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23611 Commits

Author SHA1 Message Date
Paul Riseborough
fc18ee91df AP_NavEKF2: Add missing fallback to baro for range beacon use case 2020-06-24 21:16:50 +09:00
Paul Riseborough
344d621a08 AP_NavEKF3: Add missing fallback to baro for range beacon use case 2020-06-24 21:16:50 +09:00
Paul Riseborough
d118c8fc38 AP_NavEKF2: Fix range aid switching logic 
Clarifies use of EK2_RANGE_USE_HGT and EK2_ALT_SOURCE parameters to control range finder use.
Setting EK2_RNG_USE_HGT to a positive number to enable automatic switching between the primary height source (baro or GPS) and range finder should be disabled if any primary height source other than Baro or GPS is selected via the EK2_ALT_SOURCE parameter.
 2020-06-24 21:16:50 +09:00
Paul Riseborough
906731222d AP_NavEKF3: Fix range aid switching logic 
Clarifies use of EK3_RANGE_USE_HGT and EK3_ALT_SOURCE parameters to control range finder use.
Setting EK3_RNG_USE_HGT to a positive number to enable automatic switching between the primary height source (baro or GPS) and range finder should be disabled if any primary height source other than Baro or GPS is selected via the EK3_ALT_SOURCE parameter.
 2020-06-24 21:16:50 +09:00
Rishabh
4fa2c3f5ba AP_Logger: Log if BendyRuler has avoided changing directions 2020-06-24 11:42:20 +09:00
Rishabh
7dd7565d14 AC_Avoid: Improve BendyRuler hesitancy by avoiding significant bearing change 2020-06-24 11:42:20 +09:00
Randy Mackay
03ea646e50 GCS_MAVLink: send_battery_status uses memcpy for cell voltages 
Co-authored-by: WickedShell <Wicked.Shell.Scripts@gmail.com>
 2020-06-24 10:19:15 +09:00
Randy Mackay
77d6b19d86 AP_BattMonitor: Generic driver timeout definition in seconds 
also remove unnecessary init of local data variable
also change assert to be more forgiving
 2020-06-24 10:19:15 +09:00
Randy Mackay
3e519b25a4 AP_BattMonitor: fix comments re voltage scaling 2020-06-24 10:19:15 +09:00
Randy Mackay
912e089c18 AP_Logger: fix BCL voltage scaling 
voltages are in millivolts
 2020-06-24 10:19:15 +09:00
Randy Mackay
65aea0e9c1 GCS_MAVLink: send_battery_status sends min of cell 10 11 and 12 2020-06-24 10:19:15 +09:00
Randy Mackay
82423384bf AP_Logger: BCL msg logs up to 12 battery cell voltages 2020-06-24 10:19:15 +09:00
Randy Mackay
cc6298e7ac AP_BattMonitor: SMBus Generic reads up to 12 cell voltages 
Checks for the highest cell for 15 seconds and then reduces the cell voltage calls to cover only those cells that actually exist

