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8635 Commits

Author SHA1 Message Date
Michael du Breuil
789a588b30 AP_HAL_SITL: Add hdop to ublox sitl sim (as well as vdop to be reported) 2015-08-19 20:40:19 +09:00
Lucas De Marchi
d0014c4fe3 AP_InertialSensor: refactor constructors to avoid leak 
We were previously leaking the AP_MPU6000_BusDriver if the
~AP_InertialSensor_MPU6000::detect*() failed. In order to avoid the
leak move the repeated code in a single private _detect() member that
receives everything as argument. Then this method takes ownership of the
objects.

By a adding a destructor to AP_InertialSensor_MPU6000 it becomes easier to
free the objects it takes ownership of.
 2015-08-19 20:40:17 +09:00
Lucas De Marchi
5fbbdca9f9 AP_InertialSensor: MPU6000: be agnostic to I2C bus/address 
This decision is better made by the caller rather than polluting the
driver with board-specific details.
 2015-08-19 20:40:16 +09:00
Lucas De Marchi
a9a0e228ac AP_InertialSensor: pass backend instead of pointer to function 
Different detect() function might need different arguments and passing a
pointer to function here is cumbersome. For example, it forces to have a
method like "detect_i2c2" rather than allowing hal.i2c2 to be passed as
parameter.
 2015-08-19 20:40:15 +09:00
Gustavo Jose de Sousa
f31fe780eb AP_InertialSensor: L3G4200D: add probe code 
This driver works properly but had the initialization logic missing. Add
the support to probe it.
 2015-08-19 20:40:14 +09:00
Lucas De Marchi
dd523c0301 AP_InertialSensor: remove out of place ifdef 
AP_InertialSensor isn't a good place to comment about board issues.
 2015-08-19 20:40:13 +09:00
Lucas De Marchi
886b302019 AP_InertialSensor: remove unused enum bus_speed 
The methods actually use the enum from AP_HAL::SPIDeviceDriver, so don't
declare a new one. The I2C implementation is empty; if we actually start
to use it we'd better move the bus abstraction to HAL.
 2015-08-19 20:40:12 +09:00
Lucas De Marchi
1c3728a585 AP_InertialSensor: fix copying wrong number of bytes 
We should copy only the bytes we read, not the maximum number.
 2015-08-19 20:40:11 +09:00
Lucas De Marchi
5b2ff84c06 AP_InertialSensor: fix whitespace usage 2015-08-19 20:40:10 +09:00
Lucas De Marchi
abd0514319 AP_InertialSensor: remove unused drivers 
Nobody is using these drivers, they need to be rewritten using the
backend logic and give the false impression they are supported.
 2015-08-19 20:04:18 +09:00
Gustavo Jose de Sousa
6d89a8cf71 StorageManager: remove unnecessary calculations on addr for next area 
When writting or reading a block, if the block doesn't fit the area where it begins, the next base address is always zero. Thus the calculations to define the next value of addr are unnecessary.

Here's a quick validity proof using the previous calculations:
    First: Considering the case where the block doesn't fit it's first area:
        That means that (count + addr > length), what makes:
            count = length - addr; (1)
        So the following operations:
            addr += count;
            addr -= length;
        Are the same as doing:
            addr = addr + count - length; (2)
        Using (1) and (2) we have:
            addr = addr + length - addr - length = 0

    Second: When the block fits the area where it's at:
        That means that variable count is not changed,
        thus (n -= count) evaluates to 0, which makes the loop exit.

