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28347 Commits

Author SHA1 Message Date
Peter Barker
3030c0b4f8 AP_OpticalFlow: adjust for rename of OpticalFlow.h to AP_OpticalFlow.h 2021-12-28 10:16:20 +11:00
Peter Barker
e8fc4b33e1 AP_OpticalFlow: move OpticalFlow.h to AP_OpticalFlow.h 2021-12-28 10:16:20 +11:00
Andrew Tridgell
6a2303f72d hwdef: enable telem3 (SERIAL5) TX on Pix32v5 
this is now safe as we disable the TX/RX pins on ports with
SERIALn_PROTOCOL = -1

as this board defaults to protocol -1 for SERIAL5, we can enable this
if the user wishes to use telem3
 2021-12-28 10:13:58 +11:00
Andrew Tridgell
97fee2d1cc AP_VisualOdom: added VOXL backend type 
this will make it easier to have custom behaviour for VOXL
 2021-12-27 12:32:41 +11:00
Andrew Tridgell
8654ea886d AP_VisualOdom: support error estimates with quaternion 2021-12-27 12:32:41 +11:00
Andrew Tridgell
20dd667fdc GCS_MAVLink: support ODOMETRY message for VIO 
used by VOXL
 2021-12-27 12:32:41 +11:00
Andrew Tridgell
05f112ea17 SITL: support simulation of ODOMETRY message 2021-12-27 12:32:41 +11:00
Nikolay March
cceae1acf3 hwdef: Redefine DMA priority PH4-mini 
BUG.
Without redefining priority there is no DMA on any RX of serial ports.
Now it is.
Without DMA, you cannot normally use the serial port for the CRSF protocol.
 2021-12-27 11:25:51 +11:00
Shiv Tyagi
fa6adc0beb SITL: add JEDEC dataflash simulator 
We currently use AP_Logger_SITL for this purpose but we can instead add a dataflash simulator which can work with existing AP_Logger_Dataflash backend instead of using AP_Logger_SITL.

Co-Authored-By: Divyateja Pasupuleti <divyateja2004@gmail.com>
 2021-12-25 09:14:31 +11:00
Shiv Tyagi
3533e1e0ed AP_Logger: remove AP_Logger_SITL 
We now use jedec dataflash simulator for this purpose. Hence, we should remove these files and all references to HAL_LOGGING_SITL_ENABLED

Co-Authored-By: Divyateja Pasupuleti <divyateja2004@gmail.com>
 2021-12-25 09:14:31 +11:00
Shiv Tyagi
af950e266b AP_HAL_SITL: add dataflash to spi device table 
We simulate jedec flash for logging. Hence, we need to add dataflash to device table. Also, we need to remove HAL_LOGGING_SITL_ENABLED since we no longer need it

Co-Authored-By: Divyateja Pasupuleti <divyateja2004@gmail.com>
 2021-12-25 09:14:31 +11:00
Peter Barker
939407a26f AP_NMEA_Output: remove pointless use of intermediate res variables 2021-12-23 21:04:18 +11:00
Peter Barker
97ea8b52af AP_Baro: KellerLD: clean up reading of calibration data 
Co-authored-by: Josh Henderson <hendjoshsr71@gmail.com>

