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38055 Commits

Author SHA1 Message Date
Shiv Tyagi
f62e65f26e AP_HAL_ChibiOS: use AP_PERIPH_IMU_ENABLED in place of HAL_PERIPH_ENABLE_IMU 2025-02-08 08:22:10 +11:00
Davide Iafrate
2257009eba SITL: Added comment to clarify IMU acceleration value 2025-02-07 00:42:28 +00:00
Peter Barker
498dc11cef RC_Channel: add RC channel option for trimming AHRS using RC 2025-02-06 16:03:52 +11:00
Ep Pravitra
0b659ac8a1 AP_Mount: zoom for Viewpro IR sensor 2025-02-06 10:50:14 +09:00
Peter Barker
4161c425d1 GCS_MAVLink: simplify MissionItemProtocol get_item interface 
stop passing through _link and the original msg, move use to the base class instead.

starts fence and rally also using the "correct the GCS's count" code.

This also corrects the error code when correcting the GCS's count to INVALID_SEQUENCE rather than just ERROR
 2025-02-06 10:20:23 +11:00
Peter Barker
26c61f527e SIM_XPlane: remove use-after-free issue 
c_str points to a member of .str(), so we have to make sure that object persists

../../libraries/SITL/SIM_XPlane.cpp:239:34: warning: object backing the pointer will be destroyed at the end of the full-expression [-Wdangling-gsl]
  239 |             const char *type_s = d.get("type").to_str().c_str();
 2025-02-05 20:06:10 +11:00
Peter Barker
53701655a0 SIM_XPlane: avoid leaking memory upon json load failure 
../../libraries/SITL/SIM_XPlane.cpp:209:16: warning: Potential leak of memory pointed to by 'fname' [unix.Malloc]
        return false;
               ^~~~~
 2025-02-05 20:06:10 +11:00
Bob Long
dd54f025d6 AP_ESC_Telem: fix timeout race 
The timeout for non-RPM telemetry is vulnerable to a similar race as the
RPM. This change makes the timeout logic consistent between the two.
 2025-02-05 18:54:29 +11:00
Iampete1
54a71cef9d AP_Airspeed: Calibration: remove unused DT 2025-02-05 18:04:41 +11:00
Peter Barker
4959cee694 Rover: add option to require position for Rover before arming 2025-02-05 10:39:20 +11:00
Peter Barker
0fb5a2105c AP_Arming: add option to require position for Rover before arming 2025-02-05 10:39:20 +11:00
bugobliterator
f8726ee646 AP_HAL_ChibiOS: disable mcast bridging in bootloader 2025-02-05 10:23:46 +11:00
bugobliterator
51471a0a7e AP_Networking: make can multicast an endpoint by default 
also add option to enable multicast with bridging to CAN bus in application
and disabled in bootloader
 2025-02-05 10:23:46 +11:00
bugobliterator
f9a8d9b034 AP_CANManager: use updated frame callback types 
also change to IsForwardedFrame from IsMAVCAN
 2025-02-05 10:23:46 +11:00
bugobliterator
4bad4f856b AP_HAL: change IsMavCAN to IsForwardedFrame 2025-02-05 10:23:46 +11:00
Davide Iafrate
131c0f8e2d SITL: Clarification for timestamp in JSON interface 2025-02-05 10:03:52 +11:00
Tdogb
9c12476d39 AP_Airspeed: AUAV airspeed support 2025-02-04 16:17:28 +11:00
Peter Barker
eed3e147a0 AP_BattMonitor: remove use of ownptr 2025-02-04 11:57:58 +11:00
Peter Barker
6f40c80d65 AP_Notify: move enabling of AP_NOTIFY_TONEALARM_ENABLED out of AP_Notify_config.h 
this is looking at chibios-specific defines, which is bad
 2025-02-04 11:53:25 +11:00
Peter Barker
8a9a1826e1 AP_HAL: move enabling of AP_NOTIFY_TONEALARM_ENABLED out of AP_Notify_config.h 
this is looking at chibios-specific defines, which is bad
 2025-02-04 11:53:25 +11:00
Peter Barker
8fdfed5249 AP_Notify: use only AP_NOTIFY_TONEALARM_ENABLED to guard tonealarm backend 
... instead of checking the HAL and *then* checking this define
 2025-02-04 11:53:25 +11:00
Peter Barker
fe0a0dbf92 AP_Arming: move REQUIRE_POSITION_FROM_ARMING bit to AP_arming 
while Copter is the only user at the moment, will be useful on Rover shortly
 2025-02-04 09:02:16 +09:00
Bob Long
4eab74fbc5 AP_Vehicle: add comment for ESC Telem update rate 2025-02-04 10:46:34 +11:00
Bob Long
0b7a56e2fd AP_ESC_Telem: fix RPM timeout race 
The RPM telemetry data structure can get updated by another thread at
any time. This can cause (now - last_update_us) to be negative, which
looks like the data is nearly UINT32_MAX microseconds stale. To fix
this, we copy the last_update_us value before we get the current time
so it's guaranteed to be positive.

