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37526 Commits

Author SHA1 Message Date
Peter Barker a401c98c74 AP_Terrain: split sending terrain report from terrain request 2024-10-01 10:13:06 +10:00
Bob Long 11014cae06 AP_BattMonitor: add option minimum volt option 2024-10-01 10:05:01 +10:00
Andrew Tridgell 52169f25da HAL_ChibiOS: replace volatile bools with mutexes 
this replaces the two booleans used to mediate TX and RX buffer
protection with mutexes.

The booleans were a hangover from the very early HAL_ChibiOS code, and
can lead to a deadlock. The sequence is as follows:

 - a very high CAN bus bandwidth usage, triggered by MissionPlanner
   requesting CAN_FORWARD on a CAN serial port. That causes a
   "infinite" number of CAN_FRAME messages which saturates the bus,
   and leads to the DroneCAN thread looping with no pause

 - a serial port configured as GPS type AUTO, auto-probing for a GPS
   that isn't there. This calls begin() periodically

 - the UART TX thread assocated with that UART not making progress as
   the TX thread priority is below the DroneCAN thread priority

 - this causes the begin() in main thread waiting for _in_tx_timer to
   loop forever, which triggers a watchdog
 2024-10-01 09:54:26 +10:00
Peter Barker 0cd6e330a5 AP_BattMonitor: add more-specific prearm failure when SUM backend not available 2024-10-01 09:48:13 +10:00
Peter Barker 721a9b846e AP_BattMonitor: print unhealthy message if battery backend not as expected 
a backend which fails to allocate, or where the user has changed the backend type without rebooting will cause an "unhealthy" message to be emitted
 2024-10-01 09:48:13 +10:00
Henry Wurzburg 4b5f490e9f Tools:remove BATTRY_SUM from <1K builds 2024-10-01 09:48:13 +10:00
tompsontan 84fbaa3abc AP_HAL_ChibiOS: add board X-MAV-AP-H743v2 
Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
 2024-10-01 09:39:55 +10:00
Thomas Watson 8e5ee61b02 AP_NavEKF3: derivation: don't generate unused equations 
The code is left in for the future when they might be used.
 2024-10-01 09:28:54 +10:00
Thomas Watson f9fa2565c4 AP_NavEKF3: document provenance of tilt error variance equations 
This is also from the older version of the generator.

Note that as documented, some of the equations have been removed and
rearranged slightly as it is assumed their terms are zero. Additionally,
the result is taken as the sum of the diagonal entries of the matrix.
 2024-10-01 09:28:54 +10:00
Thomas Watson 34fba4dfd7 AP_NavEKF3: document provenance of drag force fusion equations 
It's from the older version of the generator as well.

Update variable names in the real code to be the same as the generated
code. Skip generation of the unused alternate form of the equations.

Delete `acc_bf_generated.cpp` as we know exactly how to generate it now.
 2024-10-01 09:28:54 +10:00
Thomas Watson ef1c31bd50 AP_NavEKF3: document provenance of yaw fusion equations 
Requires digging up old versions of the generator script.

The equations have been rearranged somewhat after generation to choose
the appropriate method but they do match overall. The auto-substitution
of the power functions caused slight changes to the generated syntax so
we make those to the real code as well.

Delete `yaw_generated.cpp` as we know exactly how to generate it now.
 2024-10-01 09:28:54 +10:00
Thomas Watson ad5da01077 AP_NavEKF3: document provenance of covariance matrix equations 
Validated that the generated code matches exactly the code in AP_NavEKF3
(except for the early exits).

Delete `covariance_generated.cpp` as we know exactly how to generate it
now (and it was out of date anyway).
 2024-10-01 09:28:54 +10:00
Thomas Watson 4184980537 AP_NavEKF3: derivation: pin generator library versions 
Document exactly which versions were used when generating the code.
Sympy is the most important so it is explicitly checked.

Also add an alternate generate script which uses `nix-shell` to make it
convenient to automatically use these versions.
 2024-10-01 09:28:54 +10:00
Thomas Watson 57082257fd AP_NavEKF3: derivation: make generation slightly easier 
Add a shell script to run the generate_1.py file. Foresight tells us
that we will need multiple such files.

Also ignore the generated code files as they are already out of date and
we are aiming to document provenance and make them unnecessary anyway.
 2024-10-01 09:28:54 +10:00
Thomas Watson c880bf57cd AP_NavEKF3: derivation: auto-substitute optimized power functions 
Avoids the need to manually insert them after generation.
 2024-10-01 09:28:54 +10:00
ARg 1ef0f1a63f AP_HAL_ESP32: Migration of ESP32 targets from idf 4.4 to 5.3 consisting of: 
- modification of CMakeLists to use new component names of idf 5.3;
- removing big sdkconfig, which changes a lot, when upgrading idf and to use sdkconfig.defaults, which contain only non default defines;
- Updated idf installation packages list, according to espressif documentation;
- Updated README.md to reflect changes in sdkconfig handling;
- Fixed WDT in Scheduler, it was broken with idf 5.3;
- fixed compilation issues with GCC 13 (which is used by idf 5.3);
- fixed bug in case when HAL_ESP32_WIFI defined as 0 (disable wifi)
- Added ESP32 targets sdkconfig (auto generated) to .gitignore
 2024-10-01 09:25:35 +10:00
Peter Barker b234729398 AP_HAL_ChibiOS: CubeRedPrimary: probe external compasses 2024-10-01 09:22:42 +10:00
Nick Exton 2989d623bd AP_Scripting: Add binding for AP_Camera::set_stream_information() 2024-10-01 08:18:54 +09:00
Nick Exton cb620126b3 AP_Camera: Add capability to set VIDEO_STREAM_INFORMATION from Lua 2024-10-01 08:18:54 +09:00
Nick Exton 919a711f17 AP_HAL_ChibiOS: Disable VIDEO_STREAM_INFORMATION in minimize_common.inc 2024-10-01 08:18:54 +09:00
Nick Exton 67642867e3 GCS_MAVLink: Add handler for VIDEO_STREAM_INFORMATION request 2024-10-01 08:18:54 +09:00
Nick Exton e6ac9c3108 AP_Scripting: Add binding for AP_Camera::set_camera_information() 2024-10-01 08:18:54 +09:00
Nick Exton fed948c98d AP_HAL_ChibiOS: Disable CAMERA_INFO_FROM_SCRIPT in minimize_common.inc 2024-10-01 08:18:54 +09:00
Nick Exton 30a212b4cf AP_Camera: Add capability to set CAMERA_INFORMATION from Lua 2024-10-01 08:18:54 +09:00
Andrew Tridgell cb924d1363 AP_L1_Control: make reached_loiter_target() more reliable 
if our target loiter radius is unachievable then we can reach the
loiter target on initial capture but be unable to maintain it. This
ensures that once we capture we return true on reached_loiter_target()

