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10581 Commits

Author SHA1 Message Date
pkancir
506db4eaf5 AP_HAL_Linux: add ADC support for PXF cape 2016-01-11 15:44:24 -02:00
Lucas De Marchi
0817fe6033 AP_HAL_Linux: default USE_FRAM to 0 for all boards 
This disables FRAM usage in PXF and erleboard. The reason is it's
failing and not being used. Right now we get this on startup:

	root@beaglebone:~# ./ArduCopter.elf
	FRAM: Online
	Storage: FRAM is getting reset to default values
	Failed to read FRAM

Testing with valgrind also reveals some invalid memory reads. Let's
disable it for now to be common with other boards.
 2016-01-11 15:44:24 -02:00
Lucas De Marchi
2a33b6bf33 AP_HAL_Linux: OpticalFlow: remove unneeded panic 
There's already a panic() below.
 2016-01-11 15:34:14 -02:00
Ricardo de Almeida Gonzaga
7adbccac9a AP_HAL_Linux: add support for OpticalFlow to MinnowBoardMax 
This commit adds support for OpticalFlow to MinnowBoardMax trying to
leave the OpticalFlow implementation as generic as it already is.

We had to add some format conversion and software crop to the cameras that
do not have this features.
 2016-01-11 15:31:27 -02:00
Ricardo de Almeida Gonzaga
8aded390e7 AP_HAL_Linux: add yuyv_to_grey() and crop_8bpp() to VideoIn 
Most cameras do not support NV12 or GREY formats, we are adding in this commit
a conversion from YUYV format, that seems pretty common in cameras, to GREY
format (since we do not use Cb and Cr data on OpticalFlow).

Also we are adding a software crop for 8bpp images, such as GREY format. For
the same reason, most cameras do not have support for overlaying (crop, resize
and so on).

These functions are being added in order to be used in the next commits,
where we will add support for OpticalFlow on MinnowBoardMax.
 2016-01-11 15:31:27 -02:00
Ricardo de Almeida Gonzaga
27f909319e AP_HAL_Linux: add get_pixel_formats() to VideoIn 
This function is being added in order to be used in the next commits,
where we will add support for OpticalFlow on MinnowBoardMax.
 2016-01-11 15:31:26 -02:00
Julien BERAUD
979184607d OpticalFlow_Onboard: fix comment 
Copy-paste mistake
 2016-01-11 14:54:51 -02:00
Andrew Tridgell
097c2011e1 HAL_SITL: prevent abort on select with -1 fd 2016-01-10 21:26:35 +11:00
Andrew Tridgell
deb0b9c197 HAL_SITL: read in larger chunks 2016-01-10 17:43:01 +11:00
Andrew Tridgell
655f57ad01 HAL_SITL: cleanup class names 
remove SITL prefix
 2016-01-10 17:43:01 +11:00
Andrew Tridgell
492c733750 HAL_SITL: added RingBuffers to UART driver 
makes for faster log download
 2016-01-10 17:43:01 +11:00
Tom Pittenger
db8a2f7e8b AP_TECS: changed land_spdwgt to be sliding scale 2016-01-09 13:25:02 +11:00
Tom Pittenger
89ce0b062b AP_SpdHgtControl: added new path_propportion var 2016-01-09 13:25:02 +11:00
Andrew Tridgell
ef151944b8 GCS_MAVLink: regenerate headers 2016-01-09 07:38:54 +11:00
Andrew Tridgell
ad59cb9f5c AP_Mission: support VTOL_TAKEOFF and VTOL_LAND 2016-01-09 07:38:53 +11:00
Andrew Tridgell
712a45eb22 GCS_MAVLink: added VTOL_TAKEOFF and VTOL_LAND 2016-01-09 07:38:53 +11:00
Andrew Tridgell
b3bd83b1c6 AP_TECS: no underspeed when in VTOL 2016-01-09 07:38:52 +11:00
Andrew Tridgell
4f70ca22c1 AP_SpdHgtControl: added VTOL flight stage 2016-01-09 07:38:52 +11:00
Andrew Tridgell
b187a0c6eb AP_Motors: added quadplane frame type 
this puts the motors on outputs 5 to 8, to leave the first 4 for the
plane
 2016-01-09 07:38:51 +11:00
Andrew Tridgell
22e25cc792 HAL_SITL: added Flightaxis support 2016-01-09 07:38:51 +11:00
Andrew Tridgell
7a7bd0607f SITL: first version of FlightAxis SITL support 2016-01-09 07:38:51 +11:00
Andrew Tridgell
76e3ae190a GCS_MAVLink: partial merge of common.xml from upstream 2016-01-09 07:38:51 +11:00
Randy Mackay
b742ee9cfb AP_Motors: fix example sketch 2016-01-08 18:36:47 +09:00
Michael du Breuil
8c9eafeb3c AP_GPS: Fix param docs that had incorrect spaces 
The spaces between values aren't stirpped by the autodoc tool that generates the XML files
 2016-01-08 20:17:54 +11:00
Randy Mackay
8c7f36563c AC_AttControl: bug fix to angle_boost reporting 
Thanks to OXINARF for finding this
 2016-01-08 10:48:59 +09:00
Michael Oborne
a42b286c01 AP_GPS_SBF: update logging based on vendor recommendation. 2016-01-08 10:47:05 +11:00
Andrew Tridgell
b54bb757df AP_Param: fixed flymaple build 2016-01-08 10:33:45 +11:00
mirkix
1744bc0850 AP_Notify: Use display with bbbmini 2016-01-07 14:32:56 -02:00
mirkix
2457558624 AP_Notify: Add display support 2016-01-07 14:32:56 -02:00
mirkix
dee20a31f1 AP_Notify: Add gps_num_sats 2016-01-07 14:32:56 -02:00
Lucas De Marchi
a803cfd1e8 AP_HAL_Linux: RCInput: use GPIO5 for PPMSUM in bhat 2016-01-07 10:28:16 -02:00
Lucas De Marchi
321803919c Revert "AP_HAL_Linux: support PWM input for BH hat" 
This reverts commit 8cca0beba9.

