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30903 Commits

Author SHA1 Message Date
Andrew Tridgell 2224096cff AP_Scripting: added straight_align path primitive 
allows alignment to position within maneuver frame
 2022-11-01 08:32:42 +11:00
Andrew Tridgell dcaea691a2 AP_Scripting: fixed final orientation of climbing_circle 2022-10-31 15:15:16 +11:00
Andrew Tridgell 7a03160590 AP_Scripting: capitalise the SCR_HEAP_SIZE parm 2022-10-31 15:14:27 +11:00
Andrew Tridgell 4dac9bf5ed AP_Scripting: greatly reduce memory in aerobatics 
avoid holding path objects outside of the time they are needed
 2022-10-31 15:14:27 +11:00
Andrew Tridgell 3c101d879e AP_Scripting: correct climbing circle for roll distortion 2022-10-29 21:22:29 +11:00
Andrew Tridgell eb62991632 AP_Scripting: improve timing accuracy 2022-10-29 21:22:29 +11:00
Andrew Tridgell d3ce852050 AP_Scripting: send error as NAMED_VALUE_FLOAT 2022-10-29 21:22:29 +11:00
Andrew Tridgell bcdbfef7d5 AP_Scripting: removed banked_circle 
and fixed helix length calculation
 2022-10-29 21:22:29 +11:00
Andrew Tridgell 01bdc532d6 AP_Scripting: added schedules from Andy 2022-10-29 21:22:29 +11:00
Andrew Tridgell fb7ea3ecac AP_Scripting: filled in all maneuvers in test_all_paths 2022-10-29 21:22:29 +11:00
Andrew Tridgell d88e3d27f6 AP_Scripting: added composition of composed paths 2022-10-29 21:22:29 +11:00
Andrew Tridgell 5a0311c6d8 AP_Scripting: use composer object to prepare for nested composition 2022-10-29 21:22:29 +11:00
Andrew Tridgell 4e154b17a2 AP_Scripting: convert remaining paths to composite functions 2022-10-29 21:22:29 +11:00
Andrew Tridgell 7541eed80c AP_Scripting: fixed height gain/loss in upline/downline 2022-10-29 21:22:29 +11:00
Andrew Tridgell efff5dc7ea AP_Scripting: added throttle lookahead 
anticipate the pitch and add extra throttle ready for the pitch up
 2022-10-29 21:22:29 +11:00
MatthewHampsey a4c544436a AP_Scripting: Added box trajectories, adding warning log for insufficent roll rate 2022-10-29 21:22:29 +11:00
Andrew Tridgell 8bc847fcf1 AP_Scripting: convert more paths to use composer 2022-10-29 21:22:29 +11:00
Andrew Tridgell b1e123df9e AP_Scripting: added entry and exit bank rates 2022-10-29 21:22:29 +11:00
Andrew Tridgell 20f1e8a6e6 AP_Scripting: fixed NED -> ENU in view_paths 
thanks MattH !
 2022-10-29 21:22:29 +11:00
Andrew Tridgell 7c7de7eee6 AP_Scripting: added stall turn 
not really working well
 2022-10-29 21:22:29 +11:00
Andrew Tridgell f509359c24 AP_Scripting: removed debug 2022-10-29 21:22:29 +11:00
Andrew Tridgell f31fa6daf2 AP_Scripting: add Split-S, Upline-45 and Downline-45 2022-10-29 21:22:29 +11:00
Andrew Tridgell 8873f95e52 AP_Scripting: re-implement humpty bump with composition 2022-10-29 21:22:29 +11:00
Andrew Tridgell 9242786d1e AP_Scripting: added path composition 
allow creation of paths from a sequence of sub-paths
 2022-10-29 21:22:29 +11:00
Andrew Tridgell 3dfbca62a6 AP_Scripting: catch NaN in view_path 2022-10-29 21:22:29 +11:00
Andrew Tridgell c0559935ed AP_Scripting: ensure time doesn't go past 1.0 2022-10-29 21:22:29 +11:00
Andrew Tridgell 16583704ed AP_Scripting: make target speed max of current and trim speed 2022-10-29 21:22:29 +11:00
Andrew Tridgell dd390c257d AP_Scripting: remove unused code 2022-10-29 21:22:29 +11:00
Andrew Tridgell 119852b390 AP_Scripting: fixed mirroring for some -ve radius paths 2022-10-29 21:22:29 +11:00
Andrew Tridgell 4b53e16ea2 AP_Scripting: document trajectory scripting 2022-10-29 21:22:29 +11:00
Andrew Tridgell 0ae3b39a66 AP_Scripting: implement tricks on a switch on top of trajectory tracking 
this re-implements tricks on a switch with the new accurate trajectory
tracking code.