Another change was (b += count;) being moved after the condition to break the loop, since we just need to move the block pointer when it doesn't fit the first area.
 2015-08-19 20:04:17 +09:00
Randy Mackay
53ed6c8f05 Motors_Multicopter: add MOT_THR_MIX_MAX parameter 
Allows controlling the prioritisation of throttle vs attitude control
during active flight
 2015-08-19 20:04:15 +09:00
Randy Mackay
b0101eab91 OpticalFlow_Linux: reworked driver 
remove PANICs from init
return semaphore if init fails
add successful initialisation check before attempting to read from sensor
structure made private where possible
formatting fixes
check I2C reads succeed
add request_measurement to request sensor to produce measurement
quit after 20 of previous 40 reads fail
throttle reads to 10hz max
 2015-08-19 20:04:14 +09:00
Víctor Mayoral Vilches
46c30f94ef AP_OpticalFlow: Add support for Linux 
Add a Linux userspace driver for the PX4FLOW sensor.
 2015-08-19 20:04:13 +09:00
Randy Mackay
539c6fe525 BattMon_SMBus: remove unnecessary I2C semaphore give 2015-08-19 20:04:12 +09:00
Randy Mackay
ac8c708327 Compass_HMC5843: remove unnecessary i2c semaphore give 2015-08-19 20:04:11 +09:00
Randy Mackay
328332d6c0 DataFlash: consolidate GPS, GPS2 messages 
Remove unused dgps_numch, dgps_age from GPS2
Add U field (for use) to both GPS and GPS2
 2015-08-19 20:04:07 +09:00
Andrew Tridgell
9fbd739ebe AP_AHRS: protect against zero deltat in DCM 
fixes issue #2657
 2015-08-19 20:04:05 +09:00
Randy Mackay
34a5c46bfd AC_WPNav: remove unused definitions 2015-08-19 20:04:04 +09:00
Randy Mackay
7fb7b4d74e AC_WPNav: replace hardcoded 0.02 with pos_control dt 2015-08-19 20:04:03 +09:00
Leonard Hall
2ec34b14fc AC_WPNav: fix spline height loss 2015-08-19 20:04:02 +09:00
Michael du Breuil
2e699095a6 AP_GPS: Default the value of hdop to 99.99 if no value has been read yet. 2015-08-19 20:04:00 +09:00
Randy Mackay
aeef23c183 Rally: rename RALLY_HOME_INC param to INCL_HOME 
Also default include-home to 1 only for copter
Also minor formatting and comment changes
 2015-08-19 20:03:59 +09:00
KiwiHC16
7e99a052b8 Rally: add RALLY_HOME_INC param to use Home as a Rally point 2015-08-19 20:03:58 +09:00
Julien BERAUD
407bb5933b AP_Compass_AK8963: suspend timer while reading 
Protection in case a timer falls while reading data, because it could end up
with corrupted data
 2015-08-19 20:03:57 +09:00
Julien BERAUD
de7cf019ef AP_Compass_AK8963: fix sem handling 
In case of error or zeroed data, the i2c semaphore wasn't given.
It happened at first startup on Bebop and caused a failure:
"PANIC: failed to take _bus->sem 100 times in a row..."
 2015-08-19 20:03:56 +09:00
Leonard Hall
5b133934db AP_Motors: calc_roll_pwm based on throttle pwm range 2015-08-19 20:03:55 +09:00
Randy Mackay
cdd64fc43d AHRS_NavEKF: fix blended accel to use primary accel 2015-08-19 20:03:48 +09:00
Randy Mackay
5412ce9819 Terrain: set HAL capabilities bit 2015-08-19 20:03:44 +09:00
Randy Mackay
f08c34fe73 GCS_MAVLink: retrieve capabilities from HAL 2015-08-19 20:03:43 +09:00
Randy Mackay
66b0b5c7d6 HAL: define capability bitmask 2015-08-19 20:03:42 +09:00
squilter
ad00e97447 GCS_MAVLink: add optional param to support capability bitmask 2015-08-19 20:03:40 +09:00
Andrew Tridgell
0a66bcbae5 AP_InertialSensor: don't use INT_STATUS drdy to lower SPI bus speed 
as pointed out by Lucas in PR#2604 this is probably a bad idea
 2015-08-19 20:03:39 +09:00
Grant Morphett
eb63293498 SITL: fix coverity warning - removed unused variable heli_servos 2015-08-19 20:03:37 +09:00
Grant Morphett
0de992c5f9 DataFlash: fix coverity warnings - add param init in constructor 2015-08-19 20:03:36 +09:00
Grant Morphett
4c1de1abf3 AP_InertialSensor: fix coverity warnings - param init in construct 2015-08-19 20:03:35 +09:00
Grant Morphett
ff97bdd605 AP_Baro: coverity fixes - add param init in constructor 2015-08-19 20:03:34 +09:00
Andrew Tridgell
9f4ab28352 AP_GPS: re-enable SBAS config on APM2 for uBlox 2015-08-19 20:03:28 +09:00
Andrew Tridgell
27a098be9f AP_AHRS: use delta_velocity and delta_angle in DCM 
this prevents an aliasing effect by using the correct delta velocity
time value for each accelerometer sample used
 2015-08-19 20:03:27 +09:00
Andrew Tridgell
a9efbf7e4a AP_GPS: save some memory and code space on APM2 for ublox 
don't include structures we don't need for low end CPUs
 2015-08-19 20:03:26 +09:00
Randy Mackay
4d9325c582 GPS: suppress compile warning 2015-08-19 20:03:25 +09:00
Randy Mackay
04f7a07bad GPS: fix compile warning for NMEA logging 2015-08-19 20:03:24 +09:00
Randy Mackay
d2f7c21eb3 Baro: update climb rate only if healthy 2015-08-19 20:03:23 +09:00
Andrew Tridgell
50e07ccad6 HAL_Linux: added bcast flag for udp broadcast 2015-08-19 20:03:20 +09:00
Andrew Tridgell
dfdedb3f33 AP_HAL: allow for broadcast packets on UDP IPv4 2015-08-19 20:03:19 +09:00
Andrew Tridgell
28bdeaf5d9 GCS_MAVLink: use a larger log send queue for Linux 
often on UDP or TCP with more bandwidth
 2015-08-19 20:03:18 +09:00
Andrew Tridgell
19dee8419b AP_HAL: added pollout() function to socket API 2015-08-19 20:03:17 +09:00
Andrew Tridgell
a5f01c7ada HAL_Linux: sped up UDP transfers by about 25x 
allow more than 1 packetised transfer per tick
 2015-08-19 20:03:16 +09:00
Andrew Tridgell
ab7f9807a2 AP_GPS: added optional NMEA debug log 
compile time option for debugging
 2015-08-19 20:03:15 +09:00
Andrew Tridgell
81a3d439a3 HAL_Linux: allow startup before network bringup 
this makes it possible to bootup ardupilot before the desired network
interface is available. This is very useful for when using 3G dongles
in aircraft
 2015-08-19 20:03:13 +09:00
Andrew Tridgell
288c20a58e HAL_Linux: implemented TCP server as a single driver 
the wait flag just changes startup behaviour. The TCP server should
always be a server with listen and accept. We don't need two drivers
 2015-08-19 20:03:11 +09:00
Andrew Tridgell
ef47a27ac8 AP_HAL: added listen and accept APIs to socket API 2015-08-19 20:03:10 +09:00
Andrew Tridgell
fa40e7245e AP_HAL: added pollin() interface for Socket API 2015-08-19 20:03:09 +09:00
Andrew Tridgell
bd1b35804a HAL_Linux: replace recvfrom with recv 2015-08-19 20:03:08 +09:00
Andrew Tridgell
a48f0db405 AP_HAL: fixed socket destructor 2015-08-19 20:03:07 +09:00
Andrew Tridgell
bbc8bdcef3 HAL_Linux: removed 0 timeout from sendto call 2015-08-19 20:03:06 +09:00
Staroselskii Georgii
879f4f7555 AP_HAL_Linux: fixed _parseDevicePath() in LinuxUARTDRiver 
The current implementation doesn't throw an error on a malformed path string.

