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35347 Commits

Author SHA1 Message Date
Andy Piper
d549a93d81 AP_HAL_ChibiOS: iFlight BLITZ Mini F745 2024-05-01 08:12:55 +09:00
Andy Piper
93b5a70c9e AP_HAL_ChibiOS: iFlight Blitz F745 2024-05-01 08:12:55 +09:00
Randy Mackay
3c23aff35b AP_DAL: visual odom get_delay_ms return fix 2024-05-01 08:12:55 +09:00
Randy Mackay
73567e91d8 RC_Channel: add mount LRF enable aux function 2024-05-01 08:12:55 +09:00
Randy Mackay
bd8f7bfaac AP_Mount: add set_rangefinder_enable for ViewPro 2024-05-01 08:12:55 +09:00
Tim Tuxworth
b9da931059 AP_Mount: Do not override default mode when first connecting to RC 2024-05-01 08:12:55 +09:00
Andy Piper
19d8843316 AP_HAL_ChibiOS: fixups for FoxeerF405v2 2024-05-01 08:12:55 +09:00
Paul Riseborough
7b4d158e4d AP_NavEKF3: Change yaw source to stop compass use when calibrating 2024-05-01 08:12:55 +09:00
Andrew Tridgell
2cb83afdf9 hwdef: the RM3100 should run at max 1MHz on SPI bus 2024-05-01 08:12:55 +09:00
Andy Piper
96734a95ee AP_HAL_ChibiOS: allow H7RF to build 2024-05-01 08:12:55 +09:00
Andy Piper
88b622373a AP_HAL_ChibiOS: fixup FoxeerF405v2 build 2024-05-01 08:12:55 +09:00
Randy Mackay
26e990f409 AP_NavEKF3: define Yaw alignment min GPS speed per vehicle 2024-05-01 08:12:55 +09:00
Randy Mackay
02c8934712 RC_Channel: integrate AP_CAMERA_SET_CAMERA_SOURCE_ENABLED 2024-05-01 08:12:55 +09:00
Randy Mackay
d0ad56b98d AP_Mission: support set-camera-source 2024-05-01 08:12:55 +09:00
Randy Mackay
b668fbfcca AP_Mount: add set_camera_source support 2024-05-01 08:12:55 +09:00
Randy Mackay
caf15ca698 AP_Camera: support set-camera-source mavlink command 2024-05-01 08:12:55 +09:00
Randy Mackay
59837f604d GCS_MAVLink: forward set-camera-source to AP_Camera 2024-05-01 08:12:55 +09:00
Ryan Friedman
61a4ebeb08 AP_ExternalAHRS: Only use GPS data when populating GPS fields 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:55 +09:00
Ryan Friedman
e7b934dacd AP_ExternalAHRS: Check backend pre-arm before origin 
* This allows the backend to report more detailed errors
* Before this, many pre-arm errors were hidden by origin failure
* If pre-arm could report multiple errors, that would be ideal

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:55 +09:00
Ryan Friedman
a0939dd518 Save flash, reduce code duplication 
* Add generic health and time utils
* Fix bug only checking first GNSS system
* Use common logging struct
* Improve pre-arm log checks

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:55 +09:00
Ryan Friedman
029d22c2a9 AP_ExternalAHRS: Don't send init message till booted up 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:55 +09:00
Ryan Friedman
ecd11d1903 AP_ExternalAHRS: Use state watching instead 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:55 +09:00
Ryan Friedman
254923dff9 AP_ExternalAHRS: Provide warning for init failure 
* If the device hasn't initialized in 5 seconds, give a warning

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:55 +09:00
Ryan Friedman
47fa858181 AP_ExternalAHRS: Use filter data to populate EKF status report 
* Variances vs uncertainties may still be off
* Requires enabling the following packets in SensorConnect:
  * Position Uncertainty (LLH)
  * Velocity Uncertainty (NED)

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:54 +09:00
Ryan Friedman
68dd6dd1a5 AP_HAL: Fix incorrect return type 
* This caused position quantization errors in the MicroStrain7

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:54 +09:00
Ryan Friedman
1382fd5701 AP_DDS: Fix incorrect port param name 
* We want to support TCP and UDP in the future, so make sure we call it
  UDP here

