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21645 Commits

Author SHA1 Message Date
Andrew Tridgell
17a45b2c44 AP_NavEKF2: fixes for new compass API 2020-05-11 19:38:53 +10:00
Andrew Tridgell
cbb1512ebc AP_Compass: merged in compass device ID changes from master 2020-05-11 19:38:28 +10:00
Andrew Tridgell
03204ac0eb SITL: added new compass parameters 2020-05-11 19:35:32 +10:00
Andrew Tridgell
36caf3da49 AP_Param: added find_top_level_key_by_pointer 2020-05-11 19:35:20 +10:00
Andrew Tridgell
eddb0a7376 AP_Common: added TSIndex.h 2020-05-11 19:35:03 +10:00
Andrew Tridgell
820729186a AP_TECS: sync TECS with plane4.0 2020-05-11 18:14:48 +10:00
Andrew Tridgell
8647cc9e72 AP_SpdHgtControl: sync TECS with plane4.0 2020-05-11 18:14:48 +10:00
Andrew Tridgell
a552861d8f AP_Common: added IGNORE_RETURN 2020-05-11 17:45:58 +10:00
Andrew Tridgell
5c46a0f2a7 AP_SerialManager: added Hott telem 2020-05-11 17:45:58 +10:00
Andrew Tridgell
010c949464 AP_Hott_Telem: sync with master 2020-05-11 17:45:58 +10:00
Andrew Tridgell
875184f774 HAL_ChibiOS: fixed CubeSolo hwdef.dat 2020-05-11 17:34:17 +10:00
Andrew Tridgell
dfd80b5d8b AP_Notify: fixed recursion bug in tone player 2020-05-11 17:25:13 +10:00
Andrew Tridgell
00745adba8 AP_InertialSensor: resync for 4.0 2020-05-11 17:22:22 +10:00
Andrew Tridgell
6d34aaeefa AP_Baro: resync for 4.0 2020-05-11 17:22:07 +10:00
Andrew Tridgell
74444a28cc AP_FlashStorage: resync for 4.0 update 2020-05-11 16:46:43 +10:00
Andrew Tridgell
e291bd1471 AP_BoardConfig: added BRD_ALT_CONFIG 2020-05-11 16:01:33 +10:00
Andrew Tridgell
ac6f429e25 AP_RAMTRON: resync for 4.0 2020-05-11 16:01:17 +10:00
Andrew Tridgell
12292b4283 AP_Frsky_Telem: support FPort 2020-05-11 15:57:44 +10:00
Andrew Tridgell
01a603be43 RC_Channel: added fport pad option 2020-05-11 15:57:44 +10:00
Andrew Tridgell
149476c59a AP_RCProtocol: added fport prototol support 2020-05-11 15:57:44 +10:00
Andrew Tridgell
ebb528905d AP_InternalError: resync for 4.0 update 2020-05-11 15:56:07 +10:00
Andrew Tridgell
bdd7094d17 AP_IOMCU: resync for 4.0 update 2020-05-11 15:55:57 +10:00
Andrew Tridgell
ee9d161196 HAL_SITL: resync for 4.0 update 2020-05-11 15:55:43 +10:00
Andrew Tridgell
b925cb121d HAL_Linux: resync for 4.0 update 2020-05-11 15:55:35 +10:00
Andrew Tridgell
31f7b32fab HAL_ChibiOS: resync for 4.0 update 2020-05-11 15:55:16 +10:00
Andrew Tridgell
a426964349 AP_HAL: re-sync APIs for 4.0 update 2020-05-11 15:54:48 +10:00
Andrew Tridgell
4c27e07d06 AP_GPS: sync with master for new yaw handling 2020-05-11 13:59:44 +10:00
Andrew Tridgell
8c9efec4e3 GCS_MAVLink: fixed build with updated mavlink xml 2020-05-11 13:59:17 +10:00
Andrew Tridgell
756863ee9d mavlink: update for GPS yaw 2020-05-11 13:56:29 +10:00
Andrew Tridgell
64557413b8 HAL_ChibiOS: switch non-composite USB ID 
use newly allocated 0x1209/0x5740
 2020-05-11 13:50:46 +10:00
Andrew Tridgell
10416f92c4 HAL_ChibiOS: set CS pins high while in bootloader 
this appears to be the root cause of the parameter resets on
CubeOrange. We need to ensure the CS pin is not floating or random
noise on the SPI bus for FRAM can cause the FRAM to become corrupt
 2020-05-11 13:48:28 +10:00
Andrew Tridgell
af11a8e572 GCS_MAVLink: consider NO_CHANGE as success for bootloader flash 
this prevents GCS users from seeing "update failed"
 2020-05-11 13:45:08 +10:00
Andrew Tridgell
739d921813 AP_InertialSensor: suppress expected errors from invensense IMUs 2020-05-11 13:45:08 +10:00
Andrew Tridgell
8088923162 HAL_ChibiOS: improve error messages for flashing bootloader 
send progress as statustext messages
 2020-05-11 13:45:07 +10:00
Andrew Tridgell
0ca4b589a7 AP_HAL: use enum for flash_bootloader() result 2020-05-11 13:45:07 +10:00
Andrew Tridgell
2215fbd7a4 HAL_ChibiOS: suppress SPI timeout error for expected delay 2020-05-11 13:38:21 +10:00
Andrew Tridgell
8c49690acf HAL_ChibiOS: implement in_expected_delay() 2020-05-11 13:38:18 +10:00
Andrew Tridgell
aafc5be1c2 AP_HAL: added in_expected_delay() 
allows for error message suppression when delays are expected
 2020-05-11 13:38:15 +10:00
Andrew Tridgell
00d99c5177 AP_GPS: don't accept a zero GNSS timestamp from UAVCAN GPS 
this is needed for a bug in AP_Periph 1.0 which could briefly send a
