Commit Graph

36649 Commits

Author SHA1 Message Date
Peter Barker 90b2a2acaa hwdef: change HAL_NO_MONITOR_THREAD out for HAL_MONITOR_THREAD_ENABLED
... and use a default value for peripherals
2024-07-30 10:52:36 +10:00
Thomas Watson 3a834e83c7 AP_Scripting: reference script environment directly
Referencing the original function to run is of questionable value and
the only user uses it to grab the script environent from the upvalues.

Instead, use a reference to the script environment table directly.
2024-07-30 10:33:56 +10:00
Thomas Watson 15255a36e4 AP_Scripting: reference function to run separately
Some bits of the code in the require machinery use the `lua_ref` to
access the script environment. However, this can change after the script
is rescheduled and it returns an arbitrary function to run next.

Resolve this by introducing `run_ref` which is specifically a reference
to the function to run next. `lua_ref` is preserved for the script
lifetime.
2024-07-30 10:33:56 +10:00
Thomas Watson da006d427d AP_Scripting: add test for require() after rescheduling
It can end up broken due to incorrect assumptions about the executed
function's upvalues, which might change after rescheduling.
2024-07-30 10:33:56 +10:00
Peter Barker be377da6a4 GCS_MAVLink: add build option to not send RC_CHANNELS_RAW
we keep this around in case we break old OSD setups
2024-07-30 10:29:58 +10:00
Peter Barker 6f5ea5a5e9 RC_Channel: rework duplicate-rc-options check to use a Bitmask
just for the memory saving.

Co-authored-by: muramura <ma2maru@gmail.com>
2024-07-30 10:28:42 +10:00
Peter Barker 93704c573c SITL: add documentation for SIM_ENGINE_FAIL and SIM_ENGINE_MUL 2024-07-30 09:21:26 +09:00
Peter Barker 9397ece55a AC_AutoTune: make axis-type enum-class
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
2024-07-30 10:20:26 +10:00
Peter Barker f3766b831a AP_HAL_ChibiOS: make include file mistakes nicer to interpret 2024-07-30 09:57:01 +10:00
Thomas Watson 6acfc98cf4 AP_Scripting: factor out ap_object checker
Reduces flash usage.

Saves ~160B.
2024-07-30 09:55:25 +10:00
Thomas Watson 212256731f AP_Scripting: improve object allocation efficiency
Make new_X return the new object instead of having to grab it to
configure it.

Saves ~1.3K.
2024-07-30 09:55:25 +10:00
Thomas Watson 3e05cd9729 AP_Scripting: factor out field access argument error
Saves ~830B.
2024-07-30 09:55:25 +10:00
Thomas Watson 575ed6224f AP_Scripting: improve binding index function efficiency
Move the string checks into the load functions to avoid duplicating it
for each binding.

Also sync up the return types to avoid an unnecessary conversion.

Saves ~1.5K.
2024-07-30 09:55:25 +10:00
Thomas Watson e66d2a1495 AP_Scripting: remove redundant memsets
Matches current generator behavior.
2024-07-30 09:55:25 +10:00
Thomas Watson 837b17e82e AP_Scripting: more intelligently manage Lua stack
The Lua stack is guaranteed to have at least LUA_MINSTACK (default 20)
slots upon entry to C. Check to see if we might need more than that
minimum and only in that case call the function to check and resize the
stack. In virtually all cases the check can then be optimized away.

Additionally remove the redundant "Out of stack" message. Lua already
says "stack overflow" and a null message is valid.

Saves ~330B.
2024-07-30 09:55:25 +10:00
Thomas Watson 7212e35fb0 AP_Scripting: slightly improve codegen
Get singleton pointer closer to where it is used.

Saves ~170B.
2024-07-30 09:55:25 +10:00
Thomas Watson 60a9f1722c AP_DroneCAN: DNA_Server: unify bitmask handling
Put documentation with each bitmask and use the object directly. Node ID
range checks can be removed as the bitmask itself checks and we don't
expect to trip them.