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:12:54 +09:00
Andy Piper
6086d85676 AP_HAL_ChibiOS: FoxeerF405v2 2024-05-01 08:12:54 +09:00
Randy Mackay
55e8c781d8 AC_PosControl: always update yaw targets 2024-05-01 08:12:54 +09:00
davidsastresas
ca5646b139 AP_Mount: fix gimbal-device-attitude-status yaw frame flag 2024-05-01 08:12:54 +09:00
Randy Mackay
8280835f22 AP_Mount: get-gimbal-device-flags reports lock state 2024-05-01 08:12:54 +09:00
Randy Mackay
977dc2fde0 AP_Mount: do-gimbal-manager-pitch-yaw can set lock state 
Co-authored-by: davidsastresas <davidsastresas@gmail.com>
 2024-05-01 08:12:54 +09:00
Randy Mackay
ce1e5481c8 AP_Mount: clarify yaw_lock comments 2024-05-01 08:12:54 +09:00
Randy Mackay
0387a66f39 AP_Mount: RC targeting mode lock state from previous mode 
This leads to smoother transitions between RC and GCS control
 2024-05-01 08:12:54 +09:00
Andrew Tridgell
2346cb6d81 AP_RCProtocol: fixed underflow wrap in GHST 2024-04-08 12:22:46 +09:00
Andrew Tridgell
0c3940563e AP_RCProtocol: added random data test 
this triggers the CRSF crash bug that was just fixed
 2024-04-08 12:22:46 +09:00
Andrew Tridgell
7430e4594a AP_RCProtocol: fixed crc memory range error in CRSF 
this fixes a crash bug that caused a watchdog for Henry on a
F765-Wing. The bug happens with corrupt serial data causing an
underflow in the length argument to the crc call
 2024-04-08 12:22:46 +09:00
FoxSuzuran
3b766d1501 AP_Proximity: add RPLidarC1 support 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-03-22 17:49:41 +11:00
Tom Pittenger
8098f913e4 AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-22 17:49:41 +11:00
Tim Tuxworth
8b21da0c02 AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-22 17:49:41 +11:00
Tim Tuxworth
5178aa82a0 Chibios: CubeRed - change NET_ENABLED to NET_ENABLE 2024-03-22 17:49:41 +11:00
Andrew Tridgell
8a8f7a885d HAL_ChibioOS: fixed FDCAN -> CAN labels 
we use CAN1_RX not FDCAN1_RX in our MCU files
 2024-03-22 17:49:41 +11:00
Andrew Tridgell
13fc927c90 AP_Logger: avoid logging dma.txt for normal builds 
logging of dma.txt currently does no good as the first time you read
it you get no content. It then enables statistics in the shared_dma
code which makes all DMA operations slower, so all we are doing is
making DMA slower
 2024-03-22 17:49:41 +11:00
Randy Mackay
9d940d0d0a AP_Mount: viewpro fix for swapped ahrs roll pitch 2024-03-22 17:49:41 +11:00
root
54239d30b1 AP_VideoTX:add additional freq bands(Band X) 2024-03-22 17:49:41 +11:00
Andrew Tridgell
9a709be045 HAL_ChibiOS: fixed a cache corruption issue on H7 
This fixes a bug introduced in this PR:

https://github.com/ArduPilot/ardupilot/pull/25900

the bug is that when we don't go via the bouncebuffer on H7 we were
also skipping the cache invalidate/flush ops. This caused data
corruption for filesystem operations, particularly noticible as lua
scripts failing to load with parse errors or log corruption
 2024-03-22 17:49:41 +11:00
Minderring
4d1dd060f5 hwdef: added MicoAir405v2 2024-03-22 17:49:41 +11:00
Andy Piper
663fdd1ba3 AP_HAL_ChibiOS: Orqa F405 Pro 2024-03-22 17:49:40 +11:00
Ryan Friedman
2b17c42c38 AP_ExternalAHRS: SIM_MicroStrain support quaternion attitude 
* This replaces IMU orientation
* Fixed some usage docs

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-22 17:49:40 +11:00
Ryan Friedman
41dca581f9 AP_ExternalAHRS: Populate orientation from filter 
* Populating AHRS orientation from IMU was not correct

