Commit Graph

9603 Commits

Author SHA1 Message Date
Paul Riseborough
be11e12f81 AP_NavEKF: Improve height reset during climbs and descents
Resets the vertical velocity to the GPS when the height is reset is the GPS is healthy
2015-11-02 17:46:53 +09:00
Paul Riseborough
59df23bc0f AP_NavEKF: Reduce EKF health pre-arm check false positives 2015-11-02 17:46:52 +09:00
Paul Riseborough
aa14de9d39 AP_NavEKF2: Fix failure to start mag cal due to gyro noise
Vibration in the 400Hz delta angles could cause the angular rate condition check for in-flight magnetic field alignment to fail.
The symptons were failure to start magnetic field learning as expected when EK2_MAG_CAL=3 was set.
2015-11-02 14:12:17 +11:00
Paul Riseborough
2ebce110b7 AP_NavEKF2: Explicitly define plane build type for default parameters
Use Copter parameters if build type is unknown
2015-11-02 14:12:17 +11:00
Paul Riseborough
7ed36d8e65 AP_AHRS: Enable pre-flight GPS check status reporting for EKF2 2015-11-02 14:12:17 +11:00
Paul Riseborough
b6d63d4b4e AP_NavEKF2: Fix reporting of pre-flight GPS checks
Re-order checks so that that less important messages are not hidden when the 40 character buffer overflows
Add required output methods
2015-11-02 14:12:16 +11:00
Paul Riseborough
7bd61a484c AP_NavEKF2: Faster initial accel bias learning 2015-11-02 14:12:16 +11:00
Paul Riseborough
b15bf3243e AP_NavEKF2: Remove potential for division by zero 2015-10-30 15:34:26 +09:00
Paul Riseborough
5533a9a149 AP_NavEKF2: Add improved health monitoring when using simple compass yaw fusion 2015-10-30 15:34:23 +09:00
Paul Riseborough
f539b597a3 AP_NavEKF2: Improve initialisation of magnetic field learning
Use the more robust, but less accurate compass heading fusion up to 5m altitude
Wait for the magnetometer data fusion time offset to be correct before using data to reset states
Don't reset magnetic field states if the vehicle is rotating rapidly as timing offsets will produce large errors
When doing the yaw angle reset, apply the reset increment to all quaternions stored in the output buffer to avoid transients produced by yaw rotations and the 0.25 second fusion time horizon offset.
Only do the one yaw and mag reset at 5m, not two at 1.5 and 5.0m
Always re-do the yaw and mag reset when leaving the ground.
2015-10-30 15:34:20 +09:00
Paul Riseborough
844ed95718 AP_NavEKF2: Add method to rotate output quaternion history 2015-10-30 15:34:17 +09:00
Paul Riseborough
a1e32d71ec AP_NavEKF: Prevent large rotation rates corrupting the in-flight mag reset 2015-10-30 15:34:14 +09:00
Lucas De Marchi
1ce03c53a6 AP_Curve: remove wrong comment about PSTR
Not being able to leave the instantiation in ther header is not because
of PSTR issues, but basically because the instantiation needs to be in a
compilation unit, not in the header itself.
2015-10-30 14:35:49 +09:00
Lucas De Marchi
9203e2b929 AP_Common: remove PSTR definition 2015-10-30 14:35:48 +09:00
Lucas De Marchi
92016e9229 AP_Progmem: remove dead code
The only thing from AP_Progmem that's still used are the pgm_read_*
function and there's no support for AVR anymore. So remove the dead code
and use a single header to contain that inline functions.
2015-10-30 14:35:47 +09:00
Lucas De Marchi
68bef1ec64 AP_Param: fix wrong printf format for printf
"%S" is used for wide string, but we are passing a char*. Use lowercase
in this case to remove warnings like this:

libraries/AP_InertialSensor/AP_InertialSensor.cpp: In member function
'bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract*, float&, float&)':
libraries/AP_InertialSensor/AP_InertialSensor.cpp:620:61: warning:
format '%S' expects argument of type 'wchar_t*', but argument 3 has type 'const char*' [-Wformat=]
                 "Place vehicle %S and press any key.\n", msg);
                                                             ^
2015-10-30 14:35:45 +09:00
Lucas De Marchi
d2a259cef0 DataFlash: fix wrong printf format for printf
"%S" is used for wide string, but we are passing a char*. Use lowercase
in this case to remove warnings like this:

libraries/AP_InertialSensor/AP_InertialSensor.cpp: In member function
'bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract*, float&, float&)':
libraries/AP_InertialSensor/AP_InertialSensor.cpp:620:61: warning:
format '%S' expects argument of type 'wchar_t*', but argument 3 has type 'const char*' [-Wformat=]
                 "Place vehicle %S and press any key.\n", msg);
                                                             ^
2015-10-30 14:35:42 +09:00
Lucas De Marchi
bdd1d5e9d4 AP_Menu: fix wrong printf format for printf
"%S" is used for wide string, but we are passing a char*. Use lowercase
in this case to remove warnings like this:

libraries/AP_InertialSensor/AP_InertialSensor.cpp: In member function
'bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract*, float&, float&)':
libraries/AP_InertialSensor/AP_InertialSensor.cpp:620:61: warning:
format '%S' expects argument of type 'wchar_t*', but argument 3 has type 'const char*' [-Wformat=]
                 "Place vehicle %S and press any key.\n", msg);
                                                             ^
2015-10-30 14:35:41 +09:00
Lucas De Marchi
62ba8266ef AP_InertialSensor: fix wrong printf format for printf
"%S" is used for wide string, but we are passing a char*. Use lowercase
in this case to remove warnings like this:

libraries/AP_InertialSensor/AP_InertialSensor.cpp: In member function
'bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract*, float&, float&)':
libraries/AP_InertialSensor/AP_InertialSensor.cpp:620:61: warning:
format '%S' expects argument of type 'wchar_t*', but argument 3 has type 'const char*' [-Wformat=]
                 "Place vehicle %S and press any key.\n", msg);
                                                             ^
2015-10-30 14:35:40 +09:00
Lucas De Marchi
5244559010 Minimize AP_Progmem.h includes
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
2015-10-30 14:35:32 +09:00
Lucas De Marchi
a65c98485c AP_HAL: UARTDriver: remove _P() variants
They aren't used anymore so remove.
2015-10-30 14:35:31 +09:00
Lucas De Marchi
1b07dabeb7 Replace prog_char and prog_char_t with char
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
2015-10-30 14:35:30 +09:00
Lucas De Marchi
b52d1cfabb DataFlash: remove DataFlash.Log_Write_Message_P() 2015-10-30 14:35:29 +09:00
Lucas De Marchi
4ab9821624 Replace use of Log_Write_Message_P() with Log_Write_Message() 2015-10-30 14:35:28 +09:00
Lucas De Marchi
132303db4b AP_InertialSensor: use printf() rather than _printf_P() 2015-10-30 14:35:27 +09:00
Lucas De Marchi
2556fc8dbe BetterStream: use common macro for printf formatting
Since this needs an additional header, also put them in correct order.
2015-10-30 14:35:26 +09:00
Lucas De Marchi
20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf()
This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +09:00
Lucas De Marchi
7ceffb1e2b Replace use of vprintf_P() with vprintf() 2015-10-30 14:35:23 +09:00
Lucas De Marchi
6f4904189b Replace use of println_P() with println() 2015-10-30 14:35:22 +09:00
Lucas De Marchi
a964ac38ec Replace use of print_P() with print() 2015-10-30 14:35:21 +09:00
Lucas De Marchi
65e719ccc3 AP_Param: replace find_P() with find() 2015-10-30 14:35:19 +09:00
Lucas De Marchi
af88ebf477 GCS_MAVLink: remove send_text_P() in favor of send_text() 2015-10-30 14:35:18 +09:00
Lucas De Marchi
831d8acca5 Remove use of PROGMEM
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
2015-10-30 14:35:16 +09:00
Lucas De Marchi
d595e41003 Replace use of strncmp_P() with strncmp() 2015-10-30 14:35:14 +09:00
Lucas De Marchi
0aa117f65d Replace use of strnlen_P() with strnlen() 2015-10-30 14:35:13 +09:00
Lucas De Marchi
1336d621be Replace use of strcpy_P() with strcpy() 2015-10-30 14:35:12 +09:00
Lucas De Marchi
e4b313d2ca Replace use of memcpy_P() with memcpy() 2015-10-30 14:35:11 +09:00
Lucas De Marchi
f8f3f5a024 Replace use of strlen_P() with strlen() 2015-10-30 14:35:10 +09:00
Lucas De Marchi
aa370fe758 Replace use of strcmp_P() with strcmp() 2015-10-30 14:35:09 +09:00
Lucas De Marchi
6f0db45b57 Replace use of strcasecmp_P() with strcasecmp() 2015-10-30 14:35:08 +09:00
Lucas De Marchi
a8455aa4e3 AP_HAL: Remove Util::{v,}snprintf_P() 2015-10-30 14:35:06 +09:00
Lucas De Marchi
84d5fb006f Remove use of Util::{v,}snprintf_P()
These are now the same function as Util::snprintf().
2015-10-30 14:35:05 +09:00
Lucas De Marchi
2c38e31c93 Remove use of PSTR
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
Randy Mackay
4d458833dc AP_NavEKF2: remove unnecessary PV_AidingMode check
Thanks to OXINARF for catching this
2015-10-30 12:52:49 +09:00
Paul Riseborough
b459d937ad AP_NavEKF2: Clean up GPS fusion timeout logic and comments 2015-10-30 12:24:19 +09:00
Paul Riseborough
61d556afb1 DataFlash: Fix shorthand variable names for EKF position reset delta 2015-10-30 12:24:18 +09:00
Randy Mackay
adee13d729 AC_WPNav: handle ekf position reset in Loiter and Brake 2015-10-30 12:24:17 +09:00
Randy Mackay
94adaba305 AP_NavEKF2: constify getLastPosNorthEastReset
Also constify getLastVelNorthEastReset
2015-10-30 12:24:16 +09:00
Randy Mackay
3f29365cae AP_NavEKF: constify getLastPosNorthEastReset 2015-10-30 12:24:15 +09:00
Randy Mackay
4e959ef6f9 AP_AHRS: constify getLastPosNorthEastReset
Also constify getLastVelNortEastReset
2015-10-30 12:24:13 +09:00
Randy Mackay
52ed075405 AP_NavEKF2: constify getLastYawResetAngle 2015-10-30 12:24:12 +09:00
Randy Mackay
758c5a7d7f AP_NavEKF: constify getLastYawResetAngle 2015-10-30 12:24:11 +09:00
Randy Mackay
7c20577ee0 AP_AHRS: constify getLastYawResetAngle 2015-10-30 12:24:10 +09:00
Randy Mackay
040ec481f4 AC_WPNav: loiter uses pos_control.shift_pos_xy_target 2015-10-30 12:24:09 +09:00
Randy Mackay
550ba478c9 AC_PosControl: add shift_pos_xy_target 2015-10-30 12:24:08 +09:00
Randy Mackay
16a0281c92 AC_PosControl: remove unused set_vel_target 2015-10-30 12:24:07 +09:00
Paul Riseborough
0b1a6a2157 AP_NavEKF2: Clean up GPS timeout logic 2015-10-30 12:24:06 +09:00
Paul Riseborough
f67f6b01f4 AP_AHRS: Publish the EKF position and velocity reset deltas 2015-10-30 12:24:05 +09:00
Paul Riseborough
74da4d8e57 AP_NavEKF2: Remove GPS glitch offset logic
Correction for steps in position and velocity caused by resets following GPS glitches and other events are now handled by the control loops.
2015-10-30 12:24:04 +09:00
Paul Riseborough
4fdec67546 AP_NavEKF2: Publish the position and velocity state reset deltas
Used by the control loops to compensate for step changes in position and velocity when the EKF needs to do a reset of these states.