This is critical for any mission type where we take an action on
reached_loiter_target() and another condition (such as being lined up
for a waypoint). Otherwise we may continue loitering forever
 2024-10-01 07:15:44 +10:00
Tdogb f282c8db65 hwdef: add DPS280 to baros present on FlyWooF745 2024-09-30 19:58:04 +10:00
Andrew Tridgell 1e310ac86f AP_AHRS: add option to disable the EKF check for airspeed 
for some flight profiles (such as glider pullup) the EKF airpeed
consistency check may be triggered, leading to a valid airspeed being
ignored, which can lead TECS to be in non-airspeed mode
 2024-09-29 11:06:05 +10:00
juvinski 413452aa1a AP_Baro: fix example: fixing missing objects 
This fix  a crash running on beaglebone boards reported
       https://github.com/ArduPilot/ardupilot/issues/21321
 2024-09-29 09:40:37 +10:00
muramura 8de103d6ee AP_RangeFinder: Move the flag setting location of has_data 2024-09-29 09:40:20 +10:00
muramura 637aec0085 SITL: Change division to multiplication 2024-09-28 11:01:41 +10:00
murata 946e148688 AP_Arming: mark ARMING_RUDDER as Plane,Rover,Copter and Blimp only 2024-09-27 21:51:06 +10:00
muramura 13a5dc8f71 AP_Arming: Set the message buffer size to twice the message size 2024-09-27 21:33:56 +10:00
muramura 0cb49559e1 AP_Mission: Change the IF statement to a SWITCH statement 2024-09-27 21:30:43 +10:00
Bob Long e57994f28f AP_ICEngine: fix send_text severities 2024-09-27 16:12:28 +10:00
Loki077 772cd1dae7 AP_ICEngine: add max retrial of cranking 
Added Param MAX_RETRY which If set 0 or less, then there is no limit to retrials. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up.
 2024-09-27 16:12:28 +10:00
Nick Exton eb4224b818 AP_RobotisServo: Send register write values as little-endian 2024-09-27 11:53:06 +10:00
Andrew Tridgell 9dc7dc32c8 AP_DroneCAN: prevent saturation of CPU with DroneCAN thread 2024-09-27 11:06:20 +10:00
Andrew Tridgell 070363e453 HAL_ChibiOS: limit RX timeout to 100ms 
this prevents a very long timeout in begin(), replacement with a mutex
will happen in a separate PR
 2024-09-27 11:06:20 +10:00
Peter Barker decf484702 AP_Mount: use NaN in place of 0 for camera information message 
Co-authored-by: muramura <ma2maru@gmail.com>
 2024-09-26 19:26:59 +10:00
Peter Barker 06b763ca94 AP_Param: add and use global NaNf float value 2024-09-26 19:26:59 +10:00
Peter Barker edc0e46614 AP_Mount: add and use global NaNf float value 2024-09-26 19:26:59 +10:00
Peter Barker 7710e3c9bc AP_Math: add and use global NaNf float value 2024-09-26 19:26:59 +10:00
Peter Barker 54247833c0 AP_Logger: add and use global NaNf float value 2024-09-26 19:26:59 +10:00
Peter Barker 08b4cc1374 AP_Camera: add and use global NaNf float value 2024-09-26 19:26:59 +10:00
Andy Piper eeda86ccb4 AC_AttitudeControl: rate_controller_run_dt() takes dt as last argument 2024-09-26 19:25:33 +10:00
Andy Piper 15de449d12 AC_AttitudeControl: raise a config error if rate_controller_run_dt() is called by accident 2024-09-26 19:25:33 +10:00
Andy Piper 053db86abc AC_AttitudeControl: ensure Write_Rate() can be called from autotune 2024-09-26 19:25:33 +10:00
Andy Piper 02a2c788da AC_AttitudeControl: ensure plane always gets the latest gyro 2024-09-26 19:25:33 +10:00
Andy Piper a647b3914c AC_AttitudeControl: remove unused functions 2024-09-26 19:25:33 +10:00
Andy Piper 70067ea7ae AC_AttitudeControl: Write_Rate() should be thread-safe 2024-09-26 19:25:33 +10:00
Andy Piper 829422ecfb AC_AttitudeControl: add commentary about functions which modify the rate loop target 2024-09-26 19:25:33 +10:00
Andy Piper 6b5da48641 AC_AttitudeControl: provide function to reset target modifiers 2024-09-26 19:25:33 +10:00
Leonard Hall 2cddea8d9f AC_Autotune_Multi: Use rate step command 2024-09-26 19:25:33 +10:00
Leonard Hall ddfccb3098 AC_AttitudeControl: Use rate step command 2024-09-26 19:25:33 +10:00
Andy Piper ff002cba3f AC_AttitudeControl: ensure the rate and attitude controllers can't interfere with the target at the same time 2024-09-26 19:25:33 +10:00
Andy Piper c28e38e9b5 AC_AttitudeControl: pass in gyro sample to rate controller 2024-09-26 19:25:33 +10:00
Andrew Tridgell 88957235d2 Scripting: added Lat,Lon to aerobatics POSM/POST 
this makes "map POSM POST" work on aerobatic scripts
 2024-09-26 16:44:13 +10:00
Rhys Mainwaring 00163ce988 AP_Camera: add Python examples for GStreamer UDP and RTSP video streams 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-09-26 09:32:27 +09:00
Robert Taylor d82e82635f hwdef: switch CAN port definiton on Nucleo-496 hwdef 
The CAN port as it was is a valid CAN port for the nucleo, but on the development board the CAN silkscreen is actually on PD0 and PD1. This change makes it easier to get the example running on the Nucleo
 2024-09-26 08:31:50 +10:00
Bob Long 8797a07833 AP_ICEngine: clarify ICE_OPTIONS:2 description 2024-09-25 23:44:52 +10:00
Bob Long 8d9ac6451f AP_ICEngine: don't run engine with safety engaged 2024-09-25 23:44:52 +10:00
Peter Barker 14332fad52 hwdef: -Os on MFT-SEMA-100 to avoid flash overflow 2024-09-25 23:44:05 +10:00
Peter Barker c9de940fc8 hwdef: JHEMCU-GSF405A becomes minimize-fpv-osd 2024-09-25 17:12:44 +10:00
Peter Barker 1e26441ae6 AP_Common: Integrate methods for converting hexadecimal characters to numbers 
Co-authored-by: muramura <ma2maru@gmail.com>
 2024-09-25 08:48:44 +10:00
muramura e4ca54b2e4 AP_CANManager: Integrate methods for converting hexadecimal characters to numbers 2024-09-25 08:48:44 +10:00
Iampete1 4894675977 AP_Scripting: add binding for vehicle `set_target_rate_and_throttle` 2024-09-25 08:47:30 +10:00
Iampete1 fc327fa370 AP_Vehicle: add support for `set_target_rate_and_throttle` 2024-09-25 08:47:30 +10:00
Peter Barker 8e6a1a2b02 AP_Arming: retrieve RC channels directly from RC_Channels 
... instead of retrieving values from rcmap and then getting the channel from RC_Channels
 2024-09-25 08:46:55 +10:00
Peter Barker 1871170f98 RC_Channel: add accessor for channel number 
some places want to be able to report this to the user
 2024-09-25 08:46:55 +10:00
muramura 1f5b88cf3b AP_Motors: Change to pass-through 2024-09-24 22:51:23 +10:00
timtuxworth bbd9148b4b AP_Scripting: example for use Location::AltFrame for guided_state.target_alt_frame 2024-09-24 22:51:02 +10:00
Peter Barker 3d4b57cd4a AP_HAL_QURT: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 27df5e0479 AP_HAL_Linux: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker cc9279713a AP_HAL_ESP32: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker ebe9a75a66 SITL: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 68e003fd74 AP_Baro: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker a40b3879fb AC_CustomControl: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker a0978d9d0a AR_WPNav: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 2447be861e AP_SurfaceDistance: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker bb9a0a5b2f AP_Scripting: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 1ce391c6e8 AP_RCTelemetry: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 87fa7a208d AP_RCProtocol: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 53c50b6bc7 AP_NavEKF3: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 8bd1f49a04 AP_NavEKF2: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 5f5fb40753 AP_Motors: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 7147a2deeb AP_InertialSensor: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 5a967a60ff AP_HAL: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 8b9154d115 AP_HAL_ChibiOS: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 2ddec1f9f4 AP_Frsky_Telem: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 291a1ced88 AP_ExternalAHRS: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 3a9f1c1f37 AP_DroneCAN: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker a29dca996e AP_Compass: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker b54c424842 AP_Camera: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 8290f15f2d AP_AHRS: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker aaec6824f6 AP_ADSB: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 6209f31d30 AC_PID: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 2c150f42bf AC_Avoidance: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker b480416c3d AC_AttitudeControl: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Rhys Mainwaring a75b8a9269 AP_DDS: add params for ping timeout and max retries 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-09-24 22:49:49 +10:00
Thomas Watson 5f4a6dc2fb AP_HAL_ChibiOS: remove dependency on tmpnam 
tmpnam is never linked and not necessary, and naming it/redefining it
introduces problems on platforms that do have a definition.
 2024-09-24 22:49:18 +10:00
Thomas Watson 380d8ca6fc AP_Filesystem: remove dependency on tmpnam 
tmpnam is never linked and not necessary, and naming it/redefining it
introduces problems on platforms that do have a definition.
 2024-09-24 22:49:18 +10:00
Thomas Watson 8b63488431 AP_Scripting: remove dependency on tmpnam 
tmpnam is never linked and not necessary, and naming it/redefining it
introduces problems on platforms that do have a definition.
 2024-09-24 22:49:18 +10:00
Peter Barker 75073427a6 AP_SerialManager: avoid use of AP_HAL.h in config file 
too easy to create loops with this
 2024-09-24 11:59:13 +10:00
Peter Barker 82ac0ead72 AP_Terrain: create and use AP_Terrain_config.h 2024-09-24 11:59:13 +10:00
Peter Barker 4b1e1871c9 AP_Mount: create and use AP_Terrain_config.h 2024-09-24 11:59:13 +10:00
Peter Barker a8cc071d62 AP_Filesystem: rearrange to put mission filesystem last 
We're developing loops in our config files, move include to after base FILESYSTEM_READING/FILESYSTEM_WRITING defines
 2024-09-24 11:59:13 +10:00
Peter Barker ee830355d2 AC_PrecLand: remove assumption about how precland update method is called 
this method may not be being called from the scheduler table.  Have the callers pass in a true value instead
 2024-09-24 10:56:57 +09:00
Peter Barker 3e1ad5dab6 AP_Compass: use memcmp to check whoami result code from HMC5843 device 
Co-authored-by: muramura <ma2maru@gmail.com>
 2024-09-24 11:52:47 +10:00
Peter Barker 9784e28148 AP_WheelEncoder: correct initialisation of WheelRateController objects 
the existing constructer sets a slew rate limit to 0.2

