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5758 Commits

Author SHA1 Message Date
Andrew Tridgell
5a170c6343 AP_InertialSensor: added INS_generic test 2014-07-14 09:44:36 +10:00
Andrew Tridgell
d1ba78002d AP_InertialSensor: added paranoid check for DRDY pin 2014-07-14 09:44:36 +10:00
Andrew Tridgell
549e08446a HAL_Linux: use BBB pin names in SPIDriver 
easier to find the pins on the board
 2014-07-14 09:44:36 +10:00
Andrew Tridgell
6f9965cc22 AP_InertialSensor: fixed setup of DRDY pin on MPU9250 2014-07-14 09:44:36 +10:00
Andrew Tridgell
6a6dbe5790 AP_InertialSensor: added check for WHOAMI on MPU9250 2014-07-14 09:44:35 +10:00
Andrew Tridgell
e24febec1b AP_TECS: avoid a valgrind bug 2014-07-14 09:44:35 +10:00
Andrew Tridgell
8e5915ef7d HAL_Linux: fixed some valgrind errors 2014-07-14 09:44:35 +10:00
Andrew Tridgell
130f831c1c HAL_Linux: use MODE_3 for MPU9250 
this fixes the MS5611 (probably due to idle state?)
 2014-07-14 09:44:35 +10:00
Andrew Tridgell
f73ec95c39 AP_Baro_MS5611: added PROM CRC checking 
disabled on APM2 to save flash space
 2014-07-14 09:44:35 +10:00
Andrew Tridgell
6c3197cb43 AP_Notify: fixed SITL build 2014-07-14 09:44:35 +10:00
Andrew Tridgell
52c53e55f8 AP_Airspeed: use board subtypes 2014-07-14 09:44:35 +10:00
Andrew Tridgell
252052d723 AP_Notify: use HAL board subtypes 2014-07-14 09:44:35 +10:00
Andrew Tridgell
abb53eb9a2 AP_InertialSensor: simplify using HAL board subtypes 2014-07-14 09:44:35 +10:00
Andrew Tridgell
fc8068adfe HAL_Linux: use board subtypes 2014-07-14 09:44:35 +10:00
Andrew Tridgell
7195e38585 AP_HAL: fixed I2C build on APM2 2014-07-14 09:44:35 +10:00
Andrew Tridgell
5693392838 AP_HAL: added the concept of a board subtype, and default sensor types 
this will make the vehicle code much more generic
 2014-07-14 09:44:34 +10:00
Andrew Tridgell
1bf0c4c67d HAL_Linux: cope with different I2C headers for data 2014-07-14 09:44:34 +10:00
Andrew Tridgell
848b563fc3 AP_InertialSensor: rotate acccel/gyro for PXF 2014-07-14 09:44:34 +10:00
Andrew Tridgell
ea188528fc AP_InertialSensor: fixed build errors for LSM9DSO 2014-07-14 09:44:34 +10:00
Andrew Tridgell
fa2a1c495e HAL_Linux: fixed I2C driver build errors 2014-07-14 09:44:34 +10:00
Andrew Tridgell
8c4565c741 HAL_Linux: fixed a build warning 2014-07-14 09:44:34 +10:00
Víctor Mayoral Vilches
2982fc029c AP_InertialSensor_LSM9DS0: Fix _dump_registers method 2014-07-14 09:44:34 +10:00
Víctor Mayoral Vilches
feedc40f72 AP_InertialSensor_LSM9DS0: Move LSM9DS0_DEBUG flag to the header 2014-07-14 09:44:34 +10:00
Andrew Tridgell
297bb52ced AP_InertialSensor: added MPU9250 header 2014-07-14 09:44:34 +10:00
Víctor Mayoral Vilches
f213f01983 AP_InertialSensor_LSM9DS0: Remove previous CS handling. 
CS is now being automatically handled by the SPI Driver.
 2014-07-14 09:44:33 +10:00
Andrew Tridgell
5b438471a7 HAL_Linux: added set_bus_speed() support to SPI driver 
used by MPU6000 driver for setup registers
 2014-07-14 09:44:33 +10:00
Andrew Tridgell
3ed4f82cb0 AP_InertialSensor: fixed DRDY include for Linux 2014-07-14 09:44:33 +10:00
Andrew Tridgell
0b64d834c3 HAL_Linux: MS5611 and MPU6000 should be MODE3 
this doesn't solve the MPU6000 problem, but is correct
 2014-07-14 09:44:33 +10:00
Andrew Tridgell
06b6d7aaf0 AP_InertialSensor: fixeup DRDY pin for different boards 2014-07-14 09:44:33 +10:00
Andrew Tridgell
1c89f54934 HAL_Linux: fixed SPI mode handling per-device 
the mode must be set per-device, not per bus.
 2014-07-14 09:44:33 +10:00
Víctor Mayoral Vilches
145c71c4af HAL_Linux: Storage: Change storage folder in Linux to /var/APM 2014-07-14 09:44:33 +10:00
Víctor Mayoral Vilches
3379ddd51f AP_InertialSensor_MPU6000: Add _register_write_check method. 
This private method allows to check whether the value written and
the posterior value readed are the same.
Should be used only for debuging purposes, for release versions use
_register_write instead.
