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23903 Commits

Author SHA1 Message Date
Peter Barker
66f8359c6b AP_Logger: factor out an ensure_log_directory_exists method 2020-06-16 12:03:21 +10:00
Randy Mackay
839e03f3e4 AP_AHRS: attitudes_consistent obeys always_use_EKF 2020-06-16 11:29:24 +10:00
Peter Barker
799c538c3e AC_Fence: ALT_MAX is Copter-and-Sub only 2020-06-16 11:21:47 +10:00
Peter Barker
30c65e57be SITL: remove use of Vector3 as function 2020-06-16 11:06:47 +10:00
Peter Barker
2f8c0dd65b AP_Math: remove use of Vector3 as function 2020-06-16 11:06:47 +10:00
Peter Barker
0f2bcea647 AP_Compass: remove use of Vector3 as function 2020-06-16 11:06:47 +10:00
Peter Barker
8c0aed9c6c AP_AHRS: remove use of Vector3 as function 2020-06-16 11:06:47 +10:00
Peter Barker
dad5b4e903 AP_Math: remove use of Vector2 as function 2020-06-16 11:00:44 +10:00
Michael du Breuil
f25d20f549 AP_Compass: Only send a single MAG_CAL_* message per poll 
this fairly allocates bandwidth between the calibrators
 2020-06-16 10:09:14 +10:00
Michael du Breuil
ab2dea5b86 AP_Common: Add % operator to TSIndex 2020-06-16 10:09:14 +10:00
Rishabh
b3a2b360e6 AC_Fence: clear breach if breached fence is not enabled 2020-06-16 08:27:19 +09:00
Andrew Tridgell
7f429302ed HAL_ChibiOS: increase monitor thread stack to 768 bytes 
attempt to fix issue #14582
 2020-06-15 17:56:34 +10:00
bugobliterator
82480f0a3d AP_Compass: return id of max empty compass state when prio id is 0 2020-06-13 07:52:20 +10:00
Andrew Tridgell
6fa623d074 HAL_ChibiOS: added Holybro Pix32v5 2020-06-12 21:23:16 +10:00
ashvath100
042ca7861f AP_Scripting: get_output_scaled method 2020-06-12 14:48:02 +10:00
Peter Barker
ea03504af2 AP_Camera: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos' 2020-06-12 08:11:46 +10:00
Peter Barker
8fd50dd66e AP_Arming: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos' 2020-06-12 08:11:46 +10:00
Peter Barker
88f4232e46 RC_Channel: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos' 2020-06-12 08:11:46 +10:00
MATEKSYS
14e01e21b7 HAL_ChibiOS: MatekH743: move baro to I2C2 bus 2020-06-11 17:31:59 +10:00
Andrew Tridgell
c1403a2e2b HAL_ChibiOS: fixed default CubeOrange pin for 2nd current sensor 2020-06-10 17:32:11 +10:00
Andrew Tridgell
9ddc7ea763 SITL: rebuilt linux tcp connector for matlab 2020-06-10 17:08:58 +10:00
Iampete1
2f99326db8 SITL: MATLAB: fix conector auto reconect 2020-06-10 17:08:58 +10:00
Iampete1
10000ed8ee SITL: recompile MATLAB pnet function 2020-06-10 17:08:58 +10:00
Peter Barker
8867457c4f AP_OSD: fix pointless multiple/divide 
This is scaling code; OSD wants 0 to 99 vs 0 to 255 the uint8_t
function gives.  Use the unerlying 0-1 function in the OSD code in
preference to unscaling it from 255 then scaling to 99
 2020-06-10 09:39:59 +10:00
Peter Barker
0e964a4654 AP_Logger: use config error loop rather than abort 
Also add a specific check for the length of the labels field
 2020-06-10 09:02:35 +10:00
chobits
f5f403947c AP_NavEKF2: clarify POSNE_M_NSE desc 2020-06-09 20:44:57 +09:00
chobitsfan
4477e2c617 AP_VisualOdom: fix desc typo 2020-06-09 13:31:21 +09:00
chobitsfan
01e6b316a6 AP_VisualOdom: clarify POS_M_NSE and YAW_M_NSE description 2020-06-09 13:31:21 +09:00
chobitsfan
255c685a8a AP_Logger: fix missing unit description in VISP 2020-06-09 13:31:21 +09:00
Randy Mackay
6714aa4e83 AP_Logger: shorten VISP and VISV log field names 2020-06-09 13:31:21 +09:00
chobits
9b448b83c0 AP_NavEKF3: use err info from ext nav interface 2020-06-09 13:31:21 +09:00
chobits
5e5a0d2111 AP_Logger: log ext nav pos err and ang err 2020-06-09 13:31:21 +09:00
chobits
5d271d1e04 AP_VisualOdom: support covariance from msg and add pos, ang err parameters 2020-06-09 13:31:21 +09:00
chobits
991387dbfb GCS_MAVLink: support covariance field in vis pose msg 2020-06-09 13:31:21 +09:00
chobits
e64c92b322 AP_NavEKF2: use err info from ext nav interface 2020-06-09 13:31:21 +09:00
Sergey Bokhantsev
f92d539b41 RC_Channel: Aux switches to respect 'reverse' option 2020-06-09 11:13:35 +10:00
Peter Barker
f04acbd7de RC_Channel: stop writing events when fence enabled or disabled 
AC_Fence now does this
 2020-06-09 10:52:19 +10:00
Peter Barker
973b103a4a AC_Fence: write log event when fence enabled or disabled 2020-06-09 10:52:19 +10:00
Peter Barker
f158533fe9 GCS_MAVLink: allow private channels to also be active 
This will allow for logging of private channels.
 2020-06-09 10:37:32 +10:00
Peter Barker
06012cbc56 GCS_MAVLink: cope with RingBuffer rename if empty() to is_empty() 2020-06-09 10:21:48 +10:00
Peter Barker
e15abd3320 AP_RCTelemetry: cope with RingBuffer rename if empty() to is_empty() 2020-06-09 10:21:48 +10:00
Peter Barker
fd3dd77489 AP_HAL: rename ringbuffer empty() to is_empty() 2020-06-09 10:21:48 +10:00
Peter Barker
b428f12913 GCS_MAVLink: add and use accessor for last-RADIO_STATUS.remrssi-ms 2020-06-09 10:20:29 +10:00
Peter Barker
07e3f1d48f GCS_MAVLink: add RADIO_STATUS.rssi as an AP_RSSI telemetry source 2020-06-09 10:20:29 +10:00
Peter Barker
547b641c91 AP_RSSI: add RADIO_STATUS.rssi as an AP_RSSI telemetry source 2020-06-09 10:20:29 +10:00
Randy Mackay
345029ec67 AP_NavEKF3: print extNav buff size 2020-06-09 09:42:14 +10:00
Randy Mackay
c4440a81f4 SITL: SIM_Vicon supports sending at 50hz 2020-06-09 09:42:14 +10:00
Randy Mackay
6c10655059 AP_NavEKF2: accept extnav at up to 50hz 2020-06-09 09:42:14 +10:00
Randy Mackay
0f212ca727 AP_NavEKF3: accept extnav at up to 50hz 2020-06-09 09:42:14 +10:00
Iampete1
fee5b998bf AP_Logger: add min MB free param 2020-06-09 09:23:25 +10:00
Iampete1
0d53ce4cd7 SRV_Channel: re-work timeout 2020-06-09 09:04:14 +10:00
Iampete1
66cbed78f5 SITL: JSON examples: update readme 2020-06-08 17:50:03 +10:00
Andrew Tridgell
5d9e0cb58d SITL: added robot.py pybullet example code 2020-06-08 17:50:03 +10:00
Andrew Tridgell
86d53c96d1 AP_Scripting: added opendog lua demo 2020-06-08 17:50:03 +10:00
Andrew Tridgell
ac5594566e SITL: rebuild matlab pnet for x86_64 linux 2020-06-08 17:50:03 +10:00
Andrew Tridgell
5b58b91626 SITL: allow connect back to originating port for matlab 2020-06-08 17:50:03 +10:00
Iampete1
f5e98a6d69 SITL: update MATLAB example 2020-06-08 17:50:03 +10:00
Iampete1
fbb4df97a3 SITL: SIM_JSON: update 2020-06-08 17:50:03 +10:00
Andrew Tridgell
44f727cfd2 SITL: removed use of extra port for JSON 2020-06-08 17:50:03 +10:00
Iampete1
c6603be64a SITL: MATLAB regenerate pnet.c for windows 2020-06-08 17:50:03 +10:00
Iampete1
99465b718f SITL: allow MATLAB pnet.c UDP no connect 2020-06-08 17:50:03 +10:00
Andrew Tridgell
843485ba5c SITL: fixed formatting of pnet.c 2020-06-08 17:50:03 +10:00
Andrew Tridgell
d9fc96f971 AP_Terrain: shortcut ocean tile creation 2020-06-08 13:56:42 +10:00
Andrew Tridgell
078de3205c AP_Terrain: added test option to terrain creation script 2020-06-08 13:56:42 +10:00
Andrew Tridgell
15f9f7009c AP_Terrain: fixed filling of all lattitudes in terrain generation script 2020-06-08 13:56:42 +10:00
Andrew Tridgell
6a1f43d5df HAL_ChibiOS: fixed build with our old compiler 
gcc 4.9 doesn't like static_assert() in C code
 2020-06-07 14:11:48 +10:00
Paul Riseborough
71ae9426c5 SITL: Fix hand launch behaviour 
Launch acceleration should be multiplied by vehicle mass when calculating launch force.
10 m/s (1g) is much too low for a hand launch. 25 m/s (2.5g) over a shorter period is more realistic and will trigger the recommended value of TKOFF_THR_MINACC of 15 recommended for hand launches.
 2020-06-07 11:53:02 +10:00
Peter Barker
c1de346150 GCS_MAVLink: avoid copying data twice in ftp transfers 2020-06-07 08:51:09 +10:00
duccan
cdcdd5ce27 AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1 
Rework after review:
- Kept old IMU and barometer definition of crazyflie 2.0 in hwdef
- Added comment regarding soft-reset command
- Added defaults.parm for crazyflie
 2020-06-07 07:49:37 +10:00
duccan
0d96c7f7a5 AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1 2020-06-07 07:49:37 +10:00
Randy Mackay
9f26bd0a67 AP_BattMonitor: TYPE param swap for SMBus-Maxell and SMBus-Generic 
Generic becomes type "7" which was previously Maxell.  Maxell becomes type 16
 2020-06-05 16:57:39 -07:00
Randy Mackay
ff0460342b AP_Proximity: minor comment fix 2020-06-05 16:57:39 -07:00
Randy Mackay
2396a8176c AP_BattMonitor: comment fix 2020-06-05 16:57:39 -07:00
Randy Mackay
268c67d12d AP_BattMonitor: correct Maxell capacity 2020-06-05 16:57:39 -07:00
Randy Mackay
3de2dff6e3 AP_BattMonitor: simplify SMBus driver includes 2020-06-05 16:57:39 -07:00
Randy Mackay
4ea565e4ed AP_BattMonitor: Maxell driver inherits from SMBus_Generic 2020-06-05 16:57:39 -07:00
Randy Mackay
f869cd9aa6 AP_BattMonitor: complete rename of SMBus_Maxell to Generic 2020-06-05 16:57:39 -07:00
Randy Mackay
c13c037f7b AP_BattMonitor: rename SMBus_Maxell to Generic 2020-06-05 16:57:39 -07:00
Andrew Tridgell
2e7dc380c4 SITL: revert default physics step to 1200 
this should help us pass CI
 2020-06-06 08:17:25 +10:00
Andrew Tridgell
5349113104 SITL: improved the speedup code 
more accurate sleeps using sleep debt system
 2020-06-06 08:17:25 +10:00
Andrew Tridgell
750b220a5f SITL: simulations optimisations 
- change to 600Hz physics rate by default
 - don't export rotational acceleration (not needed)
 - report speedup in terminal output at 0.5Hz (wall clock rate)
 2020-06-06 08:17:25 +10:00
Andrew Tridgell
7c2d13c571 SITL: added simulation of pressure altitude for multicopter 
this gives us a ceiling of 5.4km above sea level for the default
copter
 2020-06-05 11:35:53 +10:00
Siddharth Purohit
c0eb27cc35 AP_Compass: pull compass calibrator out into a separate thread 2020-06-05 09:38:40 +10:00
bugobliterator
c914a91be9 AP_Compass: add support for per mag calibration 2020-06-05 09:38:40 +10:00
bugobliterator
95493e4569 SITL: add support for per mag calibration 2020-06-05 09:38:40 +10:00
Peter Barker
86687d240d AP_NavEKF3: avoid compiler warnings from -Wclass-memaccess 
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp: In member function ‘void NavEKF2_core::InitialiseVariables()’:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:343:50: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  343 |     memset(&extNavVelNew, 0, sizeof(extNavVelNew));
      |                                                  ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:344:58: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  344 |     memset(&extNavVelDelayed, 0, sizeof(extNavVelDelayed));
      |                                                          ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
 2020-06-05 08:42:45 +10:00
Peter Barker
b02d9abd32 AP_NavEKF2: avoid compiler warnings from -Wclass-memaccess 
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp: In member function ‘void NavEKF2_core::InitialiseVariables()’:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:343:50: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  343 |     memset(&extNavVelNew, 0, sizeof(extNavVelNew));
      |                                                  ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:344:58: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  344 |     memset(&extNavVelDelayed, 0, sizeof(extNavVelDelayed));
      |                                                          ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
 2020-06-05 08:42:45 +10:00
James Jacobsson
8a87322d93 AP_HAL_Chibios: Adjust MatekF765-Wing voltage and current scales 
The new values matches the ones from here:
http://www.mateksys.com/?portfolio=f765-wing#tab-id-5

