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36977 Commits

Author SHA1 Message Date
Andrew Tridgell
6a1d09959b AP_Arming: added arm_force() for scripting 2024-08-03 14:29:51 +10:00
EternAlmox
2ad7177a39 AP_HAL_ChibiOS: added MFT-SEMA100 2024-08-02 18:40:59 +10:00
Peter Barker
bc1c305629 AP_HAL: default SITL and Linux to have 4MB of "flash" 2024-08-02 16:29:57 +10:00
Peter Barker
894b99fce5 AP_HAL: remove unused HAL_MINIMIZE_FEATURES define 2024-08-02 16:29:57 +10:00
Peter Barker
9049aeaff6 GCS_MAVLink: accept mavlink standard force arm/disarm value for forced arming 
the mavlink standard specifies just one value to do either arm or disarm.  Conform to that standard
 2024-08-02 16:29:13 +10:00
DisCoLabIITK
e929cc21b1 AP_CustomControl: Update README.md 
Adding step for changes that need to be done in the AC_CustomControl_config.h file to prevent error while compilation.
 2024-08-01 10:23:14 +10:00
Pierre Kancir
d9eabcf411 AP_Vehicle: fix compile when AP_EXTERNAL_CONTROL_ENABLED disabled 2024-08-01 10:00:07 +10:00
Henry Wurzburg
e4fc9b0b58 AC_Fence:Add AUTOENABLE deprecation warning 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2024-08-01 09:39:41 +10:00
Peter Barker
90ee339806 AC_PID: rename pid setters to include set_ in the names 2024-07-31 18:43:42 +10:00
Peter Barker
7f4074a22c AC_AutoTune: rename pid setters to include set_ in the names 2024-07-31 18:43:42 +10:00
Peter Barker
fae3b39b15 AC_AttitudeControl: rename pid setters to include set_ in the names 2024-07-31 18:43:42 +10:00
Iampete1
21ad679b61 AP_HAL_ChibiOS: GPIO: read: support virtual read of IOMCU pins 2024-07-31 18:13:01 +10:00
Iampete1
60d579dc88 AP_HAL_ChibiOS: GPIO: Check IOMCU after local pins for speed 2024-07-31 18:13:01 +10:00
Iampete1
624ab00c3e AP_HAL_ChibiOS: RCOut banner: check for GPIO on IOMCU 2024-07-31 18:13:01 +10:00
Iampete1
98c5eff7f0 AP_IOMCU: add GPIO mask getter and GPIO virtual read 2024-07-31 18:13:01 +10:00
Andy Piper
b9bde4c488 AP_HAL_ChibiOS: add servo outputs as motors to FoxeerF405v2 2024-07-31 17:27:44 +10:00
Henry Wurzburg
847b8eab25 HWDEF:fix CUAV-7-Nano default batt monitor 2024-07-31 17:13:09 +10:00
Henry Wurzburg
9b041be8a1 AC_Fence: correct prearm message 2024-07-31 17:01:07 +10:00
Eric Katzfey
9ef76de0c9 AP_HAL_QURT: Added support for dual mavlink streams 2024-07-31 10:00:35 +10:00
Peter Barker
d7caf1e6b5 AP_Math: remove method operator 
remove the metho operator from the class.

This means this will no longer work:

Quaternion q{0,1,2,3};
q(5,6,7,8);

.... that used to set the quaternion componets, but is an odd / atypical syntax to use
 2024-07-31 08:54:37 +10:00
Peter Barker
cac2c63e72 AC_PID: remove method operator 
remove the metho operator from the class.

This means this will no longer work:

Quaternion q{0,1,2,3};
q(5,6,7,8);

.... that used to set the quaternion componets, but is an odd / atypical syntax to use
 2024-07-31 08:54:37 +10:00
Hayden Donald
52ba8e8513 AP_Scripting: Change serial depends HAL_GCS to AP_SERIALMANAGER 
Serial bindings were dependant on HAL_GCS_ENABLED but this is not ideal, it should be dependant on AP_SERIALMANAGER_ENABLED so that serial can function without GCS
 2024-07-31 08:27:34 +10:00
“Jane_ZeroOne”
d43dd5227a AP_HAL_ChibiOS: add ZeroOneX6 2024-07-30 20:07:31 +10:00
Iampete1
26c51a8002 AP_TemperatureSensor: add logging option to only log sensors with no source 2024-07-30 11:07:17 +10:00
Iampete1
600d9eb7a8 AP_BattMonitor: Sum: report average temperature 2024-07-30 11:00:49 +10:00
Iampete1
45647718cb AP_BattMonitor: ESC: integrate consumed mah if not provided by ESC 2024-07-30 10:59:17 +10:00
Thomas Watson
dc4d1bacdd AP_Scripting: adjust string metatable setup to fix sandbox integrity 
In Lua, strings are the only type that come with a default metatable.
The metatable must be shared by all string objects, and it is set to be
the `string` library table each time that library is opened. In
Ardupilot's scripting engine, the last script to load then has access to
the string metatable as the library is opened fresh for each script, as
its `string` library will have been set to the metatable.

Therefore, if two scripts are loaded, A first and B second, and script B
executes e.g. `string.byte = "haha"`, then `string.byte()` and
`s:byte()` for script B are broken. Because the metatable is shared,
this also breaks `s:byte()` for script A, which violates the integrity
of the sandbox.

Fix the issue by disabling the metatable setup functionality when the
string libary is opened, then manually opening an additional copy of the
library (which won't be given to any script) and setting it as the
string metatable during intialization.

This will break any script that modifies the string metatable for
constructive purposes, but such a script could have been broken if it
weren't the only script running anyway.
 2024-07-30 10:54:00 +10:00
Peter Barker
95281e5c17 hwdef: turn monior thread back on on some boards 
most of these boards probably don't need it, but to make a PR no-binary-output...
 2024-07-30 10:52:36 +10:00
Peter Barker
90b2a2acaa hwdef: change HAL_NO_MONITOR_THREAD out for HAL_MONITOR_THREAD_ENABLED 
... and use a default value for peripherals
 2024-07-30 10:52:36 +10:00
Thomas Watson
3a834e83c7 AP_Scripting: reference script environment directly 
Referencing the original function to run is of questionable value and
the only user uses it to grab the script environent from the upvalues.

Instead, use a reference to the script environment table directly.
 2024-07-30 10:33:56 +10:00
Thomas Watson
15255a36e4 AP_Scripting: reference function to run separately 
Some bits of the code in the require machinery use the `lua_ref` to
access the script environment. However, this can change after the script
is rescheduled and it returns an arbitrary function to run next.

Resolve this by introducing `run_ref` which is specifically a reference
to the function to run next. `lua_ref` is preserved for the script
lifetime.
 2024-07-30 10:33:56 +10:00
Thomas Watson
da006d427d AP_Scripting: add test for require() after rescheduling 
It can end up broken due to incorrect assumptions about the executed
function's upvalues, which might change after rescheduling.
 2024-07-30 10:33:56 +10:00
Peter Barker
be377da6a4 GCS_MAVLink: add build option to not send RC_CHANNELS_RAW 
we keep this around in case we break old OSD setups
 2024-07-30 10:29:58 +10:00
Peter Barker
6f5ea5a5e9 RC_Channel: rework duplicate-rc-options check to use a Bitmask 
just for the memory saving.

Co-authored-by: muramura <ma2maru@gmail.com>
 2024-07-30 10:28:42 +10:00
Peter Barker
93704c573c SITL: add documentation for SIM_ENGINE_FAIL and SIM_ENGINE_MUL 2024-07-30 09:21:26 +09:00
Peter Barker
9397ece55a AC_AutoTune: make axis-type enum-class 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2024-07-30 10:20:26 +10:00
Peter Barker
f3766b831a AP_HAL_ChibiOS: make include file mistakes nicer to interpret 2024-07-30 09:57:01 +10:00
Thomas Watson
6acfc98cf4 AP_Scripting: factor out ap_object checker 
Reduces flash usage.

Saves ~160B.
 2024-07-30 09:55:25 +10:00
Thomas Watson
212256731f AP_Scripting: improve object allocation efficiency 
Make new_X return the new object instead of having to grab it to
configure it.

