a9eb6051fa
AP_BatteryMonitor: add missing failsafe with no action
2024-07-02 09:54:36 +10:00
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
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
805480e5a2
AC_AttitudeControl: only allow angle boost when not autorotating
2024-07-02 08:39:33 +09:00
a19b72e895
AP_Motors: helper function to determine when heli is in autorotation
2024-07-02 08:39:33 +09:00
f06bbd471f
AC_AttitudeControl: tradheli-add support for inverted and throttle boost features
2024-07-02 08:39:33 +09:00
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
6e5198a50c
AP_Frsky_Telem: make AP_RANGEFINDER_ENABLED remove more code
2024-07-02 09:17:26 +10:00
e88d76d72d
AP_Scripting: rangefinder singleton requires AP_RANGEFINDER_ENABLED
...
.... or HAL_PERIPH_ENABLE_RANGEFINDER
2024-07-02 09:17:26 +10:00
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
fe6b120a73
AP_Vehicle: make AP_RANGEFINDER_ENABLED remove more code
2024-07-02 09:17:26 +10:00
f9a94fd7dd
AP_RangeFinder: make AP_RANGEFINDER_ENABLED remove more code
2024-07-02 09:17:26 +10:00
37964011df
AP_OSD: make AP_RANGEFINDER_ENABLED remove more code
2024-07-02 09:17:26 +10:00
07e76a7cae
AP_NavEKF: make AP_RANGEFINDER_ENABLED remove more code
2024-07-02 09:17:26 +10:00
13e7d04497
AP_NavEKF3: make AP_RANGEFINDER_ENABLED remove more code
2024-07-02 09:17:26 +10:00
0f47cd7e8b
AP_NavEKF2: make AP_RANGEFINDER_ENABLED remove more code
2024-07-02 09:17:26 +10:00
a715ee1ce2
AP_HAL_ChibiOS: make AP_RANGEFINDER_ENABLED remove more code
2024-07-02 09:17:26 +10:00
abc0179a53
AP_DAL: make AP_RANGEFINDER_ENABLED remove more code
2024-07-02 09:17:26 +10:00
955245e4b7
AP_Arming: make AP_RANGEFINDER_ENABLED remove more code
2024-07-02 09:17:26 +10:00
38ca478178
AP_Scripting: added gcs:run_command_int() binding
2024-07-01 20:08:29 +10:00
0116e1e80d
GCS_MAVLink: added lua_command_int_packet()
...
for lua access to MAV_CMD_xxx
2024-07-01 20:08:29 +10:00
4ed1b6b357
AP_Temperature:expand metadata for analog sensors
2024-07-01 14:01:19 +10:00
e2f18d9217
AP_NavEKF2: remove unused initFailureReason
2024-07-01 09:04:05 +09:00
9c2d43f6c4
SITL: improve dual heli dynamics model
2024-06-30 18:21:21 -04:00
077c5f38f7
SITL: added comments on how to fly the glider
2024-06-30 10:02:15 +10:00
780352cd75
AP_Logger: correct enumeration name -> AP_SmartRTL::Action
2024-06-28 10:11:57 +10:00
2c89622f09
AP_SmartRTL: use enum class for Action, number entries
...
we log these values, so number them explicitly
2024-06-28 10:11:57 +10:00
2717470df1
AP_Scripting: Misc. small improvements.
...
Typo fix
Removed unused variable
2024-06-28 10:05:29 +10:00
6e0d7bddf1
AP_Scripting: add serial device simulation example
2024-06-27 12:00:18 +10:00
f9b138724c
AP_Scripting: add serial loopback test script
...
Tests that data can flow both ways with one end using protocol 28
(Scripting) and the other using the serial device simulation feature.
2024-06-27 12:00:18 +10:00
46e204dd6c
AP_Scripting: clear serial device sim buffers appropriately
...
Ensures the script won't process data created before it started, and
that the protocol won't process data created after the script stopped.
