Robert Lefebvre
4da54783fd
AC_AttitudeControl_Heli: Semantic Change. Motor Runup to Rotor Runup.
2015-05-29 17:46:23 +09:00
Robert Lefebvre
d24664ccf9
AP_MotorsHeli: Semantic change. Motor Runup to Rotor Runup
2015-05-29 17:46:18 +09:00
Robert Lefebvre
65ca09600c
AP_Motors: Heli eliminate _dt member and fix rsc_runup calculation
2015-05-29 17:46:09 +09:00
Robert Lefebvre
18bac524a3
Copter: TradHeli, change Rate FF LPF to 10Hz
2015-05-29 17:46:05 +09:00
Andrew Tridgell
f39063e023
DataFlash: don't do PID logging on APM2
2015-05-29 16:32:05 +10:00
Randy Mackay
19b021f729
RCMap: added RebootRequired param description
2015-05-28 19:32:38 +09:00
svefro
b02bbcd289
RCMap: added Reboot required to rcmap parameter descriptions
...
Added Reboot required to rcmap throttle, yaw, pitch, roll
2015-05-28 19:32:20 +09:00
Andrew Tridgell
b6eba0842a
DataFlash: fixed CAM message format
2015-05-27 22:10:39 +10:00
Andrew Tridgell
00ca493860
AP_AHRS: prevent a floating exception in update_trig
2015-05-27 22:10:39 +10:00
Randy Mackay
b121d83beb
RC_Channel: add EPM, LandingGear to FUNCTION param description
2015-05-27 18:05:01 +09:00
Andrew Tridgell
8454246fae
AP_Param: make it safe to change the type of a parameter
...
if the type is changed then the value will revert to its default value
2015-05-27 15:29:40 +10:00
Andrew Tridgell
95ff71940c
DataFlash: fixed rebase errors
2015-05-27 14:28:50 +10:00
Andrew Tridgell
8f34ed5b76
DataFlash: added PIDA message
...
for logging Z accel PID in copter
2015-05-27 14:28:50 +10:00
Andrew Tridgell
a57889e3b0
GCS_MAVLink: re-generate headers
2015-05-27 14:28:49 +10:00
Andrew Tridgell
0ed7fda41d
GCS_MAVLink: added ACCZ and STEER PID_TUNING axes
2015-05-27 14:28:49 +10:00
Andrew Tridgell
521dae1c65
AC_AttitudeControl: use set_desired_rate() on PID controllers
...
this sets them up for logging of PIDs
2015-05-27 14:28:49 +10:00
Andrew Tridgell
3ec8857fbc
AC_PID: added set_desired_rate() interface
...
used to setup _pid_info for logging
2015-05-27 14:28:48 +10:00
Andrew Tridgell
6000bb0c32
AC_PID: log desired rate for VFF as well as AFF
2015-05-27 14:28:48 +10:00
Andrew Tridgell
b45ab52015
DataFlash: added desired rate to PID logging
2015-05-27 14:28:48 +10:00
Andrew Tridgell
86a3bca88c
APM_Control: added FF parameters to roll and pitch controllers
...
these are much easier to tune with the new PID_TUNING messages
2015-05-27 14:28:47 +10:00
Robert Lefebvre
353879cd2b
AC_AttitudeControl_Heli: Add Rate Accel FF to Yaw control
2015-05-27 14:28:47 +10:00
Robert Lefebvre
366f87c91c
AC_HELI_PID: Add Acceleration FF method.
2015-05-27 14:28:47 +10:00
Robert Lefebvre
7ab628521e
DataFlash: Add Acceleration Feedforward to PID_Info.
2015-05-27 14:28:47 +10:00
Robert Lefebvre
810b12a1ac
AC_AttitudeControlHeli: Change Rate Yaw FF LPF from 5Hz to 10Hz.
2015-05-27 14:28:46 +10:00
Andrew Tridgell
e79a21d8c2
AC_PID: fill in desired rate for heli PID
2015-05-27 14:28:46 +10:00
Andrew Tridgell
d148c38f68
DataFlash: added desired rate to PID_Info
2015-05-27 14:28:45 +10:00
Andrew Tridgell
0fe04a93ce
GCS_MAVLink: rebuilt headers
2015-05-27 14:28:45 +10:00
Andrew Tridgell
cc80fdf593
GCS_MAVLink: added PID_TUNING message
2015-05-27 14:28:45 +10:00
Andrew Tridgell
216a78a9f0
APM_Control: added get_pid_info() interface
2015-05-27 14:28:44 +10:00
Robert Lefebvre
23adf2773c
AC_AttitudeControl: Remove To-Do comments for Attitude Rate logging.
2015-05-27 14:28:44 +10:00
Robert Lefebvre
967071ca62
AC_PID: Integrate PID Logging functionality.
2015-05-27 14:28:44 +10:00
Robert Lefebvre
753be18c17
DataFlash: Add PID Logging Method
2015-05-27 14:28:44 +10:00
Andrew Tridgell
d8df31c023
SITL: initialise a couple of variables to prevent a valgrind error
2015-05-27 11:54:18 +10:00
Andrew Tridgell
2a22ae5404
DataFlash: support 64 bit TimeUS log dumping
2015-05-27 11:54:18 +10:00
Andrew Tridgell
1400d0155c
AP_Mount: fixed valgrind error with gimbal code
2015-05-27 11:54:17 +10:00
Andrew Tridgell
4705be97bf
AP_HAL: support %lld and %llu in internal printf
...
useful for log messages with 64 bit timestamps
2015-05-27 11:54:17 +10:00
Peter Barker
8be9e99fad
AP_InertialSensor_PX4: 64-bit timestamps for ACCx and GYRx messages
2015-05-27 11:54:17 +10:00
Peter Barker
988f3277de
DataFlash: 64-bit timestamps for ACCx and GYRx messages
2015-05-27 11:54:17 +10:00
Peter Barker
f489f6b696
AP_InertialSensor: use 64-bit timestamps in dataflash logs
2015-05-27 11:54:17 +10:00
Peter Barker
9ae85ed9ab
APM_Control/AP_AutoTune: use 64-bit timestamps for dataflash logs
2015-05-27 11:54:17 +10:00
Peter Barker
457f77314e
AP_TECS: use 64-bit timestamps for dataflash logs
2015-05-27 11:54:16 +10:00
Peter Barker
feb85ef7d5
AP_GPS: unused SBP struct gets 64-bit timestamp
2015-05-27 11:54:16 +10:00
Peter Barker
4d67ccb338
AP_GPS: use 64-bit timestamps for dataflash logs
2015-05-27 11:54:16 +10:00
Peter Barker
9e0b5910e2
AP_Terrain: use 64-bit timestamps for dataflash logs
2015-05-27 11:54:16 +10:00
Peter Barker
88015503ac
SITL: use 64-bit timestamps for dataflash logs
2015-05-27 11:54:16 +10:00
Peter Barker
617043f468
DataFlash: convert GPS and CAM dataflash messages to 64-bit timestamps
...
GPS structures remove 32-bit apm_time and replace with standard time_us
Significant change to GPS and GPS2 messages:
Add TimeUS as first field
Remove T field
Due to length restrictions on labels:
Renamed TimeMS to GMS (Gps MilliSeconds)
Renamed Week to GWk (Gps WeeK)
Renamed RelAlt to RAlt
Significant change to CAM messages:
Removed GPSTime (uin32_t), added TimeUS (uint64_t)
2015-05-27 11:54:15 +10:00
Peter Barker
769982b8f2
DataFlash: use 64-bit timestamps for dataflash logs
2015-05-27 11:54:14 +10:00
Randy Mackay
114c4f4077
AP_Match: fix example sketch
2015-05-27 09:47:24 +09:00
Randy Mackay
fb2d29364e
Mount_SToRM32_serial: fix angle request
2015-05-26 21:05:29 +09:00
Randy Mackay
9b04a67e63
Mount_SToRM32_serial: rename sent_do_mount_control
2015-05-26 21:05:26 +09:00
Randy Mackay
72eb25b166
Mount: add SToRM32 serial to front end
2015-05-26 21:05:24 +09:00
Sergey Kirillov
c133511431
Mount: add SToRM32 serial support
2015-05-26 21:05:22 +09:00
Sergey Kirillov
69959a4214
SerialManager: add SToRM32 serial enum and baudrates
2015-05-26 21:05:19 +09:00
Andrew Tridgell
c7044c4f91
AP_Terrain: make terrain request times per channel
...
otherwise we can miss sending one if we send first to a channel not
being listened to
2015-05-26 17:27:51 +10:00
Andrew Tridgell
3a9d7363ea
HAL_VRBRain: fixed functor comparison
2015-05-26 15:17:06 +10:00
Andrew Tridgell
e589ca9b80
HAL_Flymaple: fixed functor comparison
2015-05-26 15:16:51 +10:00
Andrew Tridgell
7e264b44df
HAL_Linux: fixed functor comparison
2015-05-26 15:14:50 +10:00
Andrew Tridgell
96b921d4cc
AP_Scheduler: fixed example build
2015-05-26 14:37:14 +10:00
Andrew Tridgell
4fdfa47ca3
GCS_MAVLink: removed BUILD_DELEGATES code
...
no longer needed
2015-05-26 14:35:12 +10:00
Andrew Tridgell
8624a262e7
DataFlash: removed BUILD_DELEGATES code
...
no longer needed
2015-05-26 14:35:04 +10:00
Andrew Tridgell
83e6181024
AP_Vehicle: removed BUILD_DELEGATES code
...
no longer needed
2015-05-26 14:34:58 +10:00
Andrew Tridgell
e3f8e22fc6
AP_Mission: removed BUILD_DELEGATES code
...
no longer needed
2015-05-26 14:34:51 +10:00
Andrew Tridgell
85f87b6d9c
AP_Menu: removed BUILD_DELEGATES code
...
no longer needed
2015-05-26 14:34:47 +10:00
Andrew Tridgell
1a2b02a563
AP_HAL: removed AVR special case
...
no longer needed
2015-05-26 14:34:13 +10:00
Andrew Tridgell
7db9da6545
AP_Scheduler: removed delegate ptr handling
...
no longer needed
2015-05-26 14:33:30 +10:00
Andrew Tridgell
edc21cfa38
AP_Compass: make having no compass backends non-fatal
...
thanks to Daniel for spotting this
2015-05-26 14:23:40 +10:00
Andrew Tridgell
43fb1202f2
HAL_PX4: fixed functor comparison with NULL
2015-05-26 13:54:38 +10:00
Lucas De Marchi
0daeeb9518
ArduPlane: Start using new Functor implementation
...
It both reduces flash size and move symbols to read-only sections.