Saves ~1.3K.
 2024-07-30 09:55:25 +10:00
Thomas Watson
3e05cd9729 AP_Scripting: factor out field access argument error 
Saves ~830B.
 2024-07-30 09:55:25 +10:00
Thomas Watson
575ed6224f AP_Scripting: improve binding index function efficiency 
Move the string checks into the load functions to avoid duplicating it
for each binding.

Also sync up the return types to avoid an unnecessary conversion.

Saves ~1.5K.
 2024-07-30 09:55:25 +10:00
Thomas Watson
e66d2a1495 AP_Scripting: remove redundant memsets 
Matches current generator behavior.
 2024-07-30 09:55:25 +10:00
Thomas Watson
837b17e82e AP_Scripting: more intelligently manage Lua stack 
The Lua stack is guaranteed to have at least LUA_MINSTACK (default 20)
slots upon entry to C. Check to see if we might need more than that
minimum and only in that case call the function to check and resize the
stack. In virtually all cases the check can then be optimized away.

Additionally remove the redundant "Out of stack" message. Lua already
says "stack overflow" and a null message is valid.

Saves ~330B.
 2024-07-30 09:55:25 +10:00
Thomas Watson
7212e35fb0 AP_Scripting: slightly improve codegen 
Get singleton pointer closer to where it is used.

Saves ~170B.
 2024-07-30 09:55:25 +10:00
Thomas Watson
60a9f1722c AP_DroneCAN: DNA_Server: unify bitmask handling 
Put documentation with each bitmask and use the object directly. Node ID
range checks can be removed as the bitmask itself checks and we don't
expect to trip them.

Substantially cleans up the code.
 2024-07-30 09:49:43 +10:00
Thomas Watson
56593574a9 AP_DroneCAN: DNA_Server: miscellaneous cleanup 2024-07-30 09:49:43 +10:00
Thomas Watson
5e0bb99dbb AP_DroneCAN: DNA_Server: fix handling of empty entry 
Replaces the check for a CRC of 0 with a check that the hwid is 0.
Substantially reduces 1/256 chance that a particular node ID couldn't be
stored.
 2024-07-30 09:49:43 +10:00
Thomas Watson
9aeab7b424 AP_DroneCAN: DNA_Server: use 0 as unknown ID 
Slightly reduces flash usage and probably is clearer.
 2024-07-30 09:49:43 +10:00
Thomas Watson
8d57533f1c AP_DroneCAN: DNA_Server: fix cases involving use of invalid node IDs 2024-07-30 09:49:43 +10:00
Thomas Watson
a9317b1a07 AP_DroneCAN: correct and validate allowed NODE range 
Node IDs >= 128 don't exist, and IDs 126 and 127 are "reserved for
network maintenance tools" according to the spec.
 2024-07-30 09:49:43 +10:00
Thomas Watson
485a9387b1 AP_DroneCAN: DNA_Server: clean up storage failure handling 
The StorageManager read_block/write_block methods only return failure if
an out of bounds access is performed. Assert statically that this does
not happen.

Also remove the now-impossible failed to add node state.
 2024-07-30 09:49:43 +10:00
Thomas Watson
cd8519321b AP_DroneCAN: DNA_Server: search for valid nodes after magic check 
Ensures the occupation mask doesn't get populated with junk if the magic
is not valid.
 2024-07-30 09:49:43 +10:00
Thomas Watson
c1f59186fa AP_DroneCAN: DNA_Server: make reset method private 2024-07-30 09:49:43 +10:00
Ian Burwell
6b4e11090c AP_Scripting: Add BQ40Z shutdown example 
This example intercepts PREFLIGHT_REBOOT_SHUTDOWN COMMAND_LONG's and if
param1==2, it shuts down the BQ40Z smart battery BMS. Otherwise it
passes through the COMMAND_LONG as a COMMAND_INT (this required updating
the gcs:run_command_int to return a MAV_RESULT rather than a bool).
 2024-07-30 09:40:10 +10:00
Ian Burwell
9d34fa2a5e AP_Scripting: Add I2C transfer bindings 
This adds bindings for an I2CDevice's transfer() function, an example,
and removes the nil return hint from the get_device() docs as it never
actually returns nil.
 2024-07-30 09:40:10 +10:00
Iampete1
838fbc2b3b AP_Param: Fix ENABLE_DEBUG enabled error with no embedded param 2024-07-30 08:51:09 +10:00
Bob Long
64fc60ce32 AP_HAL_SITL: initialize rcout safety state 
This allows BRD_SAFETY_DEFLT=1 to work correctly for SITL.
 2024-07-30 08:44:31 +10:00
BLash
d7ecf5fbc5 AP_ExternalAHRS_VectorNav: Consolidate EAH3 definition to single method 
Resolve SITL failures due to multiply defined logger message by pulling the call to a single method
 2024-07-29 15:52:29 +10:00
BLash
1d1bb5724e AP_ExternalAHRS_VectorNav: Address review comments 
Remove unnecessary header
Switch parameters to default initialization
Change pointer casting to prevent a const_cast, and remove doubled sync byte when echoing ASCII messages
Fix Valgrind report by preventing use of nmea_printf on buffers which may not be null-terminated
 2024-07-29 15:52:29 +10:00
BLash
50980ee03e AP_ExternalAHRS_VectorNav: Update SIM to match new message definitions 
Redefine messages to 3 INS packets, and send as appropriate
Resolve SITL failures due to too-long logger message headers
 2024-07-29 15:52:29 +10:00
BLash
d4ca5fe868 AP_ExternalAHRS_VectorNav: Split IMU and EKF message 
In AHRS Mode, split the single message to an IMU packet and an AHRS packet; in EKF Mode, split the two messages into an IMU message, an EKF packet, and a GNSS packet.
Simplify message header definition to consolidate and eliminate the need for static asserts
Update healthy logic and use to represent new packet structure
Replace EAH3 message with messages per-packet
Add Ypr as configured output in the EKF message
 2024-07-29 15:52:29 +10:00
George Zogopoulos
e227187e72 AP_TECS: Converted parameter TKOFF_MODE to TKOFF_OPTIONS 2024-07-29 15:50:32 +10:00
George Zogopoulos
b163e13964 AP_TECS: Fixes to reset state 
These concern the TAKEOFF flight stage and address #27147.

* Logging metadata fixes
* Disabled continuous TECS reset during takeoff
* Fixed bug in reached_speed_takeoff calculation
* Limited SPDWEIGHT=2 to only first part of takeoff climb
* _post_TO_hgt_offset set to constant
* Takeoff I-gain now defaults to 0 and is used
* Use at least TRIM_THROTTLE during the climb
* Updated description of TECS_TKOFF_IGAIN with new behaviour
* Forced max throttle while below TKOFF_LVL_ALT
* Added throttle constraints in no-airspeed mode

Additionally, set_min_throttle() has been created, that allows one to
set the minimum TECS throttle for the next update_pitch_throttle() loop.
Additionally, the throttle limits system has been reworked. TECS will
receive external throttle limits from Plane and will always take them
into account and respect them.
 2024-07-29 15:50:32 +10:00
cuav-chen2
08c8ef379b HAL_ChibiOS: Added support for CUAV-7-Nano flight controller 2024-07-29 12:25:53 +10:00
Peter Barker
317fab2f19 AP_Mission: add and use an option_is_set method 2024-07-29 10:37:52 +10:00
Thomas Watson
bbde876353 hwdef: remove EKF opinion from FlywooF745 
No effect as lines have always been commented out, but not useful and
EKF2 is not something to encourage.

