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26684 Commits

Author SHA1 Message Date
Andrew Tridgell
f8e315fc65 AP_DAL: update GPS yaw API to add timestamp 2021-07-22 16:01:00 +10:00
Andrew Tridgell
4b2c766857 AP_GPS: change handling of moving baseline yaw 
this changes yaw handling in a few ways:

 - GPS yaw now has a timestamp associated with the yaw separate from
   the timestamp associated with the GPS fix

 - we no longer force the primary to change to the UBLOX MB rover when
   it has a GPS yaw. This means we don't change GPS primary due to GPS
   loss, which keeps the GPS more stable. It also increases accuracy
   as the rover is always less accurate in position and velocity than
   the base

 - now we force the primary to be the MB base if the other GPS is a
   rover and the base has GPS lock
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
de254d59f1 AP_NavEKF: sync for 4.1.0beta 2021-07-22 16:01:00 +10:00
Andrew Tridgell
dd2995af5d AP_Math: sync for 4.1.0beta releases 2021-07-22 16:01:00 +10:00
Andrew Tridgell
1d46e77942 AP_Common: make longitude_scale() a static 
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:

 pos1 + offs = pos2
 pos2 - offs == pos1
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
f0bc4bca84 HAL_ChibiOS: run storage writes at 1kHz not 100Hz 
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.

Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
 2021-07-22 16:01:00 +10:00
Peter Barker
156a220d5b AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-22 16:01:00 +10:00
Andrew Tridgell
9f03f5a9a9 AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
4408eecb18 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-22 16:01:00 +10:00
Andrew Tridgell
cc03255245 AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
8c9663e47c AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-22 16:01:00 +10:00
Andrew Tridgell
c05e93e51e AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
f2668f8e8e AP_Common: added ftype precision offset call 
# Conflicts:
#	libraries/AP_Common/Location.cpp
#	libraries/AP_Common/Location.h
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
edb11d4d71 AP_NavEKF3: convert code_gen.py to ftype 2021-07-22 16:01:00 +10:00
Andrew Tridgell
823ed4c309 AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-22 16:01:00 +10:00
Andrew Tridgell
b6fb7383e7 AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-22 16:01:00 +10:00
Andrew Tridgell
fa3f3dd218 HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7 2021-07-22 16:01:00 +10:00
Andrew Tridgell
a6c5b65f4a AP_NavEKF3: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
380b9b39ed AP_NavEKF2: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
10facfc519 AP_NavEKF: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
4dfa6258d9 AP_Mount: use ZERO_FARRAY() 2021-07-22 16:01:00 +10:00
Andrew Tridgell
26820c3a8c AP_Motors: fixup build for ftype conflict 2021-07-22 16:01:00 +10:00
Andrew Tridgell
425c8aafb1 AP_Common: added double methods for SITL 2021-07-22 16:01:00 +10:00
Andrew Tridgell
d698987070 SITL: fixup offset calls 2021-07-22 16:01:00 +10:00
Andrew Tridgell
e7afa628d1 AP_Math: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
c6c197d4fb HAL_ChibiOS: use SRAM1 as first ram segment on H7 
this is needed to give the linker more than 128k for static variables
with double precision maths.
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
309500c84f AP_HAL: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
ae013dd5e6 APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-05 16:09:34 +10:00
Andrew Tridgell
2ac01f207a AP_Notify: disable DShot buzzer by default 2021-07-04 18:28:20 +10:00
Andy Piper
b5bb401b97 AP_Notify: re-enable display on 1Mb boards 2021-07-04 08:24:40 +10:00
Andrew Tridgell
2d4e77e9b1 HAL_ChibiOS: always send zero DShot when disarmed 
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.

