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35735 Commits

Author SHA1 Message Date
Iampete1 fdfdbe8d13 GCS_MAVLink: Routing: forward ADSB if local ADSB parsing is disabled 2024-03-12 09:36:15 +11:00
Andy Piper 3f681e4626 AP_HAL_ChibiOS: BlitzF745AIO update to ICM-42688 
enable OSD
use minimal FPV config
enable compass probing
pull uart pins high in bootloader for ELRS
 2024-03-12 09:26:58 +11:00
Peter Barker ce04d69d53 AP_NavEKF3: correct compilation in SITL when logging is disabled 
this code is gated on HAL_BOARD_SITL already, and usually we have logging in SITL.  But not always
 2024-03-12 09:25:17 +11:00
Peter Barker 34603bbfd0 SRV_Channel: add define for SRV_Channels being compiled in or not 2024-03-12 09:10:22 +11:00
Peter Barker e22a00680b AP_Vehicle: correct define around SRV_Channels init call 2024-03-12 09:10:22 +11:00
Peter Barker a77a894b8a AP_HAL_SITL: correct define around use of RC singleton 
... you may not be a periphs and *still* not have RC...
 2024-03-12 09:09:21 +11:00
Peter Barker 3e529a241b AP_Camera: add HAL_GCS_ENABLED to mavlink2 backend dependencies 2024-03-12 09:07:56 +11:00
Iampete1 8d7052887c AP_Filesystem: fixup AP_FILESYSTEM_FILE_WRITING_ENABLED comment 2024-03-12 08:52:38 +11:00
Iampete1 90ad109047 AP_Scripting: Only try to make scripts directory if file write and directory is enabled 2024-03-12 08:52:38 +11:00
Peter Barker 466b4b6c2e AP_GPS: create convenience methods is_rtk_base and is_rtk_rover 2024-03-12 08:51:11 +11:00
Peter Barker b4f5d49adb AP_GPS: remove redundant check 
get_type has this sanity check
 2024-03-12 08:51:11 +11:00
Peter Barker 093709cbe3 AP_GPS: avoid use of _type 
some of these methods are taking the instance in externally.  Protect by using get_type
 2024-03-12 08:51:11 +11:00
Peter Barker 8ed1b02301 AP_RCProtocol: move support for SFML joysticks down into AP_RCProtocol 2024-03-12 08:48:35 +11:00
Peter Barker 7d8e58ea17 AP_HAL_SITL: move support for SFML joysticks down into AP_RCProtocol 2024-03-12 08:48:35 +11:00
Iampete1 93de68e060 AP_Arming: OPTIONS parameter is a bitmask 2024-03-12 08:28:06 +11:00
Peter Barker 6534a9657c AP_Proximity: cope with AP_OADATABASE_ENABLED being false 2024-03-11 18:07:18 +11:00
Peter Barker e4ff1a97d5 AP_Proximity: cope with AP_AVOIDANCE_ENABLED being false 2024-03-11 18:07:18 +11:00
Peter Barker ceb45a9c3b GCS_Fence: cope with avoidance not being compiled in 2024-03-11 18:07:18 +11:00
Peter Barker 4781938694 RC_Channel: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker 277a7c1bec AR_WPNav: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker 1e0c56b5b9 APM_Control: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker 31eb340928 AP_HAL: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker 96ee586eaa AP_HAL_ChibiOS: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker 84aaa8df63 AC_WPNav: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker 6e5ed88087 AC_Avoidance: move AC_Avoidance defines into libraries 2024-03-11 18:07:18 +11:00
Peter Barker a79569ccf3 GCS_Common: add missing include for AP_RCProtocol 
we directly use this library's singleton, so include the header
 2024-03-09 18:42:57 +11:00
TsuyoshiKawamura a2549c5d6b AP_Motors: fix comment of HeliQuad 2024-03-09 09:09:07 +09:00
olliw42 fba1e68ef4 AP_RCProtocol: add support for MAVLink receiver, handle RADIO_RC_CHANNELS message 2024-03-09 10:47:39 +11:00
olliw42 0bb98c3db5 GCS_MAVLink: handle RADIO_RC_CHANNELS 2024-03-09 10:47:39 +11:00
olliw42 4cc1c02823 RC_Channel: add MAVRadio to RC_PROTOCOLS description 2024-03-09 10:47:39 +11:00
Peter Barker 64d3897126 AP_Mount: correct compilation when GCS not available 2024-03-09 10:20:03 +11:00
Peter Barker d24e7a916f SITL: SIM_Morse: correct compilation with HAL_GCS_ENABLED false 2024-03-08 15:09:34 +11:00
Peter Barker 9fc068d704 GCS_MAVLink: send set_position_target_global_int with non _INT frame 
deprecating and hopefully removing the _INT frames.

