5032cf9fbc
Copter: init multicopter flags
...
Resolves coverity warning
Also fixed indentation
2015-07-25 14:00:29 +09:00
9d53aa77eb
AP_GPS: Add reboot required docstring
2015-07-25 10:56:19 +09:00
b13921a7aa
Mount_SToRM32: find gimbal channel on startup
2015-07-25 10:53:05 +09:00
e7df54ca75
GCS_MAVLink: static find_by_mavtype method
2015-07-25 10:53:03 +09:00
e092902613
GCS_MAVLink: add find_by_mavtype
2015-07-25 10:52:59 +09:00
1ee330ebb2
DataFlash: CLI log dumping - don't truncate lines that contain doubles
...
We currently print doubles out as if they were floats. The ftoa_engine isn't something to replicate for doubles lightly!
2015-07-24 08:08:51 +10:00
39b2cdcc3c
AP_Menu: avoid segmentation fault
...
Insufficient input would cause a segfault
2015-07-24 08:05:13 +10:00
3dfb447fd7
BattMon: has_current true for Bebop
...
The bebop does not actually provide current but it does estimate the
percentage of battery remaining
2015-07-23 21:49:32 +09:00
8403b504d1
BattMon: add Bebop to monitor param description
2015-07-23 21:49:32 +09:00
9482578c60
BattMon: Bebop always uses bebop batt monitor
2015-07-23 21:49:31 +09:00
84b6ab0707
BattMon_Bebop: use ARRAY_SIZE
...
Also remove printf of failure message, instead we should add the battery
monitor health to the SYS_STATUS message sent to the ground station
2015-07-23 21:49:30 +09:00
3b36178a0b
BattMon_Bebop: init members in constructor
2015-07-23 21:49:29 +09:00
f6aba6c952
HAL_Linux: add read_obs_data to RCOutput_Bebop
2015-07-23 21:49:28 +09:00
35ae562dbe
AP_BattMonitor: Add battery support for Bebop Hardware
2015-07-23 21:49:27 +09:00
54254c89d7
AP_Arming: control rudder arming with ARMING_RUDDER parameter
...
allow for 3 states:
0: no rudder arming
1: arm only
2: arm and disarm
2015-07-23 21:48:50 +10:00
8240e5ae65
AP_Compass: AK8963: reduce bytes read
...
We are not using INFO and ST1 registers, so there's no need to read
extra 2 bytes for each transaction.
2015-07-23 17:44:36 +10:00
2b9c46e1ff
AP_Compass: AK8963: don't oversample AK8963
...
Reduce the frequency with which MPU9250 reads AK8963 to reduce the
chance of errors.
2015-07-23 17:44:36 +10:00
6c2ceea165
AP_Compass: AK8963: remove author and connection comment
...
Authorship and how sensor is connected get outdated (as it already is).
Our code is on git so let it track who wrote each line.
2015-07-23 17:44:36 +10:00
8ab33c46ce
AP_Compass: revisited AK8963 code
...
Reduced duplication a bit and revisited the update method which is now
split into several logical hunks.
2015-07-23 17:44:36 +10:00
fffedae3e0
AP_Compass: AK8963: reduce stack usage and zero out buffers
...
Since we are not using MPU9250's fifo to get samples from AK8963 we will
always read only 1 sample (+ control registers).
2015-07-23 17:44:35 +10:00
37734886a5
AP_Compass: AK8963: remove repeated comments
...
No need to repeat the same comments on 3 different places. Instead add a
single comment to explain how start_measurements() and read_raw() are
related.
2015-07-23 17:44:35 +10:00
27d95b67a8
AP_Compass: AK8963: remove state machine
...
Don't use a state machine in AK8963: the start_measurements() method
should be called only once. Even if there's a magnetic sensor overflow
the only thing we should do is to discard the new data.
This also moves the _collect_samples() method to be inside _update()
since it's the only place it should be called from, the one running on
the timer thread.
2015-07-23 17:44:35 +10:00
e232543fca
AP_Compass: AK8963: change initialization and rename methods
...
We need to check the AK8963's id before anything else Here we are
reordering the calls to _calibrate() and _check_id(). After that we
don't need to read and write again the AK8963_CNTL1 register.
While at it do some renames as well:
- _configure() -> _setup_mode(): since now there's a
_bus->configure() it became confusing what actually it's
doing.
- make error messages say what we were actually trying to do but
couldn't. Also remove PSTR since this is linux-only.
- start_conversion() -> start_measurements(): We are instructing the
bus to start to get the samples, not to tell the chip to start an
analog->digital conversion like in other sensors.
2015-07-23 17:44:35 +10:00
ae5d9baddb
AP_Compass: AK8963: remove defines not used anymore
...
The MPUREG_PWR_MGMT_1 defines were used when we cared about the MPU9250
initialization code. Now all initialization is done by the MPU9250 class
itself, so remove these defines.
Also remove AK8983_SELFTEST_MAGNETIC_FIELD_ON that is never used and let
the defines always with 2 bytes to improve readability.
2015-07-23 17:44:34 +10:00
cae895bfdf
AP_Compass: AK8963: group members together
...
Besides being semantically related, this removes the hole due to
alignment. The size is the same since the hole is actually turned into
padding.
2015-07-23 17:44:34 +10:00
28d3d775a4
AP_Compass: AK8963: remove resolution member
...
We only use the highest one and there's no intention to support the
14bits one. Just use the define rather than saving it as a member.
2015-07-23 17:44:34 +10:00
86b3312112
AP_Compass: AK8963: factor out common code of read_raw()
...
Similar code was added in the read_raw() implementation for each bus.
Add a new POD struct read_raw to contain the registers from the AK8963
and use it instead as argument.
