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26725 Commits

Author SHA1 Message Date
bugobliterator
48b8fdfd48 AP_HAL_ChibiOS: make linecoding objects static arrays 2021-07-21 17:06:41 +10:00
bugobliterator
4b8b0f834d AP_HAL: add support for usb passthrough with baud changes 2021-07-21 17:06:41 +10:00
bugobliterator
d1b0438412 AP_HAL_ChibiOS: add support for usb passthrough with baud changes 2021-07-21 17:06:41 +10:00
bugobliterator
f3bc75c538 GCS_MAVLink: add support for passthrough with baud changes 2021-07-21 17:06:41 +10:00
Michael Oborne
d622aad592 AP_HAL_ChibiOS: add get_usb_baud - support for usb baudrate 2021-07-21 17:06:41 +10:00
Willian Galvani
57c6f54a51 AP_LeakDetector: update leak pin for navigator r3 in metadata 
follow-up to 397def7b9e
 2021-07-21 17:04:27 +10:00
Randy Mackay
c55c160f48 AC_WPNav: use get_terrain_margin instead of constant 2021-07-21 16:03:44 +09:00
Randy Mackay
fb5c458132 AC_WPNav: add TER_MARGIN param 2021-07-21 16:03:44 +09:00
Leonard Hall
ff1843a79c AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-21 16:03:44 +09:00
Leonard Hall
5dcfee07d9 AC_WPNav: Auto Terain following update 2021-07-21 16:03:44 +09:00
Leonard Hall
9d845759f8 AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-21 15:40:41 +09:00
Leonard Hall
ce254153c1 WP_Nav: Return Crosstrack error 2021-07-21 15:40:41 +09:00
Leonard Hall
f130503cc7 AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-21 15:40:41 +09:00
Peter Barker
b89824b3ba AP_NavEKF: log EKF data source set in XKFS 2021-07-21 16:31:53 +10:00
Peter Barker
a4410a4b2e AP_NavEKF3: log EKF data source set in XKFS 2021-07-21 16:31:53 +10:00
bugobliterator
6988bf862b AP_NavEKF: fix running out of max stack limit on debug builds 2021-07-21 11:27:52 +10:00
Peter Barker
a92fc7845c AP_AHRS: remove unused active_accel_instance 
Not a great member function as only DCM updates this
 2021-07-20 20:37:40 +10:00
Peter Barker
b185d84dc5 AP_AHRS: remove unused _gps_delay variable 2021-07-20 15:24:45 +09:00
honglang
ef109721fe AP_HAL_ChibiOS: hwdef: reorder CUAV-X7 IMUs 
adjust the sequence of IMU sensors to have good performance.
 2021-07-20 16:10:50 +10:00
Peter Barker
dc5656d34a AP_AHRS: remove accessors only used internally 2021-07-20 12:38:57 +10:00
Iampete1
ffe91fc80e AP_BLHeli: update rover motors include 2021-07-20 10:48:01 +09:00
Iampete1
e75d3b68e6 AP_Motors: move AP_MotorsUGV to new AR_Motors directory 2021-07-20 10:48:01 +09:00
Iampete1
d158199a7a AP_Scripting: add bindings and example for dynamic motor mixer 2021-07-20 09:19:28 +10:00
Iampete1
6848cbc241 AP_Motors: add scripting dynamic mixer, allowing varable geometry vehicles 2021-07-20 09:19:28 +10:00
Iampete1
a6795a8e45 AP_Scripting: support depends keyword on userdata 2021-07-20 09:19:28 +10:00
Iampete1
aad459d447 AP_Scripting: support array userdata feilds 2021-07-20 09:19:28 +10:00
Andrew Tridgell
f969dbe411 RC_Channel: added training mode RC option 2021-07-20 09:00:46 +10:00
Willian Galvani
9083c97acf AP_BattMonitor: add Navigator to pins metadata 2021-07-19 12:21:40 -07:00
Josh Henderson
84fb03cb79 AP_BattMonitor: SMBus remove unused bool returns 2021-07-18 16:13:06 -07:00
Josh Henderson
0d64782220 AP_BattMonitor: remove temp var for SMBus read_full_charge_capacity 2021-07-18 16:13:06 -07:00
Josh Henderson
8af12608df AP_BattMonitor: make NeoDesign obey SMBUS_ENABLE 2021-07-18 15:16:57 -07:00
Peter Barker
d47a032a09 AP_Vehicle: explicitly number ModeReason enumeration values 
