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25898 Commits

Author SHA1 Message Date
Leonard Hall
4158c37cfa AC_PosControl: Calculate heading 2021-04-27 17:13:55 +09:00
Leonard Hall
e253c94f63 AC_AttitudeControl: Remove Unused Function 2021-04-27 17:13:55 +09:00
Leonard Hall
939d8e3ed4 AC_WPNav: Support Thrust Vector Control 2021-04-27 17:13:55 +09:00
Leonard Hall
bb46f7a947 AC_PosControl: Thrust Vector output 2021-04-27 17:13:55 +09:00
Leonard Hall
1fb2a95486 AC_AttitudeController: Thrust Vector attitude control 2021-04-27 17:13:55 +09:00
Peter Barker
52a4ac028c AP_AHRS: remove duplicate log metadata fields 2021-04-27 16:38:40 +10:00
Hwurzburg
cf41548ce1 AP_AHRS: expand RATE log message description 2021-04-27 12:32:44 +10:00
Hwurzburg
6fbf2d227c AC_Fence: Correct Rover metadata 2021-04-27 09:31:09 +09:00
Peter Hall
ed7db5b2b6 AP_Motors: tailsitter: slew outputs and output throttle directly 2021-04-27 09:37:32 +10:00
Peter Barker
ffd8f3678c AP_HAL_SITL: understand --serial0 etc in place of --uartA etc 2021-04-26 16:05:47 +10:00
QioTek
ca6102ed28 f103Qiotek_Periph 
f103Qiotek_Periph
 2021-04-24 07:48:40 +10:00
QioTek
1de3135d14 HAL_ChibiOS: added f103-QiotekPeriph hwdef (#1) 
HAL_ChibiOS: added f103-QiotekPeriph
 2021-04-24 07:48:40 +10:00
Peter Barker
4362b16f50 AP_Logger: remove un-needed forward declarations 
We moved the logging into the relevant library.  Yay!
 2021-04-23 11:44:16 +10:00
Andy Piper
42ebc13e6c Revert "AP_HAL_ChibiOS: support 6 bi-directional dshot channels on the MatekH743" 
This reverts commit f9d166edf6.
 2021-04-22 18:39:06 +10:00
Andrew Tridgell
6764f039ca HAL_ChibiOS: added support for the new H7 luminousbee version 5 2021-04-21 20:41:34 +10:00
Pierre Kancir
9a6d4e3af1 SITL: check if we are over precland base 2021-04-21 17:26:07 +10:00
Pierre Kancir
cec82214d8 SITL: add local_ground_variable 2021-04-21 17:26:07 +10:00
Pierre Kancir
078a1a2b0c SILT: limit update scope for precland 2021-04-21 17:26:07 +10:00
Andy Piper
f9d166edf6 AP_HAL_ChibiOS: support 6 bi-directional dshot channels on the MatekH743 2021-04-21 17:18:53 +10:00
Andy Piper
9f5dbfb092 AP_BLHeli: index bi-dir dshot channels through the motor map 
error if no digital mask has been set for bi-dir dshot
 2021-04-21 17:18:53 +10:00
Andy Piper
558631918c AP_HAL_ChibiOS: add %age of total to thread statistics 
don't display meaningless thread info
 2021-04-21 17:14:11 +10:00
Peter Barker
a3c329b182 AC_AttitudeControl: make parameter renames consistent 2021-04-21 12:17:42 +10:00
Leonard Hall
b43c7f4ed1 AC_AttitudeControl: Parameter rename (non-functional) 2021-04-21 12:17:42 +10:00
hs293go
de0c57de77 AC_AttitudeControl: Use Quaternion::operator* for vector rotation 
Replace all instances of the q*v*q.formula() or conversion to rotation
matrix + matrix multiply by calling Quaternion::operator* on a
vector
 2021-04-21 12:17:42 +10:00
Leonard Hall
86a157ce59 AC_AttitudeControl: Seperate thrust vector correction into a separate function 2021-04-21 12:17:42 +10:00
Randy Mackay
5b0f107631 AC_Fence: remove alt from TYPE param desc for Rover 2021-04-21 11:35:48 +10:00
Andy Piper
e20fc3d4f6 AP_Filesystem: fix build on macOS 2021-04-21 11:33:52 +10:00
Randy Mackay
b81930885c AC_WPNav: remove unnecessary assignment and constify local vars 2021-04-21 10:41:28 +10:00
Randy Mackay
bebb7e7d8f AC_WPNav: removed unused enums 2021-04-21 10:41:28 +10:00
Andrew Tridgell
961e538cc0 HAL_ChibiOS: reduced flash usage on MatekF405 
overflowing by 1k
 2021-04-21 07:12:55 +10:00
Andrew Tridgell
08cbfa032d AP_Filesystem: review fixes 
thanks Andy!
