Andrew Tridgell
659c9fb10d
HAL_ChibiOS: switch to minimum scheduling delta of 10us
...
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.
Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.
Fixes issue #18383
2021-08-28 17:10:29 +09:00
Andy Piper
eebcfb78c1
AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it
...
change mamba F405 to active high as per betaflight
2021-08-28 17:10:29 +09:00
Randy Mackay
b1e5e21d6d
AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs
2021-08-28 17:10:29 +09:00
Andrew Tridgell
70e041d611
AC_AttitudeControl: this fixes an issue with Z accel initialisation
...
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
2021-08-28 17:10:29 +09:00
Andrew Tridgell
03de8e752a
SITL: prevent flip over of RF9 quadplanes on reboot
...
send a zero channel mask until we are initialised
2021-08-28 17:10:29 +09:00
Hwurzburg
bd583452c7
AP_OSD: fixes bug introduced by #16477
2021-08-14 11:05:38 +09:00
Pierre Kancir
2a808dc53c
AP_Beacon: fix comparison order to prevent using wrong beacon_instance first
2021-08-14 11:05:38 +09:00
Randy Mackay
87212e0fbf
AP_NavEKF3: remove unused EK3_GSF_DELAY param
2021-08-14 11:05:38 +09:00
Randy Mackay
6ec43eefff
AP_NavEKF2: remove unused EK2_GSF_DELAY param
2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi
b584adff59
AC_Avoid: use proximity_avoidance_enabled function
2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi
8eda43e697
AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled
2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi
2bebd8341f
AC_Avoidance: handle upward proximity enable and disable
2021-08-14 11:05:38 +09:00
Andy Piper
c6247433df
AP_Vehicle: output rcout banner when initialization is done
...
move down ready message
2021-08-14 11:05:38 +09:00
Andy Piper
761fc57a18
AP_HAL_ChibiOS: output initializing from PWM banner when not available
2021-08-14 11:05:38 +09:00
Pierre Kancir
53d69de164
AP_ESC_Telem: prevent possible overrun
2021-08-14 11:05:38 +09:00
Pierre Kancir
050e18cd03
AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS
2021-08-14 11:05:38 +09:00
Pierre Kancir
2d0e359065
AP_ESC_Telem: fix out of bound access
2021-08-14 11:05:38 +09:00
Pierre Kancir
6e9e529967
AP_OSD: check for nullptr before using it
2021-08-14 11:05:38 +09:00
Leonard Hall
0c48848d31
AP_Math: Spelling fix
2021-08-14 11:05:38 +09:00
Leonard Hall
f5dd8a9982
AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk
2021-08-14 11:05:38 +09:00
Leonard Hall
b25dab9c9b
AC_WPNav: support Control: Refactor to use Jerk
2021-08-14 11:05:38 +09:00
Leonard Hall
dac064e51c
AP_Math: Control: Refactor to use Jerk
2021-08-14 11:05:38 +09:00
Leonard Hall
61982815cd
AP_Math: Control: protect against divide by zero
2021-08-14 11:05:38 +09:00
Leonard Hall
b8cc90688e
AC_WPNav: Fix Angle Vel units on function
2021-08-14 11:05:38 +09:00
Leonard Hall
dfcc6ce612
AC_AttitudeControl: Fix Angle Vel units on function
2021-08-14 11:05:38 +09:00
Leonard Hall
2436330da1
AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE
2021-08-14 11:05:38 +09:00
Leonard Hall
6b72b1fd31
AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
2021-08-14 11:05:37 +09:00
Leonard Hall
51dbf271f9
AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
...
Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
2021-08-14 11:05:37 +09:00
Andrew Tridgell
1422c283b0
AP_GPS: added doc message for bit 2 of DRV_OPTIONS
2021-08-14 11:05:37 +09:00
Andrew Tridgell
74f89cfbce
AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200
...
this may help with some GPS modules
2021-08-14 11:05:37 +09:00
Andy Piper
91d0a44524
AP_HAL_ChibiOS: probe for compasses on FlywooF745
2021-08-14 11:05:37 +09:00
Randy Mackay
6670a48811
AP_NavEKF3: skip GSF reset count check if source actively changed
...
also only fail all compass on emergency reset
2021-08-14 11:05:37 +09:00
Andrew Tridgell
37533db6f1
AP_NavEKF3: fixed output LLH to account for IMU offset
...
thanks to Paul and Randy
2021-08-14 11:05:37 +09:00
Leonard Hall
5c16e81f8f
AC_AttitudeControl: Support thrust to weight of 10:1
2021-08-14 11:05:37 +09:00
Andy Piper
7bad54f638
AP_Motors: remove tri yaw servo from motor mask
2021-08-14 11:05:37 +09:00
Andrew Tridgell
d88d811ab3
AP_GPS: added arming checks for yaw available on ublox RTK rover
2021-08-14 11:05:37 +09:00
bugobliterator
cc4fc42ed0
AP_RangeFinder: use separate register_driver method while contructing CAN Driver
2021-08-14 11:05:37 +09:00
bugobliterator
d27acbce2d
AP_EFI: use separate register_driver method while contructing CAN Driver
2021-08-14 11:05:37 +09:00
bugobliterator
ae0d11a26d
AP_BattMonitor: use separate register_driver method while contructing CAN Driver
2021-08-14 11:05:37 +09:00
bugobliterator
1bac7283ab
AP_CANSensor: create a separate register driver method
2021-08-14 11:05:37 +09:00
Andrew Tridgell
ddbcfafe30
AP_AHRS: build fix
2021-07-23 10:19:50 +09:00
Paul Riseborough
d90c67a079
AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults
...
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
2021-07-23 10:19:50 +09:00
Paul Riseborough
28224c001a
AP_NavEKF3: retune wind process noise for better airspeed fault detection
2021-07-23 10:19:50 +09:00
Paul Riseborough
5a3f785798
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
...
Also re-tunes process noise default for smoother wind velocity state estimates.
2021-07-23 10:19:50 +09:00
Paul Riseborough
4b4bb18f50
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
...
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
2021-07-23 10:19:50 +09:00
Paul Riseborough
a98583e0ca
AP_NavEKF3: Rework non-airspeed wind estimation
...
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
2021-07-23 10:19:50 +09:00
Paul Riseborough
51a1b9ae9a
AP_NAvEKF3: use #define value for bad IMU hold time
2021-07-23 10:19:50 +09:00
Paul Riseborough
edd75e3981
AP_NavEKF3: Increase lower state variance limit when vibration affected
...
This makes state corrections from GPS and baro observations more aggressive
2021-07-23 10:19:50 +09:00
Paul Riseborough
6166b666b6
AP_NavEKF3: Use sensor variance when checking for bad IMU
2021-07-23 10:19:50 +09:00
Paul Riseborough
835b97f5e8
AP_NavEKF3: Make bad IMU status more persistent
2021-07-23 10:19:50 +09:00
Paul Riseborough
3ce5633701
AP_AHRS: Add accessor function for vibration affected status
...
AP_AHRS: fix rebase build error
2021-07-23 10:19:50 +09:00
Paul Riseborough
a220ca20a6
AP_NavEKF3: Add accessor function for vibration affected status
2021-07-23 10:19:50 +09:00
Paul Riseborough
e7ff7f629d
AP_NavEKF3: Don't update accel bias states if vibration affected
2021-07-23 10:19:50 +09:00
Paul Riseborough
82f585a515
AP_NavEKF3: Use large accel process noise when IMU data is bad
2021-07-23 10:19:50 +09:00
Paul Riseborough
7b40e89463
AP_NavEKF3: Adjust gyro bias process noise tuning
...
NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
2021-07-23 10:19:50 +09:00
Paul Riseborough
082f8e42f6
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
2021-07-23 10:19:50 +09:00
Paul Riseborough
315d9ef9d8
AP_NavEKF3: Retune IMU process noise
...
