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7029 Commits

Author SHA1 Message Date
Andrew Tridgell 3075cb058d AP_HAL: changed semantics of RCInput.new_input() 
this makes calling new_input() in RCInput clear the new input
flag. This fixes an issue with calls to read() for auxillary channels
clearing the new_input flag, which could cause brief failsafe
conditions.
 2015-02-09 10:39:05 +11:00
Andrew Tridgell 7a5ec6d75b GCS_MAVLink: allow use of RC_CHANNELS message on AVR too 
can have up to 11 channels
 2015-02-08 21:47:31 +11:00
Andrew Tridgell 33a3254d8b HAL_Linux: accept a smaller sync pulse width 2015-02-08 21:47:28 +11:00
Andrew Tridgell 7fb114752c AP_HAL_AVR: accept a much shorted sync pulse width on RCInput 
this should fix issues with OpenLRSng default settings
 2015-02-08 21:47:26 +11:00
Andrew Tridgell f2a919c55e AP_HAL_PX4: moved size of main thread stack to Scheduler.h 
make it more obvious
 2015-02-07 08:06:53 +11:00
Andrew Tridgell 1c270d17a8 AP_Airspeed: ignore temperatures below -80 
ETS driver on PX4 returns -1000
 2015-02-06 21:41:15 +11:00
Andrew Tridgell 4ecd99eb76 AP_Arming: added check for logging available 
this is used for refusing to fly without microSD inserted
 2015-02-06 19:05:02 +11:00
Randy Mackay fc4442bf61 AC_WPNav: rename xy_mode 2015-02-06 17:00:57 +09:00
Randy Mackay 186337f18e AC_PosControl: rename xy_mode enum values 
Also added a few comments and fixed formatting
 2015-02-06 17:00:55 +09:00
Jonathan Challinger 626521c366 AC_WPNav: update usage of update_xy_controller 2015-02-06 17:00:53 +09:00
Jonathan Challinger 3faca88423 AC_PosControl: allow control of xy rate constraint behavior 2015-02-06 17:00:48 +09:00
Andrew Tridgell cabf21194a AP_Arming: improved docs 2015-02-06 08:40:59 +11:00
Emile Castelnuovo 5c68980f05 AP_Notify: removed unused VRBRAIN files 2015-02-05 14:22:08 +09:00
Randy Mackay b66a1135d9 AHRS: fix example sketch compile error 2015-02-03 15:57:11 +09:00
Paul Riseborough aa94ff629d AP_NavEKF: Prevent bad GPS pre-arming casuing initial position errors 
If the vehicle moves significantly or the GPS changes position significantly pre-armed, then the GPS glitch logic was being invoked when the first GPs measurements were fused. This patch resets the position to the GPS when the vehicle arms.
 2015-02-03 15:57:10 +09:00
priseborough bc5581d634 AP_NavEKF: Prevent arming delays from failing GPS 
Due to the way that gyro calibration is done, the EKF could be effectively not run for up to 30 seconds in extreme cases, making it possible that the GPS would be failed on arming and the copter put into a non-GPS mode.

the longer term solution is to update the gyro calibration so that it does not hold up other processing. the short tyermfix in thsi patch is to look for evidence of a 3D lock in the last received GPS message.
 2015-02-03 15:57:09 +09:00
priseborough 2c012c2763 AP_NavEKF: Always check for new GPS data 
This fixes a bug that meant that once the EKF had started up in a non-GPS mode, it would no longer read the GPS and therefore would never be able to use GPS again until reset.
