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24901 Commits

Author SHA1 Message Date
Randy Mackay
0fb168d6ab AP_NavEKF: source supports GSF yaw 2021-01-05 10:58:06 +11:00
Randy Mackay
5891c6ace8 AP_NavEKF3: separate GPS yaw from ExtNav yaw 2021-01-05 10:58:06 +11:00
Randy Mackay
6850b48ea1 AP_NavEKF3: add comments for yaw sensor variables 2021-01-05 10:58:06 +11:00
Randy Mackay
fca8eb0778 AP_NavEKF_Source: add ExtNav yaw source 2021-01-05 10:58:06 +11:00
Peter Hall
1f7d796845 AP_Scripting: add fast param bindings and example 2021-01-05 10:55:36 +11:00
Peter Hall
9dae370356 AP_Scripting: add param accesss helper 2021-01-05 10:55:36 +11:00
Andrew Tridgell
16753a51f4 HAL_Linux: use ExpandingString 2021-01-05 10:52:00 +11:00
Andrew Tridgell
42bc9adfb7 HAL_ChibiOS: use ExpandingString for @SYS buffers 2021-01-05 10:52:00 +11:00
Andrew Tridgell
6da0212ce4 AP_Scheduler: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
c21b6b4a16 AP_HAL_SITL: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
96cbde0ee6 AP_HAL: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
c924a9917e AP_Filesystem: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
0c6b4a1045 AP_CANManager: use ExpandingString class 2021-01-05 10:52:00 +11:00
Andrew Tridgell
6c1891fcb3 AP_Common: added ExpandingString class 
useful for @SYS output construction
 2021-01-05 10:52:00 +11:00
Peter Hall
1a14c8a05b AC_PID: populate pid_info limit feild 2021-01-05 10:27:28 +11:00
Peter Hall
b2e1d88da8 AP_Logger: add limit flag to PID logs 2021-01-05 10:27:28 +11:00
Andrew Tridgell
69d3264e55 StorageManager: allow for CANDNA storage on F405 boards 
this allows for boards using the log structure storage with 15360
bytes of storage have a CANDNA area.

This fixes CAN support on F405 boards
 2021-01-05 10:25:17 +11:00
Peter Barker
8f8283e0f0 AP_Motors: rc_map_mask -> motor_mask_to_srv_channel_mask 
the naming of this function precedes our rc/srv-channel split
 2021-01-05 10:19:32 +11:00
Peter Barker
d24e569b20 GCS_MAVLink: add option to panic the autopilot 2021-01-05 10:04:25 +11:00
Peter Barker
ca6c133042 AP_HAL_ChibiOS: do not reuse va_list after it has been ended 2021-01-05 10:04:25 +11:00
Andrew Tridgell
a74d087fd8 SRV_Channel: prevent FPE with SERVOn_MIN==SERVOn_MAX 2021-01-05 08:23:28 +11:00
Josh Henderson
4a7f663cad AP_Logger: README add multiplier descriptions 
Add clarity to the multipliers and descriptions
 2021-01-04 20:45:38 +11:00
Andy Piper
27d7c73c8e AP_RCProtocol: rc_protocols_mask must be set before bootstrap occurs 2021-01-04 20:04:19 +11:00
Josh Henderson
ceb2c87970 SITL: align default i2c device bus for BattMonitor 2021-01-04 18:30:09 +11:00
Peter Barker
c81df7b5ad AP_Math: add tests for circle-segment-intersection 2021-01-04 13:58:42 +11:00
Peter Barker
f534963413 AP_Math: consolidate error checking 2021-01-04 13:58:42 +11:00
murata
4ffc559ccc AP_Math: judge isnan judgment before operation 2021-01-04 13:58:42 +11:00
Peter Barker
8977f3a859 SITL: correct I2C message handling 2021-01-04 12:49:20 +11:00
Peter Barker
23d393e108 SITL: add I2C 8Bit-register methods 2021-01-04 12:49:20 +11:00
