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9846 Commits

Author SHA1 Message Date
Tom Pittenger af93c8da4e GCS_MAVLink: new mavlink msg ADSB_VEHICLE 2015-11-23 19:45:40 +11:00
Siddharth Purohit and Paul Riseborough 3014eb4001 AP_NavEKF2: Rework measurement buffer refactor 
These changes were pair coded an tested by Siddharth Purohit and Paul Riseborough

Fix indexing errors
Move buffer code into a separate file
Split observer and IMU/output buffers and remove duplicate sample time
Optimise observation buffer search
Reduce maximum allowed fusion age to 100 msec
 2015-11-23 19:42:06 +11:00
Siddharth Bharat Purohit b3c8dcee34 AP_NavEKF2: measurement buffer refactor 2015-11-23 19:34:50 +11:00
Andrew Tridgell 77a67d73e7 SITL: fill in RPM from JSBSim 2015-11-23 14:30:47 +11:00
Andrew Tridgell 45ea2a9b68 AP_RPM: added a SITL RPM backend 2015-11-23 14:30:42 +11:00
Andrew Tridgell 223ce2b6aa SITL: allow FDM models to provide voltage, current and RPM 2015-11-23 13:46:27 +11:00
Andrew Tridgell 7a5c4ec65d HAL_SITL: use battery info from FDM if available 2015-11-23 13:31:29 +11:00
Andrew Tridgell 8b456be8c6 SITL: added battery voltage and rpm to SITL state 2015-11-23 13:31:09 +11:00
Andrew Tridgell 585e6dabb8 SITL: FDM structure is no longer a network protocol structure 
remove unused fields and change comments
 2015-11-23 13:25:00 +11:00
Andrew Tridgell a6ef064950 HAL_SITL: removed support for the old FDM protocol 
we are now fully converted to the new C++ based SITL system
 2015-11-23 13:21:33 +11:00
Andrew Tridgell 9cdd5f3944 AP_InertialSensor: catch NAN errors in accel and gyro filters 2015-11-22 17:30:29 +11:00
Andrew Tridgell 5b7f2a3de3 Filter: added reset method on vector filters 2015-11-22 17:30:29 +11:00
Andrew Tridgell b3e6129fd4 AP_AHRS: added EKF type 10 for SITL 
this bypasses all attitude and position estimators and uses the SITL
state directly. It can be used for when the SITL backend cannot
provide perfect sensor data
 2015-11-22 17:30:28 +11:00
Andrew Tridgell 7b38f2185f AP_AHRS: use the right DCM matrix for right EKF 
this fixes a bug where the EKF2 DCM matrix would be used for
get_dcm_matrix() when EKF1 was active
 2015-11-20 18:34:08 +11:00
Caio Marcelo de Oliveira Filho 01665282f7 AP_HAL_VRBRAIN: Remove unused extern declaration for HALs 2015-11-20 16:32:57 +09:00
Caio Marcelo de Oliveira Filho bb165d8a4c AP_HAL_SITL: Remove unused extern declaration for HALs 2015-11-20 16:32:45 +09:00
Caio Marcelo de Oliveira Filho c43474fbf4 AP_HAL_PX4: Remove unused extern declaration for HALs 2015-11-20 16:32:32 +09:00
Caio Marcelo de Oliveira Filho 6773e18bc4 AP_HAL_Linux: Remove unused extern declaration for HALs 2015-11-20 16:32:17 +09:00
Caio Marcelo de Oliveira Filho d9a3876851 AP_HAL_FLYMAPLE: Remove unused extern declaration for HALs 2015-11-20 16:32:00 +09:00
Caio Marcelo de Oliveira Filho ee542aac8b AP_HAL_Empty: Remove unused extern declaration for HALs 
These are "left-overs" from how things worked before commit
"AP_HAL: make code not depend on concrete HAL
implementations". The real declaration now lives inside get_HAL() function.

