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25234 Commits

Author SHA1 Message Date
Andy Piper
877dde4736 AP_HAL_ChibiOS: on BeastF7 share TIM3 UP/CH and give flash SPI dedicated channel 2021-01-27 18:54:43 +11:00
Andy Piper
2395018000 AP_BLHeli: don't log invalid bi-dir dshot values as they are never used 2021-01-27 18:54:10 +11:00
Andy Piper
9249b73e8b AP_HAL_ChibiOS: correctly allow mixing of bidir and non-bidir channels 2021-01-27 18:49:15 +11:00
Andy Piper
2823fa7245 AP_HAL_ChibiOS: never write bytes that have not been erased on H7 
Be more careful about flash failure conditions on H7
 2021-01-27 18:30:36 +11:00
Andy Piper
78735a946e AP_HAL_ChibiOS: allow STM32_FLASH_DISABLE_ISR for H7 2021-01-27 18:30:36 +11:00
Andrew Tridgell
155de6d2bc HAL_ChibiOS: fixed build of AP_Periph on H7 2021-01-27 18:24:03 +11:00
Andrew Tridgell
0535c4f592 AP_InertialSensor: default TMAX to 70 
if user forgets to set this then better to just timeout rather than
calibrating over a small range
 2021-01-27 09:49:35 +11:00
Andrew Tridgell
9861a02c60 HAL_ChibiOS: save INS_ACC*ID persistent parameters 
this enables full factory accelerometer calibration, so the user is
not required to run an accelcal, even if they change vehicle type
 2021-01-27 09:49:35 +11:00
Andrew Tridgell
bdb364d461 AP_InertialSensor: save the accelerometer ID parameters 
this is needed for factory accel cal
 2021-01-27 09:49:35 +11:00
Andrew Tridgell
87528f47c8 AP_IOMCU: prevent internal error on bootloader flash 
when we flash the bootloader on boards with an IOMCU we expect a long
delay as the CPU stops during the flash
 2021-01-27 09:49:35 +11:00
Andrew Tridgell
6163659887 AP_HAL: prevent a single bad transfer causing an IMU to be marked unhealthy 
This is a response to this issue:
https://discuss.ardupilot.org/t/gyro-problem-after-waypoint-log-analisys

The 2nd gyro went bad with a large offset. Then the first gyro was
marked unhealthy, forcing the EKF to switch to the 2nd gyro. That
resulted in a crash.

I think the SPI bus was getting bad transfers and the register check
code happened to get a bad transfer, thereby marking the first gyro
unhealthy

This change ensures we only fail the register check if two transfers
in a row are bad. This makes it much less likely that a noisy bus will
lead to an unhealthy gyro
 2021-01-27 09:47:55 +11:00
Iampete1
ebfe593e38 AP_Scripting: add example script setting up a custom MotorMatrix 2021-01-26 11:07:36 +09:00
Iampete1
5c397d4674 AP_Scripting: add MotorMatrix bindings 2021-01-26 11:07:36 +09:00
Iampete1
fca6f7027b AP_Motors: allow Matrix config from scripting 2021-01-26 11:07:36 +09:00
Peter Hall
d0e1e85b9e AP_Motors: add get_frame_mav_type 2021-01-26 11:07:36 +09:00
Randy Mackay
f6cb0819ef AP_NavEKF3: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Randy Mackay
8ecac27777 AP_NavEKF_Source; pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Randy Mackay
62932f884f AP_AHRS: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Andrew Tridgell
1716fcf995 GCS_MAVLink: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell
ac35867c17 AP_Param: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell
12b93e2922 AP_OSD: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell
6c684538d3 AP_Param: greatly speed up param download with disabled parameters 
allows fast skip over disabled subgroups. This removes a long delay
with param download on a MatekF405-STD where the final parameters
associated with the OSD took 80ms to fetch, causing a long loop delay
 2021-01-26 10:43:09 +11:00
Peter Barker
d426d8e1f8 AP_GPS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Peter Barker
358069df24 AP_AHRS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
WillyZehnder
2e2ec79992 RC_Channel: reserve AUX_FUNC for MISSION_RELATIVE 2021-01-26 10:14:11 +11:00
Andrew Tridgell
2843cfa42d AP_InertialSensor: use mavlink statustext for cal info 2021-01-25 16:24:50 +11:00
Andrew Tridgell
b542f947f7 AP_InertialSensor: don't mark accels as calibrating during trim 
