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.
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.
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
- 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
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.
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.
- 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
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.
- 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
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.
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
- added lowest/highest_threat tracking. This is currently defined as 2D distance. Room for improvement to make it 3D and be flight vector based instead of distance
- when trying to add a vehicle but the buffer is full, overwrite the lowest_threat/furthest
- added basic THREAT enum of high/low which means in or our of the 200m radius. Room for improvement here.
Like was done for AP_HAL_Linux in 2ac96b9 ("AP_HAL_Linux: remove prefix
from AP_HAL_Linux classes"), remove the "Empty" prefix from class names
since we are already inside the Empty namespace.
This was previously used to allow to save a state in a SPIDriver so we
could synchronize the initialization of AP_Compass and
AP_InertialSensor.
It was only used by MPU9250 and is not used anymore since the move to
AuxiliaryBus initialization and it's not used anymore since c3dae6f
("AP_InertialSensor: MPU9250: Remove methods not used anymore")
This was previously used to allow to save a state in a SPIDriver so we
could synchronize the initialization of AP_Compass and
AP_InertialSensor.
It was only used by MPU9250 and is not used anymore since the move to
AuxiliaryBus initialization and it's not used anymore since c3dae6f
("AP_InertialSensor: MPU9250: Remove methods not used anymore")
This is the same approach as done for AP_HAL_Linux in e3d78b8 ("AP_HAL_Linux:
fix passing callback to member function"). It fixes the following warnings:
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp: In member function 'virtual void PX4::PX4Scheduler::init(void*)':
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:55:95: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
pthread_create(&_timer_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_timer_thread, this);
^
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:65:94: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
pthread_create(&_uart_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_uart_thread, this);
^
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:75:92: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
pthread_create(&_io_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_io_thread, this);
^
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:85:100: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
pthread_create(&_storage_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_storage_thread, this);
ardupilot/libraries/AP_HAL_PX4/NSHShellStream.cpp: In member function 'void PX4::NSHShellStream::start_shell()':
ardupilot/libraries/AP_HAL_PX4/NSHShellStream.cpp:83:99: warning: converting from 'void (PX4::NSHShellStream::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
pthread_create(&shell_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::NSHShellStream::shell_thread, this);
^
The argument in init() is not used by any implementation. Add a second
method without it so the HAL implementation can used it instead. Later
the unused method will be removed.
We don't need to expose to other libraries how each backend is
implemented. AP_Baro.h is the main header, included by other libraries.
Instead of including each backend in the main header, move them to where
they are needed. Additionally standardize the order and how we include
the headers.
The advantages are:
- Internals of each backend is not exposed outside of the
library
- Faster incremental builds since we don't need to recompile
whoever includes AP_Baro.h because a backend changed
The configuration of MS5637 is different from MS5611 in 2 ways:
- The PROM is of 112 bytes rather than 128
- The CRC is located in the first MSB of the first word, not the
last one
For CRC calculation we also need to zero out the last (missing) word.
This renames _check_crc() to _read_prom(), which returns false when the
PROM doesn't contain valid data. It also makes it virtual so MS5637 can
override it. This also moves the PROM read to be all in the same place
rather than split between the CRC field and coefficient fields. Finally
calculate_crc() is renamed to crc4() to be shorter and add info on what
it does.
On MS5637 we will need to override the method to read and calculate the
PROM's crc. Thus we need a 2-phase init.
It also makes the constructor of AP_Baro_MS56XX protected since only the
derived classes should instantiate the base one.
The problem with the current MIN/MAX macros is that they evaluate twice
the arguments. For example, these cases provide unintended results:
// a is incremented twice
a = MIN(a++, b);
// foo() with side-effects
a = MIN(foo(), b);
The alternative implementation here was provided by Daniel Frenzel using
template function. It doesn't have type safety as std::min and std::max,
but adding type safety would mean to check case by case what would be a
reasonable type and add proper casts. Here the arguments for MIN and MAX
can have different types and the return type is deduced from the
expression in the function.
