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714 Commits

Author SHA1 Message Date
Andrew Tridgell 25c7ee4d42 AP_HAL_SITL: added SIM_GPS_ALT_OFS 
this is used to give a bad GPS height in SITL, which is very useful for
testing origin vs home issues
 2017-09-18 10:24:45 +10:00
Michael du Breuil 58e784024f AP_HAL_SITL: Add support for blocked pitot tube simulations 2017-08-10 20:15:35 +10:00
Lucas De Marchi 5ea1784838 global: remove AP_HAL::in_timerprocess() 
This is not used and in the only places it would make sense would be
internally to the scheduler so remove it.
 2017-08-03 20:25:14 -07:00
Andrew Tridgell 42181ee7c8 HAL_SITL: use SIM_GPS_LOCKTIME 2017-07-14 15:02:14 +10:00
Miguel Arroyo 86b9942d51 AP_HAL_SITL: move SITL Compass to standard sensor backend model 2017-06-29 09:22:08 +10:00
Miguel Arroyo 4394c5145b AP_HAL_SITL: Fixes bug with uartF. 
uartF _timer_tick() was not being called in the scheduler.
 2017-06-26 13:05:16 +01:00
Pierre Kancir 1c8d169814 AP_HAL_SITL: sitl_airspeed simplify include 2017-06-07 20:29:02 +10:00
Pierre Kancir 775ca9303a AP_HAL_SITL: sitl_airspeed correct style 2017-06-07 20:29:02 +10:00
Pierre Kancir 0afc907b0a AP_HAL_SITL: rename sitl_ins & _update_ins to sitl_airspeed & _update_airspeed 2017-06-07 20:29:02 +10:00
Pierre Kancir 22dd81e298 AP_HAL_SITL: rangefinder const correctness 2017-06-07 20:28:25 +10:00
Pierre Kancir 3f045a4905 AP_HAL_SITL: airspeed_simulated use is_zero 2017-06-07 20:28:25 +10:00
Pierre Kancir 4acf4538c7 AP_HAL_SITL: rangefinder don't adjust value from FDM on external data 2017-06-07 20:28:25 +10:00
Pierre Kancir 599e3d7b83 SITL: make range finder a standalone sitl plugin 2017-06-07 20:28:25 +10:00
murata c21b586ccc SITL: add dodeca-hexa support 2017-05-27 14:21:13 +09:00
Andrew Tridgell e51bbcebec AP_HAL_SITL: rename macros to avoid conflicts 
these macros were also defined in NuttX in clock.h
 2017-05-06 15:21:14 +10:00
Andrew Tridgell ac82d1a65d HAL_SITL: moved SITL baro to AP_Baro_SITL 2017-05-03 20:12:04 +10:00
Peter Barker 2f79a5bd90 AP_HAL_SITL: use HAL_SEMAPHORE_BLOCK_FOREVER 2017-05-01 15:05:51 +01:00
Andrew Tridgell f257a869ac HAL_SITL: make cork/push safe to call nested 2017-05-01 14:32:18 +10:00
Pierre Kancir f8d6b5fc9c AP_HAL_SITL: Allow to use a second type of gps for all type 2017-04-26 18:34:56 +01:00
Pierre Kancir f0f7ca2386 SITL: State constrain rover motor input between 1000 and 2000 2017-04-26 10:38:01 +10:00
Pierre Kancir 327ac07d54 AP_HAL_SITL: gps correct glitchs 2017-04-19 17:44:29 +01:00
Niels Joubert 873915d82b AP_HAL_SITL: Support both SBPv0 and SBPv2 2017-04-18 18:25:54 +01:00
Andrew Tridgell 961da9deb8 HAL_SITL: use quaterion instead of eulers 2017-04-16 14:01:36 +10:00
Eugene Shamaev d81af8700f AP_HAL_SITL: definitions for CAN bus 2017-04-10 22:38:12 +01:00
Andrew Tridgell 3236090d71 HAL_SITL: allow plane and rover to use SIM_ENGINE_FAIL 2017-04-09 16:45:19 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas b4260c77be Add and update missing SITL command line usage information 2017-04-05 20:17:40 +10:00
Guilherme Sousa 584890a864 AP_HAL_SITL: Fail motors with SIM_ENGINE_FAIL 2017-03-29 22:43:14 +11:00
Michael du Breuil 2aec41e0ef AP_HAL_SITL: Fix SIM_GPS_DISABLE not disabling the ublox GPS with PVT support 2017-03-19 23:13:11 -07:00
Pierre Kancir d4a0a92b8b SITL: cmdline reorder help and param for better readability and futher extension 
