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24946 Commits

Author SHA1 Message Date
Peter Barker
a8b93881d3 AP_HAL_SITL: stash pressure in sitl_fdm structure 
It's not a great way of getting the data where needed - but it is
something.
 2020-12-22 23:07:24 +11:00
Peter Barker
e0aa3c78e5 AP_HAL_SITL: remove unimplemented methods 2020-12-22 23:07:24 +11:00
Peter Barker
0bb6f8897e SITL: add simulated DLVR airspeed sensor 2020-12-22 23:07:24 +11:00
bnsgeyer
09b9ad83dc AP_Motors: tradheli - add support to determine below mid collective 2020-12-21 23:33:48 -05:00
bnsgeyer
6c8a85ee04 AP_Motors: updates to new integrator and make selectable 2020-12-21 23:33:48 -05:00
bnsgeyer
c565536afa AC_PID: add support to smoothly reset the integrator 2020-12-21 23:33:48 -05:00
bnsgeyer
84fb3afbcb AP_Motors: Tradheli support for integrator management and hover collective learning 2020-12-21 23:33:48 -05:00
bnsgeyer
04e2cceaff AC_AttitudeControl: Tradheli support for integrator management and hover collective learning 2020-12-21 23:33:48 -05:00
Tom Pittenger
c01726b07d SRV_Channel: reduce dependencies for AP_Periph builds 2020-12-21 18:27:07 -08:00
Siddharth Purohit
5b58163c35 AP_HAL_ChibiOS: add HAL_PERIPH_ENABLE_RCOUT_TRANSLATOR to CubeBlack-periph and CubeOrange-periph 2020-12-21 18:27:07 -08:00
Tom Pittenger
da74d755d0 AP_HAL_ChibiOS: add new HAL_PWM_COUNT define 2020-12-21 18:27:07 -08:00
Iampete1
69bec46fa8 AP_Motors: Tailsitter: don't apply roll and pitch compsation gain 2020-12-22 11:00:59 +11:00
Randy Mackay
20f1603b73 AP_NavEKF: source skips compass pre-arm check 2020-12-21 16:56:38 +09:00
Randy Mackay
4998b536b4 AP_NavEKF: source returns YawSource None if COMPASS_USE all zero 2020-12-21 16:56:38 +09:00
Randy Mackay
dfd1c23cd3 AP_NavEKF: source format fix 2020-12-21 16:56:38 +09:00
Randy Mackay
39be85cef4 AP_NavEKF3: integrate Source loss of init 2020-12-21 16:56:38 +09:00
Andrew Tridgell
218c0e4385 AP_NavEKF: Source's active_source_set becomes index 2020-12-21 16:56:38 +09:00
Andrew Tridgell
89f9b9e9b0 AP_NavEKF3: use AP_Enum to make code clearer 2020-12-21 16:56:38 +09:00
Mark Whitehorn
7446a9c33c AC_AttitudeControl: make relax_attitude_controllers() non-virtual 2020-12-21 12:56:24 +11:00
Mark Whitehorn
cc2c631d23 AC_AttitudeControl: add AC_AttitudeControl_TS 
move tailsitter body-frame roll input method to new subclass
override relax_attitude_controllers in AttitudeControl_TS
 2020-12-21 12:56:24 +11:00
Andrew Tridgell
7f3a851dd3 SRV_Channel: added support for rear motor tilt 2020-12-21 12:05:50 +11:00
Tatsuya Yamaguchi
4dc5162d0a AP_RangeFinder: change i2c reading frequency to 50Hz 2020-12-19 08:14:54 -03:00
ashvath
54708d916b AP_RangeFinder: TFminiPlus driver outputs init failure to ground station 2020-12-19 08:14:54 -03:00
Tatsuya Yamaguchi
b0ee6393ae AP_RangeFinder: TFminiPlus: set frame rate to 250hz 2020-12-19 08:14:54 -03:00
Dr.-Ing. Amilcar do Carmo Lucas
d76825feeb GCS_MAVLink: adapt to upstream changes in the distance_sensor mavlink message 2020-12-19 19:54:03 +11:00
Tom Pittenger
f670f7a9b6 AP_HAL_ChibiOS: change ADSB to use param ADSB_PORT instead of define 2020-12-17 23:24:04 -08:00
Tom Pittenger
5c98e18236 AP_HAL_CubeORange-periph: enable HAL_PERIPH_ALLOW_MAVLINK_UART_OR_USB_REBOOT_CMD on USB 2020-12-18 06:59:09 +11:00
Peter Barker
6dfd2f2ff9 AP_NavEKF3: use use_EKFGSFYaw to reduce code duplication 2020-12-17 16:00:29 +09:00
Andrew Tridgell
a31ea88ff5 SITL: use async SOAP requests for flightaxis 
this greatly improves performance for cygwin
 2020-12-17 16:13:55 +11:00
Andrew Tridgell
8d6d5c6b49 SITL: removed flightaxis threading 2020-12-17 16:13:55 +11:00
Andrew Tridgell
b4201436dd HAL_ChibiOS: fixed flash space on 16k bl boards 
this avoids the stm32_flash_recent_erase() function which added around
800 bytes to the bootloader. It is not needed
 2020-12-17 12:51:25 +11:00
bnsgeyer
62758ffd99 AP_Motors: Dual-heli-keep intermeshing from using DCP to yaw mixer 2020-12-16 19:52:23 -05:00
PittRBM
3f405590c7 AP_Motors: Dual Heli-add support for intermeshing rotor 2020-12-16 19:52:23 -05:00
bnsgeyer
ebd83b756b AP_Motors: add DCP trim feature for Dual Heli 2020-12-17 09:01:02 +11:00
Peter Barker
f12191b4b1 AP_Param: fix typo 2020-12-16 19:30:29 +11:00
