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5088 Commits

Author SHA1 Message Date
Andrew Tridgell 31082f4ce2 AP_Mission: fixed a bug re-entering AUTO 
this fixes a bug found by Marco where we would continue in CRUISE mode
with no waypoint if we re-entered AUTO after a mission reset
 2014-03-31 06:18:07 +11:00
Randy Mackay 93f8d53d1b Mission: make get_prev_nav_cmd_index const 2014-03-30 23:09:54 +09:00
Randy Mackay b15d4379d8 AC_WPNav: use atan2f, make methods const 2014-03-30 23:09:51 +09:00
Randy Mackay 3ad635feeb AC_AttControl: 45deg/sec yaw rate for Auto, RTL 2014-03-30 15:44:14 +09:00
Randy Mackay d27ca53a9d AC_WPNav: spline sets origin vel to zero when no prev segment 
Issue caught by Michael Oborne
 2014-03-30 15:19:18 +09:00
Randy Mackay 7dfde39e19 AC_WPNav: advance_spline to use dt 2014-03-30 15:02:07 +09:00
Randy Mackay c0458b786a AC_WPNav: check acceleration is non zero 2014-03-30 11:52:44 +09:00
Randy Mackay f0f3688172 AC_WPNav: rounder corners for short spline segments 2014-03-30 11:52:41 +09:00
priseborough 9c5f564dc5 AP_NavEKF : Fixes bug in initial earth magnetic field states 
The calculation for these states was not being bias corrected
 2014-03-30 07:43:52 +11:00
Randy Mackay 7bff8e9312 AC_AttControl: constrain earth frame yaw angle error 
This temporarily resolves the wobble we see in Auto when the target
heading is suddenly changed leading to a large yaw angle error
 2014-03-29 20:42:21 +09:00
Randy Mackay 197683d539 WPNav: clean up spline comments 2014-03-29 17:57:47 +09:00
priseborough e1819bb53a AP_NavEKF : Add initial parameter defaults for Copter, Rover and Plane 2014-03-29 14:06:43 +11:00
Randy Mackay ac339a0289 Mission: add decoding of NAV_SPLINE command 2014-03-28 09:23:30 +09:00
Randy Mackay e7be622eef GCS_MAVLink: generate after adding NAV_SPLINE cmd 2014-03-28 09:23:28 +09:00
Randy Mackay 519d5fc444 GCS_MAVLink: add MAV_CMD_NAV_SPLINE_WAYPOINT cmd 
This is the same as a NAV_WAYPOINT except that the vehicle flies a
spline curved path to the destination
 2014-03-28 09:23:23 +09:00
Randy Mackay 24eb195aa3 WPNav: add yaw control for straight line wp nav 2014-03-28 09:23:13 +09:00
Randy Mackay b42b12f7be AC_WPNav: add get_spline_yaw 2014-03-28 09:23:07 +09:00
Randy Mackay f2d9ad41aa Mission: minor comment update 2014-03-28 09:22:56 +09:00
Randy Mackay e5e71ce371 WPNav: add spline support 2014-03-28 09:22:53 +09:00
Michael Day e1d193f539 GCS_MAVLink: Generated code from message additions for autofence. 2014-03-27 09:26:20 +11:00
Michael Day c5ebd120f1 GCS_MAVLink: XML for MAV_CMD_DO_FENCE_ENABLE and MAV_SYS_STATUS_GEOFENCE 2014-03-27 09:26:20 +11:00
priseborough 55c60b8f07 AP_NavEKF : Reduce Magnetometer innovation consistency check threshold 2014-03-26 21:29:47 +11:00
priseborough 45b1a2fa46 AP_NavEKF : Reduce GPS position innovation consistency fail threshold 
This patch reduces the maximum acceptable GPS jump from approximately 16 to 8 metres
This will provide copters with more protection for close in loiter situations
 2014-03-26 21:29:45 +11:00
Andrew Tridgell 8c0c9c317e RC_Channel: prevent a numerical exception with bad mount parameters 2014-03-26 17:38:27 +11:00
Andrew Tridgell bafc664750 AP_NavEKF: use APM_BUILD_TYPE() macro 2014-03-26 12:42:11 +11:00
Andrew Tridgell fbec098e2f AP_Vehicle: added APM_BUILD_TYPE() macro 
this makes checking build type less fragile
 2014-03-26 12:41:53 +11:00
