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24761 Commits

Author SHA1 Message Date
Peter Barker 54bae68e02 AP_DAL: correct rangefinder get_backend range check 2020-12-02 06:21:54 +11:00
Andrew Tridgell 1bef41b42e AP_OSD: fixed param metadata for several OSD settings 
only found now we build OSD for SITL
 2020-12-01 18:34:37 +11:00
Andrew Tridgell 42b1d2135a AP_OSD: fixed enable of OSD on boards with no built-in OSD 
this fixes MSP enable
 2020-12-01 18:34:37 +11:00
Randy Mackay 7f15b7b126 AP_NavEKF_Source: prearm check of wheelencoders 2020-12-01 14:01:17 +09:00
Randy Mackay 7d319f8059 AP_DAL: add wheelencoder_enabled 2020-12-01 14:01:17 +09:00
Randy Mackay 3984cdd823 AP_WheelEncoder: add singleton 2020-12-01 14:01:17 +09:00
Phillip Kocmoud 38dd3b9209 hwdef: add mRo Control Zero Classic 2020-12-01 15:19:50 +11:00
yaapu c530df7e31 AP_RCProtocol: added fport2 24ch test 2020-12-01 15:05:02 +11:00
yaapu 7e9458b53a AP_RCProtocol: fport2 fixes 
Fixed 16ch fport2 telemetry and enabled bidir support.
Fixed 24ch fport2, had to disable telemetry on 24ch for timing is too tight and telemetry would be unreliable.
 2020-12-01 15:05:02 +11:00
Phillip Kocmoud bef522387a hwdef: add mRo Control Zero H7 2020-12-01 14:46:55 +11:00
Peter Barker d600b87454 AP_NavEKF2: make logging a core concern 2020-12-01 13:06:04 +11:00
Randy Mackay 02ba500d67 AP_Scripting: add ahrs-source-gps-wheelencoders.lua 
supports automatically switching between GPS and wheel encoders based on GPS speed accuracy and vertical velocity innovation
 2020-12-01 09:26:02 +09:00
Michel Pastor eb88e6a37c AP_OSD: Fix vertical speed varying length 2020-12-01 11:20:16 +11:00
Andrew Tridgell 88b5523d47 AP_UAVCAN: added logging of UAVCAN LogMessage messages 
this allows us to log internal errors from nodes into main flight
controller log
 2020-12-01 11:14:50 +11:00
Andrew Tridgell b2885e3e32 AP_CANManager: exposed can log level 2020-12-01 11:14:50 +11:00
Andrew Tridgell cf22caa7ef HAL_ChibiOS: raise stack limits in f303 peripherals 2020-12-01 11:14:50 +11:00
Andrew Tridgell 3ba46d5bd9 HAL_ChibiOS: enable reporting of watchdog reset on AP_Periph 2020-12-01 11:14:50 +11:00
Andrew Tridgell ba69cd72c9 HAL_ChibiOS: improved stack checking and stack display 
display both ISR stack and thread stacks. Show total stack sizes as
well as amount of stack remaining
 2020-12-01 11:14:50 +11:00
Andrew Tridgell 84eac7642b HAL_ChibiOS: improved stack checking 2020-12-01 11:14:50 +11:00
Andrew Tridgell 2d459dccc3 HAL_ChibiOS: reduced stack usage in CAN RX handler 2020-12-01 11:14:50 +11:00
Andrew Tridgell c778d14fd3 HAL_ChibiOS: enable stack checking on f303 boards 2020-12-01 11:14:50 +11:00
Andrew Tridgell 573cd6db6d HAL_ChibiOS: adjust MAIN_STACK for more ISR stack 
we need more stack to deal with interrupt nesting between CAN, system
timer and serial interrupts
 2020-12-01 11:14:50 +11:00
Andrew Tridgell 52a90e7a33 HAL_ChibiOS: fixed monitor thread with no logging 2020-12-01 11:14:50 +11:00
Andrew Tridgell 2a29b0fcf5 HAL_ChibiOS: fixed AP_Periph build with --enable-asserts 2020-12-01 11:14:50 +11:00
Andrew Tridgell 5e81fadf13 AP_DAL: ensure RRNH is written before RRNI 
this is required now we are dynamically allocating the backends in
replay
 2020-12-01 10:53:08 +11:00
Andrew Tridgell 172854c894 AP_DAL: fixed build on navio 
avoid shadowed variables
 2020-12-01 10:53:08 +11:00
Andrew Tridgell bdba430e55 AP_NavEKF3: save memory on beacon debug structure 
only allocate when beacons are enabled. This relies on a guarantee in
the DAL that the beacon count cannot change
 2020-12-01 10:53:08 +11:00
Andrew Tridgell 7b08053ef2 AP_DAL: guarantee that the beacon count cannot change after startup 2020-12-01 10:53:08 +11:00
Andrew Tridgell bb32f1a397 AP_NavEKF3: avoid initialising unused ring buffers 
this assumes the nav sources are treated as reboot required
 2020-12-01 10:53:08 +11:00
Andrew Tridgell 4fdbbd8984 AP_NavEKF: added functions to see if a nav source is enabled 
this allows us to avoid initialising ring buffers when not needed
 2020-12-01 10:53:08 +11:00
Andrew Tridgell ab917ed92e AP_NavEKF: add more protections on ring buffer code 
declare an internal error if we try to access an element when not
initialised
 2020-12-01 10:53:08 +11:00
Andrew Tridgell 0c05e9a2e7 AP_RangeFinder: fixed handling of instance numbers 
if a backend allocation failed then we could end up with the backend
being assigned to the wrong instance number. Switch to using
_add_backend() everywhere, and pass the instance number to
_add_backend() to ensure that it always uses the correct slot.