These are logged, and mapping back is much easier if you have this
numbering
 2021-07-17 09:27:38 +10:00
Andrew Tridgell
2bd04c14fd AP_OSD: move OSD_LINK_Q_* to a new param table 
this gives us room for up to 63 more entries
 2021-07-16 13:27:38 +10:00
Hwurzburg
ca92d73f25 AP_OSD: Add RX Link Quality Panel 2021-07-16 13:27:38 +10:00
Hwurzburg
55af794a2f RC_Channel: add Link Quality reporting to RC protocols 2021-07-16 13:27:38 +10:00
Hwurzburg
983c7aba2f AP_RSSI: add Link Quality reporting to RC protocols 2021-07-16 13:27:38 +10:00
Hwurzburg
c5f53fc0b6 AP_RCProtocol: add Link Quality reporting to RC protocols 2021-07-16 13:27:38 +10:00
Hwurzburg
df0c9a42cb AP_Logger: Add Link Quality reporting to RC protocols 2021-07-16 13:27:38 +10:00
Hwurzburg
d806d8a26d AP_HAL: add Link Quality reporting to RC protocols 2021-07-16 13:27:38 +10:00
Hwurzburg
0f2f6ccc80 AP_HAL_ChibiOS: add Link Quality reporting to RC protocols 2021-07-16 13:27:38 +10:00
Andrew Tridgell
a098c80671 HAL_ChibiOS: use DNA for node allocation on Matek GPS 
this works as MSP is now active when a DNA server is not found
 2021-07-15 14:38:11 +10:00
Andrew Tridgell
db1df9d3a8 HAL_ChibiOS: raise DMA contention threshold for H7 2021-07-15 11:31:55 +10:00
Andrew Tridgell
8430f48375 AP_SerialManager: document DisableFIFO bit 2021-07-15 11:31:55 +10:00
Andrew Tridgell
e517a47f9b AP_SerialManager: call set_options() before first UART use 
this ensures options are set before the first begin() call
 2021-07-15 11:31:55 +10:00
Andrew Tridgell
926d4ad71c HAL_ChibiOS: implement NOFIFO option for uarts 2021-07-15 11:31:55 +10:00
Andrew Tridgell
269c4084d2 AP_HAL: added serial option for disabling FIFO on uarts 2021-07-15 11:31:55 +10:00
Siddharth Purohit
0138266fee AP_HAL: disable cast align check while casting char* read pointer to object 2021-07-15 07:50:12 +10:00
bugobliterator
0e7571c733 AP_EFI: fix casting without ensuring alignment 2021-07-15 07:50:12 +10:00
bugobliterator
0b505c491c AP_CANManager: fix casting without ensuring alignment 2021-07-15 07:50:12 +10:00
bugobliterator
e8e5f49640 AP_BLHeli: fix casting without ensuring alignment 2021-07-15 07:50:12 +10:00
Andy Piper
60b0df0a25 AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-14 17:50:06 +10:00
Peter Barker
78e0e52542 SITL: add simulated ms5611 baro 2021-07-14 17:46:15 +10:00
Peter Barker
b184341424 SITL: add subclass for MS5525 2021-07-14 17:46:15 +10:00
Peter Barker
aa97c5b714 SITL: adjust MS5XXX to be new base class 2021-07-14 17:46:15 +10:00
Peter Barker
50d7fc353f SITL: rename SIM_MS5525 to SIM_MS5XXX 2021-07-14 17:46:15 +10:00
Andrew Tridgell
416c0724d2 AP_Common: use double precision for more location functions when available 
this makes the location functions more accurate at long distances when
EKF double enabled
 2021-07-14 17:34:40 +10:00
Andrew Tridgell
7550368fc7 HAL_SITL: update for changed SITL API 2021-07-14 17:34:40 +10:00
Andrew Tridgell
5eaf76cdc8 SITL: separate origin and home in SITL 
this allows for accurate sensor data when flying a very long distance
from the takeoff location
 2021-07-14 17:34:40 +10:00
Andrew Tridgell
6b73c2151a AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-14 17:34:40 +10:00
Andrew Tridgell
3ded1e6c10 AP_Common: added ftype precision offset call 2021-07-14 17:34:40 +10:00
Peter Barker
7375d1949c SITL: add support for ms5525 i2c sensor 2021-07-13 12:00:37 +10:00
Randy Mackay
50ce79bcf6 AP_Torqeedo: simple driver to control torqeedo 1003 motor 