2024-06-27 12:00:18 +10:00
4cb684e8a9
AP_Vehicle: initialize scripting serial device sim ports early
...
Necessary for mavlink in particular to notice the port and hook up the
protocol internally.
2024-06-27 12:00:18 +10:00
a077e4a3ed
AP_Scripting: introduce serial device simulation support
...
Allows a script to simulate a device attached via any serial protocol.
The script can read and write data and have it handled according to the
protocol as if exchanged over a serial port. The script can then do
protocol translation, data filtering and validation,
hardware-in-the-loop simulation, experimentation, etc., especially in
combination with the scripting protocol which lets the script itself
handle an attached device and so interpose any communication.
2024-06-27 12:00:18 +10:00
4df2a1bce7
AP_Scripting/generator: generate depends for manual functions on singletons
2024-06-27 12:00:18 +10:00
c18f9f733e
AP_Scripting: add writestring for serial
...
Enables more efficient scripting.
2024-06-27 12:00:18 +10:00
d93aa15f2a
AP_Scripting: refactor serial readstring
...
Using `luaL_Buffer` avoids the need for any heap allocation in the
common case (count <= 512 bytes) and avoids stressing out the system
heap for large reads, instead using the script heap.
Zero net flash usage change.
2024-06-27 12:00:18 +10:00
e18449b1b8
AP_Scripting: use generic access userdata for serial ports
...
Adding another layer instead of just exposing UARTDriver bindings allows
substitution of the different functions for device simulation later.
Also take the opportunity to rework the docs a little.
2024-06-27 12:00:18 +10:00
c37dba60de
AP_Scripting/generator: allow disabling userdata creation from Lua
...
Passing -1 to the argument count for the `creation` tag (name does not
matter) will stop the generator from giving Lua a function to construct
that userdata. The C `new_<name>` function still works.
2024-06-27 12:00:18 +10:00
7fb65aece3
AP_SerialManager: allocate port IDs for scripting serial device ports
2024-06-27 12:00:18 +10:00
0ee787325a
AC_AutoTune: NFC whitespace, ordering and add trailing comma to enumeration
2024-06-27 10:12:30 +10:00
396bca359d
AP_Scripting: add an example to use Copter Standby mode in SITL with LUA
2024-06-27 10:11:53 +10:00
10c6020a66
AP_Scripting: update docs
2024-06-27 10:11:14 +10:00
bcfc273799
hwdef: enable an ADC on CubePilot-PPPGW
...
allows for mcu temp
2024-06-27 10:11:14 +10:00
98479658d4
HAL_ChibiOS: support H7 at 200MHz
2024-06-27 10:11:14 +10:00
d87404adfa
AP_Scripting: added mcu_temperature binding
2024-06-27 10:11:14 +10:00
f532f7a9e6
AP_SerialManager: added docs for SERIALn_PROTCOL=PPP
2024-06-27 10:11:14 +10:00
5a795ccba0
AP_Networking: added TCP reflection test
...
TCP to an echo server, testing bi-directional transfer
2024-06-27 10:11:14 +10:00
34815f9fb0
HAL_ChibiOS: scale RTS threshold to make software CTS more effective
2024-06-27 10:11:14 +10:00
ebc4ee99a9
AP_HAL_ChibiOS: add support for GPIO pins as software CTS
2024-06-27 10:11:14 +10:00
b6cdb8b1a6
hwdef: fix hwdef for updated CubePilot-PPPGW
2024-06-27 10:11:14 +10:00
0a0d5a3e49
AP_HAL_ChibiOS: add support for PPP on CubeOrangePlus
2024-06-27 10:11:14 +10:00
2425023331
AP_Notify: flash green lights based off location not GPS
...
Your Copter in stabilize mode can flash rapid-green indicating a good DGPS lock or better, and yet your vehicle still doesn't have a good idea of where it is.
That means that your vehicle may end up RTL'ing onto a point somewhere along your flight path, when you were given an all-green indication by teh vehicle before you armed in stabilize.