This is essentially a missing patch from a previous series of PRs which moved dt from being a member variable to being passed into the update call for the PID
 2024-09-24 10:46:34 +09:00
Peter Barker 17f501eea5 AC_PID: AC_HELI_PID: override the AC_PID::Default constructor 
in place of the existing ordered-fields constructor
 2024-09-24 11:43:20 +10:00
Peter Barker 4663382b01 AC_AttitudeControl: use AC_PID defaults to tidy heli rate PID initialisation 
makes it look like the Copter initialisation - ie. legible
 2024-09-24 11:43:20 +10:00
Peter Barker 6a74a97bf7 AC_AttitudeControl: use AC_PID defaults to tidy rate Sub PID initialisation 
makes it look like multi ie. legible
 2024-09-24 11:36:38 +10:00
bugobliterator 4d7b94c3cb AP_DroneCAN: Fix constructor initialization order 
bad ordering was leading to dronecan dna server getting initialised before canard interface is initialised leading
 2024-09-24 11:29:34 +10:00
caijie 42c82f6c5d AP_HAL_ChibiOS: add VUAV-V7pro 2024-09-24 10:07:39 +10:00
Peter Barker 1d91962b96 AP_GPS: move initialisation of some members into header 2024-09-24 09:30:05 +10:00
ARg eb283ce607 SITL: correctly cast types for MegaSquirt error format string 
`uint32_t` is `unsigned long int`, not `unsigned int`.
 2024-09-24 09:00:29 +10:00
ARg 8204ff4d7c AP_Filesystem: fix esp32 function datatypes 
Make them match the superclass and the header file.
 2024-09-24 09:00:29 +10:00
Andrew Tridgell 89c2b48286 AP_CANManager: ensure we only remove our own fwd registrations 
keep a record of which bus we have registered a callback for and only
unregister with that bus. This prevents us unregistering a multicast
callback when disconnecting from MAVCAN
 2024-09-23 21:01:22 +10:00
Andrew Tridgell b98c7c5296 AP_CANManager: fixed de-registering CAN forwarding 
this prevented MissionPlanner MAVCAN UI from working reliably as the
CANManager could think we are registered when we are not
 2024-09-23 21:01:22 +10:00
Clyde McQueen 8b37100772 autotest: large outliers in sub terrain test have low sq 2024-09-23 19:14:34 +10:00
Peter Barker 44c1e9b896 AP_TemperatureSensor: allow AP_TEMPERATURE_SENSOR_DUMMY_METHODS_ENABLED to be overridden 2024-09-22 20:34:33 +10:00
Peter Barker 83c9b32093 AP_Scripting: add bindings for the AP_TemperatureSensor 2024-09-22 20:34:33 +10:00
muramura 0020cf5fe8 AP_Compass: Add existing devices 2024-09-22 10:11:50 +10:00
cuav-chen2 89a4571c58 AP_Compass: Add in BMM350 Driver 2024-09-21 10:08:36 +10:00
bugobliterator 7513281f65 AP_Scripting: add bindings get/set full mode for GPIO 
allows setting alternate pin modes pin drive strengths etc.
 2024-09-21 10:07:30 +10:00
Peter Barker fb5c337328 AP_TemperatureSensor: specify units (degC) in comment for get_temperature 2024-09-19 12:37:50 -05:00
Rahul 7d907e9798 AP_TemperatureSensor: new MLX90614 sensor backend driver conversion fix 2024-09-19 22:29:24 +10:00
Ryan Friedman aecb3268c7 AP_DDS: Correct compilation of tests without external odom 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-19 11:45:15 +10:00
muramura c0d14ec397 GCS_MAVLink: Add conditions and delete the same processing 2024-09-19 11:44:57 +10:00
bugobliterator 3d47f01dd4 AP_HAL_ChibiOS: enable TESTs on CubePilot-PPPGW 2024-09-19 11:44:22 +10:00
bugobliterator 5acf25973e AP_Networking: add connector loopback test for Ethernet 2024-09-19 11:44:22 +10:00
Rahul 86b6102267 AP_TemperatureSensor: new MLX90614 sensor backend driver added 2024-09-18 19:10:01 +10:00
Henry Wurzburg 8c3621d021 hwdef: add bdshot to SpeedyBeeF405Wing 
Co-authored-by: setup <alxdr64m@gmail.com>
 2024-09-18 17:51:26 +10:00
Henry Wurzburg df90b640ca AP_Scripting:Add parameter controller applet 2024-09-18 13:10:26 +10:00
Iampete1 c19e5713ae GCS_MAVLink: Fix Airspeed without AHRS 2024-09-17 22:11:06 +10:00
Peter Barker 8b50f3b54b AP_OSD: don't go via RCMap singleton to get RPTY RC channels 2024-09-17 22:10:53 +10:00
Ruffalo Lavoisier e3f76591fc AP_HAL_ChibiOS: check nullptr 'name' variable 
- Check nullptr before using the  'name' variable assigned from malloc()
 2024-09-17 22:10:26 +10:00
Thomas Watson 20d04fa823 AP_DroneCAN: DNAServer: remove preferred allocation support 
Nothing is known to support it so it can't be tested. Removing it saves
flash and reduces complexity.
 2024-09-17 22:10:08 +10:00
Thomas Watson 12a106333c AP_DroneCAN: DNAServer: optimize allocation strategy 
Number of allocation messages with 3 nodes (6 trials):

before: 44, 36, 35, 92, 107, 41

after: 28, 28, 28, 28, 26, 28
 2024-09-17 10:42:05 +10:00
Ryan Friedman dcfbf0ab69 AP_DDS: Add defines for experimental topics such as IMU 
* Experimental topics, such as IMU, should have an easy way to be
  disabled at compile time
* This demonstrates a pattern to add in new topics at compile time

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-17 10:40:59 +10:00
Oleksiy Protas 94f2eb4999 AP_Airspeed: Don't fail on REG_WHOAMI_RECHECK_ID 
This prevents a false negative ID check for the cases when the AP is rebooted independently of the sensor, with the latter keeping a temporary ID that was set during initialization
 2024-09-17 10:36:29 +10:00
Peter Barker cd9e7e095a hwdef: f103-GPS: explicltly nominiate compass backends supported 
this target is overflowing as someone is trying to add a new compass..
 2024-09-17 10:31:27 +10:00
Andy Piper 71e2b756af AC_AttitudeControl: introduce ANG log message for high resolution attitude logging 
Move RATE message to AC_AttitudeControl_Logging.cpp
 2024-09-17 10:12:35 +10:00
Andy Piper 64a1fda05a AP_Scheduler: record and make available the last sample time 2024-09-17 10:12:35 +10:00
junan 71a69367df AP_HAL_Linux: file descriptor leaking and other issues in "Storage" of Linux. 
- Fixed the fd leaking issue in "_storage_create" found by @peterbarker
- Remove the unnecessary call of "unlinkat" in "_storage_create"
- Simplify the implementation of "init"

Signed-off-by: junan <junan76@163.com>
 2024-09-17 10:09:05 +10:00
Andrew Tridgell 9cb3354ba0 hwdef: default CAN MCAST enabled for PPPGW builds 2024-09-17 10:02:29 +10:00
Andrew Tridgell f065548866 hwdef: enable CAN multicast support in PPP gateways 2024-09-17 10:02:29 +10:00
Andrew Tridgell cd14b2e1c5 AP_Networking: added multicast UDP CAN server 
this allows for operation of CAN interfaces over UDP multicast
networking
 2024-09-17 10:02:29 +10:00
Andrew Tridgell cc930bd49f AP_CANManager: update for new callback API 2024-09-17 10:02:29 +10:00
Andrew Tridgell 4a102e2f2b AP_HAL: support more than 1 registered CAN callback 
this allows for CAN MCAST and MAVCAN at the same time
 2024-09-17 10:02:29 +10:00
Andrew Tridgell 21b6b1b229 AP_HAL: allow for multicast sockets in bootloader 2024-09-17 10:02:29 +10:00
Andrew Tridgell 05d43fd00b HAL_ChibiOS: allow for MCAST UDP with no CAN link 
this allows the CAN interface to operate without a CAN cable, allowing
for bridging of MCAST UDP CAN
 2024-09-17 10:02:29 +10:00
Thomas Watson db18d37ed2 AP_DroneCAN: DNAServer: avoid resetting when server node ID changes 
Avoids confusing the user and removes weirdness with multiple servers
sharing the same storage. Does leak the registration for the old ID but
in the unlikely event the table fills up the user can simply reset the
database.

