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13706 Commits

Author SHA1 Message Date
murata
974d63a6b5 AP_HAL: Change the format of the return value of the method header. 2017-01-09 15:46:03 +00:00
Pierre Kancir
c0be20ece2 SITL: XPLANE fix member shadowing 2017-01-09 06:51:48 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas
b7f32e216d AP_GPS: update parameter descriptions 2017-01-09 13:32:28 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
9389ec2274 AP_NavEKF2: fix parameter descriptions 2017-01-09 13:30:30 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
195e32c2fc AP_NavEKF3: fix some parameter descriptions 2017-01-09 13:30:24 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
8032ed295d AP_Avoidance: add units to param descriptions 2017-01-09 13:25:33 +09:00
Andrew Tridgell
eaf5676636 SITL: fixed unselection bitmask bug in XPlane 2017-01-09 09:55:14 +11:00
Andrew Tridgell
da45aef5c6 AP_HAL: fixed a logic bug in the srxl state machine 
when decoding invalid input the buflen could grow to beyond the buffer
size, overwriting the next block of memory. On Disco this ended up
overwriting the Perf::_instance variable, which led to a segmentation
fault
 2017-01-09 09:14:13 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
713b08d830 AC_WPNav: Reduced WPNAV_SPEED minimum to 20cm/s 2017-01-07 14:30:07 +09:00
Andrew Tridgell
35d6dc141a SITL: only de-select data types in xplane once 
don't fight the user
 2017-01-07 14:41:23 +11:00
murata
c2521dd650 AP_Proximity: Change sprintf method to secure snprintf method. 2017-01-07 02:33:46 +00:00
Tom Pittenger
a81f5cefbe AP_Mission: don't wrap when masking via HIGH/LOWBYTE 2017-01-06 17:35:44 -08:00
Eugene Shamaev
dc3d10a28b AP_Mission: waypoint command parsing 2017-01-06 17:35:44 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas
9aaeb6fe1a AP_GPS: Add missing GPS Types 2017-01-06 21:24:42 +00:00
murata
908d9a8a8c AP_ADSB: Change sprintf method to secure snprintf method. 2017-01-06 10:59:12 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas
d408d25f92 More spelling stuff 2017-01-06 10:57:39 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas
8419045aea Spell in comments 2017-01-06 10:57:39 -08:00
Nacho Carnicero
bc9facf608 AP_Mount: Fix Alexmos gimbal Mavlink targeting mode 2017-01-05 02:16:32 +00:00
Randy Mackay
946d30476a AP_InertialSensor: fix whoami for MPU6k 2017-01-05 10:29:51 +09:00
Victor Lambret
a4108251e3 AP_Baro: fix get_last_update(instance) 
The method was not using the instance parameter. Instead it always use
primary barometer. Bug was not detected because method
get_last_update() is used where instance is _primary.

Detected with warnings, warnings are useful :-)
 2017-01-04 17:32:24 +00:00
Peter Barker
889ec829fc AP_OpticalFlow: fix warning in SITL compilation 2017-01-02 15:58:32 +09:00
Tom Pittenger
063f517424 Plane, TECS, AP_Landing: rename stage LAND_ABORT to ABORT_LAND 
this will reduce confusion when searching for FLIGHT_LAND_* and you get a bunch of takeoff related hits. It will also make more sense when the landing library fully manages the FLIGHT_LAND stage entirely because it will not mange FLIGHT_LAND_ABORT
 2016-12-30 23:50:03 -08:00
Tom Pittenger
84e11fd899 Plane, AP_TECS: do not pass auto_land flag to TECS, it already knows it 2016-12-30 23:50:03 -08:00
Tom Pittenger
502768c979 AP_Landing: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:03 -08:00
Tom Pittenger
8019cedf5b AP_Vehicle,AP_SpdHgtControl,AP_TECS: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:02 -08:00
Andrew Tridgell
0d6801fbe6 AP_Param: added find_old_parameter() method 
allows for custom conversion of parameters
 2016-12-31 10:55:59 +09:00
Randy Mackay
bdfb12123f AP_Motors: fix frame-type enum for Y6B 
Also remove unused NEW_PLUS
 2016-12-31 10:55:23 +09:00
Randy Mackay
037e411e35 AP_Motors: fix example sketch 
Also minor formatting fix
Thanks to OXINARF for spotting this
 2016-12-31 10:55:23 +09:00
Randy Mackay
ffa6d1a5b9 AP_Motors: init fixes for frame_class, type and initialised_ok 
Thanks to OXINARF for spotting these
 2016-12-31 10:55:23 +09:00
Randy Mackay
a276f5dc90 AP_Motors: fix example sketch 2016-12-31 10:55:23 +09:00
Randy Mackay
7be0f437a9 AP_Motors: consolidate matrix multicopters 
AP_MOTORS_x_FRAME definitions moved to motor_frame_type enum
init function and now accepts frame-class and type to perform initial motor setup
set_frame_class_and_type allows real-time changing of motor setup
initialised_ok flag and accessor records whether setup was successful
 2016-12-31 10:55:23 +09:00
Randy Mackay
41189758b8 AP_Motors: move some functions to protected 
Also minor formatting fix
 2016-12-31 10:55:23 +09:00
murata
13ad06e652 AP_Notify: Change on / off of LED to ternary operator. 2016-12-30 15:02:16 -08:00
Andrew Tridgell
7a5ee29b6e AP_AHRS: fixed a build warning 2016-12-31 08:53:16 +11:00
Andrew Tridgell
ad518f0cc7 AP_AHRS: fixed EKF type 10 EKF nav scaler return 2016-12-29 18:43:32 +11:00
Shingo Matsuura
21ca1d3835 AP_Beacon: fixed comment. NE is correct. 2016-12-28 10:54:32 +09:00
Andrew Tridgell
f6cc506791 APM_Control: Added derating of steering wheel 2016-12-27 13:33:52 +11:00
Randy Mackay
e497dedf35 AP_Proximity: add MAV type 
This accepts DISTANCE_SENSOR messages from eight sectors around the vehicle
 2016-12-27 08:37:48 +09:00
Randy Mackay
8215b92371 AP_RangeFinder: MAV only accepts DISTANCE_SENSOR with orient 25 
25 is  MAV_SENSOR_ROTATION_PITCH_270 meaning downward facing
 2016-12-27 08:37:48 +09:00
murata
653030b038 AP_NavEKF2: Changed if statements to switch statement. 
AP_NavEKF2: Change indentation.
 2016-12-26 10:15:55 +09:00
Randy Mackay
a2f6d7c102 AP_HAL: minor comment fix to Device.h 2016-12-24 13:55:31 +09:00
Randy Mackay
2076da3a72 AP_Proximity: minor comment fix 
No functional change
 2016-12-24 13:55:28 +09:00
murata
d56bad781f AP_InertialSensor: change if statements to switch statement 
No functional change
 2016-12-24 12:23:59 +09:00
murata
398b7b83dd AP_InertialSensor: minor formatting fixes 
No functional change
 2016-12-24 12:23:58 +09:00
murata
6045612011 AP_Beacon: combine duplicate checks into device_ready method 2016-12-24 12:11:53 +09:00
Peter Barker
6fd771afc9 AP_Mission: starts_with_takeoff uses get_next_nav_cmd 2016-12-24 11:49:35 +09:00
Peter Barker
b4d1d0f918 AP_Gripper: servo gripper not valid unless aux channel assigned 2016-12-24 11:31:58 +09:00
murata
4c320373eb AP_AHRS: Change indentation. 
AP_AHRS: Delete inserted message "no break"
 2016-12-24 11:30:37 +09:00
Andrew Tridgell
bbccdce229 AP_Terrain: prevent use of invalid Location 
loc is not initialised and can cause a fault on startup
 2016-12-22 15:50:30 +11:00
priseborough
71eb46dd04 AP_NavEKF3: Fix bug in loss of aiding fallback 
Fixes a bug introduced by the introduction of range beacon fusion to the fallback test.
 2016-12-21 18:08:39 +11:00
priseborough
6dc7d25fde AP_NavEKF2: Fix bug in loss of aiding fallback 
Fixes a bug introduced by the introduction of range beacon fusion to the fallback test.
 2016-12-21 18:08:39 +11:00
murata
fd153f2861 AP_GPS: Change search method of GPS type to switch statement. 
AP_GPS: Correct the tab code to white space.
 2016-12-21 10:31:43 +09:00
Andrew Tridgell
22fd2025de AP_AHRS: fixed EKF type 10 2016-12-21 10:52:12 +11:00
Tom Pittenger
372837b959 Update AP_ADSB.cpp 
AP_ADSB: fixed GPS.alt reporting  cm to mm conversion bug

Issue 5424
 2016-12-20 15:57:52 +01:00
murata
753638851e AP_Baro: Changed if statements to switch statement. 2016-12-20 14:13:47 +00:00
Pierre Kancir
47f1a754c5 AP_Math: add some test for vector2 equality test 2016-12-20 14:09:04 +00:00
Pierre Kancir
eae093cd2a AP_Math: add test for is_equal for int 2016-12-20 14:09:04 +00:00
Pierre Kancir
da49149d19 AP_Math: is_equal correct comparison for integer as epsilon doesn't exist. 
Credit to Kwikius for the right solution
 2016-12-20 14:09:04 +00:00
Randy Mackay
e7f2c9870a AC_Avoid: add accessor for proximity enabled 2016-12-20 19:48:07 +09:00
Randy Mackay
b114d3928e AC_Avoid: fix distance to lean angle logic 
Fixes from PR review including
(a) make some local variables const
(b) rename angle_max to veh_angle_max
(c) fix distance_to_lean_pct logic so distance of zero returns maximum lean angle
 2016-12-20 19:48:04 +09:00
Randy Mackay
1b582b2009 AC_Avoid: avoidance for non-GPS flight modes 2016-12-20 19:47:58 +09:00
Randy Mackay
fbbd13db75 AP_Proximity: add get_object methods for use with non-GPS avoidance 2016-12-20 19:47:56 +09:00
Peter Barker
802206baed AP_AHRS: remove use of uninitialised value 2016-12-19 19:51:16 -08:00
Lucas De Marchi
9569ed94a9 AP_InertialSensor: Invensense: use capital letters for define 2016-12-20 09:23:30 +09:00
Jonathan Challinger
86406199a9 AC_PrecLand: reserve parameter indices 2016-12-20 09:21:51 +09:00
murata
a2649949df AP_Compass: Changed if statements to switch statement. 2016-12-19 22:28:34 +00:00
Pierre Kancir
bf135aeff7 SITL: Aircraft correct some syntax, implicit cast, make some local variable const, remove tabs and whitespace 2016-12-19 14:53:17 +00:00
Pierre Kancir
ce734b5f7b AP_Math: Remove unecessary check 2016-12-19 14:36:03 +00:00
Randy Mackay
3ed9eb98f3 SITL: minor comment fix for SIM_Multicopter 2016-12-19 17:01:04 +09:00
Randy Mackay
5d0be2de9f AP_Gripper: minor comment fix 2016-12-19 17:01:01 +09:00
priseborough
f1c05ee320 AP_NavEKF3: Allow accel switch on bias uncertainty to be adjusted 2016-12-19 08:07:15 +11:00
Andrew Tridgell
a30745903a AP_InertialSensor: use ACC2_BIAS 2016-12-19 08:07:15 +11:00
Andrew Tridgell
65c3d0e060 SITL: added ACC2_BIAS 2016-12-19 08:07:14 +11:00
priseborough
7d4a50f483 AP_NavEKF3: Prevent unwanted core switch on startup 
Require primary core to be healthy for 10 seconds before starting selection logic
 2016-12-19 08:07:14 +11:00
priseborough
cd6fd0ea45 AP_NavEKF3: Improvements to range finder selection logic 
Enables the horizontal speed at which we switch from range finder to alternate to be adjusted.
Does not switch from range finder to alternate based on speed when speed estimate is invalid.
 2016-12-19 08:07:14 +11:00
Andrew Tridgell
0e14992b34 DataFlash: hide direct EK2/EK3 logging 
should call Log_Write_EKF and let it choose the types
 2016-12-19 08:07:14 +11:00
Andrew Tridgell
0870e02584 AP_AHRS: fixed example build 2016-12-19 08:07:13 +11:00
Andrew Tridgell
29bc07f410 AP_HAL: setup for building ucavcan on FMUv3 but not FMUv2 
save a lot of flash space on FMUv2
 2016-12-19 08:07:12 +11:00
Andrew Tridgell
67b97b21db AP_BoardConfig: switched to always using in-tree sensors 2016-12-19 08:07:12 +11:00
Andrew Tridgell
bd0a0510ed AP_HAL: define FMUv3 2016-12-19 08:07:11 +11:00
priseborough
60ebe97e10 AP_InertialSensor: remove unused EKF1 include 2016-12-19 08:07:11 +11:00
priseborough
509709ce9d AP_Motors: remove unused EKF1 include 2016-12-19 08:07:11 +11:00
priseborough
453ced4a38 AP_GPS: remove unused EKF1 include 2016-12-19 08:07:11 +11:00
priseborough
bb29c74e52 AP_NavEKF: remove EKF1 2016-12-19 08:07:11 +11:00
priseborough
809bfc1154 GCS_MAVLink: replace call to EKF1 
Return hagl from primary EKF
 2016-12-19 08:07:11 +11:00
priseborough
f70cc3cf34 AP_InertialNav: remove EKF1 2016-12-19 08:07:10 +11:00
priseborough
6d086e0c31 AP_Mount: remove EKF1 2016-12-19 08:07:10 +11:00
priseborough
78f89e0663 AP_Beacon: Update parameters for EKF3 testing 2016-12-19 08:07:10 +11:00
priseborough
33a7c682a3 AP_AHRS: Add EKF3 and remove EKF1 2016-12-19 08:07:10 +11:00
Andrew Tridgell
b00ec26957 DataFlash: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Andrew Tridgell
75688c8342 AP_OpticalFlow: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
priseborough
7202acc1b5 AP_NavEKF3: Default EKF3 to off 
Will revert this and set EKF2 to off by default after testing is completed on all platform types
 2016-12-19 08:07:09 +11:00
priseborough
39969e7d8e AP_NavEKF3: added EKF3 for EKF experimentation 
AP_NavEKF3: Implement same maths as PX4/ecl EKF

