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26473 Commits

Author SHA1 Message Date
Siddharth Purohit
1d29619e51 Revert "AP_Arming: check for only first compass being disabled" 
This reverts commit d343c569c2.
 2021-06-02 17:10:19 +10:00
Siddharth Purohit
8590bfea63 AP_Compass: use first available compass in priority list 2021-06-02 17:10:19 +10:00
James O'Shannessy
1794eefd33 AP_Mission: Fixes crash in copter when uploading MAV_CMD_NAV_LAND with NaN as p4 
Uploading a mission created in QGC with MAV_CMD_NAV_LAND (instead of return to launch) results in crash of copter because p4 is not set.
 2021-06-02 17:04:38 +10:00
Andrew Tridgell
606c248e69 AP_HAL: fixed build on boards with no PWM 
this impacts mRoNexus builds
 2021-06-02 15:39:30 +10:00
Paul Riseborough
a5a25411da AP_NavEKF3: Remove unnecessary baro limiting 2021-06-02 11:13:16 +09:00
Paul Riseborough
124f016e5b AP_NavEKF3: Use parameter to set baro ground effect dead-zone 2021-06-02 11:13:16 +09:00
Paul Riseborough
76d0dcc25c AP_NavEKF3: Use common method for handling baro ground effect 2021-06-02 11:13:16 +09:00
Andrew Tridgell
dc9435a88d AP_NavEKF3: don't limit baro change when we are in fixed wing mode 2021-06-02 11:13:16 +09:00
Andrew Tridgell
ea6724aca5 AP_NavEKF2: don't limit baro change when we are in fixed wing mode 2021-06-02 11:13:16 +09:00
Andrew Tridgell
32b079911f AP_NavEKF2: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Peter Barker
c00f110f3d AP_NavEKF3: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Peter Barker
f4f713a04f AP_DAL: add takeoff and touchdown expected state 2021-06-02 11:13:16 +09:00
Peter Barker
9eeec61cec AP_AHRS: new APIs for takeoff/touchdown expected 
timeout handling now in AP_AHRS, and state stored in AHRS and
requested by AP_DAL
 2021-06-02 11:13:16 +09:00
CUAVcaijie
0ff38e1379 HAL_ChibiOS: CUAV ICM20649 on SPI6 bus replaced by ICM20689 
alternative IMUs for Nora and X7
 2021-06-02 10:49:55 +10:00
Andrew Tridgell
8701932670 HAL_ChibiOS: return zeros in dma.txt on first fetch 2021-06-01 11:36:07 +09:00
James O'Shannessy
89e4df485a AP_BattMonitor: Record and report UAVCAN Battery Info temperature correctly 2021-06-01 12:35:24 +10:00
Iampete1
c71163680f SRV_Channel: add motor 1 - 4 to Rover function description, used on OMI frame type. 2021-06-01 11:12:40 +09:00
vierfuffzig
bed7d5f125 AP_OSD: add rangefinder panel 2021-06-01 11:33:05 +10:00
Peter Barker
15658362b5 AP_NavEKF3: make time-horizon OF data a local variable 
Saves 40 bytes of RAM per core on stm32
 2021-06-01 09:56:19 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
0dbd05505b AP_BLHeli: Remove duplicated code, use existing AP_Math CRC function 2021-06-01 09:27:29 +10:00
Andrew Tridgell
5529ba36e2 HAL_ChibiOS: added HolybroGPS AP_Periph port 2021-06-01 09:19:51 +10:00
Andrew Tridgell
23c0f257b6 HAL_ChibiOS: default off serial protocols in AP_Periph 
this allows for a GPS on high numbered ports
 2021-06-01 09:19:51 +10:00
Andrew Tridgell
14dca255a4 AP_Notify: fixed probe on all internal NCP5623 LEDs 2021-06-01 09:19:51 +10:00
Andrew Tridgell
ac1e03e16a HAL_ChibiOS: move heater gains on CubeOrange to hwdef.dat 
this makes it easier for users using apjtool to override params
 2021-06-01 08:07:49 +10:00
Andrew Tridgell
244d896bfb HAL_ChibiOS: enable heater on Pix32v5 2021-06-01 08:07:49 +10:00
Andrew Tridgell
c2a13213ae AP_BoardConfig: allow for hwdef.dat setting for IMU heater gains 2021-06-01 08:07:49 +10:00
Andrew Tridgell
d5dccaa734 AP_Compass: added heater compensation to internal mag for Pix32v5 2021-06-01 08:07:49 +10:00
Hwurzburg
27620322ec AC_AttitudeControl: remove % as units on params that are unitless 2021-05-30 22:38:27 -07:00
James Harton
be3cc1b679 Docs: Change all references from dev.ardupilot.org to the appropriate documentation URLs. 2021-05-31 12:20:45 +10:00
bugobliterator
ea1795d6fe AP_HAL_ChibiOS: ensure ToneAlarm is not disabled when UAVCAN is available 2021-05-31 07:34:02 +10:00
bugobliterator
b7de9feb56 AP_Notify: ensure ToneAlarm is not disabled when UAVCAN is available 2021-05-31 07:34:02 +10:00
bugobliterator
ae80e2dd4d AP_HAL: move ToneAlarm Types to AP_Notify instead 2021-05-31 07:34:02 +10:00
Tatsuya Yamaguchi
e63918d9ba RC_Channel: refactor KILL_IMU of do_aux_function 2021-05-30 11:33:47 +10:00
Peter Barker
e141578376 AP_AHRS: remove optical flow pointer from AP_AHRS 
Nothing was ever using it.
 2021-05-30 10:44:42 +10:00
Peter Barker
28bbe4b776 AP_AHRS: remove unused AP_Beacon.h include 2021-05-30 10:44:42 +10:00
Patrick José Pereira
b608ceb6ed AP_HAL_SITL: Return zero when using the help command 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-05-29 11:27:37 +10:00
Hwurzburg
158c7c499d AC_WPNav: correct param ranges to accomodate TradHeli defaults 2021-05-28 09:44:11 +09:00
Hwurzburg
3f4d4e45fc AC_AttitudeControl: correct param ranges to accomodate TradHeli defaults 2021-05-28 09:44:11 +09:00
Randy Mackay
02f6ca51bc AP_NavEKF3: init rngOnGnd to 5cm to avoid div-by-zero 2021-05-28 08:08:08 +09:00
Michael Oborne
126456742a Hwdef: add Joey 2021-05-27 14:19:55 +10:00
Peter Barker
09f4961a63 GCS_MAVLink: increase statustext queue size to 7 on low-mem boards 
... and SITL....

Copter currently spits out so many messages on a banner-send (e.g what
we do when parameters are fetched) that it puses the first sent message
straight out of the queue before it gets a chance to be sent from the
queue.
