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63360 Commits

Author SHA1 Message Date
Peter Barker c6a239ef63 autotest: correct Valgrind error detection 2024-05-31 13:23:03 +10:00
Peter Barker ac7629c546 autotest: fold close method into sole caller 
we're missing the non-zero-valgrind-logs-means-failure check somehow
 2024-05-31 13:23:03 +10:00
Ryan Friedman 513938b0ff AP_DDS: Use common quaternion initialization function 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-30 16:57:28 +10:00
Colin Wong e27dea7003 ArduSub: implement servo 2 and 3 min/max-toggle button functions 2024-05-29 13:35:58 -03:00
Leonard Hall 0accc61107 AC_AutoTune: Move functions out of HAL_LOGGING_ENABLED 2024-05-29 18:29:23 +10:00
Leonard Hall 20edb9185d Copter: Autotune: Remove double call to AC_Attitude_Control 2024-05-29 18:29:23 +10:00
Leonard Hall b9e06402af Copter: Autotune: Increase waiting for level timeout. 2024-05-29 18:29:23 +10:00
Leonard Hall cebcbf0044 Copter: Autotune: Virtual methods to separate Heli and Multi 2024-05-29 18:29:23 +10:00
Leonard Hall 45525a40b8 Copter: Autotune: Don't Fail min D for Yaw Filter 2024-05-29 18:29:23 +10:00
Leonard Hall a7962c35b6 Copter: Autotune: Reduce MIN_D 2024-05-29 18:29:23 +10:00
Leonard Hall 858d90cb95 Copter: Autotune: Improve angle limit test 2024-05-29 18:29:23 +10:00
Leonard Hall 712cf3696b Copter: Autotune: Small changes for clarity 2024-05-29 18:29:23 +10:00
Leonard Hall 79f4e0a2d8 Copter: Autotune: Level requirement improvements 2024-05-29 18:29:23 +10:00
Leonard Hall 41a5a1b8fe Copter: Autotune: Notify user of min Rate D for action 2024-05-29 18:29:23 +10:00
Leonard Hall fcd3c8502f Copter: Autotune: Twitch direction enhancements 2024-05-29 18:29:23 +10:00
Leonard Hall e2560371cf Copter: Autotune: Base angles limits on lean_angle_max 2024-05-29 18:29:23 +10:00
Leonard Hall 54618dd903 Copter: Autotune: Fail when bad tune is expected 2024-05-29 18:29:23 +10:00
Leonard Hall 13fb69be7c Copter: Autotune: Look for bounce earlier in test 2024-05-29 18:29:23 +10:00
Leonard Hall 18d18d14fc Copter: Autotune: Set D = 0 for Yaw test 2024-05-29 18:29:23 +10:00
Leonard Hall c000efdabe Copter: Autotune: Increase test timeout 2024-05-29 18:29:23 +10:00
Leonard Hall 327fd034da Copter: Autotune: Reduce default AGGR 2024-05-29 18:29:23 +10:00
Leonard Hall c47b3b8f03 Copter: Autotune: Reduce chance of desync 2024-05-29 18:29:23 +10:00
Tom Pittenger 9669699405 AP_Networking: enable Socket IP reuse 2024-05-29 18:29:03 +10:00
Andy Piper 304751e162 AP_RCTelemetry: only update VTX parameters if CRSF provider was enabled 2024-05-29 17:49:08 +10:00
Andy Piper 607249d73d AP_VideoTX: add autobauding to Tramp 
Record enabled backends
 2024-05-29 17:49:08 +10:00
Rhys Mainwaring 88926a38cf AP_DDS: make all subscriber QoS best effort reliability 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-05-29 17:47:52 +10:00
Rhys Mainwaring 840f4b142d AP_DDS: fix type string for navsat msg 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-05-29 17:47:52 +10:00
Rhys Mainwaring 017d970aef pre-commit: remove check for dds_xrce_profile.xml 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-05-29 17:47:52 +10:00
Rhys Mainwaring 296cdc58a3 Tools: ros2: remove dds_xrce_profile.xml 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-05-29 17:47:52 +10:00
Rhys Mainwaring c71ef23657 AP_DDS: create entities by binary 
- Add topic name and type to topic table.
- Use binary creation functions for participants and topics.
- Add constant for domain ID.
- Create publishers and datawriters by binary
- Create subscribers, datareaders and services by binary
- Add extra fields to the services table.
- Remove dds_xrce_profile.xml
- Document additional service table fields
- Add QoS struct to topic and service tables
- Replace profile labels with enums.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-05-29 17:47:52 +10:00
xingchengGE 3ba16eb933 AP_Motor: Fix a typo 2024-05-29 16:28:02 +09:00
radityankn 4cab322356 Update RCOutput.cpp 
erasing additional curly brackets
 2024-05-29 17:02:48 +10:00
radityankn 119f822583 AP_HAL_ESP32: support for Safety Switch 
modified RCOutout.cpp to read specified pin for safety switch and light
the LED on another specified pin
 2024-05-29 17:02:48 +10:00
David Buzz 1c9a44c33e AP_HAL_ESP32:LOWERING the MAIN_PRIO gets a 400hz loop rate on s3 "empty" board 
loop_rate: actual: 400.000000Hz, expected: 400Hz
loop_rate: actual: 400.000000Hz, expected: 400Hz
loop_rate: actual: 400.000000Hz, expected: 400Hz
[ setup esp32 build env ] 
./waf configure --board=esp32s3empty --debug
./waf copter --debug --disable-scripting --upload
 after upload:
cd build/esp32s3empty/esp-idf_build && ninja monitor && cd -
[watch console output for 2 minutes]
ctrl-right-square-bracket to stop watching console.
 2024-05-29 13:12:37 +10:00
David Buzz 07092715a7 AP_HAL_ESP32: print loop rate 
loop rate getting 262Hz from console after approx 2 minutes boot

