Andrew Tridgell
6f9e9d761f
SITL: move calculations into multicopter frame class
...
this will enable a QuadPlane model
2016-01-01 14:35:15 +11:00
Andrew Tridgell
c6b6d7137d
HAL_SITL: added plane simulator
2016-01-01 12:41:06 +11:00
Andrew Tridgell
16e0a6d7b0
AP_Math: fixed angle between two vector3s
2016-01-01 12:41:05 +11:00
Andrew Tridgell
fcfd11ef53
SITL: very simple fixed wing simulator
...
useful for debugging
2016-01-01 12:41:05 +11:00
Randy Mackay
bea69521c8
AC_PrecLand: velocity PI controller into parent class
2015-12-31 15:30:33 +09:00
Andrew Tridgell
8e4586b4a2
AP_Param: allow for nested groups without subclassing
...
this allows for param tables containing other unrelated objects
2015-12-31 15:30:31 +09:00
Tom Pittenger
4e4c1831f0
AP_ADSB: added guided mode handling
2015-12-31 15:36:49 +11:00
Randy Mackay
4e9f82a0e7
Notify: fix parameter description
2015-12-31 11:33:02 +09:00
pepevalbe
0d5e59eaa3
AP_Notify: configurable RGB LED brightness
2015-12-31 11:32:59 +09:00
Lucas De Marchi
180359d6dd
AP_Math: fix unit test
...
For ROTATION_ROLL_90_PITCH_68_YAW_293 consider the angles as 90, 68.8
and 293.3 degrees to pre-calculate rotation. This matches the rotation
matrix used in code.
While at it, check not only the values are close enough but also the
length of the vector.
2015-12-30 20:22:28 -02:00
Lucas De Marchi
ba3325ffd3
AP_Math: rename rotation
...
The rotations are supposed to follow the name of the enum, in order. The
ROTATION_YAW_293_PITCH_68_ROLL_90 was added with the name of an
intrinsic 321 rotation, but the matrix is actually a 123 rotation,
following the other rotations already present.
Change the name to follow the other names.
2015-12-30 20:22:27 -02:00
Jonathan Challinger
bae16a61e2
AP_InertialSensor: fix segfault
2015-12-29 23:10:56 -08:00
Jonathan Challinger
83d5a6664a
AP_Math: minor changes to matrix_alg in response to review
2015-12-29 22:57:21 -08:00
Jonathan Challinger
0a3c2774e9
AP_InertialSensor: fixes in response to review
2015-12-29 22:55:04 -08:00
Jonathan Challinger
24e413c6af
AP_AccelCal: fixes in response to review
2015-12-29 22:55:04 -08:00
Jonathan Challinger
660d9e86d5
AP_AccelCal: basic sanity check on fit parameters
2015-12-29 11:00:20 -08:00
Jonathan Challinger
1482614a7d
AP_Arming: add accel cal requires reboot
2015-12-29 10:46:35 -08:00
Jonathan Challinger
137ace473d
AP_InertialSensor: add accel_cal_requires_reboot
2015-12-29 10:46:35 -08:00
Jonathan Challinger
f6a41a8936
AP_InertialSensor: ensure that accel calibration object isn't allocated more than once
2015-12-29 10:46:35 -08:00
bugobliterator
1a4b4fa85e
AP_Math: add inverse matrix test to check if inverse(mat)*mat = I
...
where I is an identity matrix (a matrix with diagonal elements = 1)
2015-12-29 10:46:35 -08:00
Jonathan Challinger
65915bbe71
StorageManager: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
027e622a3c
RC_Channel: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
2c0657f326
GCS_MAVLink: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
b85631bec3
DataFlash: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
94543d55bb
AP_Scheduler: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
780d0de4bb
AP_RangeFinder: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
b0de3957ea
AP_OpticalFlow: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
99636b3e8b
AP_Notify: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
62701448ca
AP_Mount: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
b803907163
AP_Motors: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
30a563044e
AP_Mission: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
f376510524
AP_HAL_PX4: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
ac152b564f
AP_HAL_FLYMAPLE: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
d7639ce03a
AP_HAL: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
04dc7130f5
AP_GPS: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
9b5644fdb6
AP_Compass: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
a3789542cd
AP_BattMonitor: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
dcfc95fadf
AP_Baro: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
a1c7b32387
AP_Airspeed: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
5cb7331095
AP_AHRS: fix example build
2015-12-29 10:46:35 -08:00
Jonathan Challinger
9e6be648b9
AC_PID: fix example build
2015-12-29 10:46:35 -08:00
bugobliterator
fe62a049bd
AP_Math: implement LU decomposition based matrix inverse
...
