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20232 Commits

Author SHA1 Message Date
Andrew Tridgell
02403d9b93 HAL_SITL: added support for exit on panic() 
used by autotest server
 2019-06-07 20:33:13 +10:00
Peter Barker
35d4555be0 AC_Avoid: improve documentation of AVOID_ENABLE options 2019-06-07 17:37:00 +09:00
Lucas De Marchi
e66de36016 HAL_ChibiOS: fix I2C transaction without stop condition 
Start using i2cSoftStop() instead of i2cStop() so the peripheral
continues to be enabled and with non-gated clock.  This allows time for
the I2C peripheral to continue the ack or stop.
 2019-06-06 09:27:47 -07:00
Andy Piper
31ea3466af AP_InertialSensor: Post-filter logging takes precedence over sensor-rate logging. 2019-06-06 17:09:17 +10:00
Andy Piper
52e4676564 Filter: Allow all filter frequencies to be 16bit. 2019-06-06 17:09:17 +10:00
Andy Piper
36878e9b3c AP_InertialSensor: Allow all filter frequencies to be 16bit. 2019-06-06 17:09:17 +10:00
Andy Piper
fff81a2163 AP_InertialSensor: Make sure the LPF output is used by the notch input. 2019-06-06 17:09:17 +10:00
Andy Piper
1a8475cf9f Filter: Decouple notch filter configuration from the filter itself. 
Allow multiple notch filters to be instantiated using the same configuration.
 2019-06-06 17:09:17 +10:00
Andy Piper
18d403c3ac AP_InertialSensor: Rework notch filter allocation and sampling 
https://github.com/ArduPilot/ardupilot/issues/11346

Allocate a notch filter per-IMU.
Update the notch filters in the backend at the sensor sample rate.
Allow raw logging of post-filtered gyro and accel values.
 2019-06-06 17:09:17 +10:00
Andrew Tridgell
045bdf3478 AP_InternalError: removed unused internal error 2019-06-06 16:35:22 +10:00
Andrew Tridgell
91f80613dd AP_Logger: removed internal error for logging without sem 2019-06-06 16:35:22 +10:00
Peter Barker
dce472745e AP_NavEKF3: take EAS2TAS from AHRS rather than airspeed 2019-06-06 12:44:36 +10:00
Peter Barker
11f31c2851 AP_NavEKF2: take EAS2TAS from AHRS rather than airspeed 2019-06-06 12:44:36 +10:00
Peter Barker
697b8f6b53 AP_AHRS: take EAS2TAS directly from Baro (rather than via airspeed) 2019-06-06 12:44:36 +10:00
Peter Barker
5cfba85095 AP_AirSpeed: take EAS2TAS directory from baro; use for all backends 
Plane was only setting EAS2TAS in the primary frontend; calibration
expected it to be set on each instance.
 2019-06-06 12:44:36 +10:00
Peter Barker
470e88f8b3 AP_Button: use send_to_active_channels() 2019-06-06 12:41:48 +10:00
Peter Barker
264a757095 GCS_MAVLink: add send_to_active_channels method 2019-06-06 12:41:48 +10:00
Peter Barker
4d46c801f2 GCS_MAVLink: panic in SITL if we fail to write to uart 2019-06-06 12:41:48 +10:00
Andrew Tridgell
73bc277470 HAL_ChibiOS: fixed KakuteF7 build 
low on flash
 2019-06-06 12:19:13 +10:00
Andrew Tridgell
2acaada884 HAL_ChibiOS: fixed OMNIBUSF7V2 build 
ran out of flash for plane
 2019-06-06 12:19:13 +10:00
Andrew Tridgell
bfdf857b34 HAL_ChibiOS: fixed airbotf4 build 2019-06-06 12:19:13 +10:00
Peter Barker
f2163fbc24 AC_WPNav: use singleton for getting AC_Avoid instance 2019-06-06 11:47:22 +10:00
Andrew Tridgell
614a059819 HAL_ChibiOS: convert more boards to using new sensor config system 2019-06-05 18:54:40 +10:00
Andrew Tridgell
4a8c307720 AP_UAVCAN: fixed build error of F4 boards with CAN 2019-06-05 18:54:40 +10:00
Peter Barker
4c88a1e9de AP_RangeFinder: remove dangling update_instance declaration 2019-06-04 19:36:57 +09:00
Peter Barker
503aeba7b7 AP_RPM: remove dangling update_instance declaration 2019-06-04 19:36:57 +09:00
Peter Barker
d617904726 AP_Proximity: remove dangling update_instance declaration 2019-06-04 19:36:57 +09:00
