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13706 Commits

Author SHA1 Message Date
Pierre Kancir 83c7217911 AP_IRLock_SITL: correct packet timestamp 2017-01-19 17:08:43 +00:00
Lucas De Marchi fd0e4164b9 AP_Notify: DiscoLED: keep includes sorted 2017-01-19 08:59:00 -08:00
Lucas De Marchi c27c414e5a AP_HAL_Linux: Led_Sysfs: small fixes 
- avoid trying to close fd when it's -1

  - Keep includes sorted

  - AP_HAL::panic() doesn't need \n terminator

  - %u requires unsigned type

  - #pragma once is the first thing on a header
 2017-01-19 08:56:32 -08:00
Mathieu OTHACEHE 701d91f20c AP_Notify: Disco: use new led sysfs backend or, if not available, legacy 
pwm backend to drive leds.

In new Disco releases, the led sysfs api will replace the pwm sysfs
api to drive the tricolor led.

Keep pwm sysfs api for compatibility reasons.
 2017-01-19 08:24:48 -08:00
Mathieu OTHACEHE 7d4d14a409 AP_HAL_Linux: add Led_Sysfs class. 
Add a class to control leds via linux sysfs API.
 2017-01-19 08:24:47 -08:00
murata dd0d09175b AP_Beacon: Changed if statements to switch statement. 2017-01-19 11:26:32 +09:00
Mathieu OTHACEHE bad1c879d9 AP_HAL: Bebop & Disco: move default param file path 
In future Bebop & Disco releases, no ardupilot binary nor default param file
will be provided.

