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28902 Commits

Author SHA1 Message Date
Henry Wurzburg 0f05cb06fa AP_NavEKF3: update and correct GSF parameter documentation 2022-02-15 10:56:35 +11:00
Henry Wurzburg 5e6447e893 AP_NavEKF2: update and correct GSF parameter documentation 2022-02-15 10:56:35 +11:00
murata e209a6e73b AP_Filesystem: Remove WHITE SPACE to match other method styles 2022-02-15 10:14:13 +11:00
murata 0967d79a93 AP_Filesystem: Change the judgment null of methods that return nullptr 2022-02-15 10:14:13 +11:00
Iampete1 918b8a1a9c AP_Scripting: add binding and helper to get old params 2022-02-15 10:05:23 +11:00
Randy Mackay 4a2af10f96 AR_Motors: remove redundant set of throttle limit flags 
set_limits_from_input is called lower in the method and will set the limits correctly
 2022-02-15 08:02:04 +09:00
Henry Wurzburg 14c9d4e6a3 AP_UAVCAN: add metadata to GetNodeInfo log message 2022-02-14 13:38:07 +11:00
Andy Piper 87a369727a AP_Math: specialize float and double functions to use fabsf() and simple comparison otherwise 2022-02-13 14:43:37 +11:00
Andy Piper 9084d19273 AP_NavEKF: disable warnings on clang 2022-02-13 14:43:37 +11:00
Andrew Tridgell eb549f3e00 AP_HAL: review comments 2022-02-12 16:36:05 +11:00
Andrew Tridgell 55f21f367b AP_UAVCAN: disable CAN filtering except on AP_Periph 
this saves flash space and makes CAN forwarding for any bus without
reconfigure/reboot easy. CAN filtering is not useful in the main
flight controller firmware as we want to see nearly all packets
 2022-02-12 16:36:05 +11:00
Andrew Tridgell 0b95272f27 AP_CANManager: support mavcan message forwarding 2022-02-12 16:36:05 +11:00
Andrew Tridgell ba502b462f GCS_MAVLINK: support CAN_FRAME and MAV_CMD_CAN_FORWARD 2022-02-12 16:36:05 +11:00
Andrew Tridgell b6f78ede2e HAL_Linux: support mavcan 2022-02-12 16:36:05 +11:00
Andrew Tridgell 5eb8b8d72e HAL_SITL: support mavcan message forwarding 2022-02-12 16:36:05 +11:00
Andrew Tridgell dbe17d072f AP_HAL: support mavcan message forwarding 2022-02-12 16:36:05 +11:00
Andrew Tridgell 33ebc83a68 AP_HAL_ChibiOS: disable CAN filtering except on AP_Periph 
this saves flash space and makes CAN forwarding for any bus without
reconfigure/reboot easy. CAN filtering is not useful in the main
flight controller firmware as we want to see nearly all packets
 2022-02-12 16:36:05 +11:00
Andrew Tridgell b6bf74b73d AP_CANManager: disable CAN filtering except on AP_Periph 
this saves flash space and makes CAN forwarding for any bus without
reconfigure/reboot easy. CAN filtering is not useful in the main
flight controller firmware as we want to see nearly all packets
 2022-02-12 16:36:05 +11:00
Andrew Tridgell 124c9d5d9b HAL_ChibiOS: support mavcan message forwarding 2022-02-12 16:36:05 +11:00
Joshua Henderson 1cf31dc25b AP_BattMonitor: fix UAVCAN param index for varptr 2022-02-11 22:17:18 +09:00
Joshua Henderson ec1f5e39b4 AP_BattMonitor: add documentation for UAVCAN params 2022-02-11 22:17:18 +09:00
Patrick José Pereira b839ddcc00 AP_Common: tests: Update fwversion with the latest version 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2022-02-11 09:21:00 +11:00
Patrick José Pereira 4d82a17558 AP_Common: AP_FWVersionDefine: Update version number after breaking changes 
Structure changed after 8814486572

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2022-02-11 09:21:00 +11:00
Patrick José Pereira b2bd74f53c AP_Common: AP_FWVersionDefine: Add comment about version number 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2022-02-11 09:21:00 +11:00
Patrick José Pereira 759057347e AP_Common: AP_FWVersionDefine: Fix indentantion level for fw_hash 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2022-02-11 09:21:00 +11:00
Andrew Tridgell 7716754c61 Revert "AP_RCProtocol: change default SBUS frame gap to 4ms" 
This reverts commit af9e96c619.