Also verified to be a lot more accurate in real life.
 2020-06-04 10:06:22 +10:00
Alexander Maryanovsky
d73043fc2f SITL: get_wall_time_us() to use a monotonic clock on non-Windows systems 2020-06-04 10:05:22 +10:00
Phillip Kocmoud
0d5a0f392c hwdef.dat update x2.1-777 2020-06-04 09:51:27 +10:00
Andrew Tridgell
571fbf8f71 HAL_ChibiOS: update power VALID pins 2020-06-04 09:51:27 +10:00
Andrew Tridgell
863807c9fb HAL_ChibiOS: use more consistent naming for power VALID pins 
this uses _VALID for an active high pin and _nVALID for an active low
pin. It uses _OC for active high overcurrent and _nOC for active low
overcurrent
 2020-06-04 09:51:27 +10:00
Andrew Tridgell
f896213770 AP_AHRS: drop rotate prefix on 2D rotates 2020-06-04 09:49:52 +10:00
Andrew Tridgell
d7b20c6e48 AP_Scripting: added micros() 2020-06-04 09:49:52 +10:00
Andrew Tridgell
1bc9001267 AP_Scripting: added ahrs:get_EAS2TAS() 2020-06-04 09:49:52 +10:00
Andrew Tridgell
f8be087c7e AP_Scripting: added new lua bindings 2020-06-04 09:49:52 +10:00
Andrew Tridgell
7d520c8307 AP_AHRS: added body/earth frame ops for Lua 2020-06-04 09:49:52 +10:00
Andrew Tridgell
a56a7f7da4 AP_Math: added more vector3f ops for lua 2020-06-04 09:49:52 +10:00
Andrew Tridgell
cab3630009 AP_InertialSensor: switched to supplying timestamps for SITL 
this allows the time step to change on each loop as we no longer use
the average sensor rate when calculating deltas
 2020-06-03 18:11:06 +10:00
Andrew Tridgell
e4596efe9b SITL: added SIM_RATE_HZ 
this allows the physics step size to be changed while flying the
internal models, which allows for lower CPU usage
 2020-06-03 18:11:06 +10:00
Andras Schaffer
43bef1ac9e AP_Proximity: fix proximity ignored zone calulation 
It seems there was a typo in the checking of proximity ignored zones.
 2020-06-03 16:11:55 +09:00
Peter Barker
f842c27070 AP_HAL_SITL: correct clearing of UART drivers 2020-06-03 17:00:44 +10:00
Peter Barker
f3bee7fa03 AP_HAL_Linux: correct clearing of UART drivers 2020-06-03 17:00:44 +10:00
Peter Barker
931c77fa77 AP_HAL_ChibiOS: correct clearing of UART drivers 2020-06-03 17:00:44 +10:00
Randy Mackay
c936307ecf RC_Channel: minor format fix to option param desc 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi
ea3c11030c RC_Channel: add ZIGZAG_Auto Aux switch 2020-06-03 15:21:21 +09:00
Samuel Tabor
b21f9030b7 AP_Soaring: Update parameter ranges. 2020-06-02 10:36:51 -07:00
TunaLobster
a13ddc1096 AP_Scripting: add binding for get_output_pwm 2020-06-02 12:53:24 +10:00
Andrew Tridgell
78858bbcdd AP_GPS: switch ublox over to 230400 baud 
this ensures we have sufficient bandwidth for raw data
 2020-06-01 17:18:17 -07:00
Andrew Tridgell
d9d53d380d AP_Landing: implement continue after land for fixed wing landings 
this makes touch and go missions possible
 2020-06-02 09:12:22 +09:00
Andrew Tridgell
7c49723f19 AP_Mission: added continue after land mission option 
this allows for option to continue a mission after a landing is
complete. The default in copter was to continue, so adding this
option makes copter not continue by default. Plane already disarmed on
land complete.
 2020-06-02 09:12:22 +09:00
Henry Wurzburg
f9b02a6814 AP_RangeFinder: HC-SR04: Add glitch filter 2020-06-02 09:58:53 +10:00
Peter Barker
fc1ea612b1 AP_RangeFinder: add support for HC-SR04 rangefinder 2020-06-02 09:58:53 +10:00
Michael du Breuil
400220e210 AP_BattMonitor: Rearrange arming check order 2020-06-02 09:55:36 +10:00
Andrew Tridgell
2dcf8a3b08 AP_RangeFinder: cope with beyond max range with LightwareI2C 2020-06-02 08:49:38 +09:00
mmk0102
22d052b711 AP_Arming: check for duplicate auxswitch options 2020-06-02 09:43:31 +10:00
Randy Mackay
93d8458d2a AP_NavEKF3: FuseVelPosNED uses ext nav vel err in obs data check 2020-06-02 08:33:42 +09:00
Randy Mackay
d37eec5fd8 AP_NavEKF3: ext nav vel corrected for sensor position when recalled from buffer 2020-06-02 08:33:42 +09:00
Randy Mackay
79901ffc1b AP_VisualOdom: pass velocity error to logger 2020-06-02 08:33:42 +09:00
Randy Mackay
08f6b2128e AP_Logger: add VISV field descriptions 2020-06-02 08:33:42 +09:00
Randy Mackay
714975662d AP_Logger: VISP message gets velocity error field 2020-06-02 08:33:42 +09:00
Randy Mackay
31763424a3 SITL: speed up vicon messages to avoid EKF timeouts during resets 2020-06-02 08:33:42 +09:00
Randy Mackay
630bc01101 AP_HAL_SITL: send vehicle velocity to sitl vicon class 2020-06-02 08:33:42 +09:00
Randy Mackay
c8f6cb233b SITL: vicon supports sending vision-speed-estimate 
SIM_VICON_TMASK controls which of the 3 supported messages are sent
SIM_VICON_VGLI_X/Y/Z allows introducing a velocity glitch
 2020-06-02 08:33:42 +09:00
Randy Mackay
3a209d5d84 SITL: SIM_Vicon loses unused obs_elements structure 2020-06-02 08:33:42 +09:00
Randy Mackay
cad9889656 AP_AHRS: send vision-speed-estimates to EKF3 2020-06-02 08:33:42 +09:00
chobits
c7817eaca1 AP_NavEKF3: support VISION_SPEED_ESTIMATE 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2020-06-02 08:33:42 +09:00
Randy Mackay
bdb67532b0 AP_Math: clarify get_vel_correction_for_sensor_offset comment 2020-06-02 08:33:42 +09:00
Randy Mackay
4639e8a698 AP_Math: add get_vel_correction_for_sensor_offset 2020-06-01 17:51:24 +09:00
chobits
9b480ca755 AP_Logger: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
chobits
66a5f645d7 AP_VisualOdom: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
chobits
ff6e4c4f9a GCS_MAVLink: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
chobits
dee095b4a4 AP_NavEKF2: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
chobits
c9e363d529 AP_AHRS: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
Rishabh
e7d98648e6 AR_WPNav: Reset WP origin if recovering from OA 2020-05-30 08:55:45 +09:00
Rishabh
44f0aef5e9 AP_OAPathPlanner: Add param to reset WP origin while recovering from Bendy 2020-05-30 08:55:45 +09:00
Gone4Dirt
1b7672a84f AP_Motors: Correctly adjust heli run up timer in bailout 2020-05-28 18:50:08 -04:00
Iampete1
141ab622a3 SITL: examples: JSON: MATLAB: add pnet linux compiled 2020-05-29 08:25:24 +10:00
Iampete1
13965133b0 SITL: examples: JSON: add MATLAB example 2020-05-29 08:25:24 +10:00
Iampete1
fa712082d7 SITL: examples: add JSON readme 2020-05-29 08:25:24 +10:00
Iampete1
ce0cb9660f SITL: examples: add MATLAB TCP/UDP/IP Toolbox 2020-05-29 08:25:24 +10:00
Iampete1
0c6efa5f26 SITL: add JSON backend 2020-05-29 08:25:24 +10:00
Iampete1
c31a4f4b14 AP_HAL_SITL: add JSON backend 2020-05-29 08:25:24 +10:00
CUAVcaijie
220e6999c7 HAL_ChibiOS:Adapt to CUAV Nora V1.2 hardware 2020-05-28 19:13:49 +10:00
Peter Barker
1ebfc79eb0 AP_HAL_Linux: enable console for examples 
Turns out we *do* need this for examples.  We're back to stuffing up
terminals where examples have been run, but that can be addressed later.
 2020-05-28 13:49:47 +10:00
pkocmoud
7809dc849c HAL_ChibiOS: Added support for mRo Pixracer Pro flight controller 2020-05-27 21:22:56 +10:00
Andrew Tridgell
529bfe8fcd AP_GPS: fixed issue with GPS selection for moving baseline 
when you have a moving baseline pair of ublox GPS modules and the
rover GPS does not have full fixed RTK lock on the base GPS then we
should not use it as our primary GPS as it's position and velocity can
be badly affected by the attempts of the GPS to gain a fixed lock.

This was observed in a flight with two F9P GPS, where the GPS velocity
data from the rover GPS went way off when it lost full RTK lock. It's
status stayed at 4, so it was selected as the primary GPS
 2020-05-27 10:59:46 +10:00
MisterMower
41245acf14 AP_Logger: Added units to CurrTot message 
Units are not associated with the CurrTot message. AP_BattMonitor.h indicates the total current consumed is reported in mAh. This change sets the units for CurrTot to Ampere seconds and applies a multiplier of 3.6 to convert the reported mAh value to Ampere seconds.
 2020-05-26 16:19:14 +10:00
Peter Barker
6cdee8c830 AP_BLHeli: read more efficiently from telemetry UART 2020-05-26 15:59:11 +10:00
Peter Barker
6d9e563ede AP_HAL_ChibiOS: override read(buffer,count) method to be more efficient 2020-05-26 15:59:11 +10:00
Peter Barker
d259c03079 AP_HAL: BetterStream add a read(uint8_t*buffer, uint16_t count method 2020-05-26 15:59:11 +10:00
Peter Barker
1d9c2b1726 AP_Logger: add documentation for SBPH and SBRH 2020-05-26 14:13:06 +10:00
Henry Wurzburg
9c72525bbf AP_HAL_ChibiOS: Add unused LED output as GPIO in OmnibusF4Pro def 2020-05-26 10:51:32 +10:00
Peter Barker
19dc07250d AP_NavEKF2: clarify yaw reset error message 
The current wording can be taken to indicate that the mag sensors
stopped, causing this issue.
 2020-05-26 10:05:35 +10:00
Peter Barker
bf3cb977fd AP_NavEKF3: clarify yaw reset error message 
The current wording can be taken to indicate that the mag sensors
stopped, causing this issue.
 2020-05-26 10:05:35 +10:00
vierfuffzig
6fa7dca68b AP-Baro: fix init without baro 2020-05-26 10:04:22 +10:00
yaapu
13592cef91 AP_Frsky_Telem: removed time constraint to allow SITL regression testing 2020-05-26 10:02:12 +10:00
yaapu
6303c700d4 AP_Frsky_Telem: prevent SPort frame fragmentation by writing whole 8byte frames vs writing single bytes 
general scheduler delays could introduce small delays when writing SPort frames to the uart one byte
at the time potentially leading to rx desyncs on the SPort bus.
This fix replaces single byte writes with full frame writes.

The library has around 10ms to repond to polling so to guarantee frame integrity responses taking
longer than 7500us are discarded
 2020-05-26 10:02:12 +10:00
Peter Barker
af80c4a29f AP_RangeFinder: remove move-to-error-state for LeddarOne driver 
Just because there's a lot in your input buffer doesn't necessarily mean
the rangefinder is faulty.
 2020-05-26 09:20:32 +10:00
Peter Barker
3bf1ac5918 AP_BLHeli: trim annoying LF from debug "Bad CRC" line 2020-05-26 09:20:32 +10:00
Peter Barker
67e4756f19 AP_Hott_Telem: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
90038339dc AP_UAVCAN: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
95f9769041 AP_RangeFinder: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
f1182637a6 AP_IOMCU: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
71f6262294 AP_EFI: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
d012cf8d47 AP_Camera: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
a073469423 AP_BLHeli: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Peter Barker
80615c44ff AP_HAL_SITL: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Barker
9a9743e6ba AP_HAL_Linux: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Barker
b16c1ea647 AP_HAL_Empty: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Barker
8f54de4184 AP_HAL_ChibiOS: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Barker
a8d03990ec AP_HAL: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Peter Hall
bfd71fdae1 RC_Channel: add Qassist switch 2020-05-26 09:01:47 +10:00
Andrew Tridgell
5bfcb0ed4a SRV_Channel: Add servo chan override w/ timeout 
Adds a feature to override a servo output for a given time. Scripting
bindings and example included.
 2020-05-25 14:10:01 +10:00
Andrew Tridgell
5e74152444 AP_Scripting: Add servo chan override w/ timeout 
Adds a feature to override a servo output for a given time. Scripting bindings and example included.
 2020-05-25 14:10:01 +10:00
Andrew Tridgell
cf0f95f81e AP_BLHeli: allow for negative temperatures from BLHeli32 ESCs 
ESCs can send negative values
 2020-05-25 13:53:32 +10:00
Andrew Tridgell
a0cf4e158a AP_Compass: revert change to RM3100 scale factor and increase scale limit 
This reverts the change from #13895 and instead resolves the issue by
increasing the scale factor limit to 1.4

