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54,886 Commits 71 Branches 510 Tags 771 MiB
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30600 Commits

Author SHA1 Message Date
Andy Piper
7f0fd504f7 Filter: optimize notch filter frequency updates when the requested frequency has not changed 2022-10-04 16:50:15 +09:00
yaapu
e6b0947393 AP_MSP: move arming status to MSP telemetry base class 2022-10-04 16:50:15 +09:00
yaapu
f7c74c2d73 AP_OSD: New per screen PARAMs for OSD overlay resolution and font 
This adds
 OSDn_TXT_RES to select SD/HD overlay resoloution
 OSDn_FONT_INDEX for font index selection

Right now support is limited to MSP Displayport OSD devices
 2022-10-04 16:50:15 +09:00
Randy Mackay
942fed8ac5 AP_Mount: remove set_mode overrides 
The mode state is local to the driver and does not depend upon successful communication with the gimbal
 2022-10-04 16:50:15 +09:00
yaapu
d483799f2d AP_OSD: Fixed UART thread ownership for the MSP DisplayPort OSD Backend 2022-10-04 16:50:15 +09:00
Henry Wurzburg
709888aaf7 SRV_Channel: change sw and output names to match new MOUNT params 2022-10-04 16:50:15 +09:00
Henry Wurzburg
13d4c796f8 RC_Channel: change sw and output names to match new MOUNT params 2022-10-04 16:50:15 +09:00
Michael du Breuil
187c97e946 AP_Arming: Expose ARMING_OPTIONS to all vehicles 2022-10-04 16:50:15 +09:00
murata
4d7e819bac AP_InertialSensor: Allow gyro counts to be returned 2022-10-04 16:50:15 +09:00
Andy Piper
5ce02708cf AP_InertialSensor: make sure dynamic notches always get updates so that slew limiting is not too aggressive 2022-10-04 16:50:15 +09:00
Andy Piper
6eff3922db Filter: constrain harmonic notch center frequency changes to be within a slew limit 
raise notch filter slew for smaller aircraft
ensure NotchFilter init() resets the center frequency
 2022-10-04 16:50:15 +09:00
Andy Piper
adaed75a0d AP_Vehicle: make sure notches are not spurious disabled when not using throttle notch 2022-10-04 16:50:15 +09:00
Yuri
48d3cdbfe6 AP_HAL_ChibiOS: define skyviper short board names 2022-10-04 16:50:15 +09:00
Yuri
803e8e9b37 GCS_MAVLink: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri
a6bbb13731 AP_Radio: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri
56bec53e2c AP_Logger: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri
a898cbbd5d AP_HAL_SITL: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri
b0bc7591dd AP_HAL_Linux: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri
9312c571c6 AP_HAL_ESP32: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri
e84eda5317 AP_HAL_ChibiOS: define CubeOrange-SimOnHardWare short board name 2022-10-04 16:50:15 +09:00
Yuri
9b6e670c82 AP_HAL_ChibiOS: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri
760af1fe37 AP_HAL: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Peter Barker
cd6b1b2667 AP_GPS: use default case for sending blob 
This structure avoids a compiler warning that a statement isn't reachable when all backends are compiled out.