add missing options
 2017-03-18 19:58:11 +11:00
Pierre Kancir ee7355a301 SITL: Reduce some variables scope and include 2017-03-18 19:58:11 +11:00
Pierre Kancir 8054405521 SITL: Change interface port to a generic solution for external simulator 2017-03-18 19:58:11 +11:00
Pierre Kancir 6e0319d513 SITL: Add RCout port option to cmdline 2017-03-18 19:58:11 +11:00
Pierre Kancir a8d5079a38 SITL: Ensure that Instance parameter don't override manualy setted port 2017-03-18 19:58:11 +11:00
Tully Foote 25fad0a8c2 SITL: Add more command line arguments for port selection. 2017-03-18 19:58:11 +11:00
Pierre Kancir 5b8c89225a SITL: Make socket more verbose 2017-03-18 19:58:11 +11:00
Pierre Kancir 567a8d68e5 SITL: Make socket error more verbose 2017-03-18 19:58:11 +11:00
Pierre Kancir 1bb4e3c9b7 AP_IRLock_SITL: make port variable 2017-03-18 19:58:11 +11:00
Pierre Kancir 63ea8c6f21 SITL: enable multi sitl for gazebo 2017-03-18 19:58:11 +11:00
Randy Mackay 341b926a43 AP_HAL_SITL: add glitch for 2nd ublox 2017-03-13 11:31:51 +11:00
Jacob Walser e7caf05238 AP_HAL_SITL: Add support for Sub 2017-02-21 11:26:14 +11:00
Michael du Breuil c716e76bfc AP_HAL_SITL: Apply a GPS noise parameter 2017-02-13 09:23:14 +11:00
murata 30151c8253 Global: Define MSEC_PER_SEC, MSEC_PER_WEEK, SEC_PER_WEEK and UNIX_OFFSET. 2017-02-11 01:34:09 -08:00
Peter Barker eb6826f7de SITL: avoid use of uninitialised memory 2017-02-05 01:07:32 +00:00
murata 67fdbf5c2d AP_HAL_SITL: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Michael Oborne d05b0d5885 AP_GPS_UBLOX: add pvt message support 2017-01-25 03:34:26 +00:00
Michael du Breuil d5a5a97a3d SITL: Use the GPS_LEAPSECOND define 2017-01-18 18:07:26 +00:00
Peter Barker e9a0e98863 AP_HAL_SITL: use fabs on double values 2017-01-17 09:41:37 -08:00
Andrew Tridgell 117974ef0f HAL_SITL: obey enable mask for output channels 2017-01-12 17:39:37 +11:00
Pierre Kancir ab9e88299f AP_HAL_SITL: Scheduler remove unreachable code & minor fix 
usleep wasn't reached since synthetic clock is always used
correct style
make constructor explicit
use c++ cast
 2017-01-12 01:27:16 +00:00
Pierre Kancir 63b3618fc7
AP_HAL_SITL: RCOuput minor fix 
correct style
make constructor explicit
use c++ cast
 2017-01-12 01:20:06 +00:00
Pierre Kancir ff46964d22
AP_HAL_SITL: RCInput minor fix 
fix style
make constructor explicit
remove unused _valid
correct read to return real length instead of fixed 8
correct implicit cast
 2017-01-12 01:19:54 +00:00
Pierre Kancir 7f5b32f59f AP_HAL_SITL: GPIO minor fixes 
fix style
make constructor explicit
fix implicit cast for unsigned to signed value
correct DigitalSource constructor definition
 2017-01-12 01:06:20 +00:00
Pierre Kancir 8ade9d1fe8 AP_HAL_SITL: style fixes 2017-01-12 01:06:20 +00:00
Pierre Kancir 5b2b4430b3 AP_HAL_SITL: AnalogIn minor fixes 
change pin to int16_t to match real implementation and prevent casting.
make constructor explicit
 2017-01-12 01:06:20 +00:00
Pierre Kancir f9c8827809 SITL: Scheduler correct misplaced parenthese && switch to do while loop 2016-12-04 18:28:14 +00:00
Andrew Tridgell 7ba957b946 HAL_SITL: flush stdout on panic 2016-12-02 09:49:38 +11:00
Andrew Tridgell def6e014cf HAL_SITL: removed old optflow simulation 2016-11-28 08:26:56 +11:00
Pierre Kancir 84aaca7c6e SITL: add missing break 2016-11-17 13:46:10 +00:00
