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37799 Commits

Author SHA1 Message Date
Iampete1
921b91930a AP_Mission: move to AuxFuncTrigger structure 2024-12-24 11:34:07 +11:00
Iampete1
0732bf8c5f AP_Button: move to AuxFuncTrigger structure 2024-12-24 11:34:07 +11:00
Iampete1
9185430797 AP_ICEngine: fully move to aux function removing dedicated min PWM and high low thresholds 2024-12-24 11:34:07 +11:00
Iampete1
6b0d59340e AP_Scripting: Examples: Flip_Mode: combine allow entry methods 2024-12-24 11:05:56 +11:00
Peter Barker
4a52e86131 AP_RangeFinder: tidy defines around bebop rangefinder inclusion 2024-12-23 18:03:55 -06:00
Michael du Breuil
5b961891ee AP_BattMonitor: Handle allocating too many analog channels 
If you over allocate the number of analog channels this results in a
crash. It's easy to trigger this if you have voltage only monitors as we
still eat up a current input channel, regarless of if we use it. There
are only 16 channels at this time on ChibiOS, so if you have 9 voltage
only battery monitors you are out.

This PR improves that situation by only allocating channels when needed,
and in the case where we run out we now set a ConfigError, which on a
flight controller is much more friendly then a instant segfault the
moment we read a battery monitor. NOTE: on AP_Periph this takes the
node off the bus, rather then just sitting in the bootloader. This was
consideted acceptable as the current behaviour was to segfault and then
sit in the bootloader, unless you made new firmware that limited the
number of channels allocated it wasn't possible to recover in this
situation anyways.
 2024-12-24 09:01:28 +09:00
Thomas Watson
54e3d74b51 AP_HAL_ESP32: drop spurious HAL_PARAM_DEFAULTS_PATH definition 
It's already conditionally defined to nullptr in the top-level AP_HAL.
 2024-12-24 10:50:21 +11:00
Thomas Watson
5de8da421d AP_HAL_ESP32: drop never-used defaults.parm 2024-12-24 10:50:21 +11:00
Peter Barker
6e62ff7ed2 hwdef: reduce number of RCOU channels skyviper has 2024-12-24 08:07:10 +09:00
Peter Barker
23872df5cd hwdef: remove ADSB entirely from SkyViper 
drivers were still around
 2024-12-24 08:07:10 +09:00
Peter Barker
cd95acbb6a hwdef: remove payload place from SkyViper-v2450 2024-12-24 08:07:10 +09:00
Peter Barker
56969e42f5 AP_HAL_ChibiOS: disable SBus output on SkyViper-v2450 2024-12-24 08:07:10 +09:00
Andrew Tridgell
613b835d67 AP_Scripting: added QUIK_ANGLE_MAX for lua quicktune 
this brings the same protection to the lua script as was added for the
C++ implementation
 2024-12-22 07:09:31 +11:00
Andrew Tridgell
9503744e6a AP_Scripting: added get_att_error_angle_deg binding for AC_AttitudeControl 2024-12-22 07:09:31 +11:00
Peter Barker
cb6907992b AP_Proximity: prevent buffer overflow in LD06 driver 
We're using a value off the wire before it has been validated.  That value is used to limit indexing into a buffer, and that buffer isn't big enough to handle all possible "bad" values that index could take on.  Note that "read" here returns int16_t....
 2024-12-19 22:58:29 +11:00
Eric Katzfey
5c9003dd02 AP_Volz_Protocol: Moved member variable definition within proper #define block to prevent unused variable warning 2024-12-18 21:50:27 +11:00
bugobliterator
42e2e23464 AP_Networking: fix memory error generated by CAN mcast driver 2024-12-18 21:48:54 +11:00
Andreas Gising
300e5ccedd AP_Scripting: add glide-into-wind example without RC override 2024-12-18 19:35:34 +11:00
Peter Barker
f5d81abb42 AP_AHRS: return EAS from get_unconstrained_airspeed_EAS 
Co-authored-by: luweiagi <luweiagi@163.com>
 2024-12-18 19:10:15 +11:00
Peter Barker
46b9f06011 AP_AHRS: use TAS in DCM drift correction code 
Co-authored-by: luweiagi <luweiagi@163.com>
 2024-12-18 19:10:15 +11:00
Siddharth Purohit
92241daef1 AP_InertialSensor: do not read FIFO faster than requested rate for ICM45686 2024-12-18 19:05:20 +11:00
Randy Mackay
523b34fbb9 AP_Scripting: add follow-target-send applet 2024-12-18 18:28:12 +11:00
Randy Mackay
5c7cfa13cf AP_Scripting: add FOLLOW_TARGET msg definition 2024-12-18 18:28:12 +11:00
Randy Mackay
56cb20ac50 AP_Scripting: add get_vel_target poscontrol binding 2024-12-18 18:28:12 +11:00
Randy Mackay
74c702674b AC_PosControl: add get_vel_target and get_accel_target 2024-12-18 18:28:12 +11:00
Bob Long
dee88b4ecb SITL: default SIM_ENGINE_MUL to 0 
This makes SIM_ENGINE_FAIL work a little more intuitively, since it is
usually used to simulate a complete failure.

