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6220 Commits

Author SHA1 Message Date
Andrew Tridgell
26de54c29a AP_AHRS: cope with 90 degree pitch in update_trig() 
this prevents a numerical error in Replay
 2014-10-25 11:21:04 +11:00
Michael Day
83c2f497a3 AP_Mission: Change jump_to_landing_sequence to get_landing_sequence_start 2014-10-24 21:42:06 +11:00
Andrew Tridgell
5ddbcc296d AP_OpticalFlow: fixed example build 2014-10-24 21:38:03 +11:00
Andrew Tridgell
ad8b73c8aa AP_Airspeed: update ARSPD_AUTOCAL docs 2014-10-24 17:16:17 +11:00
Randy Mackay
41a6393356 RangeFinder: PulsedLight I2C addr to 0x62 2014-10-24 15:08:04 +09:00
Andrew Tridgell
ad7c612334 AP_InertialSensor: fixed SITL with new HIL code 2014-10-24 15:05:44 +11:00
Andrew Tridgell
aeaa3c1e04 AP_InertialSensor: fixed build for VRBrain 2014-10-24 12:10:41 +11:00
Andrew Tridgell
40e83ceb1f AP_InertialSensor: simplify next sample time calculations 
this makes the calculation much clearer
 2014-10-24 12:10:40 +11:00
Andrew Tridgell
9dfbdb1e69 AP_InertialSensor: run the MPU6000 at 1kHz on fast CPUs 
use a software filter and 1kHz sampling for better filtering if we
have a fast enough CPU to do it
 2014-10-24 12:10:40 +11:00
Andrew Tridgell
a047d1f569 AP_InertialSensor: moved default filter and sample_rate to frontend 
this simplifies the backends and prevents code repitition
 2014-10-24 12:10:40 +11:00
Andrew Tridgell
17b2214798 AP_InertialSensor: make it easier to add multiple backends 
use _add_backend() to add new backends on startup
 2014-10-24 12:10:40 +11:00
Andrew Tridgell
868ee3af23 AP_Mission: fixed example build 2014-10-24 12:10:40 +11:00
Andrew Tridgell
006185f08a AP_InertialNav: fixed example build 2014-10-24 12:10:40 +11:00
Andrew Tridgell
f79ce92673 AP_AHRS: fixed example build 2014-10-24 12:10:40 +11:00
Andrew Tridgell
33c7432e97 AC_WPNav: fixed example build 2014-10-24 12:10:40 +11:00
Andrew Tridgell
31eeb657ca AC_Sprayer: fixed example build 2014-10-24 12:10:39 +11:00
Andrew Tridgell
4fcf46005b AC_Fence: fixed example build 2014-10-24 12:10:39 +11:00
Andrew Tridgell
9a98e63702 AC_AttitudeControl: fixed example build 2014-10-24 12:10:39 +11:00
Andrew Tridgell
bc5d79118d AP_InertialSensor: updated comments 2014-10-24 12:10:39 +11:00
Andrew Tridgell
3a9a5a9c18 AP_InertialSensor: implement gyro and accel health monitoring 
sensor is healthy if it gave a sample on the last update()
 2014-10-24 12:10:39 +11:00
Andrew Tridgell
586fa9a816 AP_InertialSensor: added product_id support 
fill in parameter from first backend
 2014-10-24 12:10:39 +11:00
Andrew Tridgell
37dea4e367 AP_Common: added MPU9250 product ID 2014-10-24 12:10:39 +11:00
Andrew Tridgell
520727e5bd AP_InertialSensor: fixed example build 2014-10-24 12:10:39 +11:00
Andrew Tridgell
dbcd02f2be AP_InertialSensor: converted MPU9150 driver 
untested conversion
 2014-10-24 12:10:38 +11:00
Andrew Tridgell
ff5f791343 AP_InertialSensor: converted flymaple driver to new API 2014-10-24 12:10:38 +11:00
Andrew Tridgell
a42af0f2f1 AP_InertialSensor: use common AP_InertialSensor driver for PX4 and VRBRAIN 2014-10-24 12:10:38 +11:00
Andrew Tridgell
3ce7667e5a AP_InertialSensor: tidy up MPU6000 driver 2014-10-24 12:10:37 +11:00
Andrew Tridgell
2d47a07480 AP_InertialSensor: ported L3G4200D driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell
deafcd6ddc AP_InertialSensor: improved timing in all drivers 2014-10-24 12:10:37 +11:00