 2021-04-21 07:12:55 +10:00
Andrew Tridgell
b941b8c93a AP_Filesystem: allow for parameter upload via ftp 2021-04-21 07:12:55 +10:00
Andrew Tridgell
0b948d3faf AP_Param: allow save_sync without send 2021-04-21 07:12:55 +10:00
Andrew Tridgell
5a7ee5a376 AP_Common: fixed null termination bug in ExpandingString 
not all HALs zero memory on realloc
 2021-04-21 07:12:55 +10:00
Andrew Tridgell
23785c00dc AP_Param: improved queue handling and added set_and_save_by_name_ifchanged 2021-04-21 07:12:55 +10:00
Andrew Tridgell
d8575f0607 AP_Filesystem: allow for partial mission upload 2021-04-21 07:12:55 +10:00
Andrew Tridgell
d96002942c AP_Filesystem: ensure all blocks are filled on upload 2021-04-21 07:12:55 +10:00
Andrew Tridgell
c1f491ce39 AP_Filesystem: allow mission upload 2021-04-21 07:12:55 +10:00
Andrew Tridgell
3fb280ff50 AP_Common: added return to ExpandingString append 2021-04-21 07:12:55 +10:00
Andrew Tridgell
e055165eb8 AP_Filesystem: added download of mission/fence/rally 2021-04-21 07:12:55 +10:00
Andrew Tridgell
c53c112691 GCS_MAVLink: expose functions to convert fence and rally to mavlink 
this allows for the @MISSION filesystem to download data in the
current mavlink format
 2021-04-21 07:12:55 +10:00
Andrew Tridgell
dd86e0cc89 AP_GPS: added comment explaining the approach 2021-04-20 17:43:01 +10:00
Andrew Tridgell
8bc31ec5e9 AP_GPS: account for rotation rate in moving baseline Z test 
this avoids switching GPS on rapid roll/pitch
 2021-04-20 17:43:01 +10:00
Andrew Tridgell
2168633372 HAL_SITL: account for attitude rate in moving baseline data 2021-04-20 17:43:01 +10:00
Andrew Tridgell
62e0a89036 AP_Param: cleanup the eeprom parsing tools and fixed sentinal detection 2021-04-20 16:59:17 +10:00
Andrew Tridgell
eac027b5c5 AP_Param: fixed handling of group_element=255 in sentinal detection 
EK3_DRAG_BCOEF_Y has a group element of 255, which was being detected
as a sentinal
 2021-04-20 16:59:17 +10:00
Hwurzburg
85e3772759 RC_Channel: correct metadata for fence enable and rst mode for Plane 2021-04-20 16:14:22 +10:00
Peter Barker
a7e0c565dc AP_GPS: populate extension fields in GPS2_RAW 2021-04-20 11:46:35 +10:00
Andrew Tridgell
9cc883a8c0 AP_Compass: fixed the IST8308 on CubeBlack 
CubeBlack needs to probe both internal and external buses
 2021-04-20 10:42:54 +10:00
Andy Piper
21e95a62d5 AP_VideoTX: increase stack for smart audio thread 2021-04-20 10:39:16 +10:00
Andy Piper
a9f442b4c1 AP_BLHeli: make sure there is delay between MSP send and receive to avoid reading our own data 2021-04-20 10:35:22 +10:00
Andy Piper
4bb4e2fb22 AP_HAL_ChibiOS: adjust GPIO settings for serial passthru 2021-04-20 10:35:22 +10:00
Randy Mackay
fee30b4447 AP_RangeFinder: add get_temp and implement for NMEA driver 2021-04-20 09:17:48 +10:00
Randy Mackay
83c18249a4 AP_CANManager: chane KDECAN enum from 2 to 8 
This is to force users to realise that something has changed in the hopes they will read the 4.1 release notes
