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19524 Commits

Author SHA1 Message Date
Andrew Tridgell 99da195e37 AP_NavEKF2: make IMU buffer length depend on main loop rate 
this fixes a problem with Replay and baro data
 2015-11-18 10:20:39 +11:00
Randy Mackay 1b29a1af46 Copter: consolidate setting of using-iterlock state 2015-11-17 09:02:31 +09:00
Andrew Tridgell 4192c3d0ad autotest: calibrate 2nd accel in SITL for rover 2015-11-17 08:56:48 +11:00
Andrew Tridgell f36b2e415a AP_InertialSensor: fixed flymaple build 2015-11-17 08:52:49 +11:00
Andrew Tridgell 32ed0d58f3 AP_InertialSensor: fixed filter setup on 2nd accel/gyro 2015-11-16 17:57:36 +11:00
Andrew Tridgell 0c92331762 Copter: fixed build for SITL changes 2015-11-16 17:57:36 +11:00
Andrew Tridgell 9108179322 Plane: fixed build for SITL changes 2015-11-16 17:57:36 +11:00
Andrew Tridgell e1cb9beeef SITL: expose update rate to HAL_SITL 
and fixed dataflash reference loop
 2015-11-16 17:57:36 +11:00
Andrew Tridgell 95ca0b39a8 HAL_SITL: moved virtual INS sensor to AP_InertialSensor_SITL 2015-11-16 17:57:35 +11:00
Andrew Tridgell 4a768d47f3 AP_InertialSensor: created a SITL specific backend 2015-11-16 17:57:35 +11:00
Andrew Tridgell 2675edcb96 HAL_SITL: removed unused variables 2015-11-16 17:57:35 +11:00
Andrew Tridgell ccd915eb67 AP_InertialSensor: moved raw gyro and accel logging to common code 
this brings raw logging to non-PX4 ports
 2015-11-16 17:57:35 +11:00
Andrew Tridgell 75ea8f3dc0 AP_InertialSensor: removed "have sample" logic from drivers 
the frontend has all the information it needs, so we can simplify the
drivers some more
 2015-11-16 17:57:35 +11:00
Andrew Tridgell 0e4bab74ba AP_InertialSensor: simplify sensor backends 
use common code for filtering and update, allowing each sensor driver
to be simpler and more consistent
 2015-11-16 17:57:35 +11:00
Randy Mackay 36c0beb918 GPS_UBlox: reorder init to resolve compiler warning 
Also removed duplicate init of noReceivedHdop
 2015-11-16 15:09:17 +09:00
Jonathan Challinger 5086168b03 Copter: add RTL_SPEED parameter 2015-11-16 10:20:32 +09:00
Paul Riseborough 9b82b2200c AP_NavEKF2: Fix plane in-flight yaw reset 
The copter method was being used for plane and the plane method was not being run due to the change in flight status not being detected.
The plane reset method did not trigger if the EKF had already dragged the velocity states along with the GPS or could align to an incorrect heading.
The method has been reworked so that it resets to the GPS course, but only if there are inconsistent angles and large innovations.
To stop a failed magnetometer causing a loss of yaw reference later in flight, if all available sensors have been tried in flight and timed out, then no further magnetoemter data will be used
 2015-11-16 09:05:42 +11:00
Paul Riseborough e8706db382 AP_NavEKF2: Update IMU tuning parameter limits 2015-11-16 09:05:42 +11:00
Paul Riseborough 0562529729 AP_NavEKF2: Tuning changes to make attitude less sensitive to GPS and compass errors 2015-11-16 09:05:42 +11:00
Andrew Tridgell 3549c717db Filter: removed reference to old 'Desktop' build 2015-11-16 08:06:05 +11:00
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files 
these were APM2 specific
 2015-11-16 08:05:17 +11:00
Andrew Tridgell 1ffe899a18 PID: fixed example build 2015-11-16 08:04:44 +11:00
Andrew Tridgell 9ea99cba29 HAL_Linux: fixed example build 2015-11-16 08:04:35 +11:00
Andrew Tridgell c81d4fa07b AP_Declination: fixed example build 2015-11-16 07:59:18 +11:00
Andrew Tridgell a9372ad5d7 Filter: fixed example builds 2015-11-16 07:58:55 +11:00
Andrew Tridgell 6cf5e582b9 AP_Common: fixed examples build 2015-11-16 07:58:13 +11:00
Andrew Tridgell d43ef07f98 autotest: switched examples build to navio 
apm2 no longer supported. Navio provides good coverage of the code for
example builds
 2015-11-16 07:57:57 +11:00
Michael Oborne 2f49fa1531 AP_GPS_GSOF: add second comport to base config 2015-11-15 14:56:49 +08:00
Andrew Tridgell 1a033f3b73 HAL_Linux: don't flood the link with errors on uninitialised perf counter 
that could bring down the vehicle
 2015-11-14 14:44:29 +11:00
Julien BERAUD 2f610a400a AP_HAL_Linux: fix perf 
Fix warning (warning: declaration of 'perf_count' shadows a member of 'this')
and check that perf is not NULL before indirection
 2015-11-14 14:44:29 +11:00
Julien BERAUD 259f5f07e8 AP_NavEKF_core: fix init of perf 
_perf_FuseOptFlow  was used and not allocated
 2015-11-14 14:44:29 +11:00
Randy Mackay 05246ea0c7 Copter: fix RTL compile error when rally disabled 
Thanks to derekxm for finding this
 2015-11-14 12:39:23 +09:00
Randy Mackay 731c44d053 Copter: allow terrain to be excluded from build 2015-11-14 12:38:47 +09:00
Robert Lefebvre 2b111c2bd6 Copter: fix Helicopter no-build issue 
Conflict with another recent change to disarm counter
 2015-11-14 10:32:58 +09:00
Julien BERAUD f8f2833c88 AP_HAL_Linux: use I2C_SLAVE_FORCE in case of error 
When there is already a driver registered on an i2c bus, the I2C_SLAVE ioctl
returns an error.
When it happens, it is better to display a warning and try to force the address.
It is especially useful on the bebop when killing the regular autopilot that uses
iio drivers to access the imu because else we would need to manually unbind the
driver in an init procedure.

