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8143 Commits

Author SHA1 Message Date
Randy Mackay 114c4f4077 AP_Match: fix example sketch 2015-05-27 09:47:24 +09:00
Randy Mackay fb2d29364e Mount_SToRM32_serial: fix angle request 2015-05-26 21:05:29 +09:00
Randy Mackay 9b04a67e63 Mount_SToRM32_serial: rename sent_do_mount_control 2015-05-26 21:05:26 +09:00
Randy Mackay 72eb25b166 Mount: add SToRM32 serial to front end 2015-05-26 21:05:24 +09:00
Sergey Kirillov c133511431 Mount: add SToRM32 serial support 2015-05-26 21:05:22 +09:00
Sergey Kirillov 69959a4214 SerialManager: add SToRM32 serial enum and baudrates 2015-05-26 21:05:19 +09:00
Andrew Tridgell c7044c4f91 AP_Terrain: make terrain request times per channel 
otherwise we can miss sending one if we send first to a channel not
being listened to
 2015-05-26 17:27:51 +10:00
Andrew Tridgell 3a9d7363ea HAL_VRBRain: fixed functor comparison 2015-05-26 15:17:06 +10:00
Andrew Tridgell e589ca9b80 HAL_Flymaple: fixed functor comparison 2015-05-26 15:16:51 +10:00
Andrew Tridgell 7e264b44df HAL_Linux: fixed functor comparison 2015-05-26 15:14:50 +10:00
Andrew Tridgell 96b921d4cc AP_Scheduler: fixed example build 2015-05-26 14:37:14 +10:00
Andrew Tridgell 4fdfa47ca3 GCS_MAVLink: removed BUILD_DELEGATES code 
no longer needed
 2015-05-26 14:35:12 +10:00
Andrew Tridgell 8624a262e7 DataFlash: removed BUILD_DELEGATES code 
no longer needed
 2015-05-26 14:35:04 +10:00
Andrew Tridgell 83e6181024 AP_Vehicle: removed BUILD_DELEGATES code 
no longer needed
 2015-05-26 14:34:58 +10:00
Andrew Tridgell e3f8e22fc6 AP_Mission: removed BUILD_DELEGATES code 
no longer needed
 2015-05-26 14:34:51 +10:00
Andrew Tridgell 85f87b6d9c AP_Menu: removed BUILD_DELEGATES code 
no longer needed
 2015-05-26 14:34:47 +10:00
Andrew Tridgell 1a2b02a563 AP_HAL: removed AVR special case 
no longer needed
 2015-05-26 14:34:13 +10:00
Andrew Tridgell 7db9da6545 AP_Scheduler: removed delegate ptr handling 
no longer needed
 2015-05-26 14:33:30 +10:00
Andrew Tridgell edc21cfa38 AP_Compass: make having no compass backends non-fatal 
thanks to Daniel for spotting this
 2015-05-26 14:23:40 +10:00
Andrew Tridgell 43fb1202f2 HAL_PX4: fixed functor comparison with NULL 2015-05-26 13:54:38 +10:00
Lucas De Marchi 0daeeb9518 ArduPlane: Start using new Functor implementation 
It both reduces flash size and move symbols to read-only sections.
The scheduler_tasks table is one known not to be in read-only section before due
to the FastDelegate implementation. Before and after this patch:

	ArduPlane $ size ArduPlane.elf{.old,}
	   text	   data	    bss	    dec	    hex	filename
	 733368	   8252	  67352	 808972	  c580c	ArduPlane.elf.old
	 730632	   8236	  64792	 803660	  c434c	ArduPlane.elf

	ArduPlane $ nm -C ArduPlane.elf.old|grep scheduler_tasks
	0000000000402800 t _GLOBAL__sub_I__ZN5Plane15scheduler_tasksE
	00000000006b54c0 B Plane::scheduler_tasks

	ArduPlane $ nm -C ArduPlane.elf|grep scheduler_tasks
	0000000000490900 R Plane::scheduler_tasks

As can be seen above, now the scheduler_tasks symbol is in a read-only data
section and in all of them we decreased the total size.

For APM2 we have a little increase in the text size size.

	ArduPlane $ size ArduPlane.elf{.old,}
	   text	   data	    bss	    dec	    hex	filename
	 241940	    942	   4447	 247329	  3c621	ArduPlane.elf.old
	 242222	    942	   4431	 247595	  3c72b	ArduPlane.elf

	ArduPlane $ nm -C ArduPlane.elf.old|grep scheduler_tasks
	00001f8f T Plane::scheduler_tasks

	ArduPlane $ nm -C ArduPlane.elf|grep scheduler_tasks
	00001f8f T Plane::scheduler_tasks
 2015-05-26 13:46:55 +10:00
Lucas De Marchi 84f399ec3c APMrover2: Start using new Functor implementation 
It both reduces flash size and move symbols to read-only sections.
The scheduler_tasks table is one known not to be in read-only section before due
to the FastDelegate implementation. Before and after this patch:

	APMrover2 $ size APMrover2.elf{.old,}
	   text	   data	    bss	    dec	    hex	filename
	 611406	   4832	  40920	 657158	  a0706	APMrover2.elf.old
	 609686	   4824	  38936	 653446	  9f886	APMrover2.elf

	APMrover2 $ nm -C APMrover2.elf{.old,} |grep tasks
	0000000000696f80 B Rover::scheduler_tasks
	000000000047c440 R Rover::scheduler_tasks

As can be seen above, now the scheduler_tasks symbol is in a read-only data
section and in all of them we decreased the total size.

