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14780 Commits

Author SHA1 Message Date
squilter f094cb57f7 AP_SafeRTL: library to return to home along safe path 2017-09-09 14:05:41 +09:00
Randy Mackay 2aa1f3f100 AP_Math: replace divide with multiply in distance_to_segment 2017-09-09 14:05:41 +09:00
Randy Mackay e892bbbac0 AP_Math: add Vector3f::distance_to_segment 2017-09-09 14:05:41 +09:00
squilter 1a9bccaaa7 AP_Common: fix Bitmask out-of-range values 2017-09-09 14:05:41 +09:00
Randy Mackay 963c9c93fe AP_Common: constify bitmask 2017-09-09 14:05:41 +09:00
Randy Mackay e6328c350d AP_Math: add Vector3f::distance_squared 2017-09-09 14:05:41 +09:00
Randy Mackay f187df225a AP_Common: add setall, count and size methods to Bitmask 2017-09-09 14:05:41 +09:00
squilter da7aa36f2d AC_WPNav: add set_wp_destination_NED to accept target in meters NED 2017-09-09 14:05:41 +09:00
squilter f37d742160 DataFlash: support SafeRTL log messages 2017-09-09 14:05:41 +09:00
Andrew Tridgell 99aad41955 AC_AttitudeControl: added a update_vel_controller_xy() API 
this allows for just XY control of velocity for quadplanes
 2017-09-09 08:14:09 +10:00
Peter Barker b8d3d180d1 AP_BoardConfig: clarify board type 2 also to be used on the Cube autopilot 2017-09-08 18:02:34 +01:00
davidaroyer ad18e99bef AP_Compass: add support for Aerotenna OcPoC-Zynq hardware 2017-09-08 07:30:49 -07:00
davidaroyer 7d2e44862f AP_HAL_Linux: add support for Aerotenna OcPoC-Zynq hardware 2017-09-08 07:30:49 -07:00
davidaroyer 8862e76284 AP_HAL: add support for Aerotenna OcPoC-Zynq hardware 2017-09-08 07:30:49 -07:00
Georgii Staroselskii e79fc893fa AP_HAL_Linux: HAL_Linux_Class: delay SPIUARTDriver static initialization 
There's an implicit (apart from the name) dependency between SPI and
SPIUARTDriver which results in a crush on a restart or a shutdown.

By moving the initialization we're making sure that all objects are
deleted in the right order.
 2017-09-08 07:26:54 -07:00
Georgii Staroselskii 226eeeb738 AP_HAL_Linux: RCOutput_Sysfs: fix deleting _pwm_channels array 
delete [] should be called rather than delete.
 2017-09-08 07:26:54 -07:00
Georgii Staroselskii f6858821a6 AP_HAL_Linux: PWM_Sysfs: remove unneeded free() in ~PWM_Sysfs_Base 
_export_path and _duty_path will have been already long time gone by the
time dtors kick in.

Probably better to use OwnPtr around those. But it's better to be done
in a separate PR.
 2017-09-08 07:26:54 -07:00
VikingDai 9f0e8a64d5 Update HAL_PX4_Class.cpp 
"ttys5" used both for console and common usart ,it should be initialized by AP_SerialManager ;
 2017-09-08 10:33:40 +10:00
Michael du Breuil fb77d0739e AP_Compass: Remove unused time calls, stash the time in the read loop 2017-09-07 19:53:14 +01:00
Peter Barker 85ebe923b6 SITL: avoid FPE when running fly.ArduPlane 
Program received signal SIGFPE, Arithmetic exception.
__expf_finite () at ../sysdeps/x86_64/fpu/e_expf.S:132
132     ../sysdeps/x86_64/fpu/e_expf.S: No such file or directory.
(gdb) u
 2017-09-06 20:22:52 +10:00
Peter Barker 97b6ca218b AP_AHRS: send ekf status reports even when EKF inactive 2017-09-06 10:50:49 +10:00
Michael du Breuil be371e09f9 AP_GPS: SBF: Reject short packets early, allow 256 byte long messages to be decoded 2017-09-06 10:41:36 +10:00
Andrew Tridgell 048dfee68a AP_GPS: make SBF driver more robust 
this fixes a crash bug in the SBF GPS driver where a badly formed packet
could cause crc16_ccitt to reference invalid memory
 2017-09-06 10:41:33 +10:00
Lucas De Marchi b62e8909c4 AP_GPS: add missing fallthrough 2017-09-01 13:45:22 -07:00
Lucas De Marchi cb9c626577 AP_ADSB: fix getting a copy rather than a reference 
These have been caught by making constructors private and enforcing
calling a create() method to create objects are supposed to be
statically allocated only.

