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844 Commits

Author SHA1 Message Date
Peter Barker 84603e2c85 GCS_MAVLink: add support for MAV_CMD_RUN_PREARM_CHECKS 2021-06-21 09:41:17 +10:00
Peter Barker a23999d0f0 GCS_MAVLink: remove HIL support 2021-06-15 09:47:31 +10:00
Peter Barker c43965f32e GCS_MAVLink: correct decimation of SENSOR_STATUS message 
static infers shared between all backends
 2021-06-15 07:07:39 +10:00
Andrew Tridgell 6c24a030a6 GCS_MAVLink: use HAL_EFI_ENABLED 2021-06-09 18:07:00 +10:00
Josh Henderson 518666b5f0 GCS_MAVLink: Add battery_charge_state to Battery_Status message 2021-06-08 09:27:13 +10:00
Andrew Tridgell 96577b47f0 GCS_MAVLink: removed perf counters 2021-06-07 14:29:27 +10:00
giacomo892 f486d7170c GCS_MAVLink: Fix build for builds with GPS_MAX_RECEIVERS = 1 2021-05-18 10:26:55 +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
Peter Barker bd76d15df4 GCS_MAVLink: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Andrew Tridgell 8444a3310d GCS_MAVLink: added handle_command_landing_target() 
used to allow vehicle handling of time corrected LANDING_TARGET msgs
 2021-04-13 17:30:19 +10:00
Peter Barker 9471d8069c GCS_MAVLink: move handling of last-seen-SYSID_MYGCS up to GCS base class 2021-04-07 17:54:21 +10:00
Peter Barker 1a2b960b0d GCS_MAVLink: prune old statustexts from queue 2021-04-06 09:10:43 +10:00
Peter Barker 4027ed6070 GCS_MAVLink: make servicing statustext more efficient 
We should only need to do a single PAYLOAD_SIZE check for each mavlink
backend now.

 - stop iterating over all channels, only do instantiated mavlink
backends
 - if we don't have space for a statustext on a channel, break
immediately and don't do remaining texts
 - resposibility is now on the GCS_MAVLINK backend for sending texts
   - that's a timing change

 - only iterate over entries actually in the queue rather than maximum
queue size
   - it's likely to be the full length anyway as we don't expire things
from the queue and most setups will have full channels
 2021-04-06 09:10:43 +10:00
Iampete1 0fe38da522 GCS_MAVLink: rename battery reset function 2021-03-31 19:21:59 +11:00
Peter Barker 115e895c82 GCS_MAVLink: return MAV_RESULT_FAILED from do_aux_function if invalid function 2021-03-31 11:36:09 +11:00
Peter Barker 2d61ded1f3 GCS_MAVLink: add option to execute auxillary functions via mavlink 2021-03-31 11:36:09 +11:00
Randy Mackay b8f9c3b9c0 GCS_MAVLink: use of AP_Proximity checks HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Peter Barker 5123b05b2b GCS_MAVLink: add support for ATTITUDE_QUATERNION 2021-03-13 09:44:12 +11:00
James O'Shannessy f028747399 GCS_MAVLink: Remove todo since plane now supports MAV Protocol Capability Mission Fence 2021-03-05 16:48:57 +11:00
Peter Barker e3de88d1d4 GCS_MAVLink: handle MAV_CMD_DO_SET_MISSION_CURRENT 2021-03-04 11:59:33 +11:00
Peter Barker 7480a2a00b GCS_MAVLink: correct output of AHRS2 mavlink message 
The || here was causing short-circuiting
 2021-03-02 20:48:36 +11:00
Peter Barker 9932aa99f7 GCS_MAVlink: return identical seq in MISSION_CURRENT if possible after set 
// because MISSION_SET_CURRENT is a message not a command,
        // there is not ACK associated with us successfully changing
        // our waypoint.  Some GCSs use the fact we return exactly the
        // same mission sequence number in this packet as an ACK - so
        // if they send a MISSION_SET_CURRENT with seq number of 4
        // then they expect to receive a MISSION_CURRENT message with
        // exactly that sequence number in it, even if ArduPilot never
        // actually holds that as a sequence number (e.g. packet.seq==0).
 2021-02-24 19:00:34 +11:00
Peter Barker cfe9dc32d1 GCS_MAVLink: only send distance_sensor messages if valid data seen 
In the case you only have a forward-pointing LIDAR we'd send messages
for each of the other orientations from proximty's horizontal-distances
array, chewing up bandwidth and processing time.
 2021-02-23 10:02:47 +09:00
Peter Barker c5e62eb6e4 GCS_MAVLink: schedule current waypoint rather than immediate send 
This message may not fit in our outgoing buffer
 2021-02-23 11:27:22 +11:00
Patrick José Pereira ba2adac869 GCS_MAVLink: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Peter Barker eefcc92f24 GCS_MAVLink: take MAV_CMD_DO_SPRAYER as a mavlink command 2021-02-16 22:36:43 +11:00
Andrew Tridgell 6d1511f3eb GCS_MAVLink: added method to force save calibration 
useful after reloading parameters
 2021-02-15 07:24:40 +11:00
Patrick José Pereira e8e41c512e GCS_MAVLINK: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Rishabh a5fafe57d8 GCS_MAVLink: Add support for OBSTACLE_DISTANCE_3D 2021-02-01 14:34:13 +09:00
Peter Barker e32ca819fc GCS_MAVLink: mark results as unused 2021-01-21 20:41:17 +11:00
Peter Barker e58d2ecf2f GCS_MAVLink: add mavlink command option to create a 250ms long loop 2021-01-21 11:35:57 +11:00
yaapu 1c3b7d5ecd GCS_MAVLink: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
Pierre Kancir 30a4747898 GCS_MAVLink: send sim_state msg 2021-01-19 10:40:43 +11:00
Andrew Tridgell ed8d86e5e6 GCS_MAVLINK: support deliberate parameter corruption 2021-01-16 06:47:10 +11:00
Peter Barker 3d577d94e8 GCS_MAVLink: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
Peter Barker 0052500d67 GCS_MAVLink: split out a handle_command_component_arm_disarm 2021-01-12 08:48:44 +09:00
Brad Bosch a2192eda5e GCS_MAVLink: use RADIO_STATUS message txbuf field 
this avoids overrunning radio buffer in queued_param_send()
 2021-01-12 10:46:15 +11:00
Peter Barker d24e569b20 GCS_MAVLink: add option to panic the autopilot 2021-01-05 10:04:25 +11:00
Peter Barker b8827e6486 GCS_MAVLink: allow control to be return to radio for higher-numbered RC_CHANNELS_OVERRIDE 2020-12-29 15:03:34 +11:00
Peter Barker 6f4bbd3f57 GCS_MAVLink: for high RC_CHANNELS_OVERRIDE channels zero means ignore the field 2020-12-29 15:03:34 +11:00
Andrew Tridgell e6c5382a28 GCS_MAVLINK: fixed FPE in DO_SET_ROI 
this prevents a floating point exception when MissionPlanner sends an
invalid DO_SET_ROI