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

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

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

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

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

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

 - the user may download parameters after the set(1), and end up with
   incorrect parameters they may later load onto the vehicle,
   permanently disabling use of vertical velocity
 2020-12-01 10:33:50 +11:00
Peter Barker 4d30b52744 RC_Channel: add string for motor eSTOP 2020-12-01 10:06:57 +11:00
Peter Barker 4b6e4e10ed AP_Button: allow RC Channel function to be specified for a button 
Function will be executed on transition
 2020-12-01 10:06:57 +11:00
Peter Barker 164bd95538 AP_Button: allow PWM to be used for button input 2020-12-01 10:06:57 +11:00
Peter Barker 7ea78791c2 RC_Channel: make string_for_aux public 2020-12-01 10:06:57 +11:00
Peter Barker 0f597e0919 RC_Channel: expose do_aux_function for button to call 2020-12-01 10:06:57 +11:00
Peter Barker 3264fd750b SRV_Channel: add k_min, m_trim and k_max to output min/trim/max values 2020-12-01 10:06:57 +11:00
Andrew Tridgell 862ae59e28 AP_GPS: support $PHD message for AllyStay NMEA GPS 
this adds vertical velocity support
 2020-12-01 09:04:43 +11:00
Peter Barker 035e798b23 AP_HAL_SITL: use a separate eeprom.bin for SITL build 
This resolves a problem in autotest where the eeprom.bin gets wiped out
when we run Replay against a log as part of test.Copter.Replay
 2020-11-30 18:50:24 +11:00
Tom Pittenger d780e66cc4 AP_ADSB: remove deinit() 2020-11-30 16:05:17 +11:00
Tom Pittenger e94697cb4c AP_ADSB: Allow for multiple backends in the future drivers 2020-11-30 16:05:17 +11:00
Tom Pittenger 20d21fe175 SITL/examples: remove ADSB param that is already default 2020-11-30 16:05:17 +11:00
Peter Barker 88895f9b13 GCS_MAVLink: stop using one backend's signing structure for all backends 2020-11-30 14:11:08 +11:00
Andrew Tridgell 8914bb45f8 AP_DAL: fix for uartI support 2020-11-30 14:09:31 +11:00
Andrew Tridgell af0ee82ff1 AP_SerialManager: support uartI, allowing a total of 9 uarts 
this allows for OTG2 on the MatekH743 board, which makes SLCAN much
easier
 2020-11-30 14:09:31 +11:00
Andrew Tridgell a7a5879c0c AP_HAL_SITL: support uartI, allowing a total of 9 uarts 
this allows for OTG2 on the MatekH743 board, which makes SLCAN much
easier
 2020-11-30 14:09:31 +11:00
Andrew Tridgell 78711e05b7 AP_HAL_Linux: support uartI, allowing a total of 9 uarts 
this allows for OTG2 on the MatekH743 board, which makes SLCAN much
easier
 2020-11-30 14:09:31 +11:00
Andrew Tridgell 68fdf033ee AP_HAL: support uartI, allowing a total of 9 uarts 
this allows for OTG2 on the MatekH743 board, which makes SLCAN much
easier
 2020-11-30 14:09:31 +11:00
Andrew Tridgell 217433ee16 AP_HAL_Empty: support uartI, allowing a total of 9 uarts 
this allows for OTG2 on the MatekH743 board, which makes SLCAN much
easier
 2020-11-30 14:09:31 +11:00
Andrew Tridgell 4d171ec19a AP_HAL_ChibiOS: support uartI, allowing a total of 9 uarts 
this allows for OTG2 on the MatekH743 board, which makes SLCAN much
easier
 2020-11-30 14:09:31 +11:00
Peter Barker 52b8b95a72 AP_NavEKF3: rearrange readGPSData to remove some nesting 2020-11-30 11:51:12 +11:00
Phillip Kocmoud c9182b39d5 hwdef: mRo Control Zero H7 OEM - update and improve uniformity 2020-11-30 08:48:36 +11:00
Phillip Kocmoud b55920165a hwdef: mRo Pixracer Pro - update and improve uniformity 2020-11-30 08:48:36 +11:00
Peter Barker 72acc8bfc8 AP_InertialSensor: use primary gyro (not accel) for get_delta_angle_dt 2020-11-29 13:21:53 +11:00
Phillip Kocmoud a379bb8fc5 hwdef: mRo Control Zero F7 update and improve uniformity 2020-11-28 20:28:22 +11:00
Andrew Tridgell a587195912 HAL_ChibiOS: change f303-MatekGPS to 5Hz by default 2020-11-27 19:41:33 +11:00
Randy Mackay 4cd1c3cfde AP_NavEKF3: param conversion loses config_error 
config_error should only be run as part of setup because it may never return
 2020-11-27 08:20:07 +09:00
Andrew Tridgell 8c959c4e13 AP_BoardConfig: added an EXPECT_DELAY_MS to config_error 
this prevents a config_error called after setup() has complete from
causing a watchdog. That is a bit more friendly
 2020-11-26 17:06:13 +09:00
Hwurzburg 7a82898e92 AP_GPS: expand gps rate description 2020-11-26 18:25:29 +11:00
Kawamura cef0c87c4c AP_Scripting: fix method name for ahrs-source.lua 2020-11-25 21:07:19 +09:00
Hwurzburg f37d8e5865 RC_Channel: add inflight airspeed cal rc switch 2020-11-25 21:30:15 +11:00
Hwurzburg 615b8add8c AP_Airspeed: add inflight airspeed cal rc switch 2020-11-25 21:30:15 +11:00
Randy Mackay 8c2688605e AP_AHRS: active_EKF_type fallback to DCM checks if GPS configured for use 2020-11-25 21:00:07 +11:00
Randy Mackay adfc92523b AP_NavEKF3: add configuredToUseGPSForPosXY 2020-11-25 21:00:07 +11:00
Randy Mackay 4087d7b792 AP_NavEKF2: add configuredToUseGPSForPosXY 2020-11-25 21:00:07 +11:00
Andy Piper a6436851b4 AP_Logger: account for expected delays and boot time delays in block logger. 2020-11-25 18:17:34 +11:00
Peter Barker fdbffd19c6 AP_NavEKF_Source: remove defaults for baro and compass 
This makes all our defaults "NONE", meaning that a user will not see a
prearm failure for any source other than those in the primary set when
using the default configuration.
 2020-11-25 15:19:00 +11:00
Peter Barker 8124c3fea8 AP_NavEKF_Source: set compass_required if we require a compass 2020-11-25 15:19:00 +11:00
Tom Pittenger 67405cedb2 AP_HAL_ChibiOS: add AP_BattMonitor support to CubeBlack&Orange-periph 2020-11-25 14:20:53 +11:00
Tom Pittenger 87813b9401 AP_Generator: AP_Periph should not include Generator by default 2020-11-25 14:20:53 +11:00
Tom Pittenger 171a10e117 AP_BattMonitor: Add support for multiple UAVCAN batteries from a single node 2020-11-25 14:20:53 +11:00
Tom Pittenger 48e2b78cab AP_BattMonitor: fix compile for AP_Periph 2020-11-25 14:20:53 +11:00
Tom Pittenger 089f3aa349 AP_HAL: allow hwdef to define HAL_SUPPORT_RCOUT_SERIAL - must be disabled for AP_Periph 2020-11-25 14:20:53 +11:00
Andy Piper a592d76866 AP_Scripting: fix compile on clang 10 2020-11-25 09:28:06 +11:00
Andrew Tridgell 7eea13f86f AP_NavEKF3: fixed build of standalone replay link test 
parameter conversion not needed for replay
 2020-11-24 20:46:37 +11:00
Hwurzburg ae8fe818c8 RC_Channel: move RETRACT_MOUNT option to common for all vehicles 2020-11-24 20:22:02 +11:00
Peter Barker 42d9727f49 AP_Logger: correct documentation on ARSP message 2020-11-24 15:33:37 +11:00
Gone4Dirt 5edae526fd AP_Math: Add conversion Ams to mAh 2020-11-24 12:54:52 +11:00
Peter Barker c52298352a AP_HAL_SITL: add simulator for IntelligentEnergy 2.4kWh 2020-11-24 12:54:52 +11:00
Peter Barker f7b2856af0 SITL: add simulator for IntelligentEnergy 2.4kWh 
SITL: Added setup note to comment

