Commit Graph

34430 Commits

Author SHA1 Message Date
Thomas Watson 8fe95dca81 AP_HAL_Linux: introduce get_HAL_mutable() to complement get_HAL()
Returns a mutable reference to the same HAL for certain purposes where
the HAL needs to be mutated to avoid UB problems with casting away const
and to make the fact that mutation is happening obvious.
2023-11-28 08:24:25 +11:00
Thomas Watson db12f428c5 AP_HAL_Empty: introduce get_HAL_mutable() to complement get_HAL()
Returns a mutable reference to the same HAL for certain purposes where
the HAL needs to be mutated to avoid UB problems with casting away const
and to make the fact that mutation is happening obvious.
2023-11-28 08:24:25 +11:00
Thomas Watson 2dbf5aefb3 AP_HAL_ESP32: introduce get_HAL_mutable() to complement get_HAL()
Returns a mutable reference to the same HAL for certain purposes where
the HAL needs to be mutated to avoid UB problems with casting away const
and to make the fact that mutation is happening obvious.
2023-11-28 08:24:25 +11:00
Thomas Watson a9ddadee3b AP_HAL_ChibiOS: introduce get_HAL_mutable() to complement get_HAL()
Returns a mutable reference to the same HAL for certain purposes where
the HAL needs to be mutated to avoid UB problems with casting away const
and to make the fact that mutation is happening obvious.
2023-11-28 08:24:25 +11:00
Thomas Watson dc76e03890 AP_HAL: introduce get_HAL_mutable() to complement get_HAL()
Returns a mutable reference to the same HAL for certain purposes where
the HAL needs to be mutated to avoid UB problems with casting away const
and to make the fact that mutation is happening obvious.
2023-11-28 08:24:25 +11:00
Andrew Tridgell c48feefe23 AP_BattMonitor: fixed battery percentage with aux info
when we have aux battery information we had assumed the CAN device
would provide the battery remaining percentage. We should obey the "do
not use CAN SoC" with or without an AUX message

This fixes CAN battery monitors with a cell monitor
2023-11-27 13:02:46 +11:00
Stephen Dade 73eb3b0590 AR_Motors: Add prearm check for no outputs 2023-11-27 08:31:31 +09:00
Peter Barker f40250c073 AP_AHRS: compile EKF2 out by default on all boards 2023-11-27 09:05:08 +11:00
Tom Pittenger 6dcaf94c3d AP_BattMon: add AP_BATTERY_WATT_MAX_ENABLED 2023-11-26 11:57:14 +11:00
Tom Pittenger 1f7b4d0938 AP_HAL_ChibiOS: set AP_BATTERY_WATT_MAX_ENABLED 0 for minimize 2023-11-26 11:57:14 +11:00
Tom Pittenger cd6a656acf AP_HAL_ChibiOS: set AP_BATTERY_WATT_MAX_ENABLED 0 for periph 2023-11-26 11:57:14 +11:00
Tom Pittenger 8ab3ad2777 AP_Networking: add support for AP_Periph 2023-11-26 11:28:57 +11:00
Tom Pittenger e8c852f0d4 AP_HAL: Allow APMSockets to autodetect Broadcast IPs 2023-11-25 16:28:07 -08:00
olliw42 8f9df5a62e AP_Arming: Reduce response time when checks go from true to false 2023-11-25 14:59:04 -08:00
Peter Barker 27f836b66e hwdef: correct ARK_CANNODE compilation
this was turning SPI on when there aren't any devices...
2023-11-25 13:47:13 -08:00
alexklimaj ddba794420 hwdef: ark_rtk_gps fix safety led 2023-11-25 13:45:56 -08:00
Andrew Tridgell ee592476ce AP_HAL: implement multicast for UDP sockets 2023-11-25 12:19:43 -08:00
Andrew Tridgell 68e2bb1f15 AP_Networking: enable receive of multicast packets 2023-11-25 12:19:43 -08:00
Andrew Tridgell 58cf4f65a9 HAL_SITL: use SocketAPM for CAN multicast and SITL_Periph state 2023-11-25 12:19:43 -08:00
Ryan Friedman 14aeb831fb AP_DDS: Add instructions for running HW test
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-11-22 21:44:35 -08:00
bugobliterator 4b61b3d64e AP_Stats: initialise parameter defaults 2023-11-22 21:43:00 -08:00
Tom Pittenger b5e2f9aa0a AP_Scripting: change some _INFO msgs to _CRITICAL/ERROR 2023-11-22 00:07:05 -08:00
Pierre Kancir d98a400d9e AP_Logger: Prepare the maximum number of log files in the config parameter 2023-11-22 18:35:21 +11:00
Peter Barker e9fc99b1bf AP_HAL_ChibiOS: base HAL_USE_SPI on devices not buses
fixes compilation problem with gcc 10.3

