aepko/Ardupilot2
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33919 Commits

Author SHA1 Message Date
Randy Mackay
9e3ab558b3 AP_Camera: take_pic and take_multiple_pic report success 
Methods return success if at least one backend succeeds
 2023-09-26 10:53:22 +10:00
Randy Mackay
66337af882 AP_Camera: fix reporting of mount take_picture 2023-09-26 10:53:22 +10:00
Iampete1
f9c8ad8de8 AP_Generator: IE 650/800: does have fuel remaining 2023-09-26 10:47:50 +10:00
Iampete1
9599318fff AC_PID: apply PD limit in such that limit flag is set and reported P and D terms are correct 2023-09-26 10:41:05 +10:00
Iampete1
93ccec3203 AP_Logger: Write_PID: add PD sum limit flag 2023-09-26 10:41:05 +10:00
Iampete1
5def9e7038 AP_Logger: PID move limit to flag bit 2023-09-26 10:41:05 +10:00
Leonard Hall
029950ef05 APM_Control: Support PD Max 2023-09-26 10:41:05 +10:00
Leonard Hall
8068f72be3 AP_WheelEncoder: Support PD Max 2023-09-26 10:41:05 +10:00
Leonard Hall
df014a2c05 AC_CustomControl: Support PD Max 2023-09-26 10:41:05 +10:00
Leonard Hall
ac0244e430 AC_AttitudeControl: Support PD Max 2023-09-26 10:41:05 +10:00
Leonard Hall
3de0bcefdb AC_PID: Support PD Max 2023-09-26 10:41:05 +10:00
AndKe
2030e6c9e2 SMBus :expanded SoloBMS to 6s 2023-09-26 10:17:02 +10:00
Henry Wurzburg
a901d23de4 AP_TECS: correct/expand param metadata re synth airspeed 2023-09-26 09:04:51 +10:00
Peter Barker
429dbefade AP_AHRS: fill in error string when invalid backend specified 2023-09-25 08:11:23 +10:00
Peter Barker
34bceb8eec SITL: log achieved speedup rate 2023-09-23 19:49:02 +10:00
Peter Barker
4791e6f367 AP_Generator: use HAL_LOGGING_ENABLED 2023-09-23 13:59:42 +10:00
Asif Khan
65be0bd1ba GCS_MAVLink: add MAV_CMD_IMAGE_STOP_CAPTURE support 
Co-authored-by: Zachary Zalass <zachzalass@gmail.com>
 2023-09-21 21:05:01 +10:00
Asif Khan
844d552b22 AP_Mission: add MAV_CMD_IMAGE_STOP_CAPTURE support 
Co-authored-by: Zachary Zalass <zachzalass@gmail.com>
 2023-09-21 21:05:01 +10:00
Asif Khan
f30af5e072 AP_Camera: add MAV_CMD_IMAGE_STOP_CAPTURE support 
Co-authored-by: Zachary Zalass <zachzalass@gmail.com>
 2023-09-21 21:05:01 +10:00
Asif Khan
518feedf41 AP_Mission: add MAV_CMD_START_CAPTURE support in mission 2023-09-21 21:05:01 +10:00
Asif Khan
2cc080620c AP_Camera: fix MAV_CMD_START_CAPTURE handling 2023-09-21 21:05:01 +10:00
Andrew Tridgell
89bd6ab218 AP_GPS: implement the GPS_DRV_OPTION for ellisoid height in mode drivers 
this allows a lot more drivers to use the GPS_DRV_OPTION but to use
ellisoid height. Particularly useful for DroneCAN GPS modules

using ellisoid height instead of AMSL is useful in some specialised
application
 2023-09-21 19:36:26 +10:00
Peter Barker
fc722b5efc AP_Tuning: add and use AP_TUNING_ENABLED 2023-09-21 07:07:58 +10:00
Peter Barker
1208938d3b SITL: fix balancebot yaw reset to be kinimatically consistent 
... or at least closer to it.

We were hard-resetting the yaw to zero when the vehicle was upright.  That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.

Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
 2023-09-20 22:59:41 +10:00
James O'Shannessy
70bee8e67a AP_HAL_ChibiOS: Explicitly include InternalError 
Debug builds utilise internal error in the Util class.