This method is only called by Rover, so thankfully the altitude is not that important...
 2024-03-08 13:28:14 +11:00
Peter Barker aa79967947 AP_GyroFFT: correct compilation when HAL_GCS_ENABLED is false 2024-03-08 11:15:33 +11:00
Peter Barker 4b97dba185 AP_Torqeedo: correct compilation with HAL_GCS_ENABLED is false 
removes a larger block to avoid warnings about unused variables
 2024-03-08 11:14:37 +11:00
Peter Barker 23982229fb AP_WheelEncoder: correct compilation when HAL_GCS_ENABLED is false 2024-03-08 10:04:53 +11:00
Michelle Rossouw 3ff790159f AP_MSP: Use scaled RC inputs instead of direct RC in. Also flip pitch to be correct. 2024-03-08 06:54:17 +11:00
rishabsingh3003 d91147552b AC_Avoid: Remove sensor status checks 2024-03-07 18:14:04 +11:00
rishabsingh3003 0efe4351f1 AP_Proximity: Improve get_status handling 2024-03-07 18:14:04 +11:00
Marek S. Lukasiewicz baf0da74ed GCS_MAVLink: Match handling of MAV_CMD_EXTERNAL_POSITION_ESTIMATE to common MAVLink dialect 2024-03-07 18:13:51 +11:00
Marek S. Lukasiewicz 07681416f5 AP_NavEKF3: Match handling of MAV_CMD_EXTERNAL_POSITION_ESTIMATE to common MAVLink dialect 2024-03-07 18:13:51 +11:00
Peter Barker cfd76b8dd9 SITL: name fields when assembling vision_position_delta message 2024-03-07 18:13:35 +11:00
Peter Barker 8c9ed697fe SIM_Vicon: label fields going into VISION_SPEED_ESTIMATE packets 2024-03-07 18:13:26 +11:00
Peter Barker c12bb6720a SIM_Vicon: label fields going into _POSITION_ESTIMATE packets 2024-03-07 18:13:17 +11:00
Peter Barker b30bdb7dd3 SITL: Sim_Ship: label global_position_int and attitude packet fields 2024-03-07 18:13:09 +11:00
Peter Barker 28488cbfd6 SIM_Vicon: correct heartbeating 
the heartbeat was packed but never sent
 2024-03-07 18:13:01 +11:00
Peter Barker 298ef64836 SIM_Vicon: label fields going into ODOMETRY packets 2024-03-07 18:13:01 +11:00
Peter Barker 21ca4f83f4 SITL: name fields in loweheiser mavlink packet 
avoid field ordering issues
 2024-03-07 15:52:16 +11:00
Andrew Tridgell feff2f34e9 SITL: fixed the vehicle type of the simulated ship 
this was broken by https://github.com/ArduPilot/ardupilot/pull/23763

we need to look for other places where we have assumed the MAVLink
field orderin in recent changes
 2024-03-07 15:51:15 +11:00
Peter Barker dc7626887f AP_RCProtocol: do not detect async protocols if not enabled 
Co-authored-by: olliw42 <waldmanns@gmx.de>
 2024-03-07 13:58:31 +11:00
Willian Galvani 1a443f7cbf SRV_Channel: fix comment 2024-03-07 08:33:58 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 573436e81b AC_PrecLand: use GCS_SEND_TEXT where possible 2024-03-06 19:53:55 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 39e7e4bed1 AC_PrecLand: NFC move two local instances of inertial_data_delayed to single _inertial_data_delayed member variable 
- improve code alignment
- simplify a return
- improve initialization of vectors
 2024-03-06 19:53:55 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 87435473b5 AC_PrecLand: Move accessors code to the .h file 2024-03-06 19:53:55 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 4d7fc1fe46 AC_PrecLand: remove code duplication and use the same logic as the other backends (<= instead of <) 2024-03-06 19:53:55 +11:00
Andrew Tridgell 0f6f738a33 AP_GPS: added option to decode RTCM injected data 
this allows for redundent RTCM links (eg. WiFi and SiK links for light
show drones) without causing corruption into the GPS.

If the GPS_DRV_OPTION bit is set then we instantiate a separate RTCM3
decoder per mavlink channel, and only inject when we get a full packet
that passes the RTCM 24 bit CRC
 2024-03-06 19:38:06 +11:00
Andrew Tridgell 0aba1ce939 GCS_MAVLink: pass channel number to AP_GPS on RTCM injection 2024-03-06 19:38:06 +11:00
jfbblue0922 7ba9030129 AP_HAL_ChibiOS/hwdef: add LED_SAFETY for JFB100 board definition 2024-03-06 18:52:35 +11:00
Andrew Tridgell dc863d878a AP_Scripting: fixed race condition in ship landing 
and fixed lua warnings
 2024-03-06 09:39:51 +11:00
Andrew Tridgell c210675e95 AP_Scripting: added plane_precland lua script 2024-03-06 09:39:51 +11:00
Andrew Tridgell fa1d965224 AP_Scripting: added docs for precland 2024-03-06 09:39:51 +11:00
Andrew Tridgell bac99dc7ac AP_Scripting: added bindings for AC_PrecLand 2024-03-06 09:39:51 +11:00
Andrew Tridgell 4f9b66c267 SITL: fixed precland simulator 
fixed units of height, was mixed cm and m, now just m AMSL
 2024-03-06 09:39:51 +11:00
Andrew Tridgell e5f092482d AC_PrecLand: added get_target_location and get_target_velocity 2024-03-06 09:39:51 +11:00
Andrew Tridgell 171da3dd08 AP_Motors: smoother ramp down in output_motor_mask 
stop changing motors outside the given mask in output_motor_mask,
which gives smoother ramp down in tilt quadplanes when we are
transitioning to forward flight

