Pierre Kancir
59c84c637e
SITL: make fg view optional
2016-11-16 08:27:48 +11:00
Francisco Ferreira
bfbb275577
AP_InertialSensor: on accel cal failure don't save values to zero
...
When the accel calibration fails leave the previous values saved but set them to defaults (scale default is ones, not zeros) and notify the GCS
This fixes an arithmetic exception when doing a second accel cal after the first one failed
2016-11-15 11:42:54 -08:00
Francisco Ferreira
a3fcebc501
AP_Param: add set_and_notify to vectors
2016-11-15 11:42:54 -08:00
Francisco Ferreira
e763896b6a
AP_AccelCal: send and receive MAV_CMD_ACCELCAL_VEHICLE_POS
...
Message is sent at a maximum of 1Hz
Status text is sent, but if command is received it stops and only uses commands
2016-11-15 11:42:54 -08:00
Francisco Ferreira
7463d4c8f7
GCS_MAVLink: add function to send command requesting vehicle position during accel cal
2016-11-15 11:42:54 -08:00
Francisco Ferreira
bc661f013e
AP_AccelCal: use vehicle position values from MAVLink enum
2016-11-15 11:42:54 -08:00
Francisco Ferreira
c07f377eb1
AP_AccelCal: make collect_sample responsible for state changes
...
Also only set the snoop if the step has changed
2016-11-15 11:42:54 -08:00
Andrew Tridgell
624178f3be
AP_InertialSensor: added INS_FAST_SAMPLE parameter
...
this allows enable/disable of fast sampling per IMU, making
experimentation easier.
It also fixes the fast sampling to always average over 8 samples, and
fixes the 9250 to use the correct accumulator when not doing fast
sampling
2016-11-15 21:16:40 +11:00
Andrew Tridgell
c0303ffe8a
AP_InertialSensor: temporarily disable fast sampling
...
a problem has been found with the filtering with fast sampling on
ICM-20608 and MPU9250. Disable until it is solved.
2016-11-14 18:18:17 +11:00
Andrew Tridgell
ae2dc5570e
AP_Proximity: added SITL proximity backend
...
using fence points for avoidance
2016-11-14 15:53:43 +09:00
Andrew Tridgell
b16226dddf
AP_Baro: fixed a bug with corrupted conversions in MS5611 driver
...
the datasheet says that if you get back zero in an ADC read that the
next value can be corrupt. I have seen this happen on the FMUv1,
leading to bad altitude readings
2016-11-13 17:08:06 +11:00
Andrew Tridgell
ac4b100ae4
AP_BoardConfig: use in-tree drivers for FMUv1
2016-11-13 16:21:17 +11:00
Andrew Tridgell
14a26bee6c
AP_HAL: fixed ms5611 address on FMUv1
2016-11-13 16:21:05 +11:00
Andrew Tridgell
00938f7dbb
HAL_PX4: fixed enabled channels in init
...
now this is called from AP_BoardConfig we need to not clear enabled
channels
2016-11-13 13:16:22 +11:00
Andrew Tridgell
0502eca7fc
HAL_PX4: removed unused variable
2016-11-13 13:16:22 +11:00
Andrew Tridgell
c794ad9ee8
AP_InertialSensor: use smaller FIFO buffers
...
this allows for reading multiple chunks from the fifo per callback
2016-11-13 13:16:22 +11:00
Michael Oborne
c62050dc1b
AP_GPS_SBF: fix accuracy reported by driver
2016-11-12 16:42:35 +09:00
Andrew Tridgell
5f3c14ea01
AP_RangeFinder: fixed tabs -> spaces
2016-11-12 14:18:15 +11:00
Andrew Tridgell
41018feb3a
HAL_PX4: split I2C transfers
...
this avoids SCL low with a stop condition, which doesn't work with
some devices
2016-11-12 14:18:14 +11:00
Andrew Tridgell
0c7dd99d7e
AP_RangeFinder: support LidarLite V2 using in-tree driver
...
needs to run in continuous mode
2016-11-12 14:18:14 +11:00
Andrew Tridgell
fd7b313e34
AP_RangeFinder: removed pwm_input_main
...
thanks to Francisco
2016-11-11 15:49:53 +11:00
Andrew Tridgell
a69ff34c80
AP_RangeFinder: try bus 0 and 1 for PulsedLightI2C rangefinder
2016-11-11 15:49:53 +11:00
Andrew Tridgell
516141edf3
AP_RangeFinder: start PX4 rangefinder drivers on demand
2016-11-11 15:49:53 +11:00
Andrew Tridgell
0fb959a309
AP_RPM: make pwm_input driver start on demand
2016-11-11 15:49:53 +11:00
Andrew Tridgell
08f770125e
AP_BoardConfig: moved optional sensor startup out of AP_BoardConfig
2016-11-11 15:49:53 +11:00
Andrew Tridgell
8d19808152
AP_InertialSensor: fixed missing checked register goto
...
thanks to Francisco for spotting
2016-11-11 08:08:56 +11:00
Andrew Tridgell
49856c37f2
AP_InertialSensor: reduce checked register count
...
thanks to Francisco for spotting this
2016-11-11 08:08:56 +11:00
Andrew Tridgell
4be8f05ad4
AP_InertialSensor: added register checking for LSM9DS0
2016-11-11 08:08:56 +11:00
Andrew Tridgell
77a83c091a
AP_InertialSensor: added register checking for MPU6000/ICM20608
2016-11-11 08:08:56 +11:00
Andrew Tridgell
95a849f472
AP_InertialSensor: added register checking for MPU9250
2016-11-11 08:08:56 +11:00
Andrew Tridgell
3289e90134
AP_InertialSensor: added error count increments in drivers
2016-11-11 08:08:55 +11:00
Andrew Tridgell
bc614de4b3
AP_HAL: added checked registers interface
...
