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13877 Commits

Author SHA1 Message Date
Lucas De Marchi
7c1f255258 AP_HAL_PX4: add pin to monitor battery 2017-03-24 12:06:19 +11:00
Lucas De Marchi
5787b5a5c5 AP_Compass: IST8310: rename macros 
Having "BIT" in the name gives the impression we are using the macro is
the bit position; however they have the values for those actions, not
the bit position. Rename BIT to VAL to be less confusing.
 2017-03-24 12:06:19 +11:00
Lucas De Marchi
4bba643abb AP_Compass: IST8310: use variable periodic callback 
This is the equivalent of sleep and wait for the conversion time,
after had triggered a new sample request. However it also has the added
benefits of sharing a thread with other sensors on the same bus.

Now we don't read the status register anymore since we have a guaranteed
wait time.
 2017-03-24 12:06:19 +11:00
Lucas De Marchi
ce1a13aa8f AP_Compass: IST8310: use FSR to reject samples 2017-03-24 12:06:19 +11:00
Lucas De Marchi
d84851d8fa AP_Compass: IST8310: improve initialization 
- Make sure device is reset while initializing.
 - Give better names to register macros
 - Average X, Y and Z by 16: sensor is internally running at 200 sps
   (theoretical, ~160 pratical). The wait time is ~6msec averaging
   by 16. We do 10msec.
 2017-03-24 12:06:19 +11:00
Tom Pittenger
c0691afc1f AP_Compass: reject outlier data in IST8310 data by detecting >14bit data 2017-03-24 12:06:19 +11:00
Lucas De Marchi
91dabbe418 AP_HAL_PX4: implement method to ajust periodic callback 
Just setting up the periodic callback sampling time on initialization
may not work well for sensors that need to request for a sample with a
bus transaction, sleep and then read the new data. That's because the
function will be kept calling at a periodic rate, while the time in
which we can read the value is not really that sampling time, but rather
the time in which sensor was last read + the time spent in the function
before sending a new sample request.

Instead of creating a new type of thread to handle this case, just
implement the minimal and easy case of updating the period for this
callback, that can only be called from inside the callback function.
 2017-03-24 12:06:19 +11:00
Tom Pittenger
8415fde697 AP_Compass: IST8310 chip does not follow right-hand rule format, flip z 2017-03-24 12:06:19 +11:00
Lucas De Marchi
b339050e45 AP_Compass: IST8310: account for errors in measurment requests 
If we don't recover for errors in the request for new sample, we may get
stuck with no sample anymore. Recover from bad transfers.
 2017-03-24 12:06:19 +11:00
Lucas De Marchi
2349909033 AP_BoardConfig: start mtd driver 2017-03-24 12:06:19 +11:00
Lucas De Marchi
da68612f4b AP_BoardConfig: make error function public and static 
So it can be used by other parts of the code calling px4_start_driver().
 2017-03-24 12:06:19 +11:00
Tom Pittenger
fb24a03faf AP_Baro: don't compile drivers for devices that don't use them 2017-03-24 12:06:19 +11:00
Lucas De Marchi
156efd6fec AP_Compass: use IST8310 for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi
fad583b259 AP_HAL_PX4: RCOoutput_Tap: map to [ RPMSTOPPED, RPMMAX ] range 
When it's not armed we get _esc_pwm_min from the AP_Motors library,
which would cause motors to start spinning.  Map it to start from
RPMSTOPPED so it doesn't spin when it's not armed.
 2017-03-24 12:06:19 +11:00
Lucas De Marchi
5e26940070 AP_HAL_PX4: disable safety switch for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi
a682bb837a AP_SerialManager: uartA with 460800 baud for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi
20c5e9ec08 Add support for external mag on aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi
327de91b5c AP_HAL_Px4: use RCOutput_Tap for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi
75977cd890 AP_HAL_PX4: implement motor output for aerofc 
This uses tap ESCs, as found on the PX4 project, translated to our
internal APIs. It doesn't have the feedback from ESCs yet.
