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15406 Commits

Author SHA1 Message Date
Dr.-Ing. Amilcar Do Carmo Lucas
c7c2c4ff2c AC_AttitudeControl: use floating-point multiplication instead of a more expensive floating-point division 2017-10-23 09:20:17 -07:00
Andrew Tridgell
fc237ee9a0 AP_Motors: merge fixed from rebase 2017-10-22 15:52:50 +11:00
Andrew Tridgell
efea83e424 AP_Motors: fixed MotorsMatrix set_update_rate() 2017-10-22 15:52:50 +11:00
Andrew Tridgell
0682d30ebd SRV_Channel: ensure channel_mask is setup 2017-10-22 15:52:50 +11:00
Andrew Tridgell
1e62b5d5c7 AP_Motors: many to one mapping of motors 
this allows multiple outputs for one motor number
 2017-10-22 15:52:50 +11:00
Andrew Tridgell
39fd25bb36 SRV_Channel: added get_output_channel_mask() 
will be used by AP_Motors
 2017-10-22 15:52:50 +11:00
Andrew Tridgell
03e1f6967f AP_Motors: removed enable() API 
all output channels are already enabled by SRC_Channels::enable_aux_servos()
 2017-10-22 15:52:50 +11:00
Andrew Tridgell
ed272833c3 SRV_Channel: don't treat k_motorN specially 2017-10-22 15:52:50 +11:00
Michael du Breuil
b0e18de576 AP_GPS: Remove detect helpers for MTK/SIRF when minimizing the build 
Removes 16 bytes
 2017-10-22 03:03:29 +01:00
Andrew Tridgell
5bd92b4b7e AP_TECS: improved support for VTOL transitions 2017-10-21 18:50:01 +11:00
Andrew Tridgell
c5cd1b873c SITL: use thread for FlightAxis comms 
this allows us to run SITL at a much higher framerate than RF can
provide, and results in the EKF being much happier
 2017-10-21 11:57:59 +11:00
Andrew Tridgell
7def86ae96 HAL_SITL: don't run IO at more than 100Hz 
save some CPU for faster frame rates
 2017-10-21 11:57:05 +11:00
Georgii Staroselskii
8a28556ae1 AP_Notify: use RCOutputRGBLedInverted for Edge 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
03ac8621bf AP_BattMonitor: add Edge PM preset 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
4e2028c32f AP_HAL: Edge: enable Heat PWM 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
79c14a92a9 AP_HAL_Linux: adapt Heat_Pwm for Edge 2017-10-20 13:03:08 -07:00
Alexey Bulatov
069c98b8a9 AP_InertialSensor: Edge: add sensor's rotation YAW_90 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
710594eee3 AP_Compass: enable compass on Edge 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
db9f427617 AP_HAL: Edge: add compass settings 
Use HMC5883L as default before UAVCAN Linux support is in place
 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
ac6f7511bd AP_InertialSensor: examples: print temperature 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
4f2d8f8df4 AP_InertialSensor: use ICM backend for Edge 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
4e6fab228c AP_HAL_Linux: add SPI devices for Edge 2017-10-20 13:03:08 -07:00
Staroselskii Georgii
3ade179700 AP_HAL_Linux: make use of RCInput_Navio2 in Edge 2017-10-20 13:03:08 -07:00
Staroselskii Georgii
2a99bb0c95 AP_HAL: use Raspberry Pi GPIO and Util classes for Edge 
As it's a yet another Raspberry Pi based board, we may reuse the code.
 2017-10-20 13:03:08 -07:00
Staroselskii Georgii
2a7e8d66ee AP_HAL_Linux: add Edge support 
Just some usual boilerplate code.
 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
2dd68243a2 AP_HAL: add Edge support 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
ef3cad7833 AP_Notify: add RCOutputRGBLedInverted 
Some RGB leds controlled with an inverted logic. This class addresses
this.
 2017-10-19 15:09:49 -07:00
Peter Barker
bb2573f945 GCS_MAVLink: send mission item requests to correct destination 
The correct destination is the GCS which last set the mission count,
not the last GCS that requested it!
 2017-10-19 20:52:24 +11:00
Michael du Breuil
2b4cf54797 AP_Landing: Deepstall: Small style fixes 2017-10-17 14:37:11 -07:00
Michael du Breuil
d166832de4 AP_Landing: Deepstall implement log(), reset all integrators 2017-10-17 14:37:11 -07:00
Michael du Breuil
2909f77235 DataFlash: Remove PIDL and a DSTL for a deepstall specific message 2017-10-17 14:37:11 -07:00
Michael du Breuil
f8ac4efb1d PID: Add a full reset method 2017-10-17 14:37:11 -07:00
Michael du Breuil
df8049778e AP_Landing: Support CCW deepstall 2017-10-17 14:37:11 -07:00
Michael du Breuil
a0a16b8369 AP_Mission: Load yaw heading for landing commands 2017-10-17 14:37:11 -07:00
Michael du Breuil
0007e5eb80 AP_Landing: Support scaling aileron controls 2017-10-17 14:37:11 -07:00
Georgii Staroselskii
d214a36e0a AP_HAL_Linux: reset duty cycle before setting period 
On kernels 4.7+ duty_cycle should always be less than period.
Otherways, we'll get a EINVAL.

It makes sense to set duty_cycle to 0, as
duty_cycle doesn't really make sense without a proper period.

A proper way to handle these errors might be to call pwm_adjust_config
in every pwmchip backend but it's unrealistic to hope that all vendors
will do it quickly.
 2017-10-17 13:28:34 -07:00
Michael du Breuil
dbf67aa38a AP_Mission: Remove duplicated code associated with copy the waypoint location 2017-10-16 10:02:33 -07:00
Peter Barker
6536bf39b3 DataFlash: add DataFlash_AllTypes sample output 2017-10-10 16:51:19 +11:00
Peter Barker
466d6e619e DataFlash: correct nanf log output 2017-10-10 16:51:19 +11:00
Andrew Tridgell
c8b6be6736 AP_Motors: fixed scaling of servo outputs 
thanks to bnsgeyer for noicing this in issue #6977

