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5891 Commits

Author SHA1 Message Date
Daniel Frenzel b1a9d6bbcc AP_Math: Using const references in matrix3 
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
 2014-08-11 09:24:05 +10:00
Andrew Tridgell b559e9d331 SITL: better rangefinder simulation 
able to handle a wider range, and takes account of attitude
 2014-08-10 22:37:07 +10:00
Andrew Tridgell ef98eba722 SITL: added SIM_SONAR_SCALE parameter 
used for simulating different kinds of rangefinders
 2014-08-10 22:36:38 +10:00
Andrew Tridgell a4cd9c4bd7 AP_Airspeed: added HIL support 2014-08-10 18:16:53 +10:00
Andrew Tridgell b296508da4 AP_GPS: make setHIL take const references 2014-08-09 22:50:15 +10:00
Andrew Tridgell bf0ce79176 SITL: make it possible to use SITL-HIL 
strangely enough, using HIL in SITL is a great way to debug HIL!
 2014-08-09 22:50:15 +10:00
Andrew Tridgell f8ceccce32 AP_InertialSensor: improved HIL timing consistancy 
try to keep the average time for each sample right
 2014-08-09 22:50:15 +10:00
Andrew Tridgell 2e5913df93 RC_Channel: fixed k_manual for set_servo_limit() 
this allows for failsafe takeover of k_manual channels, which fixes
the behaviour for ignition failsafe
 2014-08-09 22:50:14 +10:00
Andrew Tridgell d1a75874a1 HAL_PX4: don't report power status change if in first 5 seconds 2014-08-09 22:50:14 +10:00
Andrew Tridgell 9a1bac06d4 GCS_MAVLink: added send_battery2() 2014-08-09 22:50:14 +10:00
Andrew Tridgell ab6302540d AP_BattMonitor: added 2nd battery voltage monitoring 2014-08-09 22:50:14 +10:00
Andrew Tridgell 11025c8da9 GCS_MAVLink: rebuild MAVLink headers 2014-08-09 22:50:14 +10:00
Andrew Tridgell 67e1b66757 GCS_MAVLink: added battery2 message 2014-08-09 22:50:14 +10:00
Randy Mackay 5d4e019397 BaroGlitch: increase max accel to 15m/s/s 2014-08-09 15:47:52 +09:00
Andrew Tridgell 3ee3a71644 AP_NavEKF: prevent a possible numerical error on startup 
fixes issue #1294
 2014-08-08 15:55:20 +10:00
Andrew Tridgell 144dcb4552 APM_OBC: use send_statustext_all() 2014-08-08 13:54:21 +10:00
Andrew Tridgell f49258eb31 GCS_MAVLink: added send_statustext_all() method 
used for sending text messages from libraries
 2014-08-08 13:54:21 +10:00
Andrew Tridgell 1d4d848300 AP_InertialSensor: fixed a build warning 2014-08-08 13:48:03 +10:00
Andrew Tridgell a812bf621f APM_OBC: added AFS_ENABLE parameter 
AFS system is disabled by default
 2014-08-08 13:48:03 +10:00
priseborough bc3c85be20 AP_L1_Control : Fix potential divide by zero error 2014-08-07 19:04:42 +10:00
Andrew Tridgell ed6ab5f1d3 AP_InertialSensor: use bool for blocking_read() 
uint8_t return was confusing
 2014-08-07 13:09:17 +10:00
Michael Carpenter b4c0e1215b AP_InertialSensor: Use return value of blocking_read to handle calibration timeouts 2014-08-07 13:04:18 +10:00
Andrew Tridgell 786661ca2b GCS_MAVLink: better handling of high severity STATUSTEXT messages 2014-08-07 12:55:52 +10:00
Przemek Lekston ae4814a773 AP_AHRS_DCM.cpp: changed the direction of position projection to ensure correct behavious in crosswind 2014-08-07 12:34:30 +10:00
