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37105 Commits

Author SHA1 Message Date
Peter Barker
83c9b32093 AP_Scripting: add bindings for the AP_TemperatureSensor 2024-09-22 20:34:33 +10:00
muramura
0020cf5fe8 AP_Compass: Add existing devices 2024-09-22 10:11:50 +10:00
cuav-chen2
89a4571c58 AP_Compass: Add in BMM350 Driver 2024-09-21 10:08:36 +10:00
bugobliterator
7513281f65 AP_Scripting: add bindings get/set full mode for GPIO 
allows setting alternate pin modes pin drive strengths etc.
 2024-09-21 10:07:30 +10:00
Peter Barker
fb5c337328 AP_TemperatureSensor: specify units (degC) in comment for get_temperature 2024-09-19 12:37:50 -05:00
Rahul
7d907e9798 AP_TemperatureSensor: new MLX90614 sensor backend driver conversion fix 2024-09-19 22:29:24 +10:00
Ryan Friedman
aecb3268c7 AP_DDS: Correct compilation of tests without external odom 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-19 11:45:15 +10:00
muramura
c0d14ec397 GCS_MAVLink: Add conditions and delete the same processing 2024-09-19 11:44:57 +10:00
bugobliterator
3d47f01dd4 AP_HAL_ChibiOS: enable TESTs on CubePilot-PPPGW 2024-09-19 11:44:22 +10:00
bugobliterator
5acf25973e AP_Networking: add connector loopback test for Ethernet 2024-09-19 11:44:22 +10:00
Rahul
86b6102267 AP_TemperatureSensor: new MLX90614 sensor backend driver added 2024-09-18 19:10:01 +10:00
Henry Wurzburg
8c3621d021 hwdef: add bdshot to SpeedyBeeF405Wing 
Co-authored-by: setup <alxdr64m@gmail.com>
 2024-09-18 17:51:26 +10:00
Henry Wurzburg
df90b640ca AP_Scripting:Add parameter controller applet 2024-09-18 13:10:26 +10:00
Iampete1
c19e5713ae GCS_MAVLink: Fix Airspeed without AHRS 2024-09-17 22:11:06 +10:00
Peter Barker
8b50f3b54b AP_OSD: don't go via RCMap singleton to get RPTY RC channels 2024-09-17 22:10:53 +10:00
Ruffalo Lavoisier
e3f76591fc AP_HAL_ChibiOS: check nullptr 'name' variable 
- Check nullptr before using the  'name' variable assigned from malloc()
 2024-09-17 22:10:26 +10:00
Thomas Watson
20d04fa823 AP_DroneCAN: DNAServer: remove preferred allocation support 
Nothing is known to support it so it can't be tested. Removing it saves
flash and reduces complexity.
 2024-09-17 22:10:08 +10:00
Thomas Watson
12a106333c AP_DroneCAN: DNAServer: optimize allocation strategy 
Number of allocation messages with 3 nodes (6 trials):

before: 44, 36, 35, 92, 107, 41

after: 28, 28, 28, 28, 26, 28
 2024-09-17 10:42:05 +10:00
Ryan Friedman
dcfbf0ab69 AP_DDS: Add defines for experimental topics such as IMU 
* Experimental topics, such as IMU, should have an easy way to be
  disabled at compile time
* This demonstrates a pattern to add in new topics at compile time

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-17 10:40:59 +10:00
Oleksiy Protas
94f2eb4999 AP_Airspeed: Don't fail on REG_WHOAMI_RECHECK_ID 
This prevents a false negative ID check for the cases when the AP is rebooted independently of the sensor, with the latter keeping a temporary ID that was set during initialization
 2024-09-17 10:36:29 +10:00
Peter Barker
cd9e7e095a hwdef: f103-GPS: explicltly nominiate compass backends supported 
this target is overflowing as someone is trying to add a new compass..
 2024-09-17 10:31:27 +10:00
Andy Piper
71e2b756af AC_AttitudeControl: introduce ANG log message for high resolution attitude logging 
Move RATE message to AC_AttitudeControl_Logging.cpp
 2024-09-17 10:12:35 +10:00
Andy Piper
64a1fda05a AP_Scheduler: record and make available the last sample time 2024-09-17 10:12:35 +10:00
junan
71a69367df AP_HAL_Linux: file descriptor leaking and other issues in "Storage" of Linux. 
- Fixed the fd leaking issue in "_storage_create" found by @peterbarker
- Remove the unnecessary call of "unlinkat" in "_storage_create"
- Simplify the implementation of "init"

