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7979 Commits

Author SHA1 Message Date
Andrew Tridgell
f23bc463cb AP_Airspeed: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Andrew Tridgell
e597575747 AP_AHRS: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Andrew Tridgell
d8cd986696 APM_Control: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Andrew Tridgell
e789984c98 AC_WPNav: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Andrew Tridgell
777685ce1f AC_PID: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Andrew Tridgell
40e3b422b5 HAL_SITL: rename HAL_AVR_SITL to HAL_SITL 
it is nothing to do with the original AVR emulation now
 2015-05-05 09:45:54 +10:00
Andrew Tridgell
24fc1d8ebf HAL_SITL: added -F option for FDM address 2015-05-05 09:45:54 +10:00
Andrew Tridgell
630cd14252 HAL_SITL: added rover simulator support 2015-05-05 09:45:53 +10:00
Andrew Tridgell
64fa219c05 SITL: converted rover simulator from python to C++ 2015-05-05 09:45:53 +10:00
Andrew Tridgell
11df612c04 HAL_SITL: added a table of simulator constructors 2015-05-05 09:45:53 +10:00
Andrew Tridgell
6ec6158b8b SITL: converted helicopter simulator from python 2015-05-05 09:45:53 +10:00
Andrew Tridgell
be3d6c924e AP_Compass: rename enum values to avoid header conflicts for 'ERROR' 2015-05-05 09:45:53 +10:00
Andrew Tridgell
963e5c5977 HAL_SITL: removed pthread.h as no longer needed 2015-05-05 09:45:53 +10:00
Michael Oborne
c26f2c9b1c SITL: add missing include 'select' 2015-05-05 09:45:53 +10:00
Andrew Tridgell
878549530d HAL_SITL: g_state is not needed any more 2015-05-05 09:45:53 +10:00
Andrew Tridgell
a17fc9e5ab SITL: fixed time handling type 2015-05-05 09:45:53 +10:00
Andrew Tridgell
ce0a863d01 AP_NavEKF: allow for optimisation of the EKF 
disable optimisation when debugging needed
 2015-05-05 09:45:53 +10:00
Andrew Tridgell
25de563687 HAL_SITL: support direct RC input 2015-05-05 09:45:52 +10:00
Andrew Tridgell
77f007ab27 SITL: support speedup setting on the command line 2015-05-05 09:45:52 +10:00
Andrew Tridgell
a6f41b3ca6 HAL_SITL: removed the need for the FDM thread 
this also removes the need for the barriers
 2015-05-05 09:45:52 +10:00
Andrew Tridgell
19147a05f6 SITL: support functions for new simulators 2015-05-05 09:45:52 +10:00
Andrew Tridgell
437e1bdba0 SITL: added fill_fdm() for FDM output from simulator 2015-05-05 09:45:52 +10:00
Andrew Tridgell
ab2d4349b4 HAL_SITL: initial support for internal simulators 2015-05-05 09:45:52 +10:00
Andrew Tridgell
24b051565b AP_Math: added normalize() method to Matrix3f 2015-05-05 09:45:52 +10:00
Andrew Tridgell
914b91af9e SITL: initial conversion of multicopter sim to C++ 2015-05-05 07:12:36 +10:00
Randy Mackay
2a6421d1bf Airspeed: fix example sketch 2015-05-02 20:53:49 +09:00
Randy Mackay
55298a4c73 Baro: fix example sketch 2015-05-02 17:25:44 +09:00
Paul Riseborough
be04be9b43 AP_NavEKF: Fix bug preventing home position being set by copter 
The interface definition has been modified so that it returns true for a position obtained usin geither the normal inertial navigation calculation, or a raw GPS measurement.
This enables this function to be used to set a home position before flight.
 2015-05-02 17:20:21 +09:00
Randy Mackay
75e2498da2 Scheduler: fix example sketch 2015-05-02 11:55:50 +09:00
Randy Mackay
c78068b8b8 StorageManager: fix example sketch 2015-05-01 21:03:13 +09:00
Randy Mackay
5b15c07d47 RC_Channel: fix example sketch 2015-05-01 21:02:57 +09:00
Randy Mackay
240a845206 Notify: fix example sketches 2015-05-01 20:58:34 +09:00
Randy Mackay
b223e90ef6 AP_Motors: fix example sketches 2015-05-01 20:58:20 +09:00
Randy Mackay
ed61d961c3 Mission: fix example sketch 2015-05-01 20:58:06 +09:00
Randy Mackay
fecbf06008 AP_Math: fix example sketches 2015-05-01 20:57:38 +09:00
Jonathan Challinger
2b29060a4e AC_WPNav: remove unused set_loiter_velocity 2015-05-01 16:46:53 +09:00
Randy Mackay
187dd0dccd HAL_PX4: fix example sketch 2015-05-01 16:44:10 +09:00
Randy Mackay
fb7e75594f AP_NavEKF: replace memset with quaternion.initialise 2015-05-01 16:37:35 +09:00
Randy Mackay
eaedeeb7bf AP_Math: add quaternion.initialise 2015-05-01 16:37:34 +09:00
Randy Mackay
c366fbbc96 AP_NavEKF: remove unused haveDeltaAngles 2015-05-01 16:37:33 +09:00
Randy Mackay
6773c0b232 AP_InertialSensor: default primary accel and gyro 2015-05-01 16:37:33 +09:00
Paul Riseborough
b71b8f4bda AP_NavEKF: Always return a NED relative position if possible 
If a calculated position is not available, the function will return a value based on raw GPS or last calculation if available, but the status will be set to false to indicate that it cannot be used for control.
 2015-05-01 16:37:32 +09:00
Paul Riseborough
20ba1e6b1b AP_NavEKF: Always return a WGS-84 location if possible 
If a calculated location is not available, the function will return raw GPS data if available, but the status will be set to false.
 2015-05-01 16:37:31 +09:00
Paul Riseborough
dd1e0b2f0b AP_NavEKF: Add missing function to return the NED to XYZ quaternion 2015-05-01 16:37:30 +09:00
Paul Riseborough
2c4572eb50 AP_NavEKF: Make ground effect variable names more descriptive 2015-05-01 16:37:29 +09:00
Paul Riseborough
3986851c51 AP_NavEKF: Prevent Z accel bias changing during ground effect takeoff 
The inconsistent baro data during ground effect takeoff combined with the larger variances in the Z accel bias state early in flight can cause unwanted changes in bias estimate and therefore changes in height estimation error.
This patch turns of the process noise and state updates for the Z accel bias state when takeoff in ground effect is expected.
 2015-05-01 16:37:28 +09:00
Paul Riseborough
2cba60c731 AP_NavEKF: Decouple takeoff ground effect compensation from arm transtion 
Thsi fixes a potential bug where the vehicle could land at a lower location without disarming and re-enter ground effect takeoff mode wiht a baro height floor above the current altitude, causing unpredictable height gain
 2015-05-01 16:37:27 +09:00
Paul Riseborough
c4c0f819b5 AP_NavEKF: Ensure Covariance initialisation uses correct IMU time step 2015-05-01 16:37:26 +09:00
Paul Riseborough
5dc29699ab AP_NavEKF: Publish the INS delta quaternion 2015-05-01 16:37:25 +09:00
Paul Riseborough
d273302ce7 AP_NavEKF: Improve rate of accel bias learning before flight 2015-05-01 16:37:24 +09:00
Paul Riseborough
8dc6354a54 AP_NavEKF: Prevent touchdown baro errors tripping height innovation check 
Ground effect baro errors can cause a spike in height innovation on disarming if ground effect compensation was used during the landing. This causes a transient AHRS fault message if this innovation is outside the pre-arm check limits.
Resetting the vertical position state to the measured height after disarming prevents this.
 2015-05-01 16:37:23 +09:00
Jonathan Challinger
2f38dd1b67 AP_NavEKF: use quaternion functions to apply IMU delta angles 2015-05-01 16:37:22 +09:00
Jonathan Challinger
9c374eb4a8 AP_NavEKF: apply constrained floor to barometer innovation while landing 2015-05-01 16:37:21 +09:00
Jonathan Challinger
3c6446fadd AP_NavEKF: refactor meaHgtAtTakeOff filter 2015-05-01 16:37:20 +09:00
Paul Riseborough
744de74c16 AP_NavEKF: Reduce ground effect baro induced height errors during takeoff 2015-05-01 16:37:19 +09:00
Paul Riseborough
13616d6436 AP_NavEKF: Add takeoff and touchdown expected to reported filter status 2015-05-01 16:37:19 +09:00
Jonathan Challinger
8c92524b8a AP_NavEKF: add takeoffExpected and touchdownExpected 2015-05-01 16:37:18 +09:00
Jonathan Challinger
b6b55bf6f2 AP_NavEKF: integrate gravity over correct time period 2015-05-01 16:37:17 +09:00
Jonathan Challinger
cb0c424da1 AP_NavEKF: rewrite readIMUData 2015-05-01 16:37:16 +09:00
Jonathan Challinger
bb88a4f8fe AP_InertialSensor: healthy() checks bounds 2015-05-01 16:37:15 +09:00
Jonathan Challinger
af80f20a51 AP_InertialSensor: add get_primary_gyro, fix get_primary_accel 2015-05-01 16:37:14 +09:00
Randy Mackay
0acc06d713 AP_Motors: minor comment for interlock 2015-05-01 14:30:45 +09:00
Robert Lefebvre
1a482de5e2 AP_MotorsHeli: Overload output_armed_zero_throttle 2015-05-01 14:30:25 +09:00
Robert Lefebvre
6bdace30d2 AP_Motors: Add throttle interlock functionality 
AP_MotorsMatrix's output_armed_zero_throttle uses output_min default from base class
 2015-05-01 14:30:24 +09:00
Randy Mackay
31edd6a72b AC_PosControl: add_takeoff_climb_rate method 
This function simply increments the current altitude target given a
climb rate and dt
 2015-05-01 12:56:30 +09:00
Jonathan Challinger
348001e786 AP_Motors: add get_throttle_warn function 2015-05-01 12:56:11 +09:00
Andrew Tridgell
74581a55bc HAL_SITL: fixed startup of SITL in synthetic clock mode 2015-04-30 17:19:56 +10:00
Andrew Tridgell
df21c6c68d AP_HAL: support micros64() and millis64() on all platforms 
this will allow for 64 bit timestamps in DF logs (Peter is working on
that)
 2015-04-30 12:17:34 +10:00
Andrew Tridgell
4c4a4f9ea5 AP_RangeFinder: fixed cm to meter comparison 
thanks to EShamaev for this fix (see PR #1352)
 2015-04-30 11:26:36 +10:00
Randy Mackay
dfadcad69d Mission: allow zoom_step to be negative 2015-04-29 14:36:25 +09:00
Randy Mackay
bae1722946 AP_Motors: get_compensation_gain gets div-by-zero check 2015-04-29 14:36:22 +09:00
Randy Mackay
1b381b5675 Baro: get_air_density_ratio gets div-by-zero check 2015-04-29 14:36:20 +09:00
Jonathan Challinger
41ae7207c7 AP_Motors: scale roll/pitch/yaw gain for air density 2015-04-29 14:36:15 +09:00
Jonathan Challinger
e2ba351149 AP_Motors: refactor apply_thrust_curve_and_volt_scaling 2015-04-29 14:36:12 +09:00
Jonathan Challinger
f381ef93e8 AP_Baro: add get_air_density_ratio 2015-04-29 14:36:10 +09:00
Randy Mackay
b55367ccc7 GCS_MAVLink: fix example sketch 2015-04-29 10:18:57 +09:00
Randy Mackay
67b0c6f5c4 AC_PID: replace is_equal with is_zero 2015-04-28 16:22:08 +09:00
Randy Mackay
3514177314 AC_PI_2D: minor format fix 2015-04-28 16:21:53 +09:00
dgrat
303cfd683a AC_PID: replace floating point '==' with is_equal 
Also add div-by-zero check to fix calc_filt_alpha