 2021-05-27 12:39:04 +10:00
Andrew Tridgell
91dce554d1 HAL_ChibiOS: removed unnecessary USB product IDs from boards 2021-05-27 09:30:30 +09:00
Andrew Tridgell
de3a3f7edf HAL_ChibiOS: fixed case of Pix32v5 USB product string 2021-05-27 09:30:30 +09:00
Michel Pastor
468838ff7f AP_OSD: do not show hgt_abvterr and fence elements by default 2021-05-26 19:01:56 +10:00
Randy Mackay
d9c68031fa AC_PosControl: write_log checks xy and z controllers are active 
This allows write_log to be write PSCZ messages for modes with onlyi vertical control (e.g. althold) without also logging out-of-date PSC messages
 2021-05-26 18:58:31 +10:00
Michel Pastor
f4e2d462f7 AP_MSP: Telem_Backend: do not round vertical speed to 1m/s 2021-05-26 18:33:27 +10:00
bugobliterator
0172b867b7 AP_Compass: fix "no detected backends" error with single compass 2021-05-26 18:30:45 +10:00
Siddharth Purohit
ad9a8c8bd9 AP_HAL_ChibiOS: record error states in CANFDIface and CANIface 2021-05-26 18:25:01 +10:00
Michel Pastor
b083848ae7 AP_HAL_ChibiOS: fix comments 2021-05-26 17:59:04 +10:00
Michel Pastor
a148849ec3 AP_HAL_ChibiOS: RCOutput_serial: fix comment for set_reversible_mask() 2021-05-26 17:59:04 +10:00
Siddharth Purohit
643fc77323 SITL: fix labs on unsigned value subtraction 2021-05-26 17:40:19 +10:00
Siddharth Purohit
2e41077347 AP_RangeFinder: fix using labs on unsigned value subtraction 2021-05-26 17:40:19 +10:00
Michel Pastor
0090d8b1c0 AP_MSP: Telem_Backend: fix temperature 2021-05-26 17:34:57 +10:00
Michel Pastor
1b84852d79 AP_OSD: fix BLH elements 2021-05-26 17:33:54 +10:00
Leonard Hall
359cf8ed0e AC_AttitudeControl: Rename set_attitude_target_to_current_attitude 2021-05-26 16:03:05 +09:00
Leonard Hall
fb83f98b77 AC_AttitudeControl: Set rates to zero during arming procedure for acro 2021-05-26 16:03:05 +09:00
Leonard Hall
34e342f658 AC_AttitudeControl: Rename set_yaw_target_to_current_heading 2021-05-26 16:03:05 +09:00
Leonard Hall
b489dd5fe1 AC_AttitudeControl: Set yaw rate to zero during arming procedure 2021-05-26 16:03:05 +09:00
murata
e9686b77b5 AP_VisualOdom: Change the GCS message level to INFO 2021-05-26 10:53:43 +09:00
Tatsuya Yamaguchi
f2acad4099 AP_VisualOdom: use get_yaw instead of to_axis_angle 2021-05-25 20:19:24 +09:00
vierfuffzig
b922181f63 AP_Landing: fix advanced param metadata 2021-05-25 12:36:59 +10:00
Hwurzburg
faf4993436 AP_Fence: add pre-arm check for fence enabled but none selected 2021-05-25 12:36:21 +10:00
Andrew Tridgell
cd43c0ecef APM_Control: use FF to increase but not reduce tau in autotune 
if user wants a slow time constant we should not override
 2021-05-25 12:14:38 +10:00
Andrew Tridgell
45d82887b3 AP_IOMCU: fixed a safety reset case for IOMCU reset 
if IOMCU resets in flight when user had disabled the safety switch
using the button then the IOCMU force safety code was not called
 2021-05-25 12:14:01 +10:00
Andy Piper
235c8a2d0c AP_BLHeli: make sure telemetry is requested when there is only one motor 2021-05-25 11:05:50 +10:00
Andy Piper
f8495df0af AP_BLHeli: convert servo indexing to FMU indexing for ESC telemetry 2021-05-25 11:05:50 +10:00
nkruzan
f4c18e0f9c AP_InertialSensor_Invensense: set reset count to 1 if 10s has passed since last reset 2021-05-25 10:46:38 +10:00
Hwurzburg
57ee6ffdfe AP_Motors: correct H_SV_MAN metadata warning 2021-05-25 10:22:21 +10:00
Hwurzburg
0012074ef6 AP_OpticalFlow: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Hwurzburg
92283f2025 AP_Mount: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Hwurzburg
4f4389df2f APM_Control: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Hwurzburg
8903b8619a AC_Avoidance: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Hwurzburg
ff931c7490 AC_AttitudeControl: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Michael du Breuil
60e47b56f5 AP_GPS: Nova: Remove unneeded injection override 2021-05-25 10:07:05 +10:00
Hwurzburg
47eafd384f SRV_Channel: Make _FUNCTION metadata consistent style 2021-05-25 10:04:48 +10:00
Hwurzburg
b2d0fb9e84 SRV_Channel: separate output functions by vehicle type 2021-05-25 10:04:48 +10:00
Peter Hall
c239e71de5 AP_Scripting: add motor matrix set throttle factor binding 2021-05-25 09:01:06 +09:00
Peter Hall
42538c7083 AP_Motors: add throttle factor to Matrix 2021-05-25 09:01:06 +09:00
Andrew Tridgell
fced5271af HAL_ChibiOS: expand pin map of G474 to cover 64 pin parts 2021-05-25 09:35:25 +10:00
Leonard Hall
16ba99149b AC_PID: Fix before squash 2 2021-05-24 20:13:37 +10:00
Leonard Hall
5c47c0a131 AP_Math: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall
166f059fc2 AC_WPNav: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall
9e9e139f99 AC_PID: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall
53439b19cd AC_AutoTune: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall
491350c1d6 AC_AttitudeControl: Fix before squash 2021-05-24 20:13:37 +10:00
Andrew Tridgell
8213fc5277 AC_AttitudeControl: prevent panic on SITL when no lock-step scheduling 
this disables the internal error for bad timing on SITL types without
lock-step scheduling, such as RealFlight
 2021-05-24 20:13:37 +10:00
Andrew Tridgell
bf1f27af32 SITL: added is_lock_step_scheduled() API 
used to fix panic on bad timing
 2021-05-24 20:13:37 +10:00
Andrew Tridgell
53e5bef0c2 AP_Math: added rotate_xy to Vector3f 
this makes it easy to rotate a vector3f in xy plane for earth/body
navigation
 2021-05-24 20:13:37 +10:00
Leonard Hall
bddf6602f0 AP_AHRS: PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall
34fa62d51c AC_AutoTune: PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall
538d8f82fb AC_WPNav: PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall
92e05e8c4f AC_AttitudeControl: PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall
c4bb8baf0c AP_Math: Control: Add XY S-Curve shapers and shaping limits 2021-05-24 20:13:37 +10:00
Leonard Hall
6bed10c434 AC_PID: Add error variable with accessor and clean up 2021-05-24 20:13:37 +10:00
Andy Piper
a7a9fa93f0 AP_HAL_ChibiOS: correct enabled mask for motor channel output 2021-05-24 07:57:51 +09:00
murata
072a321a01 AP_Compass: Use the value of pi 2021-05-23 16:58:55 +10:00
murata
cfaf9f9420 AP_CANManager: Delete unused methods 2021-05-23 09:09:20 +10:00
Sebastian Roesner
50cac76e0b AP_Camera: Fix wrong comment in libraries/AP_Camera/AP_RunCam.cpp 2021-05-22 10:15:34 +10:00
Andrew Tridgell
02feaaffcd AP_GPS: setup ublox moving baseline at 230400 when using uart2 
this avoids issues with needing DMA on the UARTs when using UART2 to
transport RTCMv3 data
 2021-05-21 08:49:25 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
fc7e242bae AP_HAL_ChibiOS: Fix typo (NFC) 2021-05-21 09:43:10 +10:00
Hwurzburg
a2f1c6e19e AP_PrecLand: correct metatdata for YAW_ALIGN 2021-05-21 08:27:49 +09:00
Peter Barker
79809b60aa AP_HAL_ChibiOS: rename f103-periph/hwdef.dat to .inc (f303 too) 2021-05-20 17:23:17 +10:00
Iampete1
bc90ba5486 AR_AttitudeControl: get_steering_out_rate use abs speed for G limit 2021-05-19 16:02:20 +01:00
Pierre Kancir
