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26411 Commits

Author SHA1 Message Date
Andrew Tridgell d698987070 SITL: fixup offset calls 2021-07-22 16:01:00 +10:00
Andrew Tridgell e7afa628d1 AP_Math: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell c6c197d4fb HAL_ChibiOS: use SRAM1 as first ram segment on H7 
this is needed to give the linker more than 128k for static variables
with double precision maths.
 2021-07-22 16:01:00 +10:00
Andrew Tridgell 309500c84f AP_HAL: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell ae013dd5e6 APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-05 16:09:34 +10:00
Andrew Tridgell 2ac01f207a AP_Notify: disable DShot buzzer by default 2021-07-04 18:28:20 +10:00
Andy Piper b5bb401b97 AP_Notify: re-enable display on 1Mb boards 2021-07-04 08:24:40 +10:00
Andrew Tridgell 2d4e77e9b1 HAL_ChibiOS: always send zero DShot when disarmed 
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.

See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
 2021-07-04 08:24:17 +10:00
Andrew Tridgell bf867fb792 AP_Logger: fixed log creation on forced arm 
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
 2021-07-04 08:23:29 +10:00
Randy Mackay 8722bb7ff9 GCS_MAVLink: send water depth and temp 2021-07-04 08:19:11 +10:00
Andrew Tridgell 937f316d14 AP_Common: use longitude scaling from definitions.h 2021-07-04 08:19:11 +10:00
Andrew Tridgell 0e37a44942 AP_Math: fixed the value LATLON_TO_CM 
it didn't have enough digits of precision, and was inconsistent with
LOCATION_SCALING_FACTOR
 2021-07-04 08:19:11 +10:00
Peter Barker 3134e15c77 AP_BattMonitor: correct static_assert call 2021-07-04 08:19:11 +10:00
Peter Barker 6de7d1d1df AP_HAL_SITL: reduce scope of loop variable 2021-07-04 08:19:11 +10:00
Leonard Hall e21b8a5b29 AC_WPNav: use shaping_tc_z_s for terrain following time constant. 2021-07-04 08:19:11 +10:00
Leonard Hall 68b882d404 AC_AttitudeControl: Add shaping_tc_z_s accessor 2021-07-04 08:19:11 +10:00
Andrew Tridgell 86e8731fc5 AP_Mount: fixed longitude subtraction 2021-07-04 08:19:11 +10:00
Peter Barker b7b7c7d86b AP_Common: add test for longitude wrapping 2021-07-04 08:19:11 +10:00
Andrew Tridgell 17193d3175 AP_Common: fixed Location class for wrap at 180 degrees longitude 
this allows us to fly missions across the date line
 2021-07-04 08:19:11 +10:00
Leonard Hall 83b4616a7b AC_PosControl: fixup ekf reset 2021-07-04 08:19:11 +10:00
Andrew Tridgell 92e407a0bc AP_IRLock: convert SITL backends to double precision position 2021-07-04 08:19:11 +10:00
Andrew Tridgell a82890c0db AC_PrecLand: convert SITL backends to double precision position 2021-07-04 08:19:11 +10:00
Andrew Tridgell f45ef772f3 AP_Math: added matrix3 tofloat and todouble 2021-07-04 08:19:11 +10:00
Andrew Tridgell 214d9ad0f8 AP_Common: added double methods for SITL 2021-07-04 08:19:11 +10:00
Andrew Tridgell b0f2545a9f SITL: convert to double precision for positions 2021-07-04 08:19:11 +10:00
Andrew Tridgell d2e94a49b7 AC_WPNav: convert circle, loiter and WPNav to double position 2021-07-04 08:19:11 +10:00
Andrew Tridgell 0af57de50c AC_AttitudeControl: convert poscontrol to use double position 2021-07-04 08:19:11 +10:00
Andrew Tridgell e6a1cee08f AC_PID: convert AC_P_2D to double 2021-07-04 08:19:11 +10:00
Andrew Tridgell c2211db91d AP_Math: implement double versions of some position control methods 2021-07-04 08:19:11 +10:00
Andrew Tridgell d40475cf7b AP_Math: define postype_t and vectors 2021-07-04 08:19:11 +10:00
Andrew Tridgell 683f7949fd HAL_SITL: implement initial GPS position offsets 2021-07-04 08:19:11 +10:00
Andrew Tridgell 2f2d1c985a AP_Math: added tofloat() and todouble() methods to Vector2 and Vector3 2021-07-04 08:19:11 +10:00
Andrew Tridgell f73564f593 SITL: added SIM_INIT_LAT_OFS and SIM_INIT_LON_OFS 
these give an initial lat/lon offset to the GPS in SITL so we can end
up with an origin a long way from the final position
 2021-07-04 08:19:11 +10:00
Andrew Tridgell e191c48d9f AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-07-04 08:19:11 +10:00
Andrew Tridgell 889bd2547f AP_Math: cleanups from Leonards feedback 2021-07-04 08:19:11 +10:00
Andrew Tridgell 6bde607aaa AC_AttitudeControl: fixed comment 2021-07-04 08:19:11 +10:00
Andrew Tridgell 848cac37c2 AP_Math: cleanup API comments on control code 2021-07-04 08:19:11 +10:00
Andrew Tridgell 52d20cedad AC_WPNav: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Andrew Tridgell a4220b1584 AC_AttitudeControl: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Andrew Tridgell 6e99028d69 AP_Math: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Andrew Tridgell 070a004f26 AP_Math: make vector3 xy() method return a reference 2021-07-04 08:19:11 +10:00
Siddharth Purohit 5a113cd8ad AP_PiccoloCAN: fix missing _telem_sem 2021-07-04 08:19:11 +10:00
Oliver 72ceee5539 AP_PiccoloCAN: Explicit initialization of AP_HAL::CANFrame instances 2021-07-04 08:19:11 +10:00
Oliver ffbe038790 AP_PiccoloCAN: Remove unncessary floating point operations 2021-07-04 08:19:11 +10:00
Oliver e9d8945930 AP_PiccoloCAN: Update code to match new esc telemetry / logging architecture 2021-07-04 08:19:11 +10:00
Oliver Walters 5a9c899f4b AP_PiccoloCAN: Increase number of supported channels from 12 -> 16 2021-07-04 08:19:11 +10:00
Oliver Walters 1a37b51ff7 AP_PiccoloCAN: Record servo telemetry information to log 
- Servo position
- Servo speed
- Servo force / torque
- Servo duty cycle

Updated servo protocol file to accommodate extra variable data
 2021-07-04 08:19:11 +10:00
Oliver Walters c8ba301bb2 AP_PiccoloCAN: Send servo commands for active channels 
- For each channel, check if a non-motor function is assigned
- If so, send the function value out to the servo
 2021-07-04 08:19:11 +10:00
Oliver Walters 77417677d3 AP_PiccoloCAN: Framework for CAN servo outputs 2021-07-04 08:19:11 +10:00
Oliver Walters 9af4fa46d3 AP_PiccoloCAN: Add support for CBS servo protocol 
- Adds protocol files for the servo protocol
- Generated using Protogen tool
 2021-07-04 08:19:11 +10:00