zero timestamp on first fix marked as a UTC time
 2020-05-11 13:37:01 +10:00
Andrew Tridgell
b0e7251832 HAL_ChibiOS: fixed race condition in storage write 
we could mark a line as clean when it should be dirty if we lose a
race condition between storage thread and writer
 2020-05-11 13:35:54 +10:00
Randy Mackay
9750f99b91 AP_OADatabase: send_adsb uses vehicle's current altitude 2020-05-11 10:22:27 +09:00
Randy Mackay
bfa6886e50 AP_OADatabase: available regardless of hal-minimize-features 
In Copter with minimize feature set the entire AP_PathPlanning feature including the database are unavailable
Rover has enough space for the database even with minimise features set
 2020-05-11 10:22:23 +09:00
Randy Mackay
933db99778 AP_OAPathPlanner: slow updates to 1hz, timeout to 3sec 2020-05-11 10:22:20 +09:00
Randy Mackay
a895d2e7c9 AP_OABendyRuler: integrate oadb ekf-offset change 2020-05-11 10:22:18 +09:00
Randy Mackay
032544f876 AP_Math: add vector2f::offset_bearing 2020-05-11 10:22:15 +09:00
Randy Mackay
69e85d2e08 AP_Proximity: integrate oadb ekf-offset change 2020-05-11 10:22:10 +09:00
Randy Mackay
f474cfdf12 AP_OADatabase: replace Location with offset from origin 2020-05-11 10:22:05 +09:00
Randy Mackay
80d8889d14 AP_Proximity: remove unused get_horizontal_distance 2020-05-11 10:22:01 +09:00
Randy Mackay
52c21d6ea0 AP_Proximity: sf40c combines seven readings for oadb 2020-05-11 10:21:57 +09:00
Randy Mackay
e74676ad05 AP_Proximity: always use 8 sectors and fix ignore areas 2020-05-11 10:20:42 +09:00
Randy Mackay
c9c28abac1 AP_OABendyRuler: integrate static object radius 2020-05-11 09:50:58 +09:00
Randy Mackay
52c1f9f798 AP_OADatabase: calculate object radius based on distance and beam width 
also all object database items are normal importance
 2020-05-11 09:50:55 +09:00
Randy Mackay
b8458d9cb4 AP_Proximity: integrate oadb::queue_push argument swap 2020-05-11 09:50:53 +09:00
Randy Mackay
f6bc33ea2f AP_Proximity: remove unnecessary const from database_push 
also shorten current_vehicle_bearing argument to just current_heading
 2020-05-11 09:50:50 +09:00
Randy Mackay
b59908e4d3 AP_OADatabase: remove unnecessary const on arguments 
also swap order of angle and distance arguments to be consistent with proximity library
 2020-05-11 09:50:47 +09:00
Kelly Schrock
080e477b36 AP_BattMonitor: NeoDesign battery driver 
Adds a driver for the NeoDesign BMS, with variable cell count.
 2020-05-06 15:48:49 +09:00
Andrew Tridgell
160839f0e1 AP_Battery: fixed bug in SUI driver 
fixed bug in total voltage
 2020-05-06 15:48:11 +09:00
Andrew Tridgell
9c16e30178 AP_BattMonitor: added SUI SMBUS battery backend 
originally by Kelly Schrock
 2020-05-06 15:48:04 +09:00
Randy Mackay
6f77a75be5 AP_BattMonitor: set default I2C bus for Solo and Maxell drivers 2020-05-06 15:47:26 +09:00
Randy Mackay
0edc341231 AP_BattMonitor: Maxell cell voltages timeout after 5sec 2020-05-06 15:47:22 +09:00
Randy Mackay
51cab958b9 AP_Scripting: example to check battery cycle count 2020-05-06 15:47:17 +09:00
Randy Mackay
f7a89ae055 AP_Scripting: add binding for BattMonitor's get_cycle_count method 2020-05-06 15:47:12 +09:00
murata
4192ec1700 AP_BattMonitor: Maxell battery on any I2C bus 2020-05-06 15:47:08 +09:00
Randy Mackay
30a0f22d13 AP_BattMonitor: add cycle count for smbus batteries 2020-05-06 15:47:05 +09:00
Andrew Tridgell
ede5cabbf5 HAL_ChibiOS: save 3k of flash on MatekF405-Wing 
disable SMBUS and fuel battery monitors
 2020-05-06 15:46:13 +09:00
Andrew Tridgell
943e495f34 AP_BattMonitor: support selective enable of SMBUS and fuel battery monitors 2020-05-06 15:46:10 +09:00
Andrew Tridgell
d40671b8d8 AP_Terrain: added script for creating terrain *.dat files 
useful for pre-populating a microSD card
 2020-05-06 15:35:00 +09:00
Andrew Tridgell
8efe7c1b71 AP_Terrain: fixed bug in disk offset calculation 
this fixes a problem where two different locations could both be
mapped to the same disk block in the terrain/*.DAT files. That meant
that pre-filled terrain on the microSD card would sometimes require a
download in flight. It also means that a RTL with loss of GCS could
sometimes fly through a region with no terrain data available