The PWM input using the RPI DMA is causing trouble with RPI boards using
PPMSUM. Let's revert it until the solution is found. We still leave the
ifdef in RCInput for BH hat.
 2016-01-07 10:27:07 -02:00
Randy Mackay
c829ec0c2c AC_PrecLand: add missing parameter description 
Thanks to Thomas Stone for finding this
 2016-01-07 17:35:18 +09:00
Jonathan Challinger
8fdbb36827 AP_BattMonitor: add is_powering_off 2016-01-07 15:14:07 +09:00
Randy Mackay
5ddd332277 AC_AttControl: add ANGLE_BOOST param 
This allows disabling angle boost
 2016-01-07 12:31:52 +09:00
Randy Mackay
6c458b07cb MotorsHeli_RSC: resolve compiler warning re init order 2016-01-07 12:31:49 +09:00
Randy Mackay
f6b909d0a5 AHRS_NavEKF: resolve compiler warning re signed vs unsigned comparison 2016-01-07 12:31:47 +09:00
Tom Pittenger
70a45680ed AP_TECS: fixed param desc for TECS_LAND_THR 2016-01-07 09:36:54 +11:00
Andrew Tridgell
415d800957 AP_Param: use get_custom_defaults_file() 2016-01-07 09:09:54 +11:00
Andrew Tridgell
b4cc3d9668 HAL_SITL: implement get_custom_defaults_file() 2016-01-07 09:09:40 +11:00
Andrew Tridgell
5f4bd10477 AP_HAL: added get_custom_defaults_file() to Util 2016-01-07 09:09:09 +11:00
Andrew Tridgell
f8b52c6a67 AP_AHRS: try to start EKF2 slightly before EKF2 
this gives priority to EKF2 on memory
 2016-01-07 08:34:32 +11:00
Andrew Tridgell
a6c39dee84 AP_NavEKF: don't allocate EKF1 unless it will leave 4k free memory 2016-01-07 08:33:33 +11:00
Andrew Tridgell
9188670e03 AP_TECS: added get_height_rate_demand() call 2016-01-06 22:47:38 +11:00
Andrew Tridgell
a07a8aece1 RC_Channel: added pwm_to_angle_dz_trim() 2016-01-06 22:47:21 +11:00
Andrew Tridgell
7c9ee9363b AP_Motors: added rc_map_mask() function 2016-01-06 22:09:40 +11:00
Andrew Tridgell
dfccf8f713 AP_Motors: also wrap set_freq and enable_ch for motor mapping 2016-01-06 22:09:40 +11:00
Andrew Tridgell
77af00c5e1 AP_Motors: allow arbitrary mapping of channels on multirotors 
using RCn_FUNCTION with motor1, motor2 etc
 2016-01-06 22:09:40 +11:00
Andrew Tridgell
2777ff63ba SITL: heli-sim: prevent ground rotation and reduced affect of ground impact 2016-01-06 21:59:56 +11:00
Paul Riseborough
e80fb8b3fa AP_NavEKF2: Improve non-GPS in-flight attitude accuracy 
The non-GPS mode was not being activated for small height gains - eg indoor flight.
The incorrect innovation consistency check was being applied to the synthetic velocity observations.
