Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
28,480 Commits 71 Branches 509 Tags 758 MiB
Commit Graph

14628 Commits

Author SHA1 Message Date
Peter Barker eb1f22fc67 AP_Notify: add singleton 2017-07-09 17:17:29 -04:00
Randy Mackay d636e85eac AP_Proximity: SF40c driver treats zero distances as invalid 2017-07-08 14:09:17 +09:00
Randy Mackay 6982e58cf2 Baro: health check that values are changing 2017-07-08 08:40:19 +09:00
Randy Mackay d64b2fcbf0 AP_NavEKF3: final mag reset at 2.5m 2017-07-08 08:39:43 +09:00
Randy Mackay 7e7f78d4b5 AP_NavEKF2: final mag reset at 2.5m 2017-07-08 08:39:43 +09:00
Peter Barker c1264cf60a DataFlash: Use GCS_Dummy GCS singleton 2017-07-07 16:18:37 +01:00
Peter Barker 3e0ed6deae AP_AHRS: Use GCS_Dummy GCS singleton 2017-07-07 16:18:37 +01:00
Peter Barker 3f43789742 GCS_MAVLINK: provide a GCS singleton for examples and tools to use 2017-07-07 16:18:37 +01:00
Peter Barker db27346fd7 GCS_MAVLink: move GCS functions up from GCS_Plane 2017-07-07 16:18:37 +01:00
Peter Barker c163915f6e AP_HAL: correct storage example 2017-07-07 16:18:37 +01:00
Randy Mackay 51fa8fb0bd AP_InertialSensor: resolve member init order compiler warning 2017-07-07 17:27:23 +09:00
Eugene Shamaev 43e9c8370f AP_BoardConfig: increase start delay to 5 seconds 2017-07-03 11:44:32 +01:00
Eugene Shamaev c6df13c795 AP_UAVCAN: changes to servo bitmasks to support multiple instances, baro, compass, gps changes for several CAN interfaces 2017-07-03 11:44:32 +01:00
Eugene Shamaev a7921a273b AP_BoardConfig: move of CAN parameters into separate group and support of several interfaces 2017-07-03 11:44:32 +01:00
Eugene Shamaev 36655310b3 AP_HAL_PX4: support for several CAN interfaces and drivers, filtering support 2017-07-03 11:44:32 +01:00
Eugene Shamaev ec8aa2e23f SRV_Channel: move of CAN bitmasks into AP_UAVCAN 2017-07-03 11:44:32 +01:00
Eugene Shamaev 5341e51f45 AP_GPS: support for multiple instances on different interfaces 2017-07-03 11:44:32 +01:00
Eugene Shamaev aa1f6a7587 AP_Compass: united enumeration on startup, multiple CAN drivers, correct dev_id based on network and node ID 2017-07-03 11:44:32 +01:00
Eugene Shamaev 6e6efa7e1b AP_Baro: enumeration and multiple interfaces support 2017-07-03 11:44:32 +01:00
Eugene Shamaev 8f2306fd19 AP_HAL: support of several CAN managers (virtual drivers) 2017-07-03 11:44:32 +01:00
Andrew Tridgell ca8a2a1f34 AP_RSSI: support receiver based RSSI protocols 2017-07-03 11:22:21 +10:00
Andrew Tridgell a88693c487 HAL_PX4: support RSSI from receiver protocols 2017-07-03 11:22:21 +10:00
Andrew Tridgell 9868ffe13b HAL_Linux: support receiver based RSSI 2017-07-03 11:22:21 +10:00
Andrew Tridgell 94b5a9c6f0 AP_HAL: added RSSI interface for RCInput 2017-07-03 11:22:21 +10:00
Andrew Tridgell 64f722876f RC_Channel: use set_and_save_ifchanged 2017-07-03 11:17:42 +10:00
Andrew Tridgell 1d41dc034d SRV_Channel: deprecate aileron_with_input and elevator_with_input 2017-07-03 11:17:42 +10:00
Andrew Tridgell b50ab75f4c RC_Channel: added set_and_save_trim() 2017-07-03 11:17:42 +10:00
Andrew Tridgell cde4afd28e SRV_Channel: added set_trim_to_servo_out_for() 
this will be used for new TRIM_AUTO functionality in plane
 2017-07-03 11:17:42 +10:00
Andrew Tridgell 9cb672e85e SRV_Channel: added doc values for dspoilers 
and fix missing Motor9 to Motor12 values
 2017-07-03 11:17:42 +10:00
Andrew Tridgell 7627246ff8 SRV_Channels: added 4 channel dspoiler support 2017-07-03 11:17:42 +10:00
Andrew Tridgell 907534d55f SITL: added dspoiler support 2017-07-03 11:17:42 +10:00
Andrew Tridgell 6b3bb29398 SRV_Channel: rename flaperon1 and flaperon2 to flaperon_left and flaperon_right 
this makes it more consistent with elevons and vtails
 2017-07-03 11:17:42 +10:00
Randy Mackay edc9d4db5b AP_InertialSensor: increase accel filter to 20hz 2017-07-03 09:38:15 +09:00
Peter Barker 7b3db490be DataFlash: correct examples 2017-06-29 15:43:39 +01:00
Peter Barker 9c2a2a3d94 AP_Module: correct example 2017-06-29 15:43:39 +01:00
Peter Barker cbe9627bf5 AP_GPS: correct example 2017-06-29 15:43:38 +01:00
Peter Barker 12b4f2c4b6 AP_AHRS: correct example 2017-06-29 15:43:38 +01:00
Peter Barker 7258cfd20b AP_GPS: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Peter Barker 6ae86a0b8c AP_InertialSensor: use DataFlash should_log to determine raw logging 2017-06-29 15:26:27 +01:00
Peter Barker 4dfdffde43 DataFlash: move should_log check of log bitmask into DataFlash 2017-06-29 15:26:27 +01:00
Francisco Ferreira f35f0d59dd
AP_GPS: fix SBP2 driver build warnings by using memcpy 
Build gave the following warnings:

../../libraries/AP_GPS/AP_GPS_SBP2.cpp: In member function ‘void AP_GPS_SBP2::_sbp_process_message()’:
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:181:78: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_heartbeat = *((struct sbp_heartbeat_t*)parser_state.msg_buff);
                                                                              ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:181:28: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_heartbeat = *((struct sbp_heartbeat_t*)parser_state.msg_buff);