Substantially cleans up the code.
2024-07-30 09:49:43 +10:00
Thomas Watson 56593574a9 AP_DroneCAN: DNA_Server: miscellaneous cleanup 2024-07-30 09:49:43 +10:00
Thomas Watson 5e0bb99dbb AP_DroneCAN: DNA_Server: fix handling of empty entry
Replaces the check for a CRC of 0 with a check that the hwid is 0.
Substantially reduces 1/256 chance that a particular node ID couldn't be
stored.
2024-07-30 09:49:43 +10:00
Thomas Watson 9aeab7b424 AP_DroneCAN: DNA_Server: use 0 as unknown ID
Slightly reduces flash usage and probably is clearer.
2024-07-30 09:49:43 +10:00
Thomas Watson 8d57533f1c AP_DroneCAN: DNA_Server: fix cases involving use of invalid node IDs 2024-07-30 09:49:43 +10:00
Thomas Watson a9317b1a07 AP_DroneCAN: correct and validate allowed NODE range
Node IDs >= 128 don't exist, and IDs 126 and 127 are "reserved for
network maintenance tools" according to the spec.
2024-07-30 09:49:43 +10:00
Thomas Watson 485a9387b1 AP_DroneCAN: DNA_Server: clean up storage failure handling
The StorageManager read_block/write_block methods only return failure if
an out of bounds access is performed. Assert statically that this does
not happen.

Also remove the now-impossible failed to add node state.
2024-07-30 09:49:43 +10:00
Thomas Watson cd8519321b AP_DroneCAN: DNA_Server: search for valid nodes after magic check
Ensures the occupation mask doesn't get populated with junk if the magic
is not valid.
2024-07-30 09:49:43 +10:00
Thomas Watson c1f59186fa AP_DroneCAN: DNA_Server: make reset method private 2024-07-30 09:49:43 +10:00
Ian Burwell 6b4e11090c AP_Scripting: Add BQ40Z shutdown example
This example intercepts PREFLIGHT_REBOOT_SHUTDOWN COMMAND_LONG's and if
param1==2, it shuts down the BQ40Z smart battery BMS. Otherwise it
passes through the COMMAND_LONG as a COMMAND_INT (this required updating
the gcs:run_command_int to return a MAV_RESULT rather than a bool).
2024-07-30 09:40:10 +10:00
Ian Burwell 9d34fa2a5e AP_Scripting: Add I2C transfer bindings
This adds bindings for an I2CDevice's transfer() function, an example,
and removes the nil return hint from the get_device() docs as it never
actually returns nil.
2024-07-30 09:40:10 +10:00
Iampete1 838fbc2b3b AP_Param: Fix `ENABLE_DEBUG` enabled error with no embedded param 2024-07-30 08:51:09 +10:00
Bob Long 64fc60ce32 AP_HAL_SITL: initialize rcout safety state
This allows BRD_SAFETY_DEFLT=1 to work correctly for SITL.
2024-07-30 08:44:31 +10:00
BLash d7ecf5fbc5 AP_ExternalAHRS_VectorNav: Consolidate EAH3 definition to single method
Resolve SITL failures due to multiply defined logger message by pulling the call to a single method
2024-07-29 15:52:29 +10:00
BLash 1d1bb5724e AP_ExternalAHRS_VectorNav: Address review comments
Remove unnecessary header
Switch parameters to default initialization
Change pointer casting to prevent a const_cast, and remove doubled sync byte when echoing ASCII messages
Fix Valgrind report by preventing use of nmea_printf on buffers which may not be null-terminated
2024-07-29 15:52:29 +10:00
BLash 50980ee03e AP_ExternalAHRS_VectorNav: Update SIM to match new message definitions
Redefine messages to 3 INS packets, and send as appropriate
Resolve SITL failures due to too-long logger message headers
2024-07-29 15:52:29 +10:00
BLash d4ca5fe868 AP_ExternalAHRS_VectorNav: Split IMU and EKF message
In AHRS Mode, split the single message to an IMU packet and an AHRS packet; in EKF Mode, split the two messages into an IMU message, an EKF packet, and a GNSS packet.
Simplify message header definition to consolidate and eliminate the need for static asserts
Update healthy logic and use to represent new packet structure
Replace EAH3 message with messages per-packet
Add Ypr as configured output in the EKF message
2024-07-29 15:52:29 +10:00
George Zogopoulos e227187e72 AP_TECS: Converted parameter TKOFF_MODE to TKOFF_OPTIONS 2024-07-29 15:50:32 +10:00
George Zogopoulos b163e13964 AP_TECS: Fixes to reset state
These concern the TAKEOFF flight stage and address #27147.

