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35333 Commits

Author SHA1 Message Date
Randy Mackay
ce747d8314 AP_Mount: add set_camera_source support 2024-05-01 08:07:41 +10:00
Randy Mackay
c95f3c5c9a AP_Camera: support set-camera-source mavlink command 2024-05-01 08:07:41 +10:00
Randy Mackay
0356a356cb GCS_MAVLink: forward set-camera-source to AP_Camera 2024-05-01 08:07:41 +10:00
Ryan Friedman
d0cfa58dee AP_ExternalAHRS: Only use GPS data when populating GPS fields 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman
62301fc005 AP_ExternalAHRS: Check backend pre-arm before origin 
* This allows the backend to report more detailed errors
* Before this, many pre-arm errors were hidden by origin failure
* If pre-arm could report multiple errors, that would be ideal

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman
ce0970b211 Save flash, reduce code duplication 
* Add generic health and time utils
* Fix bug only checking first GNSS system
* Use common logging struct
* Improve pre-arm log checks

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman
c948863de1 AP_ExternalAHRS: Don't send init message till booted up 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman
de6244d078 AP_ExternalAHRS: Use state watching instead 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman
95257aa7df AP_ExternalAHRS: Provide warning for init failure 
* If the device hasn't initialized in 5 seconds, give a warning

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman
596424057d AP_ExternalAHRS: Use filter data to populate EKF status report 
* Variances vs uncertainties may still be off
* Requires enabling the following packets in SensorConnect:
  * Position Uncertainty (LLH)
  * Velocity Uncertainty (NED)

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman
a4282356be AP_HAL: Fix incorrect return type 
* This caused position quantization errors in the MicroStrain7

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman
b8287aba70 AP_DDS: Fix incorrect port param name 
* We want to support TCP and UDP in the future, so make sure we call it
  UDP here

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Andy Piper
129222ba5d AP_HAL_ChibiOS: FoxeerF405v2 2024-05-01 08:07:41 +10:00
Randy Mackay
1152af7ab3 AC_PosControl: always update yaw targets 2024-05-01 08:07:41 +10:00
davidsastresas
da91f2d263 AP_Mount: fix gimbal-device-attitude-status yaw frame flag 2024-05-01 08:07:41 +10:00
Randy Mackay
d8a948714f AP_Mount: get-gimbal-device-flags reports lock state 2024-05-01 08:07:41 +10:00
Randy Mackay
cfb042f6c4 AP_Mount: do-gimbal-manager-pitch-yaw can set lock state 
Co-authored-by: davidsastresas <davidsastresas@gmail.com>
 2024-05-01 08:07:41 +10:00
Randy Mackay
ada8cf6758 AP_Mount: clarify yaw_lock comments 2024-05-01 08:07:41 +10:00
Randy Mackay
a5e89c7023 AP_Mount: RC targeting mode lock state from previous mode 
This leads to smoother transitions between RC and GCS control
 2024-05-01 08:07:41 +10:00
Andrew Tridgell
620ad676e0 AP_RCProtocol: fixed underflow wrap in GHST 2024-04-08 11:19:06 +09:00
Andrew Tridgell
104d50cf8c AP_RCProtocol: added random data test 
this triggers the CRSF crash bug that was just fixed
 2024-04-08 11:19:06 +09:00
Andrew Tridgell
253e51a5c6 AP_RCProtocol: fixed crc memory range error in CRSF 
this fixes a crash bug that caused a watchdog for Henry on a
F765-Wing. The bug happens with corrupt serial data causing an
underflow in the length argument to the crc call
 2024-04-08 11:19:06 +09:00
FoxSuzuran
7d28fdc3c9 AP_Proximity: add RPLidarC1 support 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2024-03-22 17:25:33 +11:00
Tom Pittenger
67ba6054a0 AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-22 17:25:33 +11:00
Tim Tuxworth
dac9cd7d1d AP_Networking: change NET_ENABLED to NET_ENABLE 2024-03-22 17:25:33 +11:00
Tim Tuxworth
1ecd911843 Chibios: CubeRed - change NET_ENABLED to NET_ENABLE 2024-03-22 17:25:33 +11:00
Andrew Tridgell
e503bcc23f HAL_ChibioOS: fixed FDCAN -> CAN labels 
we use CAN1_RX not FDCAN1_RX in our MCU files
 2024-03-22 17:25:33 +11:00
Andrew Tridgell
167ac06da9 AP_Logger: avoid logging dma.txt for normal builds 
logging of dma.txt currently does no good as the first time you read
it you get no content. It then enables statistics in the shared_dma
code which makes all DMA operations slower, so all we are doing is
making DMA slower
 2024-03-22 17:25:33 +11:00
Randy Mackay
72374c450a AP_Mount: viewpro fix for swapped ahrs roll pitch 2024-03-22 17:25:33 +11:00
root
f6eebe3fb1 AP_VideoTX:add additional freq bands(Band X) 2024-03-22 17:25:33 +11:00
Andrew Tridgell
7b54b8a9f0 HAL_ChibiOS: fixed a cache corruption issue on H7 
This fixes a bug introduced in this PR:

https://github.com/ArduPilot/ardupilot/pull/25900

the bug is that when we don't go via the bouncebuffer on H7 we were
also skipping the cache invalidate/flush ops. This caused data
corruption for filesystem operations, particularly noticible as lua
scripts failing to load with parse errors or log corruption
 2024-03-22 17:25:33 +11:00
Minderring
0825aef191 hwdef: added MicoAir405v2 2024-03-22 17:25:33 +11:00
Andy Piper
8e02b6e5d0 AP_HAL_ChibiOS: Orqa F405 Pro 2024-03-22 17:25:33 +11:00
Ryan Friedman
713351893c AP_ExternalAHRS: SIM_MicroStrain support quaternion attitude 
* This replaces IMU orientation
* Fixed some usage docs

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-22 17:25:33 +11:00
Ryan Friedman
ea0156f72a AP_ExternalAHRS: Populate orientation from filter 
* Populating AHRS orientation from IMU was not correct

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-22 17:25:33 +11:00
Iampete1
5e35718a91 AP_Filesystem: crc32: Ensure checksum value is initialized 2024-03-14 11:29:35 +11:00
Andrew Tridgell
7c2b1cd055 AP_InertialSensor: fixed accel cal simple to remove unused IMUs 
when we change EAHRS_SENSORS to remove use of IMU from an external
AHRS we need to be able to zero the accel and gyro offsets to get
prearms to pass
 2024-03-14 11:29:35 +11:00
Andy Piper
d69e6ae997 AP_HAL_ChibiOS: always normalize ESC channel when using iomcu 2024-03-14 11:29:35 +11:00
Andy Piper
df19d143f2 AP_HAL_ChibiOS: use standard FPV config for SpeedyBeeF405WING 2024-03-14 11:29:35 +11:00
Randy Mackay
0232ff446c AP_HAL_ChibiOS: CubeRedSecondary IMU orientation fix 
Also remove duplicate RC_IN serial protocol
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
69ad34a416 AP_HAL_ChibiOS: remove iomcu dshot from Pixhawk1-1M and add to Pixhawk1-bdshot 
add support for removing ROMFS from hwdef
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
dad293cad9 hwdef: fixed Pixhawk1-1M build 2024-03-14 11:29:35 +11:00
Peter Barker
68a5120120 GCS_MAVLink: make rally/fence item conversion methods public 2024-03-14 11:29:35 +11:00
Peter Barker
de211412c0 AP_FileSystem: permit upload of fence/rally via ftp 2024-03-14 11:29:35 +11:00
subashchandar
8842162866 AP_HAL_ChibiOS: hwdef: Add new hardware pixflamingo f7 2024-03-14 11:29:35 +11:00
Randy Mackay
8a956c4e02 AP_HAL_ChibiOS: AP_Periph does not use AP_VisualOdom 2024-03-14 11:29:35 +11:00
Randy Mackay
867c46ebb6 AP_Scripting: EKF source switching for ExtNav and optflow 2024-03-14 11:29:35 +11:00
Randy Mackay
7b8541f9cb AP_Scripting: add VisualOdom bindings 2024-03-14 11:29:35 +11:00
Randy Mackay
34b1049715 AP_DDS: send quality of zero to AP_VisualOdom 2024-03-14 11:29:35 +11:00
Randy Mackay
e74d2b8e64 GCS_MAVLink: send Odometry quality to VisualOdom 2024-03-14 11:29:35 +11:00
Randy Mackay
7288105935 AP_VisualOdom: use Odometry quality 2024-03-14 11:29:35 +11:00
Randy Mackay
02f8397a31 SITL: vicon send odometry with quality of 50 2024-03-14 11:29:35 +11:00
Randy Mackay
52690ce0d4 SITL: vicon param descriptions 2024-03-14 11:29:35 +11:00
Andrew Tridgell