we need the accels with offsets applied when doing accel trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell
e908a996af AP_InertialSensor: support SIM_ACC_TRIM 
and cleanup vector maths
 2021-01-25 16:24:50 +11:00
Andrew Tridgell
7292b4f260 SITL: added SIM_ACC_TRIM_{X,Y,Z} for simulating IMU trim 
this will enable an autotest for AHRS trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell
ddc4d08e8f AP_NavEKF3: make drag fusion optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell
1ccda938cb AP_NavEKF3: make external navigation optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell
8da511f039 AP_NavEKF3: make body odomotry build depend on vehicle type 
saves about 11k of flash
 2021-01-24 11:56:52 +11:00
E Thomas
2ee052b36e AP_GPS: Made GPS_DISABLE prevent last_fix_time_ms updates 2021-01-23 17:25:00 +11:00
Peter Barker
ade1c487d8 AP_Logger: remove default reason argument for Write_Mode 
All callers now supply this
 2021-01-22 17:27:26 +11:00
Leonard Hall
25fff17e48 AC_AttitudeControl: constify some local variables 2021-01-22 14:22:18 +09:00
Peter Barker
3582b69e9c AP_NavEKF3: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker
445a461f12 AP_NavEKF2: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker
401cccca19 AP_NavEKF2: correct description on NKF3.SVT 2021-01-21 21:26:17 +11:00
Peter Barker
b3bacdd33c AP_NavEKF3: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker
dddb285209 AP_NavEKF2: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker
5ad0ac6727 AP_NavEKF3: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Peter Barker
6b60bae068 AP_NavEKF2: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Peter Barker
e32ca819fc GCS_MAVLink: mark results as unused 2021-01-21 20:41:17 +11:00
Peter Barker
60d0b0f07c AP_AHRS: add WARN_IF_UNUSED to some getters 2021-01-21 20:41:17 +11:00
Andrew Tridgell
6c8a57c2d7 AP_InertialSensor: review fixes 2021-01-21 13:09:21 +11:00
Andrew Tridgell
3ff71c7814 AP_InertialSensor: changes from review feedback 2021-01-21 13:09:21 +11:00
Andrew Tridgell
b12a663f7a AP_InertialSensor: apply accel scaling 2021-01-21 13:09:21 +11:00
Andrew Tridgell
9febcc0f98 SITL: added accel scaling parameters 2021-01-21 13:09:21 +11:00
Andrew Tridgell
73ddde3629 AP_InertialSensor: changes for new SITL IMU params 2021-01-21 13:09:21 +11:00
Andrew Tridgell
b5089580a9 SITL: cleanup IMU parameters 
allow for biases per IMU
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
5e60fac37e AP_InertialSensor: remove unused variable 2021-01-21 13:09:21 +11:00
Andrew Tridgell
285b53fe07 AP_InertialSensor: use vector polyfit 
this reduces memory usage
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
a1fb0592a9 AP_Math: specialise polyfit for vectors 
this is needed to get the precision good enough for wide temperature
ranges when summing the resulting polygon coefficients
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
c8aaceb6ac AP_LeakDetector: remove warning message on all non-sub builds 
pointless pragma
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
d0d480e858 AP_Compass: fixed matrix inverse for new name 2021-01-21 13:09:21 +11:00
Andrew Tridgell
8278a8a00b AP_AccelCal: rename from review feedback 2021-01-21 13:09:21 +11:00
Andrew Tridgell
2e2ccb40b2 AP_AccelCal: fixed inverse matrix call for new name 2021-01-21 13:09:21 +11:00
Andrew Tridgell
999268cbba AP_Math: fixup matrix algorithms to be in cpp file 
this fixes an issue where optimize O2 was forced on any file that
included AP_Math.h. It also fixes the test suite for matrix_alg, and
fixes the type handling to be consistent
 2021-01-21 13:09:21 +11:00
bugobliterator
3b3e2c01f8 AP_Math: templatize matrix_alg methods 2021-01-21 13:09:21 +11:00
Andrew Tridgell
ffe20f7958 AP_InertialSensor: use a fixed reference temperature of 35C 
this allows us to timeout the calibration when the temperature stops
rising as the polynomial no longer depends on the maximum temperature
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
dc58b0b950 AP_InertialSensor: changes from review feedback 
thanks Sid!