Also get_i and get_shrink_i do not need to set values to zero in Vector2f
constructor because this is already done.
 2015-04-28 16:21:46 +09:00
Randy Mackay
0392292489 AP_Math: inline is_equal, add is_zero 2015-04-28 16:19:01 +09:00
dgrat
726d7df710 AP_Math: add is_equal to compare floats 2015-04-28 16:18:59 +09:00
Grant Morphett
444841537e AP_Camera: Just putting the newline at the end of the file. 2015-04-28 15:23:34 +09:00
Andrew Tridgell
007b01533d AP_InertialSensor: switched to 16g accel range for MPU9250 
this matches the Pixhawk, and makes us less prone to vibration. We
have seen clipping at 8g
 2015-04-28 15:30:29 +10:00
Randy Mackay
33431acaa4 AC_WPNav: protect against div-by-zero related to gnd_speed_limit 2015-04-28 13:53:19 +09:00
Paul Riseborough
7481217445 AC_WPNav: Improve application of EKF optical flow speed limit 2015-04-28 13:53:17 +09:00
Andrew Tridgell
514c349060 AP_NavEKF: raise DCM error_rp threshold to 0.05 
it was failing on many boards with fixed wing
 2015-04-28 14:07:39 +10:00
Andrew Tridgell
6bfca648b9 AP_AHRS: raise DCM P gains when disarmed for first 20 seconds 2015-04-28 14:07:39 +10:00
Andrew Tridgell
42d2addbdd HAL_SITL: removed the special code for cygwin 
we no longer need special timing code for cygwin
 2015-04-28 13:15:40 +10:00
Andrew Tridgell
063a33ebce HAL_SITL: implement barriers using pthread condition variables 
this avoid pthread_barrier_*, which is not available on cygwin
 2015-04-28 13:14:12 +10:00
Jonathan Challinger
3812773485 AP_Math: make quaternion divide by zero protection more conservative 2015-04-28 11:42:13 +10:00
Jonathan Challinger
fb8da1b2d8 AP_Math: add get_euler_(roll|pitch|yaw) functions to quaternion 2015-04-28 11:42:13 +10:00
Andrew Tridgell
020d9ea78a HAL_PX4: only consider power to have changed when armed 
this prevents false positives with multi-battery setups
 2015-04-28 11:05:29 +10:00
Randy Mackay
608bb3d611 Notify: minor format fix 2015-04-27 12:10:17 +09:00
Andrew Tridgell
028248d1f5 HAL_SITL: avoid floating point exceptions on i386 
fixes issue #2147
 2015-04-27 13:09:21 +10:00
Andrew Tridgell
4e86a6cd0e GCS_MAVLink: merged upstream header changes 2015-04-27 09:00:38 +10:00
Randy Mackay
35874292a0 AC_WPNav: move stop below all loiter methods 
No functional change
 2015-04-26 16:26:53 +09:00
Robert Lefebvre
4a7fe83b0f AC_WPNav: Create Stop Mode functions 2015-04-26 16:11:45 +09:00
Andrew Tridgell
fdac41dbab GCS_MAVLink: re-generate headers 2015-04-25 09:12:16 +10:00
Michael Day
3d3267d472 AP_Mission: Now support mission item MAV_CMD_NAV_LOITER_TO_ALT 2015-04-25 09:12:16 +10:00
Michael Day
98d7f943ef GCS_MAVLink: Added definition for MAV_CMD_NAV_LOITER_TO_ALT 2015-04-25 09:12:16 +10:00
Jonathan Challinger
a07b322d31 AP_Motors: set_throttle takes a float 2015-04-24 16:30:45 +09:00
Jonathan Challinger
ab2532a609 AC_AttitudeControl: constrain _angle_boost to avoid overflow 2015-04-24 16:30:43 +09:00
Randy Mackay
fdf226ebc1 AP_NavEKF: include AP_RangeFinder.h 2015-04-24 15:49:11 +09:00
Tom Pittenger
10c933966b AP_Math: fix compile warning re float constants 2015-04-24 14:25:02 +09:00
Tom Pittenger
dbc01e2f1a BattMon: fix compile warning re to unused variable 2015-04-24 14:18:36 +09:00
Tom Pittenger
3b3752468d HAL_PX4: fix compile warnings re unused variables 2015-04-24 14:18:24 +09:00
Tom Pittenger
84d3069a77 AttControl_Heli: fix compile warning re member init order 2015-04-24 14:15:35 +09:00
Tom Pittenger
52474faa2e AP_ADC: fix compile warning re member init order 2015-04-24 14:15:24 +09:00
Tom Pittenger
4191c44bbd Baro: fix compile warning re member init order 2015-04-24 14:15:11 +09:00
Tom Pittenger
16e71ec1ce Compass: fix compile warning re member init order 2015-04-24 14:15:00 +09:00
Tom Pittenger
179c72bfa9 HAL_PX4: fix compile warning re member init order 2015-04-24 14:14:38 +09:00
Tom Pittenger
ee1a415baa HAL_VRBrain: fix compile warning re member init order 2015-04-24 14:14:27 +09:00
Tom Pittenger
a340d13d01 NavEKF: fix compile warning re member init order 2015-04-24 14:14:12 +09:00
Tom Pittenger
f3d13656ba PID: fix compile warnings re float constants 2015-04-24 14:04:24 +09:00
Tom Pittenger
91476d78ae SITL: fix compile warnings re float constants 2015-04-24 14:04:19 +09:00
Tom Pittenger
1575abff63 GCS_Console: fix compile warnings re float constants 2015-04-24 14:04:17 +09:00
Tom Pittenger
347fc1e59c Filter: fix compile warnings re float constants 2015-04-24 14:04:14 +09:00
Tom Pittenger
f700f76923 DataFlash: fix compile warnings re float constants 2015-04-24 14:04:12 +09:00
Tom Pittenger
5ead138917 RangeFinder: fix compile warnings re float constants 2015-04-24 14:04:10 +09:00
Tom Pittenger
5f49b79d2f Rally: fix compile warnings re float constants 2015-04-24 14:04:08 +09:00
Tom Pittenger
2179705791 PerfMon: fix compile warnings re float constants 2015-04-24 14:04:06 +09:00
Tom Pittenger
66ddfdeae6 AP_Param: fix compile warnings re float constants 2015-04-24 14:04:04 +09:00
Tom Pittenger
d6b34209b5 NavEKF: fix compile warnings re float constants 2015-04-24 14:04:02 +09:00
Tom Pittenger
a5ffadf201 AP_Motors: fix compile warnings re float constants 2015-04-24 14:04:00 +09:00
Tom Pittenger
a8dda9f2ed AP_Math: fix compile warnings re float constants 2015-04-24 14:03:54 +09:00
Tom Pittenger
a4b8575432 InertialSensor: fix compile warnings re float constants 2015-04-24 14:03:49 +09:00
Tom Pittenger
ae6d44bf82 HAL_VRBrain: fix compile warnings re float constants 2015-04-24 14:03:38 +09:00
Tom Pittenger
7e18480cd2 HAL_PX4: fix compile warnings re float constants 2015-04-24 12:49:18 +09:00
Tom Pittenger
11951dbf48 HAL_Flymaple: fix compile warnings re float constants 2015-04-24 12:48:20 +09:00
Tom Pittenger
b7fb4022b4 AVR_SITL: fix compile warnings re float constants 2015-04-24 12:47:11 +09:00
Tom Pittenger
12b604663c FrSky_Telem: fix compile warnings re float constants 2015-04-24 12:39:21 +09:00
Tom Pittenger
dffcdbd751 Curve: fix compile warnings re float constants 2015-04-24 12:39:02 +09:00
Tom Pittenger
bf1d128d70 Compass: fix compile warnings re float constants 
Also fix example sketch
 2015-04-24 12:29:07 +09:00
Tom Pittenger
c1d4992dac Camera: fix compile warnings re float constants 2015-04-24 12:28:03 +09:00
Tom Pittenger
0926cf17dd BattMon: fix compile warnings re float constants 2015-04-24 12:27:23 +09:00
Tom Pittenger
8f11507594 Arming: fix compile warnings re float constants 2015-04-24 12:27:05 +09:00
Tom Pittenger
e28c555889 AHRS_DCM: fix compile warnings re float constants 
Also fix example sketch
 2015-04-24 12:26:08 +09:00
Tom Pittenger
f4bfc12316 AP_ADC: fix compile warnings re float constants 2015-04-24 12:24:49 +09:00
Tom Pittenger
7132b39dcf AP_AutoTune: fix compile warnings re float constants 2015-04-24 12:24:19 +09:00
Tom Pittenger
2f9e0c1938 APM_PI: fix compile warnings re float constants 2015-04-24 12:24:02 +09:00
Tom Pittenger
b9865c5f3e AC_Circle: fix compile warnings re float constants 2015-04-24 12:23:38 +09:00
Tom Pittenger
4b97cc1957 AC_PID: fix compile warnings re float constants 2015-04-24 12:22:43 +09:00
Randy Mackay
b05bdd657d AP_NavEKF: getHeightControlLimit modifies height on success 2015-04-24 10:58:05 +09:00
Randy Mackay
ba94a993f5 AP_InertialNav: get_hgt_ctrl_limit only modifies limit on success 2015-04-24 10:58:00 +09:00
Paul Riseborough
51624149e1 AP_InertialNav: Add function to return EKF height control limit 2015-04-24 10:57:58 +09:00
Paul Riseborough
cf04600710 AP_NavEKF: Add public function to limit height control during OF nav 2015-04-24 10:57:56 +09:00
Paul Riseborough
68b225de4d AP_NavEKF: Prevent pre-arm baro drift affecting mag field reset height 2015-04-24 10:57:54 +09:00
Paul Riseborough
c2e6fdb56c AP_NavEKF: Reduce effect of noisy baro data on baro height offset estimate 
This estimate is used to offset baro data if we need to switch across from range finder data due to sensor failure. The previous filter coefficients gave a 0.5 seconds time constant on the offset which was too susceptible to baro noise.
 2015-04-24 10:57:51 +09:00
Paul Riseborough
fd7fdc1ad9 AP_NavEKF: Remove unnecessary state resets on arm and disarm 
Resetting states unnecessarily creates transients due to presence of bias errors
 2015-04-24 10:57:49 +09:00
Paul Riseborough
3e67080002 AP_NavEKF: Use GPS vertical velocity observations to estimate Z accel bias 2015-04-24 10:57:47 +09:00
Paul Riseborough
e48171ab11 AP_NavEKF: Improve takeoff with optical flow and range data loss 
Range finder and optical flow data can drop-out and be reliable very close to ground. these patches enable the takeoff to be more relaibly detected and constrain optical flow navigation drift in the first part of takeoff.
 2015-04-24 10:57:45 +09:00
Paul Riseborough
3e061b174e AP_NavEKF: Report unhealthy for all filter faults 2015-04-24 10:57:43 +09:00
Paul Riseborough
6c4c54c2ba AP_NavEKF: Use default on ground range parameter from range finder object 2015-04-24 10:57:41 +09:00
Jonathan Challinger
10476333d8 AP_NavEKF: don't run when previously disarmed and time has slipped 2015-04-24 10:57:39 +09:00
Jonathan Challinger
085faaac6a AP_NavEKF: fix delay detection so that filter properly resets after a delay 2015-04-24 10:57:36 +09:00
Randy Mackay
a01fb64f12 RangeFinder: fix example sketch 2015-04-24 10:57:25 +09:00
Randy Mackay
715da653c3 RangeFinder_Analog: set status 2015-04-24 10:57:23 +09:00
Randy Mackay
fadfa70e99 RangeFinder_MaxSonar: set status 2015-04-24 10:57:21 +09:00
Randy Mackay
e212ebb0d0 RangeFinder_PulsedLight: set status 2015-04-24 10:57:19 +09:00
Randy Mackay
aa04bef5af RangeFinder_PX4: set status and consume out of range samples 2015-04-24 10:57:16 +09:00
Randy Mackay
71de0ab815 RangeFinder_PX4_PWM: set status and consume out of range samples 2015-04-24 10:57:12 +09:00
Randy Mackay
7663b8eade RangeFinder: replace healthy with status and no_data methods 2015-04-24 10:57:10 +09:00
Randy Mackay
8ed6207ca8 RangeFinder: add pre-arm checks 2015-04-24 10:57:05 +09:00
Randy Mackay
f1cbd1f03b RangeFinder: add ground clearance parameter 2015-04-24 10:57:03 +09:00
Paul Riseborough
1c8e3f9444 AP_NavEKF: Allow EKF to pull data from range finder object 2015-04-24 10:57:01 +09:00
Paul Riseborough
7f1749dc1c AP_AHRS: Allow EKF to pull data from range finder object 2015-04-24 10:56:58 +09:00
Andrew Tridgell
f21aa17980 AP_GPS: fixed sending of GPS_RAW_INT with multiple links 
thanks to ziltoid2 for this fix! See PR #2132
 2015-04-24 08:21:00 +10:00
Niels Joubert
2a5b25ddbf GCS_MAVLink: Re-enable GPS Injection Packets 2015-04-24 08:01:32 +10:00
Niels Joubert
a5beef00d1 GPS: Official Swift Binary Protocol GPS Driver v3 for Piksi GPS 
DRIVER FEATURES:
- All logic for RTK vs Normal now lives inside Piksi
- Supports observation uplink through telem radio
- Supports full SBP packet logging
- Reports high-rate green blinking to indicate RTK lock.
- Switchable to accept only Float or Integer RTK locks.

