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54,660 Commits 71 Branches 510 Tags 754 MiB
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30444 Commits

Author SHA1 Message Date
Andy Piper
35a37cb84b AP_HAL: add BLHeli_S ESC type and use it to control bitwidths 
adjust BLHeli_S bitwidth and ticks to support more ESC variants.
 2022-05-25 17:06:08 +10:00
Ruffalo-sunghwan
988eb67298 AP_Common : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
e4a4fbe17a AP_ADSB : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
499c5dfc96 AP_Compass : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
746e85740f AP_FETtecOneWire : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
001643eb4f AP_Airspeed : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
3f1779a5a1 AP_Landing : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
7fb9d21cbf AC_AttitudeControl : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
40071aacc6 AP_Torqeedo : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
286e0f261e AP_TECS : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
86cd266010 AP_RangeFinder : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
51451d29e1 GCS_MAVLink : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
5a4d61e3a4 AP_NavEKF3 : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
dc07747199 SITL : correct comment spelling 2022-05-24 20:27:45 +09:00
Ruffalo-sunghwan
e0d14d900a SRV_Channel : correct comment spelling 2022-05-24 20:27:45 +09:00
Peter Barker
e6e45eda97 SITL: populate rangefinder ranges for inbuilt sims 
These values are returned for the SITL rangefinder backend, type=100
 2022-05-24 10:38:57 +10:00
Peter Barker
51246fda45 AP_RangeFinder: enable SITL rangefinder for sim-on-hardware 2022-05-24 10:38:57 +10:00
Peter Barker
73190d075a SITL: add support for SIM_OH_MASK (sim-on-hardware output enable mask 2022-05-24 10:35:32 +10:00
Peter Barker
2913c8d9e9 AP_HAL_ChibiOS: add support for SIM_OH_MASK (sim-on-hardware output enable mask 2022-05-24 10:35:32 +10:00
Peter Barker
488509353a SITL: add support for Plane SITL-on-hw 2022-05-24 10:35:32 +10:00
Peter Barker
16883565e2 AP_HAL: add support for Plane SITL-on-hw 2022-05-24 10:35:32 +10:00
Peter Barker
0f48557ec2 AP_HAL: fix compilation for sitl-on-hw 2022-05-24 10:35:32 +10:00
Andy Piper
ccbe62589e AP_Logger: add W25Q128 variant 2022-05-24 10:32:34 +10:00
Andrew Tridgell
cf4768454f AP_BoardConfig: expose BRD_SAFETYENABLE on all boards 
default BRD_SAFETYENABLE to 0 on boards with no safety switch, which
gives us the same behaviour as before, but users can choose to enable
the safety

this fixes two problems:

  - CAN servos and ESCs work on boards with no safety switch
    (eg. MatekH743 with CAN)

  - during startup we could get spurious outputs before out aircraft
    type is setup
 2022-05-22 14:58:12 +10:00
Andrew Tridgell
c8b328c3a1 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-22 14:58:12 +10:00
Peter Barker
c8f1d2f023 AP_MSP: allow baro backends to be individually compiled out 
filtering by define name is the most useful bit
 2022-05-22 12:11:45 +10:00
Peter Barker
e2f5443a1e hwdef: skyviper-v2450: compile in only ICM20789 2022-05-22 12:11:45 +10:00
Peter Barker
8cd0922f01 AP_UAVCAN: allow baro backends to be individually compiled out 2022-05-22 12:11:45 +10:00
Peter Barker
b863f8a331 AP_Baro: allow baro backends to be individually compiled out 2022-05-22 12:11:45 +10:00
Andrew Tridgell
11a06aa6cb SRV_Channel: re-fixed typo 2022-05-22 12:07:37 +10:00
Andrew Tridgell
cc06327526 AP_UAVCAN: allow CAN output for function==0 and allow for 32 CAN servos 2022-05-22 12:07:37 +10:00
Andrew Tridgell
aa9083e94c SRV_Channel: only support 32 channels on 2M flash boards 
save flash on smaller boards
 2022-05-22 12:07:37 +10:00
Andrew Tridgell
e185e1252b SRV_Channel: added a SERVO_32_ENABLE parameter 
save on param count for most users
 2022-05-22 12:07:37 +10:00
Andrew Tridgell
ed01d33ef8 SRV_Channel: more changes for 32 bit servo mask 2022-05-22 12:07:37 +10:00
Andrew Tridgell
4557c8ad04 AP_ToshibaCAN: more changes for 32 bit servo mask 2022-05-22 12:07:37 +10:00
Andrew Tridgell
7f6196b550 AP_RobotisServo: more changes for 32 bit servo mask 2022-05-22 12:07:37 +10:00
Andrew Tridgell
f00a227b33 AP_Motors: more changes for 32 bit servo mask 2022-05-22 12:07:37 +10:00
Andrew Tridgell
bb8ebeebe2 AP_KDECAN: more changes for 32 bit servo mask 2022-05-22 12:07:37 +10:00
Andrew Tridgell
f530761174 AP_HAL_Linux: more changes for 32 bit servo mask 2022-05-22 12:07:37 +10:00
Andrew Tridgell
113b4cec38 AP_HAL: more changes for 32 bit servo mask 2022-05-22 12:07:37 +10:00
Andrew Tridgell
7aea559bdb AP_HAL_ESP32: more changes for 32 bit servo mask 2022-05-22 12:07:37 +10:00
Andrew Tridgell
1d9abefbb1 AP_HAL_ChibiOS: more changes for 32 bit servo mask 2022-05-22 12:07:37 +10:00
Andrew Tridgell
d33734ee85 AP_ESC_Telem: more changes for 32 bit servo mask 2022-05-22 12:07:37 +10:00
Andrew Tridgell
7ed8e8d3b6 AP_BoardConfig: more changes for 32 bit servo mask 2022-05-22 12:07:37 +10:00
Andrew Tridgell
f3ce44ef2c AP_BLHeli: more changes for 32 bit servo mask 2022-05-22 12:07:37 +10:00
Iampete1
32f8062b3e SITL: move to 32 servo outs 2022-05-22 12:07:37 +10:00
Iampete1
a5928b752e SRV_Channels: set channels above 16 to GPIO by defualt 2022-05-22 12:07:37 +10:00
Iampete1
48b3549158 AP_Logger: RCOUT only log if there is a valid output channel 2022-05-22 12:07:37 +10:00
Iampete1
d1e02e4fdd SRV_Channel: add invalid mask for GPIO outputs 2022-05-22 12:07:37 +10:00
Iampete1
a36848cba5 SITL: JSON Master: only copy the first 16 servos 2022-05-22 12:07:37 +10:00
Iampete1
e03aed3aa7 AP_BLHeli: support upto 32 servo outputs 2022-05-22 12:07:37 +10:00
Iampete1
117b67c9e2 AR_MotorsUGV: convert to 32 bit motor mask 2022-05-22 12:07:37 +10:00
Iampete1
43832649ec AP_Motors: convert to 32 bit motor mask 2022-05-22 12:07:37 +10:00
Iampete1
7d3368fa33 GCS_MAVLink: send servo raw 17-32 using port 1 2022-05-22 12:07:37 +10:00
Iampete1
077401df69 SRV_Channel: add upto 32 servo outs 2022-05-22 12:07:37 +10:00
Iampete1
c4df741af9 AP_SerialLED: enable 32 servo outs 2022-05-22 12:07:37 +10:00
Iampete1
031115577a AP_HAL_SITL: enable 32 servo outs 2022-05-22 12:07:37 +10:00
Iampete1
7fc691d8d5 AP_HAL_ChibiOS: enable 32 servo outs 2022-05-22 12:07:37 +10:00
Iampete1
cabdd82e71 AP_HAL: enable 32 servo outs 2022-05-22 12:07:37 +10:00
Iampete1
572ebf29da SITL: move to 32 servo outs 2022-05-22 12:07:37 +10:00
Iampete1
6921763b02 AP_Voltz: update MASK Bitmask 2022-05-22 12:07:37 +10:00
Iampete1
d1e45c93d6 AP_UAVCAN: update ESC_BM and SRV_BM Bitmask 2022-05-22 12:07:37 +10:00
Iampete1
51a631b523 AP_PiccoloCAN: update ESC_BM Bitmask 2022-05-22 12:07:37 +10:00
Iampete1
8110b9ac2d AP_Logger: add loging of servo out 15 to 32 2022-05-22 12:07:37 +10:00
Andrew Tridgell
bda280bcf1 AP_Scripting: cope better with high P gains in quicktune 
if we lower the D gain, then lower P and I by the same ratio before we
start on the P gain

Also added parameters to disable filter changes and control PI ratios
 2022-05-21 13:20:27 +10:00
Tom Pittenger
798f985ee5 AP_InertialSensor: relax is_still() threshold for SITL.. which is pretty darn still all the time for Plane 2022-05-20 10:52:47 -07:00
Randy Mackay
2382e58f04 AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7 2022-05-19 07:54:24 +10:00
Clyde McQueen
25fd69b947 AP_HAL_SITL: init ArduSub pwm_output to [1500, ...] 
Signed-off-by: Clyde McQueen <clyde@mcqueen.net>
 2022-05-19 07:53:52 +10:00
Andrew Tridgell
8106291bfe AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter 
this allows for an offset in ESC numbering for much more efficient CAN
bandwidth usage.

For example, on a coaxial OctoQuad quadplane the ESCs are typically
setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN
buses, with one CAN bus for the top layer and the one bus for the
bottom layer (allowing for VTOL flight with one bus failed).

Without this offset parameter you would be sending RawCommand messages
like this:

bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]

this is very wasteful of bus bandwidth, with bus1 using 3x the
bandwidth it should and bus2 using 4x the bandwidth it should (the
above will take 3 can frames for bus1, and 4 can frames for bus 2)

With this patch you can set:

CAN_D1_UC_ESC_OF = 4
CAN_D2_UC_ESC_OF = 8

and you will get this on the bus:

bus1: [ ESC1, ESC2, ESC3, ESC4 ]
bus2: [ ESC1, ESC2, ESC3, ESC4 ]

that takes just 1 can frame per send on each bus
 2022-05-18 21:23:30 +10:00
Randy Mackay
e0023a99bc AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-05-18 17:59:57 +10:00
Peter Barker
434f49e6b6 AP_Motors: correct initialised_ok state for HeliDual+Quad 
initialised_ok was being set to false when frame/class was set as the
method was not overridden and thus Heli's set_frame_and_class was
setting initialised_ok to false.  When the init_output method was called
it would be unconditionally reset to true.
 2022-05-18 12:25:26 +09:00
Peter Barker
8402149572 AP_Vehicle: run prearm checks on all vehicles @1Hz, displaying @0.0333Hz 2022-05-18 12:25:26 +09:00
Peter Barker
53e8ab6af8 AP_Arming: run prearm checks on all vehicles @1Hz, displaying @0.0333Hz 2022-05-18 12:25:26 +09:00
Iampete1
af58ca52c1 AP_HAL_ChibiOS: allocate_heap_memory use single malloc 2022-05-18 08:20:32 +10:00
Iampete1
66cdfb015b AP_Scripting: always free the heap and remove scripts 2022-05-18 08:20:32 +10:00
Andrew Tridgell
f683461e8c AP_Mission: allow NAV_VTOL_TAKEOFF in is_takoff_next() 2022-05-18 06:43:16 +10:00
Andrew Tridgell
f39ffee3f9 AP_Vehicle: added QLAND_INSTEAD_OF_RTL mode reason 2022-05-18 06:43:16 +10:00
Andrew Tridgell
457568d3c5 SITL: removed SIM_WIND_DELAY 2022-05-17 19:34:32 +10:00
Andrew Tridgell
962d92acf5 AP_HAL: use array for airspeed pin value 2022-05-17 19:34:32 +10:00
Andrew Tridgell
7dc5da1247 HAL_SITL: cleanup SITL airspeed handling 
fixed handling of EAS2TAS, and fixed ratio per sensor.