Use the opportunitiy to change the files to use "#pragma once".
 2015-11-20 16:30:45 +09:00
Andrew Tridgell 1ee7963edb AP_ADC: fixed example build 2015-11-20 17:33:17 +11:00
Andrew Tridgell 7375f395f9 AP_RPM: added optional PWM logging 2015-11-20 17:02:46 +11:00
Caio Marcelo de Oliveira Filho cbaa57c7be AP_HAL_VRBRAIN: remove unused functions 2015-11-20 12:36:54 +09:00
Caio Marcelo de Oliveira Filho 783db23a0f AP_HAL_SITL: remove unused functions 2015-11-20 12:36:42 +09:00
Caio Marcelo de Oliveira Filho 1de0e0a5a6 AP_HAL_PX4: remove unused functions 2015-11-20 12:36:34 +09:00
Caio Marcelo de Oliveira Filho e0a6d83457 AP_HAL_LINUX: remove unused functions 2015-11-20 12:36:25 +09:00
Caio Marcelo de Oliveira Filho f3cc27e04a AP_HAL_FLYMAPLE: remove unused functions 2015-11-20 12:36:18 +09:00
Caio Marcelo de Oliveira Filho 420dfc7ce2 AP_HAL_Empty: remove unused functions 2015-11-20 12:36:10 +09:00
Caio Marcelo de Oliveira Filho c5fc0deee9 AP_HAL_Scheduler: remove unused functions 
Getting the time elapsed and panic are now functions in AP_HAL, so
remove them from HAL class interface and it's implementations.
 2015-11-20 12:36:00 +09:00
Caio Marcelo de Oliveira Filho d343bfdc6c SITL: use millis/micros/panic functions 2015-11-20 12:35:50 +09:00
Caio Marcelo de Oliveira Filho e839892524 PID: use millis/micros/panic functions 2015-11-20 12:35:42 +09:00
Caio Marcelo de Oliveira Filho a096c2b72c GCS_MAVLink: use millis/micros/panic functions 2015-11-20 12:35:34 +09:00
Caio Marcelo de Oliveira Filho 51a6455ac0 Filter: use millis/micros/panic functions 2015-11-20 12:35:25 +09:00
Caio Marcelo de Oliveira Filho 578b31e7f8 AP_DataFlash: example uses millis/micros/panic functions 2015-11-20 12:35:17 +09:00
Caio Marcelo de Oliveira Filho 753956bd77 AP_Dataflash: use millis/micros/panic functions 2015-11-20 12:35:00 +09:00
Caio Marcelo de Oliveira Filho 0aa520a273 AP_Terrain: use millis/micros/panic functions 2015-11-20 12:34:53 +09:00
Caio Marcelo de Oliveira Filho c70dda526c AP_TECS: use millis/micros/panic functions 2015-11-20 12:34:46 +09:00
Caio Marcelo de Oliveira Filho 7c9a5dc1b9 AP_ServoRelayEvents: use millis/micros/panic functions 2015-11-20 12:34:39 +09:00
Caio Marcelo de Oliveira Filho 81186e5416 AP_Scheduler: use millis/micros/panic functions 2015-11-20 12:34:17 +09:00
Caio Marcelo de Oliveira Filho 82a14b183d AP_RangeFinder: use millis/micros/panic functions 2015-11-20 12:34:10 +09:00
Caio Marcelo de Oliveira Filho 5344d95ef5 AP_Rally: use millis/micros/panic functions 2015-11-20 12:34:04 +09:00
Caio Marcelo de Oliveira Filho 9639add306 AP_RPM: use millis/micros/panic functions 2015-11-20 12:33:57 +09:00
Caio Marcelo de Oliveira Filho 26c06ae3a9 AP_PerfMon: use millis/micros/panic functions 2015-11-20 12:33:33 +09:00
