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20,177 Commits 71 Branches 511 Tags 786 MiB
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10268 Commits

Author SHA1 Message Date
Jonathan Challinger
41c881cc9e GCS_MAVLink: temporarily remove GIMBAL_ and GOPRO_ messages pending solo sync 2016-01-02 08:42:33 +11:00
Jonathan Challinger
2a3fe35731 GCS_MAVLink: run xmlpretty.py on ardupilotmega.xml 2016-01-02 08:42:33 +11:00
Andrew Tridgell
22873ee687 SITL: reduced drag in plane model 2016-01-01 18:40:22 +11:00
Andrew Tridgell
619a4c0925 SITL: use common dynamics code for QuadPlane 2016-01-01 17:20:30 +11:00
Andrew Tridgell
33998a58ac SITL: prevent aircraft going below ground level 2016-01-01 17:01:23 +11:00
Andrew Tridgell
d425965f6d SITL: expose home yaw to FDMs 2016-01-01 17:00:57 +11:00
Andrew Tridgell
630d4410d4 SITL: removed debug code from QuadPlane 2016-01-01 15:48:56 +11:00
Andrew Tridgell
8a98ce427c SITL: moved to common code for attitude/pos update 2016-01-01 15:12:33 +11:00
Andrew Tridgell
e6555aae6d HAL_SITL: added quadplane model 2016-01-01 14:35:15 +11:00
Andrew Tridgell
d0896a1fb2 HAL_SITL: fixed init of channel 8 out in plane and rover 
should be low
 2016-01-01 14:35:15 +11:00
Andrew Tridgell
f2c8193f8b SITL: added a QuadPlane model 2016-01-01 14:35:15 +11:00
Andrew Tridgell
6f9e9d761f SITL: move calculations into multicopter frame class 
this will enable a QuadPlane model
 2016-01-01 14:35:15 +11:00
Andrew Tridgell
c6b6d7137d HAL_SITL: added plane simulator 2016-01-01 12:41:06 +11:00
Andrew Tridgell
16e0a6d7b0 AP_Math: fixed angle between two vector3s 2016-01-01 12:41:05 +11:00
Andrew Tridgell
fcfd11ef53 SITL: very simple fixed wing simulator 
useful for debugging
 2016-01-01 12:41:05 +11:00
Randy Mackay
bea69521c8 AC_PrecLand: velocity PI controller into parent class 2015-12-31 15:30:33 +09:00
Andrew Tridgell
8e4586b4a2 AP_Param: allow for nested groups without subclassing 
this allows for param tables containing other unrelated objects
 2015-12-31 15:30:31 +09:00
Tom Pittenger
4e4c1831f0 AP_ADSB: added guided mode handling 2015-12-31 15:36:49 +11:00
Randy Mackay
4e9f82a0e7 Notify: fix parameter description 2015-12-31 11:33:02 +09:00
pepevalbe
0d5e59eaa3 AP_Notify: configurable RGB LED brightness 2015-12-31 11:32:59 +09:00
Lucas De Marchi
180359d6dd AP_Math: fix unit test 
For ROTATION_ROLL_90_PITCH_68_YAW_293 consider the angles as 90, 68.8
and 293.3 degrees to pre-calculate rotation. This matches the rotation
matrix used in code.

While at it, check not only the values are close enough but also the
length of the vector.
 2015-12-30 20:22:28 -02:00
Lucas De Marchi
ba3325ffd3 AP_Math: rename rotation 
The rotations are supposed to follow the name of the enum, in order. The
ROTATION_YAW_293_PITCH_68_ROLL_90 was added with the name of an
intrinsic 321 rotation, but the matrix is actually a 123 rotation,
following the other rotations already present.

Change the name to follow the other names.
