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5012 Commits

Author SHA1 Message Date
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
Andrew Tridgell d9e8c34a89 GCS_MAVLink: allow for proxying of larger MAVLink messages on PX4 
this makes it possible to deal with large MAVLink messages
 2014-03-11 13:48:25 +11:00
Paul Riseborough 784034170d AP_NavEKF : increased useage of helper functions 2014-03-10 21:54:03 +11:00
Paul Riseborough 7b3130cfcc AP_NaVEKF : Enable operation without airspeed and compass 2014-03-10 21:53:09 +11:00
Paul Riseborough 3a5acb9cea AP_NavEKF : improved on-ground, in-air check and GPS yaw alignment 2014-03-10 14:07:34 +11:00
Paul Riseborough b47a11edf6 AP_NavEKF : improved static and on-ground mode selection logic 2014-03-10 04:39:59 +11:00
Paul Riseborough 15a44571c2 AP_NavEKF : enable operation without a compass for planes 2014-03-09 20:01:45 +11:00
Paul Riseborough 2019708056 AP_NavEKF : Make all compass use autodetect 2014-03-09 19:59:19 +11:00
Paul Riseborough e485b246e7 AP_NavEKF : update comments 2014-03-09 19:59:18 +11:00
Paul Riseborough c8bd415b00 AP_NavEKF : Add sideslip constraint to allow plane flight without magnetometer 2014-03-09 19:59:17 +11:00
Paul Riseborough 52fabc822f AP_NavEKF : Add low speed magnetometer calibration option 2014-03-09 19:59:16 +11:00
Paul Riseborough 88b0364fcd AP_TECS : Add protection for airspeed runaway due to pitch errors 2014-03-09 19:59:16 +11:00
priseborough 6ace31b6c1 AP_NavEKF : Fix bug that leaves height unconstrained in static mode 2014-03-09 19:27:21 +11:00
Mike McCauley c90d3ff59e Flymaple: RCOUtput disable_ch() now supports disabling outputs 2014-03-08 21:55:57 +11:00
Andrew Tridgell 794cc33e6a GPS: added set_secondary() function 
for preventing notify updates for 2nd GPS
 2014-03-08 21:47:49 +11:00
Paul Riseborough 94ff7522fc AP_NavEKF : Fix bug in initial East mag field state variance 2014-03-08 07:44:34 +11:00
Andrew Tridgell 63234d4c22 AP_Baro: fixed linux build of BMP085 driver 2014-03-07 09:33:43 +11:00
Randy Mackay 4cfe50b70c Notify: brighter RGB LED when on battery power 2014-03-05 21:38:29 +09:00
Randy Mackay 1c457d8448 Mount: add get_mode and set_mode_to_default methods 2014-03-05 16:01:11 +09:00
Andrew Tridgell dd502e98b4 RC_Channel: added support for separate wheel steering channels on planes 2014-03-05 12:57:50 +11:00
Andrew Tridgell a788405c8b RC_Channel: added percent_input() function 
useful for plane flaps
 2014-03-05 09:17:50 +11:00
Randy Mackay 25ee5d5dc8 AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth 
pair-programmed with lthall
 2014-03-04 22:23:14 +09:00
lthall 15f88c2a2b AC_AttControl: Stabilize input shaping 2014-03-04 21:52:18 +09:00
Andrew Tridgell 5f85e7af6a HAL_PX4: switch to new serial port for 2nd GPS 2014-03-04 20:34:44 +11:00
Andrew Tridgell af2f72acb0 HAL_SITL: honor SIM_GPS2_ENABLE option 2014-03-03 07:07:29 +11:00
Andrew Tridgell 7a52938f68 SITL: added SIM_GPS2_ENABLE option 2014-03-03 07:07:09 +11:00
Mike McCauley be34e0358a RC_Channel: Removed duplicate defines from RC_Channel.h 2014-03-03 06:34:34 +11:00
Andrew Tridgell 449d09051e AP_NavEKF: cope with compass going offline while in flight 2014-03-02 14:32:10 +11:00