Tatsuya Yamaguchi
18a43601cd RangeFinder: Add up to 10 RangeFinder logs 2019-06-04 19:11:11 +10:00
Peter Barker
be9df7f600 AP_Logger: add a README.md to help locating units/mults/fieldtypes 2019-06-04 19:00:11 +10:00
Peter Barker
b644df14d0 AP_Logger: move documentation for fieldtypes, units and mults to top 2019-06-04 19:00:11 +10:00
1iggy2
7323a5da9d AP_Motors: Added Octo I frame 2019-06-04 09:49:44 +09:00
ChristopherOlson
fc84995fb9 AP_Motors:Heli - remove H_LAND_COL_MIN and replace with H_COL_MID 2019-06-04 09:48:03 +09:00
Peter Barker
fb3f761fc7 AP_UAVCAN: fix redefinition of UAVCAN_NODE_POOL_BLOCK_SIZE warning 2019-06-04 10:25:15 +10:00
Peter Barker
cbf6d44277 AP_RCProtocol: fix missing-declaration warning in example 2019-06-04 10:25:15 +10:00
Peter Barker
73c81519da AP_GPS: fix missing-declaration warning in example 2019-06-04 10:25:15 +10:00
Peter Barker
e9160cd9d5 AC_Avoid: correct iteration through edges 2019-06-04 09:06:07 +09:00
Peter Barker
cd6e5b48a1 AC_Avoid: move check for zero-desired-velocity into adjust_velocity_polygon 
This is the method which divides by the length of this vector; the
check belongs in here.
 2019-06-04 09:06:07 +09:00
Vincent
3177d24429 AP_HAL: Make linux hardware define more readable 2019-06-04 10:00:09 +10:00
Peter Barker
bb14ec1a2c AP_Arming: make proximity sensor checks common 2019-06-04 08:45:34 +09:00
Peter Barker
99c56c1770 GCS_MAVLink: fix MAV.txp log field 
This was being promoted to an unsigned.
 2019-06-04 09:05:37 +10:00
Andrew Tridgell
e9ed3540f1 AP_NavEKF2: constrain field by table after fusion 
this should make for faster convergence
 2019-06-03 12:21:29 +10:00
Andrew Tridgell
3835d2613e AP_NavEKF2: added EK2_MAG_EF_LIM parameter 
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
 2019-06-03 12:21:29 +10:00
Andrew Tridgell
7206258587 AP_Compass: use new get_earth_field_ga() API 2019-06-03 12:21:29 +10:00
Andrew Tridgell
be62bf32cb AP_Declination: added get_earth_field_ga() interface 
this gives a more convenient API for getting the earth field as a
vector
 2019-06-03 12:21:29 +10:00
Peter Hall
49003868fe AP_Windvane: add NMEA wind sensor type 2019-06-03 10:48:19 +09:00
Peter Hall
fe38413ddc AP_SerialManger: add windvane serial type 2019-06-03 10:48:19 +09:00
Peter Hall
ea4ecebfc4 AP_Math: add speed unit converstion defs 2019-06-03 10:48:19 +09:00
ChristopherOlson
b6bfc8947f AP_Motors:Heli Governor - change rotor_rpm argument to a float 2019-06-03 07:53:01 +09:00
bnsgeyer
f1a32d7872 AP_Motors: Tradheli- modified thrcrv and gov parameter group names 2019-06-03 07:53:01 +09:00
ChristopherOlson
b1046c7b80 AP_Motors:Heli_RSC Governor - add method of droop compensation 
- improve handling of outliers from speed sensor
 - change governor_tc variable to governor_thrcurve
 - remove equals zero from variable declarations
 2019-06-03 07:53:01 +09:00
bnsgeyer
4120e29614 AP_Motors: Tradheli-complete conversion of throttle curve params to percent 
add conversion for throttle curve params for upgrade
 2019-06-03 07:53:01 +09:00
bnsgeyer
3629541a20 AP_Motors: Tradheli - implement enable params for throttle curve and governor 2019-06-03 07:53:01 +09:00
bnsgeyer
51d4029f03 AP_Motors: Tradheli - maintain consistent variable types as used in calcs 
add override to declaration of new functions
 2019-06-03 07:53:01 +09:00
ChristopherOlson
cca58e393a AP_Motors:Heli_RSC - add support for rotor speed governor with droop speed control 2019-06-03 07:53:01 +09:00
Peter Barker
062ee71135 AC_Fence: simplify fence loading 
There's only one caller to this, who didn't force loading - so remove
the unused parameter.

