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25,182 Commits 71 Branches 510 Tags 770 MiB
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13058 Commits

Author SHA1 Message Date
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Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.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Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.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Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.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