8131 Commits

Author	SHA1	Message	Date
Andrew Tridgell	aec7907571	AP_InertialSensor: updated comment on accel check in gyro cal	2015-03-09 17:58:36 +11:00
Andrew Tridgell	494e909703	AP_InertialSensor: ensure accel cal completion messages get through	2015-03-09 07:36:50 +11:00
Andrew Tridgell	38bde56523	AP_InertialSensor: continue finding best gyro after convergence ... with multiple gyros if we are still calibrating one of the gyros then keep looking for better values for the already converged gyros.	2015-03-08 07:49:38 +11:00
Andrew Tridgell	20a4c98bac	AP_InertialSensor: use accelerometers to prevent bad gyro cal ... if the board is rotating at a steady rate we can end up with a bad gyro calibration. This can happen on a steadily moving platform such as a ship. This uses the accelerometers to detect the steady movement and not accept the gyro calibration	2015-03-08 07:48:16 +11:00
Andrew Tridgell	434d094993	AP_InertialSensor: allow MAVLink packets to flow during accelcal ... this uses the snoop functionality of GCS_MAVLink to allow the delay callback to be used during accel calibration	2015-03-07 21:56:39 +11:00
Andrew Tridgell	af7765c57c	GCS_MAVLink: fixed typo	2015-03-07 13:54:58 +11:00
Andrew Tridgell	ac848dc103	GCS_MAVLink: zero packet data before reply in serial control	2015-03-07 13:53:44 +11:00
Randy Mackay	7675160e33	Notify: add firmware update flag and implement for OreoLED	2015-03-06 17:26:51 +09:00
Jace A Mogill	442d07a6c9	Notify: OreoLED fast startup with solid green ... For manual flight modes: Solid white in front, red in rear For automatic flight modes: Breathing white in front, red in rear Loss of RC: Alternating red/black in front and rear merge with fast green	2015-03-06 17:26:45 +09:00
Jonathan Challinger	e2383581cc	AC_AttitudeControl: relax_bf_rate_controller resets rate integrators	2015-03-06 14:02:57 +09:00
Leonard Hall	3ad9b1a06b	AP_MotorsMatrix: remove incorrect throttle limit flag	2015-03-06 14:02:55 +09:00
Leonard Hall	20de383084	AC_AttControl: accel limiting for angular control only if feed forward enabled	2015-03-06 14:02:52 +09:00
Jonathan Challinger	d148039f65	AP_Motors: stricter batt_voltage misconfiguration check	2015-03-06 14:02:49 +09:00
Leonard Hall	7de5bccc93	AC_PosControl: remove THR_HOVER parameter ... Parameter is set by main code so no need to store to eeprom	2015-03-06 14:02:46 +09:00
Leonard Hall	9866eaded1	AC_PosControl: rename p_alt_pos to p_pos_z ... Also pid_alt_accel to pid_accel_z	2015-03-06 14:02:44 +09:00
Leonard Hall	349f1aeceb	AC_PosControl: use 2-axis PI controller	2015-03-06 14:02:42 +09:00
Leonard Hall	8d4f0ec80c	AC_PosControl: integrate PID input filter	2015-03-06 14:02:39 +09:00
Randy Mackay	e4d48fdc92	AC_AttControlHeli: separate accel max for roll, pitch ... renamed _accel_y_max to _accel_yaw_max	2015-03-06 14:02:36 +09:00
Leonard Hall	51455af51a	AC_AttConHeli: integrate PID input filter	2015-03-06 14:02:35 +09:00
Leonard Hall	792b2a2eb3	AC_AttControl: separate accel max for roll, pitch, yaw ... Also add: Rate filters rename rate filter defines d-term only filter for roll, pitch rate control accessors to save max accel for roll, pitch, yaw fix for duplicate ACCEL_Y_MAX param	2015-03-06 14:02:33 +09:00
Leonard Hall	9833c91b2b	AC_AttControl: get_max_rate_step_bf_roll, pitch and yaw	2015-03-06 14:02:30 +09:00
Leonard Hall	f00025e5c9	AC_AttControl: accessor for rate feedforward	2015-03-06 14:02:27 +09:00
Leonard Hall	691fb8947e	AC_AttControl: accessor for rate_bf_targets	2015-03-06 14:02:25 +09:00
Leonard Hall	784a4ce51a	AC_AttControl: increase max angle overshoot to 30deg	2015-03-06 14:02:23 +09:00
Leonard Hall	eb084f7c58	AC_AttControl: bf yaw control uses input filtered PID	2015-03-06 14:02:21 +09:00
Leonard Hall	11a19803e0	Motors: add accessors for motor logging ... accessor include get_roll, get_pitch, get_yaw, throttle input	2015-03-06 14:01:58 +09:00
Leonard Hall	34a5bc8b33	AC_PI_2D: 2-axis PI controller	2015-03-06 14:01:56 +09:00
Leonard Hall	046949ea8a	AC_HELI_PID: add input filter and restructure ... Also removed unused initial_ff from construtor	2015-03-06 14:01:54 +09:00
Leonard Hall	517448e536	AC_PID: add input filtering and restructure	2015-03-06 14:01:52 +09:00
Andrew Tridgell	2aae594371	GCS_MAVLink: handle serial loopback in routing	2015-03-04 20:24:11 +11:00
Andrew Tridgell	086f878bdc	HAL_PX4: split IO thread into separate IO and storage threads ... this prevents a blocked microSD card from blocking IO to the FRAM, causing parameter changes not to be sticky	2015-03-04 20:18:17 +11:00
Andrew Tridgell	58c92b0158	GCS_MAVLink: added SCALED_IMU3 logging	2015-03-04 19:30:08 +11:00
Andrew Tridgell	79be500e04	GCS_MAVLink: re-generate headers	2015-03-04 19:29:28 +11:00
Andrew Tridgell	eeacbe518b	GCS_MAVLink: update from upstream XML	2015-03-04 19:21:24 +11:00
Randy Mackay	f5f7cd540f	Motors: fix example sketches	2015-03-03 21:39:24 +09:00
Leonard Hall	cf8c211c35	Motors: fix thrust curve and add constraint	2015-03-03 15:49:07 +09:00
Leonard Hall	3e960dfc3b	Motors: add get_voltage_comp_gain ... This clarifies that lift_max is the inverse of the battery voltage gain compensation	2015-03-03 15:49:04 +09:00
Leonard Hall	997c6f0868	Motors: move battery resistance calcs to parent ... Moving from MotorsMatrix to parent Motors class allows these to be used from other frame types Also initialise battery resistance	2015-03-03 15:49:02 +09:00
Randy Mackay	09d7cdbc23	Motors: batt_voltage_filt becomes filter object	2015-03-03 15:49:00 +09:00
Randy Mackay	4b78b2ce80	Filter: add get method to LowPassFilter	2015-03-03 15:48:58 +09:00
Leonard Hall	529c6fed3a	Motors: move over current throttle limiting to parent ... Moving from MotorsMatrix to parent Motors class allows this to be used from other frame types	2015-03-03 15:48:54 +09:00
Randy Mackay	812473fd9a	MotorsMatrix: use get_hover_throttle_as_pwm	2015-03-03 15:48:52 +09:00
Randy Mackay	1a9d3125ef	Motors: _hover_out to pct * 10 instead of pwm	2015-03-03 15:48:50 +09:00
Leonard Hall	6b7bdf64bd	Motors: move batt voltage lift_max calcs to parent ... Moving from MotorsMatrix to parent Motors class allows them to be used by other frame types Also added sanity check of batt_voltage_min	2015-03-03 15:48:48 +09:00
Randy Mackay	c549b58eb7	MotorsMatrix: remove check of throttle_curve_enabled	2015-03-03 15:48:46 +09:00
Randy Mackay	5fb3de48ee	MotorsTri, Single, Coax: use new thrust curve	2015-03-03 15:48:44 +09:00
Randy Mackay	2eaa4a8445	Motors: remove old throttle curve	2015-03-03 15:48:42 +09:00
Leonard Hall	751dbb7df7	Motors: move thrust curve and volt scaling to parent ... Moving from MotorsMatrix to Motors allows it to be used from other frames	2015-03-03 15:48:41 +09:00
Randy Mackay	80b498f598	Motors: add loop_rate to test sketch	2015-03-03 15:48:39 +09:00
Randy Mackay	7ab76dbd0e	Motors: add loop_rate to constructor for all frames	2015-03-03 15:48:34 +09:00
Randy Mackay	77d4b3a2ae	Motors: add loop_rate to constructor	2015-03-03 15:48:32 +09:00
Leonard Hall	ec9d7dd99e	Motors: minor comment fixes	2015-03-03 15:48:30 +09:00
Leonard Hall	1d0ee68116	Motors: over current throttle limiting	2015-03-03 15:48:28 +09:00
Randy Mackay	1217ab9579	BattMon: add get_type method	2015-03-03 15:48:24 +09:00
Randy Mackay	f6523c0997	Motors: Add THR_LOW_CMP to adjust low throttle inputs affect on attitude control	2015-03-03 15:48:21 +09:00
Leonard Hall	83e3e2fec2	Motors: thrust curve and voltage scaling for matrix supported frames	2015-03-03 15:48:19 +09:00
Leonard Hall	5b0bd49ff2	Motors: configurable yaw headroom for matrix frames	2015-03-03 15:48:15 +09:00
Randy Mackay	51213235b4	OreoLED_PX4: available only on PX4	2015-03-02 16:58:17 +09:00
Randy Mackay	f1ce70e748	Notify: disable oreoled by default	2015-03-02 16:58:14 +09:00
Randy Mackay	89cd74c35f	Notify: OreoLED supports handle_led_control ... includes support for send bytes ioctl	2015-03-02 16:58:12 +09:00
Randy Mackay	90cac02bd7	Notify: OreoLED fix to fade-in when armed	2015-03-02 16:58:10 +09:00
Randy Mackay	35a3a52f29	Notify: add support for handle_led_control	2015-03-02 16:58:06 +09:00
Randy Mackay	9159c7107d	GCS_MAVLink: version update after LED_CONTROL added	2015-03-02 16:58:03 +09:00
Randy Mackay	26d54398e2	GCS_MAVlink: generate after LED_CONTROL added	2015-03-02 16:58:01 +09:00
Randy Mackay	3fdabb3667	GCS_MAVlink: define LED_CONTROL in ardupilotmega.xml	2015-03-02 16:57:59 +09:00
Randy Mackay	b8ef765b3e	Notify: add OreoLED to PX4	2015-03-02 16:57:56 +09:00
Randy Mackay	0a33a7c15a	Notify: OreoLED_PX4 driver	2015-03-02 16:57:50 +09:00
Jonathan Challinger	e9bbe062f3	AC_PosControl: modify accel_to_lean_angles to apply filters before yaw rotation	2015-02-24 16:41:03 +09:00
Andrew Tridgell	1f417dce86	AP_SerialManager: added note on external converter requirement for Frsky ... thanks to Luis for the suggestion	2015-02-24 10:19:42 +11:00
Andrew Tridgell	a6d76b4e03	AP_RangeFinder: added PX4-PWM rangefinder ... uses PWM input driver to read a rangefinder	2015-02-23 14:15:14 +11:00
Randy Mackay	b650d39786	InertialSensor: remove product_id set to zero	2015-02-21 09:14:33 +09:00
Jonathan Challinger	7b0e806db1	AP_Mount: correct status_msg to conform to MAVLink specification	2015-02-21 08:33:50 +09:00
Andrew Tridgell	3a51bac0d0	AP_Arming: use new enum for home_is_set	2015-02-21 10:13:43 +11:00
Andrew Tridgell	a53395cdb8	AP_Common: added HomeState enum from copter	2015-02-21 10:13:17 +11:00
Andrew Tridgell	6781a8d329	AP_AHRS: fixed get_position for EKF to use correct relative altitude ... we need to use the EKF relative height plus the current AHRS home	2015-02-21 10:12:53 +11:00
Andrew Tridgell	869fb23062	HAL_SITL: implement SIM_GPSDRIFTALT	2015-02-21 08:33:01 +11:00
Andrew Tridgell	63c792bc1c	SITL: added SIM_GPSDRIFTALT simulation control	2015-02-21 08:32:49 +11:00
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	b21c00fcf9	AP_L1_Control: changed default L1 tuning to 20 ... this is more appropriate for most aircraft	2015-02-19 16:19:33 +11:00
Andrew Tridgell	ec70042d25	APM_Control: raise default IMAX to 3000 ... on the first flight users often need more I gain to overcome poor choices for the P gain	2015-02-19 16:15:33 +11:00
Andrew Tridgell	6959cdbf15	RC_Channel: fixed usage of _reverse to be consistent ... users could set RCn_REV to 0 and get very confusing results	2015-02-18 12:47:56 +11:00
Andrew Tridgell	26ac29840c	AP_Common: added UNUSED_FUNCTION macro ... useful for functions that are only in some builds	2015-02-18 11:12:43 +11:00
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	9b2d44d6ed	AP_InertialSensor: use delay_microseconds_boost() ... this gives much more consistent timing for PX4	2015-02-16 12:19:13 +11:00
Andrew Tridgell	18131eae13	HAL_PX4: added delay_microseconds_boost() ... implemented using hrt callback with sem_post wrapper	2015-02-16 12:19:13 +11:00
Andrew Tridgell	c63540f7b1	AP_HAL: added delay_microseconds_boost() ... this will be used by wait_for_sample() to boost priority for a short period at the end of each delay_microseconds()	2015-02-16 11:52:37 +11:00
Andrew Tridgell	f54d799bff	AP_InertialSensor: added TIMING_DEBUG code for finding loop timing issues	2015-02-16 10:12:10 +11:00
Randy Mackay	8e75c9580c	InertialNav: get_origin returns zero when no origin ... If the EKF has not yet set the origin return location of all zeros instead of uninitialised location	2015-02-15 11:17:37 +09:00
Andrew Tridgell	04bef5ccf3	AP_InertialSensor: don't skip delay if we are a bit early ... this produces a bit more even timing	2015-02-14 12:25:44 +11:00
Andrew Tridgell	619196b6b3	HAL_PX4: fixes for new PX4 device paths	2015-02-14 12:25:44 +11:00
Andrew Tridgell	38d63d51a5	AP_RangeFinder: change for new PX4 device paths	2015-02-14 12:25:44 +11:00
Andrew Tridgell	995311f807	AP_OpticalFlow: change for new PX4 device paths	2015-02-14 12:25:44 +11:00
Andrew Tridgell	9f7e20090c	AP_Notify: change for new PX4 device paths	2015-02-14 12:25:43 +11:00
Andrew Tridgell	4537acb898	AP_InertialSensor: change for new PX4 device paths	2015-02-14 12:25:43 +11:00
Andrew Tridgell	99ed508903	AP_Compass: change for new PX4 paths	2015-02-14 12:25:43 +11:00
Andrew Tridgell	beeb9173ea	AP_Baro: change for new PX4 paths	2015-02-14 12:25:43 +11:00
Andrew Tridgell	26a77dc502	AP_Airspeed: change for new PX4 paths	2015-02-14 12:25:43 +11:00
Andrew Tridgell	001643d5a3	HAL_PX4: always use the hrt semaphore based delay ... the up_udelay() could cause too much timing jitter	2015-02-14 12:25:43 +11:00
Andrew Tridgell	7f0060b881	HAL_PX4: reduce the amount of time between loop() calls ... 500usec is too long for 400Hz copter	2015-02-14 12:25:43 +11:00
myly10	7bb079b348	AP_Parachute.cpp: Typo correction.	2015-02-13 16:16:10 +09:00
Staroselskii Georgii	75cd41a7c1	AP_HAL_Linux: added NavioAnalogIn	2015-02-12 12:57:45 +11:00
Staroselskii Georgii	b5aef01f72	AP_ADC: added ADS1115 support	2015-02-12 12:57:45 +11:00
Staroselskii Georgii	195aa5fc6b	AP_HAL_Linux: take the semaphore in SPIUARTDriver for shorter periods of time	2015-02-12 12:52:56 +11:00
Staroselskii Georgii	64da7f0360	AP_HAL_Linux: fix macro that defines number of I/O callbacks	2015-02-12 12:52:56 +11:00
Staroselskii Georgii	5b21bd2f1d	AP_HAL_Linux: make Ublox transactions shorter	2015-02-12 12:52:56 +11:00
Staroselskii Georgii	4034004194	AP_HAL_Linux: switch NavIO to kernel CS handling	2015-02-12 12:52:56 +11:00
Paul Riseborough	9f552eaa4b	AP_NavEKF: Fix bug that resets position to origin when vehicle arms	2015-02-12 12:40:55 +11:00
Paul Riseborough	b8d3da3846	AP_NavEKF: Report last known position when vehicle is disarmed	2015-02-12 12:40:55 +11:00
Andrew Tridgell	4aa8a012de	GCS_MAVLink: re-generate headers (updated stdint.h usage)	2015-02-12 09:13:17 +11:00
Andrew Tridgell	991afa9999	GCS_MAVLink: re-generate headers	2015-02-12 09:03:34 +11:00
Andrew Tridgell	7a6d91035e	GCS_MAVLink: merge upstream changes	2015-02-12 09:03:22 +11:00
Andrew Tridgell	55041c7a7a	AP_NavEKF: prevent division by zero in SmallEKF	2015-02-12 09:02:59 +11:00
Andrew Tridgell	db9c8548a5	HAL_VRBrain: call parent Util constructor	2015-02-11 20:57:28 +11:00
Andrew Tridgell	ebacb2b496	HAL_PX4: call parent Util constructor	2015-02-11 20:57:28 +11:00
Jonathan Challinger	59cf1c29ff	AP_HAL_VRBRAIN: attempt to initialize USB while soft-disarmed	2015-02-11 20:57:28 +11:00
Jonathan Challinger	e908fcafb1	AP_HAL_PX4: attempt to initialize USB while soft-disarmed	2015-02-11 20:57:27 +11:00
Jonathan Challinger	50466848f7	AP_NavEKF: use hal.util soft_armed state	2015-02-11 20:25:11 +11:00
Jonathan Challinger	180c85817d	AP_AHRS: remove armed state, use hal.util soft_armed state	2015-02-11 20:25:11 +11:00
Jonathan Challinger	aa7776ea59	AP_HAL: add soft_armed state to hal.util	2015-02-11 20:25:10 +11:00
Andrew Tridgell	fdcd5ca1a1	GCS_MAVLink: re-generate headers	2015-02-11 20:14:08 +11:00
Andrew Tridgell	b227f8463f	GCS_MAVLink: merge upstream mavlink changes	2015-02-11 20:13:27 +11:00
Andrew Tridgell	8cfe8c5823	GCS_MAVLink: moved send_autopilot_version() to common code	2015-02-11 19:50:40 +11:00
Andrew Tridgell	8e35baaef8	GCS_MAVLink: re-generate headers	2015-02-11 19:13:31 +11:00
Jonathan Challinger	0d1f0f4eb0	GCS_MAVLink: add AUTOPILOT_VERSION_REQUEST	2015-02-11 19:11:30 +11:00
Andrew Tridgell	e43fe520e8	AP_BoardConfig: added BRD_SBUS_OUT parameter ... when this is set to 1 it enables SBUS servo output on the SBUS connector.	2015-02-11 18:35:34 +11:00
mirkix	460b434708	AP_InertialSensor: add apm1 oilpan support	2015-02-11 18:22:44 +11:00
mirkix	98b78e61c2	AP_InertialNav: fix apm1 oilpan support	2015-02-11 18:22:42 +11:00
mirkix	49d81a9c99	AP_AHRS: fix apm1 oilpan support	2015-02-11 18:22:39 +11:00
Grant Morphett	3a5eb33d86	GCS_MAVLink: Bug - CLI_ENABLED check should be in vehicle code only. ... Changes to fix the warnings in rover sitl build. We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:46 +11:00
Grant Morphett	4860c84dff	AP_NavEKF: Changes to fix the warnings in rover sitl build. ... We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:46 +11:00
Grant Morphett	300a02f4e4	AP_Math: Changes to fix the warnings in rover sitl build. ... We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:46 +11:00
Grant Morphett	b511410b48	AP_InertialSensor: Changes to fix the warnings in rover sitl build. ... We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:45 +11:00
Grant Morphett	525787078f	AP_HAL: Changes to fix the warnings in rover sitl build. ... We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:45 +11:00
Grant Morphett	e7e9e1adf0	AP_GPS: Changes to fix the warnings in rover sitl build. ... We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:45 +11:00
Grant Morphett	52c5db8440	AP_Compass: Changes to fix the warnings in rover sitl build. ... We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:45 +11:00
Grant Morphett	0b4ac5d256	AP_Common: Changes to fix the warnings in rover sitl build. ... We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:45 +11:00
Andrew Tridgell	ac3dd87790	AP_Baro: added hil_mode support	2015-02-10 09:53:30 +11:00
Jonathan Challinger	5f7480b740	AP_Math: change fast_atan2 to use atan2f on fast CPUs	2015-02-09 22:24:09 +09:00
Andrew Tridgell	b64077ac2e	GCS_MAVLink: fixed example build	2015-02-09 13:09:29 +11:00
Andrew Tridgell	af5f84f4e4	DataFlash: fixed example builds	2015-02-09 13:09:16 +11:00
Andrew Tridgell	d5e129457e	AP_InertialNav: fixed example builds	2015-02-09 13:09:02 +11:00
Andrew Tridgell	84cda98bec	HAL_AVR: fixed example build	2015-02-09 13:08:45 +11:00
Andrew Tridgell	78dadcb5c6	AC_AttitudeControl: fixed example build	2015-02-09 13:08:34 +11:00
Andrew Tridgell	dd0e45db41	GCS_MAVLink: fixed build of example sketches	2015-02-09 11:49:25 +11:00
Andrew Tridgell	2f3b5006e7	AP_Mount: fixed build of example sketches	2015-02-09 11:49:10 +11:00
Andrew Tridgell	a8c1d3a134	AP_GPS: fixed SerialManager for test sketches	2015-02-09 11:47:31 +11:00
Andrew Tridgell	9eb07ffde2	HAL_VRBRAIN: implement updated new_input() semantics	2015-02-09 10:39:14 +11:00
Andrew Tridgell	f548d48fdc	HAL_PX4: implement updated new_input() semantics	2015-02-09 10:39:12 +11:00
Andrew Tridgell	7275d2b804	HAL_SITL: implement updated new_input() semantics	2015-02-09 10:39:10 +11:00
Andrew Tridgell	5d6f883887	HAL_AVR: implement updated new_input() semantics	2015-02-09 10:39:07 +11:00
Andrew Tridgell	3075cb058d	AP_HAL: changed semantics of RCInput.new_input() ... this makes calling new_input() in RCInput clear the new input flag. This fixes an issue with calls to read() for auxillary channels clearing the new_input flag, which could cause brief failsafe conditions.	2015-02-09 10:39:05 +11:00
Andrew Tridgell	7a5ec6d75b	GCS_MAVLink: allow use of RC_CHANNELS message on AVR too ... can have up to 11 channels	2015-02-08 21:47:31 +11:00
Andrew Tridgell	33a3254d8b	HAL_Linux: accept a smaller sync pulse width	2015-02-08 21:47:28 +11:00
Andrew Tridgell	7fb114752c	AP_HAL_AVR: accept a much shorted sync pulse width on RCInput ... this should fix issues with OpenLRSng default settings	2015-02-08 21:47:26 +11:00
Andrew Tridgell	f2a919c55e	AP_HAL_PX4: moved size of main thread stack to Scheduler.h ... make it more obvious	2015-02-07 08:06:53 +11:00
