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31581 Commits

Author SHA1 Message Date
Peter Barker
2a263972b2 AP_RCProtocol: iterate over array size rather than to last entry 
This can move us towards not instantiating backends (having an _num_backends) at some stage.

More typical of what we do throughout the code, and makes the derefernces on the subsequent lines a lot more comfortable to casual browsing.
 2023-01-25 09:14:16 +11:00
Andrew Tridgell
0f35286041 SITL: fixed SIM lidar for FlightAxis 2023-01-24 16:09:23 +11:00
Andrew Tridgell
b43701fffa HAL_SITL: exit on close of port 0 on cygwin 
this fixes a long standing problem with SITL not exiting when you
close connection in MissionPlanner
 2023-01-24 15:48:04 +11:00
Henry Wurzburg
3a4d33c776 AP_Scripting:Updates to schedules and sports_aero messages 2023-01-24 11:39:39 +11:00
Henry Wurzburg
7db1048f91 AP_TemperatureSensor:correct TEMP sensor metadata 2023-01-24 11:16:51 +11:00
Andrew Tridgell
08d420a08c AP_InertialSensor: reject 0xff frames from BMI088 gyro 
a log on a board with a BMI088 seems to show that this happened
 2023-01-24 11:16:39 +11:00
Andrew Tridgell
c19554e23a AP_Math: added Vector3i comparison 2023-01-24 11:16:39 +11:00
Iampete1
fc7804f03a AP_Arming: use check_enabked hepler to always check if all bit is set 2023-01-24 11:09:51 +11:00
Randy Mackay
923520d455 AP_VisualOdom: handle voxl yaw and pos jump on reset 2023-01-24 11:07:02 +11:00
Randy Mackay
115d33e300 AP_VIsualOdom: general purpose align yaw and position methods 2023-01-24 11:07:02 +11:00
Randy Mackay
6114e1f2ea RC_Channel: integrate visodom rename of requset_align_yaw_to_ahrs 2023-01-24 11:07:02 +11:00
Randy Mackay
8336814607 AP_VisualOdom: rename align_sensor_to_vehicle to align_yaw_to_ahrs 
also separate request to align from code that actually performs the alignment
 2023-01-24 11:07:02 +11:00
Peter Barker
08e42d2699 AP_VideoTX: use minimize.inc for Tramp and SmartAudio 
... and rename HAL_SMARTAUDIO_ENABLED
 2023-01-24 11:03:27 +11:00
Peter Barker
8075d33ae5 AP_Vehicle: use minimize.inc for Tramp and SmartAudio 
... and rename HAL_SMARTAUDIO_ENABLED
 2023-01-24 11:03:27 +11:00
Peter Barker
e0f6b264d0 AP_HAL_ChibiOS: use minimize.inc for Tramp and SmartAudio 
... and rename HAL_SMARTAUDIO_ENABLED
 2023-01-24 11:03:27 +11:00
Peter Barker
de91b9289c RC_Channel: add and use AP_VIDEOTX_ENABLED 2023-01-24 11:03:27 +11:00
Peter Barker
20f504d337 AP_VideoTX: add and use AP_VIDEOTX_ENABLED 2023-01-24 11:03:27 +11:00
Peter Barker
a81bce6da4 AP_Vehicle: add and use AP_VIDEOTX_ENABLED 2023-01-24 11:03:27 +11:00
Peter Barker
c139f7c730 AP_RCProtocol: add and use AP_VIDEOTX_ENABLED 2023-01-24 11:03:27 +11:00
Peter Barker
2656bcf5fa AP_OSD: add and use AP_VIDEOTX_ENABLED 2023-01-24 11:03:27 +11:00
Peter Barker
3a604ecfdf AP_HAL_ChibiOS: add and use AP_VIDEOTX_ENABLED 2023-01-24 11:03:27 +11:00
Randy Mackay
b8ace06077 AP_Mount: servo mount yaw handling fix 2023-01-24 10:59:10 +11:00
Andy Piper
a0b8e22a63 AP_GyroFFT: change default FFT frequency range to something more useful 2023-01-24 10:56:33 +11:00
Andy Piper
c3a402a02f AP_GyroFFT: emit notifications for FFT notch tune 2023-01-24 10:56:33 +11:00
Andy Piper
31a216f670 AP_HAL: ensure the DSP tracked peaks do not overflow the buffer 2023-01-24 10:56:33 +11:00
Andy Piper