                            ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:186:76: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_gps_time = *((struct sbp_gps_time_t*)parser_state.msg_buff);
                                                                            ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:186:27: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_gps_time = *((struct sbp_gps_time_t*)parser_state.msg_buff);
                           ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:190:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_vel_ned = *((struct sbp_vel_ned_t*)parser_state.msg_buff);
                                                                          ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:190:26: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_vel_ned = *((struct sbp_vel_ned_t*)parser_state.msg_buff);
                          ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:194:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_pos_llh = *((struct sbp_pos_llh_t*)parser_state.msg_buff);
                                                                          ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:194:26: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_pos_llh = *((struct sbp_pos_llh_t*)parser_state.msg_buff);
                          ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:198:68: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_dops = *((struct sbp_dops_t*)parser_state.msg_buff);
                                                                    ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:198:23: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_dops = *((struct sbp_dops_t*)parser_state.msg_buff);
                       ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:202:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_event = *((struct sbp_ext_event_t*)parser_state.msg_buff);
                                                                          ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:202:24: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_event = *((struct sbp_ext_event_t*)parser_state.msg_buff);
                        ^
 2017-06-29 15:18:09 +01:00
ebethon 005dbf41a7 AP_GPS: Add SBP EXT_EVENT Message to dataflash log 2017-06-29 15:18:05 +01:00
ebethon 526d5a4c44 DataFlash: Add SBP EXT_EVENT Message 2017-06-29 15:18:05 +01:00
ebethon 4779a8f1f1 AP_GPS: Rename SBR1/SBR2 to SBRH/SBRM and change format 
Add (sender_id, msg_len) in SBRM message
Add index/pages in SBRH/SBRM messages
Change format to integers to avoid GCS string parsing
Decrease data size in SBRH
 2017-06-29 15:14:54 +01:00
ebethon 0b5dad33f2 DataFlash: Rename SBR1/SBR2 to SBRH/SBRM and change format 
Add (sender_id, msg_len) in SBRM message
Add index/pages in SBRH/SBRM messages
Change format to integers to avoid GCS string parsing
Decrease data size in SBRH
 2017-06-29 15:14:54 +01:00
Miguel Arroyo 7cea21afa2 AP_Math: Moves rand_vec3f from SITL_State. 2017-06-29 09:22:08 +10:00
Miguel Arroyo 86b9942d51 AP_HAL_SITL: move SITL Compass to standard sensor backend model 2017-06-29 09:22:08 +10:00
Miguel Arroyo ee328c9683 AP_Compass: move SITL Compass to standard sensor backend model 2017-06-29 09:22:08 +10:00
Georgii Staroselskii 0203b4c1b1 AP_Notify: RCOutputRGBLed: remove cork() 
cork()/push() will be called in the vehicle code.

The issue that led to this fix was as follows:
- on a Linux board (Navio 2) usage of this class didn't yield any PWM on
  the expected outputs on Rover (Copter and Plane worked as expected)

After dicsussion at #6339 rover code was changed (541538f) to use make
proper use of SRV_Channels API.

This fix is also the consequence of the discussion. TL;DR: the output is
only done when commanded by the vehicle.
 2017-06-27 11:46:41 -07:00
Peter Barker ad17709390 DataFlash: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00
Peter Barker 4c1aff03a3 GCS_MAVLink: move send-logs-via-mavlink code into DataFlash 2017-06-27 03:10:43 +01:00
Peter Barker 305531952f DataFlash: move send-logs-via-mavlink code into DataFlash 2017-06-27 03:10:43 +01:00
Peter Barker cbbee995b6 GCS_MAVLink: move GCS_Logs into DataFlash directory 2017-06-27 03:10:43 +01:00
Rob Ratcliff 60c6f8ad60 AP_GPS: fix bug when injecting messages bigger than 255 bytes 
Commit 5261654 changed the used injection method so change this method signature to use uint16 for message length like previous injection method did
 2017-06-27 03:06:26 +01:00
priseborough 9d0fa09d39 AP_NavEKF3: Fix calculation of predicted LOS rate in terrain estimator 2017-06-26 14:58:06 +01:00
priseborough c69c5440a0 AP_NavEKF2: Fix calculation of predicted LOS rate in terrain estimator 2017-06-26 14:58:06 +01:00
Francisco Ferreira a83457ab07
AP_BattMonitor: complement commit d3314d7684 by adding to second battery monitor too 2017-06-26 13:41:12 +01:00
Miguel Arroyo 4394c5145b AP_HAL_SITL: Fixes bug with uartF. 
uartF _timer_tick() was not being called in the scheduler.