Past this PR, we require the same GPS as before, but in addition we must have been happy enough with our location to set the navigation origin, *and* currently be able to get a location.
A user will receive slow-flashing blue lights if they can't currently get a location, or the navigation origin isn't set, even if they've got a "good" fix.
We also require a good location to get a solid green light - you will get a solid blue light if you can't get a location or don't have a navigation origin, even if you have a good GPS lock
2024-06-26 18:39:43 +10:00
3439ced236
AP_Mount: add Siyi ZT6 support
2024-06-26 18:37:42 +10:00
c55a5abcd9
AP_RCProtocol: remove redundant check for crsf telem on iomcu
...
the hwdef for the iomcu already removes crsf
2024-06-26 18:13:01 +10:00
178cf7c2da
AP_GPS: use 64 bit time in the pps interrupt callback in ublox driver
2024-06-26 17:51:31 +10:00
651f4f15eb
AP_RCTelemetry: use get_max_rpm_esc()
2024-06-26 17:36:54 +10:00
451c1ae347
AP_OSD: use get_max_rpm_esc()
...
allow ESC index to be specified for OSD ESC info
2024-06-26 17:36:54 +10:00
038735657a
AP_ESC_Telem: add get_max_rpm_esc()
2024-06-26 17:36:54 +10:00
a86f4fdc8f
AP_InertialSensor: move gyro and accel instance ids into AP_InertialSensor_Backend
2024-06-26 17:14:56 +10:00
5911b87ae3
GCS_MAVLink: rename ins get_primary_accel to get_first_usable_accel
2024-06-26 17:12:12 +10:00
563c3e7c62
AP_NavEKF3: rename ins get_primary_accel to get_first_usable_accel
2024-06-26 17:12:12 +10:00
025888a7d1
AP_NavEKF2: rename ins get_primary_accel to get_first_usable_accel
2024-06-26 17:12:12 +10:00
8302e0d1e2
AP_Mount: rename ins get_primary_accel to get_first_usable_accel
2024-06-26 17:12:12 +10:00
8ddac54b17
AP_InertialSensor: rename ins get_primary_accel to get_first_usable_accel
2024-06-26 17:12:12 +10:00
243e095b4e
AP_DAL: rename ins get_primary_accel to get_first_usable_accel
2024-06-26 17:12:12 +10:00
a325ddbfa9
AP_AHRS: rename ins get_primary_accel to get_first_usable_accel
2024-06-26 17:12:12 +10:00
7047e11090
AC_AttitudeControl: Change input_quaternion to use body frame rates
2024-06-26 11:22:54 +10:00
580199dfba
AP_Logger: disable HAL_LOGGING_BLOCK_ENABLED if not HAL_LOGGING_ENABLED
...
HAL_LOGGING_DATAFLASH_ENABLED is set unconditionally in some hwdefs, but we still need to honour HAL_LOGGING_ENABLED
2024-06-25 18:32:41 +10:00
0e6543f0e4
AP_NavEKF3: sub update for yaw reset and inFlight checks
...
on sub, request final yaw reset after diving 0.5m.
Also update rangefinder tests for sub
2024-06-25 18:09:37 +10:00
ed58758ce6
hwdef: don't use DEFAULTGPIO in bootloaders
...
setting up a DEFAULTGPIO pulldown in bootloaders is a bad idea as it
overrides any hardware pullups that have been put in place as part of
a "hold in bootloader" mechanism. See discussion in #27360 for ELRS
note that this only impacts one board that I can see, the
BlitzF745AIO, due to the MCU vs DEFAULTGPIO interaction
2024-06-25 12:05:40 +10:00
9bb343938f
AP_Scripting: correct use-after-free in script statistics
...
run_next_script can free the script if the script runs over-time.
... so stop using data from that freed script structure!
