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22611 Commits

Author SHA1 Message Date
Randy Mackay
e1c623183e AP_AHRS: minor comment fix and move var_info lower 2020-04-09 19:41:08 +09:00
Randy Mackay
24bb4876a8 AP_AHRS: move is_ext_nav_used_for_yaw to parent 2020-04-09 19:41:08 +09:00
Randy Mackay
c0187fe05f AP_Logger: add log message description for VISO 2020-04-09 19:41:08 +09:00
Randy Mackay
f18be824ea AP_Logger: add VISP message 2020-04-09 19:41:08 +09:00
chobits
63320f140a AP_Logger: constraints time spend in header writing, more complete 2020-04-09 19:17:17 +10:00
chobits
b829384fdf AP_Logger: constraints time spended in header writing 2020-04-09 19:17:17 +10:00
Andrew Tridgell
dd4cf6ccdd AP_Compass: change RM3100 device ID 
changed scale factor means users need to recalibrate
 2020-04-08 11:21:51 +10:00
Andrew Tridgell
18c3efc377 AP_Compass: fixed scaling of RM3100 
scale factor was off by 200/256, resulting in COMPASS_SCALE of about
1.28

thanks to Arace for noticing
 2020-04-08 11:21:51 +10:00
Peter Barker
5e4cbb0a3f AP_EFI: correct duplicate-label problem in EFI2 log message 2020-04-08 11:17:41 +10:00
Samuel Tabor
4a39a43c10 AP_Soaring: Add log documentation. 2020-04-08 09:11:54 +10:00
Samuel Tabor
b9daae062c AP_Soaring: Use enum class rather than typedef enum for states and hide details of these. 2020-04-08 09:11:54 +10:00
Samuel Tabor
3228cc3309 AP_TECS: Update descriptions of pitch feed-forward parameters. 2020-04-08 09:11:54 +10:00
Samuel Tabor
6e75890bd9 AP_Soaring: Add a low pass of target position from EKF before using it. 2020-04-08 09:11:54 +10:00
Samuel Tabor
f23efdd13b AP_Soaring: Make vario time constant public. 2020-04-08 09:11:54 +10:00
Samuel Tabor
d04c6cb02e TECS: Don't override the speedweight to 0 if synthetic airspeed is in use. 2020-04-08 09:11:54 +10:00
Samuel Tabor
56649fa8eb AP_Soaring: Fix too-long status message. 2020-04-08 09:11:54 +10:00
Samuel Tabor
d54c7f1b7a AP_Soaring: Fix bug when no soaring activation RC channel set. 2020-04-08 09:11:54 +10:00
Samuel Tabor
fbd0df81a7 AP_Soaring: Report changes in active status. 2020-04-08 09:11:54 +10:00
Samuel Tabor
e1f7122566 AP_Soaring: Improve tracking of enabled/disabled status. 2020-04-08 09:11:54 +10:00
Samuel Tabor
5ac801b2ac AP_Soaring: Use 64 bit variable for time to avoid overflow. 2020-04-08 09:11:54 +10:00
Samuel Tabor
2260fda4ec AP_Soaring: Detect changes in active parameter/switch position. 2020-04-08 09:11:54 +10:00
Samuel Tabor
fdf7eae01c AP_Soaring: Adjust initial EKF values and limit R to 40.0m. 2020-04-08 09:11:54 +10:00
Samuel Tabor
ff1725b549 AP_Soaring: Make enable channel 3 position. PWM above 1400us allows most soaring features, but above 1700us is required before any automatic switch to LOITER mode. 2020-04-08 09:11:54 +10:00
Samuel Tabor
1160c59a89 AP_Soaring: Remove dsp bias and log this. 2020-04-08 09:11:54 +10:00
Samuel Tabor
c28c573da1 AP_Soaring: Also log acceleration. 2020-04-08 09:11:54 +10:00
Samuel Tabor
7555f5abf8 AP_Soaring: Fix incorrect trig function and log the expected sink. 2020-04-08 09:11:54 +10:00
Samuel Tabor