Removed the wind delay code (which was never being used). We should
add a generic delay filter if we need this again
 2022-05-17 19:34:32 +10:00
Andrew Tridgell
2dea725d80 SITL: fixed up airspeed parameters 
use a separate airspeed structure and separate ratio per sensor
 2022-05-17 19:34:32 +10:00
Andrew Tridgell
61a27698da AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor 
we need to use the pressure from the sensor we are calibrating
 2022-05-17 19:34:32 +10:00
Andrew Tridgell
234abece59 AP_EFI: added fuel usage integration for Lutan EFI 
allows for EFI_COEF1 and EFI_COEF2 to be set to get fuel consumption
on GCS
 2022-05-17 10:35:24 +10:00
Peter Barker
3cb104f537 AP_Logger: log airspeed primary changes 2022-05-17 10:27:57 +10:00
Peter Barker
19190fb134 AP_Airspeed: log airspeed primary changes 2022-05-17 10:27:57 +10:00
Peter Barker
016c9d8239 AP_OSD: correct compilation without OSD_ENABLED 
The max7456 header file is guarded by his macro
 2022-05-17 10:26:50 +10:00
Joshua Henderson
d002fde67e AP_Param: eedump_apparam fix accessing uninit var 2022-05-17 10:26:18 +10:00
murata
d2053d4449 AP_Vehicle: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
0245d0bae1 AP_SerialManager: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
6e91b364e0 AP_Scripting: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
16d7f69949 AP_Scheduler: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
46f75e7e53 AP_RobotisServo: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
272230793d AP_RAMTRON: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
cc75b931f9 AP_Radio: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
261d97062c AP_Param: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
cd9b4b48ae AP_OSD: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
c143fb0a5a AP_NavEKF2: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
70f0636c90 AP_IOMCU: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
2d8a81986f AP_Hott_Telem: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
15a39c1649 AL_HAL: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
234bb5409d AP_BoardConfig: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
8d1b1a2caf AP_BLHeli: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
a78dceb5a0 AP_Baro: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
f14f08a6ee AP_Avoidance: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
7eda7d757a AP_ADC: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
970af16251 GCS_MAVLink: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
d478a40edc AP_Mount: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
6102e094be AP_Logger: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
9d2ffdc028 AP_HAL_ESP32: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
1e485c20fc AP_CANManager: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
5728d2fd7c AP_RangeFinder: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
324f5e3ac9 AP_InertialSensor: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
e007b21f9e AP_HAL_ChibiOS: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
a19d4b65fc AP_Compass: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata
c6ea688d52 AP_BoardConfig: Increase the number of digits in the board serial number 
Co-authored-by: Joshua Henderson <hendjoshsr71@gmail.com>
 2022-05-17 09:08:43 +10:00
Iampete1
069b81819d RC_Channel: notify Airmode switch 2022-05-16 16:13:53 +09:00
Peter Barker
b0ceee2c42 RC_Channel: use reference while iterating to find string for aux func 2022-05-16 13:34:36 +10:00
murata
59dcf18558 AC_AttitudeControl: Shorten survival time of automatic variables 2022-05-16 09:08:02 +09:00
Peter Barker
dd4ec47aa2 SITL: SIM_MS5525: add simulated airspeed offset to raw pressure 2022-05-16 09:50:52 +10:00
Leonard Hall
0d863aa736 AC_AttitudeControl: Allow diabling of slew limit 2022-05-14 22:31:43 +09:00
khanasif786
53f931c98d AP_Scripting: changed MAV_SEVERITY_EMERGENCY to INFO for origin set 2022-05-13 09:12:37 +09:00
Lokesh Ramina
adfb2f9cad AP_HAL_Chibios: add_12Mhz_Clock_stm32F405 
There was no option for 12Mhz for STM32F405
 2022-05-12 17:40:21 +10:00
Peter Barker
ad4c29748e AP_NavEKF: getYawData also provides number of clipping models 
In the case of the compass calibrator we do not want to use the GSF
result if any model is degenerate.  We've had a compass calibrate in
flight 180-degrees out from what it should have.
 2022-05-11 17:45:47 +10:00
Peter Barker
437b313544 AP_Compass: do not use GSF if any model has been clipped 2022-05-11 17:45:47 +10:00
Peter Barker
087d5ec6c7 AP_Mission: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-11 17:40:35 +10:00
Mirko Denecke
e52ca87cbc AP_Proximity: fix misleading variable name for TerraRangerTower 2022-05-11 15:53:47 +09:00
Tamas Nepusz
f91ea8a0dd AP_Logger: make LogStructure non-packed to fix compilation of SITL on Apple M1 2022-05-11 07:54:06 +10:00
Andrew Tridgell
fb63ad6b72 AP_Mission: improved handling of large LOITER_TURNS 
instead of wrapping we should use MIN with 255, which is closer to
what was requested
 2022-05-11 07:51:22 +10:00
Peter Barker
3ec0e27e4f AP_Compass: move logging of compass ERR flags into AP_Compass 2022-05-10 19:46:40 +10:00
Peter Barker
82f4faec31 AP_ESC_Telem: remove misleading comment 2022-05-10 19:43:49 +10:00
Peter Barker
d23ddc4116 AP_Vehicle: increase rate at which we can log ESC telem 
Some ESCs can give us >10Hz logging; we already check the data has
changed before logging, so let's log at the higher rate if we can.
 2022-05-10 19:43:49 +10:00
Joshua Henderson
5087eabbca AP_Airspeed: remove negative pressure set unhealthy 2022-05-10 16:58:51 +10:00
Iampete1
7850aea186 AP_Scripting: load uint32_t bindings via generator 2022-05-10 09:42:57 +10:00
Iampete1
5bfb295fdd AP_Scripting: generator: support manual and manual operators on userdata 2022-05-10 09:42:57 +10:00
Iampete1
934b56e597 AP_Scripting: generator: support manual creation functions for userdata 2022-05-10 09:42:57 +10:00
Iampete1
3319140133 AP_Scripting: generator: remove unused function 2022-05-10 09:42:57 +10:00
Tatsuya Yamaguchi
cb6c1a1c80 AC_Fence: Move {Plane} mark from Value to Param 2022-05-10 09:35:11 +10:00
Tatsuya Yamaguchi
dbae31fb15 AP_Motors: Add Tricopter only to the description of YAW_SV_ANGLE 2022-05-10 09:35:11 +10:00
Tatsuya Yamaguchi
1e15787dab AP_RCMapper: Remove RCMAP_FORWARD and LATERAL from rover docs 2022-05-10 09:35:11 +10:00
Tatsuya Yamaguchi
1638e3c778 AP_Baro: mark BARO_SPEC_GRAV as sub only 2022-05-10 09:35:11 +10:00
Tatsuya Yamaguchi
e18d95f704 AP_Arming: mark ARMING_OPTIONS as copter only 2022-05-10 09:35:11 +10:00
Tatsuya Yamaguchi
78699e39d5 AP_L1_Control: use AP_GROUPINFO instead of AP_GROUPINFO_FRAME 2022-05-10 09:35:11 +10:00
Peter Barker
7da0b3aaf2 AP_HAL_ChibiOS: allow airspeed backends to be compiled out 2022-05-10 09:02:51 +10:00
Peter Barker
7799d8bff5 AP_UAVCAN: allow backends to be compiled out 2022-05-10 09:02:51 +10:00
Peter Barker
10ce2c7fff AP_MSP: allow backends to be compiled out 2022-05-10 09:02:51 +10:00
Peter Barker
f934854a0c AP_HAL: allow backends to be compiled out 2022-05-10 09:02:51 +10:00
Peter Barker
4b95ad12bf AP_Airspeed: allow backends to be compiled out 2022-05-10 09:02:51 +10:00
Andrew Tridgell
946a6ac4d0 HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103 
need to check new pin not old pin
 2022-05-09 07:25:40 +10:00
Andrew Tridgell
bf9b803265 hwdef: added FlyingMoonF427 support 2022-05-08 18:41:39 +10:00
Andrew Tridgell
b9b5f055ef hwdef: added FlyingMoonF407 board support 2022-05-08 18:41:39 +10:00
Andrew Tridgell
43a947f390 AP_Logger: fixed a bug in wrapped log count 
fixes #20687
 2022-05-06 06:56:33 +10:00
Andrew Tridgell
a6cd7ffd20 HAL_SITL: fixed warning 2022-05-06 06:55:16 +10:00
Andrew Tridgell
e6540681f2 AP_Filesystem: fixed warning with tmpnam 2022-05-06 06:55:16 +10:00
Gone4Dirt
2ff83bea53 AP_Airspeed: Add enabled check to get functions 2022-05-05 17:44:16 +10:00
Gone4Dirt
e82ba228ce AP_Airspeed: Add nullptr check to healthy function 2022-05-05 17:44:16 +10:00
Gone4Dirt
edb25340d1 AP_Airspeed: Move multi-line functions out of header 2022-05-05 17:44:16 +10:00
Iampete1
9da80b45e9 AP_Scripting: load manual bindings via generator 2022-05-04 17:49:14 +10:00
Iampete1
03476711f2 AP_Scripting: binding gen: support globals 2022-05-04 17:49:14 +10:00
Iampete1
59fb78fea8 AP_Scripting: binding gen: support manaul bindings 2022-05-04 17:49:14 +10:00
Iampete1
5c2b0ebb0f AP_Scripting: binding gen: don't emit dependancy if there are no fields 2022-05-04 17:49:14 +10:00
Andrew Tridgell
ab4772c9b7 GCS_MAVLink: support symlinks as files 
this allows for use of symlinks with ftp and scripts
 2022-05-04 17:48:45 +10:00
Andrew Tridgell
fa87019339 AP_Filesystem: added DT_LNK for symlinks 2022-05-04 17:48:45 +10:00
Andrew Tridgell
53c711954e AP_Scripting: added parameters to VTOL failsafe example 2022-05-04 17:30:04 +10:00
Andy Piper
e0b7e5f2a5 AP_InertialSensor: add throttle-based notch setup function 
allocate harmonic notch filter if FFT is enabled
 2022-05-04 17:05:51 +10:00
Andy Piper
39d928aa49 Filter: add mutators for notch filter parameters 2022-05-04 17:05:51 +10:00
Andy Piper
02e5a7f463 AP_HAL_Empty: add placeholder vector addition 2022-05-04 17:05:51 +10:00
Andy Piper
aaad4ace08 AP_GyroFFT: add notch tuning functions 
calculate averaged FFT frequency and enable notch
scale notch frequency down to FFT_MINHZ
calculate harmonics for averaging correctly
expose enable flag
 2022-05-04 17:05:51 +10:00
Andy Piper
bfc3a5a749 RC_Channel: add in-flight FFT notch tuning function 
initialize FFT tune
 2022-05-04 17:05:51 +10:00
Andy Piper
3199412bff AP_HAL_SITL: add vector addition function 2022-05-04 17:05:51 +10:00
Andy Piper
884454cd88 AP_HAL_ChibiOS: add vector addition function 2022-05-04 17:05:51 +10:00
Andy Piper
f57ac4787d AP_HAL: add Jain's estimator 
notch tuning using FFT averaging
allocate scratch space for peak finding
return all detected peaks to caller
 2022-05-04 17:05:51 +10:00
Andrew Tridgell
a7b3a5713d AP_Scripting: fixed non-oscillating yaw limit 2022-05-04 13:56:43 +10:00
Andrew Tridgell
c2af9a9154 AP_Scripting: pause quicktune during pilot input 
thanks to Marco for the suggestion
 2022-05-04 13:56:43 +10:00
Andrew Tridgell
8320b90a01 AP_Scripting: added norm_input_dz binding 2022-05-04 13:56:43 +10:00
MallikarjunSE
bf9c0fffa7 hwdef: sierra-l431 hwdef update 2022-05-04 07:17:41 +10:00
Andrew Tridgell
5a1a87cc60 AP_AHRS: fixed bug in blended EKF bias 
The bug fix in #20431 was incomplete, and ended up with the wrong
blended accel bias. This fixes it
 2022-05-04 06:49:34 +10:00
Peter Barker
d9f605ed36 AP_Baro: move error logging of sensor health into AP_Baro 2022-05-03 17:38:09 +10:00
Iampete1
f61d96dd5c SITL: SIM_Frame: add number of motors to json spec 2022-05-03 10:03:07 +10:00
Iampete1
f864d93140 SITL: Frame and Motor changes to allow motor example 2022-05-03 10:03:07 +10:00
Iampete1
6a8fff67f7 SITL: SIM_Frame: remove motor evaluation debug code 2022-05-03 10:03:07 +10:00
Iampete1
a095415702 SITL: examples: evaluate battery: add readme 2022-05-03 10:03:07 +10:00
Iampete1
53f7ad24a8 SITL: add motor + prop evaluation model 2022-05-03 10:03:07 +10:00
Andrew Tridgell
617213bef0 AP_Scripting: added quicktune.lua script 
rapid tuning for VTOL control
 2022-05-03 10:01:19 +10:00
Andrew Tridgell
77a985182c AP_Scripting: added get_rpy_srate binding 
and remove dmod binding
 2022-05-03 10:01:19 +10:00
Andrew Tridgell
99a6cb69f8 AC_AttitudeControl: added get_rpy_srate() 
and remove dmod binding, as slew rate turned out to be more useful
 2022-05-03 10:01:19 +10:00
Peter Barker
cef436b272 AP_RangeFinder: implement distance_cm_orient in terms of distance_orient 2022-05-03 09:23:37 +10:00
Andy Piper
2209576c90 AP_Scheduler: refactor task info into TaskInfo 
break fast_loop down into FastTasks to aid profiling
run fast tasks before scheduled tasks
fix scheduler example
introduce fast task priorities
remove fast loop
 2022-05-03 08:20:13 +09:00
Andy Piper
cc2acc35a6 AP_Vehicle: add task info for fast loop 
move fast loop tasks into scheduler table
remove fast loop
 2022-05-03 08:20:13 +09:00
Peter Barker
66a9677f79 SITL: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
c3cd733f26 Filter: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
3592132774 AP_WindVane: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
80c3415419 AP_WheelEncoder: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
678d51f47e AP_VisualOdom: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
2ffc16d1c5 AP_VideoTX: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
e490a5b5cd AP_UAVCAN: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
a6eec9f063 AP_Terrain: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
be15dfff29 AP_SerialLED: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
27b34f8b5f AP_Scheduler: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
5ddd50fefb AP_RPM: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
5bc20af9d6 AP_ROMFS: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
0e8ac68af4 AP_RCTelemetry: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
50fc43b2d2 AP_RangeFinder: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
6fafd04b2f AP_Rally: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
489f68f68e AP_Proximity: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
97ccf77941 AP_OSD: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
fa2c78f057 AP_OpticalFlow: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
4178c685a3 AP_ONVIF: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
3e75359aef AP_OLC: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
db590f65f1 AP_Notify: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
92b44c118f AP_MSP: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
7ce739aeef AP_Mount: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
8930b5f6f5 AP_Motors: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
4c7f4514cd AP_Module: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
445b10d8b3 AP_Mission: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
a08025125b AP_Math: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
750fd2c820 AP_Logger: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
94dc0e78cd AP_InertialSensor: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
0ea46a93a1 AP_ICEngine: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
b158e15ed4 AP_Hott_Telem: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
c456172821 AP_HAL_Linux: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
9857954529 AP_GPS: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
6fa9fd1768 AP_EFI: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
f1069023ee AP_Common: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
24f7369760 AP_Beacon: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
6c377b2dcd AP_BattMonitor: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
8dcc2e969f AP_Arming: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
9b14760dc9 AP_Airspeed: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
34a7503c1e AP_AHRS: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
d3563e72c8 AP_ADSB: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
666ac39e31 AC_Avoidance: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
73c6eabde2 APM_Control: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
6f2fd9c4a4 AC_AutoTune: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
d62e6e3228 AC_Autorotation: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
0fb5be7f2b AC_AttitudeControl: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
7c00b525a3 AP_Tuning: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
17ad710866 GCS_MAVLink: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
6eaf2c545a AP_Filesystem: correct run-length encoding in param download 
If a parameter's name was a prefix of the previous name we would
suffer an integer-wrap problem and incorrectly encode the parameter name
 2022-05-03 07:49:36 +10:00
Iampete1
20a2e6aaf0 AP_Scripting: allow deprecation warnings 2022-05-03 07:48:39 +10:00
Peter Barker
2c0f52a8b7 AP_BattMonitor: zero-terminate strings in caller rather than read_block 
It was noted that we did not increment the return value bufflen when
adding zero.  This is an ambiguity in the function declaration; if we
are told to add a zero should the return value be like strnlen (does not
include terminating null character) or read (includes all bytes used in
return buffer).

