Commit Graph

8546 Commits

Author SHA1 Message Date
Gustavo Jose de Sousa a9acfcb615 APM_Control: 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.
2015-08-19 20:42:13 +09:00
Gustavo Jose de Sousa 664fbc9be8 AC_WPNav: 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.
2015-08-19 20:42:12 +09:00
Gustavo Jose de Sousa 13ba4c90f5 AC_Sprayer: 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.
2015-08-19 20:42:11 +09:00
Gustavo Jose de Sousa bdf33e91e4 AC_PID: 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.
2015-08-19 20:42:10 +09:00
Gustavo Jose de Sousa b69efc510d AC_Fence: 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.
2015-08-19 20:42:09 +09:00
Gustavo Jose de Sousa 45cd929074 AC_AttitudeControl: 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.
2015-08-19 20:42:08 +09:00
Andrew Tridgell 5ce802b946 HAL_PX4: fixed USB connected on AUAV-X2
this is the 2nd attempt at a fix for the usb_connected status on
AUAV-X2
2015-08-19 20:42:01 +09:00
Randy Mackay 4ae8e36000 INS: accel offset parameter range desc to 3.5m/s/s 2015-08-19 20:42:00 +09:00
Daniel Frenzel 166a4f5b5a AP_Scheduler example
Fixed build problem with "make linux"

Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
2015-08-19 20:41:59 +09:00
Andrew Tridgell 347c436394 GCS_MAVLink: fixed bug setting parameters to default values
in copter if you try to set RATE_RLL_D to 0 when you haven't
prevviously changed it then it would set it, but would revert on the
next reboot. This is because of the special case handling of a set to
the "default" value. That default value is unaware of the PID
constructors

this fixes that behaviour by forcing a save if the parameter changes
value
2015-08-19 20:41:58 +09:00
Andrew Tridgell cb8356a290 AP_Param: replaced set_param_by_name with set_float
read for bugfix in GCS_MAVLink
2015-08-19 20:41:57 +09:00
Michael du Breuil 789a588b30 AP_HAL_SITL: Add hdop to ublox sitl sim (as well as vdop to be reported) 2015-08-19 20:40:19 +09:00
Lucas De Marchi d0014c4fe3 AP_InertialSensor: refactor constructors to avoid leak
We were previously leaking the AP_MPU6000_BusDriver if the
~AP_InertialSensor_MPU6000::detect*() failed. In order to avoid the
leak move the repeated code in a single private _detect() member that
receives everything as argument. Then this method takes ownership of the
objects.

By a adding a destructor to AP_InertialSensor_MPU6000 it becomes easier to
free the objects it takes ownership of.
2015-08-19 20:40:17 +09:00
Lucas De Marchi 5fbbdca9f9 AP_InertialSensor: MPU6000: be agnostic to I2C bus/address
This decision is better made by the caller rather than polluting the
driver with board-specific details.
2015-08-19 20:40:16 +09:00
Lucas De Marchi a9a0e228ac AP_InertialSensor: pass backend instead of pointer to function
Different detect() function might need different arguments and passing a
pointer to function here is cumbersome. For example, it forces to have a
method like "detect_i2c2" rather than allowing hal.i2c2 to be passed as
parameter.
2015-08-19 20:40:15 +09:00
Gustavo Jose de Sousa f31fe780eb AP_InertialSensor: L3G4200D: add probe code
This driver works properly but had the initialization logic missing. Add
the support to probe it.
2015-08-19 20:40:14 +09:00
Lucas De Marchi dd523c0301 AP_InertialSensor: remove out of place ifdef
AP_InertialSensor isn't a good place to comment about board issues.
2015-08-19 20:40:13 +09:00
Lucas De Marchi 886b302019 AP_InertialSensor: remove unused enum bus_speed
The methods actually use the enum from AP_HAL::SPIDeviceDriver, so don't
declare a new one. The I2C implementation is empty; if we actually start
to use it we'd better move the bus abstraction to HAL.
2015-08-19 20:40:12 +09:00
Lucas De Marchi 1c3728a585 AP_InertialSensor: fix copying wrong number of bytes
We should copy only the bytes we read, not the maximum number.
2015-08-19 20:40:11 +09:00
Lucas De Marchi 5b2ff84c06 AP_InertialSensor: fix whitespace usage 2015-08-19 20:40:10 +09:00
Lucas De Marchi abd0514319 AP_InertialSensor: remove unused drivers
Nobody is using these drivers, they need to be rewritten using the
backend logic and give the false impression they are supported.
2015-08-19 20:04:18 +09:00
Gustavo Jose de Sousa 6d89a8cf71 StorageManager: remove unnecessary calculations on addr for next area
When writting or reading a block, if the block doesn't fit the area where it begins, the next base address is always zero. Thus the calculations to define the next value of addr are unnecessary.