Replaces previous matlab generated code, which was giving imprecise results
2015-12-29 10:46:34 -08:00
Siddharth Bharat Purohit
a0c3cbffee
AP_Math: add inverse matrix test example
...
fix example build
2015-12-29 10:46:34 -08:00
Siddharth Bharat Purohit
5af0cc8eaf
AP_Math: add inverse rotate example function
2015-12-29 10:46:34 -08:00
Jonathan Challinger
7ed8b3814f
AP_Math: add rotate_inverse to Vector3
2015-12-29 10:46:34 -08:00
Jonathan Challinger
492223cb84
AP_InertialSensor: support AP_AccelCal
2015-12-29 10:46:34 -08:00
bugobliterator
d24b5023f4
AP_AccelCal: Add separate lib for accel calibration
2015-12-29 10:46:34 -08:00
Andrew Tridgell
f70d9d26ba
HAL_QURT: fixed README formatting
2015-12-29 19:23:14 +11:00
Andrew Tridgell
70877ebd50
HAL_QURT: fixed open of new storage file
2015-12-29 19:20:51 +11:00
Andrew Tridgell
aae7dd952c
HAL_QURT: document command line options
2015-12-29 19:15:47 +11:00
Andrew Tridgell
f832f29bfb
HAL_QURT: allow cmdline to specify UART, RCin and RCout paths
2015-12-29 19:12:17 +11:00
Andrew Tridgell
dafc9b4c6b
AP_HAL: allow getopt_cpp on QURT
...
avoid using stderr
2015-12-29 19:10:46 +11:00
Andrew Tridgell
ea1e3f4928
HAL_QURT: pass argc and argv into main thread
2015-12-29 18:53:05 +11:00
Andrew Tridgell
bd2f548130
AP_HAL: allow argc and argc on QURT
2015-12-29 18:52:17 +11:00
Lucas De Marchi
97022a4161
AP_HAL: RingBuffer: fix macro expansion
...
Fix warning that reveals a real bug:
In file included from libraries/AP_HAL_Linux/UARTDriver.cpp:25:0:
libraries/AP_HAL_Linux/UARTDriver.cpp: In member function 'virtual bool Linux::UARTDriver::tx_pending()':
libraries/AP_HAL/utility/RingBuffer.h:21:35: warning: logical not is only applied to the left hand side of comparison [-Wlogical-not-parentheses]
#define BUF_EMPTY(buf) buf##_head == buf##_tail
^
libraries/AP_HAL_Linux/UARTDriver.cpp:355:13: note: in expansion of macro 'BUF_EMPTY'
return !BUF_EMPTY(_writebuf);
The problem is when there's a ! operator: without the parenthesis we would actually be doing
return !_write_buf_head == _write_buf_tail
which is not what we want.
2015-12-28 21:50:27 -02:00
Andrew Tridgell
fe8070bd51
DataFlash: move lock to protect just buffer IO
2015-12-29 09:10:28 +11:00
Lucas De Marchi
1a0f613a0f
AP_Curve: remove unused library
2015-12-28 10:23:23 -02:00
Lucas De Marchi
8d252955f5
AP_Motors: don't link unused AP_Curve library
2015-12-28 10:23:23 -02:00
Lucas De Marchi
326e74f64f
AP_Mission: don't link unused AP_Curve library
2015-12-28 10:23:23 -02:00
Lucas De Marchi
5d3a519277
APM_PI: remove unused library
2015-12-28 10:23:23 -02:00
Lucas De Marchi
8cee02cde7
AP_PerfMon: remove unused library
2015-12-28 10:23:23 -02:00
Jonathan Challinger
a2999ece54
AP_AHRS_NavEKF: add setTakeoffExpected, setTouchdownExpected
2015-12-28 13:51:24 +09:00
Andrew Tridgell
c90d7dd86e
AP_HAL: fixed vprintf segfault
2015-12-28 08:44:40 +11:00
Andrew Tridgell
fa2a39f6c6
HAL_QURT: small cleanups
...
thanks to Lucas for finding these
2015-12-28 06:42:11 +11:00
Julien BERAUD
e46f23f538
RCOutput_Bebop: Increase max_rpm on Bebop 2
...
