diff --git a/.github/workflows/macos_build.yml b/.github/workflows/macos_build.yml index 7dba405b0300e6..dd9dc964839839 100644 --- a/.github/workflows/macos_build.yml +++ b/.github/workflows/macos_build.yml @@ -188,5 +188,7 @@ jobs: echo $PATH ./waf configure --board ${{matrix.config}} ./waf + ./waf configure --board ${{matrix.config}} --debug + ./waf ccache -s ccache -z diff --git a/Tools/AP_Bootloader/support.cpp b/Tools/AP_Bootloader/support.cpp index 9a02124b1a10d9..416e40d1e6c6fe 100644 --- a/Tools/AP_Bootloader/support.cpp +++ b/Tools/AP_Bootloader/support.cpp @@ -506,7 +506,7 @@ bool update_otg2_serial_forward() chnWriteTimeout(&SDU2, data, n, TIME_IMMEDIATE); } - return (AP_HAL::millis() > otg2_serial_deadline_ms); + return (AP_HAL::millis() < otg2_serial_deadline_ms); } #endif diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index c8d1bbbc42b2e0..f3b35585af3b94 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -286,7 +286,7 @@ def configure_env(self, cfg, env): if cfg.env.DEBUG: env.CFLAGS += [ - '-g', + '-g3', '-O0', ] env.DEFINES.update( @@ -294,7 +294,7 @@ def configure_env(self, cfg, env): ) elif cfg.options.debug_symbols: env.CFLAGS += [ - '-g', + '-g3', ] if cfg.env.COVERAGE: env.CFLAGS += [ diff --git a/Tools/bootloaders/CubeOrangePlus-bdshot_bl.bin b/Tools/bootloaders/CubeOrangePlus-bdshot_bl.bin index fcbf811dfc76cd..a2281bddfe6496 100755 Binary files a/Tools/bootloaders/CubeOrangePlus-bdshot_bl.bin and b/Tools/bootloaders/CubeOrangePlus-bdshot_bl.bin differ diff --git a/Tools/bootloaders/CubeOrangePlus-bdshot_bl.hex b/Tools/bootloaders/CubeOrangePlus-bdshot_bl.hex index 3b7850fc5a908c..14c08d15d9167c 100644 --- a/Tools/bootloaders/CubeOrangePlus-bdshot_bl.hex +++ b/Tools/bootloaders/CubeOrangePlus-bdshot_bl.hex @@ -1,2396 +1,2509 @@ :020000040800F2 -:1000000000060020A50500086D1F0008251F000838 -:100010004D1F0008251F0008451F0008A705000800 -:10002000A7050008A7050008A705000895730008A4 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+:102EF00000000000AAAAAAAA00000000FFFF00002C +:102F000000000000000000000000000000000000C1 +:102F1000AAAAAAAA00000000FFFF0000000000000B +:102F2000000000000000000000000000AAAAAAAAF9 +:102F300000000000FFFF0000000000000000000093 +:102F40002E0400000000000000001A000000000035 +:102F5000FF0000002424002000000000742C000862 +:102F6000830400007F2C0008500400008D2C000812 :00000001FF diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp index b227d3b2f402f7..7e8c49297ec706 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp +++ b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp @@ -822,8 +822,8 @@ void AC_AutoTune_Heli::dwell_test_run(sweep_info &test_data) filt_att_fdbk_from_velxy_cd.apply(att_fdbk, AP::scheduler().get_loop_period_s()); } else { target_angle_cd = 0.0f; - trim_yaw_tgt_reading = (float)attitude_control->get_att_target_euler_cd().z; - trim_yaw_heading_reading = (float)ahrs_view->yaw_sensor; + trim_yaw_tgt_reading_cd = (float)attitude_control->get_att_target_euler_cd().z; + trim_yaw_heading_reading_cd = (float)ahrs_view->yaw_sensor; dwell_start_time_ms = now; filt_att_fdbk_from_velxy_cd.reset(Vector2f(0.0f,0.0f)); settle_time--; @@ -865,17 +865,17 @@ void AC_AutoTune_Heli::dwell_test_run(sweep_info &test_data) break; case YAW: case YAW_D: - attitude_control->input_euler_angle_roll_pitch_yaw(trim_angle_cd.x, trim_angle_cd.y, wrap_180_cd(trim_yaw_tgt_reading + target_angle_cd), false); + attitude_control->input_euler_angle_roll_pitch_yaw(trim_angle_cd.x, trim_angle_cd.y, wrap_180_cd(trim_yaw_tgt_reading_cd + target_angle_cd), false); command_reading = motors->get_yaw(); if (test_calc_type == DRB) { tgt_rate_reading = radians(target_angle_cd * 0.01f); - gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading - target_angle_cd)) * 0.01f); + gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading_cd - target_angle_cd)) * 0.01f); } else if (test_calc_type == RATE) { tgt_rate_reading = attitude_control->rate_bf_targets().z; gyro_reading = ahrs_view->get_gyro().z; } else { - tgt_rate_reading = radians((wrap_180_cd((float)attitude_control->get_att_target_euler_cd().z - trim_yaw_tgt_reading)) * 0.01f); - gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading)) * 0.01f); + tgt_rate_reading = radians((wrap_180_cd((float)attitude_control->get_att_target_euler_cd().z - trim_yaw_tgt_reading_cd)) * 0.01f); + gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading_cd)) * 0.01f); } break; } diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.h b/libraries/AC_AutoTune/AC_AutoTune_Heli.h index 269d3047c172ef..a9dfee98d698b9 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Heli.h +++ b/libraries/AC_AutoTune/AC_AutoTune_Heli.h @@ -263,10 +263,6 @@ class AC_AutoTune_Heli : public AC_AutoTune uint32_t settle_time; // time in ms for allowing aircraft to stabilize before initiating test float trim_meas_rate; // trim measured gyro rate - //variables from rate FF test - float trim_command_reading; - float trim_heading; - // variables from dwell test LowPassFilterVector2f filt_att_fdbk_from_velxy_cd; LowPassFilterFloat filt_command_reading; // filtered command reading to keep oscillation centered @@ -274,10 +270,8 @@ class AC_AutoTune_Heli : public AC_AutoTune LowPassFilterFloat filt_tgt_rate_reading; // filtered target rate reading to keep oscillation centered // trim variables for determining trim state prior to test starting - Vector3f trim_attitude_cd; // trim attitude before starting test - float trim_command; // trim target yaw reading before starting test - float trim_yaw_tgt_reading; // trim target yaw reading before starting test - float trim_yaw_heading_reading; // trim heading reading before starting test + float trim_yaw_tgt_reading_cd; // trim target yaw reading before starting test + float trim_yaw_heading_reading_cd; // trim heading reading before starting test LowPassFilterFloat command_filt; // filtered command - filtering intended to remove noise LowPassFilterFloat target_rate_filt; // filtered target rate in radians/second - filtering intended to remove noise diff --git a/libraries/AC_Sprayer/AC_Sprayer.cpp b/libraries/AC_Sprayer/AC_Sprayer.cpp index c6b026eb5628df..5b903fac63102d 100644 --- a/libraries/AC_Sprayer/AC_Sprayer.cpp +++ b/libraries/AC_Sprayer/AC_Sprayer.cpp @@ -1,7 +1,8 @@ -#include "AC_Sprayer.h" +#include "AC_Sprayer_config.h" #if HAL_SPRAYER_ENABLED +#include "AC_Sprayer.h" #include #include #include diff --git a/libraries/AC_Sprayer/AC_Sprayer.h b/libraries/AC_Sprayer/AC_Sprayer.h index 240e354d22070f..e4f0ba425ac6a9 100644 --- a/libraries/AC_Sprayer/AC_Sprayer.h +++ b/libraries/AC_Sprayer/AC_Sprayer.h @@ -14,6 +14,10 @@ **/ #pragma once +#include "AC_Sprayer_config.h" + +#if HAL_SPRAYER_ENABLED + #include #include #include @@ -25,12 +29,6 @@ #define AC_SPRAYER_DEFAULT_TURN_ON_DELAY 100 ///< delay between when we reach the minimum speed and we begin spraying. This reduces the likelihood of constantly turning on/off the pump #define AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY 1000 ///< shut-off delay in milli seconds. This reduces the likelihood of constantly turning on/off the pump -#ifndef HAL_SPRAYER_ENABLED -#define HAL_SPRAYER_ENABLED 1 -#endif - -#if HAL_SPRAYER_ENABLED - /// @class AC_Sprayer /// @brief Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm class AC_Sprayer { diff --git a/libraries/AC_Sprayer/AC_Sprayer_config.h b/libraries/AC_Sprayer/AC_Sprayer_config.h new file mode 100644 index 00000000000000..4bb39f35fdf5f6 --- /dev/null +++ b/libraries/AC_Sprayer/AC_Sprayer_config.h @@ -0,0 +1,7 @@ +#pragma once + +#include + +#ifndef HAL_SPRAYER_ENABLED +#define HAL_SPRAYER_ENABLED 1 +#endif diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat index 7872fc8e50a107..b35390b3aaf04f 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat @@ -177,7 +177,7 @@ define HAL_SPEKTRUM_PWR_ENABLED 1 # power sensing PE3 VDD_5V_PERIPH_nOC INPUT PULLUP -PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP +PC11 VDD_5V_HIPOWER_nOC INPUT PULLUP PA15 VDD_BRICK_nVALID INPUT PULLUP PB12 VDD_BRICK2_nVALID INPUT PULLUP diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/board.c b/libraries/AP_HAL_ChibiOS/hwdef/common/board.c index 99c48dfd6d5fb8..618fe597ac1fa4 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/common/board.c +++ b/libraries/AP_HAL_ChibiOS/hwdef/common/board.c @@ -269,6 +269,9 @@ void __early_init(void) { STM32_NOCACHE_MPU_REGION_2_SIZE | MPU_RASR_ENABLE); #endif +#if defined(DUAL_CORE) + stm32_disable_cm4_core(); // disable second core +#endif #endif } diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk b/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk index 893b358f549685..9d30c86701c856 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk +++ b/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk @@ -9,7 +9,7 @@ ifeq ($(USE_OPT),) endif ifeq ($(ENABLE_DEBUG_SYMBOLS), yes) - USE_OPT += -g + USE_OPT += -g3 endif # C specific options here (added to USE_OPT). diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c index c91e68930f547f..755290b765d919 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c +++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c @@ -581,3 +581,31 @@ bool check_limit_flash_1M(void) return false; } #endif + + +#if defined(DUAL_CORE) +void stm32_disable_cm4_core() { + // Turn off second core for now + if ((FLASH->OPTSR_CUR & FLASH_OPTSR_BCM4)) { + //unlock flash + if (FLASH->OPTCR & FLASH_OPTCR_OPTLOCK) { + /* Unlock sequence */ + FLASH->OPTKEYR = 0x08192A3B; + FLASH->OPTKEYR = 0x4C5D6E7F; + } + while (FLASH->OPTSR_CUR & FLASH_OPTSR_OPT_BUSY) { + } + // disable core boot + FLASH->OPTSR_PRG &= ~FLASH_OPTSR_BCM4; + // start programming + FLASH->OPTCR |= FLASH_OPTCR_OPTSTART; + // wait for completion by checking busy bit + while (FLASH->OPTSR_CUR & FLASH_OPTSR_OPT_BUSY) { + } + // lock flash + FLASH->OPTCR |= FLASH_OPTCR_OPTLOCK; + while (FLASH->OPTSR_CUR & FLASH_OPTSR_OPT_BUSY) { + } + } +} +#endif // DUAL_CORE diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h index 828ceed09ca69a..7d78d41b82b15b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h +++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h @@ -191,6 +191,8 @@ extern stkalign_t __main_stack_end__; extern stkalign_t __main_thread_stack_base__; extern stkalign_t __main_thread_stack_end__; +void stm32_disable_cm4_core(void); + #ifdef __cplusplus } #endif diff --git a/libraries/AP_Logger/AP_Logger_Backend.cpp b/libraries/AP_Logger/AP_Logger_Backend.cpp index 3274e1a2e0cf4d..6fab3cb587ea02 100644 --- a/libraries/AP_Logger/AP_Logger_Backend.cpp +++ b/libraries/AP_Logger/AP_Logger_Backend.cpp @@ -100,7 +100,6 @@ void AP_Logger_Backend::start_new_log_reset_variables() _dropped = 0; _startup_messagewriter->reset(); _front.backend_starting_new_log(this); - _log_file_size_bytes = 0; _formats_written.clearall(); } @@ -709,7 +708,6 @@ void AP_Logger_Backend::df_stats_gather(const uint16_t bytes_written, uint32_t s } stats.buf_space_sigma += space_remaining; stats.bytes += bytes_written; - _log_file_size_bytes += bytes_written; stats.blocks++; } diff --git a/libraries/AP_Logger/AP_Logger_Backend.h b/libraries/AP_Logger/AP_Logger_Backend.h index e9f99e8aaba58f..6549ee0c782ae6 100644 --- a/libraries/AP_Logger/AP_Logger_Backend.h +++ b/libraries/AP_Logger/AP_Logger_Backend.h @@ -208,7 +208,6 @@ class AP_Logger_Backend uint16_t _cached_oldest_log; uint32_t _dropped; - uint32_t _log_file_size_bytes; // should we rotate when we next stop logging bool _rotate_pending; diff --git a/libraries/AP_Logger/AP_Logger_Block.cpp b/libraries/AP_Logger/AP_Logger_Block.cpp index 482366a58b2263..d9ed2f0d36d65b 100644 --- a/libraries/AP_Logger/AP_Logger_Block.cpp +++ b/libraries/AP_Logger/AP_Logger_Block.cpp @@ -541,7 +541,7 @@ void AP_Logger_Block::stop_logging_async(void) void AP_Logger_Block::start_new_log(void) { if (erase_started) { - // already erasing + // currently erasing return; } diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index 67298272ffe85e..a35a95920bd84c 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -394,7 +394,9 @@ void NavEKF3_core::InitialiseVariables() storedGPS.reset(); storedBaro.reset(); storedTAS.reset(); +#if EK3_FEATURE_RANGEFINDER_MEASUREMENTS storedRange.reset(); +#endif storedOutput.reset(); #if EK3_FEATURE_BEACON_FUSION rngBcn.storedRange.reset(); diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h index 322ebc6907ab20..d930bbb0fc5b95 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h @@ -1056,7 +1056,9 @@ class NavEKF3_core : public NavEKF_core_common EKF_obs_buffer_t storedMag; // Magnetometer data buffer EKF_obs_buffer_t storedBaro; // Baro data buffer EKF_obs_buffer_t storedTAS; // TAS data buffer +#if EK3_FEATURE_RANGEFINDER_MEASUREMENTS EKF_obs_buffer_t storedRange; // Range finder data buffer +#endif EKF_IMU_buffer_t storedOutput;// output state buffer Matrix3F prevTnb; // previous nav to body transformation used for INS earth rotation compensation ftype accNavMag; // magnitude of navigation accel - used to adjust GPS obs variance (m/s^2) diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp index f3cecf7e4a4ae9..33be28afd41ae5 100644 --- a/libraries/RC_Channel/RC_Channel.cpp +++ b/libraries/RC_Channel/RC_Channel.cpp @@ -626,26 +626,41 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos // the following functions do not need to be initialised: case AUX_FUNC::ARMDISARM: case AUX_FUNC::ARMDISARM_AIRMODE: +#if AP_BATTERY_ENABLED case AUX_FUNC::BATTERY_MPPT_ENABLE: +#endif +#if AP_CAMERA_ENABLED case AUX_FUNC::CAMERA_TRIGGER: +#endif case AUX_FUNC::CLEAR_WP: case AUX_FUNC::COMPASS_LEARN: case AUX_FUNC::DISARM: case AUX_FUNC::DO_NOTHING: +#if AP_LANDINGGEAR_ENABLED case AUX_FUNC::LANDING_GEAR: +#endif case AUX_FUNC::LOST_VEHICLE_SOUND: +#if AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED case AUX_FUNC::RELAY: case AUX_FUNC::RELAY2: case AUX_FUNC::RELAY3: case AUX_FUNC::RELAY4: case AUX_FUNC::RELAY5: case AUX_FUNC::RELAY6: +#endif +#if HAL_VISUALODOM_ENABLED case AUX_FUNC::VISODOM_ALIGN: +#endif case AUX_FUNC::EKF_LANE_SWITCH: case AUX_FUNC::EKF_YAW_RESET: +#if HAL_GENERATOR_ENABLED case AUX_FUNC::GENERATOR: // don't turn generator on or off initially +#endif case AUX_FUNC::EKF_POS_SOURCE: +#if HAL_TORQEEDO_ENABLED case AUX_FUNC::TORQEEDO_CLEAR_ERR: +#endif +#if AP_SCRIPTING_ENABLED case AUX_FUNC::SCRIPTING_1: case AUX_FUNC::SCRIPTING_2: case AUX_FUNC::SCRIPTING_3: @@ -654,21 +669,30 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos case AUX_FUNC::SCRIPTING_6: case AUX_FUNC::SCRIPTING_7: case AUX_FUNC::SCRIPTING_8: +#endif #if AP_VIDEOTX_ENABLED case AUX_FUNC::VTX_POWER: #endif +#if AP_OPTICALFLOW_CALIBRATOR_ENABLED case AUX_FUNC::OPTFLOW_CAL: +#endif case AUX_FUNC::TURBINE_START: +#if HAL_MOUNT_ENABLED case AUX_FUNC::MOUNT1_ROLL: case AUX_FUNC::MOUNT1_PITCH: case AUX_FUNC::MOUNT1_YAW: case AUX_FUNC::MOUNT2_ROLL: case AUX_FUNC::MOUNT2_PITCH: case AUX_FUNC::MOUNT2_YAW: +#endif case AUX_FUNC::LOWEHEISER_STARTER: case AUX_FUNC::MAG_CAL: +#if AP_CAMERA_ENABLED case AUX_FUNC::CAMERA_IMAGE_TRACKING: +#endif +#if HAL_MOUNT_ENABLED case AUX_FUNC::MOUNT_LRF_ENABLE: +#endif break; // not really aux functions: @@ -678,9 +702,13 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos case AUX_FUNC::AVOID_ADSB: #endif case AUX_FUNC::AVOID_PROXIMITY: +#if AP_FENCE_ENABLED case AUX_FUNC::FENCE: +#endif +#if AP_GPS_ENABLED case AUX_FUNC::GPS_DISABLE: case AUX_FUNC::GPS_DISABLE_YAW: +#endif #if AP_GRIPPER_ENABLED case AUX_FUNC::GRIPPER: #endif @@ -692,22 +720,30 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos case AUX_FUNC::MISSION_RESET: case AUX_FUNC::MOTOR_ESTOP: case AUX_FUNC::RC_OVERRIDE_ENABLE: +#if HAL_RUNCAM_ENABLED case AUX_FUNC::RUNCAM_CONTROL: case AUX_FUNC::RUNCAM_OSD_CONTROL: +#endif +#if HAL_SPRAYER_ENABLED case AUX_FUNC::SPRAYER: +#endif case AUX_FUNC::DISABLE_AIRSPEED_USE: case AUX_FUNC::FFT_NOTCH_TUNE: #if HAL_MOUNT_ENABLED case AUX_FUNC::RETRACT_MOUNT1: case AUX_FUNC::MOUNT_LOCK: #endif +#if HAL_LOGGING_ENABLED case AUX_FUNC::LOG_PAUSE: +#endif case AUX_FUNC::ARM_EMERGENCY_STOP: +#if AP_CAMERA_ENABLED case AUX_FUNC::CAMERA_REC_VIDEO: case AUX_FUNC::CAMERA_ZOOM: case AUX_FUNC::CAMERA_MANUAL_FOCUS: case AUX_FUNC::CAMERA_AUTO_FOCUS: case AUX_FUNC::CAMERA_LENS: +#endif case AUX_FUNC::AHRS_TYPE: run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT); break; @@ -1049,9 +1085,9 @@ bool RC_Channel::do_aux_function_camera_lens(const AuxSwitchPos ch_flag) } #endif // AP_CAMERA_ENABLED +#if HAL_RUNCAM_ENABLED