialised file descriptor 2020-11-11 19:52:37 +11:00
Peter Barker
48385b82dc AP_Logger: use instance number for Mag logging 2020-11-11 19:31:53 +11:00
Peter Barker
12f0e9dd43 AP_Logger: use instance number for Baro logging 2020-11-11 19:31:53 +11:00
Peter Barker
2437cf8a24 AP_Logger: use instance number for IMU logging 2020-11-11 19:31:53 +11:00
Peter Barker
d436e5b5d1 SITL: add simulator for Rotoye battery monitor 
Also correct temperature from generic battery simulator
 2020-11-11 19:27:21 +11:00
Lucas De Marchi
4be9b4171b AP_RangeFinder: TFMiniPlus: respect max configured via param 
Do like other drivers do and cap the maximum reported value with what is
configured in the parameter.
 2020-11-11 19:23:41 +11:00
Lucas De Marchi
0e63a833e9 AP_RangeFinder: TFMiniPlus: fix out-of-range returned a no-data 
Other drivers consider that they received data even if the value is
reported as "out of range" by sensor. On the I2C driver for TFMiniPlus
we considered this case, too. However when the signal strength is very
low (and thus the distance would likely be out of range), we would end up
ignoring the new sample. With enough samples without any value this
would lead the status to turn to "NoData".
 2020-11-11 19:23:41 +11:00
Iampete1
36eb605de5 AP_Arming: fix aux auth arming check 2020-11-11 18:24:55 +11:00
Peter Hall
d6a1af4690 AP_Scripting: example: arming auth: removed unused millis call 
now is fetched but never used
 2020-11-11 18:24:55 +11:00
Peter Barker
41943f5fda GCS_MAVLink: correct use of uninitialised value in Rally upload 2020-11-11 18:22:58 +11:00
Andrew Tridgell
0db8745320 AP_Filesystem: fixed flushing with posix compat layer 
this ensures the directory entry in the FAT is updated on fflush()

Fixes #14617
 2020-11-11 18:19:44 +11:00
Andy Piper
bd6b28e5d9 AP_Camera: if the RunCam supports both 2-key and 5-key control, use 2-key 
adjust camera menus for Split4 4k
use power button to start/stop recording on Split4
 2020-11-11 18:14:41 +11:00
Andy Piper
8cd9af5ddd AP_OSD: refactor to enable a TX-only set of parameter screens 
add accessor for getting parameter names
add camel-case conversion for parameters names
enable OSD parameters unless HAL_MINIMIZE_FEATURES
correct OSD parameter documentation
don't default to TXONLY
 2020-11-11 18:13:11 +11:00
Andy Piper
4d1c660ebc GCS_MAVLink: enable OSD parameters on parameter enablement 2020-11-11 18:13:11 +11:00
Andy Piper
06feecfaf2 AP_RCTelemetry: support CRSF parameter ping requests 
process read and write parameter request frames
add support for getting OSD parameters on read requests
send text selections over CRSF
chunker algorithm for CRSF text selections
disable functions if OSD_PARAM_ENABLED is not set
create separate parameter scheduler entry
don't enable CRSF text selection on 1mb boards
 2020-11-11 18:13:11 +11:00
Andy Piper
7f3f135dc5 AP_RCProtocol: add debug for further CRSF messages 
add better frame debug info to CRSF
 2020-11-11 18:13:11 +11:00
Nick Belanger
dbe5b90398 AP_BattMonitor: Adding driver for Rotoye Batmon equipped smart batteries 2020-11-11 14:24:13 +11:00
Peter Barker
eb132d1c93 AP_DAL: fill in visualodom structures 2020-11-11 13:50:22 +11:00
Peter Barker
428c9ef0e1 AP_GPS: correct logging in dual-ublox setups 2020-11-10 17:39:51 +11:00
Andrew Tridgell
2a210549f9 AP_DAL: minor review cleanups 2020-11-10 16:15:45 +11:00
Andrew Tridgell
790a5ffa38 AP_Vehicle: added bootloader vehicle type 2020-11-10 16:15:45 +11:00
Andrew Tridgell
280e9d1c41 HAL_ChibiOS: fixed bootloader build 2020-11-10 16:15:45 +11:00
Andrew Tridgell
17b4198921 HAL_ChibiOS: add WITH_FATFS to environment 2020-11-10 16:15:45 +11:00
Andrew Tridgell
147df12eb8 GCS_MAVLink: allow replay to use GCS_Dummy 2020-11-10 16:15:45 +11:00
Andrew Tridgell
ac566763fe HAL_ChibiOS: disable loop delay on replay 2020-11-10 16:15:45 +11:00
Andrew Tridgell
5e8380ff41 AP_HAL: allow replay on ChibiOS 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f4bf2ec3fe AP_DAL: allow replay on ChibiOS 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f121c250ae AP_BoardConfig: allow replay on ChibiOS 2020-11-10 16:15:45 +11:00
Andrew Tridgell
db86b95761 HAL_SITL: fixed AP_Periph sitl build 2020-11-10 16:15:45 +11:00
Andrew Tridgell
806852c9c3 AP_Math: speedup fill nanf 2020-11-10 16:15:45 +11:00
Andrew Tridgell
c321025725 HAL_SITL: run nanf fill every 10 loops 
this saves a lot of cpu while still giving protection
it reduces time to run a test replay from 8.1s to 4.1s
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
3152da98e1 AP_Logger: skip structure validation in replay 2020-11-10 16:15:45 +11:00
Andrew Tridgell
d380447cd5 HAL_SITL: support command line args for replay 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f966e92d99 HAL_SITL: default model for replay 2020-11-10 16:15:45 +11:00
Andrew Tridgell
0bc77a3baf AP_NavEKF3: fixed whitespace 2020-11-10 16:15:45 +11:00
Andrew Tridgell
8cb3013217 AP_DAL: setup low pass IMU filter for 20Hz 2020-11-10 16:15:45 +11:00
Andrew Tridgell
9e73922fd9 AC_PID: use calc_lowpass_alpha_dt() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
b0f0c8d842 Filter: use calc_lowpass_alpha_dt() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
cdcf32d22c AP_Math: added calc_lowpass_alpha_dt() 
used in several places
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6ee1b23d28 AP_NavEKF3: removed use of another lanes gyro in optflow takeoff detection 
as discussed with Paul
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
5b41d5541f AP_NavEKF2: removed use of another lanes gyro in optflow takeoff detection 
as discussed with Paul
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
0506af113e AP_DAL: tidyup 2020-11-10 16:15:45 +11:00
Andrew Tridgell
fabac94952 AP_DAL: avoid logging unused IMU data 2020-11-10 16:15:45 +11:00
Andrew Tridgell
7d7031d3d7 AP_NavEKF2: added const (review request) 2020-11-10 16:15:45 +11:00
Andrew Tridgell
7a34ec4458 AP_DAL: updated comment 2020-11-10 16:15:45 +11:00
Andrew Tridgell
0e7611cebe AP_DAL: fixed handling of AHRS trim 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f145afabf3 AP_DAL: pack RFRN more efficiently 2020-11-10 16:15:45 +11:00
Andrew Tridgell
a08a1a4247 AP_Logger: allow for larger LOG_FILE_BUFSIZE 
larger sizes on F7 and H7 allow for much more rapid loggging
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
71e4d72fe3 AP_Logger: removed 64k limitation on log buffer 
the reason for the limit is gone with AP_FileSystem
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
2945de4796 AP_Logger: use WITH_SEMAPHORE in _WritePrioritisedBlock 
this prevents a 1ms delay when waiting for the semaphore
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
7a8e8b8b51 AP_DAL: removed use of BUILD macros in headers 
fixes sempahore build
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
5be818f8a1 AP_DAL: re-pack GPS replay data 
this fixes antenna offset for blended GPS, and reduces the average
amount of data in logs for GPS replay
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
cb830dcc11 AP_AHRS: added comment from review 2020-11-10 16:15:45 +11:00
Andrew Tridgell
905ffed7fd AP_DAL: cleanups from review 2020-11-10 16:15:45 +11:00
Andrew Tridgell
509b9f5e63 AP_DAL: only enable standalone build with --no-gcs and --disable-scripting 2020-11-10 16:15:45 +11:00
Andrew Tridgell
4f17edc67d AP_DAL: moved standalone example to tools 
prevent trying to build with all examples
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
70abf799c3 AP_DAL: check for zero time in accel/gyro filtering 2020-11-10 16:15:45 +11:00
Andrew Tridgell
dd96d7c205 AP_DAL: fixed standalone linking 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6fe05a9ab6 AP_NavEKF3: restore XKTV message 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f5275fd0ad AP_NavEKF3: fixed use of pointers in ringbuffers 
these don't work with AP_DAL
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
16f7e51ea5 AP_NavEKF2: fixed use of pointers in ringbuffers 
these don't work with AP_DAL
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
eaa8474563 AP_NavEKF3: cope with INS_MAX_INSTANCES below 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell
246a441883 AP_NavEKF2: cope with INS_MAX_INSTANCES below 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell
021e305340 AP_Mount: cope with INS_MAX_INSTANCES below 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell
dab091a801 AP_AHRS: cope with INS_MAX_INSTANCES below 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f6c45c3bcd AP_InertialSensor: cope with INS_MAX_INSTANCES < 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell
bb3b59966f HAL_ChibiOS: define INS_MAX_INSTANCES if less than 3 
save some flash and memory
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
4ef7d5b468 AP_DAL: make more APIs const 2020-11-10 16:15:45 +11:00
Andrew Tridgell
9b81c5a1e0 AP_NavEKF3: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
5f0e943f0f AP_NavEKF2: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
e273f73cb4 AP_DAL: fixed shadowed variable 2020-11-10 16:15:45 +11:00
Andrew Tridgell
1bdf6173ec AP_NavEKF3: removed have_ekf_logging 2020-11-10 16:15:45 +11:00
Andrew Tridgell
21dfdc2192 AP_NavEKF3: use DAL for body frame odometry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
8591b31665 AP_NavEKF2: cleanup unused code 2020-11-10 16:15:45 +11:00
Andrew Tridgell
9635231088 AP_DAL: added body frame odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6c4e552a0b AP_GPS: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
353ec29ab6 AP_Compass: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
b0ec4f8b93 AP_Baro: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
1bc82d3118 AP_AHRS: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
851cb30e0d AP_Logger: speed up startup with replay if LOG_DISARMED=0 2020-11-10 16:15:45 +11:00
Andrew Tridgell
29ab747982 AP_DAL: fixed navio build 2020-11-10 16:15:45 +11:00
Andrew Tridgell
c7cc26d9bc AP_DAL: rename xxprintf() to rprintf() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
9542f365f6 AP_DAL: fixed range beacon handling 2020-11-10 16:15:45 +11:00
Andrew Tridgell
d01534c7c6 AP_DAL: remove unnecessary variables 2020-11-10 16:15:45 +11:00
Andrew Tridgell
a0de6c620f AP_NavEKF3: use selected GPS for gps_yaw_deg() 
more than one GPS could provide yaw
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f4c3d7286c AP_NavEKF3: support replay with wheel odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
b8a3413f5e AP_DAL: support wheel odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
e87f98066f AP_NavEKF3: support replay with external navigation data 2020-11-10 16:15:45 +11:00
Andrew Tridgell
bec095d661 AP_NavEKF2: support replay with external navigation data 2020-11-10 16:15:45 +11:00
Andrew Tridgell
c068da154a AP_DAL: support external pos and velocity data 2020-11-10 16:15:45 +11:00
Andrew Tridgell
5260d677ef AP_DAL: fixed optical flow replay 2020-11-10 16:15:45 +11:00
Andrew Tridgell
7bbbbd314c AP_NavEKF3: added optflow support for AP_DAL 2020-11-10 16:15:45 +11:00
Andrew Tridgell
224792b8b8 AP_NavEKF2: added optflow support for AP_DAL 2020-11-10 16:15:45 +11:00
Andrew Tridgell
dab9d824fd AP_DAL: added optflow support 2020-11-10 16:15:45 +11:00
Andrew Tridgell
a56f07b74d AP_Math: allow build without other headers for vector2.h 2020-11-10 16:15:45 +11:00
Andrew Tridgell
31091d6307 AP_NavEKF3: use ekf_low_time_remaining for core scheduling 2020-11-10 16:15:45 +11:00
Andrew Tridgell
90a8c5cb1a AP_NavEKF2: use ekf_low_time_remaining for core scheduling 2020-11-10 16:15:45 +11:00
Andrew Tridgell
47c3fadc17 AP_DAL: added ekf_low_time_remaining() 
used by EKF for inter-lane scheduling
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
1848491ac2 AP_DAL: fixed GPS backend for multiple sensors 2020-11-10 16:15:45 +11:00
Andrew Tridgell
bf61910c7c AP_DAL: fixed shadowed variable 
found by semaphore build
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
50d03571da AP_DAL: fixed build without VisualOdometry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
b7d60b1d97 AP_Logger: added C field to EKF msgs 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f3c3778169 prevent duplicate EKF logging 
vehicle code sometimes tries to log the same data twice
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
fa75824948 AP_DAL: added standalone link test 
useful to check for clean linking of EKF2/EKF3

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
32bda36908 SITL: fixed build with no GCS 2020-11-10 16:15:45 +11:00
Andrew Tridgell
0700ca4882 AP_Vehicle: added DAL standalone vehicle type 2020-11-10 16:15:45 +11:00
Andrew Tridgell
ae56f554b9 AP_Vehicle: send watchdog reset msg at startup 
this helps if the watchdog will happen within 10s of startup
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
77687a9639 AP_UAVCAN: fixed build with no GCS 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
9b35bfba55 AP_AHRS: use enum class for takeoff/touchdown states 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
31fbb59384 AP_AHRS: delay EKF start until logging ready 
for replay to work reliably we need all the parameters output before
we init the EKF.

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
096aab9388 AP_NavEKF3: convert to use AP_DAL for new replay structure 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6be3d19e82 AP_NavEKF2: convert to use AP_DAL for new replay structure 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
97a2c5a576 AP_NavEKF: removed Log_EKF_Timing 
not needed for new replay

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
c0b20881d6 AP_Math: allow vector3.h to be included earlier in include chain 2020-11-10 16:15:45 +11:00
Andrew Tridgell
09aff03edc AP_Logger: support new replay system 
added allow_start_ekf and block write method for replay

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
daa0abeb13 AP_Logger: make structure check errors clearer 
add message name to more error messages
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
bd7ed003c2 AP_Logger: split out EKF messages and prepare for new replay 
adds core to more EKF message structures

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
e116b1ff0a AP_DAL: added data access layer library 
This provides a wrapper around sensor and system calls to allow for
logging for replay in EKF2 and EKF3

