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25778 Commits

Author SHA1 Message Date
Andrew Tridgell 07313ae71d HAL_ChibiOS: fixed 2nd CAN inferface on F4/F7 
CAN1_TX_IRQn is an enum not a defined. This was broken by the recent
change to support different CAN ordering
 2021-03-29 20:14:29 +11:00
QioTek 0190a42e47 AP_Airspeed: added ASP5033 driver 2021-03-28 07:50:34 +11:00
Randy Mackay b8d4dbfbb3 AP_Mission: options parameter description per vehicle 2021-03-27 08:20:43 +09:00
Randy Mackay a17086816f AP_Scripting: proximity bindings depend upon HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay d4f1eacbed AP_Logger: use of AP_Proximity checks HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay f67cdf5a81 AC_Avoidance: use of AP_Proximity checks HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay b8f9c3b9c0 GCS_MAVLink: use of AP_Proximity checks HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay d53c8b1dd0 AP_Arming: skip checks if not HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay 1fad5d46e7 AP_Proximity: add #if HAL_PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Emre Saldiran 9e97c2e095 AP_Scripting: change set_target_posvel_circle example tart location calculation 2021-03-25 21:01:41 +09:00
Andrew Tridgell 1f60eb68ec AP_Math: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell dcf6bcea6e AP_InertialSensor: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell b9df270df6 AP_HAL_SITL: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell 0601259d20 AP_HAL_Linux: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell ebc1f9acf6 AP_HAL: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell 2473d3f7f8 AP_HAL_Empty: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell 88e277420f AP_HAL_ChibiOS: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell 0f5dd40052 AP_Compass: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Josh Henderson 070ad226ce AP_Logger: OABR correct altitude logging frame and specifier 2021-03-24 20:30:54 +09:00
zhouzhiwen2000 afde83d2f9 AP_Baro: Fix occasional problems with SPL06 
Sometimes SPL06 has init problems, that's due to failure of reading using SPI for the first time. The SPL06 is a dual protocol sensor(I2C and SPI), sometimes it takes one SPI operation to convert it to SPI mode.
 2021-03-24 14:29:30 +11:00
Peter Barker f261045a2d AP_Logger: multiply IO thread timeout according to SITL speedup 
Intended to solve issues we're now getting on CI where the IO thread is
blocking-on-write and the main thread is calling it dead.
 2021-03-24 12:54:20 +11:00
Emre Saldiran dc290a8884 AP_Scripting: set_target_posvel example script 2021-03-24 08:55:48 +09:00
Emre Saldiran 1a3a2a0437 AP_Scripting: add set_target_posvel_NED binding 2021-03-24 08:55:48 +09:00
Emre Saldiran 858d69ca0e AP_Vehicle: add set_target_posvel_NED method 2021-03-24 08:55:48 +09:00
zhouzhiwen2000 7c6d5d9bf4 AP_OpticalFlow:add UPFLOW sensor 2021-03-24 08:42:14 +09:00
Peter Barker 82a28e2a58 AP_Logger: do not log soon after file transfer unless we're armed 
mavlink log reads fail randomly, and you end up with a very large number
of log files as we keep closing logs off and then discovering we should
be logging
 2021-03-24 08:57:03 +11:00
chobitsfan 73a3b5f832 AC_Fence: remove unused declaration 2021-03-24 08:50:48 +11:00
Peter Barker f4591faeed AP_NavEKF3: simplify taking of GPS measurements 2021-03-23 15:11:33 +11:00
Michel Pastor 46fb88e5a0 AP_OSD: Fix ground and wind speed varying length 2021-03-23 12:16:35 +11:00
Rishabh 06a7086562 AP_Scripting: Add proximity status binding 2021-03-23 10:02:18 +09:00
Andrew Tridgell 2d4dfe8a2a HAL_ChibiOS: fixed (unused) FF_FS_TIMEOUT 
this change was harmless as we don't define FF_FS_REENTRANT
 2021-03-23 12:01:20 +11:00
Andrew Tridgell ffb2876f58 HAL_ChibiOS: disable unused ChibiOS features 2021-03-23 12:01:20 +11:00
Andrew Tridgell 744a2fe535 HAL_ChibiOS: use uint32_t for bit timing in passthru 
we should not use systime_t as it may be 16 bit
 2021-03-23 12:01:20 +11:00
Andrew Tridgell c3d16cf2e2 HAL_ChibiOS: use defines for G4 messageram 
review fix
 2021-03-23 12:01:20 +11:00
Andrew Tridgell b4e4d48e52 HAL_ChibiOS: switch OMNIBUSF7V2 timer for RCIN 
this avoids a conflict with shared interrupt on TIM1
