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35913 Commits

Author SHA1 Message Date
Andrew Tridgell 1794c128a2 AP_Scripting: raise max FLTE for yaw to 8 
better yaw for many vehicles
 2024-04-02 10:28:34 +11:00
Henry Wurzburg b83a895d7b HWDEF: allow all build targets for non-integrated boarda 2024-04-02 10:17:21 +11:00
rishabsingh3003 b22e4fa085 AP_RangeFinder: Refactor RDS02UF rangefinder 2024-04-01 16:12:53 +11:00
rishabsingh3003 276ee86f38 AP_Math: Add RDS02UF RangeFinder CRC 2024-04-01 16:12:53 +11:00
rishabsingh3003 fc0084fe83 SITL: Update RDS02UF CRC 2024-04-01 16:12:53 +11:00
zebulon-86 871292cb29 AP_RangeFinder:add support for RDS02UF radar driver on serial 
parameter RNGFNDx_TYPE is 42

Apply suggestions from code review

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2024-04-01 16:12:53 +11:00
James O'Shannessy ac271cf4e0 AP_InertialSensor: Improve bitmask indicating persistent parameters on bootloader flash 
INS_TCAL_OPTIONS parameter description indicates a singular bit in a bitmask to persist Accels/TCAL parameters, however there are two separate bits for persistence.
 2024-03-26 11:39:11 +11:00
Henry Wurzburg 0cfdc75c90 add 60x22 to OSD_TXT_RES metadata 2024-03-26 11:37:16 +11:00
Andrew Tridgell 17a61ab14b AP_OSD: allow size of SITL OSD to be set with parameters 2024-03-26 11:36:48 +11:00
Andrew Tridgell feb8c3be67 SITL: added SIM_OSD_ROWS and SIM_OSD_COLUMNS 2024-03-26 11:36:48 +11:00
Iampete1 8ccec7615c AP_OSD: use `set_and_default` when ensuring first screen is enabled 2024-03-26 11:36:00 +11:00
Iampete1 c4691bef94 AP_DAL: Standalone: add int8 parameter set_and_default method to avoid include 2024-03-26 11:35:36 +11:00
Iampete1 21df26de75 AP_NavEKF3: use set_and_defualt when changing imu mask 2024-03-26 11:35:36 +11:00
Iampete1 b95b51f1a1 AP_NavEKF2: use set_and_defualt when changing imu mask 2024-03-26 11:35:36 +11:00
Ryan Friedman 6fc8185716 AP_ExternalAHRS: Only use GPS data when populating GPS fields 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:23:06 +11:00
Ryan Friedman 35451c7021 AP_ExternalAHRS: Check backend pre-arm before origin 
* This allows the backend to report more detailed errors
* Before this, many pre-arm errors were hidden by origin failure
* If pre-arm could report multiple errors, that would be ideal

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:22:06 +11:00
Ryan Friedman 95ac178f20 Save flash, reduce code duplication 
* Add generic health and time utils
* Fix bug only checking first GNSS system
* Use common logging struct
* Improve pre-arm log checks

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:22:06 +11:00
Ryan Friedman 9edc0f8ec6 AP_ExternalAHRS: Don't send init message till booted up 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:22:06 +11:00
Ryan Friedman d383a19c29 AP_ExternalAHRS: Use state watching instead 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:22:06 +11:00
Ryan Friedman 67b89a9b1f AP_ExternalAHRS: Provide warning for init failure 
* If the device hasn't initialized in 5 seconds, give a warning

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:22:06 +11:00
Ryan Friedman dc2815e9f5 AP_ExternalAHRS: Use filter data to populate EKF status report 
* Variances vs uncertainties may still be off
* Requires enabling the following packets in SensorConnect:
  * Position Uncertainty (LLH)
  * Velocity Uncertainty (NED)