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Iampete1
1587d88f58 AP_Scripting: example saving serial data to SD card 2020-11-10 12:15:56 +11:00
Iampete1
60951a7891 AP_GPS: add use primary if 3D fix GPS_AUTO_SWITCH option 2020-11-10 12:01:56 +11:00
Iampete1
347723dbaf AP_GPS: add primary param 2020-11-10 12:01:56 +11:00
Iampete1
0c2037438b AP_Motors: output mask: do not apply copter sin params and epxo 2020-11-10 11:09:56 +11:00
Peter Barker
814aa4e5ec AP_AHRS: take secondary attitude from EKF3 if it is configured 2020-11-10 10:59:08 +11:00
Andrew Tridgell
f7daa4a93a AP_Compass: raise max scale factor and make symmetric 2020-11-10 10:15:39 +11:00
Rishabh
68b6ecc59c AC_Avoid: Mark OA_OPTIONS as a Rover-Only param 2020-11-09 08:37:47 +09:00
Andrew Tridgell
cb034c50a7 HAL_ChibiOS: fixed orientation of compass on M10070B 2020-11-08 16:13:17 +11:00
Andrew Tridgell
3b7b2b89a5 HAL_ChibiOS: added baro for mRo Location-one GPS 2020-11-08 16:13:17 +11:00
Tom Pittenger
df90e28b89 AP_ADSB: move code to new uAvionix backend 2020-11-05 07:02:56 -08:00
Tom Pittenger
f784fc7c5c AP_ADSB: create frontend/backend split 2020-11-05 07:02:56 -08:00
Peter Barker
fd9068de8a AP_L1_Control: correct zeroing of cross-track integrator 
This routine is generally only called at 10Hz, so the integrator was
regularly reset.
 2020-11-05 17:32:38 +11:00
Randy Mackay
d6869b9234 AC_PosControl: fix typo in posxy_p param desc 2020-11-05 14:59:00 +09:00
Mark Whitehorn
5f8b4968ec AP_Vehicle: add instructions for config_error loop 2020-11-05 15:04:10 +11:00
Mark Whitehorn
30a9bb4ff4 AP_BoardConfig: change message interval to 5 seconds to match scheduler_delay_callback 2020-11-05 15:04:10 +11:00
bugobliterator
9acaa84b8f AP_Param: disable cmdline parameters for AP_Periph 2020-11-04 19:59:40 +11:00
bugobliterator
0d41db5520 AP_HAL_SITL: flush data from select call as we don't wait select in AP_Periph 2020-11-04 19:59:40 +11:00
bugobliterator
09a0d8d0c0 HAL_SITL: add support for AP_Periph SITL build 2020-11-04 19:59:40 +11:00
bugobliterator
9f4457f1d2 HAL_Empty: add empty protocol method in RCInput 2020-11-04 19:59:40 +11:00
Tom Pittenger
7a09f88e83 AP_ADSB: refactor and renamed things and general cleanup for pre-backend split 2020-11-04 16:22:47 +11:00
Tom Pittenger
8bcc32db78 RC_Channel: added adsb health check 2020-11-04 16:22:47 +11:00
Tom Pittenger
37c6622b96 AP_Arming: add arming check for ADSB 2020-11-04 16:22:47 +11:00
Iampete1
e95376fbef AP_Scripting: add notify LED get RGB binding and example 2020-11-02 17:40:21 -07:00
Iampete1
0f2c06d798 AP_Notify: RGBLed: rename OFF define 2020-11-02 17:40:21 -07:00
Iampete1
2e4b61d96e AP_Notify: add scripting LED type 2020-11-02 17:40:21 -07:00
Iampete1
cf599952f5 AP_Notify: RGB LED remove unused varables 2020-11-02 17:40:21 -07:00
Iampete1
0668c5c584 AP_Scripting: support pass by refence on none bool return 2020-11-02 17:40:21 -07:00
Michael du Breuil
b30c55b3f3 AP_GPS: Support yaw from moving base station on SBF drivers 2020-11-03 11:12:20 +11:00
Michael du Breuil
4161e2eb28 AP_GPS: Factor out moving base offset helper 2020-11-03 11:12:20 +11:00
Hwurzburg
230798546e RC_Channel: correct metadata for RC_OPTION param 2020-11-03 11:06:36 +11:00
Michael du Breuil
0f5179d204 AP_Scheduler: Emit last internal error line 2020-11-03 11:04:13 +11:00
Michael du Breuil
25ca2a0828 AP_Logger: Reserve space in PM for last internal error line 2020-11-03 11:04:13 +11:00
Michael du Breuil
051640e2b2 AP_Math: Log line numbers on constrain_nan's for constrain float 2020-11-03 11:04:13 +11:00
Randy Mackay
2681d3afe2 AP_NavEKF3: simplify alignYawAngle 2020-11-03 11:00:01 +11:00
Peter Barker
fc49b55b85 AP_NavEKF3: make coreBetterScore const 2020-11-03 10:39:35 +11:00
Peter Barker
84c92b717f AP_NavEKF2: make coreBetterScore const 2020-11-03 10:39:35 +11:00
Phillip Kocmoud
c192efea0a hwdef:PixracerPro - Fix analog volt pin assignments 2020-11-03 08:17:54 +11:00
Andre Kjellstrup
e5ffc834e9 AP_Arming: Parameter check is not unused 2020-11-02 13:41:57 +11:00
Andrew Tridgell
46976c4358 HAL_ChibiOS: fixed remapping of ioline_t with BRD_ALT_CONFIG 
when a peripheral is made available via BRD_ALT_CONFIG we need to
remap the existing ioline_t in the UART and I2C drivers to use the new
pin.

This fixes an issue with half-duplex, inverted, swapped UART pins for
protocols like FPort and FPort2
 2020-10-28 19:51:45 +11:00
Andrew Tridgell
2dd58c8ed1 AP_RCProtocol: send null pkts for FPort2 
when we have no data to send, we should send an empty packet to ensure
the receiver schedules us for data as often as possible
 2020-10-28 19:51:45 +11:00
Iampete1
97b44dfe71 AP_Scripting: add DIR_DISABLE param 2020-10-28 19:22:45 +11:00
Iampete1
2bdcadd785 AP_Scripting: examples to load and save missions to the SD card 2020-10-28 19:21:26 +11:00
Randy Mackay
b726630ef4 AP_NavEKF3: pos timeout or glitch does not reset vel if fusing successfully 
vel is not reset if GPS velocity, optical flow, visual odometry or wheel
encoders are successfully being fused
 2020-10-28 19:06:53 +11:00
Randy Mackay
3b38aa6d7b AP_NavEKF3: GPS change pos reset uses ResetPositonNE and ResetPositionD 
Using these existing functions removes some code duplicate
non-functional change
 2020-10-28 19:03:34 +11:00
Siddharth Purohit
73dea6d29c AP_CANManager: return max number of drivers for get_num_drivers 2020-10-28 18:38:05 +11:00
Oliver Walters
917f7d8797 AP_PiccoloCAN: Update timeout values to use 64-bit calls 
- Prevent premature overflow due to 32-bit variables
 2020-10-28 18:25:45 +11:00
Oliver Walters
491499ad16 AP_PiccoloCAN: Fixed license text in auto-generated files 
- License file had been replaced due to re-generation of protocol files
- Original license file and header text reverted
 2020-10-28 18:25:45 +11:00
Oliver Walters
479df2e20b AP_PiccoloCAN: Prevent thread from getting stuck in an infinite loop 
- Previous code would get stuck in the CAN Tx loop
- New approach is to simply increase the timeout on frame transmission
 2020-10-28 18:25:45 +11:00
Oliver Walters
6786e832a1 AP_PiccoloCAN: Provide compatibility for "Gen 2" Velociy ESC ICD 
- The "Gen 2" Velocity ESC provides much more telemetry data
- The new ICD changes are compatible (i.e. legacy and modern ESCs can be on the CAN bus at the same time)
- Decode legacy packets and convert them to modern data structures
- Supports decoding of newer telemetry packets
- Supports decoding of new warning / error packets
 2020-10-28 18:25:45 +11:00
Andrew Tridgell
d8337cf9e5 SITL: allow loading of model from ROMFS 2020-10-28 14:20:44 +11:00
Andrew Tridgell
e07cecb264 SITL: added support for simulated battery discharge 2020-10-28 14:20:44 +11:00
Andrew Tridgell
e8f21d3458 AP_InertialSensor: fixed rpm indexing for vtol motors 
quadplane vtol motors start at 1
 2020-10-28 14:20:44 +11:00
Andrew Tridgell
a0bc9d3148 SITL: fixed quadplane mass and rpm indexing 2020-10-28 14:20:44 +11:00
Andrew Tridgell
767773da5e SITL: improved multicopter simulation 
this takes account of motor expo, velocity of air over propellers,
mass, size and other factors

It also allows for frame parameters to be supplied as an external json file
 2020-10-28 14:20:44 +11:00
Andrew Tridgell
c2661a0f09 SITL: added picojson.h header 
will be used for custom frame parameters
 2020-10-28 14:20:44 +11:00
Randy Mackay
7b898ee001 AP_NavEKF3: minor comment and format fixes 2020-10-28 12:17:40 +09:00
Randy Mackay
fccc1fcb72 AP_NavEKF2: minor comment fix 2020-10-28 12:17:22 +09:00
Andrew Tridgell
20c4f1950b AP_RCProtocol: added FPort protocol test 2020-10-28 09:00:34 +11:00
Andrew Tridgell
df5105e20b AP_RCProtocol: added FPort2 protocol test 2020-10-28 09:00:34 +11:00
Andrew Tridgell
a8770a5a82 AP_RCProtocol: added FPort2 protocol support 2020-10-28 09:00:34 +11:00
Andrew Tridgell
747b48d0a8 AP_Math: added crc_sum8 
for FPort/FPort2
 2020-10-28 09:00:34 +11:00
Andrew Tridgell
66596dcf25 AP_Logger: allow for retry of log open with LOG_DISARMED=1 
if booting without a microSD and with LOG_DISARMED=1 then this allows
for a retry of opening the log every 5s
 2020-10-27 20:35:56 +11:00
Rishabh
cd8404f80c AP_BattMonitor: Update @value field in param to be increasing order 2020-10-27 17:15:04 +11:00
Vinicius Juvinski
36204e5dae AP_HAL_Linux: Fix PWM FS to follow the Kernel's 4.X instead 3.9 
Checking the ToneAlarm under AP_HAL_Linux(BBBMINI is using that)  I realize was using old kernek
3.9 device tree, so I updated to 4.X - this will affect only BBBMINI and
Blue boards.
 2020-10-26 22:55:03 -07:00
Randy Mackay
eb880a2657 AP_Scripting: copter-wall-climber fix for climb rate limiting 2020-10-27 14:06:15 +09:00
Randy Mackay
eab7c9520c AP_Scripting: copter-wall-climber accel limiting 
reduces climb rate slowly so it can stop before next interval
also fixup formatting of altitude output to user
 2020-10-27 14:06:15 +09:00
Randy Mackay
2ab860b8b7 AP_Scripting: copter-wall-climber format and comment fixes 
replaced tab with spaces
also fixed comment
 2020-10-27 14:06:15 +09:00
giacomo892
640990a7c7 AP_Compass: Fix TYPEMASK bitmask 2020-10-27 15:40:25 +11:00
Tatsuya Yamaguchi
e1126d4fd6 GCS_MAVLink: use micro64 instead of micros for time_usec 2020-10-27 15:37:29 +11:00
Iampete1
7aad83ccca AP_Airspeed: add MATLAB based NMEA sensor example 2020-10-27 11:24:49 +11:00
Iampete1
0e41b821e8 AP_Airspeed: defualt to type none on sub 2020-10-27 11:24:49 +11:00
Iampete1
73594cb19b GCS_MAVLink: send airspeed temp in scaled_pressure 2020-10-27 11:24:49 +11:00
Iampete1
2aff8787c1 AP_Airspeed: add NMEA water speed backend 2020-10-27 11:24:49 +11:00
Iampete1
9884c2c2ce AP_SerialManager: add airspeed type 2020-10-27 11:24:49 +11:00
Iampete1
8996c4cee0 AP_Scripting: NMEA example updated decoding 2020-10-27 11:24:49 +11:00
Iampete1
662d4640ef AP_Airspeed: add dedicated MAX_WIND param 2020-10-27 11:21:04 +11:00
Iampete1
d7e8ad1c13 AP_AHRS: add ARSPD_OPTION note to WIND_MAX 2020-10-27 11:21:04 +11:00
murata
22b8ed5adf AP_Baro: Delete unnecessary return processing 2020-10-27 10:48:52 +11:00
Andrew Tridgell
6f92abea63 AP_Filesystem: fixed build on gcc 9.3 2020-10-27 10:45:47 +11:00
Andrew Tridgell
45af37298b AP_BoardConfig: use AP_Filesystem for sdcard mount 2020-10-27 10:45:03 +11:00
Andrew Tridgell
ee50eaf3c9 HAL_ChibiOS: go via AP_Filesystem for mount/unmount operations 
this fixes a deadlock where a mount/unmount could access FATFS without
holding the AP_Filesystem semaphore
 2020-10-27 10:45:03 +11:00
Andrew Tridgell
2596875ceb AP_HAL: removed fs_init() 
this must go via AP_Filesystem
 2020-10-27 10:45:03 +11:00
Andrew Tridgell
e429d578fa AP_Filesystem: added interface for mount/unmount 
we need to hold the FATFS semaphore when doing mount/unmount, which
means we must go via AP_Filesystem_FATFS
 2020-10-27 10:45:03 +11:00
Michael du Breuil
1a1a5e69dd AP_Scripting: Add setmetatable back to the lua sandbox 2020-10-27 10:25:56 +11:00
Peter Barker
9aec1e48af AP_Frsky_Telem: tidy mavlite message handling 
Including calling into reboot-vehicle rather than the hal reboot method.
 2020-10-27 10:17:53 +11:00
Peter Barker
e0f8e003ec AP_Frsky_Telem: move mavlite message handling to own object 2020-10-27 10:17:53 +11:00
Peter Barker
b4e12da2c8 AP_Frsky_Telem: rework SPort-to-MAVlite conversion 
Breaks the single object into three distinct parts objects, and hidesas
much information from the other parts as possible.
 2020-10-27 10:17:53 +11:00
yaapu
4dec72a230 AP_RCProtocol: added support for frsky fport bidirectional telemetry 2020-10-27 10:17:53 +11:00
yaapu
0012b83d86 AP_vehicle: added support for frsky bidirectional telemetry 2020-10-27 10:17:53 +11:00
yaapu
988af83fce AP_Frsky_Telem: added support for frsky sport/fport bidirectional telemetry 2020-10-27 10:17:53 +11:00
yaapu
a4297bcdd7 AP_Frsky_SPort: reduce acceptable response delay to 6500us 2020-10-27 10:17:53 +11:00
yaapu
33f19eec27 AP_Frsky_Telem: tidy parsers and splitting of statustexts 2020-10-27 10:17:53 +11:00
yaapu
6abf4ec2b5 AP_Frsky_Telem: tidy creation of frsky data 2020-10-27 10:17:53 +11:00
Peter Barker
602a9592ce SITL: add Maxell SMBus battery support 2020-10-26 20:34:05 +11:00
Paul Riseborough
f2af2b3458 AP_NavEKF3: Initialise tiltErrorVariance class variable 2020-10-26 11:03:50 +11:00
Paul Riseborough
43386a8eea AP_NAvEKF3: Use a const reference 2020-10-26 11:03:50 +11:00
Paul Riseborough
64a3d8fe4e AP_NavEKF3: Update documentation 2020-10-26 11:03:50 +11:00
Paul Riseborough
6c7820dd8d AP_NavEKF3: Add verification of tiltErrorVariance() method in SITL 2020-10-26 11:03:50 +11:00
Paul Riseborough
90e928c32a AP_NavEKF3: Re-tune tilt alignment check 
New tilt error variance estimate is more accurate and larger than before.
 2020-10-26 11:03:50 +11:00
Paul Riseborough
16ae75a681 AP_NavEKF3: Consolidate and log tilt error variance calculation 2020-10-26 11:03:50 +11:00
Paul Riseborough
8a88dd23a2 AP_NavEKF3: Add missing generated code file for yaw fusion 2020-10-26 11:03:50 +11:00
Paul Riseborough
69632336e1 AP_NavEKF3: Remove singularity in yaw fusion at +-90deg yaw 
Uses sympy derivation
 2020-10-26 11:03:50 +11:00
Paul Riseborough
4e41e9f5f1 AP_NavEKF3: Ensure consistent use of 312 or 321 rotation order 
Prevents possibility of a differnt sequence being used to calculate the yaw and application of the yaw to the quaternions
 2020-10-26 11:03:50 +11:00
Paul Riseborough
fa10d114e4 AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch 
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
 2020-10-26 11:03:50 +11:00
Paul Riseborough
73d5ca5ad3 AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch 
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
TODO derive and add function that calculates tilt error variance.
 2020-10-26 11:03:50 +11:00
Paul Riseborough
a97d030e4b AP_NavEKF3: Reset earth field variances when starting mag field estimation 2020-10-26 11:03:50 +11:00
Paul Riseborough
9168d0cd19 AP_NavEKF3: Initialise mag field variances to non zero values 2020-10-26 11:03:50 +11:00
Paul Riseborough
0b96f046c2 AP_NavEKF3: Unblock initial yaw alignment message 2020-10-26 11:03:50 +11:00
Paul Riseborough
f81abd73d6 AP_NavEKF3: Update covariance prediction to yse SymPy generated equations 
Saves flash and variable space.
 2020-10-26 11:03:50 +11:00
Michael du Breuil
a61444cec0 AP_GPS: Don't reset the entire buffer when handling RTCM data 
This is a micro optimization intended to just make handling GPS
corrections a bit faster.
 2020-10-25 14:21:39 +11:00
Andrew Tridgell
acdc939946 AP_WheelEncoder: added SMAX param docs 2020-10-25 10:32:48 +11:00
Andrew Tridgell
9a244eef29 APM_Control: added SMAX param docs 2020-10-25 10:32:48 +11:00
Andrew Tridgell
0a7c628355 AC_AttitudeControl: added SMAX param docs 2020-10-25 10:32:48 +11:00
Andrew Tridgell
739410953b AC_PID: added slew limiter AC_PID 
this adds the fixed wing slew limiter as an optional part of
AC_PID. It allows the user to configure a maximum slew limit to
prevent oscillations in PIDs when gains are too high
 2020-10-25 10:32:48 +11:00
Andrew Tridgell
709e1f8f93 Filter: added slew rate filter 2020-10-25 10:32:48 +11:00
Andrew Tridgell
d2a4505184 APM_Control: fixed bug in slew filter 2020-10-25 10:32:48 +11:00
Andrew Tridgell
a4716fb9bf AP_NavEKF3: fixed multi-core yaw reset 
thanks to Alex Burka for finding this
 2020-10-24 19:35:30 +11:00
Andrew Tridgell
dc32f7a12f AP_NavEKF2: fixed multi-core yaw reset 
thanks to Alex Burka for finding this
 2020-10-24 19:35:30 +11:00
Andrew Tridgell
fcccdcc936 AP_NavEKF3: fixed bug in external yaw for fixed wing 
when we are on the ground we should not chang to AID_NONE if we have
an external yaw source