There is an open question as to why some RM3100 compasses show a
different scale factor (by about 1.25 times) to other versions of the
same sensor. As we haven't resolved this properly it seems the correct
thing to do is follow the datasheet but allow for a wider range of
scale factors to cope with the variation between sensors
 2020-05-24 15:06:15 +10:00
Peter Barker
49918d070e AP_Logger: add documentation for ESC LoggerMessage 2020-05-24 13:07:35 +10:00
Peter Barker
cc60faa58e AP_Logger: use single message number for all ESCs by using instance # 2020-05-24 13:07:35 +10:00
Andy Piper
63b5711a4d AP_Compass: use a separate slot for the custom compass rotation 2020-05-24 07:46:17 +10:00
Andy Piper
acff7daba5 AP_RCProtocol: scale SRXL2 using published conversion values. switch SRXL2 channels to match ArduPilot 2020-05-24 07:45:01 +10:00
Andy Piper
6da1f3bf2e AP_GyroFFT: filter energy, harmonic and amplitude fit. Make a better guess at harmonic matching 
add filtered second and third harmonics and log them
make sure we use all of the gyro samples available on each axis rather than skipping
separate gyro update from fft start to minimize time in fast loop
add FFT_HMNC_PEAK to allow users to select which noise peak and which axis will be tracked.
make sure the self-test runs once and display the results
report self-test failure reason. make sure self-test runs for all windows.
always give logging a chance to run at IO_PRIORITY
add log message documentation
make sure the engine still runs even when the arming check has been disabled
record last FFT update time and cycle time and fallback to throttle estimate when update is too old
delay for longer in FFT thread between cycles to cope on F4
try really hard to get a viable frequency estimate
change range on MAXHZ/MINHZ to reflect that 50Hz is actually quite dangerous
swap the center peak for one of the shoulders if there is temporarily a closer match with the frequency trend
when FFT is disabled still log harmonic notch frequency
use distance matrix to find most appropriate peak
use a median filter to remove outliers before filtering
discount peaks that are relatively too low in energy
make sure harmonic fit is tracked for both potential targets
convert all gyro buffers to ObjectBuffer<float> for lock-free access
run all FFT steps inside the FFT thread
calculate cycle time and loop delay correctly
drop samples when the ring buffer is full
 2020-05-24 07:43:34 +10:00
Andy Piper
fab8168f5c AP_Arming: allow FFT to report failure reason. allow FFT check to be disabled. 
document FFT arming check and make sure the appropriate side effect happens regardless
 2020-05-24 07:43:34 +10:00
Andy Piper
8ac79da643 AP_InertialSensor: FFT gyro window would overflow on windows >= 256 
convert FFT buffers to ObjectBuffer<float> for lock-free access
push gyro samples directly into the FFT ring buffer from the gyro thread
 2020-05-24 07:43:34 +10:00
Andy Piper
d873ec4533 AP_Vehicle: separate gyrofft gyro sampling from fft initiation 
move FFT gyro sampling into fast loop for all vehicles
rename FFT update method
 2020-05-24 07:43:34 +10:00
Andy Piper
13e40a3002 AP_HAL_Empty: add harmonics to DSP 
add DSP vector mean function
add ObjectBuffer signature
 2020-05-24 07:43:34 +10:00
Andy Piper
33c1523905 AP_HAL_ChibiOS: add harmonics to DSP 
add vector_mean_float() to DSP
allow fft_start() to use ObjectBuffer<float> for lock-free access
 2020-05-24 07:43:34 +10:00
Andy Piper
ee87ef7013 AP_HAL_SITL: make harmonics part of DSP 
add vector mean function to dsp
allow fft_start() to use ObjectBuffer<float> for lock-free access
 2020-05-24 07:43:34 +10:00
Andy Piper
e2ef0bd36e AP_HAL: collect data for three largest peaks 
new dsp peak detection algorithm
add DSP sketch with frequency ascii art
tool to generate gyro data frames from batch sampled DF logs
add generated data from real Y6B flight
allow fft_start() to use ObjectBuffer<float> for lock-free access
allow ObjectBuffer to be resized
 2020-05-24 07:43:34 +10:00
Peter Barker
5bbb02e03b SITL: add support for simulated proximity sensors 2020-05-22 17:06:16 +10:00
Peter Barker
be9fc57e8f AP_HAL_SITL: add support for simulated RPLidarA2 2020-05-22 17:06:16 +10:00
Andy Piper
f5320e8816 AP_Compass: make sure SITL rotation gets initialized like all the others 
don't remove a custom rotation that has already been set
 2020-05-21 16:28:27 +10:00
bugobliterator
7b9f0f3fd7 HAL_ChibiOS: use FIFO mode instead of Queue mode in FDCAN driver 2020-05-21 15:32:53 +10:00
Gone4Dirt
b2d2bf61da AP_Motors: Support autorotation windows on external governors 2020-05-20 21:56:09 -04:00
Henry Wurzburg
23e7e2d193 AP_RangeFinder: rename Benewake types for easier identification 2020-05-21 08:45:30 +09:00
Paul Riseborough
af19fea268 AP_NavEKF2: Fix 3-axis mag fusion per axis error handling 
Ensure that if fusion checks for an axis fails, fusion will not be perfomred for all axes.
 2020-05-20 15:09:32 +10:00
Buzz
d4df145b4b ArduPlane: option to keep landing throttle at thr_min during flare and touchdown, not zero. 2020-05-20 11:29:45 +10:00
Buzz
dc3db0476b AP_Landing: option to keep landing throttle at thr_min during flare and touchdown, not zero. 2020-05-20 11:29:45 +10:00
Andy Piper
9f02b1b1a8 AP_NavEKF2: fix typo in comment 
Signed-off-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
 2020-05-20 07:29:31 +09:00
Andrew Tridgell
97f335396b AP_Scripting: fixed memory leak 2020-05-19 09:09:48 +10:00
Peter Hall
b368188b01 AP_Scripting: add AP_Logger binding 2020-05-19 09:09:48 +10:00
Peter Hall
be37a8a2b6 AP_Scripting: add example logging serial to dataflash 2020-05-19 09:09:48 +10:00
Peter Hall
11dc3e05e3 AP_Scripting: add SD file and dataflash logging example 2020-05-19 09:09:48 +10:00
Peter Hall
19ba9abc89 AP_Logger: add function and make public for scripting use 2020-05-19 09:09:48 +10:00
Peter Hall
aa657626f2 AP_Scripting: examples: plane-wind-fs: read in CRT_MAH 2020-05-18 11:25:13 -07:00
Paul Riseborough
939331ae8d AP_NavEKF3: Fix double iteration of axes in SelectMagFusion 2020-05-18 09:38:45 +10:00
bugobliterator
05fe49a51f AP_Math: disable INEXACT flag from Float exception 2020-05-17 16:12:43 +10:00
bugobliterator
07907ac81d HAL_SITL: fix gcc build on macosx 2020-05-17 16:12:43 +10:00
Mark Whitehorn
a54f286c1b SITL: fixed running of example programs 2020-05-16 11:06:35 +10:00
Peter Barker
115751833b AP_Logger: process pending rotate on arming 
If the user arms the vehicle during the logging-persist-timeout we
should rotate the log immediately.
 2020-05-15 16:02:09 +10:00
Randy Mackay
6c20264d9c AP_NavEKF3: minor comment fix 2020-05-15 11:23:07 +09:00
Randy Mackay
5ad3611142 AP_NavEKF3: improve ext nav glitch handling 
replaces extNavTimeout with posTimeout
replaces lastExtNavPassTime_ms with lastPosPassTime_ms
 2020-05-15 11:23:07 +09:00
Randy Mackay
b2dd6446c8 SITL: add comment to SIM_VICON 2020-05-15 10:07:52 +09:00
Randy Mackay
b71403c11a AP_VisualOdom: provide delay to ahrs:writeBodyFrameOdom 2020-05-15 10:07:52 +09:00
Randy Mackay
b2ad1caf75 AP_AHRS: writeBodyFrameOdom accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
ef02942459 AP_NavEKF3: writeBodyFrameOdom accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
69560ec147 AP_VisualOdom: provide delay to ahrs::writeExtNavData 2020-05-15 10:07:52 +09:00
Randy Mackay
762e82d49d AP_AHRS: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
c28fd27b02 AP_NavEKF3: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
f26a2a47b4 AP_NavEKF2: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
366d03a533 SITL: add VICON_YAWERR 
this allows simulating an error in the camera's reported yaw
 2020-05-15 09:22:07 +10:00
Randy Mackay
bf9ee4ada8 SITL: remove unused MAG_ERROR and VICON_HSTLEN params 2020-05-15 09:22:07 +10:00
Andrew Tridgell
fd32dff45a AP_IOMCU: force safety off on IOMCU reset 
if safety was forced off previously and we get an IOMCU reset then
force it off when the reset happens so vehicle can keep flying
 2020-05-14 18:28:50 +10:00
mhefny
9f56b656e0 SITL: Revamp Examples to support multiple drones 2020-05-14 18:05:16 +10:00
mhefny
5a64156862 SITL: SITL-Webots timing is received from Webots only 2020-05-14 18:05:16 +10:00
Paul Riseborough
318811210f AP_NavEKF3: Don't perform emergency yaw reset unless commanded externally 
This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
 2020-05-14 10:40:48 +10:00
Paul Riseborough
c94de61e29 AP_NavEKF2: Don't perform emergency yaw reset unless commanded externally 
This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
 2020-05-14 10:40:48 +10:00
Andrew Tridgell
fc28cd4fa2 GCS_MAVLink: fixed a ftp duplicate reply 
this fixes a bug in burst replies where the duplicate reply may have
the wrong offset. This causes the "paramftp bad type" error
 2020-05-14 09:53:42 +10:00
chobits
a7aa43f5d5 AP_NavEKF2: ext nav will not reset yaw if compass is used 2020-05-14 08:04:55 +09:00
Randy Mackay
45e6896d95 AP_NavEKF3: ensure extnav angle error is at least 5deg 2020-05-14 08:02:13 +10:00
Andy Piper
e9b939ccb5 AP_Scripting: build fix for macOS 2020-05-13 11:59:03 -07:00
Andrew Tridgell
36869f668b AP_Scripting: fixed build on cygwin with deep directories 2020-05-12 19:55:21 +10:00
Andrew Tridgell
50db7f1648 AP_Scripting: update README.md 2020-05-12 19:55:21 +10:00
Andrew Tridgell
9cf464e570 AP_Scripting: removed the old Makefile 2020-05-12 19:55:21 +10:00
Andrew Tridgell
2c6fd13899 AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
Andrew Tridgell
5c8e4a4d7b AP_Scripting: removed old generated bindings 2020-05-12 19:55:21 +10:00
Buzz
9d9fdd1cb0 AP_Scripting: add big demo script for editing and updating mission item/s from lua. 2020-05-12 14:20:26 +10:00
Buzz
816474b6e8 AP_Scripting: rebuild bindings 2020-05-12 09:58:14 +10:00
Buzz
963b25059d AP_Scripting: allow to get/set/create arbitrary mission items 
fetch item/s by their index, and review wp data, etc.  
AP_Mission: ran mission files through approved astyle  as they were non-compliant before this( astyle --options=Tools/CodeStyle/astylerc   )
 2020-05-12 09:58:14 +10:00
Andrew Tridgell
d16f31711e AP_RangeFinder: fixed mixing UAVCAN and non-UAVCAN rangefinders 
UAVCAN rangefinders add themselves to the frontend drivers as the
devices appear. If they turn up before RangeFinder::init() is run then
this prevented init() from scanning for the other rangefinders as
num_instances is non-zero

This also fixes a race condition in updating num_instances in the
UAVCAN backend
 2020-05-12 09:45:15 +10:00
Andrew Tridgell
603e5c4b55 AP_RangeFinder: added get_address() 
allows AP_Periph to supply sensor_id for multiple CAN rangefinders
 2020-05-11 18:36:46 +10:00
Peter Barker
5100c9fb8c GCS_Common: whitelist AUTOPILOT_VERSION for in_delay_callback sending 
GCSs may request this very early on in the boot process, particularly
for SITL.

If we try to send it during a delay callback then we end up dropping it
at the moment - but we'd already sent the ack in response to the
request.
 2020-05-11 15:22:38 +10:00
Peter Barker
ca4af94833 AP_Logger: prevent potential infinite recursion in log-open codepath 
If anything in start_new_log did logging (for example, by sending a
statustext), we end up infinitely recursing.

With the patch:

diff --git a/libraries/AP_Logger/AP_Logger_File.cpp b/libraries/AP_Logger/AP_Logger_File.cpp
index 69b8ef0431..eb422d10f8 100644
--- a/libraries/AP_Logger/AP_Logger_File.cpp
+++ b/libraries/AP_Logger/AP_Logger_File.cpp
@@ -778,6 +778,7 @@ void AP_Logger_File::PrepForArming()
  */
 void AP_Logger_File::start_new_log(void)
 {
+    gcs().send_text(MAV_SEVERITY_WARNING, "Starting new log");
     stop_logging();

     start_new_log_reset_variables();
pbarker@bluebottle:~/rc/ardupilot(master)$

We see:

    at ../../libraries/AP_Logger/AP_Logger_File.cpp:781
    this=0x555555ad9d30, pBuffer=0x7fffff8209d0, size=75, is_critical=true)
    at ../../libraries/AP_Logger/AP_Logger_Backend.cpp:372
    this=0x555555ad9d30, pBuffer=0x7fffff8209d0, size=75)
    at ../../libraries/AP_Logger/AP_Logger_Backend.h:32
    this=0x555555ad9d30, message=0x7fffff820b10 "Starting new log")
    at ../../libraries/AP_Logger/LogFile.cpp:466
    this=0x555555a6d758 <copter+11384>,
    message=0x7fffff820b10 "Starting new log")
    at ../../libraries/AP_Logger/AP_Logger.cpp:752
    this=0x555555a6e708 <copter+15400>, severity=MAV_SEVERITY_WARNING,
    fmt=0x5555557d64d0 "Starting new log", arg_list=0x7fffff820be0,
    dest_bitmask=1 '\001') at ../../libraries/GCS_MAVLink/GCS_Common.cpp:1847
    this=0x555555a6e708 <copter+15400>, severity=MAV_SEVERITY_WARNING,
    fmt=0x5555557d64d0 "Starting new log", arg_list=0x7fffff820be0)
    at ../../libraries/GCS_MAVLink/GCS.cpp:53
    this=0x555555a6e708 <copter+15400>, severity=MAV_SEVERITY_WARNING,
    fmt=0x5555557d64d0 "Starting new log")
    at ../../libraries/GCS_MAVLink/GCS.cpp:60
    at ../../libraries/AP_Logger/AP_Logger_File.cpp:781
    this=0x555555ad9d30, pBuffer=0x7fffff820dc0, size=75, is_critical=true)
    at ../../libraries/AP_Logger/AP_Logger_Backend.cpp:372

I'm not aware of any instances in the code where this will actually
happen - but it could easily sneak in.
 2020-05-11 15:12:36 +10:00
Henry Wurzburg
12d5602926 AP_HAL_ChibiOS: Add ability to use UART3 and UART4 in bd alt config 4 2020-05-11 14:18:35 +10:00
Peter Barker
50523ed0fa AP_HAL_ChibiOS: remove pointless initialisations 
These are never stack-allocated.

Only saves 16 bytes - but several lines
 2020-05-10 18:03:36 +10:00
Randy Mackay
67903a29e2 AP_NavEKF3: fix getLLH when no GPS 2020-05-10 15:35:55 +10:00
Randy Mackay
b95bc9076b AP_NavEKF2: fix getLLH when no GPS 2020-05-10 15:35:55 +10:00
Andrew Tridgell
2200dfefdb HAL_ChibiOS: during setup() we expect delays 
this may fix occasional internal errors on SPI during startup
 2020-05-10 15:12:43 +10:00
Andrew Tridgell
04e29d58e3 RC_Channel: avoid invalid misaligned access in example 2020-05-10 15:11:22 +10:00
Andrew Tridgell
5350ea5c58 AP_NavEKF3: avoid build warnings with g++ 9 2020-05-10 15:11:22 +10:00
Andrew Tridgell
3e853344f3 AP_Math: avoid build warnings 2020-05-10 15:11:22 +10:00
Andrew Tridgell
87c2858bde GCS_MAVLink: give banner on param download with ftp 
thanks to Peter for noticing
 2020-05-10 15:10:21 +10:00
Andrew Tridgell
259cb0aafd HAL_ChibiOS: removed EKF2 define, not needed any more 2020-05-10 15:09:54 +10:00
Andrew Tridgell
8868ac2d6f AP_AHRS: disable EKF2 by default on 1M boards 2020-05-10 15:09:54 +10:00
Andrew Tridgell
61d036acf3 HAL_ChibiOS: added build time check for right system clock 
this helps prevent cases where we underclock a chip due to mistake in
headers or hwdef.dat
 2020-05-10 15:09:28 +10:00
Andrew Tridgell
69676cd614 HAL_ChibiOS: support 24MHz f3 MCUs 2020-05-10 15:09:28 +10:00
Henry Wurzburg
3f735e7e54 HAL_ChibiOS: Make full UART4 available as bd config option 2020-05-10 08:00:57 +10:00
Henry Wurzburg
225a305cb9 AP_HAL_ChibiOS:Remove alt config since its not useful (no TX available) 2020-05-10 08:00:21 +10:00
Henry Wurzburg
8b3f07416c AP_NAVEKF3: change plane check_scaler value to match EKF2 value 2020-05-10 07:59:27 +10:00
Andrew Tridgell
cd5aae20c1 AP_NavEKF3: fixed scary message for non-compass planes 2020-05-09 12:33:33 +10:00
Andrew Tridgell
4a80313fdd AP_Compass: added get_num_enabled() 
used by EKF3
 2020-05-09 12:33:33 +10:00
Michael du Breuil
ceb0a9c827 AP_Airspeed: Rearrange state to save memory 
Saves 8 bytes per airspeed sensor (2 backends for 8 total), and removes
the unneeded width specifier, which has no impact on used memory, and
saves us 88 bytes of flash because we don't have to do work to shift the
bits around.
 2020-05-06 18:15:08 +10:00
Peter Barker
64e300a00c AP_Soaring: add documentation for VAR dataflash log message 2020-05-06 13:23:51 +10:00
Peter Barker
446dc61979 AP_InternalError: add warning on the internal error_t type 2020-05-06 13:23:15 +10:00
Peter Barker
70a9abfaff AP_InternalError: emit stringification of internal errors 2020-05-06 13:23:15 +10:00
Peter Barker
75514dfdfe AP_Arming: emit stringification of internal errors 2020-05-06 13:23:15 +10:00
Peter Barker
69093aa7b1 AP_Soaring: stop taking AHRS as constructor argument 
... use singleton instead
 2020-05-05 17:35:14 +10:00
Peter Barker
f1f30a2fee AP_UAVCAN: regularise CAN pre-arm failure messages 
AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
 2020-05-05 11:27:53 +10:00
Peter Barker
245b962d92 AP_PiccoloCAN: regularise CAN pre-arm failure messages 
AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
 2020-05-05 11:27:53 +10:00
Peter Barker
a6246a6afa AP_KDECAN: regularise CAN pre-arm failure messages 
AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
 2020-05-05 11:27:53 +10:00
Peter Barker
b38d2c6194 AP_Arming: regularise CAN pre-arm failure messages 
AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
 2020-05-05 11:27:53 +10:00
Andrew Tridgell
8ea433ac21 AP_Terrain: added script for creating terrain *.dat files 
useful for pre-populating a microSD card
 2020-05-05 11:21:33 +10:00
Andrew Tridgell
7b7bf3ef86 AP_Terrain: fixed bug in disk offset calculation 
this fixes a problem where two different locations could both be
mapped to the same disk block in the terrain/*.DAT files. That meant
that pre-filled terrain on the microSD card would sometimes require a
download in flight. It also means that a RTL with loss of GCS could
sometimes fly through a region with no terrain data available

Other changes in this patch:

 - allow for a 2cm discrepancy in the lat/lon of the grid
   corners. This is needed to allow for slightly different floating
   point rounding in tools that pre-generate terrain data to load on
   the microSD