Verified no compiler output change.
 2024-07-29 09:32:22 +10:00
Peter Barker
16c2e23ee7 AP_Mount: allow AP_MOUNT_BACKEND_DEFAULT_ENABLED to be overridden 2024-07-28 12:00:02 +10:00
Peter Barker
debf3cb28e hwdef: SpeedyBeeF405WING: restrict mount support to the servo gimbal 2024-07-28 12:00:02 +10:00
Peter Barker
84efdd5700 hwdef: SpeedyBeeF405WING: remove landing gear support 2024-07-28 12:00:02 +10:00
Andrew Tridgell
2ce6532698 AP_Math: updated EulerAngles.pdf link 2024-07-27 11:14:10 +10:00
Andrew Tridgell
98733882f5 AP_Math: added comments and a test for euler ordering 
our main euler functions did not have a comment on the ordering
convention
 2024-07-27 11:14:10 +10:00
yaapu
5b7aaae008 AP_Frsky_Telem: fix for HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL = 0 2024-07-26 20:12:40 +10:00
muramura
e86d5e113f AP_Filesystem: BOOL for binary types 2024-07-26 20:12:05 +10:00
Leonard Hall
bb1758ecb1 AC_Autotune: Add ABORT state for consistency between tests 2024-07-26 20:11:42 +10:00
Leonard Hall
bea2c5b59b AC_Autotune: Clean up Multi Variables and non functional changes 2024-07-26 20:11:42 +10:00
Peter Barker
78dc5a7b5d hwdef: FlyingMoonF427: remove MAX7456 2024-07-26 20:10:38 +10:00
Peter Barker
5b5dd638c1 hwdef: FlyingMoonH743: remove MAX7456 2024-07-26 20:10:38 +10:00
Randy Mackay
44b3217178 AP_Camera: type param desc gets topotek 2024-07-26 12:55:24 +10:00
Randy Mackay
62a03f18d8 AP_Camera: type param desc gets viewpro and xacti 2024-07-26 12:55:24 +10:00
Andy Piper
a560f89b35 AP_HAL_ChibiOS: update logging docs for 2RAW H743 2024-07-26 10:39:38 +10:00
Andy Piper
74f72db4eb AP_HAL_ChibiOS: rename 2RAWH743 to IFLIGHT_2RAW_H7 2024-07-26 10:39:38 +10:00
Andy Piper
278595cf83 AP_HAL_ChibiOS: add support for sdcard to iFlight 2RAW 2024-07-26 10:39:38 +10:00
Peter Barker
7f97e897e2 AP_Camera: add sanity check for Siyi lens change 2024-07-25 12:18:51 +10:00
muramura
f1e67ba747 AP_Mount: SWITCH statement to table reference 2024-07-25 12:18:51 +10:00
muramura
9f2da4a763 AP_Mission: Change division to multiplication 2024-07-25 11:33:55 +10:00
Peter Barker
a0ac6f22df AP_CANManager: use a switch statement to tidy driver allocation 2024-07-25 11:09:07 +10:00
Andrew Tridgell
23f628f26b hwdef: fixes for BotBloxSwitch 2024-07-25 10:57:04 +10:00
Leonard Hall
2ab3d0b3b0 AC_AttitudeControl: Add Landed Gain Backoff 2024-07-25 09:50:35 +10:00
muramura
84ff78f5c6 AP_Notify: Perform common checks first 2024-07-25 09:50:03 +10:00
James O'Shannessy
66817e207f AP_InertialSensor: Check the gyro/accel id has not been previously registered 
If the Gyro/Accel ID is already in the registered list, do not try to add it again.

This stops an issue seen on a CubeOrangePlus BG3 where, during the very first boot after a parameter wipe, software incorrectly registers a fourth IMU.
The Fourth IMU is registered because the AUX IMU is the same DevID as the third ICM45686.
 2024-07-25 09:49:35 +10:00
Luca Pescante
028017e38e ArduCopter/RC_Channel: add option 219 
(Transmitter Tuning)
 2024-07-25 09:40:13 +10:00
bugobliterator
8a4b925c71 AP_HAL_ChibiOS: add support for PPP between CubeRed Primary and Secondary 2024-07-25 09:37:16 +10:00
bugobliterator
4909ad4e4f AP_Networking: add debug code for PPP 2024-07-25 09:37:16 +10:00
bugobliterator
993d694fbb AP_HAL_ChibiOS: allow setup for low noise clock mismatch tolerant UART line 2024-07-25 09:37:16 +10:00
bugobliterator
025077b6f4 AP_HAL_ChibiOS: add support for recording UART Rx errors 2024-07-25 09:37:16 +10:00
mduclehcm
25a406e633 AP_Mount: Conditionally define serial_instance to fix unused variable compile error 
- Wrapped the definition of `serial_instance` with preprocessor directives to ensure it is only defined when necessary.
- This resolves the compile error caused by the unused variable when no features requiring `serial_instance` are enabled.
 2024-07-25 09:35:46 +10:00
Paul Riseborough
4904c718a5 AP_NavEKF3: Fix yaw alignment bug 
When the  yaw is aligned to the GPS yaw, the recordYawResetsCompleted() function should be called the same as for any other yaw reset.
 2024-07-25 09:34:48 +10:00
rishabsingh3003
07b6c57173 AP_TemperatureSensor: Extend analog sensor backend to 5th order polynomial 2024-07-24 17:53:08 +10:00
rishabsingh3003
3ab3388752 AP_ESC_Telem: Add ifndef before defining ESC_TELEM_MAX_ESCS 2024-07-24 17:45:24 +10:00
Randy Mackay
2b64787099 AP_Mount: topotek spelling fix 2024-07-24 17:28:24 +10:00
Randy Mackay
cfd1e98333 AP_Mount: topotek safely parses version 2024-07-24 17:28:24 +10:00
Randy Mackay
1b77751aef AP_SmartRTL: add point made public 2024-07-24 17:22:44 +10:00
Henry Wurzburg
76abc6850f Filter: add "source" to option 5 2024-07-24 17:20:30 +10:00
Randy Mackay
a1579bc31e SITL: integrate SlungPayload 2024-07-24 17:09:06 +10:00
Randy Mackay
5c2b758f42 SITL: add SlungPayload 2024-07-24 17:09:06 +10:00
George Zogopoulos
e170710de9 SITL: Glider improvements 
Fixed balloon going below ground.
Enabled glider torque logging.
 2024-07-24 17:03:48 +10:00
Peter Barker
478d26d69c AP_Notify: rename LED_1 pin define to AP_NOTIFY_GPIO_LED_1_PIN 2024-07-24 09:13:50 +10:00
Peter Barker
a4577685a7 AP_HAL_ChibiOS: rename LED_1 pin define to AP_NOTIFY_GPIO_LED_1_PIN 2024-07-24 09:13:50 +10:00
Peter Barker
cc190f537f AP_OSD: correct compilation with AP_RRSI_ENABLED false 
Co-authored-by: David Buzz <davidbuzz@gmail.com>
 2024-07-24 09:11:39 +10:00
Peter Barker
1afa801b19 AP_LTM_Telem: correct compilation with AP_RRSI_ENABLED false 
Co-authored-by: David Buzz <davidbuzz@gmail.com>
 2024-07-24 09:11:39 +10:00
Andy Piper
ccfbfddf7e AC_Fence: address minor review comments 2024-07-24 08:24:06 +10:00
Andy Piper
55075961b2 AP_Mission: address minor review comments 2024-07-24 08:24:06 +10:00
Andrew Tridgell
68f2593089 AC_Fence: fixed FENCE_AUTOENABLE=2 
needs to auto-enable on takeoff complete
 2024-07-24 08:24:06 +10:00
Andy Piper
5bc3727145 AC_Fence: support FENCE_OPTIONS on copter 2024-07-24 08:24:06 +10:00
Andy Piper
29a320b310 AC_Avoidance: correctly set back away speed for minimum alt fences 2024-07-24 08:24:06 +10:00
Andy Piper
37e0923ec2 AP_Arming: allow precise wording of fence pre-arm messages 2024-07-24 08:24:06 +10:00
Andy Piper
f0456f29dd AC_Fence: always disable Min Alt fence on landing 
allow precise pre-arm messages
 2024-07-24 08:24:06 +10:00
Andy Piper
255fac215f AP_Mission: generic fence handling in missions 2024-07-24 08:24:06 +10:00
Andy Piper
04dd7de1ed AC_Fence: disable fences for landing by suppressing in the fence check rather than using a state machine 
simplify takeoff auto-enablement
 2024-07-24 08:24:06 +10:00
Andy Piper
d5c6f3fe06 AC_Fence: add reset_fence_floor_enable() and use it in plane when landing is aborted 2024-07-24 08:24:06 +10:00
Peter Barker
a4c7819117 AC_Fence: clear breach of disabled fence 
skip breach checks if no fences
correct initialisation of _num_fences in the case of no fences in eeprom
 2024-07-24 08:24:06 +10:00
Andy Piper
3fabec4158 AP_Arming: ensure fence enablement on arming is inverted on disarming 2024-07-24 08:24:06 +10:00
Andy Piper
174d5f07bb AC_Fence: ensure fence enablement on arming is inverted on disarming 
correct detection of polyfence
 2024-07-24 08:24:06 +10:00
Andy Piper
f0f8187c7f AC_Fence: add ability to auto-enable fence floor while doing fence checks 
control copter floor fence with autoenable
autoenable floor fence with a margin
check for manual recovery only after having checked the fences
make auto-disabling for minimum altitude fence an option
output message when fence floor auto-enabled
re-use fence floor auto-enable/disable from plane
auto-disable on landing
do not update enable parameter when controlling through mavlink
make sure get_enabled_fences() actually returns enabled fences.
make current fences enabled internal state rather than persistent
implement auto options correctly and on copter
add fence names utility
use ExpandingString for constructing fence names
correctly check whether fences are enabled or not and disable min alt for landing in all auto modes
add enable_configured() for use by mavlink and rc
add events for all fence types
make sure that auto fences are no longer candidates after manual updates
add fence debug
make sure rc switch is the ultimate authority on fences
reset auto mask when enabling or disabling fencing
ensure auto-enable on arming works as intended
simplify printing fence notices
reset autofences when auot-enablement is changed
 2024-07-24 08:24:06 +10:00
Andy Piper
370b0d7b9c AP_Logger: add events for all fence types 2024-07-24 08:24:06 +10:00
Andy Piper
0288e1e79c RC_Channel: use fence enable_configured() 2024-07-24 08:24:06 +10:00
Andy Piper
d16615923d AP_Frsky_Telem: use fence enable_configured() 2024-07-24 08:24:06 +10:00
Andy Piper
0c6ea4790d AP_Common: fix initialization of ExpandingString so that it can be used on the stack 
zero out passed in buffers for ExpandingString
 2024-07-24 08:24:06 +10:00
Andy Piper
3dbcbe0026 AP_Arming: do not enable minimim altitude fence on arming 
call appropriate fence method for auto-enablement
 2024-07-24 08:24:06 +10:00
Andy Piper
8287d4f2d0 AC_Avoidance: take into account minimum altitude fence when calculating climb rate 2024-07-24 08:24:06 +10:00
Andy Piper
95b39f64e3 AP_Mission: add comment about new fence API 2024-07-24 08:24:06 +10:00
Andy Piper
f73154349b GCS_MAVLink: use bitmask based enablement for fences 2024-07-24 08:24:06 +10:00
Bob Long
230269bed8 HAL_ChibiOS: add adjustable wdg timeout for hwdefs 
This allows the watchdog timeout to be adjusted in the hwdef.dat file,
so that critical nodes like ESCs can recover more quickly.
 2024-07-23 19:53:38 +10:00
Andrew Tridgell
03bdbea77c hwdef: enable relay support in MatekL431-DShot fw 
the PWM expansion boards can also be used for relay control, often
combined with PWM output
 2024-07-23 18:42:56 +10:00
Rhys Mainwaring
4354072d34 SITL: SIM_Rover: add simulation for omni3 mecanum rover 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-07-23 13:27:04 +10:00
James O'Shannessy
ce0ae33c5b AP_HAL_ChibiOS: Capture the case where the persistent parameter is the newer format INSn_ACC_ID 
This fixes the handling of the newer INSn_* parameters when loading those stored in persistent memory.
 2024-07-23 12:06:18 +10:00
James O'Shannessy
c771440ea4 AP_InertialSensor: Fix persistent storing of IMU Z Scale 
Fixes INSn_ACCSCAL_Z not being stored in persistent storage when bootloader is flashed.
 2024-07-23 11:59:49 +10:00
xiaozhou
e2cb4ba232 AP_Mount: Topotek image tracking fix 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-07-23 10:51:09 +10:00
xiaozhou
69e4005bb6 AP_Mount: Topotek retrieves model name 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-07-23 10:51:09 +10:00
xiaozhou
858aff5f4f AP_Mount: Topotek handles new version format 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-07-23 10:51:09 +10:00
muramura
7731fc09e2 AP_HAL_SITL: If HAL_CAN_WITH_SOCKETCAN is undefined, treat it as NONE 2024-07-23 10:47:16 +10:00
Michael du Breuil
edaddc0431 AP_TECS: Use aircraft stall speed 
When stall prevention is enabled we were scaling from the aircraft's
minimum flight speed. However this is normally already picked as being
above the stall speed, and for a variety of reasons we may want to pin
the aircraft at a higher minimum speed. But if the aircraft was
commanded to fly to close to that minimum speed as soon as it banked for
a pattern it would command a increase in speed to keep it away from
stalling. However if your minimum speed is far from stalling this
increase was incorrect. To make it worse what this actually results in
happening is an aircraft diving for more speed (over 10 m/s on some
aircraft) as well as descending to gain that speed resulting in over 200
foot deviations in altitude control.
 2024-07-23 10:37:24 +10:00
Michael du Breuil
5005809e74 AP_Vehicle: add stall speed parameter for plane 2024-07-23 10:37:24 +10:00
Thomas Watson
b64ed6ca56 AP_Scripting: dynamically load some binding objects 
Only create the binding object (singleton metatable/userdata or C
function reference) once the user first references a particular
singleton or userdata creation function. Once created, the object is
stored into the script's environment so it doesn't get recreated on the
next reference and there isn't any further overhead. The userdatas are
no longer shared between scripts which imposes a slight memory penalty
for multiple scripts using the same singleton but this avoids an
additional lookup time cost.