 2014-07-14 09:44:33 +10:00
Víctor Mayoral Vilches
0fff8df491 AP_InertialSensor: fix LSM9DS0 test code 2014-07-14 09:32:30 +10:00
bugobliterator
ca163c292c HAL_Linux: PRU: remove obsolete libraries/AP_HAL_Linux/PRU 2014-07-14 09:32:29 +10:00
Andrew Tridgell
72f94444c4 HAL_Linux: added basic support for RC overrides 
this allows for easier testing of RC output by allowing
mavproxy to setup fake inputs

Pair-Programmed-With: Sid, Anuj, Victor and Philip
 2014-07-14 09:32:29 +10:00
Andrew Tridgell
d0b007248f HAL_Linux: fixed SPI semaphore, and panic on CS error 
This adds a check for trying to assert two CS pins on the same bus
at the same time. The change involves moving the _device handles into the
DeviceManager class, and accessing via static methods.

This also moves the semaphore to be per-bus rather than per-device,
which fixes the problem with bad MS5611 transfers.

Pair-Programmed-With: Victor, Sid, Anuj and Philip
 2014-07-14 09:32:29 +10:00
bugobliterator
5bcdb039e2 HAL_Linux: Make asynchronous PRU write and reduce the size of data exchange 
Change to sending Total Period and hi Period, rather than Hi and Lo Period
Change PRU firmware accordingly
 2014-07-14 09:32:29 +10:00
Víctor Mayoral Vilches
fa6c5ba80e HAL_Linux: Remove the additional portNumber offset 
The socket is being launched in (_base_port + portNumber) port
following SITL impl. In order to avoid confusions portNumber has
been set to 0.
 2014-07-14 09:32:21 +10:00
Víctor Mayoral Vilches
02c171b19f HAL_Linux: UART-like TCP sockets, check for ":wait" 2014-07-14 09:32:13 +10:00
Víctor Mayoral Vilches
ca80c0b8e2 HAL_Linux: config UART file descriptor as non-blocking 2014-07-14 09:31:59 +10:00
bugobliterator
e6f27c9fac AP_Motors_Time_test.pde: use hal.scheduler->micros instead of gettimeofday 2014-07-14 09:31:59 +10:00
Siddharth Bharat Purohit
65fef59dfa HAL_Linux: change initial PWM values to 490Hz, 1000us 2014-07-14 09:31:49 +10:00
Víctor Mayoral Vilches
f11f0d9f2a HAL_Linux: Fix FRAM code 2014-07-14 09:31:41 +10:00
Víctor Mayoral Vilches
be68de20f1 HAL_Linux: UART-like TCP sockets impl. on AP_HAL_Linux 2014-07-14 09:31:30 +10:00
Víctor Mayoral Vilches
b0742fbb5b HAL_Linux: Add FRAM SPI support. 2014-07-14 09:31:18 +10:00
Siddharth Bharat Purohit
0422695e5e HAL_Linux: Correct error inside read method in RCOutput 2014-07-14 09:31:05 +10:00
bugobliterator
092bda9c37 HAL_Linux: Replace PRU1 firmware with a new one to support new way of controllong PRU PWM 2014-07-14 09:31:05 +10:00
bugobliterator
63560e8122 HAL_Linux: change to directly accessing shared_mem of pru in RCOutput 2014-07-14 09:30:54 +10:00
Siddharth Bharat Purohit
9999e77a74 HAL_Linux: add close(_fd) to some functions in RCOutput 2014-07-14 09:30:42 +10:00
Víctor Mayoral Vilches
95e0803880 HAL_Linux: Remove panic when invalid pin in GPIO 
When a invalid pin is passed as a parameter
the methods return without performing anything
insted of raising a panic.
 2014-07-14 09:30:25 +10:00
Víctor Mayoral Vilches
245618e298 HAL_Linux: Improve error handling SPIDriver 2014-07-14 09:30:16 +10:00
Víctor Mayoral Vilches
d330cbecb3 HAL_Linux: Make the CS variables more readable in SPIDriver 2014-07-14 09:30:06 +10:00
Víctor Mayoral Vilches
665bf4a247 HAL_Linux: BUS_SPEED selected individually in SPIDriver 2014-07-14 09:29:53 +10:00
Víctor Mayoral Vilches
8a85f8d6d2 AP_Baro_MS5611_test: Add HAL specific code. 2014-07-14 09:29:53 +10:00
Siddharth Bharat Purohit
d2b5a1cfac HAL_Linux: add HAL_ prefix to GPIO_INPUT 2014-07-14 09:29:45 +10:00
bugobliterator
1f1af0b0ea HAL_Linux: make GPIO code compact and readable 
add hal instance to generate scheduler
change gpio/export write method
add gpio struct to LinuxDigitalSource class
change individual gpio banks to one gpio_bank array
 2014-07-14 09:29:45 +10:00
bugobliterator
fb7ca9bb3c AP_Motors:add AP_Motors_Time_test 2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches
de58df6371 AP_Baro_MS5611_test: Add block for APM2-code 2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches
bb5de8a6a1 AP_InertialSensor_LSM9DS0: Fix the CS. 2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches
ad3a3f9366 AP_InertialSensor_MPU6000: Fix the CS. 2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches
aa60a89cda AP_InertialSensor_MPU9250: Fix SPI CS. 2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches
651cb58ebc HAL_Linux: Add CS capabilities to the SPI driver. 2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches
bae84e2942 AP_InertialSensor: Add missing library to test example. 2014-07-14 09:29:36 +10:00
Víctor Mayoral Vilches
4df3b55ed4 AP_InertialSensor_MPU9250: Add missing library for example/ 
In order to compile the examples test a library needed to
added.