Andrew Tridgell	1c270d17a8	AP_Airspeed: ignore temperatures below -80 ... ETS driver on PX4 returns -1000	2015-02-06 21:41:15 +11:00
Andrew Tridgell	4ecd99eb76	AP_Arming: added check for logging available ... this is used for refusing to fly without microSD inserted	2015-02-06 19:05:02 +11:00
Randy Mackay	fc4442bf61	AC_WPNav: rename xy_mode	2015-02-06 17:00:57 +09:00
Randy Mackay	186337f18e	AC_PosControl: rename xy_mode enum values ... Also added a few comments and fixed formatting	2015-02-06 17:00:55 +09:00
Jonathan Challinger	626521c366	AC_WPNav: update usage of update_xy_controller	2015-02-06 17:00:53 +09:00
Jonathan Challinger	3faca88423	AC_PosControl: allow control of xy rate constraint behavior	2015-02-06 17:00:48 +09:00
Andrew Tridgell	cabf21194a	AP_Arming: improved docs	2015-02-06 08:40:59 +11:00
Emile Castelnuovo	5c68980f05	AP_Notify: removed unused VRBRAIN files	2015-02-05 14:22:08 +09:00
Randy Mackay	b66a1135d9	AHRS: fix example sketch compile error	2015-02-03 15:57:11 +09:00
Paul Riseborough	aa94ff629d	AP_NavEKF: Prevent bad GPS pre-arming casuing initial position errors ... If the vehicle moves significantly or the GPS changes position significantly pre-armed, then the GPS glitch logic was being invoked when the first GPs measurements were fused. This patch resets the position to the GPS when the vehicle arms.	2015-02-03 15:57:10 +09:00
priseborough	bc5581d634	AP_NavEKF: Prevent arming delays from failing GPS ... Due to the way that gyro calibration is done, the EKF could be effectively not run for up to 30 seconds in extreme cases, making it possible that the GPS would be failed on arming and the copter put into a non-GPS mode. the longer term solution is to update the gyro calibration so that it does not hold up other processing. the short tyermfix in thsi patch is to look for evidence of a 3D lock in the last received GPS message.	2015-02-03 15:57:09 +09:00
priseborough	2c012c2763	AP_NavEKF: Always check for new GPS data ... This fixes a bug that meant that once the EKF had started up in a non-GPS mode, it would no longer read the GPS and therefore would never be able to use GPS again until reset.	2015-02-03 15:57:08 +09:00
Robert Lefebvre	14d76d158a	AC_AttitudeControl: Correct comment.	2015-02-03 14:55:30 +09:00
Jonathan Challinger	baa3e802ee	AC_WPNav: clean up atan2	2015-02-03 14:48:04 +09:00
Randy Mackay	112f6a1854	AP_InertialNav: add comments ... No functional change	2015-02-03 12:05:24 +09:00
Jonathan Challinger	c95e7b2282	AP_InertialNav: add get_origin function	2015-02-03 11:38:21 +09:00
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	925d625ed1	AP_NavEKF: fix bug in small EKF velocity fusion	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
Paul Riseborough	255252f387	AP_Math: Fix bug in quaternion division	2015-02-03 09:49:16 +11:00
Paul Riseborough	1660aefc90	AP_Mount: Add a simple attitude control loop to the gimbal report handling	2015-02-03 09:49:16 +11:00
Paul Riseborough	5f24603ceb	AP_NavEKF: Publish small EKF quaternion and gyro bias outputs	2015-02-03 09:49:16 +11:00
Paul Riseborough	17445d03f0	AP_Math: Add quaternion division	2015-02-03 09:49:16 +11:00
Andrew Tridgell	79017096e2	AP_Mount: prototype code to send biases	2015-02-03 09:49:16 +11:00
Andrew Tridgell	da27a8696d	AP_Mount: added initial ekf estimation of gimbal bias ... Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2015-02-03 09:49:16 +11:00
Andrew Tridgell	ee9c778834	AP_AHRS: added a get_NavEKF_const() function ... needed for AP_Mount_MAVLink Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2015-02-03 09:49:16 +11:00
Andrew Tridgell	4c8b663200	AP_NavEKF: added initial version of SmallEKF ... This will be used for gimbal bias estimations. Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2015-02-03 09:49:16 +11:00
Andrew Tridgell	1bbe633691	GCS_MAVLink: re-generate headers	2015-02-03 09:49:15 +11:00
Andrew Tridgell	b81cdf9250	GCS_MAVLink: change to delta_time in GIMBAL_REPORT	2015-02-03 09:49:15 +11:00
Andrew Tridgell	01b264951a	AP_Mount: added handling of GIMBAL_REPORT messages	2015-02-03 09:49:15 +11:00
Andrew Tridgell	35c14c787e	GCS_MAVLink: added handle_gimbal_report() function ... Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2015-02-03 09:49:15 +11:00
Andrew Tridgell	a1536d575b	GCS_MAVLink: added GIMBAL msgs to routing	2015-02-03 09:49:14 +11:00
Andrew Tridgell	01325b701a	GCS_MAVLink: re-generate headers	2015-02-03 09:49:14 +11:00
Andrew Tridgell	3b2332a0c7	GCS_MAVLink: added target_system/component to GIMBAL_REPORT	2015-02-03 09:49:14 +11:00
Andrew Tridgell	51ce4d3217	GCS_MAVLink: re-generate	2015-02-03 09:49:14 +11:00
Andrew Tridgell	df735e2ddb	GCS_MAVLink: change euler312 order conventions	2015-02-03 09:49:13 +11:00
Andrew Tridgell	53adcc9a25	GCS_MAVLink: regenerate MAVLink headers	2015-02-03 09:49:13 +11:00
Andrew Tridgell	73670edda6	GCS_MAVLink: added GIMBAL messages, mavlink ID and type	2015-02-03 09:49:13 +11:00
Randy Mackay	6cfd48d0c6	Buzzer: handle arming_failed as event	2015-02-03 06:14:55 +09:00
Randy Mackay	a991b4a823	Linux: handle arming_failed as event	2015-02-03 06:14:54 +09:00
Randy Mackay	3361002379	ToneAlarm: handle arming_failed as event	2015-02-03 06:14:53 +09:00
Randy Mackay	bd1ae13fdb	Notify: arming_failed flag moved to events	2015-02-03 06:14:53 +09:00
Randy Mackay	6a827459ad	Notify: increase size of flags type	2015-02-03 06:14:52 +09:00
Randy Mackay	0a68d4ef39	Notify: clear all flags and events during init	2015-02-03 06:14:44 +09:00
Randy Mackay	272768bc0f	Notify: init RGBLed members	2015-02-03 06:14:35 +09:00
Randy Mackay	3550e52560	MotorsTri: add 80% throttle limit ... This limit was moved from the main copter flight code to the motors library in order that the throttle_upper flag could be set properly.	2015-02-02 22:31:06 +09:00
Emile Castelnuovo	c044901f9f	AP_Notify: added missing VRBRAIN led files	2015-02-02 08:44:01 +11:00
Emile Castelnuovo	ebc3dcd142	DataFlash: Clean up, VRBRAIN deleted unused boards.	2015-02-02 08:44:01 +11:00
Emile Castelnuovo	90663664f3	AP_BattMonitor: VRBRAIN deleted unused boards, corrected default batt volt divider.	2015-02-02 08:44:01 +11:00
Emile Castelnuovo	a863f0bca8	AP_Airspeed: VRBRAIN code clean up. Deleted unused boards.	2015-02-02 08:44:01 +11:00
Emile Castelnuovo	d78ff43971	AP_HAL_VRBRAIN: code clean up. Deleted unused boards.	2015-02-02 08:44:00 +11:00
Emile Castelnuovo	5e8c1b61b5	AP_Compass: AP_Compass_VRBRAIN.cpp added _is_external overwrite to deal with external compass attached to internal I2C BUS	2015-02-02 08:44:00 +11:00
LukeMike	61f4239e47	AP_Airspeed: enabled PX4 library for VR boards	2015-02-02 08:44:00 +11:00
LukeMike	6473ae2c37	Storage: updated to the PX4 library	2015-02-02 08:44:00 +11:00
Emile Castelnuovo	26432d6064	AP_Notify: use RGB driver for board led in VRBRAIN boards.	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	3e97592e5c	AP_Rangefinder: added #if for VRBRAIN boards.	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	c38b11eec8	AP_RangeFinder: added VRBRAIN to use PX4 libraries	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	dae32984f1	AP_InertialSensor: use PX4 library for VRBRAIN boards.	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	25818f08a3	AP_Airspeed: added VRBRAIN board type	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	ffd26e59cd	DataFlash: added new VRBRAIN boards	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	b0b892e578	AP_Rangefinder: added support for VRBRAIN boards	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	731329fc55	AP_InertialSensor: correction to AP_InertialSensor_VRBRAIN	2015-02-02 08:43:58 +11:00
Emile Castelnuovo	92e0bc3a2f	AP_HAL_VRBRAIN: updates to libraries for new boards	2015-02-02 08:43:58 +11:00
Emile Castelnuovo	a0673b56f9	AP_HAL: added new VRBRAIN boards and new subtypes	2015-02-02 08:43:58 +11:00
Emile Castelnuovo	de8a0ebc08	AP_Airspeed: added #defines for new VR boards.	2015-02-02 08:43:58 +11:00
LukeMike	edd0f13845	AP_HAL: mapped the different sizes of storage for all VR boards	2015-02-02 08:43:58 +11:00
LukeMike	6a93148b92	AP_InertialSensor: added library for VRBRAIN Inertial Sensor	2015-02-02 08:43:58 +11:00
LukeMike	b29f50ba9b	AP_Airspeed: Defined AirSpeed analog inputs for ArduPlane on VR Micro Brain 5	2015-02-02 08:43:57 +11:00
LukeMike	7dc5541484	AP_HAL_VRBRAIN: Added analog inputs for ArduPlane on VR Micro Brain 5	2015-02-02 08:43:57 +11:00
Andrew Tridgell	a2adb9b1b0	AP_Arming: check for AHRS health and calibration for arming	2015-02-01 14:13:57 +11:00
Andrew Tridgell	6e62e1ca7b	AP_InertialSensor: make calibrated() const	2015-02-01 14:13:54 +11:00
Andrew Tridgell	68f64fa11c	AP_AHRS: make the healthy() method const	2015-02-01 14:13:52 +11:00
Andrew Tridgell	850af14949	AP_NavEKF: raise EKF_POS_GATE and EKF_GLITCH_RAD for planes ... This weights GPS position more heavily for planes Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2015-01-31 21:49:20 +11:00
Holger Steinhaus	8911dfd791	DataFlash: fix out-of-bounds read when logging ... Checked in my rmackay9	2015-01-31 13:24:34 +09:00
Randy Mackay	0d94d5441f	SerialManager: correct protocol comments ... Correct value for 2nd MAVLink protocol	2015-01-31 12:18:47 +09:00
Matthias Badaire	b5b67cf68a	SerialManager: Fix SERIALX_PROTOCOL comments ... Fix SERIALX_PROTOCOL to have a proper documentation of the protocol types available	2015-01-31 12:18:36 +09:00
Randy Mackay	07a0388f25	AC_PosControl: move alt limit to set_alt_target_from_climb_rate ... The alt limit is instead enforced when the target is set using the set_alt_target_from_climb_rate function Also updated comments	2015-01-30 14:13:52 +09:00
Robert Lefebvre	02f3f96310	AC_PosControl: Enable altitude limit checking.	2015-01-30 14:13:45 +09:00
Andrew Tridgell	79cad28a25	AP_Mount: simplify some uses of frontend	2015-01-29 17:23:33 +11:00
Andrew Tridgell	c05f36d29b	AP_SerialManager: make the state structure private	2015-01-29 16:02:24 +11:00
Andrew Tridgell	1d272e5a32	AP_Frsky_Telem: don't use flow control for FrSky ... Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2015-01-29 15:53:41 +11:00
Andrew Tridgell	362b53e1da	AP_GPS: force flow control off on GPS serial ports	2015-01-29 15:53:20 +11:00
Andrew Tridgell	5980ff8e1c	AP_Common: removed map_baudrate() ... Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2015-01-29 15:47:48 +11:00
Andrew Tridgell	d6ab4722cd	AP_SerialManager: moved map_baudrate() into class ... Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2015-01-29 15:47:36 +11:00
Andrew Tridgell	085a926e61	AP_Frsky_telem: update for find_serial() change	2015-01-29 15:37:18 +11:00
Andrew Tridgell	9ba2fefde3	AP_GPS: update for find_serial() change	2015-01-29 15:37:08 +11:00
Andrew Tridgell	60f266da19	AP_Mount: update for new find_serial() interface	2015-01-29 15:36:38 +11:00
Andrew Tridgell	59d5351dab	GCS_MAVLink: update for new find_serial()	2015-01-29 15:36:19 +11:00
Andrew Tridgell	e28deacc4c	AP_SerialManager: simplify interface, returning direct uart ... added find_baudrate() for getting baudrate Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2015-01-29 15:35:42 +11:00
Randy Mackay	0a195671b3	SerialManager: set_console_baud uses first matching protocol ... This ensures we set the baud to the first serial port with the specified protocol instead of the last.	2015-01-29 14:05:15 +11:00
Matthias Badaire	5f432eaa2d	AP_Mount_Alexmos : take into account available negative numbers ... uartdriver->available () function brings back a signed int, we should be carefull to avoid an endless loop if that happens.	2015-01-29 14:05:15 +11:00
Randy Mackay	4a4387530a	Mount: remove unused num_instances	2015-01-29 14:05:14 +11:00
Randy Mackay	d6433266d2	Mount_MAVLink: use SerialManager for init ... use serial_manager's get_mavlink_channel	2015-01-29 14:05:14 +11:00
Randy Mackay	4848b03ac6	Mount_AlexMos: use SerialManager for init	2015-01-29 14:05:14 +11:00
Randy Mackay	56f872b38c	Mount_Servo: use SerialManager for init	2015-01-29 14:05:13 +11:00
Randy Mackay	886cc9aa46	Mount: use SerialManager for init	2015-01-29 14:05:13 +11:00
Randy Mackay	19aa8939de	FrSky_Telem: init uart when protocol is S-Port	2015-01-29 14:05:13 +11:00
Randy Mackay	5c086acc15	FrSky_Telem: comments, formatting and reordering ... No functional change Added comments and moved main functions to the top Removed spaces between function name and brackets	2015-01-29 14:05:13 +11:00
Randy Mackay	6ef996d553	FrSky_Telem: init all members to zero and move to cpp	2015-01-29 14:05:13 +11:00
Randy Mackay	d16f787bd0	Frsky_Telem: use SerialManager for init	2015-01-29 14:05:12 +11:00
Randy Mackay	ebf5f98dbd	GPS: detect_instance does not set uart rx, tx size	2015-01-29 14:05:12 +11:00
Randy Mackay	2eddecb10d	GPS: use SerialManager for init	2015-01-29 14:05:12 +11:00
Randy Mackay	0c3a8f585a	GCS_MAVLink: add get_uart accessor ... use by flight code to print messages during startup	2015-01-29 14:05:12 +11:00
Randy Mackay	1275ff7d40	GCS_MAVLink: have_flow_control uses mavlink_comm	2015-01-29 14:05:12 +11:00
Randy Mackay	1157c13eb6	GCS_MAVLink: mavlink_comm_x become UARTDrivers	2015-01-29 14:05:12 +11:00
Randy Mackay	febda988af	GCS_MAVLink: mavlink_channel from SerialManager	2015-01-29 14:05:11 +11:00
Randy Mackay	c6326fc9b7	GCS_MAVLink: use SerialManager for setup_uart	2015-01-29 14:05:11 +11:00
Randy Mackay	0fe4436c72	SerialManager: do not init uart for FrSky S-Port	2015-01-29 14:05:11 +11:00
Randy Mackay	cc71db1e2f	SerialManager: lib to configure UART protocol	2015-01-29 14:05:11 +11:00
Randy Mackay	ee369f8a0d	Mount_AlexMos: use reference to state	2015-01-29 14:05:11 +11:00
Randy Mackay	b083c99966	Mount_MAVLink: use reference to state	2015-01-29 14:05:11 +11:00
Randy Mackay	32ea258594	Mount_Servo: use reference to state	2015-01-29 14:05:10 +11:00
Randy Mackay	acbcf3c54e	Mount: backends use reference to their state	2015-01-29 14:05:10 +11:00
Randy Mackay	bf82e82282	Mount_MAVLink: remove unused _enable and find_mount	2015-01-29 14:05:10 +11:00
Randy Mackay	b5127b680f	Mount: set primary to first instance	2015-01-29 14:05:10 +11:00
Matthias Badaire	24af65a41a	AP_Mount_Alexmos: critical fix to avoid endless loop if byte arrive to fast in serial buffer ... This fix reads the number of bytes available and iterates on it instead of looking for new bytes in the serial buffer (potentially forever)	2015-01-29 14:05:10 +11:00
Matthias Badaire	46e92f99fe	AP_Mount_Alexmos: use struct for CMD_CONTROL command ... new struct created in header and used in control_axis function	2015-01-29 14:05:09 +11:00
Matthias Badaire	81d60af4a8	AP_Mount_Alexmos : cleanup initialization of class fields	2015-01-29 14:05:09 +11:00
Randy Mackay	c5ef5d21d3	Mount: add Alexmos to MNT2_TYPE param description	2015-01-29 14:05:09 +11:00
Randy Mackay	93323e2136	Mount_Alexmos: comments and formatting ... No functional change	2015-01-29 14:05:09 +11:00
Matthias Badaire	1e5ddf3ce7	AP_Mount_Alexmos : make sure get_angles is called to get the real angles from the gimbal ... get_angles calls the Alexmos API to get the current angles. It was not being called before.	2015-01-29 14:05:09 +11:00
Matthias Badaire	0b88f15a37	AP_Mount: fix Backend enum for AP_Mount_Alexmos and add comments ... fix Backend enum for AP_Mount_Alexmos and add comments	2015-01-29 14:05:09 +11:00
Matthias Badaire	cdeb1fb8f3	AP_Mount_Alexmos : changes some define to avoid conflicting ... change SPEED to AP_MOUNT_ALEXMOS_SPEED and the control mode defines as well	2015-01-29 14:05:08 +11:00
Matthias Badaire	6e5e438b0f	AP_Mount: Make use of the new AP_Mount_Alexmos backend ... This is adding AP_Mount_Alexmos as one of the available backend	2015-01-29 14:05:08 +11:00
Matthias Badaire	dfc086f9e9	AP_Mount_Alexmos : Add Alexmos Serial support for 8bit cards ... This is the initial implementation of Alemox gimbal protocol. the uart output is for the moment hard coded but should become a parameter.	2015-01-29 14:05:08 +11:00
Randy Mackay	66ad56161b	Mount_MAVLink: fix to calc_angle_to_location params	2015-01-29 14:05:08 +11:00
Randy Mackay	f509dad991	Mount_Servo: bug fix to calc_angle_to_location params	2015-01-29 14:05:08 +11:00
Randy Mackay	a78309734d	Mount_MAVLink: remove set_roi_target, configure ... These methods are now in the backend	2015-01-29 14:05:07 +11:00
Randy Mackay	99c35d5cf7	Mount_Servo: remove set_roi_target, configure ... These methods are now in the backend	2015-01-29 14:05:07 +11:00
Randy Mackay	72fec52f0f	Mount_Backend: move set_roi_target, configure to backend	2015-01-29 14:05:07 +11:00
Randy Mackay	efeb05876e	AP_Mount: initialise mode to default	2015-01-29 14:05:07 +11:00
Randy Mackay	ace1fd8740	Mount_MAVLink: handle RC and GPS targeting in lib ... Previously we expected the mount to do this but it is likely that the first versions of MAVLink enable mounts will only be capable of pointing at a particular angle	2015-01-29 14:05:07 +11:00
Randy Mackay	9d4210b82a	Mount_Backend: move RC target handling to backend	2015-01-29 14:05:07 +11:00
Randy Mackay	b3044ced1f	Mount_Backend: move calc_angle_to_lcoation to backend	2015-01-29 14:05:07 +11:00
Randy Mackay	8fabacf5ff	Mount_MAVLink: use sysid from vehicle, compid of 10	2015-01-29 14:05:06 +11:00
Randy Mackay	6af5a6687f	Mount: add params for second mount	2015-01-29 13:57:19 +11:00
Randy Mackay	5d30af233a	Mount: move param underscore to lib	2015-01-29 13:57:18 +11:00
Randy Mackay	2ed4ca409c	Mount_Servo: check_servo_map every 3sec	2015-01-29 13:57:18 +11:00
Randy Mackay	cb5a122dab	Mount_Servo: add set_mode	2015-01-29 13:57:17 +11:00
Randy Mackay	a41ff2375b	Mount_Backend: add set_mode virtual method	2015-01-29 13:57:17 +11:00
Randy Mackay	ef719b145b	Mount: rename MODE to DFLT_MODE, move set_mode to backend	2015-01-29 13:57:17 +11:00
Randy Mackay	6c766051e8	Mount_MAVLink: minimalist mavlink backend ... We assume MAVLink enabled mount will do all the hard work of support all modes	2015-01-29 13:57:17 +11:00
Randy Mackay	8a9df1c894	Mount_Servo: Servo functions moved to backend	2015-01-29 13:57:17 +11:00
Randy Mackay	7df2892b8d	Mount_Backend: add backend class	2015-01-29 13:57:17 +11:00
Randy Mackay	88db50c3a7	Mount: parent class becomes front-end	2015-01-29 13:57:17 +11:00
Randy Mackay	12bd5cd6b1	AP_HAL_PX4: fix example sketch	2015-01-28 21:00:30 +09:00
Randy Mackay	aa7f946e04	GCS_MAVLink: fix example sketch	2015-01-28 17:15:52 +09:00
Randy Mackay	857c3ef0e9	Scheduler: fix example sketch	2015-01-28 17:15:51 +09:00
Randy Mackay	d5f02ec0df	RangeFinder: fix example sketch	2015-01-28 17:15:50 +09:00
Randy Mackay	6e482d5c56	PerfMon: fix example sketch	2015-01-28 17:15:49 +09:00
Randy Mackay	52ca06fc22	Parachute: fix example sketch	2015-01-28 17:15:48 +09:00
Randy Mackay	f48a71f30a	OptFlow: fix example sketch	2015-01-28 17:15:47 +09:00
Randy Mackay	775cbfba38	Notify: fix example sketch	2015-01-28 17:15:47 +09:00
Randy Mackay	314eb2536f	Mount: fix example sketch	2015-01-28 17:15:46 +09:00
Randy Mackay	38702a7e23	Motors: fix example sketch	2015-01-28 17:15:45 +09:00
Randy Mackay	355a92aff4	Mission: fix example sketch	2015-01-28 17:15:44 +09:00
Randy Mackay	689cc9e298	AP_Math: fix example sketch	2015-01-28 17:15:43 +09:00