The Vector3f reference was just nearby and was a change copied from
similar PR from Peter Barker (#6873).
 2017-09-01 13:45:22 -07:00
Lucas De Marchi 2c72fc94ba AP_HAL: change aerofc baud to 921600 2017-09-01 07:55:47 -07:00
Peter Barker 698f18566b AP_Terrain: cast to int32_t to avoid warning about signedness 
../../libraries/AP_Terrain/TerrainIO.cpp: In member function ‘void
AP_Terrain::open_file()’:
../../libraries/AP_Terrain/TerrainIO.cpp:176:46: warning: format ‘%u’
expects argument of type ‘unsigned int’, but argument 5 has type
‘__gnu_cxx::__enable_if<true, double>::__type {aka double}’ [-Wformat=]
              abs((uint32_t)block.lon_degrees));
                                              ^
../../libraries/AP_Terrain/TerrainIO.cpp:176:46: warning: format ‘%u’
expects argument of type ‘unsigned int’, but argument 7 has type
‘__gnu_cxx::__enable_if<true, double>::__type {aka double}’ [-Wformat=]
 2017-09-01 13:30:56 +01:00
Peter Barker 6ad3541a24 DataFlash: clean up public interface 2017-09-01 10:58:07 +01:00
Peter Barker ac806b650f GCS_MAVLink: move handling of do_send_banner up 2017-08-30 15:54:47 +01:00
Peter Barker 1544a92f8b GCS_MAVLink: factor out a send_banner 2017-08-30 15:54:47 +01:00
Peter Barker 2e078f7c5e GCS_MAVLink: send fw_string, px4 git hash and nuttx hash on param request 2017-08-30 15:54:47 +01:00
Peter Barker 8a7a1b77dd GCS_MAVLink: handle param_request_list in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker 50242178b3 GCS_MAVLink: handle param_set in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker 95ff94bfad GCS_MAVLink: factor out a handle_common_param_message 2017-08-30 15:54:47 +01:00
Peter Barker add1743c12 GCS_MAVLink: move send_autopilot_request calls up to GCS base class 2017-08-30 15:54:46 +01:00
Peter Barker e9204a66ee GCS_MAVLink: include version for AP_FWVersion 2017-08-30 15:54:46 +01:00
Peter Barker f32651a38c DataFlash: include version for AP_FWVersion 2017-08-30 15:54:46 +01:00
Peter Barker 445777429b AP_FWVersion: add structure to hold firmware version 2017-08-30 15:54:46 +01:00
Randy Mackay aaac6b3692 AP_Common: Bitmask formatting fix 2017-08-30 20:07:04 +09:00
ChrisBird 46c982d64f AP_Mission: add OPTIONS parameter 
First option added now is to clear the mission on reboot
Fixes #5743
 2017-08-29 21:28:19 +01:00
Michael du Breuil a895d69b42 GCS_MAVLink: Correct a bug in the FOR_EACH_ACTIVE_CHANNEL macro 2017-08-29 13:27:27 -07:00
Jacob Walser e492c733d8 AP_Baro: fixup Keller LD comments 2017-08-29 12:30:32 -04:00
Michael du Breuil db6d8c9c43 AP_Mission: Use a static assert to check content size 2017-08-29 14:37:56 +01:00
Jacob Walser f4dfbb9dad AP_JSButton: input_hold_toggle -> input_hold_set 2017-08-29 08:10:05 -04:00
Jacob Walser 07e00de549 AP_Baro: Tweak Keller LD driver for better performance after initial tests 2017-08-29 08:08:16 -04:00
Jacob Walser 2a71afd3ba AP_Baro: Remove superfluous casts 2017-08-29 08:08:16 -04:00
Jacob Walser a08da4ecc4 AP_Baro: New AP_Baro_Keller device driver 2017-08-29 08:08:16 -04:00
Andrew Tridgell 7e1368f7a5 AP_InertialSensor: implement notch filter on gyro 2017-08-29 13:52:29 +10:00
Andrew Tridgell 50dcca39bd Filter: added a notch filter 
maths from Leonard
 2017-08-29 13:52:29 +10:00
Peter Barker 0f22f923e1 AC_InputManager: remove MAIN_LOOP_RATE in favour of parameter value 2017-08-29 08:41:07 +09:00
Andrew Tridgell 4aa068d63d SITL: added simple launch sim for plane 
allow for bungee, catapult and hand launches
 2017-08-29 07:35:04 +10:00
Peter Barker 9783c0c3ba DataFlash: log dataflash-file statistics periodically 2017-08-28 22:05:44 +01:00
Peter Barker 776d88bb6b DataFlash: remove duplicate variables 2017-08-28 22:05:44 +01:00
Andrew Tridgell 29fe432dd7 AP_SerialManager: enable debug console use for other protocols 
this allows SERIAL5_PROTOCOL to be set on FMUv2 and FMUv3 for use by
other protocols
 2017-08-28 17:57:28 +10:00
Andrew Tridgell d09b549144 HAL_PX4: allow uart5 to be used for non-nsh on FMUv2/FMUv3 2017-08-28 17:57:28 +10:00
Andrew Tridgell 0155434057 RC_Channel: fixed bug in manual with TRIM == MIN 
This fixes the bug described here:

https://discuss.ardupilot.org/t/arduplane-reverse-thrust-setup/18324/5

which otherwise would prevent output with TRIM == MIN or TRIM == MAX
 2017-08-26 20:30:54 +10:00
Peter Barker 2f9fb581fe DataFlash: remove bad FALLTHROUGH causing compilation failure 2017-08-24 15:49:15 +09:00
Peter Barker 921985fe27 GCS_MAVLink: allow statustext logging from any source system 
Turns out this is terribly useful for companion computers if
you allow them to log things when they're not your GCS.

The original check was bogus; if someone is talking to you via
mavlink they can do much worse than fill your logs!
 2017-08-23 15:58:47 +01:00
Jacob Walser e8f5967682 GCS_MAVLink: Add MSG_NAMED_FLOAT ap_message id 2017-08-23 13:40:52 +01:00
Lucas De Marchi 3414883f05 AP_GPS: remove tabs and fix coding style 2017-08-22 23:59:13 -07:00
Lucas De Marchi 927289aa64 DataFlash: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi 7b0d6166e1 AP_RangeFinder: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi b37ca322f1 AP_Landing: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi 0e502d89a3 AP_HAL: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi 8389158d76 AP_GPS: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi 7c6f9a004e AP_Baro: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi e2e836f676 AP_Airspeed: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi 3102247a85 AP_Common: add FALLTHROUGH define 2017-08-22 23:59:13 -07:00
Randy Mackay e13f4d0d56 DataFlash: removed unused optFlowEnabled from Log_Write_EKF 2017-08-23 11:19:14 +09:00
Randy Mackay 59ffc3cd65 AP_OpticalFlow: minor order declaration change 
non-functional change
 2017-08-23 11:19:14 +09:00
Randy Mackay cf24eef359 AP_OpticalFlow: init checks if enabled 2017-08-23 11:19:14 +09:00
Randy Mackay bc38affcb1 AP_OpticalFlow: px4flow retries init 10 times at startup 
This resolves an issue in which some px4flow sensors are slow to startup
 2017-08-23 11:19:14 +09:00
Randy Mackay fdb4c7b5ee AP_OpticalFlow: failure to init leaves enabled unchanged 2017-08-23 11:19:14 +09:00
Randy Mackay a7afffe14a AP_OpticalFlow: rename BUS_ID parameter to ADDR 
This makes the parameter more consistent with RangeFinder
 2017-08-23 11:19:14 +09:00
chobits d6845a911a AP_AHRS: fix get_relative_position_NE_home calcalation 2017-08-19 10:23:24 +09:00
Lucas De Marchi 66a1e420cb AP_HAL_Linux: RCInput_SoloLink: better name to first field 
Checking the time on the tcpdump capture, it matches the first fields
from the data:

$ tshark -n -c 4 -r  ~/tmp/solo/rc.pcap
    1   0.000000     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26
    2   0.019976     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26
    3   0.040046     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26
    4   0.059961     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26

From the previous commit (first 2 packets):

     5fa8 f441 3414 0500 73d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
     73f6 f441 3414 0500 74d7  dc05 dc05 dc05 db05 e803 e803 e803 f401

0x0005143441f45fa8 - 0x0005143441f4f673 = 0x4E14 = 19988 (usec)