also renames SMBus _last_cell_update_us
 2020-06-24 10:19:15 +09:00
Iampete1
b1c3ea467b AC_Circle: constantly update velocity from params 2020-06-24 08:57:08 +09:00
Randy Mackay
473b027e03 AP_Vehicle: minor formatting fix 2020-06-24 08:34:41 +09:00
Randy Mackay
5b90c98e02 AP_Scripting: add rover-set-steering-and-throttle example script 2020-06-24 08:34:41 +09:00
Randy Mackay
d665a0a440 AP_Scripting: add binding for set_desired_steering_and_throttle 2020-06-24 08:34:41 +09:00
Randy Mackay
73508564f7 AP_Vehicle: add set_steering_and_throttle 
only for use with scripting on rover
 2020-06-24 08:34:41 +09:00
Andy Piper
88cda25d62 AP_Compass: enable LIS3MDL and friends 2020-06-23 19:59:10 +10:00
Iampete1
c27bdafea4 AC_PosControl: correct VELXY_D_FILT Description 2020-06-23 11:40:12 +09:00
Rishabh
c53d42e665 AP_Scripting: Remove send_text if directory is created 2020-06-23 10:42:41 +10:00
Michael du Breuil
e4d0484b75 RC_Channel: Cope with selective overrides and no RC reciever in a healthier way 2020-06-23 09:33:30 +10:00
Michael du Breuil
e02145efa0 AP_Arming: Use control_in rather then in_trim_dz() to cope with override only vehicles 2020-06-23 09:33:30 +10:00
Leonard Hall
edadbae240 AC_AttitudeControl: Handle zero accel value correctly in angle correction. 2020-06-23 08:21:47 +09:00
Michael du Breuil
7fae084793 GCS_MAVLink: Only send a single battery status per call 2020-06-23 09:18:56 +10:00
Henry Wurzburg
fe2a468b14 RC_Channel: fix metadata order on _OPTIONS 2020-06-22 20:56:39 +10:00
MATEKSYS
903b44da7d HAL_ChibiOS: Add DPS310 for MatekF405-WING,F765-WING and H743 2020-06-22 19:35:01 +10:00
Andy Piper
07ad4798dc AP_BLHeli: allow all motor frequencies to be returned 
cater for ESCs not returning telemetry all the time
slew rpm updates for the harmonic notch
 2020-06-21 19:09:35 +10:00
Andy Piper
cb524b7d3d AP_Vehicle: add function to log dynamic notch frequencies 
move harmonic notch update here
 2020-06-21 19:09:35 +10:00
Andy Piper
d402761a4b AP_GyroFFT: allow all three peaks to be returned so that we can have three independent harmonic notches 
log dynamic harmonic notch per-peak
move health check into update() and make accessors const
use AP_Vehicle log function when necessary
 2020-06-21 19:09:35 +10:00
Andy Piper
71f99542a8 Filter: allow harmonic notch center frequencies to be updated individually 2020-06-21 19:09:35 +10:00
Andy Piper
61bb42cc0c AP_InertialSensor: allow up to four distinct notch center frequencies to be updated 
apply the LPF after the notch filters to reduced notch-induced noise
 2020-06-21 19:09:35 +10:00
Rishabh
bd7190767e AP_Scripting: Create scripts folder automatically 2020-06-20 21:39:06 +10:00
Pierre Kancir
431468452c AP_NavEKF3: add --debug-ekf to debug the EKF 2020-06-20 19:59:05 +10:00
Pierre Kancir
9bbd2b19c2 AP_NavEKF2: add --debug-ekf to debug the EKF 2020-06-20 19:59:05 +10:00
Randy Mackay
ca0ae57b56 AP_NavEKF3: protect against position-delta sensor data being NaN 2020-06-19 13:46:52 +09:00
Randy Mackay
331f2f5fe7 AP_NavEKF3: writeExtNavData stores pos to buffer first 
This is a non-functional change
 2020-06-19 13:46:52 +09:00
Randy Mackay
578800dfbb AP_NavEKF3: protect against ExtNav being NaN 2020-06-19 13:46:52 +09:00
Randy Mackay
989ffb79cd AP_NavEKF2: minor format fix 2020-06-19 13:46:52 +09:00
Randy Mackay
966d59a26d AP_NavEKF2: protect against ExtNav being NaN 2020-06-19 13:46:52 +09:00
Peter Barker
349c11d631 RC_Channel: comment some of our range conventions on RC channel options 2020-06-19 10:03:02 +09:00
Rishabh
47e4e9f7c9 AC_Avoid: Store 3D data in OA_DB and use 3D distance in BendyRuler 2020-06-19 09:45:34 +09:00
Rishabh
9b5922786e AP_Proximity: Push 3D data into OA_DB 2020-06-19 09:45:34 +09:00
Rishabh
0779cf436e AP_Math: Added function to calculate shortest distance betwwen point and line segment in 3D 2020-06-19 09:45:34 +09:00
Iampete1
a23934fe93 AP_Scripting: add set angle demo 2020-06-19 10:09:35 +10:00
Iampete1
dc34dfb003 AP_Scripting: add guided mode set angle 2020-06-19 10:09:35 +10:00
Iampete1
98d5aa91a8 AP_Vehicle: add scripting guided mode set angle 2020-06-19 10:09:35 +10:00
Andrew Tridgell
4aa10a6c30 AP_GPS: added force_disable_yaw() API 2020-06-18 15:01:00 +10:00
Andrew Tridgell
7d430ae0ca RC_Channel: added rc option 105 to disable GPS yaw 
very useful when doing testing of a moving baseline GPS yaw setup
 2020-06-18 15:01:00 +10:00
Andrew Tridgell
9f0967eb94 AP_Terrain: added verbose option to terrain tester 2020-06-18 13:29:13 +10:00
Tatsuya Yamaguchi
ed14518634 AP_RangeFinder: TYPE param becomes enable flag 2020-06-18 12:30:00 +10:00
Rishabh
15f25aa2a5 AC_Avoid: Skip unnecessary retries to build inner fences 2020-06-17 16:44:57 +09:00
Rishabh
4ec8602de2 AC_Avoid: Remove unnecessary sanity checks 2020-06-17 16:43:27 +09:00
Peter Barker
e4621e6921 GCS_MAVLink: do not process commands after we have decided to reboot 2020-06-17 11:54:03 +10:00
Rishabh
34b17d0993 AC_Avoid: Check if origin is set before any obstacle avoidance algorithm is run 2020-06-17 08:26:50 +09:00
Andy Piper
1280eff6ef RC_Channel: add AIRMODE for copter 2020-06-16 20:30:26 +10:00
Peter Barker
040f78f515 RC_Channel: announce RC switch changes via statustext 2020-06-16 14:03:07 +10:00
Peter Barker
0c5d31f40f AP_Logger: ensure log directory exists before opening log 
This will help with starting logs when inserting a fresh SD card which
doesn't have the ardupilot log directory on it
 2020-06-16 12:03:21 +10:00
Peter Barker
66f8359c6b AP_Logger: factor out an ensure_log_directory_exists method 2020-06-16 12:03:21 +10:00
Randy Mackay
839e03f3e4 AP_AHRS: attitudes_consistent obeys always_use_EKF 2020-06-16 11:29:24 +10:00
Peter Barker
799c538c3e AC_Fence: ALT_MAX is Copter-and-Sub only 2020-06-16 11:21:47 +10:00
Peter Barker
30c65e57be SITL: remove use of Vector3 as function 2020-06-16 11:06:47 +10:00
Peter Barker
2f8c0dd65b AP_Math: remove use of Vector3 as function 2020-06-16 11:06:47 +10:00
Peter Barker
0f2bcea647 AP_Compass: remove use of Vector3 as function 2020-06-16 11:06:47 +10:00
Peter Barker
8c0aed9c6c AP_AHRS: remove use of Vector3 as function 2020-06-16 11:06:47 +10:00
Peter Barker
dad5b4e903 AP_Math: remove use of Vector2 as function 2020-06-16 11:00:44 +10:00
Michael du Breuil
f25d20f549 AP_Compass: Only send a single MAG_CAL_* message per poll 
this fairly allocates bandwidth between the calibrators
 2020-06-16 10:09:14 +10:00
Michael du Breuil
ab2dea5b86 AP_Common: Add % operator to TSIndex 2020-06-16 10:09:14 +10:00
Rishabh
b3a2b360e6 AC_Fence: clear breach if breached fence is not enabled 2020-06-16 08:27:19 +09:00
Andrew Tridgell
7f429302ed HAL_ChibiOS: increase monitor thread stack to 768 bytes 
attempt to fix issue #14582
 2020-06-15 17:56:34 +10:00
bugobliterator
82480f0a3d AP_Compass: return id of max empty compass state when prio id is 0 2020-06-13 07:52:20 +10:00
Andrew Tridgell
6fa623d074 HAL_ChibiOS: added Holybro Pix32v5 2020-06-12 21:23:16 +10:00
ashvath100
042ca7861f AP_Scripting: get_output_scaled method 2020-06-12 14:48:02 +10:00
Peter Barker
ea03504af2 AP_Camera: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos' 2020-06-12 08:11:46 +10:00
Peter Barker
8fd50dd66e AP_Arming: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos' 2020-06-12 08:11:46 +10:00
Peter Barker
88f4232e46 RC_Channel: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos' 2020-06-12 08:11:46 +10:00
MATEKSYS
14e01e21b7 HAL_ChibiOS: MatekH743: move baro to I2C2 bus 2020-06-11 17:31:59 +10:00
Andrew Tridgell
c1403a2e2b HAL_ChibiOS: fixed default CubeOrange pin for 2nd current sensor 2020-06-10 17:32:11 +10:00
Andrew Tridgell
9ddc7ea763 SITL: rebuilt linux tcp connector for matlab 2020-06-10 17:08:58 +10:00
Iampete1
2f99326db8 SITL: MATLAB: fix conector auto reconect 2020-06-10 17:08:58 +10:00
Iampete1
10000ed8ee SITL: recompile MATLAB pnet function 2020-06-10 17:08:58 +10:00
Peter Barker
8867457c4f AP_OSD: fix pointless multiple/divide 
This is scaling code; OSD wants 0 to 99 vs 0 to 255 the uint8_t
function gives.  Use the unerlying 0-1 function in the OSD code in
preference to unscaling it from 255 then scaling to 99
 2020-06-10 09:39:59 +10:00
Peter Barker
0e964a4654 AP_Logger: use config error loop rather than abort 
Also add a specific check for the length of the labels field
 2020-06-10 09:02:35 +10:00
chobits
f5f403947c AP_NavEKF2: clarify POSNE_M_NSE desc 2020-06-09 20:44:57 +09:00
chobitsfan
4477e2c617 AP_VisualOdom: fix desc typo 2020-06-09 13:31:21 +09:00
chobitsfan
01e6b316a6 AP_VisualOdom: clarify POS_M_NSE and YAW_M_NSE description 2020-06-09 13:31:21 +09:00
chobitsfan
255c685a8a AP_Logger: fix missing unit description in VISP 2020-06-09 13:31:21 +09:00
Randy Mackay
6714aa4e83 AP_Logger: shorten VISP and VISV log field names 2020-06-09 13:31:21 +09:00
chobits
9b448b83c0 AP_NavEKF3: use err info from ext nav interface 2020-06-09 13:31:21 +09:00
chobits
5e5a0d2111 AP_Logger: log ext nav pos err and ang err 2020-06-09 13:31:21 +09:00
chobits
5d271d1e04 AP_VisualOdom: support covariance from msg and add pos, ang err parameters 2020-06-09 13:31:21 +09:00
chobits
991387dbfb GCS_MAVLink: support covariance field in vis pose msg 2020-06-09 13:31:21 +09:00
chobits
e64c92b322 AP_NavEKF2: use err info from ext nav interface 2020-06-09 13:31:21 +09:00
Sergey Bokhantsev
f92d539b41 RC_Channel: Aux switches to respect 'reverse' option 2020-06-09 11:13:35 +10:00
Peter Barker
f04acbd7de RC_Channel: stop writing events when fence enabled or disabled 
AC_Fence now does this
 2020-06-09 10:52:19 +10:00
Peter Barker
973b103a4a AC_Fence: write log event when fence enabled or disabled 2020-06-09 10:52:19 +10:00
Peter Barker
f158533fe9 GCS_MAVLink: allow private channels to also be active 
This will allow for logging of private channels.
 2020-06-09 10:37:32 +10:00
Peter Barker
06012cbc56 GCS_MAVLink: cope with RingBuffer rename if empty() to is_empty() 2020-06-09 10:21:48 +10:00
Peter Barker
e15abd3320 AP_RCTelemetry: cope with RingBuffer rename if empty() to is_empty() 2020-06-09 10:21:48 +10:00
Peter Barker
fd3dd77489 AP_HAL: rename ringbuffer empty() to is_empty() 2020-06-09 10:21:48 +10:00
Peter Barker
b428f12913 GCS_MAVLink: add and use accessor for last-RADIO_STATUS.remrssi-ms 2020-06-09 10:20:29 +10:00
Peter Barker
07e3f1d48f GCS_MAVLink: add RADIO_STATUS.rssi as an AP_RSSI telemetry source 2020-06-09 10:20:29 +10:00
Peter Barker
547b641c91 AP_RSSI: add RADIO_STATUS.rssi as an AP_RSSI telemetry source 2020-06-09 10:20:29 +10:00
Randy Mackay
345029ec67 AP_NavEKF3: print extNav buff size 2020-06-09 09:42:14 +10:00
Randy Mackay
c4440a81f4 SITL: SIM_Vicon supports sending at 50hz 2020-06-09 09:42:14 +10:00
Randy Mackay
6c10655059 AP_NavEKF2: accept extnav at up to 50hz 2020-06-09 09:42:14 +10:00
Randy Mackay
0f212ca727 AP_NavEKF3: accept extnav at up to 50hz 2020-06-09 09:42:14 +10:00
Iampete1
fee5b998bf AP_Logger: add min MB free param 2020-06-09 09:23:25 +10:00
Iampete1
0d53ce4cd7 SRV_Channel: re-work timeout 2020-06-09 09:04:14 +10:00
Iampete1
66cbed78f5 SITL: JSON examples: update readme 2020-06-08 17:50:03 +10:00
Andrew Tridgell
5d9e0cb58d SITL: added robot.py pybullet example code 2020-06-08 17:50:03 +10:00
Andrew Tridgell
86d53c96d1 AP_Scripting: added opendog lua demo 2020-06-08 17:50:03 +10:00
Andrew Tridgell
ac5594566e SITL: rebuild matlab pnet for x86_64 linux 2020-06-08 17:50:03 +10:00
Andrew Tridgell
5b58b91626 SITL: allow connect back to originating port for matlab 2020-06-08 17:50:03 +10:00
Iampete1
f5e98a6d69 SITL: update MATLAB example 2020-06-08 17:50:03 +10:00
Iampete1
fbb4df97a3 SITL: SIM_JSON: update 2020-06-08 17:50:03 +10:00
Andrew Tridgell
44f727cfd2 SITL: removed use of extra port for JSON 2020-06-08 17:50:03 +10:00
Iampete1
c6603be64a SITL: MATLAB regenerate pnet.c for windows 2020-06-08 17:50:03 +10:00
Iampete1
99465b718f SITL: allow MATLAB pnet.c UDP no connect 2020-06-08 17:50:03 +10:00
Andrew Tridgell
843485ba5c SITL: fixed formatting of pnet.c 2020-06-08 17:50:03 +10:00
Andrew Tridgell
d9fc96f971 AP_Terrain: shortcut ocean tile creation 2020-06-08 13:56:42 +10:00
Andrew Tridgell
078de3205c AP_Terrain: added test option to terrain creation script 2020-06-08 13:56:42 +10:00
Andrew Tridgell
15f9f7009c AP_Terrain: fixed filling of all lattitudes in terrain generation script 2020-06-08 13:56:42 +10:00
Andrew Tridgell
6a1f43d5df HAL_ChibiOS: fixed build with our old compiler 
gcc 4.9 doesn't like static_assert() in C code
 2020-06-07 14:11:48 +10:00
Paul Riseborough
71ae9426c5 SITL: Fix hand launch behaviour 
Launch acceleration should be multiplied by vehicle mass when calculating launch force.
10 m/s (1g) is much too low for a hand launch. 25 m/s (2.5g) over a shorter period is more realistic and will trigger the recommended value of TKOFF_THR_MINACC of 15 recommended for hand launches.
 2020-06-07 11:53:02 +10:00
Peter Barker
c1de346150 GCS_MAVLink: avoid copying data twice in ftp transfers 2020-06-07 08:51:09 +10:00
duccan
cdcdd5ce27 AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1 
Rework after review:
- Kept old IMU and barometer definition of crazyflie 2.0 in hwdef
- Added comment regarding soft-reset command
- Added defaults.parm for crazyflie
 2020-06-07 07:49:37 +10:00
duccan
0d96c7f7a5 AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1 2020-06-07 07:49:37 +10:00
Randy Mackay
9f26bd0a67 AP_BattMonitor: TYPE param swap for SMBus-Maxell and SMBus-Generic 
Generic becomes type "7" which was previously Maxell.  Maxell becomes type 16
 2020-06-05 16:57:39 -07:00
Randy Mackay
ff0460342b AP_Proximity: minor comment fix 2020-06-05 16:57:39 -07:00
Randy Mackay
2396a8176c AP_BattMonitor: comment fix 2020-06-05 16:57:39 -07:00
Randy Mackay
268c67d12d AP_BattMonitor: correct Maxell capacity 2020-06-05 16:57:39 -07:00
Randy Mackay
3de2dff6e3 AP_BattMonitor: simplify SMBus driver includes 2020-06-05 16:57:39 -07:00
Randy Mackay
4ea565e4ed AP_BattMonitor: Maxell driver inherits from SMBus_Generic 2020-06-05 16:57:39 -07:00
Randy Mackay
f869cd9aa6 AP_BattMonitor: complete rename of SMBus_Maxell to Generic 2020-06-05 16:57:39 -07:00
Randy Mackay
c13c037f7b AP_BattMonitor: rename SMBus_Maxell to Generic 2020-06-05 16:57:39 -07:00
Andrew Tridgell
2e7dc380c4 SITL: revert default physics step to 1200 
this should help us pass CI
 2020-06-06 08:17:25 +10:00
Andrew Tridgell
5349113104 SITL: improved the speedup code 
more accurate sleeps using sleep debt system
 2020-06-06 08:17:25 +10:00
Andrew Tridgell
750b220a5f SITL: simulations optimisations 
- change to 600Hz physics rate by default
 - don't export rotational acceleration (not needed)
 - report speedup in terminal output at 0.5Hz (wall clock rate)
 2020-06-06 08:17:25 +10:00
Andrew Tridgell
7c2d13c571 SITL: added simulation of pressure altitude for multicopter 
this gives us a ceiling of 5.4km above sea level for the default
copter
 2020-06-05 11:35:53 +10:00
Siddharth Purohit
c0eb27cc35 AP_Compass: pull compass calibrator out into a separate thread 2020-06-05 09:38:40 +10:00
bugobliterator
c914a91be9 AP_Compass: add support for per mag calibration 2020-06-05 09:38:40 +10:00
bugobliterator
95493e4569 SITL: add support for per mag calibration 2020-06-05 09:38:40 +10:00
Peter Barker
86687d240d AP_NavEKF3: avoid compiler warnings from -Wclass-memaccess 
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp: In member function ‘void NavEKF2_core::InitialiseVariables()’:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:343:50: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  343 |     memset(&extNavVelNew, 0, sizeof(extNavVelNew));
      |                                                  ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:344:58: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  344 |     memset(&extNavVelDelayed, 0, sizeof(extNavVelDelayed));
      |                                                          ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
 2020-06-05 08:42:45 +10:00
Peter Barker
b02d9abd32 AP_NavEKF2: avoid compiler warnings from -Wclass-memaccess 
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp: In member function ‘void NavEKF2_core::InitialiseVariables()’:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:343:50: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  343 |     memset(&extNavVelNew, 0, sizeof(extNavVelNew));
      |                                                  ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:344:58: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  344 |     memset(&extNavVelDelayed, 0, sizeof(extNavVelDelayed));
      |                                                          ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
 2020-06-05 08:42:45 +10:00
James Jacobsson
8a87322d93 AP_HAL_Chibios: Adjust MatekF765-Wing voltage and current scales 
The new values matches the ones from here:
http://www.mateksys.com/?portfolio=f765-wing#tab-id-5