So move HAL_PARAM_DEFAULTS_PATH to ardupilot folder in RW memory.
 2017-01-18 18:08:01 +00:00
Mathieu OTHACEHE fdb2a9c99b AP_HAL: Bebop & Disco: rename APM to ardupilot in paths 
Rename APM to ardupilot for Bebop and Disco's HAL_BOARD_LOG_DIRECTORY and
HAL_BOARD_TERRAIN_DIRECTORY.
 2017-01-18 18:08:01 +00:00
Michael du Breuil d5a5a97a3d SITL: Use the GPS_LEAPSECOND define 2017-01-18 18:07:26 +00:00
Michael du Breuil c696137a42 AP_GPS: Update the number of leapseconds 2017-01-18 18:07:26 +00:00
Randy Mackay ff042528fe AC_PosControl: remove alt_max 
AC_Avoidance enforces the altitude limit
 2017-01-18 09:35:47 +09:00
Randy Mackay 127404acea AC_PosControl: add get_pos_z_kP accessor 2017-01-18 09:35:47 +09:00
Randy Mackay e799e3a342 AC_Avoidance: stop based on upward facing proximity sensor 2017-01-18 09:35:47 +09:00
Randy Mackay 2133fd94ca AC_Avoidance: adjust_velocity_z uses inav get_hgt_ctrl_limit 
inertial navigation's get_hgt_ctrl_limit provides an altitude-above-ekf-origin limit while flying with optical flow
 2017-01-18 09:35:47 +09:00
Randy Mackay f73efd5249 AC_Avoidance: add adjust_velocity_z 
This allows reducing the climb rate to slow the vehicle's climb so it does not breach the altitude fence
 2017-01-18 09:35:47 +09:00
Randy Mackay 12dd6e11fb AC_Avoidance: constify get_position 2017-01-18 09:35:47 +09:00
Randy Mackay a47e215a8e AP_Proximity: add get_upward_distance 
This allow support for upward facing proximity sensor received through a DISTANCE_SENSOR message.
Also added SITL test
 2017-01-18 09:35:47 +09:00
Randy Mackay e7ba2420c1 AP_InertialNav: expose get_hgt_ctrl_limit to parent class 2017-01-18 09:35:47 +09:00
mirkix d2431dafd0 AP_AHRS: fix description 2017-01-17 18:55:46 +00:00
murata e903cb9945 AP_Math: Change mask value to hexadecimal number. 2017-01-17 10:20:15 -08:00
Peter Barker 8b38ce666d SITL: SIM_XPlane: fix fabsf/abs warning; location alts are in integer cm 2017-01-17 09:41:37 -08:00
Peter Barker e9a0e98863 AP_HAL_SITL: use fabs on double values 2017-01-17 09:41:37 -08:00
Julien Beraud b561837b41 RangeFinder_Bebop: Fix mode selection 
mistakes in selecting mode
 2017-01-17 09:34:25 -08:00
Julien Beraud 8a1f4e048f RangeFinder_Bebop: fix spi speed 
Set spi speed. Else 0 will be sent at each transfer.
 2017-01-17 09:34:25 -08:00
Pierre Kancir e627bbc912 AP_HAL: Board fix typo for baro BMP280_SPI 2017-01-17 17:33:37 +00:00
Randy Mackay 189b766f2b AC_AttControl: remove redundant parameter set 2017-01-17 14:56:07 +09:00
Leonard Hall c6d2fc3d5d AC_AttitudeControl: add rpy mix manual 
This allows adjusting the attitude control vs throttle level in manual
flight modes (Stabilize, ACRO)
 2017-01-17 14:19:09 +09:00
Randy Mackay d35a208dae AP_Arming: remove unused set_enabled_checks 2017-01-17 11:45:08 +09:00
Randy Mackay 34a850e1a5 AP_Arming: formatting and comment fixes 
No functional change
 2017-01-17 11:45:08 +09:00
Randy Mackay 593f035c53 AP_Arming: remove required, min-volt, min-volt2 params from Copter 2017-01-17 11:45:08 +09:00
Randy Mackay 5be3d14648 AP_Arming: rudder_arming moved to AP_Arming_Plane 2017-01-17 11:45:08 +09:00
Peter Barker 1f37366c5b AP_Arming: make expected magnetic field strength available to subclasses 2017-01-17 11:45:08 +09:00
Peter Barker 8159c4b747 AP_Arming: add comments on parameters only currently used by plane 2017-01-17 11:45:08 +09:00
Peter Barker 362c6e1b9e AP_Arming: use callback in place of variable reference for home state 2017-01-17 11:45:08 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 363574244b AP_Stats: Add missing parameter units 2017-01-16 19:07:27 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas bebb128d22 AP_Proximity: Add missing parameter units 2017-01-16 19:07:27 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas cae557fb4c AP_NavEKF3: Correct display names, bitmask and units 2017-01-16 19:07:26 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 715d094678 AP_NavEKF2: Correct display names, bitmask and units 2017-01-16 19:07:26 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 2243d900d5 AP_Gripper: Add missing parameter units 2017-01-16 19:07:26 +00:00
Julien Beraud 0d4ca03dcd AP_HAL_Linux: init SPIDevice speed by default 
Else a speed of 0 will be sent at each transfer.
Behaviour has changed when introducing SPIDevice
 2017-01-16 10:23:47 -08:00
Randy Mackay 6aeef76768 AP_Proximity: fix get_boundary_points in case of multiple sensors 2017-01-16 16:38:18 +09:00
Andrew Tridgell 8aa100d164 AP_Baro: fix for change to timer API 2017-01-14 12:54:37 +11:00
mirkix 4e06be38ac AP_HAL: Add Bosch BMP280 driver 2017-01-14 12:52:07 +11:00
mirkix 1ce5e5360a AP_Baro: Add Bosch BMP280 driver 2017-01-14 12:52:07 +11:00
Andrew Tridgell 58a0a6a2fc AP_Compass: disable lis3mdl for now 
pending investigation of possible hw error
 2017-01-14 12:40:04 +11:00
Lucas De Marchi 5472bc4de1 Global: change Device::PeriodicCb signature 
Remove bool return as it's never being used and not supported on PX4.
 2017-01-14 10:03:54 +11:00
Pierre Kancir 5aa4bc4368 AP_Params: fix seg fault in debug function 
otherwise at start, when loading paramter is could fail at AP_Param.cpp:611, Debug("scan past end of eeprom")"
 2017-01-13 08:54:20 -08:00
murata 87c2dfd921 AP_Baro: Change to secure code, from magic number to sizeof value. 2017-01-12 13:56:18 -08:00
Andrew Tridgell d005cbffd8 AP_Param: added convert_parent_class() 2017-01-12 17:39:37 +11:00
Andrew Tridgell 05e9462a9c AP_Param: added CONVERT_FLAG_REVERSE and CONVERT_FLAG_FORCE 2017-01-12 17:39:37 +11:00
Andrew Tridgell e248078401 SRV_Channel: added AP_Motors servo channel parameter upgrading 2017-01-12 17:39:37 +11:00
Andrew Tridgell d430cd62a6 AP_Param: fixed loading defaults file after storage 
make sure defaults don't override storage values
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 0c32178d07 AP_Param: added reload_defaults_file() 
this allows defaults to be set for parameters in pointer objects