revert as this causes a problem on some receivers such as the Frsky R9

fixes #19899
 2022-02-11 08:10:25 +11:00
Peter Barker 29a469432e GCS_MAVLink: send deprecated message warning for MAVLINK_MSG_ID_SET_HOME_POSITION 2022-02-10 12:13:43 +11:00
Peter Barker 51f8bba3a1 AP_Common: add STR_VALUE macro 2022-02-10 12:13:43 +11:00
Hwurzburg d7d900bef9 AP_Scripting: Update plane_aerobatics script and move to new directory 2022-02-10 12:13:11 +11:00
Randy Mackay 619f4976a2 AR_AttitudeControl: get_turn_rate_from_heading applies acceleration limit 
Limits rate output so that vehicle will not overshoot the target heading
 2022-02-10 07:45:12 +09:00
Iampete1 8af5f5b2d7 AP_MotorsMulticopter: check interlock state in output_motor_mask 2022-02-10 07:43:40 +09:00
Iampete1 5181003228 AP_Motors: always check armed and interlocked in motor test 2022-02-10 07:43:40 +09:00
Jaaaky 56a860bef7 AP_RTC: fix oldest_acceptable_date to be in micros 
Also update date to 2022-01-01 00:00 UTC
 2022-02-10 09:22:30 +11:00
Andy Piper 89ba955419 AP_HAL_ChibiOS: only change SD card on external flash boards 2022-02-09 12:47:55 +00:00
Andy Piper 48c21299f8 AP_HAL_ChibiOS: hwdef for SPRacingH7 
hwdef for DevEBoxH7v2
pin definitions for STM32H750
add QSPI to DevEBox bootloader
add external flash to DevEBox
rename EXTERNAL_PROG_FLASH_MB to EXT_FLASH_SIZE_MB
Add support for EXT_FLASH_RESERVE_START_KB and EXT_FLASH_RESERVE_END_KB
Disable HAL_ENABLE_SAVE_PERSISTENT_PARAMS when there is no bootloader flash available
relax storage health status with SD card backend
don't check SD card health unless USE_POSIX
binary sections rearranged on external ram
manage RAMFUNC through ldscript and optimize function placement in external flash
inline timer functions
optimize placement of ChibiOS and functions in ITCM and AXI RAM
fix chibios features on bootloader build with external flash
change H750 memory layout
increase line storage for SD card based parameters
comment external flash linker script
move vtables into DTCM
update ram map for H757
enable crashdump support with external flash
correct bootloader pins and generator on SPRacingH7/DevEBoxH7v2
setup external flash reserve regions
allow different RAM_MAP for external flash on H750 and H757
 2022-02-09 12:47:55 +00:00
Andy Piper 5855ead822 AP_Scheduler: allow 9999us for task display 2022-02-09 12:47:55 +00:00
Andy Piper bdbcda6b0f AP_Common: allow ExpandingString to be reset 2022-02-09 12:47:55 +00:00
Andy Piper c7a43f2a90 AP_InertialSensor: put some functions in fast ram 
precisely split backend/frontend on Invensense for RAMFUNC allocation
allow building with no IMUs
 2022-02-09 12:47:55 +00:00
Andy Piper f441ba21ee AP_FlashIFace: make sure device is locked before reset 
only lock device in normal mode
 2022-02-09 12:47:55 +00:00
Andy Piper a7ac4809b1 AP_HAL: disabled ADC3 on H750 
define __FASTRAMFUNC__
 2022-02-09 12:47:55 +00:00
Peter Barker 85b4ee289e AP_Logger: log VER - ArduPilot version information 2022-02-09 18:32:38 +11:00
Peter Barker 8814486572 AP_Common: include integer version of hash in FWVersion struct 2022-02-09 18:32:38 +11:00
MallikarjunSE a4b5bf1f4f hwdef: Update hwdef to have only mag and airspeed 2022-02-09 18:27:56 +11:00
Randy Mackay 0c7ad9511f AP_NavEKF3: FuseOptFlow only calculates range and velocity once 
was unnecessarily recalculating these values before fusion
 2022-02-09 08:42:29 +09:00
Andrew Tridgell ef7e611aff HAL_ChibiOS: added cubemx file for F745-8MHz 2022-02-09 09:35:26 +11:00