2015-07-23 17:44:33 +10:00
d941174978
AP_Compass: AK8963: enhance the readability
...
Reduce the deepness of indentation and fix coding style.
2015-07-23 17:44:33 +10:00
28c722c157
AC_Circle: rate change takes effect immediately
2015-07-23 16:21:20 +09:00
d51e6d466b
AP_HAL_SITL: add support for airspeed failures
2015-07-23 14:38:06 +10:00
250dcd31a2
SITL: Add ARSP_FAIL param
...
This will allow testing pitot tube hardware failures
2015-07-23 14:38:06 +10:00
d7ac725a64
AP_HAL_Linux: fixed signal handler in RCInput_Navio
...
DMA is getting stopped in the separate method now. This is the best we
can get at the current time. It does yield slightly better experience
and works in the majority of cases.
The patch is a no bulletproof solution, though.
There's a possibility of corruption in case of e.g. a SIGKILL. There's
no signal framework at the time and the commit doesn't add one. That's
why all signals are handled in the same erroneous way. This is not a
good nor a final solution to the issue.
For the issue at hand a better fix might be porting the code to kernel
space but it's a rather tediuos task that we cannot undertake in the
couple of weeks.
2015-07-23 08:51:38 +10:00
8528a7d159
AP_HAL_Linux: added deinit logic for RCInput_Navio
...
DMA needs to be stopped if a panic occurs.
2015-07-23 08:51:37 +10:00
f4d14f73ba
AP_HAL_Linux: extended panic handling with RCInput deinitialization
...
The issue has already come up. There's no deinitialization mechanisms at the moment. As APM is rather software than firmware on Linux, there're some clean-up work that needs to be done. This commit triggers deinitialization of RCInput on a panic.
2015-07-23 08:51:37 +10:00
97b51a4bcb
AP_HAL: Added deinit() method to RCInput
...
Add a deinit() counterpart. This is needed for some ports that require some deinitializtion logic. The default implementation is empty. I'm not sure whether we need to inforce it for all.
2015-07-23 08:51:37 +10:00
9737c426eb
SITL: Gazebo index out of bound
...
- imu_orientation_quat[size=3] is fed to Quaternion[size=4] which causes an index-out-of-range problem
2015-07-22 21:33:46 +10:00
59dda49cce
AP_GPS: Fix missing reserved fields in the UBX-RXM-RAWX message
2015-07-22 21:31:10 +10:00
09fef505e0
AP_GPS: With a ublox driver, accept a packet if it will fit in the buffer
2015-07-22 21:31:10 +10:00
22b16b4532
AP_GPS: Enable selecting what GNSS system to use if the reciever supports it
...
Ublox 7 and 8 seires use a UBX-CFG-GNSS message to enable satellite constellations. The default value does not enable any additional ones, and any constellations the reciever doesn't report knowing about are not configured.
2015-07-22 21:31:10 +10:00
47592a1953
AP_GPS: Raise the baud rate on a ublox GPS if using RAW logging
...
the implementation leaves an easy path forward for providing a different startup blob for all the GPS's if raw logging is enabled
2015-07-22 21:31:09 +10:00
19bb96b9cb
AP_GPS: Improve startup logic for detecting what gps is connected
...
Remove race condition on sending intial blob to the GPS, it was possible to send a blob that got the GPS configured enough to allow the autodetect to take over (and then some drivers like ublox would not finish sending the blob, which has potential details that the driver might have needed to send)
Limit the delay to checking for NMEA gps to only checking after all the available baud rates have been checked
Since a UBlox will actually report having DGPS (due to SBAS or RTCM data) actually report this as the highest supported mode
2015-07-22 21:31:09 +10:00
e3398648d7
GCS_MAVLink: fix debug formatting
2015-07-21 21:41:34 +09:00
521f3dc4b9
GCS_MAVLink: only forward msg once per channel
...
Issue found and alternative fix provided by Arthur Benemann
2015-07-21 21:41:32 +09:00
6f72d202fe
GPS: fix parameter descriptions
2015-07-21 19:50:12 +09:00
e31f2d26c4
MotorsMulticopter: move get_hover_throttle_as_pwm to protected
...
No functional change
2015-07-21 16:27:04 +09:00
c7c6228b5d
MotorsMulticopter: remove virtual from set_yaw_headroom
2015-07-21 16:27:01 +09:00
157c97447d
AC_AttControlHeli: init passthrough_yaw
2015-07-21 16:26:27 +09:00
8b4805bfcb
AC_AttControl_heli: add MotorsHeli include
2015-07-21 16:25:56 +09:00
bf2bf2e3fa
AC_AttControl_Multi: new multirotor specific attitude control class
2015-07-21 16:25:53 +09:00
93dd7dd970
AC_AttControl: get_boosted_throttle purely virtual
2015-07-21 16:25:50 +09:00
4843be49de
AP_MotorsTri: remove call to empty parent Init
...
Also rename uses of Multirotor to Multicopter
2015-07-21 16:25:48 +09:00
f906934dfa
AP_MotorsSingle: remove call to empty parent Init
...
Also rename uses of Multirotor to Multicopter
2015-07-21 16:25:45 +09:00
112e934072
AP_MotorsMatrix: remove call to empty parent Init
...
Also rename uses of Multirotor to Multicopter
2015-07-21 16:25:43 +09:00
b1a4a6bf0a
AP_Motors_Coax: remove call to empty parent Init
...
Also rename uses of Multirotor to Multicopter
2015-07-21 16:25:40 +09:00
4d1dfd94f5
AP_MotorsMulticopter: multicopter features moved in from parent
...
