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15346 Commits

Author SHA1 Message Date
Peter Barker
518399c13a AC_Fence: stop looking at EKF filter status 
Fence has no business looking at what the filter status is.

Fence should only care whether it can currently get a position.
 2017-12-13 10:04:50 +09:00
khancyr
65373b85f0 AC_Fence: replace AP_InertialNav by AHRS 2017-12-13 10:04:50 +09:00
priseborough
3b32d583a9 AP_NavEKF2: Fix delta time use error 2017-12-12 11:39:38 +11:00
priseborough
440d361aff AP_NavEKF2: Limit range of delta times 2017-12-12 11:39:38 +11:00
Andrew Tridgell
6b30c9213a AP_NavEKF3: delay startup until IMU buffer is filled 
this prevents a vulnerability where the initial IMU data is processed
26 times (where 26 is the IMU buffer length)
 2017-12-12 11:39:38 +11:00
Andrew Tridgell
1f9a3dd1bd AP_AHRS: improved init attitdue in DCM 
this tries harder to get a good IMU sample for the initial attitude
estimate. I have seen cases of bad IMU data on startup and this makes it
much less likely
 2017-12-12 11:39:38 +11:00
Andrew Tridgell
97729a12f0 AP_NavEKF2: don't run IMU updates until buffer fills 
this prevents us using bad initial data multiple times. It fixes a bug
where the IMU may pause during EK2 initialisation
 2017-12-12 11:39:38 +11:00
Andrew Tridgell
39c206ca03 AP_InertialSensor: limit delta-time from INS 
limit delta-time to 2x average time

DEBUG CODE - DO NOT MERGE
 2017-12-12 11:39:38 +11:00
Andrew Tridgell
a0af4af5b5 AP_InertialSensor: debugging code for EK2 bug 2017-12-12 11:39:38 +11:00
Randy Mackay
38145f9541 AP_InertialSensor: fix param docs for notch and log settings 2017-12-12 07:59:41 +09:00
Randy Mackay
cabced82f1 AR_AttitudeControl: fix parameter descriptions 2017-12-11 17:01:18 +09:00
Michael Oborne
78f732c380 AR_AttitudeControl: fix parameter docs 2017-12-11 08:35:33 +09:00
Randy Mackay
744f4baf22 AR_AttitudeControl: add parameter description increment 2017-12-09 16:23:25 +09:00
Randy Mackay
f00f4ce79b AR_AttitudeControl: fix get_desired_speed timeout 2017-12-09 16:23:22 +09:00
Randy Mackay
9b81c133f6 AP_HAL_PX4: fix compiler warning in UARTDriver 2017-12-09 12:18:49 +09:00
Randy Mackay
36c5f057ae AR_AttitudeControl: add get_desired_turn_rate lat_accel and speed 
for reporting use only
 2017-12-09 12:18:49 +09:00
Andrew Tridgell
30944f60e6 AP_SBusOut: fixed param doc name 2017-12-09 08:31:24 +11:00
Andrew Tridgell
051f30990c SRV_channel: fixed doc names of VOLZ and SBUS 
thanks to Mark for noticing
 2017-12-09 08:08:00 +11:00
Peter Barker
c4734484e7 AC_Avoid: take an AP_AHRS in place of an AP_AHRS_NavEKF 2017-12-08 11:27:37 +09:00
Peter Barker
8a4ab685c7 AP_AHRS: implement get_hgt_ctrl_limit on base class 
If no limits are required false can be returned, so an trivial
implementation is possible
 2017-12-08 11:27:37 +09:00
Peter Barker
89e12163cd AP_AHRS: correct comment 2017-12-08 11:27:37 +09:00
Peter Barker
c3eff57f60 AP_InertialNav: remove unused get_hgt_ctrl_limit 2017-12-08 11:27:37 +09:00
Peter Barker
a1c982be4a AC_Avoid: work in metres to avoid extra work 2017-12-08 11:27:37 +09:00
Peter Barker
0fe45ef6b6 AC_Avoid: eliminate get_position and get_alt_above_home 2017-12-08 11:27:37 +09:00
Peter Barker
54010451bf AC_Avoid: check result of AHRS calls 
Work in metres to avoid computation
 2017-12-08 11:27:37 +09:00
khancyr
b44ba29a05 AC_Avoidance: replace AP_InertialNav by AHRS 2017-12-08 11:27:37 +09:00
Andrew Tridgell
4289190654 HAL_PX4: added LIS3MDL on FMUv4 2017-12-08 09:49:25 +11:00
Mark Whitehorn
b0e2f06a7a AP_Compass: add LIS3MDL probe for Pixracer 2017-12-08 09:49:25 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
9b2e48ce10 AP_GPS: Improve comments (NFC) 2017-12-05 10:44:58 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
fa4427fbce AC_AttitudeControl: Add AC_PosControl::get_bearing_to_target() method 2017-12-05 09:17:15 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
1a512609ac AC_WPNav: Use the get_bearing_cd() overloaded function provided by AP_Math instead 2017-12-05 08:54:49 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
e13281ab2d AP_Math: add overloaded functions get_horizontal_distance_cm() and get_bearing_cd() (NFC) 2017-12-05 08:54:49 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
07c8d208bc AC_WPNav: Use DEGX100 define instead of hardcoded value (NFC) 2017-12-05 08:54:49 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
ec1790dad9 AP_Math: Use DEGX100 define instead of hardcoded value (NFC) 2017-12-05 08:54:49 +09:00
Guglie
4eaa1f17df SITL: fix pthread_setname_np to build on mac 2017-12-04 21:14:29 +11:00
Tom Pittenger
da11241aa8 AP_HAL_SITL: add const 2017-12-02 09:17:27 +09:00
Patrick José Pereira
bd1110f444 AP_JSButton: simplifies logic 
Less code make people happy

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2017-12-01 14:50:15 -08:00
Peter Barker
e39e8359b6 GCS_MAVLink: tighten result of handle_preflight_reboot 2017-12-01 17:01:10 +00:00
Peter Barker
161e2145cb AP_InertialSensor: tighten type of simple_accel_cal result 2017-12-01 17:01:10 +00:00
Randy Mackay
82cd320bd0 AP_AHRS: add get_origin method to parent 2017-12-01 09:28:56 +09:00
Andrew Tridgell
da4d3ebe2b HAL_SITL: fixed UART utils for cygwin and Linux 2017-12-01 08:02:48 +11:00
Tom Pittenger
6bdbe53024 AP_HAL_SITL: fix compile error for Windows/Cygwin builds 
termios2 not available on cygwin. This needs a re-think for cygwin. For now let's just hide it by letting it be declared empty by the virtual and totally bypass it in the cygwin build.
