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21204 Commits

Author SHA1 Message Date
Peter Barker
56473413d7 AC_Fence: support for multiple polygon fences 
AC_Fence: add interface for retrieving exclusion polygons

AC_Fence: add interface to get exlusion polygons to polyfence loader

AC_Fence: add suport for inclusion circles

AC_Fence: add option for compiling-out FENCE_POINT protocol support

AC_Fence: get_exclusion_polygon and get_boundary_points set num_points to zero on failure

AC_Fence: use Debug(...) to hide debug messages

AC_PolyFence_loader: add methods to retrieve all inclusion zones

AC_PolyFence_loader: valid simply returns true if a polygon boundary can be returned

AC_Fence: add get_exclusion_circle

AC_Fence: add get_exclusion_circle_update_ms accessor

AC_Fence: PolyFence_loader gets inclusion circle accessors

AC_PolyFence_loader: add and use semaphore to protect loaded fence

AC_Fence: move fence breach check below fence type checks

This allows us to provide more information to the user about why they
are breached.

For example, if the radius is negative you are considered in breach of
it - but we'd tell you you were breached, not that your radius was
invalid

AC_Fence: clear the fence if we discover the user has set the fence count to zero
 2020-02-05 10:09:54 +11:00
Peter Barker
179db476bf GCS_MAVLink: allow upload of fence using mission item protocol 
GCS_MAVLink: add support for fence inclusion circles

