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23462 Commits

Author SHA1 Message Date
Andy Piper
05366e9aa9 AP_InertialSensor: delegate active harmonic calculation to the filter 2020-07-14 09:50:06 +10:00
Andy Piper
a93821110e Filter: return active harmonics based on dynamic harmonic enablement 2020-07-14 09:50:06 +10:00
Andy Piper
80e1c0ebb0 AP_RCProtocol: decode DSM frame markers to avoid timing related jitters especially in SITL 
complete re-write of DSM decoding
 2020-07-13 19:36:49 +10:00
Henry Wurzburg
d78c5371db AP_HAL_ChibiOS: remove fmuv4 and update Pixracer 2020-07-13 15:24:54 +10:00
Paul Riseborough
0cf70fe961 AP_Logger: Log D gain limit cycle gain scaler 
Used by Plane roll and pitch loops in APM_Control
 2020-07-13 13:47:50 +10:00
Paul Riseborough
548bab5d24 APM_Control: Add gyro feedback limit cycle protection 2020-07-13 13:47:50 +10:00
Rishabh
8e586bc67d AP_Proximity: Check for valid reading before pushing to OA DB 2020-07-10 15:48:59 +09:00
Andy Piper
05416daef3 GCS_Mavlink: output fast sampling startup messages 2020-07-10 16:45:29 +10:00
Andy Piper
faf9bbbf3a AP_InertialSensor: make the backend fast gyro rate configurable 
raise gyro rate default on F7 and H7
clean up gyro rate docs and output startup banner
 2020-07-10 16:45:29 +10:00
Andy Piper
e35458cedf AP_NavEKF3: INS get_sample_rate() renamed to get_loop_rate_hz() 2020-07-10 16:45:29 +10:00
Andy Piper
e39e24bd18 AP_NavEKF2: INS get_sample_rate() renamed to get_loop_rate_hz() 2020-07-10 16:45:29 +10:00
Andy Piper
5a6be9e0a2 AP_Mount: INS get_sample_rate() renamed to get_loop_rate_hz() 2020-07-10 16:45:29 +10:00
Andrew Tridgell
9f1e641637 HAL_ChibiOS: added new STM32Cube configs 2020-07-10 13:33:51 +10:00
Andrew Tridgell
84bd59a7bb HAL_ChibiOS: support H7 with no crystal 2020-07-10 13:33:51 +10:00
Andrew Tridgell
cfbfb27004 HAL_ChibiOS: support no-crystal F3 setups 2020-07-10 13:33:51 +10:00
Andrew Tridgell
5a18b16f69 GCS_MAVLink: use strncpy_noterm 2020-07-10 13:32:24 +10:00
Andrew Tridgell
7e41874d8f AP_RCTelemetry: use strncpy_noterm 2020-07-10 13:32:24 +10:00
Andrew Tridgell
f80ca85428 AP_Logger: use strncpy_noterm 2020-07-10 13:32:24 +10:00
Andrew Tridgell
369861e4c0 AP_InternalError: use strncpy_noterm 2020-07-10 13:32:24 +10:00
Andrew Tridgell
18deb1c0bd AP_Common: added strncpy_noterm 
used to suppress string termination warnings
 2020-07-10 13:32:24 +10:00
Andrew Tridgell
7e14f62fcd SITL: suppress cast-align warnings in SIM_XPlane 2020-07-10 13:31:27 +10:00
Andrew Tridgell
e9a4a74e7b AP_Scripting: suppress cast-align warnings in Lua interpreter 
this is externally maintained code that makes heavy use of casting
 2020-07-10 13:31:27 +10:00
Andrew Tridgell
b2dc0c8344 AP_FlashStorage: fixed alignment errors 2020-07-10 13:31:27 +10:00
Andrew Tridgell
ac604cac54 HAL_SITL: update for GPS param changes 2020-07-10 13:28:38 +10:00
Andrew Tridgell
a6df0745a6 SITL: make all GPS params available for both GPS 2020-07-10 13:28:38 +10:00
Andrew Tridgell
fb5a06b8da AP_Terrain: added AP namespace access to terrain 2020-07-10 13:28:38 +10:00
Andrew Tridgell
9466e7e71e GCS_MAVLink: make correct_offboard_timestamp_usec_to_ms protected 
for use by vehicle code
 2020-07-10 13:28:38 +10:00
Andrew Tridgell
f9f8822e47 SITL: added ship takeoff/landing simulation 
this allows for a ship with a given radius and speed, allowing for
testing of ship takeoff and landing systems
 2020-07-10 13:28:38 +10:00
Andrew Tridgell
91aaa7876d GCS_MAVLink: reserve another mavlink channel 
for SimShip
 2020-07-10 13:28:38 +10:00