this will break existing dual-heli setups, but there are so few people
flying them so far that I think it is a worthwhile change
 2017-10-10 11:02:34 +11:00
Tom Pittenger
39dc608bea AP_L1: update constraint Nu comment to match sourcecode 
fixes https://github.com/ArduPilot/ardupilot/issues/7054
 2017-10-09 17:01:37 -07:00
Andrew Tridgell
74265f523a SITL: support -roll180 option to frames 2017-10-10 10:57:38 +11:00
Andrew Tridgell
6a6f9681ab AP_InertialSensor: allow for 1,1,1 accel scaling 
this supports simple accel calibration
 2017-10-10 10:57:38 +11:00
Andrew Tridgell
f513c1c8dd AP_InertialSensor: support rotated IMUs in SITL 2017-10-10 10:57:38 +11:00
Andrew Tridgell
d5cab1140a AP_InertialSensor: added simple_accel_cal() 
this is useful for mass market vehicles where a full 3D accel cal is
too complex.
 2017-10-10 10:57:38 +11:00
Francisco Ferreira
02586b0a2e
AP_Rangefinder: search buses 0 and 1 for Maxbotix I2C driver 2017-10-09 11:57:02 +01:00
Francisco Ferreira
be1f0801a3
AP_HAL: stop defining a default Lightware I2C bus 
When a specific bus isn't defined we now search I2C buses 0 and 1
 2017-10-09 11:57:02 +01:00
Francisco Ferreira
bb46eaedaa
AP_Rangefinder: look in buses 0/1 when Lightware I2C bus isn't defined 2017-10-09 11:57:02 +01:00
Randy Mackay
7e5f98b535 APM_Control: fix throttle and steering integrator calc 2017-10-07 14:55:16 +09:00
Andrew Tridgell
f00f650f4f AP_Notify: fixed internal toshiba LED 
we need to probe for both internal and external on all boards, not just
FMUv3
 2017-10-07 12:34:47 +11:00
Michael du Breuil
0300f86913 AP_GPS: u-blox: Log unconfigured messages 2017-10-06 12:53:32 +01:00
Michael du Breuil
8719c2903a DataFlash: Log U-Blox config progress 2017-10-06 12:53:32 +01:00
Peter Barker
fa95edc260 DataFlash: factor out a Log_Write_IMUDT_instance 2017-10-06 01:42:01 +01:00
Peter Barker
06a2e05be5 DataFlash: log cell voltages with correct packet type 2017-10-06 01:42:01 +01:00
Peter Barker
79ba2b357f DataFlash: factor out a Log_Write_Current_instance 2017-10-06 01:42:01 +01:00
Peter Barker
8d3267a731 DataFlash: factor out a Log_Write_Compass_instance 2017-10-06 01:42:01 +01:00
Peter Barker
a7063393b4 DataFlash: factor out a Log_Write_IMU_instance 2017-10-06 01:42:01 +01:00
ChristopherOlson
7e086e8c4d AP_Motors: Fix DDFP so tail motor doesn't start without Channel 8 high 2017-10-05 13:41:34 +11:00
Leonard Hall
d28182435e AP_Motors: allow for negative thrust expo 
This allows for motors with a thrust curve that decreases with demand.
 2017-10-05 13:40:36 +11:00
Andrew Tridgell
5646afac1c AP_Compass: avoid double detection of the AK09916 
with an ICM20948 we can double detect the compass due to the i2c pass-thru
 2017-10-04 11:49:06 +11:00
priseborough
efdc651d1a AP_NavEKF2: Require reboot after changing ALT_SOURCE parameter 
Toggling between alt sources in flight using the parameter can have unpredictable effects due to the various height offsets and the possibility that the data source may be unavailable.
 2017-10-04 00:24:15 +01:00
Andrew Tridgell
e1f8e7bc58 AP_Motors: cope with H vs X frame in HeliQuad 2017-10-03 10:16:41 +11:00
Andrew Tridgell
09c3eeaf0c AP_Motors: improved heli-quad yaw control 2017-10-03 10:16:41 +11:00
Andrew Tridgell
a7713da703 AP_Motors: reserve collective range for attitude control 2017-10-03 10:16:41 +11:00
Andrew Tridgell
f07aac396c AP_Motors: support inverted flight for helicopters 2017-10-03 10:16:41 +11:00
Andrew Tridgell
f2efea4e1d AC_AttitudeControl: added inverted flight support 
for helis
 2017-10-03 10:16:41 +11:00
Andrew Tridgell
55d5fe843e AP_Motors: added Heli_Quad backend 
supporting collective pitch quadcopters
 2017-10-03 10:16:41 +11:00
Lucas De Marchi
4d5aed1d69 AP_HAL_Linux: UARTDevice: never be the controlling terminal 
If we are the controlling terminal for a tty device we will receive a
SIGHUP when the device disappears. Currently what happens is that we
simply stop the whole process. We don't want to fall off the sky due
to a bad device. This can happen for any reason, but it's more likely
if the UART is behind a USB connection.
 2017-10-02 11:05:09 -07:00
Peter Barker
d7638389ce DataFlash: factor out a Log_Write_Baro_instance 2017-09-29 11:16:44 +01:00
Lucas De Marchi
5ebc8c2cb3 AP_HAL_Linux: ToneAlarm: ifdef out bogus message 
These messages are only valid in a small subset of Linux boards (those
based on BBB and variants).  The ToneAlarm class should actually be
split allowing different implementations, but for now let's just disable
the message.
 2017-09-28 09:00:26 -07:00
Lucas De Marchi
7edde571e1 AP_HAL: RCOutput_Tap: make LEDs blink on non-Aero ESCs 
The protocol defines bits for controlling possible LEDs. On Aero the ESC
firmware simply ignores these bits and blink with a fixed frequency.
Add logic to be able to blink the ESC if not flashed with the Aero
version of the firmware.
 2017-09-28 08:59:52 -07:00
Lucas De Marchi
2c3054cbae AP_HAL: RCOutput_Tap: remove feedback from ESCs 
This is not currently working on Aero, the only user of it right now,
and it has been commented out. Remove dead code.
 2017-09-28 08:59:52 -07:00
Lucas De Marchi
d3a1ed9792 AP_HAL: RCOutput_Tap: fix comment with protocol bits 2017-09-28 08:59:52 -07:00
Michael du Breuil
3023fac4d0 AP_GPS: SBF enable comment block logging 
This is intended to help with GCS's injecting custom data to the GPS
 2017-09-27 19:29:32 +01:00
Michael du Breuil
561acb372e AP_GPS: SBF send port enable string on start 
Also prohibts SBF, GSOF, NOVA drivers from getting config strings not
meant for them
 2017-09-27 19:29:32 +01:00
Michael du Breuil
bfbec02736 AP_GPS: SBF track the GPS error bits 2017-09-27 19:29:32 +01:00
Michael du Breuil
0d522663b2 AP_GPS: SBF: fix the PVTMode to support PPK (and baseline) units 2017-09-27 19:29:32 +01:00
Michael du Breuil
80b71b9ced AP_GPS: SBF: Validate that configuration was accepted 
Note: The config string of "spm, Rover, StandAlone+SBAS+DGPS+RTK\n" is
incompatible with AsteRx-M FW 3.6.3 and will result in refusing to
arm/pass configuration checks
 2017-09-27 19:29:32 +01:00
Michael du Breuil
20988b9f05 AP_GPS: SBF respect GPS_AUTO_CONFIG 2017-09-27 19:29:32 +01:00
Lucas De Marchi
2fc6e52431 AP_Compass: use IST8310 and HMC5883 as external mags 2017-09-27 09:25:34 -07:00
Lucas De Marchi
58ae139b8f AP_HAL: add possible external compasses for aero 2017-09-27 09:25:34 -07:00
Francisco Ferreira
6e286a2e66
AP_Compass: re-enable QMC5883 compass driver by default 
This reverts commit a657daf635
 2017-09-27 12:24:36 +01:00
Andrew Tridgell
08344557d9 AP_HAL: fixed missing LPS25H define 2017-09-27 16:42:31 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
09baac8f25 AP_GPS: Preserve the instance number, otherwise it will get set to zero 
Signed-off-by: Dr.-Ing. Amilcar Do Carmo Lucas <amilcar.lucas@iav.de>
 2017-09-26 23:15:10 -07:00
Dr.-Ing. Amilcar Do Carmo Lucas
8b9fb19061 AP_GPS: Added const just to be explicit (NFC) 
Signed-off-by: Dr.-Ing. Amilcar Do Carmo Lucas <amilcar.lucas@iav.de>
 2017-09-26 23:15:10 -07:00
Dr.-Ing. Amilcar Do Carmo Lucas
175b7c5389 AP_GPS: spellcheck in coment (NFC) 2017-09-26 23:15:10 -07:00
Aaron Wang Shi
6a82e3aecd AP_HAL_Linux: Add debug message in RCInput_RPI _timer_tick() 2017-09-25 21:11:56 -07:00
Aaron Wang Shi
ccde7cfdd4 AP_HAL_Linux: Restart RCInput_RPI DMA sampling if it stops 2017-09-25 21:10:54 -07:00
Lucas De Marchi
903ef4d065 AP_SmartRTL: update example to new API and fix object copy 
ahrs should be a reference to DummyVehicle::ahrs, otherwise it will
act on a different object.

This also corrects the member initialization order: only pass a copy
or reference of an object to a constructor if it has already been
initialized.
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c745908b14 AP_Landing: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
67e02e3c55 AP_L1_Control: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
15527d762f APM_Control: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
61a629d766 AP_TECS: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
bfd13dfe87 global: use static method to construct AP_AHRS_DCM 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cd1ff7b86f AP_AHRS: DCM: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
beabae6a98 global: use static method to construct AP_AHRS_NavEKF 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e2a9d9c001 AP_AHRS: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c9fbf7b722 global: use static method to construct AP_NavEKF3 2017-09-26 03:01:21 +01:00
Lucas De Marchi
bd6145af6d AP_NavEKF3: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e2fe36357a global: use static method to construct AP_NavEKF2 2017-09-26 03:01:21 +01:00
Lucas De Marchi
3c04f4e4d1 AP_NavEKF2: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
46e8d9b6d1 AP_Avoidance: add static create method for AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cce51ec1c3 AP_ADSB: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
1baccdaf85 AC_InputManager: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b29a183a74 AC_PrecLand: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
122f3d110b AP_Terrain: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
beabccf9ef AP_LandingGear: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
31db77e47b global: use static method to construct AP_Parachute 2017-09-26 03:01:21 +01:00
Lucas De Marchi
88dea049b4 AP_Parachute: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e1733a5a99 AC_Sprayer: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b09e0c3261 AP_RSSI: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e68c5a4668 AC_Avoidance: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b05610870c global: use static method to construct AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi
2f2abc2924 AP_Rally: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
52686ec838 AC_Fence: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
563f9bfe89 AP_Mount: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
ddde53f84c AP_Camera: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
df29015533 AP_ServoRelayEvents: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
13d7f58036 global: use static method to construct AP_Relay 2017-09-26 03:01:21 +01:00
Lucas De Marchi
87d2bf22f2 AP_Relay: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
8b5d799885 AP_Frsky_Telem: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b022c02029 global: use static method to construct AP_BattMonitor 2017-09-26 03:01:21 +01:00
Lucas De Marchi
bd8f0a9e93 AP_BattMonitor: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi
ef3edc531c AP_BoardConfig: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c10a91964f AP_RCMapper: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi
04866e9f76 AP_SerialManager: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
fbe0d9761c global: use static method to construct AP_OpticalFlow 2017-09-26 03:01:21 +01:00
Lucas De Marchi
04c3dca3ce AP_OpticalFlow: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
39aee74b29 AP_Arming: make constructor protected 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b36a5919f5 global: use static method to construct AP_Mission 
This also move the initialization to be in the header for those that
weren't already to maintain consistency.
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
ef50783268 AP_Mission: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
de5e044b02 global: use static method to construct AP_RPM 2017-09-26 03:01:21 +01:00
Lucas De Marchi
aefae9381e AP_RPM: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
40fd1b346c global: remove rangefinder from AP_AHRS_NavEKF 
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi
2e80b2e1d0 AP_RangeFinder: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b3d8c0fc08 AP_Mount: use DataFlash_Class::instance() 
Instead of requiring DataFlash_Class reference to be passed
on the init() function, get it from the singleton directly.
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
53c82b4aaf global: use static method to construct DataFlash_Class 2017-09-26 03:01:21 +01:00
Lucas De Marchi
a25320d522 DataFlash: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
6aaa00d915 AP_LeakDetector: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9463dbb408 AP_Notify: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
de680dac5b global: use static method to construct AP_Scheduler 2017-09-26 03:01:21 +01:00
Lucas De Marchi
d3e12eb899 AP_Scheduler: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi
2cb2727a31 AP_GPS: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi
d566567d87 AP_InertialSensor: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c1a957fbf3 global: use static method to construct Compass 2017-09-26 03:01:21 +01:00
Lucas De Marchi
320260a151 AP_Compass: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi
91feec0e14 global: use static method to construct AP_Baro 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c5c1d5abfe AP_Baro: add static create method 2017-09-26 03:01:21 +01:00
Michael du Breuil
c34104b369 APM_Control: Simpify yaw controller trig 2017-09-25 16:49:54 -07:00
Michael du Breuil
eb9dd8c5a2 AP_Landing: Fix an error when computing the course offset for deepstall 2017-09-25 15:34:25 -07:00
Lucas De Marchi
54a4a78795 AP_Common: do not include version.h/ap_version.h 
The interface provided by each vehicle should be used to get the
version.
 2017-09-23 21:37:45 -07:00
Lucas De Marchi
9e7bda83bf DataFlash: add temporary workaround for macro usage 
Make DataFlash correctly save the git version. We should think about a
better solution, like it was done on GCSMavlink, but this is the minimal
change to make it possible to move includes of version.h to their
respective users.
 2017-09-23 21:37:45 -07:00
Lucas De Marchi
ec935cf0fe GCS_MAVLink: refactor send_banner() to use AP_FWVersion 2017-09-23 21:37:45 -07:00
Lucas De Marchi
ed2b8d3476 GCS_MAVLink: refactor send_autopilot_verison() to use AP_FWVersion 
Make the method use the getter directly to get a reference of
AP_FWVersion and work out everything that needs to be sent. This allows
us to remove ifdefs and replace with runtime if/else.