allow drivers to easily monitor and correct critical registers
2016-11-11 08:08:55 +11:00
Andrew Tridgell
4ebf3309f7
AP_InertialSensor: auto-handle invensense sensor changes
...
some boards swap out MPU6000 for MPU9250 or ICM20608
2016-11-11 08:08:55 +11:00
Andrew Tridgell
8e61b15384
HAL_PX4: added ICM20608_EXT SPI device
2016-11-11 08:08:55 +11:00
Andrew Tridgell
e4454c5056
AP_Compass: setup for new PX4 board IDs
2016-11-11 08:08:55 +11:00
Andrew Tridgell
41b132e576
AP_Baro: setup for new board PX4 IDs
2016-11-11 08:08:55 +11:00
Andrew Tridgell
4f50d67790
AP_BoardConfig: added board type auto-detection
...
using SPI probing
2016-11-11 08:08:55 +11:00
Andrew Tridgell
c565c9df35
AP_HAL: added ICM20608 external SPI name
2016-11-11 08:08:55 +11:00
Andrew Tridgell
af0ec41652
AP_InertialSensor: fixed accel clip detection with fast sampling
...
we need to check on every sample at the full rate
2016-11-10 13:39:17 +11:00
Andrew Tridgell
0eac781559
AP_Compass: don't run the AK8963 on the external MPU9250
...
this saves us one mag slot for another external mag, and leaves the
primary MPU9250 undisturbed by the mag traffic on the bus
2016-11-10 13:05:22 +11:00
Andrew Tridgell
70c27a85de
AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz
2016-11-10 13:04:15 +11:00
Andrew Tridgell
73122adb78
AP_BoardConfig: removed unused startup functions for Pixracer
2016-11-10 12:55:22 +11:00
Andrew Tridgell
3d5c57c5dc
AP_Compass: fixed orientation of PH2 in-tree compass drivers
2016-11-10 11:44:52 +11:00
Andrew Tridgell
4ba00720aa
AP_Compass: make init() private
...
not called from frontend
2016-11-10 11:44:52 +11:00
Andrew Tridgell
1ea4c6938c
AP_InertialSensor: allow auxiliary bus with fast sampling
2016-11-10 11:44:52 +11:00
Andrew Tridgell
8da42b7a8b
AP_InertialSensor: fixed temperature for fast sampling case
2016-11-10 11:44:52 +11:00
Andrew Tridgell
cb70bae167
AP_InertialSensor: use in-tree drivers for PH2SLIM
2016-11-10 11:44:52 +11:00
Andrew Tridgell
c68a6451cb
AP_Compass: use in-tree drivers for PH2SLIM
2016-11-10 11:44:52 +11:00
Andrew Tridgell
d716bbedee
AP_Baro: use in-tree drivers for PH2SLIM
2016-11-10 11:44:52 +11:00
Andrew Tridgell
e7a9de9b41
AP_BoardConfig: use in-tree drivers for PH2SLIM
2016-11-10 11:44:52 +11:00
Andrew Tridgell
fea7040aff
AP_Baro: don't panic when we can't find MS5611
...
this makes booting a PH2 without its sensor hat on much easier
2016-11-10 11:44:51 +11:00
Andrew Tridgell
e27a76e460
AP_InertialSensor: fixed auxiliary bus with FIFO enabled
...
make sure fifo reset doesn't check I2C master enable
2016-11-10 11:44:51 +11:00
Andrew Tridgell
46785e8ecf
AP_InertialSensor: improved method for FIFO integrity checking
...
check temperature every 255 samples against FIFO data
2016-11-10 11:44:51 +11:00
Andrew Tridgell
8a3f6a8902
AP_InertialSensor: use FIFO and implement fast sampling for MPU9250
2016-11-10 11:44:51 +11:00
Andrew Tridgell
f94e4b4375
Filter: allow 1P LowPassFilter to work without alpha recalc per sample
...
this makes the 1P filter optionally syntax compatible with the 2P
filter and much more CPU efficient.
2016-11-10 11:43:29 +11:00
murata
f9add59b58
Global: Aggregate the same definitions.
...
Global: Aggregate the same definitions.
2016-11-09 11:46:55 -03:00
Lucas De Marchi
c1647b13eb
AP_HAL_Linux: fix leaking strings
2016-11-09 11:44:05 -03:00
Andrew Tridgell
e25a391a8f
AP_InertialSensor: fixed typo
2016-11-09 17:08:15 +11:00
Andrew Tridgell
d2f6a514b9
AP_InertialSensor: catch FIFO alignment errors using temperature reading
...
Two cases of what seems to be FIFO alignment errors have been seen on
a Pixracer-beta board with a ICM-20608. At a cost of 2 extra bytes per
transfer we can catch these by looking for sudden temperature changes
caused by bad data in the temperature registers.
