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26273 Commits

Author SHA1 Message Date
Andrew Tridgell de5da74df1 AP_GPS: fixed spelling of GLONASS 2021-04-29 13:01:09 +10:00
giacomo892 a245100ae6 AP_GPS_UBLOX: Fix GALILEO auto configuration 2021-04-29 13:01:09 +10:00
Peter Barker a12ed2c99f RC_Channel: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Peter Barker bd76d15df4 GCS_MAVLink: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Peter Barker ba970f138d AP_Mission: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Peter Barker e5eedfd741 AP_Button: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Tom Pittenger b62ab14791 AP_BattMonitor: prepare MPPT driver for AP_Periph 2021-04-28 19:22:53 -07:00
Tom Pittenger a7f81c838f AP_BattMonitor: make virtual Backend.init() optional to fix CANDriver.init(uint8, uint8) ambiguitiy 2021-04-28 19:22:53 -07:00
Tom Pittenger a365e18420 AP_BattMonitor: add MPPT PacketDigital driver 2021-04-28 19:22:53 -07:00
Tom Pittenger c756138ede AP_CANManager: add MPPT PacketDigital driver 2021-04-28 19:22:53 -07:00
Tom Pittenger fa14fd1cec AP_Arming: add MPPT PacketDigital driver 2021-04-28 19:22:53 -07:00
Tom Pittenger ba6bb21560 AP_Math: added helper for16bit float conversions 2021-04-28 19:22:53 -07:00
Tom Pittenger 5e2dbd93fc AP_CANManager: add write_frame() to AP_CANSensor class 2021-04-28 19:22:53 -07:00
giacomo892 a5708acaef AC_Circle: Restore radius every time 2021-04-28 11:36:58 +01:00
giacomo892 b5ebf9022c [AP_OSD] Fix wrong comment in OSD_W_TERR param 2021-04-28 18:14:52 +10:00
Iampete1 0c3aa72158 SITL: add direct actuated wing to sailboat sim 2021-04-28 08:22:47 +01:00
Ari Krupnik 02969451da SRV_Channel: direct-rotation sail mast control 2021-04-28 08:22:47 +01:00
murata b67f2e9307 AP_HAL_SITL: Add uart specification and array 2021-04-28 17:08:12 +10:00
Iampete1 29534a7e2d AP_Windvane: set true to apparent if no speed sensor 2021-04-28 15:16:35 +10:00
Iampete1 ab1d54745d AP_WindVane: convert analog sensor to use latest value 2021-04-28 15:16:35 +10:00
Iampete1 67edff1c7c RC_Channel: add WIND_VANE_DIR_OFSSET option 2021-04-28 15:16:35 +10:00
Iampete1 974293ca3f AP_Windvane: move RC_IN_NO to RCx_OPTION 2021-04-28 15:16:35 +10:00
Iampete1 bf651ea1d9 AP_WindVane: rework filtering and add logging 2021-04-28 15:16:35 +10:00
Randy Mackay a3ceb6d95b AC_WPNav: fix spline initialisation of terrain offset 2021-04-28 10:18:04 +09:00
Leonard Hall 361ba989bd AC_WPNav: Use Pos_Control Heading 2021-04-27 17:13:55 +09:00
Leonard Hall 4158c37cfa AC_PosControl: Calculate heading 2021-04-27 17:13:55 +09:00
Leonard Hall e253c94f63 AC_AttitudeControl: Remove Unused Function 2021-04-27 17:13:55 +09:00
Leonard Hall 939d8e3ed4 AC_WPNav: Support Thrust Vector Control 2021-04-27 17:13:55 +09:00
Leonard Hall bb46f7a947 AC_PosControl: Thrust Vector output 2021-04-27 17:13:55 +09:00
Leonard Hall 1fb2a95486 AC_AttitudeController: Thrust Vector attitude control 2021-04-27 17:13:55 +09:00
Peter Barker 52a4ac028c AP_AHRS: remove duplicate log metadata fields 2021-04-27 16:38:40 +10:00
Hwurzburg cf41548ce1 AP_AHRS: expand RATE log message description 2021-04-27 12:32:44 +10:00
Hwurzburg 6fbf2d227c AC_Fence: Correct Rover metadata 2021-04-27 09:31:09 +09:00
Peter Hall ed7db5b2b6 AP_Motors: tailsitter: slew outputs and output throttle directly 2021-04-27 09:37:32 +10:00
Peter Barker ffd8f3678c AP_HAL_SITL: understand --serial0 etc in place of --uartA etc 2021-04-26 16:05:47 +10:00
QioTek ca6102ed28 f103Qiotek_Periph 
f103Qiotek_Periph
 2021-04-24 07:48:40 +10:00
QioTek 1de3135d14 HAL_ChibiOS: added f103-QiotekPeriph hwdef (#1) 
HAL_ChibiOS: added f103-QiotekPeriph
 2021-04-24 07:48:40 +10:00
Peter Barker 4362b16f50 AP_Logger: remove un-needed forward declarations 
We moved the logging into the relevant library.  Yay!
 2021-04-23 11:44:16 +10:00
Andy Piper 42ebc13e6c Revert "AP_HAL_ChibiOS: support 6 bi-directional dshot channels on the MatekH743" 
This reverts commit f9d166edf6.
 2021-04-22 18:39:06 +10:00
Andrew Tridgell 6764f039ca HAL_ChibiOS: added support for the new H7 luminousbee version 5 2021-04-21 20:41:34 +10:00
Pierre Kancir 9a6d4e3af1 SITL: check if we are over precland base 2021-04-21 17:26:07 +10:00
Pierre Kancir cec82214d8 SITL: add local_ground_variable 2021-04-21 17:26:07 +10:00
Pierre Kancir 078a1a2b0c SILT: limit update scope for precland 2021-04-21 17:26:07 +10:00
Andy Piper f9d166edf6 AP_HAL_ChibiOS: support 6 bi-directional dshot channels on the MatekH743 2021-04-21 17:18:53 +10:00
Andy Piper 9f5dbfb092 AP_BLHeli: index bi-dir dshot channels through the motor map 
error if no digital mask has been set for bi-dir dshot
 2021-04-21 17:18:53 +10:00
Andy Piper 558631918c AP_HAL_ChibiOS: add %age of total to thread statistics 
don't display meaningless thread info
 2021-04-21 17:14:11 +10:00
Peter Barker a3c329b182 AC_AttitudeControl: make parameter renames consistent 2021-04-21 12:17:42 +10:00
Leonard Hall b43c7f4ed1 AC_AttitudeControl: Parameter rename (non-functional) 2021-04-21 12:17:42 +10:00
hs293go de0c57de77 AC_AttitudeControl: Use Quaternion::operator* for vector rotation 
Replace all instances of the q*v*q.formula() or conversion to rotation
matrix + matrix multiply by calling Quaternion::operator* on a
vector
 2021-04-21 12:17:42 +10:00
Leonard Hall 86a157ce59 AC_AttitudeControl: Seperate thrust vector correction into a separate function 2021-04-21 12:17:42 +10:00
Randy Mackay 5b0f107631 AC_Fence: remove alt from TYPE param desc for Rover 2021-04-21 11:35:48 +10:00
Andy Piper e20fc3d4f6 AP_Filesystem: fix build on macOS 2021-04-21 11:33:52 +10:00
Randy Mackay b81930885c AC_WPNav: remove unnecessary assignment and constify local vars 2021-04-21 10:41:28 +10:00
Randy Mackay bebb7e7d8f AC_WPNav: removed unused enums 2021-04-21 10:41:28 +10:00
Andrew Tridgell 961e538cc0 HAL_ChibiOS: reduced flash usage on MatekF405 
overflowing by 1k
 2021-04-21 07:12:55 +10:00
Andrew Tridgell 08cbfa032d AP_Filesystem: review fixes 
thanks Andy!
 2021-04-21 07:12:55 +10:00
Andrew Tridgell b941b8c93a AP_Filesystem: allow for parameter upload via ftp 2021-04-21 07:12:55 +10:00
Andrew Tridgell 0b948d3faf AP_Param: allow save_sync without send 2021-04-21 07:12:55 +10:00
Andrew Tridgell 5a7ee5a376 AP_Common: fixed null termination bug in ExpandingString 
not all HALs zero memory on realloc
 2021-04-21 07:12:55 +10:00
Andrew Tridgell 23785c00dc AP_Param: improved queue handling and added set_and_save_by_name_ifchanged 2021-04-21 07:12:55 +10:00
Andrew Tridgell d8575f0607 AP_Filesystem: allow for partial mission upload 2021-04-21 07:12:55 +10:00
Andrew Tridgell d96002942c AP_Filesystem: ensure all blocks are filled on upload 2021-04-21 07:12:55 +10:00
Andrew Tridgell c1f491ce39 AP_Filesystem: allow mission upload 2021-04-21 07:12:55 +10:00
Andrew Tridgell 3fb280ff50 AP_Common: added return to ExpandingString append 2021-04-21 07:12:55 +10:00
Andrew Tridgell e055165eb8 AP_Filesystem: added download of mission/fence/rally 2021-04-21 07:12:55 +10:00
Andrew Tridgell c53c112691 GCS_MAVLink: expose functions to convert fence and rally to mavlink 
this allows for the @MISSION filesystem to download data in the
current mavlink format
 2021-04-21 07:12:55 +10:00
Andrew Tridgell dd86e0cc89 AP_GPS: added comment explaining the approach 2021-04-20 17:43:01 +10:00
Andrew Tridgell 8bc31ec5e9 AP_GPS: account for rotation rate in moving baseline Z test 
this avoids switching GPS on rapid roll/pitch
 2021-04-20 17:43:01 +10:00
Andrew Tridgell 2168633372 HAL_SITL: account for attitude rate in moving baseline data 2021-04-20 17:43:01 +10:00
Andrew Tridgell 62e0a89036 AP_Param: cleanup the eeprom parsing tools and fixed sentinal detection 2021-04-20 16:59:17 +10:00
Andrew Tridgell eac027b5c5 AP_Param: fixed handling of group_element=255 in sentinal detection 
EK3_DRAG_BCOEF_Y has a group element of 255, which was being detected
as a sentinal
 2021-04-20 16:59:17 +10:00
Hwurzburg 85e3772759 RC_Channel: correct metadata for fence enable and rst mode for Plane 2021-04-20 16:14:22 +10:00
Peter Barker a7e0c565dc AP_GPS: populate extension fields in GPS2_RAW 2021-04-20 11:46:35 +10:00
Andrew Tridgell 9cc883a8c0 AP_Compass: fixed the IST8308 on CubeBlack 
CubeBlack needs to probe both internal and external buses
 2021-04-20 10:42:54 +10:00
Andy Piper 21e95a62d5 AP_VideoTX: increase stack for smart audio thread 2021-04-20 10:39:16 +10:00
Andy Piper a9f442b4c1 AP_BLHeli: make sure there is delay between MSP send and receive to avoid reading our own data 2021-04-20 10:35:22 +10:00
Andy Piper 4bb4e2fb22 AP_HAL_ChibiOS: adjust GPIO settings for serial passthru 2021-04-20 10:35:22 +10:00
Randy Mackay fee30b4447 AP_RangeFinder: add get_temp and implement for NMEA driver 2021-04-20 09:17:48 +10:00
Randy Mackay 83c18249a4 AP_CANManager: chane KDECAN enum from 2 to 8 
This is to force users to realise that something has changed in the hopes they will read the 4.1 release notes
 2021-04-20 09:13:30 +10:00
Randy Mackay d2b8fce25a AP_KDECAN: map ESC id to servo channel and passthrough pwm 
Co-authored-by: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
 2021-04-20 09:13:30 +10:00
Randy Mackay 6c93039d84 AP_KDECAN: slightly improve pre-arm check messages 2021-04-20 09:13:30 +10:00
hs293go 93a13bbf0e AP_Math: Implement tests for the Quaternion class 
These tests cover Quaternion multiplication, conversion to rotation
matrix, and the optimized rotation operator
 2021-04-19 15:34:45 +10:00
hs293go 8bc02ab00b AP_Math: Implement quaternion vector rotation operator 
Overloads operator*() with semantics of applying a rotation to a vector, in
common with usage in Eigen/OpenGL. This implementation carries out 30
operations, compared to 58 operations for the q*v*q.inverse() formula
 2021-04-19 15:34:45 +10:00
Rishabh 359327c7a3 AP_Proximity: add temp boundary class 2021-04-19 14:23:26 +09:00
Leonard Hall c28d103afe AC_AttitudeControl: Fix Angular velocity rotation to body frame 
Thanks to BreederBai for higlighting this in issue #17059
Thanks to esaldiran and Hs293Go for helping check the math.
 2021-04-19 14:48:59 +10:00
murata 7d3a1739d8 AP_Proximity: Integrate the judgment 2021-04-19 09:08:27 +09:00
Michael Oborne 323cbe47d2 SITL: fixup SIM_BAR parameter descriptions 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>