Also remove the _boundary_loaded boolean; it was only set to true in one
place - just before the sole caller called the function!
 2019-05-30 16:03:58 +09:00
Andrew Tridgell
ff603a1f0b HAL_ChibiOS: convert mini-pix 2019-05-30 15:39:57 +10:00
Andrew Tridgell
4548aa162b HAL_ChibiOS: convert mindpx-v2 2019-05-30 15:39:57 +10:00
Andrew Tridgell
91aa49ba6f HAL_ChibiOS: convert matek boards 2019-05-30 15:39:57 +10:00
Andrew Tridgell
fca03bef8d HAL_ChibiOS: convert F4BY 2019-05-30 15:39:57 +10:00
Andrew Tridgell
8605060dfc HAL_ChibiOS: convert F35Lightning 2019-05-30 15:39:57 +10:00
Andrew Tridgell
288d5d6fe6 HAL_ChibiOS: convert DrotekP3Pro 2019-05-30 15:39:57 +10:00
Andrew Tridgell
d90b05f685 HAL_ChibiOS: convert all fmuv5 boards to sensor config system 2019-05-30 15:39:57 +10:00
Andrew Tridgell
03bb94599b HAL_ChibiOS: support I2C sensor probes by bus mask 2019-05-30 15:39:57 +10:00
Andrew Tridgell
fc1ec8a465 HAL_ChibiOS: convert airbot to new config 2019-05-30 15:39:57 +10:00
Andrew Tridgell
82b171582e HAL_ChibiOS: added sensor config for cube varients 2019-05-30 15:39:57 +10:00
Andrew Tridgell
c36d76c213 HAL_ChibiOS: convert Pixhawk1 to new sensor config 
saves 26k of flash, making 1M boards work for longer
 2019-05-30 15:39:57 +10:00
Andrew Tridgell
eae852962e HAL_ChibiOS: fixed case of no IMU, BARO or COMPASS config settings 2019-05-30 15:39:57 +10:00
Andrew Tridgell
068e6ea8d2 HAL_ChibiOS: convert KakuteF4 and KakuteF7 to new sensor config 2019-05-30 15:39:57 +10:00
Andrew Tridgell
1b0bf88c8f HAL_ChibiOS: convert crazyflie2 to new config 2019-05-30 15:39:57 +10:00
Andrew Tridgell
b47ab5c8a9 HAL_ChibiOS: support I2C sensor config in hwdef.dat 2019-05-30 15:39:57 +10:00
Andrew Tridgell
4c5b651296 AP_HAL: removed board type for mRoControlZeroF7 2019-05-30 15:39:57 +10:00
Andrew Tridgell
38c775e6df AP_Compass: removed old mRoControlZeroF7 config 2019-05-30 15:39:57 +10:00
Andrew Tridgell
aef343bfd0 AP_InertialSensor: removed old mRoControlZeroF7 config 2019-05-30 15:39:57 +10:00
Andrew Tridgell
ceb9c3b83e HAL_ChibiOS: convert mRoControlZeroF7 to new sensor config 2019-05-30 15:39:57 +10:00
Andrew Tridgell
039e7366b0 AP_InertialSensor: support new sensor config setup 2019-05-30 15:39:57 +10:00
Andrew Tridgell
481ae22671 AP_Compass: support new sensor config setup 2019-05-30 15:39:57 +10:00
Andrew Tridgell
f7b9368b94 AP_Baro: support new sensor config setup 2019-05-30 15:39:57 +10:00
Andrew Tridgell
5eb488303c HAL_ChibiOS: convert Pixracer to use new sensor config 2019-05-30 15:39:57 +10:00
Andrew Tridgell
e198d552a8 HAL_ChibiOS: support IMU, COMPASS and BARO lines in hwdef.dat 
this allows for main sensors to be set in hwdef.dat, making adding new
boards simpler
 2019-05-30 15:39:57 +10:00
Andrew Tridgell
532b82b3a3 AP_Compass: use DRIVER_HMC5843 to match driver name 2019-05-30 15:39:57 +10:00
Tom Pittenger
c67a585b68 AP_Proximity: increase angular resoluion to mavlink packet OBSTACLE_DISTANCE 2019-05-29 18:22:53 -07:00
Peter Barker
1c4b5b0d73 AP_Arming: move arm status statustext messages back into vehicles 
Not all vehicle maintainers like having these emitted as part of normal
operations.