2016-11-09 17:08:15 +11:00
Andrew Tridgell
4602b4d679
AP_Compass: improve init and calibration of hmc5843
2016-11-09 17:08:15 +11:00
Andrew Tridgell
d248b33104
AP_InertialSensor: simplify config of MPU6000
...
use zero sample rate divider on both MPU6000 and ICM20608
2016-11-09 17:08:14 +11:00
Andrew Tridgell
7137d5c6f2
AP_InertialSensor: switch pixracer to always use in-tree drivers
2016-11-09 17:08:14 +11:00
Andrew Tridgell
3d48a72f59
AP_C0mpass: switch pixracer to always use in-tree drivers
2016-11-09 17:08:14 +11:00
Andrew Tridgell
b8c789cf35
AP_Baro: switch pixracer to always use in-tree drivers
2016-11-09 17:08:14 +11:00
Andrew Tridgell
b0b93f8928
AP_BoardConfig: switch pixracer to always use in-tree drivers
2016-11-09 17:08:14 +11:00
Andrew Tridgell
84c3e29891
AP_InertialSensor: use AP_HAL rotations for MPU6000
2016-11-09 17:08:14 +11:00
Andrew Tridgell
fd8955a737
AP_HAL: define default rotations for mpu6000 based boards
2016-11-09 17:08:14 +11:00
Andrew Tridgell
2f01dfe81c
AP_InertialSensor: fixed from review by Lucas
2016-11-09 17:08:13 +11:00
Andrew Tridgell
81b933d9d0
AP_InertialSensor: use int32_t summation for fast sampling
...
very slightly faster
2016-11-09 17:08:13 +11:00
Andrew Tridgell
b00fd95725
AP_Math: define Vector3l for += op
2016-11-09 17:08:13 +11:00
Andrew Tridgell
565f1986e0
AP_Baro: fixed FMUv1 baro and enable in-tree driver for PHMINI
2016-11-09 17:08:13 +11:00
Andrew Tridgell
fcf0a4ea59
AP_BoardConfig: use in-tree drivers for PHMINI
2016-11-09 17:08:13 +11:00
Andrew Tridgell
b363a65c2e
AP_Compass: enable in-tree drivers for PHMINI
2016-11-09 17:08:13 +11:00
Andrew Tridgell
03b7bc9e65
AP_InertialSensor: use internal drivers for PHMINI
...
this gets us fast sampling
2016-11-09 17:08:12 +11:00
Andrew Tridgell
af1c5fd6d3
AP_InertialSensor: always use FIFO on MPU6000
...
and enable fast sampling on ICM20608 if on SPI
2016-11-09 17:08:12 +11:00
Andrew Tridgell
96e42696b7
HAL_PX4: added icm20608-am SPI device
2016-11-09 17:08:12 +11:00
Andrew Tridgell
d778ee2db0
AP_HAL: define device for icm20608 on ACCEL_MAG CS line on px4
...
for PHMINI
2016-11-09 17:08:12 +11:00
Andrew Tridgell
b34ab2956b
HAL_PX4: added access to external SPI connector on FMUv2
2016-11-09 17:08:12 +11:00
Andrew Tridgell
fde80a9408
AP_InertialSensor: modify LSM303D settings to match PX4 driver
...
this allows existing accel calibration to be used
2016-11-09 17:08:12 +11:00
Andrew Tridgell
875fa60452
AP_Compass: fixed external I2C HMC5983 rotation on pixhawk
2016-11-09 17:08:11 +11:00
Andrew Tridgell
01fadb6e90
HAL_PX4: added per-device perf counter for I2C devices
2016-11-09 17:08:11 +11:00
Andrew Tridgell
a9a5e50bd1
AP_InertialSensor: removed timer callback for MPU6000
...
Thanks to Lucas for pointing out this is not needed
2016-11-09 17:08:11 +11:00
Andrew Tridgell
42f242a07b
HAL_PX4: fixed build on PX4-v1
2016-11-09 17:08:11 +11:00
Andrew Tridgell
bd8867be38
AP_Compass: cope with NULL dev pointer in driver probe functions
2016-11-09 17:08:11 +11:00
Andrew Tridgell
ba9b475782
AP_HAL: added MS5611 on I2C for px4-v1
2016-11-09 17:08:11 +11:00
Andrew Tridgell
4cf6dd1818
HAL_Linux: removed panic on bad SPI device
2016-11-09 17:08:11 +11:00
Andrew Tridgell
20cd165476
HAL_PX4: allow for missing SPIDevice table entries
...
removed panic
2016-11-09 17:08:10 +11:00
Andrew Tridgell
bd84e592f8
AP_InertialSensor: check for NULL device pointer in probe()
...
handle missing devices
2016-11-09 17:08:10 +11:00
Andrew Tridgell
3b53caad87
AP_Compass: keep old hmc5843 ID
...
prevent re-use. thanks to Lucas
2016-11-09 17:08:10 +11:00
Andrew Tridgell
02c2ba1331
AP_Compass: fixed dup semaphore bug
...
thanks to Lucas for spotting this!
2016-11-09 17:08:10 +11:00
Andrew Tridgell
f31a017ace
AP_Compass: changes to HMC5843 driver
...
this makes the HMC5843 use single-shot mode, which makes it more
robust to bus resets. It also adds WHOAMI checking and enables
automatic temperature compensation.
Unfortunately this makes existing calibration values incompatible, so
a re-cal is required. The device ID has been changed to reflect the
driver change.
2016-11-09 17:08:10 +11:00
Andrew Tridgell
f62851f780
GCS_MAVLink: added remote device operations
...
this makes debugging devices much easier. You can even write a
primitive SPI or I2C device driver over mavlink.
