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13159 Commits

Author SHA1 Message Date
Peter Barker 1bd96ae558 AP_Stats: ability to reset statistics 2016-10-29 14:53:25 +09:00
Peter Barker e6adbceb3e AP_Stats: runtime 2016-10-29 14:53:25 +09:00
Peter Barker 77064852c4 AP_Stats: AP_Stats flighttime 2016-10-29 14:53:25 +09:00
Peter Barker be13de79a4 AP_Stats: a periodic update function, flttime and runtime 2016-10-29 14:53:25 +09:00
Peter Barker 7eff99b053 AP_Stats: keeps track of vehicle usage statistics 2016-10-29 14:53:25 +09:00
Randy Mackay 9290ee65cc AP_GPS: MAV driver uses existing baud rates 
GPS_INPUT messages can arrive through any mavlink serial port so we shouldn't be modifying any port's baud rates.
 2016-10-29 14:33:44 +09:00
Peter Barker 066d066048 AP_BoardConfig: correct parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker dee3bdbae9 AP_SerialManager: correct parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker 58a03b83ca AP_Terrain: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker daf9a45efd AP_TECS: correct parameter metadata 
Correct incomplete Description of LAND_PDAMP

Add DisplayName for LAND_PDAMP
 2016-10-27 09:15:03 -07:00
Peter Barker c1f455f904 AP_RangeFinder: correct parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker ecd061dad5 AP_RPM: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker 06b616f761 AP_Motors: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker 9d0d451c48 AP_Mission: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker 755e76ced9 AP_L1_Control: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker 7b75a4ec09 AP_GPS: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker e4001e67e2 AP_Compass: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker a660ffa3fc AP_BoardConfig: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker dbecb1bc25 AP_Baro: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker 42f3f7195b AP_Airspeed: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker 9a8d3d6e7c AP_AHRS: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker 71e42a4eac APM_Control: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Peter Barker 2e2d39e628 AC_AttitudeControl: add missing parameter metadata 2016-10-27 09:15:03 -07:00
floaledm 7045013933 AP_Frsky_Telem: use airspeed value w/o constraints of ground speed and AHRS_WIND_MAX 2016-10-27 11:11:38 -03:00
hiro2233 cdfd057690 AP_HAL_LINUX: Added urus macro RCInput_RPI 2016-10-27 11:51:53 -02:00
hiro2233 cae0c11720 AP_HAL_Linux: Added URUS Macro to Util_RPI 2016-10-27 11:51:32 -02:00
hiro2233 37877f1530 AP_HAL_Linux: Added URUS macro to Scheduler 2016-10-27 11:51:32 -02:00
hiro2233 7000124f6a AP_HAL_Linux: Added URUS Macro for GPIO_RPI and UtilRPI 2016-10-27 11:51:32 -02:00
hiro2233 a7b79dc0e2 AP_HAL_Linux: GPIO_RPI: Added URUS Macro. 2016-10-27 11:51:32 -02:00
hiro2233 3742c3b243 AP_HAL: Added subtype board URUS. 
This is a linux system based with Raspberry Pi B+, it's a automated
domotic system using APM framework.
 2016-10-27 11:51:31 -02:00
Lucas De Marchi 473add51f7 AP_HAL_Linux: RPIOUARTDriver: remove dma mention 
There's no dma going on here, it's just a normal SPI transfer.
 2016-10-27 10:35:01 -03:00
Lucas De Marchi d3b5089a12 AP_HAL_VRBRAIN: UARTDriver: remove commented out code 
This is not working and there's no reason to keep it around.
 2016-10-27 10:35:01 -03:00
Lucas De Marchi a3140df24a AP_HAL_PX4: UARTDriver: remove commented out code 
This is not working and there's no reason to keep it around.
 2016-10-27 10:35:01 -03:00
Lucas De Marchi ec4d1eefca AP_HAL_PX4: UARTDriver: fix trailing whitespaces 2016-10-27 10:35:01 -03:00
Lucas De Marchi d60b4842b6 AP_HAL_Linux: reduce scope of dummy buffer 2016-10-27 10:35:01 -03:00
Lucas De Marchi 76f1e4243a AP_HAL_Linux: remove double assignment 
_dma_packet_tx.crc is already assigned below, we don't neet to set it to
0 before. While at it move the assignment to .crc up and fix coding
style.
 2016-10-27 10:35:01 -03:00
Lucas De Marchi c898b28962 AP_HAL_Linux: use MIN where possible 2016-10-27 10:35:01 -03:00
Lucas De Marchi 05a7eef1a2 RingBuffer: use explict "if" and return early 
Remove confusing use of ternary operator together with assign + load.
No change in behavior.
 2016-10-27 10:35:01 -03:00
Andrew Tridgell 82365f8670 AP_NavEKF2: save some memory in the position offsets in EKF2 
we don't need to copy that vector3f for every sample. A uint8_t does
the job
 2016-10-27 17:09:06 +11:00
Andrew Tridgell a05d216ce4 AP_NavEKF: make posOffset const ref for optflow 2016-10-27 15:45:40 +11:00
Andrew Tridgell 772209b3f3 AP_AHRS: make posOffset a const reference 2016-10-27 15:45:24 +11:00
Andrew Tridgell 703ef0ca0e AP_RangeFinder: added get_primary() API 2016-10-27 15:45:07 +11:00
Andrew Tridgell afe2c31ae7 AP_Inertial_Sensor: use const reference 2016-10-27 15:06:11 +11:00
Andrew Tridgell af332cb336 AP_GPS: use const reference 2016-10-27 15:05:58 +11:00
Andrew Tridgell 27cdf220de AP_RangeFinder: use const reference 2016-10-27 14:59:10 +11:00
Andrew Tridgell 047a09c391 AP_OpticalFlow: use const reference 
saves stack space and cpu
 2016-10-27 14:58:59 +11:00
priseborough f722ddf615 AP_RangeFinder: Update parameter documentation 
Add brief description of body frame conventions.
 2016-10-27 14:54:45 +11:00
priseborough 1bde180f98 AP_OpticalFlow: Update parameter documentation 
Add brief description of body frame conventions.
 2016-10-27 14:54:45 +11:00
priseborough 1dec6dd9b0 AP_GPS: Update parameter documentation 
Add brief description of body frame conventions.
 2016-10-27 14:54:45 +11:00
priseborough 7460d97c9a AP_InertialSensor: Update parameter documentation 
Add brief description of body frame conventions.
 2016-10-27 14:54:45 +11:00
priseborough 470f5c4562 AP_InertialSensor: Correct SITL IMU1 accel for position in body frame 2016-10-27 14:54:45 +11:00
priseborough d830f68901 SITL: Add angular acceleration to simulator states 
The calculation used is an approximation to work around the lack of angular acceleration in the interface with the flight dynamics model.
 2016-10-27 14:54:44 +11:00
priseborough 747f3a8cfd AP_HAL_SITL: Simulate range finder position offset 2016-10-27 14:54:44 +11:00
priseborough a9f63abc6f AP_HAL_SITL: simulate effect of GPS antenna offset 2016-10-27 14:54:44 +11:00
priseborough 3afe2b1694 AP_HAL_SITL: simulate optical flow sensor body frame position offset 2016-10-27 14:54:44 +11:00
priseborough 27dab27565 SITL: Add parameters for sensor position offsets in body frame 2016-10-27 14:54:44 +11:00
priseborough 4499ed437c AP_RangeFinder: remove space before preprocessor directive 2016-10-27 14:54:44 +11:00
priseborough 3ca6c12344 AP_RangeFinder: Improve consistency of parameter naming 2016-10-27 14:54:44 +11:00
priseborough c93c3d54f3 AP_NavEKF2: Don't correct for zero IMU position offset 
The IMU offset correction involves a significant number of floating point operations and most users will leave the offset parameter at zero.
 2016-10-27 14:54:44 +11:00
priseborough 1890bbdafa AP_NavEKF2: Don't correct GPS for zero position offset 2016-10-27 14:54:44 +11:00
priseborough f025c96e63 AP_NavEKF2: Don't correct range finder for zero position offset 2016-10-27 14:54:43 +11:00
priseborough 9a0ce1d5eb AP_NavEKF2: Don't correct flow sensor for zero position offset 2016-10-27 14:54:43 +11:00
priseborough b40016db62 AP_NavEKF2: Fix documentation errors 2016-10-27 14:54:43 +11:00
priseborough 54a431a51d AP_InertialSensor: Update position offset parameter documentation 
Notify users of the potential for velocity noise when using larger offset values..
Specific advice in terms of values has not been provided because it is highly dependent on Gyro noise levels.
 2016-10-27 14:54:43 +11:00
priseborough 13ca62b1c7 AP_NavEKF2: Correct velocity and position outputs for IMU offset 
This can improve position hold performance where it is not practical to have the IMU located at the centroid.
Although this enables the effect of IMU position offsets to be corrected, users will still need to be instructed to place the IMU as close to the vehicle c.g. as practical as correcting for large offsets makes the velocity estimates noisy.
 2016-10-27 14:54:43 +11:00
priseborough 21dcf42c27 AP_NavEKF2: Add missing documentation 2016-10-27 14:54:43 +11:00
priseborough 8922861359 AP_NavEKF2: Correct optical flow data for sensor position offset 
Correction requires the body rates averaged across the flow sensor sampling interval. This data has been added to the sensor buffer.
The body rate data from the flow sensor driver does not contain the Z component, so an equivalent value sampled from the navigation IMU has been used instead.
The variable omegaAcrossFlowTime has been moved out of the class and into the only function that uses it.
 2016-10-27 14:54:43 +11:00
priseborough 16f021c466 AP_NavEKF2: Correct range finder data for body frame position offset 2016-10-27 14:54:43 +11:00
priseborough e884e9cc6e AP_NavEKF2: Correct GPS data for antenna body frame offset 2016-10-27 14:54:43 +11:00
priseborough 064a106808 AP_NavEKF2: Get IMU accelerometer body position offset data 2016-10-27 14:54:42 +11:00
priseborough 397033b7c3 AP_NavEKF2: Add flow sensor body position offset to data buffer 2016-10-27 14:54:42 +11:00
priseborough 92c086b40e AP_NavEKF2: Add rangefinder body position offset to data buffer 2016-10-27 14:54:42 +11:00
priseborough 3148ad4623 AP_NavEKF2: Add GPS antenna position offset data to data buffer 2016-10-27 14:54:42 +11:00
priseborough fd905c23e1 AP_NavEKF2: Add body position offset to optical flow interface 2016-10-27 14:54:42 +11:00
priseborough 8160eca47e AP_NavEKF: update flow sensor interface 
Adds a position offset which is not used by the backend
 2016-10-27 14:54:42 +11:00
priseborough 6069c37b19 AP_AHRS: add position offset to optical flow interface 2016-10-27 14:54:42 +11:00
priseborough 9c7ab639a1 AP_OpticalFlow: Add parameters for flow sensor position offset 2016-10-27 14:54:41 +11:00
priseborough 24f9e7365d AP_RangeFinder: Add parameters defining sensor position offset 2016-10-27 14:54:41 +11:00
priseborough 6db93d8a21 AP_InertialSensor: Add parameters defining accelerometer position offset 2016-10-27 14:54:41 +11:00
priseborough b51c9dea6c AP_GPS: Add parameters defining antenna offset in body frame 2016-10-27 14:54:41 +11:00
Murilo Belluzzo a91da2e803 DataFlash: Change ::bufferspace_available return type 
from 'uint16_t' to 'uint32_t' to avoid overflow (possible in at least
two implementations: Block and File).
 2016-10-27 14:24:11 +11:00
Murilo Belluzzo 3f1896b9b7 RingBuffer: Remove 'old style' version 2016-10-27 14:24:10 +11:00
Murilo Belluzzo c112e1c889 DataFlash: Make use of ByteBuffer class 
This patch replaces the 'old style' ringbuffer by the ByteBuffer class.
An effort was made to keep the exchange as close as possible from a
drop-in replacement to minimize the risk of introducing bugs.

Although the exchange opens opportunities for improvement and
simplification of this class.
 2016-10-27 14:24:10 +11:00
Lucas De Marchi 80cf1207b7 AP_HAL_VRBRAIN: UARTDriver: fix writting with failures 
When the buffer wraps and we do it in 2 steps, we can't actually do the
second part if it fails or if we wrote less bytes than we intended,
otherwise we will corrupt the data being sent.
 2016-10-27 14:23:43 +11:00
Lucas De Marchi 68fc08fe52 AP_HAL_VRBRAIN: fix resetting TX buffer 
We can't give the TX buffer 16 bytes more since next time begin() is
called it will compare the buffer size to the value the caller is trying
to set.  In this case we would free and alloc the buffer again each time
begin was called.
 2016-10-27 14:23:43 +11:00
Murilo Belluzzo e8bfcf02a0 VRBRAIN UARTDriver: Make use of ByteBuffer class 
This patch replaces the 'old style' ringbuffer by the ByteBuffer class.
An effort was made to keep the exchange as close as possible from a
drop-in replacement to minimize the risk of introducing bugs.

Although the exchange opens opportunities for improvement and
simplification of this class.

While at it, just like in the write case, explain why we are stopping.
 2016-10-27 14:23:43 +11:00
Lucas De Marchi 4df627693d AP_HAL_PX4: UARTDriver: fix writting with failures 
When the buffer wraps and we do it in 2 steps, we can't actually do the
second part if it fails or if we wrote less bytes than we intended,
otherwise we will corrupt the data being sent.

While at it, just like in the write case, explain why we are stopping.
 2016-10-27 14:23:43 +11:00
Lucas De Marchi 4346f1dd83 AP_HAL_PX4: fix resetting TX buffer 
We can't give the TX buffer 16 bytes more since next time begin() is
called it will compare the buffer size to the value the caller is trying
to set.  In this case we would free and alloc the buffer again each time
begin was called.
 2016-10-27 14:23:43 +11:00
Murilo Belluzzo c7a65a026c AP_HAL_PX4: UARTDriver: Make use of ByteBuffer class 
This patch replaces the 'old style' ringbuffer by the ByteBuffer class.
An effort was made to keep the exchange as close as possible from a
drop-in replacement to minimize the risk of introducing bugs.