includes fixes from peer review
 2021-07-13 10:01:14 +09:00
Randy Mackay
7e68ce5c86 AP_SerialManager: add torqeedo to list of supported protocols 
note that serial7_protocol and serial8_protocol param lists were missing 37:SmartAudio so this was also added
 2021-07-13 10:01:14 +09:00
Randy Mackay
6c180994cd AP_Math: add support for crc8_maxim 
Thanks to FastCRC
 2021-07-13 10:01:14 +09:00
Hwurzburg
448ae368b1 RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-13 09:52:53 +10:00
Hwurzburg
ceeabb85a5 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-13 09:52:53 +10:00
Leonard Hall
a32b5b3bb0 AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-13 09:51:36 +10:00
Peter Barker
ddb7378bdd AP_Terrain: add setter for terrain-enabled 
Currently only useful for unit test
 2021-07-12 17:34:44 +10:00
Peter Barker
fc2338612e AP_Common: stop setting terrain pointer in test_location 
Also enable/disable as required for testing
 2021-07-12 17:34:44 +10:00
Peter Barker
0a068d4d4b AP_Terrain: default terrain to off in Sub 2021-07-12 17:34:44 +10:00
Peter Barker
f75e258606 SITL: SIM_Ship: correct GLOBAL_POSITION_INT message altitude 2021-07-12 17:34:44 +10:00
Peter Barker
05a0205c21 SITL: change to use terrain singleton 2021-07-12 17:34:44 +10:00
Peter Barker
b625596dfa AP_Common: use singleton to access AP_Terrain data 2021-07-12 17:34:44 +10:00
Peter Barker
2d28c1065e AC_WPNav: use singleton to access AP_Terrain data 2021-07-12 17:34:44 +10:00
Peter Barker
de404b1999 AP_Terrain: allow AP_TERRAIN_AVAILABLE to be set in hwdef 
Use AP_TERRAIN_AVAILABLE instead
 2021-07-12 17:34:44 +10:00
Andrew Tridgell
98fb4fcbe7 AP_NavEKF3: convert code_gen.py to ftype 2021-07-12 17:27:08 +10:00
Andrew Tridgell
44f098c86d AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-12 17:27:08 +10:00
Andrew Tridgell
ae8dbe36bb AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-12 17:27:08 +10:00
Andrew Tridgell
5f87335325 AP_Airspeed: review updates 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2021-07-12 17:14:59 +10:00
Andrew Tridgell
70bb470eb0 AP_Airspeed: fixed AP_Periph build 2021-07-12 17:14:59 +10:00
Andrew Tridgell
0bdd8231cf AP_Airspeed: added ARSPD_OPTIONS bit for disabling voltage correction 
if the MS4525 has its own LDO then we are should disable the
correction
 2021-07-12 17:14:59 +10:00
Andrew Tridgell
ca1508b02e AP_Airspeed: added DEVID parameters for airspeed 
this makes log analysis easier
 2021-07-12 17:14:59 +10:00
Andrew Tridgell
7f85b413f2 AP_Airspeed: use GCS_SEND_TEXT instead of printf for sensor probe messages 2021-07-12 17:14:59 +10:00
Andrew Tridgell
e6c7970a19 AP_Airspeed: support 3 I2C addresses for MS4525 
and if bus number is configured then use only that bus number,
otherwise probe all buses as per existing behaviour
 2021-07-12 17:14:59 +10:00
Peter Barker
a52e823967 AP_HAL_SITL: implement read(buf, length) 2021-07-12 12:11:30 +10:00
Andy Piper
40ec8c723b AP_RCTelemetry: correct firmware string length for CRSF 2021-07-12 11:25:31 +10:00
Leonard Hall
59909970fa AC_WPNav: Remove unused function 2021-07-10 20:25:05 +09:00
Leonard Hall
ac0b320922 AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-10 20:25:05 +09:00
Leonard Hall
e2b5d3d585 AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-10 20:25:05 +09:00
Leonard Hall
e0e283f13e AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-10 20:25:05 +09:00
Leonard Hall
7bc6c19306 AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