Also rename from multirotor to multicopter
2015-07-21 16:25:37 +09:00
7355ac9cb8
AP_MotorsHeli: implement empty slow start method
2015-07-21 16:25:34 +09:00
a3fab10ef4
AP_MotorsHeli: init roll_radio_passthrough
2015-07-21 16:25:31 +09:00
c9dedbd3b2
AP_Motors: remove multicopter only features
...
Also rename uses of Multirotor to Multicopter
2015-07-21 16:25:28 +09:00
abb6eba291
AP_MotorsHeli: Change allow_arming check to use _rotor_speed_estimate
...
In future, this will be used to check actual rotor speed (measured) if available, to prevent trying to arm with the rotor spinning.
2015-07-21 16:25:21 +09:00
9fcbc77ce0
AP_MotorsHeli: Create rotor_speed_above_critical accessor
2015-07-21 16:25:11 +09:00
992c9c75bb
AP_MotorsHeli: Create parameter_check method.
2015-07-21 16:25:04 +09:00
e2fe640e6c
Copter: Clean up helicopter allow_arming() function
2015-07-21 16:24:58 +09:00
61d6c5aa1d
AP_Motors: Creation of AP_Motors_Multirotor class
2015-07-21 16:24:38 +09:00
5c9bf90d94
SITL: use ARRAY_SIZE macro
2015-07-21 14:25:19 +09:00
fd5d25b1d5
AP_Compass: use ARRAY_SIZE macro
2015-07-21 14:25:17 +09:00
3136b8916c
DataFlash: use ARRAY_SIZE macro
2015-07-21 14:25:15 +09:00
d8b70dc0c5
AP_Scheduler: use ARRAY_SIZE macro
2015-07-21 14:25:13 +09:00
fdc6a75124
AP_Menu: use ARRAY_SIZE macro
2015-07-21 14:25:10 +09:00
0471de2342
AP_Math: use ARRAY_SIZE macro
2015-07-21 14:25:09 +09:00
eda4879f3f
AP_InertialSensor: use ARRAY_SIZE macro
2015-07-21 14:25:07 +09:00
3f472fb9e1
AP_HAL_VRBRAIN: use ARRAY_SIZE macro
2015-07-21 14:25:05 +09:00
473415a3c2
AP_HAL_SITL: use ARRAY_SIZE macro
2015-07-21 14:25:03 +09:00
d4d56aef1a
AP_HAL_PX4: use ARRAY_SIZE macro
2015-07-21 14:25:01 +09:00
cfc2972e51
AP_HAL_Linux: use ARRAY_SIZE macro
2015-07-21 14:24:58 +09:00
b83708f77f
AP_HAL: use ARRAY_SIZE macro
2015-07-21 14:24:56 +09:00
9d59b43920
AP_GPS: use ARRAY_SIZE macro
2015-07-21 14:24:54 +09:00
4a595bd797
APM_Control: use ARRAY_SIZE
2015-07-21 14:24:52 +09:00
fb2eb262e7
AP_Math: use ARRAY_SIZE instead of defining another one
2015-07-21 14:24:49 +09:00
73ff01dc68
AP_Notify: replace unsigned int with uint8_t
2015-07-21 13:52:03 +09:00
1bba105be4
AP_Notify: don't manually define number of notify devices
...
Like b211b86
2015-07-21 13:52:00 +09:00
65813f308e
DataFlash: fix incorrect comment
2015-07-21 13:11:00 +09:00
8225e58454
AP_Motors: throttle_min method in 0 to 1000 range
...
Previously the pwm range value was returned. This value is only used by
the multicopter attitude controller's angle boost function.
2015-07-20 20:44:46 +09:00
6bf6442396
MotorsMatrix; protect against divide by zero
...
This should never happen but just to be safe
2015-07-20 20:44:43 +09:00
fa60c3dce8
MotorsCoax: fix output_armed_stabilized min thr limit
2015-07-20 20:44:36 +09:00
8a308205ce
MotorsSingle: fix output_armed_stabilized min thr limit
2015-07-20 20:44:32 +09:00
bd9a605086
MotorsTri: fix output_armed_stabilized min thr limit
...
_min_throttle is in the pwm range but was being used as if in the 0 to
1000 range
2015-07-20 20:44:23 +09:00
e53c46bd8f
MotorsMatrix: fix output_armed_stabilized min thr limit
...
_min_throttle was being used as if it were in the 0 to 1000 range when
in fact it is in the pwm range. This meant the lower limit was too low.
2015-07-20 20:44:14 +09:00
7dcfe1c667
RCOutput_Bebop: group channels write
2015-07-20 09:23:13 +10:00
3b1b7ea029
AP_GPS: fixed time handling with NMEA driver
2015-07-20 09:15:32 +10:00
a852e48f37
AP_GPS_NMEA: fix gps startup
...
when no valid gps data, gps would restart in a loop. Take the frame without
gps fix into account for frame counting
2015-07-20 09:14:15 +10:00
14e462706d
SITL: added gazebo SITL shim
2015-07-20 09:10:48 +10:00
c34ddb7fb8
HAL_SITL: added gazebo SITL model support
2015-07-20 09:10:48 +10:00
a61129f7f8
GCS_MAVLink: add support for send_mission_item_reached
2015-07-19 12:14:09 +09:00
766ccea3be
Mission: fix bug causing first do-cmd to be run many times
...
The symptom was that if the very first command in the mission was a
do-command, it would be run after every nav-command that didn't have
another do-command before it.
2015-07-17 12:15:08 +09:00
429346f4bc
AP_Mission: add missing breaks to case statement
2015-07-17 12:15:06 +09:00
0acfcbfa81
NavEKF: use primary compass instead of first instance
...