Peter Barker
3c16f164df AP_HAL_SITL: correct I2C callback interval 2021-01-04 11:26:12 +11:00
Andrew Tridgell
324ff178d8 HAL_ChibiOS: fixed CUAV_GPS defaults.parm 2021-01-03 16:24:12 -08:00
Tom Pittenger
113f792ad1 AP_HAL_ChibiOS: update periph targets who have buzzer/LEDs with notify 2021-01-03 16:24:12 -08:00
Tom Pittenger
7dde981de6 AP_Notify: add public accessor and param defaults 2021-01-03 16:24:12 -08:00
Andrew Tridgell
6f4bfed82d HAL_ChibiOS: fixed build with alarm and no PWM channels 
this fixes a build error due to conditional always being false when
NUM_GROUPS==0 by using a C++ iterator. It also makes the code neater
 2021-01-04 09:04:06 +11:00
Peter Barker
8e34388a20 SITL: move simulated maxsonari2c to bus 0 
.... where the driver expects it by default
 2021-01-03 20:36:54 +11:00
Peter Barker
e5fd661caf SITL: correct I2C multi-bus support 2021-01-03 20:36:54 +11:00
Peter Barker
21ffa4d259 SITL: add sanity check for duplicate bus/addr I2C devices 2021-01-03 20:36:54 +11:00
Peter Barker
995f5d1dad SITL: increase quad scanner range to 18m 
Matches the value we send for Rover, which is useful until we can
reflect on the simulation to discover its maximum range
 2021-01-03 18:54:54 +11:00
Rishabh
2f5f55f680 SITL: Added quadcopter morse example with laser scanner 2021-01-03 18:54:54 +11:00
Peter Barker
b1239dcd06 SITL: correct OBSTACLE_DISTANCE message output from SIM_Morse 2021-01-03 17:49:44 +11:00
Andy Piper
40090dcce9 AP_UAVCAN: compile fix for debug/assertions 2021-01-03 08:57:13 +11:00
Andy Piper
176c648156 AP_Terrain: compile fix for gcc 9 2021-01-03 08:57:13 +11:00
Andy Piper
779c2a9e5f AP_Logger: move logger IO to a separate thread 2021-01-02 22:30:08 +11:00
Andrew Tridgell
09603e29ce AP_Compass: fixed external handling for BMM150 2021-01-02 10:31:15 +11:00
Andrew Tridgell
3d4a8829f3 AP_Compass: added BMM150 as available external mag 2021-01-02 10:31:15 +11:00
Andrew Tridgell
e747edbcf2 AP_NavEKF3: fixed init order for scheduler 
this can impact replay of EKF2
 2021-01-02 10:30:26 +11:00
Andrew Tridgell
b36bfe4206 AP_NavEKF2: fixed init order for scheduler 
this can impact replay of EKF2
 2021-01-02 10:30:26 +11:00
Hwurzburg
ce361e51bf HAL_ChibiOS: Reinstate HAL_MINIMIZE_FEATURES for 1MB F7 boards 2021-01-02 08:57:47 +11:00
Andrew Tridgell
6ed4eca57f AP_CANManager: fixed use of CANSensor on multiple ports 
we should not increment _num_drivers if we don't have a driver yet
 2021-01-02 06:25:20 +11:00
Andrew Tridgell
418367c266 HAL_SITL: allow --home to specify a location from locations.txt 
this will make it easy to use a named location in MissionPlanner SITL
 2021-01-01 17:30:32 +11:00
Andrew Tridgell
a4517032c5 AP_UAVCAN: log all UAVCAN devices in CAND log message 2021-01-01 17:30:14 +11:00
Andrew Tridgell
0ae9b28198 AP_Logger: added get_log_start_count() 
used by UAVCAN to know if it should log CAN devices on log rotation
 2021-01-01 17:30:14 +11:00
Andrew Tridgell
4fdf315760 AP_Logger: use null terminated strings 
this prevents logging garbage for strings that are shorter than the
