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36390 Commits

Author SHA1 Message Date
Peter Barker ebfbcacfe3 AP_GPS: tidy pre_arm_checks 2024-07-02 09:56:40 +10:00
Peter Barker 3e57edf37c AP_Arming: tidy pre_arm_checks 2024-07-02 09:56:40 +10:00
Iampete1 a9eb6051fa AP_BatteryMonitor: add missing failsafe with no action 2024-07-02 09:54:36 +10:00
Bill Geyer c5585f84af AC_AttitudeControl: various suggested cleanup items 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-07-02 08:39:33 +09:00
Bill Geyer 29897f99af AP_Motors: Clean up spacing 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-07-02 08:39:33 +09:00
Bill Geyer 805480e5a2 AC_AttitudeControl: only allow angle boost when not autorotating 2024-07-02 08:39:33 +09:00
Bill Geyer a19b72e895 AP_Motors: helper function to determine when heli is in autorotation 2024-07-02 08:39:33 +09:00
bnsgeyer f06bbd471f AC_AttitudeControl: tradheli-add support for inverted and throttle boost features 2024-07-02 08:39:33 +09:00
Peter Barker 4550f7dcb1 hwdef: make H757I_EVAL a periph 
its bootloader is marked as a bootloader peripheral, the main firmware is notistent in our message.
 2024-07-02 09:17:26 +10:00
Peter Barker 6e5198a50c AP_Frsky_Telem: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Peter Barker e88d76d72d AP_Scripting: rangefinder singleton requires AP_RANGEFINDER_ENABLED 
.... or HAL_PERIPH_ENABLE_RANGEFINDER
 2024-07-02 09:17:26 +10:00
Peter Barker 118f3b41ac AP_RangeFinder: create a AP_RANGEFINDER_BACKEND_CAN_ENABLED 
avoid cmpilation problems when rangefinder not enabled but CAN is
 2024-07-02 09:17:26 +10:00
Peter Barker fe6b120a73 AP_Vehicle: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Peter Barker f9a94fd7dd AP_RangeFinder: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Peter Barker 37964011df AP_OSD: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Peter Barker 07e76a7cae AP_NavEKF: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Peter Barker 13e7d04497 AP_NavEKF3: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Peter Barker 0f47cd7e8b AP_NavEKF2: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Peter Barker a715ee1ce2 AP_HAL_ChibiOS: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Peter Barker abc0179a53 AP_DAL: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Peter Barker 955245e4b7 AP_Arming: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Andrew Tridgell 38ca478178 AP_Scripting: added gcs:run_command_int() binding 2024-07-01 20:08:29 +10:00
Andrew Tridgell 0116e1e80d GCS_MAVLink: added lua_command_int_packet() 
for lua access to MAV_CMD_xxx
 2024-07-01 20:08:29 +10:00
Henry Wurzburg 4ed1b6b357 AP_Temperature:expand metadata for analog sensors 2024-07-01 14:01:19 +10:00
Peter Barker e2f18d9217 AP_NavEKF2: remove unused initFailureReason 2024-07-01 09:04:05 +09:00
bnsgeyer 9c2d43f6c4 SITL: improve dual heli dynamics model 2024-06-30 18:21:21 -04:00
Andrew Tridgell 077c5f38f7 SITL: added comments on how to fly the glider 2024-06-30 10:02:15 +10:00
Peter Barker 780352cd75 AP_Logger: correct enumeration name -> AP_SmartRTL::Action 2024-06-28 10:11:57 +10:00
Peter Barker 2c89622f09 AP_SmartRTL: use enum class for Action, number entries 
we log these values, so number them explicitly
 2024-06-28 10:11:57 +10:00
George Zogopoulos 2717470df1 AP_Scripting: Misc. small improvements. 
Typo fix
Removed unused variable
 2024-06-28 10:05:29 +10:00
Thomas Watson 6e0d7bddf1 AP_Scripting: add serial device simulation example 2024-06-27 12:00:18 +10:00
Thomas Watson f9b138724c AP_Scripting: add serial loopback test script 
Tests that data can flow both ways with one end using protocol 28
(Scripting) and the other using the serial device simulation feature.
 2024-06-27 12:00:18 +10:00
Thomas Watson 46e204dd6c AP_Scripting: clear serial device sim buffers appropriately 
Ensures the script won't process data created before it started, and
that the protocol won't process data created after the script stopped.
 2024-06-27 12:00:18 +10:00
Thomas Watson 4cb684e8a9 AP_Vehicle: initialize scripting serial device sim ports early 
Necessary for mavlink in particular to notice the port and hook up the
protocol internally.
 2024-06-27 12:00:18 +10:00
Thomas Watson a077e4a3ed AP_Scripting: introduce serial device simulation support 
Allows a script to simulate a device attached via any serial protocol.
The script can read and write data and have it handled according to the
protocol as if exchanged over a serial port. The script can then do
protocol translation, data filtering and validation,
hardware-in-the-loop simulation, experimentation, etc., especially in
combination with the scripting protocol which lets the script itself
handle an attached device and so interpose any communication.
 2024-06-27 12:00:18 +10:00
Thomas Watson 4df2a1bce7 AP_Scripting/generator: generate depends for manual functions on singletons 2024-06-27 12:00:18 +10:00
Thomas Watson c18f9f733e AP_Scripting: add writestring for serial 
Enables more efficient scripting.
 2024-06-27 12:00:18 +10:00
Thomas Watson d93aa15f2a AP_Scripting: refactor serial readstring 
Using `luaL_Buffer` avoids the need for any heap allocation in the
common case (count <= 512 bytes) and avoids stressing out the system
heap for large reads, instead using the script heap.