 2019-05-30 07:37:30 +09:00
Peter Barker
61a2be1470 AP_Arming: change arm and disarm to account for Copter now using them 2019-05-30 07:37:30 +09:00
Peter Barker
75ae6b59b0 GCS_MAVLink: allow Copter to disallow mavlink disarm 2019-05-30 07:37:30 +09:00
Peter Barker
84b16ea3dd AP_Arming: move check for ARMING_CHECK_NONE back into relevant vehicles 
Plane and Rover allow all prearm and arm checks to be bypassed with
ARMING_CHECK_NONE.  Not all vehicles allow this, so move this bypass
back into Plane and Rover.
 2019-05-30 07:37:30 +09:00
Peter Barker
e340873d88 GCS_MAVLink: canonicalise on success on commanded-to-arm-when-armed 
This means the mavlink return value indicates the current arm status of
the vehicle rather than success/failure of transitioning to the armed or
disarmed state (where trying to arm when armed is considered a failure).

MAVLink is a lossy communication mechanism.  It would not be
unreasonable for a GCS to issue a disarm command multiple times to
increase the chances of the command getting through.
 2019-05-30 07:37:30 +09:00
Peter Barker
c38e5ba4fc RC_Channel: handle AUX_FUNC::ARMDISARM 2019-05-30 07:37:30 +09:00
Peter Barker
b857d2c1af GCS_MAVLink: handle MAV_CMD_COMPONENT_ARM_DISARM 2019-05-30 07:37:30 +09:00
Peter Barker
d67e68eb03 AP_Logger: move LOG_ARM_DISARM_MSG in 2019-05-30 07:37:30 +09:00
Peter Barker
aff6cb424f AP_Arming: move Log_Write_Arm_Disarm in, make disarm virtual 2019-05-30 07:37:30 +09:00
Peter Barker
d384827291 AP_Arming: add singleton 2019-05-30 07:37:30 +09:00
Andrew Tridgell
48ac028cd0 AP_OSD: take ahrs and baro semaphores 
this ensures OSD data is self-consistent within each item
 2019-05-30 08:33:12 +10:00
Andrew Tridgell
5023b51679 AP_Baro: added semaphore for safe multi-thread use of APIs 2019-05-30 08:33:12 +10:00
Peter Barker
e4de5a17d1 AP_Math: add pitch-7 to rotation tests 2019-05-29 17:12:32 +10:00
Andrew Tridgell
e2eda63d2c AP_Math: added new rotation for PITCH_7 2019-05-29 17:12:32 +10:00
Peter Barker
977fe09276 AP_Math: add a more complex polygon for Polygon_outside tests 2019-05-29 15:34:02 +10:00
Peter Barker
d3971c18fa AP_Math: more tests for closed-vs-open polygons 2019-05-29 15:34:02 +10:00
Peter Barker
d74e6db12e AP_Math: add more tests for Polygon_outside 2019-05-29 15:34:02 +10:00
Peter Barker
da81c5fe39 AP_Beacon: do not include fence closing/duplicate point in polygon boundary 2019-05-29 15:34:02 +10:00
Peter Barker
de9fa4c730 AC_Avoid: call Polygon_outside directly; avoids losing first point 2019-05-29 15:34:02 +10:00
Peter Barker
4be3a48275 AC_Avoid: adjust for renamed get_polygon_points 2019-05-29 15:34:02 +10:00
Peter Barker
2822c635ec AC_Fence: correct get_boundary_points to account for closing point 
Also rename from get_polygon_points
 2019-05-29 15:34:02 +10:00
Peter Barker
36fe9a18a0 AP_Math: make Polygon_outside cope with being passed unclosed polygons 2019-05-29 15:34:02 +10:00
Randy Mackay
2061621951 AP_Proximity: default YAW_CORR to 0 
The default of 22 was good when the Lightware SF40C was our only proximity sensor but not good now that we have numerous options