Andrew Tridgell e3792f9b26 AP_NavEKF: added a mechanism for per-vehicle-type defaults in EKF 2014-03-26 12:30:17 +11:00
Andrew Tridgell 6b2f0b9553 AP_Vehicle: added defines for main vehicle types 2014-03-26 12:15:45 +11:00
Andrew Tridgell 6bf2b5033e DataFlash: support logging up to 14 RC input channels 2014-03-25 16:39:19 +11:00
Andrew Tridgell 6039eab442 RC_Channel: support up to 12 aux channels on PX4 
this allows RC13 and RC14 to work correctly as aux outputs on Pixhawk
 2014-03-25 15:42:48 +11:00
Andrew Tridgell 64772cede8 GCS_MAVLink: rebuild MAVLink headers 2014-03-25 14:47:43 +11:00
Andrew Tridgell d24547b390 GCS_MAVLink: merge latest msgs from upstream 2014-03-25 14:47:05 +11:00
Andrew Tridgell 6eee2421cc AP_HAL: removed RCInput valid_channels() and added new_input() and num_channels() 
the valid_channels() method was inconsistently implemented between
boards, and served two quite different purposes. It is clearer as two
functions
 2014-03-25 14:39:41 +11:00
Andrew Tridgell 27dbf608c8 DataFlash: fixed a build warning 2014-03-25 13:31:21 +11:00
Andrew Tridgell 2a9a89e020 HAL_PX4: fixes for merged upstream PX4Firmware 2014-03-25 10:30:00 +11:00
priseborough 17cdac7bc8 AP_NavEKF : Clean up angle and mag field initialisation 
This path reduces duplicated code, eliminates unused variables and
causes the earth magnetic field states to be reset when exiting static mode
which will occur every time copter is armed. This enables copters to be
powered on and initialised inside vehicles or houses, without bad earth
field values affecting flight.
 2014-03-24 19:54:48 +11:00
Andrew Tridgell f05b90bfd2 GCS_MAVLink: fixed some compiler warnings 2014-03-24 12:52:39 +11:00
Andrew Tridgell 0af35bd636 AP_Mission: fixed some compiler warnings 2014-03-24 12:52:27 +11:00
Andrew Tridgell 2763393908 AP_InertialSensor: fixed some compiler warnings 2014-03-24 12:52:16 +11:00
Andrew Tridgell c6f3e0a81c AP_GPS: fixed example builds 2014-03-24 12:20:34 +11:00
Andrew Tridgell 271ba3a6bc AP_InertialNav: fixed example build 2014-03-24 12:03:47 +11:00
Andrew Tridgell 1b1a92251f DataFlash: allow drivers to setup their own logging formats 
this allows drivers to ask the dataflash driver to add new log formats
 2014-03-24 12:03:31 +11:00
Andrew Tridgell 5630bb1ef6 AP_GPS: added detailed hardware status logging for uBlox 
this gives us noise, jamming and RF information from the uBlox
protocol. This will hopefully allow a more detailed investigation of
antenna choices and RF interference
 2014-03-24 12:02:37 +11:00
Andrew Tridgell 7ff293ca38 AP_GPS: added DataFlash to GPS init to allow for detailed logging 
this will allow GPS drivers to log much more detailed device specific
information
 2014-03-24 12:01:13 +11:00
Andrew Tridgell 485ae596fc AP_Compass: fixed last_update for secondary compass with primary failed 
this ensures EKF and DCM will use a secondary compass if the primary
fails
 2014-03-23 22:05:17 +11:00
Matthew Lloyd 60a4f74de6 AP_Compass: avoid division by zero if we haven't received any mag reports 
Otherwise, get_field() will return NaNs after once every few calls to
read() during compassmot on PX4 platforms, which causes compassmot to fail.

This is a quick hack around the deeper issue, which could be something
like the PX4 mag driver experiencing starvation and skipping mag reports,
buffer overrun or something else that causes mag reports to be dropped.