Peter Barker
840c386a33 AP_Param: add _FLAG to AP_PARAM_NO_SHIFT 
Just for consistency with the other flags
 2020-12-16 19:30:29 +11:00
Randy Mackay
a2cca60beb AP_NavEKF3: constify EKFGSF_getYaw 2020-12-16 19:18:29 +11:00
Randy Mackay
754002525e AP_NavEKF: constify EKFGSF_yaw members 2020-12-16 19:18:29 +11:00
Randy Mackay
0c3fcfd9d6 AP_NavEKF3: add missing break to case statements 2020-12-16 19:18:29 +11:00
Randy Mackay
9cb529cfd6 AP_NavEKF3: minor formatting fix 
also replace tab with spaces
 2020-12-16 19:18:29 +11:00
Sebastian Witt
6cfaae4e7d AP_HAL_ChibiOS: Support for Diatone MambaF405 MK2 2020-12-16 19:07:07 +11:00
Andy Piper
e6d0e38129 AP_RCProtocol: allow handshake to initiate RC connection. Support listen-only SRXL2 devices. 
only bootstrap when SRXL2 is the only configured protocol (RC_PROTOCOLS=256)
remove spurious 0 initializers
 2020-12-16 18:06:49 +11:00
李孟晓
aae2d0082d AP_BattMonitor_UAVCAN: Fix issue with multiple batteries not working 2020-12-16 12:44:21 +11:00
Andrew Tridgell
c504e2db04 AP_Motors: added disable_yaw_torque() method 
this is used for tilt-vectored quadplanes to use only vectoring for
yaw control. This avoids some nasty transition issues
 2020-12-16 08:45:11 +11:00
Paul Riseborough
908b348c31 AP_NavEKF3: Fix typo in enum label 2020-12-15 19:29:16 +11:00
Randy Mackay
e819dbdd64 AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code 2020-12-15 19:29:16 +11:00
Randy Mackay
c2edae905f AP_NavEKF3: simplify logic when updating yawAngDataStatic 2020-12-15 19:29:16 +11:00
Randy Mackay
843ddb4fdc AP_NavEKF3: minor format fix 2020-12-15 19:29:16 +11:00
Paul Riseborough
a9e76d44af AP_NavEKF3: Clean up yaw fusion logic 2020-12-15 19:29:16 +11:00
Paul Riseborough
ccfd89240b AP_NavEKF3: Fix error in calculation of static 312 order yaw reference 2020-12-15 19:29:16 +11:00
Peter Barker
44cafa0dcc RC_Channel: add auxillary function to change to FBWA 2020-12-15 19:14:33 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
f77ab30f7a Revert "AP_NavEKF3: Remove unsupported parameter unit descriptions" 
This reverts commit 4f4a2f446d.
Makes more sense to add those to the list of supported units
 2020-12-15 18:22:36 +11:00
Andrew Tridgell
2e18334165 HAL_SITL: fixed baudrate 0 set in SITL 
this fixes MSP sensors in SITL with real uarts
 2020-12-15 11:36:16 +11:00
Andrew Tridgell
7b6392fcb5 HAL_Empty: fixed build 2020-12-15 10:32:46 +11:00
Andrew Tridgell
d6c5fc36d8 HAL_Linux: only init serial(0) 
we should not pre-init all uarts, it wastes memory if unused
 2020-12-15 10:32:46 +11:00
Andrew Tridgell
19723e6e75 AP_HAL: make uart pointers private 
this ensures they cannot be used by library or vehicle code, so we
will be able to remove them in future
 2020-12-15 10:32:46 +11:00
Andrew Tridgell
195ec0316a AP_HAL: fixed example fw for SERIAL naming 2020-12-15 10:32:46 +11:00
Andrew Tridgell
6249abaf8f RC_Channel: fixed example firmware 2020-12-15 10:32:46 +11:00
Andrew Tridgell
5406699ec8 AP_SerialManager: removed unnecessary uart pointer in state structure 2020-12-15 10:32:46 +11:00
Andrew Tridgell
348dfeff6e HAL_Linux: use a loop for serial tick 2020-12-15 10:32:46 +11:00
Andrew Tridgell
bf546f363d HAL_ChibiOS: don't init serial 1 and 3 
these should not be treated as special. Initialising them early just
wastes memory if the end up not being used
 2020-12-15 10:32:46 +11:00
Andrew Tridgell
6df118e7b4 GCS_MAVLink: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
23e629715e AP_SerialManager: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
cf187ff837 AP_HAL_SITL: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
db76eebd85 AP_HAL_Linux: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
95c0852b13 AP_HAL: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
e54fc4b0de AP_HAL_ChibiOS: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
e02047861a AP_GPS: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
0f5a75f5b9 AP_BoardConfig: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
8678759da4 AP_HAL: added hal.serial() access to uarts 
this gives access to serial ports in the SERIALn_ order. It is inlined
by the compiler so using hal.uartB and hal.serial(3) generates
idential code on stm32 (tested on H7).