Here's a quick validity proof using the previous calculations:
    First: Considering the case where the block doesn't fit it's first area:
        That means that (count + addr > length), what makes:
            count = length - addr; (1)
        So the following operations:
            addr += count;
            addr -= length;
        Are the same as doing:
            addr = addr + count - length; (2)
        Using (1) and (2) we have:
            addr = addr + length - addr - length = 0

    Second: When the block fits the area where it's at:
        That means that variable count is not changed,
        thus (n -= count) evaluates to 0, which makes the loop exit.

Another change was (b += count;) being moved after the condition to break the loop, since we just need to move the block pointer when it doesn't fit the first area.
2015-08-19 20:04:17 +09:00
Randy Mackay 53ed6c8f05 Motors_Multicopter: add MOT_THR_MIX_MAX parameter
Allows controlling the prioritisation of throttle vs attitude control
during active flight
2015-08-19 20:04:15 +09:00
Randy Mackay b0101eab91 OpticalFlow_Linux: reworked driver
remove PANICs from init
return semaphore if init fails
add successful initialisation check before attempting to read from sensor
structure made private where possible
formatting fixes
check I2C reads succeed
add request_measurement to request sensor to produce measurement
quit after 20 of previous 40 reads fail
throttle reads to 10hz max
2015-08-19 20:04:14 +09:00
Víctor Mayoral Vilches 46c30f94ef AP_OpticalFlow: Add support for Linux
Add a Linux userspace driver for the PX4FLOW sensor.
2015-08-19 20:04:13 +09:00
Randy Mackay 539c6fe525 BattMon_SMBus: remove unnecessary I2C semaphore give 2015-08-19 20:04:12 +09:00
Randy Mackay ac8c708327 Compass_HMC5843: remove unnecessary i2c semaphore give 2015-08-19 20:04:11 +09:00
Randy Mackay 328332d6c0 DataFlash: consolidate GPS, GPS2 messages
Remove unused dgps_numch, dgps_age from GPS2
Add U field (for use) to both GPS and GPS2
2015-08-19 20:04:07 +09:00
Andrew Tridgell 9fbd739ebe AP_AHRS: protect against zero deltat in DCM
fixes issue #2657
2015-08-19 20:04:05 +09:00
Randy Mackay 34a5c46bfd AC_WPNav: remove unused definitions 2015-08-19 20:04:04 +09:00
Randy Mackay 7fb7b4d74e AC_WPNav: replace hardcoded 0.02 with pos_control dt 2015-08-19 20:04:03 +09:00
Leonard Hall 2ec34b14fc AC_WPNav: fix spline height loss 2015-08-19 20:04:02 +09:00
Michael du Breuil 2e699095a6 AP_GPS: Default the value of hdop to 99.99 if no value has been read yet. 2015-08-19 20:04:00 +09:00
Randy Mackay aeef23c183 Rally: rename RALLY_HOME_INC param to INCL_HOME
Also default include-home to 1 only for copter
Also minor formatting and comment changes
2015-08-19 20:03:59 +09:00
KiwiHC16 7e99a052b8 Rally: add RALLY_HOME_INC param to use Home as a Rally point 2015-08-19 20:03:58 +09:00
Julien BERAUD 407bb5933b AP_Compass_AK8963: suspend timer while reading
Protection in case a timer falls while reading data, because it could end up
with corrupted data
2015-08-19 20:03:57 +09:00
Julien BERAUD de7cf019ef AP_Compass_AK8963: fix sem handling
In case of error or zeroed data, the i2c semaphore wasn't given.
It happened at first startup on Bebop and caused a failure:
"PANIC: failed to take _bus->sem 100 times in a row..."
2015-08-19 20:03:56 +09:00
Leonard Hall 5b133934db AP_Motors: calc_roll_pwm based on throttle pwm range 2015-08-19 20:03:55 +09:00
Randy Mackay cdd64fc43d AHRS_NavEKF: fix blended accel to use primary accel 2015-08-19 20:03:48 +09:00
Randy Mackay 5412ce9819 Terrain: set HAL capabilities bit 2015-08-19 20:03:44 +09:00