For APM2 we have a similar situation, but the table was already in text section
because it was using plain C pointers:

	APMrover2 $ size APMrover2.elf{.old,}
	   text	   data	    bss	    dec	    hex	filename
	 189518	   1038	   3494	 194050	  2f602	APMrover2.elf.old
	 189216	   1038	   3480	 193734	  2f4c6	APMrover2.elf

	APMrover2 $ nm -C APMrover2.elf{.old,} |grep tasks
	00001f92 T Rover::scheduler_tasks
	00001f8a T Rover::scheduler_tasks
 2015-05-26 13:46:55 +10:00
Lucas De Marchi 20ef7efaf6 AP_HAL: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:55 +10:00
Lucas De Marchi c894a1349e DataFlash: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:54 +10:00
Lucas De Marchi 6ae2591cad AP_Terrain: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:54 +10:00
Lucas De Marchi 9764bb2452 AP_Notify: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:54 +10:00
Lucas De Marchi 3aa46e3213 AP_InertialSensor: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:53 +10:00
Lucas De Marchi 4c97d92982 AP_HAL_Linux: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:53 +10:00
Lucas De Marchi 9b7c1d8f93 AP_HAL_FLYMAPLE: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:53 +10:00
Lucas De Marchi dcf992b558 AP_HAL_AVR: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:53 +10:00
Lucas De Marchi 435613de69 AP_Frsky_Telem: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:53 +10:00
Lucas De Marchi 95627cf412 AP_Compass: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:52 +10:00
Lucas De Marchi df5652fa87 AP_Baro: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:52 +10:00
Lucas De Marchi ca7db5cdc1 AP_Arming: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:52 +10:00
Lucas De Marchi cc1fbddc95 AP_Airspeed: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:52 +10:00
Lucas De Marchi f7dc19554f AP_ADC: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:51 +10:00
Lucas De Marchi 9f0af5b9cb AP_HAL: add fallback implementation of functor macros 2015-05-26 13:46:51 +10:00
Lucas De Marchi 83efb9280b AP_HAL: use variadic templates in FastDelegate 
Now that we are using C++11 we can use variadic templates to simplify
the FastDelegate classes. It also simplifies moving away from the
FastDelegate implementation.
 2015-05-26 13:46:51 +10:00
Lucas De Marchi 78b00784fb AP_Scheduler: allow to use functor 2015-05-26 13:46:50 +10:00
Lucas De Marchi 58847bffd6 GCS_MAVLink: allow to use functor 2015-05-26 13:46:50 +10:00
Lucas De Marchi cd308b5e2f DataFlash: allow to use functor 2015-05-26 13:46:50 +10:00
Lucas De Marchi 384a3bfcc3 AP_Mission: allow to use functor 2015-05-26 13:46:50 +10:00
Lucas De Marchi 70525fa2c1 AP_Menu: allow to use functor 2015-05-26 13:46:50 +10:00
Lucas De Marchi 4b5cf24a81 Allow to change to functor implementation 
Start to add code behind APM_BUILD_FUNCTOR to support changing the
functor implementation (without breaking the build while the change is
not complete).
 2015-05-26 13:46:49 +10:00
Lucas De Marchi a1e1503e1a AP_HAL: Add Functor implementation 
This is a Functor implementation that should cover the use cases we have
for FastDelegate. In contrary to the latter, it can be constructed at
compile time so the compiler can safely put it in a read-only section
which covers the cases in which we are not using it.
 2015-05-26 13:46:49 +10:00
Lucas De Marchi 5dfb3ed70c AP_Scheduler: replace tabs with spaces 2015-05-26 13:46:49 +10:00
Lucas De Marchi 82d22992bd GCS_MAVLink: Do not compare delegate to NULL 
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
 2015-05-26 13:46:49 +10:00
Lucas De Marchi ff398dbf0c AP_Menu: Do not compare delegate to NULL 
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
 2015-05-26 13:46:48 +10:00
Lucas De Marchi acdcdc35fa AP_HAL_SITL: Do not compare delegate to NULL 
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
 2015-05-26 13:46:48 +10:00
Lucas De Marchi 9ef870c08a AP_HAL_AVR: Do not compare delegate to NULL 
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
 2015-05-26 13:46:48 +10:00
Lucas De Marchi 57386434d1 AP_ADC: remove AP_ADC_HIL 
It's not being used and it's actually broken: it references
AP_ADC_HIL::read() that doesn't exist.
 2015-05-26 13:46:48 +10:00
Randy Mackay d777166c6f AP_MotorsTri: revert tail servo to Ch7 2015-05-25 22:27:38 +09:00
Randy Mackay 1a1fa7ca4b AP_MotorsHeli: add comment to avoid param conflict 2015-05-25 22:13:49 +09:00