Although the exchange opens opportunities for improvement and
simplification of this class.
 2016-10-27 14:23:43 +11:00
Lucas De Marchi 26650049c0 AP_HAL_Linux: UARTDriver: fix writting/reading with failures 
When the buffer wraps and we do it in 2 steps, we can't actually do the
second part if it fails or if we wrote less bytes than we intended,
otherwise we will corrupt the data being sent.
 2016-10-27 14:23:42 +11:00
Murilo Belluzzo ce81c45f80 AP_HAL_Linux: UARTDriver: Make use of ByteBuffer class 
This patch replaces the 'old style' ringbuffer by the ByteBuffer class.
An effort was made to keep the exchange as close as possible from a
drop-in replacement to minimize the risk of introducing bugs.

Although the exchange opens opportunities for improvement and
simplification of this class.
 2016-10-27 14:23:42 +11:00
Murilo Belluzzo 8526b25654 RingBuffer: Add a faster method to read a single byte 2016-10-27 14:23:42 +11:00
Michael du Breuil deec4ec6af Compass: Rework compass calibrator 
Summary of significant changes:
  -Autsave doesn't depend on STREAM_EXTRA3
  -Don't risk only saving one compass on copter if CAL_ALWAYS_REBOOT is set
  -Only calibrate compasses that are both health and marked for use (there was a inconsistency in handling the mask)
  -Fix incorrect failure reporting on DO_ACCEPT_MAG_CAL with a mask of 0 if a channel was specifically not started
  -Fix not starting the buzzer if the delay is set to 0 seconds
  -Always send MAG_CAL_REPORT until its acknowledged
  -Correct the field in MAG_CAL_REPORT for autosave to indicate if the compass had actually been saved, rather then being scheduled to be saved
  -Remmove unused public interfaces
 2016-10-27 14:04:33 +11:00
floaledm 6869dace08 AP_Frsky_Telem: moved msg queueing of fw string 2016-10-26 09:49:30 -07:00
floaledm 56432f04d3 AP_Frsky_Telem: fixed airspeed; now same as VFR_HUD 2016-10-26 09:36:22 -07:00
Mathieu OTHACEHE 5e42800b5e Disco: add LED support 
Use RGBLed generic implementation to support Disco LED.
 2016-10-26 11:56:11 -03:00
Leonard Hall 42672de606 AC_PosControl: set Alt_Hold filter for PID not just D 
We normally don't use the D term here so setting the filter for PID not
just D lets us smooth the throttle response.
 2016-10-26 21:00:43 +09:00
Francisco Ferreira 5a7f9a38fe DataFlash: fix RCIN and RCOU structure types 2016-10-26 10:10:19 +09:00
murata 762a66c9e5 AP_GPS_SBF: Adjust the initial value of HDOP 2016-10-26 09:54:59 +11:00
Peter Barker 2bd13af43d AP_Param: unhide groups when generating parameters in autotest 2016-10-26 09:53:14 +11:00
Peter Barker dd7d41b1f3 SITL: unhide groups when generating parameters in autotest 2016-10-26 09:53:14 +11:00
Andrew Tridgell d2287caf1c HAL_SITL: removed old servo slew rate code 2016-10-25 20:39:38 +11:00
Andrew Tridgell 5e03358b0b SITL: added servo filtering 
SIM_SERVO_SPEED is servo time constant in seconds
 2016-10-25 20:39:38 +11:00
Lucas De Marchi 539b727e5e AP_HAL_Linux: Remove misleading constant 
The constant passed to cflag is BOTHER, meaning the actual baud is set
in the other specific members.  Don't define B* constants as they are
misleading here and this is why it doesn't work with e.g.
cfset[io]speed()... that function expect a B* constant which in Linux
is not the speed, but an index to an array with speeds.
 2016-10-25 16:55:33 +11:00
Francisco Ferreira 3a89421c70 AP_BattMonitor: remove Bebop fixed capacity 
Bebop, Bebop2 and Disco all use this class but it was always setting the capacity to the Bebop one, overriding the parameter
 2016-10-24 09:24:11 -03:00
Martin Evans 0e19b8c9a0 AP_HAL_Linux: Set initial rotation on Dark to None 2016-10-24 10:00:24 -02:00
Martin Evans 6f6112d7c2 AP_HAL_Linux: Add setting for GPIO for Dark board 
Just like other RPI-based boards.
 2016-10-24 10:00:24 -02:00
Martin Evans d2d3119b66 AP_HAL_Linux: PCA9685: Add quinary address 2016-10-24 10:00:06 -02:00
Martin Evans 37b85fd3cd AP_HAL: Add Dark Linux board 2016-10-24 09:59:02 -02:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Peter Barker d188504b8b AC_Fence: remove unused variable _boundary_revalidate 2016-10-24 08:57:56 -02:00
Peter Barker 6e72c899d1 AP_GPS: AP_GPS_GSOF: remove unused variable 2016-10-24 08:57:56 -02:00
Peter Barker 216a6493c9 AP_Compass: AP_Compass_LSM9DS1: remove unused variable 2016-10-24 08:57:56 -02:00
Peter Barker 64154feaef DataFlash: remove unused semaphore variables 2016-10-24 08:57:56 -02:00
Peter Barker c664eec93b AC_WPNav: remove unused variable _last_update 2016-10-24 08:57:56 -02:00
Peter Barker 6f200cdc3d SITL: SIM_Rover: remove unused variables 2016-10-24 08:57:55 -02:00
Peter Barker e17a71c6cc AP_GPS: AP_GPS_NOVA: remove unused variables 2016-10-24 08:57:55 -02:00
Peter Barker d3422d1653 SITL: SIM_Tracker: remove unused variable 2016-10-24 08:57:55 -02:00
Peter Barker 5dad8745d5 DataFlash: remove bogus function declaration 2016-10-24 08:57:55 -02:00
Andrew Tridgell 9d6a5c6f04 HAL_PX4: make ready_to_arm state latching 
this fixes a race condition in the handling of the px4io safety switch
 2016-10-24 13:36:04 +11:00
Peter Barker 17883f6683 AP_InertialSensor: fix INS_generic example (call BoardConfig.init()) 2016-10-24 11:00:22 +09:00
Andrew Tridgell 2a44e6a7d7 HAL_PX4: cope with no px4io on FMUv2 
don't open px4fmu twice
 2016-10-23 17:15:32 +11:00
Andrew Tridgell 68f0777dac AP_Param: fixed bug with deeply nested parameter trees 
enumeration could loop forever if the IDs overlapped due to 8 bit
masking
 2016-10-23 15:27:42 +11:00
Andrew Tridgell 7bf81c44b0 AP_BoardConfig: allow programmatic setting of default safety mask 2016-10-21 11:53:34 +11:00
Andrew Tridgell 0bd3b8ecbd AP_BoardConfig: fixed bug in fmu safety mask set 2016-10-21 09:10:55 +11:00
Andrew Tridgell c825c7b4cc HAL_PX4: disable FMU outputs again on re-engaging of safety switch 2016-10-21 09:10:55 +11:00
Andrew Tridgell 8cb93ae7c3 AP_BoardConfig: call PWM_SERVO_IGNORE_SAFETY on fmu as well 2016-10-21 09:10:55 +11:00
Andrew Tridgell 07c09ad6dc AP_BoardConfig: expanded bitmask to 14 channels for safety mask 2016-10-21 09:10:55 +11:00
Andrew Tridgell d2e4b73eda Revert "GCS_MAVLink: default to MAVLink2 enabled" 
Reverting change to MAVLink2 by default until SiK radio firmware issue
with ECC is sorted out
 2016-10-21 07:55:02 +11:00
Andrew Tridgell 1171b33419 AP_TECS: added TECS_SYNAIRSPEED parameter 
this allows for the synthetic airspeed estimate to be used in TECS
 2016-10-20 13:22:39 +11:00
Andrew Tridgell 7ee42d3a7e AP_TECS: fixed missing doc comment 2016-10-20 13:22:22 +11:00
priseborough 9779511425 AP_NavEKF2: Fix bug in median filter code 2016-10-19 19:45:00 +09:00
priseborough d0ba259d0d AP_NavEKF: Fix bug in median filter code 2016-10-19 19:44:58 +09:00
Peter Barker 6ccf36439d AP_Frsky_Telem: actually set _ap.value flags based in is_flying 
Closes #5017
 2016-10-18 22:17:07 -07:00
Randy Mackay e6e6e36da7 AP_GPS_MAV: fix hdop conversion 2016-10-18 20:24:55 +09:00
Andrew Tridgell a847520da8 GCS_MAVLink: send RC_CHANNELS_RAW if using MAVLink1 
this fixes issue #5010
 2016-10-18 18:16:16 +11:00
Julien Beraud 20dcd6e082 RCOutput_Bebop: fix motor order 
Accidentally pushed in commit 298f7bffb9
The order of the motors shouldn't have been changed on version 5 because
it is specific to older versions of the ESC controller firmware
 2016-10-17 20:55:49 +11:00
Georacer 54c1efe5e1 Connection to last_letter once again successful 2016-10-17 09:37:23 +11:00
Andrew Tridgell 24d3399fd5 AP_Module: report loaded hooks on startup 
useful for debugging
 2016-10-17 09:31:51 +11:00
Andrew Tridgell 33bff3c79c HAL_Linux: fixed transmitter failsafe with SBUS RCInput 2016-10-17 06:53:33 +11:00
Andrew Tridgell 8f88d7c784 AP_HAL: fixed comment on XPlus channels 
thanks for Francisco for noticing
 2016-10-17 06:49:40 +11:00
Andrew Tridgell 110355f14e HAL_Linux: fixed SRXL and DSM 
fixed default decoder state and fixed mic-recognition of SRXL as DSM
 2016-10-16 21:31:37 +11:00
Andrew Tridgell 4d44591e62 AP_HAL: fixed decoding of XPlus channels 2016-10-16 19:05:19 +11:00
Andrew Tridgell e9633553fb HAL_Linux: update for changed SRXL API 2016-10-16 19:05:19 +11:00
Andrew Tridgell ec8c22f26e AP_HAL: support up to 20 channels on SRXL 
tested with 18 channels on a DSM18 transmitter with a AR7700 receiver
with SRXL port
 2016-10-16 19:05:19 +11:00
Andrew Tridgell ece0a8721f AP_HAL: added standalone test program for dsm 
useful for debugging
 2016-10-16 19:05:19 +11:00
Andrew Tridgell 03f9496549 HAL_Linux: lock onto a single decoder on the 115200 port 2016-10-16 19:05:19 +11:00
Andrew Tridgell 513156a4cc HAL_Linux: make 115200 R/C decoders return a bool 2016-10-16 19:05:19 +11:00
Andrew Tridgell 710d08da6d HAL_Linux: support SRXL R/C input 2016-10-16 19:05:19 +11:00
Andrew Tridgell 7b3d0234d1 AP_HAL: added an SRXL protocol decoder 
SRXL ports are commonly found on newer spektrum receivers like the AR7700
 2016-10-16 19:05:18 +11:00
murata bb1a787852 AP_Scheduler: To add a comment to _loop_rate_hz variable. 2016-10-16 00:02:40 -07:00
Andrew Tridgell f9dd31b6e5 RC_Channel: support automatic servo trimming 2016-10-16 15:20:47 +11:00
Lucas De Marchi e6d5bac527 AP_Param: don't used reserved word in macros 
`class` is a reserved word and should not be used as macro arguments.
It's very common in C++ to use "clazz" instead in these cases.
 2016-10-15 15:19:17 -03:00
Andrew Tridgell 792f3b8a15 GCS_MAVLink: added handle_rc_bind() 2016-10-15 21:42:38 +11:00
murata ba60cce0c1 AP_HAL: simplify the processing of milliseconds from the time 2016-10-15 18:33:54 +09:00
Andrew Tridgell f01f711ff6 GCS_MAVLink: added accept_packet() hook 
this will allow vehicles to control whether packets are accepted by
GCS sysid or not
 2016-10-15 17:11:01 +11:00
Andrew Tridgell 992bf2368e RC_Channel: cope with SERVO_RNG_ENABLE changing while booted 
this prevents a one second throttle up on scaled ESCs when
enabling/disabling the servo output mapping
 2016-10-15 16:59:37 +11:00
Andrew Tridgell 4a9ddf52e0 RC_Channel: constrain output to servo range 
don't allow servos past configured range in any mode
 2016-10-15 16:59:36 +11:00
Andrew Tridgell 2ceddddd3b RC_Channel: don't call output() in SRV_Channel 
we may need to run another mixer
 2016-10-15 16:59:36 +11:00
Andrew Tridgell 78ef3b77c6 RC_Channel: added disable_passthrough() method 2016-10-15 16:59:36 +11:00
Andrew Tridgell 2ec439d7e3 RC_Channel: added set_esc_scaling() to SRV_Channels 2016-10-15 16:59:36 +11:00
Andrew Tridgell 73b9123495 RC_Channel: added set_trim() API to SRV_Channels object 2016-10-15 16:59:35 +11:00
Andrew Tridgell c7f8b255e7 RC_Channel: added SRV_Channels object for remapping output channels 
this allows for decoupling RC input ranges from servo output ranges
 2016-10-15 16:59:35 +11:00
Andrew Tridgell fea7903aa8 RC_Channel: added get_radio_out_normalised() 2016-10-15 16:59:35 +11:00
Andrew Tridgell 96c7d9dde8 RC_Channel: make output_trim() go via _radio_out 
this ensures that _radio_out always contains the value that would be
output to the channel. This will be used by the SRV_Channels object
 2016-10-15 16:59:35 +11:00
Leonard Hall bead957a78 AP_MotorsMulticopter: limit hover throttle 2016-10-15 11:27:53 +09:00
Peter Barker e71c71fcac AP_HAL: correct casting of get_system_clock_ms 2016-10-14 18:41:56 +11:00
Jonathan Challinger 8df4add729 AC_PrecLand: trust initial velocity less 2016-10-14 10:46:22 +09:00
Jonathan Challinger ec73f563ad AC_PrecLand: do not fuse EKF velocity 2016-10-14 10:46:16 +09:00
Jonathan Challinger 7405f82d61 AC_PrecLand: add ekf to estimate vehicle-relative target velocity 2016-10-14 10:46:05 +09:00
Jonathan Challinger 5a8db4f271 AC_PosControl: add interface to override horizontal velocity process variable 2016-10-14 10:46:01 +09:00
Jonathan Challinger 25a14fe0dc AP_AHRS: add interface to retrieve corrected delta velocities in NED frame 2016-10-14 10:45:58 +09:00
Andrew Tridgell c1bf23e090 GCS_MAVLink: fixed comment 2016-10-14 11:40:36 +11:00
Randy Mackay 4808664fb6 AC_Avoidance: allow use of AP_Proximity 2016-10-13 20:21:07 +09:00
Randy Mackay c3087edbe8 AP_Proximity: add library and SF40C driver 2016-10-13 20:21:07 +09:00
Randy Mackay cc0bfcddcb AP_SerialManager: add Lidar360 to protocol list 
This is used for the proximity sensor
 2016-10-13 20:21:07 +09:00
Andrew Tridgell 53260969bb GCS_MAVLink: removed deprecated RC_CHANNELS_RAW and use RC_CHANNELS only 2016-10-13 21:23:39 +11:00
Andrew Tridgell e78651e8f2 HAL_PX4: fixed DSM bind on Pixracer 2016-10-13 19:58:00 +11:00
Andrew Tridgell 5e829e7720 GCS_MAVLink: most users don't have signing keys 
prevent noise on startup
 2016-10-13 19:58:00 +11:00
Randy Mackay 9722c3a1c3 DataFlash: fix logging of ekf core 2016-10-13 15:22:59 +09:00
John Hsu fc13efa673 SITL: update SIM_Gazebo SITL interface servo packet to have 16 floats, matching sitl_input struct. 2016-10-13 12:03:20 +11:00
John Hsu a8cf38b366 SITL: implement Gazebo SITL for IRLock tracking. 2016-10-13 12:03:20 +11:00
Jonathan Challinger e20687fbce AP_AHRS: cache trim rotation 2016-10-13 10:02:14 +11:00
Jonathan Challinger 80d9092993 AP_Math: remove rotateXY and rotateXYinv 2016-10-13 10:02:14 +11:00
Jonathan Challinger dac59cb5da AP_NavEKF2: use exact matrix for trim rotation 2016-10-13 10:02:14 +11:00
Jonathan Challinger 3eba985afd AP_NavEKF: use exact matrix for trim rotation 2016-10-13 10:02:13 +11:00
Jonathan Challinger 5ff78b8e47 AP_AHRS: fix rotation of acceleration into earth frame 2016-10-13 10:02:13 +11:00
Jonathan Challinger a03fa2d3cf AP_AHRS: use exact matrix for trim rotations 2016-10-13 10:02:13 +11:00
Andrew Tridgell 7f09d20e3b HAL_Linux: implement cork and push for remaining RCOutput backends 2016-10-13 10:00:04 +11:00
Andrew Tridgell c8179a0887 HAL_Linux: implement cork/push for RCOutput_AioPRU 2016-10-13 10:00:04 +11:00
Andrew Tridgell e356797888 AP_HAL: make cork() mandatory in RCOutput 2016-10-13 10:00:04 +11:00
Andrew Tridgell 0640b6539c HAL_Linux: implement cork()/push() for Raspilot 2016-10-13 10:00:04 +11:00
Andrew Tridgell 1d6e4673da HAL_Empty: add cork() and push() for RCOutput 2016-10-13 10:00:04 +11:00
Andrew Tridgell 7ea75aaf95 HAL_QURT: implement cork() and push() for RCOutput 2016-10-13 10:00:04 +11:00
Andrew Tridgell 5530e3782d HAL_VRBrain: fixed cork() for RCOutput 2016-10-13 10:00:04 +11:00
Andrew Tridgell c493ba81e4 HAL_PX4: fixed cork() for RCOutput 2016-10-13 10:00:04 +11:00
Andrew Tridgell a80eea5de4 HAL_Linux: implement cork()/push() for HAL_Linux RCOutput_Sysfs 2016-10-13 10:00:04 +11:00
Andrew Tridgell 97d0553938 HAL_SITL: implement cork() on RCOutput 2016-10-13 10:00:04 +11:00
Andrew Tridgell 7cd7f03d56 AP_Motors: fixed use of trim on heli servos 
this was broken by the servo range 0 to 1 changes
 2016-10-13 09:34:48 +11:00
Andrew Tridgell 0cd3054a4c HAL_Linux: document the Disco PWM pinout 2016-10-12 21:41:49 +11:00
Andrew Tridgell c64a020384 GCS_MAVLink: default to MAVLink2 enabled 
this changes the default to enable MAVLink2 on USB and the primary
telemetry port. Note that unless signing is enabled it won't send a
MAVLink2 packet until the GCS sends a MAVLink2 packet
 2016-10-12 11:35:50 +11:00
ShingoMatsuura 8432c5fb4a AP_RangeFinder: remove number_detections member variable and add number_detections reference argument to parse_response 2016-10-11 07:56:37 -03:00
ShingoMatsuura 43f2482abd AP_RangeFinder: modify spelling and change C type cast to static_cast 2016-10-11 07:56:37 -03:00
ShingoMatsuura 6123fad124 AP_RangeFinder: change error and ok status defines to LeddarOne_Status enum 2016-10-11 07:56:37 -03:00
Jonathan Challinger 77dbf99cee AC_PosControl: fix bug related to ekfNavVelGainScaler 2016-10-11 15:25:59 +09:00
Lucas De Marchi ae53920e5b build: don't build examples with old build system 
We currently check examples are buildable with waf which doesn't need
the libraries to be specified in a make.inc file.  Having the makefiles
there is misleading since people try to build and realize the build is
broken.
 2016-10-11 13:03:08 +11:00
Gustavo Jose de Sousa 06c3102701 SITL: SIM_Calibration: bring angular velocity controller back 
And fix header documentation.
 2016-10-11 12:58:37 +11:00
Andrew Tridgell 9caf44b494 AP_GPS: update drivers for changed inject_data() API 
need 16 bit length
 2016-10-11 11:00:35 +11:00
Andrew Tridgell 500df1edf2 AP_GPS: support GPS_RTCM_DATA fragmented MAVLink message 
support re-assembly of RTCM data packets
 2016-10-11 11:00:35 +11:00
Michael du Breuil cf5e79f80e AP_GPS: ublox support user controlled rate updates 
Also corrects accepting bad nav rates as configured, and fixes a incorrect
index as to which GPS is being updated
 2016-10-11 10:44:51 +11:00
Michael du Breuil 86c2b1d84a AP_GPS: u-blox Remove 5Hz warning 
The warnings test case is better covered by the rest of the driver
while it is performing the normal settings audit.
 2016-10-11 10:44:51 +11:00
Michael du Breuil 3e3f539a6a AP_GPS: Raise target baud of u-blox devices 
A knockon effect is that we need less config strings as raw logging
on u-blox will use the same baud rates
 2016-10-11 10:44:50 +11:00
floaledm 49e47fd679 AP_Frsky_Telem: airspeed scaling factor fix 2016-10-10 15:29:49 -07:00
Leonard Hall 0a56d69d54 AP_MotorsMulticopter: Use same throttle value used by motors 2016-10-10 16:40:08 +09:00
priseborough 5d09c78f34 AP_NavEKF2: Always perform optical flow takeoff check when receiving data 
A specialised takeoff check is now always performed when we receive new flow data as the default behaviour is to try and use flow data whenever it is received, rather than limit its use to a use to a flow-only mode of operation that had to be selected via user parameter.
 2016-10-10 14:49:48 +09:00
priseborough a75a383ef2 AP_NavEKF2: Update protection for out of focus flow data 2016-10-10 14:49:41 +09:00
priseborough 635826c056 AP_NavEKF2: Fix reporting of terrain estimator innovations 
Terrain height is relevant whenever optical flow data is present
 2016-10-10 14:49:35 +09:00
priseborough b0072b587c AP_NavEKF2: fix reporting of optical flow use status 2016-10-10 14:49:24 +09:00
priseborough ed9ecb28fb AP_NavEKF2: Enable entry into relative position mode on start-up 2016-10-10 14:49:21 +09:00
priseborough e0b8c54194 AP_NavEKF: Update GPS type parameter description 2016-10-10 14:49:18 +09:00
priseborough f9018fcc1b AP_NavEKF2: Enable simultaneous optical flow and GPS use 
Enables simultaneous use of GPS and optical flow data with automatic fallback to relative position mode if GPS is lost and automatic switch-up to absolute position status if GPS gained/re-gained.
 2016-10-10 14:49:02 +09:00
priseborough ab55991b33 AP_NavEKF2: Report position jumps due to lane switches 
Also moves code required to update reset data due to lane switches into separate functionscto improve readability.
 2016-10-10 11:56:14 +09:00
murata 36b5d43efb AC_Avoid: delete variable that is only used once in a simple calculation 2016-10-05 16:25:57 +09:00
Andrew Tridgell 2fab15dcd5 AP_TECS: added use_synthetic_airspeed() API 
used by quadplane during transitions
 2016-10-05 11:52:34 +11:00
Andy Little 0d113b265c Examples: fix examples for px4 
The change to use AP_BoardConfig messed up the examples. Here are some
updated but there are plenty more to do.
 2016-10-04 12:50:47 -03:00
Murilo Belluzzo 0b86532b5c Global: Remove '\r' character from all source code files 2016-10-03 22:13:27 -03:00
Julien Beraud 714c8fd318 AP_InertialSensor_MPU6000: Add support for fsync bit for Bebop 
Already present on Disco
 2016-10-03 12:20:03 -03:00
Andy Little 4b2eedac05 AP_HAL: Split the AP_HAL_Boards.h header into per board sub headers for legibility 2016-09-29 08:26:50 -03:00
Tom Pittenger 3adf8c3e51 AC_AttitudeControl: comment odd math in get_att_target_euler_cd 
degree(100) = 1 float multiplicaiton
vector3f * degree(100.0f)  = 4 float multiplications
degree(vector3f) * 100.0f  = 6 float multiplications and needs new degree(vector3f) function
degree(vector3f * 100.0f)  = 6 float multiplications and needs new degree(vector3f) function