See https://github.com/ArduPilot/MissionPlanner/issues/2528
 2020-12-28 11:53:03 +11:00
Dr.-Ing. Amilcar do Carmo Lucas d76825feeb GCS_MAVLink: adapt to upstream changes in the distance_sensor mavlink message 2020-12-19 19:54:03 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 1d0e7d2974 GCS_MAVLink: Added cells 11...14 voltage information (13 and 14 are 0 for now) 2020-12-11 06:37:32 +11:00
Gone4Dirt caf1ad28d5 GCS_Common: AP_Generator_Richenpower is now AP_Generator 2020-11-24 12:54:52 +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
Hwurzburg 6eca18c08b GCS_MAVLink: 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
Andy Piper 4d1c660ebc GCS_MAVLink: enable OSD parameters on parameter enablement 2020-11-11 18:13:11 +11:00
Tatsuya Yamaguchi e1126d4fd6 GCS_MAVLink: use micro64 instead of micros for time_usec 2020-10-27 15:37:29 +11:00
Iampete1 73594cb19b GCS_MAVLink: send airspeed temp in scaled_pressure 2020-10-27 11:24:49 +11:00
Peter Barker 74f75dcd31 GCS_MAVLink: fill AUTOPILOT_VERSION.uid2 from get_system_id_unformatted 2020-10-21 18:26:12 +11:00
murata 6304ade668 GCS_MAVLink: Change to leave the lower 16 bits. 2020-10-13 12:06:18 +11:00
Andrew Tridgell e346cd3c80 GCS_MAVLink: fixed use of incorrect millis16() values 2020-10-12 13:48:15 +11:00
Peter Barker 45f7322af6 GCS_MAVLink: avoid catching up on sending messages when sending disrupted 
The code here was never meant to maintain an "average" streamrate.  It
was designed so that we would maintain a consistent clock in the face of
minor scheduling anomalies (like an EKF fusion step).

The way this is written, however, makes us spit out a message for each
of the intervals we missed - clearly not intended behaviour.

This was tested by inserting the following code:

 void GCS_MAVLINK::update_send()
 {
+    const uint32_t xnow = AP_HAL::millis();
+    if (xnow > 10000 &&
+        xnow < 20000) {
+        return;
+    }
+
 2020-10-12 13:48:15 +11:00
Peter Barker 7cb8cde417 GCS_MAVLink: move orderly rebooting code from GCS into AP_Vehicle 
Several places we reboot the vehicle we should probably do several of
the things done in this code - flushing parameters, forcing safety on
etc.
 2020-09-29 18:07:59 +10:00
yaapu e7a49dd624 GCS_Mavlink: refactor zero_rc_outputs() out of GCS_Mavlink 2020-09-29 18:07:59 +10:00
Andy Piper 5d487be242 GCS_MAVLink: squash enum type error 2020-09-22 09:37:02 +10:00
Andy Piper 8b766efb0a GCS_MAVLink: add support for updating OSD parameters over mavlink 2020-09-09 20:36:42 +10:00
Sharvashish Das 80e2dbc9f2 GCS_Common: send_local_position uses offset from origin 2020-09-01 10:27:18 +10:00
Andrew Tridgell 30f9fd9d2a GCS_MAVLink: fixed overrun of text passed to other libraries 
this caused corruption in log files, and was passing a
non-nul-terminated string to notify and other libraries
 2020-08-28 17:35:17 +10:00
Siddharth Purohit 42f5f986d8 GCS_MAVLink: use AP_CANManager library 
also add support for handling enumeration cmd by KDETest
 2020-08-19 17:31:09 +10:00
Peter Barker 0e284b95b0 GCS_MAVLink: move battery type enumeration out of parameters object 2020-08-11 13:21:52 +10:00
Randy Mackay 1a3ef62b84 GCS_MAVLink: add virtual send_winch_status 2020-08-07 21:55:07 +09:00
elhayra 9b3a574775 GCS_MAVLink: sending UAVCAN MAVlink ESC messages 2020-08-06 09:28:35 +10:00
Andy Piper e91ae19544 GCS_MAVLink: make mount/gimbal configurable on a per-board basis 2020-08-04 09:18:14 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 7067cbdafd GCS_Mavlink: Adapt to upstream mavlink changes to the SCALED_PRESSURE message 2020-07-29 14:34:22 +10:00
Michael du Breuil 6773821b3b GCS_MAVLink: Don't forward MAVLink data on channels marked private, make private channels more private 2020-07-22 07:17:49 +10:00
Andy Piper 05416daef3 GCS_Mavlink: output fast sampling startup messages 2020-07-10 16:45:29 +10:00
Andrew Tridgell 5a18b16f69 GCS_MAVLink: use strncpy_noterm 2020-07-10 13:32:24 +10:00
Peter Barker 741520d598 GCS_MAVLink: find next bucket to send when sending-ids emptied on msg removal 
We need to find the next bucket of messages to send when we've removed
the last message id from the current set of IDs we're sending out - not
just when we've empted the bucket the messages came from in the first
place.

An internal check caught this bug - the
'next_deferred_bucket_message_to_send called on empty bucket' error
 2020-07-07 10:49:31 +10:00
Peter Barker e2056f56e3 GCS_MAVLink: support for sending generator message 2020-07-03 08:21:42 +09:00
Randy Mackay 03ea646e50 GCS_MAVLink: send_battery_status uses memcpy for cell voltages 
Co-authored-by: WickedShell <Wicked.Shell.Scripts@gmail.com>
 2020-06-24 10:19:15 +09:00
Randy Mackay 65aea0e9c1 GCS_MAVLink: send_battery_status sends min of cell 10 11 and 12 2020-06-24 10:19:15 +09:00
Michael du Breuil 7fae084793 GCS_MAVLink: Only send a single battery status per call 2020-06-23 09:18:56 +10:00
Peter Barker e4621e6921 GCS_MAVLink: do not process commands after we have decided to reboot 2020-06-17 11:54:03 +10:00
chobits 991387dbfb GCS_MAVLink: support covariance field in vis pose msg 2020-06-09 13:31:21 +09:00
Peter Barker f158533fe9 GCS_MAVLink: allow private channels to also be active 
This will allow for logging of private channels.
 2020-06-09 10:37:32 +10:00
Peter Barker 06012cbc56 GCS_MAVLink: cope with RingBuffer rename if empty() to is_empty() 2020-06-09 10:21:48 +10:00
Peter Barker 07e3f1d48f GCS_MAVLink: add RADIO_STATUS.rssi as an AP_RSSI telemetry source 2020-06-09 10:20:29 +10:00
chobits ff6e4c4f9a GCS_MAVLink: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
Peter Barker 5100c9fb8c GCS_Common: whitelist AUTOPILOT_VERSION for in_delay_callback sending 
GCSs may request this very early on in the boot process, particularly
for SITL.

If we try to send it during a delay callback then we end up dropping it
at the moment - but we'd already sent the ack in response to the
request.
 2020-05-11 15:22:38 +10:00
Andy Piper da166b256d GCS_MAVLink: add messages to Spektrum telemetry if it is enabled 2020-05-05 09:23:15 +10:00
Andrew Tridgell 7cd901fa5b GCS_MAVLink: enable ftp without filesystem 
allows for @PARAM and @SYS
 2020-04-29 07:36:55 +10:00
Peter Barker 8b0b644c11 GCS_MAVLink: correct check for payload space for COMMAND_ACK 2020-04-27 15:30:30 +10:00
Randy Mackay 6f8176c71e GCS_MAVLink: remove ahrs3 2020-04-22 14:11:17 +09:00
Peter Barker 8b9281eaa1 GCS_MAVLink: log number of times message not sent due to no space 2020-04-17 22:21:14 +10:00
Randy Mackay c39fef6c56 GCS_MAVLink: pass vision-position-estimate reset_counter to AP_VisualOdom handler 2020-04-14 10:28:03 +10:00
Randy Mackay 9769f08fd9 GCS_MAVLink: visual odometry build fixes 2020-04-09 19:41:08 +09:00
Randy Mackay a1ddd55ea5 GCS_MAVlink: AP_integrate of rename to handle_vision_position_delta_msg 2020-04-09 19:41:08 +09:00
Randy Mackay 728e8b45a9 GCS_MAVLink: use AP_VisualOdom to handle vision-position-estimate messages 2020-04-09 19:41:08 +09:00
Siddharth Purohit b0cbbb4bea GCS_Common: fix unannotated fall-through between switch labels 2020-04-01 17:10:36 +11:00
Peter Barker 0b756547be GCS_MAVLink: add stream_slowdown to MAV message 2020-03-31 11:13:11 +11:00
Peter Barker a09ac895e9 GCS_MAVLink: remove dead assignment 
This value is never used
 2020-03-31 10:38:13 +11:00
Andrew Tridgell 8a84dbc19e GCS_MAVLink: slow down telemetry during ftp 2020-03-28 15:28:03 +11:00
Peter Barker 97b07d9c84 GCS_MAVLink: add option to get the autopilot to hard-fault itself 2020-03-19 16:03:58 +11:00
Andrew Tridgell 39fc324854 GCS_MAVLink: convert to new get_rpm() API 2020-03-12 08:36:40 +11:00
Andrew Tridgell aaf828c9d4 GCS_MAVLink: consider NO_CHANGE as success for bootloader flash 
this prevents GCS users from seeing "update failed"
 2020-03-11 16:30:06 +11:00
Rishabh f3e66055e5 GCS_MAVLink: Alert GCS if user tries calibration while vehicle is armed 2020-03-03 11:37:19 +11:00
Peter Barker fbe2e75b9f GCS_MAVLink: divide time allowed to send messages fairly 2020-02-27 08:49:59 +11:00
Peter Barker e2c9f6a8a1 GCS_MAVLink: add flags to MAV dataflash log 
holds various pieces of simple information about a link
 2020-02-25 10:59:22 +11:00
Peter Barker f8f4ed7ee0 GCS_MAVLink: log disarm method 2020-02-22 12:16:29 +11:00
Andrew Tridgell 20ea1a3dc7 GCS_MAVLink: don't send statustext from other than main thread 
This fixes high stack usage in the RCIN thread when it notifies the
GCS of a new RCIN protocol. The problem is severe when signing is
enabled, as signing adds over 500 bytes to stack cost of sending a
mavlink msg

