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27780 Commits

Author SHA1 Message Date
Peter Barker 9f6b9c7519 GCS_MAVLink: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker d6e5f8398d AP_RTC: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker 0305a79b7b AP_Param: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker b66fd214f0 AP_NavEKF3: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker 4aa6c212d2 AP_MSP: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker fec9d4850d AP_Logger: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker 1976b2b859 AP_HAL: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker 1bd62362a4 AP_HAL_ChibiOS: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker 6d615a3e16 AP_GPS: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker df9de582e4 AP_DAL: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker b18bdb80d6 AP_BattMonitor: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker cf9a774bc2 AP_Baro: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker 22e9ad4818 AP_Airspeed: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Peter Barker 8f6bed23cf AP_AccelCal: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
bugobliterator b43c9961a3 AP_Param: disable format security 2021-09-22 21:36:34 +10:00
bugobliterator f3fef657f9 AP_GPS: handle failure to allocation of GPS CAN message subscribers 2021-09-22 21:36:34 +10:00
bugobliterator 0de393bf7f AP_BoardConfig: add allocation failure handling loop 2021-09-22 21:36:34 +10:00
Tatsuya Yamaguchi 1dcc5c3030 AP_BattMonitor: cope with AP_BATT_MONITOR_MAX_INSTANCES < 9 2021-09-22 18:58:12 +10:00
Iampete1 955be569a3 AP_Scripting: add forward flight motor shutdown applet 2021-09-22 18:16:32 +10:00
yaapu 6a459af624 AP_OSD: decrease blink frequency from 2Hz to 1Hz on MSP DisplayPort 
Allows to actually see the blinking on hardware with a slow screen refresh rate
 2021-09-22 18:06:12 +10:00
yaapu 9acfdaaa19 AP_OSD: added packed decimal support to MSP DisplayPort 
This allows to take advantage of ArduPilot's compact decimal fonts
 2021-09-22 18:06:12 +10:00
yaapu f33d6c4ec1 AP_MSP: fix rssi rounding issue 2021-09-22 17:09:50 +10:00
Pierre Kancir d853d16c42 AP_Math: fix vectorN ctor warning by using C++11 brace initilization in all cases 2021-09-21 20:51:37 +10:00
Paul Riseborough e9c339a0a0 AP_NavEKF3: fix wind speed covariance initialisation bug 2021-09-21 17:16:36 +10:00
Andrew Tridgell 758ce2699e HAL_ChibiOS: added Hitec-Airspeed hwdef 2021-09-21 13:51:40 +10:00
Andrew Tridgell 7f59366cc0 HAL_ChibiOS: process AIRSPEED lines in hwdef.dat 2021-09-21 13:51:40 +10:00
Andrew Tridgell f65620f4f3 AP_Airspeed: allow for an AIRSPEED list in hwdef.dat 
this saves a lot of flash by only including specific drivers
 2021-09-21 13:51:40 +10:00
Peter Barker f07d40a570 AP_Mission: fix infinite loop with nav commands that won't start 
Discovered this when trying to run the standard CMAC mission on Sub
 2021-09-21 13:42:01 +10:00
Shiv Tyagi a24a8c110b SRV_Channel : Improved should_e_stop method by using switch 
This method earlier used >=, <= and == operators which is less maintainable. Hence, I replaced it by switch.

Co-Authored-By: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-09-21 11:17:09 +10:00
Gone4Dirt 30589f9b29 AP_Generator: Make unhealthy driver message persist 2021-09-21 11:14:03 +10:00
Andy Piper e1fdab8423 AP_RCTelemetry: don't enter parameter mode while armed. 
exit parameter mode quickly on ping
construct and respond to ping frames correctly
 2021-09-21 10:41:58 +10:00
Iampete1 f541653502 SRV_Channel: fix override timeout without repeated calls 2021-09-21 10:24:04 +10:00
Iampete1 db6490818f AP_Button: update FUNx values 2021-09-21 09:36:24 +10:00
Iampete1 524ea39dfa RC_Channel: add convert_options function 2021-09-21 09:36:24 +10:00
Iampete1 c67705b02d RC_Channel: do_aux_function_armdisarm no longer needs to be virtual 2021-09-21 09:36:24 +10:00
Iampete1 39ca7dae1c RC_Channel: add two new ARMDISARM options and deprecate old 2021-09-21 09:36:24 +10:00
Josh Henderson 96cabfc423 SITL: add unit tests for SIM_MS5525 2021-09-21 09:30:58 +10:00
Josh Henderson 18a0632276 SITL: MS5XXX drivers use check_conversion_accuracy 2021-09-21 09:30:58 +10:00
Josh Henderson 2a2399c8f1 SITL: airspeed DLVR add atmosphere temperature model 2021-09-21 09:30:58 +10:00
Josh Henderson c454cea401 AP_Airspeed: fix MS5525 driver to allow copying driver to 64bit SITL 2021-09-21 09:30:58 +10:00
Josh Henderson 5e90649a6e SITL: fix MS5525 for temp <20C and negative pressures 2021-09-21 09:30:58 +10:00
Hwurzburg aa402d9a55 AP_Tuning: add options to prevent spamming tuning error messages 2021-09-21 07:56:19 +09:00
Hwurzburg 502aff27da AC_AttitudeControl: add options to prevent spamming tuning error messages 2021-09-21 07:56:19 +09:00
Iampete1 169375d14f RC_Channel: arming_check_throttle to virtual 2021-09-18 15:52:38 +01:00
Shiv Tyagi cdb4ec8ad0 Plane : Improved LAND_THEN_NEUTRL to work on all control surfaces 
This fixes the issue #18593

Co-Authored-By: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2021-09-17 22:06:24 -05:00
Michelle Rossouw c9a3b16aa7 SITL: Blimp SITL add initial dynamics 2021-09-18 08:26:23 +10:00
Andrew Tridgell f77e64ac83 HAL_SITL: Fixed default PWMs for blimp 2021-09-18 08:26:23 +10:00
Andrew Tridgell 5dcfa95444 GCS_Mavlink: allow setting of AHRS_TRIM_Z 2021-09-17 14:07:14 +10:00
Andrew Tridgell 3715ce6d1a AP_AHRS: allow setting of AHRS_TRIM_Z 2021-09-17 14:07:14 +10:00
Andrew Tridgell fd86cb0591 AP_Vehicle: moved accel cal update handling from vehicles 2021-09-17 14:07:14 +10:00
Andrew Tridgell fefade783b AP_InertialSensor: allow accelcal with a rotation 2021-09-17 14:07:14 +10:00
Andrew Tridgell 3f043dd933 AP_AHRS: added get_view_rotation() 2021-09-17 14:07:14 +10:00
Andrew Tridgell 63fcb804b3 AP_UAVCAN: added CAN_Dn_UC_OPTION parameter 
this allows for 2 ways of controlling conflicts in the UAVCAN DNA
database. The first is to set CAN_Dn_UC_OPTION to 1, which resets the
DNA database, thus clearing any node conflicts.