 2021-03-23 12:01:20 +11:00
Andrew Tridgell ff31e10d9e HAL_ChibiOS: ensure that RCIN DMA channel is not shared 
RCIN DMA cannot be shared as it runs all the time
 2021-03-23 12:01:20 +11:00
Andrew Tridgell 2842730868 HAL_ChibiOS: fixed F3 CAN build 2021-03-23 12:01:20 +11:00
Andrew Tridgell 4f1c43862e HAL_SITL: support arrays of CAN interfaces 
allows for multi-bus in AP_Periph
 2021-03-23 12:01:20 +11:00
Andrew Tridgell 2fc7ea1a8b HAL_ChibiOS: added G4-ESC hwdef 2021-03-23 12:01:20 +11:00
Andrew Tridgell 353eca79b6 HAL_ChibiOS: fixed 32/64 micros bug in CAN select() 2021-03-23 12:01:20 +11:00
Andrew Tridgell bac9b27a3f HAL_ChibiOS: enable analogin on G4 2021-03-23 12:01:20 +11:00
Andrew Tridgell ac9e6ba86d HAL_ChibiOS: fix label for CCM on G4 2021-03-23 12:01:20 +11:00
Andrew Tridgell 7496b8bff5 HAL_ChibiOS: fixed DMAR register offset 
use offsetof() instead of a magic value
 2021-03-23 12:01:20 +11:00
Andrew Tridgell 4f10565f82 HAL_ChibiOS: fixed CANFD build on H7 2021-03-23 12:01:20 +11:00
Andrew Tridgell f2ac61f6ba HAL_ChibiOS: enable DShot on G4 2021-03-23 12:01:20 +11:00
Andrew Tridgell f57b1b9c4b HAL_ChibiOS: support logical/physical CAN bus mapping 
allow for first CAN interface to be CAN2 or CAN3
 2021-03-23 12:01:20 +11:00
Andrew Tridgell 2f7ff778be HAL_ChibiOS: fixed bug in DMA resolver 
idsets can be empty for a peripheral
 2021-03-23 12:01:20 +11:00
Andrew Tridgell ec8abf0b2f AP_FlashStorage: support STM32G4 
needs to write in multiples of 8 bytes, and can only write if all 1s
 2021-03-23 12:01:20 +11:00
Andrew Tridgell 439a944801 HAL_ChibiOS: added support for STM32G474 MCU 2021-03-23 12:01:20 +11:00
Andy Piper e1d71486e4 AP_HAL_ChibiOS: build fixes for ChibiOS 20.3.x 2021-03-23 12:01:20 +11:00
Andy Piper c26f49fb0a AP_IOMCU: ChibiOS 20.3.x build fix 2021-03-23 12:01:20 +11:00
Andrew Tridgell 5b59445471 AP_HAL_ChibiOS: fixes for build with 20.3.x ChibiOS 2021-03-23 12:01:20 +11:00
Hwurzburg c1f56c4b22 AP_OSD: Add cell voltage and resting voltage displays 
Co-authored-by:shellixyz
 2021-03-23 10:24:12 +11:00
Paul Riseborough 1018801522 AP_NavEKF3: White space and comment fixes 2021-03-23 10:05:59 +11:00
Paul Riseborough 7113387d27 AP_NavEKF3: Use better defined data type 2021-03-23 10:05:59 +11:00
Paul Riseborough ac87cab6bc AP_NavEKF3: constify array index variable 2021-03-23 10:05:59 +11:00
Paul Riseborough 1498b516a3 AP_NavEKF3: Don't try to learn gyro biases that are poorly observable 2021-03-23 10:05:59 +11:00
Paul Riseborough 44be7161c0 AP_NavEKF3: Reduce yaw drift when operating without external aiding 
Also fixes bug in the determination of the total angular variance threshold for when to fuse a zero innovation yaw measurement.
 2021-03-23 10:05:59 +11:00
Paul Riseborough 53c4b163ce AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity 
Also re-tune default sensitivity based on user supplied logs with noisy gyro data.
 2021-03-23 10:05:59 +11:00
Paul Riseborough e7b08c1ffc AP_NavEKF3: Update log message format description 2021-03-23 10:05:59 +11:00
Paul Riseborough 918606e71d AP_NavEKF3: Don't use fake measurements to learn dvel bias 2021-03-23 10:05:59 +11:00
Paul Riseborough c709ad9c80 AP_NavEKF3: Add missing axis specific dvel bias update inhibit 2021-03-23 10:05:59 +11:00
Paul Riseborough 073e273732 AP_NavEKF3: Don't allow yaw alignment until tilt alignment completed 2021-03-23 10:05:59 +11:00
Paul Riseborough a07427fd30 AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight 2021-03-23 10:05:59 +11:00
priseborough 4b1c334bba AP_NavEKF3: improve stability of co-variance matrix processing 
This patch prevents the delta velocity bias state variances collapsing due to insufficient process noise and causing bad bias estimates to form.
 2021-03-23 10:05:59 +11:00
Randy Mackay 526065a6a4 AP_OAPathPlanner: minor format fix 2021-03-22 20:40:59 +09:00
QioTek fe30612bb0 AP_HAL_ChibiOS: release ICM20649 reserve sensor 
BMI055 & BMI088 out of stock, release ICM20649 reserve sensor
 2021-03-22 19:05:03 +11:00
Rishabh 711b497cc3 AC_Loiter: Make avoidance optional while using loiter controller 2021-03-22 14:04:42 +09:00
Andrew Tridgell bbd32844d1 HAL_ChibiOS: switch more boards to 32k FRAM 
this enables the parameter backup/restore on those boards, as well as
more waypoints