Support for this is in the devop MAVProxy module
2016-11-09 17:08:10 +11:00
Andrew Tridgell
922d5a74f7
HAL_PX4: print msg when I2C device is closed
2016-11-09 17:08:09 +11:00
Andrew Tridgell
da7ed73051
GCS_MAVLlink: added handle_common_message()
...
this will make it easier to add common functions for mavlink messages
without having to do a commit for each vehicle
2016-11-09 17:08:09 +11:00
Andrew Tridgell
e5a4dd4e56
HAL_PX4: added perf counter on SPI devices
2016-11-09 17:08:09 +11:00
Andrew Tridgell
8bca8545a2
HAL_PX4: removed unused devname field in SPIDevice
2016-11-09 17:08:08 +11:00
Andrew Tridgell
05769640d1
AP_Compass: support rotations on AK8963
2016-11-09 17:08:08 +11:00
Andrew Tridgell
2716ab8408
AP_Compass: added support for per-instance rotations
2016-11-09 17:08:08 +11:00
Andrew Tridgell
fac895b0e6
AP_Compass: setup read flag for SPI transfers
2016-11-09 17:08:08 +11:00
Andrew Tridgell
18df213069
HAL_PX4: fixed initial SPI bus speed and report new SPI instances
2016-11-09 17:08:08 +11:00
Andrew Tridgell
3d7d773883
AP_InertialSensor: added support for ICM20608 on Pixracer
2016-11-09 17:08:08 +11:00
Andrew Tridgell
4dc5dc87b5
HAL_PX4: added ICM20608 to SPI table
2016-11-09 17:08:08 +11:00
Andrew Tridgell
ea74f8c12c
AP_HAL: added ICM20608 INS name
2016-11-09 17:08:07 +11:00
Andrew Tridgell
2c1e9024f1
AP_InertialSensor: detect missing accels or gyros
2016-11-09 17:08:07 +11:00
Andrew Tridgell
106a91c64c
AP_InertialSensor: use init_gyro() on startup
...
this saves the calibration parameters which should be done on
calibration
2016-11-09 17:08:07 +11:00
Andrew Tridgell
408593465f
AP_InertialSensor: fixed rotation for mpu9250 on pixracer
2016-11-09 17:08:07 +11:00
Andrew Tridgell
790dd4769b
AP_InertialSensor: simplify rotations for MPU9250
2016-11-09 17:08:07 +11:00
Andrew Tridgell
38a1f51b53
AP_HAL: define rotations for the MPU9250 in board/linux.h
2016-11-09 17:08:07 +11:00
Andrew Tridgell
147b253e65
AP_Compass: make device IDs match PX4 drivers
...
match in-tree drivers to PX4Firmware drivers
2016-11-09 17:08:06 +11:00
Andrew Tridgell
aa4025bdf9
AP_InertialSensor: make INS sensor IDs match for PX4
...
in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2
2016-11-09 17:08:06 +11:00
Andrew Tridgell
76b2759317
AP_OpticalFlow: fixed shadowed variable build warning
2016-11-09 17:08:06 +11:00
Andrew Tridgell
9e7e1b2f01
AP_InertialSensor: fixed merge conflicts with patches from Lucas
2016-11-09 17:08:06 +11:00
Andrew Tridgell
1990aa96e1
AP_HAL: added get_bus_id_devtype()
...
used to do versioning on device types
2016-11-09 17:08:06 +11:00
Lucas De Marchi
104e29acf2
AP_InertialSensor: MPU6000: change accel scale to 16G
...
Also change the ID of MPU6000 so previous calibration values are not
considered valid.
2016-11-09 17:08:06 +11:00
Lucas De Marchi
dc09661b9e
AP_InertialSensor: MPU6000: save driver version
...
When registering accel and gyro we use the upper 16bits of the id to
store the driver version. When changing the driver behavior in
non-compatible ways, changing this version will trigger a request for
calibration.
2016-11-09 17:08:06 +11:00
Lucas De Marchi
0d3adef8b2
AP_InertialSensor: MPU6000: remove TODO leftover
...
This will never be done as blindly changing speed is not the way to fix
communication issues.
2016-11-09 17:08:05 +11:00
Andrew Tridgell
0a1616cc71
AP_InertialSensor: use correct device IDs on PX4 driver
2016-11-09 17:08:05 +11:00
Lucas De Marchi
469efb00f6
AP_InertialSensor: save id for gyro and accel instances
...
This allows each sensor to be uniquely identified in the system by using
either the index inside the backend or for those that use the Device
interface, to use the bus type, location, and device id.
We leave 16-bit for each sensor to be able to change its own
identification in future, which allows them to be changed in an
incompatible manner forcing a re-calibration.
2016-11-09 17:08:05 +11:00
Lucas De Marchi
bbb9bfa95e
AP_InertialSensor: save only gyro calibration
...
When we are initializing the gyro and then saving the calibration we are
also saving the calibration values for the accelerometers. Right now
this is non-problematic, but we want to check that the ID of the
accelerometer corresponds to the ID of the sensor detected. If we also
save accel calibrations we would actually override the ID of the
accelerometer.
Rename the method to _save_gyro_calibration() and save only on gyro
values.
2016-11-09 17:08:05 +11:00
Lucas De Marchi
f81dba2100
AP_InertialSensor: add doc to get_id() of backend
...
This is different from get_id() of Device and ultimately from each
sensor this this is identifying the backend, not the sensor.
2016-11-09 17:08:05 +11:00
Lucas De Marchi
6b88f3367b
AP_Common: remove AP_PRODUCT_ID_* macros
...
These are not used anymore.
2016-11-09 17:08:05 +11:00
Lucas De Marchi
ace61087a1
AP_InertialSensor: remove product_id
...
We only leave the parameter there for backward-compatibility. However
product id on the inertial sensor is not much useful since it's only
kept for the first instance.
A better implementation per-gyro and per-accel is needed in order to
avoid problems with sensors taking the offsets configured for another
sensor.
2016-11-09 17:08:05 +11:00
Andrew Tridgell
a6ac02b61f
HAL_Linux: implement device IDs for I2C and SPI
2016-11-09 17:08:04 +11:00
Andrew Tridgell
de7913e8e9
AP_Compass: implement device IDs for compass drivers
2016-11-09 17:08:04 +11:00
Andrew Tridgell
64a5d3938c
AP_InertialSensor: implement device IDs for MPU6000 and MPU9250 AuxilaryBus
2016-11-09 17:08:04 +11:00
Andrew Tridgell
ac2c25539b
AP_InertialSensor: implement device IDs for AuxilaryBus
2016-11-09 17:08:04 +11:00
Andrew Tridgell
16489d2a13
HAL_PX4: implement device IDs for I2C and SPI
2016-11-09 17:08:04 +11:00
Andrew Tridgell
3d48b6bb3a
AP_HAL: added device id tuples to Device class
...
this allows a bus connection and device type tuple to be identifed as
a 24 bit number for use in user visible device IDs. Every bus
connection has a unique device ID.