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-22 17:49:40 +11:00
Iampete1
1b2556cde6 AP_Filesystem: crc32: Ensure checksum value is initialized 2024-03-14 11:42:44 +11:00
Andrew Tridgell
dcee5e9693 AP_InertialSensor: fixed accel cal simple to remove unused IMUs 
when we change EAHRS_SENSORS to remove use of IMU from an external
AHRS we need to be able to zero the accel and gyro offsets to get
prearms to pass
 2024-03-14 11:42:44 +11:00
Andy Piper
8a392be078 AP_HAL_ChibiOS: always normalize ESC channel when using iomcu 2024-03-14 11:42:44 +11:00
Andy Piper
e0b4143cad AP_HAL_ChibiOS: use standard FPV config for SpeedyBeeF405WING 2024-03-14 11:42:44 +11:00
Randy Mackay
f6de0f19bb AP_HAL_ChibiOS: CubeRedSecondary IMU orientation fix 
Also remove duplicate RC_IN serial protocol
 2024-03-14 11:42:44 +11:00
Andrew Tridgell
8cd8d7b6e5 AP_HAL_ChibiOS: remove iomcu dshot from Pixhawk1-1M and add to Pixhawk1-bdshot 
add support for removing ROMFS from hwdef
 2024-03-14 11:42:44 +11:00
Andrew Tridgell
5deb2b07f4 hwdef: fixed Pixhawk1-1M build 2024-03-14 11:42:44 +11:00
Peter Barker
3b715ade6b GCS_MAVLink: make rally/fence item conversion methods public 2024-03-14 11:42:44 +11:00
Peter Barker
c6e7ba8131 AP_FileSystem: permit upload of fence/rally via ftp 2024-03-14 11:42:44 +11:00
subashchandar
5fa8bfb187 AP_HAL_ChibiOS: hwdef: Add new hardware pixflamingo f7 2024-03-14 11:42:44 +11:00
Randy Mackay
6ae7b3385f AP_HAL_ChibiOS: AP_Periph does not use AP_VisualOdom 2024-03-14 11:42:44 +11:00
Randy Mackay
825761292a AP_Scripting: EKF source switching for ExtNav and optflow 2024-03-14 11:42:44 +11:00
Randy Mackay
26cb4b122e AP_Scripting: add VisualOdom bindings 2024-03-14 11:42:44 +11:00
Randy Mackay
906d740cb6 AP_DDS: send quality of zero to AP_VisualOdom 2024-03-14 11:42:44 +11:00
Randy Mackay
e450582180 GCS_MAVLink: send Odometry quality to VisualOdom 2024-03-14 11:42:44 +11:00
Randy Mackay
4160232b38 AP_VisualOdom: use Odometry quality 2024-03-14 11:42:43 +11:00
Randy Mackay
7af0015b69 SITL: vicon send odometry with quality of 50 2024-03-14 11:42:43 +11:00
Randy Mackay
25a6839346 SITL: vicon param descriptions 2024-03-14 11:42:43 +11:00
Andrew Tridgell
1bce79d038 AP_Scripting: add file system crc32 binding 2024-03-14 11:42:43 +11:00
Andrew Tridgell
f96f91d132 AP_Arming: added arming check for fence storage 2024-03-14 11:42:43 +11:00
Andrew Tridgell
2541992dc4 AC_Fence: allow for fence storage on microSD 2024-03-14 11:42:43 +11:00
Andrew Tridgell
f0890f8882 AP_BoardConfig: added BRD_SD_FENCE 
allow for fence storage on microSD
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
a0f74af407 RC_Channel: disable GPS on external AHRS with GPS_DISABLE 2024-03-14 11:42:43 +11:00
Andrew Tridgell
b3689bc244 AP_AHRS: don't use accel/gyro from ExternalAHRS unless enabled 2024-03-14 11:42:43 +11:00
Pulak Gautam
32df9cfa94 AP_ExternalAHRS: added missing #if AHRS logging 2024-03-14 11:42:43 +11:00
Andrew Tridgell
c536532b40 AP_ExternalAHRS: check for origin in pre-arm check 2024-03-14 11:42:43 +11:00
Andrew Tridgell
c6c0de9889 AP_ExternalAHRS: make get_accel() and get_gyro() bool 2024-03-14 11:42:43 +11:00
Andrew Tridgell
77e5446595 AP_ExternalAHRS: added support for GPS disable and fwd flight 
allow backends to determine if we are in fixed wing flight and/or the
GPS is disabled by the user
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
3a586b2215 AP_ExternalAHRS: added EAHRS_LOG_RATE and common logging 
common logging for all EAHRS backends
 2024-03-14 11:42:43 +11:00
Iampete1
827c5b3919 AP_Gernerator: IE 2400: MAV_SEVERITY level depends on error code 2024-03-14 11:42:43 +11:00
Andrew Tridgell
f8fb920d16 SITL: fixed the vehicle type of the simulated ship 
this was broken by https://github.com/ArduPilot/ardupilot/pull/23763