THIS REQUIRES PIKSI FIRMWARE v0.14 OR HIGHER
- Uses Piksi's new Pseudo-Absolute-Positioning mode
- Onboard Piksi must have Pseudo-Absolute mode enabled
- Ground Station Piksi must have a surveyed location in settings
- Ground Station Piksi must send its location to Onboard Piksi.

NEXT STEPS REQUIRED:
- EKF needs to take higher accuracy GPS into account
- EKF needs to take GPS RTK height into account
- GCS needs to support sending SBP observation packets
--- MAVProxy patch forthcoming
 2015-04-24 08:01:32 +10:00
Fergus Noble
0480867de2 SITL: Update SBP simulation functions for pseudo-absolute mode 2015-04-24 08:01:32 +10:00
Paul Riseborough
405862bd8f AP_AHRS: Reduce time delay for EKF initialisation 2015-04-23 20:35:52 +09:00
Paul Riseborough
4a5bf0a266 AP_NavEKF: Reduce EKF start time 
Makes EKF start conditional on DCM solution tilt error
 2015-04-23 20:35:48 +09:00
Paul Riseborough
5184bca87f AP_AHRS: Prevent DCM reporting good tilt error when inverted 2015-04-23 20:35:39 +09:00
Paul Riseborough
ea8217bd3a AP_AHRS: Reduce time constant on filtering of DCM error reporting 
Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
 2015-04-23 20:35:35 +09:00
Randy Mackay
7e43eaafab GPS: TYPE param description to PX4-UAVCAN 2015-04-23 20:17:26 +09:00
Randy Mackay
6e30093924 AP_AHRS: correct sanity checks on update_trig 2015-04-23 09:45:43 +09:00
Jonathan Challinger
6a6ccb4f32 AP_AHRS: add sanity checks 2015-04-22 21:50:51 +09:00
Randy Mackay
c6f71ea2e0 AHRS: make get_error_rp and get_error_yaw const 2015-04-21 22:42:17 +09:00
Randy Mackay
18a73d8630 Camera: use camera feedback flag 2015-04-21 22:22:57 +09:00
Randy Mackay
26383183d2 GCS_MAVLink: version update after generate 2015-04-21 22:22:54 +09:00
Randy Mackay
48c6803717 GCS_MAVLink: generate after fixing camera feedback flags 2015-04-21 22:22:52 +09:00
Randy Mackay
8e2616ddcf GCS_MAVLink: prefix camera feedback flags 2015-04-21 22:22:49 +09:00
Dario Lindo Andres
a21d328b93 GCS_Mavlink: Update ardupilotmega.xml 
Define PHOTO flag on CAMERA_FEEDBACK_FLAGS.
 2015-04-21 22:22:47 +09:00
Randy Mackay
8ced9cc904 Gimbal: only include for high performance CPUs 2015-04-21 21:47:18 +09:00
Randy Mackay
93ba2d2d32 Mount_MAVLink: uses vehicle's sysid 2015-04-21 21:47:17 +09:00
Randy Mackay
e726a05f3b Gimbal: fix to parameter init order 
resolves a compiler warning
 2015-04-21 21:47:16 +09:00
Randy Mackay
e9b2153672 Gimbal: formatting fixes 
Also isCopterFlipped returns bool instead of uint8_t
No functional change
 2015-04-21 21:47:15 +09:00
Randy Mackay
db6bb295c7 Mount: add gimbal parameter descriptions 2015-04-21 21:47:14 +09:00
Randy Mackay
924a3b2c67 GCS_MAVLink: version update after generate 2015-04-21 21:47:13 +09:00
Randy Mackay
9f10c43708 GCS_MAVLink: generate after GIMBAL/GOPRO msgs added 2015-04-21 21:47:12 +09:00
Angus Peart
86b81120fd GCS_MAVLink: update gopro message definitions 2015-04-21 21:45:53 +09:00
Jonathan Challinger
231f776dd7 AP_Gimbal: change isCopterFlipped() 2015-04-21 21:45:52 +09:00
Arthur Benemann
e59c6ddbae AP_SmallEKF: increase start-up time of the SmallEKF 2015-04-21 21:45:51 +09:00
Arthur Benemann
21b909f670 AP_Gimbal: report gimbal angles using a 312 rotation vector 2015-04-21 21:45:50 +09:00
Arthur Benemann
2850c7ab4a AP_Gimbal: nest AP_Gimbal files into AP_Mount library 2015-04-21 21:45:49 +09:00
Arthur Benemann
608017ba4a AP_Gimbal: optimize function calls using const refrences 2015-04-21 21:45:48 +09:00
Arthur Benemann
03c0e17a4d AP_Gimbal: fix typo 2015-04-21 21:45:47 +09:00
Arthur Benemann
03974c93bb AP_Gimbal: use new quaternion math to handle gimbal lock issue 2015-04-21 21:45:46 +09:00
Arthur Benemann
255c5b3025 AP_Mount: report MAVLink gimbal angle to the GCS 2015-04-21 21:45:45 +09:00
Arthur Benemann
b3c35aee4e AP_Gimbal: fix problem with rotation math on control loop 2015-04-21 21:45:44 +09:00
Arthur Benemann
4bdf909bbf AP_Mount: Create new copter parameters to hold gimbal settings 2015-04-21 21:45:43 +09:00
Arthur Benemann
cf2377d113 AP_Gimbal: Move gimbal parameters to a structure 2015-04-21 21:45:42 +09:00
Arthur Benemann
9b94f26583 AP_Gimbal: Relax minimal angle constrains on the gimbal 2015-04-21 21:45:41 +09:00
Arthur Benemann
a05fe7e117 AP_Gimbal: Re-implement the target low-pass filter 2015-04-21 21:45:40 +09:00
Arthur Benemann
b3dd8891c8 AP_Mount: Use AP_Gimbal on the AP_Mount_MAVLink class 2015-04-21 21:45:38 +09:00
Arthur Benemann
ee8c92c850 AP_Gimbal: clean-up for AP_Mount merge 2015-04-21 21:45:37 +09:00
Arthur Benemann
4ad3e786a5 AP_NavEKF: fix initialization of the SmallEKF 
The constructor 'states' variable was not being called. To make sure other variables where also zeroed now
 2015-04-21 21:45:36 +09:00
Arthur Benemann
0189f80462 AP_Gimbal: update getGimbalRateDemVecTilt to use quaternions 2015-04-21 21:45:35 +09:00
Arthur Benemann
4bdae02cfd AP_Gimbal: disable gimbal motors if copter is fliped 2015-04-21 21:45:34 +09:00
Arthur Benemann
ebaf1e28b1 AP_Gimbal: smooth the RC input with a low pass filter 2015-04-21 21:45:33 +09:00
Arthur Benemann
534790634b AP_Gimbal: add a radio failsafe state to the gimbal 2015-04-21 21:45:32 +09:00
Arthur Benemann
1da4be3a87 AP_Gimbal: initial implementation of the rate controlled gimbal library 2015-04-21 21:45:30 +09:00
Arthur Benemann
1d9beed42f AP_SmallEKF: add function to report if the EKF is stable 2015-04-21 21:45:29 +09:00
Arthur Benemann
7b28bf7d44 AP_NavEKF: Remove small EKF dependency on navigation EKF 2015-04-21 21:45:28 +09:00
Arthur Benemann
558a69bdca Mount_MAVLink: remove code now in AP_Gimbal 2015-04-21 21:44:56 +09:00
Jonathan Challinger
2053d5e42e GCS_MAVlink: add GIMBAL_ and GOPRO_ messages 2015-04-21 21:40:05 +09:00
Randy Mackay
87e6452ee9 Mission: bug fix when jump target is zero 
This would result in copter flying to a waypoint high above home
 2015-04-21 20:42:49 +09:00
Andrew Tridgell
a0969905ce AP_AHRS: make get_error_rp() and get_error_yaw() const 
this makes them usable by multiple consumers, and allows use by EKF
 2015-04-21 21:42:17 +10:00
Andrew Tridgell
2dfe3cb844 DataFlash: added a perf counter for microSD overruns 
this allows us to tell if a microSD can handle a high logging rate
 2015-04-21 20:45:30 +10:00
Andy Piper
b0937154f5 DataFlash: log compass health 
This patch simply logs the health of each compass for easy diagnosis.
 2015-04-21 13:18:24 +09:00
Andrew Tridgell
c153d31dd2 DataFlash: speed up DataFlash in Replay 2015-04-21 10:14:41 +10:00
Andrew Tridgell
dcb25632fb AP_Compass: removed old setHIL compass offset 2015-04-21 08:30:05 +10:00
Andrew Tridgell
a4bad1c703 HAL_SITL: use SIM_MAG_OFS in SITL compass 2015-04-21 08:29:51 +10:00
Andrew Tridgell
1ce9cb693a SITL: added SIM_MAG_OFS for setting compass offsets in SITL 2015-04-21 08:29:27 +10:00
Andrew Tridgell
179e47c618 HAL_Linux: prevent time from going backwards in Replay 2015-04-20 15:12:51 +10:00
Andrew Tridgell
d7000c4105 AP_Compass: fixed compass timestamps in Replay 2015-04-20 15:12:51 +10:00
Randy Mackay
337a94e52e Camera: remove empty configure_msg method 2015-04-20 13:50:15 +09:00
Randy Mackay
d456b97fd2 Camera: control_cmd triggers pic 2015-04-20 13:50:12 +09:00
Jaime Machuca
38491c4ff7 Camera: fix mission cmds sending msgs to components 
mission commands were triggering the sending of
mavlink mission items when they should have been sending
command long messages
 2015-04-20 13:50:10 +09:00
Randy Mackay
4eb3263653 Camera: mission cmds send do-digicam msgs to components 
This allows digicam-control and digicam-configure mission
command to trigger sending the equivalent mavlink messages
to components
 2015-04-20 13:50:08 +09:00
Randy Mackay
8dcd555037 Camera: trigger_pic sends do-digicam-control to components 
This (optionally) allows pictures triggered from ch7/ch8
switch to send a mavlink do-digicam-control message to
components
 2015-04-20 13:50:06 +09:00