2024-06-25 11:07:07 +10:00
7dd50cd036
hwdef: JHEMCU-H743HD correct for rename of W25 dataflash driver
2024-06-25 11:05:22 +10:00
cc99ebf872
AP_Scripting: allow logging lua boolean with uint8 format `B`
2024-06-25 11:01:10 +10:00
32750476be
AP_Scripting: added more telemetry for INF Inject
2024-06-25 09:34:18 +10:00
b108d9cf09
AP_Scripting: added throttle and ignition control for INF_INject
...
allows full control over serial
2024-06-25 09:34:18 +10:00
b9bf7acbf1
AP_Scripting: add test samples of get_target_location/update_target_location for copter
2024-06-25 08:29:57 +09:00
5ab2aaffff
AC_Autotune: Clean up Multi Variables and non functional changes
2024-06-24 19:11:41 +10:00
87d694414b
AP_Beacon: use enum class for type
2024-06-24 18:24:11 +10:00
96682b1b1b
AP_Networking: add timeout to swap the UDP Server client target
2024-06-21 20:31:31 +10:00
d07e8d16df
AP_Networking: use IP4_STR_LEN instead of value 16
2024-06-21 20:31:31 +10:00
a82729589c
AP_Networking: allow UDP Server to talk to different clients on the same run
2024-06-21 20:31:31 +10:00
bace8d4c85
AP_HAL: add methods that deal in ip address as uint32_t
2024-06-21 20:31:31 +10:00
3c69f156f4
AP_HAL: make recv call to be undirected but also get the ip:port of received packet
2024-06-21 20:31:31 +10:00
43615f22b7
AP_HAL: add AP_MAVLINK_PACKETISE_ENABLE option
2024-06-21 20:31:31 +10:00
e1a1d15f62
AP_Mount: Alexmos: Improve angle precision and move defines to cpp
2024-06-20 15:13:48 +10:00
80b1a07de3
AP_Baro: Group device headers
2024-06-20 15:13:01 +10:00
f07ac41c65
AP_Notify: rename Notify buzzertype enumeration
2024-06-20 14:47:20 +10:00
6b490a4c47
AP_HAL_ChibiOS: rename Notify buzzertype enumeration
2024-06-20 14:47:20 +10:00
56a7e520b6
AP_Gripper: correct emitting of grabbed/released messages
...
these strigs would only be released if release() or grab were called a second time
2024-06-20 10:59:14 +10:00
5ca8c0058c
AP_TECS: Small legibility improvements
...
AP_TECS: Fixed bad whitespace
2024-06-20 09:12:50 +10:00
9a3f6ae9c7
AP_Math: Created CentiDegreesToRadians
2024-06-20 09:12:50 +10:00
f89923fcbe
AP_HAL_ChibiOS: mark CONS RX/TX as NC for ADSB Carrier board
2024-06-19 19:09:36 +10:00
04879d2c42
AP_HAL_ChibiOS: add passthrough from secondary through primary while in bootloader
2024-06-19 19:09:10 +10:00
b86094978d
Mission: add is_resume method
2024-06-19 17:12:17 +10:00
05a22aaffc
AP_ADSB: cache course-over-ground for GPS message
...
stops the vehicle flipping around as speed goes to/comes from 0
2024-06-19 10:14:50 +10:00
43c604f1db
AP_Compass: Fix fewer multipliers than params on MAGH log message
2024-06-19 09:38:59 +10:00
d6f0d9b57c
AP_GPS: Update description of VDop and HDop log params
2024-06-19 09:38:59 +10:00
b5b42f9446
AP_Logger: tidy running of LoggerMessageWriter sub-writers
...
... use the fact these all have a common base class to reduce effectively duplicate code.
Also un-virtualise and const a function which wasn't overridden and can be const
2024-06-19 08:51:28 +10:00
12197b2d60
SITL: correct and improve Hirth simulator
...
we weren't sending an ACK for the set-values message
2024-06-19 08:48:32 +10:00
4ef2d49d92
hwdef: CubeRedPrimary: ICM45686 as ICM20649 alternative
...
