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11059 Commits

Author SHA1 Message Date
Tom Pittenger f2d744b7c9 APM_OBC: non-functional change - cleaned up logic 2016-04-22 16:05:02 -07:00
James Stoyell 48a7363608 APM_OBC: Added params for AUVSI student competition 2016-04-22 11:48:31 -07:00
Francisco Ferreira af6d8e3c36 AP_Param: explicitly cast to float to avoid Clang warning 
/home/travis/build/ArduPilot/ardupilot/libraries/AP_Param/AP_Param.h:542:22: warning: using floating point absolute value function 'fabsf' when argument is of integer type [-Wabsolute-value]
        bool force = fabsf(_value - v) < FLT_EPSILON;
 2016-04-22 17:33:06 +01:00
Randy Mackay 71692044f8 AP_Parachute: resolve compile warning re init order 2016-04-22 21:32:35 +09:00
Tom Pittenger 431b3c7160 AP-TECS: constrain proportion to 0-1 for spdweight scale so it doesn't grow backup after land point 2016-04-21 21:31:02 -07:00
Tom Pittenger 25c3367341 AP_L1 - add a stale flag 
threading bug fix. When a mission wp updates, but the L1 controller had not yet, the data is stale. Example, On Plane when NAV_LAND starts for a moment your xtrack and bearing is most likely bear zero regardless if you have a big turn or not until 10 Hz later when the update() gets called and updates those values with correct values for the new waypoint.
 2016-04-21 21:30:57 -07:00
Tom Pittenger 2ce964c8ac AP_L1_Controller: add accessor for xtrack_error_integrator 2016-04-21 21:30:54 -07:00
Tom Pittenger 595badce3e AP_TECS: rely on single flag for all land stage differences 
recent fixes in Plane have made the stage more accurate so exceptions/hacks are no longer needed to differentiate between knowing if executing NAV_LAND vs being in stage_approach.
 2016-04-21 21:30:52 -07:00
Tom Pittenger 0af878703f AP_TECS: move target land_airspeed logic to top layer 2016-04-21 21:30:49 -07:00
Tom Pittenger 525c7b24e3 AP_TECS: created accessor for TECS_LAND_ARSPD param 2016-04-21 21:30:48 -07:00
Andrew Tridgell 0af322e90d HAL_PX4: added comment on oneshot 2016-04-22 13:50:05 +10:00
Andrew Tridgell 5ce7ae71a7 HAL_PX4: fixed enabling oneshot on a subset of motors 2016-04-22 13:24:24 +10:00
Andrew Tridgell fd7c87e629 AP_Motors: allow enabling oneshot on a subset of motors 2016-04-22 13:24:04 +10:00
Andrew Tridgell bcd0d48ced HAL_PX4: fixed non-contiguous motor outputs 
this fixes tricopter with chan3 never set
 2016-04-22 11:51:08 +10:00
Andrew Tridgell 180a7905e5 SITL: make Z down in motors 2016-04-22 10:45:55 +10:00
Andrew Tridgell 46f368f17d HAL_SITL: support fireflyy6 as quadplane 2016-04-22 10:28:15 +10:00
Andrew Tridgell aa80851138 SITL: support fireflyY6 quadplane model 2016-04-22 10:28:15 +10:00
Andrew Tridgell 8880635fe1 SITL: support vtail and elevon planes in builtin plane sim 
remove old tiltrotor in favor of new tiltrotor code
 2016-04-22 10:28:15 +10:00
Andrew Tridgell b4d24d8e03 SITL: fixed rotations of motors by large angles 2016-04-22 10:28:15 +10:00
Andrew Tridgell 6165c42535 AP_Math: added from_axis_angle() method on Matrix3f 
for arbitrary rotations in simulator