Bebop 2 can go as high as 12200 rpm. Use get_hw_arm32 method to see
if we are on a bebop or bebop 2
2015-12-27 16:11:36 -02:00
Julien BERAUD
b6f51233db
AP_HAL_Linux: Make RPI get_hw method public
...
Valid also on Bebop
2015-12-27 16:11:36 -02:00
Julien BERAUD
cadef09542
AP_HAL_Linux: Fix comment and panic on Bebop
2015-12-27 16:11:36 -02:00
Lucas De Marchi
3a8bd7b829
AP_Progmem: remove unused library
2015-12-27 15:58:12 -02:00
Lucas De Marchi
a096703b06
Global: don't link with AP_Progmem
...
AP_Progmem is not used anymore.
2015-12-27 15:58:12 -02:00
Lucas De Marchi
52ef8c10a5
AP_Param: stop using Progmem.h
2015-12-27 15:58:12 -02:00
Lucas De Marchi
360855f109
StorageManager: stop using Progmem.h
2015-12-27 15:58:12 -02:00
Lucas De Marchi
5f26c951d8
GCS_MAVLink: stop using Progmem.h
2015-12-27 15:58:12 -02:00
Lucas De Marchi
5d07e5bdbf
DataFlash: stop using Progmem.h
2015-12-27 15:58:12 -02:00
Lucas De Marchi
eb9fd96d5c
AP_Scheduler: remove trailing whitespace
2015-12-27 15:58:12 -02:00
Lucas De Marchi
3375b6b01c
AP_Scheduler: stop using Progmem.h
2015-12-27 15:58:12 -02:00
Lucas De Marchi
25c289b74c
AP_Menu: stop using Progmem.h
2015-12-27 15:58:12 -02:00
Lucas De Marchi
502077d763
AP_Math: stop using Progmem.h
2015-12-27 15:58:12 -02:00
Lucas De Marchi
520b0384fd
AP_HAL: remove unused in_progmem flag to print_vprintf
2015-12-27 15:58:12 -02:00
Lucas De Marchi
8e0c125f56
AP_HAL: print_vprintf: follow coding style
...
- Use 4 spaces to indent
- Add braces to control statements
- Don't use tabs
2015-12-27 15:58:12 -02:00
Lucas De Marchi
c35730058a
AP_HAL: print_vprintf: stop using Progmem.h
...
Remove the unused support to data from progmem, including the unused %S
format specifier.
2015-12-27 15:58:12 -02:00
Lucas De Marchi
5bb4e3eda9
AP_GPS: stop using Progmem.h
...
Besides the trivial convertions, while reading
initblob_state[instance].blob we need to be sure to read only one byte
like we were before.
2015-12-27 15:58:12 -02:00
Lucas De Marchi
88319f52f7
AP_Declination: remove line continuation slashes
...
These are not necessary and only clutter the code.
2015-12-27 15:58:12 -02:00
Lucas De Marchi
3ae0082f52
AP_Declination: stop using Progmem.h
...
Since the headers were re-ordered we also had to add inttypes.h to
AP_Declination.h following a include-what-you-use approach.
2015-12-27 15:58:12 -02:00
Lucas De Marchi
cfb5bbeb9f
APM_Control: stop using Progmem.h
2015-12-27 15:58:12 -02:00
Lucas De Marchi
29ed01189d
AP_HAL: ftoa_engine: replace tabs with spaces
2015-12-27 15:58:12 -02:00
Lucas De Marchi
e751d632e6
AP_HAL: ftoa_engine: stop using Progmem.h
2015-12-27 15:58:12 -02:00
Andrew Tridgell
6a5c5969fa
AP_AHRS: fixed example build
2015-12-27 14:57:32 +09:00
Andrew Tridgell
3fb0b8f69d
AP_InertialSensor: fixed example build
2015-12-27 14:57:30 +09:00
Andrew Tridgell
23cef70846
AP_NavEKF2: use get_loop_delta_t() from INS
2015-12-27 14:57:17 +09:00
Andrew Tridgell
28a684ea03
AP_NavEKF: use get_loop_delta_t() from INS
2015-12-27 14:57:14 +09:00
Andrew Tridgell
17fc58f3cd
AP_InertialSensor: re-work for more flexible main loop rates
2015-12-27 14:57:12 +09:00
Andrew Tridgell
93ef881109
AP_InertialSensor: added get_loop_delta_t() API
2015-12-27 14:57:10 +09:00
Andrew Tridgell
1b1be7e4a2
AP_Scheduler: switch to Hz based scheduler config
2015-12-27 14:57:06 +09:00
Andrew Tridgell
6bc19cd44c
HAL_QURT: added README.md
2015-12-27 16:21:26 +11:00
Andrew Tridgell
bc8ee8af36
AP_GPS: added QURT GPS
2015-12-27 16:21:26 +11:00
Andrew Tridgell
b967140572
DataFlash: enable minimal file mode
...