Also verified to be a lot more accurate in real life.
 2020-06-04 10:06:22 +10:00
Alexander Maryanovsky
d73043fc2f SITL: get_wall_time_us() to use a monotonic clock on non-Windows systems 2020-06-04 10:05:22 +10:00
Phillip Kocmoud
0d5a0f392c hwdef.dat update x2.1-777 2020-06-04 09:51:27 +10:00
Andrew Tridgell
571fbf8f71 HAL_ChibiOS: update power VALID pins 2020-06-04 09:51:27 +10:00
Andrew Tridgell
863807c9fb HAL_ChibiOS: use more consistent naming for power VALID pins 
this uses _VALID for an active high pin and _nVALID for an active low
pin. It uses _OC for active high overcurrent and _nOC for active low
overcurrent
 2020-06-04 09:51:27 +10:00
Andrew Tridgell
f896213770 AP_AHRS: drop rotate prefix on 2D rotates 2020-06-04 09:49:52 +10:00
Andrew Tridgell
d7b20c6e48 AP_Scripting: added micros() 2020-06-04 09:49:52 +10:00
Andrew Tridgell
1bc9001267 AP_Scripting: added ahrs:get_EAS2TAS() 2020-06-04 09:49:52 +10:00
Andrew Tridgell
f8be087c7e AP_Scripting: added new lua bindings 2020-06-04 09:49:52 +10:00
Andrew Tridgell
7d520c8307 AP_AHRS: added body/earth frame ops for Lua 2020-06-04 09:49:52 +10:00
Andrew Tridgell
a56a7f7da4 AP_Math: added more vector3f ops for lua 2020-06-04 09:49:52 +10:00
Andrew Tridgell
cab3630009 AP_InertialSensor: switched to supplying timestamps for SITL 
this allows the time step to change on each loop as we no longer use
the average sensor rate when calculating deltas
 2020-06-03 18:11:06 +10:00
Andrew Tridgell
e4596efe9b SITL: added SIM_RATE_HZ 
this allows the physics step size to be changed while flying the
internal models, which allows for lower CPU usage
 2020-06-03 18:11:06 +10:00
Andras Schaffer
43bef1ac9e AP_Proximity: fix proximity ignored zone calulation 
It seems there was a typo in the checking of proximity ignored zones.
 2020-06-03 16:11:55 +09:00
Peter Barker
f842c27070 AP_HAL_SITL: correct clearing of UART drivers 2020-06-03 17:00:44 +10:00
Peter Barker
f3bee7fa03 AP_HAL_Linux: correct clearing of UART drivers 2020-06-03 17:00:44 +10:00
Peter Barker
931c77fa77 AP_HAL_ChibiOS: correct clearing of UART drivers 2020-06-03 17:00:44 +10:00
Randy Mackay
c936307ecf RC_Channel: minor format fix to option param desc 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi
ea3c11030c RC_Channel: add ZIGZAG_Auto Aux switch 2020-06-03 15:21:21 +09:00
Samuel Tabor
b21f9030b7 AP_Soaring: Update parameter ranges. 2020-06-02 10:36:51 -07:00
TunaLobster
a13ddc1096 AP_Scripting: add binding for get_output_pwm 2020-06-02 12:53:24 +10:00
Andrew Tridgell
78858bbcdd AP_GPS: switch ublox over to 230400 baud 
this ensures we have sufficient bandwidth for raw data
 2020-06-01 17:18:17 -07:00
Andrew Tridgell
d9d53d380d AP_Landing: implement continue after land for fixed wing landings 
this makes touch and go missions possible
 2020-06-02 09:12:22 +09:00
Andrew Tridgell
7c49723f19 AP_Mission: added continue after land mission option 
this allows for option to continue a mission after a landing is
complete. The default in copter was to continue, so adding this
option makes copter not continue by default. Plane already disarmed on
land complete.
 2020-06-02 09:12:22 +09:00
Henry Wurzburg
f9b02a6814 AP_RangeFinder: HC-SR04: Add glitch filter 2020-06-02 09:58:53 +10:00
Peter Barker
fc1ea612b1 AP_RangeFinder: add support for HC-SR04 rangefinder 2020-06-02 09:58:53 +10:00
Michael du Breuil
400220e210 AP_BattMonitor: Rearrange arming check order 2020-06-02 09:55:36 +10:00
Andrew Tridgell
2dcf8a3b08 AP_RangeFinder: cope with beyond max range with LightwareI2C 2020-06-02 08:49:38 +09:00
mmk0102
22d052b711 AP_Arming: check for duplicate auxswitch options 2020-06-02 09:43:31 +10:00
Randy Mackay
93d8458d2a AP_NavEKF3: FuseVelPosNED uses ext nav vel err in obs data check 2020-06-02 08:33:42 +09:00
Randy Mackay
d37eec5fd8 AP_NavEKF3: ext nav vel corrected for sensor position when recalled from buffer 2020-06-02 08:33:42 +09:00
Randy Mackay
79901ffc1b AP_VisualOdom: pass velocity error to logger 2020-06-02 08:33:42 +09:00
Randy Mackay
08f6b2128e AP_Logger: add VISV field descriptions 2020-06-02 08:33:42 +09:00
Randy Mackay
714975662d AP_Logger: VISP message gets velocity error field 2020-06-02 08:33:42 +09:00
Randy Mackay
31763424a3 SITL: speed up vicon messages to avoid EKF timeouts during resets 2020-06-02 08:33:42 +09:00
Randy Mackay
630bc01101 AP_HAL_SITL: send vehicle velocity to sitl vicon class 2020-06-02 08:33:42 +09:00
Randy Mackay
c8f6cb233b SITL: vicon supports sending vision-speed-estimate 
SIM_VICON_TMASK controls which of the 3 supported messages are sent
SIM_VICON_VGLI_X/Y/Z allows introducing a velocity glitch
 2020-06-02 08:33:42 +09:00
Randy Mackay
3a209d5d84 SITL: SIM_Vicon loses unused obs_elements structure 2020-06-02 08:33:42 +09:00
Randy Mackay
cad9889656 AP_AHRS: send vision-speed-estimates to EKF3 2020-06-02 08:33:42 +09:00
chobits
c7817eaca1 AP_NavEKF3: support VISION_SPEED_ESTIMATE 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2020-06-02 08:33:42 +09:00
Randy Mackay
bdb67532b0 AP_Math: clarify get_vel_correction_for_sensor_offset comment 2020-06-02 08:33:42 +09:00
Randy Mackay
4639e8a698 AP_Math: add get_vel_correction_for_sensor_offset 2020-06-01 17:51:24 +09:00
chobits
9b480ca755 AP_Logger: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
chobits
66a5f645d7 AP_VisualOdom: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
chobits
ff6e4c4f9a GCS_MAVLink: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
chobits
dee095b4a4 AP_NavEKF2: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
chobits
c9e363d529 AP_AHRS: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
Rishabh
e7d98648e6 AR_WPNav: Reset WP origin if recovering from OA 2020-05-30 08:55:45 +09:00
Rishabh
44f0aef5e9 AP_OAPathPlanner: Add param to reset WP origin while recovering from Bendy 2020-05-30 08:55:45 +09:00
Gone4Dirt
1b7672a84f AP_Motors: Correctly adjust heli run up timer in bailout 2020-05-28 18:50:08 -04:00
Iampete1
141ab622a3 SITL: examples: JSON: MATLAB: add pnet linux compiled 2020-05-29 08:25:24 +10:00
Iampete1
13965133b0 SITL: examples: JSON: add MATLAB example 2020-05-29 08:25:24 +10:00
Iampete1
fa712082d7 SITL: examples: add JSON readme 2020-05-29 08:25:24 +10:00
Iampete1
ce0cb9660f SITL: examples: add MATLAB TCP/UDP/IP Toolbox 2020-05-29 08:25:24 +10:00
Iampete1
0c6efa5f26 SITL: add JSON backend 2020-05-29 08:25:24 +10:00
Iampete1
c31a4f4b14 AP_HAL_SITL: add JSON backend 2020-05-29 08:25:24 +10:00
CUAVcaijie
220e6999c7 HAL_ChibiOS:Adapt to CUAV Nora V1.2 hardware 2020-05-28 19:13:49 +10:00
Peter Barker
1ebfc79eb0 AP_HAL_Linux: enable console for examples 
Turns out we *do* need this for examples.  We're back to stuffing up
terminals where examples have been run, but that can be addressed later.
 2020-05-28 13:49:47 +10:00
pkocmoud
7809dc849c HAL_ChibiOS: Added support for mRo Pixracer Pro flight controller 2020-05-27 21:22:56 +10:00
Andrew Tridgell
529bfe8fcd AP_GPS: fixed issue with GPS selection for moving baseline 
when you have a moving baseline pair of ublox GPS modules and the
rover GPS does not have full fixed RTK lock on the base GPS then we
should not use it as our primary GPS as it's position and velocity can
be badly affected by the attempts of the GPS to gain a fixed lock.