 2016-01-06 20:49:21 +11:00
Andrew Tridgell
a3d781bf3f GCS_MAVLink: fixed a valgrind error 2016-01-06 19:54:00 +11:00
Andrew Tridgell
0e8dbe92f0 GCS_MAVLink: fixed string overrun found by asan 2016-01-06 19:53:14 +11:00
Andrew Tridgell
519afc7a06 HAL_PX4: debug code for FRAM corruption 2016-01-06 19:16:16 +11:00
Andrew Tridgell
9941c91d36 RC_Channel: prevent a warning message for assigned RC channels 2016-01-06 19:16:12 +11:00
Andrew Tridgell
6c064ae8bd HAL_SITL: flow control is enabled on SITL 
faster parameter download
 2016-01-06 19:16:08 +11:00
Andrew Tridgell
68a46bc1ff GCS_MAVLink: use AP_Param::count_parameters() 2016-01-06 14:44:37 +11:00
Andrew Tridgell
93f0707679 AP_Param: added count_parameters() API 
this auto-clears when an ENABLE parameter changes
 2016-01-06 14:44:34 +11:00
Peter Barker
ff8008d81a DataFlash: remove unused callbacks, unimplemented functions 
Closes #3269
 2016-01-05 17:08:07 -02:00
Víctor Mayoral Vilches
d73fc4c0b2 AP_Notify: Add PXFmini support 2016-01-05 15:35:56 -02:00
Víctor Mayoral Vilches
fa3dad928b HAL_Linux: Add PXFmini to Linux_Class 2016-01-05 15:35:56 -02:00
Víctor Mayoral Vilches
e1de1f5f80 HAL_Linux: Util, add PXFmini support 2016-01-05 15:35:56 -02:00
Víctor Mayoral Vilches
e493bfcae4 AP_InertialSensor: add PXFmini support 2016-01-05 15:35:56 -02:00
Víctor Mayoral Vilches
a0b9181198 HAL_Linux: Scheduler add PXFmini support 2016-01-05 15:35:55 -02:00
Víctor Mayoral Vilches
1c49b086eb HAL_Linux: SPIDriver add PXFmini support 2016-01-05 15:35:55 -02:00
Lucas De Marchi
e0d19dc87d AP_HAL_Linux: RCInput_RPI: fix coding style 2016-01-05 15:35:34 -02:00
Víctor Mayoral Vilches
fdf490dad1 HAL_Linux: RCInput support for PXFmini 2016-01-05 15:34:50 -02:00
Lucas De Marchi
4e883e033f AP_HAL_Linux: GPIO: remove ifdef comment 
It just clutters the source code and review process when a new similar
board is added.
 2016-01-05 15:34:49 -02:00
Víctor Mayoral Vilches
8ce8045033 HAL_Linux: GPIO, add support for PXFmini 2016-01-05 15:31:43 -02:00
Víctor Mayoral Vilches
0aee50b99e HAL: Add PXFmini board 2016-01-05 15:31:43 -02:00
Andrew Tridgell
ea823a818c AP_AHRS: enable EKF2 by default in AHRS 2016-01-05 16:42:01 +11:00
Andrew Tridgell
a0a4b698f6 AP_NavEKF: disable EKF1 by default 
use EKF2 instead
 2016-01-05 16:41:48 +11:00
Andrew Tridgell
c34626ec4e AP_NavEKF2: automatically cut back EK2_IMU_MASK to suit number of IMUs 2016-01-05 16:40:43 +11:00
Andrew Tridgell
cc25575b3a AP_Scheduler: prevent a startup crash in autotest for Rover 2016-01-05 16:31:06 +11:00
Andrew Tridgell
62b2a2117d SITL: only report ground contact at most once per second 2016-01-05 09:47:58 +11:00
Andrew Tridgell
dd07ffce08 HAL_SITL: enable debug of rcoutput channel enable and frequency 2016-01-05 09:47:55 +11:00
Andrew Tridgell
526fb65dd1 HAL_PX4: fixed setting of rcout frequency on alt channels 2016-01-05 09:47:52 +11:00
Andrew Tridgell
224b2e2dda AP_Param: allow group entries as duplicates 
otherwise this breaks heli attitude control object
 2016-01-05 07:50:23 +11:00
Andrew Tridgell
b6155d2cb6 RC_Channel: fixed output for k_motor* 2016-01-05 06:41:51 +11:00
Andrew Tridgell
1b682e3c8f AP_Motors: swash servos are output only 2016-01-05 06:41:51 +11:00
Andrew Tridgell
238e912000 RC_Channel: allow find_channel() to be called early 
and fix a bug!
 2016-01-05 06:40:48 +11:00
Lucas De Marchi
47f25a0aa0 AP_HAL_Linux: remove _export_pins() method 
The initial idea was to export all pins to be used at once, so we
created _export_pins() to take all of them and a wrapper method,
_export_pin() to export a single one. However we never export more than
one pin at once.
 2016-01-04 15:12:49 -02:00
José Roberto de Souza
ba0ed84039 AP_HAL_Linux: Refactor GPIO_Sysfs 
- Replaced PATH_MAX by the maximum stack memory it will use for GPIO
  paths
- Added more information to error logs
- Removed the '/n' when writing to GPIO sysfs files
- Using Linux Util write_file() on _pinMode()
 2016-01-04 15:12:49 -02:00
José Roberto de Souza
0c0d595b55 AP_HAL_Linux: Export GPIO pin inside of pinMode() 
Make sure pinMode() method exports the pin before using it. Otherwise
the export method would need to be called, differently from other GPIO
implementations.