Randy Mackay 4c94a69e33 AP_MotorsCoax: resolve param conflict with TradHeli 2015-05-25 22:13:47 +09:00
Randy Mackay 78b49fb4c6 AP_MotorsSingle: resolve param conflict with TradHeli 
Also rename servo reverse parameters to be consistent with tricopter
 2015-05-25 22:13:45 +09:00
Randy Mackay 8dc7cf7fa8 AP_MotorsTri: YAW_SV_REV values -1 or +1 
Also resolve parameter conflict with TradHeli
 2015-05-25 22:13:43 +09:00
Randy Mackay 71e4bccecb AP_Motors: init members in constructor 
Also add f to end of float constants
 2015-05-25 22:13:41 +09:00
Robert Lefebvre 915236f1f5 AC_AttitudeControl: Non-functional comment change 
Don't encourage future misuse of g.rc3
 2015-05-25 22:13:37 +09:00
Robert Lefebvre e87ca6de6f AC_PosControl: Change motors.get_throttle_out 
to get_throttle to follow function renaming in AP_Motors
 2015-05-25 22:13:34 +09:00
Robert Lefebvre b8181b6b90 AP_Motors: RCMAP fix 
Remove all RC Input channels passed as reference into AP_Motors.  All input handling self-contained inside AP_Motors.
Rework Tricopter to use internal servo calcs.
 2015-05-25 22:13:32 +09:00
Andrew Tridgell 527fc2a610 SITL: use 127.0.0.1 to improve reliability on windows 2015-05-25 22:02:18 +10:00
Andrew Tridgell 563be63d00 SITL: try to get speedup accurate on both windows and linux 2015-05-25 21:48:42 +10:00
Andrew Tridgell 2b2259a6d7 SITL: use more granrular sleeps for windows 2015-05-25 17:05:44 +10:00
Andrew Tridgell c06d81a06a SITL: use autotest_dir 
this allows for the aircraft directory for SITL to be packaged without
the source tree
 2015-05-25 13:04:46 +10:00
Andrew Tridgell 3daee9c8bc HAL_SITL: added --autotest-dir option 2015-05-25 13:04:17 +10:00
Andrew Tridgell 4f37926aea SITL: fixed gimbal build on PX4 2015-05-25 12:39:40 +10:00
Andrew Tridgell 958d8b4787 GCS_MAVLink: update from upstream headers 2015-05-25 12:20:27 +10:00
Andrew Tridgell e7abc07898 HAL_SITL: enable --gimbal option 
instantiates a MAVLink gimbal
 2015-05-25 12:20:26 +10:00
Andrew Tridgell 7f5b206c55 SITL: added gimbal simulator class 2015-05-25 12:20:26 +10:00
Andrew Tridgell 2f7facba40 GCS_MAVLink: removed old MAVLink 0.9 headers 2015-05-25 10:19:47 +10:00
Andrew Tridgell d96e62cce7 AP_Mount: update gimbal for changed quaternion API 2015-05-25 09:08:45 +10:00
Andrew Tridgell 2a8f645d81 AP_Math: use matrix3 euler312 operations in quaternion library 2015-05-25 09:08:31 +10:00
Andrew Tridgell 7aa7e03169 AP_Math: added euler312 functions (for gimbal) 2015-05-25 09:03:11 +10:00
Andrew Tridgell 2bb5f677c7 SITL: removed earth frame rates 2015-05-25 09:03:10 +10:00
Andrew Tridgell 8dce5e11d6 HAL_SITL: removed earth-frame rates 2015-05-25 09:03:10 +10:00
Andrew Tridgell 19419fd901 AP_Mount: fixed reporting of MAVLink gimbal position to GCS 2015-05-24 15:24:02 +10:00
Andrew Tridgell b61f7fa2f6 AP_AHRS: enable EKF by default on plane 
now we have arming checks enabled by default I think this is the best
choice
 2015-05-23 17:17:44 +10:00
Andrew Tridgell efd958f0b0 AP_NavEKF: rename file to remove spaces 
spaces in file names break shell scripts
 2015-05-23 17:14:52 +10:00
Andrew Tridgell 2d53a1ff9a SITL: fixed airspeed in last_letter 2015-05-23 11:37:21 +10:00
Andrew Tridgell ae6ac1b82d SITL: fixed airspeed in CRRCSim 2015-05-23 11:35:56 +10:00
Andrew Tridgell da5d5c9936 SITL: fixed airspeed pass-thru from simulators 2015-05-23 11:24:10 +10:00
Andrew Tridgell e7f3716e8c HAL_SITL: pass in wind speed to C++ simulators 2015-05-23 11:04:13 +10:00
Andrew Tridgell 091a1e7fe0 SITL: fixed wind support in JSBSim 2015-05-23 11:03:57 +10:00
Andrew Tridgell 4486ddc53e DataFlash: changed TimeUS to SampleUS for raw IMU logging 
this prevents a problem with an upcoming patch from Peter
 2015-05-22 17:58:18 +10:00
Jonathan Challinger 28731d2bdc AP_Motors: add throttle filter input constraint from -100 to 1100 2015-05-22 16:12:27 +09:00
Andrew Tridgell 60221f5e9c SITL: use sendto() in CRRCSim 
this makes us robust to restart of client or server
 2015-05-22 16:07:45 +10:00
Andrew Tridgell 6cbd291dd2 HAL_SITL: make model name case insensitive 2015-05-22 16:07:44 +10:00
Andrew Tridgell 9336914598 AP_HAL: added sendto socket method 2015-05-22 16:07:44 +10:00
Andrew Tridgell 4e117bc90f HAL_SITL: support last_letter simulator 2015-05-22 16:07:44 +10:00
Andrew Tridgell b35c21fbe2 SITL: fixed socket recv error check 2015-05-22 16:07:43 +10:00
Andrew Tridgell e487d95c1b SITL: added direct support for last_letter simulator 2015-05-22 16:07:43 +10:00