Andrew Tridgell
ff6d87f145 AP_InertialSensor: minor tidy up for HIL driver 2014-10-24 12:10:37 +11:00
Andrew Tridgell
85686c22ec AP_InertialSensor: converted the APM1/Oilpan driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell
dcef9bb3b8 AP_InertialSensor: converted the MPU9250 driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell
d48beb0c0f AP_InertialSensor: converted PX4 driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell
0ce5c99c26 SITL: update for new AP_InertialSensor API 2014-10-24 12:10:37 +11:00
Andrew Tridgell
ec11417705 AP_InertialSensor: converted HIL backend, which gets SITL working 2014-10-24 12:10:36 +11:00
Andrew Tridgell
448efc70a3 AP_InertialSensor: first steps in frontend/backend split 
This converts the MPU6000 driver to a frontend/backend structure, and
disables all other drivers. They will be progressively re-enabled as
each is converted
 2014-10-24 12:10:36 +11:00
Randy Mackay
04eb1073e8 DataFlash: log baro climbrate 2014-10-22 17:29:27 +09:00
Andrew Tridgell
e6c6fe095f AP_Terrain: fixed a warning 2014-10-22 18:27:20 +11:00
Andrew Tridgell
b495905da5 AP_TECS: fixed some warnings 2014-10-22 18:27:18 +11:00
Andrew Tridgell
59610ebe88 AP_L1_Control: fixed some warnings 2014-10-22 18:27:16 +11:00
Andrew Tridgell
b8e73a737a HAL_AVR: fixed warning 2014-10-22 18:26:45 +11:00
Randy Mackay
e80328d3a5 AC_WPNav: bug fix sanity check of set_speed_xy 
This corrects a bug that allowed the waypoint speed to be set to zero
 2014-10-21 22:10:22 +09:00
Randy Mackay
39c8535223 AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P 2014-10-21 21:41:41 +09:00
priseborough
2bc74934b8 AP_NavEKF: Track baro alt when pre-armed 
This will help prevent spurious alt disparity warning messages for copter
 2014-10-21 20:58:59 +09:00
Randy Mackay
a1cfd03c9b AC_PosControl: bug fix dt calculation 
fixes issue in which now could be earlier than _last_update_xy_ms
leading to a large dt value and a sudden lean on takeoff
 2014-10-21 11:40:47 +09:00
Randy Mackay
0e11189c35 AP_InertialNav: add comments 2014-10-20 11:12:54 +09:00
Jonathan Challinger
5e381280dc AP_InertialNav: update properly if home position moves 2014-10-20 10:59:50 +09:00
Andrew Tridgell
d84c1cd3e4 AP_OpticalFlow: fixed example build 2014-10-20 08:42:51 +11:00
Andrew Tridgell
15a661e17a AP_Mission: fixed logic in jump_to_landing_sequence() 
see comments on drones-discuss
 2014-10-20 08:36:20 +11:00
Andrew Tridgell
8c6b875dcc AP_Mission: avoid the AP_AHRS cast 
get_position() is now const
 2014-10-20 08:36:20 +11:00
Andrew Tridgell
270bac4472 AP_AHRS: make get_position() const 
This allows use from within AP_Mission
 2014-10-20 08:36:20 +11:00
Michael Day
ea91f4d47b AP_Mission: Added support for MAV_CMD_DO_LAND_START 2014-10-20 08:36:19 +11:00
Michael Day
d62b9a7044 GCS_MAVLink: re-generated headers 2014-10-20 08:36:19 +11:00
Andrew Tridgell
e1a88a13a7 GCS_MAVLink: added MAV_CMD_DO_LAND_START 
see discussion on drones-discuss
 2014-10-20 08:36:19 +11:00
Andrew Tridgell
7636cc6971 GCS_MAVLink: merged upstream changes 2014-10-20 08:36:19 +11:00
Jonathan Challinger
1c75ce88f2 AP_Buffer: change pop_front to return a bool if successful 2014-10-20 08:26:14 +11:00
Jonathan Challinger
ceef10cc41 AP_Buffer: Add peek_mutable function allowing in-place modification of buffered objects 2014-10-20 08:26:14 +11:00
Jonathan Challinger