This PR makes it a non-issue by ensuring string null termination in the
caller and removing the append_zero parameter.
 2022-05-03 07:11:45 +10:00
Josh Henderson
51eb398277 SITL: SIM_BattMonitor_SMBus add registers to smartbatts 2022-05-02 10:56:39 +10:00
Kirill Shilov
c414a021ae AirLink-HWDEF: external peripherals enabled with logical high 2022-05-02 10:56:09 +10:00
Mirko Denecke
e60520160f SRV_Channel: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Mirko Denecke
60b0be4a97 RC_Channel: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Mirko Denecke
11a74cf28c AP_HAL_ChibiOS: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Mirko Denecke
853fd7f8c1 AP_HAL: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Mirko Denecke
d6843c4ca1 AP_Airspeed: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Henry Wurzburg
c6fbdc0cb8 AP_Relay:Prevent operation for sim-on-hardware,add logs 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2022-05-02 10:54:02 +10:00
Iampete1
6eea4d12ee SITL: apply momentum drag per-motor 2022-05-01 09:17:23 +10:00
Iampete1
f9050c3040 SITL: Frame: take drag from thrust not accel 2022-05-01 09:17:23 +10:00
Iampete1
92135400f8 SITL: Frame: stop adding random physics noise 2022-05-01 09:17:23 +10:00
Iampete1
f869506b0a SITL: Motor: acount for airflow due to vehicle rotation 2022-05-01 09:17:23 +10:00
Iampete1
bead0ac0f8 SITL: JSON allow to set motor rotation direciton 2022-05-01 09:17:23 +10:00
m
dbf00bae10 AP_Scripting: Add pre_arm_checks LUA binding 2022-04-30 10:23:28 +09:00
Andrew Tridgell
ed89acea66 AP_Scripting: added PDmod binding for quick tuning 2022-04-29 11:54:12 +10:00
Andrew Tridgell
f8fe74f5fe AC_AttitudeControl: added get_rpy_PDmod method 
used for lua scripts to do VTOL tuning
 2022-04-29 11:54:12 +10:00
bugobliterator
46f9ae54af AP_HAL_ChibiOS: fix CubeOrangePlus IMU rotation 2022-04-29 08:26:34 +10:00
Andrew Tridgell
8c3d2205cb hwdef: added DShot peripheral for MatekL431 2022-04-28 13:56:16 +10:00
Peter Barker
a5dee06afb SRV_Channel: add PARAMETER CONVERSION comments 2022-04-28 10:17:11 +10:00
Peter Barker
414d3d27db AP_RangeFinder: add PARAMETER CONVERSION comments 2022-04-28 10:17:11 +10:00
Peter Barker
c2bf79d3f3 AP_BattMonitor: add PARAMETER CONVERSION comments 2022-04-28 10:17:11 +10:00
Andy Piper
742c2b034f AC_AutoTune: allow high ANGLE_P gains 2022-04-28 08:51:54 +09:00
Leonardo Garcia
0eb6ae365a AP_InertialSensor: Added BMI085 support 
Fixed styling for 61125e2

Remove whitespace l202

Removed else
 2022-04-27 18:37:39 +10:00
Andy Piper
7c4d0ad9f4 AP_HAL_ChibiOS: catch and handle STM32_DMA_ISR_DMEIF in bdshot. 2022-04-27 18:19:24 +10:00
Andrew Tridgell
12f348398a Revert "AP_Notify: fixed DroneCAN LEDs on AP_Periph" 
This reverts commit 1858969697.

This was an incorrect change that actually broke LEDs on CAN GPS modules
 2022-04-27 17:13:40 +10:00
Andrew Tridgell
06b9b804a1 hwdef: uncompress bootloader for HolybroG4_GPS 
not enough ram to uncompress at runtime
 2022-04-27 17:12:08 +10:00
Tatsuya Yamaguchi
073683cc69 AP_Arming: remove ARMING_CHECK_ALL bit check from disarm_switch_checks 2022-04-27 09:36:36 +09:00
Tatsuya Yamaguchi
02f966a35d AP_Arming: add ARMING_OPTIONS param 2022-04-27 09:36:36 +09:00
Mohammad Hefny
ce8405b7a4 AP_Rangefinder: preserve new address 2022-04-27 10:16:40 +10:00
Randy Mackay
599cd15c7b AP_Scripting: add copter-deadreckon-home example 2022-04-26 18:37:54 +09:00
Randy Mackay
7b6ad412fe AP_Scripting: add ahrs get_relative_position_D_home binding 2022-04-26 18:37:54 +09:00
Randy Mackay
f0623fa8c9 AP_Scripting: add has_ekf_failsafed binding 2022-04-26 18:37:54 +09:00
Randy Mackay
21ee06d362 AP_Vehicle: implement has_ekf_failsafed for use by lua 2022-04-26 18:37:54 +09:00
Randy Mackay
23ad8b23ac AP_Common: clarify Location::get_distance is horizontal only 2022-04-26 18:37:54 +09:00
Randy Mackay
da961948db AP_RPM: pre-arm displays gpio vs servo_ch conflict 2022-04-26 15:19:28 +09:00
Randy Mackay
d8219c2200 AP_Relay: pre-arm displays gpio vs servo_ch conflict 2022-04-26 15:19:28 +09:00
Randy Mackay
846637e3e9 AP_Button: pre-arm displays gpio vs servo_ch conflict 2022-04-26 15:19:28 +09:00
Randy Mackay
1ee01577f6 AP_HAL: add GPIO::pin_to_servo_channel method 2022-04-26 15:19:28 +09:00
Randy Mackay
588a75a883 AP_HAL_ChibiOS: GPIO comment removes mention of BRD_PWM_COUNT 2022-04-26 15:19:28 +09:00
Randy Mackay
b6e86eee49 AP_IOMCU: valid_GPIO_pin checks if pin configured for GPIO 2022-04-26 15:19:28 +09:00
Randy Mackay
caa2ed3294 AP_IOMCU: convert_pin_number leaves input untouched on failure 2022-04-26 15:19:28 +09:00
Iampete1
d621910a59 AP_AHRS: remove unneeded get_position wrapper 2022-04-26 10:28:28 +10:00
Iampete1
6e3cb7efdc AP_Scripting: support true aliases 2022-04-26 10:28:28 +10:00
Iampete1
352c48233e AP_Scripting: generator: rename alias keyword to rename 2022-04-26 10:28:28 +10:00
Iampete1
4fe335c2d0 SITL: tests: only build on sitl 2022-04-26 10:26:29 +10:00
Iampete1
d1aa7aa062 SITL: add battery model evaluation example 2022-04-26 10:26:29 +10:00
Iampete1
1111ca4867 SITL: SIM_Frame: load_frame_params and model to protected, allow USE_PICOJSON override 2022-04-26 10:26:29 +10:00
Iampete1
f0c17f0e49 SITL: use AP_SIM_ENABLED define more 2022-04-26 10:26:29 +10:00
Iampete1
c58404beac AP_HAL_Linux: allow stop_clock in examples 2022-04-26 10:26:29 +10:00
Iampete1
2d2165936a AP_InertialSensor: use pitch to guess which axis the user is trying to calibrate, warn about Q_TRIM_PITCH on plane 2022-04-26 10:03:30 +10:00
Iampete1
6c24a5ff37 AP_AHRS: add method to get view 2022-04-26 10:03:30 +10:00
Iampete1
04fdfea74a AP_AHRS_View: add method to get pitch trim and note on rotation 2022-04-26 10:03:30 +10:00
Randy Mackay
902b895aef AP_Arming: add pre-arm check of disabled servo channels 2022-04-25 15:55:54 +09:00
Andy Piper
cc6b907a2f SRV_Channel: observe disabled_channels when enabling channels 
setup disabled_channels observing channels that are implied to be digital
allow none to be a valid channel function once again
 2022-04-25 15:55:54 +09:00
Andy Piper
119cde79a7 AP_HAL_ChibiOS: determine presence of disabled channels based on digital channels in a group 2022-04-25 15:55:54 +09:00
Andy Piper
8ccc84beab AP_HAL: add accessor for disabled channels to RCOutput 2022-04-25 15:55:54 +09:00
Andy Piper
03aeca22ec AP_BLHeli: keep a record of disabled motors 2022-04-25 15:55:54 +09:00
Peter Barker
7d10192550 SITL: do not write post locations files unless on HAL_BOARD_SITL 
Nobody's going to be retrieving these from SD card so they can visualise
things...
 2022-04-25 11:20:26 +10:00
Peter Barker
1d96dfe7c1 SITL: exclude method declarations based on USE_PICOJSON 
Fixes SimOnHardware build
 2022-04-25 11:20:26 +10:00
Randy Mackay
bfd168dd4f AP_RPM: avoid attach interrupt retry and spam to GCS if PIN = -1 2022-04-25 08:59:03 +09:00
Henry Wurzburg
8556edc5ad AP_RPM: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
93bdae50ab AP_Relay: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
4a2aeb03f3 AP_RangeFinder: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
a8ff5ca2b9 AP_Notify: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
cc51e9f995 AP_LandingGear: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
1e7fc17af3 AP_Camera: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
958e36f80b AP_Button: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
9d6f9bf907 AP_AdvancedFailsafe: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Randy Mackay
291d709409 AP_NavEKF: GSF comment typo fix 2022-04-22 15:24:11 +09:00
xianglunkai
c853694f7a AP_Proximity_Boundary_3D:correction of miswriting 2022-04-21 08:41:07 +09:00
Iampete1
c31e54b5bb AP_CustomRotations: fix param refrencing 2022-04-20 18:25:57 +10:00
Andy Piper
6355934a36 AP_HAL: add bitwidth hal definitions. 
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
 2022-04-20 17:39:29 +10:00
Andy Piper
df35cb6243 AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-04-20 17:39:29 +10:00
Andy Piper
89ea5dc12c AP_RCProtocol: flush CRSF telemety writes 2022-04-20 17:38:08 +10:00
Andy Piper
eaa414bb0c AP_HAL_ChibiOS: implement pseudo-flushing for buffered UARTS 2022-04-20 17:38:08 +10:00
yuri-rage
eaa62fb490 AP_HAL: remove BRD_PWM_COUNT reference 2022-04-20 07:57:57 +09:00
Andrew Tridgell
e73f868fc0 HAL_ChibiOS: disable fatal exceptions for DMA errors 
this zeros-watchdog was caused by a SPI DMA error on STM32F405:

  https://discuss.ardupilot.org/t/crash-with-4-2-0-beta-and-4-3-0-daily-bdshot/83297

we had incorrectly left these internal errors enabled when asserts
were not enabled. That led to a osalSysHalt()

without these we get an spi_fail internal error, caught by the
SPIDevice code
 2022-04-19 21:52:53 +10:00
Andrew Tridgell
ed1a5c086b AP_Logger: removed annoying message on missing logs 2022-04-19 11:45:26 +10:00
Andrew Tridgell
93b55e367e AP_Logger: fixed log listing with gap, and EKF error on log list 
this fixes two issues:

The first issue that if we are missing a log file in the middle of the
list then it was not possible to download recent logs, as we get the
incorrect value for total number of logs. This happened for me with
107 logs, with log62 missing from the microSD. It would only show 45
available logs, so the most recent logs could not be downloaded.

The second issue is that get_num_logs() was very slow if there were a
lot of log files in a directory. This would cause EKF errors and ESC
resets. Using a opendir/readdir loop is much faster (approx 10x faster
in my testing with 107 logs on a MatekH743).
 2022-04-19 11:45:26 +10:00
Peter Barker
348f0ad590 SITL: add SIM_SONAR_ROT, use it for measuring horizontal distances 2022-04-19 10:26:10 +10:00
xianglunkai
f7f053191a AP_Logger: must set default fd = -1 2022-04-19 10:00:32 +10:00
Iampete1
a7abfeeb4a SITL: allow cutom motor postions and thrust vectors to be specified 2022-04-19 09:43:51 +10:00
Iampete1
c4518e5cb7 SITL: motor: use postion and thrust vector 2022-04-19 09:43:51 +10:00
Iampete1
47f327b500 SITL: allow Vector3f inertia to be set via JSON 2022-04-19 09:43:51 +10:00
Iampete1
6272dc33dd SITL: move moments inertia to frame property 2022-04-19 09:43:51 +10:00
Iampete1
7936f3bb0a SITL: move motor related constants to motor object 2022-04-19 09:43:51 +10:00
Andrew Tridgell
db14ba46dc AP_InertialSensor: call notch param update with semaphore held 2022-04-19 09:39:03 +10:00
Andrew Tridgell
bccca9ed2e AP_GyroFFT: added defaults for FFT with no notch 
allow for testing with FFT enabled, and defaulting number of
frequencies to look for
 2022-04-19 09:39:03 +10:00
Andrew Tridgell
dff0e5ecc1 AP_InertialSensor: fixed the last notch values to be per-instance 
thanks to Andy for noticing this
 2022-04-19 09:39:03 +10:00
Andrew Tridgell
e0bb717231 AP_GyroFFT: skip disabled notches 2022-04-19 09:39:03 +10:00
Andrew Tridgell
184f84f4ee AP_InertialSensor: don't update disabled notches 2022-04-19 09:39:03 +10:00
Andrew Tridgell
492e203fd2 AP_GyroFFT: allow for 2 FFT based notches 2022-04-19 09:39:03 +10:00
Andrew Tridgell
301c56d30a AP_Vehicle: implement common harmonic notch update code 2022-04-19 09:39:03 +10:00
Andrew Tridgell
e6b56ce9ba AP_RPM: use HarmonicNotch class 2022-04-19 09:39:03 +10:00
Andrew Tridgell
86db91e3b4 AP_GyroFFT: use HarmonicNotch class 2022-04-19 09:39:03 +10:00
Andrew Tridgell
ddab3f02ca AP_Arming: use HarmonicNotch class 2022-04-19 09:39:03 +10:00
Andrew Tridgell
e2e1e74da5 AP_InertialSensor: switch to HarmonicNotch class 
this makes the logic much easier to follow, without indexes into
arrays
 2022-04-19 09:39:03 +10:00
Andrew Tridgell
d7d04bc7cf Filter: removed parameters from the old notch filter 
saves some flash space
 2022-04-19 09:39:03 +10:00
Andrew Tridgell
782e4887bc AP_GyroFFT: only allow one harmonic notch filter to be linked to FFT 2022-04-19 09:39:03 +10:00
Andrew Tridgell
ae1e9e06c1 AP_Arming: added arming check for conflicting notch modes 2022-04-19 09:39:03 +10:00
Andrew Tridgell
1cd1519a4f Filter: clarify meaning of 1st harmonic 2022-04-19 09:39:03 +10:00
Andrew Tridgell
7272a29b7b Filter: added RPM2 harmonic notch type 2022-04-19 09:39:03 +10:00
Andrew Tridgell
a2fc4d909d AP_Vehicle: support two full harmonic notch filters 2022-04-19 09:39:03 +10:00
Andrew Tridgell
ac50d3cc9f AP_RPM: support two full harmonic notch filters 2022-04-19 09:39:03 +10:00
Andrew Tridgell
e67d9b4179 AP_InertialSensor: support two full harmonic notch filters 2022-04-19 09:39:03 +10:00
Andrew Tridgell
622ad2a088 AP_GyroFFT: support two full harmonic notch filters 2022-04-19 09:39:03 +10:00
Joshua Henderson
7cc2382a78 AP_AHRS_DCM: NFC comment on check_matrix() normalization reset 2022-04-19 09:27:00 +10:00
Randy Mackay
9d73cfb28f AP_NavEKF: GSF logging in deg from 0 to 360 2022-04-19 08:56:40 +10:00
Peter Barker
55517450bc AP_Scripting: correct script restart send_text message 2022-04-18 12:50:18 +01:00
Bill Geyer
b8690ba109 AC_AutoTune: fix gain determination fail logic 2022-04-18 18:00:20 +09:00
Bill Geyer
8e35fd2658 AC_AutoTune: use failed state to exit 2022-04-18 18:00:20 +09:00
Bill Geyer
b4059d3745 AC_AutoTune: use generic load gain method to save flash 2022-04-18 18:00:20 +09:00
Walter Dunckel
b0c3fae662 AP_HAL_ChibiOS: add support for NucleoH755 board 
This addition allows for cheap testing of a STM32H755 (dual core). This borrows the setup file STM32H757xx.py, as there are almost no changes between the chips. CRSF in and out, gps, ICM20948, BMP388, settings saving to on board flash all working.