Replace attitude vector states with quaternions
Remove gyro scale factor states
Add XY accel delta velocity bias estimation
Initial tuning
Add GPS body frame offset compensation

AP_NavEKF3: Fix bugs and consolidate aiding switch logic

Switching in and out of aiding modes was being performed in more than one place and was using two variables.
The reversion out of GPS mode due to prolonged loss of GPS was not working.
This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function.

AP_NavEKF3: prevent multiple fusion mode changes per filter update

AP_NavEKF3: Update tuning defaults

AP_NavEKF3: Fix bug causing switching in and out of aiding
If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding.
This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed.
An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS.

AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.

AP_NavEKF3: Improve switch-over to backup magnetometer
When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected.

AP_NavEKF3: enable automatic use of range finder height

AP_NavEKF3: Fix bug in handling of invalid range data

AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3:

AP_NavEKF3: Handle yaw jumps due to core switches

AP_NavEKF3: Enable simultaneous GPS and optical flow use

AP_NavEKF3: fix console status reporting

AP_NavEKF3: send messages to mavlink instead of console

This allows the GCS to better handle the display of messages to the user.

AP_NavEKF3: replace deprecated function call

AP_NavEKF3: Compensate for sensor body frame offsets

AP_NavEKF3: Fix bug in median filter code

AP_NavEKF3: save some memory in the position offsets in EKF3

We don't need to copy that vector3f for every sample. A uint8_t does the job

AP_NavEKF3: Add fusion of range beacon data

AP_NavEKF3: Bring up to date with EKF2

AP_NavEKF3: Misc range beacon updates

AP_NavEKF3: Add mising accessors

AP_NavEKF3: remove duplicate include

AP_NavEKF3: Prevent NaN's when accessing range beacon debug data

AP_NavEKF3: Update range beacon naming

AP_NavEKF3: updates

AP_NavEKF3: miscellaneous changes

AP_NavEKF3: misc updates

AP_NavEKF3: misc range beacons updates

AP_NavEKF3: add missing rover default param
 2016-12-19 08:06:47 +11:00
Andrew Tridgell
ab05472e0e AP_AHRS: added EKF3 for EKF experimentation 
Conflicts:
	libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
 2016-12-18 10:28:04 +11:00
priseborough
fd8916ef38 DataFlash: fix Baro 3 labels 2016-12-18 10:28:04 +11:00
priseborough
cd669738a5 AP_Beacon: fix SITL param error 2016-12-18 10:28:04 +11:00
priseborough
fe69d9a0ea AP_NavEKF2: remove duplicate include 2016-12-18 10:28:04 +11:00
priseborough
a8f3a374e2 AP_NavEKF2: replace sqrt function calls with sqrtf 
Prevents compiler errors and un-wanted use of double precision types
 2016-12-18 10:28:04 +11:00
Lucas De Marchi
b0ddf81687 Remove stdbool.h include for C++ sources 
This header is not needed in our C++ sources.
 2016-12-16 11:38:52 -08:00
Andrew Tridgell
790d186c6c AP_Compass: switched to unified Invensese driver for AK8963 2016-12-16 12:31:34 +11:00
Andrew Tridgell
65b9b86099 AP_InertialSensor: unify MPU6000 and MPU9250 drivers 
make a single AP_InertialSensor_Invensense driver. This avoids a lot
of duplication and will save time as new varients are added
 2016-12-16 12:31:34 +11:00
murata
0f486aeecb AC_Fence: shorten calculation of return value 2016-12-15 10:42:48 +09:00
Tom Pittenger
3e2098192b AP_Landing: add is_complete() accessor 2016-12-14 04:32:30 -08:00
Tom Pittenger
f09007cbe9 AP_Landing: use a common reset for uniform landing wipe 2016-12-14 04:32:30 -08:00
Tom Pittenger
7daf1a87be AP_Landing: non-functional change - re-organizing header declarations 2016-12-14 04:32:30 -08:00
Tom Pittenger
e061e1734c AP_Landing: abstract land abort request method 2016-12-14 04:32:30 -08:00
Randy Mackay
d41467424b DataFlash: fix to suppressing comment for case fall through 
no functional change
eclipse stops complaining if no-break is used in place of fall-through
 2016-12-14 13:25:15 +09:00
Randy Mackay
0dd7e78c2b RangeFinder: fix to suppressing comment for case fall through 
no functional change
eclipse stops complaining if no-break is used in place of fall-through
 2016-12-14 13:22:31 +09:00
Randy Mackay
2da7ea746b MotorsHeli: minor formatting updates 2016-12-14 13:21:59 +09:00
Leonard Hall
a09d4db4fd AP_MotorsMulticopter: fix battery resistance calculation 2016-12-14 11:07:29 +09:00
priseborough
76106889d5 AP_NavEKF2: Prevent unwanted core switch on startup 
Require primary core to be healthy for 10 seconds before starting selection logic
 2016-12-13 01:18:28 +00:00
Andrew Tridgell
8a1275356d AP_Baro: moved MS5611 reset before prom read 
thanks to Jacob and Lucas for pointing this out
 2016-12-13 11:10:35 +11:00
murata
b48ea53f60 Revert "AC_Fence: Activate the create flag." 
This reverts commit c63a6a2738.
 2016-12-09 23:55:29 +00:00
Andrew Tridgell
be9ac273ce AP_Param: apply notify check to AP_ParamV too 
thanks to Francisco
 2016-12-09 14:36:01 -08:00
Andrew Tridgell
a440ac4c9d AP_Compass: use a set_and_notify for external and IDs 
ensure that GCS that connects quickly gets the right value
fixes issue #5364
 2016-12-09 14:36:01 -08:00
Andrew Tridgell
eaa68f32e3 AP_Param: avoid a notify if value is already correct 2016-12-09 14:36:01 -08:00
priseborough
69f3c83c20 AP_NavEKF2: Don't use speed switch criteria when speed estimate is invalid 
Prevent unwanted switches from range finder to Baro height aiding due to triggering of the speed threshold
 2016-12-09 21:17:28 +00:00
priseborough
14a0155f5e AP_NavEKF2: Allow threshold speed for range finder use to be adjusted 2016-12-09 21:17:28 +00:00
Lucas De Marchi
899fce53ff AP_Compass: IST8310: minor fixes and refactors 
- Inline code that needs to take and release the lock in init()
    function, just like other drivers
  - Minor changes to coding style and renames to be similar to other
    drivers
 2016-12-09 10:08:37 -08:00
Georgii Staroselskii
f061572e13 AP_Compass: add IST8310 support 
One needs to specify I2C address and a bus number in AP_Compass.cpp to use it.
 2016-12-09 10:08:37 -08:00
murata
c63a6a2738 AC_Fence: Activate the create flag. 2016-12-09 17:25:27 +00:00
Randy Mackay
b296bc1d00 GPS: MAV driver fix for sanity checks of cog, sat count 2016-12-08 15:52:26 +09:00
Randy Mackay
8118222946 GPS: MAV driver fix for GPS_INPUT altitude 2016-12-08 15:52:26 +09:00
Randy Mackay
9e62f12dd7 GPS: MAV driver gets support for HIL_GPS message 2016-12-08 15:52:26 +09:00
Randy Mackay
9fc0bc19e7 AP_Beacon: fix potential out-of-bounds write to beacon_state 
uncovered by covarity and wickedshell
 2016-12-08 15:39:37 +09:00
Ivan Smirnov
d4d35bdcbd AP_HAL_Linux: Scheduler: added _timer_tick for uartD 2016-12-07 10:25:00 -08:00
murata
25e47cce6b AP_NavEKF2: Changed sqrt method to sqrtf method. 
AP_NavEKF2: Changed sqrt method to sqrtf method.
 2016-12-07 15:41:41 +00:00
Andrew Tridgell
05d9455f87 Revert "HAL_PX4: Add input parameter check." 
This reverts commit 5f41b09fde.