this fixs a issue with MP param doc parser caused by a syntax change
 2021-04-16 09:21:44 +09:00
Andrew Tridgell 4118a3eb03 HAL_ChibiOS: check bus owner on all SPI transfers 2021-04-16 10:02:02 +10:00
Peter Barker 13dc5bee25 AP_Logger: fix memory leak when finding last log 2021-04-15 19:33:15 +10:00
Andrew Tridgell ec11bf1146 AP_Vehicle: fixed segfault in replay 2021-04-15 13:39:18 +10:00
Andrew Tridgell 7a7ac0cd73 AP_Logger: raise log_io stack size 
See
https://github.com/ArduPilot/ardupilot/issues/15916#issuecomment-819489618
 2021-04-15 13:33:42 +10:00
Iampete1 2a10d9d4f5 AP_Scirpting: add terrain warning example 2021-04-15 09:16:28 +09:00
murata 3344e87639 RC_Channel: Align Relay5 and Relay6 notations with others 2021-04-15 08:42:54 +09:00
Andrew Tridgell f64c6f9ba1 APM_Control: fixed cygwin build 
FF0 is a macro in cygwin
 2021-04-15 06:57:16 +10:00
Andrew Tridgell 767a0b2a99 APM_Control: tweak the activation detection to catch more events 2021-04-15 06:57:16 +10:00
Andrew Tridgell bb1dc7192b APM_Control: lower default target filter frequencies 
this will remove a lot of the level flight noise causing oscillation
at higher gains
 2021-04-15 06:57:16 +10:00
Andrew Tridgell dd98f00947 APM_Control: prevent cross-axis tuning 
this should fix tuning at higher AUTOTUNE_LEVEL values
 2021-04-15 06:57:16 +10:00
Andrew Tridgell 320d3d20c2 APM_Control: log autotune at 25Hz 2021-04-15 06:57:16 +10:00
Andrew Tridgell 72b51a389c APM_Control: use ATRP log msg via structure 2021-04-15 06:57:16 +10:00
Andrew Tridgell f34e4be991 AP_Logger: re-enable ATRP logging msg 2021-04-15 06:57:16 +10:00
Andrew Tridgell 7b073a61f1 APM_Control: allow for gain reductions when idle 2021-04-15 06:57:16 +10:00
Paul Riseborough b969a43074 Filter: Slewlimiter use different filtering for external reporting 2021-04-15 06:57:16 +10:00
Paul Riseborough dd446433f7 Filter: Adjust SlewLimiter tuning 2021-04-15 06:57:16 +10:00
Paul Riseborough 6e6df3df58 Filter: Increase gain modifier action 2021-04-15 06:57:16 +10:00
Paul Riseborough 458c46353d Filter: remove unnecessary fmaxf 2021-04-15 06:57:16 +10:00
Andrew Tridgell 91856b1d8c APM_Control: prevent bad init of FF in autotune 2021-04-15 06:57:16 +10:00
Paul Riseborough cb4a770d38 Filter: Reduce spikes in oscillation slew rate metric 2021-04-15 06:57:16 +10:00
Paul Riseborough fdfdb118b9 Filter: Improve SlewLimiter oscillation detection 2021-04-15 06:57:16 +10:00
Andrew Tridgell 3fdd507157 APM_Control: log I and prevent numercial errors in autotune 2021-04-15 06:57:16 +10:00
Andrew Tridgell 24d53eade4 APM_Control: adjust filter for autotune to 0.75 Hz 
this should give a better FF estimate
 2021-04-15 06:57:16 +10:00
Paul Riseborough 9e6561e6b5 APM_Control: Ensure adequate trim speed 2021-04-15 06:57:16 +10:00
Paul Riseborough 4622e33255 Filter: Use positive and negative direction changes for slew limiting 2021-04-15 06:57:16 +10:00
Andrew Tridgell fa88967b6e APM_Control: adjust min value for tconst 2021-04-15 06:57:16 +10:00
Andrew Tridgell b079da33c5 APM_Control: use slew rate to move gains more smoothly 2021-04-15 06:57:16 +10:00
Andrew Tridgell 59a805a740 Filter: expose slew rate in slew limiter 2021-04-15 06:57:16 +10:00
Andrew Tridgell 95b375dc87 AC_PID: log SRate in pid info and expose slew rate 2021-04-15 06:57:16 +10:00
Andrew Tridgell 05d5fc2ecc AP_Logger: added SRate logging to PIDs 2021-04-15 06:57:16 +10:00
Andrew Tridgell 772b1262d4 APM_Control: added proportional reduction to D and P 2021-04-15 06:57:16 +10:00
Andrew Tridgell d561cd358f APM_Control: log RMAX and TAU 2021-04-15 06:57:16 +10:00
Andrew Tridgell d914ce6829 APM_Control: reset filters on autotune start 2021-04-15 06:57:16 +10:00
Andrew Tridgell 6cae97446a Filter: added auto-init to LowPassFilter 
make sure initial filter returns are not a long way off if filtered
input is far from zero
 2021-04-15 06:57:16 +10:00
Andrew Tridgell 7e64875a02 APM_Control: tweak tuning settings 2021-04-15 06:57:16 +10:00
Andrew Tridgell ccd7b15d06 APM_Control: apply pitch limiting at high roll to rate 
this fixes an issue with a large elevator trim error when rolled at
close to 90 degrees
 2021-04-15 06:57:16 +10:00
Andrew Tridgell 4694820ac3 APM_Control: allow for smaller minimum tconst 2021-04-15 06:57:16 +10:00
Andrew Tridgell 97f88f67f6 APM_Control: allow for AUTOTUNE_LEVEL=0 
this means keep the existing TCONST and RMAX parameters, if non-zero
 2021-04-15 06:57:16 +10:00
Andrew Tridgell 316541017a APM_Control: fixed handling of clipped actuator in autotune 2021-04-15 06:57:16 +10:00
Andrew Tridgell 9997b191a8 APM_Control: log smoothed rates 2021-04-15 06:57:16 +10:00
Andrew Tridgell 20ef242280 APM_Control: fixed restore of tconst on autotune abort 2021-04-15 06:57:16 +10:00
Andrew Tridgell 8f249d5ece AP_OSD: fixed param edit for new plane PIDs 2021-04-15 06:57:16 +10:00
Andrew Tridgell 160b25c557 AP_Param: fixed KEY_DUMP option 
use right index, and use ::printf
 2021-04-15 06:57:16 +10:00
Andrew Tridgell 5818d6040c SITL: convert param file for new plane PID system 2021-04-15 06:57:16 +10:00
Andrew Tridgell 53ee13a083 APM_Control: use instance logging and allow AUTOTUNE_LEVEL adjustments 2021-04-15 06:57:16 +10:00
Andrew Tridgell 70c194c358 APM_Control: fixed LoggerDocumentation test 2021-04-15 06:57:16 +10:00
Andrew Tridgell 0b76a8018f APM_Control: move rmax and tau more slowly 2021-04-15 06:57:16 +10:00
Andrew Tridgell 3cb32a18f0 APM_Control: fixed for cygwin build 2021-04-15 06:57:16 +10:00
Andrew Tridgell 364fa0680d APM_Control: use shorter tau for autotune higher levels 2021-04-15 06:57:16 +10:00
Andrew Tridgell f88622def8 APM_Control: implement new autotune system 
use actuator/rate ratio with median filter for FF and Dmod/overshoot
for P,I,D
 2021-04-15 06:57:16 +10:00
Andrew Tridgell 12fad55891 APM_Control: fixed pid_info for pitch controller 2021-04-15 06:57:16 +10:00
Andrew Tridgell ead011c7c2 APM_Control: move to only ACPID 2021-04-15 06:57:16 +10:00
Andrew Tridgell 6ca9033dde APM_Control: run AC_PID in parallel with old PID for roll/pitch 2021-04-15 06:57:16 +10:00
Andrew Tridgell 99fe194980 AP_Logger: removed old ATRP log msg 2021-04-15 06:57:16 +10:00
Andrew Tridgell 7b98ab0f12 AP_Param: added get_param_by_index 
useful for parameter conversion within an object
 2021-04-15 06:57:16 +10:00
Andrew Tridgell 5ef31a1801 Filter: moved ModeFilter to C++ 
save flash space for common code
 2021-04-15 06:57:16 +10:00
Andrew Tridgell 6f2e592943 AC_PID: allow for slew limit scaler 
used by plane to have slew limiter in deg/s
 2021-04-15 06:57:16 +10:00
Andrew Tridgell 62afa46924 AC_PID: added accessor for IMAX 2021-04-15 06:57:16 +10:00
Peter Barker 6a3188a8ec AC_PrecLand: use enum-class for Type, make enum private 2021-04-14 18:04:26 +10:00
Peter Barker 252543978e AC_PrecLand: remove unused PrecLandBehaviour enum and accessor 
AFAICS this has never been used
 2021-04-14 18:04:26 +10:00
Peter Barker 1ad9542df3 AC_PrecLand: use enum-class for EstimatorType 
And remove accessor for same
 2021-04-14 18:04:26 +10:00
Philippe Hamelin 187549b431 SITL: Add NMEA THS message. 2021-04-14 17:20:28 +10:00
Philippe Hamelin 738d000f86 AP_GPS: Add NMEA THS message. 2021-04-14 17:20:28 +10:00
Andrew Tridgell 3e138aa98a AP_Filesystem: fixed a read past EOF bug in @PARAM 
this could cause mavproxy FTP param download to fail
 2021-04-14 17:05:49 +10:00
Tatsuya Yamaguchi 5fd46c02ad AP_ExternalAHRS: remove message when EAHRS_TYPE is None 2021-04-14 14:46:03 +10:00
Andrew Tridgell 9990404e64 HAL_ChibiOS: fixed G4 analog input build 
use right resolution in ADC peripheral for ADCv3
 2021-04-14 13:11:58 +10:00
Andrew Tridgell 1fe1e53260 AC_PrecLand: pass in time corrected LANDING_TARGET msg 
should make companion based precision landing more accurate
 2021-04-13 17:30:19 +10:00
Andrew Tridgell 8444a3310d GCS_MAVLink: added handle_command_landing_target() 
used to allow vehicle handling of time corrected LANDING_TARGET msgs
 2021-04-13 17:30:19 +10:00
Hwurzburg cc4fe29d8f AP_OSD: add icon for terrain alt panel and font editor 2021-04-13 14:50:07 +10:00
Peter Barker 9513bbe85f AC_Precland: remove unused _timestamp_us 2021-04-13 14:18:05 +10:00
Andrew Tridgell ea3657e941 AP_Motors: added accessors for ff output to motors 
needed for tailsitters
 2021-04-13 10:28:47 +10:00
Peter Barker 6fe58a807d AP_Logger: move precision landing logging up into AC_PrecLand 2021-04-13 10:28:39 +10:00
Peter Barker 6d9f1f1bb4 AC_PrecLand: move precision landing logging up into AC_PrecLand 2021-04-13 10:28:39 +10:00
Andrew Tridgell eca8cf3414 HAL_ChibiOS: save flash on boards that are critically low 
move to single OSD font on some boards

