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26510 Commits

Author SHA1 Message Date
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
Siddharth Purohit 37673762f9 AP_UAVCAN: Use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit 58f09029ad SRV_Channel: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit 4e15531c87 GCS_MAVLink: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit 3895942282 AP_ToshibaCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit 67dbbc34b7 AP_RangeFinder: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit d6ac420055 AP_PiccoloCAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit 67278d54ae AP_Notify: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit 274ce7b516 AP_KDECAN: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit 5014c65276 AP_HAL_SITL: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit 9ed015f1c7 AP_HAL_Linux: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit f8d313cfd6 AP_HAL_ChibiOS: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit c640f0d3d9 AP_HAL: split into HAL_CANMANAGER_ENABLED and HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit 17459128bf AP_HAL: Use HAL_ENABLE_CANMANAGER instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit fc1bc6b852 AP_Filesystem: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Siddharth Purohit b32f687a6b AP_CANManager: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-07-04 08:19:10 +10:00
Leonard Hall ee9ae3e570 AC_AttitudeControl: AC_PosControl: Init and stopping point fixes 2021-07-04 08:19:10 +10:00
bugobliterator 086f184c36 AP_HAL_ChibiOS: allow embedded bootloader to be excluded 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-07-04 08:19:10 +10:00
Peter Barker d2c195b2a5 AP_Motors: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker 4bdb245244 AP_Logger: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker ff91bca2e2 AP_LandingGear: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker 131bec811a AP_InertialSensor: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker e76d78e8b3 AP_GPS: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker 9340042e31 AP_BoardConfig: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker 76d2cb7282 AP_Baro: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker fef68262ae AP_Arming: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker 9690d78095 AP_ADSB: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker cc121b5b6d AC_Fence: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker fbd93bd535 AC_Avoidance: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker 0c271e8d06 AC_AutoTune: remove @Values from param metadata where @Bitmask exists 2021-07-04 08:19:10 +10:00
Peter Barker 2712556fca RC_Channel: add rc channel option to disable all airspeed sensors 2021-07-04 08:19:10 +10:00
Peter Barker 6d91950d4e AP_Airspeed: add rc channel option to disable all airspeed sensors 2021-07-04 08:19:10 +10:00
Paul Riseborough 28a55e8478 AP_NavEKF3: Remove unused class variable rngBcnTimeout 2021-07-04 08:19:10 +10:00
Paul Riseborough 18e949d035 AP_NavEKF3: Ensure postion timeout flag and timer is always reset 2021-07-04 08:19:10 +10:00
Paul Riseborough 43e84c4061 AP_NavEKF3: Fade each vert vel variance clip count over 1 second 2021-07-04 08:19:10 +10:00
Paul Riseborough 7bd944ef3e AP_NavEKF3: Clean up initialisation of boolean array 2021-07-04 08:19:10 +10:00
Paul Riseborough 4b88b2ccec AP_NavEKF3: Remove unwanted line 2021-07-04 08:19:10 +10:00
Paul Riseborough 2565f3917c AP_NavEKF3: Protect against collapse of velocity and position variances 2021-07-04 08:19:10 +10:00
Paul Riseborough e5c34172c1 AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata 2021-07-04 08:19:10 +10:00
Paul Riseborough 2161e59369 AP_NavEKF3: Fix bug preventing height reset if badIMUdata 2021-07-04 08:19:10 +10:00
Paul Riseborough 5a793e77c2 AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata 2021-07-04 08:19:10 +10:00
Leonard Hall b73182db3c AC_AttitudeControl: AC_PosControl: change force_descend to ignore_descent_limit 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi 7c939c5c00 RC_Channel: add const in member functions 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi 14719826c8 AP_Arming: add flight mode conflict check 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi 956f7d5e30 RC_Channel: add flight mode conflict check 2021-07-04 08:19:10 +10:00