These all come to the same conclusion but the one that is faster appears to be a bug but is mathematically correct.
 2016-09-27 17:04:53 -07:00
floaledm 602b81a4d7 AP_Frsky_Telem: add ekf_status check 2016-09-27 09:20:32 -07:00
floaledm 27e977289a AP_AHRS: add the get_variances method found in AP_AHRS_NavEKF to AP_AHRS 2016-09-27 09:20:32 -07:00
Peter Barker a10cde35f5 DataFlash: stop logging before filling SD card on PX4 
Filling the SD card causes NuttX to have conniptions, including
data loss and failure to boot
 2016-09-26 14:02:58 -07:00
Jonathan Challinger 25bee93fcc DataFlash: fix EKF5 message 2016-09-26 13:42:00 -07:00
Tom Pittenger 99d48d8bbd AP_FrSky_Telem: cleanup, non-functional change 2016-09-26 13:12:42 -07:00
floaledm fcfaa98bb6 AP_Frsky_Telem: reworked _statustext_queue.empty() check 2016-09-26 13:07:18 -07:00
Tom Pittenger 8001cc403b AP_Frsky_Telem: fix is_flying assignment 2016-09-26 13:00:33 -07:00
floaledm 5e022bf631 AP_Frsky_Telem: fix *_ap.value issue for Plane 
set_is_flying does operations on a nullptr, plus we loose the ability to
update ap_status accordingly for Plane
 2016-09-26 12:35:47 -05:00
Francisco Ferreira 42cd8e9721 AP_NavEKF2: Handle yaw jumps due to core switches 
Based on work from Paul Riseborough (priseborough)
 2016-09-25 18:24:11 -07:00
Francisco Ferreira 8da22e441b Revert 3 commits about yaw reset core switch 
Revert "AP_NavEKF2: Fix bug in published yaw reset value found during code review"
commit 175faf1e41.

Revert "AP_NavEKF2: use a struct for all yaw step class variables"
commit 77fad065d1.

Partially revert "AP_NavEKF2: Handle yaw jumps due to core switches"
commit 885bfd1b4e.
 2016-09-25 18:24:11 -07:00
floaledm ff0d0b1aa5 AP_Frsky_Telem: use ringbuffer for Frsky message queueing 2016-09-25 18:11:45 -07:00
murata d58c193c90 AP_RangeFinder: To define the OK status to LEDDARONE status. 2016-09-25 17:46:22 -07:00
Tom Pittenger b3d5375aa0 AP_Frsky_Telem: simplify init by assuming everything is nullptr 
- also always queue the firmware message regardless of protocol type
 2016-09-25 10:42:02 -07:00
Tom Pittenger 6991ca53b3 AP_Frsky_Telem: allow default arguments in init() to set things to nullptr 2016-09-25 10:42:02 -07:00
floaledm 94aa6c4cfb AP_Frsky_Telem: consolidate into a single frsky.init() 2016-09-25 10:42:02 -07:00
Michael du Breuil 9c4b3ec1e1 AP_GPS: Fix incorrect incrementing of last_baud rate 
This is a revert of 7c3b8dceb which tried to start at index 0 of the
array of baudrates, however because of the way last_baud is used
this lead to a GPS always being reported as being 1 index off which
lead to users getting reports of baud rates that their GPS wasn't
configured for

Also renames last_baud to be current_baud as that is how it's
actuallly used and should reduce future confusion

