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8140 Commits

Author SHA1 Message Date
Robert Lefebvre
4da54783fd AC_AttitudeControl_Heli: Semantic Change. Motor Runup to Rotor Runup. 2015-05-29 17:46:23 +09:00
Robert Lefebvre
d24664ccf9 AP_MotorsHeli: Semantic change. Motor Runup to Rotor Runup 2015-05-29 17:46:18 +09:00
Robert Lefebvre
65ca09600c AP_Motors: Heli eliminate _dt member and fix rsc_runup calculation 2015-05-29 17:46:09 +09:00
Robert Lefebvre
18bac524a3 Copter: TradHeli, change Rate FF LPF to 10Hz 2015-05-29 17:46:05 +09:00
Andrew Tridgell
f39063e023 DataFlash: don't do PID logging on APM2 2015-05-29 16:32:05 +10:00
Randy Mackay
19b021f729 RCMap: added RebootRequired param description 2015-05-28 19:32:38 +09:00
svefro
b02bbcd289 RCMap: added Reboot required to rcmap parameter descriptions 
Added Reboot required to rcmap throttle, yaw, pitch, roll
 2015-05-28 19:32:20 +09:00
Andrew Tridgell
b6eba0842a DataFlash: fixed CAM message format 2015-05-27 22:10:39 +10:00
Andrew Tridgell
00ca493860 AP_AHRS: prevent a floating exception in update_trig 2015-05-27 22:10:39 +10:00
Randy Mackay
b121d83beb RC_Channel: add EPM, LandingGear to FUNCTION param description 2015-05-27 18:05:01 +09:00
Andrew Tridgell
8454246fae AP_Param: make it safe to change the type of a parameter 
if the type is changed then the value will revert to its default value
 2015-05-27 15:29:40 +10:00
Andrew Tridgell
95ff71940c DataFlash: fixed rebase errors 2015-05-27 14:28:50 +10:00
Andrew Tridgell
8f34ed5b76 DataFlash: added PIDA message 
for logging Z accel PID in copter
 2015-05-27 14:28:50 +10:00
Andrew Tridgell
a57889e3b0 GCS_MAVLink: re-generate headers 2015-05-27 14:28:49 +10:00
Andrew Tridgell
0ed7fda41d GCS_MAVLink: added ACCZ and STEER PID_TUNING axes 2015-05-27 14:28:49 +10:00
Andrew Tridgell
521dae1c65 AC_AttitudeControl: use set_desired_rate() on PID controllers 
this sets them up for logging of PIDs
 2015-05-27 14:28:49 +10:00
Andrew Tridgell
3ec8857fbc AC_PID: added set_desired_rate() interface 
used to setup _pid_info for logging
 2015-05-27 14:28:48 +10:00
Andrew Tridgell
6000bb0c32 AC_PID: log desired rate for VFF as well as AFF 2015-05-27 14:28:48 +10:00
Andrew Tridgell
b45ab52015 DataFlash: added desired rate to PID logging 2015-05-27 14:28:48 +10:00
Andrew Tridgell
86a3bca88c APM_Control: added FF parameters to roll and pitch controllers 
these are much easier to tune with the new PID_TUNING messages
 2015-05-27 14:28:47 +10:00
Robert Lefebvre
353879cd2b AC_AttitudeControl_Heli: Add Rate Accel FF to Yaw control 2015-05-27 14:28:47 +10:00
Robert Lefebvre
366f87c91c AC_HELI_PID: Add Acceleration FF method. 2015-05-27 14:28:47 +10:00
Robert Lefebvre
7ab628521e DataFlash: Add Acceleration Feedforward to PID_Info. 2015-05-27 14:28:47 +10:00
Robert Lefebvre
810b12a1ac AC_AttitudeControlHeli: Change Rate Yaw FF LPF from 5Hz to 10Hz. 2015-05-27 14:28:46 +10:00
Andrew Tridgell
e79a21d8c2 AC_PID: fill in desired rate for heli PID 2015-05-27 14:28:46 +10:00
Andrew Tridgell
d148c38f68 DataFlash: added desired rate to PID_Info 2015-05-27 14:28:45 +10:00
Andrew Tridgell
0fe04a93ce GCS_MAVLink: rebuilt headers 2015-05-27 14:28:45 +10:00
Andrew Tridgell
cc80fdf593 GCS_MAVLink: added PID_TUNING message 2015-05-27 14:28:45 +10:00
Andrew Tridgell
216a78a9f0 APM_Control: added get_pid_info() interface 2015-05-27 14:28:44 +10:00
Robert Lefebvre
23adf2773c AC_AttitudeControl: Remove To-Do comments for Attitude Rate logging. 2015-05-27 14:28:44 +10:00
Robert Lefebvre
967071ca62 AC_PID: Integrate PID Logging functionality. 2015-05-27 14:28:44 +10:00
Robert Lefebvre
753be18c17 DataFlash: Add PID Logging Method 2015-05-27 14:28:44 +10:00
Andrew Tridgell
d8df31c023 SITL: initialise a couple of variables to prevent a valgrind error 2015-05-27 11:54:18 +10:00
Andrew Tridgell
2a22ae5404 DataFlash: support 64 bit TimeUS log dumping 2015-05-27 11:54:18 +10:00
Andrew Tridgell
1400d0155c AP_Mount: fixed valgrind error with gimbal code 2015-05-27 11:54:17 +10:00
Andrew Tridgell
4705be97bf AP_HAL: support %lld and %llu in internal printf 