2016-11-09 17:08:04 +11:00
Andrew Tridgell
4ef92b5e39
AP_InertialSensor: enable all 3 IMUs on PH2
2016-11-09 17:08:04 +11:00
Andrew Tridgell
e08babb7df
HAL_PX4: added new SPI devices for PH2
2016-11-09 17:08:03 +11:00
Andrew Tridgell
26ca2dd392
AP_HAL: added more px4 SPI device names
2016-11-09 17:08:03 +11:00
Andrew Tridgell
ac0ea12b42
AP_Compass: enable HMC5843 on SPI for PH2
2016-11-09 17:08:03 +11:00
Andrew Tridgell
88e24dd8bd
AP_BoardConfig: added board type 103
...
for PH2 in-tree drivers
2016-11-09 17:08:03 +11:00
Andrew Tridgell
66026100c3
AP_Baro: enable dual baro on PH2
2016-11-09 17:08:03 +11:00
Andrew Tridgell
4df9b093c3
AP_Baro: fixed missed samples in ms5611 driver
2016-11-09 17:08:03 +11:00
Andrew Tridgell
7c36e14524
AP_ADC: fixed thread usage in AP_ADC_ADS1115
2016-11-09 17:08:03 +11:00
Andrew Tridgell
dbd192971f
AP_Notify: fixed threading on toshibaled i2c
2016-11-09 17:08:02 +11:00
Andrew Tridgell
a9cb03ad74
AP_Notify: fixed threading in two notify backends
2016-11-09 17:08:02 +11:00
Andrew Tridgell
6e2fbf1988
AP_OpticalFlow: fixed threading in opticalflow for linux
2016-11-09 17:08:02 +11:00
Andrew Tridgell
5cf768ced2
AP_InertialSensor: fixed missing return
2016-11-09 17:08:02 +11:00
Andrew Tridgell
4f231f9355
AP_BattMonitor: fixed thread usage for SMBus_I2C
2016-11-09 17:08:02 +11:00
Andrew Tridgell
e88519364f
AP_RangeFinder: fixed maxbotix I2C semaphore and bus usage
2016-11-09 17:08:02 +11:00
Andrew Tridgell
bedee31f61
AP_Baro: fixed semaphore and thread usage in baro drivers
2016-11-09 17:08:02 +11:00
Andrew Tridgell
38ff8b3536
AP_InertialSensor: removed unused product_id function in L3G4200D
2016-11-09 17:08:01 +11:00
Andrew Tridgell
1c631ea037
AP_Compass: cleanup use of backend semaphores
...
fixed drivers that didn't protect accumulation counters
2016-11-09 17:08:01 +11:00
Andrew Tridgell
9afd51350e
AP_Compass: use thread per bus in more drivers
...
and removed use of timer suspend
2016-11-09 17:08:01 +11:00
Andrew Tridgell
974827aa82
AP_Compass: enabled AK8963 on PX4
2016-11-09 17:08:01 +11:00
Andrew Tridgell
a06137bb68
AP_HAL: define 9250 devices
2016-11-09 17:08:01 +11:00
Andrew Tridgell
4bc5b715bf
HAL_PX4: define 9250 and fix SPI bus speeds
2016-11-09 17:08:01 +11:00
Andrew Tridgell
a5c5e033d2
AP_InertialSensor: fixed threading and locking in remaining backends
...
use a backend semaphore for shared data and use thread per bus where
available
2016-11-09 17:08:01 +11:00
Andrew Tridgell
2e4151d14e
AP_Compass: enable lsm303d mag on FMUv2
2016-11-09 17:08:00 +11:00
Andrew Tridgell
36190ba545
AP_Compass: use thread per bus for lsm303d mag
2016-11-09 17:08:00 +11:00
Andrew Tridgell
b92c48548a
AP_InertialSensor: added per-instance rotation for LSM9DS0
2016-11-09 17:08:00 +11:00
Andrew Tridgell
2df6ed08c2
AP_InertialSensor: added optional per-instance orientation
...
this is needed for multi-sensor boards to get orientation right for
each sensor
2016-11-09 17:08:00 +11:00
Andrew Tridgell
ac2572384d
AP_InertialSensor: added start() method for LSM9DS0
...
needed to get sensor ordering right on multi-sensor boards
2016-11-09 17:08:00 +11:00
Andrew Tridgell
b9e1490740
AP_BoardConfig: added px4io auto-update to AP_BoardConfig
2016-11-09 17:08:00 +11:00
Andrew Tridgell
7e803df221
AP_BoardConfig: startup core peripherals for PX4
2016-11-09 17:07:59 +11:00
Andrew Tridgell
84f93439ca
HAL_PX4: delay peripheral starup
...
moved to AP_BoardConfig
2016-11-09 17:07:59 +11:00
Andrew Tridgell
497b87fa65
AP_Airspeed: switched to in-tree I2C driver for all boards
2016-11-09 17:07:59 +11:00
Andrew Tridgell
0c13c73aa0
AP_BoardConfig: removed PX4 airspeed drivers
2016-11-09 17:07:59 +11:00
Andrew Tridgell
7832f1a1b6
AP_InertialSensor: allow for in-tree drivers for PX4
2016-11-09 17:07:58 +11:00
Andrew Tridgell
7bd52eb112
AP_Compass: allow for in-tree drivers for PX4
2016-11-09 17:07:58 +11:00
Andrew Tridgell
72c2e3a4d5
AP_Baro: select in-tree vs PX4 drivers at runtime
2016-11-09 17:07:58 +11:00
Andrew Tridgell
ce174489c3
AP_BoardConfig: added get_board_type() for PX4
...
