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24306 Commits

Author SHA1 Message Date
Andrew Tridgell
f6c45c3bcd AP_InertialSensor: cope with INS_MAX_INSTANCES < 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell
bb3b59966f HAL_ChibiOS: define INS_MAX_INSTANCES if less than 3 
save some flash and memory
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
4ef7d5b468 AP_DAL: make more APIs const 2020-11-10 16:15:45 +11:00
Andrew Tridgell
9b81c5a1e0 AP_NavEKF3: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
5f0e943f0f AP_NavEKF2: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
e273f73cb4 AP_DAL: fixed shadowed variable 2020-11-10 16:15:45 +11:00
Andrew Tridgell
1bdf6173ec AP_NavEKF3: removed have_ekf_logging 2020-11-10 16:15:45 +11:00
Andrew Tridgell
21dfdc2192 AP_NavEKF3: use DAL for body frame odometry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
8591b31665 AP_NavEKF2: cleanup unused code 2020-11-10 16:15:45 +11:00
Andrew Tridgell
9635231088 AP_DAL: added body frame odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6c4e552a0b AP_GPS: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
353ec29ab6 AP_Compass: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
b0ec4f8b93 AP_Baro: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
1bc82d3118 AP_AHRS: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
851cb30e0d AP_Logger: speed up startup with replay if LOG_DISARMED=0 2020-11-10 16:15:45 +11:00
Andrew Tridgell
29ab747982 AP_DAL: fixed navio build 2020-11-10 16:15:45 +11:00
Andrew Tridgell
c7cc26d9bc AP_DAL: rename xxprintf() to rprintf() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
9542f365f6 AP_DAL: fixed range beacon handling 2020-11-10 16:15:45 +11:00
Andrew Tridgell
d01534c7c6 AP_DAL: remove unnecessary variables 2020-11-10 16:15:45 +11:00
Andrew Tridgell
a0de6c620f AP_NavEKF3: use selected GPS for gps_yaw_deg() 
more than one GPS could provide yaw
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f4c3d7286c AP_NavEKF3: support replay with wheel odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
b8a3413f5e AP_DAL: support wheel odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
e87f98066f AP_NavEKF3: support replay with external navigation data 2020-11-10 16:15:45 +11:00
Andrew Tridgell
bec095d661 AP_NavEKF2: support replay with external navigation data 2020-11-10 16:15:45 +11:00
Andrew Tridgell
c068da154a AP_DAL: support external pos and velocity data 2020-11-10 16:15:45 +11:00
Andrew Tridgell
5260d677ef AP_DAL: fixed optical flow replay 2020-11-10 16:15:45 +11:00
Andrew Tridgell
7bbbbd314c AP_NavEKF3: added optflow support for AP_DAL 2020-11-10 16:15:45 +11:00
Andrew Tridgell
224792b8b8 AP_NavEKF2: added optflow support for AP_DAL 2020-11-10 16:15:45 +11:00
Andrew Tridgell
dab9d824fd AP_DAL: added optflow support 2020-11-10 16:15:45 +11:00
Andrew Tridgell
a56f07b74d AP_Math: allow build without other headers for vector2.h 2020-11-10 16:15:45 +11:00
Andrew Tridgell
31091d6307 AP_NavEKF3: use ekf_low_time_remaining for core scheduling 2020-11-10 16:15:45 +11:00
Andrew Tridgell
90a8c5cb1a AP_NavEKF2: use ekf_low_time_remaining for core scheduling 2020-11-10 16:15:45 +11:00
Andrew Tridgell
47c3fadc17 AP_DAL: added ekf_low_time_remaining() 
used by EKF for inter-lane scheduling
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
1848491ac2 AP_DAL: fixed GPS backend for multiple sensors 2020-11-10 16:15:45 +11:00
Andrew Tridgell
bf61910c7c AP_DAL: fixed shadowed variable 
found by semaphore build
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
50d03571da AP_DAL: fixed build without VisualOdometry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
b7d60b1d97 AP_Logger: added C field to EKF msgs 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f3c3778169 prevent duplicate EKF logging 
vehicle code sometimes tries to log the same data twice
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
fa75824948 AP_DAL: added standalone link test 
useful to check for clean linking of EKF2/EKF3

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
32bda36908 SITL: fixed build with no GCS 2020-11-10 16:15:45 +11:00
Andrew Tridgell
0700ca4882 AP_Vehicle: added DAL standalone vehicle type 2020-11-10 16:15:45 +11:00
Andrew Tridgell
ae56f554b9 AP_Vehicle: send watchdog reset msg at startup 
this helps if the watchdog will happen within 10s of startup
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
77687a9639 AP_UAVCAN: fixed build with no GCS 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
9b35bfba55 AP_AHRS: use enum class for takeoff/touchdown states 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
31fbb59384 AP_AHRS: delay EKF start until logging ready 
for replay to work reliably we need all the parameters output before
we init the EKF.