 2014-07-14 09:29:36 +10:00
Víctor Mayoral Vilches
763c075497 HAL_Linux: spidev1.0 to SPI0 and spidev2.0 to SPI1 2014-07-14 09:29:28 +10:00
bugobliterator
fd0685cc01 HAL_Linux: change to mem access method from sysfs access method 
This step is taken to reduce the time for gpio access substantially
 2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches
eb95130441 AP_InertialSensor_MPU9250: remove legacy CS. 2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches
5e7e28a83e AP_InertialSensor_MPU9250.cpp: Update the DRDY pin. 2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches
d053a91cd5 AP_InertialSensor_MPU6000: Remove MPU6000_CS_PIN 
Remove MPU6000_CS_PIN, a legacy way of handling
Chip Select.
 2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches
d9cb29ea8b AP_InertialSensor_MPU6000: Correct DRDY pin. 2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches
70aafa380e GPS_UBLOX: fix test to work with AP_HAL_Linux. 
Some libraries were missing.
 2014-07-14 09:29:18 +10:00
bugobliterator
96bbe17bd3 HAL_Linux: add support for LinuxDigitalSource in AP_HAL_Linux 2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches
7652d47e6e HAL_Linux: Add GPIO pinmux mappings 
This will allow to request channels using the
name of the BBB headers (e.g. P8_12, P9_42).
 2014-07-14 09:29:08 +10:00
bugobliterator
18d7438240 HAL_Linux: increase size of sysfs_path variables inside LinuxRCOutput's methods 
to avoid stack smashing error
 2014-07-14 09:29:08 +10:00
bugobliterator
85d10e2ce3 HAL_Linux: add export gpio during direction set if not exported during initialisation 2014-07-14 09:29:08 +10:00
bugobliterator
a7ead42f52 HAL_Linux: added initial gpio library 2014-07-14 09:29:08 +10:00
Andrew Tridgell
79fed17563 AP_Notify: added pins for Linux port 2014-07-14 09:29:08 +10:00
Víctor Mayoral Vilches
d43c1cc544 AP_Motors_test: Adapt to test bench available 2014-07-14 09:29:08 +10:00
Víctor Mayoral Vilches
df14318bbd AP_InertialSensor_L3G4200D: Clock-based wait_for_sample() impl. 2014-07-14 09:29:08 +10:00
Víctor Mayoral Vilches
c4b6026d53 HAL_Linux: include readRegistersMultiple in I2CDriver 
AP_HAL_Linux implemments this new method.
 2014-07-14 09:28:42 +10:00
Víctor Mayoral Vilches
ea7dcc188b AP_HAL_Linux: Correct SPIDriver devs 2014-07-14 09:10:23 +10:00
Víctor Mayoral Vilches
57ec305caa AP_HAL: Fixes to make the ERLE layer work 2014-07-14 09:10:23 +10:00
Víctor Mayoral Vilches
7cf1187473 AP_InertialSensor_MPU9150: Clock-based wait_for_sample() impl. 
Adapt the I2C driver to a system clock based wait_for_sample()
implementation.

The sample rate of the sensor has been corrected to 800 Hz (could be
further pushed up to 1KHz).

Filters for the mag have also been created but remain commented until
the code for the mag is ready.
 2014-07-14 09:10:23 +10:00
Víctor Mayoral Vilches
8af1b6faa7 AP_HAL_Linux: Add support for SPIDevice_LSM9DS0 
The LSM9DS0 SPI device is connected to
SPI0, thereby SPIDriver class should return the
corresponding device.
 2014-07-14 09:10:23 +10:00
Víctor Mayoral Vilches
c4babc543d AP_InertialSensor_LSM9DS0: SPI userspace sensor driver. 
ST Microelectronics 9 DOF IMU userspace sensor driver. Some
work with the filters needs to be done.
 2014-07-14 09:10:23 +10:00
bugobliterator
79fb10d9e8 HAL_Linux: correct AP_HAL_Linux::RCOutput::enable_ch method 
change the mode of file open which was set as RDONLY mistakenly
 2014-07-14 09:10:23 +10:00
bugobliterator
eb35c94a43 HAL_Linux: add rcout->init method to HAL_Linux_Class::init 2014-07-14 09:10:23 +10:00
bugobliterator
e9f5e0d6cc HAL_Linux: add rcout->init method to HAL_Linux_Class::init method 2014-07-14 09:10:23 +10:00
bugobliterator
34ba77e048 HAL_Linux: Correct faulty RCOutput driver 
solve compiler not looking ahead of RCOutput class for read and write methods
 2014-07-14 09:10:23 +10:00
bugobliterator
26cd4ad237 HAL_Linux: Correct indentation 2014-07-14 09:10:23 +10:00
Siddharth Bharat Purohit
69a4b7d632 HAL_Linux: Correct Indentation issue 2014-07-14 09:10:23 +10:00
Siddharth Bharat Purohit
731d80e6c5 HAL_Linux: Add Steps to Manually test pwm channels 2014-07-14 09:10:13 +10:00
Siddharth Bharat Purohit
b53b3f415a HAL_Linux: Create Readme.md adding details on manually testing pru pwm 2014-07-14 09:10:03 +10:00
bugobliterator
a7de5e3d0f HAL_Linux: Add initial RCOutput driver 
The functions in RCOutput.cpp are defined to access PWM over PRU sysfs
device from userspace using open, read, write and close methods.
 2014-07-14 09:09:53 +10:00
Víctor Mayoral Vilches
3354fa9fc8 AP_HAL_Linux: Add support for SPIDevice_MS5611 2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches
1c07985518 AP_InertialSensor_MPU9150: Comment the suspend_timer_procs 
It causes the driver to hang. This matter should be inspected.
 2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches
d65aefbef5 AP_InertialSensor_MPU6000: Fix the test code so that compiles. 2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches
9797867067 AP_Baro_MS5611: Fix the test code so that compiles. 
Add HAL_BOARD_LINUX and HAL_BOARD_ERLE compatibility.