 2022-10-04 16:50:15 +09:00
Peter Barker
945e342001 AP_GPS: no init blobs for SBF/GSOF/NOVA/SITL 2022-10-04 16:50:15 +09:00
Peter Barker
624a708c0d AP_GPS: cycle through baud rates for SBF/GSOF/NOVA/SITL 2022-10-04 16:50:15 +09:00
Iampete1
1d9fb68036 SRV_Channel: adjust trim, check all channels for range limit 2022-10-04 16:50:15 +09:00
Paul Riseborough
cd3b7389ea AP_NavEKF3: Allow wind states to recover faster when airspeed sensor failed 2022-10-04 16:50:15 +09:00
Andrew Tridgell
f367fe5a73 AP_Airspeed: allow EKF checking without wind max 2022-10-04 16:50:15 +09:00
Paul Riseborough
a41a45a128 AP_Airspeed: Update documentation for used parameter index warnings 2022-10-04 16:50:15 +09:00
Andrew Tridgell
db32d7c9bd AP_Logger: fixed missing doc field 2022-10-04 16:50:15 +09:00
Paul Riseborough
f70ee99851 AP_Airspeed: remove unsupported parameter units descriptor 2022-10-04 16:50:15 +09:00
Paul Riseborough
642c8baee5 AP_Airspeed: Add tuning advice for ARSP_WIND_GATE 2022-10-04 16:50:15 +09:00
Paul Riseborough
810f0fb95b AP_Airspeed: Add hysteresis to consistency check 2022-10-04 16:50:15 +09:00
Paul Riseborough
2cc2bf2a71 AP_TECS: Assume flight at cruise speed if speed measurement not available 2022-10-04 16:50:15 +09:00
Paul Riseborough
c6aeadd320 AP_Airspeed: Enable use of EKF3 to check airspeed health 2022-10-04 16:50:15 +09:00
Paul Riseborough
e45d68d2e8 AP_Logger: Fix ARSP data type string 2022-10-04 16:50:15 +09:00
Paul Riseborough
05046c1400 AP_Logger: Add consistency test ratio to ASPD logging 2022-10-04 16:50:15 +09:00
Paul Riseborough
24cb640321 AP_AHRS: Add accessor function for airspeed health monitoring 2022-10-04 16:50:15 +09:00
Paul Riseborough
2edf166252 AP_NavEKF3: Allow reporting of airspeed consistency for a deselected sensor 2022-10-04 16:50:15 +09:00
Paul Riseborough
85c1c98a59 AP_NavEKF3: Add accessor function for airspeed health monitoring 2022-10-04 16:50:15 +09:00
Paul Riseborough
47189d2c73 AP_NavEKF3: Enable monitoring of unhealthy airspeed sensors 
Innovations and innovation test ratios will still be calculated and reported for an unhealthy sensor, but the EKF states wnd covariance matrix will not be modified.
 2022-10-04 16:50:15 +09:00
Andy Piper
6a60f1a421 AP_RPM: fix reporting of RPM from the harmonic notch 2022-10-04 16:50:15 +09:00
Andrew Tridgell
76c0825136 AP_Motors: added a SPIN_MIN check 
and check SPIN_ARM <= SPIN_MIN
 2022-10-04 16:50:15 +09:00
Andrew Tridgell
fb28a26511 AP_BoardConfig: load CUAVv6X defaults when detected 2022-10-04 16:50:15 +09:00
Andrew Tridgell
394cdba297 AP_Param: make load_defaults_file() available on ChibiOS 2022-10-04 16:50:15 +09:00
Andrew Tridgell
a036d14a1e hwdef: added CUAV_V6X default parameters 2022-10-04 16:50:15 +09:00
Andrew Tridgell
57c873d304 AP_CANManager: disable SLCAN when armed 
this disables SLCAN if enabled using CAN_SLCAN_CPORT and
SERIALn_PROTOCOL=22 when we are armed, to reduce load on the CAN
thread from the very inefficient SLCAN processing
 2022-10-04 16:50:15 +09:00
Andrew Tridgell
5c7a2b6369 hwdef: reduced memory usage on MatekF405-CAN board 2022-10-04 16:50:15 +09:00
Andy Piper
2c82fb5f38 AP_HAL_ChibiOS: make sure SkystarsH7HD has functioning VTX on Camera 1 by default 2022-10-04 16:50:15 +09:00
Andy Piper
f345c21078 AP_HAL_ChibiOS: put RX on UART1 on Skystars H7HD bdshot 
make sure VTX has power on Skystars H7HD at boot
 2022-10-04 16:50:15 +09:00
Andy Piper
4be9377d54 AP_HAL_ChibiOS: hwdef for bdshot variant of SkystarsH7HD 
Correct bootloader storage location for SkystarsH7HD
 2022-10-04 16:50:15 +09:00
yaapu
191a44b471 ArduPlane: fixed roll and pitch for OSD VTOL view 2022-10-04 16:50:15 +09:00
Bob Long
43c06a1646 AP_Mission: initialize jump-tracking in init() 2022-10-04 16:50:15 +09:00
Peter Barker
57c6a93564 AP_Mission: zero frame field when filling mavlink_int from mavlink_cmd 
Callers should be filling their bits in after calling this.