It adds new parameters:

 - TRIK_ENABLE=0/1
 - TRIK_COUNT for number of tricks
 - TRIK_ACT_FN for the rc option to use to activate tricks (default 300)
 - TRIK_SEL_FN for the rc option to use to select which trick (default 301)

So if you want to use a 3 position switch on RC7 to activate and use a
knob on RC8 for selection then you would set:

- RC7_OPTION = 300
- RC8_OPTION = 301

then if tricks are enabled the following parameters are created per trick:

 - TRIKn_ID
 - TRIKn_ARG1
 - TRIKn_ARG2
 - TRIKn_ARG3
 - TRIKn_ARG4

You can have a maximum of 11 tricks.

The ID numbers are from the trajectory table. The arguments are path specific.
 2022-10-29 21:22:29 +11:00
Peter Barker db2736c297 GCS_MAVLink: correct potential uint underflow in stream slowdown 2022-10-27 08:40:21 +11:00
Peter Barker 77abaef092 GCS_MAVLink: use AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED 2022-10-26 21:22:39 +11:00
Peter Barker c136257a3a AP_Notify: gate mavlink access on HAL_GCS_ENABLED 
via AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
 2022-10-26 21:22:39 +11:00
Peter Barker eead037513 AP_BattMonitor: remove unneeded include of Notify 2022-10-26 21:22:39 +11:00
Peter Barker 9ca19c25a9 GCS_MAVLink: process mavlink play_tune in frontend 2022-10-26 21:22:39 +11:00
Peter Barker f846f703e4 AP_Notify: process mavlink play_tune in frontend 2022-10-26 21:22:39 +11:00
Peter Barker 959982c053 AP_HAL_ChibiOS: rename parameter name BRD_SAFETYENABLE to BRD_SAFETY_DEFLT 2022-10-26 19:53:03 +11:00
Peter Barker b4a42e61f3 AP_BoardConfig: rename parameter name BRD_SAFETYENABLE to BRD_SAFETY_DEFLT 2022-10-26 19:53:03 +11:00
Peter Barker 21d27d8988 AP_BoardConfig: correct description of safety switch 2022-10-26 19:53:03 +11:00
MatthewHampsey 51481eff24 AP_Scripting: Made negative radii steer in other direction for remaining trajs 2022-10-25 16:37:19 +11:00
MatthewHampsey d011c8977f AP_Scripting: Fix humpty bump 2022-10-25 16:37:19 +11:00
Peter Barker 56c4794700 AP_Notify: use existing method for setting rgb and rate 2022-10-25 12:11:38 +11:00
Yuri c474edc7b8 AP_Vehicle: enable HNTCH for Rover 2022-10-25 09:48:51 +09:00
Andrew Tridgell eb1d27df7b AP_Scripting: adjust EFI_SkyPower for rev 0.3 protocol 2022-10-25 11:44:45 +11:00
Andrew Tridgell 78c7bcf132 AP_EFI: fixed units of exhaust gas temperature 2022-10-25 11:44:45 +11:00
Andrew Tridgell aea9dea005 AP_Scripting: added CANDRV to HFE EFI driver and document 2022-10-25 11:44:45 +11:00
Andrew Tridgell 96852a8eb4 AP_Scripting: added throttle and generator control for EFI_SkyPower driver 
and added documentation for the driver
 2022-10-25 11:44:45 +11:00
Henry Wurzburg 0a33799216 AP_SerialManager: move multiple RC input error to pre-arm failure 2022-10-25 11:34:13 +11:00
Henry Wurzburg 8f67e9b69f AP_Arming: move multiple RC input error to pre-arm failure 2022-10-25 11:34:13 +11:00
Peter Barker a269acf76f AP_AdvancedFailsafe: use heartbeat method 
this block is identical to the heartbeat method, with the exception of the enabled check (which is made earlier in the function this code is being removed from)
 2022-10-25 11:31:14 +11:00
