Commit Graph

10592 Commits

Author SHA1 Message Date
Andrew Tridgell b0ac6c26e0 SITL: support octaquad in quadplane sim 2016-03-13 10:12:14 +11:00
Andrew Tridgell 2a6e64e358 HAL_PX4: send all channels to px4io
this allows for 16 channel SBUS out
2016-03-13 10:03:56 +11:00
Jonathan Challinger 4bf3ec0e91 AP_HAL_PX4: implement RCOutput::read_last_sent 2016-03-10 13:56:27 -08:00
Jonathan Challinger 6663d30728 AP_HAL: add RCOutput::read_last_sent definition 2016-03-10 13:56:23 -08:00
Tom Pittenger a85d4f2f4b AP_TECS: reverse-thrust cleanup
- throttle slew rate was using % full range including the negative range (-100 to +100 instead of 0 to 100) which meant it was faster
- throttle integrator windup limit was higher than normal because it's a porportional to throttle max - min but that makes no sense when min is negative causing larger limits
2016-03-10 15:34:52 +11:00
Andrew Tridgell 36177526cf AP_BoardConfig: allow setting of SBUS output frame rate 2016-03-10 15:28:46 +11:00
Lucas De Marchi 4467929692 AP_Notify: add class to turn LED off
On early versions of minlure an RGB LED was wrongly placed next to the
barometer, causing trouble on it.