Also, drive-by fix of the SIM_ENGINE_MUL documentation.
 2024-12-18 18:06:50 +11:00
Bob Long
58c3854325 SITL: make SIM_ENGINE_FAIL a mask 
The param docs already claimed it was one.
 2024-12-18 18:06:50 +11:00
Peter Barker
84440108e3 AP_AHRS: rename DCM members to clarify EAS vs TAS 2024-12-17 20:17:48 +11:00
Peter Barker
33a788ebb5 GCS_MAVLink: move sending of WATER_DEPTH into Rover code 
only compiled in on Rover at the moment.

need to add an additional Rover-specific check for frame type, so move this code into Rover for now.
 2024-12-17 20:17:19 +11:00
Peter Barker
6e49333a40 AP_HAL_ChibiOS: do not build QuickTune on peripherals 
kills heavy peripherals

../../libraries/AP_Quicktune/AP_Quicktune.cpp: In member function 'void AP_Quicktune::update(bool)':
../../libraries/AP_Quicktune/AP_Quicktune.cpp:177:32: error: 'vehicle' is not a member of 'AP'
  177 |     const auto &vehicle = *AP::vehicle();
      |                                ^~~~~~~
compilation terminated due to -Wfatal-errors.

[ 688/1225] Compiling libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.cpp
Waf: Leaving directory `/home/pbarker/rc/ardupilot/build/CubeOrange-periph-heavy'
 2024-12-17 20:16:30 +11:00
Peter Barker
439c85e793 AP_Airspeed: correct compilation when AP_AIRSPEED_AUTO_CAL_ENABLE is false 
CubeNode was trying to check a parameter which doesn't exist

../../libraries/AP_Airspeed/Airspeed_Calibration.cpp: In member function 'void AP_Airspeed::send_airspeed_calibration(const Vector3f&)':
../../libraries/AP_Airspeed/Airspeed_Calibration.cpp:179:23: error: 'class AP_Airspeed_Params' has no member named 'autocal'
  179 |         if (!param[i].autocal && !calibration_enabled) {
      |                       ^~~~~~~
compilation terminated due to -Wfatal-errors.
 2024-12-17 11:32:55 +11:00
Andy Piper
7a16bf1987 AP_HAL_ChibiOS: ICM42688 for OrqaF405Pro 2024-12-17 11:21:54 +11:00
Peter Barker
f19eddad74 AP_NavEKF3: apply -O2 to AP_NavEKFx.h 
the core.h file adjusts the optimisation level; use it when including the AP_NavEKFx.h header file
 2024-12-17 11:18:54 +11:00
Peter Barker
c6ec6cb428 AP_NavEKF2: apply -O2 to AP_NavEKFx.h 
the core.h file adjusts the optimisation level; use it when including the AP_NavEKFx.h header file
 2024-12-17 11:18:54 +11:00
Peter Barker
52291b622a AP_Generator: apply -Os to all cpp files 2024-12-17 11:11:27 +11:00
Henry Wurzburg
85258153ac AP_BattMonitor: update FS actions metadata with DO_RETURN_PATH_START 2024-12-17 09:34:49 +11:00
Peter Barker
ab4614dd98 AP_HAL_ESP32: stop making python python3 
this isn't something we should be doing to people's environments
 2024-12-17 09:19:20 +11:00
Peter Barker
05e5d2e6bb AP_SerialManager: move serial port init of Volz protocol into Volz library 2024-12-17 09:14:08 +11:00
Peter Barker
4e0bc79002 AP_Volz_Protocol: move serial port init of Volz protocol into Volz library 2024-12-17 09:14:08 +11:00
Peter Barker
061097ac31 AP_SerialManager: add a method to set the default baud 
this allows a library to change what the GCS will see in the parameter for a serial port's baud rate.
 2024-12-17 09:14:08 +11:00
Peter Barker
aec7cc24d1 AP_Mount: rearrange methods and variables per PR review 2024-12-16 19:16:25 +09:00
Peter Barker
0b8ad6f1d9 AP_Mount: privatise various fields and methods 
We are hoping to pull more target calculations into the frontend.