this saves about 12k on these boards. They were also extremely close
to overflowing flash, under 2k on some

Now that we support having an OSD font on the microSD card (where
available) we can reduce built in fonts without a large functionality
impact

This also disables some less used features on these boards:

 - generator support
 - object avoidance path planning
 - precision landing

This will give us some breathing room on these boards
 2021-04-13 09:58:59 +10:00
Andrew Tridgell bb28a58bce AP_ExternalAHRS: added frontend/backend split 
allow for multiple backends
 2021-04-13 09:36:52 +10:00
Andrew Tridgell b3ed4f4b12 AP_InertialSensor: fixed handling of more than 3 accel/gyro instances 
allows for first 3 to work without a panic
 2021-04-13 09:36:52 +10:00
Andrew Tridgell fd3bf0f639 HAL_Linux: added --defaults option to Linux HAL 
useful for initial parameters
 2021-04-13 09:36:52 +10:00
Andrew Tridgell ae088f792d AP_ExternalAHRS: added EAHRS_RATE for IMU rate 
this allows setting of required data rate from the external AHRS
 2021-04-13 09:36:52 +10:00
Andrew Tridgell 266b425115 HAL_SITL: use common nmea_printf() 2021-04-13 09:36:52 +10:00
Andrew Tridgell 3650c02745 AP_GPS: use common nmea_printf() 2021-04-13 09:36:52 +10:00
Andrew Tridgell 6c29f8c24f AP_Common: added common nmea_printf code 2021-04-13 09:36:52 +10:00
Mirko Denecke e904de3431 AP_Scripting: add position light example 2021-04-13 09:23:59 +10:00
vierfuffzig 10f15fbba5 AP_OSD: add kilo symbol to RPM panel 2021-04-13 09:08:36 +10:00
Samuel Tabor e78d6fee0a AP_Soaring: Ensure minimum cruise times are respected when RC switch position is changed. 2021-04-12 18:38:10 +10:00
Samuel Tabor 9a7f80789f AP_Soaring: Update vario tau calculation to use SOAR_THML_BANK. 2021-04-12 16:24:03 +10:00
Andy Piper 4fd88e8ad0 AP_VideoTX: don't try to change pitmode on anything other than SA2.1 2021-04-12 16:22:36 +10:00
Andy Piper bfcefa3f34 AP_VideoTX: prioritize pitmode changes over power changes 2021-04-12 16:22:36 +10:00
Andy Piper de64467ca3 AP_RCTelemetry: prioritize pitmode changes over power changes 2021-04-12 16:22:36 +10:00
Peter Barker 27c262b037 SITL: add documentation fo rsimulated barometers 2021-04-10 11:28:22 +10:00
chobits fd88e53be6 AC_WPNav: remove unassigned _track_desired 2021-04-08 16:13:51 +09:00
Randy Mackay 30a08dda0a SITL: add rover with vectored thrust support 2021-04-08 08:47:07 +09:00
Randy Mackay 381044c2d0 SITL: add comments to SIM_Rover members 2021-04-08 08:47:07 +09:00
Iampete1 186cb6ef13 AP_Scripting: correct rotations in fault tolerant hex example 2021-04-08 08:23:08 +09:00
Andrew Tridgell 47a5d78397 HAL_ChibiOS: disable DMA on high contention UARTs 
switch to interrupt driven when in high contention
 2021-04-08 06:53:48 +10:00
Jacob Walser f7da853adb AP_HAL: update hardware definitions for navigator r3 2021-04-07 15:08:18 -04:00
Jacob Walser 397def7b9e AP_LeakDetector: update leak pin for navigator r3 2021-04-07 15:08:18 -04:00
Jacob Walser 5537f5564c AP_HAL: update imu hardware for navigator r3 2021-04-07 15:08:18 -04:00
Jacob Walser 3a433cd71e AP_HAL: update pwm hardware for navigator r3 2021-04-07 15:08:18 -04:00
Jacob Walser 421638453f AP_HAL: update Notify LED hardware for navigator r3 2021-04-07 15:08:18 -04:00
MHefny 6bbfdbaf6a AP_HAL_LINUX:fix missing setting physical address 2021-04-07 10:36:31 -07:00
MHefny 30382740d2 AP_HAL_Linux:fix code style 2021-04-07 10:36:31 -07:00
MHefny 8767112a77 AP_HAL_LINUX:remove duplicates and fix _version 2021-04-07 10:36:31 -07:00
MHefny c57764e9b4 linux: RCInput_RPI RPI-4 Support 2021-04-07 10:36:31 -07:00
Andrew Tridgell 7b9826cdce SITL: change for AP::terrain as a pointer 2021-04-07 20:56:01 +10:00
Andrew Tridgell 483ed19662 AP_OSD: change for AP::terrain as a pointer 2021-04-07 20:56:01 +10:00
Andrew Tridgell d3e3e58466 AP_Frsky_Telem: change for AP::terrain as a pointer 2021-04-07 20:56:01 +10:00
Andrew Tridgell 5e820b203b Ap_Terrain: make AP::terrain return a pointer 
this is needed for rover and OSD support
 2021-04-07 20:56:01 +10:00
Peter Barker 9471d8069c GCS_MAVLink: move handling of last-seen-SYSID_MYGCS up to GCS base class 2021-04-07 17:54:21 +10:00
Peter Barker 5d686b9cb1 AP_AdvancedFailsafe: move handling of last-seen-SYSID_MYGCS up to GCS base class 2021-04-07 17:54:21 +10:00
anbello 77998fb5ba revo-mini bdshot 2021-04-07 17:44:29 +10:00
anbello dcb90c7bdb revo-mini ext i2c 2021-04-07 17:26:56 +10:00
Andy Piper be39e1f297 AP_HAL_ChibiOS: correct current scale for BeastH7 and BeastF7 2021-04-07 17:25:19 +10:00
Andy Piper aa0ec0f091 AP_HAL_ChibiOS: optimize BeastH7 compilation 2021-04-07 17:25:19 +10:00
Iampete1 ec90ab13f4 AP_HAL_ChibiOS: RCOutput: print DMA alocation errors 2021-04-07 17:24:25 +10:00
Iampete1 15509f314c AP_HAL_ChibiOS: RCOuput: LED setup re-work 2021-04-07 17:24:25 +10:00
Andrew Tridgell 61c829d624 HAL_ChibiOS: only use SRAM4 for DMA for now 
we can enable others when we have an allocation interface that
specifies the peripheral type
 2021-04-07 17:10:45 +10:00
Iampete1 2377d33417 AP_HAL_ChibiOS: H7 set SRAM4 to no cache and allow DMA 2021-04-07 17:10:45 +10:00
Jacob Walser 8defcb9169 AP_Compass: add memsic MMC5883 driver 2021-04-07 16:03:57 +10:00
Andrew Tridgell 4cddb12508 HAL_ChibiOS: fixed DMA sent calculation on UART DMA timeout 2021-04-07 07:34:45 +10:00
Andy Piper b3dbc21fa7 AP_HAL_ChibiOS: KakuteF7 bdshot configuration, tested by yaapu 2021-04-06 11:33:53 +10:00
Iampete1 79a6c5d2d5 SITL: Examples: JSON: MATLAB: add legacy Simulink files for 2018b 2021-04-06 10:45:37 +10:00
Michael du Breuil bde695d11f AP_Notify: UAVCAN_RGB_LED: don't init if no UAVCAN backends 
This allows us to consider enabling UAVCAN_RGB_LED as a more general
default, as it won't consume one of our limited backend slots if UAVCAN
is not enabled.
 2021-04-06 10:45:09 +10:00
PYBrulin 240bfeb6bd AP_RangeFinder: TeraRangerI2C added case of out of range measurement 2021-04-06 10:44:13 +10:00
PYBrulin afe9573900 AP_RangeFinder: TeraRangerI2C redefining the output distance logic with OutOfRange cases 2021-04-06 10:44:13 +10:00
Andrew Tridgell c886fd7025 AP_Logger: make log file erase async 
this prevents clagging up the main loop on a big erase. With an erase
of large enough files we could trigger a disarmed watchdog.
 2021-04-06 10:40:40 +10:00
Andy Piper 721850d00a AP_HAL_ChibiOS: fix dshot150. 2021-04-06 10:24:04 +10:00
Andy Piper f6b1e15b0e AP_HAL_ChibiOS: optimize bdshot ISRs 2021-04-06 10:24:04 +10:00
Andy Piper cb3b37d181 AP_HAL_ChibiOS: ensure that non-dshot modes get regular 1Khz updates 2021-04-06 10:24:04 +10:00
Andy Piper ea3291520c AP_HAL_ChibiOS: add fast cycle calibration step 2021-04-06 10:24:04 +10:00
Andy Piper 74d4af9ac9 AP_HAL_ChibiOS: reset bdshot IC correctly 
don't allow dshot rates below 800Hz.
set pin speed to MID1 to avoid glitching
don't run receive pulses on a timer
 2021-04-06 10:24:04 +10:00
Andy Piper 477ff72214 AP_HAL_ChibiOS: allow dshot rate to be set so as to both regularize the output as well as 
allow faster rates synchronized to the loop rate
synchronize 1Khz and use Betaflight definition for prescaler
adjust dshot bitrates
don't allocate IC DMA if already allocated
cancel DMA pulses correctly
try really hard to align pulses with push() by making each dshot pulse event driven
 2021-04-06 10:24:04 +10:00
Andy Piper 9a870e4d75 SRV_Channel: add SERVO_DSHOT_RATE and propagate to rcout 2021-04-06 10:24:04 +10:00
Andy Piper 9ac8e2b705 AP_Vehicle: addlow SRV_Channels to be initialized 2021-04-06 10:24:04 +10:00
Andy Piper f29dba2ddd AP_HAL: add set_dshot_rate() 2021-04-06 10:24:04 +10:00
Peter Barker 749d4c997b AP_Vehicle: ensure reboot command ACK is written out in SITL 2021-04-06 10:21:59 +10:00
Peter Barker 5ebe505f2c AP_HAL_SITL: ensure reboot command ACK is written out in SITL 2021-04-06 10:21:59 +10:00
Jacob Walser d91fd8b006 AP_Notify: add driver for LED on Blue Robotics Navigator board 2021-04-06 09:11:53 +10:00
Peter Barker 1a2b960b0d GCS_MAVLink: prune old statustexts from queue 2021-04-06 09:10:43 +10:00
Peter Barker 4027ed6070 GCS_MAVLink: make servicing statustext more efficient 
We should only need to do a single PAYLOAD_SIZE check for each mavlink
backend now.