SITL: IE24: Add Error param and cycle battery pwr
 2020-11-24 12:54:52 +11:00
Gone4Dirt a2d2e85ba1 AP_Logger: Reinstate Watt unit 2020-11-24 12:54:52 +11:00
Gone4Dirt d25f9d5d3a AP_Vehicle: Move AP_Generator to all vehicles 2020-11-24 12:54:52 +11:00
Gone4Dirt 2dc684622e AP_Arming: Add support for AP_Generator frontend 2020-11-24 12:54:52 +11:00
Gone4Dirt 66285b65ce RC_Channel: Add support for AP_Generator frontend 2020-11-24 12:54:52 +11:00
Gone4Dirt caf1ad28d5 GCS_Common: AP_Generator_Richenpower is now AP_Generator 2020-11-24 12:54:52 +11:00
Gone4Dirt 836717c0af AP_BattMonitor: Add support for AP_Generator frontend-backend 2020-11-24 12:54:52 +11:00
Gone4Dirt 8cfe4fc9f7 AP_Generator: Split into frontend-backend and add IE fuel cells 2020-11-24 12:54:52 +11:00
Gone4Dirt 6c136862b8 AP_DAL: Add stdio include 2020-11-24 12:54:52 +11:00
Gone4Dirt 9d90d16c2b AP_ADSB: Access snprintf from hal 2020-11-24 12:54:52 +11:00
斯东Stone 4990048efb HAL_ChibiOS: Correct a typo and Update product link url for PH4-mini 2020-11-24 12:48:11 +11:00
Peter Barker 786fd8a2f8 AP_Logger: add and use instance number to ARSP message 2020-11-24 12:19:45 +11:00
Peter Barker 8647dda8a9 AP_Airspeed: add and use instance number to ARSP message 2020-11-24 12:19:45 +11:00
Andy Piper c291107f50 Filter: correct grammar on HNTCH docs 2020-11-24 10:17:16 +09:00
Andy Piper 726307cb31 Filter: correct harmonic notch docs and provide better defaults. 2020-11-24 10:17:16 +09:00
Peter Barker 3baaa84de1 AP_OSD: remove duplicate parameter definition 2020-11-24 12:15:15 +11:00
Randy Mackay 6c3948f417 AP_NavEKF_Source: optimise configured_in_storage 
This small CPU optimisation takes advantage of the fact that once configured in storage is true it will always remain true
 2020-11-24 12:10:27 +11:00
Andrew Tridgell bce4fd43a3 SITL: fixed GPS POS parameters 
SIM_GPS2_POS1_* makes no sense
 2020-11-24 12:01:04 +11:00
Andrew Tridgell 05194ed8b6 AP_GPS: don't accept infinite accuracies for blending 
these result in NaN values for velocities
 2020-11-24 12:00:41 +11:00
Andrew Tridgell 83c479bcc2 AP_GPS: prevent UAVCAN GPS from giving infinite accuracy values 
this can happen due to the complex encodings of accuracies in UAVCAN
 2020-11-24 12:00:41 +11:00
Andrew Tridgell a762926526 AP_GPS: fixed constrained NaN in EKF3 caused by bad GPS blending 
if the accuracies reported are very low then we can do a division by
zero and this results in a constraining NaN for GPS vertical velocity
filter in NavEKF3_core::calcGpsGoodToAlign
 2020-11-24 12:00:41 +11:00
Peter Barker f0c22244a5 GCS_MAVLink: correct response codes when mode change fails 
Was "UNSUPPORTED", which is supposed to mean, "Command is not supported"

Now is either "DENIED" (Command is invalid (is supported but has invalid
parameters)) or "FAILED" (Command is valid, but execution has failed.)