c17ef36354 RC_Channel: change or to || 2021-05-19 20:54:30 +09:00
Pierre Kancir
002b00f69d RC_Channel: make RC PWM LIMITS variables 2021-05-19 20:54:30 +09:00
Siddharth Purohit
5bcc713985 AP_HAL_ChibiOS: add omnibusf4pro config with one compass and gps 2021-05-19 18:04:20 +10:00
Siddharth Purohit
b31a04e52b AP_Compass: allow single compass configure for autopilot boards 2021-05-19 18:04:20 +10:00
Samuel Tabor
5865e010b0 AP_TECS: Ensure no throttle output if is_gliding flag is true when flying without airspeed. 2021-05-19 17:53:43 +10:00
Siddharth Purohit
8ca6b3e3ee AP_CANManager: add testing and debugging README 2021-05-19 17:51:28 +10:00
Peter Barker
31ef6db937 AP_HAL_ChibiOS: remove redundant HAL_LOGGING_ENABLED from AP_Periph hwdefs 2021-05-19 17:38:47 +10:00
Andrew Tridgell
ebe858f762 HAL_ChibiOS: auto-set HAL_LOGGING_ENABLED for AP_Periph builds 2021-05-19 17:38:47 +10:00
Peter Barker
dbf5357592 AP_HAL_ChibiOS: base use of InternalError on build type not HAL_LOGGING_ENABLED 
Really not sure why we were using HAL_LOGGING_ENABLED here
 2021-05-19 17:38:47 +10:00
Peter Barker
42b1a0998f AP_UAVCAN: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED 2021-05-19 17:38:47 +10:00
Peter Barker
00041737d2 AP_Logger: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED 2021-05-19 17:38:47 +10:00
Peter Barker
c326cdb1ca AP_HAL_SITL: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED 2021-05-19 17:38:47 +10:00
Peter Barker
7d8c5757d6 AP_HAL_ChibiOS: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED 2021-05-19 17:38:47 +10:00
Peter Barker
a61b6ebda8 AP_GPS: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED 2021-05-19 17:38:47 +10:00
Peter Barker
519a71504f AP_Compass: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED 2021-05-19 17:38:47 +10:00
Peter Barker
4a1eef4565 AP_Baro: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED 2021-05-19 17:38:47 +10:00
Andy Piper
21d24ebc9d Filter: add harmonic notch option to run at loop rate 2021-05-19 17:35:16 +10:00
Andy Piper
9bc9873e38 AP_Vehicle: optionally run the harmonic notch update at the loop rate 2021-05-19 17:35:16 +10:00
TunaLobster
444c413803 AP_TECS: add missing letter in meta data 2021-05-18 11:12:49 +10:00
giacomo892
f486d7170c GCS_MAVLink: Fix build for builds with GPS_MAX_RECEIVERS = 1 2021-05-18 10:26:55 +10:00
murata
fcba2a6e69 AP_AHRS: Remove unused methods 2021-05-18 10:06:53 +10:00
Andy Piper
6a21446bac AP_HAL_ChibiOS: correct KakuteF4Mini board id 2021-05-18 10:02:36 +10:00
Andy Piper
25be0cf4b4 AP_HAL_ChibiOS: pull the right pin for KakuteF4 buzzer 2021-05-18 10:02:36 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
2393097417 AP_Motors: Use the same limits described in the wiki 
According to Leonard Hall's tuning instructions at:
https://ardupilot.org/copter/docs/tuning-process-instructions.html
Fix a typo
 2021-05-18 09:54:23 +10:00
vierfuffzig
393ac386cc AP_HAL_ChibiOS: add revo-mini-i2c alt configs 2021-05-18 09:53:38 +10:00
Michael du Breuil
1288f4c81b AP_GPS: Support GPS_SBAS_MODE on SBF GPS units 
Also swaps to using an AP_Enum for the SBAS type, and fixes up the fact
that the prearm/failure reasons should be using the config step, rather
then the init blob index
 2021-05-18 09:52:07 +10:00
Andy Piper
74045ba50a SRV_Channel: add accessor for determining if there are any digital outputs 2021-05-17 21:44:36 +10:00
Andy Piper
4929caa241 AP_BLHeli: if there are no digital outputs disable telemetry 2021-05-17 21:44:36 +10:00
yaapu
c32676adf5 AP_Frsky_Telem: added (generic) failsafe status bit to frame 0x5001 2021-05-17 13:39:58 +10:00
yaapu
dcf85bcf3b AP_Frsky_Telem: added healthy status bit to terrain frame 0x500A 2021-05-17 13:39:08 +10:00
Hwurzburg
8b0bb44cd7 fix metadata to emit RCMAP_FORWARD and _LATERAL for Rover 2021-05-17 13:38:17 +10:00
Iampete1
19dfbb19e9 AP_Windvane: set raw wind to zero if no speed sensor 2021-05-16 15:04:00 +01:00
mikeSITL
2f69281040 AP_Windvane: true wind if no windspeed fixed 2021-05-16 15:04:00 +01:00
Peter Barker
3de3f57501 RC_Channel: log which RC channels are being overridden 2021-05-15 14:49:20 +10:00
Peter Barker
f30ad1d2dc AP_Logger: log which RC channels are being overridden 2021-05-15 14:49:20 +10:00
Andrew Tridgell
45daff9f47 GCS_MAVLINK: mag health reported in SYS_STATUS should not depend on AHRS use 
When using external yaw, EKF3 always reports use_compass as false,
which causes the GCS to get a bad compass health message.

thanks to Argosdyne for reporting
 2021-05-14 08:05:08 +09:00
Andy Piper
f8a59a4a72 AP_HAL_ChibiOS: set inbound bitrate correctly for bi-directional dshot1200 2021-05-14 07:23:59 +10:00
Andrew Tridgell
7c7d58d2a0 HAL_SITL: fixed constructoring ordering bug in AP_ESC_Telem 
on cygwin RCOutput was being constructed before AP_ESC_Telem, leading
to a panic
 2021-05-13 10:21:03 +09:00
Andy Piper
8deeae7146 SRV_Channel: consolidate digital and reversible outputs to make clear the dependency 2021-05-12 21:02:42 +10:00
Andy Piper
df1086c4f3 AP_BLHeli: clean-up up digital outputs settings 2021-05-12 21:02:42 +10:00
Andy Piper
db85df1051 SRV_Channel: initialize BLHeli 
make sure digital output settinsg are preserved
add accessor for digital outputs
 2021-05-12 21:02:42 +10:00
Andy Piper
d70b8425f7 AP_Motors: trigger digital throttle range with digital outputs 2021-05-12 21:02:42 +10:00
Andy Piper
4905b5152d AP_BLHeli: initialize separately so that overrides work 
make sure that only digital outputs are marked as digital
only rotate telemetry between digital channels
 2021-05-12 21:02:42 +10:00
Leonard Hall
3530d9121f AP_Math: minor format fix to SCurve::advance_target_along_track 2021-05-12 19:53:57 +09:00
Andy Piper
db06de5c9c AP_VideoTX: correctly deal with unresolvable options requests 
move power changes to middle of RC range
 2021-05-12 18:03:28 +10:00
yaapu
e1f97becab AP_Frsky_Telem: added fence status data to frame 0x5001 2021-05-12 17:46:00 +10:00
Andy Piper
b33b07e43f AP_HAL_ChibiOS: fixes for KakuteF4Mini 2021-05-12 17:26:35 +10:00
Andy Piper
387812bb01 AP_HAL_ChibiOS: avoid startup scream on KakuteF4 and variants 2021-05-12 17:26:35 +10:00
Andy Piper
f0ff4a2cd4 AP_HAL_ChibiOS: hwdef for KakuteF4Mini 2021-05-12 17:26:35 +10:00
Leonard Hall
ccf06f66f7 AC_WPNav: integrate AC_PosControl::get_roll_cd rename 2021-05-12 17:16:00 +10:00
Leonard Hall
b17042078a AC_Loiter: integrate AC_PosControl::get_roll_cd rename 2021-05-12 17:16:00 +10:00
Leonard Hall
d650df3e28 AC_Circle: integrate AC_PosControl::get_roll_cd rename 2021-05-12 17:16:00 +10:00
Leonard Hall
7f1f29c1ae AC_PosControl: rename get_roll_cd get_pitch_cd 2021-05-12 17:16:00 +10:00
Leonard Hall
91e32a8339 AC_Loiter: minor format fix 2021-05-12 17:16:00 +10:00
Leonard Hall
f24a0988f4 AC_PosControl: minor formatting fixes 2021-05-12 17:16:00 +10:00
Leonard Hall
772cec5101 AC_AttitudeControl: minor format fix 2021-05-12 17:16:00 +10:00
Leonard Hall
eb07bfee2b AC_PID: minor format fixes 2021-05-12 17:16:00 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
c323ee4f56 AP_Logger: improve unit names in comments. 