 - stop iterating over all channels, only do instantiated mavlink
backends
 - if we don't have space for a statustext on a channel, break
immediately and don't do remaining texts
 - resposibility is now on the GCS_MAVLINK backend for sending texts
   - that's a timing change

 - only iterate over entries actually in the queue rather than maximum
queue size
   - it's likely to be the full length anyway as we don't expire things
from the queue and most setups will have full channels
 2021-04-06 09:10:43 +10:00
Rishabh 5e5ca6e02a AP_Proximity: Check for stray faces and add new param for filter cut off freq 2021-04-05 14:09:17 +09:00
Rishabh e31ea2f3ee AC_Avoid: Change parameter defaults 2021-04-05 13:43:28 +09:00
Rishabh 1dc67fb932 AP_Proximity: Change parameter defaults 2021-04-05 13:43:28 +09:00
Andrew Tridgell 45477f6063 HAL_ChibiOS: fixed default MSP port for f405-MatekGPS 2021-04-05 11:02:32 +10:00
Andrew Tridgell ca948171fe HAL_ChibiOS: fixed ADC error on revXY STM32H7 boards 
with the new ChibiOS revision we were configuring for newer revisions
of the H7, which meant that we changed the ADC config. This broke ADC
readings on revX and revY H7 MCUs.

This PR fixes it in two ways:

 1) change ChibiOS config to assume XY config chips

 2) use 16 bit ADC for H7, which means the chip rev doesn't matter,
    and also gives us 16x the resolution for ADC readinga, so we can
    read smaller voltage and current values
 2021-04-05 11:01:03 +10:00
willpiper 94bdca7f6f AP_HAL_ChibiOS: tidy up beastF7 DMA channels 2021-04-04 16:51:19 +10:00
Randy Mackay 193799346c AP_SmartRTL: peek_point method peeks at next point 
includes peek point takes semaphore
 2021-04-03 12:07:59 +09:00
Leonard Hall 64ae08a925 AC_Loiter: fix references to position error 2021-04-03 12:07:59 +09:00
Leonard Hall d0ab74e496 AC_Circle: fix references to position error 2021-04-03 12:07:59 +09:00
Randy Mackay 2201450180 AC_WPNav: renames and comment fixes 2021-04-03 12:07:59 +09:00
Randy Mackay 85b24cf641 AC_WPNav: fix get_wp_destination_loc 
was incorrectly adding alt-above-terrain as if it was alt-above-ekf-origin
also fixup comments
 2021-04-03 12:07:59 +09:00
Leonard Hall 32c27b32aa AC_WPNav: support for SCurve navigation 
set_wp_destination clear yaw target
limit velocity and acceleration based on track slope
add is_active() and remove unused reached_spline_destination
init accepts desired speed
set_kinematic_limits uses current speed limits instead of defaults
add time compression to prevent target moving too fast for air
implement alternative spline
remove vel-target-length
set_wp_destination always calculates this leg
set_kinematic_limits moved to scurve
fix origin speed after spline segment
spline terrain following fix
handle s-curves with mismatching alt types
fix set_spline_destination_next
add update_track_with_speed_accel_limits
Change to next waypoint at corner apex
use scurve advance along track
remove unused definitions and out-of-date todo
set_spline_destination_next sets fast_waypoint
scurve origin speed set from spline target velocity
fixup takeoff delay
 2021-04-03 12:07:59 +09:00
Leonard Hall 6a8ba6f329 AC_PosControl_Sub: update for new position controller changes 2021-04-03 12:07:59 +09:00
Randy Mackay cb0d37586e AC_PosControl: use Vector limit_length and formatting fixes 2021-04-03 12:07:59 +09:00
Leonard Hall ba00c2edd6 AC_PosControl: alt hold controller update 
pass accel limit top_pos_xy
prearm check updated
fix PSC_VELZ_FLTE/D param descriptions
fix VelZ FF param desc
limit maximum desired z component
integrate AC_PID_Basic
 2021-04-03 12:07:59 +09:00
Leonard Hall b73ad1a1bc AC_PosControl: remove unused sqrt_controller_3D 2021-04-03 12:07:59 +09:00
Leonard Hall 49da872218 AC PosControl: fix position error get functions 2021-04-03 12:07:59 +09:00
Randy Mackay e24f23e076 AP_Mission: add restart_current_nav_cmd 2021-04-03 12:07:59 +09:00
Randy Mackay 2357568eb1 AP_Mission: Mission_Command struct gets comparison operators 2021-04-03 12:07:59 +09:00
Leonard Hall 83b7c496b5 AP_Logger: support for position controller logging 2021-04-03 12:07:59 +09:00
Randy Mackay ae66803148 AC_AttitudeControl: minor optimisation and comment fixes 2021-04-03 12:07:59 +09:00
Leonard Hall d6e3495eca AC_AttitudeControl: support for feedforward rate in angle request for yaw 2021-04-03 12:07:59 +09:00
Leonard Hall 1d720cc5e9 AC_PID: library update and additional functions 
includes corrections from peer review
 2021-04-03 12:07:59 +09:00
Randy Mackay bc0da915c4 AP_Math: add SplineCurve library 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>

includes corrections from peer review
 2021-04-03 12:07:59 +09:00
Leonard Hall af7403f4e9 AP_Math: add SCurve library 
SCurve const more local variables
rename update to get_jerk_vel_pos_at_time
removed unused update
debug output in SITL
fixes to ensure finished at end of path
fixes including validity check
includes corrections from peer review
 2021-04-03 12:07:59 +09:00
Randy Mackay 0e506a71a1 AP_Math: remove control's limit_vector_length 
these have been moved to Vector2f and Vector3f
 2021-04-03 12:07:59 +09:00
Randy Mackay e2b46d05dc AP_Math: Vector2,3 get limit_length methods 2021-04-03 12:07:59 +09:00
Leonard Hall 3bb0482795 AP_Math: add update_pos_vel_accel to control 
also add shape_vel, shape_pos_vel and stopping_distance
also add calculation of kinematic limits
 2021-04-03 12:07:59 +09:00
Randy Mackay 67f2c79717 AP_InternalError: added invalid_arguments failure 
this is intended to catch problems where we have unexpectedly received
invalid arguments.  For example an out-of-bounds target speed that
should have been caught somewhere else.