17f1fa9600 AP_Soaring: Fix use of double precision sqrt. 2020-04-08 09:11:54 +10:00
Samuel Tabor
7d3ff28974 AP_Soaring: Correct bug with reversed arguments. 2020-04-08 09:11:54 +10:00
Samuel Tabor
16b7de4029 AP_Soaring: Cleanup variometer. 2020-04-08 09:11:54 +10:00
Samuel Tabor
62a34e0f8d AP_Soaring: Calculate filter time constant based on airspeed and loiter radius, using 3x circline rate. 2020-04-08 09:11:54 +10:00
Samuel Tabor
2b40182b34 AP_Soaring: Reduce drift feed-forward by ratio of climb rate to thermal core strength. This is consistent with assumption that each packet of air, rising at core strength, is convected with the ambient wind speed. 2020-04-08 09:11:54 +10:00
Samuel Tabor
15cef55e97 SITL: Make thermal drift relative to 100m alt to avoid so much change with wind speed and direction." 2020-04-08 09:11:54 +10:00
Samuel Tabor
8072f6b858 AP_Soaring: Make the trigger VSPEED take account of thermalling sink. 2020-04-08 09:11:54 +10:00
Samuel Tabor
650b464831 AP_Soaring: Move drift check to separate function and check drift with reference to mission segment, allowing drift in right direction. LOITER target, not current position, is now used. 2020-04-08 09:11:54 +10:00
Samuel Tabor
45cb663d73 AP_Math: Add template for Vector2f::projected. 2020-04-08 09:11:54 +10:00
Samuel Tabor
fab74f8927 AP_Soaring: Calculate expected thermalling sink live and avoid divide by zero by limiting airspeed to that corresponding to CL max (generously assumed 1.5 for glider). 2020-04-08 09:11:54 +10:00
Samuel Tabor
75f772b269 AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER. 2020-04-08 09:11:54 +10:00
Samuel Tabor
684ee11fc3 AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring. 2020-04-08 09:11:54 +10:00
Samuel Tabor
dc8c062fbe AP_TECS: Correct an error in the SEBdot FF term. 2020-04-08 09:11:54 +10:00
Samuel Tabor
247738518e AP_TECS: Add a feed-forward term from adjusted demanded airspeed to nav pitch. 2020-04-08 09:11:54 +10:00
Samuel Tabor
a27c99fab9 AP_TECS: Return the adjusted demanded airspeed. The aspd_error mavlink message now shows the rate-limited airspeed. 2020-04-08 09:11:54 +10:00
Samuel Tabor
ae27f96361 SITL: Make soaring thermals slanted. 2020-04-08 09:11:54 +10:00
Samuel Tabor
013628bd1d Plane: Soaring - better reporting of exit due to drift. 2020-04-08 09:11:54 +10:00
Samuel Tabor
e1b2360781 AP_Soaring: Add a maximum allowable drift distance when thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor
936d4232c9 AP_Soaring: Add a 60s first order filter on climb rate. If this becomes negative exit thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor
30249e8006 AP_Soaring: Add a check of whether altitude has been lost overall when thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor
5082c9be8b SITL: Add plane-soaring type, including parameters, mission, simulated thermals and glider sim settings. 2020-04-08 09:11:54 +10:00
Tom Pittenger
f24095e9ed AP_Soaring: inhibit msg spam when lingering in loiter waiting for heading to line up 2020-04-08 09:11:54 +10:00
Samuel Tabor
3211c03f58 AP_Soaring: Remove unused methods, clean up and log position in N/E rather than Lat/Lng. 