This was observed in a flight with two F9P GPS, where the GPS velocity
data from the rover GPS went way off when it lost full RTK lock. It's
status stayed at 4, so it was selected as the primary GPS
 2020-05-27 10:59:46 +10:00
MisterMower
41245acf14 AP_Logger: Added units to CurrTot message 
Units are not associated with the CurrTot message. AP_BattMonitor.h indicates the total current consumed is reported in mAh. This change sets the units for CurrTot to Ampere seconds and applies a multiplier of 3.6 to convert the reported mAh value to Ampere seconds.
 2020-05-26 16:19:14 +10:00
Peter Barker
6cdee8c830 AP_BLHeli: read more efficiently from telemetry UART 2020-05-26 15:59:11 +10:00
Peter Barker
6d9e563ede AP_HAL_ChibiOS: override read(buffer,count) method to be more efficient 2020-05-26 15:59:11 +10:00
Peter Barker
d259c03079 AP_HAL: BetterStream add a read(uint8_t*buffer, uint16_t count method 2020-05-26 15:59:11 +10:00
Peter Barker
1d9c2b1726 AP_Logger: add documentation for SBPH and SBRH 2020-05-26 14:13:06 +10:00
Henry Wurzburg
9c72525bbf AP_HAL_ChibiOS: Add unused LED output as GPIO in OmnibusF4Pro def 2020-05-26 10:51:32 +10:00
Peter Barker
19dc07250d AP_NavEKF2: clarify yaw reset error message 
The current wording can be taken to indicate that the mag sensors
stopped, causing this issue.
 2020-05-26 10:05:35 +10:00
Peter Barker
bf3cb977fd AP_NavEKF3: clarify yaw reset error message 
The current wording can be taken to indicate that the mag sensors
stopped, causing this issue.
 2020-05-26 10:05:35 +10:00
vierfuffzig
6fa7dca68b AP-Baro: fix init without baro 2020-05-26 10:04:22 +10:00
yaapu
13592cef91 AP_Frsky_Telem: removed time constraint to allow SITL regression testing 2020-05-26 10:02:12 +10:00
yaapu
6303c700d4 AP_Frsky_Telem: prevent SPort frame fragmentation by writing whole 8byte frames vs writing single bytes 
general scheduler delays could introduce small delays when writing SPort frames to the uart one byte
at the time potentially leading to rx desyncs on the SPort bus.
This fix replaces single byte writes with full frame writes.

The library has around 10ms to repond to polling so to guarantee frame integrity responses taking
longer than 7500us are discarded
 2020-05-26 10:02:12 +10:00
Peter Barker
af80c4a29f AP_RangeFinder: remove move-to-error-state for LeddarOne driver 
Just because there's a lot in your input buffer doesn't necessarily mean
the rangefinder is faulty.
 2020-05-26 09:20:32 +10:00
Peter Barker
3bf1ac5918 AP_BLHeli: trim annoying LF from debug "Bad CRC" line 2020-05-26 09:20:32 +10:00
Peter Barker
67e4756f19 AP_Hott_Telem: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
90038339dc AP_UAVCAN: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
95f9769041 AP_RangeFinder: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
f1182637a6 AP_IOMCU: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
71f6262294 AP_EFI: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
d012cf8d47 AP_Camera: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
a073469423 AP_BLHeli: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
80615c44ff AP_HAL_SITL: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Barker
9a9743e6ba AP_HAL_Linux: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Barker
b16c1ea647 AP_HAL_Empty: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Barker
8f54de4184 AP_HAL_ChibiOS: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Barker
a8d03990ec AP_HAL: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Hall
bfd71fdae1 RC_Channel: add Qassist switch 2020-05-26 09:01:47 +10:00
Andrew Tridgell
5bfcb0ed4a SRV_Channel: Add servo chan override w/ timeout 
Adds a feature to override a servo output for a given time. Scripting
bindings and example included.
 2020-05-25 14:10:01 +10:00
Andrew Tridgell
5e74152444 AP_Scripting: Add servo chan override w/ timeout 
Adds a feature to override a servo output for a given time. Scripting bindings and example included.
 2020-05-25 14:10:01 +10:00
Andrew Tridgell
cf0f95f81e AP_BLHeli: allow for negative temperatures from BLHeli32 ESCs 
ESCs can send negative values
 2020-05-25 13:53:32 +10:00
Andrew Tridgell
a0cf4e158a AP_Compass: revert change to RM3100 scale factor and increase scale limit 
This reverts the change from #13895 and instead resolves the issue by
increasing the scale factor limit to 1.4

