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29292 Commits

Author SHA1 Message Date
Andrew Tridgell
a01ca35939 AP_Logger: increase stack of log_io thread by 256 
This was seem on omnibusf4pro, it is a bit too close:

  log_io PRI= 59 sp=0x20015CC0 STACK=144/1656
 2022-04-01 19:56:30 +11:00
Mirko Denecke
c1e0e9c305 AP_HAL_ChibiOS: fix ms5611 probe for NucleoH743 2022-03-31 16:31:13 +11:00
Randy Mackay
0dd9a8028b AR_WPNav: integrate scurve snap 2022-03-30 15:34:14 +09:00
Randy Mackay
c233f114bd AR_PosControl: fixup logging to record desired and target velocity and acceleration 2022-03-30 15:34:14 +09:00
Randy Mackay
74df1c0b22 AR_PosControl: reduce default I term to zero 2022-03-30 15:34:14 +09:00
Randy Mackay
995ff30cd6 AC_Avoid: enable slide behaviour for rover 2022-03-30 15:34:14 +09:00
Randy Mackay
5d96804ef3 AR_WPNav: add protection against zero accel max 2022-03-30 15:34:14 +09:00
Randy Mackay
a1b9fe5097 AR_WPNav: jerk time reduced to 0.1 sec 2022-03-30 15:34:14 +09:00
Randy Mackay
c6dffb990f AR_WPNav: add set_nudge_speed_max 
allows pilot to override speed_max from RC input
 2022-03-30 15:34:14 +09:00
Randy Mackay
394a5fd2fc AR_WPNav: get/set_desired_speed renamed to get/set_speed_max 
set_speed_max updates position controller limits and triggers recalculation of scurves
local _desired_speed member is no longer required because max speed is held in position controller
 2022-03-30 15:34:14 +09:00
Randy Mackay
1996085282 AR_WPNav: init accepts speed max 
also remove unused set_desired_speed_to_default
also init previous leg in set_desired_location
init accepts speed but inforces minimum
 2022-03-30 15:34:14 +09:00
Randy Mackay
a91025fa16 AR_WPNav: remove unused speed_min 2022-03-30 15:34:14 +09:00
Randy Mackay
537874c075 AR_WPNav: jerk_max maintained in position controller 2022-03-30 15:34:14 +09:00
Randy Mackay
54eee7d311 AR_WPNav: simplify init 2022-03-30 15:34:14 +09:00
Randy Mackay
d03e801b65 AR_WPNav: remove get_accel_max, get_jerk_max 2022-03-30 15:34:14 +09:00
Randy Mackay
653afbeb15 AR_WPNav: enable_overspeed added to improve sailboat support 2022-03-30 15:34:14 +09:00
Randy Mackay
2f6e098f23 AR_WPNav: always use local calculation of cross track 
also calc_crosstrack_error may return negative values
 2022-03-30 15:34:14 +09:00
Randy Mackay
729dfee01c AR_WPNav: pivot turns stop before turning 2022-03-30 15:34:14 +09:00
Randy Mackay
e0a628bb8c AR_WPNav: add is_fast_waypoint accessor 2022-03-30 15:34:14 +09:00
Randy Mackay
0bcae12ceb AR_WPNav_OA: use wpnav's expect fast updates 2022-03-30 15:34:14 +09:00
Randy Mackay
f769a18996 AR_WPNav: add set_desired_location_expect_fast_update 2022-03-30 15:34:14 +09:00
Randy Mackay
1fd9da710d AR_WPNav: add internal error if invalid destination received 2022-03-30 15:34:14 +09:00
Randy Mackay
461c5196e7 AR_WPNav: add ACCEL and JERK params and accessors 
allows users to specify a different acceleration and jerk for Auto, Guided, RTL, etc compared with manual modes (Acro, etc)
 2022-03-30 15:34:14 +09:00
Randy Mackay
47ab961f42 AR_WPNav: fix application of turn-max-g 2022-03-30 15:34:14 +09:00
Randy Mackay
b1237ffe80 AR_WPNav: always pivot at corners of at least WP_PIVOT_ANGLE 2022-03-30 15:34:14 +09:00
Randy Mackay
3d048ddcc2 AR_WPNav: fix pivot activation when reversing 2022-03-30 15:34:14 +09:00
Randy Mackay
6515e71fc1 AR_WPNav: move OA path planning handling into a separate class 2022-03-30 15:34:14 +09:00
Randy Mackay