 2022-10-04 16:50:15 +09:00
Andrew Tridgell
03c27c6626 AP_NavEKF3: fixed EKF3 origin alt inconsistency 
always use common origin, and adjust output posD for difference
between public and local lane origin heights
 2022-10-04 16:50:15 +09:00
Peter Barker
13b905cd00 AP_RPM: correct SITL backend compilation if RPM disabled in SITL 2022-10-04 16:50:15 +09:00
Andy Piper
709fc43032 AP_VideoTX: ensure that Tramp changes are broadcast to the GCS 2022-10-04 16:50:15 +09:00
Andy Piper
c5d5b0aedb AP_VideoTX: fix potential buffer overrun bug 2022-10-04 16:50:15 +09:00
Andy Piper
eaba8b7afb AP_VideoTX: add lookup tables for VTX power settings 
correct settings when power set is received
add support for capturing all supported power levels
learn power levels in SmartAudio 2.1
add better support for VTX power levels
don't set power to 0 if in pitmode
add option for iNav compatibility
support non-conforming SmartAudio implementations
re-enable pitmode on SmartAudio 2.0
add support for "blind" VTX setting
 2022-10-04 16:50:15 +09:00
Andrew Tridgell
59bfbbe6ae hwdef: rename board at request of vendor 
there are multiple AtomRCF405 boards
 2022-10-04 16:50:15 +09:00
Andrew Tridgell
a7dd59fc75 SITL: fixed tailsitter airspeed in RF9 2022-09-13 14:20:02 +09:00
Andrew Tridgell
e379aa359b AP_Scripting: added set_rpm_scale example 2022-09-13 14:20:02 +09:00
Andrew Tridgell
69b5ca8c07 AP_Scripting: added set_rpm_scale API 2022-09-13 14:20:02 +09:00
Andrew Tridgell
81c98e0038 AP_ESC_Telem: support set_rpm_scale() call for scripting 2022-09-13 14:20:02 +09:00
Iampete1
d066588c91 AC_Fence: always clear breaches 2022-09-12 08:57:42 +09:00
olliw42
64b1277a66 AP_Mount: storm integrates find_by_mavtype_and_compid 
Note that this forces users to set their gimbal's component id while before any component id was acceptable
 2022-09-12 08:44:38 +09:00
Randy Mackay
7c9b487779 AP_Mount: gremsy integrates find_by_mavtype_and_compid 2022-09-12 08:44:38 +09:00
olliw42
c034f8a099 GCS_MAVLink: add find_by_mavtype_and_compid 2022-09-12 08:44:38 +09:00
Iampete1
64d9413871 hwdef: Hitec-Airspeed: disable UART to save flash 2022-09-11 14:02:18 +10:00
Andrew Tridgell
a0530a4816 hwdef: fixed FlyingmoonF427 servo rail voltage 2022-09-11 08:29:12 +10:00
Andrew Tridgell
ee5fc4ad8e AP_Airspeed: use row_times_mat 2022-09-11 07:57:16 +10:00
Andrew Tridgell
0d7da89ef1 SITL: fixed rotation of airspeed in tailsitters in FlightAxis 2022-09-11 07:57:16 +10:00
Andrew Tridgell
5470c6435e AP_Math: rename * operator for vector3f * matrix3f 2022-09-11 07:57:16 +10:00
Michael du Breuil
5282dba42a GCS_MAVLink: Rate limit blocking accel calibrations 
This allows us to drop any queued commands that may have arrived while
we were calibrating. Rather then entering a second and unexpected
calibration.