We should probably returned DENIED if we try to change to a mode which
doesn't exist, but that would require another callback on AP_Vehicle.
It would also lead to questions around what a valid mode is - so
QSTABILIZE if quadplane is disabled in Plane, for example.
 2020-11-24 10:09:37 +11:00
Peter Barker 200b085eea AP_NavEKF3: move XKY0 and XKY1 to be normal log structures (from Log_Write) 2020-11-22 20:47:29 +11:00
Peter Barker e1a033b296 AP_NavEKF3: make logging a core concern 
Also dissolve some methods only used for logging
 2020-11-22 20:47:29 +11:00
Peter Barker 914629351f AP_NavEKF3: use scalar rather than array for state-prediction-allowed 
EKF2 needs this for choosing alternate cores.  EKF3 does not.
 2020-11-22 14:09:48 +11:00
QioTek e4f4868d9b HAL_ChibiOS: add QMC5883L on QioTekZealotF427 
add QMC5883L on QioTekZealotF427
 2020-11-22 06:10:34 +11:00
Jacob Walser 35c2d13e2f HAL_Linux_Class: specify per board external clock frequency for RCOutput_PCA9685 drivers 2020-11-21 00:25:19 -08:00
Jacob Walser e64d9816ce RCOutput_PCA9685: allow different external clock frequencies 
The PCA9685 may use an external clock 0~50MHz
Specify the external clock frequency in constructor arguments for each board HAL
 2020-11-21 00:25:19 -08:00
Paul Riseborough 8561f5239d AP_NavEKF3: Fix bug preventing yaw alignment to EKF-GSF estimate 2020-11-21 12:56:10 +11:00
Andrew Tridgell fe81387433 AP_NavEKF: allow init twice 
this can happen if setup_core() fails with low mem and is called again
 2020-11-20 21:56:32 +11:00
Andrew Tridgell 1e4b1d7563 AP_NavEKF3: convert to using common buffer classes 
this saves a considerable amount of flash
 2020-11-20 21:56:32 +11:00
Andrew Tridgell 39ba8a8c83 AP_NavEKF2: convert to using common buffer classes 
this saves a considerable amount of flash
 2020-11-20 21:56:32 +11:00
Andrew Tridgell e4a9497942 AP_NavEKF: added common EKF buffer classes 2020-11-20 21:56:32 +11:00
Randy Mackay d1983b0b77 AP_NavEKF3: fixup source param conversion 
shorten param conversion config error
if gps and optical flow are enabled we default SRC2_VELXY to optflow
convert_params run from InitialiseFilter
ensure param conversion only run once
 2020-11-20 16:43:44 +09:00
Randy Mackay 0119c48e1e AP_NavEKF_Source: add mark_configured_in_storage 2020-11-20 16:43:44 +09:00
Randy Mackay 50b2cf136f AP_NavEKF_Source: default OPTIONS to 1 (fuse all velocities) 2020-11-20 16:43:44 +09:00
Randy Mackay 04e3623620 AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks 
MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
 2020-11-20 16:43:44 +09:00
Andrew Tridgell 36c946113d AP_NavEKF3: handle compass fallback in yaw source reset 
if we get to this point we must be using the compass fallback logic,
and should do the reset
 2020-11-20 16:43:44 +09:00
Randy Mackay bf5c74dbdb AP_Scripting: ahrs-source example script 
switches automatically between gps, external nav and optical flow
 2020-11-20 16:43:44 +09:00
Randy Mackay 2b9fb79d72 AP_Scripting: add bindings for set_posvelyaw_source and get_vel_innovations 2020-11-20 16:43:44 +09:00
Randy Mackay 9dbfb99cc3 AP_VisualOdom: add align_position_to_ahrs 2020-11-20 16:43:44 +09:00
Randy Mackay 04655d9698 RC_Channel: add aux switch to change the EKF's sensor sources 2020-11-20 16:43:44 +09:00
Randy Mackay 4b542aa714 AP_AHRS: add get_vel_innovations_and_variances_for_source 2020-11-20 16:43:44 +09:00
Randy Mackay dc5d1d099b AP_AHRS: add set_posvelyaw_source_set 2020-11-20 16:43:44 +09:00
Randy Mackay 8895d20c45 AP_NavEKF3: rename setPosVelYawSourceSet 2020-11-20 16:43:44 +09:00
Randy Mackay 5eb3875ebb AP_NavEKF3: rename posxy_source_last and posxy_source_reset 2020-11-20 16:43:44 +09:00
Randy Mackay f88364d653 AP_NavEKF3: use_compass minor order fixup 2020-11-20 16:43:44 +09:00
Randy Mackay b475f01b25 AP_NavEKF3: update comments 2020-11-20 16:43:44 +09:00
Randy Mackay 0f8d0ef11b AP_NavEKF3: move sources to 2nd bank of parameters 2020-11-20 16:43:44 +09:00
Randy Mackay 33b6212cce AP_NavEKF3: rename _sources to sources 2020-11-20 16:43:44 +09:00
Randy Mackay 9716b09cad AP_NavEKF3: minor indenting fix 2020-11-20 16:43:44 +09:00
Randy Mackay 6daaa06317 AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource 
also integrate useVelZSource
 2020-11-20 16:43:44 +09:00
Andrew Tridgell 72ee7d15e1 AP_NavEKF3: fixup for AP_DAL 2020-11-20 16:43:44 +09:00
Randy Mackay 73835f0c11 AP_NavEKF3: pre_arm_check includes sources 2020-11-20 16:43:44 +09:00