Having these non-private threatens for calculations to move into the separate backends instead, so privatise them
 2024-12-16 19:16:25 +09:00
James O'Shannessy
4bc6115f1a hwdef: Update scripts to parse CSV files properly 
fails because of iterator not returning strings and 'dict' object has no attribute 'iterkeys'. Fixed so both scripts run.
 2024-12-16 19:23:58 +11:00
James O'Shannessy
61ca071ba6 AP_HAL_ChibiOS: Add STM32F413xx module 
Generated the STM32F413xx script from reference manuals and datasheets
Added changes for supporting STM32F413 to mcuconf
 2024-12-16 19:23:58 +11:00
Eric Katzfey
99bfc32038 AP_HAL_QURT: Add support for the ModalAI IO board to support PWM ESCs 2024-12-16 13:03:50 +11:00
Rhys Mainwaring
ee7376afb1 SITL: follow standard pattern for including ENABLED guards 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-12-15 11:32:36 -06:00
Rhys Mainwaring
5b935a3838 AP_HAL_ESP32: update cmake minimum version 
- The ESP32 API guide states the cmake version must be 3.16 or greater.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-12-15 08:55:04 -06:00
Bob Long
8229174a76 AP_VisualOdom: fix singleton panic message 2024-12-15 23:38:24 +11:00
Bob Long
a598045fd0 AP_AdvancedFailsafe: fix singleton panic message 2024-12-15 23:38:24 +11:00
Tom Pittenger
a48ff8431b AP_ADSB: add option to force Mode3AC Only 2024-12-14 22:51:11 -08:00
Tom Pittenger
137915ab46 AP_ADSB: refactor IDENT and add gcs_sendtext feedback 2024-12-14 22:50:19 -08:00
Tom Pittenger
35f563d538 AP_ADSB: refactor a table 2024-12-14 22:49:31 -08:00
Peter Barker
4554dd28d3 AP_DroneCAN: document CANS (Can Bus Statistics) log message 2024-12-15 15:17:55 +11:00
Eric Katzfey
7c1cc26509 GCS_MAVLink: Remove pragma to disable compiler warning and instead cast enum to int to fix the code. 2024-12-15 15:16:21 +11:00
Eric Katzfey
93ba994eb1 AP_GPS: Cast enum to int to fix compiler warning when max enum value is less than the constant being compared to. 2024-12-15 15:16:21 +11:00
Peter Barker
f26372b46e AC_Avoidance: add missing include 
../../libraries/AC_Avoidance/AC_Avoidance_Logging.cpp: In member function 'void AP_OABendyRuler::Write_OABendyRuler(uint8_t, bool, float, float, bool, float, const Location&, const Location&) const':
../../libraries/AC_Avoidance/AC_Avoidance_Logging.cpp:23:46: error: 'ahrs' is not a member of 'AP'
   23 |         yaw         : (uint16_t)wrap_360(AP::ahrs().yaw_sensor * 0.01f),
      |                                              ^~~~
compilation terminated due to -Wfatal-errors.
 2024-12-15 12:46:22 +11:00
Rhys Mainwaring
70fe304c7e SITL: add ENABLED defines for simulated I2C devices 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-12-15 09:49:34 +11:00
Simon Hancock
17f18f7fc5 AP_Filesystem: Add details of withdefaults query param to README 2024-12-15 08:43:42 +11:00
Eric Katzfey
ede51888b0 AP_TECS: Removed an unused variable to get rid of a compiler warning 2024-12-14 15:42:46 +11:00
Thomas Watson
2f5be28378 AP_BattMonitor: INA3221: reallocate parameter indices 
Hasn't been released yet so let's not add more conflicts.
 2024-12-14 15:42:31 +11:00
Thomas Watson
49a3a9d220 AP_BattMonitor: add missing subgroup links to correct metadata gen 2024-12-14 15:42:31 +11:00
Thomas Watson
fb9119fac8 AP_BattMonitor: create table of used backend paramater indices 
Hopefully makes it less likely for conflicts to happen and makes it
easier to find free indices.
 2024-12-14 15:42:31 +11:00
Iampete1
634e106af4 RC_Channel: add another 8 scripting aux functions 2024-12-14 15:41:57 +11:00
Andrew Tridgell
322b7520de AP_CANManager: fixed critical race in log_text() 
the AP_CANManager::log_text() gets called from debug logging in
AP_DroneCAN. It is a method on a common AP_CANManager object which is
shared by multiple AP_DroneCAN threads.

if two threads call the debug log messages at the same time then we
can end up with _log_pos greater than LOG_BUFFER_SIZE (1024) and
overwrite past the end of the buffer

in the crash_dump we have for this case the next piece of memory was
hal.can[0], and the overwrite of the buffer had corrupted the
MessageRam_ structurre in the ChibiOS CAN interface code. That led to
a hardfault on receive of a CAN message

Note that this issue only happens if CAN_LOGLEVEL is set to greater
than zero, and the default is zero. So users can avoid the bug by
checking they have not changed CAN_LOGLEVEL.