 2021-04-20 09:13:30 +10:00
Randy Mackay
d2b8fce25a AP_KDECAN: map ESC id to servo channel and passthrough pwm 
Co-authored-by: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
 2021-04-20 09:13:30 +10:00
Randy Mackay
6c93039d84 AP_KDECAN: slightly improve pre-arm check messages 2021-04-20 09:13:30 +10:00
hs293go
93a13bbf0e AP_Math: Implement tests for the Quaternion class 
These tests cover Quaternion multiplication, conversion to rotation
matrix, and the optimized rotation operator
 2021-04-19 15:34:45 +10:00
hs293go
8bc02ab00b AP_Math: Implement quaternion vector rotation operator 
Overloads operator*() with semantics of applying a rotation to a vector, in
common with usage in Eigen/OpenGL. This implementation carries out 30
operations, compared to 58 operations for the q*v*q.inverse() formula
 2021-04-19 15:34:45 +10:00
Rishabh
359327c7a3 AP_Proximity: add temp boundary class 2021-04-19 14:23:26 +09:00
Leonard Hall
c28d103afe AC_AttitudeControl: Fix Angular velocity rotation to body frame 
Thanks to BreederBai for higlighting this in issue #17059
Thanks to esaldiran and Hs293Go for helping check the math.
 2021-04-19 14:48:59 +10:00
murata
7d3a1739d8 AP_Proximity: Integrate the judgment 2021-04-19 09:08:27 +09:00
Michael Oborne
323cbe47d2 SITL: fixup SIM_BAR parameter descriptions 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>

this fixs a issue with MP param doc parser caused by a syntax change
 2021-04-16 09:21:44 +09:00
Andrew Tridgell
4118a3eb03 HAL_ChibiOS: check bus owner on all SPI transfers 2021-04-16 10:02:02 +10:00
Peter Barker
13dc5bee25 AP_Logger: fix memory leak when finding last log 2021-04-15 19:33:15 +10:00
Andrew Tridgell
ec11bf1146 AP_Vehicle: fixed segfault in replay 2021-04-15 13:39:18 +10:00
Andrew Tridgell
7a7ac0cd73 AP_Logger: raise log_io stack size 
See
https://github.com/ArduPilot/ardupilot/issues/15916#issuecomment-819489618
 2021-04-15 13:33:42 +10:00
Iampete1
2a10d9d4f5 AP_Scirpting: add terrain warning example 2021-04-15 09:16:28 +09:00
murata
3344e87639 RC_Channel: Align Relay5 and Relay6 notations with others 2021-04-15 08:42:54 +09:00
Andrew Tridgell
f64c6f9ba1 APM_Control: fixed cygwin build 
FF0 is a macro in cygwin
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
767a0b2a99 APM_Control: tweak the activation detection to catch more events 2021-04-15 06:57:16 +10:00
Andrew Tridgell
bb1dc7192b APM_Control: lower default target filter frequencies 
this will remove a lot of the level flight noise causing oscillation
at higher gains
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
dd98f00947 APM_Control: prevent cross-axis tuning 
this should fix tuning at higher AUTOTUNE_LEVEL values
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
320d3d20c2 APM_Control: log autotune at 25Hz 2021-04-15 06:57:16 +10:00
Andrew Tridgell
72b51a389c APM_Control: use ATRP log msg via structure 2021-04-15 06:57:16 +10:00