See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
 2021-07-04 08:24:17 +10:00
Andrew Tridgell
bf867fb792 AP_Logger: fixed log creation on forced arm 
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
 2021-07-04 08:23:29 +10:00
Randy Mackay
8722bb7ff9 GCS_MAVLink: send water depth and temp 2021-07-04 08:19:11 +10:00
Andrew Tridgell
937f316d14 AP_Common: use longitude scaling from definitions.h 2021-07-04 08:19:11 +10:00
Andrew Tridgell
0e37a44942 AP_Math: fixed the value LATLON_TO_CM 
it didn't have enough digits of precision, and was inconsistent with
LOCATION_SCALING_FACTOR
 2021-07-04 08:19:11 +10:00
Peter Barker
3134e15c77 AP_BattMonitor: correct static_assert call 2021-07-04 08:19:11 +10:00
Peter Barker
6de7d1d1df AP_HAL_SITL: reduce scope of loop variable 2021-07-04 08:19:11 +10:00
Leonard Hall
e21b8a5b29 AC_WPNav: use shaping_tc_z_s for terrain following time constant. 2021-07-04 08:19:11 +10:00
Leonard Hall
68b882d404 AC_AttitudeControl: Add shaping_tc_z_s accessor 2021-07-04 08:19:11 +10:00
Andrew Tridgell
86e8731fc5 AP_Mount: fixed longitude subtraction 2021-07-04 08:19:11 +10:00
Peter Barker
b7b7c7d86b AP_Common: add test for longitude wrapping 2021-07-04 08:19:11 +10:00
Andrew Tridgell
17193d3175 AP_Common: fixed Location class for wrap at 180 degrees longitude 
this allows us to fly missions across the date line
 2021-07-04 08:19:11 +10:00
Leonard Hall
83b4616a7b AC_PosControl: fixup ekf reset 2021-07-04 08:19:11 +10:00
Andrew Tridgell
92e407a0bc AP_IRLock: convert SITL backends to double precision position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
a82890c0db AC_PrecLand: convert SITL backends to double precision position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
f45ef772f3 AP_Math: added matrix3 tofloat and todouble 2021-07-04 08:19:11 +10:00
Andrew Tridgell
214d9ad0f8 AP_Common: added double methods for SITL 2021-07-04 08:19:11 +10:00
Andrew Tridgell
b0f2545a9f SITL: convert to double precision for positions 2021-07-04 08:19:11 +10:00
Andrew Tridgell
d2e94a49b7 AC_WPNav: convert circle, loiter and WPNav to double position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
0af57de50c AC_AttitudeControl: convert poscontrol to use double position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
e6a1cee08f AC_PID: convert AC_P_2D to double 2021-07-04 08:19:11 +10:00
Andrew Tridgell
c2211db91d AP_Math: implement double versions of some position control methods 2021-07-04 08:19:11 +10:00
Andrew Tridgell
d40475cf7b AP_Math: define postype_t and vectors 2021-07-04 08:19:11 +10:00
Andrew Tridgell
683f7949fd HAL_SITL: implement initial GPS position offsets 2021-07-04 08:19:11 +10:00
Andrew Tridgell
2f2d1c985a AP_Math: added tofloat() and todouble() methods to Vector2 and Vector3 2021-07-04 08:19:11 +10:00
Andrew Tridgell
f73564f593 SITL: added SIM_INIT_LAT_OFS and SIM_INIT_LON_OFS 
these give an initial lat/lon offset to the GPS in SITL so we can end
up with an origin a long way from the final position
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
e191c48d9f AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-07-04 08:19:11 +10:00
Andrew Tridgell
889bd2547f AP_Math: cleanups from Leonards feedback 2021-07-04 08:19:11 +10:00
Andrew Tridgell
6bde607aaa AC_AttitudeControl: fixed comment 2021-07-04 08:19:11 +10:00
Andrew Tridgell
848cac37c2 AP_Math: cleanup API comments on control code 2021-07-04 08:19:11 +10:00
Andrew Tridgell
52d20cedad AC_WPNav: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
a4220b1584 AC_AttitudeControl: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
6e99028d69 AP_Math: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
070a004f26 AP_Math: make vector3 xy() method return a reference 2021-07-04 08:19:11 +10:00
Siddharth Purohit
5a113cd8ad AP_PiccoloCAN: fix missing _telem_sem 2021-07-04 08:19:11 +10:00
Oliver
72ceee5539 AP_PiccoloCAN: Explicit initialization of AP_HAL::CANFrame instances 2021-07-04 08:19:11 +10:00
Oliver
ffbe038790 AP_PiccoloCAN: Remove unncessary floating point operations 2021-07-04 08:19:11 +10:00
Oliver
e9d8945930 AP_PiccoloCAN: Update code to match new esc telemetry / logging architecture 2021-07-04 08:19:11 +10:00
Oliver Walters
5a9c899f4b AP_PiccoloCAN: Increase number of supported channels from 12 -> 16 2021-07-04 08:19:11 +10:00
Oliver Walters
1a37b51ff7 AP_PiccoloCAN: Record servo telemetry information to log 
- Servo position
- Servo speed
- Servo force / torque
- Servo duty cycle