i.e. udp:192.168.1.1.14550 instead of udp:192.168.1.1:14550 may result in a memory leak or whatsoever.

The commit fixes the issue and outputs a nice error message if anything's wrong.
 2015-08-19 20:03:05 +09:00
Staroselskii Georgii
f66f583843 AP_HAL_Linux: renamed TCPClientDevice 2015-08-19 20:03:04 +09:00
Staroselskii Georgii
39048229cd AP_HAL_Linux: renamed TCPServerDevice 
A more appropriate name for the class.
 2015-08-19 20:03:03 +09:00
Staroselskii Georgii
50765229ca AP_HAL_Linux: made UARTDriver use TCPServerDevice 2015-08-19 20:03:02 +09:00
Staroselskii Georgii
0ec64a5d13 AP_HAL_Linux: added TCPServerDevice 2015-08-19 20:03:01 +09:00
Staroselskii Georgii
34c1fe6e66 AP_HAL_Linux: made UARTDriver use TCPClientDevice 2015-08-19 20:03:00 +09:00
Staroselskii Georgii
244cdb3507 AP_HAL_Linux: added TCPClientDevice 2015-08-19 20:02:59 +09:00
Staroselskii Georgii
595903f17c AP_HAL_Linux: got rid of TCP connection 2015-08-19 20:02:58 +09:00
Staroselskii Georgii
179fc4a781 AP_HAL_Linux: made UARTDriver use ConsoleDevice 2015-08-19 20:02:57 +09:00
Staroselskii Georgii
7ba960f265 AP_HAL_Linux: added ConsoleDevice 2015-08-19 20:02:56 +09:00
Staroselskii Georgii
4a79713081 AP_HAL_Linux: made UARTDriver use UDPDevice 2015-08-19 20:02:55 +09:00
Staroselskii Georgii
9e6c4fe176 AP_HAL_Linux: added UDPDevice 2015-08-19 20:02:54 +09:00
Staroselskii Georgii
b59264007c AP_HAL_Linux: encapsulated LinuxUARTDriver::_deallocate_buffers 2015-08-19 20:02:53 +09:00
Staroselskii Georgii
26382e63df AP_HAL_Linux: made UARTDriver use UARTDevice 2015-08-19 20:02:52 +09:00
Staroselskii Georgii
0c582eeae6 AP_HAL_Linux: added UARTDevice 2015-08-19 20:02:51 +09:00
Staroselskii Georgii
7160c88d39 AP_HAL_Linux: added SerialDevice interface 
Adds the interface that will be used for encapsulating various mediums
that can be used in the Linux port.
 2015-08-19 20:02:50 +09:00
Staroselskii Georgii
9b25217757 AP_HAL_Linux: added _serial_start_connection 2015-08-19 20:02:49 +09:00
Staroselskii Georgii
ed431e9857 AP_HAL_Linux: encapsulated LinuxUARTDriver::allocate_buffers 2015-08-19 20:02:48 +09:00
Staroselskii Georgii
4d28b4a962 AP_HAL_Linux: use defines instead of hardcoding fd numbers in UARTDriver 2015-08-19 20:02:47 +09:00
Staroselskii Georgii
6d1133378b AP_HAL: added destructor for Socket 2015-08-19 20:02:46 +09:00
Staroselskii Georgii
3134634af6 AP_HAL: improved constness of Socket API 2015-08-19 20:02:45 +09:00
Michael du Breuil
3a7cc03f67 AP_GPS: Fix copy/paste error in ublox (uncovered by coverity) 2015-08-19 20:02:44 +09:00
Randy Mackay
77b97f8643 AC_AttControl: relax earth frame rate targets along with bf 2015-08-19 20:02:41 +09:00
rentt
1c8180a41f Scheduler: fix compiler warning in example sketch 
printf except a unsigned long value, but the hal.scheduler->millis() return a uint32_t
 2015-08-19 20:02:38 +09:00
Tom Pittenger
bced0a3734 SITL: param SITL_ARSP_FAIL should be a float instead of byte 
this param was meant to represent an airspeed which is a float
 2015-08-19 20:02:37 +09:00
Andrew Tridgell
1b1bc9f3b1 RC_Channel: prevent floating exception on bad MIN/MAX/TRIM values 2015-08-19 20:02:34 +09:00
Tom Pittenger
ffe1561f31 AP_InitialSensor_MPU6000: compiler warning - init order 2015-08-19 20:02:33 +09:00
Tom Pittenger
e7a7f43260 AC_WPNav: compiler warnings: float to double 2015-08-19 20:02:32 +09:00
Robert Lefebvre
0615d7a058 AC_Heli_PID: Deprecate Accel Feedforward. 2015-07-30 14:22:55 +09:00
Robert Lefebvre
bfc10c1969 AC_AttitudeControl_Heli: Remove Accel Feedforward. 2015-07-30 14:22:53 +09:00
Randy Mackay
5032cf9fbc Copter: init multicopter flags 
Resolves coverity warning