 2016-04-22 10:28:15 +10:00
Andrew Tridgell f2c63e24c5 AP_Motors: allow tricopter motor 7 to be moved to any output 2016-04-22 08:32:03 +10:00
Tom Pittenger 0e775f595d AP_BattMonitor: make param BATT_WATT_MAX plane only 2016-04-21 13:59:45 -07:00
Rimvydas Naktinis df922dacfa Plane: Suppress throttle when parachute release initiated, not after release. 2016-04-21 09:53:22 -07:00
Andrew Tridgell 21fb38da8f HAL_SITL: support Y6 frame 2016-04-21 21:11:46 +10:00
Andrew Tridgell 71ca534ec6 SITL: added Y6 frame 2016-04-21 21:11:38 +10:00
Andrew Tridgell 41b3cb2ff7 HAL_SITL: support tri sim 2016-04-21 20:29:58 +10:00
Andrew Tridgell 49822effca SITL: added tricopter simulator 2016-04-21 20:29:49 +10:00
Andrew Tridgell c262d6a1b4 SITL: break up multicopter into Motor/Frame/Multicopter classes 
ready for more tiltrotors
 2016-04-21 19:56:44 +10:00
Michael du Breuil fd51c3cc16 AP_TECS: Remove hgt_afe from update_50hz() 2016-04-21 17:03:00 +10:00
Michael du Breuil 475e731e34 AP_SpdHgt_Control: Remove hgt_afe from update_50hz() 2016-04-21 17:03:00 +10:00
Andrew Tridgell c765979f9a DataFlash: expose the number of lost log messages 
will be logged in PM message
 2016-04-21 16:45:02 +10:00
Andrew Tridgell ced4cce358 AP_Scheduler: added optional perf counters at SCHED_DEBUG >= 4 2016-04-21 16:45:02 +10:00
Randy Mackay 4419b3c617 AHRS_NavEKF: fix get_position by using ekf origin 
The EKF's getPosNED returns a vertical position relative to the EKF origin but previously this function was using it as if it was relative to ahrs's home
 2016-04-21 11:23:07 +10:00
Jonathan Challinger a7f959e6f9 AP_Notify: add ToneAlarm_PX4_Solo 2016-04-21 10:05:36 +10:00
Jonathan Challinger d2ca2d2e0e AP_Notify: change OREOLED config to ifdef 2016-04-21 10:04:37 +10:00
Jonathan Challinger 06ccf88cc9 AP_BattMonitor_SMBus: set AP_Notify powering_off flag 2016-04-21 10:04:37 +10:00
Jonathan Challinger dba55182af AP_Notify: add flags.powering_off 2016-04-21 10:04:37 +10:00
Andrew Tridgell ac60901b0c AP_NavEKF2: use vector comparison for new mag vector 2016-04-21 09:56:22 +10:00
Jonathan Challinger 6a5f1c0bec AP_AHRS_NavEKF: reflect changes to getMagOffsets 2016-04-21 09:53:03 +10:00
Jonathan Challinger 97112ccd44 AP_NavEKF2: check mag instance id when returning mag offsets 2016-04-21 09:51:41 +10:00
Jonathan Challinger 6938e3d57b AP_NavEKF: check mag instance id when returning mag offsets 2016-04-21 09:51:41 +10:00
Jonathan Challinger 1185cd1be7 AP_NavEKF2: move getMagOffsets into outputs 2016-04-21 09:51:41 +10:00
Jonathan Challinger acfaafe276 AP_NavEKF2: detect changes to magnetometer offset parameters and reset states 2016-04-21 09:51:41 +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 57aef8e1e9 SITL: added basic wind support in multicopter, plane and quadplane 
this adds non-turbulent wind support for the built-in simulators. I
added it primarily for quadplane testing, but it should also be useful
for multicopter navigation testing.
 2016-04-20 11:48:37 +10:00
Andrew Tridgell 28aa4c40cc HAL_PX4: fixed order of wifi and frsky on FMUv4 
thanks to OXINARF for noticing!