We keep the check for an existing registration to avoid dirtying the
storage every boot unnecessarily. We also factor out the deletion of an
existing registration (which is very unlikely but technically possible)
to save some flash.
 2024-09-17 10:01:45 +10:00
Leonard Hall ea226637c9 AC_AttitudeControl: Vector3f multiplication clean up 2024-09-17 09:59:55 +10:00
Leonard Hall 5e27e3111d AC_AttitudeControl: Fix dt update order 2024-09-17 09:59:55 +10:00
muramura b1b4ac8d58 AP_ExternalAHRS: Correct the judgment 2024-09-17 09:35:13 +10:00
Valentin Bugrov 167dd7f447 SITL: unify names in ILabs sim 2024-09-17 09:34:32 +10:00
Valentin Bugrov 2b3ee0e7e4 AP_ExternalAHRS: unify names in ILabs EAHRS handler 2024-09-17 09:34:32 +10:00
Bob Long 4a1e4ebcd6 RCOutput: initialize _esc_pwm_min and _esc_pwm_max 
Further protection from potential dangerous behavior when these do not
get initialized for some reason.
 2024-09-17 09:18:36 +10:00
Bob Long 8e707ef4e2 AP_DroneCAN: prevent invalid numbers spinning ESCs 
This prevents bugs and misconfigurations from causing DroneCAN ESCs to
spin at full speed while the vehicle is disarmed.
 2024-09-17 09:18:36 +10:00
shipp02 dcc526ec19 Copter: Give better error in opendroneid build when DID_ENABLE=0. 2024-09-17 09:17:24 +10:00
Iampete1 8318109546 GCS_MAVLink: add support for AIRSPEED message 2024-09-17 09:10:17 +10:00
Peter Barker 091ba2782c RC_Channel: adjust description of aux function 90 (EK3 Source Set 2024-09-16 22:34:34 +10:00
Peter Barker 12d8a4d543 AP_Scripting: adjust description of aux function 90 (EK3 Source Set 2024-09-16 22:34:34 +10:00
Peter Barker 6d8f0decac RC_Channel: rename EKF_POS_SOURCE to EKF_SOURCE_SET 
Co-authored-by: Michelle Rossouw <michelleros128@gmail.com>

these data sources span more than just position
 2024-09-16 22:34:34 +10:00
Yuxin Pan d1562d5119 SITL: update baro param group info 2024-09-16 17:25:02 +10:00
Yuxin Pan ac2751c17b SITL: add baro param file 2024-09-16 17:25:02 +10:00
Valentin Bugrov 79bd82308c SITL: Actualize InertialLabs sim 2024-09-14 19:29:02 +10:00
Valentin Bugrov 092a95e88c AP_ExternalAHRS: add GCS mesages sending for the ILabs EAHRS 2024-09-14 19:29:02 +10:00
Valentin Bugrov 0344cc36ad AP_ExternalAHRS: actualize ILabs EAHRS data processing 2024-09-14 19:29:02 +10:00
Andrew Tridgell cbba88fccd AP_Scripting: added 2nd supply voltage to SkyPower EFI driver 
and accept both extended and 11-bit CAN
 2024-09-14 09:24:03 +10:00
Ryan Friedman 2aa5db5e73 AP_ExternalAHRS: Remove GPS week comment 
* It's a hold-over from MSP. None of AP handles 0xFFFF in a special way

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-14 09:18:33 +10:00
Andrew Tridgell fea279b181 SITL: support more rangefinder orientations 
allows for quadplane tailsitter rangefinders
 2024-09-14 08:39:51 +10:00
Bob Long 72a013952c AP_EFI: Hirth: fix sensor health bitmask 2024-09-13 18:52:48 +10:00
Bob Long e32d3ceaf7 AP_EFI: Hirth: remove crankshaft sensor status 
There is no crankshaft sensor status reported by this EFI. This line is
misleading and should be removed. The sensor health bitmask is already
logged elsewhere.
 2024-09-13 18:52:48 +10:00
Andy Piper ef1be6fe01 AP_RCProtocol: only update rc value for GHST on rc frames 2024-09-13 18:52:05 +10:00
Benjamin Menkuec 09286e6f53 AP_MSP: MSP_RAW_GPS cog should be decidegrees not centidegrees 2024-09-13 12:45:22 +10:00
muramura 9e28bec87a AP_NavEKF3: use UINT8_MAX as flag value in place of 255 2024-09-13 09:17:17 +10:00
muramura 8b5c5fcdb7 AP_AHRS: use UINT8_MAX as flag value in place of 255 2024-09-13 09:17:17 +10:00
yuri-rage cd4501e62d AP_Scripting: add advance-wp.lua 2024-09-12 14:23:43 +10:00
muramura a9a2696368 AP_Mission: Change the magic number to a defined value 2024-09-12 14:23:10 +10:00
muramura 68bb55841a AP_HAL_ESP32: Change the magic number to a defined value 2024-09-12 14:23:10 +10:00
muramura 70046e0d58 AP_HAL_ChibiOS: Change the magic number to a defined value 2024-09-12 14:23:10 +10:00
weavVN e5f4f87b9e AP_ExternalAHRS: VectorNav: rename dataflash log message names 2024-09-12 14:22:54 +10:00
Bob Long 2c14176f6a AP_EFI: fix ECYL log message 
- Convert temperatures Celsius to match the docs
- Fix format specifier for CHT2
 2024-09-12 14:22:39 +10:00
Andrew Tridgell 53a4b5a843 AP_Scripting: add handle_external_position_estimate binding 
can be used for offboard navigation systems
 2024-09-12 06:58:57 +10:00
Yuxin Pan 61afab2b70 SITL: remove params from whiltelist 2024-09-12 06:54:15 +10:00
Peter Barker 66a2788663 hwdef: RadioLinkPIX6 uses SPL06 driver 2024-09-11 18:27:47 +10:00
Wu 3f577793a1 AP_Baro: SPx06 adds Background mode 2024-09-11 18:27:47 +10:00
Wu c70150e531 AP_Baro: add SPA06 to SPx06 driver 2024-09-11 18:27:47 +10:00
Andrew Tridgell 96cf157df9 AP_Networking: update comment 2024-09-11 16:11:22 +10:00
Bob Long 2b903d20b4 AP_ESC_Telem: tidy old calls to _telem_data 
When #27755 was first opened, #26252 had not been merged yet. #26252
refactored a bit, but the change was not applied to #27755. This commit
fixes that.

This should not change the behavior of the code.
 2024-09-11 10:23:00 +10:00
Yuxin Pan 41ffc7c860 SITL: SITL.cpp parameters documentation update 2024-09-11 10:22:22 +10:00
koehlert 9beca76f44 GCS_MAVLink: fix includes to ap_message 
"GSC_config.h" is needed for HIGHRES_IMU_ENABLED flag.
 2024-09-11 08:57:24 +09:00
Andy Piper bb2249f766 AC_AttitudeControl: record latest gyro value and time used for logging 
move Write_Rate() to AC_AttitudeControl
move RATE log structure to AC_AttitudeControl
 2024-09-10 16:33:04 +01:00
Andy Piper c7b0dfc915 AC_AutoTune: Write_Rate() moved to AC_AttitudeControl 2024-09-10 16:33:04 +01:00
Andy Piper 4f4e822d88 AP_AHRS: move Write_Rate() to AC_AttitudeControl 
move RATE log structure to AC_AttitudeControl
 2024-09-10 16:33:04 +01:00
xianglunkai c40422cde3 AP_Proximity_DroneCAN: fix code stype 2024-09-10 23:36:44 +10:00
Peter Barker 154229006a AP_MSP: avoid nullptr dereference on bad rcmap 2024-09-10 22:00:50 +10:00
Peter Barker 9cbb494092 RC_Channel: avoid nullptr dereference on bad rcmap value entry 2024-09-10 22:00:50 +10:00
Randy Mackay aa65a2ab54 AP_Mount: siyi supports camera-thermal-range 2024-09-10 20:59:49 +09:00
Randy Mackay 6f2a88f707 AP_Camera: support send-thermal-range 2024-09-10 20:59:49 +09:00
Randy Mackay 2db7a9520a GCS_MAVLink: support camera-thermal-range 2024-09-10 20:59:49 +09:00
Thomas Watson aca624486d AP_DroneCAN: DNAServer: don't "allocate" broadcast ID 
While technically legal, it's unlikely to have been tested and an
allocatee might do silly things. Also makes the logic a bit more clear
and improves the failure message.
 2024-09-10 12:35:04 +10:00
Thomas Watson 5a1c825ea2 AP_DroneCAN: DNAServer: clean up and optimize allocation 2024-09-10 12:35:04 +10:00
Thomas Watson 4427cbee71 AP_DroneCAN: DNAServer: avoid clearing node ID during allocation 
Not necessary and wastes flash.
 2024-09-10 12:35:04 +10:00
Thomas Watson 854b769cfe hwdef: remove non-ublox GPSes from MatekL431-Periph 
Saves enough flash to get it building again (11K now free). These
backends are default for other boards and so are built in CI.
 2024-09-10 12:30:23 +10:00
Peter Barker 222a26ee20 AP_Scripting: tweak conditions for scripting-requires-filesystem 
AP_FILESYSTEM_READING_ENABLED isn't quite right as we can't read scripts from @SYS.
 2024-09-10 11:47:37 +10:00
Peter Barker 78f0175e20 GCS_MAVLink: reject SET_MESSAGE_INTERVAL commands with p3 set 
this is going to be used for changing the rate of a specific instance of a message at some stage