Fix
 2020-04-08 09:11:54 +10:00
Samuel Tabor
152c1507e0 AP_Soaring: Make the EKF states the actual NE position of the thermal, rather than the position relative to aircraft. 2020-04-08 09:11:54 +10:00
Samuel Tabor
d7abd296ef AP_Soaring: Avoid calculations in lat/lng. 2020-04-08 09:11:54 +10:00
Samuel Tabor
0cccc8dc29 AP_Soaring: Fix issue with loiter radius being saved as zero due to initialisation order. This caused incorrect calculation of thermal climb potential and cases of staying in thermals that should have been abandoned. 2020-04-08 09:11:54 +10:00
Samuel Tabor
c135b00b7b AP_Soaring: Remove redundant check for new vario data. 2020-04-08 09:11:54 +10:00
Samuel Tabor
64460be0d0 AP_Soaring: Implement vario based on acceleration rather than differentiated airspeed. 2020-04-08 09:11:54 +10:00
Tom Pittenger
f6396d7a6d Plane: add reason to exit Thermal loiter and adjust LOW alt reaon to cause RTL 2020-04-08 09:11:54 +10:00
Tom Pittenger
52ae093a97 AP_Soaring: add reason to exit Thermal loiter 2020-04-08 09:11:54 +10:00
Michael du Breuil
73c5c2e1bb AP_Arming: Check that sticks are neutral 2020-04-07 14:01:12 -07:00
Michael du Breuil
2b9aa9bc21 RC_Channel: Add option bit for arming checking the throttle input (opt-in) 
Also adds interface to find out what channel is used for rudder arming
 2020-04-07 14:01:12 -07:00
murata
7ec0cb47a5 AP_Compass: const extern hal reference 2020-04-07 20:45:51 +09:00
murata
f83f6c71e4 AP_Logger: const extern hal reference 2020-04-07 20:45:51 +09:00
murata
264a90bb45 AP_Logger: Change to coding style (NFC) 
AP_Logger: Change to coding style (NFC)
 2020-04-07 20:37:33 +09:00
Rishabh
76b4e42bca AP_Logger: Logger documentation TimeUS and typo fix 2020-04-07 18:57:01 +10:00
Rishabh
fe4d1f9316 AC_AutoTune: Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Rishabh
b0134460e5 AP_NavEKF:Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Rishabh
eeb55f8b16 TECS: Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Peter Barker
59dfaad749 SITL: provide method to retrieve desired speedup 2020-04-07 14:51:32 +10:00
Peter Barker
78e432af0c AP_HAL_SITL: do not let outbound queue length to grow too far 
This basically limits our loop rate to whatever is listening on uartA
can handle in terms of mavlink traffic.
 2020-04-07 14:51:32 +10:00
Peter Barker
7028eb8d24 AP_HAL_SITL: provide method to get amount of data still pending in outbound system queues 2020-04-07 14:51:32 +10:00
bugobliterator
9d7022514e HAL_SITL: ensure that unique id string end in null char 2020-04-07 09:40:05 +10:00
Andy Piper
b8878380d6 AP_Camera: add RunCam device type 2 documentation 2020-04-06 20:27:32 +10:00
Andy Piper
e3d22b9d27 AP_Camera: if exiting a RunCam submenu reset the submenu index to the top 2020-04-06 20:15:38 +10:00
Andrew Tridgell
be674fc36c AP_NavEKF3: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-04-06 17:30:29 +10:00
Andrew Tridgell
c9755cf9e6 AP_NavEKF2: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-04-06 17:30:29 +10:00
Peter Barker
2ed550966d AP_Logger: correct units for velocity on OF log message 2020-04-06 10:46:45 +10:00
Peter Barker
64c973b592 SITL: add documentation for AirSim ASM1,ASM2 log messages 2020-04-06 10:46:45 +10:00
Peter Barker
e477f6c840 AC_PosControl: add documentation for PSC log message 2020-04-06 10:46:45 +10:00