Andrew Tridgell
925b44dee5 SITL: split out GPS and MAG parameters into their own tables 
this creates space for new parameter trees
 2020-07-10 13:28:38 +10:00
Andrew Tridgell
d0d7a46492 AP_AHRS: fixed SITL origin handling 
we need to keep origin and home separate for AHRS_EKF_TYPE=10. This
caused issues with resets in RealFlight leading to the plane not
descending
 2020-07-10 10:08:51 +09:00
Andy Piper
be3a2cc294 AP_RCTelemetry: disable CRSF debug 2020-07-09 17:42:17 +10:00
Randy Mackay
5b7918030f AP_ToshibaCAN: correct unused portion of motor reply data1 packet 2020-07-09 08:41:42 +09:00
Randy Mackay
0850b0acae AP_ToshibaCAN: handle negative RPM 2020-07-09 08:41:42 +09:00
Harshit Kumar Sankhla
33ac9efe17 SITL: add parameters for 2nd baro 2020-07-08 16:25:31 +10:00
Harshit Kumar Sankhla
27fc7dcf0a AP_Baro: get SITL to work with multiple baros 
baro readings are independent of each other
and can be configured to behave differently
 2020-07-08 16:25:31 +10:00
Henry Wurzburg
b84b6b52b3 RC_Channel: add terrain follow disable switch for CRUISE/FBWB 2020-07-08 13:39:42 +10:00
Randy Mackay
9c7f382392 AP_RangeFinder: remove unused set_rfnd_bit 2020-07-08 11:42:10 +09:00
Andy Piper
98562cc523 SITL: build fix on macos 2020-07-08 08:52:30 +10:00
Andy Piper
5bc1b11a80 AP_RCTelemetry: CRSF support 
battery and heartbeat telemetry
parse VTX packets and VTX telemetry
provide GPS, Battery, Attitude, FlightMode telemetry
issue parameter updates at scheduled rate
support setting power levels with dbm
support standalone mode
set defaults from incoming VTX packets
output configured VTX settings
 2020-07-07 18:48:06 +10:00
Andy Piper
4e88adf86e AP_RCProtocol: TBS CRSF implementation 
refactor rc channels decoding into backend
refactor SBUS to use decode_11bit_channels()
only support big-endian
don't include CRSF in iomcu
 2020-07-07 18:48:06 +10:00
Andy Piper
2bae080be4 AP_HAL_ChibiOS: increase RCIN stack size 2020-07-07 18:48:06 +10:00
Andy Piper
34a28cce00 SITL: add CRSF simulation driver 2020-07-07 18:48:06 +10:00
Andy Piper
a9ded9d870 AP_HAL_SITL: add CRSF simulation driver 2020-07-07 18:48:06 +10:00
Andy Piper
820d6654af AP_Vehicle: add VideoTX 2020-07-07 18:48:06 +10:00
Andy Piper
ac5a7275bf AP_Camera: move crc8_dvb_s2 to AP_Math 2020-07-07 18:48:06 +10:00
Andy Piper
d4c5b945b3 AP_Math: move crc8_dvb_s2 here and add additional crc8 functions 2020-07-07 18:48:06 +10:00
Andy Piper
d9f11c1a0a AP_SerialManager: add CRSF support and CRSF protcol 2020-07-07 18:48:06 +10:00
Paul Riseborough
24fccd5d87 AP_NavEKF3: Don't delay GPS use unnecessarily 
Fixed wing should not wait for bias state convergence after in-flight yaw alignment
 2020-07-07 15:33:58 +10:00
Paul Riseborough
9a4108f55e AP_NavEKF3: Simplify setting EK3_MAG_CAL 
Don't require user to separately set EK3_MAG_CAL to fly without a magnetomer
 2020-07-07 15:33:58 +10:00
Paul Riseborough
0dc598a6e1 AP_NavEKF3: Fix param description and comment 2020-07-07 15:33:58 +10:00
Paul Riseborough
25cba50f10 AP_NavEKF3: Fix EK2_MAG_CAL parameter description 2020-07-07 15:33:58 +10:00
Paul Riseborough
21ea5d5039 AP_NavEKF3: Require GSF yaw history for reset when not using a yaw sensor 2020-07-07 15:33:58 +10:00
Paul Riseborough
f86c2e1db6 AP_NavEKF3: Don't fuse EKF-GSF yaw for FW flight 2020-07-07 15:33:58 +10:00
Paul Riseborough
354b551ef0 AP_NavEKF3: Handle repeated FW flight without magnetometer 
The EKF can build up large yaw errors on ground so it is safer to stop using GPS and re-align after launch as per first launch.