Andrew Tridgell 77f91e6250 AP_NavEKF: don't assume the number of gyros == number of accels 2014-03-02 13:53:19 +11:00
Paul Riseborough ebb3cc3348 AP_NavEKF : Use average of dual IMU gyro data when available 2014-03-02 13:28:44 +11:00
Paul Riseborough a39d00fc13 AP_NavEKF : Fix bug that prevents Zacc bias state variance being updated 2014-03-02 13:27:22 +11:00
Paul Riseborough 573b3210dd AP_NavEKF : Add div0 protection to the IMU1_weighting calc 2014-03-02 08:10:06 +11:00
Paul Riseborough bd152d332c AP_NavEKF : Add accel aliasing protection 2014-03-02 08:10:04 +11:00
Andrew Tridgell 853271dd37 Replay: moved replay tool into Tools/Replay 2014-03-01 14:30:55 +11:00
Andrew Tridgell 295cd9adba AP_NavEKF: give a sensible error for no such file on replay 2014-03-01 14:24:51 +11:00
Paul Riseborough 854f013146 AP_NavEKF : Fixes zero compass offsets on initialisation 2014-02-28 19:43:12 +11:00
Andrew Tridgell cc4c443b32 SITL: simulate dual accel/gyro 2014-02-28 17:30:38 +11:00
Jonathan Challinger e81d2e9584 AP_InertialSensor: Correct out-of-bounds array access that was causing SITL to crash 2014-02-28 17:25:54 +11:00
Andrew Tridgell 736201689b AP_NavEKF: only use the active accel from DCM if fly_forward is set 2014-02-27 17:40:13 +11:00
Andrew Tridgell aaaae9a222 AP_AHRS: added get_fly_forward() method 
will be used to detect a copter
 2014-02-27 17:39:49 +11:00
Paul Riseborough 62eff63267 AP_NavEKF : Increase the tuning range for magnetometer measurement noise 2014-02-27 17:20:38 +11:00
Andrew Tridgell 9a5ecc9541 AP_AHRS: use primary accel for accel_ef 
Logs from Randy show that the copter INav code can't handle the
accelerometer sensor changing.
 2014-02-27 16:28:37 +11:00
Andrew Tridgell 2c85a7ba56 AP_InertialSensor: expose get_primary_accel() for use in AHRS 2014-02-27 16:27:46 +11:00
Andrew Tridgell cf148fa76c AP_Compass: improved COMPASS_ORIENT and COMPASS_EXTERNAL for Pixhawk 2014-02-27 12:46:27 +11:00
Andrew Tridgell a9e683dada AP_NavEKF: use the accelerometer chosen by DCM for each step 2014-02-27 09:41:48 +11:00
Andrew Tridgell b53496d470 AP_AHRS: choose the best accelerometer at each drift correction step 
this greatly reduces the impact of aliasing on accelerometers by
choosing the accelerometer that produces the smallest error term in
DCM. The difference can be quite dramatic on the Pixhawk.
 2014-02-27 09:41:28 +11:00
Andrew Tridgell 0b45d2bc06 AP_AHRS: removed the AHRS_GPS_DELAY parameter 
the best value has turned out to be 1, and tweaking it has not turned
out to be useful, so this simplifies the code in preparation for
adding the anti-aliasing handling with multiple accelerometers
 2014-02-27 08:57:44 +11:00
Paul Riseborough 78a1cac560 AP_NavEKF : Improved heading and magnetic field state initialisation 2014-02-27 08:12:10 +11:00
Paul Riseborough d83b382e59 AP_NavEKF : Fix variance constraint bug 
Constraining variances to a minimum value of 1e-9 was causing problems
with gyro bias and angular accuracy in noisy GPS environments.
Because the constraint is applied after every covariance prediction
and correction, a lower value of 0 is more appropriate.