Userdata and ap_objects aren't eligible for this optimization as the C++
code might want a particular metatable at any time.

Saves ~9.3K Lua heap.
 2024-07-23 10:34:52 +10:00
Thomas Watson
059af2117d AP_Scripting: place bindings into global table 
The global table is then used as the __index metamethod of each state's
environment table. Avoids the overhead of loading binding objects into
each state. The binding objects are immutable from Lua so sandboxing is
not violated.

Does have the slight downside that a script can no longer know all the
binding names by enumerating _ENV.

Saves ~700B of memory per loaded script.
 2024-07-23 10:34:52 +10:00
Thomas Watson
9cbec043d0 AP_Scripting: remove __call metamethod from singleton metatables 
The __call metamethod was set to the metatable itself. With __call not
present, Lua will try to call the metatable (and fail), which is the
same behavior as with the __call metamethod set to the metatable.

Saves ~2K Lua heap.
 2024-07-23 10:34:52 +10:00
Thomas Watson
8e303675fe AP_Scripting: don't put userdata and ap_objects into globals 
They are never accessed from globals. Only their metatables are
accessed, using luaL_getmetatable.

Saves ~2.9K of Lua heap.
 2024-07-23 10:34:52 +10:00
Thomas Watson
50eac0ef31 AP_Scripting: keep enum definitions in flash 
Saves ~100B of statically allocated RAM.
 2024-07-23 10:34:52 +10:00
chiara-septentrio
fc8147ead0 AP_GPS:Septentrio constellation choice 2024-07-23 10:32:32 +10:00
Peter Barker
56773f09b4 AP_Scripting: docs for get_resistance 2024-07-22 09:09:26 +10:00
Peter Barker
6514a3522b AP_Scripting: add battery-resistance-checking example 2024-07-22 09:09:26 +10:00
Peter Barker
e94ebe4d1a AP_Scripting: add battery resistance to bindings 2024-07-22 09:09:26 +10:00
Peter Barker
ba135b9008 SITL: split MAVLink and physical gimbal simulations 2024-07-21 17:01:47 +10:00
Peter Barker
ed3aeb39fd AP_HAL_SITL: split MAVLink and physical gimbal simulations 2024-07-21 17:01:47 +10:00
Peter Barker
fc28e2d7b8 SITL: adjust for renaming of Gimbal to SoloGimbal 2024-07-21 14:22:05 +10:00
Peter Barker
9b3809c89f AP_HAL_SITL: adjust for renaming of Gimbal to SoloGimbal 2024-07-21 14:22:05 +10:00
Peter Barker
1ce6aa7e38 AP_HAL: adjust for renaming of Gimbal to SoloGimbal 2024-07-21 14:22:05 +10:00
Peter Barker
ae4254bba8 SITL: rename SIM_Gimbal files to SIM_SoloGimbal 2024-07-21 14:22:05 +10:00
Willian Galvani
aca9940534 AP_Scripting: add Readme.md for generating message definitions 2024-07-20 20:45:41 +01:00
Peter Barker
9c1fe4e1c9 SIM_VectorNav: stop using nmea_printf on buffer data 
can't use nmea_printf here as the buffer data won't be null-terminated
 2024-07-20 22:44:19 +10:00
Peter Barker
dcf342d7e3 SITL: add instructions on testing simulated mavlink gimbal 2024-07-20 22:44:10 +10:00
Peter Barker
2584cfd786 SITL: use distinct source system for gimbal 
gimbal was sending mavlink into ArduPilot with the target system's own sysid/compid tuple.  ArduPilot was simply discarding these as its own messages being looped back to it
 2024-07-20 22:44:10 +10:00
Peter Barker
16a9e53bdb AP_Mount: tidy Solo defines 2024-07-20 22:44:10 +10:00
Peter Barker
70729df4c0 AP_HAL: enable Solo Gimbal in SITL 2024-07-20 22:44:10 +10:00
Rhys Mainwaring
5919ef69cb AP_DDS: add param DDS_DOMAIN_ID 
- Require reboot.
- Set DDS_DOMAIN_ID range: 0 to 232..

