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27794 Commits

Author SHA1 Message Date
Iampete1
8937802f77 AC_Avoidance: Dijkstra: don't consider points in corners 2021-10-20 03:45:40 -04:00
Iampete1
ae9300134a AC_Avoidance: add option to log vis graph 2021-10-20 03:45:40 -04:00
Iampete1
05e01fb603 AP_Scripting: docs: update GCS 2021-10-20 18:35:09 +11:00
Iampete1
05219ca5c4 GCS_Common: return true result for scripting set_message_interval 2021-10-20 18:35:09 +11:00
Iampete1
1af244e5bc AP_Scripting: maunaly update GPIO docs as example 2021-10-20 18:35:09 +11:00
Iampete1
6dd9ffc334 AP_Scripting: auto generate docs 2021-10-20 18:35:09 +11:00
Iampete1
a70134ba38 AP_Scripting: generator: ouput Emmylua docs 2021-10-20 18:35:09 +11:00
Iampete1
a5a3b413df AP_Scripting: wscript: support docs option 2021-10-20 18:35:09 +11:00
Iampete1
b595beab10 AP_Motors: set ouput scaled with float 2021-10-20 18:29:58 +11:00
Iampete1
a590a675d6 AP_RollController: return floats 2021-10-20 18:29:58 +11:00
Iampete1
da4fd7a914 AP_PitchController: return floats 2021-10-20 18:29:58 +11:00
Iampete1
6e4ae3898d AP_Winch: use floats for get/set output scaled 2021-10-20 18:29:58 +11:00
Iampete1
76ccbeb0fa AP_SpdHgtControl: use float for get_throttle_demand 2021-10-20 18:29:58 +11:00
Iampete1
d69d493ea6 AP_TECS: use float for get_throttle_demand 2021-10-20 18:29:58 +11:00
Iampete1
fbb9ef422c AP_Scripting: use floats for get/set output scaled 2021-10-20 18:29:58 +11:00
Iampete1
89c0a8ea04 AP_Airspeed: use floats for get/set output scaled 2021-10-20 18:29:58 +11:00
Iampete1
14b9e99020 RC_Channel: use float for stick mixing 2021-10-20 18:29:58 +11:00
Iampete1
b84633630a SRV_Channel: use floats for get/set output scaled 2021-10-20 18:29:58 +11:00
Andy Piper
73b0a212f7 AP_Arming: FFT prearm should not be dependent on INS prearm 2021-10-20 18:16:05 +11:00
Peter Barker
cf9f060db8 AP_InertialNav: handle renaming of AP_InertialNav_NavEKF to AP_InertialNav 2021-10-20 18:09:36 +11:00
Peter Barker
300628a570 AP_InertialNav: rename files for delayering 2021-10-20 18:09:36 +11:00
Peter Barker
b8d9f79969 AP_InertialNav: remove old AP_InertialNav.h for delayering 2021-10-20 18:09:36 +11:00
Shiv Tyagi
229e2757d4 RC_Channel : Formatting fix for blimp parameter documentation 2021-10-20 14:22:48 +11:00
Randy Mackay
a09013c656 AP_Torqeedo: correct display system state motor power field type 
No need to store as float
 2021-10-19 01:30:51 -04:00
Randy Mackay
90f7e15bcb AP_Torqeedo: fixups from peer review 2021-10-19 01:30:51 -04:00
Randy Mackay
1bdfe8ad55 AP_BattMonitor: fixups from peer review 2021-10-19 01:30:51 -04:00
Randy Mackay
47dd2d7aea RC_Channel: torqeedo clear error aux function 2021-10-19 01:30:51 -04:00
Randy Mackay
d3c8a5e85f AP_BattMonitor: add torqeedo battery monitor 2021-10-19 01:30:51 -04:00
Randy Mackay
866ea184c8 AP_Torqeedo: major refactor and enhancement 
SLEW_TIME specifies the rate of change in output to the motor
DIR_DELAY specifies the length of the pause at zero during forward-reverse transitions
POWER param allows configurable power output
Consume Display system state and setup messages
Consume Motor messages to retrieve volt and current
