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30711 Commits

Author SHA1 Message Date
Andy Piper e11f417231 AP_Camera: fix parameter caching with RunCam enablement and setup on 3-pos switch 2022-11-21 18:48:49 +09:00
Andy Piper e7ba5d6406 AP_HAL_ChibiOS: hwdef for SpeedyBee F405 v3 2022-11-21 18:48:49 +09:00
Andy Piper afb05fee7b AP_HAL_ChibiOS: support 8 bi-directional dshot channels on MatekH743 2022-11-21 18:48:49 +09:00
Andy Piper d9259d8362 AP_HAL_ChibiOS: correctly default SERIAL7 to RCIN and SERIAL5 to ESC telem on MatekH743-bdshot 2022-11-21 18:48:49 +09:00
Randy Mackay 58a01492ee AR_AttitudeControl: balancebot gets pitch limit protection 2022-11-21 18:48:49 +09:00
Randy Mackay ba33412cb2 AR_AttitudeControl: balancebot pitch feedforward uses current pitch angle 2022-11-21 18:48:49 +09:00
Randy Mackay 6054b2814f AR_AttitudeControl: improve balancebot pitch control param description 2022-11-21 18:48:49 +09:00
Randy Mackay df9a2a3485 AP_Mount: gremsy driver sends vehicle att at 50hz 2022-11-21 18:48:49 +09:00
Andrew Tridgell 18fa90e765 AP_GPS: fixed injection of RTCM on 2 different CAN buses 
if we have two CAN GPS on difference can drivers we need to inject to
both
 2022-11-21 18:48:49 +09:00
Andrew Tridgell b7d8285dfd AP_GPS: disable GPS lag checking in AP_Periph 
it is much more useful to check on the flight controller, not on the
periph, or users just get mysterious failures
 2022-11-21 18:48:49 +09:00
Andrew Tridgell 666287b669 AP_BoardConfig: fixed description of BRD_IO_ENABLE 2022-11-21 18:48:49 +09:00
Andrew Tridgell c3f008c4c3 HAL_ChibiOS: fixed BRD_SAFETY_MASK on some boards 
for boards that have an IOMCU but also have a safety button on the FMU
this fixes the BRD_SAFETY_MASK
 2022-11-21 18:48:49 +09:00
Henry Wurzburg b82dda561e AP_OSD: fix error in stats screen introduced in #18396 2022-11-21 18:48:49 +09:00
Andy Piper 3f71896897 AP_InertialSensor: ensure that hardware AAF and notch filter are enabled on 42605 and 42609 2022-11-21 18:48:49 +09:00
Henry Wurzburg daaf50c3c5 AP_SerialManager: move multiple RC input error to pre-arm failure 2022-11-21 18:48:49 +09:00
Henry Wurzburg b51b972305 AP_Arming: move multiple RC input error to pre-arm failure 2022-11-21 18:48:49 +09:00
Yuri 9e4b7ddcfe AP_Vehicle: enable HNTCH for Rover 2022-11-21 18:48:49 +09:00
Andrew Tridgell 6a349e5e9c AP_Scripting: adjust EFI_SkyPower for rev 0.3 protocol 2022-11-21 18:48:49 +09:00
Andrew Tridgell 9f881f8c5b AP_EFI: fixed units of exhaust gas temperature 2022-11-21 18:48:49 +09:00
Andrew Tridgell 792523fd77 AP_Scripting: added CANDRV to HFE EFI driver and document 2022-11-21 18:48:49 +09:00
Andrew Tridgell 26d85227fb AP_Scripting: added throttle and generator control for EFI_SkyPower driver 
and added documentation for the driver
 2022-11-21 18:48:49 +09:00
alexklimaj a3d0c7e4c5 AP_Baro: BMP390 2022-11-21 18:48:49 +09:00
alexklimaj 603cb3be69 hwdef: ARKV6X 2022-11-21 18:48:49 +09:00
Andrew Tridgell c064ea9b31 AP_Airspeed: add instance to hygrometer logging 2022-11-21 18:48:49 +09:00
Andrew Tridgell 39d79695b3 GCS_MAVLink: send HYGROMETER_SENSOR message if data available 2022-11-21 18:48:49 +09:00
Andrew Tridgell 240341002c AP_Airspeed: support DroneCAN airspeed with hygrometer data 
some DroneCAN airspeed sensors can send hygrometer data, for when they
have de-icing support
 2022-11-21 18:48:49 +09:00
Andrew Tridgell ca3c2e5e51 AP_Arming: use baro arming checks call 2022-11-21 18:48:49 +09:00
Andrew Tridgell 0c14564f98 AP_Baro: added option to treat MS5611 as MS5607 
and add arming check for pressure altitude error
 2022-11-21 18:48:49 +09:00
Pierre Kancir fb5ec4899d GCS_MAVLink: fix always 0 division. 
