Pixracer has FRAM on the same bus as the ms5611 and the FRAM ramtron
driver does not use the same locking mechanism as other px4 SPI
drivers. We need to disable interrupts during FRAM transfers to ensure
we don't get FRAM corruption
The use of yaw angle fusion during startup and ground operation causes problems with tail-sitter vehicle types.
Instead of observing an Euler yaw angle, we now observe the yaw angle obtained by projecting the measured magnetic field onto the the horizontal plain.
This avoids the singularities associated with the observation of Euler yaw angle.
../../libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp:63:5: warning: "WITH_GPS" is not defined [-Wundef]
#if WITH_GPS
^
g_gps was not even declared so remove it.
<command-line>:0:18: warning: "HAL_BOARD_LINUX" is not defined [-Wundef]
../../libraries/AP_Notify/Buzzer.h:20:5: note: in expansion of macro ‘CONFIG_HAL_BOARD’
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
^
In file included from ../../libraries/AP_Notify/Buzzer.cpp:18:0:
../../libraries/AP_Notify/Buzzer.h:20:25: warning: "HAL_BOARD_VRBRAIN" is not defined [-Wundef]
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
^
pid.imax() has type int16_t
../../libraries/PID/examples/pid/pid.cpp:36:53: warning: format ‘%f’ expects argument of type ‘double’, but argument 6 has type ‘int’ [-Wformat=]
pid.kP(), pid.kI(), pid.kD(), pid.imax());
^
../../libraries/Filter/examples/Derivative/Derivative.cpp:16:14: warning: ‘float noise()’ defined but not used [-Wunused-function]
static float noise(void)
^
../../libraries/AP_HAL/examples/UART_test/UART_test.cpp:13:28: warning: ‘uarts’ defined but not used [-Wunused-variable]
static AP_HAL::UARTDriver* uarts[] = {
^
The innovation calculation should have been updated when the heading fusion maths was updated.
We now use a direct heading or yaw angle measurement in the derivation, not the difference between observed and published declination.
This removes a legacy design concept that is no longer required in this filter implementation. Planes will not be armed without EKF aiding and the proposed copter throw mode also requires EKF aiding to be operating.
The other problem with interrupting fusion during the launch is it doesn't reduce the corrections, it just delays them as wen the launch completes, the EKF inertial position estimate is still moving still moved and the corrections are therefore just delayed by the short launch interval.
Thank you to OXINARF for picking up the inconsistency with the previous logic
Change to user adjustable fusion of constant position (as per legacy EKF) instead of constant velocity.
Enable user to specify use of 3-axis magnetometer fusion when operating without aiding.
Don't allow gyro scale factor learning without external aiding data as it can be unreliable
- replace tabs with spaces
- remove C-style void from function arguments
- use pragma once
- fix pointer alignement
- remove unused header: AP_Airspeed_I2C_PX4 - we actually use
AP_Airspeed_PX4
This allows us to re-use SPIDevice from SPIDeviceDriver (the
to-become-SPIDeviceProperties) while the drivers are
converted. We create a fake device by calling the temporary
SPIDeviceManager::get_device() method passing the descriptor. The
transfer and assert logic is still using the old code.
Now we can interoperate SPIDeviceDriver with the ones based in
SPIDevice since they are going to use the same semaphore and bus.
The way this code is structured is a little bit different from the
SPIDriver implementation:
- We only open the bus once, no matter how many devices we have in it
- There's a single transfer() method which uses half-duplex mode
instead of full duplex. The reason is that for all cases in the
codebase we are using half-duplex transfers using the full-duplex
API, i.e. a single SPI msg with both tx and rx buffers. This is
cumbersome because the buffers need to be of the same size and the
receive buffer using an offset of the same length as the actux data
being written. This means the high level APIs need to copy buffers
around.
If later we have uses for a real full duplex case it's just a matter
of adding another transfer_fullduplex() method or something like
this.
- The methods are implemented in the SPIDevice class instead of having
proxy methods to SPIDeviceManager as is the case of SPIDriver
Also from now on we refer to the SPIDriver objects as "descriptors"
because they have the parameters of each device in the
SPIDeviceManager::devices[] table. When SPIDeviceDriver is completely
replaced we can rename them to SPIDeviceProperties.
Save in the manager the number of devices so it can be used in other
places like the SPIDevice implementation. This is a temporary storage
while we migrate to SPIDevice.
While at it use protected rather than private.
This allows us to re-use I2CDevice from I2CDriver while the drivers are
converted. We create a fake device with addr = 0 for each I2CDriver but
we only use the register/unregister logic. The transfer logic still uses
the methods from I2CDriver in order to use the right address.
Now we can interoperate I2CDevice drivers with the ones base in
I2CDriver since they are going to use the same semaphore and bus.
The I2CDriver constructors were changed to re-use the logic in I2CDevice
(it uses a number rather than an string) and the semaphore doesn't live
outside anymore, its embedded in the fake I2CDevice, as well as the
bus's file descritor.
This is a similar function to what we have in I2CDriver, but it can
receive a nullptr to recv or send. It will create 2 i2c_msg structs to
send and receive data to/from the I2C slave.
These are very similar to their counterparts in I2CDriver. The changes
were:
- Don't use fixed buffer with PATH_MAX length: allocate the string
- Change the interface to use std::vector so we can simplify the
implementation
Staroselskii Georgii
Alexey Bulatov
dgrat
Lucas De Marchi
Gustavo Jose de Sousa
AndersonRayner
Michael du Breuil
Daniel Frenzel
Andrew Tridgell
Tom Pittenger
Paul Riseborough
Víctor Mayoral Vilches
Peter Barker
Jonathan Challinger
Leonard Hall
mirkix