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9627 Commits

Author SHA1 Message Date
Andrew Tridgell 840c9e65bb AP_Baro: don't notify the GCS of new pressure reference too often 2015-11-09 14:34:07 +11:00
Andrew Tridgell e873ff1e5f AP_Param: copter with vectors when sending parameters 2015-11-09 14:28:20 +11:00
Peter Barker 1b13315092 AP_Baro: notify GCS of calibration 2015-11-09 09:23:20 +11:00
Peter Barker 5f9b1c5f4e AP_Param: provide facility to notify GCS of param set 2015-11-09 09:23:20 +11:00
Peter Barker 046b008889 AP_Param: send saved param values to all GCS 2015-11-09 09:23:20 +11:00
Peter Barker 368363531f GCS_MAVLink: provide facilities to send param values to all GCS 2015-11-09 09:23:20 +11:00
Tom Pittenger 73c5234633 AP_Terrain: cache status 
instead of computing the terrain status on-demand, assign it in update() and cache the result. Then external tasks that check the status won't be doing terrain intensive calculations in their thread. All the calculations needed for the status were being performed in update already so this is an optimization.
 2015-11-09 08:36:41 +11:00
Paul Riseborough f08a4af751 AP_NavEKF2: Remove redundant if statement 
Thank you to OXINARF for picking up this one
 2015-11-08 17:06:57 +11:00
Paul Riseborough 0f8cfa02ab AP_NavEKF: Remove redundant if statement 
Thank you to OXINARF for picking up this one
 2015-11-08 17:06:57 +11:00
Paul Riseborough 2243f95074 AP_NavEKF: Enable clean entry into GPS aiding whilst in-flight 
Ensures that the latest GPS data is used to reset the states.
Separates the logic used to set the origin from the logic used to determine when to reset states and commence GPS aiding
 2015-11-08 17:06:49 +11:00
Paul Riseborough 9efc2152fc AP_NavEKF2: Fix comment 2015-11-08 16:26:04 +11:00
Paul Riseborough a8983d075f AP_NavEKF2: Enable clean entry into GPS aiding in-flight 
The setting of the EKF origin and the entry into GPS aiding mode have been separated to make the logic clear.
The order of operations has been changed to ensure that when a reset to GPS is performed, a valid GPS measurement is available in the buffer
Declaration of GPS availability is not made unless the GPS data has been entered into the buffer
 2015-11-08 16:26:04 +11:00
Paul Riseborough f99dbc70f9 AP_NavEKF2: Don't return ready to use GPS true if user has inhibited GPS 2015-11-08 16:26:04 +11:00
Paul Riseborough d6f7156f4e AP_NavEKF2: Fix timing offset in position reset calculation 
the correction for GPS latency now uses the correct time for that observation
 2015-11-08 16:26:04 +11:00
Paul Riseborough 803817821d AP_AHRS: Support changes to EKF2 interfaces that specify the instance 
An instance of -1 is specified which causes data for the primary instance to be returned.
 2015-11-08 15:37:28 +11:00
Paul Riseborough 138315af21 DataFlash: Add logging for second NKF instance 2015-11-08 15:37:28 +11:00
Paul Riseborough 0b64ad0123 AP_NavEKF2: Enable EKF instance to be specified when requesting public data 
Only applied to interfaces required for data logging.
If an invalid instance is requested, the data for the primary instance is returned. This allows the primary data to be returned by calling with a -1 instance value.
 2015-11-08 15:37:28 +11:00
Paul Riseborough dfdacf2ddc GCS_MAVLink: Accommodate change to EKF2 interface 
Return euler angles for primary instance
 2015-11-08 15:37:28 +11:00
Paul Riseborough 5b1d6f2aa2 DataFlash: accomodate change in EKF2 interface 2015-11-08 15:37:28 +11:00
Paul Riseborough 243888e923 GCS_MAVLink: accomodate change in EKF2 interface 2015-11-08 15:37:28 +11:00
Paul Riseborough 6c2dc3ccf8 AP_NavEKF2: Publish the number of instances 2015-11-08 15:37:27 +11:00
Paul Riseborough 46e4c45537 DataFlash: Only log EKF messages when enabled 2015-11-08 15:37:27 +11:00
Paul Riseborough 624f169b9b AP_NavEKF: Publish enabled status 2015-11-08 15:37:27 +11:00
Paul Riseborough 65e4a4ab94 AP_NavEKF2: Use correct casting of integers when printing 
Changes in response to review comments
 2015-11-08 15:37:27 +11:00
Paul Riseborough 987d261109 DataFlash: Update logging of EKF2 primary core index 
Changes made in response to review comments
 2015-11-08 15:37:27 +11:00
Paul Riseborough 2dcaeb0304 AP_NavEKF2: Update publishing of primary core index 
Changes made in response to review comments
 2015-11-08 15:37:27 +11:00
Paul Riseborough 1858da8307 AP_NavEKF2: Better switching in response to faults 
Make selection sticky
If fault detected or unhealthy, then switch to healthy core with lowest fault score.
