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12676 Commits

Author SHA1 Message Date
priseborough 60d8adcca0 AP_NavEKF2: Fix height drift on ground using range finder without GPS 2016-09-13 17:44:59 +09:00
priseborough 8797714203 AP_NavEKF2: Fix bug in handling of invalid range finder data 2016-09-13 17:44:43 +09:00
priseborough 175faf1e41 AP_NavEKF2: Fix bug in published yaw reset value found during code review 2016-09-13 17:35:18 +09:00
priseborough 77fad065d1 AP_NavEKF2: use a struct for all yaw step class variables 2016-09-13 17:35:16 +09:00
priseborough 885bfd1b4e AP_NavEKF2: Handle yaw jumps due to core switches 2016-09-13 17:35:14 +09:00
murata c78dfd4aa4 AC_Sprayer: Change the comment of the variables in the form of doxygen. 2016-09-13 13:37:35 +09:00
Peter Barker fce798bc7a DataFlash: avoid integer underflow 
Thanks to mbelluzzo: f44b1b3556
 2016-09-13 13:32:09 +09:00
Peter Barker 95d4475d45 DataFlash: avoid time going backwards in logs 
WriteBlockCheckStartupMessages returned true if finished writing out
all startup messages.  However, that may have allowed the caller to
then write out their message - but the timestamp on that message would
almost certainly be lower than the messages we've just written out.
 2016-09-13 13:32:06 +09:00
William Liu cc28c8e6ee AP_Airspeed: AP_Airspeed_I2C: get the right status according to datasheet 2016-09-09 10:32:14 -07:00
William Liu b1a62d6c8e AP_HAL_Linux: RCOutput_Bebop: fixed potential deadlock 2016-09-09 09:59:17 -07:00
Andrew Tridgell aa4cde1aae AP_BoardConfig: work around issues with bad components on some FMUv4 boards 
some pixracer copies have poor components which can cause sensor bus
brownout on boot. This resets the sensor bus for 20ms on boot to try
to get clean sensor startup
 2016-09-08 13:18:13 +10:00
Benoit Tran 9b89b4f561 AP_HAL: Correct HAL_PARAM_DEFAULTS_PATH for Parrot Disco 2016-09-08 13:05:25 +10:00
Randy Mackay b63666d188 AP_Motors: increase MOT_THST_HOVER parameter description range 
No functional change
 2016-09-07 15:28:49 +09:00
Niti Rohilla cadd95fdd8 GCS_MAVLink: Added sanity check for DO_JUMP command on mission load. 2016-09-06 00:40:47 -07:00
floaledm 4d03be94cf AP_Frsky_Telem: removed reliance on home_distance and home_bearing which are only in copter 2016-09-06 11:42:32 +10:00
floaledm 33bd359463 AP_Frsky_Telem: LANDCOMPLETE switched to to ISFLYING flag 2016-09-06 11:23:29 +10:00
floaledm 4dc98faa48 AP_Frsky_Telem: transmit airspeed instead of groundspeed, if available 2016-09-06 11:15:11 +10:00
floaledm 8deba69715 AP_Frsky_Telem: added 1 to control_mode passed on Frsky link 2016-09-06 11:14:48 +10:00
floaledm 4f8cea6844 AP_Frsky_Telem: simplified constructor 2016-09-06 11:14:48 +10:00
Michael du Breuil 7a18d59099 GCS_MAVLink: On mission_set_current report the requested item if the set was a success 
The problem with reporting the mission index, is that the mission index will be walked
forward until its referring to a nav target, which means that if a DO_ command was
requested, the requesting mavlink device had no way to validate the command was
accepted, it would have to make a infrence from it's copy of the mission
 2016-09-06 08:55:04 +10:00
Leonard Hall fdcdcb0033 AC_PosControl: check Z-axis accel imax can always overpower hover throttle 
This removes the possibility of the vehicle constantly climbing if the hover throttle becomes a very large value
 2016-09-05 14:19:43 +09:00
Andrew Tridgell aafd1512e4 HAL_PX4: limit IMU target temperature to 65 2016-09-05 12:59:50 +10:00
Andrew Tridgell c0d21c5730 AP_Module: added gyro_bias to AHRS structure 2016-09-05 12:56:52 +10:00
Andrew Tridgell 334db0a1a5 AP_AHRS: added get_primary_accel_index() and get_primary_gyro_index() 2016-09-05 12:56:36 +10:00
Andrew Tridgell 902daff3a3 AP_Module: added FSYNC state to raw accel report 2016-09-05 12:55:52 +10:00
Andrew Tridgell 6f9530ebaa AP_InertialSensor: added optional FSYNC external sync bit 
used to synchronise with image sensor on Disco
 2016-09-05 12:55:32 +10:00
Andrew Tridgell c62fc336cb AP_AHRS: use current EKF2 IMU core in gyro estimate 
The EKF2 implementation uses one IMU per EKF2 core. When reporting the
gyro estimate, accel_ef estimate and gyro bias estimate we need to use
the values associated with the current IMU index being used by the
current EKF2 core. Otherwise we will have an inconsistency between the
gyro estimate and attitude estimate

This affects all multi-IMU systems using EKF2
 2016-09-05 12:54:53 +10:00
Andrew Tridgell dd812cfc0c AP_NavEKF2: added getPrimaryCoreIMUIndex() 
needed for correct AHRS gyro estimate
 2016-09-05 12:53:53 +10:00
Andrew Tridgell cfd7268bd5 GCS_MAVLink: check the signing key magic on load 
or we end up with a bad key when MAVLink2 is first enabled
 2016-09-04 19:28:48 +10:00
Andrew Tridgell b9c4a948d1 AP_BoardConfig: fixed startup ordering change in canbus vs external mag 2016-09-04 18:48:26 +10:00
Gustavo Jose de Sousa 5c5ddc9d4a AP_HAL: reformat AP_HAL_Boards.h 
The definitions for each board haven't been reformatted here. They need a
little more thinking on how to format them in order to provide better
readability.
 2016-09-03 01:03:17 -03:00
José Roberto de Souza 13287f61e3 AP_Compass: Make COMPASS_AERO probe BMM150 2016-09-03 01:03:17 -03:00
Gustavo Jose de Sousa 68fe536da3 AP_InertialSensor: use BMI160 for Intel Aero 2016-09-03 01:03:07 -03:00
Gustavo Jose de Sousa 025082b280 AP_HAL_Linux: add port to Intel Aero 
Contributions from:
 - Gustavo Jose de Sousa <gustavo.sousa@intel.com>
 - José Roberto de Souza <jose.souza@intel.com>
 - Lucas De Marchi <lucas.demarchi@intel.com>
 - Patrick J.P <patrick.pereira@intel.com>
 2016-09-03 01:03:07 -03:00
José Roberto de Souza 0b0be31a29 AP_HAL: add defines for Intel Aero 2016-09-03 01:03:07 -03:00
Gustavo Jose de Sousa b6c0e11200 AP_InertialSensor: BMI160: convert it to use Device periodic callback 
Some notes:
 - The only place that made sense to use
   suspend_timer_procs()/resume_timer_procs() calls were where we registered
   the timer process. Now there's no need for that anymore. Remove those calls
   from other place in the source too.
 - There's no need to acquire the device lock now that we are running as a
   periodic callback.
 2016-09-03 01:03:07 -03:00
Gustavo Jose de Sousa b259356703 AP_Compass: BMM150: convert it to use Device periodic callback 2016-09-03 01:03:07 -03:00
Lucas De Marchi 667fca60f5 AP_Compass: BMM150: reduce lock region 
Use a semaphore to update the accumulated values instead of using the
timer semaphore.
 2016-09-03 01:03:07 -03:00
Patrick J.P c32dc3bc37 AP_HAL_Linux: Add AeroIO communication module 
Signed-off-by: Patrick J.P <patrick.pereira@intel.com>
 2016-09-03 01:03:07 -03:00
Randy Mackay 4858afae6c AP_Motors: param description update that MOT_SPIN_MIN should be higher than MOT_SPIN_ARM 2016-09-03 11:12:31 +09:00
Andrew Tridgell bf1e0e1536 AP_AHRS: fixed EKF GPS arming check for fixed wing 
when in a quadplane mode we set fly_forward to zero. We need to ensure
the GPS checks for EKF health are applied when doing arming checks, so
we use the checks always when disarmed
 2016-09-02 11:12:19 +10:00
Andrew Tridgell 232347569f AP_RPM: use RPM_SCALING in SITL 
useful for testing low RPM warning in a GCS
 2016-09-02 11:12:18 +10:00
Andrew Tridgell acbeb29fbe AP_Frsky_Telem: use const references where possible 
save some stack space
 2016-09-02 11:12:18 +10:00
Randy Mackay 44830be172 AC_AttControl: add parameter check of throttle mix 2016-09-02 09:27:15 +09:00
Randy Mackay 535158e0d8 AC_AttControl: move var_info declaration 
No functional change
 2016-09-02 09:27:12 +09:00
Randy Mackay 38b3d3ff3a AP_GPS_MAV: initialise location while handling_msg 
This reduces a covarity warning but it likely not really an issue because we always initialise newly allocated memory to zero anyway
 2016-09-01 12:01:14 +09:00
murata 59796aaf9c AP_OpticalFlow: The first value of the register to the value of the definition. 2016-08-31 01:01:59 -03:00
Ralf Ramsauer 71212942da AP_HAL: AP_HAL_Linux: align I2CDevice::read_registers_multiple() 
25c7e8b changed the logic of transfer(). Align
I2CDevice::read_registers_multiple() in the same way.

Signed-off-by: Ralf Ramsauer <ralf.ramsauer@othr.de>
 2016-08-31 00:18:50 -03:00
Randy Mackay e7020b218a AC_Fence: revert param Enable to be FLAG_ENABLE 
This reverts commit 5e811b8463.
 2016-08-31 08:55:31 +09:00
Ralf Ramsauer 5b81920737 AP_HAL: AP_HAL_Linux: add comment to I2CDevice::transfer() 
If I2CDevice::transfer() has to do nothing it returns false. This can be
misleading, as this might feel contradictory.

Let's spend a comment on that.

Signed-off-by: Ralf Ramsauer <ralf.ramsauer@othr.de>
 2016-08-29 15:20:14 -03:00
Ralf Ramsauer 25c7e8bf60 AP_HAL: AP_HAL_Linux: perfect I2CDevice::transfer() 
According to man 3 ioctl, ioctl returns other values than -1 on success.
So loop while ioctl returns -1.