Randy Mackay 6c0bb6a198 AP_NavEKF3: add convert_params for source 2020-11-20 16:43:44 +09:00
Randy Mackay 849e94cc24 AP_NavEKF3: call sources align inactive sources 2020-11-20 16:43:44 +09:00
Randy Mackay ba9f60abc7 AP_NavEKF3: add getVelInnovationsAndVariancesForSource 2020-11-20 16:43:44 +09:00
Randy Mackay 58aa6086df AP_NavEKF3: always calculate GPS innovations and variances 2020-11-20 16:43:44 +09:00
Randy Mackay e7e91b1c3b AP_NavEKF3: always calculate extNav innovations and variances 2020-11-20 16:43:44 +09:00
Randy Mackay 6b2b5c4ca0 AP_NavEKF3: add CalculateVelInnovationsAndVariances 2020-11-20 16:43:44 +09:00
Randy Mackay 2505fd5c1c AP_NavEKF3: body and wheel odometry check source 2020-11-20 16:43:44 +09:00
Randy Mackay 1263648d88 AP_NavEKF3: beacon fusion checks source 2020-11-20 16:43:44 +09:00
Randy Mackay 8a56ce49be AP_NavEKF3: optical flow fusion checks source 2020-11-20 16:43:44 +09:00
Randy Mackay 4cadaa5194 AP_NavEKF3: readyToUseOptFlow, Beacon, ExtNav check source 2020-11-20 16:43:44 +09:00
Randy Mackay faed58a027 AP_NavEKF3: integrate Source for yaw 2020-11-20 16:43:44 +09:00
Randy Mackay 8931e50166 AP_NavEKF3: integrate Source for alt 2020-11-20 16:43:44 +09:00
Randy Mackay c21d58ebea AP_NavEKF3: integrate Source for position 2020-11-20 16:43:44 +09:00
Randy Mackay 9b84abecaa AP_NavEKF_Source: enables dynamically changing sensor sources 2020-11-20 16:43:44 +09:00
Andrew Tridgell 9e5e49cd13 AP_DAL: added methods to support EKF sources selection 2020-11-20 16:43:44 +09:00
Peter Barker d50e4d03f4 AP_Logger: remove time_us parameter to several sensor logging methods 
These were used by the old Replay code to try to provide a frame of
sensor data by correlating the timestamps.  That Replay code has been
removed.
 2020-11-20 16:59:09 +11:00
Peter Barker e257dd9fee AP_GPS: correct logging for GPS blending 2020-11-20 09:45:57 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 58f0c34612 AP_GPS: fix dataflash logging of blended GPS instance 2020-11-20 09:45:57 +11:00
Peter Barker a12c2a6b87 AP_Logger: use instance numbers for logging GPS data 2020-11-20 09:45:57 +11:00
Rishabh f57082a2e0 AR_WPNav: Add note to WP_PIVOT_ANGLE 2020-11-19 16:46:27 +09:00
Peter Barker 58c23e618e AP_Logger: remove unused IMUDT code 
Unused since we've moved to new Replay code
 2020-11-19 08:31:49 +11:00
Rishabh c1d67705ce AP_Proximity: Remove Morse backend 2020-11-18 20:23:45 +11:00
Iampete1 681f45c4e0 AP_MotorsMulticopter: make thrust to actuator public 2020-11-18 19:33:21 +11:00
giacomo892 470c00b6b2 AP_Arming: Fix compilation with OSD_PARAM_ENABLED not defined 2020-11-18 18:56:09 +11:00
Marek Łukasiewicz 64f208cbec HAL_ChibiOS: Add af_parse for CubeMX pinout csv 2020-11-18 18:39:07 +11:00
Phillip Kocmoud 701ab83f01 HAL_ChibiOS: Added support for mRo ControlZero OEM H7 flight controller 2020-11-18 18:28:24 +11:00
Andrew Tridgell 408f8b3940 HAL_ChibiOS: added check for overwrite of nullptr on H7 
the STM32H7 has 64k of ITCM memory at address zero. We allow
allocation of everything except the first 1024 bytes. This checks for
those reserved bytes being overwritte, which would indicate a write to
nullptr
 2020-11-18 17:14:43 +11:00
Andrew Tridgell 8f682c0782 HAL_ChibiOS: check all memory at 10Hz 2020-11-18 17:14:43 +11:00
Andrew Tridgell 95a823a702 HAL_ChibiOS: added link list of all memory allocations 
check all allocations for corruption on free() and malloc_check()
 2020-11-18 17:14:43 +11:00
Andrew Tridgell 9a026b8068 HAL_SITL: fixed warning building with gcc 9.x 2020-11-18 17:14:43 +11:00
Andrew Tridgell 3f775205e6 HAL_ChibiOS: fixed use of chHeapFree 
should be free
 2020-11-18 17:14:43 +11:00
Andrew Tridgell ce3e1a69ec HAL_ChibiOS: added memory guard system 2020-11-18 17:14:43 +11:00
Andrew Tridgell cc61e05d90 AP_InternalError: added mem_guard internal error 2020-11-18 17:14:43 +11:00
vierfuffzig e830494f0f AP_OSD_Screen: move vspeed decimal switch to 10 m/s 2020-11-18 09:27:54 +11:00
Andrew Tridgell 6bf7f9e864 AP_Logger: use load_file() 
save a bit of flash
 2020-11-18 09:11:36 +11:00
Andrew Tridgell 3a0e494085 AP_OSD: fallback to font 0 on load failure 
this will allow us to reduce the number of fonts we include as
standard without breaking existing setups
 2020-11-18 09:11:36 +11:00
Andrew Tridgell a2d86eac6d AP_OSD: allow for loading fonts from sdcard 
user can put fontN.bin on their sdcard and it will replace the font in
romfs. This makes for easy font development, and allows for multiple
languages