If no healthy core found, do not switch.
 2015-11-08 15:37:27 +11:00
Paul Riseborough 5f6d1d8d25 AP_NavEKF2: Add fault score calculation 2015-11-08 15:37:27 +11:00
Paul Riseborough 4884b2d38a DataFlash: Log the primary EKF2 index 2015-11-08 15:37:27 +11:00
Paul Riseborough b24507d33c AP_NavEKF2: Publish the primary EKF index 2015-11-08 15:37:27 +11:00
Paul Riseborough 04165a60a7 AP_NavEKF2: Reduce false positive on EKF health check 
Apply filtering to baro innovation check and and don't apply innovation checks once aiding has commenced because GPS and baro disturbances on the ground and during launch could generate a false positive
 2015-11-08 15:37:27 +11:00
Paul Riseborough 49f9ea317c AP_NavEKF: Update console message and param descriptions for multiple EKF's 2015-11-08 15:37:26 +11:00
Paul Riseborough 2340e18fdc AP_NavEKF2: Offset the fusion time horizon between multiple instances 
Prevents frame over-runs due to simultaneous fusion of measurements on each instance.
The offset is only applied if less than 5msec available between frames
 2015-11-08 15:37:26 +11:00
Paul Riseborough 3eeff8dbc6 AP_NavEKF2: Remove unused code 
This method of correcting for the fusion time horizon delay was too computationally expensive for our application and did not smooth fusion noise.
 2015-11-08 15:37:26 +11:00
Paul Riseborough d48454ee2d AP_NavEKF2: Use nominated IMU unless unavailable 
We now run a separate instance of the EKF for each IMU, so input data fusion of IMU's is no longer required.
 2015-11-08 15:37:26 +11:00
Siddharth Bharat Purohit 392fce76b2 AP_NavEKF: define getGpsGlitchStatus function 2015-11-08 12:55:58 +09:00
Andrew Tridgell 2ffabe9e05 AP_BoardConfig: fixed PX4v1 build 2015-11-06 17:10:08 +11:00
Andrew Tridgell d52279af27 AP_NavEKF2: don't try to allocate last bytes of memory to EKF2 2015-11-06 10:42:58 +11:00
Andrew Tridgell ee78e2d618 AP_NavEKF2: set primary to first healthy core 2015-11-06 10:42:58 +11:00
Andrew Tridgell 2ab2afc86a AP_NavEKF2: added EK2_IMU_MASK for multiple IMUs 
no voting between multiple IMUs yet
 2015-11-06 10:42:58 +11:00
Andrew Tridgell 56909ce973 AP_NavEKF: split EKF1 into frontend and backend 
this allows the primary EKF to be allocated dynamically, allowing for
experiments with EKF2 with multi-IMU support
 2015-11-06 10:42:57 +11:00
Andrew Tridgell c334bd0ddf AP_BoardConfig: added BRD_CAN_ENABLE option 
this allows uavcan to be enabled/disabled at boot. When it is disabled
we save about 25k of memory, allowing for more options for things like
multiple EKF
 2015-11-06 10:23:37 +11:00
Lucas De Marchi e9c6702269 AP_HAL_VRBRAIN: fix typo using comma operator 
We want to return mallinfo().fordblks, not the struct using the comma
operator with a non-existing fordblks variable.
 2015-11-05 15:48:32 -02:00
Lucas De Marchi 0d95a9c41d AP_OpticalFlow: reduce lock region 
Release the lock as soon as we can.
 2015-11-05 16:12:03 +09:00
Lucas De Marchi 70edf31ca6 AP_OpticalFlow: make error path common 2015-11-05 16:12:00 +09:00
Lucas De Marchi 7b726d824d AP_OpticalFlow: remove num_errors increment due to busy bus 
num_errors should be used to detect bad bus transfers, not if we
actually read something. Since we are using i2c_sem->take_nonblocking()
failing here is more likely if the bus is shared.
 2015-11-05 16:11:58 +09:00
Lucas De Marchi 41ddb67712 AP_OpticalFlow: pack struct passed to I2C layer 
We pass "sizeof(i2c_integral_frame)" to hal.i2c->readRegisters(). Since
we have a padding in i2c_integral_frame we actually read 3 bytes more
than we should. Add PACKED to the struct so this is fixed.

i2c_frame doesn't have a padding (or hole) so there isn't this problem,
but since it's also used to calculate the frame size, use PACKED there
too.