7/8 into array range bracket will be integral type, therefore 7/8 is reported as always 0.
 2022-11-21 18:48:49 +09:00
Randy Mackay 57aa4ed023 AP_AHRS: pre-arm msg loses extra AHRS prefix 2022-11-21 18:48:49 +09:00
Andy Piper affbc34dec AP_SerialManager: only use the first defined serial port for RCIN 2022-11-21 18:48:49 +09:00
Andy Piper a9397911a0 AP_RCProtocol: add has_uart() 2022-11-21 18:48:49 +09:00
Randy Mackay ca8da230de AP_Mount: minor comment fix to has_pan_control 2022-11-21 18:48:49 +09:00
Randy Mackay e709f0eb9b RC_Channel: add camera aux functions 2022-11-21 18:48:49 +09:00
Randy Mackay 27bc581c20 AP_Camera: add record video zoom and focus 2022-11-21 18:48:49 +09:00
Randy Mackay 66126aaadb AP_Mount: add Siyi gimbal driver 2022-11-21 18:48:49 +09:00
Randy Mackay 4296c7aac6 AP_Mount: add camera controls 2022-11-21 18:48:49 +09:00
Andrew Tridgell 3a72cd1ce2 AP_NavEKF3: fixed getLLH alt for local origin height 
this fixes a bug introduced in #21834

this fix in #21834 was correct for getPosD, but should not have been
applied to getLLH

this caused cruise mode in plane to descend/ascend by the difference
between the public and local origins on mode entry

fixes #21984
 2022-10-24 22:23:43 +09:00
Andrew Tridgell f0b2f4ee2a AP_AHRS: added ATSC logging 
log scale factors for angle P scaling when not == 1.0
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 154142123a AC_AttitudeControl: added single loop override of angle P gains 
this is used by quadplanes in back-transiton to prevent oscillation
caused by driving the fixed wing controller too fast
 2022-10-24 22:23:43 +09:00
Andrew Tridgell a22c7b676a APM_Control: added access to time constant 2022-10-24 22:23:43 +09:00
Iampete1 3a2c0fed61 AP_Scripting: set lua nullptr after delete 2022-10-24 22:23:43 +09:00
Andrew Tridgell c4854c3dc1 AP_RPM: fixed SITL RPM backend for new motor mask 2022-10-24 22:23:43 +09:00
Andrew Tridgell 234534d9f4 SITL: allow for extra actuators to be marked as motors 2022-10-24 22:23:43 +09:00
Andrew Tridgell 675f283c72 AP_ESC_TELEM: allow for non-continguous ESC telem motor sets 
this fixes ESC telem for quadplanes with motors at 5-8 or 9-12
 2022-10-24 22:23:43 +09:00
Andrew Tridgell c597ccb566 HAL_SITL: use motor mask for noise checking for motors 2022-10-24 22:23:43 +09:00
Andrew Tridgell 01b0586958 AP_InertialSensor: use motor_mask from SITL for which outputs are motors 
generate noise based on motor_mask
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 3db15e19b2 AP_Vehicle: removed num_dynamic_notches limit in dynamic harmonic 
use INS_MAX_NOTCHES instead, allowing for more ESCs to be added by lua
scripts
 2022-10-24 22:23:43 +09:00
Andrew Tridgell cbccda9ea1 Filter: allow for expansion of dynamic filters 
this allows for the number of dynamic filters on a harmonic notch
filter to expand at runtime, which allows for ESC RPMs to be populated
from other than AP_Motors, such as with lua scripts or for fwd motors
in a SLT quadplane
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 99786bb2d7 SITL switched to motor_mask for which actuators are motors 
this allows for any output to be an ESC, which allows for proper
simulation of quadplanes with ESCs on outputs 5-8 or 9-12, for testing
notch filtering
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 6f3d9d0e46 SITL: support playback of new GPS log format 2022-10-24 22:23:43 +09:00