Updated servo protocol file to accommodate extra variable data
 2021-07-04 08:19:11 +10:00
Oliver Walters
c8ba301bb2 AP_PiccoloCAN: Send servo commands for active channels 
- For each channel, check if a non-motor function is assigned
- If so, send the function value out to the servo
 2021-07-04 08:19:11 +10:00
Oliver Walters
77417677d3 AP_PiccoloCAN: Framework for CAN servo outputs 2021-07-04 08:19:11 +10:00
Oliver Walters
9af4fa46d3 AP_PiccoloCAN: Add support for CBS servo protocol 
- Adds protocol files for the servo protocol
- Generated using Protogen tool
 2021-07-04 08:19:11 +10:00
Siddharth Purohit
37673762f9 AP_UAVCAN: Use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
58f09029ad SRV_Channel: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
4e15531c87 GCS_MAVLink: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
3895942282 AP_ToshibaCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
67dbbc34b7 AP_RangeFinder: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
d6ac420055 AP_PiccoloCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
67278d54ae AP_Notify: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
274ce7b516 AP_KDECAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
5014c65276 AP_HAL_SITL: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
9ed015f1c7 AP_HAL_Linux: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
f8d313cfd6 AP_HAL_ChibiOS: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
c640f0d3d9 AP_HAL: split into HAL_CANMANAGER_ENABLED and HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
17459128bf AP_HAL: Use HAL_ENABLE_CANMANAGER instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
fc1bc6b852 AP_Filesystem: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit
b32f687a6b AP_CANManager: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Leonard Hall
ee9ae3e570 AC_AttitudeControl: AC_PosControl: Init and stopping point fixes 2021-07-04 08:19:10 +10:00
bugobliterator
086f184c36 AP_HAL_ChibiOS: allow embedded bootloader to be excluded 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-07-04 08:19:10 +10:00
Peter Barker
d2c195b2a5 AP_Motors: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
4bdb245244 AP_Logger: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
ff91bca2e2 AP_LandingGear: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
131bec811a AP_InertialSensor: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
e76d78e8b3 AP_GPS: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
9340042e31 AP_BoardConfig: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
76d2cb7282 AP_Baro: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
fef68262ae AP_Arming: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
9690d78095 AP_ADSB: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
cc121b5b6d AC_Fence: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
fbd93bd535 AC_Avoidance: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
0c271e8d06 AC_AutoTune: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker
2712556fca RC_Channel: add rc channel option to disable all airspeed sensors 2021-07-04 08:19:10 +10:00
Peter Barker
6d91950d4e AP_Airspeed: add rc channel option to disable all airspeed sensors 2021-07-04 08:19:10 +10:00
Paul Riseborough
28a55e8478 AP_NavEKF3: Remove unused class variable rngBcnTimeout 2021-07-04 08:19:10 +10:00
Paul Riseborough
18e949d035 AP_NavEKF3: Ensure postion timeout flag and timer is always reset 2021-07-04 08:19:10 +10:00
Paul Riseborough
43e84c4061 AP_NavEKF3: Fade each vert vel variance clip count over 1 second 2021-07-04 08:19:10 +10:00
Paul Riseborough
7bd944ef3e AP_NavEKF3: Clean up initialisation of boolean array 2021-07-04 08:19:10 +10:00
Paul Riseborough
4b88b2ccec AP_NavEKF3: Remove unwanted line 2021-07-04 08:19:10 +10:00
Paul Riseborough
2565f3917c AP_NavEKF3: Protect against collapse of velocity and position variances 2021-07-04 08:19:10 +10:00
Paul Riseborough
e5c34172c1 AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata 2021-07-04 08:19:10 +10:00
Paul Riseborough
2161e59369 AP_NavEKF3: Fix bug preventing height reset if badIMUdata 2021-07-04 08:19:10 +10:00
Paul Riseborough
5a793e77c2 AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata 2021-07-04 08:19:10 +10:00
Leonard Hall
b73182db3c AC_AttitudeControl: AC_PosControl: change force_descend to ignore_descent_limit 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
7c939c5c00 RC_Channel: add const in member functions 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
14719826c8 AP_Arming: add flight mode conflict check 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
956f7d5e30 RC_Channel: add flight mode conflict check 2021-07-04 08:19:10 +10:00
Leonard Hall
20158ddf5f AC_AttitudeControl:AC_PosControl: vibration failsafe fix 2021-07-04 08:19:10 +10:00
CallanDaniel
16f7348f96 AP_AHRS: add semaphore around set_home() 
