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30510 Commits

Author SHA1 Message Date
Randy Mackay c20ec27c54 AP_Mount: parameter angles in degrees 
Also MNTx_RC_RATE param per backend
 2022-09-06 13:53:25 +09:00
Randy Mackay ac769baa3c AP_Mount: Servo mount's STAB params replaced by BrushlessPWM type 2022-09-06 13:53:25 +09:00
Randy Mackay 0d9526f1c5 AP_Mount: replace RC input params with RC options 2022-09-06 13:53:25 +09:00
Randy Mackay cc67d6f73c RC_Channel: define mount roll, pitch and yaw inputs 2022-09-06 13:53:25 +09:00
chobitsfan 43105249cb PrecLand: support LANDING_TARGET ext field 2022-09-06 12:10:21 +09:00
Andrew Tridgell b7b02bd369 AP_Rangefinder: fixed out of range issue with benewake uart lidars 
this impacts the TF03 180m lidar
 2022-09-06 12:34:41 +10:00
Shiv Tyagi 7d3f013695 AR_PosControl: add accessor for reversed 2022-09-06 11:23:51 +09:00
Shiv Tyagi d982c28ef2 AR_WPNav: add accessors for accel and jerk limits 2022-09-06 11:23:51 +09:00
Andrew Tridgell e1c006c25d AP_Math: added double_to_int32 and double_to_uint32 2022-09-06 10:49:50 +10:00
Andrew Tridgell 3c232d1f67 SITL: fixes from --ubsan autotest 2022-09-06 10:49:50 +10:00
Andrew Tridgell 53997a284b AP_HAL_SITL: fixes from --ubsan autotest 2022-09-06 10:49:50 +10:00
Andrew Tridgell b44a084a1e AP_Frsky_Telem: fixes from --ubsan autotest 2022-09-06 10:49:50 +10:00
Andrew Tridgell c2b29a92c7 AP_ExternalAHRS: fixes from --ubsan autotest 2022-09-06 10:49:50 +10:00
Andrew Tridgell 286ea7499b AP_MSP: use BIT_IS_SET_64() 
the bitmask is 64 bits wide
 2022-09-06 10:49:50 +10:00
Andrew Tridgell cda3fb6368 AP_Common: added BIT_IS_SET_64() 2022-09-06 10:49:50 +10:00
Andrew Tridgell 4ed55d9e21 Filter: fixed out of bound access in ModeFilter 2022-09-06 10:49:50 +10:00
Iampete1 60a75a0973 AP_Scripting: examaples move to : acsess 2022-09-06 10:39:35 +10:00
Iampete1 5b2236e88c AP_Scripting: Manual bindings: allow both : and . acsess 2022-09-06 10:39:35 +10:00
Henry Wurzburg 2c8c037b93 SRV_Channel:Correct metadata mistake in PR #21347 2022-09-06 10:35:14 +10:00
Willian Galvani 5ed2785dfa AP_HAL_Linux: create GPIO_Navigator 2022-09-06 09:34:07 +10:00
Willian Galvani 710cbacef7 RCOutput_PC9685: refactor write/write_gpio 2022-09-06 09:34:07 +10:00
Willian Galvani 603bc5ecce RCOutput_PCA9685: implement gpio methods 2022-09-06 09:34:07 +10:00
Willian Galvani 018ab14814 RC_Output.h: add gpio methods 2022-09-06 09:34:07 +10:00
Andy Piper d82ba1b7a3 AP_HAL_ChibiOS: use faster SPI clock for BMI270 on MambaH743 and KakuteH7v2 2022-09-06 09:31:21 +10:00
Andy Piper fcbaa0969e AP_InertialSensor: synchronize BMI70 on fifo reads 2022-09-06 09:31:21 +10:00
Henry Wurzburg d31f6c2f57 AP_GPS: remove incorrect build option on GPS_DRV_OPTIONS param 2022-09-05 12:48:51 +10:00
AerofoxTech b9b158216b hwdef: add AeroFox Airspeed periph 2022-09-05 12:36:11 +10:00
Andrew Tridgell f8b1169165 HAL_ChibiOS: rename ecc_raw to apsec_data 2022-09-05 12:35:37 +10:00
Andrew Tridgell 36e9f9b7d1 AP_CheckFirmware: rename secure data to apsec_data 2022-09-05 12:35:37 +10:00
Andrew Tridgell f899a47429 HAL_ChibiOS: removed debug msg 2022-09-05 12:35:37 +10:00
Andrew Tridgell 30ed94c73c hwdef: disable UARTS in MatekL431 bootloader 
this saves a lot of flash, and UARTs are not needed in the
bootloader. It means we can fit a bootloader with signing for ESC
based RemoteID support
 2022-09-05 12:35:37 +10:00