Randy Mackay
1f705eb6a3 GCS_MAVLink: add send_to_components method 2015-04-20 13:50:04 +09:00
Randy Mackay
888c2289ce Mission: support do-digicam-control parameters 2015-04-20 13:50:01 +09:00
Peter Barker
c95348c1d9 SITL: Avoid run-time FPEs due to bad gyro settings if SIM_DRIFT_TIME is set to 0 
_gyro_drift essentially suffers a divide-by-zero if SIM_DRIFT_TIME is 0.  The gyro initialisation routines in AP_InertialSensor do not return once the generated NaN propogates back to them.
 2015-04-19 07:24:45 +10:00
Jonathan Challinger
12957867fd AC_PosControl: fix thr twitch when changing modes 2015-04-18 12:38:44 +09:00
Randy Mackay
44d2ae06fb Mount: unix style line endings 2015-04-17 22:59:34 +09:00
Randy Mackay
06ea18f97e Filter: fix LPF example sketch 2015-04-17 22:54:06 +09:00
Randy Mackay
99a9a88529 Filter: dt check fix for LPF 2015-04-17 10:59:03 +09:00
Jonathan Challinger
f20a91ec95 Filter: add dt<0 check to LPF 2015-04-17 10:47:06 +09:00
Randy Mackay
22e1156c31 Filter: add some comments to LowPassFilter 2015-04-17 10:47:04 +09:00
Jonathan Challinger
738b1967ad AC_PosControl: use LowPassFilterVector2f 2015-04-17 10:47:01 +09:00
Jonathan Challinger
8f667b3d1c AC_PosControl: fix up comments 2015-04-17 10:46:59 +09:00
Jonathan Challinger
4993fd4d71 AP_Motors: use new lowpass filter 2015-04-17 10:46:47 +09:00
Jonathan Challinger
87500d9d70 AC_AttitudeControl: use new lowpass filter 2015-04-17 10:46:45 +09:00
Jonathan Challinger
76da2868d0 Filter: rework LowPassFilter 2015-04-17 10:46:42 +09:00
Leonard Hall
c2a6a0a9e2 AC_PosControl: add accel filter parameter 2015-04-16 21:00:45 +09:00
Leonard Hall
a632a57d79 AC_PosControl: accessors to log z-axis vel and accel 2015-04-16 21:00:32 +09:00
Leonard Hall
0aca3c4be6 AC_PosControl: add relax Alt Hold controllers 2015-04-16 21:00:25 +09:00
Leonard Hall
24b8d32b0e AC_AttitudeControl: add comment 2015-04-16 21:00:22 +09:00
Leonard Hall
7cb3c4ba39 AC_PosControl: add feed forward to Alt Hold 2015-04-16 21:00:20 +09:00
Randy Mackay
a1e6a3ee32 AC_PosControl: minor format fix 2015-04-16 21:00:14 +09:00
Jonathan Challinger
3e0dab7b2d AC_PosControl: remove accel error filter and set throttle output filter instead 2015-04-16 21:00:07 +09:00
Jonathan Challinger
b7f7624aac AC_AttitudeControl: add throttle filter cutoff parameter to set_throttle_out functions 2015-04-16 21:00:04 +09:00
Jonathan Challinger
e80776f1f5 AP_Motors: remove MOT_THR_FILT parameter and add interface to configure filter 2015-04-16 21:00:01 +09:00
Jonathan Challinger
518e798f53 AC_AttitudeControl: rework angle_boost 2015-04-16 20:59:58 +09:00
Jonathan Challinger
7abd02baf2 AC_PosControl: change int32/int16 to float in accel_to_throttle 2015-04-16 20:59:55 +09:00
Jonathan Challinger
d14893fcd5 AC_PosControl: don't limit throttle any more 2015-04-16 20:59:51 +09:00
Jonathan Challinger
f3555d0d43 AC_AttitudeControl: modify throttle interface to specify stabilization 2015-04-16 20:59:45 +09:00
Jonathan Challinger
5c2341009a AC_AttitudeControl: throttle is a float 2015-04-16 20:59:42 +09:00
Jonathan Challinger
8e442675a7 AP_Motors: introduce set_stabilize(bool), specifies whether torque demands should be output 2015-04-16 20:59:40 +09:00
Jonathan Challinger
bc2afb31dd AP_Motors: virtual not necessary in child class 2015-04-16 20:59:37 +09:00
Jonathan Challinger
a2c69fe90d AP_Motors: add optional motor output throttle filter 2015-04-16 20:59:31 +09:00
Leonard Hall
4d9da2720b AC_AttitudeControl: add get for angle bf errors 2015-04-16 13:29:52 +09:00
Leonard Hall
88be3d67e7 AP_Motors: add get for throttle comp 2015-04-16 13:29:50 +09:00
Leonard Hall
791fbcf9b3 AP_Motors_Class: time constants of throttle comp 2015-04-16 13:29:46 +09:00
Michael du Breuil
04e9141881 AP_TECS: Allow tecs to control throttle during takeoff 2015-04-16 08:56:37 +10:00
Michael du Breuil
a9fc2b8a32 AP_Vehicle: Moved takeoff_throttle_max into plane parameters 2015-04-16 08:56:36 +10:00
Andrew Tridgell
4586de6637 AP_NavEKF: enable optimisation in Linux build 
only really need debugging for SITL
 2015-04-16 08:36:16 +10:00
Leonard Hall
48fb487a8c AC_AttitudeControl: Formatting fix 2015-04-15 22:04:27 +09:00
Paul Riseborough
dffa2e19bf AP_NavEKF: Make copter glitch accel consistent with timeout and radius 2015-04-15 17:32:48 +09:00
Paul Riseborough
5d70854c08 AP_NavEKF: Fix minor bug in calculation of innovation variance 
the innovation variance for GPS should be the sum of squares of the state and measurement uncertainty.
 2015-04-15 17:32:46 +09:00
Paul Riseborough
1008c6390c AP_NavEKF: Fail absolute position status if GPS repeatedly rejected 2015-04-15 17:32:44 +09:00
Paul Riseborough
77d3798278 AP_NavEKF: Reduce recovery time after a GPS fusion timeout 2015-04-15 17:32:41 +09:00
Paul Riseborough
0852aeab6e AP_NavEKF: Allow raw innovations to be monitored during timeouts 2015-04-15 17:32:39 +09:00
Paul Riseborough
d3f4b4a02b AP_NavEKF: Fix name consistency for data check time stamps 2015-04-15 17:32:36 +09:00
Jonathan Challinger
6ea91d012e AC_PID: calculate filt_alpha every time the filter is run 2015-04-14 16:19:02 +09:00
Randy Mackay
f06c859d93 AC_Fence: add comment re check_fence method 2015-04-14 16:10:09 +09:00
Jonathan Challinger
05fda4ee4c AC_Fence: accept curr_alt parameter instead of getting alt from inav 2015-04-14 16:10:07 +09:00
Jonathan Challinger
f06cc5d0c1 AC_Fence: change inav to const reference 2015-04-14 16:10:02 +09:00
Staroselskii Georgii
dff430e136 AP_HAL_Linux: added UART port for second GPS 2015-04-14 15:59:34 +10:00
Staroselskii Georgii
da6316ed4c AP_HAL_Linux: fixed TCP client connection in LinuxUARTDriver 2015-04-14 15:59:33 +10:00
Randy Mackay
39213584da AC_WPNav: minor comment and formatting changes 2015-04-14 14:50:58 +09:00
Jonathan Challinger
fd55068620 AC_WPNav: fix double-twitch on stop in loiter 2015-04-14 14:50:55 +09:00
Jonathan Challinger
1da410a6c6 AC_WPNav: allow user to tune loiter 2015-04-14 14:50:53 +09:00
mirkix
13ee34c58a AP_InertialSensor: MPU9150 fix compiler warnings 2015-04-14 11:14:48 +10:00
Staroselskii Georgii
4a3e61f4e4 AP_GPS: turn UBlox autodetection only for NavIO 2015-04-14 10:45:49 +10:00
Staroselskii Georgii
716fd56c62 AP_HAL_Linux: added support for dynamic speed configration in LinuxSPIUARTDriver 2015-04-14 10:45:49 +10:00
Staroselskii Georgii
47a336d192 AP_GPS: added Ublox' hardware generation autodetection 2015-04-14 10:45:49 +10:00
Staroselskii Georgii
baf2b4da4e AP_HAL_Linux: renamed AnalogIn_Navio 2015-04-14 10:16:26 +10:00
Mikhail Avkhimenia
7ba6a5e346 AP_HAL: Specify terrain directory for Navio 2015-04-14 10:16:25 +10:00
Staroselskii Georgii
930aeaf556 AP_HAL_Linux: add RPi version runtime detection 2015-04-14 10:16:25 +10:00
Mikhail Avkhimenia
c11304ba7a AP_HAL_Linux: change GPIO register address for Raspberry Pi 2 2015-04-14 10:16:25 +10:00
Staroselskii Georgii
641fa05028 AP_HAL_Linux: added buffering in RCOutput_Navio 2015-04-14 10:16:25 +10:00
Staroselskii Georgii
e6c2977da2 AP_HAL_Linux: fixed style in RCOutput_Navio 2015-04-14 10:16:25 +10:00
Staroselskii Georgii
024825f95a AP_HAL_Linux: fixed PCA9685 initialization for RCOutput_Navio 2015-04-14 10:16:25 +10:00
Staroselskii Georgii
2a137b6ea9 AP_HAL_Linux: fixed RCInput initialization on NavIO 2015-04-14 10:16:24 +10:00
Sean O\'Brien
6474aa2477 AP_HAL_AVR_SITL: added sensor delays to sitl. 2015-04-14 10:10:38 +10:00
Sean O\'Brien
bfba8870e2 AP_HAL_AVR_SITL: added sensor delays to sitl. 2015-04-14 10:10:35 +10:00
Lucas De Marchi
b292873304 AP_InertialSensor: fix starvation in L3G4200D 
The main thread would always be blocked on the semaphore to read the
data from accelerometer and gyroscope. Especially if we have a slow
update of these values in _accumulate() due to the I2C transfer function
taking too much time: the timer thread would never give up the CPU,
causing starvation on the main thread.