This is a step towards eliminating hal.uartX completely and the
horrible uartB ordering
 2020-12-15 10:32:46 +11:00
Jaaaky
4ec1c2ea67 AP_IOMCU: Remove duplicate includes from AP_IOMCU.cpp 2020-12-15 10:01:54 +11:00
Andrew Tridgell
8b8029fdfe AP_Param: cope better with flooding the save queue with one param 2020-12-14 18:53:02 +11:00
Andrew Tridgell
5a8acea0dd AP_Param: fixed lockup in scripting due to save queue 
this is a quick fix for a lockup in scripting due to the mission API
holding the scheduler semaphore when it is updating the mission count
parameter
 2020-12-14 18:53:02 +11:00
Phillip Kocmoud
ce87b62dcc AP_Periph: Add alternate ordering of NCP5623 LED colors 2020-12-12 14:57:35 +11:00
Peter Barker
7449b3eea4 AP_HAL_SITL: fix help output 2020-12-12 10:01:20 +11:00
Paul Riseborough
8f32430294 AP_NavEKF3: Fix white spaces 2020-12-11 15:21:41 +11:00
Paul Riseborough
bdc202378a AP_NavEKF3: fix white space 2020-12-11 15:21:41 +11:00
Paul Riseborough
ed17d8e48f AP_NavEKF3: Improve parameter display names 2020-12-11 15:21:41 +11:00
Paul Riseborough
171f0b399f AP_NavEKF3: Remove commented code 2020-12-11 15:21:41 +11:00
Andrew Tridgell
b86c014400 AP_NavEKF3: rename drag parameters to start with EK3_DRAG_ 2020-12-11 15:21:41 +11:00
Andrew Tridgell
3e2ff71750 AP_Baro: rename params to suit new BARO param naming 2020-12-11 15:21:41 +11:00
Paul Riseborough
47d4506e68 AP_NavEKF3: Add drag and sideslip innovation logging 2020-12-11 15:21:41 +11:00
Paul Riseborough
b258cb0539 SITL: Add momentum drag to Z axis to work around thrust model deficiencies 2020-12-11 15:21:41 +11:00
Paul Riseborough
a907c10733 SITL: Add momentum drag to multicopter model 2020-12-11 15:21:41 +11:00
Andrew Tridgell
b7f68e87b4 SITL: added barometer wind coefficients 2020-12-11 15:21:41 +11:00
Andrew Tridgell
567de3047b AP_Baro: added modelling of baro wind effects in SITL 2020-12-11 15:21:41 +11:00
Andrew Tridgell
e552fd7e5a AP_Baro: adjust for new baro params in SITL 2020-12-11 15:21:41 +11:00
Andrew Tridgell
3456bdb4eb SITL: added a separate param class for SITL baro params 
makes it easier to add more
 2020-12-11 15:21:41 +11:00
Andrew Tridgell
9563c1ed33 AP_Baro: rename wind coefficient params to be clearer 2020-12-11 15:21:41 +11:00
Paul Riseborough
4884476c09 AP_NavEKF3: Formatting and comment fixes 2020-12-11 15:21:41 +11:00
Andrew Tridgell
be4d10a95e AP_NavEKF3: rework parameter handling 
and fixed indentation
 2020-12-11 15:21:41 +11:00
Andrew Tridgell
1c1c067dee AP_Baro: rework to separate out wind coefficient params 
- disable on low flash boards
 - add an enable parameter per baro for wind coeffients
 2020-12-11 15:21:41 +11:00
Paul Riseborough
5da62aeaa2 AP_NavEKF3: Fix CI build errors 2020-12-11 15:21:41 +11:00
Paul Riseborough
0d2c235027 AP_NavEKF3: Fix #define typo 2020-12-11 15:21:41 +11:00
Paul Riseborough
ab05e8ed4a AP_NavEKF3: Update param descriptions 2020-12-11 15:21:41 +11:00
Paul Riseborough
4f4a2f446d AP_NavEKF3: Remove unsupported parameter unit descriptions 2020-12-11 15:21:41 +11:00
Paul Riseborough
0be0498801 AP_Baro: Add static pressure positoin error correction 2020-12-11 15:21:41 +11:00