This replaces #15668
 2020-11-18 09:11:36 +11:00
Andrew Tridgell 773517a473 AP_Filesystem: added load_file() API 
this makes it very easy to load a small file from sdcard or ROMFS
 2020-11-18 09:11:36 +11:00
Huibean cf2b89c4f1 AP_HAL_ChibiOS:add mazzy star drone hwdef 2020-11-17 17:57:07 +11:00
Andrew Tridgell 079e11275a AP_Filesystem: allow for replay on any file in local filesystem 2020-11-17 13:45:07 +11:00
Andrew Tridgell 4c606a30bb AP_NavEKF3: use common structure names 2020-11-17 13:45:07 +11:00
Andrew Tridgell 3a4095fc7f AP_NavEKF2: use common structure names 2020-11-17 13:45:07 +11:00
Andrew Tridgell 636fe783f4 AP_DAL: use common events and structures for EKF2 and EKF3 
this facilitates --force-ekf2 and --force-ekf3
 2020-11-17 13:45:07 +11:00
Andrew Tridgell 08291a15fb HAL_SITL: avoid sitl command line processing for replay 
avoids need for -- arguments for replay
 2020-11-17 13:45:07 +11:00
Andrew Tridgell 019544ceb1 AP_Logger: allow for replay with both EKF enabled 
even when one is disabled in the original log
 2020-11-17 13:45:07 +11:00
murata bbc673c668 AP_RangeFinder: Change rangefinder number 10 to A 2020-11-17 11:46:25 +11:00
Hwurzburg 6eca18c08b GCS_MAVLink: add Board option to disable MAVftp in low mem bds/apps 2020-11-17 10:41:59 +11:00
Hwurzburg 6fe5ed36ce AP_BoardConfig: add Board option to disable MAVftp in low mem bds/apps 2020-11-17 10:41:59 +11:00
Andrew Tridgell 9c74474196 GCS_MAVLink: setup baudrates for passthru serial ports 2020-11-17 10:26:14 +11:00
Andrew Tridgell d0db3eef58 AP_SerialManager: added baudrates to get_passthru() 2020-11-17 10:26:14 +11:00
Michael du Breuil 53cbd86cbe AP_Scripting: Fix the lua scheduling rate to be referenced from the 
start of the update

