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25602 Commits

Author SHA1 Message Date
Andrew Tridgell bf999f701f AP_InertialSensor: fixed ICM-20602 y offset bug 
this works around a bug in the ICM-20602 that can cause the Y facttory
offset register to change unexpectedly. We don't know what triggers
this.

The fix is to save the factory offset at boot and restore it if it
changes. We log a message describing the change, but don't mark the
IMU unhealthy as this happens too often and we don't want to fallback
to a 2nd less good quality IMU (eg. MPU6000 on MatekH743)
 2021-02-24 18:18:37 +11:00
Andrew Tridgell 4cddf37984 AP_InertialSensor: log unexpected register changes 
when the register checking code finds an error we will log what
register changed and to what value
 2021-02-24 18:18:37 +11:00
Andrew Tridgell c23f61b79a HAL_ChibiOS: set internal error on panic 2021-02-24 18:18:37 +11:00
Andrew Tridgell f250c4d684 AP_InertialSensor: added an internal error for panic 
ensure users cannot arm while in a panic
 2021-02-24 18:18:37 +11:00
Andrew Tridgell 7010eae9e8 AP_HAL: remember details of register check fails 
this allows for logging of register resets
 2021-02-24 18:18:37 +11:00
Andrew Tridgell 85ef6b7ac6 AP_InertialSensor: added optional logging of register changes 2021-02-24 18:18:37 +11:00
Andrew Tridgell eec05c1f48 HAL_ChibiOS: fixed a race and null ptr deref in dshot 
if a dshot is cancelled then the waiter can be nullptr
 2021-02-24 15:39:10 +11:00
murata dee040b14a AP_Notify: Change division to multiplication 2021-02-24 11:06:54 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 48ab08fb67 AP_ESC_Telem: Fix copy & paste typo 2021-02-24 12:49:05 +11:00
Andy Piper b102391163 AP_HAL_ChibiOS: don't send rcout events without rcout thread 2021-02-24 08:55:12 +11:00
Andrew Tridgell f7098c1635 AP_ROMFS: added crc check in ROMFS decompression 2021-02-23 20:20:07 +11:00
Andrew Tridgell 1c74f14162 AP_ROMFS: fixed range check in tinflate 
this could cause valid compressed data to fail decompression
 2021-02-23 20:20:07 +11:00
Sebastian Quilter b4119aa07b AP_OSD: remove font bins from gitignore 2021-02-23 15:22:22 +11:00
Sebastian Quilter bea8bf3afb AP_OSD: Add draw_vtx_power() 2021-02-23 15:22:22 +11:00
Sebastian Quilter e44eb47143 AP_OSD: Update fonts to include mW char 2021-02-23 15:22:22 +11:00
Peter Barker a3dcf5a6ff AP_NavEKF: move GSF logging from EKF files into GSF files 2021-02-23 12:36:33 +11:00
Peter Barker 65b780fad5 AP_NavEKF3: move GSF logging from EKF files into GSF files 2021-02-23 12:36:33 +11:00
Peter Barker d668243d1e AP_NavEKF2: move GSF logging from EKF files into GSF files 2021-02-23 12:36:33 +11:00
Peter Barker a17a8faf42 AP_Logger: move GSF logging from EKF files into GSF files 2021-02-23 12:36:33 +11:00
Peter Barker cfe9dc32d1 GCS_MAVLink: only send distance_sensor messages if valid data seen 
In the case you only have a forward-pointing LIDAR we'd send messages
for each of the other orientations from proximty's horizontal-distances
array, chewing up bandwidth and processing time.
 2021-02-23 10:02:47 +09:00
Peter Barker 9a66a1564c AP_Proximity: only send distance_sensor messages if valid data seen 
In the case you only have a forward-pointing LIDAR we'd send messages
for each of the other orientations from proximty's horizontal-distances
array, chewing up bandwidth and processing time.
 2021-02-23 10:02:47 +09:00
Andy Piper fcd35ba0f8 AP_Vehicle: move AP_Vehicle to AP_Vehicle 2021-02-23 11:43:32 +11:00
Andy Piper 8df8898464 RC_Channel: move AP_VideoTX to AP_VideoTX 2021-02-23 11:43:32 +11:00
Andy Piper 7039d67474 AP_VideoTX: move AP_VideoTX to AP_VideoTX 2021-02-23 11:43:32 +11:00
Andy Piper 74318dd0dd AP_Vehicle: move AP_VideoTX to AP_VideoTX 2021-02-23 11:43:32 +11:00
Andy Piper dd310fd12f AP_RCProtocol: move AP_VideoTX to AP_VideoTX 2021-02-23 11:43:32 +11:00
Andy Piper d97079e53b AP_RCTelemetry: move AP_VideoTX to AP_VideoTX 2021-02-23 11:43:32 +11:00
Peter Barker c5e62eb6e4 GCS_MAVLink: schedule current waypoint rather than immediate send 
This message may not fit in our outgoing buffer
 2021-02-23 11:27:22 +11:00
Patrick José Pereira 0e76006dc5 SRV_Channel: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira 300a14aaae SITL: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira ba2adac869 GCS_MAVLink: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira 3b0dac3198 AP_NavEKF3: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira 4f81aa82e2 AP_LeakDetector: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira d749fce378 AP_LandingGear: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira 1038581bcb AP_HAL_SITL: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Patrick José Pereira 9965cbb79a AP_Generator: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Peter Barker a0172fd2ca AC_Fence: emit a FENCE_STATUS message if we newly-breach the fences 
This should resolve a problem in autotest where we don't detect the
fence as being breached as ArduPilot never announces the fact it has
breached - it just changes mode to RTL but the interval on the
FENCE_STATUS message never aligns with the time the vehicle is breached.
 2021-02-23 08:28:02 +09:00
