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211 Commits

Author SHA1 Message Date
Pierre Kancir 5b2b4430b3 AP_HAL_SITL: AnalogIn minor fixes 
change pin to int16_t to match real implementation and prevent casting.
make constructor explicit
 2017-01-12 01:06:20 +00:00
Pierre Kancir f9c8827809 SITL: Scheduler correct misplaced parenthese && switch to do while loop 2016-12-04 18:28:14 +00:00
Andrew Tridgell 7ba957b946 HAL_SITL: flush stdout on panic 2016-12-02 09:49:38 +11:00
Andrew Tridgell def6e014cf HAL_SITL: removed old optflow simulation 2016-11-28 08:26:56 +11:00
Pierre Kancir 84aaca7c6e SITL: add missing break 2016-11-17 13:46:10 +00:00
Pierre Kancir 86c8145bd9 SITL: Change Flighgear port with instance number 2016-11-16 08:27:48 +11:00
Pierre Kancir c4b5bd4bd9 SITL: revert fg view to activate by default and use flag to disable it 2016-11-16 08:27:48 +11:00
Pierre Kancir e2b939df39 SITL: rename simin to rcin for better readability 2016-11-16 08:27:48 +11:00
Pierre Kancir 59c84c637e SITL: make fg view optional 2016-11-16 08:27:48 +11:00
Lucas De Marchi f6d475c1e6 AP_HAL_SITL: add O_CLOEXEC in places missing it 
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
 2016-11-07 12:37:30 -03:00
murata c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
priseborough 747f3a8cfd AP_HAL_SITL: Simulate range finder position offset 2016-10-27 14:54:44 +11:00
priseborough a9f63abc6f AP_HAL_SITL: simulate effect of GPS antenna offset 2016-10-27 14:54:44 +11:00
priseborough 3afe2b1694 AP_HAL_SITL: simulate optical flow sensor body frame position offset 2016-10-27 14:54:44 +11:00
Peter Barker dd7d41b1f3 SITL: unhide groups when generating parameters in autotest 2016-10-26 09:53:14 +11:00
Andrew Tridgell d2287caf1c HAL_SITL: removed old servo slew rate code 2016-10-25 20:39:38 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell 97d0553938 HAL_SITL: implement cork() on RCOutput 2016-10-13 10:00:04 +11:00
Michael Oborne 11c376588d AP_GPS_NOVA: support tersus/novatel/comnav gps 2016-09-20 10:53:49 +10:00
Andrew Tridgell 25f1dbd8c2 HAL_SITL: allowed SITL to reopen uart connections 2016-08-23 09:30:17 +10:00
Murilo Belluzzo 077e03678f Global: Adapt Stream class to be used with Ringbuffer 2016-08-03 01:44:02 -03:00
Peter Barker 9749b91d46 SITL: initialise sigaction structs - valgrind fix 2016-07-29 10:38:03 -03:00
Lucas De Marchi d418338e22 AP_HAL_SITL: remove I2CDriver 
I2CDevice now serves for the same purpose.
 2016-07-28 18:08:57 -03:00
Staroselskii Georgii d69aeb4808 AP_HAL_SITL: use sigaction over signal API in SITL_State 2016-07-27 21:30:19 +10:00
Andrew Tridgell d7faeada87 HAL_SITL: notify GCS on GPIO changes 
useful for testing relays in SITL
 2016-07-22 15:01:21 +10:00
Andrew Tridgell 5b081a704c HAL_SITL: added GPIO simulation 
using SIM_PIN_MASK
 2016-07-22 15:01:20 +10:00
Tom Pittenger acaf0c6a5d SITL: LPF the SIM_WIND_DIR and SIM_WIND_SPD values to eliminate step inputs 2016-07-15 18:37:40 -07:00
Siddharth Bharat Purohit d65f453da1 AP_HAL_SITL:use common fenv function 2016-07-07 11:35:18 -03:00
Andrew Tridgell fc9283964a HAL_SITL: fixed segv on cygwin 2016-06-30 20:45:03 +10:00
Peter Barker 309ac53806 SITL: correct adsb initialisation 
Parameters have not yet been initialised in _sitl_setup, so move
should-run checks into update
 2016-06-20 18:16:34 -07:00
Andrew Tridgell acc76f80b0 HAL_SITL: added xplane support 2016-06-19 13:59:15 +10:00
Paul Riseborough 2cf5493b40 AP_HAL_SITL: Ensure simulated magnetic field is always used 2016-06-19 12:51:34 +10:00
Tom Pittenger 1770f314ac SITL: change SIM_ADSB default to -1 to default disabled to leave telem port available 2016-06-15 17:22:54 -07:00
Tom Pittenger 52fcc36249 AP_HAL_SITL: remove -A --adsb argument, feature is now always enabled controlled by param 2016-06-14 21:05:23 -07:00
Tom Pittenger f2b5f5f4a5 AP_HAL_SITL: adsb is always enabled in the sim, controlled by param SIM_ADSB_COUNT 2016-06-14 21:03:30 -07:00
Andrew Tridgell 0166ab2038 HAL_SITL: check for SIM_RC_FAIL 2016-06-05 05:54:56 +10:00
Tom Pittenger 5df2e57209 AP_HAL_SITL: do not compile terrain class when terrain is not disabled via compile flag 2016-06-03 11:07:36 -07:00
Andrew Tridgell 04f87a452e HAL_SITL: fixed tcp client mode 2016-05-30 16:42:28 +10:00
Andrew Tridgell 969b6ebea9 HAL_SITL: support coaxcopter in SITL 2016-05-26 17:09:22 +10:00
Andrew Tridgell a80e233836 HAL_SITL: added SingleCopter 2016-05-26 16:30:39 +10:00
Andrew Tridgell 635a975486 HAL_SITL: use a smaller buffer for real SITL UARTs 
better emulation of real hw
 2016-05-23 23:41:02 +10:00
Tom Pittenger ad11f3815b AP_HAL_SITL: rename aspd variables to arspd 2016-05-17 16:36:14 -07:00
Gustavo Jose de Sousa 2246343ec7 AP_HAL_SITL: pass signed value to abs() 
Passing an unsigned value to abs() causes compilation error in gcc 6.1.1
(and doing that doesn't make sense too).