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-07-20 19:13:53 +10:00
Stephen Dade
887a890c4a SITL: Add skid steering motorboat 2024-07-20 19:10:09 +10:00
Peter Barker
1626611e0b SITL: add documentation for SIM_ACC?_RND parameters 2024-07-20 13:43:44 +10:00
bugobliterator
5a54d9a2ec AP_Networking: allow reconnection to TCP server or client 2024-07-17 18:20:14 +10:00
Peter Barker
7e722eeb94 hwdef: prune out redundant lines 
these have been merged with bad lines in them
 2024-07-17 17:49:57 +10:00
BLash
3f00280628 AP_ExternalAHRS_VectorNav: Move allocation to local scope 
Move receive_buf to method scope allocation rather than class scope
 2024-07-17 17:49:18 +10:00
BLash
b3961ec2eb AP_ExternalAHRS_VectorNav: Update VectorNav sim to respond to received commands 
Aside from the RRG,1 call, the simulation should reply with exactly what was received as a receipt confirmation to allow the driver to proceed past init
 2024-07-17 17:49:18 +10:00
BLash
34031cc6b6 AP_ExternalAHRS_VectorNav: Bugfixes and review comment address 
"VNERR" does not match beginning of message_to_send, so have to prevent it from returning due to the string compare. Also must prevent exiting the decode before the sentence has completed so that we can go on to print the error code term.
Fix bug preventing disabling of ASCII measurements
Instead of snprintf the command to message_to_send then executing run_command, allow run_command to accept a string and format spec
Add check to ensure message_to_send is greater than length 6 before attempting to read past 6
 2024-07-17 17:49:18 +10:00
BLash
ed6ee51783 AP_ExternalAHRS_VectorNav: Minor code clarity improvements 
Add clarity to send_command_blocking by improving comment and directly returning instead of breaking
 2024-07-17 17:49:18 +10:00
BLash
1288810c70 AP_ExternalAHRS_VectorNav: Handle VNERR responses 
Print received VNERR response to console and continually retry sending the configuration message, instead of panicing
 2024-07-17 17:49:18 +10:00
BLash
024d50ed09 AP_ExternalAHRS: VectorNav: Disable ASCII messages on both ports, rather than just active port 
This change prevents a commonly seen baudrate overflow error on the unused port.
Also pause asynchronous communications during initial configuration.
 2024-07-17 17:49:18 +10:00
BLash
d5ff3ed35a AP_ExternalAHRS: VectorNav: Add response validation to all sent commands 
Expands wait_register_response (and renames to send_command_blocking)
to accept any arbitrary command, and uses the new method for all sent
commands
 2024-07-17 17:49:18 +10:00
Peter Barker
d4adb1923a hwdef: stop hwdefs defining HAL_GPIO_LED_ON to 0 2024-07-17 17:42:01 +10:00
Peter Barker
9a1a99fd61 AP_HAL_Boards: stop users specifying HAL_GPIO_LED_ON as the default value 2024-07-17 17:42:01 +10:00
bugobliterator
d466618b11 AP_HAL_ChibiOS: add flash ecc corrupt method 2024-07-17 17:31:15 +10:00
bugobliterator
ceea189fa3 AP_HAL_ChibiOS: enable heap allocation if flash space for bootloader is > 128K 2024-07-17 17:31:15 +10:00
Peter Barker
fd80d331cb AP_HAL: add simulator for 1-LED boards 2024-07-17 17:18:27 +10:00
Peter Barker
647048f703 SITL: add simulator for 1-LED boards 2024-07-17 17:18:27 +10:00
Peter Barker
7a15b4aae5 AP_Notify: add support for blinking 1 LED for notify 2024-07-17 17:18:27 +10:00
Peter Barker
338e347427 AP_Notify: remove unused BUZZER_ON/OFF defines 
replaced by HAL_BUZZER_ON
 2024-07-17 11:14:05 +09:00
Oleksiy Protas
5190aee9ae AP_Camera: proper string formatting 
Incoming strings are 32 bytes and may not be null-terminated if the full width is used
 2024-07-17 10:39:46 +10:00
Thomas Watson
63ab7bec69 AP_HAL_ESP32: use correct unformatted system ID length 
Avoids stuffing uninitialized data into the ID.
 2024-07-17 09:08:51 +10:00
Thomas Watson
a3aa278589 AP_HAL_SITL: improve periph simulation efficiency 
Removes busywait for simulation state packet, dramatically reducing CPU
usage. The dominant wait time in AP_Periph is 1024 microseconds as this
is the default value of HAL_PERIPH_LOOP_DELAY_US, so a 1ms wait is
unlikely to be a problem.
 2024-07-17 09:06:16 +10:00
Andrew Tridgell
0179dc0a68 GCS_MAVLink: default MAVLink HAGL support off on low flash boards 2024-07-17 08:03:18 +10:00
Andrew Tridgell
42a1717676 AP_Scripting: added MAV_CMD_SET_HAGL example 
for external height source for fixed wing landing
 2024-07-17 08:03:18 +10:00
Peter Barker
43dbae54a3 AP_HAL: SIMState: include SITL glider header 
used if you want to use the Glider model in Sim-on-Hardware
 2024-07-16 22:28:57 +10:00
Rhys Mainwaring
4de8e04679 AR_Motors: add frame type Omni3Mecanum 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-07-16 16:28:06 +09:00
Andrew Tridgell
e93b3722c9 HAL_QURT: implement safety switch 
this ensures no outputs during initialisation
 2024-07-16 10:54:03 +10:00
Andrew Tridgell
a7363d4c14 HAL_QURT: remove ESC order mapping 
this is not consistent between ModalAI vehicles, so best done with
SERVOn_FUNCTION parameters
 2024-07-16 10:54:03 +10:00
Thomas Watson
1c54dd9e5d AP_HAL_SITL: allow disabling CAN interfaces 
Also corrects an issue where setting an invalid type could result in
undefined behavior.
 2024-07-16 10:13:11 +10:00
Thomas Watson
ca0cd9a7e8 SITL: allow disabling CAN interfaces 
Also corrects an issue where setting an invalid type could result in
undefined behavior.
 2024-07-16 10:13:11 +10:00
Peter Barker
501d0d8759 AP_Notify: stop using linux board subtype in Notify LED setup 
... instead have the board definitions define things like we do for ChibiOS
 2024-07-16 10:11:40 +10:00
Peter Barker
55308e6d79 AP_HAL: stop using linux board subtype in Notify LED setup 
... instead have the board definitions define things like we do for ChibiOS
 2024-07-16 10:11:40 +10:00
Valentin Berman
4938a6bb42 AP_EFI: DroneCAN: set the last_updated_ms field of efi_state 
The last_update_ms variable was never set in the DroneCAN implementation of the Electronic Fuel Injector sensor. This causes the function bool AP_EFI::is_healthy to always return false. Solved by adding one line of code to set the variable to the correct value.
 2024-07-14 20:19:31 +10:00
Willian Galvani
ef9763fdd7 AP_GPS: hdop and vdop are unitless 2024-07-14 17:23:15 +10:00
Iampete1
b75c62d267 AP_HAL_SITL: AnalogIn: return false for set pin to ANALOG_INPUT_NONE 2024-07-14 17:11:47 +10:00
George Zogopoulos
fb40a7f19d AP_Logger: Fix logged units 2024-07-14 17:07:11 +10:00
Andrew Tridgell
cd8b93e1c5 HAL_QURT: adjustments to support different frames 
added docs and service files, and support reboot
 2024-07-13 14:38:31 +10:00
Andrew Tridgell
f8ce4183b8 AP_Filesystem: support QURT with posix filesystem 
some features disabled
 2024-07-12 15:56:48 +10:00
Andrew Tridgell
3a6024e8ab AP_Common: support QURT 2024-07-12 15:56:48 +10:00
Andrew Tridgell
4e8f1e6092 AP_HAL: added QURT board type and header 2024-07-12 15:56:48 +10:00
Andrew Tridgell
2fe08b6177 HAL_QURT: revived QURT HAL 
based around new SDK for ModalAI Voxl2 vehicles
 2024-07-12 15:56:48 +10:00
Peter Barker
75f9c4e4fc AP_HAL: chiibos.h: die nicely if HAL_HAVE_PIXRACER_LED is used 2024-07-11 20:08:13 +10:00
Peter Barker
e42c9a588e SITL: add support for simulated GPIO LEDs 2024-07-11 20:08:13 +10:00
Peter Barker
bad755f4a5 AP_HAL: add support for simulated GPIO LEDs 2024-07-11 20:08:13 +10:00
Clyde McQueen
630d3fa8a7 AP_NavEKF3: log mag fusion selection to XKFS 2024-07-11 16:16:27 +10:00
Iampete1
a551b4f296 AP_SerialManager: remove Volz port config 2024-07-11 13:07:24 +10:00
Iampete1
8eceff2d7a AP_Volz_Protocol: move output to thread 2024-07-11 13:07:24 +10:00
Iampete1
0c5160f05c AP_Volz_Protocol: add range parameter allowing smaller range for improved PWM resolution 2024-07-11 13:07:24 +10:00
Iampete1
71f3dbf098 AP_Volz_Protocol: use popcount 2024-07-11 13:07:24 +10:00
Iampete1
871e9101ff AP_Volz_Protocol: add CMD union helper 2024-07-11 13:07:24 +10:00
Andrew Tridgell
b34d0c9c87 AP_HAL: removed vector based I2C get_device 
this is unused and prevents building on QURT
 2024-07-11 11:20:47 +10:00
Andrew Tridgell
dbba4559ee HAL_Linux: removed unused I2C vector get_device 2024-07-11 11:20:47 +10:00
Andrew Tridgell
192972e502 AP_HAL: avoid vector include in I2C API 
this doesn't work on QURT build and is unused
 2024-07-11 11:20:47 +10:00
Andrew Tridgell
ebc7cc2daf AP_OpticalFlow: cleanup printf warnings 2024-07-11 09:34:29 +10:00
Andrew Tridgell
c40099a162 AP_Rangefinder: cleanup printf warnings 2024-07-11 09:34:29 +10:00
Andrew Tridgell
991ea6326d AP_Compass: cleanup warnings in printf calls 2024-07-11 09:34:29 +10:00
Peter Barker
f4f79905cc AP_Notify: example: do not instantiate AP_BoardLED unless the board supports it 2024-07-11 09:34:00 +10:00
Peter Barker
71332dd039 AP_GPS: example: do not instantiate AP_BoardLED unless the board supports it 2024-07-11 09:34:00 +10:00
Peter Barker
ab43668c45 AP_Notify: adjust hwdef files for define renames 2024-07-11 09:34:00 +10:00
Peter Barker
3b764c5812 AP_HAL: adjust hwdef files for define renames 2024-07-11 09:34:00 +10:00
Peter Barker
956ac243e1 AP_HAL_ChibiOS: adjust hwdef files for define renames 2024-07-11 09:34:00 +10:00
Peter Barker
8370e0b08b AP_Notify: create sanity in GPIO-based LED defines 2024-07-11 09:34:00 +10:00
Andrew Tridgell
393cd3252b AP_HAL_SITL: switched ENABLE_HEAP to an #if 2024-07-11 09:28:17 +10:00
Andrew Tridgell
3980cbbb82 AP_HAL_Linux: switched ENABLE_HEAP to an #if 2024-07-11 09:28:17 +10:00
Andrew Tridgell
f235b71f6b AP_HAL: switched ENABLE_HEAP to an #if 2024-07-11 09:28:17 +10:00
Andrew Tridgell
15ef6b1192 AP_HAL_ESP32: switched ENABLE_HEAP to an #if 2024-07-11 09:28:17 +10:00
Andrew Tridgell
64f6abd4d4 AP_HAL_ChibiOS: switched ENABLE_HEAP to an #if 2024-07-11 09:28:17 +10:00
Andrew Tridgell
429294fa1d AP_Baro: avoid i2c errors with ICP101XX 
this sensor doesn't like reading at higher than expected rate
 2024-07-11 09:27:33 +10:00
Andrew Tridgell
a02cd4b432 AP_Baro: fixed link with clang for shared library 
avoid unused symbols
 2024-07-11 09:27:09 +10:00
Andrew Tridgell
3608a78398 AP_Baro: fixed build with clang 2024-07-11 09:27:09 +10:00
Andrew Tridgell
60f582a6b2 AP_BattMonitor: support I2C INA231 battery monitor 2024-07-11 09:26:17 +10:00
Andrew Tridgell
75ebf96adb AP_Filesystem: allow for filesystem with no dtype 2024-07-11 09:25:05 +10:00
Andrew Tridgell
64ed86a82e GCS_MAVLINK: cope with dirent not having dtype 2024-07-11 09:25:05 +10:00
Andrew Tridgell
c2e52af1e2 AP_Filesystem: make fgets() much more efficient 
normally fgets is on a buffered FILE handle. For AP_Filesystem we use
an unbuffered file descriptor. This means we were reading one byte at
a time from the file

