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12215 Commits

Author SHA1 Message Date
Jonathan Challinger
0eac5a5c8f AC_PrecLand: remove zero terms from math 2016-07-04 16:57:06 +09:00
Jonathan Challinger
b5e80148c6 AC_WPNav: remove shift_loiter_target 2016-07-04 16:57:06 +09:00
Jonathan Challinger
f74e162451 AC_PrecLand: redo math, simplify interface 2016-07-04 16:57:06 +09:00
Randy Mackay
4bedc57cbe DataFlash: rename SBFE's Long field to Lng 
This naming is consistent with the other GPS messages
 2016-07-04 11:17:14 +09:00
Randy Mackay
032e834849 Dataflash: log rally points 2016-07-04 11:17:09 +09:00
Andrew Tridgell
11975223dd AP_Motors: added H_RSC_POWER_NEGC and H_RSC_SLEWRATE 
this gives more control over throttle for petrol
helis. H_RSC_POWER_NEGC allows for a asymmetric V-curve, which allows
for less power being put into the head when landing or when sitting on
the ground. That can lead to significantly less vibration and chance
of ground oscillation. A heli not being flown with aerobatics does not
need to use high throttle at negative collective pitch.

The H_RSC_SLEWRATE allows for a maximum throttle slew rate to be
set. Some petrol motors can cut if the throttle is moved too
quickly. We had this happen at a height of 6m when switching from
ALT_HOLD to STABILIZE mode. It also lowers the chance of the blades
skewing in their holders with the sudden change of power when the heli
is disarmed. In general it is a bad idea to do instantaneous large
movements of a IC engine throttle.
 2016-07-03 18:29:05 +10:00
Andrew Tridgell
918c41b1e4 AP_BoardConfig: fixed IMU_TARGTEMP index 2016-07-03 12:54:27 +10:00
Andrew Tridgell
3377714300 RC_Channel: fixed typo 2016-07-01 15:35:55 +10:00
Andrew Tridgell
a331542958 GCS_MAVLink: fixed typo 2016-07-01 15:35:49 +10:00
Andrew Tridgell
4dcff15603 DataFlash: fixed typo 2016-07-01 15:35:45 +10:00
Andrew Tridgell
50958bc026 AP_RangeFinder: fixed typo 2016-07-01 15:35:39 +10:00
Andrew Tridgell
1f2216982d AP_Mount: fixed typo 2016-07-01 15:35:34 +10:00
Andrew Tridgell
bc7488e2f2 AP_Motors: fixed typos 2016-07-01 15:35:29 +10:00
Andrew Tridgell
cb858d2c99 AP_InertialSensor: fixed typo 2016-07-01 15:35:22 +10:00
Andrew Tridgell
081df44d92 HAL_QURT: fixed typo 2016-07-01 15:35:15 +10:00
Andrew Tridgell
6e065b3fe2 AP_HAL: fixed typo 2016-07-01 15:35:07 +10:00
Andrew Tridgell
86ceee4a53 AC_WPNav: fixed typo 2016-07-01 15:34:56 +10:00
Andrew Tridgell
45c72eb442 AP_BoardConfig: added BRD_IMU_TARGTEMP 
set target temperature for IMU
 2016-07-01 15:29:52 +10:00
Andrew Tridgell
834acaffee AP_InertialSensor: provide IMU temperature to HAL for all boards 2016-07-01 15:29:52 +10:00
Andrew Tridgell
7c2e4d0419 HAL_PX4: implement IMU heater in hal.util for Pixhawk2 2016-07-01 15:29:52 +10:00
Andrew Tridgell
461c159b22 HAL_Linux: use set_imu_target_temp() API 2016-07-01 15:29:52 +10:00
Andrew Tridgell
8617db89dc AP_HAL: added hal.util->set_imu_target_temp() API 2016-07-01 15:29:52 +10:00
Leonard Hall
fe68fe65e2 AP_Motors: Single and Coax fix flap gains 2016-07-01 12:45:14 +09:00
Andrew Tridgell
fc9283964a HAL_SITL: fixed segv on cygwin 2016-06-30 20:45:03 +10:00
Andrew Tridgell
82f131667d SITL: added flaps control in XPlane 2016-06-30 20:26:00 +10:00
Andrew Tridgell
934d2b6ae4 RC_Channel: added setup_failsafe_trim_mask() 2016-06-30 16:46:57 +10:00
Andrew Tridgell
a071fa3921 AP_Param: display defaults path on startup 2016-06-30 14:16:52 +10:00
Andrew Tridgell
beb3591f67 HAL_Linux: improved help output and errors for udp and bcast 2016-06-28 21:01:45 +10:00
Andrew Tridgell
72b5cecdb2 HAL_Linux: added udpin support to HAL_Linux 
useful for setting up ardupilot as a mavlink UDP listener
 2016-06-28 21:01:43 +10:00
Paul Riseborough
4a8689aa97 AP_NavEKF2: remove duplicate if statements from mag fusion 2016-06-28 14:20:13 +10:00
Paul Riseborough
e117bedf6a AP_NavEKF2: Adjust output observer tuning 
Use more accurate method by default.
Reduce overshoot on quaternion tracking
 2016-06-28 14:20:13 +10:00
Paul Riseborough
5c59922574 AP_NavEKF2: Fix bug that could publish bad compass offsets 
Magnetometer bias states will subject to larger errors early in flight before flight motion makes the offsets observable and the state variances reduce.
Adds a check on state variances.
Replaces the parameter check with a check of the actual filter fusion method being used.
 2016-06-28 14:20:13 +10:00
Paul Riseborough
165335b9e3 AP_NavEKF2: Improve ability to tune magnetic field learning 
Allow different process noise to be set for body (sensor bias) and earth field states.
This allows a stable magnetometer bias estimate to be available at end of flight whilst still allowing for external magnetic anomalies during landing.
Adjust default values to give stable mag bias learning and fast learning of external anomalies.
 2016-06-28 14:20:12 +10:00
Paul Riseborough
6523481c76 AP_NavEKF2: Improve tracking accuracy of output predictor 
Automatically use the highest gain consistent with a 5% overshoot to minimise RMS tracking errors.
Provide an alternative correction method for the position and velocity states that allows the user to specify the time-constant. This can be used to fine tune the output observer for for platform specific sensor errors and control loop sensitivity estimation noise.
 2016-06-28 14:20:12 +10:00
Paul Riseborough
fe06606193 AP_NavEKF2: Ensure corrected IMU data used by EKF 
Don't try to pop new IMU data from the buffer unless we have written data.
Correct IMU data as soon as it is popped from the buffer
 2016-06-28 14:20:12 +10:00
Paul Riseborough
1400dc9d02 AP_NavEKF2: Add tuning parameters for magentic yaw fusion 
Enable simple magnetic yaw fusion observation noise and innovation consistency check gate width to be tuned independantly.
 2016-06-28 14:20:12 +10:00
Paul Riseborough
dc6836988c AP_NavEKF2: Improve ground based magnetic anomaly protection for copter 
The toilet bowling check during early flight has been removed. This check caused problems where bad compass calibration was the cause of the toilet bowling and resetting to the compass was a bad option. The handling of simultaneous failed mag and velocity innovations is already handled outside the EKF by the failsafe.
A check for yaw errors due to a ground based magnetic anomaly has been introduced.
The logic for in-flight yaw and magnetic field resets has been cleaned up and variable names improved.
 2016-06-28 14:20:12 +10:00
Paul Riseborough
703f56908f AP_NavEKF2: Correct comment 2016-06-28 14:20:12 +10:00
Paul Riseborough
26815ace7a AP_NavEKF2: Remove redundant logic check 2016-06-28 14:20:12 +10:00
Jonathan Challinger
bd8c804ab5 AP_NavEKF2: correct comments 2016-06-28 14:20:12 +10:00
Jonathan Challinger
ebae95d7f6 AP_NavEKF2: apply corrections to new inertial data when using for output prediction 2016-06-28 14:20:11 +10:00
Jonathan Challinger
2f709dfe86 AP_NavEKF2: improve inertial prediction 2016-06-28 14:20:11 +10:00
Paul Riseborough
262c5fe56d AP_NavEKF2: Make setter loop through all instances 
For setters where a success boolean is returned, return false if any instance fails.
 2016-06-28 14:20:11 +10:00
Jonathan Challinger
8baf064317 AP_NavEKF2: setTakeoffExpected and setTouchdownExpected loop through instances 2016-06-28 14:20:11 +10:00
Paul Riseborough
ec5c460584 AP_NavEKF2: Fix predicted nav reporting 
Predicted nav should never be false if current nav is true
 2016-06-28 14:20:11 +10:00
Jonathan Challinger
99f481e098 AP_NavEKF2: always calcGpsGoodForFlight 2016-06-28 14:20:11 +10:00
Jonathan Challinger
3382e09580 AP_NavEKF2: add height constraint during takeoff 2016-06-28 14:20:11 +10:00
Paul Riseborough
4bb46af861 AP_NavEKF2: Increase allowable gyro bias offset 2016-06-28 14:20:10 +10:00
Andrew Tridgell
af23a681e0 AP_BoardConfig: improved docs for BRD_SAFETYENABLE 2016-06-28 09:58:55 +10:00
Lucas De Marchi
1f96336f7c Global: rename bus type enum entries 2016-06-27 17:51:41 -03:00
Gustavo Jose de Sousa
f6bebc96c0 AP_InertialSensor: INS_generic: remove unused includes 2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa
e85ac8b2c5 AP_InertialSensor: inform maximum gyro average difference 
While at it, define GYRO_INIT_MAX_DIFF_DPS.
 2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa
e6f62080f5 AP_InertialSensor: fix best_diff on gyro initialization 
Without this patch, if accel_diff.length() > 0.2f and j == 0, then
best_diff[k] would be zero forever since diff_norm[k] >= 0 for any j.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
de94392759 AP_InertialSensor: MPU9250: remove _bus_type field 
Use _dev->bus_type instead.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
83feb2e2ae AP_InertialSensor: MPU9250: let Device handle read flag 
There's no need to handle that in MPU9250 anymore.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
1e99a7125c AP_InertialSensor: MPU9250: remove _register_write_check() 
That function isn't used in the code base and there should be a better way to
debug writes on registers.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
a6e5eb9e14 AP_InertialSensor: MPU6000: remove _bus_type field 
Use _dev->bus_type instead.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
0718649c8b AP_InertialSensor: MPU6000: let Device handle read flag 
There's no need to handle that in MPU6000 anymore.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
309fe4a88c AP_InertialSensor: MPU6000: remove _register_write_check() 
That function isn't used in the code base and there should be a better way to
debug writes on registers.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
d35cf60ce1 AP_HAL_Linux: I2CDevice: use read flag in read_registers_multiple 
Use the generic support in Device interface for read flag when we are
using read_registers_multiple() method.
 2016-06-27 17:20:46 -03:00
Gustavo Jose de Sousa
66f1ad9ed0 AP_HAL: Device: add support for read flag 
Many of our SPI and I2C sensors define the protocol of setting the most
significant bit of the register address in order to perform a read operation.
Thus, enable the use of a "read flag" that is ORed with the register's address.
Since this is an abstraction for general devices, it's a good idea to have zero
as the default value for that flag.