Andrew Tridgell bc560b466e GCS_MAVLink: regenerate MAVLink headers 2014-08-07 12:34:30 +10:00
Andrew Tridgell 5ed24557b3 GCS_MAVLink: import latest MAVLink XML 2014-08-07 12:34:30 +10:00
Andrew Tridgell af4dee39d8 AP_Terrain: added note on CPU cost of height_amsl() 2014-08-07 09:51:14 +10:00
Andrew Tridgell dc72dfb70a AP_Terrain: added terrain lookahead API 
this allows for predicting altitude needed to climb over upcoming
terrain
 2014-08-07 09:30:35 +10:00
Andrew Tridgell b92873cab1 AP_Math: prevent negative longitude scaling 
for crazy locations
 2014-08-07 09:30:02 +10:00
Andrew Tridgell 7752196628 AP_SpdHgtControl: added get_max_climbrate() 2014-08-07 09:29:40 +10:00
Andrew Tridgell c990714377 AP_TECS: added get_max_climbrate() 2014-08-07 09:29:31 +10:00
Andrew Tridgell f0f46a77d7 AP_Terrain: don't request data at 0/0 2014-08-06 22:13:37 +10:00
Andrew Tridgell 642a07b6bd AP_Terrain: enable the terrain database by default 
MissionPlanner now supports terrain data, and having terrain data in
logs is useful even if users don't fly terrain missions
 2014-08-06 20:53:34 +10:00
Andrew Tridgell efa1d370fa AP_Terrain: added missing TerrainMission.cpp 2014-08-06 19:32:53 +10:00
Andrew Tridgell 88bc1fb4d3 AP_Rally: fixed build for non-standard vehicle types 2014-08-06 17:59:20 +10:00
Andrew Tridgell a701fa2098 AP_Terrain: added automatic rally point checking 2014-08-06 17:59:19 +10:00
Andrew Tridgell 723aa7e336 AP_Rally: added last_change_time_ms() call 2014-08-06 17:59:19 +10:00
Andrew Tridgell 7da939047f AP_Terrain: added automatic waypoint checking 
check we have terrain data for all waypoints
 2014-08-06 17:59:19 +10:00
Andrew Tridgell df55ae86c4 AP_Mission: added last_change_time_ms() call 
will be used by terrain lib for scanning waypoints
 2014-08-06 17:59:19 +10:00
Andrew Tridgell 9ca65602c6 AP_Terrain: added dataflash logging 2014-08-06 17:59:19 +10:00
Andrew Tridgell cd8fca40fb DataFlash: added TERR log message for terrain data 2014-08-06 17:59:19 +10:00
Andrew Tridgell 7c4d31c481 AP_TECS: added TECS_PITCH_MAX and TECS_PITCH_MIN 
this allows the TECS controlled pitch limits to be smaller than the
FBWA limits. It is common for a human pilot to want a bit more
discretion over pitch than you want the automatic controller to use
 2014-08-06 17:59:18 +10:00
Andrew Tridgell 147a7b8b69 AP_Terrain: added extrapolation based on last available data 
if we run out of terrain data then extrapolate using the last
available terrain height at the AHRS position. This can be used to
cope with GCS outages over long distances where the terrain data isn't
preloaded
 2014-08-06 17:59:18 +10:00
Randy Mackay e0fc2dd50e AC_PosControl: remove 20cm on takeoff 2014-08-05 09:11:57 +09:00
akdslr a404404806 AP_RangeFinder: Added a call to sonar.update in RFIND_test 2014-08-04 22:13:16 +10:00
Randy Mackay 1362bdc338 AC_PosControl: smooth take-off with accel PID's I term 
This avoids an instantaneous jump in throttle during take-off by loading
the accel PID's I term with the expected change in throttle level