Also, this is likely an issue that only happens on startup, as once
the two AP_DroneCAN threads are fully running they have the same
thread priority so can't pre-empt each other. During startup some
messages are sent from the main thread which has a different priority
to the AP_DroneCAN threads, and can thus trigger this issue
 2024-12-14 15:41:38 +11:00
Peter Barker
eedb8ae617 hwdef: remove 'HAL_WATCHDOG_ENABLED_DEFAULT true' from periphs 
this is the default for peripherals
 2024-12-14 10:36:06 +11:00
Peter Barker
9835fe80d6 AP_TECS: correct comment explaining roll-induced-drag scaling 
Co-authored-by: George Zogopoulos <tailwhipx4@gmail.com>
 2024-12-14 10:11:09 +11:00
Peter Barker
1ab0dcd45d AP_TECS: remove unneccessary sqrtf in Phi calculations 
we take the square of this in the only use of it
 2024-12-14 10:11:09 +11:00
Peter Barker
fea17e6f59 SITL: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Peter Barker
6fb3e27b8d AP_RCProtocol: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Peter Barker
d540a31f2e AP_Radio: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Peter Barker
70e9a90ac5 AP_Param: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Peter Barker
074798fb88 AP_Logger: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Peter Barker
7fe183ba0f AP_InternalError: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Peter Barker
5becd59265 AP_InertialSensor: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Peter Barker
57ac1e5911 AP_HAL_SITL: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Peter Barker
dc2a5e02b6 AP_HAL_Linux: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Peter Barker
e6796c1e96 AP_HAL_ChibiOS: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Peter Barker
14b29cf7de AP_FlashStorage: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Peter Barker
f59efb8a19 AP_DDS: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Peter Barker
d68b95e60e AP_AHRS: remove superfluous linefeed from panic strings 
panic adds this within the HAL layer.
 2024-12-14 10:06:13 +11:00
Andy Piper
684d95a826 AP_Camera: remove lf from panic 
correct camera info message and defend against -1
 2024-12-13 11:07:09 +00:00
Andy Piper
399f9f6f98 AP_Camera: RunCam camera backend 
RunCam parameter conversion
add RunCam camera settings and control
 2024-12-13 11:07:09 +00:00
Andy Piper
90fc426fd5 AP_HAL_ChibiOS: ensure RunCam backend gets included in minimal 2024-12-13 11:07:09 +00:00
Andy Piper
7a08f2bf3d AP_Param: add group idx calculator 2024-12-13 11:07:09 +00:00
Andy Piper
ee56d90f95 AP_Arming: HAL_RUNCAM_ENABLED -> AP_CAMERA_RUNCAM_ENABLED 2024-12-13 11:07:09 +00:00
Andy Piper
9308a6ef69 RC_Channel: HAL_RUNCAM_ENABLED -> AP_CAMERA_RUNCAM_ENABLED 2024-12-13 11:07:09 +00:00
Andy Piper
be49a06f04 AP_Vehicle: remove runcam singleton 2024-12-13 11:07:09 +00:00
Peter Barker
72f56ee8fc AP_HAL_ChibiOS: print linefeed after panic message 
this makes the output much nicer and avoids including the linefeed in the caller
 2024-12-13 19:37:54 +11:00
Peter Barker
dc6c799dad AP_HAL_ChibiOS: factor panic code to remove duplication 
the code inside and above the loop are the same, it's just the delay which changes
 2024-12-13 19:37:54 +11:00
Rhys Mainwaring
d1cbf30286 AP_HAL_ESP32: add targets to measure static memory sizes 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-12-12 23:16:48 -06:00
Rhys Mainwaring
eecac5eead AP_HAL_ESP32: reduce sdcard mount config max_files 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-12-12 22:54:18 -06:00
Eric Katzfey
3501bb7fc3 AP_RCProtocol: Remove extraneous zero initializers to clean up Qurt compiler warnings 2024-12-12 16:41:24 +00:00
Andy Piper
a52c375643 AP_ESC_Telem: ensure that EDTv2 only gets logged when telemetry is available 2024-12-11 18:14:34 +00:00
Henry Wurzburg
6e263532c8 RC_Channel:add QuickTune metadat 2024-12-11 14:04:00 +00:00
Andrew Tridgell
076782f6f1 AC_Fence: remember manual disable of fence for min-alt 
the automatic min-alt fence should not auto-enable based on altitude
if the fence has been manually disabled. This is needed to allow for a
manual landing by disabling the fence before descending
 2024-12-11 18:58:00 +11:00
Andrew Tridgell
75655a787c AC_Fence: removed _auto_enable_mask 
the _auto_enable_mask was try to make AUX function overrides disable
the FENCE_AUTOENABLE functionality. This isn't the right bevaviour,
both the aux function and the auto-enable should be edge triggered,
with last function taking effect
 2024-12-11 18:58:00 +11:00
Andrew Tridgell
e96a5aa547 AC_Fence: removed _curr_alt from class 
this is only ever set/checked within a function
 2024-12-11 18:58:00 +11:00
Andrew Tridgell
9084b48308 AC_Fence: fixed pre-arm check for polygon fences 
for polygon fences we need to check if the vehicle has a position and
is inside the polygon
 2024-12-11 18:58:00 +11:00
Andrew Tridgell
f6726e66f8 AC_Fence: prevent a fetch R/C switch from disabling FENCE_AUTOENABLE=3 
we should only add fence types to the no auto-enable mask if the
enable actually changed that type of fence. This fixes the case where
the user has both FENCE_AUTOENABLE=3 and RCn_OPTION=11. The disable
triggered by the init of the aux function was preventing the fence
from auto-enabling
 2024-12-11 18:58:00 +11:00
Andrew Tridgell
c2864b5733 AP_CANManager: support CAN frame logging 
this supports logging of all bxCAN and CANFD frames, which helps with
debugging tricky CAN support issues and for the development of new CAN
driver lua scripts
 2024-12-11 08:43:56 +11:00
Andrew Tridgell
07a5e40aa1 AP_Logger: logging structures from AP_CANManager 2024-12-11 08:43:56 +11:00
Andrew Tridgell
f5b0a447d8 AP_HAL: enable up to 3 CAN callbacks 2024-12-11 08:43:56 +11:00
Andrew Tridgell
00202bf016 AP_Airspeed: don't send AIRSPEED_AUTOCAL message when disabled 
we were wasting bandwidth sending this all the time