630a87d9a9 AP_Buffer: remove scalar assignment so that non-scalars can be buffered 2014-10-20 08:26:14 +11:00
Jonathan Challinger
cdd2199138 AP_Math: expand frame transformation test case for quaternions 2014-10-20 06:24:33 +11:00
Jonathan Challinger
3befe74afa AP_Math: change quaternion class to use const references where optimal 2014-10-20 06:24:30 +11:00
Jonathan Challinger
70845882a7 AP_Math: fix up rotation test suite 2014-10-20 06:24:27 +11:00
Jonathan Challinger
6076f3fa22 AP_NavEKF: Quaternion::to_euler now uses references instead of pointers 2014-10-20 06:24:25 +11:00
Jonathan Challinger
1f7e393e38 AP_Math: refactor quaternion library 2014-10-20 06:24:22 +11:00
Andrew Tridgell
ef0eca4835 AP_Airspeed: fixed airspeed in Replay 2014-10-19 19:42:15 +11:00
Andrew Tridgell
7db0244dac AP_Compass: added some comments 2014-10-19 17:02:45 +11:00
Jonathan Challinger
9054dd3f9a AP_Compass: use apply_correction_function to eliminate duplication 2014-10-19 17:02:45 +11:00
Randy Mackay
677f6cce7f AP_Motors: reduce slow-start increment for fast CPUs 2014-10-18 20:54:08 +09:00
Randy Mackay
542ec29e49 Parachute: set servo or relay to off position on every update 
This resolves the issue of the parachute servo's position not being
initialised to the off position due to an ordering problem of the
auxiliary servos being initialised after the parachute object.
 2014-10-18 17:26:23 +09:00
Randy Mackay
eed6a1ce61 OptFlow: fix example sketch so it compiles 2014-10-16 13:52:07 +09:00
Randy Mackay
a476a914b0 OptFlow_PX4: check healthy before updating 2014-10-15 16:36:40 +09:00
Randy Mackay
f504ea7b30 OptFlow_ADNS3080: check healthy before updating 2014-10-15 16:36:38 +09:00
Randy Mackay
d238f48dda OptFlowPX4: fix compile error for APM 2014-10-15 16:36:33 +09:00
Randy Mackay
a9cfbb71b8 OptFlowPX4: use ORB to pull data from sensor 
This change is required because PX4Firmware has changed the method used
to pull data from the sensor.
 2014-10-15 16:36:25 +09:00
Randy Mackay
ec4581b35a OptFlow: add ground_distance_m 2014-10-15 16:35:48 +09:00
Randy Mackay
4b0548973a OptFlow: add PX4Flow support 2014-10-15 16:35:33 +09:00
Randy Mackay
3c4be75487 OptFlow: reorganise ADNS3080 to simplified interface 2014-10-15 16:35:31 +09:00
Randy Mackay
b64f9ed964 OptFlow: rename and restructure OpticalFlow class 
AP_OpticalFlow.h becomes simply a file that includes all other optical
flow header files.
OpticalFlow class simplified to only return surface quality, raw output
and velocity vector.
 2014-10-15 16:35:29 +09:00
Andrew Tridgell
4ad643b233 AP_AHRS: use a common function for updating the CD values 
this ensures the wrapping of yaw is consistent between the 3 use cases
 2014-10-15 13:18:08 +11:00
Andrew Tridgell
eec5cd5add AP_AHRS: restore DCM attitude before update() 
The DCM drift correction code uses the current attitude to calculate
error values to update its gyro drift correction. If we were using EKF
then without this patch the DCM code running as an alternative AHRS
source would be using the EKF attitude for calculating the error
value, leading to very bad gyro drift estimation
 2014-10-15 11:15:33 +11:00
Andrew Tridgell
63c06ea2af AP_AHRS: fixed calls to DCM in parent class 
use_compass() and reset() are common to AP_AHRS_DCM and
AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we
call use_compass() from within AP_AHRS_DCM we actually end up calling
AP_AHRS_NavEKF::use_compass().