 2014-08-04 21:04:09 +09:00
Randy Mackay 5596001d39 AC_Motors: make get_throttle_out const 2014-08-04 21:04:09 +09:00
Randy Mackay e550c1e9a3 AC_PosControl: add set_alt_target_to_current_alt method 2014-08-04 16:54:04 +09:00
Randy Mackay 009f42b2e1 InertialNav: do not reset velocity after glitch clears 2014-08-04 11:31:46 +09:00
Andrew Tridgell 6ebff35fe2 AP_Baro: don't include I2C MS5611 on APM1 either 2014-08-03 17:17:20 +10:00
Randy Mackay fe24721218 BaroGlitch: increase default ok distance to 5m 
When taking off some copters hove a sudden baro altitude dip of 4m
 2014-08-02 11:43:06 +09:00
Randy Mackay f12d06d76b DataFlash: typo fix in ListAvailableLogs 2014-08-01 15:14:44 +09:00
Randy Mackay 538372c02c InertialNav: remove accessor to set time_constants 2014-08-01 15:14:43 +09:00
Andrew Tridgell 3fa30f91db DataFlash: avoid CLI functions on APM2 for copter 2014-08-01 15:57:15 +10:00
Randy Mackay c68d4fdfcb BaroGlitch: init members to resolve compiler warning 2014-08-01 14:07:34 +09:00
Randy Mackay 621cc2b953 Mission: bug fix to condition-change-alt 
Fix contributed by oniondream, thanks!
 2014-08-01 12:51:50 +09:00
priseborough d5442fe64e AP_NavEKF : Modified compass fail logic 
If the vehicle can fly without a compass (a fly forward vehicle)
then if the compass times out (large errors for more than 10 seconds,
then it will be declared permanently failed and will not be
used until the filter is reset
 2014-07-31 21:12:11 +10:00
Andrew Tridgell cc735a4200 AP_InertialSensor: some more debug info for VibTest 2014-07-31 12:48:30 +10:00
Matthias Badaire c7cd1c9fde AP_Frsky_Telem: added initial Frsky telemetry library 
based on work from the PX4Firmware tree, this adds a library which can
create and send Frsky telemetry packets
 2014-07-29 17:08:19 -07:00
Randy Mackay 728da12441 BaroGlitch: remove debug 2014-07-29 22:05:09 +09:00
Andrew Tridgell c538cc0665 AP_Baro: fixed example build 2014-07-29 21:04:26 +10:00
Andrew Tridgell 03dc27147e AP_Math: port examples to Linux 2014-07-29 15:49:38 +10:00
Randy Mackay 053a45e9cf AC_WPNav: fix example sketch 2014-07-29 12:01:09 +09:00
Randy Mackay 6a6482fb03 AC_Sprayer: fix example sketch 2014-07-29 12:00:59 +09:00
Randy Mackay 71df1eb94f AC_Fence: fix example sketch 2014-07-29 12:00:46 +09:00
Randy Mackay 424cb1aeca AC_AttControl: fix example sketch 2014-07-29 12:00:33 +09:00
Randy Mackay 2951fb50e9 InertialNav: fix example sketch 2014-07-29 11:51:49 +09:00
Randy Mackay 4d6588a479 Notify: APM2 buzzer for arming, ekf and baro failures 2014-07-28 22:16:24 +09:00
Randy Mackay dcc74be4aa Notify: baro warning tone alarm 2014-07-28 22:16:23 +09:00
Randy Mackay cd9e786935 Notify: RGB led flashes yellow-purple for baro warning 2014-07-28 22:16:22 +09:00
Randy Mackay 5f1f619829 HAL_AVR_SITL: integrate ACC_BIAS and BARO_GLITCH 
Adjust simulated accelerometer values and barometer altitude
 2014-07-28 22:16:21 +09:00
Randy Mackay 79291f25a0 SITL: add ACC_BIAS and BARO_GLITCH parameters 
These allow testing accelerometer bias which often comes from vibration
and sudden changes in baro altitude.
