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22772 Commits

Author SHA1 Message Date
Andrew Tridgell
56b0dddb7c HAL_ChibiOS: set IMU temp on CUAV-X7 2020-04-23 07:28:13 +10:00
Andrew Tridgell
5892e6421e HAL_ChibiOS: enable DRDY on ADIS16470 on CUAV-X7 2020-04-23 07:28:13 +10:00
Andrew Tridgell
ffe773ff6f HAL_ChibiOS: use DRDY pin for ADIS16470 on mRoNexus 2020-04-23 07:28:13 +10:00
Andrew Tridgell
5c6749ee54 AP_InertialSensor: use wait_pin() to wait for DRDY pin if available 2020-04-23 07:28:13 +10:00
Andrew Tridgell
450871cde1 HAL_ChibiOS: added wait_pin() implementation 2020-04-23 07:28:13 +10:00
Andrew Tridgell
34df438560 AP_HAL: added wait_pin() API 
for waiting on data-ready lines
 2020-04-23 07:28:13 +10:00
Andrew Tridgell
8e977183fe HAL_ChibiOS: added mRoNexus 2020-04-23 07:28:13 +10:00
Randy Mackay
6f8176c71e GCS_MAVLink: remove ahrs3 2020-04-22 14:11:17 +09:00
Mark Whitehorn
dbfbe50737 SITL: update flightaxis defaults 2020-04-22 12:36:03 +10:00
Randy Mackay
47c7c8fb53 RC_Channel: rover option param desc gets Viso Align 2020-04-22 10:34:18 +09:00
Peter Barker
653b554a31 SITL: add simulated mavlink-attached rangefinder 2020-04-21 20:44:59 +10:00
Peter Barker
185bc68476 AP_HAL_SITL: add simulated mavlink-attached rangefinder 2020-04-21 20:44:59 +10:00
Andrew Tridgell
6be519fb0d HAL_ChibiOS: added alt-config for UART4 on omnibusf4pro 2020-04-21 18:42:12 +10:00
Andrew Tridgell
6347d0adb0 AP_GPS: leave uart2 config enabled when using uart2 MB setup 2020-04-21 15:30:54 +10:00
Andrew Tridgell
f3a5d915f3 AP_GPS: allow for larger average delta on MB rover than normal 2020-04-21 15:30:54 +10:00
Andrew Tridgell
36098c3221 AP_GPS: improved delay health threshold 
allow for missing frames without showing unhealthy on GCS
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
3397ed766d AP_GPS: enable ublox moving baseline compilation option 
disable for HAL_MINIMIZE_FEATURES and if max receivers 1. This fixes
the f103-GPS AP_Periph build
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
ae2132d861 AP_GPS: added check for Z error in moving baseline ublox 
this ensures we don't get bad yaw from having the right distance but
incorrect Z offset for the currently expected roll/pitch
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
7027eecd34 AP_GPS: added GPS_DRV_OPTIONS 
this allows for configuration of moving baseline with either uart1 or
uart2 for the RTCM data. Using uart2 requires an extra cable between
the two modules, but requires less uart bandwidth which is good when
DMA channels are low. Using uart2 also avoids the rtcmv3 parser, which
saves memory
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
9a6de209ab AP_GPS: ensure that PVT and RELPOSNED msgs time align 
this ensures we wait until we have a matching PVT and RELPOSNED
message before we report new data. If we stop receiving RELPOSNED
messages then disable yaw support
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
3fbeae613b AP_GPS: fixed moving baseline yaw calculation 
this reverts #13955 and instead applies the correct fix, which is to
subtract the angle instead of adding.
