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30585 Commits

Author SHA1 Message Date
Andrew Tridgell ca4d4eca3c AP_Arming: use baro arming checks call 2022-11-21 19:33:35 +11:00
Andrew Tridgell 92208f6bfb AP_Baro: added option to treat MS5611 as MS5607 
and add arming check for pressure altitude error
 2022-11-21 19:33:35 +11:00
Pierre Kancir f482224e74 GCS_MAVLink: fix always 0 division. 
7/8 into array range bracket will be integral type, therefore 7/8 is reported as always 0.
 2022-11-21 19:33:35 +11:00
Randy Mackay 3bec61d01a AP_AHRS: pre-arm msg loses extra AHRS prefix 2022-11-21 19:33:35 +11:00
Andy Piper 33406a28e7 AP_SerialManager: only use the first defined serial port for RCIN 2022-11-21 19:33:35 +11:00
Andy Piper 804651fa93 AP_RCProtocol: add has_uart() 2022-11-21 19:33:35 +11:00
Randy Mackay 5cdc24faf6 AP_Mount: minor comment fix to has_pan_control 2022-11-21 19:33:35 +11:00
Randy Mackay d4d6a9bc23 RC_Channel: add camera aux functions 2022-11-21 19:33:35 +11:00
Randy Mackay 57a9c3ce04 AP_Camera: add record video zoom and focus 2022-11-21 19:33:35 +11:00
Randy Mackay 80da0c541b AP_Mount: add Siyi gimbal driver 2022-11-21 19:33:35 +11:00
Randy Mackay f6056a4734 AP_Mount: add camera controls 2022-11-21 19:33:35 +11:00
Andrew Tridgell 8e8ceb25ea AP_NavEKF3: fixed getLLH alt for local origin height 
this fixes a bug introduced in #21834

this fix in #21834 was correct for getPosD, but should not have been
applied to getLLH

this caused cruise mode in plane to descend/ascend by the difference
between the public and local origins on mode entry

