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11837 Commits

Author SHA1 Message Date
Siddharth Bharat Purohit
d65f453da1 AP_HAL_SITL:use common fenv function 2016-07-07 11:35:18 -03:00
Lucas De Marchi
c728b6c164 AP_Common: missing/fenv: fix coding style 2016-07-07 11:35:18 -03:00
Siddharth Bharat Purohit
484db9ff82 AP_Common: add replacements for fe control functions systems without them 2016-07-07 11:35:18 -03:00
Siddharth Bharat Purohit
8903bc9eab AP_HAL: add support for get realtime on Darwin systems 2016-07-07 11:35:17 -03:00
Andrew Tridgell
f090e9b27c HAL_Linux: fixed makefile build with PRIu64 2016-07-07 15:10:59 +10:00
Lucas De Marchi
3ba27df405 AP_Compass: BMM150: minor refactors 
- Correctly sort includes and add missing AP_Math.h
  - Use anonymous struct for trim_registers in _load_trim_values,
    renaming its members so they don't start with underscore
  - Don't change _dig* values when we failed to read from sensor
  - Add some blank lines
  - Make _dig_* members be inside a _dig struct
  - Use constrain_int32 instead of if/else chain
  - s/time_us/time_usec/
  - Construct raw_field with a single constructor in _update()
  - Add missing copyright notice
  - Group methods together in declaration
 2016-07-06 10:04:05 -03:00
José Roberto de Souza
6e53854122 AP_Compass: Add BMM150 backend 2016-07-06 10:03:30 -03:00
Fernandes Pinheiro, Daker
51bf638ad3 PID: Remove unused method get_pid_4500 2016-07-06 08:45:01 +09:00
Tom Pittenger
19713200e5 AP_TECS: coverity scan: init variable struct 2016-07-05 14:09:40 -07:00
Tom Pittenger
6d0cf22358 AP_TECS: spelling 2016-07-05 14:09:39 -07:00
Tom Pittenger
753c0d47f0 AP_TECS: coverity scan - variables not initialized in constructor 2016-07-05 13:53:26 -07:00
Tom Pittenger
5f16d873b8 AP_L1_Control: coverity scan - ignoring get_position() result 
- if no GPS location is available, do not continue computing navigation values. Hold old nav/target bearings and allow GPS failsafe to switch modes
 2016-07-05 13:32:34 -07:00
Tom Pittenger
a74e86c234 GCS_MAVLink: coverity scan - computed value overwritten without use for SITL 
- when building for SITL we should just skip the num_sends work instead of overwriting the value
 2016-07-05 13:32:29 -07:00
Tom Pittenger
bd8debdf8b GCS_MAVLink: coverity scan - variables not initialized in constructor 2016-07-05 13:32:24 -07:00
Tom Pittenger
8d2872d3ab AP_Baro: coverity scan - variables not initialized in constructor 2016-07-05 13:32:06 -07:00
Tom Pittenger
93462d0fe3 AP_Airspeed: coverity scan - variables not initialized in constructor 2016-07-05 13:32:00 -07:00
Tom Pittenger
d558f32142 AP_L1_Control: coverity scan - variables not initialized in constructor 2016-07-05 13:28:52 -07:00
Andrew Tridgell
0be442d34b SITL: improved throttle input in XPlane 
reduce chance that throttle output will be interpreted as input
 2016-07-05 09:48:40 +10:00
Andrew Tridgell
f387f248d3 SITL: added support for servo slew rates and retract servos 
this is for tiltrotors with retract servos
 2016-07-05 09:40:37 +10:00
Luis Vale Gonçalves
334233d48f AP_BoardConfig: fix spelling in parameter description 
witch ->no
switch->yes
 2016-07-04 21:59:30 +09:00
Randy Mackay
e820506c5a AC_Fence: add polygon fence check to check_destination_within_fence 2016-07-04 18:25:03 +09:00
Randy Mackay
a9d1dcd6ac AC_Fence: trigger reloading of polygon fence if update from GCS 
The GCS can either modify a point with a mavlink message or directly change the FENCE_TOTAL parameter value
 2016-07-04 18:25:03 +09:00
Jonathan Challinger
0eac5a5c8f AC_PrecLand: remove zero terms from math 2016-07-04 16:57:06 +09:00
Jonathan Challinger
b5e80148c6 AC_WPNav: remove shift_loiter_target 2016-07-04 16:57:06 +09:00
Jonathan Challinger
f74e162451 AC_PrecLand: redo math, simplify interface 2016-07-04 16:57:06 +09:00
Randy Mackay
4bedc57cbe DataFlash: rename SBFE's Long field to Lng 
This naming is consistent with the other GPS messages
 2016-07-04 11:17:14 +09:00
Randy Mackay
032e834849 Dataflash: log rally points 2016-07-04 11:17:09 +09:00
Andrew Tridgell
11975223dd AP_Motors: added H_RSC_POWER_NEGC and H_RSC_SLEWRATE 
this gives more control over throttle for petrol
helis. H_RSC_POWER_NEGC allows for a asymmetric V-curve, which allows
for less power being put into the head when landing or when sitting on
the ground. That can lead to significantly less vibration and chance
of ground oscillation. A heli not being flown with aerobatics does not
need to use high throttle at negative collective pitch.