fixes issue #13615
 2020-02-20 10:39:29 +11:00
Michael du Breuil 1f8c030eba GCS_MAVLink: Allow scripting to start/stop the REPL 2020-02-18 17:23:22 -07:00
Michael du Breuil 296c014d14 GCS_MAVLink: Fix excess trimming of autopilot version 2020-02-19 09:10:02 +11:00
Matt Lawrence c84dcd9bf8 GCS_Mavlink: Add routing for GoPro heartbeat 2020-02-18 11:13:27 +11:00
Peter Hall b1742b4e19 GCS_Mavlink: constrain battery current to avoid wrap 2020-02-12 08:04:39 +11:00
Randy Mackay 7a5f57f940 GCS_MAVLink: send rc output mode banner to GCS 2020-02-04 12:23:33 +11:00
Peter Barker 1650979a2b GCS_MAVLink: add support for MAV_CMD_DEBUG_TRAP 2020-01-29 10:27:01 +11:00
Peter Barker e248bdfb16 GCS_MAVLink: split statustexts into 50-byte chunks using mav2 extensions 2020-01-28 19:56:38 +11:00
Peter Barker 8fc64ccbe9 GCS_MAVLink: allow NavEKFs to be compiled out 2020-01-21 11:53:18 +11:00
Peter Barker a9f62f196e GCS_MAVLink: consolidate places we snprintf statustexts 2020-01-14 10:38:43 +11:00
Randy Mackay 188fdfb1b8 GCS_MAVLink: send optflow message even if no height estimate 2020-01-06 11:36:43 +09:00
Andrew Tridgell 1b528137f7 GCS_MAVLINK: cope with AP_Frsky_Telem being created after init 
may be created by the FPort backend
 2020-01-02 09:52:57 +11:00
Andrew Tridgell c6322c7c98 GCS_MAVLink: send abs throttle in VFR_HUD 2019-12-24 15:14:03 +11:00
Peter Barker 01710c035e GCS_MAVLink: handle proximity and rangefinder messages 2019-12-24 12:08:54 +11:00
Oliver Walters 5fa54f3986 GCS_MAVLink: added support for Piccolo CAN ESCs 2019-12-22 09:48:40 +11:00
Andrew Tridgell dd73eac08c GCS_MAVLink: support MAV_CMD_FIXED_MAG_CAL_YAW 2019-12-18 17:20:37 +11:00
Peter Barker ebbcd00873 GCS_MAVLink: send statustext to all GCSs until update_send is called 
until update_send it called we don't mark channels as streaming, so
send_statustext won't send to that channel.

Calculating the streaming mask could have been done as part of the init
call, but this fix may allow for information getting to the user in the
case that the streaming parameters are all zero, too.
 2019-12-18 14:36:58 +11:00
Andrew Tridgell f8f591c7db GCS_MAVLink: fixed critical error on prefight cal ops 2019-12-13 09:30:48 +11:00
Peter Barker 314ea32ede GCS_MAVLink: any internal error means MAV_STATE_CRITICAL 2019-11-27 14:27:53 +11:00
Marian Soban 6e961b55eb GCS_MAVLink: LTM telemetry support 2019-11-26 12:14:13 +11:00
Andrew Tridgell 2b27cd2ce9 Plane: Add EFI Support 2019-11-17 20:10:54 +11:00
Andrew Tridgell 00e3344321 GCS_MAVLink: add EFI_STATUS message 2019-11-17 20:10:54 +11:00
Peter Barker 7d2557b316 GCS_MAVLink: correct txspace return value issues 
- checking of space in send_to_active_channels was incorrect - did not
take into account locked status of the channel

 - corrected return value on comm_get_txspace - took a uint32_t, cast it
to int16_t, checked it for zero, then cast it to uint16_t on return.
That's just... odd.
 2019-11-12 16:33:12 +11:00
Peter Barker a893a5483c GCS_MAVLink: support sysid targetting 2019-11-12 07:52:22 +08:00
Peter Barker ac7111f1d1 GCS_MAVLink: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Peter Barker 402f3ec09c GCS_MAVLink: honour coordinate altitude frames for DO_SET_ROI 
Also use {} to construct the location.