2a1013e896 AR_WPNav: set desired lat accel and crosstrack to zero when disarmed 2022-03-30 15:34:14 +09:00
Randy Mackay
a185e78271 AR_WPNav: integrate AR_PivotTurn class 
moves pivot turn feature to separate class
also does not advance along scurve path while pivotin
 2022-03-30 15:34:14 +09:00
Randy Mackay
7225d74777 AR_PivotTurn: pivot turn controller 
also reduces default pivot speed to 60deg/sec (was 90deg/sec)
add would_active and allow activation to be forced
 2022-03-30 15:34:14 +09:00
Randy Mackay
9d629f5ecd AR_WPNav: use position controller and s-curves 2022-03-30 15:34:14 +09:00
Randy Mackay
abc7bd446a AR_PosControl: rover position controller 2022-03-30 15:34:14 +09:00
Randy Mackay
8fcefb59b1 AP_Math: add Vector2f::dot 2022-03-30 15:34:14 +09:00
Andy Piper
23f8a00619 AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation 2022-03-30 17:11:09 +11:00
Andy Piper
fff82bed75 AP_HAL: update prescaler tests 2022-03-30 17:11:09 +11:00
Peter Barker
d9f819085c AP_Math: add specialisation for sq(float) 
avoids conversion to double
 2022-03-30 08:44:19 +11:00
Henry Wurzburg
479b02e5b0 HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-03-29 10:43:51 +11:00
Andrew Tridgell
0879b497a4 AP_Param: fixed param class conversion code 
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.

I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
 2022-03-29 10:41:33 +11:00
Andy Piper
eb996f28cc AP_HAL_ChibiOS: spro H7 extreme updates. 
cannot currently use both IMUs on spro H7 extreme due to CPU load
 2022-03-29 10:39:35 +11:00
Andy Piper
63229d7eca AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-03-29 10:29:31 +11:00
Andy Piper
6511a65b67 SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-03-29 10:29:31 +11:00
Andy Piper
4fa0e275fd AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands 
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
 2022-03-29 10:29:31 +11:00
xianglunkai
abb0bf34d2 test_3d_lines:fix test result for test_3d_lines 2022-03-29 08:26:39 +09:00
xianglunkai
4513546845 vector3:return w1 not zero vector 2022-03-29 08:26:39 +09:00
Peter Barker
29c2c40c41 hwdef: enable both OreoLED and Solo gimbal on fmuv3 
for users running fmuv3 on their Solo
 2022-03-29 08:24:59 +09:00
Peter Barker
a30f33a674 hwdef: enable both OreoLED and Solo gimbal on CubeOrange 
for users who have replaced their CubeSolo with a CubeOrange
 2022-03-29 08:24:59 +09:00
Peter Barker
f3bf6e56c8 AP_Mount: enable Solo Gimbal only on CubeGreen 2022-03-29 08:24:59 +09:00
Peter Barker
f186f612f9 AP_HAL_ChibiOS: enable Solo Gimbal only on CubeGreen 2022-03-29 08:24:59 +09:00
Bill Geyer
7e09f68f26 AP_Math: add chirp function to support frequency sweeps in systemid and autotune 2022-03-29 08:05:41 +09:00
Bill Geyer
f1a6865caa AC_Autotune: clean up variable init for dwell 2022-03-29 08:05:41 +09:00
Bill Geyer
bd0df72863 AC_AutoTune: use chirp function in AP_Math for frequency sweeps 2022-03-29 08:05:41 +09:00
Bill Geyer
ce725764d4 AC_AutoTune: combine dwell_run_test for angle and rate 2022-03-29 08:05:41 +09:00
Bill Geyer
ba28227483 AC_AutoTune: combine dwell_init methods 2022-03-29 08:05:41 +09:00
Bill Geyer
bbc259329d AC_AutoTune:tradheli-streamline gcs messages 2022-03-29 08:05:41 +09:00
Andrew Tridgell
7dc5911572 hwdef: changed MatekH743 to a 32 bit timer 
the 68ms issue is still present on this board. Switching to a 32 bit
timer will fix it, but loses us the tonealarm support