added Ampere hours unit in LOG_ESC_MSG
log ESC volts, amps and consumption as floats
update ESC log file structures
consumption in mAh
Correct the current_tot unit,
motor_temp unit and error_rate unit in comments (<amilcar.lucas@iav.de>)
move ESC_Telem logging to the AP_ESC_Telem class (<amilcar.lucas@iav.de>)
correct log structure (<amilcar.lucas@iav.de>)
 2021-05-12 17:01:11 +10:00
Andy Piper
71e7f7e476 AP_BattMonitor: refector to use AP_ESC_Telem 
rename AP_BattMonitor_BLHeliESC -> AP_BattMonitor_ESC
record volts, amps and consumption as floats
Correct ESC-telemetry-based voltage and temperature (<amilcar.lucas@iav.de>)
Correct ESC-telemetry-based voltage and temperature when less than 12 ESCs are used (<amilcar.lucas@iav.de>)
fix jumps in consumed current (<amilcar.lucas@iav.de>)
Implement temperature readings (<amilcar.lucas@iav.de>)
Fix temperature scaling (<amilcar.lucas@iav.de>)
 2021-05-12 17:01:11 +10:00
Andy Piper
f1078d00a3 AP_Scripting: add in ESC telemetry bindings and make optional 2021-05-12 17:01:11 +10:00
Andy Piper
8df4e0f127 AP_ESC_Telem: generalise ESC telemetry to allow harmonic notch handling with other ESCs 
refactor to capture and output slewed rpm values
enable with HAL_WITH_ESC_TELEM
move notch calculation to front end
refactor telemetry data into frontend
cope with blended data
add mavlink send function
log telemetry data in frontend
add SITL ESC telemetry
record volts, amps and consumption as floats
report telemetry transmission errors
disable ESC Telemetry inclusion when there is no need for it
move ESC_Telem logging to the AP_ESC_Telem class (by amilcar.lucas@iav.de)
various cleanups (by amilcar.lucas@iav.de)
add support for raw ESC rpm
check RPM validity for mavlink output
Use const when applicable
 2021-05-12 17:01:11 +10:00
Andy Piper
15fe14289d SITL: add SIM_ESC_TELEM 2021-05-12 17:01:11 +10:00
Andy Piper
fca6925129 GCS_MAVLink: use generic send_esc_telemetry_mavlink() from AP_ESC_Telem 2021-05-12 17:01:11 +10:00
Andy Piper
5d154b138a AP_Vehicle: generalise ESC telemetry to allow harmonic notch handling with other ESCs 
log ESC telemetry data in frontend
 2021-05-12 17:01:11 +10:00
Andy Piper
f513b1d1c2 AP_UAVCAN: add esc telemetry updates 
remove send_esc_telemetry_mavlink()
remove datastructures and semaphore obsoleted by AP_ESC_Telem* (<amilcar.lucas@iav.de>)
record volts, amps and consumption as floats
 2021-05-12 17:01:11 +10:00
Andy Piper
677d863401 AP_ToshibaCAN: generalise ESC telemetry to allow harmonic notch handling with other ESCs 
remove send_esc_telemetry_mavlink()
log telemetry data in frontend
remove datastructures and semaphore obsoleted by AP_ESC_Telem* (<amilcar.lucas@iav.de>)
record volts, amps and consumption as floats
 2021-05-12 17:01:11 +10:00
Andy Piper
70fae36a89 AP_PiccoloCAN: add ESC telemetry support 
remove send_esc_telemetry_mavlink()
log telemetry data in frontend
record volts, amps and consumption as floats
 2021-05-12 17:01:11 +10:00
Andy Piper
45e1b56f17 AP_OSD: generalise ESC telemetry to allow data from other ESCs 2021-05-12 17:01:11 +10:00
Andy Piper
fcc8853244 AP_MSP: generalise ESC telemetry to allow data from other ESCs 
enable with HAL_WITH_ESC_TELEM
 2021-05-12 17:01:11 +10:00
Andy Piper
b63d19533d AP_KDECAN: support ESC telemetry 
remove send_esc_telemetry_mavlink()
log telemetry data in frontend
remove datastructures and semaphore obsoleted by AP_ESC_Telem* (<amilcar.lucas@iav.de>)
record volts, amps and consumption as floats
scale rpm correctly
 2021-05-12 17:01:11 +10:00
Andy Piper
5b992de959 AP_HAL_SITL: update ESC telemetry in rcout 2021-05-12 17:01:11 +10:00
Andy Piper
6447bd1cdd AP_HAL_ChibiOS: use AP_ESC_Telem to record erpm data and error rate 
don't output RPM data if bi-dir dshot is not enabled
 2021-05-12 17:01:11 +10:00
Andy Piper
4f547d2acc AP_HAL: allow motor poles to be recorded 
enable ESC telemetry for SITL
 2021-05-12 17:01:11 +10:00
Andy Piper
6d50549476 AP_BLHeli: generalise ESC telemetry to allow harmonic notch handling with other ESCs 
move part of frequency calculation into AP_ESC_Telem_Backend
factor out duplicate code into AP_ESC_Telem_Backend
remove send_esc_telemetry_mavlink()
log telemetry data in frontend
remove datastructures and API obsoleted by AP_ESC_Telem* (<amilcar.lucas@iav.de>)
record volts, amps and consumption as floats
fix wrong motor channel in telemtry update
 2021-05-12 17:01:11 +10:00
Hwurzburg
7e677d1e75 SRV_Channel: Add function names for trad heli functions and tricopter 2021-05-11 22:50:09 -04:00
murata
747de2c28c AP_GPS: Change to STM32's faster processing operations 2021-05-12 06:49:03 +10:00
Andrew Tridgell
0cd97ce3d8 AP_GPS: fixed GPS yaw for GPS_INPUT mavlink 2021-05-11 17:45:46 +10:00
Randy Mackay
b4fd9848df AR_AttitudeControl: add get_stop_speed accessor 2021-05-11 15:31:17 +09:00
Paul Riseborough
9014afc9d4 AP_NavEKF3: Fix typo in comment 2021-05-11 10:37:08 +10:00
Paul Riseborough
b9abef37c3 AP_NavEKF3: Reset to GPS yaw if fusion times out when on ground. 2021-05-11 10:37:08 +10:00
Andy Piper
0d43cb4622 RC_Channel: add VTX power to docs 2021-05-11 10:29:15 +10:00
Andy Piper
ef8b6efd89 AP_SerialManager: add SmartAudio to docs 2021-05-11 10:29:15 +10:00
murata
072420d98e AP_RCTelemetry: Do uart's nullptr check first 2021-05-11 10:24:50 +10:00
Hwurzburg
fda07e7dc8 AP_OSD: Add fence indicator panel 2021-05-11 09:36:15 +10:00
Hwurzburg
0ffa83b2dd AP_ICEngine: add note about ICE_STARTCHN_MIN param 2021-05-11 09:12:05 +10:00
Rishabh
7e79999b86 AC_Avoid: reenable avoidance logging 2021-05-09 19:07:22 -04:00
Andrew Tridgell
e1a5d73504 HAL_ChibiOS: fixed DTCM comment for F732 2021-05-09 06:44:19 +10:00
Andrew Tridgell
b7fffe35f9 HAL_ChibiOS: added FreeflyRTK GPS build 
a F732 based GPS peripheral
 2021-05-09 06:44:19 +10:00
Andrew Tridgell
5a7e870cfb AP_Notify: scale NCP5623 for for data range 
we were overflowing the RGB max of 0x1f, leading to LED being off at
high power
 2021-05-09 06:44:19 +10:00
Andrew Tridgell
0fd335af33 AP_Baro: changed health check for AP_Periph 
avoid alt check and calibration check