The include was being passed up from Logger->LoggerMessageWriter->LoggerBackend->Bitmask.
Periph Builds tend not to have HAL_LOGGING_ENABLED, and so the include was not present.
 2023-09-20 19:51:48 +10:00
Peter Barker
8e57d66a0d AP_AHRS: move AP_AHRS_DCM::groundspeed_vector into correct file 2023-09-20 19:06:10 +10:00
Peter Barker
b44682d1a6 GCS_MAVLink: handle CAN_FORWARD as both command_INT and COMMAND_LONG 2023-09-20 17:50:56 +10:00
Peter Barker
3c93fd3c5f AP_CANManager: handle CAN_FORWARD as both command_INT and COMMAND_LONG 2023-09-20 17:50:56 +10:00
Andy Piper
2c44d75f27 AP_HAL: relax F4 notch constraints slightly to allow triple notch on quads 2023-09-20 17:37:24 +10:00
Andy Piper
36fc7521ea AP_HAL_ChibiOS: modify prescaler based on dshot type 2023-09-20 17:35:44 +10:00
Andy Piper
5c0f049739 AP_HAL: simplify prescaler calculation and allow choosing highest frequency 
Update tests to reflect BLHeli_S requirements and add in L431
 2023-09-20 17:35:44 +10:00
Peter Barker
53d12ab46d AP_AHRS: rename EKFType::NONE to EKFType::DCM 2023-09-20 17:15:10 +10:00
Henry Wurzburg
4a15d9cc1b AP_TempertureSensor:clarify temp sourec for pitot tube 2023-09-19 10:15:45 -07:00
Peter Barker
d2ad165a4a RC_Channel: correct compilation with COMPASS_CAL_ENABLED off 2023-09-19 16:54:59 +10:00
Peter Barker
acf437b258 AP_Compass: correct compilation with COMPASS_CAL_ENABLED off 2023-09-19 16:54:59 +10:00
Peter Barker
12a06ee0ae AP_AHRS: make a pair of methods static on AP_AHRS_Backend 
these don't use any information from the specific backend, but they are called within the backends so making them static on that class is handy
 2023-09-19 13:20:15 +10:00
Peter Barker
a5bfd58524 AP_AHRS: remove un-needed AP_AHRS_Backend::getCorrectedDeltaVelocityNED 
over-kill, and can be derived from backend biases if required
 2023-09-19 12:51:31 +10:00
Andy Piper
1b1e5b1085 hwdef: correct inversion pin on MambaF405v2 
correct battery setup for MambaF405v2
provide suitable serial defaults for MambaF405v2
reallocate DMA channels to allow full DMA on USART3 and NeoPixel on MambaF405v2
add camera control pin to MambaF405v2
 2023-09-19 11:43:58 +10:00
Peter Barker
9bcd9df7dd AP_AHRS: move load_watchdog_home into correct cpp file 
NFC, just moving the code out of the DCM backend file
 2023-09-19 11:35:45 +10:00
Peter Barker
622b83da9e AP_AHRS: move set_home method into correct .cpp file 
NFC, just moving the code in prepration for allowing DCM to be compiled out
 2023-09-19 11:35:45 +10:00
Peter Barker
f8a4dd02d9 AP_AHRS: simplify specification of primary IMU indices 
given that DCM doesn't specify to use the primary accel or gyro when fetching the data from the Ins library, it shouldn't be special-cased here when asked what the primary IMU and accel are.  Note that this was asking for the *configured* backend type, rather than the active EKF type, making these clauses even stranger.

This also changes the definition of the "primary IMU index" to be whichever gyro is active rather than the accel.  Since we don't currently split primary gyro/primary accel, this is a reasonable change.
 2023-09-19 11:34:37 +10:00
Peter Barker
e83b6bcfcb AP_AHRS: remove get_primary_IMU_index from public interface 2023-09-19 11:34:37 +10:00
Peter Barker
0b4007d22c AP_AHRS: make comment match code behaviour in airspeed DCM-fallback 
the comment here was incorrect; we do not need EKF3 to have a good wind estimate to fall back to DCM here.