Additionally depending on the LED intensity it may be a pain to leave it
turned on for boards supposed to be used for bench testing. This allows
to disable the LED by software so we don't have to remove it.
2016-03-09 20:46:06 -03:00
Gustavo Jose de Sousa e5de4f2348 AP_Compass: AP_Compass_test: code enhancements
- Use panic() instead of looping forever.
- Readability improvement with the use of MAX() and MIN().
2016-03-09 10:12:14 -03:00
Gustavo Jose de Sousa a61f9855d3 AP_Compass: AP_Compass_test: report multiple compasses
Report data from all available compasses, not just the primary one.
2016-03-09 10:12:10 -03:00
Gustavo Jose de Sousa 16acca865f AP_Compass: AP_Compass_test: fix style
Used uncrustify and some manual changes.
2016-03-09 10:12:05 -03:00
Gustavo Jose de Sousa 0efbe8c80c AP_Compass: allow calling calculate_heading() for different instances 2016-03-09 10:12:00 -03:00
Lucas De Marchi 6358876f58 AP_HAL: add missing MPU9250 name for BH 2016-03-07 14:50:14 -03:00
Lucas De Marchi 71eefdfd2c AP_Compass: remove trailing whitespaces 2016-03-07 14:49:35 -03:00
Lucas De Marchi a46ca4c810 AP_Compass: HMC5883: reorganize header 2016-03-07 14:49:35 -03:00
Holger Steinhaus d2b6eb7700 AP_BoardConfig: wait for UAVCAN initialization complete signal 2016-03-05 09:32:13 +11:00
Holger Steinhaus 503e196546 AP_BoardConfig: allow to enable UAVCAN plug-and-play mode 2016-03-05 09:32:13 +11:00
Andrew Tridgell d0b67ce007 AP_AHRS: allow for EKF without GPS on plane in VTOL modes
this allows for testing quadplanes indoors
2016-03-05 08:58:08 +11:00
Andrew Tridgell 5d5c398344 AP_BoardConfig: raise UAVCAN startup time
new version needs a longer time to start sensors
2016-03-04 14:57:16 +11:00
Lucas De Marchi 47be4b5868 AP_OpticalFlow: fix use of undefined variable
../../libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp:86:5: warning: "FLOWONBOARD_DEBUG" is not defined [-Wundef]
 #if FLOWONBOARD_DEBUG
     ^
2016-03-03 18:37:15 -03:00
Tom Pittenger ff249788bf Plane: add a default Navigation option as explained in the param docs 2016-03-03 09:16:26 -08:00
Paul Riseborough 1e8af3dea4 AP_Notify: Add tone sequence to alert user when throw detector is armed
Use a medium tempo ascending three tone sequence with sufficient gap to allow the throwing action to be completed without distraction.
2016-03-03 12:18:16 +09:00
Tom Pittenger 67e2db7975 AP_TECS: add TECS_LAND_PDAMP
// @Description: This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead.
2016-03-02 10:54:21 -08:00
Tom Pittenger fcb802cccc AP_TECS: add TECS_LAND_I_GAIN and TECS_TKOFF_I_GAIN
// more integral gain options for land
2016-03-02 10:54:20 -08:00
Tom Pittenger a139789693 AP_TECS: add TECS_LAND_TDAMP for land damp
+     // @Description: This is the damping gain for the throttle demand loop during and auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add damping to correct for oscillations in speed and height. When set to 0 landing throttle damp is controlled by TECS_THR_DAMP.
2016-03-02 10:54:19 -08:00
Tom Pittenger 035f3b16a1 AP_BattMonitor: add new param BATT_WATT_MAX
Description: If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX and TKOFF_THR_MAX) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX) if demanding the current max and under the watt max.
2016-03-02 10:14:25 -08:00
Tom Pittenger 278fb2e60d AP_Math: add location sanity checker/fixer util 2016-03-02 08:48:26 -08:00
Tom Pittenger 1c513a99a0 AP_Mission: removed LOITER_TO_ALT heading requirement param field
- and increased loiter radius max size (8bit to 16bit), it will soon always have heading requirement along with all loiter cmds
2016-03-02 08:48:24 -08:00
Alexey Bulatov 3933ac2a63 AP_GPS: Added ERB to AP_GPS 2016-03-02 06:04:52 -08:00
Alexey Bulatov 7e2c822499 AP_GPS: Structure for detect ERB 2016-03-02 06:04:46 -08:00
Alexey Bulatov 97190c89d1 AP_GPS: ERB GPS driver
ERB - Emlid Reach Binary protocol.
That driver designed for communication between Reach
and ArduPilot.
Provided opportunities:
- Detection of the driver
- Parsing of input messages: status of transmitter
and navigation information.
- Inject GPS messages from base
2016-03-02 06:04:39 -08:00
Jonathan Challinger e946e047e6 AC_AttitudeControl: add attitude_controller_run functions, call from input functions 2016-03-02 20:16:18 +09:00
Tom Pittenger c0a6a94936 AP_IntertialNav: ensure we work on valid updated data 2016-03-02 10:53:07 +09:00
Paul Riseborough 38b3625ed8 AP_NavEKF2: Fix bug in initial alignment calculation
The bug caused the initial roll angle to be incorrect if the vehicle was powered up when inverted, causing long alignment times.
2016-03-02 09:10:09 +09:00
Paul Riseborough 2888bdd6d5 AP_NavEKF: Protect against possible div by 0 2016-03-01 10:08:47 -03:00
Paul Riseborough 7d6b926749 AP_NavEKF2: Improved magnetic heading fusion
Use an Euler yaw heading that switches between a 321 and 312 rotation
sequence to avoid areas of singularity.  Using Euler yaw decouples the
observation from the roll and pitch states and prevents magnetic
disturbances from affecting roll and pitch via the magnetometer fusion
process.
2016-03-01 10:08:47 -03:00
Randy Mackay e502e0fc2e SoloGimbal: resolve compiler warning re float comparison 2016-03-01 21:51:43 +09:00
Randy Mackay 438769c8ae SoloGimbal: resolve compiler warning re initialisation order 2016-03-01 21:51:41 +09:00
Paul Riseborough bb74371c58 AP_NavEKF2: Do not use GPS height if GPS accuracy is poor
If we are using GPS height, revert back to using Baro height if the GPS accuracy is poor.
2016-03-01 15:13:13 +09:00
Tom Pittenger b1ea82079e AP_Rangefinder: compiler warning float to double on atof()
- this is horribly inefficient so better to change the parsing
2016-02-29 10:26:31 -08:00
Tom Pittenger 068374658c AP_Mission: utilize radius for loiter commands 2016-02-29 06:43:19 -08:00
Will Sackfield 8b5fa9d23d SITL: Initialise yaw_rate and pitch_rate
* Clang requires these variables to be initialized
2016-02-29 14:14:37 +11:00
Will Sackfield 6f43b7121c DataFlash: Cast msg to uint8
* Clang requires this explicit cast
2016-02-29 14:14:37 +11:00
Will Sackfield 723e166c13 AP RPM: Initialise backend with _instance
* Unsure how this worked in the past
2016-02-29 14:14:37 +11:00
Will Sackfield 0a60d713af AP HAL SITL: Use fully qualified SITL namespace
* using namespace SITL caused ambiguities due to
both SITL and HAL SITL using the same namespace
2016-02-29 14:14:37 +11:00
Will Sackfield 8c98eb2b84 APMControl: Cast type to uint8
* Clang requires that the type be explicitly cast
to uint8
2016-02-29 14:14:37 +11:00
Staroselskii Georgii 5b3627f83e AP_Notify: made DiscreteRGBLed more generic
- made pins and polarity configurable
- got rid of all Navio specific code
2016-02-27 03:06:50 -03:00
Staroselskii Georgii ef4e3aa333 AP_Notify: renamed Navio2Led to DiscreteRGBLed 2016-02-27 03:06:50 -03:00
Staroselskii Georgii 0bd7839b9f AP_Notify: made Navio2LED a little easier to configure
- got rid of a lot of not needed defines
- allocated channels on init instead of accessing them every time
  through the HAL reference
- simpliefied hw_set_rgb()
2016-02-27 03:06:50 -03:00
Staroselskii Georgii da550e5e98 AP_Inertial_Sensor: do not rotate MPU9250 on Navio2 2016-02-27 03:06:50 -03:00
Staroselskii Georgii f93e790717 AP_HAL_Linux: make Ublox work on the higher frequency
The lower speed was only valid for very old Navio's. All new boards ship
with the GPSs that support higher frequencies.
2016-02-27 03:06:50 -03:00