Andrew Tridgell 6cab052b66 AP_GPS: fixed resolution of KSXT parsing for NMEA 
needs to be double precision for lat/lon
 2022-10-24 22:23:43 +09:00
Andrew Tridgell b0d0575906 AP_GPS: added logging to more serial GPS backends 2022-10-24 22:23:43 +09:00
Andrew Tridgell 12a273f376 AP_GPS: improve GPS debug logging 
use timestamped data allowing for much more precise playback
 2022-10-24 22:23:43 +09:00
Leonardo Garcia 2c6ccb3e05 AP_InertialSensor: Fix BMI085 accel scaling 
Original BMI088 has 24G range so it was hardcoded for *scale* within
read_fifo_accel. Added a class variable accel_range which is assigned
the correct value when the sensor type is received (16.0 or 24.0).
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 19d444bb3a GCS_MAVLink: prevent segv in ftp 
if the user disables ftp by changing BRD_OPTIONS after ftp has started
then we could dereference a nullptr
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 781fed2390 AP_Scripting: added rc:get_aux_cached() example 2022-10-24 22:23:43 +09:00
Andrew Tridgell 06b18183e0 AP_Scripting: added get_aux_cached() RC binding 2022-10-24 22:23:43 +09:00
Andrew Tridgell 3c8a46d2c5 RC_Channel: added cache of aux functions for scripting 
allows for scripting to act on aux functions
 2022-10-24 22:23:43 +09:00
Andrew Tridgell 30997a2b05 AP_Common: added setonoff() method for bitmask 2022-10-24 22:23:43 +09:00
Andrew Tridgell efd5c2a47e AP_Scripting: added relay get() binding 2022-10-24 22:23:43 +09:00
Andrew Tridgell 9366ae9c7e AP_Relay: added get() method for scripting 2022-10-24 22:23:43 +09:00
Andrew Tridgell 973bc41cfa HAL_ChibiOS: fixed build error with gcc 11.3 2022-10-24 22:23:43 +09:00
Andrew Tridgell ba6797da0f AP_Scripting: fixed use of clock and time in lua 
not available on stm32
 2022-10-24 22:23:43 +09:00
Andrew Tridgell bcccc6e191 GCS_MAVLINK: fixed warning in ftp build with gcc 11.3 2022-10-24 22:23:43 +09:00
Andrew Tridgell fdd1c71ab2 RC_Channel: add winch enable to option param docs for Copter 2022-10-14 17:13:21 +09:00
Iampete1 6571a95120 AP_Scripting: clear alocated i2c devices on scripting stop 2022-10-14 17:13:21 +09:00
Iampete1 207efe3b03 AP_Scripting: add maunal i2c binding allowing read of sequentual registers 2022-10-14 17:13:21 +09:00
Iampete1 a6b5febe3d AP_Scripting: allow maunal apobject bindings 2022-10-14 17:13:21 +09:00
Andrew Tridgell ecaa3fbcf7 AP_Vehicle: implement 1M/2M warnings 
encourage users to run the right firmware for their boards
 2022-10-14 17:13:21 +09:00
Andrew Tridgell a258a40681 hwdef: added warning messages about flash size 2022-10-14 17:13:21 +09:00
Andrew Tridgell d3e4cc59b0 HAL_ChibiOS: make check_limit_flash_1M() available in main firmware 2022-10-14 17:13:21 +09:00
Andrew Tridgell 18320b0469 AP_Airspeed: use DEVID to maintain lineup of CAN sensors 
persist DEVID and use it to ensure that we keep the order of DroneCAN
sensors between boots. It still allows for a sensor to be swapped out
for a new one, while keeping slot of the one that hasn't been removed
 2022-10-14 17:13:21 +09:00
davidsastresas 735083ebd8 AP_NMEA_Output.cpp: Fix conversion precision issue: 
We were casting the location in integer 32 bits
to float, and making fabsf in float as well, so
we were losing precision translated in about 40 cm
minimum variation in position for the NMEA output.