 2015-11-05 16:11:56 +09:00
Andrew Tridgell 49799257ea GCS_MAVLink: handle available memory of over 64k in mavlink 2015-11-05 16:09:00 +11:00
Andrew Tridgell 883ac59e4a HAL_Linux: always report 256k of available memory 2015-11-05 16:09:00 +11:00
Andrew Tridgell 567ea0e420 HAL_VRBRAIN: make available_memory() uint32_t 2015-11-05 16:09:00 +11:00
Andrew Tridgell 81e34006a5 HAL_SITL: make available_memory() uint32_t 2015-11-05 16:09:00 +11:00
Andrew Tridgell ac1c0bba15 HAL_PX4: make available_memory() uint32_t 2015-11-05 16:09:00 +11:00
Andrew Tridgell 8a4c0593f2 AP_HAL: make available_memory() uint32_t 2015-11-05 16:09:00 +11:00
Andrew Tridgell a3ca732403 AP_Airspeed: show health status in examples 2015-11-05 16:09:00 +11:00
Andrew Tridgell 75d2aed6e1 HAL_SITL: added help for uart command line checks 2015-11-04 14:26:55 +11:00
Víctor Mayoral Vilches d5d1bfae8c AP_HAL_Linux: Adapt code to common RPI layer 2015-11-04 13:58:25 +11:00
Víctor Mayoral Vilches b1a53c383c AP_HAL_Linux: Add AnalogIn_ADS1115, common code 
This commit provides a single abstraction for both
Erle-Brain 2 and Navio boards.
 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 47d43c64ef AP_HAL_Linux: Add RCInput_RPI, merge common code 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 4a2fe12652 AP_Notify: Add support for Erle-Brain 2 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches b54b8aa8af AP_HAL_Linux: AP_BoardLED add support for Erle-Brain 2 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 30faf7e92a AP_InertialSensor: Add Erle-Brain 2 support 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 739fc0df35 AP_HAL_Linux: UtilRPI, add Erle-Brain 2 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 30153b6eac AP_HAL_Linux: Scheduler, add Erle-Brain 2 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 8ae8f47538 AP_HAL_Linux: SPIDriver, add Erle-Brain 2 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 68c92eab25 AP_HAL_Linux: GPIO, add Erle-Brain 2 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 90a00553cb AP_HAL: Boards, add Erle-Brain 2 2015-11-04 13:58:24 +11:00
Lucas De Marchi dd784189a1 AP_AHRS: remove comment about avr-libc 2015-11-04 12:14:16 +11:00
Lucas De Marchi 1a9b57da1f AP_GPS: remove check for GPS_SKIP_SIRF_NMEA 2015-11-04 12:14:15 +11:00
Lucas De Marchi c32d323cd6 GCS_MAVLink: remove check for GPS_RTK_AVAILABLE 2015-11-04 12:14:15 +11:00
Lucas De Marchi e31595c60c AP_GPS: remove check for GPS_RTK_AVAILABLE 2015-11-04 12:14:15 +11:00
Lucas De Marchi c75c1d84d9 AP_GPS: remove check for GPS_MAX_INSTANCES 
All supported boards may have more than 1 GPS instance.
 2015-11-04 12:14:15 +11:00
Lucas De Marchi c74b1a660d DataFlash: remove DATAFLASH_NO_CLI 
This is not used anymore since the removal of AVR CPUs.
 2015-11-04 12:14:15 +11:00
Lucas De Marchi 2a91d2169e RC_Channel: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:14 +11:00
Lucas De Marchi 45c472205b GCS_MAVLink: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:14 +11:00
Lucas De Marchi 1e839f97ed DataFlash: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:14 +11:00
Lucas De Marchi ca4ae1c9e0 AP_Motors: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:14 +11:00
Lucas De Marchi fb28f426da AP_Math: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:14 +11:00
Lucas De Marchi 255e04a841 AP_HAL: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:14 +11:00
Lucas De Marchi 4cef751aef AP_GPS: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:14 +11:00
Lucas De Marchi 8eef58a8c2 AP_Baro: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:14 +11:00
Lucas De Marchi da86e29c27 AP_AHRS: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:14 +11:00
Lucas De Marchi bdf92e8c79 StorageManager: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi 2847af905e RC_Channel: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi 039f42d916 GCS_MAVLink: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi 7cc96f3845 GCS_Console: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi 0dfeae2556 DataFlash: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi 3ba00feda4 AP_SerialManager: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi 8d9dfcab27 AP_Relay: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi 8d86d79c0b AP_RangeFinder: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi 0c6b47e331 AP_Parachute: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Lucas De Marchi d2c18a5c7b AP_Notify: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Lucas De Marchi d00c8e3a34 AP_NavEKF: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Lucas De Marchi e0e7b73ceb AP_NavEKF2: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Lucas De Marchi ad094b9073 AP_Mount: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Lucas De Marchi 3941bb7347 AP_Mission: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Lucas De Marchi c7871d1bca AP_Math: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Lucas De Marchi 266bb3b759 AP_L1_Control: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Lucas De Marchi 3142f21363 AP_InertialSensor: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Lucas De Marchi cf8203c08b AP_HAL_SITL: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Lucas De Marchi 8e65e88d06 AP_HAL: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:11 +11:00