And fixed some tabs/vs space issues around where the last_baud rate
was incremented.
 2016-09-25 08:50:47 -07:00
Andrew Tridgell 36ea946cf5 AP_Compass: use board defined compass ofs max in calibrator 2016-09-23 10:53:00 +10:00
Andrew Tridgell e7656fb7ac AP_HAL: raise compass offset max again for Disco 
values of 1600 happen on Z axis
 2016-09-23 10:52:55 +10:00
Jonathan Challinger 17fb7dc88f AP_Compass: initialize offset before beginning sphere fit 2016-09-23 10:52:51 +10:00
Jonathan Challinger 419f1bc00e AP_Compass: change fixed point format for more range 2016-09-23 10:52:46 +10:00
Jonathan Challinger 0652d71a72 AP_Compass: correct wrapping behavior in conversion to fixed point 2016-09-23 10:52:44 +10:00
murata 3a1cd20f11 AP_RangeFinder: To move to the place that use the variable definition for the first time. 2016-09-22 08:41:21 +09:00
Tom Pittenger 8eb7a062c7 AP_Frsky_Telem: tiny text change in statusText 2016-09-21 16:11:04 -07:00
floaledm 9e0cfc81ea AP_Frsky_Telem: updated sensor_status messages according to what is found in Mission Planner 
added "NO RC Receiver" and "Bad Logging"
 2016-09-21 15:51:04 -07:00
floaledm 5125846ac0 AP_Frsky_Telem: Plane support 2016-09-21 12:12:37 -07:00
floaledm b2b6c88edf AP_Frsky_Telem: renamed vars and funcs for consistency/clarity 2016-09-21 11:32:21 -07:00
Andrew Tridgell 3eb8b5e99f HAL_Linux: added RCInput_Multi 
this allows for multiple RCInput methods on one board. On Disco it
combines RCInput_115200 with RCInput_SBUS
 2016-09-21 10:33:15 -03:00
Andrew Tridgell 5909552f67 HAL_Linux: added RCInput_115200 
this is a RCInput module for multiple R/C uart protocols running at
115200 baud 8-bit. We can decode multiple protocols in parallel with
this module, relying on frame timing and CRCs to get the right
protocol
 2016-09-21 10:33:15 -03:00
Andrew Tridgell 2edd914634 AP_HAL: added st24 R/C protocol decoder 
with thanks to the PX4 project
 2016-09-21 10:33:15 -03:00
Andrew Tridgell 9a7af89b30 AP_HAL: added sumd decoder 
with thanks to the PX4 project
 2016-09-21 10:33:15 -03:00
Andrew Tridgell e913b9a8f7 HAL_Linux: fixed incorrect include 2016-09-21 10:33:15 -03:00
Randy Mackay 2ebb81b02f AP_NavEKF2: switching compass message to GCS downgraded to INFO 2016-09-21 21:42:44 +09:00
Andrew Tridgell 79ed5c7091 AP_BattMonitor: fixed typo 2016-09-21 17:37:32 +10:00
Andrew Tridgell 06cccd6d3b AP_BattMonitor: update disco battery lookup table 2016-09-21 13:48:53 +10:00
Tom Pittenger 5512b6de02 AP_RangeFinder: Cleanup and added comments 
- uart->available(); returns uint32 but was stored locally as int32 and treated as uint32. Now stored correctly as uint32
- some variables were set to zero at start of function, then reset to zero before being used. wasted work
 2016-09-21 10:45:25 +09:00
Tom Pittenger e928e20b11 AP_RangeFinder: Ensure no divide by zeros in LeddarOne 
Having a critical divide by value as a class member that could change external to the function using it is fragile. It was not very obvious that a divide by zero was not possible in the current design, now it's very obvious and safer in case the code changes later.
 2016-09-21 10:45:23 +09:00
priseborough b6867e085d AP_NavEKF2: Don't report range finder variance on mavlink if not required 2016-09-21 10:41:21 +09:00
Andrew Tridgell 95db9f61cc AP_Module: added velocity_ned to AHRS state 2016-09-20 17:34:39 +10:00
Michael Oborne 11c376588d AP_GPS_NOVA: support tersus/novatel/comnav gps 2016-09-20 10:53:49 +10:00
Peter Barker 8f376944aa DataFlash: immediately restart logging after erasing logs 2016-09-19 17:57:59 +09:00
Randy Mackay f94f7e2aa0 AP_RangeFinder: add leddarone to TYPE parameter description 
No functional change
 2016-09-19 14:35:41 +09:00
ShingoMatsuura 3123bd6d7d AP_RangeFinder: add LeddarOne support 2016-09-19 13:25:35 +09:00
Andrew Tridgell c275e7c61d SITL: added SIM_SPEEDUP parameter 
allows changing speed of simulation while running
 2016-09-19 07:45:24 +10:00
murata 13fe8cb4d0 AP_OpticalFlow: Changed short boundary the i2c_integral_frame. 2016-09-17 01:04:06 -03:00
Matthew Brener 06388b0417 Global: Fix typos 2016-09-17 00:36:36 -03:00
Andrew Tridgell a4c1bc3fd3 HAL_Linux: avoiding setting the SPI mode on every transfer 
This was causing the Disco kernel to print a debug message on every
SPI transfer, which makes for a very noisy kernel and large kernel logs
 2016-09-17 00:35:00 -03:00
Andrew Tridgell 52caf8419e SITL: fixed sense of wind direction 
wind direction is where wind is coming from, not going to
 2016-09-16 10:59:27 +10:00
Andrew Tridgell 66073413a8 GCS_MAVLink: announce MAVLink2 capability 2016-09-16 09:47:55 +10:00
Andrew Tridgell 8f35305496 SITL: added a simpler compass cal simulation 
just output 1250 to servo5 and it will go through lots of rotations
 2016-09-16 08:59:43 +10:00
Andrew Tridgell f82827ce79 AP_Compass: removed disco special compass offsets 
not needed any more with newer hardware
 2016-09-14 19:06:06 +10:00
Andrew Tridgell bb65f4df76 AP_Arming: use HAL defined compass offset max if available 2016-09-14 11:53:13 +10:00
Andrew Tridgell bf67d4277d AP_HAL: define a larger compass offset max for Disco 2016-09-14 11:52:55 +10:00
Randy Mackay ba5db0c5d8 Compass: add CAL_FIT parameter description values 
No functional change
 2016-09-14 09:57:52 +09:00
priseborough cb1d3c7ed2 AP_NavEKF2: Allow for terrain gradient when using range finder for height 2016-09-13 17:45:03 +09:00
priseborough 60d8adcca0 AP_NavEKF2: Fix height drift on ground using range finder without GPS 2016-09-13 17:44:59 +09:00
priseborough 8797714203 AP_NavEKF2: Fix bug in handling of invalid range finder data 2016-09-13 17:44:43 +09:00
priseborough 175faf1e41 AP_NavEKF2: Fix bug in published yaw reset value found during code review 2016-09-13 17:35:18 +09:00
priseborough 77fad065d1 AP_NavEKF2: use a struct for all yaw step class variables 2016-09-13 17:35:16 +09:00
priseborough 885bfd1b4e AP_NavEKF2: Handle yaw jumps due to core switches 2016-09-13 17:35:14 +09:00
murata c78dfd4aa4 AC_Sprayer: Change the comment of the variables in the form of doxygen. 2016-09-13 13:37:35 +09:00
Peter Barker fce798bc7a DataFlash: avoid integer underflow 
Thanks to mbelluzzo: f44b1b3556
 2016-09-13 13:32:09 +09:00
Peter Barker 95d4475d45 DataFlash: avoid time going backwards in logs 
WriteBlockCheckStartupMessages returned true if finished writing out
all startup messages.  However, that may have allowed the caller to
then write out their message - but the timestamp on that message would
almost certainly be lower than the messages we've just written out.
 2016-09-13 13:32:06 +09:00
William Liu cc28c8e6ee AP_Airspeed: AP_Airspeed_I2C: get the right status according to datasheet 2016-09-09 10:32:14 -07:00
William Liu b1a62d6c8e AP_HAL_Linux: RCOutput_Bebop: fixed potential deadlock 2016-09-09 09:59:17 -07:00
Andrew Tridgell aa4cde1aae AP_BoardConfig: work around issues with bad components on some FMUv4 boards 
some pixracer copies have poor components which can cause sensor bus
brownout on boot. This resets the sensor bus for 20ms on boot to try
to get clean sensor startup
 2016-09-08 13:18:13 +10:00
Benoit Tran 9b89b4f561 AP_HAL: Correct HAL_PARAM_DEFAULTS_PATH for Parrot Disco 2016-09-08 13:05:25 +10:00
Randy Mackay b63666d188 AP_Motors: increase MOT_THST_HOVER parameter description range 
No functional change
 2016-09-07 15:28:49 +09:00
Niti Rohilla cadd95fdd8 GCS_MAVLink: Added sanity check for DO_JUMP command on mission load. 2016-09-06 00:40:47 -07:00
floaledm 4d03be94cf AP_Frsky_Telem: removed reliance on home_distance and home_bearing which are only in copter 2016-09-06 11:42:32 +10:00
floaledm 33bd359463 AP_Frsky_Telem: LANDCOMPLETE switched to to ISFLYING flag 2016-09-06 11:23:29 +10:00
floaledm 4dc98faa48 AP_Frsky_Telem: transmit airspeed instead of groundspeed, if available 2016-09-06 11:15:11 +10:00
floaledm 8deba69715 AP_Frsky_Telem: added 1 to control_mode passed on Frsky link 2016-09-06 11:14:48 +10:00
floaledm 4f8cea6844 AP_Frsky_Telem: simplified constructor 2016-09-06 11:14:48 +10:00
Michael du Breuil 7a18d59099 GCS_MAVLink: On mission_set_current report the requested item if the set was a success 
The problem with reporting the mission index, is that the mission index will be walked
forward until its referring to a nav target, which means that if a DO_ command was
requested, the requesting mavlink device had no way to validate the command was
accepted, it would have to make a infrence from it's copy of the mission
 2016-09-06 08:55:04 +10:00
Leonard Hall fdcdcb0033 AC_PosControl: check Z-axis accel imax can always overpower hover throttle 
This removes the possibility of the vehicle constantly climbing if the hover throttle becomes a very large value
 2016-09-05 14:19:43 +09:00
Andrew Tridgell aafd1512e4 HAL_PX4: limit IMU target temperature to 65 2016-09-05 12:59:50 +10:00
Andrew Tridgell c0d21c5730 AP_Module: added gyro_bias to AHRS structure 2016-09-05 12:56:52 +10:00
Andrew Tridgell 334db0a1a5 AP_AHRS: added get_primary_accel_index() and get_primary_gyro_index() 2016-09-05 12:56:36 +10:00
Andrew Tridgell 902daff3a3 AP_Module: added FSYNC state to raw accel report 2016-09-05 12:55:52 +10:00
Andrew Tridgell 6f9530ebaa AP_InertialSensor: added optional FSYNC external sync bit 
used to synchronise with image sensor on Disco
 2016-09-05 12:55:32 +10:00
Andrew Tridgell c62fc336cb AP_AHRS: use current EKF2 IMU core in gyro estimate 
The EKF2 implementation uses one IMU per EKF2 core. When reporting the
gyro estimate, accel_ef estimate and gyro bias estimate we need to use
the values associated with the current IMU index being used by the
current EKF2 core. Otherwise we will have an inconsistency between the
gyro estimate and attitude estimate

This affects all multi-IMU systems using EKF2
 2016-09-05 12:54:53 +10:00
Andrew Tridgell dd812cfc0c AP_NavEKF2: added getPrimaryCoreIMUIndex() 
needed for correct AHRS gyro estimate
 2016-09-05 12:53:53 +10:00
Andrew Tridgell cfd7268bd5 GCS_MAVLink: check the signing key magic on load 
or we end up with a bad key when MAVLink2 is first enabled
 2016-09-04 19:28:48 +10:00
Andrew Tridgell b9c4a948d1 AP_BoardConfig: fixed startup ordering change in canbus vs external mag 2016-09-04 18:48:26 +10:00
Gustavo Jose de Sousa 5c5ddc9d4a AP_HAL: reformat AP_HAL_Boards.h 
The definitions for each board haven't been reformatted here. They need a
little more thinking on how to format them in order to provide better
readability.
 2016-09-03 01:03:17 -03:00
José Roberto de Souza 13287f61e3 AP_Compass: Make COMPASS_AERO probe BMM150 2016-09-03 01:03:17 -03:00
Gustavo Jose de Sousa 68fe536da3 AP_InertialSensor: use BMI160 for Intel Aero 2016-09-03 01:03:07 -03:00
Gustavo Jose de Sousa 025082b280 AP_HAL_Linux: add port to Intel Aero 
Contributions from:
 - Gustavo Jose de Sousa <gustavo.sousa@intel.com>
 - José Roberto de Souza <jose.souza@intel.com>
 - Lucas De Marchi <lucas.demarchi@intel.com>
 - Patrick J.P <patrick.pereira@intel.com>
 2016-09-03 01:03:07 -03:00
José Roberto de Souza 0b0be31a29 AP_HAL: add defines for Intel Aero 2016-09-03 01:03:07 -03:00
Gustavo Jose de Sousa b6c0e11200 AP_InertialSensor: BMI160: convert it to use Device periodic callback 
Some notes:
 - The only place that made sense to use
   suspend_timer_procs()/resume_timer_procs() calls were where we registered
   the timer process. Now there's no need for that anymore. Remove those calls
   from other place in the source too.
 - There's no need to acquire the device lock now that we are running as a
   periodic callback.
 2016-09-03 01:03:07 -03:00
Gustavo Jose de Sousa b259356703 AP_Compass: BMM150: convert it to use Device periodic callback 2016-09-03 01:03:07 -03:00
Lucas De Marchi 667fca60f5 AP_Compass: BMM150: reduce lock region 
Use a semaphore to update the accumulated values instead of using the
timer semaphore.
 2016-09-03 01:03:07 -03:00
Patrick J.P c32dc3bc37 AP_HAL_Linux: Add AeroIO communication module 
Signed-off-by: Patrick J.P <patrick.pereira@intel.com>
 2016-09-03 01:03:07 -03:00
Randy Mackay 4858afae6c AP_Motors: param description update that MOT_SPIN_MIN should be higher than MOT_SPIN_ARM 2016-09-03 11:12:31 +09:00
Andrew Tridgell bf1e0e1536 AP_AHRS: fixed EKF GPS arming check for fixed wing 
when in a quadplane mode we set fly_forward to zero. We need to ensure
the GPS checks for EKF health are applied when doing arming checks, so
we use the checks always when disarmed
 2016-09-02 11:12:19 +10:00
Andrew Tridgell 232347569f AP_RPM: use RPM_SCALING in SITL 
useful for testing low RPM warning in a GCS
 2016-09-02 11:12:18 +10:00
Andrew Tridgell acbeb29fbe AP_Frsky_Telem: use const references where possible 
save some stack space
 2016-09-02 11:12:18 +10:00
Randy Mackay 44830be172 AC_AttControl: add parameter check of throttle mix 2016-09-02 09:27:15 +09:00
Randy Mackay 535158e0d8 AC_AttControl: move var_info declaration 
No functional change
 2016-09-02 09:27:12 +09:00
Randy Mackay 38b3d3ff3a AP_GPS_MAV: initialise location while handling_msg 
This reduces a covarity warning but it likely not really an issue because we always initialise newly allocated memory to zero anyway
 2016-09-01 12:01:14 +09:00
murata 59796aaf9c AP_OpticalFlow: The first value of the register to the value of the definition. 2016-08-31 01:01:59 -03:00
Ralf Ramsauer 71212942da AP_HAL: AP_HAL_Linux: align I2CDevice::read_registers_multiple() 
25c7e8b changed the logic of transfer(). Align
I2CDevice::read_registers_multiple() in the same way.