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
2021-07-23 10:19:50 +09:00
Paul Riseborough
344f2d0eb7
AP_NavEKF3: Make gyro bias learning less noisy
2021-07-23 10:19:50 +09:00
Paul Riseborough
fcf7a7c8f7
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
2021-07-23 10:19:49 +09:00
Paul Riseborough
4096e75b15
AP_NavEKF3: Change powf(x,2) to sq(x)
2021-07-23 10:19:49 +09:00
Paul Riseborough
5cb4cf870d
AP_NavEKF3: Update covariance prediction equations
2021-07-23 10:19:49 +09:00
Paul Riseborough
14edac7e5c
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
2021-07-23 10:19:49 +09:00
Andrew Tridgell
c2e221dd09
AP_Math: fix uses of single precision
2021-07-23 10:19:49 +09:00
Randy Mackay
e4684f65dc
AR_WPNav: integrate PathPlanner returning path_planner_used
...
Rover does not need to handle the results differently based on the planner used
2021-07-23 10:19:49 +09:00
Randy Mackay
0c9fbf9456
AC_WPNav_OA: minor formatting and comment fixes
2021-07-23 10:19:49 +09:00
Randy Mackay
b95c6b5e5d
AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler
...
also bendy ruler uses pos controller
2021-07-23 10:19:49 +09:00
Randy Mackay
c991ff4318
AC_Avoidance: BendyRuler returned destination are shortened
2021-07-23 10:19:49 +09:00
Randy Mackay
075c05baea
AC_Avoidance: bendy ruler format fixes
2021-07-23 10:19:49 +09:00
Randy Mackay
0b26bace7f
AC_Avoidance: OA_PathPlanner returns which planner was used
...
this replaces get_bendy_type
2021-07-23 10:19:49 +09:00
Randy Mackay
980909deb5
AC_Avoidance: BendyRuler returns which type was used
...
also make serach_xxx_path methods private
2021-07-23 10:19:49 +09:00
Randy Mackay
400731df1b
AP_Common: add Location::linear_interpolate_alt
2021-07-23 10:19:49 +09:00
Andy Piper
74a8891099
AP_BLHeli: ensure correct rotation through telemetry ESCs
2021-07-23 10:19:49 +09:00
Pierre Kancir
3cee86e63f
AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076
2021-07-23 10:19:49 +09:00
Leonard Hall
6f5d2008e3
AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe
2021-07-23 10:19:49 +09:00
Leonard Hall
6f26ca6b65
WP_Nav: Return Crosstrack error
2021-07-23 10:19:49 +09:00
Leonard Hall
d6df47fd06
AC_AttitudeControl: AC_PosControl: calculate cross track
2021-07-23 10:19:49 +09:00
Randy Mackay
fce7db0d18
AC_WPNav: use get_terrain_margin instead of constant
2021-07-23 10:19:49 +09:00
Randy Mackay
33ec14ce70
AC_WPNav: add TER_MARGIN param
2021-07-23 10:19:49 +09:00
Leonard Hall
767281dc76
AC_AttitudeControl: AC_PosControl: Auto Terain following update
2021-07-23 10:19:49 +09:00
Leonard Hall
4bbc69ef6e
AC_WPNav: Auto Terain following update
2021-07-23 10:19:49 +09:00
Andy Piper
a9187a50cf
AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot
2021-07-23 10:19:48 +09:00
Leonard Hall
a765e266f4
AC_AttitudeControl: Allow yaw rate reset to be de-selected
2021-07-23 10:19:48 +09:00
Hwurzburg
4664ed6d7d
RC_Channel: fix ELRS systems spamming CRSF mode/rate messages
2021-07-23 10:19:48 +09:00
Hwurzburg
a09f38b195
AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages
2021-07-23 10:19:48 +09:00
Andy Piper
2ef5a9170e
AP_RCTelemetry: correct firmware string length for CRSF
2021-07-23 10:19:48 +09:00
Leonard Hall
82ba9e06a1
AC_WPNav: Remove unused function
2021-07-23 10:19:48 +09:00
Leonard Hall
05f21d7665
AC_AttitudeControl: Add accessor for yaw slew limit
2021-07-23 10:19:48 +09:00
Leonard Hall
49da46af16
AC_AttitudeControl: AC_PosControl: support accel only input in the vertical
2021-07-23 10:19:48 +09:00
Leonard Hall
b2032ee2e3
AC_AttitudeControl: AC_PosControl: support terrain following
2021-07-23 10:19:48 +09:00
Leonard Hall
d9c0670dcd
AC_WPNav: seperate kinimatic shaping from pid limit setting
2021-07-23 10:19:47 +09:00
Leonard Hall
5f7607bbf0
AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting
2021-07-23 10:19:47 +09:00
Leonard Hall
2075e2ffc4
AC_AttitudeControl: Add terain following to guided
2021-07-23 10:19:47 +09:00
Randy Mackay
d22f8fbc35
AC_WPNav: get_terrain_offset and get_vector_NEU made public
2021-07-23 10:19:47 +09:00
Leonard Hall
80b90a7ac3
AC_WPNav: move code to generate terrain following kinematic path
2021-07-23 10:19:47 +09:00
Leonard Hall
9244183798
AC_AttitudeControl: AC_PosControl: Support Accel only input
2021-07-23 10:19:47 +09:00
Leonard Hall
612b00ef00
AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name
2021-07-23 10:19:47 +09:00
Andrew Tridgell
cb14275e43
AP_Math: added test for SCurve::calculate_path
...