Empirically what is present on Cube Reds built on/after 2024-04-14.
2024-06-18 10:53:08 +09:00
a322ba4f77
AP_Scripting: add binding for GPS `time_epoch_usec`
2024-06-18 10:37:13 +10:00
1c26c241f1
AP_Scripting: add uint64 userdata
2024-06-18 10:37:13 +10:00
574b9939a5
AP_Scripting: allow auto generation of uint32 operators
2024-06-18 10:37:13 +10:00
003f931d9c
AP_Arming: added eeprom full arming check
...
tell users if params may not persist
2024-06-18 10:29:55 +10:00
ae8ee5325c
AP_Param: added get_eeprom_full()
...
for arming check
2024-06-18 10:29:55 +10:00
b68af03419
AP_HAL_ChibiOS: update relay parameter names
2024-06-18 08:59:34 +09:00
608d396fd6
AP_Logger: take a blocking semaphore when writing messages using the block logger
2024-06-18 09:54:09 +10:00
fe814a66e4
AP_Vehicle: add new mode reason AUX_FUNCTION
2024-06-18 09:49:20 +10:00
7092cb4717
GCS_MAVLink: support HIGHRES_IMU
...
HIGHRES_IMU MAVLink message. Built in to 2MB boards or not by default.
2024-06-18 09:29:04 +10:00
0f011a4b61
AP_HAL_ChibiOS: Added support for JHEMCU H743 HD
...
commit 7d01b9e3cb09e89afea4bcb903d54b9ce8cdb1be
Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
Date: Fri Apr 19 07:06:45 2024 +0800
AP_HAL_ChibiOS: Added support for JHEMCU H743 HD
commit d1e4ba0ef307e3ab3cc0f4218dd08e2f5c8f6ad0
Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
Date: Fri Apr 19 04:38:22 2024 +0800
board_types.txt: Reverted change for seperate PR
hwdef-bl.dat: revert flash size to 2mb
hwdef.dat: flash size set to 2mb, corrected syntax, realigned imus
commit ee465524a7c37509d89ae17ae277a42328cb1cfd
Merge: b1a55e0e3d 0f0023e62d5a21d0cb8a77cccd08a30f0023e62d5a21d0cb8a77cccd08a3
2024-06-18 08:21:16 +09:00
5b05a171a2
AP_HAL_Linux: remove unused includes
2024-06-17 09:51:38 +10:00
869ef0ee04
AP_Baro: Add in BMP581 Driver
2024-06-17 09:50:47 +10:00
a737a34cd0
AP_Logger: correct comment about reserved range for vehicle IDs
2024-06-17 08:24:52 +10:00
247f5e5446
AP_OSD:Update HD fonts
2024-06-12 20:11:00 -04:00
1d945cc5ac
AP_Common: Location: allow retrieval of Vector3p from vector-from-origin
2024-06-11 19:50:18 +10:00
0fc6fc4e9c
AP_Math: move definition of HAL_WITH_POSTYPE_DOUBLE into AP_HAL_Boards.h
...
other libraries need to know if we are doing double-precision offsets
2024-06-11 19:50:18 +10:00
d70f5b92e0
AP_HAL: move definition of HAL_WITH_POSTYPE_DOUBLE into AP_HAL_Boards.h
...
other libraries need to know if we are doing double-precision offsets
2024-06-11 19:50:18 +10:00
50401b749b
AP_Follow: factor out separate methods for handling mavlink messages
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handle_message was a bit of a monster
2024-06-11 16:20:20 +10:00
89eade0836
AP_Follow: factor out a Log_Write_FOLL method
2024-06-11 16:20:20 +10:00
6765838a3c
AP_Follow: factor out a should_handle_message method
2024-06-11 16:20:20 +10:00
7ea2e60b5a
AP_AHRS: clarify frame of get_location_from_origin_offset
...