 2016-04-20 10:23:11 +10:00
Andrew Tridgell 4a35f8e9fc HAL_PX4: fixed comments for FMUv4 uarts 2016-04-20 10:08:48 +10:00
Andrew Tridgell 4ef977c68b HAL_SITL: fixed initial path for uartF 2016-04-20 10:08:35 +10:00
Andrew Tridgell ef180710db AP_SerialManager: fixed doc strings 2016-04-20 10:03:45 +10:00
Andrew Tridgell 62986957b4 GCS_MAVLink: raise number of mavlink buffers to 5 2016-04-20 09:39:50 +10:00
Andrew Tridgell 0baf8ee2eb AP_SerialManager: added SERIAL5_* support 2016-04-20 09:39:49 +10:00
Andrew Tridgell 6120631977 HAL_VRBRAIN: added uartF 2016-04-20 09:39:49 +10:00
Andrew Tridgell 0d27409511 HAL_SITL: added uartF 2016-04-20 09:39:49 +10:00
Andrew Tridgell 9c9f66e5f3 HAL_QURT: added uartF 2016-04-20 09:39:49 +10:00
Andrew Tridgell 18ccaf7e2b HAL_PX4: added uartF 2016-04-20 09:39:49 +10:00
Andrew Tridgell c7dabad02c HAL_Linux: added uartF 2016-04-20 09:39:49 +10:00
Andrew Tridgell 543604731f HAL_FLYMAPLE: added uartF 2016-04-20 09:39:49 +10:00
Andrew Tridgell a78e23d6fb HAL_Empty: added uartF 2016-04-20 09:39:49 +10:00
Andrew Tridgell 76868dd070 AP_HAL: added uartF 2016-04-20 09:39:48 +10:00
Andrew Tridgell 2a214f1e46 AP_GPS: support a wider variety of NMEA receivers 
some reeivers use a different talker ID. This allows us to accept
them.
 2016-04-18 15:30:17 +10:00
Lucas De Marchi 0d9b9433da GCS_MAVLink: fix home position unit 
As per documentation the home position is in mm. Since location stores
it in cm, convert to mm before sending.
 2016-04-18 13:07:45 +10:00
Michael du Breuil bb7cf6c0b6 AP_Math: Update location_sanitize to sanitize for lat/lng 2016-04-17 19:00:03 -07:00
Francisco Ferreira b7135175c9 AC_AttitudeControl: fix heli documentation 2016-04-18 07:40:34 +09:00
Andrew Tridgell 8586b0ae5a APM_Control: added tuning accessors 2016-04-16 20:37:33 +10:00
Andrew Tridgell a731caa4ab HLA_PX4: prevent timer disturbance in oneshot mode 2016-04-16 18:52:31 +10:00
Andrew Tridgell 6df4d11d3f AP_Motors: ensure OneShot125 is within 125 to 250usec 2016-04-16 18:52:12 +10:00
Andrew Tridgell d9d6f87195 HAL_PX4: fixed bug in pwm send code 
many thanks to Oxinarf for spotting this!
 2016-04-16 08:32:04 +10:00
Andrew Tridgell c9dfccfb26 HAL_PX4: improved oneshot support 
this now supports oneshot properly on both IO and FMU
 2016-04-16 07:30:44 +10:00
Andrew Tridgell 2304c41f44 AP_BoardConfig: use hal.rcout->enable_sbus_out() 2016-04-16 07:30:43 +10:00
Andrew Tridgell 6f284d673a HAL_PX4: enable oneshot support on px4io 2016-04-16 07:30:43 +10:00
Andrew Tridgell b94e577cb8 AP_HAL: added enable_sbus_out() call in RCOutput 2016-04-16 07:30:43 +10:00
Lucas De Marchi ff10d1136c AP_GPS: reorganize includes 
Due to the way the headers are organized a single change in a
AP_GPS backend would trigger a rebuild for most of the files in the
project. Time could be saved by using ccache (since most of the things
didn't change) but we can do better, i.e.  re-organize
the headers so we don't have to re-build everything.

This makes internal headers internal and then other libraries only
depend on the AP_GPS.h header.
 2016-04-14 21:01:51 -03:00
Andrew Tridgell e83a3d8185 AP_Camera: clearer parameter docs for trigger pin 2016-04-15 09:33:47 +10:00
Andrew Tridgell 9f31fbb895 AP_Camera: support fast timer capture on AUX4 on Pixhawk 
microsecond capture of hot-shoe
 2016-04-15 09:28:51 +10:00
Andrew Tridgell 5b8401cbbc AP_BoardConfig: allow setup of more complex modes for aux pins on PX4 
this allows for setting up of timer capture pins
 2016-04-15 09:23:46 +10:00
Paul Riseborough 1ecc206eee AP_NavEKF2: Allow use in planes without a magnetometer 
Implements the following techniques to enable planes to operate without magnetometers.