we have to reject it for now so that when the index is used the GCS is told that their message is invalid in this older version of the autopilot
 2024-09-10 11:43:52 +10:00
olliw42 3c9965f5e5 AP_DroneCAN: set protocol in tunnel.Targetted message according to protocol parameter 2024-09-10 11:41:59 +10:00
Andy Piper 8dee817acf AP_AHRS: log attitude and attitude target at full resolution in degrees 2024-09-10 10:54:55 +10:00
Andrew Tridgell 05fbc4767d SRV_Channel: added lift_release 
for releasing a balloon or other lift device
 2024-09-10 10:15:34 +10:00
Iampete1 b1fe1f18d4 AP_Airspeed: healthy: check enabled first for instance range check 2024-09-10 09:48:31 +10:00
Andrew Tridgell cf45dbf284 AP_NavEKF2: fixed return of common origin 
when common origin is set we should return that, not backends private
origin
 2024-09-10 09:28:50 +10:00
Andrew Tridgell be5ecab686 AP_AHRS: added common origin logic 
this aligns the origin between EKF2, EKF3 and ExternalAHRS, making for
smooth transitions between AHRS backends in flight
 2024-09-10 09:28:50 +10:00
Andrew Tridgell 91a5cfea6b AP_ExternalAHRS: added set_origin() call 
and remove code that aligns origin to AHRS, this will be handled by
the AHRS common origin logic
 2024-09-10 09:28:50 +10:00
Andrew Tridgell 3444de06b1 AP_NavEKF2: allow setOrigin when using GPS 
this allows for use of a common origin between backends, and aligns
with EKF3 behaviour
 2024-09-10 09:28:50 +10:00
Peter Barker 777aab6e0c AP_Scripting: no warning if no ./scripts and no real filesystem 
it is possible to build for boards without storage (so no Posix, no Fatafs), but still have scripts in ROMFS.

In this case we will use the backend AP_Filesystem_backend base class when doing file operations.  This will alway fail to open directories, so when we try to load scripts from SCRIPTS_DIRECTORY it will always fail.

This leads to a warning being emitted:

Lua: State memory usage: 2796 + 5227
AP: Lua: open directory (./scripts) failed
AP: hello, world
Time has wrapped

Which isn't great.

Detect we are working on this filesystem and don't warn.
 2024-09-10 09:10:49 +10:00
Peter Barker 61de480f62 AP_AHRS: log DCM errrp and erryaw into DCM message 2024-09-09 15:17:15 +10:00
Andrew Tridgell 9726e8e218 Filter: only update notch on init if fixed 2024-09-09 09:29:32 +10:00
Andy Piper a8575e0646 Filter: ensure harmonic notch filters are always working 2024-09-09 09:29:32 +10:00
junan 4ee5b0ea12 AP_HAL_Linux: keep "dfd" open util fsync is done. 
Since we want to do a fsync on "dfd", it can not be closed before that.

Signed-off-by: junan <junan76@163.com>
 2024-09-09 09:28:51 +10:00
Tatsuya Yamaguchi 253d98dd53 RC_Channel: use SourceSetSelection enum class 2024-09-08 10:02:29 +10:00
Tatsuya Yamaguchi a7f9abcff9 GCS_MAVLink: use SourceSetSelection enum class 2024-09-08 10:02:29 +10:00
Tatsuya Yamaguchi 29b9157a20 AP_Scripting: use SourceSetSelection enum class 2024-09-08 10:02:29 +10:00
Tatsuya Yamaguchi f58d88d144 AP_AHRS: use SourceSetSelection enum class 2024-09-08 10:02:29 +10:00
Tatsuya Yamaguchi 83c544f792 AP_NavEKF3: use SourceSetSelection enum class 2024-09-08 10:02:29 +10:00
Tatsuya Yamaguchi 23ce7cc416 AP_NavEKF: define SourceSetSelection enum class and use it for clarity 2024-09-08 10:02:29 +10:00
Peter Barker 62dc5280ba AP_Parachute: remove AUX_FUNC entries based on feature defines 2024-09-08 00:55:43 +10:00
Peter Barker b09e546fce RC_Channel: remove AUX_FUNC entries based on feature defines 2024-09-08 00:55:43 +10:00
Andrew Tridgell 3dd44dd8e0 GCS_MAVLink: zero signing key structure for valgrind 
the signing key structure is not marked as packed, which means it has
a 4 byte padding between the uint32_t magic and the uint64_t
timestamp. This gets written to the database and valgrind warns about
a write of uninitialised bytes. It is harmless as when the structure
is read the field is not used
 2024-09-07 19:23:01 +10:00
Eric a1a4c63881 hwdef: add mpu6000 to support ReaperF745 V4 FC 2024-09-06 21:19:32 +10:00
Randy Mackay 77ba7cf04d SITL: aircraft sends wind to slung payload 2024-09-06 14:47:38 +10:00
Randy Mackay c3a6950d6f SITL: slung payload sends pos updates at 10hz 2024-09-06 14:47:38 +10:00
Randy Mackay 8d3ce78e98 SITL: slung payload affected by wind 2024-09-06 14:47:38 +10:00
Henry Wurzburg 4107151b31 AP_ICEngine: add legacy label to gps and ice params 2024-09-06 14:46:50 +10:00
Henry Wurzburg 9f8acbab39 AP_GPS: add legacy label to gps and ice params 2024-09-06 14:46:50 +10:00
David Buzz 7846cccdaa AP_HAL_ESP32: fix RMT on s3by using channel thats compatible with both . 2024-09-06 11:54:31 +10:00
Peter Barker 784760342d Copter: remove ENABLE/ENABLED/DISABLE/DISABLED defines 2024-09-06 11:53:09 +10:00
Peter Barker 0e33a0f8f7 AP_GPS: mark GPS_TYPE as @Legacy 2024-09-06 11:52:58 +10:00
David 'Buzz' Bussenschutt 792941d4de AP_HAL_ESP32: bigger instruction cache on s3 helps performance 2024-09-06 11:52:32 +10:00
Peter Barker c05441b959 AP_DDS: remove instance check for DDS Client 
this is probably a flow of control problem.

But the code block below this resets some state variables before returning, and will also return false in the same case this removed block does.