This adds a "minimal" dataflash mode with a board specific macro. The
QURT port uses this to avoid problematic system calls that are buggy
in the QURT RTOS
With some pending updates to QURT we may be able to remove some (or
all) of this
2015-12-27 16:21:26 +11:00
Andrew Tridgell
a042845da8
AP_NavEKF: avoid an optimiser bug in clang
2015-12-27 16:21:26 +11:00
Andrew Tridgell
493ab96b29
AP_Compass: added QURT driver
2015-12-27 16:21:26 +11:00
Andrew Tridgell
6639c23685
AP_InertialSensor: added QURT driver
2015-12-27 16:21:26 +11:00
Andrew Tridgell
ff44a63007
AP_Baro: added QURT driver
2015-12-27 16:21:25 +11:00
Andrew Tridgell
285294a9cd
AP_Common: added debug code for qurt
...
and disable some warnings for clang++ on qurt
2015-12-27 16:21:25 +11:00
Andrew Tridgell
7c431b40f2
AP_HAL: enable HAL_QURT
2015-12-27 16:21:25 +11:00
Andrew Tridgell
0816937ab1
HAL_QURT: initial implementation
...
this provides RC onput, RC output, scheduling, storage, UARTs and all
necessary support routines to fly ArduPilot on QURT
2015-12-27 16:12:28 +11:00
Andrew Tridgell
3b546bb242
AP_Compass: added qflight driver
2015-12-27 16:12:27 +11:00
Andrew Tridgell
1f4e503d91
AP_Baro: added qflight driver
2015-12-27 16:12:27 +11:00
Andrew Tridgell
28230556bb
AP_InertialSensor: added qflight driver
2015-12-27 16:12:27 +11:00
Andrew Tridgell
0bbf4362e0
HAL_Linux: added qflight README.md
2015-12-27 16:12:27 +11:00
Andrew Tridgell
dc8a3bbf92
HAL_Linux: added qflight board subtype
2015-12-27 16:12:27 +11:00
Andrew Tridgell
cfd54c5683
AP_HAL: moved dsm implementation into AP_HAL/utility
2015-12-27 16:12:27 +11:00
Andrew Tridgell
fec9ffd1a0
AP_HAL: support UARTs on timer thread
...
This adds a macro for boards that need to have UARTs on the timer
thread instead of their own thread. This is needed for the qflight
port due to restrictions in the RPC API
2015-12-27 16:12:27 +11:00
Andrew Tridgell
ac1e75ae77
AP_HAL: added qflight linux subtype
2015-12-27 16:12:27 +11:00
Andrew Tridgell
e1c890eb58
RC_Channel: added RC_UART example
...
useful for UART -> ESCs
2015-12-27 16:12:27 +11:00
Don Gagne
605fedc1c0
AP_TECS: fix invalid Range meta data
2015-12-27 16:10:44 +11:00
Don Gagne
34d5dd0257
AP_NavEKF: fix invalid Range meta data
2015-12-27 16:10:44 +11:00
Don Gagne
8573245963
AP_NavEKF2: fix invalid Range meta data
2015-12-27 16:10:44 +11:00
Don Gagne
ed7cd8d3f4
AP_Motors: fix invalid Range meta data
2015-12-27 16:10:44 +11:00
Don Gagne
e891ae8a89
AP_L1_Control: fix invalid Range meta data
2015-12-27 16:10:44 +11:00
Don Gagne
47586dae07
AP_InertialSensor: fix invalid Range meta data
2015-12-27 16:10:44 +11:00
Don Gagne
2b1bc22b2a
AP_BoardConfig: fix invalid Range meta data
2015-12-27 16:10:44 +11:00
Don Gagne
964d02065a
Mount: add missing RebootRequired to param description
2015-12-26 10:06:14 +09:00
Jonathan Challinger
bde9a9421d
AP_Param: panic on failure to load defaults file
2015-12-24 14:40:00 +11:00
Julien BERAUD
0ffba07ec8
AP_HAL: Set default params for Bebop
2015-12-23 10:24:04 -02:00
Randy Mackay
86bb03aa79
AC_AttControl: use ahrs get_rotation_body_to_ned
...