Randy Mackay	b43dc3bdfb	INS: fix example sketch	2015-01-28 17:15:42 +09:00
Randy Mackay	7c293f01d9	HAL_AVR: fix example sketch	2015-01-28 17:15:41 +09:00
Randy Mackay	f84d31b838	HAL: fix example sketch	2015-01-28 17:15:40 +09:00
Randy Mackay	1141363868	GPS: fix example sketches	2015-01-28 17:15:39 +09:00
Randy Mackay	635ff92d6b	Compass: fix example sketch	2015-01-28 17:15:39 +09:00
Randy Mackay	1475cf27ac	AP_Common: fix example sketch	2015-01-28 17:15:38 +09:00
Randy Mackay	bb4204c045	Baro: fix example sketch	2015-01-28 17:15:37 +09:00
Randy Mackay	293eb74a37	AirSpeed: fix example sketch	2015-01-28 17:15:36 +09:00
Randy Mackay	d8664d15d6	AHRS: fix example sketch	2015-01-28 17:15:35 +09:00
Randy Mackay	d0d1254f03	AC_WPNav: fix example sketch	2015-01-28 17:15:34 +09:00
Randy Mackay	a5ec3e3ec1	AC_Sprayer: fix example sketch	2015-01-28 17:15:33 +09:00
Randy Mackay	99046ebda6	AC_Fence: fix example sketch	2015-01-28 17:15:32 +09:00
Randy Mackay	d7f7af8c13	AC_AttControl: fix example sketch	2015-01-28 17:15:32 +09:00
Randy Mackay	51cb7185f2	InertialNav: fix example sketch	2015-01-28 17:15:27 +09:00
Randy Mackay	0480828350	Dataflash: fix example sketch	2015-01-28 16:31:50 +09:00
Andrew Tridgell	3d433d2106	AP_Mission: loop check is only needed in one place	2015-01-23 13:48:45 +11:00
Andrew Tridgell	540cadc086	AP_Mission: prevent infinite loop with linked jump commands ... this prevents a "jump loop" from causing a firmware lockup. Thanks to dellarb for reporting this!	2015-01-23 13:14:27 +11:00
Andrew Tridgell	4ee9575e6d	AP_Frsky_Telem: fixed code formatting ... match ArduPilot coding standards	2015-01-22 16:49:39 +11:00
Matthias Badaire	f59f85d4a4	AP_Frsky_Telem: add SBUS support ... add sbus support using a timer on a thread	2015-01-22 16:49:39 +11:00
priseborough	5df733a883	AP_NavEKF: Allow flight transition to optical flow mode if GPS is lost	2015-01-22 14:41:04 +09:00
priseborough	04810c012d	AP_NavEKF: Increase flow data valid timeout to handle arming delays ... When Copter arms, the AHRS/EKF may not be run for a few hundred msec depending on conditions. This can cause the arming check to fail the optical flow sensor and place the EKF in a constant position mode.	2015-01-22 14:41:01 +09:00
priseborough	073b8e7c43	AP_NavEKF: Always explicitly set required const pos or vel mode when arming ... This additional explicit setting of the constPosMode and constVelMode reduces the likelihood of logic errors being introduced in the future as it places the intended setting of these parameters at arming in the one place. the constVelmode and constPosMode only have one set of conditions each that can trigger these modes in flight, so if these modes are true after arming it will be clear that it was the in-flight condition that triggered.	2015-01-22 14:40:59 +09:00
priseborough	9c6dabe1cc	AP_NavEKF: Add separate flow default parameters for platform types ... Also reduces flow measurement noise default for copter only and increases gate to compensate.	2015-01-22 14:40:57 +09:00
priseborough	d2da16e652	AP_NavEKF: Consistently set timeout flags whenever aiding is inhibited ... This ensures the position and velocity measurement status will be set as timed out immediately after use of those measurements is inhibited. This will improve the timeliness of filter status reporting.	2015-01-22 14:40:55 +09:00
priseborough	824425625c	AP_NavEKF: Update public method used to inhibit GPS use ... This method is not currently used by any of our vehicle types, but will be required to enable a user selectable 'indoor mode'.	2015-01-22 14:40:52 +09:00
priseborough	1033f5fc1e	AP_NavEKF: Apply flow nav vehicle limits regardless of sensor health ... It does not make sense to relax the limits on vehicle speed and nav gains just because we have received some invalid flow data. This could make the situation worse if the invalid data was being caused by too much speed. If we are relying on flow data the vehicle limits should always be applied.	2015-01-22 14:40:50 +09:00
priseborough	14b51f6d74	AP_NavEKF: Unconditionally fuse velocity in constant velocity mode ... The zero velocity measurements in this mode are by definition always correct and should never be rejected	2015-01-22 14:40:48 +09:00
priseborough	6663d80176	AP_NavEKF: Simplify nested logic - functionally equivalent ... Additional if else statement was unnecessary	2015-01-22 14:40:45 +09:00
priseborough	12c3368c4d	AP_NavEKF: Bypass GPS glitch logic when not aiding ... When we are not using GPS measurements, we should not be allowing the GPS glitch logic to reset position states as this can interfere with operation of non GPS modes.	2015-01-22 14:40:43 +09:00
priseborough	5c8e71a8d1	AP_NavEKF: Don't reset the position measurement timeout if not aiding ... When PV aiding is disabled, then the timeout time reference should not be reset becasue we want the position measurement timeout status to remain true the whole time the measurement is not being used.	2015-01-22 14:40:41 +09:00
priseborough	c505a458de	AP_NavEKF: Always declare a position measurement timeout if aiding not used ... If position and velocity aiding is turned off, then the position measurement should always be reported as timed out.	2015-01-22 14:40:39 +09:00
priseborough	3b166372cc	AP_NavEKF: Always declare a velocity measurement timeout if velocity not used ... If position and velocity aiding is turned off, then the velocity measurement should always be reported as timed out.	2015-01-22 14:40:36 +09:00
priseborough	95c3197170	AP_NavEKF: Ensure velocity will not be reset unless needed for aiding	2015-01-22 14:40:34 +09:00
priseborough	8aeec82846	AP_NavEKF: Continually turn off aiding whilst the vehicle is disarmed ... This prevents the possibility of any logic errors turning aiding back on. AP_NavEKF: Fix bug in logic	2015-01-22 14:40:31 +09:00
priseborough	81ee339e25	AP_NavEKF: Synchronise non-aiding mode state corrections ... Synchronise with covariance prediction to improve numerical stability and accuracy of angle corrections. The 'noise' this produces in the position and velocity estimate is irrelevantbecause these are not used by the control loops during this mode of operation (they are nominally zero anyway).	2015-01-22 14:40:29 +09:00
priseborough	ae6b85e63d	AP_NavEKF: Explicitly set aiding to off when disarmed ... This fixes a bug that could cause the AHRS to drift whilst the vehicle was disarmed depending sensor combinations at startup.	2015-01-22 14:40:27 +09:00
priseborough	fb1962b111	AP_NavEKF: Let reported position whilst disarmed show inertial errors ... Showing the positon states (which are nominally zero) in addition to the last known offset can provide useful log information.	2015-01-22 14:40:25 +09:00
Randy Mackay	01c669ee15	RangeFinder: minor param description update ... Also initialise primary instance to 0. No functional change.	2015-01-22 14:40:16 +09:00
Randy Mackay	c24e997fb2	AC_Fence: use inertial nav's get_filter_status	2015-01-22 14:39:40 +09:00
Randy Mackay	f35efc56e0	InertialNav_EKF: get_filter_status replaces position_ok	2015-01-22 14:39:37 +09:00
Randy Mackay	5d80481723	InertialNav: get_filter_status replaces position_ok ... altitude_ok also replaced.	2015-01-22 14:39:35 +09:00
Andrew Tridgell	61be4ce2d2	HAL_Linux: fixed #if for linux builds	2015-01-22 15:58:20 +11:00
Víctor Mayoral Vilches	2b74d018fe	HAL_Linux: Adjust set_system_clock ... Do nothing for HAL_BOARD_SUBTYPE_NONE.	2015-01-22 15:43:16 +11:00
Víctor Mayoral Vilches	974f243c7e	HAL_Linux: Add set_system_clock	2015-01-22 15:43:16 +11:00
Jonathan Challinger	d679831c75	GCS_MAVLink: run generate.sh	2015-01-22 15:28:44 +11:00
Jonathan Challinger	0997ab23a4	GCS_MAVLink: merge upstream changes to common.xml	2015-01-22 15:19:47 +11:00
Grant Morphett	236efad159	AP_HAL_AVR: Increased number of AVR input channels from 8 to 11	2015-01-22 14:48:15 +11:00
mirkix	d11c5286c3	AP_HAL: HAL_COMPASS_AK8963 used but not defined anywhere	2015-01-22 14:35:51 +11:00
mirkix	9a65a8c8fb	AP_Compass: add AK8963 to auto-detect in test suite	2015-01-22 14:34:23 +11:00
mirkix	e9d4165a8d	AP_Compass: add AK8963 support to test suite	2015-01-22 14:34:17 +11:00
mirkix	7ceb93befa	AP_HAL: make the examples usable with Linux	2015-01-22 14:30:47 +11:00
Andrew Tridgell	5512a6f8a0	SITL: lower the default noise in SITL ... the noise levels were well above realistic levels, especially for gyro noise, and were causing EKF issues	2015-01-22 11:33:09 +11:00
Randy Mackay	842efe71be	DataFlash: move COMPASS2,3 formats to extra structures	2015-01-21 14:38:13 +09:00
Randy Mackay	e7471c5fe5	DataFlash: fix message id and CURR formatting	2015-01-21 14:38:03 +09:00
Randy Mackay	09e3dcd821	DataFlash: pass ahrs, batt, targets by reference	2015-01-21 14:38:01 +09:00
Randy Mackay	f23959b5fa	DataFlash: fix missing slash lost in merge	2015-01-21 14:37:59 +09:00
Robert Lefebvre	80929c389e	DataFlash: Handle multiple compass instances natively inside the Library.	2015-01-21 14:37:50 +09:00
Robert Lefebvre	5b70550b73	DataFlash: Fix potentially uninitialized variable compiler warning.	2015-01-21 14:37:27 +09:00
Robert Lefebvre	be803f4f39	DataFlash: Minor whitespace changes/cleanup. No effect.	2015-01-21 14:37:25 +09:00
Robert Lefebvre	2657610373	DataFlash: Add common-vehicle Mode logging method. ... Conflicts: libraries/DataFlash/DataFlash.h	2015-01-21 14:37:18 +09:00
Robert Lefebvre	12c3593bc3	DataFlash: Add common-vehicle Compass logging method.	2015-01-21 14:37:14 +09:00
Robert Lefebvre	2fdcd99db2	Arducopter: Move Attitude Message structure definition to the Base Structures section. ... Conflicts: libraries/DataFlash/DataFlash.h	2015-01-21 14:37:12 +09:00
Robert Lefebvre	d2adf2cdd7	DataFlash.h: Move format characters string to a more convenient location.	2015-01-21 14:37:10 +09:00
Robert Lefebvre	392e5257cc	DataFlash: Add voltage2 data to Current log, to be used by plane.	2015-01-21 14:37:07 +09:00
Robert Lefebvre	50b5376945	DataFlash: Add common-vehicle Current logging message.	2015-01-21 14:37:01 +09:00
Robert Lefebvre	db1a066f43	DataFlash: Add common-vehicle Attitude logging message.	2015-01-21 14:36:56 +09:00
Robert Lefebvre	743c5e4fde	AC_AttitudeControl: Remove un-needed #include	2015-01-21 14:36:54 +09:00
Andrew Tridgell	8b59c72eb9	AP_InertialSensor: cope with 2 IMUs in SITL	2015-01-20 19:47:45 +11:00
Andrew Tridgell	a37f3680e4	AP_Arming: support skip_gyro_cal ... also break up arming INS reports, to be clearer for users	2015-01-20 19:47:15 +11:00
Andrew Tridgell	765d833efa	AP_Arming: check compass.use_for_yaw()	2015-01-20 11:33:39 +11:00
Andrew Tridgell	e8017a5079	AP_NavEKF: cope with the changed semantics of airspeed.use()	2015-01-20 11:28:14 +11:00
Andrew Tridgell	ed0a56cc3c	AP_AHRS: cope with the changed semantics of airspeed.use()	2015-01-20 11:27:58 +11:00
Andrew Tridgell	850b3b89ea	AP_Arming: added INS checks and airspeed checks ... this also displays all failing arming checks, not just the first one. That is more useful for the user	2015-01-20 11:27:13 +11:00
Andrew Tridgell	2235d18d67	AP_Airspeed: make it possible to tell if a airspeed sensor is unhealthy ... we need use() to reflect if the user wants to use the sensor, so the arming checks can tell if it is not working as expected	2015-01-20 11:26:20 +11:00
Andrew Tridgell	b3ce56d34d	AP_InertialSensor: fixed 2nd IMU in Replay ... this makes for much more accurate replay runs	2015-01-20 09:20:47 +11:00
Andrew Tridgell	5d83124675	DataFlash: moved airspeed msg to DataFlash ... so it can be used by Replay	2015-01-20 09:10:33 +11:00
Andrew Tridgell	62e7778ba8	AP_GPS: fixed build warning	2015-01-19 11:22:10 +11:00
Randy Mackay	aeecc46f7b	AC_PosControl: remove unnecessary set of desired_accel ... The desired_accel is set again 11 lines lower so this line did nothing.	2015-01-14 16:23:26 +09:00
Jonathan Challinger	9ebd0e9960	AC_PosControl: reincarnate dead block of code	2015-01-14 16:20:17 +09:00
Jonathan Challinger	a580cd83e8	AC_PosControl: Fill _vel_desired.z for reporting	2015-01-14 16:08:48 +09:00
priseborough	c40c3632bb	AP_NavEKF: Critical Bug Fix ... Prevents possible loss of attitude reference for flights without optical flow and GPS. The optical flow measurement timeout can reset the velocity states which decouples the position states from IMU errors and therefore significantly reduces the amount of attitude error correction.	2015-01-13 16:05:31 +13:00
mirkix	62a05a0438	AP_Notify: fix if statement	2015-01-13 12:15:32 +13:00
mirkix	fa950a735e	AP_InertialSensor: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black	2015-01-12 21:36:40 +13:00
mirkix	c58a022111	AP_HAL_Linux: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black	2015-01-12 21:36:40 +13:00
mirkix	70445d11f6	AP_HAL: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black	2015-01-12 21:36:40 +13:00
Randy Mackay	c93e7a69a7	Baro: init external_temperature in constructor	2015-01-12 13:56:35 +09:00
mirkix	b03a9e2911	AP_Notify: ToneAlarm_Linux.h includes itself	2015-01-11 11:50:07 +09:00
Andrew Tridgell	b1d8df3d54	AP_Baro: only allow calibrated sensors to be used	2015-01-09 12:59:01 +11:00
Andrew Tridgell	e8b1fc72e0	DataFlash: fixed build warning	2015-01-09 12:43:15 +11:00
Andrew Tridgell	3320dfd7fa	AP_Baro: fixed ms5611 spelling error	2015-01-09 11:59:49 +11:00
Andrew Tridgell	0a8677b3e2	AP_Baro: fixed build after rebase with all_healthy()	2015-01-09 11:51:52 +11:00
Andrew Tridgell	1c2a6deaaf	AP_Baro: added all_healthy() method	2015-01-09 11:51:51 +11:00
Andrew Tridgell	8359c082ca	AP_Baro: fixed baro on NavIO ... don't use the 1kHz timer as it conflicts with other I2C devices	2015-01-09 11:51:51 +11:00
Andrew Tridgell	b85001bf4a	DataFlash: added logging of 2nd baro	2015-01-09 11:51:51 +11:00
Andrew Tridgell	b1342c2d39	GCS_MAVLink: send SCALED_PRESSURE2 if available	2015-01-09 11:50:57 +11:00
Andrew Tridgell	19c717df2e	AP_OpticalFlow: updates for new AP_Baro API	2015-01-09 11:50:56 +11:00
Andrew Tridgell	8aa1a89081	AP_Mission: updates for new AP_Baro API	2015-01-09 11:50:56 +11:00
Andrew Tridgell	cd7fbddcce	AP_InertialNav: updates for new AP_Baro API	2015-01-09 11:50:56 +11:00
Andrew Tridgell	197c09fcd8	AP_Baro: added num_instances() API	2015-01-09 11:50:56 +11:00
Andrew Tridgell	d2c827aa4b	AP_AHRS: updates for new AP_Baro API	2015-01-09 11:50:56 +11:00
Andrew Tridgell	25f69f05eb	AC_WPNav: updates for new AP_Baro API	2015-01-09 11:50:56 +11:00
Andrew Tridgell	5ec8ce933e	AC_Sprayer: updates for new AP_Baro API	2015-01-09 11:50:56 +11:00
Andrew Tridgell	55ec316718	AC_Fence: updates for new AP_Baro API	2015-01-09 11:50:56 +11:00
Andrew Tridgell	5c4440a9ac	AC_AttitudeControl: updates for new AP_Baro API	2015-01-09 11:50:56 +11:00
Andrew Tridgell	bb6deb4817	GCS_MAVLink: re-generated headers	2015-01-09 11:50:55 +11:00
Andrew Tridgell	56f682f186	GCS_MAVLink: added SCALED_PRESSURE2 message	2015-01-09 11:50:55 +11:00
Andrew Tridgell	8a3d3bed72	SITL: changes for new AP_Baro API	2015-01-09 11:50:54 +11:00
Andrew Tridgell	f1891cea1f	AP_Baro: BMP085 driver done, but untested	2015-01-09 11:50:54 +11:00
Andrew Tridgell	5bb57a31f7	AP_Baro: split into frontend/backend ... this allows for support of multiple sensors on a board	2015-01-09 11:50:54 +11:00
Andrew Tridgell	464714f1ab	HAL_PX4: fixed build warning	2015-01-09 11:37:46 +11:00
Andrew Tridgell	d34e5b3f42	AP_GPS: fixed PX4 GPS driver for new upstream format	2015-01-09 11:37:38 +11:00
Andrew Tridgell	ef5cdb0d6c	AP_NavEKF: use more array bounds checked variables	2015-01-09 11:05:07 +11:00
Andrew Tridgell	fefdc37a4d	AP_Math: fixed warnings on bounds checking in quaternion	2015-01-09 11:04:50 +11:00
priseborough	3d46680348	AP_NavEKF: Make NED origin independent of home position ... This enables the filter to report the last known position after disarm. The LLH location of the filters NED origin is published and should be logged every time the vehicle is armed to assist with post-flight trajectory reconstruction. The LLH location of the filters NED origin can be set externally whilst the vehicle is disarmed.	2015-01-09 10:51:24 +11:00
priseborough	f0ea858e4c	AP_NavEKF: Make LLH output report last known position in const pos mode	2015-01-09 10:51:24 +11:00
priseborough	a0957a83f8	AP_NavEKF: Fix bug in reported position and velocity ... The last known position was being output on the velocities when in constant position mode.	2015-01-09 10:51:24 +11:00
priseborough	7d1cd604a8	AP_NavEKF: Report last known position when GPS is lost	2015-01-09 10:51:24 +11:00
priseborough	1789dc08a3	AP_NavEKF: Correctly report position timeout when GPS is lost	2015-01-09 10:51:24 +11:00
Randy Mackay	3e583e3650	DataFlash: fix EKF4 logging	2015-01-09 10:51:24 +11:00
Randy Mackay	e6e6a781c1	AP_NavEKF: init filter status bits to zero	2015-01-09 10:51:23 +11:00
priseborough	ffd9f7a4ed	AP_NavEKF: Predict filter solution status	2015-01-09 10:51:23 +11:00
Randy Mackay	3896dadc77	DataFlash: EKF logs filter status as uint16	2015-01-09 10:51:23 +11:00
Randy Mackay	657afcfe7a	AP_NavEKF: add pred_horiz_pos flags to filter status	2015-01-09 10:51:23 +11:00
Randy Mackay	54cff29fc2	DataFlash: EKF logging uses nav_filter_status	2015-01-09 10:51:23 +11:00
Randy Mackay	f4d8bc586c	Nav_EKF: getFilterStatus returns nav_filter_status struct	2015-01-09 10:51:23 +11:00
Randy Mackay	8a914af4a8	AP_NavEKF: add nav_filter_status definition	2015-01-09 10:51:23 +11:00
priseborough	d57e0b6bde	AP_NavEKF: Remove compiler warning messages	2015-01-09 10:51:23 +11:00
priseborough	a4ba4d1000	AP_NavEKF: Fix bug in optical flow innovation variances ... Also improves protection against badly conditioned variances	2015-01-09 10:51:23 +11:00
priseborough	8bc8d1444a	AP_NavEKF: Extend definition of GPS availability to include user inhibit	2015-01-09 10:51:22 +11:00
priseborough	d0d49065e7	AP_NavEKF: Prevent potential repeated use of optical flow data	2015-01-09 10:51:22 +11:00
priseborough	b0c703e4f7	AP_NavEKF: Fix bug in optical flow fusion control logic	2015-01-09 10:51:22 +11:00
priseborough	d656c94bbc	AP_NavEKF: Fix out of bounds index bug	2015-01-09 10:51:22 +11:00
priseborough	300ba65f64	AP_NavEKF: Remove duplicate flow measurement state correction	2015-01-09 10:51:22 +11:00
priseborough	92bb75a635	AP_NavEKF: Prevent load leveling from dropping flow measurements	2015-01-09 10:51:22 +11:00
priseborough	873860e810	DataFlash: Allow negative HAGL values in the EKF optical flow debug log	2015-01-09 10:51:22 +11:00
priseborough	2f5aa210ce	AP_NavEKF: Enable recovery from extended flow measurement rejection	2015-01-09 10:51:21 +11:00
priseborough	d470d55234	DataFlash: Update EKF optical flow debug logging	2015-01-09 10:51:21 +11:00
priseborough	9f4baaa865	AP_NavEKF: Update flow debug logging	2015-01-09 10:51:21 +11:00
priseborough	8d1dae3ac1	AP_NavEKF: Improve optical flow terrain height estimation ... The two state auxiliary EKF has been replaced with a single state filter that only estimates terrain offset. The new filter fuses a optical flow line of sight rate scalar (length of the optical flow LOS rate vector) which provides a terrain offset estimate that is less affected by yaw errors. Estimation of focal length scale factor error in flight wasn't accurate enough and will be replaced with a pre-flight intrinsic sensor calibration procedure as the scale factor error does not change over time provided the lens assembly is not adjusted. AP_NavEKF: Remove unwanted printf	2015-01-09 10:51:21 +11:00
