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35307 Commits

Author SHA1 Message Date
Andrew Tridgell
e503bcc23f HAL_ChibioOS: fixed FDCAN -> CAN labels 
we use CAN1_RX not FDCAN1_RX in our MCU files
 2024-03-22 17:25:33 +11:00
Andrew Tridgell
167ac06da9 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 17:25:33 +11:00
Randy Mackay
72374c450a AP_Mount: viewpro fix for swapped ahrs roll pitch 2024-03-22 17:25:33 +11:00
root
f6eebe3fb1 AP_VideoTX:add additional freq bands(Band X) 2024-03-22 17:25:33 +11:00
Andrew Tridgell
7b54b8a9f0 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 17:25:33 +11:00
Minderring
0825aef191 hwdef: added MicoAir405v2 2024-03-22 17:25:33 +11:00
Andy Piper
8e02b6e5d0 AP_HAL_ChibiOS: Orqa F405 Pro 2024-03-22 17:25:33 +11:00
Ryan Friedman
713351893c 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 17:25:33 +11:00
Ryan Friedman
ea0156f72a 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 17:25:33 +11:00
Iampete1
5e35718a91 AP_Filesystem: crc32: Ensure checksum value is initialized 2024-03-14 11:29:35 +11:00
Andrew Tridgell
7c2b1cd055 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 11:29:35 +11:00
Andy Piper
d69e6ae997 AP_HAL_ChibiOS: always normalize ESC channel when using iomcu 2024-03-14 11:29:35 +11:00
Andy Piper
df19d143f2 AP_HAL_ChibiOS: use standard FPV config for SpeedyBeeF405WING 2024-03-14 11:29:35 +11:00
Randy Mackay
0232ff446c AP_HAL_ChibiOS: CubeRedSecondary IMU orientation fix 
Also remove duplicate RC_IN serial protocol
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
69ad34a416 AP_HAL_ChibiOS: remove iomcu dshot from Pixhawk1-1M and add to Pixhawk1-bdshot 
add support for removing ROMFS from hwdef
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
dad293cad9 hwdef: fixed Pixhawk1-1M build 2024-03-14 11:29:35 +11:00
Peter Barker
68a5120120 GCS_MAVLink: make rally/fence item conversion methods public 2024-03-14 11:29:35 +11:00
Peter Barker
de211412c0 AP_FileSystem: permit upload of fence/rally via ftp 2024-03-14 11:29:35 +11:00
subashchandar
8842162866 AP_HAL_ChibiOS: hwdef: Add new hardware pixflamingo f7 2024-03-14 11:29:35 +11:00
Randy Mackay
8a956c4e02 AP_HAL_ChibiOS: AP_Periph does not use AP_VisualOdom 2024-03-14 11:29:35 +11:00
Randy Mackay
867c46ebb6 AP_Scripting: EKF source switching for ExtNav and optflow 2024-03-14 11:29:35 +11:00
Randy Mackay
7b8541f9cb AP_Scripting: add VisualOdom bindings 2024-03-14 11:29:35 +11:00
Randy Mackay
34b1049715 AP_DDS: send quality of zero to AP_VisualOdom 2024-03-14 11:29:35 +11:00
Randy Mackay
e74d2b8e64 GCS_MAVLink: send Odometry quality to VisualOdom 2024-03-14 11:29:35 +11:00
Randy Mackay
7288105935 AP_VisualOdom: use Odometry quality 2024-03-14 11:29:35 +11:00
Randy Mackay
02f8397a31 SITL: vicon send odometry with quality of 50 2024-03-14 11:29:35 +11:00
Randy Mackay
52690ce0d4 SITL: vicon param descriptions 2024-03-14 11:29:35 +11:00
Andrew Tridgell
3b156b90ac AP_Scripting: add file system crc32 binding 2024-03-14 11:29:35 +11:00
Andrew Tridgell
ab462acc96 AP_Arming: added arming check for fence storage 2024-03-14 11:29:35 +11:00
Andrew Tridgell
ba2014b110 AC_Fence: allow for fence storage on microSD 2024-03-14 11:29:35 +11:00
Andrew Tridgell
c67f3b574a AP_BoardConfig: added BRD_SD_FENCE 
allow for fence storage on microSD
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
ce96a870ab RC_Channel: disable GPS on external AHRS with GPS_DISABLE 2024-03-14 11:29:35 +11:00
Andrew Tridgell
d786937ea3 AP_AHRS: don't use accel/gyro from ExternalAHRS unless enabled 2024-03-14 11:29:35 +11:00
Pulak Gautam
32cc2c452c AP_ExternalAHRS: added missing #if AHRS logging 2024-03-14 11:29:35 +11:00
Andrew Tridgell
8e9a4c1a9c AP_ExternalAHRS: check for origin in pre-arm check 2024-03-14 11:29:35 +11:00
Andrew Tridgell
88dc0384ab AP_ExternalAHRS: make get_accel() and get_gyro() bool 2024-03-14 11:29:35 +11:00
Andrew Tridgell
301116db03 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 11:29:35 +11:00
Andrew Tridgell
0b9c7409b2 AP_ExternalAHRS: added EAHRS_LOG_RATE and common logging 
common logging for all EAHRS backends
 2024-03-14 11:29:35 +11:00
Iampete1
3e083e5ceb AP_Gernerator: IE 2400: MAV_SEVERITY level depends on error code 2024-03-14 11:29:35 +11:00
Andrew Tridgell
cb807934ee 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 11:29:35 +11:00
Andrew Tridgell
717cab9b40 AP_Scripting: support precision loiter in quadplanes 
and allow for moving landing target
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
fee23d0ba5 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 11:29:35 +11:00
Andrew Tridgell
dc77c83d0e AP_Scripting: fixed race condition in ship landing 
and fixed lua warnings
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
1b4ad9fc15 AP_Scripting: added plane_precland lua script 2024-03-14 11:29:35 +11:00
Andrew Tridgell
33428d9a9f AP_Scripting: added docs for precland 2024-03-14 11:29:35 +11:00
Andrew Tridgell
3a7107a779 AP_Scripting: added bindings for AC_PrecLand 2024-03-14 11:29:35 +11:00
Andrew Tridgell
2f7e758325 SITL: fixed precland simulator 
fixed units of height, was mixed cm and m, now just m AMSL
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
845c04e08c AC_PrecLand: added get_target_location and get_target_velocity 2024-03-14 11:29:35 +11:00
Andrew Tridgell
7a1cd82bd8 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 11:29:35 +11:00
Andy Piper
af6fcf28af 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 11:29:35 +11:00
Andrew Tridgell
973e70ab3c AP_HAL_SITL: fixed get_baud_rate() 2024-03-14 11:29:35 +11:00
Andrew Tridgell
b4160ddd93 AP_HAL_Linux: fixed get_baud_rate() 2024-03-14 11:29:35 +11:00
Andrew Tridgell
ad93f871d4 AP_HAL_ESP32: fixed get_baud_rate() 2024-03-14 11:29:35 +11:00
Andrew Tridgell
6d12f49a90 AP_SerialManager: default GPS baud to 230400 
this is the most common baudrate
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
137e4e051c AP_GPS: do initial probe at default baudrate 
this makes for much faster probe for most users
 2024-03-14 11:29:35 +11:00
Peter Barker
04018e79a7 AP_GPS: correct check of reported antenna distance vs stated offset 2024-03-14 11:29:35 +11:00
Andrew Tridgell
b261466258 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 11:29:35 +11:00
Andrew Tridgell
141546963a GCS_MAVLink: pass channel number to AP_GPS on RTCM injection 2024-03-14 11:29:35 +11:00
Andrew Piper
d919478bdd AP_GPS: fragments_received is a bitmask not a count 2024-03-14 11:29:35 +11:00
Paul Riseborough
59135b6ea0 AP_TECS: Remove unused variable 2024-03-14 11:29:35 +11:00
Paul Riseborough
9f95be4609 AP_TECS: Add /0 protection 2024-03-14 11:29:35 +11:00
Paul Riseborough
07501f634c AP_TECS: Add option for speed to increase up to FBW max during descent 2024-03-14 11:29:35 +11:00
lthall
f9ad643afc Copter: AC_AttitudeControl: RP_FILT_HZ to RPY_FILT_HZ 2024-03-14 11:29:35 +11:00
lthall
cabd6ca558 AC_CustomControl: RP_FILT_HZ to RPY_FILT_HZ 2024-03-14 11:29:35 +11:00
Andy Piper
604d890930 AC_AttitudeControl: ensure yaw gets a FLTD default 2024-03-14 11:29:35 +11:00
Iampete1
f1d9af3aa9 AC_AttitudeControl: fix reset_target_and_rate method 2024-03-14 11:29:35 +11:00
Randy Mackay
38eea02b6c AP_Camera: fix video recording while armed 2024-03-14 11:29:35 +11:00
Andrew Tridgell
c95ead6111 AP_Param: fixed build of CubeOrange-periph 2024-03-14 11:29:35 +11:00
Andrew Tridgell
a2adf57862 AP_Param: fixed cygwin build 
the cygwin build is not generating binaries failing with:

   undefined reference to `AP_Param::load_param_defaults(char const volatile*, int, bool)

there is a 2nd problem that the CI test for cygwin doesn't fail when
the build fails. That will be addressed separately
 2024-03-14 11:29:35 +11:00
Peter Barker
6f516fd037 AP_BattMonitor: fix compilation when scripting in but scripted-battery out 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-03-14 11:29:35 +11:00
Rhys Mainwaring
a9c382bc13 AP_DDS: use msg_prefix in GCS_SEND_TEXT 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-14 11:29:35 +11:00
Rhys Mainwaring
e917725da2 AP_DDS: use microxrcedds_gen default-container-prealloc-size 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-14 11:29:35 +11:00
Rhys Mainwaring
4691483c8e AP_DDS: remove unused TFMessage variable 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-14 11:29:35 +11:00
Peter Barker
9616309a3f AP_RCProtocol: CRSF: use subtraction with times, not time+timedelta 2024-03-14 11:29:35 +11:00
Andrew Tridgell
6caa66835b AP_RCProtocol: decode high duty-cycle CRSF frames using frame markers rather than timeouts 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-03-14 11:29:35 +11:00
Peter Barker
8f78432109 AP_RCProtocol: correct CSRF->CRSF 
Co-authored-by: Andy Piper <github@andypiper.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-03-14 11:29:35 +11:00
Andy Piper
47fe3762a0 AP_RCProtocol: add tests for CRSF and fix protocol test 
fixed RCProtocolTest on SITL and make it pass/fail with an exit code

Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-03-14 11:29:35 +11:00
rishabsingh3003
261117cd96 AC_Avoid: Remove sensor status checks 2024-03-14 11:29:35 +11:00
rishabsingh3003
7cae432014 AP_Proximity: Improve get_status handling 2024-03-14 11:29:35 +11:00
rishabsingh3003
a45b4b19fb AP_RangeFinder: move multican to AP_CANSensor 2024-03-14 11:29:35 +11:00
rishabsingh3003
3fb77c6e2f AP_Proximity: move mutlican to AP_CANSensor 2024-03-14 11:29:35 +11:00
rishabsingh3003
a1ada298e6 AP_Arming: Remove MR72 2024-03-14 11:29:35 +11:00
rishabsingh3003
73a3fdd201 AP_CANManager: Add multiCAN interface 2024-03-14 11:29:35 +11:00
rishabsingh3003
639f336d32 AP_Arming: Add check for CAN MR72 2024-03-14 11:29:35 +11:00
rishabsingh3003
4709cf9440 AP_Proximity: Add support for CAN MR72 2024-03-14 11:29:35 +11:00
rishabsingh3003
1d2aecb0ed AP_CANMangaer: Add support for CAN MR72 2024-03-14 11:29:35 +11:00
bugobliterator
d76617f54c AP_GPS: broaden the acceptance criteria for GPS Yaw measurement 2024-02-14 11:20:30 +11:00
Iampete1
6be66f4010 AP_Parachute: do relay conversion if ever enabled 2024-02-14 11:20:30 +11:00
Andrew Tridgell
ccaeb0fd45 HAL_ChibiOS: fixed CANFD timings (again!) 
the timing table was not correct, thanks to APD for pointing this out.

This is recalculated from
https://www.kvaser.com/support/calculators/can-fd-bit-timing-calculator,
with transmitter timing delay compensation added and tested with Salae
captures to ensure we are getting the right bit rates
 2024-02-14 11:20:30 +11:00
Andrew Tridgell
c1e4332ba5 AP_Param: fixed setting of defaults for dynamic param trees 
when we load a VARPTR subtree we need to re-scan the parameter
defaults file from @ROMFS/defaults.parm in case there are defaults
applicable to this subtree
 2024-02-14 11:20:30 +11:00
yjuav
bdb5352086 hwdef: add YJUAV_A6Ultra board support 2024-02-14 11:20:30 +11:00
Randy Mackay
59ce292af5 Mount: Siyi waits for non-zero cam firmware version 2024-02-14 11:20:30 +11:00
David O'Connor
d7daf8d6a5 hwdef: add AnyLeaf H7 board 2024-02-14 11:20:30 +11:00
Andy Piper
019b9f5c35 AP_RCProtocol: discriminate GHST and CRSF based on first byte 
do not change to GHST baudrate unless it has been specifically configured
 2024-02-14 11:20:30 +11:00
Andrew Tridgell
dcf5730561 HAL_Linux: fixed float calc of time for onboard flow 2024-02-14 11:20:30 +11:00
Andrew Tridgell
04adf7c4f0 HAL_SITL: use integer maths for clocks 
same fix as for HAL_Linux
 2024-02-14 11:20:30 +11:00
Andrew Tridgell
5df46312e8 HAL_Linux: fixed time function to use integer maths 
avoid floating point rounding errors after long uptimes.

thanks to Richard (RSAXVC) for finding this
 2024-02-14 11:20:30 +11:00
Andrew Tridgell
e04fd1f05a AP_Scripting: prevent double close in web server 2024-02-14 11:20:30 +11:00
Andrew Tridgell
4851d103e1 AP_Scripting: prevent re-use of closed socket 
this prevents a null pointer dereference after a close of a network
socket
 2024-02-14 11:20:30 +11:00
Andrew Tridgell
a3143ab009 AP_Param: don't enable param backup on all boards 
this fixes an issue with resetting of parameters when going between
4.4.x and 4.5.x on MatekH743, and on any other board using flash
storage where the storage size has increased from 16k to 32k between
4.4.x and 4.5.x

The problem is that when you update to 4.5.x the parameter code stored
a backup of parameters in the StorageParamBak storage region which is
in the last section of storage. When you downgrade to 4.4.x the
AP_FlashStorage::load_sector() code tries to load this data and gets
an error as it is beyond the end of the available 16k storage. This
triggers an erase_all() and loss of parameters
 2024-01-28 08:43:14 +11:00