Commit Graph

64350 Commits

Author SHA1 Message Date
Thomas Watson 3a834e83c7 AP_Scripting: reference script environment directly
Referencing the original function to run is of questionable value and
the only user uses it to grab the script environent from the upvalues.

Instead, use a reference to the script environment table directly.
2024-07-30 10:33:56 +10:00
Thomas Watson 15255a36e4 AP_Scripting: reference function to run separately
Some bits of the code in the require machinery use the `lua_ref` to
access the script environment. However, this can change after the script
is rescheduled and it returns an arbitrary function to run next.

Resolve this by introducing `run_ref` which is specifically a reference
to the function to run next. `lua_ref` is preserved for the script
lifetime.
2024-07-30 10:33:56 +10:00
Thomas Watson c797baa37b autotest: add test for require() after rescheduling
It can end up broken due to incorrect assumptions about the executed
function's upvalues, which might change after rescheduling.
2024-07-30 10:33:56 +10:00
Thomas Watson da006d427d AP_Scripting: add test for require() after rescheduling
It can end up broken due to incorrect assumptions about the executed
function's upvalues, which might change after rescheduling.
2024-07-30 10:33:56 +10:00
Peter Barker 58f33087ac Copter: correct skyviper-v2450 compilation 2024-07-30 10:30:44 +10:00
Peter Barker f3e980d687 Tools: add build option to not send RC_CHANNELS_RAW
we keep this around in case we break old OSD setups
2024-07-30 10:29:58 +10:00
Peter Barker 40c3d1881c Rover: add build option to not send RC_CHANNELS_RAW
we keep this around in case we break old OSD setups
2024-07-30 10:29:58 +10:00
Peter Barker 004764032e Blimp: add build option to not send RC_CHANNELS_RAW
we keep this around in case we break old OSD setups
2024-07-30 10:29:58 +10:00
Peter Barker 29ff6a28d1 ArduSub: add build option to not send RC_CHANNELS_RAW
we keep this around in case we break old OSD setups
2024-07-30 10:29:58 +10:00
Peter Barker aec3feee25 ArduPlane: add build option to not send RC_CHANNELS_RAW
we keep this around in case we break old OSD setups
2024-07-30 10:29:58 +10:00
Peter Barker 86faf1ac52 ArduCopter: add build option to not send RC_CHANNELS_RAW
we keep this around in case we break old OSD setups
2024-07-30 10:29:58 +10:00
Peter Barker 7d6aeb38e4 AntennaTracker: add build option to not send RC_CHANNELS_RAW
we keep this around in case we break old OSD setups
2024-07-30 10:29:58 +10:00
Peter Barker be377da6a4 GCS_MAVLink: add build option to not send RC_CHANNELS_RAW
we keep this around in case we break old OSD setups
2024-07-30 10:29:58 +10:00
Peter Barker 6f5ea5a5e9 RC_Channel: rework duplicate-rc-options check to use a Bitmask
just for the memory saving.

Co-authored-by: muramura <ma2maru@gmail.com>
2024-07-30 10:28:42 +10:00
Peter Barker b358c503fb autotest: add test for detection of duplicate AuxSw values 2024-07-30 10:28:42 +10:00
Peter Barker 3c1021d208 Tools: add documentation for SIM_ENGINE_FAIL and SIM_ENGINE_MUL 2024-07-30 09:21:26 +09:00
Peter Barker 93704c573c SITL: add documentation for SIM_ENGINE_FAIL and SIM_ENGINE_MUL 2024-07-30 09:21:26 +09:00
Peter Barker 6881f42cba Copter: add a Mode method to disable crash check
prevents looking for specific modes in the crash checker
2024-07-30 09:21:26 +09:00
Peter Barker 9397ece55a AC_AutoTune: make axis-type enum-class
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
2024-07-30 10:20:26 +10:00
Iampete1 55f51eabe8 Plane: move `have_autoenabled_fences` to be private in `ModeTakeoff` 2024-07-30 09:59:01 +10:00
Peter Barker 535f806c96 Tools: make include file mistakes nicer to interpret 2024-07-30 09:57:01 +10:00
Peter Barker f3766b831a AP_HAL_ChibiOS: make include file mistakes nicer to interpret 2024-07-30 09:57:01 +10:00
Thomas Watson 6acfc98cf4 AP_Scripting: factor out ap_object checker
Reduces flash usage.

Saves ~160B.
2024-07-30 09:55:25 +10:00
Thomas Watson 212256731f AP_Scripting: improve object allocation efficiency
Make new_X return the new object instead of having to grab it to
configure it.

Saves ~1.3K.
2024-07-30 09:55:25 +10:00
Thomas Watson 3e05cd9729 AP_Scripting: factor out field access argument error
Saves ~830B.
2024-07-30 09:55:25 +10:00
Thomas Watson 575ed6224f AP_Scripting: improve binding index function efficiency
Move the string checks into the load functions to avoid duplicating it
for each binding.

Also sync up the return types to avoid an unnecessary conversion.

Saves ~1.5K.
2024-07-30 09:55:25 +10:00
Thomas Watson e66d2a1495 AP_Scripting: remove redundant memsets
Matches current generator behavior.
2024-07-30 09:55:25 +10:00
Thomas Watson 837b17e82e AP_Scripting: more intelligently manage Lua stack
The Lua stack is guaranteed to have at least LUA_MINSTACK (default 20)
slots upon entry to C. Check to see if we might need more than that
minimum and only in that case call the function to check and resize the
stack. In virtually all cases the check can then be optimized away.