Since now export_pin and export_pins are called only internally, reduce
their visibility to protected.
 2016-01-04 15:12:49 -02:00
Ricardo de Almeida Gonzaga
7033e4d8ed AP_HAL_Linux: OpticalFlow swap crop and scale order 
In order to be easier to understand the image manipulation for the ones
who read this part, since the order makes no difference in this stage.
 2016-01-04 09:24:01 -02:00
Ricardo de Almeida Gonzaga
cbb313ec2c AP_HAL_Linux: Fix OpticalFlow crop calculation 
'left' value should be the lateral edges size
 2016-01-04 09:24:01 -02:00
Andrew Tridgell
9123ef9f38 RC_Channel: added find_channel() and channel numbers 2016-01-04 17:06:57 +11:00
Andrew Tridgell
d31ba2b380 AP_Motors: added rc_write function 
this is intended to make remapping motors and rescaling output easier
 2016-01-04 16:56:54 +11:00
Andrew Tridgell
79c90d37f6 AP_Motors: apply HELI_RSC output type if available 2016-01-04 16:14:09 +11:00
Andrew Tridgell
6a58264c6b RC_Channel: added set_aux_channel_default() API 
this will allow for a default channel for aux functions. Also adds
heli_rsc and heli_tail_rsc functions
 2016-01-04 16:14:09 +11:00
Randy Mackay
ccd3725f63 AP_Mount_Servo: remove out of date comment 2016-01-04 11:23:41 +09:00
Andrew Tridgell
e1f4814068 AP_Motors: only set output side of range for RSC 2016-01-04 11:23:38 +09:00
Andrew Tridgell
7cc53b6449 RC_Channel: setup only in or out part of channels for aux channels 
this allows separate use of input and output
 2016-01-04 11:23:36 +09:00
Andrew Tridgell
48b774bc63 RC_Channel: allow more complete separation of input and output of channels 
this allows for the type and range of channels to be different on
input and output
 2016-01-04 11:23:30 +09:00
Andrew Tridgell
0ef61b1637 AP_NavEKF: moved ENABLE param to front of list 
and mark as FLAG_ENABLE. This removes the EKF_* parameters when
EKF_ENABLE is 0
 2016-01-04 11:14:43 +11:00
Andrew Tridgell
ac64effc74 AP_Param: allow group entries in any order 
this will make the ENABLE flag more useful
 2016-01-04 11:14:43 +11:00
Andrew Tridgell
57f580fdfc AP_Param: enable param debug by default 2016-01-04 11:14:43 +11:00
Andrew Tridgell
60af7a6087 AP_Math: removed matrix3 parameter support 2016-01-04 11:14:43 +11:00
Andrew Tridgell
1b8cf84801 AP_Param: allow for up to 512 top level vehicle parameters 
this will make life a bit easier for copter
 2016-01-04 11:14:43 +11:00
Andrew Tridgell
0831661b3c AP_NavEKF2: mark EK2_ENABLE as an ENABLE parameter 2016-01-04 11:14:42 +11:00
Andrew Tridgell
29cb0dcf2c AP_Param: enable variables to be marked as enable variables 
used to hide unused subtrees of variables
 2016-01-04 11:14:42 +11:00
Andrew Tridgell
37b2e23322 AP_Param: allow objects containing parameters to be dynamically loaded 
this makes it possible for objects containing parameters to be
dynamically loaded.
 2016-01-04 11:14:42 +11:00
Andrew Tridgell
2dd8a0af74 HAL_SITL: allow visualisation of quad motor speeds in flightgear 2016-01-04 11:09:27 +11:00
Andrew Tridgell
c3829dfb64 AP_Scheduler: allow for arbitrary loop rates 
it turns out 300Hz is pretty useful as it allows for triple EKF on
pixhawk
 2016-01-04 08:37:31 +11:00
Andrew Tridgell
27b43f4036 AC_PID: fixed example build warning 2016-01-04 08:22:17 +11:00
Andrew Tridgell
1450f33b51 HAL_SITL: support 16 RC input channels in SITL 2016-01-04 08:22:02 +11:00
Andrew Tridgell
0966398d8d SITL: improved realism of fixed wing sim somewhat 
still not good, but a bit better for manual flight
 2016-01-04 08:03:46 +11:00
Andrew Tridgell
83c8505b3c HAL_SITL: send state to flightgear viewer 2016-01-04 08:02:37 +11:00
Lucas De Marchi
f3ee7a9a85 AP_AccelCal: use union instead of reference 
The current approach to access the same memory location by using a
reference is giving this warning:

	../libraries/AP_AccelCal/AccelCalibrator.cpp: In constructor ‘AccelCalibrator::AccelCalibrator()’:
	../libraries/AP_AccelCal/AccelCalibrator.cpp:34:64: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
	 _param_struct(*reinterpret_cast<struct param_t *>(&_param_array))
									^
	../libraries/AP_AccelCal/AccelCalibrator.cpp: In member function ‘void AccelCalibrator::run_fit(uint8_t, float&)’:
	../libraries/AP_AccelCal/AccelCalibrator.cpp:336:79: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
	     struct param_t &fit_param(*reinterpret_cast<struct param_t *>(&param_array));
                                                                               ^
Using a union allows us to get rid of the warning, make sure the sizes of the
different structs match and have a more elegant solution.