2015-10-30 12:24:02 +09:00
Paul Riseborough
7c40448bab AP_NavEKF: Remove GPS glitch offset logic
The correction for offsets due to position and velocity resets will now be handled in the control loops.
2015-10-30 12:24:01 +09:00
Paul Riseborough
5489ff9118 AP_NavEKF: publish position and velocity state reset data
Used by the control loops to compensate for steps in velocity and/or position resulting from state resets.
2015-10-30 12:24:00 +09:00
Tom Pittenger
0d36c4c07b GCS_MAVLink: version update after generate 2015-10-30 11:16:30 +09:00
Tom Pittenger
bf9d4b5898 GCS_MAVLink: generate adds abort Alt label in MAV_CMD_NAV_LAND
code is already implemented and released
2015-10-30 11:15:50 +09:00
Randy Mackay
c52f16b86f AC_WPNav: increase param description max for LOIT_JERK 2015-10-29 12:16:30 +09:00
Randy Mackay
49c4a133d7 AC_WPNav: set jerk separately for wpnav and loiter 2015-10-29 12:10:47 +09:00
Randy Mackay
ee0abb1750 AC_PosControl: add set_jerk_xy 2015-10-29 12:10:44 +09:00
Jonathan Challinger
853f8bfaf4 AC_WPNav: stop gradually in loiter 2015-10-28 20:21:55 +09:00
Randy Mackay
73f4533995 AC_PosControl: minor comment update 2015-10-28 20:21:53 +09:00
Randy Mackay
895a40893d AC_PosControl: use_desvel_ff flag added
This allows turning on/off desired velocity feedforward without setting desired_vel.z to zero.  Setting desired_vel.z to zero has the side effect of disrupting the landing detection which needs to know if we are trying to descend
2015-10-28 20:21:52 +09:00
Leonard Hall
aec66c5db6 AC_PosControl: faster z-axis slowdown when over speed 2015-10-28 20:21:38 +09:00
Leonard Hall
245f7ce268 AC_PosControl: allow desired vel z to be above speed limit 2015-10-28 17:59:36 +09:00
Leonard Hall
f55c31a157 AC_PosControl: add alt hold without feed forward 2015-10-28 17:57:20 +09:00
Andrew Tridgell
aee2543b75 AP_Parachute: fixed release bug
if release() is called within 1 millisecond of update() the release
wouldn't happen
2015-10-27 16:06:34 +11:00
Andrew Tridgell
0d9715cfe8 AP_Parachute: added a released() function
used to help with throttle suppression in plane
2015-10-27 16:06:34 +11:00
Randy Mackay
ca942f39dd AP_Motors_Heli: remove unused allow_arming check 2015-10-27 09:14:40 +09:00
Andrew Tridgell
724f5511aa SITL: support multiple jsbsim aircraft types
use -f jsbsim:ModelName
2015-10-27 10:01:34 +11:00
Randy Mackay
e9cec1203a GCS_MAVLink: version update after generate 2015-10-26 16:28:54 +09:00
Randy Mackay
e51498aa45 GCS_MAVLink: generate after adding DO_SEND_BANNER 2015-10-26 16:28:52 +09:00
Jonathan Challinger
36bb5a25a2 GCS_MAVLink: add MAV_CMD_DO_SEND_BANNER 2015-10-26 16:28:49 +09:00
squilter
9de2ec04f6 AC_PrecLand: update comments to reflect change from bf_angle to angle 2015-10-26 09:45:05 +09:00
squilter
9e7099f5ee AC_PrecLand: implement frame of reference 2015-10-26 09:45:03 +09:00
squilter
e409bd0a58 AC_PrecLand: rename bf_angle to angle 2015-10-26 09:45:01 +09:00
Andrew Tridgell
c228ea4371 AP_NavEKF2: prevent a valgrind error on startup 2015-10-26 11:34:32 +11:00
Jonathan Challinger
c762865d66 AP_Mount: use configured function to determine if MNT_TYPE has been configured 2015-10-26 11:15:54 +11:00
Jonathan Challinger
f0f5239d8f AP_L1_Control: use set_default for runtime param defaults 2015-10-26 11:15:54 +11:00
Jonathan Challinger
21e7d46944 RC_Channel: use set_default for runtime param defaults 2015-10-26 11:15:54 +11:00
Jonathan Challinger
39246c13ad AP_Param: add set_default, configured 2015-10-26 11:15:54 +11:00
Paul Riseborough
87ea9acc7f AP_NavEKF2: Fix mavlink parameter label 2015-10-26 08:05:15 +11:00
Paul Riseborough
1cf626692c AP_NavEKF: Reduce impact of altimeter flow disturbance error on Copter alt hold
This increase in assumed altimeter noise and reduction in accel noise has been flight tested by L.Hall with noticeable reduction in the immediate response to Baro errors during moving flight.
This increases the time constant of response to baro errors such that the pilot can more easily compensate.
2015-10-26 08:05:15 +11:00
Paul Riseborough
e692e30988 AP_NavEKF2: Reduce allowance for magnetometer timing errors
The previous gain from rate to magnetometer error was excessive. The revised value is equivalent to a magnetic field length of 0.5 with a timing uncertainty of 0.01 sec
2015-10-26 08:05:15 +11:00
Paul Riseborough
4c5ba60578 AP_NavEKF2: Remove dead code 2015-10-26 08:05:15 +11:00
Andrew Tridgell
142aa59bce AP_InertialSensor: fixed vibration logging after recent changes 2015-10-26 07:26:17 +11:00
Lucas De Marchi
9eaf7c5660 AP_HAL: add format attribute to panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
2322b8014d AP_HAL: use common macro for printf formatting 2015-10-24 14:26:36 +11:00
Lucas De Marchi
dc95145de2 AP_Common: add attribute to sanitize prinf-like functions
Make the compiler emit warnings if the variables don't match the
printf format string. To be added in functions with printf-like
arguments.
2015-10-24 14:26:36 +11:00
Lucas De Marchi
3650eb468f AP_HAL_FLYMAPLE: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
e2d1fab863 AP_HAL_Empty: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
6027a02fe9 AP_HAL_SITL: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
e9d92c446c AP_HAL_VRBRAIN: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
f791767fb2 AP_HAL_PX4: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
4b54bcbfad AP_HAL_Linux: use variadic panic()
While at it also add a prefix with the name of the driver.
2015-10-24 14:26:36 +11:00
Lucas De Marchi
2af4244854 AP_HAL_Linux: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
ad61a93c14 AP_HAL: turn panic() into a variadic method
Change the declaration on all HAL implementations so panic() in future
may implement a printf-like interface.
2015-10-24 14:26:35 +11:00
Lucas De Marchi
0b4aa5ac85 AP_HAL: Scheduler: reorder includes
Follow the following order for includes:

