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34407 Commits

Author SHA1 Message Date
Andrew Tridgell
4a181ede62 AP_TECS: fixed descent or lack of climb bug 
this fixes a state where we either cannot climb or descend in an
uncontrolled manner in a TECS controlled mode

the conditions under which this happened were:

- _use_synthetic_airspeed_once was true due to quadplane takeoff
- we left _thr_clip_status as MAX from previous use of synthetic airspeed
- then run without airspeed

note that this can also impact users with an airspeed sensor if they
disable it or it fails in flight, particularly during a climb
 2023-09-28 20:37:41 +10:00
Peter Barker
f358ddd771 AP_GPS: add an AP_GPS_FixType header 
useful when you need nice symbols for the numbers, but are not compiling the GPS headers in
 2023-09-27 14:14:57 -07:00
Samuel Tabor
40f62949b3 Send lat lon in SIM_STATE as int32_t extensions 2023-09-27 14:14:37 -07:00
Tom Pittenger
8c4d00e6f2 SITL: add a thermal at home 2023-09-27 12:19:00 -07:00
Peter Barker
ef8cd449ec GCS_MAVLink: handle MAV_CMD_DO_FLIGHTTERMINATION as both long and int 2023-09-27 11:27:45 -07:00
Tom Pittenger
eeb7dc26fb AP_ICEngine: minor OPTIONS param spelling fix 2023-09-27 08:43:27 -07:00
Michael du Breuil
e8deb491de AP_ICEngine: Add an option to disable starting while disarmed 2023-09-27 08:43:27 -07:00
Peter Barker
8cfdf10cf1 AP_Vehicle: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-27 16:38:15 +10:00
Peter Barker
132b04562d AP_Notify: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-27 16:38:15 +10:00
Peter Barker
e2975a67e7 AP_HAL_ChibiOS: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-27 16:38:15 +10:00
Peter Barker
0824eca776 AP_GPS: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-27 16:38:15 +10:00
Peter Barker
9a054876ff AP_Compass: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-27 16:38:15 +10:00
Paul Riseborough
75789bd94d AC_PosControl: Add monitoring and reporting of forward accel saturation 2023-09-27 11:43:45 +10:00
Andrew Tridgell
936d6ed378 RC_Channel: added VFWD_THR_OVERRIDE 2023-09-27 11:43:45 +10:00
Andrew Tridgell
9c7c995185 AP_ICEngine: added ICE_DISABLED state 2023-09-27 11:43:45 +10:00
Pierre Kancir
01f94e9aa5 AP_Logger: don't virtual out_of_time_for_writing_messages for DF 
This save use some flash against the solution with override
 2023-09-27 08:15:42 +10:00
Pierre Kancir
06836b947f AP_Logger: make some functions final 2023-09-27 08:15:42 +10:00
Pierre Kancir
2fff57708a RC_Channel: Remove static from get_override_mask and make const 2023-09-27 08:15:42 +10:00
Pierre Kancir
247a72b823 AP_Logger: fix warning for implicit overrided function 2023-09-27 08:15:42 +10:00
Clyde McQueen
924a391d55 AP_Scripting: add sub bindings for joystick buttons 2023-09-27 08:14:36 +10:00
Clyde McQueen
5e11ccaa32 AP_JSButton: reserve 4 button functions for script access 2023-09-27 08:14:36 +10:00
Buenobarbie
5748e7b840 AP_Scripting: New script example 2023-09-27 08:14:15 +10:00
daniel.li
ec601684e6 AP_Baro: Fix GCS DPS310 HWID issue 
DPS280/DPS310 use the same driver(AP_Baro_DPS280.cpp/h), but it is necessary to distinguish between the two.
 2023-09-27 08:11:52 +10:00
Peter Barker
486ed2965e AP_AHRS: add AP_AHRS_DCM_ENABLED 
preliminary commit to add the bulk of the changes which are not problematic
 2023-09-27 08:00:54 +10:00
Peter Barker
34a508bfd8 AP_VisualOdom: visualodom requires DCM to work 2023-09-27 08:00:54 +10:00
Peter Barker
eb05093f34 AP_Compass: compass calibration requires DCM 2023-09-27 08:00:54 +10:00
Randy Mackay
7a56d887b9 AP_Winch: Options param for init state and verbose output 2023-09-27 06:48:06 +09:00
Peter Barker
0f6bf8994f GCS_MAVLink: handle MAV_CMD_AIRFRAME_CONFIGURATION as both LONG and INT 2023-09-26 11:37:42 +10:00
Andy Piper
ad126cc96e AP_SerialManager: only enable configuration ports that are available 2023-09-26 11:31:08 +10:00
Andy Piper
82452758b4 AP_HAL_ChibiOS: write out serial ports that are available when configuring 2023-09-26 11:31:08 +10:00
Iampete1
7bbd4a7c7d AP_Scripting: add some missing dependencies 2023-09-26 11:29:42 +10:00
Iampete1
82628c2559 AP_Scripting: bindings: allow GCS without high latency 2023-09-26 11:29:42 +10:00
Iampete1
6ae2fc2ca0 AP_Scripting: support per method dependencies 2023-09-26 11:29:42 +10:00
Randy Mackay
bb6d0ec9ca AP_Scripting: winch-test simplification 2023-09-26 11:12:19 +10:00
Randy Mackay
200bc6c849 AP_Mission: image-stop-capture fix for instance 2023-09-26 10:53:22 +10:00
Randy Mackay
b08fa29574 AP_Mission: start-image-capture with all zeros takes single pic 
fails if no cameras configured
 2023-09-26 10:53:22 +10:00
Randy Mackay
999a3fe8d9 AP_Camera: image-stop-capture fix for instance 2023-09-26 10:53:22 +10:00
Randy Mackay
fb35d97abf AP_Camera: start-image-capture with all zeros takes single pic 
returns failed if no cameras configured
 2023-09-26 10:53:22 +10:00
Randy Mackay
9e3ab558b3 AP_Camera: take_pic and take_multiple_pic report success 
Methods return success if at least one backend succeeds
 2023-09-26 10:53:22 +10:00
Randy Mackay
66337af882 AP_Camera: fix reporting of mount take_picture 2023-09-26 10:53:22 +10:00
Iampete1
f9c8ad8de8 AP_Generator: IE 650/800: does have fuel remaining 2023-09-26 10:47:50 +10:00
Iampete1
9599318fff AC_PID: apply PD limit in such that limit flag is set and reported P and D terms are correct 2023-09-26 10:41:05 +10:00
Iampete1
93ccec3203 AP_Logger: Write_PID: add PD sum limit flag 2023-09-26 10:41:05 +10:00
Iampete1
5def9e7038 AP_Logger: PID move limit to flag bit 2023-09-26 10:41:05 +10:00
Leonard Hall
029950ef05 APM_Control: Support PD Max 2023-09-26 10:41:05 +10:00
Leonard Hall
8068f72be3 AP_WheelEncoder: Support PD Max 2023-09-26 10:41:05 +10:00
Leonard Hall
df014a2c05 AC_CustomControl: Support PD Max 2023-09-26 10:41:05 +10:00
Leonard Hall
ac0244e430 AC_AttitudeControl: Support PD Max 2023-09-26 10:41:05 +10:00
Leonard Hall
3de0bcefdb AC_PID: Support PD Max 2023-09-26 10:41:05 +10:00
AndKe
2030e6c9e2 SMBus :expanded SoloBMS to 6s 2023-09-26 10:17:02 +10:00
Henry Wurzburg
a901d23de4 AP_TECS: correct/expand param metadata re synth airspeed 2023-09-26 09:04:51 +10:00
Peter Barker
429dbefade AP_AHRS: fill in error string when invalid backend specified 2023-09-25 08:11:23 +10:00
Peter Barker
34bceb8eec SITL: log achieved speedup rate 2023-09-23 19:49:02 +10:00
Peter Barker
4791e6f367 AP_Generator: use HAL_LOGGING_ENABLED 2023-09-23 13:59:42 +10:00
Asif Khan
65be0bd1ba GCS_MAVLink: add MAV_CMD_IMAGE_STOP_CAPTURE support 
Co-authored-by: Zachary Zalass <zachzalass@gmail.com>
 2023-09-21 21:05:01 +10:00
Asif Khan
844d552b22 AP_Mission: add MAV_CMD_IMAGE_STOP_CAPTURE support 
Co-authored-by: Zachary Zalass <zachzalass@gmail.com>
 2023-09-21 21:05:01 +10:00
Asif Khan
f30af5e072 AP_Camera: add MAV_CMD_IMAGE_STOP_CAPTURE support 
Co-authored-by: Zachary Zalass <zachzalass@gmail.com>
 2023-09-21 21:05:01 +10:00
Asif Khan
518feedf41 AP_Mission: add MAV_CMD_START_CAPTURE support in mission 2023-09-21 21:05:01 +10:00
Asif Khan
2cc080620c AP_Camera: fix MAV_CMD_START_CAPTURE handling 2023-09-21 21:05:01 +10:00
Andrew Tridgell
89bd6ab218 AP_GPS: implement the GPS_DRV_OPTION for ellisoid height in mode drivers 
this allows a lot more drivers to use the GPS_DRV_OPTION but to use
ellisoid height. Particularly useful for DroneCAN GPS modules

using ellisoid height instead of AMSL is useful in some specialised
application
 2023-09-21 19:36:26 +10:00
Peter Barker
fc722b5efc AP_Tuning: add and use AP_TUNING_ENABLED 2023-09-21 07:07:58 +10:00
Peter Barker
1208938d3b SITL: fix balancebot yaw reset to be kinimatically consistent 
... or at least closer to it.

We were hard-resetting the yaw to zero when the vehicle was upright.  That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.

Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
 2023-09-20 22:59:41 +10:00
James O'Shannessy
70bee8e67a AP_HAL_ChibiOS: Explicitly include InternalError 
Debug builds utilise internal error in the Util class.