Mirko Denecke edc2b0c94e AP_HAL_ChibiOS: fix copy and paste typo 2021-02-23 08:15:50 +09:00
Andrew Tridgell 17031707e3 AP_Scripting: added pcall example 
this shows how to catch errors in scripts to make them robust against
runtime errors
 2021-02-23 09:59:37 +11:00
Paul Riseborough 342e6b35fa AP_NavEKF3: Fix use of incorrect ballistic coefficient parameter 2021-02-22 13:21:03 +09:00
Paul Riseborough 7370cd9f00 AP_NavEKF3: Fix typo and update parameter description 2021-02-22 13:21:03 +09:00
Randy Mackay 0c9559db6d AP_Motors: fixup octaquad CW_X motor directions 2021-02-22 11:00:44 +09:00
Peter Barker 1afa0a7ff2 GCS_MAVLink: remove unused member 
and a bogus comment
 2021-02-20 21:48:25 +11:00
Andrew Tridgell 7af20e9ea3 HAL_ChibiOS: increase H7 serial buffer sizes 
this takes better advantage of the new UART code. Log download over
USB gets to 730 kbyte/s. For comparison, with the 4.0 code on the same
H7 we get about 300 kbyte/s
 2021-02-20 20:49:45 +11:00
Andrew Tridgell 3b88a3273b HAL_ChibiOS: adjust up uart tx stack size 
lowest was showing 80 bytes free, which is too close to the 64 byte
level where we trigger an internal error
 2021-02-20 14:37:11 +11:00
Andrew Tridgell 5e0f175223 HAL_ChibiOS: adjust UART buffer sizes for new UART code 
this gains about 20k of RAM, and has almost no impact on log download
speed at 921600 on a F427. The improved threading means we can afford
to have smaller buffers
 2021-02-20 14:37:11 +11:00
Andy Piper 4e61ba2dc8 AP_HAL_ChibiOS: reduce stack sizes for rcout, uart_rx and storage. 2021-02-20 14:37:11 +11:00
Andy Piper 94de238751 AP_HAL_ChibiOS: disable RCOUT thread on iomcu and rebuild iomcu. 2021-02-20 14:37:11 +11:00
Andy Piper f9c5f9be00 AP_HAL_ChibiOS: make dshot DMA unlock event driven in order to allow unlocking from rcout thread 
refactor rcout into separate thread and process all dshot requests there
move uart DMA completion to event model
process dshot locks in strick reverse order when unlocking
convert Shared_DMA to use mutexes
move UART transmit to a thread-per-uart
do blocking UART DMA transactions
do blocking dshot DMA transactions
trim stack sizes
cancel dma transactions on dshot when timeout occurs
support contention stats on blocking locking
move thread supression into chibios_hwdef.py
invalidate DMA bounce buffer correctly
separate UART initialisation into two halves
cleanup UART transaction timeouts
add @SYS/uarts.txt
move half-duplex handling to TX thread
correct thread statistics after use of ExpandingString
set unbuffered TX thread priority owner + 1
correctly unlock serial_led_send()
don't share IMU RX on KakuteF7Mini
observe dshot pulse time more accurately.
set TRBUFF bit for UART DMA transfers
deal with UART DMA timeouts correctly
don't deadlock on reverse ordered DMA locks
change PORT_INT_REQUIRED_STACK to 128
 2021-02-20 14:37:11 +11:00
Andy Piper c388fd9214 AP_Filesystem: add @SYS/uarts.txt 2021-02-20 14:37:11 +11:00
Andy Piper a07b238c7d AP_HAL: add PRIORITY_RCOUT 
don't allow UART copies
add @SYS/uarts.txt
 2021-02-20 14:37:11 +11:00
Iampete1 bf7920f2d7 AP_Scripting: use helper for not supported error saving 1K of flash 2021-02-18 15:12:58 -07:00
Leonard Hall f0f87be06d AC_PID: AC_PI_2D format changes 2021-02-18 12:59:39 +09:00
mateksys 7eb4e9b370 AP_Periph: set PORT defaults for F405-MatekGPS 2021-02-18 11:51:50 +11:00
mateksys 97c2b7228e AP_Periph: Matek F303 and F405 AP_Periph use DSP310 baro 2021-02-18 11:51:50 +11:00
Tom Pittenger 8019cc160a AP_ICEngine: make it obvious that update_idle_gov does nothing if disabled 2021-02-18 09:45:30 +11:00
Peter Barker f124cf0991 AP_Hott_Telem: use GPS single-char representation of fix type 2021-02-18 08:59:23 +11:00
Peter Barker 9da9d8c94b AP_GPS: provide method for getting single char representing fix type 
Should allow us to be consistent across places in the code base that
need a compact representation for a user display.
 2021-02-18 08:59:23 +11:00
Leonard Hall e788d63686 AC_AttitudeControl: clear up comment for inertial_frame_reset 2021-02-17 21:19:18 +09:00
Andy Piper 4c2cbdab8d AP_HAL_ChibiOS: only setup half-duplex for receive when transmit is fully over 2021-02-17 20:09:48 +11:00
Andy Piper 5c32007cdf AP_HAL_ChibiOS: ensure stop bits can be set before UART begin 2021-02-17 20:09:48 +11:00
Peter Hall 43763091bd AP_Scripting: add send_named_float to simple loop example 2021-02-17 18:49:20 +11:00
Peter Hall fc95664580 AP_Scripting: add GCS send_named_float binding 2021-02-17 18:49:20 +11:00
Andy Piper 3371c272fb AP_Notify: make LED_NTF_LEN changes require a reboot 
don't dynamically update LED length
 2021-02-17 18:36:36 +11:00
Andy Piper 3a9107245c AP_HAL_ChibiOS: allocate DMA and LED buffers correctly when the length changes 
calculate DMAR pulse times correctly
ensure 50us pulse separation for LED
make sure the LEDs are signalled for output
only allow LED length to be set once
 2021-02-17 18:36:36 +11:00
Andy Piper a98f85502a AP_RCTelemetry: add support for SmartAudio protocol. 
treat VTX frequency as a first class citizen, match band/channel to frequency
update CRSF to use new VTX configuration
use a 6-position switch to control VTX power
add support for VTX GCS announcement
announce VTX updates on CRSF
support pitmode-until-arm and pitmode-on-disarm