Additionally remove the redundant "Out of stack" message. Lua already
says "stack overflow" and a null message is valid.

Saves ~330B.
2024-07-30 09:55:25 +10:00
Thomas Watson 7212e35fb0 AP_Scripting: slightly improve codegen
Get singleton pointer closer to where it is used.

Saves ~170B.
2024-07-30 09:55:25 +10:00
Thomas Watson 60a9f1722c AP_DroneCAN: DNA_Server: unify bitmask handling
Put documentation with each bitmask and use the object directly. Node ID
range checks can be removed as the bitmask itself checks and we don't
expect to trip them.

Substantially cleans up the code.
2024-07-30 09:49:43 +10:00
Thomas Watson 56593574a9 AP_DroneCAN: DNA_Server: miscellaneous cleanup 2024-07-30 09:49:43 +10:00
Thomas Watson 5e0bb99dbb AP_DroneCAN: DNA_Server: fix handling of empty entry
Replaces the check for a CRC of 0 with a check that the hwid is 0.
Substantially reduces 1/256 chance that a particular node ID couldn't be
stored.
2024-07-30 09:49:43 +10:00
Thomas Watson 9aeab7b424 AP_DroneCAN: DNA_Server: use 0 as unknown ID
Slightly reduces flash usage and probably is clearer.
2024-07-30 09:49:43 +10:00
Thomas Watson 8d57533f1c AP_DroneCAN: DNA_Server: fix cases involving use of invalid node IDs 2024-07-30 09:49:43 +10:00
Thomas Watson a9317b1a07 AP_DroneCAN: correct and validate allowed NODE range
Node IDs >= 128 don't exist, and IDs 126 and 127 are "reserved for
network maintenance tools" according to the spec.
2024-07-30 09:49:43 +10:00
Thomas Watson 485a9387b1 AP_DroneCAN: DNA_Server: clean up storage failure handling
The StorageManager read_block/write_block methods only return failure if
an out of bounds access is performed. Assert statically that this does
not happen.

Also remove the now-impossible failed to add node state.
2024-07-30 09:49:43 +10:00
Thomas Watson cd8519321b AP_DroneCAN: DNA_Server: search for valid nodes after magic check
Ensures the occupation mask doesn't get populated with junk if the magic
is not valid.
2024-07-30 09:49:43 +10:00
Thomas Watson c1f59186fa AP_DroneCAN: DNA_Server: make reset method private 2024-07-30 09:49:43 +10:00
Ian Burwell 6b4e11090c AP_Scripting: Add BQ40Z shutdown example
This example intercepts PREFLIGHT_REBOOT_SHUTDOWN COMMAND_LONG's and if
param1==2, it shuts down the BQ40Z smart battery BMS. Otherwise it
passes through the COMMAND_LONG as a COMMAND_INT (this required updating
the gcs:run_command_int to return a MAV_RESULT rather than a bool).
2024-07-30 09:40:10 +10:00
Ian Burwell 9d34fa2a5e AP_Scripting: Add I2C transfer bindings
This adds bindings for an I2CDevice's transfer() function, an example,
and removes the nil return hint from the get_device() docs as it never
actually returns nil.
2024-07-30 09:40:10 +10:00
muramura 0e7a5ef520 Copter: Make multiple decisions into a SWITCH statement 2024-07-30 08:16:27 +09:00
Iampete1 838fbc2b3b AP_Param: Fix `ENABLE_DEBUG` enabled error with no embedded param 2024-07-30 08:51:09 +10:00
Bob Long 64fc60ce32 AP_HAL_SITL: initialize rcout safety state
This allows BRD_SAFETY_DEFLT=1 to work correctly for SITL.
2024-07-30 08:44:31 +10:00
Peter Barker f2ec97e4c7 autotest: correct Rover RangeFinder test
for reasons I can't fathom, defaulting the rangefinder state causes problems with the vehicle orientation in SITL - probably a state update fix somewhere.

This test was kind of broken anyway - the RangeFinder was pointing latterally out from the vehicle, but is displayed forward of the vehicle (ther RANGEFINDER mavlink message conveys no orientation information)
2024-07-30 08:42:42 +10:00
Peter Barker f60ecbfe4e autotest: disable PolyFenceObjectAvoidanceBendyRuler as it is unreliable ATM 2024-07-29 20:58:39 +10:00
Peter Barker 2245399ff9 autotest: tidy Rover autotests
autotest: tidy WheelEncoders test

autotest: rover: tidy PolyFenceObjectAvoidance code

autotest: add load_fence_using_mavwp

Also corrects the mission item types being returned by the mission-item-to-misison-item-int converter

autotest: fix Rover PolyFenceAvoidanceBendyRulerEasier test

these tests weren't being run becausethey were disabled based on support for loading fence items from QGC files.

autotest: fix Rover PolyFenceAvoidanceBendyRuler test
2024-07-29 20:58:39 +10:00
Peter Barker d7bc9a420f autotest: tracker; tidy GPSForYaw test 2024-07-29 20:58:39 +10:00
arynrosh 6dae760346 Tools: added name to GIT_Success.txt 2024-07-29 18:33:35 +10:00
Randy Mackay 2806f8b63b Plane: 4.5.5-beta2 release notes 2024-07-29 16:19:30 +10:00
Randy Mackay 8f51eafc82 Copter: 4.5.5-beta2 release notes 2024-07-29 15:18:17 +09:00