This fixes the issue by reducing the critical region using a flip-buffer
so _accumulate() can work on its own copy of the data. Now that the
critical region is smaller, also avoid the semaphore and use a spinlock
instead.
 2015-04-14 10:01:47 +10:00
Andrew Tridgell
b17878c8c4 SITL: lower default GPS delay to 0.2 seconds 
this matches typical uBlox
 2015-04-14 09:57:47 +10:00
Andrew Tridgell
d7249cc1e6 AP_AHRS: only use EKF for plane and rover if all data available 
we need position and velocity to be working for plane and rover
 2015-04-14 09:57:45 +10:00
Lucas De Marchi
996739df12 AP_Compass: Do not panic if compass is not found 
Copter uses 2 compasses for linux configuration, but one of them may not
be available. Do not panic if a AK8963 isn't found.
 2015-04-14 09:29:12 +10:00
Gustavo Jose de Sousa
be67b019a7 AP_GPS: Add missing setup for GPS_AUTO_test 
GPS_AUTO_test was missing some setup lines.
 2015-04-14 09:27:41 +10:00
Andrew Tridgell
7f7d92913e HAL_Linux: allow running as non-root 
this is needed for Replay, plus is very useful for debugging
 2015-04-14 09:25:35 +10:00
Lucas De Marchi
f049c8e4c5 AP_HAL_Linux: remove needless call to mlockall() 
All threads share the same address space and have the same pages locked
into memory so it's not necessary to call mlockall() for each of them.