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
9561f24c0e AP_Filesystem: added @SYS/persistent.parm 2021-01-21 13:09:21 +11:00
Andrew Tridgell
5ed19c764e HAL_ChibiOS: expose load_persistent_params for @SYS 2021-01-21 13:09:21 +11:00
Andrew Tridgell
1680e6e7d6 AP_HAL: expose load_persistent_params() in hal.util 2021-01-21 13:09:21 +11:00
Andrew Tridgell
c9a83c8127 AP_InertialSensor: added INS_TCAL_OPTIONS 
make persistent params optional, and allow save of accelcal
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
5c823debc0 HAL_ChibiOS: support saving persistent parameters to bootloader sector 
when we flash the bootloader we can save key peristent parameters to
the end of the bootloader sector, allowing them to persistent across
changes of firmware type

This allows for factory temperature calibration
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
504f500fae AP_Common: added get_writeable_string to ExpandingString 2021-01-21 13:09:21 +11:00
Andrew Tridgell
1ddc21c9bb AP_InertialSensor: support saving tempcal params persistently 2021-01-21 13:09:21 +11:00
Andrew Tridgell
8caea96ab1 AP_InertialSensor: start auto-learning at boot 
This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
7cb7ad3636 AP_InertialSensor: fixed build error 2021-01-21 13:09:21 +11:00
Andrew Tridgell
2e9f61fe49 AP_InertialSensor: fixed IMU index display in msgs 
start at 1 for users
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
d5b511f4a0 AP_InertialSensor: fixed start timer for temperature in SITL 
when we are doing an autotest we want the temperature to start
climbing when we first set SIM_IMUT_FIXED=0
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
30e55d8dfc AP_InertialSensor: cope with user changing TMAX while calibrating 2021-01-21 13:09:21 +11:00
Andrew Tridgell
68526262b7 AP_Arming: don't allow arming during IMU temp cal 2021-01-21 13:09:21 +11:00
Andrew Tridgell
e2e97c67ce AP_InertialSensor: catch user attempt to change TMAX during cal 2021-01-21 13:09:21 +11:00
Andrew Tridgell
73e53369e8 AP_Notify: added notify events for temperature calibration 2021-01-21 13:09:21 +11:00
Andrew Tridgell
3fb720354d AP_InertialSensor: added notify events for temperature calibration 2021-01-21 13:09:21 +11:00
Andrew Tridgell
cc3579ea5d AP_InertialSensor: change TCAL sampling to be even in temperature 2021-01-21 13:09:21 +11:00
Andrew Tridgell
cf47c19c0d Filter: fixed low pass 2p filter to auto-init 
this prevents the init to zero for temperature filters
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
4495414d05 Filter: added reset with value to LowPassFilter2p 2021-01-21 13:09:21 +11:00
Andrew Tridgell
fc0f8b990a AP_InertialSensor: added online learning of temp cal 
use INS_TCAL1_ENABLE=2 to start learning
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
64d9f43d94 AP_Math: added polygon fitting code 2021-01-21 13:09:21 +11:00
Andrew Tridgell
720f9a1de0 AP_Math: cleanup maths functions 
use class template instantiation, and cleanup const in matrix code
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
6f6f89e5aa AP_InertialSensor: enable temperature sensor on LSM9DS0 
this allows for temperature calibration of the LSM303D in CubeBlack
and Pixhawk1
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
0c156e324b AP_Compass: enable temperature on lsm303d 2021-01-21 13:09:21 +11:00
Andrew Tridgell
c0ba7c29ca SITL: use TCal class for temp adjustment in SITL 2021-01-21 13:09:21 +11:00