 2019-05-29 11:17:28 +09:00
Randy Mackay
ff3d3d256c AP_Proximity: RPLidarA2 supports yaw-correction and orientation params 2019-05-29 11:17:28 +09:00
斯东Stone
c0e8a443af AP_OpticalFlow: Correct CX-OF Data Format Sequence 
Correct CX-OF (a.k.a. UART Version PMW3901) Data Format Sequence
 2019-05-29 10:22:51 +09:00
Randy Mackay
ce44d127c0 AR_WPNav: add is_destination_valid accessor 2019-05-29 09:40:05 +09:00
Peter Barker
ab7ee4fefb AP_Common: Location.cpp: add sanity checks 2019-05-29 09:04:37 +09:00
Michael Oborne
6031f5b6a9 AP_GPS_UBLOX: add support for TIMEGPS message. used to get gps week 2019-05-29 09:48:17 +10:00
Peter Barker
fc71e1ba53 AP_InternalError: add internal error for out-of-range bitmask ops 2019-05-28 09:43:17 +10:00
Peter Barker
9d4bdbf3d5 AP_Common: add sanity check into bitmask get/set 
Also return false if we are asked about an out-of-bounds bit
 2019-05-28 09:43:17 +10:00
Peter Hall
5839c1ebf6 SITL: Sailboat: write rpm and airspeed for windvane backends 2019-05-28 08:35:58 +09:00
Peter Hall
f26e1dc8e8 AP_WindVane: add modern devices rev p cal 2019-05-28 08:35:58 +09:00
Peter Hall
9dba9867c6 AP_WindVane: mini onion 2019-05-28 08:35:58 +09:00
Peter Barker
dbbf09d018 AP_Proximity: minor performance enhancements 2019-05-28 09:19:48 +10:00
Peter Barker
1c7a8c1509 AP_Beacon: correct parameter documentation to include SITL 2019-05-28 09:16:47 +10:00
Peter Barker
64aafb2af2 AP_Math: add Polygon_outside tests for long template instantiation 2019-05-28 09:08:07 +10:00
Peter Barker
51a0401383 AP_Math: correct Polygon_outside floating point instatiation 
This routine was entemplatificated from the integer version, which was
designed to be perfect across representable ranges of points.  The
floating point version suffered from a rounding problem.
 2019-05-28 09:08:07 +10:00
Peter Barker
b35b65eed1 AP_Math: add GTEST suite for Polygon_outside 2019-05-28 09:08:07 +10:00
Peter Barker
1ce2424e49 AP_HAL_Linux: add required override keyword on configure_parity 
Also remove virtual - doesn't make sense here.
 2019-05-27 09:55:18 -07:00
Michael du Breuil
a1fda8bc76 AP_BLHeli: Update to support newer targets and protocols 2019-05-25 09:37:56 +10:00
Lucas De Marchi
4f73881c4b AP_RangeFinder: TFMiniPlus: enforce minimum version 1.7.6 
On this version of the firmware the command changed - support the new
command and only that one: it's not expected to have devices with the
older versions.
 2019-05-24 01:47:04 -07:00
Lucas De Marchi
b3a8496613 AP_RangeFinder: add support for Benewake TFMini Plus on I2C 
This was tested with firmware 1.7.0 on the sensor.
 2019-05-24 01:47:04 -07:00
Peter Barker
f09efe0908 AP_Math: correct URL for Polygon_outside algorithm 2019-05-24 13:17:43 +10:00
Phillip Kocmoud
734abe3d7d hwdef: Correct typo for mRo x2.1-777 USB PID 
This needed to match the firmware directory which contains the compiled binaries hosted at http://firmware.ardupilot.org so that MissionPlanner can automatically download and update firmware.