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-26 11:11:39 +11:00
Peter Barker 8fc76e7455 hwdef: remove extraneous lines from hwdef files 
these either come from includes are duplicated in these files
 2024-03-26 11:09:03 +11:00
Peter Barker 395f438b42 chibios_hwdef.py: print error message if a define is re-defined at top level with same value 2024-03-26 11:09:03 +11:00
Peter Barker eca2fd92b2 chibios_hwdef.py: correct extraction of intdefines 
another regex problem
 2024-03-26 11:09:03 +11:00
Peter Barker 58c0823264 AP_Radio: correct guards around code in AP_Radio_cc2500 
these were missed in a cleanup; the header is already guarded with these
 2024-03-26 11:07:42 +11:00
Peter Barker 1f3b4c47a0 hwdef: make a skyviper.inc, use it on skyviper-journey 2024-03-26 11:07:42 +11:00
Peter Barker 44477c3b62 AP_Notify: remove VRBrain board sub-types 
these were only used to turn choose between AP_Notify LED backends, which can be done much more neatly with specific features defines.
 2024-03-26 11:06:13 +11:00
Peter Barker 3387cad322 AP_HAL: remove VRBrain board sub-types 
these were only used to turn choose between AP_Notify LED backends, which can be done much more neatly with specific features defines.
 2024-03-26 11:06:13 +11:00
Peter Barker df19fed523 AP_HAL_ChibiOS: remove VRBrain board sub-types 
these were only used to turn choose between AP_Notify LED backends, which can be done much more neatly with specific features defines.
 2024-03-26 11:06:13 +11:00
Peter Barker 6cb6d605ec AP_HAL: remove HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 
this isn't used for anything
 2024-03-26 10:59:23 +11:00
Peter Barker d663f14e3e AP_HAL_ChibiOS: remove HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 
this isn't used for anything
 2024-03-26 10:59:23 +11:00
Peter Barker b3b4b8905f AP_GPS: add prearm check for blending-enabled-but-not-available 2024-03-26 10:57:35 +11:00
Peter Barker fcd36664d0 AP_Arming: add prearm check for blending-enabled-but-not-available 2024-03-26 10:57:35 +11:00
Peter Barker a0b2753766 AP_GPS: remove blended GPS from small boards 
those boards which are not including all backends will lose blended after this
 2024-03-26 10:57:35 +11:00
davidsastresas 0b7710420b AP_Mount: fix gimbal-device-attitude-status yaw frame flag 2024-03-26 10:49:30 +11:00
Randy Mackay affc1b4eb4 AP_Mount: get-gimbal-device-flags reports lock state 2024-03-26 10:49:30 +11:00
Randy Mackay c392089ae7 AP_Mount: do-gimbal-manager-pitch-yaw can set lock state 
Co-authored-by: davidsastresas <davidsastresas@gmail.com>
 2024-03-26 10:49:30 +11:00
Randy Mackay d0d33b0b36 AP_Mount: clarify yaw_lock comments 2024-03-26 10:49:30 +11:00
Randy Mackay 4755a60863 AP_Mount: RC targeting mode lock state from previous mode 
This leads to smoother transitions between RC and GCS control
 2024-03-26 10:49:30 +11:00
Randy Mackay 65b4db5ede AP_NavEKF3: define Yaw alignment min GPS speed per vehicle 2024-03-26 10:01:42 +11:00
Peter Barker 964c30e053 AP_RCProtocol: add support for RC input from SITL FDM data 2024-03-25 22:35:04 +11:00
Peter Barker db0188d3a3 AP_HAL_SITL: add support for RC input from SITL FDM data 2024-03-25 22:35:04 +11:00
Peter Barker 729c911462 SITL: add and use AP_RCProtocol_UDP 2024-03-25 22:35:04 +11:00
Peter Barker 1357b4ac33 AP_RCProtocol: add and use AP_RCProtocol_UDP 2024-03-25 22:35:04 +11:00
Peter Barker 4005bce85c AP_HAL_SITL: add and use AP_RCProtocol_UDP 2024-03-25 22:35:04 +11:00
Peter Barker 4a996c81fb AP_HAL: add and use AP_RCProtocol_UDP 2024-03-25 22:35:04 +11:00
Randy Mackay 1eb2a3009d AC_PosControl: always update yaw targets 2024-03-25 11:03:25 +09:00
Randy Mackay e9cffbb56e RC_Channel: integrate AP_CAMERA_SET_CAMERA_SOURCE_ENABLED 2024-03-25 09:19:18 +09:00
Randy Mackay 3a570943d5 AP_Mission: support set-camera-source 2024-03-25 09:19:18 +09:00
Randy Mackay a6a5cde34c AP_Mount: add set_camera_source support 2024-03-25 09:19:18 +09:00
Randy Mackay 5a22fb8da5 AP_Camera: support set-camera-source mavlink command 2024-03-25 09:19:18 +09:00
Randy Mackay ff7486e3cc GCS_MAVLink: forward set-camera-source to AP_Camera 2024-03-25 09:19:18 +09:00
Ryan Friedman 650db2db35 AP_HAL: Fix incorrect return type 
* This caused position quantization errors in the MicroStrain7

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-25 08:06:46 +11:00
Peter Barker 813f0cf428 hwdef: remove save_some_flash.inc 
all but one board was getting all of these includes from minimize_fpv_osd, and the remaining board had most lines foming from minimize_features.inc.

This file has served its purpose, its role now taken on by minimize_fpv_osd.inc
 2024-03-24 20:15:53 +11:00
Ryan Friedman bd518dc140 AP_DDS: Fix incorrect port param name 
* We want to support TCP and UDP in the future, so make sure we call it
  UDP here

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-24 11:27:22 +11:00
Peter Barker 85d25b205f hwdef: remove unused STM32_PWM_USE_ADVANCED defines 2024-03-23 22:04:34 +11:00
Peter Barker 5d369b2634 chibios_hwdef.py: correct extraction of intdefines from hwdef files 
many of our hwdef files contain lines which look like this:

define STM32_PWM_USE_ADVANCED TRUE

The current regex does not allow for numbers in those define, so the regex ends up matching "STM" as a name....