fixes #21984
 2022-10-23 09:53:57 +11:00
Andrew Tridgell 6699ecf7a4 AP_AHRS: added ATSC logging 
log scale factors for angle P scaling when not == 1.0
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 7e1b43db62 AC_AttitudeControl: added single loop override of angle P gains 
this is used by quadplanes in back-transiton to prevent oscillation
caused by driving the fixed wing controller too fast
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 71d299932d APM_Control: added access to time constant 2022-10-19 10:24:53 +11:00
Iampete1 56066eb470 AP_Scripting: set lua nullptr after delete 2022-10-19 10:24:53 +11:00
Andrew Tridgell a313a1db3d AP_RPM: fixed SITL RPM backend for new motor mask 2022-10-19 10:24:53 +11:00
Andrew Tridgell 92f42074c0 SITL: allow for extra actuators to be marked as motors 2022-10-19 10:24:53 +11:00
Andrew Tridgell 3dad2a0987 AP_ESC_TELEM: allow for non-continguous ESC telem motor sets 
this fixes ESC telem for quadplanes with motors at 5-8 or 9-12
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 9ffdf2511f HAL_SITL: use motor mask for noise checking for motors 2022-10-19 10:24:53 +11:00
Andrew Tridgell 21ea1d7d47 AP_InertialSensor: use motor_mask from SITL for which outputs are motors 
generate noise based on motor_mask
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 7f990ee7e1 AP_Vehicle: removed num_dynamic_notches limit in dynamic harmonic 
use INS_MAX_NOTCHES instead, allowing for more ESCs to be added by lua
scripts
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 5d29027025 Filter: allow for expansion of dynamic filters 
this allows for the number of dynamic filters on a harmonic notch
filter to expand at runtime, which allows for ESC RPMs to be populated
from other than AP_Motors, such as with lua scripts or for fwd motors
in a SLT quadplane
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 72afcddba1 SITL switched to motor_mask for which actuators are motors 
this allows for any output to be an ESC, which allows for proper
simulation of quadplanes with ESCs on outputs 5-8 or 9-12, for testing
notch filtering
 2022-10-19 10:24:53 +11:00
Andrew Tridgell 79b7ad31aa SITL: support playback of new GPS log format 2022-10-19 10:22:11 +11:00
Andrew Tridgell 489737c2ca AP_GPS: fixed resolution of KSXT parsing for NMEA 
needs to be double precision for lat/lon
 2022-10-19 10:22:11 +11:00
Andrew Tridgell 5cfd7e639f AP_GPS: added logging to more serial GPS backends 2022-10-19 10:22:11 +11:00
Andrew Tridgell 1d3cdfb73b AP_GPS: improve GPS debug logging 
use timestamped data allowing for much more precise playback
 2022-10-19 10:22:11 +11:00
Leonardo Garcia d7b3bf4675 AP_InertialSensor: Fix BMI085 accel scaling 
Original BMI088 has 24G range so it was hardcoded for *scale* within
read_fifo_accel. Added a class variable accel_range which is assigned
the correct value when the sensor type is received (16.0 or 24.0).
 2022-10-19 10:22:11 +11:00
Andrew Tridgell 41db7a1998 GCS_MAVLink: prevent segv in ftp 
if the user disables ftp by changing BRD_OPTIONS after ftp has started
then we could dereference a nullptr
 2022-10-19 10:22:11 +11:00
Andrew Tridgell 1be58e632b AP_Scripting: added rc:get_aux_cached() example 2022-10-19 10:22:11 +11:00
Andrew Tridgell 32073557dc AP_Scripting: added get_aux_cached() RC binding 2022-10-19 10:22:11 +11:00
Andrew Tridgell 4b3395c9be RC_Channel: added cache of aux functions for scripting 
allows for scripting to act on aux functions
 2022-10-19 10:22:11 +11:00
Andrew Tridgell 23405811b8 AP_Common: added setonoff() method for bitmask 2022-10-19 10:22:11 +11:00
Andrew Tridgell 4157ad5c5c AP_Scripting: added relay get() binding 2022-10-19 10:22:11 +11:00
Andrew Tridgell e79ad57def AP_Relay: added get() method for scripting 2022-10-19 10:22:11 +11:00
Andrew Tridgell 89517eac8c HAL_ChibiOS: fixed build error with gcc 11.3 2022-10-19 10:22:11 +11:00
Andrew Tridgell 2ce936db94 AP_Scripting: fixed use of clock and time in lua 
not available on stm32
 2022-10-19 10:22:11 +11:00
Andrew Tridgell 00d6f94907 GCS_MAVLINK: fixed warning in ftp build with gcc 11.3 2022-10-19 10:22:11 +11:00
Andrew Tridgell 843af69a49 RC_Channel: add winch enable to option param docs for Copter 2022-10-09 12:20:39 +11:00
Iampete1 ec137151c4 AP_Scripting: clear alocated i2c devices on scripting stop 2022-10-09 12:20:39 +11:00
Iampete1 934173a55a AP_Scripting: add maunal i2c binding allowing read of sequentual registers 2022-10-09 12:20:39 +11:00
Iampete1 a65cced4e2 AP_Scripting: allow maunal apobject bindings 2022-10-09 12:20:39 +11:00
Andrew Tridgell f99c95c546 AP_Vehicle: implement 1M/2M warnings 
encourage users to run the right firmware for their boards
 2022-10-09 09:47:02 +11:00
Andrew Tridgell 91e206ab9c hwdef: added warning messages about flash size 2022-10-09 09:47:02 +11:00
Andrew Tridgell f7108c2649 HAL_ChibiOS: make check_limit_flash_1M() available in main firmware 2022-10-09 09:47:02 +11:00
Andrew Tridgell 17b8c594fb AP_Airspeed: use DEVID to maintain lineup of CAN sensors 
persist DEVID and use it to ensure that we keep the order of DroneCAN
sensors between boots. It still allows for a sensor to be swapped out
for a new one, while keeping slot of the one that hasn't been removed
 2022-10-07 10:25:04 +11:00
davidsastresas 243c32a3c4 AP_NMEA_Output.cpp: Fix conversion precision issue: 
We were casting the location in integer 32 bits
to float, and making fabsf in float as well, so
we were losing precision translated in about 40 cm
minimum variation in position for the NMEA output.

Also, even if using double and fabsF, we were still
rounding up last 2 decimals, so now the logic is
done in degree * 10e7 to not loose precision and
then converted properly before building the string
 2022-10-07 08:38:33 +11:00
Andrew Tridgell ceb53ffa92 AP_ICEngine: report when engine goes into run state 2022-10-07 08:27:55 +11:00
Andrew Tridgell d6e7d568a0 AP_Vehicle: check for motors being nullptr 
this can happen with plane with Q_ENABLE=0
 2022-10-07 08:27:43 +11:00