this fixes an EKF3 error loop on the ground found by Michael
 2020-10-24 13:50:33 +11:00
Randy Mackay
c3fd82b6d7 AP_NavEKF3: minor spelling fix 2020-10-24 12:35:58 +11:00
Randy Mackay
2f1ae29a9c AP_NavEKF3: extnav data gets corrected boolean 
CorrectExtNavForSensorOffset and CorrectExtNavVelForSensorOffset use
corrected boolean to avoid correcting twice
 2020-10-24 12:35:58 +11:00
Randy Mackay
a16de76f57 AP_NavEKF3: correct extnav position as it is recalled from the buffer 
This makes extnav position correction consistent with the velocity correction
 2020-10-24 12:35:58 +11:00
Randy Mackay
71487e9c10 AP_NavEKF3: gps_elements gets corrected flag 
CorrectGPSForAntennaOffset uses this flag to ensure position and velocity are only corrected once
 2020-10-24 08:49:33 +09:00
Randy Mackay
3d4e1cd5c5 AP_NavEKF3: CorrectGPSForAntennaOffset always corrects vel 2020-10-24 08:49:33 +09:00
Randy Mackay
e25579cc00 AP_NavEKF3: correct GPS for position as it is recalled from buffer 2020-10-24 08:49:33 +09:00
Michael du Breuil
c86dcf91d6 AP_InertialSensor: Run vibration monitoring on all instances 2020-10-24 09:54:04 +11:00
Andrew Tridgell
96f7397099 HAL_ChibiOS: make PowerC primary power on CUAV-X7 
CUAV considers the CAN power to be the main power for this board
 2020-10-24 08:27:21 +11:00
Michael Oborne
b383db15c7 ChibiOS: fix cubeblack+ name and usbid 2020-10-24 08:26:55 +11:00
Peter Barker
0496ecc4f6 AP_NavEKF2: remove unused state variables 2020-10-22 08:47:08 +11:00
Peter Barker
a1e7c91f8e AP_NaveEKF3: reduce code duplication in setup_core 
Less code.

Saves 40 bytes on PixRacer
 2020-10-22 08:47:08 +11:00
Peter Barker
74f75dcd31 GCS_MAVLink: fill AUTOPILOT_VERSION.uid2 from get_system_id_unformatted 2020-10-21 18:26:12 +11:00
murata
9714d8dde9 AP_MAth: Move the CRC24 to the AP_Math class 2020-10-21 18:24:07 +11:00
murata
4c835a0df9 AP_GPS: Move the CRC24 to the AP_Math class 2020-10-21 18:24:07 +11:00
Peter Barker
7c8df47ac9 GCS_MAVLink: process messages sent to broadcast system 
.... even if we've forwarded them to someone else.
 2020-10-21 18:22:48 +11:00
Peter Barker
d3ba7a8409 GCS_MAVLink: don't learn a route to the broadcast component 
Using a component ID of 0 for your source is invalid according to
common.xml

However, some clients do use it.

This stops us learning a route to that client for the broadcast client
for our own system ID.
 2020-10-21 18:22:48 +11:00
bugobliterator
308bc64f35 AP_Filesystem: add support for listing @SYS files 2020-10-21 18:16:50 +11:00
Randy Mackay
e4056086e0 AP_NavEKF3: minor format and spelling fixes 2020-10-21 13:54:22 +09:00
Randy Mackay
231a958e51 AP_NavEKF3: minor comment fix 2020-10-21 11:40:35 +09:00
Randy Mackay
8aba1655a2 AP_Scripting: add ahrs-print-variances example 2020-10-21 08:58:45 +09:00
Randy Mackay
5eae007d49 AP_Scripting: add binding for ahrs get_variances 2020-10-21 08:58:45 +09:00
Randy Mackay
bb25e4f6a3 AP_RCTelemetry: integrate ahrs::get_variances change 
offset is no longer returned
 2020-10-21 08:58:45 +09:00
Randy Mackay
6a72805f07 AP_AHRS: get_variances does not return offset 
the offset is not a variance and is not actually used by any callers of this function
 2020-10-21 08:58:45 +09:00
Patrick José Pereira
375fe22dff AP_Mount: Improve instance validation check 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-21 08:55:33 +09:00
Randy Mackay
b0363a01b0 AP_Scripting: add copter-wall-climber example script 2020-10-20 23:04:45 +09:00
Randy Mackay
e4ccd21dd7 AP_NavEKF3: consolidate extNav height source timeouts 2020-10-20 17:11:26 +09:00
Randy Mackay
6989a28bfc AP_NavEKF3: allow alt from other sources when using ExtNav 
also allows using ExtNav alt when not using it for XY position
removes redundant and incorrect setting of activeHgtSource from ExtNav
which was always being overwritten by the correct value later in selectHeightForFusion
 2020-10-20 17:11:26 +09:00
Randy Mackay
0cebde0632 AP_NavEKF3: minor restructure of how fusePosData and fuseVelData are set 
this non-functional change slightly reduces the number of places we set these variables
 2020-10-20 17:11:26 +09:00
Peter Barker
ef505df78a AP_NavEKF3: remove unused quat2Tbn method 2020-10-20 11:40:54 +11:00
Peter Barker
53305ba2a4 AP_NavEKF2: remove unused quat2Tbn method 2020-10-20 11:40:54 +11:00
Peter Barker
0eafe4b662 AP_NavEKF3: remove dangling method declarations 2020-10-20 11:40:54 +11:00
Peter Barker
312cf725aa AP_NavEKF2: remove dangling method declarations 2020-10-20 11:40:54 +11:00
Peter Barker
83d784c22d AP_NavEKF3: fix includes 2020-10-20 11:40:54 +11:00
Peter Barker
c90265f94d AP_NavEKF2: fix includes 2020-10-20 11:40:54 +11:00
Peter Barker
d4cb14b262 AP_AHRS: remove magic resetting of EKF type 1 to 2 
If EKF2 is not compiled in the current compatability code will not work
so well.

Throw the user over to the config error loop and they can fix it there.
 2020-10-20 11:32:57 +11:00
Peter Barker
565b29a72c AP_AHRS: remove FLAG_NONE; it's not a flag, it's a bitmask value 2020-10-20 11:24:34 +11:00
Peter Barker
1ef92bb691 AP_AHRS: remove un-needed initialisations 2020-10-20 11:24:34 +11:00
Peter Barker
3dc67f09fd AP_NavEKF3: remove unused innovationIncrement and lastInnovation 2020-10-20 11:24:34 +11:00
Peter Barker
80f9ef7ed1 AP_NavEKF2: remove unused innovationIncrement and lastInnovation 2020-10-20 11:24:34 +11:00
Peter Barker
02c9aa2ae2 AP_InertialSensor: remove unused define 2020-10-20 11:24:34 +11:00
Peter Barker
9d45669a58 AP_AHRS: reuse ins object for multiple calls, simplify delta_t variable 2020-10-20 11:24:34 +11:00
Andrew Tridgell
e529d475d4 AP_GPS: use mktime for NMEA and MTK time conversion 
this fixes NMEA time handling, which was off by 3 days
 2020-10-20 11:21:00 +11:00
Andrew Tridgell
7562eef4c1 AP_Filesystem: use mktime from AP_RTC 2020-10-20 11:21:00 +11:00
Andrew Tridgell
43af5893fb AP_RTC: added mktime(), used by AP_Filesystem and AP_GPS 2020-10-20 11:21:00 +11:00
Nick Exton
01155cc5d4 AP_Param: Ignore FORMAT_VERSION param when loading SITL defaults 
This fixes a bug where having FORMAT_VERSION in the SITL defaults file
can result in an invalid SITL EEPROM file. See issue #15579 for details.
 2020-10-20 10:30:17 +11:00
Patrick José Pereira
258083a6f2 AP_Logger: AP_Logger_File: Set custom log directory in init 
`_log_directory` was used before `ensure_log_directory_exists`,
to fetch the log path

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-20 09:31:49 +11:00
Samuel Tabor
c9362fbb70 SITL: Calculate current in SIM_Plane. 2020-10-18 11:43:51 +11:00
Peter Barker
99e95666e8 AP_AHRS: remove unused AP_AHRS_TYPE define 2020-10-18 09:41:29 +11:00
Patrick José Pereira
6ee401cb00 AP_Math: Remove isnan check for non-float type 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-16 09:22:05 +11:00
chobits
c5e289efc3 AP_Beacon: Nooploop driver 
based on rmackay9's work
 2020-10-15 08:07:46 +09:00
Peter Barker
c40b5490f4 AP_HAL_SITL: stop setting of pull-up resistors affecting SIM_PIN_MASK 2020-10-14 08:28:23 +11:00
Harsh Pandey
c2744396cc AP_BoardConfig: Update BRD_TYPE parameter description for recent boards. 2020-10-14 07:53:22 +11:00
Pierre Kancir
52898cfdbd AP_Airspeed: remove size warning on SDP3X crc function. 
Clang-Tidy: Loop variable has narrower type 'uint8_t' (aka 'unsigned char') than iteration's upper bound 'unsigned int'
 2020-10-14 07:52:02 +11:00
Peter Barker
7e92bbc7bd AP_HAL_Empty: remove un-needed constructor 
Not sure the initialisation is needed but retained it.
 2020-10-13 19:55:34 +11:00
Peter Barker
3cce6197a1 AP_HAL: delete copy constructors 2020-10-13 19:55:34 +11:00
Peter Barker
b7f0015a69 AP_HAL_SITL: add bus ownership check for simulated i2c transfers 
Also stop copying the bus object while iterating
 2020-10-13 19:55:34 +11:00
Andrew Tridgell
fb1dcdb059 HAL_ChibiOS: added BL suffix to bootloader USB IDs for two boards 
our convention is to have -BL on end of USB product IDs in bootloaders
 2020-10-13 17:59:13 +11:00
Andrew Tridgell
418bd33c43 HAL_ChibiOS: fix CUAV-X7 power bits 2020-10-13 17:58:30 +11:00
Andrew Tridgell
25bc128248 HAL_ChibiOS: fixed periph overpower ifdef 
fixes overcurrent logging on several boards
 2020-10-13 17:58:30 +11:00
murata
6304ade668 GCS_MAVLink: Change to leave the lower 16 bits. 2020-10-13 12:06:18 +11:00
Iampete1
c591e45e59 AP_OSD: get wind speed from wind vane on rover 2020-10-13 11:39:43 +11:00
Hwurzburg
a7a780ec6e RC_Channel: add RC option for landing flare 2020-10-13 11:36:19 +11:00
Iampete1
de664ae6a8 AP_Scripting: bindings: add units and multipliers to logging 2020-10-13 10:34:42 +11:00
Iampete1
5cbbe656ba AP_Scripting: add units and multipliers to logging example 2020-10-13 10:34:42 +11:00
Iampete1
a09e15137e AP_Scripting: add logging to plane-wind-fs example 2020-10-13 10:34:42 +11:00
Pierre Kancir
420c9c9d36 AP_Param: use hal.util->set_cmdline_parameters() on SITL on reload_defaults_file() 
This allow to pass cmdline parameter to Param on start for each vehicle in the same way as param file
 2020-10-13 10:31:21 +11:00
Pierre Kancir
5b356953ff AP_HAL_SITL: implement and use set_cmdline_parameters() 2020-10-13 10:31:21 +11:00
Pierre Kancir
1c80b04544 AP_HAL: add virtual set_cmdline_parameters() 2020-10-13 10:31:21 +11:00
Pierre Kancir
466a430c4f AP_HAL_SITL: add --sysid option to set SYSID_THISMAV 2020-10-13 10:31:21 +11:00
Patrick José Pereira
175d55a0aa AP_LeakDetector: Add navigator support 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-12 09:53:03 -07:00
Patrick José Pereira
4c7af1d99f AP_LeakDetector: Add subtype check and warning message 
Add warning if board does not support leak detector sensors

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-12 09:53:03 -07:00
Andrew Tridgell
e346cd3c80 GCS_MAVLink: fixed use of incorrect millis16() values 2020-10-12 13:48:15 +11:00
Peter Barker
45f7322af6 GCS_MAVLink: avoid catching up on sending messages when sending disrupted 
The code here was never meant to maintain an "average" streamrate.  It
was designed so that we would maintain a consistent clock in the face of
minor scheduling anomalies (like an EKF fusion step).

The way this is written, however, makes us spit out a message for each
of the intervals we missed - clearly not intended behaviour.