used to decide what drivers to start
2016-11-09 17:07:58 +11:00
Andrew Tridgell
e91b1318fb
HAL_PX4: reformat
2016-11-09 17:07:58 +11:00
Andrew Tridgell
1bb450c722
HAL_PX4: moved to common DeviceBus class for thread management in I2C and SPI
2016-11-09 17:07:58 +11:00
Andrew Tridgell
972f85c490
HAL_PX4: go direct to NuttX for SPI transfers
2016-11-09 17:07:58 +11:00
Andrew Tridgell
bf0b0c1773
AP_HAL: fixed HAL_SEMAPHORE_BLOCK_FOREVER to be zero
...
all implementations assume this
2016-11-09 17:07:57 +11:00
Andrew Tridgell
c7bef33ab7
HAL_PX4: fixed lsm303d SPI name
2016-11-09 17:07:57 +11:00
Andrew Tridgell
b697c978e6
AP_HAL: fixed lsm303d SPI name
2016-11-09 17:07:57 +11:00
Andrew Tridgell
919aa61918
AP_InertialSensor: support AuxiliaryBus without register_periodic_callback()
2016-11-09 17:07:57 +11:00
Andrew Tridgell
e79b4f1c11
AP_HAL: added defines for ms5611 on other SPI buses
2016-11-09 17:07:57 +11:00
Andrew Tridgell
5db65cdb6d
AP_HAL: added subtype for PX4 FMUv4
2016-11-09 17:07:57 +11:00
Andrew Tridgell
254b71468c
HAL_PX4: added ms5611_int SPI descriptor
2016-11-09 17:07:57 +11:00
Andrew Tridgell
0a28a3a83a
HAL_PX4: run SPI priority above boost prioriity
...
otherwise ins sample wait can end up waiting on blocked SPI
2016-11-09 17:07:56 +11:00
Andrew Tridgell
3aa36185e4
HAL_PX4: drop mpu6000 speed to 11MHz
...
match previous driver
2016-11-09 17:07:56 +11:00
Andrew Tridgell
2b66df68a1
AP_InertialSensor: use thread-per-bus for lsm303d and mpu6000
2016-11-09 17:07:56 +11:00
Andrew Tridgell
ed6df09d12
HAL_PX4: added lsm9ds0 entries to SPI table
2016-11-09 17:07:56 +11:00
Andrew Tridgell
3927994905
AP_HAL: added SPI device names to px4
2016-11-09 17:07:56 +11:00
Andrew Tridgell
c2c7284a94
HAL_PX4: implement SPIDevice code for PX4
...
with thread per bus
2016-11-09 17:07:56 +11:00
Andrew Tridgell
90dc9e3327
AP_InertialSensor: dummy implementation of register_periodic_callback()
...
for AuxiliaryBus
2016-11-09 17:07:55 +11:00
Andrew Tridgell
96adfccae3
AP_Compass: switch hmc5983 driver to use periodic callback on the bus
...
this does not yet work with the mpu6000 auxiliary bus
2016-11-09 17:07:55 +11:00
Andrew Tridgell
4d5562764a
AP_HAL: provide default hmc5983 i2c bus address
2016-11-09 17:07:55 +11:00
Andrew Tridgell
0b27478d7b
AP_RangeFinder: use thread per bus for LightWareI2C driver
2016-11-09 17:07:55 +11:00
Andrew Tridgell
88df9c7029
HAL_PX4: added thread-per-bus implementation for I2C
2016-11-09 17:07:55 +11:00
Mathieu OTHACEHE
60ba91aead
Disco: add buzzer support
...
Use ToneAlarm class to handle Disco buzzer.
2016-11-07 18:02:21 -03:00
floaledm
60c59bea4d
AP_Frsky_Telem: make frsky_telemetry available to GCS_MAVLINK
2016-11-08 07:42:39 +11:00
floaledm
9f8d2f0506
GCS_MAVLink: send status_text messages to Frsky lib queue
2016-11-08 07:42:39 +11:00
Mathieu OTHACEHE
37237a5735
Disco_LED: Do not alloc PWM_Sysfs_Bebop objects
...
Using PWM_Sysfs_Base::init method, we don't need anymore to alloc memory
for PWM_Sysfs_Bebop objects.
2016-11-07 14:59:31 -02:00
Mathieu OTHACEHE
0fa441a8a5
PWM_Sysfs: add an init method to do hal dependent stuff.
...
When PWM_Sysfs_Base constructor is called, global variable hal may not
have been initialized resulting in NULL dereferencing error.
Move hal dependent stuff from contructor to init method.
2016-11-07 14:59:31 -02:00
Lucas De Marchi
91c4bf470f
AP_InertialSensor: add O_CLOEXEC in places missing it
...
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
2016-11-07 12:37:30 -03:00
Lucas De Marchi
b7e5f56bd7
AP_Gripper: add O_CLOEXEC in places missing it
...
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
2016-11-07 12:37:30 -03:00
Lucas De Marchi
4936fd8623
AP_Terrain: add O_CLOEXEC in places missing it
...
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
2016-11-07 12:37:30 -03:00
Lucas De Marchi
f6d475c1e6
AP_HAL_SITL: add O_CLOEXEC in places missing it
...