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
096aab9388 AP_NavEKF3: convert to use AP_DAL for new replay structure 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6be3d19e82 AP_NavEKF2: convert to use AP_DAL for new replay structure 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
97a2c5a576 AP_NavEKF: removed Log_EKF_Timing 
not needed for new replay

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
c0b20881d6 AP_Math: allow vector3.h to be included earlier in include chain 2020-11-10 16:15:45 +11:00
Andrew Tridgell
09aff03edc AP_Logger: support new replay system 
added allow_start_ekf and block write method for replay

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
daa0abeb13 AP_Logger: make structure check errors clearer 
add message name to more error messages
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
bd7ed003c2 AP_Logger: split out EKF messages and prepare for new replay 
adds core to more EKF message structures

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
e116b1ff0a AP_DAL: added data access layer library 
This provides a wrapper around sensor and system calls to allow for
logging for replay in EKF2 and EKF3

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Iampete1
1587d88f58 AP_Scripting: example saving serial data to SD card 2020-11-10 12:15:56 +11:00
Iampete1
60951a7891 AP_GPS: add use primary if 3D fix GPS_AUTO_SWITCH option 2020-11-10 12:01:56 +11:00
Iampete1
347723dbaf AP_GPS: add primary param 2020-11-10 12:01:56 +11:00
Iampete1
0c2037438b AP_Motors: output mask: do not apply copter sin params and epxo 2020-11-10 11:09:56 +11:00
Peter Barker
814aa4e5ec AP_AHRS: take secondary attitude from EKF3 if it is configured 2020-11-10 10:59:08 +11:00
Andrew Tridgell
f7daa4a93a AP_Compass: raise max scale factor and make symmetric 2020-11-10 10:15:39 +11:00
Rishabh
68b6ecc59c AC_Avoid: Mark OA_OPTIONS as a Rover-Only param 2020-11-09 08:37:47 +09:00
Andrew Tridgell
cb034c50a7 HAL_ChibiOS: fixed orientation of compass on M10070B 2020-11-08 16:13:17 +11:00
Andrew Tridgell
3b7b2b89a5 HAL_ChibiOS: added baro for mRo Location-one GPS 2020-11-08 16:13:17 +11:00
Tom Pittenger
df90e28b89 AP_ADSB: move code to new uAvionix backend 2020-11-05 07:02:56 -08:00
Tom Pittenger
f784fc7c5c AP_ADSB: create frontend/backend split 2020-11-05 07:02:56 -08:00
Peter Barker
fd9068de8a AP_L1_Control: correct zeroing of cross-track integrator 
This routine is generally only called at 10Hz, so the integrator was
regularly reset.
 2020-11-05 17:32:38 +11:00
Randy Mackay
d6869b9234 AC_PosControl: fix typo in posxy_p param desc 2020-11-05 14:59:00 +09:00
Mark Whitehorn
5f8b4968ec AP_Vehicle: add instructions for config_error loop 2020-11-05 15:04:10 +11:00
Mark Whitehorn
30a9bb4ff4 AP_BoardConfig: change message interval to 5 seconds to match scheduler_delay_callback 2020-11-05 15:04:10 +11:00
bugobliterator
9acaa84b8f AP_Param: disable cmdline parameters for AP_Periph 2020-11-04 19:59:40 +11:00
bugobliterator
0d41db5520 AP_HAL_SITL: flush data from select call as we don't wait select in AP_Periph 2020-11-04 19:59:40 +11:00
bugobliterator
09a0d8d0c0 HAL_SITL: add support for AP_Periph SITL build 2020-11-04 19:59:40 +11:00
bugobliterator
9f4457f1d2 HAL_Empty: add empty protocol method in RCInput 2020-11-04 19:59:40 +11:00
Tom Pittenger
7a09f88e83 AP_ADSB: refactor and renamed things and general cleanup for pre-backend split 2020-11-04 16:22:47 +11:00
Tom Pittenger
8bcc32db78 RC_Channel: added adsb health check 2020-11-04 16:22:47 +11:00
Tom Pittenger
37c6622b96 AP_Arming: add arming check for ADSB 2020-11-04 16:22:47 +11:00
Iampete1
e95376fbef AP_Scripting: add notify LED get RGB binding and example 2020-11-02 17:40:21 -07:00
Iampete1
0f2c06d798 AP_Notify: RGBLed: rename OFF define 2020-11-02 17:40:21 -07:00
Iampete1
2e4b61d96e AP_Notify: add scripting LED type 2020-11-02 17:40:21 -07:00
Iampete1
cf599952f5 AP_Notify: RGB LED remove unused varables 2020-11-02 17:40:21 -07:00
Iampete1
0668c5c584 AP_Scripting: support pass by refence on none bool return 2020-11-02 17:40:21 -07:00
Michael du Breuil
b30c55b3f3 AP_GPS: Support yaw from moving base station on SBF drivers 2020-11-03 11:12:20 +11:00
Michael du Breuil
4161e2eb28 AP_GPS: Factor out moving base offset helper 2020-11-03 11:12:20 +11:00
Hwurzburg
230798546e RC_Channel: correct metadata for RC_OPTION param 2020-11-03 11:06:36 +11:00
Michael du Breuil
0f5179d204 AP_Scheduler: Emit last internal error line 2020-11-03 11:04:13 +11:00
Michael du Breuil
25ca2a0828 AP_Logger: Reserve space in PM for last internal error line 2020-11-03 11:04:13 +11:00
Michael du Breuil
051640e2b2 AP_Math: Log line numbers on constrain_nan's for constrain float 2020-11-03 11:04:13 +11:00
Randy Mackay
2681d3afe2 AP_NavEKF3: simplify alignYawAngle 2020-11-03 11:00:01 +11:00
Peter Barker
fc49b55b85 AP_NavEKF3: make coreBetterScore const 2020-11-03 10:39:35 +11:00
Peter Barker
84c92b717f AP_NavEKF2: make coreBetterScore const 2020-11-03 10:39:35 +11:00
Phillip Kocmoud
c192efea0a hwdef:PixracerPro - Fix analog volt pin assignments 2020-11-03 08:17:54 +11:00
Andre Kjellstrup
e5ffc834e9 AP_Arming: Parameter check is not unused 2020-11-02 13:41:57 +11:00
Andrew Tridgell
46976c4358 HAL_ChibiOS: fixed remapping of ioline_t with BRD_ALT_CONFIG 
when a peripheral is made available via BRD_ALT_CONFIG we need to
remap the existing ioline_t in the UART and I2C drivers to use the new
pin.