 2017-01-12 17:39:37 +11:00
Andrew Tridgell ccae8979c1 AC_PID: expose filt_hz as a AP_Float 
this allows defaults to be overridden
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 2086b591a2 AC_PID: expose ff() method in AC_PID 
this allows for an abstract AC_PID class to be used in
AC_AttitudeControl for both multicopter and heli
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 8e3bf71aa9 AP_Motors: allow single, tri and coax to be part of multicopter class 2017-01-12 17:39:37 +11:00
Andrew Tridgell 5cf1c0869d AC_AttitudeControl: expose all functions via abstract class 
this allows for a single class to be used for heli and multicopter
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 8799094278 AP_Motors: use SRV_Channel for tri tail servo 2017-01-12 17:39:37 +11:00
Andrew Tridgell 86e0b8a91f SRV_Channel: added automatic parameter upgrade 2017-01-12 17:39:37 +11:00
Andrew Tridgell 77a7e7ca01 RC_Channel: give access to internals to SRV_Channel 
needed for parameter upgrade
 2017-01-12 17:39:37 +11:00
Andrew Tridgell c133b515e0 AP_ServoRelayEvents: fixed trim bug 
thanks to Buzz for noticing!
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 26f9a5569f SRV_Channel: added tracker_yaw and tracker_pitch for antenna tracker channels 2017-01-12 17:39:37 +11:00
Andrew Tridgell 37c6bec902 HAL_QURT: fixed a bug in new_input() 
same as for HAL_Linux
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 1bd9d0b7f9 HAL_PX4: cleanup whitespace 2017-01-12 17:39:37 +11:00
Andrew Tridgell ea2e32c102 SRV_Channel: implement limit_slew_rate() 2017-01-12 17:39:37 +11:00
Andrew Tridgell 51864b23eb SRV_Channel: cleanup header 2017-01-12 17:39:37 +11:00
Andrew Tridgell b6aa4205b4 RC_Channel: cleanup API and comments a bit 2017-01-12 17:39:37 +11:00
Andrew Tridgell 929fbce2c2 AP_LandingGear: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Andrew Tridgell b3d30cbd4b AP_Gripper: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 5817cc400c AC_Sprayer: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 1ac5776b8b AC_Sprayer: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 39ab1a0abc SITL: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 0942291e74 GCS_MAVLink: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell ede66aae17 AP_Tuning: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell f73f3bedda AP_ServoRelayEvents: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 7706741b9b AP_Parachute: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 4173432542 AP_Mount: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell ee7b9a3f8e AP_Camera: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 638f1364be AP_Motors: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 04ce73d8d7 AP_ICEngine: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 117974ef0f HAL_SITL: obey enable mask for output channels 2017-01-12 17:39:37 +11:00
Andrew Tridgell 9dc7dbfa16 AP_AdvancedFailsafe: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell fd081a8cc6 SRV_Channel: split SRV_Channel into separate directory 2017-01-12 17:39:37 +11:00
Andrew Tridgell 0791186cd2 RC_Channel: split SRV_Channel into separate directory 2017-01-12 17:39:37 +11:00
Andrew Tridgell 64aa13e7f4 RC_Channel: 2nd stage of SRV_Channels conversion 
allow for 16 output channel objects
 2017-01-12 17:39:37 +11:00
mirkix 62fabca19d AP_InertialSensor: Enable I2C bypass for MPU9250 conntected via I2C to access internal AK8963 2017-01-11 21:44:24 -08:00
Pierre Kancir ab9e88299f AP_HAL_SITL: Scheduler remove unreachable code & minor fix 
usleep wasn't reached since synthetic clock is always used
correct style
make constructor explicit
use c++ cast
 2017-01-12 01:27:16 +00:00
Pierre Kancir 63b3618fc7
AP_HAL_SITL: RCOuput minor fix 
correct style
make constructor explicit
use c++ cast
 2017-01-12 01:20:06 +00:00
Pierre Kancir ff46964d22
AP_HAL_SITL: RCInput minor fix 
fix style
make constructor explicit
remove unused _valid
correct read to return real length instead of fixed 8
correct implicit cast
 2017-01-12 01:19:54 +00:00
Pierre Kancir 7f5b32f59f AP_HAL_SITL: GPIO minor fixes 
fix style
make constructor explicit
fix implicit cast for unsigned to signed value
correct DigitalSource constructor definition
 2017-01-12 01:06:20 +00:00
Pierre Kancir 8ade9d1fe8 AP_HAL_SITL: style fixes 2017-01-12 01:06:20 +00:00
Pierre Kancir 5b2b4430b3 AP_HAL_SITL: AnalogIn minor fixes 
change pin to int16_t to match real implementation and prevent casting.
make constructor explicit
 2017-01-12 01:06:20 +00:00
Randy Mackay 7c7144fd8f AP_Proximity: minor comment spelling fix 2017-01-11 21:48:23 +09:00
Randy Mackay 74f1899aeb AP_Proximity: boundary_points requires only one valid distance 
Object avoidance is possible with just one valid distance
Boundary is initialised in new init_boundary function to be 100m from
vehicle
If sectors do not have valid distance measurements, we use the distance
from adjacent sectors.  This conveniently leads to a concave shaped
boundary that keeps the vehicle from travelling into the dataless sector.
 2017-01-11 21:48:23 +09:00
Randy Mackay a0a8472a44 AP_Proximity: fix consumption of distance-sensor messages 2017-01-11 21:48:23 +09:00
Lucas De Marchi b910f230fb AP_HAL_Linux: RCInput: replace volatile with atomic 2017-01-11 11:25:00 +11:00
Andrew Tridgell 0a18f5e7b2 HAL_Linux: fixed a bug in RCInput::new_input 
when a library called read() it would clear the new input flag, which
would cause new_input() in the main loop to return false. This could
trigger a false RC failsafe.
 2017-01-09 21:47:19 -08:00
Andrew Tridgell 9b7f0f7957 AP_HAL: make new_input() API clearer in comments 2017-01-09 21:47:11 -08:00
Randy Mackay d4daa10045 AP_Proximity: add MAV type to parameter descriptions 2017-01-10 11:00:00 +09:00
Francisco Ferreira c6875e1756
AP_NavEKF2: remove editor information wrongly added in d408d25 2017-01-09 16:16:14 +00:00
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