   - Corresponding header file (if exists)
   - System headers
   - Other ArduPilot library headers
   - "Local" headers (from the same library)
2015-10-24 14:26:35 +11:00
Paul Riseborough
55ac8f0230 AP_NavEKF2: Update parameter values.
Testing on different platforms has shown that the new EKF has smaller innovations enabling innovation consistency checks that reject GPS and baro errors to be tightened.
The position and velocity thresholds for plane have been left the same because planes are less sensitive to GPS glitches as they fly higher and with more separation to surrounding objects. They are also more prone to bad inertial data due to the installation practices.
The altitude noise has been increased on plane to allow for the larger baro disturbances that result from the higher speeds and lack of a proper static pressure source. The innovation consistency gate has been adjusted to provide the same baro error limit of ~20m before baro is rejected.
2015-10-24 07:26:50 +11:00
Paul Riseborough
1e7ac873b9 AP_NavEKF2: Improve handling of GPS loss and recovery for planes
Extended GPS loss can result in the earth field states becoming  rotated and making it difficult for the EKF to recover its heading when GPS is regained.
During prolonged GPS outages, the position covariance can become large enough to cause the reset function to continually activate. This is fixed by ensuring that position covariances are always reset when the position is reset.
The innovation variance was being used incorrectly instead of the state variance to trigger the glitch reset.
2015-10-24 07:17:11 +11:00
Paul Riseborough
cd5ec3a3e0 AP_NavEKF2: Reduce angle errors when flying without GPS
Turn off aiding during >1g manoeuvres when not using GPS
Use larger velocity and position uncertainties when flying without GPS
2015-10-23 19:04:30 +11:00
Paul Riseborough
1eaf318b9b AP_NavEKF2: Faster learning of gyro scale factors 2015-10-23 19:04:30 +11:00
Paul Riseborough
a2f5962f77 AP_NavEKF2: Reduce effect of baro disturbances 2015-10-23 19:04:30 +11:00
Paul Riseborough
5eb7cf1fbf AP_NavEKF: Reduce roll/pitch disturbance when magnetic field is reset
Because we have changed the yaw angle and have taken a point sample on the magnetic field, covariances associated with the magnetic field states will be invalid and subsequent innovations could cause an unwanted disturbance in roll and pitch.
The reset of the Euler angles to a new yaw orientation was being done using roll and pitch from the output observer states, not the EKF state vector which meant that when roll and pitch were changing, the reset to a new yaw angle would also cause a roll and pitch disturbance.
2015-10-23 19:04:30 +11:00
Lucas De Marchi
79dee5aaa9 AP_HAL: fix warning due to missing prototype after HAL rework
This was introduced with the HAL rework:

In file included from /p/ardupilot/libraries/AP_HAL/AP_HAL.h:11:0,
                 from /p/ardupilot/ArduCopter/Copter.h:35,
                 from /p/ardupilot/ArduCopter/ArduCopter.cpp:76:
/p/ardupilot/ArduCopter/ArduCopter.cpp: In function 'int ArduPilot_main(int, char* const*)':
/p/ardupilot/libraries/AP_HAL/AP_HAL_Main.h:11:26: warning: no previous declaration for 'int ArduPilot_main(int, char* const*)' [-Wmissing-declarations]
 #define AP_MAIN __EXPORT ArduPilot_main
                          ^

It's due to PX4 using that warning as opposed to Linux. Since it harmless, add
the prototype for everybody.
2015-10-23 07:47:19 +11:00
Lucas De Marchi
b326856635 AP_HAL_Linux: fix warning due to limited storage
ardupilot/libraries/AP_HAL_Linux/Storage_FRAM.cpp: In member
function 'int32_t Linux::Storage_FRAM::read(uint16_t, uint8_t*, uint16_t)':
/home/lucas/p/dronecode/ardupilot/libraries/AP_HAL_Linux/Storage_FRAM.cpp:183:24: war
ning: comparison is always false due to limited range of data type [-Wtype-limits]
         if(Buff[i-fptr]==-1){
                        ^
2015-10-23 07:47:19 +11:00
Caio Marcelo de Oliveira Filho
11b599bcd0 SITL: use #pragma once
For the general case, pragma once is better replacement for of include
guards. One line instead of three, less scopes to close in the end of
the file, no chance to having the outdated names in the define symbol.
2015-10-22 13:36:19 -02:00
Caio Marcelo de Oliveira Filho
288dc2a385 SITL: clean up includes
Remove unnecessary includes, reorder them in blocks separated by a blank
line

   - Corresponding header file (if exists)
   - System headers
   - Other ArduPilot library headers
   - "Local" headers (from the same library)
2015-10-22 13:36:19 -02:00
Caio Marcelo de Oliveira Filho
8a55b26443 SITL: no need to use #ifdefs
Now that SITL is compiled only when it's needed (i.e. using the SITL
board), there's no need to ifdef its files based on the
CONFIG_HAL_BOARD. So remove them.
2015-10-22 13:36:19 -02:00
Caio Marcelo de Oliveira Filho
e2fa456742 SITL: remove "constructor" comment 2015-10-22 11:16:39 -02:00
Caio Marcelo de Oliveira Filho
5ddd802320 SITL: use coding style in class declarations 2015-10-22 11:15:34 -02:00
Caio Marcelo de Oliveira Filho
f0a20cdc7c SITL: remove trailing whitespace 2015-10-22 11:15:20 -02:00
Caio Marcelo de Oliveira Filho
49a42dc985 SITL: use a SITL namespace 2015-10-22 11:04:42 -02:00
Gustavo Jose de Sousa
be8070e335 AP_InertialSensor: MPU9250: publish gyro raw sample rate
So that delta angle calculation is enabled.
2015-10-22 16:53:12 +11:00
Gustavo Jose de Sousa
887f81274d AP_InertialSensor: MPU6000: publish gyro raw sample rate
So that delta angle calculation is enabled.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa
31a49d318c AP_InertialSensor: PX4: publish gyro raw sample rate
That enables delta angle calculation.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa
25a499a41f AP_InertialSensor: use raw sample rate terminology
In order to avoid confusion between sample rate from sensor and sample rate
from the frontend class (AP_InertialSensor), use "raw sample rate" to refer to
the former.

The changes in the code were basically done with the following commands:

git grep -wl _accel_sample_rates | xargs sed -i "s,\<_accel_sample_rates\>,_accel_raw_sample_rates,g"
git grep -wl _set_accel_sample_rate | xargs sed -i "s,\<_set_accel_sample_rate\>,_set_accel_raw_sample_rate,g"
git grep -wl _accel_sample_rate | xargs sed -i "s,\<_accel_sample_rate\>,_accel_raw_sample_rate,g"

git grep -wl _gyro_sample_rates | xargs sed -i "s,\<_gyro_sample_rates\>,_gyro_raw_sample_rates,g"
git grep -wl _set_gyro_sample_rate | xargs sed -i "s,\<_set_gyro_sample_rate\>,_set_gyro_raw_sample_rate,g"
git grep -wl _gyro_sample_rate | xargs sed -i "s,\<_gyro_sample_rate\>,_gyro_raw_sample_rate,g"