priseborough	d599fa588e	AP_NavEKF: Don't allow EKF to initialise without GPS lock if we are a plane ... This is needed because planes arm automatically. AP_NavEKF: Fix bug in GPS patch	2015-01-09 10:51:21 +11:00
Staroselskii Georgii	c16eb5d330	AP_Compass: fixed corrections for AK8963	2015-01-09 06:38:22 +11:00
Staroselskii Georgii	4394f0cf75	AP_Compass: fixed external compass detection for AK8963	2015-01-09 06:38:22 +11:00
Staroselskii Georgii	f0753e965e	AP_Compass: eliminated possible division by zero in AK8963	2015-01-09 06:38:22 +11:00
Staroselskii Georgii	b804430276	AP_Compass: changed default orientation for AK8963 on Navio	2015-01-09 06:38:22 +11:00
Mikhail Avkhimenia	954b0795d4	HAL_Linux: Enable PCA9685 output after its setup	2015-01-09 06:38:21 +11:00
Randy Mackay	2a5a133bbf	AC_AttControl: remove deprecated trigger_xy method	2015-01-07 14:03:49 +09:00
Randy Mackay	ed7e176c61	LandingGear: command_mode becomes enum	2015-01-07 11:58:22 +09:00
Robert Lefebvre	c297aaeeab	AP_LandingGear: Add force_deploy method.	2015-01-07 11:58:19 +09:00
Robert Lefebvre	4177852d89	AP_LandingGear: Remove relay control from library.	2015-01-07 11:58:17 +09:00
Robert Lefebvre	4935a42054	RC_Channel_Aux: Add new landing gear control to Aux_servo_function_t enum. ... Conflicts: libraries/RC_Channel/RC_Channel_aux.h	2015-01-07 11:58:17 +09:00
Robert Lefebvre	9b0a33c453	AP_LandingGear: Create LandingGear Library.	2015-01-07 11:58:15 +09:00
Andrew Tridgell	1b3c3c754d	AP_InertialSensor: use correct ifdef for AK8963	2015-01-07 11:58:05 +11:00
Andrew Tridgell	9835544163	AP_Compass: fixed build on non-Linux platforms	2015-01-07 08:41:14 +11:00
Andrew Tridgell	2ddf3e728a	DataFlash: use common RingBuffer.h	2015-01-07 08:41:14 +11:00
Andrew Tridgell	9d3a9c20a8	HAL_VRBrain: use common RingBuffer.h	2015-01-07 08:41:14 +11:00
Andrew Tridgell	0c73dc2440	HAL_PX4: use common RingBuffer.h	2015-01-07 08:41:14 +11:00
Andrew Tridgell	4da0a24887	HAL_Linux: use common RingBuffer.h	2015-01-07 08:41:14 +11:00
Andrew Tridgell	6fb00f4fc3	AP_HAL: create a common utility/RingBuffer.h header	2015-01-07 08:41:14 +11:00
Staroselskii Georgii	43c88c37eb	AP_Baro: fixed MS5611 initialisation in order to get rid off conflicts with other I2C devices	2015-01-07 08:41:13 +11:00
Staroselskii Georgii	f7f9cd2173	AP_InertialSensor: prevented MPU9250 from disabling I2C slaves	2015-01-07 08:41:13 +11:00
Staroselskii Georgii	a08a34f863	AP_HAL: changed default compass for Navio	2015-01-07 08:41:13 +11:00
Staroselskii Georgii	0d1cf347c7	AP_Compass: added AK8963 support	2015-01-07 08:41:12 +11:00
Staroselskii Georgii	e4a21f291d	AP_HAL_Linux: added LinuxSPIUARTDriver that can handle SPI-driven Ublox	2015-01-07 08:41:12 +11:00
Staroselskii Georgii	2b589d4604	AP_HAL_Linux: enable output for PCA9685 PWM in NavioRCOuput	2015-01-07 08:41:12 +11:00
Randy Mackay	f41d7ddaee	Rally: reduce distance limit to 300m for copter ... This reduces the chance that a forgotten rally point will cause the vehicle to RTL to a distant location because instead it will RTL to home.	2015-01-06 15:55:47 +09:00
Andrew Tridgell	e9058df31f	SITL: added optional flow delay	2015-01-06 14:19:02 +11:00
Andrew Tridgell	228b04e21e	SITL: added SIM_FLOW_DELAY parameter	2015-01-06 14:19:02 +11:00
Andrew Tridgell	0076413c0a	SITL: produce flow data at the requested rate	2015-01-06 14:19:02 +11:00
Andrew Tridgell	5758f39127	SITL: added SIM_FLOW_RATE parameter	2015-01-06 14:19:02 +11:00
Andrew Tridgell	b499cd1b59	AP_AHRS: fixed examples build ... using a relative include works as the object is just passed through, not used, in this header	2015-01-05 07:04:27 +11:00
priseborough	2f0b1b3d9c	AP_NavEKF: Fix bug preventing use of optical flow without GPS	2015-01-03 21:49:22 +11:00
Andrew Tridgell	f13248e5f5	SITL: implement SIM_TERRAIN ... either use AP_Terrain or flat earth	2015-01-03 21:47:54 +11:00
Andrew Tridgell	9b65376961	SITL: added SIM_TERRAIN parameter ... to choose either flat earth or AP_Terrain for sonar and optical flow AGL emulation	2015-01-03 21:47:28 +11:00
Andrew Tridgell	d25bd8955d	GCS_MAVLINK: move send_opticalflow() into common library	2015-01-03 15:53:22 +11:00
Andrew Tridgell	66a03d100e	SITL: make some units clearer in comment	2015-01-03 15:44:19 +11:00
Andrew Tridgell	16affe51be	AP_NavEKF: avoid an extra quaternion copy	2015-01-03 15:44:07 +11:00
Andrew Tridgell	023c42593f	SITL: fixed units of body frame conversion for optical flow	2015-01-03 15:43:30 +11:00
priseborough	bf4ebcfda1	AP_HAL_AVR_SITL: Add maths for calculation of truth optical flow rates	2015-01-03 14:45:13 +11:00
Andrew Tridgell	70c2aeca42	AP_AHRS: make optflow available via AHRS ... same pattern as compass and airspeed sensor	2015-01-03 14:16:34 +11:00
Andrew Tridgell	51cd64b3b2	SITL: make velocity and rotmat available to the optical flow simulator	2015-01-03 14:16:34 +11:00
Andrew Tridgell	aff01c6d09	AP_OpticalFlow: fixed reversed timestamp ... thanks to Randy	2015-01-03 14:16:34 +11:00
Andrew Tridgell	d2634a26bd	SITL: added framework for SITL optical flow sensor	2015-01-03 14:16:34 +11:00
Andrew Tridgell	254aa32d4e	SITL: added SIM_FLOW_ENABLE option	2015-01-03 14:16:34 +11:00
Andrew Tridgell	11ff12dfd3	AP_OpticalFlow: split library into frontend/backend ... this will make it easier to add a SITL backend	2015-01-03 14:16:33 +11:00
priseborough	a9eec29e45	DataFlash: Update EKF optical flow data logging	2015-01-03 14:09:15 +11:00
priseborough	69e86d3ea4	AP_NavEKF: Update EKF optical flow data logging	2015-01-03 14:09:12 +11:00
priseborough	b651eac48d	AP_NavEKF: Apply timeout to terrain offset validity reporting ... The terrain offset solution status is usable for a short period of time without state updates so a timeout has been added which prevents the rapid changes in solution status due to short duration sensor read errors.	2015-01-03 14:09:09 +11:00
priseborough	e6474d676e	AP_NavEKF: Report correct horiz vel sol'n status during optical flow nav	2015-01-03 14:09:05 +11:00
priseborough	75201c8968	AP_NavEKF: Prevent divide by zero casued by Tnb_flow.c.z = 0	2015-01-03 14:07:13 +11:00
Andrew Tridgell	6bb4a8c361	AP_Math: make location_path_proportion() and location_passed_point() more efficient ... the dot product is much more efficient than the trigonometry. Thanks to Paul for the suggestion	2015-01-03 14:06:59 +11:00
Andrew Tridgell	6993be54b7	HAL_Linux: raise storage size to 16k ... match PX4 size	2015-01-03 14:06:54 +11:00
Andrew Tridgell	745b739ab7	AP_InertialSensor: make calibrated() function fast enough to call in flight ... this will be used in plane to make AHRS SYS_STATUS unhealthy if a user tries to fly with EKF enabled without a full 3D accel cal. Note that it doesn't rely on using AP_Param load() to detect that a value has been set, as some users are first doing a 3D cal then later doing a 1D cal. In that case load() was returning true and would give a false positive	2015-01-03 14:06:42 +11:00
Randy Mackay	5ba1b20d3b	BattMon: add SMBus to MONITOR param description	2015-01-02 17:20:05 +09:00
Randy Mackay	ffbc3862bd	Compass: update compass orient param description ... Update rotation 38 to Yaw293Pitch68Roll90	2015-01-02 17:19:12 +09:00
Jonathan Challinger	9e5a30d5ba	AP_Math: change ROTATION_YAW_293_PITCH_68_ROLL_180 to ROLL_90	2015-01-02 17:15:18 +09:00
Andrew Tridgell	ef55a3c6a6	AP_GPS: keep reporting GPS status messages when no GPS at 1Hz ... to ensure the GCS knows that we have lost the GPS we need to keep reporting GPS_RAW_INT messages when the GPS disappears. Sending at 1Hz should be sufficient Fixes issue #1722	2015-01-02 17:10:23 +11:00
priseborough	8d3940ce1b	AP_NavEKF: Improved use of enumerated type for aiding mode	2015-01-02 12:10:41 +09:00
priseborough	76d1378962	AP_NavEKF: Fix compiler warning messages	2015-01-01 23:39:48 +11:00
priseborough	3e3dd9d695	AP_NavEKF: Fix parenthesis error in EKF status reporting and clean up logic ... This fixes a bug which could have caused the realative position status to be incorrectly reported under some conditions and also caused a compiler warning message. the logic used to report the filter solution status has been broken down into smaller, easier to understand statements.	2015-01-01 23:39:48 +11:00
priseborough	c06f6e105e	AP_NavEKF: Consistent initialisation of tuning parameters and variables ... Non user adjustable parameters are now declared as 'const' in the header. The _ prefix has been removed from non user adjustable tuning parameters. We use a function call rather than a constructor to initialise variables because it enables the filter to be re-started in flight if necessary. For consistency some signed integer type declarations have been changed to unsigned where appropriate.	2015-01-01 23:39:31 +11:00
priseborough	f1dfa282dc	AP_NavEKF: Consolidate constant velocity mode decision logic ... The decision to switch to constant velocity mode during optical flow operation and te decision to switch back were previously being made in two different places in code. Both decisions are now made in the one place which makes the code easier to follow and maintain.	2015-01-01 19:53:21 +11:00
priseborough	9caf2ac895	AP_NavEKF: Make reversion to no GPS mode unambiguous	2015-01-01 19:53:21 +11:00
priseborough	58e9dd5dcd	AP_NavEKF: Enumerate Position and Velocity aiding status	2015-01-01 19:53:21 +11:00
Andrew Tridgell	fb5e53e1e4	AP_Param: cope with older gcc versions ... Travis-CI uses 4.6.3	2015-01-01 18:55:11 +11:00
Andrew Tridgell	9ae0dd05f8	AP_Param: avoid build warning due to %S format	2015-01-01 18:25:05 +11:00
Andrew Tridgell	f38f86ab8c	AP_Math: added location_path_proportion() ... this can be used for glide slope calculations	2015-01-01 15:17:10 +11:00
Andrew Tridgell	4e5510c99e	AP_TECS: fixed warning	2015-01-01 15:14:48 +11:00
Andrew Tridgell	f8bce994b5	AP_OpticalFlow: don't write an error message if no flow sensor ... most users have no flow sensor	2015-01-01 11:02:43 +11:00
Andrew Tridgell	06a72839ed	AP_InertialSensor: fixed error detection on secondary IMUs ... the break; was preventing error detection on lsm303d/l3gd20	2015-01-01 08:55:57 +11:00
Randy Mackay	022c549339	BattMon_SMBus_I2C: use get_PEC to check reads	2014-12-31 15:23:00 +09:00
Randy Mackay	bf0e5a350c	BattMon_SMBus_I2C: add get_PEC method	2014-12-31 15:22:59 +09:00
Randy Mackay	3951e4d99b	BattMon: example sketch reads from SMBus	2014-12-31 15:22:58 +09:00
Randy Mackay	aecc8aac1f	BattMon: correct typo in monitor type enum	2014-12-31 15:22:57 +09:00
Randy Mackay	909d525206	BattMon: fix example sketch compile error	2014-12-31 15:22:51 +09:00
Randy Mackay	cf36fd55bd	GCS_MAVlink: correct sending of 2nd battery's voltage	2014-12-31 15:22:49 +09:00
Randy Mackay	76a28a962c	BattMon: remove #defines for monitor type	2014-12-31 15:22:47 +09:00
Randy Mackay	f077ecd338	BattMon_PX4: class to read from PX4Firmware via orb	2014-12-31 15:22:46 +09:00
Randy Mackay	3f35dc54fe	BattMon_I2C: smart battery class for APM	2014-12-31 15:22:45 +09:00
Randy Mackay	314db1403d	BattMon_SMBus: smart battery monitor driver	2014-12-31 15:22:45 +09:00
Randy Mackay	4d7df9ed26	BattMon_Analog: move analog features to new class	2014-12-31 15:22:44 +09:00
Randy Mackay	39dbf05c8f	BattMon_Backend: create backend class	2014-12-31 15:22:43 +09:00
Randy Mackay	eec66d8451	BattMon: parent class becomes frontend class	2014-12-31 15:22:42 +09:00
Randy Mackay	c36253b9b2	AC_PosControl: add comments ... No functional change	2014-12-31 14:03:22 +09:00
Jonathan Challinger	6eab698e85	AC_WPNav: remove various timing hacks	2014-12-31 14:03:20 +09:00
Jonathan Challinger	557d339cf1	AC_PosControl: remove various unnecessary timing hacks	2014-12-31 14:03:18 +09:00
Jonathan Challinger	5438d38df5	AC_WPNav: provide reset_I to init_xy_controller	2014-12-31 14:03:16 +09:00
Jonathan Challinger	d6e455417f	AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller	2014-12-31 14:03:13 +09:00
priseborough	b016bae445	AP_NavEKF: Clean up reset of constant velocity mode ... Move velocity store out of optical flow to velocity and position fusion control as it is a velocity fusion function. Always clear the previous mode status	2014-12-31 13:16:16 +09:00
priseborough	3d207c316a	AP_NavEKF: Change names for position and velocity hold modes ... Name change done to avoid confusion with flight modes. modes are now referred to as constant position and constant velocity mode.	2014-12-31 13:16:15 +09:00
priseborough	b650ee51a9	AP_NavEKF: Consolidate arming checks	2014-12-31 13:16:15 +09:00
priseborough	48cae0df15	AP_NavEKF: Fall back to attitude and hgt estimation for copter if GPS lost	2014-12-31 13:16:14 +09:00
priseborough	b21f9daa90	AP_NavEKF: Update solution status reporting ... This patch makes the reporting of an absolute position solution less abbiguaous and ensures that relative position is always true if absolute position is true	2014-12-31 13:16:13 +09:00
priseborough	b99b3c7b9d	DataFlash: Don't log EKF optical flow data if not required	2014-12-31 13:16:09 +09:00
priseborough	b6d300db19	AP_NavEKF: clean up determination of GPS availability	2014-12-31 13:14:22 +09:00
priseborough	40b02fc19a	AP_NavEKF: Ensure filter doesn't try to use GPS after initialisation	2014-12-31 13:14:20 +09:00
priseborough	bab1a69f1c	AP_NavEKF: make position and velocity resets consistent with GPS usage	2014-12-31 13:14:18 +09:00
priseborough	0dc2356175	AP_NavEKF: Ensure initialisation methods read required sensor data	2014-12-31 13:14:16 +09:00
priseborough	5d1de79f08	AP_NavEKF: Modify initial values to make startup behaviour more consistent	2014-12-31 13:14:14 +09:00
priseborough	a63af34d8f	AP_NavEKF: Allow 10 seconds for the filter to settle after initialisation ... Filter is declared unhealthy and will not arm for first 10 seconds after initialisation	2014-12-31 13:14:12 +09:00
priseborough	0a5de21dc7	AP_NavEKF: Fix bug in reporting of solution status ... Because synthetic position measurements at 0,0 are fused during position hold mode, a position timeout cannot be used as the only means of detecting position solution status.	2014-12-31 13:14:09 +09:00
priseborough	92c3026072	AP_NavEKF: Link process noise to arm status, not pos hold mode	2014-12-31 13:14:07 +09:00
priseborough	a535b73a6d	AP_NavEKF: Initialise timeout status to true ... This status will be cleared when data arrives and is fused successfully	2014-12-31 13:14:04 +09:00
priseborough	363c1e393d	AP_NavEKF: Latch use of position hold mode for duration of flight ... Required to prevent acquisition of GPS mid flight causing unwanted change in position and velocity A distinction has been mad between the arm and disarm transition and the decision to use position hold mode (formerly static mode)	2014-12-31 13:14:02 +09:00
priseborough	a0a6c0362f	AP_NavEKF: Relax timeout check applied to optical flow data ... 200 msec was too short and could lead to false positives. 5000 msec is the largest time we can go free inertial.	2014-12-31 13:14:00 +09:00
priseborough	5bd4ee9715	AP_NavEKF: Use compensation for baro delay in position hold mode	2014-12-31 13:13:58 +09:00
priseborough	4dc1ee2d66	AP_NavEKF: Rename static mode to avoid confusion with other non-GPS modes ... This renames static mode as posHoldMode to make it clearer what this and the other non-GPS modes do	2014-12-31 13:13:54 +09:00
priseborough	b160f4c03b	AP_NavEKF: Compensate optical flow fusion for GPS glitch recovery offset	2014-12-31 13:13:52 +09:00
priseborough	e4c969084d	AP_NavEKF: Improve behaviour recovering from a GPS timeout ... When regaining GPS after a timeout, an offset is applied when fusing GPS velocity so that GPS velocity and position data as fused by the EKF is kinematically consistent. This velocity offset is also accounted for when fusing air data so that wind estimates are not corrupted when the GPS position offset is being pulle back to zero. The intended behaviour is that the EKF position will be pulled back to the GPS position at a rate of 5m/s for planes and 1 m/s for copters. This avoids large deviations in trajectory when GPS is regained.	2014-12-31 13:13:50 +09:00
priseborough	6eb533121c	AP_NavEKF: Add static mode to solution status message	2014-12-31 13:13:48 +09:00
priseborough	5c3a56a087	AP_NavEKF: Fix error in comments	2014-12-31 13:13:46 +09:00
priseborough	3891dada78	AP_NavEKF: remove unnecessary function	2014-12-31 13:13:44 +09:00
priseborough	a16253796f	AP_NavEKF: Fix bug preventing the non-GPS mode being selected externally ... When on the ground it is likely the flow sensor will be returning data that does not meet the minimum quality requirements selected. The previous check was for the presence of valid data. This has been loosened to look for the presence of data. When the vehicle becomes airborne, the quality of flow data normally improves as the image comes into focus.	2014-12-31 13:13:42 +09:00
priseborough	a42100e4c5	AP_NavEKF: Improved handling of no GPS ... This patch enables indoor operation of the EKF by putting it into static mode if optical flow operation is not enabled and no GPS is available	2014-12-31 13:13:40 +09:00
priseborough	73a06cd0c1	AP_NavEKF: Fix bug causing magnetic field state learning to be forgotten	2014-12-31 13:13:37 +09:00
priseborough	bf89c56e54	AP_NavEKF: Fix comments error in description of flow sensor sign conventions	2014-12-31 13:13:35 +09:00
priseborough	685fa383e4	DataFlash: Log EKF solution status message ... This message is a bitmasked integer that will be used by control software to determine what data is available from the EKF and decide what control modes are available. Duplicate static mode message removed. Static mode is now contained in the bitmasked solution status message	2014-12-31 13:13:33 +09:00
priseborough	4eb19c2324	AP_NavEKF: Rationalise health status reporting ... 1) Un-used public methods to report height and position drifting have been removed 2) A time-out has been added to the airspeed innovation consistency check so that if we are relying on airspeed to constrain velocity drift, a filter divergence or other fault that causes the airspeed to be continually rejected will trigger a change in health status. 3) A timeout of velocity, position or height measurements does not cause a filter fault to be reported. Timeouts can be due to sensor errors and do not necessarily indicate that the filter has failed. 4) Time-outs of various measurements are used to present a consolidated bitmask which inidicates which parts of the solution can be used, eg attitude, height, velocity, relative position, absolute position, etc.	2014-12-31 13:13:31 +09:00
priseborough	78b30e4ce5	AP_NavEKF: Increase rate at which GPS glitch offsets are reduced for planes	2014-12-31 13:13:29 +09:00
Andrew Tridgell	e0943851d6	DataFlash: log gyro and accel error counts	2014-12-30 12:16:02 +11:00
Andrew Tridgell	b9adc6e466	AP_InertialSensor: prefer sensors that have zero error counts ... if a sensor has failed in flight then try not to use it if another error-free sensor is available	2014-12-29 21:19:35 +11:00