 2017-03-24 12:06:19 +11:00
Lucas De Marchi
ce9013b8ee AP_HAL_PX4: add RCOutput skeleton for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi
87846fe049 AP_InertialSensor: use MPU6500 on aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi
b4d0569339 AP_HAL_PX4: Use empty RCOutput driver for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi
00c2949dfb Add support for baro on aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi
b17acfee12 Add aerofc support 
Flight Controller board that comes on Intel Aero RTF Drone.
 2017-03-24 12:06:19 +11:00
Andrew Tridgell
2d603c1cba SRV_Channel: fixed reversing on servo gimbals 2017-03-23 11:02:07 +09:00
Jacob Walser
1b00dfb642 AP_GPS: Fix parameter metadata 2017-03-22 16:16:26 -07:00
Jacob Walser
a9a8521383 AP_OpticalFlow: Fix parameter metadata 2017-03-22 16:16:26 -07:00
Jacob Walser
646d68c76d AP_NavEKF2: Fix parameter metadata 2017-03-22 16:16:26 -07:00
Jacob Walser
84e5e088de AP_BoardConfig: Fix parameter metadata 2017-03-22 16:16:26 -07:00
murata
1a781f44cc AP_Notify: Correct the display area clear of the text message. 2017-03-22 01:24:21 +00:00
Francisco Ferreira
c0238be345
AP_FrSky_Telem: fix sending messages 3 times 
Initialize variable
Also some small style changes
 2017-03-22 01:23:26 +00:00
Florent Martel
02c0885cfd AP_Frsky_Telem: fixes #5862 
MAVLink strings of exactly 50 characters are not NULL terminated, so
instead we must check that the 50th character has been reached.
 2017-03-22 01:22:14 +00:00
Siddharth Bharat Purohit
5029dd1bab AP_HAL_PX4: GPIO: return correct FMU pin read even if IO not connected/detected 2017-03-22 12:15:05 +11:00
Michael du Breuil
2aec41e0ef AP_HAL_SITL: Fix SIM_GPS_DISABLE not disabling the ublox GPS with PVT support 2017-03-19 23:13:11 -07:00
Eugene Shamaev
41fe4d0515 AP_Landing: fix to remove reorder warning 2017-03-20 07:32:36 +11:00
Pierre Kancir
1a374aa9f6 SIM_Gazebo: add a timeout to reset timestamp check 2017-03-18 19:58:11 +11:00
Pierre Kancir
d4a0a92b8b SITL: cmdline reorder help and param for better readability and futher extension 
add missing options
 2017-03-18 19:58:11 +11:00
Pierre Kancir
29d35699f2 SITL: Gazebo, throw old paquet based on timestamp as we are using UDP 
Add some comments
 2017-03-18 19:58:11 +11:00
Pierre Kancir
d612209c19 SITL: Gazebo fix implicit cast 2017-03-18 19:58:11 +11:00
Pierre Kancir
ee7355a301 SITL: Reduce some variables scope and include 2017-03-18 19:58:11 +11:00
Pierre Kancir
8054405521 SITL: Change interface port to a generic solution for external simulator 2017-03-18 19:58:11 +11:00
Pierre Kancir
6e0319d513 SITL: Add RCout port option to cmdline 2017-03-18 19:58:11 +11:00
Pierre Kancir
a8d5079a38 SITL: Ensure that Instance parameter don't override manualy setted port 2017-03-18 19:58:11 +11:00
Tully Foote
25fad0a8c2 SITL: Add more command line arguments for port selection. 2017-03-18 19:58:11 +11:00
Pierre Kancir
5b8c89225a SITL: Make socket more verbose 2017-03-18 19:58:11 +11:00
Pierre Kancir
567a8d68e5 SITL: Make socket error more verbose 2017-03-18 19:58:11 +11:00
Pierre Kancir
8f2bdf51ea SITL: gazebo add socket drain 2017-03-18 19:58:11 +11:00
Pierre Kancir
1bb4e3c9b7 AP_IRLock_SITL: make port variable 2017-03-18 19:58:11 +11:00
Pierre Kancir
63ea8c6f21 SITL: enable multi sitl for gazebo 2017-03-18 19:58:11 +11:00
Andrew Tridgell
fc4caf51e9 HAL_PX4: fixed RC failsafe for SBUS on FMUv4 
the FMUv4 SBUS parser sets timestamp_last_signal even if we are in
failsafe

thanks to Mark Whitehorn for finding this
 2017-03-18 17:36:13 +11:00
Pierre Kancir
afb488c627 AP_GPS: fix implicit conversion warning from float to double 2017-03-17 13:07:57 +01:00
murata
33f91b5af5 AP_Notify: whitespace changes 2017-03-17 01:29:11 +00:00
murata
3a6f8d2136 AP_Notify: Preprocessor out EMOJI code group with character bitmap. 2017-03-17 01:26:54 +00:00
CSe
491b545fab SITL: fix gimbal connection on Windows 2017-03-17 00:43:21 +00:00
Peter Barker
bcb0ead71a AP_Notify: improve display detection 
Create probe function for displays
Use a mask to determine I2C buses to probe
 2017-03-17 00:37:40 +00:00
Pierre Kancir
bd4880b231 SRV_Channel: correct typo 2017-03-16 19:35:58 +00:00
Andrew Tridgell
2ef6473816 AP_ServoRelayEvents: fix do_set_servo 
this was broken by the recent SRV_Channels changes

thanks to Jacob for noticing this!