also fixed to support calibration messages for 2nd airspeed sensor
 2024-12-11 07:45:55 +11:00
Randy Mackay
dd37065bb5 AP_Camera: camera-status-fov attitude in earth frame 2024-12-10 19:57:06 +09:00
Randy Mackay
a9f561ac78 AP_Camera: always send camera-fov-status 2024-12-10 19:57:06 +09:00
Randy Mackay
5a1a8d1c10 AP_Mount: add get_attitude_quaternion method 2024-12-10 19:57:06 +09:00
Henry Wurzburg
051c2dcd35 Tools: add Plane autoland applet 2024-12-10 13:18:41 +11:00
Henry Wurzburg
637fea1f2d AP_Scripting: add Plane autoland applet 2024-12-10 13:18:41 +11:00
rishabsingh3003
99f4f13369 SITL: Add simulator for tethered vehicle 2024-12-10 10:48:00 +11:00
Andy Piper
af0fe69085 AP_HAL_ChibiOS: don't throw an internal error on mismatched cork/push 2024-12-09 23:46:37 +00:00
Andy Piper
1d6d11283e AP_HAL: protect against invalid values when calculating Jain's estimator 2024-12-10 10:43:17 +11:00
Randy Mackay
ec215c3a29 AP_DDS: default IP to 192.168.144.x 2024-12-10 10:37:30 +11:00
Randy Mackay
9d9eaa3150 AP_Networking: default IP to 192.168.144.x 2024-12-10 10:37:30 +11:00
Vincent Poon
13481ce4d8 add bmi270 support to kakuteh7 2024-12-10 10:33:26 +11:00
Rhys Mainwaring
3c561e215f AP_HAL_ESP32: set default cpu frequency to 240MHz 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-12-10 10:32:47 +11:00
Thomas Watson
a14fb9ab28 AP_HAL_ESP32: regenerate sdkconfig after sdkconfig.defaults change 
Ensures the sdkconfig does not get out of date as updates are made to
the defaults. The sdkconfig can still be manually changed for testing.
 2024-12-10 10:32:47 +11:00
Thomas Watson
535f6875a8 AP_HAL_ESP32: move generated sdkconfig to build folder 
Ensures it gets cleaned with `./waf clean`. Users will hopefully delete
and not be confused by the old one as it will now show up as an
untracked file.
 2024-12-10 10:32:47 +11:00
YI-BOYANG
122eb21b45 AP_HAL_ChibiOS: add GEPRC_TAKER_H743 2024-12-10 10:30:54 +11:00
Andrew Tridgell
7759bc7662 hwdef: enable IMU in HolybroG4_GPS 
IMU rate zero by default
 2024-12-10 09:29:37 +11:00
Andrew Tridgell
02ea371eae hwdef: added baro in HolybroG4_GPS 
new units have a ICP201XX baro

disable baro by default to avoid issues with airflow and GPS modules
installed on the outside of the aircraft
 2024-12-10 09:29:37 +11:00
Andrew Tridgell
4d31a7320a AP_InertialSensor: stop sensors converging if motors arm 
if the user arms within 30s of startup then stop the re-init of the
sensors. This can give less accurate frequency as the sample rate may
not have settled yet, but it is better than doing init of the filters
while the vehicle may be flying

