murata
0ee8edc29d
Plane: Change from printf statement to print, println statement.
2016-11-25 15:57:15 -08:00
murata
8f80aa9c94
Tracker: Change from printf statement to print, println statement.
2016-11-25 15:53:47 -08:00
Andrew Tridgell
f2246326bb
AP_Baro: added MS5611 probing, and support 3 baros on Pixhawk2
...
this adds sensor probing for barometers, simplifies the MS5611 driver,
and adds support for the I2C external barometers on Pixhawk2
2016-11-25 21:40:11 +11:00
Andrew Tridgell
954728c9e9
AP_HAL: added set_chip_select() API
...
for devices with unusual timings
2016-11-25 21:26:27 +11:00
Andrew Tridgell
638e89bd1d
HAL_PX4: implement set_chip_select for SPI
2016-11-25 21:24:10 +11:00
Andrew Tridgell
60801314e0
HAL_PX4: added different modes for external SPI
...
and lower bus speed to 1MHz
2016-11-25 21:24:10 +11:00
Andrew Tridgell
bcb6663187
HAL_PX4: added table of actual bus speeds for SPI
2016-11-25 20:31:43 +11:00
Andrew Tridgell
27605b0258
AP_InertialSensor: run invensese reg checking at low speed
...
config register read/write should be at low bus speed.
also change to check every 20 calls to reduce checking cost
2016-11-25 20:31:40 +11:00
Andrew Tridgell
7100272f14
AP_HAL: default to register checking every 10th call
...
this saves having this in nearly all callers
2016-11-25 20:31:36 +11:00
Andrew Tridgell
0e793e1214
HAL_PX4: lower SPI bus speed on invensense devices
...
now we are using DMA we don't need such high bus speed, and this makes
SPI reliable with a wider range of devices.
2016-11-25 18:32:19 +11:00
Andrew Tridgell
7d57f00ca0
AP_Compass: removed debug line
...
this is now common when using in-tree drivers
2016-11-25 18:23:53 +11:00
Andrew Tridgell
0f984290c3
AP_InertialSensor: enable fast sampling by default on some boards
2016-11-25 17:59:54 +11:00
Andrew Tridgell
026c65d364
PX4Firmware: submodule update
...
added SPI DMA support on stm32
2016-11-25 17:50:49 +11:00
Andrew Tridgell
f62972d966
AP_Compass: fixed build on bhat
...
enable both compasses if found
2016-11-25 17:50:24 +11:00
Andrew Tridgell
1f403b02ef
AP_Compass: switch to continuous 155Hz mode for LIS3MDL
2016-11-25 17:50:24 +11:00
Andrew Tridgell
62805f59fa
AP_Compass: added AK09916 driver
...
yet another magnetometer!
2016-11-25 17:50:24 +11:00
Andrew Tridgell
17a117b324
AP_Compass: be a bit less verbose in startup
2016-11-25 17:50:23 +11:00
Andrew Tridgell
0e4b8781b2
AP_Compass: auto-detect LIS3MDL compass
2016-11-25 17:50:23 +11:00
Andrew Tridgell
b6b2919126
AP_Compass: don't panic on too many compasses
...
just use the first ones found. Panicing because you have too many
isn't useful
2016-11-25 17:50:23 +11:00
Andrew Tridgell
40ef68f104
AP_Compass: added a LIS3MDL compass driver
2016-11-25 17:50:23 +11:00
Andrew Tridgell
f3a778f980
AP_InertialSensor: fixed freeing of fifo buffer
2016-11-25 17:50:19 +11:00
Andrew Tridgell
6f28c61c8d
AP_InertialSensor: changed SIZE to LEN
...
thanks to Lucas for suggestion
2016-11-25 17:50:19 +11:00
hiro2233
cb7f46d653
AP_InertialSensor: fixed handling of user_ctrl register
...
with aux bus implementations
2016-11-25 17:50:18 +11:00
Andrew Tridgell
29bbee421e
HAL_PX4: enable sharing of SPI bus with PX4 with DMA
2016-11-25 17:50:18 +11:00
Andrew Tridgell
7ad1e98de9
PX4NuttX: support DMA on SPI
2016-11-25 17:49:58 +11:00
Andrew Tridgell
9b4c588c09
AP_InertialSensor: adapt drivers for SPI-DMA capable systems
...
no longer need accumulate() transfers with SPI enabled DMA on stm32
2016-11-25 17:49:58 +11:00
Andrew Tridgell
3fad5ca065
HAL_PX4: implement DMA allocation routines
2016-11-25 17:49:58 +11:00
Andrew Tridgell
e42bb20052
AP_HAL: added dma allocation routines to hal.util
2016-11-25 17:49:58 +11:00
Andrew Tridgell
28daddaaf2
AP_InertialSensor: don't use accumulate approach on Linux or I2C
2016-11-25 17:49:57 +11:00
Andrew Tridgell
d9c8db7024
AP_InertialSensor: implement a new strategy for fast sampling
...
this moves to using a 1p filter on the high rate data, followed by
averaging down to 1kHz then a 2p filter to apply configured cutoff
frequency.