This change is completely incorrect. It is quite common to do SPI
transfers with zero send bytes, and is required for many sensors and
other devices
 2016-12-07 12:47:10 +11:00
Jonathan Challinger
6e47bed97d AP_RangeFinder: fix hard fault with LightWareI2C 2016-12-07 07:52:38 +11:00
Pierre Kancir
556993d7f0 AP_Math: Vector2 add == operator for int 2016-12-06 09:31:21 -08:00
Pierre Kancir
6bf1322633 AP_Math: polygon.cpp correct float comparison 2016-12-06 09:31:21 -08:00
Pierre Kancir
385e5badd8 Ap_Compass: LIS3MDL fix order 2016-12-06 09:31:21 -08:00
Pierre Kancir
c49c851a57 Ap_Compass: AK09916 fix order 2016-12-06 09:31:21 -08:00
Pierre Kancir
8ef5067e12 AP_Motors: MotorsHeli_Single utilize an explicit type cast to avoid the loss of a fractional part. 2016-12-06 06:25:15 -08:00
Tom Pittenger
03b5523b43 AP_Landing: abstract out init_start_nav_cnd work to landing lib 
This reverts commit 3e89580383 and fixes it
 2016-12-06 03:45:17 -08:00
Andrew Tridgell
3e89580383 Revert "AP_Landing: abstract out init_start_nav_cnd work to landing lib" 
This reverts commit 8d8775125a.

doesn't build
 2016-12-06 17:32:10 +11:00
Tom Pittenger
8d8775125a AP_Landing: abstract out init_start_nav_cnd work to landing lib 2016-12-05 18:43:47 -08:00
Tom Pittenger
2d8c9c5129 AP_Landing: added missing break 2016-12-05 18:43:15 -08:00
Michael du Breuil
f9acca67d3 AP_Mission: Align with spec better 
Location is out of spec for NAV_RETURN_TO_LAUNCH

NAV_LOITER_UNLIM couldn't roundtrip the provided loiter radius
 2016-12-05 17:31:36 -08:00
Tom Pittenger
84bdf15203 AP_Airspeed: updated comment to match PR 2016-12-05 17:19:57 -08:00
jinchengde@gmail.com
efd0f0b832 modify NavEKF2 for AHRS Test 2016-12-05 17:10:23 -08:00
murata
d619d33374 AP_HAL_PX4: UARTDriver: Delete the condition that does not hold. 2016-12-05 16:53:36 -08:00
Andrew Tridgell
eea7758a63 AP_Baro: added GND_EXT_BUS option 
this is needed to enable probing for a MS5611 on external I2C bus. The
MS5611 looks the same as a MS5525 airspeed sensor, so we can't just
auto-probe. Users will need to enable external barometers
 2016-12-05 16:51:49 -08:00
Andrew Tridgell
43bac678cd AP_Airspeed: Added MS5525 airspeed driver 
also improved averaging in MS4525 driver
 2016-12-05 16:51:49 -08:00
Andrew Tridgell
04731dccd6 AP_Airspeed: rename MS4525 driver 
ready for new driver types
 2016-12-05 16:51:49 -08:00
Andrew Tridgell
e2192d5b4d HAL_PX4: report user bus number not system bus number 2016-12-05 16:51:49 -08:00
Andrew Tridgell
c657ad449b AP_HAL: added get_bus_address() 
used to report sensor probing results in drivers
 2016-12-05 16:51:49 -08:00
Andrew Tridgell
60c29417f1 AP_HAL: added uint16 access functions 2016-12-05 16:51:49 -08:00
Andrew Tridgell
bc33c19f21 AP_IRLock: fixed build 2016-12-05 16:51:49 -08:00
Andrew Tridgell
8b8837ab72 GCS_MAVLink: fixed build 2016-12-05 16:51:49 -08:00
Andrew Tridgell
bdc41446ae AP_OpticalFlow: fixed build 2016-12-05 16:51:49 -08:00
Andrew Tridgell
14a1f559c7 AP_Airspeed: added ARSPD_TYPE and use standard driver backend methods 
this will allow for new sensor types
 2016-12-05 16:51:49 -08:00
Tom Pittenger
b614b41d6d AP_TECS: fixed compiler warning 
- AP_Landing _landing was declared out-of-order
 2016-12-05 16:46:55 -08:00
Tom Pittenger
725a9c40a6 AP_Landing: fixed compiler warnings 
- init variable out of order, callbacks were declared first
 2016-12-05 16:15:20 -08:00
Pierre Kancir
79a9e8dfad AP_Math: Matrix_alg fix implicite cast from bool to float 2016-12-05 12:39:31 -08:00
Pierre Kancir
f54cf6e097 AP_NavEKF: storeIndex remove second initialisation 2016-12-05 12:39:31 -08:00
Pierre Kancir
de05e6ba29 InertialSensor : MPU9250 utilize an explicit type cast to avoid the loss of a fractional part 2016-12-05 12:39:30 -08:00
Pierre Kancir
13c16e187f InertialSensor: MPU6000 utilize an explicit type cast to avoid the loss of a fractional part 2016-12-05 10:59:45 -08:00
Pierre Kancir
a5161edc97 SITL: remove duplicate 2016-12-05 10:59:45 -08:00
Pierre Kancir
421524951f AC_PosControl: remove unnecessary parentheses 2016-12-05 10:59:45 -08:00
Pierre Kancir
fb7a00799f AP_Math: quaternion fix missing return 2016-12-05 10:33:41 -08:00
Florent Martel
abc2cdb61b AP_FrSky_Telem: fixed sign of vertical velocity (+ve up) 2016-12-04 15:05:16 -08:00
Pierre Kancir
f9c8827809 SITL: Scheduler correct misplaced parenthese && switch to do while loop 2016-12-04 18:28:14 +00:00
murata
86e495f415 AP_Arming: Do not set check results each time. 2016-12-03 20:39:33 +00:00
Francisco Ferreira
202c33491e RangeFinder: remove useless returns and update comment 2016-12-03 17:44:06 +00:00
murata
a99bde9dad RangeFinder: Change type determination from if state to switch state. 2016-12-03 17:33:01 +00:00
mirkix
7e33ba04a9 AP_HAL: Add BBBmini PX4FLOW I2C bus number 2016-12-03 21:07:07 +11:00
Tom Pittenger
608da33d80 AP_Landing: merged GCS text for aborted landing 2016-12-02 17:40:01 -08:00
murata
5f41b09fde HAL_PX4: Add input parameter check. 2016-12-02 17:09:47 -08:00
Tom Pittenger
3a9ad24907 AP_Landing: compute wind_alignment and half of head-wind 
Determine how aligned heading_deg is with the wind. Return result
is 1.0 when perfectly aligned heading into wind, -1 when perfectly
aligned with-wind, and zero when perfect cross-wind. There is no
distinction between a left or right cross-wind. Wind speed is ignored
 2016-12-02 15:35:28 -08:00
Peter Barker
0e2b3781ae AP_Gripper: a valid() method 2016-12-02 12:52:53 +11:00
Peter Barker
4a1439ca0b AP_Gripper: add grabbed and released method 2016-12-02 12:52:53 +11:00
Peter Barker
20b83861e9 AP_Mission: support for NAV_CMD_PLACE 
AP_Mission: check return values of mission fetches
 2016-12-02 12:52:50 +11:00
Peter Barker
20b86605fa SITL: gripper closes faster, vary load carried by gripper 
If gripper is closed on ground it is considered to be carrying
something
 2016-12-02 12:04:05 +11:00
Peter Barker
b751f836bb SITL: attach a string with a mass on the end to servo gripper 2016-12-02 12:04:05 +11:00
Peter Barker
f8918d15b1 SITL: add a hagl method to aircraft 2016-12-02 12:04:05 +11:00
Peter Barker
f1c23dc9be SITL: remove argument to on_ground 
This was always the current position
 2016-12-02 12:04:05 +11:00
Peter Barker
e24f3f9419 SITL: correct on-ground correction 
Using the cached ground_height_difference may mean
you end up at the wrong height if you were near
the edge of an SRTM square and had high horizontal
velocity
 2016-12-02 12:04:05 +11:00
Peter Barker
319cfa766b RC_Channel: add method to get current radio out for a function 2016-12-02 12:04:05 +11:00
Andrew Tridgell
23480a92ad HAL_PX4: only include parts needed for build 
allow for external USE_FLASH_STORAGE define in build
 2016-12-02 09:58:36 +11:00
Andrew Tridgell
6bc0c76d54 HAL_PX4: update for new AP_FlashStorage API 
allow flash sector erase while disarmed
 2016-12-02 09:49:40 +11:00
Andrew Tridgell
bfd137e36a AP_FlashStorage: added erase_ok callback 
this allows for simpler operation when application wants to allow
erase while disarmed.
 2016-12-02 09:49:40 +11:00
Andrew Tridgell
0e00c3cf9b AP_FlashStorage: reduced sector size for example 
allows it to fit in SRAM on PX4
 2016-12-02 09:49:40 +11:00
Andrew Tridgell
a66924422f HAL_PX4: implement optional flash backend for storage 
this allows the last two flash sectors to be used as storage for
parameters, waypoints etc.