* Logging metadata fixes
* Disabled continuous TECS reset during takeoff
* Fixed bug in reached_speed_takeoff calculation
* Limited SPDWEIGHT=2 to only first part of takeoff climb
* _post_TO_hgt_offset set to constant
* Takeoff I-gain now defaults to 0 and is used
* Use at least TRIM_THROTTLE during the climb
* Updated description of TECS_TKOFF_IGAIN with new behaviour
* Forced max throttle while below TKOFF_LVL_ALT
* Added throttle constraints in no-airspeed mode

Additionally, set_min_throttle() has been created, that allows one to
set the minimum TECS throttle for the next update_pitch_throttle() loop.
Additionally, the throttle limits system has been reworked. TECS will
receive external throttle limits from Plane and will always take them
into account and respect them.
2024-07-29 15:50:32 +10:00
cuav-chen2 08c8ef379b HAL_ChibiOS: Added support for CUAV-7-Nano flight controller 2024-07-29 12:25:53 +10:00
Peter Barker 317fab2f19 AP_Mission: add and use an option_is_set method 2024-07-29 10:37:52 +10:00
Thomas Watson bbde876353 hwdef: remove EKF opinion from FlywooF745
No effect as lines have always been commented out, but not useful and
EKF2 is not something to encourage.

Verified no compiler output change.
2024-07-29 09:32:22 +10:00
Peter Barker 16c2e23ee7 AP_Mount: allow AP_MOUNT_BACKEND_DEFAULT_ENABLED to be overridden 2024-07-28 12:00:02 +10:00
Peter Barker debf3cb28e hwdef: SpeedyBeeF405WING: restrict mount support to the servo gimbal 2024-07-28 12:00:02 +10:00
Peter Barker 84efdd5700 hwdef: SpeedyBeeF405WING: remove landing gear support 2024-07-28 12:00:02 +10:00
Andrew Tridgell 2ce6532698 AP_Math: updated EulerAngles.pdf link 2024-07-27 11:14:10 +10:00
Andrew Tridgell 98733882f5 AP_Math: added comments and a test for euler ordering
our main euler functions did not have a comment on the ordering
convention
2024-07-27 11:14:10 +10:00
yaapu 5b7aaae008 AP_Frsky_Telem: fix for HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL = 0 2024-07-26 20:12:40 +10:00
muramura e86d5e113f AP_Filesystem: BOOL for binary types 2024-07-26 20:12:05 +10:00
Leonard Hall bb1758ecb1 AC_Autotune: Add ABORT state for consistency between tests 2024-07-26 20:11:42 +10:00
Leonard Hall bea2c5b59b AC_Autotune: Clean up Multi Variables and non functional changes 2024-07-26 20:11:42 +10:00
Peter Barker 78dc5a7b5d hwdef: FlyingMoonF427: remove MAX7456 2024-07-26 20:10:38 +10:00
Peter Barker 5b5dd638c1 hwdef: FlyingMoonH743: remove MAX7456 2024-07-26 20:10:38 +10:00
Randy Mackay 44b3217178 AP_Camera: type param desc gets topotek 2024-07-26 12:55:24 +10:00