 2020-07-07 15:33:58 +10:00
Paul Riseborough
8ff6780323 AP_NavEKF3: Clarify distinct use cases for 'takeoff expected' 2020-07-07 15:33:58 +10:00
Paul Riseborough
d1a0c2eb30 AP_NavEKF3: Start EKF-GSF yaw estimator before fixed wing takeoff 2020-07-07 15:33:58 +10:00
Paul Riseborough
b469a80633 AP_NavEKF3: Reset all co-variances when performing a yaw reset 2020-07-07 15:33:58 +10:00
Paul Riseborough
d8c2096ad8 AP_NavEKF3: improve angle accuracy during no mag launch 2020-07-07 15:33:58 +10:00
Paul Riseborough
f7c8ee807c AP_NavEKF3: Reset yaw estimator bias states at start of flight 
Enables yaw bias to be learned when sitting stationary on ground.
 2020-07-07 15:33:58 +10:00
Paul Riseborough
ea4589ea94 AP_NavEKF2: Reset yaw estimator bias states at start of flight 
Enables yaw bias to be learned when sitting stationary on ground.
 2020-07-07 15:33:58 +10:00
Paul Riseborough
5ad5498b07 AP_NavEKF: Enable external setting of yaw estimator bias states 2020-07-07 15:33:58 +10:00
Paul Riseborough
709a42cb7f AP_NavEKF: remove unnecessary memcopy 2020-07-07 15:33:58 +10:00
Paul Riseborough
4a743a3827 AP_NavEKF: Remove unnecessary reset operations and class variables 
The setting of EKF state variances is only required when commencing or recommencing velocity fusion.
The function that resets the EKF and GSF class variables has been renamed to be more consistent with its function.
 2020-07-07 15:33:58 +10:00
Paul Riseborough
b6d9b6f3c7 AP_NavEKF2: Update documentation for non-compass use case 
Instruction now explicitly specifies that all COMPASS_USE parameters must be set to 0 and COMPASS_ENABLE must be set to 1
 2020-07-07 15:33:58 +10:00
Paul Riseborough
bcd23e1063 AP_NavEKF3: Fix one frame delay in processing yaw estimator velocity data 2020-07-07 15:33:58 +10:00
Paul Riseborough
ccaa4d6aa9 AP_NavEKF2: Fix one frame delay in processing yaw estimator velocity data 2020-07-07 15:33:58 +10:00
Paul Riseborough
0ce4dd457d AP_NavEKF: Fix one frame delay in processing yaw estimator velocity data 2020-07-07 15:33:58 +10:00
Andy Piper
90acff647c AP_BLHeli: log telemetry at 10Hz 2020-07-07 11:44:33 +10:00
Peter Barker
2e55584417 AP_NavEKF3: correct comments on getFilterFaults and getFilterTimeouts methods 2020-07-07 10:50:41 +10:00
Peter Barker
081c0bbfe0 AP_NavEKF2: correct comments on getFilterFaults and getFilterTimeouts methods 2020-07-07 10:50:41 +10:00
Peter Barker
741520d598 GCS_MAVLink: find next bucket to send when sending-ids emptied on msg removal 
We need to find the next bucket of messages to send when we've removed
the last message id from the current set of IDs we're sending out - not
just when we've empted the bucket the messages came from in the first
place.