This allows specifying a return value like "return update, 10" to run
at a near perfect 100Hz, where as before it would be run 10 ms after the
script had completed it's loop, which can be highly variable as the
script experiences interupts from the system, as well as needing the
script author to take responsibility for calculating the desired update
rate at the end. This was always intended to be fixed, but I pushed it
back during the initial development, however people are begining to run
scripts that have enough processing, or are rate sensitive enough that
we are now needing to start correcting this, or scripts will have to do
their best to guess the time, which will be inferior to us providing it.

As a note if you exceeded the time expected we will be rescheduling the
script immediately, thus it will have a schedule time in the past and
will be slotted in. This can't indefinetly starve other scripts as they
will still be slotted in, but if you request an update in 1 ms, but took
100ms to run we will simply slide you back into the queue 1ms after when
you started running.
 2020-11-17 10:19:13 +11:00
Andrew Tridgell 5385f25868 AP_RSSI: handle init ordering with MSP 
this fixes a nullptr dereference on startup when MSP asks for RSSI
data before the RSSI library is initialised

Fixes #15824
 2020-11-17 10:01:54 +11:00
Paul Riseborough 248ef92ed7 AP_NavEKF2: Add velocity innovation check to use of EKF-GSF yaw 
Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
 2020-11-16 16:01:13 +11:00
Paul Riseborough aaf558f593 AP_NavEKF3: Add velocity innovation check to use of EKF-GSF yaw 
Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
 2020-11-16 16:01:13 +11:00
Paul Riseborough 78e10e99f5 AP_NavEKF: Add accessor for yaw estimator velocity innovation length 2020-11-16 16:01:13 +11:00
Paul Riseborough db86a5acc8 AP_NavEKF3: Don't update yaw estimator with bad GPS 2020-11-16 16:01:13 +11:00
Paul Riseborough e5e8d0ba3c AP_NavEKF2: Don't update yaw estimator with bad GPS 2020-11-16 16:01:13 +11:00
Andrew Tridgell 5686dafeef AP_NavEKF3: fixed logged core for GSF messages 2020-11-16 10:28:43 +11:00
Andrew Tridgell a2f4b16cdc AP_NavEKF2: fixed logged core for GSF messages 2020-11-16 10:28:43 +11:00
Andrew Tridgell 04f60001ff AP_Logger: allow WriteV() to work within Replay 
save formats for lookup by WriteV
 2020-11-16 10:28:43 +11:00
Andrew Tridgell 03f2e853ce AP_NavEKF3: fixed memory corruption on push before init 
this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption

found using the new memory guard system
 2020-11-15 15:42:48 +11:00
Andrew Tridgell 01cd678244 AP_NavEKF2: fixed memory corruption on push before init 
this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption

found using the new memory guard system
 2020-11-15 15:42:48 +11:00
yaapu 026ddfa679 AP_OSD: fix for sim_vehcile --osdmsp 2020-11-15 15:01:13 +11:00
Peter Barker 32ba55e756 AP_DAL: move structure used for location references into cpp 
Outside we get a copy per compilation unit.
 2020-11-14 14:19:40 +11:00
Peter Barker 8c2c6141f7 AP_DAL: remove unused antenna_offset state 2020-11-14 10:33:38 +11:00
Tom Pittenger 3cf537deed AP_BoardConfig: reorder the fixed-index enum 2020-11-14 08:38:24 +11:00
Tom Pittenger e0e3c23a87 AP_HAL_ChibiOS/hwdef: fix misprint in comment 2020-11-14 08:00:40 +11:00
Michael du Breuil 58ee8f62e2 AP_HAL_SITL: Support SFML joystick input 2020-11-13 15:38:22 +11:00
Michael du Breuil 892fb74c96 SITL: Add parameters for SFML_Joystick 2020-11-13 15:38:22 +11:00
Andrew Tridgell c8e604a730 AP_Scripting: fixed gcc 9.x build 2020-11-13 14:30:11 +11:00
Andrew Tridgell c14d19be68 AP_NavEKF3: fixed gcc 9.3 build error 
gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
 2020-11-13 14:30:11 +11:00
Andrew Tridgell 7099bb6096 AP_NavEKF2: fixed gcc 9.3 build error 
gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
 2020-11-13 14:30:11 +11:00
Andrew Tridgell 19c42ca0ed AP_RCTelemetry: fixed build for gcc 9.x 2020-11-13 14:30:11 +11:00
Andrew Tridgell c1dded0483 AP_DAL: fixed distance in rangefinder data 
thanks to Paul for noticing
 2020-11-13 11:45:42 +11:00
Andrew Tridgell 8c59575646 AP_OSD: support callsign display on OSD 
use a file "callsign.txt" on the sdcard for callsign
 2020-11-12 14:22:44 -08:00
Andrew Tridgell c423bcca65 AP_OLC: fixed build of OSD on SITL 
failed to link with constexpr, simple fix is to use defines, which
also scopes it inside the cpp
 2020-11-12 14:22:44 -08:00
Peter Barker a9a2c8c392 AP_HAL_SITL: only disown a sempahore once we're done with it 2020-11-12 21:19:55 +11:00
Peter Barker 545a086865 SITL: make ToshibaLED an 8-bit register device 2020-11-12 21:19:55 +11:00
Peter Barker e21e55ba51 SITL: add I2CRegister::8Bit for 8-bit-quantity devices 2020-11-12 21:19:55 +11:00
Huibean a00243dc5a SITL: fix copter sitl build on macos 2020-11-12 20:39:51 +11:00
Andrew Tridgell 3f4c605361 AP_Beacon: added const 2020-11-11 16:14:22 -08:00
Marek Łukasiewicz 8813057b4c AP_HAL_ChibiOS: Tweak sorting to be py2/py3 compatible 2020-11-12 10:27:31 +11:00
bugobliterator bf4f482f5e AP_FileSystem: do listing for SYS without slash as well 2020-11-12 08:42:44 +11:00
Andrew Tridgell 02e9519ab0 AP_Filesystem: fixed stat call for @SYS files 2020-11-12 08:42:44 +11:00
Peter Barker c787231435 AC_Fence: remove timeout for waiting on fence semaphore, make nonblocking 
Also move where we indicate we've attempted a load.
 2020-11-11 18:46:22 +09:00
bugobliterator d0cf3365ee AP_HAL_Linux: handle uninitialised soCAN file descriptor 2020-11-11 19:52:37 +11:00
bugobliterator eea6b4c9b9 AP_HAL_SITL: handle uninitialised file descriptor 2020-11-11 19:52:37 +11:00
Peter Barker 48385b82dc AP_Logger: use instance number for Mag logging 2020-11-11 19:31:53 +11:00
Peter Barker 12f0e9dd43 AP_Logger: use instance number for Baro logging 2020-11-11 19:31:53 +11:00
Peter Barker 2437cf8a24 AP_Logger: use instance number for IMU logging 2020-11-11 19:31:53 +11:00
Peter Barker d436e5b5d1 SITL: add simulator for Rotoye battery monitor 
Also correct temperature from generic battery simulator
 2020-11-11 19:27:21 +11:00
Lucas De Marchi 4be9b4171b AP_RangeFinder: TFMiniPlus: respect max configured via param 
Do like other drivers do and cap the maximum reported value with what is
configured in the parameter.
 2020-11-11 19:23:41 +11:00
Lucas De Marchi 0e63a833e9 AP_RangeFinder: TFMiniPlus: fix out-of-range returned a no-data 
Other drivers consider that they received data even if the value is
reported as "out of range" by sensor. On the I2C driver for TFMiniPlus
we considered this case, too. However when the signal strength is very
low (and thus the distance would likely be out of range), we would end up
ignoring the new sample. With enough samples without any value this
would lead the status to turn to "NoData".
 2020-11-11 19:23:41 +11:00
Iampete1 36eb605de5 AP_Arming: fix aux auth arming check 2020-11-11 18:24:55 +11:00
Peter Hall d6a1af4690 AP_Scripting: example: arming auth: removed unused millis call 
now is fetched but never used
 2020-11-11 18:24:55 +11:00
Peter Barker 41943f5fda GCS_MAVLink: correct use of uninitialised value in Rally upload 2020-11-11 18:22:58 +11:00