 2016-01-02 10:04:16 +11:00
Tom Pittenger
841f34effa AP_Arming: add param for accel error threshold 
This is the threshold error to determine inconsistent accelerometers.
 2016-01-02 10:01:46 +11:00
Andrew Tridgell
b2745bb545 AP_InertialSensor: we only need peak hold for negative X for now 2016-01-02 09:58:32 +11:00
Tom Pittenger
3aaf2b1d2b AP_InertialSensor: add pos/neg peak detector 
new functions that get a filtered min/max accel peaks on each axis with fixed 500ms timeout:
    Vector3f get_accel_peak_hold_pos()
    Vector3f get_accel_peak_hold_neg()

This allows slower mechanisms, such as is_flying, to detect accel spikes which would indicate ground or object impacts. Vibe is too filtered. Independent positive and negative peaks are available
 2016-01-02 09:58:31 +11:00
Andrew Tridgell
b052959c61 GCS_MAVLink: re-generated headers 2016-01-02 08:44:49 +11:00
Jonathan Challinger
c2b4235662 GCS_MAVLink: merge mavlink-solo 2016-01-02 08:42:33 +11:00
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
Aaron Wang Shi
800c142ac0 BH: Support UBLOX GPS M8N 2015-12-21 15:54:30 +11:00
Lucas De Marchi
766252cd87 AP_Compass: don't use ternary operator in place of if/else 2015-12-21 15:54:30 +11:00
Aaron Wang Shi
5a085b1610 AP_Compass: add support to BH hat 2015-12-21 15:54:30 +11:00
Aaron Wang Shi
3a31970056 AP_InertialSensor: add support to BH hat 
- MPU6050 I2C for BH v0.1
    - MPU9250 SPI for BH v0.2
 2015-12-21 15:54:30 +11:00
Aaron Wang Shi
fc2e810fb2 AP_Notify: add 1 RGB and board LEDs to BH hat 2015-12-21 15:54:30 +11:00
Aaron Wang Shi
c7a77af47f AP_HAL: add BH HAT board info 2015-12-21 15:54:30 +11:00
Andrew Tridgell
05e04ee1a7 HAL_SITL: added semaphore support 2015-12-21 07:38:30 +11:00
Andrew Tridgell
025e4edd17 DataFlash: fixed warning 2015-12-20 17:55:40 +11:00
Andrew Tridgell
a73039d515 HAL_Empty: use 5V voltage for HAL_EMPTY 
this makes bringup easier for new boards (allows arming checks to
pass)
 2015-12-20 17:55:40 +11:00
Andrew Tridgell
ef83f39029 AP_Baro: renamed _C* vars to avoid conflict with qurt 2015-12-20 17:55:39 +11:00
Andrew Tridgell
fbacb4c01f AC_AttitudeControl: fixed M_PI -> M_PI_F 2015-12-20 17:55:39 +11:00
Andrew Tridgell
d24f6f4050 AP_NavEKF: fixed static const bug 2015-12-20 17:55:39 +11:00
Andrew Tridgell
02d7867d79 DataFlash: added locking for multi-thread logging support 2015-12-20 17:55:39 +11:00
Andrew Tridgell
c77e3c89c5 HAL_Linux: implement new_semaphore() 2015-12-20 17:55:39 +11:00
Andrew Tridgell
02bee8810d HAL_PX4: added Semaphore support 2015-12-20 17:55:39 +11:00
Andrew Tridgell
9d4b31ca3c AP_HAL: added a new_semaphore() interface to Util 2015-12-20 17:55:39 +11:00
Andrew Tridgell
9fe25f9c71 HAL_Empty: fixed I2CDriver for use in Linux subtypes 2015-12-20 16:52:20 +11:00
Andrew Tridgell
ec6a679482 AP_HAL: added ByteBuffer and ObjectBuffer in RingBuffer 
much better API than old macros
 2015-12-20 07:33:54 +11:00
Tom Pittenger
cf170b2aa7 GCS_MAVLink: generated files 2015-12-19 14:36:16 +09:00
Tom Pittenger
7af717fead GCS_MAVLink: ADSB msg bug: vert_velocity is supposed to be signed 
- bug was introduced when changing from floating point to fixed point format
 2015-12-19 14:36:13 +09:00
Yang Liu
f0f3986f46 AP_InertialNav: Typo correction in comment 2015-12-19 10:11:35 +09:00
Andre Kjellstrup
6da7e76990 AP_Camera: Camera options for better camera control 
All on one because they would not pass autotest if split up.