Andrew Tridgell
4bdf506d10 AP_InertialSensor: apply 1e-5 scale factor 
this keeps the params in a reasonable range for parameter editors
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
0f6f6bac6b AP_InertialSensor: expose TCal class for use in SITL 2021-01-21 13:09:21 +11:00
Andrew Tridgell
7921e042f1 AP_InertialSensor: added IMU temperature calibration support 
this adds parameters that can be setup by an external script for
compensating for temperature variation in gyros and accels using a 3rd
order polynomial
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
580cd143b8 AP_AccelCal: added active() method 2021-01-21 13:09:21 +11:00
Siddharth Purohit
f53d80374b SITL: fix build for macos systems 2021-01-21 13:09:21 +11:00
Peter Barker
e58d2ecf2f GCS_MAVLink: add mavlink command option to create a 250ms long loop 2021-01-21 11:35:57 +11:00
Andrew Tridgell
d81c2ee407 HAL_ChibiOS: allow for some embedded parameters on AP_Periph builds 2021-01-21 06:19:46 +11:00
murata
fd91cb03b4 SITL: Change the Kelvin value to a defined name 2021-01-20 20:27:19 +11:00
bugobliterator
8b90eb23e0 AP_HAL_ChibiOS: distcc doesn't like lst generation commands 2021-01-20 19:21:14 +11:00
Randy Mackay
031be010ac AC_AttitudeControl: tailsitter sets target rates more efficiently 2021-01-20 18:21:12 +11:00
Leonard Hall
4e2c7880c5 AC_Avoidance: use AP_Math control functions 2021-01-20 18:19:40 +11:00
Leonard Hall
e2308e9414 AC_Loiter: use AP_Math control tools common functions 2021-01-20 18:19:40 +11:00
Randy Mackay
6320338771 AC_PosControl: use AP_Math control functions 2021-01-20 18:19:40 +11:00
Leonard Hall
1129a3fd59 AC_AttitudeControl: use AP_Math control functions 2021-01-20 18:19:40 +11:00
Leonard Hall
1e38440c83 AP_Math: add control common functions 2021-01-20 18:19:40 +11:00
Andy Piper
2fadcf6ba0 AP_HAL_ChibiOS: handle UP/CH channel sharing on H7 correctly 2021-01-20 18:15:17 +11:00
Andy Piper
9e641a32ad AP_HAL_ChibiOS: don't share flash SPI on BeastH7 and compile with -Os 2021-01-20 18:12:57 +11:00
Andy Piper
2b885cd79f AP_HAL_ChibiOS: ensure that serial LED setup goes via an intermediate buffer 
protect serial LED buffer transfers with mutex
protect serial LED buffer size with mutex
prevent serial LED interactions before rcout is ready
allocate a serial led buffer per channel that needs it
setup clock mask when needed
 2021-01-20 18:10:18 +11:00
yaapu
ecfcd98f8a AP_RCTelemetry: apply a 5s hysteresis to RF mode changes and rate reporting 2021-01-20 18:06:24 +11:00
Andy Piper
23158480c7 AP_RCTelemetry: calculate CRSF custom frame support correctly 2021-01-20 18:06:24 +11:00
Andy Piper
39219451bd AP_RCTelemetry: detect CRSF tracer RX and switch to 250Hz high speed telemetry 2021-01-20 18:06:24 +11:00
Andy Piper
f6a2d20579 AP_RCProtocol: add tracer 250Hz mode 2021-01-20 18:06:24 +11:00
yaapu
79640e5d94 RC_Channel: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu
1c3b7d5ecd GCS_MAVLink: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu
6b26a64f77 AP_Frsky_Telem: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu
5ef20aec27 AP_RCProtocol: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu
4933544489 AP_RCTelemetry: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
Andrew Tridgell
9db0862d61 HAL_Linux: use nullptr for vnav rcinput 
this makes it clearer what is going on
 2021-01-20 13:49:26 +11:00
Michael du Breuil