The scheduler_tasks table is one known not to be in read-only section before due
to the FastDelegate implementation. Before and after this patch:
ArduPlane $ size ArduPlane.elf{.old,}
text data bss dec hex filename
733368 8252 67352 808972 c580c ArduPlane.elf.old
730632 8236 64792 803660 c434c ArduPlane.elf
ArduPlane $ nm -C ArduPlane.elf.old|grep scheduler_tasks
0000000000402800 t _GLOBAL__sub_I__ZN5Plane15scheduler_tasksE
00000000006b54c0 B Plane::scheduler_tasks
ArduPlane $ nm -C ArduPlane.elf|grep scheduler_tasks
0000000000490900 R Plane::scheduler_tasks
As can be seen above, now the scheduler_tasks symbol is in a read-only data
section and in all of them we decreased the total size.
For APM2 we have a little increase in the text size size.
ArduPlane $ size ArduPlane.elf{.old,}
text data bss dec hex filename
241940 942 4447 247329 3c621 ArduPlane.elf.old
242222 942 4431 247595 3c72b ArduPlane.elf
ArduPlane $ nm -C ArduPlane.elf.old|grep scheduler_tasks
00001f8f T Plane::scheduler_tasks
ArduPlane $ nm -C ArduPlane.elf|grep scheduler_tasks
00001f8f T Plane::scheduler_tasks
2015-05-26 13:46:55 +10:00
Lucas De Marchi
84f399ec3c
APMrover2: Start using new Functor implementation
...
It both reduces flash size and move symbols to read-only sections.
The scheduler_tasks table is one known not to be in read-only section before due
to the FastDelegate implementation. Before and after this patch:
APMrover2 $ size APMrover2.elf{.old,}
text data bss dec hex filename
611406 4832 40920 657158 a0706 APMrover2.elf.old
609686 4824 38936 653446 9f886 APMrover2.elf
APMrover2 $ nm -C APMrover2.elf{.old,} |grep tasks
0000000000696f80 B Rover::scheduler_tasks
000000000047c440 R Rover::scheduler_tasks
As can be seen above, now the scheduler_tasks symbol is in a read-only data
section and in all of them we decreased the total size.
For APM2 we have a similar situation, but the table was already in text section
because it was using plain C pointers:
APMrover2 $ size APMrover2.elf{.old,}
text data bss dec hex filename
189518 1038 3494 194050 2f602 APMrover2.elf.old
189216 1038 3480 193734 2f4c6 APMrover2.elf
APMrover2 $ nm -C APMrover2.elf{.old,} |grep tasks
00001f92 T Rover::scheduler_tasks
00001f8a T Rover::scheduler_tasks
2015-05-26 13:46:55 +10:00
Lucas De Marchi
20ef7efaf6
AP_HAL: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:55 +10:00
Lucas De Marchi
c894a1349e
DataFlash: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:54 +10:00
Lucas De Marchi
6ae2591cad
AP_Terrain: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:54 +10:00
Lucas De Marchi
9764bb2452
AP_Notify: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:54 +10:00
Lucas De Marchi
3aa46e3213
AP_InertialSensor: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:53 +10:00
Lucas De Marchi
4c97d92982
AP_HAL_Linux: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:53 +10:00
Lucas De Marchi
9b7c1d8f93
AP_HAL_FLYMAPLE: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:53 +10:00
Lucas De Marchi
dcf992b558
AP_HAL_AVR: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:53 +10:00
Lucas De Marchi
435613de69
AP_Frsky_Telem: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:53 +10:00
Lucas De Marchi
95627cf412
AP_Compass: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:52 +10:00
Lucas De Marchi
df5652fa87
AP_Baro: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:52 +10:00
Lucas De Marchi
ca7db5cdc1
AP_Arming: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:52 +10:00
Lucas De Marchi
cc1fbddc95
AP_Airspeed: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:52 +10:00
Lucas De Marchi
f7dc19554f
AP_ADC: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:51 +10:00
Lucas De Marchi
9f0af5b9cb
AP_HAL: add fallback implementation of functor macros
2015-05-26 13:46:51 +10:00
Lucas De Marchi
83efb9280b
AP_HAL: use variadic templates in FastDelegate
...
Now that we are using C++11 we can use variadic templates to simplify
the FastDelegate classes. It also simplifies moving away from the
FastDelegate implementation.
2015-05-26 13:46:51 +10:00
Lucas De Marchi
78b00784fb
AP_Scheduler: allow to use functor
2015-05-26 13:46:50 +10:00
Lucas De Marchi
58847bffd6
GCS_MAVLink: allow to use functor
2015-05-26 13:46:50 +10:00
Lucas De Marchi
cd308b5e2f
DataFlash: allow to use functor
2015-05-26 13:46:50 +10:00
Lucas De Marchi
384a3bfcc3
AP_Mission: allow to use functor
2015-05-26 13:46:50 +10:00
Lucas De Marchi
70525fa2c1
AP_Menu: allow to use functor
2015-05-26 13:46:50 +10:00
Lucas De Marchi
4b5cf24a81
Allow to change to functor implementation
...
Start to add code behind APM_BUILD_FUNCTOR to support changing the
functor implementation (without breaking the build while the change is
not complete).
2015-05-26 13:46:49 +10:00
Lucas De Marchi
a1e1503e1a
AP_HAL: Add Functor implementation
...
This is a Functor implementation that should cover the use cases we have
for FastDelegate. In contrary to the latter, it can be constructed at
compile time so the compiler can safely put it in a read-only section
which covers the cases in which we are not using it.
2015-05-26 13:46:49 +10:00
Lucas De Marchi
5dfb3ed70c
AP_Scheduler: replace tabs with spaces
2015-05-26 13:46:49 +10:00
Lucas De Marchi
82d22992bd
GCS_MAVLink: Do not compare delegate to NULL
...
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
2015-05-26 13:46:49 +10:00
Lucas De Marchi
ff398dbf0c
AP_Menu: Do not compare delegate to NULL
...
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
2015-05-26 13:46:48 +10:00
Lucas De Marchi
acdcdc35fa
AP_HAL_SITL: Do not compare delegate to NULL
...
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
2015-05-26 13:46:48 +10:00
Lucas De Marchi
9ef870c08a
AP_HAL_AVR: Do not compare delegate to NULL
...
Use the simpler "if (delegate_name)" since it allows simpler
implementation in the class, i.e. the bool operator rather than having
to compare to another object.
2015-05-26 13:46:48 +10:00
Lucas De Marchi
57386434d1
AP_ADC: remove AP_ADC_HIL
...
It's not being used and it's actually broken: it references
AP_ADC_HIL::read() that doesn't exist.
2015-05-26 13:46:48 +10:00
Randy Mackay
d777166c6f
AP_MotorsTri: revert tail servo to Ch7
2015-05-25 22:27:38 +09:00
Randy Mackay
1a1fa7ca4b
AP_MotorsHeli: add comment to avoid param conflict
2015-05-25 22:13:49 +09:00
Randy Mackay
4c94a69e33
AP_MotorsCoax: resolve param conflict with TradHeli
2015-05-25 22:13:47 +09:00
Randy Mackay
78b49fb4c6
AP_MotorsSingle: resolve param conflict with TradHeli
...
Also rename servo reverse parameters to be consistent with tricopter
2015-05-25 22:13:45 +09:00
Randy Mackay
8dc7cf7fa8
AP_MotorsTri: YAW_SV_REV values -1 or +1
...
Also resolve parameter conflict with TradHeli
2015-05-25 22:13:43 +09:00
Randy Mackay
71e4bccecb
AP_Motors: init members in constructor
...
Also add f to end of float constants
2015-05-25 22:13:41 +09:00
Robert Lefebvre
915236f1f5
AC_AttitudeControl: Non-functional comment change
...
Don't encourage future misuse of g.rc3
2015-05-25 22:13:37 +09:00
Robert Lefebvre
e87ca6de6f
AC_PosControl: Change motors.get_throttle_out
...
to get_throttle to follow function renaming in AP_Motors
2015-05-25 22:13:34 +09:00
Robert Lefebvre
b8181b6b90
AP_Motors: RCMAP fix
...
Remove all RC Input channels passed as reference into AP_Motors. All input handling self-contained inside AP_Motors.
Rework Tricopter to use internal servo calcs.
2015-05-25 22:13:32 +09:00
Andrew Tridgell
527fc2a610
SITL: use 127.0.0.1 to improve reliability on windows
2015-05-25 22:02:18 +10:00
Andrew Tridgell
563be63d00
SITL: try to get speedup accurate on both windows and linux
2015-05-25 21:48:42 +10:00
Andrew Tridgell
2b2259a6d7
SITL: use more granrular sleeps for windows
2015-05-25 17:05:44 +10:00
Andrew Tridgell
c06d81a06a
SITL: use autotest_dir
...
this allows for the aircraft directory for SITL to be packaged without
the source tree
2015-05-25 13:04:46 +10:00
Andrew Tridgell
3daee9c8bc
HAL_SITL: added --autotest-dir option
2015-05-25 13:04:17 +10:00
Andrew Tridgell
4f37926aea
SITL: fixed gimbal build on PX4
2015-05-25 12:39:40 +10:00
Andrew Tridgell
958d8b4787
GCS_MAVLink: update from upstream headers
2015-05-25 12:20:27 +10:00
Andrew Tridgell
e7abc07898
HAL_SITL: enable --gimbal option
...
instantiates a MAVLink gimbal
2015-05-25 12:20:26 +10:00
Andrew Tridgell
7f5b206c55
SITL: added gimbal simulator class
2015-05-25 12:20:26 +10:00
Andrew Tridgell
2f7facba40
GCS_MAVLink: removed old MAVLink 0.9 headers
2015-05-25 10:19:47 +10:00
Andrew Tridgell
d96e62cce7
AP_Mount: update gimbal for changed quaternion API
2015-05-25 09:08:45 +10:00
Andrew Tridgell
2a8f645d81
AP_Math: use matrix3 euler312 operations in quaternion library
2015-05-25 09:08:31 +10:00
Andrew Tridgell
7aa7e03169
AP_Math: added euler312 functions (for gimbal)
2015-05-25 09:03:11 +10:00
Andrew Tridgell
2bb5f677c7
SITL: removed earth frame rates
2015-05-25 09:03:10 +10:00
Andrew Tridgell
8dce5e11d6
HAL_SITL: removed earth-frame rates
2015-05-25 09:03:10 +10:00
Andrew Tridgell
19419fd901
AP_Mount: fixed reporting of MAVLink gimbal position to GCS
2015-05-24 15:24:02 +10:00
Andrew Tridgell
b61f7fa2f6
AP_AHRS: enable EKF by default on plane
...
now we have arming checks enabled by default I think this is the best
choice
2015-05-23 17:17:44 +10:00
Andrew Tridgell
efd958f0b0
AP_NavEKF: rename file to remove spaces
...
