9482578c60
BattMon: Bebop always uses bebop batt monitor
2015-07-23 21:49:31 +09:00
84b6ab0707
BattMon_Bebop: use ARRAY_SIZE
...
Also remove printf of failure message, instead we should add the battery
monitor health to the SYS_STATUS message sent to the ground station
2015-07-23 21:49:30 +09:00
3b36178a0b
BattMon_Bebop: init members in constructor
2015-07-23 21:49:29 +09:00
f6aba6c952
HAL_Linux: add read_obs_data to RCOutput_Bebop
2015-07-23 21:49:28 +09:00
35ae562dbe
AP_BattMonitor: Add battery support for Bebop Hardware
2015-07-23 21:49:27 +09:00
54254c89d7
AP_Arming: control rudder arming with ARMING_RUDDER parameter
...
allow for 3 states:
0: no rudder arming
1: arm only
2: arm and disarm
2015-07-23 21:48:50 +10:00
8240e5ae65
AP_Compass: AK8963: reduce bytes read
...
We are not using INFO and ST1 registers, so there's no need to read
extra 2 bytes for each transaction.
2015-07-23 17:44:36 +10:00
2b9c46e1ff
AP_Compass: AK8963: don't oversample AK8963
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Reduce the frequency with which MPU9250 reads AK8963 to reduce the
chance of errors.
2015-07-23 17:44:36 +10:00
6c2ceea165
AP_Compass: AK8963: remove author and connection comment
...
Authorship and how sensor is connected get outdated (as it already is).
Our code is on git so let it track who wrote each line.
2015-07-23 17:44:36 +10:00
8ab33c46ce
AP_Compass: revisited AK8963 code
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Reduced duplication a bit and revisited the update method which is now
split into several logical hunks.
2015-07-23 17:44:36 +10:00
fffedae3e0
AP_Compass: AK8963: reduce stack usage and zero out buffers
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Since we are not using MPU9250's fifo to get samples from AK8963 we will
always read only 1 sample (+ control registers).
2015-07-23 17:44:35 +10:00
37734886a5
AP_Compass: AK8963: remove repeated comments
...
No need to repeat the same comments on 3 different places. Instead add a
single comment to explain how start_measurements() and read_raw() are
related.
2015-07-23 17:44:35 +10:00
27d95b67a8
AP_Compass: AK8963: remove state machine
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Don't use a state machine in AK8963: the start_measurements() method
should be called only once. Even if there's a magnetic sensor overflow
the only thing we should do is to discard the new data.
This also moves the _collect_samples() method to be inside _update()
since it's the only place it should be called from, the one running on
the timer thread.
2015-07-23 17:44:35 +10:00
e232543fca
AP_Compass: AK8963: change initialization and rename methods
...
We need to check the AK8963's id before anything else Here we are
reordering the calls to _calibrate() and _check_id(). After that we
don't need to read and write again the AK8963_CNTL1 register.
While at it do some renames as well:
- _configure() -> _setup_mode(): since now there's a
_bus->configure() it became confusing what actually it's
doing.
- make error messages say what we were actually trying to do but
couldn't. Also remove PSTR since this is linux-only.
- start_conversion() -> start_measurements(): We are instructing the
bus to start to get the samples, not to tell the chip to start an
analog->digital conversion like in other sensors.
2015-07-23 17:44:35 +10:00
ae5d9baddb
AP_Compass: AK8963: remove defines not used anymore
...
The MPUREG_PWR_MGMT_1 defines were used when we cared about the MPU9250
initialization code. Now all initialization is done by the MPU9250 class
itself, so remove these defines.
Also remove AK8983_SELFTEST_MAGNETIC_FIELD_ON that is never used and let
the defines always with 2 bytes to improve readability.
2015-07-23 17:44:34 +10:00
cae895bfdf
AP_Compass: AK8963: group members together
...
Besides being semantically related, this removes the hole due to
alignment. The size is the same since the hole is actually turned into
padding.
2015-07-23 17:44:34 +10:00
28d3d775a4
AP_Compass: AK8963: remove resolution member
...
We only use the highest one and there's no intention to support the
14bits one. Just use the define rather than saving it as a member.
2015-07-23 17:44:34 +10:00
86b3312112
AP_Compass: AK8963: factor out common code of read_raw()
...
Similar code was added in the read_raw() implementation for each bus.
Add a new POD struct read_raw to contain the registers from the AK8963
and use it instead as argument.
2015-07-23 17:44:33 +10:00
d941174978
AP_Compass: AK8963: enhance the readability
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Reduce the deepness of indentation and fix coding style.