Peter Barker
33f17d7739 AP_Logger: document ARSP,ASP2,CAM,TRIG,POWR,TERR,CSV,CMD,OF,AHR2 2020-04-06 10:46:45 +10:00
Peter Barker
3fb61c4cf0 AP_Logger: add documentation for more log messages 
ERR,DSF,EV,SIM,ORGN,POS,LGR,MON,TSYN,IMU,IMUT
 2020-04-05 12:49:19 +10:00
Peter Barker
09152cd254 AP_Logger: correct time field name on DMS 2020-04-05 12:49:19 +10:00
Peter Barker
50c60aa8f2 AP_Logger: add documentation for ACC1,ACC2,ACC3,DMS,GPA,GPA2,GPS2,GYR1,GYR2,GYR3,MAVC,PM 2020-04-05 10:12:03 +10:00
Peter Barker
a92206d090 AP_Logger: log dataflash-over-mavlink timestamp in micros rather than millis 
... like the vast majority of our dataflash messages
 2020-04-05 10:10:49 +10:00
Andrew Tridgell
376116c99b HAL_ChibiOS: fixed skyviper-journey build 2020-04-04 10:47:15 +11:00
Peter Barker
e41ea5a273 AP_Logger: add docco for BAR2,BAR3,MSG,RAD,RALY,RFND,RPM,RSSI 2020-04-04 10:05:15 +11:00
Mark Whitehorn
442fa60651 APM_Control: validate parameter ARSPD_FBW_MIN 2020-04-02 19:43:06 -07:00
Randy Mackay
9c8a5a7392 AP_Math: add comments above some quaternion methods 
thanks to jchallinger
 2020-04-03 10:16:07 +09:00
Peter Barker
b2ad4dabb8 AP_Hott_Telem: correct GPS fix character 
https://discuss.ardupilot.org/t/bug-in-ap-hott-telem-cpp-copter-4-0-4dev/53939/2

Thanks to @fs007
 2020-04-01 19:24:58 +11:00
Peter Barker
93fb5354da AP_Beacon: pozyx: remove dead and pointless code 2020-04-01 15:42:47 +09:00
Siddharth Purohit
a3a3abbf23 SRV_Channels: fix unannotated fall-through between switch labels 2020-04-01 17:10:36 +11:00
Siddharth Purohit
b0cbbb4bea GCS_Common: fix unannotated fall-through between switch labels 2020-04-01 17:10:36 +11:00
Siddharth Purohit
afc0cf8f3b AP_ToshibaCAN: fix unused variable error 2020-04-01 17:10:36 +11:00
Siddharth Purohit
575ac9224e AP_Arming: fix error unannotated fall-through between switch labels 2020-04-01 17:10:36 +11:00
Andrew Tridgell
8e3aba5dc5 AP_RAMTRON: fixed build with gcc 9.x 2020-04-01 17:08:48 +11:00
Andrew Tridgell
077ab22767 AP_GPS: fixed AP_Periph build with gcc 9.x 2020-04-01 17:08:48 +11:00
Andrew Tridgell
4456732911 AP_GPS: fixed rotation of moving baseline GPS 
we were off by 180 degrees. Thanks to Jaime for noticing this!
 2020-04-01 17:08:19 +11:00
Phillip Kocmoud
46582944e2 AP_RAMTRON: Add FM25V02A Extended Temperature 
As shown in https://www.cypress.com/file/139671/download Page 11
 2020-04-01 12:46:05 +11:00
Peter Barker
1770199c41 AP_Logger: add documentation for MAV and PARM 2020-04-01 10:13:03 +11:00
Peter Barker
6f685b8ac5 AP_HAL_SITL: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
Peter Barker
ec460b4244 AP_Vehicle: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
Peter Barker
73e43d8da5 AP_HAL: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
Peter Barker
9ba2aecbb8 AP_HAL_ChibiOS: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
yaapu
fed8ecc3b0 AP_Frsky_Telem: fix for protocol=4 GAlt=0 and GSPd=0 
This fixes protocol 4 GPS altitude and speed error, both were reported as constant 0
for cal_gps_position() was never called
 2020-03-31 13:09:35 +11:00
Peter Barker
a3e2e156e7 AP_HAL_Linux: do not create ConsoleDevices for Replay or examples 
Uusally problems evidence themsleves with stdin not working correctly -
for example, "git add -p" skipping through all queries as if the
user was just pressing enter.