A change to the bootloader to not erase the last two sectors is needed
 2016-12-02 09:49:39 +11:00
Andrew Tridgell
b0832e6c15 HAL_PX4: factor out storage functions 
ready for multiple backends
 2016-12-02 09:49:39 +11:00
Andrew Tridgell
d4f679f954 HAL_PX4: removed support for old storage files on microSD 2016-12-02 09:49:39 +11:00
Andrew Tridgell
4cfd63c30a HAL_PX4: refactor storage to use bitmask class 2016-12-02 09:49:39 +11:00
Andrew Tridgell
6adad11e2f AP_Common: added simple bitmask class 2016-12-02 09:49:39 +11:00
Andrew Tridgell
ed8f9b444a HAL_PX4: fixed whitespace 2016-12-02 09:49:38 +11:00
Andrew Tridgell
7ba957b946 HAL_SITL: flush stdout on panic 2016-12-02 09:49:38 +11:00
Andrew Tridgell
fc21e0f16f AP_FlashStorage: a flash storage driver 
this will allow for a storage backend using flash sectors in a log
structure
 2016-12-02 09:49:38 +11:00
Andrew Tridgell
a1bce2b54d AP_Compass: use get_random16() 2016-12-02 09:49:38 +11:00
Andrew Tridgell
a8d10e8c2c AP_Math: added get_random16() 2016-12-02 09:49:38 +11:00
Andrew Tridgell
cd57422eed AP_Baro: set retries high during init of MS5611 on I2C 2016-12-02 09:47:51 +11:00
Andrew Tridgell
4f1f6ec019 AP_Compass: added retries during init for i2c devices 
higher in init, lower for run
 2016-12-02 09:47:51 +11:00
Andrew Tridgell
28a318145c AP_HAL: move set_retries() up to Device class 
we really need set_retries() high during init for nearly all i2c
devices, and as many are written against the generic device class
moving it to the Device class makes this a lot easier. It is a NOP on
SPI.
 2016-12-02 09:47:51 +11:00
Georgii Staroselskii
e735a56c82 AP_BattMonitor: add default PM definitions for Navio boards 
As it turns out we haven't had default PM defs for power modules
intended to be used with Navio boards.
 2016-12-01 05:41:37 -08:00
Przemek Lekston
6d65b351cd AP_Mount: allow computation of gps point target in earth fixed frame 2016-12-01 18:42:48 +09:00
Randy Mackay
fc5f4c20cd AP_NavEKF2: remove redundant check of beacon nullptr 
thanks to muramura for spotting this
 2016-12-01 14:53:26 +09:00
Randy Mackay
08619a96be AP_Beacon: remove debug and editor settings 
thanks to muramura for spotting this
 2016-12-01 14:53:16 +09:00
murata
292257eaf2 AP_Beacon: checksum check uses XOR 2016-12-01 13:54:34 +09:00
murata
bcdd836820 AC_AttControl: remove unnecessary check of thr-mix-min 
Checks directly above ensure this check can never be true
 2016-12-01 13:52:04 +09:00
priseborough
665ba1c009 AP_NavEKF2: Fix bug in reporting of vertical position reset 
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
 2016-12-01 10:35:38 +09:00
priseborough
7f347e39dd AP_NavEKF2: Fix bug in reporting of horizontal position reset 
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
 2016-12-01 10:35:38 +09:00
priseborough
656d9bb2c4 AP_NavEKF2: Fix bug in reporting of yaw reset 
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame
 2016-12-01 10:35:38 +09:00
Georgii Staroselskii
865ff753f3 AP_Compass: use LSM9DS1 as primary for Navio 2 
This compass has been proved to work better on Navio boards. Users also
don't like high offsets (even though, they don't really mean much in
this context) reported by AK8963 in MPU9250 on Navio 2.
 2016-11-30 12:04:53 -08:00
Alexey Bulatov
96db31635d AP_Compass: set orientation ROLL_180 for LSM9DS1 on Navio2 2016-11-30 12:04:04 -08:00
Alexey Bulatov
163fa07ac0 AP_Compass: make orientation of LSM9DS1 compass configurable 2016-11-30 12:02:07 -08:00
Randy Mackay
a517db4b5e AP_OpticalFlow: resolve compiler warning 2016-11-30 18:00:15 +09:00
Randy Mackay
dfd58cc57b AP_InertialSensor: fix build warning for MPU9250 2016-11-30 18:00:14 +09:00
Randy Mackay
699279ed1f AP_InertialSensor: fix build warning for MPU6000 2016-11-30 18:00:13 +09:00
Randy Mackay
5009e83b6d AP_Compass: fix build warning for HMC5843 2016-11-30 18:00:12 +09:00
priseborough
431a74e0b4 DataFlash: log range beacon fusion data 2016-11-30 17:56:53 +09:00
priseborough
bbdf3982c6 DataFlash: remove Log_Write_EKF 2016-11-30 17:56:52 +09:00
Randy Mackay
66a9093cd0 AP_NavEKF2: getRangeBeaconDebug returns false on failure to get beacon data 2016-11-30 17:56:51 +09:00
priseborough
0ec8f0932a AP_NavEKF2: Prevent output of NaN's in range beacon debug output 
This can happen if this accessor function is called before the EKF states are initialised
 2016-11-30 17:56:50 +09:00
Randy Mackay
fbecda7eeb AP_NavEKF2: change order of variable initialisation 
No functional change, this modifies the init order to match the declaration order.
 2016-11-30 17:56:49 +09:00
Randy Mackay
82854953e7 AP_NavEKF2: minor comment fix 2016-11-30 17:56:48 +09:00
Randy Mackay
14a73e499a AP_NavEKF2: initialise two range beacon structures 2016-11-30 17:56:47 +09:00
priseborough
2ee8250807 AP_NavEKF2: Changes from code review by @muramura 2016-11-30 17:56:46 +09:00
Randy Mackay
1f4606e48a AP_NavEKF2: protect against null beacon 2016-11-30 17:56:45 +09:00
Randy Mackay
51ccfca31c AP_NavEKF2: fix format of statustext for beacon init 2016-11-30 17:56:44 +09:00
priseborough
ef03a85cd3 AP_NavEKF2: add range beacon interface and fusion method 2016-11-30 17:56:43 +09:00
priseborough
b4961971e0 AP_AHRS: add beacon object to ahrs 2016-11-30 17:56:42 +09:00
priseborough
4482743af5 AP_Beacon: Improve simulator testing of beacons 2016-11-30 17:56:41 +09:00
Randy Mackay
1225e18898 AP_Beacon: add sitl testing parameter file 2016-11-30 17:56:40 +09:00
Andrew Tridgell
5b83fa3a77 AP_Beacon: added SITL backend 2016-11-30 17:56:39 +09:00
Randy Mackay
821fc516fb AP_Beacon: library to accept distances from beacons 2016-11-30 17:56:37 +09:00
Randy Mackay
c4aa37525e SerialManager: add beacon to list of protocols 2016-11-30 17:56:35 +09:00
Leonard Hall
8af192ed9d AC_AttControl: allow MOT_THR_MIX_MAX to be 2.0 
The parameter description maximum of 0.9 should keep most users from
setting this parameter above 0.9 but there are rare cases for very high powered copters with low hover-throttle values where setting as high as 2.0 improves attitude control
 2016-11-30 17:56:34 +09:00
Andrew Tridgell
8468add63e AP_Motors: mark PWM_TYPE as reboot required 2016-11-30 10:53:26 +11:00
Andrew Tridgell
ce5ed66b45 HAL_PX4: auto-scale brushed output with ESC output range 2016-11-30 10:53:26 +11:00
Andrew Tridgell
ce517384e1 AP_Motors: support MODE_PWM_BRUSHED16KHZ 2016-11-30 10:53:26 +11:00
Andrew Tridgell
b3286c3da0 HAL_PX4: support MODE_PWM_BRUSHED16KHZ 2016-11-30 10:53:25 +11:00
Andrew Tridgell
fac8f1db03 AP_HAL: added MODE_PWM_BRUSHED16KHZ 2016-11-30 10:53:25 +11:00
Peter Barker
bc45ab5409 DataFlash: add a heartbeat for the io thread in DataFlash_File 2016-11-29 15:14:09 -08:00
Peter Barker
e11c276b35 DataFlash_File: stop trying to stuff a uint64_t into a uint32_t 2016-11-29 15:14:09 -08:00
Peter Barker
fff2068a5a AP_Arming: add arming check for logging actually started 2016-11-29 15:14:09 -08:00
Peter Barker
5776b3fddb AP_Arming: check CardInserted in AP_Arming 2016-11-29 15:14:09 -08:00
Andrew Tridgell
a2e92c4054 AP_BoardConfig: increase uavcan bus settle time to 2s 
needed to ensure zubax mag has time to come up
 2016-11-29 12:51:16 +11:00
Peter Barker
2c8a0a9123 DataFlash: rotate files when vehicle is disarmed 2016-11-28 09:42:09 -08:00
Peter Barker
fc79fb4ab4 DataFlash: know about armed state of vehicle 2016-11-28 09:42:09 -08:00
Randy Mackay
bac5deed43 AP_IRLock: health reporting based on successful I2C transfer 
This change is required because sync messages are only sent if a target is visible
 2016-11-28 12:08:36 +09:00
Andrew Tridgell
28b3de91cf AP_Compass: fixed orientation of internal i2c compass for FMUv1 
thanks to Peter for noticing
 2016-11-28 13:02:15 +11:00
Andrew Tridgell
40bd3a8861 HAL_PX4: tidy up thread wait code 
use the same method for all threads. Makes for tidier top output
 2016-11-28 10:28:01 +11:00
Andrew Tridgell
f039a37971 HAL_PX4: set names on all bus threads 2016-11-28 10:18:52 +11:00
Andrew Tridgell
00ccacb2ab AP_HAL: expose device bus number 2016-11-28 10:18:32 +11:00
Andrew Tridgell
f04b186879 HAL_PX4: fixed bug in instantiation of I2C bus threads 
we ended up with a thread per device instead of a thread per bus!
 2016-11-28 09:53:19 +11:00
Andrew Tridgell
12e0c840e8 HAL_PX4: set thread names for main threads 2016-11-28 09:47:49 +11:00
Andrew Tridgell
c62b64a600 AP_IRLock: improved sync protocol for IRLock I2C driver 2016-11-28 08:39:06 +11:00
Andrew Tridgell
50db4d362d AC_PrecLand: use new in-tree IRLock driver 2016-11-28 08:26:58 +11:00
Andrew Tridgell
c6ea451c56 AP_IRLock: new in-tree IRLock driver on I2C 2016-11-28 08:26:58 +11:00
Andrew Tridgell
22717f23be AP_OpticalFlow: apply yaw for flow in all drivers 2016-11-28 08:26:57 +11:00
Andrew Tridgell
06dfbc3e09 AP_OpticalFlow: added common driver for PX4Flow 
used on Linux and NuttX boards
 2016-11-28 08:26:57 +11:00
Andrew Tridgell
52715c5d16 AP_OpticalFlow: fixed default pixart flow scaling 2016-11-28 08:26:57 +11:00
Andrew Tridgell
9b93e12bbb AP_OpticalFlow: retry config register write up to 5 times 2016-11-28 08:26:57 +11:00
Andrew Tridgell
ea462d80e6 AP_OpticalFlow: added _applyYaw method to backend 
for common handling of yaw correction
 2016-11-28 08:26:57 +11:00
Andrew Tridgell
abc42c737c AP_OpticalFlow: added update function for Pixart flow driver 2016-11-28 08:26:57 +11:00
Andrew Tridgell
0be1b1aac2 AP_OpticalFlow: give access to AHRS from all backends 2016-11-28 08:26:56 +11:00
Andrew Tridgell
def6e014cf HAL_SITL: removed old optflow simulation 2016-11-28 08:26:56 +11:00
Andrew Tridgell
42435e700b SITL: expose height above ground to all models 2016-11-28 08:26:56 +11:00
Andrew Tridgell
2e2f8ad8cf AP_OpticalFlow: added SITL flow driver as normal driver 
move away from HAL_SITL embedded drivers
 2016-11-28 08:26:56 +11:00
Andrew Tridgell
a96ed8c188 AP_HAL: added virtual destructor for Semaphores 2016-11-28 08:26:56 +11:00
Andrew Tridgell
0889b25afa AP_OpticalFlow: initial code for Pixart optical flow chip 2016-11-28 08:26:56 +11:00
Randy Mackay
54a87ad35c AP_Proximity: set minimum boundary distance 
AC_Avoidance will not stop if it thinks the vehicle is on or outside the polygon.  Setting a minimum distance ensures the vehicle is always within the polygon.
 2016-11-27 15:05:48 +09:00
Randy Mackay
57ae14ab4c AP_Proximity: add get distances, distance_max, distance_min 
These are used to send distance-sensor messages to the ground station
 2016-11-27 15:05:45 +09:00
Randy Mackay
b46cc623a0 AC_Avoidance: adjust_velocity_polygon accepts body-frame points 2016-11-27 15:05:42 +09:00
Randy Mackay
55d79d9a32 AC_Avoidance: proximity sensor method re-uses polygon fence boundary code 2016-11-27 15:05:41 +09:00
Randy Mackay
cdee68174d AC_Avoidance: rename adjust_velocity_polygon_fence 2016-11-27 15:05:39 +09:00
Randy Mackay
79280036de AC_Avoidance: rename adjust_velocity_circle_fence method 2016-11-27 15:05:38 +09:00
Randy Mackay
40c4e75ae7 AC_Avoidance: remove unnecessary const float arguments 2016-11-27 15:05:36 +09:00
Randy Mackay
6293fa1595 AP_Proximity: add boundary points for object avoidance 
This returns a fence which can be used for object avoidance by AC_Avoidance
 2016-11-27 15:05:35 +09:00
Randy Mackay
26332251f5 AP_Proximity: add ignore areas 
Only SF40c uses these ignore areas for now at least.
It is safe to increase the eeprom locations for the 2nd proximity instance because we only define a single instance.
 2016-11-27 15:05:27 +09:00
Randy Mackay
87dea46f5d AP_Proximity: add get_closet_object for use in pre-arm checks 2016-11-27 12:03:06 +09:00
Randy Mackay
a56c9545bd AP_Proximity: SITL driver filles in backend sector data 2016-11-27 12:03:04 +09:00
Randy Mackay
f594a5a7d6 AP_Proximity: move sectors to backend 
This prepares for sectors to be re-used by the SITL driver
 2016-11-27 12:03:01 +09:00
Andrew Tridgell
f9845c93b1 AP_InertialSensor: keep transfers nicely setup for DMA on stm32 
this avoids using stack based bounce buffers which may not support DMA
on stm32
 2016-11-27 11:26:10 +11:00
Andrew Tridgell
37a9a78725 HAL_PX4: avoid bounce buffers for SPI when possible 2016-11-27 11:10:18 +11:00
Andrew Tridgell
f3d401abb9 HAL_PX4: fixed FMUv1 build 2016-11-27 07:45:54 +11:00
Andrew Tridgell
df60b4252a HAL_PX4: reduced noise in PX4 console 2016-11-26 19:06:15 +11:00
Andrew Tridgell
771cedca3d AP_InertialSensor: reduced number of SPI transfers 
use cached copy of temperature in MPU6000 and MPU9250 to detect FIFO
error when possible
 2016-11-26 19:02:22 +11:00
Andrew Tridgell
fdc94ec28a AP_HAL: fixed frequency init for register checking 2016-11-26 18:36:36 +11:00
Tom Pittenger
40777e9e74 AP_Mission: move jump_to_landing_sequence() to AP_Mission 2016-11-25 19:07:30 -08:00
Tom Pittenger
d4d186058d AP_Landing: move jump_to_landing_sequence() to AP_Mission 2016-11-25 19:07:30 -08:00
Tom Pittenger
1a70e2f353 AP_Landing: new param LAND_TYPE to split current behavior into AP_Landing_Slope.cpp 2016-11-25 19:07:30 -08:00
Tom Pittenger
c7bbb6998a TECS: set landing params as private and use accessors 2016-11-25 19:07:30 -08:00
Tom Pittenger
fe4cd7bbbd AP_Landing: set landing params as private and use accessors 2016-11-25 19:07:30 -08:00
Tom Pittenger
98ae77d6a3 AP_Landing: Migrate the rest of "LAND_" params from Plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger
d53b177877 AP_Landing: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger
9035dcbbc5 AP_TECS: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger
15ec551990 AP_Vehicle: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger
8f36fe7705 AP_Landing: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger
fc84c61672 AP_Landing: add const to all possible vars in function calls 2016-11-25 19:07:30 -08:00
Tom Pittenger
fc2f518f31 Plane: revert auto_state.checked_for_autoland back to Plane 2016-11-25 19:07:30 -08:00
Tom Pittenger
3814b5a38b AP_Landing: resorted functions so they line up with plane/landing for easier compare 2016-11-25 19:07:30 -08:00
Tom Pittenger
75e625fd30 AP_landing: port the rest of plane/landing.cpp 2016-11-25 19:07:30 -08:00
Tom Pittenger
9a79b79f1e AP_Landing: port more from plane 2016-11-25 19:07:30 -08:00
Tom Pittenger
10027b21d6 Plane/AP_Landing: port setup_landing_glide_slope() 2016-11-25 19:07:30 -08:00
Tom Pittenger
f556f705e6 Plane: move various g params to aparms 2016-11-25 19:07:30 -08:00
Tom Pittenger
d2376b7c8b Plane: migrate two helper functions to AP_Landing 
- move functions restart_landing_sequence() and jump_to_landing_sequence() to AP_Landing
- NOTE: jump_to function can not set mode, so it is now done externally in vehicle
 2016-11-25 19:07:30 -08:00
Tom Pittenger
896b931a7c Plane: Move auto_state variables to AP_landing members 2016-11-25 19:07:30 -08:00
Tom Pittenger
61b02cb41d AP_Landing: add new library for fixed wing landing abstraction 2016-11-25 19:07:30 -08:00
Tom Pittenger
ce8db1fdba Plane: move struct Rangefinder_State to AP_Vehicle 2016-11-25 19:07:30 -08:00
Andrew Tridgell
eaf378cbf0 GCS_MAVLink: updated optical flow send 2016-11-26 12:27:41 +11:00
Andrew Tridgell
f2246326bb AP_Baro: added MS5611 probing, and support 3 baros on Pixhawk2 
this adds sensor probing for barometers, simplifies the MS5611 driver,
and adds support for the I2C external barometers on Pixhawk2
 2016-11-25 21:40:11 +11:00
Andrew Tridgell
954728c9e9 AP_HAL: added set_chip_select() API 
for devices with unusual timings
 2016-11-25 21:26:27 +11:00
Andrew Tridgell
638e89bd1d HAL_PX4: implement set_chip_select for SPI 2016-11-25 21:24:10 +11:00
Andrew Tridgell
60801314e0 HAL_PX4: added different modes for external SPI 
and lower bus speed to 1MHz
 2016-11-25 21:24:10 +11:00
Andrew Tridgell
bcb6663187 HAL_PX4: added table of actual bus speeds for SPI 2016-11-25 20:31:43 +11:00
Andrew Tridgell
27605b0258 AP_InertialSensor: run invensese reg checking at low speed 
config register read/write should be at low bus speed.