 2017-03-15 12:36:48 +11:00
Randy Mackay
132979b12f AC_PosControl: protect against POS_Z_P, ACCEL_Z_P divide-by-zero 2017-03-15 09:22:23 +09:00
Randy Mackay
d4c4daca16 AC_WPNav: speed-up and down parameter min to 10cm/s 2017-03-15 09:22:23 +09:00
Randy Mackay
8c6c2e46cc AC_WPNav: protect against LOIT_SPEED divide-by-zero 2017-03-15 09:22:23 +09:00
Andrey Kolobov
5fdebe23cc AP_TECS: disable bad descent for soaring 2017-03-14 08:53:11 +11:00
Andrey Kolobov
9f2f070439 AP_Soaring: adding const qualifiers to some of soaring controller's methods 2017-03-14 08:53:11 +11:00
Andrew Tridgell
2b2fed735b AP_Soaring: fixed SOAR logging 2017-03-14 08:53:10 +11:00
Andrey Kolobov
42f5b5a232 AP_Soaring: fixes for matrixN changes 2017-03-14 08:53:10 +11:00
Andrew Tridgell
819c70494f AP_Soaring: added SOAR_ENABLE_CH parameter 2017-03-14 08:53:10 +11:00
Andrey Kolobov
a1fa2a9de3 AP_Math: added matrixN for soaring controller 2017-03-14 08:35:44 +11:00
akolobov
a3f3097941 AP_TECS: added function to reset integrator 2017-03-14 08:20:48 +11:00
akolobov
acddf6bdf3 AP_SpdHgtControl: added function to reset integrator 2017-03-14 08:20:48 +11:00
Andrey Kolobov
ea534f0445 AP_Soaring: added AP_Soar library, formerly known as SoaringController 2017-03-14 08:20:48 +11:00
Francisco Ferreira
7afcbf51ec
AP_Math: also fix SEC_PER_WEEK 2017-03-13 02:57:30 +00:00
murata
1982285e23 AP_Math: update MSEC_PER_SEC definition to fix GPS time calcs 2017-03-13 11:50:33 +09:00
Randy Mackay
b82098ca44 AP_GPS: fix blended ground course 
Thanks to jyl58 for finding this
 2017-03-13 11:21:47 +09:00
Randy Mackay
3e628f30ff AP_GPS: fix blending when accuracy reported as 1mm 
Thanks to Michael DuBreuil for suggesting the fix
 2017-03-13 11:31:51 +11:00
Randy Mackay
f340c118d4 AP_Arming: GPS blending health check renamed 2017-03-13 11:31:51 +11:00
Randy Mackay
2002827de3 AP_GPS: rename pre-arm blending health check 2017-03-13 11:31:51 +11:00
Randy Mackay
e9c881c668 AP_GPS: stop blending if too many blending failures 2017-03-13 11:31:51 +11:00
Randy Mackay
b7ad8da9b9 AP_GPS: minor bracketing fix 
This silences a warning from eclipse
No functional change
 2017-03-13 11:31:51 +11:00
Randy Mackay
5de64273ec AP_GPS: more efficient initialisation of blending arrays 2017-03-13 11:31:51 +11:00
Randy Mackay
81b20e971b AP_GPS_UBLOX: use get_rate_ms accessor 2017-03-13 11:31:51 +11:00
Randy Mackay
ef1399a52f AP_GPS: fixups after peer review 
This includes these changes:
RATE_MS, RATE_MS2 parameter description Range minimum reduced to 50
_blend_health_counter is reset to 0 if blending is disabled
GPS_MAX_RECEIVERS is replaced with GPS_BLENDED_INSTANCE where appropriate
simplify all_consistent functions check of number of receivers
calc_blended_weights fix for initial check of how many receivers we have
remove unnecessary setting of GPS last time when blending fails
remove RebootRequired from AUTO_SWITCH param description
 2017-03-13 11:31:51 +11:00
Randy Mackay
2f21e3b40c DataFlash: rename GPS3/GPA3 to GPSB/GPAB 2017-03-13 11:31:51 +11:00