Randy Mackay	4a1ba9b186	AC_WPNav: minor const fix	2014-12-27 13:19:32 +09:00
Randy Mackay	c7192c5eef	Notify: remove Led class ... This class didn't add any functionality beyond what the NotifyDevice class already provided so in keeping with our desire to keep things simple we can remove this class	2014-12-26 13:06:41 +09:00
Randy Mackay	352b52d73f	Notify: remove reliance on Led class	2014-12-26 13:06:24 +09:00
Randy Mackay	d67b4a8d49	Notify: add pre_arm_gps_check flag ... RGB LED will remain flashing blue when vehicle is disarmed and this check has failed (i.e. false).	2014-12-26 12:32:34 +09:00
Andrew Tridgell	c93ae67541	DataFlash: don't try and open logfile on failure more than once ... this prevents a corrupted microSD card from causing a continuous attempt to open a log file while in flight, which can cause large scheduler delays Pair-Programmed-With: Grant Morphett <grant@gmorph.com>	2014-12-21 14:50:42 +11:00
Andrew Tridgell	abd1ece6e3	DataFlash: don't write out parameters if log open fails	2014-12-21 14:50:42 +11:00
priseborough	f2c506339a	AP_NavEKF: Reduce time required to recover from GPS timeouts ... The time required for GPS to be lost or rejected before vehicles with airspeed sensors either reset to GPS or invoke the zero side-slip assumption to constrain drift has been reduced from 15 to 10 seconds A duplicate zeroing of the GPS position offset has been removed If the vehicle is a non hovering vehicle (eg a plane) then the speed at which the GPS offset is pulled back to zero after a reset is increased from 1 to 3 m/s This also improves recovery from bad inertial data for planes	2014-12-18 21:50:40 +11:00
priseborough	f73816dbb5	AP_NavEKF: Improve robustness to long periods without GPS	2014-12-18 21:07:45 +11:00
Randy Mackay	a44b4b5e87	Mission: allow 15 do-jump commands on Pixhawk	2014-12-18 17:02:48 +09:00
priseborough	3afde0061f	AP_NavEKF: Use named states for velocity reset ... Readibility improvement	2014-12-18 17:29:50 +11:00
priseborough	f6ce25df2a	AP_NavEKF: Do not reset vertical velocity state from GPS ... Doing this can cause large height and height rate errors if large GPS velocity errors cause the GPS tn be rejected for long enough to cause a timeout and reset of states.	2014-12-18 17:29:47 +11:00
Andrew Tridgell	597273cfff	AP_TECS: remove lag from height demand in landing ... this predicts ahead the height demand for landing, where we have a continuous demanded descent. This removes the effect of the lag introduced by the height demand filters	2014-12-18 09:58:12 +11:00
Andrew Tridgell	b5a5b71512	GCS_MAVLink: reverse sense of check_and_forward() ... also increase number of routes on larger systems and improved route learning logic	2014-12-17 10:32:28 +11:00
Andrew Tridgell	a967a682a4	GCS_MAVLink: added routing test sketch	2014-12-17 10:32:28 +11:00
Andrew Tridgell	7f817502c4	GCS_MAVLINK: implement new routing rules ... see description in coments	2014-12-17 10:32:28 +11:00
Andrew Tridgell	70f5ec60e8	AP_TECS: added get_land_sinkrate()	2014-12-15 21:51:07 +11:00
Andrew Tridgell	8c1cab84c7	AP_SpdHgtControl: added get_land_sinkrate()	2014-12-15 21:51:07 +11:00
Randy Mackay	21beb26484	Notify: minor event reordering ... No functional change	2014-12-15 14:10:26 +09:00
Randy Mackay	e68a69e139	ToneAlarm_PX4: remove user_mode_init flag ... Replaced by an initialised check in the main ArduCopter flight code	2014-12-15 14:10:21 +09:00
Randy Mackay	1c8ab375e2	Notify: rename failsafe_action event	2014-12-15 14:10:15 +09:00
Randy Mackay	972c8e47d2	Notify: rename notify_types to notify_flags_type	2014-12-15 14:10:10 +09:00
Randy Mackay	bfc86ac7c0	ToneAlarm_PX4: add comments	2014-12-15 14:10:06 +09:00
Randy Mackay	c75ab8f3e5	Notify: add comments re events	2014-12-15 14:09:15 +09:00
Jonathan Challinger	3dfcdde6be	AP_Notify: Rework ToneAlarm_PX4 to play tones from local array	2014-12-15 14:09:04 +09:00
priseborough	e2d47f836e	AP_TECS: Fix bug causing plane to fly high on landing approach ... The introduction of the height rate flare logic caused the demanded height rate to be zero except when a flare manouevre was being performed. This caused the plane to lag behind height changes if the D gain was non-zero, which caused it to fly high during landing approach.	2014-12-14 09:43:46 +11:00
Randy Mackay	b54b7b7448	GCS_MAVLink: fix compiler error	2014-12-11 16:26:26 +09:00
Randy Mackay	e581e81da5	AP_NavEKF: reorder declation to fix compiler warning ... No functional change	2014-12-11 15:37:56 +09:00
Randy Mackay	ddda0d52ce	Baro: reorder declaration to fix compiler warning ... No functional change	2014-12-11 13:06:24 +09:00
Andrew Tridgell	ade7f9e1a9	GCS_MAVLink: fixed forwarding of non-targetted messages	2014-12-11 12:32:50 +09:00
Andrew Tridgell	fcf17829cc	GCS_MAVLink: fixed addition to routing table	2014-12-11 12:32:48 +09:00
Andrew Tridgell	079158d4b8	GCS_MAVLink: strip out the old GCS_Class class ... this is not longer needed as we don't support multiple protocol classes	2014-12-11 12:32:45 +09:00
Andrew Tridgell	f198cdcf20	GCS_MAVLink: added support for a MAVLink snoop function ... this can be used to watch messages for different targets	2014-12-11 12:32:32 +09:00
Andrew Tridgell	34be7f808e	GCS_MAVLink: only try to fwd packets to active channels	2014-12-11 12:32:30 +09:00
Andrew Tridgell	411766f45a	AP_Mount: removed use of mavlink_check_target()	2014-12-11 12:32:27 +09:00
Andrew Tridgell	4a9331c505	AP_Camera: removed use of mavlink_check_target()	2014-12-11 12:32:24 +09:00
Andrew Tridgell	f1edd1bafb	GCS_MAVLink: removed use of mavlink_check_target() ... not needed now we do routing properly, as messages will only be processed if they are for us	2014-12-11 12:31:06 +09:00
Andrew Tridgell	aa88ba4158	GCS_MAVLink: only call message handler for our own messages	2014-12-11 12:30:59 +09:00
Andrew Tridgell	11f88f0f5d	GCS_MAVLink: added routing object to GCS_MAVLink	2014-12-11 12:30:55 +09:00
Andrew Tridgell	b91529622b	GCS_MAVLink: initial implementation of MAVLink routing object ... will be used to auto-route packets over all available links	2014-12-11 12:30:50 +09:00
Andrew Tridgell	76c710f596	GCS_MAVLink: removed obsolete headers	2014-12-11 12:30:46 +09:00
Andrew Tridgell	3354cb37d0	AP_GPS: fixed vertical velocity in Replay ... fixed NavEKF use of velocity velocity	2014-12-09 18:57:17 +11:00
Andrew Tridgell	4a91546ced	HAL_PX4: FRAM does not support fsync ... the fsync just wastes time reopening /fs/mtd	2014-12-09 14:35:36 +11:00
Randy Mackay	da247bacf8	GCS_MAVLink: add OPTICAL_FLOW to ap_message enum	2014-12-08 14:58:30 +09:00
Randy Mackay	3c23f00e81	OptFlow: remove ADNS3080 image grabber example	2014-12-08 14:58:24 +09:00
Andrew Tridgell	193bda068c	HAL_Linux: run IO processes when we do a stop_clock() ... this has the effect of allowing logging to progress in Replay where we are running at much more than realtime speeds	2014-12-08 11:24:39 +11:00
Andrew Tridgell	cb9c518ab8	Revert "AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing'" ... This reverts commit 13df6fb1c9. This patch was a result of an incorrect merge of the optflow branch into master. It reintroduced the bug fixed by this commit: AP_NavEKF : Fix bug in reset of GPS glitch offset 8aa267f75f	2014-12-08 07:53:47 +11:00
Andrew Tridgell	22a7b69260	AP_OpticalFlow: don't build optical flow example ... broken by library changes	2014-12-06 22:05:42 +11:00
Andrew Tridgell	ed510d4f87	AP_OpticalFlow: run PX4 flow sensor at 10Hz ... Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2014-12-06 18:16:51 +11:00
priseborough	a2bd3b4a42	AP_NavEKF: Add public method returning height above ground level	2014-12-06 18:16:51 +11:00
priseborough	d701cfcb75	AP_NavEKF: Output terrain relative PosD when relying on Optical Flow	2014-12-06 18:16:51 +11:00
priseborough	0156d846f1	AP_NavEKF: Increase height at which nav gain reduction starts ... Compensates for optical flow induced noise increase with height.	2014-12-06 18:16:51 +11:00
priseborough	12ea1d6e85	AC_AttitudeControl: Scale angle demand noise filter ... Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response. This is required to reduce the effect of EKF optical flow noise increase with height.	2014-12-06 18:16:51 +11:00
priseborough	a905432ffe	AP_NavEKF: reduce height at which nav gain reduction starts	2014-12-06 18:16:51 +11:00
priseborough	5785272933	AP_NavEKF: Improve robustness to corrupted flow sensor data	2014-12-06 18:16:51 +11:00
priseborough	b1d44d4dde	AP_NavEKF: Add protection for negative height above ground	2014-12-06 18:16:50 +11:00
priseborough	e80b1c67cd	AC_AttitudeControl: Add EKF optical flow noise gain scaler ... Allows gains to be adjusted to compensate for optical flow noise	2014-12-06 18:16:50 +11:00
priseborough	11fb51ceba	AC_WPNav: Add nav velocity gain scaler to interfaces ... Allows gains to be adjusted to compensate for optical flow noise	2014-12-06 18:16:50 +11:00
priseborough	5b8265ad6f	AP_AHRS: Expand EKF speed limit public method to handle control limits	2014-12-06 18:16:50 +11:00
priseborough	d994da0886	AP_NavEKF: Expand EKF speed limit public method to handle control limits	2014-12-06 18:16:50 +11:00
priseborough	5fa0c59310	AC_WPNav: Add EKF ground speed limit to loiter speed control ... This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.	2014-12-06 18:16:50 +11:00
priseborough	83775554ea	AP_AHRS: Publish EKF ground speed limit	2014-12-06 18:16:50 +11:00
priseborough	bc2255d6b1	AP_NavEKF: Improve comments in setInhibitGPS public method	2014-12-06 18:16:50 +11:00
priseborough	416eaf4633	AP_NavEKF: Apply single definition of using optical flow	2014-12-06 18:16:50 +11:00
priseborough	b56b68ce10	AP_NavEKF: Add public method reporting horizontal speed limit ... This is required if using optical flow, as depending on height, the speed must be limited to prevent the sensor saturating	2014-12-06 18:16:50 +11:00
priseborough	c8fb376cc4	AP_NavEKF: Fix bug in bias rate of change limiting ... This doesn't change the behaviour, but means the result is achieved using the correct parameters, and comments are consistent	2014-12-06 18:16:50 +11:00
priseborough	599e53f3f2	AP_NavEKF: Prevent flow scale factor updating on ground	2014-12-06 18:16:49 +11:00
priseborough	083e22966c	AP_NavEKF: Add public method to report available output data	2014-12-06 18:16:49 +11:00
priseborough	5532750a99	AP_AHRS: Add public method to inhibit GPS useage when using EKF ... This provides the calling vehicle software the abiity to request the EKF to not use GPS. An integer is returned that indicates the type of operation available: 0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed) 1 = request accepted, attitude, vertical velocity and position estimates available 2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available	2014-12-06 18:16:49 +11:00
priseborough	e53d28854e	AP_NavEKF: Add public method to inhibit GPS use and clean-up GPS use logic ... This provides the calling vehicle software the abiity to request the EKF to not use GPS. An integer is returned that indicates the type of operation available: 0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed) 1 = request accepted, attitude, vertical velocity and position estimates available 2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available	2014-12-06 18:16:49 +11:00
priseborough	8fb1d9cf8d	AP_NavEKF: Fix bug preventing opt flow scale factor estimation ... Also removes un-used variable declarations	2014-12-06 18:16:49 +11:00
priseborough	a78920761c	AP_NavEKF: Update comments in flow data interface	2014-12-06 18:16:49 +11:00
priseborough	063fb41748	AP_OpticalFlow: Add separate scale factors for X and Y axis. ... The resolution is also increased to take advantage of the planned introduction of automated calibration methods	2014-12-06 18:16:49 +11:00
priseborough	52c7e56a4a	AP_NavEKF: Add parameter for max valid optical flow rate magnitude	2014-12-06 18:16:49 +11:00
priseborough	6f8971d80a	AP_NavEKF: Speed up flow sensor gyro bias correction	2014-12-06 18:16:49 +11:00
priseborough	d7ad45ebda	AP_NavEKF: Don't fuse flow measurements if too big	2014-12-06 18:16:49 +11:00
priseborough	2dff76394d	AC_PosControl: Add spike and noise filter to demanded angles ... This has been done to provide a smooth psotion hold when using an optical flow aided EKF which can be noisy. Signed-off-by: priseborough <p_riseborough@live.com.au>	2014-12-06 18:16:49 +11:00
priseborough	84944fdd4e	AP_NAvEKF: Revert back to 10Hz fusion	2014-12-06 18:16:49 +11:00
priseborough	f4f0dfc45c	AP_OpticalFlow: efficiency improvements to data processing	2014-12-06 18:16:49 +11:00
priseborough	1f78a73cdb	AP_NavEKF: Make flow measurement delay vehicle specific ... This takes into account the inter-sampling delay between the flow driver and the APM software which depends on the rate at which the dirver is being checked. This is 50Hz for plane and rover, and 200Hz for Copter.	2014-12-06 18:16:49 +11:00
priseborough	5f941655a8	AP_NavEKF: changes to support to 20Hz flow fusion rate	2014-12-06 18:16:48 +11:00
priseborough	0bf991eef9	AP_NavEKF: Fix bug in optical flow fusion smoothing	2014-12-06 18:16:48 +11:00
priseborough	7d27a22f77	DataFlash : Fix EKF optical flow logging bug	2014-12-06 18:16:48 +11:00
priseborough	7ec8dfebcf	AP_OpticalFlow : Remove gyro scale factor user adjustable parameter ... No longer required because bug in flow sensor has been fixed.	2014-12-06 18:16:48 +11:00
priseborough	2baa1e56ed	Dataflash : Fix bug in EKF opt flow logging	2014-12-06 18:16:48 +11:00
priseborough	df59f3311a	AP_OpticalFlow : Add gyro scale factor correction parameter	2014-12-06 18:16:48 +11:00
priseborough	eec49ce1dd	AP_OpticalFlow : Add parameter for flow rate scale factor correction	2014-12-06 18:16:48 +11:00
priseborough	839b814d12	AP_NavEKF : Inhibit flow and range fusion in static mode	2014-12-06 18:16:47 +11:00
priseborough	9b9934ac06	AP_NavEKF : fix velocity timeout bug during optical flow operation	2014-12-06 18:16:47 +11:00
priseborough	cc8e6dbfad	DataFlash : Add EKF additional fault and timeout logging	2014-12-06 18:16:47 +11:00
priseborough	517026980b	AP_NavEKF : Add fault and timeout logging	2014-12-06 18:16:47 +11:00
priseborough	f640ec30ff	AP_NavEKF : Reset held velocity on arming ... This held velocity is used to constrain the drift in the optical flow solution before the vehicle is high enough for the optical flow sensor to work.	2014-12-06 18:16:47 +11:00
priseborough	4616721b0d	DataFlash : Update EKF debug logging	2014-12-06 18:16:47 +11:00
priseborough	06c19a3a4d	AP_NavEKF : Update optical flow debug logging	2014-12-06 18:16:47 +11:00
priseborough	1791dec622	AP_NavEKF : Fix velocity hold mode	2014-12-06 18:16:47 +11:00
priseborough	84421e0a35	AP_NavEKF : Adjust initial flow scale factor and limits	2014-12-06 18:16:47 +11:00
priseborough	573633daf7	AP_NavEKF : Fix incorrect use of flow sensor time-stamp ... flow sensor time stamp is now issued by the flow sensor and is on a different time-base	2014-12-06 18:16:47 +11:00
priseborough	92e9336fe1	AP_OpticalFlow : prevent divide by zero	2014-12-06 18:16:47 +11:00
priseborough	9ea97c1a38	AP_NavEKF : Modify optical flow data interface ... Sign conventions have changed	2014-12-06 18:16:46 +11:00
priseborough	8faeb190de	AP_NavEKF : Rework logic to cope with bad flow data	2014-12-06 18:16:46 +11:00
priseborough	44e1695d5a	AP_AHRS : Enable EKF start without GPS	2014-12-06 18:16:46 +11:00
priseborough	41f0231cfb	AP_NavEKF : improve logic dealing with lack of flow or range data	2014-12-06 18:16:46 +11:00
priseborough	9ba46ad795	AP_NavEKF : Improve handling of flow sensor failure	2014-12-06 18:16:46 +11:00
priseborough	2ee1c549be	AP_NavEKF : improve criteria used to inhibit scale factor estimation	2014-12-06 18:16:46 +11:00
priseborough	e09ff84218	AP_NavEKF : Don't estimate focal length scale factor without reliable velocity	2014-12-06 18:16:46 +11:00
priseborough	4c92a5f23f	AP_NavEKF : Use GPS velocity if PX4Flow sensor fails	2014-12-06 18:16:46 +11:00
priseborough	283811edcb	AP_NavEKF : stop velocity change when flow measurements drop out	2014-12-06 18:16:46 +11:00
priseborough	9132fcfe43	AP_NavEKF : Change mag fusion to use corrected compass values ... This enables compass units to be switched in-flight	2014-12-06 18:16:46 +11:00
priseborough	c3be486c29	AP_NavEKF : Enable inhibiting of GPS measurements	2014-12-06 18:16:45 +11:00
priseborough	79698f7742	AP_NavEKF : improvements to range finder fusion	2014-12-06 18:16:45 +11:00
priseborough	1222559da0	AP_NavEKF : Fix bug affecting sonar fusion	2014-12-06 18:16:45 +11:00
priseborough	117bd2a998	AP_NavEKF : Add time based noise to terrain offset state	2014-12-06 18:16:45 +11:00
priseborough	b1d3d5d9a3	AP_NavEKF : Don't update focal length scale factor at low speeds	2014-12-06 18:16:45 +11:00
priseborough	8dd1081f54	AP_NavEKF : Add range measurement to EKF debug message	2014-12-06 18:16:45 +11:00
priseborough	f358d5e20f	DataFlash : Add range measurement to EKF debug message	2014-12-06 18:16:45 +11:00
priseborough	744c72d40b	AP_NavEKF : Updates to range finder fusion	2014-12-06 18:16:45 +11:00
priseborough	a07e402ebf	DataFlash : Update names in EKF optical flow logging	2014-12-06 18:16:45 +11:00
priseborough	a20729f60f	AP_NavEKF : Update names in optical flow debug logging	2014-12-06 18:16:45 +11:00
priseborough	235b3bebda	AP_NavEKF : Add range finder health and enable range finder fusion ... The 2-state auxiliary filter is also renamed.	2014-12-06 18:16:45 +11:00
priseborough	a4984a1e76	AP_AHRS : Add range finder health status to EKF optical flow data	2014-12-06 18:16:44 +11:00
priseborough	988de2a898	AP_NavEKF : Add smoothing to optical flow fusion	2014-12-06 18:16:44 +11:00
priseborough	70c779dbc2	AP_NavEKF : Optical flow numerical optimisations	2014-12-06 18:16:44 +11:00
priseborough	2a1420171a	AP_NavEKF : reduce minimum accepted flow quality	2014-12-06 18:16:44 +11:00
priseborough	3fbedc9f98	AP_NAvEKF : update comments	2014-12-06 18:16:44 +11:00
priseborough	81b09c9361	AP_NavEKF : temporary mods to test use of flow sensor internal gyro data	2014-12-06 18:16:44 +11:00
priseborough	12b012a00e	AP_AHRS : temporary mods to test use of flow sensor internal gyro data	2014-12-06 18:16:44 +11:00
priseborough	cd418c946c	AP_NavEKF : preliminary implementation for optical flow and range finder fusion ... Range finder measurements are not input to EKF at this time, however the method for fusing them is implemented.	2014-12-06 18:16:44 +11:00
priseborough	bc74abcd00	DataFlash : EKF optical flow fusion support preliminary changes	2014-12-06 18:16:44 +11:00
priseborough	7b76fc29fb	AP_AHRS : EKF optical flow fusion support preliminary changes	2014-12-06 18:16:44 +11:00