Andrew Tridgell 39595d36be AP_CheckFirmware: allow an unsigned bootloader to boot a signed firmware 
this is important to provide an upgrade path for AP_Periph from
unsigned to signed. It means a bootloader with no public keys can
still check the board ID and CRCs of the signed firmware
 2022-09-05 12:35:37 +10:00
Andrew Tridgell bf511640cf AP_CheckFirmware: added check_signed_bootloader() 2022-09-05 12:35:37 +10:00
Andrew Tridgell b79f3caf86 GCS_MAVLINK: report on unsigned bootloader flash attempt 2022-09-05 12:35:37 +10:00
Andrew Tridgell b74c9b5862 HAL_ChibiOS: protect against flashing bootloader without public keys 2022-09-05 12:35:37 +10:00
Andrew Tridgell a6c5e38c5a AP_HAL: added NOT_SIGNED error code 2022-09-05 12:35:37 +10:00
Andrew Tridgell 2c6418a920 AP_HAL: fixed linux build 2022-09-05 12:35:37 +10:00
Andrew Tridgell 1f4db8204b AP_CheckFirmware: support updating or removing public keys 
this supports fetching, updating and removing public keys using the
SECURE_COMMAND mavlink operations. This will allow for vendors to
remotely hand over management of RemoteID security to new vendors
 2022-09-05 12:35:37 +10:00
Andrew Tridgell 611f26f16c GCS_MAVLink: support SECURE_COMMAND 2022-09-05 12:35:37 +10:00
Andrew Tridgell 029947efc7 AP_CheckFirmware: allow for boot if no public keys 
this will allow for SECURE_UPDATE command to unlock bootloader
 2022-09-05 12:35:37 +10:00
Jeffrey Laut 3133aff352 SITL: fix simulated RC failure while receiving RC overrides 2022-09-02 12:08:34 +10:00
Peter Barker b580c873a8 AP_IOMCU: log number of errors reading status page 2022-09-02 11:16:52 +10:00
Peter Barker 605f42947e AP_IOMCU: log regardless of success reading status page 2022-09-02 11:16:52 +10:00
Peter Barker 0be9c83692 AP_IOMCU: break logging out as a method 2022-09-02 11:16:52 +10:00
Leonard Hall f3cd5a9a38 AC_PosControl: Fix slow target decay decay problem 2022-09-02 09:02:46 +09:00
Leonard Hall af54acd202 AC_WPNav: AC_Loiter: Fix loiter level bug 2022-09-02 09:02:46 +09:00
Leonard Hall 4a12faea92 AC_PosControl: Make get_z_accel_cmss public 2022-08-31 19:19:04 -04:00
Mohammad Hefny a8bf2c0141 fix: baro same driver multi-definition 2022-09-01 08:39:43 +10:00
Peter Barker 1fea941fdb AC_Fence: correct compilation when fence compiled out 2022-09-01 08:25:55 +10:00
Peter Barker a9a3de8f20 AP_Logger: correct compilation when fence compiled out 2022-09-01 08:25:55 +10:00
TunaLobster f28f5a1ad5 SRV_Channel: Add SRV fucntions for scaled RC passthrough 2022-08-31 17:05:39 +10:00
Iampete1 da5ec973c5 AP_Scripting: add error message buffer semaphore 2022-08-31 17:04:24 +10:00
Iampete1 e3931a6f56 AP_Scripting: add debug option to disable pre-arm 2022-08-31 17:04:24 +10:00
Iampete1 bbcb7b5827 AP_Scripting: move to common status text "Scripting:" prefix to save flash 2022-08-31 17:04:24 +10:00
Iampete1 e2c29b09ab AP_Scripting: add arming check for failed scripts 2022-08-31 17:04:24 +10:00
Iampete1 c5c09860da AP_Arming: move scripting checks to scripting 2022-08-31 17:04:24 +10:00
Andrew Tridgell d7710e5ccf HAL_ChibiOS: make it easy to debug secure boot on Nucleo-G491 2022-08-31 10:14:25 +10:00
Shiv Tyagi 8bd26dffac AC_PrecLand: rotate target vector based on sensor orient 
Since, the frontend takes care of rotating sensor frame target vector to body frame, the  sitl backend should return unit
vector in sensor frame instead of body frame. This is to have homogeneity among backends.
