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13552 Commits

Author SHA1 Message Date
Michael du Breuil 855d91145a AP_GPS: ublox - fix incorrect step ordering 2017-01-25 03:44:57 +00:00
Michael du Breuil 1c1e6e9398 AP_GPS: Support more fix types 2017-01-25 03:44:42 +00:00
Michael du Breuil 9346117c01 Notify: Update for GPS types 2017-01-25 03:34:26 +00:00
Michael Oborne d05b0d5885 AP_GPS_UBLOX: add pvt message support 2017-01-25 03:34:26 +00:00
Randy Mackay 1300a9d3c6 AP_Notify: minor formatting fixes 
no functional change
 2017-01-23 15:07:21 -08:00
Randy Mackay 4691bc76f3 AP_Notify: display gets semaphore protecting display buffer 2017-01-23 15:07:21 -08:00
Randy Mackay 80c1433682 AP_Notify: Display backend methods become void 
We never use the return value so might as well remove it
 2017-01-23 15:07:21 -08:00
Randy Mackay cb1d1df03a AP_Notify: reorder flags 
This tiny improvement allows the flags above battery voltage to be squeezed into the same byte
 2017-01-23 15:07:20 -08:00
Randy Mackay e085ae1ec8 AP_Notify: add set_flight_mode_str method 
This allows the vehicle code to set a short string for the flight mode
 2017-01-23 15:07:20 -08:00
Randy Mackay acff67c718 AP_Notify: Display_SH1106 command stucture clarification 
renaming the elements of the structure makes their purpose more clear
 2017-01-23 15:07:20 -08:00
Randy Mackay fd365de5f8 AP_Notify: Display structures PACKED 2017-01-23 15:07:20 -08:00
Randy Mackay 843210cac2 AP_Notify: Display bus passed into contructor 2017-01-23 15:07:20 -08:00
Randy Mackay 682fc759f1 AP_Notify: minor formatting and comment changes 
No functional change
 2017-01-23 15:07:20 -08:00
Randy Mackay d12e0d6a82 AP_Notify: Display send_text made not static 2017-01-23 15:07:20 -08:00
Randy Mackay 07c08c09a3 AP_Notify: small change to Display health logic 2017-01-23 15:07:20 -08:00
Randy Mackay 847c68bf72 AP_Notify: remove comment 2017-01-23 15:07:20 -08:00
Randy Mackay 21a95a3b0a AP_Notify: Display screenpage variable made part of class 2017-01-23 15:07:20 -08:00
Randy Mackay c5ba54c3fe AP_Notify: adjust Display class structure 
This makes the display architecture closer to our other frontend/backend splits
Added check that display is initialised successfully in hw_init
Renamed _update_timer to just _timer to make more consistent with other drivers
 2017-01-23 15:07:20 -08:00
Randy Mackay 0690315814 AP_Notify: remove unused methods and member from Display 2017-01-23 15:07:20 -08:00
Randy Mackay f0c6fd3038 AP_Notify: resolve compiler warning in Display 2017-01-23 15:07:20 -08:00
Randy Mackay 9eb6d18d8e AP_Notify: add override to display methods 2017-01-23 15:07:20 -08:00
kozinalexey ed4115c4e3 AP_Notify: Support for OLED display by Alexey Kozin 2017-01-23 15:07:20 -08:00
Andrew Tridgell 4687785185 AP_Param: fixed a bug in default file handling 
this fixes a bug in how default file values are handled that affects
any common sub-objects. When we had a default value for something like
SERVO12_FUNCTION then configured_in_defaults_file() would return true
for SERVO1_FUNCTION as it shares a common default value pointer

this changes the implementation to use the object pointer instead
 2017-01-24 09:50:25 +11:00
Andrew Tridgell 33a84624c6 AP_AHRS: use const reference 
save a bit of stack and CPU
 2017-01-23 21:36:34 +11:00
Julien Beraud c31522c2c3 AP_HAL_Linux: fix focal lengths calculation 
Fixed focal length on bebop due to wrong spec.
Fix comment that had a typo.
Fixed focal length calculations on other boards that were mislead
by the typo.
 2017-01-23 21:23:16 +11:00
Julien Beraud 677a2f600f AP_OpticalFlow_Onboard: remove gyro_cb 
Not needed anymore
 2017-01-23 21:23:16 +11:00
Julien Beraud 710875d3b9 OpticalFlow_Onboard: remove gyro cb 
Not used anymore
 2017-01-23 21:23:16 +11:00
Julien Beraud c08587fb09 AP_HAL_Empty: adapt to new api 
Removed gyro_cb in HAL interface
Added 2 new methods
 2017-01-23 21:23:16 +11:00
Julien Beraud 4646428ac0 AP_HAL: remove ahrs cb from opticalflow 
Not needed anymore
 2017-01-23 21:23:16 +11:00
Julien Beraud 305239b467 AP_OpticalFlow_Onboard: fix scale in gyro calculation 
Scale was wrong due to incorrect gyro integration
 2017-01-23 21:23:16 +11:00
Julien Beraud 59404f686d OpticalFlow_Onboard: add gyro integration support 
Integrate the gyro values pushed by the inertial sensor backend using
bias values sent by EKF.
Use the unblocking RingBuffer to avoid locking the callers.
 2017-01-23 21:23:16 +11:00
Julien Beraud d2afa1cac8 AP_AHRS_NavEKF: Push gyro bias for optical flow 
Push gyro bias for optical flow usage only if there is an optical
flow declared in the HAL
 2017-01-23 21:23:16 +11:00
Julien Beraud 3d9dacb227 AP_InertialSensor: push gyro data for opticalflow 
Do it only if there is an optical flow in the current HAL
 2017-01-23 21:23:16 +11:00
Julien Beraud 8a57e1a4a7 AP_HAL: Add methods for optical flow 
Add methods to push gyro and gyro biases to perform a good
optical flow
 2017-01-23 21:23:16 +11:00
Andrew Tridgell 77950301ed SRV_Channel: fixed set_default_function() 2017-01-23 10:35:26 +11:00
Peter Barker acb5ddd140 GCS_MAVLink: issue MISSION_COUNT packet if seq request too large 2017-01-23 09:07:29 +11:00
murata 34e491f168 AP_Notify: Add a NULL pointer check. 2017-01-22 23:05:53 +01:00
Andrew Tridgell 09c969477f AP_AHRS: fixed fallback to DCM for get_position 
this fixes dead-reckoning on fixed wing on GPS loss, and fallback to
DCM on loss of EKF position in fixed wing