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
2016-11-07 12:37:30 -03:00
Lucas De Marchi
c9eff28c44
DataFlash: add O_CLOEXEC in places missing it
...
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
2016-11-07 12:37:30 -03:00
Lucas De Marchi
932d1ae244
AP_RangeFinder: add O_CLOEXEC in places missing it
...
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
2016-11-07 12:37:30 -03:00
Lucas De Marchi
7968736b1c
AP_HAL: add O_CLOEXEC in places missing it
...
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
2016-11-07 12:37:30 -03:00
Lucas De Marchi
490841a814
AP_HAL_Linux: add O_CLOEXEC in places missing it
...
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
2016-11-07 12:37:30 -03:00
Lucas De Marchi
2e4c1818a3
AP_Common: add missing O_CLOEXEC definition
...
O_CLOEXEC is not available on Nuttx, nor it makes sense there. Define it
as 0, so we can use it in code.
2016-11-07 12:37:30 -03:00
Holger Steinhaus
5b66062f85
AP_GPS_PX4: unsubscribe on driver destruction.
2016-11-07 08:00:57 -03:00
Shingo Matsuura
ceaa9474ed
AP_RangeFinder: change enum name, add "state" word
2016-11-06 05:22:30 -08:00
Shingo Matsuura
4329cdbf2c
AP_RangeFinder: change comment about fall through LEDDARONE_MODBUS_INIT case
2016-11-06 05:22:30 -08:00
Shingo Matsuura
3b8d36314c
AP_RangeFinder: add comment about no break at LEDDARONE_MODBUS_INIT case
2016-11-06 05:22:30 -08:00
Shingo Matsuura
0eeca3ee0b
AP_RangeFinder: remove case indent
2016-11-06 05:22:30 -08:00
Shingo Matsuura
4ca1eefd50
AP_RangeFinder: change magic numbers to define
2016-11-06 05:22:30 -08:00
Shingo Matsuura
6254787186
AP_RangeFinder: remove break in LEDDARONE_MODOBUS_INIT case and and use () around (read_len == 0) for clarity
2016-11-06 05:22:30 -08:00
Shingo Matsuura
5e5a806979
AP_RangeFinder: modified regarding to advices from @magicrub - san.
2016-11-06 05:22:30 -08:00
Shingo Matsuura
4b127edd5e
AP_RangeFinder: fixed LeddarOne busy wait
2016-11-06 05:22:30 -08:00
Florent Martel
530955c15f
AP_Frsky_Telem: remove arming check for transmitting params
...
Otherwise, on Plane, if ARMING REQUIRED is set to 0 (automatically
armed), no parameters are transmitted.
2016-11-04 23:11:00 -07:00
Randy Mackay
039d12bd55
AP_Gripper: add parameter unit and remove print on grab or release
2016-11-05 10:36:06 +09:00
Peter Barker
d9cbcd9487
SITL: a simulator for the EPM grabber
2016-11-05 10:20:43 +09:00
Peter Barker
7200692137
RC_Channel: make EPM a subclass of AP_Gripper_Backend
2016-11-05 10:20:41 +09:00
Peter Barker
48cd35609c
AP_Gripper: make EPM a subclass of AP_Gripper_Backend
2016-11-05 10:20:38 +09:00
Peter Barker
15b271ec13
AP_EPM: rename in preparation of becoming a AP_Gripper backend
2016-11-05 10:20:35 +09:00
Peter Barker
d2e798d549
RC_Channel: alias k_epm to k_kgripper
2016-11-05 10:20:31 +09:00
Peter Barker
d439bbe5bf
SITL: SIM_Gripper_Servo, a simulated servo gripper
2016-11-05 10:20:29 +09:00
Peter Barker
a8435de65a
AP_Gripper: a general gripper frontend
2016-11-05 10:20:27 +09:00
Florent Martel
5a96db5a44
AP_Frsky_Telem: replaced timer cond > with >=
2016-11-04 12:17:40 -07:00
Florent Martel
e43b2a73da
AP_Frsky_Telem: increase sending params priority
...
If there's a lot of messages in the queue, params would not be
transmitted for a while, until the queue is empty, which can take a bit
of time during init.
2016-11-04 12:17:40 -07:00
Florent Martel
75905be376
AP_Frsky_Telem: simplified set_is_flying and moved to header file
2016-11-04 12:00:02 -07:00
Florent Martel
bc4ab70c1c
AP_Frsky_Telem: added const to some declarations
2016-11-04 11:18:28 -07:00
floaledm
68b10979c3
AP_Frsky_Telem: added extra parentheses around pointed to values for readability
...
As suggested by tridge
2016-11-04 11:18:28 -07:00
Florent Martel
328e6d6886
AP_Frsky_Telem: removed sending redundant VSpd, Alt, and VFAS sensor values, which can now be handled by OpenTX
2016-11-04 11:10:09 -07:00
Ralf Ramsauer
530d3230df
Linux: Scheduler: don't ignore return values
...
Several return values in the constructor of the scheduler were ignored
before, while they should be respected.
I found that bug while strac'ing ardupilot as it failed at some later
point.
Signed-off-by: Ralf Ramsauer <ralf.ramsauer@othr.de>
2016-11-03 17:27:37 -03:00
Lucas De Marchi
3ff965a0c0
DataFlash: remove infinite loop from loop() method
...
Remove the while() loop inside loop() method so the new signal handlers
correctly notify the mainloop to exit.
This makes SIGTERM/SIGINT work again.
2016-11-02 16:28:20 -02:00
Lucas De Marchi
2b5f9fdd6b
AP_HAL_Linux: teardown scheduler threads
2016-11-02 16:28:20 -02:00
Lucas De Marchi
89420e4b2d
AP_HAL_Linux: add signal handler for normal termination
...