Zero net flash usage change.
 2024-06-27 12:00:18 +10:00
Thomas Watson e18449b1b8 AP_Scripting: use generic access userdata for serial ports 
Adding another layer instead of just exposing UARTDriver bindings allows
substitution of the different functions for device simulation later.

Also take the opportunity to rework the docs a little.
 2024-06-27 12:00:18 +10:00
Thomas Watson c37dba60de AP_Scripting/generator: allow disabling userdata creation from Lua 
Passing -1 to the argument count for the `creation` tag (name does not
matter) will stop the generator from giving Lua a function to construct
that userdata. The C `new_<name>` function still works.
 2024-06-27 12:00:18 +10:00
Thomas Watson 7fb65aece3 AP_SerialManager: allocate port IDs for scripting serial device ports 2024-06-27 12:00:18 +10:00
Peter Barker 0ee787325a AC_AutoTune: NFC whitespace, ordering and add trailing comma to enumeration 2024-06-27 10:12:30 +10:00
Pierre Kancir 396bca359d AP_Scripting: add an example to use Copter Standby mode in SITL with LUA 2024-06-27 10:11:53 +10:00
Andrew Tridgell 10c6020a66 AP_Scripting: update docs 2024-06-27 10:11:14 +10:00
Andrew Tridgell bcfc273799 hwdef: enable an ADC on CubePilot-PPPGW 
allows for mcu temp
 2024-06-27 10:11:14 +10:00
Andrew Tridgell 98479658d4 HAL_ChibiOS: support H7 at 200MHz 2024-06-27 10:11:14 +10:00
Andrew Tridgell d87404adfa AP_Scripting: added mcu_temperature binding 2024-06-27 10:11:14 +10:00
Andrew Tridgell f532f7a9e6 AP_SerialManager: added docs for SERIALn_PROTCOL=PPP 2024-06-27 10:11:14 +10:00
Andrew Tridgell 5a795ccba0 AP_Networking: added TCP reflection test 
TCP to an echo server, testing bi-directional transfer
 2024-06-27 10:11:14 +10:00
Andrew Tridgell 34815f9fb0 HAL_ChibiOS: scale RTS threshold to make software CTS more effective 2024-06-27 10:11:14 +10:00
Andrew Tridgell ebc4ee99a9 AP_HAL_ChibiOS: add support for GPIO pins as software CTS 2024-06-27 10:11:14 +10:00
bugobliterator b6cdb8b1a6 hwdef: fix hwdef for updated CubePilot-PPPGW 2024-06-27 10:11:14 +10:00
bugobliterator 0a0d5a3e49 AP_HAL_ChibiOS: add support for PPP on CubeOrangePlus 2024-06-27 10:11:14 +10:00
Peter Barker 2425023331 AP_Notify: flash green lights based off location not GPS 
Your Copter in stabilize mode can flash rapid-green indicating a good DGPS lock or better, and yet your vehicle still doesn't have a good idea of where it is.