Peter Barker ad0df546a7 AP_AdvancedFailsafe: use fence singleton in afs check 2022-10-25 11:31:14 +11:00
Andy Piper 55aed98f81 AP_InertialSensor: ensure that hardware AAF and notch filter are enabled on 42605 and 42609 2022-10-25 11:06:02 +11:00
Iampete1 5382083452 SRV_Channel: pwm_from_angle: return trim for 0 high_out 2022-10-25 11:03:35 +11:00
Iampete1 623501d0d5 AP_Arming: allow scripting channels to be disabled 2022-10-25 11:02:21 +11:00
Henry Wurzburg eee856b427 hwdef: limit to onboard BARO for low flash F4 boards 2022-10-25 10:33:24 +11:00
WillyZehnder a7d5f8addc AP_Scripting: bindings: get_alt_frame included 
bindings.desc + docs.lua: get_alt_frame included
 2022-10-25 10:21:05 +11:00
Andy Piper 35b138afb1 AP_HAL_ChibiOS: correctly default SERIAL7 to RCIN and SERIAL5 to ESC telem on MatekH743-bdshot 2022-10-25 10:18:57 +11:00
Andy Piper 7702e2ea99 AP_HAL_ChibiOS: support 8 bi-directional dshot channels on MatekH743 2022-10-25 10:18:57 +11:00
Peter Barker 4f0d301edb GCS_MAVLink: move defaulting of HAL_HIGH_LATENCY2_ENABLED to minimize_features.inc 2022-10-25 10:10:44 +11:00
Peter Barker 6dba092c52 AP_HAL_ChibiOS: move defaulting of HAL_HIGH_LATENCY2_ENABLED to minimize_features.inc 2022-10-25 10:10:44 +11:00
Iampete1 5db30b75e7 AP_Scripting: logging: move to char buffer from lua buffer 2022-10-25 10:09:14 +11:00
Andrew Tridgell 1c868cac37 AP_Airspeed: add instance to hygrometer logging 2022-10-24 17:35:07 +11:00
alexklimaj 2ed679f0a8 AP_Baro: BMP390 2022-10-24 07:27:11 +11:00
alexklimaj e5cd25ff98 hwdef: ARKV6X 2022-10-24 07:27:11 +11:00
MatthewHampsey bdce9d5cb3 AP_Scripting: improved trajectory tracking 
with thanks to Paul Riseborough for the algorithmic improvements
 2022-10-23 18:11:15 +11:00
Andrew Tridgell 5def680fb9 AP_Scripting: fixed binding for nav_script_time 2022-10-23 18:11:15 +11:00
Andrew Tridgell ce77be9599 AP_Vehicle: updated nav_script_time 2022-10-23 18:11:15 +11:00
Andrew Tridgell f57935d406 AP_Scripting: update examples for new nav_script_time 2022-10-23 18:11:15 +11:00
Andrew Tridgell 41bc08e132 AP_Mission: save flash space when scripting not enabled 2022-10-23 12:14:14 +11:00
Andrew Tridgell d832b41262 AP_Mission: auto-convert NAV_SCRIPT_TIME from old to new format 
this mechanism can be used for other structures in the future
 2022-10-23 12:14:14 +11:00
Andrew Tridgell cafed85872 AP_Mission: fixed climb_rate in ATTITUDE_TIME 
need to stay within 10 byte limit
 2022-10-23 12:14:14 +11:00
Andrew Tridgell cc39bd08be AP_Mission: use Float16_t for NAV_SCRIPT_TIME 2022-10-23 12:14:14 +11:00
Andrew Tridgell 4121cc464d AP_Common: added Float16_t type 2022-10-23 12:14:14 +11:00
Andrew Tridgell 92f25150f6 AP_NavEKF3: fixed getLLH alt for local origin height 
this fixes a bug introduced in #21834

this fix in #21834 was correct for getPosD, but should not have been
applied to getLLH

this caused cruise mode in plane to descend/ascend by the difference
between the public and local origins on mode entry

fixes #21984
 2022-10-23 11:23:48 +11:00
Andrew Tridgell 9fa3a433f5 Revert "AP_InertialSensor: disable temperature based fifo check on ICM20602" 
This reverts commit 05f8e3c18d.