This allows to terminate the flight stack nicely, ensuring it returns 0
so init system can check by return code if it terminated nicely or if it
was due to a crash.
2016-11-02 16:28:20 -02:00
Lucas De Marchi
fa540429f9
AP_HAL_Linux: allow to teardown bus threads
...
Add code to teardown all bus threads. This can be called while exiting
to wait for threads to finalize.
2016-11-02 16:28:20 -02:00
Lucas De Marchi
312a27dd20
AP_HAL: RCInput: rename deinit() to teardown()
2016-11-02 16:28:20 -02:00
Lucas De Marchi
89599f7bea
AP_HAL_Linux: add unit tests for Thread implementations
2016-11-02 16:28:20 -02:00
Lucas De Marchi
992abd170d
AP_HAL_Linux: allow to join threads
2016-11-02 16:28:20 -02:00
Lucas De Marchi
3b2de6de46
AP_HAL_Linux: allow PeriodicThread to stop
...
This takes the simplest approach of just waiting for the next time we
will process events.
2016-11-02 16:28:20 -02:00
Lucas De Marchi
20650e14b7
AP_HAL_Linux: allow PollerThread to stop
2016-11-02 16:28:20 -02:00
Lucas De Marchi
da65a5c349
AP_HAL_Linux: allow to wakeup pollable
...
This allows to wakeup the thread that is sleeping on Poller::poll()
[ which in our case is an epoll_wait() call ]. This is usually achieved
by using a special signal and using the pwait() variant of the sleeping
function (or using signalfd). However integrating the signal in the
Thread class is more complex than simply use the eventfd syscall which
can serve our needs.
2016-11-02 16:28:20 -02:00
Lucas De Marchi
efe819e21e
AP_HAL_Linux: Poller: allow to fail constructor
2016-11-02 16:28:20 -02:00
Lucas De Marchi
e5003c3116
AP_HAL_Linux: Poller: add some documentation
2016-11-02 16:28:20 -02:00
Lucas De Marchi
da821e69eb
AP_HAL_Linux: Thread: allow to use Thread from stack
...
Up until now we rely on Thread objects and variants thereof to be allocated
on heap or embedded in another object that's zero'ed on initialization.
However sometimes it's convenient to be able to use them on stack as
will be the case when writting unit tests.
Initialize all relevant fields to allow them to be used on stack. While
at it, prefer C++11 initialization on Poller since it's only setting the
default (invalid) value.
2016-11-02 16:28:20 -02:00
murata
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
2016-11-02 16:04:47 -02:00
floaledm
5386edb791
AP_Frsky_Telem: fix setting of land_complete flag
...
When is_flying is true, land_complete should be set to 0, and
conversely.
2016-11-02 10:26:50 +11:00
floaledm
1aab5eec38
AP_Frsky_Telem: send ap_status only once initialized
...
Same as what is found in GCS_MAVLink.cpp for copter
2016-11-02 08:31:35 +11:00
murata
e15c234a4f
AP_ADSB: Set in the sprintf method.
2016-11-01 08:36:52 -07:00
murata
0028bd7b3c
AP_ADSB: Set in the sprintf method.
2016-11-01 08:36:52 -07:00
Peter Barker
b9dcf1108d
AP_ADSB: do not transmit by default
...
In various countries transmitting on the ADSB frequencies is a
federal offence.
Let's not have our users do that be default.
2016-11-01 14:21:07 +09:00
Michael Oborne
c5f8d8a695
AP_GPS_SBF: change reported altitude from geoid to MSL
2016-11-01 13:06:59 +09:00
Andrew Tridgell
df23c4857e
AP_RangeFinder: disabled LeddarOne driver
...
this driver is broken and could cause a vehicle to crash. It does busy
waits on a UART from the main thread.
It will be re-enabled when fixed
2016-10-31 13:40:49 +11:00
Randy Mackay
aeb1de08f5
AP_GPS: fix MAV compile error
2016-10-29 16:45:00 +09:00
Peter Barker
1997a4e044
SITL: include mass of sprayer payload in vehicle mass
2016-10-29 15:02:56 +09:00
Peter Barker
0cea47ae54
AC_Sprayer: disentangle ENABLED from permission-to-run
2016-10-29 15:02:52 +09:00
Peter Barker
bae89d43fa
AC_Sprayer: correct HOWTO, minor cleanups (NFC)
2016-10-29 15:02:50 +09:00
Peter Barker
a7867603a0
SITL: SIM_Sprayer: a simulated sprayer
2016-10-29 15:02:48 +09:00
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
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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
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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
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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
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_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
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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
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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
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saves stack space and cpu
2016-10-27 14:58:59 +11:00
priseborough
f722ddf615
AP_RangeFinder: Update parameter documentation
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Add brief description of body frame conventions.
2016-10-27 14:54:45 +11:00
priseborough
1bde180f98
AP_OpticalFlow: Update parameter documentation
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Add brief description of body frame conventions.
2016-10-27 14:54:45 +11:00
priseborough
1dec6dd9b0
AP_GPS: Update parameter documentation
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Add brief description of body frame conventions.
2016-10-27 14:54:45 +11:00
priseborough
7460d97c9a
AP_InertialSensor: Update parameter documentation
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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"
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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
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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
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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
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this fixes issue #5010
2016-10-18 18:16:16 +11:00
Julien Beraud
20dcd6e082
RCOutput_Bebop: fix motor order
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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
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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
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thanks for Francisco for noticing
2016-10-17 06:49:40 +11:00
Andrew Tridgell
110355f14e
HAL_Linux: fixed SRXL and DSM
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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
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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
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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
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SRXL ports are commonly found on newer spektrum receivers like the AR7700
2016-10-16 19:05:18 +11:00