Pierre Kancir 86c8145bd9 SITL: Change Flighgear port with instance number 2016-11-16 08:27:48 +11:00
Pierre Kancir c4b5bd4bd9 SITL: revert fg view to activate by default and use flag to disable it 2016-11-16 08:27:48 +11:00
Pierre Kancir e2b939df39 SITL: rename simin to rcin for better readability 2016-11-16 08:27:48 +11:00
Pierre Kancir 59c84c637e SITL: make fg view optional 2016-11-16 08:27:48 +11:00
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
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
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
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
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
Andrew Tridgell 97d0553938 HAL_SITL: implement cork() on RCOutput 2016-10-13 10:00:04 +11:00
Michael Oborne 11c376588d AP_GPS_NOVA: support tersus/novatel/comnav gps 2016-09-20 10:53:49 +10:00
Andrew Tridgell 25f1dbd8c2 HAL_SITL: allowed SITL to reopen uart connections 2016-08-23 09:30:17 +10:00
Murilo Belluzzo 077e03678f Global: Adapt Stream class to be used with Ringbuffer 2016-08-03 01:44:02 -03:00
Peter Barker 9749b91d46 SITL: initialise sigaction structs - valgrind fix 2016-07-29 10:38:03 -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
Staroselskii Georgii d69aeb4808 AP_HAL_SITL: use sigaction over signal API in SITL_State 2016-07-27 21:30:19 +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
Tom Pittenger acaf0c6a5d SITL: LPF the SIM_WIND_DIR and SIM_WIND_SPD values to eliminate step inputs 2016-07-15 18:37:40 -07:00
Siddharth Bharat Purohit d65f453da1 AP_HAL_SITL:use common fenv function 2016-07-07 11:35:18 -03:00
Andrew Tridgell fc9283964a HAL_SITL: fixed segv on cygwin 2016-06-30 20:45:03 +10:00
Peter Barker 309ac53806 SITL: correct adsb initialisation 
Parameters have not yet been initialised in _sitl_setup, so move
should-run checks into update
 2016-06-20 18:16:34 -07:00
Andrew Tridgell acc76f80b0 HAL_SITL: added xplane support 2016-06-19 13:59:15 +10:00
Paul Riseborough 2cf5493b40 AP_HAL_SITL: Ensure simulated magnetic field is always used 2016-06-19 12:51:34 +10:00
Tom Pittenger 1770f314ac SITL: change SIM_ADSB default to -1 to default disabled to leave telem port available 2016-06-15 17:22:54 -07:00
Tom Pittenger 52fcc36249 AP_HAL_SITL: remove -A --adsb argument, feature is now always enabled controlled by param 2016-06-14 21:05:23 -07:00
Tom Pittenger f2b5f5f4a5 AP_HAL_SITL: adsb is always enabled in the sim, controlled by param SIM_ADSB_COUNT 2016-06-14 21:03:30 -07:00
Andrew Tridgell 0166ab2038 HAL_SITL: check for SIM_RC_FAIL 2016-06-05 05:54:56 +10:00
Tom Pittenger 5df2e57209 AP_HAL_SITL: do not compile terrain class when terrain is not disabled via compile flag 2016-06-03 11:07:36 -07:00
Andrew Tridgell 04f87a452e HAL_SITL: fixed tcp client mode 2016-05-30 16:42:28 +10:00
Andrew Tridgell 969b6ebea9 HAL_SITL: support coaxcopter in SITL 2016-05-26 17:09:22 +10:00
Andrew Tridgell a80e233836 HAL_SITL: added SingleCopter 2016-05-26 16:30:39 +10:00
Andrew Tridgell 635a975486 HAL_SITL: use a smaller buffer for real SITL UARTs 
better emulation of real hw
 2016-05-23 23:41:02 +10:00
Tom Pittenger ad11f3815b AP_HAL_SITL: rename aspd variables to arspd 2016-05-17 16:36:14 -07:00
Gustavo Jose de Sousa 2246343ec7 AP_HAL_SITL: pass signed value to abs() 
Passing an unsigned value to abs() causes compilation error in gcc 6.1.1
(and doing that doesn't make sense too).