spaces in file names break shell scripts
2015-05-23 17:14:52 +10:00
Andrew Tridgell
2d53a1ff9a
SITL: fixed airspeed in last_letter
2015-05-23 11:37:21 +10:00
Andrew Tridgell
ae6ac1b82d
SITL: fixed airspeed in CRRCSim
2015-05-23 11:35:56 +10:00
Andrew Tridgell
da5d5c9936
SITL: fixed airspeed pass-thru from simulators
2015-05-23 11:24:10 +10:00
Andrew Tridgell
e7f3716e8c
HAL_SITL: pass in wind speed to C++ simulators
2015-05-23 11:04:13 +10:00
Andrew Tridgell
091a1e7fe0
SITL: fixed wind support in JSBSim
2015-05-23 11:03:57 +10:00
Andrew Tridgell
4486ddc53e
DataFlash: changed TimeUS to SampleUS for raw IMU logging
...
this prevents a problem with an upcoming patch from Peter
2015-05-22 17:58:18 +10:00
Jonathan Challinger
28731d2bdc
AP_Motors: add throttle filter input constraint from -100 to 1100
2015-05-22 16:12:27 +09:00
Andrew Tridgell
60221f5e9c
SITL: use sendto() in CRRCSim
...
this makes us robust to restart of client or server
2015-05-22 16:07:45 +10:00
Andrew Tridgell
6cbd291dd2
HAL_SITL: make model name case insensitive
2015-05-22 16:07:44 +10:00
Andrew Tridgell
9336914598
AP_HAL: added sendto socket method
2015-05-22 16:07:44 +10:00
Andrew Tridgell
4e117bc90f
HAL_SITL: support last_letter simulator
2015-05-22 16:07:44 +10:00
Andrew Tridgell
b35c21fbe2
SITL: fixed socket recv error check
2015-05-22 16:07:43 +10:00
Andrew Tridgell
e487d95c1b
SITL: added direct support for last_letter simulator
2015-05-22 16:07:43 +10:00
Robert Lefebvre
bcc3fa0526
AC_HELI_PID: Pass default FF param setting in constructor
2015-05-22 09:38:28 +09:00
Robert Lefebvre
73bafa131e
AP_MotorsHeli: Overload output()
...
To protect it from future interference from Multirotor code.
2015-05-22 09:38:23 +09:00
Robert Lefebvre
d3ce68a8ca
AP_MotorsHeli: Overload update_throttle_filter()
...
Do not reset filter to zero when disarmed to allow collective pitch servo movement.
2015-05-22 09:38:20 +09:00
Peter Barker
6299a8c90d
autotest: drain control socket in SITL
...
fixes SITL on plane
2015-05-22 08:09:15 +10:00
Andrew Tridgell
cd66ce1c74
HAL_SITL: don't advance clock on garbage SIM input
2015-05-21 21:17:22 +10:00
Andrew Tridgell
605b8b4ece
AP_Math: converted rotations example to cpp
...
this is just a test conversion before we start converting on-mass
2015-05-21 13:41:20 +10:00
Andrew Tridgell
062c9406bd
AP_Math: fixed rotations example build
2015-05-21 13:37:44 +10:00
Andrew Tridgell
a1a3212131
AP_Common: moved NOINLINE define to AP_Common.h
2015-05-21 09:35:26 +10:00
Andrew Tridgell
fb97c16a84
AP_Param: make data pointer const
2015-05-21 07:48:52 +10:00
Andrew Tridgell
84726e4a3a
GCS_MAVLink: use APM_BUILD_DELEGATES
2015-05-21 07:48:52 +10:00
Andrew Tridgell
f8aef57ec3
DataFlash: use APM_BUILD_DELEGATES
2015-05-21 07:48:51 +10:00
Andrew Tridgell
0847bd2608
AP_Scheduler: use APM_BUILD_DELEGATES
2015-05-21 07:48:51 +10:00
Andrew Tridgell
e7ba2c8d93
AP_Mission: use APM_BUILD_DELEGATES
2015-05-21 07:48:51 +10:00
Andrew Tridgell
3a300575bc
AP_Menu: use APM_BUILD_DELEGATES
2015-05-21 07:48:51 +10:00
Andrew Tridgell
98d2b9b3aa
AP_Vehicle: added APM_BUILD_DELEGATES macro
2015-05-21 07:48:50 +10:00
Andrew Tridgell
c3aa8d67fa
AP_Arming: convert to delegates
2015-05-21 07:48:50 +10:00
Andrew Tridgell
71b550d7b5
GCS_MAVLink: support member functions for rover
2015-05-21 07:48:47 +10:00
Andrew Tridgell
b5d930be61
DataFlash: support member functions for rover
2015-05-21 07:48:47 +10:00
Andrew Tridgell
1237772479
AP_Scheduler: support member functions for rover
2015-05-21 07:48:46 +10:00
Andrew Tridgell
12cbf7888f
AP_Mission: support member functions for rover
2015-05-21 07:48:46 +10:00
Andrew Tridgell
db13f657a8
AP_Menu: support member functions for rover
2015-05-21 07:48:46 +10:00
Andrew Tridgell
e1e85ecc3d
AP_Progmem: simpler PROGMEM header
2015-05-21 07:48:46 +10:00
Andrew Tridgell
abfb601db6
AP_Progmem: added pgm_read_block()
2015-05-21 07:48:45 +10:00
Andrew Tridgell
d57fcf7e46
AP_HAL: added workaround for AVR delegates in PROGMEM
2015-05-21 07:48:45 +10:00
Andrew Tridgell
be587beedc
AP_HAL: disable nagle on sockets for faster local operation
2015-05-21 07:48:45 +10:00
Andrew Tridgell
b0932548d8
AP_GPS: enable NMEA GPS on AntennaTracker
...
we have enough flash space for it
2015-05-21 07:30:21 +10:00
Andrew Tridgell
411a96b4b3
AP_NavEKF: take at most 30s to accept DCM attitude
...
velocity noise on the GPS can cause DCM to take a long time to
converge. If it takes longer than 30s then allow EKF to start
2015-05-20 15:22:15 +10:00
Andrew Tridgell
7a76f72bf5
AP_AHRS: added uptime_ms() interface
2015-05-20 15:22:14 +10:00
ziltoid2
23787cf695
AP_Baro: use ground_temperature instead of calibration_temperature for alt calculation
2015-05-20 11:42:21 +10:00
Andrew Tridgell
92c4c5cbcf
AP_NavEKF: change using_gps threshold to 4s
...
this means plane will continue to use dead reckoning with GPS 3D lock
for 4s
2015-05-19 20:52:39 +10:00
Paul Riseborough
69ca654194
AP_NavEKF: Update declination when we know our location
...
This ensures that when we start using GPS, that the EKF will be using the correct declination for that location
If declination is not known it defaults to zero
2015-05-19 20:35:52 +10:00
Paul Riseborough
c1c5e3598a
AP_NavEKF: Enforce alignment of realigned earth mag field with declination
...
This prevents bad inertial or GPS data combined with the post takeoff heading alignment check used by plane from resulting in earth field states that have an incorrect declination
2015-05-19 20:35:52 +10:00
Paul Riseborough
b1d8805114
AP_NavEKF: Reduce takeoff detection sensitivity
...
This patch reworks the in-air transition criteria to reduce the likelihood of false positives and to ensure that there will be enough ground speed to make the heading check work reliably.
2015-05-19 20:35:52 +10:00
Randy Mackay
d1808c645d
AC_PosControl: recalc leash length on speed or accel change
...
This resolves an issue in which do-set-speed would not take effect until
one waypoint too late in a mission.
2015-05-19 18:16:39 +09:00
Andrew Tridgell
5514a9f690
AP_NavEKF: base EKF decisions on vehicle class
...
using the vehicle class rather than the build macros allows this to
work correctly in replay
2015-05-19 15:21:22 +10:00
Andrew Tridgell
92daa15ccc
AP_AHRS: on plane and rover make AHRS unhealthy when EKF not initialised
...
planes and rovers need full absolute position from the EKF if the EKF
is going to be used. We don't want users to arm without full
capabilities
2015-05-19 15:21:21 +10:00
Andy Piper
c600c1a746
DataFlash: log Gyro and Accel Health for IMUs.
...
Log the health of the various IMUs under GyHlt and AcHlt.
(Names are shortened to get inside the string array limit).
2015-05-19 13:13:35 +09:00
Andrew Tridgell
0619247992
HAL_Linux: don't advance time in delay() and delay_microseconds()
...
this could cause time to go backwards in Replay. Thanks to Peter for
finding this
2015-05-19 13:17:15 +10:00
Andrew Tridgell
29f0561ce4
AP_AHRS: reject EKF for plane when we have GPS and aren't fusing
...
plane users would prefer to use GPS in this case
2015-05-17 21:24:57 +10:00
Andrew Tridgell
6154db5cf8
AP_NavEKF: added using_gps status bit
2015-05-17 21:24:57 +10:00
Randy Mackay
0077cac1b7
AC_WPNav: rename stop to brake
2015-05-17 14:44:33 +09:00
Andrew Tridgell
80c20b5cf2
DataFlash: use L for latitude/longitude in DF messages
2015-05-16 14:04:31 +10:00
Tom Pittenger
e987173ffb
AP_NavEKF: float to double promotion via tan instead of tanf
2015-05-16 08:21:49 +10:00
Tom Pittenger
5f677c2b5b
AP_Math: float to double promotion via cos instead of cosf
2015-05-16 08:21:49 +10:00
Tom Pittenger
7b95241306
AP_HAL_SITL: float to double promotion via cos instead of cosf
2015-05-16 08:21:37 +10:00
Tom Pittenger
4f1dd2c8a4
AC_AttitudeControl: compiler warning stuff
...
float to double promotion via cos & sin instead of cosf & sinf
(this code is commented out but in case it ever gets included it would be nice to be correct
2015-05-16 08:21:36 +10:00
Andrew Tridgell
aaa35bd1ec
AP_InertialSensor: using atan2f() gives more accurate euler corrections
...
thanks to Jon and Paul!
2015-05-16 08:19:18 +10:00
Andrew Tridgell
9e723ef907
AP_InertialSensor: added calibrate_trim() function
...
used for redoing trim calculation
2015-05-16 07:56:34 +10:00
Andrew Tridgell
b564ba0868
AP_InertialSensor: fixed AHRS_TRIM calculation again
2015-05-16 07:56:33 +10:00
Andrew Tridgell
2475ee9630
AP_Compass: setup HIL/SITL for two compasses
2015-05-16 07:06:04 +10:00
Andrew Tridgell
ab687ab0f5
DataFlash: added double to list of format strings
...
thanks to Dario <proyectoire@gmail.com> for noticing this
2015-05-15 21:14:49 +10:00
Jonathan Challinger
159599879f
AP_InertialSensor: simplify and correct AHRS_TRIM computation
2015-05-15 21:03:03 +10:00
Andrew Tridgell
d7e4310df0
DataFlash: Lat can be negative in POS
2015-05-15 17:55:50 +10:00
Randy Mackay
559684b257
GCS_MAVLink: fix flow control check
...