While at it, add documentation to read_registers().
 2016-06-27 17:18:35 -03:00
Gustavo Jose de Sousa
b6a1d598e3 AP_HAL: Device: document write_register() 2016-06-27 17:18:35 -03:00
Gustavo Jose de Sousa
4693501d9d AP_HAL: Device: add bus_type field 
Sometimes it's necessary to know the type of bus to make some decisions where
AP_HAL::Device abstraction is used.
 2016-06-27 17:18:35 -03:00
Michael du Breuil
c2da36d505 GCS_MAVLink: fix race condition when recieving last waypoint 
only shows up when the waypoint is about to time out
 2016-06-27 10:57:14 +10:00
Andrew Tridgell
689595080a AP_Airspeed: ensure we have at least 10 samples for airspeed cal 
thanks to Michael for pointing out this issue
 2016-06-27 10:52:59 +10:00
Tom Pittenger
37f990bfad AP_ADSB: allow param based VEHICLE list sizes, 1 to 100. 2016-06-26 11:03:33 -07:00
Lucas De Marchi
b70b9ed8d1 AP_HAL_Linux: fix warning on 64b printf 
../../libraries/AP_HAL_Linux/Perf.cpp: In member function ‘void Linux::Perf::_debug_counters()’:
../../libraries/AP_HAL_Linux/Perf.cpp:85:36: warning: format ‘%llu’ expects argument of type ‘long long unsigned int’, but argument 4 has type ‘uint64_t {aka long unsigned int}’ [-Wformat=]
                     c.name, c.count);
                                    ^
 2016-06-25 12:05:55 -03:00
Daniel Ricketts
865aad7598 AC_Avoid: add support for stopping at polygon fence 2016-06-25 15:55:55 +09:00
Randy Mackay
26a6234a29 AC_Avoid: do not attempt to stop at circular fence if already breached 2016-06-25 15:55:55 +09:00
Randy Mackay
c6f9889a25 AC_Avoid: constify get_max_speed 
Also get_stopping_distance and get_margin
 2016-06-25 15:55:55 +09:00
Randy Mackay
5153c3d195 AC_Fence: merge with add polygon support 2016-06-25 15:55:55 +09:00
Randy Mackay
d91805edbf AC_Fence: add support for polygon fences 2016-06-25 15:55:55 +09:00
Randy Mackay
f0bb1ac1d2 AC_Fence: AC_Polygon_loader loads points from eeprom 
Thanks to Peter Barker for his work to library-ify Plane's geofence which was the basis for this work.
 2016-06-25 15:55:55 +09:00
Daniel Ricketts
249d95b413 AP_Math: add Polygon_outside and Polygon_complete functions 2016-06-25 15:55:55 +09:00
Leonard Hall
80bda572ba AC_AttutudeControl: Yaw shift fix 2016-06-24 18:15:48 +09:00
Leonard Hall
a5bb3c206e Dataflash: Log rate to degrees 2016-06-24 17:17:16 +09:00
Leonard Hall
8737f6b62d AC_AttitudeControl: enhanced quaternion attitude controller 2016-06-24 17:17:11 +09:00
Leonard Hall
117ae89505 AC_AttitudeControl: increase SLEW_YAW default to 60deg/sec 2016-06-24 16:24:17 +09:00
Leonard Hall
e0eecd56b2 AP_Math: use is_zero and float constants 2016-06-24 16:16:34 +09:00
Leonard Hall
7f933140c7 AP_Math: small formatting fix to quaternion rotation_matrix 
No functional change
 2016-06-24 16:16:33 +09:00
Leonard Hall
8afd29cc85 AP_Math: add quaternion::rotation_matrix_norm 2016-06-24 16:16:28 +09:00
Randy Mackay
a1548405c1 AC_AttitudeControlHeli: fix althold lean angle max 2016-06-24 15:03:59 +09:00
Andrew Tridgell
1f29b51dd6 AP_Vehicle: moved roll_limit_cd into AP_Vehicle 
will be used by APM_Control
 2016-06-24 11:39:21 +10:00
Andrew Tridgell
8a03b3ba22 APM_Control: reduce elevator when past LIM_ROLL_CD 
this reduces elevator control when rolled over hard in fixed
wing. Using the elevator when on the side just caused earth frame yaw
and is counter productive. It can also prevent some aircraft from
recovering from inverted flight.
 2016-06-24 11:28:18 +10:00
Andrew Tridgell
a6e927d434 SITL: default gyro cal off in XPlane and FlightAxis 
pointless doing cal on these backends
 2016-06-24 10:32:52 +10:00
Gustavo Jose de Sousa
f9cb760691 AP_Mount: use ARRAY_SUBSCRIPT instead of bytes field 
That fixed compilation issues and seems more semantically correct. Using array
of length 0 fails compilation because of -Werror=array-bounds in GCC 6.1.
 2016-06-23 21:02:05 -03:00
Gustavo Jose de Sousa
174cefa8a5 AP_GPS: use ARRAY_SUBSCRIPT instead of bytes field 
That fixed compilation issues and seems more semantically correct. Using array
of length 0 fails compilation because of -Werror=array-bounds in GCC 6.1.
 2016-06-23 21:02:05 -03:00
Lucas De Marchi
1962acad49 AP_Common: simplify ARRAY_SUBSCRIPT macro 
Add DEFINE prefix, since this macro is defining these operators and
remove the parameter since we will always use it to access a
union/struct as a byte array.
 2016-06-23 21:02:05 -03:00
Gustavo Jose de Sousa
5154369e9d AP_Common: define the ARRAY_SUBSCRIPT macro 2016-06-23 21:02:05 -03:00
Lucas De Marchi
4a18108600 AP_HAL_Linux: rename min, max and avg fields 
These were probably named otherwise in order not to conflict with
min/max macros from math.h. We don't have this problem anymore.
 2016-06-23 19:08:14 -03:00
Lucas De Marchi
b8e3e549c7 AP_HAL_Linux: Perf: add debug method 
Test code for integration with another thread to pull data from internal
perf counters.  Since we are using the timer thread here, there's no
retry mechanism and we only print that data can be corrupted.
 2016-06-23 19:08:14 -03:00
Lucas De Marchi
1727418dc9 AP_HAL_Linux: Perf: make lttng use internal fields 
Instead of creating a new object Perf_Lttng copying the necessaries
fields, just make a tighter integration with the internal perf counters
and re-use the same fields.
 2016-06-23 19:06:30 -03:00
Lucas De Marchi
619ce23799 AP_HAL_Linux: Perf: rework integration with other tools 
The idea is to leave the internal perf enabled all the time, like it is
in PX4, and then allow the integration with lttng on top. Next step
would be to runtime enable/disable only the perf counters we are
interested in.

This also changes the structure so it's easy to allow another thread to
pull data from the Perf object. A rw lock protects from addition of new
counters and an atomic unsigned int allows other threads to do a
lockless copy of the data.

In order for this to work the allocation was changed to use a single
memory pool instead of returning a calloc'ed data for each perf counter.
Since most of our counters are of ' elapsed' type, don't bother using a
smaller struct for the 'count' type
 2016-06-23 19:06:30 -03:00
Lucas De Marchi
b687473174 AP_HAL_Linux: ignore unused result on panic 
There's not much we can do if the write() call inside a panic function
failed. Just ignore the failure.
 2016-06-23 18:34:01 -03:00
Lucas De Marchi
8a58c06adb AP_Common: add macro to ignore unused result 
In some cases we want to call functions annotated with
warn_unused_result but we know it's safe to ignore the return value.
Prefixing with (void) used to work, but it doesn't do anymore on all
versions of gcc and clang.
See: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=66425

This solution is a mix of the solutions provided in the above bug report
and the one provided by Gustavo Sousa at
https://github.com/ArduPilot/ardupilot/pull/4277#issuecomment-224957375
 2016-06-23 18:34:01 -03:00
Francisco Ferreira
ac90527da5 AP_Common: change check from GCC version to glibc version (and Cygwin) 2016-06-23 18:19:54 +10:00
Patrick J.P
eb44d75ed8 AP_HAL: Remove trailing spaces from AP_HAL_Namespace.h 2016-06-22 16:03:30 -03:00
Randy Mackay
a427768087 AC_Avoidance: reduce maximum acceleration to 1m/s/s 
This makes the vehicle slow very gently as it approaches the edge of the fence
 2016-06-22 11:38:15 +09:00
Daniel Ricketts
8a6aa24525 AC_WPNav: use AC_Avoidance to stop at fence during Loiter 2016-06-22 11:38:15 +09:00
Daniel Ricketts
ff7bc7c0cb AC_Avoidance: add library to stop at circular fence 2016-06-22 11:38:15 +09:00
Daniel Ricketts
e60710332b AC_Fence: add accessors to return radius and safety margin 2016-06-22 11:38:15 +09:00
Andrew Tridgell
d1b28aaed9 AC_AttitudeControl: fixed factor of 1000 error in init_takeoff 2016-06-22 11:48:43 +10:00
Lucas De Marchi
39d4fa2cf8 Revert changes to cmath according to gcc version 
Revert these commits:
	"AP_Common: gcc 4.9.2 behaves differently from 4.9.3"
	"AP_Common: this workaround for missing/cmath is also needed for gcc 4.9.3"