Leonard Hall 20158ddf5f AC_AttitudeControl:AC_PosControl: vibration failsafe fix 2021-07-04 08:19:10 +10:00
CallanDaniel 16f7348f96 AP_AHRS: add semaphore around set_home() 
added semaphore around set_home() to avoid thread racing
 2021-07-04 08:19:10 +10:00
CallanDaniel d1a228b086 AP_Scripting: add get_origin and set_home bindings 
added bindings and example scripts for set_home and get_origin
 2021-07-04 08:19:10 +10:00
Josh Henderson c881fac1de AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying 2021-07-04 08:19:10 +10:00
Josh Henderson 678fe0480a AP_NavEKF2: Fix #17789 core's EKF origin altitude different if flying 2021-07-04 08:19:10 +10:00
Josh Henderson b85afc0adc AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf3
 2021-07-04 08:19:10 +10:00
Josh Henderson 4e119ddeec AP_NavEKF2: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf2
 2021-07-04 08:19:10 +10:00
Michael du Breuil ebab492700 AP_RangeFinder: Rearrange parameters to reduce memory usage 
Saves 4 bytes per instance, and with 10 instances this gives us an extra
40 bytes of RAM
 2021-07-04 08:19:10 +10:00
Michael du Breuil 2b6c9b931c AP_BattMonitor: Rearrange battery parameters to reduce memory usage 
Saves 8 bytes per Params instance, which we have 9 of on every vehicle,
for a total saving of 72 bytes
 2021-07-04 08:19:10 +10:00
Michael du Breuil 9e989bfd44 AP_Mission: Cleanup the header to reduce flash cost 
Removes unneeded set's of memory that is already zero'd. It also changes
_flags to be all bool to match the actual usage, and removes the width
specifiers from them. This increases the RAM cost of AP_Mission by 4
bytes, but saves on flash. The RAM cost was eliminated by rearranging
members.
 2021-07-04 08:19:10 +10:00
Michael du Breuil b2d2c6db69 AP_Airspeed: Remove unneeded initilization 
We pre zero all memory
 2021-07-04 08:19:10 +10:00
Andy Piper 9c7e2f5914 AP_HAL_ChibiOS: add 1Hz update_channel_masks() 
Send dshot commands in update function
 2021-07-04 08:19:10 +10:00
Andy Piper 32b172669c SRV_Channel: call rcout->update_channel_masks() at 1Hz 2021-07-04 08:19:10 +10:00
Andy Piper 6e35b458c5 AP_Arming: remove call to rcout->prepare_for_arming() 2021-07-04 08:19:10 +10:00
Andy Piper c995ff1452 AP_HAL: add 1Hz update_channel_masks() 2021-07-04 08:19:10 +10:00
Nicola Grossenbacher 37b6233d94 AP_Compass: added probe method for MMC3416 compass 2021-07-04 08:19:10 +10:00
Iampete1 712e3afd21 AP_BattMoniter: log in Ah and Wh, add percentage to log 2021-07-04 08:19:10 +10:00
Iampete1 c5dba34e4c AP_Logger: add Wh units 2021-07-04 08:19:10 +10:00
Iampete1 be1cca1368 AP_BatteryMoniter: fix mah to wah conversion 2021-07-04 08:19:10 +10:00
Pierre Kancir ba4634a775 AP_Common: add more unitttests 2021-07-04 08:19:10 +10:00
Peter Barker b7c2b56a66 AP_Motors: tidy frame description strings 
Before: AP: Frame: TRI/
After: AP: Frame: TRI
 2021-07-04 08:19:10 +10:00
Leonard Hall 32a174c453 AC_WPNav: AC_Loiter: Remove extra accel limit 2021-07-04 08:19:10 +10:00
Leonard Hall ab8f3c21ec AC_AttitudeControl: AC_PosControl: Remove extra accel limit 2021-07-04 08:19:10 +10:00
Peter Barker bf8f327938 SITL: increase servo_filter array size 
used for plane-dspoiler frame
 2021-07-04 08:19:10 +10:00
Peter Barker 15c39ecf69 SITL: panic if we attempt to filter out-of-range servo index 2021-07-04 08:19:10 +10:00
Peter Hall 1597ca9464 AP_Scripting: update 6DoF mixer example 2021-07-04 08:19:10 +10:00
Peter Hall 5a1fdf9f78 AC_AttitudeControl: add thrust vector methods to 6DoF multi 2021-07-04 08:19:10 +10:00
Leonard Hall 0bdeda215f AP_Motors: correct expo parameter description and internal limits 2021-07-04 08:19:10 +10:00
Peter Barker 8d9d3ca437 GCS_MAVLink: add support for MAV_CMD_RUN_PREARM_CHECKS 2021-07-04 08:19:10 +10:00
Pierre Kancir 6c3bae10ed AP_Common: add more unit tests 2021-07-04 08:19:10 +10:00
Randy Mackay a9717ea5ff AC_WPNav: move get_yaw lower in AC_WPNav.h 
this is a non-functional change
 2021-07-04 08:19:10 +10:00
Peter Barker f8646af2b1 Tools: add follow-copter.sh for SITL 
Another copy of this script -  but this one doesn't need Morse or AirSim
 2021-07-04 08:19:10 +10:00
Andy Piper f09b01c5ad AP_HAL_ChibiOS: add OREO support to CubeSolo. 