Checks all return values from transfer functions to avoid use of
uninitialised data.
 2021-12-22 18:50:58 +11:00
yaapu
c0663da918 AP_RCTelemetry: added ExpressLRS support 2021-12-22 18:48:49 +11:00
yaapu
55bfa41d13 AP_RC_Protocol: added ExpressLRS support 2021-12-22 18:48:49 +11:00
yaapu
76bd10bf02 AP_RCProtocol: added custom telemetry frame types and subtypes to debug trace 2021-12-22 18:48:49 +11:00
mateksys
be601acd89 AP_HAL_ChibiOS: add MatekF405-TE hwdef 2021-12-22 18:47:37 +11:00
Peter Hall
98c5704b92 AP_TECS: add reset throttle I function 2021-12-22 18:46:14 +11:00
Andy Piper
fbaa2e7b09 AP_Math: allow selection of inline version of vector operations for performance. 2021-12-22 18:23:33 +11:00
Andy Piper
fbdeea2d03 Filter: optimize hot parts of notch filter updates 2021-12-22 18:23:33 +11:00
Andy Piper
6e3b502110 AP_InertialSensor: inline vector ops for backends and temp cal 2021-12-22 18:23:33 +11:00
Andy Piper
9ba1cbc9d8 AP_Vehicle: log up to 12 harmonic notch frequencies 2021-12-22 18:13:38 +11:00
Andy Piper
c50ccd1d09 AP_GyroFFT: use harmonics for harmonics and number of notches elsewhere 
modify energy based on peak width
always log harmonic notch frequencies
 2021-12-22 18:13:38 +11:00
Andy Piper
5259272326 AP_HAL_Empty: remove redundant harmonics from DSP 2021-12-22 18:13:38 +11:00
Andy Piper
fa91e74fde AP_HAL_SITL: remove redundant harmonics from DSP 2021-12-22 18:13:38 +11:00
Andy Piper
2fab99d647 AP_HAL_ChibiOS: remove redundant harmonics from DSP 2021-12-22 18:13:38 +11:00
Andy Piper
d4024d9216 AP_HAL: allow configuration of maximum number of notches based on MCU type 
increase notch filters in SITL
remove redundant harmonics from DSP
 2021-12-22 18:13:38 +11:00
Andy Piper
d44478ff59 AP_InertialSensor: calculate number of notches based on motor count 
configure default harmonics if dynamic harmonics
set number of notches correctly for FFT operation
include static notch in filter calculation and allow harmonic options on static notch
 2021-12-22 18:13:38 +11:00
Andy Piper
34920ebd60 Filter: allow harmonics and notch-per-motor in harmonic notch 
allow default harmonics to be configured
allow combination of harmonics and indpendent centre frequencies
pre-calculate number of harmonics
 2021-12-22 18:13:38 +11:00
arbalasquide
fd3c83c0d1 AP_Math: Add AUS_TO_MAH definition 2021-12-22 07:52:03 +11:00
arBalasquide
10b4eebce4 AP_BattMonitor: Add calculate_mah, add unit tests 2021-12-22 07:52:03 +11:00
Andrew Tridgell
08ca708347 AP_SerialManager: fixed AP_Periph GPS 
the disable of RX/TX pins broke AP_Periph on boards that don't enable
the GCS, as they don't have the SERIALn parameters, so we disable the
UART pins of the GPS
 2021-12-21 20:14:55 +11:00
Andrew Tridgell
ba58558bd1 SITL: fixed default BATT_CAPACITY for SITL 
don't override from JSON model unless we have a value
 2021-12-21 19:53:43 +11:00
Mingchen Zhang
61e0c5b6e7 AP_SmartAudio: fix a bug that would starve the lower priority thread, such as scripting. 2021-12-21 16:03:44 +09:00
Randy Mackay
e41cad8bd7 SRV_Channel: minor param desc format fix 2021-12-21 14:45:49 +09:00
Brad Stinson
cd39110b68 hwdef: add support for PixC4-Jetson 
add support for building IOMCU with F103 and 8MHz clock
 2021-12-21 13:05:34 +11:00
Andrew Tridgell
a39040d864 AC_AutoTune: limit autotune target rates to parameter limits 
this makes it safer to autotune a large vehicle which may become
unstable at very high target rates
 2021-12-21 11:02:51 +09:00
Andrew Tridgell
53f1fc1295 AC_AttitudeControl: added get_ang_vel_yaw_max_rads() 2021-12-21 11:02:51 +09:00
Andrew Tridgell
178ae9e0c1 AP_RCTelemetry: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:07:44 +11:00
Andrew Tridgell
366ff24941 AP_RangeFinder: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:07:44 +11:00
Andrew Tridgell
93d8a0606f AP_Proximity: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:07:44 +11:00
Andrew Tridgell
0da0f6dd37 AP_ADSB: use have_serial when detecting 
avoid find_serial() as it changes port options
 2021-12-21 11:07:44 +11:00
Andrew Tridgell
47590a55ff AP_RCProtocol: allow changes of serial settings between protocols 
if we are searching for new protocols then allow for baudrate table
changes
 2021-12-21 11:07:44 +11:00
Andrew Tridgell
deb2d6b782 AP_SerialManager: added have_serial() method 
this checks if we have the protocol without setting the options on the
uart
 2021-12-21 11:07:44 +11:00
Peter Barker
600b085cf3 AP_Logger: correct constraint of maximum message ID 2021-12-21 10:42:18 +11:00
Peter Barker
168f278959 AP_Logger: reallocate 32 IDs from vehicles to main message area 
ArduPlane uses ~18 messages and the list is relatively static, so this
should be a reasonable reallocation.