Furthermore, there is no necessity to initialise r with -EINVAL,

Signed-off-by: Ralf Ramsauer <ralf.ramsauer@othr.de>
 2016-08-29 15:20:14 -03:00
Matt 9eca21c26a AP_Compass: Removed duplicate code 2016-08-29 10:38:41 -03:00
Lucas De Marchi 833f565f09 AP_HAL_Linux: prefix threads with ap 
This makes it consistent with bus threads and easier to grep from a `ps`
call.
 2016-08-29 10:27:36 -03:00
Lucas De Marchi e1ab44f4a3 Global: remove get_fd() from Device API 
This was there for compatibility with I2CDriver and SPIDriver. We don't
use them anymore so we can remove the compat method.
 2016-08-29 10:27:36 -03:00
Lucas De Marchi ead01855df AP_HAL: remove default params for minlure 
We are currently not using them.
 2016-08-29 10:27:36 -03:00
Andrew Tridgell e9e3a3f491 AP_Motors: added get_pwm_type() 2016-08-29 15:52:21 +10:00
Peter Barker fd87a4f180 DataFlash: fix unused result warning 2016-08-25 15:53:47 +10:00
Andrew Tridgell a4ca4dbd9e AP_FrSky_Telem: use a constant string for firmware version 2016-08-25 11:00:17 +10:00
Andrew Tridgell 62388fc991 AP_FrSky_Telem: use constant strings in message queueing 2016-08-25 10:29:57 +10:00
Andrew Tridgell 183283ba07 AP_FrSky_Telem: make _msg non-static 
there are no calls to this from outside the library. If we do add some
then we can change the API as needed
 2016-08-25 10:23:03 +10:00
floaledm 2f54e67996 AP_FrSky_Telem: fixed sending last message chunk 
Was sent only once, now sent 3 times (as planned)
 2016-08-25 10:16:20 +10:00
Andrew Tridgell 185ef73684 AP_Frsky_Telem: fixed usage of sensor error bits 
using these asyncronously via pointers is error prone as the updates
to these masks is not atomic relative to the IO callback in
AP_Frsky_Telem
 2016-08-25 10:16:19 +10:00
Andrew Tridgell f4d59d720a AP_FrSky_Telem: removed use of pointer to control_mode 
it is an enum, and it is invalid to take a pointer to an enum as a
uint8_t*
 2016-08-25 10:16:19 +10:00
Andrew Tridgell ab77fdfa02 AP_FrSky_Telem: removed dependency on inertialnav 
the AP_InertialNav library is deprecated in favor of AP_AHRS. We
should not introduce a new dependency on it
 2016-08-25 10:16:19 +10:00
floaledm b71e0d73b9 AP_FrSky_Telem: added SPort passthrough protocol 2016-08-25 10:16:19 +10:00
floaledm 50eecf58a4 AP_SerialManager: added SPort passthrough protocol 2016-08-25 10:16:18 +10:00
floaledm ec157bd4c2 AP_BattMonitor: Get pack_capacity_mah function 2016-08-25 10:16:18 +10:00
floaledm a9b01b470c AP_FrSky_Telem: cosmetic changes 2016-08-25 10:16:17 +10:00
floaledm 5066a5bc73 AP_SerialManager: syntax and minor lib rework 2016-08-25 10:16:17 +10:00
floaledm de2a7013b4 AP_FrSky: simplified lib rework 2016-08-25 10:16:17 +10:00
Leandro Pereira bf3f8c05e7 GCS_Mavlink: Correctly check if a channel is streaming 
In GCS_MAVLINK::stream_trigger(), chan_is_streaming would be checked
with a bitwise OR, instead of a bitwise AND.  This way, the condition
would always be true if chan_is_streaming were to be non-zero.
 2016-08-24 10:47:12 -03:00
Andrew Tridgell 3aba0d8359 SITL: fixed rover altitude 
thanks to Grant for noticing this
 2016-08-24 13:29:45 +10:00
mirkix a4d0ad8571 AP_InertialSensor: Fix name of sensor 2016-08-23 11:25:59 +09:00
Andrew Tridgell 25f1dbd8c2 HAL_SITL: allowed SITL to reopen uart connections 2016-08-23 09:30:17 +10:00
Andrew Tridgell 49b82b767f SITL: added RPM for heli sim 2016-08-23 09:30:14 +10:00
Andrew Tridgell c87fa13e77 AC_WPNav: added WP_RFND_USE parameter 
allows disable of rangefinder use for terrain following
 2016-08-23 09:27:39 +10:00
Tom Pittenger 330c63b010 AP_Avoidance: handle condition where avoid is disabled while avoiding 2016-08-17 22:38:54 -07:00
Tom Pittenger c06b63b4cd AP_Avoidance: provide different default params for copter vs plane 
copter is unchanged, plane has larger distances
 2016-08-17 22:38:54 -07:00
Tom Pittenger 1612110d16 AP_ADSB: fixed signed int compare compile warning/error and reject >24bit ICAO 
- The value is only 24bits anyway so sign conversion does not matter
- also reject ICAO values > 24bits
 2016-08-16 18:49:48 -07:00
Tom Pittenger 78e7acf25c AP_ADSB: do not detect, and thus avoid, yourself 2016-08-16 17:29:34 -07:00
Tom Pittenger b6810006eb AP_ADSB: move mavlink msg handling into library 2016-08-16 16:33:36 -07:00
Andrew Tridgell 3ecf2850a8 SITL: fixed send of MAVLink2 pkt 2016-08-16 16:33:36 -07:00
Tom Pittenger 19ac9bce48 SITL: add Ping2020 simulated device 2016-08-16 16:33:36 -07:00
Andrew Tridgell 38fff6d43d RC_Channel: expanded docs for RCn_FUNCTION 2016-08-16 16:16:09 +10:00
Andrew Tridgell 62f3818b83 RC_Channel: added k_throttle 
for secondary throttle on planes
 2016-08-16 16:14:34 +10:00
Andrew Tridgell c1480315f5 AP_AdvancedFailsafe: update AFS_TERMINATE on GCS on termination 2016-08-16 12:56:13 +10:00
Andrew Tridgell cee1e37391 AP_AdvancedFailsafe: make relationship to OBC clearer in comment 2016-08-16 12:56:12 +10:00
Andrew Tridgell 838728348f AP_AdvancedFailsafe: re-work for use as vehicle derived class 2016-08-16 12:55:50 +10:00
Andrew Tridgell 8163db1adb AP_AdvancedFailsafe: cleanups for new naming 2016-08-16 12:55:50 +10:00
Andrew Tridgell cef4635ad9 AP_AdvancedFailsafe: rename from APM_OBC 2016-08-16 12:55:50 +10:00
Andrew Tridgell 636188014d APM_OBC: make the ENABLE flag control presence of the parameters 2016-08-16 12:55:50 +10:00
Andrew Tridgell 119e312cd3 AP_BoardConfig: wait up to 0.4s for safety to be off on boot 2016-08-16 12:53:34 +10:00
Andrew Tridgell dddaded8d4 HAL_PX4: fixed a race condition in force_safety_on/off 
the status update from IO may not have come through if we force safety
on and then off in quick succession, such as for plane mixer load

this forces the ioctl to be sent at least once
 2016-08-16 12:53:34 +10:00
Andrew Tridgell 1fa137caad GCS_MAVLink: added handle_preflight_reboot() 2016-08-16 12:53:33 +10:00
Lee Hicks 51e8d8a294 AP_GPS: Don't send config blob to GPS unless AUTO_CONFIG=1 
All GPS types will recieve startup up blob config. For
some recievers this will cause them to hang. This commit
only allows sending of blobs if AUTO_CONFIG=1. Fixes #2622
 2016-08-16 10:56:37 +10:00
Lee Hicks 7c3b8dceb9 AP_GPS: Fixed GPS serial speeds starting at 1 instead of 0 
The counting of this will increment the counter before
selecting the baud speed, skipping the first baud rate.
 2016-08-16 10:56:36 +10:00
Lee Hicks 3dd4f30460 AP_GPS: Adding 19200 as serial speed for GPS 
APM supports baud speeds of 19200, but GPS baud rates
don't support it. This commit adds it to follow APM supported
baud rates.
 2016-08-16 10:56:36 +10:00
Leonard Hall 29d4790fc7 AC_AttControl: reduce max_rate_step based on hover throttle 
This changes reduces AutoTune's twitch size based on the hover throttle
This method is only used by AutoTune
 2016-08-12 22:29:53 +09:00
Peter Barker 8d253dec8e DataFlash: support for mavlink SENSOR message 2016-08-11 17:48:44 -03:00
Grant Morphett 30bcea73cc PX4: Added detection for MPU6000 on px4slim. 2016-08-11 08:39:16 +10:00
LukeMike 38150a5544 AP_BoardConfig: defined and managed VRBRAIN board type and all functions for sensors startup 2016-08-11 07:52:40 +10:00
LukeMike e6c8653302 AP_IRLock_PX4: enabled sensor driver startup on bus2 if don't start on bus1 2016-08-11 07:52:39 +10:00
LukeMike 316e5acaec AP_OpticalFlow_PX4: enabled sensor driver startup for all VR boards 2016-08-11 07:52:39 +10:00
Andrew Tridgell 38ebe582cc AP_BoardConfig: fixed for VRBrain build 
needs access to driver start function
 2016-08-10 20:43:03 +10:00
Andrew Tridgell eaa88b1223 AP_BoardConfig: FMUv1 does not have pwm_input driver 2016-08-10 19:54:01 +10:00
Andrew Tridgell 39676d686c AP_BoardConfig: FMUv1 does not have an L3GD20 2016-08-10 19:54:01 +10:00
Andrew Tridgell 7da89c611d AP_BoardConfig: use a STATUSTEXT to show better in MP 
this makes it easier to see why it won't boot
 2016-08-10 19:54:01 +10:00
Andrew Tridgell 78b2924c00 AP_OpticalFlow: auto-start px4flow driver if enabled 2016-08-10 19:54:01 +10:00
Andrew Tridgell 74182b6b3d AP_Notify: auto-start oreoled driver if enabled 2016-08-10 19:54:00 +10:00
Andrew Tridgell e24cebec33 AP_IRLock: auto-start batt_smbus driver if enabled 2016-08-10 19:54:00 +10:00
Andrew Tridgell d05a08ff4d AP_BattMonitor: auto-start batt_smbus driver if enabled 2016-08-10 19:54:00 +10:00
Andrew Tridgell 0d59935847 AP_BoardConfig: fixup for merge after VRBrain changes 2016-08-10 19:54:00 +10:00
Andrew Tridgell 77bee322e9 AP_BoardConfig: support the PHMINI as BRD_TYPE=5 2016-08-10 19:54:00 +10:00
Andrew Tridgell 61e15af3ca AP_BoardConfig: added BRD_TYPE 
this allows for PH2SLIM support with BRD_TYPE=6
 2016-08-10 19:54:00 +10:00
Andrew Tridgell 7c5171e9b9 AP_BoardConfig: set default temperature on PH2 to 60 2016-08-10 19:54:00 +10:00
Andrew Tridgell 7806aa4274 AP_BoardConfig: moved optional sensors to the sensor startup 
this makes startup much faster
 2016-08-10 19:54:00 +10:00
Andrew Tridgell 36e0c7229a AP_BoardConfig: implement PX4 driver start in C++ 
this brings driver startup into AP_BoardConfig, so we can start to
make driver startup depend on parameters
 2016-08-10 19:53:59 +10:00
Andrew Tridgell 4643d6f314 AP_BoardConfig: break out PX4 setup from main code 
refactoring in preparation for larger changes
 2016-08-10 19:53:59 +10:00
Andrew Tridgell e82384990d AP_BoardConfig: moved px4 variables to px4 structure 
refactoring in preparation for larger changes
 2016-08-10 19:53:59 +10:00
Andrew Tridgell 270fa95a8d AP_Morors: scale colyaw to match previous behaviour 
this was missed in the motor scaling changes. Thanks to Rob for
noticing this.
 2016-08-10 07:58:06 +10:00
Tom Pittenger a66e248f5c AP_Airspeed: remove AP_Vehicle::FixedWing dependency 2016-08-08 00:12:42 -07:00
Tom Pittenger ce7b766d8b AP_Airspeed: remove AP_Vehicle::FixedWing dependency 2016-08-08 00:02:42 -07:00
Tom Pittenger ae46c38ff7 AP_Airspeed: pass in max airspeed via function call instead of using aparm 2016-08-08 00:02:42 -07:00
Randy Mackay ad697243b3 AP_MotorsMulticopter: initialise some members 
This resolves some Covarity warnings at the cost of a small amount of flash
 2016-08-08 13:31:30 +09:00
Randy Mackay 3c87f67212 AC_PrecLand: initialise some members 
This was not a real problem but it resolves some Covarity warnings
 2016-08-08 13:31:28 +09:00
Leonard Hall 50b694444b AC_AttControl: correct method comments 
No functional change
 2016-08-08 11:24:42 +09:00
priseborough e6f36f04db AP_NavEKF2: Enable automatic use of range finder height 
The EK2_RNG_USE_HGT parameter sets the height (expressed as a percentage of the maximum range of the range finder as set by the RNGFND_MAX_CM parameter) below which the range finder will be used as the primary height source when the vehicle is moving slowly.

