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25185 Commits

Author SHA1 Message Date
auturgy
24268cc6de AP_HAL_ChibiOS: add MatekH743-periph hwdef 2021-02-03 18:17:44 +11:00
mateksys
b91c65b4a4 AP_HAL_ChibiOS: add f405-MatekGPS & MatekF405-CAN hwdef 2021-02-03 18:09:35 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
11bf02c2c4 AP_Logger: correct spelling in metadata 2021-02-03 17:47:28 +11:00
huhen
9ba35580db HAL_ChibiOS: Init kakutef7 motor pins for correct initialization of some ESCs 2021-02-03 13:13:32 +11:00
Arsh
18f56fbac5 AP_HAL:examples:Printf: Improvements in the Printf example 2021-02-03 13:02:49 +11:00
yaapu
d5868e3c7d AP_Frsky_Telem: added telemetry support for RPM sensors 1 and 2 for SPort, FPort/FPort2 and passthrough over crossfire 2021-02-03 12:49:38 +11:00
Andrew Tridgell
cfe63f8657 AP_OSD: changed OSD screen switching logic 
this prevents us constantly changing screens when a PWM is given that
matches multiple screens. Instead the first matching screen is used
 2021-02-03 10:09:41 +11:00
Josh Henderson
275c2849cf AP_Baro: Privatize Logging 2021-02-02 17:55:27 +11:00
Josh Henderson
c32dd4bb5d AP_Logger: Privatize AP_Baro Logging 2021-02-02 17:55:27 +11:00
Michael du Breuil
05b9aa2fa2 AP_UAVCAN: Broadcast ArmingStatus regularly 2021-02-02 10:57:57 +11:00
Josh Henderson
d6dc8864db AP_Camera: Privatize AP_Camera 2021-02-02 10:10:17 +11:00
Josh Henderson
d142b3ba16 AP_Logger: Privatize AP_Camera Logging 2021-02-02 10:10:17 +11:00
Rishabh
401d365491 AC_WPNav: Adapt to 3-D Avoidance changes 2021-02-01 14:34:13 +09:00
Rishabh
f3d825bebe AP_Math: Add unit tests for 3-D lines 2021-02-01 14:34:13 +09:00
Rishabh
de67e2b70c AP_Proximity: refactor changes done for 3-D Boundary 2021-02-01 14:34:13 +09:00
Rishabh
37a14a78df AC_Avoid: Refactor changes for 3-D avoidance 2021-02-01 14:34:13 +09:00
Rishabh
5092bc2f6d AC_Avoid: Simplify accessing boundary 2021-02-01 14:34:13 +09:00
Rishabh
d359c5ddf2 AC_Avoid: Let user take control if they are backing away at a greater speed than what we have calculated 2021-02-01 14:34:13 +09:00
Rishabh
91132d00d9 AC_Avoid: Add deadzone to backaway code 2021-02-01 14:34:13 +09:00
Rishabh
343ba1a693 AP_Proximity: Use only valid boundary for Simple Avoidance 2021-02-01 14:34:13 +09:00
Randy Mackay
71d928aab9 AP_Proximity: TeraRangerTowerEvo uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
5c9a65cff6 AP_Proximity: TeraRangerTower uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
d4a6ebd273 AP_Proximity: SITL backend uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
518078c901 AP_Proximity: RPLidarA2 uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
babba91632 AP_Proximity: RangeFinder backend uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
2d77adf720 AP_Proximity: MAV backend uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
a65e0affe4 AP_Proximity: LightwareSF45B uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
623bd6923e AP_Proximity: LightwareSF40C_v09 uses update Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
4fda6b38f7 AP_Proximity: LightwareSF40C uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
ad899de78c AP_Proximity: backend uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
ef9bc64bb1 AP_Proximity: AirSimSITL uses modified Boundary_3D interface 2021-02-01 14:34:13 +09:00
Randy Mackay
279b534f67 AP_Proximity: remove duplicate definition 
PROXIMITY_NUM_LAYERS is defined in AP_Proximity_Boundary_3D
 2021-02-01 14:34:13 +09:00
Randy Mackay
5a0cc08dcc AP_Proximity: refactor Boundary_3D 
rename stack to layer
swap order of layer and sector within arrays
rename Boundary_Location to Face
rename get_sector to get_face
rename set_attributes to set_face_attributes
get_distance returns bool and fills in argument instead of returning distance
 2021-02-01 14:34:13 +09:00
Rishabh
ad6e013171 AC_Avoid: Support 3D Simple Avoidance and Bacakway 2021-02-01 14:34:13 +09:00
Rishabh
43717ea55c AP_Proximity: Add OBSTACLE_DISTANCE_3D mavlink message 2021-02-01 14:34:13 +09:00
Rishabh
36bba2e02c AP_Proximity: Convert Proximity Backend drivers to use 3D Boundary methods 2021-02-01 14:34:13 +09:00
Rishabh
4fce715a9a AP_Proximity: Shift methods to Proximity_Boundary_3D class and support 3D Boundary 2021-02-01 14:34:13 +09:00
Rishabh
7569d8bf8e AP_Proximity: Add AP_Proximity_Boundary_3D class 2021-02-01 14:34:13 +09:00
Rishabh
a5fafe57d8 GCS_MAVLink: Add support for OBSTACLE_DISTANCE_3D 2021-02-01 14:34:13 +09:00
Rishabh
1262d73071 AP_Math: Add new methods to support 3D avoidance 2021-02-01 14:34:13 +09:00
Rishabh
79d5e432ee AP_Math: Add new method to extrapolate 3D vector given distance, yaw, pitch 2021-02-01 14:34:13 +09:00
Peter Barker
dbae56eb3a AP_Logger: panic in SITL if we fail to log a Replay block 
// failing to log a block means that when we go to replay the log
    // things will almost certainly go sour.
 2021-01-31 10:46:26 +11:00
Tom Pittenger
a5d33cacb5 AP_Soaring: add units to param SOAR_THML_BANK 2021-01-29 11:20:09 -08:00
Samuel Tabor
4ec1e55833 AP_Soaring: Add SOAR_THML_BANK parameter and associated logic. 2021-01-29 11:20:09 -08:00
yaapu
4fbba17506 AP_Scripting: added bindings for frsky telemetry library 2021-01-29 09:55:22 +11:00
yaapu
24382e25fc AP_Frsky_Telem: added support for sending frsky telemetry data from scripting 2021-01-29 09:55:22 +11:00
Michael du Breuil
0f363809f5 AP_GPS: Fix some unit errors with the GPS blended instance 
Also add a static assert and some docs on the fact that blending only
works with 2 actual recievers at the moment