The H_RSC_SLEWRATE allows for a maximum throttle slew rate to be
set. Some petrol motors can cut if the throttle is moved too
quickly. We had this happen at a height of 6m when switching from
ALT_HOLD to STABILIZE mode. It also lowers the chance of the blades
skewing in their holders with the sudden change of power when the heli
is disarmed. In general it is a bad idea to do instantaneous large
movements of a IC engine throttle.
 2016-07-03 18:29:05 +10:00
Andrew Tridgell
918c41b1e4 AP_BoardConfig: fixed IMU_TARGTEMP index 2016-07-03 12:54:27 +10:00
Andrew Tridgell
3377714300 RC_Channel: fixed typo 2016-07-01 15:35:55 +10:00
Andrew Tridgell
a331542958 GCS_MAVLink: fixed typo 2016-07-01 15:35:49 +10:00
Andrew Tridgell
4dcff15603 DataFlash: fixed typo 2016-07-01 15:35:45 +10:00
Andrew Tridgell
50958bc026 AP_RangeFinder: fixed typo 2016-07-01 15:35:39 +10:00
Andrew Tridgell
1f2216982d AP_Mount: fixed typo 2016-07-01 15:35:34 +10:00
Andrew Tridgell
bc7488e2f2 AP_Motors: fixed typos 2016-07-01 15:35:29 +10:00
Andrew Tridgell
cb858d2c99 AP_InertialSensor: fixed typo 2016-07-01 15:35:22 +10:00
Andrew Tridgell
081df44d92 HAL_QURT: fixed typo 2016-07-01 15:35:15 +10:00
Andrew Tridgell
6e065b3fe2 AP_HAL: fixed typo 2016-07-01 15:35:07 +10:00
Andrew Tridgell
86ceee4a53 AC_WPNav: fixed typo 2016-07-01 15:34:56 +10:00
Andrew Tridgell
45c72eb442 AP_BoardConfig: added BRD_IMU_TARGTEMP 
set target temperature for IMU
 2016-07-01 15:29:52 +10:00
Andrew Tridgell
834acaffee AP_InertialSensor: provide IMU temperature to HAL for all boards 2016-07-01 15:29:52 +10:00
Andrew Tridgell
7c2e4d0419 HAL_PX4: implement IMU heater in hal.util for Pixhawk2 2016-07-01 15:29:52 +10:00
Andrew Tridgell
461c159b22 HAL_Linux: use set_imu_target_temp() API 2016-07-01 15:29:52 +10:00
Andrew Tridgell
8617db89dc AP_HAL: added hal.util->set_imu_target_temp() API 2016-07-01 15:29:52 +10:00
Leonard Hall
fe68fe65e2 AP_Motors: Single and Coax fix flap gains 2016-07-01 12:45:14 +09:00
Andrew Tridgell
fc9283964a HAL_SITL: fixed segv on cygwin 2016-06-30 20:45:03 +10:00
Andrew Tridgell
82f131667d SITL: added flaps control in XPlane 2016-06-30 20:26:00 +10:00
Andrew Tridgell
934d2b6ae4 RC_Channel: added setup_failsafe_trim_mask() 2016-06-30 16:46:57 +10:00
Andrew Tridgell
a071fa3921 AP_Param: display defaults path on startup 2016-06-30 14:16:52 +10:00
Andrew Tridgell
beb3591f67 HAL_Linux: improved help output and errors for udp and bcast 2016-06-28 21:01:45 +10:00
Andrew Tridgell
72b5cecdb2 HAL_Linux: added udpin support to HAL_Linux 
useful for setting up ardupilot as a mavlink UDP listener
 2016-06-28 21:01:43 +10:00
Paul Riseborough
4a8689aa97 AP_NavEKF2: remove duplicate if statements from mag fusion 2016-06-28 14:20:13 +10:00
Paul Riseborough
e117bedf6a AP_NavEKF2: Adjust output observer tuning 
Use more accurate method by default.
Reduce overshoot on quaternion tracking
 2016-06-28 14:20:13 +10:00
Paul Riseborough
5c59922574 AP_NavEKF2: Fix bug that could publish bad compass offsets 
Magnetometer bias states will subject to larger errors early in flight before flight motion makes the offsets observable and the state variances reduce.