 2017-06-26 13:05:16 +01:00
fsherratt d3314d7684 AP_BattMonitor: param desc explicitly list Pixhawk 2 PM1 pins 
There is confusion over which pins to use with the pixhawk 2, updated documentation to explicitly state the PM1 pins as being the same as the original pixhawk
 2017-06-24 11:01:03 +09:00
priseborough a4d18696a7 AP_NavEKF3: Improve variable names and documentation 
Also remove unnecessary calculation of innov * gain
 2017-06-23 00:43:58 +01:00
priseborough 368983ed5a AP_NavEKF3: Clean up aiding mode logic using switch statements 2017-06-23 00:43:58 +01:00
priseborough 2a9eceaf10 AP_NavEKF3: Fix bugs causing height drift when using range beacons 2017-06-23 00:43:58 +01:00
Miguel Arroyo 6cf9b870b5 AP_Baro: AP_Baro_SITL more accurately simulates real sensor backend. 2017-06-23 09:36:28 +10:00
Pierre Kancir ccbf281137 AP_RangeFinder: allow to set rangefinder type for mavlink 2017-06-22 16:17:58 +01:00
Leonard Hall ed0063d10d AC_AttControl: save accel max using shorter set_and_save 
no functional change
 2017-06-22 15:20:16 +09:00
Leonard Hall 0544cf1d82 AC_AttControl: add step input for autotune 2017-06-22 15:18:04 +09:00
Michael du Breuil 249849dfa4 AP_GPS: Add an enum for _auto_config 2017-06-21 11:44:45 +01:00
Michael du Breuil 5f8633e322 AP_GPS: Allow backends to report their lag confidences 2017-06-21 11:44:45 +01:00
priseborough 7659e9c31f AP_NavEKF3: Improve checking of time delay validity when setting buffers 
This change means that provided the GPS_DELAY_MS parameters are set for each GPS receiver attached, the EKF will not have to wait for the configuration of each receiver to be determined before it can start.
This significantly reduces start-up times when the delay parameters are set.
 2017-06-21 11:44:45 +01:00
priseborough 7d63286088 AP_NavEKF3: update to match AP_GPS interface change 2017-06-21 11:44:45 +01:00
priseborough fa5534502a AP_AHRS: Update to match AP_GPS interface change 2017-06-21 11:44:45 +01:00
priseborough 5dcfc94371 AP_GPS: Add validity boolean to GPS lag reporting 2017-06-21 11:44:45 +01:00
priseborough bd0229b7bc AP_GPS: Fix bug in calculation of blended GPS delay 2017-06-21 11:44:45 +01:00
Francisco Ferreira da5060964b AP_Math: uniformize template type parameter keyword 
Use typename everywhere instead of class
 2017-06-21 18:19:31 +09:00
Francisco Ferreira 1ffe12008c AP_Math: adapt test for new norm method API 2017-06-21 18:19:31 +09:00
Francisco Ferreira 7b98f41947 AP_Math: correct norm to need two arguments 
Correctly use sqrtf instead of the double version
Stop casting to float since sq already returns one
 2017-06-21 18:19:31 +09:00
Andrew Tridgell f3d995a716 AP_Compass: improved robustness of BMM150 detection code 
cope with bus errors on startup
 2017-06-21 16:25:37 +10:00
Andrew Tridgell 68460144df AP_Compass: added retries on init in BMM150 2017-06-21 16:25:37 +10:00
Andrew Tridgell 9b093c4a33 AP_Compass: fixed a numerical issue in BMM150 driver 
we were getting the following:

  ret=-32768 z=5 rhall=6267 z1=23743 z2=712 z3=-1035 z4=0 xyz1=6264 dividend=163840 dividend2=-1073577207 divisor=5253

the signed/unsigned casts for rhall and xyz1 did not produce the
desired result
 2017-06-21 16:25:37 +10:00
Andrew Tridgell 0623db98d6 AP_Compass: cope with bus errors in BMM150 
if we have bus errors the BMM150 can get confused, giving rubbish
output. This uses the checked register code to reset, and a full soft
reset after 250ms of no samples.