Also fixed indentation
 2015-07-25 14:00:29 +09:00
Michael du Breuil
9d53aa77eb AP_GPS: Add reboot required docstring 2015-07-25 10:56:19 +09:00
Randy Mackay
b13921a7aa Mount_SToRM32: find gimbal channel on startup 2015-07-25 10:53:05 +09:00
Randy Mackay
e7df54ca75 GCS_MAVLink: static find_by_mavtype method 2015-07-25 10:53:03 +09:00
Randy Mackay
e092902613 GCS_MAVLink: add find_by_mavtype 2015-07-25 10:52:59 +09:00
Peter Barker
1ee330ebb2 DataFlash: CLI log dumping - don't truncate lines that contain doubles 
We currently print doubles out as if they were floats.  The ftoa_engine isn't something to replicate for doubles lightly!
 2015-07-24 08:08:51 +10:00
Peter Barker
39b2cdcc3c AP_Menu: avoid segmentation fault 
Insufficient input would cause a segfault
 2015-07-24 08:05:13 +10:00
Randy Mackay
3dfb447fd7 BattMon: has_current true for Bebop 
The bebop does not actually provide current but it does estimate the
percentage of battery remaining
 2015-07-23 21:49:32 +09:00
Randy Mackay
8403b504d1 BattMon: add Bebop to monitor param description 2015-07-23 21:49:32 +09:00
Randy Mackay
9482578c60 BattMon: Bebop always uses bebop batt monitor 2015-07-23 21:49:31 +09:00
Randy Mackay
84b6ab0707 BattMon_Bebop: use ARRAY_SIZE 
Also remove printf of failure message, instead we should add the battery
monitor health to the SYS_STATUS message sent to the ground station
 2015-07-23 21:49:30 +09:00
Randy Mackay
3b36178a0b BattMon_Bebop: init members in constructor 2015-07-23 21:49:29 +09:00
Jean-Baptiste Dubois
f6aba6c952 HAL_Linux: add read_obs_data to RCOutput_Bebop 2015-07-23 21:49:28 +09:00
Jean-Baptiste Dubois
35ae562dbe AP_BattMonitor: Add battery support for Bebop Hardware 2015-07-23 21:49:27 +09:00
Andrew Tridgell
54254c89d7 AP_Arming: control rudder arming with ARMING_RUDDER parameter 
allow for 3 states:

 0: no rudder arming
 1: arm only
 2: arm and disarm
 2015-07-23 21:48:50 +10:00
Lucas De Marchi
8240e5ae65 AP_Compass: AK8963: reduce bytes read 
We are not using INFO and ST1 registers, so there's no need to read
extra 2 bytes for each transaction.
 2015-07-23 17:44:36 +10:00
Lucas De Marchi
2b9c46e1ff AP_Compass: AK8963: don't oversample AK8963 
Reduce the frequency with which MPU9250 reads AK8963 to reduce the
chance of errors.
 2015-07-23 17:44:36 +10:00
Lucas De Marchi
6c2ceea165 AP_Compass: AK8963: remove author and connection comment 
Authorship and how sensor is connected get outdated (as it already is).
Our code is on git so let it track who wrote each line.
 2015-07-23 17:44:36 +10:00
Staroselskii Georgii
8ab33c46ce AP_Compass: revisited AK8963 code 
Reduced duplication a bit and revisited the update method which is now
split into several logical hunks.
 2015-07-23 17:44:36 +10:00
Lucas De Marchi
fffedae3e0 AP_Compass: AK8963: reduce stack usage and zero out buffers 
Since we are not using MPU9250's fifo to get samples from AK8963 we will
always read only 1 sample (+ control registers).
 2015-07-23 17:44:35 +10:00
Lucas De Marchi
37734886a5 AP_Compass: AK8963: remove repeated comments 
No need to repeat the same comments on 3 different places. Instead add a
single comment to explain how start_measurements() and read_raw() are
related.
 2015-07-23 17:44:35 +10:00
Lucas De Marchi
27d95b67a8 AP_Compass: AK8963: remove state machine 
Don't use a state machine in AK8963: the start_measurements() method
should be called only once.  Even if there's a magnetic sensor overflow
the only thing we should do is to discard the new data.

This also moves the _collect_samples() method to be inside _update()
since it's the only place it should be called from, the one running on
the timer thread.
 2015-07-23 17:44:35 +10:00
Lucas De Marchi
e232543fca AP_Compass: AK8963: change initialization and rename methods 
We need to check the AK8963's id before anything else Here we are
reordering the calls to _calibrate() and _check_id(). After that we
don't need to read and write again the AK8963_CNTL1 register.

While at it do some renames as well:
	- _configure() -> _setup_mode(): since now there's a
 	  _bus->configure() it became confusing what actually it's
	  doing.
	- make error messages say what we were actually trying to do but
	  couldn't. Also remove PSTR since this is linux-only.
	- start_conversion() -> start_measurements():  We are instructing the
          bus to start to get the samples, not to tell the chip to start an
          analog->digital conversion like in other sensors.
 2015-07-23 17:44:35 +10:00
Lucas De Marchi
ae5d9baddb AP_Compass: AK8963: remove defines not used anymore 
The MPUREG_PWR_MGMT_1 defines were used when we cared about the MPU9250
initialization code. Now all initialization is done by the MPU9250 class
itself, so remove these defines.

Also remove AK8983_SELFTEST_MAGNETIC_FIELD_ON that is never used and let
the defines always with 2 bytes to improve readability.
 2015-07-23 17:44:34 +10:00
Lucas De Marchi
cae895bfdf AP_Compass: AK8963: group members together 
Besides being semantically related, this removes the hole due to
alignment. The size is the same since the hole is actually turned into
padding.
 2015-07-23 17:44:34 +10:00
Lucas De Marchi
28d3d775a4 AP_Compass: AK8963: remove resolution member 
We only use the highest one and there's no intention to support the
14bits one. Just use the define rather than saving it as a member.
 2015-07-23 17:44:34 +10:00
Lucas De Marchi
86b3312112 AP_Compass: AK8963: factor out common code of read_raw() 
Similar code was added in the read_raw() implementation for each bus.
Add a new POD struct read_raw to contain the registers from the AK8963
and use it instead as argument.
 2015-07-23 17:44:33 +10:00
dgrat
d941174978 AP_Compass: AK8963: enhance the readability 
Reduce the deepness of indentation and fix coding style.
 2015-07-23 17:44:33 +10:00
Randy Mackay
28c722c157 AC_Circle: rate change takes effect immediately 2015-07-23 16:21:20 +09:00
Tom Pittenger
d51e6d466b AP_HAL_SITL: add support for airspeed failures 2015-07-23 14:38:06 +10:00
Tom Pittenger
250dcd31a2 SITL: Add ARSP_FAIL param 
This will allow testing pitot tube hardware failures
 2015-07-23 14:38:06 +10:00
Staroselskii Georgii
d7ac725a64 AP_HAL_Linux: fixed signal handler in RCInput_Navio 
DMA is getting stopped in the separate method now. This is the best we
can get at the current time. It does yield slightly better experience
and works in the majority of cases.

The patch is a no bulletproof solution, though.

There's a possibility of corruption in case of e.g. a SIGKILL. There's
no signal framework at the time and the commit doesn't add one. That's
why all signals are handled in the same erroneous way. This is not a
good nor a final solution to the issue.