This was broken by the EKF3 merge
 2017-01-22 13:40:46 +11:00
Francisco Ferreira d472fbde0c
AP_GPS: fix PX4 GPS driver leap seconds 2017-01-21 21:59:36 +00:00
Peter Barker 591bb32496 AP_Mission: correct off-by-one check when fetching mission items 2017-01-21 15:30:11 +09:00
Randy Mackay 53d1585ebf Compass: relax compass consistency checks for pixracer 2017-01-21 12:10:00 +09:00
Randy Mackay 0c4e3cd8e4 Compass: pixracer calibration fitness default relaxed 2017-01-21 10:15:11 +09:00
Peter Barker d2b2ddcb02 RC_Channel: make min_max_configured const 2017-01-20 13:02:53 +09:00
Peter Barker a481e52861 AP_Param: make configured() const 2017-01-20 13:02:53 +09:00
Andrew Tridgell a6ecb94d24 AP_Motors: MotorsTri does not need its own var_info now 2017-01-20 12:05:09 +11:00
murata 8a32d09264 AP_Notify: Change arming time count check. 2017-01-19 17:42:46 +00:00
Pierre Kancir 83c7217911 AP_IRLock_SITL: correct packet timestamp 2017-01-19 17:08:43 +00:00
Lucas De Marchi fd0e4164b9 AP_Notify: DiscoLED: keep includes sorted 2017-01-19 08:59:00 -08:00
Lucas De Marchi c27c414e5a AP_HAL_Linux: Led_Sysfs: small fixes 
- avoid trying to close fd when it's -1

  - Keep includes sorted

  - AP_HAL::panic() doesn't need \n terminator

  - %u requires unsigned type

  - #pragma once is the first thing on a header
 2017-01-19 08:56:32 -08:00
Mathieu OTHACEHE 701d91f20c AP_Notify: Disco: use new led sysfs backend or, if not available, legacy 
pwm backend to drive leds.

In new Disco releases, the led sysfs api will replace the pwm sysfs
api to drive the tricolor led.

Keep pwm sysfs api for compatibility reasons.
 2017-01-19 08:24:48 -08:00
Mathieu OTHACEHE 7d4d14a409 AP_HAL_Linux: add Led_Sysfs class. 
Add a class to control leds via linux sysfs API.
 2017-01-19 08:24:47 -08:00
murata dd0d09175b AP_Beacon: Changed if statements to switch statement. 2017-01-19 11:26:32 +09:00
Mathieu OTHACEHE bad1c879d9 AP_HAL: Bebop & Disco: move default param file path 
In future Bebop & Disco releases, no ardupilot binary nor default param file
will be provided.