Note that there's also a bug fix: we were not setting flight_custom_version
to zero in case GIT_VERSION wasn't defined.
 2017-09-23 21:37:45 -07:00
Lucas De Marchi
370e10281b AP_Common: AP_FWVersion: add pointers to git hash strings 
Keeping the hash strings on this struct allow to handle them
the same way on common code and remove ifdefs.
 2017-09-23 21:37:45 -07:00
Andrew Tridgell
678bd084b7 AP_Compass: added IST8310 on FMUv3 I2C 2017-09-23 08:07:18 +10:00
davidaroyer
cb270a9acf AP_RangeFinder: cleanup variable names in uLanding driver 2017-09-22 18:08:27 +01:00
davidaroyer
8284fb1093 AP_RangeFinder: update uLanding driver for new firmware data format 2017-09-22 18:08:27 +01:00
fnoop
149188de12 AP_HAL: Add size() method to RingBuffer ObjectArray 2017-09-22 09:56:00 -07:00
fnoop
3ddd9a6bca AP_HAL: RingBuffer: Prefix private members with underscore 2017-09-22 09:55:49 -07:00
Andrew Tridgell
2c68b5dac3 AP_Airspeed: fixed airspeed autocal 
don't use negative pressures
 2017-09-22 18:24:29 +10:00
Mark Whitehorn
dedb40ce0b SITL: add parameter to simulate reversed pitot tube order 2017-09-22 18:21:09 +10:00
Mark Whitehorn
f32f51f843 AP_Airspeed: eliminate airspeed positive bias 2017-09-22 18:21:09 +10:00
Lucas De Marchi
3847825fba AP_HAL_Linux: make Aero use Tap ESC 
This allows controlling the motors from Linux on Intel Aero RTF given
the right FPGA firmware is in place.
 2017-09-21 07:59:20 -07:00
Lucas De Marchi
68b3e5ccab AP_HAL: aero: define uart RCOutput_Tap 2017-09-21 07:59:20 -07:00
Lucas De Marchi
51665a2ea9 AP_HAL: RCOutput_Tap: split baudrate set for Linux and Nuttx 
On Linux (and in most of posix-like systems) the baudrate set in struct
termios via cfset[io]speed is actually the index of the standard
baudrates, it's not the baudrate per se (hence the use of B* macros).

On Linux it's possible to set the baudrate by passing the baudrate
itself to TCSETS2 ioctl.  Unfortunately it's not possible to include
asm/termbits.h and termios.h in the same compilation unit, so we need to
split it. Here we split into a Linux and a NuttX implementation.
 2017-09-21 07:59:20 -07:00
Lucas De Marchi
58a76adc13 AP_HAL: RCOutput_Tap: allow different device to be used 2017-09-21 07:59:20 -07:00
Lucas De Marchi
f6b1099896 AP_HAL: move in tap esc implementation 
This can be shared with Linux.
 2017-09-21 07:59:20 -07:00
Peter Barker
3af5be76aa DataFlash: protect write fd with semaphore 
If the sensor threads are using WriteBlock they may pass the _write_fd
== -1 check but then have that set to -1 by the main thread
 2017-09-20 11:33:07 +01:00
Randy Mackay
953adc506d GCS_MAVLink: add break in default case 
non-functional change but removes some warnings in eclipse editors
 2017-09-20 12:14:38 +09:00
Peter Barker
d0c2898ebc GCS_MAVLink: move handling of SET_GPS_GLOBAL_ORIGIN up 2017-09-19 15:44:23 +09:00
Randy Mackay
f029303d96 AP_Arming: check ahrs and gps differ by less than 10m 2017-09-19 10:30:15 +09:00
Randy Mackay
07c195a865 GCS_MAVLink: add send_ekf_origin 2017-09-19 10:30:15 +09:00
Peter Barker
6bd7089718 GCS_MAVLink: implement handling of MAV_CMD_DO_SET_MODE 2017-09-19 01:24:11 +01:00
Peter Barker
8507763a1c GCS_MAVLink: create _handle_set_mode for common msg and cmd-long code 2017-09-19 01:24:11 +01:00
Peter Barker
d1b47e863d DataFlash: resolve race conditions with IMU logging thread 2017-09-19 09:40:11 +10:00
Peter Barker
0f54cc9b22 AP_HAL_SITL: implement in_main_thread 2017-09-19 09:40:11 +10:00
Peter Barker
b7bfef3cdf AP_HAL_QURT: make in_main_thread const and override 2017-09-19 09:40:11 +10:00
Peter Barker
9cb23f6108 AP_HAL_VRBRAIN: make in_main_thread const and override 2017-09-19 09:40:11 +10:00
Peter Barker
8d208ea514 AP_HAL_PX4: make in_main_thread const and override 2017-09-19 09:40:11 +10:00
Peter Barker
044cac42e8 AP_HAL_Linux: make in_main_thread const and override 2017-09-19 09:40:11 +10:00
Peter Barker
68652867e1 AP_HAL: make in_main_thread public, pure and virtual 2017-09-19 09:40:11 +10:00
mirkix
93b3970141 SITL: Add tilthvec frame 2017-09-18 21:20:39 +10:00
Rufus Wong
9491f7da55 AP_Compass: Add break to prevent fallthrough of PIXRACER to PIXHAWK_PRO 2017-09-18 19:57:22 +10:00
Andrew Tridgell
7ade37bd4e SITL: added SIM_GPS_ALT_OFS 
this is used to give a bad GPS height in SITL, which is very useful for
testing origin vs home issues
 2017-09-18 10:24:45 +10:00
Andrew Tridgell
25c7ee4d42 AP_HAL_SITL: added SIM_GPS_ALT_OFS 
this is used to give a bad GPS height in SITL, which is very useful for
testing origin vs home issues
 2017-09-18 10:24:45 +10:00
Steven Josefs
6e0ff8b169 AP_Proximity: add support for RP Lidar A2 
This is a 360degree lidar with up to 16m range
 2017-09-18 08:28:11 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
882c4f4052 AP_SerialMananger: add RP-Lidar A2 2017-09-18 08:28:09 +09:00
liorosh
f2b7dc74d7 AP_Baro: Adding a new LPS25H Barometer driver 
The following is a Barometer sensor driver for the LPS25H Barometer that
is integrated in the 96Boards STM32 Sensor mezzanine board.
the update includes the .cpp and .h files of the driver as well as the
updates required in AP_Baro.cpp.
 2017-09-16 21:08:06 +10:00
chobitsfan
02cfe9128d AP_GPS: parse RTK status in NMEA GGA message 2017-09-15 22:33:47 +01:00
Michael du Breuil
2f8f2ffd2d AP_GPS: Remove NMEA init blobs for binary drivers 
All of the init strings that were sent in the NMEA driver are for GPS protocols
which have binary drivers, which provide far more features and are more robust.
It also appears that due to driver changes the config strings for SIRF/UBLOX
were no longer correct anyways).
 2017-09-15 14:30:48 -07:00
Randy Mackay
6d15a72f3a AP_SmartRTL: complete rename to SmartRTL 2017-09-15 08:58:14 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
d3a18e803e AP_GPS: Fix MAVLink message field SYSTEM_TIME.time_unix_usec when GPS_AUTO_SWITCH = blend 
The mavlink message field SYSTEM_TIME.time_unix_usec works fine with GPS_AUTO_SWITCH == 0 (no switch) or ==1 (usebest)
But when GPS_AUTO_SWITCH == 2 (blend) then state[GPS_BLENDED_INSTANCE].last_gps_time_ms gets initialized with 0 and never rewritten.

The consequence: SYSTEM_TIME.time_unix_usec gets stuck at zero.
The solution: Do not reset state[GPS_BLENDED_INSTANCE].last_gps_time_ms because it would overwrite the correct value already set on line 1149
 2017-09-14 12:38:30 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
e03826890a AP_GPS: Fix typo in comment 2017-09-13 14:22:57 -07:00
Tom Pittenger
1c223b520c AP_ADSB - update description of ADSB_RF_SELECT to say Rx-only devices are always in Rx mode 2017-09-13 13:46:21 -07:00
Michael du Breuil
0bbbb3d08d AP_AdvancedFailsafe: Allow landing to be a termination action 2017-09-13 13:15:08 -07:00
Michael du Breuil
40f49733ea AP_Landing: Support usage for termination 2017-09-13 13:15:08 -07:00
Michael du Breuil
bde1b6e886 AP_Arming: Collapse GPS checks into the same branch 2017-09-13 13:36:40 +01:00
Michael du Breuil
3ab9b75df0 AP_Arming: Check GPS update rate as part of the GPS checks 2017-09-13 13:36:40 +01:00
Michael du Breuil
cf02204e6c Dataflash: Log GPS delta times 
This is particularly useful for assessing if a GPS actually is dropping out in a users log, or if the log is just dropping messages
 2017-09-13 13:36:40 +01:00
Michael du Breuil
04eb7f411e AP_GPS: Track the delta time between the last GPS positions 2017-09-13 13:36:40 +01:00
Lucas De Marchi
58dec08b29 GCS_MAVLink: fix non static perf counter 
Commit b9877e0d38
(GCS_MAVLink: make per channel perf counter non-static) made the
perf counters to be available per instance but missed the fact that
the perf infra doesn't copy the string.