As a bonus, this patch fixes the code, since, for two unsigned integers
a and b, such that a > b, (a - b) without the casting to a signed
integer would produce garbage in the context of this patch. The type
int32_t is enough for the cases covered by this patch.
 2016-05-16 15:04:22 -03:00
Peter Barker 8d5ceda534 AP_HAL_SITL: ensure specified SITL model is found 
Without this check we get a null pointer exception the first time we attempt
to use the model object
 2016-05-16 13:04:15 -03:00
Andrew Tridgell c6620b03b4 HAL_SITL: added --rtscts option to SITL 
useful for radio testing
 2016-05-16 16:51:26 +10:00
Ricardo de Almeida Gonzaga 91e9dd10ba AP_HAL_SITL: Fix typos 2016-05-13 19:20:06 -03:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
Gustavo Jose de Sousa 8c4c9ccfa6 AP_HAL_SITL: add calibration model 2016-05-10 16:16:37 +10:00
Andrew Tridgell 4318fd0ab8 HAL_SITL: update for changed API 2016-05-07 18:27:19 +10:00
Andrew Tridgell 2718b0649b HAL_SITL: fixed GPS rate in SITL when speedup used 2016-05-07 18:27:18 +10:00
Andrew Tridgell 9081310ff1 HAL_SITL: support simulator RC input 2016-05-04 12:51:28 +10:00
Randy Mackay 3d646a26e2 AP_HAL_SITL: calls to terrain:height_amsl provide extrapolate and corrected params 2016-04-30 10:33:01 +09:00
Andrew Tridgell 46f368f17d HAL_SITL: support fireflyy6 as quadplane 2016-04-22 10:28:15 +10:00
Andrew Tridgell 21fb38da8f HAL_SITL: support Y6 frame 2016-04-21 21:11:46 +10:00
Andrew Tridgell 41b3cb2ff7 HAL_SITL: support tri sim 2016-04-21 20:29:58 +10:00
Andrew Tridgell 835c0b1759 HAL_SITL: follow sqrt law to 60m for wind 
this makes testing wind in landings more useful
 2016-04-20 17:26:16 +10:00
Andrew Tridgell 4ef977c68b HAL_SITL: fixed initial path for uartF 2016-04-20 10:08:35 +10:00
Andrew Tridgell 0d27409511 HAL_SITL: added uartF 2016-04-20 09:39:49 +10:00
Ricardo de Almeida Gonzaga 5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
Andrew Tridgell 4d01cb1716 HAL_SITL: fixed SITL engine mul error 
expression without get() was treated as int
 2016-03-26 14:17:12 +11:00
Andrew Tridgell 5c92adddf9 HAL_SITL: allow examples to run under SITL 2016-03-25 21:35:16 +11:00
Lucas De Marchi e6059f5197 AP_Compass: rename files to follow other libraries 
AP_Compass.h is the main header to be exported and AP_Compass.cpp its
implementation. There's no need for an additional header.
 2016-03-23 17:50:38 -03:00
Lucas De Marchi bcdc3336de AP_HAL_SITL: replace header guard with pragma once 2016-03-16 18:40:41 +11:00
Will Sackfield 0a60d713af AP HAL SITL: Use fully qualified SITL namespace 
* using namespace SITL caused ambiguities due to
both SITL and HAL SITL using the same namespace
 2016-02-29 14:14:37 +11:00
Michael du Breuil 287a3367ad AP_HAL_SITL: Force the simulated gps time to be on valid intervals for u-blox hardware 2016-02-26 09:57:03 +11:00
Lucas De Marchi c3d8ba3ea5 AP_HAL_SITL: use empty I2CDevice 2016-02-16 19:49:09 -02:00
Lucas De Marchi 9aa49cda93 Global: remove system_initializing() from scheduler 