So move HAL_PARAM_DEFAULTS_PATH to ardupilot folder in RW memory.
 2017-01-18 18:08:01 +00:00
Mathieu OTHACEHE fdb2a9c99b AP_HAL: Bebop & Disco: rename APM to ardupilot in paths 
Rename APM to ardupilot for Bebop and Disco's HAL_BOARD_LOG_DIRECTORY and
HAL_BOARD_TERRAIN_DIRECTORY.
 2017-01-18 18:08:01 +00:00
Michael du Breuil d5a5a97a3d SITL: Use the GPS_LEAPSECOND define 2017-01-18 18:07:26 +00:00
Michael du Breuil c696137a42 AP_GPS: Update the number of leapseconds 2017-01-18 18:07:26 +00:00
Randy Mackay ff042528fe AC_PosControl: remove alt_max 
AC_Avoidance enforces the altitude limit
 2017-01-18 09:35:47 +09:00
Randy Mackay 127404acea AC_PosControl: add get_pos_z_kP accessor 2017-01-18 09:35:47 +09:00
Randy Mackay e799e3a342 AC_Avoidance: stop based on upward facing proximity sensor 2017-01-18 09:35:47 +09:00
Randy Mackay 2133fd94ca AC_Avoidance: adjust_velocity_z uses inav get_hgt_ctrl_limit 
inertial navigation's get_hgt_ctrl_limit provides an altitude-above-ekf-origin limit while flying with optical flow
 2017-01-18 09:35:47 +09:00
Randy Mackay f73efd5249 AC_Avoidance: add adjust_velocity_z 
This allows reducing the climb rate to slow the vehicle's climb so it does not breach the altitude fence
 2017-01-18 09:35:47 +09:00
Randy Mackay 12dd6e11fb AC_Avoidance: constify get_position 2017-01-18 09:35:47 +09:00
Randy Mackay a47e215a8e AP_Proximity: add get_upward_distance 
This allow support for upward facing proximity sensor received through a DISTANCE_SENSOR message.
Also added SITL test
 2017-01-18 09:35:47 +09:00
Randy Mackay e7ba2420c1 AP_InertialNav: expose get_hgt_ctrl_limit to parent class 2017-01-18 09:35:47 +09:00
mirkix d2431dafd0 AP_AHRS: fix description 2017-01-17 18:55:46 +00:00
murata e903cb9945 AP_Math: Change mask value to hexadecimal number. 2017-01-17 10:20:15 -08:00
Peter Barker 8b38ce666d SITL: SIM_XPlane: fix fabsf/abs warning; location alts are in integer cm 2017-01-17 09:41:37 -08:00
Peter Barker e9a0e98863 AP_HAL_SITL: use fabs on double values 2017-01-17 09:41:37 -08:00
Julien Beraud b561837b41 RangeFinder_Bebop: Fix mode selection 
mistakes in selecting mode
 2017-01-17 09:34:25 -08:00
Julien Beraud 8a1f4e048f RangeFinder_Bebop: fix spi speed 
Set spi speed. Else 0 will be sent at each transfer.
 2017-01-17 09:34:25 -08:00
Pierre Kancir e627bbc912 AP_HAL: Board fix typo for baro BMP280_SPI 2017-01-17 17:33:37 +00:00
Randy Mackay 189b766f2b AC_AttControl: remove redundant parameter set 2017-01-17 14:56:07 +09:00
Leonard Hall c6d2fc3d5d AC_AttitudeControl: add rpy mix manual 
This allows adjusting the attitude control vs throttle level in manual
flight modes (Stabilize, ACRO)
 2017-01-17 14:19:09 +09:00
Randy Mackay d35a208dae AP_Arming: remove unused set_enabled_checks 2017-01-17 11:45:08 +09:00
Randy Mackay 34a850e1a5 AP_Arming: formatting and comment fixes 
No functional change
 2017-01-17 11:45:08 +09:00
Randy Mackay 593f035c53 AP_Arming: remove required, min-volt, min-volt2 params from Copter 2017-01-17 11:45:08 +09:00
Randy Mackay 5be3d14648 AP_Arming: rudder_arming moved to AP_Arming_Plane 2017-01-17 11:45:08 +09:00
Peter Barker 1f37366c5b AP_Arming: make expected magnetic field strength available to subclasses 2017-01-17 11:45:08 +09:00
Peter Barker 8159c4b747 AP_Arming: add comments on parameters only currently used by plane 2017-01-17 11:45:08 +09:00
Peter Barker 362c6e1b9e AP_Arming: use callback in place of variable reference for home state 2017-01-17 11:45:08 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 363574244b AP_Stats: Add missing parameter units 2017-01-16 19:07:27 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas bebb128d22 AP_Proximity: Add missing parameter units 2017-01-16 19:07:27 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas cae557fb4c AP_NavEKF3: Correct display names, bitmask and units 2017-01-16 19:07:26 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 715d094678 AP_NavEKF2: Correct display names, bitmask and units 2017-01-16 19:07:26 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 2243d900d5 AP_Gripper: Add missing parameter units 2017-01-16 19:07:26 +00:00
Julien Beraud 0d4ca03dcd AP_HAL_Linux: init SPIDevice speed by default 
Else a speed of 0 will be sent at each transfer.
Behaviour has changed when introducing SPIDevice
 2017-01-16 10:23:47 -08:00
Randy Mackay 6aeef76768 AP_Proximity: fix get_boundary_points in case of multiple sensors 2017-01-16 16:38:18 +09:00
Andrew Tridgell 8aa100d164 AP_Baro: fix for change to timer API 2017-01-14 12:54:37 +11:00
mirkix 4e06be38ac AP_HAL: Add Bosch BMP280 driver 2017-01-14 12:52:07 +11:00
mirkix 1ce5e5360a AP_Baro: Add Bosch BMP280 driver 2017-01-14 12:52:07 +11:00
Andrew Tridgell 58a0a6a2fc AP_Compass: disable lis3mdl for now 
pending investigation of possible hw error