 2017-06-21 16:25:37 +10:00
Andrew Tridgell fa3d40af8a AP_Compass: fixed shift typo 
this doesn't affect LE MCUs like STM32
 2017-06-21 16:25:37 +10:00
Andrew Tridgell b8f628da83 HAL_PX4: fixed bug in last_sent 
thanks to Francisco
 2017-06-21 11:40:12 +10:00
Andrew Tridgell 17893958bf HAL_PX4: cope with brushed motors in read_last_sent() 
we need the value before scaling is applied, so slew rates can work
 2017-06-21 10:55:24 +10:00
Andrew Tridgell bc8c13d053 SRV_Channel: cope with large time jumps in slew rate limiter 2017-06-20 20:53:44 +09:00
Randy Mackay a303c40f1f AP_Beacon: initialise counter in get_next_boundary_point 
This is not a bug but at least one compiler has complained about this
 2017-06-20 16:34:41 +09:00
priseborough 06d40a7901 AP_NavEKF3: Fix terrain estimator innovation consistency check 2017-06-20 02:08:56 +01:00
priseborough ce8e935896 AP_NavEKF2: Fix terrain estimator innovation consistency check 2017-06-20 02:08:56 +01:00
priseborough 284fc0f3c5 AP_NavEKF3: Fix bug in flow fusion for terrain estimation 
Also remove unused class variables
 2017-06-20 02:08:56 +01:00
priseborough b7e6e6f95f AP_NavEKF2: Fix bug in flow fusion for terrain estimation 
Also remove unused class variables
 2017-06-20 02:08:56 +01:00
Michael du Breuil 0b26908359 Landing: Disarm on land for deepstall 2017-06-19 17:02:23 -07:00
Andrew Tridgell a1508b58c1 AP_NavEKF3: use AHRS likely flying state 
this sets inFlight when AHRS has indicated flying for 5s
 2017-06-20 09:44:44 +10:00
Andrew Tridgell cbffc29f0b AP_NavEKF2: use AHRS likely flying state 
this sets inFlight when AHRS has indicated flying for 5s
 2017-06-20 09:44:44 +10:00
Andrew Tridgell 770f697cfc AP_AHRS: added set/get for flying state 
this allows the vehicle code to set the likely flying state, which can
be used by EKF to trigger changes which should only happen when flying
(such as mag alignment)
 2017-06-20 09:44:44 +10:00
priseborough 647db728ce AP_NavEKF2: Improve is flying check for non fly forward vehicles 
Will enable use of EK3_MAG_TYPE = 0 for coptersAP_NavEKF2:
 2017-06-19 06:09:07 +10:00
priseborough edee8396ba AP_NavEKF3: Improve in-flight check for non fly forward vehicles 
This will enable the EK3_MAG_TYPE 0 option to be used for multirotors
 2017-06-19 06:09:07 +10:00
Andrew Tridgell a0e4ec0f3a AP_Compass: fixed bitmask typo 2017-06-18 18:15:47 +10:00
Touch 5da2e0b3fb Update code format 2017-06-18 17:25:20 +10:00
ljwang 8fff1ec4d4 add QMC5883L driver for GPS compass module 2017-06-18 17:25:20 +10:00
ljwang e648f2e61e add QMC5883L driver for GPS compass module 2017-06-18 17:25:20 +10:00
Peter Barker 5c19f09cd7 DataFlash: handle mavlink messages, not just remote-log-block-statuses 2017-06-17 15:07:48 +01:00
Peter Barker cf918d233f GCS_MAVLink: move MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS handling up 2017-06-17 15:07:48 +01:00
Andrew Tridgell abd0831239 AP_Motors: changed BRUSHED16kHz to BRUSHED 2017-06-17 17:37:45 +10:00
Andrew Tridgell 11396919c8 HAL_PX4: changed BRUSHED16kHz to BRUSHED 2017-06-17 17:37:45 +10:00
Andrew Tridgell 1c741e78e6 AP_HAL: changed BRUSHED16kHz to BRUSHED 2017-06-17 17:37:45 +10:00
Andrew Tridgell 96627bc4e5 HAL_PX4: allow any pulse freq in brushed mode 2017-06-17 17:37:45 +10:00
Andrew Tridgell 97e88501c6 AP_OpticalFlow: support pixart 3901 2017-06-16 17:14:10 +01:00
Peter Barker 6a03af8f3e DataFlash: make EnableWrites a frontend thing 2017-06-16 17:07:48 +01:00
Peter Barker 07e37281ef DataFlash: add a should_log method 2017-06-16 17:07:48 +01:00
Peter Barker 001d3a7118 DataFlash: correct consts on CardInserted 2017-06-16 17:07:48 +01:00
Peter Barker 244365767d DataFlash: remove DataFlash_Block and DataFlash_SITL 2017-06-16 13:52:45 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 6a01c65197 AP_NavEKF3: Fix long description of EK3_OGN_HGT_MASK parameter (NFC) 2017-06-16 12:05:20 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 7426bdb9b7 AP_NavEKF2: Fix long description of EK2_OGN_HGT_MASK parameter 2017-06-16 12:05:20 +01:00
Randy Mackay a199604348 AP_Beacon: fix get_boundary_points num_points 
Thanks @OXINARF for finding this!
 2017-06-15 09:36:27 +09:00
priseborough b42fb31d7d AP_NavEKF2: Change default value of EK2_OGN_HGT_MASK 
Turn off by default.
Update parameter description
 2017-06-14 12:44:41 +01:00
priseborough 49ec2b4032 AP_NavEKF3: Change default value of EK3_OGN_HGT_MASK 
Turn off by default.
Update parameter description.
 2017-06-14 12:44:41 +01:00
priseborough fd25450632 AP_NavEKF2: Ensure reported local height = global height - origin height 2017-06-14 12:44:41 +01:00
priseborough 6d14cf0ab8 AP_NavEKF3: Ensure reported local height = global height - origin height 2017-06-14 12:44:41 +01:00
priseborough 798d5f85a2 DataFlash: Log EKF origin height 2017-06-14 12:44:41 +01:00
priseborough a3483d0d34 AP_AHRS: Update for compatibility with EKF interface change 2017-06-14 12:44:41 +01:00
priseborough 3ae7998f51 AP_NavEKF3: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough 77d21f72d4 AP_NavEKF2: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough e58ba8044d AP_NavEKF3: Improve protection for badly conditioned dVel bias covariances 
If variance falls below desired minimum, set state noise to a larger value.
If variance drops below safe value, set to desired minimum and reset off-diagonals to zero.
