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270 Commits

Author SHA1 Message Date
Andrew Tridgell ac8c4d9beb AP_Mount: use zero length flexible arrays in unions 2016-05-25 19:55:49 +10:00
Andrew Tridgell f377787444 AP_Mount: always build with MAVLink2 headers 2016-05-21 15:25:16 +10:00
Andrew Tridgell ec62d8f4ca AP_Mount: use HAVE_PAYLOAD_SPACE() 2016-05-21 15:25:14 +10:00
Andrew Tridgell 0ef5d8995b AP_Mount: support mavlink2 build 2016-05-21 15:25:12 +10:00
Lucas De Marchi 421b9ef54a AP_Mount do not use flexible array in union 
We actually don't want a flexible array in this union, but rather a way
to access it byte by byte. This fixes the build for gcc >= 6

In file included from ../../libraries/AP_GPS/AP_GPS_UBLOX.cpp:23:0:
../../libraries/AP_GPS/AP_GPS_UBLOX.h:387:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
compilation terminated due to -Wfatal-errors.

In file included from ../../libraries/AP_Mount/AP_Mount.cpp:9:0:
../../libraries/AP_Mount/AP_Mount_Alexmos.h:291:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
compilation terminated due to -Wfatal-errors.
 2016-05-16 13:50:56 -03:00
Ricardo de Almeida Gonzaga fcbed13533 AP_Mount: Fix typos 2016-05-13 19:20:06 -03:00
proficnc 20a569a4d5 AP_Mount: block forwarding of MAVlink by bitmask 2016-05-12 17:44:09 +10:00
dgrat 6d3b491c02 AP_Math: Replace is_equal with a type safe template function 
It makes sense to consider also other floating point types.
 2016-05-10 11:41:26 -03:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
skyscraper 8b9c96814b AP_Mount: Fix up after RC_Channels refactor 
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to  get and set functionsss

old public member(int16_t)   get function -> int16_t     set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in                     c.get_radio_in()           c.set_radio_in(v)
c.control_in                   c.get_control_in()         c.set_control_in(v)
c.servo_out                    c.get_servo_out()          c.set_servo_out(v)
c.pwm_out                      c.get_pwm_out()            // use existing
c.radio_out                    c.get_radio_out()          c.set_radio_out(v)
c.radio_max                    c.get_radio_max()          c.set_radio_max(v)
c.radio_min                    c.get_radio_min()          c.set_radio_min(v)
c.radio_trim                   c.get_radio_trim()         c.set_radio_trim(v);

c.min_max_configured() // return true if min and max are configured

Because data members of RC_Channels are now private and so cannot be written directly
 some overloads are provided in the Plane classes to provide the old functionality

new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);

new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;

Rename functions

 RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
    to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)

 RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
    to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)

 Rationale:

        RC_Channel is a complicated class, which combines
        several functionalities dealing with stick inputs
        in pwm and logical units, logical and actual actuator
        outputs, unit conversion etc, etc
        The intent of this PR is to clarify existing use of
        the class. At the basic level it should now be possible
        to grep all places where private variable is set by
        searching for the set_xx function.