priseborough	13df6fb1c9	AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing' ... This patch reduces the level of 5Hz and 10Hz 'pulsing' heard in motors due to GPS and altimeter fusion which cause a small 5Hz and 10Hz ripple on the output under some conditions. Attitude, velocity and position state corrections from GPS, altimeter and magnetometer measurements are applied incrementally in the interval from receiving the measurement to the predicted time of receipt of the next measurement. Averaging of attitude state corrections is not performed during periods of rapid rotation. Time stamps are now explicitly initialised to the current IMU time to avoid unwanted activation of timeout logic on filter start and the various calls to the hal.scheduler->millis() object have been consolidated. Unused variables have been removed	2014-12-06 18:16:43 +11:00
priseborough	dcb252cc05	AP_NavEKF : Fix bug in reset of position and velocity states ... If the inertial solution velocity or position needs to be reset to the GPS, the stored state history for the corresponding states should also be reset. Otherwise the next GPS measurement will be compared to an invalid previous state and will be rejected. The position state should be reset to a GPS position corrected for velocity and measurement latency. This will make a noticeable difference for high speed flight vehicles, eg 11m at 50m/s	2014-12-06 18:16:43 +11:00
priseborough	cb4d5986e0	AP_OpticalFlow : Update PX4Flow interface ... Interface now uses the integral of flow and body rates	2014-12-06 18:16:43 +11:00
priseborough	0d774d301d	AP_OpticalFlow : Remove support for ADNS3080 sensor ... It is not compatible with the new interface and data fusion requirements	2014-12-06 18:16:43 +11:00
Randy Mackay	4452aa8448	AP_AHRS_DCM: compile error fix for low speed CPUs ... Also correct initialisatoin order to remove compiler warning	2014-12-05 19:43:05 +09:00
Jonathan Challinger	bfe71fea82	AC_PosControl: Use blended accelerometer measurement in altitude control	2014-12-05 19:40:10 +09:00
Jonathan Challinger	9261dfdefb	AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions	2014-12-05 19:40:08 +09:00
Jonathan Challinger	4975cefd84	AP_AHRS_DCM: update _accel_ef_blended	2014-12-05 19:40:06 +09:00
Jonathan Challinger	033ee3c900	AP_AHRS: Add get_accel_ef_blended function	2014-12-05 19:40:04 +09:00
Jonathan Challinger	7692761f34	AP_NavEKF: Added getAccelNED function	2014-12-05 19:40:01 +09:00
priseborough	874d0780aa	AP_NavEKF: Reduce vulnerability to ground fixed magnetic interference ... Re-initialisation of the magnetic field states and yaw angle is now only performed a maximum of two times after start-up. Once when coming out of static modefor the first time (first arm event) Again (for copter only) when the altitude gain above the arming altitude exceeds 1.5m this prevents magnetic interference present at arming (eg arming on a metal roof)from corrupting the magnetic field states enough to cause bad heading errors and toilet bowling on copter	2014-12-05 14:33:04 +11:00
Andrew Tridgell	ede920f293	AP_Mission: ensure location options are zero at start of mavlink conversion	2014-12-03 18:29:43 +11:00
Andrew Tridgell	f98e283091	GCS_MAVLink: re-generate with updated upstream mavlink	2014-12-03 10:08:36 +11:00
Andrew Tridgell	940966f3e3	DataFlash: fixed example sketch build	2014-12-03 08:39:36 +11:00
Andrew Tridgell	86bf02d64c	RC_Channel: update example sketch to copy input to output	2014-12-02 16:27:33 +11:00
Andrew Tridgell	5aabfd4dc4	AP_HAL: added RCInput example sketch	2014-12-02 15:49:50 +11:00
Andrew Tridgell	8e36c1cd60	AP_HAL: fixed RCOutput example	2014-12-02 15:03:59 +11:00
Andrew Tridgell	4ec6a74829	AP_HAL: addex UART_test example sketch	2014-12-02 13:14:03 +11:00
Andrew Tridgell	9e0a7e6631	AP_HAL: fixed printf example build	2014-12-02 13:14:03 +11:00
Andrew Tridgell	c5e4e8f035	SITL: fixed SITL for example sketches ... cope with no SITL object	2014-12-02 13:14:03 +11:00
Randy Mackay	9e731550fd	AHRS: default EKF on for copter	2014-12-01 17:29:39 +09:00
priseborough	053c5054f3	AP_TECS: Change default landing damp gain to 0.5	2014-11-29 20:03:49 +11:00
priseborough	0912f05e7c	AP_TECS: Add parameter to adjust height rate gain during flare	2014-11-29 20:03:41 +11:00
priseborough	11aefa6858	AP_TECS: Fix bug in parameter label	2014-11-29 20:03:37 +11:00
priseborough	bd97f15d06	AP_TECS: make flare height demand consistent with height rate demand	2014-11-29 20:03:34 +11:00
Holger Steinhaus	ebed80cd2a	AP_GPS: work-around for invalid time reported by PX4 GPS	2014-11-28 13:30:21 +01:00
Holger Steinhaus	df7c4baed9	AP_GPS: check lock type before accepting position and speed information	2014-11-28 13:26:51 +01:00
Andrew Tridgell	38c1b622f3	AP_AHRS: fixed example build on APM2	2014-11-28 17:59:18 +11:00
Andrew Tridgell	48abfcede7	AP_Scheduler: added example sketch	2014-11-28 12:59:47 +11:00
Andrew Tridgell	89cdae62b4	AP_AHRS: fixed example build	2014-11-28 10:40:52 +11:00
Andrew Tridgell	e45522f51d	AP_Baro: fixed example build	2014-11-28 10:40:43 +11:00
Andrew Tridgell	a686494127	AP_Compass: fixed example build	2014-11-28 10:40:34 +11:00
Andrew Tridgell	908ad46e8e	AP_GPS: fixed example build	2014-11-28 10:40:26 +11:00
Andrew Tridgell	7bb56e50aa	AP_InertialSensor: fixed example build	2014-11-28 10:40:19 +11:00
Andrew Tridgell	0811f9c175	AP_Notify: fixed example build	2014-11-27 17:27:56 +11:00
John Williams	d0e467aea0	AP_HAL_Linux: Bypass manual CS assertion for SPI_CS_KERNEL mode ... Missed from initial patch series Signed-off-by: John Williams <john@whelanwilliams.net>	2014-11-27 15:57:12 +11:00
Andrew Tridgell	eb22815668	AP_TECS: fixed range values	2014-11-26 19:02:51 +11:00
Staroselskii Georgii	d40011acf3	AP_Notify: added abstract Led and RGBLed classes	2014-11-26 11:16:27 +11:00
Mikhail Avkhimenia	955753f3f0	HAL_Linux: Optimize bandwidth for RCOutput_Navio ... 40% less bytes in I2C transactions for PCA9685.	2014-11-26 11:14:44 +11:00
Mikhail Avkhimenia	50459bdca0	HAL_Linux: Enable external clk for RCOutput_Navio ... That should fix PWM value drifts.	2014-11-26 11:14:44 +11:00
Andrew Tridgell	d0087c91e9	DataFlash: prevent build errors on non-PX4 targets	2014-11-26 11:14:44 +11:00
Andrew Tridgell	1d0122e6c2	DataFlash: log each ESC separately ... this saves log space for ESCs that are not initialised (eg. only 3rd ESC on fixed wing) and is a bit easier to deal with as a user	2014-11-26 11:14:44 +11:00
Holger Steinhaus	294d944cbd	DataFlash: added logging of ESC feedback (currently only available with UAVCAN ESCs)	2014-11-26 11:14:44 +11:00
Andrew Tridgell	4132b53541	HAL_PX4: publish actuator values for UAVCAN ESCs ... this publishes scaled actuator values so that the uavcan module can drive ESCs	2014-11-26 11:14:44 +11:00
Andrew Tridgell	e89d380b73	AP_HAL: added set_esc_scaling() RCOutput function ... this will be used to scale outputs for uavcan ESCs based on throttle range	2014-11-26 11:14:44 +11:00
Andrew Tridgell	22cb1c8525	HAL_Linux: tidy up SPI debugging a bit	2014-11-26 10:16:39 +11:00
John Williams	0fe3959d7e	AP_HAL_Linux: Add support for in-kernel SPI CS handling ... Add support for /dev/spidev<bus>.<cs> in-kernel SPI CS handling, and convert existing SPI devices over. * Add a new member _subdev to the LinuxSPIDeviceDriver class, and initialiser in LinuxSPIDevice constructor. Use subdev 0 for GPIO-managed CS * Extend the _cs_pin to signed 16 bits and define SPI_CS_KERNEL (-1) for kernel-managed CS * Move to per-device file descriptors (required for in-kernel CS) * Extend spidev filenames to include bus and subdevice numbers, possibly longer than 1 digit each * Allow support for platforms enumerating /dev/spidevNNN from non-zero bases * Convert existing users over to the new API Signed-off-by: John Williams <john@whelanwilliams.net>	2014-11-26 09:55:09 +11:00
Andrew Tridgell	38c5f25c70	AP_Math: fixed example build	2014-11-25 13:22:17 +11:00
Michael Day	b3e693daa4	AP_Mission: Support MAV_CMD_DO_FENCE_ENABLE as a mission item.	2014-11-25 13:02:47 +11:00
Michael Day	b36c1b2c3d	AP_Mission: support for MAV_CMD_CONTINUE_AND_CHANGE_ALT	2014-11-25 10:43:15 +11:00
Michael Day	dca99a9643	GCS_MAVLink: code generation from XML for MAV_CMD_CONTINUE_AND_CHANGE_ALT.	2014-11-25 10:43:15 +11:00
Andrew Tridgell	d5ced15acf	GCS_MAVLink: include units in CONTINUE_AND_CHANGE_ALT	2014-11-25 10:43:14 +11:00
Michael Day	958d8ffacc	GCS_Mavlink: New message def: MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT	2014-11-25 08:49:13 +11:00
Kirill A. Kornilov	33e4f44434	RC_Channel: added set_radio_trimmed() ... take into account trim value in set_radio()	2014-11-25 08:19:27 +11:00
Andrew Tridgell	8d54368650	AP_Math: fixed build warning	2014-11-25 08:17:15 +11:00
Andrew Tridgell	09547c40cb	DataFlash: added staticmode to EKF4 message ... useful when diagnosing logs	2014-11-22 18:27:51 +11:00
Andrew Tridgell	46f601d703	AP_NavEKF: added getStaticMode() function	2014-11-22 18:27:51 +11:00
Andrew Tridgell	8acfbb2ee0	AP_NavEKF: add another health check in the EKF ... if SV, SP and SH are all off then the most likely cause is divergence of the EKF. This was done based on a flight log with bad gyro cal	2014-11-22 18:27:51 +11:00
Andrew Tridgell	f84f432ecf	AP_InertialSensor: allow gyro calibration to take up to 30 seconds ... this gives time for the user time to get their battery hatches on and hold the model steady. 5 seconds was just far too short	2014-11-22 18:27:51 +11:00
Randy Mackay	20f3f19285	Compass: add new rotation to ORIENT param description	2014-11-22 14:13:25 +09:00
Randy Mackay	503d14428d	AP_Math: add new rotation to example rotation sketch	2014-11-22 14:10:00 +09:00
Randy Mackay	3d2c9910b3	AP_Math: add yaw 293, pitch 68, roll 180 rotation	2014-11-22 14:09:16 +09:00
priseborough	d57c99f1cc	DataFlash: Fix bug in logging of EKF IMU1 Z accel bias	2014-11-18 13:39:42 +11:00
Andrew Tridgell	78db698108	AP_Mount: allow a MOUNT_CONTROL message to reset RC targetting ... fixes issue #1617	2014-11-18 13:35:11 +11:00
Randy Mackay	73f3b50e2f	RC_Channel: make get_control_mid const	2014-11-17 18:16:12 -08:00
Jonathan Challinger	9375fc8947	RC_Channel: add get_control_mid function	2014-11-17 18:16:09 -08:00
Jonathan Challinger	4d7988b302	RC_Channel: replace long with int32_t	2014-11-17 18:16:08 -08:00
Andrew Tridgell	14467b75a1	AP_Mount: use norm_input_dz() ... this makes rc targeting much easier without drift	2014-11-18 12:44:29 +11:00
Andrew Tridgell	6b0c15b70f	RC_Channel: added norm_input_dz() ... normalised input, taking into account dead zone	2014-11-18 12:44:05 +11:00
Andrew Tridgell	ad0e6dccbb	GCS_MAVLink: re-generate headers	2014-11-18 11:20:44 +11:00
Andrew Tridgell	de294277e9	GCS_MAVLink: cope with new mavlink repo change in mavlink_system_t	2014-11-18 11:20:28 +11:00
Andrew Tridgell	abba6395ad	AP_TECS: fixed spelling error	2014-11-18 11:12:57 +11:00
Randy Mackay	8ef2948f27	GCS_MAVLink: generate update to version	2014-11-17 15:59:36 -08:00
Randy Mackay	e46be909a4	GCS_MAVLink: generate after mount_status msg change	2014-11-17 15:59:33 -08:00
Arthur Benemann	9b5684d007	GCS_MAVLink: add MOUNT_STATUS to message enum	2014-11-17 15:59:28 -08:00
Arthur Benemann	f7f9bedc38	AP_Mount: update the status_msg() method to match the new definition	2014-11-17 15:59:23 -08:00
Arthur Benemann	c5b4121fc7	GCS_MAVLink: MOUNT_STATUS to always be reporting the angle of the gimbal ... This is useful for GCS trying to plot the camera footprint.	2014-11-17 15:59:21 -08:00
Jonathan Challinger	055d3bee1f	GCS_MAVLink: run generate.sh	2014-11-17 14:38:53 -08:00
Jonathan Challinger	a4f994e8f0	GCS_MAVLink: update MAV_FRAME enum	2014-11-17 14:38:51 -08:00
Jonathan Challinger	2cc65dffe0	AC_WPNav: add set_spline_dest_and_vel function	2014-11-17 14:38:46 -08:00
Andrew Tridgell	809ff15b43	AP_GPS: make NMEA driver a bit easier to read ... thanks to crashpilot100	2014-11-16 14:12:14 +11:00
Andrew Tridgell	b81b9e1bb8	AP_GPS: prevent bad NMEA strings from causing overruns in parser ... fixes issue #961 thanks to crashpilot100 for spotting this!	2014-11-16 14:08:20 +11:00
Andrew Tridgell	7497b4dfb1	HAL_Linux: fixed Replay with new AP_InertialSensor library	2014-11-16 12:30:50 +11:00
Andrew Tridgell	7c288e020b	AP_InertialSensor: fixed detection of dead IMU ... if a PX4 sensor does not give new data we need to avoid calling _rotate_and_offset_*() to avoid marking it as healthy. Otherwise if the MPU6k dies we won't switch to the LSM303D automatically	2014-11-16 12:30:33 +11:00
Andrew Tridgell	22237f2530	HAL_SITL: fixed handling of SIM_FLOAT_EXCEPT in main thread	2014-11-16 11:05:55 +11:00
Randy Mackay	d9d238cc3c	Relay: param descr match labels for Pixhawk ... Renamed Pixhawk FMU AUX1 to Pixhawk AUXOUT1 to match labels on case to make it easier for users to know what value to choose	2014-11-15 12:49:02 -08:00
Randy Mackay	0d3e1131a7	Relay: Pixhawk AUXOUT2 enabled by default	2014-11-15 12:45:12 -08:00
bugobliterator	9d39c0407e	HAL_Linux: added ToneAlarmDriver.h	2014-11-15 21:25:55 +11:00
bugobliterator	485abbac3a	AP_Notify: cleanup use of bool from toneAlarm_init()	2014-11-15 16:59:28 +11:00
bugobliterator	329c1f5190	HAL_Linux:create ToneAlarmDriver as a separate class ... ToneAlarm is now declared as a separate class instance of which is added as a private member of LinuxUtil Some minor fixes in this patch include changing return type of tonealarm_init() to bool and use dprintf	2014-11-15 16:59:06 +11:00
bugobliterator	ad460659ad	AP_HAL: make toneAlarm_init() return bool	2014-11-15 16:59:06 +11:00
bugobliterator	f058131140	HAL_Linux Scheduler: reduce the delay inside tonealarm thread ... Since the tonealarm is now passthrough the delay inside the thread needs to be reduced for precise tune generation	2014-11-15 16:59:06 +11:00
bugobliterator	3b94cb3072	HAL_Linux: make tonealarm generation a passthrough operation ... get rid of all delays and while loops(that may turn into infinite loop)	2014-11-15 16:59:06 +11:00
bugobliterator	e254b406d0	HAL_Linux: make rtttl tune and tune repeat flag list static members ... instead of initialising them inside constructor	2014-11-15 16:59:06 +11:00
Andrew Tridgell	c8c822422a	HAL_Linux: give error msg on failure to start toneAlarm	2014-11-15 16:58:58 +11:00
Andrew Tridgell	7718be81cb	AP_Notify: give error msgs on failure to start	2014-11-15 16:58:40 +11:00
Andrew Tridgell	682cf02770	GCS_MAVLink: regenerate after merge	2014-11-14 15:25:06 +11:00
Andrew Tridgell	0dba1b370a	GCS_MAVLINK: merge with upstream XML	2014-11-14 15:24:34 +11:00
Andrew Tridgell	d3b087d2c1	AP_GPS: fixed build on non-PX4 platforms	2014-11-14 14:48:42 +11:00
Andrew Tridgell	e69582aa1c	AP_GPS: added PX4EXPERIMENTAL to GPS type drop down	2014-11-14 14:39:46 +11:00
Holger Steinhaus	abad58874c	AP_GPS: enable GNSS modules handled by PX4 firmware via GPS_TYPE ... GNSS modules handled by PX4 drivers are not auto-detectable, some are not even connected to a UART port. The activation is therefore controlled by GPS_TYPE only. Baud rate and port settings (if applicable) have to be handled by the PX4 firmware.	2014-11-14 14:36:10 +11:00
Holger Steinhaus	442aafbd1e	AP_GPS: add proxy driver for GNSS modules handled by PX4 firmware	2014-11-14 14:36:10 +11:00
John Williams	57d2fc1dd5	HAL_Linux: RCInput support for Zynq	2014-11-14 14:10:35 +11:00
Jason Short	7ee5b58535	AP_Mount: Axis mask speedup ... Using a simple bit mask to avoid calculating an unneeded ATAN2() for AVR users.	2014-11-14 13:51:16 +11:00
Matthias Badaire	1d3a49e466	AP_HAL_PX4 : make UARTDriver capable to be called from different threads. ... The modification allows the read and write functions to be called by any thread but the calling thread must be the last one that called the begin() function.	2014-11-14 13:51:16 +11:00
Andrew Tridgell	154bf51279	HAL_PX4: minor tidy up of if statement	2014-11-14 13:51:16 +11:00
Holger Steinhaus	9e9c62d245	HAL_PX4: work-around for periodic enable_ch() calls	2014-11-14 13:51:16 +11:00
Holger Steinhaus	e5549c90a1	HAL_PX4: do not overwrite disabled channels with zeros ... Fixes #1321	2014-11-14 13:51:16 +11:00
Randy Mackay	d34ea4c124	AC_PosControl: fix to default force_descend param	2014-11-13 18:40:45 -08:00
Jonathan Challinger	e81c1dd5a1	AC_PosControl: add force_descend option to set_alt_target_from_climb_rate	2014-11-13 18:40:38 -08:00
Andrew Tridgell	2270a904ce	RC_Channel: make flaperson range from -4500 to 4500	2014-11-14 11:23:52 +11:00
Jonathan Challinger	cc955b738b	AP_NavEKF: Clean up flight detector logic	2014-11-14 10:34:49 +11:00
priseborough	5359da9c68	AP_NavEKF : Improved Magnetometer Error Handling ... (Plane Only) If the yaw and GPS heading disagree by more than 45 degrees on takeoff, then the magnetometer is declared as failed. The heading is then reset based on the difference between GPS ground track and stgate velocity vector. Magnetometer fusion uses corrected data and bias states are initialised to zero. This allows the compass to be switched in flight. For persistent compass errors that trigger a timeout, the compass is not permanently failed, however for non-forward fly vehicles the compass weighting is reduced.	2014-11-14 10:34:48 +11:00
Staroselskii Georgii	a55db1c25d	AP_HAL_Linux: fixed LinuxGPIO_RPI::read()	2014-11-14 10:28:34 +11:00
Mikhail Avkhimenia	49d3035ee5	HAL_Linux: fix types, remove printfs in GPIO_RPI	2014-11-14 10:28:34 +11:00
Mikhail Avkhimenia	6f993fe64a	HAL_Linux: add prototype RCInput code for Navio	2014-11-14 10:28:34 +11:00
Staroselskii Georgii	ef420a2544	AP_HAL_Linux: changed SPI mode for MPU9250	2014-11-14 10:28:34 +11:00
Staroselskii Georgii	bf860ee41f	AP_HAL_Linux: Ublox SPI stub	2014-11-14 10:28:34 +11:00
Víctor Mayoral Vilches	ce4c4c43dc	AP_HAL_Linux: Scheduler reboot fix ... exit from the autpilot when reboot is commanded. The software assumes that the code is being launched in an infinite loop thereby an exit will make it reboot.	2014-11-14 10:27:19 +11:00
John Williams	ae87399919	HAL_Linux: Basic Zynq Linux platform support ... Preliminary support for Zynq/Linux on the 'ZyboPilot' HW platform. see https://github.com/trjw/ZyboPilot-bsp for the PetaLinux / Vivado project files. At this stage CPPM/Pulse in and PWM out work, and in CLI mode the passthru test works correctly. The platform has passed minimal smoke testing in HIL mode. ZYNQ IS NOT FLIGHT TESTED YET! FLY THIS PLATFORM AT YOUR OWN RISK! Signed-off-by: John Williams <john@whelanwilliams.net>	2014-11-14 10:21:04 +11:00
Andrew Tridgell	adcf994356	AP_HAL: added Zynq platform type	2014-11-14 10:21:04 +11:00
Staroselskii Georgii	7f00dd413f	AP_Compass: fixed HMC5883's initialisation code	2014-11-14 10:21:04 +11:00
Andrew Tridgell	3b6c732b3b	APM_Control: changed default I gain for roll/pitch controllers to non-zero ... too many people are still not tuning. At least this will give them a chance to get their aircraft back in a cross-wind	2014-11-13 22:13:25 +11:00
Andrew Tridgell	258542b939	AP_Airspeed: added ARSPD_SKIP_CAL parameter ... allows airspeed calibration to be skipped for easier startup	2014-11-13 21:12:37 +11:00
Andrew Tridgell	9c631944f7	AP_Airspeed: expose raw pressure for logging	2014-11-13 17:49:04 +11:00
Andrew Tridgell	f04f8e226d	SITL: abort on floating point error ... this creates a core file	2014-11-13 17:27:20 +11:00
Andrew Tridgell	1fc8116069	AP_L1_Control: update NAV_L1_PERIOD docs	2014-11-13 14:26:42 +11:00
Andrew Tridgell	1552278fa3	AP_TECS: use aparm.stall_prevention	2014-11-13 14:05:33 +11:00
Andrew Tridgell	04b63a61bf	AP_Vehicle: added stall_prevention variable	2014-11-13 14:05:22 +11:00