 2021-05-09 06:44:19 +10:00
Andrew Tridgell
11e4b62438 SRV_Channel: allow build with no channels 
needed for AP_Periph when using LED driver only
 2021-05-09 06:44:19 +10:00
Andrew Tridgell
1a81b10d27 AP_Baro: hide unnecessary params on AP_Periph 2021-05-09 06:44:19 +10:00
Andrew Tridgell
60f60356b8 AP_Common: hide unnecessary params on AP_Periph 
we only use raw compass
 2021-05-09 06:44:19 +10:00
Andrew Tridgell
474f22c3fe AP_Baro: allow for define of BARO_MAX_INSTANCES 2021-05-09 06:44:19 +10:00
Andrew Tridgell
4d661911e5 HAL_ChibiOS: allow adjustment of F7 I2C timing 
needed for F732
 2021-05-09 06:44:19 +10:00
Andrew Tridgell
6b9e4161cb HAL_ChibiOS: removed UDID_START from all MCU defs 
use UID_BASE from ChibiOS headers
 2021-05-09 06:44:19 +10:00
Andrew Tridgell
36d5c98e96 HAL_ChibiOS: default UDID_START to UID_BASE 2021-05-09 06:44:19 +10:00
Andrew Tridgell
2dc4c50953 HAL_ChibiOS: fixed default OTP address and size 2021-05-09 06:44:19 +10:00
Andrew Tridgell
22f7218acf HAL_ChibiOS: support 512k F7 parts for flash 2021-05-09 06:44:19 +10:00
Andrew Tridgell
03cae60471 HAL_ChibiOS: added STM32F732 support 2021-05-09 06:44:19 +10:00
Andrew Tridgell
f1de0c7fe2 HAL_ChibiOS: added F732 16MHz CubeMX config 2021-05-09 06:44:19 +10:00
Andrew Tridgell
901978a9b3 AP_Baro: fixed averaging of samples for several drivers 2021-05-07 20:01:45 +10:00
Kawamura
b305b3b074 AP_Compass: Send message to gcs for compass learn 2021-05-07 08:43:20 +10:00
vierfuffzig
5e8e68344e AP_Arming: fix _CHECKS param description 2021-05-06 16:22:18 +10:00
murata
49bb4d38a1 AC_AutoTune: Disable variables that are overwritten 2021-05-06 12:02:26 +10:00
Peter Barker
d38e704115 SITL: fix memory over-read detected by Valgrind 
==15803== Conditional jump or move depends on uninitialised value(s)
==15803==    at 0x4C34975: index (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==15803==    by 0x444D8D: SITL::Frame::load_frame_params(char const*) (SIM_Frame.cpp:363)
==15803==    by 0x445415: SITL::Frame::init(char const*, SITL::Battery*) (SIM_Frame.cpp:432)
==15803==    by 0x3696ED: SITL::MultiCopter::MultiCopter(char const*) (SIM_Multicopter.cpp:35)
==15803==    by 0x34B49C: SITL::MultiCopter::create(char const*) (SIM_Multicopter.h:44)
==15803==    by 0x34C58E: HALSITL::SITL_State::_parse_command_line(int, char* const*) (SITL_cmdline.cpp:480)
==15803==    by 0x344005: HALSITL::SITL_State::init(int, char* const*) (SITL_State.cpp:923)
==15803==    by 0x33D854: HAL_SITL::run(int, char* const*, AP_HAL::HAL::Callbacks*) const (HAL_SITL_Class.cpp:182)
==15803==    by 0x15ACDD: main (Copter.cpp:678)
==15803==
 2021-05-05 21:21:56 +10:00
Peter Barker
0661a27400 SITL: ensure st.size is valid when loading model json 
Before this patch st.size is undefined when we use it to create a buffer
on the stack - probably not a good thing.
 2021-05-05 21:21:56 +10:00
Andy Piper
94d4252a2a AP_RCTelemetry: warn if using CRSF on non-DMA channel 
don't produce rf_mode messages when not using CRSF for RC control
 2021-05-05 17:50:42 +10:00
Andy Piper
f6b9479542 AP_HAL_ChibiOS: add accessor for UART DMA status 2021-05-05 17:50:42 +10:00
Andy Piper
4d4d3683b6 AP_HAL: add accessor for UART dma status 2021-05-05 17:50:42 +10:00
Andy Piper
dbd9b3a9ae AP_HAL_ChibiOS: ESC telemetry is orthogonal to RPM telemetry 2021-05-05 17:41:24 +10:00
Andy Piper
384ecd4a5b AP_HAL_ChibiOS: check command queue is empty before arming 2021-05-05 17:41:24 +10:00
Andy Piper
66fadf53a1 AP_HAL_ChibiOS: remove dshot calibration step 2021-05-05 17:41:24 +10:00
Andy Piper
f3f3056dba AP_HAL_ChibiOS: add support for dshot commands to rcout 
add support for dshot beepcodes through tonealarm
add support for dshot reversal and command queue
add support for dshot commands to all channels
correctly manage channel enablement in PWM groups
Correctly send dshot commands when using bi-dir dshot
allow reversible settings to be changed
ChibiOS: allow more than one type of ESC for dshot commands
Only execute reverse/reversible commands on BLHeli
add support for checking active ESCS
mark ESCs active when bdshot telemetry is returned
allow dshot alarm to be disabled
allow priroitized dshot commands
 2021-05-05 17:41:24 +10:00
Andy Piper
38ef81e9e9 AP_Arming: call rcout arming checks 2021-05-05 17:41:24 +10:00
Andy Piper
18366a4b6d SRV_Channel: propagate ESC type into rcout 2021-05-05 17:41:24 +10:00
Andy Piper
d23a0bc23d AP_HAL_SITL: allow tone alarm types 2021-05-05 17:41:24 +10:00
Andy Piper
dee4ce3d35 AP_BLHeli: allow both reversed and reversible states to be set 
change dshot command mask names
mark ESCs active when telemety is returned
set dshot esc type
 2021-05-05 17:41:24 +10:00
Andy Piper
e710799b12 AP_Notify: add support for dshot command beeps 
add support for ESC LEDs triggered by dshot commands
don't send DShot LED commands when armed
make enablement of dshot buzzer and LEDs configurable
 2021-05-05 17:41:24 +10:00
Andy Piper
ba96f4491d AP_HAL_Linux: allow tone alarm types 2021-05-05 17:41:24 +10:00
Andy Piper
3428cbf993 AP_HAL: add dshot command codes for beeps, leds and motor control 
allow more than one type of ESC for dshot commands
add support for checks around active ESCs
allow dshot alarm to be disabled
allow prioritized dshot commands
 2021-05-05 17:41:24 +10:00
Peter Barker
30b9a7aeb4 AP_GPS: correct GPS_AUTO_SWITCH parameter description 2021-05-05 16:41:50 +10:00
Iampete1
e995e8873c AC_Circle: add function to check for radius param change 2021-05-04 10:41:39 +10:00
Andrew Tridgell
7cc11e6856 AP_GPS: fixed handling of loss of GPS yaw 
when the GPS yaw data doesn't pass the internal tests of validity for
400ms we need to stop telling the EKF that we have valid yaw
 2021-05-04 10:37:15 +10:00
Randy Mackay
e78c6804a0 AC_AutoTune: remove start method and always init position controller 2021-05-03 20:23:27 -04:00
Hwurzburg
defc81443c AP_OSD: fix disable value for terrain alt warning 2021-05-04 10:13:56 +10:00
chobits
00b44ff6c8 AC_WPNav: remove unused function 2021-05-03 20:10:39 -04:00
Iampete1