 2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches
9f5b4ffca4 AP_HAL_Linux_Class: Correct deadlock, and infinite loop in setup() 
(credit to Mitch Miers <mmiers@mmiers.com>):

setup() is attempting to initialize the hardware, and while doing so
is attempting to output some text via the console (and maybe mavlink
data).  The problem is, the output isn't going to complete once a
write buffer is full, because LinuxUARTDriver::_timer_tick() doesn't
perform work until _initialized is true.  So, what happens is,
setup() (and subroutines) call LinuxUARTDriver::_write(uint8_t c),
which loops waiting for buffer space to become available (once the
write buffer is full).  The buffer never gets space, because the
UART thread is waiting for initialization to complete before it
will write out data and drain the buffer, but that doesn't happen
until setup() returns (see AP_HAL_Linux_main.h).

Refer to https://groups.google.com/forum/#!topic/beaglepilot/dQlxse11JNI
 2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches
fac3d1c271 AP_InertialSensor_MPU9250: SPI userspace sensor driver. 
InvenSense MPU9250 sensor driver and test code (available under
libraries/examples/).
 2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches
27ebf790e2 AP_HAL_Linux: Add support for SPIDevice_MPU9250 
The Invensense MPU9250 SPI device is connected to
SPI1, thereby SPIDriver class should return the
corresponding device.
 2014-07-14 09:02:46 +10:00
Víctor Mayoral Vilches
5493be1b0d AP_HAL: Add SPIDevice_MPU9250 as a device. 2014-07-14 09:02:46 +10:00
Víctor Mayoral Vilches
815c2df2d0 AP_HAL_Linux: SPIDriver, add MPU6000 support 2014-07-14 08:52:51 +10:00
Víctor Mayoral Vilches
4d79887cc5 L3G4200D: fix in the test example provided. 
The test coded had a call to "wait_for_sample" that expected one
argument and 0 where provided.
 2014-07-14 08:52:51 +10:00
Andrew Tridgell
74ee70d463 HAL_Linux: updates for ERLE board type 2014-07-14 08:52:27 +10:00
Andrew Tridgell
ab7e96b9de AP_InertialSensor: updates for ERLE board type 2014-07-14 08:51:44 +10:00
Victor Mayoral Vilches
44320708a7 AP_InertialSensor_MPU9150: I2C userspace driver sensor added. 
The MPU9150 is a 9 axis sensor that includes 3 accelerometers,
3 gyroscopes and 3 magnetometers. All accessible through I2C.
The AP_InertialSensor_MPU9150 class allows APM to use this sensor.
 2014-07-14 08:16:29 +10:00
Victor Mayoral Vilches
1445781104 AP_Common: added fire cape product ID 2014-07-14 08:16:29 +10:00
Randy Mackay
7e04b5d1f1 INS: calibrated method checks all accelerometers 2014-07-13 22:05:21 +09:00
Jonathan Challinger
762bb3e6e8 AC_AttitudeControl: Limit _pos_target.z to below alt_max before computing error 2014-07-13 21:14:34 +09:00
Andrew Tridgell
28fedba4d8 AP_AHRS: fixed gyro_bias sign, and pre-calculate gyro_estimate for EKF 
this allows us to return a constant vector for the corrected gyro
estimate. Based on discussions with Jon Challinger
 2014-07-13 21:56:39 +10:00
Jonathan Challinger
966d66ef40 AP_AHRS_NavEKF: use gyro drift states from EKF in get_gyro 2014-07-13 21:34:44 +10:00
Jonathan Challinger
61987f6655 AP_AHRS: Fixed DCM get_gyro function 
Previously incorporated the attitude correction terms into the return. Now only returns the drift-corrected gyro.
 2014-07-13 21:19:29 +10:00
Jonathan Challinger
5f66027ba3 AC_AttitudeControl: Fixup some minor mistakes in AC_PosControl 2014-07-13 17:17:31 +09:00
Robert Lefebvre
92bdf24dba AP_MotorsHeli: Add To-Do. Swash setup hasn't seemed to work right for a while, this might be why. Confirm later. 2014-07-13 17:11:22 +09:00
Robert Lefebvre
a7f6a91827 AC_AttitudeControl_Heli: Remove ToDo. Rate controllers should always run even if throttle is zero. 2014-07-13 17:11:20 +09:00
Randy Mackay
f630f9abc3 GPS: exclude SIRF and NMEA on APM copter build 
This only works for the centralised builder, the modified Arduino IDE
will still include the NMEA and SIRF drivers meaning it will require
approximately 4k additional flash which may push us over the limit on
the APM2.  Users will instead need to exclude other features to get
below the APM1/2 flash limit.
 2014-07-13 15:41:11 +09:00
Andrew Tridgell
ddb030088d GCS_Mavlink: moved some more mavlink functions to GCS_Common.cpp 2014-07-13 15:37:49 +10:00
Randy Mackay
971411e0db AC_AttControl: fixed typo in parameter description 2014-07-13 10:31:11 +09:00
Randy Mackay
5f623ac859 AC_AttControl: re-enable rate feedforward by default 
Roll and Pitch rate controllers became sluggish without feed-forward
enabled.
 2014-07-11 15:31:00 +09:00
Randy Mackay
bbf4805b0e Compass: update pixhawk expected device ids 2014-07-11 11:10:18 +09:00
Craig Elder
c9f3adcb5c Compass: Updated COMPASS_PRIMARY parameter description 2014-07-10 15:32:06 -07:00
Craig Elder
0ecd12b1c6 AP_Compass: Corrected typo in parameter description 
Corrected typo in parameter description
 2014-07-10 14:19:19 -07:00
Randy Mackay
fa2f5d9c68 Arming: accept non-const compass in constructor 
The compass.configured() method checks the eeprom and cannot be const
meaning the Arming object requires a non-const reference to the compass.