Andrew Tridgell
f34e4be991 AP_Logger: re-enable ATRP logging msg 2021-04-15 06:57:16 +10:00
Andrew Tridgell
7b073a61f1 APM_Control: allow for gain reductions when idle 2021-04-15 06:57:16 +10:00
Paul Riseborough
b969a43074 Filter: Slewlimiter use different filtering for external reporting 2021-04-15 06:57:16 +10:00
Paul Riseborough
dd446433f7 Filter: Adjust SlewLimiter tuning 2021-04-15 06:57:16 +10:00
Paul Riseborough
6e6df3df58 Filter: Increase gain modifier action 2021-04-15 06:57:16 +10:00
Paul Riseborough
458c46353d Filter: remove unnecessary fmaxf 2021-04-15 06:57:16 +10:00
Andrew Tridgell
91856b1d8c APM_Control: prevent bad init of FF in autotune 2021-04-15 06:57:16 +10:00
Paul Riseborough
cb4a770d38 Filter: Reduce spikes in oscillation slew rate metric 2021-04-15 06:57:16 +10:00
Paul Riseborough
fdfdb118b9 Filter: Improve SlewLimiter oscillation detection 2021-04-15 06:57:16 +10:00
Andrew Tridgell
3fdd507157 APM_Control: log I and prevent numercial errors in autotune 2021-04-15 06:57:16 +10:00
Andrew Tridgell
24d53eade4 APM_Control: adjust filter for autotune to 0.75 Hz 
this should give a better FF estimate
 2021-04-15 06:57:16 +10:00
Paul Riseborough
9e6561e6b5 APM_Control: Ensure adequate trim speed 2021-04-15 06:57:16 +10:00
Paul Riseborough
4622e33255 Filter: Use positive and negative direction changes for slew limiting 2021-04-15 06:57:16 +10:00
Andrew Tridgell
fa88967b6e APM_Control: adjust min value for tconst 2021-04-15 06:57:16 +10:00
Andrew Tridgell
b079da33c5 APM_Control: use slew rate to move gains more smoothly 2021-04-15 06:57:16 +10:00
Andrew Tridgell
59a805a740 Filter: expose slew rate in slew limiter 2021-04-15 06:57:16 +10:00
Andrew Tridgell
95b375dc87 AC_PID: log SRate in pid info and expose slew rate 2021-04-15 06:57:16 +10:00
Andrew Tridgell
05d5fc2ecc AP_Logger: added SRate logging to PIDs 2021-04-15 06:57:16 +10:00
Andrew Tridgell
772b1262d4 APM_Control: added proportional reduction to D and P 2021-04-15 06:57:16 +10:00
Andrew Tridgell
d561cd358f APM_Control: log RMAX and TAU 2021-04-15 06:57:16 +10:00
Andrew Tridgell
d914ce6829 APM_Control: reset filters on autotune start 2021-04-15 06:57:16 +10:00
Andrew Tridgell
6cae97446a Filter: added auto-init to LowPassFilter 
make sure initial filter returns are not a long way off if filtered
input is far from zero
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
7e64875a02 APM_Control: tweak tuning settings 2021-04-15 06:57:16 +10:00
Andrew Tridgell
ccd7b15d06 APM_Control: apply pitch limiting at high roll to rate 
this fixes an issue with a large elevator trim error when rolled at
close to 90 degrees
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
4694820ac3 APM_Control: allow for smaller minimum tconst 2021-04-15 06:57:16 +10:00
Andrew Tridgell
97f88f67f6 APM_Control: allow for AUTOTUNE_LEVEL=0 
this means keep the existing TCONST and RMAX parameters, if non-zero
 2021-04-15 06:57:16 +10:00