The include was being passed up from Logger->LoggerMessageWriter->LoggerBackend->Bitmask.
Periph Builds tend not to have HAL_LOGGING_ENABLED, and so the include was not present.
 2023-09-20 19:51:48 +10:00
Peter Barker
8e57d66a0d AP_AHRS: move AP_AHRS_DCM::groundspeed_vector into correct file 2023-09-20 19:06:10 +10:00
Peter Barker
b44682d1a6 GCS_MAVLink: handle CAN_FORWARD as both command_INT and COMMAND_LONG 2023-09-20 17:50:56 +10:00
Peter Barker
3c93fd3c5f AP_CANManager: handle CAN_FORWARD as both command_INT and COMMAND_LONG 2023-09-20 17:50:56 +10:00
Andy Piper
2c44d75f27 AP_HAL: relax F4 notch constraints slightly to allow triple notch on quads 2023-09-20 17:37:24 +10:00
Andy Piper
36fc7521ea AP_HAL_ChibiOS: modify prescaler based on dshot type 2023-09-20 17:35:44 +10:00
Andy Piper
5c0f049739 AP_HAL: simplify prescaler calculation and allow choosing highest frequency 
Update tests to reflect BLHeli_S requirements and add in L431
 2023-09-20 17:35:44 +10:00
Peter Barker
53d12ab46d AP_AHRS: rename EKFType::NONE to EKFType::DCM 2023-09-20 17:15:10 +10:00
Henry Wurzburg
4a15d9cc1b AP_TempertureSensor:clarify temp sourec for pitot tube 2023-09-19 10:15:45 -07:00
Peter Barker
d2ad165a4a RC_Channel: correct compilation with COMPASS_CAL_ENABLED off 2023-09-19 16:54:59 +10:00
Peter Barker
acf437b258 AP_Compass: correct compilation with COMPASS_CAL_ENABLED off 2023-09-19 16:54:59 +10:00
Peter Barker
12a06ee0ae AP_AHRS: make a pair of methods static on AP_AHRS_Backend 
these don't use any information from the specific backend, but they are called within the backends so making them static on that class is handy
 2023-09-19 13:20:15 +10:00
Peter Barker
a5bfd58524 AP_AHRS: remove un-needed AP_AHRS_Backend::getCorrectedDeltaVelocityNED 
over-kill, and can be derived from backend biases if required
 2023-09-19 12:51:31 +10:00
Andy Piper
1b1e5b1085 hwdef: correct inversion pin on MambaF405v2 
correct battery setup for MambaF405v2
provide suitable serial defaults for MambaF405v2
reallocate DMA channels to allow full DMA on USART3 and NeoPixel on MambaF405v2
add camera control pin to MambaF405v2
 2023-09-19 11:43:58 +10:00
Peter Barker
9bcd9df7dd AP_AHRS: move load_watchdog_home into correct cpp file 
NFC, just moving the code out of the DCM backend file
 2023-09-19 11:35:45 +10:00
Peter Barker
622b83da9e AP_AHRS: move set_home method into correct .cpp file 
NFC, just moving the code in prepration for allowing DCM to be compiled out
 2023-09-19 11:35:45 +10:00
Peter Barker
f8a4dd02d9 AP_AHRS: simplify specification of primary IMU indices 
given that DCM doesn't specify to use the primary accel or gyro when fetching the data from the Ins library, it shouldn't be special-cased here when asked what the primary IMU and accel are.  Note that this was asking for the *configured* backend type, rather than the active EKF type, making these clauses even stranger.

This also changes the definition of the "primary IMU index" to be whichever gyro is active rather than the accel.  Since we don't currently split primary gyro/primary accel, this is a reasonable change.
 2023-09-19 11:34:37 +10:00
Peter Barker
e83b6bcfcb AP_AHRS: remove get_primary_IMU_index from public interface 2023-09-19 11:34:37 +10:00
Peter Barker
0b4007d22c AP_AHRS: make comment match code behaviour in airspeed DCM-fallback 
the comment here was incorrect; we do not need EKF3 to have a good wind estimate to fall back to DCM here.

Also restructure the code to make it more obvious that this is what's going on.
 2023-09-19 11:30:45 +10:00
Peter Barker
c30bceb2a0 AP_AHRS: return location inside backend_results structure 
with the change to cache results inside AP::ahrs().state we no longer need to worry about the backend's attempts to project the last-known-location forwards according to amount of time elapsed since that last-known-location was calculated.
 2023-09-19 11:25:49 +10:00
Peter Barker
5b0393e280 GCS_MAVLink: handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN as INT or LONG 2023-09-19 11:16:10 +10:00
Henry Wurzburg
4508f23893 AP_OSD:Update/correct DisplayPort BF MSP symbols 2023-09-19 11:13:54 +10:00
Randy Mackay
ee7df6b060 AP_Mount: Xacti sets datetime 2023-09-19 10:58:52 +10:00
Randy Mackay
5e77ca483d AP_Mount: Xacti slides reduced flash usage 2023-09-19 10:58:52 +10:00
Randy Mackay
b7d44c75a6 AP_Mount: Xacti gets reduced call to AP_HAL::millis() 2023-09-19 10:58:52 +10:00
Randy Mackay
fc24b45d56 AP_Mount: Xacti handles firmware ver and status 2023-09-19 10:58:52 +10:00
Randy Mackay
1f11d5f3fc AP_DroneCAN: support string parameters 2023-09-19 10:58:52 +10:00
Peter Barker
1d4a77d33a AP_OSD: correct compilation when OSD compiled out 2023-09-19 08:22:16 +09:00
Iampete1
d3d606ab69 AP_SmartRTL: fix disable if second point fails to add 2023-09-19 08:01:47 +09:00
Nick Exton
1dd7d7dd7b AP_Mount: In Siyi, change severity of warnings for Data Loss and No Card 2023-09-19 07:59:15 +09:00
Nick Exton
bad73df582 AP_Mount: In Siyi, clean up toggling of video recording 2023-09-19 07:59:15 +09:00
Nick Exton
a8e10ca59b AP_Mount: In Siyi, request gimbal config when set_motion_mode() changes mode 2023-09-19 07:59:15 +09:00
Nick Exton
d3358ff3af AP_Mount: Make Siyi set_motion_mode() only send on change 2023-09-19 07:59:15 +09:00
Nick Exton
62858ff91f AP_Mount: Siyi set_motion_mode() now returns bool 
And the mode param is now const.
 2023-09-19 07:59:15 +09:00
Nick Exton
9fe5f4151e AP_Mount: In Siyi, use config info received from gimbal 2023-09-19 07:59:15 +09:00
Nick Exton
188a5654c2 AP_Mount: Siyi set_lock() becomes set_motion_mode() 
We have three motion modes on the Siyi: Lock, Follow and FPV.

Partially addresses #22900
 2023-09-19 07:59:15 +09:00
Henry Wurzburg
d13085d4bb HWDEF:Correct hwdef of BETAFPV-F405 2023-09-19 08:03:58 +10:00
Andrew Tridgell
ebffc8fc65 HAL_ChibiOS: fixed CAN statistics on F4/L4/F3/F7 2023-09-19 07:33:53 +10:00
Peter Barker
273b9ea354 GCS_MAVLink: correct sensors when no baros found 
GCSs will know we have no baros on-board, as will the RC telemetry library
 2023-09-19 07:28:30 +10:00
subashchandar
d1e8cef9b6 AP_HAL_ChibiOS: Increase limit for Storage pages 
STm32l4+ has 512 flash pages in dual flash mode
 2023-09-17 21:03:37 +10:00
subashchandar
2207f7bb14 AP_HAL_ChibiOS: change adc sampling rate 
STm32l4r5 adc sampling rate.
 2023-09-17 21:02:42 +10:00
James O'Shannessy
9b06395573 AP_Mount: Fix brace enclosed initializer list for older compilers 2023-09-16 14:59:00 +09:00
Peter Barker
62950169f7 AP_Notify: tidy use of DiscreteRGB 2023-09-16 08:47:37 +09:00
Nick Exton
83636e6ef3 AP_Mount: In Siyi, fix missing braces in process_packet() 2023-09-15 20:13:55 +09:00
Davide_Lentini
5b0d7928bd hwdef: Update luminousbee5 defaults.parm 2023-09-14 12:40:59 +10:00
Michael du Breuil
dcfd9f6586 AP_HAL_ChibiOS: Add sw-nav-f405 target 
Navlight board with a compass, requires #24945 for status light to work
 2023-09-14 10:56:20 +10:00
Michael du Breuil
3243751e0b AP_Notify: Reenable the DiscreteRGB backend 2023-09-14 10:55:26 +10:00
Henry Wurzburg
ae05df22eb HWDEF: Correct define errors in HEEWING and Tmotor bds 2023-09-14 10:38:01 +10:00
Ep Pravitra
db72fd16d4 AP_AdvancedFailsafe: make GCS failsafe timeout a parameter 2023-09-13 18:06:28 +10:00
zvldz
8e08a9bdf6 AP_VideoTX:add additional freq bands 2023-09-13 18:05:24 +10:00
Andy Piper
2f807230d0 AP_AHRS: rename get_angle_P_scale_logging() 2023-09-13 18:02:44 +10:00
Andy Piper
31a2acb7ad AC_AttitudeControl: rename get_angle_P_scale_logging() 2023-09-13 18:02:44 +10:00
Andy Piper
ab24f97275 APM_Control: implement single-cycle feed-forward scaler for roll and pitch 2023-09-13 18:02:44 +10:00
Peter Barker
df911e9e76 AP_Notify: remove unused enumeration 
this was copied over into the OreoLED driver
 2023-09-13 17:34:30 +10:00
Peter Barker
4f0b328674 GCS_MAVLink: support preflight calibration via command_int 2023-09-13 17:24:07 +10:00
TunaLobster
6f80f8f200 AP_HAL_ChibiOS: Add hwdef for ARK_CANNODE 2023-09-13 17:06:02 +10:00
Andy Piper
f02b34fc02 hwdef: mRoControlZeroOEMH7 bdshot version 2023-09-13 17:04:24 +10:00
Andy Piper
feabd1f568 AP_HAL_ChibiOS: hwdef for Flywoo F405 Pro 2023-09-13 17:03:51 +10:00
Andy Piper
9387236e6c AP_HAL_ChibiOS: prefer bi-directional dshot channels that can be shared on F4 and F7 2023-09-13 17:03:51 +10:00
rishabsingh3003
8a1fa0e096 Copter: Allow fast descend while Prec Landing 2023-09-13 11:49:16 +10:00
rishabsingh3003
d5a5f4f863 AC_PrecLand: Allow fast descend 2023-09-13 11:49:16 +10:00
Nick Exton
cc25f2915a AP_Mount: In Siyi, fix calculation of attitude quaternion 
Order of rotation for Siyi gimbals is (yaw, roll, pitch), which is 312
order. Quaternion::from_euler() function assumes a 321 order of
rotation (yaw, pitch, roll).
 2023-09-13 11:48:47 +10:00
Henry Wurzburg
63136e9060 AP_OSD:add Aviation style AH option 2023-09-13 08:29:00 +10:00
Peter Barker
86aad6f6bf AP_Logger: log valid-input and in-rc-failsafe 
Can now sensibly log these now the RC_Channels library has the methods
 2023-09-12 19:14:18 +10:00
Leonard Hall
ffc553f34f AC_AttitudeControl: Fix yaw limit calculations 2023-09-12 19:14:01 +10:00
Randy Mackay
ed7ca580c2 AC_AttitudeControl: add const get_rate_pid accessors 2023-09-12 19:14:01 +10:00
Randy Mackay
11ddf9f7c7 AC_PID: add const kP accessor 2023-09-12 19:14:01 +10:00
Anthony Luo
f0d7a367f4 SITL: document SIM_FLOW_* params 2023-09-12 18:56:06 +10:00
Peter Barker
a391b14a6d AP_GPS: replace utility functions with compiler builtins 2023-09-12 09:48:53 +10:00
Peter Barker
10c8af3409 AP_NavEKF3: do not use fmaxF on floating point values 
it returns double, which will not fit into this float
 2023-09-12 09:47:17 +10:00
Nick Exton
ac96365a61 AP_Mount: In Siyi, add check for minimum supported firmware version 2023-09-12 08:36:29 +09:00
Nick Exton
fd6242964a AP_Mount: In Siyi, rename _firmware_version member to _fw_version (NFC) 2023-09-12 08:36:29 +09:00
Nick Exton
8b7b265e9f AP_Mount: In Siyi, store full firmware version info 2023-09-12 08:36:29 +09:00
Peter Barker
72f485b5a5 AP_Common: remove unused Location constructor from Vector3d 
Replaced with AHRS method
 2023-09-12 09:29:26 +10:00
Peter Barker
a9c62fa565 AP_Common: Location: add offset(Vector3p &ned_offset) 2023-09-12 09:29:26 +10:00
Peter Barker
6e1e1f6596 AP_AHRS: add methods for returning location for origin offsets 2023-09-12 09:29:26 +10:00
Andy Piper
f3ac8f9d75 hwdef: SpeedyBeeF405Mini 2023-09-12 09:23:39 +10:00
Peter Barker
fcc2b503e5 AP_Mission: remove unused method mavlink_cmd_long_to_mission_cmd 2023-09-12 09:22:36 +10:00
Mark Whitehorn
da0f382eb2 AP_Scripting: tricks-on-a-switch activation bugfix 2023-09-12 09:21:38 +10:00
Ep Pravitra
9700e65d19 AP_AdvancedFailsafe: option to automatically set mode to auto when datalink is loss 
When enabled, it ensures vehicle enters AUTO even if it is currently in other autonomous modes (for example Guided)
 2023-09-12 09:09:39 +10:00
Iampete1
2c1dde8019 AP_Scripting: Examples: UART log: remove spaces in log description 2023-09-12 08:46:00 +10:00
Randy Mackay
81cbca150b AP_Torqeedo: error code reporting fix 2023-09-12 08:44:39 +10:00
James O'Shannessy
768e2409df AP_Relay: check enabled relay mask for passing relay outputs to hardware 2023-09-11 12:21:13 +10:00
James O'Shannessy
8125ba1a41 SITL: add hardware relay enable mask for passing relays through to hardware 2023-09-11 12:21:13 +10:00
arshPratap
8c2627ca40 AP_DDS: Added Mode Switch Service 2023-09-11 09:50:14 +10:00
arshPratap
6a998fd9a8 AP_Vehicle: Added DDS_Command as a new ModeReason 2023-09-11 09:50:14 +10:00
Nick Exton
d99b5c173a AP_Mount: In Siyi, fix zoom percentage in CAMERA_SETTINGS 2023-09-11 09:48:57 +10:00
Tatsuya Yamaguchi
30bb82a884 AP_ESC_Telem: fix fake value of SITL ESC 2023-09-11 09:48:34 +10:00
Henry Wurzburg
aea186655f AP_Scripting: add version requirement to plane_aerobatics 2023-09-11 09:16:44 +10:00
Peter Barker
99012bd525 AP_TECS: ensure good TECS state before running update_pitch_throttle 
update_pitch_throttle can be called when update_50hz hasn't run in a very long time, or ever.  This requires a main loop rate >50Hz, and for the mode change to occur in the same loop that update_50Hz doesn't run but update_pitch_throttle does.
 2023-09-10 12:32:13 +10:00
Peter Barker
eb344ee35c AP_Logger: remove AP_Logger.h include in AP_Logger_Backend 
Don't need the storage size in the header
 2023-09-09 17:35:15 +10:00
rishabsingh3003
5aea8317b5 AP_RangeFinder: Small optimizations 2023-09-09 17:21:44 +10:00
rishabsingh3003
a8a8c96610 AP_RangeFinder: small NFC fixes 2023-09-09 17:21:44 +10:00
rishabsingh3003
3f65d713c8 AP_Arming: Don't allow same CAN rangefinder on different can bus 2023-09-09 17:21:44 +10:00
rishabsingh3003
747c708dba AP_RangeFinder: Have special handling for NRA24 pre-arm checks 2023-09-09 17:21:44 +10:00
rishabsingh3003
ba08993a0b AP_CANManger: Add NRA24 CAN driver 2023-09-09 17:21:44 +10:00
rishabsingh3003
66c2deaeac AP_Arming: Include NRA24 CAN driver 2023-09-09 17:21:44 +10:00
rishabsingh3003
f6a244e14f AP_RangeFinder: Add NanoRadar NRA24 CAN driver 2023-09-09 17:21:44 +10:00
rishabsingh3003
400fec94ef AP_Arming: Include TOFSenseP CAN driver 2023-09-09 17:21:44 +10:00
rishabsingh3003
0110c98afc AP_CANManager: Add TOFSenseP CAN driver 2023-09-09 17:21:44 +10:00
rishabsingh3003
4422296b95 AP_RangeFinder: Add TOFSenseP CAN Rangefinder 2023-09-09 17:21:44 +10:00
Peter Barker
40c4bf5d6a AP_Math: add conversions from metres to feet 2023-09-08 19:44:07 +10:00
cuav-chen2
13195464d5 hwdef: added ICP-20100 baro to CUAV_GPS 2023-09-08 18:03:02 +10:00
Ryan Friedman
0432863832 SITL: Add missing shebang 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-09-08 17:09:26 +10:00
Ryan Friedman
2335a25ec8 AP_WindVane: Change from DOS to UNIX line endings 
* This file had DOS line endings and ArduPilot uses UNIX endings
* This fixes a pre-commit violation