Fix this by maintaining a the string inside the object.
 2017-09-12 17:24:31 -07:00
Lucas De Marchi
13f4ba7392 AP_HAL: remove raspilot 2017-09-12 15:06:19 -07:00
Lucas De Marchi
15bfa940a7 AP_Notify: remove raspilot 2017-09-12 15:06:19 -07:00
Lucas De Marchi
caa4e3ee89 AP_InertialSensor: remove raspilot 2017-09-12 15:06:19 -07:00
Lucas De Marchi
b1740e2d9c AP_Compass: remove raspilot 2017-09-12 15:06:19 -07:00
Lucas De Marchi
7ba82ff23a AP_HAL_Linux: remove raspilot 
It's not being sold, there are just a few (different) engineering
samples built and there are no plans for this to go forward for people
that were pushing it.
 2017-09-12 15:06:19 -07:00
Peter Barker
b4e536b424 GCS_MAVLink: move gcs_out_of_time into GCS object 2017-09-12 18:28:07 +01:00
Andrew Tridgell
697131e94a AP_Notify: support dual I2c toshiba LEDs 
This restructures AP_Notify to allow for multiple backends of the same type.
 2017-09-11 10:39:39 -07:00
Francisco Ferreira
4398be2275 AP_HAL_Linux: remove URUS 2017-09-11 10:04:11 -07:00
Francisco Ferreira
51a8aa3d1f AP_HAL: remove URUS 2017-09-11 10:04:11 -07:00
Lucas De Marchi
b9877e0d38 GCS_MAVLink: make per channel perf counter non-static 
Otherwise the perf counter from one channel may affect the other if
during an update of one channel the update function of the other gets
called.
 2017-09-11 10:01:57 -07:00
Lucas De Marchi
d5f57fdd93 AP_Compass: AK8963: remove fallback to timer thread 
Now that the bus thread from the AuxiliaryBus is implemented we can
remove the fallback.
 2017-09-11 09:52:41 -07:00
Lucas De Marchi
06fe5ce8ba AP_InertialSensor: implement periodic thread for AuxiliaryBus 2017-09-11 09:52:41 -07:00
Peter Barker
4263c1a90c DataFlash: file not being initialised means logging is failed 2017-09-11 17:42:38 +01:00
squilter
cb0f50a1c8 AP_SmartRTL: renamed from SafeRTL 2017-09-09 14:05:41 +09:00
Randy Mackay
4415a6b052 AP_SafeRTL: update example sketch 
remove pruning test because this is always performed after simplification
modify expected results to match latest algorithm
 2017-09-09 14:05:41 +09:00
Randy Mackay
939ca36c33 AP_SafeRTL: simplify and prune regularly 
remove overlapping prunable loops (keeps longest loop)
replace use of Bitmask calls with flag
restart_pruning protection against overflow
remove argument to reset_simplification and reset_pruning
fix setting _simplify.path_points_completed
fix add_loop - compare length of new loop to sum of all existing loops that would be
replaced
add program error protection - an overflow of the path_points_count index is dangerous so although it should never happen, if it does, deactivate
reduce the simplify and prune path-points-completed numbers as points are popped off the path so that if the user aborts the SafeRTL simplification and pruning process any new points added aftwards
 2017-09-09 14:05:41 +09:00
Randy Mackay
5d977cf799 AP_SafeRTL: check semaphore allocation 
Remove redundant position_ok check from update
Reorder timeout checks in update

These are in fixes from WickedShell's review, thanks!
 2017-09-09 14:05:41 +09:00
Randy Mackay
811e115a21 AP_SafeRTL: move simplify and prune state into structures 2017-09-09 14:05:41 +09:00
Randy Mackay
e0da7ed09c AP_SafeRTL: fixes from peer review 
- ACCURACY parameter description
- SafeRTL comments reduced to fit 80 characters
- moved a Comment down a line
- renamed definition to SAFERTL_PRUNING_LOOP_TIME_US
- comment change of "algorithm" to "algorithms"
- removed destructor (same could be done for AP_Airspeed then)
- updated GCS message to, "failed to save initial point"
- "update" comment modified from "a couple" to "several"
- added "const" ahead of "now = AP_HAL::millis()"
- added new deactivate method
- const run_background_cleanup's path_points_count
- removed unnecessary "return } else {"
- const potential_amount_to_simplify
- s/as/has in comments
- zero_points_by_simplify_bitmask starts from path[1] so as to never remove the start point
- remove_empty_points gets for loop in place of while, inverted clauses
- clarified dist_point returns value FLT_MAX in distance field
- lots of "const" added to segment_segment_dist, removed unnecessary else
- reference in Log_action.  Can't do it because want default
- ::update() comments add "3hz"
 2017-09-09 14:05:41 +09:00
squilter
f094cb57f7 AP_SafeRTL: library to return to home along safe path 2017-09-09 14:05:41 +09:00
Randy Mackay
2aa1f3f100 AP_Math: replace divide with multiply in distance_to_segment 2017-09-09 14:05:41 +09:00
Randy Mackay
e892bbbac0 AP_Math: add Vector3f::distance_to_segment 2017-09-09 14:05:41 +09:00
squilter
1a9bccaaa7 AP_Common: fix Bitmask out-of-range values 2017-09-09 14:05:41 +09:00
Randy Mackay
963c9c93fe AP_Common: constify bitmask 2017-09-09 14:05:41 +09:00
Randy Mackay
e6328c350d AP_Math: add Vector3f::distance_squared 2017-09-09 14:05:41 +09:00
Randy Mackay
f187df225a AP_Common: add setall, count and size methods to Bitmask 2017-09-09 14:05:41 +09:00
squilter
da7aa36f2d AC_WPNav: add set_wp_destination_NED to accept target in meters NED 2017-09-09 14:05:41 +09:00
squilter
f37d742160 DataFlash: support SafeRTL log messages 2017-09-09 14:05:41 +09:00
Andrew Tridgell
99aad41955 AC_AttitudeControl: added a update_vel_controller_xy() API 
this allows for just XY control of velocity for quadplanes
 2017-09-09 08:14:09 +10:00
Peter Barker
b8d3d180d1 AP_BoardConfig: clarify board type 2 also to be used on the Cube autopilot 2017-09-08 18:02:34 +01:00
davidaroyer
ad18e99bef AP_Compass: add support for Aerotenna OcPoC-Zynq hardware 2017-09-08 07:30:49 -07:00
davidaroyer
7d2e44862f AP_HAL_Linux: add support for Aerotenna OcPoC-Zynq hardware 2017-09-08 07:30:49 -07:00
davidaroyer
8862e76284 AP_HAL: add support for Aerotenna OcPoC-Zynq hardware 2017-09-08 07:30:49 -07:00
Georgii Staroselskii
e79fc893fa AP_HAL_Linux: HAL_Linux_Class: delay SPIUARTDriver static initialization 
There's an implicit (apart from the name) dependency between SPI and
SPIUARTDriver which results in a crush on a restart or a shutdown.

By moving the initialization we're making sure that all objects are
deleted in the right order.
 2017-09-08 07:26:54 -07:00
Georgii Staroselskii
226eeeb738 AP_HAL_Linux: RCOutput_Sysfs: fix deleting _pwm_channels array 
delete [] should be called rather than delete.
 2017-09-08 07:26:54 -07:00
Georgii Staroselskii
f6858821a6 AP_HAL_Linux: PWM_Sysfs: remove unneeded free() in ~PWM_Sysfs_Base 
_export_path and _duty_path will have been already long time gone by the
time dtors kick in.

Probably better to use OwnPtr around those. But it's better to be done
in a separate PR.
 2017-09-08 07:26:54 -07:00
VikingDai
9f0e8a64d5 Update HAL_PX4_Class.cpp 
"ttys5" used both for console and common usart ,it should be initialized by AP_SerialManager ;
 2017-09-08 10:33:40 +10:00
Michael du Breuil
fb77d0739e AP_Compass: Remove unused time calls, stash the time in the read loop 2017-09-07 19:53:14 +01:00
Peter Barker
85ebe923b6 SITL: avoid FPE when running fly.ArduPlane 
Program received signal SIGFPE, Arithmetic exception.
__expf_finite () at ../sysdeps/x86_64/fpu/e_expf.S:132
132     ../sysdeps/x86_64/fpu/e_expf.S: No such file or directory.
(gdb) u
 2017-09-06 20:22:52 +10:00
Peter Barker
97b6ca218b AP_AHRS: send ekf status reports even when EKF inactive 2017-09-06 10:50:49 +10:00
Michael du Breuil
be371e09f9 AP_GPS: SBF: Reject short packets early, allow 256 byte long messages to be decoded 2017-09-06 10:41:36 +10:00
Andrew Tridgell
048dfee68a AP_GPS: make SBF driver more robust 
this fixes a crash bug in the SBF GPS driver where a badly formed packet
could cause crc16_ccitt to reference invalid memory
 2017-09-06 10:41:33 +10:00
Lucas De Marchi
b62e8909c4 AP_GPS: add missing fallthrough 2017-09-01 13:45:22 -07:00
Lucas De Marchi
cb9c626577 AP_ADSB: fix getting a copy rather than a reference 
These have been caught by making constructors private and enforcing
calling a create() method to create objects are supposed to be
statically allocated only.