This breaks the build for PX4. The change is related to the libc, not
the compiler version. We have an workaround there based on compiler
version just because it's usual to have a more recent libc version when
you have a recent compiler.
 2016-06-21 13:54:41 -03:00
Lucas De Marchi
9738be0ed6 AP_HAL: remove tabs and trailing whitespaces 2016-06-21 13:09:00 -03:00
Lucas De Marchi
ab66e3a69a AP_HAL_Linux: Perf: simplify function to get current time 2016-06-21 13:09:00 -03:00
Pierre Kancir
a8e5ff93b5 AP_Math: Correct missing declaration warning 2016-06-21 12:17:46 -03:00
Lucas De Marchi
1d9d0a40db AP_HAL_Linux: GPIO: reduce macro and variable scopes 
Also change the coding style in a few places.
 2016-06-21 12:16:32 -03:00
Lucas De Marchi
4f14b9b7e2 AP_HAL_Linux: ToneAlarm_Raspilot: add fixme comment 2016-06-21 12:16:32 -03:00
Lucas De Marchi
e122b2b651 AP_HAL: GPIO: remove unused functions 
These functions are not used by any HAL, so remove them.
 2016-06-21 12:16:32 -03:00
Lucas De Marchi
0bb86ae498 AP_HAL_Linux: GPIO_RPI: remove unused functions 
These functions to use pins as pwm are never used in the codebase, so
remove them.
 2016-06-21 12:16:32 -03:00
Andrew Tridgell
2108127712 AP_Common: gcc 4.9.2 behaves differently from 4.9.3 
tested 4.9.3 on cygwin, 4.9.2 on ubuntu