Thanks to Tridge for spotting is
2015-05-15 15:39:34 +09:00
Andrew Tridgell
b0a90df135
DataFlash: fixed double Init of DF object
...
thanks to Michael De Breuil
2015-05-15 16:33:10 +10:00
Randy Mackay
763c671d0a
GCS_Console: fix example sketch after mavlink_comm_port to array
2015-05-15 15:07:32 +09:00
Randy Mackay
85eeba93c0
GCS_MAVLink: mavlink_comm_port to array
2015-05-15 15:07:31 +09:00
Randy Mackay
facbfaf31f
SerialManager: support for 4th mavlink channel
2015-05-15 15:07:24 +09:00
Randy Mackay
62e7e8cc7d
GCS_MAVLink: add support for 4th mavlink chan on PX4
2015-05-15 15:07:23 +09:00
Andrew Tridgell
74485c5754
DataFlash: added Log_Write_POS() call
...
write AHRS position to DF log
2015-05-15 14:28:08 +10:00
Andrew Tridgell
3370ec62a1
HAL_SITL: fix for multi-compass SITL
2015-05-15 14:25:44 +10:00
Andrew Tridgell
91b4ba3588
AP_Compass: allow for more than one compass in HIL/SITL
2015-05-15 14:25:44 +10:00
Andrew Tridgell
11f70da8b4
DataFlash: fixed incorrect change to GPS message
2015-05-15 14:25:43 +10:00
Randy Mackay
ade4f81c77
Compass: fix example sketch
2015-05-15 11:53:28 +09:00
Paul Riseborough
bd91b9727f
AP_NavEKF: Add pre-arm check for horizontal inertial errors
...
This check will declare the EKF as unhealthy if the horizontal position innovations exceed a threshold before motors are armed.
This will help to prevent a takeoff with bad inertial data caused by bad accel or gyro offsets.
2015-05-15 10:35:25 +09:00
Randy Mackay
1b13250fd8
RC_Channel: small parameter description change
2015-05-14 10:33:08 +09:00
Randy Mackay
61c851885f
AC_WPNav: remove unused set_spline_dest_and_vel
2015-05-13 22:40:08 +09:00
Randy Mackay
7056484ef0
Copter: fix spline overshoot
2015-05-13 22:40:06 +09:00
Randy Mackay
56b92e7d8c
AC_PID: fix example sketch
2015-05-13 17:55:39 +09:00
Paul Riseborough
c2ac80cc63
AP_AHRS: Prevent copter from switching to DCM unless EKF has severe errors
2015-05-13 16:11:13 +09:00
Randy Mackay
3f8b832075
InertialSensor: fix example sketch
2015-05-13 10:13:51 +09:00
Randy Mackay
3bcd97fcd1
Parachute: increase deployment duration to 2sec
2015-05-12 22:08:20 +09:00
Randy Mackay
5560d3dba1
BattMonitor: fix example sketch
2015-05-12 21:34:24 +09:00
Randy Mackay
e080b2acce
AP_Arming: use accel_calibrated_ok_all
2015-05-12 16:32:22 +09:00
Randy Mackay
1f14eec4ea
InertialSensor: accel_calibrated_all_ok replaces calibrated
...
This checks that the current number of accelerometers matches the number
of calibrated accels in order to catch accel failures at boot
2015-05-12 16:32:16 +09:00
Randy Mackay
0d72f3ac29
AP_HAL: fix example sketches
2015-05-12 14:42:15 +09:00
Andrew Tridgell
8bf2baef70
AP_InertialSensor: fixed primary accel/gyro in replay
2015-05-11 11:19:11 +10:00
Andrew Tridgell
f40c96de9d
SITL: add 'quad' and 'copter' as aliases for quadcopter
2015-05-11 09:19:53 +10:00
Andrew Tridgell
2a47cc3c81
HAL_SITL: cleanup command line handling
2015-05-11 08:48:42 +10:00
Andrew Tridgell
bab94c8a04
SITL: close high fds before launching JSBSIM
2015-05-11 08:06:10 +10:00
Andrew Tridgell
414f4125de
AP_HAL: use FD_CLOEXEC to prevent sockets being inherited in SITL
2015-05-11 08:05:51 +10:00
Andrew Tridgell
7692889248
SIM_JSBSim: added elevon and vtail support
2015-05-10 21:57:39 +10:00
Andrew Tridgell
aa9853179c
SITL: fixed startup yaw
2015-05-10 21:57:19 +10:00
Andrew Tridgell
5687adbdba
HAL_SITL: support JSBSim backend
2015-05-10 21:02:20 +10:00
Andrew Tridgell
692fc18698
AP_HAL: protect Socket.h from double include
2015-05-10 21:02:04 +10:00
Andrew Tridgell
c136d65c25
SITL: added initial JSBSim simulator backend
2015-05-10 21:01:49 +10:00
Andrew Tridgell
8ec98a5ec9
SITL: make it possible to connect two SITL instances together
...
this adds --client to set uartC as a tcp client rather than a TCP
server
2015-05-10 15:36:18 +10:00
Andrew Tridgell
3991e0c476
DataFlash: fixed sign of sv in GRAW message
2015-05-10 12:15:04 +10:00
Andrew Tridgell
3529e02675
AP_AHRS: if we have 3 gyros then only use first two
...
the 3rd gyro on a PH2 has a lot more noise as it is not vibration
isolated
2015-05-09 21:00:49 +10:00
Paul Riseborough
cb59570938
AP_NavEKF: Remove bug preventing external selection of optical flow mode
2015-05-09 18:31:18 +10:00
Randy Mackay
3390d9932e
AP_AHRS: fix example sketch
2015-05-09 12:23:05 +09:00
Tom Pittenger
2deb0e08ea
AP_NavEKF: replace fabs() with fabsf()
2015-05-09 09:57:27 +10:00
Tom Pittenger
79605de8f5
AP_Mission: replace fabs() with fabsf()
2015-05-09 09:57:27 +10:00
Tom Pittenger
e20ffa8c75
AP_Math: replace fabs() with fabsf()
2015-05-09 09:57:27 +10:00
Tom Pittenger
1c8efb25a8
AP_HAL_SITL: replace fabs() with fabsf()
2015-05-09 09:57:26 +10:00
Tom Pittenger
4b6d0d8e24
AP_HAL: replace fabs() with fabsf()
2015-05-09 09:57:26 +10:00
Tom Pittenger
9d74f57ed3
AP_PID: replace fabs() with fabsf()
2015-05-09 09:57:26 +10:00
Tom Pittenger
70bef20a29
AC_AttitudeControl: replace fabs() with fabsf()
2015-05-09 09:57:26 +10:00
Andrew Tridgell
1127b716c4
SITL: lower the default noise
...
prevents problems calibrating the gyro
2015-05-09 07:22:37 +10:00
Andrew Tridgell
2552acbf12
AP_Arming: fixed accel cal test in arming
...
use a per-imu time of last cal pass, and triple accel threshold for
IMU3. Raise threshold to 0.5 for IMU1/IMU2
2015-05-08 21:01:52 +10:00
Tom Pittenger
d94c95a6ef
GCS_MAVLink: return true if mission recieve is complete
...
when handing a mission item, and that is the last item, return true so that whoever is handling this knows we have a new mission list. From here we can log a new mission
2015-05-08 21:01:51 +10:00
Paul Riseborough
a232606fc9
AP_NavEKF: Prevent EKF yaw errors due to fast yaw spins
...
Prolonged yaw rotations with gyro scale factor errors can cause yaw errors and gyro bias estimation errors to build up to a point where EKF health checks fail.
This patch introduces the following protections:
1) The assumed yaw gyro error is scaled using a filtered yaw rate and an assumed 3% scale factor error (MPU6000 data sheet)
2) When the filtered yaw rate magnitude is greater than 1 rad/sec, the Z gyro bias process noise is zeroed and the state variance set to zero to inhibit modification of the bias state
3) When the filtered yaw rate magnitude is greater than 1 rad/sec, the magnetometer quaternion corrections are scaled by a factor of four to maintain tighter alignment with the compass
2015-05-08 16:47:31 +09:00
Paul Riseborough
08382373f1
AP_NavEKF: Reduce likelihood of in-air switch to GPS with a bad heading
...
Increases magnetometer weighting on yaw corrections when there there is no other aiding to constrain yaw drift.
Prevents switch to GPS if magnetometer data is failing innovation checks which indicates a bad yaw angle
2015-05-08 16:47:29 +09:00
Randy Mackay
3781f133d7
AC_AttControlHeli: remove unused definitions
2015-05-08 14:50:38 +09:00
Randy Mackay
bef5633ed5
AC_AttControlHeli: use params from parent class
2015-05-08 14:50:36 +09:00
Randy Mackay
7951346d72
AC_AttControl: bf_feedfoward_save made more concise
2015-05-08 14:29:49 +09:00
Randy Mackay
3d9a6a69e2
MotorsHeli: COLYAW to float
2015-05-08 14:14:36 +09:00
Randy Mackay
edfa206bb8
Motors_Heli: nest heli params
2015-05-08 14:14:35 +09:00
Randy Mackay
68b05a4ca2
AP_Motors: is_throttle_mix_min returns bol
2015-05-08 14:14:32 +09:00
Leonard Hall
cf45a1cf3a
AC_AttitudeControl: add get accel and save ff
2015-05-08 14:14:30 +09:00
Leonard Hall
1900cc7582
AC_AttitudeControl: Enable FF by default
2015-05-08 14:14:21 +09:00
Leonard Hall
0f894ac1a8
AP_Motors: Rename and move Throttle Mix / Comp
2015-05-08 14:14:17 +09:00
Jonathan Challinger
142e018a18
AP_NavEKF: fix bug causing takeoff to fail
2015-05-08 09:15:45 +09:00
Randy Mackay
fa4ba456b4
GPS: fix example sketches
2015-05-07 14:01:14 +09:00
Andrew Tridgell
afc9812d0b
AP_InertialSensor: update VibTest after moving messages info DataFlash
2015-05-07 13:25:37 +10:00
Andrew Tridgell
7d90033a36
AP_InertialSensor: support raw accel and gyro dataflash logging
2015-05-07 12:08:30 +10:00
Andrew Tridgell
21d805422d
DataFlash: added defines for raw accel and gyro logging
2015-05-07 12:08:04 +10:00
Andrew Tridgell
f5140e25b0
AP_InertialSensor: updated VibTest for latest PX4 interfaces
2015-05-07 10:51:52 +10:00
Andrew Tridgell
cbdc9f0706
SITL: fixed autotest SITL
2015-05-06 10:09:43 +10:00
Andrew Tridgell
2369e06815
AP_HAL: fixed SITL build on windows
2015-05-06 09:07:03 +10:00
Andrew Tridgell
b09fcfc20e
HAL_Linux: cope with systems without I2C_RDRW_IOCTL_MAX_MSGS
...