 2017-06-14 12:44:41 +01:00
priseborough bf963f8b65 AP_NavEKF3: Raise lower limit on del vel bias state variances 
This is required to prevent co-variance matrix errors due to long periods without movement causing height divergence.
 2017-06-14 12:44:41 +01:00
priseborough 628d140319 AP_NavEKF3: Make target covariance time step larger 
The target covariance time step has been increased from 10 to 12 msec to improve conditioning of the covariance prediction calculation.
 2017-06-14 12:44:41 +01:00
priseborough 4c08622a7c DataFlash: Add logging for EKF3 state variances 2017-06-14 12:44:41 +01:00
priseborough 2b97d0f5c9 AP_NavEKF3: Add public accessor for state variances 2017-06-14 12:44:41 +01:00
priseborough 9f97cbfc3b AP_NavEKF3: Revert auto-code to original form and remove micro optimisations 
To eliminate the possibility of editing errors, revert the covariance prediction auto-code to the original auto-code without the replacement fo the /2 and /4 operations. The compiler optimisations are able to correctly handle the /2 and /4 operations.

Also use local variables for intermediate covariance calculations. The use of class variables for these small arrays was unnecessary.
 2017-06-14 12:44:41 +01:00
priseborough f38fccd57c AP_NavEKF3: Prevent possible race condition re-zeroing state variances 2017-06-14 12:44:41 +01:00
priseborough 7adaea6019 AP_NavEKF3: Improve partitioning and efficiency of the covariance prediction 
This patch ensures that covariance matrix entries for inactive states are always set to zero.
It also halves the number of copy operations from the updated to stored matrix.
 2017-06-14 12:44:41 +01:00
priseborough a1c117360c AP_NavEKF3: Ensure Kalman gain calculatons respect deactivated states 
All Kalman gain calculations now explicity set gains for deactivated states to zero.
Previous use of loops to set gains to zero have been replaced with more efficient memset operations.
 2017-06-14 12:44:41 +01:00
priseborough 5058405f8c AP_NavEKF3: add gyro bias state inhibit and rework index limit calculation 
Inhibiting gyro bias estimation during the initial tilt alignment speeds alignment.
The calculation of the maxmum state index required has been modified so that it can handle all combinations of inhibited states.
Limiting the maximum state index accessed by all EKF operations result in significant processing reductions when higher index states are not being used.
 2017-06-14 12:44:41 +01:00
priseborough 0cba133a1e AP_NavEKF3: Fix initialisation of state inhibit flags 2017-06-14 12:44:41 +01:00
priseborough 36e7dfb5f6 AP_NavEKF2: Improve GPS reference height estimator 
Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
 2017-06-14 12:44:41 +01:00
priseborough 9da3caca47 AP_NavEKF3: Improve GPS reference height estimator 
Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
 2017-06-14 12:44:41 +01:00
Pierre Kancir e7a5dd6a69 AP_Marvelmind: fix warning in example 2017-06-14 12:40:47 +01:00
Pierre Kancir 914bc53100 Dataflash: fix shadowing of logstructure in SITL 2017-06-14 12:40:47 +01:00
Peter Barker af6eb4e41d DataFlash: remove unused NeedPrep function 2017-06-14 12:20:29 +01:00
Peter Barker 9fb4ac2143 DataFlash: update examples for init simplification 2017-06-14 12:20:29 +01:00
Peter Barker 91b62abfe5 DataFlash: simplify dataflash initialisation 2017-06-14 12:20:29 +01:00
Randy Mackay 3bcc410048 AP_Beacon: fix pozyx west-east processing 2017-06-14 16:07:32 +09:00
Randy Mackay af7f4fef0a DataFlash: protect against large testRatio from EKF 
This should be resolved in the EKF but for now this stops the floating point exception
 2017-06-14 16:07:32 +09:00
Shingo Matsuura 7b0f6edf31 AC_Avoidance: add adjust velocity by beacon fence 2017-06-14 16:07:32 +09:00
Randy Mackay cded78022c AP_Beacon: update_boundary_points calculates outer perimeter around beacons 2017-06-14 16:07:32 +09:00
Shingo Matsuura c9475c2747 AP_Beacon: add get_boundary_points 2017-06-14 16:07:32 +09:00
Paulo Neves 3158cafefd AP_Beacon: Added Marvelmind beacon example. 
This commit includes an example program to
run the code of AP_Marvelmind class.
It also includes a dump from the marvelmind
serial as well as a script that injects
this dump into the example for demonstration.