Removed check for null compass because the compass object is always
created although this could lead to unnecessary pre-arn check failures
even though compass-use is set to false.
 2014-07-10 22:50:52 +09:00
Randy Mackay
4995b9ada8 Compass: default device id to zero 2014-07-10 20:25:36 +09:00
Randy Mackay
16d4af8346 Compass: sanity check instance in set_and_save_offsets 2014-07-10 20:25:32 +09:00
Randy Mackay
76369d153f Arming: use compass.configured method 
This checks that when compass offset learning is off, that the offsets
are non-zero and that the detected device id matches the device id
stored to eeprom when the offsets were last saved.
 2014-07-10 20:25:30 +09:00
Randy Mackay
cf7e1a6339 Compass: example sketch update for set_and_save_offsets 2014-07-10 20:25:13 +09:00
Randy Mackay
a778522cef Compass: add learn_offsets_enabled accessor method 2014-07-10 20:25:11 +09:00
Randy Mackay
108c878b04 Compass: set_offsets modified to also save offsets 2014-07-10 20:25:08 +09:00
Randy Mackay
124bd4b489 Compass: save_offsets accepts compass instance 2014-07-10 20:25:05 +09:00
Randy Mackay
2c1fa5f1e8 GCS_MAVLink: generate after adding deprecated note to SET_MAG_OFFSETS 2014-07-10 20:25:02 +09:00
Randy Mackay
798c749833 GCS_MAVLink: add deprecated note to SET_MAG_OFFSETS 2014-07-10 20:25:00 +09:00
Randy Mackay
05225636da GCS_MAVLink: generate after adding second mag to PREFLIGHT_SET_SENSOR_OFFSETS 2014-07-10 20:24:58 +09:00
Randy Mackay
bf6fd6f984 GCS_MAVLink: add second mag to PREFLIGHT_SET_SENSOR_OFFSETS 
Updates the comments for parameter 1 only, this does not affect the
message format.
 2014-07-10 20:24:55 +09:00
Randy Mackay
070f1c1bbb Compass: add dev_id for VRBrain 2014-07-10 20:24:49 +09:00
Randy Mackay
f42c9579d7 Compass: add dev_id for PX4 
dev_id is retrieved from PX4Firmware via ioctl call
 2014-07-10 20:24:46 +09:00
Randy Mackay
b7f33d81ad Compass: add DEV_ID param and configured method 
These allow checking the offsets were created with the current compass
device.
 2014-07-10 20:24:44 +09:00
svefro
be9bfc5530 Mount: set_mode method made public 2014-07-10 13:03:43 +09:00
Andrew Tridgell
d325f630e5 VibTest: added sample timing to console output 2014-07-09 12:12:23 +10:00
Andrew Tridgell
8af876fe8a AC_AttitudeControl: fixed build 
includes are case sensitive on the build server
 2014-07-09 10:19:17 +10:00
Andrew Tridgell
863e7a5f93 VibTest: fixed array bounds error 2014-07-09 08:11:52 +10:00
Andrew Tridgell
2c8240dbb4 VibTest: fixed gyro timestamps in logs 
it was using the accel timestamps
 2014-07-09 08:10:09 +10:00
Robert Lefebvre
789b1018fc AP_MotorsHeli: Change set_delta_phase_angle so that it forces recalculation of collective factors. 2014-07-08 20:18:39 +09:00
Robert Lefebvre
fd542e99d8 AP_MotorsHeli: Create Delta Phase Angle variable and method to set. Will be used by CCComp code. 2014-07-08 20:18:34 +09:00
Robert Lefebvre
0680b88abd AP_MotorsHeli: Add main loop rate time variable and method. Change RSC increment calc to account for loop rate time. 2014-07-08 20:18:20 +09:00
Robert Lefebvre
26be7aed97 AC_AttControl_Heli: Add LPF filter to Rate Feedforward terms 2014-07-08 20:18:13 +09:00
Robert Lefebvre
fa9d625e39 AC_HELI_PID: Add feedforward accessor functions. 2014-07-08 20:18:05 +09:00
Robert Lefebvre
979abb9fbd TradHeli: Cause DDVP Tail Motor to stop immediately when Ch8 is 0. 2014-07-08 20:18:02 +09:00
Andrew Tridgell
b2bc098aee HAL_PX4: avoid some float conversion warnings 2014-07-08 20:27:19 +10:00
Andrew Tridgell
e137bf26ef HAL_Empty: avoid some float conversion warnings 2014-07-08 20:27:13 +10:00
Andrew Tridgell
59de5a8465 AP_GPS: avoid some float conversion warnings 2014-07-08 20:27:03 +10:00
Andrew Tridgell
74c3b404ee AP_Baro: avoid some float conversion warnings 2014-07-08 20:26:54 +10:00
Andrew Tridgell
6b87c9fdf7 AP_Airspeed: avoid some float conversion warnings 2014-07-08 20:26:44 +10:00
Andrew Tridgell
f28946defb AP_ADC_AnalogSource: avoid some float conversion warnings 2014-07-08 20:26:37 +10:00