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-09-08 17:09:26 +10:00
Ryan Friedman
a4bdf39e2e AP_Scripting: Remove executable permissions 
* The Lua scripts are not directly invoked - they have no shebang, so they shouldn't be executable

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-09-08 17:09:26 +10:00
Ryan Friedman
85343baa01 AP_Motors: Add missing shebang 
* This script was marked as executable but did not have a shebang

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-09-08 17:09:26 +10:00
Ryan Friedman
f92a6bf2b2 AP_HAL_ChibiOS: Remove executable permissions 
* Fixes a pre-commit violation; the ioc files are not supposed to be executable

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-09-08 17:09:26 +10:00
Ryan Friedman
8e3bc87546 AP_Baro: Remove executable permissions 
* Source files are not supposed to be executable

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-09-08 17:09:26 +10:00
Nick Exton
d47b60b92a GCS_MAVLink: Fix CAMERA_SETTINGS payload size check 2023-09-08 15:31:33 +09:00
yjuav
914c3c702d hwdef: Modify YJUAV_A6SE board TIME12 to TIM8 2023-09-08 07:57:07 +10:00
Rhys Mainwaring
eeb5227228 AP_DDS: update dds profile, eliminate need for integration service 
- Use type and topic name mapping rules in the arm_motors service profile.
- Remove the integration service configuration file.
- Update the service section in the README and document the topic and service mapping rules.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2023-09-07 08:46:05 +10:00
Rhys Mainwaring
7897f7bfe7 AP_DDS: add IDL for ArmMotors and ModeSwitch services 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2023-09-07 08:45:32 +10:00
Andrew Tridgell
b33cf11bfb AP_DroneCAN: make himark servo support optional 2023-09-07 08:44:54 +10:00
Richard Allen
c8f9d193fb AP_HAL_Linux: make all semaphores priority-inherit 2023-09-06 15:58:58 -05:00
Peter Barker
d9818ae1ab SITL: add simulation instructions for TSYS03 sensor 2023-09-06 23:00:30 +10:00
Leonard Hall
7390e6ecef AP_TemperatureSensor: Add TSYS03 support 2023-09-06 23:00:30 +10:00
Ep Pravitra
1372e48515 AP_AdvancedFailsafe: option to continue the mission even after data link is recovered 
This feature is useful when the landing sequence is part of the flight plan. New parameter AFS_OPTIONS was added.

Update libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
Update libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
enum convention changed
 2023-09-06 20:32:32 +10:00
Peter Barker
6bb5723b18 hwdef: fpv/osd boards get turtle, flowhold and msp 2023-09-06 20:32:06 +10:00
Peter Barker
b9df48e2ec AP_HAL_ChibiOS: include hexa and octa frames in mimimize_fpv_osd 2023-09-06 20:32:06 +10:00
Peter Barker
bc83de5eac hwdef: fpv/osd boards get CRSF Text and spektrum telemetry 2023-09-06 20:32:06 +10:00
Peter Barker
0400282416 hwdef: fpv/osd boards get Tramp 2023-09-06 20:32:06 +10:00
Peter Barker
d3c32ba440 hwdef: add comments clarifying use of each of the minimize includes 2023-09-06 20:32:06 +10:00
Peter Barker
91e1dac053 hwdef: minimize_fpv_osd.inc: remove features not needed for fpv/osd 2023-09-06 20:32:06 +10:00
Peter Barker
7deb7e2c20 ArduCopter: disable turtle mode in minimize_features.inc 
instead of using the define.

This enables turtle mode on minimised fpv-osd boards.
 2023-09-06 20:32:06 +10:00
Peter Barker
472dda6555 AP_HAL_ChibiOS: disable turtle mode in minimize_features.inc 
instead of using the define.

This enables turtle mode on minimised fpv-osd boards.
 2023-09-06 20:32:06 +10:00
Peter Barker
19b066a46a hwdef: enable SmartAudio on fpv-osd boards 2023-09-06 20:32:06 +10:00
Peter Barker
cdfabf2038 hwdef: enable RunCam on fpv-osd boards 2023-09-06 20:32:06 +10:00
Peter Barker
9dda151a2d hwdef: make soaring and crsf aailable on minimized-OSD boards 2023-09-06 20:32:06 +10:00
Peter Barker
c29948c69a hwdef: do not remove OSD in common minimized boards 2023-09-06 20:32:06 +10:00
Peter Barker
1c07c875d6 hwdef: recreate minimize_features.inc to just include minimize_common.inc 2023-09-06 20:32:06 +10:00
Peter Barker
d55c08009f hwdef: rename minimize_features.inc to minimize_common..inc 2023-09-06 20:32:06 +10:00
pedro-fuoco
62b15a8af0 AP_DDS: Accept body-frame velocity inputs 2023-09-06 20:31:19 +10:00
Peter Barker
198268e03c AP_Logger: use HAL_LOGGING_ENABLED defines 2023-09-06 20:26:25 +10:00
Andy Piper
c6511b513b AP_HAL_ChibiOS: T-Motor H743 Mini 2023-09-06 17:13:07 +10:00
Andy Piper
194f555c7b AP_HAL_ChibiOS: provide mcu defaults in betaflight conversion 2023-09-06 17:13:07 +10:00
Andy Piper
2160a1afb4 AP_HAL_ChibiOS: correct hwdef generator battery scale 2023-09-06 17:13:07 +10:00
Andy Piper
ee8631e9fd AP_HAL_ChibiOS: cope with different IMU drivers in hwdef conversion 2023-09-06 17:13:07 +10:00
Andrew Tridgell
698673b0b2 hwdef: reduced size of f103-periph bootloader 
serial not needed
 2023-09-06 11:21:51 +10:00
Andrew Tridgell
684385c7d5 hwdef: reduced size of Hitec-Airspeed bootloader 
serial not needed in bootloader
 2023-09-06 11:21:51 +10:00
Andrew Tridgell
ea51aea2e5 hwdef: removed most CAN_APP_NODE_NAME defines 
both bootloader and AP_Periph now default to
"org.ardupilot.BOARD_NAME". This makes it much easier to find the
right firmware for update
 2023-09-06 11:21:51 +10:00
Andrew Tridgell
fb5dba9d86 hwdef: disable HAL_USE_CAN on all boards except f103-periph 
setting HAL_USE_CAN uses the ChibiOS CAN driver instead of the AP_HAL
CAN driver. This is only used on the f103-periph as it significantly
reduces the size of the bootloader, which allows for f103 builds to
fit in the limited flash