Other changes in this patch:

 - allow for a 2cm discrepancy in the lat/lon of the grid
   corners. This is needed to allow for slightly different floating
   point rounding in tools that pre-generate terrain data to load on
   the microSD

 - added TERRAIN_OPTIONS parameter to allow the user to disable
   attempts to download new terrain data. This is mostly useful for
   testing to validate a terrain generator
 2020-05-06 15:34:57 +09:00
Paul Riseborough
9cd7cf4c01 AP_NavEKF3: Don't use geomag data when user specifies declination 2020-05-06 15:31:02 +09:00
Paul Riseborough
117b2629a9 AP_NavEKF2: Don't use geomag data when user specifies declination 2020-05-06 15:30:59 +09:00
Paul Riseborough
db90cf5fb0 AP_Compass: Add accessor function for COMPASS_AUTODEC 2020-05-06 15:30:56 +09:00
Randy Mackay
e87e16cc0f AP_NavEKF3: getLLH fix when no GPS available 2020-05-06 15:29:11 +09:00
Randy Mackay
a6b825324a AP_NavEKF2: getLLH fix when no GPS available 2020-05-06 15:29:08 +09:00
Andrew Tridgell
12c0d452e9 AP_RCProtocol: fixed buffer overflow in st24 parser 
found using random data injection in SITL
 2020-05-06 15:21:49 +09:00
murata
5b9fc1b146 AP_Baro: Fix timestamp wrapping 2020-05-06 15:15:56 +09:00
Andrew Tridgell
481852d608 AP_Compass: change RM3100 device ID 
changed scale factor means users need to recalibrate
 2020-05-06 15:12:11 +09:00
Andrew Tridgell
8787ca868a AP_Compass: fixed scaling of RM3100 
scale factor was off by 200/256, resulting in COMPASS_SCALE of about
1.28