thanks to Pete for the suggestion
 2024-03-06 08:01:52 +11:00
Andrew Tridgell 2b784e01f9 AP_Motors: allow output_motor_mask() to work properly with slew limits 
this fixes tilt quadplanes with slew limits when we set motors state
to SHUT_DOWN
 2024-03-06 08:01:52 +11:00
Peter Barker 8a478abce9 RC_Channel: allow customisation of position text in aux switch announcement 
this means that we get "EKFPosSource 1" rather than "EKFPosSource LOW"
 2024-03-05 23:46:03 +11:00
Pulak Gautam 2d5e6a5f98 AP_ExternalAHRS: added missing #if AHRS logging 2024-03-05 17:11:38 +11:00
Peter Barker b09dd7b866 AP_HAL_ChibiOS: move defaulting of HAL_WITH_ESC_TELEM for periph 2024-03-05 12:37:40 +11:00
Peter Barker d0a7b54e61 AP_ESC_Telem: move defaulting of HAL_WITH_ESC_TELEM for periph 2024-03-05 12:37:40 +11:00
bnsgeyer d103eebf91 AC_AttitudeControl: Tradheli- fix inverted mode collective handling 2024-03-05 10:24:06 +09:00
Iampete1 576ee75669 AC_AttitudeControl: Heli: invert throttle in inverted flight, move state down to heli 2024-03-05 10:24:06 +09:00
Iampete1 24c843dc26 AP_Motors: Heli: remove inverted flight state 2024-03-05 10:24:06 +09:00
Iampete1 1bf7792fe5 AP_Motors: Heli: remove `output_armed_zero_throttle` and use identical `output_armed_stabilizing` 2024-03-05 10:20:03 +09:00
subashchandar 7db7f95a3b AP_HAL_ChibiOS: hwdef: Add new hardware pixflamingo f7 2024-03-04 23:26:50 +00:00
Andrew Tridgell eadf5596ed AP_TECS: fixed adjusting speed without airspeed sensor 
the pitch trim variable that was not connected in aparm is needed to
allow tuning of the flight speed using PTCH_TRIM_DEG and
TRIM_THROTTLE.

This was broken in 4.4.x by this PR:

https://github.com/ArduPilot/ardupilot/pull/22191
 2024-03-03 20:28:38 +11:00
Peter Barker d6df142eaa GCS_MAVLink: allow FTP to be compiled out with build_options.py 2024-03-03 08:38:22 +11:00
Peter Barker bff8688ac9 AP_Vehicle: add and use AP_CUSTOMROTATIONS_ENABLED 
also add to build_options.py
 2024-03-03 08:22:46 +11:00
Peter Barker cf9c85d295 AP_Math: add and use AP_CUSTOMROTATIONS_ENABLED 
also add to build_options.py
 2024-03-03 08:22:46 +11:00
Peter Barker 077dd82bdc AP_HAL_ChibiOS: add and use AP_CUSTOMROTATIONS_ENABLED 
also add to build_options.py
 2024-03-03 08:22:46 +11:00
Peter Barker 2f30fa2f56 AP_CustomRotations: add and use AP_CUSTOMROTATIONS_ENABLED 
also add to build_options.py
 2024-03-03 08:22:46 +11:00
Peter Barker 093deed610 AP_Compass: add and use AP_CUSTOMROTATIONS_ENABLED 
also add to build_options.py
 2024-03-03 08:22:46 +11:00
Peter Barker a836bd8583 AP_AHRS: add and use AP_CUSTOMROTATIONS_ENABLED 
also add to build_options.py
 2024-03-03 08:22:46 +11:00
David Buzz 73afd26465 AP_HAL_ESP32: bugfixes 
bump  tick rate to 1kz to match chibios

experimentally make delay_microseconds not delay, and only yield ( vTaskDelay yields to higher-priority tasks )