PWM(3) pin change

Changed PWM(3) pin to one exposed on connector
 2022-04-18 14:53:14 +10:00
QioTek
9909499a81 AP_HAL_ChibiOS: ICM4 series sensors as an alternative with IMU3. 
AP_HAL_ChibiOS:  ICM4 series sensors as an alternative with IMU3.
 2022-04-18 11:01:14 +10:00
Andrew Tridgell
9f58c73780 hwdef: Added MatekL431-Rangefinder 2022-04-17 17:40:04 +10:00
Peter Barker
bca4fc9608 hwdef: disable serially-attached actuators on SkyViper 2022-04-17 09:10:10 +10:00
Andrew Tridgell
95ae150a21 AP_InertialSensor: catch FIFO overruns on BMI088 
we have seen errors where the BMI088 gets out of sync, so that the 3
axes are rotated. The data is shifted by 4 bytes, so that X=Z, Y=X
and Z=Y

this changes the BMI088 to "stop on full" mode, which is what Bosch
use in their example drivers, and also catches FIFO overrun events and
triggers a full FIFO reset. This should fix the problem with the FIFO
sync
 2022-04-16 19:24:16 +10:00
Andrew Tridgell
973befa5d8 GCS_MAVLink: prevent devop larger than buffer 2022-04-16 19:24:16 +10:00
Andrew Tridgell
4c9a851fc6 SITL: update for changed INS_NOTCH parameter name 2022-04-16 08:14:06 +10:00
Andrew Tridgell
f5c3b56426 AP_HAL_ChibiOS: update for changed INS_NOTCH parameter name 2022-04-16 08:14:06 +10:00
Andrew Tridgell
ab5e8419d8 AP_InertialSensor: move INS_HNTC2 to a new parameter table ID 2022-04-16 08:14:06 +10:00
Willian Galvani
6e326ee912 AC_PosControl_Sub.h: do not use our own input_vel_accel_z 2022-04-13 16:23:55 -03:00
mateksys
16a8400f85 AP_HAL_ChibiOS:add icm42688p as substitution 2022-04-13 20:59:07 +10:00
Peter Barker
e788941f70 hwdef: turn off various GPS backends on on AP_Periph 2022-04-13 18:23:51 +10:00
Peter Barker
ccca0e8e0f AP_GPS: stop using HAL_BUILD_AP_PERIPH to gate GPS backends 2022-04-13 18:23:51 +10:00
Andrew Tridgell
cdfa682be0 AC_AttitudeControl: use deadzone for pitch 
when pitch for nose-in and tail-in is enabled we should use the
deadzone
 2022-04-13 18:19:02 +10:00
Andrew Tridgell
f4548daa5a AC_AttitudeControl: added an option for pitch weathervaning 
when nose-in or tail-in, if the aircraft has significant pitch
asymmetry in hover then we would spin around in no wind if we use
pitch as an input

this makes pitch input for nose-in and tail-in optional and off by
default to preserve existing behaviour
 2022-04-13 18:19:02 +10:00
Peter Barker
e5c40d0e54 AP_Logger: move logging of Beacon into Beacon library 2022-04-13 16:22:19 +10:00
Peter Barker
bbcf0a0968 AP_Beacon: move logging of Beacon into Beacon library 2022-04-13 16:22:19 +10:00
Peter Barker
a62e08ee40 AP_Proximity: move logging of Proximity into Proximity library 2022-04-13 16:22:19 +10:00
Peter Barker
795427e574 AP_Logger: move logging of Proximity into Proximity library 2022-04-13 16:22:19 +10:00
Peter Barker
f023f0443d GCS_MAVLink: move logging of RPM into RPM library 2022-04-13 16:22:19 +10:00
Peter Barker
ab86dafda7 AP_RPM: move logging of RPM into RPM library 2022-04-13 16:22:19 +10:00
Peter Barker
23f2055330 AP_Logger: move logging of RPM into RPM library 2022-04-13 16:22:19 +10:00
Peter Barker
c09f56112e AP_Arming: move logging of RPM into RPM library 2022-04-13 16:22:19 +10:00
Peter Barker
04cc45de65 hwdef: remove non-ascii character from hwdef 
Killing the custom build server
 2022-04-13 12:14:17 +10:00
Randy Mackay
375ab84e56 SITL: correct suggestion to user re wind estimatation param value 
EK3_MCOEF becomes EK3_DRAG_MCOEF
EK3_BCOEF_ becomes EK3_DRAG_BCOEF_
 2022-04-13 07:57:35 +09:00
Randy Mackay
002bcca7f9 AP_Baro: correct param description refering to EK3 wind est params 
AP_NavEKF3: correct wind estimate param descriptions

mention of EK3_BCOEF_X/Y becomes EK3_DRAG_BCOEF_X/Y
 2022-04-13 07:57:35 +09:00
Randy Mackay
37e9ce3fb7 AP_NavEKF3: correct wind estimate param descriptions 
EK3_MCOEF becomes EK3_DRAG_MCOEF
EK3_BCOEF_X/Y becomes EK3_DRAG_BCOEF_X/Y
 2022-04-13 07:57:35 +09:00
Peter Barker
e0a96eaa83 AP_GPS: remove more code based on GPS_MOVING_BASELINE 2022-04-12 11:20:01 +10:00
Peter Barker
aa72559d00 AP_GPS: tidy initialisation of sending blobs 2022-04-12 11:20:01 +10:00
Peter Barker
4b6590734a AP_GPS: move gps blob initialisation out to method 2022-04-12 11:20:01 +10:00
Andy Piper
13464ebb20 AP_RCTelemetry: check EKF checks against failsafe defaults. 2022-04-12 11:14:44 +10:00
Peter Barker
961cf659d9 SRV_Channels: stop gating FETTECONEWIRE parameters on HAL_BUILD_BUILD_AP_PERIPH 
This would break fettech on AP_Periph.  The define is off by default on
AP_Periph.
 2022-04-12 10:35:01 +10:00
Peter Barker
a5be9d0f18 SRV_Channel: allow RobotisServo protocol to be compiled out 2022-04-12 10:35:01 +10:00
Peter Barker
9001058d12 AP_RobotisServo: allow RobotisServo protocol to be compiled out 2022-04-12 10:35:01 +10:00
Peter Barker
73b86ccc04 AP_HAL_ChibiOS: allow RobotisServo protocol to be compiled out 2022-04-12 10:35:01 +10:00
Peter Barker
3339d96573 SRV_Channel: allow Volz protocol to be compiled out 2022-04-12 10:35:01 +10:00
Peter Barker
d97c847966 AP_Volz_Protocol: allow Volz protocol to be compiled out 2022-04-12 10:35:01 +10:00
Peter Barker
2e20e26403 AP_HAL_ChibiOS: allow Volz protocol to be compiled out 2022-04-12 10:35:01 +10:00
Peter Barker
04a64a20fa AP_NavEKF2: remove instance id from EK2 external interface 
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
 2022-04-12 10:25:29 +10:00
Peter Barker
c1c18331f9 AP_AHRS: remove instance id from EK2 external interface 
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
 2022-04-12 10:25:29 +10:00
Henry Wurzburg
c770a2bd58 hwdef: minimal GPS support for Flywoo baords 2022-04-12 10:04:57 +10:00
Andy Piper
1a843f659f AP_HAL_ChibiOS: bdshot version of MatekF765-Wing 2022-04-12 10:03:11 +10:00
Andy Piper
29e8f96275 AP_InertialSensor: move frontend update into ramfunc. 2022-04-12 09:19:45 +10:00
Andy Piper
2d62da9298 AP_FlashIface: make sure XIP flash is ready before returning 2022-04-12 09:19:45 +10:00
Andy Piper
e89eb34d55 AP_HAL_ChibiOS: add I2C and compass backend to drivers in memory on H750 
move more of EKF into memory on H750
move rc handling into memory on H750
disable double math on SPRacing H7
 2022-04-12 09:19:45 +10:00
Michel Pastor
f4a3a65797 hwdef: add revo-mini-sd 2022-04-12 09:17:03 +10:00
Andrew Tridgell
0f230eec5a AP_Scripting: increase default heap size in SITL and on F7/H7 
if we have 500k or more memory then use 100k heap for Lua, making
setup easier
 2022-04-11 17:02:04 +10:00
Lokesh Ramina
729466358d hwdef: added CarbonixF405 AP_Periph node 
added hwdef files for CarbonixF405 board
 2022-04-11 12:58:48 +10:00
Peter Barker
a9b90a3b5a AP_HAL: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
0b16c4063e AP_NavEKF3: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
65b00bcc2a AP_NavEKF2: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
df91effa4e AR_Motors: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
224c32edf0 AR_WPNav: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
6a0250bc85 AP_Winch: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
c452002ae4 AC_PrecLand: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
d319370080 RC_Channel: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
a10ed0e87f PID: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
c829b109bf AP_Vehicle: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
e1dd53eb17 AP_TECS: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
ce312a3750 AP_Scripting: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
df60565769 AP_Mission: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
dd589934cc APM_Control: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
0c32eeca2e AP_Logger: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
8ec0eed749 AP_Landing: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
6a97056736 AP_Camera: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
d73cd7d0e3 AC_WPNav: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
e5e4dee708 AC_PID: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
66f0a0f42b AC_AutoTune: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker
c1e776fc46 AC_AttitudeControl: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Andy Piper
e0adbb978e AP_HAL_ChibiOS: fix dshot timeout bug where the elapsed pulse is longer than the send time 
dshot timeouts should be no longer than the pulse interval
use correct timestamp for dmar send time
 2022-04-07 07:21:21 +10:00
Peter Barker
b80cc9a610 AP_Logger: remove old, unused log metadata for MON 2022-04-06 21:54:15 +10:00
Peter Barker
00de10d796 AP_HAL_ChibiOS: use structure for writing out WDOG,MON message 2022-04-06 21:54:15 +10:00
Peter Barker
a546bc797c AP_Logger: source IDs and structs from HAL_ChibiOS 2022-04-06 21:54:15 +10:00
Peter Barker
adf9c21d48 AP_NavEKF3: remove instance id from EK3 external interface 
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
 2022-04-06 17:36:05 +10:00
Peter Barker
b762aac6ce AP_AHRS: remove instance id from EK3 external interface 
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
 2022-04-06 17:36:05 +10:00
Peter Barker
c2112565b5 AP_GPS: remove redundant _blend_mask check 
filling in of these values is already gated by checking the mask
 2022-04-06 17:31:42 +10:00
Peter Barker
4332ed8f36 AP_GPS: use sq function for squaring numbers 2022-04-06 17:31:42 +10:00
Iampete1
2589fa1b3b AP_GPS: UBlox: add TIM-TM2 logging 2022-04-06 17:22:30 +10:00
Iampete1
0a0178988d AP_Logger: add 1e-9 log multiplyer 2022-04-06 17:22:30 +10:00
Peter Barker
717edae9ef hwdef: fix redefinition of Solo values in CubeSolo/CubeGreen-Solo 
adding fmuv3 into the list of firmwares we might run on Solo was a late
addition to the recent PRs.  It was forgotten that the inheritance would
cause a redefition failure
 2022-04-06 16:38:23 +10:00
Andrew Tridgell
37d8feb928 hwdef: disable GPS drivers on low flash boards 
only leave uBlox enabled on boards that are running out of flash
 2022-04-06 14:14:07 +10:00
Andrew Tridgell
c9bbfd94c0 hwdef: set AUTOBUILD_TARGETS None on eval boards 2022-04-06 14:13:44 +10:00
李孟晓
2d37bc9c78 AP_HAL_ChibiOS: CUAV-Nora: add usart3 support 2022-04-06 11:04:08 +10:00
Andrew Tridgell
06b6632f30 AP_Logger: fixed @SYS file logging 
the key fix is the reset of the fd to -1. Without that fix we only
ever log @SYS/uarts.txt

The timing change is needed to get the files out in a reasonable
time. The function is actually getting called at 100Hz or less, not
1kHz (measured on MatekH743 copter at 400Hz). So we need to run it
faster to get the files logged in a reasonable time
 2022-04-06 07:46:29 +10:00
Peter Barker
d2c3c578c2 hwdef: add hwdef for CubeOrange-SimOnHardware 2022-04-05 18:10:14 +10:00
Andrew Tridgell
392e80001f HAL_ChibiOS: fixed H7 flash storage 
this fixes the flash re-init problem when flash storage fills on
H7. It was caused by rejecting writes where one or more of the 32 byte
chunks was not all 0xff but was equal to the current data. That
happens when writing to the sector header in AP_FlashStorage

it also moves the interrupt disable inside the loop to allow for
other interrupts to run between blocks
 2022-04-05 17:46:52 +10:00
Andrew Tridgell
093acc1577 HAL_ChibiOS: use 16 byte lines for flash storage on H7 
this halves the number of flash writes needed, and makes flash storage
twice as space efficient on H7

On H7 we need to write 32 bytes at a time to flash, which corresponds
to 30 bytes of data in AP_FlashStorage. By using a 16 byte storage
line we don't waste as much space
 2022-04-05 17:46:52 +10:00
Andrew Tridgell
055ee6ba82 HAL_ChibiOS: increase monitor thread stack by 512 
this is needed to ensure that the log writes of MON and WDOG don't
overflow monitor thread stack
 2022-04-05 17:46:52 +10:00
Andrew Tridgell
1b6620b42f HAL_ChibiOS: added expected delays on flash writes 
this prevents a long loop internal error on disarm after a large
amount of flash writes when armed on a board with flash storage
 2022-04-05 17:46:52 +10:00
Andrew Tridgell
a0c867bce7 HAL_ChibiOS: disable interrupts during flash operations 
we have now shown that interrupts being enabled during flash
operations can cause the infamous "68ms" bug, or watchdog when using a
32 bit timer on boards using flash for storage

The issue is quite repeatable with a load of a very large waypoint
file (over 500 waypoints) using "wp ftpload" in MAVProxy. This puts a
huge load on flash storage.

