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29567 Commits

Author SHA1 Message Date
Iampete1
f61d96dd5c SITL: SIM_Frame: add number of motors to json spec 2022-05-03 10:03:07 +10:00
Iampete1
f864d93140 SITL: Frame and Motor changes to allow motor example 2022-05-03 10:03:07 +10:00
Iampete1
6a8fff67f7 SITL: SIM_Frame: remove motor evaluation debug code 2022-05-03 10:03:07 +10:00
Iampete1
a095415702 SITL: examples: evaluate battery: add readme 2022-05-03 10:03:07 +10:00
Iampete1
53f7ad24a8 SITL: add motor + prop evaluation model 2022-05-03 10:03:07 +10:00
Andrew Tridgell
617213bef0 AP_Scripting: added quicktune.lua script 
rapid tuning for VTOL control
 2022-05-03 10:01:19 +10:00
Andrew Tridgell
77a985182c AP_Scripting: added get_rpy_srate binding 
and remove dmod binding
 2022-05-03 10:01:19 +10:00
Andrew Tridgell
99a6cb69f8 AC_AttitudeControl: added get_rpy_srate() 
and remove dmod binding, as slew rate turned out to be more useful
 2022-05-03 10:01:19 +10:00
Peter Barker
cef436b272 AP_RangeFinder: implement distance_cm_orient in terms of distance_orient 2022-05-03 09:23:37 +10:00
Andy Piper
2209576c90 AP_Scheduler: refactor task info into TaskInfo 
break fast_loop down into FastTasks to aid profiling
run fast tasks before scheduled tasks
fix scheduler example
introduce fast task priorities
remove fast loop
 2022-05-03 08:20:13 +09:00
Andy Piper
cc2acc35a6 AP_Vehicle: add task info for fast loop 
move fast loop tasks into scheduler table
remove fast loop
 2022-05-03 08:20:13 +09:00
Peter Barker
66a9677f79 SITL: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
c3cd733f26 Filter: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
3592132774 AP_WindVane: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
80c3415419 AP_WheelEncoder: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
678d51f47e AP_VisualOdom: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
2ffc16d1c5 AP_VideoTX: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
e490a5b5cd AP_UAVCAN: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
a6eec9f063 AP_Terrain: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
be15dfff29 AP_SerialLED: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
27b34f8b5f AP_Scheduler: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
5ddd50fefb AP_RPM: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
5bc20af9d6 AP_ROMFS: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
0e8ac68af4 AP_RCTelemetry: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
50fc43b2d2 AP_RangeFinder: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
6fafd04b2f AP_Rally: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
489f68f68e AP_Proximity: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
97ccf77941 AP_OSD: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
fa2c78f057 AP_OpticalFlow: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
4178c685a3 AP_ONVIF: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
3e75359aef AP_OLC: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
db590f65f1 AP_Notify: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
92b44c118f AP_MSP: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
7ce739aeef AP_Mount: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
8930b5f6f5 AP_Motors: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
4c7f4514cd AP_Module: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
445b10d8b3 AP_Mission: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
a08025125b AP_Math: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
750fd2c820 AP_Logger: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
94dc0e78cd AP_InertialSensor: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
0ea46a93a1 AP_ICEngine: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
b158e15ed4 AP_Hott_Telem: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
c456172821 AP_HAL_Linux: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
9857954529 AP_GPS: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
6fa9fd1768 AP_EFI: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
f1069023ee AP_Common: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
24f7369760 AP_Beacon: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
6c377b2dcd AP_BattMonitor: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
8dcc2e969f AP_Arming: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
9b14760dc9 AP_Airspeed: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
34a7503c1e AP_AHRS: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
d3563e72c8 AP_ADSB: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
666ac39e31 AC_Avoidance: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
73c6eabde2 APM_Control: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
6f2fd9c4a4 AC_AutoTune: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
d62e6e3228 AC_Autorotation: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
0fb5be7f2b AC_AttitudeControl: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
7c00b525a3 AP_Tuning: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
17ad710866 GCS_MAVLink: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker
6eaf2c545a AP_Filesystem: correct run-length encoding in param download 
If a parameter's name was a prefix of the previous name we would
suffer an integer-wrap problem and incorrectly encode the parameter name
 2022-05-03 07:49:36 +10:00
Iampete1
20a2e6aaf0 AP_Scripting: allow deprecation warnings 2022-05-03 07:48:39 +10:00
Peter Barker
2c0f52a8b7 AP_BattMonitor: zero-terminate strings in caller rather than read_block 
It was noted that we did not increment the return value bufflen when
adding zero.  This is an ambiguity in the function declaration; if we
are told to add a zero should the return value be like strnlen (does not
include terminating null character) or read (includes all bytes used in
return buffer).