Thanks very much to staroselskii for finding this bug
2015-07-17 10:02:42 +09:00
cedc9a8670
Compass: add last_update_usec per instance
2015-07-17 10:02:41 +09:00
69cfe11455
AP_Arming: raise accel arming threshold to 0.75
...
arming issues due to accel inconsistency are too common
2015-07-17 09:50:19 +10:00
18de1c2c47
GCS_MAVLink: send AHRS2 even if we don't have a secondary position
2015-07-17 08:24:49 +10:00
6009ae55b1
AP_Math: fixed build of eulers example sketch
2015-07-17 08:24:49 +10:00
cc0ab26f5d
Mount: fix init of mode
...
Mode was being set from MNT_DEFTL_MODE parameter before that parameter's
value had been initialised from eeprom
2015-07-16 14:14:01 +09:00
9e5d13c1de
RCOutput_Bebop: use CLOCK_MONOTONIC instead of CLOCK_REALTIME
...
CLOCK_MONOTONIC is not affected by discontinuous jumps in the system time.
2015-07-15 12:08:44 +02:00
14882bc6a8
AC_AttitudeControl: Remove unused takeoff jump #define
2015-07-14 20:16:58 +09:00
e1902e2289
AP_MotorsHeli: Remove unused _dt variable.
2015-07-14 20:13:43 +09:00
7d2fe3cc2b
AP_GPS_UBlox: remove unused member
2015-07-14 15:02:15 +09:00
2c33250bee
AP_GPS_UBlox: send_next_rate_update always runs all steps
...
Moving the if, endif checks within the case statement ensures the state
machine goes through all 10 states
2015-07-14 15:02:13 +09:00
4b015d2091
AP_GPS: remove compiler warnings
2015-07-14 15:02:10 +09:00
df3a04e284
AP_GPS: reduce fake Ublox hdop to 130
2015-07-14 15:02:08 +09:00
5ccc58ffb4
AP_GPS: Read actual hDOP value from UBLOX messages
...
Before we were reading the position DOP and calling it hDOP. Since the
other drivers actualy read hDOP it seem best to do the same.
Fixes issue 462.
2015-07-14 15:02:03 +09:00
610595bfb9
AP_NavEKF: Prevent position drift between arming and takeoff when using OF
2015-07-13 10:54:36 +09:00
2b4aaf2368
SITL: add vibe monitor and SIM_ACC2_RND to sitl
2015-07-12 16:50:30 +09:00
8b4b0b9576
AP_NavEKF: Add accelerometer clip monitoring and isolation
...
Isolates an accelerometer that is clipping and attempts to use the one that is clipping less.
2015-07-12 16:49:19 +09:00
72820303d4
AP_HAL_Linux: set higher SPI speed for Navio
...
We can set a higher speed on newer Linux kernels since
52469b2a38
2015-07-10 18:59:18 +10:00
0028910428
AP_InertialNav: take reference to variable we are trying to update
...
There are no callers to this function. Perhaps it should be removed?
2015-07-10 18:56:20 +10:00
4e0c2c5a9b
AP_HAL: defined default log and terrain directories for bebop
...
the /var filesystem is wiped on boot on Bebop. Use these as a
temporary workaround
2015-07-10 16:46:31 +10:00
6df33dd3f4
AP_InertialSensor: fixed MPU6000_SPI bus initialisation
...
we need _spi for get_semaphore()
2015-07-10 16:46:30 +10:00
954ec71630
HAL_Linux: added rcout implementation for bebop
2015-07-10 16:46:30 +10:00
51c3c499e2
AP_Compass: support AK8963 on I2C
2015-07-10 16:46:30 +10:00
0b41da0dea
AP_Compass: rework to make the bus generic for AK8963
...
Supporting only MPU9250, prepare to implement another bus, i.e i2c on the
bebop
2015-07-10 16:46:29 +10:00
0cd584c293
AP_Compass: fix rotation for bebop AK8963
...
Set the correct rotation for bebop
2015-07-10 16:46:29 +10:00
7dd0b5fae6
AP_Compass: removed _spi_sem and _spi
2015-07-10 16:46:29 +10:00
d407737434
AP_Baro: added MS5607 support
2015-07-10 16:46:29 +10:00
3cf952d1f8
AP_InertialSensor: add fifo support for MPU6000
...
And remove the use of data rdy in this case
2015-07-10 14:24:09 +10:00
8a76ff53bd
AP_InertialSensor: add i2c bus driver for MPU6050
2015-07-10 14:24:09 +10:00
1679728730
AP_InertialSensor: Configure SPI as a generic bus for MPU6000
...
Add the possibility to implement an i2c bus communication for the
MPU6050 on parrot bebop
2015-07-10 14:24:09 +10:00
f0bed711cf
AP_HAL: added AK8963 I2C defines
2015-07-10 14:23:18 +10:00
e0b59942b0
AP_HAL: changed log directories for bebop
2015-07-10 14:23:18 +10:00
5c414b4ca2
AP_HAL: Fix Compass I2C address for Bebop
2015-07-10 14:23:18 +10:00
8d6123928f
AP_HAL: Add i2c bus numbers and addresses
2015-07-10 14:23:18 +10:00
bef8001a09
AP_HAL: added MS5607 baro define
2015-07-10 14:23:17 +10:00
eea7ea8488
AP_HAL: split MPU6000 INS defines for I2C and SPI
2015-07-10 14:23:17 +10:00
7275e33e79
AP_HAL: add the possibility to have more than 1 i2c
...
Bebop drone has 3 i2c
2015-07-10 14:23:17 +10:00
a6f62c208e
AP_HAL: added bebop Linux board type
2015-07-10 10:22:59 +10:00
b32259307d
AP_GPS: Add baudrate 230400 for GPS
...