also fix a 32 bit millis wrap
 2024-12-09 07:40:48 +11:00
Andrew Tridgell
8e1acb10fd Filter: enable 4 filters on low-flash boards 2024-12-09 07:40:06 +11:00
Iampete1
e4de4c9b41 AP_Scripting: Examples: message_interval: give checker a hint about types 2024-12-08 08:09:06 +09:00
shen
9d21b3396e hwdef: Add AEROFOX H7 2024-12-07 18:10:09 +11:00
Andy Piper
ad539ffa03 AP_RCTelemetry: add missing CRSF scheduler table entry 2024-12-05 10:03:27 -06:00
Randy Mackay
1308efb9a4 AP_Scripting: promote video-stream-information to applet 2024-12-05 16:46:48 +09:00
Randy Mackay
3325bdd7df AP_Scripting: set-video-stream-info encoding binding and docs 2024-12-05 16:46:48 +09:00
Randy Mackay
6f6613fefd AP_Camera: set-stream-information loses send-text 2024-12-05 16:46:48 +09:00
Thomas Watson
d7b26a2205 AC_AutoTune: fix tracking of maximum angular acceleration 
Issue introduced in https://github.com/ArduPilot/ardupilot/pull/27370
and partially fixed in https://github.com/ArduPilot/ardupilot/pull/27762,
though evidently not properly tested.

Failing to track the maximum can result in dangerously low values being
calculated for `ATC_ACCEL_[RPY]_MAX` and the vehicle becoming unflyable.

Make the variable a reference so that the maximum value is preserved
between function calls.
 2024-12-05 09:18:56 +09:00
Andy Piper
88f6125a94 AP_InertialSensor: belt and braces checks 2024-12-04 07:45:05 +11:00
Andy Piper
277386e6e2 AP_HAL_ChibiOS: add cork()/push() check 2024-12-04 07:45:05 +11:00
Andy Piper
4b0fa15278 AP_InertialSensor: address review comments 2024-12-04 07:45:05 +11:00
Andy Piper
8fc4a6a6e9 AP_HAL_ChibiOS: add comments to force_push on rcout 2024-12-04 07:45:05 +11:00
Andy Piper
398a70ec4b AP_InertialSensor: avoid multiple allocations of rate loop buffer 
add nullptr checks and comments to FastRateBuffer
 2024-12-04 07:45:05 +11:00
Andy Piper
6db09c9fdd AP_InertialSensor: keep a queue of gyro samples for use by the rate thread 
decimate the gyro window locally
configure rate loop buffer based on AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
allow backends to be updated from rate thread
output debug error if rate loop buffer overruns
add support for updating filter parameters independently of propagating samples
add rate loop config abstraction that allows code to be elided on non-copter builds
must be using harmonic notch to use rate thread
mediate fast rate loop buffer using mutex and binary semaphore
ensure gyro samples are used when the rate loop buffer isn't

Co-Authored-By: Andrew Tridgell <andrew@tridgell.net>
 2024-12-04 07:45:05 +11:00
Andy Piper
a3de217dee AP_HAL_ChibiOS: ensure dshot rate can be set dynamically 
honour the requested dshot rate as near as possible
 2024-12-04 07:45:05 +11:00
Andy Piper
3cc4b1991c AP_HAL_ChibiOS: compile MambaH743v4 at -O2 2024-12-04 07:45:05 +11:00
Andy Piper
048a3af785 AP_HAL_ChibiOS: allow forcing of trigger_groups() 2024-12-04 07:45:05 +11:00
Andy Piper
76897e9674 AP_HAL: set HAL_INS_RATE_LOOP in boards 
restrict rate loop to H7 and F7
 2024-12-04 07:45:05 +11:00
Andy Piper
c4ab8e25c4 AP_HAL: allow forcing of trigger_groups() 2024-12-04 07:45:05 +11:00
Andrew Tridgell
6ac35ce9af AP_Vehicle: use update_dynamic_notch() directly in rate loop 2024-12-04 07:45:05 +11:00
Randy Mackay
eaf20db6ea AP_Scripting: ahrs/ekf origin script promoted to an applet 2024-12-03 11:15:00 +11:00
Andrew Tridgell
445c03c69c AP_ServoTelem: added active mask 
and fixed typo in logging
 2024-12-03 07:38:17 +11:00
Andrew Tridgell
bf5555ccd3 AP_DroneCAN: actuator status is measured, not commanded 2024-12-03 07:38:17 +11:00
Iampete1
38c3257151 AP_Vechicle: add AP_Servo_Telem and call at 50Hz 2024-12-03 07:38:17 +11:00
Iampete1
e003cc511d add AP_Servo_Telem 2024-12-03 07:38:17 +11:00
Iampete1
d0bbc02995 AP_Logger: remove Write_ServoStatus and CSRV definition 2024-12-03 07:38:17 +11:00
Iampete1
9be1a751da AP_Volz_Protocol: send incomming servo telem data to new AP_Servo_Telem lib 2024-12-03 07:38:17 +11:00
Iampete1
71137dac31 AP_PiccoloCAN: send incomming servo telem data to new AP_Servo_Telem lib 2024-12-03 07:38:17 +11:00
Iampete1
d5c29735d6 AP_DroneCAN: send incomming servo telem data to new AP_Servo_Telem lib 2024-12-03 07:38:17 +11:00
Iampete1
2863dcfb94 AP_Logger: add new unit t for torque in N.m 2024-12-03 07:38:17 +11:00
Thomas Watson
adfc415cff SITL: fix testing and simulated register scaling 
* make test actually test something

