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54210 Commits

Author SHA1 Message Date
Andrew Tridgell 33f6c42bd4 Tools: rebuilt bootloaders 
rebuild bootloaders impacted by
https://github.com/ArduPilot/ardupilot/pull/21308
 2022-08-10 05:04:22 +10:00
Andrew Tridgell cc2589777f AP_Periph: pass correct WGS84 height on GPS peripherals 2022-08-10 05:04:18 +10:00
Andrew Tridgell cdf8cad801 AP_GPS: fixed undulation for DroneCAN GPS 2022-08-10 05:04:18 +10:00
Andrew Tridgell 74a66ede95 AP_OpenDroneID: prevent sending of lost transmitter msg too fast 2022-08-10 05:04:18 +10:00
Andrew Tridgell 0e037c99f3 hwdef: support moving baseline yaw with Holybro G4 CAN GPS 2022-08-09 21:05:08 +10:00
Andrew Tridgell 6c3de20569 hwdef: support moving baseline GPS yaw on MatekL431-Periph 2022-08-09 21:04:37 +10:00
Shiv Tyagi 998119d011 SITL: fix var naming for precland device center 2022-08-09 18:00:11 +10:00
Andy Piper 9a450a05bb Copter: add fast harmonic notch logging 2022-08-09 03:45:08 -04:00
Andy Piper 1c8d206dfb Copter: fast attitude logging should be at loop rate 2022-08-09 03:45:08 -04:00
Andrew Tridgell a34ff49bac Tools: added ODID bootloaders 2022-08-09 14:37:08 +10:00
Andrew Tridgell f6e233fb98 Tools: added ODID board types 2022-08-09 14:37:08 +10:00
Andrew Tridgell 2f4a3ea4e8 CI: added CubeOrange-ODID build 2022-08-09 14:37:08 +10:00
Andrew Tridgell 23744819dc hwdef: added two OpenDroneID enabled builds 2022-08-09 14:37:08 +10:00
Andrew Tridgell bfc5e90e9c DSDL: added DroneCAN messages 2022-08-09 14:37:08 +10:00
Andrew Tridgell 9ce11159b0 AP_UAVCAN: support OpenDroneID 2022-08-09 14:37:08 +10:00
Joshua Henderson ed47b10e0c AP_Arming: add OpenDroneID Mandatory Arming Check 2022-08-09 14:37:08 +10:00
Roel Schiphorst 3bd792295c GCS_MAVLINK: add OpenDroneID messages 2022-08-09 14:37:08 +10:00
Joshua Henderson c52ae2edb4 AP_Vehicle: add OpenDroneID library 2022-08-09 14:37:08 +10:00
Roel Schiphorst d346633996 AP_OpenDroneID: add OpenDrone ID library 2022-08-09 14:37:08 +10:00
Joshua Henderson 378dff5568 AP_GPS: added get_undulation support 2022-08-09 14:37:08 +10:00
Andrew Tridgell b96fcd31fc mavlink: update for OPEN_DRONE_ID_ARM_STATUS 2022-08-09 14:37:08 +10:00
Joshua Henderson 68360571d1 Tools: ardupilotwaf add OpenDroneID lib 2022-08-09 14:37:08 +10:00
Peter Barker 541cfa022b AP_Terrain: fix bad prearms-pass-when-they-shouldn't issue 
The squares surrounding the current location were only checked when we went to send a terrain request.  This means it was possible that:
 - the number of pending requests could go to zero
 - prearm checks would pass
 - vehicle arm is attempted by the user (or a script, or ....)
 - the code would call AP_Terrain::send_requests which would create more pending requests
 - the arming sequence would fail

It's also possible for the arming to succeed, and then we're flying in violation of the intended prearm checks.