... by renaming it get_location_from_origin_offset_NED
2024-06-11 14:57:56 +10:00
5994664bf9
SITL: add simulated tie-down clamp
2024-06-11 09:56:43 +10:00
911375fa9a
AP_Common: rearrange get_vector_from_origin_NEU to be less destructive
...
this change means that if the origin call failes we don't half-update the object before returning false
2024-06-11 09:47:14 +10:00
500ca22c75
AP_Follow: clarify what we're doing when rotating a vector
...
odd sort of a transform, make it clear what's happening
2024-06-11 09:41:32 +10:00
9c42a5d9dd
GCS_MAVLink: warn on use of old fence point / rally point protocols
2024-06-11 09:39:56 +10:00
c5f902919e
AC_Fence: warn on use of old fence point / rally point protocols
2024-06-11 09:39:56 +10:00
2d7a4b318d
AP_NavEKF: tidy creation of vectors
2024-06-11 09:38:54 +10:00
4fb8408e80
GCS_MAVLink: clarify timeline on removal of HIL_GPS and BATTERY2
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try to move to a standard greppable pattern for code to be removed
2024-06-11 09:37:56 +10:00
d250d9cb2b
GCS_MAVLink: remove MOUNT_CONFIGURE/MOUNT_CONTROL handling by default
2024-06-11 09:37:56 +10:00
fc560e8219
GCS_MAVLink: avoid casting DroneCAN backend to incorrect type
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- split get_type into allocated_type and configured_type
- check allocated type rather than configured type when looking at backends
Prevents overwrite of random memory when backends are changed at runtime.
2024-06-11 09:31:46 +10:00
029e0b15b3
AP_BattMonitor: avoid casting DroneCAN backend to incorrect type
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- split get_type into allocated_type and configured_type
- check allocated type rather than configured type when looking at backends
Prevents overwrite of random memory when backends are changed at runtime.
2024-06-11 09:31:46 +10:00
dd56f2465b
SITL: make simulated SBP2 vastly more accurate
...
I have no idea if this is actually the sort of number which these devices will return.
However, for the EKF to be happy with the GPS the reported speed accuracy must be much lower than the SBP2 driver reports when we give it these numbers.
It might be that we are interpretting these fields incorrectly in the driver and that the simulator is, in fact, correct.
2024-06-11 09:29:14 +10:00
3b150d2e4c
GCS_MAVLink: Add support for parity to Serial passthrough
...
Add code to reflect USB ACM parity setting to the passthrough port alongside existing support for ACM baud rate changes. Some use cases for serial passthrough require specific parity settings.
For example, even parity is used and required by the USART protocol used in the STM32 system bootloader. This enhancement allows the use of standard flash programming tools such as STM32CubeProgrammer to flash connected STM based peripherals such as Receivers and Telemetry radios via serial passthrough. Some examples of such peripherals include the FrSky R9 receivers as well as various other STM based LoRa modules used by the mLRS project.
2024-06-11 09:24:32 +10:00
f2f9349419
AP_HAL: Add support for parity to Serial passthrough
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Add code to reflect USB ACM parity setting to the passthrough port alongside existing support for ACM baud rate changes. Some use cases for serial passthrough require specific parity settings.
For example, even parity is used and required by the USART protocol used in the STM32 system bootloader. This enhancement allows the use of standard flash programming tools such as STM32CubeProgrammer to flash connected STM based peripherals such as Receivers and Telemetry radios via serial passthrough. Some examples of such peripherals include the FrSky R9 receivers as well as various other STM based LoRa modules used by the mLRS project.
2024-06-11 09:24:32 +10:00
3201622d38
AP_HAL_ChibiOS: Update readme for RADIX2HD
2024-06-11 09:11:09 +10:00
6751bce0fc
SITL: log number of times sim paused on serial0 buffer
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SITL pauses the simulation if we do not have a minimum amount of space in its out queue.
Log the number of times we do this.
2024-06-11 08:51:25 +10:00
6ae0b5ec5b
AP_HAL_SITL: log number of times sim paused on serial0 buffer
...
