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12400 Commits

Author SHA1 Message Date
Michael du Breuil
cf5e79f80e AP_GPS: ublox support user controlled rate updates 
Also corrects accepting bad nav rates as configured, and fixes a incorrect
index as to which GPS is being updated
 2016-10-11 10:44:51 +11:00
Michael du Breuil
86c2b1d84a AP_GPS: u-blox Remove 5Hz warning 
The warnings test case is better covered by the rest of the driver
while it is performing the normal settings audit.
 2016-10-11 10:44:51 +11:00
Michael du Breuil
3e3f539a6a AP_GPS: Raise target baud of u-blox devices 
A knockon effect is that we need less config strings as raw logging
on u-blox will use the same baud rates
 2016-10-11 10:44:50 +11:00
floaledm
49e47fd679 AP_Frsky_Telem: airspeed scaling factor fix 2016-10-10 15:29:49 -07:00
Leonard Hall
0a56d69d54 AP_MotorsMulticopter: Use same throttle value used by motors 2016-10-10 16:40:08 +09:00
priseborough
5d09c78f34 AP_NavEKF2: Always perform optical flow takeoff check when receiving data 
A specialised takeoff check is now always performed when we receive new flow data as the default behaviour is to try and use flow data whenever it is received, rather than limit its use to a use to a flow-only mode of operation that had to be selected via user parameter.
 2016-10-10 14:49:48 +09:00
priseborough
a75a383ef2 AP_NavEKF2: Update protection for out of focus flow data 2016-10-10 14:49:41 +09:00
priseborough
635826c056 AP_NavEKF2: Fix reporting of terrain estimator innovations 
Terrain height is relevant whenever optical flow data is present
 2016-10-10 14:49:35 +09:00
priseborough
b0072b587c AP_NavEKF2: fix reporting of optical flow use status 2016-10-10 14:49:24 +09:00
priseborough
ed9ecb28fb AP_NavEKF2: Enable entry into relative position mode on start-up 2016-10-10 14:49:21 +09:00
priseborough
e0b8c54194 AP_NavEKF: Update GPS type parameter description 2016-10-10 14:49:18 +09:00
priseborough
f9018fcc1b AP_NavEKF2: Enable simultaneous optical flow and GPS use 
Enables simultaneous use of GPS and optical flow data with automatic fallback to relative position mode if GPS is lost and automatic switch-up to absolute position status if GPS gained/re-gained.
 2016-10-10 14:49:02 +09:00
priseborough
ab55991b33 AP_NavEKF2: Report position jumps due to lane switches 
Also moves code required to update reset data due to lane switches into separate functionscto improve readability.
 2016-10-10 11:56:14 +09:00
murata
36b5d43efb AC_Avoid: delete variable that is only used once in a simple calculation 2016-10-05 16:25:57 +09:00
Andrew Tridgell
2fab15dcd5 AP_TECS: added use_synthetic_airspeed() API 
used by quadplane during transitions
 2016-10-05 11:52:34 +11:00
Andy Little
0d113b265c Examples: fix examples for px4 
The change to use AP_BoardConfig messed up the examples. Here are some
updated but there are plenty more to do.
 2016-10-04 12:50:47 -03:00
Murilo Belluzzo
0b86532b5c Global: Remove '\r' character from all source code files 2016-10-03 22:13:27 -03:00
Julien Beraud
714c8fd318 AP_InertialSensor_MPU6000: Add support for fsync bit for Bebop 
Already present on Disco
 2016-10-03 12:20:03 -03:00
Andy Little
4b2eedac05 AP_HAL: Split the AP_HAL_Boards.h header into per board sub headers for legibility 2016-09-29 08:26:50 -03:00
Tom Pittenger
3adf8c3e51 AC_AttitudeControl: comment odd math in get_att_target_euler_cd 
degree(100) = 1 float multiplicaiton
vector3f * degree(100.0f)  = 4 float multiplications
degree(vector3f) * 100.0f  = 6 float multiplications and needs new degree(vector3f) function
degree(vector3f * 100.0f)  = 6 float multiplications and needs new degree(vector3f) function

These all come to the same conclusion but the one that is faster appears to be a bug but is mathematically correct.