Randy Mackay
4f0333892d AP_Arming: clarify GPS inconsistency message 2017-03-13 11:31:51 +11:00
Randy Mackay
e398bb5c68 AP_Arming: make gps-checks virtual 
Copter's GPS checks will override this
 2017-03-13 11:31:51 +11:00
Randy Mackay
9f21649dc0 AP_Arming: add gps consistency and blend health check 2017-03-13 11:31:51 +11:00
Randy Mackay
729ce34ce3 AP_GPS: add all_consistent and blend health for use as pre-arm check 2017-03-13 11:31:51 +11:00
Randy Mackay
72dfe1127f AP_GPS: protect parameters from being accessed externally 
backends become friends so they can continue to access parameters held in frontend
get_rate_ms made private because only used by frontend
Also moved static arrays higher in cpp file
 2017-03-13 11:31:51 +11:00
Randy Mackay
3172657f26 AP_GPS: move constructor and complex accessors to cpp file 
These functions are slightly long and make the .h file hard to read.  Also saves a small amount of flash space.
No functional change
 2017-03-13 11:31:51 +11:00
Randy Mackay
0066022a7f AP_GPS: check for valid instance in highest_supported_status 
highest_supported_status will always return FIX_3D for blended or invalid instance
setHIL_Accuracy checks instance is 2 or less
send_mavlink_gps2_raw uses num_instances variable directly to avoid confusion with num_sensors
 2017-03-13 11:31:51 +11:00
Randy Mackay
e764f0d5d0 AP_GPS: sanity check update rate 
Also minor spelling and parameter documentation fix
 2017-03-13 11:31:51 +11:00
priseborough
6b26bdd454 AP_GPS: Add option to blend multiple GPS receivers 
Fix pre-existing bug in hard switch logic
Update GPS_AUTO_SWITCH description
protect against zero accuracy estimates returned by GPS drivers
 2017-03-13 11:31:51 +11:00
Randy Mackay
cd379b0e86 AP_GPS: move time_epoch calcs into proper file 
The frontend implementation was in the backend file
No functional change
 2017-03-13 11:31:51 +11:00
Randy Mackay
a79474dcbc AP_GPS: minor comment fix 
No functional change
 2017-03-13 11:31:51 +11:00
Randy Mackay
201504dbae AP_GPS: remove unused get_antenna_offsets() 
callers always specify an instance
 2017-03-13 11:31:51 +11:00
Randy Mackay
2d0258b6a2 AP_GPS: remove unused highest_supported_status(void) 2017-03-13 11:31:51 +11:00
Randy Mackay
ac86c7999b AP_GPS_MAV: set have_accuracy as boolean 2017-03-13 11:31:51 +11:00
priseborough
a82b6929f1 DataFlash: Allow logging of blended GPS instance 
Add GPS and GPA reporting for blended solution
Allow GPS library to manage reporting for the blended solution
 2017-03-13 11:31:51 +11:00
priseborough
56a9e2c462 AP_NavEKF3: Reference correct derivation 2017-03-13 11:31:51 +11:00
priseborough
44fa82d58c AP_NavEKF2: Reference correct derivation 2017-03-13 11:31:51 +11:00
priseborough
18927395d7 AP_NavEKF3: log correct GPS for replay 2017-03-13 11:31:51 +11:00
priseborough
407a60e599 AP_NavEKF2: log correct GPS for replay 2017-03-13 11:31:51 +11:00
priseborough
01551a4423 AP_NavEKF3: handle position jump caused by change in GPS receiver 