* fix scaling to match datasheet values
 2024-12-02 10:10:01 -06:00
Thomas Watson
190c3aa7ab AP_BattMonitor: INA3221: fix up based on real experience 
* correctly validate channel parameter and improve other parameter
access

* dynamically enable channels to avoid spending time converting unused
channels

* implement tracking of reading health

* correct reading scaling by using datasheet values

* accumulate measured current to track used mAh and Wh

* make configurable using #defines (and hwdef) for integrators

* correctly separate and lock frontend and backend state. Note that
_state of frontend can only be accessed in `read()` method.
 2024-12-02 10:10:01 -06:00
Peter Barker
4cfbeb11e3 SITL: add support for ina3221 triple-channel current/voltage sensor 2024-12-02 10:10:01 -06:00
Peter Barker
5bc3b629f4 AP_BattMonitor: add support for ina3221 triple-channel current/voltage sensor 2024-12-02 10:10:01 -06:00
Andrew Tridgell
53ee7d6e75 AP_InertialSensor: fixed check for changes to notch filters 
if the configured freq changes on any type of notch then A and Q
change, so init must be called. This does not affect only Fixed
notches
 2024-11-30 17:59:47 +11:00
Jonathan Challinger
564879594e AP_NavEKF3: fix computation of rho 2024-11-29 19:20:05 +11:00
Andrew Tridgell
10209a2a13 AP_Scripting: added UltraMotion servo driver 2024-11-28 09:24:03 +11:00
Andrew Tridgell
1c6ac0990c AP_Scripting: added UltraMotion servo driver 
see https://www.ultramotion.com/servo-cylinder/
 2024-11-28 09:24:03 +11:00
Andrew Tridgell
fb3a50096d AP_Scripting: added get_output_pwm_chan 2024-11-28 09:24:03 +11:00
Andrew Tridgell
d6b38f4009 SRV_Channel: added get_output_pwm_chan() for scripting 
allows for servo drivers to be written in lua
 2024-11-28 09:24:03 +11:00
George Zogopoulos
2f9ff3ef73 Plane: Call new TECS method in case of altitude change 2024-11-27 19:35:03 +11:00
George Zogopoulos
5b8a702b54 AP_TECS: Added method to handle home altitude change 2024-11-27 19:35:03 +11:00
George Zogopoulos
0f9268c6c8 AP_TECS: Delete redundant _hgt_afe setting 2024-11-27 19:35:03 +11:00
Andrew Tridgell
3a1faf6f54 AP_Quicktune: adjust defaults 
change QWIK_ANGLE_MAX to 10. this is a very conservative value, we may
raise it based on user feedback.