The second is to set CAN_Dn_UC_OPTION to 2, which ignores node
conflicts in the DNA database

These options are useful for vehicles with UAVCAN smart batteries
where the node ID is fixed but the hwid changes and you want to do
battery swapping (possibly without rebooting)
 2021-09-17 12:32:59 +10:00
Andrew Tridgell 17f8b0b11a AP_Param: disable debug code by default 
found on EU dev call
 2021-09-16 21:05:48 +10:00
Andrew Tridgell 119df09c44 SITL: cope with a socket error in FlightAxis 
this fixes an issue that has arisen with the new threading approach
where RF would occasionally freeze
 2021-09-16 14:31:10 +10:00
yaapu 94aba33d10 AP_OSD: added multi screen and stats support to DJI FPV OSD 2021-09-16 09:54:25 +10:00
yaapu 9f0d9a5652 AP_MSP: added multi screen and stats support to DJI FPV OSD 2021-09-16 09:54:25 +10:00
Iampete1 934a4e26c9 AR_Motors: re-work omni output to scale evenly at saturation 2021-09-16 08:48:47 +09:00
Iampete1 7ec7b478f0 AC_WPNav: add getter for wp_radius_cm 2021-09-15 20:36:56 +10:00
Iampete1 0a41cdaa24 SRV_Channel: add ignore reversed flag to set_trim_to_min_for 2021-09-15 18:59:07 +09:00
Iampete1 950dcf9242 AP_MotorsUGV: ignore servo reverse when setting trim for brushed with relay 2021-09-15 18:59:07 +09:00
Iampete1 85e57a3bd8 AP_Avoidance: correct ADSB vertical velocity conversion 2021-09-15 17:55:50 +10:00
Peter Barker 16c11fc4fa AP_Airspeed: allow zero offset if we are skipping calibration 2021-09-15 17:52:34 +10:00
Iampete1 bf695e4eeb AP_HAL_ChibiOS: atof to strtof 2021-09-15 17:36:12 +10:00
Iampete1 34f5b800b6 AP_Generator: atof to strtof 2021-09-15 17:36:12 +10:00
Iampete1 17e8ea0136 AP_RangeFinder_Params: update PIN discription 2021-09-15 17:31:54 +10:00
yaapu 53ea385291 AP_MSP: removed unnecessary pure virtual methods 2021-09-15 17:28:56 +10:00
yaapu e1b12fbee3 AP_MSP: use const structures and brace initialization where possible 
saves ane extra 130bytes
 2021-09-15 17:28:56 +10:00
yaapu 3bbf2c1f70 AP_MSP: removed unstructured writes to msp dst buffer 2021-09-15 17:28:56 +10:00
yaapu a2b83d675f AP_Scripting: added a frsky battery example 2021-09-15 17:21:41 +10:00
Peter Barker 305a8ad48a AP_Scripting: add and use HAL_QUADPLANE_ENABLED 2021-09-14 11:23:18 +10:00
Josh Henderson 7a3425faca AP_ADSB: sagetech use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Josh Henderson f534a315ea AP_Proximity: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Josh Henderson 51023fc846 AP_NMEA_Output: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Josh Henderson 3006d50f97 AP_NavEKF3: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Josh Henderson d5f5a3024a AP_NavEKF2: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Josh Henderson f76f86c207 AP_InertialNav: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Josh Henderson 06251335da AP_GPS: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Josh Henderson 38ead58df2 AP_AHRS: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Josh Henderson 996b3b8b1e AC_Sprayer: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Josh Henderson c0b18e4d52 AC_Avoid: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Josh Henderson a3e475822b AC_AttitudeControl: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Hwurzburg 6dfbd9ce31 AP_HAL_ChibiOS: add batt mon defaults to Kakutef4 Mini 2021-09-14 10:14:20 +10:00
Willian Galvani 68cbb47d68 HAL_Linux: RCOutput_PCA9685: implement force_safety_on/off 2021-09-14 10:11:17 +10:00
Willian Galvani 38e8020e4b HAL_Linux: try to stop PWMs before shutting down due to SIGTERM 2021-09-14 10:11:17 +10:00
Rhys Mainwaring 6cb4e6b31d SITL: update simpleRover C++ JSON interface example 
- Provide a cmake file for cross platform builds
- Modify the example to respond to throttle commands on RC channel 3 (default for Rover)
- Add more detail to readme