If the GPS receiver selection changes and we are using GPS for height, the vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
 2017-03-13 11:31:51 +11:00
priseborough
8c46d4316b AP_NavEKF2: handle position jump caused by change in GPS receiver 
If the GPS receiver selection changes and we are using GPS for height, the
vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
 2017-03-13 11:31:51 +11:00
Randy Mackay
341b926a43 AP_HAL_SITL: add glitch for 2nd ublox 2017-03-13 11:31:51 +11:00
Randy Mackay
07ce7b8bd6 SITL: add GPS2_GLITCH parameter 2017-03-13 11:31:51 +11:00
Michael Oborne
e4ff445ea7 AP_GPS_GSOF-NOVA: fix last_gps_time_ms 2017-03-09 10:41:48 -08:00
mirkix
9e1345453f AP_HAL_Linux: BBBmini remove onboard OpticalFlow 2017-03-07 22:48:48 -08:00
mirkix
ac60ddfdde AP_OpticalFlow: allow to search on I2C bus 2 2017-03-07 22:48:48 -08:00
mirkix
ad208cab56 AP_OpticalFlow: BBBmini remove onboard OpticalFlow 2017-03-07 22:48:48 -08:00
mirkix
81da61a68d AP_HAL: BBBmini remove onboard OpticalFlow 2017-03-07 22:48:48 -08:00
Michael du Breuil
be1fd147fc Arming: Remove the SITL protection around GPS configuration, and rely upon the GPS library instead 2017-03-07 12:43:30 +11:00
Michael du Breuil
398ff823c0 AP_GPS: Always consider ublox as configured in sitl 2017-03-07 12:43:30 +11:00
Francisco Ferreira
f6687a2d6c AP_Baro: fix example output 
PX4 boards can only start console after USB is connected so we need to
check it is available
 2017-03-07 09:37:14 +11:00
jaxxzer
b98573d55f SITL: Improved Sub simulation 
-Constrain z axis movement between -100m (seafloor) and 0m (water
surface)
-More accurate thruster modelling
 2017-03-07 09:35:41 +11:00
Michael du Breuil
44bcd74a57 AP_GPS: Remove dead SBF code 
CID 125035
 2017-03-06 15:24:22 +00:00
Randy Mackay
7a7f8eb7c1 AC_Avoidance: only stop below alt-fence if fence is enabled 2017-03-06 18:02:03 +09:00
Randy Mackay
3e039a6ba4 AP_NavEKF3: minor formatting fixes 
No functional change
 2017-03-06 18:40:18 +11:00
Randy Mackay
a80c0a231d AP_NavEKF3: attempt to set-up every core 
previously we would only call setup_core for the 2nd core if the first had been setup successfully
 2017-03-06 18:40:18 +11:00
priseborough
7a8783f35e AP_NavEKF3: Fix bug preventing reset to GPS 
This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
 2017-03-06 17:11:39 +11:00
priseborough
b7c4945000 AP_NavEKF2: Fix bug preventing reset to GPS 
This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
 2017-03-06 17:11:39 +11:00
Michael du Breuil
7f11cf3ca6 AP_Mount: Remove solo gimbal from the minimal build support 2017-03-06 11:53:08 +11:00
Randy Mackay
67097c8d59 AC_AttitudeControl: use gyro_latest 
This allows moving the attitude control before the ahrs/ekf update

We continue to use ahrs.get_gyro for the non-time-critical heli
passthrough functions.  We should avoid using get_gyro_latest() unless we know there is a direct benefit because it could lead to inconsistent gyro values vs what the EKF is using.
