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10395 Commits

Author SHA1 Message Date
Andrew Tridgell
061ee5e4fd AP_Camera: use timer for faster camera trigger pin detection 2016-01-29 09:19:43 +11:00
Jaime Machuca
1001e53140 DataFlash: added TRIGGER message to Logs 
DataFlash.h: added support for Trigger MSG, supressed TAB separations
and file reorganized LogFile.cpp: included Trigger packet
 2016-01-29 09:19:43 +11:00
Dario Lindo Andres
2f3510023d AP_Camera: Support for camera feedback signal 
Added _feedback_pin;
Added _camera_triggered;
Included FEEDBACK_PIN parameter and his default definition
 2016-01-29 09:19:43 +11:00
mirkix
b5cb48ba6d AP_BattMonitor: Add BBBMINI defaults 2016-01-28 13:44:44 -02:00
mirkix
c622ff1539 AP_HAL_Linux: Enable AnalogIN_IIO for BBBMINI 2016-01-28 13:44:43 -02:00
mirkix
fe404c8a5d AP_HAL_Linux: AnalogIIO: Remove unused code, add scaling for BBBMINI, rework 2016-01-28 13:44:43 -02:00
Jonathan Challinger
9a09a86bb8 AP_Motors: add AP_MOTORS_DENSITY_COMP_DISABLED option 2016-01-27 09:18:09 +09:00
Andrew Tridgell
68cf1b6956 HAL_QURT: automatically find broadcast address for UDP network 2016-01-25 19:43:55 +11:00
Jonathan Challinger
ac3b5a4400 GCS_MAVLink: add messages to routing switch statement 2016-01-23 10:35:44 +09:00
Jonathan Challinger
5b834330cb AP_Mount: merge SoloGimbal from solo master 2016-01-23 10:35:40 +09:00
Jonathan Challinger
eabede692e AP_SmallEKF: move to AP_Mount/SoloGimbalEKF and merge solo version 2016-01-23 10:35:38 +09:00
Jonathan Challinger
02d8b28fa3 DataFlash: add GMB1, GMB2, GMB3 2016-01-23 10:35:37 +09:00
Jonathan Challinger
cbf2309023 AP_AHRS: add get_mag_field_NED and get_mag_field_correction 2016-01-23 10:35:36 +09:00
Jonathan Challinger
4c2e6af6ee AP_InertialSensor: statically register with AP_AccelCal 2016-01-23 10:35:34 +09:00
Jonathan Challinger
49ad2d26c6 AP_AccelCal: make client list static 2016-01-23 10:35:33 +09:00
Randy Mackay
081beacb8d AP_InertialSensor: replace sqrt with safe_sqrt to resolve compiler warning 
Also add suppressing comment for missing break at end of switch
 2016-01-23 10:10:17 +09:00
Gustavo Jose de Sousa
c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_ 
It helps to distinguish between things from waf and things from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
a2d2661765 waf: use methods from bld instead of ardupilotwaf for the remaining 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
3d22490397 waf: examples: use methods from bld instead of ardupilotwaf 2016-01-22 20:10:29 -02:00
mirkix
2d9b230be1 AP_RangeFinder: Load .data section for HC-SR04 PRU driver used by BBBMINI 
This adds .data section loading to the HC-SR04 range finder driver used by
BBBMINI. The firmware is running inside a PRU. It is necessary to develop more
complex driver software inside the PRU.
 2016-01-21 14:02:41 -02:00
Andrew Tridgell
5da6082d78 GCS_MAVLink: raise the waypoint receive timeout to 8s 
this fixes a timeout in autotest
 2016-01-20 17:23:36 +11:00
Andrew Tridgell
6baae735de SITL: updated fixed wing model based on last_letter skywalker_2013 
many thanks to Georacer for this code!
 2016-01-20 17:23:36 +11:00
Andrew Tridgell
bc5210d6f2 AP_Arming: don't reporting IMU inconsistencies if IMU not enabled 2016-01-19 18:05:08 +11:00
Andrew Tridgell
24d8610013 AP_InertialSensor: use SIM_GYR_SCALE in SITL 2016-01-19 15:29:08 +11:00
Andrew Tridgell
a828db792e SITL: added SIM_GYR_SCALE_{X,Y,Z} 
allows testing of gyro scale factor learning in EKF2
 2016-01-19 15:28:53 +11:00
mirkix
86e335b6b6 AP_HAL_Linux: Prevent buffer overflow 2016-01-19 00:14:48 -02:00
Víctor Mayoral Vilches
5d28fbfa1b Compass: Erle-Brain 2 and PXFmini fix 2016-01-18 23:59:25 -02:00
Andrew Tridgell
640332113c AP_L1_Control: calculate dt for crosstracking 2016-01-19 11:05:56 +11:00
Andrew Tridgell
4f9927beda AP_TECS: added set_pitch_max_limit() API 2016-01-19 11:05:56 +11:00
Andrew Tridgell
acb4885989 AP_NavEKF2: use get_delta_angle_dt() API 2016-01-19 09:50:22 +11:00
Andrew Tridgell
ee453783eb AP_InertialSensor: added get_delta_angle_dt() API 2016-01-19 09:50:21 +11:00
Lucas De Marchi
2d3a62eae3 AP_HAL_Linux: RCInput_RPI: revert PWM support 
This reverts support for RCInput via PWM. This is causing trouble in
some RPI-based boards, receiving a SIGSEGV. Let's revert it for now and
retry this later.