 2015-02-03 15:57:08 +09:00
Robert Lefebvre 14d76d158a AC_AttitudeControl: Correct comment. 2015-02-03 14:55:30 +09:00
Jonathan Challinger baa3e802ee AC_WPNav: clean up atan2 2015-02-03 14:48:04 +09:00
Randy Mackay 112f6a1854 AP_InertialNav: add comments 
No functional change
 2015-02-03 12:05:24 +09:00
Jonathan Challinger c95e7b2282 AP_InertialNav: add get_origin function 2015-02-03 11:38:21 +09:00
Andrew Tridgell fa7c584733 AP_Mount: fixed build on non-EKF systems 2015-02-03 09:49:17 +11:00
Andrew Tridgell f77f919588 AP_Mount: enable pan pointing in MAVLink backend 2015-02-03 09:49:17 +11:00
Andrew Tridgell 81f60bde06 AP_Mount: fill in all Location flags in ROI pointing 2015-02-03 09:49:17 +11:00
Andrew Tridgell cf76dcfbf3 AP_Mount: fixed mount MAVLink backend to match SITL sim behaviour 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:17 +11:00
Andrew Tridgell 75b1330843 AP_Mount: fixed radians to degrees error 2015-02-03 09:49:17 +11:00
Andrew Tridgell 032dcc3660 AP_Mount: fixed references to state in backends 2015-02-03 09:49:17 +11:00
Paul Riseborough 925d625ed1 AP_NavEKF: fix bug in small EKF velocity fusion 2015-02-03 09:49:17 +11:00
Paul Riseborough 8d6f0d08c9 AP_Mount: Update attitude control calculations and debug printing 2015-02-03 09:49:17 +11:00
Paul Riseborough 255252f387 AP_Math: Fix bug in quaternion division 2015-02-03 09:49:16 +11:00
Paul Riseborough 1660aefc90 AP_Mount: Add a simple attitude control loop to the gimbal report handling 2015-02-03 09:49:16 +11:00
Paul Riseborough 5f24603ceb AP_NavEKF: Publish small EKF quaternion and gyro bias outputs 2015-02-03 09:49:16 +11:00
Paul Riseborough 17445d03f0 AP_Math: Add quaternion division 2015-02-03 09:49:16 +11:00
Andrew Tridgell 79017096e2 AP_Mount: prototype code to send biases 2015-02-03 09:49:16 +11:00
Andrew Tridgell da27a8696d AP_Mount: added initial ekf estimation of gimbal bias 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:16 +11:00
Andrew Tridgell ee9c778834 AP_AHRS: added a get_NavEKF_const() function 
needed for AP_Mount_MAVLink

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:16 +11:00
Andrew Tridgell 4c8b663200 AP_NavEKF: added initial version of SmallEKF 
This will be used for gimbal bias estimations. 

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:16 +11:00
Andrew Tridgell 1bbe633691 GCS_MAVLink: re-generate headers 2015-02-03 09:49:15 +11:00
Andrew Tridgell b81cdf9250 GCS_MAVLink: change to delta_time in GIMBAL_REPORT 2015-02-03 09:49:15 +11:00
Andrew Tridgell 01b264951a AP_Mount: added handling of GIMBAL_REPORT messages 2015-02-03 09:49:15 +11:00
Andrew Tridgell 35c14c787e GCS_MAVLink: added handle_gimbal_report() function 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-02-03 09:49:15 +11:00
Andrew Tridgell a1536d575b GCS_MAVLink: added GIMBAL msgs to routing 2015-02-03 09:49:14 +11:00
Andrew Tridgell 01325b701a GCS_MAVLink: re-generate headers 2015-02-03 09:49:14 +11:00
Andrew Tridgell 3b2332a0c7 GCS_MAVLink: added target_system/component to GIMBAL_REPORT 2015-02-03 09:49:14 +11:00
Andrew Tridgell 51ce4d3217 GCS_MAVLink: re-generate 2015-02-03 09:49:14 +11:00
Andrew Tridgell df735e2ddb GCS_MAVLink: change euler312 order conventions 2015-02-03 09:49:13 +11:00
Andrew Tridgell 53adcc9a25 GCS_MAVLink: regenerate MAVLink headers 2015-02-03 09:49:13 +11:00
Andrew Tridgell 73670edda6 GCS_MAVLink: added GIMBAL messages, mavlink ID and type 2015-02-03 09:49:13 +11:00
Randy Mackay 6cfd48d0c6 Buzzer: handle arming_failed as event 2015-02-03 06:14:55 +09:00
Randy Mackay a991b4a823 Linux: handle arming_failed as event 2015-02-03 06:14:54 +09:00
Randy Mackay 3361002379 ToneAlarm: handle arming_failed as event 2015-02-03 06:14:53 +09:00
Randy Mackay bd1ae13fdb Notify: arming_failed flag moved to events 2015-02-03 06:14:53 +09:00
Randy Mackay 6a827459ad Notify: increase size of flags type 2015-02-03 06:14:52 +09:00
Randy Mackay 0a68d4ef39 Notify: clear all flags and events during init 2015-02-03 06:14:44 +09:00
Randy Mackay 272768bc0f Notify: init RGBLed members 2015-02-03 06:14:35 +09:00
Randy Mackay 3550e52560 MotorsTri: add 80% throttle limit 
This limit was moved from the main copter flight code to the motors
library in order that the throttle_upper flag could be set properly.