the "intdefines" hash which is populated from these is only used internally to chibios_hwdey.py for logic purposes, not directly in hwdef output purposes, and none of the strings which it looks at contain numbers at the moment, so this is a non-functional change.
 2024-03-23 15:23:08 +11:00
Andrew Tridgell 663a41a1f0 hwdef: probe external i2c compasses on MatekL431-GPS 2024-03-23 08:29:24 +11:00
Randy Mackay 133a5ff63c RC_Channel: add mount LRF enable aux function 2024-03-22 14:55:43 +09:00
Randy Mackay f9198b7e4e AP_Mount: add set_rangefinder_enable for ViewPro 2024-03-22 14:55:43 +09:00
Dr.-Ing. Amilcar do Carmo Lucas f0fc447aed AC_PrecLand: reduce code duplication, move common functionally to the base class 2024-03-20 19:33:14 +11:00
Randy Mackay 381fb42023 AR_WPNav: allow target position on track to stop advancing 2024-03-20 19:27:56 +11:00
Randy Mackay 158f7944fd AC_WPNav: allow target position on track to stop advancing 2024-03-20 19:27:56 +11:00
Tom Pittenger d3125fe8aa AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-20 19:08:31 +11:00
Tim Tuxworth 1941313201 AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-20 19:08:31 +11:00
Tim Tuxworth f4d19275fc Chibios: CubeRed - change NET_ENABLED to NET_ENABLE 2024-03-20 19:08:31 +11:00
Andy Piper d2b50edf12 AP_HAL_ChibiOS: Orqa F405 Pro 2024-03-20 19:04:21 +11:00
FoxSuzuran c53f55fd05 AP_Proximity: add RPLidarC1 support 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-03-20 18:58:57 +11:00
Pierre Kancir 2319a125d5 AP_Math: add missing include in vector2.h 2024-03-20 18:57:28 +11:00
Pierre Kancir 1762844686 AP_Math: remove unused include 2024-03-20 18:57:28 +11:00
Peter Barker 9120c1e324 AP_CANManager: correct includes 
neither of these headers are used in this file
 2024-03-20 18:45:52 +11:00
Peter Barker 5d5dd4630e AP_CANManager: correct filename for CANDriver_Params 
This name doesn't contain objects for CANDriver - it contains objects owned by the CAN Manager which it then uses to configure the drivers.
 2024-03-20 18:45:52 +11:00
Peter Barker f487a25e09 AP_GPS: move blended-GPS functions into AP_GPS_Blended 
collects all of these together in preparation for making a backend
 2024-03-20 18:27:28 +11:00
Randy Mackay 456c1bf39c AP_Mount: viewpro fix for swapped ahrs roll pitch 2024-03-20 17:59:48 +11:00
Andrew Tridgell d3a37d1357 HAL_ChibioOS: fixed FDCAN -> CAN labels 
we use CAN1_RX not FDCAN1_RX in our MCU files
 2024-03-20 14:26:23 +11:00
Alex P 4b082eb579 hwdef: added JHEMCUGF16F405 2024-03-19 19:53:03 +11:00
Wu 3fbf3368fc AP_HAL_ChibiOS: added RadiolinkPIX6 support 2024-03-19 19:50:42 +11:00
Peter Barker 2a010623b2 AP_GPS: allow forwards/backwards for DroneCAN type autoconfig 
ArduPilot configures a connected DroneCAN GPS based on its GPS Type.