on all other builds we are much better off using the HAL CAN driver as
it is much faster
 2023-09-06 11:21:51 +10:00
Andrew Tridgell
fbd44dddd0 HAL_ChibiOS: enable ISRs during flash ops in bootloader 
this makes a huge difference in AP_Periph bootloader speeed, where
disabling interrupts prevents CAN packets from being received
 2023-09-06 11:21:51 +10:00
Peter Barker
c7080825d3 AP_HAL_ChibiOS: chibios_hwdef.py: canonicalise AP_PERIPH env define 
before this change this environment variable is a string, which means anything checking it for truth will get back true even if it is empty ("") or the string zero ("0").  The existing is_periph_fw check only works because "1" != 0 - if it was "0" then it would still be considered a periph firmware
 2023-09-06 09:28:37 +10:00
Peter Barker
34524d3475 AP_Logger: correct logging when rally disabled 2023-09-05 22:23:51 +10:00
Peter Barker
d47a742272 RC_Channel: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
ed5da4ead2 GCS_MAVLink: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
642d15582a AP_WheelEncoder: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
23ec192854 AP_Vehicle: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
545d3b2648 AP_Tuning: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
e092d4be44 AP_ServoRelayEvents: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
3604c44000 AP_Scheduler: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
4384f53dce AP_RSSI: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
a8d11db490 AP_RCTelemetry: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
9f0c60b413 AP_RangeFinder: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
9654f282da AP_Rally: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
ba96789b70 AP_PiccoloCAN: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
85652f69e9 AP_Parachute: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
59a4269624 AP_OpticalFlow: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
d1bcd2c5e1 AP_Mount: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
dd2ce88152 AP_Mission: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
e7b717167b AP_ICEngine: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
deb63c28fc AP_Gripper: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
eb6f3f5135 AP_Generator: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
397d0baa41 AP_Frsky_Telem: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
275a667d41 AP_Compass: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
ffe46b760e AP_CANManager: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
ad105614bc AP_Camera: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
498fc97bae AP_Button: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
996399331b AP_Airspeed: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
73a09f3dc5 AP_AHRS: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
1b3e471556 AP_ADSB: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
0311aea4a5 AC_Fence: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Peter Barker
ee1ce32ead AC_Avoidance: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
pedro-fuoco
15702c46b0 AP_DDS: subscribe to /tf instead of /ap/tf 
README update cointains the new topic name
 2023-09-05 12:30:40 +10:00
Peter Barker
f6f6b08af8 hwdef: include defaults.parm files from other identical defaults.parm 
where the files were identical and the board an obvious derivative, grab the defaults.parm from the other place.
 2023-09-05 11:37:19 +10:00
Peter Barker
7aea21bd40 AP_BattMonitor: log external temperature if available 2023-09-05 10:31:24 +10:00
Peter Barker
8473f05738 GCS_MAVLink: add defines for serial control, deviceop and servo_relay 2023-09-05 10:20:14 +10:00
Randy Mackay
820d00dfcd AP_Mount: xacti supports set lens and zoom 2023-09-05 10:19:08 +10:00
Mark Agate
1769453520 AP_L1_Control: check vehicle yaw (heading) and ground track agree 2023-09-05 10:07:14 +10:00
Iampete1
693e35b9c5 AP_ICEngine: stop engine on parachute release 2023-09-05 10:03:49 +10:00
Anthony Luo
6201f56d40 SITL: document SITL GPS params 
* Document GPS_LAG_MS

* Document GPS2_LAG_MS, Consistency fixes

* document DriftAlt & Hz

* document GPS_POS offsets

* document locktime and noise

* document GPS_ALT_OFS and GPS_HDG

* document GPS_ACC

* Finish documenting GPS parameters
 2023-09-05 10:02:43 +10:00
Peter Barker
d8eafc7a51 AP_ADSB: remove unused get_transceiver_status method 2023-09-05 09:59:23 +10:00
Davide_Lentini
5a996952f6 hwdef: Update defaults.parm luminousbee5 2023-09-05 07:29:26 +10:00
Peter Barker
390b025fa0 SITL: add simulator for TSYS03 temperature sensor 2023-09-05 07:17:00 +10:00
Peter Barker
7e0c178c6c SITL: add temperature to battery simulation 2023-09-05 07:17:00 +10:00
Andrew Tridgell
ef3d42ee9d HAL_ChibiOS: fixed bootloader build with F4 CAN 2023-09-05 06:56:51 +10:00
Andrew Tridgell
559e85df11 HAL_Linux: inherit CAN stats structure 
this allows for the last_transmit_us field
 2023-09-05 06:56:51 +10:00
Andrew Tridgell
bc373354fc HAL_ChibiOS: enable CAN stats on AP_Periph for bxCAN interface 
this allows for dead interface detection
 2023-09-05 06:56:51 +10:00
Andrew Tridgell
9afc30671f AP_HAL_SITL: added last_transmit_us to CAN stats 2023-09-05 06:56:51 +10:00
Andrew Tridgell
aaa2746bff AP_HAL_Linux: added last_transmit_us to CAN stats 2023-09-05 06:56:51 +10:00
Andrew Tridgell
7c74f9b24b AP_HAL: added last_transmit_us to CAN stats 2023-09-05 06:56:51 +10:00
Andrew Tridgell
d5fbce0547 AP_HAL_ChibiOS: added last_transmit_us to CAN stats 2023-09-05 06:56:51 +10:00
Willian Galvani
e82949d241 AP_HAL_Linux: update Navigator available GPIOs 
The comment was wrong. gpio 26 is actually used for the PCA Output Enable signal.
This also adds GPIO18, which is the one broken out to the PWM0 pin
 2023-09-04 18:06:37 +10:00
muramura
337ba27370 AP_Logger: Align indentation with others 2023-09-04 13:55:43 +10:00
Peter Barker
f987fa4a4e AP_Vehicle: add missing include for accelcal 2023-09-04 13:55:27 +10:00
muramura
b69dbd0c2e AP_HAL: Delete commented-out processes 2023-09-04 13:55:12 +10:00
Peter Barker
668e2fa068 AP_GPS: use correct define for DroneCAN GPS drivers 2023-09-03 08:43:03 +10:00
Peter Barker
e7def98195 AP_DroneCAN: use correct define for DroneCAN GPS drivers 2023-09-03 08:43:03 +10:00
Peter Barker
0355ab45ff AP_RangeFinder: add missing internalerror include 2023-09-03 08:41:10 +10:00
Peter Barker
268dc489c1 AP_OpticalFlow: add missing internalerror include 2023-09-03 08:41:10 +10:00
Peter Barker
a322f7286b AP_DAL: add missing internalerror include 2023-09-03 08:41:10 +10:00
Andrew Tridgell
23e4fba3f7 AP_Scripting: added EFI driver for DLA EFI serial protocol 
a simple serial protocol, no CRC, gap framed
 2023-09-03 08:34:33 +10:00
Rhys Mainwaring
b97e98242b AP_HAL_ESP32: update esp32empty 
- Add INS_ACC offsets to param to skip calibration for esp32empty
- Update esp32empty.h
  - Change tabs to whitespace.
  - Define HAL_INS_DEFAULT to HAL_INS_NONE
  - Update wifi details
  - Format comment in esp32empty
  - Update serial defaults and uarts
  - Use IO_MUX for UART_NUM_2 (TX 17, RX 16)
- Update scheduler
  - Disable initialisation check in timer thread if HAL_INS_NONE
  - Print main loop rate every 10s
  - Remove serial(n)->begin() calls

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2023-09-02 09:43:14 +10:00
Rhys Mainwaring
732b074bee AP_InertialSensor: update to support esp32 
- Remove whitespace
- Remove instance checks in AP_InertialSensor_NONE timer update

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2023-09-02 09:43:14 +10:00
Anthony Luo
43eacbee33 AP_Logger: fix typo in AP_Logger.h 2023-09-01 17:49:00 +10:00
Peter Barker
e6284fe879 AP_HAL: correct compilation for SimOnHardware 2023-09-01 17:48:30 +10:00
Vincent Poon
1b6148cba8 hwdef: Restore I2C2 on HolybroG4_GPS 
I2C2 was removed by mistake previously, causing LED Driver to not function.
 2023-09-01 13:44:23 +10:00
Andrew Tridgell
c32d95cbfc AP_CANManager: update docs 2023-09-01 13:04:59 +10:00
Andrew Tridgell
c0cd255135 hwdef: use HAL_PERIPH_ENABLE_PROXIMITY 2023-09-01 13:04:59 +10:00
Randy Mackay
9bb8df7b70 AP_Mount: Siyi supports rangefinder distance 2023-09-01 10:35:12 +10:00
Randy Mackay
d5772774d1 AP_Mount: Siyi timeout moved to definition 2023-09-01 10:35:12 +10:00
Randy Mackay
23deeb3a00 AP_Mount: Siyi supports set_lens 2023-09-01 10:35:12 +10:00
Randy Mackay
74fa07ae13 AP_Mount: Siyi displays zoom version 2023-09-01 10:35:12 +10:00
Randy Mackay
9a5acec243 AP_Mount: Siyi gets improved model detection 
# Conflicts:
#	libraries/AP_Mount/AP_Mount_Siyi.cpp
 2023-09-01 10:35:12 +10:00
Rhys Mainwaring
fa70a56a65 AP_HAL_ESP32: change storage sector size to 128K 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2023-09-01 10:34:27 +10:00
Anthony Luo
991e429afb SITL: document SIM_GPS_BYTELOSS and SIM_GPS_NUMSATS 2023-08-31 16:58:06 +10:00
Peter Barker
06a8dafbf5 AC_PID: tidy AC_PID construction 2023-08-31 11:09:10 +10:00
Peter Barker
70109f968c AC_AttitudeControl: tidy AC_PID construction 2023-08-31 11:09:10 +10:00
Peter Barker
f8f28ee767 AP_ExternalAHRS: correct AP_ExternalAHRS init 
default clause is in wrong place and shouldn't be present to start with...
 2023-08-31 11:08:51 +10:00
subashchandar
3cfa13c0b2 AP_HAL_CHIBIOS: allow RCIN thread priority to be overridden 
Add provision to change Rcin thread priority
-needed to increase priority for some low speed cpu
 2023-08-31 09:24:05 +10:00
Randy Mackay
d59ff8501c AP_Mount: Siyi loses unused definitions 2023-08-30 16:00:47 +09:00
Randy Mackay
33542c0c1d AP_Mount: Siyi absolute zoom simplification 2023-08-30 16:00:47 +09:00
Peter Barker
b06921fbac AC_AttitudeControl: remove unused defines 2023-08-30 12:30:25 +10:00
Peter Barker
0bb8ec1e57 AP_ExternalAHRS: add missing includes 2023-08-30 12:26:14 +10:00
Peter Barker
9c03685400 AP_Camera: add missing includes 2023-08-30 12:26:14 +10:00
Peter Barker
1c85512f8f AP_ADSB: add missing includes 2023-08-30 12:26:14 +10:00
Iampete1
2fbc27584b AP_HAL_ChibiOS: default to 0 battery capacity on periph 2023-08-30 12:25:46 +10:00
Iampete1
73c77d0757 AP_BattMonitor: expose CAPACITY param on periph 2023-08-30 12:25:46 +10:00
Ryan Friedman
cbc0043b9b AP_ExternalAHRS: Fix nullptr crash on bootup 
* If you didn't set the serial port parameter correctly, but enabled MicroStrain AHRS, it would crash on boot
* This is because AP_AHRS calls update() which calls build_packet()