Robert Lefebvre bcc3fa0526 AC_HELI_PID: Pass default FF param setting in constructor 2015-05-22 09:38:28 +09:00
Robert Lefebvre 73bafa131e AP_MotorsHeli: Overload output() 
To protect it from future interference from Multirotor code.
 2015-05-22 09:38:23 +09:00
Robert Lefebvre d3ce68a8ca AP_MotorsHeli: Overload update_throttle_filter() 
Do not reset filter to zero when disarmed to allow collective pitch servo movement.
 2015-05-22 09:38:20 +09:00
Peter Barker 6299a8c90d autotest: drain control socket in SITL 
fixes SITL on plane
 2015-05-22 08:09:15 +10:00
Andrew Tridgell cd66ce1c74 HAL_SITL: don't advance clock on garbage SIM input 2015-05-21 21:17:22 +10:00
Andrew Tridgell 605b8b4ece AP_Math: converted rotations example to cpp 
this is just a test conversion before we start converting on-mass
 2015-05-21 13:41:20 +10:00
Andrew Tridgell 062c9406bd AP_Math: fixed rotations example build 2015-05-21 13:37:44 +10:00
Andrew Tridgell a1a3212131 AP_Common: moved NOINLINE define to AP_Common.h 2015-05-21 09:35:26 +10:00
Andrew Tridgell fb97c16a84 AP_Param: make data pointer const 2015-05-21 07:48:52 +10:00
Andrew Tridgell 84726e4a3a GCS_MAVLink: use APM_BUILD_DELEGATES 2015-05-21 07:48:52 +10:00
Andrew Tridgell f8aef57ec3 DataFlash: use APM_BUILD_DELEGATES 2015-05-21 07:48:51 +10:00
Andrew Tridgell 0847bd2608 AP_Scheduler: use APM_BUILD_DELEGATES 2015-05-21 07:48:51 +10:00
Andrew Tridgell e7ba2c8d93 AP_Mission: use APM_BUILD_DELEGATES 2015-05-21 07:48:51 +10:00
Andrew Tridgell 3a300575bc AP_Menu: use APM_BUILD_DELEGATES 2015-05-21 07:48:51 +10:00
Andrew Tridgell 98d2b9b3aa AP_Vehicle: added APM_BUILD_DELEGATES macro 2015-05-21 07:48:50 +10:00
Andrew Tridgell c3aa8d67fa AP_Arming: convert to delegates 2015-05-21 07:48:50 +10:00
Andrew Tridgell 71b550d7b5 GCS_MAVLink: support member functions for rover 2015-05-21 07:48:47 +10:00
Andrew Tridgell b5d930be61 DataFlash: support member functions for rover 2015-05-21 07:48:47 +10:00
Andrew Tridgell 1237772479 AP_Scheduler: support member functions for rover 2015-05-21 07:48:46 +10:00
Andrew Tridgell 12cbf7888f AP_Mission: support member functions for rover 2015-05-21 07:48:46 +10:00
Andrew Tridgell db13f657a8 AP_Menu: support member functions for rover 2015-05-21 07:48:46 +10:00
Andrew Tridgell e1e85ecc3d AP_Progmem: simpler PROGMEM header 2015-05-21 07:48:46 +10:00
Andrew Tridgell abfb601db6 AP_Progmem: added pgm_read_block() 2015-05-21 07:48:45 +10:00
Andrew Tridgell d57fcf7e46 AP_HAL: added workaround for AVR delegates in PROGMEM 2015-05-21 07:48:45 +10:00
Andrew Tridgell be587beedc AP_HAL: disable nagle on sockets for faster local operation 2015-05-21 07:48:45 +10:00
Andrew Tridgell b0932548d8 AP_GPS: enable NMEA GPS on AntennaTracker 
we have enough flash space for it
 2015-05-21 07:30:21 +10:00
Andrew Tridgell 411a96b4b3 AP_NavEKF: take at most 30s to accept DCM attitude 
velocity noise on the GPS can cause DCM to take a long time to
converge. If it takes longer than 30s then allow EKF to start
 2015-05-20 15:22:15 +10:00
Andrew Tridgell 7a76f72bf5 AP_AHRS: added uptime_ms() interface 2015-05-20 15:22:14 +10:00
ziltoid2 23787cf695 AP_Baro: use ground_temperature instead of calibration_temperature for alt calculation 2015-05-20 11:42:21 +10:00
Andrew Tridgell 92c4c5cbcf AP_NavEKF: change using_gps threshold to 4s 
this means plane will continue to use dead reckoning with GPS 3D lock
for 4s
 2015-05-19 20:52:39 +10:00
Paul Riseborough 69ca654194 AP_NavEKF: Update declination when we know our location 
This ensures that when we start using GPS, that the EKF will be using the correct declination for that location
If declination is not known it defaults to zero
 2015-05-19 20:35:52 +10:00
Paul Riseborough c1c5e3598a AP_NavEKF: Enforce alignment of realigned earth mag field with declination 
This prevents bad inertial or GPS data combined with the post takeoff heading alignment check used by plane from resulting in earth field states that have an incorrect declination
 2015-05-19 20:35:52 +10:00
Paul Riseborough b1d8805114 AP_NavEKF: Reduce takeoff detection sensitivity 
This patch reworks the in-air transition criteria to reduce the likelihood of false positives and to ensure that there will be enough ground speed to make the heading check work reliably.
 2015-05-19 20:35:52 +10:00
Randy Mackay d1808c645d AC_PosControl: recalc leash length on speed or accel change 