Our current working theory is that while doing flash writes for
storage on dual-bank we block access to only one bank, so if another
thread uses a timeout function with a short timeout while the flash
write is happening and chVTDoTickI calls code which crosses the flash
bank boundary then it can cause chVTDoTickI to violate the assumption
that no more than CH_CFG_ST_DELTA ticks pass while it is calculating
the value to set in the system timer. In that case we get a delay of a
full timer wrap, which is 68ms on boards with 16 bit timer and 70
minutes on boards with 32 bit timer
 2022-04-05 17:46:52 +10:00
Andrew Tridgell
f6f6521b28 Revert "hwdef: changed MatekH743 to a 32 bit timer" 
This reverts commit 7dc5911572.
 2022-04-05 17:46:52 +10:00
Andrew Tridgell
5ef9c5aaa5 HAL_ChibiOS: constrain more timer timeouts 2022-04-05 17:46:52 +10:00
Andrew Tridgell
4c977eb7a0 HAL_ChibiOS: prevent long timeouts in DShot 
this prevents bad calculated timeouts in DShot. The timeout would
sometimes come out as 0xFFFFFFFF, which led to an assert and could
block the thread

This fix is meant to be minimilistic to allow it to be merged easily
into 4.2. A better fix would fix all the uint32_t wrap handling in
DShot
 2022-04-05 17:46:52 +10:00
Andrew Tridgell
a95b429acc AP_Math: added unsigned versions of constrain functions 
sometimes it really does matter that we use constrain_uint32() instead
of constrain_int32(). For example, if we have a value like 0xFFFFFFFF
then the result will be very different

we should use unsigned constrain when dealing with unsigned values
 2022-04-05 17:46:52 +10:00
Henry Wurzburg
82235163a2 AP_Scripting: remove original aerobatics example to avoid confusion 2022-04-05 10:12:13 +10:00
Henry Wurzburg
fa81f7813c AP_Airspeed: correct metadata for params for non-Plane vehicles 2022-04-05 09:58:10 +10:00
Lokesh Ramina
11b3eccf66 AP_Periph: Hwdef CarbonixL496 update 
Modification of CarbonixL496 to add more features.
Features:
To use internal clock of MCU, Oscillator value is set to 0.
LED pin changed from PA13 to PA15
Enabled  JTAG
Add interface to GPS and ADSB.
 2022-04-05 09:57:02 +10:00
Nicholas Kruzan
d42a287db0 AP_HAL_ESP32: partitions.csv - increase app partition to 3M 2022-04-05 08:41:11 +10:00
Nicholas Kruzan
c3e071579d AP_Filesystem: AP_Filesystem_ESP32 allow_absolute_paths in ::open() 2022-04-05 08:40:26 +10:00
Andrew Tridgell
1c5a954b24 HAL_ChibiOS: incorrect class of class in uart TX timeout 
need to call chEvtGetAndClearEventsI() as we are in a system lock
state
 2022-04-04 16:59:38 +10:00
Peter Barker
fd666dc4f1 AP_AHRS: subtract accel bias from correct ins accel instance 
In the case that you have INS_USE indicating IMUs should be used, but
EK3_IMU_MASK leaving some IMUs unused, we subtract the bias from the
wrong INS data
 2022-04-03 11:41:09 +10:00
Andrew Tridgell
a01ca35939 AP_Logger: increase stack of log_io thread by 256 
This was seem on omnibusf4pro, it is a bit too close:

  log_io PRI= 59 sp=0x20015CC0 STACK=144/1656
 2022-04-01 19:56:30 +11:00
Mirko Denecke
c1e0e9c305 AP_HAL_ChibiOS: fix ms5611 probe for NucleoH743 2022-03-31 16:31:13 +11:00
Randy Mackay
0dd9a8028b AR_WPNav: integrate scurve snap 2022-03-30 15:34:14 +09:00
Randy Mackay
c233f114bd AR_PosControl: fixup logging to record desired and target velocity and acceleration 2022-03-30 15:34:14 +09:00
Randy Mackay
74df1c0b22 AR_PosControl: reduce default I term to zero 2022-03-30 15:34:14 +09:00
Randy Mackay
995ff30cd6 AC_Avoid: enable slide behaviour for rover 2022-03-30 15:34:14 +09:00
Randy Mackay
5d96804ef3 AR_WPNav: add protection against zero accel max 2022-03-30 15:34:14 +09:00
Randy Mackay
a1b9fe5097 AR_WPNav: jerk time reduced to 0.1 sec 2022-03-30 15:34:14 +09:00
Randy Mackay
c6dffb990f AR_WPNav: add set_nudge_speed_max 
allows pilot to override speed_max from RC input
 2022-03-30 15:34:14 +09:00
Randy Mackay
394a5fd2fc AR_WPNav: get/set_desired_speed renamed to get/set_speed_max 
set_speed_max updates position controller limits and triggers recalculation of scurves
local _desired_speed member is no longer required because max speed is held in position controller
 2022-03-30 15:34:14 +09:00
Randy Mackay
1996085282 AR_WPNav: init accepts speed max 
also remove unused set_desired_speed_to_default
also init previous leg in set_desired_location
init accepts speed but inforces minimum
 2022-03-30 15:34:14 +09:00
Randy Mackay
a91025fa16 AR_WPNav: remove unused speed_min 2022-03-30 15:34:14 +09:00
Randy Mackay
537874c075 AR_WPNav: jerk_max maintained in position controller 2022-03-30 15:34:14 +09:00
Randy Mackay
54eee7d311 AR_WPNav: simplify init 2022-03-30 15:34:14 +09:00
Randy Mackay
d03e801b65 AR_WPNav: remove get_accel_max, get_jerk_max 2022-03-30 15:34:14 +09:00
Randy Mackay
653afbeb15 AR_WPNav: enable_overspeed added to improve sailboat support 2022-03-30 15:34:14 +09:00
Randy Mackay
2f6e098f23 AR_WPNav: always use local calculation of cross track 
also calc_crosstrack_error may return negative values
 2022-03-30 15:34:14 +09:00
Randy Mackay
729dfee01c AR_WPNav: pivot turns stop before turning 2022-03-30 15:34:14 +09:00
Randy Mackay
e0a628bb8c AR_WPNav: add is_fast_waypoint accessor 2022-03-30 15:34:14 +09:00
Randy Mackay
0bcae12ceb AR_WPNav_OA: use wpnav's expect fast updates 2022-03-30 15:34:14 +09:00
Randy Mackay
f769a18996 AR_WPNav: add set_desired_location_expect_fast_update 2022-03-30 15:34:14 +09:00
Randy Mackay
1fd9da710d AR_WPNav: add internal error if invalid destination received 2022-03-30 15:34:14 +09:00
Randy Mackay
461c5196e7 AR_WPNav: add ACCEL and JERK params and accessors 
allows users to specify a different acceleration and jerk for Auto, Guided, RTL, etc compared with manual modes (Acro, etc)
 2022-03-30 15:34:14 +09:00
Randy Mackay
47ab961f42 AR_WPNav: fix application of turn-max-g 2022-03-30 15:34:14 +09:00
Randy Mackay
b1237ffe80 AR_WPNav: always pivot at corners of at least WP_PIVOT_ANGLE 2022-03-30 15:34:14 +09:00
Randy Mackay
3d048ddcc2 AR_WPNav: fix pivot activation when reversing 2022-03-30 15:34:14 +09:00
Randy Mackay
6515e71fc1 AR_WPNav: move OA path planning handling into a separate class 2022-03-30 15:34:14 +09:00
Randy Mackay
2a1013e896 AR_WPNav: set desired lat accel and crosstrack to zero when disarmed 2022-03-30 15:34:14 +09:00
Randy Mackay
a185e78271 AR_WPNav: integrate AR_PivotTurn class 
moves pivot turn feature to separate class
also does not advance along scurve path while pivotin
 2022-03-30 15:34:14 +09:00
Randy Mackay
7225d74777 AR_PivotTurn: pivot turn controller 
also reduces default pivot speed to 60deg/sec (was 90deg/sec)
add would_active and allow activation to be forced
 2022-03-30 15:34:14 +09:00
Randy Mackay
9d629f5ecd AR_WPNav: use position controller and s-curves 2022-03-30 15:34:14 +09:00
Randy Mackay
abc7bd446a AR_PosControl: rover position controller 2022-03-30 15:34:14 +09:00
Randy Mackay
8fcefb59b1 AP_Math: add Vector2f::dot 2022-03-30 15:34:14 +09:00
Andy Piper
23f8a00619 AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation 2022-03-30 17:11:09 +11:00
Andy Piper
fff82bed75 AP_HAL: update prescaler tests 2022-03-30 17:11:09 +11:00
Peter Barker
d9f819085c AP_Math: add specialisation for sq(float) 
avoids conversion to double
 2022-03-30 08:44:19 +11:00
Henry Wurzburg
479b02e5b0 HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-03-29 10:43:51 +11:00
Andrew Tridgell
0879b497a4 AP_Param: fixed param class conversion code 
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.

I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
 2022-03-29 10:41:33 +11:00
Andy Piper
eb996f28cc AP_HAL_ChibiOS: spro H7 extreme updates. 
cannot currently use both IMUs on spro H7 extreme due to CPU load
 2022-03-29 10:39:35 +11:00
Andy Piper
63229d7eca AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-03-29 10:29:31 +11:00
Andy Piper
6511a65b67 SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-03-29 10:29:31 +11:00
Andy Piper
4fa0e275fd AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands 
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
 2022-03-29 10:29:31 +11:00
xianglunkai
abb0bf34d2 test_3d_lines:fix test result for test_3d_lines 2022-03-29 08:26:39 +09:00
xianglunkai
4513546845 vector3:return w1 not zero vector 2022-03-29 08:26:39 +09:00
Peter Barker
29c2c40c41 hwdef: enable both OreoLED and Solo gimbal on fmuv3 
for users running fmuv3 on their Solo
 2022-03-29 08:24:59 +09:00
Peter Barker
a30f33a674 hwdef: enable both OreoLED and Solo gimbal on CubeOrange 
for users who have replaced their CubeSolo with a CubeOrange
 2022-03-29 08:24:59 +09:00
Peter Barker
f3bf6e56c8 AP_Mount: enable Solo Gimbal only on CubeGreen 2022-03-29 08:24:59 +09:00
Peter Barker
f186f612f9 AP_HAL_ChibiOS: enable Solo Gimbal only on CubeGreen 2022-03-29 08:24:59 +09:00
Bill Geyer
7e09f68f26 AP_Math: add chirp function to support frequency sweeps in systemid and autotune 2022-03-29 08:05:41 +09:00
Bill Geyer
f1a6865caa AC_Autotune: clean up variable init for dwell 2022-03-29 08:05:41 +09:00
Bill Geyer
bd0df72863 AC_AutoTune: use chirp function in AP_Math for frequency sweeps 2022-03-29 08:05:41 +09:00
Bill Geyer
ce725764d4 AC_AutoTune: combine dwell_run_test for angle and rate 2022-03-29 08:05:41 +09:00
Bill Geyer
ba28227483 AC_AutoTune: combine dwell_init methods 2022-03-29 08:05:41 +09:00
Bill Geyer
bbc259329d AC_AutoTune:tradheli-streamline gcs messages 2022-03-29 08:05:41 +09:00
Andrew Tridgell
7dc5911572 hwdef: changed MatekH743 to a 32 bit timer 
the 68ms issue is still present on this board. Switching to a 32 bit
timer will fix it, but loses us the tonealarm support
 2022-03-29 07:45:23 +11:00
Andrew Tridgell
4564140745 HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-28 17:09:26 +11:00
Andrew Tridgell
b46b0d61a6 HAL_ChibiOS: switch between IOMCU and RCProt rapidly 
keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
 2022-03-28 17:09:26 +11:00
Andrew Tridgell
5df38d0298 AP_RCProtocol: added using_uart() method 2022-03-28 17:09:26 +11:00
Andrew Tridgell
ee6a7f21ec AP_Logger: added terrain correction logging field 2022-03-28 16:01:21 +11:00
Andrew Tridgell
62dc865321 AP_Terrain: added logging of terrain correction 2022-03-28 16:01:21 +11:00
Andrew Tridgell
54f6dbf476 AP_Scripting: restored corrected boolean in height_amsl binding 2022-03-28 16:01:21 +11:00
Andrew Tridgell
f8aa4623ef HAL_SITL: don't use terrain adjustment 2022-03-28 16:01:21 +11:00
Andrew Tridgell
ed8f028359 AP_Arming: setup for terrain adjustment on arming 2022-03-28 16:01:21 +11:00
Andrew Tridgell
536b59ed42 SITL: don't use adjusted terrain in SITL 2022-03-28 16:01:21 +11:00
Andrew Tridgell
5f2c5be84a AP_Terrain: added terrain reference adjustment 
this restores the terrain adjustment functionality removed in #19946,
but without the problematic approach of always using home (which can
be moved in flight) and with a TERR_OFS_MAX parameter to limit the
amount of adjustment
 2022-03-28 16:01:21 +11:00
Peter Barker
cafad05b38 AP_GPS: rearrange send-text for consistency 2022-03-27 06:21:20 -07:00
Peter Barker
88feb74762 AP_GPS: improve parameter documentation in UAVCAN GPS 2022-03-27 06:21:20 -07:00
bugobliterator
bd2bf7fedc AP_HAL_SITL: add support for CANFD in SITL 2022-03-27 06:07:34 -07:00
bugobliterator
7d2ded8de1 AP_HAL: add support for CANFD in SITL 2022-03-27 06:07:34 -07:00
Iampete1
1521760a17 Filters: HarmonicNotch: remove statment on max number of notches harmonics from parm descripstion 2022-03-25 07:14:06 +11:00
BhumilDepani
8fa6432e3a AP_GPS: added comments in GPS_AUTO_test example sketch 
Added comments in libraries/AP_GPS/examples/GPS_AUTO_text/GPS_AUTO_test.cpp file