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2023-08-30 12:21:59 +10:00
Randy Mackay
943630e53a AP_Arming: mag field check vs world magnetic model 2023-08-30 11:17:42 +09:00
Andrew Tridgell
d8c5ce4347 AP_AHRS: fixes for macos CAN SITL build 2023-08-29 15:09:48 +10:00
Andrew Tridgell
12f5448bf4 AP_Mount: fixes for macos CAN SITL build 2023-08-29 15:09:48 +10:00
Andrew Tridgell
74139423cb AP_GPS: fixes for macos CAN SITL build 2023-08-29 15:09:48 +10:00
Andrew Tridgell
e6d43811ad AP_Compass: fixes for macos CAN SITL build 2023-08-29 15:09:48 +10:00
Andrew Tridgell
f1aaf78fee AP_CANManager: fixes for macos CAN SITL build 2023-08-29 15:09:48 +10:00
Andrew Tridgell
595748d7ff AP_BattMonitor: fixes for macos CAN SITL build 2023-08-29 15:09:48 +10:00
Andrew Tridgell
3508d7eaa9 SITL: added SIM_CAN_TYPE0 and SIM_CAN_TYPE1 
this selects the transport to use for CAN
 2023-08-29 15:09:48 +10:00
Andrew Tridgell
b6e79d05fd HAL_SITL: support multicast UDP for CAN in SITL 
this will work on windows and in WSL
 2023-08-29 15:09:48 +10:00
Randy Mackay
c733872435 RC_Channel: add camera functions to RC init 2023-08-29 11:34:51 +10:00
Randy Mackay
a8057f0157 AP_Mount: DEVID made writeable 2023-08-29 11:34:51 +10:00
Randy Mackay
6a14c1f72f AP_Mount: Viewpro fix for date sent from autopilot 2023-08-29 11:34:51 +10:00
Peter Barker
fe512f7074 GCS_MAVLink: handle servo/relay events as both command_long and command_int 2023-08-29 11:15:14 +10:00
Peter Barker
b751224ae1 hwdef: don't include solo gimbal or oreoled on thepeach autopilots 2023-08-29 11:14:15 +10:00
Peter Barker
92192a7510 GCS_MAVLink: add build options for deprecated messages MOUNT_CONTROL/MOUNT_CONFIGURE 
these are repalced by the command equivalents
 2023-08-29 11:06:13 +10:00
Peter Barker
02d0a07083 AP_Mount: add build options for deprecated messages MOUNT_CONTROL/MOUNT_CONFIGURE 
these are repalced by the command equivalents
 2023-08-29 11:06:13 +10:00
Ryan Friedman
461a8dc86f SITL: split to MicroStrain5 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-29 10:31:44 +10:00
Ryan Friedman
fd3a1d448a AP_HAL_SITL: split to MicroStrain5 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-29 10:31:44 +10:00
Ryan Friedman
0b27d17b81 AP_HAL: split to MicroStrain5 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-29 10:31:44 +10:00
Ryan Friedman
d8eee6f41a AP_ExternalAHRS: Create common lib for MicroStrain 
* Move common parsing to MicroStrain_common
* Add propogation of parsed packet type back to the driver
* Rename the driver to add series-5 specifier
* Unlocks adding 7-series driver with less code duplication
* Add missing includes

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-29 10:31:44 +10:00
Tom Pittenger
93a4c3896e AP_BattMonitor: extend AP_BATT_MONITOR_MAX_INSTANCES to 16 2023-08-29 10:28:14 +10:00
Iampete1
d2e3bd700c AP_Scripting: add argcheck warning to defualt userdata creation functions 2023-08-29 10:16:36 +10:00
Andrew Tridgell
8888cac10f hwdef: added DMA for USART3 for MatekL431-RC and GPS 
this allows for faster connections

also added 4 PWM output requested by Josh and Sampson
 2023-08-29 08:00:20 +10:00
Peter Barker
dc8455411a AP_ADSB: add and use a HAL_ADSB_BACKEND_DEFAULT_ENABLED 2023-08-28 09:40:33 -07:00
Tom Pittenger
61f6c0dc3d AP_ADSB: correct compilation when GCS not compiled in 
... and logging.

Also correct default compilation for mavlink backend to not be attempted if HAL_GCS_ENABLED is false
 2023-08-28 09:40:33 -07:00
Henry Wurzburg
4ae8379616 AP_RCTelemetry:Surpress DMA warning on H7 bds 2023-08-27 16:18:10 +01:00
Peter Barker
7fff465251 SITL: SIM_ICEngine sends diagnostics to GCS rather than stdout 
makes it much easier to see what the simulated engine is doing
 2023-08-26 21:21:49 +10:00
Peter Barker
adeb7985a3 RC_Channel: document option 109, Custom Controller 2023-08-26 21:21:24 +10:00
Tim Tuxworth
2850740bd8 hwdef: added QiotekAdeptF407 2023-08-26 21:14:15 +10:00
Andrew Tridgell
e1f3cb9f71 hwdef: added AR-F407SmartBat 
balance plug DroneCAN periph node
 2023-08-26 21:12:42 +10:00
Andrew Tridgell
65537bdaca AP_BattMonitor: cope with NaN in consumed_mah 2023-08-26 21:12:42 +10:00
Andrew Tridgell
202e71482f HAL_ChibiOS: support CKS32F407 MCU 
based on STM32F407
 2023-08-26 21:12:42 +10:00
Asif Khan
e3f0904616 GCS_MAVLink: move handling of all do-set-roi to AP_Mount library 2023-08-26 17:55:53 +10:00
Asif Khan
3927521aa6 AP_Mount: move handling of all do-set-roi to AP_Mount library 2023-08-26 17:55:53 +10:00
Andrew Tridgell
725a2227ca AP_AHRS: return estimates from state structure 
this lowers CPU usage and fixes race conditions
 2023-08-26 17:13:10 +10:00
Peter Barker
149921792c SITL: document SIM_ACCx_BIAS_y 2023-08-26 16:15:58 +10:00
Asif Khan
dffeaf0897 AP_Mount: Siyi fix for continuous zoom 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2023-08-26 14:46:31 +09:00
muramura
0ab76afb4d AP_BattMonitor: Change to floating value multiplication 2023-08-26 08:59:12 +10:00
Andrew Tridgell
999919424b hwdef: allow for MCO pin to be configured 
this allows for hwdef.dat lines like this:

  PA8 MCO1 RCC
  PC9 MCO2 RCC

you can control the scaling by defining the following:

- STM32_MCO1SEL
- STM32_MCO1PRE_VALUE
- STM32_MCO2SEL
- STM32_MCO2PRE_VALUE
 2023-08-25 07:37:12 +10:00
Peter Barker
a2d5244b10 GCS_MAVLink: accept mount commands as command_int 2023-08-24 22:07:12 +10:00
Peter Barker
02d1eca49b AP_Mount: accept mount commands as command_int 2023-08-24 22:07:12 +10:00
MallikarjunSE
00879e9b0b AP_HAL_ChibiOS/hwdef: Add hwdef for Sierra True series periphs 2023-08-24 17:47:05 +10:00
MallikarjunSE
5e6591fa58 AP_HAL_ChibiOS/hwdef: Add hwdef for Sierra-PrecisionPoint 2023-08-24 17:45:31 +10:00
Andrew Tridgell
5f47a94e2b AP_RangeFinder: use NaN for invalid rangefinder data 2023-08-24 13:06:40 +10:00
Andrew Tridgell
1b6c329de5 SITL: use NaN for invalid rangefinder data 
needed to cope properly with terrain errors leading to negative
rangefinder data
 2023-08-24 13:06:40 +10:00
Andrew Tridgell
f076f7c4f1 HAL_SITL: use nan to indicate no actuator value 
this allows for multiple periph nodes, each providing a subset of
motors/servos
 2023-08-24 13:06:40 +10:00
Andrew Tridgell
3a8fd367ad AP_ESC_Telem: use SIM_CAN_SRV_MSK and fixed throttle dependency 
RPM should not depend on "throttle", it is per motor
 2023-08-24 13:06:40 +10:00
Andrew Tridgell
4e71023018 SITL: added SIM_CAN_SRV_MSK 
mask of outputs that will come from the CAN SITL peripheral
 2023-08-24 13:06:40 +10:00
Andrew Tridgell
b72f4a3cd8 HAL_SITL: enable GPIO and RC output in periph 2023-08-24 13:06:40 +10:00
Andrew Tridgell
823ac579cd HAL_SITL: added debug for multicast startup 
useful for CI diagnosis
 2023-08-24 13:06:40 +10:00
Andrew Tridgell
4a07f7a4eb HAL_SITL: block in MC read for packet in AP_Periph 
can't advance time without a new multicast packet
 2023-08-24 13:06:40 +10:00
Andrew Tridgell
4c2ca1e028 AP_FETtecOneWire: fixed build on periph 2023-08-24 13:06:40 +10:00
Andrew Tridgell
1144036a8d HAL_SITL: support servo and ESC output in SITL AP_Periph 
use another UDP socket back to the main firmware from peripheral
 2023-08-24 13:06:40 +10:00
Andrew Tridgell
51af21f6d9 HAL_Linux: removed ESC scaling, moved to AP_HAL 2023-08-24 13:06:40 +10:00
Andrew Tridgell
49f1e5d1db HAL_ChibiOS: removed ESC scaling, moved to AP_HAL 2023-08-24 13:06:40 +10:00
Andrew Tridgell
64040bfab4 AP_HAL: move ESC scaling up to AP_HAL level 2023-08-24 13:06:40 +10:00
Andrew Tridgell
b76e2342db HAL_SITL: added "Waiting for" message 
this is needed for test.CAN autotest as it waits for periph startup
 2023-08-24 13:06:40 +10:00
Andrew Tridgell
6d81f34db8 HAL_SITL: added --defaults handling to periph SITL 2023-08-24 13:06:40 +10:00
Andrew Tridgell
65ced84a0e HAL_SITL: handle periph voltage/current and improve timing 2023-08-24 13:06:40 +10:00
Andrew Tridgell
2380849b4d AP_Torqeedo: allow build for periph 2023-08-24 13:06:40 +10:00
Andrew Tridgell
0a04043c4c AP_CANManager: allow SITL CAN with speedup 2023-08-24 13:06:40 +10:00
Andrew Tridgell
9cde659545 SITL: disable gimbal and ADSB in SITL periph 
lack of MAVLink makes these problematic
 2023-08-24 13:06:40 +10:00
Andrew Tridgell
a42a2fec2a HAL_SITL: implement multicast comms for SITL AP_Periph 2023-08-24 13:06:40 +10:00
Andrew Tridgell
5d4bf9fc14 AP_AHRS: fixed build for SITL periph 2023-08-24 13:06:40 +10:00
Andrew Tridgell
9706a207b1 AP_Terrain: fixed build for periph 
needed for SITL periph rangefinder
 2023-08-24 13:06:40 +10:00
Andrew Tridgell
791d0acefe SITL: removed GPS FIFO 2023-08-24 13:06:40 +10:00
Andrew Tridgell
3752750f0a AP_Mount: removed native_millis/micros 2023-08-24 13:06:40 +10:00
Andrew Tridgell
85c2c3609b AP_HAL_SITL: removed native_millis/micros 2023-08-24 13:06:40 +10:00
Andrew Tridgell
8ed289a514 AP_HAL_Linux: removed native_millis/micros 2023-08-24 13:06:40 +10:00
Andrew Tridgell
6a54c5e952 AP_HAL: removed native_millis/micros 2023-08-24 13:06:40 +10:00
Andrew Tridgell
39153a1c01 AP_HAL_ChibiOS: removed native_millis/micros 2023-08-24 13:06:40 +10:00
Andrew Tridgell
babd2d2033 AP_GPS: removed native_millis/micros 2023-08-24 13:06:40 +10:00
Andrew Tridgell
232509ad7a AP_DroneCAN: removed native_millis/micros 2023-08-24 13:06:40 +10:00
Andrew Tridgell
b55c1d7193 AP_CANManager: removed native_millis/micros 2023-08-24 13:06:40 +10:00
Ryan Friedman
1839db7c1f AP_ExternalAHRS: Allow multiple external AHRS GPS instances 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-24 12:01:32 +10:00
Ryan Friedman
01cd42d1e7 AP_GPS: Allow multiple external AHRS GPS instances 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-24 12:01:32 +10:00
Nick Exton
fad1f35d93 GCS_MAVLink: Remove unreachable return in handle_command_mount() 2023-08-24 11:57:55 +10:00
Pierre Kancir
d78fe1ad99 AP_HAL_SITL: fix possible divide by 0 on synth.hpp 2023-08-24 07:46:20 +10:00
Ryan Friedman
d31896a545 AP_DDS: Stub out external odom 
* Implement frame ID checking and test it
* Implement the visual odom function that does narrowing to floats
* Normalize quaternions from ROS
* Supply 0 error to EKF
* Handle external odomo only if HAL_VISUALODOM_ENABLED is defined
* Implement odom timestamping and improve docs
* Add unit tests
* Add a CONFIG file for DDS