 2015-12-18 18:16:11 +11:00
Jonathan Challinger
b0f58248a5 AP_TECS: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Jonathan Challinger
63caca1d3f AP_Mount: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Jonathan Challinger
ee8090e25f AC_AttitudeControl: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Jonathan Challinger
6682b27456 AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned 2015-12-18 18:08:37 +11:00
Lucas De Marchi
2a953c4e35 AP_HAL_Linux: add missing casts 
These errors were all over the VideoIn.cpp file:

libraries/AP_HAL_Linux/VideoIn.cpp: In member function 'bool Linux::VideoIn::allocate_buffers(uint32_t)':
libraries/AP_HAL_Linux/VideoIn.cpp:107:15: error: invalid conversion from 'uint32_t {aka unsigned int}' to 'v4l2_memory' [-fpermissive]
     rb.memory = _memtype;
               ^
libraries/AP_HAL_Linux/VideoIn.cpp: In member function 'bool Linux::VideoIn::set_format(uint32_t*, uint32_t*, uint32_t*, uint32_t*, uint32_t*)':
libraries/AP_HAL_Linux/VideoIn.cpp:169:14: error: invalid conversion from 'int' to 'v4l2_buf_type' [-fpermissive]
     fmt.type = V4L2_CAP_VIDEO_CAPTURE;
              ^

Add proper casts to fix the compilation.
 2015-12-18 17:56:06 +11:00
Lucas De Marchi
ba5dd88a0b AP_HAL_Linux: move mt9v117 patches inside class 
Let it be a static const member instead of defining it in a header. The
problem with the header is that it will generate conflicting symbols
when more than 1 compilation unit includes it.
 2015-12-18 17:56:06 +11:00
Julien BERAUD
a32738fd5f AP_OpticalFlow: Update test declaration 
Declare a dummy vehicle to get a dummy ahrs. No problem since this code
is not used apart from compilation. Needed to declare an optical flow.
 2015-12-18 17:56:06 +11:00
Julien BERAUD
780104dc9c GCS_MAVLink: Fix build 
Optical Flow definition is needed
 2015-12-18 17:56:06 +11:00
Julien BERAUD
924a94633d AP_AHRS: Fix build 
Due to interdependancy between optical flow and AHRS, it is not possible
to include full class definition which rely on each other
 2015-12-18 17:56:06 +11:00
Julien BERAUD
6f55f3734c AP_HAL_Linux: Add optflow declaration 
Add an empty driver for boards that are not bebop
 2015-12-18 17:56:05 +11:00
Lucas De Marchi
8b21dc9b22 AP_OpticalFlow: follow coding style 
- use pragma once
 - sort headers
 - add missing header - always include what you are using in the header
 2015-12-18 17:56:05 +11:00
Julien BERAUD
c5cca02bc8 AP_OpticalFlow: Add support for onboard optflow 
Onboard Optical flow needs to have access to the ahrs to get
correct gyro values.
Therefore the constructor takes the ahrs as a param like it is done
for other classes that need to have access to these datas
 2015-12-18 17:56:05 +11:00
Julien BERAUD
eccef24fa7 AP_HAL: Add optical flow params for bebop 
Params that are necessary for optical flow
 2015-12-18 17:56:05 +11:00
Julien BERAUD
f13cd00e59 AP_HAL_Linux: Update namespace and private 
Add new interfaces for optical flow
 2015-12-18 17:56:05 +11:00
Lucas De Marchi
83c50e12ca AP_HAL_Linux: OpticalFlow_Onboard: follow coding style 
- Remove commented out defines
 - Sort headers
 - Remove ifdef for HAL_BOARD_SUBTYPE_LINUX_BEBOP inside the same ifdef
 - Use AP_HAL::panic() instead of perror
 - AP_HAL::panic() message doesn't take a '\n' and there's no return
   statement after a call to this function
 - Fix pointer placement
 - Use pragma once
 - Don't initialize members to 0, it's already the default behavior of
   our custom allocator
 2015-12-18 17:56:05 +11:00
Julien BERAUD
ea89308d90 AP_HAL_Linux: Add Onboard Optical Flow interface 
Implementation of AP_HAL::OpticalFlow for an embedded camera sensor

There is the possibility to record video and also the gyro datas in order
to process the video off-board and debug possible issues.
 2015-12-18 17:56:05 +11:00
Lucas De Marchi
db5f49f49f AP_HAL_Linux: Flow_PX4: follow coding style 
- Replace tabs with spaces
 - Sort headers
 - Fix curly braces placement
 - Use pragma once
 2015-12-18 17:56:05 +11:00
Julien BERAUD
0476e698af AP_HAL_Linux: Flow_PX4 interface 
Implementation of the PX4 flow algorithm for ardupilot.