Also restructure the code to make it more obvious that this is what's going on.
 2023-09-19 11:30:45 +10:00
Peter Barker
c30bceb2a0 AP_AHRS: return location inside backend_results structure 
with the change to cache results inside AP::ahrs().state we no longer need to worry about the backend's attempts to project the last-known-location forwards according to amount of time elapsed since that last-known-location was calculated.
 2023-09-19 11:25:49 +10:00
Peter Barker
5b0393e280 GCS_MAVLink: handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN as INT or LONG 2023-09-19 11:16:10 +10:00
Henry Wurzburg
4508f23893 AP_OSD:Update/correct DisplayPort BF MSP symbols 2023-09-19 11:13:54 +10:00
Randy Mackay
ee7df6b060 AP_Mount: Xacti sets datetime 2023-09-19 10:58:52 +10:00
Randy Mackay
5e77ca483d AP_Mount: Xacti slides reduced flash usage 2023-09-19 10:58:52 +10:00
Randy Mackay
b7d44c75a6 AP_Mount: Xacti gets reduced call to AP_HAL::millis() 2023-09-19 10:58:52 +10:00
Randy Mackay
fc24b45d56 AP_Mount: Xacti handles firmware ver and status 2023-09-19 10:58:52 +10:00
Randy Mackay
1f11d5f3fc AP_DroneCAN: support string parameters 2023-09-19 10:58:52 +10:00
Peter Barker
1d4a77d33a AP_OSD: correct compilation when OSD compiled out 2023-09-19 08:22:16 +09:00
Iampete1
d3d606ab69 AP_SmartRTL: fix disable if second point fails to add 2023-09-19 08:01:47 +09:00
Nick Exton
1dd7d7dd7b AP_Mount: In Siyi, change severity of warnings for Data Loss and No Card 2023-09-19 07:59:15 +09:00
Nick Exton
bad73df582 AP_Mount: In Siyi, clean up toggling of video recording 2023-09-19 07:59:15 +09:00
Nick Exton
a8e10ca59b AP_Mount: In Siyi, request gimbal config when set_motion_mode() changes mode 2023-09-19 07:59:15 +09:00
Nick Exton
d3358ff3af AP_Mount: Make Siyi set_motion_mode() only send on change 2023-09-19 07:59:15 +09:00
Nick Exton
62858ff91f AP_Mount: Siyi set_motion_mode() now returns bool 
And the mode param is now const.
 2023-09-19 07:59:15 +09:00
Nick Exton
9fe5f4151e AP_Mount: In Siyi, use config info received from gimbal 2023-09-19 07:59:15 +09:00
Nick Exton
188a5654c2 AP_Mount: Siyi set_lock() becomes set_motion_mode() 
We have three motion modes on the Siyi: Lock, Follow and FPV.