Doing things in the update function has the additional advantage of making things more efficient as we can push out terrain requests more often.
 2022-08-09 14:31:14 +10:00
Peter Barker 5ee8f99e7b autotest: adjust for terrain arming requirements 
Lots of tests really did need terrain stuff but weren't able to get it
 2022-08-09 14:31:14 +10:00
Peter Barker c2d91a3bdb AP_Mission: mark mission as changed upon mission clear 2022-08-09 14:31:14 +10:00
Peter Barker 50fb56a74f AP_Mission: memoise result of contains_terrain_relative 
527 items takes ~2200us on CubeOrange which is way too long
 2022-08-09 14:31:14 +10:00
Peter Barker 4c674b64fb AP_Terrain: correct wait-for-terrain prearm check 
looking at pending is insufficient as we may have more mission items to check to see if they need other pieces of terrain.  That is, terr_pending can go to zero momentarily and then go back to a non-zero number as Terrain's update method checks the mission and rally libraries for more terrain requirements.

Without this patch the prearm checks can momentarily pass, allowing the vehicle to arm.  The vehicle could hit a terrain failsafe later if it doesn't manage to get the data while in flight.
 2022-08-09 14:31:14 +10:00
Peter Barker d688e6068b AP_Terrain: move terrain prearm checks to AP_Terrain 2022-08-09 14:31:14 +10:00
Peter Barker 96ef34acac AP_Arming: move terrain prearm checks to AP_Terrain 2022-08-09 14:31:14 +10:00
Peter Barker fecf7c2e0c autotest: augment Plane TerrainMission to check we *do* follow the terrain 2022-08-09 14:31:14 +10:00
Peter Barker 127bf7aa09 ArduPlane: make terrain checks common between Copter and Plane 2022-08-09 14:31:14 +10:00
Peter Barker 67d8965cad ArduCopter: make terrain checks common between Copter and Plane 2022-08-09 14:31:14 +10:00
Peter Barker 3bcd4fa22a AP_Arming: make terrain checks common between Copter and Plane 2022-08-09 14:31:14 +10:00
Andrew Tridgell 2e32c753b9 Plane: added arming check for terrain data 2022-08-09 14:31:14 +10:00
Andrew Tridgell bad0120d3c AP_Mission: added contains_terrain_relative() 
used in plane arming check
 2022-08-09 14:31:14 +10:00
Iampete1 2d06261be3 AP_Gripper: apply auto close to all backends. 2022-08-09 13:23:35 +10:00
Leonard Hall 4bf622dbaf AP_Gripper: Add feedback when already in state 2022-08-09 13:23:35 +10:00
Leonard Hall 64d69c5977 AP_Gripper: Servo Gipper enhancments 2022-08-09 13:23:35 +10:00
Tamas Nepusz 1ae299b717 RC_Channel: reserve RX aux functions 248-249 for Skybrush 2022-08-09 13:22:07 +10:00
Tamas Nepusz 5e7622d593 Copter: reserve mode number 127 and param group 62 for Skybrush 2022-08-09 13:22:07 +10:00
Iampete1 ee778dbd3a Plane: Quadplane: add option_is_set helper for Q_OPTIONS 2022-08-09 13:21:00 +10:00
Henry Wurzburg 1f819e11fb Rover: update logging bitmask metadata to new style 2022-08-09 11:38:16 +10:00
Henry Wurzburg 20c0448165 Blimp: update logging bitmask metadata to new style and correct errors 2022-08-09 11:38:16 +10:00
Henry Wurzburg 905572eff5 ArduPlane: update logging bitmask metadata to new style 2022-08-09 11:38:16 +10:00
Andy Piper 6ce3bb6a84 scripts: add back in bdshot targets for KakuteF7 and CubeYellow 2022-08-09 11:14:44 +10:00
Andy Piper d6ba508cb9 AP_ESC_Telem: keep RPM updates in the correct order 2022-08-09 11:13:11 +10:00
Andy Piper 2c22bca1a9 AP_Vehicle: make sure that if ESC telemetry is missing notch updates are not misordered 2022-08-09 11:13:11 +10:00
Henry Wurzburg a5b373e912 AP_AHRS: modify AHRS type check for compass-less setups 2022-08-09 11:02:24 +10:00
Iampete1 821053e580 Plane: Quadplane: allow servo auto trim for motors only tailsitter assist 2022-08-09 10:56:41 +10:00
Leonard Hall 1e3e5e5577 AP_Math: Control: Add velocity limits to shaping functions 2022-08-08 20:54:37 -04:00