Leonard Hall
8a2f75d742 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
Leonard Hall
6e82bff55b AC_AttitudeControl: Add terain following to guided 2021-07-10 20:25:05 +09:00
Randy Mackay
430492469b AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-10 20:25:05 +09:00
Leonard Hall
620d066a2e AC_WPNav: move code to generate terrain following kinematic path 2021-07-10 20:25:05 +09:00
Leonard Hall
de36398ebf AC_Math: Control: Support Accel only input 2021-07-10 20:25:05 +09:00
Leonard Hall
b3acdd49d6 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-10 20:25:05 +09:00
Leonard Hall
8e084a0879 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-10 20:25:05 +09:00
Andrew Tridgell
75411afd21 AP_Math: added test for SCurve::calculate_path 
this was the values shown in the core dump for failing guided mode
test in CI
 2021-07-10 10:34:01 +09:00
Andrew Tridgell
498220b9f3 AP_Math: fixed error where t4_out could be negative in SCurve::calculate_path 
this case cropped up in SITL due to floating point accuracies
 2021-07-10 10:34:01 +09:00
Andrew Tridgell
b11450c18c AP_NavEKF: review feedback 2021-07-10 07:20:41 +10:00
Andrew Tridgell
f343c8501b AP_Math: fixed double fill_nanf() 2021-07-10 07:20:41 +10:00
Andrew Tridgell
168e860f70 AP_Math: fixed a few more single precision calls 2021-07-10 07:20:41 +10:00
Andrew Tridgell
56d9134e38 AP_Common: adjust test_location values 
for adjusted longitude scale accuracy
 2021-07-10 07:20:41 +10:00
Andrew Tridgell
1486a473bd AP_Math: remove unused rotation_matrix_norm() 2021-07-10 07:20:41 +10:00
Andrew Tridgell
a924f66f70 AP_Common: fixed comment 2021-07-10 07:20:41 +10:00
Andrew Tridgell
5319e3910f AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-10 07:20:41 +10:00
Andrew Tridgell
d91397f2f2 AP_Math: change wrap_PI to ftype 
prevent loss of precision
 2021-07-10 07:20:41 +10:00
Andrew Tridgell
afb928081a AP_Math: use ftype for a few internal trig fns 2021-07-10 07:20:41 +10:00
Andrew Tridgell
338ab28dea AP_NavEKF: larger frame limit for --enable-math-check-indexes 2021-07-10 07:20:41 +10:00
Andrew Tridgell
31a6663797 AP_Math: fixed vel correction test build 2021-07-10 07:20:41 +10:00
Andrew Tridgell
6a3b12956a AP_Common: make longitude_scale() a static 
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:

 pos1 + offs = pos2
 pos2 - offs == pos1
 2021-07-10 07:20:41 +10:00
Andrew Tridgell
a8c6d742aa AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-10 07:20:41 +10:00
Andrew Tridgell
4f32fa537a HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7 2021-07-10 07:20:41 +10:00
Andrew Tridgell
885e518741 AP_NavEKF3: allow for double EKF build 2021-07-10 07:20:41 +10:00
Andrew Tridgell
6aca0bb08a AP_NavEKF2: allow for double EKF build 2021-07-10 07:20:41 +10:00
Andrew Tridgell
3235747ef8 AP_NavEKF: allow for double EKF build 2021-07-10 07:20:41 +10:00
Andrew Tridgell
32a83ef347 AP_Mount: use ZERO_FARRAY() 2021-07-10 07:20:41 +10:00
Andrew Tridgell
83158ceadb AP_Motors: fixup build for ftype conflict 2021-07-10 07:20:41 +10:00
Andrew Tridgell
b8e42be5d1 AP_Common: added double methods for SITL 2021-07-10 07:20:41 +10:00
Andrew Tridgell
01062cccd7 SITL: fixup offset calls 2021-07-10 07:20:41 +10:00
Andrew Tridgell
0f2f0d4cb2 AP_Math: allow for double EKF build 2021-07-10 07:20:41 +10:00
Andrew Tridgell
6c712c9001 HAL_ChibiOS: use SRAM1 as first ram segment on H7 
this is needed to give the linker more than 128k for static variables
with double precision maths.