Paul Riseborough
3a0105fcc3 AP_AHRS: Add accessor function for body frame airspeed vector 2020-12-11 15:21:41 +11:00
Paul Riseborough
b372d62f35 AP_NavEKF2: Add accessor function for body frame airspeed vector 2020-12-11 15:21:41 +11:00
Paul Riseborough
c9ab4b18b0 AP_NavEKF3: Add multicopter wind estimation 2020-12-11 15:21:41 +11:00
Peter Barker
ab444e1d26 RC_Channel: correct function initialisation 2020-12-11 15:21:22 +11:00
Andrew Tridgell
ac4a05ffbf AP_NavEKF3: fixed null dereference of airspeed 
this caused a segfault in replay
 2020-12-11 14:22:46 +11:00
Andrew Tridgell
2071a19a40 AP_NavEKF3: only fuse airspeed if healthy 2020-12-11 09:59:49 +11:00
Andrew Tridgell
5e72907730 AP_NavEKF2: only fuse airspeed if healthy 2020-12-11 09:59:49 +11:00
Andrew Tridgell
d16af5448b AP_DAL: added healthy() method for airspeed 2020-12-11 09:59:49 +11:00
Peter Barker
ca41a19072 AP_AHRS: AHRS itself must also be healthy to arm, not just the "backend" 2020-12-11 09:55:40 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
1d0e7d2974 GCS_MAVLink: Added cells 11...14 voltage information (13 and 14 are 0 for now) 2020-12-11 06:37:32 +11:00
yaapu
89f0ed2f8f AP_Scripting: added bindings and example for waypoint info 2020-12-10 12:39:44 +11:00
yaapu
edf2291fb0 AP_Vehicle: added getters for waypoint info, refactored osd publish_nav_info() 2020-12-10 12:39:44 +11:00
Tom Pittenger
68b2982cc6 AP_HAL_ChibiOS: CubeBlack/Orange-periph to use default HAL_SUPPORT_RCOUT_SERIAL 2020-12-09 07:53:09 -08:00
Tom Pittenger
6630645915 AP_HAL: ap_periph should disable HAL_SUPPORT_RCOUT_SERIAL by default 2020-12-09 07:53:09 -08:00
Peter Barker
449b0fb145 SITL: add simulated SF45B 2020-12-09 21:32:36 +11:00
Peter Barker
c1202e4878 AP_HAL_SITL: add simulated SF45B 2020-12-09 21:32:36 +11:00
yaapu
42b85c88ed AP_MSP: fix for multiple backends initialization 2020-12-09 19:40:22 +11:00
yaapu
e044cdfde7 AP_Frsky_Telem: fix for conditional compilation of bidir support 2020-12-09 19:19:06 +11:00
yaapu
6dfa42c958 RC_Channel: added FPORT2 to RC_PROTOCOLS parameter 2020-12-09 19:14:51 +11:00
Tom Pittenger
2203bf2400 AP_HAL_ChibiOS: Add f303-periph default RANGEFINDER_MAX_INSTANCES 1 2020-12-09 18:05:24 +11:00
Andrew Tridgell
ea57b1982f AP_Airspeed: cope with no temperature on MSP airspeed 2020-12-08 20:41:12 +11:00
Andrew Tridgell
2d75ef4f60 AP_Airspeed: handle INT16_MIN temperature for UAVCAN sensor 2020-12-08 20:41:12 +11:00
Andrew Tridgell
73fda4e6a7 AP_Airspeed: cope with zero ratio in SDP3X driver 
needed for AP_Periph
 2020-12-08 20:41:12 +11:00
Andrew Tridgell
857d905d9f AP_Airspeed: added MSP backend 2020-12-08 20:41:12 +11:00
Andrew Tridgell
ae2a310b9c AP_MSP: added airspeed support 2020-12-08 20:41:12 +11:00
giacomo892
75333dcd2f AP_Periph: support output of MSP airspeed sensor 2020-12-08 20:41:12 +11:00
Boris Borisov
19f3fda31b AP_Volz_Protocol scaling bugfix 
->Fixed incorrect scaling betwen PWM values and Volz protocol values
->In the scaling formula are hardcoded PWM values min=1000 and max=2000. The idea behind this is to be able to change Volz range, when you use SERVOn_MIN and SERVOn_MAX parameters.