This reverts commit 5629f38b2c.
This reverts commit 51fd0b3d55.
This reverts commit 79d56073f7.
 2016-01-18 20:07:42 -02:00
Lucas De Marchi
c8947c3e9c AP_HAL_Linux: RCInput_RPI: provide signal information 
Otherwise it's difficult to know what signal is causing the program to
exit.
 2016-01-18 19:20:44 -02:00
Lucas De Marchi
5629f38b2c AP_HAL_Linux: RCInput_RPI: fix use of uninitiliazed value 
../../libraries/AP_HAL_Linux/RCInput_RPI.cpp: In member function ‘virtual void Linux::RCInput_RPI::_timer_tick()’:
../../libraries/AP_HAL_Linux/RCInput_RPI.cpp:489:127: warning: ‘x’ may be used uninitialized in this function [-Wmaybe-uninitialized]
     counter = circle_buffer->bytes_available(curr_pointer, circle_buffer->get_offset(circle_buffer->_virt_pages, (uintptr_t)x));
                                                                                                                               ^
 2016-01-18 19:19:36 -02:00
Julien BERAUD
45d668df47 AP_Compass_AK8963: support for timesliced timers 
fallback in case the current scheduler doesn't support it
 2016-01-18 16:57:48 -02:00
Julien BERAUD
d15097f3fc AP_Baro_MS5611: Support for timesliced timers 
fallback if current scheduler doesn't support it
 2016-01-18 16:57:48 -02:00
Julien BERAUD
4acc121bd6 AP_HAL_Linux: support for timesliced timers 
In order for lower frequency timers not to be called at the same iteration
of the main timer loop. This improves scheduling.
 2016-01-18 16:57:48 -02:00
Julien BERAUD
d5c4917bcd AP_HAL: add default support for timesliced timers 
To keep compatibility
 2016-01-18 16:57:48 -02:00
Don Gagne
c13cf70163 GCS_MAVLink: system id output as severity INFO 2016-01-18 09:40:00 +09:00
Gustavo Jose de Sousa
d281067bcc waf: make example binaries be placed in 'examples' dir 
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
 2016-01-15 16:46:41 -02:00
Ricardo de Almeida Gonzaga
4c60dd5e44 AP_HAL_Linux: improve yuyv_to_grey() performance 
Based on gbenchmark metrics.

Before:
Benchmark             Time(ns)    CPU(ns) Iterations
----------------------------------------------------
BM_YuyvToGrey/4k          3109       3114     233334
BM_YuyvToGrey/75k        55777      55857      12353
BM_YuyvToGrey/300k      231829     232227       3043

After:
Benchmark             Time(ns)    CPU(ns) Iterations
----------------------------------------------------
BM_YuyvToGrey/4k          1713       1716     411765
BM_YuyvToGrey/75k        32124      32152      21875
BM_YuyvToGrey/300k      128530     128753       5385
 2016-01-15 16:43:52 -02:00
Ricardo de Almeida Gonzaga
3748760ead AP_HAL_Linux: improve crop_8bpp() performance 
Based on gbenchmark metrics.