useful for log messages with 64 bit timestamps
 2015-05-27 11:54:17 +10:00
Peter Barker
8be9e99fad AP_InertialSensor_PX4: 64-bit timestamps for ACCx and GYRx messages 2015-05-27 11:54:17 +10:00
Peter Barker
988f3277de DataFlash: 64-bit timestamps for ACCx and GYRx messages 2015-05-27 11:54:17 +10:00
Peter Barker
f489f6b696 AP_InertialSensor: use 64-bit timestamps in dataflash logs 2015-05-27 11:54:17 +10:00
Peter Barker
9ae85ed9ab APM_Control/AP_AutoTune: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:17 +10:00
Peter Barker
457f77314e AP_TECS: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:16 +10:00
Peter Barker
feb85ef7d5 AP_GPS: unused SBP struct gets 64-bit timestamp 2015-05-27 11:54:16 +10:00
Peter Barker
4d67ccb338 AP_GPS: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:16 +10:00
Peter Barker
9e0b5910e2 AP_Terrain: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:16 +10:00
Peter Barker
88015503ac SITL: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:16 +10:00
Peter Barker
617043f468 DataFlash: convert GPS and CAM dataflash messages to 64-bit timestamps 
GPS structures remove 32-bit apm_time and replace with standard time_us
Significant change to GPS and GPS2 messages:
	    Add TimeUS as first field
	    Remove T field
	    Due to length restrictions on labels:
	    	Renamed TimeMS to GMS (Gps MilliSeconds)
		Renamed Week to GWk (Gps WeeK)
		Renamed RelAlt to RAlt
Significant change to CAM messages:
	    Removed GPSTime (uin32_t), added TimeUS (uint64_t)
 2015-05-27 11:54:15 +10:00
Peter Barker
769982b8f2 DataFlash: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:14 +10:00
Randy Mackay
114c4f4077 AP_Match: fix example sketch 2015-05-27 09:47:24 +09:00
Randy Mackay
fb2d29364e Mount_SToRM32_serial: fix angle request 2015-05-26 21:05:29 +09:00
Randy Mackay
9b04a67e63 Mount_SToRM32_serial: rename sent_do_mount_control 2015-05-26 21:05:26 +09:00
Randy Mackay
72eb25b166 Mount: add SToRM32 serial to front end 2015-05-26 21:05:24 +09:00
Sergey Kirillov
c133511431 Mount: add SToRM32 serial support 2015-05-26 21:05:22 +09:00
Sergey Kirillov
69959a4214 SerialManager: add SToRM32 serial enum and baudrates 2015-05-26 21:05:19 +09:00
Andrew Tridgell
c7044c4f91 AP_Terrain: make terrain request times per channel 
otherwise we can miss sending one if we send first to a channel not
being listened to
 2015-05-26 17:27:51 +10:00
Andrew Tridgell
3a9d7363ea HAL_VRBRain: fixed functor comparison 2015-05-26 15:17:06 +10:00
Andrew Tridgell
e589ca9b80 HAL_Flymaple: fixed functor comparison 2015-05-26 15:16:51 +10:00
Andrew Tridgell
7e264b44df HAL_Linux: fixed functor comparison 2015-05-26 15:14:50 +10:00
Andrew Tridgell
96b921d4cc AP_Scheduler: fixed example build 2015-05-26 14:37:14 +10:00
Andrew Tridgell
4fdfa47ca3 GCS_MAVLink: removed BUILD_DELEGATES code 
no longer needed
 2015-05-26 14:35:12 +10:00
Andrew Tridgell
8624a262e7 DataFlash: removed BUILD_DELEGATES code 
no longer needed
 2015-05-26 14:35:04 +10:00
Andrew Tridgell
83e6181024 AP_Vehicle: removed BUILD_DELEGATES code 
no longer needed
 2015-05-26 14:34:58 +10:00
Andrew Tridgell
e3f8e22fc6 AP_Mission: removed BUILD_DELEGATES code 
no longer needed
 2015-05-26 14:34:51 +10:00
Andrew Tridgell
85f87b6d9c AP_Menu: removed BUILD_DELEGATES code 
no longer needed
 2015-05-26 14:34:47 +10:00
Andrew Tridgell
1a2b02a563 AP_HAL: removed AVR special case 
no longer needed
 2015-05-26 14:34:13 +10:00
Andrew Tridgell
7db9da6545 AP_Scheduler: removed delegate ptr handling 
no longer needed
 2015-05-26 14:33:30 +10:00
Andrew Tridgell
edc21cfa38 AP_Compass: make having no compass backends non-fatal 
thanks to Daniel for spotting this
 2015-05-26 14:23:40 +10:00
Andrew Tridgell
43fb1202f2 HAL_PX4: fixed functor comparison with NULL 2015-05-26 13:54:38 +10:00
Lucas De Marchi
0daeeb9518 ArduPlane: Start using new Functor implementation 
It both reduces flash size and move symbols to read-only sections.
The scheduler_tasks table is one known not to be in read-only section before due
to the FastDelegate implementation. Before and after this patch:

	ArduPlane $ size ArduPlane.elf{.old,}
	   text	   data	    bss	    dec	    hex	filename
	 733368	   8252	  67352	 808972	  c580c	ArduPlane.elf.old
	 730632	   8236	  64792	 803660	  c434c	ArduPlane.elf

	ArduPlane $ nm -C ArduPlane.elf.old|grep scheduler_tasks
	0000000000402800 t _GLOBAL__sub_I__ZN5Plane15scheduler_tasksE
	00000000006b54c0 B Plane::scheduler_tasks

	ArduPlane $ nm -C ArduPlane.elf|grep scheduler_tasks
	0000000000490900 R Plane::scheduler_tasks

As can be seen above, now the scheduler_tasks symbol is in a read-only data
section and in all of them we decreased the total size.

For APM2 we have a little increase in the text size size.

	ArduPlane $ size ArduPlane.elf{.old,}
	   text	   data	    bss	    dec	    hex	filename
	 241940	    942	   4447	 247329	  3c621	ArduPlane.elf.old
	 242222	    942	   4431	 247595	  3c72b	ArduPlane.elf

	ArduPlane $ nm -C ArduPlane.elf.old|grep scheduler_tasks
	00001f8f T Plane::scheduler_tasks

	ArduPlane $ nm -C ArduPlane.elf|grep scheduler_tasks
	00001f8f T Plane::scheduler_tasks
 2015-05-26 13:46:55 +10:00
Lucas De Marchi
84f399ec3c APMrover2: Start using new Functor implementation 
It both reduces flash size and move symbols to read-only sections.
The scheduler_tasks table is one known not to be in read-only section before due
to the FastDelegate implementation. Before and after this patch:

	APMrover2 $ size APMrover2.elf{.old,}
	   text	   data	    bss	    dec	    hex	filename
	 611406	   4832	  40920	 657158	  a0706	APMrover2.elf.old
	 609686	   4824	  38936	 653446	  9f886	APMrover2.elf

	APMrover2 $ nm -C APMrover2.elf{.old,} |grep tasks
	0000000000696f80 B Rover::scheduler_tasks
	000000000047c440 R Rover::scheduler_tasks

As can be seen above, now the scheduler_tasks symbol is in a read-only data
section and in all of them we decreased the total size.