SITL pauses the simulation if we do not have a minimum amount of space in its out queue.
Log the number of times we do this.
2024-06-11 08:51:25 +10:00
7e59b8c5a0
hwdef: update PixFlamingo_f767 README
2024-06-11 08:42:56 +10:00
2af6358c07
AP_GPS: dynamically allocate config_GNSS
2024-06-10 06:53:23 +10:00
90f7222f98
AP_HAL_ChibiOS: enable LEDs on Here4AP
2024-06-10 06:53:23 +10:00
a9dc7b440f
AP_GPS: support GPSx_GNSS_MODE for F9P
...
support detecting F9P hardware variant
fix bug in extension buffer management
support NEO-F9P GNSS configuration
allow multiple configuration values to be set in one go
phase F9 configuration to account for GNSS reset
2024-06-10 06:53:23 +10:00
c77f688032
AP_Motors: fix spacing
...
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
2024-06-09 13:24:38 -04:00
3a311a9d69
AP_Motors: Heli: Fix SWSH logging for reversed collectives
2024-06-09 13:24:38 -04:00
61874da020
AP_NavEKF3: Rework method of synthesising airspeed for dead reckoning
...
The previous method resulted in data incest and fusion of predicted airspeed on every EKF internal time step.
This was not apparent during flight where the vehicle was turning, but during long straight legs did not constrain along track drift.
2024-06-09 14:25:02 +10:00
720c2da807
AP_NavEKF3: Rework GPS jamming resiliency
...
Make it user selectable.
Remove potential for a race condition between decisions based on latest data and the EKF fusion processing which operates on a delayed time horizon. This is achieved by preventing data entering the buffer if awaiting checks to pass ensuring that no EKF fusion time horizon processes can use data that hasn't passed checks.
Log the waitingForGpsChecks class variable
2024-06-09 14:25:02 +10:00
996bf7d4df
AP_NavEKF3: Log gpsGoodToAlign
2024-06-09 14:25:02 +10:00
eb2ff2192d
AP_NavEKF3: Don't block no compass planes from running GPS alignment checks
2024-06-09 14:25:02 +10:00
6baeb1cd9d
AP_NavEKF3: Fix bug causing in flight yaw align to not complete
2024-06-09 14:25:02 +10:00
ffde7f815c
AP_NavEKF3: Allow wind to relearn rapidly when GPS is re-enabled
2024-06-09 14:25:02 +10:00
87bf8d9997
AP_NavEKF3: Treat wind as truth when deadreckoning with no airspeed sensor
2024-06-09 14:25:02 +10:00
568972c0f0
AP_NavEKF3: Fix bug preventing use of default or synthetic airspeed
2024-06-09 14:25:02 +10:00
2c3174b77b
AP_NavEKF3: Strengthen protection against GPS jamming
...
These changes prevent the EKF from consuming GPS data too soon when it is recovering from jamming if the EKF is able to navigate using dead reckoning.
2024-06-09 14:25:02 +10:00
324d5da811
AP_NavEKF3: Use last observed wind states to enable dead reckoning
...
These changes enable the EKF to use the last observable wind velocity vector estimate to synthesise an airspeed measurement if operating without an airspeed sensor and when all other measurement types that can constrain velocoty drift are lost. This enables the EKF to use dead reckoning to continue after loss of GPS when there is no air speed sensor fitted and without the need to set a default airspeed value.
The logic used to fuse a default airspeed value has also been cleaned up and the call to FuseAirSpeed() from inside SelectBetaDragFusion() has been removed.