An internal check caught this bug - the
'next_deferred_bucket_message_to_send called on empty bucket' error
 2020-07-07 10:49:31 +10:00
juvinski
fad8ee8384 AP_Relay: Added support to Relay pins on BBBMini 
This request add support for Relay Pins on BBBMini:
Pin:
	P8_17: Relay Pin 1
	P8_18: Relay Pin 2
	P8_19: Relay Pin 3
	P8_34: Relay Pin 4
	P8_13: Relay Pin 5
	P8_14: Relay Pin 6
 2020-07-06 17:35:27 -07:00
Andrew Tridgell
0c87b2d885 AP_Generator: fixed misaligned access in RicenPower 2020-07-07 10:23:00 +10:00
Andrew Tridgell
90232fa6c0 GCS_MAVLink: fixed alignment errors in FTP server 2020-07-07 10:23:00 +10:00
Andrew Tridgell
21937a7830 AP_RCProtocol: fixed alignment errors in SRXL2 
invalid alignment used
 2020-07-07 10:23:00 +10:00
Andrew Tridgell
c5a60c31a7 HAL_Linux: fixed build warnings in RC input methods 2020-07-07 10:23:00 +10:00
Andrew Tridgell
7138811a57 AP_Common: fixed cast warnings for ExpandingArray 2020-07-07 10:23:00 +10:00
Andrew Tridgell
19093e25be AP_HAL: added ptr accessors to sparse-endian.h 2020-07-07 10:23:00 +10:00
Andy Piper
6162605388 AP_RCProtocol: ignore SRXL2 dbm rssi value like BF does 2020-07-07 09:03:40 +10:00
Mark Whitehorn
285f16e829 AP_Arming: add pre-arm check for VTOL manual forward throttle 2020-07-07 08:37:46 +10:00
Mark Whitehorn
2af6e255d1 RC_Channel: add RC option for VTOL manual forward throttle 
fix RC_OPTION metadata for 209: Forward Throttle
 2020-07-07 08:37:46 +10:00
Andrew Tridgell
6bab6d94bf AP_Scripting: fixed equality test for uint32_t 2020-07-06 10:08:19 -07:00
Randy Mackay
613d2c2e0a AP_RangeFinder: LightWareSerial gets small comment 2020-07-06 13:57:43 +09:00
Randy Mackay
2ca0d400a6 AP_Proximity: remove incorrect comment from SF40c 2020-07-06 13:54:17 +09:00
Andrew Tridgell
b6a5509409 AP_Math: added test for vector2f rotate 2020-07-06 14:46:48 +10:00
Andrew Tridgell
259cf10373 AP_Scripting: added rotate binding to Vector2f 2020-07-06 14:46:48 +10:00
Andrew Tridgell
24d0804249 AP_Math: added rotate() method to Vector2f 2020-07-06 14:46:48 +10:00
murata
98feb06183 AP_RangeFinder: Add GYUS42v2 to the TYPE item 2020-07-05 08:52:03 +10:00
murata
b12fcff89a AC_Fence: Matching Message Style 2020-07-04 22:55:35 +10:00
Peter Barker
9d7fd47267 SITL: add simulated GY-US42-v2 rangefinder 2020-07-04 13:40:10 +10:00
Peter Barker
0b431f3ecd AP_HAL_SITL: add simulated GY-US42-v2 rangefinder 2020-07-04 13:40:10 +10:00
Peter Barker
6ec497229b AP_RangeFinder: add serial support for GY-US42v2 rangefinder 2020-07-04 13:40:10 +10:00
Randy Mackay
443d4186a4 SITL: default vicon to send position and speed 2020-07-04 09:50:28 +09:00
craigy72
6557f3c258 AP_Scripting: fixup serial_test.lua 2020-07-04 09:11:09 +09:00
Patrick José Pereira
8bb74a12d0 AP_Motors: Remove double underscore header guard 
The code now uses `#pragma once` and double underscore as a prefix
can result in undefined behaviour.