also change to check every 20 calls to reduce checking cost
 2016-11-25 20:31:40 +11:00
Andrew Tridgell
7100272f14 AP_HAL: default to register checking every 10th call 
this saves having this in nearly all callers
 2016-11-25 20:31:36 +11:00
Andrew Tridgell
0e793e1214 HAL_PX4: lower SPI bus speed on invensense devices 
now we are using DMA we don't need such high bus speed, and this makes
SPI reliable with a wider range of devices.
 2016-11-25 18:32:19 +11:00
Andrew Tridgell
7d57f00ca0 AP_Compass: removed debug line 
this is now common when using in-tree drivers
 2016-11-25 18:23:53 +11:00
Andrew Tridgell
0f984290c3 AP_InertialSensor: enable fast sampling by default on some boards 2016-11-25 17:59:54 +11:00
Andrew Tridgell
f62972d966 AP_Compass: fixed build on bhat 
enable both compasses if found
 2016-11-25 17:50:24 +11:00
Andrew Tridgell
1f403b02ef AP_Compass: switch to continuous 155Hz mode for LIS3MDL 2016-11-25 17:50:24 +11:00
Andrew Tridgell
62805f59fa AP_Compass: added AK09916 driver 
yet another magnetometer!
 2016-11-25 17:50:24 +11:00
Andrew Tridgell
17a117b324 AP_Compass: be a bit less verbose in startup 2016-11-25 17:50:23 +11:00
Andrew Tridgell
0e4b8781b2 AP_Compass: auto-detect LIS3MDL compass 2016-11-25 17:50:23 +11:00
Andrew Tridgell
b6b2919126 AP_Compass: don't panic on too many compasses 
just use the first ones found. Panicing because you have too many
isn't useful
 2016-11-25 17:50:23 +11:00
Andrew Tridgell
40ef68f104 AP_Compass: added a LIS3MDL compass driver 2016-11-25 17:50:23 +11:00
Andrew Tridgell
f3a778f980 AP_InertialSensor: fixed freeing of fifo buffer 2016-11-25 17:50:19 +11:00
Andrew Tridgell
6f28c61c8d AP_InertialSensor: changed SIZE to LEN 
thanks to Lucas for suggestion
 2016-11-25 17:50:19 +11:00
hiro2233
cb7f46d653 AP_InertialSensor: fixed handling of user_ctrl register 
with aux bus implementations
 2016-11-25 17:50:18 +11:00
Andrew Tridgell
29bbee421e HAL_PX4: enable sharing of SPI bus with PX4 with DMA 2016-11-25 17:50:18 +11:00
Andrew Tridgell
9b4c588c09 AP_InertialSensor: adapt drivers for SPI-DMA capable systems 
no longer need accumulate() transfers with SPI enabled DMA on stm32
 2016-11-25 17:49:58 +11:00
Andrew Tridgell
3fad5ca065 HAL_PX4: implement DMA allocation routines 2016-11-25 17:49:58 +11:00
Andrew Tridgell
e42bb20052 AP_HAL: added dma allocation routines to hal.util 2016-11-25 17:49:58 +11:00
Andrew Tridgell
28daddaaf2 AP_InertialSensor: don't use accumulate approach on Linux or I2C 2016-11-25 17:49:57 +11:00
Andrew Tridgell
d9c8db7024 AP_InertialSensor: implement a new strategy for fast sampling 
this moves to using a 1p filter on the high rate data, followed by
averaging down to 1kHz then a 2p filter to apply configured cutoff
frequency.

It also fixes the FIFO reset to not cause data corruption. We need to
disable all FIFO channels before doing the reset, and wait for the
FIFO to stop in the sensor.

Finally it moves sampling of the MPU6000 and MPU9250 into the main
thread. That significantly improves scheduling performance as we no
longer get long FIFO SPI transfers happening during other tasks. All
transfers happen at the start of the fast loop. That makes timing much
more predictable.

Thanks to Leonard and Paul for help with this design!
 2016-11-25 17:49:57 +11:00
Andrew Tridgell
b165e025d9 Filter: added new constructor for 1p filter 
allow both sample rate and cutoff to be specified in constructor
 2016-11-25 17:49:57 +11:00
Andrew Tridgell
7220dc15f9 HAL_PX4: adjusted bus speeds on invensense sensors 2016-11-25 17:49:57 +11:00
Andrew Tridgell
5934a099a4 AP_HAL: added support for more SRXL varients 
based on work by Roman Seb <roman-29188@gmx.de>
 2016-11-24 22:54:23 +11:00
priseborough
0a177d04fd AP_NavEKF2: Simply core switch implementation 
Functionally equivalent
 2016-11-24 19:58:10 +09:00
priseborough
7d48054e6f AP_NavEKF2: Group GPS innovation tests when compiling error score 2016-11-24 19:58:07 +09:00
Randy Mackay
e9ea06bd10 AP_NavEKF2: minor comment fix 2016-11-24 19:58:03 +09:00
Randy Mackay
a32068a973 AC_WPNav: remove ekf position reset handler 
This has been migrated to the position control library
 2016-11-24 19:58:00 +09:00
Randy Mackay
1012333eef AC_PosControl: add ekf position reset handling 
Previously this was in AC_WPNav and used only for loiter but it should work for any flight modes that use horizontal or vertical position control
 2016-11-24 19:57:56 +09:00
Randy Mackay
c615bac1cd AP_AHRS: add getLastPosDownReset accessor 2016-11-24 19:57:53 +09:00
Randy Mackay
6406e34016 AC_WPNav: remove unused _loiter_step member 2016-11-24 19:57:50 +09:00
priseborough
0df45703f1 AP_NavEKF2: Fix errors in position reset delta publishing 2016-11-24 19:57:47 +09:00
priseborough
f6021c959d AP_NavEKF2: capture and publish vertical position reset deltas 
Calculate the change in vertical position due to a internal EKF state reset or a EKF core switch
 2016-11-24 19:57:45 +09:00
priseborough
e62863f9a1 AP_NavEKF2: Reduce unnecessary EKF core switching 
1) Do not switch to a core until its states have been updated.
2) Distinguish between mandated switches required for health failure and optional switches required due to innovation checks failing.
3) Apply hyseresis to innovation check levels
 2016-11-24 19:57:41 +09:00
murata
de153ce1d7 AP_NavEKF: Correct the setting process of variable dAngBiasSigma. 2016-11-24 03:24:18 +00:00
murata
ec42ddfb4e AP_NavEKF: style changes (tab to spaces, etc.) 
AP_NavEKF: style changes (tab to spaces, etc.)