Or perhaps we should never expect in the first place that we will always
receive at least one mag report between calls to read().
 2014-03-23 21:22:32 +11:00
priseborough 7ae86b3979 AP_NavEKF : Track baro height observations pre-arm 
This prevents copter from failing the pre-arm height discrepancy test
 2014-03-23 18:25:50 +11:00
priseborough 7780d55788 AP_NavEKF : Prevent large magnetic field adaptations early in flight 2014-03-22 19:55:26 +11:00
Randy Mackay 3efad982c0 GCS_Mavlink: return MISSION_INVALID when conversion fails 
Requested by MichaelO to allow better error message to be displayed to
user when the mission upload from the GCS to vehicle fails
 2014-03-22 11:29:36 +09:00
Paul Riseborough f7007569d1 AP_NavEKF : Fix bug that limits copter sensor delay compensation to 125 
msec
 2014-03-21 21:52:20 +11:00
Paul Riseborough b2c0979947 AP_NavEKF : Fixes bug that causes accel bias to diverge in static mode, preventing copter arming 2014-03-21 21:49:50 +11:00
Andrew Tridgell a55c4e2296 AP_TECS: set target airspeed, not min/max airspeed, on landing 
this seems to prevent ballooning of the altitude when we are in the
landing approach, and gives a much smoother landing
 2014-03-20 17:34:39 +11:00
Andrew Tridgell 98530928b5 AP_TECS: make target landing speed a float 
some users may want more precise control
 2014-03-20 17:34:36 +11:00
Andrew Tridgell b1ad2be897 AP_SpdHgtControl: added get_target_airspeed() interface 2014-03-20 17:34:29 +11:00
Michael Day bd7e1b82e1 AP_TECS: Auto landing now takes throttle_nudge into account. 2014-03-20 17:34:26 +11:00
Michael Day 861690dea2 AP_TECS: New params LAND_ARSPD and LAND_THR auto-slowing landings. 
Also controlling pitch by ignoring height error during landing.
This serves to keep the nose up.
 2014-03-20 17:34:23 +11:00
Andrew Tridgell 3bdc22d672 AP_Mission: make p1 16 bit 
this gives us a 16 bit value for extra data on a location, allowing
for an accurate angle in centi-degrees.

Also add validation of the size of the union arms in Content
 2014-03-20 16:57:09 +11:00
Andrew Tridgell 959cafef8d AP_Common: make alt in Location 24 bit 
this allows for up to 83km mission altitudes, while allowing for 1
more byte in the command structure, making p1 16 bits
 2014-03-20 16:57:09 +11:00
Andrew Tridgell d508c7f37f GCS_MAVLink: re-generate MAVLink headers 2014-03-20 10:21:28 +11:00
Andrew Tridgell 106fda773f GCS_MAVLink: merge XML from upstream 2014-03-20 10:20:00 +11:00
Andrew Tridgell 8af9573806 GCS_MAVLink: allow logging of RADIO_STATUS, very useful for link analysis 2014-03-20 09:56:37 +11:00
Michael Day 68dbfd6315 DataFlash: Add Log_Write_Radio to store RSSI and noise on board. 2014-03-20 09:56:37 +11:00
Andrew Tridgell 8202cf437b AP_Relay: fixed Pixhawk relay pin numbers 
thanks to Craig for spotting this!