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-24 07:46:06 +10:00
Tom Pittenger
732cd31f27 GCS_MAVLink: MSG_HOME_POSITION to use NaN for invalid 2023-08-23 08:53:29 -07:00
Andy Piper
f7c86cc06a AP_NavEKF: fallback to no baro on boards that have no baro 2023-08-23 18:25:26 +10:00
Paul Riseborough
5aa7bd0b7a AP_NavEKF3: Allow operation with EK3_SRCx_POSZ = 0 (NONE) 2023-08-23 18:25:26 +10:00
Paul Riseborough
2572c9be48 AP_NavEKF: Allow EK3_SRCx_POSZ to be set to 0 (NONE) 2023-08-23 18:25:26 +10:00
Andy Piper
c57efa1b20 AP_NavEKF3: allow high values of EK3_ALT_M_NSE for boards without baros 2023-08-23 18:25:26 +10:00
Randy Mackay
9d09739044 AP_Mount: Viewpro supports get rangefinder distance 2023-08-23 18:09:56 +10:00
Andy Piper
8f644f473c AP_Vehicle: add autotune options 2023-08-23 18:06:22 +10:00
Andy Piper
ee883b6ad0 APM_Control: allow autotune FLTD and FLTT updates to be disabled 2023-08-23 18:06:22 +10:00
Peter Barker
81326a17db hwdef: qiotek: correct HAL_BATT_MONITOR_DEFAULT define name 2023-08-23 17:20:20 +10:00
Tom Pittenger
ed43f095ce AP_HAL_ChibiOS: add AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED to defaults_periph 2023-08-22 16:14:36 -07:00
Tom Pittenger
21ead4e8e3 AP_Battery: add param _ESC_ID to write to ESC_Telem 2023-08-22 16:14:36 -07:00
Tom Pittenger
dbe0aac73f AP_ESC_Telem: update_telem_data to be public 2023-08-22 16:14:36 -07:00
Tom Pittenger
5ddb649ed1 Update libraries/AP_Networking/AP_Networking.cpp 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2023-08-22 09:25:42 -07:00
muramura
4bad05c49c AP_Logger:AP_Networking: If initialization fails, the process is terminated 2023-08-22 09:25:42 -07:00
muramura
75a279a11d AP_Networking: Delete entity class pointer 2023-08-22 09:25:42 -07:00
Andrew Tridgell
847c7980c7 AP_DDS: use AP_ExternalControl for velocity control 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Andrew Tridgell <tridge60@gmail.com>
 2023-08-22 18:21:23 +10:00
Andrew Tridgell
0f624089f8 AP_ExternalControl: external control library for MAVLink,lua and DDS 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Andrew Tridgell <tridge60@gmail.com>
 2023-08-22 18:21:23 +10:00
Andy Piper
37a3f85a9a AP_HAL_ChibiOS: add 8 bi-directional dshot channels to KakuteH7-Wing 2023-08-22 11:08:14 +10:00
Andrew Tridgell
4f0ba39b64 AP_Param: fixed parameter defaults array length handling 
we need to add up the total for all comma separated parameter files
 2023-08-22 11:07:30 +10:00
Willian Galvani
158b99c20a AP_MotorsUGV: add asymmetry factor for skid-steering 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2023-08-22 09:14:42 +09:00
Peter Barker
b141cca3d5 GCS_MAVLink: pass mavlink_message_t to handle_command_*_packet 
the "special case" blocks are getting longer and longer.  Merge the switch statements for the command type to be handled by passing around the message.
 2023-08-22 10:11:33 +10:00
Andrew Tridgell
aaec99ae31 hwdef: removed baro from HolybroG4_GPS 
not included in production versions, and baro is not generally a good
idea on a GPS due to impact of airflow

also disable unused IMU, SPI bus and 2nd I2C and re-enable 2nd CAN as
helical units have dual CAN
 2023-08-22 09:37:20 +10:00
Peter Barker
1dd5778956 GCS_MAVLink: correct placement of AP_MAVLINK_MISSION_SET_CURRENT_ENABLED 2023-08-22 09:09:54 +10:00
Peter Barker
b4a9c0ec1e AP_RPM: include backend header 
in the case you're inlcuding the RPM library but no backends we don't know the shape of the backend class, so we can't call the update-esc-telem method.
 2023-08-22 09:09:54 +10:00
Peter Barker
84b3c9e267 SITL: reset balancebot to vertical in a kinmetically consistent manner 
The hard-reset of all state variables means we feed the EKF inconsistent gyro data.  Attempt to upright the vehicle with a simple p-gain when it is disarmed, as if someone is pushing the thing back upright
 2023-08-21 22:09:04 +10:00
Michelle Rossouw
26bbd6536a SITL: Improve Blimp dynamics and fin motion to be more realistic, allow SITL loop rate to be changed and add more logging 2023-08-21 21:01:47 +10:00
Peter Barker
efa680f1e0 AP_HAL_ChibiOS: add hwdef for bootloader for MatekL431-RC 2023-08-20 17:37:44 +10:00
Fred Kummer
7c6551af9b AP_DroneCAN: allow sending negative RawCommands to ESCs 2023-08-19 20:27:58 +10:00
Andrew Tridgell
24139d661a AP_RCProtocol: allow for fport without FRSky telem 2023-08-19 20:27:24 +10:00
Peter Barker
ca549e1887 hwdef: add MatekL431-RC for RC input 2023-08-19 20:27:24 +10:00
Peter Barker
103caac92c AP_HAL_ChibiOS: add support for DroneCAN RCInput packets 2023-08-19 20:27:24 +10:00
Peter Barker
b8a80817e4 AP_RCProtocol: add support for DroneCAN RCInput packets 2023-08-19 20:27:24 +10:00
Peter Barker
1e8d256bc2 AP_DroneCAN: add support for DroneCAN RCInput packets 2023-08-19 20:27:24 +10:00
Peter Barker
48b9172f5b RC_Channel: add note about copying parameter to AP_Periph 2023-08-19 20:27:24 +10:00
Ryan Friedman
e14afa6f2b AP_DDS: Add AP_DDS_config.h for feature defines 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-18 08:35:24 +10:00
Tom Pittenger
27f9a54a54 AP_HAL_ChibiOS: fix CubeRed default MAC Address 2023-08-17 13:51:54 +10:00
Tom Pittenger
7e62904d5e AP_Networking:fix default MAC address UID 2023-08-17 13:51:54 +10:00
Peter Barker
5a0f0915ed AP_RPM: tidy constructors and use of config.h 2023-08-17 09:22:41 +10:00
Peter Barker
8df2d4998b AP_Math: improve gating of use of AP_InternalError library 
- gate calls into library directly on the define
 - INTERNAL_ERROR becomes empty if library not compiled in
 2023-08-17 09:16:46 +10:00
Peter Barker
94e61a263d AP_InternalError: improve gating of use of AP_InternalError library 
- gate calls into library directly on the define
 - INTERNAL_ERROR becomes empty if library not compiled in
 2023-08-17 09:16:46 +10:00
Peter Barker
bb6f0ae527 AP_HAL_ChibiOS: improve gating of use of AP_InternalError library 
- gate calls into library directly on the define
 - INTERNAL_ERROR becomes empty if library not compiled in
 2023-08-17 09:16:46 +10:00
Peter Barker
c2f4fb5def hwdef: use APJ_BOARD_ID mapping for ACNS-CM4Pilot 2023-08-17 09:13:54 +10:00
Peter Barker
19bd97a893 chibios_hwdef.py: permit board ID to be specified as a string 2023-08-17 09:13:54 +10:00
Peter Barker
b8978ad73a hwdef: explicitly state no-bootloader-embedding on some boards 2023-08-17 08:37:31 +10:00
Peter Barker
a11df25490 chibios_hwdef.py: enforce presence of bootloader if embedding desired 2023-08-17 08:37:31 +10:00
yunjiuav
f92073fa4d HAL_ChibiOS: modify APJ_BOARD_ID of YJUAV_A6SE 2023-08-17 08:35:18 +10:00
Michael du Breuil
a0efcc7bdc AP_ESC_Telem: Correct a regression with calclulating active_esc_mask 
Credit to @casrya on github for spotting this (#24665), and
investigating. The intent here was to bail out only if no data was
within the timeout, which I had messed up in a bad refactor.
 2023-08-17 08:34:29 +10:00
Paul Riseborough
e3c0175bb4 AP_NavEKF3: Update EK3_GLITCH_RADIUS metadata 2023-08-16 17:56:43 +10:00
Paul Riseborough
842882355f AP_NavEKF3: increase innovation variance instead of clipping innovations 2023-08-16 17:56:43 +10:00
Paul Riseborough
573bd7c7f3 AP_NavEKF3: Provide option to clip velocity and position innovations 2023-08-16 17:56:43 +10:00
Andy Piper
7896b04365 AP_HAL_ChibiOS: betafpv F450 AIO hwdef 2023-08-16 17:51:23 +10:00
Henry Wurzburg
b1fc5bd69f AP_HAL_ChibiOS: add missing bootloader binaries 2023-08-16 17:49:00 +10:00
Peter Barker
2ce61cce58 AP_Generator: rename generator define to fix feature extraction 
pattern-matching requires a regular pattern.  Renaming the class would be bad, so  just rename the define
 2023-08-16 17:35:59 +10:00
Peter Barker
7273c8416a AP_HAL_ChibiOS: prevent Periph bricking problem when paniccing early 
if Periph panics before we mark the scheduler as initialised then we don't watchdog, which we really need to do on periph nodes so they can be re-flashed conveniently.
 2023-08-16 17:21:30 +10:00
Peter Barker
4d3e7bd3da AC_Fence: remove old polygon fence conversion code 2023-08-16 17:13:31 +10:00
Peter Barker
83cecdd229 AP_RPM: correct compilation when AP_RPM_ESC_TELEM_ENABLED is disabled 2023-08-15 18:06:58 -07:00
Tom Pittenger
d8e9379289 AP_RPM: add writing to outbound ESC_Telem 2023-08-16 06:35:05 +10:00
Tom Pittenger
15b8700a2c Revert "AP_RPM: enable AP_RPM to set ESC Telemetry" 
This reverts commit 1e633df3de.
 2023-08-16 06:35:05 +10:00
Andrew Tridgell
3e3c086ab7 SITL: build the whole simulator as double precision 2023-08-15 22:39:23 +10:00
Andrew Tridgell
ba7d94d5ad HAL_SITL: mark all as double precision 2023-08-15 22:39:23 +10:00
Ryan Friedman
2c5f90adca AP_DDS: Enable the DDS parameter by default 
* DDS is still disabled by default in all builds for the library level compile flag
* This parameter was blocking running ROS 2 automated testing in CI
* This can be changed once ENABLE_DDS compiler flag is enabled in SITL or for the 4.5 release