AP_GPS: added comments to GPS_AUTO_test example sketch

Added comments in libraries/AP_GPS/examples/GPS_AUTO_text/GPS_AUTO_test.cpp file

AP_GPS: added comments to GPS_AUTO_test example sketch

AP_GPS: add comments to GPS_AUTO_text example sketch

AP_GPS: added comments in GPS_AUTO_test example sketch
 2022-03-24 22:07:36 +11:00
Randy Mackay
fc668b4bca AP_Scripting: copter fast descent gets improved slowdown 2022-03-24 19:21:54 +09:00
HefnySco
53c1c235b8 AP_HAL:RPI read cpu by revision 2022-03-24 00:51:27 -07:00
Andrew Tridgell
7947494cab HAL_ChibiOS: prevent conflicting RC input 
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
 2022-03-24 16:09:43 +11:00
Andy Piper
458ff45fe6 AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-24 11:20:09 +09:00
Randy Mackay
2d5d74b7a8 AP_BLHeli: add reboot required to some parameters 2022-03-24 11:20:09 +09:00
Randy Mackay
5561a5e82e AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-24 08:01:48 +09:00
MallikarjunSE
bf0ce19942 hwdef: RM3100 no false rotation 2022-03-24 07:47:11 +11:00
MallikarjunSE
549883772c hwdef: RM3100 reversal mask 2022-03-24 07:47:11 +11:00
Andrew Tridgell
ce27ec2276 AP_BattMonitor: fixed battery remaining of sum battery 
and move to common function for update_consumed()
 2022-03-23 20:21:38 +11:00
bugobliterator
79c45049e0 AP_GPS: only use PPS time when there is atleast 2D Fix 2022-03-23 19:10:47 +11:00
bugobliterator
2dceb9a3ed AP_HAL_ChibiOS: ensure that common ram is selected for bootloader/app comms in STM32H7 2022-03-23 19:09:21 +11:00
bugobliterator
39b771c3a9 AP_Scripting: add support for can_printf in lua 2022-03-23 18:59:43 +11:00
Andrew Tridgell
73eabb1fd0 GCS_MAVLink: send GCS voltage to GCS 
may be resting voltage of option enabled
 2022-03-22 11:12:54 +11:00
Andrew Tridgell
9c067f360f AP_BattMonitor: added option to send resting voltage to GCS 2022-03-22 11:12:54 +11:00
Peter Barker
f1ec657c41 GCS_MAVLink: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker
fe863b9567 AP_Vehicle: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker
38a1c4412a AP_Mount: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker
3dae386ae3 AP_InertialSensor: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker
df4911cbcb AP_NavEKF3: avoid direct use of Location alt field 2022-03-22 10:33:37 +11:00
Peter Barker
83011580f3 AP_NavEKF2: avoid direct use of Location alt field 2022-03-22 10:33:37 +11:00
Andrew Tridgell
ce0b7a8957 AP_IOMCU: fixed handling of RC_OPTIONS bit to ignore RC failsafe bit 
this worked on FMU but not on IOMCU
 2022-03-22 10:30:35 +11:00
Andrew Tridgell
522173328c AP_RCProtocol: added failsafe_active() API 2022-03-22 10:30:35 +11:00
Andrew Tridgell
e8115a99bc AP_Scripting: added set_override method for scripting 
useful for test code
 2022-03-22 10:21:06 +11:00
Willian Galvani
19db542111 AP_Param: Use AP:FS for accessing files 2022-03-22 10:19:21 +11:00
Willian Galvani
0e62d561d9 AP_Filesystem: add allow_absolute_paths to open(), implement it for posix backend 2022-03-22 10:19:21 +11:00
Andrew Tridgell
feb9e78f00 AP_GPS: prevent switching to a dead GPS 
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
 2022-03-22 10:10:07 +11:00
pacolate12
0d256da3b5 AP_UAVCAN: correct array inxexing 
Allows the code to be run on hardware
 2022-03-20 07:32:33 -07:00
bugobliterator
8574afb2e1 AP_BoardConfig: add WHOAMI for INV42688 2022-03-20 07:23:10 -07:00
bugobliterator
7abcf9ec46 AP_HAL_ChibiOS: add CubeOrangePlus 2022-03-20 07:23:10 -07:00
Andrew Tridgell
54e4c6e1be hwdef: leave MatekL431 ROMFS uncompressed 
this allows for bl update when low on memory
 2022-03-19 12:06:04 +11:00
mateksys
35ed87a5db AP_HAL_ChibiOS: add MatekL431 AP_Periph hwdef 2022-03-19 12:06:04 +11:00
Henry Wurzburg
c48b7319bc AP_RSSI: convert floating point divides into multiplys 2022-03-18 15:26:44 +11:00
Andrew Tridgell
7bb129aa3e AC_AttitudeControl: added set_lean_angle_max_cd() 2022-03-18 13:36:16 +11:00
Andrew Tridgell
7dcdeac7ab AC_Autorotation: use accel_to_angle() 2022-03-18 13:36:16 +11:00
Andrew Tridgell
f824be726c AC_WPNav: use angle/accel functions 2022-03-18 13:36:16 +11:00
Andrew Tridgell
ca4151be2c AP_Math: added angle_to_accel() and accel_to_angle() 2022-03-18 13:36:16 +11:00
Peter Barker
ebe2205ba7 SITL: add on-hardware example files 2022-03-17 14:39:55 +11:00
Peter Barker
fa2e841387 AP_HAL: honour HAL_SIM_GPS_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
e0561b0ca1 GCS_MAVLink: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
7ad9609fb7 AP_AHRS: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
0bcda3c57e AP_Vehicle: split AP_HAL_SITL and AP_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
57f8b7c2a8 AP_Compass: split AP_HAL_SITL and AP_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
daedebce2e AP_Baro: create and use HAL_SIM_BARO_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
a53af5277c AP_InertialSensor: assume accel cals are stored for sitl-on-hw 
Same as for SITL - they don't need to actually be in storage to be valid
 2022-03-17 14:39:55 +11:00
Peter Barker
da21b48f7e AP_InertialSensor: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
a402dce95b AP_HAL: permit double-maths whe simulating 2022-03-17 14:39:55 +11:00
Peter Barker
650ef59be8 AP_HAL: create HAL::SIMState object to hold simulation state 2022-03-17 14:39:55 +11:00
Peter Barker
f7608c22da AP_HAL_ChibiOS: set pwm output values in simstate object 2022-03-17 14:39:55 +11:00
Peter Barker
8b2f85756a AP_HAL_ChibiOS: instantiate SIMState object in HAL 2022-03-17 14:39:55 +11:00
Peter Barker
26d6c2413b AP_Scheduler: update simulation state on embedded 2022-03-17 14:39:55 +11:00
Peter Barker
e07ddf95b4 AP_Math: provide rand_float on embedded hardware 2022-03-17 14:39:55 +11:00
Peter Barker
a9aa5c2d60 AP_GPS: add a new AP_GPS_SITL object 2022-03-17 14:39:55 +11:00
Peter Barker
edef2ceb56 SITL: usleep only on AP_HAL_SITL 2022-03-17 14:39:55 +11:00
Peter Barker
b360521d0b SITL: permit double-precision maths in SITL even on embedded hardware 2022-03-17 14:39:55 +11:00
Peter Barker
2e809282e7 SITL: split AP_HAL_SITL and AP_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
0957131543 SITL: use AP_HAL::micros() for get_wall_time_us 2022-03-17 14:39:55 +11:00
Peter Barker
3cf7091525 SITL: make parsing of json files dependent on PICOJSON 
picojson uses the standard library; this will be a problem on embedded
platforms
 2022-03-17 14:39:55 +11:00
Peter Barker
4896f8a6d7 AP_AHRS: rename SITL backend to SIM 2022-03-17 14:39:55 +11:00
Andrew Tridgell
92a8964503 AP_Arming: display a warning if arming checks disabled when arming 2022-03-17 06:52:47 +11:00
Andy Piper
ceef68e07b AP_HAL_ChibiOS: allow H7 480Mhz clock speed to be configured in hwdef via MCU_CLOCKRATE_MHZ 2022-03-16 20:37:30 +11:00
murata
8f1369f065 PID: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
82afaf70f6 AR_Motors: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
bb72f91dda APM_Control: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
bf738b03a6 AP_WheelEncoder: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
8f91fe9c2e AP_VisualOdom: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
5d2c49e202 AP_VideoTX: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
cad63eb6b6 AP_Torqeedo: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
a1a46b54e9 AP_Soaring: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
af3fbac118 AP_PiccoloCAN: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
4eca7383b8 AP_Mount: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
db7fe2ba4e AP_Mission: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
ae896ff8c2 AP_LTM_Telem: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
7897807a78 AP_Winch: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
e977f85647 AP_OSD: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
6d4a923cce AP_Motors: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
efe8427279 AP_InertialSensor: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
c90e42d10a AP_GyroFFT: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
be89285d10 AP_Generator: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
12b3b22dbc AP_Beacon: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
9d321c5c31 AP_BattMonitor: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
aabbda3978 AP_Baro: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
12957c835a AC_InputManager: Change from division to multiplication 2022-03-16 18:41:52 +11:00
Jaaaky
7d95b1ddd3 AP_FlashIface: Fixed could be used unintialized 2022-03-15 11:44:20 +11:00
Andy Piper
222717cc88 AP_HAL_ChibiOS: add KakuteH7-bdshot target 2022-03-15 10:18:58 +11:00
Henry Wurzburg
73006d9a7c AP_OSD: make OSD rssi scale match link quality (0-100) 2022-03-15 10:18:09 +11:00
Andy Piper
b112f8dba1 AP_Declination: ensure indexing into declination tables is always correct 
add constants for table sizes
 2022-03-15 10:15:22 +11:00
Peter Barker
470cb2caa2 AP_HAL_ChibiOS: turn autocal off for periphs 2022-03-15 08:52:37 +11:00
Peter Barker
deb7b13da5 AP_Airspeed: disable AUTOCAL if airspeed is disabled 2022-03-15 08:52:37 +11:00
李孟晓
81b129d3b3 AP_HAL_ChibiOS: CUAVv5: use icm42688p instead of icm20602 2022-03-15 05:59:14 +11:00
Andrew Tridgell
bd68dc6a51 AP_Arming: make mission checks virtual 2022-03-14 09:52:41 +11:00
AndKe
caaa5002ab AP_HAL_ChibiOS: add OREOLED to CubeGreen 2022-03-14 09:19:37 +11:00
Henry Wurzburg
6ba9946cfc AP_CANManager: correct parameter metadata error 2022-03-14 08:18:13 +11:00
iainguilliard
ea0b6dfcb2 HAL_ChibiOS: add MatekF405-STD S7 PWM output 
MatekF405-STD board has a pad for S7 PWM output from pin PB8 missing in hwdef
 2022-03-13 14:00:26 +11:00
Peter Barker
e486671bb2 AP_HAL_ChibiOS: correct #ifndef nesting in periph defaults 2022-03-13 13:23:51 +11:00
bugobliterator
6a0c46d241 AP_HAL_Periph: assert clock is FDCANCLK is 80MHz for H7 boards 2022-03-11 18:13:54 +11:00
bugobliterator
633eb0db8b AP_HAL_ChibiOS: move to using data_32 for copying into CANFD buffer 2022-03-11 18:13:54 +11:00
bugobliterator
5865680070 AP_UAVCAN: move pool allocator to cpp 2022-03-11 18:13:54 +11:00
bugobliterator
faf0c0d7c3 AP_HAL_ChibiOS: set canfd bitrates using CANFD_SUPPORTED opt 2022-03-11 18:13:54 +11:00
bugobliterator
28b76474cd AP_CANManager: set canfd bitrates using CANFD_SUPPORTED opt 
also adds option to set as 4MBits/s
 2022-03-11 18:13:54 +11:00
bugobliterator
4bdbd37731 AP_HAL_ChibiOS: use datalength when copying payload into CAN Frames 2022-03-11 18:13:54 +11:00
Andrew Tridgell
cf5d94b81f AP_CANManager: fixed slcan receive of CANFD frames 2022-03-11 18:13:54 +11:00
Andrew Tridgell
d28cecf25b GCS_MAVLink: support CANFD_FRAME messages 2022-03-11 18:13:54 +11:00
Andrew Tridgell
6320599404 AP_CANManager: support mavcan with CANFD_FRAME 2022-03-11 18:13:54 +11:00
bugobliterator
90a660b445 AP_HAL_ChibiOS: update clock tree to have FDCAN Base clock at 80MHz 2022-03-11 18:13:54 +11:00
bugobliterator
3569435531 AP_UAVCAN: ensure that we publish allocation messages in STD CAN format 2022-03-11 18:13:54 +11:00
bugobliterator
e996392671 GCS_MAVLink: disable CANTester by default 2022-03-11 18:13:54 +11:00
bugobliterator
c0188fbf0e AP_CANManager: disable CANTester by default 2022-03-11 18:13:54 +11:00
bugobliterator
47dd964e63 AP_HAL_ChibiOS: add init method to take in separate canfd bitrate 2022-03-11 18:13:54 +11:00
bugobliterator
cb1bc4e613 AP_CANManager: add support for enabling CANFD 2022-03-11 18:13:54 +11:00
bugobliterator
1f43c79bfd AP_HAL: add support for taking in canfd bitrate in caniface 2022-03-11 18:13:54 +11:00
Siddharth Purohit
72090d10da AP_HAL_ChibiOS: add hwdef config to enable CANFD support 2022-03-11 18:13:54 +11:00
Siddharth Purohit
5bc65bb54e AP_HAL: set CANFrame max data length based on CANFD availability 2022-03-11 18:13:54 +11:00
Siddharth Purohit
563e69e64c AP_CANManager: add support for trx CANFD frames over SLCAN 2022-03-11 18:13:54 +11:00
Siddharth Purohit
ef1bdc2e5f AP_UAVCAN: add support for optionally publishing CANFD frames 2022-03-11 18:13:54 +11:00
Siddharth Purohit
8aa047d876 AP_HAL_ChibiOS: add support for CANFD for H7 and G4 2022-03-11 18:13:54 +11:00
Siddharth Purohit
e9f426f8fd AP_HAL: update CANFrame to include CANFD details 2022-03-11 18:13:54 +11:00
Siddharth Purohit
153834465b AP_HAL: add HAL_CANFD_SUPPORTED define 2022-03-11 18:13:54 +11:00
Siddharth Purohit
287151a858 AP_CANManager: add support for CANFD tests 2022-03-11 18:13:54 +11:00
MallikarjunSE
228796d55b AP_HAL_ChibiOS: Add Sierra-F9P support 2022-03-10 08:29:51 +11:00
Andrew Tridgell
cdd63a239e AP_Scripting: fixed radius selection for ship landing 2022-03-10 07:34:20 +11:00
Andrew Tridgell
3f0110e924 AP_Scripting: fixed beacon lost in ship landing 2022-03-10 07:34:20 +11:00
Andrew Tridgell
ba57e0a9d8 AP_Scripting: review fixes 2022-03-10 07:34:20 +11:00
Andrew Tridgell
c658f170cb SITL: fixed ship offset velocity correction 2022-03-10 07:34:20 +11:00
Andrew Tridgell
8973519232 AP_Common: improved accuracy of get_bearing() 
make base function ftype, then convert to int32_t for get_bearing_to()
 2022-03-10 07:34:20 +11:00
Andrew Tridgell
3d9086b460 AP_Scripting: update lua docs 2022-03-10 07:34:20 +11:00
Andrew Tridgell
3dca7f08b7 AP_Scripting: plane ship landing script 2022-03-10 07:34:20 +11:00
Andrew Tridgell
5c94be1d72 AP_Scripting: added rotate_xy for Vector3f 2022-03-10 07:34:20 +11:00
Andrew Tridgell
197ccda408 AP_Scripting: added follow API 2022-03-10 07:34:20 +11:00
Andrew Tridgell
711ecb45ab AP_Vehicle: added update_target_location() 2022-03-10 07:34:20 +11:00
Andrew Tridgell
18782c4990 SITL: added ship offset and ATTITUDE 2022-03-10 07:34:20 +11:00
Andrew Tridgell
ab64744ccd AP_Follow: added APIs for plane ship landing 2022-03-10 07:34:20 +11:00
Andrew Tridgell
07b78ab9a6 SITL: removed terrain home correction 2022-03-10 07:34:20 +11:00
Andrew Tridgell
5d3a0a78cb AP_Terrain: removed terrain home correction 2022-03-10 07:34:20 +11:00
Andrew Tridgell
0de1185625 AP_Scripting: removed terrain home correction 2022-03-10 07:34:20 +11:00
Andrew Tridgell
535d7f0d85 AP_HAL_SITL: removed terrain home correction 2022-03-10 07:34:20 +11:00
Andrew Tridgell
5560dc24b5 AP_Common: removed terrain home correction 2022-03-10 07:34:20 +11:00
Andy Piper
bb3bedb90d AP_HAL: always choose high for dshot prescaler calculation 2022-03-09 18:23:41 +11:00
Iampete1
4386d748de AC_AttitudeControl: WeatherVane: defualt to 0 gain on plane and early return 2022-03-09 18:02:41 +11:00
Andrew Tridgell
eee2b00d8c AP_Math: fixed build error on cygwin 
ensure variables are always initialised
 2022-03-09 14:08:26 +11:00
Iampete1
bb1dc2e9a1 AP_Motors: update no motor found warning message 2022-03-09 08:46:55 +09:00
murata
d3b7bbf994 SITL: Change build errors 2022-03-08 14:37:21 -08:00
Tom Pittenger
42d1ce635b AP_Airspeed: improve description of ARSPD_TUBE_ORDR 2022-03-08 14:34:58 -08:00
Henry Wurzburg
8ab92f42cd AP_RangeFinder: add build option for Rangefinders 2022-03-08 14:33:38 -08:00
Iampete1
e07e22c0fe AP_Scripting: applets: add forward flight motor shutdown readme 2022-03-08 14:30:48 -08:00
Iampete1
3875715f67 AP_Scripting: applets: add motor failure testing sctipt 2022-03-08 14:30:48 -08:00
murata
b4d4ed8a50 AP_Scripting: Change to no message notification in DISARMED state 2022-03-08 14:28:26 -08:00
murata
eb78a0a4a6 hwdef: Set the maximum number of barometric pressure sensors to 1 2022-03-08 14:21:31 -08:00
murata
60eb6ff1b7 hwdef: Maximum number of battery monitors is 1 2022-03-08 14:21:31 -08:00
Andrew Tridgell
74f1a8007d hwdef: enable GPS_MOVING_BASELINE on FreeflyRTK and f303-GPS 
this allows for F9P based dual-GPS yaw on DroneCAN peripherals with
auto-config
 2022-03-09 07:52:42 +11:00
Andrew Tridgell
1858969697 AP_Notify: fixed DroneCAN LEDs on AP_Periph 
override needs to be 0 for LEDs to work on peripherals from DroneCAN
notification packets
 2022-03-09 07:51:35 +11:00
Andrew Tridgell
86c25b98d5 hwdef: added HolybroG4_GPS 2022-03-09 07:51:35 +11:00
Leonard Hall
289b1ca75a AC_WPNav: Support pause 2022-03-08 13:12:36 +09:00
Andrew Tridgell
93031e297d HAL_ChibiOS: fixed min/max inversion in MCU voltage logging 2022-03-08 11:33:21 +11:00
Peter Barker
c7d72821da AP_RangeFinder: add AP_RANGEFINDER_LEDDARVU8_ENABLED 2022-03-08 11:29:13 +11:00
RuffaloVM
4d40ef5d0a AP_NavEKF : remove the space around the operator 2022-03-08 09:19:52 +09:00
Peter Barker
30c08c1e7c RC_Channel: rename within_min_dz to in_min_dz for consistency 
... consistency with in_trim_dz
 2022-03-08 11:17:45 +11:00
Iampete1
515db96858 AP_PiccoloCAN: GPIO servo does not count as active 2022-03-08 11:16:42 +11:00
Iampete1
ea442dae1e AP_Arming: don't arming check servo functions set to GPIO 2022-03-08 11:16:42 +11:00
Michael du Breuil
041b2b594b AP_Compass: Fix compass priority instance message to make sense to users 2022-03-08 10:32:05 +11:00
Leonard Hall
56e47cb8cc AC_PosControl: Decay posiiton error during relax 2022-03-07 16:14:23 +09:00
Leonard Hall
0ce44ad1ba AC_WPNav: init optionally accepts stopping point 2022-03-07 16:14:23 +09:00
Leonard Hall
376dc72907 AC_Loiter: use Pos_Control soften_for_landing_xy 2022-03-07 16:14:23 +09:00
Leonard Hall
057be63fdd AC_AttitudeControl: AC_PosControl: add soften for landing 2022-03-07 16:14:23 +09:00
MallikarjunSE
5cd1c7783d hwdef: hwdef update with watchdog 2022-03-07 16:15:41 +11:00
MallikarjunSE
360ddb2aed hwdef:update storage pages and enable watchdog 2022-03-07 16:15:41 +11:00
Peter Barker
28bc05eb84 AC_AutoTune: Vector tidying 2022-03-07 08:22:58 +09:00
Peter Barker
9539362320 AC_AutoTune_Heli: use structure assignment to clear structures 2022-03-07 08:22:58 +09:00
Peter Barker
7ff6442aeb AC_AutoTune: use structure assignment for test results 2022-03-07 08:22:58 +09:00
Peter Barker
33c7bb21cf AC_AutoTune: createstructure to hold specific test's sweep results 2022-03-07 08:22:58 +09:00
Leonard Hall
93aea67810 AC_WPNav: Increase corner speeds 2022-03-05 11:34:40 +09:00
Leonard Hall
7673948d2a AP_Math: SCurve: Increase corner speeds 2022-03-05 11:34:40 +09:00
Leonard Hall
5fa37e253e AC_WP_Nav: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-05 11:34:40 +09:00
Leonard Hall
a8b86e9c45 AP_Math: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-05 11:34:40 +09:00
xianglunkai
2e5c201222 AR_AttitudeControl: use _desired_speed instead of desired_speed for throttle-speed controller 2022-03-04 17:51:19 +11:00
Randy Mackay
e6f488ccc1 AP_Follow: zreo velocities if not provided 2022-03-04 11:49:23 +09:00
Andrew Tridgell
99cf10ce12 AP_Follow: support the FOLLOW_TARGET mavlink message 
this is used by qgroundcontrol, allowing follow on a mobile device