This is in response to a report that CUAVv5 boards can suffer from the
parameter reset issue
 2021-03-21 11:59:12 +11:00
yaapu b62c2d9518 AP_Frsky_Telem: added new capabilities param to frame 0x5007 2021-03-19 22:35:16 +11:00
yaapu 592fba7416 AP_Frsky_Telem: frame 0x5007 refactoring 2021-03-19 22:35:16 +11:00
murata 0536be1c88 AP_NavEKF: Change misnomer (NFC) 2021-03-19 17:49:27 +11:00
murata a5b6ce9220 AP_NavEKF2: Change misnomer (NFC) 2021-03-19 17:49:27 +11:00
Samuel Tabor d578b4d3db AP_Soaring: Fix incorrect use of aparm.loiter_radius. 2021-03-19 17:00:08 +11:00
Peter Barker 936aa63135 AP_Param: remove confusing comment 
The code refered to is within is_sentinel - and it has a copy of the
comment
 2021-03-19 12:21:25 +11:00
yaapu 45f7cb0c82 AP_Frsky_Telem: added passthrough frame 0x500B for height above terrain 2021-03-18 21:43:48 +11:00
Peter Barker 5e63ed908e AP_Logger: loosen constraint on failing to log replay block 
// things will almost certainly go sour.  However, if we are not
    // logging while disarmed then the EKF can be started and trying
    // to log things even 'though the backends might be saying "no".
 2021-03-18 19:38:43 +11:00
murata 6c67e191d4 AP_Mission: Change the description(NFC) 2021-03-18 12:32:59 +11:00
4712 38ea1296ca Update serial-4way-if to v20005 
Reservation of an MCU_ID area to simplificate adding of upcoming BLHeli_32 MCU.
 2021-03-18 08:10:08 +11:00
4712 6956abdb45 Some fixes for AP_BLHeli 
Added ACK_I_INVALID_CHANNEL as response for cmd_DeviceReset cmd_DeviceInitFlash on bad channel selection
Fixed params for MSP_MOTOR_CONFIG
Adapted some timeouts
 2021-03-18 08:10:08 +11:00
yaapu 59c5bbc8b8 AP_BLHeli: added missing ack to MSP_SET_MOTOR message 2021-03-18 08:10:08 +11:00
Randy Mackay 5912052a39 AP_RangeFinder: lightware legacy I2C retry count to 20 
This is consistent with the non-legacy I2C protocol
 2021-03-17 21:23:14 +09:00
Tatsuya Yamaguchi e134d12e32 AP_Notify: add EKF failsafe notify tones 2021-03-17 20:29:32 +09:00
Iampete1 733db3de19 RC_Channel: add MODE_SWITCH_RESET option 2021-03-17 19:18:46 +11:00
Iampete1 2d91679ec2 RC_Channel: add FBWA_TAILDRAGGER option 2021-03-17 19:18:46 +11:00
Iampete1 77e1092f46 RC_Channel: do_aux_function_mission_reset to virtual 2021-03-17 19:18:46 +11:00
Iampete1 58860205ea AP_Scripting: add manual i2c get device bindings 2021-03-17 18:50:05 +11:00
Iampete1 166aedf1be AP_Scripting: add I2CDevice to auto bindings 2021-03-17 18:50:05 +11:00
Iampete1 1f0e36e10d AP_Scripting: add i2c scan example 2021-03-17 18:50:05 +11:00
Iampete1 7b3097972b AP_Scripting: generator: support pointer semaphore flag 2021-03-17 18:50:05 +11:00
Iampete1 c54634e86b AP_Scripting: generator: finish off refence access implmentation 2021-03-17 18:50:05 +11:00
Iampete1 8effa59d10 AP_Scripting: generator: support method alias and sanitised names 2021-03-17 18:50:05 +11:00
Peter Hall 9997981702 AP_Scripting: generator: support literal singltons that do not need to be fetched 2021-03-17 18:50:05 +11:00
Andy Piper bb270014e7 AP_HAL_ChibiOS: make sure LEDs get a DMA channel on MatekH743-bdshot 2021-03-17 18:28:01 +11:00