This has the effect of disabling the compass in DCM when EKF is active
and EKF has decided not to use the compass. That means that the DCM
yaw (and in fact the whole attitude) can get badly off while EKF is
enabled, making DCM an ineffective fallback if EKF fails.

The fix is to call the specific class versions of use_compass() and
reset()
 2014-10-15 10:12:50 +11:00
Andrew Tridgell
b437977547 AP_Compass: added set_offsets() interface 
this will be used by Replay to prevent the need for saving parameters
 2014-10-15 09:16:31 +11:00
Randy Mackay
6690aff305 AC_Motors: param description addition 2014-10-14 12:43:22 +09:00
Randy Mackay
d09faa0015 BattMon: minor param description additions 2014-10-14 12:42:57 +09:00
Randy Mackay
45e0e48e54 BattMon: minor param description update 2014-10-14 12:42:45 +09:00
Randy Mackay
3a81732721 Baro: minor param description updates 2014-10-14 12:42:27 +09:00
Randy Mackay
be1621877f Mission: support GUIDED_ENABLE and GUIDED_LIMITS 
This replaces the ardupilot only NAV_GUIDED command.
Also remove support for NAV_VELOCITY mission command which will be
replaced by SET_POSITION_TARGET non-mission command.
 2014-10-13 21:40:23 +09:00
Andrew Tridgell
3c7cc5f40c AP_RangeFinder: auto-update PX4 ll40ls max/min distance 
this allows the range of the Lidar to be set by the user using
RNGFND_MAX_CM and RNGFND_MIN_CM
 2014-10-13 19:07:38 +11:00
Jonathan Challinger
4a397a8d67 AC_PosControl: Protect from divide-by-zero in get_stopping_point_xy 2014-10-10 21:17:12 +09:00
Randy Mackay
023b2c0d6b AP_InertialNav: fixed use of ahrs.get_velocity with EKF disabled 2014-10-09 16:43:24 +09:00
Andrew Tridgell
7b02d326f6 AP_InertialNav: fixed use of _ahrs.get_relative_position_NED() with EKF disabled 
this prevents a floating point error caused by using an uninitialised
vector3 when switching between DCM and EKF control in AP_InertialNav

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-10-09 18:30:20 +11:00
Andrew Tridgell
39fadad7d6 HAL_Linux: fixed build warnings 2014-10-09 16:49:23 +11:00
Andrew Tridgell
b3894e8b10 HAL_VRBRAIN: reduce the number of times we split up UART reads and writes 2014-10-09 12:29:25 +11:00
Andrew Tridgell
10b0ca7ea8 HAL_PX4: reduce the number of times we split up UART reads and writes 2014-10-09 12:29:25 +11:00
Andrew Tridgell
c834589daa HAL_Linux: reduce the number of times we split up UART reads 2014-10-09 12:29:25 +11:00
Andrew Tridgell
076bb1294e HAL_Linux: improved UDP packetisation and add flow control reporting 
report we have flow control on UDP and TCP
 2014-10-09 12:29:25 +11:00
Randy Mackay
834f2bea07 INS: add gyro_calibrated_ok_all method 
This returns true if the gyros have been calibrated successfully
 2014-10-09 10:00:07 +09:00
Andrew Tridgell
70ca87c4e6 AP_RangeFinder: handle all I2C rangefinder types on PX4 in PX4Firmware 2014-10-09 11:06:16 +11:00
Andrew Tridgell
cebfef3ead HAL_Linux: don't accept less than 5 input channels 2014-10-09 09:19:35 +11:00
Andrew Tridgell
a3fee16604 HAL_Linux: added DSM/Spektrum RCInput support 
this decodes DSM using the RCIN pulses from the PRU
 2014-10-08 12:50:50 +11:00
Andrew Tridgell
3e3f87188b HAL_Linux: enable DSM power pin 2014-10-08 12:50:50 +11:00