Which seems to approximately match for the other packets as well. We are
not using the field since we rather get the time when we receive it, but
at least use a better name.
 2017-08-17 12:04:27 -07:00
Lucas De Marchi 373d41fd6e AP_HAL_Linux: switch aero to RCInput_SoloLink 2017-08-17 12:04:27 -07:00
Lucas De Marchi 79b004cf6a AP_HAL_Linux: add prototype for handling SoloLink 
This allows to use a Solo controller to control Linux-based flight
controllers. The protocol has been derived by analyzing a tcpdump
trace: some fields are ignored. Example trace of RC data (obtained
with `tshark -T fields -e data -n -c 5 -r  rc.pcap`

 unkonwn              seq   ch1  ch2  ch3  ...                ch8
 5fa8 f441 3414 0500 73d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 73f6 f441 3414 0500 74d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 dc44 f541 3414 0500 75d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 bc92 f541 3414 0500 76d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 dfe0 f541 3414 0500 77d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 2017-08-17 12:04:27 -07:00
Peter Barker 154b212545 GCS_MAVLink: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker b17c0482fb GCS_MAVLink: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Peter Barker 23d91c93c8 AP_HAL_Linux: correct compilation warning 
../../../libraries/AP_HAL_Linux/RCInput_RPI.cpp:129:35: warning: ignoring return value of ‘ssize_t read(int, void*, size_t)’, declared with attribute warn_unused_result [-Wunused-result]
         ::read(file, &pageInfo, 8);
 2017-08-17 11:28:36 +01:00
Randy Mackay 222dd0c9be AC_WPNav: correct comments 
all position vectors are offsets from the ekf origin (not from the ahrs home)
 2017-08-17 16:05:08 +09:00
Jacob Walser b8e7d23cc4 AP_Arming: Add bool check_min_max parameter for Copter/Sub RC checks 2017-08-16 11:37:46 -04:00
Peter Barker 2a07a077d9 GCS_MAVLink: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:05:37 +10:00
Peter Barker 48c4e48225 AP_HAL_PX4: send statustext for RC input decoding type 2017-08-15 22:04:00 +01:00
Mateusz Sadowski eb56a010b3 AP_RangeFinder: TeraRangerI2C: use address from parameter instead of hardcoded 2017-08-15 19:42:10 +01:00
Mateusz Sadowski 0993300506 AP_Rangefinder: rename trone to TeraRangerI2C 2017-08-15 19:27:49 +01:00
Peter Barker b6076bcb77 GCS_MAVLink: adapt to new rangefinder method name 2017-08-15 19:00:29 +01:00
Peter Barker 30c4ea8123 AP_RangeFinder: stop storing sensor type as a variable 
And change method name
 2017-08-15 18:58:16 +01:00
Peter Barker c79cbd71af GCS_MAVLink: use rangefinder backend accessors 2017-08-15 18:31:58 +01:00
Peter Barker f1d350bbb1 DataFlash: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker 63440800fc AP_NavEKF3: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker 1e83ef3c44 AP_NavEKF2: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker e0bea597c0 AP_Proximity: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker c0aa10d84b AP_RangeFinder: move rangefinder backend data accessors to backend 2017-08-15 18:30:45 +01:00
Michael du Breuil 067335f68d GCS_MAVLink: Handle termination requests from the GCS 2017-08-15 15:14:56 +01:00
Michael du Breuil 97c1785bef AP_AdvancedFailsafe: Allow the GCS to request terminations 2017-08-15 15:14:56 +01:00
Miguel Arroyo fc155eac7e AP_HAL_PX4: Adds UARTF as commandline option 2017-08-15 14:31:51 +01:00
JU Han eebef857f1 AP_TECS: gain scaler K_STE2Thr multiplies by (THRmax - THRmin) 
Makes both feed forward and feed-back consistent
 2017-08-15 14:27:43 +01:00
Randy Mackay 9f876dc7a0 AR_AttitudeControl: throttle and steering control library 
Throttle controller has these advantages over existing controller:
based on velocity in vehicle's forward-back axis rather than ground-speed
straight-forward PID controller using speed error as input
speed control acceleration limts
stop control slows vehicle smoothly
configurable filtering

Steer controller has these advantages over existing controller:
output scaled properly for skid-steering vehicles
layered P and PID controller for angular error and rate control
configurable filtering
 2017-08-15 20:47:19 +09:00