thanks to Arace for noticing
 2020-05-06 15:12:08 +09:00
Andrew Tridgell
8be1755b12 AP_NavEKF3: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-05-06 15:07:56 +09:00
Andrew Tridgell
6e5f61935c AP_NavEKF2: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-05-06 15:07:53 +09:00
bugobliterator
531cf5f3fb AP_Scripting: remove unused user of realloc from lua 2020-05-06 15:00:54 +09:00
bugobliterator
9073f0ffb4 HAL_ChibiOS: deprecate realloc for ChibiOS build, so as to return error when used 2020-05-06 15:00:51 +09:00
bugobliterator
cf0c6d3247 AP_HAL: ensure libc realloc is available for all platforms except ChibiOS 2020-05-06 15:00:47 +09:00
bugobliterator
a9ea7ca3dc AP_HAL_ChibiOS: implement standard realloc method 2020-05-06 14:59:45 +09:00
bugobliterator
792fe2697a AP_HAL: implement standard realloc method 2020-05-06 14:59:42 +09:00
bugobliterator
c093af9ea5 AP_Common: use standard realloc method from HAL 2020-05-06 14:59:39 +09:00
Andrew Tridgell
384571ddf2 GCS_MAVLink: send only old value for readonly param set 
this prevents a condition where the GCS can display the wrong value if
the 2nd PARAM_VALUE is lost

Note that groundstations can tell the set failed due to readonly in
the following ways:

 1) look for the statustext: Param write denied (PARAMNAME)

 2) see that the value came back with the old value, with index of
   65535

 3) can repeat the send, looking for (1) and (2)

Michael has proposed we add a PARAM_VALUE mavlink2 flags
extension. That would be nice, but we should still make this change to
fix the issue with mavlink 1.0
 2020-05-06 14:41:34 +09:00
Peter Hall
33af883275 AP_Motors: MotorsMulticopter fix floating boost output 2020-05-06 14:36:14 +09:00
Peter Barker
96c97589ae GCS_MAVLink: divide time allowed to send messages fairly 2020-05-06 14:34:21 +09:00
Randy Mackay
d0ff724b46 AP_LandingGear: add OPTIONS param to auto deploy and retract 2020-05-06 14:32:44 +09:00
Bill Geyer
23fc62a2d4 AC_AttitudeControlHeli: update filter parameter desc mins 2020-05-06 14:31:06 +09:00
Randy Mackay
ab8b482bcd AC_AttitudeControl: update param ranges 2020-05-06 14:31:02 +09:00
Randy Mackay
9fe8e01fe4 AP_Mount: ignore rc trim when calculating desired mount angles 2020-05-06 14:27:01 +09:00
Randy Mackay
52520d9c28 RC_Channel: formatting fixes 2020-05-06 14:26:58 +09:00
Randy Mackay
1ee5862f6d RC_Channel: add norm_input_ignore_trim 
same as norm_input but ignores the trim value
 2020-05-06 14:26:55 +09:00
bnsgeyer
7b1e34d219 AC_WPNAV:make speed changes during missions obey WPNAV_ACCEL 
Includes commits by rmackay9
AC_WPNav: fixup max speed acceleration
AC_WPNav: simplify the initialisation of poscontrol's max speed
          Changed at Leonard's request to keep things simpler
 2020-05-06 14:22:23 +09:00
Randy Mackay
5eb54ddfd2 AC_PosControl: allow smaller changes in max speed and accel 
also small changes in max speed for z-axis
 2020-05-06 14:22:21 +09:00
Andrew Tridgell
fe8398fe0d HAL_ChibiOS: use default USB IDs for fmuv3 2020-05-06 14:20:50 +09:00
Andrew Tridgell
aafed565f3 AP_NavEKF3: fixed use of antenna position when switching GPS primary 
when GPS primary switches we were using a position which had not been
corrected for antenna offset. This was used for calculating the reset
for sensor change.

This fixes that (trivial fix) and also fixes a similar issue on
position reset
 2020-05-06 14:17:26 +09:00
Andrew Tridgell
2cf3ad4a3d AP_NavEKF2: fixed use of antenna position when switching GPS primary 
when GPS primary switches we were using a position which had not been
corrected for antenna offset. This was used for calculating the reset
for sensor change.

This fixes that (trivial fix) and also fixes a similar issue on
position reset
 2020-05-06 14:17:21 +09:00
Matt Lawrence
31b98d5d97 AP_Camera: Make trigger type enum class 2020-05-06 14:14:23 +09:00