 2022-09-09 08:52:14 +10:00
Andrew Tridgell
dd89d68107 hwdef: added AtomRC F405 board 2022-09-09 07:14:51 +10:00
Iampete1
f3dc805978 AP_Motors: Block Spoolup: stop advance from ground idle 2022-09-07 17:03:03 +01:00
Andy Piper
2de992dcf1 AP_ESC_Telem: avoid FPE on macos 
use floats for rpm in API calls
 2022-09-07 17:03:03 +01:00
Randy Mackay
ff91bbd762 AP_Motors: add spoolup block 2022-09-07 17:03:03 +01:00
Andy Piper
b9280630f5 AP_ESC_Telem: add are_motors_running() based on rpm feedback 
add spin armed rpm to SITL
use floats for rpm in API calls
implement is_telemetry_active()
simulate ESC telemetry in SITL
 2022-09-07 17:03:03 +01:00
Andy Piper
ab64480d2b SITL: add spin armed rpm 2022-09-07 17:03:03 +01:00
Iampete1
e72e5a2751 AP_Motors: add pre-arm check 2022-09-07 17:54:16 +10:00
Michael du Breuil
ff94ef1c60 GCS_MAVLink: Check for mission space before sending items 2022-09-07 17:52:23 +10:00
Randy Mackay
152ef7f78f AP_Mission: do-gimbal-manager-pitchyaw command supports multiple gimbals 2022-09-07 16:09:07 +09:00
Randy Mackay
f932add7ea AP_Mount: mav-cmd-do-gimbal-manager-pitchyaw supports multiple gimbals 2022-09-07 16:09:07 +09:00
Randy Mackay
73d817b985 AP_Mount: add access for primary instance 2022-09-07 16:09:07 +09:00
Randy Mackay
76096899ac AP_Mount: add 2nd instance 2022-09-07 16:09:07 +09:00
Michael du Breuil
0c73da5e79 AP_Logger: Strictly handle NACK/ACK 
This is a change in bevaiour. The previous behaviour was to check for a
NACK, and if it wasn't a NACK it was assumed to be an ACK. This is a bad
assumption to let people get away with, because in the future if we ever
add other options to the enum we are more likely to have to cope with
bad implementation in the wild
 2022-09-07 10:25:30 +10:00
Randy Mackay
93f62e5abe Tools: SilentWings param file MNT updates 
These parameters have been renamed but they were always the defaults
 2022-09-06 13:53:25 +09:00
Randy Mackay
c072a201bc AP_Mount: param conversion for MNT to MNT1 2022-09-06 13:53:25 +09:00
Randy Mackay
66a8775895 AP_Mount: remove param set of MNT1_TYPE to 1 if servo outputs defined 2022-09-06 13:53:25 +09:00
Randy Mackay
c20ec27c54 AP_Mount: parameter angles in degrees 
Also MNTx_RC_RATE param per backend
 2022-09-06 13:53:25 +09:00
Randy Mackay
ac769baa3c AP_Mount: Servo mount's STAB params replaced by BrushlessPWM type 2022-09-06 13:53:25 +09:00
Randy Mackay
0d9526f1c5 AP_Mount: replace RC input params with RC options 2022-09-06 13:53:25 +09:00
Randy Mackay
cc67d6f73c RC_Channel: define mount roll, pitch and yaw inputs 2022-09-06 13:53:25 +09:00
chobitsfan
43105249cb PrecLand: support LANDING_TARGET ext field 2022-09-06 12:10:21 +09:00
Andrew Tridgell
b7b02bd369 AP_Rangefinder: fixed out of range issue with benewake uart lidars 
this impacts the TF03 180m lidar
 2022-09-06 12:34:41 +10:00
Shiv Tyagi
7d3f013695 AR_PosControl: add accessor for reversed 2022-09-06 11:23:51 +09:00
Shiv Tyagi
d982c28ef2 AR_WPNav: add accessors for accel and jerk limits 2022-09-06 11:23:51 +09:00
Andrew Tridgell
e1c006c25d AP_Math: added double_to_int32 and double_to_uint32 2022-09-06 10:49:50 +10:00