AP_NavEKF: style changes (tab to spaces, etc.)
 2016-11-24 03:24:18 +00:00
ShingoMatsuura
e9feb7bdda AP_RangeFilnder: moved the const buffer definition to the header and changed from '8' to 'sizeof(send_request_buffer)' 2016-11-23 10:28:38 -08:00
ShingoMatsuura
f97ede9865 AP_RangeFilnder: change send_request_buffer member variable to const and other fixes 2016-11-23 10:28:38 -08:00
ShingoMatsuura
e8ff156fa6 AP_RangeFilnder: add clear buffer at INIT state and change send_buffer to member variable to reduce CRC computation for sending request 2016-11-23 10:28:38 -08:00
ShingoMatsuura
c1c643e56e AP_RangeFinder: remove clear buffer in send_request 2016-11-23 10:28:38 -08:00
Leonard Hall
ea0e413b04 AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero 2016-11-23 14:43:29 +09:00
murata
ae927e1775 DataFlash: Adjust the return value to the type of the method. 
DataFlash: Adjust the return value to the type of the method.
 2016-11-22 10:07:16 -08:00
Lucas De Marchi
f9b0f9164a AP_HAL_Linux: add TODO to AnalogIn_Raspilot 
This is especially bad for raspilot since it has a spi bus shared for
all the peripherals.
 2016-11-21 18:11:31 -02:00
Lucas De Marchi
87c6d5da13 AP_InertialSensor: replace panic() with return 
When blocking forever there's no reason to call panic later since it
will never going to be reached. This reduces binary size in a few bytes
since the message isn't required anymore.
 2016-11-21 18:04:10 -02:00
Andrew Tridgell
c2125a0078 AP_Baro: wait forever for semaphore on startup 2016-11-21 18:04:10 -02:00
Andrew Tridgell
6f82ec0642 HAL_Linux: convert RASPilot drivers to thread per bus 2016-11-21 18:04:10 -02:00
Andrew Tridgell
6129b1abb6 AP_InertialSensor: wait forever for semaphore on startup 
some boards take a silly amount of time to get semaphore on startup
 2016-11-21 17:57:21 -02:00
Julien Beraud
d50fd3a6cd AP_OpticalFlow: fix onboard init 
mistake in patch to avoid segfault which enabled
AP_OpticalFlow_Linux instead of AP_OpticalFlow_Onboard.
Store a reference to ahrs in order to execute init later, when
ahrs is initialized.
 2016-11-21 16:38:59 -02:00
Michael du Breuil
d97861d685 AP_GPS: Ublox: Skip SBAS request if we don't want to alter it 2016-11-21 14:15:19 +09:00
Randy Mackay
b7f95d9c25 AP_RangeFinder: remove serial.end and begin 
Also some formatting changes
 2016-11-21 14:07:01 +09:00
Randy Mackay
99fafcb495 RangeFinder: add uLanding to TYPE parameter description 2016-11-21 13:52:15 +09:00
Ricardo de Almeida Gonzaga
148fa03d6b AP_RangeFinder: support MaxBotix Serial rangefinders 
This has been tested with LV-MaxSonar®-EZ1 MB1010
 2016-11-21 11:21:56 +09:00
Randy Mackay
44c5fee90d AP_RangeFinder: formatting fixes for uLanding 2016-11-21 11:07:41 +09:00
davidaroyer
69bc4c42c9 AP_RangeFinder: Add support for Aerotenna uLanding radar altimeter 2016-11-21 11:07:41 +09:00
davidaroyer
faa534cf64 AP_SerialManager: Add support for Aerotenna uLanding radar altimeter 2016-11-21 11:07:41 +09:00
Jonathan Challinger
22517422f9 AP_Motors: add option to disable motor PWM output while disarmed 2016-11-21 10:49:21 +09:00
Andrew Tridgell
6c09758447 AP_RangeFinder: removed momentary spikes in PulsedLight I2C Lidar 2016-11-21 10:30:04 +11:00
Andrew Tridgell
252f90ba36 HAL_PX4: drop I2C speed to 100kHz 
reduce I2C errors on long cables for all sensors
 2016-11-21 10:29:52 +11:00
Andrew Tridgell
b3ac4fcb72 GCS_MAVLINK: speed up USB log download 
makes it about 2x as fast on Pixhawk
 2016-11-20 18:41:25 +11:00
Lucas De Marchi
504de3ea9e AP_HAL_Linux: RCInput_RPI: fix whitespaces 
Also add/change some minor coding style issues, reducing scope of
variables.
 2016-11-19 14:05:22 -02:00
Lucas De Marchi
aadc1643fc AP_HAL_Linux: reduce speed of MPU* devices 
After introducing the temperature check we are resetting the fifo
several times due to difference in temperature.
 2016-11-19 14:05:22 -02:00
Lucas De Marchi
8d3361cef4 AP_HAL_Linux: RCInput_RPI: fix using Util class on constructor 
Program received signal SIGSEGV, Segmentation fault.
0x000b8760 in Linux::UtilRPI::get_rpi_version() const ()
(gdb) bt
 #0  0x000b8760 in Linux::UtilRPI::get_rpi_version() const ()
 #1  0x000b57ac in Linux::RCInput_RPI::RCInput_RPI() ()
 #2  0x0000acfc in _GLOBAL__sub_I__ZN9HAL_LinuxC2Ev ()
 #3  0x000e1600 in __libc_csu_init ()
 #4  0x76cad228 in __libc_start_main (main=0x7efff774, argc=1994186752,
     argv=0x76cad228 <__libc_start_main+168>, init=0xe15b4 <__libc_csu_init>,
     fini=0xe1614 <__libc_csu_fini>, rtld_fini=0x76fdf464 <_dl_fini>,
     stack_end=0x7efff774) at libc-start.c:246
 #5  0x0000afa4 in _start ()
 2016-11-19 14:05:22 -02:00
Lucas De Marchi
bc476e1987 AP_ADC: fix ADS1115 instantiation 
This can't be called on constructor since hal may not be initialized at
that time.
 2016-11-19 14:05:22 -02:00
Andrew Tridgell
216cf53922 AP_InertialSensor: handle FIFO overflow for MPU6k and 9250 
this prevents temporary corruption of INS data on FIFO overflow
 2016-11-19 12:54:22 +11:00
Lucas De Marchi
c6b0a71c47 AP_Compass: Calibrator: use inplace initializer on array 2016-11-18 20:03:30 -02:00
Siddharth Bharat Purohit
b36ee10e7c AP_Compass: fix wrong memset in compass calibrator 2016-11-18 20:03:30 -02:00
Siddharth Bharat Purohit
451c2f146d AP_AccelCal: fix bug preventing accel cal fit to run more than one iteration 
The check for fitness being smaller than the last value should use the
absolute value, to mean the fitness isn't changing since last iteration.
It's currently always quiting the function after the first iteration.

However for Gauss Newton we anyway want to run as many iterations as we
can, because there are ups and downs along the iteration so we might get
say best result where before and after iterations were bad. The lines
above takes care that sane and the best is selected.
 2016-11-18 20:03:30 -02:00
Tom Pittenger
11229d2588 SITL: fix whitespace 2016-11-18 10:42:10 -08:00
ori ganoni
631b5c3ebc adding turbulance to SITL 2016-11-17 20:06:35 -08:00
Andrew Tridgell
18d4286166 AP_InertialSensor: fixed pixfalcon 9250 detection 2016-11-18 14:24:39 +11:00
Peter Barker
fd5f79b238 AC_PrecLand: a pure-ArduPilot simulated SITL precision land backend 2016-11-18 09:41:56 +09:00
Peter Barker
4df4ba1956 AC_PrecLand: make SITL_Gazebo an alternate backend 
Preprocessor directives were used to hack in the use
of AP_IRLock_SITL.  Instead, make it a full backend itself.
 2016-11-18 09:41:56 +09:00
Peter Barker
d2285ace6c AC_PrecLand: remove unneeded empty handle_msg 2016-11-18 09:41:56 +09:00
Peter Barker
03710beb18 AC_PrecLand: make handle_msg impure and do nothing 2016-11-18 09:41:56 +09:00
Peter Barker
1eca4e128d AC_WPNav: method to retrieve current desired pilot accels 2016-11-18 09:41:56 +09:00
Andrew Tridgell
cb1a5d4c74 AP_InertialSensor: take semaphore for update of accumulators 
this fixes a race in update of delta angle and delta velocity between
backend and frontend
 2016-11-18 06:32:17 +11:00
Pierre Kancir
84aaca7c6e SITL: add missing break 2016-11-17 13:46:10 +00:00
Peter Barker
cf5ed25c9e AP_HAL_Linux: do not attempt realtime when compiling Replay 2016-11-16 22:25:18 -02:00
Julien Beraud
ac3f49b06f RPIOUART_Driver: fix warning 
cast PKT_MAX_REGS to uint32_t to be able to compare without a warning
 2016-11-16 17:37:15 -02:00
Julien Beraud
dc86a53862 OpticalFlow: move onboard alloc to init() 
No reason to keep it in the constructor
 2016-11-16 20:38:00 +11:00
Andrew Tridgell
f3f1f6b0b6 AP_InertialSensor: fixed gyro orientation on l3gd20H on pixhawk 2016-11-16 20:33:56 +11:00
Michael Oborne
fbeafa0d0a Update AP_BoardConfig.cpp 2016-11-16 16:00:12 +11:00
Michael Oborne
e7e3478a58 AP_BoardConfig: add extra uavcan options 
this enables the display of dynamic id assignment, which prevents the need for a serial connection to the esc, for first config.
 2016-11-16 16:00:12 +11:00
Peter Barker
37c2c0a822 AP_Stats: fix variable reset time bug 
Use Jan 1st 2016 as epoch time rather than Unix epoch.

PixHawk's 32-bit floats can't store a 32-bit timestamp.
 2016-11-16 09:14:01 +09:00
Andrew Tridgell
6af00027ab AP_InertialSensor: removed unused variables 
thanks to Francisco for noticing
 2016-11-16 08:41:06 +11:00
Pierre Kancir
86c8145bd9 SITL: Change Flighgear port with instance number 2016-11-16 08:27:48 +11:00
Pierre Kancir
c4b5bd4bd9 SITL: revert fg view to activate by default and use flag to disable it 2016-11-16 08:27:48 +11:00
Pierre Kancir
e2b939df39 SITL: rename simin to rcin for better readability 2016-11-16 08:27:48 +11:00
Pierre Kancir
59c84c637e SITL: make fg view optional 2016-11-16 08:27:48 +11:00
Francisco Ferreira
bfbb275577 AP_InertialSensor: on accel cal failure don't save values to zero 
When the accel calibration fails leave the previous values saved but set them to defaults (scale default is ones, not zeros) and notify the GCS
This fixes an arithmetic exception when doing a second accel cal after the first one failed
 2016-11-15 11:42:54 -08:00
Francisco Ferreira
a3fcebc501 AP_Param: add set_and_notify to vectors 2016-11-15 11:42:54 -08:00
Francisco Ferreira
e763896b6a AP_AccelCal: send and receive MAV_CMD_ACCELCAL_VEHICLE_POS 
Message is sent at a maximum of 1Hz
Status text is sent, but if command is received it stops and only uses commands
 2016-11-15 11:42:54 -08:00
Francisco Ferreira
7463d4c8f7 GCS_MAVLink: add function to send command requesting vehicle position during accel cal 2016-11-15 11:42:54 -08:00
Francisco Ferreira
bc661f013e AP_AccelCal: use vehicle position values from MAVLink enum 2016-11-15 11:42:54 -08:00
Francisco Ferreira
c07f377eb1 AP_AccelCal: make collect_sample responsible for state changes 
Also only set the snoop if the step has changed
 2016-11-15 11:42:54 -08:00
Andrew Tridgell
624178f3be AP_InertialSensor: added INS_FAST_SAMPLE parameter 
this allows enable/disable of fast sampling per IMU, making
experimentation easier.