There is an open question as to why some RM3100 compasses show a
different scale factor (by about 1.25 times) to other versions of the
same sensor. As we haven't resolved this properly it seems the correct
thing to do is follow the datasheet but allow for a wider range of
scale factors to cope with the variation between sensors
 2020-05-24 15:06:15 +10:00
Peter Barker
49918d070e AP_Logger: add documentation for ESC LoggerMessage 2020-05-24 13:07:35 +10:00
Peter Barker
cc60faa58e AP_Logger: use single message number for all ESCs by using instance # 2020-05-24 13:07:35 +10:00
Andy Piper
63b5711a4d AP_Compass: use a separate slot for the custom compass rotation 2020-05-24 07:46:17 +10:00
Andy Piper
acff7daba5 AP_RCProtocol: scale SRXL2 using published conversion values. switch SRXL2 channels to match ArduPilot 2020-05-24 07:45:01 +10:00
Andy Piper
6da1f3bf2e AP_GyroFFT: filter energy, harmonic and amplitude fit. Make a better guess at harmonic matching 
add filtered second and third harmonics and log them
make sure we use all of the gyro samples available on each axis rather than skipping
separate gyro update from fft start to minimize time in fast loop
add FFT_HMNC_PEAK to allow users to select which noise peak and which axis will be tracked.
make sure the self-test runs once and display the results
report self-test failure reason. make sure self-test runs for all windows.
always give logging a chance to run at IO_PRIORITY
add log message documentation
make sure the engine still runs even when the arming check has been disabled
record last FFT update time and cycle time and fallback to throttle estimate when update is too old
delay for longer in FFT thread between cycles to cope on F4
try really hard to get a viable frequency estimate
change range on MAXHZ/MINHZ to reflect that 50Hz is actually quite dangerous
swap the center peak for one of the shoulders if there is temporarily a closer match with the frequency trend
when FFT is disabled still log harmonic notch frequency
use distance matrix to find most appropriate peak
use a median filter to remove outliers before filtering
discount peaks that are relatively too low in energy
make sure harmonic fit is tracked for both potential targets
convert all gyro buffers to ObjectBuffer<float> for lock-free access
run all FFT steps inside the FFT thread
calculate cycle time and loop delay correctly
drop samples when the ring buffer is full
 2020-05-24 07:43:34 +10:00
Andy Piper
fab8168f5c AP_Arming: allow FFT to report failure reason. allow FFT check to be disabled. 
document FFT arming check and make sure the appropriate side effect happens regardless
 2020-05-24 07:43:34 +10:00
Andy Piper
8ac79da643 AP_InertialSensor: FFT gyro window would overflow on windows >= 256 
convert FFT buffers to ObjectBuffer<float> for lock-free access
push gyro samples directly into the FFT ring buffer from the gyro thread
 2020-05-24 07:43:34 +10:00
Andy Piper
d873ec4533 AP_Vehicle: separate gyrofft gyro sampling from fft initiation 
move FFT gyro sampling into fast loop for all vehicles
rename FFT update method
 2020-05-24 07:43:34 +10:00
Andy Piper
13e40a3002 AP_HAL_Empty: add harmonics to DSP 
add DSP vector mean function
add ObjectBuffer signature
 2020-05-24 07:43:34 +10:00
Andy Piper
33c1523905 AP_HAL_ChibiOS: add harmonics to DSP 
add vector_mean_float() to DSP
allow fft_start() to use ObjectBuffer<float> for lock-free access
 2020-05-24 07:43:34 +10:00
Andy Piper
ee87ef7013 AP_HAL_SITL: make harmonics part of DSP 
add vector mean function to dsp
allow fft_start() to use ObjectBuffer<float> for lock-free access
 2020-05-24 07:43:34 +10:00
Andy Piper
e2ef0bd36e AP_HAL: collect data for three largest peaks 
new dsp peak detection algorithm
add DSP sketch with frequency ascii art
tool to generate gyro data frames from batch sampled DF logs
add generated data from real Y6B flight
allow fft_start() to use ObjectBuffer<float> for lock-free access
allow ObjectBuffer to be resized
 2020-05-24 07:43:34 +10:00
Peter Barker
5bbb02e03b SITL: add support for simulated proximity sensors 2020-05-22 17:06:16 +10:00
Peter Barker
be9fc57e8f AP_HAL_SITL: add support for simulated RPLidarA2 2020-05-22 17:06:16 +10:00
Andy Piper
f5320e8816 AP_Compass: make sure SITL rotation gets initialized like all the others 
don't remove a custom rotation that has already been set
 2020-05-21 16:28:27 +10:00
bugobliterator
7b9f0f3fd7 HAL_ChibiOS: use FIFO mode instead of Queue mode in FDCAN driver 2020-05-21 15:32:53 +10:00
Gone4Dirt
b2d2bf61da AP_Motors: Support autorotation windows on external governors 2020-05-20 21:56:09 -04:00
Henry Wurzburg
23e7e2d193 AP_RangeFinder: rename Benewake types for easier identification 2020-05-21 08:45:30 +09:00
Paul Riseborough
af19fea268 AP_NavEKF2: Fix 3-axis mag fusion per axis error handling 
Ensure that if fusion checks for an axis fails, fusion will not be perfomred for all axes.
 2020-05-20 15:09:32 +10:00
Buzz
d4df145b4b ArduPlane: option to keep landing throttle at thr_min during flare and touchdown, not zero. 2020-05-20 11:29:45 +10:00
Buzz
dc3db0476b AP_Landing: option to keep landing throttle at thr_min during flare and touchdown, not zero. 2020-05-20 11:29:45 +10:00
Andy Piper
9f02b1b1a8 AP_NavEKF2: fix typo in comment 
Signed-off-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
 2020-05-20 07:29:31 +09:00
Andrew Tridgell
97f335396b AP_Scripting: fixed memory leak 2020-05-19 09:09:48 +10:00
Peter Hall
b368188b01 AP_Scripting: add AP_Logger binding 2020-05-19 09:09:48 +10:00
Peter Hall
be37a8a2b6 AP_Scripting: add example logging serial to dataflash 2020-05-19 09:09:48 +10:00
Peter Hall
11dc3e05e3 AP_Scripting: add SD file and dataflash logging example 2020-05-19 09:09:48 +10:00
Peter Hall
19ba9abc89 AP_Logger: add function and make public for scripting use 2020-05-19 09:09:48 +10:00
Peter Hall
aa657626f2 AP_Scripting: examples: plane-wind-fs: read in CRT_MAH 2020-05-18 11:25:13 -07:00
Paul Riseborough
939331ae8d AP_NavEKF3: Fix double iteration of axes in SelectMagFusion 2020-05-18 09:38:45 +10:00
bugobliterator
05fe49a51f AP_Math: disable INEXACT flag from Float exception 2020-05-17 16:12:43 +10:00
bugobliterator
07907ac81d HAL_SITL: fix gcc build on macosx 2020-05-17 16:12:43 +10:00
Mark Whitehorn
a54f286c1b SITL: fixed running of example programs 2020-05-16 11:06:35 +10:00
Peter Barker
115751833b AP_Logger: process pending rotate on arming 
If the user arms the vehicle during the logging-persist-timeout we
should rotate the log immediately.
 2020-05-15 16:02:09 +10:00
Randy Mackay
6c20264d9c AP_NavEKF3: minor comment fix 2020-05-15 11:23:07 +09:00
Randy Mackay
5ad3611142 AP_NavEKF3: improve ext nav glitch handling 
replaces extNavTimeout with posTimeout
replaces lastExtNavPassTime_ms with lastPosPassTime_ms
 2020-05-15 11:23:07 +09:00
Randy Mackay
b2dd6446c8 SITL: add comment to SIM_VICON 2020-05-15 10:07:52 +09:00
Randy Mackay
b71403c11a AP_VisualOdom: provide delay to ahrs:writeBodyFrameOdom 2020-05-15 10:07:52 +09:00
Randy Mackay
b2ad1caf75 AP_AHRS: writeBodyFrameOdom accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
ef02942459 AP_NavEKF3: writeBodyFrameOdom accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
69560ec147 AP_VisualOdom: provide delay to ahrs::writeExtNavData 2020-05-15 10:07:52 +09:00
Randy Mackay
762e82d49d AP_AHRS: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
c28fd27b02 AP_NavEKF3: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
f26a2a47b4 AP_NavEKF2: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
366d03a533 SITL: add VICON_YAWERR 
this allows simulating an error in the camera's reported yaw
 2020-05-15 09:22:07 +10:00
Randy Mackay
bf9ee4ada8 SITL: remove unused MAG_ERROR and VICON_HSTLEN params 2020-05-15 09:22:07 +10:00
Andrew Tridgell
fd32dff45a AP_IOMCU: force safety off on IOMCU reset 
if safety was forced off previously and we get an IOMCU reset then
force it off when the reset happens so vehicle can keep flying
 2020-05-14 18:28:50 +10:00
mhefny
9f56b656e0 SITL: Revamp Examples to support multiple drones 2020-05-14 18:05:16 +10:00
mhefny
5a64156862 SITL: SITL-Webots timing is received from Webots only 2020-05-14 18:05:16 +10:00
Paul Riseborough
318811210f AP_NavEKF3: Don't perform emergency yaw reset unless commanded externally 
This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
 2020-05-14 10:40:48 +10:00
Paul Riseborough
c94de61e29 AP_NavEKF2: Don't perform emergency yaw reset unless commanded externally 
This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
 2020-05-14 10:40:48 +10:00
Andrew Tridgell
fc28cd4fa2 GCS_MAVLink: fixed a ftp duplicate reply 
this fixes a bug in burst replies where the duplicate reply may have
the wrong offset. This causes the "paramftp bad type" error
 2020-05-14 09:53:42 +10:00
chobits
a7aa43f5d5 AP_NavEKF2: ext nav will not reset yaw if compass is used 2020-05-14 08:04:55 +09:00
Randy Mackay
45e6896d95 AP_NavEKF3: ensure extnav angle error is at least 5deg 2020-05-14 08:02:13 +10:00
Andy Piper
e9b939ccb5 AP_Scripting: build fix for macOS 2020-05-13 11:59:03 -07:00
Andrew Tridgell
36869f668b AP_Scripting: fixed build on cygwin with deep directories 2020-05-12 19:55:21 +10:00
Andrew Tridgell
50db7f1648 AP_Scripting: update README.md 2020-05-12 19:55:21 +10:00
Andrew Tridgell
9cf464e570 AP_Scripting: removed the old Makefile 2020-05-12 19:55:21 +10:00
Andrew Tridgell
2c6fd13899 AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
Andrew Tridgell
5c8e4a4d7b AP_Scripting: removed old generated bindings 2020-05-12 19:55:21 +10:00
Buzz
9d9fdd1cb0 AP_Scripting: add big demo script for editing and updating mission item/s from lua. 2020-05-12 14:20:26 +10:00
Buzz
816474b6e8 AP_Scripting: rebuild bindings 2020-05-12 09:58:14 +10:00
Buzz
963b25059d AP_Scripting: allow to get/set/create arbitrary mission items 
fetch item/s by their index, and review wp data, etc.  
AP_Mission: ran mission files through approved astyle  as they were non-compliant before this( astyle --options=Tools/CodeStyle/astylerc   )
 2020-05-12 09:58:14 +10:00
Andrew Tridgell
d16f31711e AP_RangeFinder: fixed mixing UAVCAN and non-UAVCAN rangefinders 
UAVCAN rangefinders add themselves to the frontend drivers as the
devices appear. If they turn up before RangeFinder::init() is run then
this prevented init() from scanning for the other rangefinders as
num_instances is non-zero