TRQD logs on each motor speed update
AP_Torqeedo: request and consume motor status messages
ESC_Telemetry support
Battery info accessor
Add real-time error reporting of failures to user
Support user manually clearing motor errors via RC
Improve message reply handling
Tiller message consumption improved
Messages with unexpected lengths increment error count
Enums added
Comments improved
Remove unused include
Disable for AP_Periph and minimise features
 2021-10-19 01:30:51 -04:00
Randy Mackay
e61624d43b AP_Torqeedo: motor connector method output slowed to 10hz 2021-10-19 01:30:51 -04:00
Peter Barker
29088e25f9 AP_Vehicle: move SITL object up to AP_Vehicle 2021-10-19 11:34:43 +11:00
Iampete1
8459439798 AP_HAL_ChibiOS: CubeYellow: set default IMU arming temp margin 2021-10-19 11:16:45 +11:00
Iampete1
8e381b6017 AP_HAL_ChibiOS: CubeSolo: set default IMU arming temp margin 2021-10-19 11:16:45 +11:00
Iampete1
a004de65b3 AP_HAL_ChibiOS: CubePurple: set default IMU arming temp margin 2021-10-19 11:16:45 +11:00
Iampete1
e3289d2aec AP_HAL_ChibiOS: CubeBlack: set default IMU arming temp margin 2021-10-19 11:16:45 +11:00
Iampete1
5d5a21a4ec AP_Hal_ChibiOS: CubeOrange: set default min IMU temp margin 2021-10-19 11:16:45 +11:00
Iampete1
3f98927885 AP_BoardConfig: add min arming temp margin param and getter 2021-10-19 11:16:45 +11:00
Iampete1
55a6b731a8 AP_Arming: add min heater temp check 2021-10-19 11:16:45 +11:00
QioTek
fd2195d6fe HAL_ChibiOS: added QioTekZealotH743 support 2021-10-19 08:17:43 +11:00
Peter Barker
a39fe77681 SITL: add simulated MCP9600 2021-10-19 08:15:00 +11:00
Peter Barker
0acccaf4b7 AP_ExternalAHRS: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
Peter Barker
d6ebc5578b AP_DAL: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
Peter Barker
60759f9a83 AP_CANManager: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
Peter Barker
5b2eced5a2 AP_BoardConfig: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
Andrew Tridgell
b0674a2b35 AP_Compass: support 2nd address for ICM20948 compass 2021-10-18 08:29:29 +11:00
Andrew Tridgell
7aa968329c HAL_ChibiOS: added Nucleo-L476 target 2021-10-17 20:30:20 +11:00
Andrew Tridgell
c8664e0b98 HAL_ChibiOS: added STM32L476 support 2021-10-17 20:30:20 +11:00
Andrew Tridgell
655c757c22 HAL_ChibiOS: added Sierra-L431 peripheral 2021-10-17 20:30:20 +11:00
Andrew Tridgell
5a68e21435 HAL_ChibiOS: support STM32L431 2021-10-17 20:30:20 +11:00
Andrew Tridgell
71e7bb0fe3 HAL_ChibiOS: mark af_parse_cubemx.py as executable, py3 2021-10-17 20:30:20 +11:00
Andrew Tridgell
f1ea4f5d01 HAL_ChibiOS: use a 16 bit sysinterval_t on 16 bit timers 
prevent mixed size subtraction errors
 2021-10-17 20:29:42 +11:00
Peter Barker
05c6a25e52 SITL: move simulated megasquirt to SerialDevice framework 2021-10-17 10:00:08 +11:00
Peter Barker
8c9ade3f7f AP_HAL_SITL: move simulated megasquirt to SerialDevice framework 2021-10-17 10:00:08 +11:00
Davis Schenkenberger
2026f7efb8 AP_ExternalAHRS: Implement EAHRS Driver for Lord Microstrain AHRS 2021-10-17 08:55:03 +11:00
Davis Schenkenberger
3e748d77c9 Tools: autotest: add test for LORD EAHRS 2021-10-17 08:55:03 +11:00
Asa Davis