Signed-off-by: Ralf Ramsauer <ralf.ramsauer@othr.de>
 2016-08-31 00:18:50 -03:00
Randy Mackay e7020b218a AC_Fence: revert param Enable to be FLAG_ENABLE 
This reverts commit 5e811b8463.
 2016-08-31 08:55:31 +09:00
Ralf Ramsauer 5b81920737 AP_HAL: AP_HAL_Linux: add comment to I2CDevice::transfer() 
If I2CDevice::transfer() has to do nothing it returns false. This can be
misleading, as this might feel contradictory.

Let's spend a comment on that.

Signed-off-by: Ralf Ramsauer <ralf.ramsauer@othr.de>
 2016-08-29 15:20:14 -03:00
Ralf Ramsauer 25c7e8bf60 AP_HAL: AP_HAL_Linux: perfect I2CDevice::transfer() 
According to man 3 ioctl, ioctl returns other values than -1 on success.
So loop while ioctl returns -1.

Furthermore, there is no necessity to initialise r with -EINVAL,

Signed-off-by: Ralf Ramsauer <ralf.ramsauer@othr.de>
 2016-08-29 15:20:14 -03:00
Matt 9eca21c26a AP_Compass: Removed duplicate code 2016-08-29 10:38:41 -03:00
Lucas De Marchi 833f565f09 AP_HAL_Linux: prefix threads with ap 
This makes it consistent with bus threads and easier to grep from a `ps`
call.
 2016-08-29 10:27:36 -03:00
Lucas De Marchi e1ab44f4a3 Global: remove get_fd() from Device API 
This was there for compatibility with I2CDriver and SPIDriver. We don't
use them anymore so we can remove the compat method.
 2016-08-29 10:27:36 -03:00
Lucas De Marchi ead01855df AP_HAL: remove default params for minlure 
We are currently not using them.
 2016-08-29 10:27:36 -03:00
Andrew Tridgell e9e3a3f491 AP_Motors: added get_pwm_type() 2016-08-29 15:52:21 +10:00
Peter Barker fd87a4f180 DataFlash: fix unused result warning 2016-08-25 15:53:47 +10:00
Andrew Tridgell a4ca4dbd9e AP_FrSky_Telem: use a constant string for firmware version 2016-08-25 11:00:17 +10:00
Andrew Tridgell 62388fc991 AP_FrSky_Telem: use constant strings in message queueing 2016-08-25 10:29:57 +10:00
Andrew Tridgell 183283ba07 AP_FrSky_Telem: make _msg non-static 
there are no calls to this from outside the library. If we do add some
then we can change the API as needed
 2016-08-25 10:23:03 +10:00
floaledm 2f54e67996 AP_FrSky_Telem: fixed sending last message chunk 
Was sent only once, now sent 3 times (as planned)
 2016-08-25 10:16:20 +10:00
Andrew Tridgell 185ef73684 AP_Frsky_Telem: fixed usage of sensor error bits 
using these asyncronously via pointers is error prone as the updates
to these masks is not atomic relative to the IO callback in
AP_Frsky_Telem
 2016-08-25 10:16:19 +10:00
Andrew Tridgell f4d59d720a AP_FrSky_Telem: removed use of pointer to control_mode 
it is an enum, and it is invalid to take a pointer to an enum as a
uint8_t*
 2016-08-25 10:16:19 +10:00
Andrew Tridgell ab77fdfa02 AP_FrSky_Telem: removed dependency on inertialnav 
the AP_InertialNav library is deprecated in favor of AP_AHRS. We
should not introduce a new dependency on it
 2016-08-25 10:16:19 +10:00
floaledm b71e0d73b9 AP_FrSky_Telem: added SPort passthrough protocol 2016-08-25 10:16:19 +10:00
floaledm 50eecf58a4 AP_SerialManager: added SPort passthrough protocol 2016-08-25 10:16:18 +10:00
floaledm ec157bd4c2 AP_BattMonitor: Get pack_capacity_mah function 2016-08-25 10:16:18 +10:00
floaledm a9b01b470c AP_FrSky_Telem: cosmetic changes 2016-08-25 10:16:17 +10:00
floaledm 5066a5bc73 AP_SerialManager: syntax and minor lib rework 2016-08-25 10:16:17 +10:00
floaledm de2a7013b4 AP_FrSky: simplified lib rework 2016-08-25 10:16:17 +10:00
Leandro Pereira bf3f8c05e7 GCS_Mavlink: Correctly check if a channel is streaming 
In GCS_MAVLINK::stream_trigger(), chan_is_streaming would be checked
with a bitwise OR, instead of a bitwise AND.  This way, the condition
would always be true if chan_is_streaming were to be non-zero.
 2016-08-24 10:47:12 -03:00
Andrew Tridgell 3aba0d8359 SITL: fixed rover altitude 
thanks to Grant for noticing this
 2016-08-24 13:29:45 +10:00
mirkix a4d0ad8571 AP_InertialSensor: Fix name of sensor 2016-08-23 11:25:59 +09:00
Andrew Tridgell 25f1dbd8c2 HAL_SITL: allowed SITL to reopen uart connections 2016-08-23 09:30:17 +10:00
Andrew Tridgell 49b82b767f SITL: added RPM for heli sim 2016-08-23 09:30:14 +10:00
Andrew Tridgell c87fa13e77 AC_WPNav: added WP_RFND_USE parameter 
allows disable of rangefinder use for terrain following
 2016-08-23 09:27:39 +10:00
Tom Pittenger 330c63b010 AP_Avoidance: handle condition where avoid is disabled while avoiding 2016-08-17 22:38:54 -07:00
Tom Pittenger c06b63b4cd AP_Avoidance: provide different default params for copter vs plane 
copter is unchanged, plane has larger distances
 2016-08-17 22:38:54 -07:00
Tom Pittenger 1612110d16 AP_ADSB: fixed signed int compare compile warning/error and reject >24bit ICAO 
- The value is only 24bits anyway so sign conversion does not matter
- also reject ICAO values > 24bits
 2016-08-16 18:49:48 -07:00
Tom Pittenger 78e7acf25c AP_ADSB: do not detect, and thus avoid, yourself 2016-08-16 17:29:34 -07:00
Tom Pittenger b6810006eb AP_ADSB: move mavlink msg handling into library 2016-08-16 16:33:36 -07:00
Andrew Tridgell 3ecf2850a8 SITL: fixed send of MAVLink2 pkt 2016-08-16 16:33:36 -07:00
Tom Pittenger 19ac9bce48 SITL: add Ping2020 simulated device 2016-08-16 16:33:36 -07:00
Andrew Tridgell 38fff6d43d RC_Channel: expanded docs for RCn_FUNCTION 2016-08-16 16:16:09 +10:00
Andrew Tridgell 62f3818b83 RC_Channel: added k_throttle 
for secondary throttle on planes
 2016-08-16 16:14:34 +10:00
Andrew Tridgell c1480315f5 AP_AdvancedFailsafe: update AFS_TERMINATE on GCS on termination 2016-08-16 12:56:13 +10:00
Andrew Tridgell cee1e37391 AP_AdvancedFailsafe: make relationship to OBC clearer in comment 2016-08-16 12:56:12 +10:00
Andrew Tridgell 838728348f AP_AdvancedFailsafe: re-work for use as vehicle derived class 2016-08-16 12:55:50 +10:00
Andrew Tridgell 8163db1adb AP_AdvancedFailsafe: cleanups for new naming 2016-08-16 12:55:50 +10:00
Andrew Tridgell cef4635ad9 AP_AdvancedFailsafe: rename from APM_OBC 2016-08-16 12:55:50 +10:00
Andrew Tridgell 636188014d APM_OBC: make the ENABLE flag control presence of the parameters 2016-08-16 12:55:50 +10:00
Andrew Tridgell 119e312cd3 AP_BoardConfig: wait up to 0.4s for safety to be off on boot 2016-08-16 12:53:34 +10:00
Andrew Tridgell dddaded8d4 HAL_PX4: fixed a race condition in force_safety_on/off 
the status update from IO may not have come through if we force safety
on and then off in quick succession, such as for plane mixer load

this forces the ioctl to be sent at least once
 2016-08-16 12:53:34 +10:00
Andrew Tridgell 1fa137caad GCS_MAVLink: added handle_preflight_reboot() 2016-08-16 12:53:33 +10:00
Lee Hicks 51e8d8a294 AP_GPS: Don't send config blob to GPS unless AUTO_CONFIG=1 
All GPS types will recieve startup up blob config. For
some recievers this will cause them to hang. This commit
only allows sending of blobs if AUTO_CONFIG=1. Fixes #2622
 2016-08-16 10:56:37 +10:00
Lee Hicks 7c3b8dceb9 AP_GPS: Fixed GPS serial speeds starting at 1 instead of 0 
The counting of this will increment the counter before
selecting the baud speed, skipping the first baud rate.
 2016-08-16 10:56:36 +10:00
Lee Hicks 3dd4f30460 AP_GPS: Adding 19200 as serial speed for GPS 
APM supports baud speeds of 19200, but GPS baud rates
don't support it. This commit adds it to follow APM supported
baud rates.
 2016-08-16 10:56:36 +10:00
Leonard Hall 29d4790fc7 AC_AttControl: reduce max_rate_step based on hover throttle 
This changes reduces AutoTune's twitch size based on the hover throttle
This method is only used by AutoTune
 2016-08-12 22:29:53 +09:00
Peter Barker 8d253dec8e DataFlash: support for mavlink SENSOR message 2016-08-11 17:48:44 -03:00
Grant Morphett 30bcea73cc PX4: Added detection for MPU6000 on px4slim. 2016-08-11 08:39:16 +10:00
LukeMike 38150a5544 AP_BoardConfig: defined and managed VRBRAIN board type and all functions for sensors startup 2016-08-11 07:52:40 +10:00
LukeMike e6c8653302 AP_IRLock_PX4: enabled sensor driver startup on bus2 if don't start on bus1 2016-08-11 07:52:39 +10:00
LukeMike 316e5acaec AP_OpticalFlow_PX4: enabled sensor driver startup for all VR boards 2016-08-11 07:52:39 +10:00
Andrew Tridgell 38ebe582cc AP_BoardConfig: fixed for VRBrain build 
needs access to driver start function
 2016-08-10 20:43:03 +10:00
Andrew Tridgell eaa88b1223 AP_BoardConfig: FMUv1 does not have pwm_input driver 2016-08-10 19:54:01 +10:00
Andrew Tridgell 39676d686c AP_BoardConfig: FMUv1 does not have an L3GD20 2016-08-10 19:54:01 +10:00
Andrew Tridgell 7da89c611d AP_BoardConfig: use a STATUSTEXT to show better in MP 
this makes it easier to see why it won't boot
 2016-08-10 19:54:01 +10:00
Andrew Tridgell 78b2924c00 AP_OpticalFlow: auto-start px4flow driver if enabled 2016-08-10 19:54:01 +10:00
Andrew Tridgell 74182b6b3d AP_Notify: auto-start oreoled driver if enabled 2016-08-10 19:54:00 +10:00
Andrew Tridgell e24cebec33 AP_IRLock: auto-start batt_smbus driver if enabled 2016-08-10 19:54:00 +10:00
Andrew Tridgell d05a08ff4d AP_BattMonitor: auto-start batt_smbus driver if enabled 2016-08-10 19:54:00 +10:00
Andrew Tridgell 0d59935847 AP_BoardConfig: fixup for merge after VRBrain changes 2016-08-10 19:54:00 +10:00
Andrew Tridgell 77bee322e9 AP_BoardConfig: support the PHMINI as BRD_TYPE=5 2016-08-10 19:54:00 +10:00
Andrew Tridgell 61e15af3ca AP_BoardConfig: added BRD_TYPE 
this allows for PH2SLIM support with BRD_TYPE=6
 2016-08-10 19:54:00 +10:00
Andrew Tridgell 7c5171e9b9 AP_BoardConfig: set default temperature on PH2 to 60 2016-08-10 19:54:00 +10:00
Andrew Tridgell 7806aa4274 AP_BoardConfig: moved optional sensors to the sensor startup 
this makes startup much faster
 2016-08-10 19:54:00 +10:00
Andrew Tridgell 36e0c7229a AP_BoardConfig: implement PX4 driver start in C++ 
this brings driver startup into AP_BoardConfig, so we can start to
make driver startup depend on parameters
 2016-08-10 19:53:59 +10:00
Andrew Tridgell 4643d6f314 AP_BoardConfig: break out PX4 setup from main code 
refactoring in preparation for larger changes
 2016-08-10 19:53:59 +10:00
Andrew Tridgell e82384990d AP_BoardConfig: moved px4 variables to px4 structure 
refactoring in preparation for larger changes
 2016-08-10 19:53:59 +10:00
Andrew Tridgell 270fa95a8d AP_Morors: scale colyaw to match previous behaviour 
this was missed in the motor scaling changes. Thanks to Rob for
noticing this.
 2016-08-10 07:58:06 +10:00
Tom Pittenger a66e248f5c AP_Airspeed: remove AP_Vehicle::FixedWing dependency 2016-08-08 00:12:42 -07:00
Tom Pittenger ce7b766d8b AP_Airspeed: remove AP_Vehicle::FixedWing dependency 2016-08-08 00:02:42 -07:00
Tom Pittenger ae46c38ff7 AP_Airspeed: pass in max airspeed via function call instead of using aparm 2016-08-08 00:02:42 -07:00
Randy Mackay ad697243b3 AP_MotorsMulticopter: initialise some members 
This resolves some Covarity warnings at the cost of a small amount of flash
 2016-08-08 13:31:30 +09:00
Randy Mackay 3c87f67212 AC_PrecLand: initialise some members 
This was not a real problem but it resolves some Covarity warnings
 2016-08-08 13:31:28 +09:00
Leonard Hall 50b694444b AC_AttControl: correct method comments 
No functional change
 2016-08-08 11:24:42 +09:00
priseborough e6f36f04db AP_NavEKF2: Enable automatic use of range finder height 
The EK2_RNG_USE_HGT parameter sets the height (expressed as a percentage of the maximum range of the range finder as set by the RNGFND_MAX_CM parameter) below which the range finder will be used as the primary height source when the vehicle is moving slowly.