added semaphore around set_home() to avoid thread racing
 2021-07-04 08:19:10 +10:00
CallanDaniel
d1a228b086 AP_Scripting: add get_origin and set_home bindings 
added bindings and example scripts for set_home and get_origin
 2021-07-04 08:19:10 +10:00
Josh Henderson
c881fac1de AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying 2021-07-04 08:19:10 +10:00
Josh Henderson
678fe0480a AP_NavEKF2: Fix #17789 core's EKF origin altitude different if flying 2021-07-04 08:19:10 +10:00
Josh Henderson
b85afc0adc AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf3
 2021-07-04 08:19:10 +10:00
Josh Henderson
4e119ddeec AP_NavEKF2: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf2
 2021-07-04 08:19:10 +10:00
Michael du Breuil
ebab492700 AP_RangeFinder: Rearrange parameters to reduce memory usage 
Saves 4 bytes per instance, and with 10 instances this gives us an extra
40 bytes of RAM
 2021-07-04 08:19:10 +10:00
Michael du Breuil
2b6c9b931c AP_BattMonitor: Rearrange battery parameters to reduce memory usage 
Saves 8 bytes per Params instance, which we have 9 of on every vehicle,
for a total saving of 72 bytes
 2021-07-04 08:19:10 +10:00
Michael du Breuil
9e989bfd44 AP_Mission: Cleanup the header to reduce flash cost 
Removes unneeded set's of memory that is already zero'd. It also changes
_flags to be all bool to match the actual usage, and removes the width
specifiers from them. This increases the RAM cost of AP_Mission by 4
bytes, but saves on flash. The RAM cost was eliminated by rearranging
members.
 2021-07-04 08:19:10 +10:00
Michael du Breuil
b2d2c6db69 AP_Airspeed: Remove unneeded initilization 
We pre zero all memory
 2021-07-04 08:19:10 +10:00
Andy Piper
9c7e2f5914 AP_HAL_ChibiOS: add 1Hz update_channel_masks() 
Send dshot commands in update function
 2021-07-04 08:19:10 +10:00
Andy Piper
32b172669c SRV_Channel: call rcout->update_channel_masks() at 1Hz 2021-07-04 08:19:10 +10:00
Andy Piper
6e35b458c5 AP_Arming: remove call to rcout->prepare_for_arming() 2021-07-04 08:19:10 +10:00
Andy Piper
c995ff1452 AP_HAL: add 1Hz update_channel_masks() 2021-07-04 08:19:10 +10:00
Nicola Grossenbacher
37b6233d94 AP_Compass: added probe method for MMC3416 compass 2021-07-04 08:19:10 +10:00
Iampete1
712e3afd21 AP_BattMoniter: log in Ah and Wh, add percentage to log 2021-07-04 08:19:10 +10:00
Iampete1
c5dba34e4c AP_Logger: add Wh units 2021-07-04 08:19:10 +10:00
Iampete1
be1cca1368 AP_BatteryMoniter: fix mah to wah conversion 2021-07-04 08:19:10 +10:00
Pierre Kancir
ba4634a775 AP_Common: add more unitttests 2021-07-04 08:19:10 +10:00
Peter Barker
b7c2b56a66 AP_Motors: tidy frame description strings 
Before: AP: Frame: TRI/
After: AP: Frame: TRI
 2021-07-04 08:19:10 +10:00
Leonard Hall
32a174c453 AC_WPNav: AC_Loiter: Remove extra accel limit 2021-07-04 08:19:10 +10:00
Leonard Hall
ab8f3c21ec AC_AttitudeControl: AC_PosControl: Remove extra accel limit 2021-07-04 08:19:10 +10:00
Peter Barker
bf8f327938 SITL: increase servo_filter array size 
used for plane-dspoiler frame
 2021-07-04 08:19:10 +10:00
Peter Barker
15c39ecf69 SITL: panic if we attempt to filter out-of-range servo index 2021-07-04 08:19:10 +10:00
Peter Hall
1597ca9464 AP_Scripting: update 6DoF mixer example 2021-07-04 08:19:10 +10:00
Peter Hall
5a1fdf9f78 AC_AttitudeControl: add thrust vector methods to 6DoF multi 2021-07-04 08:19:10 +10:00
Leonard Hall
0bdeda215f AP_Motors: correct expo parameter description and internal limits 2021-07-04 08:19:10 +10:00
Peter Barker
8d9d3ca437 GCS_MAVLink: add support for MAV_CMD_RUN_PREARM_CHECKS 2021-07-04 08:19:10 +10:00
Pierre Kancir
6c3bae10ed AP_Common: add more unit tests 2021-07-04 08:19:10 +10:00
Randy Mackay
a9717ea5ff AC_WPNav: move get_yaw lower in AC_WPNav.h 
this is a non-functional change
 2021-07-04 08:19:10 +10:00
Peter Barker
f8646af2b1 Tools: add follow-copter.sh for SITL 
Another copy of this script -  but this one doesn't need Morse or AirSim
 2021-07-04 08:19:10 +10:00
Andy Piper
f09b01c5ad AP_HAL_ChibiOS: add OREO support to CubeSolo. 
add back RunCam and Spektrum support to MatekF405-Wing
remove gripper support from MatekF405-Wing
 2021-07-04 08:19:10 +10:00
Andy Piper
69ef1e5058 AP_Notify: allow display and oreo leds to be disabled 2021-07-04 08:19:10 +10:00
giacomo892
70a66ddad2 AP_SmartAudio: Add pull down VTX option 2021-07-04 08:19:10 +10:00
giacomo892
41c5f35699 AP_VideoTX: Add pull down VTX option 2021-07-04 08:19:10 +10:00
giacomo892
b6b329d668 AP_SmartAudio: Remove useless variable and comment 2021-07-04 08:19:10 +10:00
giacomo892
ad69ba2f6c AP_VideoTX: Add band names to GCS 2021-07-04 08:19:10 +10:00
giacomo892
f7e66c44c9 AP_VideoTX: Add configuration_finished functions 2021-07-04 08:19:10 +10:00
giacomo892
06a1442ec6 AP_SmartAudio: Add configuration_finished and configuration_pending functions 2021-07-04 08:19:10 +10:00
giacomo892