Inspecting the current callers no place was found with the unintended
results above, but some in which now we don't calculate twice the
parameters will benefit from this new version. Examples:
float velocity_max = MIN(_pos_control.get_speed_xy(), safe_sqrt(0.5f*_pos_control.get_accel_xy()*_radius));
float acro_level_mix = constrain_float(1-MAX(MAX(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0, 0, 1)*ahrs.cos_pitch()
accel_x_cmss = (GRAVITY_MSS * 100) * (-(_ahrs.cos_yaw() * _ahrs.sin_pitch() / MAX(_ahrs.cos_pitch(),0.5f)) - _ahrs.sin_yaw() * _ahrs.sin_roll() / MAX(_ahrs.cos_roll(),0.5f));
track_leash_slack = MIN(_track_leash_length*(leash_z-track_error_z)/leash_z, _track_leash_length*(leash_xy-track_error_xy)/leash_xy);
RC_Channel_aux::move_servo(RC_Channel_aux::k_sprayer_pump, MIN(MAX(ground_speed * _pump_pct_1ms, 100 *_pump_min_pct),10000),0,10000);
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
As commented in 8218140 ("AP_Common: add scanf format macro"), "FORMAT"
was a bad name for this macro since there's also the scanf. Rename to
FMT_PRINTF to follow the scanf name.
Only compiled on Bebop, the constructor will need to be modified to
pass the pwm chip number and to create a PWM_Sysfs instead of a PWM_Sysfs_Bebop
in case it is used on a mainline linux board
Currently, the default behaviour on linux boards tries to
write LED gpios with fixed values among them. There is no way
to declare that there are no LED GPIOs.
This commit moves the declaration of the LED Gpios in AP_HAL_Boards.h
and makes AP_Notify do nothing if no LED gpio was declared
- Make error path in constructor shorter and earlier. It's calling
panic() so there's no reason to do anything else
- We don't need to check variable for NULL when calling free()
- Change set/get_polarity to use a virtual function; this allows us
not to fail silently if _polarity_path is NULL for PWM_Sysfs.
PWM_Sysfs_Bebop just overrides this method and implement an empty
version.
Modify existing class to create a PWM_Sysfs_Base class and derive it for
Bebop and Pwm_Sysfs (mainline kernel)
use asprintf for path allocation since it doesn't cost so much and is done
only at startup
Note that the constructor of the 2 classes : PWM_Sysfs and PWM_Sysfs_Bebop
allocate the paths and the constructor and desctuctor of class PWM_Sysfs_Base
frees them.
only keep in memory the paths that are needed later, i.e free _export_path,
_duty_path. The remaining path are freed in the destructor
The airspeed observation buffer was only being checked when new data arrived instead of every frame which introduced some timing jitter. The buffer is now checked every filer update step.
The duplication and inconsistent naming of booleans used to indicate availability f data has been fixed.
- contains a list of ADS-B vehicles
- does threat analysis and sets a flag when threat is found
- dynamically allocated database, consumes 40*25 =1kB of RAM when param ADSB_ENABLE = 1
- The values are very aggressive, you'll come into contact with another aircraft very soon
- Credit goes to Tridge for this work
- This also allows hardware attached via UART to feed real aircraft into the simulator
This feature is enabled with the following command:
sim_vehicle -A --adsb
The values are very aggressive, you'll come into contact with another aircraft very soon
Credit goes to Tridge for this work
This feature is enabled with the following command:
sim_vehicle -A --adsb
These changes were pair coded an tested by Siddharth Purohit and Paul Riseborough
Fix indexing errors
Move buffer code into a separate file
Split observer and IMU/output buffers and remove duplicate sample time
Optimise observation buffer search
Reduce maximum allowed fusion age to 100 msec
this bypasses all attitude and position estimators and uses the SITL
state directly. It can be used for when the SITL backend cannot
provide perfect sensor data
These are "left-overs" from how things worked before commit
"AP_HAL: make code not depend on concrete HAL
implementations". The real declaration now lives inside get_HAL() function.
Use the opportunitiy to change the files to use "#pragma once".
Andrew Tridgell
Tom Pittenger
Yang Liu
Andre Kjellstrup
Jonathan Challinger
Lucas De Marchi
Julien BERAUD
José Roberto de Souza
Peter Barker
Randy Mackay
Robert Lefebvre
Michael Oborne
Gustavo Jose de Sousa
Michael du Breuil
Caio Marcelo de Oliveira Filho
Paul Riseborough
Luis Vale Gonçalves
Siddharth Purohit and Paul Riseborough
Siddharth Bharat Purohit