ESP32 disable all watchdogs

emit info to console to tell user where to connect tcp/udp and what ports

comment out bad code throwing a ptr error
 2024-03-03 07:29:35 +11:00
astik 24de88f85c AP_DDS: Add IMU publisher 
* Using NED frame
 2024-03-03 07:04:59 +11:00
Andrew Tridgell b4d8e1133c AP_HAL: use NoVehicle by default 
allows build of examples for esp32s3empty
 2024-03-02 17:55:43 +11:00
Peter Barker 3926e06508 AC_CustomControl: move include of logging header to cpp file 2024-02-29 20:01:39 +11:00
Peter Barker d0cc35af3e AR_PosControl: adjust for logging having moved into AC_AttitudeControl 2024-02-29 19:27:47 +11:00
Peter Barker 8ce6964948 AC_AttitudeControl: make logging methods public/static so Blimp can use them 2024-02-29 19:27:47 +11:00
Peter Barker f4df89b85b AP_Logger: move logging of PSC messages into AC_AttitudeControl 2024-02-29 19:27:47 +11:00
Peter Barker 3165ec694c AC_AttitudeControl: move logging of PSC messages into AC_AttitudeControl 2024-02-29 19:27:47 +11:00
Peter Barker 32abb5b0ad AP_Vehicle: move serial_manager parameters up to base class 2024-02-29 12:12:19 +11:00
Peter Barker b623b8ec94 AP_SerialManager: move serial_manager parameters up to base class 2024-02-29 12:12:19 +11:00
Peter Barker 684b621b8c AP_Param: move serial_manager parameters up to base class 2024-02-29 12:12:19 +11:00
Peter Barker c0a57cb447 AP_DDS: add missing include in externalcontrol 2024-02-29 12:12:00 +11:00
Andrew Tridgell 6a16cbf3bb AP_HAL_SITL: fixed get_baud_rate() 2024-02-29 11:00:40 +11:00
Andrew Tridgell cfad74ce6b AP_HAL_Linux: fixed get_baud_rate() 2024-02-29 11:00:40 +11:00
Andrew Tridgell 673c89da9c AP_HAL_ESP32: fixed get_baud_rate() 2024-02-29 11:00:40 +11:00
Andrew Tridgell c2be9f3c56 AP_SerialManager: default GPS baud to 230400 
this is the most common baudrate
 2024-02-29 11:00:40 +11:00
Andrew Tridgell d894f7ac5d AP_GPS: do initial probe at default baudrate 
this makes for much faster probe for most users
 2024-02-29 11:00:40 +11:00
Peter Barker 6f4ab028ca AP_Logger: cope with rename of AP_Logger_JEDEC driver 2024-02-28 22:32:23 +11:00
Peter Barker 8555a5ddbe AP_Logger: rename AP_Logger_DataFlash to AP_Logger_Flash_JEDEC 2024-02-28 22:32:23 +11:00
Andy Piper b248ba5f1b AP_HAL_ChibiOS: provide start time and timeout to all dshot APIs that require it 
correct timeout checking for dshot across timer wrap boundaries
fix trigger_groups timeout checks
use rcout_timer_t instead of uint32_t or uint64_t
 2024-02-28 22:25:48 +11:00
Andy Piper f094ee66ec AP_HAL: add timeout helper functions 
add tests for timeout functions
 2024-02-28 22:25:48 +11:00
Andrew Tridgell 09500df4a8 AP_Scheduler: fixed example test to pass/fail 2024-02-28 19:22:14 +11:00
Andrew Tridgell 7226c5107d AP_Schedule: fixed loop in example with sitl NULL 2024-02-28 19:22:14 +11:00
Andrew Tridgell 66ff84e6fb AP_InertialSensor: fixed wait_for_sample() in examples 2024-02-28 19:22:14 +11:00
Andrew Tridgell a74dab8c0a HAL_SITL: don't run IO procs in examples 2024-02-28 19:22:14 +11:00
Andrew Tridgell d0cec297a8 AP_JSON: made test pass/fail 2024-02-28 19:22:14 +11:00
Andrew Tridgell 39efe75e79 HAL_SITL: allow delay() and delay_microseconds() to work in examples 
when we have no sitl object we need to directly call stop_clock()
 2024-02-28 19:22:14 +11:00
Andrew Tridgell e4c103972c HAL_SITL: use NoVehicle for example tests and replay 
allows for example runs without -C --model XXX
 2024-02-28 19:22:14 +11:00
Andrew Tridgell 07f34a2f74 SITL: added NoVehicle 2024-02-28 19:22:14 +11:00
Andrew Tridgell 9ea8e61cfc AP_Scripting: example showing how to use readstring method 
a fairly common requirement for scripts
 2024-02-28 19:05:58 +11:00
Randy Mackay fb5df80932 AP_HAL_ChibiOS: AP_Periph does not use AP_VisualOdom 2024-02-28 18:52:37 +11:00
Randy Mackay 07cd050f63 AP_Scripting: EKF source switching for ExtNav and optflow 2024-02-28 18:52:37 +11:00
Randy Mackay f2b66fd179 AP_Scripting: add VisualOdom bindings 2024-02-28 18:52:37 +11:00
Randy Mackay 6c5425cd68 AP_DDS: send quality of zero to AP_VisualOdom 2024-02-28 18:52:37 +11:00
Randy Mackay 442c90ff1b GCS_MAVLink: send Odometry quality to VisualOdom 2024-02-28 18:52:37 +11:00
Randy Mackay d1360c14f8 AP_VisualOdom: use Odometry quality 2024-02-28 18:52:37 +11:00
Randy Mackay 81b0d599a8 SITL: vicon send odometry with quality of 50 2024-02-28 18:52:37 +11:00
Randy Mackay de657689ce SITL: vicon param descriptions 2024-02-28 18:52:37 +11:00
Andy Piper b359ec89a5 AP_HAL_ChibiOS: use standard FPV config for SpeedyBeeF405WING 2024-02-28 18:48:14 +11:00
Peter Barker 2cb5f434fd AP_Filesystem: don't show directory entries for empty @ filesystems 2024-02-28 18:47:22 +11:00
Peter Barker 21edc6aee1 AP_NavEKF3: do not trust number of beacons to not change 
if the count from the beacon library changes we may end up looking at memory we shouldn't
 2024-02-28 18:37:42 +11:00
Peter Barker a517d5fed1 AP_NavEKF3: correct initialisation of BeaconFusion data structure 
the fusionReport object is not being cleared when the filter undergoes a forced reset.

So delete and recreate the object.  Will also make this sensitive to the number of beacons changing.