That means that your vehicle may end up RTL'ing onto a point somewhere along your flight path, when you were given an all-green indication by teh vehicle before you armed in stabilize.

Past this PR, we require the same GPS as before, but in addition we must have been happy enough with our location to set the navigation origin, *and* currently be able to get a location.

A user will receive slow-flashing blue lights if they can't currently get a location, or the navigation origin isn't set, even if they've got a "good" fix.

We also require a good location to get a solid green light - you will get a solid blue light if you can't get a location or don't have a navigation origin, even if you have a good GPS lock
 2024-06-26 18:39:43 +10:00
Randy Mackay 3439ced236 AP_Mount: add Siyi ZT6 support 2024-06-26 18:37:42 +10:00
Peter Barker c55a5abcd9 AP_RCProtocol: remove redundant check for crsf telem on iomcu 
the hwdef for the iomcu already removes crsf
 2024-06-26 18:13:01 +10:00
bugobliterator 178cf7c2da AP_GPS: use 64 bit time in the pps interrupt callback in ublox driver 2024-06-26 17:51:31 +10:00
Andy Piper 651f4f15eb AP_RCTelemetry: use get_max_rpm_esc() 2024-06-26 17:36:54 +10:00
Andy Piper 451c1ae347 AP_OSD: use get_max_rpm_esc() 
allow ESC index to be specified for OSD ESC info
 2024-06-26 17:36:54 +10:00
Andy Piper 038735657a AP_ESC_Telem: add get_max_rpm_esc() 2024-06-26 17:36:54 +10:00
Andy Piper a86f4fdc8f AP_InertialSensor: move gyro and accel instance ids into AP_InertialSensor_Backend 2024-06-26 17:14:56 +10:00
Peter Barker 5911b87ae3 GCS_MAVLink: rename ins get_primary_accel to get_first_usable_accel 2024-06-26 17:12:12 +10:00
Peter Barker 563c3e7c62 AP_NavEKF3: rename ins get_primary_accel to get_first_usable_accel 2024-06-26 17:12:12 +10:00
Peter Barker 025888a7d1 AP_NavEKF2: rename ins get_primary_accel to get_first_usable_accel 2024-06-26 17:12:12 +10:00
Peter Barker 8302e0d1e2 AP_Mount: rename ins get_primary_accel to get_first_usable_accel 2024-06-26 17:12:12 +10:00
Peter Barker 8ddac54b17 AP_InertialSensor: rename ins get_primary_accel to get_first_usable_accel 2024-06-26 17:12:12 +10:00
Peter Barker 243e095b4e AP_DAL: rename ins get_primary_accel to get_first_usable_accel 2024-06-26 17:12:12 +10:00
Peter Barker a325ddbfa9 AP_AHRS: rename ins get_primary_accel to get_first_usable_accel 2024-06-26 17:12:12 +10:00
Leonard Hall 7047e11090 AC_AttitudeControl: Change input_quaternion to use body frame rates 2024-06-26 11:22:54 +10:00
Peter Barker 580199dfba AP_Logger: disable HAL_LOGGING_BLOCK_ENABLED if not HAL_LOGGING_ENABLED 
HAL_LOGGING_DATAFLASH_ENABLED is set unconditionally in some hwdefs, but we still need to honour HAL_LOGGING_ENABLED
 2024-06-25 18:32:41 +10:00
Clyde McQueen 0e6543f0e4 AP_NavEKF3: sub update for yaw reset and inFlight checks 
on sub, request final yaw reset after diving 0.5m.
Also update rangefinder tests for sub
 2024-06-25 18:09:37 +10:00
Andrew Tridgell ed58758ce6 hwdef: don't use DEFAULTGPIO in bootloaders 
setting up a DEFAULTGPIO pulldown in bootloaders is a bad idea as it
overrides any hardware pullups that have been put in place as part of
a "hold in bootloader" mechanism. See discussion in #27360 for ELRS

note that this only impacts one board that I can see, the
BlitzF745AIO, due to the MCU vs DEFAULTGPIO interaction
 2024-06-25 12:05:40 +10:00
Peter Barker 9bb343938f AP_Scripting: correct use-after-free in script statistics 
run_next_script can free the script if the script runs over-time.