 2015-12-30 20:22:27 -02:00
Jonathan Challinger
bae16a61e2 AP_InertialSensor: fix segfault 2015-12-29 23:10:56 -08:00
Jonathan Challinger
83d5a6664a AP_Math: minor changes to matrix_alg in response to review 2015-12-29 22:57:21 -08:00
Jonathan Challinger
0a3c2774e9 AP_InertialSensor: fixes in response to review 2015-12-29 22:55:04 -08:00
Jonathan Challinger
24e413c6af AP_AccelCal: fixes in response to review 2015-12-29 22:55:04 -08:00
Jonathan Challinger
660d9e86d5 AP_AccelCal: basic sanity check on fit parameters 2015-12-29 11:00:20 -08:00
Jonathan Challinger
1482614a7d AP_Arming: add accel cal requires reboot 2015-12-29 10:46:35 -08:00
Jonathan Challinger
137ace473d AP_InertialSensor: add accel_cal_requires_reboot 2015-12-29 10:46:35 -08:00
Jonathan Challinger
f6a41a8936 AP_InertialSensor: ensure that accel calibration object isn't allocated more than once 2015-12-29 10:46:35 -08:00
bugobliterator
1a4b4fa85e AP_Math: add inverse matrix test to check if inverse(mat)*mat = I 
where I is an identity matrix (a matrix with diagonal elements = 1)
 2015-12-29 10:46:35 -08:00
Jonathan Challinger
65915bbe71 StorageManager: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
027e622a3c RC_Channel: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
2c0657f326 GCS_MAVLink: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
b85631bec3 DataFlash: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
94543d55bb AP_Scheduler: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
780d0de4bb AP_RangeFinder: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
b0de3957ea AP_OpticalFlow: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
99636b3e8b AP_Notify: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
62701448ca AP_Mount: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
b803907163 AP_Motors: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
30a563044e AP_Mission: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
f376510524 AP_HAL_PX4: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
ac152b564f AP_HAL_FLYMAPLE: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
d7639ce03a AP_HAL: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
04dc7130f5 AP_GPS: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
9b5644fdb6 AP_Compass: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
a3789542cd AP_BattMonitor: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
dcfc95fadf AP_Baro: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
a1c7b32387 AP_Airspeed: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
5cb7331095 AP_AHRS: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
9e6be648b9 AC_PID: fix example build 2015-12-29 10:46:35 -08:00
bugobliterator
fe62a049bd AP_Math: implement LU decomposition based matrix inverse 
Replaces previous matlab generated code, which was giving imprecise results
 2015-12-29 10:46:34 -08:00
Siddharth Bharat Purohit
a0c3cbffee AP_Math: add inverse matrix test example 
fix example build
 2015-12-29 10:46:34 -08:00
Siddharth Bharat Purohit
5af0cc8eaf AP_Math: add inverse rotate example function 2015-12-29 10:46:34 -08:00
Jonathan Challinger
7ed8b3814f AP_Math: add rotate_inverse to Vector3 2015-12-29 10:46:34 -08:00
Jonathan Challinger
492223cb84 AP_InertialSensor: support AP_AccelCal 2015-12-29 10:46:34 -08:00
bugobliterator
d24b5023f4 AP_AccelCal: Add separate lib for accel calibration 2015-12-29 10:46:34 -08:00
Andrew Tridgell
f70d9d26ba HAL_QURT: fixed README formatting 2015-12-29 19:23:14 +11:00
Andrew Tridgell
70877ebd50 HAL_QURT: fixed open of new storage file 2015-12-29 19:20:51 +11:00
Andrew Tridgell
aae7dd952c HAL_QURT: document command line options 2015-12-29 19:15:47 +11:00
Andrew Tridgell
f832f29bfb HAL_QURT: allow cmdline to specify UART, RCin and RCout paths 2015-12-29 19:12:17 +11:00
Andrew Tridgell
dafc9b4c6b AP_HAL: allow getopt_cpp on QURT 
avoid using stderr
 2015-12-29 19:10:46 +11:00
Andrew Tridgell
ea1e3f4928 HAL_QURT: pass argc and argv into main thread 2015-12-29 18:53:05 +11:00
Andrew Tridgell
bd2f548130 AP_HAL: allow argc and argc on QURT 2015-12-29 18:52:17 +11:00
Lucas De Marchi
97022a4161 AP_HAL: RingBuffer: fix macro expansion 
Fix warning that reveals a real bug:

In file included from libraries/AP_HAL_Linux/UARTDriver.cpp:25:0:
libraries/AP_HAL_Linux/UARTDriver.cpp: In member function 'virtual bool Linux::UARTDriver::tx_pending()':
libraries/AP_HAL/utility/RingBuffer.h:21:35: warning: logical not is only applied to the left hand side of comparison [-Wlogical-not-parentheses]
 #define BUF_EMPTY(buf) buf##_head == buf##_tail
                                   ^
libraries/AP_HAL_Linux/UARTDriver.cpp:355:13: note: in expansion of macro 'BUF_EMPTY'
     return !BUF_EMPTY(_writebuf);

The problem is when there's a ! operator: without the parenthesis we would actually be doing

    return !_write_buf_head == _write_buf_tail

which is not what we want.