I do hope that it doesn't depend on the OS
 2016-06-21 21:34:54 +10:00
Andrew Tridgell
224c714c83 AP_Common: this workaround for missing/cmath is also needed for gcc 4.9.3 
tested on cygwin with 4.9.3
 2016-06-21 19:19:09 +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
569443231a SITL: improved altitude data in XPlane 2016-06-20 12:52:13 +10:00
Andrew Tridgell
51fff00871 SITL: report data and frame rates in XPlane 
and avoid time going backwards if possible
 2016-06-20 12:52:13 +10:00
Andrew Tridgell
b7395ee74b SITL: fixed sign of magnetic inclination 2016-06-20 11:17:36 +10:00
Andrew Tridgell
5b7b799046 SITL: fixed mag field in JSBSim and last_letter 2016-06-20 11:07:51 +10:00
Leonard Hall
ba2382c409 AP_MotorsCoax: Fix servo 3 and 4 feed through sign 2016-06-20 09:45:17 +09:00
Andrew Tridgell
16595d2f3b SITL: auto-set AHRS_EKF_TYPE to 10 for XPlane and FlightAxis 2016-06-20 08:38:53 +10:00
Tom Pittenger
746e2211e9 AP_ADSB: remove extra include 2016-06-19 11:24:31 -07:00
Tom Pittenger
4fe94bdea3 GCS_MAVLink: add ADSB_streamrate 2016-06-19 11:24:30 -07:00
Tom Pittenger
4cd1721bf9 AP_ADSB: add ADSB_streamrate 2016-06-19 11:24:29 -07:00
Tom Pittenger
3a38e29b39 GCS_MAVLink: do not auto-forward ADSB_VEHICLE packets 2016-06-19 11:24:29 -07:00
Andrew Tridgell
2db2486b3a AP_AHRS: send zero EKF_STATUS_REPORT with EKF type 10 2016-06-19 22:02:25 +10:00
Andrew Tridgell
2f88c24f49 SITL: added debug showing UDP ports for XPlane 2016-06-19 21:18:19 +10:00
Andrew Tridgell
ec5534bd6a SITL: explain the throttle_magic code for XPlane 2016-06-19 21:10:49 +10:00
Andrew Tridgell
f76a7e64ca SITL: auto-select correct data fields from X-Plane10 2016-06-19 20:57:34 +10:00
Andrew Tridgell
acc76f80b0 HAL_SITL: added xplane support 2016-06-19 13:59:15 +10:00
Andrew Tridgell
4f99c17aae SITL: added X-Plane 10 SITL backend 2016-06-19 13:59:15 +10:00
Andrew Tridgell
7a9b4c7572 AP_Motors: fixed motor load calculation 
scale to 1.0 for max collective
 2016-06-19 13:50:04 +10:00
Paul Riseborough
55b0bbd3f1 SITL: Add simulation of 3D earth magnetic field 
Use an independant method to the flight code using tables that that can updated.
Data taken from NOAA online calculator using WMM data at 2016-6-16 date
 2016-06-19 12:51:34 +10:00
Paul Riseborough
2cf5493b40 AP_HAL_SITL: Ensure simulated magnetic field is always used 2016-06-19 12:51:34 +10:00
Paul Riseborough
078284e2e2 SITL: Add magnetic field environment to simulation 
Includes parameters enabling a ground level magnetic anomaly to be modelled.
TODO - add automatic setting of declination, inclination and field strength using WGS-84 position.
 2016-06-19 12:51:34 +10:00
Randy Mackay
ec7c1ab0b0 AC_PosControl: comment fix to set_alt_max method 
No functional change
 2016-06-18 11:55:49 +09:00
Randy Mackay
e185bab775 AP_MotorsMulticopter: add HOVER_LEARN option to learn but not save 2016-06-18 11:55:49 +09:00
Randy Mackay
23f8227e36 AP_Motors: bug fix to save params on disarm 
Previously was saving during arming  as well as disarming.
Thanks to OXINARF for finding this!
 2016-06-18 11:55:49 +09:00
Randy Mackay
a2ffd9ec7d AP_MotorsMulticopter: fix comment for get_throttle_limit function 2016-06-18 11:55:49 +09:00
Leonard Hall
dcbb071c07 AC_PosControl: Move hover throttle calculation to AP_Motors 2016-06-18 11:55:49 +09:00
Randy Mackay
b27da7699e AC_AttitudeControlMulti: get_throttle_avg_max made private 
Also fixed up method's description
 2016-06-18 11:55:49 +09:00
Randy Mackay
da946288a2 AC_AttitudeControl: rename throttle_ave_max to throttle_avg_max 2016-06-18 11:55:49 +09:00
Randy Mackay
570920c7d7 AC_AttitudeControlMulti: run control_monitor_update in rate_controller_run 2016-06-18 11:55:49 +09:00
Leonard Hall
1639e22b74 AC_AttitudeControl: set desired_vel for reporting purposes even when not used 2016-06-18 11:55:49 +09:00
Randy Mackay
558f29b95c AC_AttitudeControl: control mixing made protected 2016-06-18 11:55:49 +09:00
Leonard Hall
9bd8878c8b AC_AttitudeControlHeli: fix update_althold_lean_angle_max 2016-06-18 11:55:49 +09:00
Leonard Hall
096bdd67f8 AC_AttitudeControl: add ATC_ANG_LIM_TC parameter 
This allow adjusting the reponse to limit lean angles to reduce altitude loss
 2016-06-18 11:55:49 +09:00
Randy Mackay
dafc45eb26 AC_AttitudeControl: move get_althold_lean_angle_max to parent class 2016-06-18 11:55:49 +09:00
Leonard Hall
3d27ecca92 AC_AttitudeControl: add TC for Alt_Hold angle limit 2016-06-18 11:55:49 +09:00
Randy Mackay
7ff0fcb25d AC_AttitudeControl: multicopter specific rate_controller_run 2016-06-18 11:55:49 +09:00
Randy Mackay
b7431b7d0c AC_AttitudeControl: update throttle rpy mix on every iteration 2016-06-18 11:55:49 +09:00
Leonard Hall
ca2977decf AC_AttitudeControl: set throttle vs attitude priority for flipped state 
When performing a flip we want to allow throttle to go high to provide
maximum attitude control
 2016-06-18 11:55:49 +09:00
Leonard Hall
1fb4c12cd0 AC_AttitudeControl: move in throttle vs attitude prioritisation 
Previously this prioritisation of throttle vs attitude was done in the
AP_Motors library
 2016-06-18 11:55:49 +09:00
Randy Mackay
0870ce9fc1 AC_AttitudeControl: remove get_throttle_boosted from parent class 
This is only called from multicopters
 2016-06-18 11:55:49 +09:00
Leonard Hall
25c77c154f AC_AttitudeControl: rename get_boosted_throttle to get_throttle_boosted 2016-06-18 11:55:49 +09:00
Leonard Hall
35ef761deb AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli 2016-06-18 11:55:49 +09:00
Randy Mackay
a1b573ed0a AP_Motors: rename throttle_ave_max to throttle_avg_max 2016-06-18 11:55:49 +09:00
Randy Mackay
ef106e4b0f AP_Motors: spool_mode moved out of flags struction 
No functional change
 2016-06-18 11:55:49 +09:00
Leonard Hall
8fff32bde3 AP_MotorsSingle: fix stability patch use of throttle_hover 2016-06-18 11:55:49 +09:00
Leonard Hall
e0f9fc8e40 AP_MotorsSingle: rename rpy_scale, thrust_min_rpy variables 
No functional change
 2016-06-18 11:55:49 +09:00
Leonard Hall
da05902805 AP_MotorsCoax: fix stability patch use of throttle_hover 2016-06-18 11:55:49 +09:00
Leonard Hall
9bc866e771 AP_MotorsCoax: rename rpy_scale internal variable 
No functional change
 2016-06-18 11:55:49 +09:00
Leonard Hall
8bdb906b2b AP_MotorsCoax: fixes negative thrust 2016-06-18 11:55:49 +09:00
Randy Mackay
71d1818103 AP_MotorsMulticopter: minor comment update 2016-06-18 11:55:49 +09:00
Randy Mackay
818965fa57 AP_MotorsMulticopter: output_to_motors and output_logic become protected 2016-06-18 11:55:49 +09:00
Leonard Hall
02881b59ff AP_MotorsMulti: float constants 2016-06-18 11:55:49 +09:00
Randy Mackay
79a73a5c2f AP_Motors: fix example sketch 
No need to set throttle_mix nor throttle_min
 2016-06-18 11:55:49 +09:00
Leonard Hall
bee6c29b89 AP_MotorsMulticopter: current limit keeps battery from sagging below BAT_VOLT_MIN 2016-06-18 11:55:49 +09:00
Leonard Hall
be25ac4acf AP_MotorsMulticopter: Add current limit time constant variable 2016-06-18 11:55:49 +09:00
Leonard Hall
7e0e0ca874 AP_MotorsMulticopter: battery voltage compensation improvements 2016-06-18 11:55:49 +09:00
Leonard Hall
0ee7b00b0b AP_MotorsMulticopter: rename _thrust_curve_min to spin_min 2016-06-18 11:55:49 +09:00
Leonard Hall
142a67bb6d AP_MotorsMulticopter: minor comment change 2016-06-18 11:55:49 +09:00
Leonard Hall
5cace33ca5 AP_MotorsMulticopter: SPIN_MIN replaces min_throttle 2016-06-18 11:55:49 +09:00
Leonard Hall
2c811364d3 AP_MotorsMulticopter: SPIN_ARM param replaces SPIN_ARMED 2016-06-18 11:55:49 +09:00
Leonard Hall
488f90b39d AP_Motors: add calc_spin_up_to_pwm to reduce repeated code 2016-06-18 11:55:49 +09:00
Randy Mackay
25778a24e2 AP_MotorsMulticopter: add HOVER_LEARN param 2016-06-18 11:55:49 +09:00
Leonard Hall
4f0db2bc36 AP_Motors: learned THST_HOVER replace THR_MID 
This holds the estimated thrust required for the vehicle to hover
expressed as a number from 0 to 1.  0 will be equivalent to outputting
SPIN_MIN (which is a number from 0~1 but in the full output range) and 1 is equivalent to SPIN_MAX (also 0~1 but in the full output range)
 2016-06-18 11:55:49 +09:00
Leonard Hall
5a8fc6283e AP_Motors: replace throttle_rpy_mix with throttle_avg 
AC_AttitudeControl now calculates throttle vs attitude control
prioritisation and simply provides overall maximum throttle (aka
throttle_avg) to the motors library
 2016-06-18 11:55:49 +09:00
Michael du Breuil
4d964fbf2f AP_BoardConfig: allow channels to be moved regardless of safety switch 2016-06-17 15:20:22 +10:00
Andrew Tridgell
63d0c040e4 AP_Scheduler: expose loop rate on all builds 
as discussed with Randy
 2016-06-17 15:02:28 +10:00
Andrew Tridgell
255bda9f9c AP_Motors: allow setting of loop rate 
this allows for SCHED_LOOP_RATE in copter
 2016-06-17 15:01:18 +10:00
Andrew Tridgell
fb4cdafef8 AP_Scheduler: allow SCHED_LOOP_RATE for copter in SITL 
very useful for slow simulation environment
 2016-06-17 15:01:18 +10:00
Andrew Tridgell
e360c6117e SITL: make SIM_* variables available to simulator backends directly 2016-06-17 08:36:13 +10:00
Grant Morphett
34fa2a39bd AP_InertialSensor: Changing the default gyro filter from 10 to 4 
This change is only for Rovers.
 2016-06-16 14:37:55 +09:00
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
Andrew Tridgell
027788f72b SITL: fixed gimbal simulator for recent MAVLink2 changes 2016-06-16 10:17:28 +10:00