        (The wider purpose is to provide a more generic and
        logically simpler method of output mixing. This is a small step)
 2016-05-10 16:21:15 +10:00
Lucas De Marchi 3a771bf0e3 AP_Mount: replace header guard with pragma once 2016-03-16 18:40:42 +11:00
Randy Mackay e502e0fc2e SoloGimbal: resolve compiler warning re float comparison 2016-03-01 21:51:43 +09:00
Randy Mackay 438769c8ae SoloGimbal: resolve compiler warning re initialisation order 2016-03-01 21:51:41 +09:00
dgrat 5148e41c1a AP_Math: Cleaned macro definitions 
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
 2016-02-27 02:51:33 -03:00
Tom Pittenger a9c985bfb3 AP-Mount: compiler warning 
ardupilot/libraries/AP_Mount/SoloGimbal_Parameters.cpp:193:107: warning: comparing floating point with == or != is unsafe [-Wfloat-equal]
 2016-02-17 14:54:31 -08:00
Peter Barker 09525e8568 AP_Mount: remove redundant include dependant on bad #define 2016-01-30 12:48:05 -02:00
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
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 3d22490397 waf: examples: use methods from bld instead of ardupilotwaf 2016-01-22 20:10:29 -02:00
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
Randy Mackay ccd3725f63 AP_Mount_Servo: remove out of date comment 2016-01-04 11:23:41 +09:00
Jonathan Challinger 62701448ca AP_Mount: fix example build 2015-12-29 10:46:35 -08:00
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
Don Gagne 964d02065a Mount: add missing RebootRequired to param description 2015-12-26 10:06:14 +09:00
Jonathan Challinger 63caca1d3f AP_Mount: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Lucas De Marchi f1de9c25fe AP_Mount: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:43 +11:00
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Caio Marcelo de Oliveira Filho 0b2184b818 AP_Mount: use millis/micros/panic functions 2015-11-20 12:32:24 +09:00
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files 
these were APM2 specific
 2015-11-16 08:05:17 +11:00
Lucas De Marchi ad094b9073 AP_Mount: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Lucas De Marchi 5244559010 Minimize AP_Progmem.h includes 
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
 2015-10-30 14:35:32 +09:00
Lucas De Marchi 6f4904189b Replace use of println_P() with println() 2015-10-30 14:35:22 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR 
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
 2015-10-30 14:35:04 +09:00
Jonathan Challinger c762865d66 AP_Mount: use configured function to determine if MNT_TYPE has been configured 2015-10-26 11:15:54 +11:00
Caio Marcelo de Oliveira Filho 42a111f5df AP_Mount: remove unnecessary board include from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho ec52df991c build: compile only the HAL files needed by the board 
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
 2015-10-21 09:16:07 +11:00
Randy Mackay 3d7ec3704d Mount: add param descriptions to allow RC9 ~ RC12 inputs to be used to control gimbal 2015-09-29 16:41:51 +09:00
Randy Mackay fa0aa6f5c9 Mount: remove support for do-mount-configure as command long 
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
 2015-09-06 16:01:18 +09:00
squilter cc58ec917c Mount: add support for do_mount_control via command_long 2015-09-06 16:01:12 +09:00
fillycheezstake 39dae7a156 Mount: fix for STORM32 serial ver 78e and higher 
This fixes the structs to be compatible with the changes OlliW made to
the gimbal firmware.
http://www.olliw.eu/storm32bgc-wiki/Serial_Communication
 2015-08-25 13:45:33 +09:00
Lucas De Marchi 2011c4d988 AP_HAL_Mount: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:52 +10:00
Gustavo Jose de Sousa 8011579c5a AP_Mount: standardize inclusion of libaries headers 
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.
 2015-08-11 16:38:20 +10:00
Randy Mackay b13921a7aa Mount_SToRM32: find gimbal channel on startup 2015-07-25 10:53:05 +09:00
Randy Mackay cc0ab26f5d Mount: fix init of mode 
Mode was being set from MNT_DEFTL_MODE parameter before that parameter's
value had been initialised from eeprom
 2015-07-16 14:14:01 +09:00
Randy Mackay 1d732ddf62 Mount: param desc rename from MAVLink to 3DR Solo 2015-07-07 13:29:24 +09:00
Grant Morphett 84ac8abc42 AP_Mount: Fixed a bug with wrapping of panning angles. 2015-06-22 09:32:26 +09:00