Resetting that state might be very important to the caller.
 2024-09-06 08:52:20 +10:00
Peter Barker 690947537a AP_HAL: examples: add missing include for AP_InertialSensor 
we instantiate this library in here
 2024-09-06 08:52:01 +10:00
Peter Barker 35d0f5c104 AP_DAL: add missing include file for Replay build 2024-09-06 08:52:01 +10:00
Peter Barker b3c1cd1a5e APM_Control: add missing include for AP::ins() 2024-09-06 08:52:01 +10:00
Peter Barker 33f9513854 AP_NavEKF3: correct includes 2024-09-06 08:52:01 +10:00
Peter Barker 8b8307c132 AP_NavEKF2: correct includes 2024-09-06 08:52:01 +10:00
Peter Barker b5cd3370eb AP_InertialSensor: add missing include for AHRS 
we use a method from this library
 2024-09-06 08:52:01 +10:00
Peter Barker 89c9b186e2 AP_Camera: add missing include for AP_AHRS 
We use this library's singleton
 2024-09-06 08:52:01 +10:00
Peter Barker 2bb6846d47 AP_NavEKF2: stop including AP_DAL.h in header 
it's not needed and will slow compilation down
 2024-09-06 08:52:01 +10:00
jamming 4d3e97533d AP_HAL_ChibiOS: Add a new target Holybro DroneCAN-pmu 2024-09-06 08:50:20 +10:00
Peter Barker bfcac18eb2 hwdef: GEPRCF745BTHD: rely on custom builds for external baros 
this is overflowing - it has an onboard baro, that will have to do...
 2024-09-06 08:49:57 +10:00
Peter Barker 61b1a2d525 hwdef: remove SMBus battery support from all minimize-fpv boards 
I doubt there's a single one of these boards on the planet using stock firmware and smbus batteries.  If they exist, the custom build server can re-add this
 2024-09-06 08:49:28 +10:00
Peter Barker 94062fce5c AP_Mission: do not adjust ret_packet on get_item failure 
do not modify the return packet value at all upon failure, rather than indicating invalidity with a flag value.  We return boolean for a reason.
 2024-09-06 08:48:12 +10:00
George Zogopoulos 18e95c7979 Revert "AP_NavEKF3: Corrected logged units" 
This reverts commit 1f01f75036.
 2024-09-06 08:46:11 +10:00
Jacob Dahl d96926050b hwdef: ARKV6x: fix RC input 2024-09-06 08:45:57 +10:00
khimaros 2e1af82044 AP_HAL_Chibios: default to MavLinkV1 on CubeSolo 
see also https://github.com/ArduPilot/ardupilot/issues/22155
 2024-09-04 19:13:05 +10:00
romi2002 e6d35b08cb hwdef: enable flash-from-SD on Pixhawk6C 
Enabled flash-from-SD support on Pixhawk6C bootloader based off Pixhawk6X hwdef (3b230c4).
 2024-09-04 19:08:46 +10:00
Andy Piper 7fc61090f2 AP_HAL_ChibiOS: add support for disabled mask on iomcu 2024-09-04 18:34:10 +10:00
Andy Piper e5d26a579d AP_HAL_ChibiOS: correctly check for channel enablement on iomcu 2024-09-04 18:34:10 +10:00
Andy Piper ff2c64e4b1 AP_IOMCU: add support for disabled channels 2024-09-04 18:34:10 +10:00
Andy Piper 48624f189e AP_HAL_ChibiOS: dshot commands for reverse/3D should be sent to IOMCU 
normalize servo/FMU channels for dshot commands and 3D mask
 2024-09-04 18:34:10 +10:00
Andy Piper 7f8e5aab85 AP_IOMCU: add iomcu support for reversible mask 
propagate armed state
 2024-09-04 18:34:10 +10:00
Andy Piper fc51829b63 AP_HAL_ChibiOS: add iomcu support for reversible mask 
check armed state on iomcu before sending dshot packets
 2024-09-04 18:34:10 +10:00
rishabsingh3003 31f527c9a7 AP_Proximity: Include database push in MR72 driver 2024-09-04 18:07:27 +10:00
junan 4e1ef8ef46 AP_Baro: remove unnecessary "#ifdef HAL_BUILD_AP_PERIPH" 
Signed-off-by: junan <junan76@163.com>

AP_Baro: Update libraries/AP_Baro/AP_Baro.h suggested by @peterbarker

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2024-09-04 14:42:21 +09:00
Andrew Tridgell 4daca86ba1 AP_Common: fixed cygwin for non-SITL builds 2024-09-04 11:12:45 +10:00
Andrii Fil e74afdfcea GCS_MAVLink: support MAV_CMD_EXTERNAL_WIND_ESTIMATE 2024-09-04 10:14:45 +10:00
Andrii Fil 3344dba627 AP_AHRS: support MAV_CMD_EXTERNAL_WIND_ESTIMATE 2024-09-04 10:14:45 +10:00
Peter Barker 40e367e14f AP_HAL_ChibiOS: avoid use of global signed_fw in ChibiOSHWdef object 2024-09-04 09:52:55 +10:00
Peter Barker 53b726271f AP_HAL_ChibiOS: avoid use of global args in ChibiOSHWdef object 2024-09-04 09:52:55 +10:00
Hubert b971046a07 hwdef: Update hwdef for MicoAir405v2 and MicoAir405mini 
Update MicoAir405v2 hwdef.dat: enable OPTICALFLOW

Update MicoAir405v2 defaults.parm: enable OSD_TYPE2 and adjust LOG_FILE_BUFSIZE from 16 to 8

Update MicoAir405Mini defaults.parm: adjust LOG_FILE_BUFSIZE from 16 to 8
 2024-09-04 09:52:30 +10:00
Peter Barker 90af3043bc AP_Motors: avoid use of AP_Logger.h in library headers 
this pulls in many more headers, we should avoid using it whereever we can
 2024-09-04 09:51:49 +10:00
Peter Barker 4e623bd384 APM_Control: avoid use of AP_Logger.h in library headers 
this pulls in many more headers, we should avoid using it whereever we can
 2024-09-04 09:51:49 +10:00
Peter Barker 6cfecaa86d AP_NavEKF3: use enum class for DAL MemoryType 2024-09-04 09:51:08 +10:00
Peter Barker 7d1e1ef924 AP_NavEKF2: use enum class for DAL MemoryType 2024-09-04 09:51:08 +10:00
Peter Barker e3e350427e AP_DAL: use enum class for DAL MemoryType 2024-09-04 09:51:08 +10:00
Randy Mackay b46d22f08b AP_Scripting: minor docs fix 2024-09-04 08:37:08 +09:00
Randy Mackay 1df029a679 AP_Scripting: minor spelling fix 2024-09-04 08:37:08 +09:00
Andrew Tridgell 34c1c70cc4 hwdef: rename BotBloxSwitch to BotBloxDroneNet 2024-09-04 09:03:56 +10:00
Peter Barker 7a930637e0 AP_RangeFinder: RDS02UF: avoid nuking partial messages after good parse 
there may be a fragment of another packet in the buffer
 2024-09-03 14:34:23 +10:00
David Buzz 61e83dcd0e AP_HAL_ESP32: improve the reported LOOP_RATE on esp32s3 to similar loop rate to classic esp32 
getting a loop rate of around 130 on both now

source modules/esp_idf/export.sh

./waf configure --board=esp32s3empty --debug
./waf copter
cd build/esp32buzz/esp-idf_build/
ninja menuconfig

./waf configure --board=esp32buzz --debug
./waf copter
cd build/esp32buzz/esp-idf_build/
ninja menuconfig

and try to get both the resulting modified sdkconfig as smiilar as possible - this causes s3 to use qio, which is faster, and also puts the wifi stuff onto CORE1 on both configs.

s3:
loop_rate: actual: 148.097137Hz, expected: 400Hz
loop_rate: actual: 147.908691Hz, expected: 400Hz

classic:
loop_rate: actual: 188.718842Hz, expected: 400Hz
loop_rate: actual: 191.819748Hz, expected: 400Hz
 2024-09-03 11:04:10 +10:00
Peter Barker 8856100e39 AP_Logger: restart logging after log transfer 2024-09-03 11:01:24 +10:00
Aaron Elijah b63865cdc5 hwdef: force 100MBit fullduplex for BotBloxSwitch 
auto-negotiation doesn't work

