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Author SHA1 Message Date
Andy Piper 89e27c8a69 AP_NavEKF3: reduce gyro bias learning limits when HAL_INS_LOW_NOISE 2026-05-13 18:29:03 +10:00
Andy Piper 6bb32d0ae8 AP_InertialSensor: add HAL_INS_LOW_NOISE 2026-05-13 18:29:03 +10:00
Andrew Tridgell 02f9d5b7dd Plane: match copter for logging periodic task rate 
this allows much higher logging rates for the mavlink logging backend
 2026-05-13 08:49:21 +10:00
Tatsuya Yamaguchi e2c1c24617 Rover: increase proximity update rate to 200Hz 2026-05-13 07:59:06 +10:00
Andrew Tridgell 4cae99d05d AP_Logger: change default LOG_MAV_RATEMAX to 10 
this allows for operation (only just!) on a 1MBit link
 2026-05-13 07:55:22 +10:00
Peter Barker eaf16b1870 AP_AHRS: SIM: derive matrix and eulers from rotated quaternion 
.... also, the comment was *close* but misleading.  It was supposed to be "rotated by AP_AHRS::get_trim
 2026-05-12 11:07:49 +10:00
Peter Barker bda3ea260f AP_AHRS: make retrieval of quaternion in AHRS consistent 
this makes the estimator backends return the quaternion result in body frame, rather than having the AP_AHRS_Backend base class rotate it for only some of the backends.

Putting the result into vehicle body frame makes sense as the external hardware device may need to apply its own trim to its result if it is mounted at an angle.
 2026-05-12 11:07:49 +10:00
Peter BarkerandClaude Sonnet 4.6 3a92dded1e AP_Mount: factor send_camera_information into base class 
Move the common mavlink_msg_camera_information_send call into
AP_Mount_Backend::send_camera_information(), following the same pattern as
send_gimbal_device_attitude_status(). Backends supply their specific data
via virtual getter overrides: get_camera_vendor_name(), get_camera_model_name(),
get_camera_firmware_version(), get_camera_focal_length_mm(), get_camera_lens_id(),
and get_camera_cap_flags(). Backends suppress sending by leaving
has_camera_information() returning false (the base class default); backends
with a known camera override it to return true. Siyi's previous
!_fw_version.received guard is dropped — the message now sends with
fw_version=0 until the version is received.

Also fixes the misaligned parameter comments in Viewpro's send call (focal_length
was labelled as sensor_size_h), since there is now only one copy of those comments.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-05-12 08:46:03 +09:00
rishabsingh3003 b7272c3ebe Tools/Replay: include XKF5 and XKFA in EKF3 replay check 2026-05-12 09:44:27 +10:00
rishabsingh3003 c1111d31a2 AP_NavEKF3: decay AGL KF velocity to zero during rangefinder outage 2026-05-12 09:44:27 +10:00
rishabsingh3003 306d55abad AP_NavEKF3: add 2-state IMU-aided AGL Kalman filter for optical flow 2026-05-12 09:44:27 +10:00
Thomas Watson 7695157232 AP_NavEKF3: zero del vel bias states after covariance update 
Avoids any risk of leaking state from the position variance reset, which
was formerly after this zeroing and would restore some non-zero states.
 2026-05-12 09:37:00 +10:00
rishabsingh3003 ef884af3f1 AP_Arming: guard IMU consistency window so the macro can be set to 0 2026-05-12 09:34:22 +10:00
rishabsingh3003 32feaac515 AP_Arming: make accel and gyro consistency check happen together 2026-05-12 09:34:22 +10:00
Leonard Hall feb84ea854 Copter: fix altitude handling for Land and Payload Place
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2026-05-11 20:11:10 +10:00
Hunter McClelland 1f6a2f8bb0 SITL: Use Celsius units for battery temperature 2026-05-11 13:11:56 +10:00
Hunter McClelland bfe6bbecd9 SITL: Battery to reuse computed delta-time in temperature calc 2026-05-11 13:11:56 +10:00
Iampete1 fbc77bc454 Copter: AutoYaw: ensure weathervane exit code path is always hit
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2026-05-11 08:20:39 +09:00
Eric Katzfey faa316a07b AP_HAL_QURT: Change scheduler DEV_PRINTF to HAP_PRINTF 
The scheduler has a nice diagnostic print for each task it creates. But that is
only needed on the DSP diagnostic display, not the console, so changing output
to only DSP diagnostic display.
 2026-05-10 12:13:33 -05:00
Peter BarkerandClaude Haiku 4.5 c1170033f4 ArduSub: Remove inertial_nav 
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-05-09 21:41:19 +10:00
Leonard HallandClaude Opus 4.7 c7dd43444b Tools: rename Callisto/freestyle model param files to .parm 
These two model parameter files were the only ones in
Tools/autotest/models using the .param extension; every other model
parameter file in the tree uses .parm. Aligning their extension makes
them match the existing *.parm ROMFS embed glob without having to
extend it, and keeps the convention consistent across the directory.