Co-authored-by: luis.martinez.exts <luis.martinez@juntadeandalucia.es>
 2021-02-17 18:23:33 +11:00
Andy Piper ea3af39773 RC_Channel: add support for 6-position switch and use it for VTX power 2021-02-17 18:23:33 +11:00
Andy Piper 6f91e053d5 AP_VideoTX: new library to support the SmartAudio protocol 
set the VTX parameters to what was actually configured by the VTX
use change band/change frequency when appropriate
set power levels appropriately for protocol version.

Co-authored-by: luis.martinez.exts <luis.martinez@juntadeandalucia.es>
 2021-02-17 18:23:33 +11:00
Andy Piper 2d0fe8b883 AP_SerialManager: add support for the SmartAudio protocol 
Co-authored-by: luis.martinez.exts <luis.martinez@juntadeandalucia.es>
 2021-02-17 18:23:33 +11:00
Andy Piper b79ff9475d AP_Vehicle: add support for the SmartAudio protocol 
Co-authored-by: luis.martinez.exts <luis.martinez@juntadeandalucia.es>
 2021-02-17 18:23:33 +11:00
Peter Barker c20c4a6308 AP_HAL_SITL: set bus in read-size of rdwr transaction 2021-02-17 14:23:07 +11:00
Peter Barker 1c4e1aab05 AP_Logger: move gps logging structures into AP_GPS 2021-02-17 11:30:01 +11:00
Peter Barker c2cba52ad8 AP_GPS: move gps logging structures into AP_GPS 2021-02-17 11:30:01 +11:00
Peter Barker eefcc92f24 GCS_MAVLink: take MAV_CMD_DO_SPRAYER as a mavlink command 2021-02-16 22:36:43 +11:00
Peter Barker c3b005e1d9 AP_Mission: add mission command to turn sprayer on and off 2021-02-16 22:36:43 +11:00
Rishabh 98287a1b2f AC_Avoid: Use previous avoidance vel for limiting accel 2021-02-16 20:08:00 +09:00
Rishabh cbf57af1f3 AC_Avoid: Limit acceleration while simple avoidance is active 2021-02-16 20:08:00 +09:00
Rishabh 865f3cda79 AC_Avoid: Add param to switch off proximity avoidance based on alt 2021-02-16 20:08:00 +09:00
Peter Hall c1a831bbf4 GCS_MAVLink: sensor flags, only mark AHRS as enabled once initialised 2021-02-16 12:54:28 +11:00
Andrew Tridgell a42bfd5df5 AP_Baro: added MS5611 baro compensation for -15 to -40C 2021-02-16 11:20:57 +11:00
Michael du Breuil 4c4e613f6a AP_GPS: Don't send SBF config unless there is free space in the port 2021-02-15 16:31:45 -07:00
Michael du Breuil c0da87c066 AP_HAL_ChibiOS: Update HitecMosaic to reflect changes to GPS config 2021-02-15 16:31:45 -07:00
Michael du Breuil 4d42996068 AP_GPS: Force the buadrate on SBF units 2021-02-15 16:31:45 -07:00
Peter Barker 01eb64ce73 AP_RPM: don't present RPM2_PIN parameter if RPM_MAX_INSTANCES <=1 2021-02-16 08:26:18 +09:00
Andrew Tridgell 6d1511f3eb GCS_MAVLink: added method to force save calibration 
useful after reloading parameters
 2021-02-15 07:24:40 +11:00
Andrew Tridgell f8e0227c8c AP_Compass: added force_save_calibration() 2021-02-15 07:24:40 +11:00
Andrew Tridgell 25dd08a1fd AP_InertialSensor: added force_save_calibration() 2021-02-15 07:24:40 +11:00
Andrew Tridgell 9de1519928 HAL_ChibiOS: prevent hw flow control from hogging a DMA channel 
When hw flow control is enabled check the CTS pin before we grab the
DMA channel to prevent a long timeout trying to send to a blocked port
from holding a DMA channel against another device

this fixes issue #16587
 2021-02-15 07:23:56 +11:00
Andrew Tridgell 106162b0c5 AP_MSP: removed date/time from MSP 
we don't want to use real dates here as that would mean we don't get
consistent builds. Being able to reproduce the exact build at a later
date is a valuable property of the code