e8085fac97 AP_OSD_Screen: Blink the OSD VTX Power element indicating configuration in progress 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
9114caf213 AP_Proximity: fix proximity status for upward facing rangefinder 2021-07-04 08:19:10 +10:00
Randy Mackay
dbc9b0c2f9 AC_Loiter: init brake_accel and fix brake timer type 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi
7335e4640f AR_WPNav: add WP_PIVOT_DELAY parameter 2021-07-04 08:19:10 +10:00
Peter Barker
8fbd9b5e40 AP_Compass: remove unused setup_earth_field 2021-07-04 08:19:10 +10:00
Peter Barker
43cce260a0 GCS_MAVLink: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
fd8eb3c6c0 AP_InertialSensor: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
3a8d3c38e7 AP_HAL: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
2ff4ec80ad AP_GPS: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
76aa7c485c AP_Compass: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
759c37271a AP_Baro: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
77718b1611 AP_Airspeed: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
1122642f50 AP_AHRS: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker
42c47d6d84 AP_BattMonitor: add cells 13 and 14 for SITL only 
Allows for testing higher-cell-count scenarios
 2021-07-04 08:19:10 +10:00
Peter Barker
023c84f84a AP_BattMonitor: add assertion to avoid memory over-read 2021-07-04 08:19:10 +10:00
Peter Barker
170062804f SITL: add accessor for battery voltage 2021-07-04 08:19:10 +10:00
Peter Barker
6c473a80c2 SITL: add maxell to i2c bus and make it 14-cells 2021-07-04 08:19:10 +10:00
Peter Barker
cbd6dd3887 AP_BattMonitor: switch to Log_Write for BCL2 
Just for the flash savings on smaller boards
 2021-07-04 08:19:10 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
222ef40321 AP_BattMonitor: Increase the max. nr. of supported battery cells from 12 to 14 
Uses a second message, because the original message does not support any more fields
 2021-07-04 08:19:10 +10:00
Iampete1
06e64b5585 AP_Scripting: add SN-GCJA5 particle sensor example 2021-07-04 08:19:10 +10:00
Peter Barker
3101b08489 GCS_MAVLink: correct decimation of SENSOR_STATUS message 
static infers shared between all backends
 2021-07-04 08:19:10 +10:00
Rishabh
36259bc195 AC_PrecLand: Use rotate_xy instead of matrix multiplication 2021-07-04 08:19:10 +10:00
Rishabh
7528d6ee7e AC_PrecLand: Account for vertical camera offset in alt calculations 2021-07-04 08:19:10 +10:00
Rishabh
f7cbdb5559 AC_PrecLand: Initialize EKF before using its output 2021-07-04 08:19:10 +10:00
murata
d32bce85d1 AP_Scheduler: Change the Task Performance Notification Level to Information 2021-07-04 08:19:10 +10:00
Josh Henderson
32359e209d AP_Math: SCurve check direction.length_squared is_zero 2021-07-04 08:19:10 +10:00
Peter Barker
5c9467044b AP_HAL_ChibiOS: fix infinite loop for large SPI transfers 
len is 32 bits; i may integer-wrap back to zero at 65535+1
 2021-07-04 08:19:10 +10:00
Hwurzburg
1f8170a47d AP_Vehicle: add QRTL always as Q_RTL_MODE option 2021-07-04 08:19:10 +10:00
Andrew Tridgell
217a1acd7d HAL_ChibiOS: fixed build of VRUBrain-v51 
overflowing flash
 2021-06-24 18:03:40 +10:00
Andrew Tridgell
fcbb8647b5 AP_Logging: update EKF while waiting for log open 
this prevents the EKF getting unhappy when we arm
 2021-06-24 18:03:24 +10:00
Andy Piper
eea2151774 AP_BattMonitor: zero consumption total before recalculating 
add reset function to ESC backend.
 2021-06-24 18:02:10 +10:00
Samuel Tabor
534b807e22 AP_HAL_ChibiOS: Restore soaring on F405-Wing board. 2021-06-24 18:01:53 +10:00
Peter Barker
357770deba AP_Logger: rearrange PrepForArming stuff 2021-06-24 18:01:38 +10:00
Andrew Tridgell
a1f8d4c79c AP_Logger: moved log file open to logger thread 
this prevents a watchdog if the filesystem takes a long time to
respond to a file open
 2021-06-24 18:01:32 +10:00
Andrew Tridgell
1106b39d46 AP_Filesystem: removed the 3s grace period for file ops when armed 
log file open now needs to happen in the logging thread
 2021-06-24 18:01:29 +10:00
Andy Piper
132b651968 AP_HAL_ChibiOS: make sure all MatekF405 bi-dir outputs get a DMA channel 
only allow (b)dshot on M1-4 to get full DMA on USART3 and UART4
 2021-06-24 18:01:17 +10:00
Peter Barker
ce4ca0ac08 AP_InternalError: specify size for error_t 2021-06-13 08:41:25 +10:00
Andrew Tridgell
f19b604a0c AP_Math: added xy() method on Vector3 
useful for getting xy length
 2021-06-13 07:50:02 +10:00
Peter Barker
d9e3526bd2 AP_HAL_SITL: correct compilation for mission pread/pwrite ret check 2021-06-12 16:02:51 +10:00
Rishabh
9a1a748348 AC_Avoid: Change ALT_MIN param to be copter only 2021-06-12 13:31:52 +09:00
Rishabh
b9fbf1a661 AP_Math: Update segment_to_segment_dis test 2021-06-12 13:31:52 +09:00
Rishabh
730cf0ad9b AC_Avoid: Add deadzone param to avoidance backaway 2021-06-12 13:31:52 +09:00
Rishabh
b301bd0ca4 AC_Avoid: Use plane intersection in prox stop mode 2021-06-12 13:31:52 +09:00
Rishabh