Andrew Tridgell
198ada2b42 APM_Control: avoid some float conversion warnings 2014-07-08 20:26:20 +10:00
Andrew Tridgell
baa0217bec AP_RangeFinder: trigger a new reading automatically 
this fixes Maxbotix I2C
 2014-07-08 16:28:18 +10:00
Andrew Tridgell
f6d9bc5d7e AP_RangeFinder: fixed detection of multiple types 
Pair-Programmed-With: Allyson Kreft
 2014-07-08 15:08:18 +10:00
Andrew Tridgell
7ceb14bec0 HAL_Empty: make I2C ops fail 2014-07-08 15:08:18 +10:00
Andrew Tridgell
9386295428 AP_RangeFinder: added SONAR2_TYPE parameter 
thanks to Allyson for noticing
 2014-07-08 15:08:18 +10:00
Andrew Tridgell
05d4f5fb5a AP_RangeFinder: convert PX4 driver to new API 2014-07-08 15:08:18 +10:00
Andrew Tridgell
4cba48ade2 AP_RangeFinder: removed old style analog drivers 
replaced by generic analog driver
 2014-07-08 15:07:51 +10:00
Andrew Tridgell
ed346fd639 AP_RangeFinder: convert MaxbotixI2C driver to new API 2014-07-08 15:07:51 +10:00
Andrew Tridgell
0063d83dbc AP_RangeFinder: convert the PulsedLight driver to new API 
not tested yet
 2014-07-08 15:07:50 +10:00
Andrew Tridgell
22b9059647 AP_RangeFinder: have two instances on all platforms 
rover needs two sonars for obstacle avoidance
 2014-07-08 15:07:50 +10:00
Andrew Tridgell
e69a473315 SITL: update simulated sonar support 2014-07-08 15:07:50 +10:00
Andrew Tridgell
6f33ca4988 AP_RangeFinder: added SONAR_RMETRIC option 
this allows correct support for non-ratiometric rangefinders such as
the SF/02
 2014-07-08 15:07:50 +10:00
Andrew Tridgell
92b76b4be4 AP_RangeFinder: converted analog rangefinder backend to new API 
this gets analog rangefinders of all types working
 2014-07-08 15:07:50 +10:00
Andrew Tridgell
cb037f3416 AP_RangeFinder: new rangefinder API ready for its first backend 
the backends are setup to have just the minimum functionality needed
for a rangefinder, with all of the higher level logic in the
frontend. This should make writing a new backend easier
 2014-07-08 15:07:50 +10:00
Andrew Tridgell
429431157b AP_RangeFinder: disable old rangefinder drivers 
these will be re-enabled when they are converted to the new class API
 2014-07-08 15:07:50 +10:00
akdslr
d759a9dd9b AP_RangeFinder: Seperated the Backend driver functionality into a separate class 2014-07-08 15:07:49 +10:00
akdslr
3f17969b19 AP_RangeFinder: Changes from the May 4th plane test flight 2014-07-08 15:07:49 +10:00
akdslr
2e586ccfb2 AP_RangeFinder_PulsedLightLRF: Updated the value to write to the register to trigger a measurement 2014-07-08 15:07:49 +10:00
akdslr
5f4168d5f8 AP_RangeFinder_PX4_test: Added an example sketch for the PX4 range finder 2014-07-08 15:07:49 +10:00
akdslr
18c06277f8 AP_RangeFinder: Added a new PX4 range finder and modified the RangeFinder parent class to support having multiple devices simultaneously 2014-07-08 15:07:49 +10:00
akdslr
a2df275bd9 AP_RangeFinder_PulsedLightLRF: Updated the register definitions for the new hardware 2014-07-08 15:07:49 +10:00
Andrew Tridgell
e118984c26 AP_Baro: save some flash and memory on APM2 
we don't need the I2C MS5611 driver
 2014-07-08 14:21:42 +10:00
Andrew Tridgell
d50d5b8f24 VibTest: fixed sample count output on console 2014-07-08 10:59:30 +10:00
Andrew Tridgell
03770c4d34 VibTest: added gyro data and support 3 sensors 
will be used for vibration testing on FMUv3
 2014-07-08 10:07:58 +10:00
Randy Mackay
2b64c511ed AC_WPNav: update yaw only when track is at least 2m 2014-07-06 17:02:12 +09:00
Randy Mackay
c9661cfb09 AC_WPNav: integrate set_desired_velocity_xy function name change 2014-07-06 17:01:10 +09:00
Randy Mackay
82ed70b25e AC_PosControl: add xyz velocity controller 
Velocity controller interpretsthe velocity requests as
desired velocities (i.e. feed forward).  These are then used to update
the target position and also added to the target velocity.
Also renamed the set_desired_velocity() function to
set_desired_velocity_xy() to make clear only lat and lon axis are
updated.