85fbbe0704 SITL: add simulator for LORD Microstrain serial EAHRS 2021-10-17 08:55:03 +11:00
Davis Schenkenberger
795e7e53bf AP_HAL: add helpers le64toh_ptr, be64toh_ptr, put_le64_ptr, put_be64_ptr 2021-10-17 08:55:03 +11:00
Sandy Urazayev
644726ff50 AP_Common: Added missing fenv exception functions from FreeBSD fenv tree 
Signed-off-by: Sandy Urazayev <ctu@ku.edu>
 2021-10-16 20:09:11 +11:00
Andrew Tridgell
67fd862a8c AP_RCProtocol: check for RC protocol switching enable 
by default don't allow protocol switching after initial protocol is
found
 2021-10-15 19:29:23 -04:00
Andrew Tridgell
6c2689fef2 RC_Channel: added RC_OPTION bit for allowing RC protocol switching 
this is meant to prevent accidential switching to a disconnected pin
 2021-10-15 19:29:23 -04:00
Peter Barker
670663a741 AP_NavEKF3: allow hwdef to override IMU default 2021-10-16 10:26:29 +11:00
courk
b1bf22b53c GPIO_BBB: fix partially working GPIO init 
use cleaner way to enable all GPIO banks, including GPIO1.
 2021-10-15 15:16:17 -07:00
bugobliterator
5fa50c419d AP_HAL_ChibiOS: account for TXFIFO when doing flow control detection 2021-10-15 19:57:55 +11:00
Andy Piper
d71fb2cb34 AP_Filesystem: fix ftp burst read with credit to deanharken 2021-10-15 19:02:41 +11:00
Tom Pittenger
12192f60e3 GCS_MAVLink: move ADSB mavlink handling from vehicles to common library 2021-10-14 19:55:27 -07:00
Josh Henderson
2b5e2a00e1 SITL: NMEA Depthfinder add temperature simulation 2021-10-15 13:08:17 +11:00
tajisoft
f076bb3ad1 AP_Scripting: update ahrs-source-gps-optflow.lua 2021-10-14 10:36:29 +11:00
Pierre Kancir
12e1f67326 AP_Compass: only update last_update_ms on raw_field update if on calibration 2021-10-13 19:45:03 +11:00
Peter Barker
893354ccfe RC_Channel: correct spelling error in parameter description 2021-10-13 19:36:20 +11:00
李孟晓
e5efc52324 AP_BattMonitor: Add support for BatteryInfoAux message 2021-10-13 18:44:05 +11:00
李孟晓
36ceb76cae AP_UAVCAN: Add battery ID field 2021-10-13 18:44:05 +11:00
李孟晓
54b68ffae3 GCS_MAVLink: Provide the time remaining 2021-10-13 18:44:05 +11:00
李孟晓
bf1a17825c AP_BattMonitor: Provide the time remaining 2021-10-13 18:44:05 +11:00
Andrew Tridgell
d1c7ed1c82 HAL_ChibiOS: make it clear how to enable parameter backup on CubeBlack 
uses 16k more ram, but allows auto-restore of corrupted params
 2021-10-12 22:08:13 -04:00
Andrew Tridgell
24f40d9049 AP_Mission: allow for more jump commands on high memory boards 
and allow override of maximum in custom hwdef.dat
 2021-10-13 12:49:12 +11:00
Tom Pittenger
e9ce1886c8 GCS_MAVLink: unify DO_SET_CAM_TRIG_DIST for missions and cmd_long 2021-10-12 15:04:00 -07:00
Peter Barker
f5d5387358 AP_HAL_SITL: remove unused ext_fifo_fd member variable 2021-10-12 20:07:19 +11:00
Peter Barker
e9165fdeab SITL: add simulated RAMTRON device 2021-10-12 20:01:49 +11:00
Peter Barker
67226433e3 AP_HAL_SITL: add simulated RAMTRON device 2021-10-12 20:01:49 +11:00
Peter Barker
437e0e6459 SITL: add simulated SPI devices 2021-10-12 20:01:49 +11:00
Peter Barker
58a7f022fd AP_HAL_SITL: add simulated SPI devices 2021-10-12 20:01:49 +11:00
Andrew Tridgell
1559f7aa2d AP_Logger: added stack logging 2021-10-12 16:04:06 +11:00
Andrew Tridgell