As a bonus, this patch fixes the code, since, for two unsigned integers
a and b, such that a > b, (a - b) without the casting to a signed
integer would produce garbage in the context of this patch. The type
int32_t is enough for the cases covered by this patch.
 2016-05-16 15:04:22 -03:00
Peter Barker 8d5ceda534 AP_HAL_SITL: ensure specified SITL model is found 
Without this check we get a null pointer exception the first time we attempt
to use the model object
 2016-05-16 13:04:15 -03:00
Andrew Tridgell c6620b03b4 HAL_SITL: added --rtscts option to SITL 
useful for radio testing
 2016-05-16 16:51:26 +10:00
Ricardo de Almeida Gonzaga 91e9dd10ba AP_HAL_SITL: Fix typos 2016-05-13 19:20:06 -03:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
Gustavo Jose de Sousa 8c4c9ccfa6 AP_HAL_SITL: add calibration model 2016-05-10 16:16:37 +10:00
Andrew Tridgell 4318fd0ab8 HAL_SITL: update for changed API 2016-05-07 18:27:19 +10:00
Andrew Tridgell 2718b0649b HAL_SITL: fixed GPS rate in SITL when speedup used 2016-05-07 18:27:18 +10:00
Andrew Tridgell 9081310ff1 HAL_SITL: support simulator RC input 2016-05-04 12:51:28 +10:00
Randy Mackay 3d646a26e2 AP_HAL_SITL: calls to terrain:height_amsl provide extrapolate and corrected params 2016-04-30 10:33:01 +09:00
Andrew Tridgell 46f368f17d HAL_SITL: support fireflyy6 as quadplane 2016-04-22 10:28:15 +10:00
Andrew Tridgell 21fb38da8f HAL_SITL: support Y6 frame 2016-04-21 21:11:46 +10:00
Andrew Tridgell 41b3cb2ff7 HAL_SITL: support tri sim 2016-04-21 20:29:58 +10:00
Andrew Tridgell 835c0b1759 HAL_SITL: follow sqrt law to 60m for wind 
this makes testing wind in landings more useful
 2016-04-20 17:26:16 +10:00
Andrew Tridgell 4ef977c68b HAL_SITL: fixed initial path for uartF 2016-04-20 10:08:35 +10:00
Andrew Tridgell 0d27409511 HAL_SITL: added uartF 2016-04-20 09:39:49 +10:00
Ricardo de Almeida Gonzaga 5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
Andrew Tridgell 4d01cb1716 HAL_SITL: fixed SITL engine mul error 
expression without get() was treated as int
 2016-03-26 14:17:12 +11:00
Andrew Tridgell 5c92adddf9 HAL_SITL: allow examples to run under SITL 2016-03-25 21:35:16 +11:00
Lucas De Marchi e6059f5197 AP_Compass: rename files to follow other libraries 
AP_Compass.h is the main header to be exported and AP_Compass.cpp its
implementation. There's no need for an additional header.
 2016-03-23 17:50:38 -03:00
Lucas De Marchi bcdc3336de AP_HAL_SITL: replace header guard with pragma once 2016-03-16 18:40:41 +11:00
Will Sackfield 0a60d713af AP HAL SITL: Use fully qualified SITL namespace 
* using namespace SITL caused ambiguities due to
both SITL and HAL SITL using the same namespace
 2016-02-29 14:14:37 +11:00
Michael du Breuil 287a3367ad AP_HAL_SITL: Force the simulated gps time to be on valid intervals for u-blox hardware 2016-02-26 09:57:03 +11:00
Lucas De Marchi c3d8ba3ea5 AP_HAL_SITL: use empty I2CDevice 2016-02-16 19:49:09 -02:00
Lucas De Marchi 9aa49cda93 Global: remove system_initializing() from scheduler 