2015-07-23 17:44:33 +10:00
28c722c157
AC_Circle: rate change takes effect immediately
2015-07-23 16:21:20 +09:00
d51e6d466b
AP_HAL_SITL: add support for airspeed failures
2015-07-23 14:38:06 +10:00
250dcd31a2
SITL: Add ARSP_FAIL param
...
This will allow testing pitot tube hardware failures
2015-07-23 14:38:06 +10:00
d7ac725a64
AP_HAL_Linux: fixed signal handler in RCInput_Navio
...
DMA is getting stopped in the separate method now. This is the best we
can get at the current time. It does yield slightly better experience
and works in the majority of cases.
The patch is a no bulletproof solution, though.
There's a possibility of corruption in case of e.g. a SIGKILL. There's
no signal framework at the time and the commit doesn't add one. That's
why all signals are handled in the same erroneous way. This is not a
good nor a final solution to the issue.
For the issue at hand a better fix might be porting the code to kernel
space but it's a rather tediuos task that we cannot undertake in the
couple of weeks.
2015-07-23 08:51:38 +10:00
8528a7d159
AP_HAL_Linux: added deinit logic for RCInput_Navio
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DMA needs to be stopped if a panic occurs.
2015-07-23 08:51:37 +10:00
f4d14f73ba
AP_HAL_Linux: extended panic handling with RCInput deinitialization
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The issue has already come up. There's no deinitialization mechanisms at the moment. As APM is rather software than firmware on Linux, there're some clean-up work that needs to be done. This commit triggers deinitialization of RCInput on a panic.
2015-07-23 08:51:37 +10:00
97b51a4bcb
AP_HAL: Added deinit() method to RCInput
...
Add a deinit() counterpart. This is needed for some ports that require some deinitializtion logic. The default implementation is empty. I'm not sure whether we need to inforce it for all.
2015-07-23 08:51:37 +10:00
9737c426eb
SITL: Gazebo index out of bound
...
- imu_orientation_quat[size=3] is fed to Quaternion[size=4] which causes an index-out-of-range problem
2015-07-22 21:33:46 +10:00
59dda49cce
AP_GPS: Fix missing reserved fields in the UBX-RXM-RAWX message
2015-07-22 21:31:10 +10:00
09fef505e0
AP_GPS: With a ublox driver, accept a packet if it will fit in the buffer
2015-07-22 21:31:10 +10:00
22b16b4532
AP_GPS: Enable selecting what GNSS system to use if the reciever supports it
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Ublox 7 and 8 seires use a UBX-CFG-GNSS message to enable satellite constellations. The default value does not enable any additional ones, and any constellations the reciever doesn't report knowing about are not configured.
2015-07-22 21:31:10 +10:00
47592a1953
AP_GPS: Raise the baud rate on a ublox GPS if using RAW logging
...
the implementation leaves an easy path forward for providing a different startup blob for all the GPS's if raw logging is enabled
2015-07-22 21:31:09 +10:00
19bb96b9cb
AP_GPS: Improve startup logic for detecting what gps is connected
...
Remove race condition on sending intial blob to the GPS, it was possible to send a blob that got the GPS configured enough to allow the autodetect to take over (and then some drivers like ublox would not finish sending the blob, which has potential details that the driver might have needed to send)
Limit the delay to checking for NMEA gps to only checking after all the available baud rates have been checked
Since a UBlox will actually report having DGPS (due to SBAS or RTCM data) actually report this as the highest supported mode
2015-07-22 21:31:09 +10:00
e3398648d7
GCS_MAVLink: fix debug formatting
2015-07-21 21:41:34 +09:00
521f3dc4b9
GCS_MAVLink: only forward msg once per channel
...
Issue found and alternative fix provided by Arthur Benemann
2015-07-21 21:41:32 +09:00
6f72d202fe
GPS: fix parameter descriptions
2015-07-21 19:50:12 +09:00
e31f2d26c4
MotorsMulticopter: move get_hover_throttle_as_pwm to protected
...
No functional change
2015-07-21 16:27:04 +09:00
c7c6228b5d
MotorsMulticopter: remove virtual from set_yaw_headroom
2015-07-21 16:27:01 +09:00
157c97447d
AC_AttControlHeli: init passthrough_yaw
2015-07-21 16:26:27 +09:00
8b4805bfcb
AC_AttControl_heli: add MotorsHeli include
2015-07-21 16:25:56 +09:00
bf2bf2e3fa
AC_AttControl_Multi: new multirotor specific attitude control class
2015-07-21 16:25:53 +09:00
93dd7dd970
AC_AttControl: get_boosted_throttle purely virtual
2015-07-21 16:25:50 +09:00
4843be49de
AP_MotorsTri: remove call to empty parent Init
...