Andy Piper 961c517274 AP_VideoTX: only mark updates when the VTX is enabled 2021-03-17 18:27:11 +11:00
Andy Piper f1eee860c0 AP_RCTelemetry: don't process VTX frames when VTX support is disabled 2021-03-17 18:27:11 +11:00
Andy Piper f7e23566ac AP_VideoTX: with SmartAudio v2 set the power level rather than power in dBm 2021-03-17 18:27:11 +11:00
Andy Piper 968d05a637 AP_HAL_ChibiOS: allow further LED channels to be allocated at the same length 2021-03-17 18:24:11 +11:00
Randy Mackay a6800b8c47 AC_Avoidance: minor PathPlanner format fix 2021-03-17 15:01:46 +09:00
Randy Mackay 0d730e11cc AC_WPNav: OA stores and uses original terrain alt 2021-03-17 14:11:12 +09:00
Randy Mackay da580bd1ea AC_WPNav: OA gets minor format fix 2021-03-17 14:11:12 +09:00
Peter Hall aa75fc2c3d AC_PosControl: use target lean angles rather than true for init 2021-03-17 08:13:11 +09:00
Peter Hall a43db51440 AC_AttitudeControl: add get_att_target_euler_rad function 2021-03-17 08:13:11 +09:00
Habibullah Oladepo a74ad951de SRV_Channel: fix servo output function documentation typo 2021-03-17 08:54:13 +11:00
Andrew Tridgell 8a8db85b9c HAL_ChibiOS: fixed build of f103-trigger fw 2021-03-16 18:28:58 +11:00
Randy Mackay b873e7fcb0 AP_Mission: read_cmd_from_storage sets all bytes of cmd 
This resolves a potential valgrind issue caused by some bytes of the cmd not being set
 2021-03-16 10:23:40 +09:00
Tatsuya Yamaguchi 2c95093d36 AP_InertialSensor: fix temperature sensor on LSM9DS0 2021-03-16 12:09:19 +11:00
Lava Chemist 4a52f945db AP_HAL_ChibiOS: Add FlywooF745 2021-03-16 11:27:23 +11:00
murata 3a006ae226 AP_GPS: Supplementary explanation of configuration parameters (NFC) 2021-03-16 10:43:18 +11:00
murata c5b1c832ba AP_NavEKF3: Change misnomer (NFC) 2021-03-15 18:21:15 +11:00
murata 24591d68bc AP_NavEKF2: Change misnomer (NFC) 2021-03-15 18:21:15 +11:00
Hwurzburg e1bab7374b AP_Notify: Add calibration indications for EKF temp and compass cal to RGB LED 2021-03-15 09:49:59 +09:00
Peter Barker 4605870788 AP_NavEKF3: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker 5dff32422d AP_NavEKF2: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker 5c31238f28 AP_Mount: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker 2b0bf45891 AP_InertialSensor: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker a0fcd74b52 AP_DAL: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker ea1884f491 AP_AHRS: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Peter Barker 5123b05b2b GCS_MAVLink: add support for ATTITUDE_QUATERNION 2021-03-13 09:44:12 +11:00
Siddharth Purohit edceb4e3a4 AP_GPS: move underscore one layer down for GPS 2021-03-12 16:32:36 +09:00
bugobliterator 49d934eb42 AP_HAL_SITL: add support for multiple periph instances 2021-03-12 16:32:36 +09:00
bugobliterator 0031fee851 AP_GPS: add support for ordering UAVCAN GPS 2021-03-12 16:32:36 +09:00
bugobliterator 67be2ed4ba AP_Arming: add support for GPS_Backends to spew failure reasons 2021-03-12 16:32:36 +09:00