547f0efd57 AP_Math: Add segment to plane intersection function 2021-06-12 13:31:52 +09:00
Rishabh
cb911a01e2 AP_Prox: Add plane intersection code to closest_point_from_segment_to_obstacle 2021-06-12 13:31:52 +09:00
Josh Henderson
206a414553 AP_Common: Location vec3 constructor zero out fields 2021-06-12 10:52:36 +09:00
Pierre Kancir
d2278fb525 AP_AHRS: NavEKF: make set_origin and get_origin WARN_IF_UNUSED as base class 2021-06-12 00:01:23 +10:00
Pierre Kancir
1fdef751ad AP_Navigation: make crosstrack_error_integrator pure virtual as nobody use the base class 2021-06-11 04:59:06 -07:00
Tamas Nepusz
c544f3dd01 AP_Scheduler: corrected tick counter overflow handling, fixes #17642 2021-06-10 12:46:27 +10:00
Pierre Kancir
ba94d8839f AP_Common: Make location PANIC message more explicit 2021-06-10 11:37:10 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
d363cbadcc AP_HAL_ChibiOS: Disable un-needed hardware drivers in SkyViper builds 
these boards have integrated ESCs with no telemetry
 2021-06-09 21:42:51 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
8593672f4c AP_HAL_ChibiOS: fix compilation when HAL_WITH_ESC_TELEM == 0 2021-06-09 21:42:51 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
2d5ac0009a AP_OSD: Fix compilation when HAL_WITH_ESC_TELEM == 0 2021-06-09 21:42:51 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
ff200e9d11 AP_UAVCAN: fix compilation when HAL_WITH_ESC_TELEM == 0 2021-06-09 21:42:51 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
9d2790049f AP_ToshibaCAN: fix compilation when HAL_WITH_ESC_TELEM == 0 2021-06-09 21:42:51 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
d15042d7c0 AP_PiccoloCAN: fix compilation when HAL_WITH_ESC_TELEM == 0 2021-06-09 21:42:51 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
f4409066bc AP_KDECAN: fix compilation when HAL_WITH_ESC_TELEM == 0 2021-06-09 21:42:51 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
120081f7ab AP_BLHeli: fix compilation when HAL_WITH_ESC_TELEM == 0 2021-06-09 21:42:51 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
13a97eecd4 AP_ESC_Telem: fix compilation when HAL_WITH_ESC_TELEM == 0 2021-06-09 21:42:51 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
bb9a81d32e AP_ESC_Telem: dummy empty class to be used when HAL_WITH_ESC_TELEM == 0 2021-06-09 21:42:51 +10:00
Peter Barker
6a914ce4be AP_VisualOdom: do not build on 1MB boards 
master: bin/arduplane  978396  1956  129204  1109556
new   : bin/arduplane  971716  1956  129204  1102876
 2021-06-09 20:12:44 +09:00
bugobliterator
63b8733aab AP_CANManager: add support for multiple protocols on AP_Periph using CANSensor 2021-06-09 18:36:18 +10:00
Tom Pittenger
5e4efe9f57 AP_ToshibaCAN: AP::can().log_text() needs HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-09 18:36:18 +10:00
Tom Pittenger
96055e877b AP_PiccoloCAN: AP::can().log_text() needs HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-09 18:36:18 +10:00
Tom Pittenger
c833a71fff AP_KDECAN: AP::can().log_text() needs HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-09 18:36:18 +10:00
Tom Pittenger
4054b5e891 AP_HAL_Linux: AP::can().log_text() needs HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-09 18:36:18 +10:00
Tom Pittenger
c807035e02 AP_UAVCAN: use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS 2021-06-09 18:36:18 +10:00
Tom Pittenger
aec9d45573 AP_HAL_SITL: use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS 2021-06-09 18:36:18 +10:00
Tom Pittenger
7a004656a2 AP_HAL_ChibiOS: use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS 2021-06-09 18:36:18 +10:00
Tom Pittenger
1feec460c4 AP_HAL_ChibiOS: enable BattMon MPPT PacketDigital to CubeOrange-periph 2021-06-09 18:36:18 +10:00
Tom Pittenger
adccc3deb7 AP_BattMonitor: add support for AP_Periph MPPT driver 2021-06-09 18:36:18 +10:00
Tom Pittenger
0590352bef SRV_Channel: do not use AP_UAVCAN unless LIBUAVCAN is enabled 2021-06-09 18:36:18 +10:00
Tom Pittenger
806b6a63bf AP_HAL: reorganize precompiler for HAL_ENABLE_LIBUAVCAN_DRIVERS and HAL_MAX_PROTOCOL_DRIVERS 2021-06-09 18:36:18 +10:00
Tom Pittenger
bdf0efbbe7 AP_CANManager: reorganize precompiler for HAL_ENABLE_LIBUAVCAN_DRIVERS and HAL_MAX_PROTOCOL_DRIVERS 2021-06-09 18:36:18 +10:00
Tom Pittenger
f764bd6547 AP_HAL_ChibiOS: disable EventSource only when CH_CFG_USE_EVENTS is false 
(cherry picked from commit 6e7542a70ca2343ab8d18470deaf5fc2d27390af) from bugobliterator
 2021-06-09 18:36:18 +10:00
Andrew Tridgell
f09abc705b HAL_ChibiOS: bring us to 18k free for MatekF405-Wing plane build 2021-06-09 18:07:00 +10:00
Andrew Tridgell
6c24a030a6 GCS_MAVLink: use HAL_EFI_ENABLED 2021-06-09 18:07:00 +10:00
Andrew Tridgell
6a1e3afe33 AP_RPM: use HAL_EFI_ENABLED 2021-06-09 18:07:00 +10:00
Andrew Tridgell
cc6d799e7a AP_EFI: change to use HAL_EFI_ENABLED 2021-06-09 18:07:00 +10:00
Pierre Kancir
519b1a6913 AP_Math: correct and increase unit test coverage 
AP_Math: correct some tests