It also fixes the fast sampling to always average over 8 samples, and
fixes the 9250 to use the correct accumulator when not doing fast
sampling
 2016-11-15 21:16:40 +11:00
Andrew Tridgell
c0303ffe8a AP_InertialSensor: temporarily disable fast sampling 
a problem has been found with the filtering with fast sampling on
ICM-20608 and MPU9250. Disable until it is solved.
 2016-11-14 18:18:17 +11:00
Andrew Tridgell
ae2dc5570e AP_Proximity: added SITL proximity backend 
using fence points for avoidance
 2016-11-14 15:53:43 +09:00
Andrew Tridgell
b16226dddf AP_Baro: fixed a bug with corrupted conversions in MS5611 driver 
the datasheet says that if you get back zero in an ADC read that the
next value can be corrupt. I have seen this happen on the FMUv1,
leading to bad altitude readings
 2016-11-13 17:08:06 +11:00
Andrew Tridgell
ac4b100ae4 AP_BoardConfig: use in-tree drivers for FMUv1 2016-11-13 16:21:17 +11:00
Andrew Tridgell
14a26bee6c AP_HAL: fixed ms5611 address on FMUv1 2016-11-13 16:21:05 +11:00
Andrew Tridgell
00938f7dbb HAL_PX4: fixed enabled channels in init 
now this is called from AP_BoardConfig we need to not clear enabled
channels
 2016-11-13 13:16:22 +11:00
Andrew Tridgell
0502eca7fc HAL_PX4: removed unused variable 2016-11-13 13:16:22 +11:00
Andrew Tridgell
c794ad9ee8 AP_InertialSensor: use smaller FIFO buffers 
this allows for reading multiple chunks from the fifo per callback
 2016-11-13 13:16:22 +11:00
Michael Oborne
c62050dc1b AP_GPS_SBF: fix accuracy reported by driver 2016-11-12 16:42:35 +09:00
Andrew Tridgell
5f3c14ea01 AP_RangeFinder: fixed tabs -> spaces 2016-11-12 14:18:15 +11:00
Andrew Tridgell
41018feb3a HAL_PX4: split I2C transfers 
this avoids SCL low with a stop condition, which doesn't work with
some devices
 2016-11-12 14:18:14 +11:00
Andrew Tridgell
0c7dd99d7e AP_RangeFinder: support LidarLite V2 using in-tree driver 
needs to run in continuous mode
 2016-11-12 14:18:14 +11:00
Andrew Tridgell
fd7b313e34 AP_RangeFinder: removed pwm_input_main 
thanks to Francisco
 2016-11-11 15:49:53 +11:00
Andrew Tridgell
a69ff34c80 AP_RangeFinder: try bus 0 and 1 for PulsedLightI2C rangefinder 2016-11-11 15:49:53 +11:00
Andrew Tridgell
516141edf3 AP_RangeFinder: start PX4 rangefinder drivers on demand 2016-11-11 15:49:53 +11:00
Andrew Tridgell
0fb959a309 AP_RPM: make pwm_input driver start on demand 2016-11-11 15:49:53 +11:00
Andrew Tridgell
08f770125e AP_BoardConfig: moved optional sensor startup out of AP_BoardConfig 2016-11-11 15:49:53 +11:00
Andrew Tridgell
8d19808152 AP_InertialSensor: fixed missing checked register goto 
thanks to Francisco for spotting
 2016-11-11 08:08:56 +11:00
Andrew Tridgell
49856c37f2 AP_InertialSensor: reduce checked register count 
thanks to Francisco for spotting this
 2016-11-11 08:08:56 +11:00
Andrew Tridgell
4be8f05ad4 AP_InertialSensor: added register checking for LSM9DS0 2016-11-11 08:08:56 +11:00
Andrew Tridgell
77a83c091a AP_InertialSensor: added register checking for MPU6000/ICM20608 2016-11-11 08:08:56 +11:00
Andrew Tridgell
95a849f472 AP_InertialSensor: added register checking for MPU9250 2016-11-11 08:08:56 +11:00
Andrew Tridgell
3289e90134 AP_InertialSensor: added error count increments in drivers 2016-11-11 08:08:55 +11:00
Andrew Tridgell
bc614de4b3 AP_HAL: added checked registers interface 
allow drivers to easily monitor and correct critical registers
 2016-11-11 08:08:55 +11:00
Andrew Tridgell
4ebf3309f7 AP_InertialSensor: auto-handle invensense sensor changes 
some boards swap out MPU6000 for MPU9250 or ICM20608
 2016-11-11 08:08:55 +11:00
Andrew Tridgell
8e61b15384 HAL_PX4: added ICM20608_EXT SPI device 2016-11-11 08:08:55 +11:00
Andrew Tridgell
e4454c5056 AP_Compass: setup for new PX4 board IDs 2016-11-11 08:08:55 +11:00
Andrew Tridgell
41b132e576 AP_Baro: setup for new board PX4 IDs 2016-11-11 08:08:55 +11:00
Andrew Tridgell
4f50d67790 AP_BoardConfig: added board type auto-detection 
using SPI probing
 2016-11-11 08:08:55 +11:00
Andrew Tridgell
c565c9df35 AP_HAL: added ICM20608 external SPI name 2016-11-11 08:08:55 +11:00
Andrew Tridgell
af0ec41652 AP_InertialSensor: fixed accel clip detection with fast sampling 
we need to check on every sample at the full rate
 2016-11-10 13:39:17 +11:00
Andrew Tridgell
0eac781559 AP_Compass: don't run the AK8963 on the external MPU9250 
this saves us one mag slot for another external mag, and leaves the
primary MPU9250 undisturbed by the mag traffic on the bus
 2016-11-10 13:05:22 +11:00
Andrew Tridgell
70c27a85de AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz 2016-11-10 13:04:15 +11:00
Andrew Tridgell
73122adb78 AP_BoardConfig: removed unused startup functions for Pixracer 2016-11-10 12:55:22 +11:00
Andrew Tridgell
3d5c57c5dc AP_Compass: fixed orientation of PH2 in-tree compass drivers 2016-11-10 11:44:52 +11:00
Andrew Tridgell
4ba00720aa AP_Compass: make init() private 
not called from frontend
 2016-11-10 11:44:52 +11:00
Andrew Tridgell
1ea4c6938c AP_InertialSensor: allow auxiliary bus with fast sampling 2016-11-10 11:44:52 +11:00
Andrew Tridgell
8da42b7a8b AP_InertialSensor: fixed temperature for fast sampling case 2016-11-10 11:44:52 +11:00
Andrew Tridgell
cb70bae167 AP_InertialSensor: use in-tree drivers for PH2SLIM 2016-11-10 11:44:52 +11:00
Andrew Tridgell
c68a6451cb AP_Compass: use in-tree drivers for PH2SLIM 2016-11-10 11:44:52 +11:00
Andrew Tridgell
d716bbedee AP_Baro: use in-tree drivers for PH2SLIM 2016-11-10 11:44:52 +11:00
Andrew Tridgell
e7a9de9b41 AP_BoardConfig: use in-tree drivers for PH2SLIM 2016-11-10 11:44:52 +11:00
Andrew Tridgell
fea7040aff AP_Baro: don't panic when we can't find MS5611 
this makes booting a PH2 without its sensor hat on much easier
 2016-11-10 11:44:51 +11:00
Andrew Tridgell
e27a76e460 AP_InertialSensor: fixed auxiliary bus with FIFO enabled 
make sure fifo reset doesn't check I2C master enable
 2016-11-10 11:44:51 +11:00
Andrew Tridgell
46785e8ecf AP_InertialSensor: improved method for FIFO integrity checking 
check temperature every 255 samples against FIFO data
 2016-11-10 11:44:51 +11:00
Andrew Tridgell
8a3f6a8902 AP_InertialSensor: use FIFO and implement fast sampling for MPU9250 2016-11-10 11:44:51 +11:00
Andrew Tridgell
f94e4b4375 Filter: allow 1P LowPassFilter to work without alpha recalc per sample 
this makes the 1P filter optionally syntax compatible with the 2P
filter and much more CPU efficient.
 2016-11-10 11:43:29 +11:00
murata
f9add59b58 Global: Aggregate the same definitions. 
Global: Aggregate the same definitions.
 2016-11-09 11:46:55 -03:00
Lucas De Marchi
c1647b13eb AP_HAL_Linux: fix leaking strings 2016-11-09 11:44:05 -03:00
Andrew Tridgell
e25a391a8f AP_InertialSensor: fixed typo 2016-11-09 17:08:15 +11:00
Andrew Tridgell
d2f6a514b9 AP_InertialSensor: catch FIFO alignment errors using temperature reading 
Two cases of what seems to be FIFO alignment errors have been seen on
a Pixracer-beta board with a ICM-20608. At a cost of 2 extra bytes per
transfer we can catch these by looking for sudden temperature changes
caused by bad data in the temperature registers.
 2016-11-09 17:08:15 +11:00
Andrew Tridgell
4602b4d679 AP_Compass: improve init and calibration of hmc5843 2016-11-09 17:08:15 +11:00
Andrew Tridgell
d248b33104 AP_InertialSensor: simplify config of MPU6000 
use zero sample rate divider on both MPU6000 and ICM20608
 2016-11-09 17:08:14 +11:00
Andrew Tridgell
7137d5c6f2 AP_InertialSensor: switch pixracer to always use in-tree drivers 2016-11-09 17:08:14 +11:00
Andrew Tridgell
3d48a72f59 AP_C0mpass: switch pixracer to always use in-tree drivers 2016-11-09 17:08:14 +11:00
Andrew Tridgell
b8c789cf35 AP_Baro: switch pixracer to always use in-tree drivers 2016-11-09 17:08:14 +11:00
Andrew Tridgell
b0b93f8928 AP_BoardConfig: switch pixracer to always use in-tree drivers 2016-11-09 17:08:14 +11:00
Andrew Tridgell
84c3e29891 AP_InertialSensor: use AP_HAL rotations for MPU6000 2016-11-09 17:08:14 +11:00
Andrew Tridgell
fd8955a737 AP_HAL: define default rotations for mpu6000 based boards 2016-11-09 17:08:14 +11:00
Andrew Tridgell
2f01dfe81c AP_InertialSensor: fixed from review by Lucas 2016-11-09 17:08:13 +11:00
Andrew Tridgell
81b933d9d0 AP_InertialSensor: use int32_t summation for fast sampling 
very slightly faster
 2016-11-09 17:08:13 +11:00
Andrew Tridgell
b00fd95725 AP_Math: define Vector3l for += op 2016-11-09 17:08:13 +11:00
Andrew Tridgell
565f1986e0 AP_Baro: fixed FMUv1 baro and enable in-tree driver for PHMINI 2016-11-09 17:08:13 +11:00
Andrew Tridgell
fcf0a4ea59 AP_BoardConfig: use in-tree drivers for PHMINI 2016-11-09 17:08:13 +11:00
Andrew Tridgell
b363a65c2e AP_Compass: enable in-tree drivers for PHMINI 2016-11-09 17:08:13 +11:00
Andrew Tridgell
03b7bc9e65 AP_InertialSensor: use internal drivers for PHMINI 
this gets us fast sampling
 2016-11-09 17:08:12 +11:00
Andrew Tridgell
af1c5fd6d3 AP_InertialSensor: always use FIFO on MPU6000 
and enable fast sampling on ICM20608 if on SPI
 2016-11-09 17:08:12 +11:00
Andrew Tridgell
96e42696b7 HAL_PX4: added icm20608-am SPI device 2016-11-09 17:08:12 +11:00
Andrew Tridgell
d778ee2db0 AP_HAL: define device for icm20608 on ACCEL_MAG CS line on px4 
for PHMINI
 2016-11-09 17:08:12 +11:00
Andrew Tridgell
b34ab2956b HAL_PX4: added access to external SPI connector on FMUv2 2016-11-09 17:08:12 +11:00
Andrew Tridgell
fde80a9408 AP_InertialSensor: modify LSM303D settings to match PX4 driver 
this allows existing accel calibration to be used
 2016-11-09 17:08:12 +11:00
Andrew Tridgell
875fa60452 AP_Compass: fixed external I2C HMC5983 rotation on pixhawk 2016-11-09 17:08:11 +11:00
Andrew Tridgell
01fadb6e90 HAL_PX4: added per-device perf counter for I2C devices 2016-11-09 17:08:11 +11:00
Andrew Tridgell
a9a5e50bd1 AP_InertialSensor: removed timer callback for MPU6000 
Thanks to Lucas for pointing out this is not needed
 2016-11-09 17:08:11 +11:00
Andrew Tridgell
42f242a07b HAL_PX4: fixed build on PX4-v1 2016-11-09 17:08:11 +11:00
Andrew Tridgell
bd8867be38 AP_Compass: cope with NULL dev pointer in driver probe functions 2016-11-09 17:08:11 +11:00
Andrew Tridgell
ba9b475782 AP_HAL: added MS5611 on I2C for px4-v1 2016-11-09 17:08:11 +11:00
Andrew Tridgell
4cf6dd1818 HAL_Linux: removed panic on bad SPI device 2016-11-09 17:08:11 +11:00
Andrew Tridgell
20cd165476 HAL_PX4: allow for missing SPIDevice table entries 
removed panic
 2016-11-09 17:08:10 +11:00
Andrew Tridgell
bd84e592f8 AP_InertialSensor: check for NULL device pointer in probe() 
handle missing devices
 2016-11-09 17:08:10 +11:00
Andrew Tridgell
3b53caad87 AP_Compass: keep old hmc5843 ID 
prevent re-use. thanks to Lucas
 2016-11-09 17:08:10 +11:00
Andrew Tridgell
02c2ba1331 AP_Compass: fixed dup semaphore bug 
thanks to Lucas for spotting this!
 2016-11-09 17:08:10 +11:00
Andrew Tridgell
f31a017ace AP_Compass: changes to HMC5843 driver 
this makes the HMC5843 use single-shot mode, which makes it more
robust to bus resets. It also adds WHOAMI checking and enables
automatic temperature compensation.