this was the values shown in the core dump for failing guided mode
test in CI
2021-07-23 10:19:47 +09:00
Andy Piper
35d34ee9ae
AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot
2021-07-23 10:19:47 +09:00
Randy Mackay
0cbcb9dc91
AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ
2021-07-23 10:19:47 +09:00
Andrew Tridgell
4384b9ea36
AP_Common: update tests for 4.1
2021-07-23 10:19:47 +09:00
Andrew Tridgell
4218452475
HAL_ChibiOS: raise DMA contention threshold for H7
2021-07-23 10:19:47 +09:00
Andrew Tridgell
aab77f7046
AP_SerialManager: document DisableFIFO bit
2021-07-23 10:19:47 +09:00
Andrew Tridgell
eafd3c2952
AP_SerialManager: call set_options() before first UART use
...
this ensures options are set before the first begin() call
2021-07-23 10:19:47 +09:00
Andrew Tridgell
91afec69dc
HAL_ChibiOS: implement NOFIFO option for uarts
2021-07-23 10:19:47 +09:00
Andrew Tridgell
2cc98114a4
AP_HAL: added serial option for disabling FIFO on uarts
2021-07-23 10:19:47 +09:00
Andrew Tridgell
c9403afc75
AP_Math: fixed build
2021-07-23 10:19:47 +09:00
Andrew Tridgell
1a7ee954a6
HAL_SITL: update for changed SITL API
2021-07-23 10:19:46 +09:00
Andrew Tridgell
70d540127c
SITL: added SIM2 message
...
useful for EKF debugging
# Conflicts:
# libraries/SITL/SIM_Aircraft.cpp
2021-07-23 10:19:46 +09:00
Andrew Tridgell
05fbe78b9f
SITL: separate origin and home in SITL
...
this allows for accurate sensor data when flying a very long distance
from the takeoff location
2021-07-23 10:19:46 +09:00
Andrew Tridgell
a43bd0ae18
AP_DAL: update GPS yaw API to add timestamp
2021-07-23 10:19:46 +09:00
Andrew Tridgell
f1cbfb3e46
AP_GPS: change handling of moving baseline yaw
...
this changes yaw handling in a few ways:
- GPS yaw now has a timestamp associated with the yaw separate from
the timestamp associated with the GPS fix
- we no longer force the primary to change to the UBLOX MB rover when
it has a GPS yaw. This means we don't change GPS primary due to GPS
loss, which keeps the GPS more stable. It also increases accuracy
as the rover is always less accurate in position and velocity than
the base
- now we force the primary to be the MB base if the other GPS is a
rover and the base has GPS lock
2021-07-23 10:19:46 +09:00
Andrew Tridgell
faec3e1a8a
AP_NavEKF: sync for 4.1.0beta
2021-07-23 10:19:46 +09:00
Andrew Tridgell
f60c592af3
AP_Math: sync for 4.1.0beta releases
2021-07-23 10:19:46 +09:00
Andrew Tridgell
01156ed348
AP_Common: make longitude_scale() a static
...