Grepping /proc/<tid>/status gives the same VmLck for all of them, even
when only the main thread locks the memory:

    # for i in `seq 477 482`; do \
	name=$(cat /proc/$i/comm); \
	vm=$(cat /proc/$i/status |grep VmLck); \
        echo -e "$name\t$vm"; \
    done
    ArduCopter.elf  VmLck:     57868 kB
    sched-timer     VmLck:     57868 kB
    sched-uart      VmLck:     57868 kB
    sched-rcin      VmLck:     57868 kB
    sched-tonealarm VmLck:     57868 kB
    sched-io        VmLck:     57868 kB
 2015-04-14 09:17:21 +10:00
Lucas De Marchi
b7355dc62b AP_HAL_Linux: set thread name for ease debug 
Use pthread_setname_np() to set thread name so it's easier to debug
what't going on with each of them. This is the example output of the
relevant par of "ps -Leo class,rtprio,wchan,comm":

FF      12 futex_ ArduCopter.elf
FF      15 usleep sched-timer
FF      14 hrtime sched-uart
FF      13 poll_s sched-rcin
FF      11 hrtime sched-tonealarm
FF      10 hrtime sched-io
 2015-04-14 09:17:21 +10:00
Lucas De Marchi
2c48434110 AP_HAL_Linux: use a table to initialize threads 
Refactor function calls into a table and pass in the name so it can be
used in error message.
 2015-04-14 09:17:21 +10:00
Lucas De Marchi
e3d78b8960 AP_HAL_Linux: fix passing callback to member function 
It's undefined behavior to pass the callback to pthread to a class
member like we were doing. Refactor the code so the callbacks are static
members.

This fixes the following warnings:

libraries/AP_HAL_Linux/Scheduler.cpp: In member function 'virtual void Linux::LinuxScheduler::init(void*)':
/home/lucas/p/dronecode/ardupilot/libraries/AP_HAL_Linux/Scheduler.cpp:61:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_timer_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:65:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_uart_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:69:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_rcin_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:73:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_tonealarm_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:77:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_io_thread);
 2015-04-14 09:17:20 +10:00
Lucas De Marchi
62c2f737d5 AP_HAL_Linux: fix setting RT priorities 
LinuxScheduler::init() was not really working as it should. This was the
result of "ps -Leo class,rtprio,wchan,comm | grep ArduCopter":

FF      12 futex_ ArduCopter.elf
FF      12 usleep ArduCopter.elf
FF      12 hrtime ArduCopter.elf
FF      12 poll_s ArduCopter.elf
FF      12 hrtime ArduCopter.elf
FF      12 hrtime ArduCopter.elf

As can be seen all the threads run with the same priority, the one of the main
thread. There were basically 2 mistakes:

	1) pthread_attr_setschedpolicy() needs to be called before
	   pthread_attr_setschedparam(). Otherwise the latter will just return
	   an error and not set the priority

	2) pthread_create() defaults to ignore the priority and inherit the
	   it from the parent thread. pthread_attr_setinheritsched() needs to
	   be called to change the behavior to PTHREAD_EXPLICIT_SCHED. See
	   pthread_attr_setinheritsched(3) for an example program to test the
	   behaviors.

