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27111 Commits

Author SHA1 Message Date
Iampete1
8c61d1a18d AP_Radio: hide params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1
9bcd706dae AP_Proximity: hide params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1
2bad7734db AP_landing: hide deepstall params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1
280171e96b AP_Beacon: hide params with enable flag 2021-08-24 09:38:46 +10:00
Mohammad Hefny
2a14181e69 update to new files names 2021-08-24 07:45:41 +10:00
Mohammad Hefny
ac30fbd7b0 SITL: Webots2021b Compatible 2021-08-24 07:45:41 +10:00
Rishabh
ae98545202 AC_PrecLand: Add prec landing state machine 2021-08-23 15:00:56 +09:00
Rishabh
d4edd84573 AC_Precland: Allow landing retry and failsafe handling 2021-08-23 15:00:56 +09:00
Peter Barker
44803b92c7 SITL: correct SIM_FETtecOneWire consume function 
when this was factored out the parameter wasn't taken into account.
 2021-08-23 13:47:35 +10:00
Andrew Tridgell
531ca4289e HAL_ChibiOS: switch to minimum scheduling delta of 10us 
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.

Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.

Fixes issue #18383
 2021-08-23 10:45:44 +10:00
Peter Barker
5613610641 AP_Arming: remove redundant checks_to_perform check 
This is identical to the check just above it
 2021-08-23 08:51:38 +09:00
Peter Barker
066ad0f8da APM_Control: remove unused variables 2021-08-23 08:39:41 +09:00
Andrew Tridgell
4e98636a53 AP_Terrain: added a TERRAIN_MARGIN parameter 
this sets the acceptance margin for GCS generated terrain data. You
can raise this to allow old data generated with the less accurate
longitude scaling to be used
 2021-08-22 20:32:46 +10:00
Iampete1
df7321c0da AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-21 09:54:33 +01:00
Peter Barker
70aef84997 AP_HAL_ChibiOS: remove definitions of BOARD_PWM_COUNT_DEFAULT 
No longer used
 2021-08-20 10:51:19 +10:00
Peter Barker
815f7017d4 AP_BoardConfig: remove definitions of BOARD_PWM_COUNT_DEFAULT 
No longer used
 2021-08-20 10:51:19 +10:00
Andrew Tridgell
fed927f1a4 AP_RCTelemetry: fixed CRSF build dependency issue 
found on custom.ardupilot.org
 2021-08-20 06:46:15 +10:00
Samuel Tabor
27f0320452 AP_Landing_Slope: Log height used for flare timing. 2021-08-19 17:59:33 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
7498d5c296 AP_FETtecOneWire: Fix compilation on some exotic compilers 2021-08-19 17:57:58 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
92a75661e0 AP_FETtecOneWire: Fix state of CRC error counters after _fast_throttle_cmd_count overflow 2021-08-19 17:57:58 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
2f4c79fd1e AP_FETtecOneWire: only check for telemetry if it has been requested at some point 
Only check for telemetry after sending a fast-throttle request for that particular ESC
Added more debug information from message handling state machine
 2021-08-19 17:57:58 +10:00
Tom Pittenger
b9918cd0d5 AP_ADSB: added Ping200X driver /w UCP protocol 2021-08-19 17:49:27 +10:00
Tom Pittenger
896dd49c96 GCS_MAVLink: add MAV_CMD_ADSB_IDENT cmd 2021-08-19 17:49:27 +10:00
Tom Pittenger
8c9dcf4ad8 AP_Math: added CRC16_CCITT non-standard variant 2021-08-19 17:49:27 +10:00
Andy Piper
0279c86f7f AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it 
change mamba F405 to active high as per betaflight
 2021-08-19 17:05:42 +10:00
Andrew Tridgell