This is not used anymore.
 2016-02-12 23:42:34 -02:00
Andrew Tridgell cb60384dc4 AP_HAL_SITL: allow auto-baudrate detection in GPS driver in SITL 
this is useful when testing a real GPS in SITL
 2016-02-11 18:46:01 +11:00
Tom Pittenger f695f37ca3 AP_HAL_SITL: handle negative throttle 
- negative throttle was causing negative voltage offsets
 2016-02-09 14:18:01 +11:00
Lucas De Marchi 0e09975fa6 AP_HAL_SITL: fix typo 2016-02-01 14:18:51 -02:00
Andrew Tridgell 097c2011e1 HAL_SITL: prevent abort on select with -1 fd 2016-01-10 21:26:35 +11:00
Andrew Tridgell deb0b9c197 HAL_SITL: read in larger chunks 2016-01-10 17:43:01 +11:00
Andrew Tridgell 655f57ad01 HAL_SITL: cleanup class names 
remove SITL prefix
 2016-01-10 17:43:01 +11:00
Andrew Tridgell 492c733750 HAL_SITL: added RingBuffers to UART driver 
makes for faster log download
 2016-01-10 17:43:01 +11:00
Andrew Tridgell 22e25cc792 HAL_SITL: added Flightaxis support 2016-01-09 07:38:51 +11:00
Andrew Tridgell b4cc3d9668 HAL_SITL: implement get_custom_defaults_file() 2016-01-07 09:09:40 +11:00
Andrew Tridgell 6c064ae8bd HAL_SITL: flow control is enabled on SITL 
faster parameter download
 2016-01-06 19:16:08 +11:00
Andrew Tridgell dd07ffce08 HAL_SITL: enable debug of rcoutput channel enable and frequency 2016-01-05 09:47:55 +11:00
Andrew Tridgell 2dd8a0af74 HAL_SITL: allow visualisation of quad motor speeds in flightgear 2016-01-04 11:09:27 +11:00
Andrew Tridgell 1450f33b51 HAL_SITL: support 16 RC input channels in SITL 2016-01-04 08:22:02 +11:00
Andrew Tridgell 83c8505b3c HAL_SITL: send state to flightgear viewer 2016-01-04 08:02:37 +11:00
Andrew Tridgell e6555aae6d HAL_SITL: added quadplane model 2016-01-01 14:35:15 +11:00
Andrew Tridgell d0896a1fb2 HAL_SITL: fixed init of channel 8 out in plane and rover 
should be low
 2016-01-01 14:35:15 +11:00
Andrew Tridgell c6b6d7137d HAL_SITL: added plane simulator 2016-01-01 12:41:06 +11:00
Andrew Tridgell 05e04ee1a7 HAL_SITL: added semaphore support 2015-12-21 07:38:30 +11:00
Julien BERAUD d8bcb36530 AP_HAL_SITL: add empty optical flow 
No embedded optical flow on sitl
 2015-12-18 17:56:04 +11:00
Tom Pittenger 48ae0d645d AP_HAL_SITL: compiler warning: float to double promotion 
- replace atof() with strtof() for the correct return time
 2015-12-08 14:54:43 +09:00
Lucas De Marchi c72f812944 AP_HAL_SITL: rename AP_HAL_Empty instances 2015-12-08 11:12:14 +11:00
Lucas De Marchi 4c82c535cc AP_HAL_SITL: use init() method without arguments 
Override the init() method from parent class that doesn't have a
parameter since it's not used here.
 2015-12-02 14:49:11 -02:00
Tom Pittenger bb4f0783ad AP_HAL_SITL: created ADS-B simulator to generate additional ghost aircraft within SITL 
- The values are very aggressive, you'll come into contact with another aircraft very soon
- Credit goes to Tridge for this work
- This also allows hardware attached via UART to feed real aircraft into the simulator