Randy Mackay f08c34fe73 GCS_MAVLink: retrieve capabilities from HAL 2015-08-19 20:03:43 +09:00
Randy Mackay 66b0b5c7d6 HAL: define capability bitmask 2015-08-19 20:03:42 +09:00
squilter ad00e97447 GCS_MAVLink: add optional param to support capability bitmask 2015-08-19 20:03:40 +09:00
Andrew Tridgell 0a66bcbae5 AP_InertialSensor: don't use INT_STATUS drdy to lower SPI bus speed
as pointed out by Lucas in PR#2604 this is probably a bad idea
2015-08-19 20:03:39 +09:00
Grant Morphett eb63293498 SITL: fix coverity warning - removed unused variable heli_servos 2015-08-19 20:03:37 +09:00
Grant Morphett 0de992c5f9 DataFlash: fix coverity warnings - add param init in constructor 2015-08-19 20:03:36 +09:00
Grant Morphett 4c1de1abf3 AP_InertialSensor: fix coverity warnings - param init in construct 2015-08-19 20:03:35 +09:00
Grant Morphett ff97bdd605 AP_Baro: coverity fixes - add param init in constructor 2015-08-19 20:03:34 +09:00
Andrew Tridgell 9f4ab28352 AP_GPS: re-enable SBAS config on APM2 for uBlox 2015-08-19 20:03:28 +09:00
Andrew Tridgell 27a098be9f AP_AHRS: use delta_velocity and delta_angle in DCM
this prevents an aliasing effect by using the correct delta velocity
time value for each accelerometer sample used
2015-08-19 20:03:27 +09:00
Andrew Tridgell a9efbf7e4a AP_GPS: save some memory and code space on APM2 for ublox
don't include structures we don't need for low end CPUs
2015-08-19 20:03:26 +09:00
Randy Mackay 4d9325c582 GPS: suppress compile warning 2015-08-19 20:03:25 +09:00
Randy Mackay 04f7a07bad GPS: fix compile warning for NMEA logging 2015-08-19 20:03:24 +09:00
Randy Mackay d2f7c21eb3 Baro: update climb rate only if healthy 2015-08-19 20:03:23 +09:00
Andrew Tridgell 50e07ccad6 HAL_Linux: added bcast flag for udp broadcast 2015-08-19 20:03:20 +09:00
Andrew Tridgell dfdedb3f33 AP_HAL: allow for broadcast packets on UDP IPv4 2015-08-19 20:03:19 +09:00
Andrew Tridgell 28bdeaf5d9 GCS_MAVLink: use a larger log send queue for Linux
often on UDP or TCP with more bandwidth
2015-08-19 20:03:18 +09:00
Andrew Tridgell 19dee8419b AP_HAL: added pollout() function to socket API 2015-08-19 20:03:17 +09:00
Andrew Tridgell a5f01c7ada HAL_Linux: sped up UDP transfers by about 25x
allow more than 1 packetised transfer per tick
2015-08-19 20:03:16 +09:00
Andrew Tridgell ab7f9807a2 AP_GPS: added optional NMEA debug log
compile time option for debugging
2015-08-19 20:03:15 +09:00
Andrew Tridgell 81a3d439a3 HAL_Linux: allow startup before network bringup
this makes it possible to bootup ardupilot before the desired network
interface is available. This is very useful for when using 3G dongles
in aircraft
2015-08-19 20:03:13 +09:00
Andrew Tridgell 288c20a58e HAL_Linux: implemented TCP server as a single driver
the wait flag just changes startup behaviour. The TCP server should
always be a server with listen and accept. We don't need two drivers
2015-08-19 20:03:11 +09:00
Andrew Tridgell ef47a27ac8 AP_HAL: added listen and accept APIs to socket API 2015-08-19 20:03:10 +09:00
Andrew Tridgell fa40e7245e AP_HAL: added pollin() interface for Socket API 2015-08-19 20:03:09 +09:00
Andrew Tridgell bd1b35804a HAL_Linux: replace recvfrom with recv 2015-08-19 20:03:08 +09:00
Andrew Tridgell a48f0db405 AP_HAL: fixed socket destructor 2015-08-19 20:03:07 +09:00
Andrew Tridgell bbc8bdcef3 HAL_Linux: removed 0 timeout from sendto call 2015-08-19 20:03:06 +09:00
Staroselskii Georgii 879f4f7555 AP_HAL_Linux: fixed _parseDevicePath() in LinuxUARTDRiver
The current implementation doesn't throw an error on a malformed path string.

i.e. udp:192.168.1.1.14550 instead of udp:192.168.1.1:14550 may result in a memory leak or whatsoever.