For the issue at hand a better fix might be porting the code to kernel
space but it's a rather tediuos task that we cannot undertake in the
couple of weeks.
 2015-07-23 08:51:38 +10:00
Staroselskii Georgii
8528a7d159 AP_HAL_Linux: added deinit logic for RCInput_Navio 
DMA needs to be stopped if a panic occurs.
 2015-07-23 08:51:37 +10:00
Staroselskii Georgii
f4d14f73ba AP_HAL_Linux: extended panic handling with RCInput deinitialization 
The issue has already come up. There's no deinitialization mechanisms at the moment. As APM is rather software than firmware on Linux, there're some clean-up work that needs to be done. This commit triggers deinitialization of RCInput on a panic.
 2015-07-23 08:51:37 +10:00
Vladislav Zakharov
97b51a4bcb AP_HAL: Added deinit() method to RCInput 
Add a deinit() counterpart. This is needed for some ports that require some deinitializtion logic. The default implementation is empty. I'm not sure whether we need to inforce it for all.
 2015-07-23 08:51:37 +10:00
Tom Pittenger
9737c426eb SITL: Gazebo index out of bound 
- imu_orientation_quat[size=3] is fed to Quaternion[size=4] which causes an index-out-of-range problem
 2015-07-22 21:33:46 +10:00
Michael du Breuil
59dda49cce AP_GPS: Fix missing reserved fields in the UBX-RXM-RAWX message 2015-07-22 21:31:10 +10:00
Michael du Breuil
09fef505e0 AP_GPS: With a ublox driver, accept a packet if it will fit in the buffer 2015-07-22 21:31:10 +10:00
Michael du Breuil
22b16b4532 AP_GPS: Enable selecting what GNSS system to use if the reciever supports it 
Ublox 7 and 8 seires use a UBX-CFG-GNSS message to enable satellite constellations. The default value does not enable any additional ones, and any constellations the reciever doesn't report knowing about are not configured.
 2015-07-22 21:31:10 +10:00
Michael du Breuil
47592a1953 AP_GPS: Raise the baud rate on a ublox GPS if using RAW logging 
the implementation leaves an easy path forward for providing a different startup blob for all the GPS's if raw logging is enabled
 2015-07-22 21:31:09 +10:00
Michael du Breuil
19bb96b9cb AP_GPS: Improve startup logic for detecting what gps is connected 
Remove race condition on sending intial blob to the GPS, it was possible to send a blob that got the GPS configured enough to allow the autodetect to take over (and then some drivers like ublox would not finish sending the blob, which has potential details that the driver might have needed to send)

Limit the delay to checking for NMEA gps to only checking after all the available baud rates have been checked