Also, even if using double and fabsF, we were still
rounding up last 2 decimals, so now the logic is
done in degree * 10e7 to not loose precision and
then converted properly before building the string
 2022-10-14 17:13:21 +09:00
Andrew Tridgell b06ec29d5c AP_ICEngine: report when engine goes into run state 2022-10-14 17:13:21 +09:00
Andrew Tridgell e072655649 AP_Vehicle: check for motors being nullptr 
this can happen with plane with Q_ENABLE=0
 2022-10-14 17:13:21 +09:00
Andrew Tridgell 6a0bd4c88e AP_BoardConfig: fixed BRD_SAFETY_MASK 
this was being omitted on most boards since we changed to
SERVOn_FUNCTION=-1 method for GPIO
 2022-10-14 17:13:21 +09:00
Andrew Tridgell 259dbe35dc AP_Param: fixed handling of long lines in defaults.parm 
lines longer than 100 bytes were causing the parsing to stop
 2022-10-14 17:13:21 +09:00
Kirill Shilov 18970613f9 hwdef: AIRLink: USART2 enabled in hwdef 2022-10-04 16:50:15 +09:00
Andy Piper a51a615588 AP_GyroFFT: correct ref_energy indexing that could lead to free memory read 
Fix doc spelling mistakes
 2022-10-04 16:50:15 +09:00
Andy Piper c93029edc4 AP_Logger: ensure that we don't read the same block more than once, dramatically increasing performance. 2022-10-04 16:50:15 +09:00
Andrew Tridgell 98d2775a72 hwdef: reduce flash usage to allow build 2022-10-04 16:50:15 +09:00
Andrew Tridgell a9a7e4f4d2 AP_Scripting: delay getting EFI backend 
allow for AP_EFI startup after scripting
 2022-10-04 16:50:15 +09:00
Andrew Tridgell cbd528cfaf AP_Scripting: changed bindings to ap_object 2022-10-04 16:50:15 +09:00
Andrew Tridgell 186e579036 AP_Scripting: convert HFE driver to get_backend 2022-10-04 16:50:15 +09:00
Andrew Tridgell 3b5561aa88 AP_RPM: added AP_RPM_config.h 2022-10-04 16:50:15 +09:00
Andrew Tridgell 079a3e66af AP_EFI: switched to AP_EFI_config.h 2022-10-04 16:50:15 +09:00
Andrew Tridgell d25e2b5ba2 AP_EFI: convert to using ap_object approach 2022-10-04 16:50:15 +09:00
Andrew Tridgell 55b87b1e78 AP_Scripting: added mag_heading example 2022-10-04 16:50:15 +09:00
Andrew Tridgell b0fe423d39 AP_Scripting: added EFI HFE driver 2022-10-04 16:50:15 +09:00
Andrew Tridgell c3dd582872 AP_Scripting: added EFI_HFE tester 2022-10-04 16:50:15 +09:00
Andrew Tridgell cdebefb77a AP_HAL: added id_signed for CANFrame 
makes for more efficient lua processing
 2022-10-04 16:50:15 +09:00
Andrew Tridgell eed54bfb13 AP_Scripting: update bindings for new fields 2022-10-04 16:50:15 +09:00
Andrew Tridgell 2dd1897388 AP_EFI: added more fields 
fill in 3 remaining fields available in MAVLink
 2022-10-04 16:50:15 +09:00
Andrew Tridgell 41d6e6a05d AP_Scripting: added EFI testing script 2022-10-04 16:50:15 +09:00
Andrew Tridgell 691a75989f AP_Scripting: added EFI_SkyPower driver 2022-10-04 16:50:15 +09:00
Andrew Tridgell e69043c77c AP_EFI: removed array from cylinder_status 
this array was never used and just makes doing drivers harder. Removed
to reduce complexity
 2022-10-04 16:50:15 +09:00