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:
pos1 + offs = pos2
pos2 - offs == pos1
2021-07-23 10:19:46 +09:00
Andrew Tridgell
c9b9a6a616
HAL_ChibiOS: run storage writes at 1kHz not 100Hz
...
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.
Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
2021-07-23 10:19:46 +09:00
Peter Barker
304927a41e
AP_NavEKF3: pass NavEKF failures back up to callers
2021-07-23 10:19:46 +09:00
Andrew Tridgell
c31de1a5ca
AP_NavEKF3: process GPS yaw independently of GPS fix
...
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
2021-07-23 10:19:46 +09:00
Andrew Tridgell
56ddaa1a99
AP_NavEKF3: fixed indentation in readGpsData()
2021-07-23 10:19:46 +09:00
Andrew Tridgell
579e4566c6
AP_NavEKF3: implement moving origin
...
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.
The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
2021-07-23 10:19:46 +09:00
Andrew Tridgell
d43e95a39a
AP_NavEKF3: moved checkUpdateEarthField to be called less often
2021-07-23 10:19:46 +09:00
Andrew Tridgell
e409202bef
AP_NavEKF3: update earth field at 1Hz
...
this prevents large mag errors on long distance flights
2021-07-23 10:19:46 +09:00
Andrew Tridgell
399cd4ea03
AP_Common: added ftype precision offset call
...
# Conflicts:
# libraries/AP_Common/Location.cpp
# libraries/AP_Common/Location.h
2021-07-23 10:19:46 +09:00
Andrew Tridgell
163a37efa7
AP_NavEKF3: convert code_gen.py to ftype
2021-07-23 10:19:46 +09:00
Andrew Tridgell
5531703548
AP_NavEKF3: convert powF(xx,2) calls to sq(xx)
2021-07-23 10:19:46 +09:00
Andrew Tridgell
c988f23389
AP_NavEKF3: convert EKF3 derivation to ftype
2021-07-23 10:19:46 +09:00
Andrew Tridgell
e11c94602b
HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7
2021-07-23 10:19:46 +09:00
Andrew Tridgell
1119ffe6ba
AP_NavEKF3: allow for double EKF build
2021-07-23 10:19:46 +09:00
Andrew Tridgell
edbaf9f3c1
AP_NavEKF2: allow for double EKF build
2021-07-23 10:19:46 +09:00
Andrew Tridgell
d31ca6ca8c
AP_NavEKF: allow for double EKF build
2021-07-23 10:19:46 +09:00
Andrew Tridgell
6484a9666c
AP_Mount: use ZERO_FARRAY()
2021-07-23 10:19:45 +09:00
Andrew Tridgell
6bcc0737ae
AP_Motors: fixup build for ftype conflict
2021-07-23 10:19:45 +09:00
Andrew Tridgell
9629b19ec1
AP_Common: added double methods for SITL
2021-07-23 10:19:45 +09:00
Andrew Tridgell
970ae3dd76
SITL: fixup offset calls
2021-07-23 10:19:45 +09:00
Andrew Tridgell
232ccfe477
AP_Math: allow for double EKF build
2021-07-23 10:19:45 +09:00
Andrew Tridgell
712fbd08dc
HAL_ChibiOS: use SRAM1 as first ram segment on H7
...
this is needed to give the linker more than 128k for static variables
with double precision maths.
2021-07-23 10:19:45 +09:00
Andrew Tridgell
53ecf048d1
AP_HAL: allow for double EKF build
2021-07-23 10:19:45 +09:00
Andrew Tridgell
079577a6e5
APM_Control: adjust fixed wing filter defaults
...
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
2021-07-23 10:19:45 +09:00
Andrew Tridgell
36b22cffb6
AP_Notify: disable DShot buzzer by default
2021-07-23 10:19:45 +09:00
Andy Piper
c265d70d3d
AP_Notify: re-enable display on 1Mb boards
2021-07-23 10:19:45 +09:00
Andrew Tridgell
3a683be219
HAL_ChibiOS: always send zero DShot when disarmed
...