This was tested by inserting the following code:

 void GCS_MAVLINK::update_send()
 {
+    const uint32_t xnow = AP_HAL::millis();
+    if (xnow > 10000 &&
+        xnow < 20000) {
+        return;
+    }
+
 2020-10-12 13:48:15 +11:00
Andrew Tridgell
989f8c5d41 HAL_ChibiOS: fixed a race condition in UART DMA transmit 
this fixes an issue seen on one board which caused a watchdog on high
uart DMA load. We have reproduced the issue on another board by
forcing a very high DMA transfer rate on the same DMA channel while
also requesting very high transfer rates on the UART. The likely race
is in the DMA transmit timeout code, and the simplest fix is to lock
out interrupts during the DMA setup to ensure the tx timeout cannot
trigger during the setup
 2020-10-12 13:25:48 +11:00
Peter Barker
9bde294112 AP_HAL: add chargen UARTDriver example 2020-10-09 19:14:59 +11:00
murata
967aa44fbe AP_Baro: Change message from AP_Baro to Baro for unification accross the file 2020-10-08 10:51:33 +11:00
bugobliterator
5880628b01 hwdef: add support for CubeBlack-periph 2020-10-08 09:31:35 +11:00
bugobliterator
e16cab0437 AP_HAL_ChibiOS: ensure we timeout while checking FDCAN register sets 2020-10-08 09:31:35 +11:00
bugobliterator
5f0c553982 AP_HAL_SITL: configure filter only if in FilteredMode 2020-10-08 09:31:35 +11:00
bugobliterator
ba576247f0 AP_HAL_Linux: configure filter only if in filtered mode 2020-10-08 09:31:35 +11:00
bugobliterator
49915ed06f AP_UAVCAN: save some stack space 2020-10-08 09:31:35 +11:00
bugobliterator
ca957519dc AP_HAL_ChibiOS: redo filter configuration to make it work with STM32H7 2020-10-08 09:31:35 +11:00
bugobliterator
d1eb9e8aea AP_HAL: add FilteredCAN mode to tell driver to init as such 2020-10-08 09:31:35 +11:00
bugobliterator
46827f0c91 AP_CANManager: redo filter configuration to make it work with STM32H7 2020-10-08 09:31:35 +11:00
Patrick José Pereira
8701e3626d GCS_MAVLink: Update GCS_Dummy to use new AP_FWVersionDefine header 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-07 19:32:12 +11:00
Patrick José Pereira
adda695630 AP_Common: Update AP_FWVersion struct to be used with binary parsers 
- Add an uint64_t header to allow easy detection of struct
- Add an uint16_t version
    - MSB is for major release, compatibility break
    - LSB for minor version, no compatibility break
- Add pointer size variable to allow decode of pointers
- Add vehicle type information
- Add board type and subtype to allow hardware identification
- Set type of fw_type to uint8_t since enum is declared as int
- Organize struct to be packed inside 32bits system

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-07 19:32:12 +11:00
Patrick José Pereira
75e9550bce AP_Vehicle: Define APM_BUILD_DIRECTORY as UNKNOWN if not defined 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-07 19:32:12 +11:00
Andy Piper
af8542b5d6 AP_ADSB: conditionally compile based on HAL_ADSB_ENABLED 2020-10-07 19:11:38 +11:00
Tom Pittenger
150b8653a4 Revert "AP_Param: add set_and_save_and_notify()" 
This reverts commit 96a2aa485a.
 2020-10-07 19:11:38 +11:00
Tom Pittenger
787d7f5254 Revert "AP_Math: add function to convert any base to any base" 
This reverts commit 935cb39dff.
 2020-10-07 19:11:38 +11:00
Tom Pittenger
a0f25640a2 Revert "AP_Math: add bitwise fetch/load 16, 24, 32bit operations" 
This reverts commit 6efaa29577.
 2020-10-07 19:11:38 +11:00
Tom Pittenger
899cc9ef5d Revert "AP_SerialManager: add support for Sagetech protocol" 
This reverts commit b74c22864d.
 2020-10-07 19:11:38 +11:00
Tom Pittenger
8e1f5ec6cd Revert "AP_ADSB: create backend and add Sagetech driver" 2020-10-07 19:11:38 +11:00
Tom Pittenger
f2e65ea3cd Revert "AP_ADSB: Sagetech for 2MB only" 
This reverts commit 1fce38c62a.
 2020-10-07 19:11:38 +11:00
Tom Pittenger
b2eb3eb881 Revert "AP_ADSB: conditionally compile based on HAL_ADSB_ENABLED" 
This reverts commit 465357e715.
 2020-10-07 19:11:38 +11:00
Tom Pittenger
90b4056aa4 Revert "AP_ADSB: remove annoying debug" 
This reverts commit 5a535b25e3.
 2020-10-07 19:11:38 +11:00
Tom Pittenger
ee8f50e6a5 Revert "AP_Math: fix LoadUint() to allow 32bit values" 
This reverts commit 5e2450c4ea.
 2020-10-07 19:11:38 +11:00
Andy Piper
af8d6c5fc9 AP_Scheduler: add the fast loop to task statistics 2020-10-07 18:08:19 +11:00
Randy Mackay
530eb6d236 AC_WPNav: remove unused reached_spline_destination 2020-10-07 15:41:18 +09:00
Andrew Tridgell
1b5551206a AP_IOMCU: fixed bug in SBUS output when scanning for FPort input 
when we are looking for FPort input, we normally switch UART3 on the
IOMCU to 115200 to look for inverted inputs at 115200 baudrate. We
need to disable this switching when we have SBUS output enabled to
prevent a change in the SBUS output baudrate

Many thanks to afishman for finding this bug

Fixes #15522
 2020-10-07 16:44:13 +11:00
Randy Mackay
d31a00a6a1 AP_Scripting: replace prearm_healthy binding with healthy 2020-10-07 11:53:07 +11:00
Randy Mackay
eeb1a1846c AP_NavEKF3: replace prearm_healthy with pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay
b2d4622320 AP_NavEKF2: replace prearm_healthy with pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay
1d97416a51 AP_AHRS: replace prearm_healthy with pre_arm_check 
Also removes prearm_failure_reason
 2020-10-07 11:53:07 +11:00
mhefny
02daa4c3ec AP_InertialSensor: update L3G4200D driver 2020-10-06 09:27:26 -07:00
mhefny
1200d0e2f8 AP_HAL: add PROBE_IMU_I2C2 to linux.h 2020-10-06 09:27:26 -07:00
Randy Mackay
d9de6e8de9 AP_Common: UINT16_VALUE, UINT32_VALUE get parentheses around arguments 2020-10-06 20:52:29 +11:00
Randy Mackay
4381eff482 AP_Proximity: simplify get_horizontal_distances 
no need to fill in missing orientations.  This is only used for reporting to the ground stations
 2020-10-06 20:52:29 +11:00
Randy Mackay
e081d83185 AP_Proximity: Lightware SF45B driver 2020-10-06 20:52:29 +11:00
Randy Mackay
f3b193d6f8 AP_Common: add UINT32_VALUE 2020-10-06 20:52:29 +11:00
Randy Mackay
63a21c6c12 AP_Proximity: add correct_angle_for_orientation to backend 2020-10-06 20:52:29 +11:00
Randy Mackay
cf020e1d84 AP_Proximity: minor spelling fix for SF40c assert 2020-10-06 20:52:29 +11:00
Andrew Tridgell
e995a198bd AP_GPS: always send GPS2_RAW if 2nd GPS configured 
this improves the display on the GCS when the GPS has not yet been
found. This is particularly important after a reboot, as otherwise the
GCS may display stale information from the previous boot
 2020-10-06 16:48:19 +11:00
Randy Mackay
4b7709f11d AP_Parachute: move sink rate check to new method 
also remove unused critical_sink accessor
 2020-10-06 16:14:59 +11:00
Randy Mackay
17d4e797fb AP_Parachute: formatting fixes 2020-10-06 16:14:59 +11:00
Michael du Breuil
b04844ca13 AP_Logger: Log all vibration instances 2020-10-06 14:20:49 +11:00
Randy Mackay
835e6fc764 AP_VisualOdom: T265 ignores position and speed for 1sec after reset 2020-10-06 09:18:04 +09:00
Randy Mackay
d9b90bf19f AP_Logger: VISP and VISV get ignored field 2020-10-06 09:18:04 +09:00
Andrew Tridgell
8e08d93026 AP_GPS: fixed pre-arm check on ublox M9 GPS 
this prevents a failure from config of SOL and TMODE messages
 2020-10-06 10:22:52 +11:00
vierfuffzig
60b37f395e AP_OSD_Screen.cpp: add decimal precision to vspd 2020-10-06 10:17:43 +11:00
Tom Pittenger
5e2450c4ea AP_Math: fix LoadUint() to allow 32bit values 2020-10-05 15:32:53 -07:00
Patrick José Pereira
e4f8d47423 AP_LeakDetector: AP_LeakDetector_Digital: Improve status logic 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-05 16:39:03 +01:00
Tatsuya Yamaguchi
ea0d869a9c RC_Channels: redefine surface tracking auxiliary function 2020-10-05 13:23:51 +09:00
QioTek
f04de7d610 HAL_ChibiOS: Add QioTekZealotF427 build target 
I've added the hwdef to support the QioTekZealotF427

It has 3 IMU sensors(ICM20698,ICM20602,BMI055), a Compass(Ist8310),
2Baro sensors(DSP310,MS5611), an integrated analog OSD, 14motor
outputs, 4Relay output, 5uarts, 2Power Module input, an i2c, a Can.
 2020-10-05 07:41:06 +11:00
Andrew Tridgell
11b3c622dd AP_BoardConfig: allow more serial ports to have flow control 2020-10-03 20:22:56 +10:00
Andrew Tridgell
702a3926f8 HAL_ChibiOS: setup defines for more flow control pins 
allow all uarts to have flow control
 2020-10-03 20:22:56 +10:00
Andrew Tridgell
5e80b10396 HAL_ChibiOS: enable telem3 on Durandal 
the RCIN issue is not there in the final production boards
 2020-10-03 20:22:56 +10:00
Peter Barker
6711c479de SITL: fix RPLidarA2 instructions and diagnostic output 2020-10-02 16:05:15 +10:00
Andrew Tridgell
e471b23f58 HAL_ChibiOS: add a max quota of GPIO interrupts 
This implements a max quota of GPIO interrupts per 100ms period to
prevent high interrupt counts from consuming all CPU and causing a
lockup. The limit is set as 10k interrupts per 0.1s period. That limit
should be high enough for all reasonable uses of GPIO interrupt
handlers while being below the level that causes significant CPU loads
and flight issues

This addresses issue #15384
 2020-10-02 09:38:24 +10:00
Andrew Tridgell
965af98f4a AP_InternalError: added an internal error for GPIO ISR overload 2020-10-02 09:38:24 +10:00
Andrew Tridgell
c62b86e3c1 AP_HAL: added timer_tick() on GPIO 2020-10-02 09:38:24 +10:00
Peter Barker
4bbf623cac AP_Soaring: remove unused variables 2020-10-01 21:13:20 +10:00
Peter Barker
914316a529 AP_RangeFinder: remove unused variables 2020-10-01 21:13:20 +10:00
Peter Barker
460bb7291e AP_Proximity: remove unused variables 2020-10-01 21:13:20 +10:00
Peter Barker
b024ff8ea4 AP_Notify: remove unused variables 2020-10-01 21:13:20 +10:00
Peter Barker
3a8751d8a7 AP_NavEKF: remove unused variables 2020-10-01 21:13:20 +10:00
Peter Barker
10e0646251 AP_Generator: remove unused variables 2020-10-01 21:13:20 +10:00
Peter Barker
0eb34912cf AP_ADSB: remove unused variables 2020-10-01 21:13:20 +10:00
Peter Barker
12af51e356 AC_Autorotation: remove unused variables 2020-10-01 21:13:20 +10:00
Patrick José Pereira
57373180d1 AP_LeakDetector: Remove not used LeakDetector_Type enum 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-01 16:31:13 +10:00
Andrew Tridgell
2b13ad35ec AP_OLC: remove use of algorithm header 
not needed
 2020-10-01 09:40:45 +10:00
Michel Pastor
8465588467 AP_OLC: clean namespace and use constexpr instead of init method 2020-10-01 09:40:45 +10:00
giacomo892
4eeccb61cd WAF: Add AP_OLC to build 2020-10-01 09:40:45 +10:00
giacomo892
b00d3e00bc AP_OSD: Add OLC (pluscode) element 2020-10-01 09:40:45 +10:00
giacomo892
481d72255f AP_OLC: Open Location Code support 2020-10-01 09:40:45 +10:00
bugobliterator
0a4ea250ad AP_HAL_ChibiOS: disable CANFilter on H7 boards temporarily 2020-10-01 07:19:19 +10:00
Peter Barker
a5a13f37c9 SITL: adjust for START_STOP_D now not polluting global namespace 2020-09-30 23:14:40 +10:00
Peter Barker
6cbb553adc AP_Frsky_Telem: reformat new filed using astyle.sh; no history to lose 2020-09-30 23:14:40 +10:00
Peter Barker
9c211d9847 AP_Frsky_Telem: move #defines to be static const members of AP_Frsky_Backend 2020-09-30 23:14:40 +10:00
Peter Barker
0bb7a31850 AP_Frsky_Telem: move all method implementations into correct files 2020-09-30 23:14:40 +10:00
Peter Barker
05d7950261 AP_Frsky_Telem: frontend/backend split 2020-09-30 23:14:40 +10:00
Iampete1
4e064ef812 AC_Circle: add Circle options 2020-09-30 17:58:12 +10:00
Andy Piper
ac8dc26d41 AP_Filesystem: increase tasks buffer size 2020-09-30 17:37:20 +10:00
Andy Piper
958c19543f AP_Scheduler: print task total time as a percentage of all tasks time 2020-09-30 17:37:20 +10:00
Iampete1
608e1dcdc4 AP_WindVane: report apparent wind with named float 2020-09-30 17:03:58 +10:00
bugobliterator
84f3e70b10 AP_Compass: add set_dev_id when initialising HIL 2020-09-30 17:01:37 +10:00
Peter Barker
7cb8cde417 GCS_MAVLink: move orderly rebooting code from GCS into AP_Vehicle 
Several places we reboot the vehicle we should probably do several of
the things done in this code - flushing parameters, forcing safety on
etc.
 2020-09-29 18:07:59 +10:00
Peter Barker
3aabb45059 AP_Vehicle: move orderly rebooting code from GCS into AP_Vehicle 
Several places we reboot the vehicle we should probably do several of
the things done in this code - flushing parameters, forcing safety on
etc.
 2020-09-29 18:07:59 +10:00
yaapu
e7a49dd624 GCS_Mavlink: refactor zero_rc_outputs() out of GCS_Mavlink 2020-09-29 18:07:59 +10:00
yaapu
bc7c5a0c8e SRV_Channels: refactor zero_rc_outputs() out of GCS_Mavlink 2020-09-29 18:07:59 +10:00
Randy Mackay
f5a04fd1a3 AP_NavEKF3: shorten buffer size send_text message length 2020-09-29 08:57:52 +09:00
Donione
ff80be19c1 AP_GPS: fix type and update reserved bytes in ublox PVT 2020-09-28 16:31:14 -07:00
yaapu
f33d197b16 AP_RCProtocol: fix fport rssi 2020-09-29 09:04:38 +10:00
Randy Mackay
7398529f6b AP_NavEKF3: minor format fix 2020-09-28 20:57:39 +09:00
Peter Barker
abab203b32 SITL: remove zero initialisations, move more into class definitions 2020-09-28 12:15:04 +10:00
Andrew Tridgell
174dc3b032 AP_BoardConfig: disable watchdog in examples 
not a lot of use in example code
 2020-09-26 11:47:46 +10:00
Andrew Tridgell
5a535b25e3 AP_ADSB: remove annoying debug 2020-09-26 06:02:31 +10:00
Peter Barker
0c88af99da GCS_MAVLink: revert removal of private channel check when forwarding 
This reverts 6dc77c97ce