Adds a check on state variances.
Replaces the parameter check with a check of the actual filter fusion method being used.
 2016-06-28 14:20:13 +10:00
Paul Riseborough
165335b9e3 AP_NavEKF2: Improve ability to tune magnetic field learning 
Allow different process noise to be set for body (sensor bias) and earth field states.
This allows a stable magnetometer bias estimate to be available at end of flight whilst still allowing for external magnetic anomalies during landing.
Adjust default values to give stable mag bias learning and fast learning of external anomalies.
 2016-06-28 14:20:12 +10:00
Paul Riseborough
6523481c76 AP_NavEKF2: Improve tracking accuracy of output predictor 
Automatically use the highest gain consistent with a 5% overshoot to minimise RMS tracking errors.
Provide an alternative correction method for the position and velocity states that allows the user to specify the time-constant. This can be used to fine tune the output observer for for platform specific sensor errors and control loop sensitivity estimation noise.
 2016-06-28 14:20:12 +10:00
Paul Riseborough
fe06606193 AP_NavEKF2: Ensure corrected IMU data used by EKF 
Don't try to pop new IMU data from the buffer unless we have written data.
Correct IMU data as soon as it is popped from the buffer
 2016-06-28 14:20:12 +10:00
Paul Riseborough
1400dc9d02 AP_NavEKF2: Add tuning parameters for magentic yaw fusion 
Enable simple magnetic yaw fusion observation noise and innovation consistency check gate width to be tuned independantly.
 2016-06-28 14:20:12 +10:00
Paul Riseborough
dc6836988c AP_NavEKF2: Improve ground based magnetic anomaly protection for copter 
The toilet bowling check during early flight has been removed. This check caused problems where bad compass calibration was the cause of the toilet bowling and resetting to the compass was a bad option. The handling of simultaneous failed mag and velocity innovations is already handled outside the EKF by the failsafe.
A check for yaw errors due to a ground based magnetic anomaly has been introduced.
The logic for in-flight yaw and magnetic field resets has been cleaned up and variable names improved.
 2016-06-28 14:20:12 +10:00
Paul Riseborough
703f56908f AP_NavEKF2: Correct comment 2016-06-28 14:20:12 +10:00
Paul Riseborough
26815ace7a AP_NavEKF2: Remove redundant logic check 2016-06-28 14:20:12 +10:00
Jonathan Challinger
bd8c804ab5 AP_NavEKF2: correct comments 2016-06-28 14:20:12 +10:00
Jonathan Challinger
ebae95d7f6 AP_NavEKF2: apply corrections to new inertial data when using for output prediction 2016-06-28 14:20:11 +10:00
Jonathan Challinger
2f709dfe86 AP_NavEKF2: improve inertial prediction 2016-06-28 14:20:11 +10:00
Paul Riseborough
262c5fe56d AP_NavEKF2: Make setter loop through all instances 
For setters where a success boolean is returned, return false if any instance fails.
 2016-06-28 14:20:11 +10:00
Jonathan Challinger
8baf064317 AP_NavEKF2: setTakeoffExpected and setTouchdownExpected loop through instances 2016-06-28 14:20:11 +10:00
Paul Riseborough
ec5c460584 AP_NavEKF2: Fix predicted nav reporting 
Predicted nav should never be false if current nav is true
 2016-06-28 14:20:11 +10:00
Jonathan Challinger
99f481e098 AP_NavEKF2: always calcGpsGoodForFlight 2016-06-28 14:20:11 +10:00
Jonathan Challinger
3382e09580 AP_NavEKF2: add height constraint during takeoff 2016-06-28 14:20:11 +10:00
Paul Riseborough
4bb46af861 AP_NavEKF2: Increase allowable gyro bias offset 2016-06-28 14:20:10 +10:00
Andrew Tridgell
af23a681e0 AP_BoardConfig: improved docs for BRD_SAFETYENABLE 2016-06-28 09:58:55 +10:00
Lucas De Marchi
1f96336f7c Global: rename bus type enum entries 2016-06-27 17:51:41 -03:00
Gustavo Jose de Sousa
f6bebc96c0 AP_InertialSensor: INS_generic: remove unused includes 2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa
e85ac8b2c5 AP_InertialSensor: inform maximum gyro average difference 
While at it, define GYRO_INIT_MAX_DIFF_DPS.