500f59d839 Filter: allow freq_min_ratio to be set on harmonic notch filter 
allow harmonics to be set
 2023-01-24 10:56:33 +11:00
Andy Piper
bd05b548a7 AP_InertialSensor: use freq_min_ratio on notch tune setup 
set harmonics in notch setup
 2023-01-24 10:56:33 +11:00
Andy Piper
4199ccc292 AP_GyroFFT: correct notch calculation for FFT tune. 
use freq_min_ratio for scaling
add harmonic calculation test
set harmonics in notch setup
 2023-01-24 10:56:33 +11:00
Prathamesh Patil
21a54b5533 AC_WPNav: AC_Circle: circle_rate param description added 2023-01-24 08:27:15 +09:00
Andrew Tridgell
29f124543b AP_Scripting: added custom telem msgs for EFI_Skypower driver 
also:
- and added parameter for enable/disable start when disarmed
- added logging for extra fields not in EFI logging
- fixed endianness of EFI tester
 2023-01-24 10:25:12 +11:00
Ryan Beall
1d70180809 AP_Landing: Add Landing Max Throttle Option 2023-01-24 10:19:56 +11:00
Ryan Beall
2a4c453cb0 AP_Landing: Correct WIND_COMP gain to percent 2023-01-24 10:19:56 +11:00
Ryan Beall
5b00c9b030 AP_Landing: Add Headwind Compensation Param 
Remove git action
 2023-01-24 10:19:56 +11:00
Ryan Beall
4355d852b1 AP_TECS: Update documentation to alert user of maximum allowed 2023-01-24 10:19:56 +11:00
Ryan Beall
738c189d5e AP_Landing: increase airspeed landing constraint to Max Airspeed 2023-01-24 10:19:56 +11:00
Iampete1
82dabd1872 AP_OSD: use new param defualting method 2023-01-24 10:16:56 +11:00
Iampete1
dcfc6ae642 PID: use new defualt pattern 2023-01-24 10:16:56 +11:00
Iampete1
18d0dbcd8a AC_PID: use new defualt pattern 2023-01-24 10:16:56 +11:00
Iampete1
46e560f3f6 AC_AttitudeControl: CommandModel: use new defualt pattern 2023-01-24 10:16:56 +11:00
Iampete1
6cd5cf8195 AP_Param: print length of defaults list as part of key dump 2023-01-24 10:16:56 +11:00
Iampete1
f90990b3a2 AC_PID: move to new method for setiung defualts 2023-01-24 10:16:56 +11:00
Iampete1
49d23e16df AP_Param: rework embedded defualts list as no longer needed 2023-01-24 10:16:56 +11:00
Iampete1
02af134ba6 AP_Param: allow defualt values to be given by const float var 2023-01-24 10:16:56 +11:00
Andrew Tridgell
f203cf321f AP_Compass: fixed field orientation for MMC3416 
the sensor is not FRD, and needs Y axis reversed to follow ArduPilot
FRD convention for magnetometers
 2023-01-23 20:10:16 +11:00
Iampete1
6c8064da96 AP_Arming: use check_enabled helper 2023-01-23 11:00:13 +09:00
Peter Barker
c440d98897 AP_AHRS: tidy available-AHRS-types enumeration 2023-01-23 10:05:17 +11:00
Ian
636f9bffa9 AP_HAL_SITL: Add new SITL driver for Webots 2023a 
The new SITL driver is based on the existing SITL driver for Gazebo and
does not require a JSON parser and implements set_interface_ports.
 2023-01-22 18:19:38 +11:00
Ian
d358ca1b32 SITL: Add Webots 2023a support and examples 
The various C Webots controllers are replaced by a single Python controller
- More readable (in my opinion)
- Does not require compilation
- Easily modifiable to run user code
- Can be blackboxed and configured via arguments when designing a robot model
- Optionally provides the ability to stream camera images over TCP
- Generalizable to copters and rovers (and probably more)
- Supports multi-vehicle simulation (including of multiple types)
- Requires no non-standard libraries (neither does current)