Also rename uses of Multirotor to Multicopter
2015-07-21 16:25:48 +09:00
f906934dfa
AP_MotorsSingle: remove call to empty parent Init
...
Also rename uses of Multirotor to Multicopter
2015-07-21 16:25:45 +09:00
112e934072
AP_MotorsMatrix: remove call to empty parent Init
...
Also rename uses of Multirotor to Multicopter
2015-07-21 16:25:43 +09:00
b1a4a6bf0a
AP_Motors_Coax: remove call to empty parent Init
...
Also rename uses of Multirotor to Multicopter
2015-07-21 16:25:40 +09:00
4d1dfd94f5
AP_MotorsMulticopter: multicopter features moved in from parent
...
Also rename from multirotor to multicopter
2015-07-21 16:25:37 +09:00
7355ac9cb8
AP_MotorsHeli: implement empty slow start method
2015-07-21 16:25:34 +09:00
a3fab10ef4
AP_MotorsHeli: init roll_radio_passthrough
2015-07-21 16:25:31 +09:00
c9dedbd3b2
AP_Motors: remove multicopter only features
...
Also rename uses of Multirotor to Multicopter
2015-07-21 16:25:28 +09:00
abb6eba291
AP_MotorsHeli: Change allow_arming check to use _rotor_speed_estimate
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In future, this will be used to check actual rotor speed (measured) if available, to prevent trying to arm with the rotor spinning.
2015-07-21 16:25:21 +09:00
9fcbc77ce0
AP_MotorsHeli: Create rotor_speed_above_critical accessor
2015-07-21 16:25:11 +09:00
992c9c75bb
AP_MotorsHeli: Create parameter_check method.
2015-07-21 16:25:04 +09:00
e2fe640e6c
Copter: Clean up helicopter allow_arming() function
2015-07-21 16:24:58 +09:00
61d6c5aa1d
AP_Motors: Creation of AP_Motors_Multirotor class
2015-07-21 16:24:38 +09:00
5c9bf90d94
SITL: use ARRAY_SIZE macro
2015-07-21 14:25:19 +09:00
fd5d25b1d5
AP_Compass: use ARRAY_SIZE macro
2015-07-21 14:25:17 +09:00
3136b8916c
DataFlash: use ARRAY_SIZE macro
2015-07-21 14:25:15 +09:00
d8b70dc0c5
AP_Scheduler: use ARRAY_SIZE macro
2015-07-21 14:25:13 +09:00
fdc6a75124
AP_Menu: use ARRAY_SIZE macro
2015-07-21 14:25:10 +09:00
0471de2342
AP_Math: use ARRAY_SIZE macro
2015-07-21 14:25:09 +09:00
eda4879f3f
AP_InertialSensor: use ARRAY_SIZE macro
2015-07-21 14:25:07 +09:00
3f472fb9e1
AP_HAL_VRBRAIN: use ARRAY_SIZE macro
2015-07-21 14:25:05 +09:00
473415a3c2
AP_HAL_SITL: use ARRAY_SIZE macro
2015-07-21 14:25:03 +09:00
d4d56aef1a
AP_HAL_PX4: use ARRAY_SIZE macro
2015-07-21 14:25:01 +09:00
cfc2972e51
AP_HAL_Linux: use ARRAY_SIZE macro
2015-07-21 14:24:58 +09:00
b83708f77f
AP_HAL: use ARRAY_SIZE macro
2015-07-21 14:24:56 +09:00
9d59b43920
AP_GPS: use ARRAY_SIZE macro
2015-07-21 14:24:54 +09:00
4a595bd797
APM_Control: use ARRAY_SIZE
2015-07-21 14:24:52 +09:00
fb2eb262e7
AP_Math: use ARRAY_SIZE instead of defining another one
2015-07-21 14:24:49 +09:00
73ff01dc68
AP_Notify: replace unsigned int with uint8_t
2015-07-21 13:52:03 +09:00
1bba105be4
AP_Notify: don't manually define number of notify devices
...
Like b211b86
2015-07-21 13:52:00 +09:00
65813f308e
DataFlash: fix incorrect comment
2015-07-21 13:11:00 +09:00
8225e58454
AP_Motors: throttle_min method in 0 to 1000 range
...
Previously the pwm range value was returned. This value is only used by
the multicopter attitude controller's angle boost function.