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2021-09-14 09:54:39 +10:00
Iampete1 d9e30452ed AP_Mission: only continue after land if next waypoint is a takeoff 2021-09-14 08:24:02 +09:00
Iampete1 3dca9b4534 AR_Motors: stop setting safety limit 2021-09-14 09:23:02 +10:00
Iampete1 2abe120969 SRV_Channel: remove set_safety_limit 2021-09-14 09:23:02 +10:00
Iampete1 cc03b2975c AP_IOMCU: iofirmware: remove saftey PWM 2021-09-14 09:23:02 +10:00
Iampete1 c1a2379504 AP_IOMCU: remove safe PWM 2021-09-14 09:23:02 +10:00
Iampete1 53ee7d861d AP_HAL_ChibiOS: remove safe PWM 2021-09-14 09:23:02 +10:00
Iampete1 ed80d91d55 AP_HAL: remove set_safety_pwm 2021-09-14 09:23:02 +10:00
Willian Galvani fe72640955 AP_HAL: remove BATT_ settings, they belong in AP_BattMonitor_Analog.h 2021-09-14 09:21:42 +10:00
Willian Galvani 08b33954db AP_BattMonitor_Analog: add default PM definitions for the Navigator Board 2021-09-14 09:21:42 +10:00
Willian Galvani 2e5b689196 AP_BattMonitor_Analog: allow per-board setting of CURR_AMP_OFFSET 2021-09-14 09:21:42 +10:00
Andrew Tridgell 88d77d0acd HAL_ChibiOS: change f303-PWM timers 
fixes PWM on channels 3 and 4
 2021-09-13 21:29:13 +10:00
Andrew Tridgell adbaccaa08 HAL_ChibiOS: fixed RTSCTS flow control issue 
this fixes an issue reported on MatekH743, but also applies to other
boards. When not using DMA if there have been bytes written before the
auto flow control detection was enabled then these must be cleared
from _total_written so the flow control detection can work correctly
 2021-09-13 21:28:08 +10:00
Iampete1 bc216b103c AP_Mission: remove support for MAV_CMD_DO_SET_MODE 2021-09-13 16:18:24 +10:00
Iampete1 01cbb897e3 AP_Mission: add missing strings 2021-09-13 16:18:24 +10:00
Iampete1 1a2ea893b6 AP_MotorsMatrix: correct octo I testing order 2021-09-13 13:39:03 +09:00
Iampete1 8c37d08379 SITL: Examples: SilentWings: remove AUTO_FBW_STEER 2021-09-12 22:12:32 -05:00
Iampete1 66e1baa94c AP_IRLock_I2C: add comment on calibration equation 2021-09-13 10:56:00 +09:00
Andrew Tridgell d62346f8d0 SITL: use a thread to create sockets for RealFlight 
this reduces the cost of the socket creation on each frame, resulting
in higher frame rates. Typical improvement is around 30%
 2021-09-13 10:38:48 +10:00
Iampete1 febf843e6d AC_Loiter: protect against negative angle max 2021-09-13 07:55:34 +09:00
Iampete1 ffac134014 AC_PosControl: protect against negative angle max 2021-09-13 07:55:34 +09:00
mateksys 659286ee4f ChibiOS: add icm42605 as substitution for icm20602 2021-09-11 17:37:12 +10:00
murata 731fd7221f AP_Scripting: Only use messages that are useful for debugging 2021-09-10 20:46:33 +10:00
Randy Mackay 570c12215d AR_AttitudeControl: fix get_throttle_out_speed use of passed in limits 2021-09-10 07:50:00 +09:00
Mohammad Hefny 61a7387dd9 AP_Notify: link to notify module 2021-09-10 08:17:37 +10:00
Mohammad Hefny bd099b3910 AP_Batt: link to battery monitor 2021-09-10 08:17:37 +10:00
Mohammad Hefny 5eb28be8e6 AP_HAL_Linux: define board features on Linux module 2021-09-10 08:17:37 +10:00
Mohammad Hefny 2cb13dcc7d AP_HAL: define board features 2021-09-10 08:17:37 +10:00
Iampete1 999c26926a SITL: examples: SilentWings: remove ALT_CTRL_ALG 2021-09-09 11:07:07 +01:00
Leonard Hall 8c51271b45 AC_WPNav: Add units to the AC_AttitudeControl Library 2021-09-09 08:01:14 +09:00
Leonard Hall 90b5bc6a2d AC_AutoTune: Add units to the AC_AttitudeControl Library 2021-09-09 08:01:14 +09:00
Leonard Hall ad278779e3 AC_AttitudeControl: : Add units to the accessors. 2021-09-09 08:01:14 +09:00
Leonard Hall 7852e9d1b0 AC_WPNav: Fix calculation of _scurve_jerk_time using radians. 2021-09-09 08:01:14 +09:00
Peter Barker 8a3a787b76 AC_WPNav: honour changes to wp-speed-up and wp-speed-down in-flight 2021-09-08 21:29:38 +10:00
Iampete1 f80fedff9c AP_Logger: add function to set longer log persist 2021-09-08 18:26:40 +10:00
Iampete1 1e5b9e487b AP_Arming: set force disarmed logging for all the nasty disarm reasons 2021-09-08 18:26:40 +10:00
Peter Barker 380d962648 AP_Motors: do not use int version to define motors 2021-09-08 18:20:44 +10:00
Peter Barker dbb43a5746 AP_Motors: remove motor_num from motor definition structures 
Every structure simply used the defines in sequence, meaning 0, 1, 2, 3
etc.  Handily we have a loop counter where we use these structures...
 2021-09-08 18:20:44 +10:00
Peter Barker a152ad70a9 AP_Motors: use structures to save flash when initialising motors (raw motors) 2021-09-08 18:20:44 +10:00
Peter Barker 26385009ca AP_Motors: use structures to save flash when initialising motors 2021-09-08 18:20:44 +10:00
Iampete1 529a3a9122 AP_HAL_ChibiOS: convert back to full range on IOMCU ONESHOT125 read 2021-09-08 18:01:50 +10:00
Iampete1 1f7023b580 RC_Channel: add SIMPLE_HEADING_RESET option 2021-09-08 16:49:33 +09:00
Iampete1 7ada4a0d5a AP_Arming: logger: fail check if downloading logs 2021-09-08 17:38:48 +10:00
Iampete1 a47eeb3fed AP_Logger: log transfer: add error message if armed 2021-09-08 17:38:48 +10:00
Willian Galvani 1057161f88 AP_BattMonitor_logging: update to use capacity_remaining_pct() as a bool 2021-09-08 17:17:41 +10:00
Willian Galvani 467554ee0e AP_Frsky_Telem: update to use capacity_remaining_pct() as a bool 2021-09-08 17:17:41 +10:00
Willian Galvani 9206599e6c AP_BattMonitor_UAVCAN: update to use capacity_remaining_pct() as a bool 2021-09-08 17:17:41 +10:00
Willian Galvani e563919dd2 AP_Scripting: update to use capacity_remaining_pct() as a bool 2021-09-08 17:17:41 +10:00
Willian Galvani c08e04a16a AP_RCTelemetry: update to use capacity_remaining_pct() as a bool 2021-09-08 17:17:41 +10:00
Willian Galvani 018ff3d11c GCS_MAVLink: update to use capacity_remaining_pct() as a bool 2021-09-08 17:17:41 +10:00
Willian Galvani f7fa4b7c19 AP_OSD: update to use capacity_remaining_pct() as a bool 2021-09-08 17:17:41 +10:00
Willian Galvani b9452c83be AP_Notify: update to use capacity_remaining_pct() as a bool 2021-09-08 17:17:41 +10:00
Willian Galvani 207723319b AP_BattMonitor_Backend: change capacity_remaining_pct() to a bool 2021-09-08 17:17:41 +10:00
Willian Galvani 735e2ab651 AP_BattMonitor: change capacity_remaining_pct() to a bool 2021-09-08 17:17:41 +10:00
Andy Piper e705f78b5e AP_HAL_ChibiOS: correct and compact Pixhawk4-bdshot build 2021-09-08 17:09:49 +10:00
Andy Piper c92c75c9a6 AP_HAL_ChibiOS: bdshot version of CUAVv5 2021-09-08 17:09:49 +10:00
Andy Piper bb41db8478 AP_HAL_ChibiOS: bdshot version of CUAVv5Nano 2021-09-08 17:09:49 +10:00
Andrew Tridgell d29057a158 HAL_ChibiOS: added f303-PWM 
for a PWM output node based on mRo f303 CAN node
 2021-09-08 17:06:44 +10:00
Peter Barker dabba69b5e AP_NavEKF3: improve description of XKF4/NKF4 fields 
Courtesy Paul Riseborough here: https://github.com/ArduPilot/ardupilot_wiki/issues/3641#issuecomment-913577132
 2021-09-08 17:06:12 +10:00
Peter Barker a62cb64867 AP_NavEKF2: improve description of XKF4/NKF4 fields 
Courtesy Paul Riseborough here: https://github.com/ArduPilot/ardupilot_wiki/issues/3641#issuecomment-913577132
 2021-09-08 17:06:12 +10:00
Peter Barker abe78e168d SITL: make heli-blade simulation work 2021-09-08 14:33:19 +10:00
Peter Barker ae40531cd7 AP_HAL_SITL: make heli-blade simulation work 2021-09-08 14:33:19 +10:00
Bill Geyer 9a917abf76 SITL: update conventional heli dynamics and add blade 360 heli dynamics 2021-09-08 14:33:19 +10:00
Leonard Hall 35a93c5988 AC_AttitudeControl: AC_PosControl: Change set_correction_speed_accel_z to use input arguments 2021-09-07 19:04:14 +09:00
Andrew Tridgell 9342ded2bb AC_WPNav: cope with negative WPNAV_SPEED_DN 
a user set WPNAV_SPEED_DN to a negative value, with odd results. Take
absolute value to cope. Even though the param docs clearly say range
should be positive, it is one where it is easy to think it should be
negative
 2021-09-07 18:55:00 +09:00
Peter Barker fd144ccc59 GCS_MAVLink: log source sysid/compid in MAVC 
For field length purposed had tor remove Current and autocontinue which we don't care about
anyway.
 2021-09-07 11:06:08 +10:00
Peter Barker 13a7b60279 AP_Logger: log source sysid/compid in MAVC 
For field length purposed had tor remove Current and autocontinue which we don't care about
anyway.
 2021-09-07 11:06:08 +10:00
Peter Barker ec53a41ffd AC_WPNav: monitor WPNAV_SPEED for changes 2021-09-07 10:04:07 +09:00
Andrew Tridgell 2e4766fe54 HAL_ChibiOS: ensure HI_POWER periph is on 2021-09-07 10:40:44 +10:00
Andrew Tridgell 532396e5e6 REVERT: HAL_ChibiOS: Rename STM32F412 hw definition file 
This reverts commit 5de6c690d8.

That commit broke the build for the affected board as the chibios
headers rely on the name of the file matching a ifdef
 2021-09-07 10:37:43 +10:00
Andrew Tridgell 8366a1622c AP_OSD: hide disabled parameters in OSD var_info2 2021-09-07 10:36:16 +10:00
Andrew Tridgell 10cbd3fd80 AP_Param: added a flag for hidden parameters 2021-09-07 10:36:16 +10:00
Iampete1 ccd330a40a AP_Vehicle: add AUTO_RTL_EXIT mode reason 2021-09-07 09:35:35 +09:00
Josh Henderson a91c0f4b12 AC_WPNav: simplify get_wp_destination_loc 2021-09-07 08:02:18 +09:00
Andrew Tridgell b77580f934 HAL_ChibiOS: avoid an issue with DCache init on H743 
this fixes an issue found by Andy Piper where the H743 bootloader gets
a hard fault in the DCache enable code when SRAM1 is primary memory.

This is the simplest fix I could think of, and avoids the problem by
making DTCM the first segment in the bootloader.