The git hash should be enough
 2021-02-13 19:24:48 +11:00
Andrew Tridgell 0cc4409845 HAL_ChibiOS: fixed handling of invalid channel for LED write 
this prevents a null ptr dereference when an invalid channel (such as
one on IOMCU) is used for LEDs
 2021-02-13 15:11:10 +11:00
Andrew Tridgell 098a17fe2e HAL_ChibiOS: fixed CubeOrange ADSB param name 2021-02-13 13:06:20 +11:00
Rishabh f107ce3951 AP_Proximity: Use 3 sectors for simple avoidance boundary 2021-02-12 16:48:16 +09:00
Rishabh 8cab737bdd AP_Proximity: Follow NED convention 2021-02-12 16:48:16 +09:00
Rishabh 74bda4952d AC_Avoid: Return early if velocity is unchanged in proximity avoidance 2021-02-12 16:48:16 +09:00
Randy Mackay eafd702773 AC_WPNav: add comment clarifying get_wp_destination alt frame 2021-02-11 13:01:37 +09:00
Mark Whitehorn bb15c18cc3 GCS_MAVLink: send message when MAVFTP init fails 2021-02-10 23:06:36 +11:00
Pierre Kancir eb78a473f6 AP_Vehicle: correct virtual specifier 2021-02-10 18:49:42 +11:00
Pierre Kancir 7430a415fb AP_Tuning: use AUX_PWM_TRIGGER_LOW and AUX_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Pierre Kancir 67bdec3325 AP_OSD: use AUX_PWM_TRIGGER_LOW and AUX_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Pierre Kancir 9362039feb AP_ICEngine: use AUX_PWM_TRIGGER_LOW and AUX_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Pierre Kancir 287645cf68 RC_Channel: use AUX_PWM_TRIGGER_LOW and AUX_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Pierre Kancir a631ca4eac AP_Button: add AUX_SWITCH_PWM_TRIGGER_LOW and AUX_SWITCH_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Pierre Kancir 0725cbdffc RC_Channel: add AUX_SWITCH_PWM_TRIGGER_LOW and AUX_SWITCH_PWM_TRIGGER_HIGH 2021-02-10 18:48:06 +11:00
Pierre Kancir 68a27e3b41 AP_Arming: use RC_CALIB_MIN_LIMIT_PWM and RC_CALIB_MAX_LIMIT_PWM 2021-02-10 18:48:06 +11:00
Pierre Kancir 9dcaf155a6 RC_Channel: add use RC_CALIB_MIN_LIMIT_PWM and RC_CALIB_MAX_LIMIT_PWM 2021-02-10 18:48:06 +11:00
Randy Mackay 1ee7f00192 AP_VisualOdom: fix T265 criteria for aligning to AHRS 2021-02-10 18:37:45 +11:00
Leonard Hall f53242b323 AC_AttitudeControl: rename thrust_heading_rotation_angles args 2021-02-10 18:35:58 +11:00
Leonard Hall ad6e2eeed8 AC_AttitudeControl: remove feed-forward from run_quat 2021-02-10 18:35:58 +11:00
Andy Piper 20d8696a0a AP_HAL_ChibiOS: BeastH7 has DPS310 baro 2021-02-10 18:33:59 +11:00
Leonard Hall 8ace1bfad1 AC_PosControl: const local vars and remove todo 2021-02-10 13:26:23 +09:00
Iampete1 6d650e74f2 AP_Scripting: add fault tolerant hex MotorsMatrix example 2021-02-10 11:16:27 +09:00
Randy Mackay f4e6d63a7c AP_VisualOdom: minor formatting fixes 2021-02-09 20:17:39 +09:00
Gone4Dirt d928b80629 AP_SmartRTL: Add option to ignore pilot yaw 2021-02-09 19:39:17 +09:00
Randy Mackay 0703a1cf93 AC_PosControl: add PSCZ logging 2021-02-09 19:33:52 +09:00
Randy Mackay 9f914d9e7d AC_PosControl: add get_z_accel_cmss helper function 2021-02-09 19:33:52 +09:00
Randy Mackay 3ae8af6b21 AP_Logger: add PSCZ logging 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>