For APM2 we have a similar situation, but the table was already in text section
because it was using plain C pointers:

	APMrover2 $ size APMrover2.elf{.old,}
	   text	   data	    bss	    dec	    hex	filename
	 189518	   1038	   3494	 194050	  2f602	APMrover2.elf.old
	 189216	   1038	   3480	 193734	  2f4c6	APMrover2.elf

	APMrover2 $ nm -C APMrover2.elf{.old,} |grep tasks
	00001f92 T Rover::scheduler_tasks
	00001f8a T Rover::scheduler_tasks
 2015-05-26 13:46:55 +10:00
Lucas De Marchi
20ef7efaf6 AP_HAL: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:55 +10:00
Lucas De Marchi
c894a1349e DataFlash: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:54 +10:00
Lucas De Marchi
6ae2591cad AP_Terrain: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:54 +10:00
Lucas De Marchi
9764bb2452 AP_Notify: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:54 +10:00
Lucas De Marchi
3aa46e3213 AP_InertialSensor: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:53 +10:00
Lucas De Marchi
4c97d92982 AP_HAL_Linux: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:53 +10:00
Lucas De Marchi
9b7c1d8f93 AP_HAL_FLYMAPLE: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:53 +10:00
Lucas De Marchi
dcf992b558 AP_HAL_AVR: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:53 +10:00
Lucas De Marchi
435613de69 AP_Frsky_Telem: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:53 +10:00
Lucas De Marchi
95627cf412 AP_Compass: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:52 +10:00
Lucas De Marchi
df5652fa87 AP_Baro: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:52 +10:00
Lucas De Marchi
ca7db5cdc1 AP_Arming: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:52 +10:00
Lucas De Marchi
cc1fbddc95 AP_Airspeed: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:52 +10:00
Lucas De Marchi
f7dc19554f AP_ADC: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:51 +10:00
Lucas De Marchi
9f0af5b9cb AP_HAL: add fallback implementation of functor macros 2015-05-26 13:46:51 +10:00
Lucas De Marchi
83efb9280b AP_HAL: use variadic templates in FastDelegate 
Now that we are using C++11 we can use variadic templates to simplify
the FastDelegate classes. It also simplifies moving away from the
FastDelegate implementation.
 2015-05-26 13:46:51 +10:00
Lucas De Marchi
78b00784fb AP_Scheduler: allow to use functor 2015-05-26 13:46:50 +10:00
Lucas De Marchi
58847bffd6 GCS_MAVLink: allow to use functor 2015-05-26 13:46:50 +10:00
Lucas De Marchi
cd308b5e2f DataFlash: allow to use functor 2015-05-26 13:46:50 +10:00
Lucas De Marchi
384a3bfcc3 AP_Mission: allow to use functor 2015-05-26 13:46:50 +10:00
Lucas De Marchi
70525fa2c1 AP_Menu: allow to use functor 2015-05-26 13:46:50 +10:00
Lucas De Marchi
4b5cf24a81 Allow to change to functor implementation 
Start to add code behind APM_BUILD_FUNCTOR to support changing the
functor implementation (without breaking the build while the change is
not complete).
 2015-05-26 13:46:49 +10:00
Lucas De Marchi
a1e1503e1a AP_HAL: Add Functor implementation 
This is a Functor implementation that should cover the use cases we have
for FastDelegate. In contrary to the latter, it can be constructed at
compile time so the compiler can safely put it in a read-only section
which covers the cases in which we are not using it.
 2015-05-26 13:46:49 +10:00
Lucas De Marchi
5dfb3ed70c AP_Scheduler: replace tabs with spaces 2015-05-26 13:46:49 +10:00
Lucas De Marchi