 2020-04-21 15:30:54 +10:00
Randy Mackay
3195a7cccd AC_Circle: z-axis target only updated during terrain following 
This allows the circle flight mode to externally control the altitude target
 2020-04-21 11:39:38 +09:00
murata
2af70f5e60 AP_Arming: Display mag field value 2020-04-21 10:51:48 +09:00
Randy Mackay
35dcb0d752 AP_NavEKF2: CorrectExtNavForSensorOffset made const 2020-04-21 10:21:23 +10:00
Randy Mackay
7470bc9994 AP_NavEKF3: CorrectGPSForAntennaOffset made const 
also reduce scope of call to slightly reduce CPU load
 2020-04-21 10:21:23 +10:00
Randy Mackay
85704e4989 AP_NavEKF2: CorrectGPSForAntennaOffset made const 
also reduce scope of call to slightly reduce CPU load
 2020-04-21 10:21:23 +10:00
Peter Barker
87108b86c8 AP_NavEKF3: add documentation for XKFM message 2020-04-21 09:48:43 +10:00
Peter Barker
a83c25cfa7 AP_Logger: add documentation for EKF messages 
NKF0, NKF1, NKF2, NKF3, NKF4, NKF5, NKQ

XKF0, XKF1, XKF2, XKF3, XKF4, XKF5, XKFD, XKQ, XKV1, XKV2
 2020-04-21 09:48:43 +10:00
Peter Barker
cda0d14f57 SITL: add documentation for SITL and SMOO message 2020-04-21 09:48:43 +10:00
Rishabh
6a98ab569e AC_PosControl: Replace update_vel_controller_xy() with update_xy_controller() 2020-04-21 09:22:45 +10:00
Andrew Tridgell
7e835d1037 AP_RCProtocol: fixed buffer overflow in st24 parser 
found using random data injection in SITL
 2020-04-21 06:02:29 +10:00
Peter Barker
59c02816b8 AP_HAL_SITL: find dumpstack when run from vehicle subdirectory 2020-04-20 14:25:08 +10:00
murata
bd688ef412 AP_ToshibaCAN: Using the maximum number of ESCs definition 
AP_ToshibaCAN: Using the maximum number of ESCs definition
 2020-04-20 10:12:57 +09:00
Andrew Tridgell
02aebfcd6f AP_Baro: fixed build warning 2020-04-20 07:10:21 +10:00
Andrew Tridgell
6dafa82c7c AP_FlashStorage: fixed build warning 2020-04-19 13:36:24 +10:00
Peter Barker
b490f20f3d AP_Param: panic if defaults file load fails 2020-04-18 21:51:16 +10:00
Andy Piper
f3b240533f AP_HAL_ChibiOS: eliminate EKF2 from fmuv2 build 2020-04-18 20:18:30 +10:00
Mark Whitehorn
874c293911 AP_Logger: expand description of GPS.spd 2020-04-18 15:33:43 +10:00
Randy Mackay
33d29feab9 AP_VisualOdom: T265 supports vision-position-delta 
implementation is the same for both backends so move to AP_VisualOdom_Backend
 2020-04-18 08:07:20 +09:00
Peter Barker
870159c14f AP_Logger: add times-full to MAV log structure 2020-04-17 22:21:14 +10:00
Peter Barker
8b9281eaa1 GCS_MAVLink: log number of times message not sent due to no space 2020-04-17 22:21:14 +10:00
Peter Barker
908dfa58f3 AP_Logger: remove unused FORMATS stage in DFLogStart messagewriter 2020-04-17 21:42:15 +10:00
Andrew Tridgell
db8fdeebeb HAL_ChibiOS: fixed Hott telem half duplex handling 
this fixes an issue with single byte writes with half duplex. It isn't
an elegent solution, but nicely separates the different types of half
duplex operation
 2020-04-17 17:52:28 +10:00
Patrick José Pereira
6672155e24 AP_FlashStorage: Fix test for AP_FLASHSTORAGE_MULTI_WRITE 
AP_FLASHSTORAGE_MULTI_WRITE is not defined

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-17 16:00:39 +10:00
Patrick José Pereira
c83ce93165 AP_HAL_Linux: Add missing wscript for GPIOTest 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-17 15:59:25 +10:00
Patrick José Pereira
4018a79f83 AP_Baro: Fix scope of HAL_INS_MPU60x0_NAME 
`read_calibration_data` is defined but only used inside the
definition scope.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-17 15:58:38 +10:00
Andrew Tridgell
cac455ff2d HAL_ChibiOS: added another uart to omnibusf4v6 
for RC telemetry such as Hott telem
 2020-04-17 11:23:06 +10:00
Andrew Tridgell
f721fb1743 AP_Hott_Telem: fixed GPS display for mz-32 
thanks to Ralf Helbing
 2020-04-17 11:23:06 +10:00
Peter Barker
41ada7f8f4 GCS_MAVLink: document the payload-space macros 2020-04-17 10:20:49 +10:00
Randy Mackay
03441f2250 AC_Circle: remove _rangefinder_use parameter 
We will reuse the WPNAV_RFND_USE parameter indirectly
 2020-04-16 17:30:29 +09:00
Randy Mackay
f3e2b182a1 AC_WPNav: add rangefinder_used accessor 2020-04-16 17:30:29 +09:00
Randy Mackay
658bb646ca AC_Circle: support terrain altitudes 2020-04-16 17:30:29 +09:00
vierfuffzig
7c7b199bbd AP_HAL_ChibiOS: add I2C / USART3 ALT_CONFIG for omnibusf4pro 2020-04-16 08:42:24 +10:00
Randy Mackay
22c9081c83 AP_NavEKF3: minor comment fix 2020-04-15 19:35:30 +09:00
Peter Barker
678d6f43c5 AP_Logger: use existing LoggerMessageWriter to log uploaded missions 
Instead of creating a MessageWriter explicitly to log uploaded missions
we fiddle the state of the one stored in the startup message writer.