Given parameter name changes, ArduPilot must be able to configure both new and old AP_Periphs, and new AP_Periphs have to cope with being configured by old ArduPilots.
 2024-03-19 19:50:12 +11:00
Peter Barker 94d5d92917 SITL: rename GPS_ to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker bb83c43d1b AP_Scripting: rename GPS_ to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker 0256cef7b9 AP_HAL: rename GPS_to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker 1d4e0a784c AP_HAL_ChibiOS: rename GPS_ to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker 9726e55d1c AP_GPS: rename GPS_ to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker 84a81bebfe AP_ExternalAHRS: rename GPS_ to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker 2624e38a62 AP_Beacon: rename GPS_ to GPS1_ 2024-03-19 19:50:12 +11:00
Peter Barker 50c36de6a4 AP_GPS: add GPS parameter conversion functions 2024-03-19 19:50:12 +11:00
Peter Barker 89bdb14916 Tools: adjust for GPS parameter renames 2024-03-19 19:50:12 +11:00
Peter Barker fe21c576c8 SITL: adjust for GPS parameter renames 2024-03-19 19:50:12 +11:00
Peter Barker 1ee7ef37ab AP_HAL_ChibiOS: adjust for GPS parameter renames 2024-03-19 19:50:12 +11:00
Peter Barker 21fc013016 AP_GPS: use subgroup to hold GPS instance parameters 2024-03-19 19:50:12 +11:00
Andrew Tridgell 8763084a9e AP_Filesystem: avoid decompressing in directory listing 
this makes ROMFS much more efficient
 2024-03-19 19:49:47 +11:00
Andrew Tridgell aa7ae2327d AP_ROMFS: added find_size() 2024-03-19 19:49:47 +11:00
Iampete1 727f28bb99 AP_Motors: add new PWM_TYPE_ANGLE 2024-03-18 21:48:55 -03:00
Iampete1 1766bfe45a AP_Motors: Heli: add helper to log runup event 2024-03-19 11:01:50 +11:00
Andrew Tridgell b430d63a22 AP_Logger: avoid logging dma.txt for normal builds 
logging of dma.txt currently does no good as the first time you read
it you get no content. It then enables statistics in the shared_dma
code which makes all DMA operations slower, so all we are doing is
making DMA slower
 2024-03-19 10:28:55 +11:00
root 0c2e9a061b AP_VideoTX:add additional freq bands(Band X) 2024-03-19 07:30:49 +11:00
Peter Barker 565e3f0175 AP_CANManager: correct array bounds used for sanity check 
both of these are currently HAL_MAX_CAN_PROTOCOL_DRIVERS in length
 2024-03-19 07:29:58 +11:00
Peter Barker 43a4160487 AP_GyroFFT: correct compilation when AP_Arming is not compiled in 2024-03-19 07:29:17 +11:00
Peter Barker 85d1724c69 AP_NMEA_Output: stop passing serial manager to GPS init 
it can get this via the singleton
 2024-03-19 07:28:55 +11:00
Peter Barker 2292a73da1 AP_AHRS: stop passing serial manager to GPS init 
it can get this via the singleton
 2024-03-19 07:28:55 +11:00
Peter Barker fa12e08abf AP_Module: stop passing serial manager to GPS init 
it can get this via the singleton
 2024-03-19 07:28:55 +11:00
Peter Barker 8bd05941a1 AP_GPS: stop passing serial manager to GPS init 
it can get this via the singleton
 2024-03-19 07:28:55 +11:00
Peter Barker 4811a10e1a AP_GPS: exclude more code based on HAL_LOGGING_ENABLED 2024-03-19 07:28:23 +11:00
Peter Barker bafd73ba14 AP_Vehicle: allow HarmonicNotches to be compiled out of the code 2024-03-19 07:04:13 +11:00
Peter Barker ffb1fe0a1a AP_RPM: allow HarmonicNotches to be compiled out of the code 2024-03-19 07:04:13 +11:00
Peter Barker 6de3cce480 AP_InertialSensor: allow HarmonicNotches to be compiled out of the code 2024-03-19 07:04:13 +11:00
Peter Barker 2412749026 AP_GyroFFT: allow HarmonicNotches to be compiled out of the code 2024-03-19 07:04:13 +11:00
Peter Barker abd5d0e3e9 GCS_MAVLink: cope with AHRS not being available 2024-03-19 07:00:10 +11:00
Tom Pittenger 50fe9e915f AP_Rangefinder: added a rate-limited and a compile-out option for the error reporting 2024-03-18 12:40:37 -07:00
jkronk 5393af5ce4 AP_RangeFinder: add Ainstein radar driver 2024-03-18 12:40:37 -07:00
jkronk c38cdc7d72 AP_HAL_SITL: add Ainstein SITL driver 2024-03-18 12:40:37 -07:00
jkronk a7785b0798 SITL: add Ainstein SITL driver 2024-03-18 12:40:37 -07:00
Andy Piper c3ba0dd95e AP_RCTelemetry: convert Spektrum telemetry to use telemetry library 2024-03-18 14:12:25 +11:00
Andy Piper 990318193b AP_IOMCU: allow building without BLHeli support 2024-03-18 14:12:25 +11:00
Andrew Tridgell dd4bd3de69 AP_RCTelemetry: fixed check for BLHeli support 2024-03-18 14:12:25 +11:00
Andrew Tridgell 01b61ea646 AP_OSD: fixed check for BLHeli support 2024-03-18 14:12:25 +11:00
Andrew Tridgell 5fb71e945c AP_IOMCU: fixed check for BLHeli support 2024-03-18 14:12:25 +11:00
Andrew Tridgell fdf2599329 AP_BLHeli: fixed define for BLHeli support 2024-03-18 14:12:25 +11:00
Peter Barker 7ea2928e52 AP_HAL_ChibiOS: allow IOMCU to be turned off in includes 2024-03-18 09:57:12 +11:00
Andrew Tridgell ece61c29d5 AP_Scripting: fixed NaN in path lookahead at end of schedule 
this can happen at high speedups under SITL
 2024-03-17 09:07:29 +11:00
Peter Barker 5cd18dbc45 AP_CANManager: remove redundant calls to snprintf 
these only differ by the constant substring, so pull that out as a variable
 2024-03-16 22:45:14 +11:00
Andrew Tridgell e983738c38 HAL_ChibiOS: fixed a cache corruption issue on H7 
This fixes a bug introduced in this PR:

https://github.com/ArduPilot/ardupilot/pull/25900

the bug is that when we don't go via the bouncebuffer on H7 we were
also skipping the cache invalidate/flush ops. This caused data
corruption for filesystem operations, particularly noticible as lua
scripts failing to load with parse errors or log corruption
 2024-03-16 21:57:33 +11:00
Andrew Tridgell d1deb1c53b hwdef: added MatekL431-HiRes build 2024-03-16 20:10:35 +11:00
Andrew Tridgell 76343f5e6f AP_Compass: log Hires magnetic field on DroneCAN 2024-03-16 20:10:35 +11:00
David Buzz 5cd6d74d36 AP_HAL_ESP32: esp32s3 debugger readme in both .txt and .md format 2024-03-16 07:16:46 +11:00
Peter Barker 8d2109faec AP_AHRS: avoid use of AP_Motors include in header 2024-03-16 07:14:26 +11:00
Andrew Tridgell 148c176a59 Filter: use a define for nyquist cutoff 2024-03-16 06:54:27 +11:00
Andrew Tridgell 90c8359ff6 Filter: log up to 6 harmonics 2024-03-16 06:54:27 +11:00
Andrew Tridgell 7353001646 AP_InertialSensor: adjust logging descriptions 2024-03-16 06:54:27 +11:00
Andrew Tridgell d7d854a60f AP_InertialSensor: call logging function for notch centers and harmonics 2024-03-16 06:54:27 +11:00
Andrew Tridgell fd1a260d46 Filter: added logging of notch centers and 1st harmonic 
log up to 5 sources in new FCN message, or FCNS for single source
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 88fb38b524 AP_InertialSensor: added comments 2024-03-16 06:54:27 +11:00
Andrew Tridgell 89ec6ac645 AP_Logger: added VER.FV for filter version 2024-03-16 06:54:27 +11:00
Andrew Tridgell 25ffcc1580 AP_InertialSensor: use num_composite_notches() 
this prevents duplication of the logic for the priority of the double
notch vs the triple notch option
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 2286f2ce27 Filter: added test for attenuation adjustment 2024-03-16 06:54:27 +11:00
Andrew Tridgell 8b9fe4d21d Filter: adjust attenuation properly at low frequencies 
use sqrt() adjustment from Leonard
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 08ccead215 AP_InertialSensor: fixed num_filters to be uint16_t 
max is more than 256
 2024-03-16 06:54:27 +11:00
Andrew Tridgell ae75ea94eb Filter: fixed filter expansion for other than motors based RPM sources 
this also fixes the uint8_t storage of a number than can be greater
than 256. Max total notches in a single HarmonicNotchFilter is
currently 12*16*3 for 12 ESCs, with INS_HNTCH_HMNCS=0xFFFF and triple
notch
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 304890fc7d Filter: fixed test suite 
fill in a parameters structure
 2024-03-16 06:54:27 +11:00
Andrew Tridgell de8bec596e AP_InertialSensor: removed zero checks and clamping on notch filters 
and pass params object down into HarmonicNotchFilter
 2024-03-16 06:54:27 +11:00
Andrew Tridgell e18983780f AP_Vehicle: removed the clamping of notch filters at vehicle level 
moved the claiming down into HarmonicNotchFilter
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 72d235a8a8 Filter: rework harmonic notch 
do all frequenct clamping in one place in
set_center_frequency(). Allow for zero frequency to disable the
notch. Add an option to treat inactive RPM source as min frequency
 2024-03-16 06:54:27 +11:00
Michelle Rossouw 533eb73622 hwdef: Make Crazyflie2 board only autobuild for Copter 2024-03-15 21:11:40 +11:00
Simon 750ef597ff AP_HAL_ESP32: bugfix RmtSigReader for idf - 4.4 2024-03-15 19:29:21 +11:00
Ryan Friedman 41fc3a8dbb AP_ExternalAHRS: SIM_MicroStrain support quaternion attitude 
* This replaces IMU orientation
* Fixed some usage docs

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-15 18:11:22 +11:00
Ryan Friedman 3cb4d2ec3b AP_ExternalAHRS: Populate orientation from filter 
* Populating AHRS orientation from IMU was not correct