 2020-03-31 11:22:21 +11:00
Andrew Tridgell
21e93dae34 GCS_MAVLink: send only old value for readonly param set 
this prevents a condition where the GCS can display the wrong value if
the 2nd PARAM_VALUE is lost

Note that groundstations can tell the set failed due to readonly in
the following ways:

 1) look for the statustext: Param write denied (PARAMNAME)

 2) see that the value came back with the old value, with index of
   65535

 3) can repeat the send, looking for (1) and (2)

Michael has proposed we add a PARAM_VALUE mavlink2 flags
extension. That would be nice, but we should still make this change to
fix the issue with mavlink 1.0
 2020-03-31 11:19:58 +11:00
Peter Barker
55d37e5d0e GCS_MAVLink: correct slowing down of waypoint re-requests 
These re-requests shouldn't be slowed down by a factor of 20.

This was a left-over from when we did these in terms of 20ms intervals
(50Hz loop rate)
 2020-03-31 11:15:04 +11:00
Peter Barker
ca7fcc093c GCS_MAVLink: correct return type on get_stream_slowdown_ms 
Only used in one place.  On slow links may have caused us to re-request
a waypoint too often.  "Too often" is still >1s intervals.
 2020-03-31 11:15:04 +11:00
Peter Barker
0b756547be GCS_MAVLink: add stream_slowdown to MAV message 2020-03-31 11:13:11 +11:00
Peter Barker
be6ed0be9f AP_Logger: add stream_slowdown to MAV message 2020-03-31 11:13:11 +11:00
Peter Barker
46a014b399 AP_Notify: remove recursive call to play in next_action 
Infinite recursion is bad.

See https://github.com/ArduPilot/ardupilot/issues/13868
 2020-03-31 11:06:30 +11:00
Peter Barker
7028f1adba GCS_MAVLink: GCS_FTP: remove redundant more_pending variable 
This is taken care of by the "break" statements
 2020-03-31 10:38:13 +11:00
Peter Barker
a09ac895e9 GCS_MAVLink: remove dead assignment 
This value is never used
 2020-03-31 10:38:13 +11:00
Peter Barker
2b08af69bc AP_GPS: fix dereference-of-nullptr warning from scan-build 
This is kind-of a false positive as this in practise could never be
nullptr.
 2020-03-31 10:37:16 +11:00
Michael du Breuil
18baf18041 GCS_MAVLink: Remove redundant assignment to the command 
This is done internally by the conversion to mission_item_int_t
 2020-03-31 10:35:49 +11:00
Peter Barker
609b66a053 AP_NavEKF3: rename struct log_NKF2a to log_XKF2 2020-03-31 10:25:59 +11:00
Peter Barker
8a28fa2244 AP_Logger: rename struct log_NKF2a to log_XKF2 2020-03-31 10:25:59 +11:00
Gone4Dirt
c97cc71382 AP_Camera: Correct trigger behaviour when cmd is switched off then on again 2020-03-31 10:05:40 +11:00
Gone4Dirt
d813ee27de AP_Mission: Added immediate trigger for DO_SET_CAM_TRIGG_DIST 2020-03-31 10:05:40 +11:00
Randy Mackay
cca361a942 AP_VisualOdom: minor format and comment fixes 2020-03-30 20:31:38 +09:00
Randy Mackay
ecf5abc1f2 GCS_MAVLink: minor format fix 2020-03-30 20:20:08 +09:00
Randy Mackay
7a48a3f354 AP_Math: minor comment fix 2020-03-30 20:20:02 +09:00
Henry Wurzburg
a637073dad AP_HAL_Chibios: add tenth PWM output to MatekF405-Wing 2020-03-30 11:23:14 +11:00
Peter Barker
aeb45bf146 AP_Logger: fix extremely unlikely nullptr dereference in SITL sanity checks 2020-03-29 08:07:29 +11:00
Michael du Breuil
75b133926f AP_Scripting: Cleanups to remove false posive warnings 2020-03-28 21:16:09 +11:00
Michael du Breuil