 2022-03-29 07:45:23 +11:00
Andrew Tridgell
4564140745 HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-28 17:09:26 +11:00
Andrew Tridgell
b46b0d61a6 HAL_ChibiOS: switch between IOMCU and RCProt rapidly 
keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
 2022-03-28 17:09:26 +11:00
Andrew Tridgell
5df38d0298 AP_RCProtocol: added using_uart() method 2022-03-28 17:09:26 +11:00
Andrew Tridgell
ee6a7f21ec AP_Logger: added terrain correction logging field 2022-03-28 16:01:21 +11:00
Andrew Tridgell
62dc865321 AP_Terrain: added logging of terrain correction 2022-03-28 16:01:21 +11:00
Andrew Tridgell
54f6dbf476 AP_Scripting: restored corrected boolean in height_amsl binding 2022-03-28 16:01:21 +11:00
Andrew Tridgell
f8aa4623ef HAL_SITL: don't use terrain adjustment 2022-03-28 16:01:21 +11:00
Andrew Tridgell
ed8f028359 AP_Arming: setup for terrain adjustment on arming 2022-03-28 16:01:21 +11:00
Andrew Tridgell
536b59ed42 SITL: don't use adjusted terrain in SITL 2022-03-28 16:01:21 +11:00
Andrew Tridgell
5f2c5be84a AP_Terrain: added terrain reference adjustment 
this restores the terrain adjustment functionality removed in #19946,
but without the problematic approach of always using home (which can
be moved in flight) and with a TERR_OFS_MAX parameter to limit the
amount of adjustment
 2022-03-28 16:01:21 +11:00
Peter Barker
cafad05b38 AP_GPS: rearrange send-text for consistency 2022-03-27 06:21:20 -07:00
Peter Barker
88feb74762 AP_GPS: improve parameter documentation in UAVCAN GPS 2022-03-27 06:21:20 -07:00
bugobliterator
bd2bf7fedc AP_HAL_SITL: add support for CANFD in SITL 2022-03-27 06:07:34 -07:00
bugobliterator
7d2ded8de1 AP_HAL: add support for CANFD in SITL 2022-03-27 06:07:34 -07:00
Iampete1
1521760a17 Filters: HarmonicNotch: remove statment on max number of notches harmonics from parm descripstion 2022-03-25 07:14:06 +11:00
BhumilDepani
8fa6432e3a AP_GPS: added comments in GPS_AUTO_test example sketch 
Added comments in libraries/AP_GPS/examples/GPS_AUTO_text/GPS_AUTO_test.cpp file

AP_GPS: added comments to GPS_AUTO_test example sketch

Added comments in libraries/AP_GPS/examples/GPS_AUTO_text/GPS_AUTO_test.cpp file

AP_GPS: added comments to GPS_AUTO_test example sketch

AP_GPS: add comments to GPS_AUTO_text example sketch

AP_GPS: added comments in GPS_AUTO_test example sketch
 2022-03-24 22:07:36 +11:00
Randy Mackay
fc668b4bca AP_Scripting: copter fast descent gets improved slowdown 2022-03-24 19:21:54 +09:00
HefnySco
53c1c235b8 AP_HAL:RPI read cpu by revision 2022-03-24 00:51:27 -07:00
Andrew Tridgell
7947494cab HAL_ChibiOS: prevent conflicting RC input 
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
 2022-03-24 16:09:43 +11:00
Andy Piper
458ff45fe6 AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-24 11:20:09 +09:00
Randy Mackay
2d5d74b7a8 AP_BLHeli: add reboot required to some parameters 2022-03-24 11:20:09 +09:00
Randy Mackay
5561a5e82e AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-24 08:01:48 +09:00
MallikarjunSE
bf0ce19942 hwdef: RM3100 no false rotation 2022-03-24 07:47:11 +11:00
MallikarjunSE
549883772c hwdef: RM3100 reversal mask 2022-03-24 07:47:11 +11:00
Andrew Tridgell
ce27ec2276 AP_BattMonitor: fixed battery remaining of sum battery 
and move to common function for update_consumed()
 2022-03-23 20:21:38 +11:00
bugobliterator
79c45049e0 AP_GPS: only use PPS time when there is atleast 2D Fix 2022-03-23 19:10:47 +11:00