 2016-09-27 17:04:53 -07:00
floaledm
602b81a4d7 AP_Frsky_Telem: add ekf_status check 2016-09-27 09:20:32 -07:00
floaledm
27e977289a AP_AHRS: add the get_variances method found in AP_AHRS_NavEKF to AP_AHRS 2016-09-27 09:20:32 -07:00
Peter Barker
a10cde35f5 DataFlash: stop logging before filling SD card on PX4 
Filling the SD card causes NuttX to have conniptions, including
data loss and failure to boot
 2016-09-26 14:02:58 -07:00
Jonathan Challinger
25bee93fcc DataFlash: fix EKF5 message 2016-09-26 13:42:00 -07:00
Tom Pittenger
99d48d8bbd AP_FrSky_Telem: cleanup, non-functional change 2016-09-26 13:12:42 -07:00
floaledm
fcfaa98bb6 AP_Frsky_Telem: reworked _statustext_queue.empty() check 2016-09-26 13:07:18 -07:00
Tom Pittenger
8001cc403b AP_Frsky_Telem: fix is_flying assignment 2016-09-26 13:00:33 -07:00
floaledm
5e022bf631 AP_Frsky_Telem: fix *_ap.value issue for Plane 
set_is_flying does operations on a nullptr, plus we loose the ability to
update ap_status accordingly for Plane
 2016-09-26 12:35:47 -05:00
Francisco Ferreira
42cd8e9721 AP_NavEKF2: Handle yaw jumps due to core switches 
Based on work from Paul Riseborough (priseborough)
 2016-09-25 18:24:11 -07:00
Francisco Ferreira
8da22e441b Revert 3 commits about yaw reset core switch 
Revert "AP_NavEKF2: Fix bug in published yaw reset value found during code review"
commit 175faf1e41.

Revert "AP_NavEKF2: use a struct for all yaw step class variables"
commit 77fad065d1.

Partially revert "AP_NavEKF2: Handle yaw jumps due to core switches"
commit 885bfd1b4e.
 2016-09-25 18:24:11 -07:00
floaledm
ff0d0b1aa5 AP_Frsky_Telem: use ringbuffer for Frsky message queueing 2016-09-25 18:11:45 -07:00
murata
d58c193c90 AP_RangeFinder: To define the OK status to LEDDARONE status. 2016-09-25 17:46:22 -07:00
Tom Pittenger
b3d5375aa0 AP_Frsky_Telem: simplify init by assuming everything is nullptr 
- also always queue the firmware message regardless of protocol type
 2016-09-25 10:42:02 -07:00
Tom Pittenger
6991ca53b3 AP_Frsky_Telem: allow default arguments in init() to set things to nullptr 2016-09-25 10:42:02 -07:00
floaledm
94aa6c4cfb AP_Frsky_Telem: consolidate into a single frsky.init() 2016-09-25 10:42:02 -07:00
Michael du Breuil
9c4b3ec1e1 AP_GPS: Fix incorrect incrementing of last_baud rate 
This is a revert of 7c3b8dceb which tried to start at index 0 of the
array of baudrates, however because of the way last_baud is used
this lead to a GPS always being reported as being 1 index off which
lead to users getting reports of baud rates that their GPS wasn't
configured for

Also renames last_baud to be current_baud as that is how it's
actuallly used and should reduce future confusion

And fixed some tabs/vs space issues around where the last_baud rate
was incremented.
 2016-09-25 08:50:47 -07:00
Andrew Tridgell
36ea946cf5 AP_Compass: use board defined compass ofs max in calibrator 2016-09-23 10:53:00 +10:00
Andrew Tridgell
e7656fb7ac AP_HAL: raise compass offset max again for Disco 
values of 1600 happen on Z axis
 2016-09-23 10:52:55 +10:00
Jonathan Challinger
17fb7dc88f AP_Compass: initialize offset before beginning sphere fit 2016-09-23 10:52:51 +10:00
Jonathan Challinger
419f1bc00e AP_Compass: change fixed point format for more range 2016-09-23 10:52:46 +10:00
Jonathan Challinger
0652d71a72 AP_Compass: correct wrapping behavior in conversion to fixed point 2016-09-23 10:52:44 +10:00
murata
3a1cd20f11 AP_RangeFinder: To move to the place that use the variable definition for the first time. 2016-09-22 08:41:21 +09:00
Tom Pittenger
8eb7a062c7 AP_Frsky_Telem: tiny text change in statusText 2016-09-21 16:11:04 -07:00
floaledm
9e0cfc81ea AP_Frsky_Telem: updated sensor_status messages according to what is found in Mission Planner 
added "NO RC Receiver" and "Bad Logging"
 2016-09-21 15:51:04 -07:00
floaledm
5125846ac0 AP_Frsky_Telem: Plane support 2016-09-21 12:12:37 -07:00
floaledm
b2b6c88edf AP_Frsky_Telem: renamed vars and funcs for consistency/clarity 2016-09-21 11:32:21 -07:00
Andrew Tridgell
3eb8b5e99f HAL_Linux: added RCInput_Multi 
this allows for multiple RCInput methods on one board. On Disco it
combines RCInput_115200 with RCInput_SBUS
 2016-09-21 10:33:15 -03:00
Andrew Tridgell
5909552f67 HAL_Linux: added RCInput_115200 
this is a RCInput module for multiple R/C uart protocols running at
115200 baud 8-bit. We can decode multiple protocols in parallel with
this module, relying on frame timing and CRCs to get the right
protocol
 2016-09-21 10:33:15 -03:00
Andrew Tridgell
2edd914634 AP_HAL: added st24 R/C protocol decoder 
with thanks to the PX4 project
 2016-09-21 10:33:15 -03:00