 2020-12-08 15:03:26 +11:00
Andrew Tridgell
0c440d5675 HAL_ChibiOS: cope with flash erase in expected delay 
when there has been a flash erase when we are definately in an
expected delay
 2020-12-08 13:22:36 +11:00
Andrew Tridgell
445759295d SITL: fixed use of GND prefix 2020-12-08 13:22:17 +11:00
Andrew Tridgell
5e3bf0a703 GCS_MAVLink: implement BRD_OPTIONS bit for setting of internal parameters 2020-12-08 13:22:17 +11:00
Andrew Tridgell
12acc0724e AP_Frsky_Telem: implement BRD_OPTIONS bit for setting of internal parameters 2020-12-08 13:22:17 +11:00
Andrew Tridgell
d099af87b2 AP_Baro: renamed parameters and mark pressure and temperature readonly 
this is ready for BARO parameter prefix
 2020-12-08 13:22:17 +11:00
Andrew Tridgell
f543c483fc AP_BoardConfig: added BRD_OPTIONS flag for setting of internal parameters 
this allows us to make parameters read-only for normal use, but for
special developer requirements the user can unlock the parameters at
their own risk
 2020-12-08 13:22:17 +11:00
Andrew Tridgell
c731e77607 AP_Scripting: added mission clear and offset_bearing bindings 2020-12-08 12:27:00 +11:00
Peter Barker
de2802e322 AP_Airspeed: populate airspeed_raw for sensors returning airspeed reading 
Without this ARSP[x].Airspeed isn't populated
 2020-12-08 11:59:49 +11:00
murata
13c7980f0b SITL: Support for decacopters 2020-12-08 11:59:10 +11:00
murata
159a6c7ed6 AP_Motors: Support for decacopters 2020-12-08 11:59:10 +11:00
murata
a43064bb4e AP_HAL_SITL: Support for decacopters 2020-12-08 11:59:10 +11:00
Jaaaky
0e569e5566 AP_Mission: Fix comments for DO_CHANGE_SPEED 2020-12-08 11:54:25 +11:00
Peter Barker
f84cb66bc6 AP_Logger: move log ids from EKF2 and EKF3 to the 'below 128' section' 2020-12-08 11:30:10 +11:00
Peter Barker
f6d3983e1b AP_NavEKF2: move EKF2 message ids into AP_NavEKF2 2020-12-08 11:30:10 +11:00
Peter Barker
7ba03fe32d AP_Logger: move EKF2 message ids into AP_NavEKF2 2020-12-08 11:30:10 +11:00
Peter Barker
00ac8391c0 AP_NavEKF2: move EKF2 logging structures into EKF2 LogStructure.h 2020-12-08 11:30:10 +11:00
Peter Barker
346572c390 AP_Logger: move EKF2 logging structures into EKF2 LogStructure.h 2020-12-08 11:30:10 +11:00
Peter Barker
58f6570755 AP_NavEKF3: stop using QUAT_* defines from AP_Logger/LogStructure.h 
The EKFs logging is independant so we can kill EKF2...

Also use correct structure for logging XKF1; these structures were
identical.
 2020-12-08 11:30:10 +11:00
Randy Mackay
a2fe846a5f AR_WPNav: apply_speed_min used for overshoot limits 
speed_min is applied to overshoot_speed_max only instead of des_speed_lim
so that the target doesn't immediately jump to the minimum.
also constify apply_speed_min
 2020-12-08 11:29:21 +11:00
Randy Mackay
e75c572209 AR_WPNav: remove redundant private specifier 2020-12-08 11:29:21 +11:00
Andrew Tridgell
b4de6fb56a HAL_ChibiOS: added new option DEFAULTGPIO for hwdef.dat 
this allows ESD issues to be avoided by pulling all unused pins low
 2020-12-08 11:21:57 +11:00
Andrew Tridgell
a1c05e74b5 AP_Vehicle: call init_safety after first loop has run 
this fixes a bug where servos can be driven to an out of range value
if PWM output happens before first loop has completed

thanks to Kris for reporting
 2020-12-08 11:14:24 +11:00
Peter Barker
7bf7402561 AP_RCTelemetry: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Peter Barker
47f0ab7f90 AP_LTM_Telem: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Peter Barker
ee43663c7a AP_Frsky_Telem: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Peter Barker
55cb3e8ef0 AP_AHRS: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Andrew Tridgell
f44e4aaefb HAL_ChibiOS: always set STM32_DMA_REQUIRED for non-bootloader 
this fixes an issue for uart-only AP_Periph builds
 2020-12-08 10:27:27 +11:00
Peter Barker
e5423a3cf6 SITL: add terarangertower simulator 2020-12-08 09:21:06 +11:00
Peter Barker
5e2bd6d9ec AP_HAL_SITL: add terarangertower simulator 2020-12-08 09:21:06 +11:00
Peter Barker
bd5c34f626 SITL: improve instructions for using simulated RPLidarA2 sensor 2020-12-08 09:21:06 +11:00
Peter Barker
7d232b24d6 SITL: improve simulated serial proximity sensor 
SITL: rename measure_distance_at_angle to include '_bf'
 2020-12-08 09:21:06 +11:00
Peter Barker
b21fdb7743 AP_Generator: use enum class For Battery Failsafe 2020-12-07 15:20:14 +11:00
Peter Barker
00a8a8fe8e AP_BattMonitor: use enum class For Battery Failsafe 2020-12-07 15:20:14 +11:00
Peter Barker
0fca126d06 AP_AHRS: mark get_hagl as WARN_IF_UNUSED 2020-12-07 12:10:33 +11:00
chobits
013b39d2a6 AP_NavEKF3: fix ext nav vel timestamp cal 2020-12-07 08:54:42 +09:00
Peter Barker
1c57eed66c AP_RangeFinder: remove unused voltage_mv_orient method 
This is really backend-specific data and shouldn't be exposed
 2020-12-06 16:49:43 +11:00
Andrew Tridgell
b1e7b508db HAL_ChibiOS: added HitecMosaic 2020-12-06 16:48:08 +11:00
Andrew Tridgell
1a4f094025 AP_GPS: allow hwdef override of default for GPS_COM_PORT 2020-12-06 16:48:08 +11:00
Andrew Tridgell
92bcc7667c AP_GPS: allow for SBF GPS on F3 AP_Periph 2020-12-06 16:48:08 +11:00
Andrew Tridgell
1723cf8efb HAL_ChibiOS: reduce SPI clock on MatekH743 mpu6k to 2MHz 
this fixes regular transfer errors
 2020-12-06 13:04:52 +11:00
Peter Barker
bacbe21011 AP_LandingGear: move logging of LandingGear event into LandingGear 
Less code and Plane will get the event logged too.