When using a height reference other than GPS, the height datum can drift due to air pressure changes if using baro, or due to terrain height changes if using range finder as the primary height source. To ensure that a consistent height datum is available when switching between altitude sources, the WGS-84 height estimate of the EKF's local positi norigin is updated using a
single state Bayes estimator,

If rngfinder or gps height data is lost whilst being used, there will be a fall-back to baro data.
 2016-08-08 10:56:44 +09:00
Tom Pittenger 1586abab8d Revert "AP_Airspeed: Converted library to be stand-alone from APM:Plane." 
This reverts commit 5439257236.
 2016-08-07 17:54:24 -07:00
Tom Pittenger 82777873af Revert "APM_Control: Convert references to AP_Airspeed." 
This reverts commit cc5a2417a6.
 2016-08-07 17:54:24 -07:00
Tom Pittenger e5bd23e34a Revert "AP_TECS: Convert references to AP_Airspeed." 
This reverts commit 09d53eaeca.
 2016-08-07 17:54:24 -07:00
Tom Pittenger 44037c13a1 Revert "AP_Vehicle: Removed unused airspeed_min and airspeed_max as now part of AP_Airspeed." 
This reverts commit bf7ab052c1.
 2016-08-07 17:54:24 -07:00
Tom Pittenger 8dad05d12e Revert "Airspeed: store reference in libraries and populate it" 
This reverts commit c090ba2257.
 2016-08-07 17:54:24 -07:00
LukeMike 5987cc273f AP_HAL_VRBRAIN: added some new modules for I2C wrapper 2016-08-07 20:31:52 +10:00
LukeMike 7ee8898948 AP_BoardConfig: updated defines for VRBRAIN 2016-08-07 20:31:52 +10:00
LukeMike 95ae69eb1c VRBRAIN /AP_BoardConfig: changed definition of PWM_SERVO_MODE_12PWM only for VRBRAIN 2016-08-07 20:31:52 +10:00
LukeMike 024d3311b3 VRBRAIN / AP_BoardConfig: enabled PWM configuration and safety management for all VirtualRobotix boards 2016-08-07 20:31:51 +10:00
LukeMike 9f8b66758c VRBRAIN / AP_OpticalFlow: enabled OpticalFlow_PX4 for all VirtualRobotix boards 2016-08-07 20:31:51 +10:00
LukeMike 6748bdb1a4 AP_Notify/ExternalLED: added HIGH and LOW definition 2016-08-07 20:31:51 +10:00
LukeMike 858c22ae21 VRBRAIN /AP_Notify: enabled tone_alarm for all VirtualRobotix boards 2016-08-07 20:31:51 +10:00
LukeMike 13e3150023 VRBRAIN / AP_HAL_Boards: definition of new board VR Brain 5.4 and VR Core 1.0 2016-08-07 20:31:51 +10:00
LukeMike b5cf0308cd VRBRAIN / AP_BattMonitor_Analog: definition of default value for battery monitor for all VirtualRobotix boards 2016-08-07 20:31:51 +10:00
LukeMike 4d8e7f1783 VRBRAIN / AP_Airspeed: defined ARSPD_DEFAULT_PIN for VR Brain 5.4 and VR Core 1.0 2016-08-07 20:31:51 +10:00
LukeMike d8cc2668cb VRBRAIN / AP_AHRS_NavEKF: set AP_AHRS_WITH_EKF1 to 1 only for VR Brain 5.4 2016-08-07 20:31:51 +10:00
LukeMike 998033286d AP_HAL_PX4 / Semaphores: removed AP_HAL_VRBRAIN (for now it's better to have different AP_HAL for PX4 and VRBRAIN) 2016-08-07 20:31:50 +10:00
LukeMike fde5992b6d VRBRAIN: updated AP_HAL_VRBRAIN 2016-08-07 20:31:50 +10:00
Leonard Hall 34055944cd AC_PosControl: fix relax_alt_hold_controllers 2016-08-05 12:40:37 +09:00
Randy Mackay 24044e5611 AC_AttControl: get_throttle_avg_max always returns value in 0 to 1 range 
throttle_avg_max is the total average throttle level (expressed as a number from 0 to 1) that the motors can safely be raised to in order to maintain attitude control.  This level can be higher than the pilot's or autopilot provided throttle level.
Previously passing in a negative throttle_in could result in a negative throttle_avg_max being returned.
 2016-08-05 12:40:37 +09:00
Leonard Hall ac04fcd836 AC_AttControl: fix set_yaw_target_to_current_heading 2016-08-05 12:40:37 +09:00
Leonard Hall 011bc0a350 AC_AttControl: add reset_rate_controller_I_terms() 2016-08-05 12:40:37 +09:00
Tom Pittenger e63e7a5336 AP_NavEKF: comment that param "Enable" index is moved to top 2016-08-04 11:32:46 -07:00
Tom Pittenger 9b33280795 APM_OBC: set param "Enable" to be FLAG_ENABLE and move to top 2016-08-04 11:32:02 -07:00
Tom Pittenger 28648665b9 AP_Terrain: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:31:37 -07:00
Tom Pittenger ebe829614d AP_Parachute: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:31:21 -07:00
Tom Pittenger b1ef848de6 AP_EPM: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:30:50 -07:00
Tom Pittenger 0d14941eea AP_Avoidance: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:30:39 -07:00
Tom Pittenger c07b85f9bb AP_Airspeed: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:30:22 -07:00
Tom Pittenger dd5ed7e2e0 AC_Sprayer: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:30:03 -07:00
Tom Pittenger ccb0151816 AC_PrecLand: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:29:45 -07:00
Tom Pittenger 5e811b8463 AC_Fence: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:29:30 -07:00
Tom Pittenger c090ba2257 Airspeed: store reference in libraries and populate it 
- also had to move the initial definition in plane.h so it happened before the others.
 2016-08-04 11:06:44 -07:00
AndersonRayner bf7ab052c1 AP_Vehicle: Removed unused airspeed_min and airspeed_max as now part of AP_Airspeed. 2016-08-04 10:09:04 -07:00
AndersonRayner 09d53eaeca AP_TECS: Convert references to AP_Airspeed. 2016-08-04 10:09:04 -07:00
AndersonRayner cc5a2417a6 APM_Control: Convert references to AP_Airspeed. 2016-08-04 10:09:04 -07:00
AndersonRayner 5439257236 AP_Airspeed: Converted library to be stand-alone from APM:Plane. 
Additional changes:
   ARSPD_FBW_MIN and ARSPD_FBW_MAX renamed to ARSPD_MIN and ARSPD_MAX
   ARSPD_MIN and ARSPD_MAX changed to floats
 2016-08-04 10:09:04 -07:00
Andrew Tridgell 66c4995c9d AP_Motors: added get_desired_spool_state() 2016-08-04 09:43:40 -07:00
murata b6c27b58a8 AC_Fence: magic number 4 changed to size of uint32_t 2016-08-04 15:26:18 +09:00
Pavel Kirienko 9b786559d4 Fixed missing definition error UAVCAN_IOCS_HARDPOINT_SET 2016-08-04 09:16:02 +10:00
Pavel Kirienko fccdcf50c1 EPM: fixed build 2016-08-04 09:16:02 +10:00
Pavel Kirienko 8af6af004d EPM: fixed parameter comments 2016-08-04 09:16:02 +10:00
Pavel Kirienko accf118e38 UAVCAN hardpoint control 2016-08-04 09:16:02 +10:00
Murilo Belluzzo 077e03678f Global: Adapt Stream class to be used with Ringbuffer 2016-08-03 01:44:02 -03:00
Murilo Belluzzo b856d26087 RingBuffer: ::set_size now returns true or false 2016-08-03 01:44:02 -03:00
Murilo Belluzzo f7f203efa9 RingBuffer: Add ::clear() method to discard the buffer content 
The same could be achieved with ::set_size(::get_size()), but was not
obvious and hurts code readability.
 2016-08-03 01:44:02 -03:00
Murilo Belluzzo 75a1b102fb RingBuffer: Handle zero sized better 
Sometimes (like in DataFlash) the size of the ring buffer will be
determined in run time and the object can have size zero until proper
initialization. When this was the case, an underflow in ::get_size would
mess with the initializing algorithm.

Another issue was that the 'new' operator could fail what was not being
handled. Now, we only set the size member after we are sure 'new'
successfully allocated memory.
 2016-08-03 01:44:02 -03:00
Murilo Belluzzo fe48901db0 AP_ADC_ADS1115: Remove resource leak. 
Constructor allocate '_samples' but there was no destructor to
deallocate it. Also, initializes '_gain' to silence CID 9144 although
'_gain' wasn't being used uninitialized because of ::init().

CID 91424
 2016-08-03 00:24:55 -03:00
Murilo Belluzzo 36bdd7f1f1 AP_InertialSensor: MPU6000: Add missing read() check 2016-08-03 00:18:20 -03:00
Lucas De Marchi 0d4caa3ccc AP_Math: remove declaration of not implemented functions 2016-08-03 00:16:35 -03:00
Murilo Belluzzo 70942472d3 AP_Math: Matrix: Change deallocator to match allocator used 2016-08-03 00:09:11 -03:00
Murilo Belluzzo e17fdb2aa9 DataFlash: Avoid null pointer dereference 
Confirms that the loop successfully found a log structure before using it.

Should fix CID 126742
 2016-08-03 00:02:19 -03:00
Holger Steinhaus cc4fafc3e4 AP_GPS_PX4: fixed GPS epoch calculations 2016-08-02 11:20:48 +10:00
Tom Pittenger 282817eeb9 AP_ADSB: revert default enable = 0 2016-08-01 17:56:04 -07:00
Tom Pittenger b5ec37b9d8 AP_ADSB: change adsb.enable param to be a flag 2016-08-01 17:51:24 -07:00
Tom Pittenger 2be32e9daa AP_ADSB: remove all threat logic in adsb lib in favor of avoidance lib 2016-08-01 15:27:40 -07:00
Tom Pittenger b2b63b4d80 AP_ADSB: change param ADSB_ENABLE default from 0 to 1 2016-08-01 15:27:39 -07:00
Tom Pittenger 89271c29ab AP_ADSB: move variable into struct like the rest 2016-08-01 15:27:38 -07:00
Tom Pittenger f7c2df8e91 AP_ADSB: sanity check data via valid_flags before forwarding to avoidance lib 2016-08-01 12:47:18 -07:00
Tom Pittenger 5c0b5f5cd1 AP_ADSB: reject packets that are invalid or already stale 2016-08-01 12:44:20 -07:00
Tom Pittenger b12edf6a71 AP_ADSB: fix bug where the update timeout wasn't being stored correctly 
- causes immediate timeout so all samples were dropped
- now the timeout is current and respects the time-since-last-comms/packet so we can ignore stale packets
 2016-08-01 12:43:47 -07:00
Tom Pittenger e0bb77726e AP_ADSB: do not service transceiver if it is not detected 
- also allow forced detected (setting chan in header) for testing by not having it time out in that special case (timer = 0)
 2016-08-01 09:06:05 -07:00
Peter Barker 2844190e5b AP_RangeFinder: correct DisplayName comments 2016-08-01 09:55:25 -03:00
Peter Barker 1bb73383ec AP_RangeFinder: group _ADDR with other first-rangefinder params 2016-08-01 09:55:24 -03:00
Peter Barker d5ffc8a863 AP_RangeFinder: define 3_ADDR when we have three rangefinders 
Without this patch this field would only be defined when 4 rangefinders
were specified
 2016-08-01 09:55:24 -03:00
Randy Mackay d5c18dc987 AC_AttControl: remove unused 100hz definition 2016-08-01 17:21:04 +09:00
Randy Mackay 2dc111ff39 Copter: reduce WPNAV_LOIT_MINA parameter description range 2016-08-01 17:09:20 +09:00
Randy Mackay 7d0cac15fb AP_ICEngine: add casting to avoid compiler warnings 2016-08-01 09:41:32 +09:00
Lucas De Marchi e217faacab AP_Baro: MS56XX: cosmetic changes to members 
- reorder and document members.
    - remove tentative of vertical alignement
    - like was done for accumulated values, move the calibration
      values to a struct
 2016-07-30 00:55:28 -03:00
Lucas De Marchi f7b453359d AP_Baro: MS56XX: convert to threaded bus 
This converts MS56XX to use the thread started by SPI/I2C instead of
using the timer thread. This also fixes a possible starvation of the
main thread:

    1) INS driver registers itself to be sampled on timer thread
    2) MS56XX registers itself to be sampled on timer thread
    3) Main thread waits for a sample from INS with
       ins.wait_for_sample()
    4) timer thread is waiting on update from MS56XX and consequently
       the main thread is waiting on an I2C/SPI transfer

Besides this starvation there's another one due to reuse of the timer
lock in order to pump values from the timer thread to the main thread. A
call to the update() method when we have a sample available would need
to wait on any other driver holding the timer lock.

Now there's a lock just to pass the new values from the bus thread to
the main thread with a very tiny critical region, not waiting on any
bus transfers and/or syscalls.
 2016-07-30 00:55:28 -03:00
Lucas De Marchi 052f30bc70 AP_HAL: remove macros to use MS5611 in the main thread 2016-07-30 00:55:28 -03:00
Lucas De Marchi 929348ff75 AP_Baro: MS5611: always use timer thread 
Remove support to run MS5611 on main thread since we shouldn't be doing
I2C transactions there and we are moving to "thread per bus"
nonetheless.
 2016-07-30 00:55:28 -03:00
Lucas De Marchi 7b7e73680f AP_Math: add USEC_PER_MSEC 2016-07-30 00:55:28 -03:00
Lucas De Marchi 8541d5339d AP_HAL_Linux: Implement threaded SPI 2016-07-30 00:55:27 -03:00
Lucas De Marchi ea0595c7ac AP_HAL_Linux: SPIDevice: move implementation to outside 
As we add methods, it's becoming too complex to be implemented together
with the declaration.
 2016-07-30 00:55:27 -03:00
Lucas De Marchi 590539f674 AP_HAL_Linux: implement threaded I2C 2016-07-30 00:55:27 -03:00
Lucas De Marchi 11ddbb8fb8 AP_HAL_Linux: add PollerThread 
This is the infrastructure needed by both SPIDevice and I2CDevice to
start a poller thread per bus.
 2016-07-30 00:55:27 -03:00
Lucas De Marchi 7d451ac876 AP_HAL_Linux: allow to check if thread is running 2016-07-30 00:55:27 -03:00
Lucas De Marchi eca6f45b68 AP_HAL_Linux: remove unused part of Poller infra 
We aren't going to use all the poller infra for now and we need it's
behavior a little bit different for what we are going to use:

    - Do not use any "fair" time for each ready fd since we don't want
      to set a timeout
    - Allow to set the fd on Pollable after constructing it since we are
      likely to embed Pollable inside other structs and just later be
      able to open an fd.
    - Let caller use the epoll flags directly - this is not in AP_HAL,
      so there's no need to abstract them
 2016-07-30 00:55:27 -03:00
Leandro Pereira 0f865a019a AP_HAL_Linux: Add Pollable/Poller 
Add system's polling infrastructure to be notified whenever a
file descriptor is ready to be read from or written to.