The commit caused a regression on Solo as the gimbal is "nodding",
indicating traffic from the autopilot is getting through to the gimbal.
 2020-09-25 09:42:27 +10:00
Peter Barker
8e6cde25dc AP_Logger: keep pointer to link rather than using its ->chan 2020-09-25 09:01:00 +10:00
Patrick José Pereira
1ee03a0d2e AP_Common: Add missing const in AP_FWVersion variables 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-09-25 08:55:18 +10:00
giacomo892
9c42c0f176 AP_Baro: remove unnecessary debug on DPS280 2020-09-25 08:19:29 +10:00
Vikas Singh
38c52acf9b AP_Filesystem: add simple File I/O example 2020-09-24 13:00:08 +10:00
Andrew Tridgell
4b747430e1 HAL_ChibiOS: save 2k in f103 bootloader 
don't include serial bl support if dev list is empty
 2020-09-24 12:32:19 +10:00
Siddharth Purohit
6fb973081b AP_HAL_ChibiOS: enable all I2C compasses by default for f103 boards 2020-09-24 12:32:19 +10:00
Andrew Tridgell
0e8c8c29a8 HAL_ChibiOS: fixed f303-MatekGPS build 2020-09-24 12:32:19 +10:00
Andrew Tridgell
246e790484 AP_Bootloader: use new hal CAN interface for CAN support 2020-09-24 12:32:19 +10:00
Siddharth Purohit
a79efaeb1d AP_HAL_ChibiOS: hwdef: add support for HAL CANIface based bootloader 2020-09-24 12:32:19 +10:00
Siddharth Purohit
882c86c394 AP_HAL_ChibiOS: add app start offset to leave space for params 2020-09-24 12:32:19 +10:00
Siddharth Purohit
22ab426cf2 AP_HAL: make bools to use single bit in CANTxItem 2020-09-24 12:32:19 +10:00
Siddharth Purohit
72cf040f81 AP_Compass: add option to selectively disable Compass I2C backend 2020-09-24 12:32:19 +10:00
Siddharth Purohit
0ca2f56b71 AP_HAL: add support for external buffer to be used in ByteBuffer 2020-09-24 12:32:19 +10:00
Siddharth Purohit
9aa0970eed AP_HAL: disable protocol drivers for bootloader builds 2020-09-24 12:32:19 +10:00
Siddharth Purohit
1f16aa8360 HAL_ChibiOS: add hwdef for CubeOrange-periph 2020-09-24 12:32:19 +10:00
Siddharth Purohit
d8852615ed AP_UAVCAN: disable UAVCAN library when libuavcan drivers are disabled 2020-09-24 12:32:19 +10:00
Siddharth Purohit
62df67a4b8 HAL_ChibiOS: hwdef: modify to use HAL CAN driver instead of ChibiOS's 2020-09-24 12:32:19 +10:00
Siddharth Purohit
36ffcdae30 HAL_ChibiOS: modify hal can drivers for use by AP_Periph 2020-09-24 12:32:19 +10:00
Siddharth Purohit
c7d69e4d13 AP_HAL: disable CAN Protocol Drivers for AP_Periph 2020-09-24 12:32:19 +10:00
Samuel Tabor
b6f92989a7 AP_Soaring: Only compile if HAL_SOARING_ENABLED. 2020-09-24 07:30:48 +10:00
Samuel Tabor
10111f92d5 Plane: Rename SOARING_ENABLED to HAL_SOARING_ENABLED and don't compare to ENABLED. 2020-09-24 07:30:48 +10:00
Samuel Tabor
0a738395fa Plane: Add THERMAL mode for thermal soaring. 2020-09-24 07:30:48 +10:00
Patrick José Pereira
e81f9fccd9 AP_Common: Add new AP_FWVersionDefine header 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2020-09-23 20:58:35 +10:00
Jovian Dsouza
a62a7e0bd1 SITL: correct Webots README.md 
Resolves :#15378
 2020-09-23 15:32:56 +10:00
Hwurzburg
d5722b15e9 AP_ChibiOS: fix configuration number in OmnibusF7V2 hwdef 2020-09-23 07:35:22 +10:00
Peter Barker
41ab59dcdb AP_Motors: eliminate flags structure 
Saves about 44 bytes
 2020-09-22 20:26:24 +10:00
Kai Schoos
798c3fd0b7 AP_Baro: examples: BARO_generic: instantiate sitl to fix nullptr panic 2020-09-22 14:56:59 +10:00
Peter Barker
d26b2a6f9a AP_TECS: replace '@User: User' with '@User: Standard' 2020-09-22 14:56:04 +10:00
Peter Barker
d20c6ceb3b APM_Control: replace '@User: User' with '@User: Standard' 2020-09-22 14:56:04 +10:00
Peter Barker
ffb87e68c5 AP_Landing: replace '@User: User' with '@User: Standard' 2020-09-22 14:56:04 +10:00
Peter Barker
3569c4d979 AC_PrecLand: correct @User field in ACC_P_NSE documentation 2020-09-22 14:56:04 +10:00
Tatsuya Yamaguchi
fb27dbbd4f AP_Vehicle: replace message indicating that initialisation has completed 2020-09-22 09:52:52 +10:00
Hwurzburg
de8002ab5e AP_HAL_ChbiOS: ALT config to enable UART3 in place of I2C 2020-09-22 09:48:02 +10:00
Andy Piper
9fef5b1e94 AP_Scripting: remove compile errors and warnings 2020-09-22 09:37:02 +10:00
Andy Piper
5d487be242 GCS_MAVLink: squash enum type error 2020-09-22 09:37:02 +10:00
Andy Piper
ad895c2654 AP_HAL: ringbuffer get_size cannot be const because of semaphore 2020-09-22 09:37:02 +10:00
Andy Piper
940d708438 AP_UAVCAN: conditionally compile in ADSB support 2020-09-22 09:33:51 +10:00
Andy Piper
93ac301b19 RC_Channel: conditionlly compile in ADSB support 2020-09-22 09:33:51 +10:00
Andy Piper
32cd6b487e AP_Avoidance: conditionally compile based on ADSB support 2020-09-22 09:33:51 +10:00
Andy Piper
465357e715 AP_ADSB: conditionally compile based on HAL_ADSB_ENABLED 2020-09-22 09:33:51 +10:00
Iampete1
152e2366f0 AP_Motors: Tri: dont check yaw servo on plane 2020-09-22 09:12:14 +10:00
Andrew Tridgell
0ba256f625 HAL_ChibiOS: fixed warning on gcc9 
packed structure can be misaligned
 2020-09-22 08:07:23 +10:00
Andrew Tridgell
1000371d8a AP_SmartRTL: fixed build warning on gcc9 
this example produces a slightly oversize frame
 2020-09-22 08:07:23 +10:00
Andrew Tridgell
90cd2a38b6 HAL_ChibiOS: fixed gcc9 warnings 2020-09-22 08:07:23 +10:00
Andrew Tridgell
fabbbea0b4 AP_Fileystem: fixed gcc9 warning 2020-09-22 08:07:23 +10:00
Andy Piper
dc0084a2b2 AP_Logger: only write final log out a page at a time to avoid lock contention 
remove health check timing hack
 2020-09-21 20:44:34 +10:00
Andy Piper
4f7047797e AP_GyroFFT: reduce locking to avoid contention and match thread priority to IO 
remove previous scheduling hack
 2020-09-21 20:44:34 +10:00
Mark Whitehorn
f25a1e7a0d AP_Logger: fix description of BAT.Res 2020-09-21 08:50:49 +10:00
Andrew Tridgell
8a4b0f858a AP_NavEKF3: reset body mag variances at key points 
we need to reset the body mag variances if we change sensors or if we
are starting 3D fusion. When not doing 3D fusion we zero the
variances, so they must be initialised again when we restart
fusion. This fixes a bug in handling the variances on a 2nd flight
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
e9185f526b AP_NavEKF3: add comments on state indexes 
make it easier to check indexes
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
35e95d3328 AP_NavEKF2: reset body mag variances at key points 
reset on sensor switch or when changing to 3D fusion
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
8920362212 AP_Compass: default SITL compass to having scale factor set 2020-09-20 09:25:57 +10:00
Andrew Tridgell
1f21d72c79 AP_NavEKF3: fixed init of earth state mag variances 
we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
534e63e2fa AP_NavEKF2: fixed init of earth state mag variances 
we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
d6dcbda0d3 AP_NavEKF2: removed duplicate compass switch check 
left over from last set of changes
 2020-09-20 09:25:57 +10:00
Tom Pittenger
1fce38c62a AP_ADSB: Sagetech for 2MB only 2020-09-18 09:57:52 -07:00
Tom Pittenger
043a3ba06e AP_Mission: add accessor for in_landing_flag() 2020-09-17 07:31:43 -07:00
Tom Pittenger
f364dc933d AP_Mount: remove unused GPS.h include 2020-09-17 10:55:08 +10:00
Hwurzburg
c64f286333 AP_ChibOS: add UART7_RX to OMNIBUSF7V2 2020-09-17 10:47:18 +10:00
Andy Piper
d036b57de3 AP_Logger: stop logs safely in the block logger and asynchronously where possible 2020-09-17 10:45:57 +10:00
Andy Piper
46d4d9a97e AP_OSD: use cleaner conditional compilation for the various OSD options 
provide suitable defaults for parameter screens on different vehicles
build fixes
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2020-09-16 18:11:54 +10:00
bugobliterator
575a56a6b6 hwdef: CubeOrange: do power reset on peripherals and sensor at boot 2020-09-16 18:08:08 +10:00
bugobliterator
a2ee82d8d9 hwdef: use inv2 sensor checks in CubeOrange 2020-09-16 18:08:08 +10:00
bugobliterator
b390f402b7 AP_BoardConfig: do bank selection when checking Invensensev2 Sensors 2020-09-16 18:08:08 +10:00
Andy Piper
ab1d0d53f3 AP_Camera: keep trying to initialize RunCam after boot 2020-09-16 18:00:53 +10:00
Randy Mackay
2db57dffac AR_AttitudeControl: update param desc increment and range 2020-09-16 16:49:40 +09:00
Tom Pittenger
3cc985332d AP_ADSB: create backend and add Sagetech driver 2020-09-15 13:09:50 -07:00
Tom Pittenger
b74c22864d AP_SerialManager: add support for Sagetech protocol 2020-09-15 13:09:50 -07:00
Tom Pittenger
bd445bafc4 SITL: update ADSB sim to use squawk=1200 and set all valid flags 2020-09-15 13:09:50 -07:00
Tom Pittenger
6efaa29577 AP_Math: add bitwise fetch/load 16, 24, 32bit operations 2020-09-15 13:09:50 -07:00
Tom Pittenger
935cb39dff AP_Math: add function to convert any base to any base 
Example: convert dec 12345 to 0x12345 or dec 1200 to octal 1200
 2020-09-15 13:09:50 -07:00
Tom Pittenger
b502582d14 AP_UAVCAN: replace old hardcoded value with new mavlink enum 2020-09-15 13:09:50 -07:00
Tom Pittenger
96a2aa485a AP_Param: add set_and_save_and_notify() 2020-09-15 13:09:50 -07:00
Peter Barker
4ebde78bbf AP_HAL_Linux: throw warning if we ever stop-clock backwards 
Also don't compile in the stop_clock symbol to make it clear changes in
this method won't affect vehicles
 2020-09-15 10:02:36 +10:00
Peter Barker
0d396f4235 AP_Vehicle: don't do any GCS stuff in delay callback if we're Replay 
We haven't initialised the GCS at all, so it's not a great idea to
update_receive() and the like.
 2020-09-15 10:02:36 +10:00
Peter Barker
29d042dbc7 AP_Vehicle: Replay now creates vehicle singleton reference 2020-09-15 10:02:36 +10:00
Andrew Tridgell
4bfdd973a4 AP_MSP: fixed build warnings for MSP with AP_Periph 2020-09-15 09:40:03 +10:00
Andrew Tridgell
8c1bc94053 AP_GPS: fixed build warnings for MSP with AP_Periph 2020-09-15 09:40:03 +10:00
Andrew Tridgell
bfa2feb8d8 AP_Compass: fixed build warnings for MSP with AP_Periph 2020-09-15 09:40:03 +10:00
Andrew Tridgell
7daf8d3cd4 AP_Baro: fixed build warnings for MSP with AP_Periph 2020-09-15 09:40:03 +10:00
Andrew Tridgell
27a85ef51c AP_CANManager: fixed build warning for stack size 
dynamically allocate test objects instead of putting on the stack
 2020-09-15 09:40:03 +10:00
Andrew Tridgell
cd1502ab72 SITL: fixed string warnings 2020-09-15 09:40:03 +10:00
Andrew Tridgell
6803408453 AP_UAVCAN: fixed string warnings 2020-09-15 09:40:03 +10:00
Andrew Tridgell
930726ca9a AP_Logger: fixed string warnings 2020-09-15 09:40:03 +10:00
vierfuffzig
ca95e7865a AP_OSD_Param_Setting: fix copter FS_OPTIONS mnemonics 2020-09-15 09:26:46 +10:00
Iampete1
f350bfba78 SITL: JSON: don't warn for none required sections 2020-09-15 08:12:29 +10:00
Andrew Tridgell
2bc7d17e7a AP_NavEKF3: improved core comparison to check alignment 
this adds coreBetterScore() which takes account of tilt and yaw
alignment when comparing cores for lane switching