Note the assumption that the frame is relative-to-home when we receive
the command via COMMAND (as opposed to COMMAND_LONG)

Note that this is a behavioural change as
 2019-11-05 19:55:45 +11:00
Peter Barker b9dbfff0d0 GCS_MAVLink: announce capabilities compass-cal and param float for all vehicles 2019-11-05 11:26:23 +11:00
Michael du Breuil 6f538dd45a GCS_MAVLink: Initial FTP support 2019-11-02 22:52:06 +11:00
Peter Barker 34eff6d1c6 GCS_MAVLink: adjust for proximity status namespace change 2019-10-31 11:58:15 +08:00
Peter Barker 5c3a0926a1 GCS_MAVLink: adjust for proximity rangefinder types changing namespacing 2019-10-31 11:58:15 +08:00
Andrew Tridgell 4593697634 GCS_MAVLink: use new flash_bootloader() API 2019-10-25 21:36:55 +11:00
Michael du Breuil cb1b236439 GCS_MAVLink: Use the vehicle singleton to directly set the flight mode 2019-10-25 08:48:22 +08:00
Andrew Tridgell 29e65a7294 GCS_MAVLink: supply IMU temperature in mavlink extensions 2019-10-10 13:23:03 +11:00
Do Carmo Lucas dc4ad26e96 GCS_MAVLink: updates to support the latest stable mavlink changes (IMU temperature extension) 2019-10-10 13:23:03 +11:00
Randy Mackay 3a113a31bb GCS_MAVLink: minor fix to set_message_interval 2019-10-02 16:09:44 +09:00
Tatsuya Yamaguchi 9a99d9bff5 GCS_MAVLink: add set_message_interval functions 2019-10-02 16:09:44 +09:00
Peter Barker 6d0c5da84a GCS_MAVLink: allow upload of fence using mission item protocol 
GCS_MAVLink: add support for fence inclusion circles

GCS_MAVLink: factor out a transfer_is_complete; start commenting properly
 2019-09-28 07:58:48 +09:00
Randy Mackay 5e3c6b4d3a GCS_MAVLink: allow proximity to send only upward facing distances 
this removes the requirement that a horizontal proximity sensor be enabled
 2019-09-25 15:22:13 +09:00
Peter Barker 2f60b230cd GCS_MAVLink: use singleton to get AP_AdvancedFailsafe pointer 2019-09-17 09:13:43 +10:00
Peter Barker 8da978b913 GCS_MAVLink: use sending_mavlink1 method in send_rc_channels_raw 2019-09-12 16:10:23 +10:00
Andrew Tridgell 98c2606c0a GCS_MAVLink: fixed assumption on return of snprintf 2019-09-12 08:43:31 +10:00
Peter Barker 8fc55b9678 GCS_MAVLink: remove comm_get_available 
available returns an unsigned integer, so this was just weird
 2019-09-10 15:45:27 +10:00
Peter Barker df5921a87c GCS_MAVLink: gate AP_DEVO_Telem behind !HAL_MINIMIZE_FEATURES 2019-09-04 17:47:33 +10:00
Michael du Breuil e5eeb6181d GCS_MAVLink: Remove the usage of force_safety_no_wait 2019-09-04 07:14:50 +10:00
Michael du Breuil a74f00d045 GCS_MAVLink: Remove single use method 2019-09-03 14:35:17 +10:00
Peter Barker 5d9b332bcb GCS_MAVLink: log exectuted COMMAND_LONG and COMMAND_INT packets 2019-08-27 09:32:00 +10:00
Andrew Tridgell cfc37f2089 GCS_MAVLink: log corrected timestamp for vision data 
this allows for debugging of link lag issues
 2019-08-26 12:27:31 +10:00
Peter Barker 052e721622 GCS_MAVLink: tweak timings debug messages 2019-08-24 15:33:50 +10:00
Peter Barker 74670a77be GCS_MAVLink: avoid allocating a GCS_MAVLINK per mavlink channel 2019-08-14 18:25:43 +10:00
Peter Barker 67bf00c1c3 GCS_MAVLink: ensure payload space before sending message ack 
Also add comment about how we shouldn't be sending this message at all.
 2019-08-13 16:48:17 +10:00
Peter Barker bb542ca39a GCS_MAVLink: queue AUTOPILOT_VERSION for sending instead of direct-send 
Also allows the message to be requested for streaming or with
REQUEST_MESSAGE