this uses lseek to make fgets() much more efficient by reading the max
buffer size at a time in the file
 2024-07-11 09:24:38 +10:00
Peter Barker
b2a7fcda5c AP_GPS: resolve compilation problem with timeval 
./../libraries/AP_GPS/AP_GPS_SITL.cpp:37:27: error: aggregate 'timeval first_tv' has incomplete type and cannot be defined
    37 |     static struct timeval first_tv;
       |                           ^~~~~~~~
 compilation terminated due to -Wfatal-errors.

 Waf: Leaving directory `/ardupilot/src/build/sitl'
 Build failed
  -> task in 'objs/AP_GPS' failed (exit status 1):
  {task 135805090486368: cxx AP_GPS_SITL.cpp -> AP_GPS_SITL.cpp.0.o}
 2024-07-11 09:22:12 +10:00
Andrew Tridgell
7477c4e205 AP_Scripting: fixed remove call 
need to use AP_Filesystem
 2024-07-11 07:43:35 +10:00
Andrew Tridgell
ffc78722f7 HAL_ESP32: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
c4addb7dd0 AP_HAL_SITL: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
2374d6f444 AP_HAL_Linux: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
d54b69a5fe AP_HAL: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
04bd5aa010 AP_HAL_Empty: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
e86e012896 AP_HAL_ChibiOS: removed run_debug_shell 2024-07-11 07:42:54 +10:00
Andrew Tridgell
4d5095cea1 AP_DDS: fixed cell voltages 
the std:copy was copying from uint16_t to float
 2024-07-11 07:25:33 +10:00
Peter Barker
7f0f851243 hwdef: remove bogus EK2_RPRIMARY from Cube defaults files 
looks likely, but hasn't ever existed
 2024-07-10 22:35:51 +10:00
Peter Barker
4231275f50 AP_Compass: remove default clause from set_status switch 
forces someone to consider what they need to do for any new state
 2024-07-10 18:18:31 +10:00
Peter Barker
afd8d8255f AP_Compass: use switch statement in failed() method 2024-07-10 18:18:31 +10:00
Peter Barker
ef0de65347 AP_InertialSensor: tidy IMU killing 2024-07-10 18:17:00 +10:00
muramura
d6a79c0e02 RC_Channel: Add a MOUNT2 retract 
Update libraries/RC_Channel/RC_Channel.cpp

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-07-10 17:45:28 +10:00
Peter Barker
31f3a796f1 AP_Proximity: avoid use of int16_t-read call 2024-07-10 17:01:09 +10:00
MattKear
2025712505 AP_RPM: Improve rpm logging 2024-07-10 12:24:15 +10:00
Michael du Breuil
aafa2f3998 AP_Math: Remove template parameter from constructor 
Not valid in C++20, and makes GCC 14.1.1 very unhappy.
 2024-07-10 10:07:24 +10:00
muramura
e48044dc45 AP_InertialSensor: Clearly state the maximum G-force 2024-07-10 10:07:16 +10:00
muramura
9f6edd8d55 AP_Mount: Increment the serial instance 2024-07-10 08:31:25 +09:00
Ep Pravitra
f3d55d821e SITL: fix json airspeed 
Airspeed calculation for JSON was not quite working because velocity_air_ef was not updated in SIM_JSON.cpp

Update libraries/SITL/SIM_JSON.cpp

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
Update libraries/SITL/SIM_JSON.cpp

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>

comment changes

remove redundant airspeed calculation
 2024-07-10 08:24:19 +10:00
James O'Shannessy
9924462618 AP_Mission: Allow Param4 to be uploaded with NaN 
By default, QGroundControl will attempt to upload Loiter Unlimited with a NaN in param4.
Given this field could be NaN, we allow it through the parser.