length specifier (eg. 'Z'). This assumes we will not want to log
binary data as strings
 2021-01-01 17:30:14 +11:00
Andrew Tridgell
66c05bef76 AP_RangeFinder: added USD1 CAN driver 
also known as uLanding CAN
 2021-01-01 17:29:54 +11:00
Andrew Tridgell
943918d511 AP_Arming: added USD1 CAN 2021-01-01 17:29:54 +11:00
Andrew Tridgell
b7fa1a4b98 AP_CANManager: added USD1 CAN driver type 2021-01-01 17:29:54 +11:00
Michael du Breuil
60af6633cf AP_EFI: Add NWPMU CAN driver 2021-01-01 17:29:54 +11:00
Andrew Tridgell
fb84baf8a5 AP_Arming: added EFI_NWPMU 2021-01-01 17:29:54 +11:00
Andrew Tridgell
db798ace05 AP_CANManager: added EFI_NWPMU 2021-01-01 17:29:54 +11:00
Andrew Tridgell
32c3a2feef AP_CANManager: added CANSensor class 
this makes creation of custom CAN protocol handlers much easier
 2021-01-01 17:29:54 +11:00
Andrew Tridgell
e260c7ad59 HAL_ChibiOS: update f303-MatekGPS to allow disable of MSP 
and use DMA for MSP
 2021-01-01 15:40:13 +11:00
David B. Bitton
8dbe0a71ba AP_HAL_ChibiOS: add support for Toshiba LED 2020-12-31 11:02:10 -08:00
Tom Pittenger
8e6278f269 AP_ADSB: add Sagetech XP driver 2020-12-30 17:56:38 -08:00
Tom Pittenger
ffd3d1da1d AP_SerialManager: add support for ADSB protocol 2020-12-30 17:56:38 -08:00
Tom Pittenger
afaca30075 AP_HAL: add helpers le24toh_ptr(), be24toh_ptr(), put_le24_ptr(), put_be24_ptr() 2020-12-30 17:56:38 -08:00
Hwurzburg
e11677807b Plane: Unify tilt servo names 2020-12-30 21:21:57 +11:00
Andy Piper
401e5c2073 AP_HAL_ChibiOS: add support for bidir DShot support in RCOutput 
add support for sampling GPIO pins using timer
don't restart pwm group when not doing bi-dir
fix hwdef generation preproc for TIM DMA
decode telemetry at the start of the dshot cycle
calculate dshot pulse separation correctly and ensure we output rapidly enough
calculate dshot min periods and timeouts correctly
refactor dshot_send() into dshot_send_groups()
use bi-dir dshot channel mask
selectively enable bi-dir RC Channels
process bi-dir mask correctly when allocating DMA channels
allow UP and CH DMA channel sharing
optionally enable bidir vars in hwdef.

enable bi-dir dshot in KakuteF7Mini
enable bi-dir dshot in OmnibusF4Pro
enable bi-dir dshot in OmnibusNanoV6
enable bi-dir dshot in MatekF405
enable bi-dir dshot in fmuv5
enable bi-dir dshot in fmuv3
enable bi-dir dshot in OmnibusF7V2
enable bi-dir dshot in OmnibusNanoV6
enable bi-dir dshot in CubeOrange
enable bi-dir dshot in Pixracer
enable bi-dir dshot in mRoPixracerPro

Co-authored-by: bugobliterator <siddharthbharatpurohit@gmail.com>
 2020-12-30 19:14:16 +11:00
Andy Piper
5436784d38 AP_Logger: add ESC error rate 2020-12-30 19:14:16 +11:00
Andy Piper
1c79f22ba2 AP_HAL: make erpm accessible from RCOutput 
give access to erpm error rate
add bi-directional dshot mask modifier
 2020-12-30 19:14:16 +11:00
Andy Piper
c8b2f11ab6 AP_InternalError: add dma_fail 2020-12-30 19:14:16 +11:00
Andy Piper
f60fdde492 AP_BLHeli: return motor frequencies from bi-dir dshot if available 
add channel mask to cater for bi-dir dshot
call into rcout to setup bi-dir dshot