we need to look for other places where we have assumed the MAVLink
field orderin in recent changes
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
f6fe929608 AP_Scripting: support precision loiter in quadplanes 
and allow for moving landing target
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
3b8b55ac6e SITL: added moving precland simulator 
added SIM_PLD_SHIP to make the precland location track the SIM_SHIP
location, giving a nice way of having a landing marker on a moving
ship
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
1c72e1666d AP_Scripting: fixed race condition in ship landing 
and fixed lua warnings
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
24399d809c AP_Scripting: added plane_precland lua script 2024-03-14 11:42:43 +11:00
Andrew Tridgell
4decfcfe70 AP_Scripting: added docs for precland 2024-03-14 11:42:43 +11:00
Andrew Tridgell
a87139da62 AP_Scripting: added bindings for AC_PrecLand 2024-03-14 11:42:43 +11:00
Andrew Tridgell
205fb22674 SITL: fixed precland simulator 
fixed units of height, was mixed cm and m, now just m AMSL
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
43a29f66d0 AC_PrecLand: added get_target_location and get_target_velocity 2024-03-14 11:42:43 +11:00
Andrew Tridgell
8851a92dfd AP_TECS: fixed adjusting speed without airspeed sensor 
the pitch trim variable that was not connected in aparm is needed to
allow tuning of the flight speed using PTCH_TRIM_DEG and
TRIM_THROTTLE.

This was broken in 4.4.x by this PR:

https://github.com/ArduPilot/ardupilot/pull/22191
 2024-03-14 11:42:43 +11:00
Andy Piper
5a6a19560c AP_HAL_ChibiOS: BlitzF745AIO update to ICM-42688 
enable OSD
use minimal FPV config
enable compass probing
pull uart pins high in bootloader for ELRS
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
767fb372a8 AP_HAL_SITL: fixed get_baud_rate() 2024-03-14 11:42:43 +11:00
Andrew Tridgell
ae46038585 AP_HAL_Linux: fixed get_baud_rate() 2024-03-14 11:42:43 +11:00
Andrew Tridgell
f4635e028d AP_HAL_ESP32: fixed get_baud_rate() 2024-03-14 11:42:43 +11:00
Andrew Tridgell
10aa028d15 AP_SerialManager: default GPS baud to 230400 
this is the most common baudrate
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
3926927104 AP_GPS: do initial probe at default baudrate 
this makes for much faster probe for most users
 2024-03-14 11:42:43 +11:00
Peter Barker
b30563e10b AP_GPS: correct check of reported antenna distance vs stated offset 2024-03-14 11:42:43 +11:00
Andrew Tridgell
e979a9076c AP_GPS: added option to decode RTCM injected data 
this allows for redundent RTCM links (eg. WiFi and SiK links for light
show drones) without causing corruption into the GPS.

If the GPS_DRV_OPTION bit is set then we instantiate a separate RTCM3
decoder per mavlink channel, and only inject when we get a full packet
that passes the RTCM 24 bit CRC
 2024-03-14 11:42:43 +11:00
Andrew Tridgell
49731fcf3b GCS_MAVLink: pass channel number to AP_GPS on RTCM injection 2024-03-14 11:42:43 +11:00
Andrew Piper
a779dfc15d AP_GPS: fragments_received is a bitmask not a count 2024-03-14 11:42:43 +11:00
Paul Riseborough
5156509d3c AP_TECS: Remove unused variable 2024-03-14 11:42:43 +11:00