The Vector3f reference was just nearby and was a change copied from
similar PR from Peter Barker (#6873).
 2017-09-01 13:45:22 -07:00
Lucas De Marchi
2c72fc94ba AP_HAL: change aerofc baud to 921600 2017-09-01 07:55:47 -07:00
Peter Barker
698f18566b AP_Terrain: cast to int32_t to avoid warning about signedness 
../../libraries/AP_Terrain/TerrainIO.cpp: In member function ‘void
AP_Terrain::open_file()’:
../../libraries/AP_Terrain/TerrainIO.cpp:176:46: warning: format ‘%u’
expects argument of type ‘unsigned int’, but argument 5 has type
‘__gnu_cxx::__enable_if<true, double>::__type {aka double}’ [-Wformat=]
              abs((uint32_t)block.lon_degrees));
                                              ^
../../libraries/AP_Terrain/TerrainIO.cpp:176:46: warning: format ‘%u’
expects argument of type ‘unsigned int’, but argument 7 has type
‘__gnu_cxx::__enable_if<true, double>::__type {aka double}’ [-Wformat=]
 2017-09-01 13:30:56 +01:00
Peter Barker
6ad3541a24 DataFlash: clean up public interface 2017-09-01 10:58:07 +01:00
Peter Barker
ac806b650f GCS_MAVLink: move handling of do_send_banner up 2017-08-30 15:54:47 +01:00
Peter Barker
1544a92f8b GCS_MAVLink: factor out a send_banner 2017-08-30 15:54:47 +01:00
Peter Barker
2e078f7c5e GCS_MAVLink: send fw_string, px4 git hash and nuttx hash on param request 2017-08-30 15:54:47 +01:00
Peter Barker
8a7a1b77dd GCS_MAVLink: handle param_request_list in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker
50242178b3 GCS_MAVLink: handle param_set in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker
95ff94bfad GCS_MAVLink: factor out a handle_common_param_message 2017-08-30 15:54:47 +01:00
Peter Barker
add1743c12 GCS_MAVLink: move send_autopilot_request calls up to GCS base class 2017-08-30 15:54:46 +01:00
Peter Barker
e9204a66ee GCS_MAVLink: include version for AP_FWVersion 2017-08-30 15:54:46 +01:00
Peter Barker
f32651a38c DataFlash: include version for AP_FWVersion 2017-08-30 15:54:46 +01:00
Peter Barker
445777429b AP_FWVersion: add structure to hold firmware version 2017-08-30 15:54:46 +01:00
Randy Mackay
aaac6b3692 AP_Common: Bitmask formatting fix 2017-08-30 20:07:04 +09:00
ChrisBird
46c982d64f AP_Mission: add OPTIONS parameter 
First option added now is to clear the mission on reboot
Fixes #5743
 2017-08-29 21:28:19 +01:00
Michael du Breuil
a895d69b42 GCS_MAVLink: Correct a bug in the FOR_EACH_ACTIVE_CHANNEL macro 2017-08-29 13:27:27 -07:00
Jacob Walser
e492c733d8 AP_Baro: fixup Keller LD comments 2017-08-29 12:30:32 -04:00
Michael du Breuil
db6d8c9c43 AP_Mission: Use a static assert to check content size 2017-08-29 14:37:56 +01:00
Jacob Walser
f4dfbb9dad AP_JSButton: input_hold_toggle -> input_hold_set 2017-08-29 08:10:05 -04:00
Jacob Walser
07e00de549 AP_Baro: Tweak Keller LD driver for better performance after initial tests 2017-08-29 08:08:16 -04:00
Jacob Walser
2a71afd3ba AP_Baro: Remove superfluous casts 2017-08-29 08:08:16 -04:00
Jacob Walser
a08da4ecc4 AP_Baro: New AP_Baro_Keller device driver 2017-08-29 08:08:16 -04:00
Andrew Tridgell
7e1368f7a5 AP_InertialSensor: implement notch filter on gyro 2017-08-29 13:52:29 +10:00
Andrew Tridgell
50dcca39bd Filter: added a notch filter 
maths from Leonard
 2017-08-29 13:52:29 +10:00
Peter Barker
0f22f923e1 AC_InputManager: remove MAIN_LOOP_RATE in favour of parameter value 2017-08-29 08:41:07 +09:00
Andrew Tridgell
4aa068d63d SITL: added simple launch sim for plane 
allow for bungee, catapult and hand launches
 2017-08-29 07:35:04 +10:00
Peter Barker
9783c0c3ba DataFlash: log dataflash-file statistics periodically 2017-08-28 22:05:44 +01:00
Peter Barker
776d88bb6b DataFlash: remove duplicate variables 2017-08-28 22:05:44 +01:00
Andrew Tridgell
29fe432dd7 AP_SerialManager: enable debug console use for other protocols 
this allows SERIAL5_PROTOCOL to be set on FMUv2 and FMUv3 for use by
other protocols
 2017-08-28 17:57:28 +10:00
Andrew Tridgell
d09b549144 HAL_PX4: allow uart5 to be used for non-nsh on FMUv2/FMUv3 2017-08-28 17:57:28 +10:00
Andrew Tridgell
0155434057 RC_Channel: fixed bug in manual with TRIM == MIN 
This fixes the bug described here:

https://discuss.ardupilot.org/t/arduplane-reverse-thrust-setup/18324/5

which otherwise would prevent output with TRIM == MIN or TRIM == MAX
 2017-08-26 20:30:54 +10:00
Peter Barker
2f9fb581fe DataFlash: remove bad FALLTHROUGH causing compilation failure 2017-08-24 15:49:15 +09:00
Peter Barker
921985fe27 GCS_MAVLink: allow statustext logging from any source system 
Turns out this is terribly useful for companion computers if
you allow them to log things when they're not your GCS.

The original check was bogus; if someone is talking to you via
mavlink they can do much worse than fill your logs!
 2017-08-23 15:58:47 +01:00
Jacob Walser
e8f5967682 GCS_MAVLink: Add MSG_NAMED_FLOAT ap_message id 2017-08-23 13:40:52 +01:00
Lucas De Marchi
3414883f05 AP_GPS: remove tabs and fix coding style 2017-08-22 23:59:13 -07:00
Lucas De Marchi
927289aa64 DataFlash: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
7b0d6166e1 AP_RangeFinder: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
b37ca322f1 AP_Landing: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
0e502d89a3 AP_HAL: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
8389158d76 AP_GPS: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
7c6f9a004e AP_Baro: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
e2e836f676 AP_Airspeed: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
3102247a85 AP_Common: add FALLTHROUGH define 2017-08-22 23:59:13 -07:00
Randy Mackay
e13f4d0d56 DataFlash: removed unused optFlowEnabled from Log_Write_EKF 2017-08-23 11:19:14 +09:00
Randy Mackay
59ffc3cd65 AP_OpticalFlow: minor order declaration change 
non-functional change
 2017-08-23 11:19:14 +09:00
Randy Mackay
cf24eef359 AP_OpticalFlow: init checks if enabled 2017-08-23 11:19:14 +09:00
Randy Mackay
bc38affcb1 AP_OpticalFlow: px4flow retries init 10 times at startup 
This resolves an issue in which some px4flow sensors are slow to startup
 2017-08-23 11:19:14 +09:00
Randy Mackay
fdb4c7b5ee AP_OpticalFlow: failure to init leaves enabled unchanged 2017-08-23 11:19:14 +09:00
Randy Mackay
a7afffe14a AP_OpticalFlow: rename BUS_ID parameter to ADDR 
This makes the parameter more consistent with RangeFinder
 2017-08-23 11:19:14 +09:00
chobits
d6845a911a AP_AHRS: fix get_relative_position_NE_home calcalation 2017-08-19 10:23:24 +09:00
Lucas De Marchi
66a1e420cb AP_HAL_Linux: RCInput_SoloLink: better name to first field 
Checking the time on the tcpdump capture, it matches the first fields
from the data:

$ tshark -n -c 4 -r  ~/tmp/solo/rc.pcap
    1   0.000000     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26
    2   0.019976     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26
    3   0.040046     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26
    4   0.059961     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26

From the previous commit (first 2 packets):

     5fa8 f441 3414 0500 73d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
     73f6 f441 3414 0500 74d7  dc05 dc05 dc05 db05 e803 e803 e803 f401

0x0005143441f45fa8 - 0x0005143441f4f673 = 0x4E14 = 19988 (usec)

Which seems to approximately match for the other packets as well. We are
not using the field since we rather get the time when we receive it, but
at least use a better name.
 2017-08-17 12:04:27 -07:00
Lucas De Marchi
373d41fd6e AP_HAL_Linux: switch aero to RCInput_SoloLink 2017-08-17 12:04:27 -07:00
Lucas De Marchi
79b004cf6a AP_HAL_Linux: add prototype for handling SoloLink 
This allows to use a Solo controller to control Linux-based flight
controllers. The protocol has been derived by analyzing a tcpdump
trace: some fields are ignored. Example trace of RC data (obtained
with `tshark -T fields -e data -n -c 5 -r  rc.pcap`

 unkonwn              seq   ch1  ch2  ch3  ...                ch8
 5fa8 f441 3414 0500 73d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 73f6 f441 3414 0500 74d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 dc44 f541 3414 0500 75d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 bc92 f541 3414 0500 76d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 dfe0 f541 3414 0500 77d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 2017-08-17 12:04:27 -07:00
Peter Barker
154b212545 GCS_MAVLink: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker
b17c0482fb GCS_MAVLink: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Peter Barker
23d91c93c8 AP_HAL_Linux: correct compilation warning 
../../../libraries/AP_HAL_Linux/RCInput_RPI.cpp:129:35: warning: ignoring return value of ‘ssize_t read(int, void*, size_t)’, declared with attribute warn_unused_result [-Wunused-result]
         ::read(file, &pageInfo, 8);
 2017-08-17 11:28:36 +01:00
Randy Mackay
222dd0c9be AC_WPNav: correct comments 
all position vectors are offsets from the ekf origin (not from the ahrs home)
 2017-08-17 16:05:08 +09:00
Jacob Walser
b8e7d23cc4 AP_Arming: Add bool check_min_max parameter for Copter/Sub RC checks 2017-08-16 11:37:46 -04:00
Peter Barker
2a07a077d9 GCS_MAVLink: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:05:37 +10:00
Peter Barker
48c4e48225 AP_HAL_PX4: send statustext for RC input decoding type 2017-08-15 22:04:00 +01:00
Mateusz Sadowski
eb56a010b3 AP_RangeFinder: TeraRangerI2C: use address from parameter instead of hardcoded 2017-08-15 19:42:10 +01:00
Mateusz Sadowski
0993300506 AP_Rangefinder: rename trone to TeraRangerI2C 2017-08-15 19:27:49 +01:00
Peter Barker
b6076bcb77 GCS_MAVLink: adapt to new rangefinder method name 2017-08-15 19:00:29 +01:00
Peter Barker
30c4ea8123 AP_RangeFinder: stop storing sensor type as a variable 
And change method name
 2017-08-15 18:58:16 +01:00
Peter Barker
c79cbd71af GCS_MAVLink: use rangefinder backend accessors 2017-08-15 18:31:58 +01:00
Peter Barker
f1d350bbb1 DataFlash: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker
63440800fc AP_NavEKF3: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker
1e83ef3c44 AP_NavEKF2: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker
e0bea597c0 AP_Proximity: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker
c0aa10d84b AP_RangeFinder: move rangefinder backend data accessors to backend 2017-08-15 18:30:45 +01:00
Michael du Breuil
067335f68d GCS_MAVLink: Handle termination requests from the GCS 2017-08-15 15:14:56 +01:00
Michael du Breuil
97c1785bef AP_AdvancedFailsafe: Allow the GCS to request terminations 2017-08-15 15:14:56 +01:00
Miguel Arroyo
fc155eac7e AP_HAL_PX4: Adds UARTF as commandline option 2017-08-15 14:31:51 +01:00
JU Han
eebef857f1 AP_TECS: gain scaler K_STE2Thr multiplies by (THRmax - THRmin) 
Makes both feed forward and feed-back consistent
 2017-08-15 14:27:43 +01:00
Randy Mackay
9f876dc7a0 AR_AttitudeControl: throttle and steering control library 
Throttle controller has these advantages over existing controller:
based on velocity in vehicle's forward-back axis rather than ground-speed
straight-forward PID controller using speed error as input
speed control acceleration limts
stop control slows vehicle smoothly
configurable filtering