 2014-03-20 09:40:08 +11:00
Paul Riseborough 8a2d16d13d AP_NavEKF : modifed Zaccel bias noise parameter to prevent unstable bias estimate 2014-03-20 08:50:00 +11:00
Randy Mackay c520cb789c Mission: cmd field types to match mavlink commands 
Split Set-Servo and Repeat-Servo command structures
Split Set-Relay and Repeat-Relay command structures
 2014-03-19 12:14:22 +09:00
Andrew Tridgell 0832aba6bc GCS_MAVLINK: moved deferred message handling into common code 2014-03-19 12:14:15 +09:00
Andrew Tridgell 8d89a64312 GCS_MAVLink: moved handling of MISSION_ITEM into common code 2014-03-19 12:14:09 +09:00
Andrew Tridgell ba8c4b86a0 AP_InertialNav: fixed example build 2014-03-19 12:14:08 +09:00
Andrew Tridgell d36989f6a1 AP_HAL: fixed example build 2014-03-19 12:14:06 +09:00
Andrew Tridgell d3d71d597c AP_Baro: fixed example build 2014-03-19 12:14:05 +09:00
Andrew Tridgell dbd8f4b735 AP_Airspeed: fixed example build 2014-03-19 12:14:03 +09:00
Andrew Tridgell afab8a9c5b AP_AHRS: fixed example build 2014-03-19 12:14:02 +09:00
Andrew Tridgell 04587efb2d AC_WPNav: fixed example build 2014-03-19 12:14:00 +09:00
Andrew Tridgell 1e9dcba3da AC_Sprayer: fixed example build 2014-03-19 12:13:59 +09:00
Andrew Tridgell 4507c0fc4c AC_Fence: fixed example build 2014-03-19 12:13:57 +09:00
Andrew Tridgell 73ae38eaf0 AC_AttitudeControl: fixed example build 2014-03-19 12:13:56 +09:00
Andrew Tridgell 23e296dd00 GCS_Console: fixed example build 2014-03-19 12:13:55 +09:00
Andrew Tridgell 5f85792224 DataFlash: fixed example build 2014-03-19 12:13:53 +09:00
Andrew Tridgell 2a199c4f03 AP_Notify: fixed example build 2014-03-19 12:13:51 +09:00
Andrew Tridgell 6eece3a278 AP_Mount: fixed example build 2014-03-19 12:13:50 +09:00
Andrew Tridgell acd54d0826 AP_Math: fixed example build 2014-03-19 12:13:48 +09:00
Andrew Tridgell 731f980327 AP_InertialSensor: fixed example build 2014-03-19 12:13:47 +09:00
Andrew Tridgell 965f6bd3bd GCS_MAVLink: make DataFlash a pointer 
handle sketches where DataFlash is not available
 2014-03-19 12:13:37 +09:00
Andrew Tridgell b85c5123b2 GCS_MAVLink: added save parameter to handle_request_data_stream() 
this allows copter to not save stream rate changes
 2014-03-19 12:13:35 +09:00
Andrew Tridgell 79bb14b8c1 GCS_MAVLink: moved RADIO_STATUS handling into common code 2014-03-19 12:13:34 +09:00
Andrew Tridgell 144217ac74 GCS_MAVLink: moved parameter and stream handling into common code 
this keeps it in common between vehicles, and saves stack space
 2014-03-19 12:13:32 +09:00
Andrew Tridgell 06c578eb34 GCS_MAVLink: re-generate MAVLink headers 2014-03-19 12:13:31 +09:00
Andrew Tridgell 0b811ba6a9 GCS_MAVLink: added have_flow_control() method 
can be used to change speed of handling some protocol methods, as we
know communication will be reliable
 2014-03-19 12:13:25 +09:00
Randy Mackay c462adf2ee GCS_MAVLink: added five handle_mission methods 
The five methods moved from the vehicle specific code are
handle_mission_request_list, set_current, count, clear_all and
write_partial_list
 2014-03-19 12:13:19 +09:00
Randy Mackay 3938fb7255 GCS_MAVLink: loiter direction removed 
This is now handled in Mission library
 2014-03-19 12:13:18 +09:00
Randy Mackay 37cff752c8 Mission: handle Loiter direction 
loiter-unlimited, loiter-turns and loiter-time cms specify the turn
direction in Param3.  This is stored in the location's loiter_ccw flag.
Previously supported only in Plane, moving here allows us to share more
code with Plane, Copter, Rover.