f822d8f5f6 AP_Scripting: example script for testing EKF3/DCM switching 2021-08-19 14:42:28 +10:00
Andrew Tridgell
973466856c AC_WPNav: update variable name for consistency 2021-08-19 14:42:28 +10:00
Andrew Tridgell
285798446a AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-19 14:42:28 +10:00
Andrew Tridgell
53e7436525 AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-19 14:42:28 +10:00
bugobliterator
d64621e349 HAL_ChibiOS: remove duplicate FLASH_RESERVE_START_KB from hwdef 2021-08-19 14:20:58 +10:00
bugobliterator
ddc50a8420 AP_GPS: add option to set a dedicated line for Moving Baseline Data 2021-08-19 14:20:58 +10:00
bugobliterator
e9faab288c GCS_MAVLink: allow mavftp on AP_Periph 2021-08-19 14:20:58 +10:00
bugobliterator
a8ab20abd9 AP_HAL_ChibiOS: allow sending stats via mavftp on AP_Periph 2021-08-19 14:20:58 +10:00
bugobliterator
6b64cfd6c1 AP_FileSystem_Sys: allow sending stats via mavftp on AP_Periph 2021-08-19 14:20:58 +10:00
bugobliterator
e8c4b99a99 AP_UAVCAN: add support for setting parameters on CAN nodes 2021-08-19 14:20:58 +10:00
bugobliterator
4f65705c99 AP_HAL_ChibiOS: set proper name for CAN terminators on HerePro 2021-08-19 14:20:58 +10:00
bugobliterator
d32111b376 AP_GPS: fix handling of RTCM3 parser with user notification for bad cfg 2021-08-19 14:20:58 +10:00
bugobliterator
3b58463bfd AP_GPS: initialise uavcan drv interim_state with state structure at startup 2021-08-19 14:20:58 +10:00
bugobliterator
85d8becb8c AP_GPS: add support for auto config Moving Baseline for AP_Periph GPS 2021-08-19 14:20:58 +10:00
bugobliterator
c7907bb8fb AP_HAL_ChibiOS: update config for dual gps heading in HerePro 2021-08-19 14:20:58 +10:00
bugobliterator
9fc57e40b4 AP_GPS: add support for dual GPS heading using Periph GPSes 2021-08-19 14:20:58 +10:00
bugobliterator
e29ddebe3c AP_CANManager: remove unused variable from SLCANIface code 2021-08-19 14:20:58 +10:00
bugobliterator
ddc82f7619 AP_UAVCAN: add messages for doing MovingBaseline Heading over UAVCAN 2021-08-19 14:20:58 +10:00
Randy Mackay
2fba31332b GCS_MAVLink: support MAV_CMD_SET_EKF_SOURCE_SET command 
this allows external systems to set the active EKF source set
 2021-08-19 12:11:08 +10:00
Andrew Tridgell
d92c5589a9 GCS_MAVLink: added fields for new mavlink2 extensions 2021-08-19 12:08:54 +10:00
Andrew Tridgell
46287dcb00 SITL: fixed plane-tailsitter model 
it doesn't play well with smoothing
 2021-08-19 12:08:54 +10:00
Peter Barker
be076e5b1a AP_Math: correct descriptions of quaternion functions 2021-08-19 10:00:35 +10:00
TunaLobster
8cd47433ed AP_FETtecOneWire: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
TunaLobster
d6a5622fcb AP_NavEKF3: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
TunaLobster
7dd40f0cab AP_NavEKF2: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
TunaLobster
642bd85306 AP_ICEngine: spelling and grammer fixes inc in param description 2021-08-19 10:00:16 +10:00
TunaLobster
c0d484570c AP_EFI: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
Peter Barker
f465a9336e AP_Button: add debounce on PWM input 
Co-authored-by: jmachuca77 <jaime@element.aero>
 2021-08-18 18:47:28 +10:00
Peter Barker
5d49d29c27 AP_AHRS: move wind-estimation-enabled state to frontend 2021-08-18 18:37:39 +10:00
Peter Barker
d2822635ca AP_VisualOdom: adjust for rename yaw_initialised -> dcm_yaw_initialised 2021-08-18 18:37:39 +10:00
Peter Barker
8daa0a099c AP_AHRS: rename yaw_initialised access method to dcm_yaw_initialised 
This is what it really means.