Andrew Tridgell
3c232d1f67 SITL: fixes from --ubsan autotest 2022-09-06 10:49:50 +10:00
Andrew Tridgell
53997a284b AP_HAL_SITL: fixes from --ubsan autotest 2022-09-06 10:49:50 +10:00
Andrew Tridgell
b44a084a1e AP_Frsky_Telem: fixes from --ubsan autotest 2022-09-06 10:49:50 +10:00
Andrew Tridgell
c2b29a92c7 AP_ExternalAHRS: fixes from --ubsan autotest 2022-09-06 10:49:50 +10:00
Andrew Tridgell
286ea7499b AP_MSP: use BIT_IS_SET_64() 
the bitmask is 64 bits wide
 2022-09-06 10:49:50 +10:00
Andrew Tridgell
cda3fb6368 AP_Common: added BIT_IS_SET_64() 2022-09-06 10:49:50 +10:00
Andrew Tridgell
4ed55d9e21 Filter: fixed out of bound access in ModeFilter 2022-09-06 10:49:50 +10:00
Iampete1
60a75a0973 AP_Scripting: examaples move to : acsess 2022-09-06 10:39:35 +10:00
Iampete1
5b2236e88c AP_Scripting: Manual bindings: allow both : and . acsess 2022-09-06 10:39:35 +10:00
Henry Wurzburg
2c8c037b93 SRV_Channel:Correct metadata mistake in PR #21347 2022-09-06 10:35:14 +10:00
Willian Galvani
5ed2785dfa AP_HAL_Linux: create GPIO_Navigator 2022-09-06 09:34:07 +10:00
Willian Galvani
710cbacef7 RCOutput_PC9685: refactor write/write_gpio 2022-09-06 09:34:07 +10:00
Willian Galvani
603bc5ecce RCOutput_PCA9685: implement gpio methods 2022-09-06 09:34:07 +10:00
Willian Galvani
018ab14814 RC_Output.h: add gpio methods 2022-09-06 09:34:07 +10:00
Andy Piper
d82ba1b7a3 AP_HAL_ChibiOS: use faster SPI clock for BMI270 on MambaH743 and KakuteH7v2 2022-09-06 09:31:21 +10:00
Andy Piper
fcbaa0969e AP_InertialSensor: synchronize BMI70 on fifo reads 2022-09-06 09:31:21 +10:00
Henry Wurzburg
d31f6c2f57 AP_GPS: remove incorrect build option on GPS_DRV_OPTIONS param 2022-09-05 12:48:51 +10:00
AerofoxTech
b9b158216b hwdef: add AeroFox Airspeed periph 2022-09-05 12:36:11 +10:00
Andrew Tridgell
f8b1169165 HAL_ChibiOS: rename ecc_raw to apsec_data 2022-09-05 12:35:37 +10:00
Andrew Tridgell
36e9f9b7d1 AP_CheckFirmware: rename secure data to apsec_data 2022-09-05 12:35:37 +10:00
Andrew Tridgell
f899a47429 HAL_ChibiOS: removed debug msg 2022-09-05 12:35:37 +10:00
Andrew Tridgell
30ed94c73c hwdef: disable UARTS in MatekL431 bootloader 
this saves a lot of flash, and UARTs are not needed in the
bootloader. It means we can fit a bootloader with signing for ESC
based RemoteID support
 2022-09-05 12:35:37 +10:00
Andrew Tridgell
39595d36be AP_CheckFirmware: allow an unsigned bootloader to boot a signed firmware 
this is important to provide an upgrade path for AP_Periph from
unsigned to signed. It means a bootloader with no public keys can
still check the board ID and CRCs of the signed firmware
 2022-09-05 12:35:37 +10:00
Andrew Tridgell
bf511640cf AP_CheckFirmware: added check_signed_bootloader() 2022-09-05 12:35:37 +10:00
Andrew Tridgell
b79f3caf86 GCS_MAVLINK: report on unsigned bootloader flash attempt 2022-09-05 12:35:37 +10:00
Andrew Tridgell
b74c9b5862 HAL_ChibiOS: protect against flashing bootloader without public keys 2022-09-05 12:35:37 +10:00
Andrew Tridgell
a6c5e38c5a AP_HAL: added NOT_SIGNED error code 2022-09-05 12:35:37 +10:00
Andrew Tridgell
2c6418a920 AP_HAL: fixed linux build 2022-09-05 12:35:37 +10:00