Before:
Benchmark             Time(ns)    CPU(ns) Iterations
----------------------------------------------------
BM_Crop8bpp/64/64         3206       3197     198113
BM_Crop8bpp/240/240      38166      38181      18421
BM_Crop8bpp/640/480     193589     193317       3621

After:
Benchmark             Time(ns)    CPU(ns) Iterations
----------------------------------------------------
BM_Crop8bpp/64/64         2652       2657     232103
BM_Crop8bpp/240/240      33532      33506      20792
BM_Crop8bpp/640/480     187848     188201       3684
 2016-01-15 16:43:52 -02:00
Ricardo de Almeida Gonzaga
210c90e784 AP_HAL_Linux: add benchmark for crop_8bpp() and yuyv_to_grey() 
We had to check for board subtypes in the benchmark since VideoIn.cpp
does these checks.
 2016-01-15 16:43:52 -02:00
Julien BERAUD
43307d95c8 OpticalFlow_Onboard: fix body rate calculation 
The correct integral of the body rate is (rate + last_rate)/2*dt
and not rate * dt
 2016-01-15 16:11:19 -02:00
Ricardo de Almeida Gonzaga
753f7d864a AP_HAL_Linux: add a shrink by software option in OpticalFlow 
This shrink must be used when the output camera sizes doesn't fit
the expected output.

We don't need to crop it even when the camera sizes aren't squared since
the shrink_8bpp() function shrinks a selected area.
 2016-01-15 16:05:47 -02:00
Ricardo de Almeida Gonzaga
553d36c860 AP_HAL_Linux: add shrink_8bpp() to VideoIn 
This function shrinks a selected area on a 8bpp image.

The focus in this function was the performance, so this may not be the
clearer or the most understandable way to write it. The performance
was measured using GoogleBenchmark[1].

[1] - https://github.com/google/benchmark.git
 2016-01-15 16:05:47 -02:00
Lucas De Marchi
51fd0b3d55 AP_HAL_Linux: RCInput_RPI: fix coding style 
- Remove trailing whitespaces
 - Remove some uneeded comments
 - Fix indentation
 - Replace some breaks inside the loop by checking in the loop itself
 2016-01-15 00:16:14 -02:00
Aaron Wang Shi
79d56073f7 AP_HAL_Linux: support PWM input for BH hat 2016-01-15 00:16:14 -02:00
Julien BERAUD
f449107563 AP_HAL_Linux: Add Perf Lttng 
Support for perf api using lttng.
Some additional build tricks needed for bebop because lttng uses dl_open
which is not compatible with a static link on a different libc as used
on the bebop
 2016-01-14 19:13:35 -02:00
bugobliterator
d7fcc7cd85 GCS_MAVLink: remove obsolete files from GCS_MAVLink dir 2016-01-15 07:28:47 +11:00
Paul Riseborough
287ebe8e6a AP_NavEKF2: Fix bug in application of sensor bias corrections 
Sensor bias corrections were being applied to the incoming IMU data using the wrong delta time.
This was what was driving the different tuning between plane and copter for gyro bias process noise so the same gyro bias process noise default tuning value can now be used for all platform types.
Sensor bias corrections were being applied a a second time to the output observer inertial data.
 2016-01-13 08:05:39 +11:00
Paul Riseborough
20923da23a AP_NavEKF2: Allow tuning of non-GPS mode 
Eliminate the use of horizontal position states during non-aiding operation to make it easier to tune.
Explicitly set the horizontal position associated Kalman gains to zero and the coresponding covariance entries to zero after avery fusion operation.
Make the horizontal velocity observation noise used during non-aiding operation adjustable.
Use a fixed value of velocity noise during initial alignment so that the flight peformance can be tuned without affecting the initial alignment.
 2016-01-13 08:05:39 +11:00
Paul Riseborough
23038e7243 AP_NavEKF2: Use measurement uncertainties to initialise covariance 2016-01-13 08:05:39 +11:00
Lucas De Marchi
a3cac102cd AP_HAL_Linux: AnalogIn_Raspilot: rename misleading variables 
We are not doing any dma here, it's just an SPI transaction. Name them
only rx/tx (although io_packet_tx/io_packet_rx could be another option).
This also zero-initialize the struct to keep valgrind happy about not
calling ioctl() with uninitialized variables.
 2016-01-11 16:03:28 -02:00
Lucas De Marchi
0cff40ed7b AP_HAL_Linux: AnalogIn_Raspilot: remove unused debug 2016-01-11 15:58:49 -02:00
Pritam Ghanghas
60636c1653 AP_HAL_Linux: rename RaspilotAnalogIn.cpp to AnalogIn_Raspilot.cpp 2016-01-11 15:56:20 -02:00
Lucas De Marchi
1fde473afc AP_HAL_Linux: AnalogIn_IIO: normalize names 
Use same name for file and classes, preferring AnalogIn_IIO over
IIOAnalogIn.
 2016-01-11 15:44:24 -02:00
Lucas De Marchi
be2af0877c AP_HAL_Linux: AnalogIn_IIO: formatting fixes 
- remove trailing whitespaces
  - use pragma 0 for header guard
 2016-01-11 15:44:24 -02:00
Víctor Mayoral Vilches
8195631fac HAL_Linux: AnalogIn_IIO update reopen_pin 2016-01-11 15:44:24 -02:00
Víctor Mayoral Vilches
b9c83da8c6 HAL_Linux: AnalogIn_IIO, replace reopen by select 
A new select_pin method has been implemented and
set that changes solely the file descriptor (avoids
reopening the file every time we call set_pin).
 2016-01-11 15:44:24 -02:00
Víctor Mayoral Vilches
da1b529415 HAL_Linux: AnalogIn_IIO add init_pins 
initializes all the available analog
sources and stores the corresponding file descriptors
in fd_analog_sources.
 2016-01-11 15:44:24 -02:00
Víctor Mayoral Vilches
546fbd1f25 HAL_Linux: mv AnalogIn_PXF to AnalogIn_IIO 
Initial implementation used for the PXF moved for
a wider use. The implementation uses the Linux Industrial
I/O Subsystem (IIO) to get Analog Input.
 2016-01-11 15:44:24 -02:00
Víctor Mayoral Vilches
4820e0b2c7 HAL_Linux: AnalogIn_PXF changes in AnalogIn 
Recent changes in AP_HAL::AnalogIn have made the previous
code not valid anymore. This commit fixes the init()
method and adds common headers.
 2016-01-11 15:44:24 -02:00
pkancir
c117b41188 AP_BattMonitor: add PXF default pins 2016-01-11 15:44:24 -02:00
pkancir
506db4eaf5 AP_HAL_Linux: add ADC support for PXF cape 2016-01-11 15:44:24 -02:00
Lucas De Marchi
0817fe6033 AP_HAL_Linux: default USE_FRAM to 0 for all boards 
This disables FRAM usage in PXF and erleboard. The reason is it's
failing and not being used. Right now we get this on startup:

	root@beaglebone:~# ./ArduCopter.elf
	FRAM: Online
	Storage: FRAM is getting reset to default values
	Failed to read FRAM

Testing with valgrind also reveals some invalid memory reads. Let's
disable it for now to be common with other boards.
 2016-01-11 15:44:24 -02:00
Lucas De Marchi
2a33b6bf33 AP_HAL_Linux: OpticalFlow: remove unneeded panic 
There's already a panic() below.
 2016-01-11 15:34:14 -02:00
Ricardo de Almeida Gonzaga
7adbccac9a AP_HAL_Linux: add support for OpticalFlow to MinnowBoardMax 
This commit adds support for OpticalFlow to MinnowBoardMax trying to
leave the OpticalFlow implementation as generic as it already is.

We had to add some format conversion and software crop to the cameras that
do not have this features.
 2016-01-11 15:31:27 -02:00
Ricardo de Almeida Gonzaga
8aded390e7 AP_HAL_Linux: add yuyv_to_grey() and crop_8bpp() to VideoIn 
Most cameras do not support NV12 or GREY formats, we are adding in this commit
a conversion from YUYV format, that seems pretty common in cameras, to GREY
format (since we do not use Cb and Cr data on OpticalFlow).

Also we are adding a software crop for 8bpp images, such as GREY format. For
the same reason, most cameras do not have support for overlaying (crop, resize
and so on).