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-15 18:11:22 +11:00
Peter Barker aefa41f22a SITL: correct compilation on g++-7.5.0 
.cpp: In member function void SITL::ShipSim::send_report():
BB-WAF: /mnt/volume_nyc3_01/autotest/APM/APM/libraries/SITL/SIM_Ship.cpp:189:42: sorry, unimplemented: non-trivial designated initializers not supported
BB-WAF:          autopilot : MAV_AUTOPILOT_INVALID};
BB-WAF:                                           ^
BB-WAF: compilation terminated due to -Wfatal-errors.
BB-WAF:
BB-WAF: Waf: Leaving directory `/home/autotest/build/tmp/binaries.build/SITL_x86_64_linux_gnu'
 2024-03-15 18:10:53 +11:00
Minderring b316b3ab46 hwdef: added MicoAir405v2 2024-03-15 13:04:29 +11:00
Andy Piper 1e0d271fef AP_HAL_ChibiOS: always normalize ESC channel when using iomcu 2024-03-14 06:40:04 +11:00
Tom Pittenger 12f32707b3 AP_Rangefinder: fix (very) out-of-range lidar causing float inf 2024-03-13 12:02:10 -07:00
Tom Pittenger 9feccd6671 AP_HAL_Chibios hwdef script: remove h747 adc duplicate pin definitions 2024-03-13 18:52:05 +11:00
Randy Mackay 9b981cc7f3 AP_HAL_ChibiOS: CubeRedSecondary IMU orientation fix 
Also remove duplicate RC_IN serial protocol
 2024-03-13 18:51:18 +11:00
Andrew Tridgell 6a8130e8ba AP_Scripting: prevent "Starting XXX tune" happening multiple times 
when filter setting disabled
 2024-03-13 16:14:22 +09:00
Rhys Mainwaring c173b3f186 AP_DDS: add missing config include in client and type_conversions 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-13 17:06:03 +11:00
Rhys Mainwaring 7c50b34ad2 AP_DDS: update topics in README 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-13 17:05:15 +11:00
Rhys Mainwaring 88a4d6848a AP_DDS: publish gps global origin 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-13 17:05:15 +11:00
Rhys Mainwaring 5dc9366cea AP_DDS: add GeoPointStamped.idl 
- Required for publishing the global position origin.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-13 17:05:15 +11:00
Rhys Mainwaring dac291c762 AP_DDS: use msg_prefix in GCS_SEND_TEXT 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-13 10:32:31 +11:00
Rhys Mainwaring 84e4a94ae7 AP_DDS: use microxrcedds_gen default-container-prealloc-size 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-13 10:32:31 +11:00
Rhys Mainwaring 3cb81b2e81 AP_DDS: remove unused TFMessage variable 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-13 10:32:31 +11:00
Stephen Dade faf2ae3a9c GCS_MAVLink: filter out additional messages for High Latency link 2024-03-12 21:13:47 +11:00
Patrick José Pereira 84a5a52351 AP_Compass: Use new default for reboot 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-03-12 21:13:41 +11:00
Patrick José Pereira ce9fa18800 AP_HAL_ChibiOS: Use new default for reboot 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-03-12 21:13:41 +11:00
Patrick José Pereira 8fa4d6200c AP_HAL: Turn hold_in_bootloader default as false in reboot 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-03-12 21:13:41 +11:00
Patrick José Pereira 20d4b1e53f AP_OSD: Use new default for reboot 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-03-12 21:13:41 +11:00
Patrick José Pereira 16926a2df8 AP_Vehicle: Use new default for reboot 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-03-12 21:13:41 +11:00
Patrick José Pereira 3c095706ca DroneCAN_sniffer: Use new default for reboot 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-03-12 21:13:41 +11:00
Patrick José Pereira 5b1cac268b INS_generic: Use new default for reboot 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-03-12 21:13:41 +11:00
Peter Barker 8ab3b0db37 AP_GPS: correct update_primary check 
takes an instance, not a type
 2024-03-12 20:50:18 +11:00
Andrew Tridgell 9a092e4e3a AP_Arming: added arming check for fence storage 2024-03-12 11:43:36 +11:00
Andrew Tridgell 0e6a32a3e2 AC_Fence: allow for fence storage on microSD 2024-03-12 11:43:36 +11:00
Andrew Tridgell 95ee2c437e AP_BoardConfig: added BRD_SD_FENCE 
allow for fence storage on microSD
 2024-03-12 11:43:36 +11:00
Andrew Tridgell a444004a8a AP_BattMonitor: added MAX_AMPS and SHUNT parameters for INA239 
allows for a wider range of current
 2024-03-12 11:15:10 +11:00
Iampete1 8a06ee4cf6 AP_Gernerator: IE 2400: MAV_SEVERITY level depends on error code 2024-03-12 11:05:21 +11:00
Andrew Tridgell b9fbc7d809 AP_Scripting: support precision loiter in quadplanes 
and allow for moving landing target
 2024-03-12 10:45:56 +11:00
Andrew Tridgell c34e4907fe SITL: added moving precland simulator 
added SIM_PLD_SHIP to make the precland location track the SIM_SHIP
location, giving a nice way of having a landing marker on a moving
ship
 2024-03-12 10:45:56 +11:00
Andy Piper 2f246b7638 AP_RCProtocol: add CRSF binding API 2024-03-12 10:16:08 +11:00
Andy Piper cd6ed219f7 AP_RCTelemetry: add CRSF binding API 2024-03-12 10:16:08 +11:00
Iampete1 fdfdbe8d13 GCS_MAVLink: Routing: forward ADSB if local ADSB parsing is disabled 2024-03-12 09:36:15 +11:00
Andy Piper 3f681e4626 AP_HAL_ChibiOS: BlitzF745AIO update to ICM-42688 
enable OSD
use minimal FPV config
enable compass probing
pull uart pins high in bootloader for ELRS
 2024-03-12 09:26:58 +11:00
Peter Barker ce04d69d53 AP_NavEKF3: correct compilation in SITL when logging is disabled 
this code is gated on HAL_BOARD_SITL already, and usually we have logging in SITL.  But not always
 2024-03-12 09:25:17 +11:00
Peter Barker 34603bbfd0 SRV_Channel: add define for SRV_Channels being compiled in or not 2024-03-12 09:10:22 +11:00
Peter Barker e22a00680b AP_Vehicle: correct define around SRV_Channels init call 2024-03-12 09:10:22 +11:00
Peter Barker a77a894b8a AP_HAL_SITL: correct define around use of RC singleton 
... you may not be a periphs and *still* not have RC...
 2024-03-12 09:09:21 +11:00
Peter Barker 3e529a241b AP_Camera: add HAL_GCS_ENABLED to mavlink2 backend dependencies 2024-03-12 09:07:56 +11:00
Iampete1 8d7052887c AP_Filesystem: fixup AP_FILESYSTEM_FILE_WRITING_ENABLED comment 2024-03-12 08:52:38 +11:00
Iampete1 90ad109047 AP_Scripting: Only try to make scripts directory if file write and directory is enabled 2024-03-12 08:52:38 +11:00
Peter Barker 466b4b6c2e AP_GPS: create convenience methods is_rtk_base and is_rtk_rover 2024-03-12 08:51:11 +11:00
Peter Barker b4f5d49adb AP_GPS: remove redundant check 
get_type has this sanity check
 2024-03-12 08:51:11 +11:00
Peter Barker 093709cbe3 AP_GPS: avoid use of _type 
some of these methods are taking the instance in externally.  Protect by using get_type
 2024-03-12 08:51:11 +11:00
Peter Barker 8ed1b02301 AP_RCProtocol: move support for SFML joysticks down into AP_RCProtocol 2024-03-12 08:48:35 +11:00
Peter Barker 7d8e58ea17 AP_HAL_SITL: move support for SFML joysticks down into AP_RCProtocol 2024-03-12 08:48:35 +11:00
Iampete1 93de68e060 AP_Arming: OPTIONS parameter is a bitmask 2024-03-12 08:28:06 +11:00
Peter Barker 6534a9657c AP_Proximity: cope with AP_OADATABASE_ENABLED being false 2024-03-11 18:07:18 +11:00
Peter Barker e4ff1a97d5 AP_Proximity: cope with AP_AVOIDANCE_ENABLED being false 2024-03-11 18:07:18 +11:00
Peter Barker ceb45a9c3b GCS_Fence: cope with avoidance not being compiled in 2024-03-11 18:07:18 +11:00
Peter Barker 4781938694 RC_Channel: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker 277a7c1bec AR_WPNav: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker 1e0c56b5b9 APM_Control: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker 31eb340928 AP_HAL: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker 96ee586eaa AP_HAL_ChibiOS: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker 84aaa8df63 AC_WPNav: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker 6e5ed88087 AC_Avoidance: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker a79569ccf3 GCS_Common: add missing include for AP_RCProtocol 
we directly use this library's singleton, so include the header
 2024-03-09 18:42:57 +11:00
TsuyoshiKawamura a2549c5d6b AP_Motors: fix comment of HeliQuad 2024-03-09 09:09:07 +09:00
olliw42 fba1e68ef4 AP_RCProtocol: add support for MAVLink receiver, handle RADIO_RC_CHANNELS message 2024-03-09 10:47:39 +11:00
olliw42 0bb98c3db5 GCS_MAVLink: handle RADIO_RC_CHANNELS 2024-03-09 10:47:39 +11:00
olliw42 4cc1c02823 RC_Channel: add MAVRadio to RC_PROTOCOLS description 2024-03-09 10:47:39 +11:00
Peter Barker 64d3897126 AP_Mount: correct compilation when GCS not available 2024-03-09 10:20:03 +11:00
Peter Barker d24e7a916f SITL: SIM_Morse: correct compilation with HAL_GCS_ENABLED false 2024-03-08 15:09:34 +11:00
Peter Barker 9fc068d704 GCS_MAVLink: send set_position_target_global_int with non _INT frame 
deprecating and hopefully removing the _INT frames.