82d22992bd GCS_MAVLink: Do not compare delegate to NULL 
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
 2015-05-26 13:46:49 +10:00
Lucas De Marchi
ff398dbf0c AP_Menu: Do not compare delegate to NULL 
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
 2015-05-26 13:46:48 +10:00
Lucas De Marchi
acdcdc35fa AP_HAL_SITL: Do not compare delegate to NULL 
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
 2015-05-26 13:46:48 +10:00
Lucas De Marchi
9ef870c08a AP_HAL_AVR: Do not compare delegate to NULL 
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
 2015-05-26 13:46:48 +10:00
Lucas De Marchi
57386434d1 AP_ADC: remove AP_ADC_HIL 
It's not being used and it's actually broken: it references
AP_ADC_HIL::read() that doesn't exist.
 2015-05-26 13:46:48 +10:00
Randy Mackay
d777166c6f AP_MotorsTri: revert tail servo to Ch7 2015-05-25 22:27:38 +09:00
Randy Mackay
1a1fa7ca4b AP_MotorsHeli: add comment to avoid param conflict 2015-05-25 22:13:49 +09:00
Randy Mackay
4c94a69e33 AP_MotorsCoax: resolve param conflict with TradHeli 2015-05-25 22:13:47 +09:00
Randy Mackay
78b49fb4c6 AP_MotorsSingle: resolve param conflict with TradHeli 
Also rename servo reverse parameters to be consistent with tricopter
 2015-05-25 22:13:45 +09:00
Randy Mackay
8dc7cf7fa8 AP_MotorsTri: YAW_SV_REV values -1 or +1 
Also resolve parameter conflict with TradHeli
 2015-05-25 22:13:43 +09:00
Randy Mackay
71e4bccecb AP_Motors: init members in constructor 
Also add f to end of float constants
 2015-05-25 22:13:41 +09:00
Robert Lefebvre
915236f1f5 AC_AttitudeControl: Non-functional comment change 
Don't encourage future misuse of g.rc3
 2015-05-25 22:13:37 +09:00
Robert Lefebvre
e87ca6de6f AC_PosControl: Change motors.get_throttle_out 
to get_throttle to follow function renaming in AP_Motors
 2015-05-25 22:13:34 +09:00
Robert Lefebvre
b8181b6b90 AP_Motors: RCMAP fix 
Remove all RC Input channels passed as reference into AP_Motors.  All input handling self-contained inside AP_Motors.
Rework Tricopter to use internal servo calcs.
 2015-05-25 22:13:32 +09:00
Andrew Tridgell
527fc2a610 SITL: use 127.0.0.1 to improve reliability on windows 2015-05-25 22:02:18 +10:00
Andrew Tridgell
563be63d00 SITL: try to get speedup accurate on both windows and linux 2015-05-25 21:48:42 +10:00
Andrew Tridgell
2b2259a6d7 SITL: use more granrular sleeps for windows 2015-05-25 17:05:44 +10:00
Andrew Tridgell
c06d81a06a SITL: use autotest_dir 
this allows for the aircraft directory for SITL to be packaged without
the source tree
 2015-05-25 13:04:46 +10:00
Andrew Tridgell
3daee9c8bc HAL_SITL: added --autotest-dir option 2015-05-25 13:04:17 +10:00
Andrew Tridgell
4f37926aea SITL: fixed gimbal build on PX4 2015-05-25 12:39:40 +10:00
Andrew Tridgell
958d8b4787 GCS_MAVLink: update from upstream headers 2015-05-25 12:20:27 +10:00
Andrew Tridgell
e7abc07898 HAL_SITL: enable --gimbal option 
instantiates a MAVLink gimbal
 2015-05-25 12:20:26 +10:00
Andrew Tridgell
7f5b206c55 SITL: added gimbal simulator class 2015-05-25 12:20:26 +10:00
Andrew Tridgell
2f7facba40 GCS_MAVLink: removed old MAVLink 0.9 headers 2015-05-25 10:19:47 +10:00
Andrew Tridgell
d96e62cce7 AP_Mount: update gimbal for changed quaternion API 2015-05-25 09:08:45 +10:00
Andrew Tridgell
2a8f645d81 AP_Math: use matrix3 euler312 operations in quaternion library 2015-05-25 09:08:31 +10:00
Andrew Tridgell
7aa7e03169 AP_Math: added euler312 functions (for gimbal) 2015-05-25 09:03:11 +10:00