note that you must set the qgc option to "always send follow" and also
must set FOLL_ALT_TYPE=2 in ArduPilot
 2022-03-04 06:47:11 +11:00
Andy Piper
72d01aa8da SITL: nuke clang warnings 2022-03-03 16:34:14 +11:00
Andy Piper
173a43e361 AP_Proximity: nuke clang warnings 2022-03-03 16:34:14 +11:00
Andy Piper
5a7f5844d4 AP_HAL: nuke clang warnings 2022-03-03 16:34:14 +11:00
Andy Piper
eb259971e0 AP_Generator: nuke clang warnings 2022-03-03 16:34:14 +11:00
Andy Piper
6a31e4d816 AP_Frsky_Telem: nuke clang warnings 2022-03-03 16:34:14 +11:00
Andy Piper
ac7ee37b20 AP_FETtecOneWire: nuke clang warnings 2022-03-03 16:34:14 +11:00
Andy Piper
4ac73e4ffd AP_ExternalAHRS: nuke clang warnings 2022-03-03 16:34:14 +11:00
Andy Piper
578ca147b7 AP_Common: add UNUSED_PRIVATE_MEMBER 2022-03-03 16:34:14 +11:00
Andy Piper
8b563836ac AC_AutoTune: nuke clang warnings 2022-03-03 16:34:14 +11:00
Andrew Tridgell
7999335727 hwdef: fixed buzzer on CUAV_GPS peripheral 2022-03-03 16:26:27 +11:00
Michael du Breuil
976e0ecc29 SRV_Channel: Changing servo functions are now reboot required 
Changing from a PWM function to GPIO now requires a reboot.
 2022-03-03 16:06:36 +11:00
Stephen Dade
1344a0f41a GCS_MAVLink: Add support for High Latency MAVLink protocol 2022-03-03 14:56:15 +11:00
Stephen Dade
da4602b5d2 AP_SerialManager: Add support for High Latency MAVLink protocol 2022-03-03 14:56:15 +11:00
Peter Barker
11f7cce978 AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files 2022-03-03 09:03:17 +11:00
Andrew Tridgell
d8fb6cc522 AP_Scripting: added example for orbit follow 
allows a following vehicle to orbit the lead vehicle
 2022-03-02 18:18:43 +11:00
Iampete1
3e75283717 AP_Math: ftype: include float.h 2022-03-02 18:16:42 +11:00
Iampete1
9ec8bb17b2 AP_Math: benchmarks: define hal 2022-03-02 18:16:42 +11:00
Iampete1
97602aadf5 AP_Math: examples: test custom rotations 2022-03-02 18:16:42 +11:00
Iampete1
15326a8d90 AP_Math: tests: define hal where requirerd for custom rotaitons 2022-03-02 18:16:42 +11:00
Iampete1
2b9421c4db add AP_CustomRotations 2022-03-02 18:16:42 +11:00
Iampete1
6c48c346c1 AP_Compass: convert param to new custom rotation 2022-03-02 18:16:42 +11:00
Iampete1
480cc3fa46 AP_AHRS: convert param to new custom rotation 2022-03-02 18:16:42 +11:00
Iampete1
b188d8fc5e SITL: remove custom rotations 2022-03-02 18:16:42 +11:00
Iampete1
f15c84bdac AP_Vehicle: add custom rotations lib 2022-03-02 18:16:42 +11:00
Iampete1
7a6f57ccf1 AP_Math: add support for AP_CustomRotations 2022-03-02 18:16:42 +11:00
Iampete1
b77476caa1 AP_InertialSensor: remove custom orentations 2022-03-02 18:16:42 +11:00
Iampete1
209ad965be AP_Compass: remove custom rotations 2022-03-02 18:16:42 +11:00
Iampete1
1cc2e082e0 AP_AHRS: remove custom rotations 2022-03-02 18:16:42 +11:00
Iampete1
72a65cadb8 AP_Airspeed: rename get_health_failure_probability to get_health_probability 2022-03-02 16:14:50 +11:00
Iampete1
1435fdcf97 AP_Logger: log structure: update airspeed heath probability feild name 2022-03-02 16:14:50 +11:00
Iampete1
9c4188d730 AP_Airspeed: Health: use reading from correct airspeed sensor 2022-03-02 16:14:50 +11:00
Andy Piper
d589c0fc5e AP_HAL_ChibiOS: normalize BeastH7v2 in line with BeastF7v2 definition 2022-03-02 15:46:17 +11:00
Evgeniy
32afbbdec4 AP_HAL_ChibiOS: BeastH7v2 board added 2022-03-02 15:46:17 +11:00
Andrew Tridgell
a4da65ea05 AP_NavEKF3: fixed constrain indexing bug 
fixes #20180