Also don't attempt to allocate zero bytes.
 2024-02-28 18:37:42 +11:00
Gone4Dirt 749c7428dd SITL: FlightAxis: Fix helidemix 2024-02-28 18:09:42 +11:00
jfbblue0922 dac1b2e99c AP_HAL_ChibiOS/hwdef: update JFB110 board definition 2024-02-28 15:55:29 +09:00
Peter Barker 079ffb4a40 AP_Param: add comments around G2 parameter conversion 2024-02-27 21:13:39 +11:00
Peter Barker 0fe9027b23 GCS_MAVLink: handle MAV_CMD_DO_SET_SAFETY_SWITCH_STATE 2024-02-27 21:10:39 +11:00
Andrew Tridgell 0aee2a436c AP_ExternalAHRS: check for origin in pre-arm check 2024-02-27 21:10:20 +11:00
Andrew Tridgell 192d9f6dbd AP_AHRS: don't use accel/gyro from ExternalAHRS unless enabled 2024-02-27 21:10:20 +11:00
Andrew Tridgell 9770855c9d AP_ExternalAHRS: make get_accel() and get_gyro() bool 2024-02-27 21:10:20 +11:00
Andrew Tridgell 9fd3e4169a AP_ExternalAHRS: added support for GPS disable and fwd flight 
allow backends to determine if we are in fixed wing flight and/or the
GPS is disabled by the user
 2024-02-27 21:10:20 +11:00
Andrew Tridgell 9809393851 RC_Channel: disable GPS on external AHRS with GPS_DISABLE 2024-02-27 21:10:20 +11:00
Andrew Tridgell cb53e64293 AP_ExternalAHRS: added EAHRS_LOG_RATE and common logging 
common logging for all EAHRS backends
 2024-02-27 21:10:20 +11:00
Andrew Tridgell 280bc3a285 AP_InertialSensor: fixed accel cal simple to remove unused IMUs 
when we change EAHRS_SENSORS to remove use of IMU from an external
AHRS we need to be able to zero the accel and gyro offsets to get
prearms to pass
 2024-02-27 21:10:20 +11:00
Andrew Tridgell 23f2621685 AP_Scripting: improved dual log handling 
allow sync of PTHT messages between vehicle logs
 2024-02-27 21:10:01 +11:00
Andy Piper 242f679206 AP_HAL_ChibiOS: remove iomcu dshot from Pixhawk1-1M and add to Pixhawk1-bdshot 
add support for removing ROMFS from hwdef
 2024-02-27 12:06:57 +11:00
Peter Barker 2df3cb98c6 AP_NavEKF3: move initialisation of rngBcn into BeaconFusion method 2024-02-27 12:04:14 +11:00
Iampete1 744df1ceba AP_Motors: Tricopter: fix actuator indexing 2024-02-27 01:03:28 +00:00
Iampete1 c7d543f9af AP_Scripting: only try to load from ROMFS if `HAL_HAVE_AP_ROMFS_EMBEDDED_LUA` is defined 2024-02-27 11:09:08 +11:00
Iampete1 d4daa990f8 AP_HAL_ChibiOS: hwdef.py: define `HAL_HAVE_AP_ROMFS_EMBEDDED_LUA` if lua files in ROMFS 2024-02-27 11:09:08 +11:00
Peter Barker 2e2b1c9fac AP_HAL_ChibiOS: allow AP_TERRAIN_ENABLED to be turned off in hwdef 
adds the ifndef, and changes things to the path defines are undefined if it is false
 2024-02-27 11:04:02 +11:00
Peter Barker 5cc48a12e2 GCS_MAVLink: remove code based on ENABLE parameters 2024-02-27 11:02:48 +11:00
Peter Barker df8801955d AP_Vehicle: don't create compass singleton if compass not enabled 2024-02-27 11:02:48 +11:00
Peter Barker 53fd9056d8 AP_Scripting: use AP_ARMING_ENABLED and AP_COMPASS_ENABLED 
... in place of periph-specific checks
 2024-02-27 11:02:48 +11:00
Peter Barker c36b57acba AP_Compass: exclude cpp files if not AP_COMPASS_ENABLED 2024-02-27 11:02:48 +11:00
rishabsingh3003 89d8a1351c AP_RangeFinder: move multican to AP_CANSensor 2024-02-27 10:59:41 +11:00
rishabsingh3003 8a24699bfa AP_Proximity: move mutlican to AP_CANSensor 2024-02-27 10:59:41 +11:00
rishabsingh3003 94fca60882 AP_Arming: Remove MR72 2024-02-27 10:59:41 +11:00
rishabsingh3003 a707628b16 AP_CANManager: Add multiCAN interface 2024-02-27 10:59:41 +11:00
Peter Barker e6a6db9ba0 AP_GPS: correct check of reported antenna distance vs stated offset 2024-02-27 10:52:10 +11:00
Peter Barker cb2f764700 AP_GPS: improve reporting of offset vs reported-distance inaccuracy 2024-02-27 10:44:56 +11:00
Peter Barker dd628b025f AP_Param: remove unused old_top_element param from convert_class 2024-02-27 10:37:45 +11:00
Peter Barker f2e9e84278 AP_Param: simplify g2 object conversion 2024-02-27 10:37:45 +11:00
Iampete1 b7dd432409 AP_Scripting: allow loading moduels from ROMFS 2024-02-27 10:17:43 +11:00
Peter Barker ac769014c4 AP_Filesystem: list virtual @SYS, @MISSION etc directories in / 
Adds virtual directory entries for these virtual filesystems in /

RTL> ftp list
RTL> Listing /
 D @MISSION
 D @PARAM
 D @ROMFS
 D @SYS
 D APM
 D log
   V5_BT.dfu	10541
   bootlog.txt	297
   dataman	350216
   message-intervals-chan0.txt	7
Total size 352.60 kByte
ftp list @MISSION
RTL> Listing @MISSION
LIST: OP seq:7 sess:2 opcode:129 req_opcode:3 size:2 bc:0 ofs:0 plen=2 [2]
ftp list @ROMFS
RTL> Listing @ROMFS
   bootloader.bin	16448
   hwdef.dat	5743
   io_firmware.bin	40880
Total size 61.59 kByte