Andrew Tridgell	3667900e84	AP_SpdHgtControl: added load_factor in update_pitch_throttle()	2014-11-12 13:36:02 +11:00
Andrew Tridgell	bf591b0008	AP_TECS: take load factor into account in min airspeed ... this will push up minimum airspeed when turning	2014-11-12 13:36:02 +11:00
Andrew Tridgell	d404cc6542	AP_Baro: add set_external_temperature() ... this allows the use of an external temperature sensor for calibration purposes, such as the sensor built in to the digital airspeed sensor. The main affect this has is on the EAS2TAS calculation The get_calibration_temperature() is used to choose either an external temperature or an internal one. If an internal one is used then it is clamped at no higher than 25 degrees C, to prevent hot electronics on startup affecting altitude scaling and EAS2TAS	2014-11-12 13:36:01 +11:00
Andrew Tridgell	8b794602d1	AP_Baro: make get_temperature() a const function	2014-11-12 13:36:01 +11:00
Andrew Tridgell	986b7bf894	AP_InertialSensor: fixed frequency to 16 bit in LDM303D and L3GD20 drivers	2014-11-11 17:06:22 +11:00
Andrew Tridgell	c750cbebfb	GCS_MAVLink: prevent asan errors in send_text_all	2014-11-11 15:16:26 +11:00
Andrew Tridgell	a566ebe4ec	HAL_SITL: prevent array overruns in RCInput/RCOutput	2014-11-11 15:16:26 +11:00
Randy Mackay	67690553c5	BaroGlitch: add reset method	2014-11-09 13:34:15 -08:00
Andrew Tridgell	2eeec3fabe	AP_RangeFinder: fixed oversized parameter RNGFND2_SETTLE_MS	2014-11-10 08:09:41 +11:00
Andrew Tridgell	ec17c5806e	AP_Param: check parameter tables for bad suffix lengths	2014-11-10 08:09:08 +11:00
Andrew Tridgell	00526359b0	HAL_Linux: use dprintf() instead of sprintf and write	2014-11-10 06:51:53 +11:00
Andrew Tridgell	bec1c05773	AP_Notify: fixed bitfields	2014-11-10 06:33:54 +11:00
bugobliterator	e48fcf2df7	AP_Notify:change tonealarm-type bitmask to bool type, ... change parameter data type from const uint8_t to uint8_t, initialise tonealarm error flag to value -1 at tonealarm class initiallisation This is a part of a set of fixes for the bugs and typos tridge discovered and shared inside earlier commits for setting up tonealarm.	2014-11-10 06:27:49 +11:00
bugobliterator	9f5f5871f2	AP_Notify:Fix the typo, usage of toshibaled.init() instead of toshibaled.update() ... This is a part of a set of fixes for the bugs and typos tridge discovered and shared inside earlier commits for setting up tonealarm.	2014-11-10 06:27:48 +11:00
bugobliterator	af203760bd	HAL_Linux: change the return type of AP_HAL::Util::tonealarm_init() to signed int8_t. ... This is a part of a set of fixes for the bugs and typos tridge discovered and shared inside earlier commits for setting up tonealarm.	2014-11-10 06:27:48 +11:00
bugobliterator	fa6e83318d	AP_HAL: Add virtual toneAlarm member functions to be declared under Linux_HAL	2014-11-10 06:27:48 +11:00
bugobliterator	298b27444a	HAL_Linux: Add ToneAlarm Driver to Linux_HAL ... ToneAlarm is setup for Beaglebone Black using pwm, toneAlarm thread runs on second last priority.	2014-11-10 06:27:48 +11:00
bugobliterator	5d6af51517	AP_Notify:Add ToneAlarm Support for HAL_Linux Boards	2014-11-10 06:27:48 +11:00
Jonathan Challinger	2d288d46a4	AP_HAL_AVR_SITL: fill in ublox accuracy metrics with reasonable values	2014-11-08 19:07:50 +11:00
Randy Mackay	31087e4f20	Compass: shorten EXTERNAL2/3 to EXTERN2/3 ... Bug discovered by Michael Day	2014-11-08 10:21:22 +09:00
Robert Lefebvre	a2958e2ffd	AP_MotorsSingle: Fix parameter comments.	2014-11-08 10:18:03 +09:00
Randy Mackay	98f5a93e10	AC_AttControl: remove unused logging structure	2014-11-08 10:17:32 +09:00
Andrew Tridgell	02581f4c05	HAL_Linux: re-fix dirty mask bug in Storage ... when conversion to a single parent class was done it re-introduced a bug that was fixed a while ago See commit d238ff7c5d	2014-11-08 11:55:55 +11:00
Andrew Tridgell	330dab2fe3	HAL_Linux: fixed some warnings	2014-11-08 11:49:09 +11:00
bugobliterator	4908e335d2	HAL_Linux: Add Storage.cpp containing common storage class member definitions	2014-11-08 11:36:12 +11:00
bugobliterator	dd6d520385	HAL_Linux:Create subclass to handle FRAM Storage under main Storage Class	2014-11-08 11:36:09 +11:00
Victor Mayoral Vilches	46c8714996	AP_GPS: make the examples compile in Linux	2014-11-08 11:25:35 +11:00
Andrew Tridgell	14a6878bcd	HAL_Linux: fixed termios settings on BBB initial boot ... this should fix the problem of losing the GPS in flight	2014-11-07 22:15:28 +11:00
Andrew Tridgell	e22c8b27a9	HAL_PX4: if there are no enabled channels don't send to PX4IO ... this makes it possible to disable PWM output to IO to test override	2014-11-07 10:39:07 +11:00
Andrew Tridgell	16fd113020	RC_Channel: added channel_function() ... this is used in the plane mixing code	2014-11-07 10:39:07 +11:00
Clay McClure	71586d40e3	AC_WPNav: minor fix to comments	2014-11-06 11:53:56 +09:00
squilter	cab2010a8f	AP_Arming: remove abbreviations from GCS messages	2014-11-06 11:13:26 +09:00
Jonathan Challinger	6c4d4713aa	AP_NavEKF: Add parameter that specifies EKF-to-DCM/INAV fallback strictness	2014-11-06 10:03:52 +11:00
Jonathan Challinger	2293070a5b	AP_GPS: Add uBlox accuracy metrics interface and logging	2014-11-06 07:38:41 +11:00
Jonathan Challinger	9be7039be1	DataFlash: add UBX3 message for accuracy logging	2014-11-06 07:38:41 +11:00
Jonathan Challinger	d03ed7a2c3	AP_Mount: Added lead filter	2014-11-06 07:35:32 +11:00
Andrew Tridgell	7e3b8a30f5	HAL_PX4: use px4io generated values for servo output readback ... this makes it easier to observe the behaviour of IO failsafe	2014-11-05 21:54:53 +11:00
Andrew Tridgell	2b48434e60	AP_TECS: fixed throttle demand on underspeed ... thanks to Philipp Oettershagen for finding this bug!	2014-11-05 07:55:18 +11:00
priseborough	d6508acfa5	AP_TECS : Prevent throttle undershoot after climb ... If the plane was unable to achieve the climb and got significantly below the internal TECS demanded climb profile, the the PD term would be a large value at the top of climb, and would take some time to reduce due to the rate limiter. This meant that the integrator state could be pushed to a very low value and effectively cause the throttle to sit on the lower limit for longer than desired after levelling out.	2014-11-05 07:49:03 +11:00
Andrew Tridgell	3518cf5480	AP_InertialSensor: fixed default MPU9250 orientation for NavIO	2014-11-04 16:18:35 +11:00
Jonathan Challinger	369839c7ca	AC_WPNav: Use target yaw instead of current yaw for close waypoints	2014-10-31 15:23:52 +09:00
Randy Mackay	1e4ec5f6a2	Camera: add f to float constants	2014-10-31 14:46:51 +09:00
Randy Mackay	ad7a9bf81b	Camera: initialise image_index	2014-10-31 14:46:49 +09:00
Arthur Benemann	7bb4a39608	Camera: record number of pictures taken since boot ... The field is useful for detecting in a GCS if a mavlink_msg_camera_feedback message was dropped.	2014-10-31 14:46:45 +09:00
Arthur Benemann	b48edf479b	GCS_MAVLink: add CAMERA_FEEDBACK to enum	2014-10-31 14:46:40 +09:00
Arthur Benemann	2e4812afb5	Camera: Added feedback message support ... Now the autopilot can publish the state of the camera via the mavlink_msg_camera_feedback message.	2014-10-31 14:46:38 +09:00
Jonathan Challinger	84da5d2d98	DataFlash: use new interface functions for EKF IMU weighting and accel biases	2014-10-30 18:17:38 +11:00
Jonathan Challinger	967986d5c6	AP_NavEKF: Split getAccelBias into getAccelZBias and getIMU1Weighting	2014-10-30 18:17:38 +11:00
Jonathan Challinger	ac2e5f644c	DataFlash: fix bug in ekf gyro bias logging	2014-10-30 18:17:37 +11:00
Jonathan Challinger	bb6d8fd44a	AP_NavEKF: Set prevDelAng after using it	2014-10-30 18:17:37 +11:00
priseborough	aca78d321f	DataFlash : Remove unused numerical divergence metric	2014-10-30 18:17:37 +11:00
Jonathan Challinger	0727ac5c79	AP_NavEKF: clean up unused variable lastDivergeTime_ms	2014-10-30 18:17:37 +11:00
priseborough	5e51c09978	AP_NavEKF : Remove ineffective numerical divergence checks	2014-10-30 18:17:37 +11:00
priseborough	638d63aa90	DataFlash : Change to more descriptive EKF logging names	2014-10-30 18:17:37 +11:00
priseborough	6f759fdb8e	AP_AHRS : Tidy up logic used to enable synthetic sideslip fusion	2014-10-30 18:17:36 +11:00
Andrew Tridgell	8506e8b5fb	HAL_Linux: fixed linux build	2014-10-30 17:47:18 +11:00
John Williams	b9f0310b82	hal_ap_linux: Make PRU constants private to reduce #define namespace pollution. ... Forthcoming Zynq port AP_HAL_Linux uses similar constants with different values - move these as private member constants to avoid collisions. Signed-off-by: John Williams <john@whelanwilliams.net>	2014-10-30 13:51:41 +11:00
Mikhail Avkhimenia	81de994fef	HAL_Linux: separate RCInput for PRU and Navio	2014-10-30 13:30:07 +11:00
Mikhail Avkhimenia	e05151f0e0	HAL_Linux: Initialize i2c before rcoutput (required by i2c pwm chips for initialization)	2014-10-30 13:30:07 +11:00
Mikhail Avkhimenia	2f0900b0a8	HAL_Linux: add GPIO driver for Raspberry Pi	2014-10-30 13:30:07 +11:00
Mikhail Avkhimenia	07ed93cea0	HAL_Linux: add PCA9685 based RCOutput for Navio	2014-10-30 13:30:07 +11:00
Alexander Mergel	14c401c0f4	AP_HAL_Linux: [Bugfix] prevent memory acces violation in process_dsm_pulse ... When a S.Bus signal is fed into the rcin-Pin AruPlane on the BBB get's a Segmentation fault. This patch prevents the memory acces to dsm_state.bytes[16] outside of the array bounds. The patch should be reviewed by sombody who knows the DSM protocol, as i don't.	2014-10-30 11:57:35 +11:00
priseborough	6a85753a5b	AP_NavEKF : add INIT_GYRO_BIAS_UNCERTAINTY definition	2014-10-29 17:39:47 +09:00
priseborough	fb14da7a4b	AP_NavEKF : Add public method to reset gyro bias states	2014-10-29 15:32:21 +09:00
priseborough	2c07299c04	AP_AHRS : Add reset of EKF gyro bias states	2014-10-29 15:32:18 +09:00
Randy Mackay	8a776f8ff8	GPS: init primary_instance to zero	2014-10-29 12:04:13 +09:00
Benoit PEREIRA DA SILVA	010d267376	GPS: use primary for Notification	2014-10-29 12:04:12 +09:00
Jonathan Challinger	6848897999	AP_GPS: Add agcCnt to UBX1 message	2014-10-29 08:18:04 +11:00
Randy Mackay	dffcfb42bc	AHRS: add reset_gyro_drift method	2014-10-28 20:25:33 +09:00
Randy Mackay	7d48704f82	AP_NavEKF: fix parameter descriptions ... Errors pointed out by Richard (DK)	2014-10-27 22:20:03 +09:00
Randy Mackay	ac7ea2a12c	AC_PosControl: use AttControl's sqrt_controller	2014-10-27 15:20:48 +09:00
Jonathan Challinger	7224669399	AC_AttitudeControl: cleanup angle_ef_roll_pitch_rate_ef_yaw_smooth	2014-10-27 15:20:46 +09:00
Jonathan Challinger	779baa006d	AC_PosControl: Use sqrt_controller function	2014-10-27 15:20:44 +09:00
Jonathan Challinger	0c4a489491	AC_AttitudeControl: use sqrt_controller function	2014-10-27 15:20:43 +09:00
Randy Mackay	fc898a00a3	AC_AttControl: add sqrt_controller ... Original code by Jonathan Challinger	2014-10-27 15:20:40 +09:00
Andrew Tridgell	26de54c29a	AP_AHRS: cope with 90 degree pitch in update_trig() ... this prevents a numerical error in Replay	2014-10-25 11:21:04 +11:00
Michael Day	83c2f497a3	AP_Mission: Change jump_to_landing_sequence to get_landing_sequence_start	2014-10-24 21:42:06 +11:00
Andrew Tridgell	5ddbcc296d	AP_OpticalFlow: fixed example build	2014-10-24 21:38:03 +11:00
Andrew Tridgell	ad8b73c8aa	AP_Airspeed: update ARSPD_AUTOCAL docs	2014-10-24 17:16:17 +11:00
Randy Mackay	41a6393356	RangeFinder: PulsedLight I2C addr to 0x62	2014-10-24 15:08:04 +09:00
Andrew Tridgell	ad7c612334	AP_InertialSensor: fixed SITL with new HIL code	2014-10-24 15:05:44 +11:00
Andrew Tridgell	aeaa3c1e04	AP_InertialSensor: fixed build for VRBrain	2014-10-24 12:10:41 +11:00
Andrew Tridgell	40e83ceb1f	AP_InertialSensor: simplify next sample time calculations ... this makes the calculation much clearer	2014-10-24 12:10:40 +11:00
Andrew Tridgell	9dfbdb1e69	AP_InertialSensor: run the MPU6000 at 1kHz on fast CPUs ... use a software filter and 1kHz sampling for better filtering if we have a fast enough CPU to do it	2014-10-24 12:10:40 +11:00
Andrew Tridgell	a047d1f569	AP_InertialSensor: moved default filter and sample_rate to frontend ... this simplifies the backends and prevents code repitition	2014-10-24 12:10:40 +11:00
Andrew Tridgell	17b2214798	AP_InertialSensor: make it easier to add multiple backends ... use _add_backend() to add new backends on startup	2014-10-24 12:10:40 +11:00
Andrew Tridgell	868ee3af23	AP_Mission: fixed example build	2014-10-24 12:10:40 +11:00
Andrew Tridgell	006185f08a	AP_InertialNav: fixed example build	2014-10-24 12:10:40 +11:00
Andrew Tridgell	f79ce92673	AP_AHRS: fixed example build	2014-10-24 12:10:40 +11:00
Andrew Tridgell	33c7432e97	AC_WPNav: fixed example build	2014-10-24 12:10:40 +11:00
Andrew Tridgell	31eeb657ca	AC_Sprayer: fixed example build	2014-10-24 12:10:39 +11:00
Andrew Tridgell	4fcf46005b	AC_Fence: fixed example build	2014-10-24 12:10:39 +11:00
Andrew Tridgell	9a98e63702	AC_AttitudeControl: fixed example build	2014-10-24 12:10:39 +11:00
Andrew Tridgell	bc5d79118d	AP_InertialSensor: updated comments	2014-10-24 12:10:39 +11:00
Andrew Tridgell	3a9a5a9c18	AP_InertialSensor: implement gyro and accel health monitoring ... sensor is healthy if it gave a sample on the last update()	2014-10-24 12:10:39 +11:00
Andrew Tridgell	586fa9a816	AP_InertialSensor: added product_id support ... fill in parameter from first backend	2014-10-24 12:10:39 +11:00
Andrew Tridgell	37dea4e367	AP_Common: added MPU9250 product ID	2014-10-24 12:10:39 +11:00
Andrew Tridgell	520727e5bd	AP_InertialSensor: fixed example build	2014-10-24 12:10:39 +11:00
Andrew Tridgell	dbcd02f2be	AP_InertialSensor: converted MPU9150 driver ... untested conversion	2014-10-24 12:10:38 +11:00
Andrew Tridgell	ff5f791343	AP_InertialSensor: converted flymaple driver to new API	2014-10-24 12:10:38 +11:00
Andrew Tridgell	a42af0f2f1	AP_InertialSensor: use common AP_InertialSensor driver for PX4 and VRBRAIN	2014-10-24 12:10:38 +11:00
Andrew Tridgell	3ce7667e5a	AP_InertialSensor: tidy up MPU6000 driver	2014-10-24 12:10:37 +11:00
Andrew Tridgell	2d47a07480	AP_InertialSensor: ported L3G4200D driver to new API	2014-10-24 12:10:37 +11:00
Andrew Tridgell	deafcd6ddc	AP_InertialSensor: improved timing in all drivers	2014-10-24 12:10:37 +11:00
Andrew Tridgell	ff6d87f145	AP_InertialSensor: minor tidy up for HIL driver	2014-10-24 12:10:37 +11:00
Andrew Tridgell	85686c22ec	AP_InertialSensor: converted the APM1/Oilpan driver to new API	2014-10-24 12:10:37 +11:00
Andrew Tridgell	dcef9bb3b8	AP_InertialSensor: converted the MPU9250 driver to new API	2014-10-24 12:10:37 +11:00
Andrew Tridgell	d48beb0c0f	AP_InertialSensor: converted PX4 driver to new API	2014-10-24 12:10:37 +11:00
Andrew Tridgell	0ce5c99c26	SITL: update for new AP_InertialSensor API	2014-10-24 12:10:37 +11:00
Andrew Tridgell	ec11417705	AP_InertialSensor: converted HIL backend, which gets SITL working	2014-10-24 12:10:36 +11:00
Andrew Tridgell	448efc70a3	AP_InertialSensor: first steps in frontend/backend split ... This converts the MPU6000 driver to a frontend/backend structure, and disables all other drivers. They will be progressively re-enabled as each is converted	2014-10-24 12:10:36 +11:00
Randy Mackay	04eb1073e8	DataFlash: log baro climbrate	2014-10-22 17:29:27 +09:00
Andrew Tridgell	e6c6fe095f	AP_Terrain: fixed a warning	2014-10-22 18:27:20 +11:00
Andrew Tridgell	b495905da5	AP_TECS: fixed some warnings	2014-10-22 18:27:18 +11:00
Andrew Tridgell	59610ebe88	AP_L1_Control: fixed some warnings	2014-10-22 18:27:16 +11:00
Andrew Tridgell	b8e73a737a	HAL_AVR: fixed warning	2014-10-22 18:26:45 +11:00
Randy Mackay	e80328d3a5	AC_WPNav: bug fix sanity check of set_speed_xy ... This corrects a bug that allowed the waypoint speed to be set to zero	2014-10-21 22:10:22 +09:00
Randy Mackay	39c8535223	AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P	2014-10-21 21:41:41 +09:00
priseborough	2bc74934b8	AP_NavEKF: Track baro alt when pre-armed ... This will help prevent spurious alt disparity warning messages for copter	2014-10-21 20:58:59 +09:00
Randy Mackay	a1cfd03c9b	AC_PosControl: bug fix dt calculation ... fixes issue in which now could be earlier than _last_update_xy_ms leading to a large dt value and a sudden lean on takeoff	2014-10-21 11:40:47 +09:00
Randy Mackay	0e11189c35	AP_InertialNav: add comments	2014-10-20 11:12:54 +09:00
Jonathan Challinger	5e381280dc	AP_InertialNav: update properly if home position moves	2014-10-20 10:59:50 +09:00
Andrew Tridgell	d84c1cd3e4	AP_OpticalFlow: fixed example build	2014-10-20 08:42:51 +11:00
Andrew Tridgell	15a661e17a	AP_Mission: fixed logic in jump_to_landing_sequence() ... see comments on drones-discuss	2014-10-20 08:36:20 +11:00
Andrew Tridgell	8c6b875dcc	AP_Mission: avoid the AP_AHRS cast ... get_position() is now const	2014-10-20 08:36:20 +11:00
Andrew Tridgell	270bac4472	AP_AHRS: make get_position() const ... This allows use from within AP_Mission	2014-10-20 08:36:20 +11:00
Michael Day	ea91f4d47b	AP_Mission: Added support for MAV_CMD_DO_LAND_START	2014-10-20 08:36:19 +11:00
Michael Day	d62b9a7044	GCS_MAVLink: re-generated headers	2014-10-20 08:36:19 +11:00
Andrew Tridgell	e1a88a13a7	GCS_MAVLink: added MAV_CMD_DO_LAND_START ... see discussion on drones-discuss	2014-10-20 08:36:19 +11:00
Andrew Tridgell	7636cc6971	GCS_MAVLink: merged upstream changes	2014-10-20 08:36:19 +11:00
Jonathan Challinger	1c75ce88f2	AP_Buffer: change pop_front to return a bool if successful	2014-10-20 08:26:14 +11:00
Jonathan Challinger	ceef10cc41	AP_Buffer: Add peek_mutable function allowing in-place modification of buffered objects	2014-10-20 08:26:14 +11:00
Jonathan Challinger	630a87d9a9	AP_Buffer: remove scalar assignment so that non-scalars can be buffered	2014-10-20 08:26:14 +11:00
Jonathan Challinger	cdd2199138	AP_Math: expand frame transformation test case for quaternions	2014-10-20 06:24:33 +11:00
Jonathan Challinger	3befe74afa	AP_Math: change quaternion class to use const references where optimal	2014-10-20 06:24:30 +11:00
Jonathan Challinger	70845882a7	AP_Math: fix up rotation test suite	2014-10-20 06:24:27 +11:00
Jonathan Challinger	6076f3fa22	AP_NavEKF: Quaternion::to_euler now uses references instead of pointers	2014-10-20 06:24:25 +11:00
Jonathan Challinger	1f7e393e38	AP_Math: refactor quaternion library	2014-10-20 06:24:22 +11:00
Andrew Tridgell	ef0eca4835	AP_Airspeed: fixed airspeed in Replay	2014-10-19 19:42:15 +11:00
Andrew Tridgell	7db0244dac	AP_Compass: added some comments	2014-10-19 17:02:45 +11:00
Jonathan Challinger	9054dd3f9a	AP_Compass: use apply_correction_function to eliminate duplication	2014-10-19 17:02:45 +11:00
Randy Mackay	677f6cce7f	AP_Motors: reduce slow-start increment for fast CPUs	2014-10-18 20:54:08 +09:00
Randy Mackay	542ec29e49	Parachute: set servo or relay to off position on every update ... This resolves the issue of the parachute servo's position not being initialised to the off position due to an ordering problem of the auxiliary servos being initialised after the parachute object.	2014-10-18 17:26:23 +09:00
Randy Mackay	eed6a1ce61	OptFlow: fix example sketch so it compiles	2014-10-16 13:52:07 +09:00
Randy Mackay	a476a914b0	OptFlow_PX4: check healthy before updating	2014-10-15 16:36:40 +09:00
Randy Mackay	f504ea7b30	OptFlow_ADNS3080: check healthy before updating	2014-10-15 16:36:38 +09:00