... so stop using data from that freed script structure!
 2024-06-25 11:07:07 +10:00
Peter Barker 7dd50cd036 hwdef: JHEMCU-H743HD correct for rename of W25 dataflash driver 2024-06-25 11:05:22 +10:00
Iampete1 cc99ebf872 AP_Scripting: allow logging lua boolean with uint8 format `B` 2024-06-25 11:01:10 +10:00
Andrew Tridgell 32750476be AP_Scripting: added more telemetry for INF Inject 2024-06-25 09:34:18 +10:00
Andrew Tridgell b108d9cf09 AP_Scripting: added throttle and ignition control for INF_INject 
allows full control over serial
 2024-06-25 09:34:18 +10:00
TsuyoshiKawamura b9bf7acbf1 AP_Scripting: add test samples of get_target_location/update_target_location for copter 2024-06-25 08:29:57 +09:00
Leonard Hall 5ab2aaffff AC_Autotune: Clean up Multi Variables and non functional changes 2024-06-24 19:11:41 +10:00
Peter Barker 87d694414b AP_Beacon: use enum class for type 2024-06-24 18:24:11 +10:00
bugobliterator 96682b1b1b AP_Networking: add timeout to swap the UDP Server client target 2024-06-21 20:31:31 +10:00
bugobliterator d07e8d16df AP_Networking: use IP4_STR_LEN instead of value 16 2024-06-21 20:31:31 +10:00
bugobliterator a82729589c AP_Networking: allow UDP Server to talk to different clients on the same run 2024-06-21 20:31:31 +10:00
bugobliterator bace8d4c85 AP_HAL: add methods that deal in ip address as uint32_t 2024-06-21 20:31:31 +10:00
bugobliterator 3c69f156f4 AP_HAL: make recv call to be undirected but also get the ip:port of received packet 2024-06-21 20:31:31 +10:00
bugobliterator 43615f22b7 AP_HAL: add AP_MAVLINK_PACKETISE_ENABLE option 2024-06-21 20:31:31 +10:00
MattKear e1a1d15f62 AP_Mount: Alexmos: Improve angle precision and move defines to cpp 2024-06-20 15:13:48 +10:00
muramura 80b1a07de3 AP_Baro: Group device headers 2024-06-20 15:13:01 +10:00
Peter Barker f07ac41c65 AP_Notify: rename Notify buzzertype enumeration 2024-06-20 14:47:20 +10:00
Peter Barker 6b490a4c47 AP_HAL_ChibiOS: rename Notify buzzertype enumeration 2024-06-20 14:47:20 +10:00
Peter Barker 56a7e520b6 AP_Gripper: correct emitting of grabbed/released messages 
these strigs would only be released if release() or grab were called a second time
 2024-06-20 10:59:14 +10:00
George Zogopoulos 5ca8c0058c AP_TECS: Small legibility improvements 
AP_TECS: Fixed bad whitespace
 2024-06-20 09:12:50 +10:00
George Zogopoulos 9a3f6ae9c7 AP_Math: Created CentiDegreesToRadians 2024-06-20 09:12:50 +10:00
Siddharth Bharat Purohit f89923fcbe AP_HAL_ChibiOS: mark CONS RX/TX as NC for ADSB Carrier board 2024-06-19 19:09:36 +10:00
bugobliterator 04879d2c42 AP_HAL_ChibiOS: add passthrough from secondary through primary while in bootloader 2024-06-19 19:09:10 +10:00
robot-to-society b86094978d Mission: add is_resume method 2024-06-19 17:12:17 +10:00
Peter Barker 05a22aaffc AP_ADSB: cache course-over-ground for GPS message 
stops the vehicle flipping around as speed goes to/comes from 0
 2024-06-19 10:14:50 +10:00
Simon Hancock 43c604f1db AP_Compass: Fix fewer multipliers than params on MAGH log message 2024-06-19 09:38:59 +10:00
Simon Hancock d6f0d9b57c AP_GPS: Update description of VDop and HDop log params 2024-06-19 09:38:59 +10:00
Peter Barker b5b42f9446 AP_Logger: tidy running of LoggerMessageWriter sub-writers 
... use the fact these all have a common base class to reduce effectively duplicate code.

Also un-virtualise and const a function which wasn't overridden and can be const
 2024-06-19 08:51:28 +10:00