We're using a lot of Log_Write(...) to create messages dynamically - but
that requires IDs and we only left space for about 18 before this patch

More space is left to ease future use of IDs in some libraries
 2021-12-21 10:42:18 +11:00
Jaaaky
db8d08b349 SRV_Channel: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
71154105e4 SITL: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
e991bff0d5 AP_VisualOdom: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
3008a480d5 AP_UAVCAN: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
37a08507df AP_ToshibaCAN: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
e92c900b56 AP_Scheduler: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
8512652511 AP_RCTelemetry: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
91e3441c6d AP_RCProtocol: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
485227b2c1 AP_Param: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
da3b064a31 AP_OSD: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
bbb38504d6 AP_InertialSensor: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
08d44815f6 AP_HAL_Linux: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
f588b08004 AP_HAL_ESP32: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
f1f31c1aef AP_HAL_ChibiOS: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
60fcfae2de AP_GyroFFT: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
6433547592 AP_GPS: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
c7b1e05f1d AP_FETtecOneWire: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
bfb9b1ac73 AP_Declination: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
d27f122295 AP_Compass: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
f8f9038092 AP_Baro: Fix multi #include's 2021-12-21 10:38:46 +11:00
Jaaaky
0c16ebec6c AC_PrecLand: Fix multi #include's 2021-12-21 10:38:46 +11:00
Shiv Tyagi
4b7b5a4d90 AP_OSD: fix code causing errors when OSD is compiled out 
This fixes the code causing problem in compiling out OSD
 2021-12-21 10:06:01 +11:00
Hwurzburg
ff3c4b8bda RC_Channel: add RC option to report CRSF LQ as RSSI 
Co-author: Jules Gilson <julesgilson@yahoo.co.uk>
 2021-12-21 10:04:33 +11:00
Hwurzburg
a18a4e5719 AP_RCTelemetry: add RC option to report CRSF LQ as RSSI 
Co-author: Jules Gilson <julesgilson@yahoo.co.uk>
 2021-12-21 10:04:33 +11:00
Hwurzburg
eaa557106a AP_RCProtocol: add RC option to report CRSF LQ as RSSI 
Co-author: Jules Gilson <julesgilson@yahoo.co.uk>
 2021-12-21 10:04:33 +11:00
RickReeser
d95c997606 AC_PosControl: fix comment 
In ArduCopter/mode.cpp, ignore_descent_limit is FALSE unless landing:

        // do not ignore limits until we have slowed down for landing
        ignore_descent_limit = (MAX(g2.land_alt_low,100) > get_alt_above_ground_cm()) || copter.ap.land_complete_maybe;
 2021-12-21 07:41:47 +09:00
Iampete1
3606022cd7 AP_Scripting: add MiniCheetah CAN motor driver example 2021-12-21 08:51:22 +11:00
Peter Barker
f6fa676411 AP_AIS: correct number of bytes to read from device 2021-12-20 18:39:01 +09:00
bugobliterator
62945e1d85 AP_HAL_ChibiOS: use common directory reference wrt hwdef scripts 2021-12-20 12:47:25 +11:00
Paul Riseborough
5178f4a7d0 AP_NavEKF3: Add missing covariance row reset 2021-12-20 09:28:37 +11:00
Oliver
80c7c9f16a AP_PiccoloCAN: Bug fix for ESC temperature data 
- Fixes issues with temperature data in telemetry and logs
- Use the maximum of available temperature values for the ESC (where available)
 2021-12-19 10:50:37 +11:00
Peter Barker
a281c3ef91 AP_HAL_ChibiOS: remove stray 'No Crash Detected' diagnostic 2021-12-19 10:48:44 +11:00
Peter Barker
bdeec0868e AP_HAL_ChibiOS: turn wind-compensation off in hwdef defaults 2021-12-19 10:45:16 +11:00
Peter Barker
5ff410f2cb AP_Baro: turn wind-compensation off using hwdef defaults 2021-12-19 10:45:16 +11:00
Peter Barker
c6734ad825 AP_InertialSensor: correct logging of inertial-sensor reg-change logging 2021-12-18 21:25:27 +11:00
bugobliterator
f0073e472b HAL_ChibiOS: set SWD pins pulled up and low by default 2021-12-17 22:51:18 -08:00
Shiv Tyagi
c34301d925 AP_BattMonitor: remove MPPT_PacketDigital from Type enum 
we have removed AP_BattMonitor_MPPT_PacketDigital, hence this should be removed too
 2021-12-17 20:24:25 +09:00
Shiv Tyagi
814e0f9cac AP_Arming: remove Driver_Type_MPPT_PacketDigital from CAN checks 
we have removed AP_BattMonitor_MPPT_PacketDigital, hence this should be removed too
 2021-12-17 20:24:25 +09:00
Shiv Tyagi
b2073e4e1c AP_HAL_ChibiOS: remove stray define HAL_PERIPH_ENABLE_BATTERY_MPPT_PACKETDIGITAL 
We have removed the class AP_BattMonitor_MPPT_PacketDigital, hence this should be removed too
 2021-12-17 20:24:25 +09:00
Shiv Tyagi
d846a81055 AP_CANManager: remove MPPT_PacketDigital parameter description 
We have removed the class AP_BattMonitor_MPPT_PacketDigital, we should also remove these from parameter descriptions and enums
 2021-12-17 20:24:25 +09:00
Shiv Tyagi
ef5b43ca95 AP_Baro_KellerLD : add SensorMode enum and _p_mode property 
This adds SensorMode enum and _p_mode property which is used to set _p_mode_offset

Co-Authored-By: Josh Henderson <69225461+hendjoshsr71@users.noreply.github.com>
Co-Authored-By: ES-Alexander <25898329+ES-Alexander@users.noreply.github.com>
 2021-12-17 11:58:19 +11:00
Shiv Tyagi
dd00fd720d AP_Baro_KellerLD : set/update _p_mode_offset based on _p_mode 
This initialises/updates _p_mode_offset on the basis of _p_mode

Co-Authored-By: Josh Henderson <69225461+hendjoshsr71@users.noreply.github.com>
Co-Authored-By: ES-Alexander <25898329+ES-Alexander@users.noreply.github.com>
 2021-12-17 11:58:19 +11:00
Jaaaky
6cae738ab8 StorageManager: fix write_block() comment 2021-12-17 09:53:47 +09:00
Tom Pittenger
e48adbf1c0 AP_ADSB: post link to uAvionix UCP protocol 2021-12-17 09:53:02 +09:00
Peter Barker
0cb4425eb9 AP_NavEKF3: fix type, 'willbe' -> 'will be' 2021-12-17 09:44:57 +09:00
Peter Barker
1886b2dccd AP_NavEKF2: fix type, 'willbe' -> 'will be' 2021-12-17 09:44:57 +09:00
QioTek
e5a8695640 AP_InertialSensor: added support for ICM-20608-D sensor 2021-12-17 07:58:48 +11:00
Leonard Hall
b7801947af AC_PID: AC_PID_2D: let I term change direction but not grow when limited 2021-12-16 09:54:49 +09:00
Leonard Hall
90db81354b AC_AttitudeControl: AC_PosControl: Prioritize crosstrack acceleration 2021-12-16 09:54:49 +09:00
Leonard Hall
1e124ca957 AP_Math: Control: Add directional based acceleration limit 
AP_Math: Control: Add directional based acceleration limit
 2021-12-16 09:54:49 +09:00
Shiv Tyagi
b34a7e46a8 AP_BatteryMonitor: remove AP_BattMonitor_MPPT_PacketDigital class 
since latest versions of PacketDigital MPPT support UAVCAN, we can remove this older class
 2021-12-16 09:39:43 +09:00
Samuel Tabor
719aa4bc53 AP_Soaring: Add speed-to-fly calculation used if SOAR_CRSE_ARSPD<0. 2021-12-16 07:12:24 +11:00
Samuel Tabor
c44fed34d4 AP_Soaring: Override airspeed and flap angle. 2021-12-16 07:12:24 +11:00
Samuel Tabor
3ab9dda6f5 AP_Soaring: Store reference to glide polar params in variometer 2021-12-16 07:12:24 +11:00