We also minimize the number of places we explicitly check the timestamp
and rely on the `data_valid` where possible to minimize the performance
impact of this change.
 2025-02-04 10:46:34 +11:00
Iampete1
022c43c644 AP_HAL_SITL: Add getter for SITL_State 2025-02-04 10:41:56 +11:00
Iampete1
63fecc76d4 APM_Control: examples: AP_FW_Controller_test: update to use HAL SITL 2025-02-04 10:41:56 +11:00
Iampete1
44d2fc1ac1 AMP_Control: move pitch and roll autotune_start into base AP_FW_Controller 2025-02-04 10:41:56 +11:00
Iampete1
790290d359 APM_Control: AP_AutoTune: add static axis_string method 2025-02-04 10:41:56 +11:00
Iampete1
f8dd0b2d76 APM_Control: add AP_FW_Controller as common base class to roll and pitch controllers 2025-02-04 10:41:56 +11:00
Iampete1
4db73d3883 APM_Control: add test for roll and pitch controllers 2025-02-04 10:41:56 +11:00
ES-Alexander
a1421e7ece AP_Baro: update MS5837_BA30 temperature compensation 2025-02-03 15:40:52 -03:00
Iampete1
f6a6e356bf AP_AIS: fix multi part message decoding 2025-02-03 10:13:42 +00:00
Shiv Tyagi
5790e0e38e AP_HAL_ChibiOS: use AP_PERIPH_RANGEFINDER_ENABLED in place of HAL_PERIPH_ENABLE_RANGEFINDER 2025-02-03 10:06:04 +11:00
Peter Barker
2cd3970e36 GCS_MAVLink: add capability to send autopilot to config error loop 
Co-authored-by: Bob Long <robertlong13@gmail.com>
Co-authored-by: Michelle Rossouw <michelleros128@gmail.com>

another one of our "do nasty thing to autopilot" commands, useful for testing what ground control stations do when the autopilot is in this state
 2025-02-02 21:33:27 +11:00
Andrew Tridgell
70305ba949 hwdef: added TBS-L431-Airspeed 2025-02-01 16:59:29 +11:00
Andrew Tridgell
46d99a47f7 HAL_ChibiOS: support LSE for clock on STM32L4xx 
this allows for lower pin count devices with CAN
 2025-02-01 16:59:29 +11:00
Peter Barker
4e35eb3673 SITL: fix array-bounds warning in tsys01 sim 
... if the driver ever asked for prom0 then we would do Very Bad Things here.