This fixes an issue with half-duplex, inverted, swapped UART pins for
protocols like FPort and FPort2
 2020-10-28 19:51:45 +11:00
Andrew Tridgell
2dd58c8ed1 AP_RCProtocol: send null pkts for FPort2 
when we have no data to send, we should send an empty packet to ensure
the receiver schedules us for data as often as possible
 2020-10-28 19:51:45 +11:00
Iampete1
97b44dfe71 AP_Scripting: add DIR_DISABLE param 2020-10-28 19:22:45 +11:00
Iampete1
2bdcadd785 AP_Scripting: examples to load and save missions to the SD card 2020-10-28 19:21:26 +11:00
Randy Mackay
b726630ef4 AP_NavEKF3: pos timeout or glitch does not reset vel if fusing successfully 
vel is not reset if GPS velocity, optical flow, visual odometry or wheel
encoders are successfully being fused
 2020-10-28 19:06:53 +11:00
Randy Mackay
3b38aa6d7b AP_NavEKF3: GPS change pos reset uses ResetPositonNE and ResetPositionD 
Using these existing functions removes some code duplicate
non-functional change
 2020-10-28 19:03:34 +11:00
Siddharth Purohit
73dea6d29c AP_CANManager: return max number of drivers for get_num_drivers 2020-10-28 18:38:05 +11:00
Oliver Walters
917f7d8797 AP_PiccoloCAN: Update timeout values to use 64-bit calls 
- Prevent premature overflow due to 32-bit variables
 2020-10-28 18:25:45 +11:00
Oliver Walters
491499ad16 AP_PiccoloCAN: Fixed license text in auto-generated files 
- License file had been replaced due to re-generation of protocol files
- Original license file and header text reverted
 2020-10-28 18:25:45 +11:00