This resolves an issue in which do-set-speed would not take effect until
one waypoint too late in a mission.
 2015-05-19 18:16:39 +09:00
Andrew Tridgell 5514a9f690 AP_NavEKF: base EKF decisions on vehicle class 
using the vehicle class rather than the build macros allows this to
work correctly in replay
 2015-05-19 15:21:22 +10:00
Andrew Tridgell 92daa15ccc AP_AHRS: on plane and rover make AHRS unhealthy when EKF not initialised 
planes and rovers need full absolute position from the EKF if the EKF
is going to be used. We don't want users to arm without full
capabilities
 2015-05-19 15:21:21 +10:00
Andy Piper c600c1a746 DataFlash: log Gyro and Accel Health for IMUs. 
Log the health of the various IMUs under GyHlt and AcHlt.
(Names are shortened to get inside the string array limit).
 2015-05-19 13:13:35 +09:00
Andrew Tridgell 0619247992 HAL_Linux: don't advance time in delay() and delay_microseconds() 
this could cause time to go backwards in Replay. Thanks to Peter for
finding this
 2015-05-19 13:17:15 +10:00
Andrew Tridgell 29f0561ce4 AP_AHRS: reject EKF for plane when we have GPS and aren't fusing 
plane users would prefer to use GPS in this case
 2015-05-17 21:24:57 +10:00
Andrew Tridgell 6154db5cf8 AP_NavEKF: added using_gps status bit 2015-05-17 21:24:57 +10:00
Randy Mackay 0077cac1b7 AC_WPNav: rename stop to brake 2015-05-17 14:44:33 +09:00
Andrew Tridgell 80c20b5cf2 DataFlash: use L for latitude/longitude in DF messages 2015-05-16 14:04:31 +10:00
Tom Pittenger e987173ffb AP_NavEKF: float to double promotion via tan instead of tanf 2015-05-16 08:21:49 +10:00
Tom Pittenger 5f677c2b5b AP_Math: float to double promotion via cos instead of cosf 2015-05-16 08:21:49 +10:00
Tom Pittenger 7b95241306 AP_HAL_SITL: float to double promotion via cos instead of cosf 2015-05-16 08:21:37 +10:00
Tom Pittenger 4f1dd2c8a4 AC_AttitudeControl: compiler warning stuff 
float to double promotion via cos & sin instead of cosf & sinf
(this code is commented out but in case it ever gets included it would be nice to be correct
 2015-05-16 08:21:36 +10:00
Andrew Tridgell aaa35bd1ec AP_InertialSensor: using atan2f() gives more accurate euler corrections 
thanks to Jon and Paul!
 2015-05-16 08:19:18 +10:00
Andrew Tridgell 9e723ef907 AP_InertialSensor: added calibrate_trim() function 
used for redoing trim calculation
 2015-05-16 07:56:34 +10:00
Andrew Tridgell b564ba0868 AP_InertialSensor: fixed AHRS_TRIM calculation again 2015-05-16 07:56:33 +10:00
Andrew Tridgell 2475ee9630 AP_Compass: setup HIL/SITL for two compasses 2015-05-16 07:06:04 +10:00
Andrew Tridgell ab687ab0f5 DataFlash: added double to list of format strings 
thanks to Dario <proyectoire@gmail.com> for noticing this
 2015-05-15 21:14:49 +10:00
Jonathan Challinger 159599879f AP_InertialSensor: simplify and correct AHRS_TRIM computation 2015-05-15 21:03:03 +10:00
Andrew Tridgell d7e4310df0 DataFlash: Lat can be negative in POS 2015-05-15 17:55:50 +10:00
Randy Mackay 559684b257 GCS_MAVLink: fix flow control check 
Thanks to Tridge for spotting is
 2015-05-15 15:39:34 +09:00
Andrew Tridgell b0a90df135 DataFlash: fixed double Init of DF object 
thanks to Michael De Breuil
 2015-05-15 16:33:10 +10:00
Randy Mackay 763c671d0a GCS_Console: fix example sketch after mavlink_comm_port to array 2015-05-15 15:07:32 +09:00
Randy Mackay 85eeba93c0 GCS_MAVLink: mavlink_comm_port to array 2015-05-15 15:07:31 +09:00
Randy Mackay facbfaf31f SerialManager: support for 4th mavlink channel 2015-05-15 15:07:24 +09:00
Randy Mackay 62e7e8cc7d GCS_MAVLink: add support for 4th mavlink chan on PX4 2015-05-15 15:07:23 +09:00
Andrew Tridgell 74485c5754 DataFlash: added Log_Write_POS() call 
write AHRS position to DF log
 2015-05-15 14:28:08 +10:00
Andrew Tridgell 3370ec62a1 HAL_SITL: fix for multi-compass SITL 2015-05-15 14:25:44 +10:00
Andrew Tridgell 91b4ba3588 AP_Compass: allow for more than one compass in HIL/SITL 2015-05-15 14:25:44 +10:00
Andrew Tridgell 11f70da8b4 DataFlash: fixed incorrect change to GPS message 2015-05-15 14:25:43 +10:00
Randy Mackay ade4f81c77 Compass: fix example sketch 2015-05-15 11:53:28 +09:00
Paul Riseborough bd91b9727f AP_NavEKF: Add pre-arm check for horizontal inertial errors 
This check will declare the EKF as unhealthy if the horizontal position innovations exceed a threshold  before motors are armed.
This will help to prevent a takeoff with bad inertial data caused by bad accel or gyro offsets.