 2015-02-02 22:31:06 +09:00
Emile Castelnuovo c044901f9f AP_Notify: added missing VRBRAIN led files 2015-02-02 08:44:01 +11:00
Emile Castelnuovo ebc3dcd142 DataFlash: Clean up, VRBRAIN deleted unused boards. 2015-02-02 08:44:01 +11:00
Emile Castelnuovo 90663664f3 AP_BattMonitor: VRBRAIN deleted unused boards, corrected default batt volt divider. 2015-02-02 08:44:01 +11:00
Emile Castelnuovo a863f0bca8 AP_Airspeed: VRBRAIN code clean up. Deleted unused boards. 2015-02-02 08:44:01 +11:00
Emile Castelnuovo d78ff43971 AP_HAL_VRBRAIN: code clean up. Deleted unused boards. 2015-02-02 08:44:00 +11:00
Emile Castelnuovo 5e8c1b61b5 AP_Compass: AP_Compass_VRBRAIN.cpp added _is_external overwrite to deal with external compass attached to internal I2C BUS 2015-02-02 08:44:00 +11:00
LukeMike 61f4239e47 AP_Airspeed: enabled PX4 library for VR boards 2015-02-02 08:44:00 +11:00
LukeMike 6473ae2c37 Storage: updated to the PX4 library 2015-02-02 08:44:00 +11:00
Emile Castelnuovo 26432d6064 AP_Notify: use RGB driver for board led in VRBRAIN boards. 2015-02-02 08:43:59 +11:00
Emile Castelnuovo 3e97592e5c AP_Rangefinder: added #if for VRBRAIN boards. 2015-02-02 08:43:59 +11:00
Emile Castelnuovo c38b11eec8 AP_RangeFinder: added VRBRAIN to use PX4 libraries 2015-02-02 08:43:59 +11:00
Emile Castelnuovo dae32984f1 AP_InertialSensor: use PX4 library for VRBRAIN boards. 2015-02-02 08:43:59 +11:00
Emile Castelnuovo 25818f08a3 AP_Airspeed: added VRBRAIN board type 2015-02-02 08:43:59 +11:00
Emile Castelnuovo ffd26e59cd DataFlash: added new VRBRAIN boards 2015-02-02 08:43:59 +11:00
Emile Castelnuovo b0b892e578 AP_Rangefinder: added support for VRBRAIN boards 2015-02-02 08:43:59 +11:00
Emile Castelnuovo 731329fc55 AP_InertialSensor: correction to AP_InertialSensor_VRBRAIN 2015-02-02 08:43:58 +11:00
Emile Castelnuovo 92e0bc3a2f AP_HAL_VRBRAIN: updates to libraries for new boards 2015-02-02 08:43:58 +11:00
Emile Castelnuovo a0673b56f9 AP_HAL: added new VRBRAIN boards and new subtypes 2015-02-02 08:43:58 +11:00
Emile Castelnuovo de8a0ebc08 AP_Airspeed: added #defines for new VR boards. 2015-02-02 08:43:58 +11:00
LukeMike edd0f13845 AP_HAL: mapped the different sizes of storage for all VR boards 2015-02-02 08:43:58 +11:00
LukeMike 6a93148b92 AP_InertialSensor: added library for VRBRAIN Inertial Sensor 2015-02-02 08:43:58 +11:00
LukeMike b29f50ba9b AP_Airspeed: Defined AirSpeed analog inputs for ArduPlane on VR Micro Brain 5 2015-02-02 08:43:57 +11:00
LukeMike 7dc5541484 AP_HAL_VRBRAIN: Added analog inputs for ArduPlane on VR Micro Brain 5 2015-02-02 08:43:57 +11:00
Andrew Tridgell a2adb9b1b0 AP_Arming: check for AHRS health and calibration for arming 2015-02-01 14:13:57 +11:00