 2022-08-30 03:44:26 -04:00
Shiv Tyagi bc3ff20871 AC_PrecLand: add _ORIENT param to precland library 
The orient parameter will help us construct a direction of approach vector in vehicle body frame. This vector would help
us rotate the target vector from sensor frame to body frame and determine the horizontal position error of vehicle for
more orientations than just PITCH_270
 2022-08-30 03:44:26 -04:00
esaldiran bbeef1a5cd AC_CustomControl: add README 2022-08-30 13:10:09 +10:00
esaldiran 618164fea4 AC_CustomControl: add PID backend 2022-08-30 13:10:09 +10:00
esaldiran 8eeb4227f7 RC_Channel: add custom controller aux func 2022-08-30 13:10:09 +10:00
esaldiran 4abb6725a8 AC_CustomControl: add empty controller backend as a template 2022-08-30 13:10:09 +10:00
esaldiran c5787a0165 AC_CustomControl: add custom controller support 2022-08-30 13:10:09 +10:00
Andrew Tridgell 13453f705e AP_RPM: added AP_Generator support 
useful for notch filtering of generator vibration
 2022-08-30 10:53:45 +10:00
Andrew Tridgell a06d163ef0 GCS_MAVLink: refuse DFU for secure firmware 2022-08-30 10:51:06 +10:00
Andrew Tridgell b808351f2a hwdef: enable DFU on some boards 2022-08-30 10:51:06 +10:00
bugobliterator cee8a638f8 AP_HAL: set default HAL_ENABLE_DFU_BOOT 2022-08-30 10:51:06 +10:00
bugobliterator eb116849c6 AP_HAL_ChibiOS: add LED Bootloader in CubeOrange and related boards 2022-08-30 10:51:06 +10:00
bugobliterator f31d915e14 GCS_MAVLink: add support for booting into dfu 2022-08-30 10:51:06 +10:00
bugobliterator 441ce2e593 AP_HAL: add util method boot_to_dfu() 2022-08-30 10:51:06 +10:00
Andrew Tridgell c70643f0e7 AP_CheckFirmware: added monocypher 2022-08-30 10:51:06 +10:00
bugobliterator d434038b26 AP_CheckFirmare: add support for signed firmwares 2022-08-30 10:51:06 +10:00
bugobliterator 0c78f8bac2 AP_HAL_ChibiOS: add support for booting into DFU 2022-08-30 10:51:06 +10:00
Henry Wurzburg d420ba0edd HWDEF: correct default params file and readme for SPR H7 2022-08-30 10:27:25 +10:00
Randy Mackay 2bcb503170 AP_Mount: allow users to disable yaw on 3-axis gimbals 
Also fixes 3-axis gimbal support for SToRM32 serial and MAVLink gimbals
 2022-08-30 10:05:09 +10:00
Andy Piper a560d1f2cc AP_Vehicle: update notch count. 2022-08-30 10:03:31 +10:00
Andy Piper 28d0086a97 AP_ESC_Telem: don't provide zero udpates for ESCs that have never been used 2022-08-30 10:03:31 +10:00
Andy Piper acb318fcab AP_HAL_ChibiOS: rename KakuteH7Miniv2 to kakuteH7Mini-Nand 2022-08-30 09:52:41 +10:00
Joshua Henderson a93b887f5f AP_BattMonitor: move read_block up to SMBus base class 2022-08-30 09:09:54 +10:00
Iampete1 fb86318848 AC_Fence: always declare AC_PolyFenceItem 2022-08-30 09:07:27 +10:00
Iampete1 fc2bc2822e AP_Logger: MessageWriter: convert enums to enum class's 2022-08-30 09:07:27 +10:00