add back RunCam and Spektrum support to MatekF405-Wing
remove gripper support from MatekF405-Wing
 2021-07-04 08:19:10 +10:00
Andy Piper 69ef1e5058 AP_Notify: allow display and oreo leds to be disabled 2021-07-04 08:19:10 +10:00
giacomo892 70a66ddad2 AP_SmartAudio: Add pull down VTX option 2021-07-04 08:19:10 +10:00
giacomo892 41c5f35699 AP_VideoTX: Add pull down VTX option 2021-07-04 08:19:10 +10:00
giacomo892 b6b329d668 AP_SmartAudio: Remove useless variable and comment 2021-07-04 08:19:10 +10:00
giacomo892 ad69ba2f6c AP_VideoTX: Add band names to GCS 2021-07-04 08:19:10 +10:00
giacomo892 f7e66c44c9 AP_VideoTX: Add configuration_finished functions 2021-07-04 08:19:10 +10:00
giacomo892 06a1442ec6 AP_SmartAudio: Add configuration_finished and configuration_pending functions 2021-07-04 08:19:10 +10:00
giacomo892 e8085fac97 AP_OSD_Screen: Blink the OSD VTX Power element indicating configuration in progress 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi 9114caf213 AP_Proximity: fix proximity status for upward facing rangefinder 2021-07-04 08:19:10 +10:00
Randy Mackay dbc9b0c2f9 AC_Loiter: init brake_accel and fix brake timer type 2021-07-04 08:19:10 +10:00
Tatsuya Yamaguchi 7335e4640f AR_WPNav: add WP_PIVOT_DELAY parameter 2021-07-04 08:19:10 +10:00
Peter Barker 8fbd9b5e40 AP_Compass: remove unused setup_earth_field 2021-07-04 08:19:10 +10:00
Peter Barker 43cce260a0 GCS_MAVLink: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker fd8eb3c6c0 AP_InertialSensor: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker 3a8d3c38e7 AP_HAL: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker 2ff4ec80ad AP_GPS: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker 76aa7c485c AP_Compass: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker 759c37271a AP_Baro: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker 77718b1611 AP_Airspeed: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker 1122642f50 AP_AHRS: remove HIL support 2021-07-04 08:19:10 +10:00
Peter Barker 42c47d6d84 AP_BattMonitor: add cells 13 and 14 for SITL only 
Allows for testing higher-cell-count scenarios
 2021-07-04 08:19:10 +10:00
Peter Barker 023c84f84a AP_BattMonitor: add assertion to avoid memory over-read 2021-07-04 08:19:10 +10:00
Peter Barker 170062804f SITL: add accessor for battery voltage 2021-07-04 08:19:10 +10:00
Peter Barker 6c473a80c2 SITL: add maxell to i2c bus and make it 14-cells 2021-07-04 08:19:10 +10:00