 2017-11-30 12:17:49 -08:00
Tom Pittenger
013035a4da AP_HAL_SITL: fix compile error for Windows/Cygwin builds 
Can not find "asm/termios.h"
 2017-11-30 12:05:56 -08:00
Tom Pittenger
760c6185e5 AP_HAL_SITL: remove SBUS debug code 2017-11-30 12:03:17 -08:00
Pierre Kancir
c30642a348 AP_HAL_SITL: correct _unbuffered_writes usage 2017-11-30 10:36:54 -08:00
Mark Whitehorn
b1b1c0218f AP_HAL_PX4: clean whitespace 2017-11-30 10:20:04 +11:00
Mark Whitehorn
d9ce90ceb0 AP_SBusOut: fix typo in comment 2017-11-30 10:20:04 +11:00
Mark Whitehorn
8d70255b8b AP_SBusOut: turn off SBUS_DEBUG 2017-11-30 10:20:04 +11:00
Mark Whitehorn
5a417e3152 AP_HAL_SITL: support SBusOut 
add uart config methods
 2017-11-30 10:20:04 +11:00
Mark Whitehorn
644f5b75e6 AP_HAL_VRBRAIN: rename enable_sbus_out to enable_px4io_sbus_out 2017-11-30 10:20:04 +11:00
Mark Whitehorn
12ea8efa84 AP_HAL_PX4: support SBusOut 
add unbuffered writes and uart config
 2017-11-30 10:20:04 +11:00
Mark Whitehorn
66c4b7d986 AP_HAL: support SBusOut 
rename enable_sbus_out to enable_px4io_sbus_out
 2017-11-30 10:20:04 +11:00
Mark Whitehorn
3587d7f253 AP_SerialManager: add SBUS1 serial output support 2017-11-30 10:20:04 +11:00
Mark Whitehorn
cca251c135 SRV_Channel: support SBusOut 2017-11-30 10:20:04 +11:00
Mark Whitehorn
94d4f068a8 AP_SBusOut: create library 2017-11-30 10:20:04 +11:00
Mark Whitehorn
560402bad4 AP_BoardConfig: clarify PX4IO SBUS enable message 2017-11-30 10:20:04 +11:00
Peter Barker
47f8ed7fab AP_GPS: set GPS_SAVE_CFG default to save GPS config as required 2017-11-29 00:58:43 -07:00
Andrew Tridgell
9677d570e9 AP_GPS: faster GPS lock 
use 9600 and 115200 first
 2017-11-29 00:58:43 -07:00
Andrew Tridgell
2c6593e35e AP_NavEKF3: fixed inverted function setInhibitGpsVertVelUse() 2017-11-29 09:47:14 +09:00
Andrew Tridgell
4019a167a9 AP_NavEKF2: fixed inverted function setInhibitGpsVertVelUse() 2017-11-29 09:47:14 +09:00
Grant Morphett
f7db538220 APM_Control: Fixed the subparam indexs to start at 1 
AFAIK there is still a bug in ArduPilot where subparams should not start at index 0.  This is due to the way the index math and bit shifing works as it incorrectly offsets all 0 index params to 0. We allow 2 levels of sub params - 3 levels in total.  So params, sub params and sub sub params.  The 0 parameter in all those is unfortunately always references param[0].  So param[0] and subparam[0] and subsubparam[0] will reference the same parameter value.  Its why we always say start the index from 1 as the math and bitshifting then works correctly.

Yeah this is worded badly - hard to explain.