Randy Mackay 27a6cdd989 AR_Motors: minor format fix 2022-02-09 09:15:41 +11:00
Randy Mackay e3baeac48c AR_Motors: fix limits sometimes being overwritten 2022-02-09 09:15:41 +11:00
Randy Mackay 64a1ab9a93 AR_Motors: skid-steering vehicle limit fix 
we should set the steering and throttle limits flags if we are not getting the desired output
 2022-02-09 09:15:41 +11:00
Peter Barker f25755a05f GCS_MAVLink: mark MAV_CMD_DO_REPOSITION as having a location 2022-02-09 09:15:11 +11:00
Peter Barker 2e804bb0d5 GCS_MAVLink: mark MAV_CMD_DO_SET_ROI_LOCATION as having a location 2022-02-09 09:15:11 +11:00
Peter Barker dffec9325e GCS_MAVLink: create and use location_from_command_t 2022-02-09 09:15:11 +11:00
Walter Dunckel f2347e7845 AP_HAL_ChibiOS: add missing EOL in output 
without it a double define line was giving compiler an error
 2022-02-09 09:14:25 +11:00
Michael du Breuil 382cbb9b4d AP_Airspeed: Sanity check DLVR raw data before accumulating it 
This is intended to help with really bad RF interference flipping bits on the I2C bus which can lead to some intresting results
 2022-02-09 09:00:22 +11:00
Peter Barker 6e684b3496 hwdef: disable blheli on skyviper 2022-02-08 20:39:44 +11:00
Peter Barker 09c040891e hwdef: cap number of Compass, Baro and INS instances 
saves flash as we don't have to have the parameter structures
 2022-02-08 20:39:44 +11:00
Peter Barker 7f584ad2c8 hwdef: SkyViper gets COMPASS_MAX_SENSORS 1 2022-02-08 20:39:44 +11:00
Randy Mackay 6c947fc10b AP_NavEKF2: minor spelling fixes to optflow fusion 2022-02-08 17:01:23 +09:00
Randy Mackay f57a081ceb AP_Math: minor control format fix 2022-02-08 17:01:23 +09:00
Leonard Hall a47fc65511 AP_Math: Control: improve real time S-Curve response to small inputs 2022-02-08 16:58:44 +09:00
Peter Barker 6fb8a4fc15 AP_RangeFinder: correct grammar on type field 2022-02-08 10:42:56 +09:00
Andy Piper 0e18bd450d AP_HAL_ChibiOS: fix bi-directional dshot on omnibusf4pro 2022-02-08 12:12:28 +11:00
Andrew Tridgell a32ecfbf29 mavlink: added read size limits on FTP read 
thanks to Michael Oborne for spotting this:

https://github.com/ArduPilot/MissionPlanner/issues/2784
 2022-02-08 12:11:57 +11:00
Henry Wurzburg 425aef59dc AP_Vehicle: fix error in Tricks on a Switch qualifier 2022-02-08 11:54:38 +11:00
Henry Wurzburg 92f76d0b7f AP_Scripting: fix error in Tricks on a Switch qualifier 2022-02-08 11:54:38 +11:00
Peter Barker 6b21d117a9 AP_Terrain: stop passing mission in Terrain constructor 
Terrain can use the mission singleton

This means Copter can have terrain while compiling mission out
 2022-02-08 11:20:20 +11:00
Peter Barker 8cdda7dec2 AP_Common: stop passing mission in Terrain constructor 
Terrain can use the mission singleton

This means Copter can have terrain while compiling mission out
 2022-02-08 11:20:20 +11:00
Peter Barker 06c61070dc AP_Motors: add and use AP_MOTORS_FRAME_DEFAULT_ENABLED 2022-02-08 11:06:24 +11:00
Peter Barker b88bfa962b AP_HAL_ChibiOS: add and use AP_MOTORS_FRAME_DEFAULT_ENABLED 2022-02-08 11:06:24 +11:00
Peter Barker f72024fc63 AP_AHRS: move logging of LogEvent::SET_HOME up 2022-02-08 11:04:26 +11:00
Peter Barker a6713f8368 GCS_MAVLink: build ArduPilot against all.xml not ardupilotmega.xml 2022-02-08 11:00:41 +11:00
Peter Barker e9358ff491 GCS_MAVLink: provide default implemenation of handle_change_alt_request 
The TODO items to actually implement these are almost 6 years old.