 2019-05-23 11:05:42 +10:00
Rajat Singhal
8097b0ede3 SITL: Gazebo: Fixed comment, typos 2019-05-23 08:23:37 +09:00
Peter Barker
1b90643751 GCS_MAVLink: report more internal errors in SYS_STATUS 2019-05-23 07:29:29 +10:00
Peter Barker
43152a416c AC_Avoid: stop taking references to ahrs, fence, proximity and beacon 2019-05-22 07:48:02 -06:00
Peter Barker
b086b39f89 AP_Proximity: add AP::proximity() singleton getter 2019-05-22 07:48:02 -06:00
Peter Barker
8ce4f73550 AP_Beacon: add singleton 2019-05-22 07:48:02 -06:00
Peter Barker
a7c5f5a6c8 AP_Mission: break out a convert_MISSION_ITEM_to_MISSION_ITEM_INT method 
AP_Mission: remove unused mission_cmd_to_mavlink

AP_Mission: eliminate mavlink_to_mission_cmd (use mavlink_int_to_mission_cmd)
 2019-05-22 08:53:45 +10:00
Peter Barker
8911e67900 AP_Rally: adjust to allow for uploading via the mission item protocol 
AP_Rally: add a set_rally_total method

Rally: remove restriction of only setting rally points below the param count

Rally: implement truncate/append interface
 2019-05-22 08:53:45 +10:00
Peter Barker
d0105c8fa7 GCS_MAVLink: factor mission handling, use for Rally 
GCS_MAVLink: allow all mission types to be cleared

GCS_MAVLink: remove unused parameters from handle-mission-count
 2019-05-22 08:53:45 +10:00
Peter Barker
aaf98f942f AP_InternalError: add internal error for link errors in mission protocol 2019-05-22 08:53:45 +10:00
Peter Barker
a5f5b4349c AP_Logger: add a Write_Rally method 2019-05-22 08:53:45 +10:00
alancaro2013
a1557184d5 AP_RangeFinder: Modified uLanding parse to check device version. 
US-D1 version ID was changed to 2 from 0. This alteration will prevent
past US-D1s, with version ID 0, from being 3-byte parsed.
 2019-05-22 08:20:42 +10:00
Andrew Tridgell
19ace7cace RC_Channel: guarantee logging of RCIN on switch changes 2019-05-22 07:37:56 +10:00
Pierre Kancir
3fa419e132 AP_Baro: fix LPS22H on I2C 2019-05-22 07:37:20 +10:00
Pierre Kancir
2348fa4201 AP_Baro: probe HAL_BARO_LPS22H_I2C 2019-05-22 07:37:20 +10:00
Pierre Kancir
a4330f90b1 AP_HAL: add HAL_BARO_LPS22H_I2C 2019-05-22 07:37:20 +10:00
Stone white
8b7b5f0db9 AP_OpticalFlow: Make PX4FLOW work on all external I2C buses 2019-05-21 09:44:26 +10:00
Francisco Ferreira
869a369cc0 AP_AHRS: support NMEA output 2019-05-21 09:41:15 +10:00
Francisco Ferreira
e06556a677 AP_SerialManager: support NMEA output 2019-05-21 09:41:15 +10:00
Francisco Ferreira
80093f41b0 AP_NMEA_Output: new library for writing NMEA to serial ports 2019-05-21 09:41:15 +10:00
Francisco Ferreira
0e33907cf7 AP_HAL_SITL: change NMEA output to use new macro 2019-05-21 09:41:15 +10:00
Francisco Ferreira
6e95a144ef AP_Math: add macro for m/s to knots convertion 2019-05-21 09:41:15 +10:00
Peter Barker
32a6f0026a AP_OSD: add mutex against maniplating sf windows from different threads 2019-05-21 09:21:56 +10:00
Peter Barker
02e34c95c9 AP_Notify: add mutex against maniplating sf windows from different threads 2019-05-21 09:21:56 +10:00
Peter Barker
2fa1f041e3 AP_Notify: add SITL RGBLed 2019-05-21 09:21:56 +10:00
murata
9ed38eaf7b AP_OpticalFlow: Change to collected CRC header 2019-05-21 09:19:19 +10:00