 2017-01-14 12:40:04 +11:00
Lucas De Marchi 5472bc4de1 Global: change Device::PeriodicCb signature 
Remove bool return as it's never being used and not supported on PX4.
 2017-01-14 10:03:54 +11:00
Pierre Kancir 5aa4bc4368 AP_Params: fix seg fault in debug function 
otherwise at start, when loading paramter is could fail at AP_Param.cpp:611, Debug("scan past end of eeprom")"
 2017-01-13 08:54:20 -08:00
murata 87c2dfd921 AP_Baro: Change to secure code, from magic number to sizeof value. 2017-01-12 13:56:18 -08:00
Andrew Tridgell d005cbffd8 AP_Param: added convert_parent_class() 2017-01-12 17:39:37 +11:00
Andrew Tridgell 05e9462a9c AP_Param: added CONVERT_FLAG_REVERSE and CONVERT_FLAG_FORCE 2017-01-12 17:39:37 +11:00
Andrew Tridgell e248078401 SRV_Channel: added AP_Motors servo channel parameter upgrading 2017-01-12 17:39:37 +11:00
Andrew Tridgell d430cd62a6 AP_Param: fixed loading defaults file after storage 
make sure defaults don't override storage values
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 0c32178d07 AP_Param: added reload_defaults_file() 
this allows defaults to be set for parameters in pointer objects
 2017-01-12 17:39:37 +11:00
Andrew Tridgell ccae8979c1 AC_PID: expose filt_hz as a AP_Float 
this allows defaults to be overridden
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 2086b591a2 AC_PID: expose ff() method in AC_PID 
this allows for an abstract AC_PID class to be used in
AC_AttitudeControl for both multicopter and heli
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 8e3bf71aa9 AP_Motors: allow single, tri and coax to be part of multicopter class 2017-01-12 17:39:37 +11:00
Andrew Tridgell 5cf1c0869d AC_AttitudeControl: expose all functions via abstract class 
this allows for a single class to be used for heli and multicopter
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 8799094278 AP_Motors: use SRV_Channel for tri tail servo 2017-01-12 17:39:37 +11:00
Andrew Tridgell 86e0b8a91f SRV_Channel: added automatic parameter upgrade 2017-01-12 17:39:37 +11:00
Andrew Tridgell 77a7e7ca01 RC_Channel: give access to internals to SRV_Channel 
needed for parameter upgrade
 2017-01-12 17:39:37 +11:00
Andrew Tridgell c133b515e0 AP_ServoRelayEvents: fixed trim bug 
thanks to Buzz for noticing!
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 26f9a5569f SRV_Channel: added tracker_yaw and tracker_pitch for antenna tracker channels 2017-01-12 17:39:37 +11:00
Andrew Tridgell 37c6bec902 HAL_QURT: fixed a bug in new_input() 
same as for HAL_Linux
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 1bd9d0b7f9 HAL_PX4: cleanup whitespace 2017-01-12 17:39:37 +11:00
Andrew Tridgell ea2e32c102 SRV_Channel: implement limit_slew_rate() 2017-01-12 17:39:37 +11:00
Andrew Tridgell 51864b23eb SRV_Channel: cleanup header 2017-01-12 17:39:37 +11:00
Andrew Tridgell b6aa4205b4 RC_Channel: cleanup API and comments a bit 2017-01-12 17:39:37 +11:00
Andrew Tridgell 929fbce2c2 AP_LandingGear: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Andrew Tridgell b3d30cbd4b AP_Gripper: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 5817cc400c AC_Sprayer: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 1ac5776b8b AC_Sprayer: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 39ab1a0abc SITL: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 0942291e74 GCS_MAVLink: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell ede66aae17 AP_Tuning: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell f73f3bedda AP_ServoRelayEvents: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 7706741b9b AP_Parachute: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 4173432542 AP_Mount: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell ee7b9a3f8e AP_Camera: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 638f1364be AP_Motors: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 04ce73d8d7 AP_ICEngine: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell 117974ef0f HAL_SITL: obey enable mask for output channels 2017-01-12 17:39:37 +11:00
Andrew Tridgell 9dc7dbfa16 AP_AdvancedFailsafe: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Andrew Tridgell fd081a8cc6 SRV_Channel: split SRV_Channel into separate directory 2017-01-12 17:39:37 +11:00
Andrew Tridgell 0791186cd2 RC_Channel: split SRV_Channel into separate directory 2017-01-12 17:39:37 +11:00
Andrew Tridgell 64aa13e7f4 RC_Channel: 2nd stage of SRV_Channels conversion 
allow for 16 output channel objects
 2017-01-12 17:39:37 +11:00
mirkix 62fabca19d AP_InertialSensor: Enable I2C bypass for MPU9250 conntected via I2C to access internal AK8963 2017-01-11 21:44:24 -08:00
Pierre Kancir ab9e88299f AP_HAL_SITL: Scheduler remove unreachable code & minor fix 
usleep wasn't reached since synthetic clock is always used
correct style
make constructor explicit
