this bypasses all attitude and position estimators and uses the SITL
state directly. It can be used for when the SITL backend cannot
provide perfect sensor data
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
This option now is passed when instantiating the code in ArduCopter, so
selecting the default value at compile time is not necessary anymore.
The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
The AHRS_EKF_USE_ALWAYS define is used to force EKF to be always
used. It is defined only for building ArduCopter. Change it to be a
runtime flag. Keep its default value still based on the original define,
once the Copter uses it the define will be removed.
The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
Fixes code that didn't take into account fall-through behaviour of C++ switch statements
Makes get_rigin furnction more generic allowing the consumer to decide what to do with an invalid origin
This patch adds additional methods to the the AHRS library so that the AP_InertialNav library dow nto have to access the EKF directly. This enables Copter to fly using the EKF nominated by AHRS_EKF_TYPE.
It will also pave the way to elimination of the AP_InertialNav library.
Gustavo Jose de Sousa
Randy Mackay
Andrew Tridgell
Jonathan Challinger
Lucas De Marchi
Julien BERAUD
Caio Marcelo de Oliveira Filho
Paul Riseborough