also disable TX/RX swap as not needed on final board
 2024-09-03 10:41:58 +10:00
Peter Barker 771696e7d5 AP_Soaring: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker e19ae3ec01 AP_Module: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker 42282dab65 AP_L1_Control: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker 90749b6f40 AP_InertialNav: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker 99dc2d1b39 AP_DDS: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker 42b8ee78cf AP_Compass: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker 9eec4fdff2 AP_ADSB: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barker e8f361458e AP_NavEKF3: rename gpsVelInnovTime_ms to gpsRetrieveTime_ms 
in preparation for using this for other things
 2024-09-03 10:34:02 +10:00
Peter Barker 2a6b45f4d9 AP_NavEKF3: tidy formatting of is_deadreckoning 2024-09-03 10:34:02 +10:00
Peter Barker 4782ace3b9 AP_NavEKF3: rename lastPosPassTime_ms to lastGpsPosPassTime_ms 2024-09-03 10:34:02 +10:00
Peter Barker a51614f360 AP_NavEKF3: use reference for dal in frontend 
in place of method calls
 2024-09-03 10:16:59 +10:00
Randy Mackay ba9bb22c3c AP_Scripting: add camera-change-settings applet 2024-09-03 09:04:39 +09:00
Randy Mackay 79983944c6 AP_Scripting: change_camera_setting binding 2024-09-03 09:04:39 +09:00
Randy Mackay 1f14c2ca6b AP_Mount: Siyi implements change_setting 2024-09-03 09:04:39 +09:00
Randy Mackay 78d88d11a3 AP_Camera: add change settings 2024-09-03 09:04:39 +09:00
Willian Galvani 11e05b1436 AP_HAL: add BMP390 option for navigator 2024-09-02 11:37:40 -03:00
Ryan Friedman 02d01ce392 AP_DDS: Remove duplicate instructions 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-02 12:24:31 +10:00
cuav-chen2 18cb1f3899 HAL_ChibiOS: change battery scale for CUAV-7-Nano flight controller 2024-09-02 12:23:08 +10:00
Thomas Watson 89c9e59c55 AP_DroneCAN: DNA_Server: polish db methods 
No compiler output change.
 2024-09-02 11:53:24 +10:00
Peter Barker a0c57291d7 AP_InertialSensor: correct compilation when logging disabled 2024-09-02 11:53:12 +10:00
Peter Barker 864a7a2a4b AP_GPS: define GPS_BLENDED_INSTANCE any time AP_GPS_BLENDED_ENABLED 
otherwise someone can explicity ebable it but not have a blended instance ID
 2024-09-02 11:53:12 +10:00
Peter Barker e9baf3d15a AP_DAL: add and use pr/EK3_FEATURE_OPTFLOW_FUSION 2024-09-02 11:53:12 +10:00
Peter Barker 02c6784c11 AP_NavEKF3: add and use pr/EK3_FEATURE_OPTFLOW_FUSION 2024-09-02 11:53:12 +10:00
Peter Barker c5b9d1dcbb AP_AHRS: add and use pr/EK3_FEATURE_OPTFLOW_FUSION 2024-09-02 11:53:12 +10:00
David Buzz 04292a280c AP_HAL_ESP32: scheduler timing information was lying to us 
This reverts commit 010cfa2f4c.

AP_HAL_ESP32: scheduler timing information was lying to us, this puts it back so both 'esp32buzz' and 'esp32s3empty' loop rates are "better than before.  Still terrible, but an improvement

revert of part of pr #27181
 2024-09-02 09:21:45 +10:00
Thomas Watson e99b0fd7b9 AP_HAL: increase overtime margin on ESP32 2024-09-02 09:21:08 +10:00
Thomas Watson 6c2daabd21 AP_Scheduler: make overtime margin definable 
Also warn about overtime on ESP32 which is most likely to hit it.
 2024-09-02 09:21:08 +10:00
Ferruccio Vicari 5b2dcc3a0c AP_Motors: fix DDVP tail servo initialization 2024-09-01 18:03:20 -04:00
Clyde McQueen cc06f7099c AC_WPNav: lower WPNAV_SPEED min to 10 cm/s 2024-08-30 07:55:50 +09:00
Maxim Buzdalov 15d6e664d8 AP_Notify: Fix compilation error in GPIO_LED_1.cpp 2024-08-29 09:37:50 +10:00
bugobliterator 957e92aca1 AP_HAL_ChibiOS: use CubePilot-CANMod's Serial Order 2024-08-28 18:20:29 +10:00
Henry Wurzburg e6351b6a41 AP_Notify:correct and expand 1 led flash sequences 2024-08-28 18:19:26 +10:00
Henry Wurzburg 4a72373624 AP_GPS:fix metadata typo 2024-08-28 15:31:08 +10:00
Henry Wurzburg 1631e85fe8 AP_GPS:add note to old param names to avoid confusion 2024-08-27 12:00:14 +10:00
Iampete1 3c6e5691e4 Filter: LowPassFilter: use `calc_lowpass_alpha_dt` helper 2024-08-27 11:21:22 +10:00
Iampete1 5453f3a0cc AP_DroneCAN: register handle_actuator_status_Volz callback and fix logging 2024-08-27 11:18:18 +10:00
Peter Barker 46db6c12c1 SITL: correct use of simulated GPS data 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>

uses the elements out of the simulated GPS data "d", rather than going to the parameters in teh simulated GPS "backends".
 2024-08-27 11:14:09 +10:00
Peter Barker 3c0c2bfa67 AP_Math: add a test for rand_float 2024-08-27 11:09:13 +10:00
Peter Barker 84bcea73e1 AP_Math: correct range of returned value for rand_float on real hardware 2024-08-27 11:09:13 +10:00
Andrew Tridgell 6de6de694a AP_Math: allow rand_float() on STM32 2024-08-27 11:09:13 +10:00
Peter Barker ee6bd4fca0 AP_RangeFinder: number enum entries 
we log these so they should be numbered
 2024-08-27 11:05:32 +10:00
Wu a33a0d1579 HAL_ChibiOS: fixed the imu orientation of RadiolinkPIX6 2024-08-27 10:26:50 +10:00
Randy Mackay 5bcbf56a47 AP_Mount: Siyi ZT6 set lens fix 
ZT6 has RGB and Thermal image sensors only
 2024-08-27 10:23:47 +10:00
Randy Mackay 0874202aa1 AP_Mount: Siyi ZT6 hardware id fix 2024-08-27 10:23:47 +10:00
Peter Barker c79ba79ed1 AP_Logger: AllTypes example: freshen output file 2024-08-27 10:19:26 +10:00
Peter Barker 1c15488e35 AP_Common: add comment on top of float16 storage 
there are multiple standards for storing these values
 2024-08-27 10:19:26 +10:00
Peter Barker b4e3b6cdd5 AP_Logger: add support for logging float16 2024-08-27 10:19:26 +10:00
Peter Barker 4e27c51aa1 AP_NavEKF3: do not log DefaultAirspeed if logging not started 
if we are not going to use this value ourselves then we certainly should not add it to the replay log
 2024-08-27 10:15:10 +10:00
Peter Barker 00dc15063e AP_NavEKF: avoid copying all but the best element when recalling time-horizon data 2024-08-27 10:07:52 +10:00
Iampete1 98d9890bf1 AP_ICEngine: convert from local servo endpoints and rc channel params 2024-08-27 09:37:34 +10:00
Iampete1 51963f497b RC_Channel: add ICEngine start / stop aux function 2024-08-27 09:37:34 +10:00
Iampete1 eee2d2f57e SRV_Channel: add methods to set defualt and save min/max values 2024-08-27 09:37:34 +10:00
Peter Barker 39b4b80a5f AP_GPS: create real AP_GPS_Blended backend 2024-08-27 09:26:06 +10:00
Peter Barker a65cd27435 AP_Beacon: allow hwdefs to override number of beacons 
... also a few other variables.

Also move these out of the main header file as one is internal and the others should go in the ocnfig. in case the values are used elsewhere
 2024-08-26 13:48:02 +10:00
Ryan Friedman 284faf08ee AP_GSOF: Use sparse endian instead of custom code 
* This saves flash

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-08-26 13:31:49 +10:00
Willian Galvani 616d74f1b0 AP_Scripting: add note about generating code for extension fields 2024-08-24 14:18:53 +01:00
Wu 52c94e2a5b AP_HAL_ChibiOS: add SPA06 baro for RadiolinkPIX6 2024-08-23 18:38:27 +10:00
Andy Piper 98f3a4b7d5 AP_InertialSensor: allow backend filters to be updated independently from a separate thread 2024-08-23 18:34:28 +10:00
Tatsuya Yamaguchi 62e3c6a6a9 AC_AttitudeControl: update comment to reflect the current logic in is_active_xy() 2024-08-23 07:14:50 +10:00
jamming 988d50fd9b hwdef: Add IST8310 and RM3100 Compass support for HolybroG4_GPS 2024-08-22 08:57:18 +10:00
jamming a3c930be7b AP_HAL_ChibiOS: Add a new target HolybroG4 DroneCAN Airspeed 2024-08-22 08:56:22 +10:00
Andy Piper 9c588d6ae2 AP_HAL_ChibiOS: do not include NeoPixel in minimum pulse separation 2024-08-21 17:24:01 +10:00
Randy Mackay 0d568b500a AP_Scripting: message_interval example handles 0hz 2024-08-21 11:41:50 +09:00
Andrew Tridgell d3a1d515cb AP_Scripting: added TECS tuning to revert param script 2024-08-21 06:46:56 +10:00
Andrew Tridgell 1b4fb403f2 AP_NavEKF2: added EK2_OPTIONS 
this allows for disabling of external navigation data (such as visual
odomotry) in EKF2. This is very useful when using EKF2 as a fallback
and truth reference when testing visual odomotry on EKF3
 2024-08-21 06:32:34 +10:00
Peter Barker 2e1364e3b0 autotest: include SBF when testing GPS backends work 2024-08-21 06:31:41 +10:00
Peter Barker 07b27d76be SITL: correct and augment SBF simulator 
- checksum calculation was including header parts in CRC twice
 - need to send DOP message to make EKF happy
 - need to supply own number of satellites
 - must pad packets to a multiple of 4 bytes
 2024-08-21 06:31:41 +10:00
Peter Barker 3bde446538 AP_GPS: SBF: avoid FPE when undulation is DNF 2024-08-21 06:31:41 +10:00
chiara de saint giniez c9f648b97c SITL: SBF driver 2024-08-21 06:31:41 +10:00
Peter Barker ebc8a71c36 GCS_MAVLink: allow cancelling of mission upload by sending MISSION_CLEAR_ALL 2024-08-20 20:46:41 +10:00
Peter Barker c0735d136c GCS_MAVLink: factor out a check_receiving_cancel method 
allow reuse of this logic
 2024-08-20 20:46:41 +10:00
Peter Barker 8ee7bf2dcb AP_GPS: change GPS_TYPE value 10 from SBF to Septentrio 2024-08-20 20:45:45 +10:00
Peter Barker b86380bbc6 AP_Camera: create and use an option_is_enabled 2024-08-20 14:50:23 +10:00
Ryan Friedman d859e9aa55 AP_GSOF: Disable packet1 test for now 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-08-20 14:50:05 +10:00
Ryan Friedman 724e61fa70 Tools: factor out common library for GSOF 
* Add tests too