8157c24977 AP_HAL: added stack logging 2021-10-12 16:04:06 +11:00
Andrew Tridgell
84bbc707fc AP_HAL_ChibiOS: added stack logging 2021-10-12 16:04:06 +11:00
auturgy
7c3c3a0a41 HAL_Chibios: support modalai_fc-v1 flight controller 
Based on M0018 version. Thanks to ModalAI for assistance
 2021-10-12 15:47:51 +11:00
Andrew Tridgell
d8c0d82857 AP_RCProtocol: allow DSM bind using uart RX pin directly 2021-10-12 15:47:51 +11:00
Andrew Tridgell
6fa9768eab HAL_ChibiOS: support GPIO get_mode and set_mode 2021-10-12 15:47:51 +11:00
Andrew Tridgell
029743e27a AP_HAL: added support for saving and restoring GPIO settings 
this allows for using any pin (eg. UART TX, RX, RTS, CTS) as a GPIO,
and restoring the old mode. Initial use is for spektrum bind on RX pin
 2021-10-12 15:47:51 +11:00
Andrew Tridgell
25324ae0e2 HAL_ChibiOS: support SDMMC2 for sdcard 2021-10-12 15:47:51 +11:00
Andrew Tridgell
281b8eb234 AP_BattMonitor: support LTC2946 I2C battery monitoring 2021-10-12 15:47:51 +11:00
Andrew Tridgell
2903e10fc0 AP_BattMonitor: added INA231 backend 
only enabled via hwdef.dat for now
 2021-10-12 15:47:51 +11:00
Andrew Tridgell
8d9c9d9130 AP_BoardConfig: allow override of BRD_SAFETYENABLE default 2021-10-12 15:47:51 +11:00
Peter Barker
5b8a3c3ff9 SITL: use enumeration in place of O_RDWR for I2C register defs 2021-10-12 14:44:31 +11:00
Iampete1
82cd9e24c3 RC_Channel: add configured_in_storage metthod 2021-10-11 22:19:17 -04:00
Iampete1
d16be50e57 AP_Motors: add PWM min and max param conversion function 2021-10-11 22:19:17 -04:00
Iampete1
14dfac42e7 AP_Motors: remove use of external PWM min and max 2021-10-11 22:19:17 -04:00
Andrew Tridgell
d962e094e7 HAL_ChibiOS: change RCIN PULLUP to PULLDOWN 
this makes us more consistent between boards
 2021-10-12 11:52:36 +11:00
Andrew Tridgell
47da7f5c9b HAL_ChibiOS: change RCIN FLOAT to PULLDOWN 
this lowers the chance of noise on a RCIN pin causing incorrect
protocol detection
 2021-10-12 11:52:36 +11:00
Nick Exton
ffa2bba35c HAL_ChibiOS: add missing return to Dual CDC get_usb_baud() 2021-10-12 10:54:44 +11:00
Andrew Tridgell
e6aae3caf6 HAL_ChibiOS: fix G4 I2c bus speeds 2021-10-12 10:54:07 +11:00
Iampete1
0f8bcbf4b8 AP_Scripting: optimise genrated bindings for size 2021-10-12 10:08:56 +11:00
Iampete1
c1dbb1c046 AP_Scripting: change all -FLT_MAX FLT_MAX ranges to no check 2021-10-12 10:08:56 +11:00
Iampete1
302e855dab AP_Scripting: add 'skip_check keyword to skip argument range check 2021-10-12 10:08:56 +11:00
Iampete1
0772af5539 AP_Scripting: generator: dont initalise trivial types 2021-10-12 10:08:56 +11:00
Iampete1
32d6919ae2 AP_Scripting: generator: remove unneeded else in nullable returns 2021-10-12 10:08:56 +11:00
Peter Barker
90f8cbde13 SITL: provide HAL_x_ENABLED for many SITL features 
This allows for the feature to be compiled out
 2021-10-12 09:04:55 +11:00
Peter Barker
aa4f375015 SITL: SIM_RichenPower: remove reference to stderr 2021-10-12 09:00:45 +11:00
Peter Barker
c9df857f16 SITL: avoid use of stderr/::fprintf 2021-10-12 09:00:17 +11:00
Peter Barker
94ad32b91c SITL: remove HIL_MODE vestiges 2021-10-12 08:57:05 +11:00
Peter Barker
d98cda12c6 AP_HAL_SITL: remove HIL_MODE vestiges 2021-10-12 08:57:05 +11:00
