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Commit Graph

26581 Commits

Author SHA1 Message Date
Andrew Tridgell 926d4ad71c HAL_ChibiOS: implement NOFIFO option for uarts 2021-07-15 11:31:55 +10:00
Andrew Tridgell 269c4084d2 AP_HAL: added serial option for disabling FIFO on uarts 2021-07-15 11:31:55 +10:00
Siddharth Purohit 0138266fee AP_HAL: disable cast align check while casting char* read pointer to object 2021-07-15 07:50:12 +10:00
bugobliterator 0e7571c733 AP_EFI: fix casting without ensuring alignment 2021-07-15 07:50:12 +10:00
bugobliterator 0b505c491c AP_CANManager: fix casting without ensuring alignment 2021-07-15 07:50:12 +10:00
bugobliterator e8e5f49640 AP_BLHeli: fix casting without ensuring alignment 2021-07-15 07:50:12 +10:00
Andy Piper 60b0df0a25 AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-14 17:50:06 +10:00
Peter Barker 78e0e52542 SITL: add simulated ms5611 baro 2021-07-14 17:46:15 +10:00
Peter Barker b184341424 SITL: add subclass for MS5525 2021-07-14 17:46:15 +10:00
Peter Barker aa97c5b714 SITL: adjust MS5XXX to be new base class 2021-07-14 17:46:15 +10:00
Peter Barker 50d7fc353f SITL: rename SIM_MS5525 to SIM_MS5XXX 2021-07-14 17:46:15 +10:00
Andrew Tridgell 416c0724d2 AP_Common: use double precision for more location functions when available 
this makes the location functions more accurate at long distances when
EKF double enabled
 2021-07-14 17:34:40 +10:00
Andrew Tridgell 7550368fc7 HAL_SITL: update for changed SITL API 2021-07-14 17:34:40 +10:00
Andrew Tridgell 5eaf76cdc8 SITL: separate origin and home in SITL 
this allows for accurate sensor data when flying a very long distance
from the takeoff location
 2021-07-14 17:34:40 +10:00
Andrew Tridgell 6b73c2151a AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-14 17:34:40 +10:00
Andrew Tridgell 3ded1e6c10 AP_Common: added ftype precision offset call 2021-07-14 17:34:40 +10:00
Peter Barker 7375d1949c SITL: add support for ms5525 i2c sensor 2021-07-13 12:00:37 +10:00
Randy Mackay 50ce79bcf6 AP_Torqeedo: simple driver to control torqeedo 1003 motor 
includes fixes from peer review
 2021-07-13 10:01:14 +09:00
Randy Mackay 7e68ce5c86 AP_SerialManager: add torqeedo to list of supported protocols 
note that serial7_protocol and serial8_protocol param lists were missing 37:SmartAudio so this was also added
 2021-07-13 10:01:14 +09:00
Randy Mackay 6c180994cd AP_Math: add support for crc8_maxim 
Thanks to FastCRC
 2021-07-13 10:01:14 +09:00
Hwurzburg 448ae368b1 RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-13 09:52:53 +10:00
Hwurzburg ceeabb85a5 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-13 09:52:53 +10:00
Leonard Hall a32b5b3bb0 AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-13 09:51:36 +10:00
Peter Barker ddb7378bdd AP_Terrain: add setter for terrain-enabled 
Currently only useful for unit test
 2021-07-12 17:34:44 +10:00
Peter Barker fc2338612e AP_Common: stop setting terrain pointer in test_location 
Also enable/disable as required for testing
 2021-07-12 17:34:44 +10:00
Peter Barker 0a068d4d4b AP_Terrain: default terrain to off in Sub 2021-07-12 17:34:44 +10:00
Peter Barker f75e258606 SITL: SIM_Ship: correct GLOBAL_POSITION_INT message altitude 2021-07-12 17:34:44 +10:00
Peter Barker 05a0205c21 SITL: change to use terrain singleton 2021-07-12 17:34:44 +10:00
Peter Barker b625596dfa AP_Common: use singleton to access AP_Terrain data 2021-07-12 17:34:44 +10:00
Peter Barker 2d28c1065e AC_WPNav: use singleton to access AP_Terrain data 2021-07-12 17:34:44 +10:00
Peter Barker de404b1999 AP_Terrain: allow AP_TERRAIN_AVAILABLE to be set in hwdef 
Use AP_TERRAIN_AVAILABLE instead
 2021-07-12 17:34:44 +10:00
Andrew Tridgell 98fb4fcbe7 AP_NavEKF3: convert code_gen.py to ftype 2021-07-12 17:27:08 +10:00
Andrew Tridgell 44f098c86d AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-12 17:27:08 +10:00
Andrew Tridgell ae8dbe36bb AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-12 17:27:08 +10:00
Andrew Tridgell 5f87335325 AP_Airspeed: review updates 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-07-12 17:14:59 +10:00
Andrew Tridgell 70bb470eb0 AP_Airspeed: fixed AP_Periph build 2021-07-12 17:14:59 +10:00
Andrew Tridgell 0bdd8231cf AP_Airspeed: added ARSPD_OPTIONS bit for disabling voltage correction 
if the MS4525 has its own LDO then we are should disable the
correction
 2021-07-12 17:14:59 +10:00
Andrew Tridgell ca1508b02e AP_Airspeed: added DEVID parameters for airspeed 
this makes log analysis easier
 2021-07-12 17:14:59 +10:00
Andrew Tridgell 7f85b413f2 AP_Airspeed: use GCS_SEND_TEXT instead of printf for sensor probe messages 2021-07-12 17:14:59 +10:00
Andrew Tridgell e6c7970a19 AP_Airspeed: support 3 I2C addresses for MS4525 
and if bus number is configured then use only that bus number,
otherwise probe all buses as per existing behaviour
 2021-07-12 17:14:59 +10:00
Peter Barker a52e823967 AP_HAL_SITL: implement read(buf, length) 2021-07-12 12:11:30 +10:00
Andy Piper 40ec8c723b AP_RCTelemetry: correct firmware string length for CRSF 2021-07-12 11:25:31 +10:00
Leonard Hall 59909970fa AC_WPNav: Remove unused function 2021-07-10 20:25:05 +09:00
Leonard Hall ac0b320922 AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-10 20:25:05 +09:00
Leonard Hall e2b5d3d585 AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-10 20:25:05 +09:00
Leonard Hall e0e283f13e AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-10 20:25:05 +09:00
Leonard Hall 7bc6c19306 AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
Leonard Hall 8a2f75d742 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
Leonard Hall 6e82bff55b AC_AttitudeControl: Add terain following to guided 2021-07-10 20:25:05 +09:00
Randy Mackay 430492469b AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-10 20:25:05 +09:00