 2015-05-15 10:35:25 +09:00
Randy Mackay 1b13250fd8 RC_Channel: small parameter description change 2015-05-14 10:33:08 +09:00
Randy Mackay 61c851885f AC_WPNav: remove unused set_spline_dest_and_vel 2015-05-13 22:40:08 +09:00
Randy Mackay 7056484ef0 Copter: fix spline overshoot 2015-05-13 22:40:06 +09:00
Randy Mackay 56b92e7d8c AC_PID: fix example sketch 2015-05-13 17:55:39 +09:00
Paul Riseborough c2ac80cc63 AP_AHRS: Prevent copter from switching to DCM unless EKF has severe errors 2015-05-13 16:11:13 +09:00
Randy Mackay 3f8b832075 InertialSensor: fix example sketch 2015-05-13 10:13:51 +09:00
Randy Mackay 3bcd97fcd1 Parachute: increase deployment duration to 2sec 2015-05-12 22:08:20 +09:00
Randy Mackay 5560d3dba1 BattMonitor: fix example sketch 2015-05-12 21:34:24 +09:00
Randy Mackay e080b2acce AP_Arming: use accel_calibrated_ok_all 2015-05-12 16:32:22 +09:00
Randy Mackay 1f14eec4ea InertialSensor: accel_calibrated_all_ok replaces calibrated 
This checks that the current number of accelerometers matches the number
of calibrated accels in order to catch accel failures at boot
 2015-05-12 16:32:16 +09:00
Randy Mackay 0d72f3ac29 AP_HAL: fix example sketches 2015-05-12 14:42:15 +09:00
Andrew Tridgell 8bf2baef70 AP_InertialSensor: fixed primary accel/gyro in replay 2015-05-11 11:19:11 +10:00
Andrew Tridgell f40c96de9d SITL: add 'quad' and 'copter' as aliases for quadcopter 2015-05-11 09:19:53 +10:00
Andrew Tridgell 2a47cc3c81 HAL_SITL: cleanup command line handling 2015-05-11 08:48:42 +10:00
Andrew Tridgell bab94c8a04 SITL: close high fds before launching JSBSIM 2015-05-11 08:06:10 +10:00
Andrew Tridgell 414f4125de AP_HAL: use FD_CLOEXEC to prevent sockets being inherited in SITL 2015-05-11 08:05:51 +10:00
Andrew Tridgell 7692889248 SIM_JSBSim: added elevon and vtail support 2015-05-10 21:57:39 +10:00
Andrew Tridgell aa9853179c SITL: fixed startup yaw 2015-05-10 21:57:19 +10:00
Andrew Tridgell 5687adbdba HAL_SITL: support JSBSim backend 2015-05-10 21:02:20 +10:00
Andrew Tridgell 692fc18698 AP_HAL: protect Socket.h from double include 2015-05-10 21:02:04 +10:00
Andrew Tridgell c136d65c25 SITL: added initial JSBSim simulator backend 2015-05-10 21:01:49 +10:00
Andrew Tridgell 8ec98a5ec9 SITL: make it possible to connect two SITL instances together 
this adds --client to set uartC as a tcp client rather than a TCP
server
 2015-05-10 15:36:18 +10:00
Andrew Tridgell 3991e0c476 DataFlash: fixed sign of sv in GRAW message 2015-05-10 12:15:04 +10:00
Andrew Tridgell 3529e02675 AP_AHRS: if we have 3 gyros then only use first two 
the 3rd gyro on a PH2 has a lot more noise as it is not vibration
isolated
 2015-05-09 21:00:49 +10:00
Paul Riseborough cb59570938 AP_NavEKF: Remove bug preventing external selection of optical flow mode 2015-05-09 18:31:18 +10:00
Randy Mackay 3390d9932e AP_AHRS: fix example sketch 2015-05-09 12:23:05 +09:00
Tom Pittenger 2deb0e08ea AP_NavEKF: replace fabs() with fabsf() 2015-05-09 09:57:27 +10:00
Tom Pittenger 79605de8f5 AP_Mission: replace fabs() with fabsf() 2015-05-09 09:57:27 +10:00
Tom Pittenger e20ffa8c75 AP_Math: replace fabs() with fabsf() 2015-05-09 09:57:27 +10:00
Tom Pittenger 1c8efb25a8 AP_HAL_SITL: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Tom Pittenger 4b6d0d8e24 AP_HAL: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Tom Pittenger 9d74f57ed3 AP_PID: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Tom Pittenger 70bef20a29 AC_AttitudeControl: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Andrew Tridgell 1127b716c4 SITL: lower the default noise 
prevents problems calibrating the gyro
 2015-05-09 07:22:37 +10:00
Andrew Tridgell 2552acbf12 AP_Arming: fixed accel cal test in arming 
use a per-imu time of last cal pass, and triple accel threshold for
IMU3. Raise threshold to 0.5 for IMU1/IMU2
 2015-05-08 21:01:52 +10:00
Tom Pittenger d94c95a6ef GCS_MAVLink: return true if mission recieve is complete 
when handing a mission item, and that is the last item, return true so that whoever is handling this knows we have a new mission list. From here we can log a new mission
 2015-05-08 21:01:51 +10:00
Paul Riseborough a232606fc9 AP_NavEKF: Prevent EKF yaw errors due to fast yaw spins 
Prolonged yaw rotations with gyro scale factor errors can cause yaw errors and gyro bias estimation errors to build up to a point where EKF health checks fail.
This patch introduces the following protections:

1) The assumed yaw gyro error is scaled using a filtered yaw rate and an assumed 3% scale factor error (MPU6000 data sheet)
2) When the filtered yaw rate magnitude is greater than 1 rad/sec, the Z gyro bias process noise is zeroed and the state variance set to zero to inhibit modification of the bias state
3) When the filtered yaw rate magnitude is greater than 1 rad/sec, the magnetometer quaternion corrections are scaled by a factor of four to maintain tighter alignment with the compass
 2015-05-08 16:47:31 +09:00
Paul Riseborough 08382373f1 AP_NavEKF: Reduce likelihood of in-air switch to GPS with a bad heading 
Increases magnetometer weighting on yaw corrections when there there is no other aiding to constrain yaw drift.
Prevents switch to GPS if magnetometer data is failing innovation checks which indicates a bad yaw angle
 2015-05-08 16:47:29 +09:00
Randy Mackay 3781f133d7 AC_AttControlHeli: remove unused definitions 2015-05-08 14:50:38 +09:00
Randy Mackay bef5633ed5 AC_AttControlHeli: use params from parent class 2015-05-08 14:50:36 +09:00
Randy Mackay 7951346d72 AC_AttControl: bf_feedfoward_save made more concise 2015-05-08 14:29:49 +09:00
Randy Mackay 3d9a6a69e2 MotorsHeli: COLYAW to float 2015-05-08 14:14:36 +09:00
Randy Mackay edfa206bb8 Motors_Heli: nest heli params 2015-05-08 14:14:35 +09:00
Randy Mackay 68b05a4ca2 AP_Motors: is_throttle_mix_min returns bol 2015-05-08 14:14:32 +09:00
Leonard Hall cf45a1cf3a AC_AttitudeControl: add get accel and save ff 2015-05-08 14:14:30 +09:00
Leonard Hall 1900cc7582 AC_AttitudeControl: Enable FF by default 2015-05-08 14:14:21 +09:00
Leonard Hall 0f894ac1a8 AP_Motors: Rename and move Throttle Mix / Comp 2015-05-08 14:14:17 +09:00
Jonathan Challinger 142e018a18 AP_NavEKF: fix bug causing takeoff to fail 2015-05-08 09:15:45 +09:00
Randy Mackay fa4ba456b4 GPS: fix example sketches 2015-05-07 14:01:14 +09:00
Andrew Tridgell afc9812d0b AP_InertialSensor: update VibTest after moving messages info DataFlash 2015-05-07 13:25:37 +10:00
Andrew Tridgell 7d90033a36 AP_InertialSensor: support raw accel and gyro dataflash logging 2015-05-07 12:08:30 +10:00
Andrew Tridgell 21d805422d DataFlash: added defines for raw accel and gyro logging 2015-05-07 12:08:04 +10:00
Andrew Tridgell f5140e25b0 AP_InertialSensor: updated VibTest for latest PX4 interfaces 2015-05-07 10:51:52 +10:00
Andrew Tridgell cbdc9f0706 SITL: fixed autotest SITL 2015-05-06 10:09:43 +10:00
Andrew Tridgell 2369e06815 AP_HAL: fixed SITL build on windows 2015-05-06 09:07:03 +10:00
Andrew Tridgell b09fcfc20e HAL_Linux: cope with systems without I2C_RDRW_IOCTL_MAX_MSGS 
such as my ubuntu 14.04 laptop :-)
 2015-05-05 21:42:46 +10:00
Andrew Tridgell 6a8da06d19 HAL_SITL: hook in CRRCSim backend 2015-05-05 21:42:46 +10:00
Andrew Tridgell 93d5101bf9 SITL: added CRRCSim simulation connection 2015-05-05 21:42:45 +10:00
Andrew Tridgell 4c11002976 AP_HAL: added HAL_OS_SOCKETS define 
used for systems with BSD sockets
 2015-05-05 21:34:19 +10:00
Andrew Tridgell 08b9ed3342 AP_HAL: added socket handling class 2015-05-05 21:34:19 +10:00
Randy Mackay 9dede2f0ec Math: remove duplicate HALF_SQRT_2 definition 2015-05-05 14:23:14 +09:00
Randy Mackay 151707cb0a Filter: replace 2*M_PI_F with M_2PI_F 2015-05-05 14:22:52 +09:00
Peter Barker 463270e0ee AP_AHRS: avoid FPE when we don't have a compass reading 2015-05-05 15:02:35 +10:00