 2014-03-19 12:13:16 +09:00
Andrew Tridgell add2416dbe GCS_MAVLink: added handle_mission_request() common function 
this handles requests for mission items, using stack saving

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:13:10 +09:00
Andrew Tridgell ce29bbe394 GCS_MAVLink: save some memory in log download 
use an existing buffer instead of using the mavlink _send()
function. This saves some stack space in log download

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:13:09 +09:00
Randy Mackay c75560218d Mission: command specific structures 2014-03-19 12:12:51 +09:00
Randy Mackay 865a4de33d Common: use PACKED instead of pragma pack for Location 2014-03-19 12:12:49 +09:00
Randy Mackay 869f325c66 DataFlash: Log_Write_MavCmd replaces Log_Write_Cmd 2014-03-19 12:12:43 +09:00
Andrew Tridgell 3a6698f54b AP_Mission: fixed typo 2014-03-19 12:12:42 +09:00
Andrew Tridgell 3538621c48 AP_Mission: doc updates 2014-03-19 12:12:40 +09:00
Randy Mackay 48329c1bba Mission: bug fix for loading consecutive do-cmds 
The verify step was not being run for the 2nd consecutive do-command in
a mission list
 2014-03-19 12:12:37 +09:00
Randy Mackay ece02b0c9a Mission: get_prev_nav_cmd returns int16 2014-03-19 12:12:34 +09:00
Randy Mackay 266a1ce9af Mission: bug fix set_current_cmd 
If mission had completed desired command index was ignored
 2014-03-19 12:12:27 +09:00
Andrew Tridgell 107cc2c126 AP_Mission: added truncate() function 
Used when loading a mission while flying

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:12:21 +09:00
Andrew Tridgell acdaf561c8 AP_Mission: fixed typo 2014-03-19 12:12:15 +09:00
Randy Mackay ebf72f5beb Dataflash: example sketch includes AP_Mission.h 2014-03-19 12:12:10 +09:00
Randy Mackay 150faafaf4 Dataflash: add Log_Write_Cmd method 2014-03-19 12:12:07 +09:00
Randy Mackay 8e117d29eb Mission: test exceeding command storage size 2014-03-19 12:11:55 +09:00
Randy Mackay 9e07070d86 Mission: pass eeprom start into constructor 
This allows different storage locations for ArduCopter, Plane and Rover
 2014-03-19 12:11:53 +09:00
Randy Mackay 7663c5898e AP_HAL_Boards: board specific storage size definition 2014-03-19 12:11:52 +09:00
Randy Mackay ddc4cd4f18 Mission: add init and check_eeprom_version methods 2014-03-19 12:11:46 +09:00
Randy Mackay 4c0a31a9dc Mission: init home to zero before writing to eeprom 2014-03-19 12:11:37 +09:00
Randy Mackay df339c05fc Mission: num_commands returns uint16 2014-03-19 12:11:25 +09:00
Randy Mackay af186fba05 AP_Common: pack Location structure 
This resolves issues storing and retrieving Location to eeprom as part
of AP_Mission
 2014-03-19 12:11:13 +09:00
Randy Mackay e60865b715 Mission: example sketch test for set_current_cmd 2014-03-19 12:11:12 +09:00
Randy Mackay 512b378c4a Mission: allow set_current_cmd when mission is not running 
Can now be run when mission is complete or stopped.  When mission is
resumed it will begin at the set command.  This command can be either a
nav or do command
 2014-03-19 12:11:10 +09:00
Andrew Tridgell eaf34bba9a AP_Mission: fixed reset using set mission item to 0 
this causes a mission reset
 2014-03-19 12:11:07 +09:00
Randy Mackay 8dd301b0c2 Mission: set_current_cmd to use uint16 2014-03-19 12:11:06 +09:00
Randy Mackay a6e422333e Mission: remove alt_in_cm from mavlink to cmd conversion 2014-03-19 12:11:01 +09:00
Randy Mackay efd4058e8b AHRS: interate move of p1 from Location to mission cmd 2014-03-19 12:10:51 +09:00
Randy Mackay 5dd86bd7d7 Mission: update example sketch for p1's move to cmd structure 2014-03-19 12:10:49 +09:00
Randy Mackay 87126c9b71 Common: remove id and p1 from Location structure 
id and p1 are now part of AP_Mission's Mission_Command structure