3b156b90ac AP_Scripting: add file system crc32 binding 2024-03-14 11:29:35 +11:00
Andrew Tridgell
ab462acc96 AP_Arming: added arming check for fence storage 2024-03-14 11:29:35 +11:00
Andrew Tridgell
ba2014b110 AC_Fence: allow for fence storage on microSD 2024-03-14 11:29:35 +11:00
Andrew Tridgell
c67f3b574a AP_BoardConfig: added BRD_SD_FENCE 
allow for fence storage on microSD
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
ce96a870ab RC_Channel: disable GPS on external AHRS with GPS_DISABLE 2024-03-14 11:29:35 +11:00
Andrew Tridgell
d786937ea3 AP_AHRS: don't use accel/gyro from ExternalAHRS unless enabled 2024-03-14 11:29:35 +11:00
Pulak Gautam
32cc2c452c AP_ExternalAHRS: added missing #if AHRS logging 2024-03-14 11:29:35 +11:00
Andrew Tridgell
8e9a4c1a9c AP_ExternalAHRS: check for origin in pre-arm check 2024-03-14 11:29:35 +11:00
Andrew Tridgell
88dc0384ab AP_ExternalAHRS: make get_accel() and get_gyro() bool 2024-03-14 11:29:35 +11:00
Andrew Tridgell
301116db03 AP_ExternalAHRS: added support for GPS disable and fwd flight 
allow backends to determine if we are in fixed wing flight and/or the
GPS is disabled by the user
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
0b9c7409b2 AP_ExternalAHRS: added EAHRS_LOG_RATE and common logging 
common logging for all EAHRS backends
 2024-03-14 11:29:35 +11:00
Iampete1
3e083e5ceb AP_Gernerator: IE 2400: MAV_SEVERITY level depends on error code 2024-03-14 11:29:35 +11:00
Andrew Tridgell
cb807934ee SITL: fixed the vehicle type of the simulated ship 
this was broken by https://github.com/ArduPilot/ardupilot/pull/23763

we need to look for other places where we have assumed the MAVLink
field orderin in recent changes
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
717cab9b40 AP_Scripting: support precision loiter in quadplanes 
and allow for moving landing target
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
fee23d0ba5 SITL: added moving precland simulator 
added SIM_PLD_SHIP to make the precland location track the SIM_SHIP
location, giving a nice way of having a landing marker on a moving
ship
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
dc77c83d0e AP_Scripting: fixed race condition in ship landing 
and fixed lua warnings
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
1b4ad9fc15 AP_Scripting: added plane_precland lua script 2024-03-14 11:29:35 +11:00
Andrew Tridgell
33428d9a9f AP_Scripting: added docs for precland 2024-03-14 11:29:35 +11:00
Andrew Tridgell
3a7107a779 AP_Scripting: added bindings for AC_PrecLand 2024-03-14 11:29:35 +11:00
Andrew Tridgell
2f7e758325 SITL: fixed precland simulator 
fixed units of height, was mixed cm and m, now just m AMSL
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
845c04e08c AC_PrecLand: added get_target_location and get_target_velocity 2024-03-14 11:29:35 +11:00
Andrew Tridgell
7a1cd82bd8 AP_TECS: fixed adjusting speed without airspeed sensor 
the pitch trim variable that was not connected in aparm is needed to
allow tuning of the flight speed using PTCH_TRIM_DEG and
TRIM_THROTTLE.