File:	build/sitl/../../libraries/SITL/SIM_Temperature_TSYS01.cpp
Warning:	line 38, column 13
Assigned value is garbage or undefined
 2025-02-01 16:52:26 +11:00
Thomas Watson
63afcae8a7 AP_Filesystem: ROMFS: fix open race conditions 
Lua opens scripts to load them into memory, then the logger opens them
after to stream them into the dataflash log. When loading multiple large
Lua scripts from ROMFS, decompression takes a significant amount of
time. This creates the opportunity for the Lua interpreter and logging
threads to both be inside `AP_Filesystem_ROMFS::open()` decompressing a
file.

If this happens, the function can return the same `fd` for two different
calls as the `fd` is chosen before decompression starts, but only marked
as being used after that finishes. The read pointers then stomp on each
other, so Lua loads garbled scripts (usually resulting in a syntax
error) and the logger dumps garbled data.

Fix the issue by locking before searching for a free record (or marking
a record as free). Apply the same fix to directories as well. This
doesn't protect against using the same `fd`/`dirp` from multiple
threads, but that behavior is to be discouraged anyway and is not the
root cause here.
 2025-02-01 16:51:49 +11:00
Peter Barker
6bf29eca70 AP_AIS: remove incorrect use of strncat 
the third argument is space remaining in buffer, not size of buffer...

../../libraries/AP_AIS/AP_AIS.cpp:183:71: warning: Potential buffer overflow. Replace with 'sizeof(multi) - strlen(multi) - 1' or use a safer 'strlcat' API [unix.cstring.BadSizeArg]
                    strncat(multi,_AIVDM_buffer[msg_parts[i]].payload,sizeof(multi));
                                                                      ^~~~~~~~~~~~~
../../libraries/AP_AIS/AP_AIS.cpp:185:49: warning: Potential buffer overflow. Replace with 'sizeof(multi) - strlen(multi) - 1' or use a safer 'strlcat' API [unix.cstring.BadSizeArg]
                strncat(multi,_incoming.payload,sizeof(multi));
 2025-01-31 15:52:50 +11:00
Peter Barker
46973652d4 AP_HAL_ESP32: add get_device_ptr to HAL I2CDevice API 2025-01-31 09:19:33 +11:00
Peter Barker
d5922b2cf1 AP_Notify: avoid use of OwnPtr for ToshibaLED 2025-01-31 09:19:33 +11:00
Peter Barker
51d1cee5eb AP_HAL_SITL: add get_device_ptr to HAL I2CDevice API 2025-01-31 09:19:33 +11:00
Peter Barker
049ad3928d AP_HAL_QURT: add get_device_ptr to HAL I2CDevice API 2025-01-31 09:19:33 +11:00
Peter Barker
07d5938d68 AP_HAL_Linux: add get_device_ptr to HAL I2CDevice API 2025-01-31 09:19:33 +11:00
Peter Barker
0a617b500b AP_HAL: add get_device_ptr to HAL I2CDevice API 2025-01-31 09:19:33 +11:00
Peter Barker
45db7d2231 AP_HAL_Empty: add get_device_ptr to HAL I2CDevice API 2025-01-31 09:19:33 +11:00
Peter Barker
97e87dfcdb AP_HAL_ChibiOS: add get_device_ptr to HAL I2CDevice API 2025-01-31 09:19:33 +11:00
Peter Barker
061f3825a7 AP_Logger: use GCS_SEND_TEXT for error message rather than stdout 
This one is line noise before this patch:
Failed to create log directory /APM/LOGS : ENOSPC
 2025-01-31 08:32:29 +11:00
Shiv Tyagi
4fca0ccd0b AP_Scripting: use AP_PERIPH_BARO_ENABLED in place of HAL_PERIPH_ENABLE_BRO 2025-01-31 08:25:28 +11:00
Shiv Tyagi
c4654c9828 AP_HAL_ChibiOS: use AP_PERIPH_BARO_ENABLED in place of HAL_PERIPH_ENABLE_BRO 2025-01-31 08:25:28 +11:00
Shiv Tyagi
c7217528b1 AP_HAL_ChibiOS: fix incorrect definition of AP_PERIPH_MAG_ENABLED for Here4AP 2025-01-31 08:24:50 +11:00
rubenp02
d529601af6 AP_L1_Control: Fix NAVL1_PERIOD description typo 2025-01-30 20:53:17 +11:00
rubenp02
5c1b768738 AP_L1_Control: Improve comment format consistency 2025-01-30 20:53:17 +11:00
Peter Barker
a829cd3e60 AP_Logger: log IOMCU cpu id and mcu id 
Co-authored-by: Michelle Rossouw <michelleros128@gmail.com>
 2025-01-30 08:52:49 +11:00
Shiv Tyagi
d96439dbc5 AP_HAL_ChibiOS: use AP_PERIPH_MAG_ENABLED in place of HAL_PERIPH_ENABLE_MAG 2025-01-30 08:49:03 +11:00
Peter Barker
99aff5f0cf SITL: remove variable dead stores 2025-01-30 08:47:34 +11:00
Peter Barker
f9d970c474 AP_ADC: remove variable dead stores 2025-01-30 08:47:34 +11:00
Peter Barker
a01b7e74f1 SITL: remove dead stores from rangefinder_range 
roll and pitch are unused if !SITL_RANGEFINDER_AS_OBJECT_SENSOR