Andrew Tridgell
145ab1d626 SITL: fixed send of ADSB_Vehicle packets with recent MAVLink2 changes 2016-06-16 10:15:07 +10:00
Tom Pittenger
8036912173 AP_ADSB: clarified some minor logic 2016-06-14 21:05:44 -07:00
Tom Pittenger
0ed868d97b SITL: compiler warning, comparing float to 0 2016-06-14 21:05:38 -07:00
Tom Pittenger
c3b241ca88 SITL: change ADSB_VEHICLE update rate to 1Hz instead of 2Hz to match PING behavior 2016-06-14 21:05:32 -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
Tom Pittenger
95da4accfb SITL: add SIM_ADSB_COUNT, RADIUS, ALT params 2016-06-14 21:00:39 -07:00
Tom Pittenger
ad81e56a64 AP_ADSB: allow buffer to add to the max, instead of one less than the max 2016-06-14 21:00:27 -07:00
Andrew Tridgell
120564f094 RC_Channel: set_radio() should not constrain values 
caller is supplying direct PWM value. The MIN/MAX should not apply
 2016-06-14 13:08:35 +10:00
Tom Pittenger
b4b0ec404c GCS_MAVLink: flag a link as active if it ever sends a message 2016-06-13 18:25:26 -07:00
Andrew Tridgell
e070aeebe3 AC_AttitudeControl: added accessors for P and D RMS controller values 2016-06-10 17:48:31 +10:00
Andrew Tridgell
1c463e3f3b AC_AttitudeControl: log rms P and D separately 
as discussed with Leonard
 2016-06-10 17:48:31 +10:00
Leonard Hall
b3fcab8044 AP_Motors: minor comment fix 2016-06-09 09:49:00 +09:00
dgrat
0b5ab7162d AP_HAL_Linux: Changes in RPi version detection 
If the RPi version detection fails, the standard version is now RPi2/3 instead of RPi1.
I think this is useful, because the RPi1 is not really supported (performance reasons).
 2016-06-08 11:50:43 -03:00
dgrat
15a915edd3 AP_HAL_Linux: Simplification of the code 
I applied the ArduPilot coding style guide and additionally simplified the code where possible.
 2016-06-08 11:50:43 -03:00
masierra
8fc494cfcd AP_AHRS_DCM: changed estimate to use prev values for dir & vel 2016-06-06 15:26:51 -07:00
Tom Pittenger
41c9cace68 AP_Mission: mavlink parsing should use check_lat/lng functions 2016-06-06 13:08:37 -07:00
Tom Pittenger
00aaa78757 AP_Math: add separate check_lat() and check_lng() 2016-06-06 13:02:56 -07:00
Michael du Breuil
fb07b8c4cc Mission: fix bounds checking of MISSION_ITEM lat/lon 2016-06-06 10:08:45 -07:00
Andrew Tridgell
a06e46a84c DataFlash: log 14 output channels in RCOU 
unfortunately this means we need to shorten the column headers, but at
least this makes us consistent with RCIN
 2016-06-06 15:14:28 +10:00
Andrew Tridgell
2239fd6a6e AP_GPS: fixed hexdigit in NMEA detector 
thanks to adorus for spotting this! See issue#4255
 2016-06-06 07:36:31 +10:00
Andrew Tridgell
3969bde84a AP_Math: fixed coverity warning in example 2016-06-05 07:20:46 +10:00
Andrew Tridgell
0166ab2038 HAL_SITL: check for SIM_RC_FAIL 2016-06-05 05:54:56 +10:00
Andrew Tridgell
4e3dd315cb RC_Channel: fixed double channel assignment 
this fixes RC_Channel_aux::set_aux_channel_default from assigning
k_heli_rsc twice, once at default channel and once at user designated
channel
 2016-06-05 05:54:56 +10:00
Peter Barker
cb16d0b6c6 AP_Math: correct examples build on px4 2016-06-04 12:31:36 -03:00
Andrew Tridgell
be26988b93 AP_Tuning: don't warn of controller errors when disarmed 2016-06-04 19:20:45 +10:00
Andrew Tridgell
9e9a048016 SITL: make heli RPM rpm1 in FlightAxis 2016-06-04 18:33:36 +10:00
Andrew Tridgell
f58d837026 AP_Motors: fixed heli RSC output range and float conversion 
adds H_RSC_PWM_MIN, H_RSC_PWM_MAX and H_RSC_PWM_REV
 2016-06-04 18:33:36 +10:00
Tom Pittenger
a512e807dc AP_HAL_PX4: disarm motors on reboot so ensure they are off during bootloader upload 2016-06-04 00:42:43 -07:00
Andrew Tridgell
79ffc28f68 SITL: fixed ground accel for helis in FlightAxis 
fixes landing detection
 2016-06-04 15:52:00 +10:00
Andrew Tridgell
7c227ac96c SITL: debug code for logging raw SITL data 2016-06-04 14:21:21 +10:00
Andrew Tridgell
f6a7c1839a SITL: use FlightAxis body accel 
less noisy than rotating early accel
 2016-06-04 14:20:55 +10:00
Andrew Tridgell
f6e42cb3e2 SITL: cope with restarting RealFlight while connected 2016-06-04 12:07:03 +10:00
Andrew Tridgell
9c13ac997e SITL: use FlightAxis accel when not touching the ground 2016-06-04 11:34:57 +10:00
Andrew Tridgell
0b9fca6ef9 SITL: use quaternion attitude from FlightAxis 2016-06-04 11:04:15 +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
Tom Pittenger
8b405e26ea GCS_MAVLink: battery2 current is in 10*mAh over mavlink 2016-06-02 16:59:29 -07:00
Tom Pittenger
a8c14e68da AP_Tuning: compile warning: float to double on print 2016-06-02 16:59:27 -07:00
Tom Pittenger
d2c9b02ca5 AP_BattMonitor: remove voltage2() since we have voltage(x) available 2016-06-02 16:59:26 -07:00
Tom Pittenger
4e4bc0bee4 GCS_MAVLink: use voltage(x) instead of voltage2() 2016-06-02 16:59:23 -07:00
Tom Pittenger
a1564bd337 AP_BattMonitor: check actual battery instances instead of max possible instances 2016-06-02 16:59:21 -07:00
Tom Pittenger
8939c5308f AP_Arming: check actual battery instances then max possible instances 2016-06-02 16:59:19 -07:00
Tom Pittenger
3ed2fafefa DataFlash: Log new CUR2 entry for battery2 data 2016-06-02 16:59:16 -07:00
Tom Pittenger
43c7b4d518 DataFlash: do not log CURR.Throttle because it's already logged elsewhere 2016-06-02 16:59:07 -07:00
Tom Pittenger
7a397475af DataFlash: log POWR.vcc and Vservo as float in volts instead of int16 mV 2016-06-02 16:59:05 -07:00
Tom Pittenger
608fbee867 GCS_MAVLink: send current2 over mavlink 2016-06-02 16:59:03 -07:00
Tom Pittenger
7b4c503052 AP_Math: use new check_latlng helper 2016-06-01 17:38:48 -07:00
Tom Pittenger
ce9ecf9f3d AP_Math: added check_latlng helper 2016-06-01 17:38:48 -07:00
Tom Pittenger
64c2510be9 AC_AttitudeControl: fix compile warning float to double promotion in string conversion 2016-06-01 17:38:47 -07:00
Andrew Tridgell
b4bdfa2451 AC_AttitudeControl: return roll, pitch and yaw controller error separately 
as discussed with Leonard
 2016-06-01 17:18:58 +10:00
Grant Morphett
d56e2b6a39 APM_Control: Get steer rate using earth frame. 
Rather then just using the standard z gyro by using the earth frame it
takes into account when a rover leans over in hard corners.  My rover
leans 15 degrees no problem which is why this is needed.
 2016-06-01 10:05:20 +09:00
Andrew Tridgell
b855c70139 GCS_MAVLink: don't route RADIO and RADIO_STATUS packets 
they don't mean anything off the local link
 2016-05-31 22:13:05 +10:00
Paul Riseborough
24d8cc62e2 AP_NavEKF2: rework yaw and magnetic heading reset logic 
Splits in-flight yaw alignment completed status into separate yaw and magnetic field flags.
Reduce the number of places where decisions to perform a yaw and field reset are made.
Don't perform a reset unless there is is data in the buffer
Don't use 3-axis fusion if the field states still need to be reset.
When starting 3-axis fusion request a reset if not previously performed.
Ensure magnetometer and GPs heading resets are alwasy perfomred with data at teh correct time horizon.
 2016-05-31 16:12:53 +10:00
Andrew Tridgell
a6cbc5d4a5 AP_AHRS: use EKF for groundspeed estimate if available 2016-05-31 15:56:25 +10:00
Leonard Hall
a16018f9fe AP_Motors: Missed Single fix 2016-05-31 12:44:17 +10:00
Peter Barker
1e146256cc GCS_MAVLink: move telemetry_delayed up into base class 2016-05-31 08:46:09 +10:00
Grant Morphett
944541b287 PID: Added PID_Info to class for PID logging 2016-05-31 08:44:52 +10:00
Andrew Tridgell
abe850c397 PID: fixed example build 2016-05-31 08:36:14 +10:00
Andrew Tridgell
38965f4617 DataFlash: fixed example build 2016-05-31 08:36:07 +10:00
Andrew Tridgell
04f87a452e HAL_SITL: fixed tcp client mode 2016-05-30 16:42:28 +10:00
Peter Barker
e828525c94 GCS_MAVLink: adjust_rate_for_stream_trigger is no longer virtual 2016-05-29 21:24:41 +10:00
Peter Barker
43fed65f37 GCS_MAVLink: move adjust_rate_for_stream up 2016-05-29 19:38:49 +10:00
Andrew Tridgell
f4f0ae8c8b SITL: auto-reconnect FlightAxis on reset button 2016-05-29 19:17:29 +10:00
Peter Barker
03ded35d7c GCS_MAVLink: update routing example for mavlink namespacing 2016-05-29 16:21:21 +10:00
Peter Barker
56114dd37a GCS_MAVLink: use subclasses in vehicle directories 
Instead of the vehicles defining functions that are declared in the libraries directory, they will now create subclasses of GCS_MAVLINK
 2016-05-29 16:21:20 +10:00
Leonard Hall
d67f83559c AP_Motors: Single and Coax Fixes 2016-05-29 16:12:29 +10:00
Leonard Hall
e5bdf0a0a2 SITL: Single and Coax fixes 2016-05-29 16:12:13 +10:00
Andrew Tridgell
26ef71e130 AP_Notify: added tuning error tones 2016-05-28 17:33:30 +10:00
Andrew Tridgell
006aafab3f AP_Tuning: added monitoring of controller output 2016-05-28 17:33:30 +10:00
Andrew Tridgell
6330060e49 AC_AttitudeControl: added monitoring of controller error 
use RMS P+I+FF output. Thanks to Leonard for the suggestion
 2016-05-28 17:33:30 +10:00
Andrew Tridgell
fdac1d26cc AP_Tuning: added TUNE_MODE_REVERT parameter 2016-05-28 17:33:30 +10:00
Randy Mackay
72b86a3f99 AP_Motors: remove unused stabilizing flag 
Also initialise some members to resolve converity warnings
 2016-05-28 15:45:29 +09:00
Andrew Tridgell
7ec513668e GCS_MAVLink: reserve some space when param fetch fails 
this ensures we give some buffer space for parameter fetch when we are
low on buffer space