This has the advantage of being much more likely to log the entire
mission (as the buffer constraint is removed), and with the addition of
a time-remaining check much less likely to cause a timing glitch.
 2020-04-15 16:24:40 +10:00
Peter Barker
856b635e89 AP_Mount: convert Solo gimbal messages to TimeUS from TimeMS 
Also remove unused gimbal3 message entirely
 2020-04-15 16:11:04 +10:00
Peter Barker
d8582d864a AP_Logger: convert Solo gimbal messages to TimeUS from TimeMS 
Also remove unused gimbal3 message entirely
 2020-04-15 16:11:04 +10:00
Peter Barker
acba2a78f6 AP_Logger: add message validation check against duplicate labels 2020-04-14 12:30:58 +10:00
Peter Barker
ec7bde2be4 SITL: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
4245ee6543 RC_Channel: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
1b99cfb10a AP_Vehicle: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
b7a03ae5ad AP_RangeFinder: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
d390126b93 AP_Rally: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
d19f8db06f AP_NavEKF3: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
f1fc05d357 AP_NavEKF2: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
efbf929bc0 AP_InertialSensor: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
e67347f011 AP_HAL_SITL: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
7d7a7d126c AP_Follow: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
e1f8af1653 AP_BattMonitor: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
6046aa3625 AP_Airspeed: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
e545a429a0 AC_Fence: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
002d47447e AC_Avoidance: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Randy Mackay
3ccb3c69a6 SITL: add vicon position offsets 2020-04-14 10:28:03 +10:00
Randy Mackay
2164293cc0 AP_VisualOdom: remove sensor position from call to ahrs writeExtNavData 2020-04-14 10:28:03 +10:00
Randy Mackay
79afc70cdb AP_AHRS: remove writeExtNavData sensOffset argument 
EKF pulls this directly from AP_VisualOdom
 2020-04-14 10:28:03 +10:00
Randy Mackay
8749f30c64 AP_NavEKF2: external nav pos offsets from AP_VisualOdom library 2020-04-14 10:28:03 +10:00
Randy Mackay
c39fef6c56 GCS_MAVLink: pass vision-position-estimate reset_counter to AP_VisualOdom handler 2020-04-14 10:28:03 +10:00
Randy Mackay
3557104787 AP_VisualOdom: log corrected position instead of raw position 2020-04-14 10:28:03 +10:00
Randy Mackay
6622927a23 AP_VisualOdom: support position resets 2020-04-14 10:28:03 +10:00
Randy Mackay
83e48b575e AP_VisualOdom: add SCALE parameter 
Applied to positions from vision-position-estimate messages
 2020-04-14 10:28:03 +10:00
Randy Mackay
852325c8e4 AP_VisualOdom: remove unused method declarations 2020-04-14 10:28:03 +10:00
Randy Mackay
ccf96cf0a5 AP_VisualOdom: rename MAV to MAVLink in TYPE param desc 2020-04-14 10:28:03 +10:00
Randy Mackay
4f639481c1 AP_Logger: VISP msg adds reset_counter 2020-04-14 10:28:03 +10:00
Randy Mackay
fb7e68c53a AP_NavEKF2: writeExtNavData reset handles system time wrap 2020-04-14 10:28:03 +10:00
Andrew Tridgell
74f33d57c5 HAL_ChibiOS: avoid unnecessary H7 flash writes 2020-04-14 10:02:51 +10:00
Andrew Tridgell
8dabd6cefc HAL_ChibiOS: expect a long delay on flash page erase 
this prevents the display of errors on flash page erase
 2020-04-14 10:02:51 +10:00
Andrew Tridgell
4b236e52b2 HAL_ChibiOS: added MatekH743 port 2020-04-14 10:02:51 +10:00
Andrew Tridgell
2165fd66f1 HAL_ChibiOS: define FLASH_RESERVE_END_KB 2020-04-14 10:02:51 +10:00
Andrew Tridgell
8e83783b18 AP_FlashStorage: support H7 flash storage 
this generalises AP_FlashStorage to support the 32 byte write
restrictions of the STM32H7
 2020-04-14 10:02:51 +10:00
Andrew Tridgell
5125fc1a64 HAL_SITL: added checks for flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell
efe78fe3e1 AP_HAL: allow SITL to emulate 3 different types of flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell
e1792f89db AP_HAL: fixed default HAL_STORAGE_SIZE for flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell
c0039c85e0 HAL_SITL: emulate sector size for flash storage properly 2020-04-14 10:02:51 +10:00
Peter Barker
2988c70627 AP_FlashStorage: clarify space-available-for-write check 2020-04-14 10:02:51 +10:00
Andy Piper
c4217f329b AP_RPM: allow harmonic notch driver to appear as RPM values. 2020-04-14 09:43:16 +10:00
Henry Wurzburg
e5319397b4 AP_HAL_ChibiOS: eliminate EKF2 from F4 builds not using HAL_MINIMIZE_FEATURES 2020-04-14 09:19:28 +10:00
Andrew Tridgell
5c399fce41 AP_AHRS: auto-switch to EK3/EK2 if selected option disabled 
if we have an EKF backend selected and that backend doesn't exist then
auto-switch to the other backend.