Unfortunately this makes existing calibration values incompatible, so
a re-cal is required. The device ID has been changed to reflect the
driver change.
 2016-11-09 17:08:10 +11:00
Andrew Tridgell
f62851f780 GCS_MAVLink: added remote device operations 
this makes debugging devices much easier. You can even write a
primitive SPI or I2C device driver over mavlink.

Support for this is in the devop MAVProxy module
 2016-11-09 17:08:10 +11:00
Andrew Tridgell
922d5a74f7 HAL_PX4: print msg when I2C device is closed 2016-11-09 17:08:09 +11:00
Andrew Tridgell
da7ed73051 GCS_MAVLlink: added handle_common_message() 
this will make it easier to add common functions for mavlink messages
without having to do a commit for each vehicle
 2016-11-09 17:08:09 +11:00
Andrew Tridgell
e5a4dd4e56 HAL_PX4: added perf counter on SPI devices 2016-11-09 17:08:09 +11:00
Andrew Tridgell
8bca8545a2 HAL_PX4: removed unused devname field in SPIDevice 2016-11-09 17:08:08 +11:00
Andrew Tridgell
05769640d1 AP_Compass: support rotations on AK8963 2016-11-09 17:08:08 +11:00
Andrew Tridgell
2716ab8408 AP_Compass: added support for per-instance rotations 2016-11-09 17:08:08 +11:00
Andrew Tridgell
fac895b0e6 AP_Compass: setup read flag for SPI transfers 2016-11-09 17:08:08 +11:00
Andrew Tridgell
18df213069 HAL_PX4: fixed initial SPI bus speed and report new SPI instances 2016-11-09 17:08:08 +11:00
Andrew Tridgell
3d7d773883 AP_InertialSensor: added support for ICM20608 on Pixracer 2016-11-09 17:08:08 +11:00
Andrew Tridgell
4dc5dc87b5 HAL_PX4: added ICM20608 to SPI table 2016-11-09 17:08:08 +11:00
Andrew Tridgell
ea74f8c12c AP_HAL: added ICM20608 INS name 2016-11-09 17:08:07 +11:00
Andrew Tridgell
2c1e9024f1 AP_InertialSensor: detect missing accels or gyros 2016-11-09 17:08:07 +11:00
Andrew Tridgell
106a91c64c AP_InertialSensor: use init_gyro() on startup 
this saves the calibration parameters which should be done on
calibration
 2016-11-09 17:08:07 +11:00
Andrew Tridgell
408593465f AP_InertialSensor: fixed rotation for mpu9250 on pixracer 2016-11-09 17:08:07 +11:00
Andrew Tridgell
790dd4769b AP_InertialSensor: simplify rotations for MPU9250 2016-11-09 17:08:07 +11:00
Andrew Tridgell
38a1f51b53 AP_HAL: define rotations for the MPU9250 in board/linux.h 2016-11-09 17:08:07 +11:00
Andrew Tridgell
147b253e65 AP_Compass: make device IDs match PX4 drivers 
match in-tree drivers to PX4Firmware drivers
 2016-11-09 17:08:06 +11:00
Andrew Tridgell
aa4025bdf9 AP_InertialSensor: make INS sensor IDs match for PX4 
in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2
 2016-11-09 17:08:06 +11:00
Andrew Tridgell
76b2759317 AP_OpticalFlow: fixed shadowed variable build warning 2016-11-09 17:08:06 +11:00
Andrew Tridgell
9e7e1b2f01 AP_InertialSensor: fixed merge conflicts with patches from Lucas 2016-11-09 17:08:06 +11:00
Andrew Tridgell
1990aa96e1 AP_HAL: added get_bus_id_devtype() 
used to do versioning on device types
 2016-11-09 17:08:06 +11:00
Lucas De Marchi
104e29acf2 AP_InertialSensor: MPU6000: change accel scale to 16G 
Also change the ID of MPU6000 so previous calibration values are not
considered valid.
 2016-11-09 17:08:06 +11:00
Lucas De Marchi
dc09661b9e AP_InertialSensor: MPU6000: save driver version 
When registering accel and gyro we use the upper 16bits of the id to
store the driver version. When changing the driver behavior in
non-compatible ways, changing this version will trigger a request for
calibration.
 2016-11-09 17:08:06 +11:00
Lucas De Marchi
0d3adef8b2 AP_InertialSensor: MPU6000: remove TODO leftover 
This will never be done as blindly changing speed is not the way to fix
communication issues.
 2016-11-09 17:08:05 +11:00
Andrew Tridgell
0a1616cc71 AP_InertialSensor: use correct device IDs on PX4 driver 2016-11-09 17:08:05 +11:00
Lucas De Marchi
469efb00f6 AP_InertialSensor: save id for gyro and accel instances 
This allows each sensor to be uniquely identified in the system by using
either the index inside the backend or for those that use the Device
interface, to use the bus type, location, and device id.

We leave 16-bit for each sensor to be able to change its own
identification in future, which allows them to be changed in an
incompatible manner forcing a re-calibration.
 2016-11-09 17:08:05 +11:00
Lucas De Marchi
bbb9bfa95e AP_InertialSensor: save only gyro calibration 
When we are initializing the gyro and then saving the calibration we are
also saving the calibration values for the accelerometers. Right now
this is non-problematic, but we want to check that the ID of the
accelerometer corresponds to the ID of the sensor detected. If we also
save accel calibrations we would actually override the ID of the
accelerometer.

Rename the method to _save_gyro_calibration() and save only on gyro
values.
 2016-11-09 17:08:05 +11:00
Lucas De Marchi
f81dba2100 AP_InertialSensor: add doc to get_id() of backend 
This is different from get_id() of Device and ultimately from each
sensor this this is identifying the backend, not the sensor.
 2016-11-09 17:08:05 +11:00
Lucas De Marchi
6b88f3367b AP_Common: remove AP_PRODUCT_ID_* macros 
These are not used anymore.
 2016-11-09 17:08:05 +11:00
Lucas De Marchi
ace61087a1 AP_InertialSensor: remove product_id 
We only leave the parameter there for backward-compatibility. However
product id on the inertial sensor is not much useful since it's only
kept for the first instance.

A better implementation per-gyro and per-accel is needed in order to
avoid problems with sensors taking the offsets configured for another
sensor.
 2016-11-09 17:08:05 +11:00
Andrew Tridgell
a6ac02b61f HAL_Linux: implement device IDs for I2C and SPI 2016-11-09 17:08:04 +11:00
Andrew Tridgell
de7913e8e9 AP_Compass: implement device IDs for compass drivers 2016-11-09 17:08:04 +11:00
Andrew Tridgell
64a5d3938c AP_InertialSensor: implement device IDs for MPU6000 and MPU9250 AuxilaryBus 2016-11-09 17:08:04 +11:00
Andrew Tridgell
ac2c25539b AP_InertialSensor: implement device IDs for AuxilaryBus 2016-11-09 17:08:04 +11:00
Andrew Tridgell
16489d2a13 HAL_PX4: implement device IDs for I2C and SPI 2016-11-09 17:08:04 +11:00
Andrew Tridgell
3d48b6bb3a AP_HAL: added device id tuples to Device class 
this allows a bus connection and device type tuple to be identifed as
a 24 bit number for use in user visible device IDs. Every bus
connection has a unique device ID.
 2016-11-09 17:08:04 +11:00
Andrew Tridgell
4ef92b5e39 AP_InertialSensor: enable all 3 IMUs on PH2 2016-11-09 17:08:04 +11:00
Andrew Tridgell
e08babb7df HAL_PX4: added new SPI devices for PH2 2016-11-09 17:08:03 +11:00
Andrew Tridgell
26ca2dd392 AP_HAL: added more px4 SPI device names 2016-11-09 17:08:03 +11:00
Andrew Tridgell
ac0ea12b42 AP_Compass: enable HMC5843 on SPI for PH2 2016-11-09 17:08:03 +11:00
Andrew Tridgell
88e24dd8bd AP_BoardConfig: added board type 103 
for PH2 in-tree drivers
 2016-11-09 17:08:03 +11:00
Andrew Tridgell
66026100c3 AP_Baro: enable dual baro on PH2 2016-11-09 17:08:03 +11:00
Andrew Tridgell
4df9b093c3 AP_Baro: fixed missed samples in ms5611 driver 2016-11-09 17:08:03 +11:00
Andrew Tridgell
7c36e14524 AP_ADC: fixed thread usage in AP_ADC_ADS1115 2016-11-09 17:08:03 +11:00
Andrew Tridgell
dbd192971f AP_Notify: fixed threading on toshibaled i2c 2016-11-09 17:08:02 +11:00
Andrew Tridgell
a9cb03ad74 AP_Notify: fixed threading in two notify backends 2016-11-09 17:08:02 +11:00
Andrew Tridgell
6e2fbf1988 AP_OpticalFlow: fixed threading in opticalflow for linux 2016-11-09 17:08:02 +11:00
Andrew Tridgell
5cf768ced2 AP_InertialSensor: fixed missing return 2016-11-09 17:08:02 +11:00
Andrew Tridgell
4f231f9355 AP_BattMonitor: fixed thread usage for SMBus_I2C 2016-11-09 17:08:02 +11:00
Andrew Tridgell
e88519364f AP_RangeFinder: fixed maxbotix I2C semaphore and bus usage 2016-11-09 17:08:02 +11:00
Andrew Tridgell
bedee31f61 AP_Baro: fixed semaphore and thread usage in baro drivers 2016-11-09 17:08:02 +11:00
Andrew Tridgell
38ff8b3536 AP_InertialSensor: removed unused product_id function in L3G4200D 2016-11-09 17:08:01 +11:00
Andrew Tridgell
1c631ea037 AP_Compass: cleanup use of backend semaphores 
fixed drivers that didn't protect accumulation counters
 2016-11-09 17:08:01 +11:00
Andrew Tridgell
9afd51350e AP_Compass: use thread per bus in more drivers 
and removed use of timer suspend
 2016-11-09 17:08:01 +11:00
Andrew Tridgell
974827aa82 AP_Compass: enabled AK8963 on PX4 2016-11-09 17:08:01 +11:00
Andrew Tridgell
a06137bb68 AP_HAL: define 9250 devices 2016-11-09 17:08:01 +11:00
Andrew Tridgell
4bc5b715bf HAL_PX4: define 9250 and fix SPI bus speeds 2016-11-09 17:08:01 +11:00
Andrew Tridgell
a5c5e033d2 AP_InertialSensor: fixed threading and locking in remaining backends 
use a backend semaphore for shared data and use thread per bus where
available
 2016-11-09 17:08:01 +11:00
Andrew Tridgell
2e4151d14e AP_Compass: enable lsm303d mag on FMUv2 2016-11-09 17:08:00 +11:00
Andrew Tridgell
36190ba545 AP_Compass: use thread per bus for lsm303d mag 2016-11-09 17:08:00 +11:00
Andrew Tridgell
b92c48548a AP_InertialSensor: added per-instance rotation for LSM9DS0 2016-11-09 17:08:00 +11:00