Since then these methods have been burning space.

This doesn't even make sense for several vehicles, so a default
implementation which does nothing seems OK.
 2022-02-08 10:59:13 +11:00
Peter Barker bb42ab3eb3 AP_Terrain: do not use location object if it is zero 
This can happen at boot-time if the vehicle has no idea where it is
 2022-02-08 10:57:03 +11:00
Peter Barker 5fe91f16af AP_Terrain: avoid direct use of Location alt field 2022-02-08 10:57:03 +11:00
Peter Barker 4dfc9494ef SITL: correct compilation if INS_TEMPERATURE_CAL_ENABLE is off 2022-02-08 10:44:01 +11:00
Peter Barker 558f6babc4 AP_InertialSensor: correct compilation if INS_TEMPERATURE_CAL_ENABLE is off 2022-02-08 10:44:01 +11:00
Joshua Henderson dc8df8f147 AP_Compass: add define for COMPASS_ENABLE 2022-02-08 10:41:02 +11:00
Joshua Henderson 3df82b26de hwdef: MatekF045-CAN remove unused define, set BATT_Default 0 2022-02-08 10:41:02 +11:00
Joshua Henderson ecacd513c2 hwdef: f405-MatekGPS add debug pin info, set default arspd, batt 0 
and remove ADSB from build
 2022-02-08 10:41:02 +11:00
Joshua Henderson 8505017d26 hwdef: Add f405-MatekAirspeed 2022-02-08 10:41:02 +11:00
Peter Hall a56eac0274 AC_AttitudeControl: WeatherVane: add takeoff and landing override params 2022-02-08 10:38:16 +11:00
Peter Hall 8fdc85ccbe AC_AttitudeControl: WeatherVane: add tail in option 2022-02-08 10:38:16 +11:00
Gone4Dirt cc545efa29 AC_AttitudeControl: add weathervane library 2022-02-08 10:38:16 +11:00
Gone4Dirt 15b3dbe63c RC_Channel: Allow weathervaning from rc switches 2022-02-08 10:38:16 +11:00
Bill Geyer 0a65fbbcb5 AC_AutoTune: tradheli-update parameter descriptions and default values 2022-02-07 06:23:37 -05:00
Bill Geyer 87fd0480bb AP_Motors: Tradheli-update coll_land_min default 2022-02-07 06:23:37 -05:00
Henry Wurzburg c3950aed2f AP_Vehicle: extend nav_scripting to all modes 2022-02-07 21:19:28 +11:00
Henry Wurzburg b262e9ffbf AP_Scripting: extend nav_scripting to all modes 2022-02-07 21:19:28 +11:00
Andrew Tridgell ab8c40d9bc GCS_MAVLink: report airspeed unhealthy when being rejected 
this gives the pilot feedback on airspeed failing EKF innnovation
checks and switching to synthetic airspeed
 2022-02-07 14:13:49 +11:00
Andrew Tridgell aab0c31385 AP_DAL: prevent logical loop between AHRS and EKF 
this prevents the EKF using its own rejecting_airspeed flag
 2022-02-07 14:13:49 +11:00
Andrew Tridgell 01ac314837 AP_AHRS: use EKF rejecting_airspeed flag 
stop using airspeed sensor when EKF is rejecting the sensor
 2022-02-07 14:13:49 +11:00
Andrew Tridgell 9dcff1a23f AP_NavEKF3: set rejecting_airspeed flag 
we report as rejecting airspeed when we have not fused airspeed for 3s
and want to use airspeed
 2022-02-07 14:13:49 +11:00
Andrew Tridgell 949975a856 AP_NavEKF2: set rejecting_airspeed flag 
we report as rejecting airspeed when we have not fused airspeed for 3s
and want to use airspeed
 2022-02-07 14:13:49 +11:00
Andrew Tridgell a6142fa3dd AP_NavEKF: added rejecting_airspeed flag in EKF status 2022-02-07 14:13:49 +11:00
Andrew Tridgell 7643c5d3f3 SITL: log airspeed in SIM2 2022-02-07 14:13:49 +11:00
Peter Barker 13f7e12d2a Revert "AP_Param: Use AP:FS() to read files" 
This reverts commit e6929892e3.