And also with minor changes on indentation and comments.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa
6feea5f64f AP_InertialSensor: Backend: remove function _publish_delta_angle()
Delta angle calculation is now unified, so there is no need for such a method.
That also avoids developers thinking they need that method being called
somewhere in their new drivers.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa
7fef515555 AP_InertialSensor: unify delta angle calculation
This commit basically moves delta angle calculation that was previously done in
AP_InertialSensor_PX4 to a common place. Instances must publish their gyro raw
sample rate to enable delta angle calculation.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa
4e83f7b02c AP_InertialSensor: PX4: don't calculate delta angle
Delta angle calculation will be unified.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa
9e05041234 AP_InertialSensor: allow publishing gyro raw sample rate to frontend
That information will be used for a unified delta angle calculation.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa
dfd671c54e AP_InertialSensor: Backend: add hook for new gyro sample arrival
That hook will do common tasks for when new gyro raw sample is available.
2015-10-22 16:53:10 +11:00
Gustavo Jose de Sousa
a3e2c82491 AP_InertialSensor: Backend: remove function _publish_delta_velocity()
The delta velocity calculation is now unified, so there is no need for such a
method. That also avoids delevopers thinking they need that method being called
somewhere in their new drivers.
2015-10-22 16:53:10 +11:00
Gustavo Jose de Sousa
75fdac648f AP_InertialSensor: unify delta velocity calculation
This commit basically moves delta velocity calculation that was previously done
in AP_InertialSensor_PX4 to a common place. Instances must publish their accel
raw sample rate to enable delta velocity calculation.
2015-10-22 16:53:10 +11:00
Gustavo Jose de Sousa
f769a39449 AP_InertialSensor: PX4: don't calculate delta velocity
Delta velocity calculation will be unified.
2015-10-22 16:31:07 +11:00
Paul Riseborough
44f42fe72d AP_NavEK: Reduce settling time after start-up disturbance
Now that we are using  a consistent 50Hz minimum update rate for the covariance prediction we do not need a different initial gyro bias uncertainty for plane and copter to maintain filter stability margins.
The default value of 0.1 rad/s was too high and gave excessive settling time of the filter attitude after startup.
The initial attitude uncertainty has been increased to allow for some movement during startup.
2015-10-22 16:23:14 +11:00
Lucas De Marchi
cdaf67b749 AP_HAL_Linux: use PCA9685 for output in minlure 2015-10-22 12:04:53 +11:00
Lucas De Marchi
b75524a152 AP_HAL_Linux: use UART RC input for minlure 2015-10-22 12:04:53 +11:00
Lucas De Marchi
f915d2ff6f AP_Notify: don't define devices for minlure
It still doesn't have a notify device.
2015-10-22 12:04:53 +11:00
Lucas De Marchi
f72a5614d5 AP_HAL_Linux: add I2C buses for minlure 2015-10-22 12:04:53 +11:00
Lucas De Marchi
959e061514 AP_HAL_Linux: add spi device for minlure 2015-10-22 12:04:53 +11:00
Lucas De Marchi
ed36ae9ef7 AP_InertialSensor: MPU6000: add rotation for minlure 2015-10-22 12:04:52 +11:00
Lucas De Marchi
386547427d AP_Baro: support MS5611 on second i2c bus 2015-10-22 12:04:52 +11:00
Lucas De Marchi
e6b942ffb0 AP_Compass: use HMC5843 behind MPU6000 for minlure 2015-10-22 12:04:52 +11:00
Lucas De Marchi
4992375bab AP_HAL_Linux: add GPIO definitions for minlure 2015-10-22 12:04:52 +11:00
Lucas De Marchi
8153f57f06 AP_HAL: add board definitions for minlure 2015-10-22 12:04:52 +11:00
Gustavo Jose de Sousa
7daa3201fd AP_HAL_Linux: add test for GPIO 2015-10-22 12:04:52 +11:00
Gustavo Jose de Sousa
cdf70f6fe5 AP_HAL_Linux: add GPIO_Sysfs
This commit adds the class Linux::GPIO_Sysfs. This class provides a generic
implementation of AP_HAL::GPIO on Linux by using GPIO Sysfs Interface
(https://www.kernel.org/doc/Documentation/gpio/sysfs.txt).

The channel() interface should be preferred in places that need to be
fast. Since it maintains the file descriptor open this is much faster
than opening and closing it.
2015-10-22 12:04:52 +11:00
Gustavo Jose de Sousa
88146f1f02 AP_HAL_Linux: make board specific GPIO inclusions last
Board specific inclusions should be the last inclusions so that any
eventual dependency may be fulfilled.
2015-10-22 12:04:52 +11:00
Fabio Mello
20e209120f AP_HAL_Linux: add support for RCInput through UART
We are using a microcontroller to read the PWM input from RC. The read
values are sent to our board using a simple serial protocol through the
UART interface.