this ensures we don't switch to a lane that is unaligned due to the
zero error score for unaligned lanes
 2020-09-14 20:29:04 +10:00
Andrew Tridgell
067001bd61 AP_NavEKF2: take into account alignment when comparing cores 
ensure we don't switch to a lane that does not have yaw or tilt
alignment from a lane that is aligned
 2020-09-14 20:29:04 +10:00
Tatsuya Yamaguchi
5ea1fde6ee RC_Channel: update RCx_OPTION's ＠Values order 2020-09-14 13:27:53 +10:00
Andrew Tridgell
96dd354131 AP_ICEngine: check for valid RC input for ICE 2020-09-14 12:20:55 +10:00
Andrew Tridgell
890fc96d20 AP_ICEngine: added ICE_STARTCHN_MIN 
this gives a min PWM value to trigger an engine stop. It makes RC
glitches leading to engine stop much less likely
 2020-09-14 12:20:55 +10:00
Dan Laks
54c827a792 AP_ICEngine: Initialize start_chan_last_value and catch RC values less than 800 2020-09-14 12:20:55 +10:00
Andrew Tridgell
23da0ea8b6 AP_ICEngine: add debounce to RC input for ICE_START_CHAN 2020-09-14 12:20:55 +10:00
Michael Oborne
f235c620b2 AP_CANManager: Remove Param keyword identifier 2020-09-14 10:40:16 +10:00
Iampete1
f5172cdecf AC_Avoid: hide params with enable flag 2020-09-14 08:54:13 +09:00
Hwurzburg
f78a09ba2a AP_OSD: fix white space error preventing emit to Wiki 2020-09-13 12:16:57 +10:00
Andy Piper
3bbac765f0 AP_Logger: correct units on raw accel data 2020-09-13 12:15:33 +10:00
dmitry
94d2f4ea0e SITL_AirSim: moved NED position initialization 
out of always false if -statement
 2020-09-13 08:04:09 +10:00
Randy Mackay
4ed486bb92 AC_AttitudeControl: revert Add PosControl PID logging 2020-09-12 08:10:33 +09:00
Randy Mackay
36dee8791a AP_Logger: revert adding PSCP log structure 2020-09-12 08:10:33 +09:00
Iampete1
c109df3dd5 AC_AttitudeControl: Add PosControl PID logging 2020-09-11 10:12:08 +10:00
Iampete1
9753a20404 AP_Logger: add PSCP log structure 2020-09-11 10:12:08 +10:00
Iampete1
e955b431ef AC_PosControl: move to structure logging for PSC 2020-09-11 10:12:08 +10:00
Iampete1
02c225ee93 AP_Logger: add structure for PSC message 2020-09-11 10:12:08 +10:00
Jim Stockwell
1565c69943 AC_HELI_PID: spelling in comment, leaded -> leaked 2020-09-11 08:39:58 +09:00
Samuel Tabor
f926dc62ed AP_Soaring: Reduce default value for minimum cruise time. 2020-09-10 09:18:52 -07:00
Samuel Tabor
e0f524d425 Plane: Soaring: Use circling time as timeout if less than 20s. 2020-09-10 09:18:52 -07:00
Samuel Tabor
440d17e0de AP_Soaring: Add accessor for SOAR_ALT_CUTOFF. 2020-09-10 22:21:41 +10:00
Peter Barker
dd8361ba33 AP_RangeFinder: remove default case from Rangefinder init switch 
Allows the compiler to help the programmer fill in required code
 2020-09-10 20:52:06 +10:00
Andy Piper
04b3b1f4c2 AP_OSD: re-enable OSD parameters on 1Mb boards since it wasn't doing anything 
Make sure OSD parameters can be disabled in hwdef.dat
 2020-09-10 18:10:32 +10:00
Andy Piper
570fd59c39 AP_HAL_ChibiOS: disable OSD parameters on F7 1Mb boards with SD cards 2020-09-10 18:10:32 +10:00
Mark Whitehorn
866405c7df AP_HAL_SITL: fix segv in examples 2020-09-10 14:30:24 +10:00
ashvath100
9665421a9c AP_Scripting: Walking robot naming fix and height control 2020-09-10 08:27:01 +09:00
ashvath100
e21e720b12 SITL: walking robot script direction fix 2020-09-10 08:27:01 +09:00
ashvath100
9248272baa Rover: walking_height input sent to motors 2020-09-10 08:27:01 +09:00
ashvath100
9968b2f52c RC_Channel: add height input channel 2020-09-10 08:27:01 +09:00
Andrew Tridgell
1ffbbb2896 HAL_ChibiOS: added FLASH_TOTAL to environment 2020-09-10 07:41:25 +10:00
Andy Piper
eab127ffa3 AP_OSD: disable OSD parameter support on 1Mb boards 2020-09-09 20:36:42 +10:00
Andy Piper
bbaaf7d66f AP_HAL_ChibiOS: disable features on KakuteF7 and OmnibusF7v2 to mirror KakuteF7Mini 2020-09-09 20:36:42 +10:00
Andy Piper
c483c04d4b AP_OSD: separate parameter screen 
display parameter names and types and allow modification via stick gestures
add support for updating selected parameters
support symbolic names for cetain options with add vehicle specific labels
add support for OSD parameter access and modification over mavlink
save OSD parameter when setting
add missing serial protocols
set defaults on settings correctly
re-organise defaults for NTSC screens and add 9th parameter
allow parameter control to be disabled
add plane aux options (from vierfuffzig)
only enable osd param on bitmap enabled backends
make sure draw() is elided on non-bitmap backends
 2020-09-09 20:36:42 +10:00
Andy Piper
13676f9784 AP_SerialManager: add number of serial protocols to enum 2020-09-09 20:36:42 +10:00
Andy Piper
8b766efb0a GCS_MAVLink: add support for updating OSD parameters over mavlink 2020-09-09 20:36:42 +10:00
Andy Piper
7aa98d55eb AP_Param: expose the stable key for use by AP_OSD 
add support for finding parameters by name and returning the token
 2020-09-09 20:36:42 +10:00
Andy Piper
88d8cdadb7 AP_Camera: make runcam check for osd menu before entering osd menu 2020-09-09 20:36:42 +10:00
Andy Piper
2c19152644 AP_Arming: arming check for osd menu 2020-09-09 20:36:42 +10:00
Iampete1
8aeee4bc83 SITL: SIM_JSON:: add support for apparent wind sensor 2020-09-09 18:26:54 +10:00
Iampete1
917358e4a5 AP_WindVane: add apparent wind SITL types 2020-09-09 18:26:54 +10:00
Iampete1
2764126a1c SITL: add apparent wind sensor support 2020-09-09 18:26:54 +10:00
Gone4Dirt
32de8d78ab AP_Scripting: Add Heli_IM_COL_TUNE applet and readme 2020-09-09 17:50:31 +10:00
Gone4Dirt
39788aa4f7 AP_Scripting: Add rc norm_input_ignore_trim binding 2020-09-09 17:50:31 +10:00
Andy Piper
5b5b9d57a1 AP_Scheduler: add per-task performance information accesible from @SYS/tasks.txt 
print fully qualified name on most boards
remove old task slip message
Don't die on allocation failure.
dynamically allocation/free task info based on SCHED_OPTIONS
dynamically enable task info on ftp get
 2020-09-09 17:06:12 +10:00
Andy Piper
f70f13e620 AP_Filesystem: add support for @SYS/tasks.txt 2020-09-09 17:06:12 +10:00
Randy Mackay
d53045db10 AP_Soaring: minor spelling fix 2020-09-09 15:40:58 +09:00
Oliver Walters
8aeec6c4d1 AP_PiccoloCAN: Constrain ESC command message rate 
Use constain_int16 rather than using primitive checks
 2020-09-09 15:31:21 +10:00
Oliver Walters
21ffc0f663 AP_PiccoloCAN: Change #ifdef guard to prevent compiler error 2020-09-09 15:31:21 +10:00
Oliver Walters
fc29e40463 AP_PicolloCAN: Load PiccoloCAN parameters from EEPROM 2020-09-09 15:31:21 +10:00
Oliver Walters
09d38f8729 AP_PiccoloCAN: Fix logic to improve readability 2020-09-09 15:31:21 +10:00
Oliver Walters
818e7f2cdf AP_PiccoloCAN: ESC message rate is now in Hz 2020-09-09 15:31:21 +10:00
Oliver Walters
5c53c17076 Remove parameters related to CAN servo operation 2020-09-09 15:31:21 +10:00
Oliver Walters
66812c72da AP_PiccoloCAN: Specify which ESC channels are used 
- Uses the CAN_Dx_PC_ESC_BM bitmask to determine which ESC (motor) channels are controlled over PiccoloCAN
- Only transmits messages relevent to the selected motor channels
 2020-09-09 15:31:21 +10:00
Oliver Walters
17932e3d1d AP_PiccoloCAN: ESC command rate now configurable 
Uses CAN_Dx_PC_ESC_MS parameter to set the ESC data rate (in ms)
 2020-09-09 15:31:21 +10:00
Oliver Walters
a98babc02c AP_PiccoloCAN: Add user configurable operations to adjust Piccolo CAN ESC behaviour 2020-09-09 15:31:21 +10:00
Peter Barker
c78dcb15a1 AC_PID: remove dead get_ff(float target) method as per TODO comment 2020-09-09 13:19:17 +09:00
Randy Mackay
1c1caa9374 AP_Winch: correct Daiwa line lengtha and speed scaling 2020-09-09 11:56:00 +09:00
Andrew Tridgell
90e488d29d HAL_ChibiOS: set airspeed type in f303-MatekGPS fw 2020-09-09 12:04:49 +10:00
Samuel Tabor
861b57cb09 AP_Soaring: Add EXIT_COMMANDED status used when pilot changes switch position when thermalling. 2020-09-08 16:54:45 -07:00
yaapu
bc21e505e3 AP_RangeFinder: aligned msp message data struct name to gps,baro and mag 2020-09-09 06:35:50 +10:00
yaapu
efca0c04eb AP_OpticalFlow: aligned msp message data struct name to gps,baro and mag 2020-09-09 06:35:50 +10:00
yaapu
747bf73fec AP_MSP: aligned opflow and rangefinder struct names to gps, baro and mag 2020-09-09 06:35:50 +10:00
Andrew Tridgell
e95a44e73c HAL_ChibiOS: run f303-MatekGPS at 10Hz 2020-09-09 06:35:50 +10:00
Andrew Tridgell
bea9769b82 AP_Logger: log unhealthy barometers 2020-09-09 06:35:50 +10:00
Andrew Tridgell
7ae64d20aa AP_Vehicle: init MSP earlier 
this allows for MSP sensors (baro, compass) to be ready during probe
 2020-09-09 06:35:50 +10:00
Andrew Tridgell
4b1552eebe AP_HAL: added BUS_TYPE_MSP 
for MSP sensors
 2020-09-09 06:35:50 +10:00
Andrew Tridgell
c7b03dc936 AP_OSD: added missing OSD types to param docs 2020-09-09 06:35:50 +10:00
yaapu
5e88a856e9 AP_Compass: support for MSP compass 2020-09-09 06:35:50 +10:00
yaapu
ea53ce2a3f AP_Baro: support for MSP barometer 2020-09-09 06:35:50 +10:00
Andrew Tridgell
94670879f8 AP_GPS: allow hwdef.dat override of GPS rate 2020-09-09 06:35:50 +10:00
yaapu
85b61d6bf3 AP_GPS: added support for MSP GPS sensors 2020-09-09 06:35:50 +10:00
yaapu
266b747ffc AP_MSP: added support for MSP sensors 2020-09-09 06:35:50 +10:00
Andrew Tridgell
844db20db0 HAL_ChibiOS: use a default node ID for f303-MatekGPS 2020-09-09 06:35:50 +10:00
Andrew Tridgell
9c24415f86 AP_Periph: support output of MSP sensor data 2020-09-09 06:35:50 +10:00
Andrew Tridgell
5647aadbcf AP_GPS: added API for getting last iTOW 2020-09-09 06:35:50 +10:00
Andrew Tridgell
5f5c7735a3 AP_MSP: support AP_Periph MSP send 2020-09-09 06:35:50 +10:00
Andrew Tridgell
9c7568eb5f HAL_ChibiOS: enable MSP output for f303-MatekGPS 2020-09-09 06:35:50 +10:00
chobits
f4320c935c AP_HAL_ChibiOS: fix kakutef7/mini motor glitch when using dshot 2020-09-08 18:57:30 +10:00
Peter Barker
4d59939db6 AP_BattMonitor: create and use new AP_HAL::PWMSource object 2020-09-08 16:10:50 +10:00
Peter Barker
abfd995fff AP_RSSI: create and use new AP_HAL::PWMSource object 2020-09-08 16:10:50 +10:00
Peter Barker
72b49efc78 AP_RangeFinder: create and use new AP_HAL::PWMSource object 2020-09-08 16:10:50 +10:00
Peter Barker
55f72c1534 AP_HAL: create and use new AP_HAL::PWMSource object 2020-09-08 16:10:50 +10:00
Andrew Tridgell
c03c43e52c AP_NavEKF3: use same mag switch pattern as EKF2 
based on Pauls suggested change
 2020-09-08 11:01:14 +10:00
Paul Riseborough
da7bb44a61 AP_NavEKF2: Consolidate magnetometer timeout checks 2020-09-08 11:01:14 +10:00
Andrew Tridgell
37866ec3cf AP_Compass: fixed compass logging when first compass unhealthy 
keep logging compasses if any are healthy
 2020-09-08 11:01:14 +10:00
Andrew Tridgell
3836b59041 AP_NavEKF3: fixed handling of failed compass 
when a compass goes unhealthy due to sensor failure we should try
another compass after 10s if another compass is available
 2020-09-08 11:01:14 +10:00
Andrew Tridgell
6b9e595602 AP_NavEKF2: fixed handling of failed compass 
when a compass goes unhealthy due to sensor failure we should try
another compass after 10s if another compass is available
 2020-09-08 11:01:14 +10:00
Andrew Tridgell
c2feebea13 AP_Compass: allow simulation of compass sensor failure 2020-09-08 11:01:14 +10:00
Andrew Tridgell
bf9c76a5c3 SITL: added SIM_MAGn_FAIL parameters 2020-09-08 11:01:14 +10:00
Peter Barker
5c2b478feb SRV_Channel: remove unused set_output_pwm_first method 2020-09-08 10:55:23 +10:00
Mark Whitehorn
d3c1838fbe AP_Motors: remove AP_MotorsMatrixTS 2020-09-08 10:50:31 +10:00
Andrew Tridgell
74686f8dc4 GCS_MAVLink: fixed locking of mavlink in serial control 
this fixes takeover of mavlink ports for high serial numbers
 2020-09-08 09:01:16 +10:00
vierfuffzig
a547af97c6 AP_OSD_Screen.cpp: fix aviation unit vspd sym 
in aviaition units it's ft / min actually, not ft / s. stumbled across this thanks to increased attention to the vspeed panel using @samuelctabor awesome soaring addons ;)
 2020-09-08 08:13:24 +10:00
bugobliterator
fbc0b9e599 AP_UAVCAN: silence function cast warning/error for Registry template 2020-09-08 07:42:20 +10:00
Samuel Tabor
21a8471d2d SITL: Add start time argument. 2020-09-07 21:20:25 +10:00
vierfuffzig
63fdac0048 AP_HAL_ChibiOS: add USART3 as alt config on OmnibusNanoV6 2020-09-07 15:34:01 +10:00
Andrew Tridgell
d6e3b5834a AP_MSP: change font to fix arrows and added --font and --list-fonts 2020-09-07 11:59:20 +10:00
Andrew Tridgell
ad6a1af2fc AP_MSP: cleanup after control-C 2020-09-07 11:59:20 +10:00
Andrew Tridgell
c83fd8edf2 AP_MSP: fixed use of float in pygame for py3 2020-09-07 11:59:20 +10:00
yaapu
65b70dddb2 AP_MSP:msposd.py added a DJI look and feel to some items 2020-09-07 11:59:20 +10:00
yaapu
51cec414cb AP_MSP: fix capacity in battery state message 2020-09-07 11:59:20 +10:00
yaapu
52599a4aaf AP_MSP: converted more messages to PACKED structs 2020-09-07 11:59:20 +10:00
yaapu
ed21f9a8c7 AP_MSP: fix separate enable of MSP opticalflow 2020-09-07 11:59:20 +10:00
yaapu
67ed957bf0 AP_MSP: removed unused parameters (using OSD_* instead) 2020-09-07 11:59:20 +10:00
Andrew Tridgell
815f813d34 AP_SerialManager: allow for other baudrates for MSP 2020-09-07 11:59:20 +10:00
Andrew Tridgell
7159283e33 AP_MSP: fixed valgrind warning with RTC msg 2020-09-07 11:59:20 +10:00
Pierre Kancir
240c34ecde AP_Math: add missing ; on benchmark test 2020-09-06 19:13:04 +10:00
Andy Piper
5c554221c7 AP_Logger: address review commenst from #14299 2020-09-06 09:12:59 +10:00
bugobliterator
76ee7bec77 AP_CANManager: fix skipping driver init for disabled slcan iface 2020-09-06 07:16:01 +10:00
Andy Piper
ccb583d092 AP_Logger: make block logger conform to mavlink expectations of numbering 
add support for log time to block logger
refactor rotation into backed. Don't start logs when erasing
correct log start logic
separate read and write points so that requesting log information does not corrupt the current log
when starting a new log stop logging first
clear the write buffer when starting a new log
insert utc time when requesting info for the current log
stop logging and request formats again when starting a new log
cope with erase happening while we are logging
keep pushing out startup messages even when format messages are done
don't log to the gcs in the io thread
don't start new logs in the io thread
don't validate logs while erasing
flush logs when stopping logging
account for page header when calculating logs sizes
don't return data when asked for more data than in the log
optimize locking and use separate semaphore to mediate ring buffer access
stop logging when the chip is full and send a notification
calculate logs sizes correctly even when they wrap
read log data correctly even when it wraps
add stats support to block logger
reset dropped when starting a new log
fail logging when the chip is full
refactor critical bufferspace checks
increase messagewriter budget to 250us and to 300us for FMT
 2020-09-05 10:20:39 +10:00
Michael Oborne
4e9848ab3a HAL_ChibiOS: fix sdcard param init 
the write was failing because of a 0 byte write attempt, the response was -1 vs 0
this results in not using the sdcard backend for storage for all boots after the initial
 2020-09-04 07:13:12 +10:00
murata
a44defc49e SITL: Disabling debugging cyclic messages 
SITL: Disabling debugging cyclic messages
 2020-09-03 11:31:05 +10:00
bugobliterator
27b1ce572e AP_CANManager: fix comms between SLCAN and second CAN Iface 2020-09-03 11:01:26 +10:00
Michael du Breuil
d905282c1e AP_HAL: Don't redefine allowing double math in SITL/Linux if already defined 2020-09-03 09:56:29 +10:00
Andrew Tridgell
56b743dfca AP_GPS: build SBF driver with double precision 2020-09-03 09:56:29 +10:00
Michael du Breuil
6a8680d31d AP_GPS: Send RTK baseline data from SBF 2020-09-03 09:56:29 +10:00
Samuel Tabor
f1290a2e17 Plane: Add use of airbrakes, used when throttle is negative OR via RC channel option. 2020-09-02 10:10:09 -07:00
Rajat Singhal
e9b3c54e6d AP_Rangefinder: Add SITL option in param description 2020-09-02 17:25:43 +10:00
Rajat Singhal
0f66936353 SITL: Airsim: Add support for rangefinder sensor data 
Also increase RC channels to 12
 2020-09-02 17:25:43 +10:00
Rajat Singhal
6085614364 SITL: Airsim: Resend servo output after timeout 
Plus some cleanup
 2020-09-02 17:25:43 +10:00
Tatsuya Yamaguchi
829cd29d7c SITL: fix when speedup is specified as a startup parameter 2020-09-02 17:13:22 +10:00
Andy Piper
1f3c24d436 AP_RCProtocol: put back DSM VTX control and logging, add tests 2020-09-02 17:10:59 +10:00
bugobliterator
c6e45dd536 AP_Param: add set_and_save_ifchanged for Vector3f params 2020-09-02 17:06:05 +10:00
bugobliterator
de6b48f922 AP_Compass: set only if changed to save space in param storage 2020-09-02 17:06:05 +10:00
Andrew Tridgell
3a252a042b HAL_ChibiOS: fixed fast sampling on F32Lightning 
this SPI bus on this board can't handle 8MHz
 2020-09-02 06:42:44 +10:00
Andrew Tridgell
cfc59497f6 AP_InertialSensor: trigger internal error on persistent IMU reset 
this will give users a warning when they are getting the Invensense
IMU FIFO reset issue
 2020-09-02 06:42:44 +10:00
Andrew Tridgell
b20279e452 AP_InternalError: added imu_reset error 2020-09-02 06:42:44 +10:00
Andrew Tridgell
1488142d88 AP_MSP: fixed system ID 2020-09-02 05:56:46 +10:00
Andrew Tridgell
f330d5aa77 AP_MSP: run new MSP code through code style script 2020-09-02 05:56:46 +10:00
Andrew Tridgell
d8ed210b98 AP_MSP: cleanup namespace handling 
using "using namespace MSP" in headers is a bad idea as it spreads to
lots of cpp via includes. It is fine in a cpp file
 2020-09-02 05:56:46 +10:00
Andrew Tridgell
3517ab9c45 AP_OpticalFlow: allow separate enable of MSP opticalflow 2020-09-02 05:56:46 +10:00
Andrew Tridgell
34430e9d6c AP_RangeFinder: allow separate enable of MSP rangefinder 2020-09-02 05:56:46 +10:00
Andrew Tridgell
87cf7b58ae AP_MSP: added sample OSD enable params 2020-09-02 05:56:46 +10:00
Andrew Tridgell
5358c1e476 AP_MSP: handle utf-8 in string display 2020-09-02 05:56:46 +10:00
Andrew Tridgell
8ca9af72e0 AP_OSD: prevent startup segfault 2020-09-02 05:56:46 +10:00
Andrew Tridgell
8319b7b6b7 AP_MSP: check for MSP rangefinder enable 2020-09-02 05:56:46 +10:00
Andrew Tridgell
84f7589f2d AP_RangeFinder: allow separate enable of MSP rangefinder 2020-09-02 05:56:46 +10:00
yaapu
4a8290508d AP_MSP:Tools: added more OSD items and messages 2020-09-02 05:56:46 +10:00
yaapu
cfc7823af8 AP_MSP: fix missing memset for battery_state struct 2020-09-02 05:56:46 +10:00
Andrew Tridgell
0e55a63be2 AP_OSD: skip backend drawing for boards without font backends 
this saves a lot of flash space on boards that want the MSP OSD system
but not the MAX7456 backend
 2020-09-02 05:56:46 +10:00
Andrew Tridgell
25746ef27e AP_OSD: avoid building MAX7456 driver without an SPI device for it 2020-09-02 05:56:46 +10:00
Andrew Tridgell
491e82159c HAL_ChibiOS: add HAL_WITH_SPI_xx defines for SPI devices 
this allows us to avoid building drivers for SPI devices we don't
have, such as OSD
 2020-09-02 05:56:46 +10:00
Andrew Tridgell
17173871a4 AP_RangeFinder: fixed non-MSP build 2020-09-02 05:56:46 +10:00
Andrew Tridgell
f3a0ba0138 AP_OpticalFlow: fixed non-MSP build 2020-09-02 05:56:46 +10:00
Andrew Tridgell
27acdf1800 AP_MSP: fixed values for MSP_OSD_NCELLS param docs 2020-09-02 05:56:46 +10:00
Andrew Tridgell
d9da06b9e4 AP_MSP: fixed constrains in analog and battery MSP msgs 
need to use constrain_int32() for values that give unsigned 16 bit
values
 2020-09-02 05:56:46 +10:00
Andrew Tridgell
5dba8ab9c8 AP_MSP: convert more MSP msg parsing to new system 2020-09-02 05:56:46 +10:00
Andrew Tridgell
c31bab2a85 AP_MSP: don't send zero length MSP packets 2020-09-02 05:56:46 +10:00
Andrew Tridgell
f033aaf5bd AP_MSP: fixed ESC telem data send 
only send if we have telemetry data, and ensure data lines up with
motor numbers
 2020-09-02 05:56:46 +10:00
Andrew Tridgell
952a3956a9 AP_BLHeli: added have_telem_data() API 2020-09-02 05:56:46 +10:00
Andrew Tridgell
05f4bf0b32 AP_MSP: fixed viewer for py2 and py3 2020-09-02 05:56:46 +10:00
Andrew Tridgell
5a7f81b5c3 AP_MSP: use more compact message format for most messages 2020-09-02 05:56:46 +10:00
Andrew Tridgell
24a6cfe36c AP_MSP: fill in millis for RTC 2020-09-02 05:56:46 +10:00
Andrew Tridgell
c4092ca57a AP_MSP: don't send ESC_SENSOR_DATA when not enabled in build 2020-09-02 05:56:46 +10:00
Andrew Tridgell
449883c7f1 AP_MSP: added python MSP FPV viewer 2020-09-02 05:56:46 +10:00
Andrew Tridgell
cea2eadd16 AP_MSP: make MSP packing smaller and more efficient 
this changes two MSP items (GPS and home pos) to use packed structures
insteaf of individual sbuf writes. This makes for faster and smaller
code
 2020-09-02 05:56:46 +10:00
yaapu
6a0531c08a AP_Common: added missing bit set/clear functions 2020-09-02 05:56:46 +10:00
yaapu
9efc4602af AP_BLHeli: integrate MSP protocol with existing blheli inplementation 2020-09-02 05:56:46 +10:00
yaapu
144f7df02f AP_Math: added CRCs needed by AP_MSP 2020-09-02 05:56:46 +10:00
yaapu
7170adf50e AP_OpticalFlow: added support for MSP based flow sensors 2020-09-02 05:56:46 +10:00
yaapu
699ffcbcd2 AP_RangeFinder: added support for MSP based range finders 2020-09-02 05:56:46 +10:00
yaapu
b8b285b359 AP_OSD: added support for an MSP based OSD 2020-09-02 05:56:46 +10:00
yaapu
234ed303fe AP_SerialManager: added support for the MSP protocol 2020-09-02 05:56:46 +10:00
yaapu
7f789fb443 AP_Vehicle: added support for the MSP protocol 2020-09-02 05:56:46 +10:00
yaapu
80eca32604 AP_MSP: added Multiwii Serial protocol (MSP) v1 and v2 support 2020-09-02 05:56:46 +10:00
Siddharth Purohit
d25908a1c9 AP_HAL_ChibiOS: keep a backup of storage for last 100 boots 2020-09-01 14:31:53 +10:00
Michael du Breuil
6027553b85 AP_SerialManager: Add missing baud rate documentation 2020-09-01 10:42:30 +10:00
ashvath100
9e86355734 AP_Scripting: quadruped.lau fix after review 2020-09-01 09:33:24 +09:00
ashvath100
f344363404 AP_Scripting: quadruped.lua logic test fix 2020-09-01 09:33:24 +09:00
Randy Mackay
a4c7aa6386 AP_Scripting: quadruped.lua fixups after peer review 
includes these changes:
add header to quadruped.lua example
quadruped.lua loses unnecessary pwm array
minor formatting fix
correct quadruped comments re servo connections
quadruped.lua replaces /2 with x0.5
quadruped.lua loses servo_estimate arguments
 2020-09-01 09:33:24 +09:00
Randy Mackay
28026176f6 AP_Scripting: quadruped example formatting fixes 2020-09-01 09:33:24 +09:00
ashvath100
1a6a623295 AP_Scripting: quadruped example script 2020-09-01 09:33:24 +09:00
ashvath100
9ea390e24b SITL: pybullet script for walking robots 2020-09-01 09:33:24 +09:00
Peter Hall
d5316edde7 RC_Channel: add roll and pitch input channels 2020-09-01 09:33:24 +09:00
Sharvashish Das
80e2dbc9f2 GCS_Common: send_local_position uses offset from origin 2020-09-01 10:27:18 +10:00
vierfuffzig
56e44c46ca AP_HAL_ChibiOS: disable IMU fast sampling on F35 / WingFC10 
fast sampling introduces random IMU glitches, bisect search identifies 9c2caf5b12 
disabling fast sampling fixes IMU back to expected behaviour. see:
https://github.com/ArduPilot/ardupilot/issues/15090
https://discuss.ardupilot.org/t/shaking-horizon-and-jittering-servos/60420
for reference
 2020-08-31 19:50:09 +10:00
Peter Barker
9cdda81e9c RC_Channel: correct case in AvoidAPRoximity function string 2020-08-29 09:48:33 +09:00
Andrew Tridgell
30f9fd9d2a GCS_MAVLink: fixed overrun of text passed to other libraries 
this caused corruption in log files, and was passing a
non-nul-terminated string to notify and other libraries
 2020-08-28 17:35:17 +10:00
Andrew Tridgell
b18928e28e SITL: fixed SIM_IMU_COUNT conflict 
this came from merging two PRs which both changed SITL params
 2020-08-28 11:32:31 +10:00
Andrew Tridgell
458ade86f5 AP_NavEKF3: fixed segfault when IMU mask covers more IMUs than GSF mask 2020-08-28 10:17:00 +10:00
Andrew Tridgell
6ee527d3e0 AP_NavEKF2: fixed segfault when IMU mask covers more IMUs than GSF mask 2020-08-28 10:17:00 +10:00
Andrew Tridgell
d5c0522651 AP_InertialSensor: instantiate SIM_IMU_COUNT sensors in SITL 2020-08-28 10:17:00 +10:00
Andrew Tridgell
c16467a47f SITL: added SIM_IMU_COUNT 2020-08-28 10:17:00 +10:00
Siddharth Purohit
8373862f39 AP_CANManager: constant slcan via serial manager protocol param 2020-08-28 09:13:23 +10:00
Andrew Tridgell
a4e7c72635 AP_AHRS: removed duplicate implementation of airspeed_estimate() 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla
b5b3298f0a AP_AHRS: get airspeed estimate from non-primary instances too 
with multiple airspeed sensors and airspeed affinity in EKF3,
it is possible to have switched over to a lane not using the
primary airspeed sensor, so AHRS should know which airspeed
sensor to use, i.e, the one being used by the primary lane.
 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla
d7c569c085 AP_Baro: able to freeze baro using SITL parameter 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla
952c14ed33 AP_HAL_SITL: add GPS Velocity Error through a SITL parameter 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla
8507c7d3b9 SITL: add some airspeed, baro, gps noise simulation parameters 
also some rearrangements in the parameter
lists to make things look better
 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla
09620ee1e7 AP_HAL_SITL: use airspeed noise as pressure noise 
this emulates real sensors that have higher airspeed noise at
lower speeds, also change airspeed offset to a sitl parameter
 2020-08-27 20:20:51 +10:00
Andrew Tridgell
505953bdb2 AP_Airspeed: added get_num_sensors() 2020-08-27 20:20:51 +10:00
Andrew Tridgell
326ab0d7b8 AP_Baro: added get_primary() method 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla
edc3709653 AP_NavEKF3: implement sensor affinity using EK3_AFFINITY parameter 
this allows the EKF core index to be used to select a GPS/baro/mag
instance. This is an alternative to GPS blending that allows EKF lane
switching to be used to select the right combination of GPS and IMU
add logging to XKFS message
 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla
9588a68e1b AP_Logger: added logging of baro, gps, airspeed to XKFS 
new XKFS message for "XKF Sensor"
 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla
d7edc946b6 AP_NavEKF3: Relative Error based Lane-Switching 
Improvments to the lane selection logic, we accumulate error for each
EKF lane relative to the primary for a more robust core selection
 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla
56cbcb42ee AP_NavEKF2: Add core relative error and errorscore logging in NKF3 packet 
TODO : Port lane switching logic from EKF3 to make use of these terms
Since both share the same NKF3 log structure, needed to do this.
Just log 0 as of.
 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla
775a40e4cc AP_Logger: Add RErr and ErSc fields to NKF3 log 
RErr (Core Relative Errors) and ErSc (Core Error Scores)
 2020-08-27 20:20:51 +10:00
Pierre Kancir
af1bdcfdfc AP_Scipting: fix memleak on generator 2020-08-26 17:06:23 +10:00
Rishabh
caf5bfed59 AC_Avoid: Added new OA type (Dijkstra + BendyRuler fusion) 2020-08-26 15:43:46 +09:00
Patrick José Pereira
6e24880f87 AP_Common: missing: Add definition for strndupa 
`strndupa` is only available when using the GNU GCC suite.
With this definition is possible to use the MUSL compiler.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-08-25 07:15:00 -07:00
Patrick José Pereira
5746943f50 AP_HAL_Linux: Use pthread_self in place of _ctx 
Avoid aproblem where _ctx is initialized in a race condition.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-08-25 07:15:00 -07:00
Patrick José Pereira
248daa85a1 AP_HAL_Linux: Scheduler: Use pthread_* over sched_* calls for setschedparam 
musl implements `sched_*` following the posix standard,
where `sched_setschedule` is used for process scheduling.
Linux implementation defines `sched_*` functions based in
the thread scheduler and not with the process.