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-15 18:32:39 +10:00
Shiv Tyagi
0d87479314 AP_Scripting: make follow bindings dependant on AP_FOLLOW_ENABLED 2023-08-15 09:57:35 +10:00
Shiv Tyagi
6251b3e3f3 AP_Follow: add and use AP_FOLLOW_ENABLED 2023-08-15 09:57:35 +10:00
Tom Pittenger
932ed9ff28 AP_Mission: show tag or jump index on WP change 2023-08-14 16:55:04 -07:00
muramura
62aee72820 GCS_MAVLink: Change a number to a defined name 2023-08-15 08:36:59 +09:00
Peter Barker
f2066d8e58 GCS_MAVLink: remove ap_message<->mavlinkid mappings for unused ids 2023-08-15 09:14:27 +10:00
Peter Barker
9d74b3d2d9 AP_NMEA_Output: remove from 1MB boards 2023-08-15 08:45:30 +10:00
Peter Barker
7764d1d904 GCS_MAVLink: add build_options.py option to remove rallypoint protocol 2023-08-15 08:37:17 +10:00
Peter Barker
941e9785d4 AP_GPS_NOVA: avoid infinite reading of bytes 
if we have a very fast stream of garbage coming in available() may never return 0
 2023-08-15 08:36:13 +10:00
yjuav
ac993753eb Modify the LED light pins and adjust the direction of the IMU and COMPASS sensors. 2023-08-15 08:35:26 +10:00
yunjiuav
5671e502d3 HAL_ChibiOS: added YJUAV_A6SE support 2023-08-15 08:35:26 +10:00
Peter Barker
0dae9b46ee SRV_Channel: correct description of SERVO_RC_FS_MSK 2023-08-15 08:16:16 +10:00
Peter Barker
b8c1367aac SRV_Channel: avoid using bad RC data in passthrough code 
we may not have valid input but not be at the stage of declaring an RC failsafe.
 2023-08-15 08:16:16 +10:00
Peter Barker
808fcbda0e GCS_MAVLink: fix airspeed cal / format commands via non-USB telemetry 2023-08-15 08:13:32 +10:00
Andy Piper
75c1ad6efa AP_HAL_ChibiOS: explicitly set dshot rate when using iomcu 2023-08-15 06:53:48 +10:00
Andy Piper
c4cfc5dbe4 AP_IOMCU: fix eventing mask and some minor cleanups 2023-08-15 06:53:48 +10:00
Andy Piper
2af3d53eac AP_IOMCU: use a command queue for dshot commands and telemetry requests to avoid losing data 2023-08-15 06:53:48 +10:00
Andy Piper
c6c78a9c32 AP_HAL_ChibiOS: ensure reverse and reversible masks are applied to iomcu 2023-08-15 06:53:48 +10:00
Andy Piper
d9f42236ad AP_IOMCU: support dshot600 on f103 2023-08-15 06:53:48 +10:00
Andy Piper
52dbac1de7 AP_HAL_ChibiOS: run STM32F103 core clock at 72Mhz on 24Mhz oscillators 2023-08-15 06:53:48 +10:00
Andy Piper
33c40eaba3 AP_HAL_ChibiOS: add iomcu dshot for Pixhawk1, Pixhawk5X and fmuv5 2023-08-15 06:53:48 +10:00
Andy Piper
876f4f7a8f AP_HAL_ChibiOS: dshot iofirmware for Durandal, Pixhawk6C, CubePurple and CubeYellow 2023-08-15 06:53:48 +10:00
Andy Piper
af256f4b1b AP_IOMCU: output mcuid on f103 if able to 2023-08-15 06:53:48 +10:00
Andy Piper
9ac683a350 GCS_Common: report ARM CPUID on startup 2023-08-15 06:53:48 +10:00
Andy Piper
9db5d0bf9b AP_IOMCU: reduce latency for oneshot 
correctly update outmode modes when requested
get ARM CPUID and display in startup banner
ensure correct rc input timing on 1Khz iofirmware
 2023-08-15 06:53:48 +10:00
Andy Piper
cf9a3ada28 GCS_MAVLink: print out IOMCU mcuid on startup 2023-08-15 06:53:48 +10:00
Andy Piper
1c646d2986 AP_HAL_ChibiOS: use f103 iofirmware for Pixhawk6X 2023-08-15 06:53:48 +10:00
Andy Piper
c057cc5485 AP_HAL_ChibiOS: add get_output_mode() and use it to print correct banner for iomcu 
add support for undef of STM32 lines and DMA_NOMAP
add support for F103 running at 24Mhz
add f103 variants of iofirmware
reduce memory usage in iomcu for new model
correct pwm output reporting
split iofirmware into config + mcu to allow f103 definition
don't enable non-existant timers on F103
 2023-08-15 06:53:48 +10:00
Andy Piper
7b96f66413 AP_IOMCU: add support for getting output mode and mcuid 
give an appropriate MCUID on F103
 2023-08-15 06:53:48 +10:00
Andy Piper
2dd4f3f581 AP_BoardConfig: control dshot availability with HAL_WITH_IO_MCU_DSHOT 
correct parameter id for BRD_IO_DSHOT
 2023-08-15 06:53:48 +10:00
Andy Piper
c631b79dde AP_HAL: add get_output_mode() and HAL_WITH_IO_MCU_DSHOT 2023-08-15 06:53:48 +10:00
Andy Piper
83fddd0d61 AP_HAL_ChibiOS: enable iomcu-dshot on CubeBlack 2023-08-15 06:53:48 +10:00
Andy Piper
bb730e8e24 AP_IOMCU: inverted locking model 2 2023-08-15 06:53:48 +10:00
Andy Piper
ec1edea1da AP_IOMCU: add support for shared DMA to iomcu-dshot 
new event-based update() loop for iomcu to allow for DMA channel sharing
spin event loop at 2Khz to give dshot thread ample access to DMA channels
correct transmission complete callbacks
ensure peripheral is re-enabled on DMA resumption
ensure DMA transactions do not get clobbered by locking
restructure callbacks for shared and non-shared DMA cases
ensure RC updates happen at 1Khz
increase expected delay at startup
 2023-08-15 06:53:48 +10:00
Andy Piper
10a612566a AP_HAL_ChibiOS: ensure shared DMA works in IOMCU 
enable TIM4 in shared mode on IOMCU for dshot
stop the PWM peripheral in rcout DMA swapping on IOMCU to prevent UART corruption
provide debugging options on iomcu dshot
support unshared DMA with iomcu dshot
optimize rcout on iomcu
tune iomcu stack for 8 channels
 2023-08-15 06:53:48 +10:00
Andy Piper
3c42f1b7d9 AP_HAL_ChibiOS: disable stack checking on iomcu 2023-08-15 06:53:48 +10:00
Andy Piper
9611baf148 AP_Vehicle: soft reboot iomcu on soft reboot 2023-08-15 06:53:48 +10:00
Andy Piper
837c81af5e AP_HAL_ChibiOS: fix sending of dshot commands to all channels 2023-08-15 06:53:48 +10:00
Andy Piper
e6e0543b8a AP_IOMCU: propagate dshot rates through to IOMCU 
implement dshot ESC telemetry
add support for channel enablement/disablement
add stack checks and reporting for MSP stack
wait correct timeout in tickless mode
ensure that dshot sees all pwm updates as the occur in order to maintain periodicity
ensure dshot options are propagated on reset
implement dshot commands
ensure oneshot/125 and mode are setup correctly
add instrumentation for process stack
prevent illegal recursive locks
ignore requests for dshot 600
add support for soft reboot of iomcu
 2023-08-15 06:53:48 +10:00
bugobliterator
9a21297cd1 AP_HAL_ChibiOS: add support for DShot on IOMCU 
set timer counter size to be a byte wide
use HAL_DSHOT_ENABLED instead of DISABLE_DSHOT
build iomcu-dshot from existing iomcu
correct defines for DMAR size on iomcu
allow iomcu dshot rate to be configured from FMU
correct DMA allocation for dshot on iomcu
allow debug builds on iofirmware
ensure dshot is enabled on iomcu dshot
support proper iomcu dshot output thread triggered by FMU
allow selective disablement of serial LEDs and passthrough
disable serial LEDs and passthrough on iomcu-dshot
propagate ESC telemetry to iomcu
dshot_send_groups() for iomcu
remove use of ICU on iomcu for dshot. only allocate possible DMA channels
rename serial passthrough and dshot defines
update dshot docs
resize dshot iomcu main stack to minimum
correct dshot prescaler usage and bit_width_mul calculation
use ChibiOS in tickless mode on iomcu-dshot so that virtual timers can be used
propagate dshot commands to iomcu
passthrough oneshot125 to iomcu
 2023-08-15 06:53:48 +10:00
Andy Piper
f233a65580 AP_HAL_ChibiOS: add global interrupt handlers for TIM15 and TIM17 on F1 2023-08-15 06:53:48 +10:00
Andy Piper
9642343e8e AP_BLHeli: normalize motor index correctly for iomcu running dshot 2023-08-15 06:53:48 +10:00
Andy Piper
0b4838475d AP_SerialLED: configure serial LED feature based on hal availability 2023-08-15 06:53:48 +10:00
Andy Piper
4c8b346512 AP_BoardConfig: check IOMCU is enabled when checking dshot 2023-08-15 06:53:48 +10:00
Andy Piper
1b210f8ea9 AP_HAL: support accessors for dshot_period_us 
add support for selectively disabling serial LEDs and passthrough
provide mutator to allow iomcu to set dshot rate
support HAL_SERIAL_ESC_COMM_ENABLED and DISABLE_SERIAL_ESC_COMM
update dshot docs
make default serial led enablement dependent on dshot
 2023-08-15 06:53:48 +10:00
Andy Piper
eacc29e81e AP_Math: do not use internal_error() on iofirmware 2023-08-15 06:53:48 +10:00
bugobliterator
4ce32c74de AP_HAL: add default DISABLE_DSHOT as false 
use HAL_ENABLE_DSHOT instead of DISABLE_DSHOT
 2023-08-15 06:53:48 +10:00
bugobliterator
b8af6da623 AP_BoardConfig: add ability to change dshot firmware 2023-08-15 06:53:48 +10:00
bugobliterator
ad428ac060 AP_IOMCU: add support for sending DShot function command 
add support for dshot on iomcu
add support for updating to dshot iofirmware
 2023-08-15 06:53:48 +10:00
Peter Barker
771f8855b7 AP_Logger: correct use of nullptr in SITL structure sanity checks 
A developer might be able to craft a fault such that s could be nullptr here.  They would need to work at it, but we can do better.
 2023-08-14 22:25:50 +10:00
Andrew Tridgell
0d97b308b2 GCS_MAVLink: fixed corruption of FTP reply component ID 
this led to not being able to do FTP transfers with
support.ardupilot.org unless MissionPlanner used the same component ID
as the support engineer GCS
 2023-08-14 22:25:23 +10:00
alexklimaj
738a4c638a hwdef: arkv6x default to no IO MCU 2023-08-14 12:06:25 +10:00
Peter Barker
90929205e9 SRV_Channel: correct RC channel failsafe mask 
this is a 32-bit parameter.
 2023-08-14 11:21:06 +10:00
Andrew Tridgell
484312df93 AP_NavEKF3: fixed race condition in updateFilterStatus() 
filter status was initially set to zero then updated. This interacts
with the IMU filtering code which checks filter status from a
different thread to determine active_EKF_type(). When the race
condition is hit then the IMU we are running notch filters on changes
for a single sample, causing a notch filter glitch
 2023-08-12 17:47:56 +10:00
Andy Piper
205e6bebc7 AP_HAL_ChibiOS: fix incorrect removal of HAL_I2C_INTERNAL_MASK undef in SkystarsH743HD 2023-08-12 14:00:11 +10:00
Michelle Rossouw
e4d44c1006 SITL: Make SIM_Aircraft use double precision to stop SITL's short-range teleporting 2023-08-12 10:49:02 +10:00
Tom Pittenger
2b30fbcfb2 AP_HAL_ChibiOS: disable RPM by default on Periph 2023-08-11 13:31:45 -07:00
Tom Pittenger
0de754bff3 AP_RPM: prepare for AP_Periph 2023-08-11 13:31:45 -07:00
Tom Pittenger
41024b7f02 AP_TemperatureSensor: add Source Pitot_tube 2023-08-11 13:20:51 -07:00
olliw42
2f58d082f0 GCS_Common: brackets missing in switch case 2023-08-11 12:11:43 -07:00
arshPratap
47efaf9c62 AP_DDS: Added ROS 2 service support 2023-08-11 13:35:49 +10:00
arshPratap
5f17e33b39 AP_Arming: Added DDS Method for Arming/Disarming 2023-08-11 13:35:49 +10:00
Peter Barker
7f8df080f8 SITL: correct compilation for CubeOrange-SimOnHardware 
../../libraries/SITL/SIM_GPS.cpp: In member function 'void SITL::GPS::send_gsof(const uint8_t*, uint16_t)':
../../libraries/SITL/SIM_GPS.cpp:1292:24: error: 'AP_InternalError' has not been declared
 1292 |         INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
 2023-08-11 12:40:59 +10:00
Ryan Friedman
5b21834827 AP_GPS: Switch to sparse endian to make it portable 
* Instead of custom algorithm to reduce flash and code maintenance