bugobliterator
2dceb9a3ed AP_HAL_ChibiOS: ensure that common ram is selected for bootloader/app comms in STM32H7 2022-03-23 19:09:21 +11:00
bugobliterator
39b771c3a9 AP_Scripting: add support for can_printf in lua 2022-03-23 18:59:43 +11:00
Andrew Tridgell
73eabb1fd0 GCS_MAVLink: send GCS voltage to GCS 
may be resting voltage of option enabled
 2022-03-22 11:12:54 +11:00
Andrew Tridgell
9c067f360f AP_BattMonitor: added option to send resting voltage to GCS 2022-03-22 11:12:54 +11:00
Peter Barker
f1ec657c41 GCS_MAVLink: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker
fe863b9567 AP_Vehicle: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker
38a1c4412a AP_Mount: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker
3dae386ae3 AP_InertialSensor: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker
df4911cbcb AP_NavEKF3: avoid direct use of Location alt field 2022-03-22 10:33:37 +11:00
Peter Barker
83011580f3 AP_NavEKF2: avoid direct use of Location alt field 2022-03-22 10:33:37 +11:00
Andrew Tridgell
ce0b7a8957 AP_IOMCU: fixed handling of RC_OPTIONS bit to ignore RC failsafe bit 
this worked on FMU but not on IOMCU
 2022-03-22 10:30:35 +11:00
Andrew Tridgell
522173328c AP_RCProtocol: added failsafe_active() API 2022-03-22 10:30:35 +11:00
Andrew Tridgell
e8115a99bc AP_Scripting: added set_override method for scripting 
useful for test code
 2022-03-22 10:21:06 +11:00
Willian Galvani
19db542111 AP_Param: Use AP:FS for accessing files 2022-03-22 10:19:21 +11:00
Willian Galvani
0e62d561d9 AP_Filesystem: add allow_absolute_paths to open(), implement it for posix backend 2022-03-22 10:19:21 +11:00
Andrew Tridgell
feb9e78f00 AP_GPS: prevent switching to a dead GPS 
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
 2022-03-22 10:10:07 +11:00
pacolate12
0d256da3b5 AP_UAVCAN: correct array inxexing 
Allows the code to be run on hardware
 2022-03-20 07:32:33 -07:00
bugobliterator
8574afb2e1 AP_BoardConfig: add WHOAMI for INV42688 2022-03-20 07:23:10 -07:00
bugobliterator
7abcf9ec46 AP_HAL_ChibiOS: add CubeOrangePlus 2022-03-20 07:23:10 -07:00
Andrew Tridgell
54e4c6e1be hwdef: leave MatekL431 ROMFS uncompressed 
this allows for bl update when low on memory
 2022-03-19 12:06:04 +11:00
mateksys
35ed87a5db AP_HAL_ChibiOS: add MatekL431 AP_Periph hwdef 2022-03-19 12:06:04 +11:00
Henry Wurzburg
c48b7319bc AP_RSSI: convert floating point divides into multiplys 2022-03-18 15:26:44 +11:00
Andrew Tridgell
7bb129aa3e AC_AttitudeControl: added set_lean_angle_max_cd() 2022-03-18 13:36:16 +11:00
Andrew Tridgell
7dcdeac7ab AC_Autorotation: use accel_to_angle() 2022-03-18 13:36:16 +11:00
Andrew Tridgell
f824be726c AC_WPNav: use angle/accel functions 2022-03-18 13:36:16 +11:00
Andrew Tridgell
ca4151be2c AP_Math: added angle_to_accel() and accel_to_angle() 2022-03-18 13:36:16 +11:00
Peter Barker
ebe2205ba7 SITL: add on-hardware example files 2022-03-17 14:39:55 +11:00
Peter Barker
fa2e841387 AP_HAL: honour HAL_SIM_GPS_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
e0561b0ca1 GCS_MAVLink: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
7ad9609fb7 AP_AHRS: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
0bcda3c57e AP_Vehicle: split AP_HAL_SITL and AP_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
57f8b7c2a8 AP_Compass: split AP_HAL_SITL and AP_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
daedebce2e AP_Baro: create and use HAL_SIM_BARO_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