Randy Mackay 0b6323d5ed Mount: default MNT_TYPE to servo gimbal if rc outputs defined 2015-06-10 16:47:08 +09:00
Randy Mackay b8e3fe8f26 Mount: AlexMos fix to stop crashing before init 2015-06-05 12:31:16 +09:00
Randy Mackay 66d2328163 Mount: Alexmos save 4 bytes of RAM 2015-06-05 12:31:14 +09:00
Randy Mackay 7a8fe5f4d4 Mount: Alexmos formatting fixes 2015-06-05 12:31:12 +09:00
Andrew Tridgell 83b46243db AP_Mount: convert example from .pde to .cpp 2015-06-01 17:07:05 +10:00
Andrew Tridgell 1400d0155c AP_Mount: fixed valgrind error with gimbal code 2015-05-27 11:54:17 +10:00
Randy Mackay fb2d29364e Mount_SToRM32_serial: fix angle request 2015-05-26 21:05:29 +09:00
Randy Mackay 9b04a67e63 Mount_SToRM32_serial: rename sent_do_mount_control 2015-05-26 21:05:26 +09:00
Randy Mackay 72eb25b166 Mount: add SToRM32 serial to front end 2015-05-26 21:05:24 +09:00
Sergey Kirillov c133511431 Mount: add SToRM32 serial support 2015-05-26 21:05:22 +09:00
Andrew Tridgell d96e62cce7 AP_Mount: update gimbal for changed quaternion API 2015-05-25 09:08:45 +10:00
Andrew Tridgell 19419fd901 AP_Mount: fixed reporting of MAVLink gimbal position to GCS 2015-05-24 15:24:02 +10:00
Andrew Tridgell 730644eaeb AP_Mount: use M_PI_F instead of (float)M_PI 2015-05-05 13:44:25 +10:00
Andrew Tridgell 7c9e3d4b58 AP_Mount: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Tom Pittenger 4ac1f8a2fa AP_Mount: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:54 +10:00
Andrew Tridgell d8ca0658d7 AP_Mount: fixed some build warnings 2015-05-05 09:45:58 +10:00
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
Jonathan Challinger 231f776dd7 AP_Gimbal: change isCopterFlipped() 2015-04-21 21:45:52 +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 255c5b3025 AP_Mount: report MAVLink gimbal angle to the GCS 2015-04-21 21:45:45 +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 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 558a69bdca Mount_MAVLink: remove code now in AP_Gimbal 2015-04-21 21:44:56 +09:00
Randy Mackay 44d2ae06fb Mount: unix style line endings 2015-04-17 22:59:34 +09:00
Andrew Tridgell df948e7358 AP_Mount: fixed for new GIMBAL_REPORT message 2015-04-06 16:42:23 -07:00
Randy Mackay 1ed7737669 Mount: integrate Serial Manager instance 2015-04-01 14:59:21 -07:00
Randy Mackay 8a3a7bdcd1 Mount: add set_angle_target method 2015-03-21 21:52:22 +09:00
Randy Mackay 2189b16165 Mount_SToRM: remove message throttling 
recent versions of gimbal firmware can handle 50hz update rate
 2015-03-21 05:56:18 +09:00
Randy Mackay b3362d5829 Mount: calc_angle_to_location returns vehicle relative yaw 2015-03-21 05:56:16 +09:00
Randy Mackay d2739c5ce5 Mount_SToRM: slow updates to 10hz, reverse yaw, pitch 2015-03-20 20:46:45 +09:00
Paul Riseborough 9c2f1ce869 AP_Mount: Fix bug in mavlink gimbal attitude control 2015-03-16 09:54:43 +11:00
Jonathan Challinger dff899647f AP_Mount: use AP_AHRS_TYPE instead of AP_AHRS_MOUNT 2015-03-16 09:14:03 +11:00
Jonathan Challinger 7b0e806db1 AP_Mount: correct status_msg to conform to MAVLink specification 2015-02-21 08:33:50 +09:00
Randy Mackay 73e00108e4 Mount: SToRM32 remove unnecessary include 2015-02-20 11:27:15 +09:00
Randy Mackay 23f0bab5d6 Mount: integrate SToRM32 backend 2015-02-20 11:05:40 +09:00
Randy Mackay 92c7949355 Mount: SToRM32 mount backend 2015-02-20 11:05:31 +09:00
Andrew Tridgell 50a11c7d5a AP_Mount: added an alternative tilt-only gimbal control method 
this adds some nice control characteristics based on work by Paul and
Arthur, but is tilt only
 2015-02-16 16:48:55 +11:00
Andrew Tridgell 2f3b5006e7 AP_Mount: fixed build of example sketches 2015-02-09 11:49:10 +11:00
Andrew Tridgell fa7c584733 AP_Mount: fixed build on non-EKF systems 2015-02-03 09:49:17 +11:00
Andrew Tridgell f77f919588 AP_Mount: enable pan pointing in MAVLink backend 2015-02-03 09:49:17 +11:00
Andrew Tridgell 81f60bde06 AP_Mount: fill in all Location flags in ROI pointing 2015-02-03 09:49:17 +11:00
Andrew Tridgell cf76dcfbf3 AP_Mount: fixed mount MAVLink backend to match SITL sim behaviour 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:17 +11:00
Andrew Tridgell 75b1330843 AP_Mount: fixed radians to degrees error 2015-02-03 09:49:17 +11:00
Andrew Tridgell 032dcc3660 AP_Mount: fixed references to state in backends 2015-02-03 09:49:17 +11:00
Paul Riseborough 8d6f0d08c9 AP_Mount: Update attitude control calculations and debug printing 2015-02-03 09:49:17 +11:00