This is not used anymore.
 2016-02-12 23:42:34 -02:00
Andrew Tridgell cb60384dc4 AP_HAL_SITL: allow auto-baudrate detection in GPS driver in SITL 
this is useful when testing a real GPS in SITL
 2016-02-11 18:46:01 +11:00
Tom Pittenger f695f37ca3 AP_HAL_SITL: handle negative throttle 
- negative throttle was causing negative voltage offsets
 2016-02-09 14:18:01 +11:00
Lucas De Marchi 0e09975fa6 AP_HAL_SITL: fix typo 2016-02-01 14:18:51 -02:00
Andrew Tridgell 097c2011e1 HAL_SITL: prevent abort on select with -1 fd 2016-01-10 21:26:35 +11:00
Andrew Tridgell deb0b9c197 HAL_SITL: read in larger chunks 2016-01-10 17:43:01 +11:00
Andrew Tridgell 655f57ad01 HAL_SITL: cleanup class names 
remove SITL prefix
 2016-01-10 17:43:01 +11:00
Andrew Tridgell 492c733750 HAL_SITL: added RingBuffers to UART driver 
makes for faster log download
 2016-01-10 17:43:01 +11:00
Andrew Tridgell 22e25cc792 HAL_SITL: added Flightaxis support 2016-01-09 07:38:51 +11:00
Andrew Tridgell b4cc3d9668 HAL_SITL: implement get_custom_defaults_file() 2016-01-07 09:09:40 +11:00
Andrew Tridgell 6c064ae8bd HAL_SITL: flow control is enabled on SITL 
faster parameter download
 2016-01-06 19:16:08 +11:00
Andrew Tridgell dd07ffce08 HAL_SITL: enable debug of rcoutput channel enable and frequency 2016-01-05 09:47:55 +11:00
Andrew Tridgell 2dd8a0af74 HAL_SITL: allow visualisation of quad motor speeds in flightgear 2016-01-04 11:09:27 +11:00
Andrew Tridgell 1450f33b51 HAL_SITL: support 16 RC input channels in SITL 2016-01-04 08:22:02 +11:00
Andrew Tridgell 83c8505b3c HAL_SITL: send state to flightgear viewer 2016-01-04 08:02:37 +11:00
Andrew Tridgell e6555aae6d HAL_SITL: added quadplane model 2016-01-01 14:35:15 +11:00
Andrew Tridgell d0896a1fb2 HAL_SITL: fixed init of channel 8 out in plane and rover 
should be low
 2016-01-01 14:35:15 +11:00
Andrew Tridgell c6b6d7137d HAL_SITL: added plane simulator 2016-01-01 12:41:06 +11:00
Andrew Tridgell 05e04ee1a7 HAL_SITL: added semaphore support 2015-12-21 07:38:30 +11:00
Julien BERAUD d8bcb36530 AP_HAL_SITL: add empty optical flow 
No embedded optical flow on sitl
 2015-12-18 17:56:04 +11:00
Tom Pittenger 48ae0d645d AP_HAL_SITL: compiler warning: float to double promotion 
- replace atof() with strtof() for the correct return time
 2015-12-08 14:54:43 +09:00
Lucas De Marchi c72f812944 AP_HAL_SITL: rename AP_HAL_Empty instances 2015-12-08 11:12:14 +11:00
Lucas De Marchi 4c82c535cc AP_HAL_SITL: use init() method without arguments 
Override the init() method from parent class that doesn't have a
parameter since it's not used here.
 2015-12-02 14:49:11 -02:00
Tom Pittenger bb4f0783ad AP_HAL_SITL: created ADS-B simulator to generate additional ghost aircraft within SITL 
- The values are very aggressive, you'll come into contact with another aircraft very soon
- Credit goes to Tridge for this work
- This also allows hardware attached via UART to feed real aircraft into the simulator