c5503b9aed AP_WPNav: read turn G acceleration from Atitude control 2021-05-03 19:22:16 -04:00
Iampete1
980c41e273 APM_Control: G limit all turn rates 2021-05-03 19:22:16 -04:00
Ari Krupnik
d1f0a2f42a SRV_Channel: documenting new SERVOx_FUNCTION values 2021-05-03 19:19:05 -04:00
Iampete1
cbbdf8ba74 RC_Channel: add SCRIPTING aux fun trigger source 2021-05-04 09:05:56 +10:00
Iampete1
15362484bc AP_Scripting: add do_aux_function binding and example 2021-05-04 09:05:56 +10:00
Rishabh
acfdf6a38f AP_Proximity: remove mavlink boundary clearing conditions 2021-05-02 20:03:56 -04:00
Andrew Tridgell
8764d69e2c HAL_ChibiOS: default SDMMC clock to 12.5MHz max on H7 
this makes microsd considerably more reliable
 2021-05-02 13:04:42 +10:00
Andrew Tridgell
8fcb03350b AP_Logger: minimal fix for allowing log listing while logging 
this prevents loss of log data when listing logs on file backend
 2021-05-01 19:21:48 +10:00
Josh Henderson
c8b8ff3380 AP_Logger: Privatize AC_Avoidance Logging 2021-05-01 19:21:17 +10:00
Josh Henderson
aac9771daf AC_Avoidance: Privatize Logging 2021-05-01 19:21:17 +10:00
Josh Henderson
ac57950575 AP_Logger: move GYR & ACC log structs to AP_InertialSensor 2021-05-01 14:15:58 +10:00
Josh Henderson
2b20dcf128 AP_InertialSensor: move GYR & ACC logging functions to Logging.cpp 2021-05-01 14:15:58 +10:00
Andrew Tridgell
6f5626d04f AP_Vehicle: fixed SD card slowdown with early mounts 2021-05-01 12:32:23 +10:00
Tatsuya Yamaguchi
c06ed9f7f5 AP_OpticalFlow: TYPE param becomes enable flag 2021-04-30 19:06:14 -04:00
Andrew Tridgell
f9866dc27e HAL_ChibiOS: fixed LED_SAFETY attached to FMU with recent DShot updates 2021-04-30 17:26:33 +10:00
Peter Barker
4a9ee19599 AP_Notify: correct parameter documentation 2021-04-30 13:50:47 +10:00
Pierre Kancir
21d92780d2 RC_Channel: log init_aux_function and read_aux 2021-04-29 21:49:45 +10:00
Josh Henderson
859fc73ba3 AP_Logger: Privatize AP_InertialSensor Logging 2021-04-29 19:19:12 +10:00
Josh Henderson
9792202810 AP_InertialSensor: Privatize Logging 2021-04-29 19:19:12 +10:00
Peter Barker
1fb43d63e2 autotest: shorten statustext message to avoid chunking 2021-04-29 02:44:20 -04:00
Andrew Tridgell
de5da74df1 AP_GPS: fixed spelling of GLONASS 2021-04-29 13:01:09 +10:00
giacomo892
a245100ae6 AP_GPS_UBLOX: Fix GALILEO auto configuration 2021-04-29 13:01:09 +10:00
Peter Barker
a12ed2c99f RC_Channel: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Peter Barker
bd76d15df4 GCS_MAVLink: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Peter Barker
ba970f138d AP_Mission: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Peter Barker
e5eedfd741 AP_Button: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Tom Pittenger
b62ab14791 AP_BattMonitor: prepare MPPT driver for AP_Periph 2021-04-28 19:22:53 -07:00
Tom Pittenger
a7f81c838f AP_BattMonitor: make virtual Backend.init() optional to fix CANDriver.init(uint8, uint8) ambiguitiy 2021-04-28 19:22:53 -07:00
Tom Pittenger
a365e18420 AP_BattMonitor: add MPPT PacketDigital driver 2021-04-28 19:22:53 -07:00
Tom Pittenger
c756138ede AP_CANManager: add MPPT PacketDigital driver 2021-04-28 19:22:53 -07:00
Tom Pittenger
fa14fd1cec AP_Arming: add MPPT PacketDigital driver 2021-04-28 19:22:53 -07:00
Tom Pittenger
ba6bb21560 AP_Math: added helper for16bit float conversions 2021-04-28 19:22:53 -07:00
Tom Pittenger
5e2dbd93fc AP_CANManager: add write_frame() to AP_CANSensor class 2021-04-28 19:22:53 -07:00
giacomo892
a5708acaef AC_Circle: Restore radius every time 2021-04-28 11:36:58 +01:00
giacomo892
b5ebf9022c [AP_OSD] Fix wrong comment in OSD_W_TERR param 2021-04-28 18:14:52 +10:00
Iampete1
0c3aa72158 SITL: add direct actuated wing to sailboat sim 2021-04-28 08:22:47 +01:00
Ari Krupnik
02969451da SRV_Channel: direct-rotation sail mast control 2021-04-28 08:22:47 +01:00
murata
b67f2e9307 AP_HAL_SITL: Add uart specification and array 2021-04-28 17:08:12 +10:00
Iampete1
29534a7e2d AP_Windvane: set true to apparent if no speed sensor 2021-04-28 15:16:35 +10:00
Iampete1
ab1d54745d AP_WindVane: convert analog sensor to use latest value 2021-04-28 15:16:35 +10:00
Iampete1
67edff1c7c RC_Channel: add WIND_VANE_DIR_OFSSET option 2021-04-28 15:16:35 +10:00
Iampete1
974293ca3f AP_Windvane: move RC_IN_NO to RCx_OPTION 2021-04-28 15:16:35 +10:00
Iampete1
bf651ea1d9 AP_WindVane: rework filtering and add logging 2021-04-28 15:16:35 +10:00
Randy Mackay
a3ceb6d95b AC_WPNav: fix spline initialisation of terrain offset 2021-04-28 10:18:04 +09:00
Leonard Hall
361ba989bd AC_WPNav: Use Pos_Control Heading 2021-04-27 17:13:55 +09:00
Leonard Hall
4158c37cfa AC_PosControl: Calculate heading 2021-04-27 17:13:55 +09:00
Leonard Hall
e253c94f63 AC_AttitudeControl: Remove Unused Function 2021-04-27 17:13:55 +09:00
Leonard Hall
939d8e3ed4 AC_WPNav: Support Thrust Vector Control 2021-04-27 17:13:55 +09:00
Leonard Hall
bb46f7a947 AC_PosControl: Thrust Vector output 2021-04-27 17:13:55 +09:00
Leonard Hall
1fb2a95486 AC_AttitudeController: Thrust Vector attitude control 2021-04-27 17:13:55 +09:00
Peter Barker
52a4ac028c AP_AHRS: remove duplicate log metadata fields 2021-04-27 16:38:40 +10:00
Hwurzburg
cf41548ce1 AP_AHRS: expand RATE log message description 2021-04-27 12:32:44 +10:00
Hwurzburg
6fbf2d227c AC_Fence: Correct Rover metadata 2021-04-27 09:31:09 +09:00
Peter Hall
ed7db5b2b6 AP_Motors: tailsitter: slew outputs and output throttle directly 2021-04-27 09:37:32 +10:00
Peter Barker
ffd8f3678c AP_HAL_SITL: understand --serial0 etc in place of --uartA etc 2021-04-26 16:05:47 +10:00
QioTek
ca6102ed28 f103Qiotek_Periph 
f103Qiotek_Periph
 2021-04-24 07:48:40 +10:00
QioTek
1de3135d14 HAL_ChibiOS: added f103-QiotekPeriph hwdef (#1) 
HAL_ChibiOS: added f103-QiotekPeriph
 2021-04-24 07:48:40 +10:00
Peter Barker
4362b16f50 AP_Logger: remove un-needed forward declarations 
We moved the logging into the relevant library.  Yay!
 2021-04-23 11:44:16 +10:00
Andy Piper
42ebc13e6c Revert "AP_HAL_ChibiOS: support 6 bi-directional dshot channels on the MatekH743" 
This reverts commit f9d166edf6.