Also, it's undefined behavior to call pthread_attr_init() several times on the
same pthread_attr_t. Although we could reutilize the same attribute without
calling  pthread_attr_init() again, lets refactor the code a little bit, so all
the pthread calls are in a single place. Then also call pthread_attr_destroy()
when we are done.
 2015-04-14 09:17:20 +10:00
Lucas De Marchi
29b667efdf AP_HAL_Linux: remove useless mlock of stack 
In Linux the default stack size is always greater than 32k, either 2MB
or 8MB depending on the architecture. There's no point in creating a
function to lock 32k.
 2015-04-14 09:17:20 +10:00
Randy Mackay
e2071a4630 Notify: ToneAlarm fix to stopping continuous tones 2015-04-13 17:44:45 +09:00
Randy Mackay
2472702838 Notify: rename lost_copter to vehicle_lost 2015-04-13 17:44:44 +09:00
Jaime Machuca
043d24f03a Notify: add Lost Copter tone 2015-04-13 17:42:07 +09:00
Andrew Tridgell
0695277773 HAL_SITL: use pthread barriers for synthetic clock synchronisation 
this avoids siganls and provides a race free way of keeping time in
lock step
 2015-04-13 06:05:55 +10:00
Paul Riseborough
e79ccf1fcc AP_NavEKF: Fix bug allowing terrain to be above vehicle position 
The terrain state and vehicle state need to be compared at the same time horizon.
 2015-04-11 15:51:08 +09:00
Paul Riseborough
6d58c63c4c AP_NavEKF: Prevent potential divide by zeros in OF fusion 2015-04-11 15:51:03 +09:00
Paul Riseborough
89142f1c5f AP_NavEKF: Prevent inadvertent use of DCM roll and pitch estimates. 
the use of roll and pitch from the AHRS object is bad because that object could be returning estimates from the backup DCM algorithm.
 2015-04-11 15:19:05 +09:00
Randy Mackay
56d2306a18 BattMon_SMBus_PX4: read capacity 2015-04-11 14:10:22 +09:00
Randy Mackay
c6440a48b3 BattMon_Backend: add init and set_capacity methods 2015-04-11 14:10:19 +09:00
Paul Riseborough
9268024094 AP_NavEKF: Update default parameters for copter optical flow fusion 2015-04-10 11:08:11 +09:00
Paul Riseborough
4fbdab27ff AP_NavEKF: Use range finder for primary hgt ref in opt flow mode 
Falls back to baro if range finder is unavailable
Adds parameter enabling user to select which height source (baro or range finder) will be used during optical flow nav.
 2015-04-10 11:08:07 +09:00
Paul Riseborough
ff9917d338 AP_AHRS: Fix bug preventing EKF from initialising 2015-04-10 11:07:42 +09:00
Paul Riseborough
d618c55e2f AP_NavEKF: Improved handling of noisy GPS speed accuracy data 2015-04-10 11:07:34 +09:00
Paul Riseborough
53358a4e10 AP_OpticalFlow: Add parameter to compensate for flow sensor yaw angle 
AP_OpticalFlow: update parameter name
 2015-04-10 11:07:31 +09:00
Paul Riseborough
cab171b580 AP_InertialNav: Add method to return EKF height above ground estimate 
AP_InertialNav: Add validity flag to height above ground estimate
 2015-04-10 11:07:27 +09:00
Paul Riseborough
e98edaa6cb AP_NavEKF: Return more accurate validity status for height above ground 2015-04-10 11:07:24 +09:00
Paul Riseborough
586e4a7d2b AP_NavEKF: Add Matlab derivations and simulations behind small EKF 2015-04-10 11:07:21 +09:00
Jonathan Challinger
dc5bdd5ad8 AP_AHRS: use filtered INS output to compute _accel_ef_blended 2015-04-09 20:19:56 +09:00
Randy Mackay
a095a8c3a1 AC_PID: more protection against NaN and Inf 2015-04-09 20:19:55 +09:00
Randy Mackay
bdfe8bbc54 AC_AttControl_Heli: remove RATE_RP_MAX, RATE_Y_MAX 2015-04-09 20:19:54 +09:00
Leonard Hall
afcd1c6ec3 AC_AttitudeControl: sqrt controller on Stab 2015-04-09 20:19:43 +09:00
Leonard Hall
ae77c18a19 AC_PID: Protect against NaN and INF 2015-04-09 18:30:12 +09:00
Andrzej Zaborowski
132cdc4916 Motors: Use _motor_to_channel_map in tricopter consistently. 
In AP_MotorsTri.cpp the AP_MOTORS_MOT_1, _2 and _4 constants are
always mapped to actual output channels through _motor_to_channel_map
while the _CH_TRI_YAW is not, but there were a few inconsistencies
in this that could lead to things like PWM min and max values being
set on wrong channels.