We weren't checking for buffer space before sending this out, so it was
a possible source of corruption.
 2019-08-13 16:29:45 +10:00
Peter Barker 57528b94cf GCS_MAVLink: allow complete() call on subclasses to fail 
Also terminate uploads if any error occurs fetching items
 2019-08-07 12:07:59 +10:00
Peter Barker 4b012ab62b GCS_MAVLink: deny upload of non-MISSION items if not doing mavlink2 2019-08-06 13:58:44 +10:00
Peter Barker cf0b7cf016 GCS_MAVLink: pass link object in place of channel to compass cal 
Also eliminate intermediate function as just adding noise
 2019-08-05 09:23:10 +10:00
Peter Barker 880e96448b GCS_MAVLink: tighten type on mavlink_coordinate_frame_to_location_alt_frame 2019-08-01 17:45:30 +10:00
Randy Mackay 767408ffe9 GCS_MAVLink: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Peter Barker 5e55aedd20 GCS_MAVLink: add printf-format attribute to send_text methods 2019-07-26 10:54:41 +10:00
Peter Barker 0bbe049477 GCS_MAVLink: assert max length of statustexts we send to the GCS 2019-07-22 23:05:15 -07:00
Peter Barker 93ca243987 GCS_MAVLink: rearrange mission item handling code 
This splits the missionitemprotocol handling entirely into separate
header files and separate compilation units.
 2019-07-18 10:48:57 +09:00
Pierre Kancir b1506ca652 GCS_MAVLink: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Peter Barker 459680e7c8 GCS_MAVLink: make Avoidance responsible for sending collision message 2019-07-16 09:52:54 +10:00
Michael du Breuil b3c6d3d75a GCS_MAVLink: Refactor battery current interface 2019-07-14 00:28:00 -07:00
Peter Barker 6cb8fcc466 GCS_MAVLink: move use of AP_AHRS_NAVEKF_AVAILABLE into cpp file 
This is defined in AP_AHRS which we only get transitively in the header
 2019-07-09 22:32:57 +10:00
Peter Barker 1ebbe45fe1 GCS_MAVLink: split sending of RC_CHANNELS and RC_CHANNELS_RAW 
Before this patch is applied we may never send the second message
because there's not room for it in the buffer and we can't return
failure-to-send (always interpreted as "retry") as we're in a void function.

Further, if you are on a mavlink2 connection we will not send out the
RC_CHANNELS_RAW message, depriving the user of any RC_CHANNELS messages.

This patch does have the drawback of doing more work on a mavlink1
connection - it has to fetch the data twice.  On the other hand, it also
allows the GCS to set the message rates independently for both
RC_CHANNELS and RC_CHANNELS_RAW so one or the other can be squelched.
That could be handy for reducing bandwidth if you know you're not using
more than 8 input channels.
 2019-07-09 13:08:45 +10:00
Peter Barker c8353c1c13 GCS_MAVLink: fill target system and target component in MISSION_ITEM responses 2019-07-09 09:25:06 +10:00
Peter Barker ebd8170a15 GCS_MAVLink: add missing include for AP_RTC 2019-07-04 13:57:40 +10:00
Michael du Breuil 18e979fd4f GCS_MAVLink: Include needed AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil f955a4e4d5 GCS_MAVLink: Don't retain a FrSky instance if we aren't using it 
Saves 96 bytes of RAM
 2019-06-26 11:59:41 +10:00
Peter Barker 278ac5e6ed GCS_MAVLink: correct deferred body timing debug 2019-06-25 19:59:49 +10:00
Peter Barker feddaabc42 GCS_MAVLink: handle out-of-time to send messages in parent class 2019-06-25 10:29:40 +10:00
Andrew Tridgell f28df4dff1 GCS_MAVLink: support MAV_CMD_BATTERY_RESET command 2019-06-25 09:56:25 +10:00
Peter Barker a55c40949b GCS_MAVLink: remove pointless protocol parameter to setup_uart 2019-06-25 09:47:08 +10:00
Peter Barker ca449cd979 GCS_MAVLink: stop pointlessly passing serial manager around 2019-06-25 09:47:08 +10:00
Peter Barker 45fab82345 GCS_MAVLink: eliminate redundant static pointer to serialmanager 2019-06-25 09:47:08 +10:00
Peter Barker c39a622653 GCS_MAVLink: take sw_version from AP_FWVersion struct 2019-06-18 10:54:01 +10:00
Michael du Breuil be7afe346b GCS_MAVLink: Fix AP_GPS include 2019-06-18 10:02:05 +10:00
Michael du Breuil 8c00102259 GCS_MAVLink: Reduce scoping on AP_BattMonitor include 2019-06-18 10:02:05 +10:00
Peter Barker ae85994c59 GCS_MAVLink: include internal error count as errors4 in SYS_STATUS 2019-06-12 10:05:59 +10:00
Peter Barker f385a4a329 GCS_Common: fix compiler warnings on missing parentheses 2019-06-11 21:50:53 +10:00
Randy Mackay 6ed09d83f3 GCS_MAVLink: send_home_position uses const Location reference 2019-06-11 13:13:22 +09:00
Peter Barker a025794bae GCS_MAVLink: correct is_streaming check and update of is-streaming mask 2019-06-11 09:26:10 +10:00
Peter Barker 99c56c1770 GCS_MAVLink: fix MAV.txp log field 
This was being promoted to an unsigned.
 2019-06-04 09:05:37 +10:00
Peter Barker 75ae6b59b0 GCS_MAVLink: allow Copter to disallow mavlink disarm 2019-05-30 07:37:30 +09:00
Peter Barker e340873d88 GCS_MAVLink: canonicalise on success on commanded-to-arm-when-armed 
This means the mavlink return value indicates the current arm status of
the vehicle rather than success/failure of transitioning to the armed or
disarmed state (where trying to arm when armed is considered a failure).