Steer controller has these advantages over existing controller:
output scaled properly for skid-steering vehicles
layered P and PID controller for angular error and rate control
configurable filtering
 2017-08-15 20:47:19 +09:00
Peter Barker
7173025b43 AP_Arming: warn about uncalibrated throttle but do not fail check 
We can tighten this check up later, and will allow us to use
this common function for Plane and Rover in the future
 2017-08-14 15:32:25 +09:00
Peter Barker
b2459c67d5 AP_Arming: move Copter RC checking code into library 2017-08-14 15:32:25 +09:00
Peter Barker
e3599ab4f9 AP_Param: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker
bff31e8b42 GCS_MAVLink: remove CLI 2017-08-14 10:23:50 +09:00
Andrew Tridgell
1a25087dd5 AC_AttitudeControl: fixed PIRO_COMP index 
this is a new conflict due to stricter checking in AP_Param
 2017-08-14 09:28:57 +09:00
Michael du Breuil
58e784024f AP_HAL_SITL: Add support for blocked pitot tube simulations 2017-08-10 20:15:35 +10:00
Michael du Breuil
4dbe282121 SITL: Add airspeed failure parameters 2017-08-10 20:15:35 +10:00
priseborough
2310cb6d19 AP_NavEKF3: Enable external control over use of GPS vertical velocity 2017-08-10 19:49:45 +10:00
priseborough
f2f3067326 AP_NavEKF2: Add interface to control GPS vertical velocity use 2017-08-10 19:49:45 +10:00
Mark Whitehorn
3642ecd9ef AP_COMPASS: fix errors in addition of alternate LIS3MDL I2C address 
testing shows ROTATION_YAW_90 is correct for mRo Neo M8N GPS/compass
 2017-08-10 19:46:26 +10:00
Mark Whitehorn
a6e9baa8f6 AP_Compass: probe for LIS3MDL in mRo Neo-M8N GPS module 2017-08-10 19:46:26 +10:00
Peter Barker
1fc82442a0 GCS_MAVLink: remove dummy functions; examples are linked with all libs 2017-08-09 16:18:22 +01:00
Peter Barker
7aaabea4ea GCS_MAVLink: send gps messages as separate queued messages 2017-08-09 16:18:22 +01:00
Peter Barker
ee5874ab32 GCS_MAVLink: move sending of gps_raw up 2017-08-09 16:18:22 +01:00
Peter Barker
4e3cc6fd27 GCS_MAVLink: move sending of system_time up 2017-08-09 16:18:22 +01:00
Peter Barker
d1a9128118 GCS_MAVLink: move sending of camera_feedback up 2017-08-09 16:18:22 +01:00
Peter Barker
d03c7389f7 GCS_MAVLink: move sending of meminfo up 2017-08-09 16:18:22 +01:00
Michael du Breuil
5fca7d02b3 AdvancedFailsafe: Rework status texts to be more uniform 2017-08-09 15:39:17 +01:00
Peter Barker
127edce39e AP_RangeFinder: move prearm checks into backend 2017-08-09 13:58:53 +01:00
Peter Barker
0b1c67d170 AP_RangeFinder: remove unused parameters from detect and constructors 2017-08-09 13:58:53 +01:00
Peter Barker
08cd3f4a77 AP_RangeFinder: move instance parameters into instance state 2017-08-09 13:58:53 +01:00
Randy Mackay
f995106c1e AC_PID: minor formatting change 2017-08-09 18:03:09 +09:00
Peter Barker
a841fddb3e GCS_MAVLink: rename MSG_RETRY_DEFERRED to MSG_LAST and clarify comments 2017-08-05 23:13:48 +01:00
Peter Barker
0c5f66dc59 GCS_MAVLink: refactor code into new retry_deferred method 2017-08-05 23:11:09 +01:00
Peter Barker
fdac13d3d3 GCS_MAVLink: tidy send_message function 2017-08-05 23:09:37 +01:00
Randy Mackay
164096225b AP_SteerController: fix get_steering_out_rate bug when reversing 2017-08-05 11:20:58 +09:00
Randy Mackay
638ba02d5f AP_Mission: add support for Set-Yaw-Speed command 
This is initially only intended for use by Rover
 2017-08-05 11:20:58 +09:00
Randy Mackay
42cab6b533 AP_LandingGear: add startup position selection parameter 2017-08-05 11:20:41 +09:00
Francisco Ferreira
e0f4d3dbe5
AP_HAL: remove unused HAL_AIRSPEED_MS4515DO_I2C_BUS macro 2017-08-05 03:15:53 +01:00
Francisco Ferreira
d3ed4420e6
AP_Airspeed: remove unused MS4525D0_I2C_BUS macro 2017-08-05 03:15:52 +01:00
Vinicius Juvinski
78deddabda AP_Airspeed: MS4525: Add support to I2C Bus 2 
BBBMini use I2C Bus number 2 and MS4525 just use up to bus 1, so I
addedd this bus 2 to address struct.
 2017-08-05 03:15:32 +01:00
José Roberto de Souza
9ee007f924 AP_HAL_PX4: Map PX4_I2C_BUS_EXPANSION1 2017-08-04 12:47:01 -07:00
José Roberto de Souza
e674d6ee20 AP_HAL_PX4: aeorfc: Move GPS to UART7 
The UART3 also have the I2C bus 2 functions so moving GPS to UART7 to
have one additional I2C.
To keep GPS working is also necessary update the FPGA RTL to version
0xC1 or higher.
 2017-08-04 12:47:01 -07:00
Francisco Ferreira
6cf8791eb5
AP_Compass: correct comment in LIS3MDL driver 
Commit 17f2393c1b decreased timer frequency but didn't change comment to match
 2017-08-04 19:56:26 +01:00
Lucas De Marchi
5ea1784838 global: remove AP_HAL::in_timerprocess() 
This is not used and in the only places it would make sense would be
internally to the scheduler so remove it.
 2017-08-03 20:25:14 -07:00
Lucas De Marchi
08637f1dcc AP_HAL_VRBRAIN: Scheduler: replace use of in_timerprocess() 
This function actually checks if we are not in the main thread rather
than if we are in the timer thread.

Add a new function that does what it's supposed to do.
 2017-08-03 20:25:11 -07:00
Lucas De Marchi
1aaba01622 AP_HAL_QURT: Scheduler: replace use of in_timerprocess() 
This function actually checks if we are not in the main thread rather
than if we are in the timer thread.

Add a new function that does what it's supposed to do.
 2017-08-03 20:25:07 -07:00
Lucas De Marchi
9e66938f68 AP_HAL_PX4: Scheduler: replace use of in_timerprocess() 
This function actually checks if we are not in the main thread rather
than if we are in the timer thread.

Add a new function that does what it's supposed to do.
 2017-08-03 20:25:01 -07:00
Lucas De Marchi
93a558ce5c AP_HAL_Linux: do not call delay callbacks on other threads 
If a thread other than the main one calls Scheduler::delay() we could
end up triggering the call of delay callbacks. Those should only ever
happen on the main thread.
 2017-08-03 20:24:57 -07:00
Peter Barker
ad2c3d27ec GCS_MAVLink: move try_send_message queued_param_send up 2017-08-03 14:34:33 +01:00
Peter Barker
679bb7f7a5 GCS_MAVLink: move try_send_message send_hwstatus up 2017-08-03 14:33:37 +01:00
Peter Barker
3b472ccc17 GCS_MAVLink: move try_send_message mission handling up 2017-08-03 14:24:47 +01:00
Peter Barker
b8cb758fac GCS_MAVLink: move try_send_message compass message handling up 2017-08-03 14:24:46 +01:00
Lucas De Marchi
e98fe2d7d5 AP_HAL: RingBuffer: add missing include 2017-08-02 21:10:55 -07:00
Lucas De Marchi
61aed0f0d7 RingBuffer: example: integrate with build system 
It's only compatible with Linux so for now disable the other boards.
 2017-08-02 16:08:55 -07:00
Murilo Belluzzo
641671a366 AP_HAL: Add simple stress test for RingBuffer class 
It runs a Producer/Consumer thread pair endless reading and writing a
ByteBuffer. Producer writes a number sequence that is twice the
ByteBuffer size so a given position have a different data on each write
pass. Consumer makes sure that this pattern is not broken and aborts the
program if it is.