Andrew Tridgell 6e62e1ca7b AP_InertialSensor: make calibrated() const 2015-02-01 14:13:54 +11:00
Andrew Tridgell 68f64fa11c AP_AHRS: make the healthy() method const 2015-02-01 14:13:52 +11:00
Andrew Tridgell 850af14949 AP_NavEKF: raise EKF_POS_GATE and EKF_GLITCH_RAD for planes 
This weights GPS position more heavily for planes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-01-31 21:49:20 +11:00
Holger Steinhaus 8911dfd791 DataFlash: fix out-of-bounds read when logging 
Checked in my rmackay9
 2015-01-31 13:24:34 +09:00
Randy Mackay 0d94d5441f SerialManager: correct protocol comments 
Correct value for 2nd MAVLink protocol
 2015-01-31 12:18:47 +09:00
Matthias Badaire b5b67cf68a SerialManager: Fix SERIALX_PROTOCOL comments 
Fix SERIALX_PROTOCOL to have a proper documentation of the protocol types available
 2015-01-31 12:18:36 +09:00
Randy Mackay 07a0388f25 AC_PosControl: move alt limit to set_alt_target_from_climb_rate 
The alt limit is instead enforced when the target is set using the
set_alt_target_from_climb_rate function
Also updated comments
 2015-01-30 14:13:52 +09:00
Robert Lefebvre 02f3f96310 AC_PosControl: Enable altitude limit checking. 2015-01-30 14:13:45 +09:00
Andrew Tridgell 79cad28a25 AP_Mount: simplify some uses of frontend 2015-01-29 17:23:33 +11:00
Andrew Tridgell c05f36d29b AP_SerialManager: make the state structure private 2015-01-29 16:02:24 +11:00
Andrew Tridgell 1d272e5a32 AP_Frsky_Telem: don't use flow control for FrSky 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-01-29 15:53:41 +11:00
Andrew Tridgell 362b53e1da AP_GPS: force flow control off on GPS serial ports 2015-01-29 15:53:20 +11:00
Andrew Tridgell 5980ff8e1c AP_Common: removed map_baudrate() 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-01-29 15:47:48 +11:00
Andrew Tridgell d6ab4722cd AP_SerialManager: moved map_baudrate() into class 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-01-29 15:47:36 +11:00
Andrew Tridgell 085a926e61 AP_Frsky_telem: update for find_serial() change 2015-01-29 15:37:18 +11:00
Andrew Tridgell 9ba2fefde3 AP_GPS: update for find_serial() change 2015-01-29 15:37:08 +11:00
Andrew Tridgell 60f266da19 AP_Mount: update for new find_serial() interface 2015-01-29 15:36:38 +11:00
Andrew Tridgell 59d5351dab GCS_MAVLink: update for new find_serial() 2015-01-29 15:36:19 +11:00
Andrew Tridgell e28deacc4c AP_SerialManager: simplify interface, returning direct uart 
added find_baudrate() for getting baudrate

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-01-29 15:35:42 +11:00
Randy Mackay 0a195671b3 SerialManager: set_console_baud uses first matching protocol 
This ensures we set the baud to the first serial port with the specified
protocol instead of the last.