This feature is enabled with the following command:
sim_vehicle -A --adsb
 2015-11-23 19:45:40 +11:00
Andrew Tridgell 7a5c4ec65d HAL_SITL: use battery info from FDM if available 2015-11-23 13:31:29 +11:00
Andrew Tridgell a6ef064950 HAL_SITL: removed support for the old FDM protocol 
we are now fully converted to the new C++ based SITL system
 2015-11-23 13:21:33 +11:00
Caio Marcelo de Oliveira Filho bb165d8a4c AP_HAL_SITL: Remove unused extern declaration for HALs 2015-11-20 16:32:45 +09:00
Caio Marcelo de Oliveira Filho 783db23a0f AP_HAL_SITL: remove unused functions 2015-11-20 12:36:42 +09:00
Caio Marcelo de Oliveira Filho 85d12efbef AP_HAL_SITL: use millis/micros/panic functions 2015-11-20 12:31:20 +09:00
Caio Marcelo de Oliveira Filho 3ef77617fd AP_HAL_SITL: implement new AP_HAL functions 
Implement the new AP_HAL functions and use them in the Scheduler when
possible.

The '_sketch_start_time' was renamed and moved as a detail of
implementation of the functions code. It allows the code to return time
starting from zero.

The 'stopped_clock_usec' was renamed to follow convention in the file
and add a getter so that AP_HAL functions can reach it. It's not a
problem this getter is public because in practice, regular code
shouldn't even access the SITLScheduler directly -- only code that
should is from SITL itself.
 2015-11-20 12:25:38 +09:00
Caio Marcelo de Oliveira Filho efbc7648b1 AP_HAL: create AP_HAL namespace and use for some HAL functionality 
For certain basic functionality, there aren't much benefit to be able to
vary the implementation easily at runtime. So instead of using virtual
functions, use regular functions that are "resolved" at link time. The
implementation of such functions is provided per board/platform.

Examples of functions that fit this include: getting the current
time (since boot), panic'ing, getting system information, rebooting.

These functions are less likely to benefit from the indirection provided
by virtual interfaces. For more complex hardware access APIs the
indirection makes more sense and ease the testing (when we have it!).

The idea is that instead of calling

    hal.scheduler->panic("on the streets of london");

now use

    AP_HAL::panic("on the streets of london");

A less important side-effect is that call-site code gets
smaller. Currently the compiler needs to get the hal, get the scheduler
pointer, get the right function pointer in the vtable for that
scheduler. And the call must include an extra parameter ("this"). Now it
will be just a function call, with the address resolved at link time.

This patch introduces the first functions that will be in the namespace,
further patches will implementations for each board and then switch the
call-sites. The extra init() function allow any initial setup needed for
the functions to work.
 2015-11-20 12:25:24 +09:00
Andrew Tridgell 95ca0b39a8 HAL_SITL: moved virtual INS sensor to AP_InertialSensor_SITL 2015-11-16 17:57:35 +11:00
Andrew Tridgell 2675edcb96 HAL_SITL: removed unused variables 2015-11-16 17:57:35 +11:00
Andrew Tridgell 81e34006a5 HAL_SITL: make available_memory() uint32_t 2015-11-05 16:09:00 +11:00
Andrew Tridgell 75d2aed6e1 HAL_SITL: added help for uart command line checks 2015-11-04 14:26:55 +11:00
Lucas De Marchi cf8203c08b AP_HAL_SITL: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Andrew Tridgell a5a1680fb3 HAL_SITL: added support for real UART devices 
This allows use of real UART devices in the simulator. Useful for GPS
driver work or other MAVLink peripherals
 2015-11-04 11:29:04 +11:00
Lucas De Marchi 1b07dabeb7 Replace prog_char and prog_char_t with char 
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
 2015-10-30 14:35:30 +09:00
Lucas De Marchi 20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf() 
This also starts to show warnings on places that were already using
wrong printf format strings.
 2015-10-30 14:35:25 +09:00
Lucas De Marchi 7ceffb1e2b Replace use of vprintf_P() with vprintf() 2015-10-30 14:35:23 +09:00
Lucas De Marchi 6f4904189b Replace use of println_P() with println() 2015-10-30 14:35:22 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR 
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
 2015-10-30 14:35:04 +09:00
Lucas De Marchi 9eaf7c5660 AP_HAL: add format attribute to panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi 6027a02fe9 AP_HAL_SITL: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi ad61a93c14 AP_HAL: turn panic() into a variadic method 
Change the declaration on all HAL implementations so panic() in future
may implement a printf-like interface.
 2015-10-24 14:26:35 +11:00
Caio Marcelo de Oliveira Filho 49a42dc985 SITL: use a SITL namespace 2015-10-22 11:04:42 -02:00
Andrew Tridgell 6b048b4045 HAL_SITL: use SimRover 2015-10-21 22:04:21 +11:00
wsilva32 ab7148386c AP_HAL_AVR_SITL: Limit SITL compass reports to 100Hz 
Similarly to how the SITL baro currently works, setHIL is only called at 100Hz.
 2015-10-21 10:39:27 +11:00
Caio Marcelo de Oliveira Filho 19b4ca60c4 AP_HAL: provide AP_HAL_MAIN() 
Move the macros to a single place and reduce the variations not based on
board, but based on