 - added TERRAIN_OPTIONS parameter to allow the user to disable
   attempts to download new terrain data. This is mostly useful for
   testing to validate a terrain generator
 2020-05-05 11:21:33 +10:00
Tatsuya Yamaguchi
f23e592057 AP_Camera: move get_channel_pos function to RC_Channels 2020-05-05 10:09:30 +09:00
Tatsuya Yamaguchi
806bd38c7f RC_Channel: add get_channel_pos function 2020-05-05 10:09:30 +09:00
Tatsuya Yamaguchi
de854a2ffe AP_Arming: pre-arm check for disarm aux switch 2020-05-05 10:09:30 +09:00
Tatsuya Yamaguchi
4fdd24ecd3 RC_Channel: add disarm aux switch RCn_OPTION=81 2020-05-05 10:09:30 +09:00
Andy Piper
b7b2d9a6ce AP_Compass: add support for custom compass rotation via COMPASS_CUS_{ROLL,PIT,YAW} 
add reboot required for parameters that need it
disable custom rotation on AP_Periph devices
 2020-05-05 09:25:18 +10:00
Andy Piper
167e1d12d7 AP_RCProtocol: disable flow-control and buffered-writes for SRXL2 uart 
switched spm_srxl.c to C++ compilation
Correctly set budget for half-duplex writes
Tidy PACKED and other externalities
disable SRXL2 on IOMCU and softserial - SRXL2 is a serial half-duplex protocol-only
fixed buffer overrun in SRXL2 parser
fix bugs in decoder sketch and allow output to SITL
 2020-05-05 09:23:15 +10:00
Andy Piper
44e5171f2b AP_Frsky_Telem: refactor common code into AP_RCTelemetry 
refactor naming
when using external data AP_Frsky_Telem::init() has to call AP_RCTelemetry::init() and exit.
No need to initialize serial ports
 2020-05-05 09:23:15 +10:00
Andy Piper
e3a88f686d AP_RCTelemetry: Spektrum telemetry library and telemetry abstraction 
add support for temperature, battery voltage, battery current, flight pack
altitiude, airspeed, attitude and compass, GPS, ESC telemetry based on BLHeli
status messages and QOS packets.
refactor into AP_Telemetry
conditionally compile based on HAL_MINIMIZE_FEATURES
don't initialize spektrum telemetry if there is no RC uart
 2020-05-05 09:23:15 +10:00
Andy Piper
da166b256d GCS_MAVLink: add messages to Spektrum telemetry if it is enabled 2020-05-05 09:23:15 +10:00
Andy Piper
68c6a3b03d AP_RCProtocol: SRXL2 support 2020-05-05 09:23:15 +10:00
Peter Barker
967f8bf726 AP_HAL_ChibiOS: correct description of where stdout goes 2020-05-05 07:57:57 +10:00
david sastre
f8b6d4b0ac AP_Parachute: Fix singleton panic message 2020-05-05 07:43:02 +10:00
Andrew Tridgell
e126b6d346 HAL_ChibiOS: fixed race condition in storage write 
we could mark a line as clean when it should be dirty if we lose a
race condition between storage thread and writer
 2020-05-04 17:22:41 +10:00
Andrew Tridgell
0c1ba48212 AP_NavEKF3: fixed external yaw EK3_MAG_CAL=5 or 6 
don't use GSF
 2020-05-04 15:05:56 +10:00
Peter Barker
f43e48a6f1 AP_Filesystem: correct comparison of signed/unsigned 
Closes #14267
 2020-05-04 12:06:30 +10:00
Lucas De Marchi
29d8586ea4 AP_HAL_Linux: RCInput_UDP: accept up to 16 channels 
This allows more channels to be passed to RCInput_UDP protocol while
also allowing less than 8 channels - this is similar to the approach
used by SITL in which the packet size is used to figure out the number
of channels.
 2020-05-03 00:07:52 -07:00
Andrew Tridgell
f0fb64005d AP_Filesystem: document extra restrictions in param.pck 2020-04-30 21:15:28 +10:00
Andrew Tridgell
685d0666e9 AP_Filesystem: added README on VFS interface 2020-04-30 21:04:12 +10:00
Randy Mackay
183ce50138 AP_NavEKF3: check GPS used before resetting pos due to GPS receiver change 2020-04-30 15:55:59 +09:00
Randy Mackay
f79d5d2d2c AP_NavEKF3: handle external nav position reset 2020-04-30 15:55:59 +09:00
Randy Mackay
cbb25311bb AP_NavEKF3: setAidingMode uses lastExtNavPassTime_ms 2020-04-30 15:55:59 +09:00
Randy Mackay
d763597065 AP_NavEKF3: compensate for visual odometry sensor position 2020-04-30 15:55:59 +09:00
priseborough
c5e465aec9 AP_NavEKF3: add external nav system support 
includes decoupling height source from use of external nav data
 2020-04-30 15:55:59 +09:00
priseborough
471372cc7f AP_AHRS: Write external nav data to EKF3 2020-04-30 15:55:59 +09:00
Peter Barker
81454c7a40 GCS_MAVLink: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
58a8e54d83 AP_Math: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
7befe84f0c AP_Logger: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
f0b38fa11c AP_IOMCU: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
a30cdabb34 AP_InternalError: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
5f8a9d1e15 AP_HAL_SITL: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
141d7fed48 AP_HAL: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
48da4e523c AP_HAL_ChibiOS: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
37cddbeea6 AP_FlashStorage: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
8e82ea2540 AP_Common: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
119eef9954 AP_Arming: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
36fd632a49 AP_AHRS: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker
069bd04bdc AC_Fence: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
pkocmoud
defb7dc43f hwdef: add mRo M10070 Location One CAN GPS 2020-04-30 11:31:43 +10:00
Patrick José Pereira
3268c234d8 AP_HAL_Linux: Add PAGE_SIZE in RCInput_RPI 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-29 02:12:58 -07:00
Patrick José Pereira
32c0e37512 AP_HAL_Linux: Organize and document GPIO_RPI class 
- Move macros to functions and improve explanation about logic behind it
- Break code in functions to make it more readable
- Add doxygen comments about functions and how they work in a comprehensive manner
- Improve general code maintainability

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-29 02:12:58 -07:00
Andrew Tridgell
66655212b1 AP_Compass: fixed compass ordering bug with AP_Periph 
when a user swaps compasses on AP_Periph we want to immediately
replace it. The compass ordering code was rejecting the new compass
and calling panic as it was out of slots. This changes the AP_Compass
ordering so that when we only have a single compass we operate in a
very simple manner where we always accept the first compass found
 2020-04-29 18:51:16 +10:00
Andrew Tridgell
3ec2ef787d HAL_ChibiOS: fixed build warning 2020-04-29 12:20:19 +10:00
Andrew Tridgell
f00392d567 AP_GPS: don't accept a zero GNSS timestamp from UAVCAN GPS 
this is needed for a bug in AP_Periph 1.0 which could briefly send a
zero timestamp on first fix marked as a UTC time
 2020-04-29 12:20:19 +10:00
Andrew Tridgell
ce68e0fbb5 HAL_ChibiOS: fixed bootloader build 2020-04-29 07:36:55 +10:00
Andrew Tridgell
0ef66659ce HAL_ChibiOS: log WDOG message once a second 
this copes with delayed mounting of the microSD, making it much more
likely we log the critical data
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
7d6e5fa8a5 AP_InternalError: implement AP_stack_overflow() C binding 
allow low level HAL code to report a stack overflow to
AP_InternalError
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
18e88e0ea3 HAL_ChibiOS: implement stack overflow hook 
this needs C bindings to allow call from low level RTOS thread
switching code
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
77b8f88289 AP_Vehicle: report thread name in watchdog mavlink msg 2020-04-29 07:36:55 +10:00
Andrew Tridgell
c61cecdbc7 HAL_ChibiOS: report thread name in watchdog 2020-04-29 07:36:55 +10:00
Andrew Tridgell
09477b2dfe HAL_ChibiOS: shorted thread names 
changes names so threads can be distinguished by first 4 bytes
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
a25ea5addc AP_HAL: added thread name to persistent data 
this addes the first 4 bytes of the thread name to persistent data. It
also re-arranges the data so that it is more efficiently packed,
allowing us to fit the new field
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
b519ebf512 AP_Filesystem: check for valid range for start and count 2020-04-29 07:36:55 +10:00
Andrew Tridgell
7571e616de GCS_MAVLink: handle session timeout due to lost packets 
and fixed handling of losing last pkt in a burst
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
db0d3c5e89 AP_Param: fixed race in param count handling 2020-04-29 07:36:55 +10:00
Andrew Tridgell
65e790a48c GCS_MAVLink: invalidate param count on set of ENABLE param 2020-04-29 07:36:55 +10:00
Andrew Tridgell
ffe9fa22a1 AP_RangeFinder: invalidate param count when changing param tree structure 2020-04-29 07:36:55 +10:00
Andrew Tridgell
d7555b4b86 AP_BoardConfig: invalidate param count when changing param tree structure 2020-04-29 07:36:55 +10:00
Andrew Tridgell
766fb32292 AP_Param: added set_enable() API 
used to set value of an enable parameter, clearing count cache
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
7e010ef50a AP_NavEKF3: use set_enable() to set enable flag 2020-04-29 07:36:55 +10:00
Andrew Tridgell
c9ffe8dcea AP_NavEKF2: use set_enable() to set enable flag 2020-04-29 07:36:55 +10:00
Andrew Tridgell
f6d83069d3 AP_Filesystem: guarantee padding and added URI options 2020-04-29 07:36:55 +10:00
Andrew Tridgell
3608bfe272 AP_Filesystem: added magic header for param.pck 2020-04-29 07:36:55 +10:00
Andrew Tridgell
65749706c2 AP_Filesystem: fixed SITL build 2020-04-29 07:36:55 +10:00
Andrew Tridgell
a5965d5a9e HAL_Chibios: removed unnecessary debug defines 2020-04-29 07:36:55 +10:00
Andrew Tridgell
9b14fa7ed9 AP_Filesystem: enable @PARAM, @ROMFS and @SYS with no microSD 2020-04-29 07:36:55 +10:00
Andrew Tridgell
7cd901fa5b GCS_MAVLink: enable ftp without filesystem 
allows for @PARAM and @SYS
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
2c26807736 HAL_ChibiOS: embed hwdef.dat in ROMFS for all boards 2020-04-29 07:36:55 +10:00
Andrew Tridgell
bd07e8516f Filter: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
3397ea24cc AP_RTC: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
b102fd6b59 AP_RangeFinder: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
9350c78023 AP_HAL_ChibiOS: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
4f591a338f AP_GPS: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
660f65e6b8 AP_Compass: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
40f1b5f9ae AP_Airspeed: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
6811d79b6f GCS_MAVLink: define GCS_SEND_TEXT() globally 
used to avoid linking GCS in AP_Periph
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
6bacf021c8 HAL_ChibiOS: disable thread_info in AP_Periph and bootloader 2020-04-29 07:36:55 +10:00
Andrew Tridgell
d82cd1363b HAL_ChibiOS: fixed bootloader build 2020-04-29 07:36:55 +10:00
Andrew Tridgell
cd3b4dcc7d AP_Filesystem: added @SYS filesystem backend 2020-04-29 07:36:55 +10:00
Andrew Tridgell
f0c9f4003e HAL_ChibiOS: implement thread_info() 2020-04-29 07:36:55 +10:00
Andrew Tridgell
164022ca12 AP_HAL: added thread_info() API 2020-04-29 07:36:55 +10:00
Andrew Tridgell
67fc23d01b AP_Filesystem: support downloading parameters via ftp 
adds @PARAM/param.pck as a packed file of all parameters
 2020-04-29 07:36:55 +10:00
Andrew Tridgell
456b685779 AP_Param: make type_size() public 2020-04-29 07:36:55 +10:00
Andrew Tridgell
ea71b72c87 HAL_ChibiOS: fixed issue with I2C4 on H743 
when both I2C4 and SPI4 are active on a H743 I found that some BDMA
completion interrupts were lost, which resulted in SPI transfer
timeouts. Close inspection of the ChibiOS BDMA, I2Cv3 and SPIv3
drivers did not reveal any issues, but I found that the issue only
happened when the first 4 BDMA streams were used. This change splits
the 4 streams across the first and 2nd half of the BDMA controller,
and that fixes the problem.

This works as there are only 2 peripherals (I2C4 and SPI6) that want
to use BDMA with our current setup. If we ever wish to enable ADC3
(which also uses BDMA) we will need to revisit this issue
 2020-04-28 17:42:15 +10:00
Randy Mackay
d8bc197d35 SITL: add VICON_GLIT_XYZ, FAIL and YAW 
glitches are in meters in vicon's frame
fail disables sending of vision-position-estimate messages
yaw is the vicon's heading in degrees.  i.e. if vicon's "forward" is
pointing to the east, yaw should be set to 90
 2020-04-28 12:31:14 +09:00
Paul Riseborough
ad5ae1813d AP_NavEKF3: Don't use geomag data when user specifies declination 2020-04-28 11:42:31 +09:00
Paul Riseborough
e1f27054d5 AP_NavEKF2: Don't use geomag data when user specifies declination 2020-04-28 11:42:31 +09:00
Paul Riseborough
8e9dc1c393 AP_Compass: Add accessor function for COMPASS_AUTODEC 2020-04-28 11:42:31 +09:00
Andrew Tridgell
b1977ca43d AP_Scripting: removed old servo output binding 2020-04-28 11:14:26 +10:00
Andrew Tridgell
d214e379a2 AP_Scripting: rebuild bindings 2020-04-28 11:14:26 +10:00
Andrew Tridgell
ea9316c2b5 AP_Scripting: added servo movement example script 2020-04-28 11:14:26 +10:00
Andrew Tridgell
ca584943a5 AP_Scripting: added bindings for servo output 2020-04-28 11:14:26 +10:00
Arash Negahdar
98dfc69887 SITL: Don't start scrimmage from ArduPilot 2020-04-28 11:09:51 +10:00
Mark Whitehorn
570aa929ca AP_Compass: handle ROTATION_CUSTOM in SITL 2020-04-28 10:57:26 +10:00
Mark Whitehorn
db1c7d9bdd SITL: add support for AHRS_ORIENTATION=ROTATION_CUSTOM 2020-04-28 10:57:26 +10:00
Mark Whitehorn
7d3d664ddf AP_Math: generate internalError on call to Vector3<T>::rotate and Quaternion::from_rotation with bad rotation value 2020-04-28 10:52:21 +10:00
Mark Whitehorn
b658a84124 AP_InternalError: add error type bad_rotation 2020-04-28 10:52:21 +10:00
bnsgeyer
ce171107a3 SITL: update tradheli dynamics model for SITL 2020-04-28 10:45:33 +10:00
Kelly Schrock
2cb54bb11d AP_BattMonitor: NeoDesign battery driver 
Adds a driver for the NeoDesign BMS, with variable cell count.
 2020-04-28 10:39:57 +10:00
Randy Mackay
8caf7d5811 AP_AHRS: add set_alt_measurement_noise 
These calls the EKF2 and EKF3's set_baro_alt_noise
 2020-04-28 09:38:23 +09:00
Michael du Breuil
9b404669c8 AP_Compass: Skip rotating the mag data when the board orientation is none 2020-04-28 10:37:00 +10:00
Andrew Tridgell
32cdfddf12 HAL_ChibiOS: convert all hwdef from UART_ORDER to SERIAL_ORDER 
much easier to understand
 2020-04-28 10:32:23 +10:00
Andrew Tridgell
a52070d226 HAL_ChibiOS: use SERIAL_ORDER instead of UART_ORDER 
SERIAL_ORDER is much easier for developers to understand as it maps
directly to the SERIALn_ parameters
 2020-04-28 10:32:23 +10:00
Andrew Tridgell
0994655f5b HAL_ChibiOS: fixed build warnings for bootloader builds 2020-04-28 10:32:23 +10:00
Andrew Tridgell
9557a5c22c HAL_ChibiOS: added more STM32CubeMX configs 2020-04-28 10:32:23 +10:00
Andrew Tridgell
a9df9fe0c0 HAL_ChibiOS: removed clock tree settings in most hwdef.dat 
these are better set automatically in the headers. This simplifies the
task of doing a new port
 2020-04-28 10:32:23 +10:00
Andrew Tridgell
a638196334 HAL_ChibiOS: skyviper-f412-rev1 uses a custom clock tree 2020-04-28 10:32:23 +10:00
Andrew Tridgell
e8b2b52bae HAL_ChibiOS: removed STM32_VDD from hwdef.dat 
use default
 2020-04-28 10:32:23 +10:00
Andrew Tridgell
d9efac2993 HAL_ChibiOS: only allow PLL override in clock selection part of header 2020-04-28 10:32:23 +10:00
Andrew Tridgell
fe765b8845 HAL_ChibiOS: switched CUAV_GPS to use same clocks as other F4 2020-04-28 10:32:23 +10:00
Andrew Tridgell
82c45f6cdb HAL_ChibiOS: default STM32_VDD to 3.3V 2020-04-28 10:32:23 +10:00
Andrew Tridgell
29f538dec9 HAL_ChibiOS: use common header for STM32 clock config 
avoid the need for clock config lines in most hwdef.dat files
 2020-04-28 10:32:23 +10:00
Andrew Tridgell
3d5475a1d9 HAL_ChibiOS: fixed skyviper-journey build 2020-04-28 10:32:23 +10:00
Andrew Tridgell
bceee69a6c AP_Filesystem: avoid some warnings in AP_Scripting 2020-04-28 10:32:23 +10:00
Andrew Tridgell
6222649e37 AP_Scripting: avoid build warnings 2020-04-28 10:32:23 +10:00
Andrew Tridgell
764117c336 AP_BoardConfig: fixed build warning 2020-04-28 10:32:23 +10:00
Andrew Tridgell
bb87da628e AP_Param: fixed build warning 2020-04-28 10:32:23 +10:00
Randy Mackay
2ae31f9d76 AP_AHRS: get_position obeys always_use_EKF 
Co-Authored-By: WickedShell <Wicked.Shell.Scripts@gmail.com>
 2020-04-28 09:20:05 +09:00
Leonardo Mariga
0f92cb9168 AP_Landing: Description of APP_EXT and unit of L1 fixed 2020-04-28 09:59:12 +10:00
Peter Barker
9142f877e7 AP_Mount: use logger Write method for logging Solo gimbal 
Also document the messages
 2020-04-28 09:56:09 +10:00
Peter Barker
ad9493caca AP_Logger: use logger Write method for logging Solo gimbal 
Also document the messages
 2020-04-28 09:56:09 +10:00
Iampete1
3618607746 AP_Proximity: AirSimSITL: fix left right swap 2020-04-28 09:37:59 +10:00
Andy Piper
8407648316 Filter: make sure the center frequency can never be zero 2020-04-28 09:32:02 +10:00
Andy Piper
d0a241597a AP_InertialSensor: add support for double harmonic notches to more effectively target wider noise peaks 2020-04-28 09:32:02 +10:00
Andy Piper
1dbde3af09 Filter: add support for double harmonic notches to more effectively target wider noise peaks 2020-04-28 09:32:02 +10:00
Willian Galvani
cf6f5502a4 SITL: Make Sub buoyancy a parameter 2020-04-27 12:48:52 -07:00
Randy Mackay
90db3d6317 AP_NavEKF2: minor comment fix 2020-04-27 19:15:43 +09:00
Peter Barker
830176f2f4 AP_Logger: remove unused SBFE 2020-04-27 16:16:50 +10:00
Peter Barker
26b88823f4 GCS_MAVLink: correct out-of-space-to-send call in HAVE_PAYLOAD_SPACE 2020-04-27 15:30:30 +10:00
Peter Barker
8b0b644c11 GCS_MAVLink: correct check for payload space for COMMAND_ACK 2020-04-27 15:30:30 +10:00
Peter Barker
668e0d0e65 GCS_MAVLink: check for empty replies queue first thing in send_ftp_replies 
Will save us a little time on average
 2020-04-27 15:30:30 +10:00
Andrew Tridgell
7320cd3174 HAL_ChibiOS: fixed assert in wait_pin() 2020-04-27 14:01:04 +10:00
Randy Mackay
1498e4c037 AC_AttitudeControl: remove unused macro 2020-04-27 09:39:46 +09:00
Randy Mackay
46ad31ad01 AC_Circle: add is_active 
allows vehicle code to know if circle's yaw is valid
 2020-04-27 09:39:46 +09:00
murata
a8af4b2937 AP_Beacon: Change the tab code to whitespace 2020-04-27 09:32:56 +09:00
murata
c713a984da AP_WheelEncoder: Change the tab code to whitespace 2020-04-27 09:32:15 +09:00
murata
1a346e5b19 AP_VisualOdom: Change the tab code to whitespace 2020-04-27 09:30:00 +09:00
murata
1fdcab2b5a AP_Parachute: Change the tab code to whitespace 2020-04-27 09:29:45 +09:00
murata
dec231348e AP_OpticalFlow: Change the tab code to whitespace 2020-04-27 09:29:39 +09:00
murata
509d376c29 AP_Motors: Change the tab code to whitespace 2020-04-27 09:29:32 +09:00
murata
cd981695a6 AP_Mission: Change the tab code to whitespace 2020-04-27 09:29:25 +09:00
murata
28ccc167f7 AP_LandingGear: Change the tab code to whitespace 2020-04-27 09:29:18 +09:00
murata
03e658772a AP_IRLock: Change the tab code to whitespace 2020-04-27 09:29:11 +09:00
murata
3967c46c1a AP_Gripper: Change the tab code to whitespace 2020-04-27 09:29:02 +09:00
murata
a3278c73e3 AC_Sprayer: Change the tab code to whitespace 2020-04-27 09:28:51 +09:00
Ivannikov Kirill
3ab1b29397 AP_HAL_ChibiOS: error if system clock not 1mhz on 16 CH_CFG_ST_RESOLUTION. prevent variable overflow 
if CH_CFG_ST_FREQUENCY not match 1000000U on 16 bit CH_CFG_ST_RESOLUTION
we try to multiply now *= 1000000U/CH_CFG_ST_FREQUENCY; it may overflow 16 bit value.
 2020-04-26 19:58:54 +10:00
Peter Barker
f882bd0c3e AP_Logger: remove unused UBY1/UBY2 messages 
These appear to have been replaced with instance fields on the UBX1 and
UBX2 messages.