AP_NavEKF3: Fix error in default airspeed observation variance
AP_NavEKF3: Enable shadow fusion of airspeed when sensor is disabled
2024-06-09 14:25:02 +10:00
e53416e77b
AP_NavEKF3: Apply GPS quality checks following loss of 3D fix if velocity error is bounded
2024-06-09 14:25:02 +10:00
5784abde1f
AP_Motors: Heli dual: Constrain cyclic roll for intermeshing
2024-06-08 23:13:28 -04:00
c783f632c1
AP_Scription: added CANF logging to Halo6000 EFI driver
...
allows for easier debugging
2024-06-09 08:37:44 +10:00
1c5c80d244
AP_Scripting: Docs: remove stray grave
2024-06-08 07:29:53 +10:00
e9d39d80f4
AP_InertialSensor: fixed ICM42670
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highres sampling is not working on the ICM42670 on some versions of
the Pixhawk6X. Disable for now.
2024-06-07 19:44:48 +10:00
cb22a6389d
AP_Scripting: add virtual class in docs to avoid need nil check warning
2024-06-07 06:30:22 +10:00
dfc04cd53a
AP_Notify: Convert the ENUM definition to a class
2024-06-06 15:15:14 -04:00
d2901dc9c9
SITL: Removed trailing underscore
2024-06-05 19:03:31 +10:00
78fcf7057c
GCS_MAVLink: move switch for sending camera messages into AP_Camera
...
neatens GCS_Common a bit, reduces repetitive code
2024-06-05 10:29:01 +10:00
5538f6735f
AP_Camera: move switch for sending camera messages into AP_Camera
...
neatens GCS_Common a bit, reduces repetitive code
2024-06-05 10:29:01 +10:00
364419be81
AP_Scripting: docs: allow overload of manual bindings to allow documentation of optional arguments
2024-06-04 09:29:49 +10:00
f54ca766df
AP_Scripting: tests: luacheck.lua: ignore lua-language-server
2024-06-04 09:29:49 +10:00
93642026aa
AP_Scripting: tests: check.json: check files it gitignore but not self
2024-06-04 09:29:49 +10:00
3b86c0527f
AP_BLHeli:expand metadata of 3d and Reverse masks
2024-06-04 09:24:41 +10:00
887e4713e6
AP_HAL_ChibiOS:remove fetaures to allow boards to build
2024-06-04 09:23:43 +10:00
6233bc0e10
HAL_Empty: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
ceac4969d5
AP_Networking: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
e97a6c7089
AP_InertialSensor: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
35a8f6c7b2
AP_DroneCAN: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
265e2a4d6b
StorageManager: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
3682e3aad3
SRV_Channel: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
4e1b2b95d4
SITL: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
9b046f5a12
GCS_MAVLink: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
5859250651
Filter: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
db6bcdb725
AP_WindVane: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
76d16e2d78
AP_Winch: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
20a5ec4348
AP_WheelEncoder: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
659ecf6159
AP_VisualOdom: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
6a96df4792
AP_Vehicle: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
30228f5e6e
AP_Torqeedo: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
65822c01ed
AP_TemperatureSensor: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
93484ec81d
AP_TempCalibration: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
a2459c6e61
AP_Scripting: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
5af89a4291
AP_Scheduler: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
c1bdf15c1d
AP_RPM: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
01f02867a6
AP_RCTelemetry: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
51d5f85b83
AP_RCProtocol: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
8554081be5
AP_RangeFinder: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
5130e26f4c
AP_Radio: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
c681701f81
AP_Proximity: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
6bd2be548b
AP_Param: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
a5672b0105
AP_OSD: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
7235c146fa
AP_OpticalFlow: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
014b3bba70
AP_OpenDroneID: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
cead1ee264
AP_ONVIF: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
530cbf1eca
AP_Notify: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
4d5aa1b8e3
AP_Networking: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
Iampete1
Bill Geyer
bnsgeyer
Peter Barker
Andrew Tridgell
Henry Wurzburg
George Zogopoulos
Thomas Watson
Pierre Kancir
bugobliterator
Randy Mackay
Andy Piper
Leonard Hall
Clyde McQueen
TsuyoshiKawamura
MattKear
muramura
robot-to-society
Simon Hancock
koehlert
SCRainbow
xianglunkai
cuav-chen2
Brad Bosch
Martin Luessi
subashchandar
Paul Riseborough
Paul Riseborough