1) When on ground with mag use inhibited, a synthetic heading equal to current heading is fused to prevent uncontrolled covariance growth.
2) When transitioning to in-flight, the delta between inertial and GPS velocity vector is used to align the yaw.
3) The yaw gyro bias state variance is reset following an in-flight heading reset to enable the yaw gyro bias to be learned faster.
 2016-04-15 08:31:47 +10:00
Peter Barker daa210729c AP_HAL_PX4: correct systemid output for PX4v4 2016-04-14 13:40:27 -07:00
Jonathan Challinger 18240107f0 AP_AHRS_NavEKF: add getGpsGlitchStatus 2016-04-14 12:24:04 +09:00
Jonathan Challinger a0e291bf89 DataFlash: add reason to MODE 2016-04-14 12:24:04 +09:00
Andrew Tridgell 16b3fe75d1 AP_RSSI: default to analog RSSI on pixracer 2016-04-14 11:13:47 +10:00
pepevalbe abb667fac3 AP_Notify: enable/disable buzzer in Linux based boards 2016-04-14 08:59:11 +09:00
pepevalbe c00cbcf076 AP_Notify: enable/disable buzzer in PX4 based boards 2016-04-14 08:59:08 +09:00
pepevalbe c9862b1502 AP_Notify: New parameter to enable/disable buzzer 2016-04-14 08:59:06 +09:00
Grant Morphett 5861b754cc Rover: fixing a bug the Rover simulation 
Just a small change to ensure the max_wheel_turn parameter is used
instead of a hard coded value.
 2016-04-14 08:55:04 +09:00
mirkix 0366bce9c1 AP_SerialManager: Fix FrSky baudrate comment 2016-04-14 08:46:49 +09:00
Andrew Tridgell fe2065cd72 AP_Motors: rename MOT_PWM_MODE to MOT_PWM_TYPE 
Randy prefers TYPE
 2016-04-14 08:05:07 +10:00
Andrew Tridgell c3546dfbb0 AP_BoardConfig: default to 6 PWM on FMUv4 
less likely to use relays
 2016-04-14 08:05:06 +10:00
Andrew Tridgell 8b6322082e AP_SerialManager: default wifi port to MAVLink at 921600 on Pixracer 2016-04-14 08:05:06 +10:00
Andrew Tridgell 8695668da3 HAL_PX4: enable wifi port on FMUv4 2016-04-14 08:05:06 +10:00
Andrew Tridgell 5922e67785 HAL_PX4: allow sbus output on channels beyond BRD_PWM_COUNT 2016-04-14 08:05:06 +10:00
Andrew Tridgell 759b0d6629 HAL_PX4: only support oneshot on FMU outputs for now 
oneshot on PX4IO gives some very weird results. I think it is doable,
but will take a bit more work
 2016-04-14 08:05:06 +10:00
Andrew Tridgell f54bcc6c7f AP_Motors: added oneshot support via MOT_PWM_MODE 
MOT_PWM_MODE=0 is normal
MOT_PWM_MODE=1 is oneshot
MOT_PWM_MODE=2 is oneshot125
 2016-04-14 08:05:05 +10:00
Andrew Tridgell 934b4dd475 HAL_PX4: support OneShot on PX4 
this greatly lowers output latency
 2016-04-14 08:05:05 +10:00
Andrew Tridgell e24d600e78 AP_HAL: added hal.rcout->set_output_mode() 2016-04-14 08:05:05 +10:00
Andrew Tridgell 36528965f7 AP_BoardConfig: added 7s timeout on uavcan startup 2016-04-14 08:05:05 +10:00
Andrew Tridgell 1d5deed72a HAL_PX4: fixed build for new px4 param functions 2016-04-14 08:05:04 +10:00
Randy Mackay 8d77bdec15 AP_MotorsMulti: minor comment fix 2016-04-14 05:45:24 +09:00
Lucas De Marchi affa759fb4 AP_GPS: add missing override 2016-04-13 11:27:19 -03:00
Michael du Breuil bd6aa982e7 AP_Arming: Fetch GPS configuration failure reason 2016-04-13 11:24:01 -03:00
Michael du Breuil 2538c17ee0 AP_GPS: add fetching of gps configuration failure reasons 2016-04-13 11:24:01 -03:00