It also fixes the FIFO reset to not cause data corruption. We need to
disable all FIFO channels before doing the reset, and wait for the
FIFO to stop in the sensor.
Finally it moves sampling of the MPU6000 and MPU9250 into the main
thread. That significantly improves scheduling performance as we no
longer get long FIFO SPI transfers happening during other tasks. All
transfers happen at the start of the fast loop. That makes timing much
more predictable.
Thanks to Leonard and Paul for help with this design!
2016-11-25 17:49:57 +11:00
Andrew Tridgell
b165e025d9
Filter: added new constructor for 1p filter
...
allow both sample rate and cutoff to be specified in constructor
2016-11-25 17:49:57 +11:00
Andrew Tridgell
7220dc15f9
HAL_PX4: adjusted bus speeds on invensense sensors
2016-11-25 17:49:57 +11:00
Andrew Tridgell
5934a099a4
AP_HAL: added support for more SRXL varients
...
based on work by Roman Seb <roman-29188@gmx.de>
2016-11-24 22:54:23 +11:00
Andrew Tridgell
65ce9821be
PX4Firmware: submodule update
...
update to SRXL driver from Roman Seb
2016-11-24 22:54:23 +11:00
priseborough
0a177d04fd
AP_NavEKF2: Simply core switch implementation
...
Functionally equivalent
2016-11-24 19:58:10 +09:00
priseborough
7d48054e6f
AP_NavEKF2: Group GPS innovation tests when compiling error score
2016-11-24 19:58:07 +09:00
Randy Mackay
e9ea06bd10
AP_NavEKF2: minor comment fix
2016-11-24 19:58:03 +09:00
Randy Mackay
a32068a973
AC_WPNav: remove ekf position reset handler
...
This has been migrated to the position control library
2016-11-24 19:58:00 +09:00
Randy Mackay
1012333eef
AC_PosControl: add ekf position reset handling
...
Previously this was in AC_WPNav and used only for loiter but it should work for any flight modes that use horizontal or vertical position control
2016-11-24 19:57:56 +09:00
Randy Mackay
c615bac1cd
AP_AHRS: add getLastPosDownReset accessor
2016-11-24 19:57:53 +09:00
Randy Mackay
6406e34016
AC_WPNav: remove unused _loiter_step member
2016-11-24 19:57:50 +09:00
priseborough
0df45703f1
AP_NavEKF2: Fix errors in position reset delta publishing
2016-11-24 19:57:47 +09:00
priseborough
f6021c959d
AP_NavEKF2: capture and publish vertical position reset deltas
...
Calculate the change in vertical position due to a internal EKF state reset or a EKF core switch
2016-11-24 19:57:45 +09:00
priseborough
e62863f9a1
AP_NavEKF2: Reduce unnecessary EKF core switching
...
1) Do not switch to a core until its states have been updated.
2) Distinguish between mandated switches required for health failure and optional switches required due to innovation checks failing.
3) Apply hyseresis to innovation check levels
2016-11-24 19:57:41 +09:00
murata
de153ce1d7
AP_NavEKF: Correct the setting process of variable dAngBiasSigma.
2016-11-24 03:24:18 +00:00
murata
ec42ddfb4e
AP_NavEKF: style changes (tab to spaces, etc.)
...
AP_NavEKF: style changes (tab to spaces, etc.)
AP_NavEKF: style changes (tab to spaces, etc.)
2016-11-24 03:24:18 +00:00
Pierre Kancir
5ed9d22bf6
Rover: correct indentation and style on GCS_Mavlink
...
Remove trailling whitespace, tabs, limit single line if-statement scope, add missing space
2016-11-24 09:34:48 +11:00
Pierre Kancir
326e0f224f
Rover: added SYSID_ENFORCE parameter
2016-11-24 09:34:48 +11:00
Pierre Kancir
8c0de11d6d
APMrover2: remove double include stdarg.h
2016-11-23 18:47:34 +00:00
ShingoMatsuura
e9feb7bdda
AP_RangeFilnder: moved the const buffer definition to the header and changed from '8' to 'sizeof(send_request_buffer)'
2016-11-23 10:28:38 -08:00