GCS_MAVLink: factor out a transfer_is_complete; start commenting properly
 2020-02-05 10:09:54 +11:00
Peter Barker
107b9d95ba AP_OADijkstra: cope with polyfence holding boundary points 2020-02-05 10:09:54 +11:00
Peter Barker
9c89f9cc8b AP_OABendyRuler: cope with polyfence holding boundary points 2020-02-05 10:09:54 +11:00
Peter Barker
0c92a6d091 AC_Avoidance: cope with polyfence holding boundary points 2020-02-05 10:09:54 +11:00
Peter Barker
75b022378a GCS_MAVLink: cope with polyfence holding boundary points 2020-02-05 10:09:54 +11:00
Peter Barker
c6aa243a2b AP_Proximity: cope with polyfence holding boundary points 2020-02-05 10:09:54 +11:00
Peter Barker
6064f22615 AC_Fence: move polygon points into AC_Fence_Polygon 2020-02-05 10:09:54 +11:00
Peter Barker
63256a6df5 AP_Math: define != for Vector2<int> 2020-02-05 10:09:54 +11:00
Peter Barker
eea711be66 StorageManager: add write_uint8 alias for write_byte 2020-02-05 10:09:54 +11:00
Peter Barker
dc5852dad8 AP_InternalError: add a general should-not-be-here bit 2020-02-05 10:09:54 +11:00
Peter Barker
4e793e7169 GCS_MAVLink: squelched rally-points-received message 2020-02-05 10:09:54 +11:00
Willian Galvani
5c00aa5921 AP_TemperatureSensor: Update TSYS01 for Pixhawk2 2020-02-05 10:09:54 +11:00
Peter Barker
35ea916adf AP_Relay: change parameter name from relay to instance 2020-02-05 10:09:54 +11:00
Peter Barker
47b9cb2e28 AP_Relay: tidy, reduce flash usage 2020-02-05 10:09:54 +11:00
Peter Hall
3a58aeb6c6 AR_WPNav: make get_stopping_location public 2020-02-05 10:09:54 +11:00
Henry Wurzburg
dffed8e008 AP_OSD: distance total fix for slow vehicles 2020-02-05 10:09:54 +11:00
Willian Galvani
8ad195dd51 APMotors_6DOF: Implement motor_is_enabled(), get_motor_angular_factors() and set_reversed(); 2020-02-05 10:09:54 +11:00
Peter Hall
1e02cbe009 AP_Windvane: caculate vehicles current tack 2020-02-05 10:09:54 +11:00
Willian Galvani
ae8df5678a AP_Motors_6DOF: Add missing 'break' 2020-02-05 10:09:54 +11:00
Henry Wurzburg
fb0b92cc94 AP_OSD: scale xtrack, add precision for distances <10 units 2020-02-05 10:09:54 +11:00
Patrick José Pereira
6c734b5006 AP_HAL_Linux: PCA9685: Check for device before accessing it 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-02-05 10:09:54 +11:00
mhefny
9d67a9423f SITL: adding Tricopter model in Webots 2020-02-05 10:09:54 +11:00
Randy Mackay
586b1f3c8c GCS_MAVLink: allow proximity to send only upward facing distances 
this removes the requirement that a horizontal proximity sensor be enabled
 2020-02-05 10:09:54 +11:00
Henry Wurzburg
0f0ceb6499 AP_OSD: formatting fixes 2020-02-05 10:09:54 +11:00
bnsgeyer
5898986b0a AP_Motor: tradheli align swash params btwn frames and fix metadata 2020-02-05 10:09:20 +11:00
Peter Barker
5871cdad23 AP_Math: remove unit_mod concept from wrap functions 
devcall decided it would be clearer to have non-shared implementation
for the _cd variants
 2020-02-05 10:09:20 +11:00
Peter Barker
5e9aaca8df AP_NavEKF2: initialise Kfusion stack variable to fix compilation 
This fixes the compilation, as previous patches have done.
 2020-02-05 10:09:20 +11:00
Peter Barker
ec991969c7 AP_HAL_ChibiOS: correct include of mavlink header for analog debug 2020-02-05 10:09:20 +11:00
liang
9c44ebaced AP_Baro: LPS22H: correct formatting 2020-02-05 10:09:20 +11:00
Andrew Tridgell
de12430977 AP_NavEKF2: fixed build with g++ 9.1 
this is a false positive, but the cost of clearing this array is low,
and it saves a much more complex fix
 2020-02-05 10:09:20 +11:00
murata
6de2311689 AP_Radio: Change direct value to define name 2020-02-05 10:09:20 +11:00
murata
a74123148b AP_Compass: Change direct value to define name 2020-02-05 10:09:20 +11:00
Andrew Tridgell
5d67618968 AP_NavEKF2: added comment (review request) 2020-02-05 10:09:20 +11:00
Andrew Tridgell
164813bcc2 AP_NavEKF2: moved some of the intermediate vars to the stack 
this keeps stack frames below 1k, while giving faster access to the
variables and saving more memory
 2020-02-05 10:09:20 +11:00
Andrew Tridgell
6ffffff8c6 AP_NavEKF3: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2020-02-05 10:09:00 +11:00
Andrew Tridgell
a48d97c307 AP_NavEKF2: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2020-02-05 10:08:10 +11:00
Peter Barker
5ce16f81ff AP_ADSB: use ObjectBuffer in place of AP_Buffer 2020-02-05 10:05:59 +11:00
Peter Barker
ed5848238c AP_Buffer: remove as it is replaced with ObjectBuffer 2020-02-05 10:05:59 +11:00
Willian Galvani
8f6ca7bb8f APMotors6DOF: add roll factor for motors 4 and 5 for SIMPLEROV_4 and SIMPLEROV_5 2020-02-05 10:05:59 +11:00
Willian Galvani
f5ba04d098 APMotors6DOF: add case for SIMPLEROV_3 2020-02-05 10:05:59 +11:00
Peter Barker
552cc4be5c AP_HAL_SITL: catch SIGTERM and exit with zero exit status 2020-02-05 10:05:59 +11:00
Andrew Tridgell
7ecbec5b96 HAL_SITL: added MotorBoat 2020-02-05 10:05:59 +11:00
Andrew Tridgell
be083aab1a SITL: added a MotorBoat class 
a sailboat with zero sail area
 2020-02-05 10:05:59 +11:00
Lucas De Marchi
77a06de66f AP_RangeFinder: update minimum fw version of TFMiniPlus 
Version 2.0.3 has important fixes to avoid having the sensor to lock up.
Let's make sure we check for it and warn on console.
 2020-02-05 10:05:59 +11:00
Peter Hall
5b434e814a APM_Control: AR_AttitudeControl: add description for new PID params 2020-02-05 10:05:59 +11:00
Andrew Tridgell
d85a7e4c4b AP_Logger: fixed use of old irqsave() API 2020-02-05 10:04:08 +11:00
Michael du Breuil
af0c55b4df AP_HAL_ChibiOS: Only include MAVLink when using the MAVLink debugging 2020-02-05 10:04:08 +11:00
Michael du Breuil
bfe4d6ee82 GCS_MAVLink: remove some unused includes 2020-02-05 10:04:08 +11:00
Peter Barker
506126cb44 AC_AutoTune: correct abs to fabsf for roll_cd and pitch_cd 2020-02-05 10:04:08 +11:00
Peter Barker
3e9f470bfb AP_L1_Control: wrap_180_cd no longer solely returns floats 2020-02-05 10:04:08 +11:00
Peter Barker
7c2c809b06 APM_Control: wrap_180_cd no longer solely returns floats 2020-02-05 10:04:08 +11:00
Peter Barker
33ef991282 AP_Math: stop returning float for integer wrap_180/wrap_360 etc 2020-02-05 10:04:08 +11:00
Peter Barker
818402ab99 AP_Math: add more tests for wrap functions 2020-02-05 10:04:08 +11:00
Peter Barker
89cfdb678f AC_WPNav: do not calculate NEU vector from invalid location 2020-02-05 10:04:08 +11:00
Michael du Breuil
14f43f24a9 AP_Common: Include altitude in the init check for a location 2020-02-05 10:04:08 +11:00
Andrew Tridgell
5bac7018b6 AP_GPS: use jitter correction on GPS_INPUT data 
this allows for more accurate timing when using GPS_INPUT for indoor
positioning systems
 2020-02-05 10:04:08 +11:00
Peter Barker
882d3b0c0d GCS_MAVLink: use singleton to get AP_AdvancedFailsafe pointer 2020-02-05 10:04:08 +11:00
Peter Barker
7a1afc580d AP_AdvancedFailSafe: add singleton getter 2020-02-05 10:04:08 +11:00
Andrew Tridgell
f1cb9ed956 AP_FileSystem: chunk IOs to max 4k 
this prevents larger IOs from attempting to allocate too much memory
in DMA bouncebuffers
 2020-01-18 12:27:51 +11:00
Andrew Tridgell
2d817db7f3 AP_IOMCU: added a health check based on status read errors 
if we have more than 1 in 128 read status requests failing then mark
IOMCU unhealthy
 2020-01-18 12:27:42 +11:00
Andrew Tridgell
630ccb2ef9 AP_IOMCU: reduce uart buffer sizes 2020-01-18 12:27:39 +11:00
Andrew Tridgell
23005e6f46 HAL_ChibiOS: use 4k bouncebuffer for sdcard 
match AP_Logger IO size
 2020-01-18 12:27:36 +11:00
Andrew Tridgell
c5b1c88948 HAL_ChibiOS: adjust dma reserve allocation 
use larger target and allow for smaller allocation
 2020-01-18 12:27:33 +11:00
Andrew Tridgell
64dc29cf98 HAL_ChibiOS: don't extend alloc of iomcu uart 2020-01-18 12:27:29 +11:00
Andrew Tridgell
7c0cb85361 HAL_ChibiOS: added checking on bouncebuffer allocation 
fail operations if DMA bouncebuffer alloc fails