See: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_UNLIM
 2024-07-09 22:39:57 +10:00
Peter Barker
481e0301dd hwdef: H757_EVAL: make it not-AP_Periph 
avoids this compilation error:

../../Tools/AP_Periph/can.cpp:152:33: error: static assertion failed: DroneCAN bootloader cannot support external flash
  152 | static_assert(EXT_FLASH_SIZE_MB == 0, "DroneCAN bootloader cannot support external flash");
compilation terminated due to -Wfatal-errors.
 2024-07-09 12:00:52 +10:00
Randy Mackay
5a8ed5fb51 AP_NavEKF: option to align extnav to optflow pos estimate 2024-07-09 11:59:36 +10:00
Thomas Watson
1249388f23 AP_Common: use template parameter in bitmask functions 
Substantially improves code optimization and reduces memory usage.
 2024-07-09 11:51:41 +10:00
Thomas Watson
6a4520e8fd AP_Common: clean up bitmask operators 
Code already won't compile if there are different numbers of bits as the
template parameter will be different.
 2024-07-09 11:51:41 +10:00
Thomas Watson
b030b8e789 AP_Common: correctly bound bitmask datatypes 
Probably won't work correctly (and of questionable use) if less than 1.
The `first_set()` function might not be able to return a valid value if
greater than INT16_MAX.

unsigned int needs to be >= uint32_t so that the shift ops are in range.
 2024-07-09 11:51:41 +10:00
Thomas Watson
0b320fe303 AP_Common: unify bitmask out of bounds checking 
Ensures out-of-bounds reads and writes are never performed for setting,
clearing, and checking. Fixes test failure when the number of bits
evenly divides the word size.
 2024-07-09 11:51:41 +10:00
Thomas Watson
9a89223531 AP_Common: fix bitmask setall() 
Fixes an issue where the last word was not set to all 1s if the number
of bits evenly divided the word size.

Also fixes UB if there were 31 valid bits.
 2024-07-09 11:51:41 +10:00
Thomas Watson
122cd72d9c AP_Common: improve bitmask test coverage 2024-07-09 11:51:41 +10:00
Thomas Watson
4a2f03f851 AP_Common: test more bitmask bit widths 
Actually test different widths and reveal problems with edge cases.
 2024-07-09 11:51:41 +10:00
Thomas Watson
521cf00964 AP_Common: templatify bitmask tests 
Enables testing of different widths and edge cases.
 2024-07-09 11:51:41 +10:00
Peter Barker
aff3af67e6 AP_Logger: remove short-filename compatability code 
We used to produce files hwih looked like log1.BIN.  We moved to 00000001.BIN instead so things collate.

This code allowed the autopilot to return data from SD cards which had old logs on them.
 2024-07-09 11:34:40 +10:00
Iampete1
f3743b869d AC_PID: correct error caculation to use latest target 2024-07-09 11:33:03 +10:00
Andrew Tridgell
b19186980a AP_Mount: added sending of position data to Siyi gimbal 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
this will allow for exif tags of position for photos
 2024-07-09 11:28:57 +10:00
Peter Barker
99fb5a994e AC_WPNav: correct calculation of predict-accel when zeroing pilot desired accel 2024-07-09 10:52:14 +10:00
Peter Barker
c8a20726ff AP_NavEKF3: do not store prediction-enabled as state 
this is only used in one place, and that place is called from the same routine setting the persistent state.  The only other place which calls readIMUData shouldn't be running the prediction step, but mmay, depending on the previous setting of the prediction step.

We are not initialising this state on filter reset, so it's possible that the state will be set when we do an InitialiseFilterBootstrap, which is probably not desired
 2024-07-09 10:45:03 +10:00
Peter Barker
3208491983 AP_Logger: remove twin paths for writing FMT messages 
This stops us tracking formats-written in two places.

The Write() method will now emit formats as required and set the relevant bit in the backend-owned bitmask of formats sent.
 2024-07-09 10:40:08 +10:00
Willian Galvani
64e859ecc5 AP_Compass: warn user if fix_radius() is skipped 2024-07-09 10:13:34 +10:00
Willian Galvani
325d6f6c94 AP_Compass: use ahrs for location instead of GPS directly for calibration 2024-07-09 10:13:34 +10:00
Peter Barker
df0b4cdf6d AP_HAL_ChibiOS: chibios_hwdef.py: correct flake8 issues 2024-07-09 10:13:00 +10:00
Oleksiy Protas
6d27f69c96 GCS_MAVLink: correct a debugging message 
Probably changed from a pointer to reference at some point and forgot to update a normally disabled block
 2024-07-09 10:10:52 +10:00
Andy Piper
1b5febe046 AP_HAL_ChibiOS: iFlight 2RAWH743 2024-07-09 09:43:38 +10:00
Randy Mackay
b6c5ad450d AP_Common: char_to_hex returns 0 on invalid char 2024-07-09 09:08:51 +10:00
laozhou
611fb94660 AP_Mount: integrate topotek gimbal driver 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-07-09 09:08:51 +10:00
laozhou
d5d1b9885c AP_Mount: add topotek backend 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-07-09 09:08:51 +10:00
HiRCBro
8c58334173 AP_HAL_ChibiOS: longBowF405WING 2024-07-09 09:05:27 +10:00
Peter Barker
933aed5f91 AP_Scripting: add missing scheduler include 
corrects compilation of cubeorange-periph-heavy
 2024-07-09 07:40:03 +10:00
cuav-chen2
f906fffff7 hwdef: fixed pin definition for C-RTK2-HP 2024-07-08 22:10:27 +10:00
Andrew Tridgell
db19bce1d2 AP_Common: wrap _malloc_r on cygwin 
fixes dual allocation heap bug
See https://cygwin.com/pipermail/cygwin/2000-July/038916.html
 2024-07-07 07:11:59 +10:00
Andrew Tridgell
842a4f507b AP_Scripting: added NMEA 2000 EFI driver 
this has been tested on a marine engine, and correctly produces key
telemetry data

the NMEA_2000.lua module is broken out to make it easier to add other
NMEA 2000 based drivers
 2024-07-06 07:19:25 +10:00
Peter Barker
9090420db0 SITL: remove duplicated crc code 
same as one we already have
 2024-07-05 23:02:18 +10:00
Peter Barker
c1c3580f8b AP_Logger: remove unused _log_file_size_bytes variable 
AP_Logger: comment corection
 2024-07-05 21:42:21 +10:00
BLash
0e4124060c SITL: VectorNav: Add support for sensors outside VN-100 and VN-300 
Includes naming changes to match new broadened usage
 2024-07-05 21:41:22 +10:00
BLash
271f08fc03 AP_ExternalAHRS: VectorNav: Add support for sensors outside VN-100 and VN-300 
Includes naming changes to match new broadened usage
 2024-07-05 21:41:22 +10:00
Peter Barker
1916490ae6 AC_Sprayer: create and use an AP_Sprayer_config.h 2024-07-05 14:27:45 +10:00
bugobliterator
b93c9256c7 AP_HAL_ChibiOS:hwdef/common: disable second core on dual core MCUs 2024-07-05 14:16:27 +10:00
bugobliterator
c8fe71b6b0 AP_HAL_ChibiOS: use debug option 3 which includes defines as well 2024-07-05 14:16:27 +10:00
Peter Barker
6ce7e179d7 RC_Channel: produce error if feature compiled out and aux func initialised 2024-07-04 19:41:07 +10:00
Peter Barker
ce48932f4d AP_NavEKF3: remove storedRange member variable if rangefinder measurements disabled 2024-07-04 19:21:44 +10:00
Peter Barker
3dff46b2b2 AC_AutoTune: remove unused variables 2024-07-04 13:19:12 +10:00
Peter Barker
35bdadb8ec AC_AutoTune: adjust variable names to include _cd postfix 2024-07-04 13:19:12 +10:00
Vincent Poon
fba47e641d Update Pixhawk6C hwdef.dat 
Fix https://github.com/ArduPilot/ardupilot/issues/25840