we reserve 100 bytes for 2 seconds after a param fetch fails due to
low buffer space
 2016-05-28 15:08:46 +10:00
Andrew Tridgell
f02c8f732c DataFlash: fixed BAR2 format for drift offset 2016-05-28 15:08:46 +10:00
Paul Riseborough
a94a19bd09 AP_NavEKF2: Fix bug causing continual yaw resets 2016-05-28 06:52:11 +10:00
Tom Pittenger
57d6ccc0dd AP_HAL_PX4: skip the 100ms delay on first px4io safety_state async attempt 2016-05-27 11:30:50 -07:00
Tom Pittenger
d3ac1dc161 AP_HAL: defer calls to safety_state switch to queue an async attempt. 
- this allows for auto-retries if the state does not set correctly
 2016-05-27 21:34:40 +10:00
Tom Pittenger
67aaf7e226 AP_HAL_PX4: defer calls to safety_state switch to queue an async attempt. 
- this allows for auto-retries if the state does not set correctly
 2016-05-27 21:34:40 +10:00
Andrew Tridgell
97e2203e70 AP_NavEKF2: don't do 3D mag fusion on 2nd EKF2 core 
this reduces the risk that mag fusion errors will badly affect
attitude estimation.
 2016-05-27 21:27:06 +10:00
Andrew Tridgell
d17e3b17bf AP_AHRS: special handling for flying fixed wing with no compass 
we need to accept EKF having no absolute position and velocity before
takeoff with no compass
 2016-05-27 10:18:53 +10:00
Paul Riseborough
de15928921 AP_NavEKF2: prevent potential arithmetic error in declination fusion 2016-05-27 09:00:41 +10:00
Paul Riseborough
722eb0d706 AP_NavEKF2: Fix bug for start of wind speed estimation 
The commencement of airspeed fusion could cause pitch errors due to small variances and large innovations. This issue is addressed by the following changes:
1) The airspeed measurement is used to set wind states to a value that reduces initial innovations.
2) The wind state variances are set to values that better reflect the wind speed uncertainty
 2016-05-27 09:00:41 +10:00
Paul Riseborough
ac329ec31c AP_NavEKF2: use observation noise to set initial magnetic field variances 2016-05-27 09:00:41 +10:00
Paul Riseborough
830751c0ae AP_NavEKF2: remove un-wanted functionality from mag and yaw reset 
The function used to reset magnetic field states and yaw angle should not be used when there is no magnetometer. If it is incorrectly called without a magnetometer it should not change the attitude or field states.
 2016-05-27 09:00:41 +10:00
Paul Riseborough
11c6ea7ef6 AP_NavEKF2: attitude co-variance reset for all post alignment yaw resets 
Whenever the yaw angle is changed, the correlation with other state errors will be incorrect and the terms should be zeroed.
 2016-05-27 09:00:41 +10:00
Paul Riseborough
cdd09df9ac AP_NavEKF: Add function to zero attitude state co-variances 
When changing the vehicle yaw angle, the correlation between the attitude errors and errors in other states is invalid so the corresponding co-variance terms need to be zeroed.
This needs to be done in more than one place.
 2016-05-27 09:00:41 +10:00
Paul Riseborough
6d34ac5ceb AP_NavEKF2: improve switch-over to use of mag field states 
Set initial variances to measurement uncertainties
Always perform a field  and yaw reset
 2016-05-27 09:00:40 +10:00
Paul Riseborough
fe9ddfdfeb AP_NavEKF2: remove code that prevents attitude updates after mag reset 
This code assumes a vehicle is close to level and will not work for all vehicle types. It will be replaced by a different method.
 2016-05-27 09:00:40 +10:00
Paul Riseborough
fe85c68344 AP_NavEKF2: move yaw reset for no compass case 
Should not be in a function that performs reset on magnetic field states
 2016-05-27 09:00:40 +10:00
Paul Riseborough
da0622827d AP_NavEKF: update tuning defaults 
Increase speed of scale factor learning
 2016-05-27 09:00:40 +10:00
Andrew Tridgell
4c66e14563 SITL: fixed air resistance bug for heli, balloon and singlecopter 2016-05-26 20:38:20 +10:00
Randy Mackay
d26a9d4a22 SITL: fix compiler warning by defaulting frame_type 2016-05-26 17:03:28 +09:00
Andrew Tridgell
969b6ebea9 HAL_SITL: support coaxcopter in SITL 2016-05-26 17:09:22 +10:00
Andrew Tridgell
a2ed8fb313 AP_Motors: prevent negative thrust 
this prevents a sqrt of a negative number
 2016-05-26 17:09:11 +10:00
Andrew Tridgell
9f33ece3ef SITL: support coax copter 2016-05-26 17:08:27 +10:00
Andrew Tridgell
6855899cbf AP_Motors: fixed servo constructor for coax 2016-05-26 16:41:16 +10:00
Andrew Tridgell
4e5e301c4e AP_Motors: fixed servo constructor for heli 2016-05-26 16:41:06 +10:00
Andrew Tridgell
a80e233836 HAL_SITL: added SingleCopter 2016-05-26 16:30:39 +10:00
Andrew Tridgell
8944d298ed SITL: added SingleCopter simulator 2016-05-26 16:30:39 +10:00
Andrew Tridgell
f9fb098222 AP_Motors: fixed channel output for SingleCopter 2016-05-26 16:26:43 +10:00
Andrew Tridgell
163783fefd AP_HAL: define CH_NONE 
for servos not connected to a channel
 2016-05-26 16:26:30 +10:00
Andrew Tridgell
65eb9ceb32 AP_Motors: expose min/max pwm 2016-05-26 14:33:57 +10:00
Andrew Tridgell
dda35a366c HAL_PX4: prevent rate changes once oneshot is setup 
this fixes a problem with small motor outputs at the start of a motor
test.