15fd8480f8 AP_EFI: Correct a bad conversion from Kelvin to Celsius 
(was off by 0.15 degrees)
 2021-01-20 11:10:25 +11:00
Andrew Tridgell
dff6a5bff9 HAL_Empty: allow return of last value in RCOutput 
this is needed for linux boards with no native RCOutput that use SBUS
out on a serial port to ensure they can display the servo values in
the GCS
 2021-01-20 10:06:45 +11:00
Andrew Tridgell
1ce77111e5 AP_AHRS: allow override of default EKF type 2021-01-20 10:06:45 +11:00
Andrew Tridgell
009cb8f62b HAL_Linux: setup RCIN for vnav 2021-01-20 10:06:45 +11:00
Andrew Tridgell
a9f8c9517c AP_HAL: added vnav linux target 2021-01-20 10:06:45 +11:00
Andrew Tridgell
103d6c54e1 AP_ExternalAHRS: added vnav linux target 2021-01-20 10:06:45 +11:00
Peter Barker
933aba66f8 AP_HAL_SITL: avoid nullptr dereference in Replay 2021-01-19 15:15:35 +11:00
Peter Barker
c0ea19e5c5 SITL: add test for maxbotixi2cxl 2021-01-19 11:20:47 +11:00
Peter Barker
78b49a2c35 AP_RangeFinder: maxbotix: use i2c-address parameter 2021-01-19 11:20:47 +11:00
Iampete1
9be19b0bfa AP_Scripting: add plane spesific quadplane in_vtol_mode binding 2021-01-19 11:18:10 +11:00
Iampete1
7de14f2e2f AP_Scripting: desc: update AP_Terrain depends 2021-01-19 11:18:10 +11:00
Iampete1
2a75432fa2 AP_Scripting: Generator: support depends 2021-01-19 11:18:10 +11:00
Pierre Kancir
30a4747898 GCS_MAVLink: send sim_state msg 2021-01-19 10:40:43 +11:00
Pierre Kancir
c1f1208c89 SITL: add support for SIM_STATE msg 2021-01-19 10:40:43 +11:00
Andrew Tridgell
d9dbcb17c4 AP_Math: enable constrain value with line numbers on all boards 2021-01-19 10:24:39 +11:00
Andrew Tridgell
5def8a64ab SITL: avoid negative current and voltage in flightaxis 
RealFlight9 will sometimes give meaningless negative values
 2021-01-19 10:21:35 +11:00
Andrew Tridgell
53326a08ed AP_DAL: add 10k to SITL memory available 
this is needed as the SITL data structures are larger than on STM32
due to pointer size. This means we sometimes fail to replay in SITL as
we refuse to allocate an EKF core
 2021-01-18 13:01:00 +11:00
bugobliterator
c02c546077 AP_HAL_ChibiOS: add support for inline comments in hwdef.dat 2021-01-18 09:37:11 +11:00
bugobliterator
41693403e2 AP_HAL_ChibiOS: retain memory of past conflicts in dma_resolver 2021-01-18 09:37:11 +11:00
Randy Mackay
0cc9fd2b5d AP_AHRS_NavEKF: get_secondary_quat and position may return EKF3 value 2021-01-16 08:24:23 +09:00
Randy Mackay
1b3ad9cd8d AP_AHRS: use ekf3 by default 2021-01-16 08:24:23 +09:00
Randy Mackay
60633f5a7f AP_NavEKF2: disable ekf2 by default 2021-01-16 08:24:23 +09:00
Randy Mackay
4492e5024c AP_NavEKF3: enable ekf3 by default 2021-01-16 08:24:23 +09:00
Andrew Tridgell
ed8d86e5e6 GCS_MAVLINK: support deliberate parameter corruption 2021-01-16 06:47:10 +11:00
Andrew Tridgell
6ca68bfba3 AP_HAL: enable 32k storage on SITL 2021-01-16 06:47:10 +11:00
Andrew Tridgell
f93e2f6717 HAL_ChibiOS: enable 32k FRAM on H7 boards 2021-01-16 06:47:10 +11:00
Andrew Tridgell
9e15efcbb5 AP_InertialSensor: added params restored internal error 2021-01-16 06:47:10 +11:00
Andrew Tridgell
4d58bcb321 AP_Param: support restoring from parameter backup region 
if header on primary parameter storage is corrupt then restore from
backup
 2021-01-16 06:47:10 +11:00
Andrew Tridgell
03a033c5c4 StorageManager: added support for 32k storage with param backup 
when HAL_STORAGE_SIZE == 32768 then add:

 - 1280 more bytes for params
 - double waypoint space