 2020-12-05 20:45:20 +11:00
Randy Mackay
000a2b17c3 AP_NavEKF_Source: remove unused setVelZSource 2020-12-05 08:30:55 +09:00
Peter Barker
6bc8ff2ee8 SITL: factor out an I2C command/response class from simulated MaxSonar sensor 2020-12-05 09:35:53 +11:00
Peter Barker
6f7fbece49 AP_Baro: add accessor for external bus parameter 2020-12-04 16:37:10 +11:00
Peter Barker
771666ee52 AP_Baro: correct i2c transfer invocation in KellerLD 
This allows the device to work on boards which are not Pixhawk1.  For
reasons yet to be determined.
 2020-12-04 16:37:10 +11:00
Andrew Tridgell
8b5ff1a6de GCS_MAVLink: enable GCS_SEND_TEXT() to send as CAN LogMessage messages 2020-12-04 15:16:21 +11:00
Tom Pittenger
e235fd311e AP_HAL_ChibiOS: fixed comment in script file 2020-12-03 20:33:51 +11:00
Andrew Tridgell
6765265a3b AP_Periph: switched to 1kHz clock for f303-periph 
and use CAN RX buffer size of 64.

This makes for more efficient CPU usage on f3, and fixes an issue with
lost CAN parameter replies causing timeouts in the CAN parameter
download protocol
 2020-12-03 20:00:55 +11:00
Peter Barker
287e9350a5 AP_NavEKF3: move log message IDs in from AP_Logger LogStructure 2020-12-03 19:22:26 +11:00
Peter Barker
ea36a84b53 AP_Logger: move EK3 log message IDs into AP_NavEKF3 log structure 2020-12-03 19:22:26 +11:00
Peter Barker
79109458c2 AP_NavEKF3: move EKF3 logging structures into EKF3 LogStructure.h 2020-12-03 19:22:26 +11:00
Peter Barker
f2b2998f29 AP_Logger: move EKF3 logging structures into EKF3 LogStructure.h 2020-12-03 19:22:26 +11:00
Peter Barker
64f4b078a6 AP_Logger: remove unused log_EKF* structures 2020-12-03 19:22:26 +11:00
Andrew Tridgell
b289701d20 HAL_ChibiOS: removed SPI devices on f103-periph 
these are unused and saves us a couple of k of flash
 2020-12-03 15:50:50 +11:00
Andrew Tridgell
084b589f3a AP_Param: added template class AP_Enum for enum AP_Int8 values 2020-12-02 18:33:07 +11:00
Andy Piper
32edb6d0cd AP_Filesystem: add support for @SYS/dma.txt for DMA contention 2020-12-02 18:17:23 +11:00
Andy Piper
cf2602f91d AP_HAL_ChibiOS: add support for @SYS/dma.txt for DMA contention 2020-12-02 18:17:23 +11:00
Andy Piper
d2e01005ee AP_HAL: add support for @SYS/dma.txt for DMA contention 2020-12-02 18:17:23 +11:00
Peter Barker
c5c810b724 AP_NavEKF2: use structures for logging GSF data 
This makes it look like EKF2 and is marginally more efficient.
 2020-12-02 10:30:48 +11:00
Peter Barker
f94f51d9d3 AP_NavEKF2: move log message metadata to be above the structure 
This is the pattern we are adopting elsewhere to try to keep things
related as much as possible.
 2020-12-02 10:30:48 +11:00
vierfuffzig
c4a644100d AP_OSD: refactor current panel and add 2nd instance 2020-12-02 06:27:59 +11:00
Peter Barker
54bae68e02 AP_DAL: correct rangefinder get_backend range check 2020-12-02 06:21:54 +11:00
Andrew Tridgell
1bef41b42e AP_OSD: fixed param metadata for several OSD settings 
only found now we build OSD for SITL
 2020-12-01 18:34:37 +11:00
Andrew Tridgell
42b1d2135a AP_OSD: fixed enable of OSD on boards with no built-in OSD 
this fixes MSP enable
 2020-12-01 18:34:37 +11:00
Randy Mackay
7f15b7b126 AP_NavEKF_Source: prearm check of wheelencoders 2020-12-01 14:01:17 +09:00
Randy Mackay
7d319f8059 AP_DAL: add wheelencoder_enabled 2020-12-01 14:01:17 +09:00
Randy Mackay
3984cdd823 AP_WheelEncoder: add singleton 2020-12-01 14:01:17 +09:00
Phillip Kocmoud
38dd3b9209 hwdef: add mRo Control Zero Classic 2020-12-01 15:19:50 +11:00
yaapu
c530df7e31 AP_RCProtocol: added fport2 24ch test 2020-12-01 15:05:02 +11:00
yaapu
7e9458b53a AP_RCProtocol: fport2 fixes 
Fixed 16ch fport2 telemetry and enabled bidir support.