 2014-07-28 22:16:21 +09:00
Randy Mackay 4db4471f49 INav_EKF: accept baro_glitch in constructor 
Required so it can create an InertialNav object
 2014-07-28 22:16:19 +09:00
Randy Mackay 322f527c4f InertialNav: skip baro updates when glitching 
Also resets inertial nav alt estimate once glitch clears
 2014-07-28 22:16:19 +09:00
Randy Mackay ee6d4d570a Notify: add baro_glitch flag 2014-07-28 22:16:18 +09:00
Randy Mackay 2289b98d34 Baro_Glitch: initial version of baro glitch protection 
Based on GPS Glitch protection library
 2014-07-28 22:16:12 +09:00
Andrew Tridgell 2ebdfce4ea GCS_MAVLink: avoid integer underflow in mavlink txspace check 2014-07-27 22:18:52 +10:00
Andrew Tridgell f7b01a6f3f AP_InertialSensor: avoid integer underflow in mavlink txspace check 2014-07-27 22:18:52 +10:00
Andrew Tridgell a21998aece GCS_MAVLink: prevent integer underflow with comm_get_txspace() 2014-07-27 22:12:08 +10:00
Randy Mackay b665ebd7a0 MotorsMatrix: implement get_motor_mask 2014-07-26 16:33:24 +09:00
Randy Mackay d73605ece8 MotorsCoax: implement get_motor_mask 2014-07-26 16:33:22 +09:00
Randy Mackay 72c3e9cc72 TradHeli: implement get_motor_mask 2014-07-26 16:33:20 +09:00
Randy Mackay 6d99524e56 MotorsSingle: implement get_motor_mask 2014-07-26 16:33:18 +09:00
Randy Mackay 6ae855c1cf MotorsTri: implement get_motor_mask 2014-07-26 16:33:16 +09:00
Randy Mackay 7749bfe82c Motors: add get_motor_mask method 
This returns a bitmask of output channels that are used by the motors
library.  This allows removing the chance of a do-set-servo interfering
with a motor or control surface used to control the vehicle.
 2014-07-26 16:33:14 +09:00
Andrew Tridgell b4a441620f AP_Notify: fixed example build 2014-07-25 18:38:15 +10:00
Andrew Tridgell a6db247f82 GCS_Console: fixed example build 2014-07-25 17:55:22 +10:00
Andrew Tridgell e67c468e2d DataFlash: fixed example build 2014-07-25 17:55:16 +10:00
Andrew Tridgell 7bf72d1c2b AP_RangeFinder: fixed example build 2014-07-25 17:55:11 +10:00
Andrew Tridgell f2c636250b AP_Notify: fixed example build 2014-07-25 17:55:04 +10:00
Andrew Tridgell 6ea68b318e AP_Mount: fixed example build 2014-07-25 17:54:58 +10:00
Andrew Tridgell d9f20c6785 AP_Motors: fixed example build 2014-07-25 17:54:51 +10:00
Andrew Tridgell 50f67dd57d AP_Mission: fixed example build 2014-07-25 17:54:45 +10:00
Andrew Tridgell c1650eed7a AP_InertialNav: fixed example build 2014-07-25 17:54:37 +10:00
Andrew Tridgell db1479b46b AP_GPS: fixed example build 2014-07-25 17:54:25 +10:00
Andrew Tridgell 93f2d81ff4 AP_BattMonitor: fixed example build 2014-07-25 17:54:19 +10:00
Andrew Tridgell c1646fec73 AP_Airspeed: fixed example build 2014-07-25 17:54:11 +10:00
Andrew Tridgell 82d0666501 AP_AHRS: fixed example build 2014-07-25 17:54:04 +10:00
Andrew Tridgell 7f7a0db2d3 AC_WPNav: fixed example build 2014-07-25 17:53:58 +10:00
Andrew Tridgell f75318ee0a AC_Sprayer: fixed example build 2014-07-25 17:53:43 +10:00