Joshua Henderson 15314b8ed6 AP_EFI: add EFI scripting driver 2022-10-04 16:50:15 +09:00
Andrew Tridgell 24962be00b AP_Scripting: update docs 2022-10-04 16:50:15 +09:00
Joshua Henderson b548e8bbde AP_Scripting: add scripting EFI bindings 2022-10-04 16:50:15 +09:00
Joshua Henderson 0feea8e8f8 AP_Vehicle: EFI increase loop rate to 50Hz 2022-10-04 16:50:15 +09:00
Andrew Tridgell 7cacb7972f AP_PiccoloCAN: fix for new param set 2022-10-04 16:50:15 +09:00
Reilly Callaway eaf41912ce AP_PiccoloCAN: SendECU throttle commands over CAN 2022-10-04 16:50:15 +09:00
Reilly Callaway c4699d0aba AP_EFI: Add Currawong ECU packet decoding 2022-10-04 16:50:15 +09:00
Reilly Callaway 47776cfa0a AP_EFI: Add ECU density parameter for Currawong fuel flow calculations 2022-10-04 16:50:15 +09:00
Reilly Callaway 5675109450 AP_EFI: Add Currawong ECU to known types 2022-10-04 16:50:15 +09:00
Reilly Callaway 3634d208e3 AP_PiccoloCAN: Add Currawong ECU message handling 2022-10-04 16:50:15 +09:00
Reilly Callaway a18781df65 AP_PiccoloCAN: Add Currawong ECU piccolo protocol 2022-10-04 16:50:15 +09:00
Reilly Callaway ee1af1b089 AP_EFI: Add currawong ECU EFI backend 2022-10-04 16:50:15 +09:00
Reilly Callaway e2874707cc AP_Math: Add kg/m^3 to g/cm^3 conversion define 2022-10-04 16:50:15 +09:00
Andrew Tridgell e30992d874 AP_UAVCAN: support sending pulses as PWM for DroneCAN actuators 2022-10-04 16:50:15 +09:00
Andy Piper 7f0fd504f7 Filter: optimize notch filter frequency updates when the requested frequency has not changed 2022-10-04 16:50:15 +09:00
yaapu e6b0947393 AP_MSP: move arming status to MSP telemetry base class 2022-10-04 16:50:15 +09:00
yaapu f7c74c2d73 AP_OSD: New per screen PARAMs for OSD overlay resolution and font 
This adds
 OSDn_TXT_RES to select SD/HD overlay resoloution
 OSDn_FONT_INDEX for font index selection

Right now support is limited to MSP Displayport OSD devices
 2022-10-04 16:50:15 +09:00
Randy Mackay 942fed8ac5 AP_Mount: remove set_mode overrides 
The mode state is local to the driver and does not depend upon successful communication with the gimbal
 2022-10-04 16:50:15 +09:00
yaapu d483799f2d AP_OSD: Fixed UART thread ownership for the MSP DisplayPort OSD Backend 2022-10-04 16:50:15 +09:00
Henry Wurzburg 709888aaf7 SRV_Channel: change sw and output names to match new MOUNT params 2022-10-04 16:50:15 +09:00
Henry Wurzburg 13d4c796f8 RC_Channel: change sw and output names to match new MOUNT params 2022-10-04 16:50:15 +09:00
Michael du Breuil 187c97e946 AP_Arming: Expose ARMING_OPTIONS to all vehicles 2022-10-04 16:50:15 +09:00
murata 4d7e819bac AP_InertialSensor: Allow gyro counts to be returned 2022-10-04 16:50:15 +09:00
Andy Piper 5ce02708cf AP_InertialSensor: make sure dynamic notches always get updates so that slew limiting is not too aggressive 2022-10-04 16:50:15 +09:00
Andy Piper 6eff3922db Filter: constrain harmonic notch center frequency changes to be within a slew limit 
raise notch filter slew for smaller aircraft
ensure NotchFilter init() resets the center frequency