running out of bits so we use a single bit to capture invalid inputs to or output from a calculation
 2021-04-03 12:07:59 +09:00
Peter Barker 018b1425ce AP_AdvancedFailsafe: remove APM from description 2021-04-01 22:49:34 +11:00
Josh Henderson fb789a07ce AC_WP_Nav_OA: origin_loc & dest_loc should use _terrain_alt_oabak 2021-04-01 14:44:40 +09:00
Sergey Bokhantsev ef95bf088c AP_Motors: Constrain get_throttle_hover value with allowed range 2021-04-01 13:06:02 +09:00
Samuel Tabor a301808e7a SITL: Add parsing of airspeed to SIM_JSON 2021-03-31 19:26:02 +11:00
Iampete1 0b8cdaf392 AP_Scripting: add mission command receve function, binding and example 2021-03-31 19:23:13 +11:00
Iampete1 849ad8c6de AP_Mission: support MAV_CMD_DO_SEND_SCRIPT_MESSAGE 2021-03-31 19:23:13 +11:00
Iampete1 82228469c8 AP_Scripting: add reset_remianing battery binding 2021-03-31 19:21:59 +11:00
Iampete1 9fdceeded3 AP_BattMoniter: add reset remaining per-instance rename existing to _mask 2021-03-31 19:21:59 +11:00
Iampete1 0fe38da522 GCS_MAVLink: rename battery reset function 2021-03-31 19:21:59 +11:00
Randy Mackay d343c569c2 AP_Arming: check for only first compass being disabled 
If only the first compass is disabled, users may expect other enabled compasses to be used but they won't be
 2021-03-31 19:16:01 +11:00
Randy Mackay 64c4b6a42b AP_Compass: remove unused set_use_for_yaw 2021-03-31 19:16:01 +11:00
Andrew Tridgell 46f35a6910 AP_Baro: work around bad WHOAMI read on DPS310 
this fixes an issue with bad read of WHOAMI on a mRoPixracerPro. We
don't know how the sensor gets in a state where WHOAMI can't be read,
but toggling CS does fix it
 2021-03-31 13:26:52 +11:00
Michelle Rossouw 7d42c3c834 SITL: Added simple blimp simulator 2021-03-31 12:27:07 +11:00
Michelle Rossouw ac893b4013 AP_Vehicle: added blimp vehicle type 2021-03-31 12:27:07 +11:00
Michelle Rossouw 8bc0f100a2 AP_Param: added blimp frame type 2021-03-31 12:27:07 +11:00
Michelle Rossouw d06161e8ee AP_HAL_SITL: Added support for blimp simulator 2021-03-31 12:27:07 +11:00
Peter Barker e5a8acb227 RC_Channel: return MAV_RESULT_FAILED from do_aux_function if invalid function 2021-03-31 11:36:09 +11:00
Peter Barker 115e895c82 GCS_MAVLink: return MAV_RESULT_FAILED from do_aux_function if invalid function 2021-03-31 11:36:09 +11:00
Peter Barker 30539ac8ac RC_Channel: add method on RC_Channels to execute aux function 2021-03-31 11:36:09 +11:00
Peter Barker d4a0222f76 AP_Mission: allow an auxillary function to be triggered as a DO command 2021-03-31 11:36:09 +11:00
Peter Barker 2d61ded1f3 GCS_MAVLink: add option to execute auxillary functions via mavlink 2021-03-31 11:36:09 +11:00
Peter Barker 7ea5bc7e3e AP_EFI: use enum class for protocol 2021-03-30 21:40:35 +11:00
Andrew Tridgell f0d6b79e8a HAL_ChibiOS: fixed skyviper builds with BMM150 2021-03-30 13:31:50 +09:00
Michael du Breuil c0017abb63 AP_Notify: Remove indirection on RGBLed of init()->hw_init() 
Saves a bit of flash, and just makes the code a bit more obvious
 2021-03-30 11:18:45 +11:00
Peter Barker f926c27470 AP_Arming: add LANDING arm/disarm method for Copter 2021-03-30 09:00:26 +09:00
Josh Henderson 5551deab4b AC_WPNav: make Location(Vector3f) require ALTFRAME 2021-03-30 08:56:35 +09:00
Josh Henderson 1b584a95ba AC_Avoidance: make Location(Vector3f) require ALTFRAME 2021-03-30 08:56:35 +09:00
Josh Henderson dce01fbb43 AP_Common: make Location(Vector3f) require ALTFRAME 2021-03-30 08:56:35 +09:00
Peter Barker d0b3b926c0 AP_HAL_Linux: split out a calculate_thread_priority method 2021-03-30 10:49:06 +11:00
Peter Barker cfacb5d34d AP_HAL_ChibiOS: split out a calculate_thread_priority method 2021-03-30 10:49:06 +11:00
Iampete1 8b278b52b3 AP_Scripting: add GPIO inputs and exmaple 2021-03-30 10:44:43 +11:00
Iampete1 4315a69b9d AP_HAL_Linux: add semaphore to AnalogIn::channel to make it thread safe 2021-03-30 10:44:43 +11:00
Iampete1 7c96522e44 AP_HAL_ChibiOS: add semaphore to AnalogIn::channel to make it thread safe 2021-03-30 10:44:43 +11:00
Iampete1 f2c2e8c1eb AP_Scripting: add PWM and GPIO to analog input example 2021-03-30 10:44:43 +11:00
Iampete1 e0621179ef AP_Scripting: add PWMSource bindings 2021-03-30 10:44:43 +11:00
Iampete1 590be4049c AP_Scripting: support userdata alias 2021-03-30 10:44:43 +11:00
Iampete1 9d739cfa42 AP_scripting: add bindings and example for analog inputs 2021-03-30 10:44:43 +11:00
Michael du Breuil e5de148ad1 AP_BattMonitor: Fix nullptr deref when resetting a battery 2021-03-30 09:47:44 +11:00
Siddharth Purohit d1dcfd91b5 AP_CANManager: do select before sending passthrough message 2021-03-30 08:05:00 +11:00
Siddharth Purohit cb118c6b73 AP_CANManager: improve robustness of slcan passthrough under high rate 2021-03-30 08:05:00 +11:00
Andrew Tridgell 07313ae71d HAL_ChibiOS: fixed 2nd CAN inferface on F4/F7 
CAN1_TX_IRQn is an enum not a defined. This was broken by the recent
change to support different CAN ordering
 2021-03-29 20:14:29 +11:00
QioTek 0190a42e47 AP_Airspeed: added ASP5033 driver 2021-03-28 07:50:34 +11:00
Randy Mackay b8d4dbfbb3 AP_Mission: options parameter description per vehicle 2021-03-27 08:20:43 +09:00
Randy Mackay a17086816f AP_Scripting: proximity bindings depend upon HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay d4f1eacbed AP_Logger: use of AP_Proximity checks HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay f67cdf5a81 AC_Avoidance: use of AP_Proximity checks HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay b8f9c3b9c0 GCS_MAVLink: use of AP_Proximity checks HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay d53c8b1dd0 AP_Arming: skip checks if not HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay 1fad5d46e7 AP_Proximity: add #if HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Emre Saldiran 9e97c2e095 AP_Scripting: change set_target_posvel_circle example tart location calculation 2021-03-25 21:01:41 +09:00
Andrew Tridgell 1f60eb68ec AP_Math: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell dcf6bcea6e AP_InertialSensor: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell b9df270df6 AP_HAL_SITL: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell 0601259d20 AP_HAL_Linux: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell ebc1f9acf6 AP_HAL: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell 2473d3f7f8 AP_HAL_Empty: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell 88e277420f AP_HAL_ChibiOS: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell 0f5dd40052 AP_Compass: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Josh Henderson 070ad226ce AP_Logger: OABR correct altitude logging frame and specifier 2021-03-24 20:30:54 +09:00