 2015-01-29 14:05:15 +11:00
Matthias Badaire 5f432eaa2d AP_Mount_Alexmos : take into account available negative numbers 
uartdriver->available () function brings back a signed int, we should be carefull to avoid an endless loop if that happens.
 2015-01-29 14:05:15 +11:00
Randy Mackay 4a4387530a Mount: remove unused num_instances 2015-01-29 14:05:14 +11:00
Randy Mackay d6433266d2 Mount_MAVLink: use SerialManager for init 
use serial_manager's get_mavlink_channel
 2015-01-29 14:05:14 +11:00
Randy Mackay 4848b03ac6 Mount_AlexMos: use SerialManager for init 2015-01-29 14:05:14 +11:00
Randy Mackay 56f872b38c Mount_Servo: use SerialManager for init 2015-01-29 14:05:13 +11:00
Randy Mackay 886cc9aa46 Mount: use SerialManager for init 2015-01-29 14:05:13 +11:00
Randy Mackay 19aa8939de FrSky_Telem: init uart when protocol is S-Port 2015-01-29 14:05:13 +11:00
Randy Mackay 5c086acc15 FrSky_Telem: comments, formatting and reordering 
No functional change
Added comments and moved main functions to the top
Removed spaces between function name and brackets
 2015-01-29 14:05:13 +11:00
Randy Mackay 6ef996d553 FrSky_Telem: init all members to zero and move to cpp 2015-01-29 14:05:13 +11:00
Randy Mackay d16f787bd0 Frsky_Telem: use SerialManager for init 2015-01-29 14:05:12 +11:00
Randy Mackay ebf5f98dbd GPS: detect_instance does not set uart rx, tx size 2015-01-29 14:05:12 +11:00
Randy Mackay 2eddecb10d GPS: use SerialManager for init 2015-01-29 14:05:12 +11:00
Randy Mackay 0c3a8f585a GCS_MAVLink: add get_uart accessor 
use by flight code to print messages during startup
 2015-01-29 14:05:12 +11:00
Randy Mackay 1275ff7d40 GCS_MAVLink: have_flow_control uses mavlink_comm 2015-01-29 14:05:12 +11:00
Randy Mackay 1157c13eb6 GCS_MAVLink: mavlink_comm_x become UARTDrivers 2015-01-29 14:05:12 +11:00
Randy Mackay febda988af GCS_MAVLink: mavlink_channel from SerialManager 2015-01-29 14:05:11 +11:00
Randy Mackay c6326fc9b7 GCS_MAVLink: use SerialManager for setup_uart 2015-01-29 14:05:11 +11:00
Randy Mackay 0fe4436c72 SerialManager: do not init uart for FrSky S-Port 2015-01-29 14:05:11 +11:00
Randy Mackay cc71db1e2f SerialManager: lib to configure UART protocol 2015-01-29 14:05:11 +11:00
Randy Mackay ee369f8a0d Mount_AlexMos: use reference to state 2015-01-29 14:05:11 +11:00
Randy Mackay b083c99966 Mount_MAVLink: use reference to state 2015-01-29 14:05:11 +11:00
Randy Mackay 32ea258594 Mount_Servo: use reference to state 2015-01-29 14:05:10 +11:00
Randy Mackay acbcf3c54e Mount: backends use reference to their state 2015-01-29 14:05:10 +11:00
Randy Mackay bf82e82282 Mount_MAVLink: remove unused _enable and find_mount 2015-01-29 14:05:10 +11:00
Randy Mackay b5127b680f Mount: set primary to first instance 2015-01-29 14:05:10 +11:00
Matthias Badaire 24af65a41a AP_Mount_Alexmos: critical fix to avoid endless loop if byte arrive to fast in serial buffer 
This fix reads the number of bytes available and iterates on it instead of looking for new bytes in the serial buffer (potentially forever)
 2015-01-29 14:05:10 +11:00
Matthias Badaire 46e92f99fe AP_Mount_Alexmos: use struct for CMD_CONTROL command 
new struct created in header and used in control_axis function
 2015-01-29 14:05:09 +11:00
Matthias Badaire 81d60af4a8 AP_Mount_Alexmos : cleanup initialization of class fields 2015-01-29 14:05:09 +11:00
Randy Mackay c5ef5d21d3 Mount: add Alexmos to MNT2_TYPE param description 2015-01-29 14:05:09 +11:00
Randy Mackay 93323e2136 Mount_Alexmos: comments and formatting 
No functional change
 2015-01-29 14:05:09 +11:00
Matthias Badaire 1e5ddf3ce7 AP_Mount_Alexmos : make sure get_angles is called to get the real angles from the gimbal 
get_angles calls the Alexmos API to get the current angles. It was not being called before.