Also mark the Instance field on UBX1, UBX2 as an instance field.
 2020-04-26 11:35:04 +10:00
Peter Barker
7e3c9c209e AP_Logger: document GPSB and GPAB 2020-04-26 09:02:39 +10:00
Peter Barker
6b232ee515 AP_Baro: add documentation for ICBM message (ICM20789 diagnostics) 2020-04-26 09:02:39 +10:00
Randy Mackay
91a79543c9 AP_NavEKF3: getLLH fix when no GPS available 2020-04-24 20:29:18 +09:00
Randy Mackay
2919491298 AP_NavEKF2: getLLH fix when no GPS available 2020-04-24 20:29:18 +09:00
Andrew Tridgell
d9e2a644ea HAL_ChibiOS: fixed Durandal buzzer in bootloader 
need to pull low to avoid buzzer running in bootloader
 2020-04-24 19:46:22 +10:00
bugobliterator
b94f089984 HAL_ChibiOS: improve throughput of slcan router 2020-04-24 19:39:18 +10:00
Randy Mackay
585c806618 AP_AHRS: add get_primary_core_index 2020-04-24 18:18:05 +09:00
Randy Mackay
6e93f54cff AP_NavEKF2: handle external nav position resets 2020-04-24 18:16:52 +09:00
Randy Mackay
990313371d AP_NavEKF2: minor comment fixes 2020-04-24 18:16:52 +09:00
Randy Mackay
43c9e13372 AP_NavEKF2: rename HGT_SOURCE_EV to HGT_SOURCE_EXTNAV 
presumably EV stands for ExternalVision but we normally refer to this source as External Nav
 2020-04-24 18:16:52 +09:00
Randy Mackay
014c889ceb AP_NavEKF2: setAidingMode uses lastExtNavPassTime_ms 2020-04-24 18:16:52 +09:00
Randy Mackay
3b20623a31 AP_NavEKF2: remove unused ext nav elements 2020-04-24 18:16:52 +09:00
Peter Barker
3440a64b66 AP_NavEKF3: correct description on XKY0 2020-04-24 18:08:14 +10:00
Peter Barker
aa3165b71c AP_NavEKF3: remove incorrect units from yaw esimtator LoggerMessage 2020-04-24 18:08:14 +10:00
Peter Barker
7dfc285f2a AP_NavEKF2: remove incorrect units from yaw esimtator LoggerMessage 2020-04-24 18:08:14 +10:00
Andrew Tridgell
43ac58c63b HAL_ChibiOS: added STM32CubeMX configs for H7 processor crystal varients 
useful for checking clock config changes
 2020-04-24 16:55:03 +10:00
Andrew Tridgell
db642717be HAL_ChibiOS: fixed clock for FDCAN to be below 80MHz 
we were running at 100MHz, which is out of spec
 2020-04-24 16:55:03 +10:00
Andrew Tridgell
2c68ce1986 HAL_ChibiOS: fixed clock source for FDCAN 
use selected source and add 80MHz limit, as per manual and latest STM32CubeMX tool
 2020-04-24 16:55:03 +10:00
Tatsuya Yamaguchi
c4fe6fce1c AP_Arming: make RC check message clearer 2020-04-24 10:52:33 +09:00
Andrew Tridgell
43ef8a192b AP_NavEKF3: added missing log documentation for field C 2020-04-24 09:43:23 +10:00
Andrew Tridgell
d8c533e7ab AP_NavEKF2: added missing log documentation for field C 2020-04-24 09:43:23 +10:00
Paul Riseborough
8f1b732d79 AP_NavEKF2: Add documentation for GSF logging 2020-04-24 09:43:23 +10:00
Paul Riseborough
1720c8de0f AP_NavEKF3: Add documentation for GSF logging 2020-04-24 09:43:23 +10:00
Paul Riseborough
9bdb89474a AP_NavEKF3: Use unique names for EKF2 logging 2020-04-24 09:43:23 +10:00
Paul Riseborough
49e4c799d3 AP_NavEKF2: Use unique names for EKF2 logging 2020-04-24 09:43:23 +10:00
Andrew Tridgell
080f555b16 AP_NavEKF3: remove unused isDeltaYaw param from resetQuatStateYawOnly 2020-04-24 09:43:23 +10:00
Andrew Tridgell
197d31e9cc AP_NavEKF3: fixed in-flight yaw reset 2020-04-24 09:43:23 +10:00
Randy Mackay
86d221708c AP_NavEKF3: more white space fixes 2020-04-24 09:43:23 +10:00
Randy Mackay
4d7e7a960a AP_NavEKF2: more white space fixes 2020-04-24 09:43:23 +10:00
Randy Mackay
a43beaaa23 AP_NavEKF: GSF white space fixes 2020-04-24 09:43:23 +10:00
Randy Mackay
0fb233ed4b AP_NavEKF2: minor comment fixes 2020-04-24 09:43:23 +10:00
Randy Mackay
c1ef894a30 AP_NavEKF3: getDataEKFGSF and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Randy Mackay
a9cbd5aa29 AP_NavEKF2: getDataEKFGSF and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Randy Mackay
1ee9f3a6de AP_NavEKF: GSF getLogData and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Randy Mackay
8a8271c2c7 AP_NavEKF3: minor format fixes 2020-04-24 09:43:23 +10:00
Randy Mackay
d61c517e76 AP_NavEKF2: minor format fix 2020-04-24 09:43:23 +10:00
Randy Mackay
ed3d072318 AP_NavEKF3: rename GSF_RUN_MASK, GSF_USE_MASK, GSF_RST_MAX 2020-04-24 09:43:23 +10:00
Randy Mackay
91ef87064a AP_NavEKF2: rename GSF_RUN_MASK, GSF_USE_MASK, GSF_RST_MAX 2020-04-24 09:43:23 +10:00
Paul Riseborough
7ba39c844c AP_NavEKF3: Split GSF yaw estimator processing 
Separate prediction and correction steps are required to provide an up to
 2020-04-24 09:43:23 +10:00
Paul Riseborough
abc821ad36 AP_NavEKF2: Split GSF yaw estimator processing 
Separate prediction and correction steps are required to provide an up to date yaw estimate using IMU prediction before it may be required by SelectMagFusion() whilst still doing the velocity update after GPS data haw been pulled from the buffer by SelectVelPosFusion()
 2020-04-24 09:43:23 +10:00
Andrew Tridgell
216935c1f2 AP_NavEKF3: fixed loss of GPS fusion 
we must not do a storedGPS.recall unless we will be using the data,
otherwise we will lose GPS samples and risk stopping GPS fusion
 2020-04-24 09:43:23 +10:00
Andrew Tridgell
c83e2d7c0e AP_NavEKF2: fixed loss of GPS fusion 
we must not do a storedGPS.recall unless we will be using the data,
otherwise we will lose GPS samples and risk stopping GPS fusion
 2020-04-24 09:43:23 +10:00
Andrew Tridgell
6c3889b04f AP_NavEKF2: fixed typos 2020-04-24 09:43:23 +10:00
Andrew Tridgell
3edbe81b1e AP_NavEKF2: removed 2nd set of imuSampleTime_ms 2020-04-24 09:43:23 +10:00
Paul Riseborough
9f5e037015 AP_NavEKF3: Restore bug fix lost during rebase 2020-04-24 09:43:23 +10:00
Paul Riseborough
6952d83f00 AP_NavEKF2: Fix casting build error 2020-04-24 09:43:23 +10:00
Paul Riseborough
53df8a0238 AP_NavEKF3: Fix timer wrapping bug 2020-04-24 09:43:23 +10:00
Paul Riseborough
0d965d2a1c AP_NavEKF2: Fix timer wrapping bugs 
Also replaces tab characters
 2020-04-24 09:43:23 +10:00
Paul Riseborough
12d639fc17 AP_NavEKF3: Misc changes arising from review 
AP_NavEKF3: Fix typo in comment

AP_NavEKF3: Use uint32_t data type for msec timers

AP_NavEKF3: Misc msec timer fixes

Fix wrapping bug.
Use common timestamp.

AP_NavEKF3: Format fixes - remove tabs

AP_NavEKF3: Fix typing and wrap issue on time comparison
 2020-04-24 09:43:23 +10:00
Paul Riseborough
51b62a34b9 AP_NavEKF: Use better type for array index 2020-04-24 09:43:23 +10:00
Paul Riseborough
4b3952bd15 AP_NavEKF3: Eliminate unnecessary function call 2020-04-24 09:43:23 +10:00
Paul Riseborough
6ec69e6ed1 AP_NavEKF3: Update EK3_MAG_CAL parameter advice 2020-04-24 09:43:23 +10:00
Paul Riseborough
a66479104d AP_AHRS: fix failure to arm when not using compass for yaw 2020-04-24 09:43:23 +10:00
Andrew Tridgell
6b6f083bf2 RC_Channel: added lane switch RCn_OPTION=103 
RC_Channel: added yaw reset switch RCn_OPTION=104
 2020-04-24 09:43:23 +10:00
Paul Riseborough
22c2ea7cbf AP_AHRS: Add accessor function for EKF yaw reset request 
AP_AHRS: Send yaw reset request to EKF2
 2020-04-24 09:43:23 +10:00
Paul Riseborough
9cf75bf22e AP_AHRS: Enable EKF3 default airspeed to be set 
AP_AHRS: Send default airspeed to EKF2
 2020-04-24 09:43:23 +10:00
Paul Riseborough
de0040ad69 AP_NavEKF2: Enable use of EKF-GSF yaw estimate 
Enables the yaw to be reset in flight to a value estimated from a specialised yaw estimator. This allows faster recovery if taking off with a bad magnetometer and also allows yaw alignment and GPS use to commence in-air when operating without any yaw sensing.

AP_NavEKF2: Add missing accesor functions for default airspeed
 2020-04-24 09:43:23 +10:00
Paul Riseborough
863f989130 AP_NavEKF3: Fix integration of GPS yaw options 
AP_NavEKF3: fix failure to arm with EK3_MAG_CAL = 7

AP_NavEKF3: Fix failure to arm when not using magnetometer

AP_NavEKF3: Reduce yaw drift when EK3_MAG_CAL = 7
 2020-04-24 09:43:22 +10:00
Paul Riseborough
410b5825fb AP_NavEKF3: Enable use of EKF-GSF yaw estimate 
AP_NavEKF3: Add emergency yaw reset using a Gussian Sum Filter estimate

AP_NavEKF3: Reduce default minimum GPS velocity noise for Copters

Enables fail-safe to be set with more sensitivity and improves tracking accuracy.
Origin values were set using typical GPS performance for receivers on sale 6 years ago. Receiver performance has improved since then.

AP_NavEKF3: Prevent constant mag anomaly yaw resets

Prevents constant magnetic anomaly induced resets that can be triggered when flying with vehicle generated magnetic interference.
Allows for two resets per takeoff. Allowance for two resets is required, becasue a large ground based magnetic yaw anomaly can cause a sufficiently large yaw innovation that two resets in close succession are required.

AP_NavEKF3: Add option to fly without magnetometer

AP_NavEKF3: Rework emergency yaw reset logic

Use a separate external accessor function to request the yaw reset.
Allow reset requests to remain active for a defined period of time.
Tidy up reset function to split out accuracy check.

AP_NavEKF3: Fix vulnerability to lane switch race condition

Prevents the situation where a lane switch results in a lane being selected that does not have the correct yaw. This can occur if the primary lane becomes unhealthy before the external failsafe monitor has time to react.

AP_NavEKF3: Fix EKF_MAG_CAL = 6 behaviours

Fix bug causing the yaw alignment to be performed at startup before the GSF had a valid estimate.
Fix bug causing emergency yaw message to be output for a normal reset.
Fix vulnerability to reported negative yaw variance.
Remove duplicate timer checks.