 2014-07-06 17:01:02 +09:00
Randy Mackay
fe8a5be802 AP_Mission: support MAV_CMD_NAV_VELOCITY msg 2014-07-06 17:01:00 +09:00
Randy Mackay
34b91496f9 GCS_MAVLink: generate after adding CMD_NAV_VELOCITY 2014-07-06 17:00:57 +09:00
Randy Mackay
35167c262e GCS_Mavlink: add MAV_CMD_NAV_VELOCITY 
This is an earth frame velocity request message
 2014-07-06 17:00:55 +09:00
Randy Mackay
9103899048 GCS_Common: minor typo in comments 2014-07-06 17:00:52 +09:00
Randy Mackay
f4c9d58051 AP_Mission: add support for MAV_CMD_NAV_GUIDED 2014-07-06 17:00:26 +09:00
Randy Mackay
be003c1906 GCS_MAVLink: generate after adding CMD_NAV_GUIDED 2014-07-06 17:00:24 +09:00
Randy Mackay
05c63592ce GCS_MAVLink: add CMD_NAV_GUIDED to ardupilotmega.xml 2014-07-06 17:00:21 +09:00
Andrew Tridgell
c138244155 AP_Compass: support 3 mags on PX4 2014-07-04 12:07:47 +10:00
Emile Castelnuovo
b420a5c6db AP_HAL_VRBRAIN: removed empty lines 2014-07-03 11:09:20 +10:00
Niels Joubert
fabd7601f0 GPS: Fix dataflash logging bug in SBP driver 2014-07-03 09:57:10 +10:00
Niels Joubert
b57d1f5245 GPS: Include 75-class CPUs in RTK support since they will have 64 bit floating point values. 2014-07-03 09:57:07 +10:00
Andrew Tridgell
849c4905fb HAL_PX4: print overtime message on stuck task 
this should make it easier to narrow down stuck task bugs
 2014-07-03 09:11:24 +10:00
Andrew Tridgell
67f5ba0b94 AP_Scheduler: added current_task static 
will be used to debug stuck tasks on PX4
 2014-07-03 09:09:11 +10:00
Emile Castelnuovo
bdd9fe77c7 VRBRAIN: change default pin for analog input. 2014-07-01 12:23:25 +02:00
LukeMike
f70da39206 VRBRAIN: changed the management of the pwm output 2014-07-01 12:21:36 +02:00
LukeMike
fa4fffc878 VRBRAIN: deleted unnecessary customizations 2014-07-01 12:21:35 +02:00
Emile Castelnuovo
b2680984a5 AP_HAL_VRRBAIN: added comment 2014-07-01 12:21:34 +02:00
Andrew Tridgell
bed5db35c7 GCS_MAVLink: fixed missing header 2014-07-01 14:57:41 +10:00
Andrew Tridgell
4c22aa20ad GCS_MAVLink: regenerate headers 2014-07-01 14:26:44 +10:00
Andrew Chapman
7cdd5a700b CameraFeedback: alt rel/msl, renamed CAMERA_EVENT 
- include both “alt_msl” and “alt_rel”
- rename CAMERA_EVENT to CAMERA_STATUS
- clarify comments regarding message origin and order
- change pitch/roll/yaw to be camera rather than vehicle, earth frame
 2014-07-01 14:25:55 +10:00
Andrew Tridgell
544d872d65 GCS_MAVLink: fixed a shadowed variable 2014-07-01 09:18:20 +10:00
Andrew Tridgell
773bc7bcbe GCS_MAVLink: added missing RTK headers 2014-06-30 20:06:34 +10:00
Andrew Tridgell
f9d87bcc88 AP_GPS: fixed build errors and warnings in SBP driver 
shadowed variables and implied casts in structures
 2014-06-30 11:15:51 +10:00
Andrew Tridgell
bcb3d1af14 GCS_MAVLink: fixed flymaple build 
has dual GPS but no RTK support
 2014-06-30 10:51:19 +10:00
Andrew Tridgell
fc11deb547 GCS_MAVLink: regenerate headers 2014-06-30 10:31:11 +10:00
Niels Joubert
fa78634959 AP_GPS: GPS calculates MAVLink messages for GPS and GPS_RTK 2014-06-30 10:30:16 +10:00
Niels Joubert
baf0697f48 GCS_MAVLink: Add support for GPS_RTK messages 2014-06-30 10:30:16 +10:00
Niels Joubert
ad5311c089 MAVLink: New message definitions for GPS_RTK 2014-06-30 10:29:57 +10:00
Niels Joubert
2b1169b0ab AP_GPS: SwiftNav RTK Driver and GPS AutoSwitch param 2014-06-30 10:29:56 +10:00
Niels Joubert
fee79c5bac SITL: Piksi Heartbeat Message support, Integer-RTK baseline simulation 2014-06-30 10:29:56 +10:00
Niels Joubert
a251d0010a AP_NOTIFY: RTK GPS visual notification through faster blink 2014-06-30 10:29:56 +10:00
Niels Joubert
398f32d538 AP_Math: Comments on WGS coordinate conversions 2014-06-30 10:29:56 +10:00
Andrew Tridgell
1ed716976c GCS_MAVLink: regenerate mavlink headers 2014-06-30 08:25:16 +10:00
Andrew Chapman
c6a76e8d97 CameraFeedback: added CAMERA_FEEDBACK_FLAGS for open/closed loop 
This is so a GCS can tell if a certain picture was definitely captured
(e.g. with a CCB or machine vision cam) or only requested in the blink
(e.g. uni-directional CHDK)
 2014-06-30 08:24:38 +10:00
Andrew Tridgell
fd87f28a07 DataFlash: save some flash space on APM2 
don't include log message headers that are not used on APM2
 2014-06-30 07:58:42 +10:00
Andrew Tridgell
e6d8e329d5 DataFlash: allow logging of 3 accels/gyros 2014-06-30 07:58:30 +10:00
Andrew Tridgell
ca12592448 AP_InertialSensor: allow for 3 accels and 3 gyros on Pixhawk 
this supports FMUv3
 2014-06-30 07:58:27 +10:00
Andrew Tridgell
ece01da10e AP_InertialSensor: fixed _dump_registers() for MPU6000 
need to take the semaphore to prevent bus errors
 2014-06-29 12:11:21 +10:00
lthall
4072fcd99e Inav: use horizontal body frame for accel corrections 2014-06-21 14:58:59 +09:00
Emile Castelnuovo
8f3a4bc88b VRBRAIN: correction to AP_Compass_VRBRAIN.cpp 2014-06-19 11:27:45 +02:00