use c++ cast
 2017-01-12 01:27:16 +00:00
Pierre Kancir 63b3618fc7
AP_HAL_SITL: RCOuput minor fix 
correct style
make constructor explicit
use c++ cast
 2017-01-12 01:20:06 +00:00
Pierre Kancir ff46964d22
AP_HAL_SITL: RCInput minor fix 
fix style
make constructor explicit
remove unused _valid
correct read to return real length instead of fixed 8
correct implicit cast
 2017-01-12 01:19:54 +00:00
Pierre Kancir 7f5b32f59f AP_HAL_SITL: GPIO minor fixes 
fix style
make constructor explicit
fix implicit cast for unsigned to signed value
correct DigitalSource constructor definition
 2017-01-12 01:06:20 +00:00
Pierre Kancir 8ade9d1fe8 AP_HAL_SITL: style fixes 2017-01-12 01:06:20 +00:00
Pierre Kancir 5b2b4430b3 AP_HAL_SITL: AnalogIn minor fixes 
change pin to int16_t to match real implementation and prevent casting.
make constructor explicit
 2017-01-12 01:06:20 +00:00
Randy Mackay 7c7144fd8f AP_Proximity: minor comment spelling fix 2017-01-11 21:48:23 +09:00
Randy Mackay 74f1899aeb AP_Proximity: boundary_points requires only one valid distance 
Object avoidance is possible with just one valid distance
Boundary is initialised in new init_boundary function to be 100m from
vehicle
If sectors do not have valid distance measurements, we use the distance
from adjacent sectors.  This conveniently leads to a concave shaped
boundary that keeps the vehicle from travelling into the dataless sector.
 2017-01-11 21:48:23 +09:00
Randy Mackay a0a8472a44 AP_Proximity: fix consumption of distance-sensor messages 2017-01-11 21:48:23 +09:00
Lucas De Marchi b910f230fb AP_HAL_Linux: RCInput: replace volatile with atomic 2017-01-11 11:25:00 +11:00
Andrew Tridgell 0a18f5e7b2 HAL_Linux: fixed a bug in RCInput::new_input 
when a library called read() it would clear the new input flag, which
would cause new_input() in the main loop to return false. This could
trigger a false RC failsafe.
 2017-01-09 21:47:19 -08:00
Andrew Tridgell 9b7f0f7957 AP_HAL: make new_input() API clearer in comments 2017-01-09 21:47:11 -08:00
Randy Mackay d4daa10045 AP_Proximity: add MAV type to parameter descriptions 2017-01-10 11:00:00 +09:00
Francisco Ferreira c6875e1756
AP_NavEKF2: remove editor information wrongly added in d408d25 2017-01-09 16:16:14 +00:00
murata 974d63a6b5 AP_HAL: Change the format of the return value of the method header. 2017-01-09 15:46:03 +00:00
Pierre Kancir c0be20ece2 SITL: XPLANE fix member shadowing 2017-01-09 06:51:48 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas b7f32e216d AP_GPS: update parameter descriptions 2017-01-09 13:32:28 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 9389ec2274 AP_NavEKF2: fix parameter descriptions 2017-01-09 13:30:30 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 195e32c2fc AP_NavEKF3: fix some parameter descriptions 2017-01-09 13:30:24 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 8032ed295d AP_Avoidance: add units to param descriptions 2017-01-09 13:25:33 +09:00
Andrew Tridgell eaf5676636 SITL: fixed unselection bitmask bug in XPlane 2017-01-09 09:55:14 +11:00
Andrew Tridgell da45aef5c6 AP_HAL: fixed a logic bug in the srxl state machine 
when decoding invalid input the buflen could grow to beyond the buffer
size, overwriting the next block of memory. On Disco this ended up
overwriting the Perf::_instance variable, which led to a segmentation
fault
 2017-01-09 09:14:13 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 713b08d830 AC_WPNav: Reduced WPNAV_SPEED minimum to 20cm/s 2017-01-07 14:30:07 +09:00
Andrew Tridgell 35d6dc141a SITL: only de-select data types in xplane once 
don't fight the user
 2017-01-07 14:41:23 +11:00
murata c2521dd650 AP_Proximity: Change sprintf method to secure snprintf method. 2017-01-07 02:33:46 +00:00
Tom Pittenger a81f5cefbe AP_Mission: don't wrap when masking via HIGH/LOWBYTE 2017-01-06 17:35:44 -08:00
Eugene Shamaev dc3d10a28b AP_Mission: waypoint command parsing 2017-01-06 17:35:44 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas 9aaeb6fe1a AP_GPS: Add missing GPS Types 2017-01-06 21:24:42 +00:00
murata 908d9a8a8c AP_ADSB: Change sprintf method to secure snprintf method. 2017-01-06 10:59:12 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas d408d25f92 More spelling stuff 2017-01-06 10:57:39 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas 8419045aea Spell in comments 2017-01-06 10:57:39 -08:00
Nacho Carnicero bc9facf608 AP_Mount: Fix Alexmos gimbal Mavlink targeting mode 2017-01-05 02:16:32 +00:00
Randy Mackay 946d30476a AP_InertialSensor: fix whoami for MPU6k 2017-01-05 10:29:51 +09:00
Victor Lambret a4108251e3 AP_Baro: fix get_last_update(instance) 
The method was not using the instance parameter. Instead it always use
primary barometer. Bug was not detected because method
get_last_update() is used where instance is _primary.