Andrew Tridgell 2b3becd252 AC_Fence: fixed example build 2014-07-25 17:53:27 +10:00
Andrew Tridgell 6df2890fd8 AC_AttitudeControl: fixed example build 2014-07-25 17:52:53 +10:00
Andrew Tridgell 662276597a AP_InertialSensor: fixed example build 2014-07-25 17:52:14 +10:00
Andrew Tridgell 02dec5634f AP_HAL: fixed example builds 2014-07-25 17:52:01 +10:00
Andrew Tridgell aa5940c378 AP_Math: fixed example build 2014-07-25 17:51:30 +10:00
Andrew Tridgell 0f7e78e418 Airspeed: fixed example to setup pin 2014-07-25 17:15:00 +10:00
Andrew Tridgell ffd6fa1366 GCS_MAVLink: ignore alignment warnings in MAVLink headers 2014-07-25 17:14:48 +10:00
Randy Mackay 46e5fa2c0b Notify: APM2 arming buzzer to long tone 
Arming tone is a solid 3 second tone so it is consistent with Pixhawk
arming tone
 2014-07-25 13:09:04 +09:00
Andrew Tridgell 37b357f282 AP_Terrain: prevent valgrind error when terrain not available 2014-07-25 13:44:36 +10:00
Andrew Tridgell bb31a45596 AP_Terrain: expand parameter docs 2014-07-25 13:18:48 +10:00
Andrew Tridgell e578044661 GCS_MAVLink: added missing generated MAVLink headers 2014-07-25 13:09:31 +10:00
Andrew Tridgell ab9785d3ad AP_Terrain: added current_height to TERRAIN_REPORT 
and send TERRAIN_REPORT even when downloading TERRAIN_DATA
 2014-07-25 11:40:56 +10:00
Andrew Tridgell 383070b9c0 AP_NavEKF: ensure get_position() fills in flags 2014-07-25 11:40:26 +10:00
Andrew Tridgell 6a275372dd AP_AHRS: ensure get_position() fills in flags 2014-07-25 11:40:16 +10:00
Andrew Tridgell 8a838e6b3d GCS_MAVLink: regenerate headers 2014-07-25 11:40:01 +10:00
Andrew Tridgell 4e39f97d7a GCS_MAVLink: merged with upstream 2014-07-25 11:39:48 +10:00
Andrew Tridgell c4047f6f11 AP_Terrain: rename find_grid() to find_grid_cache() 
thanks Randy!
 2014-07-25 09:52:20 +10:00
Andrew Tridgell 1fcf35333f AP_Terrain: fixed init order and init more vars 
thanks to Randy for spotting this
 2014-07-25 09:45:47 +10:00
Andrew Tridgell 679b32b76c AP_Terrain: make parameter variables private 2014-07-25 09:45:28 +10:00
Andrew Tridgell 34cbaa6f17 AP_Mission: added support for MAV_FRAME_GLOBAL_TERRAIN_ALT 2014-07-25 08:33:44 +10:00
Andrew Tridgell 3faafc9644 AP_Terrain: replace HAVE_AP_TERRAIN with AP_TERRAIN_AVAILABLE 2014-07-25 07:59:48 +10:00
Andrew Tridgell ce60bf8d3f AP_Terrain: removed incorrect ASSERT 2014-07-25 07:56:33 +10:00
Andrew Tridgell 7bc6561f2a AP_Terrain: fixed comment on function 2014-07-25 07:56:22 +10:00
Andrew Tridgell b8b235c33c GCS_MAVLink: regenerate MAVLink headers 2014-07-24 21:50:20 +10:00
Andrew Tridgell c32595e6ed AP_Terrain: added status() interface for reporting 2014-07-24 21:50:19 +10:00
Andrew Tridgell e2e41d5da7 AP_Terrain: added location_to_relative_home() function 2014-07-24 21:50:19 +10:00
Andrew Tridgell 8a48f06d18 AP_Common: added terrain_alt flag to Location 
signifies that the altitude is a above terrain altitude
 2014-07-24 21:50:19 +10:00