 2021-07-10 07:20:41 +10:00
Andrew Tridgell
f60330c4ef AP_HAL: allow for double EKF build 2021-07-10 07:20:41 +10:00
Andrew Tridgell
4ed0b03f35 HAL_ChibiOS: implement set_RTS/CTS_pin methods 2021-07-09 13:27:57 +10:00
Andrew Tridgell
162cecadec AP_HAL: added set_CTS_pin and set_RTS_pin 2021-07-09 13:27:57 +10:00
Peter Barker
7a9dd8127a AP_HAL_SITL: generate a core file for a given PID 
Similarly to dumpstack.sh, uses gdb to dump a core file
 2021-07-08 15:46:07 +10:00
Peter Barker
2f7603e08e AP_HAL: generate a core file for a given PID 
Similarly to dumpstack.sh, uses gdb to dump a core file
 2021-07-08 15:46:07 +10:00
mateksys
40200654af AP_HAL_ChibiOS: add MatekF765-SE hwdef as a variant of MatekF765-Wing 2021-07-08 13:01:44 +10:00
CallanDaniel
396a27b17e AP_AHRS: add semaphore around set_origin 
added semaphore around set_origin() to prevent thread racing
 2021-07-08 11:54:37 +09:00
CallanDaniel
c34322f6ce AP_Scripting: add set_origin and initialised bindings 
added bindings and example scripts
 2021-07-08 11:54:37 +09:00
Siddharth Purohit
0217d1c3dc AP_UAVCAN: add BatteryInfoAux dsdl message 2021-07-08 11:56:06 +10:00
Andrew Tridgell
587ce2fd62 AP_Arming: fixed arming checks for no baro 2021-07-08 07:56:51 +10:00
Andrew Tridgell
cd3ac639fe AP_AHRS: added AHRS_GPS_USE=2 for no baro 
this allows DCM to use the GPS instead of the baro for height
 2021-07-08 07:56:51 +10:00
Andrew Tridgell
8e4d67a7c1 AP_Baro: fixed SITL with SIM_BARO_COUNT==0 
this allows for testing of SITL with no baro
 2021-07-08 07:56:51 +10:00
Siddharth Purohit
2f8dec7c9b AP_ONVIF: make onvif test empty if ONVIF not enabled 2021-07-07 18:57:25 +10:00
Siddharth Purohit
94a09f1426 AP_ONVIF: move to using hal util random 2021-07-07 18:57:25 +10:00
Siddharth Purohit
2c6659930a AP_ONVIF: remove dependency on C++ STL and std::string 2021-07-07 18:57:25 +10:00
bugobliterator
5f82ef83ad AP_ONVIF: remove init method and move initialisation to start 2021-07-07 18:57:25 +10:00
bugobliterator
d3fce3c41d AP_Vehicle: add method to enable onvif camera control using script 2021-07-07 18:57:25 +10:00
bugobliterator
027d8b4aea AP_Scripting: add support for controlling onvif camera using lua script 2021-07-07 18:57:25 +10:00
Michael Oborne
a81da13c13 AP_Scripting: add support for configuring ONVIF using scripting 2021-07-07 18:57:25 +10:00
Michael Oborne
1db1da9ee5 AP_ONVIF: add support controlling onvif cam using scripting 2021-07-07 18:57:25 +10:00
Siddharth Purohit
45f58367d0 AP_ONVIF: add initial wsdl2h generated header for onvif devicemgmt 2021-07-07 18:57:25 +10:00
Siddharth Purohit
6a0c4ec3f7 AP_HAL: add Random Number Generation test 2021-07-07 18:57:25 +10:00
Siddharth Purohit
1082046134 AP_HAL_SITL: add support for hw random number generation 2021-07-07 18:57:25 +10:00
Siddharth Purohit
f2e947589d AP_HAL_Linux: add support for hw random number generation 2021-07-07 18:57:25 +10:00
Siddharth Purohit
2b93b17fae AP_HAL: add support for hw random number generation 2021-07-07 18:57:25 +10:00
Andrew Tridgell
dd156d8da6 HAL_ChibiOS: run storage writes at 1kHz not 100Hz 
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.

Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
 2021-07-07 17:32:21 +10:00
Siddharth Purohit
f4b2b3b214 AP_DAL: move to using tool instead of tools program group 2021-07-07 17:31:09 +10:00