ahrs.get_dcm_matrix renamed to ahrs.get_rotation_body_to_ned
2015-12-23 11:38:21 +09:00
Jonathan Challinger
46e6ff3ca9
AC_AttitudeControl: modify comment on kinematic correction feedforward
2015-12-23 11:38:19 +09:00
Jonathan Challinger
829d6037fc
AC_AttitudeControl: convert euler rates to angular velocity using the correct attitude
2015-12-23 11:38:16 +09:00
Jonathan Challinger
ae3357baee
AC_AttitudeControl: rotate angular velocity feedforward into vehicle frame
2015-12-23 11:38:14 +09:00
Jonathan Challinger
3d4bd92b48
AC_AttitudeControl: add helper functions to retrieve rotation matrices
2015-12-23 11:38:12 +09:00
Michael du Breuil
52666232ed
AP_Arming: Allow arming without the hardware safety switch having been pressed
...
Added an enum to the check type that allows for arming without the hardware switch having been enabled
2015-12-21 17:48:29 +11:00
Peter Barker
2f1297f30c
DataFlash_File: Check return values of lseek
2015-12-21 16:07:23 +11:00
Peter Barker
ce84ba049f
DataFlash_File: protect against fopen failing
2015-12-21 16:07:23 +11:00
Peter Barker
15265a45ed
DataFlash_File: check fname before using it
2015-12-21 16:07:23 +11:00
DonLakeFlyer
74902012fd
GCS_MAVLink: better mission errors
2015-12-21 16:02:23 +11:00
DonLakeFlyer
7cd3d8bfdc
AP_Mission: better mission errors
2015-12-21 16:02:23 +11:00
Aaron Wang Shi
ac08eece84
AP_HAL_Linux: instantiate BH hat objects
2015-12-21 15:54:31 +11:00
Aaron Wang Shi
4d7db9bba3
AP_HAL_Linux: add ifdefs for BH hat like other RPI-based boards
2015-12-21 15:54:31 +11:00
Aaron Wang Shi
a712e9572f
AP_HAL_Linux: instatiate SPI device for BH hat
2015-12-21 15:54:31 +11:00
Aaron Wang Shi
5d5e75c8ad
AP_HAL_Linux: RCOutput_PCA9685 add new address for BH hat
2015-12-21 15:54:31 +11:00
Aaron Wang Shi
f437e7a67c
AP_HAL_Linux: add GPIO definitions for BH hat
2015-12-21 15:54:31 +11:00
Aaron Wang Shi
8cca0beba9
AP_HAL_Linux: support PWM input for BH hat
...
Support 8 PWM channels as RCInput.
2015-12-21 15:54:31 +11:00
Aaron Wang Shi
800c142ac0
BH: Support UBLOX GPS M8N
2015-12-21 15:54:30 +11:00
Lucas De Marchi
766252cd87
AP_Compass: don't use ternary operator in place of if/else
2015-12-21 15:54:30 +11:00
Aaron Wang Shi
5a085b1610
AP_Compass: add support to BH hat
2015-12-21 15:54:30 +11:00
Aaron Wang Shi
3a31970056
AP_InertialSensor: add support to BH hat
...