This PR makes it a non-issue by ensuring string null termination in the
caller and removing the append_zero parameter.
 2022-05-03 07:11:45 +10:00
Josh Henderson
51eb398277 SITL: SIM_BattMonitor_SMBus add registers to smartbatts 2022-05-02 10:56:39 +10:00
Kirill Shilov
c414a021ae AirLink-HWDEF: external peripherals enabled with logical high 2022-05-02 10:56:09 +10:00
Mirko Denecke
e60520160f SRV_Channel: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Mirko Denecke
60b0be4a97 RC_Channel: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Mirko Denecke
11a74cf28c AP_HAL_ChibiOS: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Mirko Denecke
853fd7f8c1 AP_HAL: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Mirko Denecke
d6843c4ca1 AP_Airspeed: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Henry Wurzburg
c6fbdc0cb8 AP_Relay:Prevent operation for sim-on-hardware,add logs 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2022-05-02 10:54:02 +10:00
Iampete1
6eea4d12ee SITL: apply momentum drag per-motor 2022-05-01 09:17:23 +10:00
Iampete1
f9050c3040 SITL: Frame: take drag from thrust not accel 2022-05-01 09:17:23 +10:00
Iampete1
92135400f8 SITL: Frame: stop adding random physics noise 2022-05-01 09:17:23 +10:00
Iampete1
f869506b0a SITL: Motor: acount for airflow due to vehicle rotation 2022-05-01 09:17:23 +10:00
Iampete1
bead0ac0f8 SITL: JSON allow to set motor rotation direciton 2022-05-01 09:17:23 +10:00
m
dbf00bae10 AP_Scripting: Add pre_arm_checks LUA binding 2022-04-30 10:23:28 +09:00
Andrew Tridgell
ed89acea66 AP_Scripting: added PDmod binding for quick tuning 2022-04-29 11:54:12 +10:00
Andrew Tridgell
f8fe74f5fe AC_AttitudeControl: added get_rpy_PDmod method 
used for lua scripts to do VTOL tuning
 2022-04-29 11:54:12 +10:00
bugobliterator
46f9ae54af AP_HAL_ChibiOS: fix CubeOrangePlus IMU rotation 2022-04-29 08:26:34 +10:00
Andrew Tridgell
8c3d2205cb hwdef: added DShot peripheral for MatekL431 2022-04-28 13:56:16 +10:00
Peter Barker
a5dee06afb SRV_Channel: add PARAMETER CONVERSION comments 2022-04-28 10:17:11 +10:00
Peter Barker
414d3d27db AP_RangeFinder: add PARAMETER CONVERSION comments 2022-04-28 10:17:11 +10:00
Peter Barker
c2bf79d3f3 AP_BattMonitor: add PARAMETER CONVERSION comments 2022-04-28 10:17:11 +10:00
Andy Piper
742c2b034f AC_AutoTune: allow high ANGLE_P gains 2022-04-28 08:51:54 +09:00
Leonardo Garcia
0eb6ae365a AP_InertialSensor: Added BMI085 support 
Fixed styling for 61125e2

Remove whitespace l202

Removed else
 2022-04-27 18:37:39 +10:00
Andy Piper
7c4d0ad9f4 AP_HAL_ChibiOS: catch and handle STM32_DMA_ISR_DMEIF in bdshot. 2022-04-27 18:19:24 +10:00
Andrew Tridgell
12f348398a Revert "AP_Notify: fixed DroneCAN LEDs on AP_Periph" 
This reverts commit 1858969697.