Andrew Tridgell
2bb5f677c7 SITL: removed earth frame rates 2015-05-25 09:03:10 +10:00
Andrew Tridgell
8dce5e11d6 HAL_SITL: removed earth-frame rates 2015-05-25 09:03:10 +10:00
Andrew Tridgell
19419fd901 AP_Mount: fixed reporting of MAVLink gimbal position to GCS 2015-05-24 15:24:02 +10:00
Andrew Tridgell
b61f7fa2f6 AP_AHRS: enable EKF by default on plane 
now we have arming checks enabled by default I think this is the best
choice
 2015-05-23 17:17:44 +10:00
Andrew Tridgell
efd958f0b0 AP_NavEKF: rename file to remove spaces 
spaces in file names break shell scripts
 2015-05-23 17:14:52 +10:00
Andrew Tridgell
2d53a1ff9a SITL: fixed airspeed in last_letter 2015-05-23 11:37:21 +10:00
Andrew Tridgell
ae6ac1b82d SITL: fixed airspeed in CRRCSim 2015-05-23 11:35:56 +10:00
Andrew Tridgell
da5d5c9936 SITL: fixed airspeed pass-thru from simulators 2015-05-23 11:24:10 +10:00
Andrew Tridgell
e7f3716e8c HAL_SITL: pass in wind speed to C++ simulators 2015-05-23 11:04:13 +10:00
Andrew Tridgell
091a1e7fe0 SITL: fixed wind support in JSBSim 2015-05-23 11:03:57 +10:00
Andrew Tridgell
4486ddc53e DataFlash: changed TimeUS to SampleUS for raw IMU logging 
this prevents a problem with an upcoming patch from Peter
 2015-05-22 17:58:18 +10:00
Jonathan Challinger
28731d2bdc AP_Motors: add throttle filter input constraint from -100 to 1100 2015-05-22 16:12:27 +09:00
Andrew Tridgell
60221f5e9c SITL: use sendto() in CRRCSim 
this makes us robust to restart of client or server
 2015-05-22 16:07:45 +10:00
Andrew Tridgell
6cbd291dd2 HAL_SITL: make model name case insensitive 2015-05-22 16:07:44 +10:00
Andrew Tridgell
9336914598 AP_HAL: added sendto socket method 2015-05-22 16:07:44 +10:00
Andrew Tridgell
4e117bc90f HAL_SITL: support last_letter simulator 2015-05-22 16:07:44 +10:00
Andrew Tridgell
b35c21fbe2 SITL: fixed socket recv error check 2015-05-22 16:07:43 +10:00
Andrew Tridgell
e487d95c1b SITL: added direct support for last_letter simulator 2015-05-22 16:07:43 +10:00
Robert Lefebvre
bcc3fa0526 AC_HELI_PID: Pass default FF param setting in constructor 2015-05-22 09:38:28 +09:00
Robert Lefebvre
73bafa131e AP_MotorsHeli: Overload output() 
To protect it from future interference from Multirotor code.
 2015-05-22 09:38:23 +09:00
Robert Lefebvre
d3ce68a8ca AP_MotorsHeli: Overload update_throttle_filter() 
Do not reset filter to zero when disarmed to allow collective pitch servo movement.
 2015-05-22 09:38:20 +09:00
Peter Barker
6299a8c90d autotest: drain control socket in SITL 
fixes SITL on plane
 2015-05-22 08:09:15 +10:00
Andrew Tridgell
cd66ce1c74 HAL_SITL: don't advance clock on garbage SIM input 2015-05-21 21:17:22 +10:00
Andrew Tridgell
605b8b4ece AP_Math: converted rotations example to cpp 
this is just a test conversion before we start converting on-mass
 2015-05-21 13:41:20 +10:00
Andrew Tridgell
062c9406bd AP_Math: fixed rotations example build 2015-05-21 13:37:44 +10:00
Andrew Tridgell
a1a3212131 AP_Common: moved NOINLINE define to AP_Common.h 2015-05-21 09:35:26 +10:00
Andrew Tridgell
fb97c16a84 AP_Param: make data pointer const 2015-05-21 07:48:52 +10:00
Andrew Tridgell
84726e4a3a GCS_MAVLink: use APM_BUILD_DELEGATES 2015-05-21 07:48:52 +10:00
Andrew Tridgell
f8aef57ec3 DataFlash: use APM_BUILD_DELEGATES 2015-05-21 07:48:51 +10:00
Andrew Tridgell
0847bd2608 AP_Scheduler: use APM_BUILD_DELEGATES 2015-05-21 07:48:51 +10:00
Andrew Tridgell