zhouzhiwen2000 afde83d2f9 AP_Baro: Fix occasional problems with SPL06 
Sometimes SPL06 has init problems, that's due to failure of reading using SPI for the first time. The SPL06 is a dual protocol sensor(I2C and SPI), sometimes it takes one SPI operation to convert it to SPI mode.
 2021-03-24 14:29:30 +11:00
Peter Barker f261045a2d AP_Logger: multiply IO thread timeout according to SITL speedup 
Intended to solve issues we're now getting on CI where the IO thread is
blocking-on-write and the main thread is calling it dead.
 2021-03-24 12:54:20 +11:00
Emre Saldiran dc290a8884 AP_Scripting: set_target_posvel example script 2021-03-24 08:55:48 +09:00
Emre Saldiran 1a3a2a0437 AP_Scripting: add set_target_posvel_NED binding 2021-03-24 08:55:48 +09:00
Emre Saldiran 858d69ca0e AP_Vehicle: add set_target_posvel_NED method 2021-03-24 08:55:48 +09:00
zhouzhiwen2000 7c6d5d9bf4 AP_OpticalFlow:add UPFLOW sensor 2021-03-24 08:42:14 +09:00
Peter Barker 82a28e2a58 AP_Logger: do not log soon after file transfer unless we're armed 
mavlink log reads fail randomly, and you end up with a very large number
of log files as we keep closing logs off and then discovering we should
be logging
 2021-03-24 08:57:03 +11:00
chobitsfan 73a3b5f832 AC_Fence: remove unused declaration 2021-03-24 08:50:48 +11:00
Peter Barker f4591faeed AP_NavEKF3: simplify taking of GPS measurements 2021-03-23 15:11:33 +11:00
Michel Pastor 46fb88e5a0 AP_OSD: Fix ground and wind speed varying length 2021-03-23 12:16:35 +11:00
Rishabh 06a7086562 AP_Scripting: Add proximity status binding 2021-03-23 10:02:18 +09:00
Andrew Tridgell 2d4dfe8a2a HAL_ChibiOS: fixed (unused) FF_FS_TIMEOUT 
this change was harmless as we don't define FF_FS_REENTRANT
 2021-03-23 12:01:20 +11:00
Andrew Tridgell ffb2876f58 HAL_ChibiOS: disable unused ChibiOS features 2021-03-23 12:01:20 +11:00
Andrew Tridgell 744a2fe535 HAL_ChibiOS: use uint32_t for bit timing in passthru 
we should not use systime_t as it may be 16 bit
 2021-03-23 12:01:20 +11:00
Andrew Tridgell c3d16cf2e2 HAL_ChibiOS: use defines for G4 messageram 
review fix
 2021-03-23 12:01:20 +11:00
Andrew Tridgell b4e4d48e52 HAL_ChibiOS: switch OMNIBUSF7V2 timer for RCIN 
this avoids a conflict with shared interrupt on TIM1
 2021-03-23 12:01:20 +11:00
Andrew Tridgell ff31e10d9e HAL_ChibiOS: ensure that RCIN DMA channel is not shared 
RCIN DMA cannot be shared as it runs all the time
 2021-03-23 12:01:20 +11:00
Andrew Tridgell 2842730868 HAL_ChibiOS: fixed F3 CAN build 2021-03-23 12:01:20 +11:00
Andrew Tridgell 4f1c43862e HAL_SITL: support arrays of CAN interfaces 
allows for multi-bus in AP_Periph
 2021-03-23 12:01:20 +11:00
Andrew Tridgell 2fc7ea1a8b HAL_ChibiOS: added G4-ESC hwdef 2021-03-23 12:01:20 +11:00
Andrew Tridgell 353eca79b6 HAL_ChibiOS: fixed 32/64 micros bug in CAN select() 2021-03-23 12:01:20 +11:00
Andrew Tridgell bac9b27a3f HAL_ChibiOS: enable analogin on G4 2021-03-23 12:01:20 +11:00
Andrew Tridgell ac9e6ba86d HAL_ChibiOS: fix label for CCM on G4 2021-03-23 12:01:20 +11:00
Andrew Tridgell 7496b8bff5 HAL_ChibiOS: fixed DMAR register offset 
use offsetof() instead of a magic value
 2021-03-23 12:01:20 +11:00
Andrew Tridgell 4f10565f82 HAL_ChibiOS: fixed CANFD build on H7 2021-03-23 12:01:20 +11:00
Andrew Tridgell f2ac61f6ba HAL_ChibiOS: enable DShot on G4 2021-03-23 12:01:20 +11:00
Andrew Tridgell f57b1b9c4b HAL_ChibiOS: support logical/physical CAN bus mapping 
allow for first CAN interface to be CAN2 or CAN3
 2021-03-23 12:01:20 +11:00
Andrew Tridgell 2f7ff778be HAL_ChibiOS: fixed bug in DMA resolver 
idsets can be empty for a peripheral
 2021-03-23 12:01:20 +11:00
Andrew Tridgell ec8abf0b2f AP_FlashStorage: support STM32G4 
needs to write in multiples of 8 bytes, and can only write if all 1s
 2021-03-23 12:01:20 +11:00
Andrew Tridgell 439a944801 HAL_ChibiOS: added support for STM32G474 MCU 2021-03-23 12:01:20 +11:00
Andy Piper e1d71486e4 AP_HAL_ChibiOS: build fixes for ChibiOS 20.3.x 2021-03-23 12:01:20 +11:00
Andy Piper c26f49fb0a AP_IOMCU: ChibiOS 20.3.x build fix 2021-03-23 12:01:20 +11:00
Andrew Tridgell 5b59445471 AP_HAL_ChibiOS: fixes for build with 20.3.x ChibiOS 2021-03-23 12:01:20 +11:00
Hwurzburg c1f56c4b22 AP_OSD: Add cell voltage and resting voltage displays 
Co-authored-by:shellixyz
 2021-03-23 10:24:12 +11:00
Paul Riseborough 1018801522 AP_NavEKF3: White space and comment fixes 2021-03-23 10:05:59 +11:00
Paul Riseborough 7113387d27 AP_NavEKF3: Use better defined data type 2021-03-23 10:05:59 +11:00
Paul Riseborough ac87cab6bc AP_NavEKF3: constify array index variable 2021-03-23 10:05:59 +11:00
Paul Riseborough 1498b516a3 AP_NavEKF3: Don't try to learn gyro biases that are poorly observable 2021-03-23 10:05:59 +11:00
Paul Riseborough 44be7161c0 AP_NavEKF3: Reduce yaw drift when operating without external aiding 
Also fixes bug in the determination of the total angular variance threshold for when to fuse a zero innovation yaw measurement.
 2021-03-23 10:05:59 +11:00
Paul Riseborough 53c4b163ce AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity 
Also re-tune default sensitivity based on user supplied logs with noisy gyro data.
 2021-03-23 10:05:59 +11:00
Paul Riseborough e7b08c1ffc AP_NavEKF3: Update log message format description 2021-03-23 10:05:59 +11:00
Paul Riseborough 918606e71d AP_NavEKF3: Don't use fake measurements to learn dvel bias 2021-03-23 10:05:59 +11:00
Paul Riseborough c709ad9c80 AP_NavEKF3: Add missing axis specific dvel bias update inhibit 2021-03-23 10:05:59 +11:00
Paul Riseborough 073e273732 AP_NavEKF3: Don't allow yaw alignment until tilt alignment completed 2021-03-23 10:05:59 +11:00
Paul Riseborough a07427fd30 AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight 2021-03-23 10:05:59 +11:00
priseborough 4b1c334bba AP_NavEKF3: improve stability of co-variance matrix processing 
This patch prevents the delta velocity bias state variances collapsing due to insufficient process noise and causing bad bias estimates to form.
 2021-03-23 10:05:59 +11:00
Randy Mackay 526065a6a4 AP_OAPathPlanner: minor format fix 2021-03-22 20:40:59 +09:00
QioTek fe30612bb0 AP_HAL_ChibiOS: release ICM20649 reserve sensor 
BMI055 & BMI088 out of stock, release ICM20649 reserve sensor
 2021-03-22 19:05:03 +11:00
Rishabh 711b497cc3 AC_Loiter: Make avoidance optional while using loiter controller 2021-03-22 14:04:42 +09:00
Andrew Tridgell bbd32844d1 HAL_ChibiOS: switch more boards to 32k FRAM 
this enables the parameter backup/restore on those boards, as well as
more waypoints