AP_Math: more vector2 tests

AP_Math: make test_vector2 complete

AP_Math: add initial unittest for vector3
 2021-06-09 18:06:18 +10:00
Andy Piper
88bbec01b0 AP_Common: add firmware string without git hash. 2021-06-09 17:35:11 +10:00
Andy Piper
96acb46fbf AP_RCTelemetry: correct VTX power settings and pass parameter requests more quickly 
return parameter ids when CRSF folder request is made
turn off telemetry while processing parameters
 2021-06-09 17:35:11 +10:00
Andy Piper
4a05e65367 AP_BLHeli: ensure digital motor masks are setup correctly regardless of AUTO setting 2021-06-09 17:28:53 +10:00
Andy Piper
cf257074c6 AP_Camera: support RunCam Hybrid correctly 2021-06-09 17:04:27 +10:00
Andrew Tridgell
f2b7d44772 AP_Compass: fixed build with AP_Periph compass 2021-06-09 15:09:46 +10:00
Andrew Tridgell
b23afc4a9e AP_Filesystem: disallow file operations from main thread while armed 
this stops all file operations from the main thread while armed,
allowing for a 3s grace time on arming to allow for initial log
file creation
 2021-06-09 15:08:28 +10:00
Andrew Tridgell
1279772d92 AP_Logger: disallow log creation in main thread when armed 
this fixes an issue where the sd card fails in flight and then
re-mounts. When that happens the logging backend can trigger a new log
open. That causes filesystem operations in the main thread while
flying. That can cause long delays or even a watchdog.

Thanks to Giacomo for noticing this on his flying wing
 2021-06-09 15:08:28 +10:00
Josh Henderson
757fc1d679 AC_WPNav: ensure that wp_radius greater than min 
Co-authored-by: Murata,Katsutoshi <ma2maru@gmail.com>
 2021-06-09 10:55:15 +09:00
Pierre Kancir
117ca8a6ef AP_Rangefinder: make backend get_reading() pure virtual 2021-06-09 10:52:00 +09:00
Pierre Kancir
88b5ff8c6f AP_Rangefinder: make get_temp const 2021-06-09 10:52:00 +09:00
Andrew Tridgell
3a6bafc6a6 SITL: fixed order of rotations in tilt vehicles 
tilt is in body frame, not rotated arm frame, so needs to be applied
2nd
 2021-06-08 19:11:32 +10:00
Peter Barker
ff048990d9 AP_OSD: correct format string issues 
AP_OSD: remove spurious % in fmt string