This was an incorrect change that actually broke LEDs on CAN GPS modules
 2022-04-27 17:13:40 +10:00
Andrew Tridgell
06b9b804a1 hwdef: uncompress bootloader for HolybroG4_GPS 
not enough ram to uncompress at runtime
 2022-04-27 17:12:08 +10:00
Tatsuya Yamaguchi
073683cc69 AP_Arming: remove ARMING_CHECK_ALL bit check from disarm_switch_checks 2022-04-27 09:36:36 +09:00
Tatsuya Yamaguchi
02f966a35d AP_Arming: add ARMING_OPTIONS param 2022-04-27 09:36:36 +09:00
Mohammad Hefny
ce8405b7a4 AP_Rangefinder: preserve new address 2022-04-27 10:16:40 +10:00
Randy Mackay
599cd15c7b AP_Scripting: add copter-deadreckon-home example 2022-04-26 18:37:54 +09:00
Randy Mackay
7b6ad412fe AP_Scripting: add ahrs get_relative_position_D_home binding 2022-04-26 18:37:54 +09:00
Randy Mackay
f0623fa8c9 AP_Scripting: add has_ekf_failsafed binding 2022-04-26 18:37:54 +09:00
Randy Mackay
21ee06d362 AP_Vehicle: implement has_ekf_failsafed for use by lua 2022-04-26 18:37:54 +09:00
Randy Mackay
23ad8b23ac AP_Common: clarify Location::get_distance is horizontal only 2022-04-26 18:37:54 +09:00
Randy Mackay
da961948db AP_RPM: pre-arm displays gpio vs servo_ch conflict 2022-04-26 15:19:28 +09:00
Randy Mackay
d8219c2200 AP_Relay: pre-arm displays gpio vs servo_ch conflict 2022-04-26 15:19:28 +09:00
Randy Mackay
846637e3e9 AP_Button: pre-arm displays gpio vs servo_ch conflict 2022-04-26 15:19:28 +09:00
Randy Mackay
1ee01577f6 AP_HAL: add GPIO::pin_to_servo_channel method 2022-04-26 15:19:28 +09:00
Randy Mackay
588a75a883 AP_HAL_ChibiOS: GPIO comment removes mention of BRD_PWM_COUNT 2022-04-26 15:19:28 +09:00
Randy Mackay
b6e86eee49 AP_IOMCU: valid_GPIO_pin checks if pin configured for GPIO 2022-04-26 15:19:28 +09:00
Randy Mackay
caa2ed3294 AP_IOMCU: convert_pin_number leaves input untouched on failure 2022-04-26 15:19:28 +09:00
Iampete1
d621910a59 AP_AHRS: remove unneeded get_position wrapper 2022-04-26 10:28:28 +10:00
Iampete1
6e3cb7efdc AP_Scripting: support true aliases 2022-04-26 10:28:28 +10:00
Iampete1
352c48233e AP_Scripting: generator: rename alias keyword to rename 2022-04-26 10:28:28 +10:00
Iampete1
4fe335c2d0 SITL: tests: only build on sitl 2022-04-26 10:26:29 +10:00
Iampete1
d1aa7aa062 SITL: add battery model evaluation example 2022-04-26 10:26:29 +10:00
Iampete1
1111ca4867 SITL: SIM_Frame: load_frame_params and model to protected, allow USE_PICOJSON override 2022-04-26 10:26:29 +10:00
Iampete1
f0c17f0e49 SITL: use AP_SIM_ENABLED define more 2022-04-26 10:26:29 +10:00
Iampete1
c58404beac AP_HAL_Linux: allow stop_clock in examples 2022-04-26 10:26:29 +10:00
Iampete1
2d2165936a AP_InertialSensor: use pitch to guess which axis the user is trying to calibrate, warn about Q_TRIM_PITCH on plane 2022-04-26 10:03:30 +10:00
Iampete1
6c24a5ff37 AP_AHRS: add method to get view 2022-04-26 10:03:30 +10:00
Iampete1
04fdfea74a AP_AHRS_View: add method to get pitch trim and note on rotation 2022-04-26 10:03:30 +10:00
Randy Mackay
902b895aef AP_Arming: add pre-arm check of disabled servo channels 2022-04-25 15:55:54 +09:00
Andy Piper
cc6b907a2f SRV_Channel: observe disabled_channels when enabling channels 
setup disabled_channels observing channels that are implied to be digital
allow none to be a valid channel function once again
 2022-04-25 15:55:54 +09:00
Andy Piper
119cde79a7 AP_HAL_ChibiOS: determine presence of disabled channels based on digital channels in a group 2022-04-25 15:55:54 +09:00
Andy Piper
8ccc84beab AP_HAL: add accessor for disabled channels to RCOutput 2022-04-25 15:55:54 +09:00
Andy Piper
03aeca22ec AP_BLHeli: keep a record of disabled motors 2022-04-25 15:55:54 +09:00
Peter Barker
7d10192550 SITL: do not write post locations files unless on HAL_BOARD_SITL 
Nobody's going to be retrieving these from SD card so they can visualise
things...
 2022-04-25 11:20:26 +10:00
Peter Barker
1d96dfe7c1 SITL: exclude method declarations based on USE_PICOJSON 
Fixes SimOnHardware build
 2022-04-25 11:20:26 +10:00
Randy Mackay
bfd168dd4f AP_RPM: avoid attach interrupt retry and spam to GCS if PIN = -1 2022-04-25 08:59:03 +09:00
Henry Wurzburg
8556edc5ad AP_RPM: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
93bdae50ab AP_Relay: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
4a2aeb03f3 AP_RangeFinder: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
a8ff5ca2b9 AP_Notify: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
cc51e9f995 AP_LandingGear: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
1e7fc17af3 AP_Camera: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
958e36f80b AP_Button: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Henry Wurzburg
9d6f9bf907 AP_AdvancedFailsafe: add note to desc's on how to determine GPIO pin numbers 2022-04-24 08:21:01 +09:00
Randy Mackay
291d709409 AP_NavEKF: GSF comment typo fix 2022-04-22 15:24:11 +09:00
xianglunkai
c853694f7a AP_Proximity_Boundary_3D:correction of miswriting 2022-04-21 08:41:07 +09:00
Iampete1
c31e54b5bb AP_CustomRotations: fix param refrencing 2022-04-20 18:25:57 +10:00
Andy Piper
6355934a36 AP_HAL: add bitwidth hal definitions. 
revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
 2022-04-20 17:39:29 +10:00
Andy Piper
df35cb6243 AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-04-20 17:39:29 +10:00
Andy Piper
89ea5dc12c AP_RCProtocol: flush CRSF telemety writes 2022-04-20 17:38:08 +10:00
Andy Piper
eaa414bb0c AP_HAL_ChibiOS: implement pseudo-flushing for buffered UARTS 2022-04-20 17:38:08 +10:00
yuri-rage
eaa62fb490 AP_HAL: remove BRD_PWM_COUNT reference 2022-04-20 07:57:57 +09:00
Andrew Tridgell
e73f868fc0 HAL_ChibiOS: disable fatal exceptions for DMA errors 
this zeros-watchdog was caused by a SPI DMA error on STM32F405:

  https://discuss.ardupilot.org/t/crash-with-4-2-0-beta-and-4-3-0-daily-bdshot/83297

we had incorrectly left these internal errors enabled when asserts
were not enabled. That led to a osalSysHalt()

without these we get an spi_fail internal error, caught by the
SPIDevice code
 2022-04-19 21:52:53 +10:00
Andrew Tridgell
ed1a5c086b AP_Logger: removed annoying message on missing logs 2022-04-19 11:45:26 +10:00
Andrew Tridgell
93b55e367e AP_Logger: fixed log listing with gap, and EKF error on log list 
this fixes two issues:

The first issue that if we are missing a log file in the middle of the
list then it was not possible to download recent logs, as we get the
incorrect value for total number of logs. This happened for me with
107 logs, with log62 missing from the microSD. It would only show 45
available logs, so the most recent logs could not be downloaded.

The second issue is that get_num_logs() was very slow if there were a
lot of log files in a directory. This would cause EKF errors and ESC
resets. Using a opendir/readdir loop is much faster (approx 10x faster
in my testing with 107 logs on a MatekH743).
 2022-04-19 11:45:26 +10:00
Peter Barker
348f0ad590 SITL: add SIM_SONAR_ROT, use it for measuring horizontal distances 2022-04-19 10:26:10 +10:00
xianglunkai
f7f053191a AP_Logger: must set default fd = -1 2022-04-19 10:00:32 +10:00
Iampete1
a7abfeeb4a SITL: allow cutom motor postions and thrust vectors to be specified 2022-04-19 09:43:51 +10:00
Iampete1
c4518e5cb7 SITL: motor: use postion and thrust vector 2022-04-19 09:43:51 +10:00
Iampete1
47f327b500 SITL: allow Vector3f inertia to be set via JSON 2022-04-19 09:43:51 +10:00
Iampete1
6272dc33dd SITL: move moments inertia to frame property 2022-04-19 09:43:51 +10:00
Iampete1
7936f3bb0a SITL: move motor related constants to motor object 2022-04-19 09:43:51 +10:00
Andrew Tridgell
db14ba46dc AP_InertialSensor: call notch param update with semaphore held 2022-04-19 09:39:03 +10:00
Andrew Tridgell
bccca9ed2e AP_GyroFFT: added defaults for FFT with no notch 
allow for testing with FFT enabled, and defaulting number of
frequencies to look for
 2022-04-19 09:39:03 +10:00