 2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa
e6f62080f5 AP_InertialSensor: fix best_diff on gyro initialization 
Without this patch, if accel_diff.length() > 0.2f and j == 0, then
best_diff[k] would be zero forever since diff_norm[k] >= 0 for any j.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
de94392759 AP_InertialSensor: MPU9250: remove _bus_type field 
Use _dev->bus_type instead.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
83feb2e2ae AP_InertialSensor: MPU9250: let Device handle read flag 
There's no need to handle that in MPU9250 anymore.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
1e99a7125c AP_InertialSensor: MPU9250: remove _register_write_check() 
That function isn't used in the code base and there should be a better way to
debug writes on registers.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
a6e5eb9e14 AP_InertialSensor: MPU6000: remove _bus_type field 
Use _dev->bus_type instead.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
0718649c8b AP_InertialSensor: MPU6000: let Device handle read flag 
There's no need to handle that in MPU6000 anymore.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
309fe4a88c AP_InertialSensor: MPU6000: remove _register_write_check() 
That function isn't used in the code base and there should be a better way to
debug writes on registers.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
d35cf60ce1 AP_HAL_Linux: I2CDevice: use read flag in read_registers_multiple 
Use the generic support in Device interface for read flag when we are
using read_registers_multiple() method.
 2016-06-27 17:20:46 -03:00
Gustavo Jose de Sousa
66f1ad9ed0 AP_HAL: Device: add support for read flag 
Many of our SPI and I2C sensors define the protocol of setting the most
significant bit of the register address in order to perform a read operation.
Thus, enable the use of a "read flag" that is ORed with the register's address.
Since this is an abstraction for general devices, it's a good idea to have zero
as the default value for that flag.

While at it, add documentation to read_registers().
 2016-06-27 17:18:35 -03:00
Gustavo Jose de Sousa
b6a1d598e3 AP_HAL: Device: document write_register() 2016-06-27 17:18:35 -03:00
Gustavo Jose de Sousa
4693501d9d AP_HAL: Device: add bus_type field 
Sometimes it's necessary to know the type of bus to make some decisions where
AP_HAL::Device abstraction is used.
 2016-06-27 17:18:35 -03:00
Michael du Breuil
c2da36d505 GCS_MAVLink: fix race condition when recieving last waypoint 
only shows up when the waypoint is about to time out
 2016-06-27 10:57:14 +10:00
Andrew Tridgell
689595080a AP_Airspeed: ensure we have at least 10 samples for airspeed cal 
thanks to Michael for pointing out this issue
 2016-06-27 10:52:59 +10:00
Tom Pittenger
37f990bfad AP_ADSB: allow param based VEHICLE list sizes, 1 to 100. 2016-06-26 11:03:33 -07:00
Lucas De Marchi
b70b9ed8d1 AP_HAL_Linux: fix warning on 64b printf 
../../libraries/AP_HAL_Linux/Perf.cpp: In member function ‘void Linux::Perf::_debug_counters()’:
../../libraries/AP_HAL_Linux/Perf.cpp:85:36: warning: format ‘%llu’ expects argument of type ‘long long unsigned int’, but argument 4 has type ‘uint64_t {aka long unsigned int}’ [-Wformat=]
                     c.name, c.count);
                                    ^
 2016-06-25 12:05:55 -03:00
Daniel Ricketts
865aad7598 AC_Avoid: add support for stopping at polygon fence 2016-06-25 15:55:55 +09:00
Randy Mackay
26a6234a29 AC_Avoid: do not attempt to stop at circular fence if already breached 2016-06-25 15:55:55 +09:00
Randy Mackay
c6f9889a25 AC_Avoid: constify get_max_speed 
Also get_stopping_distance and get_margin
 2016-06-25 15:55:55 +09:00
Randy Mackay
5153c3d195 AC_Fence: merge with add polygon support 2016-06-25 15:55:55 +09:00
Randy Mackay
d91805edbf AC_Fence: add support for polygon fences 2016-06-25 15:55:55 +09:00
Randy Mackay
f0bb1ac1d2 AC_Fence: AC_Polygon_loader loads points from eeprom 
Thanks to Peter Barker for his work to library-ify Plane's geofence which was the basis for this work.
 2016-06-25 15:55:55 +09:00
Daniel Ricketts
249d95b413 AP_Math: add Polygon_outside and Polygon_complete functions 2016-06-25 15:55:55 +09:00
Leonard Hall
80bda572ba AC_AttutudeControl: Yaw shift fix 2016-06-24 18:15:48 +09:00
Leonard Hall
a5bb3c206e Dataflash: Log rate to degrees 2016-06-24 17:17:16 +09:00
Leonard Hall
8737f6b62d AC_AttitudeControl: enhanced quaternion attitude controller 2016-06-24 17:17:11 +09:00
Leonard Hall
117ae89505 AC_AttitudeControl: increase SLEW_YAW default to 60deg/sec 2016-06-24 16:24:17 +09:00