- MPU6050 I2C for BH v0.1
- MPU9250 SPI for BH v0.2
2015-12-21 15:54:30 +11:00
Aaron Wang Shi
fc2e810fb2
AP_Notify: add 1 RGB and board LEDs to BH hat
2015-12-21 15:54:30 +11:00
Aaron Wang Shi
c7a77af47f
AP_HAL: add BH HAT board info
2015-12-21 15:54:30 +11:00
Andrew Tridgell
05e04ee1a7
HAL_SITL: added semaphore support
2015-12-21 07:38:30 +11:00
Andrew Tridgell
025e4edd17
DataFlash: fixed warning
2015-12-20 17:55:40 +11:00
Andrew Tridgell
a73039d515
HAL_Empty: use 5V voltage for HAL_EMPTY
...
this makes bringup easier for new boards (allows arming checks to
pass)
2015-12-20 17:55:40 +11:00
Andrew Tridgell
ef83f39029
AP_Baro: renamed _C* vars to avoid conflict with qurt
2015-12-20 17:55:39 +11:00
Andrew Tridgell
fbacb4c01f
AC_AttitudeControl: fixed M_PI -> M_PI_F
2015-12-20 17:55:39 +11:00
Andrew Tridgell
d24f6f4050
AP_NavEKF: fixed static const bug
2015-12-20 17:55:39 +11:00
Andrew Tridgell
02d7867d79
DataFlash: added locking for multi-thread logging support
2015-12-20 17:55:39 +11:00
Andrew Tridgell
c77e3c89c5
HAL_Linux: implement new_semaphore()
2015-12-20 17:55:39 +11:00
Andrew Tridgell
02bee8810d
HAL_PX4: added Semaphore support
2015-12-20 17:55:39 +11:00
Andrew Tridgell
9d4b31ca3c
AP_HAL: added a new_semaphore() interface to Util
2015-12-20 17:55:39 +11:00
Andrew Tridgell
9fe25f9c71
HAL_Empty: fixed I2CDriver for use in Linux subtypes
2015-12-20 16:52:20 +11:00
Andrew Tridgell
ec6a679482
AP_HAL: added ByteBuffer and ObjectBuffer in RingBuffer
...
much better API than old macros
2015-12-20 07:33:54 +11:00
Tom Pittenger
cf170b2aa7
GCS_MAVLink: generated files
2015-12-19 14:36:16 +09:00
Tom Pittenger
7af717fead
GCS_MAVLink: ADSB msg bug: vert_velocity is supposed to be signed
...
- bug was introduced when changing from floating point to fixed point format
2015-12-19 14:36:13 +09:00
Yang Liu
f0f3986f46
AP_InertialNav: Typo correction in comment
2015-12-19 10:11:35 +09:00
Andre Kjellstrup
6da7e76990
AP_Camera: Camera options for better camera control
...
All on one because they would not pass autotest if split up.
2015-12-18 18:16:11 +11:00
Jonathan Challinger
b0f58248a5
AP_TECS: reflect renamed function in AP_AHRS
2015-12-18 18:08:37 +11:00
Jonathan Challinger
63caca1d3f
AP_Mount: reflect renamed function in AP_AHRS
2015-12-18 18:08:37 +11:00
Jonathan Challinger
ee8090e25f
AC_AttitudeControl: reflect renamed function in AP_AHRS
2015-12-18 18:08:37 +11:00
Jonathan Challinger
6682b27456
AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned
2015-12-18 18:08:37 +11:00
Lucas De Marchi
2a953c4e35
AP_HAL_Linux: add missing casts
...
These errors were all over the VideoIn.cpp file:
libraries/AP_HAL_Linux/VideoIn.cpp: In member function 'bool Linux::VideoIn::allocate_buffers(uint32_t)':
libraries/AP_HAL_Linux/VideoIn.cpp:107:15: error: invalid conversion from 'uint32_t {aka unsigned int}' to 'v4l2_memory' [-fpermissive]
rb.memory = _memtype;
^
libraries/AP_HAL_Linux/VideoIn.cpp: In member function 'bool Linux::VideoIn::set_format(uint32_t*, uint32_t*, uint32_t*, uint32_t*, uint32_t*)':
libraries/AP_HAL_Linux/VideoIn.cpp:169:14: error: invalid conversion from 'int' to 'v4l2_buf_type' [-fpermissive]
fmt.type = V4L2_CAP_VIDEO_CAPTURE;
^
Add proper casts to fix the compilation.
2015-12-18 17:56:06 +11:00
Lucas De Marchi
ba5dd88a0b
AP_HAL_Linux: move mt9v117 patches inside class
...
Let it be a static const member instead of defining it in a header. The
problem with the header is that it will generate conflicting symbols
when more than 1 compilation unit includes it.