../../libraries/AP_HAL_ChibiOS/SPIDevice.cpp: In static member function 'static void ChibiOS::SPIDeviceManager::__static_initialization_and_destruction_0(int, int)':
../../libraries/AP_HAL_ChibiOS/SPIDevice.cpp:76:18: error: statement has no effect [-Werror=unused-value]
   76 | ChibiOS::SPIDesc SPIDeviceManager::device_table[] = { HAL_SPI_DEVICE_LIST };
      |                  ^~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.
cc1plus: some warnings being treated as errors
2023-11-22 18:14:00 +11:00
Andrew Tridgell f30ac4052c HAL_SITL: added SERIAL4 as UDP output for SITL periph 2023-11-22 17:19:12 +11:00
Andrew Tridgell a725d8b90c AP_DroneCAN: support CAN serial ports
this allows any serial protocol to be mapped to a remote DroneCAN node
2023-11-22 17:19:12 +11:00
Andrew Tridgell e06d65bd75 AP_Networking: simplify port registration 2023-11-22 17:19:12 +11:00
Andrew Tridgell 65ffe713b4 AP_SerialManager: enable port registration for dronecan 2023-11-22 17:19:12 +11:00
Andrew Tridgell e63a2250ca AP_SerialManager: ensure registered ports are in sorted order
this avoids ordering issues if using both CAN and network serial ports
2023-11-22 17:19:12 +11:00
Andrew Tridgell 0ae5c9116c AP_SerialManager: added AP_SerialManager_config.h 2023-11-22 17:19:12 +11:00
Andrew Tridgell a54503ae12 AP_SerialManager: define port ranges for CAN serial ports 2023-11-22 17:19:12 +11:00
Peter Mullen adc0ebf9de AP_RangeFinder: Add signal_quality_pct to range finder state 2023-11-21 22:24:12 +11:00
Peter Barker 8eb5baa4ae Filter: correct AP_Filter defines
- checking the build type is very rarely used and definitely not required here
 - fix boilerplate to conform to normal pattern of including the config header and #if'ing based on the _ENABLED directly after that
2023-11-21 21:13:42 +11:00
Peter Barker e806adb009 AP_Vehicle: correct AP_Filter defines
- checking the build type is very rarely used and definitely not required here
 - fix boilerplate to conform to normal pattern of including the config header and #if'ing based on the _ENABLED directly after that
2023-11-21 21:13:42 +11:00
Peter Barker 15e0f689c2 AP_HAL_ChibiOS: correct AP_Filter defines
- checking the build type is very rarely used and definitely not required here
 - fix boilerplate to conform to normal pattern of including the config header and #if'ing based on the _ENABLED directly after that
2023-11-21 21:13:42 +11:00
Ryan Friedman da0efa3323 SITL: Bump up read rate on SITL
* This is needed to do active configuration quickly
* Read/Write split and exposed to ensure physics/write rate is still
  coupled to avoid impacting the jamming and delayed data
* Created a utility to allocate the SITL instance

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-11-21 15:29:46 +11:00
Andrew Tridgell 69bfe9b837 APM_Control: added D_FF support for fixed wing 2023-11-21 13:26:23 +11:00
Andy Piper 5d53485be0 AP_Logger: add PIDInfo.DFF logging 2023-11-21 13:26:23 +11:00
Andy Piper 6ecb18e027 AP_Vehicle: link in AP_Filter support
allow filters to be compiled out
add filter updates at 1Hz
2023-11-21 13:26:23 +11:00
Andy Piper e729c8ccfa Filter: add AP_Filter support
enable filters with AP_FILTER_ENABLED
allow filters to be compiled out
add dynamic updates, remove load/save and enable
2023-11-21 13:26:23 +11:00
Andy Piper 5b0f30ad44 AP_WheelEncoder: update for new AC_PID settings
enable filters with AP_FILTER_ENABLED
2023-11-21 13:26:23 +11:00
Andy Piper cfebae5857 APM_Control: update for new AC_PID settings
enable filters with AP_FILTER_ENABLED
2023-11-21 13:26:23 +11:00
Andy Piper fc76312fc3 AC_PID: use AP_Filter for notch configuration
enable filters with AP_FILTER_ENABLED
dynamically allocate notches
remove load/save for notches, update docs
move feedfoward update to update_all()
restrict load_gains() and save_gains() to just what autotune needs
add D_FF logging
2023-11-21 13:26:23 +11:00
Andy Piper 560030c9ba AC_CustomControl: update for new AC_PID settings
enable filters with AP_FILTER_ENABLED
2023-11-21 13:26:23 +11:00
Andy Piper b7a969d462 AC_AttitudeControl: update for new AC_PID settings
enable filters with AP_FILTER_ENABLED
2023-11-21 13:26:23 +11:00
Andy Piper 13ff23f39d AP_HAL: enable filters with AP_FILTER_ENABLED on sitl 2023-11-21 13:26:23 +11:00
Andy Piper d6287e90f1 AC_AttitudeControl: update PID notch centres
add documentation for PID notches and D feed-foward
add notches and D feedforward to heli PIDs
add advanced flag to PIDs and selectively compile advanced PID options
2023-11-21 13:26:23 +11:00
Andy Piper 6a40843a9e Filter: provide accessors for center and sample frequencies on NotchFilter 2023-11-21 13:26:23 +11:00
Andy Piper 370ee7d4d3 AP_WheelEncoder: add documentation for PID notches and D feed-foward
add advanced flag to PIDs and selectively compile advanced PID options
2023-11-21 13:26:23 +11:00
Andy Piper 952baf860c AC_CustomControl: add documentation for PID notches and D feed-foward
add advanced flag to PIDs and selectively compile advanced PID options
2023-11-21 13:26:23 +11:00