Using `pthread_*` should be used to follow such standard.

Ref: https://pubs.opengroup.org/onlinepubs/9699919799/

From: https://www.openwall.com/lists/musl/2016/03/01/5

> ... Linux does not provide a way
> to set scheduling parameters for a _process_, only for threads. The
> sched_setscheduler syscall is documented as taking a pid but actually
> takes a thread id and only operates on that thread. glibc just ignores
> this and provides sched_* functions that do the wrong thing.

This can be fixed by using `pthread_setschedparam` and requesting the current
thread id via `pthread_self`.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-08-25 07:15:00 -07:00
Patrick José Pereira
11c19a2dde AP_HAL: RCOutput_Tap_Linux: Include arm/ioctls.h 
Add missing include for TCGETS2 while compile with MUSL

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-08-25 07:15:00 -07:00
Randy Mackay
46a7e96c48 AP_NavEKF3: readRngBcnData avoids array overflow from beacon count 2020-08-25 09:38:10 +09:00
Randy Mackay
b314195f6e AP_NavEKF3: minor spelling fix 2020-08-25 09:38:10 +09:00
Randy Mackay
b86e16e927 AP_NavEKF3: readRngBcnData gets minor formatting fix 2020-08-25 09:38:10 +09:00
Randy Mackay
384029d278 AP_NavEKF3: rngBcnDataNew made local 2020-08-25 09:38:10 +09:00
Randy Mackay
8c877f02af AP_NavEKF3: shrink beacon arrays and add assert 2020-08-25 09:38:10 +09:00
Randy Mackay
d292ba028a AP_NavEKF3: increase beacon buffer to imu + 1 2020-08-25 09:38:10 +09:00
Randy Mackay
ce55af4d95 AP_Beacon: fix sitl position to be NED 2020-08-25 09:38:10 +09:00
Randy Mackay
276e56e618 AP_Beacon: update comments to clarify frame 
also minor formatting fix
 2020-08-25 09:38:10 +09:00
Peter Barker
716e7622be AP_Logger: log RCIN channels 14 and 15 in RCI2 2020-08-25 10:27:00 +10:00
Andrew Tridgell
e5e092d077 AP_AHRS: check EKF status for having horizontal position estimate 
this will allow a fixed wing to fall back to DCM if the EKF stops
providing an absolute position while we have 3D GPS lock. The
using_gps flag is not enough, as lagged GPS data can lead to the EKF
stopping fusing when the data is behind the fusion time horizon. In
that case EKF3 gives using_gps=1 but sets horiz_pos_abs=0
 2020-08-25 10:22:05 +10:00
Andrew Tridgell
87c7781be2 AP_GPS: show GPS as unhealthy if it is lagged too much 
this detects GPS data lag, and if 5 samples in a row are lagged by
more than 50ms beyond the expected lag for the GPS then we declare the
GPS as unhealthy.

