As AVR2560 is not supported anymore and do integer operations is
usually faster than float-point the _calculate() implementation was
done using only integer operations and as more close to what
datasheet says.
offset parameter units are milligauss
User settable parameters should have a User category defined. Those that should never be set by a user should not have this.
The function rotate_field() can change the values axes and the function
correct_field() applies offsets (which are already in milligauss). Thus any
sensitivity adjustment must be done for two reasons:
(1) The offsets must be applied to the values already in milligauss;
(2) The factory sensitivity adjustment values are per axis, if any rotation
that switches axes is applied, that'll mess with the adjustment.
Experiments showed that before this patch the length of the mag field reported
quite different from the expected. After this patch, the same experiments
showed reasonable values.
This is part of the transition to make all mag field values be used in
milligauss. Additionally the value of _gain_multiple is adapted to the new way
we're using it and corrected accordingly to the datasheets.
The use of _gain_multiple is not necessary because the values of
expected_{x,yz} and _mag_{x,y,z} are both in sensor raw unit (i.e., lsbs).
That wasn't fixed before in order not to make APM users to recalibrate their
compasses.
The failure to initialise the magnetometer bias states to zero can result in a large jump in yaw gyro bias and heading when a heading reset is performed.
Fixes a potential error where changes to timing and arrival rate of magnetometer and baro data could block the fusion of synthetic position and velocity measurements, allowing unrestrained tilt errors during operation without GPS or optical flow.
Fusion of synthetic position or velocity measurements is now timed to coincide with fusion of barometer observations.
If a new barometer observation has not arrived after 200 msec then the synthetic position or velocity is fused anyway so that fusion of synthetic position or velocity observations cannot occur any slower than 5 Hz
Previous check default only checked the number of satellites and horizontal position accuracy.
Updated default value also checks HDoP and speed accuracy.
Fixes the issue of three unused variables, two of which were used in a
commented Debug() call.
To keep the convenient debug message (and the variable names for the
data bytes), this patch uncomment the debug call but wrap the variables
and the debug call around an ifdef for the local symbol
gsof_DEBUGGING. So by turning it on, the debug will already be in place.
The Debug() call was modified to actually compile and include the third
variable in the output.
It uses a heating resistor controlled by a pwm.
By changing the duty cycle of the pwm, we can control the temperature.
A simple PI algorithm is used in order to get to the correct temperature
fast enough and without too much overshoot
It is implemented as a member of the Util class in order not to make to much
modification to the current codebase
Read temperature as part of the normal burst. This is not very costly since it
is part of the burst read in i2c and already read in spi.
It is meant to be used for imu heating.
The filter is set to 1Hz on temperature because of the inherent inertia of
heating systems.
Surround calls to rcout->write() with rcout->cork() and rcout->push().
If the RCOutput implementation allows the writes are grouped and only
sent together to the underlying hardware.
Fix warning and use htole16 instead of trying to implement it.
The current code does nothing on little endian platforms.
Moreover, the status variable was unused.
MPU6000 data sheet indicates that variation on gyro ZRO across temperature range from -40 to +85 is +-20 deg/sec.
The limits on the gyro bias states have been increased to allow for this.
To enable the EKF to accommodate such large gyro bias values in yaw without the yaw error wrapping, leading to continual heading drift, an unwrap function has been applied to the compass heading error.
In 294298e ("AP_InertialSensor: use method for downcast") I was too eager
to use "auto" and ended up using the implicit copy constructor instead
of actually getting a reference to the object.
This was only used for supporting APM1. The removal was mostly automatic
with:
sed -i 's/pgm_read_byte(&_motor_to_channel_map\[\([^]]*\)\])/\1/g' libraries/AP_Motors/*.cpp
sed -i 's/_motor_to_channel_map\[\([^]]*\)\]/\1/g' libraries/AP_Motors/*.cpp
And then remove references to MOTOR_TO_CHANNEL_MAP and
_motor_to_channel_map and make sure the variable used in shifts is
unsigned
This method is not used anymore since the introduction of channel map and
allowing motors to be enabled/disabled in AP_Motors.
Later we may introduce a method to write multiple values with a default
implementation that supports the channel and enable maps rather than
requiring all subclasses to implement this method.
This is the only place where this variant of RCOutput::write() is
called. Remove it so to use the common interface. It can be added back
later when there's support for asynchronous write.