 2021-04-22 18:39:06 +10:00
Andrew Tridgell
6764f039ca HAL_ChibiOS: added support for the new H7 luminousbee version 5 2021-04-21 20:41:34 +10:00
Pierre Kancir
9a6d4e3af1 SITL: check if we are over precland base 2021-04-21 17:26:07 +10:00
Pierre Kancir
cec82214d8 SITL: add local_ground_variable 2021-04-21 17:26:07 +10:00
Pierre Kancir
078a1a2b0c SILT: limit update scope for precland 2021-04-21 17:26:07 +10:00
Andy Piper
f9d166edf6 AP_HAL_ChibiOS: support 6 bi-directional dshot channels on the MatekH743 2021-04-21 17:18:53 +10:00
Andy Piper
9f5dbfb092 AP_BLHeli: index bi-dir dshot channels through the motor map 
error if no digital mask has been set for bi-dir dshot
 2021-04-21 17:18:53 +10:00
Andy Piper
558631918c AP_HAL_ChibiOS: add %age of total to thread statistics 
don't display meaningless thread info
 2021-04-21 17:14:11 +10:00
Peter Barker
a3c329b182 AC_AttitudeControl: make parameter renames consistent 2021-04-21 12:17:42 +10:00
Leonard Hall
b43c7f4ed1 AC_AttitudeControl: Parameter rename (non-functional) 2021-04-21 12:17:42 +10:00
hs293go
de0c57de77 AC_AttitudeControl: Use Quaternion::operator* for vector rotation 
Replace all instances of the q*v*q.formula() or conversion to rotation
matrix + matrix multiply by calling Quaternion::operator* on a
vector
 2021-04-21 12:17:42 +10:00
Leonard Hall
86a157ce59 AC_AttitudeControl: Seperate thrust vector correction into a separate function 2021-04-21 12:17:42 +10:00
Randy Mackay
5b0f107631 AC_Fence: remove alt from TYPE param desc for Rover 2021-04-21 11:35:48 +10:00
Andy Piper
e20fc3d4f6 AP_Filesystem: fix build on macOS 2021-04-21 11:33:52 +10:00
Randy Mackay
b81930885c AC_WPNav: remove unnecessary assignment and constify local vars 2021-04-21 10:41:28 +10:00
Randy Mackay
bebb7e7d8f AC_WPNav: removed unused enums 2021-04-21 10:41:28 +10:00
Andrew Tridgell
961e538cc0 HAL_ChibiOS: reduced flash usage on MatekF405 
overflowing by 1k
 2021-04-21 07:12:55 +10:00
Andrew Tridgell
08cbfa032d AP_Filesystem: review fixes 
thanks Andy!
 2021-04-21 07:12:55 +10:00
Andrew Tridgell
b941b8c93a AP_Filesystem: allow for parameter upload via ftp 2021-04-21 07:12:55 +10:00
Andrew Tridgell
0b948d3faf AP_Param: allow save_sync without send 2021-04-21 07:12:55 +10:00
Andrew Tridgell
5a7ee5a376 AP_Common: fixed null termination bug in ExpandingString 
not all HALs zero memory on realloc
 2021-04-21 07:12:55 +10:00
Andrew Tridgell
23785c00dc AP_Param: improved queue handling and added set_and_save_by_name_ifchanged 2021-04-21 07:12:55 +10:00
Andrew Tridgell
d8575f0607 AP_Filesystem: allow for partial mission upload 2021-04-21 07:12:55 +10:00
Andrew Tridgell
d96002942c AP_Filesystem: ensure all blocks are filled on upload 2021-04-21 07:12:55 +10:00
Andrew Tridgell
c1f491ce39 AP_Filesystem: allow mission upload 2021-04-21 07:12:55 +10:00
Andrew Tridgell
3fb280ff50 AP_Common: added return to ExpandingString append 2021-04-21 07:12:55 +10:00
Andrew Tridgell
e055165eb8 AP_Filesystem: added download of mission/fence/rally 2021-04-21 07:12:55 +10:00
Andrew Tridgell
c53c112691 GCS_MAVLink: expose functions to convert fence and rally to mavlink 
this allows for the @MISSION filesystem to download data in the
current mavlink format
 2021-04-21 07:12:55 +10:00
Andrew Tridgell
dd86e0cc89 AP_GPS: added comment explaining the approach 2021-04-20 17:43:01 +10:00
Andrew Tridgell
8bc31ec5e9 AP_GPS: account for rotation rate in moving baseline Z test 
this avoids switching GPS on rapid roll/pitch
 2021-04-20 17:43:01 +10:00
Andrew Tridgell
2168633372 HAL_SITL: account for attitude rate in moving baseline data 2021-04-20 17:43:01 +10:00
Andrew Tridgell
62e0a89036 AP_Param: cleanup the eeprom parsing tools and fixed sentinal detection 2021-04-20 16:59:17 +10:00
Andrew Tridgell
eac027b5c5 AP_Param: fixed handling of group_element=255 in sentinal detection 
EK3_DRAG_BCOEF_Y has a group element of 255, which was being detected
as a sentinal
 2021-04-20 16:59:17 +10:00
Hwurzburg
85e3772759 RC_Channel: correct metadata for fence enable and rst mode for Plane 2021-04-20 16:14:22 +10:00
Peter Barker
a7e0c565dc AP_GPS: populate extension fields in GPS2_RAW 2021-04-20 11:46:35 +10:00
Andrew Tridgell
9cc883a8c0 AP_Compass: fixed the IST8308 on CubeBlack 
CubeBlack needs to probe both internal and external buses
 2021-04-20 10:42:54 +10:00
Andy Piper
21e95a62d5 AP_VideoTX: increase stack for smart audio thread 2021-04-20 10:39:16 +10:00
Andy Piper
a9f442b4c1 AP_BLHeli: make sure there is delay between MSP send and receive to avoid reading our own data 2021-04-20 10:35:22 +10:00
Andy Piper
4bb4e2fb22 AP_HAL_ChibiOS: adjust GPIO settings for serial passthru 2021-04-20 10:35:22 +10:00
Randy Mackay
fee30b4447 AP_RangeFinder: add get_temp and implement for NMEA driver 2021-04-20 09:17:48 +10:00
Randy Mackay
83c18249a4 AP_CANManager: chane KDECAN enum from 2 to 8 
This is to force users to realise that something has changed in the hopes they will read the 4.1 release notes
 2021-04-20 09:13:30 +10:00
Randy Mackay
d2b8fce25a AP_KDECAN: map ESC id to servo channel and passthrough pwm 
Co-authored-by: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
 2021-04-20 09:13:30 +10:00
Randy Mackay
6c93039d84 AP_KDECAN: slightly improve pre-arm check messages 2021-04-20 09:13:30 +10:00
hs293go
93a13bbf0e AP_Math: Implement tests for the Quaternion class 
These tests cover Quaternion multiplication, conversion to rotation
matrix, and the optimized rotation operator
 2021-04-19 15:34:45 +10:00
hs293go
8bc02ab00b AP_Math: Implement quaternion vector rotation operator 
Overloads operator*() with semantics of applying a rotation to a vector, in
common with usage in Eigen/OpenGL. This implementation carries out 30
operations, compared to 58 operations for the q*v*q.inverse() formula
 2021-04-19 15:34:45 +10:00
Rishabh
359327c7a3 AP_Proximity: add temp boundary class 2021-04-19 14:23:26 +09:00
Leonard Hall
c28d103afe AC_AttitudeControl: Fix Angular velocity rotation to body frame 
Thanks to BreederBai for higlighting this in issue #17059
Thanks to esaldiran and Hs293Go for helping check the math.