Caio Marcelo de Oliveira Filho d186704724 AP_Parachute: use millis/micros/panic functions 2015-11-20 12:33:26 +09:00
Caio Marcelo de Oliveira Filho 5b06924779 AP_OpticalFlow: use millis/micros/panic functions 2015-11-20 12:33:19 +09:00
Caio Marcelo de Oliveira Filho daee8e8e76 AP_Notify: use millis/micros/panic functions 2015-11-20 12:33:13 +09:00
Caio Marcelo de Oliveira Filho 8d882b06dd AP_NavEKF2: use millis/micros/panic functions 2015-11-20 12:32:41 +09:00
Caio Marcelo de Oliveira Filho e3c317b96b AP_NavEKF: use millis/micros/panic functions 2015-11-20 12:32:31 +09:00
Caio Marcelo de Oliveira Filho 0b2184b818 AP_Mount: use millis/micros/panic functions 2015-11-20 12:32:24 +09:00
Caio Marcelo de Oliveira Filho 513f4fe986 AP_Motors: example uses millis/micros/panic functions 2015-11-20 12:32:16 +09:00
Caio Marcelo de Oliveira Filho 01e4265ce1 AP_Mission: example uses millis/micros/panic functions 2015-11-20 12:32:09 +09:00
Caio Marcelo de Oliveira Filho f20a4e413c AP_Mission: use millis/micros/panic functions 2015-11-20 12:32:03 +09:00
Caio Marcelo de Oliveira Filho 8257e6ab89 AP_Math: examples use millis/micros/panic functions 2015-11-20 12:31:55 +09:00
Caio Marcelo de Oliveira Filho 5292bc0054 AP_HAL: example uses millis/micros/panic functions 2015-11-20 12:31:48 +09:00
Caio Marcelo de Oliveira Filho d7601095fa AP_InertialSensor: use millis/micros/panic functions 2015-11-20 12:31:41 +09:00
Caio Marcelo de Oliveira Filho 87b9b4463e AP_IRLock: use millis/micros/panic functions 2015-11-20 12:31:35 +09:00
Caio Marcelo de Oliveira Filho 2314578f6f AP_HAL_VRBRAIN: use millis/micros/panic functions 2015-11-20 12:31:28 +09:00
Caio Marcelo de Oliveira Filho 85d12efbef AP_HAL_SITL: use millis/micros/panic functions 2015-11-20 12:31:20 +09:00
Caio Marcelo de Oliveira Filho a76c9e0051 AP_HAL_PX4: use millis/micros/panic functions 2015-11-20 12:31:13 +09:00
Caio Marcelo de Oliveira Filho 7675913d5b AP_HAL_Linux: use millis/micros/panic functions 2015-11-20 12:31:04 +09:00
Caio Marcelo de Oliveira Filho f03eec59d6 AP_HAL_FLYMAPLE: use millis/micros/panic functions 2015-11-20 12:30:55 +09:00
Caio Marcelo de Oliveira Filho c33b86a783 AP_GPS: use millis/micros/panic functions 2015-11-20 12:30:48 +09:00
Caio Marcelo de Oliveira Filho 2b982d6391 AP_FrSkyTelem: use millis/micros/panic functions 2015-11-20 12:30:41 +09:00
Caio Marcelo de Oliveira Filho 032acaaee4 AP_EPM: use millis/micros/panic functions 2015-11-20 12:30:34 +09:00
Caio Marcelo de Oliveira Filho 0ae2fe6fcd AP_Declination: example uses millis/micros/panic functions 2015-11-20 12:30:27 +09:00
Caio Marcelo de Oliveira Filho cd7cfdef91 AP_Compass: examples use millis/micros/panic functions 2015-11-20 12:30:20 +09:00