Andrew Tridgell 5e2077185b AP_Terrain: fixed cm conversion error 2014-07-24 21:50:19 +10:00
Andrew Tridgell 18974363d5 AP_Terrain: added some helper functions 
this adds easier to use helper functions for terrain handling
 2014-07-24 21:50:19 +10:00
Andrew Tridgell 8ea2133c4b AP_Terrain: provide more height_*() convenience functions 
these provide functions that are more convenient for the vehicle code
to use
 2014-07-24 21:50:19 +10:00
Andrew Tridgell db506b76fa AP_Terrain: split up code into separate cpp files 
this should make it a bit easier to review
 2014-07-24 21:50:19 +10:00
Andrew Tridgell 6b53f473d9 GCS_MAVLink: added a new TERRAIN_ALT frame type for missions 2014-07-24 21:50:18 +10:00
Andrew Tridgell 2d9637c156 AP_Terrain: re-arrange disk IO code 
add some comments explaining split between IO thread and main code
 2014-07-24 21:46:07 +10:00
Andrew Tridgell ee04c7de96 AP_Terrain: hold home location as a special location 
this ensures home altitude is always available
 2014-07-24 21:46:06 +10:00
Andrew Tridgell 0a3aa23619 AP_Terrain: fixed build on APM2 2014-07-24 21:46:06 +10:00
Andrew Tridgell 2f0279659a AP_Terrain: prevent disk blocks getting stuck 
we need to match first on the expected state to ensure we don't get an
invalid block
 2014-07-24 21:46:06 +10:00
Andrew Tridgell 28d6e39c4c AP_Terrain: added checking of block CRCs on disk 
this allows us to cope with SD card data corruption
 2014-07-24 21:46:06 +10:00
Andrew Tridgell a458f1bf5f AP_Baro: minor improvements to Baro HIL code health check 2014-07-24 21:46:06 +10:00
Andrew Tridgell 0df2dd9092 GCS_MAVLink: added TERRAIN_CHECK and TERRAIN_REPORT messages 2014-07-24 21:45:57 +10:00
Andrew Tridgell eeb4ad56bc AP_Terrain: added checking and reporting messages 
this allows the GCS to check the status of the terrain system
 2014-07-24 21:45:56 +10:00
Andrew Tridgell 9f76f0276f AP_Terrain: added disk IO for terrain data 2014-07-24 21:45:56 +10:00
Andrew Tridgell 63b5811a7c AP_HAL: added HAL_BOARD_TERRAIN_DIRECTORY 2014-07-24 21:45:56 +10:00
Andrew Tridgell 09214680fe AP_Terrain: request grids around current grid 
this ensures we have grids ahead of time
 2014-07-24 21:45:56 +10:00
Andrew Tridgell 18e09c2f3e AP_Terrain: added debug code 2014-07-24 21:45:56 +10:00
Andrew Tridgell 09518d2d91 AP_Terrain: added mavlink transport of terrain data 2014-07-24 21:45:46 +10:00
Andrew Tridgell e23ee34d95 GCS_MAVLink: added MSG_TERRAIN 2014-07-24 21:45:46 +10:00
Andrew Tridgell 1ecd4b7fb2 GCS_MAVLink: updated terrain messages 2014-07-24 21:45:46 +10:00
Andrew Tridgell 3020d91dcd GCS_MAVLink: keep a bitmap of what mavlink channels are active 
- this will allow for looping over active channels in libraries
- expose active channel mask
 2014-07-24 21:45:46 +10:00
Andrew Tridgell 1d42eda4da AP_Terrain: started on update() logic 2014-07-24 21:45:46 +10:00
Andrew Tridgell a7eb2ac28c AP_Terrain: implement height_amsl() 2014-07-24 21:45:46 +10:00