 2015-12-28 21:50:27 -02:00
Andrew Tridgell
fe8070bd51 DataFlash: move lock to protect just buffer IO 2015-12-29 09:10:28 +11:00
Lucas De Marchi
1a0f613a0f AP_Curve: remove unused library 2015-12-28 10:23:23 -02:00
Lucas De Marchi
8d252955f5 AP_Motors: don't link unused AP_Curve library 2015-12-28 10:23:23 -02:00
Lucas De Marchi
326e74f64f AP_Mission: don't link unused AP_Curve library 2015-12-28 10:23:23 -02:00
Lucas De Marchi
5d3a519277 APM_PI: remove unused library 2015-12-28 10:23:23 -02:00
Lucas De Marchi
8cee02cde7 AP_PerfMon: remove unused library 2015-12-28 10:23:23 -02:00
Jonathan Challinger
a2999ece54 AP_AHRS_NavEKF: add setTakeoffExpected, setTouchdownExpected 2015-12-28 13:51:24 +09:00
Andrew Tridgell
c90d7dd86e AP_HAL: fixed vprintf segfault 2015-12-28 08:44:40 +11:00
Andrew Tridgell
fa2a39f6c6 HAL_QURT: small cleanups 
thanks to Lucas for finding these
 2015-12-28 06:42:11 +11:00
Julien BERAUD
e46f23f538 RCOutput_Bebop: Increase max_rpm on Bebop 2 
Bebop 2 can go as high as 12200 rpm. Use get_hw_arm32 method to see
if we are on a bebop or bebop 2
 2015-12-27 16:11:36 -02:00
Julien BERAUD
b6f51233db AP_HAL_Linux: Make RPI get_hw method public 
Valid also on Bebop
 2015-12-27 16:11:36 -02:00
Julien BERAUD
cadef09542 AP_HAL_Linux: Fix comment and panic on Bebop 2015-12-27 16:11:36 -02:00
Lucas De Marchi
3a8bd7b829 AP_Progmem: remove unused library 2015-12-27 15:58:12 -02:00
Lucas De Marchi
a096703b06 Global: don't link with AP_Progmem 
AP_Progmem is not used anymore.
 2015-12-27 15:58:12 -02:00
Lucas De Marchi
52ef8c10a5 AP_Param: stop using Progmem.h 2015-12-27 15:58:12 -02:00
Lucas De Marchi
360855f109 StorageManager: stop using Progmem.h 2015-12-27 15:58:12 -02:00
Lucas De Marchi
5f26c951d8 GCS_MAVLink: stop using Progmem.h 2015-12-27 15:58:12 -02:00
Lucas De Marchi
5d07e5bdbf DataFlash: stop using Progmem.h 2015-12-27 15:58:12 -02:00
Lucas De Marchi
eb9fd96d5c AP_Scheduler: remove trailing whitespace 2015-12-27 15:58:12 -02:00
Lucas De Marchi
3375b6b01c AP_Scheduler: stop using Progmem.h 2015-12-27 15:58:12 -02:00
Lucas De Marchi
25c289b74c AP_Menu: stop using Progmem.h 2015-12-27 15:58:12 -02:00
Lucas De Marchi
502077d763 AP_Math: stop using Progmem.h 2015-12-27 15:58:12 -02:00
Lucas De Marchi
520b0384fd AP_HAL: remove unused in_progmem flag to print_vprintf 2015-12-27 15:58:12 -02:00
Lucas De Marchi
8e0c125f56 AP_HAL: print_vprintf: follow coding style 
- Use 4 spaces to indent
 - Add braces to control statements
 - Don't use tabs
 2015-12-27 15:58:12 -02:00
Lucas De Marchi
c35730058a AP_HAL: print_vprintf: stop using Progmem.h 
Remove the unused support to data from progmem, including the unused %S
format specifier.
 2015-12-27 15:58:12 -02:00
Lucas De Marchi
5bb4e3eda9 AP_GPS: stop using Progmem.h 
Besides the trivial convertions, while reading
initblob_state[instance].blob we need to be sure to read only one byte
like we were before.