Lower the default SMAX to 4 to be a bit more conservative for larger
vehicles
 2024-11-27 14:07:38 +11:00
Andrew Tridgell
8edaf88efa hwdef: removed QAUTOTUNE disable 
now disabled by default
 2024-11-27 14:07:38 +11:00
Michelle Rossouw
edcddcb82e AP_Quicktune: Added Quicktune 
C++ version of lua script, with some enhancements
 2024-11-27 14:07:38 +11:00
Michelle Rossouw
316bfd3263 RC_Channel: Added Quicktune 2024-11-27 14:07:38 +11:00
yaapu
3c19312c56 Ap_Frsky_Telem: fix for apparent wind passthrough telemetry frame 2024-11-27 13:46:37 +11:00
Hayden Donald
83520d611b AP_HAL_ChibiOS: CubeNode ETH add HAL_PERIPH_SHOW_SERIAL_MANAGER_PARAMS 2024-11-27 11:53:25 +11:00
Hayden Donald
2308968737 AP_HAL_ChibiOS: CubeNode-ETH add LEDs 
Added the LEDs for CubeNode-ETH to the hwdef
 2024-11-27 11:53:25 +11:00
Hayden Donald
a29b8a4f5a AP_HAL_ChibiOS: CubeNode-ETH fix incorrect pin for CTS 
Fixed an incorrect pin for UART8_CTS (PC11 should be PC12)
 2024-11-27 11:53:25 +11:00
Ryan Friedman
e7e700d9f2 AP_Terrain: Add const to locals 
Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
 2024-11-26 15:42:04 +11:00
Randy Mackay
99022747f3 AP_NavEKF3: pos vel resets default to user defined source 2024-11-26 11:32:25 +11:00
Iampete1
5e7463fdcd AP_Mission: DO_RETURN_PATH_START limit worst case runtime 2024-11-26 11:17:55 +11:00
Iampete1
8a86e7da14 AP_Scripting: examples: Flip Mode: refuse mode entry if not armed and flying 2024-11-26 08:44:31 +09:00
Iampete1
55936895e3 GCS_MAVLink: send AVAILABLE_MODES_MONITOR message 2024-11-26 08:44:31 +09:00
Iampete1
d3ffa2e56a AP_Scripting: add bindings for AP_Vehicle::custom_mode_state 2024-11-26 08:44:31 +09:00
Iampete1
fddfaaa1fc Vehicle: add and return custom_mode_state struct on register_custom_mode 2024-11-26 08:44:31 +09:00
Iampete1
00efc1c926 AP_Scripting: generator: allow fields on ap_objects 2024-11-26 08:44:31 +09:00
Iampete1
da33532dbb AP_Scripting: examples: add Flip example script duplicating the behavior of flip mode. 2024-11-26 08:44:31 +09:00
Iampete1
8bf3f5e347 AP_Vehicle: add register_custom_mode 2024-11-26 08:44:31 +09:00
Iampete1
8bc5f797da AP_Scripting: add binding for vehicle register_custom_mode 2024-11-26 08:44:31 +09:00
CB Unmanned
0fd497f203 AP_HAL_ChibiOS: Update CBU-Stamp Baro Type 
Update from the DPS310 to the BMP280
 2024-11-26 09:42:01 +11:00
Peter Barker
48acec80a4 AP_Logger: correct typo in MAV documentation 2024-11-26 09:18:08 +11:00
Randy Mackay
4b040eef93 AP_RangeFinder: alphabetise type parm docs 2024-11-25 20:28:18 +11:00
Peter Barker
650b9784a0 GCS_MAVLink: validate vertex count before assignment 
this assignments following these lines were silently truncating the param1 value to uint8_t value
 2024-11-25 11:37:38 +11:00
Peter Barker
e19636e4ad GCS_MAVLink: Rally: correct mission_type in mission_item_int conversion 2024-11-25 11:37:38 +11:00
Peter Barker
69e3d59eb9 GCS_MAVLink: Fence: correct mission_type in mission_item_int conversion 2024-11-25 11:37:38 +11:00
Peter Barker
86fef47dc2 AC_Fence: specify storage type for AC_PolyFenceType 
we allocate RAM based on the size of this structure
 2024-11-25 11:37:38 +11:00
Peter Barker
f2ed243037 GCS_MAVLink: correct handling of more than 256 fence items 2024-11-25 11:37:38 +11:00
Peter Barker
8b8bc026db AC_Fence: correct handling of more than 256 fence items 2024-11-25 11:37:38 +11:00
Rhys Mainwaring
85f8ae8aa3 AP_HAL_ESP32: disable define of HAL_ESP32_RCIN on esp32empty 
- RMTSigReader issue with rmt(legacy): RMT RX BUFFER FULL

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-11-23 21:50:51 -06:00
Ryan Friedman
fe8e0d0c96 AP_Soaring: Use constexpr instead of define for constants 
Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
 2024-11-24 12:26:09 +11:00
Tim Tuxworth
1b4ac6ae89 AP_Scripting: Add Altitude Callout script to examples 2024-11-24 07:17:18 +11:00
Rhys Mainwaring
7c1af5a1a9 AP_HAL_ESP32: format scheduler stack declarations 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-11-23 13:43:05 -06:00
David Buzz
f10333e787 AP_HAL_ESP32: sneak the scheduler Stack Sizes values down to smaller but still ok-we-hope values. 
WARN - may cause crashes!
 2024-11-23 13:43:05 -06:00
snktshrma
f5c28cc12d AP_Vehicle: Added method to takeoff for use by external control 2024-11-23 09:00:27 +09:00
snktshrma
8c2e8ab4df AP_DDS: Added takeoff DDS service 2024-11-23 09:00:27 +09:00
Thomas Watson
5398f1a499 AP_HAL_ESP32: move scheduler stats display behind SCHEDDEBUG 
It takes ~100ms and causes noticeable control glitches.
 2024-11-22 12:20:52 -06:00