Andrew Tridgell
1f4db8204b AP_CheckFirmware: support updating or removing public keys 
this supports fetching, updating and removing public keys using the
SECURE_COMMAND mavlink operations. This will allow for vendors to
remotely hand over management of RemoteID security to new vendors
 2022-09-05 12:35:37 +10:00
Andrew Tridgell
611f26f16c GCS_MAVLink: support SECURE_COMMAND 2022-09-05 12:35:37 +10:00
Andrew Tridgell
029947efc7 AP_CheckFirmware: allow for boot if no public keys 
this will allow for SECURE_UPDATE command to unlock bootloader
 2022-09-05 12:35:37 +10:00
Jeffrey Laut
3133aff352 SITL: fix simulated RC failure while receiving RC overrides 2022-09-02 12:08:34 +10:00
Peter Barker
b580c873a8 AP_IOMCU: log number of errors reading status page 2022-09-02 11:16:52 +10:00
Peter Barker
605f42947e AP_IOMCU: log regardless of success reading status page 2022-09-02 11:16:52 +10:00
Peter Barker
0be9c83692 AP_IOMCU: break logging out as a method 2022-09-02 11:16:52 +10:00
Leonard Hall
f3cd5a9a38 AC_PosControl: Fix slow target decay decay problem 2022-09-02 09:02:46 +09:00
Leonard Hall
af54acd202 AC_WPNav: AC_Loiter: Fix loiter level bug 2022-09-02 09:02:46 +09:00
Leonard Hall
4a12faea92 AC_PosControl: Make get_z_accel_cmss public 2022-08-31 19:19:04 -04:00
Mohammad Hefny
a8bf2c0141 fix: baro same driver multi-definition 2022-09-01 08:39:43 +10:00
Peter Barker
1fea941fdb AC_Fence: correct compilation when fence compiled out 2022-09-01 08:25:55 +10:00
Peter Barker
a9a3de8f20 AP_Logger: correct compilation when fence compiled out 2022-09-01 08:25:55 +10:00
TunaLobster
f28f5a1ad5 SRV_Channel: Add SRV fucntions for scaled RC passthrough 2022-08-31 17:05:39 +10:00
Iampete1
da5ec973c5 AP_Scripting: add error message buffer semaphore 2022-08-31 17:04:24 +10:00
Iampete1
e3931a6f56 AP_Scripting: add debug option to disable pre-arm 2022-08-31 17:04:24 +10:00
Iampete1
bbcb7b5827 AP_Scripting: move to common status text "Scripting:" prefix to save flash 2022-08-31 17:04:24 +10:00
Iampete1
e2c29b09ab AP_Scripting: add arming check for failed scripts 2022-08-31 17:04:24 +10:00
Iampete1
c5c09860da AP_Arming: move scripting checks to scripting 2022-08-31 17:04:24 +10:00
Andrew Tridgell
d7710e5ccf HAL_ChibiOS: make it easy to debug secure boot on Nucleo-G491 2022-08-31 10:14:25 +10:00
Shiv Tyagi
8bd26dffac AC_PrecLand: rotate target vector based on sensor orient 
Since, the frontend takes care of rotating sensor frame target vector to body frame, the  sitl backend should return unit
vector in sensor frame instead of body frame. This is to have homogeneity among backends.
 2022-08-30 03:44:26 -04:00
Shiv Tyagi
bc3ff20871 AC_PrecLand: add _ORIENT param to precland library 
The orient parameter will help us construct a direction of approach vector in vehicle body frame. This vector would help
us rotate the target vector from sensor frame to body frame and determine the horizontal position error of vehicle for
more orientations than just PITCH_270
 2022-08-30 03:44:26 -04:00
esaldiran
bbeef1a5cd AC_CustomControl: add README 2022-08-30 13:10:09 +10:00