Detected with warnings, warnings are useful :-)
 2017-01-04 17:32:24 +00:00
Peter Barker 889ec829fc AP_OpticalFlow: fix warning in SITL compilation 2017-01-02 15:58:32 +09:00
Tom Pittenger 063f517424 Plane, TECS, AP_Landing: rename stage LAND_ABORT to ABORT_LAND 
this will reduce confusion when searching for FLIGHT_LAND_* and you get a bunch of takeoff related hits. It will also make more sense when the landing library fully manages the FLIGHT_LAND stage entirely because it will not mange FLIGHT_LAND_ABORT
 2016-12-30 23:50:03 -08:00
Tom Pittenger 84e11fd899 Plane, AP_TECS: do not pass auto_land flag to TECS, it already knows it 2016-12-30 23:50:03 -08:00
Tom Pittenger 502768c979 AP_Landing: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:03 -08:00
Tom Pittenger 8019cedf5b AP_Vehicle,AP_SpdHgtControl,AP_TECS: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:02 -08:00
Andrew Tridgell 0d6801fbe6 AP_Param: added find_old_parameter() method 
allows for custom conversion of parameters
 2016-12-31 10:55:59 +09:00
Randy Mackay bdfb12123f AP_Motors: fix frame-type enum for Y6B 
Also remove unused NEW_PLUS
 2016-12-31 10:55:23 +09:00
Randy Mackay 037e411e35 AP_Motors: fix example sketch 
Also minor formatting fix
Thanks to OXINARF for spotting this
 2016-12-31 10:55:23 +09:00
Randy Mackay ffa6d1a5b9 AP_Motors: init fixes for frame_class, type and initialised_ok 
Thanks to OXINARF for spotting these
 2016-12-31 10:55:23 +09:00
Randy Mackay a276f5dc90 AP_Motors: fix example sketch 2016-12-31 10:55:23 +09:00
Randy Mackay 7be0f437a9 AP_Motors: consolidate matrix multicopters 
AP_MOTORS_x_FRAME definitions moved to motor_frame_type enum
init function and now accepts frame-class and type to perform initial motor setup
set_frame_class_and_type allows real-time changing of motor setup
initialised_ok flag and accessor records whether setup was successful
 2016-12-31 10:55:23 +09:00
Randy Mackay 41189758b8 AP_Motors: move some functions to protected 
Also minor formatting fix
 2016-12-31 10:55:23 +09:00
murata 13ad06e652 AP_Notify: Change on / off of LED to ternary operator. 2016-12-30 15:02:16 -08:00
Andrew Tridgell 7a5ee29b6e AP_AHRS: fixed a build warning 2016-12-31 08:53:16 +11:00
Andrew Tridgell ad518f0cc7 AP_AHRS: fixed EKF type 10 EKF nav scaler return 2016-12-29 18:43:32 +11:00
Shingo Matsuura 21ca1d3835 AP_Beacon: fixed comment. NE is correct. 2016-12-28 10:54:32 +09:00
Andrew Tridgell f6cc506791 APM_Control: Added derating of steering wheel 2016-12-27 13:33:52 +11:00
Randy Mackay e497dedf35 AP_Proximity: add MAV type 
This accepts DISTANCE_SENSOR messages from eight sectors around the vehicle
 2016-12-27 08:37:48 +09:00
Randy Mackay 8215b92371 AP_RangeFinder: MAV only accepts DISTANCE_SENSOR with orient 25 
25 is  MAV_SENSOR_ROTATION_PITCH_270 meaning downward facing
 2016-12-27 08:37:48 +09:00
murata 653030b038 AP_NavEKF2: Changed if statements to switch statement. 
AP_NavEKF2: Change indentation.
 2016-12-26 10:15:55 +09:00
Randy Mackay a2f6d7c102 AP_HAL: minor comment fix to Device.h 2016-12-24 13:55:31 +09:00
Randy Mackay 2076da3a72 AP_Proximity: minor comment fix 
No functional change
 2016-12-24 13:55:28 +09:00
murata d56bad781f AP_InertialSensor: change if statements to switch statement 
No functional change
 2016-12-24 12:23:59 +09:00
murata 398b7b83dd AP_InertialSensor: minor formatting fixes 
No functional change
 2016-12-24 12:23:58 +09:00
murata 6045612011 AP_Beacon: combine duplicate checks into device_ready method 2016-12-24 12:11:53 +09:00
Peter Barker 6fd771afc9 AP_Mission: starts_with_takeoff uses get_next_nav_cmd 2016-12-24 11:49:35 +09:00
Peter Barker b4d1d0f918 AP_Gripper: servo gripper not valid unless aux channel assigned 2016-12-24 11:31:58 +09:00
murata 4c320373eb AP_AHRS: Change indentation. 
AP_AHRS: Delete inserted message "no break"
 2016-12-24 11:30:37 +09:00
Andrew Tridgell bbccdce229 AP_Terrain: prevent use of invalid Location 
loc is not initialised and can cause a fault on startup
 2016-12-22 15:50:30 +11:00
priseborough 71eb46dd04 AP_NavEKF3: Fix bug in loss of aiding fallback 
Fixes a bug introduced by the introduction of range beacon fusion to the fallback test.
 2016-12-21 18:08:39 +11:00
priseborough 6dc7d25fde AP_NavEKF2: Fix bug in loss of aiding fallback 
Fixes a bug introduced by the introduction of range beacon fusion to the fallback test.
 2016-12-21 18:08:39 +11:00
murata fd153f2861 AP_GPS: Change search method of GPS type to switch statement. 
AP_GPS: Correct the tab code to white space.
 2016-12-21 10:31:43 +09:00
Andrew Tridgell 22fd2025de AP_AHRS: fixed EKF type 10 2016-12-21 10:52:12 +11:00
Tom Pittenger 372837b959 Update AP_ADSB.cpp 
AP_ADSB: fixed GPS.alt reporting  cm to mm conversion bug