 2017-11-29 09:43:10 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
5a0ffe94d2 AP_Common: NFC spell in comments 2017-11-27 23:13:34 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
0ecb14361d AP_AHRS: NFC spell in comments 2017-11-27 23:13:34 +09:00
Randy Mackay
b9a1621d38 AR_AttitudeControl: minor comment fix 
non-functional change
 2017-11-27 10:35:26 +09:00
Peter Barker
30355fa6d8 AP_Mission: provide short description for mission item types 2017-11-27 10:28:24 +09:00
Andrew Tridgell
9660973975 AP_Math: make crc_crc8 const 2017-11-27 10:15:07 +09:00
Leonard Hall
bd284d9fd7 AC_PosControl: correct lean-angle-to-accel formula 
Thanks to @luweikxy for finding this issue!
 2017-11-24 09:12:00 +09:00
Leonard Hall
e49d29f8cd AC_WPNav: protect against divide by zero 
This could occur if the spline origin and destination were the same location
In these cases we mark the vehicle as having reached the destination avoid all calculations
 2017-11-23 21:24:28 +09:00
Andrew Tridgell
917d9842c4 SITL: support AHRS_ORIENTATION in SITL 
this allows for tailsitters in RealFlight
 2017-11-23 14:26:11 +11:00
Andrew Tridgell
ebcffcb0ac HAL_SITL: fixed console printf in SITL examples 2017-11-23 14:26:11 +11:00
Andrew Tridgell
3f226cd2b9 AP_Math: added from_rotation() method to Matrix3 
this is used to get a rotation matrix from a rotation enum
 2017-11-23 14:26:11 +11:00
Peter Barker
22f1b5ed6f TECS: support for units on fields 2017-11-23 10:40:30 +11:00
Peter Barker
d68ba874d0 DataFlash: correct examples with units 2017-11-23 10:40:30 +11:00
Peter Barker
b19f981c07 DataFlash: validate units and multipliers 2017-11-23 10:40:30 +11:00
Peter Barker
9896e23c36 DataFlash: Log_Write() fills unknown units with '?' 2017-11-23 10:40:30 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
2e94673e4f DataFlash: keep the unit names consistent with Tools/autotest/param_metadata/param.py:33 2017-11-23 10:40:30 +11:00
Peter Barker
a5442fb293 DataFlash: support for units on fields 2017-11-23 10:40:30 +11:00
Peter Barker
1e512338f9 AP_AirSpeed: clarify comment 2017-11-23 10:40:30 +11:00
Jacob Walser
46ac0e45aa AP_HAL_SITL: initialize rc inputs appropriately for ArduSub 2017-11-22 15:43:46 -05:00
Patrick José Pereira
28ff272017 SIM_Submarine: Solve problem when frame is above water level 
Fix bluerobotics/ardusub/issues/128

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
Co-Authored-By: jaxxzer <jwalser90@gmail.com>
 2017-11-22 12:38:14 -08:00
HeBin
c056076e85 AP_InertialSensor: fix code style problem, delete useless codes 2017-11-22 10:20:00 -08:00
HeBin
1918b07705 AP_Notify: add Robsense PhenixPro Devkit Board support 2017-11-22 10:10:21 -08:00
HeBin
efbb030494 AP_InertialSensor: add Robsense PhenixPro Devkit Board support 2017-11-22 10:10:21 -08:00
HeBin
0e1ce2a7fd AP_HAL_Linux: add Robsense PhenixPro Devkit Board support 2017-11-22 10:10:21 -08:00
HeBin
895b5f34b8 AP_HAL: add Robsense PhenixPro Devkit Board support 2017-11-22 10:10:21 -08:00
HeBin
26de6de848 AP_Compass: add Robsense PhenixPro Devkit Board support 2017-11-22 10:10:21 -08:00
Chinese66
700aaf2e8f AP_HAL: add delay to UART_test example 
For AC3.5 and higher version, serial uartA-USBconsole cannot work. Maybe the code before "setup" has been changed. Ensure that the uartA can be initialized
 2017-11-22 09:05:17 +09:00
Michael du Breuil
983a330cd5 AC_Fence: Remove unused duplicate methods 
The Vector2l methods completely duplicate the code of the Vector2f
methods, but aren't used anywhere. They are therefore subject to bitrot
and aren't adding any value. (Also shrinks the build by 8 bytes for some
reason, given that it's unused code I expected to see no difference in
binary size).