Signed-off-by: junan <junan76@163.com>
 2024-09-17 10:09:05 +10:00
Andrew Tridgell
9cb3354ba0 hwdef: default CAN MCAST enabled for PPPGW builds 2024-09-17 10:02:29 +10:00
Andrew Tridgell
f065548866 hwdef: enable CAN multicast support in PPP gateways 2024-09-17 10:02:29 +10:00
Andrew Tridgell
cd14b2e1c5 AP_Networking: added multicast UDP CAN server 
this allows for operation of CAN interfaces over UDP multicast
networking
 2024-09-17 10:02:29 +10:00
Andrew Tridgell
cc930bd49f AP_CANManager: update for new callback API 2024-09-17 10:02:29 +10:00
Andrew Tridgell
4a102e2f2b AP_HAL: support more than 1 registered CAN callback 
this allows for CAN MCAST and MAVCAN at the same time
 2024-09-17 10:02:29 +10:00
Andrew Tridgell
21b6b1b229 AP_HAL: allow for multicast sockets in bootloader 2024-09-17 10:02:29 +10:00
Andrew Tridgell
05d43fd00b HAL_ChibiOS: allow for MCAST UDP with no CAN link 
this allows the CAN interface to operate without a CAN cable, allowing
for bridging of MCAST UDP CAN
 2024-09-17 10:02:29 +10:00
Thomas Watson
db18d37ed2 AP_DroneCAN: DNAServer: avoid resetting when server node ID changes 
Avoids confusing the user and removes weirdness with multiple servers
sharing the same storage. Does leak the registration for the old ID but
in the unlikely event the table fills up the user can simply reset the
database.

We keep the check for an existing registration to avoid dirtying the
storage every boot unnecessarily. We also factor out the deletion of an
existing registration (which is very unlikely but technically possible)
to save some flash.
 2024-09-17 10:01:45 +10:00
Leonard Hall
ea226637c9 AC_AttitudeControl: Vector3f multiplication clean up 2024-09-17 09:59:55 +10:00
Leonard Hall
5e27e3111d AC_AttitudeControl: Fix dt update order 2024-09-17 09:59:55 +10:00
muramura
b1b4ac8d58 AP_ExternalAHRS: Correct the judgment 2024-09-17 09:35:13 +10:00
Valentin Bugrov
167dd7f447 SITL: unify names in ILabs sim 2024-09-17 09:34:32 +10:00
Valentin Bugrov
2b3ee0e7e4 AP_ExternalAHRS: unify names in ILabs EAHRS handler 2024-09-17 09:34:32 +10:00
Bob Long
4a1e4ebcd6 RCOutput: initialize _esc_pwm_min and _esc_pwm_max 
Further protection from potential dangerous behavior when these do not
get initialized for some reason.
 2024-09-17 09:18:36 +10:00
Bob Long
8e707ef4e2 AP_DroneCAN: prevent invalid numbers spinning ESCs 
This prevents bugs and misconfigurations from causing DroneCAN ESCs to
spin at full speed while the vehicle is disarmed.
 2024-09-17 09:18:36 +10:00
shipp02
dcc526ec19 Copter: Give better error in opendroneid build when DID_ENABLE=0. 2024-09-17 09:17:24 +10:00
Iampete1
8318109546 GCS_MAVLink: add support for AIRSPEED message 2024-09-17 09:10:17 +10:00
Peter Barker
091ba2782c RC_Channel: adjust description of aux function 90 (EK3 Source Set 2024-09-16 22:34:34 +10:00
Peter Barker
12d8a4d543 AP_Scripting: adjust description of aux function 90 (EK3 Source Set 2024-09-16 22:34:34 +10:00
Peter Barker
6d8f0decac RC_Channel: rename EKF_POS_SOURCE to EKF_SOURCE_SET 
Co-authored-by: Michelle Rossouw <michelleros128@gmail.com>

these data sources span more than just position
 2024-09-16 22:34:34 +10:00
Yuxin Pan
d1562d5119 SITL: update baro param group info 2024-09-16 17:25:02 +10:00
Yuxin Pan
ac2751c17b SITL: add baro param file 2024-09-16 17:25:02 +10:00
Valentin Bugrov
79bd82308c SITL: Actualize InertialLabs sim 2024-09-14 19:29:02 +10:00
Valentin Bugrov
092a95e88c AP_ExternalAHRS: add GCS mesages sending for the ILabs EAHRS 2024-09-14 19:29:02 +10:00
Valentin Bugrov
0344cc36ad AP_ExternalAHRS: actualize ILabs EAHRS data processing 2024-09-14 19:29:02 +10:00
Andrew Tridgell
cbba88fccd AP_Scripting: added 2nd supply voltage to SkyPower EFI driver 
and accept both extended and 11-bit CAN
 2024-09-14 09:24:03 +10:00
Ryan Friedman
2aa5db5e73 AP_ExternalAHRS: Remove GPS week comment 
* It's a hold-over from MSP. None of AP handles 0xFFFF in a special way