This PR also makes us *much* more lenient in what we accept for looking at virtual filesystems, so

ftp list @SYS
ftp list /@SYS
ftp list @SYS/
ftp list /@SYS/

should all work
 2024-02-27 10:07:01 +11:00
Peter Barker e9d065c1cc AP_NavEKF3: tidy population of fusion reports 
simply take a refefence and use it
 2024-02-26 20:55:41 +11:00
Peter Barker df3267c9ba waf: remove SKETCH and SKETCHNAME from build sysmte 
... renaming one of them to AP_BUILD_TARGET
 2024-02-26 15:42:25 +11:00
Andrew Piper 6d6c790e37 AP_GPS: fragments_received is a bitmask not a count 2024-02-26 09:23:08 +11:00
Paul Riseborough 870c6c5080 AP_TECS: Remove unused variable 2024-02-26 09:20:12 +11:00
Paul Riseborough aecbd116e7 AP_TECS: Add /0 protection 2024-02-26 09:20:12 +11:00
Paul Riseborough 846eaecc0b AP_TECS: Add option for speed to increase up to FBW max during descent 2024-02-26 09:20:12 +11:00
Richard Allen bf1d364201 HAL_Linux: reduce delay(ms) jitter 
Fix delay(1) rarely returning immediately.
On my RPi4, this once per 5-20k calls that worked.

Reduce the last call to microsleep according to the
remaining time needed in the last loop iteration.
 2024-02-26 09:15:52 +11:00
Simon Hancock 2a67cbe681 AP_Logger: Add metadata for VER and FILE messages 2024-02-25 17:53:08 +11:00
Peter Barker fc1c30bc36 AP_MSP: correct compilation when GPS disabled 
../../libraries/AP_MSP/AP_MSP_Telem_Backend.cpp: In member function 'virtual void AP_MSP_Telem_Backend::update_gps_state(AP_MSP_Telem_Backend::gps_state_t&)':
../../libraries/AP_MSP/AP_MSP_Telem_Backend.cpp:206:5: error: 'AP_GPS' was not declared in this scope; did you mean 'RAW_GPS'?
  206 |     AP_GPS& gps = AP::gps();
      |     ^~~~~~
      |     RAW_GPS
compilation terminated due to -Wfatal-errors.
 2024-02-25 12:47:40 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 957b05e53e AP_PiccoloCAN: Remove duplicated code 
Fix doxygen markup for consistency
Fix typos
 2024-02-25 10:19:23 +11:00
Maxim Buzdalov 0ede7f5075 AP_ESC_Telem: replace selected repeated indexing with references 2024-02-25 10:15:39 +11:00
Maxim Buzdalov 58d82000db AP_ESC_Telem: split logging and invalidation, deduplicate micros64() 2024-02-25 10:15:39 +11:00
Maxim Buzdalov 8a576f884e AP_ESC_Telem: remove redundant initialization 2024-02-25 10:15:39 +11:00
Maxim Buzdalov 5329ab8d92 AP_ESC_Telem: cleanup whitespace 2024-02-25 10:15:39 +11:00
Maxim Buzdalov 4e280795b2 AP_ESC_Telem: for RPM, log NaN instead of 0 when there are no measurements 2024-02-25 10:15:39 +11:00
lthall 728d9a9f96 Copter: AC_AttitudeControl: RP_FILT_HZ to RPY_FILT_HZ 2024-02-24 08:45:35 +09:00
lthall 44977938d8 AC_CustomControl: RP_FILT_HZ to RPY_FILT_HZ 2024-02-24 08:45:35 +09:00
Andy Piper 5b2d760365 AC_AttitudeControl: ensure yaw gets a FLTD default 2024-02-24 08:45:35 +09:00
Peter Barker f0616b1b84 AC_PID: avoid use of uninitialised stack data in example 2024-02-24 08:19:50 +09:00
Peter Barker 26d4e0d285 AP_RCProtocol: correct assignment of new_input in rcprotocol detecion 
caused RCP protocol detection to break for everything other than DroneCAN
 2024-02-23 11:23:13 +11:00
Peter Barker b19f8ed57f AP_RCProtocol: CRSF: use subtraction with times, not time+timedelta 2024-02-22 20:46:40 +11:00
Andy Piper b071d76565 AP_RCProtocol: decode high duty-cycle CRSF frames using frame markers rather than timeouts 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-02-22 20:46:40 +11:00
Andy Piper aa9ea03c7c AP_RCProtocol: add tests for CRSF and fix protocol test 
fixed RCProtocolTest on SITL and make it pass/fail with an exit code

Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-02-22 20:46:40 +11:00
Andrew Tridgell 632bb71c87 GCS_MAVLink: use can_printf_severity() for AP_Periph 2024-02-22 15:03:01 +11:00
Andrew Tridgell ed27e30f9e AP_DroneCAN: map DroneCAN debug levels to MAV_SEVERITY levels 2024-02-22 15:03:01 +11:00
Peter Barker 21a01c5587 AP_GPS: remove dead GPS_MINDGPS variable 2024-02-22 14:41:29 +11:00
Andy Piper 76c0b0a8e0 SITL: squash static_assert warnings 2024-02-22 14:40:55 +11:00
Andy Piper 4d419bb918 AP_Logger: remove unused variables 2024-02-22 14:40:55 +11:00
Andy Piper 1ba5898b82 AP_Param: remove unused variable 2024-02-22 14:40:55 +11:00
Andy Piper a5b28cf3e3 AP_RCProtocol: squash compile warning 2024-02-22 14:40:55 +11:00
Andy Piper 01d04917cb AP_Mount: squash static_assert warnings 2024-02-22 14:40:55 +11:00
Andy Piper 61dbc7a665 AP_Filesystem: remove unused variables 2024-02-22 14:40:55 +11:00
Andrew Tridgell 4fca2ee852 AP_GPS: prevent announcing DroneCAN at 5Hz 2024-02-22 13:27:54 +11:00
Clyde McQueen b486c1cb46 AP_Scripting: expose sub rangefinder methods 2024-02-21 18:59:20 -03:00
Clyde McQueen 37e7c33916 AP_JSButton: add SURFTRAK mode 2024-02-21 18:59:20 -03:00
Andrew Tridgell feff639c15 AP_ROMFS: fixed duplicate directories 2024-02-22 07:43:16 +11:00
Iampete1 a9eadd9f01 GCS_MAVLink: FTP: strip trailing `/` in dir list request 2024-02-22 07:43:16 +11:00
Iampete1 785e0c4c62 AP_ROMFS: don't require / in filename 2024-02-22 07:43:16 +11:00
Iampete1 93d8de2834 AP_Filesystem: support full direcotry listing in ROMFS 2024-02-22 07:43:16 +11:00
Peter Barker f3b9304d80 RC_Channel: move gripper up to AP_Vehicle 
also make the singleton return a reference rather than a pointer
 2024-02-21 21:05:12 +11:00
Peter Barker 362867415f GCS_MAVLink: move gripper up to AP_Vehicle 
also make the singleton return a reference rather than a pointer
 2024-02-21 21:05:12 +11:00
Peter Barker 9bdb886bb8 AP_Vehicle: move gripper up to AP_Vehicle 
also make the singleton return a reference rather than a pointer
 2024-02-21 21:05:12 +11:00
Peter Barker b41d82c989 AP_Mission: move gripper up to AP_Vehicle 
also make the singleton return a reference rather than a pointer
 2024-02-21 21:05:12 +11:00
Peter Barker 9a1a412152 AP_Gripper: move gripper up to AP_Vehicle 
also make the singleton return a reference rather than a pointer
 2024-02-21 21:05:12 +11:00
Peter Barker b22185436e AP_Param: allow AP_PARAM_KEY_DUMP from sim_vehicle cmdline 
./Tools/autotest/sim_vehicle.py -v ArduCopter --map --configure-define=AP_PARAM_KEY_DUMP=1
 2024-02-21 21:05:12 +11:00
Peter Barker 3a38aeda59 AP_HAL_ChibiOS: set scheduler task to -4 when running callback tasks 2024-02-21 18:56:50 +11:00
bugobliterator 402c8a5e4d GCS_MAVLink: fix version setting in CheckFirmware app descriptor 2024-02-21 18:54:17 +11:00
bugobliterator fd3c723103 AP_CheckFirmware: add separate AP_CheckFirmwareDefine for correctly setting firmware versions 2024-02-21 18:54:17 +11:00
bugobliterator c54521511c AP_CheckFirmware: allow access to app descriptor from bootloader 2024-02-21 18:54:17 +11:00
bugobliterator 7fabce6cb6 AP_Bootloader: add support for printing current firmware and boot status 2024-02-21 18:54:17 +11:00
Peter Barker 3ab5f8139c AP_RCProtocol: remove unused enumeration 2024-02-21 18:35:30 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 4996c17a75 AP_Stats: Only reset statistics if the user explicitly sets AP_Stats_RESET parameter to zero. 
This allows users to load parameter files (in MP, MAVProxy or any other GCS) without
accidentally reseting the statistics, because the AP_STATS_RESET value contained in
the parameter file will be ignored (unless it is zero and it is usually not zero).
The other statistics parameters are read-only, and the GCS should be clever enough to not set those.
 2024-02-21 18:28:23 +11:00
Peter Barker d37d70e787 AP_RCProtocol: factor out a poll_protocol method 2024-02-21 18:19:23 +11:00
Andrew Tridgell f8097379cb AP_Scripting: prevent a code path to abort() in scripting 
if scripting can't find an error handler it can call abort(). We don't
ever want to do that in ArduPilot
 2024-02-21 12:09:48 +11:00
Andrew Tridgell 3d4dbd0aed SITL: use gmtime_r() instead of gmtime() 2024-02-21 12:09:48 +11:00
Andrew Tridgell b3240ac243 AP_Scripting: use gmtime_r() instead of gmtime() 
using gmtime_r makes gmtime thread safe
 2024-02-21 12:09:48 +11:00
Andrew Tridgell 052ce823ba AP_RTC: use gmtime_r() instead of gmtime() 
using gmtime_r makes gmtime thread safe
 2024-02-21 12:09:48 +11:00
Andrew Tridgell 476587adf1 AP_NMEA_Output: use gmtime_r() instead of gmtime() 
using gmtime_r makes gmtime thread safe
 2024-02-21 12:09:48 +11:00
Andrew Tridgell fca0aa3d02 AP_MSP: use gmtime_r() instead of gmtime() 
using gmtime_r makes gmtime thread safe
 2024-02-21 12:09:48 +11:00