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.
See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
2021-07-23 10:19:45 +09:00
Andrew Tridgell
a757706797
AP_Logger: fixed log creation on forced arm
...
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
2021-07-23 10:19:45 +09:00
Randy Mackay
3900a4f14a
GCS_MAVLink: send water depth and temp
2021-06-30 12:05:09 +09:00
Andrew Tridgell
a7f31929ea
AP_Common: use longitude scaling from definitions.h
2021-06-29 17:26:34 +09:00
Andrew Tridgell
978ea307b0
AP_Math: fixed the value LATLON_TO_CM
...
it didn't have enough digits of precision, and was inconsistent with
LOCATION_SCALING_FACTOR
2021-06-29 17:26:34 +09:00
Peter Barker
819c331acd
AP_BattMonitor: correct static_assert call
2021-06-28 11:05:00 +09:00
Peter Barker
67ebdc300b
AP_HAL_SITL: reduce scope of loop variable
2021-06-27 10:57:07 +10:00
Leonard Hall
fcde1e7370
AC_WPNav: use shaping_tc_z_s for terrain following time constant.
2021-06-25 16:54:05 +09:00
Leonard Hall
8f493e3021
AC_AttitudeControl: Add shaping_tc_z_s accessor
2021-06-25 16:54:05 +09:00
Andrew Tridgell
f12a7dd04b
AP_Mount: fixed longitude subtraction
2021-06-25 15:33:55 +10:00
Peter Barker
f69e2a49f6
AP_Common: add test for longitude wrapping
2021-06-25 15:33:55 +10:00
Andrew Tridgell
77d83b9c77
AP_Common: fixed Location class for wrap at 180 degrees longitude
...
this allows us to fly missions across the date line
2021-06-25 15:33:55 +10:00
Leonard Hall
5475d1153c
AC_PosControl: fixup ekf reset
2021-06-25 10:01:49 +09:00
Andrew Tridgell
4895a08ab2
AP_IRLock: convert SITL backends to double precision position
2021-06-24 21:34:30 +10:00
Andrew Tridgell
f209504a12
AC_PrecLand: convert SITL backends to double precision position
2021-06-24 21:34:30 +10:00
Andrew Tridgell
aa03afafa7
AP_Math: added matrix3 tofloat and todouble
2021-06-24 21:34:30 +10:00
Andrew Tridgell
61faeb2d7f
AP_Common: added double methods for SITL
2021-06-24 21:34:30 +10:00
Andrew Tridgell
fb275c9874
SITL: convert to double precision for positions
2021-06-24 21:34:30 +10:00
Andrew Tridgell
1d00cab9e6
AC_WPNav: convert circle, loiter and WPNav to double position
2021-06-24 21:34:30 +10:00
Andrew Tridgell
66186e5221
AC_AttitudeControl: convert poscontrol to use double position
2021-06-24 21:34:30 +10:00
Andrew Tridgell
c8079a318c
AC_PID: convert AC_P_2D to double
2021-06-24 21:34:30 +10:00
Andrew Tridgell
9b91cfe4ee
AP_Math: implement double versions of some position control methods
2021-06-24 21:34:30 +10:00
Andrew Tridgell
3a3a30ab22
AP_Math: define postype_t and vectors
2021-06-24 21:34:30 +10:00
Andrew Tridgell
3fc88b19b8
HAL_SITL: implement initial GPS position offsets
2021-06-24 21:34:30 +10:00
Andrew Tridgell
3315ec5acc
AP_Math: added tofloat() and todouble() methods to Vector2 and Vector3
2021-06-24 21:34:30 +10:00
Andrew Tridgell
cf149a9d18
SITL: added SIM_INIT_LAT_OFS and SIM_INIT_LON_OFS
...