Note that we can't use DTCM as first segment for main firmware since
we went to double precision EKF as the static variables don't fit
 2021-09-06 18:23:03 +10:00
Randy Mackay 8a5ade1f46 AC_WPNav: protect against divide-by-zero 2021-09-06 16:02:25 +09:00
Randy Mackay 28a14b3602 AC_WPNav: move definitions to .cpp file 2021-09-06 16:02:25 +09:00
Randy Mackay af9a91c853 Copter: terrain spelling fix 2021-09-06 16:02:25 +09:00
Randy Mackay ba50f68390 AC_WPNav: terrain spelling fix 2021-09-06 16:02:25 +09:00
Leonard Hall 5337ab0551 AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-06 16:00:19 +09:00
Leonard Hall 94002101fd AC_WPNav: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
Leonard Hall 30cda045f1 AC_Autotune: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
Leonard Hall 0fff010046 AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
Hwurzburg d0b67baefd AP_HAL_ChibOS: add pin defs for RSSI to KakuteF7 2021-09-06 10:12:48 +10:00
Hwurzburg 854697f870 AP_HAL_ChibiOS: update default params for SWAN-K1 2021-09-06 08:07:06 +10:00
Pierre Kancir 2b44f86f9c AP_HAL: fix ringbuffer test on clang. 
../../libraries/AP_HAL/utility/tests/test_ringbuffer.cpp:46:17: fatal error: variable-sized object may not be initialized
    uint8_t buf[strlen(str)+5] {};
 2021-09-04 15:46:47 +10:00
Andrew Tridgell 8462ce4e2e HAL_ChibiOS: fixed GPIO lines for QioTekZealotF427 2021-09-03 18:16:43 +10:00
Andrew Tridgell a76323aaca AP_DAL: fixed a bug in RMGH logging 2021-09-03 18:16:08 +10:00
Andrew Tridgell eacdd017d7 AP_Declination: added a test suite for AP_Declination 
use test vectors from MAVProxy mavextra
 2021-09-03 14:45:17 +10:00
Andrew Tridgell 71c5c624ce AP_Declination: fixed rounding in mag field 
thanks to Angela for noticing this
 2021-09-03 14:45:17 +10:00
Peter Barker 7a06c941df AP_Vehicle: make bad-mode-number notification consistent across vehicles 2021-09-01 19:45:46 +09:00
Peter Barker a292fe13d6 GCS_MAVLink: add option to create internal error via preflight-reboot 
useful for testing our handling of internal errors
 2021-09-01 18:58:15 +10:00
olliw42 af634f0421 AP_Mount: initialize backends after all mounts were added 2021-09-01 18:57:24 +10:00
Iampete1 e82860266d SRV_Channel: call update_aux_servo_function in function_assigned 2021-09-01 18:34:45 +10:00
Peter Barker 129eb4c184 AP_HAL_SITL: do not overwrite FETTecESC telemetry data w/SITL ESC data 2021-09-01 18:25:51 +10:00
Andrew Tridgell ae615de4ce GCS_MAVLink: added logging of NAMED_VALUE_FLOAT 
this is useful when running sensors on a companion computer and
wanting values logged in main ArduPilot log.
 2021-09-01 17:52:48 +10:00
Iampete1 8d669f7616 AP_Arming: update primary GPS type 0 string 2021-09-01 17:51:31 +10:00
Iampete1 0d3c00cb96 AP_Rangefinder: MAVLink: accept data only from configured orentation 2021-09-01 17:50:58 +10:00
Andy Piper e8d1326a6d AP_ESC_Telem: fix raw rpm 
Co-authored-by: Amilcar Lucas <amilcar.lucas@iav.de>
 2021-09-01 17:15:32 +10:00
Andy Piper 9281982b8f AP_ESC_Telem: log raw RPM information 2021-09-01 17:15:32 +10:00
bugobliterator 4ecdf90470 AP_HAL_ChibiOS: add internal flash version of hwdef for H757I_EVAL 2021-09-01 17:10:53 +10:00
Siddharth Purohit d484477a99 AP_HAL_ChibiOS: move to using PLL2_R_CK for QSPI 2021-09-01 17:10:53 +10:00
Siddharth Purohit 81dc237a19 AP_HAL_ChibiOS: move to using Instruction RAM with External Flash setup 2021-09-01 17:10:53 +10:00
Siddharth Purohit 1eb318c62b AP_HAL_ChibiOS: increase clock frequency for QSPI 2021-09-01 17:10:53 +10:00
Siddharth Purohit 215c1249cb AP_HAL_Empty: add check owner method 2021-09-01 17:10:53 +10:00
Siddharth Purohit 39bd229279 AP_HAL_ChibiOS: remove dependency on Semaphores in QSPIDevice in BL 2021-09-01 17:10:53 +10:00
Siddharth Purohit 813e93a69c AP_HAL_ChibiOS: do not reset GPIO for boards with external flash 2021-09-01 17:10:53 +10:00
Siddharth Purohit 4ba2835de1 AP_HAL_ChibiOS: add config for supporting load from external flash 2021-09-01 17:10:53 +10:00
Siddharth Purohit faedb12493 AP_HAL_ChibiOS: fix hwdef generation for bootloader supporting ext flash 2021-09-01 17:10:53 +10:00
Siddharth Purohit 6e81fcbed1 AP_HAL_ChibiOS: add support for things required to run QSPIDriver 2021-09-01 17:10:53 +10:00
Siddharth Purohit a039711628 AP_HAL_ChibiOS: prepare H757I_EVAL for external flash programming 2021-09-01 17:10:53 +10:00
Siddharth Purohit 32f91c4cb2 AP_FlashIface: add jedec test using bootloader config 2021-09-01 17:10:53 +10:00
Andrew Tridgell fdfa14c4c0 HAL_ChibiOS: adjust Swan-K1 tuning 2021-09-01 14:04:35 +10:00
Andrew Tridgell f4ad8f6ef5 HAL_ChibiOS: fix for HAL_PWM_COUNT zero 
reported by Mallikarjun
 2021-09-01 13:05:20 +10:00
Peter Barker 5f980929d9 AP_Motors: use add_motors to save flash 2021-08-31 20:23:58 +10:00
nkruzan 0a236bc13d AP_Vehicle: log internal error and report bitmask to GCS 
AP_Vehicle.cpp: cast parameter bitmask as (unsigned) per Peter B.

rework per Peter B.

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
remove unnecessary send_internal_error_statustext function

remove Write_InternalError function
 2021-08-31 15:54:02 +10:00
Peter Barker 2be49cb42b AP_Airspeed: fix examples for AP_AHRS_DCM becoming backend 2021-08-31 14:28:53 +10:00
Peter Barker 875b6331a4 AP_Compass: fix examples for AP_AHRS_DCM becoming backend 2021-08-31 14:28:53 +10:00
Peter Barker acc595ff57 AP_Mission: fix examples for AP_AHRS_DCM becoming backend 2021-08-31 14:28:53 +10:00
Peter Barker 522c05fcc9 AP_Module: fix examples for AP_AHRS_DCM becoming backend 2021-08-31 14:28:53 +10:00
Peter Barker 29d2eed9e4 Sub: view update does not take skip_ins_update 2021-08-31 14:28:53 +10:00
Peter Barker 9dbd9d1e06 AP_AHRS: call INS update in AP_AHRS::update w/o holding data sem 
We shouldn't be holding the data semaphore while waiting for the samples
- lots of things might be unnecessarily blocked

DCM's update function doesn't need to take the semaphore as it is
already taken by AP_AHRS
 2021-08-31 14:28:53 +10:00
TunaLobster c20914c0c6 SITL: Add C++ library for JSON interface 
Includes examples for a 1-D rover, minimum, and a copy of Socket as SocketExample.
 2021-08-31 14:28:03 +10:00
Iampete1 970d0ea2a3 AP_BoardConfig: make sure heater is left off if disabled 2021-08-31 10:32:25 +10:00
Josh Henderson b1028035bc AP_UAVCAN: cleanup comments in BatteryInfoAux dsdl message 2021-08-31 10:30:28 +10:00
Andrew Tridgell 584fb7cd7b HAL_ChibiOS: use more USB buffers on higher end F7 chips 2021-08-31 10:12:00 +10:00
Andrew Tridgell 4fdc1ebc30 AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-08-31 10:10:18 +10:00
Iampete1 e28650c8bd RC_Channel: remove recompute_pwm_no_deadzone 2021-08-31 09:48:59 +10:00
Peter Barker 3a5062c90b AP_NMEA_Output: eliminate AP::ahrs().get_location 2021-08-31 09:47:31 +10:00
Peter Barker cc514af158 AP_AHRS: eliminate AP::ahrs().get_location 2021-08-31 09:47:31 +10:00
Andrew Tridgell a412795045 AP_Terrain: make TERRAIN_MARGIN a float 
it turns out very large margins are needed for some locations
 2021-08-31 09:25:36 +10:00
Randy Mackay e5bde1a085 AP_VisualOdom: use AP_AHRS::using_extnav_for_yaw to protect against aligning to oneself 2021-08-31 09:20:17 +10:00
Randy Mackay 1c08866342 AP_AHRS: add using_extnav_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay 63e579d738 AP_NavEKF3: add using_extnav_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay b984f1370c AP_VisualOdom: integrate rename to using_noncompass_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay e7be608a4a AP_AHRS: rename is_ext_nav_used_for_yaw to using_noncompass_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay 0edfd2634f AP_NavEKF3: rename using_external_yaw to using_noncompass_for_yaw 2021-08-31 09:20:17 +10:00
Iampete1 ce56bfe786 AP_Arming: check status and health of all GPS 2021-08-31 09:13:57 +10:00
Peter Barker de9f8a9320 AP_Logger: specify frames on PSC fields 2021-08-31 09:09:02 +10:00
Andy Piper 8035b92e6e AP_RCProtocol: increase CRSF frame timeout to account for scheduling delays 2021-08-31 08:18:32 +10:00
Andrew Tridgell 39f44147b8 HAL_ChibiOS: reduce the impact of UART DMA contention 
this changes the heuristics for UART TX DMA allocation to greatly
reduce the chances of DMA contention causing long delays on other
devices