Based on the original PX4 Flow code, it has diverged a lot.
I have kept the license header since it is required.
I have removed all the unused and dead code on current implementation,
modified the code to make it clearer, re-indented it and changed
the way some params are calculated. It has been tested on PC and
on board and showed results that I assumed were OK. No optical flow
Loiter tests have been undertaken since it requires a Sonar which will
be added soon.

Limitations :
Some parts were written in ARM assembly and I rewrote them very naively
to get them to be more easily portable. A simple optimisation would be
to re-introduce assembly code for ARM as a separate asm file with
methods for fixed resolutions that would reduce a lot the amount of
calculation and memory read/writes. Then writing a version in NEON
assembly would even be more optimised and then maybe an Intel version.
 2015-12-18 17:56:05 +11:00
Lucas De Marchi
c75704bde3 AP_HAL_Linux: VideoIn: follow coding style and minor fixes 
- No need to if/else if just returning
 - Sort includes
 - Fix missing space in log message
 - When closing the fd, set it to -1. It's better to later fail the
   operation than to operate on another random file descriptor
 - Add some spaces to improve readability
 - Use pragma once
 - Do not initialize members to zero, it's already the behavior for our
   custom allocator
 2015-12-18 17:56:05 +11:00
Julien BERAUD
25df4d03ff AP_HAL_Linux: Add support for Video Input 
VideoIn class is created that allows to setup a v4l2 interface
and capture buffers. I is based on yavta utility by Laurent Pinchart
and has been tested only on the bebop, though yavta works on any linux
platform.
 2015-12-18 17:56:04 +11:00
Lucas De Marchi
24d20f89c4 AP_HAL_Linux: make CameraSensor follow coding style 
- Replace tabs with spaces
 - Sort includes
 - No need to ifdef Linux inside AP_HAL_Linux
 - Use early returns on error rather than a chain o if/else
 - Use pragma once
 - No need to initialize class members to 0, it's already our default
   behavior
 2015-12-18 17:56:04 +11:00
Julien BERAUD
c84d9bf702 AP_HAL_Linux: Add support for mt9v117 camera 
The camera sensor is connected on i2c bus for config
and on a parallel bus on the main SoC.
Currently, the i2c driver remains userland, but this is intended to
change in the future. The v4l2_subdev part is the way to go in the future
and it is the mainline way of configuring i2c camera sensors on Linux.
Currently only the max framerate is supported because it is the one that
is to be used on the bebop optical flow.
 2015-12-18 17:56:04 +11:00
Julien BERAUD
736f78a7a2 AP_HAL_VRBRAIN: add empty optical flow 
No onboard optical flow on VRBRAIN
 2015-12-18 17:56:04 +11:00
Julien BERAUD
d8bcb36530 AP_HAL_SITL: add empty optical flow 
No embedded optical flow on sitl
 2015-12-18 17:56:04 +11:00
Julien BERAUD
c0f65ff6e1 AP_HAL_PX4: add empty optical flow 
No onboard optical flow on PX4
 2015-12-18 17:56:04 +11:00
Lucas De Marchi
0e29a7193a AP_HAL_FLYMAPLE: replace tabs with spaces in HAL_FLYMAPLE_Class 2015-12-18 17:56:04 +11:00
Lucas De Marchi
d08d7ce125 AP_HAL_FLYMAPLE: fix indentation 2015-12-18 17:56:04 +11:00
Julien BERAUD
c114ad2b95 AP_HAL_FLYMAPLE: add empty optflow driver 
no embedded optical flow on flymaple
 2015-12-18 17:56:04 +11:00
Lucas De Marchi
e825eb12f5 AP_HAL_Empty: follow coding style 
- Add some spaces
 - Use pragma once
 - Remove ; from method implementation
 - Remove unneeded return
 2015-12-18 17:56:04 +11:00
Lucas De Marchi
b3a751a199 AP_HAL_Empty: sort include headers 2015-12-18 17:56:03 +11:00
Julien BERAUD
d14f4104ea AP_HAL_Empty: add support for OpticalFlow 
Void driver
 2015-12-18 17:56:03 +11:00
Lucas De Marchi
c7668479bb AP_HAL: follow coding style 2015-12-18 17:56:03 +11:00
Julien BERAUD
2b681f2f13 AP_HAL: Add support for an Optflow driver 
This is meant to be used for onboard optical flow
 2015-12-18 17:56:03 +11:00
Tom Pittenger
d003e24189 AP_ADSB: fix unit conversion 2015-12-18 13:49:47 +09:00
José Roberto de Souza
63e1d0753e AP_Notify: Add a new RGBLed implementation that works over RCOutput 
To be used in boards that uses the same PWM chip to generate signal to
control motors and the status led.