Since a UBlox will actually report having DGPS (due to SBAS or RTCM data) actually report this as the highest supported mode
 2015-07-22 21:31:09 +10:00
Arthur Benemann
e3398648d7 GCS_MAVLink: fix debug formatting 2015-07-21 21:41:34 +09:00
Randy Mackay
521f3dc4b9 GCS_MAVLink: only forward msg once per channel 
Issue found and alternative fix provided by Arthur Benemann
 2015-07-21 21:41:32 +09:00
Randy Mackay
6f72d202fe GPS: fix parameter descriptions 2015-07-21 19:50:12 +09:00
Randy Mackay
e31f2d26c4 MotorsMulticopter: move get_hover_throttle_as_pwm to protected 
No functional change
 2015-07-21 16:27:04 +09:00
Randy Mackay
c7c6228b5d MotorsMulticopter: remove virtual from set_yaw_headroom 2015-07-21 16:27:01 +09:00
Randy Mackay
157c97447d AC_AttControlHeli: init passthrough_yaw 2015-07-21 16:26:27 +09:00
Randy Mackay
8b4805bfcb AC_AttControl_heli: add MotorsHeli include 2015-07-21 16:25:56 +09:00
Randy Mackay
bf2bf2e3fa AC_AttControl_Multi: new multirotor specific attitude control class 2015-07-21 16:25:53 +09:00
Randy Mackay
93dd7dd970 AC_AttControl: get_boosted_throttle purely virtual 2015-07-21 16:25:50 +09:00
Randy Mackay
4843be49de AP_MotorsTri: remove call to empty parent Init 
Also rename uses of Multirotor to Multicopter
 2015-07-21 16:25:48 +09:00
Randy Mackay
f906934dfa AP_MotorsSingle: remove call to empty parent Init 
Also rename uses of Multirotor to Multicopter
 2015-07-21 16:25:45 +09:00
Randy Mackay
112e934072 AP_MotorsMatrix: remove call to empty parent Init 
Also rename uses of Multirotor to Multicopter
 2015-07-21 16:25:43 +09:00
Randy Mackay
b1a4a6bf0a AP_Motors_Coax: remove call to empty parent Init 
Also rename uses of Multirotor to Multicopter
 2015-07-21 16:25:40 +09:00
Randy Mackay
4d1dfd94f5 AP_MotorsMulticopter: multicopter features moved in from parent 
Also rename from multirotor to multicopter
 2015-07-21 16:25:37 +09:00
Randy Mackay
7355ac9cb8 AP_MotorsHeli: implement empty slow start method 2015-07-21 16:25:34 +09:00
Randy Mackay
a3fab10ef4 AP_MotorsHeli: init roll_radio_passthrough 2015-07-21 16:25:31 +09:00
Randy Mackay
c9dedbd3b2 AP_Motors: remove multicopter only features 
Also rename uses of Multirotor to Multicopter
 2015-07-21 16:25:28 +09:00
Robert Lefebvre
abb6eba291 AP_MotorsHeli: Change allow_arming check to use _rotor_speed_estimate 
In future, this will be used to check actual rotor speed (measured) if available, to prevent trying to arm with the rotor spinning.
 2015-07-21 16:25:21 +09:00
Robert Lefebvre
9fcbc77ce0 AP_MotorsHeli: Create rotor_speed_above_critical accessor 2015-07-21 16:25:11 +09:00
Robert Lefebvre
992c9c75bb AP_MotorsHeli: Create parameter_check method. 2015-07-21 16:25:04 +09:00
Robert Lefebvre
e2fe640e6c Copter: Clean up helicopter allow_arming() function 2015-07-21 16:24:58 +09:00
Robert Lefebvre
61d6c5aa1d AP_Motors: Creation of AP_Motors_Multirotor class 2015-07-21 16:24:38 +09:00
Lucas De Marchi
5c9bf90d94 SITL: use ARRAY_SIZE macro 2015-07-21 14:25:19 +09:00
Lucas De Marchi
fd5d25b1d5 AP_Compass: use ARRAY_SIZE macro 2015-07-21 14:25:17 +09:00
Lucas De Marchi
3136b8916c DataFlash: use ARRAY_SIZE macro 2015-07-21 14:25:15 +09:00
Lucas De Marchi
d8b70dc0c5 AP_Scheduler: use ARRAY_SIZE macro 2015-07-21 14:25:13 +09:00
Lucas De Marchi
fdc6a75124 AP_Menu: use ARRAY_SIZE macro 2015-07-21 14:25:10 +09:00
Lucas De Marchi
0471de2342 AP_Math: use ARRAY_SIZE macro 2015-07-21 14:25:09 +09:00
Lucas De Marchi
eda4879f3f AP_InertialSensor: use ARRAY_SIZE macro 2015-07-21 14:25:07 +09:00
Lucas De Marchi
3f472fb9e1 AP_HAL_VRBRAIN: use ARRAY_SIZE macro 2015-07-21 14:25:05 +09:00
Lucas De Marchi
473415a3c2 AP_HAL_SITL: use ARRAY_SIZE macro 2015-07-21 14:25:03 +09:00
Lucas De Marchi
d4d56aef1a AP_HAL_PX4: use ARRAY_SIZE macro 2015-07-21 14:25:01 +09:00
Lucas De Marchi
cfc2972e51 AP_HAL_Linux: use ARRAY_SIZE macro 2015-07-21 14:24:58 +09:00
Lucas De Marchi
b83708f77f AP_HAL: use ARRAY_SIZE macro 2015-07-21 14:24:56 +09:00
Lucas De Marchi
9d59b43920 AP_GPS: use ARRAY_SIZE macro 2015-07-21 14:24:54 +09:00
Lucas De Marchi
4a595bd797 APM_Control: use ARRAY_SIZE 2015-07-21 14:24:52 +09:00
Lucas De Marchi
fb2eb262e7 AP_Math: use ARRAY_SIZE instead of defining another one 2015-07-21 14:24:49 +09:00
Randy Mackay
73ff01dc68 AP_Notify: replace unsigned int with uint8_t 2015-07-21 13:52:03 +09:00
Lucas De Marchi
1bba105be4 AP_Notify: don't manually define number of notify devices 
Like b211b86 (AP_HAL_Linux: don't manually define number of spi devices)
did for spi.
 2015-07-21 13:52:00 +09:00
Peter Barker
65813f308e DataFlash: fix incorrect comment 2015-07-21 13:11:00 +09:00
Randy Mackay
8225e58454 AP_Motors: throttle_min method in 0 to 1000 range 
Previously the pwm range value was returned.  This value is only used by