This is useful to detect users who have asked for more data from the
GPS then it can send at the baudrate that is being used. The case that
led to this path was a F9 GPS with GPS_RAW_DATA=1 at 115200 baud. In
that case the UART data is quickly lagged by over 1s
 2020-08-25 10:22:05 +10:00
Andrew Tridgell
3f630d3d43 HAL_SITL: use GPS accuracy params 2020-08-25 10:22:05 +10:00
Andrew Tridgell
91b4830801 SITL: added SIM_GPS_ACC parameters 2020-08-25 10:22:05 +10:00
Andrew Tridgell
36442dc9b0 HAL_ChibiOS: added Matek CAN GPS 
supports GPS, baro, mag and airspeed
 2020-08-25 09:59:15 +10:00
Andrew Tridgell
4c4c3d467b HAL_ChibiOS: added f103-Airspeed sensor 
for Matek CAN airspeed sensor
 2020-08-25 09:59:15 +10:00
Andrew Tridgell
a20d3fed94 AP_Airspeed: allow hwdef override of airspeed default type 2020-08-25 09:59:15 +10:00
Andrew Tridgell
fdff355a8a AP_IOMCU: fixed handling of RC ignore failsafe option 
this allows for ignoring SBUS failsafe on boards using an IOMCU
 2020-08-25 09:53:26 +10:00
Siddharth Purohit
5cd6175d94 AP_Compass: fix reordering compass devid by priority at boot 2020-08-25 08:30:04 +10:00
Randy Mackay
886a7d44a7 AP_NavEKF3: allow switch to ExtNav from optflow 2020-08-24 16:52:34 +09:00
Andrew Tridgell
2bac4b1d97 AP_RCProtocol: fixed up DSM decoder test suite 
reverted values from new decoder and added another example
 2020-08-24 16:32:35 +10:00
Andrew Tridgell
78c4e27259 AP_RCProtocol: reverted DSM protocol decoder 
the new decoder done by Andy is much nicer looking code, but fails to
correctly parse several valid DSM setups, and parses both SBUS and
FPort as DSM, breaking setups that were previously working
 2020-08-24 16:32:35 +10:00
Andrew Tridgell
6e1aeb905f AP_RCProtocol: added another DSM satellite protocol 2020-08-24 16:32:35 +10:00
Andrew Tridgell
1560c33418 AP_RCProtocol: fixed support for spektrum satellite receivers 
this was broken by the recent DSM protocol decoder change
 2020-08-24 16:32:35 +10:00
Andrew Tridgell
2779b26e6e AP_RCProtocol: fixed the "3 good frames" test 
require 3 consecutive good frames, not 3 frames total, to declare the
weak protocols as detected
 2020-08-24 16:32:35 +10:00
Andrew Tridgell
380e9d3075 AP_RCProtocol: greatly increase robustness of DSM decoding 
this prevents other protocols being decoded as DSM
 2020-08-24 16:32:35 +10:00
Andrew Tridgell
017f005737 AP_IOMCU: pass supported RC protocols to IOMCU 2020-08-24 16:32:35 +10:00
Andrew Tridgell
959e3da406 RC_Channel: added RC_PROTOCOLS mask 
allows selection of supported protocols
 2020-08-24 16:32:35 +10:00
Andrew Tridgell
e0ec46f06d AP_RCProtocol: support a mask of enabled RC protocols 2020-08-24 16:32:35 +10:00
Rishabh
db57e0831b AC_WPNav: Navigation based on type of BendyRuler 2020-08-24 08:53:20 +09:00
Rishabh
ad3a7e4d49 AP_Logger: Update logs based on new BendyRuler type 2020-08-24 08:53:20 +09:00
Rishabh
b62455fd3f AC_Avoid: Extend BendyRuler to search for paths up and down 2020-08-24 08:53:20 +09:00
Rishabh
55923d8b7b AP_Common: Add new method to extrapolate location from bearing and pitch 2020-08-24 08:53:20 +09:00
Rishabh
79a4b8fa32 AC_Avoid: Add feature to reject obstacles near home loc 2020-08-24 08:49:17 +09:00
bugobliterator
5eb0e0a718 AP_HAL_ChibiOS: fix name for RX Queue size define 2020-08-24 06:48:56 +10:00
bugobliterator
4bd0e2f394 AP_CANManager: fix name for RX Queue size define 2020-08-24 06:48:56 +10:00
Peter Barker
be2d03b02a AP_HAL_SITL: periodically warn about failure to open real UART device 2020-08-21 21:25:59 +10:00
Randy Mackay
6bf2057712 AP_NavEKF3: minor formatting fixes 2020-08-21 13:18:58 +09:00
Randy Mackay
4c40d2ac3f AP_NavEKF3: readyToUseBodyOdm uses delayed imu and wheel encoder timestamps 2020-08-21 13:18:58 +09:00
Randy Mackay
056a2de260 AP_NavEKF3: wheelOdmDataNew member made local 
this variable is never used outside the writeWheelOdom method
 2020-08-21 13:18:58 +09:00
Randy Mackay
3d5161f364 AP_NavEKF3: remove unused usingWheelSensors variable 
This variable was set but never consumed
 2020-08-21 13:18:58 +09:00
Randy Mackay
c4b7a1c41a AP_NavEKF3: flowDataToFuse moved to local variable 
This variable is never used outside the SelectFlowFusion() method
This variable is always updated at the top of the function meaning subsequent calls to the function will always overwrite its previous value
 2020-08-21 13:12:10 +09:00
Randy Mackay
41acf555bf AP_NavEKF3: fix skipping of optflow fusion if mag fusion performed 2020-08-21 13:12:10 +09:00
Andrew Tridgell
83e5639225 AP_NavEKF2: apply min GPS accuracy at measurement point 
this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
 2020-08-21 07:40:13 +10:00
Andrew Tridgell
44d5a923cc AP_NavEKF3: apply min GPS accuracy at measurement point 
this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
 2020-08-21 07:40:13 +10:00
Siddharth Purohit
8dcb973dad HAL_ChibiOS: fix SWD config in f3 boards 2020-08-20 19:08:14 +10:00
Randy Mackay
eddbf7a755 AP_Scripting: fix get_control_output binding 
co-author: @wicked.shell.scripts@gmail.com
 2020-08-20 14:09:29 +09:00
Randy Mackay
3638602d38 AP_Scripting: add rover-motor-driver example script 2020-08-20 14:09:29 +09:00
Randy Mackay
39d2079c06 AP_Scripting: add set_angle and set_range bindings 2020-08-20 14:09:29 +09:00
Randy Mackay
94b2381399 AP_Scripting: add set_output_norm binding 2020-08-20 14:09:29 +09:00
ashvath100
a3b435e912 AP_Scripting: add get_control_output binding 2020-08-20 14:09:29 +09:00
Randy Mackay
4a21dbf785 SRV_Channel: default scripting1 to 16 to angle of 4500 2020-08-20 14:09:29 +09:00
Randy Mackay
9f197db93c SRV_Channel: add set_output_norm 2020-08-20 14:09:29 +09:00
Randy Mackay
00757fb77f SRV_Channel: fix get_output_norm comment 
also minor formatting fix
 2020-08-20 14:09:29 +09:00
ashvath100
df42618e0e AP_Vehicle: add get_control_outputs() for lua motor drivers 2020-08-20 14:09:29 +09:00
Siddharth Purohit
c8c913e203 AP_UAVCAN: fix UAVCAN sniffer example 2020-08-20 07:44:53 +10:00
Siddharth Purohit
9b11ae0d2a AP_KDECAN: remove KDECAN example KDECAN test is moved to CANTester 2020-08-20 07:44:53 +10:00
Siddharth Purohit
8a0d98967f AP_CANManager: panic if can manager is used before allocation 2020-08-20 07:44:53 +10:00
Siddharth Purohit
23d9be3499 AP_UAVCAN: disable build for UAVCAN test 2020-08-19 19:00:42 +10:00
Siddharth Purohit
dc708dc3bd AP_KDECAN: remove build for KDECAN test 2020-08-19 19:00:42 +10:00
Siddharth Purohit
8b74f94a7a SRV_Channels: use AP_CANManager library 2020-08-19 17:31:09 +10:00
Siddharth Purohit
42f5f986d8 GCS_MAVLink: use AP_CANManager library 
also add support for handling enumeration cmd by KDETest
 2020-08-19 17:31:09 +10:00
Siddharth Purohit
e473eed368 AP_UAVCAN: ignore first alloc messages while waiting for followup 2020-08-19 17:31:09 +10:00
Siddharth Purohit
bb460647a5 AP_Vehicle: use new CANIface drivers and CANManager 2020-08-19 17:31:09 +10:00
Siddharth Purohit
07b4708a36 AP_UAVCAN: move all uavcan related methods to AP_UAVCAN 2020-08-19 17:31:09 +10:00
Siddharth Purohit
65ea8e1f13 AP_ToshibaCAN: use new CANIface drivers and CANManager 
also had to add a work-around for issue with constexpr in gnu++11 build under sitl
 2020-08-19 17:31:09 +10:00
Siddharth Purohit
6ef85dd7eb AP_RangeFinder: use AP_CANManager library 2020-08-19 17:31:09 +10:00
Siddharth Purohit
0fcf0b4564 AP_PiccoloCAN: modify to use uavcan agnostic CAN drivers and manager 2020-08-19 17:31:09 +10:00
Siddharth Purohit
8a31448709 AP_OpticalFlow: move to using CANManager library 2020-08-19 17:31:09 +10:00
Siddharth Purohit
81c7099848 AP_Notify: move to using CANManager library 2020-08-19 17:31:09 +10:00
Siddharth Purohit
e1203a1d52 AP_KDECAN: move to using uavcan agnostic drivers 2020-08-19 17:31:09 +10:00
Siddharth Purohit
f0e6a8c535 HAL_SITL: add methods to fetch native system clock info 2020-08-19 17:31:09 +10:00
Siddharth Purohit
c17aec07a2 HAL_SITL: add SocketCAN Iface driver over virtual CAN 2020-08-19 17:31:09 +10:00
Siddharth Purohit
0e923fe061 HAL_Linux: add methods for native clock info methods 2020-08-19 17:31:09 +10:00
Siddharth Purohit
7de444ec53 HAL_Linux: add uavcan agnostic CANSocket Iface Driver 2020-08-19 17:31:09 +10:00
Siddharth Purohit
7929efec0d HAL_ChibiOS: add EventSource HAL 2020-08-19 17:31:09 +10:00
Siddharth Purohit
265e9b8cc6 HAL_ChibiOS: add native time info methods 2020-08-19 17:31:09 +10:00
Siddharth Purohit
a7d641c705 AP_HAL_ChibiOS: add available method for locked state 2020-08-19 17:31:09 +10:00
Siddharth Purohit
cdf8e369f1 AP_HAL_ChibiOS: create UAVCAN agnostic CANIface driver 
HAL_ChibiOS
 2020-08-19 17:31:09 +10:00
Siddharth Purohit
15abca8ba4 AP_HAL: add native clock info methods used inside other than main thread 2020-08-19 17:31:09 +10:00
Siddharth Purohit
aa893b3983 AP_HAL: add available method for locked state 2020-08-19 17:31:09 +10:00
Siddharth Purohit
fa0f1e4c71 AP_HAL: add CANIface HAL, replace uavcan dependent one 2020-08-19 17:31:09 +10:00
Siddharth Purohit
697e4141cb AP_HAL: add common Event interface 2020-08-19 17:31:09 +10:00
Siddharth Purohit
0690b7bd68 AP_GPS: move to using CANManager library 2020-08-19 17:31:09 +10:00
Siddharth Purohit
20edecc340 AP_Filesystem: publish can info over FS Sys iface 2020-08-19 17:31:09 +10:00
Siddharth Purohit
e9430d7f80 AP_ESC_Telem: move to using CANManager library 2020-08-19 17:31:09 +10:00
Siddharth Purohit
bf1a7799f8 AP_Compass: move to using CANManager library 2020-08-19 17:31:09 +10:00
Siddharth Purohit
ad2a63e173 AP_BoardConfig: remove CAN management from BoardConfig 2020-08-19 17:31:09 +10:00
Siddharth Purohit
9820ea9023 AP_BattMonitor: move to using CANManager library 2020-08-19 17:31:09 +10:00
Siddharth Purohit
dc02322017 AP_Baro: move to using CANManager library 2020-08-19 17:31:09 +10:00
Siddharth Purohit
0fa6e2bbcc AP_Arming: move to using CANManager library 2020-08-19 17:31:09 +10:00
Siddharth Purohit
d65b43795a AP_Airspeed: move to using CANManager library 2020-08-19 17:31:09 +10:00
Siddharth Purohit
979b0b82d0 AP_CANManager: add CANManager library 2020-08-19 17:31:09 +10:00
Samuel Tabor
18b33a439d AP_Soaring: Allow continued thermalling in manual mode changes RC switch position. 2020-08-19 13:38:56 +10:00
Peter Barker
36e6ce6e5e AP_Avoidance: use an enumeration for the AP_Avoidance recovery action 2020-08-19 11:38:19 +10:00
Peter Barker
945d19a9c5 AP_Proximity: resolve ambiguity about which distance is in which sector 2020-08-17 11:20:12 +10:00
Peter Barker
574f3a30f9 AP_Proximity: correct output of DISTANCE_SENSOR message 2020-08-17 11:20:12 +10:00
Andrew Tridgell
822d3b2a3a AP_Scripting: added get_accel AHRS method 
complements get_gyro() method
 2020-08-16 08:55:27 -07:00
Andrew Tridgell
3f69f97d60 AP_AHRS: added get_accel() for lua access 2020-08-16 08:55:27 -07:00
Peter Barker
e55057ad5d AP_AHRS_DCM: limit measured airspeed according to WIND_MAX 2020-08-15 18:14:05 +10:00
Michael du Breuil
08d4e1c062 AP_GPS: Support configuring the SBF com port 2020-08-13 15:04:38 +10:00
Mark Whitehorn
7d67151c87 RC_Channel: update Plane RC_Option metadata 2020-08-13 08:47:27 +10:00
chobits
c722367c6c AP_NavEKF3: move extNavVelNew to local variable 2020-08-12 15:40:38 +09:00
Josh Welsh
eb4b5fb720 AP_Airspeed: Add additional DLVR support 20inH2O 30inH2O 60inH2O 2020-08-12 08:02:49 +10:00
Peter Barker
0e284b95b0 GCS_MAVLink: move battery type enumeration out of parameters object 2020-08-11 13:21:52 +10:00
Peter Barker
26666b4b3d AP_HAL: move battery type enumeration out of parameters object 2020-08-11 13:21:52 +10:00
Peter Barker
2e3ba2a4d2 AP_BattMonitor: move battery type enumeration out of parameters object 2020-08-11 13:21:52 +10:00
Peter Barker
65834234af AP_HAL_SITL: correct use of uninitialised value in tcp UARTDriver 
In the case we already have a _listen_fd, sockaddr wasn't being
initialised before being printed to stdout.
 2020-08-11 10:07:52 +10:00
Michael du Breuil
6dc77c97ce GCS_MAVLink: Remove redundant check for private channels 
We can't learn the route for sending to a private channel, so we
shouldn't need to actually check it when iterating the routes.
 2020-08-11 09:49:42 +10:00
Peter Barker
b3d755d018 AP_HAL_SITL: correct loop counter type 2020-08-11 09:19:14 +10:00
Randy Mackay
4009f1583f AP_Param: show_all compiler error fix 2020-08-10 19:26:20 +10:00
Randy Mackay
a66893a295 AP_Param: minor spelling fix 2020-08-10 19:26:20 +10:00
chobits
7ad9e3548f AP_NavEKF3: make reset source variable local 2020-08-10 09:43:28 +09:00
Randy Mackay
8629923783 AP_Motors: minor whitespace fix 2020-08-10 09:33:43 +09:00
Josh Welsh
e77bc1ce9d AP_Motors: Tradheli servo_test fix 2020-08-10 09:16:44 +09:00
Isaac Ault
e74acba4ec AP_HAL_Linux: Allow for parameters to be passed with -G, -H 
All other work has been previously implemented, however when fetching
params these values were ignored.
 2020-08-10 10:03:12 +10:00
Alexey Bulatov
7baafcd63d AP_Notify: set led_off instead 0 
Led off value can be differ from 0 if indication is
inverted.
 2020-08-09 13:58:27 +10:00
Iampete1
997ffcf30d AP_GPS: NMEA: only decode each measage once 2020-08-09 11:37:16 +10:00
Patrick José Pereira
e1b6ef3e14 AP_BARO: Fix zero as nullptr in KellerLD 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-08-09 10:12:16 +10:00
mhefny
e137698a4a AP_HAL_Linux: Fix RCInput_RPI Segmentation Fault 2020-08-08 10:01:57 -07:00
Tsuyoshi Kawamura
67ad05609f AP_Scripting: add proximity bindings 2020-08-07 17:32:16 -07:00
Tsuyoshi Kawamura
e2eed88ca3 AP_Scripting: add rangefinder bindings 2020-08-07 17:32:16 -07:00
Randy Mackay
b66eaa0d53 AP_Winch: fix type parameter description 2020-08-07 21:55:07 +09:00
Randy Mackay
6bc2bea329 AP_Winch: rename Servo to PWM 2020-08-07 21:55:07 +09:00
Randy Mackay
b84423c110 AP_Winch_Daiwa: fixes from peer review 
simplify constructor
init calls backend init
fixup parsing to remove unnecessary INT32_MAX/MIN check
fixup comments
 2020-08-07 21:55:07 +09:00
Randy Mackay
a6c8bb06ff AP_Winch: fixes from peer review 
removed init method
constify now_ms
fixed release_length method comment
fixup sprintf
 2020-08-07 21:55:07 +09:00
Randy Mackay
f7ec08ff18 AP_Logger: add Write_Winch 2020-08-07 21:55:07 +09:00