 2017-06-14 09:33:23 +09:00
Randy Mackay 3e130273a9 AP_AHRS: do not fallback to DCM if EKF can provide relative position 2017-06-14 09:12:20 +09:00
Michael du Breuil 3534d0a0eb AP_Landing: Fix missing doc for LAND_TYPE 2017-06-13 20:06:41 +09:00
Randy Mackay c9cc0de83d AP_LandingGear: set pwm only when set_position called 
Also simplify interface and internal state
 2017-06-13 13:56:07 +09:00
Michael du Breuil 6c3db3939e AP_GPS: Update comment on get_rate_ms() 
AP_GPS::get_rate_ms() is only meant to help the GPS backends
 2017-06-12 01:06:38 +01:00
Peter Barker b5029aad4f DataFlash: correct dataflash examples 2017-06-11 20:34:12 +01:00
Peter Barker cdd0397bbf DataFlash: check all backends for sensor health 2017-06-11 20:34:12 +01:00
Peter Barker 7221b0def2 DataFlash: StartUnstartedLogging replaces logging_started/start_logging 2017-06-11 20:34:12 +01:00
Peter Barker bd747006aa DataFlash: eliminate calls to manipulate _writes_enabled 2017-06-11 20:34:12 +01:00
Peter Barker 0be2e7962f DataFlash: create a WritesOK method for WritePrioritisedBlock 2017-06-11 20:34:12 +01:00
Randy Mackay e84b5c63be LandingGear: remove unused enabled method 
Also minor formatting fix
 2017-06-10 10:34:33 +09:00
Randy Mackay 45147af455 AP_Beacon: fit SITL beacon location 2017-06-09 15:24:36 +09:00
Randy Mackay db45442de2 AP_Math: remove unused angle method 2017-06-09 15:21:58 +09:00
Andrew Tridgell bcd305c821 AP_Compass: fixes for merge with master 2017-06-09 14:56:33 +10:00
Andrew Tridgell 04430457d5 AP_Compass: attempts to diagnose the twitches in MMC3416 2017-06-09 14:56:33 +10:00
Andrew Tridgell 36932a2959 AP_Compass: implement full state machine for MMC3416 
this uses 100Hz readings most of the time, but does slow offset
readings every 50 samples
 2017-06-09 14:56:33 +10:00
Andrew Tridgell 167988b5c4 AP_Compass: implement MMC3416 temperature compensation 
this is much slower, but removes temperature offset
 2017-06-09 14:56:33 +10:00
Andrew Tridgell 736fb715ec AP_Compass: MMC3416 magnetometer driver 2017-06-09 14:56:33 +10:00
Francisco Ferreira a960c6526c
AP_Rangefinder: set type for VL53L0X 2017-06-08 01:32:11 +01:00
Pierre Kancir d5cc1e64ed GCS_Common: rename send_rangefinder to send_rangefinder_downward 2017-06-08 01:32:04 +01:00
Pierre Kancir e9685ba13e GCS_MAVLink: add rangefinder msg 2017-06-08 01:22:07 +01:00
Pierre Kancir 0848d96354 GCS_MAVLink: add send_distance_sensor_downward function 2017-06-08 01:22:07 +01:00
Pierre Kancir f0369bc507 GCS_MAVLink: add distance sensor msg 2017-06-08 01:22:07 +01:00
Pierre Kancir 38540b4dcc AP_Proximity: add PROXIMITY_MAX_DIRECTION and PROXIMITY_SENSOR_ID_START 2017-06-08 01:22:07 +01:00
Pierre Kancir 8b38bd2e33 AP_RangeFinder: add sensor type to backend 2017-06-08 01:22:07 +01:00
Andrew Tridgell b29db0aa5b AP_RangeFinder: implement VL53L0X rangefinder 2017-06-07 23:05:01 +01:00
Peter Barker 5c15c1e4d2 AP_BoardConfig: add public method returning true if on sensor error 2017-06-07 12:56:46 +01:00
Randy Mackay 1ce2a7fcee AP_Compass: resolve AK09916 driver compiler warning 2017-06-07 20:38:12 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas ca72f4d283 AC_Stats: NFC Statistics are read-only variables 2017-06-07 19:53:09 +09:00
Pierre Kancir 1c8d169814 AP_HAL_SITL: sitl_airspeed simplify include 2017-06-07 20:29:02 +10:00
Pierre Kancir 775ca9303a AP_HAL_SITL: sitl_airspeed correct style 2017-06-07 20:29:02 +10:00
Pierre Kancir 0afc907b0a AP_HAL_SITL: rename sitl_ins & _update_ins to sitl_airspeed & _update_airspeed 2017-06-07 20:29:02 +10:00
Pierre Kancir b176ba53d7 SIM_Aircraft: move advance in time from update_position to time_advance 2017-06-07 20:29:02 +10:00
Pierre Kancir 579f655e76 SIM_Aircraft: change define in favor of static constexpr 2017-06-07 20:29:02 +10:00
Pierre Kancir 22dd81e298 AP_HAL_SITL: rangefinder const correctness 2017-06-07 20:28:25 +10:00
Pierre Kancir 3f045a4905 AP_HAL_SITL: airspeed_simulated use is_zero 2017-06-07 20:28:25 +10:00
Pierre Kancir 148e84320b SITL: Sim_aircraft correct style 2017-06-07 20:28:25 +10:00
Pierre Kancir 4acf4538c7 AP_HAL_SITL: rangefinder don't adjust value from FDM on external data 2017-06-07 20:28:25 +10:00
Pierre Kancir 599e3d7b83 SITL: make range finder a standalone sitl plugin 2017-06-07 20:28:25 +10:00
Andrew Tridgell 0e27d4bd6f AP_Soaring: fixed Log_Write call 2017-06-07 20:10:20 +10:00
samuelctabor f6b3c00b19 AP_Soaring: Fix initialisers in SoaringController. In-line method to get altitude in Variometer. 2017-06-07 20:10:11 +10:00
samuelctabor 4cbff71689 AP_Soaring: Separate the vario functionality into a seperate class from the soaring/thermalling functionality. 2017-06-07 20:10:03 +10:00
Andrew Tridgell c9e140a946 AP_Terrain: removed unused variable 2017-06-07 19:59:14 +10:00
Michael du Breuil 3e2b5269a6 AP_Terrain: fix Coverity issue 91367 
Also converts to using the get_relative_position_D_home() functions rather then attempting to derive home itself
 2017-06-07 19:58:45 +10:00
Andrew Tridgell 6a01494d4a AP_HAL: fixed setting of HAL_MINIMIZE_FEATURES for FMUv3 2017-06-07 17:39:45 +10:00
Andrew Tridgell d946d5da6f AP_Compass: enable AK09916 inside a ICM20948 
the ICM20948 has an AK09916 which can be accessed via I2C bypass
 2017-06-07 17:39:45 +10:00
Lucas De Marchi eb70dbc6f5 AP_HAL: add HAL_OS_POSIX_IO for aerofc-v1 
What aerofc-v1 doesn't have is an sdcard, but it has posix-like API as
it's running on top of NuttX.