Michael du Breuil a3ddf5264d AP_GPS: Support uavcan ardupilot.gnss.Status 
Also makes the drive by change to make GPS_Backend::is_configured const
 2021-03-12 09:39:55 +11:00
Michael du Breuil e47857a278 AP_UAVCAN: Add ardupilot.gnss.Status 2021-03-12 09:39:55 +11:00
Hwurzburg fd9c497232 AP_OSD: Add height above terrain panel and warning 2021-03-11 11:54:47 +11:00
murata 8e8f2b93a7 AP_Motors: Add DECA frame class and type string 2021-03-09 19:59:10 +09:00
Rishabh e9c0e50185 AP_Proximity: Filter out land detected by sensors 2021-03-09 11:02:26 +09:00
Randy Mackay fe382e4d10 AP_Mission: minor format fixes 2021-03-09 11:49:42 +11:00
Randy Mackay 3a66b2667b AP_Mission: correct spelling of interrupted 2021-03-09 11:49:42 +11:00
Rishabh e09e9b1e6a AP_Logger: Log raw and filtered distances from proximity lib 2021-03-08 16:33:20 +09:00
Rishabh 044e1850d4 AP_Proximity: Add a low pass filter per face for distances 2021-03-08 16:33:20 +09:00
James O'Shannessy f028747399 GCS_MAVLink: Remove todo since plane now supports MAV Protocol Capability Mission Fence 2021-03-05 16:48:57 +11:00
James O'Shannessy 43e06e9040 AC_Fence: Fix int32_t overflow with large longitude values 2021-03-05 14:52:46 +11:00
James O'Shannessy 26811ad46d AP_Landing: Autoenable fence if required when landing was aborted 2021-03-05 14:52:46 +11:00
James O'Shannessy 8ef68c8fb0 AC_Fence: Send text to gcs when fence is auto-enabled 2021-03-05 14:52:46 +11:00
James O'Shannessy b4bf41c6f9 AC_Fence: Adjustments to default parameters for addition to plane 2021-03-05 14:52:46 +11:00
James O'Shannessy c316711351 ArduPlane: Add conversion from ArduPlane geofence param to AC_Fence param 2021-03-05 14:52:46 +11:00
James O'Shannessy 254c28f142 AC_Fence: Improve auto enable documentation 2021-03-05 14:52:46 +11:00
James O'Shannessy b6d29d746b AC_Fence: Add common auto enable and auto disable 2021-03-05 14:52:46 +11:00
James O'Shannessy e4f1e26b5c AC_Fence: Disable fence floor when disabling the rest of the fence 2021-03-05 14:52:46 +11:00
Steven Josefs c783410494 AC_Fence: adjusted AP_GROUPINFO to contain all copters 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 22bdc3e54c AC_Fence: extend pre-arm checks 
Fix comments
 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 2e422f249a AC_Fence: small comment improvements. Do not call the same function four times 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 15e95be7d7 AC_Fence: do not delete the FENCE_ENABLE parameter. It would confuse many users. 
Talked to Randy about this. The consensus was not to delete the parameter
 2021-03-05 14:52:46 +11:00
James O'Shannessy 783a4b7965 AC_Fence: Change logic to fence enable and sys_status reporting 2021-03-05 14:52:46 +11:00
James O'Shannessy a23e8d46da AP_Vehicle: Add additional fence mode change reason 2021-03-05 14:52:46 +11:00
James O'Shannessy 8ca69c2e89 AP_Logger: Add support for fence floor events 2021-03-05 14:52:46 +11:00
James O'Shannessy c2abf27d78 GCS_MAVLink: Add reporting of fence floor breaches to GCS_MAVLink 
GCS_MAVLink: Add disabling of fence floor only, per mavlink spec