Needed by bebop gps by default
2015-07-10 10:12:52 +10:00
282efe2d57
AP_Baro: fixed example to run accumulate at 50Hz
2015-07-10 09:59:35 +10:00
c83d5b1f08
AP_Compass: only build AK8963 driver on Linux
...
must match MPU9250 build
2015-07-09 11:57:27 +10:00
f4a9f9876f
HAL_PX4: make usb_connected() more robust
...
thanks to a suggestion from Phillip Kocmoud, this should fix issues
with the XUAV-X2
2015-07-08 11:19:07 +10:00
2f8a7f316f
Notify: enable toshibaLED for NAVIO
2015-07-07 20:08:19 +09:00
402f46c56f
AP_Airspeed: fixed a typo in the ARSPD_DEFAULT_PIN define
...
There was a redundant elif for Linux builds.
2015-07-07 21:02:21 +10:00
1d732ddf62
Mount: param desc rename from MAVLink to 3DR Solo
2015-07-07 13:29:24 +09:00
1b0f482d37
AP_RangeFinder: Add support for HC-SR04 Range Finder connected to BBB
2015-07-07 08:00:33 +10:00
d192b3ccea
Compass: set device id for ak8963 and hmc5843
2015-07-06 21:04:46 +09:00
ad1f9c4829
DataFlash: add ORGN message
2015-07-06 12:11:49 +09:00
03356a8d3a
OptFlow: fix parameter descriptions
2015-07-06 11:37:38 +09:00
f56f584233
Compass: Improved field rounding in learning
...
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
2015-07-06 11:31:58 +10:00
c49e44d02c
HAL_LInux: RCInput for Navio
...
Cleaned the code a bit
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
2015-07-06 11:19:33 +10:00
20a04bad77
AP_GPS: request RMC message in NMEA driver
2015-07-06 11:16:12 +10:00
5d5d9dc137
AP_GPS: Fix max/min bug on SBP buffering. Log messages whether SBP driver recognizes the msg_type or not.
2015-07-06 10:53:35 +10:00
efec7723ff
AP_InertialSensor: reset the MPU9250 chip on startup
...
Now that the initialization of MPU9250 is shared between the
AP_InertialSensor and other drivers using it as a backend, we can reset
the MPU9250 in order to put it in a known state.
2015-07-06 10:48:07 +10:00
1deb837e70
AP_Compass: Use common function in MPU9250 for initialization
2015-07-06 10:48:07 +10:00
eb4e2ac2e5
AP_InertialSensor: factor out MPU9250 initialization
...
Now we have the initialization code split in 2 parts:
1) Making sure the MPU9250 chip is alive and working: this is now in a
static function that may be called by other drivers that use MPU9250 as
backend.
2) The configuration of gyro and accel. Once the first part is completed
successfully the AP_InertialSensor_MPU9250 finishes the configuration of
the sensors it uses.
The only change in behavior here is that before we would try 25 time (5x
inside _hardware_init time 5x inside _init_sensor() that calls the first
function) to "boot the chip" and now we are doing "only" 5.
2015-07-06 10:48:07 +10:00
953bfbd3fe
AP_InertialSensor: provide static methods for spi transactions
...
Add static methods to do the SPI transactions and provide the wrapper
methods when we have an instance of the object. This is useful so these
methods can be called from other contexts when the AP_InertialSensor
hasn't been initialized yet.
2015-07-06 10:48:07 +10:00
fde43a77b3
AP_HAL_Linux: allow to change spi device state
...
Allowing to change the SPI device state allows us to save the
information whether the device was already initialized and avoid 2
separate drivers to initialize it.
2015-07-06 10:48:06 +10:00
384d650a23
AP_HAL: allow to have spi device state
2015-07-06 10:48:06 +10:00
26c8007c96
AP_Compass: updated backend detect method
...
Uses reimplemented AK8963 driver. There's also no need trying to detect this
compass twice. Actually, it might even be bad, because the current code can
allocate an AK8963 object twice.
2015-07-06 10:48:06 +10:00
7a417d1151
AP_Compass: AK8963 rework
...
Got rid of extra abstraction layer. There is no need for that now.
2015-07-06 10:48:06 +10:00
f82344358f
AP_InertialSensor: Change BBBMINI standard orientation
2015-07-06 10:12:39 +10:00
e6363ea95d
AP_HAL_Linux: BBBMINI uses /dev/i2c-2
2015-07-06 10:09:21 +10:00
b211b86204
AP_HAL_Linux: don't manually define number of spi devices
...
It's error-prone, let's make the compiler define it for us.
2015-07-06 10:07:22 +10:00
82314ee4a3
AP_Common: add helper macro ARRAY_SIZE
2015-07-06 10:07:21 +10:00
1f58e0080a
SITL: fixed some build warnings
2015-07-06 09:21:49 +10:00
8f41d97548
AP_Math: fixed build error on PX4
...
variable set but not used with recent longitude_scale change
2015-07-06 08:19:57 +10:00
099392d3ca
AP_Math: don't optimise longitude_scale on faster CPUs
...
it causes problems with replay
2015-07-05 17:27:53 +10:00
88a90495b2
HAL_SITL: allow for more data before GPS pipe flush
2015-07-04 15:14:39 +10:00
21c895f6f3
AP_GPS: prevent extra NMEA messages causing rapid fix rates
...
unexpected messages could cause the GPS driver to report a very high
fix rate, which can confuse the EKF
2015-07-03 22:08:05 +10:00
4fb7beba4b
AP_NAvEKF: Prevent failure due to magnetometer fusion numerical errors
...
If a badly conditioned covariance matrix causes negative innovation variances, then the filter will diverge. The previous approach of increasing process noise was not effective in some cases, so a hard reset of the covariance matrix has been adopted to guarantee recovery.