these give an initial lat/lon offset to the GPS in SITL so we can end
up with an origin a long way from the final position
2021-06-24 21:34:30 +10:00
Andrew Tridgell
7819cc6400
AC_AttitudeControl: cleanup poscontrol comments with input from Leonard
2021-06-24 20:28:45 +10:00
Andrew Tridgell
639570505b
AP_Math: cleanups from Leonards feedback
2021-06-24 20:28:45 +10:00
Andrew Tridgell
5f053bd53a
AC_AttitudeControl: fixed comment
2021-06-24 20:28:45 +10:00
Andrew Tridgell
566dd8ca8b
AP_Math: cleanup API comments on control code
2021-06-24 20:28:45 +10:00
Andrew Tridgell
bf91168cd6
AC_WPNav: cleanup position control APIs
...
use Vector2 for xy, float for z
2021-06-24 20:28:45 +10:00
Andrew Tridgell
fd68233fed
AC_AttitudeControl: cleanup position control APIs
...
use Vector2 for xy, float for z
2021-06-24 20:28:45 +10:00
Andrew Tridgell
86f09cad09
AP_Math: cleanup position control APIs
...
use Vector2 for xy, float for z
2021-06-24 20:28:45 +10:00
Andrew Tridgell
fe4abc521a
AP_Math: make vector3 xy() method return a reference
2021-06-24 20:28:45 +10:00
Siddharth Purohit
43bb543aff
AP_PiccoloCAN: fix missing _telem_sem
2021-06-24 17:15:08 +10:00
Oliver
9aba85dadc
AP_PiccoloCAN: Explicit initialization of AP_HAL::CANFrame instances
2021-06-24 15:51:21 +10:00
Oliver
dade859ff9
AP_PiccoloCAN: Remove unncessary floating point operations
2021-06-24 15:51:21 +10:00
Oliver
06eb844ede
AP_PiccoloCAN: Update code to match new esc telemetry / logging architecture
2021-06-24 15:51:21 +10:00
Oliver Walters
de3c4cc9da
AP_PiccoloCAN: Increase number of supported channels from 12 -> 16
2021-06-24 15:51:21 +10:00
Oliver Walters
fb16b085c0
AP_PiccoloCAN: Record servo telemetry information to log
...
- Servo position
- Servo speed
- Servo force / torque
- Servo duty cycle
Updated servo protocol file to accommodate extra variable data
2021-06-24 15:51:21 +10:00
Oliver Walters
115c1224de
AP_PiccoloCAN: Send servo commands for active channels
...
- For each channel, check if a non-motor function is assigned
- If so, send the function value out to the servo
2021-06-24 15:51:21 +10:00
Oliver Walters
7b0da02a18
AP_PiccoloCAN: Framework for CAN servo outputs
2021-06-24 15:51:21 +10:00
Oliver Walters
43b7b4eb3b
AP_PiccoloCAN: Add support for CBS servo protocol
...
- Adds protocol files for the servo protocol
- Generated using Protogen tool
2021-06-24 15:51:21 +10:00
Siddharth Purohit
9494a439ec
AP_UAVCAN: Use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
69cc0b4615
SRV_Channel: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
02c74a8fa1
GCS_MAVLink: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
5d8a6d167f
AP_ToshibaCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
0795225475
AP_RangeFinder: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
6d8972e63b
AP_PiccoloCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
895039cdce
AP_Notify: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
1a2c51d6df
AP_KDECAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
81f6e3c585
AP_HAL_SITL: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
35344d1aef
AP_HAL_Linux: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
882b01bae3
AP_HAL_ChibiOS: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
c7185a1e7f
AP_HAL: split into HAL_CANMANAGER_ENABLED and HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
5acce3055f
AP_HAL: Use HAL_ENABLE_CANMANAGER instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
ee22747b48
AP_Filesystem: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Siddharth Purohit
603b302ffd
AP_CANManager: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS
2021-06-24 09:02:42 +10:00
Leonard Hall
47b0ac663a
AC_AttitudeControl: AC_PosControl: Init and stopping point fixes
2021-06-24 09:01:07 +10:00
bugobliterator
7e8f11b749
AP_HAL_ChibiOS: allow embedded bootloader to be excluded
...
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
2021-06-24 08:36:30 +10:00
Peter Barker
183cee3f2c
AP_Motors: remove @Values from param metadata where @Bitmask exists
2021-06-23 18:37:34 +10:00