This method is only called by Rover, so thankfully the altitude is not that important...
 2024-03-08 13:28:14 +11:00
Peter Barker aa79967947 AP_GyroFFT: correct compilation when HAL_GCS_ENABLED is false 2024-03-08 11:15:33 +11:00
Peter Barker 4b97dba185 AP_Torqeedo: correct compilation with HAL_GCS_ENABLED is false 
removes a larger block to avoid warnings about unused variables
 2024-03-08 11:14:37 +11:00
Peter Barker 23982229fb AP_WheelEncoder: correct compilation when HAL_GCS_ENABLED is false 2024-03-08 10:04:53 +11:00
Michelle Rossouw 3ff790159f AP_MSP: Use scaled RC inputs instead of direct RC in. Also flip pitch to be correct. 2024-03-08 06:54:17 +11:00
rishabsingh3003 d91147552b AC_Avoid: Remove sensor status checks 2024-03-07 18:14:04 +11:00
rishabsingh3003 0efe4351f1 AP_Proximity: Improve get_status handling 2024-03-07 18:14:04 +11:00
Marek S. Lukasiewicz baf0da74ed GCS_MAVLink: Match handling of MAV_CMD_EXTERNAL_POSITION_ESTIMATE to common MAVLink dialect 2024-03-07 18:13:51 +11:00
Marek S. Lukasiewicz 07681416f5 AP_NavEKF3: Match handling of MAV_CMD_EXTERNAL_POSITION_ESTIMATE to common MAVLink dialect 2024-03-07 18:13:51 +11:00
Peter Barker cfd76b8dd9 SITL: name fields when assembling vision_position_delta message 2024-03-07 18:13:35 +11:00
Peter Barker 8c9ed697fe SIM_Vicon: label fields going into VISION_SPEED_ESTIMATE packets 2024-03-07 18:13:26 +11:00
Peter Barker c12bb6720a SIM_Vicon: label fields going into _POSITION_ESTIMATE packets 2024-03-07 18:13:17 +11:00
Peter Barker b30bdb7dd3 SITL: Sim_Ship: label global_position_int and attitude packet fields 2024-03-07 18:13:09 +11:00
Peter Barker 28488cbfd6 SIM_Vicon: correct heartbeating 
the heartbeat was packed but never sent
 2024-03-07 18:13:01 +11:00
Peter Barker 298ef64836 SIM_Vicon: label fields going into ODOMETRY packets 2024-03-07 18:13:01 +11:00
Peter Barker 21ca4f83f4 SITL: name fields in loweheiser mavlink packet 
avoid field ordering issues
 2024-03-07 15:52:16 +11:00
Andrew Tridgell feff2f34e9 SITL: fixed the vehicle type of the simulated ship 
this was broken by https://github.com/ArduPilot/ardupilot/pull/23763