2015-07-20 20:44:46 +09:00
6bf6442396
MotorsMatrix; protect against divide by zero
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This should never happen but just to be safe
2015-07-20 20:44:43 +09:00
fa60c3dce8
MotorsCoax: fix output_armed_stabilized min thr limit
2015-07-20 20:44:36 +09:00
8a308205ce
MotorsSingle: fix output_armed_stabilized min thr limit
2015-07-20 20:44:32 +09:00
bd9a605086
MotorsTri: fix output_armed_stabilized min thr limit
...
_min_throttle is in the pwm range but was being used as if in the 0 to
1000 range
2015-07-20 20:44:23 +09:00
e53c46bd8f
MotorsMatrix: fix output_armed_stabilized min thr limit
...
_min_throttle was being used as if it were in the 0 to 1000 range when
in fact it is in the pwm range. This meant the lower limit was too low.
2015-07-20 20:44:14 +09:00
7dcfe1c667
RCOutput_Bebop: group channels write
2015-07-20 09:23:13 +10:00
3b1b7ea029
AP_GPS: fixed time handling with NMEA driver
2015-07-20 09:15:32 +10:00
a852e48f37
AP_GPS_NMEA: fix gps startup
...
when no valid gps data, gps would restart in a loop. Take the frame without
gps fix into account for frame counting
2015-07-20 09:14:15 +10:00
14e462706d
SITL: added gazebo SITL shim
2015-07-20 09:10:48 +10:00
c34ddb7fb8
HAL_SITL: added gazebo SITL model support
2015-07-20 09:10:48 +10:00
a61129f7f8
GCS_MAVLink: add support for send_mission_item_reached
2015-07-19 12:14:09 +09:00
766ccea3be
Mission: fix bug causing first do-cmd to be run many times
...
The symptom was that if the very first command in the mission was a
do-command, it would be run after every nav-command that didn't have
another do-command before it.
2015-07-17 12:15:08 +09:00
429346f4bc
AP_Mission: add missing breaks to case statement
2015-07-17 12:15:06 +09:00
0acfcbfa81
NavEKF: use primary compass instead of first instance
...
Thanks very much to staroselskii for finding this bug
2015-07-17 10:02:42 +09:00
cedc9a8670
Compass: add last_update_usec per instance
2015-07-17 10:02:41 +09:00
69cfe11455
AP_Arming: raise accel arming threshold to 0.75
...
arming issues due to accel inconsistency are too common
2015-07-17 09:50:19 +10:00
18de1c2c47
GCS_MAVLink: send AHRS2 even if we don't have a secondary position
2015-07-17 08:24:49 +10:00
6009ae55b1
AP_Math: fixed build of eulers example sketch
2015-07-17 08:24:49 +10:00
cc0ab26f5d
Mount: fix init of mode
...
Mode was being set from MNT_DEFTL_MODE parameter before that parameter's
value had been initialised from eeprom
2015-07-16 14:14:01 +09:00
9e5d13c1de
RCOutput_Bebop: use CLOCK_MONOTONIC instead of CLOCK_REALTIME
...
CLOCK_MONOTONIC is not affected by discontinuous jumps in the system time.
2015-07-15 12:08:44 +02:00
14882bc6a8
AC_AttitudeControl: Remove unused takeoff jump #define
2015-07-14 20:16:58 +09:00
e1902e2289
AP_MotorsHeli: Remove unused _dt variable.
2015-07-14 20:13:43 +09:00
7d2fe3cc2b
AP_GPS_UBlox: remove unused member
2015-07-14 15:02:15 +09:00
2c33250bee
AP_GPS_UBlox: send_next_rate_update always runs all steps
...
Moving the if, endif checks within the case statement ensures the state
machine goes through all 10 states
2015-07-14 15:02:13 +09:00
4b015d2091
AP_GPS: remove compiler warnings
2015-07-14 15:02:10 +09:00
df3a04e284
AP_GPS: reduce fake Ublox hdop to 130
2015-07-14 15:02:08 +09:00
5ccc58ffb4
AP_GPS: Read actual hDOP value from UBLOX messages
...
Before we were reading the position DOP and calling it hDOP. Since the
other drivers actualy read hDOP it seem best to do the same.
Fixes issue 462.
2015-07-14 15:02:03 +09:00
Randy Mackay
Jean-Baptiste Dubois
Andrew Tridgell
Lucas De Marchi
Staroselskii Georgii
dgrat
Tom Pittenger
Vladislav Zakharov
Michael du Breuil
Arthur Benemann
Robert Lefebvre
Peter Barker
Julien BERAUD
John Hsu
Andy Piper