- The name of the entry-point function, specified by AP_MAIN;
- Whether it contains argc/argv arguments or not.

The goal here is that programs (vehicles and examples) don't need to
include all possible boards to define a main function. Further patches
will change the programs.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho e4ef0e43c0 AP_HAL_SITL: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho c6292ff097 AP_HAL_SITL: implement HAL::run() 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
 2015-10-21 09:16:07 +11:00
teddytrowbridge a4690a7b0a SITL_State: fixed _set_param_default 
Fixed _set_param_default() so that it finds the parameter using it's
NAME rather than the entire NAME=VALUE string
 2015-10-16 10:20:31 +11:00
Lucas De Marchi 7d9c75478f AP_HAL_SITL: remove unused write method 2015-09-29 11:53:51 +09:00
Lucas De Marchi 0ed7f94bfc AP_HAL_SITL: use method for downcast 
Instead of just doing a static cast to the desired class, use a method
named "from". Pros:

  - When we have data shared on the parent class, the code is cleaner in
    child class when it needs to access this data. Almost all the data
    we use in AP_HAL benefits from this

  - There's a minimal type checking because now we are using a method
    that can only receive the type of the parent class
 2015-09-23 09:01:29 +10:00
Michael Oborne b861233677 AP_HAL_SITL: add file based gps 2015-09-03 19:43:31 +10:00
Lucas De Marchi ffa37e6de2 AP_HAL_SITL: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:52 +10:00
Fredrik Hedberg e2027a8414 SITL: Add HELI_DUAL_FRAME and HELI_COMPOUND_FRAME. 2015-08-13 18:23:30 +10:00
Gustavo Jose de Sousa 27b9d71e2c AP_HAL_SITL: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:43 +10:00
Michael du Breuil c8c34f54cc AP_HAL_SITL: Add hdop to ublox sitl sim (as well as vdop to be reported) 2015-08-08 13:22:02 +09:00
Tom Pittenger d51e6d466b AP_HAL_SITL: add support for airspeed failures 2015-07-23 14:38:06 +10:00
Lucas De Marchi 473415a3c2 AP_HAL_SITL: use ARRAY_SIZE macro 2015-07-21 14:25:03 +09:00
John Hsu c34ddb7fb8 HAL_SITL: added gazebo SITL model support 2015-07-20 09:10:48 +10:00
Randy Mackay 2b4aaf2368 SITL: add vibe monitor and SIM_ACC2_RND to sitl 2015-07-12 16:50:30 +09:00
Julien BERAUD 7275e33e79 AP_HAL: add the possibility to have more than 1 i2c 
Bebop drone has 3 i2c
 2015-07-10 14:23:17 +10:00
Andrew Tridgell 88a90495b2 HAL_SITL: allow for more data before GPS pipe flush 2015-07-04 15:14:39 +10:00
tcr3dr 9d26bc6958 HAL_SITL: Adds polyfill for feenableexcept on OS X. 2015-07-01 11:32:01 +10:00
Andrew Tridgell 15efae5a48 HAL_SITL: use SITL_NUM_CHANNELS 2015-06-30 08:55:02 +10:00
Andrew Tridgell 92c9779d18 HAL_SITL: pass turbulence to simulators 2015-06-29 11:25:44 +10:00