This fixes issues with FETTec driver output and gimbal status messages
as reported by Amilcar and OlliW. The problem is particularly bad when
no GPS is connected to GPS1 on fmuv3 and derived boards (such as
CubeBlack)

key changes:

 - remember the contention_counter across begin() calls, as the GPS
   calls begin with new baudrates regularly

 - added a is_shared() API to Shared_DMA, allowing the UART driver to
   avoid TX DMA on shared streams when at low baudrates.
 2021-08-31 07:55:27 +10:00
Andrew Tridgell dc252aa8f5 GCS_MAVLink: check for null comm_port before writing 
this was found when adding debug code to write to a specific channel
 2021-08-31 07:55:27 +10:00
Rishabh ee176d26e9 AC_PrecLand: Raise internal error if state machine is running while precland is disabled 2021-08-30 14:08:44 +09:00
Iampete1 7d536666b4 SITL: SIM_Sailboat: remove use of AHRS 2021-08-30 13:40:37 +10:00
Marek Łukasiewicz 5de6c690d8 HAL_ChibiOS: Rename STM32F412 hw definition file 2021-08-30 10:27:45 +10:00
Pierre Kancir 60155a7fec Filter: add more unittests 2021-08-30 09:51:25 +10:00
Pierre Kancir fd38be843a Filter: finish modefilter test 2021-08-30 09:51:25 +10:00
Peter Barker 0792caab83 AP_AHRS: factor out an update_notify_from_filter_status 2021-08-28 23:11:09 +10:00
Peter Barker ca6d214bb3 AP_AHRS: remove unused getGpsGlitchStatus method 2021-08-28 19:46:13 +10:00
Iampete1 6628fd2837 SITL: swap rotation direciton of motor 2 for lower yaw offset 2021-08-28 10:32:59 +09:00
Teo 4988f72ee2 RC_Channel: removed dead code 2021-08-28 10:29:06 +09:00
bugobliterator fd95c32d88 AP_HAL_ChibiOS: add CubeOrange Periph Heavy build 2021-08-27 09:17:30 -07:00
Pierre Kancir cc39eafe02 AP_GyroFFT: ensure we got float division when there are needed instead of integer divisions 2021-08-27 13:42:03 +10:00
Pierre Kancir 23a67a9e60 AP_GyroFFT: checking that uint16_t is negative is useless 2021-08-27 13:42:03 +10:00
Pierre Kancir 39fd32aa9e AP_GyroFFT: reduce first_harmonic scope 2021-08-27 13:42:03 +10:00
Andrew Tridgell 858a6b7e87 HAL_ChibiOS: allow FlywooF745 to build again 2021-08-27 07:45:58 +10:00
Pierre Kancir bcfb07b39f AP_Rangefinder: fix override in constructor 2021-08-26 21:48:19 +10:00
Randy Mackay b524094216 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-26 12:23:32 +09:00
Leonard Hall ff58054d1b AC_AttitudeControl: AC_PosControl: Clean up to use .xy() 2021-08-26 12:22:52 +09:00
Leonard Hall 8223d664a7 AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-26 12:22:52 +09:00
Leonard Hall 520883b504 AC_WPNav: Fix Jerk units 2021-08-26 12:22:52 +09:00
Leonard Hall 9c097dd6be AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-26 12:22:52 +09:00
Leonard Hall 445e52b821 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-26 12:22:52 +09:00
Randy Mackay b396169084 AP_Scripting: copter-fast-descent.lua example script 2021-08-26 11:25:54 +09:00
Randy Mackay 1a7826295f AP_Vehicle: add virtual set_target methods 2021-08-26 11:25:54 +09:00
Randy Mackay e8155bc47c AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-26 11:25:54 +09:00
Randy Mackay a3b4c8efd8 AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-26 11:25:54 +09:00
Randy Mackay 5eb65c9a1f AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-26 11:25:54 +09:00
Pierre Kancir ec03c9eaf4 AP_Scheduler: correct pointer checking 2021-08-26 10:17:22 +10:00
Andrew Tridgell 1655beeca9 AP_MSP: fixed build without MSP 
found by custom.ardupilot.org
 2021-08-26 10:01:35 +10:00
olliw42 617024bdfa GCS_Mavlink: scale across full valid range 2021-08-26 09:44:59 +10:00
olliw42 bacfe82c66 GCS_MAVLINK: add receiver_rssi() method, and use it 2021-08-26 09:44:59 +10:00
Marek S. Łukasiewicz 47f2e13024 HAL_ChibiOS: Add hwdef for BirdCANdy 2021-08-26 09:43:39 +10:00
Iampete1 2a834508ae AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-25 23:48:52 +01:00
Peter Barker 1387ed06bd AP_WindVane: remove empty contructors 2021-08-25 20:42:23 +10:00
Peter Barker 47455f12db AP_Vehicle: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Peter Barker 9dd02f0c2b AP_Scripting: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Peter Barker c9fd7ee00d AP_Button: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Peter Barker 4ae3ad555d AP_Arming: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Samuel Tabor 3ead096329 AP_Soaring: Initialize filter to the current filtered measurement 2021-08-25 19:00:46 +10:00
Michael du Breuil e3109e4b29 AP_Logger: Use actual MAVLink constant 
This isn't a functional change, it just improves the readibility of the
file
 2021-08-25 18:52:21 +10:00
Randy Mackay 4bdb428cfe AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-25 18:39:09 +10:00
Randy Mackay 8548695e5d AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-25 18:39:09 +10:00
Randy Mackay 1725eda961 AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-25 18:39:09 +10:00
Peter Barker 9114d4fc86 AP_AHRS: make home-relative functions AHRS-frontend only 2021-08-25 18:32:07 +10:00
Peter Barker e8066aa993 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-25 18:28:12 +10:00
Peter Barker a933652950 AP_AHRS: return perfect airspeed estimate for EKF-type 10 
... rather than the EKF3 estimate
 2021-08-25 18:28:12 +10:00
Pierre Kancir 29b13ff98a AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-25 16:37:13 +09:00
Pierre Kancir ae11353d81 AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-25 16:37:13 +09:00
Pierre Kancir 4481bc6147 AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-25 16:37:13 +09:00
yaapu 617b023c6f AP_Frsky_Telem: added frame 0x500C for true/apparent WIND info 2021-08-25 17:13:16 +10:00
yaapu d91e2008d3 AP_RCTelemetry: incremented WFQ scheduler slots to 20 2021-08-25 17:13:16 +10:00
yaapu 7e3395eebd AP_OSD: added a new backend for msp displayport aka canvas mode support 2021-08-25 17:12:15 +10:00