This also fixes a race condition in updating num_instances in the
UAVCAN backend
 2020-05-12 09:45:15 +10:00
Andrew Tridgell
603e5c4b55 AP_RangeFinder: added get_address() 
allows AP_Periph to supply sensor_id for multiple CAN rangefinders
 2020-05-11 18:36:46 +10:00
Peter Barker
5100c9fb8c GCS_Common: whitelist AUTOPILOT_VERSION for in_delay_callback sending 
GCSs may request this very early on in the boot process, particularly
for SITL.

If we try to send it during a delay callback then we end up dropping it
at the moment - but we'd already sent the ack in response to the
request.
 2020-05-11 15:22:38 +10:00
Peter Barker
ca4af94833 AP_Logger: prevent potential infinite recursion in log-open codepath 
If anything in start_new_log did logging (for example, by sending a
statustext), we end up infinitely recursing.

With the patch:

diff --git a/libraries/AP_Logger/AP_Logger_File.cpp b/libraries/AP_Logger/AP_Logger_File.cpp
index 69b8ef0431..eb422d10f8 100644
--- a/libraries/AP_Logger/AP_Logger_File.cpp
+++ b/libraries/AP_Logger/AP_Logger_File.cpp
@@ -778,6 +778,7 @@ void AP_Logger_File::PrepForArming()
  */
 void AP_Logger_File::start_new_log(void)
 {
+    gcs().send_text(MAV_SEVERITY_WARNING, "Starting new log");
     stop_logging();

     start_new_log_reset_variables();
pbarker@bluebottle:~/rc/ardupilot(master)$

We see:

    at ../../libraries/AP_Logger/AP_Logger_File.cpp:781
    this=0x555555ad9d30, pBuffer=0x7fffff8209d0, size=75, is_critical=true)
    at ../../libraries/AP_Logger/AP_Logger_Backend.cpp:372
    this=0x555555ad9d30, pBuffer=0x7fffff8209d0, size=75)
    at ../../libraries/AP_Logger/AP_Logger_Backend.h:32
    this=0x555555ad9d30, message=0x7fffff820b10 "Starting new log")
    at ../../libraries/AP_Logger/LogFile.cpp:466
    this=0x555555a6d758 <copter+11384>,
    message=0x7fffff820b10 "Starting new log")
    at ../../libraries/AP_Logger/AP_Logger.cpp:752
    this=0x555555a6e708 <copter+15400>, severity=MAV_SEVERITY_WARNING,
    fmt=0x5555557d64d0 "Starting new log", arg_list=0x7fffff820be0,
    dest_bitmask=1 '\001') at ../../libraries/GCS_MAVLink/GCS_Common.cpp:1847
    this=0x555555a6e708 <copter+15400>, severity=MAV_SEVERITY_WARNING,
    fmt=0x5555557d64d0 "Starting new log", arg_list=0x7fffff820be0)
    at ../../libraries/GCS_MAVLink/GCS.cpp:53
    this=0x555555a6e708 <copter+15400>, severity=MAV_SEVERITY_WARNING,
    fmt=0x5555557d64d0 "Starting new log")
    at ../../libraries/GCS_MAVLink/GCS.cpp:60
    at ../../libraries/AP_Logger/AP_Logger_File.cpp:781
    this=0x555555ad9d30, pBuffer=0x7fffff820dc0, size=75, is_critical=true)
    at ../../libraries/AP_Logger/AP_Logger_Backend.cpp:372

I'm not aware of any instances in the code where this will actually
happen - but it could easily sneak in.
 2020-05-11 15:12:36 +10:00
Henry Wurzburg
12d5602926 AP_HAL_ChibiOS: Add ability to use UART3 and UART4 in bd alt config 4 2020-05-11 14:18:35 +10:00
Peter Barker
50523ed0fa AP_HAL_ChibiOS: remove pointless initialisations 
These are never stack-allocated.

Only saves 16 bytes - but several lines
 2020-05-10 18:03:36 +10:00
Randy Mackay
67903a29e2 AP_NavEKF3: fix getLLH when no GPS 2020-05-10 15:35:55 +10:00
Randy Mackay
b95bc9076b AP_NavEKF2: fix getLLH when no GPS 2020-05-10 15:35:55 +10:00
Andrew Tridgell
2200dfefdb HAL_ChibiOS: during setup() we expect delays 
this may fix occasional internal errors on SPI during startup
 2020-05-10 15:12:43 +10:00
Andrew Tridgell
04e29d58e3 RC_Channel: avoid invalid misaligned access in example 2020-05-10 15:11:22 +10:00
Andrew Tridgell
5350ea5c58 AP_NavEKF3: avoid build warnings with g++ 9 2020-05-10 15:11:22 +10:00
Andrew Tridgell
3e853344f3 AP_Math: avoid build warnings 2020-05-10 15:11:22 +10:00
Andrew Tridgell
87c2858bde GCS_MAVLink: give banner on param download with ftp 
thanks to Peter for noticing
 2020-05-10 15:10:21 +10:00
Andrew Tridgell
259cb0aafd HAL_ChibiOS: removed EKF2 define, not needed any more 2020-05-10 15:09:54 +10:00
Andrew Tridgell
8868ac2d6f AP_AHRS: disable EKF2 by default on 1M boards 2020-05-10 15:09:54 +10:00
Andrew Tridgell
61d036acf3 HAL_ChibiOS: added build time check for right system clock 
this helps prevent cases where we underclock a chip due to mistake in
headers or hwdef.dat
 2020-05-10 15:09:28 +10:00
Andrew Tridgell
69676cd614 HAL_ChibiOS: support 24MHz f3 MCUs 2020-05-10 15:09:28 +10:00
Henry Wurzburg
3f735e7e54 HAL_ChibiOS: Make full UART4 available as bd config option 2020-05-10 08:00:57 +10:00
Henry Wurzburg
225a305cb9 AP_HAL_ChibiOS:Remove alt config since its not useful (no TX available) 2020-05-10 08:00:21 +10:00
Henry Wurzburg
8b3f07416c AP_NAVEKF3: change plane check_scaler value to match EKF2 value 2020-05-10 07:59:27 +10:00
Andrew Tridgell
cd5aae20c1 AP_NavEKF3: fixed scary message for non-compass planes 2020-05-09 12:33:33 +10:00
Andrew Tridgell
4a80313fdd AP_Compass: added get_num_enabled() 
used by EKF3
 2020-05-09 12:33:33 +10:00
Michael du Breuil
ceb0a9c827 AP_Airspeed: Rearrange state to save memory 
Saves 8 bytes per airspeed sensor (2 backends for 8 total), and removes
the unneeded width specifier, which has no impact on used memory, and
saves us 88 bytes of flash because we don't have to do work to shift the
bits around.
 2020-05-06 18:15:08 +10:00
Peter Barker
64e300a00c AP_Soaring: add documentation for VAR dataflash log message 2020-05-06 13:23:51 +10:00
Peter Barker
446dc61979 AP_InternalError: add warning on the internal error_t type 2020-05-06 13:23:15 +10:00
Peter Barker
70a9abfaff AP_InternalError: emit stringification of internal errors 2020-05-06 13:23:15 +10:00
Peter Barker
75514dfdfe AP_Arming: emit stringification of internal errors 2020-05-06 13:23:15 +10:00
Peter Barker
69093aa7b1 AP_Soaring: stop taking AHRS as constructor argument 
... use singleton instead
 2020-05-05 17:35:14 +10:00
Peter Barker
f1f30a2fee AP_UAVCAN: regularise CAN pre-arm failure messages 
AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
 2020-05-05 11:27:53 +10:00
Peter Barker
245b962d92 AP_PiccoloCAN: regularise CAN pre-arm failure messages 
AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
 2020-05-05 11:27:53 +10:00
Peter Barker
a6246a6afa AP_KDECAN: regularise CAN pre-arm failure messages 
AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
 2020-05-05 11:27:53 +10:00
Peter Barker
b38d2c6194 AP_Arming: regularise CAN pre-arm failure messages 
AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
 2020-05-05 11:27:53 +10:00
Andrew Tridgell
8ea433ac21 AP_Terrain: added script for creating terrain *.dat files 
useful for pre-populating a microSD card
 2020-05-05 11:21:33 +10:00
Andrew Tridgell
7b7bf3ef86 AP_Terrain: fixed bug in disk offset calculation 
this fixes a problem where two different locations could both be
mapped to the same disk block in the terrain/*.DAT files. That meant
that pre-filled terrain on the microSD card would sometimes require a
download in flight. It also means that a RTL with loss of GCS could
sometimes fly through a region with no terrain data available