This fixes a numerical error observed using the replay on flight log which had significant periods of compass rejection.
2015-07-02 18:07:22 +10:00
43b1694c76
Compass: add third compass to PRIMARY param description
2015-07-02 14:19:30 +09:00
844f050cf3
DataFlash: correct zero-byte-file handling in CLI
...
-rw-rw-r-- 1 pbarker pbarker 2105344 Jul 1 16:10 1.BIN
-rw-rw-r-- 1 pbarker pbarker 0 Jul 1 19:35 2.BIN
-rw-rw-r-- 1 pbarker pbarker 2494464 Jul 1 16:58 3.BIN
-rw-rw-r-- 1 pbarker pbarker 128503808 Jul 1 20:22 4.BIN
-rw-rw-r-- 1 pbarker pbarker 3 Jul 1 19:46 LASTLOG.TXT
Before fix:
2 logs
Log 3 in logs/3.BIN of size 2494464 2015/7/1 6:58
Log 4 in logs/4.BIN of size 128503808 2015/7/1 10:22
After Fix:
4 logs
Log 1 in logs/1.BIN of size 2105344 2015/7/1 6:10
Log 2 in logs/2.BIN of size 0 2015/7/1 9:35
Log 3 in logs/3.BIN of size 2494464 2015/7/1 6:58
Log 4 in logs/4.BIN of size 128503808 2015/7/1 10:22
If the last file was zero bytes, no files would be shown.
2015-07-02 08:53:18 +10:00
5b0394eb05
AP_Compass: start MPU9250 driver at low speed
...
this raises the chances of successful init of the MPU9250
2015-07-02 08:48:06 +10:00
d40b45c9ae
AP_InertialSensor: disable reset on MPU9250
...
The Compass library is initialized before the InertialSensor. AK8963 with
MPU9250 as backend already takes care of resetting MPU9250. The problem with
also resetting it in the MPU9250 initialization code is that if the reset
happens during an internal I2C transaction, the AK8963 may hang. So here we
remove the reset inside MPU9250. There still a possibility that the first
MPU9250 initialization is not successful and it resets the chip, but it's not
happening in tests.
2015-07-01 20:44:09 +03:00
5f0302ed9f
HAL_Linux: fixed chaining of getopt calls
2015-07-01 20:44:07 +10:00
355575f793
HAL_Linux: fixed chaining of getopt instances
2015-07-01 15:42:07 +10:00
c8a6a02be1
HAL_Linux: don't do chardev test on subtype NONE
...
otherwise replay is broken
2015-07-01 15:36:34 +10:00
0679552cf7
GCS_MAVLink: regenerate headers
2015-07-01 12:02:44 +10:00
44b7c75a4c
GCS_MAVLink: merged upstream mag cal messages for APM
2015-07-01 12:00:23 +10:00
41e4c2720d
AP_Param: Explicitly casts AP_CLASSTYPE parameter.
2015-07-01 11:32:11 +10:00
9d26bc6958
HAL_SITL: Adds polyfill for feenableexcept on OS X.
2015-07-01 11:32:01 +10:00
523acc1c54
AP_Menu: Corrects string null comparison in AP_Menu.
2015-07-01 11:31:54 +10:00
457d3be4d7
AP_BoardConfig: add user-defined serial number
...
new param: BRD_SERIAL_NUM
// @Description: User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot
// @Range: -32767 to 32768 (any 16bit signed number)
2015-06-30 17:20:15 +10:00
281f6d9caa
HAL_Linux: cope with expansion of storage from 4096 to 16k
2015-06-30 16:45:49 +10:00
87776d8a4b
Storage: define LINUX_STORAGE_SIZE correctly
...
The value for LINUX_STORAGE_SIZE was defined inconsistently against the one
defined for Linux boards in HAL_STORAGE_SIZE. That led to some values not
being written to the storage when running the test binary built at
libraries/StorageManager/examples/StorageTest.
2015-06-30 16:37:08 +10:00
cabea266e7
DataFlash: pull out common mission logging code
2015-06-30 16:23:35 +10:00
d85b247706
DataFlash: Log_Write_SysInfo - pull out common logging startup messages
2015-06-30 16:23:34 +10:00
c5c39a77a3
DataFlash: method to flush ringbuffer to fd
2015-06-30 16:19:22 +10:00
686b1137fa
AP_NavEKF: added vehicle specific initial gyro bias uncertainty
2015-06-30 16:16:26 +10:00
761b39be03
HAL_Linux: removed extra include
2015-06-30 15:09:52 +10:00
1296da56bb
AP_Terrain: fixed terrain path handling
2015-06-30 15:08:10 +10:00
a3c7297d8e
HAL_Linux: fixed setting of custom directories
2015-06-30 15:08:10 +10:00
f592981a60
TerrainIO: Support custom_terrain_directory
2015-06-30 14:36:43 +10:00
c06abeb02e
DataFlash_File: Support custom_log_directory
2015-06-30 14:36:42 +10:00
2e7a4aa1e6
HAL_Linux: Implement custom dir. methods
2015-06-30 14:36:42 +10:00
e5a90c7a34
AP_HAL: Util, add custom terrain and log methods
2015-06-30 14:36:00 +10:00
5c4ae15deb
HAL_Linux: Make use of GetOptLong
...
Use GetOptLong to process long args, support
custom terrain and log directories and update
_usage().
2015-06-30 14:36:00 +10:00
309511dc08
HAL_Linux: UARTDriver, const device_path
...
Class member set to const and set_device_path
accepts a const char* now.