d50e9865bd AP_Scripting: Delete the lua object if we failed to allocate the required memory 2020-03-28 21:16:09 +11:00
Michael du Breuil
6753e99604 AP_Scripting: Add a return around luaL_error 
This is the normal method of calling luaL_error which longjmp's away,
and it helps the static analysis tools realize that anything afterwards
will not be reached
 2020-03-28 21:16:09 +11:00
Andrew Tridgell
e7fdf8fad1 GCS_MAVLink: reduced delay between ftp packets 2020-03-28 15:28:03 +11:00
Andrew Tridgell
5c9ae33151 GCS_MAVLink: support variable sized packets in burst read 
this allows packet size to be tailored to the transport
 2020-03-28 15:28:03 +11:00
Andrew Tridgell
8a84dbc19e GCS_MAVLink: slow down telemetry during ftp 2020-03-28 15:28:03 +11:00
Andrew Tridgell
5047eb88e2 AP_Scripting: use @ROMFS 2020-03-28 15:28:03 +11:00
Andrew Tridgell
10c709a5a1 AP_Filesystem: use @ROMFS 2020-03-28 15:28:03 +11:00
Andrew Tridgell
a8f7212d79 AP_Filesystem: fixed open for write in ROMFS 2020-03-28 15:28:03 +11:00
Andrew Tridgell
e0957c2bcc HAL_ChibiOS: include hwdef.dat in ROMFS 
this allows download via ftp
 2020-03-28 15:28:03 +11:00
Andrew Tridgell
c1d4a5bd35 GCS_MAVLINK: prevent closedir() with nullptr 2020-03-28 15:28:03 +11:00
Andrew Tridgell
8d1bf46dab AP_Param: use smaller param area for all 1M flash boards 2020-03-28 15:28:03 +11:00
Andrew Tridgell
ebec738b88 AP_Scripting: enable lua scripts in ROMFS 2020-03-28 15:28:03 +11:00
Andrew Tridgell
ea57b7b3cd HAL_ChibiOS: embed ROMFS files from hwdef directory 
this allows for a scripts/ directory under hwdef board directory to
embed lua scripts
 2020-03-28 15:28:03 +11:00
Andrew Tridgell
28082774b6 GCS_MAVLink: use new DirHandle for directory listings 2020-03-28 15:28:03 +11:00
Andrew Tridgell
a91c587ef3 AP_Scripting: use new DirHandle for directory listings 2020-03-28 15:28:03 +11:00
Andrew Tridgell
b5cc1f236a AP_Logger: use new DirHandle for directory listings 2020-03-28 15:28:03 +11:00
Andrew Tridgell
6583f7c13e AP_Filesystem: added VFS system for multiple backends 2020-03-28 15:28:03 +11:00
Andrew Tridgell
98542d0c0b AP_ROMFS: added directory listing interface 2020-03-28 15:28:03 +11:00
Andrew Tridgell
6360c67858 AP_OSD: avoid build when OSD disabled 2020-03-28 15:28:03 +11:00
Andrew Tridgell
822460ce7d HAL_ChibiOS: fixed strdup() on ChibiOS 2020-03-28 15:28:03 +11:00
Peter Barker
051a7dc298 AP_NavEKF: add onboard LogMessage documentation 2020-03-27 08:05:53 +11:00
Peter Barker
7f0e722a33 AP_Logger: add onboard LogMessage documentation 2020-03-27 08:05:53 +11:00
Andrew Tridgell
6d42e9502b AP_Compass: fixed unreg compass check for AP_Periph 
this fixes detection of compasses on peripherals where
COMPASS_MAX_UNREG_DEV is 0
 2020-03-26 18:10:13 +11:00
Daniel Magree
b3ff81648b Nav_EKF3: varInnovBodyVel assigned the innovation covariance, rather than inverse 2020-03-25 21:52:49 +11:00
Andrew Tridgell
0f6f684bab AP_Airspeed: expose get_corrected_pressure() 
needed for AP_Periph
 2020-03-25 20:37:00 +11:00
Henry Wurzburg
c34c857123 AP_Logger: update logger meta-data, add to gitignore 2020-03-25 14:20:53 +11:00
Peter Hall
53caf516f9 SRV_Channel: add missing ProfiLED description values 2020-03-24 13:37:20 +09:00
Andrew Tridgell
f299a4af33 RC_Channel: added RC_OPTION bit for protocol logging 2020-03-24 09:10:36 +09:00