includes const log_PSCZ declaration
also changed PSZ ThO to percentage
 2021-02-09 19:33:52 +09:00
Josh Henderson 8135d9e60a AP_VisualOdom: Privatize Logging 2021-02-09 19:33:14 +09:00
Josh Henderson 00e3bda2f5 AP_Logger: Privatize AP_VisualOdom Logging 2021-02-09 19:33:14 +09:00
Iampete1 9ace8ed216 AP_Motors: Matrix 6DoF scripting add get_frame_string 2021-02-09 12:43:54 +09:00
Iampete1 7d5e5f8dd7 AC_AttitudeControl: add SITL panic to remind us to implent the quarternion 2021-02-09 12:43:54 +09:00
Peter Hall cc26a520bc AP_MotorsMatrix: init to virtual and remove duplicate set initalised 2021-02-09 12:43:54 +09:00
Iampete1 1395f9ce79 AP_Scripting: add 6DoF motors matrix bindings and example 2021-02-09 12:43:54 +09:00
Iampete1 28e8c5e56e AP_Scripting: add 6DoF attitude control bindings and example 2021-02-09 12:43:54 +09:00
Iampete1 5c3725d899 AP_Motors: add 6DoF scripting matrix mixer 2021-02-09 12:43:54 +09:00
Iampete1 791e68b4ef AC_AttitudeControl: add 6DoF support 2021-02-09 12:43:54 +09:00
Gone4Dirt f490c9d799 AC_Autorotation: Add copter vehicle type to flight log metadata 2021-02-08 22:09:49 -05:00
Gone4Dirt 6dc100728f AP_Motors: Fix spelling of autorotation flag 2021-02-08 22:09:49 -05:00
Mark Whitehorn 9bc8a8c912 AP_Motors: make frame*string getters more const 2021-02-09 12:43:53 +11:00
Mark Whitehorn 6b2184a53a AP_Motors: add frame_class and frame_type strings 
move frame_class/type string assignments down into subclasses
 2021-02-09 12:43:53 +11:00
Andrew Tridgell 814393c9c2 HAL_ChibiOS: switch from DPS280 to DPS310 in boards that use the DPS310 2021-02-09 11:37:07 +11:00
Andrew Tridgell dad55b496b AP_Baro: support DPS310 temperature fix 
separate DPS310 from DSP280
 2021-02-09 11:37:07 +11:00
Randy Mackay 1814524fcb AP_NavEKF3: fix using_external_yaw when using external nav 
the first if would always return true meaning the method would always return false when using external nav
thanks to David Sastre for finding this!
 2021-02-09 11:35:39 +11:00
Andrew Tridgell 86fda93781 HAL_ChibiOS: added heater correction of AK09916 
this fixes a problem with the internal compass being impacted by the
magnetic field from the heater
 2021-02-09 11:32:19 +11:00
Andrew Tridgell a90b54ba6e AP_Compass: allow for AK09916 correction by heater duty cycle 2021-02-09 11:32:19 +11:00
Andrew Tridgell 1097d04e5d AP_BoardConfig: added get_heater_duty_cycle() 2021-02-09 11:32:19 +11:00
Andrew Tridgell 5920c52285 Scripting: simple relay example 
toggle at 50Hz
 2021-02-09 10:23:06 +11:00
Andrew Tridgell 2ab8ad0ef0 HAL_ChibiOS: added Durandal pinout details 2021-02-09 07:14:02 +11:00
Randy Mackay d1dda86f60 AC_AutoTune: report step in lower case 
also shortens displayed accuracy to 0.1deg and removes one pair of brackets
we should use lower case for reporting because it is easier to read and it takes up less space when displayed on MP's HUD (and probably other GCSs too)
 2021-02-06 14:45:53 +09:00
Randy Mackay 25beab4c82 AC_AutoTune: add failure to level warning 2021-02-06 14:45:53 +09:00
Randy Mackay 4032ac9884 AC_AutoTune: level criteria is 5deg for plane and 2.5 for all others 2021-02-06 14:45:53 +09:00
Michael du Breuil 623951a262 AP_HAL_ChibiOS: Add some extra GPS SBF config 2021-02-05 11:52:29 -07:00
Michael du Breuil 5f3b1b92a4 AP_GPS: SBF don't send configuration until we've recieved a prompt 
This fixes a configuration problem with SBF unit's where sometimes we
fail to detect the GPS unit continously, until it's been manually
configured. This was tested by doing a hard reset to the GPS unit.

This also now accepts a set of defines from the hwdef, or build
environment, which allows us to specify extra config options.
 2021-02-05 11:52:29 -07:00
Michael du Breuil d9ffd04a96 AP_GPS: Broadcast the detect message on AP_Periph over CAN 2021-02-05 11:52:29 -07:00
basti a3c47e0a23 AP_OSD: add SD-card handling to font README 2021-02-05 19:48:06 +11:00
Peter Barker 3da156e358 AP_InertialSensor: prevent nullptr dereference in SITL 2021-02-05 15:02:12 +11:00
Andrew Tridgell 6144136b61 Filter: fixed reset of filters to first value 
the delay elements were set incorrectly
 2021-02-05 15:01:22 +11:00
Tom Pittenger d1e6b0befb AP_HAL_ChibiOS: Add ADC1 support to STM32F3 
This is useful for AP_Periph battery monitoring
 2021-02-04 16:30:38 -08:00
murata 09f04e8a5a AP_RangeFinder: Devices are enabled and disabled by type 
AP_RangeFinder: Devices are enabled and disabled by type

AP_RangeFinder: Delete some description of I2C function address.
 2021-02-05 09:44:27 +11:00
Andrew Tridgell b8e82a56f3 HAL_ChibiOS: don't start rout ticks till after full system init 
this prevents an occasional boot hang on systems with DShot
enabled. We shouldn't be starting DShot output till after setup() is
complete as the outputs are still being configured
 2021-02-05 07:17:57 +11:00
Peter Barker f847758272 Filter: add gtest suite 2021-02-04 20:50:48 +11:00
Peter Barker 514dfa4b71 SITL: SF45B: increase resolution to 1 degree 
The mode filter tends to squish a lot of data if we don't get this
correct.
 2021-02-04 20:50:21 +11:00
Tatsuya Yamaguchi 83417c1df7 AP_Notify: modify NTF_BUZZ_VOLUME description 2021-02-04 17:27:00 +09:00
Peter Barker ee2f615352 AP_Proximity: RPLidarA2: correct face distances are assigned to 2021-02-04 16:57:48 +11:00
WillyZehnder acfe815305 AP_Scripting: make get_control_mode_reason available to lua 2021-02-04 08:32:35 +09:00
Peter Barker 84953c2e39 AP_BattMonitor: fix constexpr-and-MIN don't get along bug 
lib/libArduCopter_libs.a(AP_BattMonitor_SMBus_NeoDesign.cpp.0.o): In function `AP_BattMonitor_SMBus_NeoDesign::timer()':
/home/pbarker/rc/ardupilot/build/sitl/../../libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.cpp:27: undefined reference to `AP_BattMonitor_SMBus_NeoDesign::max_cell_count'
collect2: error: ld returned 1 exit status
 2021-02-04 09:17:57 +11:00
Patrick José Pereira ba293084e3 SITL: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Patrick José Pereira 61bcbfea14 AP_TempCalibration: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Patrick José Pereira 12cd138030 AP_HAL: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Patrick José Pereira 6bdc1704f4 AP_GPS: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Patrick José Pereira e9a299d96e AP_CANManager: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Andy Piper 2cdc202d19 AP_HAL_ChibiOS: use non-cachable SRAM3 for DMA on H743 
Adjust SRAM1+SRAM2 to 256k as describe in the H743 reference manual
Provide access to mem_info() information

Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2021-02-03 23:35:44 +11:00
Andy Piper cfac268f13 AP_Filesystem: add @SYS/memory.txt 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2021-02-03 23:35:44 +11:00
Andy Piper 0eff201016 AP_HAL: add mem_info() 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2021-02-03 23:35:44 +11:00
murata de9382b0f4 AP_Mission: Reflecting the result of the process 2021-02-03 22:15:02 +11:00
murata 698f967b63 GCS_MAVLink: Notify the maximum number of missions 
Update libraries/GCS_MAVLink/MissionItemProtocol.cpp

Co-authored-by: WickedShell <Wicked.Shell.Scripts@gmail.com>

GCS_MAVLink: Notify the maximum number of missions
 2021-02-03 20:31:50 +11:00
Michael du Breuil f854477efe AP_BattMonitor: Limit the scope of possible corruption if the NeoDesigns gets a bad cell count 2021-02-03 19:21:39 +11:00
Marko 00d0fe876d AP_Compass: Added support for internal i2c bus to VRBrain-v51 
Now the internal compass HMC5883 of the VRBrain-v51 is correctly recognized

Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com>
 2021-02-03 19:00:48 +11:00
Andy Piper 06a1500f98 AP_HAL_ChibiOS: ensure GPIO pins get undef'ed properly 
minimise bi-directional dshot configs for:

CubeOrange
Durandal
MatekF405
MatekH743
OmnibusNanoV6
Pixracer
mRoPixracerPro
omnibusf4pro
CUAV-X7
 2021-02-03 18:49:06 +11:00
Patrick José Pereira 07c3435f9d SITL: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 7b6f1225ba AP_WheelEncoder: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira b8360a08c7 AP_Vehicle: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 9904b397d8 AP_UAVCAN: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 6b2e4296db AP_TemperatureSensor: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira e146483e72 AP_Stats: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 705a885d82 AP_Soaring: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 0da2d9f8eb AP_SmartRTL: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira bffda55639 AP_Scripting: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 806bc4898b AP_Scheduler: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira efffed0510 AP_RangeFinder: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 2ae7edc8b2 AP_RTC: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 8f96580e9d AP_RCProtocol: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira a902c1d54b AP_OSD: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 3df3d002ff AP_Notify: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 53eb2f2bf4 AP_NavEKF2: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira cc39e36ee1 AP_Mount: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira bdc14c60fb AP_Motors: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 266ed9541b AP_Mission: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 5d7d955378 AP_Math: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 18d8f19801 AP_Logger: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 41c653f973 AP_LandingGear: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira d006012cee AP_L1_Control: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira dc6f5aec92 AP_HAL_SITL: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 6899c0b5af AP_HAL: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 98a8e6e370 AP_GyroFFT: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 2e75425a2a AP_GPS: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira aa55578008 AP_Frsky_Telem: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira be37f10d61 AP_ExternalAHRS: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 842360b5e3 AP_Compass: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 5375980aa6 AP_Camera: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 001e516fa7 AP_Button: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 3fcf430a2c AP_BoardConfig: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira d190fff887 AP_BattMonitor: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 6a824b1467 AP_Baro: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira f6937babfa AP_Avoidance: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 7e01935893 AP_ADSB: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira f9732b6c70 AC_PID: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 345fe1a9e4 AC_Fence: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira e4fb439a96 AC_Avoidance: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 7be27235f3 AC_Autorotation: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 0ecbaa867d AC_AutoTune: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira e3d018c401 AC_AttitudeControl: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 03582ff77c AP_WindVane: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira e8e41c512e GCS_MAVLINK: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Patrick José Pereira 45a819c98e StorageManager: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Michel Pastor 41f7587637 ChibiOS: Add SWD pins to SuccexF4 bootloader 2021-02-03 18:37:46 +11:00
Andy Piper 881fd4f37c AP_HAL_ChibiOS: use buffered writes for CRSF telemetry 2021-02-03 18:28:28 +11:00
Peter Barker f15a1fbd62 AP_Vehicle: move control_mode_reason up to AP_Vehicle 2021-02-03 18:24:52 +11:00
auturgy 24268cc6de AP_HAL_ChibiOS: add MatekH743-periph hwdef 2021-02-03 18:17:44 +11:00
mateksys b91c65b4a4 AP_HAL_ChibiOS: add f405-MatekGPS & MatekF405-CAN hwdef 2021-02-03 18:09:35 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 11bf02c2c4 AP_Logger: correct spelling in metadata 2021-02-03 17:47:28 +11:00
huhen 9ba35580db HAL_ChibiOS: Init kakutef7 motor pins for correct initialization of some ESCs 2021-02-03 13:13:32 +11:00
Arsh 18f56fbac5 AP_HAL:examples:Printf: Improvements in the Printf example 2021-02-03 13:02:49 +11:00
yaapu d5868e3c7d AP_Frsky_Telem: added telemetry support for RPM sensors 1 and 2 for SPort, FPort/FPort2 and passthrough over crossfire 2021-02-03 12:49:38 +11:00
Andrew Tridgell cfe63f8657 AP_OSD: changed OSD screen switching logic 
this prevents us constantly changing screens when a PWM is given that
matches multiple screens. Instead the first matching screen is used
 2021-02-03 10:09:41 +11:00
Josh Henderson 275c2849cf AP_Baro: Privatize Logging 2021-02-02 17:55:27 +11:00
Josh Henderson c32dd4bb5d AP_Logger: Privatize AP_Baro Logging 2021-02-02 17:55:27 +11:00
Michael du Breuil 05b9aa2fa2 AP_UAVCAN: Broadcast ArmingStatus regularly 2021-02-02 10:57:57 +11:00
Josh Henderson d6dc8864db AP_Camera: Privatize AP_Camera 2021-02-02 10:10:17 +11:00
Josh Henderson d142b3ba16 AP_Logger: Privatize AP_Camera Logging 2021-02-02 10:10:17 +11:00
Rishabh 401d365491 AC_WPNav: Adapt to 3-D Avoidance changes 2021-02-01 14:34:13 +09:00
Rishabh f3d825bebe AP_Math: Add unit tests for 3-D lines 2021-02-01 14:34:13 +09:00
Rishabh de67e2b70c AP_Proximity: refactor changes done for 3-D Boundary 2021-02-01 14:34:13 +09:00
Rishabh 37a14a78df AC_Avoid: Refactor changes for 3-D avoidance 2021-02-01 14:34:13 +09:00
Rishabh 5092bc2f6d AC_Avoid: Simplify accessing boundary 2021-02-01 14:34:13 +09:00
Rishabh d359c5ddf2 AC_Avoid: Let user take control if they are backing away at a greater speed than what we have calculated 2021-02-01 14:34:13 +09:00
Rishabh 91132d00d9 AC_Avoid: Add deadzone to backaway code 2021-02-01 14:34:13 +09:00
Rishabh 343ba1a693 AP_Proximity: Use only valid boundary for Simple Avoidance 2021-02-01 14:34:13 +09:00
Randy Mackay 71d928aab9 AP_Proximity: TeraRangerTowerEvo uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay 5c9a65cff6 AP_Proximity: TeraRangerTower uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay d4a6ebd273 AP_Proximity: SITL backend uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay 518078c901 AP_Proximity: RPLidarA2 uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay babba91632 AP_Proximity: RangeFinder backend uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay 2d77adf720 AP_Proximity: MAV backend uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay a65e0affe4 AP_Proximity: LightwareSF45B uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay 623bd6923e AP_Proximity: LightwareSF40C_v09 uses update Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay 4fda6b38f7 AP_Proximity: LightwareSF40C uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay ad899de78c AP_Proximity: backend uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay ef9bc64bb1 AP_Proximity: AirSimSITL uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay 279b534f67 AP_Proximity: remove duplicate definition 
PROXIMITY_NUM_LAYERS is defined in AP_Proximity_Boundary_3D
 2021-02-01 14:34:13 +09:00
Randy Mackay 5a0cc08dcc AP_Proximity: refactor Boundary_3D 
rename stack to layer
swap order of layer and sector within arrays
rename Boundary_Location to Face
rename get_sector to get_face
rename set_attributes to set_face_attributes
get_distance returns bool and fills in argument instead of returning distance
 2021-02-01 14:34:13 +09:00
Rishabh ad6e013171 AC_Avoid: Support 3D Simple Avoidance and Bacakway 2021-02-01 14:34:13 +09:00
Rishabh 43717ea55c AP_Proximity: Add OBSTACLE_DISTANCE_3D mavlink message 2021-02-01 14:34:13 +09:00
Rishabh 36bba2e02c AP_Proximity: Convert Proximity Backend drivers to use 3D Boundary methods 2021-02-01 14:34:13 +09:00
Rishabh 4fce715a9a AP_Proximity: Shift methods to Proximity_Boundary_3D class and support 3D Boundary 2021-02-01 14:34:13 +09:00
Rishabh 7569d8bf8e AP_Proximity: Add AP_Proximity_Boundary_3D class 2021-02-01 14:34:13 +09:00
Rishabh a5fafe57d8 GCS_MAVLink: Add support for OBSTACLE_DISTANCE_3D 2021-02-01 14:34:13 +09:00
Rishabh 1262d73071 AP_Math: Add new methods to support 3D avoidance 2021-02-01 14:34:13 +09:00
Rishabh 79d5e432ee AP_Math: Add new method to extrapolate 3D vector given distance, yaw, pitch 2021-02-01 14:34:13 +09:00
Peter Barker dbae56eb3a AP_Logger: panic in SITL if we fail to log a Replay block 
// failing to log a block means that when we go to replay the log
    // things will almost certainly go sour.
 2021-01-31 10:46:26 +11:00
Tom Pittenger a5d33cacb5 AP_Soaring: add units to param SOAR_THML_BANK 2021-01-29 11:20:09 -08:00
Samuel Tabor 4ec1e55833 AP_Soaring: Add SOAR_THML_BANK parameter and associated logic. 2021-01-29 11:20:09 -08:00
yaapu 4fbba17506 AP_Scripting: added bindings for frsky telemetry library 2021-01-29 09:55:22 +11:00
yaapu 24382e25fc AP_Frsky_Telem: added support for sending frsky telemetry data from scripting 2021-01-29 09:55:22 +11:00
Michael du Breuil 0f363809f5 AP_GPS: Fix some unit errors with the GPS blended instance 
Also add a static assert and some docs on the fact that blending only
works with 2 actual recievers at the moment