Andrew Tridgell a81590f7ac HAL_SITL: prevent FPE on zero range with optflow 2015-06-25 10:08:53 +10:00
Andrew Tridgell 4677c189e0 HAL_SITL: support balloon model 2015-06-15 09:20:56 +10:00
Andrew Tridgell c44ab01be8 AP_HAL: use noreturn attribute on panic 
should reduce coverity warnings
 2015-06-08 21:09:08 +10:00
Andrew Tridgell d57eca9de8 HAL_SITL: enable simulated antenna tracker 2015-06-01 12:53:50 +10:00
Andrew Tridgell 249b339e6c HAL_SITL: fixed a build warning 2015-05-30 22:16:37 +10:00
Lucas De Marchi acdcdc35fa AP_HAL_SITL: Do not compare delegate to NULL 
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
 2015-05-26 13:46:48 +10:00
Andrew Tridgell 3daee9c8bc HAL_SITL: added --autotest-dir option 2015-05-25 13:04:17 +10:00
Andrew Tridgell e7abc07898 HAL_SITL: enable --gimbal option 
instantiates a MAVLink gimbal
 2015-05-25 12:20:26 +10:00
Andrew Tridgell 8dce5e11d6 HAL_SITL: removed earth-frame rates 2015-05-25 09:03:10 +10:00
Andrew Tridgell e7f3716e8c HAL_SITL: pass in wind speed to C++ simulators 2015-05-23 11:04:13 +10:00
Andrew Tridgell 6cbd291dd2 HAL_SITL: make model name case insensitive 2015-05-22 16:07:44 +10:00
Andrew Tridgell 4e117bc90f HAL_SITL: support last_letter simulator 2015-05-22 16:07:44 +10:00
Andrew Tridgell cd66ce1c74 HAL_SITL: don't advance clock on garbage SIM input 2015-05-21 21:17:22 +10:00
Tom Pittenger 7b95241306 AP_HAL_SITL: float to double promotion via cos instead of cosf 2015-05-16 08:21:37 +10:00
Andrew Tridgell 3370ec62a1 HAL_SITL: fix for multi-compass SITL 2015-05-15 14:25:44 +10:00
Andrew Tridgell 2a47cc3c81 HAL_SITL: cleanup command line handling 2015-05-11 08:48:42 +10:00
Andrew Tridgell 5687adbdba HAL_SITL: support JSBSim backend 2015-05-10 21:02:20 +10:00
Andrew Tridgell 8ec98a5ec9 SITL: make it possible to connect two SITL instances together 
this adds --client to set uartC as a tcp client rather than a TCP
server
 2015-05-10 15:36:18 +10:00
Tom Pittenger 1c8efb25a8 AP_HAL_SITL: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Andrew Tridgell 6a8da06d19 HAL_SITL: hook in CRRCSim backend 2015-05-05 21:42:46 +10:00
Andrew Tridgell c81ad1d622 HAL_SITL: reformat HAL_SITL with astyle 2015-05-05 10:59:07 +10:00
Andrew Tridgell d8791134f9 HAL_SITL: need to use fabs() for double checking 2015-05-05 09:45:59 +10:00
Andrew Tridgell b9abf30785 HAL_SITL: removed unused cygwin code 2015-05-05 09:45:58 +10:00
Andrew Tridgell 5158f91263 HAL_SITL: converted command line code to getopt_cpp 2015-05-05 09:45:58 +10:00
Andrew Tridgell b2b5c8cd18 HAL_SITL: fixed some build warnings 2015-05-05 09:45:58 +10:00
Andrew Tridgell 40e3b422b5 HAL_SITL: rename HAL_AVR_SITL to HAL_SITL 
it is nothing to do with the original AVR emulation now
 2015-05-05 09:45:54 +10:00