Now that most places in the code use the ARRAY_SIZE macro instead of
coding it by hand, let's use some type safety in its definition. This is
a C++ version of similar macros used in kmod, Linux kernel and the
source of them, ccan.
A C++ version like this is used in V8 (the JS engine) and other open
source projects.
The main benefit of this version is that you get a compile error if you
pass in a variable that's not an array. For example,
Bla y[10];
Bla *y_ptr = y;
void foo(Bla x[])
{
// build error since x[] decay to a pointer in function
// parameter
for (int i = 0; i < ARRAY_SIZE(x); i++) {
...
}
// build error since y_ptr is not an array
for (int i = 0; i < ARRAY_SIZE(y_ptr); i++) {
...
}
}
I added the additional specialization to allow arrays of size 0.
If there is a read error, reading from the adc will return 0 but moreover,
we need to re-initiate a read or else we are stuck forever.
From MS5611-01BA03 datasheet, p. 10, CONVERSION SEQUENCE:
"After the conversion, using ADC read command the result is clocked out with the MSB first.
If the conversion is not executed before the ADC read command, or the ADC read command is
repeated, it will give 0 as the output result."
Instead of just doing a static cast to the desired class, use a method
named "from". Pros:
- When we have data shared on the parent class, the code is cleaner in
child class when it needs to access this data. Almost all the data
we use in AP_HAL benefits from this
- There's a minimal type checking because now we are using a method
that can only receive the type of the parent class
Instead of just doing a static cast to the desired class, use a method
named "from". Pros:
- When we have data shared on the parent class, the code is cleaner in
child class when it needs to access this data. Almost all the data
we use in AP_HAL benefits from this
- There's a minimal type checking because now we are using a method
that can only receive the type of the parent class
Instead of just doing a static cast to the desired class, use a method
named "from". Pros:
- When we have data shared on the parent class, the code is cleaner in
child class when it needs to access this data. Almost all the data
we use in AP_HAL benefits from this
- There's a minimal type checking because now we are using a method
that can only receive the type of the parent class
Instead of just doing a static cast to the desired class, use a method
named "from". Pros:
- When we have data shared on the parent class, the code is cleaner in
child class when it needs to access this data. Almost all the data
we use in AP_HAL benefits from this
- There's a minimal type checking because now we are using a method
that can only receive the type of the parent class
we should use baro height not hgt_afe for the climb rate filter. This
makes the climb rate consistent with the one from the EKF. The lidar
correction comes in with the demanded height, not the observed height
the previous approach assumed a 1:1 mapping between compass backends
and compass instances, which isn't true on PX4.
It also only setup milligauss offsets on a set_and_save call, which is
not the only way offsets change
this adds a milligauss_ratio per instance, which is considerably
simpler
Due to the description string getting to long HDop was renamed as EPH with VDop as EPV (Which is the same terimnology used to describe the MAVLink side). Status was shortened to stat as well.
AK8963 is configured in 16-bit ADC mode which implies sensitivity of 0.15 uT/LSb. Knowing this fact we can convert the measurements to the proper units. The change will make users recalibrate their compasses.
From now on there's a pair get_field_milligauss() and
get_offsets_milligauss() that can make the transition to the common
units across all compasses easier.
compile time optimization
Functions like sq() are better moved to the header file as inline.
Compiler can then optimize these out when used in code, this saves cpu
cycles with stack push, pop during function calls.
- add get_prev_nav_cmd_with_wp_index(). This is different than get_prev_nav_cmd_index() in that it only stores the index if there is a valid lat/lng (+1 squashed commits)
- added mission item command to NAV_LAND which is the abort takeoff altitude. If 0 then use last takeoff if available, else use 50m
This is a good way of letting each implementation easily calculate vibration
and clipping: all they need to do is publish their sample rate and they don't
need to worry about the call for calculation.
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
Also fix bug in do-mount-control so that do-mount-control can switch mount into retract mode
Also removes ability to set which axis are stabilized through
ardupilotmega mount_configure message
It's possible to use the internal clock in PCA96895 if we account for
the drift it contains. This is a bit different from solutions in other
projects like the Adafruit library and the PX4 firmware: instead of
applying a correction to the final frequency we apply the correction to
the clock since this is the source of the error.
With this fix we arrived to much better results across different lots of
sensors.
The Navio board continues to use the external clock and should have no
difference behavior.
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