void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag) { -#if HAL_RUNCAM_ENABLED AP_RunCam *runcam = AP::runcam(); if (runcam == nullptr) { return; @@ -1068,12 +1104,10 @@ void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag) runcam->stop_recording(); break; } -#endif } void RC_Channel::do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag) { -#if HAL_RUNCAM_ENABLED AP_RunCam *runcam = AP::runcam(); if (runcam == nullptr) { return; @@ -1088,8 +1122,8 @@ void RC_Channel::do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag) runcam->exit_osd(); break; } -#endif } +#endif #if AP_FENCE_ENABLED // enable or disable the fence @@ -1328,6 +1362,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch break; #endif // AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED +#if HAL_RUNCAM_ENABLED case AUX_FUNC::RUNCAM_CONTROL: do_aux_function_runcam_control(ch_flag); break; @@ -1335,6 +1370,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch case AUX_FUNC::RUNCAM_OSD_CONTROL: do_aux_function_runcam_osd_control(ch_flag); break; +#endif case AUX_FUNC::CLEAR_WP: do_aux_function_clear_wp(ch_flag); @@ -1415,6 +1451,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch } #endif +#if AP_GPS_ENABLED case AUX_FUNC::GPS_DISABLE: AP::gps().force_disable(ch_flag == AuxSwitchPos::HIGH); #if HAL_EXTERNAL_AHRS_ENABLED @@ -1425,6 +1462,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch case AUX_FUNC::GPS_DISABLE_YAW: AP::gps().set_force_disable_yaw(ch_flag == AuxSwitchPos::HIGH); break; +#endif // AP_GPS_ENABLED #if AP_AIRSPEED_ENABLED case AUX_FUNC::DISABLE_AIRSPEED_USE: { diff --git a/libraries/SITL/SIM_GPS_NOVA.cpp b/libraries/SITL/SIM_GPS_NOVA.cpp index cd4608b7f0b91d..08f793f4d27138 100644 --- a/libraries/SITL/SIM_GPS_NOVA.cpp +++ b/libraries/SITL/SIM_GPS_NOVA.cpp @@ -142,36 +142,12 @@ void GPS_NOVA::publish(const GPS_Data *d) void GPS_NOVA::nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen) { write_to_autopilot((char*)header, headerlength); -write_to_autopilot((char*)payload, payloadlen); + write_to_autopilot((char*)payload, payloadlen); - uint32_t crc = CalculateBlockCRC32(headerlength, header, (uint32_t)0); - crc = CalculateBlockCRC32(payloadlen, payload, crc); + uint32_t crc = crc_crc32((uint32_t)0, header, headerlength); + crc = crc_crc32(crc, payload, payloadlen); write_to_autopilot((char*)&crc, 4); } -#define CRC32_POLYNOMIAL 0xEDB88320L -uint32_t GPS_NOVA::CRC32Value(uint32_t icrc) -{ - int i; - uint32_t crc = icrc; - for ( i = 8 ; i > 0; i-- ) - { - if ( crc & 1 ) - crc = ( crc >> 1 ) ^ CRC32_POLYNOMIAL; - else - crc >>= 1; - } - return crc; -} - -uint32_t GPS_NOVA::CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint32_t crc) -{ - while ( length-- != 0 ) - { - crc = ((crc >> 8) & 0x00FFFFFFL) ^ (CRC32Value(((uint32_t) crc ^ *buffer++) & 0xff)); - } - return( crc ); -} - #endif // AP_SIM_GPS_NOVA_ENABLED diff --git a/libraries/SITL/SIM_GPS_NOVA.h b/libraries/SITL/SIM_GPS_NOVA.h index 4df22b32d8dc9a..0801dd9533adbb 100644 --- a/libraries/SITL/SIM_GPS_NOVA.h +++ b/libraries/SITL/SIM_GPS_NOVA.h @@ -21,8 +21,6 @@ class GPS_NOVA : public GPS_Backend { private: void nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen); - uint32_t CRC32Value(uint32_t icrc); - uint32_t CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint32_t crc); }; };