It looks like all in all _motor_to_channel_map being in PROGMEM
probably doesn't help save memory and I'm not sure how useful it is
in the first place but regardless the usage should be consistent.
 2015-04-09 11:43:22 +09:00
Randy Mackay
558018d839 InertialNav: add get_location method 2015-04-09 10:56:57 +09:00
Tom Pittenger
9ecbd0e30f AP_L1_Control: fixed uTurn-wobble 
When performing a u-turn in AUTO (waypoints are 180deg turn from each other) sometimes the aircraft can't decide to turn left or right and wobbled back and forth a couple times. There was existing code to solve this but it was not executing all the time like when in LOITER mode. Frankly, I don't understand the criteria that was required to make it execute and i suspect there is still a gremlin in that logic but just executing the check all the time makes prevents the wobble behavior.
 2015-04-08 15:21:02 -07:00
Jonathan Challinger
6e8008ab69 AP_SerialManager: use protocol_match in find_baudrate 2015-04-08 09:14:31 -07:00
Randy Mackay
f260536373 AC_PID: fix example sketch compile error 2015-04-08 15:05:29 +09:00
Jonathan Challinger
6baec4952b AP_Math: add conversions to and from 3-1-2 euler angles 2015-04-07 21:20:51 -07:00
Jonathan Challinger
a1d4f40c16 AP_Math: change quaternion operator* and operator/ to const 2015-04-07 21:20:51 -07:00
Jonathan Challinger
07735fefa6 AP_Math: fix div by zero in quaternion 2015-04-07 21:20:51 -07:00
Paul Riseborough
c57e25142c AP_NavEKF: Update optical flow fusion maths to reduce height errors 2015-04-07 20:51:18 -07:00
Andrew Tridgell
35bac3ab4f GCS_MAVLink: regenerate without mavlink_frame_char changes 2015-04-06 16:43:02 -07:00
Andrew Tridgell
df948e7358 AP_Mount: fixed for new GIMBAL_REPORT message 2015-04-06 16:42:23 -07:00
Andrew Tridgell
33824e0b2f GCS_MAVLink: re-ran generate.sh 2015-04-06 16:30:16 -07:00
Jonathan Challinger
73b8890bd3 GCS_MAVLink: move GIMBAL_REPORT and GIMBAL_CONTROL and reserve messages 2015-04-06 16:29:02 -07:00
myly10
55befdc345 AP_NavEKF: Typo correction for EAS_NOISE description 2015-04-06 15:52:29 -07:00
mirkix
445f358839 AP_HAL_Linux: Fix compiler warning of MAX_PWMS redefinition (previously defined) 2015-04-06 15:34:50 -07:00
Andrew Tridgell
5284211c96 AP_SerialManager: fixed matching bug in protocol_match() 
thanks to Mike Clement for noticing this
 2015-04-06 15:28:03 -07:00
Mike Clement
c5c40adb76 GCS_MAVLink: use instance in find_baudrate 2015-04-06 14:47:51 -07:00
Mike Clement
89a50b99bb SerialManager: use instance in find_baudrate 2015-04-06 14:47:11 -07:00
Paul Riseborough
9b3656e77c AP_NavEKF: Fix bug introduced in Y axis flow fusion 2015-04-05 21:17:20 -07:00
Andrew Tridgell
6e52ef2a74 GCS_MAVLink: added send_local_position() 2015-04-05 09:16:41 -07:00
Andrew Tridgell
baf292def1 AP_NavEKF: prevent float exception on startup 2015-04-05 09:16:14 -07:00
Paul Riseborough
7fc0f026d2 AP_NavEKF: Fix bug in optical flow innovation variance integrity check 
The check allowed negative innovation variances to pass. If this did occur, the filter would diverge.
 2015-04-04 17:03:06 -07:00
Andrew Tridgell
389148ac54 AP_RangeFinder: use RNGFND_OFFSET for distance offset in PWM and I2C 2015-04-04 17:03:00 -07:00
Andrew Tridgell
55019abd71 AP_HAL: allow for default parameter override for PX4 and SITL 2015-04-04 09:01:40 -07:00
Andrew Tridgell
5a755c0400 AP_Param: allow a HAL_PARAM_DEFAULTS_PATH to override defaults 
this allows a HAL_PARAM_DEFAULTS_PATH to be specified for a build to
override the default parameters for a build. This is useful to build a
firmware that has different default parameters
 2015-04-04 09:01:40 -07:00
Andrew Tridgell
82a51e8791 GCS_MAVLink: use AP_Param::set_param_by_name() 2015-04-04 09:01:40 -07:00
Andrew Tridgell
5ca38e3d75 AP_Param: added set_param_by_name() 
this simplifies the GCS_MAVLink code
 2015-04-04 09:01:39 -07:00
Andrew Tridgell
c1a0375562 AP_NavEKF: prevent divide by zero in EKF logging 2015-04-04 07:09:02 -07:00
Paul Riseborough
d44cf14178 AP_AHRS : Publish EKF learned compass offsets 2015-04-03 15:24:47 -07:00
Paul Riseborough
10f050c53b AP_NavEKF: Prevent baro drift causing toilet bowling 
The magnetic field states are reset once at 1.5 metres and again at 5 metres. This height check was using the height at the first arm event as the reference. In the situation where there is baro drift and extgended time between the first arm event and flight, this can cause the magnetic field state to be reset when on the ground. If this happens when flying off a metallic surface, the resultant heading errors can cause sever toilet bowling.
 2015-04-03 15:18:42 -07:00
Paul Riseborough
d4c60ca956 AP_NavEKF: Fix bug preventing reset of velocity after OF fusion timeout 2015-04-03 15:18:39 -07:00
Jonathan Challinger
95cd3480ec AP_NavEKF: review all uses of dtIMU and use dtIMUactual where necessary 
pair-programmed-with: Paul Riseborough <p_riseborough@live.com.au>
 2015-04-03 15:18:09 -07:00
Andrew Tridgell
79b44d3988 AP_NavEKF: initialise gndEffectMode 2015-04-03 15:15:11 -07:00
Andrew Tridgell
3165c43dfe AP_NavEKF: initialise gpsSpdAccuracy 2015-04-03 15:15:11 -07:00
Paul Riseborough
98c32012fa AP_NavEKF: remove accel bias rate limit when disarmed 2015-04-03 15:15:11 -07:00
Paul Riseborough
fe76cb4c0b AP_NavEKF : Make initial height variance consistent with baro noise 
This makes sense to do because we initialise the state to the instantaneous baro reading
 2015-04-03 15:15:11 -07:00
Paul Riseborough
a976e9dad2 AP_NavEKF : Fix bug in scaling of initial Z accel bias state variance 2015-04-03 15:15:11 -07:00
Paul Riseborough
92df3adb5e AP_NavEKF : Fix bug in Z accel bias update for IMU1 2015-04-03 15:15:10 -07:00
Paul Riseborough
5d0952ba23 AP_NavEKF: eliminate onGndBaroNoise 2015-04-03 15:15:10 -07:00
Paul Riseborough
fafb898341 AP_NavEKF: tuning change to accel bias learning 2015-04-03 15:15:10 -07:00
Paul Riseborough
398accd151 AP_NavEKF: Improve pre-flight ready checking 2015-04-03 15:15:10 -07:00
Paul Riseborough
5c1a226bef AP_NavEKF : Improvements to pre-arm IMU bias estimation 2015-04-03 15:15:10 -07:00
Jonathan Challinger
a5924acb3d AP_NavEKF: set dtIMU from ins expected sample rate 2015-04-03 15:15:10 -07:00
Paul Riseborough
a1351e73ab AP_NavEKF : Compensate mag bias states for external copass offset changes 2015-04-03 15:15:09 -07:00
Paul Riseborough
14795719f6 AP_NavEKF: Add public function for estimated magnetometer offsets 2015-04-03 15:15:09 -07:00
Paul Riseborough
1c244af3d8 AP_NavEKF: Fix bug affecting in-flight GPS acquisition 
This bug caused velocities to be reset to zero
 2015-04-03 15:15:09 -07:00
Paul Riseborough
b9b6938b1d AP_NavEKF: Add ability to start using GPS in-flight 
Improve the quality of the GPS required to set an EKF  origin
Eliminate repeated update of origin height - origin height updates once when EKF origin is set.
Operation in GPS mode is linked to setting of origin
 2015-04-03 15:15:09 -07:00
Paul Riseborough
98fa918b84 AP_NavEKF: Add new compass learning option 
Enables compass learning to be on continuously for non-position hold operation
 2015-04-03 15:15:09 -07:00
Paul Riseborough
961faa59d9 AP_NavEKF: Don't let reported GPS accuracy modify horiz vel data checks 2015-04-03 15:15:08 -07:00
Paul Riseborough
a607eb8469 AP_NavEKF: Reduce the GPS glitch tether length from 100 to 50m 2015-04-03 15:15:08 -07:00
Paul Riseborough
496d31ab83 AP_NavEKF: Reduce max time Copters can reject GPS 
The maximum time copters can reject GPS has been reduced from 10 to 7 seconds as flight logs have show that inertial dead reckoning with vibration and calibration errors is not good enough to support 10 seconds without aiding.
 2015-04-03 15:15:08 -07:00
Paul Riseborough
8c2029d896 AP_NavEKF: Accel bias learning improvements 
Speed up pre-flight learning
Smoothen in-flight learning
 2015-04-03 15:15:08 -07:00
Paul Riseborough
19d1b3b813 AP_NavEKF: Update EKF origin height whilst disarmed 
This patch causes the EKF to update the height of its origin each time it receives a valid GPs message whislt disarmed.
The resultant EKF origin height represents the height of the zero baro alt datum relative to the GPS height datum.
 2015-04-03 15:15:08 -07:00
Paul Riseborough
70afcd7e70 AP_NavEKF: Add second stage alignment of yaw and earth field states 
Flight tests have shown that the magnetic field distortion associated with flight from steel structures can extend 3m or higher. To counteract this, a second and final yaw and magnetic field alignment has been added which is activated when the height exceeds 5m for the first time.
 2015-04-03 15:15:08 -07:00
Paul Riseborough
ed9c05cf2a AP_NavEKF: Remove logic used to delay fusion for load levelling 
Logic used to delay optical flow and airspeed fusion to prevent it occurring on the same time step as magnetometer fusion has been removed. This is no longer required to efficiency improvements made at the firmware level.
 2015-04-03 15:15:07 -07:00
Paul Riseborough
c0d23ffc30 AP_NavEKF: Filter accuracy and stability improvements 
Improvements in PX4 firmware have reduced the computational load  and mkae the previous practicwe of splitting magnetometer and optical flow fusion across multiple time steps unnecessary and make it possible to perform a covariance prediction prior to fusing data on the same time step. This patch:

1) Ensures that a covariance prediction is always performed prior to fusion of any observation
2) Removes the splitting of magnetometer fusion so that fusion of the X,Y and Z components occurs on the same time time step
3) Removes the splitting of optical flow fusion so that fusion of X and Y components occurs on the same time step
 2015-04-03 15:15:07 -07:00
Jonathan Challinger
de1f7f5e63 AP_NavEKF: use published delta velocities and delta angles if available 2015-04-03 15:15:07 -07:00
priseborough
3421a320b5 AP_NavEKF: Compensate for ground effect when takeoff or landing expected 2015-04-03 15:15:07 -07:00
Jonathan Challinger
20d92f5f9d AP_NavEKF: floor GPS velocity noise at parameter value for conservatism 2015-04-03 15:15:07 -07:00
priseborough
9a797a5d49 AP_NavEKF: Use GPS reported speed accuracy if available 
UBlox receivers report an estimate of the speed accuracy that tests show correlates well to speed glitches. Using this to scale the GPS velocity observation noise will reduce the effect of bad GPS velocity data.
 2015-04-03 15:15:06 -07:00
Andrew Tridgell
45e016ea5b AP_InertialSensor: check for zero delta_velocity dt 2015-04-03 15:10:47 -07:00
Jonathan Challinger
b306d7a356 AP_InertialSensor: accel cal sample for 400ms instead of 1s 2015-04-03 14:54:19 -07:00
Jonathan Challinger
1e1d8efa22 AP_InertialSensor: use expected update rate for accel cal sampling 2015-04-03 14:54:17 -07:00
Jonathan Challinger
bd84328440 AP_InertialSensor: hack to "reset" the accel filter before taking a cal sample 2015-04-03 14:54:15 -07:00
Jonathan Challinger
b2b42e081a AP_InertialSensor: use delta_velocity/dt for calibration if available 2015-04-03 14:54:10 -07:00
Jonathan Challinger
423160eaf8 AP_InertialSensor: publish delta_velocity_dt 2015-04-03 14:54:06 -07:00
Andrew Tridgell
4147825b87 AP_InertialSensor: fixed gyro calibration bug 
we must not update _gyro_offset[] until we have completed calibration
of that gyro, or we will end up using the new offsets when asking for
the raw gyro vector
 2015-04-03 06:57:30 -07:00
Andrew Tridgell
728dbf24db AP_Math: fixed vector inequality test 
many thanks to cat888

fixes issue #2039
 2015-04-01 20:40:37 -07:00