MAVLink is a lossy communication mechanism.  It would not be
unreasonable for a GCS to issue a disarm command multiple times to
increase the chances of the command getting through.
 2019-05-30 07:37:30 +09:00
Peter Barker b857d2c1af GCS_MAVLink: handle MAV_CMD_COMPONENT_ARM_DISARM 2019-05-30 07:37:30 +09:00
Peter Barker 1b90643751 GCS_MAVLink: report more internal errors in SYS_STATUS 2019-05-23 07:29:29 +10:00
Peter Barker d0105c8fa7 GCS_MAVLink: factor mission handling, use for Rally 
GCS_MAVLink: allow all mission types to be cleared

GCS_MAVLink: remove unused parameters from handle-mission-count
 2019-05-22 08:53:45 +10:00
Andrew Tridgell e2d863498b GCS_MAVLink: clear last msgs when done 
this makes MON and WDOG logs clearer
 2019-05-17 08:56:06 +10:00
Andrew Tridgell 64c723fd31 GCS_MAVLink: record mavlink msg IDs for watchdog 2019-05-15 15:33:48 +10:00
Andrew Tridgell 3772f58be9 GCS_MAVLink: removed unusued AP_Common/Semaphore.h 2019-05-15 15:33:48 +10:00
Tom Pittenger 1f3c3c853f GCS_MAVLink: move heartbeat sending to gcs instead of by vehicles 2019-05-14 10:54:45 -06:00
Tom Pittenger 4c641c6e2b GCS_MAVLink: comply with mavlink spec to ignore rc_override UINT16_MAX 2019-05-10 15:30:54 -07:00
Peter Barker a0c80a0b3b GCS_MAVLink: make send_text and send_textv const 2019-05-01 10:18:46 +10:00
Pierre Kancir cc14885913 GCS_MAVLINK: remove mavlink send_buf usage 2019-04-23 09:41:00 +10:00
Andrew Tridgell 2313970eaf GCS_MAVLink: added method to lockup autopilot 
used for watchdog testing
 2019-04-22 16:53:35 +10:00
Peter Barker 08cbf18958 GCS_MAVLink: header include fixes for RSSI changes 2019-04-09 09:33:13 +10:00
Pierre Kancir 5a7081b457 GCS_MAVLink: move check_latlng to Location 2019-04-08 12:56:01 -07:00
Andrew Tridgell f998a74adf GCS_MAVLink: don't report SCALED_PRESSURE2 with a non-existant airspeed sensor 2019-04-08 12:52:19 +10:00
Randy Mackay bbd051b246 GCS_MAVLink: send OPTICAL_FLOW messages to optical flow driver 2019-04-08 11:26:59 +09:00
Peter Barker 31daaf9933 GCS_MAVLink: add floating-point-constant designators 2019-04-05 23:04:17 -07:00
Peter Barker 5c4983ffcd GCS_MAVLink: stop converting compass cal floats to ints before saving 2019-04-05 06:09:25 -07:00
Michael du Breuil 8cafbe394f GCS_MAVLink: Fix includes 2019-04-05 20:12:53 +11:00
Rajat Singhal b7a40f2bfe GCS_Mavlink: Add function for sending POSITION_TARGET_LOCAL_NED message 2019-03-29 09:11:14 +11:00
Tom Pittenger 8845cc2053 GCS_MAVLink: rename dataflash to logger 2019-03-28 16:40:58 +11:00
Peter Barker 30a66d9f13 GCS_MAVLink: implement a convenience manual_override method 2019-03-27 22:33:47 -07:00
Peter Barker 778bff966c GCS_MAVLink: stop passing dataflash into handle_radio_status 
It can use the singleton instead
 2019-03-27 10:38:39 +11:00
Peter Barker 0ef26a6950 GCS_MAVLink: add support for request_message 2019-03-26 16:20:50 +11:00
Peter Barker b3203601f3 GCS_MAVLink: send internal errors as bitmask in sys_status 2019-03-21 21:34:33 +11:00
Peter Barker 236056ffbd GCS_MAVLink: take 0,0 as meaning set-home-to-current-location 
This isn't in spec, but is what Sub used to do, and what other vehicles
also used to do.