 2015-12-16 08:18:17 +11:00
José Roberto de Souza
d74bd533c8 AP_Math: Add function to convert frequency to/from microseconds 2015-12-16 08:18:17 +11:00
José Roberto de Souza
38575dd87a AP_Math: Fix parameter name in nsec_to_hz() 2015-12-16 08:18:17 +11:00
Julien BERAUD
a27d7f8a93 AP_InertialSensor_MPU6000: Fix FIFO reset 
Change the sequence. Previous sequence was sometimes causing failure
to initialize the IMU.
 2015-12-16 08:16:10 +11:00
Andrew Tridgell
0a36503742 HAL_Linux: fixed a bug with UDP packetisation 
this fixes a bug where we would send UDP MAVLink packets larger than 300 bytes
 2015-12-14 18:27:11 +11:00
Jonathan Challinger
0a701088d4 AP_Math: fix bug in Quaternion::operator*= 2015-12-14 11:15:33 +09:00
Peter Barker
326e68544c DataFlash: remove unused functions 2015-12-10 10:45:51 +09:00
Julien BERAUD
bbf146197c RCOutput_Bebop : Update motor order 
Newer esc firmware versions on bebop 1 and all the versions on bebop 2
have a different order for the motors in the i2c frame sent to the
esc contoller. This commit adds support for both versions by reading
the firmware version of the esc, using GET_INFO frame
 2015-12-09 20:48:26 +09:00
Randy Mackay
c8661f804f AC_AttControl: reduce compiler warnings by fixing member init order 
Also increased _dt's default to 400hz (no functional change)
 2015-12-09 20:04:42 +09:00
Randy Mackay
02eda4dcab AC_AttControl: remove comment, fix formatting 2015-12-09 20:04:32 +09:00
Jonathan Challinger
3c4d226b64 AC_WPNav: call renamed functions in AC_AttitudeControl 2015-12-09 19:58:50 +09:00
Jonathan Challinger
e8345fbaab AC_AttitudeControl: rename getters for attitude target and attitude error 2015-12-09 19:58:48 +09:00
Jonathan Challinger
3a06edcee3 AC_AttitudeControl: rename local variable to match naming convention 2015-12-09 19:58:46 +09:00
Jonathan Challinger
846ee7d2af AC_AttitudeControl: fix regression in angular velocity controller 2015-12-09 19:58:45 +09:00
Jonathan Challinger
b8223771d3 AC_AttitudeControl: properly protect sqrt_controller from nonpositive acceleration limits 2015-12-09 19:58:44 +09:00
Jonathan Challinger
162d2a9112 AC_AttitudeControl: naming changes in response to Leonard's review 2015-12-09 19:58:42 +09:00
Jonathan Challinger
a48f201a04 AC_AttitudeControl: comment changes in response to Paul's review 2015-12-09 19:58:41 +09:00
Jonathan Challinger
0baf86c485 AC_AttitudeControl: fixup more names 2015-12-09 19:58:39 +09:00
Jonathan Challinger
41e580e53a AC_AttitudeControl: add input_att_quat_bf_ang_vel and use for ACRO 2015-12-09 19:58:38 +09:00
Jonathan Challinger
5919e95635 AC_AttitudeControl: add input_ prefix to input shaper functions 2015-12-09 19:58:36 +09:00
Jonathan Challinger
bba360ea2b AC_AttitudeControl: correct bugs found in review 2015-12-09 19:58:35 +09:00
Jonathan Challinger
9208003aab AC_AttitudeControl: remove unused variable 2015-12-09 19:58:34 +09:00
Jonathan Challinger
f8c709478a AC_AttitudeControl: quaternion acro controller 2015-12-09 19:58:33 +09:00
Jonathan Challinger
8b886bc479 AC_AttitudeControl: minor comment changes and reorganization 2015-12-09 19:58:32 +09:00
Jonathan Challinger
edda7e4e1e AC_AttitudeControl: keep _att_target_euler_deriv_rads updated in euler_angle_roll_pitch_yaw 2015-12-09 19:58:31 +09:00
Jonathan Challinger
1afab89991 AC_AttitudeControl: extensive renaming and recommenting 2015-12-09 19:58:29 +09:00
Jonathan Challinger
06c8457efd AC_AttitudeControl: rename and modify frame_conversion functions to follow conventions 2015-12-09 19:58:27 +09:00
Jonathan Challinger
7330de86e5 AC_AttitudeControl: change internals to use radians instead of centidegrees 2015-12-09 19:58:26 +09:00
Jonathan Challinger
fff275fd99 AP_Math: add wrap_2PI 2015-12-09 19:58:25 +09:00
Tom Pittenger
37054d9571 SITL: update units for new adsb mavlink msg 2015-12-09 14:36:30 +11:00
Tom Pittenger
87fccce9e2 AP_ADSB: update units for new mavlink msg 2015-12-09 14:36:30 +11:00