 2017-03-03 13:14:28 +11:00
Randy Mackay
d3aca5544e AP_AHRS: get_gyro_latest returns latest rates from IMU with drift correction 
Pulling the gyro values from the IMU allows our rate controllers to run before the EKF
 2017-03-03 13:14:28 +11:00
Andrew Tridgell
ce978595cd AP_BoardConfig: added support for ICM-20602 detection 2017-03-02 14:21:36 +11:00
Andrew Tridgell
875274e761 AP_InertialSensor: added support for ICM-20602 
treat the same as a 20608
 2017-03-02 14:21:36 +11:00
Andrew Tridgell
e7024d9203 AP_Landing: restructure parameters into a structure 2017-03-02 12:38:59 +11:00
Michael du Breuil
547d06febf AP_Landing: Add deepstall support 2017-03-02 12:38:59 +11:00
Michael du Breuil
8b20577b74 AP_Landing: Add a servo override interface and PID logging interface 2017-03-02 12:38:59 +11:00
Michael du Breuil
ed359a5833 Dataflash: Add landing PID logging 2017-03-02 12:38:59 +11:00
Michael du Breuil
c10fe2e7a4 AP_Landing: Add more interfaces from vehicle code 
Fixs up some documentation about expected return values
 2017-03-02 12:38:59 +11:00
Michael du Breuil
c5c94949bf AP_Math: Extend vector2::angle(vector2) to distinguish parallel and antiparallel vectors 
There are a number of use cases where distingusihing antiparallel from parallel vectors is important
 2017-03-02 00:50:44 +00:00
Andrew Tridgell
05cbc19ad6 AP_RangeFinder: added type 15 for LidareLiteV3 2017-03-01 22:44:37 +11:00
Andrew Tridgell
cf3db7560c AP_BoardConfig: fixed AUAV21 board ID to not overlap with VRBrain boards 2017-03-01 18:07:44 +11:00
Jacob Walser
507b461388 AP_Motors: Initialize throttle range directly 
This was causing SITL to hang at boot when motors object is statically allocated.
 2017-02-28 22:34:35 -08:00
Andrew Tridgell
b86513f503 AP_InertialSensor: support AUAV21 board 2017-03-01 17:24:10 +11:00
Andrew Tridgell
37c9e08316 AP_Compass: support AUAV21 board 2017-03-01 17:24:10 +11:00
Andrew Tridgell
d5cad2ae44 AP_Baro: support AUAV21 board 2017-03-01 17:24:10 +11:00
Andrew Tridgell
1989f31ae3 AP_BoardConfig: added AUAV21 board type 
unfortunately this uses the same sensor types as the PHMini, which
means we can't auto-detect the difference between them.
 2017-03-01 17:24:10 +11:00
Randy Mackay
d79403707b AC_AttControl: add feed forward param descriptions 
No functional change
 2017-03-01 14:59:44 +09:00
Randy Mackay
fd94ab43fa AP_Proximity: minor fix to param description 
No functional change
 2017-03-01 14:59:44 +09:00
Randy Mackay
36bcabb4e4 SRV_Channel: add constraint to move_servo 2017-02-28 19:29:00 +11:00
Randy Mackay
7b3af58634 AC_Avoidance: fix AVOID_ANGLE_MAX parameter description 2017-02-28 15:33:59 +09:00
Andrew Tridgell
adf215998f SRV_Channel: added MotorTilt to docs for SERVOn_FUNCTION 2017-02-28 08:10:56 +11:00
Randy Mackay
2b43c6aeed DataFlash: log range finder orientation 2017-02-27 15:18:40 +09:00
Randy Mackay
e725ae866b AP_OpticalFlow: fix example sketch 2017-02-27 15:18:13 +09:00
Randy Mackay
a74833a04a AP_AHRS: fix example sketch 2017-02-27 15:18:13 +09:00
Randy Mackay
65c8f87b17 AP_Frsky_Telem: only use downward facing rangefinder 2017-02-27 15:18:12 +09:00
Randy Mackay
3f6a734a71 AP_NavEKF3: only use downward facing rangefinder 2017-02-27 15:18:11 +09:00
Randy Mackay
563be389ee AP_NavEKF2: only use downward facing rangefinder 2017-02-27 15:18:10 +09:00
Randy Mackay
a093bcb05f AP_Proximity: add rangefinder driver 
This allows avoidance using upward or forward facing range finders
 2017-02-27 15:18:09 +09:00
Randy Mackay
c98e598ae2 AP_RangeFinder: fix example sketch 2017-02-27 15:18:08 +09:00