the multicopter attitude controller's angle boost function.
 2015-07-20 20:44:46 +09:00
Randy Mackay
6bf6442396 MotorsMatrix; protect against divide by zero 
This should never happen but just to be safe
 2015-07-20 20:44:43 +09:00
Randy Mackay
fa60c3dce8 MotorsCoax: fix output_armed_stabilized min thr limit 2015-07-20 20:44:36 +09:00
Randy Mackay
8a308205ce MotorsSingle: fix output_armed_stabilized min thr limit 2015-07-20 20:44:32 +09:00
Randy Mackay
bd9a605086 MotorsTri: fix output_armed_stabilized min thr limit 
_min_throttle is in the pwm range but was being used as if in the 0 to
1000 range
 2015-07-20 20:44:23 +09:00
Randy Mackay
e53c46bd8f MotorsMatrix: fix output_armed_stabilized min thr limit 
_min_throttle was being used as if it were in the 0 to 1000 range when
in fact it is in the pwm range.  This meant the lower limit was too low.
 2015-07-20 20:44:14 +09:00
Jean-Baptiste Dubois
7dcfe1c667 RCOutput_Bebop: group channels write 2015-07-20 09:23:13 +10:00
Andrew Tridgell
3b1b7ea029 AP_GPS: fixed time handling with NMEA driver 2015-07-20 09:15:32 +10:00
Julien BERAUD
a852e48f37 AP_GPS_NMEA: fix gps startup 
when no valid gps data, gps would restart in a loop. Take the frame without
gps fix into account for frame counting
 2015-07-20 09:14:15 +10:00
John Hsu
14e462706d SITL: added gazebo SITL shim 2015-07-20 09:10:48 +10:00
John Hsu
c34ddb7fb8 HAL_SITL: added gazebo SITL model support 2015-07-20 09:10:48 +10:00
Randy Mackay
a61129f7f8 GCS_MAVLink: add support for send_mission_item_reached 2015-07-19 12:14:09 +09:00
Randy Mackay
766ccea3be Mission: fix bug causing first do-cmd to be run many times 
The symptom was that if the very first command in the mission was a
do-command, it would be run after every nav-command that didn't have
another do-command before it.
 2015-07-17 12:15:08 +09:00
Randy Mackay
429346f4bc AP_Mission: add missing breaks to case statement 2015-07-17 12:15:06 +09:00
Randy Mackay
0acfcbfa81 NavEKF: use primary compass instead of first instance 
Thanks very much to staroselskii for finding this bug
 2015-07-17 10:02:42 +09:00
Randy Mackay
cedc9a8670 Compass: add last_update_usec per instance 2015-07-17 10:02:41 +09:00
Andrew Tridgell
69cfe11455 AP_Arming: raise accel arming threshold to 0.75 
arming issues due to accel inconsistency are too common
 2015-07-17 09:50:19 +10:00
Andrew Tridgell
18de1c2c47 GCS_MAVLink: send AHRS2 even if we don't have a secondary position 2015-07-17 08:24:49 +10:00
Andrew Tridgell
6009ae55b1 AP_Math: fixed build of eulers example sketch 2015-07-17 08:24:49 +10:00
Randy Mackay
cc0ab26f5d Mount: fix init of mode 
Mode was being set from MNT_DEFTL_MODE parameter before that parameter's
value had been initialised from eeprom
 2015-07-16 14:14:01 +09:00
Jean-Baptiste Dubois
9e5d13c1de RCOutput_Bebop: use CLOCK_MONOTONIC instead of CLOCK_REALTIME 
CLOCK_MONOTONIC is not affected by discontinuous jumps in the system time.
 2015-07-15 12:08:44 +02:00
Robert Lefebvre
14882bc6a8 AC_AttitudeControl: Remove unused takeoff jump #define 2015-07-14 20:16:58 +09:00
Robert Lefebvre
e1902e2289 AP_MotorsHeli: Remove unused _dt variable. 2015-07-14 20:13:43 +09:00
Randy Mackay
7d2fe3cc2b AP_GPS_UBlox: remove unused member 2015-07-14 15:02:15 +09:00
Randy Mackay
2c33250bee AP_GPS_UBlox: send_next_rate_update always runs all steps 
Moving the if, endif checks within the case statement ensures the state
machine goes through all 10 states
 2015-07-14 15:02:13 +09:00
Randy Mackay
4b015d2091 AP_GPS: remove compiler warnings 2015-07-14 15:02:10 +09:00
Randy Mackay
df3a04e284 AP_GPS: reduce fake Ublox hdop to 130 2015-07-14 15:02:08 +09:00
Andy Piper
5ccc58ffb4 AP_GPS: Read actual hDOP value from UBLOX messages 
Before we were reading the position DOP and calling it hDOP. Since the
other drivers actualy read hDOP it seem best to do the same.
Fixes issue 462.
 2015-07-14 15:02:03 +09:00
Paul Riseborough
610595bfb9 AP_NavEKF: Prevent position drift between arming and takeoff when using OF 2015-07-13 10:54:36 +09:00
Randy Mackay
2b4aaf2368 SITL: add vibe monitor and SIM_ACC2_RND to sitl 2015-07-12 16:50:30 +09:00
Paul Riseborough
8b4b0b9576 AP_NavEKF: Add accelerometer clip monitoring and isolation 
Isolates an accelerometer that is clipping  and attempts to use the one that is clipping less.
 2015-07-12 16:49:19 +09:00
Staroselskii Georgii
72820303d4 AP_HAL_Linux: set higher SPI speed for Navio 
We can set a higher speed on newer Linux kernels since
52469b2a38.
The older ones will just floor the value.
 2015-07-10 18:59:18 +10:00
Peter Barker
0028910428 AP_InertialNav: take reference to variable we are trying to update 
There are no callers to this function.  Perhaps it should be removed?
 2015-07-10 18:56:20 +10:00