2015-06-30 14:36:00 +10:00
790f4ec56c
HAL_Linux: Util fix indentation
2015-06-30 14:35:59 +10:00
ac3200fd32
AP_InertialSensor: make max_abs_offsets a single float, not a vector
2015-06-30 10:51:43 +10:00
0fcd98c804
AP_InertialSensor: disable debug on LSM9DS0
2015-06-30 10:28:05 +10:00
c168e19e73
AP_InertialSensor: fix coding style with uncrustify on LSM9DS0
...
This commit makes backend source code for LSM9DS0 comply with the configuration
files "uncrustify_cpp.cfg" and "uncrustify_headers.cfg".
2015-06-30 10:28:02 +10:00
2f2a627002
AP_InertialSensor: use runtime GPIO drdy pins numbers instead C constant macros
...
As we intend to eventually get board related parameters from a configuration
file, this commit makes the GPIO numbers for data-ready pins be instance
variables instead of from C constant macros.
Another advantage of using instance variables in this context is the
possibility of using more than one LSM9DS0.
2015-06-30 10:27:59 +10:00
0ef914adac
AP_InertialSensor: don't take SPI semaphore if not necessary on LSM9DS0
...
If the data-ready polling is done entirely on GPIO pins, it isn't necessary to
hold the semaphore before we now we have data to consume. In that case, only
take the SPI semaphore if there's new data available.
On the other hand, if at least one SPI transaction is done in order to check
for new data, then it makes sense to take the semaphore beforehand.
2015-06-30 10:27:57 +10:00
a82ab25ed3
AP_InertialSensor: use bitfield macros instead of literal values on LSM9DS0
...
This commit makes accel and gyro initialization routines use bitfield macros
instead of hardcoding the literal value when wrinting on registers. That is
less prone to typos and a lot of times self-explanatory. Also, due to the
latter, the long comments explaining each register field were removed (any
detail can be checked on the datasheet).
2015-06-30 10:27:54 +10:00
1572324315
AP_InertialSensor: add macros for LSM9DS0 registers' bitfields
2015-06-30 10:27:51 +10:00
033409c629
AP_InertialSensor: set max abs calibration offset for LSM9DS0
2015-06-30 10:27:48 +10:00
42eb73a1d1
AP_InertialSensor: add LSM9DS0 backend
...
This adds the backend driver for LSM9DS0. This implementation is based on the
legacy driver coded by Víctor Mayoral Vilches (under folder LSM9DS0) and makes
some necessary adaptations and fixes in order to work properly. The legacy
driver folder was removed.
2015-06-30 10:27:46 +10:00
c340e072f2
AP_InertialSensor: use accel instance max abs offset instead of a constant value
...
The calibration on LSM9DS0 was giving offsets between 4.0 and 4.2 on x-axis and
around 3.6 on y-axis. It turned out that those offsets were actually right.
The maximum absolute values of calibration offset should be a sensor
characteristic rather than a constant value for all sensors.
The constant value previously used (3.5 m/s/s for all axes) is set here as a
default maximum absolute calibration offset for every instance to keep it
working.
2015-06-30 10:27:44 +10:00
623c5f0713
AP_HAL_Linux: check if I2C device is chardev
2015-06-30 09:10:54 +10:00
acc571c2c5
AP_HAL_Linux: add function to check if path is chardev
...
Utility function to allow checking if a certain path is a character
device.
2015-06-30 09:10:54 +10:00
a4c1b0d75f
AP_HAL_Linux: add constructor to find I2C bus reliably
...
The device number in /dev may not be reliable from one boot to another
due to the initialization order of each bus.
For example, in Minnow Board Max, the exposed I2C buses may be i2c-7 and
i2c-8 or i2c-8 and i2c-9 depending if the platform driver in the kernel
is initialized before or after the PCI.
It also may change with different version and configuration of the DT or
UEFI used making another kernel driver to bind to the device. This means that
for Minnow Board Max we need to use something like below to pass to the
constructor:
static const char * const i2c_devpaths[] = {
/* UEFI with lpss set to ACPI */
"/devices/platform/80860F41:05",
/* UEFI with lpss set to PCI */
"/devices/pci0000:00/0000:00:18.6",
NULL
};
The devpath here is the one returned by udev with the following command:
udevadm info -q path /dev/<i2c-device>
In contrary to the device number in /dev/i2c-N, this path in sysfs is
stable across reboots and can only change if there's a change in the
UEFI firmware or the board's device tree.
This patch assumes the currently supported boards don't have this
problem so it's not touching them.
2015-06-30 09:10:54 +10:00
ec5d0b6c08
AP_HAL_Linux: reorder members and methods and use C++ initializer
2015-06-30 09:10:53 +10:00
a382ce2b0c
AP_GPS: Add support for logging ublox RXM-RAWX messages
...
Can only record 32 satellites raw info before memory corruption occurs. (And raised the limit on normal RXM-RAW messages to 22)
2015-06-30 09:05:49 +10:00
d665c85c20
DataFlash: Add RXM-RAWX logging messages
2015-06-30 09:05:48 +10:00
38a8a772f8
AP_GPS: Add fix status 3D+DGPS
2015-06-30 09:00:31 +10:00
15efae5a48
HAL_SITL: use SITL_NUM_CHANNELS
2015-06-30 08:55:02 +10:00
f8944ab6be
SITL: define number of RC out channels
2015-06-30 08:54:46 +10:00
be4b6033e4
AP_HAL_Linux: Navio RCInput reimplemented.
2015-06-29 16:45:43 +10:00
e505eb2cd8
AP_HAL_Linux: Changes in Scheduler: Added defines for delays, RCIN_RERIOD changed
2015-06-29 16:45:42 +10:00
90378b21da
AP_BattMonitor: Fix battery monitor Floating Point Exception in SITL
...
Adds a sanity check to avoid division by zero when BATT_CAPACITY is set to 0.