e7ba2c8d93 AP_Mission: use APM_BUILD_DELEGATES 2015-05-21 07:48:51 +10:00
Andrew Tridgell
3a300575bc AP_Menu: use APM_BUILD_DELEGATES 2015-05-21 07:48:51 +10:00
Andrew Tridgell
98d2b9b3aa AP_Vehicle: added APM_BUILD_DELEGATES macro 2015-05-21 07:48:50 +10:00
Andrew Tridgell
c3aa8d67fa AP_Arming: convert to delegates 2015-05-21 07:48:50 +10:00
Andrew Tridgell
71b550d7b5 GCS_MAVLink: support member functions for rover 2015-05-21 07:48:47 +10:00
Andrew Tridgell
b5d930be61 DataFlash: support member functions for rover 2015-05-21 07:48:47 +10:00
Andrew Tridgell
1237772479 AP_Scheduler: support member functions for rover 2015-05-21 07:48:46 +10:00
Andrew Tridgell
12cbf7888f AP_Mission: support member functions for rover 2015-05-21 07:48:46 +10:00
Andrew Tridgell
db13f657a8 AP_Menu: support member functions for rover 2015-05-21 07:48:46 +10:00
Andrew Tridgell
e1e85ecc3d AP_Progmem: simpler PROGMEM header 2015-05-21 07:48:46 +10:00
Andrew Tridgell
abfb601db6 AP_Progmem: added pgm_read_block() 2015-05-21 07:48:45 +10:00
Andrew Tridgell
d57fcf7e46 AP_HAL: added workaround for AVR delegates in PROGMEM 2015-05-21 07:48:45 +10:00
Andrew Tridgell
be587beedc AP_HAL: disable nagle on sockets for faster local operation 2015-05-21 07:48:45 +10:00
Andrew Tridgell
b0932548d8 AP_GPS: enable NMEA GPS on AntennaTracker 
we have enough flash space for it
 2015-05-21 07:30:21 +10:00
Andrew Tridgell
411a96b4b3 AP_NavEKF: take at most 30s to accept DCM attitude 
velocity noise on the GPS can cause DCM to take a long time to
converge. If it takes longer than 30s then allow EKF to start
 2015-05-20 15:22:15 +10:00
Andrew Tridgell
7a76f72bf5 AP_AHRS: added uptime_ms() interface 2015-05-20 15:22:14 +10:00
ziltoid2
23787cf695 AP_Baro: use ground_temperature instead of calibration_temperature for alt calculation 2015-05-20 11:42:21 +10:00
Andrew Tridgell
92c4c5cbcf AP_NavEKF: change using_gps threshold to 4s 
this means plane will continue to use dead reckoning with GPS 3D lock
for 4s
 2015-05-19 20:52:39 +10:00
Paul Riseborough
69ca654194 AP_NavEKF: Update declination when we know our location 
This ensures that when we start using GPS, that the EKF will be using the correct declination for that location
If declination is not known it defaults to zero
 2015-05-19 20:35:52 +10:00
Paul Riseborough
c1c5e3598a AP_NavEKF: Enforce alignment of realigned earth mag field with declination 
This prevents bad inertial or GPS data combined with the post takeoff heading alignment check used by plane from resulting in earth field states that have an incorrect declination
 2015-05-19 20:35:52 +10:00
Paul Riseborough
b1d8805114 AP_NavEKF: Reduce takeoff detection sensitivity 
This patch reworks the in-air transition criteria to reduce the likelihood of false positives and to ensure that there will be enough ground speed to make the heading check work reliably.
 2015-05-19 20:35:52 +10:00
Randy Mackay
d1808c645d AC_PosControl: recalc leash length on speed or accel change 
This resolves an issue in which do-set-speed would not take effect until
one waypoint too late in a mission.
 2015-05-19 18:16:39 +09:00
Andrew Tridgell
5514a9f690 AP_NavEKF: base EKF decisions on vehicle class 
using the vehicle class rather than the build macros allows this to
work correctly in replay
 2015-05-19 15:21:22 +10:00
Andrew Tridgell
92daa15ccc AP_AHRS: on plane and rover make AHRS unhealthy when EKF not initialised 
planes and rovers need full absolute position from the EKF if the EKF