 2022-02-07 14:13:08 +11:00
Andy Piper ddfef6944b AP_BLHeli: correct documentation for passthrough port 
pre-emptively setup serial passthrough to increase BLHeliSuite reliability
 2022-02-07 12:56:30 +11:00
Andy Piper ab25fc659a AP_HAL_ChibiOS: correct prescaler algorithm 
remove redundant PWM reset
 2022-02-07 12:56:30 +11:00
Tatsuya Yamaguchi 4309fc817e AP_Proximity: change variable type from float to uint8_t 2022-02-07 08:44:09 +09:00
murata 7eb231281b AP_HAL: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
murata 6c83f2262d AP_Scripting: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
murata a6ea55735f AP_HAL_ChibiOS: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
murata 0ab9f331a4 AP_Soaring: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
murata 1e46fe3cf3 AP_Param: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
murata 127f356c86 AP_Frsky_Telem: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
murata 66193bde3a AP_Declination: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
murata b3dd61656d AP_BattMonitor: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
murata 8fbdb01033 AC_AutoTune: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
Joshua Henderson 4b51dc73b5 AC_Attitude_Control: add get_attitude_target_ang_vel 2022-02-07 08:24:35 +09:00
Joshua Henderson f3cac9e1aa GCS_MAVLink: add send_attitude_target 2022-02-07 08:24:35 +09:00
murata 629469acbf AP_Airspeed: remove duplicated words from comments 2022-02-07 08:24:14 +09:00
murata 819b25d918 AP_AHRS: remove duplicated words from comments 2022-02-07 08:24:14 +09:00
RuffaloVM bb1bd69172 AP_AHRS : remove duplicated words from comments 2022-02-04 08:36:35 +00:00
Leonard Hall 162dd6d2bc AC_AttitudeControl: AC_PosControl: Remove velocity override 2022-02-04 13:09:35 +09:00
Leonard Hall 0c42b890e6 RC_Channel: Add Aux Switch enumeration Force Flying 2022-02-04 09:10:57 +09:00
Iampete1 894f924de0 AC_Autotune: add axis string function 2022-02-04 08:44:00 +09:00
Iampete1 58e2e84432 AC_Autotune: remove error string and start test 2022-02-04 08:44:00 +09:00
Iampete1 8376779038 AC_AutoTune: Multi: consolidate messages 2022-02-04 08:44:00 +09:00
Iampete1 08fcbedaee AC_AutoTune: remove check_level function and LevelIssue 2022-02-04 08:44:00 +09:00
Bill Geyer a2c1c809b2 AC_AttitudeControl: tradheli-change param name from _VFF to _FF 2022-02-04 08:03:38 +09:00
Bill Geyer b1d6e41fb9 AC_PID: tradheli-change param name from _VFF to _FF 2022-02-04 08:03:38 +09:00
Sam Chamberlin d73a45aa64 hwdef: add ARK_GPS 2022-02-03 18:36:02 +11:00
Leonard Hall b1f80fbe4f AC_AttitudeControl: Remove double colon 2022-02-03 14:36:21 +09:00
Joshua Henderson 8af7752110 AC_AttitudeControl: nfc PosControl fix to say relative to EKF origin 2022-02-03 12:05:12 +09:00
Joshua Henderson 8e04fb4e8e AP_InertialNav: nfc, fix to say relative to EKF origin 2022-02-03 12:05:12 +09:00