 2017-06-06 18:42:17 -07:00
murata ac8234cdf0 AP_Notify: Change to the value of boolean. 2017-06-07 08:06:44 +09:00
Randy Mackay 33ef3bd51d AP_Proximity: MAV driver gets distance validity check 2017-06-06 20:41:54 +09:00
Randy Mackay 1409f0ca7e DataFlash: rename CURR/CUR2 to BAT/BAT2 2017-06-06 14:57:04 +09:00
Randy Mackay 26845cc66a DataFlash: add resting voltage and resistance to current logging 
also log cell voltages in separate message
 2017-06-06 14:57:04 +09:00
Leonard Hall 9e86732edc AP_Motors: accept external battery resistance estimate 2017-06-06 14:57:04 +09:00
Randy Mackay 7a2d8fd5fd AP_BattMonitor: add has_cell_voltages method 2017-06-06 14:57:04 +09:00
Randy Mackay 6d8dc0fccf AP_BattMonitor: replace int with uint8_t 
non-functional change
 2017-06-06 14:57:04 +09:00
Leonard Hall d5e898156f AP_BattMonitor: allow using resting voltage for failsafe 2017-06-06 14:57:04 +09:00
Leonard Hall 8709fe58ec AP_BattMonitor: resistance learning 2017-06-06 14:57:04 +09:00
Randy Mackay f64777849f AP_BattMonitor: rename VOLT_TIMER to LOW_TIMER 2017-06-06 14:57:04 +09:00
Randy Mackay 989677ddfd AP_BattMonitor: move has_current to backend 2017-06-06 14:57:04 +09:00
Matt f02bfab7fe AP_Notify: OreoLED rework 
Reworked the process flow.  Created the aviation vs rover themes.
Created visual operator feedback for prearm checks, GPS, EKF, gyro init,
radio failsafe, and low battery. This also includes work by Hugh Eaves
to open up the full extended properties of the Oreo LEDs.  Not only are
far more functions available, but you can override and do custom things
via mavlink.
 2017-06-06 12:59:03 +09:00
Matt 34d305083d AP_Notify: Complete rework of notify device selection 
Jaime did the hard work on this one.  He reworked notify device
selection to take place on init rather than on compile like before.  The
notify decivces are mostly set on compile using preprocessor directives
based on board type.  I created NTF_OREO_THEME.  This will allow the
user to enable/disable the OreoLED driver. And it also allows you to
select between aircraft and rover lighting themes. This allows the Solo
to use the OreoLEDs, and doesn't waste the memory on vehicles not
equipped with Oreo LEDs. The OreoLED driver is restricted to Pixhawk 2
FCs by proprocessor directive due to memory constraints. So it will
never work by accident on another board.

There is also a new notify flag for GPS Fusion.  This flag is true when
the EKF is happy with the GPS, actively using it for position
information.
 2017-06-06 12:58:28 +09:00
Matt 6354ca7096 AP_AHRS: Set the new gps_fusion notify flag 
Uses EKF filter state to set the new gps_fusion notify flag. This allows
the GCS and notify devices to specifically be notified if the GPS is or
is not usable.
 2017-06-06 10:38:42 +09:00
Matt 545e417348 AP_Notify: Remove solo specific tones, align with px4 tones 
Evaluated solo specific tones file vs standard px4 tones files.  The
only thing the Solo had that standard ArduPilot does not have is the GPS
unplugged tone and the power off tone.
* Some tones have a different tune, which is fine. We want the Solo to
sound like ArduPilot if it is running ArduPilot.
* GPS unplugged tone abandoned. Determined to be unnecessary.
* Power off tone merged into standard px4 tones file. Smart battery
signalling a power off will make use of this tone. Has application for
any smart battery equipped vehicle, not just Solo.
* Removed all references and dependencies to `ToneAlarm_PX4_Solo.cpp`
and `ToneAlarm_PX4_Solo.h`
* Deleted `ToneAlarm_PX4_Solo.cpp` and `ToneAlarm_PX4_Solo.h` since
they're no longer needed.
 2017-06-06 10:38:40 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 65cca6ae87 SRV_Channel: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas ed07d5b5c9 RC_Channel: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 2c867ec362 AP_RSSI: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 89a0d2aa3b AP_Parachute: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 1b062d9d29 AP_Motors: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas eebf26ed9f AP_LandingGear: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas d1f9633ed2 AP_Landing: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 1ad5e58eb7 AP_Gripper: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 67620e87f0 AP_Camera: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Jonathan Challinger 2e07f8824e AP_Motors: reserve parameter index 38 2017-06-06 08:45:37 +09:00
Peter Barker d56eca036d AC_AttitudeControl: correct parameter markup 2017-06-05 21:02:30 +10:00
priseborough 1985dcd366 AP_NavEKF2: Fix bug in declination fusion 2017-06-03 15:16:25 +01:00
Lucas De Marchi 2e096d76c6 sparse-endian: avoid clash with linux/types.h 
On recent kernels (>= 4.10) __bitwise is defined on the header. Avoid
warning about redefining it.