 2017-11-21 17:04:11 +09:00
Andrew Tridgell
e0d383c986 AP_Volz_Protocol: add a 30% safety margin over baudrate 
we don't want to fill the buffer if we don't get full uart utilisation
 2017-11-21 14:10:54 +11:00
Guy Tzoler
7f68be9bdf SRV_Channel: adding Volz Support 2017-11-21 14:10:54 +11:00
Guy Tzoler
2442f3fb06 AP_SerialManager: adding Volz Support 
and make AP_SerialManager a singleton
 2017-11-21 14:10:54 +11:00
Guy Tzoler
65032919e2 AP_Volz_Protocol: added Volz protocol library 2017-11-21 14:10:54 +11:00
Samuel Tabor
05492be269 AP_AHRS: clarify scope of AHRS_GPS_USE parameter 2017-11-20 13:53:36 +09:00
Samuel Tabor
1b4705242c AP_NavEKF2: print reason for EKF2 arming failure when no GPS is available 2017-11-20 13:53:31 +09:00
Michael du Breuil
012ddbefac AP_Landing: Support absolute altitude deepstalls 2017-11-19 16:48:17 +01:00
Andrew Tridgell
964d64a623 SITL: adjust FlightAxis defaults 
and map 0,0 to CMAC location, to improve how SITL works in
MissionPlanner
 2017-11-19 18:24:08 +11:00
Andrew Tridgell
cdd350f93e SITL: fixed build under cygwin 2017-11-18 21:23:15 +11:00
Georgii Staroselskii
a18cf45798 AP_Notify: enable AP_BoardLED for Navio 2017-11-17 09:20:55 -08:00
Georgii Staroselskii
6326e23682 AP_HAL: Navio: add defs for BoardLED 2017-11-17 09:20:55 -08:00
Georgii Staroselskii
56534b34c5 AP_HAL_Linux: use GPIO_Sysfs for Navio 
/boot/config.txt: dtoverlay=navio-rgb should be disabled for this thing
to work, though.
 2017-11-17 09:20:55 -08:00
Georgii Staroselskii
4e02637f23 AP_Notify: add Led_Sysfs and use in Navio2 
Navio2 exports its leds via /sys/class/leds interface. We reuse it in
order not to conflict with GPIO_Sysfs. Otherwise we'd get a Device Busy
error in GPIO_Sysfs::_export_pin().
 2017-11-17 09:20:53 -08:00
Georgii Staroselskii
5254ee03c2 AP_HAL_Linux: use GPIO_Sysfs for Edge 2017-11-17 09:18:36 -08:00
Georgii Staroselskii
8fcd30c611 AP_HAL_Linux: use GPIO_Sysfs for Navio 2 2017-11-17 09:18:35 -08:00
Peter Barker
fd543fce6d AP_Scheduler: create AP::PerfInfo class 2017-11-16 15:31:53 +00:00
Peter Barker
5c2f68e8f5 Copter+AP_Scheduler: move perf_info.cpp into Scheduler 2017-11-16 15:31:53 +00:00
Peter Barker
b97ee33438 DataFlash: AP_Camera functions use GPS singleton 2017-11-16 15:28:37 +00:00
Peter Barker
7258fa81d9 AP_Camera: use GPS singleton 2017-11-16 15:28:37 +00:00
Leonard Hall
ebd864d2d2 AC_PosControl: minor update to comments 2017-11-16 09:46:28 +09:00
Peter Barker
269294754f GCS_MAVLink: use gps singleton 2017-11-15 13:43:03 +00:00
Peter Barker
a8aa6a7822 AP_Arming: use gps singleton 2017-11-15 13:43:03 +00:00
Peter Barker
693823ae0d AP_GPS: add gps() to AP:: namespace 2017-11-15 13:43:03 +00:00
Randy Mackay
6315e6eb45 AC_AttitudeControl: remove unused get_tilt_limit_rad 2017-11-15 20:22:02 +09:00
DOMINATOR\Eugene
4c6f954cdf AP_BoardConfig: separation of parameter groups 2017-11-15 09:52:43 +11:00
André Kjellstrup
1a63fd85d8 AP_Camera: Option to trig by distance only when in AUTO mode 2017-11-14 00:10:22 +00:00
khancyr
4413ebab7b AP_HAL_SITL: suppress output until initialization is finished 2017-11-13 10:52:38 +11:00
Jacob Walser
07fa65a88c AP_HAL_SITL: Add current and voltage monitoring implementation for Sub 2017-11-13 10:50:27 +11:00
khancyr
2a25011b14 AR_AttitudeControl: const local variables 2017-11-09 09:53:12 +09:00
Peter Barker
23882aaab0 AP_Notify: only play not-ready-or-not-finished tone if we've been ready 2017-11-08 19:08:23 +09:00
Peter Barker
25a0e6378e AP_Arming: manual transmitter checks call rc calibration checks 2017-11-08 19:07:57 +09:00
Peter Barker
49dd5f4f80 Copter: prearm board voltage checks are called in parent class 2017-11-08 19:07:53 +09:00
Peter Barker
30c1a040d7 Copter: prearm baro checks are called in parent class 2017-11-08 19:07:44 +09:00
Peter Barker
901fe55d04 AP_Notify: play sad tone if prearm checks start to fail 2017-11-08 19:02:44 +09:00
khancyr
76a6649a2d AP_Autotune: remove unimplemented function 2017-11-08 17:21:56 +09:00
khancyr
e9e1dac188 AR_AttitudeControl: remove unused skid_steering arg from get_throttle_out 2017-11-08 15:45:35 +09:00
khancyr
aa09541847 AR_AttitudeControl: const ahrs reference 2017-11-08 15:34:41 +09:00
khancyr
d226ffeeb2 AP_AttitudeControl: remove tabs 
non-functional change
 2017-11-08 15:06:25 +09:00
Daniel Widmann
49887235df AR_AttitudeControl: get_steering_out methods accept reverse argument 2017-11-08 14:36:23 +09:00
bnsgeyer
63bafa2c7f AP_Motors: Tradheli- fixes servo_test function for Dual Heli frame 2017-11-08 11:07:08 +09:00
proficnc
6a94d285de AP_BoardConfig: fixed description to warn against 
setting the wrong heater value in params
 2017-11-07 12:00:32 +11:00
Michael du Breuil
ef0b52e017 AP_Arming: Run extra GPS checks when arming 2017-11-06 01:33:57 +00:00
Michael du Breuil
236e74c529 AP_GPS: Singleton 2017-11-06 01:33:57 +00:00
Michael du Breuil
c856cc6f33 AP_GPS: Allow GPS's to run functions on arming (used by SBF) 