../../libraries/SITL/SIM_Aircraft.cpp:546:13: warning: Value stored to 'roll' is never read [deadcode.DeadStores]
            roll = 0;
            ^      ~
../../libraries/SITL/SIM_Aircraft.cpp:551:13: warning: Value stored to 'roll' is never read [deadcode.DeadStores]
            roll = 0;
            ^      ~
../../libraries/SITL/SIM_Aircraft.cpp:557:13: warning: Value stored to 'pitch' is never read [deadcode.DeadStores]
            pitch = 0;
            ^       ~
../../libraries/SITL/SIM_Aircraft.cpp:562:13: warning: Value stored to 'pitch' is never read [deadcode.DeadStores]
            pitch = 0;
 2025-01-30 08:24:27 +11:00
Peter Barker
9bfba32803 GCS_MAVLink: correct resetting of parity after passthhru is done 
this might have worked if parity1 and parity2 were static values - but theyr're not.  I'm guessing the code evolved
 2025-01-29 21:45:37 +11:00
Peter Barker
0a5d450c44 AP_Frsky_Telem: remove dead variable write 
this is falsified at the top of the function

../../libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp:238:13: warning: Value stored to 'packet_ready' is never read [deadcode.DeadStores]
            packet_ready = false;
            ^              ~~~~~
1 warning generated.
 2025-01-29 21:41:51 +11:00
Peter Barker
6cd862709b RC_Channel: make compass LearnType enum-class and parameter AP_Enum 2025-01-29 19:21:59 +11:00
Peter Barker
6298f7dc58 AP_Compass: make compass LearnType enum-class and parameter AP_Enum 2025-01-29 19:21:59 +11:00
Peter Barker
870b626f0e SRV_Channel: remove buggy, unused method 
... this may not fit in an int8_t!
 2025-01-29 19:21:59 +11:00
Peter Barker
c7b0ba04ef AP_Relay: adjust for new type-safety for AP_Enum 2025-01-29 19:21:59 +11:00
Peter Barker
9255054826 AP_Param: add a set_and_save method to AP_Enum 
... and AP_Enum16