# Conflicts:
#	libraries/AP_HAL_ChibiOS/I2CDevice.cpp
 2020-01-18 12:27:23 +11:00
Andrew Tridgell
b60fd97f32 AP_Logger: add a semaphore to protect creation of new log formats 2020-01-18 12:26:29 +11:00
Andrew Tridgell
66b14f4aaf AP_Filesystem: fixed set_mtime semaphore 2020-01-18 12:26:25 +11:00
Michael du Breuil
0fe9763e19 AP_Param: Fix failing to invalidate the cached parameter count 
This would cause a GCS to download fewer then the requested number of
parameters
 2020-01-15 14:03:36 +11:00
Andrew Tridgell
e9f60ede1b AP_SerialManager: ensure users can't break SERIAL0_PROTOCOL 
this prevents users from setting SERIAL0_PROTOCOL to something that
prevents them accessing the board. This can happen when users are
trying to setup SLCAN
 2020-01-10 19:12:10 +11:00
Andrew Tridgell
7d91460e85 AP_Declination: re-generate mag tables 
max interpolate error between -60 and 60 latitude is 13.86 mGauss
 2020-01-10 19:12:10 +11:00
Andrew Tridgell
3584f1b779 AP_Declination: update generate script 
added ability to display max error
 2020-01-10 19:12:10 +11:00
Andrew Tridgell
9261b32430 AP_GPS: fixed build 2020-01-10 19:12:10 +11:00
Andrew Tridgell
0ed02b1d88 AP_Compass: added mag_cal_fixed_yaw() 
this is a fast compass calibration that uses a yaw value provided by
the user.
 2020-01-10 18:48:52 +11:00
Andrew Tridgell
aea2238936 GCS_MAVLink: support MAV_CMD_FIXED_MAG_CAL_YAW 2020-01-10 18:48:49 +11:00
Andrew Tridgell
b95a31ccfc AP_RCProtocol: fixed support for 22ms multi-frame DSM 2020-01-10 18:48:42 +11:00
Andrew Tridgell
0dc22331d0 AP_Frsky_Telem: fixed a race condition with statustext handling 
this fixes an issue that can cause a hardfault. See this bug report:

https://discuss.ardupilot.org/t/hexa-crash-after-watchdog-reset/50917

ObjectArray is not thread safe
 2020-01-10 18:48:17 +11:00
Andrew Tridgell
b834796f3b HAL_ChibiOS: fixed clock src for I2C4 on H7 2020-01-08 06:02:46 +11:00
Andrew Tridgell
17118977dc HAL_ChibiOS: automatically set AP_FEATURE_RTSCTS 2020-01-02 07:50:35 +11:00
Andrew Tridgell
5c4802ce25 AP_Compass: limit rotations we try to ROTATION_MAX_AUTO_ROTATION 2020-01-01 09:08:31 +11:00
Andrew Tridgell
686b9322cd AP_Math: define ROTATION_MAX_AUTO_ROTATION 
we don't want to use ROTATION_PITCH_7 in our auto rotation mix, as it
is too close to level
 2020-01-01 09:08:19 +11:00
Andrew Tridgell
8311a5be63 HAL_ChibiOS: fixed H7 I2C timing 
we were running the clock at too low speed. This affected the SSD1306 display

# Conflicts:
#	libraries/AP_HAL_ChibiOS/I2CDevice.cpp
 2019-12-30 14:35:57 +11:00
Peter Barker
abe1a09c7a AP_HAL: stop emitting extra CR before a LF as part of our printf 2019-12-25 12:00:37 +11:00
Pierre Kancir
ecdd07e793 AP_Compass: add register to checked ones and remove single-use goto 
Also fix comment on TMRC register setting
 2019-12-23 20:20:12 +11:00
Pierre Kancir
d9edd3c8b5 AP_Compass: probe for RM3100 2019-12-23 20:20:01 +11:00
Andrew Tridgell
318c0a958d HAL_ChibiOS: removed PB1 and PB0 TIM1 complementary channels for F76x 
these do not work, possibly a datasheet bug
 2019-12-23 19:42:04 +11:00
Andrew Tridgell
24e48b5e81 HAL_ChibiOS: switch MatekF765 to timer 12 
fixes PWM 5 and 6
 2019-12-23 19:42:02 +11:00
Andrew Tridgell
af04f1eb93 HAL_ChibiOS: ensure bootloader flash is multiple of 32 bytes 2019-12-23 17:36:28 +11:00
Andrew Tridgell
9c2caf5b12 AP_InertialSensor: default fast sampling on 
if we have a first IMU capable of fast sampling then we want it
enabled by default
 2019-12-23 09:56:26 +11:00
Andrew Tridgell
f733e963df HAL_ChibiOS: scale uart rx buffer size with baudrate 
this ensures we have enough buffer space for a RTK GPS, as well as for
high speed comms with a companion computer
 2019-12-23 09:56:26 +11:00
Peter Barker
48a04d21ce AP_NMEA_Output: NavEKF constructors no longer take rangefinder 2019-12-23 09:56:26 +11:00
Randy Mackay
e206134fa6 AP_NMEA_Output: 10hz rate limiting uses uint32_t 2019-12-23 09:56:26 +11:00
Peter Barker
46c384b412 AP_NMEA_Output: correct 10Hz rate limiting 
integer promotion issue
 2019-12-23 09:56:26 +11:00
Peter Barker
9fd53b0dbc AP_NMEA_Output: add example 2019-12-23 09:56:26 +11:00
Peter Barker
e90b6bafca AP_NMEA_Output: skip sending sentences if no space on UART 
AP_NMEA_Output: clean scope by removing unneeded temps

AP_NMEA_Output: redo last_sent to last_run

AP_NMA_Output: early-exit if no data
 2019-12-23 09:56:26 +11:00
Andrew Tridgell
12e51965c9 HAL_ChibiOS: change CUAVv5Nano volt scale to 18.000 2019-12-23 09:56:26 +11:00
Andrew Tridgell
96bccba638 HAL_ChibiOS: fixed build of SPI clock test 2019-12-12 20:43:40 +11:00
Andrew Tridgell
87f2839f3e GCS_MAVLink: fixed critical error on prefight cal ops 2019-12-12 20:43:35 +11:00
Andrew Tridgell
595a49eec4 GCS_MAVLink: send temperature for IMUs 2019-12-09 13:25:18 +11:00
Andrew Tridgell
04827d229c AP_NavEKF2: don't use WMM tables unless we have a compass scale factor set 2019-12-09 13:18:01 +11:00