jaromc
079f8a69dc
AP_Periph was already assuming this behavior by never checking the write result of `select` and instead just sending frames and relying on the mailbox full check. This therefore fixes AP_Periph misordering multi-part messages. Each part is the same priority, so in priority mode the hardware transmits in slot order, which may not equal queue order. bxCAN based flight controllers no longer use priority now, but FDCAN always used FIFO mode so this brings the drivers closer anyway. In all cases before and after this patch, priority is maintained in libcanard so only the highest priority frames are dequeued for transmission by the hardware anyway. But if a high priority message is enqueued in the hardware, it will not be transmitted until lower priority messages in the hardware are sent first. This is against CAN priority semantics, where higher priority messages should be transmitted first. Fortunately, it has worked well in practice. (Though there was still the possibility for a higher priority message to be dequeued and not have space in the hardware even in priority mode).
ArduPilot Project
ArduPilot is the most advanced, full-featured, and reliable open source autopilot software available. It has been under development since 2010 by a diverse team of professional engineers, computer scientists, and community contributors. Our autopilot software is capable of controlling almost any vehicle system imaginable, from conventional airplanes, quad planes, multi-rotors, and helicopters to rovers, boats, balance bots, and even submarines. It is continually being expanded to provide support for new emerging vehicle types.
The ArduPilot project is made up of:
User Support & Discussion Forums
-
Support Forum: https://discuss.ardupilot.org/
-
Community Site: https://ardupilot.org
Developer Information
-
Github repository: https://github.com/ArduPilot/ardupilot
-
Main developer wiki: https://ardupilot.org/dev/
-
Developer discussion: https://discuss.ardupilot.org
-
Developer chat: https://discord.com/channels/ardupilot
Top Contributors
- Flight code contributors
- Wiki contributors
- Most active support forum users
- Partners who contribute financially
How To Get Involved
-
The ArduPilot project is open source and we encourage participation and code contributions: guidelines for contributors to the ardupilot codebase
-
We have an active group of Beta Testers to help us improve our code: release procedures
-
Desired Enhancements and Bugs can be posted to the issues list.
-
Help other users with log analysis in the support forums
-
Improve the wiki and chat with other wiki editors on Discord #documentation
-
Contact the developers on one of the communication channels
License
The ArduPilot project is licensed under the GNU General Public License, version 3.
Maintainers
ArduPilot is comprised of several parts, vehicles and boards. The list below contains the people that regularly contribute to the project and are responsible for reviewing patches on their specific area.
- Andrew Tridgell:
- Vehicle: Plane, AntennaTracker
- Board: Pixhawk, Pixhawk2, PixRacer
- Francisco Ferreira:
- Bug Master
- Grant Morphett:
- Vehicle: Rover
- Willian Galvani:
- Vehicle: Sub
- Board: Navigator
- Michael du Breuil:
- Subsystem: Batteries
- Subsystem: GPS
- Subsystem: Scripting
- Peter Barker:
- Subsystem: DataFlash, Tools
- Randy Mackay:
- Vehicle: Copter, Rover, AntennaTracker
- Siddharth Purohit:
- Subsystem: CAN, Compass
- Board: Cube*
- Tom Pittenger:
- Vehicle: Plane
- Bill Geyer:
- Vehicle: TradHeli
- Emile Castelnuovo:
- Board: VRBrain
- Georgii Staroselskii:
- Board: NavIO
- Gustavo José de Sousa:
- Subsystem: Build system
- Julien Beraud:
- Board: Bebop & Bebop 2
- Leonard Hall:
- Subsystem: Copter attitude control and navigation
- Matt Lawrence:
- Vehicle: 3DR Solo & Solo based vehicles
- Matthias Badaire:
- Subsystem: FRSky
- Mirko Denecke:
- Board: BBBmini, BeagleBone Blue, PocketPilot
- Paul Riseborough:
- Subsystem: AP_NavEKF2
- Subsystem: AP_NavEKF3
- Víctor Mayoral Vilches:
- Board: PXF, Erle-Brain 2, PXFmini
- Amilcar Lucas:
- Subsystem: Marvelmind
- Samuel Tabor:
- Subsystem: Soaring/Gliding
- Henry Wurzburg:
- Subsystem: OSD
- Site: Wiki
- Peter Hall:
- Vehicle: Tailsitters
- Vehicle: Sailboat
- Subsystem: Scripting
- Andy Piper:
- Subsystem: Crossfire
- Subsystem: ESC
- Subsystem: OSD
- Subsystem: SmartAudio
- Alessandro Apostoli :
- Subsystem: Telemetry
- Subsystem: OSD
- Rishabh Singh :
- Subsystem: Avoidance/Proximity
- David Bussenschutt :
- Subsystem: ESP32,AP_HAL_ESP32
- Charles Villard :
- Subsystem: ESP32,AP_HAL_ESP32