Andrew Tridgell 3cb3e6feda AP_Filesystem: use gmtime_r() instead of gmtime() 
using gmtime_r makes gmtime thread safe
 2024-02-21 12:09:48 +11:00
Andrew Tridgell 127c41f541 AP_ADSB: use gmtime_r() instead of gmtime() 
using gmtime_r makes gmtime thread safe
 2024-02-21 12:09:48 +11:00
Andrew Tridgell c0beda3235 AP_JSON: added JSON parsing library 2024-02-21 12:09:48 +11:00
Andrew Tridgell cb01789b9f SITL: use AP_JSON 2024-02-21 12:09:48 +11:00
Peter Barker d5e4d191d5 AP_OSD: use internal enumeration in place of mavlink enumeration 
this will let us more-easily compile without the mavlink headers
 2024-02-20 22:09:53 +11:00
Peter Barker 1515f0642b SITL: correct documentation around simulated GPS type 2024-02-20 19:35:01 +11:00
Peter Barker 5199be9914 SITL: add diagnostics when bad GPS backend specified 2024-02-20 19:35:01 +11:00
Peter Barker 494d72503a AP_GPS: use probing when probing for GPS, add detected message 2024-02-20 19:35:01 +11:00
Iampete1 c54529aaf8 SITL: SIM_Motor: include momentum drag in derived torque 2024-02-20 12:22:05 +11:00
Peter Barker bedcbc24b6 AC_CustomControl: tidy AC_CustomControl defines / add config file 2024-02-20 11:50:10 +11:00
Peter Barker 0e742fe51c AC_Fence: ensure fencepoint protocol not compiled in if not HAL_GCS_ENABLED 
also use GCS_SEND_TEXT a bit
 2024-02-20 11:47:32 +11:00
muramura f6d0f52876 AC_Fence: Replace with GCS_SEND_TEXT 2024-02-20 11:47:32 +11:00
Iampete1 5907e49cb1 AP_Scripting: ensure that all pass by refence values are initialized 2024-02-20 11:05:36 +11:00
Patrick José Pereira 3f2c82df12 GCS_MAVLink: Remove wrong usage of COMMAND_ACK message 
SET_MODE message does not exist inside the MAV_CMD enum
as described in the mavlink specification.
The system that is using SET_MODE to communicate with the
vehicle should rely on HEARTBEAT message to detect if
the mode was set correctly.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-02-20 10:08:06 +11:00
xianglunkai 9123554db3 AP_OAPathPlanner: using static constexpr instead const 2024-02-20 09:30:13 +11:00
Peter Barker c2f77d0593 AP_Generator: tidy RichenPower defines 2024-02-20 09:27:43 +11:00
Peter Barker 9c97dc99b1 AP_Logger: correct compilation when GCS not available 
... can't expect to do mavlink logging without GCS available...
 2024-02-20 09:16:59 +11:00
Peter Barker ee3c9765a4 AP_ICEngine: correct compilation when ICEngine disabled 
the starter class does things with various other objects which may not be avaialb.e  Honour AP_ICENGINE_ENABLED
 2024-02-20 09:16:23 +11:00
Andy Piper d7ae8b8bb3 AP_RCProtocol: correctly process bytes from standalone UART 2024-02-19 22:46:58 +11:00
Peter Barker cca292f222 AP_RCTelemetry: correct CSRF->CRSF 
Co-authored-by: Andy Piper <github@andypiper.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-02-19 21:38:39 +11:00
Peter Barker 3b9c9497aa AP_RCProtocol: correct CSRF->CRSF 
Co-authored-by: Andy Piper <github@andypiper.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-02-19 21:38:39 +11:00
Iampete1 6c4c7a2130 AC_AttitudeControl: fix reset_target_and_rate method 2024-02-19 09:15:58 +09:00
Andrew Tridgell 303c33411f AP_Scripting: fixed pitch param reversion in revert_param.lua 2024-02-19 09:41:18 +11:00
Andrew Tridgell 9225b9f76d SITL: added 4 motor tilt vectored quadplane 
from 2 motors tilt for "quadplane-tilt". This is the most common tilt
quadplane setup
 2024-02-18 16:28:43 +11:00
Andrew Tridgell 388b04d671 SITL: fixed SITL for tilted motors 
vector math was done in the wrong order
 2024-02-18 16:28:43 +11:00
Peter Barker c0deee23a3 AP_TemperatureSensor: correct compilation when GCS not available 
This variable becomes unused
 2024-02-16 12:52:04 -08:00
Iampete1 ff00d562fe AP_DroneCAN: DNA_Server: log driver index in CAND 2024-02-16 21:55:07 +11:00
Peter Barker 594f96670a AP_Torqeedo: correct compilation when GCS not available 
this variable is unused in that case
 2024-02-16 09:02:14 +11:00
Peter Barker 4113290153 AP_HAL_ChibiOS: remove HerePro 
to be replaced by a HereProAP
 2024-02-15 13:42:14 +11:00
Andrew Tridgell df45140a56 AP_Param: fixed build of CubeOrange-periph 2024-02-15 13:41:29 +11:00
Andrew Tridgell 08468904db AP_Param: fixed cygwin build 
the cygwin build is not generating binaries failing with:

   undefined reference to `AP_Param::load_param_defaults(char const volatile*, int, bool)

there is a 2nd problem that the CI test for cygwin doesn't fail when
the build fails. That will be addressed separately
 2024-02-15 13:41:29 +11:00
Randy Mackay a16d71ced4 AP_Camera: fix video recording while armed 2024-02-15 12:17:44 +11:00
Peter Barker 2263dced74 AP_Scripting use scheduler semaphore only if AP_SCHEDULER_ENABLED 2024-02-15 12:17:07 +11:00
Peter Barker e787fc5dfd GCS_MAVLink: allow AP_Periph to use mavlink library 2024-02-15 12:17:07 +11:00