Iampete1 3d5bbb72ab AC_PolyFence_loader: log fence on sucsesful write 2022-08-30 09:07:27 +10:00
Iampete1 d020dd2923 AC_Fence: add log structure 2022-08-30 09:07:27 +10:00
Iampete1 47853383b1 AP_Logger: add fence message writer 2022-08-30 09:07:27 +10:00
bugobliterator c7ebd00ff9 AP_HAL_ChibiOS: disable RCIN and RCOUT threads on HiTec-Airspeed 2022-08-28 11:43:01 +10:00
Andrew Tridgell df56d8a8dd AP_ESC_Telem: don't default ESC telem on for AP_Periph 
require it to be enabled specifically. Otherwise we end up with ESC
status msgs in GPS modules
 2022-08-28 11:43:01 +10:00
Henry Wurzburg 83a45661f1 AP_SerialManager: generalize EFI serial protocol name 2022-08-28 08:12:48 +10:00
Joshua Henderson bbbf0b9718 AP_Scripting: VTOL-quiktune add back param for AUTO_FILTER 2022-08-26 16:45:45 +10:00
Joshua Henderson 82ece34981 AP_Scripting: VTOL-quiktune add param for RC script function 2022-08-26 16:45:45 +10:00
Randy Mackay 83c9a76260 AP_Mount: send warning to GCS on invalid GPS or angle targets 
This hopefully will help catch cases where the GCS relied on a bug in 4.2 (and earlier's) handling of MAV_CMD_DO_MOUNT_CONTROL
 2022-08-25 20:28:06 -04:00
Randy Mackay 022d610519 AP_Mount: separate handling of mount-control and do-mount-control 2022-08-25 20:28:06 -04:00
Randy Mackay ff1624d4a0 GCS_MAVLink: MOUNT_CONFIGURE and MOUNT_CONTROL send deprecation warnings 2022-08-25 20:28:06 -04:00
Peter Barker 46aebe3020 AP_OpticalFlow: allow use of OpticalFlow on SimOnHardWare 2022-08-24 18:27:32 +10:00
rishabsingh3003 6926466d88 AP_Proximity: Fix comments 2022-08-24 18:26:27 +10:00
rishabsingh3003 6e603418eb AP_Proximity: Remove primary_instance 2022-08-24 18:26:27 +10:00
rishabsingh3003 3a347374c8 AP_Proximity: Cycle through all drivers to check for upward distance 2022-08-24 18:26:27 +10:00
rishabsingh3003 5d29dd98c1 AP_Proximity: Make new Utils file for PRX utility functions 2022-08-24 18:26:27 +10:00
rishabsingh3003 7cd77f266e AP_Arming: shift pre-arm check to AP_Proximity 2022-08-24 18:26:27 +10:00
rishabsingh3003 f0f24dde99 AP_Proximity: Make sure all sensors are used for pre arm check 2022-08-24 18:26:27 +10:00
rishabsingh3003 b0108f2c0c AP_Proximity: Increase number of available proximity sensor 2022-08-24 18:26:27 +10:00
Randy Mackay 0cbba4fdd0 AP_Proximity: distance_min/max checks all backends 2022-08-24 18:26:27 +10:00
Randy Mackay 1f0a633425 AP_Proximity: fixup handle_msg comment 2022-08-24 18:26:27 +10:00
Randy Mackay 7dbbca8d58 AP_Proximity: remove public get_orientation and get_yaw_correction 
this are only used by backends
 2022-08-24 18:26:27 +10:00
Randy Mackay 965cdd7e72 AP_Proximity: fixup detection of serial drivers 2022-08-24 18:26:27 +10:00
Randy Mackay 826cf558eb AP_Proximity: log if any drivers created 