The commit fixes the issue and outputs a nice error message if anything's wrong.
2015-08-19 20:03:05 +09:00
Staroselskii Georgii f66f583843 AP_HAL_Linux: renamed TCPClientDevice 2015-08-19 20:03:04 +09:00
Staroselskii Georgii 39048229cd AP_HAL_Linux: renamed TCPServerDevice
A more appropriate name for the class.
2015-08-19 20:03:03 +09:00
Staroselskii Georgii 50765229ca AP_HAL_Linux: made UARTDriver use TCPServerDevice 2015-08-19 20:03:02 +09:00
Staroselskii Georgii 0ec64a5d13 AP_HAL_Linux: added TCPServerDevice 2015-08-19 20:03:01 +09:00
Staroselskii Georgii 34c1fe6e66 AP_HAL_Linux: made UARTDriver use TCPClientDevice 2015-08-19 20:03:00 +09:00
Staroselskii Georgii 244cdb3507 AP_HAL_Linux: added TCPClientDevice 2015-08-19 20:02:59 +09:00
Staroselskii Georgii 595903f17c AP_HAL_Linux: got rid of TCP connection 2015-08-19 20:02:58 +09:00
Staroselskii Georgii 179fc4a781 AP_HAL_Linux: made UARTDriver use ConsoleDevice 2015-08-19 20:02:57 +09:00
Staroselskii Georgii 7ba960f265 AP_HAL_Linux: added ConsoleDevice 2015-08-19 20:02:56 +09:00
Staroselskii Georgii 4a79713081 AP_HAL_Linux: made UARTDriver use UDPDevice 2015-08-19 20:02:55 +09:00
Staroselskii Georgii 9e6c4fe176 AP_HAL_Linux: added UDPDevice 2015-08-19 20:02:54 +09:00
Staroselskii Georgii b59264007c AP_HAL_Linux: encapsulated LinuxUARTDriver::_deallocate_buffers 2015-08-19 20:02:53 +09:00
Staroselskii Georgii 26382e63df AP_HAL_Linux: made UARTDriver use UARTDevice 2015-08-19 20:02:52 +09:00
Staroselskii Georgii 0c582eeae6 AP_HAL_Linux: added UARTDevice 2015-08-19 20:02:51 +09:00
Staroselskii Georgii 7160c88d39 AP_HAL_Linux: added SerialDevice interface
Adds the interface that will be used for encapsulating various mediums
that can be used in the Linux port.
2015-08-19 20:02:50 +09:00
Staroselskii Georgii 9b25217757 AP_HAL_Linux: added _serial_start_connection 2015-08-19 20:02:49 +09:00
Staroselskii Georgii ed431e9857 AP_HAL_Linux: encapsulated LinuxUARTDriver::allocate_buffers 2015-08-19 20:02:48 +09:00
Staroselskii Georgii 4d28b4a962 AP_HAL_Linux: use defines instead of hardcoding fd numbers in UARTDriver 2015-08-19 20:02:47 +09:00
Staroselskii Georgii 6d1133378b AP_HAL: added destructor for Socket 2015-08-19 20:02:46 +09:00
Staroselskii Georgii 3134634af6 AP_HAL: improved constness of Socket API 2015-08-19 20:02:45 +09:00
Michael du Breuil 3a7cc03f67 AP_GPS: Fix copy/paste error in ublox (uncovered by coverity) 2015-08-19 20:02:44 +09:00
Randy Mackay 77b97f8643 AC_AttControl: relax earth frame rate targets along with bf 2015-08-19 20:02:41 +09:00
rentt 1c8180a41f Scheduler: fix compiler warning in example sketch
printf except a unsigned long value, but the hal.scheduler->millis() return a uint32_t
2015-08-19 20:02:38 +09:00
Tom Pittenger bced0a3734 SITL: param SITL_ARSP_FAIL should be a float instead of byte
this param was meant to represent an airspeed which is a float
2015-08-19 20:02:37 +09:00
Andrew Tridgell 1b1bc9f3b1 RC_Channel: prevent floating exception on bad MIN/MAX/TRIM values 2015-08-19 20:02:34 +09:00
Tom Pittenger ffe1561f31 AP_InitialSensor_MPU6000: compiler warning - init order 2015-08-19 20:02:33 +09:00
Tom Pittenger e7a7f43260 AC_WPNav: compiler warnings: float to double 2015-08-19 20:02:32 +09:00
Robert Lefebvre 0615d7a058 AC_Heli_PID: Deprecate Accel Feedforward. 2015-07-30 14:22:55 +09:00
Robert Lefebvre bfc10c1969 AC_AttitudeControl_Heli: Remove Accel Feedforward. 2015-07-30 14:22:53 +09:00
Randy Mackay 5032cf9fbc Copter: init multicopter flags
Resolves coverity warning

Also fixed indentation
2015-07-25 14:00:29 +09:00
Michael du Breuil 9d53aa77eb AP_GPS: Add reboot required docstring 2015-07-25 10:56:19 +09:00
Randy Mackay b13921a7aa Mount_SToRM32: find gimbal channel on startup 2015-07-25 10:53:05 +09:00