such as my ubuntu 14.04 laptop :-)
2015-05-05 21:42:46 +10:00
Andrew Tridgell
6a8da06d19
HAL_SITL: hook in CRRCSim backend
2015-05-05 21:42:46 +10:00
Andrew Tridgell
93d5101bf9
SITL: added CRRCSim simulation connection
2015-05-05 21:42:45 +10:00
Andrew Tridgell
4c11002976
AP_HAL: added HAL_OS_SOCKETS define
...
used for systems with BSD sockets
2015-05-05 21:34:19 +10:00
Andrew Tridgell
08b9ed3342
AP_HAL: added socket handling class
2015-05-05 21:34:19 +10:00
Randy Mackay
9dede2f0ec
Math: remove duplicate HALF_SQRT_2 definition
2015-05-05 14:23:14 +09:00
Randy Mackay
151707cb0a
Filter: replace 2*M_PI_F with M_2PI_F
2015-05-05 14:22:52 +09:00
Peter Barker
463270e0ee
AP_AHRS: avoid FPE when we don't have a compass reading
2015-05-05 15:02:35 +10:00
Andrew Tridgell
77a2b4acf6
AP_Math: removed fast_atan
2015-05-05 13:57:22 +10:00
Andrew Tridgell
872583f441
AC_AttitudeControl: removed fast_atan
2015-05-05 13:57:16 +10:00
Andrew Tridgell
8ba5272b0e
AP_Scheduler: fixed PSTR() usage
2015-05-05 13:54:27 +10:00
Andrew Tridgell
88fb7ddff8
AP_Param: fixed PSTR() usage
2015-05-05 13:54:15 +10:00
Andrew Tridgell
089e63f987
AP_InertialSensor: fixed PSTR handling
...
must use PSTR on code compiled for AVR
2015-05-05 13:54:00 +10:00
Andrew Tridgell
31693e332e
AP_InertialSensor: use non-PSTR printf
...
this is not built on AVR
2015-05-05 13:48:34 +10:00
Andrew Tridgell
730644eaeb
AP_Mount: use M_PI_F instead of (float)M_PI
2015-05-05 13:44:25 +10:00
Andrew Tridgell
84ac721340
AC_AttitudeControl: use M_PI_F instead of (float)M_PI
2015-05-05 13:44:19 +10:00
Andrew Tridgell
f9114f849b
Filter: revert AP_Math class change
2015-05-05 13:27:07 +10:00
Andrew Tridgell
bcc6c7d380
AP_Param: revert AP_Math class change
2015-05-05 13:27:07 +10:00
Andrew Tridgell
a140a5e77f
AP_NavEKF: revert AP_Math class change
2015-05-05 13:27:07 +10:00
Andrew Tridgell
7c9e3d4b58
AP_Mount: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
0b897e04bb
AP_Math: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
e6a8a6da07
AP_InertialSensor: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
015fce5183
AP_Compass: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
d2167633f0
AP_Camera: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
48fb7f8159
AP_BARO: revert AP_Math class change
2015-05-05 13:27:05 +10:00
Andrew Tridgell
4d4a607b80
AP_AHRS: revert AP_Math class change
2015-05-05 13:27:05 +10:00
Andrew Tridgell
c08b62f9e4
AC_WPNAV: revert AP_Math class change
2015-05-05 13:27:05 +10:00
Andrew Tridgell
33555b7f12
AC_PID: revert AP_Math class change
2015-05-05 13:27:05 +10:00
Andrew Tridgell
aa1bfb1ca7
AC_Fence: revert AP_Math class change
2015-05-05 13:27:04 +10:00
Andrew Tridgell
326b0b33ea
AC_AttitudeControl: revert AP_Math class change
2015-05-05 13:27:04 +10:00
Andrew Tridgell
936fbbb362
AP_Math: removed AP_Math class
2015-05-05 13:27:03 +10:00
Tom Pittenger
7fd285f483
AC_WPNav: Compiler warnings: nuke fast_atan2()
...
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM
ccd578664f (commitcomment-11025083)
2015-05-05 13:27:03 +10:00
Tom Pittenger
4ec2fb3a9c
AP_Math: Compiler warnings: nuke fast_atan2()
...
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM
ccd578664f (commitcomment-11025083)
2015-05-05 13:27:02 +10:00
Tom Pittenger
1b84bbc3e7
AC_WPNav: Compiler warnings: add in the appropriate whitrespace
2015-05-05 13:27:02 +10:00
Tom Pittenger
0e076d6dc8
AP_InertialSensor: compile warnings: format not a string literal, argument types not checked
...
PSTR() goofs things up when using hal.console->printf_P()
2015-05-05 13:27:02 +10:00
Tom Pittenger
6acd92be1e
AP_RangeFinder: compiler warnings: compare signed to unsigned
2015-05-05 13:27:02 +10:00
Tom Pittenger
9e98c68099
AP_InertialSensor: compile warnings: format not a string literal, argument types not checked
...
PSTR() goofs things up when using hal.console->printf_P()
2015-05-05 13:27:01 +10:00
Tom Pittenger
d823541eb1
AP_Scheduler: compile warnings: format not a string literal, argument types not checked
...
PSTR() goofs things up when using hal.console->printf_P()
2015-05-05 13:27:01 +10:00
Tom Pittenger
bfd1b2b11a
AP_Param: compile warnings: format not a string literal, argument types not checked
2015-05-05 13:27:01 +10:00
Tom Pittenger
b9771ca37c
AP_Param: compile warnings: float to double. print statements require doubles
2015-05-05 13:27:00 +10:00
Tom Pittenger
330e4126bb
Ap_Math: compile warnings: float to double. use atan2f instead of atan2
2015-05-05 13:27:00 +10:00
Tom Pittenger
440438fdda
AP_Param: compiler warnings: apply is_zero(float) or is_equal(float)
...
due to an include cross-dependency between ap_param and ap_math, I punted and reimplemented is_equal() for this one function in the header
2015-05-05 13:26:58 +10:00
Tom Pittenger
820f0bf02a
AP_Math: compiler warnings: float to double promotion
...
cast as float because we're in magical template land where T minus T means promote to double
2015-05-05 13:26:58 +10:00
Tom Pittenger
1c3ad00aa7
AP_Math: compiler warnings: use double for the constant so the template can handle it
2015-05-05 13:26:57 +10:00
Tom Pittenger
6e6f481ecb
AP_Math: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:56 +10:00
Tom Pittenger
98c5137107
AP_HAL_PX4: compiler warnings: float to doubles
2015-05-05 13:26:56 +10:00
Tom Pittenger
54f4d4b07c
AP_PID: compiler warnings: reordered constructor
2015-05-05 13:26:56 +10:00
Tom Pittenger
0b29848277
AP_Baro: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:56 +10:00
Tom Pittenger
d275e6711d
AP_HAL_VRBRAIN: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:55 +10:00
Tom Pittenger
20f47417d5
AP_AHRS: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles
2015-05-05 13:26:55 +10:00
Tom Pittenger
94ffc9b942
AC_Fence: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:55 +10:00
Tom Pittenger
1bca81eaed
AC_AttitudeControl: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles
2015-05-05 13:26:55 +10:00
Tom Pittenger
6d1b517aae
Filter: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:55 +10:00
Tom Pittenger
913d00f525
AP_WPNav: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:54 +10:00
Tom Pittenger
98ca790cb9
AP_DataFlash: compiler warnings: float to double
2015-05-05 13:26:54 +10:00
Tom Pittenger
4ac1f8a2fa
AP_Mount: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:54 +10:00
Tom Pittenger
9b53961a7d
AP_NavEKF: compiler warnings: float to double
2015-05-05 13:26:52 +10:00
Tom Pittenger
3276eec30e
AP_NavEKF: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:52 +10:00
Tom Pittenger
35f7a466e5
AP_Math: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:52 +10:00
Tom Pittenger
a5d2f3a82f
AP_Math: compiler warnings: float to double
2015-05-05 13:26:52 +10:00
Tom Pittenger
d09ef4783d
AP_Compass: compiler warnings: reorder constructors
2015-05-05 13:26:52 +10:00
Tom Pittenger
ad11a57f57
AP_Compass: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:51 +10:00
Tom Pittenger
820199635b
AP_InertialSensors: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:51 +10:00
Tom Pittenger
01180d52c4
AP_PID: compiler warnings: apply is_zero(float)
2015-05-05 13:26:51 +10:00
Tom Pittenger
ac4e7b2b03
AP_Math: compiler warnings: apply is_equal(float)
2015-05-05 13:26:51 +10:00
Tom Pittenger
c93c773de2
AP_Math: change is_equal and is_zero to static class for better visability
2015-05-05 13:26:50 +10:00
Tom Pittenger
3cb2221315
AP_IntertialSensor: double to float warning
2015-05-05 13:26:50 +10:00
Tom Pittenger
bdda11b327
AP_Math: compiler warning: is_zero special case for vector3.h in a template
2015-05-05 13:26:50 +10:00
Andrew Tridgell
878eb88c3a
AP_GPS: avoid expanding the ublox buffer on APM2
2015-05-05 13:25:34 +10:00
Micheal Knight
ee85d37ee2
AP_GPS: added logging of RXM_RAW messages for UBlox
...
this will allow for post-flight RTK processing of DF logs
2015-05-05 13:25:34 +10:00
Andrew Tridgell
f8e09da50e
DataFlash: added GRAW raw GPS message
...
for saving RXM_RAW for post flight RTK
2015-05-05 13:25:34 +10:00
Andrew Tridgell
42c6801d61
SITL: reformat SITL code with astyle
2015-05-05 11:49:54 +10:00
Andrew Tridgell
c81ad1d622
HAL_SITL: reformat HAL_SITL with astyle
2015-05-05 10:59:07 +10:00
Lucas De Marchi
d640bc8345
AP_HAL_Linux: use kernel's limit of msgs per I2C transaction
...
Instead of hardcoding 8 as the limit for I2C msgs, use whatever the
kernel exported to us. In upstream this is 42 so it means we can group
together 21 addr/data pair instead of only 8.