It is possible to spawn more pairs by informing a number as argument of
the program.
 2017-08-02 15:30:35 -07:00
Lucas De Marchi
dbd074b250 AP_HAL: remove register_timer_process with extra arg 2017-08-02 08:00:53 -07:00
Lucas De Marchi
c170c2a847 AP_HAL_Linux: remove register_timer_process with extra arg 
This is not used anymore.
 2017-08-02 08:00:53 -07:00
Lucas De Marchi
6bab28397a AP_Compass: remove user of timesliced logic 2017-08-02 08:00:53 -07:00
Lucas De Marchi
0a158f6d3f AP_HAL_Linux: remove support for timesliced timer 
This has long been replaced by the bus per thread scheme.
 2017-08-02 08:00:53 -07:00
ljwang
5a7ec7d429 Delete write registers at start,using another way to repair 2017-08-02 16:15:14 +10:00
ljwang
648871a388 Fixed the QMC5883 identification,add check ID 2017-08-02 16:15:14 +10:00
Peter Barker
b445313bf1 AP_Scheduler: remove loop-period argument from load_average 
This now comes from a parameter rather than being hard-set
in the vehicle code

Also adds a method returning the max loop period based on the
loop rate
 2017-08-01 19:39:27 +01:00
Michael du Breuil
efe70c8d3a AP_NavEKF3: Fix possible compass nullptr dereference 2017-08-01 15:25:05 +01:00
Michael du Breuil
dffa3d3b40 AP_NavEKF2: Fix possible compass nullptr dereference 2017-08-01 15:25:05 +01:00
Andrew Tridgell
99f5229a34 SRV_Channel: added copy_radio_in_out_mask() 2017-08-01 08:25:32 +10:00
Andrew Tridgell
1f1b4241c3 SRV_Channel: added get/set for reversed and function 
these are needed in plane for auto-conversion of old elevon code
 2017-08-01 08:25:32 +10:00
Andrew Tridgell
75999dbb39 SRV_Channel: prevent negative slew rate 
thanks to Michael for pointing this out
 2017-08-01 08:25:32 +10:00
khancyr
15398f8b0e AP_Math: correct variable init and remove define in polygon 2017-07-31 17:35:08 +09:00
Randy Mackay
f5f6ec5238 AP_Arming: rename _MIN_VOLT to _VOLT_MIN 
Also _MIN_VOLT2 to _VOLT2_MIN
 2017-07-31 17:19:55 +09:00
Randy Mackay
2f3a57e0aa AP_Arming: minor variable type change 
no functional change
 2017-07-31 17:19:55 +09:00
Randy Mackay
330a6065ca AP_Arming: Copter gets MIN_VOLT parameters 2017-07-31 17:19:55 +09:00
Michael du Breuil
2894b7cbea L1_Control: Ensure that LIM_BANK passes a sea level sanity check 
This fixes #6637 where the LIM_BANK can be set such that the vehicle demands a radius at sea level that is much higher then the loiter radius was configured to be. This effectively feels like a fly away and is due to bad parameters usually. If this happens just fall back to the simple EAS2TAS scaling of the radius.
 2017-07-30 12:42:21 -07:00
Peter Barker
975d2fd0d1 DataFlash: add debug for io thread failure 2017-07-28 17:06:49 +01:00
Peter Barker
b4688bd3d4 GCS_MAVLink: move common mavlink camera handling up 2017-07-28 14:32:58 +01:00
Peter Barker
bb06b02df6 AP_Camera: add const to some parameters 2017-07-28 14:32:58 +01:00
Peter Barker
a94bf851eb AP_Camera: use multiplication in place of division 2017-07-28 14:27:53 +01:00
Peter Barker
9390539231 AP_Camera: tidy up usage of trigger_pic 2017-07-28 14:27:53 +01:00
Peter Barker
84ef63edc7 AP_Camera: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Peter Barker
7f59279670 AP_GPS: make time_epoch_usec const 2017-07-28 14:27:53 +01:00
priseborough
db7c8439c6 AP_NavEKF3: Fix bug in wheel odometry timestamp correction 2017-07-28 12:48:38 +09:00
Matt
5b605d6e1c AP_Notify: Fix for Oreo LED gyro init inidication 
If parameter INS_GYRO_CAL is disabled, usually because operator is
arming on a moving vehicle such as a boat, the Oreo LEDs would wait
indefinitely for a gyro calibration that will never happen.  This
removes that dependency.  The LEDs will strobe blue only when gyros are
actually initializing. Not before.  Consequently, this greatly
simiplifies that portion of the code.
 2017-07-27 20:43:58 +09:00
khancyr
f583121433 AC_Fence: reset fences breach on disable 
Also rename enable function parameter
 2017-07-27 20:41:40 +09:00
Peter Barker
e7ff5107fb AP_GPS: tidy mavlink message handling using switch statement 2017-07-27 12:03:25 +01:00
Peter Barker
2ad453fc89 AP_GPS: handle inject packets as part of handle_msg 2017-07-27 12:03:25 +01:00
Peter Barker
60ffe00164 GCS_MAVLink: move gps inject handling up 
Also, make AP_GPS responsible for decoding inject packets
 2017-07-27 12:03:25 +01:00
priseborough
c7f6d52065 AP_NavEKF3: Add wheel encoder odometry 
Uses the existing body frame odometry observation model.
Handles each sensored wheel as a separate sensor.
 2017-07-27 16:52:27 +09:00
priseborough
cbe8f97489 AP_NavEKF3: rename struct used for velocity odometry observations 
Do this so we can add other odometry observation types.
 2017-07-27 16:52:26 +09:00
priseborough
08a3f55c90 AP_NavEKF3: Fix error in scaling of observation error 2017-07-27 16:52:25 +09:00
priseborough
593437ca95 AP_NavEKF3: Add tuning of visual odometry observation error 
Also adjust default values based on replay analysis.
 2017-07-27 16:52:25 +09:00
Randy Mackay
eaf8aad5ad AP_WheelEncoder: last_reading is last update time instead of system time 2017-07-27 14:19:08 +09:00
Randy Mackay
2c7b9d9cf7 AP_WheelEncoder: add get_delta_angle 
The total angular change measured by the wheel encoder in radians
 2017-07-27 14:19:08 +09:00
Randy Mackay
a53e254bd0 AP_WheelEncoder: replace scaling with CPR and radius 
CPR is the wheel encoder's counts per revolution of the wheel
radius is the radius of the wheel in meters
 2017-07-27 14:19:08 +09:00
Randy Mackay
cd71984705 AP_WheelEncoder: 3d position offset 2017-07-27 14:19:08 +09:00
Randy Mackay
1ddf38869a AP_AHRS: set AP_Notify gps_glitching flag 2017-07-27 14:16:23 +09:00
Randy Mackay
0d5c98ad45 AP_Notify: add gps glitch notification 2017-07-27 14:16:23 +09:00
Randy Mackay
9123b6034e SRV_Channel: update_aux_servo_function first checks function is valid 
This resolves a bug in which the board could become unresponsive if an invalid function is selected
 2017-07-27 11:09:57 +09:00
Patrick José Pereira
1eeea82e31 AP_Parachute: Add function to return _release_in_progress status 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2017-07-26 17:51:34 +01:00
Randy Mackay
572df8b859 SRV_Channel: minor formatting fixes 
no functional change
 2017-07-26 13:28:07 +09:00
Randy Mackay
298eaaeb3e SRV_Channels: rename SERVO_DEF_RATE to SERVO_RATE 2017-07-26 13:28:07 +09:00
Randy Mackay
687ec98e5d AP_HAL_PX4: set default servo update rate only when changed 
This removes the chance a small switch occurring whenever this function is called
 2017-07-26 13:28:07 +09:00
Peter Barker
85a0da6178 GCS_MAVLink: handle common GPS messages in base GCS_MAVLINK class 2017-07-25 14:00:45 +01:00
Randy Mackay
a657daf635 Compass: disable QMC5883 compass driver by default 
This driver causes occasional heading issues so disabling until these are resolved
 2017-07-25 09:27:29 +09:00
khancyr
2d0bce18a8 AP_Baro: rename all local variable with prefix 
fix last missing spaces
 2017-07-24 10:15:15 -07:00
khancyr
35ac86ff8d AP_Baro: fix some style and const correctness 2017-07-24 10:15:15 -07:00
khancyr
0e895f5c74 AP_Baro: fix instance shadowing 2017-07-24 10:15:15 -07:00
khancyr
42516f7079 DataFlash: simplify Log_Write_Proximity 2017-07-24 13:44:43 +01:00
khancyr
8abcb7a0e3 GCS_MAVLink: simplify send_proximity 2017-07-24 13:44:43 +01:00
khancyr
603621f2c4 DataFlash: move proximity log from Copter (NFC) 2017-07-24 13:44:43 +01:00
khancyr
ec2ea1c903 GCS_MAVLink: move send_proximity to GCS common code (NFC) 
Also clean two comments
 2017-07-24 13:44:43 +01:00
Andrew Tridgell
4ca3546551 SRV_Channel: added SERVO_DEF_RATE parameter 
this allows for the default rate of servo outputs to be set. This is
needed for some planes where 50Hz isn't enough (eg. tailsitters)
 2017-07-24 14:07:28 +10:00
Andrew Tridgell
5b43698e25 HAL_PX4: added rcout set_detault_rate() 2017-07-24 14:07:28 +10:00
Andrew Tridgell
0188d6463d AP_HAL: added rcout set_detault_rate() 2017-07-24 14:07:28 +10:00
Kevin Lopez Alvarez
df406c4389 AP_Compass : increase max possible offset 2017-07-24 13:48:20 +10:00
Kevin Lopez Alvarez
17f2393c1b AP_Compass: Decrease LIS3MDL ODR and timer 2017-07-24 13:48:20 +10:00
Kevin Lopez Alvarez
16a96b0643 HAL_PX4: Adjust SPI params for ppro 
Add SPI prescalers for 180 MHz and decrease LIS3MDL SPI speed
 2017-07-24 13:48:20 +10:00
Kevin Lopez Alvarez
08b531e6a8 AP_Compass: LIS3MDL correct orientation 2017-07-24 13:48:20 +10:00
Kevin Lopez Alvarez
cf8c1c2665 AP_Compass: Remove comments and use correct board number 2017-07-24 13:47:44 +10:00
Kevin Lopez Alvarez
a5a5bd3a95 AP_BoardConfig: Remove comments and use correct board number 2017-07-24 13:47:06 +10:00
Kevin Lopez Alvarez
ca3627c140 AP_InertialSensor: add ppro support 2017-07-24 13:47:06 +10:00
Kevin Lopez Alvarez
88958b2dbf HAL_PX4: add ppro support 2017-07-24 13:47:06 +10:00
Kevin Lopez Alvarez
1467daee2a AP_Compass: add ppro support 
disable lis3mdl for now
 2017-07-24 13:47:06 +10:00
Kevin Lopez Alvarez
d6d1a3e08c AP_HAL_PX4: initial FMUv4pro support 2017-07-24 13:45:37 +10:00
Kevin Lopez Alvarez
fb6f368575 AP_HAL: initial FMUv4pro support 2017-07-24 13:45:37 +10:00
Kevin Lopez Alvarez
a51bf8c918 AP_BoardConfig: initial FMUv4pro support 2017-07-24 13:45:37 +10:00
Kevin Lopez Alvarez
d0ec5a6111 AP_BattMonitor: initial FMUv4pro support 2017-07-24 13:45:37 +10:00
Kevin Lopez Alvarez
18dab4829a AP_Baro: initial FMUv4pro support 2017-07-24 13:45:37 +10:00
Andrew Tridgell
401a6f5373 AP_BoardConfig: fixed FMUv1 IO update 
when doing an IO firmware update uartC is used to talk to the IO
bootloader. We need to close uartC to prevent corruption of the
bootloader protocol. The uart is automatically re-opened when it is
needed
 2017-07-22 16:25:17 +10:00
Michael du Breuil
126296b61d AP_Arming: Compass calibration running is a pre arm failure, rather then an arming failure 2017-07-21 13:38:50 +09:00
Peter Barker
1fd4eb4bfb DataFlash: do not send in-progress messages back to streaming GCSs 2017-07-20 14:57:54 +01:00
Peter Barker
90c2db119e DataFlash: send log data on requesting channel only 2017-07-20 14:57:54 +01:00
Peter Barker
954eda990a AP_Arming: prepare log for arming and check it is ready 
Also add comment that this should be the last check to be made
 2017-07-19 16:37:28 +01:00
Peter Barker
0769432e63 DataFlash: move log-write-started logic to be backend-specific 2017-07-19 16:37:28 +01:00
Peter Barker
1f0a14ab33 DataFlash: add PrepForArming method 2017-07-19 16:37:28 +01:00
Peter Barker
31083653b2 DataFlash: examples: move starting of new logs into DataFlash 2017-07-19 16:37:28 +01:00
Francisco Ferreira
a1115ba5d0
DataFlash: move some code from WritesOK into a new ShouldLog method 2017-07-19 16:37:21 +01:00
Peter Barker
b572c13ca9 DataFlash: move starting of new logs into DataFlash 2017-07-19 16:37:16 +01:00
Peter Barker
4234f4ef7a DataFlash: move _initialised into DataFlash_Backend 2017-07-19 16:37:16 +01:00
Peter Barker
999a5e6cda AP_Arming: correct bit used to indicate blended-gps-checking 2017-07-19 16:34:57 +01:00
Peter Barker
b8ddf8a289 AP_Arming: use HAL_HAVE_BOARD_VOLTAGE rather than magic-0 2017-07-19 16:34:57 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
b791fef7cb AP_GPS: Publish the number of satellites in the RTK correction messages, and the age of the RTK correction messages 2017-07-19 20:42:23 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
ae47ac5a09 AP_GPS: implement missing "RTK number of satellites" and "RTK correction age" information in the GPS2_RAW MAVLink message 2017-07-19 20:42:23 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
059c213d19 AP_GPS: Improve comments and documentation (NFC) 2017-07-19 20:42:23 +09:00
Randy Mackay
cf47a0d563 AP_AdvancedFailsafe: minor formatting fix 2017-07-19 15:24:21 +09:00
Andrew Tridgell
732dc5984a AP_Compass: added COMPASS_TYPEMASK parameter 
this allows driver type to be disabled, to avoid probing them and
wasting CPU on sensors that are not being used