2015-12-18 17:56:06 +11:00
Julien BERAUD
a32738fd5f
AP_OpticalFlow: Update test declaration
...
Declare a dummy vehicle to get a dummy ahrs. No problem since this code
is not used apart from compilation. Needed to declare an optical flow.
2015-12-18 17:56:06 +11:00
Julien BERAUD
780104dc9c
GCS_MAVLink: Fix build
...
Optical Flow definition is needed
2015-12-18 17:56:06 +11:00
Julien BERAUD
924a94633d
AP_AHRS: Fix build
...
Due to interdependancy between optical flow and AHRS, it is not possible
to include full class definition which rely on each other
2015-12-18 17:56:06 +11:00
Julien BERAUD
6f55f3734c
AP_HAL_Linux: Add optflow declaration
...
Add an empty driver for boards that are not bebop
2015-12-18 17:56:05 +11:00
Lucas De Marchi
8b21dc9b22
AP_OpticalFlow: follow coding style
...
- use pragma once
- sort headers
- add missing header - always include what you are using in the header
2015-12-18 17:56:05 +11:00
Julien BERAUD
c5cca02bc8
AP_OpticalFlow: Add support for onboard optflow
...
Onboard Optical flow needs to have access to the ahrs to get
correct gyro values.
Therefore the constructor takes the ahrs as a param like it is done
for other classes that need to have access to these datas
2015-12-18 17:56:05 +11:00
Julien BERAUD
eccef24fa7
AP_HAL: Add optical flow params for bebop
...
Params that are necessary for optical flow
2015-12-18 17:56:05 +11:00
Julien BERAUD
f13cd00e59
AP_HAL_Linux: Update namespace and private
...
Add new interfaces for optical flow
2015-12-18 17:56:05 +11:00
Lucas De Marchi
83c50e12ca
AP_HAL_Linux: OpticalFlow_Onboard: follow coding style
...
- Remove commented out defines
- Sort headers
- Remove ifdef for HAL_BOARD_SUBTYPE_LINUX_BEBOP inside the same ifdef
- Use AP_HAL::panic() instead of perror
- AP_HAL::panic() message doesn't take a '\n' and there's no return
statement after a call to this function
- Fix pointer placement
- Use pragma once
- Don't initialize members to 0, it's already the default behavior of
our custom allocator
2015-12-18 17:56:05 +11:00
Julien BERAUD
ea89308d90
AP_HAL_Linux: Add Onboard Optical Flow interface
...
Implementation of AP_HAL::OpticalFlow for an embedded camera sensor
There is the possibility to record video and also the gyro datas in order
to process the video off-board and debug possible issues.
2015-12-18 17:56:05 +11:00
Lucas De Marchi
db5f49f49f
AP_HAL_Linux: Flow_PX4: follow coding style
...
- Replace tabs with spaces
- Sort headers
- Fix curly braces placement
- Use pragma once
2015-12-18 17:56:05 +11:00
Julien BERAUD
0476e698af
AP_HAL_Linux: Flow_PX4 interface
...
Implementation of the PX4 flow algorithm for ardupilot.
Based on the original PX4 Flow code, it has diverged a lot.
I have kept the license header since it is required.
I have removed all the unused and dead code on current implementation,
modified the code to make it clearer, re-indented it and changed
the way some params are calculated. It has been tested on PC and
on board and showed results that I assumed were OK. No optical flow
Loiter tests have been undertaken since it requires a Sonar which will
be added soon.
Limitations :
Some parts were written in ARM assembly and I rewrote them very naively
to get them to be more easily portable. A simple optimisation would be
to re-introduce assembly code for ARM as a separate asm file with
methods for fixed resolutions that would reduce a lot the amount of
calculation and memory read/writes. Then writing a version in NEON
assembly would even be more optimised and then maybe an Intel version.
2015-12-18 17:56:05 +11:00
Lucas De Marchi
c75704bde3
AP_HAL_Linux: VideoIn: follow coding style and minor fixes
...
- No need to if/else if just returning
- Sort includes
- Fix missing space in log message
- When closing the fd, set it to -1. It's better to later fail the
operation than to operate on another random file descriptor
- Add some spaces to improve readability
- Use pragma once
- Do not initialize members to zero, it's already the behavior for our
custom allocator
2015-12-18 17:56:05 +11:00
Julien BERAUD
25df4d03ff
AP_HAL_Linux: Add support for Video Input
...