AP_OSD: cast to (signed) to fix fmt string issue

AP_OSD: cast to (unsigned) to fix fmt string issues
 2021-06-08 17:08:43 +10:00
Peter Barker
e06f937486 AP_OSD: add FMT_PRINT to write(...) call 2021-06-08 17:08:43 +10:00
TunaLobster
2359de250d AP_Scripting: add example of fixed wing doublets via scripting 2021-06-08 14:48:27 +10:00
Peter Barker
09e82e52e1 AP_HAL_ChibiOS: disable AP_EFI on MatekF405-Wing and omnibusf4pro 2021-06-08 14:08:34 +10:00
Peter Barker
e5fba1c8cc AP_EFI: disable AP_EFI on MatekF405-Wing and omnibusf4pro 2021-06-08 14:08:34 +10:00
Randy Mackay
f8d39e65ec AP_VisualOdom: pre_arm check fix for camera attitude 2021-06-08 12:55:17 +09:00
Randy Mackay
ab5d4da776 AP_AHRS: attitudes_consistent fix for roll-pitch difference calc 
previously yaw difference would appear as roll, pitch differrences
 2021-06-08 12:55:17 +09:00
Randy Mackay
b263a1d751 AP_Math: add Quaternion::roll_pitch_difference 2021-06-08 12:55:17 +09:00
Andrew Tridgell
ac2080ff93 AP_ESC_Telem: don't send mavlink msgs if we've never data any data 2021-06-08 12:30:30 +10:00
Peter Barker
4abf854c45 AP_Common: remove weird cast of location object 2021-06-08 12:14:17 +10:00
李孟晓
27089b4d2b AP_BattMonitor: Fix the comment of BATTx_OPTIONS 2021-06-08 11:16:19 +10:00
Andrew Tridgell
7fadbba086 AP_WindVane: fixed copying of filter objects 2021-06-08 11:14:52 +10:00
Andrew Tridgell
fbbb4a1183 AP_Soaring: fixed filter constructor calls 
fixes valgrind error from copy of filter objects on the stack
 2021-06-08 11:14:52 +10:00
Andrew Tridgell
a2d0f569c9 AP_WheelEncoder: fixed PID constructor calls 2021-06-08 11:14:52 +10:00
Andrew Tridgell
476e9fc15a AC_PID: use CLASS_NO_COPY() 2021-06-08 11:14:52 +10:00
Andrew Tridgell
cd1f5ca494 Filter: use CLASS_NO_COPY 2021-06-08 11:14:52 +10:00
Andrew Tridgell
6c0c6a1f48 AP_Common: added CLASS_NO_COPY() macro 
used to make it easy to forbid copy of classes
 2021-06-08 11:14:52 +10:00
Michel Pastor
30029f59db AP_OSD_Screen: make BLH RPM fixed length 2021-06-08 10:40:44 +10:00
Peter Barker
ef2e273ee6 AP_Scheduler: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker
102543684e AP_Rally: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker
fd4fb15e7d AP_Mission: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker
b681dc940a AP_Logger: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker
3ba57fed89 AP_HAL_ChibiOS: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker
15cd41ca19 AP_GPS: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Peter Barker
c11a6bbb47 AP_Filesystem: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Josh Henderson
80a17cb97f AP_BattMonitor: get Mavlink charge state 2021-06-08 09:27:13 +10:00
Josh Henderson
518666b5f0 GCS_MAVLink: Add battery_charge_state to Battery_Status message 2021-06-08 09:27:13 +10:00
Andy Piper
96d0e8cf3f AP_Motors: add comments to AP_MotorsUGV 2021-06-07 20:16:26 +09:00
Andy Piper
9eea3f1030 AP_BLHeli: add auto support to rover 2021-06-07 20:16:26 +09:00
Andy Piper
7c213a8bbf AP_Motors: move AP_MotorsUGV here 
add singleton and motor_mask to AP_MotorsUGV
 2021-06-07 20:16:26 +09:00
Andrew Tridgell
96577b47f0 GCS_MAVLink: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell
f6ec48e0e2 AP_Scheduler: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell
50e7c81f46 AP_Logger: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell
dfc4b37df1 AP_HAL_Linux: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell
7c5c805381 AP_HAL: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell
684e32068b AP_Compass: removed perf counters 2021-06-07 14:29:27 +10:00
Peter Barker
d6348a0786 AP_NavEKF3: remove getBodyFrameOdomDebug 
Not used after we moved logging to be within AP_NavEKF3
 2021-06-07 09:28:52 +10:00
Peter Barker
dd3ab29b2f AP_NavEKF3: remove getFilterGpsStatus 
Not needed after we moved logging into NavEKF3
 2021-06-07 09:25:53 +10:00
Peter Barker
aaae7bda6b GCS_MAVLink: provide compatability with bad integer-stored radii 2021-06-06 11:41:30 +10:00
Peter Barker
76408c77dd AC_Fence: provide compatability with bad integer-stored radii 2021-06-06 11:41:30 +10:00
Peter Barker
e3db030d7a AC_Fence: load and store fence radii in floats 
These were simply being cast down to integers
 2021-06-06 11:41:30 +10:00
Peter Barker
e644a9dda8 StorageManager: add read_float and write_float 2021-06-06 11:41:30 +10:00
Andrew Tridgell
67fea9f2f8 HAL_ChibiOS: fixed DMA disable on contention 
this fixes a problem with the automatic DMA disable on DMA contention
in UARTs. This fixes issue #14581

the problem was that while tx_dma_enabled was correctly set to false,
it would keep looping inside write_pending_bytes_DMA() if the data
arrived in the write buffer at a faster rate than it could be sent
out, which did happen with a mavlink stream rate of 4Hz. This means it
kept using DMA even with tx_dma_enabled set to false. The result was
that the automatic flow control code never got a chance to run and we
didn't switch back to non-DMA for these low baudrate contended UARTs
 2021-06-05 19:03:03 +10:00
Andrew Tridgell
3128d71aac HAL_ChibiOS: display uart even when not initialised 
don't rely on thread allocation for uart info display
 2021-06-05 18:52:33 +10:00
Andrew Tridgell
c34d8e80e9 HAL_ChibiOS: fixed serial info indexing for EMPTY uarts 2021-06-05 18:52:33 +10:00
Andrew Tridgell
6fab8feeae HAL_ChibiOS: implement uart_info per-uart 
this allows for some UARTs to be of EMPTY type
 2021-06-05 18:52:33 +10:00
Andrew Tridgell
23cf128541 HAL_Empty: implement uart_info() 2021-06-05 18:52:33 +10:00
Andrew Tridgell
d8a6d9c5c4 AP_HAL: added uart_info() method 2021-06-05 18:52:33 +10:00
Andrew Tridgell
135a4d2c83 HAL_ChibiOS: fixed order and labelling of @SYS/uarts.txt 2021-06-05 18:52:33 +10:00
Andrew Tridgell
71f207403e AP_Common: make angles in degrees end in _deg 
to make it obvious it is not radians
 2021-06-05 13:05:30 +10:00
Andrew Tridgell
eba1d499d4 AP_SpdHgtControl: added get_max_sinkrate() 2021-06-05 13:05:30 +10:00
Andrew Tridgell
a789bb372b AP_TECS: added get_max_sinkrate() API 2021-06-05 13:05:30 +10:00