allows logging even if only 2nd proximity sensor is configured
 2022-08-24 18:26:27 +10:00
Randy Mackay 436f77d673 AP_Proximity: boundary uses shortest dist from multiple backends 
Co-authored-by: Rishabh <f20171602@hyderabad.bits-pilani.ac.in>
 2022-08-24 18:26:27 +10:00
Randy Mackay 3941598a10 GCS_MAVlink: integrate proximity-distance-array scope change 2022-08-24 18:26:27 +10:00
Randy Mackay 7432a20394 AP_Proximity: move boundary to frontend 
Co-authored-by: Rishabh <f20171602@hyderabad.bits-pilani.ac.in>
 2022-08-24 18:26:27 +10:00
Randy Mackay eff86c88ab AP_Proximity: reorder method declarations and implementations 2022-08-24 18:26:27 +10:00
Randy Mackay b6d133e285 AP_Proximity: reduce ignore areas to 4 per backend 2022-08-24 18:26:27 +10:00
Randy Mackay 5fbaa4f136 SITL: integrate PRX parameter rename 2022-08-24 18:26:27 +10:00
Randy Mackay 6025b1dcaa AP_Proximity: move params to separate class 
simplies increasing the maximum number of backends
 2022-08-24 18:26:27 +10:00
Andrew Tridgell c05b7271c4 AP_OpenDroneID: fixed cpp check for cygwin 2022-08-24 18:08:40 +10:00
Randy Mackay 119c8b7363 AP_Mount: get_angle_target_to_location checks for valid location 2022-08-24 18:07:08 +10:00
Andy Piper 41c319e257 AP_Declination: avoid undefined floating point exceptions on macOS when using implicit casts 2022-08-24 17:34:17 +10:00
Andy Piper 16b1a28cc9 AP_HAL_ChibiOS: bdshot version of MatekF405-Wing 2022-08-24 17:20:15 +10:00
Henry Wurzburg 61b0f23ee2 SRV_Channel: add ARM/MOTOR_EMERGENCY_STOP Aux Switch 2022-08-24 16:03:52 +10:00
Henry Wurzburg 451ed0aede RC_Channel: add ARM/MOTOR_EMERGENCY_STOP Aux Switch 2022-08-24 16:03:52 +10:00
Andrew Tridgell 8014f96235 AP_GPS: fixed handling of DroneCAN GPS without vertical velocity 
detect first vertical velocity to set flag
 2022-08-23 11:17:06 +10:00
Andrew Tridgell 3fdae69413 AP_Arming: allow arming with BRD_IO_ENABLE=0 2022-08-23 10:46:29 +10:00
Andrew Tridgell 9d1adae141 HAL_ChibiOS: fixed safety control with BRD_IO_ENABLE=0 2022-08-23 10:46:29 +10:00
Iampete1 08b458c995 AP_Scripting: add Quadplane low altitude forward flight mode aplet 2022-08-23 10:17:48 +10:00
rishabsingh3003 5af59abb8f AP_Proximity: Add orientation param to Cygbot 2022-08-22 19:12:45 -04:00
Peter Barker c0ae7fa5f6 SITL: examples: sitl-on-hw.sh add -m for more defaults 2022-08-23 09:01:30 +10:00
Peter Barker d7d7bb6e77 SITL: allow sitl-on-hw.sh to be invoked from any directory 2022-08-23 09:01:30 +10:00
Randy Mackay adac463154 AR_Motors: remove arming check to allow ackerman and skid-steering 2022-08-22 07:46:50 -04:00
Peter Barker 0665f9c32b AP_NavEKF3: store and use lastKnownPositionD 
When returning our last-known-position we were supplying lat/lng but not
altitude.