These functions are being added in order to be used in the next commits,
where we will add support for OpticalFlow on MinnowBoardMax.
 2016-01-11 15:31:27 -02:00
Ricardo de Almeida Gonzaga
27f909319e AP_HAL_Linux: add get_pixel_formats() to VideoIn 
This function is being added in order to be used in the next commits,
where we will add support for OpticalFlow on MinnowBoardMax.
 2016-01-11 15:31:26 -02:00
Julien BERAUD
979184607d OpticalFlow_Onboard: fix comment 
Copy-paste mistake
 2016-01-11 14:54:51 -02:00
Andrew Tridgell
097c2011e1 HAL_SITL: prevent abort on select with -1 fd 2016-01-10 21:26:35 +11:00
Andrew Tridgell
deb0b9c197 HAL_SITL: read in larger chunks 2016-01-10 17:43:01 +11:00
Andrew Tridgell
655f57ad01 HAL_SITL: cleanup class names 
remove SITL prefix
 2016-01-10 17:43:01 +11:00
Andrew Tridgell
492c733750 HAL_SITL: added RingBuffers to UART driver 
makes for faster log download
 2016-01-10 17:43:01 +11:00
Tom Pittenger
db8a2f7e8b AP_TECS: changed land_spdwgt to be sliding scale 2016-01-09 13:25:02 +11:00
Tom Pittenger
89ce0b062b AP_SpdHgtControl: added new path_propportion var 2016-01-09 13:25:02 +11:00
Andrew Tridgell
ef151944b8 GCS_MAVLink: regenerate headers 2016-01-09 07:38:54 +11:00
Andrew Tridgell
ad59cb9f5c AP_Mission: support VTOL_TAKEOFF and VTOL_LAND 2016-01-09 07:38:53 +11:00
Andrew Tridgell
712a45eb22 GCS_MAVLink: added VTOL_TAKEOFF and VTOL_LAND 2016-01-09 07:38:53 +11:00
Andrew Tridgell
b3bd83b1c6 AP_TECS: no underspeed when in VTOL 2016-01-09 07:38:52 +11:00
Andrew Tridgell
4f70ca22c1 AP_SpdHgtControl: added VTOL flight stage 2016-01-09 07:38:52 +11:00
Andrew Tridgell
b187a0c6eb AP_Motors: added quadplane frame type 
this puts the motors on outputs 5 to 8, to leave the first 4 for the
plane
 2016-01-09 07:38:51 +11:00
Andrew Tridgell
22e25cc792 HAL_SITL: added Flightaxis support 2016-01-09 07:38:51 +11:00
Andrew Tridgell
7a7bd0607f SITL: first version of FlightAxis SITL support 2016-01-09 07:38:51 +11:00
Andrew Tridgell
76e3ae190a GCS_MAVLink: partial merge of common.xml from upstream 2016-01-09 07:38:51 +11:00
Randy Mackay
b742ee9cfb AP_Motors: fix example sketch 2016-01-08 18:36:47 +09:00
Michael du Breuil
8c9eafeb3c AP_GPS: Fix param docs that had incorrect spaces 
The spaces between values aren't stirpped by the autodoc tool that generates the XML files
 2016-01-08 20:17:54 +11:00
Randy Mackay
8c7f36563c AC_AttControl: bug fix to angle_boost reporting 
Thanks to OXINARF for finding this
 2016-01-08 10:48:59 +09:00
Michael Oborne
a42b286c01 AP_GPS_SBF: update logging based on vendor recommendation. 2016-01-08 10:47:05 +11:00
Andrew Tridgell
b54bb757df AP_Param: fixed flymaple build 2016-01-08 10:33:45 +11:00
mirkix
1744bc0850 AP_Notify: Use display with bbbmini 2016-01-07 14:32:56 -02:00
mirkix
2457558624 AP_Notify: Add display support 2016-01-07 14:32:56 -02:00
mirkix
dee20a31f1 AP_Notify: Add gps_num_sats 2016-01-07 14:32:56 -02:00
Lucas De Marchi
a803cfd1e8 AP_HAL_Linux: RCInput: use GPIO5 for PPMSUM in bhat 2016-01-07 10:28:16 -02:00
Lucas De Marchi
321803919c Revert "AP_HAL_Linux: support PWM input for BH hat" 
This reverts commit 8cca0beba9.

The PWM input using the RPI DMA is causing trouble with RPI boards using
PPMSUM. Let's revert it until the solution is found. We still leave the
ifdef in RCInput for BH hat.
 2016-01-07 10:27:07 -02:00
Randy Mackay
c829ec0c2c AC_PrecLand: add missing parameter description 
Thanks to Thomas Stone for finding this
 2016-01-07 17:35:18 +09:00
Jonathan Challinger
8fdbb36827 AP_BattMonitor: add is_powering_off 2016-01-07 15:14:07 +09:00
Randy Mackay
5ddd332277 AC_AttControl: add ANGLE_BOOST param 
This allows disabling angle boost
 2016-01-07 12:31:52 +09:00
Randy Mackay
6c458b07cb MotorsHeli_RSC: resolve compiler warning re init order 2016-01-07 12:31:49 +09:00