 2014-02-27 08:12:03 +11:00
Andrew Tridgell 8b59e564ba AP_NavEKF: improved replay timing 2014-02-27 08:11:04 +11:00
Andrew Tridgell 840f1b9a1e AP_InertialSensor: make HIL timing more accurate 
needed for 400Hz replay
 2014-02-27 08:10:42 +11:00
Andrew Tridgell 66f238c0da AP_NavEKF: support 400Hz replay from 50Hz logs 2014-02-26 19:34:01 +11:00
Andrew Tridgell 3fa2207a2d AP_HAL: allow for microsecond resolution in scheduler->stop_clock() 
this makes 400Hz in the replay code possible
 2014-02-26 19:33:39 +11:00
Andrew Tridgell 6fc5c12f1d AP_AHRS: remove unused variable 2014-02-26 10:28:12 +11:00
Andrew Tridgell 866e32f059 AP_Motors: removed unused variable 2014-02-26 09:40:39 +11:00
Andrew Tridgell e410733682 DataFlash: added GPS2 logging 2014-02-26 09:19:00 +11:00
Andrew Tridgell 0115b9fa07 HAL_SITL: support a 2nd GPS 2014-02-26 08:19:47 +11:00
Andrew Tridgell 836f473db2 HAL_FLYMAPLE: no uartE 2014-02-26 08:19:20 +11:00
Andrew Tridgell 58d5454d65 HAL_Empty: no uartE 2014-02-26 08:19:18 +11:00
Andrew Tridgell 6c74ca58c3 HAL_AVR: no uartE 2014-02-26 08:19:15 +11:00
Andrew Tridgell 4cb61f1f08 AP_HAL: support uartE 2014-02-26 08:18:20 +11:00
Andrew Tridgell bf2dd141e9 HAL_PX4: support uartE for 2nd GPS 2014-02-26 08:18:11 +11:00
Andrew Tridgell 63874dfffd AP_NavEKF: set fix type in GPS replay 2014-02-25 21:10:49 +11:00
Andrew Tridgell d7b2a09919 AP_GPS: added fix type to setHIL 2014-02-25 21:10:30 +11:00
Andrew Tridgell 09cce5d24e AP_NavEKF: fixed replay with current copter logs 2014-02-25 20:56:53 +11:00
Jonathan Challinger f321a5f241 AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS 
Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
 2014-02-25 18:49:16 +11:00
Paul Riseborough 72a91ccbca AP_NavEKF : Prevents aliasing triggering innovation consistency check failures 2014-02-25 15:55:44 +11:00
Andrew Tridgell 7a6f671659 AP_GPS: added have_vertical_velocity() function 
for use by EKF
 2014-02-24 18:24:10 +11:00
Andrew Tridgell a273951f70 HAL_Linux: added missing Util.cpp 2014-02-24 11:59:24 +11:00
Paul Riseborough 5db9a87d31 AP_NavEKF : fixed bug in velocity rate of change filter 
This bug meant the velocity rate of change used to scale the GPS measurement variances was noisy and too small
 2014-02-23 19:50:37 +11:00
Paul Riseborough 01c84c3f47 AP_NavEKF : fixed bug in height limit range 2014-02-23 19:50:36 +11:00
Paul Riseborough 36d619ec3a AP_NavEKF : Changed default IMU bias process noise to use smallest value 2014-02-23 19:50:36 +11:00
Paul Riseborough 89e0b48320 AP_NavEKF : Bug fix for height drift due to timer wrap-around 2014-02-23 19:50:35 +11:00
Paul Riseborough 939a32a7bb AP_NavEKF : Improved stability of Z accel bias 2014-02-23 19:50:34 +11:00
Paul Riseborough 9f3c19c03a AP_AHRS : change initialisation requirements for EKF and use dynamic method 2014-02-23 19:50:34 +11:00
Andrew Tridgell 6732d6c79b AP_InertialSensor: enable get_accel_count() and get_gyro_count() APIs for HIL 2014-02-23 19:10:07 +11:00
Andrew Tridgell 5d7346b5c2 HAL_SITL: fixed build with new HIL INS API 2014-02-23 19:09:41 +11:00