Fixed 24ch fport2, had to disable telemetry on 24ch for timing is too tight and telemetry would be unreliable.
 2020-12-01 15:05:02 +11:00
Phillip Kocmoud
bef522387a hwdef: add mRo Control Zero H7 2020-12-01 14:46:55 +11:00
Peter Barker
d600b87454 AP_NavEKF2: make logging a core concern 2020-12-01 13:06:04 +11:00
Randy Mackay
02ba500d67 AP_Scripting: add ahrs-source-gps-wheelencoders.lua 
supports automatically switching between GPS and wheel encoders based on GPS speed accuracy and vertical velocity innovation
 2020-12-01 09:26:02 +09:00
Michel Pastor
eb88e6a37c AP_OSD: Fix vertical speed varying length 2020-12-01 11:20:16 +11:00
Andrew Tridgell
88b5523d47 AP_UAVCAN: added logging of UAVCAN LogMessage messages 
this allows us to log internal errors from nodes into main flight
controller log
 2020-12-01 11:14:50 +11:00
Andrew Tridgell
b2885e3e32 AP_CANManager: exposed can log level 2020-12-01 11:14:50 +11:00
Andrew Tridgell
cf22caa7ef HAL_ChibiOS: raise stack limits in f303 peripherals 2020-12-01 11:14:50 +11:00
Andrew Tridgell
3ba46d5bd9 HAL_ChibiOS: enable reporting of watchdog reset on AP_Periph 2020-12-01 11:14:50 +11:00
Andrew Tridgell
ba69cd72c9 HAL_ChibiOS: improved stack checking and stack display 
display both ISR stack and thread stacks. Show total stack sizes as
well as amount of stack remaining
 2020-12-01 11:14:50 +11:00
Andrew Tridgell
84eac7642b HAL_ChibiOS: improved stack checking 2020-12-01 11:14:50 +11:00
Andrew Tridgell
2d459dccc3 HAL_ChibiOS: reduced stack usage in CAN RX handler 2020-12-01 11:14:50 +11:00
Andrew Tridgell
c778d14fd3 HAL_ChibiOS: enable stack checking on f303 boards 2020-12-01 11:14:50 +11:00
Andrew Tridgell
573cd6db6d HAL_ChibiOS: adjust MAIN_STACK for more ISR stack 
we need more stack to deal with interrupt nesting between CAN, system
timer and serial interrupts
 2020-12-01 11:14:50 +11:00
Andrew Tridgell
52a90e7a33 HAL_ChibiOS: fixed monitor thread with no logging 2020-12-01 11:14:50 +11:00
Andrew Tridgell
2a29b0fcf5 HAL_ChibiOS: fixed AP_Periph build with --enable-asserts 2020-12-01 11:14:50 +11:00
Andrew Tridgell
5e81fadf13 AP_DAL: ensure RRNH is written before RRNI 
this is required now we are dynamically allocating the backends in
replay
 2020-12-01 10:53:08 +11:00
Andrew Tridgell
172854c894 AP_DAL: fixed build on navio 
avoid shadowed variables
 2020-12-01 10:53:08 +11:00
Andrew Tridgell
bdba430e55 AP_NavEKF3: save memory on beacon debug structure 
only allocate when beacons are enabled. This relies on a guarantee in
the DAL that the beacon count cannot change
 2020-12-01 10:53:08 +11:00
Andrew Tridgell
7b08053ef2 AP_DAL: guarantee that the beacon count cannot change after startup 2020-12-01 10:53:08 +11:00
Andrew Tridgell
bb32f1a397 AP_NavEKF3: avoid initialising unused ring buffers 
this assumes the nav sources are treated as reboot required
 2020-12-01 10:53:08 +11:00
Andrew Tridgell
4fdbbd8984 AP_NavEKF: added functions to see if a nav source is enabled 
this allows us to avoid initialising ring buffers when not needed
 2020-12-01 10:53:08 +11:00
Andrew Tridgell
ab917ed92e AP_NavEKF: add more protections on ring buffer code 
declare an internal error if we try to access an element when not
initialised
 2020-12-01 10:53:08 +11:00
Andrew Tridgell
0c05e9a2e7 AP_RangeFinder: fixed handling of instance numbers 
if a backend allocation failed then we could end up with the backend
being assigned to the wrong instance number. Switch to using
_add_backend() everywhere, and pass the instance number to
_add_backend() to ensure that it always uses the correct slot.