I have added a warning because this error can also be resulting of another cause.
If the error is not EBUSY, then panic

If the I2C_SLAVE_FORCE ioctl fails then we panic because one of the i2c devices
won't be working properly.
 2015-11-13 21:20:13 +11:00
Andrew Tridgell 9214b85cf1 Copter: fixed path for AC_InputManager for heli 2015-11-13 13:49:25 +11:00
Andrew Tridgell cefb32566f GCS_MAVLink: fixed corner case in MAVLink routing 
when a GCS sends a command to a system ID that isn't our system ID,
the GCS may use a non-advertised component ID such as
MAV_COMP_ID_SYSTEM_CONTROL. Those packets should be fowarded to the
target system even though the target system has not specifically
advertised that target sysid/compid tuple.
 2015-11-13 13:38:53 +11:00
Fredrik Hedberg a6d2e0d4df Copter: Don't auto-disarm helicopters if rotor is still spinning. 2015-11-13 11:17:43 +09:00
José Roberto de Souza 5ff67a41a1 AP_HAL_Linux: Implement perf API 
Initial implementation of perf API on Linux, for now just saving
perf data, in a further patch this data will be exported.
 2015-11-13 12:16:19 +11:00
Julien BERAUD bf5ac43142 mk: build the bebop statically 
The toolchains aren't compatible and the size of the binary doesn't get too
big with the static flag so it avoids creating a chroot.
 2015-11-13 12:15:36 +11:00
mirkix f00d4f0b3e AP_HAL_Linux: Improve loading firmware 2015-11-12 21:25:17 +01:00
Robert Lefebvre 4f7246c432 SITL: Helicopter parameter updates 2015-11-12 19:37:38 +09:00
Robert Lefebvre b89b0d7f9e AP_MotorsHeli_Single: Move Servo_Test static variables to be class members 2015-11-12 19:37:37 +09:00
Robert Lefebvre 02b8dd5ffd Copter: Heli to set hover roll trim scalar 2015-11-12 19:37:36 +09:00
Robert Lefebvre 1bc13fb9c0 AC_AttitudeControl_Heli: Add Hover Roll Trim Scalar 2015-11-12 19:37:35 +09:00
Robert Lefebvre bb7f8c1999 AP_MotorsHeli: Create Servo Test functionality 2015-11-12 19:37:34 +09:00
Robert Lefebvre eeb544d098 AP_MotorsHeli: Create SV_MAN=5=Oscillate servo setup mode. 2015-11-12 19:37:33 +09:00
Robert Lefebvre 4443ca9602 AP_MotorsHeli: Yaw servo to move when using SV_MAN param for setup. 2015-11-12 19:37:32 +09:00
Robert Lefebvre c2dff8749e AP_MotorsHeli: Change SV_MAN=2=Center to output _col_mid_pwm instead of 0 collective 2015-11-12 19:37:31 +09:00
Fredrik Hedberg 212eb85ff2 AP_MotorsHeli: Add min and max collective to manual servo modes 2015-11-12 19:37:30 +09:00