Other changes in this patch:

 - allow for a 2cm discrepancy in the lat/lon of the grid
   corners. This is needed to allow for slightly different floating
   point rounding in tools that pre-generate terrain data to load on
   the microSD

 - added TERRAIN_OPTIONS parameter to allow the user to disable
   attempts to download new terrain data. This is mostly useful for
   testing to validate a terrain generator
 2020-05-05 11:21:33 +10:00
Tatsuya Yamaguchi
f23e592057 AP_Camera: move get_channel_pos function to RC_Channels 2020-05-05 10:09:30 +09:00
Tatsuya Yamaguchi
806bd38c7f RC_Channel: add get_channel_pos function 2020-05-05 10:09:30 +09:00
Tatsuya Yamaguchi
de854a2ffe AP_Arming: pre-arm check for disarm aux switch 2020-05-05 10:09:30 +09:00
Tatsuya Yamaguchi
4fdd24ecd3 RC_Channel: add disarm aux switch RCn_OPTION=81 2020-05-05 10:09:30 +09:00
Andy Piper
b7b2d9a6ce AP_Compass: add support for custom compass rotation via COMPASS_CUS_{ROLL,PIT,YAW} 
add reboot required for parameters that need it
disable custom rotation on AP_Periph devices
 2020-05-05 09:25:18 +10:00
Andy Piper
167e1d12d7 AP_RCProtocol: disable flow-control and buffered-writes for SRXL2 uart 
switched spm_srxl.c to C++ compilation
Correctly set budget for half-duplex writes
Tidy PACKED and other externalities
disable SRXL2 on IOMCU and softserial - SRXL2 is a serial half-duplex protocol-only
fixed buffer overrun in SRXL2 parser
fix bugs in decoder sketch and allow output to SITL
 2020-05-05 09:23:15 +10:00
Andy Piper
44e5171f2b AP_Frsky_Telem: refactor common code into AP_RCTelemetry 
refactor naming
when using external data AP_Frsky_Telem::init() has to call AP_RCTelemetry::init() and exit.
No need to initialize serial ports
 2020-05-05 09:23:15 +10:00
Andy Piper
e3a88f686d AP_RCTelemetry: Spektrum telemetry library and telemetry abstraction 
add support for temperature, battery voltage, battery current, flight pack
altitiude, airspeed, attitude and compass, GPS, ESC telemetry based on BLHeli
status messages and QOS packets.
refactor into AP_Telemetry
conditionally compile based on HAL_MINIMIZE_FEATURES
don't initialize spektrum telemetry if there is no RC uart
 2020-05-05 09:23:15 +10:00
Andy Piper
da166b256d GCS_MAVLink: add messages to Spektrum telemetry if it is enabled 2020-05-05 09:23:15 +10:00
Andy Piper
68c6a3b03d AP_RCProtocol: SRXL2 support 2020-05-05 09:23:15 +10:00
Peter Barker
967f8bf726 AP_HAL_ChibiOS: correct description of where stdout goes 2020-05-05 07:57:57 +10:00
david sastre
f8b6d4b0ac AP_Parachute: Fix singleton panic message 2020-05-05 07:43:02 +10:00
Andrew Tridgell
e126b6d346 HAL_ChibiOS: fixed race condition in storage write 
we could mark a line as clean when it should be dirty if we lose a
race condition between storage thread and writer
 2020-05-04 17:22:41 +10:00
Andrew Tridgell
0c1ba48212 AP_NavEKF3: fixed external yaw EK3_MAG_CAL=5 or 6 
don't use GSF
 2020-05-04 15:05:56 +10:00
Peter Barker
f43e48a6f1 AP_Filesystem: correct comparison of signed/unsigned 
Closes #14267
 2020-05-04 12:06:30 +10:00
Lucas De Marchi
29d8586ea4 AP_HAL_Linux: RCInput_UDP: accept up to 16 channels 
This allows more channels to be passed to RCInput_UDP protocol while
also allowing less than 8 channels - this is similar to the approach
used by SITL in which the packet size is used to figure out the number
of channels.
 2020-05-03 00:07:52 -07:00
Andrew Tridgell
f0fb64005d AP_Filesystem: document extra restrictions in param.pck 2020-04-30 21:15:28 +10:00
Andrew Tridgell
685d0666e9 AP_Filesystem: added README on VFS interface 2020-04-30 21:04:12 +10:00
Randy Mackay
183ce50138 AP_NavEKF3: check GPS used before resetting pos due to GPS receiver change 2020-04-30 15:55:59 +09:00
Randy Mackay
f79d5d2d2c AP_NavEKF3: handle external nav position reset 2020-04-30 15:55:59 +09:00
Randy Mackay
cbb25311bb AP_NavEKF3: setAidingMode uses lastExtNavPassTime_ms 2020-04-30 15:55:59 +09:00
Randy Mackay
d763597065 AP_NavEKF3: compensate for visual odometry sensor position 2020-04-30 15:55:59 +09:00
priseborough
c5e465aec9 AP_NavEKF3: add external nav system support 
includes decoupling height source from use of external nav data
 2020-04-30 15:55:59 +09:00
priseborough
471372cc7f AP_AHRS: Write external nav data to EKF3 2020-04-30 15:55:59 +09:00
Peter Barker
81454c7a40 GCS_MAVLink: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
58a8e54d83 AP_Math: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
7befe84f0c AP_Logger: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
f0b38fa11c AP_IOMCU: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
a30cdabb34 AP_InternalError: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
5f8a9d1e15 AP_HAL_SITL: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
141d7fed48 AP_HAL: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
48da4e523c AP_HAL_ChibiOS: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
37cddbeea6 AP_FlashStorage: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
8e82ea2540 AP_Common: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
119eef9954 AP_Arming: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
36fd632a49 AP_AHRS: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
069bd04bdc AC_Fence: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
pkocmoud
defb7dc43f hwdef: add mRo M10070 Location One CAN GPS 2020-04-30 11:31:43 +10:00
Patrick José Pereira
3268c234d8 AP_HAL_Linux: Add PAGE_SIZE in RCInput_RPI 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-29 02:12:58 -07:00
Patrick José Pereira
32c0e37512 AP_HAL_Linux: Organize and document GPIO_RPI class 
- Move macros to functions and improve explanation about logic behind it
- Break code in functions to make it more readable
- Add doxygen comments about functions and how they work in a comprehensive manner
- Improve general code maintainability