this leads to bad IMU data on ICM20602
 2022-10-22 13:01:39 +11:00
Pierre Kancir 64774a2f92 GCS_MAVLink: fix always 0 division. 
7/8 into array range bracket will be integral type, therefore 7/8 is reported as always 0.
 2022-10-22 11:11:52 +11:00
Andrew Tridgell b96677c70d AP_Arming: use baro arming checks call 2022-10-22 08:15:36 +11:00
Andrew Tridgell 13893d3ed5 AP_Baro: added option to treat MS5611 as MS5607 
and add arming check for pressure altitude error
 2022-10-22 08:15:36 +11:00
Andrew Tridgell bb1b2dafae AP_InternalError: only panic in SITL if debug enabled 
a user recently had a flow of control panic in quadplane in
cygwin/missionplanner SITL. The panic this caused means we don't get
logging information on what line of code was triggered

the panic in SITL for internal errors is only useful if you have debug
information and can then attach a debugger. Without debug information
it is much better to behave the same as a real vehicle and report an
internal error (with line number)
 2022-10-21 22:14:39 +11:00
Peter Barker 725b7b30ae GCS_MAVLink: remove more methods based on HAL_VISUSALODOM_ENABLED 
Many of these mthods are calling another method which has no body when HAL_VISUALODOM is false
 2022-10-21 15:03:35 +11:00
Randy Mackay f2ed41f5cf AP_AHRS: pre-arm msg loses extra AHRS prefix 2022-10-21 08:07:39 +11:00
Peter Barker 1b7ced4e2e AP_RangeFinder: remove conversion code from 2019 2022-10-20 08:00:32 +11:00
Henry Wurzburg 3ef45c684f AP_Airspeed: generalize ARSPD_BUS metadata 2022-10-19 23:27:25 +11:00
Andrew Tridgell 256addc0f0 SITL: added plane-3d for aerobatic plane 2022-10-19 23:25:22 +11:00
Andrew Tridgell 01a52a5427 hwdef: use minimal GPS driver (ublox only) on low flash boards 
this buys us about 22k of flash
 2022-10-19 21:07:22 +11:00
Peter Barker 342a5a71a9 GCS_MAVLink: move setting of MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW sensors flags up 2022-10-19 21:00:48 +11:00
Andrew Tridgell 3ef1b1031a GCS_MAVLink: prevent segv in ftp 
if the user disables ftp by changing BRD_OPTIONS after ftp has started
then we could dereference a nullptr
 2022-10-19 19:09:24 +11:00
yaapu 89c30ae345 AP_Frsky_Telem: fixed roll and pitch for VTOL view 2022-10-19 18:36:58 +11:00
Iampete1 48ce8c4e16 AP_Scripting: binding gen: add number of argument to manual functions and generate docs for manual 2022-10-19 18:35:32 +11:00
Iampete1 a1607b954c AP_Scripting: docs: fix missing 2022-10-19 18:35:32 +11:00
Iampete1 ac633dfe5e AP_Scripting: tests: add docs compare python script 2022-10-19 18:35:32 +11:00
Andrew Tridgell 0858eb0dba GCS_MAVLink: send HYGROMETER_SENSOR message if data available 2022-10-19 13:17:30 +11:00
Andrew Tridgell dc5492f9ca AP_Airspeed: support DroneCAN airspeed with hygrometer data 
some DroneCAN airspeed sensors can send hygrometer data, for when they
have de-icing support
 2022-10-19 13:17:30 +11:00
Henry Wurzburg 80fdd48500 AP_Soaring: Correct metadata formatting 2022-10-18 09:38:47 -07:00
Iampete1 c623ae8b82 AP_Logger: MessageWriter: SysInfo: write RCOut string 2022-10-18 11:53:59 +11:00
Henry Wurzburg ab29dd8241 AP_SOARING: correct metadata for speed params 2022-10-18 11:44:09 +11:00
Andy Piper 6b602cefec AP_SerialManager: only use the first defined serial port for RCIN 2022-10-18 11:20:25 +11:00
Andy Piper c815f04e97 AP_RCProtocol: add has_uart() 2022-10-18 11:20:25 +11:00
Peter Barker f75f68c2f1 GCS_MAVLink: add AP_MAVLINK_BATTERY2_ENABLED define 
on by default but can be turned off in next stable
 2022-10-18 11:12:49 +11:00