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7107 Commits

Author SHA1 Message Date
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