 2022-10-04 16:50:15 +09:00
Andy Piper adaed75a0d AP_Vehicle: make sure notches are not spurious disabled when not using throttle notch 2022-10-04 16:50:15 +09:00
Yuri 48d3cdbfe6 AP_HAL_ChibiOS: define skyviper short board names 2022-10-04 16:50:15 +09:00
Yuri 803e8e9b37 GCS_MAVLink: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri a6bbb13731 AP_Radio: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri 56bec53e2c AP_Logger: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri a898cbbd5d AP_HAL_SITL: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri b0bc7591dd AP_HAL_Linux: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri 9312c571c6 AP_HAL_ESP32: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri e84eda5317 AP_HAL_ChibiOS: define CubeOrange-SimOnHardWare short board name 2022-10-04 16:50:15 +09:00
Yuri 9b6e670c82 AP_HAL_ChibiOS: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Yuri 760af1fe37 AP_HAL: increase short board names to 23 chars 2022-10-04 16:50:15 +09:00
Peter Barker cd6b1b2667 AP_GPS: use default case for sending blob 
This structure avoids a compiler warning that a statement isn't reachable when all backends are compiled out.
 2022-10-04 16:50:15 +09:00
Peter Barker 945e342001 AP_GPS: no init blobs for SBF/GSOF/NOVA/SITL 2022-10-04 16:50:15 +09:00
Peter Barker 624a708c0d AP_GPS: cycle through baud rates for SBF/GSOF/NOVA/SITL 2022-10-04 16:50:15 +09:00
Iampete1 1d9fb68036 SRV_Channel: adjust trim, check all channels for range limit 2022-10-04 16:50:15 +09:00
Paul Riseborough cd3b7389ea AP_NavEKF3: Allow wind states to recover faster when airspeed sensor failed 2022-10-04 16:50:15 +09:00
Andrew Tridgell f367fe5a73 AP_Airspeed: allow EKF checking without wind max 2022-10-04 16:50:15 +09:00
Paul Riseborough a41a45a128 AP_Airspeed: Update documentation for used parameter index warnings 2022-10-04 16:50:15 +09:00
Andrew Tridgell db32d7c9bd AP_Logger: fixed missing doc field 2022-10-04 16:50:15 +09:00
Paul Riseborough f70ee99851 AP_Airspeed: remove unsupported parameter units descriptor 2022-10-04 16:50:15 +09:00
Paul Riseborough 642c8baee5 AP_Airspeed: Add tuning advice for ARSP_WIND_GATE 2022-10-04 16:50:15 +09:00
Paul Riseborough 810f0fb95b AP_Airspeed: Add hysteresis to consistency check 2022-10-04 16:50:15 +09:00
Paul Riseborough 2cc2bf2a71 AP_TECS: Assume flight at cruise speed if speed measurement not available 2022-10-04 16:50:15 +09:00
Paul Riseborough c6aeadd320 AP_Airspeed: Enable use of EKF3 to check airspeed health 2022-10-04 16:50:15 +09:00
Paul Riseborough e45d68d2e8 AP_Logger: Fix ARSP data type string 2022-10-04 16:50:15 +09:00
Paul Riseborough 05046c1400 AP_Logger: Add consistency test ratio to ASPD logging 2022-10-04 16:50:15 +09:00
Paul Riseborough 24cb640321 AP_AHRS: Add accessor function for airspeed health monitoring 2022-10-04 16:50:15 +09:00
Paul Riseborough 2edf166252 AP_NavEKF3: Allow reporting of airspeed consistency for a deselected sensor 2022-10-04 16:50:15 +09:00