Partially addresses #22900
 2023-09-19 07:59:15 +09:00
Henry Wurzburg
d13085d4bb HWDEF:Correct hwdef of BETAFPV-F405 2023-09-19 08:03:58 +10:00
Andrew Tridgell
ebffc8fc65 HAL_ChibiOS: fixed CAN statistics on F4/L4/F3/F7 2023-09-19 07:33:53 +10:00
Peter Barker
273b9ea354 GCS_MAVLink: correct sensors when no baros found 
GCSs will know we have no baros on-board, as will the RC telemetry library
 2023-09-19 07:28:30 +10:00
subashchandar
d1e8cef9b6 AP_HAL_ChibiOS: Increase limit for Storage pages 
STm32l4+ has 512 flash pages in dual flash mode
 2023-09-17 21:03:37 +10:00
subashchandar
2207f7bb14 AP_HAL_ChibiOS: change adc sampling rate 
STm32l4r5 adc sampling rate.
 2023-09-17 21:02:42 +10:00
James O'Shannessy
9b06395573 AP_Mount: Fix brace enclosed initializer list for older compilers 2023-09-16 14:59:00 +09:00
Peter Barker
62950169f7 AP_Notify: tidy use of DiscreteRGB 2023-09-16 08:47:37 +09:00
Nick Exton
83636e6ef3 AP_Mount: In Siyi, fix missing braces in process_packet() 2023-09-15 20:13:55 +09:00
Davide_Lentini
5b0d7928bd hwdef: Update luminousbee5 defaults.parm 2023-09-14 12:40:59 +10:00
Michael du Breuil
dcfd9f6586 AP_HAL_ChibiOS: Add sw-nav-f405 target 
Navlight board with a compass, requires #24945 for status light to work
 2023-09-14 10:56:20 +10:00
Michael du Breuil
3243751e0b AP_Notify: Reenable the DiscreteRGB backend 2023-09-14 10:55:26 +10:00
Henry Wurzburg
ae05df22eb HWDEF: Correct define errors in HEEWING and Tmotor bds 2023-09-14 10:38:01 +10:00
Ep Pravitra
db72fd16d4 AP_AdvancedFailsafe: make GCS failsafe timeout a parameter 2023-09-13 18:06:28 +10:00
zvldz
8e08a9bdf6 AP_VideoTX:add additional freq bands 2023-09-13 18:05:24 +10:00
Andy Piper
2f807230d0 AP_AHRS: rename get_angle_P_scale_logging() 2023-09-13 18:02:44 +10:00
Andy Piper
31a2acb7ad AC_AttitudeControl: rename get_angle_P_scale_logging() 2023-09-13 18:02:44 +10:00
Andy Piper
ab24f97275 APM_Control: implement single-cycle feed-forward scaler for roll and pitch 2023-09-13 18:02:44 +10:00
Peter Barker
df911e9e76 AP_Notify: remove unused enumeration 
this was copied over into the OreoLED driver
 2023-09-13 17:34:30 +10:00
Peter Barker
4f0b328674 GCS_MAVLink: support preflight calibration via command_int 2023-09-13 17:24:07 +10:00
TunaLobster
6f80f8f200 AP_HAL_ChibiOS: Add hwdef for ARK_CANNODE 2023-09-13 17:06:02 +10:00
Andy Piper
f02b34fc02 hwdef: mRoControlZeroOEMH7 bdshot version 2023-09-13 17:04:24 +10:00
Andy Piper
feabd1f568 AP_HAL_ChibiOS: hwdef for Flywoo F405 Pro 2023-09-13 17:03:51 +10:00
Andy Piper
9387236e6c AP_HAL_ChibiOS: prefer bi-directional dshot channels that can be shared on F4 and F7 2023-09-13 17:03:51 +10:00
rishabsingh3003
8a1fa0e096 Copter: Allow fast descend while Prec Landing 2023-09-13 11:49:16 +10:00
rishabsingh3003
d5a5f4f863 AC_PrecLand: Allow fast descend 2023-09-13 11:49:16 +10:00
Nick Exton
cc25f2915a AP_Mount: In Siyi, fix calculation of attitude quaternion 
Order of rotation for Siyi gimbals is (yaw, roll, pitch), which is 312
order. Quaternion::from_euler() function assumes a 321 order of
rotation (yaw, pitch, roll).
 2023-09-13 11:48:47 +10:00
Henry Wurzburg
63136e9060 AP_OSD:add Aviation style AH option 2023-09-13 08:29:00 +10:00
Peter Barker
86aad6f6bf AP_Logger: log valid-input and in-rc-failsafe 
Can now sensibly log these now the RC_Channels library has the methods
 2023-09-12 19:14:18 +10:00
Leonard Hall
ffc553f34f AC_AttitudeControl: Fix yaw limit calculations 2023-09-12 19:14:01 +10:00
Randy Mackay
ed7ca580c2 AC_AttitudeControl: add const get_rate_pid accessors 2023-09-12 19:14:01 +10:00
Randy Mackay
11ddf9f7c7 AC_PID: add const kP accessor 2023-09-12 19:14:01 +10:00
Anthony Luo
f0d7a367f4 SITL: document SIM_FLOW_* params 2023-09-12 18:56:06 +10:00
Peter Barker
a391b14a6d AP_GPS: replace utility functions with compiler builtins 2023-09-12 09:48:53 +10:00
Peter Barker
10c8af3409 AP_NavEKF3: do not use fmaxF on floating point values 
it returns double, which will not fit into this float
 2023-09-12 09:47:17 +10:00
Nick Exton
ac96365a61 AP_Mount: In Siyi, add check for minimum supported firmware version 2023-09-12 08:36:29 +09:00
Nick Exton
fd6242964a AP_Mount: In Siyi, rename _firmware_version member to _fw_version (NFC) 2023-09-12 08:36:29 +09:00
Nick Exton
8b7b265e9f AP_Mount: In Siyi, store full firmware version info 2023-09-12 08:36:29 +09:00
Peter Barker
72f485b5a5 AP_Common: remove unused Location constructor from Vector3d 
Replaced with AHRS method
 2023-09-12 09:29:26 +10:00
Peter Barker
a9c62fa565 AP_Common: Location: add offset(Vector3p &ned_offset) 2023-09-12 09:29:26 +10:00
Peter Barker
6e1e1f6596 AP_AHRS: add methods for returning location for origin offsets 2023-09-12 09:29:26 +10:00