Supports starting/stopping GPS logging
 2017-11-06 01:33:57 +00:00
Andrew Tridgell
c9652fec3c AP_BattMonitor: fixed SITL segfault 2017-11-04 19:41:41 +11:00
Andrew Tridgell
274e441292 DataFlash: fixed build for aerofc-v1 2017-11-04 16:53:29 +11:00
Andrew Tridgell
6358081b18 AP_Motors: apply tailsitter min spin to both motors 2017-11-04 11:41:40 +11:00
Michael du Breuil
338d745de1 AP_Landing: Implement is_on_approach for deepstall 
(Fixes a disarm in flight)
 2017-11-04 10:07:16 +11:00
Andrew Tridgell
878d2e2563 AP_Motors: fixed tailsitter use of SPIN_MIN 2017-11-04 09:29:08 +11:00
alexshirley
8058fdf093 AP_HAL_Linux: combine ppm and sbus on ocpoc_zynq 
Removes compile-time selection of RCInput driver for ocpoc_zynq.
PPM and SBUS input are now colocated on the ocpoc board, and it
only needs to run RCInput_ZYNQ. Pulse input is also inverted
to accommodate SBUS input, which has no effect on PPM input.
 2017-11-01 10:28:40 -07:00
alexshirley
065b00eb81 AP_HAL: Remove SBUS macro from ocpoc target 2017-11-01 10:28:40 -07:00
Randy Mackay
002d3f08f6 AP_L1_Control: update_waypoint zeros xtrack i term on init 2017-11-01 16:46:40 +09:00
Andrew Tridgell
eab1d3af4f AP_InertialSensor: don't apply offsets in SITL backend 
the offsets are applied in the rotate and correct methods
 2017-11-01 17:09:21 +11:00
bnsgeyer
37ea64513d AP_Motors: TradHeli - fixed servo test function 2017-11-01 14:01:48 +09:00
Paulo Neves
4108f22304 AP_Beacon: Corrected possible use of nullptr memory. 
The check for UART port pointer is not sufficient
to know if the update() was possible or not. When
MarvelmindHedge construction failed, the hedge pointer
might be a nullptr and there are no checks to avoid
nullptr dereference.

The MarvelmindHedge structure had complex initialization
but was done in a C style, with intermixed initialization functions.
malloc() was changed to cleaner new operator. Given that the
file already contained new operator calls it didn't make
sense to have a mix. The files are cpp so C++ operators
are used.
 2017-11-01 10:49:10 +09:00
Patrick José Pereira
73a76455d2 AP_BattMonitor: Solve typo in BATT2 description 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2017-10-31 09:32:03 +09:00
Lucas De Marchi
cbb9dcc2a1 AP_HAL_Linux: Storage: use define from HAL for directory 2017-10-30 16:57:37 -07:00
Lucas De Marchi
7fd10921c3 AP_HAL: Linux: add define for storage dir 
This mantains compatibility with what the boards were already using,
except for Aero and Minlure in which I'm changing it already as this is
desired.
 2017-10-30 16:57:37 -07:00
Lucas De Marchi
3272ae2c04 DataFlash: make log directory macro mandatory 
Everybody defines the macro (or should be defining). Let smaller users
that don't have a filesystem to rather protect it with HAL_OS_POSIX_IO,
which also allow them to save more flash space.
 2017-10-30 16:57:37 -07:00
Lucas De Marchi
591b846e2d AP_HAL: switch aero and minlure to new log/terrain directory 
Additionally make Edge use the default.
 2017-10-30 16:57:37 -07:00
Lucas De Marchi
d2ba8409d0 AP_HAL: provide default directory for Linux boards 
/var/lib/<project> is more in line to where projects save their data.
Also, remove APM from dir name as it should had been done some time
ago.

This is only the default (and recommended for any new board). Existing
boards that want to adopt the default can remove their defines.
 2017-10-30 16:57:37 -07:00
priseborough
c96bc54254 AP_NavEKF3: correctly use wheel odometry speed for pitched rovers 2017-10-31 08:11:05 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
68828511cd AP_GPS: Only send GPS*_RTK mavlink messages if the backend supports them 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
e0c2a45eec AP_GPS: support GPS_RTK and GPS2_RTK messages in Emlid reach modules. Requires Reach FW >= 2.7.4 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
c0dd7984ad AP_GPS: Publish information on the GPS*_RTK mavlink messages 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
bf6778277e AP_GPS: implement GPS*_RTK mavlink messages 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
91b6404b13 GCS_MAVLink: Replace hardcoded duplicated end_mavlink_gps*_rtk() function with a flexible one 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
430b863f42 AP_GPS: Replace hardcoded duplicated end_mavlink_gps*_rtk() function with a flexible one 2017-10-30 18:28:20 +00:00
John deVere
951c947bec AP_Arming: update param description for VOLT_MIN 2017-10-30 09:46:51 +09:00
Andrew Tridgell
fd86b2bbb9 DataFlash: log critical messages while disarmed 
this logs critical messages while disarmed if we have logged any
messages while armed. This fixes issue #7010 where log files show the
incorrect mode if the log includes any portions where the user
disarmed. It makes analysing users logs very difficult. It also
affects parameters, so we don't always know the true parameter values
in logs from users.