 2015-12-27 15:58:12 -02:00
Lucas De Marchi
88319f52f7 AP_Declination: remove line continuation slashes 
These are not necessary and only clutter the code.
 2015-12-27 15:58:12 -02:00
Lucas De Marchi
3ae0082f52 AP_Declination: stop using Progmem.h 
Since the headers were re-ordered we also had to add inttypes.h to
AP_Declination.h following a include-what-you-use approach.
 2015-12-27 15:58:12 -02:00
Lucas De Marchi
cfb5bbeb9f APM_Control: stop using Progmem.h 2015-12-27 15:58:12 -02:00
Lucas De Marchi
29ed01189d AP_HAL: ftoa_engine: replace tabs with spaces 2015-12-27 15:58:12 -02:00
Lucas De Marchi
e751d632e6 AP_HAL: ftoa_engine: stop using Progmem.h 2015-12-27 15:58:12 -02:00
Andrew Tridgell
6a5c5969fa AP_AHRS: fixed example build 2015-12-27 14:57:32 +09:00
Andrew Tridgell
3fb0b8f69d AP_InertialSensor: fixed example build 2015-12-27 14:57:30 +09:00
Andrew Tridgell
23cef70846 AP_NavEKF2: use get_loop_delta_t() from INS 2015-12-27 14:57:17 +09:00
Andrew Tridgell
28a684ea03 AP_NavEKF: use get_loop_delta_t() from INS 2015-12-27 14:57:14 +09:00
Andrew Tridgell
17fc58f3cd AP_InertialSensor: re-work for more flexible main loop rates 2015-12-27 14:57:12 +09:00
Andrew Tridgell
93ef881109 AP_InertialSensor: added get_loop_delta_t() API 2015-12-27 14:57:10 +09:00
Andrew Tridgell
1b1be7e4a2 AP_Scheduler: switch to Hz based scheduler config 2015-12-27 14:57:06 +09:00
Andrew Tridgell
6bc19cd44c HAL_QURT: added README.md 2015-12-27 16:21:26 +11:00
Andrew Tridgell
bc8ee8af36 AP_GPS: added QURT GPS 2015-12-27 16:21:26 +11:00
Andrew Tridgell
b967140572 DataFlash: enable minimal file mode 
This adds a "minimal" dataflash mode with a board specific macro. The
QURT port uses this to avoid problematic system calls that are buggy
in the QURT RTOS

With some pending updates to QURT we may be able to remove some (or
all) of this
 2015-12-27 16:21:26 +11:00
Andrew Tridgell
a042845da8 AP_NavEKF: avoid an optimiser bug in clang 2015-12-27 16:21:26 +11:00
Andrew Tridgell
493ab96b29 AP_Compass: added QURT driver 2015-12-27 16:21:26 +11:00
Andrew Tridgell
6639c23685 AP_InertialSensor: added QURT driver 2015-12-27 16:21:26 +11:00
Andrew Tridgell
ff44a63007 AP_Baro: added QURT driver 2015-12-27 16:21:25 +11:00
Andrew Tridgell
285294a9cd AP_Common: added debug code for qurt 
and disable some warnings for clang++ on qurt
 2015-12-27 16:21:25 +11:00
Andrew Tridgell
7c431b40f2 AP_HAL: enable HAL_QURT 2015-12-27 16:21:25 +11:00
Andrew Tridgell
0816937ab1 HAL_QURT: initial implementation 
this provides RC onput, RC output, scheduling, storage, UARTs and all
necessary support routines to fly ArduPilot on QURT
 2015-12-27 16:12:28 +11:00
Andrew Tridgell
3b546bb242 AP_Compass: added qflight driver 2015-12-27 16:12:27 +11:00
Andrew Tridgell
1f4e503d91 AP_Baro: added qflight driver 2015-12-27 16:12:27 +11:00
Andrew Tridgell
28230556bb AP_InertialSensor: added qflight driver 2015-12-27 16:12:27 +11:00
Andrew Tridgell
0bbf4362e0 HAL_Linux: added qflight README.md 2015-12-27 16:12:27 +11:00
Andrew Tridgell
dc8a3bbf92 HAL_Linux: added qflight board subtype 2015-12-27 16:12:27 +11:00
Andrew Tridgell
cfd54c5683 AP_HAL: moved dsm implementation into AP_HAL/utility 2015-12-27 16:12:27 +11:00
Andrew Tridgell
fec9ffd1a0 AP_HAL: support UARTs on timer thread 
This adds a macro for boards that need to have UARTs on the timer