log bi-dir telemetry even when regular telemetry is disabled
don't expose bi-dir dshot if not compiled in
 2020-12-30 19:14:16 +11:00
oneWayOut
654aea1cd1 SITL: delete unused parameter 'Vector3f &body_accel' in Plane::calculate_forces() 2020-12-30 18:59:12 +11:00
murata
282590668d AP_RangeFinder: Make measurement time and call back time static constant 
Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com>
 2020-12-30 18:29:35 +11:00
Andy Piper
253ce18184 AP_HAL_SITL: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
526ae5d2f4 AP_HAL_Empty: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
74633e55cc AP_HAL_Linux: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
07f199ea1a AP_HAL_ChibiOS: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
9e7c60178d AP_HAL: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper
048deeb43e AP_Logger: check is_system_initialized() when determining liveness 2020-12-30 18:16:59 +11:00
Andy Piper
c8e464ebea AP_HAL: add HAL_ENABLE_THREAD_STATISTICS to boards 2020-12-30 18:15:05 +11:00
Andy Piper
83c8807b39 AP_HAL_ChibiOS: when HAL_ENABLE_THREAD_STATISTICS is defined add ChibiOS thread stats to threads.txt 
define HAL_ENABLE_THREAD_STATISTICS in hwdef.h
 2020-12-30 18:15:05 +11:00
Andy Piper
b6a008c73d AP_Filesystem: increase ftp thread buffer size when HAL_ENABLE_THREAD_STATISTICS is defined 2020-12-30 18:15:05 +11:00
Andy Piper
a4b2930223 AP_HAL_ChibiOS: iFlight Beast H7 AIO hwdef 2020-12-30 18:13:03 +11:00
ukmook
bf34041211 AP_HAL_ChibiOS: add support for Pixracer-periph 2020-12-29 07:52:39 -07:00
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
Hwurzburg
9728dee344 AP_Button: expand info in metadata 2020-12-29 11:11:40 +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
Arsh
3df1bd84e1 AP_NavEKF_Source:Fixed some style issues 2020-12-28 08:46:24 +09:00
Tom Pittenger
5432c9957a AP_HAL_ChibiOS: rename AP_PERIPH_<feature>_DEFAULT to HAL_PERIPH_<feature>_DEFAULT 2020-12-28 09:16:02 +11:00
Andrew Tridgell
9fcf36bad9 AP_RCProtocol: save memory in IO firmware 
disable FPort2 to save memory.
Disable SBUS_NI as it is not needed on IOMCU as it has a dedicated
inverter
 2020-12-28 08:27:23 +11:00
Hwurzburg
c73158ebe7 Update functions for rear tilt servos 
and unity names
 2020-12-27 15:21:10 +11:00
Tom Pittenger
e3e876d4ed AP_SerialManager: clear default protocols for AP_Periph 2020-12-25 16:24:50 -07:00
Tom Pittenger
083088bfff AP_HAL_ChibiOS: adjust defaults to use param instead of hardcoded defaults 2020-12-25 16:24:50 -07:00
Peter Barker
7b9fbe3b30 AP_Mount: support MAV_MOUNT_MODE_HOME_LOCATION to point at HOME 2020-12-25 12:17:27 +11:00
Ari Krupnik
cfb1213f43 AP_HAL: standard spelling of variant 2020-12-25 00:01:50 +11:00
Ari Krupnik
79e1f5e8bd AP_HAL_ChibiOS: standard spelling of variant 2020-12-25 00:01:50 +11:00
Ari Krupnik
1d288316cc AP_GPS: standard spelling of variant 2020-12-25 00:01:50 +11:00
Peter Barker
69c97c1565 SITL: add support for multiple i2c buses 2020-12-24 16:05:49 +11:00
Peter Barker
bddea9e046 AP_HAL_SITL: add support for multiple i2c buses 2020-12-24 16:05:49 +11:00