AP_NavEKF3: Update EK3_MAG_CAL documentation

AP_NavEKF3: Relax yaw gyro bias convergence check when not using mag

AP_NavEKF3: Reduce yaw drift in hover with no yaw sensor

Uses the GSF yaw estimate if available which is better than the EKF's own yaw when no yaw sensor is available.
 2020-04-24 09:43:22 +10:00
Paul Riseborough
6bb7c55bba AP_NavEKF: Add yaw estimator class using Gaussian Sum Filter 
AP_NavEKF: Simplify centripetal accel correction
 2020-04-24 09:43:22 +10:00
Peter Barker
eee0f028ba AP_Logger: fix examples 
Having a valid AP_Scheduler is now a requirement
 2020-04-23 11:33:41 +09:00
Andrew Tridgell
4ec1717361 HAL_ChibiOS: enable IMU temp control on CUAV-X7 2020-04-23 09:05:52 +10:00
Andrew Tridgell
56b0dddb7c HAL_ChibiOS: set IMU temp on CUAV-X7 2020-04-23 07:28:13 +10:00
Andrew Tridgell
5892e6421e HAL_ChibiOS: enable DRDY on ADIS16470 on CUAV-X7 2020-04-23 07:28:13 +10:00
Andrew Tridgell
ffe773ff6f HAL_ChibiOS: use DRDY pin for ADIS16470 on mRoNexus 2020-04-23 07:28:13 +10:00
Andrew Tridgell
5c6749ee54 AP_InertialSensor: use wait_pin() to wait for DRDY pin if available 2020-04-23 07:28:13 +10:00
Andrew Tridgell
450871cde1 HAL_ChibiOS: added wait_pin() implementation 2020-04-23 07:28:13 +10:00
Andrew Tridgell
34df438560 AP_HAL: added wait_pin() API 
for waiting on data-ready lines
 2020-04-23 07:28:13 +10:00
Andrew Tridgell
8e977183fe HAL_ChibiOS: added mRoNexus 2020-04-23 07:28:13 +10:00
Randy Mackay
6f8176c71e GCS_MAVLink: remove ahrs3 2020-04-22 14:11:17 +09:00
Mark Whitehorn
dbfbe50737 SITL: update flightaxis defaults 2020-04-22 12:36:03 +10:00
Randy Mackay
47c7c8fb53 RC_Channel: rover option param desc gets Viso Align 2020-04-22 10:34:18 +09:00
Peter Barker
653b554a31 SITL: add simulated mavlink-attached rangefinder 2020-04-21 20:44:59 +10:00
Peter Barker
185bc68476 AP_HAL_SITL: add simulated mavlink-attached rangefinder 2020-04-21 20:44:59 +10:00
Andrew Tridgell
6be519fb0d HAL_ChibiOS: added alt-config for UART4 on omnibusf4pro 2020-04-21 18:42:12 +10:00
Andrew Tridgell
6347d0adb0 AP_GPS: leave uart2 config enabled when using uart2 MB setup 2020-04-21 15:30:54 +10:00
Andrew Tridgell
f3a5d915f3 AP_GPS: allow for larger average delta on MB rover than normal 2020-04-21 15:30:54 +10:00
Andrew Tridgell
36098c3221 AP_GPS: improved delay health threshold 
allow for missing frames without showing unhealthy on GCS
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
3397ed766d AP_GPS: enable ublox moving baseline compilation option 
disable for HAL_MINIMIZE_FEATURES and if max receivers 1. This fixes
the f103-GPS AP_Periph build
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
ae2132d861 AP_GPS: added check for Z error in moving baseline ublox 
this ensures we don't get bad yaw from having the right distance but
incorrect Z offset for the currently expected roll/pitch
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
7027eecd34 AP_GPS: added GPS_DRV_OPTIONS 
this allows for configuration of moving baseline with either uart1 or
uart2 for the RTCM data. Using uart2 requires an extra cable between
the two modules, but requires less uart bandwidth which is good when
DMA channels are low. Using uart2 also avoids the rtcmv3 parser, which
saves memory
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
9a6de209ab AP_GPS: ensure that PVT and RELPOSNED msgs time align 
this ensures we wait until we have a matching PVT and RELPOSNED
message before we report new data. If we stop receiving RELPOSNED
messages then disable yaw support
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
3fbeae613b AP_GPS: fixed moving baseline yaw calculation 
this reverts #13955 and instead applies the correct fix, which is to
subtract the angle instead of adding.
 2020-04-21 15:30:54 +10:00
Randy Mackay
3195a7cccd AC_Circle: z-axis target only updated during terrain following 
This allows the circle flight mode to externally control the altitude target
 2020-04-21 11:39:38 +09:00
murata
2af70f5e60 AP_Arming: Display mag field value 2020-04-21 10:51:48 +09:00
Randy Mackay
35dcb0d752 AP_NavEKF2: CorrectExtNavForSensorOffset made const 2020-04-21 10:21:23 +10:00
Randy Mackay
7470bc9994 AP_NavEKF3: CorrectGPSForAntennaOffset made const 
also reduce scope of call to slightly reduce CPU load
 2020-04-21 10:21:23 +10:00
Randy Mackay
85704e4989 AP_NavEKF2: CorrectGPSForAntennaOffset made const 
also reduce scope of call to slightly reduce CPU load
 2020-04-21 10:21:23 +10:00
Peter Barker
87108b86c8 AP_NavEKF3: add documentation for XKFM message 2020-04-21 09:48:43 +10:00
Peter Barker
a83c25cfa7 AP_Logger: add documentation for EKF messages 
NKF0, NKF1, NKF2, NKF3, NKF4, NKF5, NKQ

XKF0, XKF1, XKF2, XKF3, XKF4, XKF5, XKFD, XKQ, XKV1, XKV2
 2020-04-21 09:48:43 +10:00
Peter Barker
cda0d14f57 SITL: add documentation for SITL and SMOO message 2020-04-21 09:48:43 +10:00
Rishabh
6a98ab569e AC_PosControl: Replace update_vel_controller_xy() with update_xy_controller() 2020-04-21 09:22:45 +10:00
Andrew Tridgell
7e835d1037 AP_RCProtocol: fixed buffer overflow in st24 parser 
found using random data injection in SITL
 2020-04-21 06:02:29 +10:00
Peter Barker
59c02816b8 AP_HAL_SITL: find dumpstack when run from vehicle subdirectory 2020-04-20 14:25:08 +10:00
murata
bd688ef412 AP_ToshibaCAN: Using the maximum number of ESCs definition 
AP_ToshibaCAN: Using the maximum number of ESCs definition
 2020-04-20 10:12:57 +09:00
Andrew Tridgell
02aebfcd6f AP_Baro: fixed build warning 2020-04-20 07:10:21 +10:00
Andrew Tridgell
6dafa82c7c AP_FlashStorage: fixed build warning 2020-04-19 13:36:24 +10:00
Peter Barker
b490f20f3d AP_Param: panic if defaults file load fails 2020-04-18 21:51:16 +10:00
Andy Piper
f3b240533f AP_HAL_ChibiOS: eliminate EKF2 from fmuv2 build 2020-04-18 20:18:30 +10:00
Mark Whitehorn
874c293911 AP_Logger: expand description of GPS.spd 2020-04-18 15:33:43 +10:00
Randy Mackay
33d29feab9 AP_VisualOdom: T265 supports vision-position-delta 
implementation is the same for both backends so move to AP_VisualOdom_Backend
 2020-04-18 08:07:20 +09:00
Peter Barker
870159c14f AP_Logger: add times-full to MAV log structure 2020-04-17 22:21:14 +10:00
Peter Barker
8b9281eaa1 GCS_MAVLink: log number of times message not sent due to no space 2020-04-17 22:21:14 +10:00
Peter Barker
908dfa58f3 AP_Logger: remove unused FORMATS stage in DFLogStart messagewriter 2020-04-17 21:42:15 +10:00
Andrew Tridgell
db8fdeebeb HAL_ChibiOS: fixed Hott telem half duplex handling 
this fixes an issue with single byte writes with half duplex. It isn't
an elegent solution, but nicely separates the different types of half
duplex operation
 2020-04-17 17:52:28 +10:00
Patrick José Pereira
6672155e24 AP_FlashStorage: Fix test for AP_FLASHSTORAGE_MULTI_WRITE 
AP_FLASHSTORAGE_MULTI_WRITE is not defined

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-17 16:00:39 +10:00
Patrick José Pereira
c83ce93165 AP_HAL_Linux: Add missing wscript for GPIOTest 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-17 15:59:25 +10:00
Patrick José Pereira
4018a79f83 AP_Baro: Fix scope of HAL_INS_MPU60x0_NAME 
`read_calibration_data` is defined but only used inside the
definition scope.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-17 15:58:38 +10:00
Andrew Tridgell
cac455ff2d HAL_ChibiOS: added another uart to omnibusf4v6 
for RC telemetry such as Hott telem
 2020-04-17 11:23:06 +10:00
Andrew Tridgell
f721fb1743 AP_Hott_Telem: fixed GPS display for mz-32 
thanks to Ralf Helbing
 2020-04-17 11:23:06 +10:00
Peter Barker
41ada7f8f4 GCS_MAVLink: document the payload-space macros 2020-04-17 10:20:49 +10:00
Randy Mackay
03441f2250 AC_Circle: remove _rangefinder_use parameter 
We will reuse the WPNAV_RFND_USE parameter indirectly
 2020-04-16 17:30:29 +09:00
Randy Mackay
f3e2b182a1 AC_WPNav: add rangefinder_used accessor 2020-04-16 17:30:29 +09:00
Randy Mackay
658bb646ca AC_Circle: support terrain altitudes 2020-04-16 17:30:29 +09:00
vierfuffzig
7c7b199bbd AP_HAL_ChibiOS: add I2C / USART3 ALT_CONFIG for omnibusf4pro 2020-04-16 08:42:24 +10:00
Randy Mackay
22c9081c83 AP_NavEKF3: minor comment fix 2020-04-15 19:35:30 +09:00
Peter Barker
678d6f43c5 AP_Logger: use existing LoggerMessageWriter to log uploaded missions 
Instead of creating a MessageWriter explicitly to log uploaded missions
we fiddle the state of the one stored in the startup message writer.

This has the advantage of being much more likely to log the entire
mission (as the buffer constraint is removed), and with the addition of
a time-remaining check much less likely to cause a timing glitch.
 2020-04-15 16:24:40 +10:00
Peter Barker
856b635e89 AP_Mount: convert Solo gimbal messages to TimeUS from TimeMS 
Also remove unused gimbal3 message entirely
 2020-04-15 16:11:04 +10:00
Peter Barker
d8582d864a AP_Logger: convert Solo gimbal messages to TimeUS from TimeMS 
Also remove unused gimbal3 message entirely
 2020-04-15 16:11:04 +10:00
Peter Barker
acba2a78f6 AP_Logger: add message validation check against duplicate labels 2020-04-14 12:30:58 +10:00
Peter Barker
ec7bde2be4 SITL: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
4245ee6543 RC_Channel: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
1b99cfb10a AP_Vehicle: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
b7a03ae5ad AP_RangeFinder: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
d390126b93 AP_Rally: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
d19f8db06f AP_NavEKF3: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
f1fc05d357 AP_NavEKF2: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
efbf929bc0 AP_InertialSensor: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
e67347f011 AP_HAL_SITL: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
7d7a7d126c AP_Follow: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
e1f8af1653 AP_BattMonitor: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
6046aa3625 AP_Airspeed: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
e545a429a0 AC_Fence: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
002d47447e AC_Avoidance: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Randy Mackay
3ccb3c69a6 SITL: add vicon position offsets 2020-04-14 10:28:03 +10:00
Randy Mackay
2164293cc0 AP_VisualOdom: remove sensor position from call to ahrs writeExtNavData 2020-04-14 10:28:03 +10:00
Randy Mackay
79afc70cdb AP_AHRS: remove writeExtNavData sensOffset argument 
EKF pulls this directly from AP_VisualOdom
 2020-04-14 10:28:03 +10:00
Randy Mackay
8749f30c64 AP_NavEKF2: external nav pos offsets from AP_VisualOdom library 2020-04-14 10:28:03 +10:00
Randy Mackay
c39fef6c56 GCS_MAVLink: pass vision-position-estimate reset_counter to AP_VisualOdom handler 2020-04-14 10:28:03 +10:00
Randy Mackay
3557104787 AP_VisualOdom: log corrected position instead of raw position 2020-04-14 10:28:03 +10:00
Randy Mackay
6622927a23 AP_VisualOdom: support position resets 2020-04-14 10:28:03 +10:00
Randy Mackay
83e48b575e AP_VisualOdom: add SCALE parameter 
Applied to positions from vision-position-estimate messages
 2020-04-14 10:28:03 +10:00
Randy Mackay
852325c8e4 AP_VisualOdom: remove unused method declarations 2020-04-14 10:28:03 +10:00
Randy Mackay
ccf96cf0a5 AP_VisualOdom: rename MAV to MAVLink in TYPE param desc 2020-04-14 10:28:03 +10:00
Randy Mackay
4f639481c1 AP_Logger: VISP msg adds reset_counter 2020-04-14 10:28:03 +10:00
Randy Mackay
fb7e68c53a AP_NavEKF2: writeExtNavData reset handles system time wrap 2020-04-14 10:28:03 +10:00
Andrew Tridgell
74f33d57c5 HAL_ChibiOS: avoid unnecessary H7 flash writes 2020-04-14 10:02:51 +10:00
Andrew Tridgell
8dabd6cefc HAL_ChibiOS: expect a long delay on flash page erase 
this prevents the display of errors on flash page erase
 2020-04-14 10:02:51 +10:00
Andrew Tridgell
4b236e52b2 HAL_ChibiOS: added MatekH743 port 2020-04-14 10:02:51 +10:00
Andrew Tridgell
2165fd66f1 HAL_ChibiOS: define FLASH_RESERVE_END_KB 2020-04-14 10:02:51 +10:00
Andrew Tridgell
8e83783b18 AP_FlashStorage: support H7 flash storage 
this generalises AP_FlashStorage to support the 32 byte write
restrictions of the STM32H7
 2020-04-14 10:02:51 +10:00
Andrew Tridgell
5125fc1a64 HAL_SITL: added checks for flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell
efe78fe3e1 AP_HAL: allow SITL to emulate 3 different types of flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell
e1792f89db AP_HAL: fixed default HAL_STORAGE_SIZE for flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell
c0039c85e0 HAL_SITL: emulate sector size for flash storage properly 2020-04-14 10:02:51 +10:00
Peter Barker
2988c70627 AP_FlashStorage: clarify space-available-for-write check 2020-04-14 10:02:51 +10:00
Andy Piper
c4217f329b AP_RPM: allow harmonic notch driver to appear as RPM values. 2020-04-14 09:43:16 +10:00
Henry Wurzburg
e5319397b4 AP_HAL_ChibiOS: eliminate EKF2 from F4 builds not using HAL_MINIMIZE_FEATURES 2020-04-14 09:19:28 +10:00
Andrew Tridgell
5c399fce41 AP_AHRS: auto-switch to EK3/EK2 if selected option disabled 
if we have an EKF backend selected and that backend doesn't exist then
auto-switch to the other backend.