 2017-10-29 19:20:57 +11:00
Michael du Breuil
9b7c3ce9a7 GCS_Mavlink: Fix out of bounds access, CID 144337 2017-10-28 03:30:46 +01:00
priseborough
ee6b43aabf AP_NavEKF3: Fix bugs in use of wheel encoder data 
Found by pavloblindnology
 2017-10-28 10:58:01 +09:00
bnsgeyer
e8173f27df AC_AttitudeControl: reset target attitude 
added method to reset current vehicle attitude to support swash
behaviors in Trad Heli
 2017-10-28 12:31:06 +11:00
dheideman
2fab8e9fe1 AP_JSButton: Add joystick button functions for relays 3 & 4 2017-10-27 12:14:41 -04:00
Florent Martel
fee79afb8e AP_Frsky_Telem: add second battery info 2017-10-27 02:00:29 -07:00
Florent Martel
5d9299d72f AP_Frsky_Telem: add second battery capacity parameter 2017-10-27 02:00:29 -07:00
Peter Barker
191e457230 DataFlash: include sample count in ISBH 2017-10-27 16:33:45 +11:00
Peter Barker
b997f445ff AP_InertialSensor: include sample count in ISBH 2017-10-27 16:33:45 +11:00
Peter Barker
9566abb3a8 AP_InertialSensor: add IMU batch sampling 2017-10-27 16:33:45 +11:00
Peter Barker
5096e2fca9 AP_InertialSensor: use df singleton, factor out log_{gyro,accel}_raw 2017-10-27 16:33:45 +11:00
Peter Barker
1ca76173a5 AP_Math: set radians(...) and degrees(...) as constexpr 2017-10-27 16:33:45 +11:00
Peter Barker
d950e78079 DataFlash: Log_ISBH and Log_ISBD, to log batches of IMU data 2017-10-27 16:33:45 +11:00
Peter Barker
2f9a8ded55 DataFlash: add new int16_t[32] type, designator 'a' 2017-10-27 16:33:45 +11:00
Randy Mackay
2614d2112a AP_Winch: remove redundant member 
Also use get_rate_max method instead of config.rate_max member
 2017-10-27 09:20:38 +09:00
Randy Mackay
2dfb6a94f2 AP_Winch: library to control winch 
fixes after peer review:
renamed disable to relaxed
make parameters private
default type to 1
enabled method checks backend created
servo range initialised in init method
contrain rate-desired during position control
use set-output-limit instead of set-safety-limit
release_length accepts rate
 2017-10-27 09:20:38 +09:00
Randy Mackay
8b4345f29d AP_Mission: add winch support 2017-10-27 09:20:38 +09:00
Randy Mackay
07e2853b8e SRV_Channel: function definition for winch 2017-10-27 09:20:38 +09:00
Randy Mackay
ce73d724c8 AR_AttitudeControl: rate-control for skid-steering uses I term even at low speeds 2017-10-26 19:45:04 +09:00
Randy Mackay
ee3daaa7c9 AR_AttitudeControl: reset input filter for steering and throttle controllers 
Also only set dt to non-zero value
 2017-10-26 19:44:54 +09:00
Randy Mackay
91d489d91e AC_PID: implement reset_filter 2017-10-26 19:44:47 +09:00
Randy Mackay
2986d3eb7d AR_AttitudeControl: fix braking 
this fix ensures the output throttle is never in the opposite direction from the desired-speed
there is a possibility that this could lead to rougher throttle response when the vehicle is transitioning from forward to backwards motion because the throttle response will immediately go to zero when the desired speed cross over zero
 2017-10-26 19:44:38 +09:00
Randy Mackay
49cbbf4d76 AR_AttitudeControl: minor comment fix 2017-10-26 19:44:32 +09:00
Randy Mackay
8daa8cba1f AR_AttitudeControl: record desired turn rate and speed for logging 2017-10-26 19:44:26 +09:00
Michael du Breuil
0cee2f2896 AP_BattMonitor: Require all backends to provide init 2017-10-26 20:10:08 +11:00
Andrew Tridgell
3402d07651 HAL_PX4: fixed a race condition on i2c init 
we could call init on two devices with the same name, which caused
init_ok to be false. This could cause the SMBus battery to fail to
initialise

Thanks to Michael duBreuil for finding this!
 2017-10-26 18:21:56 +11:00
Peter Barker
62f7acff52 SITL: reduce max accel of simulated rover 2017-10-26 14:45:19 +11:00
Andrew Tridgell
e340fac2e0 AP_Motors: avoid float exception for small expo 
very small values of the thrust expo cause a floating point
exception. As zero is a documented value meaning linear we need to
handle this.