Issue 5424
 2016-12-20 15:57:52 +01:00
murata 753638851e AP_Baro: Changed if statements to switch statement. 2016-12-20 14:13:47 +00:00
Pierre Kancir 47f1a754c5 AP_Math: add some test for vector2 equality test 2016-12-20 14:09:04 +00:00
Pierre Kancir eae093cd2a AP_Math: add test for is_equal for int 2016-12-20 14:09:04 +00:00
Pierre Kancir da49149d19 AP_Math: is_equal correct comparison for integer as epsilon doesn't exist. 
Credit to Kwikius for the right solution
 2016-12-20 14:09:04 +00:00
Randy Mackay e7f2c9870a AC_Avoid: add accessor for proximity enabled 2016-12-20 19:48:07 +09:00
Randy Mackay b114d3928e AC_Avoid: fix distance to lean angle logic 
Fixes from PR review including
(a) make some local variables const
(b) rename angle_max to veh_angle_max
(c) fix distance_to_lean_pct logic so distance of zero returns maximum lean angle
 2016-12-20 19:48:04 +09:00
Randy Mackay 1b582b2009 AC_Avoid: avoidance for non-GPS flight modes 2016-12-20 19:47:58 +09:00
Randy Mackay fbbd13db75 AP_Proximity: add get_object methods for use with non-GPS avoidance 2016-12-20 19:47:56 +09:00
Peter Barker 802206baed AP_AHRS: remove use of uninitialised value 2016-12-19 19:51:16 -08:00
Lucas De Marchi 9569ed94a9 AP_InertialSensor: Invensense: use capital letters for define 2016-12-20 09:23:30 +09:00
Jonathan Challinger 86406199a9 AC_PrecLand: reserve parameter indices 2016-12-20 09:21:51 +09:00
murata a2649949df AP_Compass: Changed if statements to switch statement. 2016-12-19 22:28:34 +00:00
Pierre Kancir bf135aeff7 SITL: Aircraft correct some syntax, implicit cast, make some local variable const, remove tabs and whitespace 2016-12-19 14:53:17 +00:00
Pierre Kancir ce734b5f7b AP_Math: Remove unecessary check 2016-12-19 14:36:03 +00:00
Randy Mackay 3ed9eb98f3 SITL: minor comment fix for SIM_Multicopter 2016-12-19 17:01:04 +09:00
Randy Mackay 5d0be2de9f AP_Gripper: minor comment fix 2016-12-19 17:01:01 +09:00
priseborough f1c05ee320 AP_NavEKF3: Allow accel switch on bias uncertainty to be adjusted 2016-12-19 08:07:15 +11:00
Andrew Tridgell a30745903a AP_InertialSensor: use ACC2_BIAS 2016-12-19 08:07:15 +11:00
Andrew Tridgell 65c3d0e060 SITL: added ACC2_BIAS 2016-12-19 08:07:14 +11:00
priseborough 7d4a50f483 AP_NavEKF3: Prevent unwanted core switch on startup 
Require primary core to be healthy for 10 seconds before starting selection logic
 2016-12-19 08:07:14 +11:00
priseborough cd6fd0ea45 AP_NavEKF3: Improvements to range finder selection logic 
Enables the horizontal speed at which we switch from range finder to alternate to be adjusted.
Does not switch from range finder to alternate based on speed when speed estimate is invalid.
 2016-12-19 08:07:14 +11:00
Andrew Tridgell 0e14992b34 DataFlash: hide direct EK2/EK3 logging 
should call Log_Write_EKF and let it choose the types
 2016-12-19 08:07:14 +11:00
Andrew Tridgell 0870e02584 AP_AHRS: fixed example build 2016-12-19 08:07:13 +11:00
Andrew Tridgell 29bc07f410 AP_HAL: setup for building ucavcan on FMUv3 but not FMUv2 
save a lot of flash space on FMUv2
 2016-12-19 08:07:12 +11:00
Andrew Tridgell 67b97b21db AP_BoardConfig: switched to always using in-tree sensors 2016-12-19 08:07:12 +11:00
Andrew Tridgell bd0a0510ed AP_HAL: define FMUv3 2016-12-19 08:07:11 +11:00
priseborough 60ebe97e10 AP_InertialSensor: remove unused EKF1 include 2016-12-19 08:07:11 +11:00
priseborough 509709ce9d AP_Motors: remove unused EKF1 include 2016-12-19 08:07:11 +11:00
priseborough 453ced4a38 AP_GPS: remove unused EKF1 include 2016-12-19 08:07:11 +11:00
priseborough bb29c74e52 AP_NavEKF: remove EKF1 2016-12-19 08:07:11 +11:00
priseborough 809bfc1154 GCS_MAVLink: replace call to EKF1 
Return hagl from primary EKF
 2016-12-19 08:07:11 +11:00
priseborough f70cc3cf34 AP_InertialNav: remove EKF1 2016-12-19 08:07:10 +11:00
priseborough 6d086e0c31 AP_Mount: remove EKF1 2016-12-19 08:07:10 +11:00
priseborough 78f89e0663 AP_Beacon: Update parameters for EKF3 testing 2016-12-19 08:07:10 +11:00
priseborough 33a7c682a3 AP_AHRS: Add EKF3 and remove EKF1 2016-12-19 08:07:10 +11:00
Andrew Tridgell b00ec26957 DataFlash: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Andrew Tridgell 75688c8342 AP_OpticalFlow: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
priseborough 7202acc1b5 AP_NavEKF3: Default EKF3 to off 
Will revert this and set EKF2 to off by default after testing is completed on all platform types
 2016-12-19 08:07:09 +11:00
priseborough 39969e7d8e AP_NavEKF3: added EKF3 for EKF experimentation 
AP_NavEKF3: Implement same maths as PX4/ecl EKF