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-09-14 09:18:33 +10:00
Andrew Tridgell
fea279b181 SITL: support more rangefinder orientations 
allows for quadplane tailsitter rangefinders
 2024-09-14 08:39:51 +10:00
Bob Long
72a013952c AP_EFI: Hirth: fix sensor health bitmask 2024-09-13 18:52:48 +10:00
Bob Long
e32d3ceaf7 AP_EFI: Hirth: remove crankshaft sensor status 
There is no crankshaft sensor status reported by this EFI. This line is
misleading and should be removed. The sensor health bitmask is already
logged elsewhere.
 2024-09-13 18:52:48 +10:00
Andy Piper
ef1be6fe01 AP_RCProtocol: only update rc value for GHST on rc frames 2024-09-13 18:52:05 +10:00
Benjamin Menkuec
09286e6f53 AP_MSP: MSP_RAW_GPS cog should be decidegrees not centidegrees 2024-09-13 12:45:22 +10:00
muramura
9e28bec87a AP_NavEKF3: use UINT8_MAX as flag value in place of 255 2024-09-13 09:17:17 +10:00
muramura
8b5c5fcdb7 AP_AHRS: use UINT8_MAX as flag value in place of 255 2024-09-13 09:17:17 +10:00
yuri-rage
cd4501e62d AP_Scripting: add advance-wp.lua 2024-09-12 14:23:43 +10:00
muramura
a9a2696368 AP_Mission: Change the magic number to a defined value 2024-09-12 14:23:10 +10:00
muramura
68bb55841a AP_HAL_ESP32: Change the magic number to a defined value 2024-09-12 14:23:10 +10:00
muramura
70046e0d58 AP_HAL_ChibiOS: Change the magic number to a defined value 2024-09-12 14:23:10 +10:00
weavVN
e5f4f87b9e AP_ExternalAHRS: VectorNav: rename dataflash log message names 2024-09-12 14:22:54 +10:00
Bob Long
2c14176f6a AP_EFI: fix ECYL log message 
- Convert temperatures Celsius to match the docs
- Fix format specifier for CHT2
 2024-09-12 14:22:39 +10:00
Andrew Tridgell
53a4b5a843 AP_Scripting: add handle_external_position_estimate binding 
can be used for offboard navigation systems
 2024-09-12 06:58:57 +10:00
Yuxin Pan
61afab2b70 SITL: remove params from whiltelist 2024-09-12 06:54:15 +10:00
Peter Barker
66a2788663 hwdef: RadioLinkPIX6 uses SPL06 driver 2024-09-11 18:27:47 +10:00
Wu
3f577793a1 AP_Baro: SPx06 adds Background mode 2024-09-11 18:27:47 +10:00
Wu
c70150e531 AP_Baro: add SPA06 to SPx06 driver 2024-09-11 18:27:47 +10:00
Andrew Tridgell
96cf157df9 AP_Networking: update comment 2024-09-11 16:11:22 +10:00
Bob Long
2b903d20b4 AP_ESC_Telem: tidy old calls to _telem_data 
When #27755 was first opened, #26252 had not been merged yet. #26252
refactored a bit, but the change was not applied to #27755. This commit
fixes that.