 2017-10-25 21:15:58 +11:00
Jacob Walser
d5896287b7 AP_Param: Add set_by_name and set_and_save_by_name helpers 2017-10-25 21:07:09 +11:00
hiro2233
7d304073ed SITL: fixed include case sensitive 
On case sensitive cygwin feature enabled, this build ok.
 2017-10-25 20:59:55 +11:00
Andrew Tridgell
381e2fd69a SRV_Channel: added get_motor_function() 
for correct handling of motors 8 and above
 2017-10-25 11:39:11 +11:00
Andrew Tridgell
45d6f3bf75 AP_Motors: fixed motor channel handling 2017-10-25 11:39:11 +11:00
Patrick José Pereira
9693da751e AP_common: Add stdio.h when using SITL_printf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2017-10-24 22:55:56 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
c7c2c4ff2c AC_AttitudeControl: use floating-point multiplication instead of a more expensive floating-point division 2017-10-23 09:20:17 -07:00
Andrew Tridgell
fc237ee9a0 AP_Motors: merge fixed from rebase 2017-10-22 15:52:50 +11:00
Andrew Tridgell
efea83e424 AP_Motors: fixed MotorsMatrix set_update_rate() 2017-10-22 15:52:50 +11:00
Andrew Tridgell
0682d30ebd SRV_Channel: ensure channel_mask is setup 2017-10-22 15:52:50 +11:00
Andrew Tridgell
1e62b5d5c7 AP_Motors: many to one mapping of motors 
this allows multiple outputs for one motor number
 2017-10-22 15:52:50 +11:00
Andrew Tridgell
39fd25bb36 SRV_Channel: added get_output_channel_mask() 
will be used by AP_Motors
 2017-10-22 15:52:50 +11:00
Andrew Tridgell
03e1f6967f AP_Motors: removed enable() API 
all output channels are already enabled by SRC_Channels::enable_aux_servos()
 2017-10-22 15:52:50 +11:00
Andrew Tridgell
ed272833c3 SRV_Channel: don't treat k_motorN specially 2017-10-22 15:52:50 +11:00
Michael du Breuil
b0e18de576 AP_GPS: Remove detect helpers for MTK/SIRF when minimizing the build 
Removes 16 bytes
 2017-10-22 03:03:29 +01:00
Andrew Tridgell
5bd92b4b7e AP_TECS: improved support for VTOL transitions 2017-10-21 18:50:01 +11:00
Andrew Tridgell
c5cd1b873c SITL: use thread for FlightAxis comms 
this allows us to run SITL at a much higher framerate than RF can
provide, and results in the EKF being much happier
 2017-10-21 11:57:59 +11:00
Andrew Tridgell
7def86ae96 HAL_SITL: don't run IO at more than 100Hz 
save some CPU for faster frame rates
 2017-10-21 11:57:05 +11:00
Georgii Staroselskii
8a28556ae1 AP_Notify: use RCOutputRGBLedInverted for Edge 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
03ac8621bf AP_BattMonitor: add Edge PM preset 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
4e2028c32f AP_HAL: Edge: enable Heat PWM 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
79c14a92a9 AP_HAL_Linux: adapt Heat_Pwm for Edge 2017-10-20 13:03:08 -07:00
Alexey Bulatov
069c98b8a9 AP_InertialSensor: Edge: add sensor's rotation YAW_90 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
710594eee3 AP_Compass: enable compass on Edge 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
db9f427617 AP_HAL: Edge: add compass settings 
Use HMC5883L as default before UAVCAN Linux support is in place
 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
ac6f7511bd AP_InertialSensor: examples: print temperature 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
4f2d8f8df4 AP_InertialSensor: use ICM backend for Edge 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
4e6fab228c AP_HAL_Linux: add SPI devices for Edge 2017-10-20 13:03:08 -07:00
Staroselskii Georgii
3ade179700 AP_HAL_Linux: make use of RCInput_Navio2 in Edge 2017-10-20 13:03:08 -07:00
Staroselskii Georgii
2a99bb0c95 AP_HAL: use Raspberry Pi GPIO and Util classes for Edge 
As it's a yet another Raspberry Pi based board, we may reuse the code.
 2017-10-20 13:03:08 -07:00
Staroselskii Georgii
2a7e8d66ee AP_HAL_Linux: add Edge support 
Just some usual boilerplate code.
 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
2dd68243a2 AP_HAL: add Edge support 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
ef3cad7833 AP_Notify: add RCOutputRGBLedInverted 
Some RGB leds controlled with an inverted logic. This class addresses
this.
 2017-10-19 15:09:49 -07:00
Peter Barker
bb2573f945 GCS_MAVLink: send mission item requests to correct destination 
The correct destination is the GCS which last set the mission count,
not the last GCS that requested it!