thread instead of their own thread. This is needed for the qflight
port due to restrictions in the RPC API
 2015-12-27 16:12:27 +11:00
Andrew Tridgell
ac1e75ae77 AP_HAL: added qflight linux subtype 2015-12-27 16:12:27 +11:00
Andrew Tridgell
e1c890eb58 RC_Channel: added RC_UART example 
useful for UART -> ESCs
 2015-12-27 16:12:27 +11:00
Don Gagne
605fedc1c0 AP_TECS: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Don Gagne
34d5dd0257 AP_NavEKF: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Don Gagne
8573245963 AP_NavEKF2: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Don Gagne
ed7cd8d3f4 AP_Motors: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Don Gagne
e891ae8a89 AP_L1_Control: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Don Gagne
47586dae07 AP_InertialSensor: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Don Gagne
2b1bc22b2a AP_BoardConfig: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Don Gagne
964d02065a Mount: add missing RebootRequired to param description 2015-12-26 10:06:14 +09:00
Jonathan Challinger
bde9a9421d AP_Param: panic on failure to load defaults file 2015-12-24 14:40:00 +11:00
Julien BERAUD
0ffba07ec8 AP_HAL: Set default params for Bebop 2015-12-23 10:24:04 -02:00
Randy Mackay
86bb03aa79 AC_AttControl: use ahrs get_rotation_body_to_ned 
ahrs.get_dcm_matrix renamed to ahrs.get_rotation_body_to_ned
 2015-12-23 11:38:21 +09:00
Jonathan Challinger
46e6ff3ca9 AC_AttitudeControl: modify comment on kinematic correction feedforward 2015-12-23 11:38:19 +09:00
Jonathan Challinger
829d6037fc AC_AttitudeControl: convert euler rates to angular velocity using the correct attitude 2015-12-23 11:38:16 +09:00
Jonathan Challinger
ae3357baee AC_AttitudeControl: rotate angular velocity feedforward into vehicle frame 2015-12-23 11:38:14 +09:00
Jonathan Challinger
3d4bd92b48 AC_AttitudeControl: add helper functions to retrieve rotation matrices 2015-12-23 11:38:12 +09:00
Michael du Breuil
52666232ed AP_Arming: Allow arming without the hardware safety switch having been pressed 
Added an enum to the check type that allows for arming without the hardware switch having been enabled
 2015-12-21 17:48:29 +11:00
Peter Barker
2f1297f30c DataFlash_File: Check return values of lseek 2015-12-21 16:07:23 +11:00
Peter Barker
ce84ba049f DataFlash_File: protect against fopen failing 2015-12-21 16:07:23 +11:00
Peter Barker
15265a45ed DataFlash_File: check fname before using it 2015-12-21 16:07:23 +11:00
DonLakeFlyer
74902012fd GCS_MAVLink: better mission errors 2015-12-21 16:02:23 +11:00
DonLakeFlyer
7cd3d8bfdc AP_Mission: better mission errors 2015-12-21 16:02:23 +11:00
Aaron Wang Shi
ac08eece84 AP_HAL_Linux: instantiate BH hat objects 2015-12-21 15:54:31 +11:00
Aaron Wang Shi
4d7db9bba3 AP_HAL_Linux: add ifdefs for BH hat like other RPI-based boards 2015-12-21 15:54:31 +11:00
Aaron Wang Shi
a712e9572f AP_HAL_Linux: instatiate SPI device for BH hat 2015-12-21 15:54:31 +11:00
Aaron Wang Shi
5d5e75c8ad AP_HAL_Linux: RCOutput_PCA9685 add new address for BH hat 2015-12-21 15:54:31 +11:00
Aaron Wang Shi
f437e7a67c AP_HAL_Linux: add GPIO definitions for BH hat 2015-12-21 15:54:31 +11:00
Aaron Wang Shi
8cca0beba9 AP_HAL_Linux: support PWM input for BH hat 
Support 8 PWM channels as RCInput.
 2015-12-21 15:54:31 +11:00