yaapu 188b7a50a9 AP_MSP: added a new backend for msp displayport aka canvas mode support 2021-08-25 17:12:15 +10:00
yaapu 05686f3c60 AP_MSP: fixed MSP RC out command 2021-08-25 17:12:15 +10:00
yaapu c1e50dc676 AP_SerialManager: added a new MSP DisplayPort serial backend 2021-08-25 17:12:15 +10:00
Dr.-Ing. Amilcar do Carmo Lucas d907328f80 AP_FETtecOneWire: README.md clarity improvements 2021-08-25 16:05:05 +10:00
Randy Mackay 04c8ad6150 RC_Channel: rename visodom_calibrate to visodom_align 
This should be a non-functional change
 2021-08-25 15:42:02 +10:00
Josh Henderson b94fb40a33 SITL: add unit tests for SIM_MS5611 2021-08-25 12:37:43 +10:00
bugobliterator a32a32ab43 HAL_ChibiOS: change name for USART2_CTS pin in STM32H757xx.py 2021-08-25 10:09:23 +10:00
bugobliterator 21ad3c7ac1 AP_HAL_ChibiOS: add HereID board 2021-08-25 10:09:23 +10:00
Gone4Dirt c94b9e8a19 AP_RPM: Mark type = PWM as not used in docs 2021-08-25 09:36:58 +10:00
Gone4Dirt b402a50bb2 SITL: Remove RPM params from examples that are set to defaults 2021-08-25 09:36:58 +10:00
Gone4Dirt 7be9773f95 SITL: Update RPM param in FlightAxis defaults 2021-08-25 09:36:58 +10:00
Gone4Dirt df1280e999 AP_RPM: Whitespace changes 2021-08-25 09:36:58 +10:00
Gone4Dirt 5bb4729d61 AP_RPM: Restructure params to be per instance of _params 2021-08-25 09:36:58 +10:00
Iampete1 58e14b2dc3 AC_Loiter: update ANG_MAX param description 2021-08-24 22:14:08 +01:00
Andrew Tridgell e9427f1dae HAL_ChibiOS: removed remnants of CHIBIOS_ADC_MAVLINK_DEBUG 2021-08-25 07:11:31 +10:00
Andrew Tridgell 5bacd35eaa HAL_ChibiOS: review fixes 2021-08-25 07:11:31 +10:00
Andrew Tridgell 4cebcede31 HAL_ChibiOS: switched to fix allocation for BMDA streams on H7 
this avoids issues with BDMA stream assignments due to bugs found
while testing boards with both I2C4 and SPI6
 2021-08-25 07:11:31 +10:00
Andrew Tridgell 5c3056e50d GCS_MAVLink: added MCU_STATUS message 2021-08-25 07:11:31 +10:00
Andrew Tridgell 0f59e1ebb8 AP_Logger: log MCU temperature and voltage 2021-08-25 07:11:31 +10:00
Andrew Tridgell 57e87b9820 HAL_ChibiOS: measure MCU temperature and ref voltage on H7 
this uses ADC3 to measure the internal MCU temperature and the reference
voltage. This uses a currently unused BDMA channel
 2021-08-25 07:11:31 +10:00
Andrew Tridgell c91410f4b7 AP_HAL: added MCU status support 2021-08-25 07:11:31 +10:00
Randy Mackay 5de30cc7cf AP_Scripting: ahrs-source-gps-optflow script fixups from peer review 
also dded assert on optical flow to ensure the script is used with a version of AP that includes the optical flow bindings
 2021-08-24 16:49:04 +09:00
Randy Mackay 9313535a35 AP_OpticalFlow: SITL driver applies _FX/YSCALER params 2021-08-24 16:49:04 +09:00
Randy Mackay 2aa17916b1 AP_Scripting: add ahrs-source-gps-optflow 
this supports automatic switching between GPS and opticalflow
 2021-08-24 16:49:04 +09:00
Randy Mackay df187d5d3f AP_Scripting: add optical flow bindings 2021-08-24 16:49:04 +09:00
Randy Mackay d1f2acd813 AP_NavEKF3: rename varInnovOptFlow to flowVarInnov 
also renamed innovOptFlow to flowInnov
 2021-08-24 16:49:04 +09:00
Randy Mackay 85ade10e85 AP_NavEKF3: ofDataNew made local 2021-08-24 16:49:04 +09:00
Randy Mackay 11847cfcf5 AP_NavEKF3: always calculate optical flow innovations and variances 2021-08-24 16:49:04 +09:00
Randy Mackay 914a8dca49 AP_NavEKF3: for loops use uint8_t instead of unsigned 2021-08-24 16:49:04 +09:00
Randy Mackay 5779ebd177 AP_NavEKF3: remove unused Tbn_flow 2021-08-24 16:49:04 +09:00
Randy Mackay f9fd63e01e AP_NavEKF3: remove unused optflow calcs 2021-08-24 16:49:04 +09:00
Hwurzburg 00a1cbffde AP_CANManager: correct metadata for values 2021-08-24 10:52:33 +10:00
Peter Barker f02ffac9a4 AP_SerialManager: reserve Id 41 for CoDev serially-attached ESCs 2021-08-24 10:24:02 +10:00
Peter Barker e2722c8e12 AP_AHRS: move active_accel_instance into DCM private header section 2021-08-24 10:23:36 +10:00
Peter Barker d6c7c59199 AP_AHRS: remove custom_rotation matrix to frontend 
Only one of these per vehicle
 2021-08-24 10:23:36 +10:00
Peter Barker 645a5302d0 AP_AHRS: move DCM parameters into DCM header 2021-08-24 10:23:36 +10:00
Peter Barker 74709c6292 AP_AHRS: move groundspeed vector up to AP_AHRS_DCM 
The other estimators all have their own implementation of this
 2021-08-24 10:23:36 +10:00
Peter Barker 8169910866 AP_AHRS: move frontend parameters up / DCM parameters down 2021-08-24 10:23:36 +10:00
Peter Barker 62f6a5b033 AP_Compass: fail calibration unless at least 1 compass to cal 2021-08-24 10:18:38 +10:00
Josh Henderson 3c9547caff AP_Baro_SITL: use temp_board_offset and timeout 2021-08-24 09:55:01 +10:00
Josh Henderson e8dcdd60c5 SITL: param use baro temp_board_offset instead of temp_flight 2021-08-24 09:55:01 +10:00
Iampete1 8c61d1a18d AP_Radio: hide params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1 9bcd706dae AP_Proximity: hide params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1 2bad7734db AP_landing: hide deepstall params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1 280171e96b AP_Beacon: hide params with enable flag 2021-08-24 09:38:46 +10:00
Mohammad Hefny 2a14181e69 update to new files names 2021-08-24 07:45:41 +10:00
Mohammad Hefny ac30fbd7b0 SITL: Webots2021b Compatible 2021-08-24 07:45:41 +10:00
Rishabh ae98545202 AC_PrecLand: Add prec landing state machine 2021-08-23 15:00:56 +09:00
Rishabh d4edd84573 AC_Precland: Allow landing retry and failsafe handling 2021-08-23 15:00:56 +09:00
Peter Barker 44803b92c7 SITL: correct SIM_FETtecOneWire consume function 
when this was factored out the parameter wasn't taken into account.
 2021-08-23 13:47:35 +10:00
Andrew Tridgell 531ca4289e HAL_ChibiOS: switch to minimum scheduling delta of 10us 
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.

Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.

Fixes issue #18383
 2021-08-23 10:45:44 +10:00
Peter Barker 5613610641 AP_Arming: remove redundant checks_to_perform check 
This is identical to the check just above it
 2021-08-23 08:51:38 +09:00
Peter Barker 066ad0f8da APM_Control: remove unused variables 2021-08-23 08:39:41 +09:00
Andrew Tridgell 4e98636a53 AP_Terrain: added a TERRAIN_MARGIN parameter 
this sets the acceptance margin for GCS generated terrain data. You
can raise this to allow old data generated with the less accurate
longitude scaling to be used
 2021-08-22 20:32:46 +10:00
Iampete1 df7321c0da AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-21 09:54:33 +01:00
Peter Barker 70aef84997 AP_HAL_ChibiOS: remove definitions of BOARD_PWM_COUNT_DEFAULT 
No longer used
 2021-08-20 10:51:19 +10:00
Peter Barker 815f7017d4 AP_BoardConfig: remove definitions of BOARD_PWM_COUNT_DEFAULT 
No longer used
 2021-08-20 10:51:19 +10:00
Andrew Tridgell fed927f1a4 AP_RCTelemetry: fixed CRSF build dependency issue 
found on custom.ardupilot.org
 2021-08-20 06:46:15 +10:00
Samuel Tabor 27f0320452 AP_Landing_Slope: Log height used for flare timing. 2021-08-19 17:59:33 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 7498d5c296 AP_FETtecOneWire: Fix compilation on some exotic compilers 2021-08-19 17:57:58 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 92a75661e0 AP_FETtecOneWire: Fix state of CRC error counters after _fast_throttle_cmd_count overflow 2021-08-19 17:57:58 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 2f4c79fd1e AP_FETtecOneWire: only check for telemetry if it has been requested at some point 
Only check for telemetry after sending a fast-throttle request for that particular ESC
Added more debug information from message handling state machine
 2021-08-19 17:57:58 +10:00
Tom Pittenger b9918cd0d5 AP_ADSB: added Ping200X driver /w UCP protocol 2021-08-19 17:49:27 +10:00
Tom Pittenger 896dd49c96 GCS_MAVLink: add MAV_CMD_ADSB_IDENT cmd 2021-08-19 17:49:27 +10:00
Tom Pittenger 8c9dcf4ad8 AP_Math: added CRC16_CCITT non-standard variant 2021-08-19 17:49:27 +10:00
Andy Piper 0279c86f7f AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it 
change mamba F405 to active high as per betaflight
 2021-08-19 17:05:42 +10:00
Andrew Tridgell f822d8f5f6 AP_Scripting: example script for testing EKF3/DCM switching 2021-08-19 14:42:28 +10:00
Andrew Tridgell 973466856c AC_WPNav: update variable name for consistency 2021-08-19 14:42:28 +10:00
Andrew Tridgell 285798446a AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-19 14:42:28 +10:00
Andrew Tridgell 53e7436525 AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-19 14:42:28 +10:00
bugobliterator d64621e349 HAL_ChibiOS: remove duplicate FLASH_RESERVE_START_KB from hwdef 2021-08-19 14:20:58 +10:00
bugobliterator ddc50a8420 AP_GPS: add option to set a dedicated line for Moving Baseline Data 2021-08-19 14:20:58 +10:00
bugobliterator e9faab288c GCS_MAVLink: allow mavftp on AP_Periph 2021-08-19 14:20:58 +10:00
bugobliterator a8ab20abd9 AP_HAL_ChibiOS: allow sending stats via mavftp on AP_Periph 2021-08-19 14:20:58 +10:00
bugobliterator 6b64cfd6c1 AP_FileSystem_Sys: allow sending stats via mavftp on AP_Periph 2021-08-19 14:20:58 +10:00
bugobliterator e8c4b99a99 AP_UAVCAN: add support for setting parameters on CAN nodes 2021-08-19 14:20:58 +10:00
bugobliterator 4f65705c99 AP_HAL_ChibiOS: set proper name for CAN terminators on HerePro 2021-08-19 14:20:58 +10:00
bugobliterator d32111b376 AP_GPS: fix handling of RTCM3 parser with user notification for bad cfg 2021-08-19 14:20:58 +10:00
bugobliterator 3b58463bfd AP_GPS: initialise uavcan drv interim_state with state structure at startup 2021-08-19 14:20:58 +10:00
bugobliterator 85d8becb8c AP_GPS: add support for auto config Moving Baseline for AP_Periph GPS 2021-08-19 14:20:58 +10:00
bugobliterator c7907bb8fb AP_HAL_ChibiOS: update config for dual gps heading in HerePro 2021-08-19 14:20:58 +10:00
bugobliterator 9fc57e40b4 AP_GPS: add support for dual GPS heading using Periph GPSes 2021-08-19 14:20:58 +10:00
bugobliterator e29ddebe3c AP_CANManager: remove unused variable from SLCANIface code 2021-08-19 14:20:58 +10:00
bugobliterator ddc82f7619 AP_UAVCAN: add messages for doing MovingBaseline Heading over UAVCAN 2021-08-19 14:20:58 +10:00
Randy Mackay 2fba31332b GCS_MAVLink: support MAV_CMD_SET_EKF_SOURCE_SET command 
this allows external systems to set the active EKF source set
 2021-08-19 12:11:08 +10:00
Andrew Tridgell d92c5589a9 GCS_MAVLink: added fields for new mavlink2 extensions 2021-08-19 12:08:54 +10:00
Andrew Tridgell 46287dcb00 SITL: fixed plane-tailsitter model 
it doesn't play well with smoothing
 2021-08-19 12:08:54 +10:00
Peter Barker be076e5b1a AP_Math: correct descriptions of quaternion functions 2021-08-19 10:00:35 +10:00
TunaLobster 8cd47433ed AP_FETtecOneWire: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
TunaLobster d6a5622fcb AP_NavEKF3: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
TunaLobster 7dd40f0cab AP_NavEKF2: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
TunaLobster 642bd85306 AP_ICEngine: spelling and grammer fixes inc in param description 2021-08-19 10:00:16 +10:00
TunaLobster c0d484570c AP_EFI: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
Peter Barker f465a9336e AP_Button: add debounce on PWM input 
Co-authored-by: jmachuca77 <jaime@element.aero>
 2021-08-18 18:47:28 +10:00
Peter Barker 5d49d29c27 AP_AHRS: move wind-estimation-enabled state to frontend 2021-08-18 18:37:39 +10:00
Peter Barker d2822635ca AP_VisualOdom: adjust for rename yaw_initialised -> dcm_yaw_initialised 2021-08-18 18:37:39 +10:00
Peter Barker 8daa0a099c AP_AHRS: rename yaw_initialised access method to dcm_yaw_initialised 
This is what it really means.

Also put the relevant state within the DCM object
 2021-08-18 18:37:39 +10:00
Iampete1 60e0f47918 AP_Arming: always check configured on copter and blimp 2021-08-18 18:30:51 +10:00
Peter Hall 2ec36d7f7f AP_Scripting: add quadplane in_assisted_flight binding 2021-08-18 18:07:20 +10:00
Peter Barker a91d30369e GCS_MAVLink: stop sending SENSOR_OFFSETS 
Only works for first compass instance.

We have all of these in parameters anyway.
 2021-08-18 18:06:24 +10:00
Andy Piper b78d848a5d AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-18 17:06:09 +10:00
Andy Piper 3790957d02 RC_Channel: add turtle mode docs 2021-08-18 10:49:13 +10:00
Andrew Tridgell 477f936560 SITL: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell 11afdb1ef2 AP_WindVane: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell 61d5910d0a AP_TECS: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell ab89a94d22 AP_Soaring: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell 0bdbdcec21 AP_RCProtocol: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell c0c32a63cc AP_IOMCU: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell d07bf97da6 AP_GyroFFT: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell 17b91903ed AP_Generator: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell de1e44c77e AP_Follow: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell 4faa16b0a7 AP_ExternalAHRS: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell 87ae238ea0 AP_EFI: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell ffe8add56d AP_Compass: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell 730f5cc7e8 AP_BoardConfig: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell a2790f57c0 AP_BattMonitor: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell c80a2c2ef6 AP_Baro: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell d9ee2b3c6c AC_AutoTune: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell 8acc093d1a AC_Autorotation: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell c99f9312db AC_AttitudeControl: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell 872cae6063 AP_Logger: fixed rate limiting of WriteV messages 2021-08-18 10:20:03 +10:00
Peter Hall 8e62385d8d RC_Channel: add lua helper 2021-08-17 11:01:00 +01:00
Peter Hall 5eee3c4eb0 AP_Scripting: add binding to get RC_Channel by number 2021-08-17 11:01:00 +01:00
Josh Henderson aaa8600d7b SITL: SIM_MS5611 fix D1&D2 when temperature compensated & forward_conversion check 2021-08-17 19:08:23 +10:00
Rishabh d9534d9526 AC_Precland: Add new parameter to descend only when close to target 2021-08-17 15:09:55 +09:00
Peter Barker 608608f32f AP_AHRS: internalise application of correct_centrifugal 
This is a DCM-only option but that's not clear with the interface.
Internalise the variable and base it off build type.
 2021-08-17 10:36:46 +10:00
Peter Barker fc6d8222e7 AP_DAL: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Peter Barker 1cfd9f57ce AP_AHRS: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Randy Mackay a1eb84ebfd AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-17 10:13:39 +10:00
Andrew Tridgell 5c86cc6828 AP_NavEKF3: added EK3_PRIMARY parameter 
allows for selection of which IMU to use on startup
 2021-08-17 06:42:42 +10:00
Andrew Tridgell 25ee57080f AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-16 08:33:34 +10:00
Andrew Tridgell 9507f7883f SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-16 08:33:34 +10:00
Pierre Kancir aebe2beba5 AP_HAL_SITL: check that _sitl is not nullptr before using it 2021-08-14 10:20:33 +10:00
Pierre Kancir c91c570814 AP_HAL_SITL: don't use timer_event() that is static from the _scheduler instance 2021-08-14 10:20:33 +10:00
Hwurzburg 0d3b1d90b0 AP_OSD: fixes bug introduced by #16477 2021-08-14 10:17:42 +10:00
Dr.-Ing. Amilcar do Carmo Lucas a3d9a1d463 AP_FETtecOneWire: Do not write to the UART buffer if the previous transfer did not complete yet 
Required for stable operation on F4 processors
 2021-08-13 16:22:37 +10:00
Peter Barker ea7c7f9d19 AP_FETtecOneWire: complete rewrite of the ESC-configuration state machine 
Co-authored-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>