Willian Galvani
34b42d8252 AP_HAL: Navigator: set HAL_BARO_EXTERNAL_BUS_DEFAULT to 6 
This is the bus exposed in the board for external sensors.
This is required as HAL_Linux doesn't probe all i2c buses.
 2021-10-11 17:57:52 -03:00
Willian Galvani
2feb740a03 AP_Baro: add option to set BARO_EXT_BUS default value 
This allows boards to define their own BARO_EXT_BUS default value.
This is mostly relevant for linux boards, as HAL_LINUX doesn't
probe all buses when BARO_EXT_BUS == -1.
 2021-10-11 17:57:52 -03:00
tajisoft
68274ff996 AP_Scripting: fix switch check in ahrs-source 2021-10-11 20:59:46 +11:00
Andrew Tridgell
5f6af3567a SRV_Channel: added SERVO_GPIO_MASK 
this allows for channels to be set as GPIO without setting
SERVOn_FUNCTION=-1. That allows for use of UAVCAN or SBUS outputs on
those channels with a servo function, while using the aux pin as a
GPIO
 2021-10-11 19:28:11 +11:00
Rishabh
13f3d04300 AC_Avoid: Early exit Dijkstra's path finder if destination is found 2021-10-11 02:21:48 -04:00
Andrew Tridgell
08fcfa04ae APM_Control: only save autotune gains when P finished 
this prevents saving values which are temporarily high due to tuning
process

See this bug report
https://discuss.ardupilot.org/t/plane-4-1-0-stable/76507/45
 2021-10-10 19:00:57 +11:00
Iampete1
f0bc041b86 AP_Gererator: IE Fuel Cell: reset health timer at init 2021-10-08 19:34:34 -04:00
Lucas De Marchi
24adf18685 AP_HAL_Linux: small fixes to cpu affinity 
- Do not mention x:y form in the comment since it's not supported
  - Give more detail in the help output regarding the meaning of each form
  - No prints in the helper parse function, let the caller print it
 2021-10-08 16:08:52 -07:00
HefnySco
9f1cbdc0a5 AP_HAL_Linux: cpu affinity 2021-10-08 13:47:56 -07:00
Stephen Dade
e85f803e27 SITL: Expand multi-drone example 2021-10-08 17:29:10 +11:00
Peter Barker
521918d74c SITL: remove set-but-not-used _framerate member variable 2021-10-08 14:23:18 +11:00
olliw42
312604f577 AP_Mount: add handle_global_position_int() method to backend and use it + little spelling 2021-10-08 14:22:43 +11:00
murata
fa609afc44 AP_Scripting: Change the script file name for messages 2021-10-07 18:21:11 -04:00
Josh Henderson
1e0ae4b998 GCS_MAVLINK: Common capacity_remaining_pct checks healthy status and has_current 2021-10-07 22:16:02 +11:00
Josh Henderson
ca568953d9 AP_BattMonitor: capacity_remaining_pct add checks for healthy status and has_current 2021-10-07 22:16:02 +11:00
bugobliterator
f298ea406e HAL_ChibiOS: enable RNG only for H7 based boards off for the rest by default 2021-10-07 19:43:11 +11:00
bugobliterator
fc4d59c5a4 HAL_ChibiOS: setup hw random number generator for stm32 chips 2021-10-07 19:43:11 +11:00
bugobliterator
792e6666a3 HAL_ChibiOS: add random number generator implementation for ChibiOS 2021-10-07 19:43:11 +11:00
bugobliterator
e4f4b3ce1f AP_HAL: add true random number generator 2021-10-07 19:43:11 +11:00
Hwurzburg
b327f80946 AP_Airspeed: do not cal if backend does not exist 2021-10-07 13:36:44 +11:00
Peter Barker
43e83f18be AP_AHRS: do not send EKF_STATUS_REPORT from DCM 
This means that even if you configure DCM as your primary you won't get
its status.