Also a small optimization to not call get_rate_ms() twice
 2021-01-28 11:55:30 +11:00
Andy Piper
6f5d5c2bf9 AAP_HAL_ChibiOS: allow asserts to be printed on a GPIO pin 2021-01-27 19:36:58 +11:00
Andy Piper
d41c92d317 AP_HAL_ChibiOS: don't overwrite fault handler data, register forced faults 2021-01-27 19:13:18 +11:00
Andy Piper
20d928a86a AP_HAL_ChibiOS: don't share DMA on OmnibusNanoV6 for Flash SPI 2021-01-27 19:04:49 +11:00
Andy Piper
873d35acd9 AP_HAL_ChibiOS: bi-directional dshot for MatekH743 2021-01-27 18:58:38 +11:00
Andy Piper
877dde4736 AP_HAL_ChibiOS: on BeastF7 share TIM3 UP/CH and give flash SPI dedicated channel 2021-01-27 18:54:43 +11:00
Andy Piper
2395018000 AP_BLHeli: don't log invalid bi-dir dshot values as they are never used 2021-01-27 18:54:10 +11:00
Andy Piper
9249b73e8b AP_HAL_ChibiOS: correctly allow mixing of bidir and non-bidir channels 2021-01-27 18:49:15 +11:00
Andy Piper
2823fa7245 AP_HAL_ChibiOS: never write bytes that have not been erased on H7 
Be more careful about flash failure conditions on H7
 2021-01-27 18:30:36 +11:00
Andy Piper
78735a946e AP_HAL_ChibiOS: allow STM32_FLASH_DISABLE_ISR for H7 2021-01-27 18:30:36 +11:00
Andrew Tridgell
155de6d2bc HAL_ChibiOS: fixed build of AP_Periph on H7 2021-01-27 18:24:03 +11:00
Andrew Tridgell
0535c4f592 AP_InertialSensor: default TMAX to 70 
if user forgets to set this then better to just timeout rather than
calibrating over a small range
 2021-01-27 09:49:35 +11:00
Andrew Tridgell
9861a02c60 HAL_ChibiOS: save INS_ACC*ID persistent parameters 
this enables full factory accelerometer calibration, so the user is
not required to run an accelcal, even if they change vehicle type
 2021-01-27 09:49:35 +11:00
Andrew Tridgell
bdb364d461 AP_InertialSensor: save the accelerometer ID parameters 
this is needed for factory accel cal
 2021-01-27 09:49:35 +11:00
Andrew Tridgell
87528f47c8 AP_IOMCU: prevent internal error on bootloader flash 
when we flash the bootloader on boards with an IOMCU we expect a long
delay as the CPU stops during the flash
 2021-01-27 09:49:35 +11:00
Andrew Tridgell
6163659887 AP_HAL: prevent a single bad transfer causing an IMU to be marked unhealthy 
This is a response to this issue:
https://discuss.ardupilot.org/t/gyro-problem-after-waypoint-log-analisys

The 2nd gyro went bad with a large offset. Then the first gyro was
marked unhealthy, forcing the EKF to switch to the 2nd gyro. That
resulted in a crash.