When using a height reference other than GPS, the height datum can drift due to air pressure changes if using baro, or due to terrain height changes if using range finder as the primary height source. To ensure that a consistent height datum is available when switching between altitude sources, the WGS-84 height estimate of the EKF's local positi norigin is updated using a
single state Bayes estimator,

If rngfinder or gps height data is lost whilst being used, there will be a fall-back to baro data.
 2016-08-08 10:56:44 +09:00
Tom Pittenger 1586abab8d Revert "AP_Airspeed: Converted library to be stand-alone from APM:Plane." 
This reverts commit 5439257236.
 2016-08-07 17:54:24 -07:00
Tom Pittenger 82777873af Revert "APM_Control: Convert references to AP_Airspeed." 
This reverts commit cc5a2417a6.
 2016-08-07 17:54:24 -07:00
Tom Pittenger e5bd23e34a Revert "AP_TECS: Convert references to AP_Airspeed." 
This reverts commit 09d53eaeca.
 2016-08-07 17:54:24 -07:00
Tom Pittenger 44037c13a1 Revert "AP_Vehicle: Removed unused airspeed_min and airspeed_max as now part of AP_Airspeed." 
This reverts commit bf7ab052c1.
 2016-08-07 17:54:24 -07:00
Tom Pittenger 8dad05d12e Revert "Airspeed: store reference in libraries and populate it" 
This reverts commit c090ba2257.
 2016-08-07 17:54:24 -07:00
LukeMike 5987cc273f AP_HAL_VRBRAIN: added some new modules for I2C wrapper 2016-08-07 20:31:52 +10:00
LukeMike 7ee8898948 AP_BoardConfig: updated defines for VRBRAIN 2016-08-07 20:31:52 +10:00
LukeMike 95ae69eb1c VRBRAIN /AP_BoardConfig: changed definition of PWM_SERVO_MODE_12PWM only for VRBRAIN 2016-08-07 20:31:52 +10:00
LukeMike 024d3311b3 VRBRAIN / AP_BoardConfig: enabled PWM configuration and safety management for all VirtualRobotix boards 2016-08-07 20:31:51 +10:00
LukeMike 9f8b66758c VRBRAIN / AP_OpticalFlow: enabled OpticalFlow_PX4 for all VirtualRobotix boards 2016-08-07 20:31:51 +10:00
LukeMike 6748bdb1a4 AP_Notify/ExternalLED: added HIGH and LOW definition 2016-08-07 20:31:51 +10:00
LukeMike 858c22ae21 VRBRAIN /AP_Notify: enabled tone_alarm for all VirtualRobotix boards 2016-08-07 20:31:51 +10:00
LukeMike 13e3150023 VRBRAIN / AP_HAL_Boards: definition of new board VR Brain 5.4 and VR Core 1.0 2016-08-07 20:31:51 +10:00
LukeMike b5cf0308cd VRBRAIN / AP_BattMonitor_Analog: definition of default value for battery monitor for all VirtualRobotix boards 2016-08-07 20:31:51 +10:00
LukeMike 4d8e7f1783 VRBRAIN / AP_Airspeed: defined ARSPD_DEFAULT_PIN for VR Brain 5.4 and VR Core 1.0 2016-08-07 20:31:51 +10:00
LukeMike d8cc2668cb VRBRAIN / AP_AHRS_NavEKF: set AP_AHRS_WITH_EKF1 to 1 only for VR Brain 5.4 2016-08-07 20:31:51 +10:00
LukeMike 998033286d AP_HAL_PX4 / Semaphores: removed AP_HAL_VRBRAIN (for now it's better to have different AP_HAL for PX4 and VRBRAIN) 2016-08-07 20:31:50 +10:00
LukeMike fde5992b6d VRBRAIN: updated AP_HAL_VRBRAIN 2016-08-07 20:31:50 +10:00
Leonard Hall 34055944cd AC_PosControl: fix relax_alt_hold_controllers 2016-08-05 12:40:37 +09:00
Randy Mackay 24044e5611 AC_AttControl: get_throttle_avg_max always returns value in 0 to 1 range 
throttle_avg_max is the total average throttle level (expressed as a number from 0 to 1) that the motors can safely be raised to in order to maintain attitude control.  This level can be higher than the pilot's or autopilot provided throttle level.
Previously passing in a negative throttle_in could result in a negative throttle_avg_max being returned.
 2016-08-05 12:40:37 +09:00
Leonard Hall ac04fcd836 AC_AttControl: fix set_yaw_target_to_current_heading 2016-08-05 12:40:37 +09:00
Leonard Hall 011bc0a350 AC_AttControl: add reset_rate_controller_I_terms() 2016-08-05 12:40:37 +09:00
Tom Pittenger e63e7a5336 AP_NavEKF: comment that param "Enable" index is moved to top 2016-08-04 11:32:46 -07:00
Tom Pittenger 9b33280795 APM_OBC: set param "Enable" to be FLAG_ENABLE and move to top 2016-08-04 11:32:02 -07:00
Tom Pittenger 28648665b9 AP_Terrain: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:31:37 -07:00
Tom Pittenger ebe829614d AP_Parachute: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:31:21 -07:00
Tom Pittenger b1ef848de6 AP_EPM: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:30:50 -07:00
Tom Pittenger 0d14941eea AP_Avoidance: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:30:39 -07:00
Tom Pittenger c07b85f9bb AP_Airspeed: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:30:22 -07:00
Tom Pittenger dd5ed7e2e0 AC_Sprayer: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:30:03 -07:00
Tom Pittenger ccb0151816 AC_PrecLand: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:29:45 -07:00
Tom Pittenger 5e811b8463 AC_Fence: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:29:30 -07:00
Tom Pittenger c090ba2257 Airspeed: store reference in libraries and populate it 
- also had to move the initial definition in plane.h so it happened before the others.
 2016-08-04 11:06:44 -07:00
AndersonRayner bf7ab052c1 AP_Vehicle: Removed unused airspeed_min and airspeed_max as now part of AP_Airspeed. 2016-08-04 10:09:04 -07:00
AndersonRayner 09d53eaeca AP_TECS: Convert references to AP_Airspeed. 2016-08-04 10:09:04 -07:00
AndersonRayner cc5a2417a6 APM_Control: Convert references to AP_Airspeed. 2016-08-04 10:09:04 -07:00
AndersonRayner 5439257236 AP_Airspeed: Converted library to be stand-alone from APM:Plane. 
Additional changes:
   ARSPD_FBW_MIN and ARSPD_FBW_MAX renamed to ARSPD_MIN and ARSPD_MAX
   ARSPD_MIN and ARSPD_MAX changed to floats
 2016-08-04 10:09:04 -07:00
Andrew Tridgell 66c4995c9d AP_Motors: added get_desired_spool_state() 2016-08-04 09:43:40 -07:00
murata b6c27b58a8 AC_Fence: magic number 4 changed to size of uint32_t 2016-08-04 15:26:18 +09:00
Pavel Kirienko 9b786559d4 Fixed missing definition error UAVCAN_IOCS_HARDPOINT_SET 2016-08-04 09:16:02 +10:00
Pavel Kirienko fccdcf50c1 EPM: fixed build 2016-08-04 09:16:02 +10:00
Pavel Kirienko 8af6af004d EPM: fixed parameter comments 2016-08-04 09:16:02 +10:00
Pavel Kirienko accf118e38 UAVCAN hardpoint control 2016-08-04 09:16:02 +10:00
Murilo Belluzzo 077e03678f Global: Adapt Stream class to be used with Ringbuffer 2016-08-03 01:44:02 -03:00
Murilo Belluzzo b856d26087 RingBuffer: ::set_size now returns true or false 2016-08-03 01:44:02 -03:00
Murilo Belluzzo f7f203efa9 RingBuffer: Add ::clear() method to discard the buffer content 
The same could be achieved with ::set_size(::get_size()), but was not
obvious and hurts code readability.
 2016-08-03 01:44:02 -03:00
Murilo Belluzzo 75a1b102fb RingBuffer: Handle zero sized better 
Sometimes (like in DataFlash) the size of the ring buffer will be
determined in run time and the object can have size zero until proper
initialization. When this was the case, an underflow in ::get_size would
mess with the initializing algorithm.