a53af5277c AP_InertialSensor: assume accel cals are stored for sitl-on-hw 
Same as for SITL - they don't need to actually be in storage to be valid
 2022-03-17 14:39:55 +11:00
Peter Barker
da21b48f7e AP_InertialSensor: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
a402dce95b AP_HAL: permit double-maths whe simulating 2022-03-17 14:39:55 +11:00
Peter Barker
650ef59be8 AP_HAL: create HAL::SIMState object to hold simulation state 2022-03-17 14:39:55 +11:00
Peter Barker
f7608c22da AP_HAL_ChibiOS: set pwm output values in simstate object 2022-03-17 14:39:55 +11:00
Peter Barker
8b2f85756a AP_HAL_ChibiOS: instantiate SIMState object in HAL 2022-03-17 14:39:55 +11:00
Peter Barker
26d6c2413b AP_Scheduler: update simulation state on embedded 2022-03-17 14:39:55 +11:00
Peter Barker
e07ddf95b4 AP_Math: provide rand_float on embedded hardware 2022-03-17 14:39:55 +11:00
Peter Barker
a9aa5c2d60 AP_GPS: add a new AP_GPS_SITL object 2022-03-17 14:39:55 +11:00
Peter Barker
edef2ceb56 SITL: usleep only on AP_HAL_SITL 2022-03-17 14:39:55 +11:00
Peter Barker
b360521d0b SITL: permit double-precision maths in SITL even on embedded hardware 2022-03-17 14:39:55 +11:00
Peter Barker
2e809282e7 SITL: split AP_HAL_SITL and AP_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
0957131543 SITL: use AP_HAL::micros() for get_wall_time_us 2022-03-17 14:39:55 +11:00
Peter Barker
3cf7091525 SITL: make parsing of json files dependent on PICOJSON 
picojson uses the standard library; this will be a problem on embedded
platforms
 2022-03-17 14:39:55 +11:00
Peter Barker
4896f8a6d7 AP_AHRS: rename SITL backend to SIM 2022-03-17 14:39:55 +11:00
Andrew Tridgell
92a8964503 AP_Arming: display a warning if arming checks disabled when arming 2022-03-17 06:52:47 +11:00
Andy Piper
ceef68e07b AP_HAL_ChibiOS: allow H7 480Mhz clock speed to be configured in hwdef via MCU_CLOCKRATE_MHZ 2022-03-16 20:37:30 +11:00
murata
8f1369f065 PID: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
82afaf70f6 AR_Motors: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
bb72f91dda APM_Control: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
bf738b03a6 AP_WheelEncoder: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
8f91fe9c2e AP_VisualOdom: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
5d2c49e202 AP_VideoTX: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
cad63eb6b6 AP_Torqeedo: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
a1a46b54e9 AP_Soaring: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
af3fbac118 AP_PiccoloCAN: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
4eca7383b8 AP_Mount: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
db7fe2ba4e AP_Mission: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
ae896ff8c2 AP_LTM_Telem: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
7897807a78 AP_Winch: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
e977f85647 AP_OSD: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
6d4a923cce AP_Motors: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
efe8427279 AP_InertialSensor: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
c90e42d10a AP_GyroFFT: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
be89285d10 AP_Generator: Change from division to multiplication 2022-03-16 18:41:52 +11:00
murata
12b3b22dbc AP_Beacon: Change from division to multiplication 2022-03-16 18:41:52 +11:00