Adds a few classes:
  * Poller, as an interface to epoll()
  * Pollable, as an interface to a file descriptor
 2016-07-30 00:55:27 -03:00
Lucas De Marchi c859c5ecd9 AP_HAL_PX4: update Device interface 2016-07-30 00:55:27 -03:00
Lucas De Marchi eaa1c39a15 AP_HAL_Linux: update Device interface 2016-07-30 00:55:27 -03:00
Lucas De Marchi 7669d54265 AP_HAL_Empty: update Device interface 2016-07-30 00:55:27 -03:00
Lucas De Marchi 37de995960 AP_HAL: update Device interface for periodic tasks 
Replace the previous not-implemented interface with a set of new methods
that can be resonably implemented:

    - register_periodic_callback() now receives a functor returning bool
      to easily allow "oneshot" timers

    - adjust_periodic_callback() allows the caller to change the timer
      for a specific handle. This way drivers like MS5611 can adjust the
      timer depending on its state machine: the time to sample
      temperature is smaller than the time to get a pressure sample

    - add unregister_callback(): since we have an opaque pointer, we
      can't tell the user to just delete it in order to unregister the
      callback
 2016-07-30 00:55:27 -03:00
Lucas De Marchi 8e5aba8653 AP_HAL_Linux: I2CDevice: move implementation to outside 
As we add methods, it's becoming too complex to be implemented together
with the declaration.
 2016-07-30 00:55:27 -03:00
Lucas De Marchi 7b39f3d0a7 AP_HAL_Linux: do not warn for empty table 
../../libraries/AP_HAL_Linux/SPIDevice.cpp: In member function ‘virtual AP_HAL::OwnPtr<AP_HAL::SPIDevice> Linux::SPIDeviceManager::get_device(const char*)’:
../../libraries/AP_HAL_Linux/SPIDevice.cpp:337:27: warning: comparison is always false due to limited range of data type [-Wtype-limits]
     for (uint8_t i = 0; i < _n_device_desc; i++) {
                         ~~^~~~~~~~~~~~~~~~

Define a dummy device to remove warning.
 2016-07-30 00:03:23 -03:00
Lucas De Marchi f37a560295 AP_HAL_Linux: remove private headers 
This centralized private header encourages centralizing things on
umbrella headers that are a pain to maintain. Force each part of
AP_HAL_Linux to include what is used.
 2016-07-29 20:29:46 -03:00
Lucas De Marchi e8f71a5bd2 AP_HAL_Linux: change define and members visibility 
Make some member variables protected to follow what we do in other
places (and there's no reason to be private).

Move defines to .cpp to reduce their visibility.
 2016-07-29 20:27:12 -03:00
Lucas De Marchi f36e8d9c05 AP_HAL_Linux: remove AP_HAL_Linux_Namespace header 
This centralized namespace header encourages centralizing things on
umbrella headers that are a pain to maintain. Force each part of
AP_HAL_Linux to include what is used.

While at it, do some whitespace cleanups and minor changes to adhere to
coding style.
 2016-07-29 20:25:03 -03:00
Lucas De Marchi b044fac4b6 AP_HAL_Linux: rename variable to follow I2CDevice convention 2016-07-29 15:01:15 -03:00
Lucas De Marchi 57ec968b44 AP_HAL: remove SPIDriver 
SPIDevice now controls all accesses to SPI bus.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi dc91dfb446 AP_HAL_Empty: remove SPIDriver 
SPIDevice now controls all accesses to SPI bus.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi 7b140da6d1 AP_HAL_Linux: remove SPIDriver 
SPIDevice now controls all accesses to SPI bus.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi 5ab1c6ff51 AP_ADC: remove ADS7844 
It's not used by any board.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi ef81e71afa AP_ADC: remove example tailored to a single ADC 
This is the only user of ADS7844 - we don't have it actually used in our
boards. Remove the example since we can later add a more generic one or
at least one that reuses a driver from our boards.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi 3a5e8a17c7 AP_HAL: remove enum id for Ublox and RASPIO 2016-07-29 15:01:15 -03:00
Lucas De Marchi 945556bbc3 AP_HAL_Linux: remove id for SPIDevice_Ublox and RASPIO 2016-07-29 15:01:15 -03:00
Lucas De Marchi 065592e7df AP_HAL_Linux: SPIUARTDriver: add some cosmetic changes 
Mainly changes to follow the coding style and reduce the complexity a
little bit.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi e3c0476b8a AP_HAL_Linux: SPIUARTDriver: initialize device once 2016-07-29 15:01:14 -03:00
Lucas De Marchi 418cc817a3 AP_HAL_Linux: SPIUARTDriver: fix conversion to SPIDevice 
We need to use the fullduplex method to transfer both tx and rx at the
same time.
 2016-07-29 15:01:14 -03:00
Lucas De Marchi cbbd6f9d78 AP_HAL_Linux: SPIDevice: implement fullduplex transfer 2016-07-29 15:01:14 -03:00
Lucas De Marchi 9fda608d4a AP_HAL_Empty: SPIDevice: implement fullduplex transfer 2016-07-29 15:01:14 -03:00
Lucas De Marchi 01452bf922 AP_HAL: SPIDevice: add fullduplex method 
This method is needed when we want to transfer both tx and rx at the
same time, as opposed to common cases for sensors in which they are like
in the I2C interface: half-duplex.
 2016-07-29 15:01:14 -03:00
Luiz Ywata 7ded01cf24 AP_HAL_Linux: SPIUARTDriver: use SPIDevice interface 2016-07-29 15:01:14 -03:00
Luiz Ywata c8bb5e6469 AP_HAL_Linux: RCInput_Raspilot use SPIDevice interface 2016-07-29 15:01:14 -03:00
Luiz Ywata e8d3229492 AP_HAL_Linux: RPIOUARTDriver: use SPIDevice interface 2016-07-29 15:01:14 -03:00
Luiz Ywata bfd840c5ca AP_HAL_Linux: RCOutput_Raspilot: use SPIDevice interface 2016-07-29 15:01:14 -03:00
Lucas De Marchi 86ac9bc367 AP_HAL_Linux: AnalogIn_Raspilot: use SPIDevice interface 2016-07-29 14:47:04 -03:00
Lucas De Marchi 81345cc112 AP_HAL: Remove enum for Dataflash 2016-07-29 14:47:04 -03:00
Lucas De Marchi 8681d23cbd AP_HAL_Linux: remove unused Dataflash 
This is selectable by a define and is never changed. Just remove
everything referencing it: we can come up with a better solution if it
is actually used later.
 2016-07-29 14:47:04 -03:00
Peter Barker 9749b91d46 SITL: initialise sigaction structs - valgrind fix 2016-07-29 10:38:03 -03:00
Jonathan Challinger d1ecc63bf1 AP_NavEKF2: change priority of statustext messages 2016-07-29 13:19:51 +09:00
Lucas De Marchi 1841313f73 AP_HAL_VRBRAIN: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:57 -03:00
Lucas De Marchi d418338e22 AP_HAL_SITL: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:57 -03:00
Lucas De Marchi 13848f0f3f AP_HAL_QURT: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:57 -03:00
Lucas De Marchi 2ef78051c1 AP_HAL_PX4: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:56 -03:00
Lucas De Marchi 73bb371918 AP_HAL_Linux: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:56 -03:00
Lucas De Marchi 3eb0a48d59 AP_HAL_Empty: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:56 -03:00
Lucas De Marchi b21ad36676 AP_HAL: remove I2CDriver 2016-07-28 18:08:56 -03:00
Lucas De Marchi 8f11bf7373 AP_ADC: ADS1115: fix typo 2016-07-28 18:05:45 -03:00
Lucas De Marchi 4595a2b7d8 AP_Compass: Remove i2c lockup count 
This was returned only for a single bus and on all supported platforms
this is hardcoded to 0.
 2016-07-28 18:03:09 -03:00
Lucas De Marchi 84f45f09a3 AP_HAL_Linux: convert CameraSensor_Mt9v117 to I2CDevice 2016-07-28 18:03:09 -03:00
Lucas De Marchi 9acffc8868 AP_HAL_Linux: use Empty version if not implemented 
There's little point in having the Linux::AnalogIn just to implement and
empty interface. All implementations inside AP_HAL_Linux are already
inheriting directly from AP_HAL, so just remove it.
 2016-07-28 16:42:38 -03:00
Lucas De Marchi 47d2f8dc6d AP_HAL_Linux: AnalogIn_ADS1115: return 5V on board_voltage 
board voltage is not available - don't return 0V since that prevents
arming.
 2016-07-28 16:42:38 -03:00
Tom Pittenger 59135fc615 AP_ADSB: fixed comment for default chan -1 means transceiver is not detected 2016-07-28 09:41:38 -07:00
Andrew Tridgell c6d3f07b5f AP_RPM: provide an RPM quality in SITL 2016-07-28 12:39:07 +10:00
Staroselskii Georgii 4ca1b58408 AP_HAL_Linux: add ConsoleDevice a handler for TTIN signal 
In a case ArduPilot is launched as a background process without
detaching with *nohup* like this ./arduplane -C /dev/ttyAMA0 ConsoleDevice
is created and an attempt to read from it is made. This yields in a stopped
process. This is an endeavour to overcome this problem.
 2016-07-27 21:30:19 +10:00
Staroselskii Georgii 8d2b587f71 AP_HAL_Linux: RPI: set signal handler iff nobody has already done it before 2016-07-27 21:30:19 +10:00
Staroselskii Georgii 5e8edcb1db AP_HAL_Linux: use NSIG instead of a hardcoded number in RCInput_RPI 2016-07-27 21:30:19 +10:00
Staroselskii Georgii d69aeb4808 AP_HAL_SITL: use sigaction over signal API in SITL_State 2016-07-27 21:30:19 +10:00
Randy Mackay d19c074ba1 AP_ADC_ADS1115.h: changed member declaration order to resolve compiler warning 
No functional change
 2016-07-27 13:39:32 +09:00
hiro2233 3ae36c4a6c AP_HAL_Linux:RCInput: Minimun input channels defined 2016-07-27 00:55:55 -03:00
hiro2233 4a6447575c AP_HAL: fixed and updated RCInput example. 2016-07-27 00:52:13 -03:00
Andrew Tridgell 9df58e1e0a AP_Arming: don't show the GPS arming error in SITL 
it just makes users think something is wrong
 2016-07-27 07:46:04 +10:00
Lucas De Marchi a159eedd8c AP_RangeFinder: fix bus for Lightware on some boards 2016-07-26 00:52:54 -03:00
Lucas De Marchi cb01280d77 AP_HAL: define bus for Lightware rangefinder 2016-07-26 00:52:54 -03:00
Jonathan Challinger 4dfb277683 AP_RangeFinder: fix LightwareI2C conversion to I2CDevice 2016-07-26 00:52:54 -03:00
Tom Pittenger 5108b4cbb6 AP_BattMonitor: move vehicle dependant code to be c-file only, not header 2016-07-25 18:10:57 -07:00
murata 7721290160 AP_Scheduler:time_available value type invalid uint16_t to valid uint32_t. 2016-07-25 20:18:16 -03:00
Murilo Belluzzo d8b58690ad AP_TECS: Remove useless 'if' statement 
This should fix CID 91386.

Before removing the 'if', I checked the log to confirm that both branch
didn't end-up being equal by mistake in some commit. But it looks like
the file was added in the project this way.
 2016-07-25 18:51:56 -03:00
Lucas De Marchi c6edae7e8e Revert "Global: workaround toolchain problem on windows" 
This reverts commit 4e2b30b413.