Given the status was currently garbage, this isn't necessarily a bad
thing at the moment.
 2021-10-06 19:10:36 +11:00
Peter Barker
2f69dcc085 AP_AHRS: cache some trig results for yaw in DCM backend 2021-10-06 19:10:36 +11:00
Peter Barker
44d56854be AP_AHRS: make AP_AHRS_DCM an AP_AHRS backend 2021-10-06 19:10:36 +11:00
Iampete1
2b402ed2d7 AP_BLHeli: use is_dshot_protocol in place of >= AP_HAL::RCOutput::MODE_PWM_DSHOT150 2021-10-06 18:59:57 +11:00
Iampete1
3b8b90d170 AP_HAL: move is_dshot_protocol to AP_HAL 2021-10-06 18:59:57 +11:00
Iampete1
9751cb5b24 AP_HAL_ChibiOS: move is_dshot_protocol up to AP_HAL 2021-10-06 18:59:57 +11:00
Iampete1
9b02baa5f0 AP_HAL: add note to output_mode enum about params using it 2021-10-06 18:59:57 +11:00
Iampete1
436f9a3f46 AP_BLHeli: move OTYPE to use RCOutput::MODE not AP_Motors::PWM_TYPE 2021-10-06 18:59:57 +11:00
Iampete1
9106835c93 AP_BLHeli: use motors is_digital_pwm_type helper 2021-10-06 18:59:57 +11:00
Iampete1
bc29735cb2 AP_Motors: make pwm_type protected and add helpers 2021-10-06 18:59:57 +11:00
Iampete1
b472300191 AP_MotorsUGV: make pwm_type private and add is_digital_pwm_type method 2021-10-06 18:59:57 +11:00
Iampete1
86e56934b6 AP_Scripting: update analog input example to check for valid pin 2021-10-06 18:42:51 +11:00
Iampete1
f50326c154 AP_WindVane: check for valid analog pins 2021-10-06 18:42:51 +11:00
Iampete1
e5ae023be2 AP_Scripting: AnalogSource set_pin returns bool 2021-10-06 18:42:51 +11:00
Iampete1
8f50eab6c2 AP_RSSI: check for valid analog pin 2021-10-06 18:42:51 +11:00
Iampete1
f667c098a2 AP_RangeFinder: analog: check for valid pin 2021-10-06 18:42:51 +11:00
Iampete1
5ea72bd371 AP_LeakDetector: check for valid analog pin 2021-10-06 18:42:51 +11:00
Iampete1
9f04cded3b AP_HAL_SITL: AnalogSource: return bool for set_pin 2021-10-06 18:42:51 +11:00
Iampete1
62474e6dc8 AP_HAL_Linux: AnalogSource: set_pin return true 2021-10-06 18:42:51 +11:00
Iampete1
f479964c5a AP_HAL_Empty: AnalogSource: return bool 2021-10-06 18:42:51 +11:00