loop_rate: actual: 262.022766Hz, expected: 400Hz
loop_rate: actual: 262.022766Hz, expected: 400Hz

t
 2024-05-29 13:12:37 +10:00
David 'Buzz' Bussenschutt 529d783e0e AP_HAL_ESP32: automatic S3 sdkconfig changes generated by IDF 2024-05-29 13:12:37 +10:00
Pierre Kancir 9623e7a249 AP_HAL_SITL: Give tcp client 3 attempts to connect 
This make tcp client connection easier when connecting multiple sitl instances
 2024-05-29 13:12:09 +10:00
Peter Barker bdb84ed244 autotest: add test for Guided WeatherVane behaviour 2024-05-29 13:11:58 +10:00
Peter Barker 1c5a026e3e Copter: ModeGuided: add an option_is_enabled method, use it 2024-05-29 13:11:58 +10:00
Andrew Tridgell d305cb47f8 AP_Scripting: added GPS yaw binding 
useful for seeing if switching to a GPS yaw source set in EK3 will work
 2024-05-29 12:56:57 +10:00
Andrew Tridgell bf9f3b8660 AP_Scripting: added notch_switch example 
switch between two notch setups using attenuation change
 2024-05-29 12:56:43 +10:00
Andrew Tridgell 8f9bf6793b Tools: fixed language checker invocation 2024-05-29 12:56:43 +10:00
Henry Wurzburg f5f78b7711 AP_HAL_ChibiOS:Improve SDMODELH7V2 definition 2024-05-29 10:40:03 +10:00
Alex Burka c027c2e978 docker: add usage instructions to BUILD.md 2024-05-29 08:31:11 +09:00
Alex Burka dcf41cfe81 docker: fix docker detection in install-prereqs-ubuntu.sh 
The standard "are we in docker" checks don't seem to work during a
build, so just use an environment variable.
 2024-05-29 08:31:11 +09:00
Alex Burka 32fc9853f0 docker: configure environment for STM compilation 2024-05-29 08:31:11 +09:00
Alex Burka 832f7c93dd docker: install necessary python packages 2024-05-29 08:31:11 +09:00
Alex Burka e5e78d3e3f docker: only set env vars during prereq installation 2024-05-29 08:31:11 +09:00
Alex Burka 26596484ed docker: remove "waf" alias 
It was difficult to use the alias, since aliases aren't inherited by
subshells, so the only way is to run `source ~/.ardpuilot_env` again
inside the container, which doesn't seem worth it to avoid a couple of
`./` which are in all of the documentation anyway.
 2024-05-29 08:31:11 +09:00
petrosilius 1d810bfa6f AP_Scripting: added tracker Pelco-D control script 
This script uses the scaled output from the antennatracker servos and map them to corresponding Pelco-D messages to be sent via a RS-485 interface to a motorized base (can be anything from motorized tracker to a PTZ camera).
If your FCU doesnt offer a RS-485 interface by default, you can use or TTL-RS485- or USB-RS485-adapters.

Pelco-D allows to control using either speed-/differential- or absolute-control control of the pan-/tilt-axis.
Currently the script uses speed based control using by mapping the "ContinuousRotation" type servos outputs to the corresponding Pelco-D messages.
The absolute control messages are implemented nevertheless for future use.

The script assumes therefor at least the following parameters to be set:

SCR_ENABLE = 1
SERVO_PITCH_TYPE = 2  # ContinuousRotation type servo
SERVO_YAW_TYPE = 2    # ContinuousRotation type servo
SERIALx_PROTOCOL = 28 # serial port used by luascript

Additionally the PITCH2SRV and YAW2SRV tuning needs to be done as described by the antennatracker description.
Also keep attention to the PITCH_MIN, PITCH_MAX and YAW_RANGE parameters to fit your Pelco-D hardware!
 2024-05-28 17:42:52 +10:00