Higher fidelity example worlds
- Iris quadcopter demo world similar to gazebo
- Crazyflie quadcopter demo world (crazyflie models baked into webots)
- Pioneer3at rover demo world (pioneer models baked into webots)
 2023-01-22 18:19:38 +11:00
Tom Pittenger
773129bab4 AP_TemperatureSensor: add driver for MAX31865 2023-01-21 11:38:50 +11:00
Henry Wurzburg
f8c4356ce2 AP_Scripting: add error check to mission_load.lua 2023-01-21 11:09:52 +11:00
Andrew Tridgell
b71601e9e4 AP_Scripting: fixed alt frame error in ship landing 
if terrain follow is enabled then this would result in mixing a
terrain alt with an absolute alt, resulting in attempts to descend to
a negative alt
 2023-01-19 17:09:05 +11:00
Andrew Tridgell
645240cc2b AP_InertialSensor: cleanup NAMED_VALUE_FLOAT for fifo error 2023-01-19 15:44:13 +11:00
Andrew Tridgell
786ae7c67f AP_InertialSensor: fixed flood of log with fast fifo reset 2023-01-19 15:44:13 +11:00
Nicholas (Nick) Kruzan
0dc878564f AP_Scripting:examples - rangefinder_test.lua : Minor Spelling Correction 
Ratation -> Rotation
 2023-01-18 12:01:40 +00:00
Andrew Tridgell
4dec8f849f hwdef: added HolybroG4_Compass 
G4 based DroneCAN compass with RM3100
 2023-01-18 19:30:30 +11:00
Andy Piper
0234c344ab AP_HAL_ChibiOS: add vanity and build requirements to betaflight converter 2023-01-18 19:17:22 +11:00
Andy Piper
f9276f76e7 AP_HAL_ChibiOS: cope with sensor alignment not being set in betaflight config 2023-01-18 19:17:22 +11:00
Peter Barker
591d587ed0 SITL: document SIM_ESC_TELEM 
this is the perfect telemetry stream; we don't want to override other telemetry streams
 2023-01-18 18:07:23 +11:00
Peter Barker
ccf290246c AP_HAL_SITL: use parameter to enable/disable SITL ESC telem 
this is the perfect telemetry stream; we don't want to override other telemetry streams
 2023-01-18 18:07:23 +11:00
Peter Barker
aa7ab28969 AP_AHRS: add a bool wind_estimate(...) 
NavEKF3 can fail to return a wind estimate, and we lose that value
 2023-01-18 11:20:32 +11:00
Peter Barker
96f359b4e3 AP_Logger: avoid logging duplicate FMT/UNIT/FMTU/MULT messages 
Failing due to being out of time meant we wouldn't incremement the counter, even though we'd emitted the item.