Also a small optimization to not call get_rate_ms() twice
 2021-01-28 11:55:30 +11:00
Andy Piper 6f5d5c2bf9 AAP_HAL_ChibiOS: allow asserts to be printed on a GPIO pin 2021-01-27 19:36:58 +11:00
Andy Piper d41c92d317 AP_HAL_ChibiOS: don't overwrite fault handler data, register forced faults 2021-01-27 19:13:18 +11:00
Andy Piper 20d928a86a AP_HAL_ChibiOS: don't share DMA on OmnibusNanoV6 for Flash SPI 2021-01-27 19:04:49 +11:00
Andy Piper 873d35acd9 AP_HAL_ChibiOS: bi-directional dshot for MatekH743 2021-01-27 18:58:38 +11:00
Andy Piper 877dde4736 AP_HAL_ChibiOS: on BeastF7 share TIM3 UP/CH and give flash SPI dedicated channel 2021-01-27 18:54:43 +11:00
Andy Piper 2395018000 AP_BLHeli: don't log invalid bi-dir dshot values as they are never used 2021-01-27 18:54:10 +11:00
Andy Piper 9249b73e8b AP_HAL_ChibiOS: correctly allow mixing of bidir and non-bidir channels 2021-01-27 18:49:15 +11:00
Andy Piper 2823fa7245 AP_HAL_ChibiOS: never write bytes that have not been erased on H7 
Be more careful about flash failure conditions on H7
 2021-01-27 18:30:36 +11:00
Andy Piper 78735a946e AP_HAL_ChibiOS: allow STM32_FLASH_DISABLE_ISR for H7 2021-01-27 18:30:36 +11:00
Andrew Tridgell 155de6d2bc HAL_ChibiOS: fixed build of AP_Periph on H7 2021-01-27 18:24:03 +11:00
Andrew Tridgell 0535c4f592 AP_InertialSensor: default TMAX to 70 
if user forgets to set this then better to just timeout rather than
calibrating over a small range
 2021-01-27 09:49:35 +11:00
Andrew Tridgell 9861a02c60 HAL_ChibiOS: save INS_ACC*ID persistent parameters 
this enables full factory accelerometer calibration, so the user is
not required to run an accelcal, even if they change vehicle type
 2021-01-27 09:49:35 +11:00
Andrew Tridgell bdb364d461 AP_InertialSensor: save the accelerometer ID parameters 
this is needed for factory accel cal
 2021-01-27 09:49:35 +11:00
Andrew Tridgell 87528f47c8 AP_IOMCU: prevent internal error on bootloader flash 
when we flash the bootloader on boards with an IOMCU we expect a long
delay as the CPU stops during the flash
 2021-01-27 09:49:35 +11:00
Andrew Tridgell 6163659887 AP_HAL: prevent a single bad transfer causing an IMU to be marked unhealthy 
This is a response to this issue:
https://discuss.ardupilot.org/t/gyro-problem-after-waypoint-log-analisys

The 2nd gyro went bad with a large offset. Then the first gyro was
marked unhealthy, forcing the EKF to switch to the 2nd gyro. That
resulted in a crash.

I think the SPI bus was getting bad transfers and the register check
code happened to get a bad transfer, thereby marking the first gyro
unhealthy

This change ensures we only fail the register check if two transfers
in a row are bad. This makes it much less likely that a noisy bus will
lead to an unhealthy gyro
 2021-01-27 09:47:55 +11:00
Iampete1 ebfe593e38 AP_Scripting: add example script setting up a custom MotorMatrix 2021-01-26 11:07:36 +09:00
Iampete1 5c397d4674 AP_Scripting: add MotorMatrix bindings 2021-01-26 11:07:36 +09:00
Iampete1 fca6f7027b AP_Motors: allow Matrix config from scripting 2021-01-26 11:07:36 +09:00
Peter Hall d0e1e85b9e AP_Motors: add get_frame_mav_type 2021-01-26 11:07:36 +09:00
Randy Mackay f6cb0819ef AP_NavEKF3: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Randy Mackay 8ecac27777 AP_NavEKF_Source; pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Randy Mackay 62932f884f AP_AHRS: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Andrew Tridgell 1716fcf995 GCS_MAVLink: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell ac35867c17 AP_Param: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell 12b93e2922 AP_OSD: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell 6c684538d3 AP_Param: greatly speed up param download with disabled parameters 
allows fast skip over disabled subgroups. This removes a long delay
with param download on a MatekF405-STD where the final parameters
associated with the OSD took 80ms to fetch, causing a long loop delay
 2021-01-26 10:43:09 +11:00
Peter Barker d426d8e1f8 AP_GPS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Peter Barker 358069df24 AP_AHRS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
WillyZehnder 2e2ec79992 RC_Channel: reserve AUX_FUNC for MISSION_RELATIVE 2021-01-26 10:14:11 +11:00
Andrew Tridgell 2843cfa42d AP_InertialSensor: use mavlink statustext for cal info 2021-01-25 16:24:50 +11:00
Andrew Tridgell b542f947f7 AP_InertialSensor: don't mark accels as calibrating during trim 
we need the accels with offsets applied when doing accel trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell e908a996af AP_InertialSensor: support SIM_ACC_TRIM 
and cleanup vector maths
 2021-01-25 16:24:50 +11:00
Andrew Tridgell 7292b4f260 SITL: added SIM_ACC_TRIM_{X,Y,Z} for simulating IMU trim 
this will enable an autotest for AHRS trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell ddc4d08e8f AP_NavEKF3: make drag fusion optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell 1ccda938cb AP_NavEKF3: make external navigation optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell 8da511f039 AP_NavEKF3: make body odomotry build depend on vehicle type 
saves about 11k of flash
 2021-01-24 11:56:52 +11:00