This fixes MatekF405-Wing which has EKF2 disabled and was falling back
to DCM
 2020-04-14 09:15:43 +10:00
Peter Barker
c36e06e7fa AP_Compass: add documentation for COFS, compass-learning message 2020-04-14 07:34:59 +10:00
Peter Barker
54292c5443 AP_Tuning: add documentation for PRTN message 2020-04-14 07:34:59 +10:00
Peter Barker
061c3ecb7f AP_RCProtocol: add documentation for RCDA message 2020-04-14 07:34:59 +10:00
Peter Barker
767c010332 AP_Logger: add documentation for WENC, CESC, PRX, ADSB, BCN, BCL, OABR, OADF 2020-04-14 07:34:59 +10:00
murata
124d8c7fdf AP_HAL_ChibiOS: Changing the timeout detection 2020-04-14 07:32:46 +10:00
murata
10b7988092 AP_Baro: Fix timestamp wrapping 2020-04-14 07:30:58 +10:00
Randy Mackay
9f81da1bf9 AP_NavEKF2: minor comment fix 2020-04-13 14:39:53 +09:00
Andrew Tridgell
db4f1a1473 HAL_ChibiOS: enable ADIS16470 on SPI1 2020-04-13 15:26:02 +10:00
CUAVcaijie
942b2fd29f HAL_ChibiOS: Added support for CUAV X7 flight controller 2020-04-13 15:26:02 +10:00
Andrew Tridgell
d772289b0d AP_InertialSensor: added driver for ADIS16470 2020-04-13 11:57:04 +10:00
Peter Barker
ede87d49f6 AP_InternalError: add a bit for infinite recursion in switch_full_sector 2020-04-12 09:43:13 +10:00
Peter Barker
a2b4713008 AP_FlashStorage: protect against infinite recursion in switch_full_sector 2020-04-12 09:43:13 +10:00
Peter Barker
851d9ae1ef AP_Compass: log message information for MMC3416 2020-04-12 08:36:48 +10:00
Peter Barker
c3b8db95b8 AP_Logger: add DSTL log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
d23d4768f1 AP_Landing: add LAND log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
e5b634cdd0 AP_IOMCU: add IOMC log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
88d61b9d3c AP_Follow: add FOLL log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
194d3c280f AP_EFI: add EFI log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
f9c4976f93 AP_BoardConfig: add HEAT log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
1a148afe1b AC_AutoTune: add ATDE log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
afc0fbc516 AC_AttitudeControl: add CTRL log message documentation 2020-04-12 08:36:48 +10:00
Andrew Tridgell
1f8cd830ea AP_NavEKF3: fixed use of tabs 2020-04-11 21:14:31 +10:00
Paul Riseborough
f68f355852 AP_NavEKF3: Fix timestamp wrapping 2020-04-11 21:14:31 +10:00
Paul Riseborough
33ab1a7b15 AP_NavEKF3: Ensure yaw fusion commences when starting from rest 2020-04-11 21:14:31 +10:00
Paul Riseborough
a3725e2581 AP_NavEKF3: Fix bug in calculation of rotation order 2020-04-11 21:14:31 +10:00
Paul Riseborough
eeac0a05b9 AP_NavEKF3: Improvements to on ground movement check 
Reduce sensitivity and log test ratios.
Reduce base logging rate to 5Hz and log when status changes.
 2020-04-11 21:14:31 +10:00
Paul Riseborough
ebb8bb4f6f AP_NavEKF3: Enable use of yaw fusion before external yaw sensor starts 2020-04-11 21:14:31 +10:00
Andrew Tridgell
83ad1c17a8 AP_AHRS: disable DCM yaw consistency check when using external yaw 
when EKF3 is using an external (typically GPS) supplied yaw then we
don't expect DCM to have the right yaw so should not do the DCM yaw
consistency check
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
3ae0b0d446 AP_NavEKF3: added using_external_yaw() method 
needed by AHRS for attitudes_consistent() check
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
6f04fae4a0 AP_NavEKF3: added fallback to mag option with external yaw 
this allows for a magnetometer to be used as a fallback yaw source in
flight when using an external yaw source such as a GPS. The
magnetometer bias is learned while the GPS yaw is available and
fallback is only done if the mag yaw and GPS yaw are consistent when
fallback is enabled

This also learns the Z gyro bias until first yaw alignment when
MAG_CAL is EXTERNAL_YAW_FALLBACK. This prevents large gyro bias
building while waiting for GPS lock
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
a3100251a8 AP_NavEKF3: use enum class for EK3_MAG_CAL values 
and use effective_magCal() everywhere for consistency
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
e8fb082a9a HAL_SITL: fixed simulation of roll/pitch of moving baseline ublox 2020-04-11 21:14:31 +10:00
Andrew Tridgell
b90b4f9157 HAL_SITL: implement moving baseline for ublox 
this allows testing of the moving baseline dual ublox code
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
778532d556 SITL: added SIM_GPS2_HDG and rationalise the GPS position variables 2020-04-11 21:14:31 +10:00
Andrew Tridgell
ff112a726b AP_Battery: fixed bug in SUI driver 
fixed bug in total voltage
 2020-04-10 11:46:01 +10:00
bugobliterator
a31f2e5d90 hwdef: add validation checks for CubeOrange 2020-04-10 07:04:21 +10:00
bugobliterator
ef91f1634b HAL_ChibiOS: add support for adding board validation test 2020-04-10 07:04:21 +10:00
bugobliterator
8a77ddf8c6 AP_BoardConfig: run validation test if declared under hwdef 2020-04-10 07:04:21 +10:00
Randy Mackay
1ba036169f AP_VisualOdom: align sensor displays yaw shift in 0 to 360 range 2020-04-09 19:41:08 +09:00
Randy Mackay
9fd39f3768 AP_Math: alternative quaternion rotation test 2020-04-09 19:41:08 +09:00
Randy Mackay
26e4dd6fef AP_Math: correct quaternion::from_rotation for pitch-180 2020-04-09 19:41:08 +09:00
Randy Mackay
dc2e0f328b AP_VisualOdom: fix handle_vision_position_delta_msg 
position and angle deltas were swapped when passed into the EKF
time passed into the EKF was scaled as usec when it should be sec
 2020-04-09 19:41:08 +09:00
Randy Mackay
c18fce6714 AP_Math: add quaternion rotation test 2020-04-09 19:41:08 +09:00
Randy Mackay
d1aa3858f0 AP_Vehicle: add visual odometry 2020-04-09 19:41:08 +09:00
Randy Mackay
1b1687f43d AP_Arming: integrate visual odometry pre_arm_check 2020-04-09 19:41:08 +09:00
Randy Mackay
2f5a8fd6b9 RC_Channel: add aux function for visodom-calibrate 2020-04-09 19:41:08 +09:00
Randy Mackay
9769f08fd9 GCS_MAVLink: visual odometry build fixes 2020-04-09 19:41:08 +09:00
Randy Mackay
a9c1eb5af4 GCS_MAVLink: fill in sys_status vision position bits 2020-04-09 19:41:08 +09:00
Randy Mackay
a1ddd55ea5 GCS_MAVlink: AP_integrate of rename to handle_vision_position_delta_msg 2020-04-09 19:41:08 +09:00
Randy Mackay
728e8b45a9 GCS_MAVLink: use AP_VisualOdom to handle vision-position-estimate messages 2020-04-09 19:41:08 +09:00
Randy Mackay
aa720b0ae6 AP_VisualOdom: pre-arm failure string prefix moved to AP_Arming 2020-04-09 19:41:08 +09:00
Randy Mackay
3d75dc7815 AP_VisualOdom: add HAL_VISUALODOM_ENABLED 2020-04-09 19:41:08 +09:00
Randy Mackay
8f94a0cfb0 AP_VisualOdom: integrate IntelT265 backend 2020-04-09 19:41:08 +09:00
Randy Mackay
f0e11d9a5c AP_VisualOdom: add IntelT265 backend 2020-04-09 19:41:08 +09:00
Randy Mackay
a41b169635 AP_VisualOdom: front-end implements handle_vision_position_estimate with eulers 2020-04-09 19:41:08 +09:00
Randy Mackay
3530d5b348 AP_VisualOdom: MAV driver implements handle_vision_position_estimate 2020-04-09 19:41:08 +09:00
Randy Mackay
c78b1ab3bf AP_VisualOdom: rename handle_vision_position_delta_msg 2020-04-09 19:41:08 +09:00
Randy Mackay
b519d285a6 AP_VisualOdom: get_orientation made public 
also remove unnecessary friends
 2020-04-09 19:41:08 +09:00
Randy Mackay
c36dfc448d AP_VisualOdom: handle_msg directly updates EKF 2020-04-09 19:41:08 +09:00
Randy Mackay
0eb1ef1f08 AP_VisualOdom: add handle_vision_position_estimate 
also add pre_arm_check
 2020-04-09 19:41:08 +09:00
Randy Mackay
1cf9655b4a AP_VisualOdom: TYPE param becomes enable flag and reboot required 2020-04-09 19:41:08 +09:00
Randy Mackay
61a06bbb04 AP_Math: add quaternion rotate, from_rotation and invert 2020-04-09 19:41:08 +09:00
Randy Mackay
338548c5eb AP_Math: move HALF_SQRT_2 def to rotation.h 
This allows it to be used by the Quaternion class
 2020-04-09 19:41:08 +09:00
Randy Mackay
b0b78e974b AP_AHRS: add get_quaternion 2020-04-09 19:41:08 +09:00
Randy Mackay
e1c623183e AP_AHRS: minor comment fix and move var_info lower 2020-04-09 19:41:08 +09:00
Randy Mackay
24bb4876a8 AP_AHRS: move is_ext_nav_used_for_yaw to parent 2020-04-09 19:41:08 +09:00
Randy Mackay
c0187fe05f AP_Logger: add log message description for VISO 2020-04-09 19:41:08 +09:00
Randy Mackay
f18be824ea AP_Logger: add VISP message 2020-04-09 19:41:08 +09:00
chobits
63320f140a AP_Logger: constraints time spend in header writing, more complete 2020-04-09 19:17:17 +10:00
chobits
b829384fdf AP_Logger: constraints time spended in header writing 2020-04-09 19:17:17 +10:00
Andrew Tridgell
dd4cf6ccdd AP_Compass: change RM3100 device ID 
changed scale factor means users need to recalibrate
 2020-04-08 11:21:51 +10:00
Andrew Tridgell
18c3efc377 AP_Compass: fixed scaling of RM3100 
scale factor was off by 200/256, resulting in COMPASS_SCALE of about
1.28

thanks to Arace for noticing
 2020-04-08 11:21:51 +10:00
Peter Barker
5e4cbb0a3f AP_EFI: correct duplicate-label problem in EFI2 log message 2020-04-08 11:17:41 +10:00
Samuel Tabor
4a39a43c10 AP_Soaring: Add log documentation. 2020-04-08 09:11:54 +10:00
Samuel Tabor
b9daae062c AP_Soaring: Use enum class rather than typedef enum for states and hide details of these. 2020-04-08 09:11:54 +10:00
Samuel Tabor
3228cc3309 AP_TECS: Update descriptions of pitch feed-forward parameters. 2020-04-08 09:11:54 +10:00
Samuel Tabor
6e75890bd9 AP_Soaring: Add a low pass of target position from EKF before using it. 2020-04-08 09:11:54 +10:00
Samuel Tabor
f23efdd13b AP_Soaring: Make vario time constant public. 2020-04-08 09:11:54 +10:00
Samuel Tabor
d04c6cb02e TECS: Don't override the speedweight to 0 if synthetic airspeed is in use. 2020-04-08 09:11:54 +10:00
Samuel Tabor
56649fa8eb AP_Soaring: Fix too-long status message. 2020-04-08 09:11:54 +10:00
Samuel Tabor
d54c7f1b7a AP_Soaring: Fix bug when no soaring activation RC channel set. 2020-04-08 09:11:54 +10:00
Samuel Tabor
fbd0df81a7 AP_Soaring: Report changes in active status. 2020-04-08 09:11:54 +10:00
Samuel Tabor
e1f7122566 AP_Soaring: Improve tracking of enabled/disabled status. 2020-04-08 09:11:54 +10:00
Samuel Tabor
5ac801b2ac AP_Soaring: Use 64 bit variable for time to avoid overflow. 2020-04-08 09:11:54 +10:00
Samuel Tabor
2260fda4ec AP_Soaring: Detect changes in active parameter/switch position. 2020-04-08 09:11:54 +10:00
Samuel Tabor
fdf7eae01c AP_Soaring: Adjust initial EKF values and limit R to 40.0m. 2020-04-08 09:11:54 +10:00
Samuel Tabor
ff1725b549 AP_Soaring: Make enable channel 3 position. PWM above 1400us allows most soaring features, but above 1700us is required before any automatic switch to LOITER mode. 2020-04-08 09:11:54 +10:00
Samuel Tabor
1160c59a89 AP_Soaring: Remove dsp bias and log this. 2020-04-08 09:11:54 +10:00
Samuel Tabor
c28c573da1 AP_Soaring: Also log acceleration. 2020-04-08 09:11:54 +10:00
Samuel Tabor
7555f5abf8 AP_Soaring: Fix incorrect trig function and log the expected sink. 2020-04-08 09:11:54 +10:00
Samuel Tabor
17f1fa9600 AP_Soaring: Fix use of double precision sqrt. 2020-04-08 09:11:54 +10:00
Samuel Tabor
7d3ff28974 AP_Soaring: Correct bug with reversed arguments. 2020-04-08 09:11:54 +10:00
Samuel Tabor
16b7de4029 AP_Soaring: Cleanup variometer. 2020-04-08 09:11:54 +10:00
Samuel Tabor
62a34e0f8d AP_Soaring: Calculate filter time constant based on airspeed and loiter radius, using 3x circline rate. 2020-04-08 09:11:54 +10:00
Samuel Tabor
2b40182b34 AP_Soaring: Reduce drift feed-forward by ratio of climb rate to thermal core strength. This is consistent with assumption that each packet of air, rising at core strength, is convected with the ambient wind speed. 2020-04-08 09:11:54 +10:00
Samuel Tabor
15cef55e97 SITL: Make thermal drift relative to 100m alt to avoid so much change with wind speed and direction." 2020-04-08 09:11:54 +10:00
Samuel Tabor
8072f6b858 AP_Soaring: Make the trigger VSPEED take account of thermalling sink. 2020-04-08 09:11:54 +10:00
Samuel Tabor
650b464831 AP_Soaring: Move drift check to separate function and check drift with reference to mission segment, allowing drift in right direction. LOITER target, not current position, is now used. 2020-04-08 09:11:54 +10:00
Samuel Tabor
45cb663d73 AP_Math: Add template for Vector2f::projected. 2020-04-08 09:11:54 +10:00
Samuel Tabor
fab74f8927 AP_Soaring: Calculate expected thermalling sink live and avoid divide by zero by limiting airspeed to that corresponding to CL max (generously assumed 1.5 for glider). 2020-04-08 09:11:54 +10:00
Samuel Tabor
75f772b269 AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER. 2020-04-08 09:11:54 +10:00
Samuel Tabor
684ee11fc3 AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring. 2020-04-08 09:11:54 +10:00
Samuel Tabor
dc8c062fbe AP_TECS: Correct an error in the SEBdot FF term. 2020-04-08 09:11:54 +10:00
Samuel Tabor
247738518e AP_TECS: Add a feed-forward term from adjusted demanded airspeed to nav pitch. 2020-04-08 09:11:54 +10:00
Samuel Tabor
a27c99fab9 AP_TECS: Return the adjusted demanded airspeed. The aspd_error mavlink message now shows the rate-limited airspeed. 2020-04-08 09:11:54 +10:00
Samuel Tabor
ae27f96361 SITL: Make soaring thermals slanted. 2020-04-08 09:11:54 +10:00
Samuel Tabor
013628bd1d Plane: Soaring - better reporting of exit due to drift. 2020-04-08 09:11:54 +10:00
Samuel Tabor
e1b2360781 AP_Soaring: Add a maximum allowable drift distance when thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor
936d4232c9 AP_Soaring: Add a 60s first order filter on climb rate. If this becomes negative exit thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor
30249e8006 AP_Soaring: Add a check of whether altitude has been lost overall when thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor
5082c9be8b SITL: Add plane-soaring type, including parameters, mission, simulated thermals and glider sim settings. 2020-04-08 09:11:54 +10:00
Tom Pittenger
f24095e9ed AP_Soaring: inhibit msg spam when lingering in loiter waiting for heading to line up 2020-04-08 09:11:54 +10:00
Samuel Tabor
3211c03f58 AP_Soaring: Remove unused methods, clean up and log position in N/E rather than Lat/Lng. 
Fix
 2020-04-08 09:11:54 +10:00
Samuel Tabor
152c1507e0 AP_Soaring: Make the EKF states the actual NE position of the thermal, rather than the position relative to aircraft. 2020-04-08 09:11:54 +10:00
Samuel Tabor
d7abd296ef AP_Soaring: Avoid calculations in lat/lng. 2020-04-08 09:11:54 +10:00
Samuel Tabor
0cccc8dc29 AP_Soaring: Fix issue with loiter radius being saved as zero due to initialisation order. This caused incorrect calculation of thermal climb potential and cases of staying in thermals that should have been abandoned. 2020-04-08 09:11:54 +10:00
Samuel Tabor
c135b00b7b AP_Soaring: Remove redundant check for new vario data. 2020-04-08 09:11:54 +10:00
Samuel Tabor
64460be0d0 AP_Soaring: Implement vario based on acceleration rather than differentiated airspeed. 2020-04-08 09:11:54 +10:00
Tom Pittenger
f6396d7a6d Plane: add reason to exit Thermal loiter and adjust LOW alt reaon to cause RTL 2020-04-08 09:11:54 +10:00
Tom Pittenger
52ae093a97 AP_Soaring: add reason to exit Thermal loiter 2020-04-08 09:11:54 +10:00
Michael du Breuil
73c5c2e1bb AP_Arming: Check that sticks are neutral 2020-04-07 14:01:12 -07:00
Michael du Breuil
2b9aa9bc21 RC_Channel: Add option bit for arming checking the throttle input (opt-in) 
Also adds interface to find out what channel is used for rudder arming
 2020-04-07 14:01:12 -07:00
murata
7ec0cb47a5 AP_Compass: const extern hal reference 2020-04-07 20:45:51 +09:00
murata
f83f6c71e4 AP_Logger: const extern hal reference 2020-04-07 20:45:51 +09:00
murata
264a90bb45 AP_Logger: Change to coding style (NFC) 
AP_Logger: Change to coding style (NFC)
 2020-04-07 20:37:33 +09:00
Rishabh
76b4e42bca AP_Logger: Logger documentation TimeUS and typo fix 2020-04-07 18:57:01 +10:00
Rishabh
fe4d1f9316 AC_AutoTune: Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Rishabh
b0134460e5 AP_NavEKF:Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Rishabh
eeb55f8b16 TECS: Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Peter Barker
59dfaad749 SITL: provide method to retrieve desired speedup 2020-04-07 14:51:32 +10:00
Peter Barker
78e432af0c AP_HAL_SITL: do not let outbound queue length to grow too far 
This basically limits our loop rate to whatever is listening on uartA
can handle in terms of mavlink traffic.
 2020-04-07 14:51:32 +10:00
Peter Barker
7028eb8d24 AP_HAL_SITL: provide method to get amount of data still pending in outbound system queues 2020-04-07 14:51:32 +10:00
bugobliterator
9d7022514e HAL_SITL: ensure that unique id string end in null char 2020-04-07 09:40:05 +10:00
Andy Piper
b8878380d6 AP_Camera: add RunCam device type 2 documentation 2020-04-06 20:27:32 +10:00
Andy Piper
e3d22b9d27 AP_Camera: if exiting a RunCam submenu reset the submenu index to the top 2020-04-06 20:15:38 +10:00
Andrew Tridgell
be674fc36c AP_NavEKF3: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-04-06 17:30:29 +10:00
Andrew Tridgell
c9755cf9e6 AP_NavEKF2: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-04-06 17:30:29 +10:00
Peter Barker
2ed550966d AP_Logger: correct units for velocity on OF log message 2020-04-06 10:46:45 +10:00
Peter Barker
64c973b592 SITL: add documentation for AirSim ASM1,ASM2 log messages 2020-04-06 10:46:45 +10:00
Peter Barker
e477f6c840 AC_PosControl: add documentation for PSC log message 2020-04-06 10:46:45 +10:00
Peter Barker
33f17d7739 AP_Logger: document ARSP,ASP2,CAM,TRIG,POWR,TERR,CSV,CMD,OF,AHR2 2020-04-06 10:46:45 +10:00
Peter Barker
3fb61c4cf0 AP_Logger: add documentation for more log messages 
ERR,DSF,EV,SIM,ORGN,POS,LGR,MON,TSYN,IMU,IMUT
 2020-04-05 12:49:19 +10:00
Peter Barker
09152cd254 AP_Logger: correct time field name on DMS 2020-04-05 12:49:19 +10:00
Peter Barker
50c60aa8f2 AP_Logger: add documentation for ACC1,ACC2,ACC3,DMS,GPA,GPA2,GPS2,GYR1,GYR2,GYR3,MAVC,PM 2020-04-05 10:12:03 +10:00
Peter Barker
a92206d090 AP_Logger: log dataflash-over-mavlink timestamp in micros rather than millis 
... like the vast majority of our dataflash messages
 2020-04-05 10:10:49 +10:00
Andrew Tridgell
376116c99b HAL_ChibiOS: fixed skyviper-journey build 2020-04-04 10:47:15 +11:00
Peter Barker
e41ea5a273 AP_Logger: add docco for BAR2,BAR3,MSG,RAD,RALY,RFND,RPM,RSSI 2020-04-04 10:05:15 +11:00
Mark Whitehorn
442fa60651 APM_Control: validate parameter ARSPD_FBW_MIN 2020-04-02 19:43:06 -07:00
Randy Mackay
9c8a5a7392 AP_Math: add comments above some quaternion methods 
thanks to jchallinger
 2020-04-03 10:16:07 +09:00
Peter Barker
b2ad4dabb8 AP_Hott_Telem: correct GPS fix character 
https://discuss.ardupilot.org/t/bug-in-ap-hott-telem-cpp-copter-4-0-4dev/53939/2