Also put the relevant state within the DCM object
 2021-08-18 18:37:39 +10:00
Iampete1
60e0f47918 AP_Arming: always check configured on copter and blimp 2021-08-18 18:30:51 +10:00
Peter Hall
2ec36d7f7f AP_Scripting: add quadplane in_assisted_flight binding 2021-08-18 18:07:20 +10:00
Peter Barker
a91d30369e GCS_MAVLink: stop sending SENSOR_OFFSETS 
Only works for first compass instance.

We have all of these in parameters anyway.
 2021-08-18 18:06:24 +10:00
Andy Piper
b78d848a5d AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-18 17:06:09 +10:00
Andy Piper
3790957d02 RC_Channel: add turtle mode docs 2021-08-18 10:49:13 +10:00
Andrew Tridgell
477f936560 SITL: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
11afdb1ef2 AP_WindVane: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
61d5910d0a AP_TECS: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
ab89a94d22 AP_Soaring: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
0bdbdcec21 AP_RCProtocol: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
c0c32a63cc AP_IOMCU: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
d07bf97da6 AP_GyroFFT: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
17b91903ed AP_Generator: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
de1e44c77e AP_Follow: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
4faa16b0a7 AP_ExternalAHRS: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
87ae238ea0 AP_EFI: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
ffe8add56d AP_Compass: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
730f5cc7e8 AP_BoardConfig: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
a2790f57c0 AP_BattMonitor: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
c80a2c2ef6 AP_Baro: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
d9ee2b3c6c AC_AutoTune: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
8acc093d1a AC_Autorotation: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
c99f9312db AC_AttitudeControl: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
872cae6063 AP_Logger: fixed rate limiting of WriteV messages 2021-08-18 10:20:03 +10:00
Peter Hall
8e62385d8d RC_Channel: add lua helper 2021-08-17 11:01:00 +01:00
Peter Hall
5eee3c4eb0 AP_Scripting: add binding to get RC_Channel by number 2021-08-17 11:01:00 +01:00
Josh Henderson
aaa8600d7b SITL: SIM_MS5611 fix D1&D2 when temperature compensated & forward_conversion check 2021-08-17 19:08:23 +10:00
Rishabh
d9534d9526 AC_Precland: Add new parameter to descend only when close to target 2021-08-17 15:09:55 +09:00
Peter Barker
608608f32f AP_AHRS: internalise application of correct_centrifugal 
This is a DCM-only option but that's not clear with the interface.
Internalise the variable and base it off build type.
 2021-08-17 10:36:46 +10:00
Peter Barker
fc6d8222e7 AP_DAL: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Peter Barker
1cfd9f57ce AP_AHRS: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Randy Mackay
a1eb84ebfd AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-17 10:13:39 +10:00
Andrew Tridgell
5c86cc6828 AP_NavEKF3: added EK3_PRIMARY parameter 
allows for selection of which IMU to use on startup
 2021-08-17 06:42:42 +10:00
Andrew Tridgell
25ee57080f AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-16 08:33:34 +10:00
Andrew Tridgell
9507f7883f SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-16 08:33:34 +10:00
Pierre Kancir
aebe2beba5 AP_HAL_SITL: check that _sitl is not nullptr before using it 2021-08-14 10:20:33 +10:00
Pierre Kancir
c91c570814 AP_HAL_SITL: don't use timer_event() that is static from the _scheduler instance 2021-08-14 10:20:33 +10:00
Hwurzburg
0d3b1d90b0 AP_OSD: fixes bug introduced by #16477 2021-08-14 10:17:42 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
a3d9a1d463 AP_FETtecOneWire: Do not write to the UART buffer if the previous transfer did not complete yet 
Required for stable operation on F4 processors
 2021-08-13 16:22:37 +10:00
Peter Barker
ea7c7f9d19 AP_FETtecOneWire: complete rewrite of the ESC-configuration state machine 
Co-authored-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>

tidy message sending using templates
Calculate and enforce the minimum update period.
Disable unused features to save flash
forced time gaps between all transmits
correct ESC reset functionality
Avoid re-initialization repeatition
Make sure we stop FETtec if safety is on (ignore reverse) this reduces duplicated code
Error count calculation changed
   as the telemetry error count is absolute only the overflow status can be safed and used for the percentage calculation
Update the README to add autotests information
FETtec needs a time gap between frames
  This allows running at high fast_loop_rates
do not send fast_throttle data if a configuration command just got sent
Example parameter configuration file is for a Quadcopter with ESCs connected to Telem2
remove two FIXME
fix compilation in master
Fix the ESC not re-initializing issue.
  Now we re-init whenever we loose connection
RVMASK parameter changes only take effect when not armed
Improve documentation
Always use the same wording when referring to fast-throttle commands
fix pre-arm check message
assure the length of the memmove is positive
Set HAL_AP_FETTEC_CONFIGURE_ESCS to 0 when no ESC hardware is available and you want to test the UART send function
 2021-08-13 16:22:37 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
1b7b705856 AP_FETtecOneWire: Convert into an ArduPilot device driver 
Co-authored-by: Torsten Z <t.zunker@fettec.net>
    Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>

- use ArduPilot's coding guidelines and naming conventions
- control motor speed
- copy ESC telemetry data into MAVLink telemetry
- save ESC telemetry data in dataflash logs
- use RPM telemetry for dynamic notch filter frequencies
- sum the current telemetry info from all ESCs and use it as virtual battery current monitor sensor
- average the voltage telemetry info and use it as virtual battery voltage monitor sensor
- average the temperature telemetry info and use it as virtual battery temperature monitor sensor
- report telemetry communication error rate in the dataflash logs
- warn the user if there is a gap in the bitmask parameter.
- re-enumerate all ESCs if not armed (motors not spinning) when
  - there is a gap in their address space IDs
  - communication with one of the ESCs is lost
  - some of the configured ESCs are not found
  - some of the configured ESCs are not correctly configured
- allows the user to configure motor rotation direction per ESC (only gets updated if not armed)
- adds a serial simulator of FETtec OneWire ESCs
- adds autotest (using the simulator) to fly a copter over a simulated serial link connection
 2021-08-13 16:22:37 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
38a825c987 AP_HAL_ChibiOS: disable FETtec OneWire device driver 2021-08-13 16:22:37 +10:00
Peter Barker
2cf22112a2 AP_Arming: call fettec prearm checks 2021-08-13 16:22:37 +10:00
Peter Barker
97057a1350 SITL: add simulated FETtec ESC 2021-08-13 16:22:37 +10:00