it is important we try to send something, so move this check to be after we increment whichever counter we are using.
 2023-01-18 10:09:43 +11:00
Peter Barker
f429aae09e AP_ESC_Telem: correct esc telem debug 
wrong format specifier
 2023-01-18 07:17:51 +11:00
Andrew Tridgell
863b4bf928 AP_Compass: fixed zero compass diagonals 
this fixes a regression from 4.2 to 4.3.

previously we automatically set the diagnoals to 1,1,1 if they were
0,0,0. We don't do that any more. I was helping a user who had copied
an old config with 0,0,0 for diagonals and did not understand two
things:

- the compass did not work in 4.3
- large vehicle mag cal didn't work
 2023-01-17 12:05:19 +11:00
Peter Barker
5078e6ea00 SITL: exclude SIM_SAIL_TYPE from non-Rover builds 2023-01-17 11:23:40 +11:00
Peter Barker
0c7ce291ec SITL: document the SIM_WOW_PIN parameter 2023-01-17 11:23:40 +11:00
Peter Barker
6c03134169 AP_HAL_SITL: use AP_CSVReader to read from Log serial-async dump 2023-01-17 11:21:48 +11:00
Peter Barker
20fc2d091c AP_CSVReader: add simple CSV reader 2023-01-17 11:21:48 +11:00
Iampete1
c99c17f1ce AMP_Control: Roll and Pitch Controller: don't reset pid_info.I in reset_I calls 2023-01-17 11:19:39 +11:00
Iampete1
2371d83620 AC_PID: dont change pid_info.I in set/reset methods 2023-01-17 11:19:39 +11:00
Peter Barker
84d49d5a88 hwdef: skyviper-v2450: remove EK3 external nav and body-frame-odometry 
Neither of these are applicable to SkyViper
 2023-01-17 10:50:37 +11:00
Peter Barker
d78ea08d24 AP_AHRS: move AP_AHRS_SIM::get_results into backend file 2023-01-17 10:49:56 +11:00
Iampete1
722ec745e9 AP_BattMoniter: don't allow equal low and critical FS thresholds 2023-01-17 10:36:09 +11:00
Andrew Tridgell
ffb6a9fb7f AP_OpenDroneID: set EMERGENCY status on crash or chute deploy 
RemoteID modules are required to set EMERGENCY status on uncontrolled
descent or crash. This fixes our implementation to do that, either via
existing vehicle crash checking code or via a parachute release
 2023-01-17 10:31:26 +11:00
chobits
f467acbe92 AP_HAL_ChibiOS: no dma for unused kakuteh7 uart2 2023-01-17 10:24:42 +11:00
Henry Wurzburg
71099c881d AP_Scripting: add error check to mission_load.lua 2023-01-17 10:24:08 +11:00
Henry Wurzburg
8865d79015 AP_Mission: add error check to mission_load.lua 2023-01-17 10:24:08 +11:00
Henry Wurzburg
c8617ccf01 AP_Scripting:Add mission to Script_Controller and improve 2023-01-17 10:24:08 +11:00
Henry Wurzburg
509d4b7fbf SITL:make MAG1 param consistent names 2023-01-17 08:45:30 +11:00
Andrew Tridgell
12c24df476 AP_HAL_SITL: added old_size to heap_realloc 2023-01-16 09:19:16 +11:00
Andrew Tridgell
deb86be1da AP_HAL_Linux: added old_size to heap_realloc 2023-01-16 09:19:16 +11:00
Andrew Tridgell
13cbccc016 AP_HAL: added old_size to heap_realloc 2023-01-16 09:19:16 +11:00
Andrew Tridgell
e255bbbd40 AP_HAL_ESP32: added old_size to heap_realloc 2023-01-16 09:19:16 +11:00
Andrew Tridgell
365de4b505 AP_HAL_ChibiOS: added old_size to heap_realloc 2023-01-16 09:19:16 +11:00
Andrew Tridgell
b45be75a98 AP_Scripting: use MultiHeap class 2023-01-16 09:19:16 +11:00
Andrew Tridgell
22a16f9672 AP_Common: added MultiHeap class 
for scripting allocation with multiple heaps
 2023-01-16 09:19:16 +11:00
Henry Wurzburg
e96a55c1b6 SITL:add SIM param metadata 2023-01-15 21:58:12 +11:00
Andrew Tridgell
a2b0bbffdb HAL_SITL: implement SIM_UART_LOSS 2023-01-15 21:57:15 +11:00
Andrew Tridgell
d3ea7b0ca6 SITL: added SIM_UART_LOSS parameter 2023-01-15 21:57:15 +11:00
Andrew Tridgell
dfdecc52c4 GCS_MAVLink: fixed FTP terminate session error 
this caused ftp downloads to intermittently fail. The cause is the FTP
client may ask for a session terminate and then immediately afterwards
a ftp open. The open would fail as the ftp session was considered
active
 2023-01-15 21:57:15 +11:00
Andrew Tridgell
abb3cdd6b8 AP_TECS: added max throttle time for takeoff with no airspeed sensor 2023-01-15 12:17:27 +11:00
Andrew Tridgell
d15c5ce233 AP_Vehicle: added takeoff_throttle_max_t for fixed wing 2023-01-15 12:17:27 +11:00
Peter Barker
08f652fe2c AP_HAL_ChibiOS: ignore array bounds check while checking 0x0 for writes 
Fixes compiler error on g++ 12

../../libraries/AP_HAL_ChibiOS/Scheduler.cpp:568:20: error: array subscript 0 is outside array bounds of 'const uint8_t [0]' [-Werror=array-bounds]
  568 |         if (addr0[i] != 0) {
 2023-01-12 23:30:15 +11:00
Peter Barker
c42754b691 AP_AHRS: create an AP_AHRS_SIM backend 2023-01-12 13:11:40 +11:00
Henry Wurzburg
c79672b96c SITL: add SITL param metadata and fix a few 2023-01-12 09:19:27 +11:00
Peter Barker
9cb3bfbe05 AP_HAL_ChibiOS: disable batch sampler on SkyViper-v2450 
saves ~1.8kB
 2023-01-11 19:08:41 +11:00
Peter Barker
e5c3dd871c AP_InertialSensor: create explicit define for AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED 
this allows the batch sampler to be removed for size reasons, or because you don't have logging enabled
 2023-01-11 19:08:41 +11:00
Andy Piper
c620ba58df AP_Motors: use _dt instead of loop rate for throttle slew calculation 2023-01-11 18:59:52 +11:00
Andy Piper
80fb33fb8b AP_AHRS: add throttle slew to RATE 
log PD scaling values
 2023-01-11 18:59:52 +11:00
Andy Piper
53b7f96a5d AC_AttitudeControl: boost PD on roll and pitch when slew limit is hit 
boost angle P when slew limit is hit
move to a single parameter for thrust-gain boosting
add PD scaling support
 2023-01-11 18:59:52 +11:00
Andy Piper
f3ecb4ee6c AC_PID: support PD boosting 2023-01-11 18:59:52 +11:00