 2017-10-19 20:52:24 +11:00
Michael du Breuil
2b4cf54797 AP_Landing: Deepstall: Small style fixes 2017-10-17 14:37:11 -07:00
Michael du Breuil
d166832de4 AP_Landing: Deepstall implement log(), reset all integrators 2017-10-17 14:37:11 -07:00
Michael du Breuil
2909f77235 DataFlash: Remove PIDL and a DSTL for a deepstall specific message 2017-10-17 14:37:11 -07:00
Michael du Breuil
f8ac4efb1d PID: Add a full reset method 2017-10-17 14:37:11 -07:00
Michael du Breuil
df8049778e AP_Landing: Support CCW deepstall 2017-10-17 14:37:11 -07:00
Michael du Breuil
a0a16b8369 AP_Mission: Load yaw heading for landing commands 2017-10-17 14:37:11 -07:00
Michael du Breuil
0007e5eb80 AP_Landing: Support scaling aileron controls 2017-10-17 14:37:11 -07:00
Georgii Staroselskii
d214a36e0a AP_HAL_Linux: reset duty cycle before setting period 
On kernels 4.7+ duty_cycle should always be less than period.
Otherways, we'll get a EINVAL.

It makes sense to set duty_cycle to 0, as
duty_cycle doesn't really make sense without a proper period.

A proper way to handle these errors might be to call pwm_adjust_config
in every pwmchip backend but it's unrealistic to hope that all vendors
will do it quickly.
 2017-10-17 13:28:34 -07:00
Michael du Breuil
dbf67aa38a AP_Mission: Remove duplicated code associated with copy the waypoint location 2017-10-16 10:02:33 -07:00
Peter Barker
6536bf39b3 DataFlash: add DataFlash_AllTypes sample output 2017-10-10 16:51:19 +11:00
Peter Barker
466d6e619e DataFlash: correct nanf log output 2017-10-10 16:51:19 +11:00
Andrew Tridgell
c8b6be6736 AP_Motors: fixed scaling of servo outputs 
thanks to bnsgeyer for noicing this in issue #6977

this will break existing dual-heli setups, but there are so few people
flying them so far that I think it is a worthwhile change
 2017-10-10 11:02:34 +11:00
Tom Pittenger
39dc608bea AP_L1: update constraint Nu comment to match sourcecode 
fixes https://github.com/ArduPilot/ardupilot/issues/7054
 2017-10-09 17:01:37 -07:00
Andrew Tridgell
74265f523a SITL: support -roll180 option to frames 2017-10-10 10:57:38 +11:00
Andrew Tridgell
6a6f9681ab AP_InertialSensor: allow for 1,1,1 accel scaling 
this supports simple accel calibration
 2017-10-10 10:57:38 +11:00
Andrew Tridgell
f513c1c8dd AP_InertialSensor: support rotated IMUs in SITL 2017-10-10 10:57:38 +11:00
Andrew Tridgell
d5cab1140a AP_InertialSensor: added simple_accel_cal() 
this is useful for mass market vehicles where a full 3D accel cal is
too complex.
 2017-10-10 10:57:38 +11:00
Francisco Ferreira
02586b0a2e
AP_Rangefinder: search buses 0 and 1 for Maxbotix I2C driver 2017-10-09 11:57:02 +01:00
Francisco Ferreira
be1f0801a3
AP_HAL: stop defining a default Lightware I2C bus 
When a specific bus isn't defined we now search I2C buses 0 and 1
 2017-10-09 11:57:02 +01:00
Francisco Ferreira
bb46eaedaa
AP_Rangefinder: look in buses 0/1 when Lightware I2C bus isn't defined 2017-10-09 11:57:02 +01:00
Randy Mackay
7e5f98b535 APM_Control: fix throttle and steering integrator calc 2017-10-07 14:55:16 +09:00
Andrew Tridgell
f00f650f4f AP_Notify: fixed internal toshiba LED 
we need to probe for both internal and external on all boards, not just
FMUv3
 2017-10-07 12:34:47 +11:00
Michael du Breuil
0300f86913 AP_GPS: u-blox: Log unconfigured messages 2017-10-06 12:53:32 +01:00
Michael du Breuil
8719c2903a DataFlash: Log U-Blox config progress 2017-10-06 12:53:32 +01:00
Peter Barker
fa95edc260 DataFlash: factor out a Log_Write_IMUDT_instance 2017-10-06 01:42:01 +01:00
Peter Barker
06a2e05be5 DataFlash: log cell voltages with correct packet type 2017-10-06 01:42:01 +01:00
Peter Barker
79ba2b357f DataFlash: factor out a Log_Write_Current_instance 2017-10-06 01:42:01 +01:00
Peter Barker
8d3267a731 DataFlash: factor out a Log_Write_Compass_instance 2017-10-06 01:42:01 +01:00
Peter Barker
a7063393b4 DataFlash: factor out a Log_Write_IMU_instance 2017-10-06 01:42:01 +01:00
ChristopherOlson
7e086e8c4d AP_Motors: Fix DDFP so tail motor doesn't start without Channel 8 high 2017-10-05 13:41:34 +11:00
Leonard Hall
d28182435e AP_Motors: allow for negative thrust expo 
This allows for motors with a thrust curve that decreases with demand.
 2017-10-05 13:40:36 +11:00
Andrew Tridgell
5646afac1c AP_Compass: avoid double detection of the AK09916 
with an ICM20948 we can double detect the compass due to the i2c pass-thru
 2017-10-04 11:49:06 +11:00