Another issue was that the 'new' operator could fail what was not being
handled. Now, we only set the size member after we are sure 'new'
successfully allocated memory.
 2016-08-03 01:44:02 -03:00
Murilo Belluzzo fe48901db0 AP_ADC_ADS1115: Remove resource leak. 
Constructor allocate '_samples' but there was no destructor to
deallocate it. Also, initializes '_gain' to silence CID 9144 although
'_gain' wasn't being used uninitialized because of ::init().

CID 91424
 2016-08-03 00:24:55 -03:00
Murilo Belluzzo 36bdd7f1f1 AP_InertialSensor: MPU6000: Add missing read() check 2016-08-03 00:18:20 -03:00
Lucas De Marchi 0d4caa3ccc AP_Math: remove declaration of not implemented functions 2016-08-03 00:16:35 -03:00
Murilo Belluzzo 70942472d3 AP_Math: Matrix: Change deallocator to match allocator used 2016-08-03 00:09:11 -03:00
Murilo Belluzzo e17fdb2aa9 DataFlash: Avoid null pointer dereference 
Confirms that the loop successfully found a log structure before using it.

Should fix CID 126742
 2016-08-03 00:02:19 -03:00
Holger Steinhaus cc4fafc3e4 AP_GPS_PX4: fixed GPS epoch calculations 2016-08-02 11:20:48 +10:00
Tom Pittenger 282817eeb9 AP_ADSB: revert default enable = 0 2016-08-01 17:56:04 -07:00
Tom Pittenger b5ec37b9d8 AP_ADSB: change adsb.enable param to be a flag 2016-08-01 17:51:24 -07:00
Tom Pittenger 2be32e9daa AP_ADSB: remove all threat logic in adsb lib in favor of avoidance lib 2016-08-01 15:27:40 -07:00
Tom Pittenger b2b63b4d80 AP_ADSB: change param ADSB_ENABLE default from 0 to 1 2016-08-01 15:27:39 -07:00
Tom Pittenger 89271c29ab AP_ADSB: move variable into struct like the rest 2016-08-01 15:27:38 -07:00
Tom Pittenger f7c2df8e91 AP_ADSB: sanity check data via valid_flags before forwarding to avoidance lib 2016-08-01 12:47:18 -07:00
Tom Pittenger 5c0b5f5cd1 AP_ADSB: reject packets that are invalid or already stale 2016-08-01 12:44:20 -07:00
Tom Pittenger b12edf6a71 AP_ADSB: fix bug where the update timeout wasn't being stored correctly 
- causes immediate timeout so all samples were dropped
- now the timeout is current and respects the time-since-last-comms/packet so we can ignore stale packets
 2016-08-01 12:43:47 -07:00
Tom Pittenger e0bb77726e AP_ADSB: do not service transceiver if it is not detected 
- also allow forced detected (setting chan in header) for testing by not having it time out in that special case (timer = 0)
 2016-08-01 09:06:05 -07:00
Peter Barker 2844190e5b AP_RangeFinder: correct DisplayName comments 2016-08-01 09:55:25 -03:00
Peter Barker 1bb73383ec AP_RangeFinder: group _ADDR with other first-rangefinder params 2016-08-01 09:55:24 -03:00
Peter Barker d5ffc8a863 AP_RangeFinder: define 3_ADDR when we have three rangefinders 
Without this patch this field would only be defined when 4 rangefinders
were specified
 2016-08-01 09:55:24 -03:00
Randy Mackay d5c18dc987 AC_AttControl: remove unused 100hz definition 2016-08-01 17:21:04 +09:00
Randy Mackay 2dc111ff39 Copter: reduce WPNAV_LOIT_MINA parameter description range 2016-08-01 17:09:20 +09:00
Randy Mackay 7d0cac15fb AP_ICEngine: add casting to avoid compiler warnings 2016-08-01 09:41:32 +09:00
Lucas De Marchi e217faacab AP_Baro: MS56XX: cosmetic changes to members 
- reorder and document members.
    - remove tentative of vertical alignement
    - like was done for accumulated values, move the calibration
      values to a struct
 2016-07-30 00:55:28 -03:00
Lucas De Marchi f7b453359d AP_Baro: MS56XX: convert to threaded bus 
This converts MS56XX to use the thread started by SPI/I2C instead of
using the timer thread. This also fixes a possible starvation of the
main thread:

    1) INS driver registers itself to be sampled on timer thread
    2) MS56XX registers itself to be sampled on timer thread
    3) Main thread waits for a sample from INS with
       ins.wait_for_sample()
    4) timer thread is waiting on update from MS56XX and consequently
       the main thread is waiting on an I2C/SPI transfer

Besides this starvation there's another one due to reuse of the timer
lock in order to pump values from the timer thread to the main thread. A
call to the update() method when we have a sample available would need
to wait on any other driver holding the timer lock.

Now there's a lock just to pass the new values from the bus thread to
the main thread with a very tiny critical region, not waiting on any
bus transfers and/or syscalls.
 2016-07-30 00:55:28 -03:00
Lucas De Marchi 052f30bc70 AP_HAL: remove macros to use MS5611 in the main thread 2016-07-30 00:55:28 -03:00
Lucas De Marchi 929348ff75 AP_Baro: MS5611: always use timer thread 
Remove support to run MS5611 on main thread since we shouldn't be doing
I2C transactions there and we are moving to "thread per bus"
nonetheless.
 2016-07-30 00:55:28 -03:00
Lucas De Marchi 7b7e73680f AP_Math: add USEC_PER_MSEC 2016-07-30 00:55:28 -03:00
Lucas De Marchi 8541d5339d AP_HAL_Linux: Implement threaded SPI 2016-07-30 00:55:27 -03:00
Lucas De Marchi ea0595c7ac AP_HAL_Linux: SPIDevice: move implementation to outside 
As we add methods, it's becoming too complex to be implemented together
with the declaration.
 2016-07-30 00:55:27 -03:00
Lucas De Marchi 590539f674 AP_HAL_Linux: implement threaded I2C 2016-07-30 00:55:27 -03:00
Lucas De Marchi 11ddbb8fb8 AP_HAL_Linux: add PollerThread 
This is the infrastructure needed by both SPIDevice and I2CDevice to
start a poller thread per bus.
 2016-07-30 00:55:27 -03:00
Lucas De Marchi 7d451ac876 AP_HAL_Linux: allow to check if thread is running 2016-07-30 00:55:27 -03:00
Lucas De Marchi eca6f45b68 AP_HAL_Linux: remove unused part of Poller infra 
We aren't going to use all the poller infra for now and we need it's
behavior a little bit different for what we are going to use:

    - Do not use any "fair" time for each ready fd since we don't want
      to set a timeout
    - Allow to set the fd on Pollable after constructing it since we are
      likely to embed Pollable inside other structs and just later be
      able to open an fd.
    - Let caller use the epoll flags directly - this is not in AP_HAL,
      so there's no need to abstract them
 2016-07-30 00:55:27 -03:00
Leandro Pereira 0f865a019a AP_HAL_Linux: Add Pollable/Poller 
Add system's polling infrastructure to be notified whenever a
file descriptor is ready to be read from or written to.

Adds a few classes:
  * Poller, as an interface to epoll()
  * Pollable, as an interface to a file descriptor
 2016-07-30 00:55:27 -03:00
Lucas De Marchi c859c5ecd9 AP_HAL_PX4: update Device interface 2016-07-30 00:55:27 -03:00
Lucas De Marchi eaa1c39a15 AP_HAL_Linux: update Device interface 2016-07-30 00:55:27 -03:00
Lucas De Marchi 7669d54265 AP_HAL_Empty: update Device interface 2016-07-30 00:55:27 -03:00
Lucas De Marchi 37de995960 AP_HAL: update Device interface for periodic tasks 
Replace the previous not-implemented interface with a set of new methods
that can be resonably implemented:

    - register_periodic_callback() now receives a functor returning bool
      to easily allow "oneshot" timers

    - adjust_periodic_callback() allows the caller to change the timer
      for a specific handle. This way drivers like MS5611 can adjust the
      timer depending on its state machine: the time to sample
      temperature is smaller than the time to get a pressure sample

    - add unregister_callback(): since we have an opaque pointer, we
      can't tell the user to just delete it in order to unregister the
      callback
 2016-07-30 00:55:27 -03:00
Lucas De Marchi 8e5aba8653 AP_HAL_Linux: I2CDevice: move implementation to outside 
As we add methods, it's becoming too complex to be implemented together
with the declaration.
 2016-07-30 00:55:27 -03:00
Lucas De Marchi 7b39f3d0a7 AP_HAL_Linux: do not warn for empty table 
../../libraries/AP_HAL_Linux/SPIDevice.cpp: In member function ‘virtual AP_HAL::OwnPtr<AP_HAL::SPIDevice> Linux::SPIDeviceManager::get_device(const char*)’:
../../libraries/AP_HAL_Linux/SPIDevice.cpp:337:27: warning: comparison is always false due to limited range of data type [-Wtype-limits]
     for (uint8_t i = 0; i < _n_device_desc; i++) {
                         ~~^~~~~~~~~~~~~~~~

Define a dummy device to remove warning.
 2016-07-30 00:03:23 -03:00
Lucas De Marchi f37a560295 AP_HAL_Linux: remove private headers 
This centralized private header encourages centralizing things on
umbrella headers that are a pain to maintain. Force each part of
AP_HAL_Linux to include what is used.
 2016-07-29 20:29:46 -03:00
Lucas De Marchi e8f71a5bd2 AP_HAL_Linux: change define and members visibility 
Make some member variables protected to follow what we do in other
places (and there's no reason to be private).

Move defines to .cpp to reduce their visibility.
 2016-07-29 20:27:12 -03:00
Lucas De Marchi f36e8d9c05 AP_HAL_Linux: remove AP_HAL_Linux_Namespace header 
This centralized namespace header encourages centralizing things on
umbrella headers that are a pain to maintain. Force each part of
AP_HAL_Linux to include what is used.