 2017-06-02 11:26:02 -07:00
Michael du Breuil 6830a8b86c AccelCal: Continously report success/failure to the GCS that requested the calibration 2017-06-01 20:20:05 +01:00
Michael du Breuil c62e79b5c0 GCS_MAVLink: Update the accelcal signature to accept uint32_t 2017-06-01 20:20:05 +01:00
mirkix 478fb60a5b AP_HAL: BeagleBone Blue fix HMC5843 I2C bus number 2017-06-01 17:11:34 +01:00
mirkix d9d3d97e54 AP_Compass: BeagleBone Blue add external compass HMC5843 2017-06-01 17:11:34 +01:00
Leonard Hall 447b20efa5 AP_InertialSensor: reduce accel filter to 10hz 2017-06-01 14:53:48 +09:00
Leonard Hall ad74769fb7 AC_AttControl: adjust default rate IMAX and Yaw Filt 
Increase Roll, Pitch and Yaw IMAX from 0.444 or 0.222 to 0.5
Decrease Yaw Filter from 5hz to 2.5hz based on the results of autotunes on many vehicles which always seems to produce values between 2 and 3hz
 2017-06-01 10:08:41 +09:00
Michael du Breuil ffe701bda3 AP_GPS: Use a static assert to check that the init blob is small enough 2017-05-31 14:39:53 +01:00
Randy Mackay 0b7ec0dc64 AP_Proximity: validate range finder distances 2017-05-31 16:26:42 +09:00
Michael du Breuil 1877d09f7c AP_GPS: Don't track detection time to broadcast baud rate 2017-05-30 23:37:59 +01:00
Michael du Breuil 84598544fb AP_GPS: Don't autodetect NMEA instances 2017-05-30 23:37:59 +01:00
Michael du Breuil f026438f22 AP_BattMonitor: Fetch remaining capacity 2017-05-30 20:28:12 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas f7a683d38e AP_BoardConfig: remove redundant BRD_ prefix, it also made this parameter 17 characters long 2017-05-30 12:09:02 +09:00
Michael du Breuil 2cd6ff6dd5 AP_Math: Accept float epsilon in is_positive is_negative as a valid result 2017-05-27 10:46:59 -07:00
murata c21b586ccc SITL: add dodeca-hexa support 2017-05-27 14:21:13 +09:00
murata 66fc49889b AP_Motors: add dodeca-hexa 2017-05-27 14:21:13 +09:00
Randy Mackay d00725b2ed AP_Motors: rc_write handles motors 9 to 12 2017-05-27 14:21:13 +09:00
Randy Mackay 544d6aa8a0 SRV_Channel: define aux functions for motors 9 to 12 2017-05-27 14:21:13 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas bf4a505494 AP_SerialMananger: Add missing @RebootRequired: True 2017-05-27 01:55:55 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 3f6059397c AP_NavEKF2: Add missing @RebootRequired: True 2017-05-27 01:55:55 +01:00
Michael du Breuil a1479c4138 AP_GPS: SBF report driver lag 2017-05-26 17:42:15 +01:00
Michael du Breuil 3da3ad05bf AP_GPS: SBF report velocity accuracy 2017-05-26 17:42:15 +01:00
murata 75f744591e AP_Avoidance: Change the determination place of the index value. 2017-05-25 23:23:16 +01:00
Michael du Breuil c7a89d5aa0 AP_GPS: Set unknown DOP's to UINT16_MAX, rather then 9999 
This fixes the MAVLink reporting for unknown dops, and avoids the situation where a GPS driver could report a worse DOP then we could handle.

Also corrects an apparent error in the HIL_GPS MAVLink message, where we would always select the unknown dop value rather then provided DOP.
 2017-05-25 11:03:33 -07:00
Michael du Breuil 26ff1acf55 Landing: Deepstall print travel distances 
The distances are used for doing log analysis on the prediction numbers.
 2017-05-24 15:22:27 -07:00
Michael du Breuil 16bd7a091e GCS_MAVLink: Add landing reporting 2017-05-24 15:22:27 -07:00
Michael du Breuil 1e735324d4 AP_Landing: Add MAVLink reporting interface 2017-05-24 15:22:27 -07:00
Michael du Breuil 5a15413513 AP_Math: Add is_negative and is_positive helpers 2017-05-24 15:22:27 -07:00
Michael du Breuil 397ae00526 AP_GPS: SBF report VDOP 2017-05-24 20:03:29 +01:00
Michael du Breuil 7e5aa5bc4c AP_Mission: Prohibit resuming mission waypoints that are no longer in the mission 2017-05-24 10:19:56 -07:00
Andrew Tridgell a3cb6a42c9 AP_BoardConfig: drop target temperature for cube to 45 
getting to 60 was taking far too long (15 minutes or so). 45 is more
achievable.

This is a result of the fix to the invensense temperature detection
code
 2017-05-24 08:41:16 +10:00
Andrew Tridgell 9e74bfbc20 AP_BoardConfig: cope with bad config of pixhawk2 
don't allow FMUv2 firmware on cube, and force temperature if incorrect
 2017-05-24 08:41:16 +10:00