This patch interprets these values and passes them forward to the APM.
2015-10-22 12:04:52 +11:00
Paul Riseborough
6c017ffcb5 AP_NavEKF: Predict covariance more often to prevent instability on startup
If the baro data and magnetometer data are interleaved (arriving every 100 msec and offset by 50 msec), then the filter will go unstable during startup and fail to complete checks.
2015-10-22 09:57:38 +09:00
Gustavo Jose de Sousa
63b42e0632 AP_Compass: Calibrator: make calculations for theta only once
Additionally, format comment on sample acceptance formulas nicely.
2015-10-22 08:19:35 +11:00
Gustavo Jose de Sousa
f8433f82e6 AP_Compass: simplify calibration transition to COMPASS_CAL_RUNNING_STEP_ONE 2015-10-22 08:19:35 +11:00
Lucas De Marchi
f21ee7694a AP_HAL_Linux: don't use relative includes
Use brackets to include from AP_HAL and reorder headers.
2015-10-21 15:54:27 -02:00
Lucas De Marchi
eef4d5819f AP_HAL: HAL: don't use relative includes
Includes in the same dir should not be relative. Also sort them
alphabetically.
2015-10-21 15:54:27 -02:00
Lucas De Marchi
74ccbdb6f7 AP_HAL: AnalogIn: add missing include
Since we are using uint8_t and uint16_t types we need to include the
correspondent system header. Otherwise it would depend on the include
order of who is including this particular header, causing failures as we
move headers around.
2015-10-21 15:54:27 -02:00
Andrew Tridgell
6b048b4045 HAL_SITL: use SimRover 2015-10-21 22:04:21 +11:00
Andrew Tridgell
05876b7e1b SITL: Changed Rover to SimRover
this avoids the rover crash in master
2015-10-21 22:04:19 +11:00
Paul Riseborough
b08817554e AP_NavEKF2: Ensure consistent position and velocity fusion rates when not using GPS
This sets the fusion of the synthetic position and velocity to occur at the same time as the barometer

This makes filter tuning more consistent between GPS and non-GPS useage
2015-10-21 17:27:00 +11:00
Paul Riseborough
1c347e8859 AP_NavEKF: Prevent high measurement data rates from overflowing buffers
High measurement data rates can fill buffers with data that is always new and never fused because it is over-written before it falls behind the measurement time horizon.
2015-10-21 17:27:00 +11:00
Paul Riseborough
d1a090dda8 AP_NavEKF: Fix bug fetching data from measurement buffers
This bug can result in valid data being rejected and fused at the wrong time horizon.
2015-10-21 17:27:00 +11:00
Paul Riseborough
aabb9b4e02 AP_NavEKF2: handle uncertain build type 2015-10-21 17:27:00 +11:00
Paul Riseborough
e6312d91ce AP_NavEKF2: Correct variable name 2015-10-21 17:27:00 +11:00
Paul Riseborough
4640673cb1 AP_NavEKF2: Fix bug causing incorrect fusion timing 2015-10-21 17:27:00 +11:00
Andrew Tridgell
4a8a24a1a2 AP_Compass: don't update last_update_usec for raw fields
this fixes a problem where the EKF gets compass samples at 50Hz
instead of the expected 10Hz
2015-10-21 13:22:24 +11:00
Tom Pittenger
695efb8df3 AP_L1_Control: added integrator to help xtrack error converge to zero
new param: NAVL1_XTRACK_I
    // @Description: Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.
fixes https://github.com/diydrones/ardupilot/issues/2650

when param is changed the integrator is set to zero. This makes for easier tuning by seeing it converge to zero on each change.
2015-10-21 12:49:43 +11:00
Caio Marcelo de Oliveira Filho
f7c73fbb13 AP_AHRS: remove AHRS_EKF_USE_ALWAYS define
This option now is passed when instantiating the code in ArduCopter, so
selecting the default value at compile time is not necessary anymore.

The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
2015-10-21 11:01:11 +11:00
Caio Marcelo de Oliveira Filho
9d2e3157fe AP_AHRS: add a runtime flag for always using EKF
The AHRS_EKF_USE_ALWAYS define is used to force EKF to be always
used. It is defined only for building ArduCopter. Change it to be a
runtime flag. Keep its default value still based on the original define,
once the Copter uses it the define will be removed.