While at it, do some whitespace cleanups and minor changes to adhere to
coding style.
 2016-07-29 20:25:03 -03:00
Lucas De Marchi b044fac4b6 AP_HAL_Linux: rename variable to follow I2CDevice convention 2016-07-29 15:01:15 -03:00
Lucas De Marchi 57ec968b44 AP_HAL: remove SPIDriver 
SPIDevice now controls all accesses to SPI bus.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi dc91dfb446 AP_HAL_Empty: remove SPIDriver 
SPIDevice now controls all accesses to SPI bus.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi 7b140da6d1 AP_HAL_Linux: remove SPIDriver 
SPIDevice now controls all accesses to SPI bus.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi 5ab1c6ff51 AP_ADC: remove ADS7844 
It's not used by any board.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi ef81e71afa AP_ADC: remove example tailored to a single ADC 
This is the only user of ADS7844 - we don't have it actually used in our
boards. Remove the example since we can later add a more generic one or
at least one that reuses a driver from our boards.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi 3a5e8a17c7 AP_HAL: remove enum id for Ublox and RASPIO 2016-07-29 15:01:15 -03:00
Lucas De Marchi 945556bbc3 AP_HAL_Linux: remove id for SPIDevice_Ublox and RASPIO 2016-07-29 15:01:15 -03:00
Lucas De Marchi 065592e7df AP_HAL_Linux: SPIUARTDriver: add some cosmetic changes 
Mainly changes to follow the coding style and reduce the complexity a
little bit.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi e3c0476b8a AP_HAL_Linux: SPIUARTDriver: initialize device once 2016-07-29 15:01:14 -03:00
Lucas De Marchi 418cc817a3 AP_HAL_Linux: SPIUARTDriver: fix conversion to SPIDevice 
We need to use the fullduplex method to transfer both tx and rx at the
same time.
 2016-07-29 15:01:14 -03:00
Lucas De Marchi cbbd6f9d78 AP_HAL_Linux: SPIDevice: implement fullduplex transfer 2016-07-29 15:01:14 -03:00
Lucas De Marchi 9fda608d4a AP_HAL_Empty: SPIDevice: implement fullduplex transfer 2016-07-29 15:01:14 -03:00
Lucas De Marchi 01452bf922 AP_HAL: SPIDevice: add fullduplex method 
This method is needed when we want to transfer both tx and rx at the
same time, as opposed to common cases for sensors in which they are like
in the I2C interface: half-duplex.
 2016-07-29 15:01:14 -03:00
Luiz Ywata 7ded01cf24 AP_HAL_Linux: SPIUARTDriver: use SPIDevice interface 2016-07-29 15:01:14 -03:00
Luiz Ywata c8bb5e6469 AP_HAL_Linux: RCInput_Raspilot use SPIDevice interface 2016-07-29 15:01:14 -03:00
Luiz Ywata e8d3229492 AP_HAL_Linux: RPIOUARTDriver: use SPIDevice interface 2016-07-29 15:01:14 -03:00
Luiz Ywata bfd840c5ca AP_HAL_Linux: RCOutput_Raspilot: use SPIDevice interface 2016-07-29 15:01:14 -03:00
Lucas De Marchi 86ac9bc367 AP_HAL_Linux: AnalogIn_Raspilot: use SPIDevice interface 2016-07-29 14:47:04 -03:00
Lucas De Marchi 81345cc112 AP_HAL: Remove enum for Dataflash 2016-07-29 14:47:04 -03:00
Lucas De Marchi 8681d23cbd AP_HAL_Linux: remove unused Dataflash 
This is selectable by a define and is never changed. Just remove
everything referencing it: we can come up with a better solution if it
is actually used later.
 2016-07-29 14:47:04 -03:00
Peter Barker 9749b91d46 SITL: initialise sigaction structs - valgrind fix 2016-07-29 10:38:03 -03:00
Jonathan Challinger d1ecc63bf1 AP_NavEKF2: change priority of statustext messages 2016-07-29 13:19:51 +09:00
Lucas De Marchi 1841313f73 AP_HAL_VRBRAIN: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:57 -03:00
Lucas De Marchi d418338e22 AP_HAL_SITL: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:57 -03:00
Lucas De Marchi 13848f0f3f AP_HAL_QURT: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:57 -03:00
Lucas De Marchi 2ef78051c1 AP_HAL_PX4: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:56 -03:00
Lucas De Marchi 73bb371918 AP_HAL_Linux: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:56 -03:00
Lucas De Marchi 3eb0a48d59 AP_HAL_Empty: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:56 -03:00
Lucas De Marchi b21ad36676 AP_HAL: remove I2CDriver 2016-07-28 18:08:56 -03:00
Lucas De Marchi 8f11bf7373 AP_ADC: ADS1115: fix typo 2016-07-28 18:05:45 -03:00
Lucas De Marchi 4595a2b7d8 AP_Compass: Remove i2c lockup count 
This was returned only for a single bus and on all supported platforms
this is hardcoded to 0.
 2016-07-28 18:03:09 -03:00
Lucas De Marchi 84f45f09a3 AP_HAL_Linux: convert CameraSensor_Mt9v117 to I2CDevice 2016-07-28 18:03:09 -03:00
Lucas De Marchi 9acffc8868 AP_HAL_Linux: use Empty version if not implemented 
There's little point in having the Linux::AnalogIn just to implement and
empty interface. All implementations inside AP_HAL_Linux are already
inheriting directly from AP_HAL, so just remove it.
 2016-07-28 16:42:38 -03:00
Lucas De Marchi 47d2f8dc6d AP_HAL_Linux: AnalogIn_ADS1115: return 5V on board_voltage 
board voltage is not available - don't return 0V since that prevents
arming.
 2016-07-28 16:42:38 -03:00
Tom Pittenger 59135fc615 AP_ADSB: fixed comment for default chan -1 means transceiver is not detected 2016-07-28 09:41:38 -07:00
Andrew Tridgell c6d3f07b5f AP_RPM: provide an RPM quality in SITL 2016-07-28 12:39:07 +10:00
Staroselskii Georgii 4ca1b58408 AP_HAL_Linux: add ConsoleDevice a handler for TTIN signal 
In a case ArduPilot is launched as a background process without
detaching with *nohup* like this ./arduplane -C /dev/ttyAMA0 ConsoleDevice
is created and an attempt to read from it is made. This yields in a stopped
process. This is an endeavour to overcome this problem.
 2016-07-27 21:30:19 +10:00
Staroselskii Georgii 8d2b587f71 AP_HAL_Linux: RPI: set signal handler iff nobody has already done it before 2016-07-27 21:30:19 +10:00
Staroselskii Georgii 5e8edcb1db AP_HAL_Linux: use NSIG instead of a hardcoded number in RCInput_RPI 2016-07-27 21:30:19 +10:00
Staroselskii Georgii d69aeb4808 AP_HAL_SITL: use sigaction over signal API in SITL_State 2016-07-27 21:30:19 +10:00
Randy Mackay d19c074ba1 AP_ADC_ADS1115.h: changed member declaration order to resolve compiler warning 
No functional change
 2016-07-27 13:39:32 +09:00
hiro2233 3ae36c4a6c AP_HAL_Linux:RCInput: Minimun input channels defined 2016-07-27 00:55:55 -03:00
hiro2233 4a6447575c AP_HAL: fixed and updated RCInput example. 2016-07-27 00:52:13 -03:00
Andrew Tridgell 9df58e1e0a AP_Arming: don't show the GPS arming error in SITL 
it just makes users think something is wrong
 2016-07-27 07:46:04 +10:00
Lucas De Marchi a159eedd8c AP_RangeFinder: fix bus for Lightware on some boards 2016-07-26 00:52:54 -03:00
Lucas De Marchi cb01280d77 AP_HAL: define bus for Lightware rangefinder 2016-07-26 00:52:54 -03:00
Jonathan Challinger 4dfb277683 AP_RangeFinder: fix LightwareI2C conversion to I2CDevice 2016-07-26 00:52:54 -03:00
Tom Pittenger 5108b4cbb6 AP_BattMonitor: move vehicle dependant code to be c-file only, not header 2016-07-25 18:10:57 -07:00
murata 7721290160 AP_Scheduler:time_available value type invalid uint16_t to valid uint32_t. 2016-07-25 20:18:16 -03:00
Murilo Belluzzo d8b58690ad AP_TECS: Remove useless 'if' statement 
This should fix CID 91386.

Before removing the 'if', I checked the log to confirm that both branch
didn't end-up being equal by mistake in some commit. But it looks like
the file was added in the project this way.
 2016-07-25 18:51:56 -03:00
Lucas De Marchi c6edae7e8e Revert "Global: workaround toolchain problem on windows" 
This reverts commit 4e2b30b413.