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-08-20 14:50:05 +10:00
Ryan Friedman 921ef6cd36 AP_GSOF: factor out common library for GSOF 
* Add tests too

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-08-20 14:50:05 +10:00
Ryan Friedman f8295cb52b AP_GPS: factor out common library for GSOF 
* Add tests too

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-08-20 14:50:05 +10:00
Andrew Tridgell 669cb6563b AP_GPS: allow for EAHRS_SENSORS to not include GPS 
this allows external AHRS GPS to not be presented to AP_GPS as a
possible driver
 2024-08-20 10:27:01 +10:00
Thomas Watson 7c5a46bac2 AP_DroneCAN: DNA_Server: arrange db methods into more logical order 2024-08-20 10:22:55 +10:00
Thomas Watson b38766c469 AP_DroneCAN: DNA_Server: clarify comments with consistent terminology 2024-08-20 10:22:55 +10:00
Thomas Watson 9669b4e85d AP_DroneCAN: DNA_Server: rename db methods to use consistent terminology 
Also use snake_case like the rest of Ardupilot.
 2024-08-20 10:22:55 +10:00
Thomas Watson ddf74e2da4 AP_DroneCAN: DNA_Server: rename node record structure 
Rename NodeData to NodeRecord to provide a more specific name and match
the record term used in the comments. Also nominally allows stuff to be
associated with the nodes that's not the record, as expanding the record
is hard.

Additionally, rename the `hwid` field to `uid` as that's what's used in
the rest of the code.
 2024-08-20 10:22:55 +10:00
Thomas Watson e22f26e507 AP_DroneCAN: DNA_Server: briefly document database to guide cleanup 2024-08-20 10:22:55 +10:00
Iampete1 4ab976178e SRV_Channels: find_channel: use channel mask remove need for search over all channels 2024-08-20 09:41:58 +10:00
Peter Barker b1ae1591fb AP_TemperatureSensor: add AP_TEMPERATURE_SENSOR_BACKEND_DEFAULT_ENABLED 2024-08-20 09:34:21 +10:00
Andrew Tridgell faf769d8cd AP_Param: throw error if we lose parameters 
if we can't save a parameter due to the queue size not being large
enough then there is a coding error, likely the code trying to save
large numbers of parameters while armed
 2024-08-20 09:30:22 +10:00
Iampete1 d0d5dfddda AP_ESC_Telem: getters: check index is in range first 2024-08-20 09:14:11 +10:00
Iampete1 f9f8c2aa29 AP_ESC_Telem: add `telemdata.valid` method to simplify code 2024-08-20 09:14:11 +10:00
Iampete1 64c2a1070f AP_ESC_Telem: SITL: fill in extended status values 2024-08-20 09:14:11 +10:00
Iampete1 be80f83679 AP_ESC_Telem: add getters for extended status values 2024-08-20 09:14:11 +10:00
timtuxworth c2a5554e9f AP_Vehicle: Bindings for crosstrack in Lua 2024-08-20 09:10:42 +10:00
timtuxworth 8a93c6a264 AP_Scripting: Bindings for crosstrack in Lua 2024-08-20 09:10:42 +10:00
Iampete1 b811791863 Filter: examples: TransferFunctionCheck: add support for varable DT low pass 2024-08-20 09:09:41 +10:00
Iampete1 e2ce21a237 Filter: LowPassFilter: split into two classes for constant and variable dt 2024-08-20 09:09:41 +10:00
Iampete1 7d7333a91f Filter: example: TransferFunctionCheck: override constant dt filter 2024-08-20 09:09:41 +10:00
Iampete1 ee8a8f0254 SITL: SIM_Battery: provde dt in voltage filter apply function 2024-08-20 09:09:41 +10:00
Iampete1 89297737ea AP_InertialSensor: move to new constant dt low pass filter class 2024-08-20 09:09:41 +10:00
Iampete1 44918b0e75 AP_ICEngine: move to new constant dt low pass filter class 2024-08-20 09:09:41 +10:00
Iampete1 1d589c5244 AP_GyroFFT: move to new constant dt low pass filter class 2024-08-20 09:09:41 +10:00
Iampete1 5cc63d7e6f APM_Control: move to new constant dt low pass filter class 2024-08-20 09:09:41 +10:00
Loki077 0c29d4280c AP_Scripting: AP_ESC_Telem method update 
-Updated AP_ESC_Telem methods to use ESC_TELEM_MAX_ESCS instead of NUM_SERVO_CHANNELS.
- the place where the function returns bool adding skip check.
 2024-08-19 21:16:41 +10:00
Loki077 46c98d6c95 AP_Scripting: added lua binding get_last_update for efi and esc 2024-08-19 21:16:41 +10:00
Loki077 94059ed7bc AP_ICEngine: Add Option to Control the direction of Cranking. 
Added the 5th bit to the ICE_OPTION parameter to enable CRANK_DIR_REVERSE control, specifically for managing Hirth engine direction using AP_ICEngine_TCA9554.
 2024-08-19 20:21:57 +10:00
Lokesh-Ramina 54ec26a80a AP_EFI: Adding EFIS log for Hirth 
- Added EFIS log for Hirth engine
- Added ThM to help understand the engine logs better
- Updated the field names to keep the total length 64-characters long.
- Added Bitfield for the EFIS log to log all errors.
 2024-08-19 07:11:50 +10:00
Andrew Tridgell 1fe21b6120 QURT: allow for external compasses 
this allows for additional compasses on I2C
 2024-08-17 13:20:00 +10:00
Pierre Kancir f1dd2bb2e8 AP_HAL_Linux: SITL: add missing header for timeval struct on alpine linux 2024-08-15 22:33:42 +10:00
Pierre Kancir 3e4241ee7f AP_HAL: add missing header for timeval struct on alpine linux 2024-08-15 22:33:42 +10:00
Pierre Kancir 102547968f SITL: add missing header for timeval struct on alpine linux 2024-08-15 22:33:42 +10:00
Peter Barker ca9a504c4f AP_Camera: move defintiion of HAL_RUNCAM_ENABLED into AP_Camera_config.h 2024-08-15 18:15:05 +10:00
Gone4Dirt 1de229debc AP_MotorsHeli_RSC: Make variables in constructor const 2024-08-14 23:39:01 -04:00
Gone4Dirt 7271a469fd AP_MotorsHeli: Move heli logging down to motors 2024-08-14 23:39:01 -04:00
Peter Barker 60c2e4278c AP_Compass: avoid use of MAV_RESULT if mavlink bindings not used 2024-08-14 19:40:31 +10:00
Peter Barker 571f18bb69 AP_Terrain: gate mavlink includes on HAL_GCS_ENABLED 
avoids trying to include headers which have not been generated"
 2024-08-14 19:39:16 +10:00
Peter Barker ba305025c4 AP_Notify: use default value for DEFAULT_NTF_LED_TYPES for NavIO2 
this is the default default value for this define
 2024-08-14 19:38:48 +10:00
Peter Barker b47bcc4429 AP_Notify: use default DEFAULT_NTF_LED_TYPES on unrecognised Linux boards 
now have two ifndef blocks, one of which defaults things on recognized linux boards, the other generically.

Preparation for removing the defaultin for Linux boards in this file
 2024-08-14 19:38:48 +10:00
Peter Barker 7c2ee8d53c AP_Notify: use DEFAULT_NTF_LED_TYPES for chibios boards 
default is the same  as what ChibiOS sets
 2024-08-14 19:38:48 +10:00