2015-05-05 09:56:44 +10:00
Andrew Tridgell
d8791134f9
HAL_SITL: need to use fabs() for double checking
2015-05-05 09:45:59 +10:00
Andrew Tridgell
b9abf30785
HAL_SITL: removed unused cygwin code
2015-05-05 09:45:58 +10:00
Andrew Tridgell
5158f91263
HAL_SITL: converted command line code to getopt_cpp
2015-05-05 09:45:58 +10:00
Andrew Tridgell
a58a663085
SITL: fixed build on APM2
2015-05-05 09:45:58 +10:00
Andrew Tridgell
35d22b9d57
AP_HAL: added getopt_cpp class
...
a simple port of getopt_long to C++
2015-05-05 09:45:58 +10:00
Andrew Tridgell
438f954379
DataFlash: fixed some build warnings
2015-05-05 09:45:58 +10:00
Andrew Tridgell
d8ca0658d7
AP_Mount: fixed some build warnings
2015-05-05 09:45:58 +10:00
Andrew Tridgell
b2b5c8cd18
HAL_SITL: fixed some build warnings
2015-05-05 09:45:58 +10:00
Andrew Tridgell
a7c3125bcc
AP_GPS: fixed warnings in SBP driver
2015-05-05 09:45:57 +10:00
Andrew Tridgell
212e0ec002
StorageManager: fix for HAL_SITL rename
2015-05-05 09:45:57 +10:00
Andrew Tridgell
fa688a7b14
RC_Channel: fix for HAL_SITL rename
2015-05-05 09:45:57 +10:00
Andrew Tridgell
f449b34fdd
PID: fix for HAL_SITL rename
2015-05-05 09:45:56 +10:00
Andrew Tridgell
2d89b8b53d
GCS_MAVLink: fix for HAL_SITL rename
2015-05-05 09:45:56 +10:00
Andrew Tridgell
69f9d25cd0
DataFlash: fix for HAL_SITL rename
2015-05-05 09:45:56 +10:00
Andrew Tridgell
cf4602afc1
AP_TECS: fix for HAL_SITL rename
2015-05-05 09:45:56 +10:00
Andrew Tridgell
a4e8d960d2
AP_Scheduler: fix for HAL_SITL rename
2015-05-05 09:45:56 +10:00
Andrew Tridgell
c80a631813
AP_Relay: fix for HAL_SITL rename
2015-05-05 09:45:56 +10:00
Andrew Tridgell
ac43972883
AP_RangeFinder: fix for HAL_SITL rename
2015-05-05 09:45:56 +10:00
Andrew Tridgell
4ee54a8915
AP_OpticalFlow: fix for HAL_SITL rename
2015-05-05 09:45:56 +10:00
Andrew Tridgell
9f10e2d26c
AP_Notify: fix for HAL_SITL rename
2015-05-05 09:45:56 +10:00
Andrew Tridgell
c4d6f9d040
AP_NavEKF: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
Andrew Tridgell
2e57c62ebb
AP_Motors: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
Andrew Tridgell
0c142bb25a
AP_Mission: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
Andrew Tridgell
eca675c556
AP_Math: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
Andrew Tridgell
ef527d9daa
AP_InertialSensor: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
Andrew Tridgell
2be45bc7e6
AP_GPS: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
Andrew Tridgell
dd94cc18a1
AP_Common: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
Andrew Tridgell
8055e5792d
AP_BattMonitor: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
Andrew Tridgell
7d9d594283
AP_Baro: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
Andrew Tridgell
f23bc463cb
AP_Airspeed: fix for HAL_SITL rename
2015-05-05 09:45:54 +10:00
Andrew Tridgell
e597575747
AP_AHRS: fix for HAL_SITL rename
2015-05-05 09:45:54 +10:00
Andrew Tridgell
d8cd986696
APM_Control: fix for HAL_SITL rename
2015-05-05 09:45:54 +10:00
Andrew Tridgell
e789984c98
AC_WPNav: fix for HAL_SITL rename
2015-05-05 09:45:54 +10:00
Andrew Tridgell
777685ce1f
AC_PID: fix for HAL_SITL rename
2015-05-05 09:45:54 +10:00
Andrew Tridgell
40e3b422b5
HAL_SITL: rename HAL_AVR_SITL to HAL_SITL
...
it is nothing to do with the original AVR emulation now
2015-05-05 09:45:54 +10:00
Andrew Tridgell
24fc1d8ebf
HAL_SITL: added -F option for FDM address
2015-05-05 09:45:54 +10:00
Andrew Tridgell
630cd14252
HAL_SITL: added rover simulator support
2015-05-05 09:45:53 +10:00
Andrew Tridgell
64fa219c05
SITL: converted rover simulator from python to C++
2015-05-05 09:45:53 +10:00
Andrew Tridgell
11df612c04
HAL_SITL: added a table of simulator constructors
2015-05-05 09:45:53 +10:00
Andrew Tridgell
6ec6158b8b
SITL: converted helicopter simulator from python
2015-05-05 09:45:53 +10:00
Andrew Tridgell
be3d6c924e
AP_Compass: rename enum values to avoid header conflicts for 'ERROR'
2015-05-05 09:45:53 +10:00
Andrew Tridgell
963e5c5977
HAL_SITL: removed pthread.h as no longer needed
2015-05-05 09:45:53 +10:00
Michael Oborne
c26f2c9b1c
SITL: add missing include 'select'
2015-05-05 09:45:53 +10:00
Andrew Tridgell
878549530d
HAL_SITL: g_state is not needed any more
2015-05-05 09:45:53 +10:00
Andrew Tridgell
a17fc9e5ab
SITL: fixed time handling type
2015-05-05 09:45:53 +10:00
Andrew Tridgell
ce0a863d01
AP_NavEKF: allow for optimisation of the EKF
...
disable optimisation when debugging needed
2015-05-05 09:45:53 +10:00
Andrew Tridgell
25de563687
HAL_SITL: support direct RC input
2015-05-05 09:45:52 +10:00
Andrew Tridgell
77f007ab27
SITL: support speedup setting on the command line
2015-05-05 09:45:52 +10:00
Andrew Tridgell
a6f41b3ca6
HAL_SITL: removed the need for the FDM thread
...
this also removes the need for the barriers
2015-05-05 09:45:52 +10:00
Andrew Tridgell
19147a05f6
SITL: support functions for new simulators
2015-05-05 09:45:52 +10:00
Andrew Tridgell
437e1bdba0
SITL: added fill_fdm() for FDM output from simulator
2015-05-05 09:45:52 +10:00
Andrew Tridgell
ab2d4349b4
HAL_SITL: initial support for internal simulators
2015-05-05 09:45:52 +10:00
Andrew Tridgell
24b051565b
AP_Math: added normalize() method to Matrix3f
2015-05-05 09:45:52 +10:00
Andrew Tridgell
914b91af9e
SITL: initial conversion of multicopter sim to C++
2015-05-05 07:12:36 +10:00
Randy Mackay
2a6421d1bf
Airspeed: fix example sketch
2015-05-02 20:53:49 +09:00
Randy Mackay
55298a4c73
Baro: fix example sketch
2015-05-02 17:25:44 +09:00
Paul Riseborough
be04be9b43
AP_NavEKF: Fix bug preventing home position being set by copter
...
The interface definition has been modified so that it returns true for a position obtained usin geither the normal inertial navigation calculation, or a raw GPS measurement.
This enables this function to be used to set a home position before flight.
2015-05-02 17:20:21 +09:00
Randy Mackay
75e2498da2
Scheduler: fix example sketch
2015-05-02 11:55:50 +09:00
Randy Mackay
c78068b8b8
StorageManager: fix example sketch
2015-05-01 21:03:13 +09:00
Randy Mackay
5b15c07d47
RC_Channel: fix example sketch
2015-05-01 21:02:57 +09:00
Randy Mackay
240a845206
Notify: fix example sketches
2015-05-01 20:58:34 +09:00
Randy Mackay
b223e90ef6
AP_Motors: fix example sketches
2015-05-01 20:58:20 +09:00
Randy Mackay
ed61d961c3
Mission: fix example sketch
2015-05-01 20:58:06 +09:00
Randy Mackay
fecbf06008
AP_Math: fix example sketches
2015-05-01 20:57:38 +09:00
Jonathan Challinger
2b29060a4e
AC_WPNav: remove unused set_loiter_velocity
2015-05-01 16:46:53 +09:00
Randy Mackay
187dd0dccd
HAL_PX4: fix example sketch
2015-05-01 16:44:10 +09:00
Randy Mackay
fb7e75594f
AP_NavEKF: replace memset with quaternion.initialise
2015-05-01 16:37:35 +09:00
Randy Mackay
eaedeeb7bf
AP_Math: add quaternion.initialise
2015-05-01 16:37:34 +09:00
Randy Mackay
c366fbbc96
AP_NavEKF: remove unused haveDeltaAngles
2015-05-01 16:37:33 +09:00
Randy Mackay
6773c0b232
AP_InertialSensor: default primary accel and gyro
2015-05-01 16:37:33 +09:00
Paul Riseborough
b71b8f4bda
AP_NavEKF: Always return a NED relative position if possible
...
If a calculated position is not available, the function will return a value based on raw GPS or last calculation if available, but the status will be set to false to indicate that it cannot be used for control.
2015-05-01 16:37:32 +09:00
Paul Riseborough
20ba1e6b1b
AP_NavEKF: Always return a WGS-84 location if possible
...
If a calculated location is not available, the function will return raw GPS data if available, but the status will be set to false.
2015-05-01 16:37:31 +09:00
Paul Riseborough
dd1e0b2f0b
AP_NavEKF: Add missing function to return the NED to XYZ quaternion
2015-05-01 16:37:30 +09:00
Paul Riseborough
2c4572eb50
AP_NavEKF: Make ground effect variable names more descriptive
2015-05-01 16:37:29 +09:00
Paul Riseborough
3986851c51
AP_NavEKF: Prevent Z accel bias changing during ground effect takeoff
...
The inconsistent baro data during ground effect takeoff combined with the larger variances in the Z accel bias state early in flight can cause unwanted changes in bias estimate and therefore changes in height estimation error.
This patch turns of the process noise and state updates for the Z accel bias state when takeoff in ground effect is expected.
2015-05-01 16:37:28 +09:00
Paul Riseborough
2cba60c731
AP_NavEKF: Decouple takeoff ground effect compensation from arm transtion
...
Thsi fixes a potential bug where the vehicle could land at a lower location without disarming and re-enter ground effect takeoff mode wiht a baro height floor above the current altitude, causing unpredictable height gain
2015-05-01 16:37:27 +09:00
Paul Riseborough
c4c0f819b5
AP_NavEKF: Ensure Covariance initialisation uses correct IMU time step
2015-05-01 16:37:26 +09:00
Paul Riseborough
5dc29699ab
AP_NavEKF: Publish the INS delta quaternion
2015-05-01 16:37:25 +09:00
Paul Riseborough
d273302ce7
AP_NavEKF: Improve rate of accel bias learning before flight
2015-05-01 16:37:24 +09:00
Paul Riseborough
8dc6354a54
AP_NavEKF: Prevent touchdown baro errors tripping height innovation check
...
Ground effect baro errors can cause a spike in height innovation on disarming if ground effect compensation was used during the landing. This causes a transient AHRS fault message if this innovation is outside the pre-arm check limits.