Emile Castelnuovo
946a461873 VRBRAIN: added VRBRAIN to #if 2014-06-19 11:27:44 +02:00
LukeMike
8f552d5758 VRBRAIN: Changed the management of VirtualRobotix's boards. 2014-06-19 11:27:38 +02:00
Michael Oborne
30a3927ea8 AP_Mount: fix where status_msg() is sent 
send to the channel where the trigger msg was sent from
 2014-06-18 12:03:18 +10:00
svefro
b473f8fd4d AP_RCMapper: Added warning to RCMAP_THROTTLE 
Warning user that changing RCMAP_Throttle could be dangerous
 2014-06-17 21:04:19 +10:00
Randy Mackay
9b81e46e61 AP_Common: add example sketch 2014-06-17 20:53:53 +10:00
Randy Mackay
2f7dee3ba5 AP_Mission: squeeze loiter turns radius into high byte of p1 2014-06-17 20:53:50 +10:00
Randy Mackay
b79f729540 AP_Common: add LOWBYTE, HIGHBYTE macros 2014-06-17 20:53:47 +10:00
Randy Mackay
fa16e0967f AP_Common: remove unused location mask definitions 2014-06-17 20:53:45 +10:00
Andrew Tridgell
e2fe3d2de7 GCS_MAVLink: re-generate headers 2014-06-17 20:21:54 +10:00
Andrew Tridgell
0db226daf5 GCS_MAVLink: merge in upstream changes 2014-06-17 20:19:35 +10:00
Andrew Chapman
87fcfbf9dd GCS_MAVLink: re-generate MAVLink headers 2014-06-17 20:16:39 +10:00
Andrew Chapman
048767e389 GCS_MAVLink: camera feedback mavlink messages 
CAMERA_EVENT and CAMERA_FEEDBACK messages, and a couple of enums they
use (CAMERA_EVENT_TYPES and CAMERA_FEEDBACK_FLAGS)

Adjusted some types and added more explicit descriptions of units as
suggested on the call last week.

I will add camera parameter list/get/set functionality as suggested
using the existing parameter mechanism and component IDs rather than
the new CAMERA_INFO messages I had proposed.
 2014-06-17 20:15:20 +10:00
Randy Mackay
11e08e1492 DataFlash: common Log_Write_Camera 
pair programmed with Craig Elder
 2014-06-17 14:11:36 +10:00
Randy Mackay
0c9a496262 AC_AttControlHeli: add ATC_RATE_FF_ENAB parameter 
Because this class inherits from AC_AttitudeControl library this new
parameter must be added here as well
 2014-06-10 21:25:33 +09:00
Randy Mackay
46f25c52a4 AC_AttControl: allow enabling/disabling feedforward and accel limiting 2014-06-10 20:03:02 +09:00
Randy Mackay
a2f54fdf2c AC_WPNav: smooth waypoint by freezing feed-forward and allowing overshoot 
First part of this fix is freezing the position controller's xy-axis
feed foward as we transition to the new segment.
Second part is work-around for straight line segments in that we allow
the target point to actually overshoot the end of the segment by up to
2m if the segment is a "fast waypoint".  Ideally we would instead notice
the waypoint has been completed and take any left over time or distance
and move our target along the track towards the next waypoint but that
would require a much larger change to allow the wpnav lib to hold the
next two waypoints.
 2014-06-10 20:03:01 +09:00
Randy Mackay
ce85d1f6b2 AC_WPNav: use curr pos target as spline origin 
We only use the current target position as origin if the waypoint
controller is active (i..e has been used in the past 1 second).  This is
consistent with how we initialise straight line waypoints
 2014-06-10 20:02:59 +09:00
Randy Mackay
130eb07d48 AC_AttControl: angle_ef_roll_pitch_rate_ef_yaw supports zero yaw accel 2014-06-10 20:02:58 +09:00
Randy Mackay
02b4b21f67 AC_AttControl: disable feed forward by default 
Can be re-enabled by setting ATC_RATE_FF_ENAB parameter to 1
 2014-06-10 20:02:55 +09:00
Randy Mackay
b57c0dabf6 AC_AttControl: check accel_rp_max instead of rate_bff_ff_enabled 
We use the accel_rp_max, accel_y_max to check whether to apply accel
limiting or not.  This is related to separate from the
body-frame-feed-forward.
 2014-06-10 20:02:54 +09:00
Randy Mackay
2bb30b3ef9 AC_AttControl: add set_yaw_target_to_current_heading method 2014-06-10 20:02:49 +09:00
Randy Mackay
d9c966c927 AC_AttControl: RATE_FF_ENAB param to disable rate feed forward 2014-06-10 20:02:48 +09:00
Randy Mackay
4d4c7a2118 AC_AttControl: move freeze_ff to flags structure 2014-06-10 20:02:46 +09:00
Randy Mackay
a662f87ffb AC_AttControl: remove resolved To-Do 
This To-Do is resolved by heli flight modes calling the
relax_bf_rate_controller method
 2014-06-10 20:02:45 +09:00
Randy Mackay
7f734f38d6 AC_AttControl: add earth frame angle constraints 
This should help recovery time if pilot switches out of ACRO (into
Stabilize, AltHold, etc) while inverted
 2014-06-10 20:02:43 +09:00
Randy Mackay
698cf934b8 AC_AttControl: formatting fixes 2014-06-10 20:02:42 +09:00
lthall
2bb63857fa AC_AttControl: clean up stabilize 2014-06-10 20:02:40 +09:00
lthall
c24d293e1b AC_AttControl: zero _accel_xyz_max stops feed forward 
Also added place holder for turning off feed forward.
 2014-06-10 20:02:39 +09:00