This fixes MatekF405-Wing which has EKF2 disabled and was falling back
to DCM
 2020-04-14 09:15:43 +10:00
Peter Barker
c36e06e7fa AP_Compass: add documentation for COFS, compass-learning message 2020-04-14 07:34:59 +10:00
Peter Barker
54292c5443 AP_Tuning: add documentation for PRTN message 2020-04-14 07:34:59 +10:00
Peter Barker
061c3ecb7f AP_RCProtocol: add documentation for RCDA message 2020-04-14 07:34:59 +10:00
Peter Barker
767c010332 AP_Logger: add documentation for WENC, CESC, PRX, ADSB, BCN, BCL, OABR, OADF 2020-04-14 07:34:59 +10:00
murata
124d8c7fdf AP_HAL_ChibiOS: Changing the timeout detection 2020-04-14 07:32:46 +10:00
murata
10b7988092 AP_Baro: Fix timestamp wrapping 2020-04-14 07:30:58 +10:00
Randy Mackay
9f81da1bf9 AP_NavEKF2: minor comment fix 2020-04-13 14:39:53 +09:00
Andrew Tridgell
db4f1a1473 HAL_ChibiOS: enable ADIS16470 on SPI1 2020-04-13 15:26:02 +10:00
CUAVcaijie
942b2fd29f HAL_ChibiOS: Added support for CUAV X7 flight controller 2020-04-13 15:26:02 +10:00
Andrew Tridgell
d772289b0d AP_InertialSensor: added driver for ADIS16470 2020-04-13 11:57:04 +10:00
Peter Barker
ede87d49f6 AP_InternalError: add a bit for infinite recursion in switch_full_sector 2020-04-12 09:43:13 +10:00
Peter Barker
a2b4713008 AP_FlashStorage: protect against infinite recursion in switch_full_sector 2020-04-12 09:43:13 +10:00
Peter Barker
851d9ae1ef AP_Compass: log message information for MMC3416 2020-04-12 08:36:48 +10:00
Peter Barker
c3b8db95b8 AP_Logger: add DSTL log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
d23d4768f1 AP_Landing: add LAND log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
e5b634cdd0 AP_IOMCU: add IOMC log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
88d61b9d3c AP_Follow: add FOLL log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
194d3c280f AP_EFI: add EFI log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
f9c4976f93 AP_BoardConfig: add HEAT log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
1a148afe1b AC_AutoTune: add ATDE log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
afc0fbc516 AC_AttitudeControl: add CTRL log message documentation 2020-04-12 08:36:48 +10:00
Andrew Tridgell
1f8cd830ea AP_NavEKF3: fixed use of tabs 2020-04-11 21:14:31 +10:00
Paul Riseborough
f68f355852 AP_NavEKF3: Fix timestamp wrapping 2020-04-11 21:14:31 +10:00
Paul Riseborough
33ab1a7b15 AP_NavEKF3: Ensure yaw fusion commences when starting from rest 2020-04-11 21:14:31 +10:00
Paul Riseborough
a3725e2581 AP_NavEKF3: Fix bug in calculation of rotation order 2020-04-11 21:14:31 +10:00
Paul Riseborough
eeac0a05b9 AP_NavEKF3: Improvements to on ground movement check 
Reduce sensitivity and log test ratios.
Reduce base logging rate to 5Hz and log when status changes.