Ref: https://eel.is/c++draft/lex.name#3.1

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-07-03 14:53:33 +10:00
Peter Barker
4b2851a9b2 RC_Channel: add text for Generator AUX_FUNC 2020-07-03 08:21:42 +09:00
Peter Barker
1639bd7d09 AP_Generator: remove heat model for generator 
It was agreed that the existing hyteresis in the H2 controller was
sufficient
 2020-07-03 08:21:42 +09:00
Peter Barker
c5ac42d985 AP_Generator_RichenPower: allow operation with no generator present 2020-07-03 08:21:42 +09:00
Peter Barker
df8d8cefd6 AP_Generator: use new mavlink generator status flags 2020-07-03 08:21:42 +09:00
Peter Barker
88c8dd8465 SITL: add RichenPower generator simulator 2020-07-03 08:21:42 +09:00
Peter Barker
6056cc9d54 AP_HAL_SITL: add support for simulated RichenPower generator 2020-07-03 08:21:42 +09:00
Peter Barker
8e708a0a32 AP_BattMonitor: add backend for generator supply 2020-07-03 08:21:42 +09:00
Peter Barker
fce9046dcf AP_Arming: add generator checks 2020-07-03 08:21:42 +09:00
Peter Barker
b2bd8d5759 RC_Channel: add support for RichenPower generator control 2020-07-03 08:21:42 +09:00
Peter Barker
007a85e873 SRV_Channel: grab a servo function to control the RichenPower generators 2020-07-03 08:21:42 +09:00
Peter Barker
e2056f56e3 GCS_MAVLink: support for sending generator message 2020-07-03 08:21:42 +09:00
Peter Barker
4296f6ed4b AP_Vehicle: add instance for RichenPower generator 2020-07-03 08:21:42 +09:00
Peter Barker
3001812630 AP_SerialManager: add support for RichenPower generator 2020-07-03 08:21:42 +09:00
Peter Barker
e5367232b3 AP_Generator: add serial driver to read from RichenPower hybrid generators 
AP_RichenPower: add support for sending HYBRID message
 2020-07-03 08:21:42 +09:00
Peter Barker
cadb1012df AP_HAL_ChibiOS: reenable full features on KakuteF7Mini 2020-07-02 18:38:46 +10:00
Andrew Tridgell
ce8591ddbc HAL_ChibiOS: re-enable full features on KakuteF7 and OMNIBUSF7V2 
we now have enough space with recent changes for these boards
 2020-07-02 18:38:46 +10:00
Peter Barker
ff46541604 SITL: add simulated LightWare serial lidar talking new binary protocol 2020-07-02 10:50:59 +10:00
Peter Barker
c3246d61f4 AP_HAL_SITL: add simulated LightWare serial lidar talking new binary protocol 2020-07-02 10:50:59 +10:00
Randy Mackay
429e70fb94 AP_RangeFinder: LightwareSerial uses nullptr for strtof 2020-07-01 13:00:48 +09:00
Randy Mackay
85c4db6896 AP_RangeFinder: LightwareSerial driver loses unnecessary initialisation 2020-07-01 13:00:48 +09:00
Randy Mackay
cdbc0c782b AP_RangeFinder: add sf30d binary protocol support 
Co-authored-by: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
 2020-07-01 13:00:48 +09:00
Iampete1
992d84ac22 SILT: MATLAB add Simulink instuctions to readme 2020-07-01 09:13:57 +10:00
bnsgeyer
019482075d SITL: add Simulink heli example 2020-07-01 09:13:57 +10:00
Iampete1
63280111c9 SITL: add Simulnk Rover example 2020-07-01 09:13:57 +10:00
Iampete1
a63275ca39 SITL: examples: add Simulink libary and functions 2020-07-01 09:13:57 +10:00
Iampete1
c466274046 SILT: SIM_JSON: update logging and report airspeed 2020-07-01 09:13:57 +10:00
Andy Piper
fd96cdf6e0 AC_AutoTune: set FLTT to zero while twitching 
add pilot testing message
 2020-06-30 20:09:48 +10:00
Andy Piper
c707303336 AP_HAL_ChibiOS: hold buzzer ping low in bootloader for omnibusf4pro 2020-06-30 17:58:35 +10:00
Andy Piper
