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6391 Commits

Author SHA1 Message Date
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