 2015-01-29 14:05:09 +11:00
Matthias Badaire 0b88f15a37 AP_Mount: fix Backend enum for AP_Mount_Alexmos and add comments 
fix Backend enum for AP_Mount_Alexmos and add comments
 2015-01-29 14:05:09 +11:00
Matthias Badaire cdeb1fb8f3 AP_Mount_Alexmos : changes some define to avoid conflicting 
change SPEED to AP_MOUNT_ALEXMOS_SPEED and the control mode defines as well
 2015-01-29 14:05:08 +11:00
Matthias Badaire 6e5e438b0f AP_Mount: Make use of the new AP_Mount_Alexmos backend 
This is adding AP_Mount_Alexmos as one of the available backend
 2015-01-29 14:05:08 +11:00
Matthias Badaire dfc086f9e9 AP_Mount_Alexmos : Add Alexmos Serial support for 8bit cards 
This is the initial implementation of Alemox gimbal protocol. the uart output is for the moment hard coded but should become a parameter.
 2015-01-29 14:05:08 +11:00
Randy Mackay 66ad56161b Mount_MAVLink: fix to calc_angle_to_location params 2015-01-29 14:05:08 +11:00
Randy Mackay f509dad991 Mount_Servo: bug fix to calc_angle_to_location params 2015-01-29 14:05:08 +11:00
Randy Mackay a78309734d Mount_MAVLink: remove set_roi_target, configure 
These methods are now in the backend
 2015-01-29 14:05:07 +11:00
Randy Mackay 99c35d5cf7 Mount_Servo: remove set_roi_target, configure 
These methods are now in the backend
 2015-01-29 14:05:07 +11:00
Randy Mackay 72fec52f0f Mount_Backend: move set_roi_target, configure to backend 2015-01-29 14:05:07 +11:00
Randy Mackay efeb05876e AP_Mount: initialise mode to default 2015-01-29 14:05:07 +11:00
Randy Mackay ace1fd8740 Mount_MAVLink: handle RC and GPS targeting in lib 
Previously we expected the mount to do this but it is likely that the
first versions of MAVLink enable mounts will only be capable of pointing
at a particular angle
 2015-01-29 14:05:07 +11:00
Randy Mackay 9d4210b82a Mount_Backend: move RC target handling to backend 2015-01-29 14:05:07 +11:00
Randy Mackay b3044ced1f Mount_Backend: move calc_angle_to_lcoation to backend 2015-01-29 14:05:07 +11:00
Randy Mackay 8fabacf5ff Mount_MAVLink: use sysid from vehicle, compid of 10 2015-01-29 14:05:06 +11:00
Randy Mackay 6af5a6687f Mount: add params for second mount 2015-01-29 13:57:19 +11:00
Randy Mackay 5d30af233a Mount: move param underscore to lib 2015-01-29 13:57:18 +11:00
Randy Mackay 2ed4ca409c Mount_Servo: check_servo_map every 3sec 2015-01-29 13:57:18 +11:00
Randy Mackay cb5a122dab Mount_Servo: add set_mode 2015-01-29 13:57:17 +11:00
Randy Mackay a41ff2375b Mount_Backend: add set_mode virtual method 2015-01-29 13:57:17 +11:00