thanks to @liyue75 for spotting this!
 2022-03-01 17:06:44 +09:00
Shiv Tyagi
e01ca79251 AC_WPNav: rename circle_nav.set_radius to circle_nav.set_radius_cm 2022-03-01 09:31:10 +09:00
Peter Barker
7f74714107 AP_Arming: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
465f56254a AP_Scripting: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
7638cbf001 GCS_MAVLink: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
e93be25ed4 AP_WindVane: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
7a19719a5e AP_Volz_Protocol: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
546961eff4 AP_Vehicle: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
ade6b3ddfe AP_RangeFinder: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
5f2e0159b0 AP_Radio: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
7a0c3dc911 AP_MSP: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
5d35d8a02c AP_Motors: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
fda4a65e3e AP_InertialSensor: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
677466e60b AP_ICEngine: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
8d6e442997 AP_GPS: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
88b8a7d64e AP_Generator: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
45c6591f03 AP_Follow: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
f9b33317b6 AP_EFI: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
7d3f3b6888 AP_Compass: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
1b970545c0 AP_Camera: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
824ced4b3d AP_Button: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
7ac33af97b AP_Baro: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
24099f9a2d AP_AHRS: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
2ab2555e0b AC_PrecLand: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker
2398d16a5f AC_Fence: include cleanups 2022-03-01 11:21:33 +11:00
Shiv Tyagi
560e24385a AP_Common: fix location sanitize unit test 2022-03-01 10:55:32 +11:00
Shiv Tyagi
41a5afdf64 AP_Common: use default location alt frame while sanitizing location alt 
We should also set alt frame along with copying altitude value while sanitizing it
 2022-03-01 10:55:32 +11:00
Iampete1
a47445bde9 RC_Channel: update RC_MIN_LIMIT_PWM from 900 to 800 2022-03-01 10:47:25 +11:00
Iampete1
d7ff10163c AP_Button: trigger low on invalid PWM input 2022-03-01 10:47:25 +11:00
Peter Barker
884450868e AP_NavEKF: use length_squared in place of length 2022-02-28 16:20:14 +11:00
Peter Barker
43bbfacef5 AP_Baro: reformat log message to separate fields out 2022-02-28 12:47:57 +11:00
Peter Barker
37af7e5166 RC_Channel: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Peter Barker
4e122a3d50 AP_IOMCU: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Peter Barker
14ce09279f RC_Channel: privatise switch reading functions 2022-02-27 09:51:04 +11:00
Peter Barker
d3db716dd9 RC_Channel: remove unused functions 2022-02-27 09:51:04 +11:00
Peter Barker
d41388f242 RC_Channel: privatise range accessors 2022-02-27 09:51:04 +11:00
Henry Wurzburg
f5766bb098 AP_BattMonitor: update name of type 10 to Sum of Selected Monitors 2022-02-26 08:31:24 +09:00
Randy Mackay
10e69373b3 AP_Scripting: copter-fast-descent has less aggressive slowdown at end 2022-02-26 08:05:05 +09:00
Randy Mackay
3efebcf1e0 AP_Scripting: copter-fast-descent uses small default radius 2022-02-26 08:05:05 +09:00
Randy Mackay
fc9cfe9b4a AP_Scripting: copter fast descent from Auto 
Also use custom parameters
Allow yaw to be static or point towards center
 2022-02-26 08:05:05 +09:00
Andy Piper
0696dda324 AP_FlashIface: add support for DTR variant of w25q found on SPRacingH7 2022-02-24 10:19:07 +11:00
Andy Piper
ed952a0ea0 AP_HAL_ChibiOS: allow flash to be write-protected/unprotected on reboot 
control protection support via HAL_FLASH_PROTECTION
provide support for flash protection on SPRacingH7
SPRacingH7 bootloader needs to use w25q-dtr
 2022-02-24 10:19:07 +11:00
Andy Piper
c01b1801c8 AP_BoardConfig: add options for write protecting bootloader and main flash 
add option to completely remove protection on flash banks
 2022-02-24 10:19:07 +11:00
Peter Barker
699648ef6f AP_Radio: fix build for skyviper-journey 2022-02-24 09:18:34 +11:00
Andrew Tridgell
8723ec3b2a AP_Notify: fixed builds 
broken by combination of alarm changes and header changes
 2022-02-23 21:48:58 +11:00
Henry Wurzburg
ac88f354fc hwdef: update Swan-K1 with new harmonic notch mask to avoid errors 2022-02-23 18:45:51 +11:00
Peter Barker
2d96842490 GCS_MAVLink: correct out-of-space-to-send count 2022-02-23 18:43:34 +11:00
Andy Piper
02219ba3e5 AP_HAL_ChibiOS: ensure chan_offset is initialized before using it 2022-02-23 18:35:43 +11:00
Andy Piper
9cec88818e AP_Notify: add support for alternate alarm function 
enable alarm based on pwm
 2022-02-23 18:35:43 +11:00
Andy Piper
7d5c493db5 SRV_Channel: add support for alarm servo functions 2022-02-23 18:35:43 +11:00
Andy Piper
b6022ca5d4 AP_HAL_ChibiOS: add support for alternate alarm PWM group 
account for inverted alarms and build on boards without PWM
enable alarm based on pwm
shutdown alarm channel if using a different one
 2022-02-23 18:35:43 +11:00
Andy Piper
f840315aa4 AP_HAL_ChibiOS: clock H750 at 480Mhz when using 8Mhz, 16Mhz and 24Mhz crystals 2022-02-23 18:19:56 +11:00
Bill Geyer
3a8175b880 RC_Channel: move tradheli turbine start to unused AUX_FUNC 2022-02-23 14:22:47 +09:00
Bill Geyer
f7b420f131 AP_Motors: move turbine start to update_turbine_start and style cleanup 2022-02-23 14:22:47 +09:00
Ferruccio1984
20f1d0c4da RC_Channel: tradheli support for turbine start 2022-02-23 14:22:47 +09:00
Ferruccio1984
3a67b17142 AP_Motors: tradheli support for turbine start 2022-02-23 14:22:47 +09:00
Andrew Tridgell
ada6554578 AP_NMEA_Output: use a fixed maximum number of NMEA outputs 
this improves ccache performance
 2022-02-23 12:36:59 +11:00
Andrew Tridgell
3e1ffa3769 AP_BoardConfig: moved board dependent pieces from .h to .cpp 
improves ccache efficiency
 2022-02-23 12:36:59 +11:00
Andrew Tridgell
372e785a10 AP_SerialManager: moved uart declaration to cpp file 
improves ccache efficiency
 2022-02-23 12:36:59 +11:00
Iampete1
607a7bfd70 AC_Autotune_Heli: print gains on axis completion 2022-02-23 07:44:24 +09:00
Iampete1
2ccf8af2bd AC_Autotune_Multi: print gains on axis completion 2022-02-23 07:44:24 +09:00
Iampete1
0e0f4c86dc AC_AutoTune: print gains on axis completion 2022-02-23 07:44:24 +09:00
Randy Mackay
6f8ff4cf49 AP_Scripting: add copter-nav-script-time example script 2022-02-22 12:32:56 +09:00
Peter Barker
87439eec80 GCS_MAVLink: stop taking semaphore aorund statustext queue loop 
we're taking it in the loop
 2022-02-22 12:56:38 +11:00
Andrew Tridgell
9eab217081 AP_Tuning: removed controller error messages 
these are replaced by the SRate in PID messages
 2022-02-22 12:23:48 +11:00
Andrew Tridgell
e715972264 AP_Logger: reduce the stack log frequency 
10Hz is plenty
 2022-02-22 12:17:17 +11:00
Andrew Tridgell
96518c9eda HAL_ChibiOS: added CPU defines to hwdef 
needed for checks like defined(STM32F1)
 2022-02-22 12:13:19 +11:00
Andrew Tridgell
4c5fc1f5ef AP_IOMCU: removed include of ch.h from headers 2022-02-22 12:13:19 +11:00
Andrew Tridgell
454879e638 AP_CANManager: include hal.h 2022-02-22 12:13:19 +11:00
Andrew Tridgell
9383c43ab9 AP_BoardConfig: include hal.h 2022-02-22 12:13:19 +11:00
Andrew Tridgell
7bd45fcb50 AP_Filesystem: avoid ff.h in header 
this avoids the chibios hal includes
 2022-02-22 12:13:19 +11:00
Andrew Tridgell
075f349156 AP_BLHeli: bring in hal.h 2022-02-22 12:13:19 +11:00
Andrew Tridgell
56d74a352c AP_HAL: fixed vprintf for no hal.h 2022-02-22 12:13:19 +11:00
Andrew Tridgell
6039b8012a HAL_ChibiOS: define HAL_USE_SDMMC 2022-02-22 12:13:19 +11:00
Andrew Tridgell
638e20a0b9 HAL_ChibiOS: bring in hal.h where it is needed 2022-02-22 12:13:19 +11:00
Andrew Tridgell
b248fdfcbb AP_HAL: avoid including hal.h in generic code 2022-02-22 12:13:19 +11:00
Andrew Tridgell
25cc8203d8 HAL_ChibiOS: added CHIBIOS_BOARD_NAME define 2022-02-22 12:13:19 +11:00
Andrew Tridgell
4811544003 AP_HAL: fixed a race conditon for CAN frame callback 
callback can change from another thread
 2022-02-20 06:28:47 +11:00
Andrew Tridgell
890ef5679c GCS_MAVLink: handle CAN_FILTER_MODIFY call 2022-02-19 18:24:56 +11:00
Andrew Tridgell
c94c9d8859 AP_CANManager: added CAN_FRAME filter handling 2022-02-19 18:24:56 +11:00
Andrew Tridgell
19661fe981 AP_Common: added uint16_t sorting code 
also added test suite
 2022-02-19 18:24:56 +11:00
Andrew Tridgell
6e83633a12 AP_CANManager: moved CAN_FRAME timeout code to CANManager 2022-02-19 18:24:56 +11:00
Andrew Tridgell
d9f79f42c8 AP_HAL: moved CAN_FRAME timeout handling to AP_CANManager 2022-02-19 18:24:56 +11:00
Andrew Tridgell
cce89099c5 GCS_MAVLink: fixed mavlink packet corruption with multiple threads 
this ensures we don't try to send more data to a uart than is
available in the tx buffer
 2022-02-19 18:24:56 +11:00
Andrew Tridgell
fd8d28e23c HAL_ChibiOS: reduced time in critical sections for CAN processing 2022-02-19 18:24:56 +11:00
Andrew Tridgell
88e7efcf9c AP_HAL: make CANFrame data available as uint32_t 
this makes the critical sections in CANFrame handling on STM32 faster
 2022-02-19 18:24:56 +11:00
Andrew Tridgell
44d9d410a1 GCS_MAVLink: fixed mavlink packet corruption with multiple threads 
this ensures we don't try to send more data to a uart than is
available in the tx buffer
 2022-02-19 17:20:17 +11:00
Peter Barker
666c36a57f Filter: add trivial test for ModeFilter get method (float version) 2022-02-19 11:16:40 +11:00
Peter Barker
9229fb6f9d AP_AHRS: add alias get_position to get_location 2022-02-18 21:23:06 +11:00
Peter Barker
9aeab4978f AP_Scripting: replace get_position alias with call to wrapper method 
the alias breaks the call it is aliasing to
 2022-02-18 21:23:06 +11:00
Peter Barker
f6a1df472a Filter: add trivial test that ModeFilter's get method works 
.... previously only checking return value of apply
 2022-02-18 17:55:04 +11:00
Peter Barker
0a8cccd79a Filter: add test for AverageIntegralFilter 2022-02-18 12:11:46 +11:00
Andrew Tridgell
7e18d85f7e hwdef: added compat board ID for FreeFly RTK GPS 2022-02-17 14:37:41 +11:00
Andrew Tridgell
f2308e96a9 HAL_ChibiOS: added stm32_was_software_reset() 2022-02-17 14:37:41 +11:00
Andrew Tridgell
a641eb3a30 HAL_ChibiOS: support ALT_BOARD_ID 
allow for compat with px4 board ID for the same board
 2022-02-17 14:37:41 +11:00
Andrew Tridgell
e96507f55f AP_Math: added crc_crc64() 2022-02-17 14:37:41 +11:00
Peter Barker
67b86867f2 AP_Logger: add LogMessage documentation for PIDN and PIDE 2022-02-17 10:53:41 +11:00
Peter Barker
4afc14007b SITL: correct PS_LightWare_SF45B simulator 2022-02-17 09:23:29 +11:00
Peter Barker
6521bc31c7 SITL: correct altitude of suggested test location 2022-02-17 09:23:29 +11:00
Peter Barker
574f041224 SITL: do not abort if we fail to send a message to the autopilot 
This is happening at boot - the simulated sensor is sending data too
quickly too soon to the autopilot, which hasn't detected the instance at
the time we abort.
 2022-02-17 09:23:29 +11:00
khanasif786
4f915fa5b1 AP_GyroFFT: fix 'arm_status' shadowing a global declaration error 
changed 'arm_status' to 'cmsis_arm_status'
 2022-02-16 19:05:07 +11:00
xianglunkai
beb194b4a1 AP_L1_Control: update_waypoint wrap added to nav_bearing 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2022-02-16 18:29:48 +11:00
Andy Piper
4f785b4aaa AP_Logger: add @SYS/timers.txt to logged files 2022-02-16 15:28:04 +11:00
Andy Piper
9cccab2de7 AP_Filesystem: add support for @SYS/timers.txt. 2022-02-16 15:28:04 +11:00
Andy Piper
83ac78e969 AP_HAL_ChibiOS: add support for @SYS/timers.txt 
move out prescaler calculation and use closest prescaler everywhere
include timer id in PWM groups
 2022-02-16 15:28:04 +11:00
Andy Piper
ea1af70f2b AP_HAL: add support for @SYS/timers.txt 
move prescaler calculation here and add unit test
add ability to find closest matching frequency in prescaler calculation
account for bit widths in prescaler tests
 2022-02-16 15:28:04 +11:00
Nathan Costa
9f7aa715b1 AP_HAL_ChibiOS: add support for CAN/I2C switch 2022-02-16 13:25:58 +11:00
Bill Geyer
6204898de4 AC_AttitudeControl: Tradheli-update default gains 2022-02-15 13:42:09 -05:00
Andy Piper
7b15245efe AP_HAL_ChibiOS: update SPRacingH7 Extreme hwdef and add README 
add SPRacingH7 board layout
 2022-02-15 11:32:52 +11:00
Iampete1
e56b6d2765 AP_AHRS: View: get_gyro_latest should include pitch trim. 2022-02-15 11:08:05 +11:00
Henry Wurzburg
0f05cb06fa AP_NavEKF3: update and correct GSF parameter documentation 2022-02-15 10:56:35 +11:00
Henry Wurzburg
5e6447e893 AP_NavEKF2: update and correct GSF parameter documentation 2022-02-15 10:56:35 +11:00
murata
e209a6e73b AP_Filesystem: Remove WHITE SPACE to match other method styles 2022-02-15 10:14:13 +11:00
murata
0967d79a93 AP_Filesystem: Change the judgment null of methods that return nullptr 2022-02-15 10:14:13 +11:00
Iampete1
918b8a1a9c AP_Scripting: add binding and helper to get old params 2022-02-15 10:05:23 +11:00
Randy Mackay
4a2af10f96 AR_Motors: remove redundant set of throttle limit flags 
set_limits_from_input is called lower in the method and will set the limits correctly
 2022-02-15 08:02:04 +09:00
Henry Wurzburg
14c9d4e6a3 AP_UAVCAN: add metadata to GetNodeInfo log message 2022-02-14 13:38:07 +11:00
Andy Piper
87a369727a AP_Math: specialize float and double functions to use fabsf() and simple comparison otherwise 2022-02-13 14:43:37 +11:00