This also moves UAVCAN compass to be detected last, as discussed in the
dev call
 2017-07-19 15:53:22 +10:00
Michael du Breuil
5684a5dd36 AP_GPS: Only setup state's instance field during init 2017-07-18 21:21:50 +01:00
Michael du Breuil
52ddaa3e72 DataFlash: POS.RelOriginAlt should be NaN if unknown 2017-07-18 21:21:17 +01:00
Andrew Tridgell
82e7e44cc3 AP_GPS: fixed UAVCAN as 2nd GPS 
This fixes the issue here:

  https://discuss.ardupilot.org/t/ac3-6-dev-dual-gps-issues/19172

thanks to Francisco for spotting the issue

this is tested with UAVCAN as 2nd GPS, ublox as primary
 2017-07-18 18:57:55 +01:00
Peter Barker
eb1cf0e73a GCS_MAVLink: remove MSG_STATUSTEXT entirely 2017-07-18 16:12:59 +01:00
Michael du Breuil
e092a83ca2 AP_Landing: Deepstall: Allow requiring a minimum altitude to abort a landing 2017-07-17 08:43:50 -07:00
Michael du Breuil
202b40562f Landing: Fix bad deepstall parameter group 2017-07-17 08:43:50 -07:00
Michael du Breuil
8de96ee4a1 AP_Param: Check for duplicate group id's before handling groups 2017-07-17 08:43:50 -07:00
Peter Barker
06647cde2c GCS_MAVLink: move handling of PREFLIGHT_SET_SENSOR_OFFSETS up 2017-07-17 14:17:19 +01:00
Peter Barker
bd28bdd907 GCS_MAVLink: move handling of MAG_CAL command longs up 2017-07-17 14:17:19 +01:00
Peter Barker
6b53b5b5f3 AP_Compass: make handle_mag_cal_command return type stricter 2017-07-17 14:17:19 +01:00
Peter Barker
a7e57aa3fc GCS_MAVLink: move MAV_CMD_START_RX_PAIR handling to base class 2017-07-17 14:17:19 +01:00
priseborough
58d58b4eac AP_NavEKF3: Initialise EKF origin height to field elevation 
Enables copters to set bit position 2 in the EK3_OGN_HGT_MASK parameter without having a large jump in reported local position height.
 2017-07-17 02:22:02 +01:00
priseborough
ac568bae53 AP_NavEKF2: Initialise EKF origin height to field elevation 
Enables copters to set bit position 2 in the EK2_OGN_HGT_MASK parameter without having a large jump in reported local position height.
 2017-07-17 02:22:02 +01:00
priseborough
0827b13feb AP_NavEKF3: Fix default behaviour for height origin corrections 
Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.
 2017-07-17 02:22:02 +01:00
priseborough
027552ef44 AP_NavEKF2: Fix default behaviour for height origin corrections 
Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.
 2017-07-17 02:22:02 +01:00
Peter Barker
318861e824 GCS_MAVLink: move mavlink support for servo/relay up 2017-07-16 23:56:00 +01:00
Peter Barker
cfc8d7feba GCS_MAVLink: add common handling of mavlink command messages 2017-07-16 23:56:00 +01:00
Michael du Breuil
6b60c110a5 AP_Baro: Improve GND_TEMP parameter docs 2017-07-16 20:22:00 +01:00
Michael du Breuil
3dd47bff8b AP_BattMonitor: Allow generic SMBus batteries to not have cell voltages 2017-07-15 14:53:53 +01:00
Peter Barker
69eb9cbdd2 GCS_MAVLINK: add missing mavlink mission msgid to case 2017-07-15 17:01:18 +09:00
Michael du Breuil
f14667225d AP_Baro: Avoid a FPE when ground pressure is negative 2017-07-15 10:49:16 +09:00
khancyr
f60e7df309 AP_Proximity: correct missing use of PROXIMITY_MAX_DIRECTION 2017-07-14 18:59:36 +01:00
Andrew Tridgell
42181ee7c8 HAL_SITL: use SIM_GPS_LOCKTIME 2017-07-14 15:02:14 +10:00
Andrew Tridgell
a7967e00e4 SITL: added SIM_GPS_LOCKTIME parameter 2017-07-14 15:02:12 +10:00
Siddharth Bharat Purohit
807ba9d520 HAL: use correct datatype for time conversion 2017-07-13 18:23:00 -07:00
Siddharth Bharat Purohit
caf8dce75c HAL_VRBRAIN: use correct datatype for time conversion 2017-07-13 18:23:00 -07:00
Siddharth Bharat Purohit
d1e0f9733e HAL_Linux: use correct datatype for time conversion 2017-07-13 18:23:00 -07:00
Siddharth Bharat Purohit
66a94f7a10 HAL_PX4: use correct datatype for time conversion 2017-07-13 18:23:00 -07:00
Peter Barker
aa6b339252 GCS_MAVLink: improve rally debug strings 2017-07-14 01:28:05 +01:00
Peter Barker
99cc684d0a GCS_MAVLink: GCS_Rally: increase severity of mavlink statustexts 
This matches plane, sending at an increased level
 2017-07-14 01:28:05 +01:00
Peter Barker
ebe3dcef6f GCS_MAVLink: move rally-point handling up 2017-07-14 01:28:05 +01:00
Peter Barker
1748e7cb0c AP_Baro: make backends responsible for setting their health 
This resolves a problem in SITL where the barometer would
not change value for prolonged period of time, making it
go unhealthy
 2017-07-14 07:28:48 +09:00
Randy Mackay
d61731cdd6 AP_WheelEncoder: minor formatting fix 2017-07-14 07:27:26 +09:00
Randy Mackay
d356e60269 AP_WheelEncoder: library to read from wheel encoders 2017-07-14 07:27:26 +09:00
Peter Barker
3338de827e GCS_MAVLink: remove unneeded telemetry_delayed parameter 
Also make it protected
 2017-07-12 17:02:54 +01:00
Peter Barker
129d7220e6 GCS_MAVLink: move handling of incoming statutext messages up 2017-07-12 16:52:24 +01:00
ljwang
603e903ccd AP_Compass: QMC5883 Add internal i2c bus and fix rotation error 2017-07-12 12:56:59 +10:00
Peter Barker
ae6df4fc04 AC_Fence: remove global static send_statustext_chan 2017-07-11 23:53:53 +01:00
Peter Barker
5c0aa27b2f GCS_MAVLink: remove global static send_statustext_chan 2017-07-11 23:53:53 +01:00