we need to look for other places where we have assumed the MAVLink
field orderin in recent changes
 2024-03-07 15:51:15 +11:00
Peter Barker dc7626887f AP_RCProtocol: do not detect async protocols if not enabled 
Co-authored-by: olliw42 <waldmanns@gmx.de>
 2024-03-07 13:58:31 +11:00
Willian Galvani 1a443f7cbf SRV_Channel: fix comment 2024-03-07 08:33:58 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 573436e81b AC_PrecLand: use GCS_SEND_TEXT where possible 2024-03-06 19:53:55 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 39e7e4bed1 AC_PrecLand: NFC move two local instances of inertial_data_delayed to single _inertial_data_delayed member variable 
- improve code alignment
- simplify a return
- improve initialization of vectors
 2024-03-06 19:53:55 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 87435473b5 AC_PrecLand: Move accessors code to the .h file 2024-03-06 19:53:55 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 4d7fc1fe46 AC_PrecLand: remove code duplication and use the same logic as the other backends (<= instead of <) 2024-03-06 19:53:55 +11:00
Andrew Tridgell 0f6f738a33 AP_GPS: added option to decode RTCM injected data 
this allows for redundent RTCM links (eg. WiFi and SiK links for light
show drones) without causing corruption into the GPS.

If the GPS_DRV_OPTION bit is set then we instantiate a separate RTCM3
decoder per mavlink channel, and only inject when we get a full packet
that passes the RTCM 24 bit CRC
 2024-03-06 19:38:06 +11:00
Andrew Tridgell 0aba1ce939 GCS_MAVLink: pass channel number to AP_GPS on RTCM injection 2024-03-06 19:38:06 +11:00
jfbblue0922 7ba9030129 AP_HAL_ChibiOS/hwdef: add LED_SAFETY for JFB100 board definition 2024-03-06 18:52:35 +11:00
Andrew Tridgell dc863d878a AP_Scripting: fixed race condition in ship landing 
and fixed lua warnings
 2024-03-06 09:39:51 +11:00
Andrew Tridgell c210675e95 AP_Scripting: added plane_precland lua script 2024-03-06 09:39:51 +11:00
Andrew Tridgell fa1d965224 AP_Scripting: added docs for precland 2024-03-06 09:39:51 +11:00
Andrew Tridgell bac99dc7ac AP_Scripting: added bindings for AC_PrecLand 2024-03-06 09:39:51 +11:00
Andrew Tridgell 4f9b66c267 SITL: fixed precland simulator 
fixed units of height, was mixed cm and m, now just m AMSL
 2024-03-06 09:39:51 +11:00
Andrew Tridgell e5f092482d AC_PrecLand: added get_target_location and get_target_velocity 2024-03-06 09:39:51 +11:00
Andrew Tridgell 171da3dd08 AP_Motors: smoother ramp down in output_motor_mask 
stop changing motors outside the given mask in output_motor_mask,
which gives smoother ramp down in tilt quadplanes when we are
transitioning to forward flight

thanks to Pete for the suggestion
 2024-03-06 08:01:52 +11:00
Andrew Tridgell 2b784e01f9 AP_Motors: allow output_motor_mask() to work properly with slew limits 
this fixes tilt quadplanes with slew limits when we set motors state
to SHUT_DOWN
 2024-03-06 08:01:52 +11:00
Peter Barker 8a478abce9 RC_Channel: allow customisation of position text in aux switch announcement 
this means that we get "EKFPosSource 1" rather than "EKFPosSource LOW"
 2024-03-05 23:46:03 +11:00
Pulak Gautam 2d5e6a5f98 AP_ExternalAHRS: added missing #if AHRS logging 2024-03-05 17:11:38 +11:00
Peter Barker b09dd7b866 AP_HAL_ChibiOS: move defaulting of HAL_WITH_ESC_TELEM for periph 2024-03-05 12:37:40 +11:00
Peter Barker d0a7b54e61 AP_ESC_Telem: move defaulting of HAL_WITH_ESC_TELEM for periph 2024-03-05 12:37:40 +11:00
bnsgeyer d103eebf91 AC_AttitudeControl: Tradheli- fix inverted mode collective handling 2024-03-05 10:24:06 +09:00
Iampete1 576ee75669 AC_AttitudeControl: Heli: invert throttle in inverted flight, move state down to heli 2024-03-05 10:24:06 +09:00