Andrew Tridgell
9a7af89b30 AP_HAL: added sumd decoder 
with thanks to the PX4 project
 2016-09-21 10:33:15 -03:00
Andrew Tridgell
e913b9a8f7 HAL_Linux: fixed incorrect include 2016-09-21 10:33:15 -03:00
Randy Mackay
2ebb81b02f AP_NavEKF2: switching compass message to GCS downgraded to INFO 2016-09-21 21:42:44 +09:00
Andrew Tridgell
79ed5c7091 AP_BattMonitor: fixed typo 2016-09-21 17:37:32 +10:00
Andrew Tridgell
06cccd6d3b AP_BattMonitor: update disco battery lookup table 2016-09-21 13:48:53 +10:00
Tom Pittenger
5512b6de02 AP_RangeFinder: Cleanup and added comments 
- uart->available(); returns uint32 but was stored locally as int32 and treated as uint32. Now stored correctly as uint32
- some variables were set to zero at start of function, then reset to zero before being used. wasted work
 2016-09-21 10:45:25 +09:00
Tom Pittenger
e928e20b11 AP_RangeFinder: Ensure no divide by zeros in LeddarOne 
Having a critical divide by value as a class member that could change external to the function using it is fragile. It was not very obvious that a divide by zero was not possible in the current design, now it's very obvious and safer in case the code changes later.
 2016-09-21 10:45:23 +09:00
priseborough
b6867e085d AP_NavEKF2: Don't report range finder variance on mavlink if not required 2016-09-21 10:41:21 +09:00
Andrew Tridgell
95db9f61cc AP_Module: added velocity_ned to AHRS state 2016-09-20 17:34:39 +10:00
Michael Oborne
11c376588d AP_GPS_NOVA: support tersus/novatel/comnav gps 2016-09-20 10:53:49 +10:00
Peter Barker
8f376944aa DataFlash: immediately restart logging after erasing logs 2016-09-19 17:57:59 +09:00
Randy Mackay
f94f7e2aa0 AP_RangeFinder: add leddarone to TYPE parameter description 
No functional change
 2016-09-19 14:35:41 +09:00
ShingoMatsuura
3123bd6d7d AP_RangeFinder: add LeddarOne support 2016-09-19 13:25:35 +09:00
Andrew Tridgell
c275e7c61d SITL: added SIM_SPEEDUP parameter 
allows changing speed of simulation while running
 2016-09-19 07:45:24 +10:00
murata
13fe8cb4d0 AP_OpticalFlow: Changed short boundary the i2c_integral_frame. 2016-09-17 01:04:06 -03:00
Matthew Brener
06388b0417 Global: Fix typos 2016-09-17 00:36:36 -03:00
Andrew Tridgell
a4c1bc3fd3 HAL_Linux: avoiding setting the SPI mode on every transfer 
This was causing the Disco kernel to print a debug message on every
SPI transfer, which makes for a very noisy kernel and large kernel logs
 2016-09-17 00:35:00 -03:00
Andrew Tridgell
52caf8419e SITL: fixed sense of wind direction 
wind direction is where wind is coming from, not going to
 2016-09-16 10:59:27 +10:00
Andrew Tridgell
66073413a8 GCS_MAVLink: announce MAVLink2 capability 2016-09-16 09:47:55 +10:00
Andrew Tridgell
8f35305496 SITL: added a simpler compass cal simulation 
just output 1250 to servo5 and it will go through lots of rotations
 2016-09-16 08:59:43 +10:00
Andrew Tridgell
f82827ce79 AP_Compass: removed disco special compass offsets 
not needed any more with newer hardware
 2016-09-14 19:06:06 +10:00
Andrew Tridgell
bb65f4df76 AP_Arming: use HAL defined compass offset max if available 2016-09-14 11:53:13 +10:00
Andrew Tridgell
bf67d4277d AP_HAL: define a larger compass offset max for Disco 2016-09-14 11:52:55 +10:00
Randy Mackay
ba5db0c5d8 Compass: add CAL_FIT parameter description values 
No functional change
 2016-09-14 09:57:52 +09:00
priseborough
cb1d3c7ed2 AP_NavEKF2: Allow for terrain gradient when using range finder for height 2016-09-13 17:45:03 +09:00
priseborough
60d8adcca0 AP_NavEKF2: Fix height drift on ground using range finder without GPS 2016-09-13 17:44:59 +09:00
priseborough
8797714203 AP_NavEKF2: Fix bug in handling of invalid range finder data 2016-09-13 17:44:43 +09:00
priseborough
175faf1e41 AP_NavEKF2: Fix bug in published yaw reset value found during code review 2016-09-13 17:35:18 +09:00
priseborough
77fad065d1 AP_NavEKF2: use a struct for all yaw step class variables 2016-09-13 17:35:16 +09:00
priseborough
885bfd1b4e AP_NavEKF2: Handle yaw jumps due to core switches 2016-09-13 17:35:14 +09:00
murata
c78dfd4aa4 AC_Sprayer: Change the comment of the variables in the form of doxygen. 2016-09-13 13:37:35 +09:00
Peter Barker
fce798bc7a DataFlash: avoid integer underflow 
Thanks to mbelluzzo: f44b1b3556
 2016-09-13 13:32:09 +09:00
Peter Barker
95d4475d45 DataFlash: avoid time going backwards in logs 
WriteBlockCheckStartupMessages returned true if finished writing out
all startup messages.  However, that may have allowed the caller to
then write out their message - but the timestamp on that message would
almost certainly be lower than the messages we've just written out.