 2021-04-19 14:48:59 +10:00
murata
7d3a1739d8 AP_Proximity: Integrate the judgment 2021-04-19 09:08:27 +09:00
Michael Oborne
323cbe47d2 SITL: fixup SIM_BAR parameter descriptions 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>

this fixs a issue with MP param doc parser caused by a syntax change
 2021-04-16 09:21:44 +09:00
Andrew Tridgell
4118a3eb03 HAL_ChibiOS: check bus owner on all SPI transfers 2021-04-16 10:02:02 +10:00
Peter Barker
13dc5bee25 AP_Logger: fix memory leak when finding last log 2021-04-15 19:33:15 +10:00
Andrew Tridgell
ec11bf1146 AP_Vehicle: fixed segfault in replay 2021-04-15 13:39:18 +10:00
Andrew Tridgell
7a7ac0cd73 AP_Logger: raise log_io stack size 
See
https://github.com/ArduPilot/ardupilot/issues/15916#issuecomment-819489618
 2021-04-15 13:33:42 +10:00
Iampete1
2a10d9d4f5 AP_Scirpting: add terrain warning example 2021-04-15 09:16:28 +09:00
murata
3344e87639 RC_Channel: Align Relay5 and Relay6 notations with others 2021-04-15 08:42:54 +09:00
Andrew Tridgell
f64c6f9ba1 APM_Control: fixed cygwin build 
FF0 is a macro in cygwin
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
767a0b2a99 APM_Control: tweak the activation detection to catch more events 2021-04-15 06:57:16 +10:00
Andrew Tridgell
bb1dc7192b APM_Control: lower default target filter frequencies 
this will remove a lot of the level flight noise causing oscillation
at higher gains
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
dd98f00947 APM_Control: prevent cross-axis tuning 
this should fix tuning at higher AUTOTUNE_LEVEL values
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
320d3d20c2 APM_Control: log autotune at 25Hz 2021-04-15 06:57:16 +10:00
Andrew Tridgell
72b51a389c APM_Control: use ATRP log msg via structure 2021-04-15 06:57:16 +10:00
Andrew Tridgell
f34e4be991 AP_Logger: re-enable ATRP logging msg 2021-04-15 06:57:16 +10:00
Andrew Tridgell
7b073a61f1 APM_Control: allow for gain reductions when idle 2021-04-15 06:57:16 +10:00
Paul Riseborough
b969a43074 Filter: Slewlimiter use different filtering for external reporting 2021-04-15 06:57:16 +10:00
Paul Riseborough
dd446433f7 Filter: Adjust SlewLimiter tuning 2021-04-15 06:57:16 +10:00
Paul Riseborough
6e6df3df58 Filter: Increase gain modifier action 2021-04-15 06:57:16 +10:00
Paul Riseborough
458c46353d Filter: remove unnecessary fmaxf 2021-04-15 06:57:16 +10:00
Andrew Tridgell
91856b1d8c APM_Control: prevent bad init of FF in autotune 2021-04-15 06:57:16 +10:00
Paul Riseborough
cb4a770d38 Filter: Reduce spikes in oscillation slew rate metric 2021-04-15 06:57:16 +10:00
Paul Riseborough
fdfdb118b9 Filter: Improve SlewLimiter oscillation detection 2021-04-15 06:57:16 +10:00
Andrew Tridgell
3fdd507157 APM_Control: log I and prevent numercial errors in autotune 2021-04-15 06:57:16 +10:00
Andrew Tridgell
24d53eade4 APM_Control: adjust filter for autotune to 0.75 Hz 
this should give a better FF estimate
 2021-04-15 06:57:16 +10:00
Paul Riseborough
9e6561e6b5 APM_Control: Ensure adequate trim speed 2021-04-15 06:57:16 +10:00
Paul Riseborough
4622e33255 Filter: Use positive and negative direction changes for slew limiting 2021-04-15 06:57:16 +10:00
Andrew Tridgell
fa88967b6e APM_Control: adjust min value for tconst 2021-04-15 06:57:16 +10:00
Andrew Tridgell
b079da33c5 APM_Control: use slew rate to move gains more smoothly 2021-04-15 06:57:16 +10:00
Andrew Tridgell
59a805a740 Filter: expose slew rate in slew limiter 2021-04-15 06:57:16 +10:00
Andrew Tridgell
95b375dc87 AC_PID: log SRate in pid info and expose slew rate 2021-04-15 06:57:16 +10:00
Andrew Tridgell
05d5fc2ecc AP_Logger: added SRate logging to PIDs 2021-04-15 06:57:16 +10:00
Andrew Tridgell
772b1262d4 APM_Control: added proportional reduction to D and P 2021-04-15 06:57:16 +10:00
Andrew Tridgell
d561cd358f APM_Control: log RMAX and TAU 2021-04-15 06:57:16 +10:00
Andrew Tridgell
d914ce6829 APM_Control: reset filters on autotune start 2021-04-15 06:57:16 +10:00
Andrew Tridgell
6cae97446a Filter: added auto-init to LowPassFilter 
make sure initial filter returns are not a long way off if filtered
input is far from zero
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
7e64875a02 APM_Control: tweak tuning settings 2021-04-15 06:57:16 +10:00
Andrew Tridgell
ccd7b15d06 APM_Control: apply pitch limiting at high roll to rate 
this fixes an issue with a large elevator trim error when rolled at
close to 90 degrees
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
4694820ac3 APM_Control: allow for smaller minimum tconst 2021-04-15 06:57:16 +10:00
Andrew Tridgell
97f88f67f6 APM_Control: allow for AUTOTUNE_LEVEL=0 
this means keep the existing TCONST and RMAX parameters, if non-zero
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
316541017a APM_Control: fixed handling of clipped actuator in autotune 2021-04-15 06:57:16 +10:00
Andrew Tridgell
9997b191a8 APM_Control: log smoothed rates 2021-04-15 06:57:16 +10:00
Andrew Tridgell
20ef242280 APM_Control: fixed restore of tconst on autotune abort 2021-04-15 06:57:16 +10:00
Andrew Tridgell
8f249d5ece AP_OSD: fixed param edit for new plane PIDs 2021-04-15 06:57:16 +10:00
Andrew Tridgell
160b25c557 AP_Param: fixed KEY_DUMP option 
use right index, and use ::printf
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
5818d6040c SITL: convert param file for new plane PID system 2021-04-15 06:57:16 +10:00
Andrew Tridgell
53ee13a083 APM_Control: use instance logging and allow AUTOTUNE_LEVEL adjustments 2021-04-15 06:57:16 +10:00
Andrew Tridgell
70c194c358 APM_Control: fixed LoggerDocumentation test 2021-04-15 06:57:16 +10:00
Andrew Tridgell
0b76a8018f APM_Control: move rmax and tau more slowly 2021-04-15 06:57:16 +10:00
Andrew Tridgell
3cb32a18f0 APM_Control: fixed for cygwin build 2021-04-15 06:57:16 +10:00
Andrew Tridgell
364fa0680d APM_Control: use shorter tau for autotune higher levels 2021-04-15 06:57:16 +10:00
Andrew Tridgell
f88622def8 APM_Control: implement new autotune system 
use actuator/rate ratio with median filter for FF and Dmod/overshoot
for P,I,D
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
12fad55891 APM_Control: fixed pid_info for pitch controller 2021-04-15 06:57:16 +10:00
Andrew Tridgell
ead011c7c2 APM_Control: move to only ACPID 2021-04-15 06:57:16 +10:00
Andrew Tridgell
6ca9033dde APM_Control: run AC_PID in parallel with old PID for roll/pitch 2021-04-15 06:57:16 +10:00
Andrew Tridgell
99fe194980 AP_Logger: removed old ATRP log msg 2021-04-15 06:57:16 +10:00
Andrew Tridgell
7b98ab0f12 AP_Param: added get_param_by_index 
useful for parameter conversion within an object
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
5ef31a1801 Filter: moved ModeFilter to C++ 
save flash space for common code
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
6f2e592943 AC_PID: allow for slew limit scaler 
used by plane to have slew limiter in deg/s
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
62afa46924 AC_PID: added accessor for IMAX 2021-04-15 06:57:16 +10:00
Peter Barker
6a3188a8ec AC_PrecLand: use enum-class for Type, make enum private 2021-04-14 18:04:26 +10:00
Peter Barker
252543978e AC_PrecLand: remove unused PrecLandBehaviour enum and accessor 
AFAICS this has never been used
 2021-04-14 18:04:26 +10:00
Peter Barker
1ad9542df3 AC_PrecLand: use enum-class for EstimatorType 
And remove accessor for same
 2021-04-14 18:04:26 +10:00
Philippe Hamelin
187549b431 SITL: Add NMEA THS message. 2021-04-14 17:20:28 +10:00
Philippe Hamelin
738d000f86 AP_GPS: Add NMEA THS message. 2021-04-14 17:20:28 +10:00