The overcurrent detection of the HIPOWER current limiting chip is connected to PC11 on the Pixhawk 6C.
 2024-07-04 06:37:58 +10:00
George Zogopoulos
61c910b08b AP_Scripting: Added script for Quad-X CoM compensation 
The script uses the scripting matrix to produce non-equal
front and back thrust, compensating for the lever arm between the center
of thrust and the center of mass.
 2024-07-03 18:44:36 +10:00
George Zogopoulos
2cd5413b0d SITL: Documented SIM_WIND_DIR_Z 2024-07-03 18:13:11 +10:00
Willian Galvani
cb74ebbddd EKF3: allow earth-frame fields to be estimated with an origin but no GPS 2024-07-03 16:49:27 +10:00
bnsgeyer
5fa2fcfa56 AC_AutoTune: return freqresp ring buffers to original implementation 2024-07-01 22:57:55 -04:00
bnsgeyer
475663e199 AC_AutoTune: use ring buffer only for dwells 2024-07-01 22:57:55 -04:00
bnsgeyer
bb6c52d508 AC_AutoTune: remove deletion of ring buffers 2024-07-01 22:57:55 -04:00
bnsgeyer
f50bb54112 AC_AutoTune: more suggested changes 2024-07-01 22:57:55 -04:00
bnsgeyer
088b7ec094 AC_AutoTune: incorporate suggested changes 2024-07-01 22:57:55 -04:00
Bill Geyer
41ed4d1321 AC_AutoTune: use new new macro 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-07-01 22:57:55 -04:00
bnsgeyer
c4f4067fd5 AC_AttitudeControl: add accessors to set rate limit 2024-07-01 22:57:55 -04:00
bnsgeyer
b13efc86af AC_AutoTune: use attitude controller to enforce rate and accel limits 2024-07-01 22:57:55 -04:00
bnsgeyer
ad1b01cd56 AC_AutoTune: improve RFF dwell test and data processing 2024-07-01 22:57:55 -04:00
Bill Geyer
30c2e1f53b AC_AutoTune: general cleanup and protect against freq exceedences 2024-07-01 22:57:55 -04:00
bnsgeyer
cc7e43d643 AC_AutoTune: max gain, rate p and d tuning use common search method 2024-07-01 22:57:55 -04:00
bnsgeyer
cf50aa1321 AC_AutoTune: trad heli variable cleanup 2024-07-01 22:57:55 -04:00
bnsgeyer
ad58f3e1f8 AC_AutoTune: reworked updating max gains 2024-07-01 22:57:55 -04:00
bnsgeyer
989f48f97a AC_AutoTune: reworked updating angle p up 2024-07-01 22:57:55 -04:00
bnsgeyer
cd18607f25 AC_AutoTune: reworked updating rate p and d up 2024-07-01 22:57:55 -04:00
bnsgeyer
61182c0e96 AC_AutoTune: reworked dwell_test and updating ff up 2024-07-01 22:57:55 -04:00
bnsgeyer
2339c7daed AC_AutoTune: moved more into dwell_test_init 2024-07-01 22:57:55 -04:00
bnsgeyer
7ff99a39f0 AC_AutoTune: fix tests to work better 2024-07-01 22:57:55 -04:00
bnsgeyer
3943a69b33 AC_AutoTune: fix object buffers to dynamically size 2024-07-01 22:57:55 -04:00
bnsgeyer
528b7eb438 AC_AutoTune: general cleanup to make code more efficient 2024-07-01 22:57:55 -04:00
bnsgeyer
9e4d118cc9 AC_AutoTune: remove sweep for Rate D up 2024-07-01 22:57:55 -04:00
bnsgeyer
32af6216b7 AC_Autotune: tradheli use dwell for FF test 2024-07-01 22:57:55 -04:00
bnsgeyer
dd1f0cdcf7 AC_AutoTune: make rate freq sweeps safer 2024-07-01 22:57:55 -04:00
Henry Wurzburg
48e27c382a AP_RSSI: make metadata more consistent 2024-07-02 11:34:29 +10:00
Henry Wurzburg
f087e9d25d AP_RangeFinder: make metadata more consistent 2024-07-02 11:34:29 +10:00
Henry Wurzburg
a03ccd1a8a AP_BattMonitor: make metadata more consistent 2024-07-02 11:34:29 +10:00
Henry Wurzburg
59db5de78c AP_Airspeed: make metadata more consistent 2024-07-02 11:34:29 +10:00
Thomas Watson
717c5ff863 AP_Scripting: ignore hidden Lua files 
On macOS, sometimes ._script.lua is created to store metadata when the
user copies script.lua over to their SD card. Previously, the scripting
engine would barf since the file is not Lua. Now, these files are
ignored.

Also avoids a case where a hidden and valid script might be loaded
without the user's knowledge.
 2024-07-02 11:07:40 +10:00
Peter Barker
0056ef2d90 AP_Logger: write formats out as required rather than at start of log 2024-07-02 10:59:55 +10:00
Andrew Tridgell
681e2d7993 AP_GPS: don't consider uBlox PVT time correct unless we have 2D fix 
the time may be set by an offline assistance client and may not be
accurate
 2024-07-02 10:25:03 +10:00
Peter Barker
f3a75661d9 AP_Frsky_Telem: avoid use if int16-t read call 2024-07-02 10:14:28 +10:00
Peter Barker
85f89812d5 AP_Generator: avoid use of int16_t-read 2024-07-02 10:13:24 +10:00
Peter Barker
42805aa892 AP_GPS: confine inter-instance DroneCAN state checks to DroneCAN GPSs 
stop these looking at parameters/state for all GPSs, focus on DroneCAN GPSs
 2024-07-02 09:56:40 +10:00
Peter Barker
ebfbcacfe3 AP_GPS: tidy pre_arm_checks 2024-07-02 09:56:40 +10:00
Peter Barker
3e57edf37c AP_Arming: tidy pre_arm_checks 2024-07-02 09:56:40 +10:00
Iampete1
a9eb6051fa AP_BatteryMonitor: add missing failsafe with no action 2024-07-02 09:54:36 +10:00
Bill Geyer
c5585f84af AC_AttitudeControl: various suggested cleanup items 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-07-02 08:39:33 +09:00
Bill Geyer
29897f99af AP_Motors: Clean up spacing 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-07-02 08:39:33 +09:00
Bill Geyer
805480e5a2 AC_AttitudeControl: only allow angle boost when not autorotating 2024-07-02 08:39:33 +09:00
Bill Geyer
a19b72e895 AP_Motors: helper function to determine when heli is in autorotation 2024-07-02 08:39:33 +09:00
bnsgeyer
f06bbd471f AC_AttitudeControl: tradheli-add support for inverted and throttle boost features 2024-07-02 08:39:33 +09:00
Peter Barker
4550f7dcb1 hwdef: make H757I_EVAL a periph 
its bootloader is marked as a bootloader peripheral, the main firmware is notistent in our message.
 2024-07-02 09:17:26 +10:00
Peter Barker
6e5198a50c AP_Frsky_Telem: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Peter Barker
e88d76d72d AP_Scripting: rangefinder singleton requires AP_RANGEFINDER_ENABLED 
.... or HAL_PERIPH_ENABLE_RANGEFINDER
 2024-07-02 09:17:26 +10:00
Peter Barker
118f3b41ac AP_RangeFinder: create a AP_RANGEFINDER_BACKEND_CAN_ENABLED 
avoid cmpilation problems when rangefinder not enabled but CAN is
 2024-07-02 09:17:26 +10:00
Peter Barker
fe6b120a73 AP_Vehicle: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00