Update the corresponding default_params_filename entries in
vehicleinfo.json to match the new filenames.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-09 21:15:32 +10:00
rishabsingh3003 d3a32025cd autotest: wait for home in Replay body-odom before takeoff 
wait_ready_to_arm(require_absolute=False) returns as soon as the EKF
reports relative aiding, before the origin (and thus home) is set.
The GUIDED takeoff that follows needs an ABOVE_HOME -> ABOVE_ORIGIN
alt frame conversion, which silently fails when home is unset, so
MAV_CMD_NAV_TAKEOFF returns MAV_RESULT_FAILED.
 2026-05-09 08:44:19 +10:00
rishabsingh3003 e080acb225 autotest: check TerrainLoiterToCircle altitude in terrain frame, not home 2026-05-08 08:45:28 +10:00
Peter Barker 472a668643 hwdef: regularise markdown headings 
consistent headings across markdown files will allow us to make wide-spread mechanical changes to these as desired
 2026-05-07 13:30:03 +10:00
Peter Barker a6419e502c autotest: ensure original mode restored after flip 2026-05-07 13:25:57 +10:00
Peter Barker 0e0a802e7a AP_DDS: fixes for static RC_Channel methods going away 2026-05-07 09:33:15 +10:00
Peter Barker be625b7d7a ArduCopter: adjust toymode for static methods going away 2026-05-07 09:33:15 +10:00
Peter Barker 6e9c6b263b AP_RCProtocol: adjust toymode for static methods going away 2026-05-07 09:33:15 +10:00
Peter Barker 6643254d1e AC_PID: adjust toymode for static methods going away 2026-05-07 09:33:15 +10:00
Peter BarkerandClaude Haiku 4.5 6ea8cfcef8 AntennaTracker: fixes for static RC_Channel methods going away 
going via the static methods threw away the const-correctness so we need a bunch of non-const equivalents of several const methods

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-05-07 09:33:15 +10:00
Peter BarkerandClaude Haiku 4.5 fe1507714c ArduSub: fixes for static RC_Channel methods going away 
going via the static methods threw away the const-correctness so we need a bunch of non-const equivalents of several const methods

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-05-07 09:33:15 +10:00
Peter BarkerandClaude Haiku 4.5 26894df8c2 ArduCopter: fixes for static RC_Channel methods going away 
going via the static methods threw away the const-correctness so we need a bunch of non-const equivalents of several const methods

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-05-07 09:33:15 +10:00
Peter BarkerandClaude Haiku 4.5 8f112cb18a Blimp: fixes for static RC_Channel methods going away 
going via the static methods threw away the const-correctness so we need a bunch of non-const equivalents of several const methods

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-05-07 09:33:15 +10:00
Peter BarkerandClaude Haiku 4.5 1a1898f51a Rover: fixes for static RC_Channel methods going away 
going via the static methods threw away the const-correctness so we need a bunch of non-const equivalents of several const methods

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-05-07 09:33:15 +10:00
Peter Barker f415e1f09a ArduPlane: fixes for static RC_Channel methods going away 
going via the static methods threw away the const-correctness so we need a bunch of non-const equivalents of several const methods
 2026-05-07 09:33:15 +10:00
Peter Barker 3ed38ba754 RC_Channel: fixes for static RC_Channel methods going away 
going via the static methods threw away the const-correctness so we need a bunch of non-const equivalents of several const methods
 2026-05-07 09:33:15 +10:00
Peter Barker c2075a7e02 AP_OSD: fixes for static RC_Channel methods going away 
going via the static methods threw away the const-correctness so we need a bunch of non-const equivalents of several const methods
 2026-05-07 09:33:15 +10:00
Peter Barker e8f2d5dd1b RC_Channel: remove static compatability functions for Plane 2026-05-07 09:33:15 +10:00
Peter Barker 6cbdaefb68 AP_HAL: add #error to stop regressions in hwdef files 
old bad configurations being removed, stop them coming back
 2026-05-07 09:09:48 +10:00
Peter Barker 13b5743446 AP_HAL_ChibiOS: add #error to stop regressions in hwdef files 
old bad configurations being removed, stop them coming back
 2026-05-07 09:09:48 +10:00
Peter Barker 8028a47152 AP_HAL: prevent normal boards from using AP_PERIPH_* defines 2026-05-07 09:09:48 +10:00
Peter Barker b27068bf5c hwdef: disable RCIN thread on boards that don't include AP_RCPROTOCOL_ENABLED 
we don't do anything interesting in the thread unless you have the library enabled, so we can keep these resources!
 2026-05-07 09:09:48 +10:00
Peter Barker 52a9da1586 hwdef: stop enabling HAL_RCIN_THREAD_ENABLED by default for MatekL431 
this was for backwards compatability
 2026-05-07 09:09:48 +10:00
seguall_4 1469967839 AP_InertialSensor: add FPGA_SCH16T_K10 FIFO driver 2026-05-07 09:09:16 +10:00
Peter Barker b59e8a5fdd AP_Logger: don't mark NVF message as streaming 
when LOG_FILE_RATEMAX is used we lose messages as the rate calculator for streaming messages doesn't account for changes to the NVF Name field
 2026-05-06 19:14:19 +10:00
Andrew Tridgell ad715d497a AP_Logger: don't mark NVF message as streaming 
when LOG_FILE_RATEMAX is used we lose messages as the rate calculator
for streaming messages doesn't account for changes to the NVF Name field
 2026-05-06 19:14:19 +10:00
Peter Barker e69c03557c Tools: do not work with AP_PERIPH_ defines on non-periph boards 2026-05-06 17:48:58 +10:00
Peter Barker e65560ada1 AP_HAL: prevent normal boards from using AP_PERIPH_* defines 2026-05-06 17:48:58 +10:00
Peter Barker 16267741ad AP_HAL_ChibiOS: prevent normal boards from using AP_PERIPH_* defines 2026-05-06 17:48:58 +10:00
Peter Barker bbed8c1333 Tools: allow support for MAV_CMD_GET_HOME_POSITION to be compiled out 
superseded by MAV_CMD_REQUEST_MESSAGE
 2026-05-06 17:47:25 +10:00