new param: LAND_ABORT_DEG
@Description: This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is higher than the intended slope path. Steeper slopes can result in crashes so this allows the option to remember the baro offset and self-abort the landing and come around for a another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC > 0.
New param: LAND_SLOPE_RCALC
@Description: This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m.
default value is 2 (so, enabled by default)
The path for the "non-board" environment cache file was hard-coded, which was
causing the error below when the build was configured with the --out option
value different from the default path.
Traceback (most recent call last):
File "/home/gjsousa/ardupilot/modules/waf/waflib/Scripting.py", line 161, in waf_entry_point
run_commands()
File "/home/gjsousa/ardupilot/modules/waf/waflib/Scripting.py", line 263, in run_commands
ctx = run_command(cmd_name)
File "/home/gjsousa/ardupilot/modules/waf/waflib/Scripting.py", line 247, in run_command
ctx.execute()
File "/home/gjsousa/ardupilot/modules/waf/waflib/Scripting.py", line 598, in execute
return execute_method(self)
File "/home/gjsousa/ardupilot/modules/waf/waflib/Build.py", line 250, in execute
self.execute_build()
File "/home/gjsousa/ardupilot/modules/waf/waflib/Build.py", line 263, in execute_build
self.recurse([self.run_dir])
File "/home/gjsousa/ardupilot/modules/waf/waflib/Context.py", line 304, in recurse
user_function(self)
File "/home/gjsousa/ardupilot/wscript", line 246, in build
config_header = Utils.h_file(bld.bldnode.make_node('ap_config.h').abspath())
File "/home/gjsousa/ardupilot/modules/waf/waflib/Utils.py", line 208, in h_file
f = open(fname, 'rb')
IOError: [Errno 2] No such file or directory: '/tmp/build/ap_config.h'
Commit 8774f15 causes fly.CopterAVC test failure.
Here is the failure info below:
>>>> FAILED STEP: fly.CopterAVC at Tue May 17 13:21:56 2016 (fly_CopterAVC() got an unexpected keyword argument 'valgrind')
Traceback (most recent call last):
File "./Tools/autotest/autotest.py", line 406, in run_tests
if not run_step(step):
File "./Tools/autotest/autotest.py", line 232, in run_step
return arducopter.fly_CopterAVC(viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
TypeError: fly_CopterAVC() got an unexpected keyword argument 'valgrind'
('check step: ', 'fly.CopterAVC')
FAILED 1 tests: ['fly.CopterAVC']
Here is the commit info below:
commit 8774f15b9a
Author: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon Apr 11 18:05:39 2016 +1000
Tools: add valgrind option to autotest.py
:040000 040000 a111bc5b18609503f3b1 M Tools
That gives the change of storing that data in flash storage in some
architectures. That doesn't happen yet though, some extra changes are required
for that to happen.
We don't actually need all of them, since the second half is for the opposite
triangles. In that case we just need to negate the resulting vector when
changing basis.
That function was only being used by the unit tests and the benchmark. In order
to remove memory usage, the triangles will be removed, since we don't actually
need to keep them in real situations. Thus, this patch removes that function
and copy those triangles to the test and benchmark.
This is the second optimization. With that we don't have to iterate over the
umbrella's components.
The table below summarizes the mean CPU time in ns from the brenchmark results
on an Intel(R) Core(TM) i7-3520M CPU @ 2.90GHz processor:
| Naive implementation | First Optimization | Second Optimization
------------------------------------------------------------------------
Min. | 26.0 | 28.00 | 26.0
1st Qu.| 78.0 | 48.75 | 39.0
Median | 132.0 | 57.00 | 41.0
Mean | 130.1 | 61.20 | 41.6
3rd Qu.| 182.2 | 76.00 | 47.0
Max. | 234.0 | 98.00 | 54.0
If v is the null vector, then alpha * v is still the null vector for any alpha
as a real number. That means that the null vector doesn't cross any section.
This is a first optimization of the algorithm. The struct for the neighbor
umbrella has only one member, but new members will be added in the next
optimization.
The table below summarizes the mean CPU time in ns from the brenchmark results
on an Intel(R) Core(TM) i7-3520M CPU @ 2.90GHz processor:
Cases | Naive implementation | First Optimization
--------------------------------------------------
Min. | 26.0 | 28.00
1st Qu.| 78.0 | 48.75
Median | 132.0 | 57.00
Mean | 130.1 | 61.20
3rd Qu.| 182.2 | 76.00
Max. | 234.0 | 98.00
This optimization reduces the mean time for the worst case (Max. line) by more
than 50%.
- Change the order of the icosahedron triangles so that there's a uniform way of
finding the opposite triangle. The order visually still makes sense.
- Change test to accommodate the order change.
Google Test allows to instantiate tests for a list of different values, which
are called parameters. A common use of that feature in Ardupilot will be that a
parameter will be represented by an object that will have the value to be
tested and information about that value. That information will basically map
the expected behavior of tests on the value stored by the parameter.
The macro added in this patch allows to easily print the value of a failed
test's parameter.
GCC 6 has a new warning about misleading indentation:
../../APMrover2/system.cpp: In member function ‘void Rover::set_mode(mode)’:
../../APMrover2/system.cpp:272:5: warning: this ‘if’ clause does not guard... [-Wmisleading-indentation]
if (control_mode == AUTO)
^~
../../APMrover2/system.cpp:275:2: note: ...this statement, but the^Bn latter is misleadingly indented as if it is guarded by the ‘if’
control_mode = mode;
^~~~~~~~~~~~
The issue here is that we are mixing tabs and spaces. Remove tabs and re-indent
the code.
Passing an unsigned value to abs() causes compilation error in gcc 6.1.1
(and doing that doesn't make sense too).
As a bonus, this patch fixes the code, since, for two unsigned integers
a and b, such that a > b, (a - b) without the casting to a signed
integer would produce garbage in the context of this patch. The type
int32_t is enough for the cases covered by this patch.
We actually don't want a flexible array in this union, but rather a way
to access it byte by byte. This fixes the build for gcc >= 6
In file included from ../../libraries/AP_GPS/AP_GPS_UBLOX.cpp:23:0:
../../libraries/AP_GPS/AP_GPS_UBLOX.h:387:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_Mount/AP_Mount.cpp:9:0:
../../libraries/AP_Mount/AP_Mount_Alexmos.h:291:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
We actually don't want a flexible array in this union, but rather a way
to access it byte by byte. This fixes the build for gcc >= 6
In file included from ../../libraries/AP_GPS/AP_GPS.cpp:24:0:
../../libraries/AP_GPS/AP_GPS_ERB.h:93:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_ERB.cpp:22:0:
../../libraries/AP_GPS/AP_GPS_ERB.h:93:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_MTK.cpp:25:0:
../../libraries/AP_GPS/AP_GPS_MTK.h:75:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_MTK19.cpp:26:0:
../../libraries/AP_GPS/AP_GPS_MTK.h:75:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_SIRF.cpp:22:0:
../../libraries/AP_GPS/AP_GPS_SIRF.h:101:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_UBLOX.cpp:23:0:
../../libraries/AP_GPS/AP_GPS_UBLOX.h:387:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