Caio Marcelo de Oliveira Filho 86954cda0e AP_CompassCalibrator: use millis/micros/panic functions 2015-11-20 12:30:14 +09:00
Caio Marcelo de Oliveira Filho 0d3fbbdd37 AP_Compass: use millis/micros/panic functions 2015-11-20 12:30:05 +09:00
Caio Marcelo de Oliveira Filho 89d6acaeaa AP_BoardConfig: use millis/micros/panic functions 2015-11-20 12:29:58 +09:00
Caio Marcelo de Oliveira Filho 3b4e18043b AP_BattMonitor: examples use millis/micros/panic functions 2015-11-20 12:29:52 +09:00
Caio Marcelo de Oliveira Filho 9eb945d24f AP_BattMonitor: use millis/micros/panic functions 2015-11-20 12:29:45 +09:00
Caio Marcelo de Oliveira Filho 8cce3067f4 AP_Baro: examples use millis/micros/panic functions 2015-11-20 12:29:38 +09:00
Caio Marcelo de Oliveira Filho 5a280838f8 AP_Baro: use millis/micros/panic functions 2015-11-20 12:29:31 +09:00
Caio Marcelo de Oliveira Filho b8f0beab83 AP_Arming: use millis/micros/panic functions 2015-11-20 12:29:24 +09:00
Caio Marcelo de Oliveira Filho 410bbe4c26 AP_Airspeed: examples use millis/micros/panic functions 2015-11-20 12:29:16 +09:00
Caio Marcelo de Oliveira Filho 2b10e0fac0 AP_Airspeed: use millis/micros/panic functions 2015-11-20 12:29:07 +09:00
Caio Marcelo de Oliveira Filho 3a17c858e3 AP_AHRS: use millis/micros/panic functions 2015-11-20 12:29:00 +09:00
Caio Marcelo de Oliveira Filho 4ea45b8df1 AP_AHRS_NavEKF: use millis/micros/panic functions 2015-11-20 12:28:53 +09:00
Caio Marcelo de Oliveira Filho 55e61538b3 AP_AHRS_DCM: use millis/micros/panic functions 2015-11-20 12:28:45 +09:00
Caio Marcelo de Oliveira Filho b293fb150c AP_ADC: use millis/micros/panic functions 2015-11-20 12:28:36 +09:00
Caio Marcelo de Oliveira Filho b331ffdd91 APM_OBC: use millis/micros/panic functions 2015-11-20 12:28:28 +09:00
Caio Marcelo de Oliveira Filho fe718a6ce8 APM_Control: use millis/micros/panic functions 2015-11-20 12:28:20 +09:00
Caio Marcelo de Oliveira Filho e867a06383 AC_WPNav: use millis/micros/panic functions 2015-11-20 12:28:13 +09:00
Caio Marcelo de Oliveira Filho 70d0ea9151 AC_Sprayer: use millis/micros/panic functions 2015-11-20 12:28:04 +09:00
Caio Marcelo de Oliveira Filho ccd03bcf60 AC_Fence: use millis/micros/panic functions 2015-11-20 12:27:11 +09:00
Caio Marcelo de Oliveira Filho ea08b6115d AC_AttControl: use millis/micros/panic functions 2015-11-20 12:27:03 +09:00
Caio Marcelo de Oliveira Filho 7662c2e73f AP_HAL_VRBRAIN: implement new AP_HAL functions 
Implement the new AP_HAL functions and use them in the Scheduler when
possible.
 2015-11-20 12:25:42 +09:00
Caio Marcelo de Oliveira Filho 79721feb14 AP_HAL_FLYMAPLE: implement new AP_HAL functions 
Implement the new AP_HAL functions and use them in the Scheduler when
possible.