Randy Mackay	d238f48dda	OptFlowPX4: fix compile error for APM	2014-10-15 16:36:33 +09:00
Randy Mackay	a9cfbb71b8	OptFlowPX4: use ORB to pull data from sensor ... This change is required because PX4Firmware has changed the method used to pull data from the sensor.	2014-10-15 16:36:25 +09:00
Randy Mackay	ec4581b35a	OptFlow: add ground_distance_m	2014-10-15 16:35:48 +09:00
Randy Mackay	4b0548973a	OptFlow: add PX4Flow support	2014-10-15 16:35:33 +09:00
Randy Mackay	3c4be75487	OptFlow: reorganise ADNS3080 to simplified interface	2014-10-15 16:35:31 +09:00
Randy Mackay	b64f9ed964	OptFlow: rename and restructure OpticalFlow class ... AP_OpticalFlow.h becomes simply a file that includes all other optical flow header files. OpticalFlow class simplified to only return surface quality, raw output and velocity vector.	2014-10-15 16:35:29 +09:00
Andrew Tridgell	4ad643b233	AP_AHRS: use a common function for updating the CD values ... this ensures the wrapping of yaw is consistent between the 3 use cases	2014-10-15 13:18:08 +11:00
Andrew Tridgell	eec5cd5add	AP_AHRS: restore DCM attitude before update() ... The DCM drift correction code uses the current attitude to calculate error values to update its gyro drift correction. If we were using EKF then without this patch the DCM code running as an alternative AHRS source would be using the EKF attitude for calculating the error value, leading to very bad gyro drift estimation	2014-10-15 11:15:33 +11:00
Andrew Tridgell	63c06ea2af	AP_AHRS: fixed calls to DCM in parent class ... use_compass() and reset() are common to AP_AHRS_DCM and AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we call use_compass() from within AP_AHRS_DCM we actually end up calling AP_AHRS_NavEKF::use_compass(). This has the effect of disabling the compass in DCM when EKF is active and EKF has decided not to use the compass. That means that the DCM yaw (and in fact the whole attitude) can get badly off while EKF is enabled, making DCM an ineffective fallback if EKF fails. The fix is to call the specific class versions of use_compass() and reset()	2014-10-15 10:12:50 +11:00
Andrew Tridgell	b437977547	AP_Compass: added set_offsets() interface ... this will be used by Replay to prevent the need for saving parameters	2014-10-15 09:16:31 +11:00
Randy Mackay	6690aff305	AC_Motors: param description addition	2014-10-14 12:43:22 +09:00
Randy Mackay	d09faa0015	BattMon: minor param description additions	2014-10-14 12:42:57 +09:00
Randy Mackay	45e0e48e54	BattMon: minor param description update	2014-10-14 12:42:45 +09:00
Randy Mackay	3a81732721	Baro: minor param description updates	2014-10-14 12:42:27 +09:00
Randy Mackay	be1621877f	Mission: support GUIDED_ENABLE and GUIDED_LIMITS ... This replaces the ardupilot only NAV_GUIDED command. Also remove support for NAV_VELOCITY mission command which will be replaced by SET_POSITION_TARGET non-mission command.	2014-10-13 21:40:23 +09:00
Andrew Tridgell	3c7cc5f40c	AP_RangeFinder: auto-update PX4 ll40ls max/min distance ... this allows the range of the Lidar to be set by the user using RNGFND_MAX_CM and RNGFND_MIN_CM	2014-10-13 19:07:38 +11:00
Jonathan Challinger	4a397a8d67	AC_PosControl: Protect from divide-by-zero in get_stopping_point_xy	2014-10-10 21:17:12 +09:00
Randy Mackay	023b2c0d6b	AP_InertialNav: fixed use of ahrs.get_velocity with EKF disabled	2014-10-09 16:43:24 +09:00
Andrew Tridgell	7b02d326f6	AP_InertialNav: fixed use of _ahrs.get_relative_position_NED() with EKF disabled ... this prevents a floating point error caused by using an uninitialised vector3 when switching between DCM and EKF control in AP_InertialNav Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2014-10-09 18:30:20 +11:00
Andrew Tridgell	39fadad7d6	HAL_Linux: fixed build warnings	2014-10-09 16:49:23 +11:00
Andrew Tridgell	b3894e8b10	HAL_VRBRAIN: reduce the number of times we split up UART reads and writes	2014-10-09 12:29:25 +11:00
Andrew Tridgell	10b0ca7ea8	HAL_PX4: reduce the number of times we split up UART reads and writes	2014-10-09 12:29:25 +11:00
Andrew Tridgell	c834589daa	HAL_Linux: reduce the number of times we split up UART reads	2014-10-09 12:29:25 +11:00
Andrew Tridgell	076bb1294e	HAL_Linux: improved UDP packetisation and add flow control reporting ... report we have flow control on UDP and TCP	2014-10-09 12:29:25 +11:00
Randy Mackay	834f2bea07	INS: add gyro_calibrated_ok_all method ... This returns true if the gyros have been calibrated successfully	2014-10-09 10:00:07 +09:00
Andrew Tridgell	70ca87c4e6	AP_RangeFinder: handle all I2C rangefinder types on PX4 in PX4Firmware	2014-10-09 11:06:16 +11:00
Andrew Tridgell	cebfef3ead	HAL_Linux: don't accept less than 5 input channels	2014-10-09 09:19:35 +11:00
Andrew Tridgell	a3fee16604	HAL_Linux: added DSM/Spektrum RCInput support ... this decodes DSM using the RCIN pulses from the PRU	2014-10-08 12:50:50 +11:00
Andrew Tridgell	3e3f87188b	HAL_Linux: enable DSM power pin	2014-10-08 12:50:50 +11:00
Andrew Tridgell	50e5ae6f7a	HAL_Linux: added low level DSM decoder ... based on dsm.c from PX4 project	2014-10-08 12:50:50 +11:00
Andrew Tridgell	9b207d029d	HAL_Linux: change ring buffer to 300 entries	2014-10-07 14:57:34 +11:00
Andrew Tridgell	b1845ed00d	HAL_Linux: initial support for parallel SBUS and PPM-SUM decoding	2014-10-07 14:57:34 +11:00
Andrew Tridgell	42e9dc3c31	HAL_Linux: added SBUS decoder from PX4 project ... thanks Lorenz!	2014-10-07 14:57:34 +11:00
Andrew Tridgell	809b6cc855	AP_AHRS: added get_yaw_rate_earth() ... used to estimate course correction on takeoff	2014-10-07 07:17:46 +11:00
Craig Elder	be352e9471	AP_GPS: Removed CFG-DAT message from 3DR-Ublox-NEO7 ... CFG-DAT is generated by U-Center but no longer used by the receiver.	2014-10-06 11:21:42 -07:00
Andrew Tridgell	e0e534628b	HAL_Linux: support direct UDP output from UART drivers ... this allows safe operation over WiFi links without MAVProxy	2014-10-06 15:13:03 +11:00
Randy Mackay	1754cacf3c	AC_PosControl: remove completed to-do comments	2014-10-04 23:49:24 +09:00
Randy Mackay	f65e81cb07	AC_AttControl: remove some old comments	2014-10-04 23:49:21 +09:00
Randy Mackay	793ed20534	CoaxCopter: set throttle upper and lower flags	2014-10-04 23:49:19 +09:00
Randy Mackay	57f6d0ff60	SingleCopter: set throttle upper and lower flags	2014-10-04 23:49:16 +09:00
Randy Mackay	85fb4b122a	MotorsMatrix: _min_throttle interpreted as 0 ~ 1000 range for throttle_lower flag ... Also trigger throttle_upper flag when throttle in reaches 1000	2014-10-04 23:49:14 +09:00
Randy Mackay	91e5201439	Tri: _min_throttle interpreted as 0~1000 range for throttle_lower flag ... limit.throttle_lower flag becomes true when the throttle passed into the motors lib (which is in the 0 ~ 1000 range) is below _min throttle. This makes the interpretation of the THR_MIN parameter consistent between the main code (which uses 0 ~ 1000 range) and the motors lib (which previously used the RC3_MIN ~ RC3_MAX range). The remaining problem however is that the output of the motors continues to use THR_MIN as if it were a pwm. I don't believe this is a dangerous problem however.	2014-10-04 23:49:11 +09:00
Craig Elder	7367ea04a7	AP_GPS: Adding support for the NEO7 GPS	2014-10-03 03:21:28 -07:00
priseborough	8aa267f75f	AP_NavEKF : Fix bug in reset of GPS glitch offset ... The GPS glitch offset was being zeroed during position resets. This caused the filter to reject subsequent GPS measurements if the GPS error persisted long enough to invoke a timeout and a position reset.	2014-10-03 09:17:03 +10:00
Randy Mackay	b3bbec24e4	RangeFinder: TYPE param description to PX4-I2C	2014-10-02 20:24:14 +09:00
Randy Mackay	8ce4893180	RangeFinder: TYPE param description to PX4-MaxbotixI2C ... This hopefully reduces confusion for PX4/Pixhawk users with MaxBotix I2C sonar	2014-10-02 16:49:15 +09:00
Randy Mackay	85eee31510	AHRS: rename ekfNotStarted method to initialised ... Also created default implementation in AP_AHRS class so AP_AHRS_DCM does not need to implement it.	2014-10-02 14:40:54 +09:00
priseborough	7cea7c6a18	AP_AHRS : add method to report if EKF is waiting to start	2014-10-02 14:38:29 +09:00
Andrew Tridgell	60aa017e11	GCS_MAVLink: added handle_set_mode() function	2014-10-01 14:19:04 +10:00
Randy Mackay	7caa611eb1	Compass_HIL: use instance specific orient and external	2014-10-01 13:02:03 +10:00
Randy Mackay	86aac4f40c	Compass_HMC5843: use instance specific orient and external	2014-10-01 13:02:03 +10:00
Randy Mackay	900896977c	Compass_VRBrain: use instance specific orient and external	2014-10-01 13:02:03 +10:00
Randy Mackay	85e82a0399	Compass_PX4: use instance specific orient and external	2014-10-01 13:02:03 +10:00
Randy Mackay	023b6afe8b	Compass: add ORIENT2 and EXTERNAL2 params	2014-10-01 13:02:03 +10:00
Randy Mackay	16058cb730	Compass_VRBrain: primary compass based on use_for_yaw	2014-10-01 13:02:02 +10:00
Randy Mackay	01fa4ba619	Compass_PX4: primary compass based on use_for_yaw	2014-10-01 13:02:02 +10:00
Randy Mackay	798cc36e64	Compass: use_for_yaw for each compass	2014-10-01 13:02:02 +10:00
Randy Mackay	84d792216e	Compass: use_for_yaw to use primary compass health ... This allows the internal compass to be used if the external compass fails.	2014-10-01 13:02:02 +10:00
Andrew Tridgell	d6c56b8f7a	AP_NavEKF: make it clear that all sat counts are covered	2014-10-01 12:55:29 +10:00
Andrew Tridgell	a1f5be5b9e	AP_NavEKF: simplify variable handling in EKF ... use named state variables instead of states[] array where possible.	2014-10-01 12:55:29 +10:00
priseborough	8223a0d193	AP_NavEKF : Explicitly initialise gpsNoiseScaler to default value	2014-10-01 12:55:29 +10:00
priseborough	b61a6c64d7	AP_NavEKF : Reduce weighting on GPS when not enough satellites ... GPS measurement variance is doubled if only 5 satellites, and quadrupled if 4 or less. The GPS glitch rejection thresholds remain the same This will reduce the impact of GPS glitches on attitude.	2014-10-01 12:55:29 +10:00
priseborough	7370e07c8d	AP_AHRS : Prevent EKF starting if GPS sats less than AHRS_GPS_MINSATS	2014-10-01 12:55:29 +10:00
priseborough	f99f5759f5	AP_NavEKF : Fix bug in GPS innovation variance growth calculation ... The uncertainty in acceleration is currently only scaled using horizontal accelerations, however during vertical plane aerobatics and high g pullups, misalignment in angles can cause significant horizontal acceleration error. The scaling now uses the 3D acceleration vector length to better work during vertical plane high g maneouvres. This error was found during flight testing with 8g pullups	2014-10-01 12:55:29 +10:00
priseborough	f0ee11e951	AP_NavEKF : Fix bug in reset of position, height and velocity states ... If the inertial solution velocity or position needs to be reset to the GPS or baro, the stored state history for the corresponding states should also be reset. Otherwise the next GPS or baro measurement will be compared to an invalid previous state and will be rejected. This is particularly a problem if IMU saturation or timeout has occurred because the previous states could be out by a large amount The position state should be reset to a GPS position corrected for velocity and measurement latency. This will make a noticeable difference for high speed flight vehicles, eg 11m at 50m/s.	2014-10-01 12:55:28 +10:00
Randy Mackay	e7b4a02d26	GPS: fix SIRF set-binary message ... This fixes an issue in which the the update rate for the mediatek, which uses a similar protocol, was not being set correctly	2014-10-01 11:42:31 +09:00
Andrew Tridgell	f6cc8ce5bc	GCS_MAVLink: fixed log erase and log request end	2014-10-01 11:45:51 +10:00
Randy Mackay	47c135c4e1	GCS_MAVLink: add comments around checking target	2014-09-30 15:18:35 +10:00
Randy Mackay	0322a876eb	GCS_MAVLink: check target before erasing log	2014-09-30 15:18:31 +10:00
Randy Mackay	dbe1c55666	AC_WPNav: add shift_wp_origin_to_current_pos for takeoff ... This shifts the origin to the vehicle's current position and should be called just before take-off to ensure there are no sudden roll or pitch moves on takeoff.	2014-09-29 15:26:18 +09:00
Randy Mackay	0803d79701	INS: param descriptions for ACC2, GYR2	2014-09-27 21:05:33 +09:00
Randy Mackay	e14ae0c0b1	Compass: param descriptions for OFS2, MOT2	2014-09-27 17:59:26 +09:00
Randy Mackay	5ca3c4baf6	Mission: fix CHANGE_ALT to store climb rate in lat param ... The slightly confusing storage of climb rate in the lat field led to a bug fix a few months ago that actually created a bug.	2014-09-26 23:23:04 +09:00
Andrew Tridgell	5eee51b5a4	APM_OBC: added heartbeat() method ... this is used for when the plane is calibrating sensors, to ensure heartbeat is continued to the failsafe board	2014-09-24 12:02:38 +10:00
Randy Mackay	c2c5807ec7	Compass: always default devid to zero	2014-09-23 20:35:18 +09:00
Randy Mackay	cf3b2be99c	AC_PosControl: 4hz filter on z-axis velocity error	2014-09-22 13:40:01 +09:00
Randy Mackay	665f353416	AC_PosControl: 2hz filter on accel error ... Replaced hard-coded filter with LowPassFilter class allowing the filter's to be 2hz on both APM and Pixhawk	2014-09-21 17:53:55 +09:00
Randy Mackay	cf35bd3f42	LowPassFilter: add div by zero check	2014-09-21 17:33:59 +09:00
Jason Short	b57539a9ad	AP_Motors: throttle_pass_through accepts pwm	2014-09-19 22:21:45 +09:00
Randy Mackay	765420ee04	AC_WPNav: add loiter_soften_for_landing method ... This resets the position target to the current location.	2014-09-19 16:43:10 +09:00
Randy Mackay	ad37fc0408	AC_WPNav: WP_SPEED_DN parameter range to 0~500 ... Previous permissible descent speed of 10m/s was unnecessarily lenient. Users can still bypass the suggested range through the MP's full parameter list if they really want a very high descent speed.	2014-09-18 10:44:33 +09:00
Randy Mackay	6da1420541	HAL_VRBrain: implement force_safety_on	2014-09-18 09:58:48 +09:00
Randy Mackay	ffcd259b4e	HAL_PX4: implement force_safety_on	2014-09-18 09:58:46 +09:00
Randy Mackay	033b14db16	AP_HAL: add force_safety_on method	2014-09-18 09:58:44 +09:00
Randy Mackay	1ce8e453c2	Mission: add support for DO_GRIPPER	2014-09-17 21:14:17 +09:00
Randy Mackay	1de89804e5	GCS_MAVLink: version update after adding DO_GRIPPER	2014-09-17 21:14:14 +09:00
Randy Mackay	064e214992	GCS_MAVLink: generate after adding DO_GRIPPER	2014-09-17 21:14:12 +09:00
Randy Mackay	b3bce13bdf	GCS_MAVLink: add MAV_CMD_DO_GRIPPER	2014-09-17 21:14:09 +09:00
Randy Mackay	cffc904671	GCS_MAVLink: version update after generate	2014-09-17 21:14:06 +09:00
Randy Mackay	6b38547fc2	GCS_MAVLink: generate after move of PARACHUTE_ACTION	2014-09-17 21:13:54 +09:00
Randy Mackay	868f1a777d	GCS_MAVLink: version updates after generate	2014-09-17 21:13:52 +09:00
Randy Mackay	69fd7b80aa	GCS_MAVLink: generate run on master	2014-09-17 21:13:50 +09:00
Randy Mackay	d09bbd1d91	EPM: add params for pwm levels add re-grab feature ... Also include some minor commenting changes	2014-09-17 21:13:37 +09:00
Randy Mackay	1401ee4077	EPM: add support for ver2, remove support ver 1	2014-09-17 21:13:32 +09:00
Randy Mackay	79f95efb71	RC_Channel_aux: add epm to servo function enum	2014-09-17 21:13:30 +09:00
priseborough	f71aeea61d	AP_NavEKF : Reduce sensitivity on filter divergence check ... Flying aerobatics with Trad Heli has shown that the divergence check can be false triggered when large magnetometer errors and GPS dropouts are present. This can also happen with multi rotors if large yaw rates are present. This was an unintended consequence of the ekfsmoothing patch which improved filter stability during high rate manoeuvres, but made the divergence test more sensitive.	2014-09-17 10:22:55 +09:00
priseborough	36bf304f29	AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing' ... This patch reduces the level of 5Hz and 10Hz 'pulsing' heard in motors due to GPS and altimeter fusion which cause a small 5Hz and 10Hz ripple on the output under some conditions. Attitude, velocity and position state corrections from GPS, altimeter and magnetometer measurements are applied incrementally in the interval from receiving the measurement to the predicted time of receipt of the next measurement. Averaging of attitude state corrections is not performed during periods of rapid rotation.	2014-09-17 10:22:49 +09:00
priseborough	5b72cb7610	AP_NavEKF : Clean up time stamps ... Time stamps are now explicitly initialised to the current IMU time to avoid unwanted activation of timeout logic on filter start and various calls to the hal.scheduler->millis() object have been consolidated.	2014-09-17 10:22:45 +09:00
Andrew Tridgell	b69262b054	GCS_MAVLink: rebuild MAVLink headers	2014-09-11 20:16:27 +10:00
Andrew Tridgell	25f6dc2549	GCS_MAVLink: mavlink XML updates from upstream	2014-09-11 20:15:44 +10:00
Andrew Tridgell	593a97afd6	HAL_VRBRAIN: fixed storage bug in VRBRAIN too	2014-09-11 18:58:54 +10:00
Andrew Tridgell	d238ff7c5d	HAL_Linux: fixed storage bug in Linux too	2014-09-11 18:58:54 +10:00
Andrew Tridgell	74525cad89	HAL_PX4: fixed dirty_mask calculation in FRAM storage ... this could lead to a number of bytes on 512 byte boundaries not being written when changed in ram, so they would revert on next boot	2014-09-11 18:58:54 +10:00
Andrew Tridgell	9d846d5f2a	DataFlash: allow use of a smaller writebuf for PX4v1 ... this fixes logging on PX4v1	2014-09-09 17:32:44 +10:00
Randy Mackay	3e1bd04c94	TradHeli: update AttControl params to match multicopters	2014-09-09 14:41:57 +09:00
Andrew Tridgell	d3347e528d	AP_Relay: added RELAY_DEFAULT parameter ... this is useful when using a Pixhawk with an external relay, as it allows you to cope with the pullup on the PWM pins	2014-09-04 16:48:33 +10:00
Andrew Tridgell	15470bd81b	AP_GPS: added GPS_MIN_ELEV parameter ... allows setting of satellite elevation mask in degrees	2014-09-04 14:46:10 +10:00
Andrew Tridgell	840a4dee1e	AP_GPS: added GPS_SBAS_MODE parameter ... allows SBAS to be enabled/disabled	2014-09-04 14:46:10 +10:00
Andrew Tridgell	cd50fe82b6	AP_GPS: fixed GPS time in HIL ... account for 10 year difference in epoch between unix time and GPS time	2014-09-04 06:37:42 +10:00
Andrew Tridgell	effccacf46	AP_Mission: fixed acceptance radius outgoing ... this needs to match incoming	2014-09-03 21:15:56 +10:00
Andrew Tridgell	3a5e960fe5	AP_Mission: revert APM_BUILD_TYPE change	2014-09-03 13:28:17 +10:00
Andrew Tridgell	c09c86868f	AP_Vehicle: make APM_BUILD_TYPE() valid under arduino IDE	2014-09-03 13:28:04 +10:00
Andrew Tridgell	36b854fa98	AP_Mission: fixed build for arduino IDE	2014-09-03 13:20:31 +10:00
Andrew Tridgell	c4f84232e2	AP_Mission: make cmd.p1 be radius on plane for NAV_WAYPOINT	2014-09-03 12:38:30 +10:00
Randy Mackay	74553e523d	INS: add get_accel_health_all and get_gyro_health_all ... Returns true only if all available accels or gyros are healthy	2014-09-03 11:22:46 +09:00
Randy Mackay	50ae5b2519	InertialSensor: reorder .cpp file to match .h ... No functional changes	2014-09-03 11:19:36 +09:00
Randy Mackay	102b71cde3	InertialNav: add credit to Tony Lambregts	2014-08-31 13:23:03 +09:00
Emile Castelnuovo	25d2ec1dea	AP_HAL_VRBRAIN: enable 2nd GPS for VRBRAIN 5	2014-08-31 10:56:58 +09:00