 2014-03-19 12:10:46 +09:00
Randy Mackay 0dc3c9ab42 Mission: add p1 to command structure 
mavlink_to_mission_cmd method extended to support plane including adding
parameter to allow the alt to be expressed in cm or meters
 2014-03-19 12:10:45 +09:00
Randy Mackay 4c0ae63169 Mission: example sketch test replace_cmd method 2014-03-19 12:10:42 +09:00
Randy Mackay 61cc5e6b72 Mission: add replace_cmd method 2014-03-19 12:10:40 +09:00
Randy Mackay ef21e32fbc Mission: example sketch tests set current command 2014-03-19 12:10:37 +09:00
Randy Mackay 3cbbd4ebb9 Mission: add set current command method 2014-03-19 12:10:36 +09:00
Randy Mackay c7ffd2db90 Mission: reduce unnecessary search for do-commands 
do_cmd_all_done flag is set after all do-commands are complete
 2014-03-19 12:10:33 +09:00
Randy Mackay 0c92d60406 Mission: command index increase to int16 
Once more eeprom space is allocated this will allow more than 255
commands
 2014-03-19 12:10:31 +09:00
Randy Mackay 85b979ede9 Mission: support do-jump num_times is -1 
do-jump loops forever when num times is set to -1
 2014-03-19 12:10:29 +09:00
Randy Mackay c6c43847b6 Mission: example sketch tests set home command 2014-03-19 12:10:27 +09:00
Randy Mackay 9ef27955b5 Common: add location options masks 2014-03-19 12:10:20 +09:00
Randy Mackay cc8554fa2b Mission: fix example sketch 2014-03-19 12:10:18 +09:00
Randy Mackay f4d8ccc128 Mission: add mavlink to cmd conversion methods 2014-03-19 12:10:17 +09:00
Randy Mackay 87c7d19f83 AP_Mission: special handling for cmd 2014-03-19 12:10:14 +09:00
Randy Mackay e8db57ced3 AP_Mission: replace block read/write for eeprom 
Also reserve command #0 for home position
 2014-03-19 12:10:00 +09:00
Randy Mackay fd009d0704 AP_Mission: tests added to example sketch 2014-03-19 12:09:59 +09:00
Randy Mackay 84b3497a82 AP_Mission: fixes to protect against endless loops 2014-03-19 12:09:57 +09:00
Randy Mackay 6086bc14be AP_Mission: mostly working draft 2014-03-19 12:09:56 +09:00
Randy Mackay 4285eba297 AP_Mission: initial draft library 2014-03-19 12:09:54 +09:00
Randy Mackay dd45647626 AC_PosControl: update some comments re leash lengths 2014-03-17 10:13:02 +09:00
Holger Steinhaus 345115fddd AC_PosControl: fixed leash length calc for descent speed 2014-03-17 10:12:47 +09:00
Andrew Tridgell 6b5d27efbb AP_GPS: fixed example builds with change to init() 2014-03-16 06:44:50 +11:00
Andrew Tridgell 68462025ba RC_Channel: constrain norm_input() to -1 to 1 
if RC is not properly calibrated we could get a value beyond 1, which
could cause some flight modes to exceed the roll/pitch limits of the
aircraft
 2014-03-15 20:43:13 +11:00
Andrew Tridgell 9cf1fd46c8 AP_GPS: removed nav_setting default 
not needed, and apparently caused issue with xcode 5.1
 2014-03-14 07:49:56 +11:00
Paul Riseborough dacba5d911 AP_NavEKF : Update default tuning parameters (for plane use) 2014-03-14 06:07:58 +11:00
Paul Riseborough d0828d9c15 AP_NavEKF : Prevent bad user parameter causing incorrect GPS fusion 2014-03-14 06:07:58 +11:00
Paul Riseborough a24bfc1b8a AP_NavEKF : Use synthetic sideslip fusion during GPS denied operation with airspeed 2014-03-14 06:07:57 +11:00
Paul Riseborough 35811758d7 AP_NavEKF : Update comments and remove un-used function declarations 2014-03-14 06:07:57 +11:00
Andrew Tridgell db48ed9218 AP_Compass: fixed showing of is_external for 2nd compass 2014-03-13 16:26:43 +11:00
Andrew Tridgell beb6123576 GCS_MAVLink: send a "zero logs" message when no logs available 2014-03-11 17:12:22 +11:00
Andrew Tridgell ecdd74d580 DataFlash: return number of logs as zero correctly 
when we have no file based logs, report no logs :)
 2014-03-11 17:11:58 +11:00