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Commit Graph

27138 Commits

Author SHA1 Message Date
Andrew Tridgell
e9427f1dae HAL_ChibiOS: removed remnants of CHIBIOS_ADC_MAVLINK_DEBUG 2021-08-25 07:11:31 +10:00
Andrew Tridgell
5bacd35eaa HAL_ChibiOS: review fixes 2021-08-25 07:11:31 +10:00
Andrew Tridgell
4cebcede31 HAL_ChibiOS: switched to fix allocation for BMDA streams on H7 
this avoids issues with BDMA stream assignments due to bugs found
while testing boards with both I2C4 and SPI6
 2021-08-25 07:11:31 +10:00
Andrew Tridgell
5c3056e50d GCS_MAVLink: added MCU_STATUS message 2021-08-25 07:11:31 +10:00
Andrew Tridgell
0f59e1ebb8 AP_Logger: log MCU temperature and voltage 2021-08-25 07:11:31 +10:00
Andrew Tridgell
57e87b9820 HAL_ChibiOS: measure MCU temperature and ref voltage on H7 
this uses ADC3 to measure the internal MCU temperature and the reference
voltage. This uses a currently unused BDMA channel
 2021-08-25 07:11:31 +10:00
Andrew Tridgell
c91410f4b7 AP_HAL: added MCU status support 2021-08-25 07:11:31 +10:00
Randy Mackay
5de30cc7cf AP_Scripting: ahrs-source-gps-optflow script fixups from peer review 
also dded assert on optical flow to ensure the script is used with a version of AP that includes the optical flow bindings
 2021-08-24 16:49:04 +09:00
Randy Mackay
9313535a35 AP_OpticalFlow: SITL driver applies _FX/YSCALER params 2021-08-24 16:49:04 +09:00
Randy Mackay
2aa17916b1 AP_Scripting: add ahrs-source-gps-optflow 
this supports automatic switching between GPS and opticalflow
 2021-08-24 16:49:04 +09:00
Randy Mackay
df187d5d3f AP_Scripting: add optical flow bindings 2021-08-24 16:49:04 +09:00
Randy Mackay
d1f2acd813 AP_NavEKF3: rename varInnovOptFlow to flowVarInnov 
also renamed innovOptFlow to flowInnov
 2021-08-24 16:49:04 +09:00
Randy Mackay
85ade10e85 AP_NavEKF3: ofDataNew made local 2021-08-24 16:49:04 +09:00
Randy Mackay
11847cfcf5 AP_NavEKF3: always calculate optical flow innovations and variances 2021-08-24 16:49:04 +09:00
Randy Mackay
914a8dca49 AP_NavEKF3: for loops use uint8_t instead of unsigned 2021-08-24 16:49:04 +09:00
Randy Mackay
5779ebd177 AP_NavEKF3: remove unused Tbn_flow 2021-08-24 16:49:04 +09:00
Randy Mackay
f9fd63e01e AP_NavEKF3: remove unused optflow calcs 2021-08-24 16:49:04 +09:00
Hwurzburg
00a1cbffde AP_CANManager: correct metadata for values 2021-08-24 10:52:33 +10:00
Peter Barker
f02ffac9a4 AP_SerialManager: reserve Id 41 for CoDev serially-attached ESCs 2021-08-24 10:24:02 +10:00
Peter Barker
e2722c8e12 AP_AHRS: move active_accel_instance into DCM private header section 2021-08-24 10:23:36 +10:00
Peter Barker
d6c7c59199 AP_AHRS: remove custom_rotation matrix to frontend 
Only one of these per vehicle
 2021-08-24 10:23:36 +10:00
Peter Barker
645a5302d0 AP_AHRS: move DCM parameters into DCM header 2021-08-24 10:23:36 +10:00
Peter Barker
74709c6292 AP_AHRS: move groundspeed vector up to AP_AHRS_DCM 
The other estimators all have their own implementation of this
 2021-08-24 10:23:36 +10:00
Peter Barker
8169910866 AP_AHRS: move frontend parameters up / DCM parameters down 2021-08-24 10:23:36 +10:00
Peter Barker
62f6a5b033 AP_Compass: fail calibration unless at least 1 compass to cal 2021-08-24 10:18:38 +10:00
Josh Henderson
3c9547caff AP_Baro_SITL: use temp_board_offset and timeout 2021-08-24 09:55:01 +10:00
Josh Henderson
e8dcdd60c5 SITL: param use baro temp_board_offset instead of temp_flight 2021-08-24 09:55:01 +10:00
Iampete1
8c61d1a18d AP_Radio: hide params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1
9bcd706dae AP_Proximity: hide params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1
2bad7734db AP_landing: hide deepstall params with enable flag 2021-08-24 09:38:46 +10:00
Iampete1
280171e96b AP_Beacon: hide params with enable flag 2021-08-24 09:38:46 +10:00
Mohammad Hefny
2a14181e69 update to new files names 2021-08-24 07:45:41 +10:00
Mohammad Hefny
ac30fbd7b0 SITL: Webots2021b Compatible 2021-08-24 07:45:41 +10:00
Rishabh
ae98545202 AC_PrecLand: Add prec landing state machine 2021-08-23 15:00:56 +09:00
Rishabh
d4edd84573 AC_Precland: Allow landing retry and failsafe handling 2021-08-23 15:00:56 +09:00
Peter Barker
44803b92c7 SITL: correct SIM_FETtecOneWire consume function 
when this was factored out the parameter wasn't taken into account.
 2021-08-23 13:47:35 +10:00
Andrew Tridgell
531ca4289e HAL_ChibiOS: switch to minimum scheduling delta of 10us 
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.

Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.

Fixes issue #18383
 2021-08-23 10:45:44 +10:00
Peter Barker
5613610641 AP_Arming: remove redundant checks_to_perform check 
This is identical to the check just above it
 2021-08-23 08:51:38 +09:00
Peter Barker
066ad0f8da APM_Control: remove unused variables 2021-08-23 08:39:41 +09:00
Andrew Tridgell
4e98636a53 AP_Terrain: added a TERRAIN_MARGIN parameter 
this sets the acceptance margin for GCS generated terrain data. You
can raise this to allow old data generated with the less accurate
longitude scaling to be used
 2021-08-22 20:32:46 +10:00
Iampete1
df7321c0da AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-21 09:54:33 +01:00
Peter Barker
70aef84997 AP_HAL_ChibiOS: remove definitions of BOARD_PWM_COUNT_DEFAULT 
No longer used
 2021-08-20 10:51:19 +10:00
Peter Barker
815f7017d4 AP_BoardConfig: remove definitions of BOARD_PWM_COUNT_DEFAULT 
No longer used
 2021-08-20 10:51:19 +10:00
Andrew Tridgell
fed927f1a4 AP_RCTelemetry: fixed CRSF build dependency issue 
found on custom.ardupilot.org
 2021-08-20 06:46:15 +10:00
Samuel Tabor
27f0320452 AP_Landing_Slope: Log height used for flare timing. 2021-08-19 17:59:33 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
7498d5c296 AP_FETtecOneWire: Fix compilation on some exotic compilers 2021-08-19 17:57:58 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
92a75661e0 AP_FETtecOneWire: Fix state of CRC error counters after _fast_throttle_cmd_count overflow 2021-08-19 17:57:58 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
2f4c79fd1e AP_FETtecOneWire: only check for telemetry if it has been requested at some point 
Only check for telemetry after sending a fast-throttle request for that particular ESC
Added more debug information from message handling state machine
 2021-08-19 17:57:58 +10:00
Tom Pittenger
b9918cd0d5 AP_ADSB: added Ping200X driver /w UCP protocol 2021-08-19 17:49:27 +10:00
Tom Pittenger
896dd49c96 GCS_MAVLink: add MAV_CMD_ADSB_IDENT cmd 2021-08-19 17:49:27 +10:00
Tom Pittenger
8c9dcf4ad8 AP_Math: added CRC16_CCITT non-standard variant 2021-08-19 17:49:27 +10:00
Andy Piper
0279c86f7f AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it 
change mamba F405 to active high as per betaflight
 2021-08-19 17:05:42 +10:00
Andrew Tridgell
f822d8f5f6 AP_Scripting: example script for testing EKF3/DCM switching 2021-08-19 14:42:28 +10:00
Andrew Tridgell
973466856c AC_WPNav: update variable name for consistency 2021-08-19 14:42:28 +10:00
Andrew Tridgell
285798446a AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-19 14:42:28 +10:00
Andrew Tridgell
53e7436525 AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-19 14:42:28 +10:00
bugobliterator
d64621e349 HAL_ChibiOS: remove duplicate FLASH_RESERVE_START_KB from hwdef 2021-08-19 14:20:58 +10:00
bugobliterator
ddc50a8420 AP_GPS: add option to set a dedicated line for Moving Baseline Data 2021-08-19 14:20:58 +10:00
bugobliterator
e9faab288c GCS_MAVLink: allow mavftp on AP_Periph 2021-08-19 14:20:58 +10:00
bugobliterator
a8ab20abd9 AP_HAL_ChibiOS: allow sending stats via mavftp on AP_Periph 2021-08-19 14:20:58 +10:00
bugobliterator
6b64cfd6c1 AP_FileSystem_Sys: allow sending stats via mavftp on AP_Periph 2021-08-19 14:20:58 +10:00
bugobliterator
e8c4b99a99 AP_UAVCAN: add support for setting parameters on CAN nodes 2021-08-19 14:20:58 +10:00
bugobliterator
4f65705c99 AP_HAL_ChibiOS: set proper name for CAN terminators on HerePro 2021-08-19 14:20:58 +10:00
bugobliterator
d32111b376 AP_GPS: fix handling of RTCM3 parser with user notification for bad cfg 2021-08-19 14:20:58 +10:00
bugobliterator
3b58463bfd AP_GPS: initialise uavcan drv interim_state with state structure at startup 2021-08-19 14:20:58 +10:00
bugobliterator
85d8becb8c AP_GPS: add support for auto config Moving Baseline for AP_Periph GPS 2021-08-19 14:20:58 +10:00
bugobliterator
c7907bb8fb AP_HAL_ChibiOS: update config for dual gps heading in HerePro 2021-08-19 14:20:58 +10:00
bugobliterator
9fc57e40b4 AP_GPS: add support for dual GPS heading using Periph GPSes 2021-08-19 14:20:58 +10:00
bugobliterator
e29ddebe3c AP_CANManager: remove unused variable from SLCANIface code 2021-08-19 14:20:58 +10:00
bugobliterator
ddc82f7619 AP_UAVCAN: add messages for doing MovingBaseline Heading over UAVCAN 2021-08-19 14:20:58 +10:00
Randy Mackay
2fba31332b GCS_MAVLink: support MAV_CMD_SET_EKF_SOURCE_SET command 
this allows external systems to set the active EKF source set
 2021-08-19 12:11:08 +10:00
Andrew Tridgell
d92c5589a9 GCS_MAVLink: added fields for new mavlink2 extensions 2021-08-19 12:08:54 +10:00
Andrew Tridgell
46287dcb00 SITL: fixed plane-tailsitter model 
it doesn't play well with smoothing
 2021-08-19 12:08:54 +10:00
Peter Barker
be076e5b1a AP_Math: correct descriptions of quaternion functions 2021-08-19 10:00:35 +10:00
TunaLobster
8cd47433ed AP_FETtecOneWire: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
TunaLobster
d6a5622fcb AP_NavEKF3: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
TunaLobster
7dd40f0cab AP_NavEKF2: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
TunaLobster
642bd85306 AP_ICEngine: spelling and grammer fixes inc in param description 2021-08-19 10:00:16 +10:00
TunaLobster
c0d484570c AP_EFI: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
Peter Barker
f465a9336e AP_Button: add debounce on PWM input 
Co-authored-by: jmachuca77 <jaime@element.aero>
 2021-08-18 18:47:28 +10:00
Peter Barker
5d49d29c27 AP_AHRS: move wind-estimation-enabled state to frontend 2021-08-18 18:37:39 +10:00
Peter Barker
d2822635ca AP_VisualOdom: adjust for rename yaw_initialised -> dcm_yaw_initialised 2021-08-18 18:37:39 +10:00
Peter Barker
8daa0a099c AP_AHRS: rename yaw_initialised access method to dcm_yaw_initialised 
This is what it really means.