Because the functions are in a namespace, there's no need to do the
define/undef trick and avoid the globals millis() and micros() provided
by libmaple.
 2015-11-20 12:25:41 +09:00
Caio Marcelo de Oliveira Filho 8db8b9b355 AP_HAL_PX4: implement new AP_HAL functions 
Implement the new AP_HAL functions and use them in the Scheduler when
possible.
 2015-11-20 12:25:40 +09:00
Caio Marcelo de Oliveira Filho ff016c4b5a AP_HAL_Linux: implement new AP_HAL functions 
Implement the new AP_HAL functions and use them in the Scheduler when
possible.

The '_sketch_start_time' was renamed and moved as a detail of
implementation of the functions code. It allows the code to return time
starting from zero.

The 'stopped_clock_usec' was renamed to follow convention in the file
and add a getter so that AP_HAL functions can reach it. It's not a
problem this getter is public because in practice, regular code
shouldn't even access the Linux::Scheduler directly -- only code that
should is from Linux implementation.
 2015-11-20 12:25:39 +09:00
Caio Marcelo de Oliveira Filho 3ef77617fd AP_HAL_SITL: implement new AP_HAL functions 
Implement the new AP_HAL functions and use them in the Scheduler when
possible.

The '_sketch_start_time' was renamed and moved as a detail of
implementation of the functions code. It allows the code to return time
starting from zero.

The 'stopped_clock_usec' was renamed to follow convention in the file
and add a getter so that AP_HAL functions can reach it. It's not a
problem this getter is public because in practice, regular code
shouldn't even access the SITLScheduler directly -- only code that
should is from SITL itself.
 2015-11-20 12:25:38 +09:00
Caio Marcelo de Oliveira Filho efbc7648b1 AP_HAL: create AP_HAL namespace and use for some HAL functionality 
For certain basic functionality, there aren't much benefit to be able to
vary the implementation easily at runtime. So instead of using virtual
functions, use regular functions that are "resolved" at link time. The
implementation of such functions is provided per board/platform.

Examples of functions that fit this include: getting the current
time (since boot), panic'ing, getting system information, rebooting.

These functions are less likely to benefit from the indirection provided
by virtual interfaces. For more complex hardware access APIs the
indirection makes more sense and ease the testing (when we have it!).

The idea is that instead of calling

    hal.scheduler->panic("on the streets of london");

now use

    AP_HAL::panic("on the streets of london");

A less important side-effect is that call-site code gets
smaller. Currently the compiler needs to get the hal, get the scheduler
pointer, get the right function pointer in the vtable for that
scheduler. And the call must include an extra parameter ("this"). Now it
will be just a function call, with the address resolved at link time.

This patch introduces the first functions that will be in the namespace,
further patches will implementations for each board and then switch the
call-sites. The extra init() function allow any initial setup needed for
the functions to work.
 2015-11-20 12:25:24 +09:00
Jonathan Challinger f9c7f15052 AC_WPNav: WPNAV_LOIT_SPEED WPNAV_LOIT_MAXA take effect immediately 2015-11-18 22:12:39 +09:00
Paul Riseborough ff2782b790 AP_NavEKF2: Parameter changes to reduce noise on gyro bias estimates 2015-11-18 20:17:03 +09:00
Paul Riseborough 2193103586 AP_NavEKF: Reduce time to switch after an IMU fault 
This revised threshold value is still double the maximum that has been observed in flight logs so far with healthy sensors
The previous value was too slow to switch for sudden IMU gyro faults
We can afford an ocasional false trigger becasue the front end will only select another instance if it is healthy and has lower errors
 2015-11-18 20:17:00 +09:00
Paul Riseborough 20798316e1 AP_NavEKF2: fix bug in performance timer 2015-11-18 20:16:58 +09:00
Randy Mackay c9340dbeb6 AC_PosControl: run velocity controller z-axis at 400hz 2015-11-18 13:31:21 +09:00
Randy Mackay dbc8ce1d69 AC_PosControl: default z-axis controller to 400hz 
No functional change as vehicle code always sets it explicitely
 2015-11-18 13:31:20 +09:00
Randy Mackay 323a527734 AC_PosControl: velocity controller uses feed-forward althold 2015-11-18 13:31:19 +09:00
Randy Mackay 4b41710261 AC_AttControl: minor comment fix 2015-11-18 13:31:18 +09:00