We were previously leaking the AP_MPU6000_BusDriver if the
~AP_InertialSensor_MPU6000::detect*() failed. In order to avoid the
leak move the repeated code in a single private _detect() member that
receives everything as argument. Then this method takes ownership of the
objects.
By a adding a destructor to AP_InertialSensor_MPU6000 it becomes easier to
free the objects it takes ownership of.
Different detect() function might need different arguments and passing a
pointer to function here is cumbersome. For example, it forces to have a
method like "detect_i2c2" rather than allowing hal.i2c2 to be passed as
parameter.
The methods actually use the enum from AP_HAL::SPIDeviceDriver, so don't
declare a new one. The I2C implementation is empty; if we actually start
to use it we'd better move the bus abstraction to HAL.
When writting or reading a block, if the block doesn't fit the area where it begins, the next base address is always zero. Thus the calculations to define the next value of addr are unnecessary.
Here's a quick validity proof using the previous calculations:
First: Considering the case where the block doesn't fit it's first area:
That means that (count + addr > length), what makes:
count = length - addr; (1)
So the following operations:
addr += count;
addr -= length;
Are the same as doing:
addr = addr + count - length; (2)
Using (1) and (2) we have:
addr = addr + length - addr - length = 0
Second: When the block fits the area where it's at:
That means that variable count is not changed,
thus (n -= count) evaluates to 0, which makes the loop exit.
Another change was (b += count;) being moved after the condition to break the loop, since we just need to move the block pointer when it doesn't fit the first area.
remove PANICs from init
return semaphore if init fails
add successful initialisation check before attempting to read from sensor
structure made private where possible
formatting fixes
check I2C reads succeed
add request_measurement to request sensor to produce measurement
quit after 20 of previous 40 reads fail
throttle reads to 10hz max
Fixed this bug
https://github.com/diydrones/ardupilot/issues/840
If a Rover was in AUTO and the user moved the throttle stick into
reverse past 50% the rover would increase. Basically the throttle
nudge behaviour was the same regardless of whether you moved the
throttle forward or backward.
In case of error or zeroed data, the i2c semaphore wasn't given.
It happened at first startup on Bebop and caused a failure:
"PANIC: failed to take _bus->sem 100 times in a row..."
If someone mistakenly puts all 0's in their LAND command then
total_distance will be calculated as 0 and cause a divide by 0 error
below thus crashing ArduPilot. Lets avoid that.
Andrew Tridgell
Jonathan Challinger
Michael du Breuil
Lucas De Marchi
Gustavo Jose de Sousa
Randy Mackay
Víctor Mayoral Vilches
Grant Morphett
squilter
Leonard Hall
KiwiHC16
Julien BERAUD
Przemek Lekston
Jakub Oller