Rishabh 6ceee23b85 AP_Proximity: Add parameter to allow manually setting range to sensors 2022-02-03 09:10:55 +09:00
bugobliterator 3598724378 AP_GPS: change time_epoch_convert to istate_time_to_epoch_ms 2022-02-03 06:45:35 +11:00
bugobliterator 244b8ed358 AP_GPS: change _last_itow to _last_itow_ms 2022-02-03 06:45:35 +11:00
bugobliterator d3d3c826f7 AP_GPS: set _last_itow alongside state.last_corrected_gps_time_us 2022-02-03 06:45:35 +11:00
bugobliterator e77bb74f9b AP_GPS: remove unnecessary multiply with 1000ULL in time_epoch_usec 2022-02-03 06:45:35 +11:00
Peter Barker 17fc5499f8 AP_Mount: mark result of get_velocity as unused 2022-02-02 19:32:47 +11:00
Peter Barker 5528159f31 AP_AHRS: add WARN_IF_UNUSED to several methods 2022-02-02 19:32:47 +11:00
Peter Barker 8572c2bef3 AC_Avoidance: get Vector3f when checking all components of relpos 2022-02-02 19:09:25 +11:00
Peter Barker af1a454820 SITL: fix may-be-used-uninitialised error in thermalling code 2022-02-02 18:59:23 +11:00
Peter Barker 56761cccf0 AP_Baro: correct should-probe check for Keller Baro 2022-02-02 18:56:43 +11:00
Joshua Henderson 204c26c53b hwdef: f103-RangeFinder, use AP_PERIPH_RANGEFINDER_PORT_DEFAULT 2022-02-02 18:45:59 +11:00
Joshua Henderson ed208687b4 hwdef: Pixracer-periph, use AP_PERIPH_RANGEFINDER_PORT_DEFAULT 2022-02-02 18:45:59 +11:00
Randy Mackay cfcdc1e78f AP_NavEKF3: optflow terrain reset after 5sec 2022-02-02 18:04:43 +11:00
Bill Geyer 6356970839 AC_AutoTune: reduce target angle for feedforward test 2022-02-01 23:06:51 -05:00
Bill Geyer a91cc7aad7 AC_AutoTune: fix code response for unknown tune type 2022-02-01 23:06:51 -05:00
Bill Geyer b260839b13 AC_AutoTune: fix yaw feedforward test 2022-02-01 23:06:51 -05:00
Bill Geyer f0042b3909 AC_AutoTune: add safety checks for max allowed gains and freq range 2022-02-01 23:06:51 -05:00
Bill Geyer 607004ce4c AC_AutoTune: combine update rate and angle update methods in freqresp library 2022-02-01 23:06:51 -05:00
Bill Geyer b218f6e5d5 AC_AutoTune: clean up the update gain methods 2022-02-01 23:06:51 -05:00
Bill Geyer d72f142ebe AC_AutoTune: fix heading error filter and streamline updating_rate_d_up 2022-02-01 23:06:51 -05:00
Bill Geyer fb5fec387e AC_AutoTune: consolidate gcs messages and add reset for update gain variables 2022-02-01 23:06:51 -05:00
Bill Geyer 9945c80fb4 AC_AutoTune: switch remaining variables over to using filter library 2022-02-01 23:06:51 -05:00
Bill Geyer 024645f0be AC_AutoTune: switch variables over to using filter library 2022-02-01 23:06:51 -05:00
Bill Geyer a2246cb1a4 AC_AutoTune: ff test modified to reset target att to current for recovery 2022-02-01 23:06:51 -05:00
Bill Geyer bc2455e285 AC_AutoTune: rename parameter for convention and put testing timeout in subclasses 2022-02-01 23:06:51 -05:00
Bill Geyer 66c6a5f877 AC_AutoTune: reorder defines and remove unused in heli 2022-02-01 23:06:51 -05:00