Resetting the vertical position state to the measured height after disarming prevents this.
2015-05-01 16:37:23 +09:00
Jonathan Challinger
2f38dd1b67
AP_NavEKF: use quaternion functions to apply IMU delta angles
2015-05-01 16:37:22 +09:00
Jonathan Challinger
9c374eb4a8
AP_NavEKF: apply constrained floor to barometer innovation while landing
2015-05-01 16:37:21 +09:00
Jonathan Challinger
3c6446fadd
AP_NavEKF: refactor meaHgtAtTakeOff filter
2015-05-01 16:37:20 +09:00
Paul Riseborough
744de74c16
AP_NavEKF: Reduce ground effect baro induced height errors during takeoff
2015-05-01 16:37:19 +09:00
Paul Riseborough
13616d6436
AP_NavEKF: Add takeoff and touchdown expected to reported filter status
2015-05-01 16:37:19 +09:00
Jonathan Challinger
8c92524b8a
AP_NavEKF: add takeoffExpected and touchdownExpected
2015-05-01 16:37:18 +09:00
Jonathan Challinger
b6b55bf6f2
AP_NavEKF: integrate gravity over correct time period
2015-05-01 16:37:17 +09:00
Jonathan Challinger
cb0c424da1
AP_NavEKF: rewrite readIMUData
2015-05-01 16:37:16 +09:00
Jonathan Challinger
bb88a4f8fe
AP_InertialSensor: healthy() checks bounds
2015-05-01 16:37:15 +09:00
Jonathan Challinger
af80f20a51
AP_InertialSensor: add get_primary_gyro, fix get_primary_accel
2015-05-01 16:37:14 +09:00
Randy Mackay
0acc06d713
AP_Motors: minor comment for interlock
2015-05-01 14:30:45 +09:00
Robert Lefebvre
1a482de5e2
AP_MotorsHeli: Overload output_armed_zero_throttle
2015-05-01 14:30:25 +09:00
Robert Lefebvre
6bdace30d2
AP_Motors: Add throttle interlock functionality
...
AP_MotorsMatrix's output_armed_zero_throttle uses output_min default from base class
2015-05-01 14:30:24 +09:00
Randy Mackay
31edd6a72b
AC_PosControl: add_takeoff_climb_rate method
...
This function simply increments the current altitude target given a
climb rate and dt
2015-05-01 12:56:30 +09:00
Jonathan Challinger
348001e786
AP_Motors: add get_throttle_warn function
2015-05-01 12:56:11 +09:00
Andrew Tridgell
74581a55bc
HAL_SITL: fixed startup of SITL in synthetic clock mode
2015-04-30 17:19:56 +10:00
Andrew Tridgell
df21c6c68d
AP_HAL: support micros64() and millis64() on all platforms
...
this will allow for 64 bit timestamps in DF logs (Peter is working on
that)
2015-04-30 12:17:34 +10:00
Andrew Tridgell
4c4a4f9ea5
AP_RangeFinder: fixed cm to meter comparison
...
thanks to EShamaev for this fix (see PR #1352 )
2015-04-30 11:26:36 +10:00
Randy Mackay
dfadcad69d
Mission: allow zoom_step to be negative
2015-04-29 14:36:25 +09:00
Randy Mackay
bae1722946
AP_Motors: get_compensation_gain gets div-by-zero check
2015-04-29 14:36:22 +09:00
Randy Mackay
1b381b5675
Baro: get_air_density_ratio gets div-by-zero check
2015-04-29 14:36:20 +09:00
Jonathan Challinger
41ae7207c7
AP_Motors: scale roll/pitch/yaw gain for air density
2015-04-29 14:36:15 +09:00
Jonathan Challinger
e2ba351149
AP_Motors: refactor apply_thrust_curve_and_volt_scaling
2015-04-29 14:36:12 +09:00
Jonathan Challinger
f381ef93e8
AP_Baro: add get_air_density_ratio
2015-04-29 14:36:10 +09:00
Randy Mackay
b55367ccc7
GCS_MAVLink: fix example sketch
2015-04-29 10:18:57 +09:00
Randy Mackay
67b0c6f5c4
AC_PID: replace is_equal with is_zero
2015-04-28 16:22:08 +09:00
Randy Mackay
3514177314
AC_PI_2D: minor format fix
2015-04-28 16:21:53 +09:00
dgrat
303cfd683a
AC_PID: replace floating point '==' with is_equal
...
Also add div-by-zero check to fix calc_filt_alpha
Also get_i and get_shrink_i do not need to set values to zero in Vector2f
constructor because this is already done.
2015-04-28 16:21:46 +09:00
Randy Mackay
0392292489
AP_Math: inline is_equal, add is_zero
2015-04-28 16:19:01 +09:00
dgrat
726d7df710
AP_Math: add is_equal to compare floats
2015-04-28 16:18:59 +09:00
Grant Morphett
444841537e
AP_Camera: Just putting the newline at the end of the file.
2015-04-28 15:23:34 +09:00
Andrew Tridgell
007b01533d
AP_InertialSensor: switched to 16g accel range for MPU9250
...
this matches the Pixhawk, and makes us less prone to vibration. We
have seen clipping at 8g
2015-04-28 15:30:29 +10:00
Randy Mackay
33431acaa4
AC_WPNav: protect against div-by-zero related to gnd_speed_limit
2015-04-28 13:53:19 +09:00
Paul Riseborough
7481217445
AC_WPNav: Improve application of EKF optical flow speed limit
2015-04-28 13:53:17 +09:00
Andrew Tridgell
514c349060
AP_NavEKF: raise DCM error_rp threshold to 0.05
...
it was failing on many boards with fixed wing
2015-04-28 14:07:39 +10:00
Andrew Tridgell
6bfca648b9
AP_AHRS: raise DCM P gains when disarmed for first 20 seconds
2015-04-28 14:07:39 +10:00
Andrew Tridgell
42d2addbdd
HAL_SITL: removed the special code for cygwin
...
we no longer need special timing code for cygwin
2015-04-28 13:15:40 +10:00
Andrew Tridgell
063a33ebce
HAL_SITL: implement barriers using pthread condition variables
...
this avoid pthread_barrier_*, which is not available on cygwin
2015-04-28 13:14:12 +10:00
Jonathan Challinger
3812773485
AP_Math: make quaternion divide by zero protection more conservative
2015-04-28 11:42:13 +10:00
Jonathan Challinger
fb8da1b2d8
AP_Math: add get_euler_(roll|pitch|yaw) functions to quaternion
2015-04-28 11:42:13 +10:00
Andrew Tridgell
020d9ea78a
HAL_PX4: only consider power to have changed when armed
...
this prevents false positives with multi-battery setups
2015-04-28 11:05:29 +10:00
Randy Mackay
608bb3d611
Notify: minor format fix
2015-04-27 12:10:17 +09:00
Andrew Tridgell
028248d1f5
HAL_SITL: avoid floating point exceptions on i386
...
fixes issue #2147
2015-04-27 13:09:21 +10:00
Andrew Tridgell
4e86a6cd0e
GCS_MAVLink: merged upstream header changes
2015-04-27 09:00:38 +10:00
Randy Mackay
35874292a0
AC_WPNav: move stop below all loiter methods
...
No functional change
2015-04-26 16:26:53 +09:00
Robert Lefebvre
4a7fe83b0f
AC_WPNav: Create Stop Mode functions
2015-04-26 16:11:45 +09:00
Andrew Tridgell
fdac41dbab
GCS_MAVLink: re-generate headers
2015-04-25 09:12:16 +10:00
Michael Day
3d3267d472
AP_Mission: Now support mission item MAV_CMD_NAV_LOITER_TO_ALT
2015-04-25 09:12:16 +10:00
Michael Day
98d7f943ef
GCS_MAVLink: Added definition for MAV_CMD_NAV_LOITER_TO_ALT
2015-04-25 09:12:16 +10:00
Jonathan Challinger
a07b322d31
AP_Motors: set_throttle takes a float
2015-04-24 16:30:45 +09:00
Jonathan Challinger
ab2532a609
AC_AttitudeControl: constrain _angle_boost to avoid overflow
2015-04-24 16:30:43 +09:00
Randy Mackay
fdf226ebc1
AP_NavEKF: include AP_RangeFinder.h
2015-04-24 15:49:11 +09:00
Tom Pittenger
10c933966b
AP_Math: fix compile warning re float constants
2015-04-24 14:25:02 +09:00
Tom Pittenger
dbc01e2f1a
BattMon: fix compile warning re to unused variable
2015-04-24 14:18:36 +09:00
Tom Pittenger
3b3752468d
HAL_PX4: fix compile warnings re unused variables
2015-04-24 14:18:24 +09:00
Tom Pittenger
84d3069a77
AttControl_Heli: fix compile warning re member init order
2015-04-24 14:15:35 +09:00
Tom Pittenger
52474faa2e
AP_ADC: fix compile warning re member init order
2015-04-24 14:15:24 +09:00
Tom Pittenger
4191c44bbd
Baro: fix compile warning re member init order
2015-04-24 14:15:11 +09:00
Tom Pittenger
16e71ec1ce
Compass: fix compile warning re member init order
2015-04-24 14:15:00 +09:00
Tom Pittenger
179c72bfa9
HAL_PX4: fix compile warning re member init order
2015-04-24 14:14:38 +09:00
Tom Pittenger
ee1a415baa
HAL_VRBrain: fix compile warning re member init order
2015-04-24 14:14:27 +09:00
Tom Pittenger
a340d13d01
NavEKF: fix compile warning re member init order
2015-04-24 14:14:12 +09:00
Tom Pittenger
f3d13656ba
PID: fix compile warnings re float constants
2015-04-24 14:04:24 +09:00
Tom Pittenger
91476d78ae
SITL: fix compile warnings re float constants
2015-04-24 14:04:19 +09:00
Tom Pittenger
1575abff63
GCS_Console: fix compile warnings re float constants
2015-04-24 14:04:17 +09:00
Tom Pittenger
347fc1e59c
Filter: fix compile warnings re float constants
2015-04-24 14:04:14 +09:00
Tom Pittenger
f700f76923
DataFlash: fix compile warnings re float constants
2015-04-24 14:04:12 +09:00
Tom Pittenger
5ead138917
RangeFinder: fix compile warnings re float constants
2015-04-24 14:04:10 +09:00
Tom Pittenger
5f49b79d2f
Rally: fix compile warnings re float constants
2015-04-24 14:04:08 +09:00
Tom Pittenger
2179705791
PerfMon: fix compile warnings re float constants
2015-04-24 14:04:06 +09:00
Tom Pittenger
66ddfdeae6
AP_Param: fix compile warnings re float constants
2015-04-24 14:04:04 +09:00
Tom Pittenger
d6b34209b5
NavEKF: fix compile warnings re float constants
2015-04-24 14:04:02 +09:00
Tom Pittenger
a5ffadf201
AP_Motors: fix compile warnings re float constants
2015-04-24 14:04:00 +09:00
Tom Pittenger
a8dda9f2ed
AP_Math: fix compile warnings re float constants
2015-04-24 14:03:54 +09:00
Tom Pittenger
a4b8575432
InertialSensor: fix compile warnings re float constants
2015-04-24 14:03:49 +09:00
Tom Pittenger
ae6d44bf82
HAL_VRBrain: fix compile warnings re float constants
2015-04-24 14:03:38 +09:00
Tom Pittenger
7e18480cd2
HAL_PX4: fix compile warnings re float constants
2015-04-24 12:49:18 +09:00
Tom Pittenger
11951dbf48
HAL_Flymaple: fix compile warnings re float constants
2015-04-24 12:48:20 +09:00
Tom Pittenger
b7fb4022b4
AVR_SITL: fix compile warnings re float constants
2015-04-24 12:47:11 +09:00
Tom Pittenger
12b604663c
FrSky_Telem: fix compile warnings re float constants
2015-04-24 12:39:21 +09:00
Tom Pittenger
dffcdbd751
Curve: fix compile warnings re float constants
2015-04-24 12:39:02 +09:00
Tom Pittenger
bf1d128d70
Compass: fix compile warnings re float constants
...