48e0da8444 AP_HAL_ChibiOS: pull buzzer pin low in Kakute F7 bootloader to prevent startup scream 2020-06-30 17:58:35 +10:00
Henry Wurzburg
49be9d1626 SRV_Channel: fix parameters appearing in wiki param list erroneously 2020-06-30 16:24:19 +10:00
Henry Wurzburg
a3f0ce0a87 AP_BattMonitor: fix parameters appearing in wiki param list erroneously 2020-06-30 16:24:19 +10:00
Henry Wurzburg
9d86a3e2ef AP_Arming: fix parameters appearing in wiki param list erroneously 2020-06-30 16:24:19 +10:00
Andrew Tridgell
20b2396646 HAL_ChibiOS: fixed bug in undef of pins 
revert pin to initial state on undef
 2020-06-30 14:28:30 +10:00
Henry Wurzburg
8e6028ec1a AP_Terrain: Update spacing param description in line with firmware useage 2020-06-30 09:51:30 +10:00
Randy Mackay
f9a866d09a AP_HAL_ChibiOS: luminousbee4 serial5 to mavlink2 2020-06-30 09:42:49 +10:00
Randy Mackay
3e0bb4110a AP_HAL_ChibiOS: fmuv4 serial5 to mavlink2 2020-06-30 09:42:49 +10:00
Randy Mackay
ced448b706 AP_HAL_ChibiOS: DrotekP3Pro serial5 to mavlink2 2020-06-30 09:42:49 +10:00
Randy Mackay
211c20da38 AP_SerialManager: default serial 1 and 2 protocols to MAVLink2 2020-06-30 09:42:49 +10:00
murata
91101aac01 AP_BoardConfig: Define a method class 
AP_BoardConfig: Define a method class
 2020-06-30 09:21:16 +10:00
Peter Barker
edba1cca4a AP_GyroFFT: cast to unsigned to avoid signed/unsigned comparison 
https://discuss.ardupilot.org/t/a-compile-error-about-sitl/57319/14
seems to show older compilers getting confused about what the type of
the RHS is here.  Make it unambiguous for them.
 2020-06-29 10:19:14 +10:00
Randy Mackay
30bcf4d13b AP_Logger: VISP and VISV reset counter becomes uint8 2020-06-25 15:31:43 +10:00
Tom Pittenger
8f6e9caf93 AP_GPS: change GPS_AUTO_SWITCH #define list to enum class 
enumeration entry had to change to NONE to avoid name conflict with DISABLED
 2020-06-25 11:10:31 +10:00
Michael du Breuil
ff007dd017 AP_Scripting: Allow generator to cope with windows line endings 
Also fixes allowing an extra new line on the depends entries to be
emitted, as well as a possible stack overflow in the generator if
you inserted a malicious comment.
 2020-06-24 09:37:36 -07:00
Paul Riseborough
9507a2e157 AP_NavEKF2: Fix parameter description 2020-06-24 21:16:50 +09:00
Randy Mackay
ec5f84c926 AP_NavEKF3: remove unused terrainHgtStableSet_ms 2020-06-24 21:16:50 +09:00
Randy Mackay
a8c2be26ba AP_NavEKF2: remove unused terrainHgtStableSet_ms 2020-06-24 21:16:50 +09:00
Randy Mackay
dccc3e22d9 AP_NavEKF3: minor comment fix re RNG_USE_HGT 2020-06-24 21:16:50 +09:00
Randy Mackay
d0a2198e00 AP_AHRS: expose EKF setTerrainHgtStable accessor 2020-06-24 21:16:50 +09:00
Paul Riseborough
ed5b695c94 AP_NavEKF3: Clarify intended use of setTerrainHgtStable accessor 2020-06-24 21:16:50 +09:00
Paul Riseborough
502b96f49c AP_NavEKF2: Clarify intended use of setTerrainHgtStable accessor 2020-06-24 21:16:50 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
fca8d33c50 AP_NavEKF3: fix vertical flyaways when rangefinder stops providing data 2020-06-24 21:16:50 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
83dc46d539 AP_NavEKF2: fix vertical flyaways when rangefinder stops providing data 2020-06-24 21:16:50 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
a3d140b949 AP_NavEKF3: reduce duplicated code. 2020-06-24 21:16:50 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
280d33d030 AP_NavEKF2: reduce duplicated code. 2020-06-24 21:16:50 +09:00