 2020-04-11 21:14:31 +10:00
Paul Riseborough
ebb8bb4f6f AP_NavEKF3: Enable use of yaw fusion before external yaw sensor starts 2020-04-11 21:14:31 +10:00
Andrew Tridgell
83ad1c17a8 AP_AHRS: disable DCM yaw consistency check when using external yaw 
when EKF3 is using an external (typically GPS) supplied yaw then we
don't expect DCM to have the right yaw so should not do the DCM yaw
consistency check
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
3ae0b0d446 AP_NavEKF3: added using_external_yaw() method 
needed by AHRS for attitudes_consistent() check
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
6f04fae4a0 AP_NavEKF3: added fallback to mag option with external yaw 
this allows for a magnetometer to be used as a fallback yaw source in
flight when using an external yaw source such as a GPS. The
magnetometer bias is learned while the GPS yaw is available and
fallback is only done if the mag yaw and GPS yaw are consistent when
fallback is enabled

This also learns the Z gyro bias until first yaw alignment when
MAG_CAL is EXTERNAL_YAW_FALLBACK. This prevents large gyro bias
building while waiting for GPS lock
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
a3100251a8 AP_NavEKF3: use enum class for EK3_MAG_CAL values 
and use effective_magCal() everywhere for consistency
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
e8fb082a9a HAL_SITL: fixed simulation of roll/pitch of moving baseline ublox 2020-04-11 21:14:31 +10:00
Andrew Tridgell
b90b4f9157 HAL_SITL: implement moving baseline for ublox 
this allows testing of the moving baseline dual ublox code
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
778532d556 SITL: added SIM_GPS2_HDG and rationalise the GPS position variables 2020-04-11 21:14:31 +10:00
Andrew Tridgell
ff112a726b AP_Battery: fixed bug in SUI driver 
fixed bug in total voltage
 2020-04-10 11:46:01 +10:00
bugobliterator
a31f2e5d90 hwdef: add validation checks for CubeOrange 2020-04-10 07:04:21 +10:00
bugobliterator
ef91f1634b HAL_ChibiOS: add support for adding board validation test 2020-04-10 07:04:21 +10:00
bugobliterator
8a77ddf8c6 AP_BoardConfig: run validation test if declared under hwdef 2020-04-10 07:04:21 +10:00
Randy Mackay
1ba036169f AP_VisualOdom: align sensor displays yaw shift in 0 to 360 range 2020-04-09 19:41:08 +09:00
Randy Mackay
9fd39f3768 AP_Math: alternative quaternion rotation test 2020-04-09 19:41:08 +09:00
Randy Mackay
26e4dd6fef AP_Math: correct quaternion::from_rotation for pitch-180 2020-04-09 19:41:08 +09:00
Randy Mackay
dc2e0f328b AP_VisualOdom: fix handle_vision_position_delta_msg 
position and angle deltas were swapped when passed into the EKF
time passed into the EKF was scaled as usec when it should be sec
 2020-04-09 19:41:08 +09:00
Randy Mackay
c18fce6714 AP_Math: add quaternion rotation test 2020-04-09 19:41:08 +09:00
Randy Mackay
d1aa3858f0 AP_Vehicle: add visual odometry 2020-04-09 19:41:08 +09:00
Randy Mackay
1b1687f43d AP_Arming: integrate visual odometry pre_arm_check 2020-04-09 19:41:08 +09:00
Randy Mackay
2f5a8fd6b9 RC_Channel: add aux function for visodom-calibrate 2020-04-09 19:41:08 +09:00
Randy Mackay
9769f08fd9 GCS_MAVLink: visual odometry build fixes 2020-04-09 19:41:08 +09:00
Randy Mackay
a9c1eb5af4 GCS_MAVLink: fill in sys_status vision position bits 2020-04-09 19:41:08 +09:00
Randy Mackay
a1ddd55ea5 GCS_MAVlink: AP_integrate of rename to handle_vision_position_delta_msg 2020-04-09 19:41:08 +09:00
Randy Mackay
728e8b45a9 GCS_MAVLink: use AP_VisualOdom to handle vision-position-estimate messages 2020-04-09 19:41:08 +09:00
Randy Mackay
aa720b0ae6 AP_VisualOdom: pre-arm failure string prefix moved to AP_Arming 2020-04-09 19:41:08 +09:00
Randy Mackay
3d75dc7815 AP_VisualOdom: add HAL_VISUALODOM_ENABLED 2020-04-09 19:41:08 +09:00
Randy Mackay
8f94a0cfb0 AP_VisualOdom: integrate IntelT265 backend 2020-04-09 19:41:08 +09:00