is going to be used. We don't want users to arm without full
capabilities
 2015-05-19 15:21:21 +10:00
Andy Piper
c600c1a746 DataFlash: log Gyro and Accel Health for IMUs. 
Log the health of the various IMUs under GyHlt and AcHlt.
(Names are shortened to get inside the string array limit).
 2015-05-19 13:13:35 +09:00
Andrew Tridgell
0619247992 HAL_Linux: don't advance time in delay() and delay_microseconds() 
this could cause time to go backwards in Replay. Thanks to Peter for
finding this
 2015-05-19 13:17:15 +10:00
Andrew Tridgell
29f0561ce4 AP_AHRS: reject EKF for plane when we have GPS and aren't fusing 
plane users would prefer to use GPS in this case
 2015-05-17 21:24:57 +10:00
Andrew Tridgell
6154db5cf8 AP_NavEKF: added using_gps status bit 2015-05-17 21:24:57 +10:00
Randy Mackay
0077cac1b7 AC_WPNav: rename stop to brake 2015-05-17 14:44:33 +09:00
Andrew Tridgell
80c20b5cf2 DataFlash: use L for latitude/longitude in DF messages 2015-05-16 14:04:31 +10:00
Tom Pittenger
e987173ffb AP_NavEKF: float to double promotion via tan instead of tanf 2015-05-16 08:21:49 +10:00
Tom Pittenger
5f677c2b5b AP_Math: float to double promotion via cos instead of cosf 2015-05-16 08:21:49 +10:00
Tom Pittenger
7b95241306 AP_HAL_SITL: float to double promotion via cos instead of cosf 2015-05-16 08:21:37 +10:00
Tom Pittenger
4f1dd2c8a4 AC_AttitudeControl: compiler warning stuff 
float to double promotion via cos & sin instead of cosf & sinf
(this code is commented out but in case it ever gets included it would be nice to be correct
 2015-05-16 08:21:36 +10:00
Andrew Tridgell
aaa35bd1ec AP_InertialSensor: using atan2f() gives more accurate euler corrections 
thanks to Jon and Paul!
 2015-05-16 08:19:18 +10:00
Andrew Tridgell
9e723ef907 AP_InertialSensor: added calibrate_trim() function 
used for redoing trim calculation
 2015-05-16 07:56:34 +10:00
Andrew Tridgell
b564ba0868 AP_InertialSensor: fixed AHRS_TRIM calculation again 2015-05-16 07:56:33 +10:00
Andrew Tridgell
2475ee9630 AP_Compass: setup HIL/SITL for two compasses 2015-05-16 07:06:04 +10:00
Andrew Tridgell
ab687ab0f5 DataFlash: added double to list of format strings 
thanks to Dario <proyectoire@gmail.com> for noticing this
 2015-05-15 21:14:49 +10:00
Jonathan Challinger
159599879f AP_InertialSensor: simplify and correct AHRS_TRIM computation 2015-05-15 21:03:03 +10:00
Andrew Tridgell
d7e4310df0 DataFlash: Lat can be negative in POS 2015-05-15 17:55:50 +10:00
Randy Mackay
559684b257 GCS_MAVLink: fix flow control check 
Thanks to Tridge for spotting is
 2015-05-15 15:39:34 +09:00
Andrew Tridgell
b0a90df135 DataFlash: fixed double Init of DF object 
thanks to Michael De Breuil
 2015-05-15 16:33:10 +10:00
Randy Mackay
763c671d0a GCS_Console: fix example sketch after mavlink_comm_port to array 2015-05-15 15:07:32 +09:00
Randy Mackay
85eeba93c0 GCS_MAVLink: mavlink_comm_port to array 2015-05-15 15:07:31 +09:00
Randy Mackay
facbfaf31f SerialManager: support for 4th mavlink channel 2015-05-15 15:07:24 +09:00
Randy Mackay
62e7e8cc7d GCS_MAVLink: add support for 4th mavlink chan on PX4 2015-05-15 15:07:23 +09:00
Andrew Tridgell
74485c5754 DataFlash: added Log_Write_POS() call 
write AHRS position to DF log
 2015-05-15 14:28:08 +10:00
Andrew Tridgell
3370ec62a1 HAL_SITL: fix for multi-compass SITL 2015-05-15 14:25:44 +10:00
Andrew Tridgell
91b4ba3588 AP_Compass: allow for more than one compass in HIL/SITL 2015-05-15 14:25:44 +10:00