The toolchain for windows is now updated, we can remove this workaround.
 2016-07-25 17:56:12 -03:00
Tom Pittenger 2c6340bb10 AP_ADSB: compiler warning: init value before use even though it already is 
silly compiler warnings.. this one is incorrect but it throws a conservative warning which this solves
 2016-07-25 10:14:00 -07:00
Tom Pittenger dce734d196 AP_ADSB: treat invalid vehicle same as out-of-range: ignore and/or delete it 
- aircraft that travel out of range will now get dropped instantly instead of linger and go stale then timeout
 2016-07-25 10:03:48 -07:00
Tom Pittenger 726d1d515e AP_ADSB: use correct units (sec) in time since last update for vehicle update 2016-07-25 10:00:57 -07:00
Randy Mackay f27cf8d388 AC_Avoidance: add adjust_velocity that accepts Vector3f for convenience 
We should actually modify this function to scale back the z axis in order to avoid breaching the vertical fence.  Currently breaching the vertical fence is handled within the position controller which is inconsistent.
 2016-07-25 20:24:37 +09:00
Peter Barker 692ff22453 AC_Avoid: move closest_point to AP_Math 2016-07-25 20:24:37 +09:00
Peter Barker 2047d53470 Math: move closest_point in from AC_Avoid 2016-07-25 20:24:37 +09:00
Peter Barker 89fbf23012 AP_Avoidance: get_location becomes a method on adsb rather than a abds vehicle 2016-07-25 20:24:37 +09:00
Peter Barker b5c1019aac AP_Avoidance: adsb based avoidance library 2016-07-25 20:24:37 +09:00
Peter Barker 1cdb97e605 AP_ADSB: support for provision of samples to other libraries 2016-07-25 20:24:37 +09:00
Peter Barker 4639d12f0e AP_ADSB: break circular dependency with Avoidance 2016-07-25 20:24:37 +09:00
Peter Barker aae84b3edc GCS_MAVLink: send_collision_all 2016-07-25 20:24:37 +09:00
Peter Barker 7bc9a1cf83 GCS_MAVLink: break out a packetReceived function 
This just moves code, doesn't change it
 2016-07-25 20:24:37 +09:00
Peter Barker 779f78d471 AP_Math: vector3 perpendicular function 2016-07-25 20:24:37 +09:00
Peter Barker f6cb0ffb6f AP_Math: add Vector2f perpendicular 
Add closest_distance_between_radial_and_point function
 2016-07-25 20:24:37 +09:00
Peter Barker b6d0b028c3 AP_Math: add operator[] to Vector2 2016-07-25 20:24:37 +09:00
Andrew Tridgell d25396543c AP_ICEngine: report takeoff height set 2016-07-25 15:45:58 +10:00
Andrew Tridgell 622d26b122 SITL: expand to 16 output channels 
needed for IC engine testing with octaquadplane
 2016-07-25 15:45:39 +10:00
Andrew Tridgell 37f71bc6d6 AP_Mission: support DO_ENGINE_CONTROL 2016-07-25 10:06:03 +10:00
Andrew Tridgell 461be7ff0e AP_ICEngine: added IC engine control library 2016-07-25 10:06:03 +10:00
Andrew Tridgell be2b6e47aa RC_Channel: added output types for choke, ignition and starter 2016-07-25 10:06:03 +10:00
Andrew Tridgell e73d43d4f9 SITL: improve ICEngine simulation 2016-07-25 10:06:02 +10:00
Andrew Tridgell 306487cad4 GCS_MAVLink: adjust for 16 channels in SERVO_OUTPUT_RAW 2016-07-25 10:06:02 +10:00
Andrew Tridgell 995fb7cd86 SITL: added IC engine simulation 2016-07-25 10:06:02 +10:00
Andrew Tridgell 7ea68f8f80 RC_Channel: fixed function indexes above 64 2016-07-24 19:46:01 +10:00
Andrew Tridgell 8e959d4704 AP_Button: check for space before sending BUTTON_CHANGE 2016-07-24 07:48:36 +10:00
Randy Mackay 65038c753c AC_PrecLand: re-order init to resolve compiler warning 2016-07-23 14:49:21 +09:00
Tom Pittenger cb91f25dd7 AP_ADSB: change adsb-out param desc and defaults 2016-07-22 17:09:10 -07:00
Gustavo Jose de Sousa cd0d65dc3f AP_InertialSensor: don't check {gyro,accel}_available twice 
That gives a slightly simpler code.
 2016-07-22 19:58:08 -03:00
Tom Pittenger 9b390fcc1b AP_ADSB: add mavlink handlers 2016-07-22 13:55:20 -07:00
Lucas De Marchi 4ab1d7cf41 AP_RangeFinder: MaxsonarI2CXL: add some fixes 
- coding style changes and some renames
   - fix bus number
   - use be16toh
 2016-07-22 13:18:37 -03:00
Murilo Belluzzo f2d5eb9a97 AP_RangeFinder_MaxsonarI2CXL: Fix driver after I2CDevice conversion 
* Simplify semaphore releasing logic
* Fix typo
 2016-07-22 13:18:37 -03:00
Luiz Ywata c167364fa0 AP_RangeFinder: MaxsonarI2CXL: use I2CDevice interface 2016-07-22 13:18:37 -03:00
Lucas De Marchi ae259bc563 AP_RangeFinder: LightWareI2C: allow detect method to fail 
If bus isn't found, allow the detect() method to fail.
 2016-07-22 13:18:37 -03:00
Lucas De Marchi 0193517f30 AP_RangeFinder: LightWareI2C: use be16toh 
While at it remove some trailing whitespaces and little reformats.
 2016-07-22 13:18:36 -03:00
Murilo Belluzzo 66fdfbb850 AP_RangeFinder_LightWareI2C: Fix driver after I2CDevice conversion 
* Fix semaphore not being released in ::get_reading
* Simplify semaphore releasing logic
* Fix typo
 2016-07-22 13:18:36 -03:00
Luiz Ywata 49d1520850 AP_RangeFinder: LightWareI2C: use I2CDevice interface 2016-07-22 13:18:36 -03:00
Lucas De Marchi a372f33cc0 AP_RangeFinder: fix PulsedLightLRF detection 
- Most of the boards use bus 1 for first I2C
    - If the bus doesn't exist, let the detect() method fail when it
      call start_reading(), because _dev would be invalid
 2016-07-22 13:18:36 -03:00
Lucas De Marchi d653139c5d AP_RangeFinder: PulsedLightLRF: use be16toh 2016-07-22 13:10:51 -03:00
Lucas De Marchi c8094e2593 AP_RangeFinder: PulsedLightLRF: fix coding style 
- sort headers
    - fix constructor
 2016-07-22 13:10:51 -03:00
Murilo Belluzzo 0dc33410ff AP_RangeFinder_PulsedLightLRF: Fix driver after I2CDevice conversion 
* Fix wrong semaphore->take check in ::get_reading
* Simplify semaphore releasing
* Fix typos and trailing whitespace
 2016-07-22 13:10:51 -03:00
Luiz Ywata e1342eb533 AP_RangeFinder: PulsedLightLRF: use I2CDevice interface 2016-07-22 13:10:51 -03:00
Luiz Ywata a7fddc0594 AP_RangeFinder: add method _add_backend() 
Wrapper method that saves a detected driver
 2016-07-22 13:10:51 -03:00
Lucas De Marchi 64d17702e6 AP_BattMonitor: AP_BattMonitor_SMBus: fix after conversion to I2CDevice 
- Fix bus number
    - Minor updates to coding style
 2016-07-22 13:10:51 -03:00
Luiz Ywata 0cf4353382 AP_BattMonitor: AP_BattMonitor_SMBus: use I2CDevice interface 2016-07-22 13:10:51 -03:00
Andrew Tridgell 4301faeac9 SITL: map X-Plane Mixture inputs to channels 6 and 7 
this gives two user controllable channels for experimental aircraft
 2016-07-22 19:14:46 +10:00
Andrew Tridgell 69da7e9f86 SITL: added elevrev option for plane sim 
used by autotest
 2016-07-22 16:42:23 +10:00
Andrew Tridgell d7faeada87 HAL_SITL: notify GCS on GPIO changes 
useful for testing relays in SITL
 2016-07-22 15:01:21 +10:00
Andrew Tridgell 5b081a704c HAL_SITL: added GPIO simulation 
using SIM_PIN_MASK
 2016-07-22 15:01:20 +10:00
Andrew Tridgell f075fcd79f SITL: added SIM_PIN_MASK 
for simulation of GPIO pins
 2016-07-22 15:01:20 +10:00
Andrew Tridgell 2ce7b465c1 AP_Button: button monitoring library 
library to monitor changes to button state
 2016-07-22 15:01:20 +10:00
Andrew Tridgell 7fe1c58575 AP_Notify: added handling of PLAY_TUNE message 2016-07-22 15:00:17 +10:00
Francisco Ferreira ef28be9ce8 AP_Rally: add is_valid method 
method will be used in Copter to check if a rally point is inside fence
 2016-07-22 09:00:13 +09:00
Gustavo Jose de Sousa 69405cc99a AP_InertialSensor: fix timing debug macro 
- Use "INS_" prefix for the name in order to limit the scope for that macro.

- Don't define it in the code and check if it is defined instead of checking
  the value. With that, there's no need to touch the code for enabling debug,
  only a reconfiguration is necessary (e.g., `CXXFLAGS='-DINS_TIMING_DEBUG' waf
  configure ...`).
 2016-07-21 19:01:28 -03:00
Lucas De Marchi cfb3124f2c AP_HAL_Linux: remove types for spi drivers 
Those drivers using SPIDevice interface don't need a global id for each
of them. Remove those that were already converted.
 2016-07-21 16:05:03 -03:00
Lucas De Marchi b23f7a8be4 AP_HAL_Linux: examples: remove BusTest 
This needs to be rewritten using the probe methods.
 2016-07-21 16:05:03 -03:00
José Roberto de Souza dd36952efe AP_InertialSensor: BMI160: Register poll function with the timer lock 2016-07-21 15:42:32 -03:00
Tom Pittenger 44a60f278a SITL: change default of SIM_ADSB_RADIUS from 1E3 to 10E3 2016-07-21 00:04:20 -07:00
Tom Pittenger a5f256229f AP_ADSB: remove mavlink specific source, xml not ready yet 2016-07-21 00:04:17 -07:00
Tom Pittenger 8617880714 AP_ADSB: check buffer space before sending 2016-07-20 22:40:13 -07:00
Tom Pittenger 8b9057f23c AP_ADSB: run dynamic at 5Hz and static/cfg at 5sec 2016-07-20 22:40:12 -07:00
Tom Pittenger ea0a5c973c AP_ADSB: simplify logic in update_vehicle() 2016-07-20 22:40:12 -07:00
Tom Pittenger cf77ff6d4f AP_ADSB: convert all function calls to use const and use Location_Class 2016-07-20 22:40:11 -07:00
Tom Pittenger 4c9642ac08 AP_ADSB: callsign gen should use ICAO in hex 2016-07-20 22:40:10 -07:00
Tom Pittenger 69887e1646 AP_ADSB: do not init variables in header class definition 2016-07-20 22:40:09 -07:00
Tom Pittenger f5bf98041e AP_ADSB: do not spam to all mavlink ports, require the transceiver health heartbeat 2016-07-20 22:40:09 -07:00
Tom Pittenger b6e25e7d64 AP_ADSB: add support for ADSB transceiver mavlink packets 2016-07-20 22:40:08 -07:00
Tom Pittenger 2223216ca2 AP_ADSB: add param ADSB_LIST_RADIUS to ignore distant aircraft 2016-07-20 22:32:47 -07:00
Tom Pittenger 454560ca4c AP_ADSB: organize variables into in_state and avoid_state structs 2016-07-20 22:32:47 -07:00
Tom Pittenger b78255cc25 AP_Common: avoid using AP_Math is_zero() because it is classless 
- because it is classless it can not be called like AP_Math::is_zero() and will then conflict with local definition of is_zero()
 2016-07-20 22:32:47 -07:00
Tom Pittenger 3edd95b99b AP_Common: add Location::is_zero and ::zero member functions 2016-07-20 22:32:47 -07:00
Andrew Tridgell 003c94830b AP_Airspeed: added ARSP_PSI_RANGE parameter 
for using pressure sensors with a different range
 2016-07-20 13:38:22 +10:00
Andrew Tridgell 28d5103435 AP_Airspeed: initial support for MS4515DO on Disco 2016-07-20 13:38:18 +10:00
Andrew Tridgell e0047d81a2 AP_RangeFinder: enable sonar on Disco 2016-07-20 13:38:18 +10:00
Andrew Tridgell 018d8f732a AP_Compass: work around poor magnetic setup on Disco 
bring compass offsets into line with what the calibrator can handle
 2016-07-20 13:38:17 +10:00
Andrew Tridgell 39dac57b56 AP_BattMonitor: support Disco battery monitoring 2016-07-20 13:38:17 +10:00
Andrew Tridgell d30e55fa44 AP_InertialSensor: initial support for Disco 
setup right orientation
 2016-07-20 13:38:17 +10:00
Andrew Tridgell 96095b0942 HAL_Linux: fixed comment typo for SBUS input 2016-07-20 13:38:17 +10:00
Andrew Tridgell b69170febd HAL_Linux: fixed build for Disco with I2C changes 2016-07-20 13:38:17 +10:00
Andrew Tridgell f5a20d28bc HAL_Linux: fixed comment in SBUS 2016-07-20 13:38:17 +10:00
Andrew Tridgell a78b875ec3 HAL_Linux: fixed ULTRASOUND GPIO for Disco 2016-07-20 13:38:17 +10:00
Andrew Tridgell 1d8e4cdea9 HAL_Linux: added debugging line for Heat_Pwm 2016-07-20 13:38:17 +10:00
Andrew Tridgell 55d692708b HAL_Linux: fixed set_esc_scaling on Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell 298f7bffb9 HAL_Linux: fixed motor output for Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell 9b057ee4f1 HAL_Linux: separate out the GPIO table for Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell 677a38a10a HAL_Linux: make SBUS input much more robust 
use inter-frame gap to resync after byte loss
 2016-07-20 13:38:16 +10:00
Andrew Tridgell 29135a0158 HAL_Linux: use termios2 for SBUS RCOUT on Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell a40d704126 HAL_Linux: added RCOutput_Disco 
combines Sysfs and Bebop RCOutput code
 2016-07-20 13:38:16 +10:00
Andrew Tridgell cf83a43b56 HAL_Linux: support SBUS input on Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell aaaa6d38c7 HAL_Linux: initial support for Disco 2016-07-20 13:35:51 +10:00
Andrew Tridgell e407caaa41 AP_HAL: added support for Parrot Disco 2016-07-20 13:35:51 +10:00
Peter Barker 78fa23440c AP_AHRS: remove use of uninitialised variable 
clang told us:

../../libraries/AP_AHRS/AP_AHRS_NavEKF.cpp:695:35: fatal error: variable 'posD' is used uninitialized whenever '&&' condition is false [-Wsometimes-uninitialized]
 2016-07-20 00:06:49 -03:00
Tom Pittenger 7be15be185 AP_TECS: slew the hgt_lag_filter when starting a land 2016-07-19 17:19:10 -07:00
Andrew Tridgell 2527859b59 AP_TECS: update comment on underspeed clearing 2016-07-20 08:21:08 +10:00
Lucas De Marchi 293f94b355 AP_HAL_PX4: Util: fix check for PX4_V4 
When building for px4-v2 we have an warning because we are checking for
the value of this undefined macro. Just change both checks to use
"defined()".

../../libraries/AP_HAL_PX4/Util.cpp:115:7: warning: "CONFIG_ARCH_BOARD_PX4FMU_V4" is not defined [-Wundef]
 #elif CONFIG_ARCH_BOARD_PX4FMU_V4
       ^
 2016-07-19 17:53:46 -03:00
khancyr c4b009f4b5 AP_HAL_PX4 : remove unused variable 2016-07-19 17:44:22 -03:00
Andrew Tridgell a1c759e491 SITL: added sensor smoothing 
this adds smoothing of sensors for kinematic consistency when
interacting with the ground. It means when we land the EKF doesn't go
crazy
 2016-07-19 21:38:16 +10:00
Andrew Tridgell 4faa57074a SITL: removed vehicle specific ground handling 2016-07-19 14:47:47 +10:00
Andrew Tridgell e7a54c83d1 SITL: allow SITL to use terrain data for ground height 2016-07-19 14:42:31 +10:00
Andrew Tridgell c471b635b3 AP_Notify: added NTF_LED_OVERRIDE parameter 
when this is set the board RGB LED will be controlled by MAVLink
instead of internally. This is useful for cases where the LED patterns
and colours needed are specified by an external authority (such as the
OBC organisers)
 2016-07-19 13:37:13 +10:00