Thanks to @fs007
 2020-04-01 19:24:58 +11:00
Peter Barker
93fb5354da AP_Beacon: pozyx: remove dead and pointless code 2020-04-01 15:42:47 +09:00
Siddharth Purohit
a3a3abbf23 SRV_Channels: fix unannotated fall-through between switch labels 2020-04-01 17:10:36 +11:00
Siddharth Purohit
b0cbbb4bea GCS_Common: fix unannotated fall-through between switch labels 2020-04-01 17:10:36 +11:00
Siddharth Purohit
afc0cf8f3b AP_ToshibaCAN: fix unused variable error 2020-04-01 17:10:36 +11:00
Siddharth Purohit
575ac9224e AP_Arming: fix error unannotated fall-through between switch labels 2020-04-01 17:10:36 +11:00
Andrew Tridgell
8e3aba5dc5 AP_RAMTRON: fixed build with gcc 9.x 2020-04-01 17:08:48 +11:00
Andrew Tridgell
077ab22767 AP_GPS: fixed AP_Periph build with gcc 9.x 2020-04-01 17:08:48 +11:00
Andrew Tridgell
4456732911 AP_GPS: fixed rotation of moving baseline GPS 
we were off by 180 degrees. Thanks to Jaime for noticing this!
 2020-04-01 17:08:19 +11:00
Phillip Kocmoud
46582944e2 AP_RAMTRON: Add FM25V02A Extended Temperature 
As shown in https://www.cypress.com/file/139671/download Page 11
 2020-04-01 12:46:05 +11:00
Peter Barker
1770199c41 AP_Logger: add documentation for MAV and PARM 2020-04-01 10:13:03 +11:00
Peter Barker
6f685b8ac5 AP_HAL_SITL: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
Peter Barker
ec460b4244 AP_Vehicle: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
Peter Barker
73e43d8da5 AP_HAL: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
Peter Barker
9ba2aecbb8 AP_HAL_ChibiOS: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
yaapu
fed8ecc3b0 AP_Frsky_Telem: fix for protocol=4 GAlt=0 and GSPd=0 
This fixes protocol 4 GPS altitude and speed error, both were reported as constant 0
for cal_gps_position() was never called
 2020-03-31 13:09:35 +11:00
Peter Barker
a3e2e156e7 AP_HAL_Linux: do not create ConsoleDevices for Replay or examples 
Uusally problems evidence themsleves with stdin not working correctly -
for example, "git add -p" skipping through all queries as if the
user was just pressing enter.
 2020-03-31 11:22:21 +11:00
Andrew Tridgell
21e93dae34 GCS_MAVLink: send only old value for readonly param set 
this prevents a condition where the GCS can display the wrong value if
the 2nd PARAM_VALUE is lost

Note that groundstations can tell the set failed due to readonly in
the following ways:

 1) look for the statustext: Param write denied (PARAMNAME)

 2) see that the value came back with the old value, with index of
   65535

 3) can repeat the send, looking for (1) and (2)

Michael has proposed we add a PARAM_VALUE mavlink2 flags
extension. That would be nice, but we should still make this change to
fix the issue with mavlink 1.0
 2020-03-31 11:19:58 +11:00
Peter Barker
55d37e5d0e GCS_MAVLink: correct slowing down of waypoint re-requests 
These re-requests shouldn't be slowed down by a factor of 20.

This was a left-over from when we did these in terms of 20ms intervals
(50Hz loop rate)
 2020-03-31 11:15:04 +11:00
Peter Barker
ca7fcc093c GCS_MAVLink: correct return type on get_stream_slowdown_ms 
Only used in one place.  On slow links may have caused us to re-request
a waypoint too often.  "Too often" is still >1s intervals.
 2020-03-31 11:15:04 +11:00
Peter Barker
0b756547be GCS_MAVLink: add stream_slowdown to MAV message 2020-03-31 11:13:11 +11:00
Peter Barker
be6ed0be9f AP_Logger: add stream_slowdown to MAV message 2020-03-31 11:13:11 +11:00
Peter Barker
46a014b399 AP_Notify: remove recursive call to play in next_action 
Infinite recursion is bad.

See https://github.com/ArduPilot/ardupilot/issues/13868
 2020-03-31 11:06:30 +11:00
Peter Barker
7028f1adba GCS_MAVLink: GCS_FTP: remove redundant more_pending variable 
This is taken care of by the "break" statements
 2020-03-31 10:38:13 +11:00
Peter Barker
a09ac895e9 GCS_MAVLink: remove dead assignment 
This value is never used
 2020-03-31 10:38:13 +11:00
Peter Barker
2b08af69bc AP_GPS: fix dereference-of-nullptr warning from scan-build 
This is kind-of a false positive as this in practise could never be
nullptr.
 2020-03-31 10:37:16 +11:00
Michael du Breuil
18baf18041 GCS_MAVLink: Remove redundant assignment to the command 
This is done internally by the conversion to mission_item_int_t
 2020-03-31 10:35:49 +11:00
Peter Barker
609b66a053 AP_NavEKF3: rename struct log_NKF2a to log_XKF2 2020-03-31 10:25:59 +11:00
Peter Barker
8a28fa2244 AP_Logger: rename struct log_NKF2a to log_XKF2 2020-03-31 10:25:59 +11:00
Gone4Dirt
c97cc71382 AP_Camera: Correct trigger behaviour when cmd is switched off then on again 2020-03-31 10:05:40 +11:00
Gone4Dirt
d813ee27de AP_Mission: Added immediate trigger for DO_SET_CAM_TRIGG_DIST 2020-03-31 10:05:40 +11:00
Randy Mackay
cca361a942 AP_VisualOdom: minor format and comment fixes 2020-03-30 20:31:38 +09:00
Randy Mackay
ecf5abc1f2 GCS_MAVLink: minor format fix 2020-03-30 20:20:08 +09:00
Randy Mackay
7a48a3f354 AP_Math: minor comment fix 2020-03-30 20:20:02 +09:00
Henry Wurzburg
a637073dad AP_HAL_Chibios: add tenth PWM output to MatekF405-Wing 2020-03-30 11:23:14 +11:00
Peter Barker
aeb45bf146 AP_Logger: fix extremely unlikely nullptr dereference in SITL sanity checks 2020-03-29 08:07:29 +11:00
Michael du Breuil
75b133926f AP_Scripting: Cleanups to remove false posive warnings 2020-03-28 21:16:09 +11:00
Michael du Breuil
d50e9865bd AP_Scripting: Delete the lua object if we failed to allocate the required memory 2020-03-28 21:16:09 +11:00
Michael du Breuil
6753e99604 AP_Scripting: Add a return around luaL_error 
This is the normal method of calling luaL_error which longjmp's away,
and it helps the static analysis tools realize that anything afterwards
will not be reached
 2020-03-28 21:16:09 +11:00
Andrew Tridgell
e7fdf8fad1 GCS_MAVLink: reduced delay between ftp packets 2020-03-28 15:28:03 +11:00
Andrew Tridgell
5c9ae33151 GCS_MAVLink: support variable sized packets in burst read 
this allows packet size to be tailored to the transport
 2020-03-28 15:28:03 +11:00
Andrew Tridgell
8a84dbc19e GCS_MAVLink: slow down telemetry during ftp 2020-03-28 15:28:03 +11:00
Andrew Tridgell
5047eb88e2 AP_Scripting: use @ROMFS 2020-03-28 15:28:03 +11:00
Andrew Tridgell
10c709a5a1 AP_Filesystem: use @ROMFS 2020-03-28 15:28:03 +11:00
Andrew Tridgell
a8f7212d79 AP_Filesystem: fixed open for write in ROMFS 2020-03-28 15:28:03 +11:00
Andrew Tridgell
e0957c2bcc HAL_ChibiOS: include hwdef.dat in ROMFS 
this allows download via ftp
 2020-03-28 15:28:03 +11:00
Andrew Tridgell
c1d4a5bd35 GCS_MAVLINK: prevent closedir() with nullptr 2020-03-28 15:28:03 +11:00
Andrew Tridgell
8d1bf46dab AP_Param: use smaller param area for all 1M flash boards 2020-03-28 15:28:03 +11:00
Andrew Tridgell
ebec738b88 AP_Scripting: enable lua scripts in ROMFS 2020-03-28 15:28:03 +11:00
Andrew Tridgell
ea57b7b3cd HAL_ChibiOS: embed ROMFS files from hwdef directory 
this allows for a scripts/ directory under hwdef board directory to
embed lua scripts
 2020-03-28 15:28:03 +11:00
Andrew Tridgell
28082774b6 GCS_MAVLink: use new DirHandle for directory listings 2020-03-28 15:28:03 +11:00
Andrew Tridgell
a91c587ef3 AP_Scripting: use new DirHandle for directory listings 2020-03-28 15:28:03 +11:00
Andrew Tridgell
b5cc1f236a AP_Logger: use new DirHandle for directory listings 2020-03-28 15:28:03 +11:00
Andrew Tridgell
6583f7c13e AP_Filesystem: added VFS system for multiple backends 2020-03-28 15:28:03 +11:00
Andrew Tridgell
98542d0c0b AP_ROMFS: added directory listing interface 2020-03-28 15:28:03 +11:00
Andrew Tridgell
6360c67858 AP_OSD: avoid build when OSD disabled 2020-03-28 15:28:03 +11:00
Andrew Tridgell
822460ce7d HAL_ChibiOS: fixed strdup() on ChibiOS 2020-03-28 15:28:03 +11:00
Peter Barker
051a7dc298 AP_NavEKF: add onboard LogMessage documentation 2020-03-27 08:05:53 +11:00
Peter Barker
7f0e722a33 AP_Logger: add onboard LogMessage documentation 2020-03-27 08:05:53 +11:00
Andrew Tridgell
6d42e9502b AP_Compass: fixed unreg compass check for AP_Periph 
this fixes detection of compasses on peripherals where
COMPASS_MAX_UNREG_DEV is 0
 2020-03-26 18:10:13 +11:00
Daniel Magree
b3ff81648b Nav_EKF3: varInnovBodyVel assigned the innovation covariance, rather than inverse 2020-03-25 21:52:49 +11:00
Andrew Tridgell
0f6f684bab AP_Airspeed: expose get_corrected_pressure() 
needed for AP_Periph
 2020-03-25 20:37:00 +11:00
Henry Wurzburg
c34c857123 AP_Logger: update logger meta-data, add to gitignore 2020-03-25 14:20:53 +11:00
Peter Hall
53caf516f9 SRV_Channel: add missing ProfiLED description values 2020-03-24 13:37:20 +09:00
Andrew Tridgell
f299a4af33 RC_Channel: added RC_OPTION bit for protocol logging 2020-03-24 09:10:36 +09:00
Andrew Tridgell
087da57858 AP_RCProtocol: added logging of RC prototol input bytes 2020-03-24 09:10:36 +09:00
bugobliterator
edaf9fa086 AP_Scripting: remove unused user of realloc from lua 2020-03-24 10:32:14 +11:00
bugobliterator
8215537f99 HAL_ChibiOS: deprecate realloc for ChibiOS build, so as to return error when used 2020-03-24 10:32:14 +11:00
bugobliterator
afea703aaf AP_HAL: ensure libc realloc is available for all platforms except ChibiOS 2020-03-24 10:32:14 +11:00
bugobliterator
89d03f0243 AP_HAL_ChibiOS: implement standard realloc method 2020-03-24 10:32:14 +11:00
bugobliterator
c615bd9874 AP_HAL: implement standard realloc method 2020-03-24 10:32:14 +11:00
bugobliterator
88de9572aa AP_Common: use standard realloc method from HAL 2020-03-24 10:32:14 +11:00
Rishabh
59af2fcbbb AP_WindVane: Fix duplicate values in Param 2020-03-24 10:26:04 +11:00