The toolchain for windows is now updated, we can remove this workaround.
 2016-07-25 17:56:12 -03:00
Tom Pittenger 2c6340bb10 AP_ADSB: compiler warning: init value before use even though it already is 
silly compiler warnings.. this one is incorrect but it throws a conservative warning which this solves
 2016-07-25 10:14:00 -07:00
Tom Pittenger dce734d196 AP_ADSB: treat invalid vehicle same as out-of-range: ignore and/or delete it 
- aircraft that travel out of range will now get dropped instantly instead of linger and go stale then timeout
 2016-07-25 10:03:48 -07:00
Tom Pittenger 726d1d515e AP_ADSB: use correct units (sec) in time since last update for vehicle update 2016-07-25 10:00:57 -07:00
Randy Mackay f27cf8d388 AC_Avoidance: add adjust_velocity that accepts Vector3f for convenience 
We should actually modify this function to scale back the z axis in order to avoid breaching the vertical fence.  Currently breaching the vertical fence is handled within the position controller which is inconsistent.
 2016-07-25 20:24:37 +09:00
Peter Barker 692ff22453 AC_Avoid: move closest_point to AP_Math 2016-07-25 20:24:37 +09:00
Peter Barker 2047d53470 Math: move closest_point in from AC_Avoid 2016-07-25 20:24:37 +09:00
Peter Barker 89fbf23012 AP_Avoidance: get_location becomes a method on adsb rather than a abds vehicle 2016-07-25 20:24:37 +09:00
Peter Barker b5c1019aac AP_Avoidance: adsb based avoidance library 2016-07-25 20:24:37 +09:00
Peter Barker 1cdb97e605 AP_ADSB: support for provision of samples to other libraries 2016-07-25 20:24:37 +09:00
Peter Barker 4639d12f0e AP_ADSB: break circular dependency with Avoidance 2016-07-25 20:24:37 +09:00
Peter Barker aae84b3edc GCS_MAVLink: send_collision_all 2016-07-25 20:24:37 +09:00
Peter Barker 7bc9a1cf83 GCS_MAVLink: break out a packetReceived function 
This just moves code, doesn't change it
 2016-07-25 20:24:37 +09:00
Peter Barker 779f78d471 AP_Math: vector3 perpendicular function 2016-07-25 20:24:37 +09:00
Peter Barker f6cb0ffb6f AP_Math: add Vector2f perpendicular 
Add closest_distance_between_radial_and_point function
 2016-07-25 20:24:37 +09:00
Peter Barker b6d0b028c3 AP_Math: add operator[] to Vector2 2016-07-25 20:24:37 +09:00
Andrew Tridgell d25396543c AP_ICEngine: report takeoff height set 2016-07-25 15:45:58 +10:00
Andrew Tridgell 622d26b122 SITL: expand to 16 output channels 
needed for IC engine testing with octaquadplane
 2016-07-25 15:45:39 +10:00
Andrew Tridgell 37f71bc6d6 AP_Mission: support DO_ENGINE_CONTROL 2016-07-25 10:06:03 +10:00
Andrew Tridgell 461be7ff0e AP_ICEngine: added IC engine control library 2016-07-25 10:06:03 +10:00
Andrew Tridgell be2b6e47aa RC_Channel: added output types for choke, ignition and starter 2016-07-25 10:06:03 +10:00
Andrew Tridgell e73d43d4f9 SITL: improve ICEngine simulation 2016-07-25 10:06:02 +10:00
Andrew Tridgell 306487cad4 GCS_MAVLink: adjust for 16 channels in SERVO_OUTPUT_RAW 2016-07-25 10:06:02 +10:00
Andrew Tridgell 995fb7cd86 SITL: added IC engine simulation 2016-07-25 10:06:02 +10:00
Andrew Tridgell 7ea68f8f80 RC_Channel: fixed function indexes above 64 2016-07-24 19:46:01 +10:00
Andrew Tridgell 8e959d4704 AP_Button: check for space before sending BUTTON_CHANGE 2016-07-24 07:48:36 +10:00
Randy Mackay 65038c753c AC_PrecLand: re-order init to resolve compiler warning 2016-07-23 14:49:21 +09:00
Tom Pittenger cb91f25dd7 AP_ADSB: change adsb-out param desc and defaults 2016-07-22 17:09:10 -07:00
Gustavo Jose de Sousa cd0d65dc3f AP_InertialSensor: don't check {gyro,accel}_available twice 
That gives a slightly simpler code.
 2016-07-22 19:58:08 -03:00
Tom Pittenger 9b390fcc1b AP_ADSB: add mavlink handlers 2016-07-22 13:55:20 -07:00
Lucas De Marchi 4ab1d7cf41 AP_RangeFinder: MaxsonarI2CXL: add some fixes 
- coding style changes and some renames
   - fix bus number
   - use be16toh
 2016-07-22 13:18:37 -03:00
Murilo Belluzzo f2d5eb9a97 AP_RangeFinder_MaxsonarI2CXL: Fix driver after I2CDevice conversion 
* Simplify semaphore releasing logic
* Fix typo
 2016-07-22 13:18:37 -03:00
Luiz Ywata c167364fa0 AP_RangeFinder: MaxsonarI2CXL: use I2CDevice interface 2016-07-22 13:18:37 -03:00
Lucas De Marchi ae259bc563 AP_RangeFinder: LightWareI2C: allow detect method to fail 
If bus isn't found, allow the detect() method to fail.
 2016-07-22 13:18:37 -03:00
Lucas De Marchi 0193517f30 AP_RangeFinder: LightWareI2C: use be16toh 
While at it remove some trailing whitespaces and little reformats.
 2016-07-22 13:18:36 -03:00
Murilo Belluzzo 66fdfbb850 AP_RangeFinder_LightWareI2C: Fix driver after I2CDevice conversion 
* Fix semaphore not being released in ::get_reading
* Simplify semaphore releasing logic
* Fix typo
 2016-07-22 13:18:36 -03:00
Luiz Ywata 49d1520850 AP_RangeFinder: LightWareI2C: use I2CDevice interface 2016-07-22 13:18:36 -03:00
Lucas De Marchi a372f33cc0 AP_RangeFinder: fix PulsedLightLRF detection 
- Most of the boards use bus 1 for first I2C
    - If the bus doesn't exist, let the detect() method fail when it
      call start_reading(), because _dev would be invalid
 2016-07-22 13:18:36 -03:00
Lucas De Marchi d653139c5d AP_RangeFinder: PulsedLightLRF: use be16toh 2016-07-22 13:10:51 -03:00
Lucas De Marchi c8094e2593 AP_RangeFinder: PulsedLightLRF: fix coding style 
- sort headers
    - fix constructor
 2016-07-22 13:10:51 -03:00
Murilo Belluzzo 0dc33410ff AP_RangeFinder_PulsedLightLRF: Fix driver after I2CDevice conversion 
* Fix wrong semaphore->take check in ::get_reading
* Simplify semaphore releasing
* Fix typos and trailing whitespace
 2016-07-22 13:10:51 -03:00
Luiz Ywata e1342eb533 AP_RangeFinder: PulsedLightLRF: use I2CDevice interface 2016-07-22 13:10:51 -03:00
Luiz Ywata a7fddc0594 AP_RangeFinder: add method _add_backend() 
Wrapper method that saves a detected driver
 2016-07-22 13:10:51 -03:00
Lucas De Marchi 64d17702e6 AP_BattMonitor: AP_BattMonitor_SMBus: fix after conversion to I2CDevice 
- Fix bus number
    - Minor updates to coding style
 2016-07-22 13:10:51 -03:00
Luiz Ywata 0cf4353382 AP_BattMonitor: AP_BattMonitor_SMBus: use I2CDevice interface 2016-07-22 13:10:51 -03:00
Andrew Tridgell 4301faeac9 SITL: map X-Plane Mixture inputs to channels 6 and 7 
this gives two user controllable channels for experimental aircraft
 2016-07-22 19:14:46 +10:00
Andrew Tridgell 69da7e9f86 SITL: added elevrev option for plane sim 
used by autotest
 2016-07-22 16:42:23 +10:00
Andrew Tridgell d7faeada87 HAL_SITL: notify GCS on GPIO changes 
useful for testing relays in SITL
 2016-07-22 15:01:21 +10:00
Andrew Tridgell 5b081a704c HAL_SITL: added GPIO simulation 
using SIM_PIN_MASK
 2016-07-22 15:01:20 +10:00
Andrew Tridgell f075fcd79f SITL: added SIM_PIN_MASK 
for simulation of GPIO pins
 2016-07-22 15:01:20 +10:00
Andrew Tridgell 2ce7b465c1 AP_Button: button monitoring library 
library to monitor changes to button state
 2016-07-22 15:01:20 +10:00
Andrew Tridgell 7fe1c58575 AP_Notify: added handling of PLAY_TUNE message 2016-07-22 15:00:17 +10:00
Francisco Ferreira ef28be9ce8 AP_Rally: add is_valid method 
method will be used in Copter to check if a rally point is inside fence
 2016-07-22 09:00:13 +09:00
Gustavo Jose de Sousa 69405cc99a AP_InertialSensor: fix timing debug macro 
- Use "INS_" prefix for the name in order to limit the scope for that macro.

- Don't define it in the code and check if it is defined instead of checking
  the value. With that, there's no need to touch the code for enabling debug,
  only a reconfiguration is necessary (e.g., `CXXFLAGS='-DINS_TIMING_DEBUG' waf
  configure ...`).
 2016-07-21 19:01:28 -03:00
Lucas De Marchi cfb3124f2c AP_HAL_Linux: remove types for spi drivers 
Those drivers using SPIDevice interface don't need a global id for each
of them. Remove those that were already converted.
 2016-07-21 16:05:03 -03:00
Lucas De Marchi b23f7a8be4 AP_HAL_Linux: examples: remove BusTest 
This needs to be rewritten using the probe methods.
 2016-07-21 16:05:03 -03:00
José Roberto de Souza dd36952efe AP_InertialSensor: BMI160: Register poll function with the timer lock 2016-07-21 15:42:32 -03:00
Tom Pittenger 44a60f278a SITL: change default of SIM_ADSB_RADIUS from 1E3 to 10E3 2016-07-21 00:04:20 -07:00
Tom Pittenger a5f256229f AP_ADSB: remove mavlink specific source, xml not ready yet 2016-07-21 00:04:17 -07:00
Tom Pittenger 8617880714 AP_ADSB: check buffer space before sending 2016-07-20 22:40:13 -07:00
Tom Pittenger 8b9057f23c AP_ADSB: run dynamic at 5Hz and static/cfg at 5sec 2016-07-20 22:40:12 -07:00
Tom Pittenger ea0a5c973c AP_ADSB: simplify logic in update_vehicle() 2016-07-20 22:40:12 -07:00
Tom Pittenger cf77ff6d4f AP_ADSB: convert all function calls to use const and use Location_Class 2016-07-20 22:40:11 -07:00
Tom Pittenger 4c9642ac08 AP_ADSB: callsign gen should use ICAO in hex 2016-07-20 22:40:10 -07:00
Tom Pittenger 69887e1646 AP_ADSB: do not init variables in header class definition 2016-07-20 22:40:09 -07:00
Tom Pittenger f5bf98041e AP_ADSB: do not spam to all mavlink ports, require the transceiver health heartbeat 2016-07-20 22:40:09 -07:00
Tom Pittenger b6e25e7d64 AP_ADSB: add support for ADSB transceiver mavlink packets 2016-07-20 22:40:08 -07:00
Tom Pittenger 2223216ca2 AP_ADSB: add param ADSB_LIST_RADIUS to ignore distant aircraft 2016-07-20 22:32:47 -07:00
Tom Pittenger 454560ca4c AP_ADSB: organize variables into in_state and avoid_state structs 2016-07-20 22:32:47 -07:00
Tom Pittenger b78255cc25 AP_Common: avoid using AP_Math is_zero() because it is classless 
- because it is classless it can not be called like AP_Math::is_zero() and will then conflict with local definition of is_zero()
 2016-07-20 22:32:47 -07:00
Tom Pittenger 3edd95b99b AP_Common: add Location::is_zero and ::zero member functions 2016-07-20 22:32:47 -07:00
Andrew Tridgell 003c94830b AP_Airspeed: added ARSP_PSI_RANGE parameter 
for using pressure sensors with a different range
 2016-07-20 13:38:22 +10:00
Andrew Tridgell 28d5103435 AP_Airspeed: initial support for MS4515DO on Disco 2016-07-20 13:38:18 +10:00
Andrew Tridgell e0047d81a2 AP_RangeFinder: enable sonar on Disco 2016-07-20 13:38:18 +10:00
Andrew Tridgell 018d8f732a AP_Compass: work around poor magnetic setup on Disco 
bring compass offsets into line with what the calibrator can handle
 2016-07-20 13:38:17 +10:00
Andrew Tridgell 39dac57b56 AP_BattMonitor: support Disco battery monitoring 2016-07-20 13:38:17 +10:00
Andrew Tridgell d30e55fa44 AP_InertialSensor: initial support for Disco 
setup right orientation
 2016-07-20 13:38:17 +10:00
Andrew Tridgell 96095b0942 HAL_Linux: fixed comment typo for SBUS input 2016-07-20 13:38:17 +10:00
Andrew Tridgell b69170febd HAL_Linux: fixed build for Disco with I2C changes 2016-07-20 13:38:17 +10:00
Andrew Tridgell f5a20d28bc HAL_Linux: fixed comment in SBUS 2016-07-20 13:38:17 +10:00
Andrew Tridgell a78b875ec3 HAL_Linux: fixed ULTRASOUND GPIO for Disco 2016-07-20 13:38:17 +10:00
Andrew Tridgell 1d8e4cdea9 HAL_Linux: added debugging line for Heat_Pwm 2016-07-20 13:38:17 +10:00
Andrew Tridgell 55d692708b HAL_Linux: fixed set_esc_scaling on Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell 298f7bffb9 HAL_Linux: fixed motor output for Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell 9b057ee4f1 HAL_Linux: separate out the GPIO table for Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell 677a38a10a HAL_Linux: make SBUS input much more robust 
use inter-frame gap to resync after byte loss
 2016-07-20 13:38:16 +10:00
Andrew Tridgell 29135a0158 HAL_Linux: use termios2 for SBUS RCOUT on Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell a40d704126 HAL_Linux: added RCOutput_Disco 
combines Sysfs and Bebop RCOutput code
 2016-07-20 13:38:16 +10:00
Andrew Tridgell cf83a43b56 HAL_Linux: support SBUS input on Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell aaaa6d38c7 HAL_Linux: initial support for Disco 2016-07-20 13:35:51 +10:00
Andrew Tridgell e407caaa41 AP_HAL: added support for Parrot Disco 2016-07-20 13:35:51 +10:00
Peter Barker 78fa23440c AP_AHRS: remove use of uninitialised variable 
clang told us:

../../libraries/AP_AHRS/AP_AHRS_NavEKF.cpp:695:35: fatal error: variable 'posD' is used uninitialized whenever '&&' condition is false [-Wsometimes-uninitialized]
 2016-07-20 00:06:49 -03:00
Tom Pittenger 7be15be185 AP_TECS: slew the hgt_lag_filter when starting a land 2016-07-19 17:19:10 -07:00
Andrew Tridgell 2527859b59 AP_TECS: update comment on underspeed clearing 2016-07-20 08:21:08 +10:00
Lucas De Marchi 293f94b355 AP_HAL_PX4: Util: fix check for PX4_V4 
When building for px4-v2 we have an warning because we are checking for
the value of this undefined macro. Just change both checks to use
"defined()".

../../libraries/AP_HAL_PX4/Util.cpp:115:7: warning: "CONFIG_ARCH_BOARD_PX4FMU_V4" is not defined [-Wundef]
 #elif CONFIG_ARCH_BOARD_PX4FMU_V4
       ^
 2016-07-19 17:53:46 -03:00
khancyr c4b009f4b5 AP_HAL_PX4 : remove unused variable 2016-07-19 17:44:22 -03:00
Andrew Tridgell a1c759e491 SITL: added sensor smoothing 
this adds smoothing of sensors for kinematic consistency when
interacting with the ground. It means when we land the EKF doesn't go
crazy
 2016-07-19 21:38:16 +10:00
Andrew Tridgell 4faa57074a SITL: removed vehicle specific ground handling 2016-07-19 14:47:47 +10:00
Andrew Tridgell e7a54c83d1 SITL: allow SITL to use terrain data for ground height 2016-07-19 14:42:31 +10:00
Andrew Tridgell c471b635b3 AP_Notify: added NTF_LED_OVERRIDE parameter 
when this is set the board RGB LED will be controlled by MAVLink
instead of internally. This is useful for cases where the LED patterns
and colours needed are specified by an external authority (such as the
OBC organisers)
 2016-07-19 13:37:13 +10:00
Andrew Tridgell 567d5cdbe6 AP_NavEKF2: use mavlink messages not printf for state change notifications 2016-07-19 12:16:51 +10:00
priseborough bd7bf21475 AP_NavEKF2: Speed improve switch-over to backup magnetometer 
When switching over to a back up magnetometer, ensure that the earth field estimate are reset. other wise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected.
 2016-07-19 12:16:50 +10:00
priseborough e34cdc6666 AP_NavEKF2: Fix bug preventing planes recovering from bad magnetometers 
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.
 2016-07-19 12:16:50 +10:00
priseborough e2b8807260 AP_NavEKF2: Fix bug causing switching in and out of aiding 
If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding.
This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed.
An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS.
 2016-07-19 12:16:50 +10:00
priseborough fcc07b5560 AP_NavEKF2: Prevent multiple aiding mode changes per update 2016-07-19 12:16:50 +10:00
priseborough f4f347fb75 AP_NavEKF2: add missing parenthesis and console message 2016-07-19 12:16:50 +10:00
priseborough 9a23152ee4 AP_NavEKF2: Fix bugs and consolidate aiding switch logic 
Switching in and out of aiding modes was being performed in more than one place and was using two variables.
The reversion out of GPS mode due to prolonged loss of GPS was not working.
This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function.
 2016-07-19 12:16:50 +10:00
priseborough 230ba2700f AP_NavEKF2: fix documentation errors 2016-07-19 12:16:50 +10:00
priseborough b3bfb71431 AP_NavEKF: fix documentation errors 2016-07-19 12:16:50 +10:00
priseborough 01ce3e7f1e AP_AHRS: fix documentation errors 2016-07-19 12:16:49 +10:00
priseborough 7700b1417d AP_InertialNav: Use separated EKF horiz/vert position interfaces 2016-07-19 12:16:49 +10:00
priseborough 5454f76702 AP_AHRS: Add separate interfaces for local horizontal and vertical position 2016-07-19 12:16:49 +10:00
priseborough a8cd037f56 DataFlash: update to match revised EKF1 and EKF2 interface 
Uses separate horz/vert position interfaces
 2016-07-19 12:16:49 +10:00
priseborough 341d070db8 AP_NavEKF2: Separate filter status update and get functions 
The filter status logic calculations were being repeated every time the get function was called.
The logic is now updated once per filter update step and a separate get function added
 2016-07-19 12:16:49 +10:00
priseborough b1717649b1 AP_NavEKF2: remove combined NED local position interface 2016-07-19 12:16:49 +10:00
priseborough e374ec634d AP_NavEKF2: Add separate horizontal/vertical local position interfaces 2016-07-19 12:16:49 +10:00
priseborough 487bbc3ed2 AP_NavEKF: Fix reporting of position status 
Split publishing of local position into horiz and vert components with separate validity checks
Split status reporting into separate update and get functions and only update once after each loop update. This removes unnecessary re-calculation of the status logic and ensures all consumers get the same data (avoid possible race conditions).
 2016-07-19 12:16:48 +10:00
priseborough 04e8726d8a AP_NavEKF2: relax bias convergence check 
Enables bias convergence check to pass within 30 seconds when vehicle is static.
 2016-07-19 12:16:48 +10:00
priseborough 280395afa1 AP_NavEKF2: Don't declare ready to do aiding unless gyro bias is learned 2016-07-19 12:16:48 +10:00
priseborough 169cd6625d AP_NavEKF2: clean up output predictor 2016-07-19 12:16:48 +10:00
priseborough aaab250f13 AP_NavEKF2: Don't start GPS aiding until gyro calibration has stabilised 
If we start GPS aiding before the gyro bias variances have reduced, glitches on the GPS can cause attitude disturbances that degrade flight accuracy during early flight.
 2016-07-19 12:16:48 +10:00
Lucas De Marchi 4e2b30b413 Global: workaround toolchain problem on windows 
The minimum version for gcc was supposed to be 4.9 for any platform.
However our build instructions are outdated. Remove the problematic
parts that use the sparse-endian.h header while we don't fix the setup
for windows.
 2016-07-19 09:30:39 +09:00
Lucas De Marchi 913f88f2be AP_BoardConfig: fix check for PX4_V4 
When building for px4-v2 we have an warning because we are checking for
the value of this undefined macro. Just change both checks to use
"defined()".

../../libraries/AP_BoardConfig/AP_BoardConfig.cpp:36:7: warning: "CONFIG_ARCH_BOARD_PX4FMU_V4" is not defined [-Wundef]
 #elif CONFIG_ARCH_BOARD_PX4FMU_V4
       ^
 2016-07-19 10:28:56 +10:00
Lucas De Marchi 6d1acc5813 AP_InertialSensor: BMI160: remove stray call to set speed 
It's already supposed to be on high speed there.
 2016-07-18 11:20:49 -03:00
Andrew Tridgell 6776f8ac76 DataFlash: fixed GPS2 log format 2016-07-18 09:19:05 +10:00
Grant Morphett 8d6b417adb AP_SteerController: Adding support for Rovers driving reverse 
This change is mostly for handling the reverse yaw.
 2016-07-17 08:15:33 +10:00
Grant Morphett b56799f444 AP_L1_Control: Adding support for rover's operating in reverse 
Mostly invovles sorting out the reverse yaw when travelling backwards.
 2016-07-17 08:15:33 +10:00
Grant Morphett 4e8666cee9 AP_Mission: Adding new MAV_CMD_DO_SET_REVERSE for Rovers. 
Rover now supports reverse via this MAV_CMD.
 2016-07-17 08:15:33 +10:00
Grant Morphett 647602ed4d AP_Navigation: Adding set_reverse to virtual parent class 2016-07-17 08:15:33 +10:00
Tom Pittenger acaf0c6a5d SITL: LPF the SIM_WIND_DIR and SIM_WIND_SPD values to eliminate step inputs 2016-07-15 18:37:40 -07:00
Andrew Tridgell 4e8b4f29d9 SITL: added -heavy option to fixed wing model 2016-07-16 08:14:29 +10:00
Andrew Tridgell d3d2ce3e0d AP_TECS: use full throttle in initial takeoff 
during the first part of a takeoff when we have not yet reached the
target airspeed this forces the throttle to maximum. This fixes a case
where the throttle may drop too low during the first part of takeoff
and lead to a stall.
 2016-07-16 08:14:29 +10:00
Gustavo Jose de Sousa ee7c40be61 AP_InertialSensor: BMI160: add backend 
The reason of defining BMI160_MAX_FIFO_SAMPLES as 8 can be found on the
following histogram of the number of samples in the FIFO on each read while
performing the accelerometer calibration process:

Samples Count   Freq Acc. Freq
------------------------------
      1  3842 0.1201  0.120111
      2 13172 0.4118  0.531904
      3  9065 0.2834  0.815300
      4  2710 0.0847  0.900022
      5  2231 0.0697  0.969769
      6   816 0.0255  0.995279
      7   137 0.0043  0.999562
      8    13 0.0004  0.999969
     13     1 0.0000  1.000000
 2016-07-15 16:46:06 -03:00
Staroselskii Georgii a1f151a79b AP_HAL_Linux: do not create unnecessary consoles in UARTDriver 2016-07-15 15:31:19 -03:00
Staroselskii Georgii 7b3a5e3158 AP_HAL_Linux: use factory method for creation of UARTDriver backends 
Using factory method maked it easier to grasp the lifetime of all object
that get created and destroyed. Instead of spanning this thoughout whole
source file we have it nicely encapsulated in this a little horrendeous
_parseDevicePath that is of course to improve more.
 2016-07-15 15:29:05 -03:00
Staroselskii Georgii 0ca635bfb8 AP_HAL_Linux: close() console in dtor 2016-07-15 15:28:10 -03:00
Staroselskii Georgii e7a5945056 AP_HAL_Linux: make flow_control a property of SerialDevice rather than UARTDriver's 
Make it possible to change flow control settings for individual devices.
 2016-07-15 15:26:49 -03:00
Staroselskii Georgii 897d2fb1fb AP_HAL_Linux: use OwnPtr for _device in UARTDriver 
Otherwise we're going to leak memory without any need.
Before this fix we've created ConsoleDevice 4 times in case -A switch hadn't been supplied,
but we hadn't ever deleted those. Now there's no memory leak here.
 2016-07-15 15:22:51 -03:00
Staroselskii Georgii 3f1e999fc8 AP_HAL_Linux: remove ConsoleDevice construction from UARTDriver constructor 
Since we're going to create ConsoleDevice in UARTDriver either way,
there's no need to do anything except setting the console flag.
 2016-07-15 14:56:00 -03:00
Andrew Tridgell 1b8da3bce2 HAL_PX4: implement I2CDevice driver for PX4 2016-07-15 12:24:03 -03:00
Luiz Ywata 1f0f36d603 AP_Notify: NavioLED_I2C: use I2CDevice interface 2016-07-14 17:32:33 -03:00
Lucas De Marchi 24cdef24b8 AP_HAL_Linux: remove wrong ifdef 
This was added when the support for navio2 went in, but the same ifdef
is already on the lines above.
 2016-07-14 17:32:33 -03:00
Luiz Ywata 3e765e23a9 AP_HAL_Linux: RCOutput_PCA9685: use I2CDevice interface 2016-07-14 17:32:33 -03:00
Luiz Ywata d5449a6f20 AP_HAL: Add read method 
Provide a more intuitive api for reading an I2CDevice.
 2016-07-14 17:32:33 -03:00
Lucas De Marchi 08ea1ea263 AP_HAL_Linux: RCOutput_Bebop: follow coding style 
Minor changes to follow coding style and improve readability:

    - sort headers
    - move struct definition to compilation unit rather than header
    - Add braces to if, for, etc
 2016-07-14 17:32:33 -03:00
Luiz Ywata 7fb5db8077 AP_HAL_Linux: RCOutput_Bebop: use I2CDevice interface 2016-07-14 17:32:33 -03:00
Lucas De Marchi a34a5c1aa3 AP_Notify: Display_SSD1306_I2C: Fix after conversion to I2CDevice 
- Initialize device on hw_init() method, allowing it not to be
      present
    - Add missing lock
    - Add packed attribute to structs
    - Move defines to source file
 2016-07-14 17:32:33 -03:00
Luiz Ywata f26692de92 AP_Notify: Display_SSD1306_I2C: use I2CDevice interface 2016-07-14 17:32:33 -03:00
Lucas De Marchi 213c38afaf AP_Notify: ToshibaLED_I2C: add part number comment 
It's easier to find the datasheet for this driver with the part number
rather than a generic "toshiba led".
 2016-07-14 17:32:33 -03:00
Lucas De Marchi 5618008935 AP_Notify: ToshibaLED_I2C: Fix driver after I2CDevice conversion 
- Add missing semaphore take on bus
    - Initialize device on init function rather than constructor: the
      constructor may run before I2CDeviceManager is initialized since our
      AP_Notify objects are static so it can't be used.
 2016-07-14 17:32:33 -03:00
Luiz Ywata 0b69e43464 AP_Notify: ToshibaLED_I2C: use I2CDevice interface 2016-07-14 17:32:32 -03:00
Lucas De Marchi e5d519edec AP_ADC: AP_ADC_ADS1115: release bus lock as soon as possible 2016-07-14 17:32:32 -03:00
Lucas De Marchi 85c0c98194 AP_ADC: ADS1115: fix driver after conversion to I2CDevice 
In _start_conversion(), the check for return code of _dev->transfer() was
inverted. The structure also needs to be PACKED, otherwise there will be
a hole in the middle.  Fix these issues and use be16_t where it makes
sense.

In read() we need to check for the second byte of config register, so
either make it an array of uint8_t or convert from big endian to host
endianness.  It's simpler to leave it as it was, accessing just the
first byte. Also the conversion value is in be16 type an needs to be
converted to host endiannes, not the opposite.

Fix bus number: all boards that use it expect it to be on bus 1, not 0.
 2016-07-14 17:32:32 -03:00
Luiz Ywata 038389f583 AP_ADC_ADS1115: use I2CDevice interface 2016-07-14 17:32:32 -03:00
Lucas De Marchi de5025a46f AP_Airspeed: I2C: fix after conversion to I2CDevice 
- Allow to fail init
 2016-07-14 17:32:32 -03:00
Luiz Ywata 6c87b2aa7c AP_Airspeed: AP_Airspeed_I2C: use I2CDevice interface 2016-07-14 17:32:32 -03:00
Lucas De Marchi 5ef1568137 AP_HAL_Empty: fix sitl 
Sitl or anyone using AP_HAL_Empty implementation doesn't have any
I2CDevice, so it's pointless to return an empty one.
 2016-07-14 17:32:32 -03:00
Andrew Tridgell 7d48b25207 AP_Module: use ifdef in function, not caller 
suggestion by Lucas
 2016-07-14 13:39:48 +10:00
Andrew Tridgell eee9fc88a1 AP_InertialSensor: avoid ifdef for AP_MODULE_SUPPORTED 2016-07-14 13:39:47 +10:00
Andrew Tridgell e82468a529 AP_AHRS: avoid ifdef for AP_MODULE_SUPPORTED 2016-07-14 13:39:47 +10:00
Andrew Tridgell 5ce472ab8a AP_Module: changed hook prefix to ap_hook_ 2016-07-14 13:39:47 +10:00
Andrew Tridgell e8d8ca5eef AP_Module: updated example module 2016-07-14 13:39:47 +10:00
Andrew Tridgell 847bfda48a HAL_Linux: adjust include ordering 2016-07-14 13:39:47 +10:00
Andrew Tridgell dd5d0ffbad HAL_Linux: use default module directory 2016-07-14 13:39:47 +10:00
Andrew Tridgell f29323871f AP_Module: added default module directory 2016-07-14 13:39:47 +10:00
Andrew Tridgell 33ce1213a2 AP_InertialSensor: call gyro_sample and accel_sample AP_Module hooks 2016-07-14 13:39:47 +10:00
Andrew Tridgell 6b6a02e67e AP_Module: also allow export of raw gyro and accel samples 
allows for oversampling in image correction
 2016-07-14 13:39:46 +10:00
Andrew Tridgell 36181b78de AP_AHRS: fixed build for px4 2016-07-14 13:39:46 +10:00
Andrew Tridgell 7a2d67bde9 AP_Module: added AP_MODULE_SUPPORTED define 2016-07-14 13:39:46 +10:00
Andrew Tridgell 107f76828d HAL_Linux: added AP_Module support 2016-07-14 13:39:46 +10:00
Andrew Tridgell 15a01eefb1 AP_AHRS: added AHRS_update hook 2016-07-14 13:39:46 +10:00
Andrew Tridgell bd00beaf99 AP_Module: added external module hook library 
this allows for external modules to be called at defined hook
locations in ArduPilot. The initial example is a module that consumes
the AHRS state, but this can be generalised to a wide variety of hooks
 2016-07-14 13:39:46 +10:00
Andrew Tridgell f3f34be9c4 SITL: added comment on heli interlock 2016-07-12 20:50:22 +10:00
Jonathan Challinger 630e5378da AC_PosControl: add get_horizontal_error 2016-07-12 18:40:25 +09:00
Jonathan Challinger 8fe0c1b05b AC_PrecLand: don't run if not enabled 2016-07-12 18:40:25 +09:00
Jonathan Challinger e84d1581ab AC_PrecLand: use new irlock interface, refactor backend interface 2016-07-12 18:40:25 +09:00
Jonathan Challinger 6254608c45 AP_IRLock: refactor interface 2016-07-12 18:40:25 +09:00
Andrew Tridgell 4f17093add SITL: give a bit more pitch on tail in XPlane heli 2016-07-12 19:08:50 +10:00
Andrew Tridgell fdd20830d6 SITL: use flaps for collective on helis in X-Plane 10 
works for more helis
 2016-07-12 19:08:50 +10:00
Randy Mackay 6e224158f1 AP_GPS_MAV: use GPS_INPUT_IGNORE_FLAGS 2016-07-12 15:44:46 +09:00
Randy Mackay e34aa0bc72 AP_GPS_MAV: minor formatting fixes 
No functional change
 2016-07-12 15:44:19 +09:00
Allan Matthew 4249f7dbe6 AP_GPS: Add GPS_MAV type and accept GPS_INPUT message 2016-07-12 15:34:27 +09:00
Tom Pittenger 84ce499a0d AP_Baro: remove zero-init in constructor 2016-07-11 22:11:34 -07:00