Also put the relevant state within the DCM object
 2021-08-18 18:37:39 +10:00
Iampete1
60e0f47918 AP_Arming: always check configured on copter and blimp 2021-08-18 18:30:51 +10:00
Peter Hall
2ec36d7f7f AP_Scripting: add quadplane in_assisted_flight binding 2021-08-18 18:07:20 +10:00
Peter Barker
a91d30369e GCS_MAVLink: stop sending SENSOR_OFFSETS 
Only works for first compass instance.

We have all of these in parameters anyway.
 2021-08-18 18:06:24 +10:00
Andy Piper
b78d848a5d AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-18 17:06:09 +10:00
Andy Piper
3790957d02 RC_Channel: add turtle mode docs 2021-08-18 10:49:13 +10:00
Andrew Tridgell
477f936560 SITL: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
11afdb1ef2 AP_WindVane: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
61d5910d0a AP_TECS: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
ab89a94d22 AP_Soaring: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
0bdbdcec21 AP_RCProtocol: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
c0c32a63cc AP_IOMCU: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
d07bf97da6 AP_GyroFFT: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
17b91903ed AP_Generator: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
de1e44c77e AP_Follow: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
4faa16b0a7 AP_ExternalAHRS: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
87ae238ea0 AP_EFI: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell
ffe8add56d AP_Compass: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00