Also added comment explaining how num_sensors() works when we have a
sparse set of rangefinders configured
 2020-12-01 10:53:08 +11:00
Andrew Tridgell
73755e2d1f AP_DAL: only allocate rangefinder backends that we need 2020-12-01 10:53:08 +11:00
Andrew Tridgell
893e9ea7fd AP_DAL: don't allocate sensor backends unless needed 
this saves memory on boards without those sensors
 2020-12-01 10:53:08 +11:00
Peter Barker
e972fb31b1 AP_NavEKF3: remove unused variables 2020-12-01 10:40:09 +11:00
Peter Barker
fc7e7dcee4 AP_NavEKF2: remove unused variables 2020-12-01 10:40:09 +11:00
Peter Barker
0529ddcd67 AP_NavEKF3: move badMagYaw onto stack 2020-12-01 10:40:09 +11:00
Peter Barker
addd57dcab AP_NavEKF2: move badMagYaw onto stack 2020-12-01 10:40:09 +11:00
Peter Barker
2885026bba AP_NavEKF3: move tasHealth to be a stack variable 2020-12-01 10:40:09 +11:00
Peter Barker
0aa10d8281 AP_NavEKF2: move tasHealth to be a stack variable 2020-12-01 10:40:09 +11:00
Peter Barker
b79a26135c AP_NavEKF3: move posvel fusion health booleans to be on the stack 2020-12-01 10:40:09 +11:00
Peter Barker
3a98d51427 AP_NavEKF2: move posvel fusion health booleans to be on the stack 2020-12-01 10:40:09 +11:00
Peter Barker
2d25149e2e AP_NavEKF3: move global state to be on the stack 2020-12-01 10:40:09 +11:00
Peter Barker
400ba7a9df AP_NavEKF2: move global state to be on the stack 2020-12-01 10:40:09 +11:00
Brent McLaughlin
e241433c89 AP_Rangefinder: change lightware lost signal timer to 20 
The LightWare lost signal timer is set to 20 by the manufacturer.
 2020-12-01 10:34:54 +11:00
Andrew Tridgell
d242339f2e AP_NavEKF3: added have_vz flag to GPS buffer data 
this ensures that we record GPS vertical velocity status for every
sample correctly
 2020-12-01 10:33:50 +11:00
Andrew Tridgell
80f7906744 AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Andrew Tridgell
7313e9eb0f AP_NavEKF2: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Andrew Tridgell
281e2cb693 AP_DAL: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Andrew Tridgell
0a80fce8b8 AP_AHRS: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Andrew Tridgell
603e0c090d AP_NavEKF3: don't reset EKx_GPS_TYPE when GPS has no vertical velocity 
setting the parameter to 1 causes the following issues:

 - the GPS may not have vertical velocity at the time the parameter
   set happens, but may get it later when the GPS is fully configured

 - we may switch between GPS modules which do/don't have vertical
   velocity

 - the user may download parameters after the set(1), and end up with
   incorrect parameters they may later load onto the vehicle,
   permanently disabling use of vertical velocity
 2020-12-01 10:33:50 +11:00
Andrew Tridgell
79148498d3 AP_NavEKF2: don't reset EKx_GPS_TYPE when GPS has no vertical velocity 
setting the parameter to 1 causes the following issues:

 - the GPS may not have vertical velocity at the time the parameter
   set happens, but may get it later when the GPS is fully configured

 - we may switch between GPS modules which do/don't have vertical
   velocity

 - the user may download parameters after the set(1), and end up with
   incorrect parameters they may later load onto the vehicle,
   permanently disabling use of vertical velocity
 2020-12-01 10:33:50 +11:00
Peter Barker
4d30b52744 RC_Channel: add string for motor eSTOP 2020-12-01 10:06:57 +11:00
Peter Barker
4b6e4e10ed AP_Button: allow RC Channel function to be specified for a button 
Function will be executed on transition
 2020-12-01 10:06:57 +11:00
Peter Barker
164bd95538 AP_Button: allow PWM to be used for button input 2020-12-01 10:06:57 +11:00
Peter Barker
7ea78791c2 RC_Channel: make string_for_aux public 2020-12-01 10:06:57 +11:00
Peter Barker
0f597e0919 RC_Channel: expose do_aux_function for button to call 2020-12-01 10:06:57 +11:00
Peter Barker
3264fd750b SRV_Channel: add k_min, m_trim and k_max to output min/trim/max values 2020-12-01 10:06:57 +11:00
Andrew Tridgell
862ae59e28 AP_GPS: support $PHD message for AllyStay NMEA GPS 
this adds vertical velocity support
 2020-12-01 09:04:43 +11:00
Peter Barker
035e798b23 AP_HAL_SITL: use a separate eeprom.bin for SITL build 
This resolves a problem in autotest where the eeprom.bin gets wiped out
when we run Replay against a log as part of test.Copter.Replay
 2020-11-30 18:50:24 +11:00
Tom Pittenger
d780e66cc4 AP_ADSB: remove deinit() 2020-11-30 16:05:17 +11:00
Tom Pittenger
e94697cb4c AP_ADSB: Allow for multiple backends in the future drivers 2020-11-30 16:05:17 +11:00
Tom Pittenger
20d21fe175 SITL/examples: remove ADSB param that is already default 2020-11-30 16:05:17 +11:00
Peter Barker
88895f9b13 GCS_MAVLink: stop using one backend's signing structure for all backends 2020-11-30 14:11:08 +11:00
Andrew Tridgell
8914bb45f8 AP_DAL: fix for uartI support 2020-11-30 14:09:31 +11:00