GCS_MAVLink: Cannot enable a fence if the fence is not present
 2021-03-05 14:52:46 +11:00
James O'Shannessy 0e73b7bce1 AP_Arming: Enable and Disable the fence when vehicle is armed/disarmed 
AP_Arming: Use auto enable flag to arm fence only when armed (as per enum)

AP_Arming: Config defines are not available in AP_Arming

Since config definitions are not available in AP_Arming, we can still rely on singleton access of the AC_Fence object.

AP_Arming: Perform fence checks for all vehicles
 2021-03-05 14:52:46 +11:00
James O'Shannessy 87b66b4b49 AC_Fence: Add parameters from Geofence to AC_Fence 
AC_Fence: Add fence floor breach checks and calculations

AC_Fence: Add event logging to enable/disable of fence floor

AC_Fence: Adjust sys_status reporting to look at total fence count

AC_Fence: Make retrieving of the return point accessible

AC_Fence: Check whether fence is enabled or autoenable is set for arming checks

Checks whether the fence is currently enabled OR if the fence is intended to be enabled automatically.
These checks are used to find out enabled fences, or prearm checks
 2021-03-05 14:52:46 +11:00
Paul Riseborough 9b53d505ea AP_AHRS: Handle airspeed estimation with have_inertial_nav() == false 2021-03-05 12:10:01 +11:00
Paul Riseborough e3eea0a54a AP_NavEKF3: Use specialised function for in-flight plane yaw alignment 2021-03-05 12:10:01 +11:00
Paul Riseborough 4675aea0bf AP_NavEKF3: Update parameter description 2021-03-05 12:10:01 +11:00
Paul Riseborough 246b80dc06 AP_NavEKF3: Don't return a 0,0 lat,lng unless absolutely necessary 2021-03-05 12:10:01 +11:00
Paul Riseborough aa49e92edc AP_AHRS: Remove unused AP_AHRS_NavEKF::yaw_alignment_complete API 2021-03-05 12:10:01 +11:00
Paul Riseborough 1a3258a039 AP_AHRS: Fall back to DCM airspeed estimate if EKF velocity not available 2021-03-05 12:10:01 +11:00
Paul Riseborough a50be71b41 AP_NavEKF3: Fix inconsistency in reporting raw GPS position validity 2021-03-05 12:10:01 +11:00
Paul Riseborough ec401083bf AP_AHRS: Remove unused variable 2021-03-05 12:10:01 +11:00
Paul Riseborough af2bf6097b AP_AHRS: Add accessor function for EKF3 yaw alignment status 2021-03-05 12:10:01 +11:00
Paul Riseborough 6a603019d5 AP_NavEKF3: Add accessor function for yaw alignment status 2021-03-05 12:10:01 +11:00
Paul Riseborough 3634a942a1 AP_NavEKF3: Fix bug causing unwanted use of default airspeed 2021-03-05 12:10:01 +11:00
Paul Riseborough a0faa55ef5 AP_AHRS: Fix rebase build error 2021-03-05 12:10:01 +11:00
Paul Riseborough 912db3512e AP_NavEKF3: Fix EKF selection bug 2021-03-05 12:10:01 +11:00
Paul Riseborough 85c0040fa3 AP_NavEKF3: Improve inFlight detection for fixed wing 
Better handle case where no airspeed sensor is being used with a hand launch.
 2021-03-05 12:10:01 +11:00
Andrew Tridgell 6d6ec44d59 AP_AHRS: fixed build on boards without EKF2 2021-03-05 12:10:01 +11:00
Paul Riseborough 295c1e1308 AP_NavEKF3: Reset covariances when falling back to non aiding mode 2021-03-05 12:10:01 +11:00
Paul Riseborough adae7365e1 AP_NavEKF3: Fix LLH reporting bug 2021-03-05 12:10:01 +11:00
Paul Riseborough ddadc45854 AP_NavEKF3: Reset states when falling back into non aiding mode. 2021-03-05 12:10:01 +11:00
Paul Riseborough b92eca7b66 AP_NavEKF3: Select startup aiding mode after landing without yaw sensor 2021-03-05 12:10:01 +11:00
Paul Riseborough afb31bc4f5 AP_NavEKF: Add underflow protection to yaw GSF weight normalisation 
This improves protection against a condition where if all yaw hypothesis filers have very large innovations, the weights of Gaussian densities can underflow leading to failure of the weights to converge.
 2021-03-05 12:10:01 +11:00
Paul Riseborough d1d790019c AP_AHRS: Improve use of estimated airspeed 