This was broken in 4.4.x by this PR:

https://github.com/ArduPilot/ardupilot/pull/22191
 2024-03-14 11:29:35 +11:00
Andy Piper
af6fcf28af AP_HAL_ChibiOS: BlitzF745AIO update to ICM-42688 
enable OSD
use minimal FPV config
enable compass probing
pull uart pins high in bootloader for ELRS
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
973e70ab3c AP_HAL_SITL: fixed get_baud_rate() 2024-03-14 11:29:35 +11:00
Andrew Tridgell
b4160ddd93 AP_HAL_Linux: fixed get_baud_rate() 2024-03-14 11:29:35 +11:00
Andrew Tridgell
ad93f871d4 AP_HAL_ESP32: fixed get_baud_rate() 2024-03-14 11:29:35 +11:00
Andrew Tridgell
6d12f49a90 AP_SerialManager: default GPS baud to 230400 
this is the most common baudrate
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
137e4e051c AP_GPS: do initial probe at default baudrate 
this makes for much faster probe for most users
 2024-03-14 11:29:35 +11:00
Peter Barker
04018e79a7 AP_GPS: correct check of reported antenna distance vs stated offset 2024-03-14 11:29:35 +11:00
Andrew Tridgell
b261466258 AP_GPS: added option to decode RTCM injected data 
this allows for redundent RTCM links (eg. WiFi and SiK links for light
show drones) without causing corruption into the GPS.

If the GPS_DRV_OPTION bit is set then we instantiate a separate RTCM3
decoder per mavlink channel, and only inject when we get a full packet
that passes the RTCM 24 bit CRC
 2024-03-14 11:29:35 +11:00
Andrew Tridgell
141546963a GCS_MAVLink: pass channel number to AP_GPS on RTCM injection 2024-03-14 11:29:35 +11:00
Andrew Piper
d919478bdd AP_GPS: fragments_received is a bitmask not a count 2024-03-14 11:29:35 +11:00
Paul Riseborough
59135b6ea0 AP_TECS: Remove unused variable 2024-03-14 11:29:35 +11:00
Paul Riseborough
9f95be4609 AP_TECS: Add /0 protection 2024-03-14 11:29:35 +11:00
Paul Riseborough
07501f634c AP_TECS: Add option for speed to increase up to FBW max during descent 2024-03-14 11:29:35 +11:00
lthall
f9ad643afc Copter: AC_AttitudeControl: RP_FILT_HZ to RPY_FILT_HZ 2024-03-14 11:29:35 +11:00
lthall
cabd6ca558 AC_CustomControl: RP_FILT_HZ to RPY_FILT_HZ 2024-03-14 11:29:35 +11:00
Andy Piper
604d890930 AC_AttitudeControl: ensure yaw gets a FLTD default 2024-03-14 11:29:35 +11:00
Iampete1
f1d9af3aa9 AC_AttitudeControl: fix reset_target_and_rate method 2024-03-14 11:29:35 +11:00
Randy Mackay
38eea02b6c AP_Camera: fix video recording while armed 2024-03-14 11:29:35 +11:00
Andrew Tridgell
c95ead6111 AP_Param: fixed build of CubeOrange-periph 2024-03-14 11:29:35 +11:00
Andrew Tridgell
a2adf57862 AP_Param: fixed cygwin build 
the cygwin build is not generating binaries failing with:

   undefined reference to `AP_Param::load_param_defaults(char const volatile*, int, bool)

there is a 2nd problem that the CI test for cygwin doesn't fail when
the build fails. That will be addressed separately
 2024-03-14 11:29:35 +11:00
Peter Barker
6f516fd037 AP_BattMonitor: fix compilation when scripting in but scripted-battery out 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-03-14 11:29:35 +11:00
Rhys Mainwaring
a9c382bc13 AP_DDS: use msg_prefix in GCS_SEND_TEXT 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-14 11:29:35 +11:00
Rhys Mainwaring
e917725da2 AP_DDS: use microxrcedds_gen default-container-prealloc-size 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-14 11:29:35 +11:00
Rhys Mainwaring
4691483c8e AP_DDS: remove unused TFMessage variable 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
 2024-03-14 11:29:35 +11:00
Peter Barker
9616309a3f AP_RCProtocol: CRSF: use subtraction with times, not time+timedelta 2024-03-14 11:29:35 +11:00