Replace attitude vector states with quaternions
Remove gyro scale factor states
Add XY accel delta velocity bias estimation
Initial tuning
Add GPS body frame offset compensation

AP_NavEKF3: Fix bugs and consolidate aiding switch logic

Switching in and out of aiding modes was being performed in more than one place and was using two variables.
The reversion out of GPS mode due to prolonged loss of GPS was not working.
This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function.

AP_NavEKF3: prevent multiple fusion mode changes per filter update

AP_NavEKF3: Update tuning defaults

AP_NavEKF3: Fix bug causing switching in and out of aiding
If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding.
This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed.
An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS.

AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.

AP_NavEKF3: Improve switch-over to backup magnetometer
When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected.

AP_NavEKF3: enable automatic use of range finder height

AP_NavEKF3: Fix bug in handling of invalid range data

AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3:

AP_NavEKF3: Handle yaw jumps due to core switches

AP_NavEKF3: Enable simultaneous GPS and optical flow use

AP_NavEKF3: fix console status reporting

AP_NavEKF3: send messages to mavlink instead of console

This allows the GCS to better handle the display of messages to the user.

AP_NavEKF3: replace deprecated function call

AP_NavEKF3: Compensate for sensor body frame offsets

AP_NavEKF3: Fix bug in median filter code

AP_NavEKF3: save some memory in the position offsets in EKF3

We don't need to copy that vector3f for every sample. A uint8_t does the job

AP_NavEKF3: Add fusion of range beacon data

AP_NavEKF3: Bring up to date with EKF2

AP_NavEKF3: Misc range beacon updates

AP_NavEKF3: Add mising accessors

AP_NavEKF3: remove duplicate include

AP_NavEKF3: Prevent NaN's when accessing range beacon debug data

AP_NavEKF3: Update range beacon naming

AP_NavEKF3: updates

AP_NavEKF3: miscellaneous changes

AP_NavEKF3: misc updates

AP_NavEKF3: misc range beacons updates

AP_NavEKF3: add missing rover default param
 2016-12-19 08:06:47 +11:00
Andrew Tridgell ab05472e0e AP_AHRS: added EKF3 for EKF experimentation 
Conflicts:
	libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
 2016-12-18 10:28:04 +11:00
priseborough fd8916ef38 DataFlash: fix Baro 3 labels 2016-12-18 10:28:04 +11:00
priseborough cd669738a5 AP_Beacon: fix SITL param error 2016-12-18 10:28:04 +11:00
priseborough fe69d9a0ea AP_NavEKF2: remove duplicate include 2016-12-18 10:28:04 +11:00
priseborough a8f3a374e2 AP_NavEKF2: replace sqrt function calls with sqrtf 
Prevents compiler errors and un-wanted use of double precision types
 2016-12-18 10:28:04 +11:00
Lucas De Marchi b0ddf81687 Remove stdbool.h include for C++ sources 
This header is not needed in our C++ sources.
 2016-12-16 11:38:52 -08:00
Andrew Tridgell 790d186c6c AP_Compass: switched to unified Invensese driver for AK8963 2016-12-16 12:31:34 +11:00
Andrew Tridgell 65b9b86099 AP_InertialSensor: unify MPU6000 and MPU9250 drivers 
make a single AP_InertialSensor_Invensense driver. This avoids a lot
of duplication and will save time as new varients are added
 2016-12-16 12:31:34 +11:00
murata 0f486aeecb AC_Fence: shorten calculation of return value 2016-12-15 10:42:48 +09:00
Tom Pittenger 3e2098192b AP_Landing: add is_complete() accessor 2016-12-14 04:32:30 -08:00
Tom Pittenger f09007cbe9 AP_Landing: use a common reset for uniform landing wipe 2016-12-14 04:32:30 -08:00