We treat 0,0 as "current location" in various other places, so it kind
of makes sense here too.
 2019-03-19 19:56:13 +11:00
Peter Barker 95745f0d31 GCS_MAVLink: move command-long DO_SET_HOME up 2019-03-19 19:56:13 +11:00
Peter Barker bc2080cea2 GCS_MAVLink: move devo telemetry handling to GCS 2019-03-19 14:39:14 +11:00
Peter Barker cf264a7d5e GCS_MAVLink: move vehicle_initialised to be on GCS not GCS_MAVLink 2019-03-19 14:39:14 +11:00
Peter Barker ab1c42696c GCS_MAVLink: move FRsky telemetry up into common GCS telemetry class 2019-03-19 14:39:14 +11:00
Peter Barker 5eb9622105 GCS_MAVLink: correct compilation for ALT_FRAME issue 2019-03-19 12:06:03 +11:00
Michael du Breuil 75caad52c0 GCS_MAVLink: Always check the return value on get_velocity_NED 2019-03-19 11:42:54 +11:00
Andrew Tridgell 778b88cba2 GCS_MAVLink: disable reboot when armed 
this prevents reboot on vehicles that have ARMING_REQUIRE=0, which
applies to some planes, but those vehicles tend to not use MAVLink
reboot anyway.
 2019-03-19 10:53:37 +11:00
Peter Barker 716b0fdc88 GCS_MAVLink: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Peter Barker bb1ae30594 GCS_MAVLink: move sending of RPM message up 2019-03-16 10:33:01 +09:00
Randy Mackay 27b50f125c GCS_MAVLink: send_set_position_target always sends alt-above-home 2019-03-15 14:51:35 +09:00
Randy Mackay 066a443e5f GCS_MAVLink: add send_set_position_target_global_int 
this supports sending the position target to an offboard navigation controller
 2019-03-15 14:51:35 +09:00
Peter Barker 34e09a55be GCS_MAVLink: support send_extended_sys_state 2019-03-12 09:16:13 +09:00
Michael du Breuil f7b34677df GCS_MAVLink: Don't send BATTERY_STATUS for empty instances 2019-03-11 22:42:59 +00:00
Peter Barker 74702b8688 GCS_MAVLink: make sending of send_pid_tuning up 2019-03-05 10:41:56 +11:00
Peter Barker ace5192852 GCS_MAVLink: retry sending home/origin if it fails 
Also grants us the ability to stream these messages
 2019-02-26 14:01:41 +11:00
Peter Barker 9f27e91f33 GCS_MAVLink: add simple stats to dataflash 2019-02-26 11:23:57 +11:00
Peter Barker 138d93702a GCS_MAVLink: use Location to change alt frames 2019-02-26 10:35:39 +11:00
Peter Barker cb33f290a7 GCS_MAVLink: move sensor flags to be a GCS thing rather than a GCS_MAVLINK thing 
These are a per-vehicle thing, not a per-mavlink-backend thing.
 2019-02-19 14:09:59 +11:00
Peter Barker 91c8d0b915 GCS_MAVLink: clarify packetReceive calling handlemessage checks 
modules/libcanard/
 2019-02-19 13:40:32 +11:00
Peter Barker bfb3f0d62e GCS_MAVLink: make capabilities comes from subclass, not HAL 2019-02-19 13:14:52 +11:00
Peter Barker de615ee11d GCS_MAVLink: move try_send_message of nav_controller_output up 2019-02-19 10:08:00 +11:00
Randy Mackay f8e49e5438 GCS_MAVLink: call send_esc_telemetry for AP_ToshibaCAN ESCs 2019-02-18 20:55:47 +09:00
Peter Barker 4a0887b807 GCS_MAVLink: measure stream slowdown in ms 
This costs us a couple of extra bytes of RAM and gains us not doing a
whole heap of multiplies
 2019-02-16 13:45:47 +11:00
Peter Barker 63427629e1 GCS_MAVLink: use visual odometry singleton 2019-02-15 16:56:13 +11:00
Peter Barker dffc5568fe GCS_MAVLink: remove redundant home validation checks 2019-02-15 08:28:45 +11:00
Peter Barker d8847a6192 GCS_MAVLink: move handling of command-int MAV_CMD_DO_SET_HOME up 2019-02-13 09:42:26 +11:00
Peter Barker 64b4e69e34 GCS_MAVLink: break out an altitude enumeration mapping function 2019-02-12 09:07:50 +09:00
Tom Pittenger 9f0e895c37 GCS_MAVLink: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Peter Barker 0ef7c6af59 GCS_MAVLink: move handling of fence point manipulation up 2019-02-08 11:47:59 +09:00
Peter Barker 8d45a8ff53 GCS_MAVLink: move handling of MAV_CMD_DO_SET_FENCE_ENABLED up 2019-02-08 11:47:59 +09:00
Peter Barker ae68b58678 GCS_MAVLink: move handling of RC overrides up 
Based on commit 8db5e5308731b6916d5da58a650cef015b887180 by dposea
 2019-02-05 13:59:21 +11:00
Peter Barker 120f0822ae GCS_MAVLink: move sending of sys_status message up 2019-02-05 11:07:39 +11:00
Peter Barker f1907679e7 GCS_MAVLink: move sending of fence_status message up 2019-01-31 13:44:29 +09:00
Peter Barker 8b74ab32a3 GCS_MAVLink: support get_message_interval 2019-01-30 13:56:55 +09:00
Peter Barker c487d120e3 GCS_Common: stop passing mission to Write_EntireMission 2019-01-29 19:07:05 -08:00
Michael du Breuil 753f360d06 GCS_Common: NACK a failed partial mission write 2019-01-23 00:06:07 -07:00
Peter Barker e4120c848c GCS_MAVLink: correct payload space check for mission requests 2019-01-22 09:01:57 +11:00
Peter Barker 8e19e805c6 GCS_Common: clarify enumeration item name MSG_NEXT_WAYPOINT 2019-01-22 09:01:57 +11:00
Peter Barker da1ded7cb9 GCS_MAVLink: rename queued_waypoint_send to queued_mission_request_send 2019-01-22 09:01:57 +11:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00