This usually really doesn't matter as this result generally isn't used,
especially for altitude.  OTOH, it may prevent a bug into the future.
 2022-08-22 19:48:03 +10:00
Henry Wurzburg c5451260ac SRV_Channel: add airbrake option metadata omitted in prev commits 2022-08-21 17:34:03 -07:00
Henry Wurzburg 7014fde866 RC_Channel: add airbrake option metadata omitted in prev commits 2022-08-21 17:34:03 -07:00
Andrew Tridgell 9a453bfc82 APM_Control: removed use of "blended" earth frame accel 2022-08-21 18:51:59 +10:00
Andrew Tridgell 56bb13420d AC_AttitudeControl: removed use of "blended" earth frame accel 2022-08-21 18:51:59 +10:00
Andrew Tridgell f80ba734c8 AP_AHRS: removed use of "blended" accel values 
calculate a single EF accel based on primary IMU
 2022-08-21 18:51:59 +10:00
Andrew Tridgell 924759510d AP_AHRS: fixed use of filtered gyro with DCM active 
we need to overwrite _omega with the filtered gyro value, so we get
both the low pass filter and the notch filters. Otherwise we will fly
with very high noise gyro data

this also fixes the accel_ef_blended to use the filtered accel. It is
not blended, and removing "_blended" from the API will be worthwhile
as a followup
 2022-08-21 18:51:59 +10:00
Peter Barker 19973f783b AP_Module: correct ModuleTest example for lack of GCS object 2022-08-19 18:34:19 +10:00
Peter Barker f0fc23bdcb AP_Scheduler: fix examples 2022-08-19 18:33:58 +10:00
Peter Barker 402d9708a5 AP_RCProtocol: fix examples 2022-08-19 18:33:58 +10:00
Peter Barker 03ce5f62d2 AP_RangeFinder: fix examples 2022-08-19 18:33:58 +10:00
Peter Barker 8a035590cd AP_FlashIface: fix examples 2022-08-19 18:33:58 +10:00
Steve Borenstein 95370ce74f Outgoing ARM message over MAVLINK 2022-08-19 11:36:14 +10:00
Iampete1 b399ed3044 AP_Scripting: unint32: remove integer range check 2022-08-19 10:29:39 +10:00
Peter Barker 6756c295df AP_Mission: add AP_Mission_config.h 2022-08-18 22:49:10 +10:00
Peter Barker 1e8e100409 AP_Terrain: rename HAL_MISSION_ENABLED to AP_MISSION_ENABLED 2022-08-18 22:49:10 +10:00
Peter Barker f9b409ce01 AP_Mission: rename HAL_MISSION_ENABLED to AP_MISSION_ENABLED 2022-08-18 22:49:10 +10:00
Peter Barker bf5817e108 AP_Logger: rename HAL_MISSION_ENABLED to AP_MISSION_ENABLED 2022-08-18 22:49:10 +10:00
Peter Barker e4bc7a0ef5 AP_HAL_ChibiOS: rename HAL_MISSION_ENABLED to AP_MISSION_ENABLED 2022-08-18 22:49:10 +10:00
Peter Barker 936fef11e2 AP_Filesystem: rename HAL_MISSION_ENABLED to AP_MISSION_ENABLED 2022-08-18 22:49:10 +10:00
Shiv Tyagi 5ff268fa97 AC_PrecLand: return target distance if enabled from SIM_Precland 
For rover, we cant measure distance towards target using a rangefinder. Hence, we should must return target distance if enabled through SIM_Precland.
 2022-08-18 22:47:43 +10:00
Shiv Tyagi 8411b2ec03 SITL: add param in SIM_Precland to enable return dist to target 2022-08-18 22:47:43 +10:00
nrt c3d8f0fa45 AP_AHRS: added a getter function to get active source set once the ekf3 filter is started 2022-08-18 02:05:27 -04:00