 - add a parameter backup area
 2021-01-16 06:47:10 +11:00
pkocmoud
7b61a4d8c2 HAL_ChibiOS: support F7 with no crystal 2021-01-15 15:48:01 +11:00
Andy Piper
099d6aa72e AP_NavEKF3: add filter reset when vehicle is idle for too long 2021-01-15 15:47:20 +11:00
Andy Piper
cb5be4fcc1 AP_HAL_ChibiOS: don't share IMU DMA on MatekH743 to avoid SPI DMA contention 2021-01-15 14:32:39 +11:00
chobitsfan
26a3a02c81 AP_NavEKF3: use posxy_source in all places 2021-01-14 16:49:12 +09:00
李孟晓
40dbb316c1 AP_BattMonitor: ignore SoC option for UAVCAN devices 2021-01-13 18:30:53 +11:00
Andrew Tridgell
eeb728237f AP_Compass: removed error on BMM150 
it may be probed at multiple addresses, don't throw lots of errors
 2021-01-13 18:10:25 +11:00
Andy Piper
e781572d53 AP_HAL_ChibiOS: support iFlight BeastF7 
reduce DMA contention on BeastH7 and correct sharing
add README's for BeastF7 and BeastH7
 2021-01-13 18:09:33 +11:00
Andy Piper
fdbf2d369a AP_HAL_ChibiOS: do not take bi-dir path when in serial DMA 2021-01-13 18:03:41 +11:00
yaapu
89802ed6fc AP_MSP:Tools: use BATTERY_STATE.voltage_cv for cell voltage calculation to replicate actual DJI Goggles behaviour 
This becomes apparent when pack voltage is above DJI's hard limit of 25.5v
with this fix the cell voltage is correct even for 12s packs just like on real hardware
 2021-01-13 17:59:15 +11:00
yaapu
b84baf06d3 AP_OpticalFlow: fix MAVLink opflow driver, only apply yaw to flowRate as body rate comes from AHRS 2021-01-13 17:56:27 +11:00
yaapu
5b2d430a2a AP_OpticalFlow: fix CXOF opflow driver, only apply yaw to flowRate as body rate comes from AHRS 2021-01-13 17:56:27 +11:00
Andrew Tridgell
8728148db6 AP_Notify: don't do startup tone on AP_Periph devices 2021-01-13 15:18:40 +11:00
Igor Campos
174700b7ad AP_Mount: Implement roll control on Solo gimbal 2021-01-13 08:39:03 +11:00
Tatsuya Yamaguchi
985642af32 AP_Avoidance: update the description of AVD_F_ALT_MIN to specify MSL 2021-01-12 21:59:44 +09:00
chobits
e73d28fe19 AP_NavEKF3: remove redundant extnav code 2021-01-12 21:56:36 +09:00
Josh Henderson
8e705a5eed AP_Logger: move BAT & BCL logging functions to AP_BattMonitor 2021-01-12 17:43:55 +11:00
Josh Henderson
e91953fa3b AP_BattMonitor: move log BAT & BCL into AP_BattMonitor 2021-01-12 17:43:55 +11:00
Josh Henderson
dfa8e55622 AP_BattMonitor: add has_temperature method to Backend 2021-01-12 17:43:55 +11:00
Peter Barker
b92b343d4e SITL: add simulator for ICM40609 2021-01-12 17:43:36 +11:00
Peter Barker
239b09fb34 AP_InertialSensor: add simulator for ICM40609 2021-01-12 17:43:36 +11:00
Peter Barker
3d577d94e8 GCS_MAVLink: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
Peter Barker
b229c552e6 AP_Arming: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
Peter Barker
0052500d67 GCS_MAVLink: split out a handle_command_component_arm_disarm 2021-01-12 08:48:44 +09:00
Brad Bosch
a2192eda5e GCS_MAVLink: use RADIO_STATUS message txbuf field 
this avoids overrunning radio buffer in queued_param_send()
 2021-01-12 10:46:15 +11:00
bugobliterator
4346264113 AP_HAL_ChibiOS: ensure UP and CH timer channels share DMA for H7 2021-01-12 10:45:03 +11:00
Peter Barker
96981baadf AP_CanManager: use milliseconds for timeout 
The use of PRIu64 was breaking people's builds
 2021-01-12 10:38:54 +11:00
Peter Barker
9099a9b622 AP_AHRS: correct names for active EKF type 2021-01-12 10:23:08 +11:00
Josh Henderson
0ebbf0f74e AP_Logger: move AP_AHRS functions out 2021-01-12 10:13:22 +11:00