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-29 02:12:58 -07:00
Andrew Tridgell
66655212b1 AP_Compass: fixed compass ordering bug with AP_Periph 
when a user swaps compasses on AP_Periph we want to immediately
replace it. The compass ordering code was rejecting the new compass
and calling panic as it was out of slots. This changes the AP_Compass
ordering so that when we only have a single compass we operate in a
very simple manner where we always accept the first compass found
 2020-04-29 18:51:16 +10:00
Andrew Tridgell
3ec2ef787d HAL_ChibiOS: fixed build warning 2020-04-29 12:20:19 +10:00
Andrew Tridgell
f00392d567 AP_GPS: don't accept a zero GNSS timestamp from UAVCAN GPS 
this is needed for a bug in AP_Periph 1.0 which could briefly send a
zero timestamp on first fix marked as a UTC time
 2020-04-29 12:20:19 +10:00
Andrew Tridgell
ce68e0fbb5 HAL_ChibiOS: fixed bootloader build 2020-04-29 07:36:55 +10:00
Andrew Tridgell
0ef66659ce HAL_ChibiOS: log WDOG message once a second 
this copes with delayed mounting of the microSD, making it much more
likely we log the critical data
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
7d6e5fa8a5 AP_InternalError: implement AP_stack_overflow() C binding 
allow low level HAL code to report a stack overflow to
AP_InternalError
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
18e88e0ea3 HAL_ChibiOS: implement stack overflow hook 
this needs C bindings to allow call from low level RTOS thread
switching code
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
77b8f88289 AP_Vehicle: report thread name in watchdog mavlink msg 2020-04-29 07:36:55 +10:00
Andrew Tridgell
c61cecdbc7 HAL_ChibiOS: report thread name in watchdog 2020-04-29 07:36:55 +10:00
Andrew Tridgell
09477b2dfe HAL_ChibiOS: shorted thread names 
changes names so threads can be distinguished by first 4 bytes
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
a25ea5addc AP_HAL: added thread name to persistent data 
this addes the first 4 bytes of the thread name to persistent data. It
also re-arranges the data so that it is more efficiently packed,
allowing us to fit the new field
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
b519ebf512 AP_Filesystem: check for valid range for start and count 2020-04-29 07:36:55 +10:00
Andrew Tridgell
7571e616de GCS_MAVLink: handle session timeout due to lost packets 
and fixed handling of losing last pkt in a burst
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
db0d3c5e89 AP_Param: fixed race in param count handling 2020-04-29 07:36:55 +10:00
Andrew Tridgell
65e790a48c GCS_MAVLink: invalidate param count on set of ENABLE param 2020-04-29 07:36:55 +10:00
Andrew Tridgell
ffe9fa22a1 AP_RangeFinder: invalidate param count when changing param tree structure 2020-04-29 07:36:55 +10:00
Andrew Tridgell
d7555b4b86 AP_BoardConfig: invalidate param count when changing param tree structure 2020-04-29 07:36:55 +10:00
Andrew Tridgell
766fb32292 AP_Param: added set_enable() API 
used to set value of an enable parameter, clearing count cache
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
7e010ef50a AP_NavEKF3: use set_enable() to set enable flag 2020-04-29 07:36:55 +10:00
Andrew Tridgell
c9ffe8dcea AP_NavEKF2: use set_enable() to set enable flag 2020-04-29 07:36:55 +10:00
Andrew Tridgell
f6d83069d3 AP_Filesystem: guarantee padding and added URI options 2020-04-29 07:36:55 +10:00
Andrew Tridgell
3608bfe272 AP_Filesystem: added magic header for param.pck 2020-04-29 07:36:55 +10:00
Andrew Tridgell
65749706c2 AP_Filesystem: fixed SITL build 2020-04-29 07:36:55 +10:00
Andrew Tridgell
a5965d5a9e HAL_Chibios: removed unnecessary debug defines 2020-04-29 07:36:55 +10:00
Andrew Tridgell
9b14fa7ed9 AP_Filesystem: enable @PARAM, @ROMFS and @SYS with no microSD 2020-04-29 07:36:55 +10:00
Andrew Tridgell
7cd901fa5b GCS_MAVLink: enable ftp without filesystem 
allows for @PARAM and @SYS
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
2c26807736 HAL_ChibiOS: embed hwdef.dat in ROMFS for all boards 2020-04-29 07:36:55 +10:00
Andrew Tridgell
bd07e8516f Filter: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
3397ea24cc AP_RTC: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
b102fd6b59 AP_RangeFinder: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
9350c78023 AP_HAL_ChibiOS: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
4f591a338f AP_GPS: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
660f65e6b8 AP_Compass: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
40f1b5f9ae AP_Airspeed: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
6811d79b6f GCS_MAVLink: define GCS_SEND_TEXT() globally 
used to avoid linking GCS in AP_Periph
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
6bacf021c8 HAL_ChibiOS: disable thread_info in AP_Periph and bootloader 2020-04-29 07:36:55 +10:00
Andrew Tridgell
d82cd1363b HAL_ChibiOS: fixed bootloader build 2020-04-29 07:36:55 +10:00
Andrew Tridgell
cd3b4dcc7d AP_Filesystem: added @SYS filesystem backend 2020-04-29 07:36:55 +10:00
Andrew Tridgell
f0c9f4003e HAL_ChibiOS: implement thread_info() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
164022ca12 AP_HAL: added thread_info() API 2020-04-29 07:36:55 +10:00
Andrew Tridgell
67fc23d01b AP_Filesystem: support downloading parameters via ftp 
adds @PARAM/param.pck as a packed file of all parameters
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
456b685779 AP_Param: make type_size() public 2020-04-29 07:36:55 +10:00
Andrew Tridgell
ea71b72c87 HAL_ChibiOS: fixed issue with I2C4 on H743 
when both I2C4 and SPI4 are active on a H743 I found that some BDMA
completion interrupts were lost, which resulted in SPI transfer
timeouts. Close inspection of the ChibiOS BDMA, I2Cv3 and SPIv3
drivers did not reveal any issues, but I found that the issue only
happened when the first 4 BDMA streams were used. This change splits
the 4 streams across the first and 2nd half of the BDMA controller,
and that fixes the problem.

This works as there are only 2 peripherals (I2C4 and SPI6) that want
to use BDMA with our current setup. If we ever wish to enable ADC3
(which also uses BDMA) we will need to revisit this issue
 2020-04-28 17:42:15 +10:00
Randy Mackay
d8bc197d35 SITL: add VICON_GLIT_XYZ, FAIL and YAW 
glitches are in meters in vicon's frame
fail disables sending of vision-position-estimate messages
yaw is the vicon's heading in degrees.  i.e. if vicon's "forward" is
pointing to the east, yaw should be set to 90
 2020-04-28 12:31:14 +09:00
Paul Riseborough
ad5ae1813d AP_NavEKF3: Don't use geomag data when user specifies declination 2020-04-28 11:42:31 +09:00
Paul Riseborough
e1f27054d5 AP_NavEKF2: Don't use geomag data when user specifies declination 2020-04-28 11:42:31 +09:00
Paul Riseborough
8e9dc1c393 AP_Compass: Add accessor function for COMPASS_AUTODEC 2020-04-28 11:42:31 +09:00
Andrew Tridgell
b1977ca43d AP_Scripting: removed old servo output binding 2020-04-28 11:14:26 +10:00
Andrew Tridgell
d214e379a2 AP_Scripting: rebuild bindings 2020-04-28 11:14:26 +10:00
Andrew Tridgell
ea9316c2b5 AP_Scripting: added servo movement example script 2020-04-28 11:14:26 +10:00
Andrew Tridgell
ca584943a5 AP_Scripting: added bindings for servo output 2020-04-28 11:14:26 +10:00
Arash Negahdar
98dfc69887 SITL: Don't start scrimmage from ArduPilot 2020-04-28 11:09:51 +10:00
Mark Whitehorn
570aa929ca AP_Compass: handle ROTATION_CUSTOM in SITL 2020-04-28 10:57:26 +10:00
Mark Whitehorn
db1c7d9bdd SITL: add support for AHRS_ORIENTATION=ROTATION_CUSTOM 2020-04-28 10:57:26 +10:00
Mark Whitehorn
7d3d664ddf AP_Math: generate internalError on call to Vector3<T>::rotate and Quaternion::from_rotation with bad rotation value 2020-04-28 10:52:21 +10:00
Mark Whitehorn
b658a84124 AP_InternalError: add error type bad_rotation 2020-04-28 10:52:21 +10:00
bnsgeyer
ce171107a3 SITL: update tradheli dynamics model for SITL 2020-04-28 10:45:33 +10:00
Kelly Schrock
2cb54bb11d AP_BattMonitor: NeoDesign battery driver 
Adds a driver for the NeoDesign BMS, with variable cell count.
 2020-04-28 10:39:57 +10:00
Randy Mackay
8caf7d5811 AP_AHRS: add set_alt_measurement_noise 
These calls the EKF2 and EKF3's set_baro_alt_noise
 2020-04-28 09:38:23 +09:00
Michael du Breuil
9b404669c8 AP_Compass: Skip rotating the mag data when the board orientation is none 2020-04-28 10:37:00 +10:00
Andrew Tridgell
32cdfddf12 HAL_ChibiOS: convert all hwdef from UART_ORDER to SERIAL_ORDER 
much easier to understand
 2020-04-28 10:32:23 +10:00
Andrew Tridgell
a52070d226 HAL_ChibiOS: use SERIAL_ORDER instead of UART_ORDER 
SERIAL_ORDER is much easier for developers to understand as it maps
directly to the SERIALn_ parameters
 2020-04-28 10:32:23 +10:00
Andrew Tridgell
0994655f5b HAL_ChibiOS: fixed build warnings for bootloader builds 2020-04-28 10:32:23 +10:00
Andrew Tridgell
9557a5c22c HAL_ChibiOS: added more STM32CubeMX configs 2020-04-28 10:32:23 +10:00
Andrew Tridgell
a9df9fe0c0 HAL_ChibiOS: removed clock tree settings in most hwdef.dat 
these are better set automatically in the headers. This simplifies the
task of doing a new port
 2020-04-28 10:32:23 +10:00
Andrew Tridgell
a638196334 HAL_ChibiOS: skyviper-f412-rev1 uses a custom clock tree 2020-04-28 10:32:23 +10:00
Andrew Tridgell
e8b2b52bae HAL_ChibiOS: removed STM32_VDD from hwdef.dat 
use default
 2020-04-28 10:32:23 +10:00
Andrew Tridgell
d9efac2993 HAL_ChibiOS: only allow PLL override in clock selection part of header 2020-04-28 10:32:23 +10:00
Andrew Tridgell
fe765b8845 HAL_ChibiOS: switched CUAV_GPS to use same clocks as other F4 2020-04-28 10:32:23 +10:00
Andrew Tridgell
82c45f6cdb HAL_ChibiOS: default STM32_VDD to 3.3V 2020-04-28 10:32:23 +10:00
Andrew Tridgell
29f538dec9 HAL_ChibiOS: use common header for STM32 clock config 
avoid the need for clock config lines in most hwdef.dat files
 2020-04-28 10:32:23 +10:00
Andrew Tridgell
3d5475a1d9 HAL_ChibiOS: fixed skyviper-journey build 2020-04-28 10:32:23 +10:00
Andrew Tridgell
bceee69a6c AP_Filesystem: avoid some warnings in AP_Scripting 2020-04-28 10:32:23 +10:00
Andrew Tridgell
6222649e37 AP_Scripting: avoid build warnings 2020-04-28 10:32:23 +10:00
Andrew Tridgell
764117c336 AP_BoardConfig: fixed build warning 2020-04-28 10:32:23 +10:00
Andrew Tridgell
bb87da628e AP_Param: fixed build warning 2020-04-28 10:32:23 +10:00
Randy Mackay
2ae31f9d76 AP_AHRS: get_position obeys always_use_EKF 
Co-Authored-By: WickedShell <Wicked.Shell.Scripts@gmail.com>
 2020-04-28 09:20:05 +09:00
Leonardo Mariga
0f92cb9168 AP_Landing: Description of APP_EXT and unit of L1 fixed 2020-04-28 09:59:12 +10:00
Peter Barker
9142f877e7 AP_Mount: use logger Write method for logging Solo gimbal 
Also document the messages
 2020-04-28 09:56:09 +10:00