to allow for better type-safety in users
 2025-01-29 19:21:59 +11:00
Peter Barker
13980eb518 AP_HAL_ChibiOS: chibios_hwdef.py tidy embedding of files into ROMFS 2025-01-29 19:06:11 +11:00
Andy Piper
29655d149c AP_InertialSensor: remove changes to primary accel since it is always the same as the gyro 2025-01-29 18:47:51 +11:00
Andy Piper
9da365398a AP_AHRS: remove changes to primary accel since it is always the same as the gyro 2025-01-29 18:47:51 +11:00
Andy Piper
a5d04eb291 AP_InertialSensor: only update the primary once. scale FIFO reads to 2x loop rate. 
only increase FIFO buffer when compiled with fast rate
 2025-01-29 18:47:51 +11:00
Andy Piper
da447fd378 AP_InertialSensor: remove rate config include 2025-01-29 18:47:51 +11:00
Andy Piper
51a61b99ea AP_InertialSensor: remove dynamic fifo mask 2025-01-29 18:47:51 +11:00
Andy Piper
32632a06a8 AP_InertialSensor: have a single callback for primary switching 2025-01-29 18:47:51 +11:00
Andy Piper
45242de521 AP_InertialSensor: periodically notify of primary gyro and accels 2025-01-29 18:47:51 +11:00
Andy Piper
981826dca3 AP_InertialSensor: only use dynamic FIFO when using fast rate loop 2025-01-29 18:47:51 +11:00
Andy Piper
6eda43f9f4 AP_AHRS: configure primary gyro/accel in IMU when it changes 2025-01-29 18:47:51 +11:00
Andy Piper
cc52868dda AP_InertialSensor: adjust read rate of Invensense v3 depending on primary 
configure dynamic fifo rates based on primary gyro instance
add set_primary_gyro() and set_primary_accel()
adjust FIFO buffer sizes
 2025-01-29 18:47:51 +11:00
Andy Piper
bed0c2228c AP_InertialSensor: keep a record of the priamry gyro and use it 
add callbacks for when gyrp/accel primary changes
 2025-01-29 18:47:51 +11:00
Shiv Tyagi
99a501852c AP_HAL_ChibiOS: create and use AP_PERIPH_AHRS_ENABLED 2025-01-29 10:37:58 +11:00
Peter Barker
e8634a6549 AP_HAL_ChibiOS: chibios_hwdef.py: flake8 correctness fixes 2025-01-29 06:49:31 +11:00
Randy Mackay
e4f26cd509 AP_Scripting: Torqeedo TorqLink lua driver 
Co-authored-by: Shift-Ronan <88686667+Shift-Ronan@users.noreply.github.com>
 2025-01-29 06:49:08 +11:00
Peter Barker
fbe1661c04 SRV_Channel: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
5f9701bb67 AR_Motors: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
4130187249 AP_Torqeedo: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
dae315dd4a AP_SerialLED: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
c6c6e9fc99 AP_Scripting: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
da133c84df AP_PiccoloCAN: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
bde1a6a2ad AP_Notify: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
b79644c64a AP_Mount: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
3c653e4ed6 AP_Motors: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
f5aae89f41 AP_KDECAN: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
fa226582ce AP_IOMCU: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
62bc113167 AP_ICEngine: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
39193162a2 AP_Arming: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function 2025-01-28 21:56:46 +11:00
Peter Barker
f27c35ed87 AP_HAL_ChibiOS: use python3 -m pip to install Python packages 2025-01-28 21:56:05 +11:00
Ryan Friedman
3a5a2f6025 AP_Soaring: Rate limit the NVF publishers to 4Hz 
Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
 2025-01-28 17:22:28 +11:00
Ryan Friedman
864491de9e AP_DDS: Sync README with Wiki 
* Remove conflicting info

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
 2025-01-28 17:02:41 +11:00
Peter Barker
9e4a180878 AP_Compass: remove vestiges of LearnType::LEARN_INTERNAL 
57a3bc1397 changed the code from "internal" to "in-flight

It seems the old value of "1" was no longer valid

It also changed things to that the learning system saved the offsets.
 2025-01-28 12:23:53 +11:00
Randy Mackay
e294cc03f9 AP_Scripting: video-stream-information param index fix 2025-01-28 12:21:33 +11:00
Andy Piper
e20a00cc53 AP_BoardConfig: support flow control on UARTs 6->8 2025-01-28 12:01:45 +11:00
Randy Mackay
3e5c2a8285 SRV_Channel: alphabetise function param desc 2025-01-28 11:58:15 +11:00