This feature is enabled with the following command:
sim_vehicle -A --adsb
 2015-11-23 19:45:40 +11:00
Andrew Tridgell 7a5c4ec65d HAL_SITL: use battery info from FDM if available 2015-11-23 13:31:29 +11:00
Andrew Tridgell a6ef064950 HAL_SITL: removed support for the old FDM protocol 
we are now fully converted to the new C++ based SITL system
 2015-11-23 13:21:33 +11:00
Caio Marcelo de Oliveira Filho bb165d8a4c AP_HAL_SITL: Remove unused extern declaration for HALs 2015-11-20 16:32:45 +09:00
Caio Marcelo de Oliveira Filho 783db23a0f AP_HAL_SITL: remove unused functions 2015-11-20 12:36:42 +09:00
Caio Marcelo de Oliveira Filho 85d12efbef AP_HAL_SITL: use millis/micros/panic functions 2015-11-20 12:31:20 +09:00
Caio Marcelo de Oliveira Filho 3ef77617fd AP_HAL_SITL: implement new AP_HAL functions 
Implement the new AP_HAL functions and use them in the Scheduler when
possible.

The '_sketch_start_time' was renamed and moved as a detail of
implementation of the functions code. It allows the code to return time
starting from zero.

The 'stopped_clock_usec' was renamed to follow convention in the file
and add a getter so that AP_HAL functions can reach it. It's not a
problem this getter is public because in practice, regular code
shouldn't even access the SITLScheduler directly -- only code that
should is from SITL itself.
 2015-11-20 12:25:38 +09:00
Caio Marcelo de Oliveira Filho efbc7648b1 AP_HAL: create AP_HAL namespace and use for some HAL functionality 
For certain basic functionality, there aren't much benefit to be able to
vary the implementation easily at runtime. So instead of using virtual
functions, use regular functions that are "resolved" at link time. The
implementation of such functions is provided per board/platform.

Examples of functions that fit this include: getting the current
time (since boot), panic'ing, getting system information, rebooting.

These functions are less likely to benefit from the indirection provided
by virtual interfaces. For more complex hardware access APIs the
indirection makes more sense and ease the testing (when we have it!).

The idea is that instead of calling

    hal.scheduler->panic("on the streets of london");

now use

    AP_HAL::panic("on the streets of london");

A less important side-effect is that call-site code gets
smaller. Currently the compiler needs to get the hal, get the scheduler
pointer, get the right function pointer in the vtable for that
scheduler. And the call must include an extra parameter ("this"). Now it
will be just a function call, with the address resolved at link time.

This patch introduces the first functions that will be in the namespace,
further patches will implementations for each board and then switch the
call-sites. The extra init() function allow any initial setup needed for
the functions to work.
 2015-11-20 12:25:24 +09:00
Andrew Tridgell 95ca0b39a8 HAL_SITL: moved virtual INS sensor to AP_InertialSensor_SITL 2015-11-16 17:57:35 +11:00
Andrew Tridgell 2675edcb96 HAL_SITL: removed unused variables 2015-11-16 17:57:35 +11:00
Andrew Tridgell 81e34006a5 HAL_SITL: make available_memory() uint32_t 2015-11-05 16:09:00 +11:00