I think the SPI bus was getting bad transfers and the register check
code happened to get a bad transfer, thereby marking the first gyro
unhealthy

This change ensures we only fail the register check if two transfers
in a row are bad. This makes it much less likely that a noisy bus will
lead to an unhealthy gyro
 2021-01-27 09:47:55 +11:00
Iampete1
ebfe593e38 AP_Scripting: add example script setting up a custom MotorMatrix 2021-01-26 11:07:36 +09:00
Iampete1
5c397d4674 AP_Scripting: add MotorMatrix bindings 2021-01-26 11:07:36 +09:00
Iampete1
fca6f7027b AP_Motors: allow Matrix config from scripting 2021-01-26 11:07:36 +09:00
Peter Hall
d0e1e85b9e AP_Motors: add get_frame_mav_type 2021-01-26 11:07:36 +09:00
Randy Mackay
f6cb0819ef AP_NavEKF3: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Randy Mackay
8ecac27777 AP_NavEKF_Source; pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Randy Mackay
62932f884f AP_AHRS: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Andrew Tridgell
1716fcf995 GCS_MAVLink: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell
ac35867c17 AP_Param: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell
12b93e2922 AP_OSD: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell
6c684538d3 AP_Param: greatly speed up param download with disabled parameters 
allows fast skip over disabled subgroups. This removes a long delay
with param download on a MatekF405-STD where the final parameters
associated with the OSD took 80ms to fetch, causing a long loop delay
 2021-01-26 10:43:09 +11:00
Peter Barker
d426d8e1f8 AP_GPS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Peter Barker
358069df24 AP_AHRS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
WillyZehnder
2e2ec79992 RC_Channel: reserve AUX_FUNC for MISSION_RELATIVE 2021-01-26 10:14:11 +11:00
Andrew Tridgell
2843cfa42d AP_InertialSensor: use mavlink statustext for cal info 2021-01-25 16:24:50 +11:00
Andrew Tridgell
b542f947f7 AP_InertialSensor: don't mark accels as calibrating during trim 
we need the accels with offsets applied when doing accel trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell
e908a996af AP_InertialSensor: support SIM_ACC_TRIM 
and cleanup vector maths
 2021-01-25 16:24:50 +11:00
Andrew Tridgell
7292b4f260 SITL: added SIM_ACC_TRIM_{X,Y,Z} for simulating IMU trim 
this will enable an autotest for AHRS trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell
ddc4d08e8f AP_NavEKF3: make drag fusion optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell
1ccda938cb AP_NavEKF3: make external navigation optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell
8da511f039 AP_NavEKF3: make body odomotry build depend on vehicle type 
saves about 11k of flash
 2021-01-24 11:56:52 +11:00
E Thomas
2ee052b36e AP_GPS: Made GPS_DISABLE prevent last_fix_time_ms updates 2021-01-23 17:25:00 +11:00
Peter Barker
ade1c487d8 AP_Logger: remove default reason argument for Write_Mode 
All callers now supply this
 2021-01-22 17:27:26 +11:00
Leonard Hall
25fff17e48 AC_AttitudeControl: constify some local variables 2021-01-22 14:22:18 +09:00
Peter Barker
3582b69e9c AP_NavEKF3: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker
445a461f12 AP_NavEKF2: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker
401cccca19 AP_NavEKF2: correct description on NKF3.SVT 2021-01-21 21:26:17 +11:00
Peter Barker
b3bacdd33c AP_NavEKF3: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker
dddb285209 AP_NavEKF2: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker
5ad0ac6727 AP_NavEKF3: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Peter Barker
6b60bae068 AP_NavEKF2: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Peter Barker
e32ca819fc GCS_MAVLink: mark results as unused 2021-01-21 20:41:17 +11:00
Peter Barker
60d0b0f07c AP_AHRS: add WARN_IF_UNUSED to some getters 2021-01-21 20:41:17 +11:00
Andrew Tridgell
6c8a57c2d7 AP_InertialSensor: review fixes 2021-01-21 13:09:21 +11:00
Andrew Tridgell
3ff71c7814 AP_InertialSensor: changes from review feedback 2021-01-21 13:09:21 +11:00
Andrew Tridgell
b12a663f7a AP_InertialSensor: apply accel scaling 2021-01-21 13:09:21 +11:00
Andrew Tridgell
9febcc0f98 SITL: added accel scaling parameters 2021-01-21 13:09:21 +11:00
Andrew Tridgell
73ddde3629 AP_InertialSensor: changes for new SITL IMU params 2021-01-21 13:09:21 +11:00