Enable default airspeed variance to be specified externally to the EKF
Enable use of EKF airspeed estimates
 2021-03-05 12:10:01 +11:00
Paul Riseborough 9a5a264aa0 AP_NavEKF3: Improve wind estimation without airspeed sensing 
Enable default airspeed variance to be specified externally
Improve control of sideslip fusion
Don't modify non wind states unnecessarily when using synthesised air data measurements
 2021-03-05 12:10:01 +11:00
Paul Riseborough ac00776184 AP_NavEKF2: DAL interface compatibility change 2021-03-05 12:10:01 +11:00
Paul Riseborough 296fb567ca AP_DAL: Enable default airspeed variance to be specified externally 2021-03-05 12:10:01 +11:00
murata 9228925bea AP_Motors: Battery voltage compensation maximum voltage 2021-03-05 08:48:20 +09:00
Tatsuya Yamaguchi ecf928d68b AP_Proximity: change PRX_IGN_WIDx range from 45 to 127 2021-03-04 17:40:07 +09:00
Josh Henderson 267d19b0de SITL: SIM_Vicon fix observation interval limit 2021-03-04 16:12:54 +09:00
Josh Henderson dceb76c9f1 SITL: SIM_VICON output MAVLink vision_position_delta 2021-03-04 16:12:54 +09:00
Peter Barker e3de88d1d4 GCS_MAVLink: handle MAV_CMD_DO_SET_MISSION_CURRENT 2021-03-04 11:59:33 +11:00
Randy Mackay f0ffaa5624 AR_AttitudeControl: reset speed filter and I term when stopped 2021-03-04 09:07:32 +09:00
James O'Shannessy f6231db618 AC_Fence: Add breach calculation variant to use LLA 
Adds a parameter to make selection between vector pos_cm from origin and lat/lng.
 2021-03-04 10:31:58 +11:00
murata e041b647d7 AP_Mount: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
murata 6e6e807223 AP_NavEKF: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
murata ae565aef1a AP_NavEKF3: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
murata af639f7812 AP_NavEKF2: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
Hugo Trippaers 0dbe2e072c AP_Mount: Set relative pan to true for servo mounts 2021-03-03 18:55:38 +11:00
Hugo Trippaers 44902ef535 AP_Mount: Add parameter to control relative pan option for servo mounts 
* Change from a dedicated parameter to a reusable options field
 2021-03-03 18:55:38 +11:00
Hugo Trippaers bcee4b7b82 AP_Mount: Add parameter to control relative pan option for servo mounts 2021-03-03 18:55:38 +11:00
Pierre Kancir 2953aa3748 AP_NMEA: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir 77367c1376 AP_AHRS: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir 8b1d35bc76 AP_Module: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir 67540dc5bb AP_InertialSensor: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir ce34ce6def AP_Baro: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir aaf7504ac8 AP_Module: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir c8a7ab1a75 AP_InertialSensor: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir f2570d49a1 AP_Scheduler: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir 1082a799c2 AP_Compass: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir 95d0c67a99 AP_Baro: fix example 2021-03-03 18:07:38 +11:00
Samuel Tabor fb8ec292cd AP_TECS: Clarify TECS_THR_DAMP and TECS_LAND_TDAMP descriptions. 2021-03-03 18:05:22 +11:00
Andy Piper d6575fb6ad AP_HAL_ChibiOS: bdshot configs for CubeYellow and mRoControlZeroH7 2021-03-03 18:02:26 +11:00
Michael du Breuil f227d67d58 AP_GPS: Remove unused enum 2021-03-03 10:00:15 +09:00
Randy Mackay 79c9b4b523 AC_WPNav: increase default speed to 10m/s and accel to 2.5m/s/s 2021-03-03 08:03:39 +09:00
murata 3824277d11 AC_Fence: Add Smart RTL or LAND to the fence action 2021-03-03 07:59:03 +09:00
Peter Barker a97786c01d RC_Channel: use RC channel options 203 and 204 for throttle and yaw 
This gives us a 200 + n mapping for the traditional AETR mapping.