2015-06-29 16:42:52 +10:00
ff88932091
SITL: setup turbulence in JSBSim
2015-06-29 11:25:59 +10:00
92c9779d18
HAL_SITL: pass turbulence to simulators
2015-06-29 11:25:44 +10:00
ef20676c67
GPS: fix INJECT_TO param desc and add definition
...
No functional change
2015-06-27 16:31:03 +09:00
0264b1aa84
AC_Circle: set only xy position targets
2015-06-27 15:43:49 +09:00
0b9c7c2a3b
SerialManager: add SToRM32 to protocol param description
2015-06-27 11:18:17 +09:00
ab5f1b3a24
BusTest: Fix compilation error with AP_ADC
2015-06-26 21:59:22 +10:00
723c37bcf7
DataFlash: backend/frontend split
2015-06-26 16:02:50 +10:00
21c8a2d94a
AP_Common: override new and delete on all platforms to zero memory
...
this guarantees that all classes get zero initial members when
they are dynamically allocated.
2015-06-26 15:55:19 +10:00
eeb97800ae
AC_AttitudeControl: allow for tail pass-thru in ACRO mode
...
this allows for all channels to be passed through
2015-06-26 12:45:38 +09:00
e45f3537cf
APM_Control: Remove duplicate include statements
2015-06-25 10:23:47 +10:00
aa04c81e3c
APM_Control: Fix a typo in the docstring for YAW2SRV_SLIP
2015-06-25 10:22:36 +10:00
e6122d1a4e
AP_Mission: ensure cache coherence on mission resume
...
- when resuming a mission we should read the value from storage of the same index to ensure we're not continuing an old cached version of the mission item.
- inherent problem: DO commands will continue and will be unaffected unless the new mission has a different DO_ command structure. If so, a set_current_cmd() or reset() should be issued by the GCS.
2015-06-25 10:21:06 +10:00
a81590f7ac
HAL_SITL: prevent FPE on zero range with optflow
2015-06-25 10:08:53 +10:00
9f17fc17ab
NavEKF: update parameter descriptions
2015-06-24 16:25:14 +09:00
87e6a24154
AP_NavEKF: Add public method to reset EKF height datum and baro alt
2015-06-24 16:25:11 +09:00
1e3e65e443
AC_AttControl: add shift_ef_yaw_target
...
This allows shifting the target heading in case the EKF shifts it's
heading estimate
2015-06-24 11:49:32 +09:00
e3ccb74e12
AP_NavEKF: Publish amount of in-flight yaw angle reset
2015-06-24 11:49:29 +09:00
c72dc9bd45
AP_InertialSensor: make single rotation on MPU9250
...
The previous implementation made some boards apply two rotations to suit
their default orientation. That was happening because there was an
unconditional rotation being done (commented as "rotate for bbone
default").
This commit makes that unconditional rotation as a default rotation
instead and adjusts the former additional rotations to be single
rotations.
2015-06-22 17:45:20 +10:00
3dad768e8b
AP_InertialSensor: log failure to initialize after max attempts on MPU9250
...
This happens for example when you are trying to use an SPI speed that's
above the one supported by the sensor or the controller.
2015-06-22 17:45:20 +10:00
587471ab54
AP_InertialSensor: disable I2C on MPU9250
...
As the datasheet says: "To prevent switching into I2C mode when using
SPI, the I2C interface should be disabled by setting the I2C_IF_DIS
configuration bit."
We also reset the sensor like PX4Firmware does for initializing the
MPU6000. See: ee1d8cd770/src/drivers/mpu6000/mpu6000.cpp (L695)
2015-06-22 17:45:20 +10:00
6cd81ae1fb
APM_Control: Add PID logging to yaw controller
2015-06-22 15:41:44 +10:00
225c946af0
DataFlash: Add PIDS for steering logging
2015-06-22 15:41:44 +10:00
11214b3414
AP_Motors: move constraints to set_throttle
2015-06-22 13:52:59 +09:00
84ac8abc42
AP_Mount: Fixed a bug with wrapping of panning angles.
2015-06-22 09:32:26 +09:00
a424686d2f
DataFlash: reduce future merge conflicts
...
an enum makes it easier to merge new messages
2015-06-20 16:18:50 +10:00
81e6d88560
StorageManager: fixed hang in erase()
...
found by coverity
2015-06-20 15:00:57 +10:00
4eab27abe9
AP_InertialSensor: fixed logic bug in MPU6000 init
...
thanks to coverity
2015-06-20 14:53:04 +10:00
131b345ccc
APM_Control: cleanup some coverity warnings
2015-06-20 13:30:32 +10:00
322a61635f
SITL: allow extra arguments to be passed to last_letter
2015-06-19 16:39:46 +10:00
0c92565d23
AP_MotorsHeli: add Critical Rotor Speed param, use to switch off runup_complete
2015-06-19 15:10:53 +09:00
3ad6700c5d
AP_MotorsHeli: add getters for rotor speed
2015-06-19 15:10:51 +09:00
8b917b82ee
AP_MotorsHeli: Simplify set_desired_rotor_speed function definition
2015-06-19 15:10:50 +09:00
79e8c8f7f7
AP_MotorsHeli: whitespace fixes
2015-06-19 15:10:47 +09:00
Randy Mackay
Michael du Breuil
Peter Barker
Jean-Baptiste Dubois
Andrew Tridgell
Lucas De Marchi
Staroselskii Georgii
dgrat
Tom Pittenger
Vladislav Zakharov
Arthur Benemann
Robert Lefebvre
Julien BERAUD
John Hsu
Andy Piper
Paul Riseborough
mirkix
kozinalexey
dzollo
tcr3dr
Gustavo Jose de Sousa
Víctor Mayoral Vilches
Przemek Lekston
Grant Morphett