Josh Henderson
62ff9a4d4b AP_AHRS: move logging functions to AHRS 2021-01-12 10:13:22 +11:00
Josh Henderson
8ce5113c74 AC_AutoTune: privatize AHRS logging 2021-01-12 10:13:22 +11:00
Andy Piper
e9ea360a99 AP_HAL_ChibiOS: don't timeout after 11 bits on serial irqs 2021-01-12 09:58:58 +11:00
Andrew Tridgell
957842f7eb AP_InertialSensor: added support for v3 Invensense sensors 
starting with ICM-40609, ICM-42688 and ICM-42605
 2021-01-11 14:43:35 +11:00
Andrew Tridgell
14433c3ae3 HAL_ChibiOS: enable ICM-40609 on mRoNexus 2021-01-11 14:43:35 +11:00
yaapu
0f49058fbd AP_MSP: fix for missing ACK on unsupported MSP messages 
MSP requires all messages to be acknowledged even if unsupported
 2021-01-11 08:54:15 +11:00
Andrew Tridgell
882d9c4e23 GCS_MAVLink: adjust stack sizes 2021-01-10 08:28:55 +11:00
Andrew Tridgell
dc57454ac5 AP_Logger: adjust stack sizes 2021-01-10 08:28:55 +11:00
Andrew Tridgell
afbdd69165 AP_HAL_ChibiOS: adjust stack sizes 2021-01-10 08:28:55 +11:00
Andy Piper
8fb403c569 AP_HAL_ChibiOS: make sure BDMA channels are not adjacent 2021-01-10 08:11:37 +11:00
Andy Piper
186c28c275 AP_BLHeli: correct bi-dir mask enablement 2021-01-09 09:47:40 +11:00
Peter Barker
416dd98140 AP_Logger: check HAL_LOGGING_DATAFLASH only for definition 
As the hwdefs only define the symbol, don't set it to a value...
 2021-01-08 12:48:55 +11:00
Peter Barker
7d42f473fc AP_Logger: allow each backend to be compiled out 2021-01-08 12:48:55 +11:00
yaapu
480c9f10df AP_OpticalFlow: fix for msp opflow sensor alignement 2021-01-08 09:29:23 +09:00
Michael Oborne
d2720da4a2 AP_GPS: support yaw for UAVCAN GPS 2021-01-07 15:56:28 +11:00
Michael Oborne
5ef3e1bec3 UAVCAN: add dsdl for gps heading 2021-01-07 15:56:28 +11:00
Peter Barker
e8d24a1f68 AP_Logger: initialise logger instance variables in header 2021-01-07 10:42:13 +11:00
Peter Barker
80e8688888 AP_Logger: remove perf counters 2021-01-07 09:20:00 +11:00
Andy Piper
b3946a667c AP_Logger: omnibusF4pro needs more stack for logging and logging needs to take precedence over ftp 2021-01-07 07:43:52 +11:00
chobits
b0fa5fadcd AP_Logger: fix BCN multiplier 2021-01-06 21:48:32 +11:00
Peter Barker
c590aa061f RC_Channel: return uint32_t for number of ms overrides should live 2021-01-06 18:33:15 +11:00
Peter Barker
ef0b860a48 AP_Logger: remove Prep and NeedPrep functions 
These were only being called directly after Init(), so just tacked them
onto the end of those functions.

The checks in NeedPrep turned out to be mostly redundant.
 2021-01-06 18:25:21 +11:00
Josh Henderson
1c49a0b44d AP_Logger: only log Battery Status for active monitors 2021-01-06 18:23:15 +11:00
Peter Barker
496267115c AP_RangeFinder: MAVLink: use larger of min ranges / smaller of max ranges 2021-01-06 15:33:41 +11:00
Peter Barker
81ab322daa SITL: correct max_distance in simulated mavlink rangefinder 2021-01-06 15:33:41 +11:00
Peter Barker
cba5f142a7 AP_RangeFinder: correct MAVLink backend's out-of-range checks 2021-01-06 15:33:41 +11:00
Peter Barker
223e775a3c AP_RangeFinder_MAVLink: only set sensor type if we accept a reading 2021-01-06 15:33:41 +11:00
Peter Barker
40eb9a8b99 AP_RangeFinder: do not start the mavlink rangefinder as healthy 
Also takes the opportunity to clean things up a little
 2021-01-06 15:33:41 +11:00
Gone4Dirt
c96ca2483e AP_Generator: Make sensor unhealthy msg consistent with other sensors 2021-01-06 09:59:34 +11:00