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18765 Commits

Author SHA1 Message Date
Caio Marcelo de Oliveira Filho c95a89411c AP_HAL_Linux: remove unnecessary includes in example 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho e36728d1db RC_Channel: make example compile again 
By adding a missing library dependency. Also remove unnecessary
includes, in particular including each board HAL file is not needed
anymore.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho 01b11ba48f Hello: remove unnecessary includes 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho 5020db4481 AP_Math: remove unnecessary includes 
Remove unnecessary includes, in particular the includes for specific
boards. The list of libraries for 'polygon' example was updated so that
the example compiles again.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho ef615a5da1 Replay: implement HAL::Callbacks 
Also removes includes for each board since they are not necessary
anymore.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho b648715496 AntennaTracker: implement HAL::Callbacks 
Also removes includes for each board since they are not necessary
anymore.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho 06b2c966c1 APMrover2: implement HAL::Callbacks 
Also removes includes for each board since they are not necessary
anymore.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho db3e501aec ArduPlane: implement HAL::Callbacks 
Also removes includes for each board since they are not necessary
anymore.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho 3e3f13659d ArduCopter: implement HAL::Callbacks 
Also removes includes for each board since they are not necessary
anymore.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho b29d6eff5d AP_HAL: add an AP_HAL_MAIN_CALLBACKS() macro 
This is going to be used by vehicles that already have an object with
setup/loop functions. The vehicle object will just implement the
HAL::Callbacks interface.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho 19b4ca60c4 AP_HAL: provide AP_HAL_MAIN() 
Move the macros to a single place and reduce the variations not based on
board, but based on

- The name of the entry-point function, specified by AP_MAIN;
- Whether it contains argc/argv arguments or not.

The goal here is that programs (vehicles and examples) don't need to
include all possible boards to define a main function. Further patches
will change the programs.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho e30457a84d AP_HAL_VRBRAIN: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho cb61bdd8d1 AP_HAL_PX4: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho e18884a328 AP_HAL_AVR: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho 1649104382 AP_HAL_FLYMAPLE: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho 3c22564307 AP_HAL_Linux: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho e4ef0e43c0 AP_HAL_SITL: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho 0c837326b5 AP_HAL_Empty: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho 6fc60e2d5e AP_HAL: remove unused init() from the interface 
And make run() pure virtual to ensure future implementations provide it.
 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho fe1dd1be25 AP_HAL_VRBRAIN: implement HAL::run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho 0dab23c4df AP_HAL_PX4: implement HAL::run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho 3fe1d86c80 AP_HAL_AVR: implement HAL::run() for APM1 and APM2 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho 51bc25a2ab AP_HAL_FLYMAPLE: implement HAL::run() 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 32dc822470 AP_HAL_Linux: implement HAL::run() 
Added a note about the different ordering between setup callback and
scheduler initialized call.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho c6292ff097 AP_HAL_SITL: implement HAL::run() 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 346ab77c27 AP_HAL_Empty: implement HAL::run() 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 72cd5ef185 AP_HAL: add run() method 
Add run method, that encapsulate any mainloop logic on behalf of the
client code. The setup/loop functions are passed via a HAL::Callbacks
interface. The AP_HAL_MAIN() macro should be kept as trivial as
possible.

This interface should be implemented by the existing vehicle objects. To
make easy for the examples (that don't have the equivalent of vehicle
objects), a FunCallbacks was added to bridge to the functions directly.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho ec52df991c build: compile only the HAL files needed by the board 
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
 2015-10-21 09:16:07 +11:00
Andrew Tridgell 79d85f7e10 AP_AHRS: wait for up to 10 samples to get a valid accel vector 
the initial accel vectors can be invalid
 2015-10-21 09:09:11 +11:00
Andrew Tridgell eac91430a2 AP_AHRS: update _dcm_attitude() on reset() 
this prevents the roll/pitch being overwritten by the AHRS_NavEKF
update code on next update
 2015-10-21 08:58:30 +11:00
Jonathan Challinger c35605fa04 AP_AHRS_DCM: align tilt during initialization 2015-10-21 08:34:02 +11:00
Jonathan Challinger 78af6d61de AP_Compass: only play compass cal cancel tone if a cal was running 2015-10-21 08:24:49 +11:00
Jonathan Challinger 3b480bd6ec AP_InertialSensor: fix order of accelerometer corrections 2015-10-21 08:22:36 +11:00
Jonathan Challinger 562db11159 AP_Compass: fix potential AP_Notify concurrency problem 2015-10-20 20:54:02 +09:00
Andrew Tridgell 3af4a7fee7 autotest: make CopterAVC use EKF2 
this gives some testing of EKF2 in autotest
 2015-10-20 21:00:59 +11:00
Paul Riseborough cd8b9c7d26 AP_NavEKF: prevent high rate mag data locking out other data fusion 2015-10-20 20:16:04 +11:00
Paul Riseborough ab8c28a7cc AP_NavEKF: Fix bug allowing takeoff in GPS modes without aiding 
The legacy EKF switches GPs aiding on on arming, whereas the new EKF switches it on based on GPS data quality.
This means the decision to arm and therefore the predicted solution flags must now reflect the actual status of the navigation solution as it will no longer change when motor arming occurs.
 2015-10-20 20:16:00 +11:00
Paul Riseborough e076ed7f66 AP_NavEKF2: Remove compiler warning message 2015-10-20 18:16:16 +11:00
Andrew Tridgell b0aa7cb990 DataFlash: use new perf API 2015-10-20 18:16:16 +11:00
Andrew Tridgell cb0f7cb370 NavEKF2: use new perf counter API 2015-10-20 18:16:15 +11:00
Andrew Tridgell f66966ccae NavEKF: use new perf counter API 2015-10-20 18:16:15 +11:00
Andrew Tridgell 8dbb51c64e HAL_PX4: implement AP_HAL::Util perf calls for PX4 2015-10-20 18:09:57 +11:00
Andrew Tridgell 28fa05c965 AP_HAL: added generic perf counter 
simple wrapper around PX4 API, but ready for use by other HALs
 2015-10-20 18:09:57 +11:00
Randy Mackay 3f9d62d6b4 Copter: 3.3.1-rc1 release notes 2015-10-20 16:00:41 +09:00
Randy Mackay 1858a0544f Copter: guided takeoff checks auto-armed status 
This resolves an edge case in which the vehicle could takeoff with auto-armed false
 2015-10-20 15:51:55 +09:00
Andrew Tridgell 16bc7d8b2e Tools: fixed datestamp on compiler download 2015-10-20 15:54:44 +11:00
Andrew Tridgell 279a320f44 Tools: switch autobuild to 4.9 compiler 2015-10-20 15:28:13 +11:00
Paul Riseborough 60c2e81d19 AP_NavEKF2: Apply optimisations to declination fusion covariance update 
These are the same type of optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:41 +11:00
Paul Riseborough 0054291cf4 AP_NavEKF2: Apply optimisations to side-slip fusion covariance update 
These are the same optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:40 +11:00