tidy message sending using templates
Calculate and enforce the minimum update period.
Disable unused features to save flash
forced time gaps between all transmits
correct ESC reset functionality
Avoid re-initialization repeatition
Make sure we stop FETtec if safety is on (ignore reverse) this reduces duplicated code
Error count calculation changed
   as the telemetry error count is absolute only the overflow status can be safed and used for the percentage calculation
Update the README to add autotests information
FETtec needs a time gap between frames
  This allows running at high fast_loop_rates
do not send fast_throttle data if a configuration command just got sent
Example parameter configuration file is for a Quadcopter with ESCs connected to Telem2
remove two FIXME
fix compilation in master
Fix the ESC not re-initializing issue.
  Now we re-init whenever we loose connection
RVMASK parameter changes only take effect when not armed
Improve documentation
Always use the same wording when referring to fast-throttle commands
fix pre-arm check message
assure the length of the memmove is positive
Set HAL_AP_FETTEC_CONFIGURE_ESCS to 0 when no ESC hardware is available and you want to test the UART send function
 2021-08-13 16:22:37 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 1b7b705856 AP_FETtecOneWire: Convert into an ArduPilot device driver 
Co-authored-by: Torsten Z <t.zunker@fettec.net>
    Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>

- use ArduPilot's coding guidelines and naming conventions
- control motor speed
- copy ESC telemetry data into MAVLink telemetry
- save ESC telemetry data in dataflash logs
- use RPM telemetry for dynamic notch filter frequencies
- sum the current telemetry info from all ESCs and use it as virtual battery current monitor sensor
- average the voltage telemetry info and use it as virtual battery voltage monitor sensor
- average the temperature telemetry info and use it as virtual battery temperature monitor sensor
- report telemetry communication error rate in the dataflash logs
- warn the user if there is a gap in the bitmask parameter.
- re-enumerate all ESCs if not armed (motors not spinning) when
  - there is a gap in their address space IDs
  - communication with one of the ESCs is lost
  - some of the configured ESCs are not found
  - some of the configured ESCs are not correctly configured
- allows the user to configure motor rotation direction per ESC (only gets updated if not armed)
- adds a serial simulator of FETtec OneWire ESCs
- adds autotest (using the simulator) to fly a copter over a simulated serial link connection
 2021-08-13 16:22:37 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 38a825c987 AP_HAL_ChibiOS: disable FETtec OneWire device driver 2021-08-13 16:22:37 +10:00
Peter Barker 2cf22112a2 AP_Arming: call fettec prearm checks 2021-08-13 16:22:37 +10:00
Peter Barker 97057a1350 SITL: add simulated FETtec ESC 2021-08-13 16:22:37 +10:00
Peter Barker 26f2393014 AP_HAL_SITL: add simulated FETtec ESC 2021-08-13 16:22:37 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 72a69ec274 AP_ESC_Telem: implement get_active_esc_mask() 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-08-13 16:22:37 +10:00
Peter Barker 2251e442cc AP_Math: move crc8_dvb_update into crc library 2021-08-13 16:22:37 +10:00
Pierre Kancir 2020fbaa26 SRV_Channel: add FETtec support 2021-08-13 16:22:37 +10:00
Pierre Kancir c1ad7253b6 AP_SerialManager: add FETtecOneWire protocol 2021-08-13 16:22:37 +10:00
Pierre Kancir 6346739466 AP_FETtecOneWire: Conversion to C++ and initial ArduPilot support 2021-08-13 16:22:37 +10:00
Torsten Z 35861ab616 AP_FETtecOneWire: Initial protocol implementation in C provided by FETtec 2021-08-13 16:22:37 +10:00
Scott Parlane 4d95a9d1c3 AP_InertialSensor: BMI160: Allow configuring the rotation 2021-08-13 12:32:28 +10:00
Scott Parlane 700edd241f AP_InertialSensor: BMI160: Make it possible to use I2C 
The BMI160 chip talks the same protocol over SPI and I2C,
so simply allowing I2C in hwdef is sufficient to allow it to be used.
 2021-08-13 12:32:28 +10:00
Scott Parlane 6554c535a1 AP_InertialSensor: BMI160: Remove linux-only restriction 2021-08-13 12:32:28 +10:00
Hwurzburg 400cf31df1 AP_Scripting: Add mission selection applet 2021-08-13 08:18:55 +10:00
Andy Piper b6ec06ac0f AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-12 19:07:51 +09:00
Andy Piper 68fd87091c AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-12 19:07:51 +09:00
Andy Piper b9598dac00 RC_Channel: add turtle mode to RC option 150 2021-08-12 19:00:51 +09:00
Andy Piper a51e58022f AP_HAL_ChibiOS: add accessor for reversed mask 
allow mask updates to be disabled
send dshot commands even if armed - they will be accepted as long as throttle is at zero
only accept low-priority dshot commands while disarmed
apply reversed and reversible mask as servo channels
 2021-08-12 19:00:51 +09:00
Andy Piper 09e0135ecb AP_HAL: add accessor for reversed mask 
allow mask updates to be disabled
document mask types
define DSHOT_ZERO_THROTTLE
 2021-08-12 19:00:51 +09:00
Andy Piper 5ece42bce0 RC_Channel: add turtle mode 2021-08-12 19:00:51 +09:00
Andy Piper 513aa592e4 AP_Motors: add accessors for turtle mode 2021-08-12 19:00:51 +09:00
Tom Pittenger 00cc8a4042 AP_BattMonitor: fix mppt sequence bug 
closes https://github.com/ArduPilot/ardupilot/issues/18283
 2021-08-12 14:37:04 +10:00
Pierre Kancir bff899e8f2 AP_OSD: check for nullptr before using it 2021-08-12 13:56:53 +10:00
Pierre Kancir 99456ba1f8 AP_Logger: fix MAVLink logger random failure on SITL 
rand() return an int
 2021-08-12 13:55:22 +10:00
Pierre Kancir 8216905f47 AP_NavEKF3: remove unecessary assignements 2021-08-12 10:39:49 +09:00
Pierre Kancir d95f503a32 AP_NavEKF2: remove unecessary assignements 2021-08-12 10:39:49 +09:00
Pierre Kancir adf86357aa AP_ESC_Telem: prevent possible overrun 2021-08-12 11:20:24 +10:00
Pierre Kancir 7739ddefd0 AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-12 11:20:24 +10:00
Pierre Kancir a0175441a0 AP_ESC_Telem: fix out of bound access 2021-08-12 11:20:24 +10:00
Randy Mackay b399649c36 AP_Torqeedo: increase speed cmd at 50hz 
under human control the tiller/battery only sends at 3hz but in testing it is capable of at least 50hz (but not as much as 100hz)
 2021-08-12 10:54:36 +10:00
Peter Barker 29aed55a74 AP_AHRS: remove pointless zeroing of gyro_estimate vector 
This value is assigned to in the following "if" block in both the for
and against cases, and isn't used to determine the new value.
 2021-08-12 08:52:24 +10:00
Peter Barker 73bad9fd2d AP_AHRS: move fly_forward flag to front end 
This same flag is requested by the DAL so AN_NavEKF2 and AP_NavEKF3 can
use it in their estimates - so AP_AHRS_DCM accessing it via the same
mechanism is not out-of-shape
 2021-08-11 15:36:22 -07:00
bugobliterator 6bbfe35c73 AP_Logger: do not use AP_Scheduler for AP_Periph builds 2021-08-12 07:57:12 +10:00
Peter Barker 1db7e9e2e2 AP_NavEKF: log EKF data source set changes 2021-08-11 19:28:28 +09:00