Andrew Tridgell 77a2b4acf6 AP_Math: removed fast_atan 2015-05-05 13:57:22 +10:00
Andrew Tridgell 872583f441 AC_AttitudeControl: removed fast_atan 2015-05-05 13:57:16 +10:00
Andrew Tridgell 8ba5272b0e AP_Scheduler: fixed PSTR() usage 2015-05-05 13:54:27 +10:00
Andrew Tridgell 88fb7ddff8 AP_Param: fixed PSTR() usage 2015-05-05 13:54:15 +10:00
Andrew Tridgell 089e63f987 AP_InertialSensor: fixed PSTR handling 
must use PSTR on code compiled for AVR
 2015-05-05 13:54:00 +10:00
Andrew Tridgell 31693e332e AP_InertialSensor: use non-PSTR printf 
this is not built on AVR
 2015-05-05 13:48:34 +10:00
Andrew Tridgell 730644eaeb AP_Mount: use M_PI_F instead of (float)M_PI 2015-05-05 13:44:25 +10:00
Andrew Tridgell 84ac721340 AC_AttitudeControl: use M_PI_F instead of (float)M_PI 2015-05-05 13:44:19 +10:00
Andrew Tridgell f9114f849b Filter: revert AP_Math class change 2015-05-05 13:27:07 +10:00
Andrew Tridgell bcc6c7d380 AP_Param: revert AP_Math class change 2015-05-05 13:27:07 +10:00
Andrew Tridgell a140a5e77f AP_NavEKF: revert AP_Math class change 2015-05-05 13:27:07 +10:00
Andrew Tridgell 7c9e3d4b58 AP_Mount: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell 0b897e04bb AP_Math: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell e6a8a6da07 AP_InertialSensor: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell 015fce5183 AP_Compass: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell d2167633f0 AP_Camera: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell 48fb7f8159 AP_BARO: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Andrew Tridgell 4d4a607b80 AP_AHRS: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Andrew Tridgell c08b62f9e4 AC_WPNAV: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Andrew Tridgell 33555b7f12 AC_PID: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Andrew Tridgell aa1bfb1ca7 AC_Fence: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Andrew Tridgell 326b0b33ea AC_AttitudeControl: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Andrew Tridgell 936fbbb362 AP_Math: removed AP_Math class 2015-05-05 13:27:03 +10:00
Tom Pittenger 7fd285f483 AC_WPNav: Compiler warnings: nuke fast_atan2() 
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
 2015-05-05 13:27:03 +10:00
Tom Pittenger 4ec2fb3a9c AP_Math: Compiler warnings: nuke fast_atan2() 
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
 2015-05-05 13:27:02 +10:00
Tom Pittenger 1b84bbc3e7 AC_WPNav: Compiler warnings: add in the appropriate whitrespace 2015-05-05 13:27:02 +10:00
Tom Pittenger 0e076d6dc8 AP_InertialSensor: compile warnings: format not a string literal, argument types not checked 
PSTR() goofs things up when using hal.console->printf_P()
 2015-05-05 13:27:02 +10:00
Tom Pittenger 6acd92be1e AP_RangeFinder: compiler warnings: compare signed to unsigned 2015-05-05 13:27:02 +10:00
Tom Pittenger 9e98c68099 AP_InertialSensor: compile warnings: format not a string literal, argument types not checked 
PSTR() goofs things up when using hal.console->printf_P()
 2015-05-05 13:27:01 +10:00
Tom Pittenger d823541eb1 AP_Scheduler: compile warnings: format not a string literal, argument types not checked 
PSTR() goofs things up when using hal.console->printf_P()
 2015-05-05 13:27:01 +10:00
Tom Pittenger bfd1b2b11a AP_Param: compile warnings: format not a string literal, argument types not checked 2015-05-05 13:27:01 +10:00