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-11 11:21:41 +10:00
Peter Barker
e638925ee0 AP_HAL_ChibiOS: chibios_hwdef.py: fix minor bugs 
also mark as flake8-clean
 2023-08-11 10:41:02 +10:00
Peter Barker
536f3ac922 chibios_hwdef.py: minor flake8 fixes 
whitespace, long lines, ambiguous variables etc
 2023-08-11 10:41:02 +10:00
Peter Barker
65cc16c51d SITL: add descriptions for simulated IMU scale factors 2023-08-11 10:34:02 +10:00
Andrew Tridgell
44c5754e36 AP_Airspeed: increased timeout on DroneCAN airspeed data 
the data is sent at 20Hz, which means a single lost packet with 10Hz
reading resulted in an unhealthy sensor
 2023-08-11 10:33:36 +10:00
Andrew Tridgell
faa4d28851 AP_Airspeed: fixed handling of unhealthy airspeed 
this fixes a bug introduced in
https://github.com/ArduPilot/ardupilot/pull/22416 which results in
using bad airspeed data on timeout. The prev_health variable is
updated by the get_pressure call
 2023-08-11 10:33:36 +10:00
Peter Barker
cbd2b199eb SITL: factor simulated GPS 2023-08-11 10:01:56 +10:00
olliw42
e2599252a1 AP_Mount: use backend instead of _backends[instance] 2023-08-11 07:55:05 +09:00
Andrew Tridgell
8ff37bc79c AP_Networking: fixed duplicate parameters in wiki 
defining two parameter tables in one file causes duplicates
 2023-08-10 13:34:14 -07:00
Andy Piper
f787e940b3 AP_HAL_ChibiOS: change incorrect I2C internal mask from SkystarsH7HD bdshot 2023-08-10 16:16:16 +10:00
davidsastresas
767710340a AP_Mount: Viewpro sends gimbal_device_id in camera_information 2023-08-10 14:37:30 +09:00
davidsastresas
25e8bd1f42 AP_Mount: Xacti sends gimbal_device_id in camera_information 2023-08-10 14:37:30 +09:00
davidsastresas
d242a968f3 AP_Mount: Siyi sends gimbal_device_id in camera_information 2023-08-10 14:37:30 +09:00
davidsastresas
55aa1b5a32 AP_Mount: Backend sends gimbal_device_id in device_attitude_status_send 2023-08-10 14:37:30 +09:00
davidsastresas
073e93dfec AP_Camera: MAVLinkCamV2 sends gimbal_device_id in camera_information 2023-08-10 14:37:30 +09:00
davidsastresas
9bca2740b2 AP_Camera: backend sends gimbal_device_id in camera_information 2023-08-10 14:37:30 +09:00
davidsastresas
6a9b457be3 GCS_Common: autopilot_state_for_gimbal_device sends angular_velocity_z 2023-08-10 14:37:30 +09:00
Ryan Friedman
578ba20df0 GCS_MAVLink: Use renamed visual odom function 
* Now called pose instead of position

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-10 13:58:00 +09:00
Ryan Friedman
1615038e57 AP_VisualOdom: Change name from position to pose 
* The function takes position (linear) + orientation (angular), therefore it's a pose, not a position

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-10 13:58:00 +09:00
Andrew Tridgell
c8b2622f45 AP_BattMonitor: fixed reset_remaining() for INAxxx and LTC2946 
these can use the generic reset_remaining() call in the backend
 2023-08-10 07:43:25 +10:00
Andrew Tridgell
5722cb584d AP_Scripting: added BattEstimate lua script 
this estimates state of charge from resting voltage while disarmed
 2023-08-10 07:43:25 +10:00
Peter Barker
6097f1aa61 GCS_MAVLink: allow removal of preflight commands to fail the autopilot 2023-08-10 07:11:22 +10:00
Tom Pittenger
aefc2a8492 AP_RPM: enable AP_RPM to set ESC Telemetry 2023-08-09 12:02:31 -07:00
Randy Mackay
ee07d6bec8 AP_DroneCAN: get/set param timeout after 0.1 sec 2023-08-09 18:10:35 +10:00
Randy Mackay
6fe31396d9 AP_DroneCAN: improve get/set param comments 2023-08-09 18:10:35 +10:00
Peter Barker
77b8c96eae GCS_MAVLink: add build_options.py option to remove fencepoint protocol 
also gate more code on defines

Saves ~2kB
 2023-08-09 17:53:54 +10:00
Peter Barker
e54baf41f6 AP_Frsky_Telem: add build_options.py option to remove fencepoint protocol 
also gate more code on defines

Saves ~2kB
 2023-08-09 17:53:54 +10:00
Peter Barker
c300beae69 AC_Fence: add build_options.py option to remove fencepoint protocol 
also gate more code on defines

Saves ~2kB
 2023-08-09 17:53:54 +10:00
Andy Piper
9212a24248 AP_HAL_ChibiOS: properly support CRSF on HEEWING-F405 
update HeeWing F405 README to reflect VTX pinout
 2023-08-09 17:44:14 +10:00
Peter Barker
aa5466c6e2 AP_Torqeedo: remove use of HAL_BUILD_AP_PERIPH 
turn torqeedo off in chibios_hwdef.py instead for Periph
 2023-08-09 17:39:49 +10:00
Peter Barker
ceab0180ec AP_HAL_ChibiOS: remove use of HAL_BUILD_AP_PERIPH 
turn torqeedo off in chibios_hwdef.py instead for Periph
 2023-08-09 17:39:49 +10:00
Peter Barker
a8bb397eb7 AP_MSP: remove references to HAL_BUILD_AP_PERIPH 
HAL_MSP_ENABLED is already explicitly off in chibios_hwdef.py for Periph
 2023-08-09 17:39:49 +10:00
Peter Barker
fb0ebf75ca AP_RangeFinder: move rangefinder rotation default down into AP_Periph 2023-08-09 17:39:49 +10:00
Peter Barker
68e3b1e79b AP_HAL_ChibiOS: move rangefinder rotation default down into AP_Periph 2023-08-09 17:39:49 +10:00
Henry Wurzburg
af34b1e43b AP_Vehicle: add failsafe protections to Mode Takeoff 2023-08-09 17:33:58 +10:00
Andrew Tridgell
2832f8ca76 AP_Arming: fixed auto-enable of fence with forced arm 
when a user forced armed and had FENCE_AUTOENABLE=3 for enable on
arming then the fence did not enable
 2023-08-09 16:08:42 +10:00
Tom Pittenger
0d0ba0f656 AP_TemperatureSensor: add support for MCP9601 2023-08-09 15:49:30 +10:00
Ryan Friedman
6a2a852450 SITL: Implement GSOF SIM 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-09 12:26:10 +10:00
Asif Khan
f26528edba AP_Mount: fix GIMBAL_MANAGER_SET_PITCHYAW not working correctly when using multiple gimbals 2023-08-09 10:03:34 +09:00
Asif Khan
47977b1635 AP_Camera: add parameter CAMx_MNT_INST for associating camera with corresponding mount 2023-08-09 10:03:34 +09:00
Asif Khan
ea9f4a79f5 AP_Mount: fix sending camera information and settings for each backend 2023-08-09 10:03:34 +09:00
Asif Khan
09e949173d AP_Camera: fix sending camera information and settings for each backend 2023-08-09 10:03:34 +09:00
Peter Barker
13c83ee9f8 GCS_MAVLink: enable sending of RELAY_STATUS message 2023-08-09 07:44:07 +10:00
Peter Barker
1e18ca595f AP_Relay: enable sending of RELAY_STATUS message 2023-08-09 07:44:07 +10:00
Peter Barker
67988320a7 hwdef: disable sending of RELAY_STATUS on mimimized boards 2023-08-09 07:44:07 +10:00
Ryan Friedman
be5d846af0 AP_DDS: Switch topic to cmd_vel 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-08 15:35:43 +10:00
Ryan Friedman
9b0f485fee AP_DDS: Add velocity control DDS subscriber 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-08 15:35:43 +10:00
bnsgeyer
53100c8e96 SITL: fix vertical axis dynamics for autorotation 2023-08-07 22:10:09 -04:00
Andy Piper
fe56a6aedd AP_HAL_ChibiOS: allow 8 bdshot channels on mRoControlZeroH7 2023-08-08 11:50:56 +10:00
Peter Barker
53d5d1b9a9 AP_HAL_ChibiOS: break out include files for firmware defaults 2023-08-08 11:45:50 +10:00
Peter Barker
5670b8a062 AP_RangeFinder: compile mavlink rangefinder in only if HAL_GCS_ENABLED 2023-08-08 11:39:45 +10:00
Peter Barker
e6ac368972 AP_GPS: make AP_GPS_MAV dependent on HAL_GCS_ENABLED 2023-08-08 11:33:54 +10:00
Peter Barker
6ee9f01ffb AP_GPS: avoid use of mavlink constructs when GCS not compiled in 2023-08-08 11:33:54 +10:00
Peter Barker
bf005731a9 AP_GPS: tidy is_healthy calculations 
this removes some duplicate code and simplifies the flow of control
 2023-08-08 11:31:18 +10:00
Peter Barker
009172685e AP_HAL_ChibiOS: avoid use of MINIMIZE_FEATURES define in Copter directory 2023-08-08 10:35:19 +10:00
Peter Barker
3fea8d16f1 AP_HAL: remove MINIMIZE_FEATURES define 2023-08-08 10:35:19 +10:00