Unfortunately, it will break walking robots until they update their
parameters
 2021-03-03 08:42:00 +11:00
Peter Barker 7480a2a00b GCS_MAVLink: correct output of AHRS2 mavlink message 
The || here was causing short-circuiting
 2021-03-02 20:48:36 +11:00
Peter Barker 03bb3237ef SITL: set default RPM_TYPE to 10 for FlightAxis 2021-03-02 15:41:44 +11:00
Peter Barker 4d2cf8c95b AP_Frsky_SPort: correct handling of RPM sensor data 
Nails support down to just two RPM sensors for the time being.

Simplifies things (there was an issue here when I corrected RPM-in-SITL)
 2021-03-02 15:41:44 +11:00
Peter Barker 370db00096 AP_RPM: add explicit RPM_TYPE_SITL 
Old behaviour is that anything that wasn't claimed (or failed to
allocate) would become a SITL RPM sensor.  This meant we always had at
least one RPM sensor which was allocated but never provided valid data.

New behaviour is that if you want a SITL RPM sensor you have to set type
to 10.
 2021-03-02 15:41:44 +11:00
Peter Barker c059338386 AP_Frsky_Telem: use location from AHRS not GPS 
The AHRS may be able to supply information even in the absense of an
actual GPS unit.
 2021-03-02 15:41:44 +11:00
Andrew Tridgell 4fbdb59398 HAL_ChibiOS: prevent sharing the same DMA stream on TIMn_UP channels 
this avoids an issue with DShot where we run the same DMA stream on
two timers at once
 2021-03-02 11:58:38 +11:00
Andy Piper 6cb263056d AP_HAL_ChibiOS: build fix for iomcu 2021-03-02 11:58:38 +11:00
Andy Piper d0e4d510cf AP_HAL_ChibiOS: order PWM timers by DMA UP stream id to prevent deadlocks in dshot 2021-03-02 11:58:38 +11:00
Iampete1 e64a7b2884 AP_Mount: type enable flag 2021-03-02 10:09:19 +11:00
Iampete1 3306484023 AP_NavEKF2: log position offset as float in meters 2021-03-02 10:03:12 +11:00
Iampete1 8173cd442a AP_NavEKF3 log position offset as float in meters 2021-03-02 10:03:12 +11:00
Paul Riseborough 0971ef55a4 AP_NavEKF3: Fix bug preventing EKFGSF running when needed for reset 
The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
 2021-03-02 07:28:24 +11:00
Paul Riseborough 948650dbe5 AP_NavEKF2: Fix bug preventing EKFGSF running when needed for reset 
The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
 2021-03-02 07:28:24 +11:00
Andrew Tridgell e884e4c5ac AP_Math: added fixedwing_turn_rate() helper 2021-02-27 14:42:20 +11:00
Yash Vadi b450740fb0 AP_Button: update BTN_FUNCx param descriptions 2021-02-26 12:30:13 +11:00
Andrew Tridgell 35149ae8b2 AP_Scripting: allow scripting startup with no sdcard 
as scripts can be in ROMFS we should still create the thread without
the scripts directory
 2021-02-25 11:34:39 -07:00
Peter Barker 9932aa99f7 GCS_MAVlink: return identical seq in MISSION_CURRENT if possible after set 
// because MISSION_SET_CURRENT is a message not a command,
        // there is not ACK associated with us successfully changing
        // our waypoint.  Some GCSs use the fact we return exactly the
        // same mission sequence number in this packet as an ACK - so
        // if they send a MISSION_SET_CURRENT with seq number of 4
        // then they expect to receive a MISSION_CURRENT message with
        // exactly that sequence number in it, even if ArduPilot never
        // actually holds that as a sequence number (e.g. packet.seq==0).
 2021-02-24 19:00:34 +11:00
Andrew Tridgell 14791c335b HAL_ChibiOS: fixed build of f3 boards without PWM out 2021-02-24 18:25:02 +11:00
Andrew Tridgell 9d87645c6e AP_IOMCU: fixed event handling bug in IOMCU code 
if a a message send fails to IOMCU then we were discarding all
currently pending non-recurring events. This means that states like
oneshot enable would be lost if the IOMCU reset.

We now re-trigger all events that have not yet been handled
 2021-02-24 18:21:08 +11:00
Andrew Tridgell 9126579b77 AP_IOMCU: added memory to debug code 2021-02-24 18:21:08 +11:00
Andrew Tridgell 243cf2199d HAL_ChibiOS: disable shared DMA on IOMCU 
this saves about 600 bytes of ram
 2021-02-24 18:21:08 +11:00
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