VideoIn class is created that allows to setup a v4l2 interface
and capture buffers. I is based on yavta utility by Laurent Pinchart
and has been tested only on the bebop, though yavta works on any linux
platform.
2015-12-18 17:56:04 +11:00
Lucas De Marchi
24d20f89c4
AP_HAL_Linux: make CameraSensor follow coding style
...
- Replace tabs with spaces
- Sort includes
- No need to ifdef Linux inside AP_HAL_Linux
- Use early returns on error rather than a chain o if/else
- Use pragma once
- No need to initialize class members to 0, it's already our default
behavior
2015-12-18 17:56:04 +11:00
Julien BERAUD
c84d9bf702
AP_HAL_Linux: Add support for mt9v117 camera
...
The camera sensor is connected on i2c bus for config
and on a parallel bus on the main SoC.
Currently, the i2c driver remains userland, but this is intended to
change in the future. The v4l2_subdev part is the way to go in the future
and it is the mainline way of configuring i2c camera sensors on Linux.
Currently only the max framerate is supported because it is the one that
is to be used on the bebop optical flow.
2015-12-18 17:56:04 +11:00
Julien BERAUD
736f78a7a2
AP_HAL_VRBRAIN: add empty optical flow
...
No onboard optical flow on VRBRAIN
2015-12-18 17:56:04 +11:00
Julien BERAUD
d8bcb36530
AP_HAL_SITL: add empty optical flow
...
No embedded optical flow on sitl
2015-12-18 17:56:04 +11:00
Julien BERAUD
c0f65ff6e1
AP_HAL_PX4: add empty optical flow
...
No onboard optical flow on PX4
2015-12-18 17:56:04 +11:00
Lucas De Marchi
0e29a7193a
AP_HAL_FLYMAPLE: replace tabs with spaces in HAL_FLYMAPLE_Class
2015-12-18 17:56:04 +11:00
Lucas De Marchi
d08d7ce125
AP_HAL_FLYMAPLE: fix indentation
2015-12-18 17:56:04 +11:00
Julien BERAUD
c114ad2b95
AP_HAL_FLYMAPLE: add empty optflow driver
...
no embedded optical flow on flymaple
2015-12-18 17:56:04 +11:00
Lucas De Marchi
e825eb12f5
AP_HAL_Empty: follow coding style
...
- Add some spaces
- Use pragma once
- Remove ; from method implementation
- Remove unneeded return
2015-12-18 17:56:04 +11:00
Lucas De Marchi
b3a751a199
AP_HAL_Empty: sort include headers
2015-12-18 17:56:03 +11:00
Julien BERAUD
d14f4104ea
AP_HAL_Empty: add support for OpticalFlow
...
Void driver
2015-12-18 17:56:03 +11:00
Lucas De Marchi
c7668479bb
AP_HAL: follow coding style
2015-12-18 17:56:03 +11:00
Julien BERAUD
2b681f2f13
AP_HAL: Add support for an Optflow driver
...
This is meant to be used for onboard optical flow
2015-12-18 17:56:03 +11:00
Tom Pittenger
d003e24189
AP_ADSB: fix unit conversion
2015-12-18 13:49:47 +09:00
José Roberto de Souza
63e1d0753e
AP_Notify: Add a new RGBLed implementation that works over RCOutput
...
To be used in boards that uses the same PWM chip to generate signal to
control motors and the status led.
2015-12-16 08:18:17 +11:00
José Roberto de Souza
d74bd533c8
AP_Math: Add function to convert frequency to/from microseconds
2015-12-16 08:18:17 +11:00
José Roberto de Souza
38575dd87a
AP_Math: Fix parameter name in nsec_to_hz()
2015-12-16 08:18:17 +11:00
Julien BERAUD
a27d7f8a93
AP_InertialSensor_MPU6000: Fix FIFO reset
...
Change the sequence. Previous sequence was sometimes causing failure
to initialize the IMU.
2015-12-16 08:16:10 +11:00
Andrew Tridgell
0a36503742
HAL_Linux: fixed a bug with UDP packetisation
...
this fixes a bug where we would send UDP MAVLink packets larger than 300 bytes
2015-12-14 18:27:11 +11:00