This is in response to a report that CUAVv5 boards can suffer from the
parameter reset issue
 2021-03-21 11:59:12 +11:00
yaapu b62c2d9518 AP_Frsky_Telem: added new capabilities param to frame 0x5007 2021-03-19 22:35:16 +11:00
yaapu 592fba7416 AP_Frsky_Telem: frame 0x5007 refactoring 2021-03-19 22:35:16 +11:00
murata 0536be1c88 AP_NavEKF: Change misnomer (NFC) 2021-03-19 17:49:27 +11:00
murata a5b6ce9220 AP_NavEKF2: Change misnomer (NFC) 2021-03-19 17:49:27 +11:00
Samuel Tabor d578b4d3db AP_Soaring: Fix incorrect use of aparm.loiter_radius. 2021-03-19 17:00:08 +11:00
Peter Barker 936aa63135 AP_Param: remove confusing comment 
The code refered to is within is_sentinel - and it has a copy of the
comment
 2021-03-19 12:21:25 +11:00
yaapu 45f7cb0c82 AP_Frsky_Telem: added passthrough frame 0x500B for height above terrain 2021-03-18 21:43:48 +11:00
Peter Barker 5e63ed908e AP_Logger: loosen constraint on failing to log replay block 
// things will almost certainly go sour.  However, if we are not
    // logging while disarmed then the EKF can be started and trying
    // to log things even 'though the backends might be saying "no".
 2021-03-18 19:38:43 +11:00
murata 6c67e191d4 AP_Mission: Change the description(NFC) 2021-03-18 12:32:59 +11:00
4712 38ea1296ca Update serial-4way-if to v20005 
Reservation of an MCU_ID area to simplificate adding of upcoming BLHeli_32 MCU.
 2021-03-18 08:10:08 +11:00
4712 6956abdb45 Some fixes for AP_BLHeli 
Added ACK_I_INVALID_CHANNEL as response for cmd_DeviceReset cmd_DeviceInitFlash on bad channel selection
Fixed params for MSP_MOTOR_CONFIG
Adapted some timeouts
 2021-03-18 08:10:08 +11:00
yaapu 59c5bbc8b8 AP_BLHeli: added missing ack to MSP_SET_MOTOR message 2021-03-18 08:10:08 +11:00
Randy Mackay 5912052a39 AP_RangeFinder: lightware legacy I2C retry count to 20 
This is consistent with the non-legacy I2C protocol
 2021-03-17 21:23:14 +09:00
Tatsuya Yamaguchi e134d12e32 AP_Notify: add EKF failsafe notify tones 2021-03-17 20:29:32 +09:00
Iampete1 733db3de19 RC_Channel: add MODE_SWITCH_RESET option 2021-03-17 19:18:46 +11:00
Iampete1 2d91679ec2 RC_Channel: add FBWA_TAILDRAGGER option 2021-03-17 19:18:46 +11:00
Iampete1 77e1092f46 RC_Channel: do_aux_function_mission_reset to virtual 2021-03-17 19:18:46 +11:00
Iampete1 58860205ea AP_Scripting: add manual i2c get device bindings 2021-03-17 18:50:05 +11:00
Iampete1 166aedf1be AP_Scripting: add I2CDevice to auto bindings 2021-03-17 18:50:05 +11:00
Iampete1 1f0e36e10d AP_Scripting: add i2c scan example 2021-03-17 18:50:05 +11:00
Iampete1 7b3097972b AP_Scripting: generator: support pointer semaphore flag 2021-03-17 18:50:05 +11:00
Iampete1 c54634e86b AP_Scripting: generator: finish off refence access implmentation 2021-03-17 18:50:05 +11:00
Iampete1 8effa59d10 AP_Scripting: generator: support method alias and sanitised names 2021-03-17 18:50:05 +11:00
Peter Hall 9997981702 AP_Scripting: generator: support literal singltons that do not need to be fetched 2021-03-17 18:50:05 +11:00
Andy Piper bb270014e7 AP_HAL_ChibiOS: make sure LEDs get a DMA channel on MatekH743-bdshot 2021-03-17 18:28:01 +11:00
Andy Piper 961c517274 AP_VideoTX: only mark updates when the VTX is enabled 2021-03-17 18:27:11 +11:00
Andy Piper f1eee860c0 AP_RCTelemetry: don't process VTX frames when VTX support is disabled 2021-03-17 18:27:11 +11:00
Andy Piper f7e23566ac AP_VideoTX: with SmartAudio v2 set the power level rather than power in dBm 2021-03-17 18:27:11 +11:00
Andy Piper 968d05a637 AP_HAL_ChibiOS: allow further LED channels to be allocated at the same length 2021-03-17 18:24:11 +11:00
Randy Mackay a6800b8c47 AC_Avoidance: minor PathPlanner format fix 2021-03-17 15:01:46 +09:00
Randy Mackay 0d730e11cc AC_WPNav: OA stores and uses original terrain alt 2021-03-17 14:11:12 +09:00
Randy Mackay da580bd1ea AC_WPNav: OA gets minor format fix 2021-03-17 14:11:12 +09:00
Peter Hall aa75fc2c3d AC_PosControl: use target lean angles rather than true for init 2021-03-17 08:13:11 +09:00
Peter Hall a43db51440 AC_AttitudeControl: add get_att_target_euler_rad function 2021-03-17 08:13:11 +09:00
Habibullah Oladepo a74ad951de SRV_Channel: fix servo output function documentation typo 2021-03-17 08:54:13 +11:00
Andrew Tridgell 8a8db85b9c HAL_ChibiOS: fixed build of f103-trigger fw 2021-03-16 18:28:58 +11:00
Randy Mackay b873e7fcb0 AP_Mission: read_cmd_from_storage sets all bytes of cmd 
This resolves a potential valgrind issue caused by some bytes of the cmd not being set
 2021-03-16 10:23:40 +09:00
Tatsuya Yamaguchi 2c95093d36 AP_InertialSensor: fix temperature sensor on LSM9DS0 2021-03-16 12:09:19 +11:00
Lava Chemist 4a52f945db AP_HAL_ChibiOS: Add FlywooF745 2021-03-16 11:27:23 +11:00
murata 3a006ae226 AP_GPS: Supplementary explanation of configuration parameters (NFC) 2021-03-16 10:43:18 +11:00
murata c5b1c832ba AP_NavEKF3: Change misnomer (NFC) 2021-03-15 18:21:15 +11:00
murata 24591d68bc AP_NavEKF2: Change misnomer (NFC) 2021-03-15 18:21:15 +11:00
Hwurzburg e1bab7374b AP_Notify: Add calibration indications for EKF temp and compass cal to RGB LED 2021-03-15 09:49:59 +09:00
Peter Barker 4605870788 AP_NavEKF3: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker 5dff32422d AP_NavEKF2: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker 5c31238f28 AP_Mount: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker 2b0bf45891 AP_InertialSensor: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker a0fcd74b52 AP_DAL: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker ea1884f491 AP_AHRS: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker 5123b05b2b GCS_MAVLink: add support for ATTITUDE_QUATERNION 2021-03-13 09:44:12 +11:00
Siddharth Purohit edceb4e3a4 AP_GPS: move underscore one layer down for GPS 2021-03-12 16:32:36 +09:00
bugobliterator 49d934eb42 AP_HAL_SITL: add support for multiple periph instances 2021-03-12 16:32:36 +09:00
bugobliterator 0031fee851 AP_GPS: add support for ordering UAVCAN GPS 2021-03-12 16:32:36 +09:00
bugobliterator 67be2ed4ba AP_Arming: add support for GPS_Backends to spew failure reasons 2021-03-12 16:32:36 +09:00
Michael du Breuil a3ddf5264d AP_GPS: Support uavcan ardupilot.gnss.Status 
Also makes the drive by change to make GPS_Backend::is_configured const
 2021-03-12 09:39:55 +11:00
Michael du Breuil e47857a278 AP_UAVCAN: Add ardupilot.gnss.Status 2021-03-12 09:39:55 +11:00
Hwurzburg fd9c497232 AP_OSD: Add height above terrain panel and warning 2021-03-11 11:54:47 +11:00
murata 8e8f2b93a7 AP_Motors: Add DECA frame class and type string 2021-03-09 19:59:10 +09:00
Rishabh e9c0e50185 AP_Proximity: Filter out land detected by sensors 2021-03-09 11:02:26 +09:00
Randy Mackay fe382e4d10 AP_Mission: minor format fixes 2021-03-09 11:49:42 +11:00
Randy Mackay 3a66b2667b AP_Mission: correct spelling of interrupted 2021-03-09 11:49:42 +11:00
Rishabh e09e9b1e6a AP_Logger: Log raw and filtered distances from proximity lib 2021-03-08 16:33:20 +09:00
Rishabh 044e1850d4 AP_Proximity: Add a low pass filter per face for distances 2021-03-08 16:33:20 +09:00
James O'Shannessy f028747399 GCS_MAVLink: Remove todo since plane now supports MAV Protocol Capability Mission Fence 2021-03-05 16:48:57 +11:00
James O'Shannessy 43e06e9040 AC_Fence: Fix int32_t overflow with large longitude values 2021-03-05 14:52:46 +11:00
James O'Shannessy 26811ad46d AP_Landing: Autoenable fence if required when landing was aborted 2021-03-05 14:52:46 +11:00
James O'Shannessy 8ef68c8fb0 AC_Fence: Send text to gcs when fence is auto-enabled 2021-03-05 14:52:46 +11:00
James O'Shannessy b4bf41c6f9 AC_Fence: Adjustments to default parameters for addition to plane 2021-03-05 14:52:46 +11:00
James O'Shannessy c316711351 ArduPlane: Add conversion from ArduPlane geofence param to AC_Fence param 2021-03-05 14:52:46 +11:00
James O'Shannessy 254c28f142 AC_Fence: Improve auto enable documentation 2021-03-05 14:52:46 +11:00
James O'Shannessy b6d29d746b AC_Fence: Add common auto enable and auto disable 2021-03-05 14:52:46 +11:00
James O'Shannessy e4f1e26b5c AC_Fence: Disable fence floor when disabling the rest of the fence 2021-03-05 14:52:46 +11:00
Steven Josefs c783410494 AC_Fence: adjusted AP_GROUPINFO to contain all copters 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 22bdc3e54c AC_Fence: extend pre-arm checks 
Fix comments
 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 2e422f249a AC_Fence: small comment improvements. Do not call the same function four times 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 15e95be7d7 AC_Fence: do not delete the FENCE_ENABLE parameter. It would confuse many users. 
Talked to Randy about this. The consensus was not to delete the parameter
 2021-03-05 14:52:46 +11:00
James O'Shannessy 783a4b7965 AC_Fence: Change logic to fence enable and sys_status reporting 2021-03-05 14:52:46 +11:00
James O'Shannessy a23e8d46da AP_Vehicle: Add additional fence mode change reason 2021-03-05 14:52:46 +11:00
James O'Shannessy 8ca69c2e89 AP_Logger: Add support for fence floor events 2021-03-05 14:52:46 +11:00
James O'Shannessy c2abf27d78 GCS_MAVLink: Add reporting of fence floor breaches to GCS_MAVLink 
GCS_MAVLink: Add disabling of fence floor only, per mavlink spec