 2016-09-13 13:32:06 +09:00
William Liu
cc28c8e6ee AP_Airspeed: AP_Airspeed_I2C: get the right status according to datasheet 2016-09-09 10:32:14 -07:00
William Liu
b1a62d6c8e AP_HAL_Linux: RCOutput_Bebop: fixed potential deadlock 2016-09-09 09:59:17 -07:00
Andrew Tridgell
aa4cde1aae AP_BoardConfig: work around issues with bad components on some FMUv4 boards 
some pixracer copies have poor components which can cause sensor bus
brownout on boot. This resets the sensor bus for 20ms on boot to try
to get clean sensor startup
 2016-09-08 13:18:13 +10:00
Benoit Tran
9b89b4f561 AP_HAL: Correct HAL_PARAM_DEFAULTS_PATH for Parrot Disco 2016-09-08 13:05:25 +10:00
Randy Mackay
b63666d188 AP_Motors: increase MOT_THST_HOVER parameter description range 
No functional change
 2016-09-07 15:28:49 +09:00
Niti Rohilla
cadd95fdd8 GCS_MAVLink: Added sanity check for DO_JUMP command on mission load. 2016-09-06 00:40:47 -07:00
floaledm
4d03be94cf AP_Frsky_Telem: removed reliance on home_distance and home_bearing which are only in copter 2016-09-06 11:42:32 +10:00
floaledm
33bd359463 AP_Frsky_Telem: LANDCOMPLETE switched to to ISFLYING flag 2016-09-06 11:23:29 +10:00
floaledm
4dc98faa48 AP_Frsky_Telem: transmit airspeed instead of groundspeed, if available 2016-09-06 11:15:11 +10:00
floaledm
8deba69715 AP_Frsky_Telem: added 1 to control_mode passed on Frsky link 2016-09-06 11:14:48 +10:00
floaledm
4f8cea6844 AP_Frsky_Telem: simplified constructor 2016-09-06 11:14:48 +10:00
Michael du Breuil
7a18d59099 GCS_MAVLink: On mission_set_current report the requested item if the set was a success 
The problem with reporting the mission index, is that the mission index will be walked
forward until its referring to a nav target, which means that if a DO_ command was
requested, the requesting mavlink device had no way to validate the command was
accepted, it would have to make a infrence from it's copy of the mission
 2016-09-06 08:55:04 +10:00
Leonard Hall
fdcdcb0033 AC_PosControl: check Z-axis accel imax can always overpower hover throttle 
This removes the possibility of the vehicle constantly climbing if the hover throttle becomes a very large value
 2016-09-05 14:19:43 +09:00
Andrew Tridgell
aafd1512e4 HAL_PX4: limit IMU target temperature to 65 2016-09-05 12:59:50 +10:00
Andrew Tridgell
c0d21c5730 AP_Module: added gyro_bias to AHRS structure 2016-09-05 12:56:52 +10:00
Andrew Tridgell
334db0a1a5 AP_AHRS: added get_primary_accel_index() and get_primary_gyro_index() 2016-09-05 12:56:36 +10:00
Andrew Tridgell
902daff3a3 AP_Module: added FSYNC state to raw accel report 2016-09-05 12:55:52 +10:00
Andrew Tridgell
6f9530ebaa AP_InertialSensor: added optional FSYNC external sync bit 
used to synchronise with image sensor on Disco
 2016-09-05 12:55:32 +10:00