This should not change the behavior of the code.
 2024-09-11 10:23:00 +10:00
Yuxin Pan
41ffc7c860 SITL: SITL.cpp parameters documentation update 2024-09-11 10:22:22 +10:00
koehlert
9beca76f44 GCS_MAVLink: fix includes to ap_message 
"GSC_config.h" is needed for HIGHRES_IMU_ENABLED flag.
 2024-09-11 08:57:24 +09:00
Andy Piper
bb2249f766 AC_AttitudeControl: record latest gyro value and time used for logging 
move Write_Rate() to AC_AttitudeControl
move RATE log structure to AC_AttitudeControl
 2024-09-10 16:33:04 +01:00
Andy Piper
c7b0dfc915 AC_AutoTune: Write_Rate() moved to AC_AttitudeControl 2024-09-10 16:33:04 +01:00
Andy Piper
4f4e822d88 AP_AHRS: move Write_Rate() to AC_AttitudeControl 
move RATE log structure to AC_AttitudeControl
 2024-09-10 16:33:04 +01:00
xianglunkai
c40422cde3 AP_Proximity_DroneCAN: fix code stype 2024-09-10 23:36:44 +10:00
Peter Barker
154229006a AP_MSP: avoid nullptr dereference on bad rcmap 2024-09-10 22:00:50 +10:00
Peter Barker
9cbb494092 RC_Channel: avoid nullptr dereference on bad rcmap value entry 2024-09-10 22:00:50 +10:00
Randy Mackay
aa65a2ab54 AP_Mount: siyi supports camera-thermal-range 2024-09-10 20:59:49 +09:00
Randy Mackay
6f2a88f707 AP_Camera: support send-thermal-range 2024-09-10 20:59:49 +09:00
Randy Mackay
2db7a9520a GCS_MAVLink: support camera-thermal-range 2024-09-10 20:59:49 +09:00
Thomas Watson
aca624486d AP_DroneCAN: DNAServer: don't "allocate" broadcast ID 
While technically legal, it's unlikely to have been tested and an
allocatee might do silly things. Also makes the logic a bit more clear
and improves the failure message.
 2024-09-10 12:35:04 +10:00
Thomas Watson
5a1c825ea2 AP_DroneCAN: DNAServer: clean up and optimize allocation 2024-09-10 12:35:04 +10:00
Thomas Watson
4427cbee71 AP_DroneCAN: DNAServer: avoid clearing node ID during allocation 
Not necessary and wastes flash.
 2024-09-10 12:35:04 +10:00
Thomas Watson
854b769cfe hwdef: remove non-ublox GPSes from MatekL431-Periph 
Saves enough flash to get it building again (11K now free). These
backends are default for other boards and so are built in CI.
 2024-09-10 12:30:23 +10:00
Peter Barker
222a26ee20 AP_Scripting: tweak conditions for scripting-requires-filesystem 
AP_FILESYSTEM_READING_ENABLED isn't quite right as we can't read scripts from @SYS.
 2024-09-10 11:47:37 +10:00
Peter Barker
78f0175e20 GCS_MAVLink: reject SET_MESSAGE_INTERVAL commands with p3 set 
this is going to be used for changing the rate of a specific instance of a message at some stage

we have to reject it for now so that when the index is used the GCS is told that their message is invalid in this older version of the autopilot
 2024-09-10 11:43:52 +10:00
olliw42
3c9965f5e5 AP_DroneCAN: set protocol in tunnel.Targetted message according to protocol parameter 2024-09-10 11:41:59 +10:00
Andy Piper
8dee817acf AP_AHRS: log attitude and attitude target at full resolution in degrees 2024-09-10 10:54:55 +10:00
Andrew Tridgell
05fbc4767d SRV_Channel: added lift_release 
for releasing a balloon or other lift device
 2024-09-10 10:15:34 +10:00
Iampete1
b1fe1f18d4 AP_Airspeed: healthy: check enabled first for instance range check 2024-09-10 09:48:31 +10:00
Andrew Tridgell
cf45dbf284 AP_NavEKF2: fixed return of common origin 
when common origin is set we should return that, not backends private
origin
 2024-09-10 09:28:50 +10:00
Andrew Tridgell
be5ecab686 AP_AHRS: added common origin logic 
this aligns the origin between EKF2, EKF3 and ExternalAHRS, making for
smooth transitions between AHRS backends in flight
 2024-09-10 09:28:50 +10:00
Andrew Tridgell
91a5cfea6b AP_ExternalAHRS: added set_origin() call 
and remove code that aligns origin to AHRS, this will be handled by
the AHRS common origin logic
 2024-09-10 09:28:50 +10:00
Andrew Tridgell
3444de06b1 AP_NavEKF2: allow setOrigin when using GPS 
this allows for use of a common origin between backends, and aligns
with EKF3 behaviour
 2024-09-10 09:28:50 +10:00
Peter Barker
777aab6e0c AP_Scripting: no warning if no ./scripts and no real filesystem 
it is possible to build for boards without storage (so no Posix, no Fatafs), but still have scripts in ROMFS.

In this case we will use the backend AP_Filesystem_backend base class when doing file operations.  This will alway fail to open directories, so when we try to load scripts from SCRIPTS_DIRECTORY it will always fail.

This leads to a warning being emitted:

Lua: State memory usage: 2796 + 5227
AP: Lua: open directory (./scripts) failed
AP: hello, world
Time has wrapped

Which isn't great.

Detect we are working on this filesystem and don't warn.
 2024-09-10 09:10:49 +10:00
Peter Barker
61de480f62 AP_AHRS: log DCM errrp and erryaw into DCM message 2024-09-09 15:17:15 +10:00
Andrew Tridgell
9726e8e218 Filter: only update notch on init if fixed 2024-09-09 09:29:32 +10:00
Andy Piper
a8575e0646 Filter: ensure harmonic notch filters are always working 2024-09-09 09:29:32 +10:00