GCS_MAVLink: Cannot enable a fence if the fence is not present
 2021-03-05 14:52:46 +11:00
James O'Shannessy 0e73b7bce1 AP_Arming: Enable and Disable the fence when vehicle is armed/disarmed 
AP_Arming: Use auto enable flag to arm fence only when armed (as per enum)

AP_Arming: Config defines are not available in AP_Arming

Since config definitions are not available in AP_Arming, we can still rely on singleton access of the AC_Fence object.

AP_Arming: Perform fence checks for all vehicles
 2021-03-05 14:52:46 +11:00
James O'Shannessy 87b66b4b49 AC_Fence: Add parameters from Geofence to AC_Fence 
AC_Fence: Add fence floor breach checks and calculations

AC_Fence: Add event logging to enable/disable of fence floor

AC_Fence: Adjust sys_status reporting to look at total fence count

AC_Fence: Make retrieving of the return point accessible

AC_Fence: Check whether fence is enabled or autoenable is set for arming checks

Checks whether the fence is currently enabled OR if the fence is intended to be enabled automatically.
These checks are used to find out enabled fences, or prearm checks
 2021-03-05 14:52:46 +11:00
Paul Riseborough 9b53d505ea AP_AHRS: Handle airspeed estimation with have_inertial_nav() == false 2021-03-05 12:10:01 +11:00
Paul Riseborough e3eea0a54a AP_NavEKF3: Use specialised function for in-flight plane yaw alignment 2021-03-05 12:10:01 +11:00
Paul Riseborough 4675aea0bf AP_NavEKF3: Update parameter description 2021-03-05 12:10:01 +11:00
Paul Riseborough 246b80dc06 AP_NavEKF3: Don't return a 0,0 lat,lng unless absolutely necessary 2021-03-05 12:10:01 +11:00