The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
2015-10-21 11:01:10 +11:00
Caio Marcelo de Oliveira Filho
e87db31149 AP_AHRS: remove unused define
AHRS_EKF_USE_DEFAULT is not used since commit
7ba45444a2 "AP_AHRS: added selection of
EKF type using AHRS_EKF_TYPE".
2015-10-21 11:01:10 +11:00
Peter Barker
38ca9dee03 GCS_MAVLink: use simple log entry number to reference df logs 2015-10-21 10:50:32 +11:00
Peter Barker
e481497574 DataFlash: delete oldest file rather than the lowest-numbered file
Also reference log numbers by their list index to accomodate log number
wrapping in DataFlash_File
2015-10-21 10:50:32 +11:00
wsilva32
ab7148386c AP_HAL_AVR_SITL: Limit SITL compass reports to 100Hz
Similarly to how the SITL baro currently works, setHIL is only called at 100Hz.
2015-10-21 10:39:27 +11:00
wsilva32
da9118fbd0 AP_Baro: average SITL baro measurements using update() 2015-10-21 10:25:08 +11:00
Lucas De Marchi
d276029e35 AP_BattMonitor: fix class name after rename in AP_HAL_Linux 2015-10-21 10:11:19 +11:00
Lucas De Marchi
2ac96b942c AP_HAL_Linux: remove prefix from AP_HAL_Linux classes
We have already a Linux namespace, so there's no need to prefix Linux on
all names.
2015-10-21 10:11:19 +11:00
Lucas De Marchi
19b31ccff1 DataFlash: remove check for max compass instances
For all supported boards the maximum number of instances is 3.
2015-10-21 10:05:18 +11:00
Lucas De Marchi
1a4a26de2b AP_Compass: remove check for max compass instances
For all supported boards the maximum number of instances is 3. The
number of HIL_COMPASSES was already defined as 2 instead of 3, so this
is left as before.
2015-10-21 10:05:18 +11:00
Lucas De Marchi
4004d5bf34 AP_Compass: remove check for HAL_CPU_CLASS
We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
COMPASS_MAX_INSTANCES and COMPASS_MAX_BACKEND constant for all supported
boards.
2015-10-21 10:05:18 +11:00
Lucas De Marchi
36150348bb GCS_MAVLink: remove check for max BARO instances
For all supported boards we allow more than 1 baro instance.
2015-10-21 10:05:18 +11:00
Lucas De Marchi
d83609b24c DataFlash: remove check for max BARO instances
For all supported boards we allow more than 1 baro instance.
2015-10-21 10:05:18 +11:00
Lucas De Marchi
4d3229daa2 AP_Baro: remove check for HAL_CPU_CLASS
We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
BARO_MAX_INSTANCES and BARO_MAX_DRIVERS constant for all supported
boards.
2015-10-21 10:05:18 +11:00
Lucas De Marchi
d1ac6cbd4c GCS_MAVLink: remove check for vibe check
For all supported boards we have vibration check.
2015-10-21 10:05:18 +11:00
Lucas De Marchi
121eeb4b58 DataFlash: remove check for vibe check
For all supported boards we have vibration check.
2015-10-21 10:05:17 +11:00
Lucas De Marchi
30a50b362f AP_InertialSensor: remove check for vibe check
For all supported boards we have vibration check.
2015-10-21 10:05:17 +11:00
Lucas De Marchi
db62e55753 AP_InertialSensor: remove check for max INS instances
For all supported boards the maximum number of instances is 3.
2015-10-21 10:05:17 +11:00
Lucas De Marchi
ae77c4b692 GCS_MAVLink: remove check for max INS instances
For all supported boards the maximum number of instances is 3.
2015-10-21 10:05:17 +11:00
Lucas De Marchi
f99d64e621 DataFlash: remove check for max INS instances
For all supported boards the maximum number of instances is 3.
2015-10-21 10:05:17 +11:00
Lucas De Marchi
3114a988f8 AP_Arming: remove check for max INS instances
For all supported boards the maximum number of instances is 3.
2015-10-21 10:05:17 +11:00
Lucas De Marchi
a147b97d2b AP_InertialSensor: remove check for HAL_CPU_CLASS
We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
INS_MAX_INSTANCES, INS_MAX_BACKENDS and INS_VIBRATION_CHECK constant for
all supported boards.
2015-10-21 10:05:17 +11:00
Lucas De Marchi
4480956c68 AP_InertialSensor: MPU6000: remove dead code for !FAST_SAMPLING
The code with ifdef for !FAST_SAMPLING is bit rotting and the example
for AP_InertialSensor is currently broken for this case. Instead of
adding more ifdefs, remove the legacy implementation for !FAST_SAMPLING
since we don't support it anymore.

Reported by Grant:

	/home/grant/3dr/ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp:
	In member function 'void AP_InertialSensor_MPU6000::_accumulate(uint8_t*,
	uint8_t)':
	/home/grant/3dr/ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp:776:20:
	error: no match for 'operator+=' (operand types are 'Vector3l {aka
	Vector3<long int>}' and 'Vector3f {aka Vector3<float>}')
		 _accel_sum += accel;

	/home/grant/3dr/ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp:777:19:
	error: no match for 'operator+=' (operand types are 'Vector3l {aka
	Vector3<long int>}' and 'Vector3f {aka Vector3<float>}')
		 _gyro_sum += gyro;
2015-10-21 10:05:17 +11:00
Caio Marcelo de Oliveira Filho
75add595a0 AP_HAL_Empty: remove empty example
There are hello world examples elsewhere, and a bit misleading. It
doesn't test the Empty implementation, but the current board
implementation.
2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
5781164624 AP_HAL_PX4: remove unnecessary includes from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
22137b51e3 AP_PerfMon: remove unnecessary board include from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
ff13a7bf1f GCS_Console: remove unnecessary board include from examples 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
5ad8077016 AP_Parachute: remove unnecessary board include from examples 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
417651b1dc AP_Motors: remove unnecessary board includes from examples 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
1fc801c2c9 AP_ADC: remove unnecessary board includes from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
918a339660 AP_Declination: remove unnecessary board include from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
42a111f5df AP_Mount: remove unnecessary board include from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
de98ec7c1a AP_OpticalFlow: fix build of example for PX4 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
ae9bc62e84 AP_OpticalFlow: remove unnecessary includes from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
817248b2f5 AP_Airspeed: remove unnecessary includes from example 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
db1491f079 AP_GPS: remove unnecessary board includes from examples 2015-10-21 09:16:11 +11:00