Also fix example sketch
2015-04-24 12:29:07 +09:00
Tom Pittenger
c1d4992dac
Camera: fix compile warnings re float constants
2015-04-24 12:28:03 +09:00
Tom Pittenger
0926cf17dd
BattMon: fix compile warnings re float constants
2015-04-24 12:27:23 +09:00
Tom Pittenger
8f11507594
Arming: fix compile warnings re float constants
2015-04-24 12:27:05 +09:00
Tom Pittenger
e28c555889
AHRS_DCM: fix compile warnings re float constants
...
Also fix example sketch
2015-04-24 12:26:08 +09:00
Tom Pittenger
f4bfc12316
AP_ADC: fix compile warnings re float constants
2015-04-24 12:24:49 +09:00
Tom Pittenger
7132b39dcf
AP_AutoTune: fix compile warnings re float constants
2015-04-24 12:24:19 +09:00
Tom Pittenger
2f9e0c1938
APM_PI: fix compile warnings re float constants
2015-04-24 12:24:02 +09:00
Tom Pittenger
b9865c5f3e
AC_Circle: fix compile warnings re float constants
2015-04-24 12:23:38 +09:00
Tom Pittenger
4b97cc1957
AC_PID: fix compile warnings re float constants
2015-04-24 12:22:43 +09:00
Randy Mackay
b05bdd657d
AP_NavEKF: getHeightControlLimit modifies height on success
2015-04-24 10:58:05 +09:00
Randy Mackay
ba94a993f5
AP_InertialNav: get_hgt_ctrl_limit only modifies limit on success
2015-04-24 10:58:00 +09:00
Paul Riseborough
51624149e1
AP_InertialNav: Add function to return EKF height control limit
2015-04-24 10:57:58 +09:00
Paul Riseborough
cf04600710
AP_NavEKF: Add public function to limit height control during OF nav
2015-04-24 10:57:56 +09:00
Paul Riseborough
68b225de4d
AP_NavEKF: Prevent pre-arm baro drift affecting mag field reset height
2015-04-24 10:57:54 +09:00
Paul Riseborough
c2e6fdb56c
AP_NavEKF: Reduce effect of noisy baro data on baro height offset estimate
...
This estimate is used to offset baro data if we need to switch across from range finder data due to sensor failure. The previous filter coefficients gave a 0.5 seconds time constant on the offset which was too susceptible to baro noise.
2015-04-24 10:57:51 +09:00
Paul Riseborough
fd7fdc1ad9
AP_NavEKF: Remove unnecessary state resets on arm and disarm
...
Resetting states unnecessarily creates transients due to presence of bias errors
2015-04-24 10:57:49 +09:00
Paul Riseborough
3e67080002
AP_NavEKF: Use GPS vertical velocity observations to estimate Z accel bias
2015-04-24 10:57:47 +09:00
Paul Riseborough
e48171ab11
AP_NavEKF: Improve takeoff with optical flow and range data loss
...
Range finder and optical flow data can drop-out and be reliable very close to ground. these patches enable the takeoff to be more relaibly detected and constrain optical flow navigation drift in the first part of takeoff.
2015-04-24 10:57:45 +09:00
Paul Riseborough
3e061b174e
AP_NavEKF: Report unhealthy for all filter faults
2015-04-24 10:57:43 +09:00
Paul Riseborough
6c4c54c2ba
AP_NavEKF: Use default on ground range parameter from range finder object
2015-04-24 10:57:41 +09:00
Jonathan Challinger
10476333d8
AP_NavEKF: don't run when previously disarmed and time has slipped
2015-04-24 10:57:39 +09:00
Jonathan Challinger
085faaac6a
AP_NavEKF: fix delay detection so that filter properly resets after a delay
2015-04-24 10:57:36 +09:00
Randy Mackay
a01fb64f12
RangeFinder: fix example sketch
2015-04-24 10:57:25 +09:00
Randy Mackay
715da653c3
RangeFinder_Analog: set status
2015-04-24 10:57:23 +09:00
Randy Mackay
fadfa70e99
RangeFinder_MaxSonar: set status
2015-04-24 10:57:21 +09:00
Randy Mackay
e212ebb0d0
RangeFinder_PulsedLight: set status
2015-04-24 10:57:19 +09:00
Randy Mackay
aa04bef5af
RangeFinder_PX4: set status and consume out of range samples
2015-04-24 10:57:16 +09:00
Randy Mackay
71de0ab815
RangeFinder_PX4_PWM: set status and consume out of range samples
2015-04-24 10:57:12 +09:00
Randy Mackay
7663b8eade
RangeFinder: replace healthy with status and no_data methods
2015-04-24 10:57:10 +09:00
Randy Mackay
8ed6207ca8
RangeFinder: add pre-arm checks
2015-04-24 10:57:05 +09:00
Randy Mackay
f1cbd1f03b
RangeFinder: add ground clearance parameter
2015-04-24 10:57:03 +09:00
Paul Riseborough
1c8e3f9444
AP_NavEKF: Allow EKF to pull data from range finder object
2015-04-24 10:57:01 +09:00
Paul Riseborough
7f1749dc1c
AP_AHRS: Allow EKF to pull data from range finder object
2015-04-24 10:56:58 +09:00
Andrew Tridgell
f21aa17980
AP_GPS: fixed sending of GPS_RAW_INT with multiple links
...
thanks to ziltoid2 for this fix! See PR #2132
2015-04-24 08:21:00 +10:00
Niels Joubert
2a5b25ddbf
GCS_MAVLink: Re-enable GPS Injection Packets
2015-04-24 08:01:32 +10:00
Niels Joubert
a5beef00d1
GPS: Official Swift Binary Protocol GPS Driver v3 for Piksi GPS
...
DRIVER FEATURES:
- All logic for RTK vs Normal now lives inside Piksi
- Supports observation uplink through telem radio
- Supports full SBP packet logging
- Reports high-rate green blinking to indicate RTK lock.
- Switchable to accept only Float or Integer RTK locks.
THIS REQUIRES PIKSI FIRMWARE v0.14 OR HIGHER
- Uses Piksi's new Pseudo-Absolute-Positioning mode
- Onboard Piksi must have Pseudo-Absolute mode enabled
- Ground Station Piksi must have a surveyed location in settings
- Ground Station Piksi must send its location to Onboard Piksi.
NEXT STEPS REQUIRED:
- EKF needs to take higher accuracy GPS into account
- EKF needs to take GPS RTK height into account
- GCS needs to support sending SBP observation packets
--- MAVProxy patch forthcoming
2015-04-24 08:01:32 +10:00
Fergus Noble
0480867de2
SITL: Update SBP simulation functions for pseudo-absolute mode
2015-04-24 08:01:32 +10:00
Paul Riseborough
405862bd8f
AP_AHRS: Reduce time delay for EKF initialisation
2015-04-23 20:35:52 +09:00
Paul Riseborough
4a5bf0a266
AP_NavEKF: Reduce EKF start time
...
Makes EKF start conditional on DCM solution tilt error
2015-04-23 20:35:48 +09:00
Paul Riseborough
5184bca87f
AP_AHRS: Prevent DCM reporting good tilt error when inverted
2015-04-23 20:35:39 +09:00
Paul Riseborough
ea8217bd3a
AP_AHRS: Reduce time constant on filtering of DCM error reporting
...
Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
2015-04-23 20:35:35 +09:00
Randy Mackay
7e43eaafab
GPS: TYPE param description to PX4-UAVCAN
2015-04-23 20:17:26 +09:00
Randy Mackay
6e30093924
AP_AHRS: correct sanity checks on update_trig
2015-04-23 09:45:43 +09:00
Jonathan Challinger
6a6ccb4f32
AP_AHRS: add sanity checks
2015-04-22 21:50:51 +09:00
Randy Mackay
c6f71ea2e0
AHRS: make get_error_rp and get_error_yaw const
2015-04-21 22:42:17 +09:00
Randy Mackay
18a73d8630
Camera: use camera feedback flag
2015-04-21 22:22:57 +09:00
Randy Mackay
26383183d2
GCS_MAVLink: version update after generate
2015-04-21 22:22:54 +09:00
Randy Mackay
48c6803717
GCS_MAVLink: generate after fixing camera feedback flags
2015-04-21 22:22:52 +09:00
Randy Mackay
8e2616ddcf
GCS_MAVLink: prefix camera feedback flags
2015-04-21 22:22:49 +09:00
Dario Lindo Andres
a21d328b93
GCS_Mavlink: Update ardupilotmega.xml
...
Define PHOTO flag on CAMERA_FEEDBACK_FLAGS.
2015-04-21 22:22:47 +09:00
Randy Mackay
8ced9cc904
Gimbal: only include for high performance CPUs
2015-04-21 21:47:18 +09:00
Randy Mackay
93ba2d2d32
Mount_MAVLink: uses vehicle's sysid
2015-04-21 21:47:17 +09:00
Randy Mackay
e726a05f3b
Gimbal: fix to parameter init order
...
resolves a compiler warning
2015-04-21 21:47:16 +09:00
Randy Mackay
e9b2153672
Gimbal: formatting fixes
...
Also isCopterFlipped returns bool instead of uint8_t
No functional change
2015-04-21 21:47:15 +09:00
Randy Mackay
db6bb295c7
Mount: add gimbal parameter descriptions
2015-04-21 21:47:14 +09:00
Randy Mackay
924a3b2c67
GCS_MAVLink: version update after generate
2015-04-21 21:47:13 +09:00