Thanks to Luis for reporting this.
 2016-05-26 12:18:49 +10:00
Andrew Tridgell
a44b0e0011 AP_Motors: don't setup oneshot for a zero output mask 2016-05-26 12:18:49 +10:00
Andrew Tridgell
d90a2f7deb DataFlash: added get_structures() API 
used in Replay
 2016-05-25 20:46:00 +10:00
Andrew Tridgell
ac8c4d9beb AP_Mount: use zero length flexible arrays in unions 2016-05-25 19:55:49 +10:00
Andrew Tridgell
af116d238f AP_GPS: use zero length flexible arrays 
this works with gcc-6.1 and also works with asan. Hopefully it will
make coverity happy too.
 2016-05-25 19:55:49 +10:00
Andrew Tridgell
ae3cb0557d HAL_PX4: disable "Overtime in task" msg 
this hasn't helped us find any bugs and it is very annoying with nsh
over MAVLink
 2016-05-25 12:35:42 +10:00
Paul Riseborough
9eef97d108 AP_NavEKF2: use consistent parameter naming 
M_NSE is a measurement noise
P_NSE is a observation noise
I_GATE is an innovation gate

This also ensures the new parameter values required to use the EKF2 will be enforced.
 2016-05-25 12:06:04 +10:00
Fredrik Hedberg
75d5c87788 AP_Motors: Fix setpoint bug with 0~1 conversion in AP_MotorsHeli 2016-05-25 09:27:40 +09:00
Andrew Tridgell
1fd4cbffb2 DataFlash: update for changed AP_Airspeed API 2016-05-24 17:00:56 +10:00
Andrew Tridgell
4131b98f8c AP_Airspeed: use non-blocking airspeed calibration 
this prevents the EKF from being upset by a time jump
 2016-05-24 17:00:56 +10:00
Andrew Tridgell
1581a5e354 AP_Param: fixed forced save of constructor override parameters 
this fixes the problem where setting ATC_RAT_YAW_FILT to 20 in copter
didn't stick across reboots
 2016-05-24 16:55:45 +10:00
Grant Morphett
52755c893d Rover: Print message when running skid steering SITL 2016-05-24 12:24:53 +10:00
Randy Mackay
8d1f50e78f AP_Motors: rename get_pwm_min to get_pwm_output_min 2016-05-24 10:00:25 +09:00
Randy Mackay
0c225cf498 AP_MotorsMulticopter: fix typo in comments 2016-05-24 10:00:25 +09:00
Randy Mackay
ff93524ba4 AP_Motors: rename MOT_THST_MAX to MOT_SPIN_MAX 
Also renamed:
MOT_THST_BAT_MIN,MAX to MOT_BAT_VOLT_MIN,MAX
MOT_CURR_MAX to MOT_BAT_CURR_MAX
 2016-05-24 10:00:25 +09:00
Randy Mackay
f1cbdbe914 AP_Motors: update some comments 2016-05-24 10:00:25 +09:00
Randy Mackay
49b14b3cb6 AP_Motors: add PWM_MIN, MAX 
These parameters allow the motor PWM output range to be different from receiver's throttle input range
Also renamed throttle_pass_through to set_throttle_passthrough_for_esc_calibration and change the method's input to the 0 to 1 range instead of direct PWM value
 2016-05-24 10:00:25 +09:00
Lucas De Marchi
bbe3a94175 AP_HAL: remove support for main without argc 
This was only used by flymaple. Also add missing copyright notice to
header.
 2016-05-23 21:49:45 -03:00
Lucas De Marchi
b067bce140 AP_InertialSensor: remove support for flymaple 2016-05-23 21:49:45 -03:00
Lucas De Marchi
346bdf5f8f AP_HAL: remove support for flymaple 2016-05-23 21:49:45 -03:00
Lucas De Marchi
7703e5f1d1 AP_Common: remove support for flymaple 2016-05-23 21:49:45 -03:00
Lucas De Marchi
e448f161d2 AP_BattMonitor: remove support for flymaple 2016-05-23 21:49:45 -03:00
Lucas De Marchi
62f048c417 AP_Airspeed: remove support for flymaple 2016-05-23 21:49:45 -03:00
Lucas De Marchi
7503c1b6d4 AP_InertialSensor: update doc about used ids 2016-05-23 21:49:45 -03:00
Lucas De Marchi
01b9316114 AP_HAL_AVR: remove examples 
These were committed by mistake after AP_HAL_AVR was removed.
 2016-05-23 21:49:45 -03:00
Lucas De Marchi
dfde4a27e6 AP_HAL_FLYMAPLE: remove hal 
This is untested and not being updated lately. We can support it on the
avr branch or add it back later when someone is willing to maintain it
in upstream.
 2016-05-23 21:49:45 -03:00
Andrew Tridgell
64e105464d GCS_MAVLink: fixed disabling of signing remotely 2016-05-24 07:25:54 +10:00
Lucas De Marchi
3457dbcdf8 AP_HAL_Linux: rename lttng define 
Like others, use HAVE_ prefix and name it HAVE_LTTNG_UST to be the same
name as exported by pkg-config While at it remove wrong comment with
_HELLO_TP_H.
 2016-05-23 12:06:42 -03:00
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
Andrew Tridgell
595d5c0002 AP_HAL: added set_size() to RingBuffer API 2016-05-23 23:41:02 +10:00
Andrew Tridgell
0bbddd38cf GCS_MAVLink: fixed some places where packets are sent without space 
we always need sufficient space for the packet in the send buffer
 2016-05-23 23:41:01 +10:00
Lucas De Marchi
13722b8858 AP_HAL_Linux: support 16 RCInput channels on Navio2 2016-05-23 09:12:33 -03:00
Andrew Tridgell
5f7af390ec AP_Common: a useful debug macro for SITL 2016-05-23 10:10:29 +10:00
Andrew Tridgell
ef210217dd HAL_Linux: cope with MAVLink2 in UDP driver for packetising 2016-05-23 10:10:03 +10:00
Andrew Tridgell
8486d4ab5e AP_AHRS: disable EKF1 on all PX4v1 and PX4v2 boards 
we're out of space in copter now too
 2016-05-21 15:25:18 +10:00
Andrew Tridgell
273c80116a GCS_MAVLink: added a wrapper for sending HEARTBEAT 
will be used to cope with old radios with MAVLink2
 2016-05-21 15:25:17 +10:00
Andrew Tridgell
2094cb2d88 RC_Channel: fixed example for MAVLink2 2016-05-21 15:25:17 +10:00
Andrew Tridgell
8899455ea3 GCS_MAVLink: use extended MEMINFO message 2016-05-21 15:25:17 +10:00
Andrew Tridgell
fde0652d81 DataFlash: use HAVE_PAYLOAD_SPACE() 2016-05-21 15:25:17 +10:00
Andrew Tridgell
cd1f43a6ce GCS_MAVLink: use generated target_system and target_component offsets 2016-05-21 15:25:17 +10:00
Andrew Tridgell
018b1143d2 GCS_MAVLink: handle difference between SERIALn_PROTOCOL=1 and 2 2016-05-21 15:25:17 +10:00
Andrew Tridgell
78e9ef427e AP_SerialManager: remove special case for console 
and add get_mavlink_protocol() to allow selection of correct mavlink
protocol behaviour
 2016-05-21 15:25:17 +10:00
Andrew Tridgell
b3f94184f2 GCS_MAVLink: always build with MAVLink2 headers 2016-05-21 15:25:16 +10:00
Andrew Tridgell
f377787444 AP_Mount: always build with MAVLink2 headers 2016-05-21 15:25:16 +10:00
Andrew Tridgell
94feae9eaf AP_HAL_QURT: always build with MAVLink2 headers 2016-05-21 15:25:16 +10:00
Andrew Tridgell
6f7d6269a8 AP_HAL_Linux: always build with MAVLink2 headers 2016-05-21 15:25:16 +10:00
Andrew Tridgell
ef4d7e5618 GCS_MAVLink: fixed build with mavlink1 2016-05-21 15:25:15 +10:00
Andrew Tridgell
048fc8d39e GCS_MAVLink: adjust for min_length mavlink2 API change 2016-05-21 15:25:15 +10:00
Andrew Tridgell
318ec69465 GCS_MAVLink: added periodic saving of signing key 
thanks to Michael for noticing this was missing
 2016-05-21 15:25:15 +10:00
Andrew Tridgell
40d1a23a13 AP_Terrain: use HAVE_PAYLOAD_SPACE() 2016-05-21 15:25:15 +10:00
Andrew Tridgell
ec62d8f4ca AP_Mount: use HAVE_PAYLOAD_SPACE() 2016-05-21 15:25:14 +10:00
Andrew Tridgell
12c1d58511 GCS_MAVLink: cope with different packet overheads with signing 
use common macros for determining if there is sufficient space to send
a packet
 2016-05-21 15:25:14 +10:00
Andrew Tridgell
006b9728d0 GCS_MAVLink: updates for 24 bit msgid 2016-05-21 15:25:14 +10:00
Andrew Tridgell
a05679fb3b GCS_MAVLink: fixed build after rebase 2016-05-21 15:25:14 +10:00
Andrew Tridgell
7aae93e3e0 GCS_MAVLink: fixed auto-switching to MAVLink2 2016-05-21 15:25:14 +10:00
Andrew Tridgell
4ba09671a4 GCS_MAVLink: support disabling signing with zero key 2016-05-21 15:25:13 +10:00
Andrew Tridgell
c96ed2b4c6 GCS_MAVLink: fixed calculation of GPS timestamp 2016-05-21 15:25:13 +10:00
Andrew Tridgell
970dbf3c8d GCS_MAVLink: fixed build with MAVLink1 2016-05-21 15:25:13 +10:00
Andrew Tridgell
24eb6afbe9 GCS_MAVLink: provide signing streams and accept_unsigned callback 2016-05-21 15:25:13 +10:00
Andrew Tridgell
ed9a43ca46 GCS_MAVLink: support for mavlink2 signing operations 2016-05-21 15:25:12 +10:00
Andrew Tridgell
ca39ece6cb StorageManager: added storage region for signing keys 2016-05-21 15:25:12 +10:00
Andrew Tridgell
8ea9e29fee GCS_MAVLink: use a fixed signing key for testing 2016-05-21 15:25:12 +10:00
Andrew Tridgell
0ead0ab978 GCS_MAVLink: support mavlink2 build 2016-05-21 15:25:12 +10:00
Andrew Tridgell
0ef5d8995b AP_Mount: support mavlink2 build 2016-05-21 15:25:12 +10:00
Andrew Tridgell
4eadab7a90 HAL_QURT: support mavlink2 build 2016-05-21 15:25:12 +10:00
Andrew Tridgell
31f8d26784 HAL_Linux: support mavlink2 build 2016-05-21 15:25:11 +10:00
Paul Riseborough
74121fdaeb AP_NavEKF2: fix bug preventing in-flight alignment 2016-05-21 15:13:53 +10:00
Paul Riseborough
16cb7078cd AP_NavEKF2: Fix misleading pre-flight status reporting 2016-05-21 15:13:53 +10:00
Paul Riseborough
38d61f5281 AP_NavEKF2: Update status reporting to handle no-magnetometer startup 2016-05-21 15:13:53 +10:00
Paul Riseborough
9aa3cdfaae AP_NavEKF2: Update GPS yaw re-alignment function 
Updates to support initial alignment without magnetometer
 2016-05-21 15:13:53 +10:00
Paul Riseborough
e3c966661b AP_NavEKF2: Remove unnecessary variance reset 
This reset is unnecessary give that a synthetic yaw angle is fused at a low rate to prevent variances from becoming badly conditioned.
 2016-05-21 15:13:53 +10:00
Paul Riseborough
1179c08473 AP_NavEKF2: Handle case where we are in-flight and haven't yet aligned the yaw 
This happens if planes are flown without a compass
 2016-05-21 15:13:53 +10:00
Paul Riseborough
581c1aa0d4 AP_NavEKF2: Adjust attitude variance values used after a heading reset 
Because these errors are in body frame, a spherical error should be used to accommodate different orientations
 2016-05-21 15:13:53 +10:00
Paul Riseborough
5ec8d523f6 AP_NavEKF: remove unwanted co-variance reset 
The co-variance resets required following a velocity and position state reset is now performed in the stte reset function
 2016-05-21 15:13:53 +10:00
Paul Riseborough
66e4d9d6e8 AP_NavEKF2: Reset co-variance values when doing a pos,vel,hgt reset 
Ensures consistent behaviour after resets and reduces attitude disturbances
 2016-05-21 15:13:52 +10:00
Paul Riseborough
cf8175a073 AP_NavEKF2: Allow immediate use of GPS in-flight for plane without compass 
Planes operating without a compass must align the yaw to the GPS heading immediately after launch or takeoff and cannot wait for GPS accuracy checks.
 2016-05-21 15:13:52 +10:00
Paul Riseborough
08de4e6d95 AP_NavEKF: Do not perform start-up yaw alignment if no compass 
Yaw cannot be aligned until in-flight when there is sufficient GPS velocity.
 2016-05-21 15:13:52 +10:00
Paul Riseborough
d2694fe5dc AP_NavEKF2: Remove duplicate transition into GPS aiding 
This decision is made in one place in setAidingMode()
 2016-05-21 15:13:52 +10:00
Paul Riseborough
7201f7d2fd AP_NavEKF2: fix comment 2016-05-21 15:13:52 +10:00
Paul Riseborough
64a8153b68 AP_NavEKF2: update function name 
The primary purpose of this function is re-alignment
 2016-05-21 15:13:52 +10:00
Paul Riseborough
addd213af0 AP_NavEKF2: reduce effect of acceleration on non-GPS mode attitude 2016-05-21 15:13:52 +10:00
Paul Riseborough
d33bbf8cc7 AP_NavEKF: remove debug code 2016-05-21 15:13:52 +10:00
Paul Riseborough
54213ad871 DataFlash: Improve reporting of normalised ekf2 magnetometer innovations 
Report the maximum of the x,y,z axis
 2016-05-21 15:13:52 +10:00
Paul Riseborough
a3b78e6231 AP_NavEKF2: update tuning defaults 2016-05-21 15:13:51 +10:00
Paul Riseborough
65f63341d7 AP_NavEKF2: Improve numerical error protection in optical flow fusion 
Abort fusion of data if variances will become negative and publish the fault
 2016-05-21 15:13:51 +10:00
Paul Riseborough
42da33593d AP_NavEKF2: fix yaw fusion numerical health reporting 2016-05-21 15:13:51 +10:00
Paul Riseborough
6eb9d43507 AP_NavEKF2: add numerical error checking and isolation to mag decl fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough
b325c5faeb AP_NavEKF2: add error checking and isolation to mag heading fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough
a0b1dc5325 AP_NavEKF2: add error checking and isolation to 3D amg fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough
51a3df0319 AP_NavEKF2: Add error checking and isolation to pos vel fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough
fcee82f9b2 DataFlash: extend ekf fault status reporting coverage 2016-05-21 15:13:51 +10:00
Paul Riseborough
597ec61673 AP_AHRS: extend ekf fault status reporting coverage 2016-05-21 15:13:50 +10:00
Paul Riseborough
d59d8cc6e3 AP_NavEKF: extend fusion fault reporting coverage 2016-05-21 15:13:50 +10:00
Paul Riseborough
71b589c89c AP_NavEKF2: extend fusion fault reporting coverage 2016-05-21 15:13:50 +10:00
Paul Riseborough
0982bd0b2b AP_NavEKF2: update parameter documentation 2016-05-21 15:13:50 +10:00
Paul Riseborough
46a2993a0d AP_NavEKF: use intuitive units for imu bias process noise parameters 2016-05-21 15:13:50 +10:00
Paul Riseborough
8c374fd679 AP_NavEKF2: correct comments 2016-05-21 15:13:50 +10:00
Paul Riseborough
6be9eaa524 AP_NavEKF2: use receiver estimated accuracy 
Adjust the GPS observation noise based on receiver accuracy output if available.
 2016-05-21 15:13:50 +10:00
Paul Riseborough
dddc213836 AP_NavEKF2: Open up tuning limits 
Done to assist tuning assessments
 2016-05-21 15:13:50 +10:00
Paul Riseborough
cf05e110fc AP_NavEKF2: fix scaling error in use of IMU noise parameters 
Also remove process noise from state transition matrix where it was mistakenly left in after the derivation
 2016-05-21 15:13:50 +10:00
Randy Mackay
2bafc36ded AC_WPNav: support rangefinder for terrain following 2016-05-21 10:36:53 +09:00
Randy Mackay
4829dbb55d AC_Fence: rename check_destination_within_fence and accept distances in meters 2016-05-21 09:56:12 +09:00
Saloni Jain
ff843448aa AC_Fence: Added a new function to check whether the guided waypoint is within the fence 2016-05-21 09:56:12 +09:00
Gustavo Jose de Sousa
9a100afede AP_HAL_Linux: Thread: add doc about rounding function 2016-05-20 16:31:15 -03:00
Lucas De Marchi
359417d544 AP_HAL_Linux: Thread: make sure pointer is aligned 
Implementation of alloca() is very much architecture and compiler
dependent. Avoid the case in which it could return a non-aligned
pointer, which would mean Thread::_poison_stack() would do the wrong
thing.
 2016-05-20 16:31:15 -03:00
Lucas De Marchi
7e49d0c53f AP_HAL_Linux: Thread: fix alignment warning 
../../libraries/AP_HAL_Linux/Thread.cpp: In member function ‘void Linux::Thread::_poison_stack()’:
../../libraries/AP_HAL_Linux/Thread.cpp:87:31: warning: cast from ‘uint8_t* {aka unsigned char*}’ to ‘uint32_t* {aka unsigned int*}’ increases required alignment of target type [-Wcast-align]
         for (p = (uint32_t *) end; p > curr; p--) {
                               ^
../../libraries/AP_HAL_Linux/Thread.cpp:93:31: warning: cast from ‘uint8_t* {aka unsigned char*}’ to ‘uint32_t* {aka unsigned int*}’ increases required alignment of target type [-Wcast-align]
         for (p = (uint32_t *) end; p < curr; p++) {
                               ^
../../libraries/AP_HAL_Linux/Thread.cpp:98:39: warning: cast from ‘uint8_t* {aka unsigned char*}’ to ‘uint32_t* {aka unsigned int*}’ increases required alignment of target type [-Wcast-align]
     _stack_debug.start = (uint32_t *) begin;
                                       ^
../../libraries/AP_HAL_Linux/Thread.cpp:99:37: warning: cast from ‘uint8_t* {aka unsigned char*}’ to ‘uint32_t* {aka unsigned int*}’ increases required alignment of target type [-Wcast-align]
     _stack_debug.end = (uint32_t *) end;
                                     ^
 2016-05-20 16:31:15 -03:00
Lucas De Marchi
18af4da690 AP_HAL_Linux: Thread: fix warning regarding shadow member 
../../libraries/AP_HAL_Linux/Thread.cpp: In member function ‘void Linux::Thread::_poison_stack()’:
../../libraries/AP_HAL_Linux/Thread.cpp:63:20: warning: declaration of ‘start’ shadows a member of 'this' [-Wshadow]
     uint8_t *end, *start, *curr;
                    ^
 2016-05-20 16:31:15 -03:00
Tom Pittenger
684ac12dd6 AC_WPNav: fix compile when using AP_TERRAIN_AVAILABLE 0 2016-05-20 12:29:19 -07:00
Tom Pittenger
f085666032 AP_Common: fix compile when using AP_TERRAIN_AVAILABLE 0 2016-05-20 12:28:46 -07:00
Leandro Pereira
3555e439a4 AP_HAL_Linux: Simplify I2C initialization in HAL_Linux_Class 2016-05-20 10:12:17 -03:00
Aaron Wang Shi
cb9cd9008a AP_HAL_Linux: fix bhat spi device driver build error 2016-05-20 10:09:50 -03:00
Lucas De Marchi
035937ea7e AP_GPS: add some safety checks to _parse_decimal_100() 2016-05-20 10:06:45 -03:00
Lucas De Marchi
994b2fc966 AP_GPS: add unit test for _parse_decimal_100() 2016-05-20 10:06:44 -03:00
Lucas De Marchi
fc6dd97e61 AP_GPS: make _parse_decimal_100() a static function 
This allows to easily write tests for it as opposed to having to
construct the entire object.
 2016-05-20 10:06:44 -03:00
Bert Regelink
7379d120e1 AP_GPS: fix _parse_decimal_100() with negative numbers 
_parse_decimal_100() did not parse the fractional part for negative
numbers. Furthermore, use the third decimal (when present) for proper
rounding.
 2016-05-20 10:06:44 -03:00
AndersonRayner
aaa8709194 AP_RPM: Added an example script 2016-05-19 19:01:03 -03:00
Vinicius Juvinski
ed2718a183 AP_Notify: Buzzer: change pin 11(P8_31) to pin 12(P8_32) 
Avoid boot conflict during power on.
 2016-05-19 17:22:27 -03:00
Randy Mackay
54731a139f AP_Mission: rename starts_with_takeoff_cmd 2016-05-19 19:43:22 +09:00
Niti Rohilla
9ec0000691 AP_Mission: add check_takeoff_cmd 
This checks that the first command in the mission is a takeoff command which helps avoid mission setup errors in which users forget to start a mission with a takeoff command
 2016-05-19 19:43:17 +09:00
Niti Rohilla
d771017c25 AP_Mission: support MAV_CMD_NAV_DELAY command 2016-05-19 16:16:02 +09:00
Randy Mackay
67620f312d AP_HAL: fix comment for get_time_utc 2016-05-19 16:05:29 +09:00
Niti Rohilla
faec752801 AP_HAL: add get_system_clock_utc functions to Util 2016-05-19 16:05:26 +09:00
Andrew Tridgell
4080c6091d AP_NavEKF2: fixed an assumption that _ahrs->get_compass() always works 
if MAG_ENABLE=0 in plane there is no compass
 2016-05-19 14:16:40 +10:00
Lucas De Marchi
71e10c9132 AP_HAL_Linux: fix include order 
Sort include alphabetically and make them in order:

Main header
system headers
library headers
local headers

While reordering, change a include of endian.h to our sparse-endian.h
which is more reliant to toolchain changes.
 2016-05-18 23:05:56 -03:00
Lucas De Marchi
45c6b750f2 AP_HAL_Linux: remove ifdef checks for HAL_BOARD_LINUX 
Everything inside libraries/AP_HAL_Linux is for Linux boards, there's
not need to add the ifdefs.
 2016-05-18 23:05:56 -03:00
Lucas De Marchi
c4306de122 AP_Common: fix build on windows 
The way the build was fixed for gcc >= 5.3 breaks the build for older
compiler versions on waf. Fix this by ifdef'ing for WAF_BUILD and
checking the compiler version.
 2016-05-18 22:56:50 -03:00
Lucas De Marchi
9ccce2c980 AP_Compass: explicitely add compasses for erlebrain2, pxf and pxfmini 2016-05-18 18:24:14 -03:00
Lucas De Marchi
8372e74c0f AP_Compass: simplify handling of sensors for Linux boards 
In addition:
    - bbbmini, navio and navio2 can force HMC5843 backend to
      be external.
    - there was a typo in the backend name that's now fixed:
      AK8953 vs AK8963
 2016-05-18 18:24:14 -03:00
Lucas De Marchi
1ddbafabdd AP_Compass: add name field to internal compass drivers 2016-05-18 18:24:14 -03:00
Gustavo Jose de Sousa
ef61096e08 AP_Math: geodesic_grid tool: show triangle number for sections too 2016-05-18 13:28:52 -03:00
Gustavo Jose de Sousa
a6deb65d95 AP_Math: geodesic_grid tool: add option --section 2016-05-18 13:28:52 -03:00
Andrew Tridgell
f7ac6c8d86 AP_Compass: make internal compasses use a higher cal threshold 
they tend to be a lot noisier
 2016-05-18 16:32:32 +10:00
Tom Pittenger
d67b1edf10 AP_NavEKF2: (potential) compiler warning of float to double promotion 2016-05-17 20:30:51 -07:00
Tom Pittenger
3c6323dd82 AP_TECS: Log TEC2.LF as Aerodynamic Load Factor 2016-05-17 20:17:27 -07:00
Tom Pittenger
32d51e346d DataFlash: optimize logging climbrate - call function one and reuse result 2016-05-17 18:59:14 -07:00
Tom Pittenger
ad11f3815b AP_HAL_SITL: rename aspd variables to arspd 2016-05-17 16:36:14 -07:00
Tom Pittenger
c77a5e6764 SITL: rename aspd variables and params to arspd 2016-05-17 16:36:07 -07:00
Tom Pittenger
d55401aa18 AP_Tuning: fixed float->double promotion compiler warning 2016-05-17 16:32:10 -07:00
Tom Pittenger
ae91804aaa AP_Arming: updated comment for z-axis accel threshold 2016-05-17 16:31:42 -07:00
Tom Pittenger
f9335e9d8c AP_TECS: fixed float->double print warning 2016-05-17 15:58:03 -07:00
Lucas De Marchi
1ac712fa65 AP_Math: fix is_zero() after template conversion 2016-05-17 15:49:29 -07:00
Andrew Tridgell
7b47d54d6b AP_Common: workaround for SITL on windows 2016-05-17 20:55:57 +10:00
Lucas De Marchi
fa6f2c6b67 AP_Math: fix some coding style mistakes 
- fix alignement of &
    - remove const from bool arguments
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
0c31354539 AP_Compass: implement completion mask 
Fill the completion mask and send that through MAVLink while calibrating the
compass.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
390b196eda AP_Math: AP_GeodesicGrid: add notice for auto generated code 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
b3068baa11 AP_Math: add geodesic_grid toolset 
That was used to aid development AP_GeodesicGrid and understanding its
concepts.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
9d34b3b996 AP_Math: AP_GeodesicGrid: make all methods static 
Since all members are.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
3b05ec1157 AP_Math: make vectors and matrix constructors constexpr 
That allows some object to be constructed at compile time.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
77223a7fcb AP_Math: AP_GeodesicGrid: make data static 
That gives the change of storing that data in flash storage in some
architectures. That doesn't happen yet though, some extra changes are required
for that to happen.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
fd2428db34 AP_Math: AP_GeodesicGrid: reduce number of _neighbor_umbrellas items 
Only the first half is necessary. The values for the other half can be derived.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
43d9e00ab7 AP_Math: AP_GeodesicGrid: use uint8_t for _neighbor_umbrellas 
All integers there are limited to the range [0,20), so uint8_t is enough.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
54889e4175 AP_Math: AP_GeodesicGrid: reduce number of inverses by half 
We don't actually need all of them, since the second half is for the opposite
triangles. In that case we just need to negate the resulting vector when
changing basis.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
f31161ecb6 AP_Math: AP_GeodesicGrid: remove triangles 
There's no need to keep those triangles, since we just need the inverses.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
b34c04a4f9 AP_Math: test_geodesic_grid: test also non-centroid vectors 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
8e8ab3af96 AP_Math: AP_GeodesicGrid: remove section_triangle() function 
That function was only being used by the unit tests and the benchmark. In order
to remove memory usage, the triangles will be removed, since we don't actually
need to keep them in real situations. Thus, this patch removes that function
and copy those triangles to the test and benchmark.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
c7eb46fae2 AP_Math: AP_GeodesicGrid: optimize _from_neighbor_umbrella() 
This is the second optimization. With that we don't have to iterate over the
umbrella's components.

The table below summarizes the mean CPU time in ns from the brenchmark results
on an Intel(R) Core(TM) i7-3520M CPU @ 2.90GHz processor:

       | Naive implementation | First Optimization | Second Optimization
------------------------------------------------------------------------
Min.   |                 26.0 |              28.00 |                26.0
1st Qu.|                 78.0 |              48.75 |                39.0
Median |                132.0 |              57.00 |                41.0
Mean   |                130.1 |              61.20 |                41.6
3rd Qu.|                182.2 |              76.00 |                47.0
Max.   |                234.0 |              98.00 |                54.0
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
eb90ef23a1 AP_Math: AP_GeodesicGrid: fix algorithm for null vector 
If v is the null vector, then alpha * v is still the null vector for any alpha
as a real number. That means that the null vector doesn't cross any section.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
c28c3265c8 AP_Math: AP_GeodesicGrid: optimize with neighbor umbrellas 
This is a first optimization of the algorithm. The struct for the neighbor
umbrella has only one member, but new members will be added in the next
optimization.

The table below summarizes the mean CPU time in ns from the brenchmark results
on an Intel(R) Core(TM) i7-3520M CPU @ 2.90GHz processor:

Cases  | Naive implementation | First Optimization
--------------------------------------------------
Min.   |                 26.0 |              28.00
1st Qu.|                 78.0 |              48.75
Median |                132.0 |              57.00
Mean   |                130.1 |              61.20
3rd Qu.|                182.2 |              76.00
Max.   |                234.0 |              98.00

This optimization reduces the mean time for the worst case (Max. line) by more
than 50%.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
0ff05b7af3 AP_Math: test_geodesic_grid: test triangles indexes 
That helps figuring out which intermediate step failed the high level call.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
4398e1e49b AP_Math: AP_GeodesicGrid: change order of triangles 
- Change the order of the icosahedron triangles so that there's a uniform way of
finding the opposite triangle. The order visually still makes sense.

 - Change test to accommodate the order change.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
ea412ad629 AP_Math: benchmark_geodesic_grid: add benchmark 
That will help to benchmark improvements on the section search algorithm.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
797a2da031 AP_Math: test_geodesic_grid: test when inclusive=true 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa
b299261ad4 AP_Math: AP_GeodesicGrid: add first implementation 
The search for the geodesic section is still naive in this version.
Additionally, add unit tests.
 2016-05-16 19:08:35 -03:00
Gustavo Jose de Sousa
3f2ad764ca AP_Math: Matrix3: add inverse() and invert() functions 
Additionally, add unit tests.
 2016-05-16 19:08:35 -03:00
Gustavo Jose de Sousa
06eea2838f AP_Math: Matrix3: add det() function 
Function to calculate determinant. Additionally, add unit tests.
 2016-05-16 19:08:35 -03:00
Gustavo Jose de Sousa
26959f1448 AP_Math: define golden ratio constant 2016-05-16 19:08:35 -03:00
dgrat
f8540f1a80 AP_Compass: Do not use is_zero() for non-float types 2016-05-16 19:08:35 -03:00
dgrat
7ff8004f8f AP_Math: Replace is_zero() with a template function 
This function only makes sense for floating point types. However this
function was also used for ints.
 2016-05-16 19:08:35 -03:00
Tom Pittenger
ebd993dabb AP_Arming: updated z-axis accel threshold comment 2016-05-16 13:46:17 -07:00
Tom Pittenger
9073ac91ff AP_Mission: 2of3 add loiter_xtrack option flag for post-loiter navigation via param4 
0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
 2016-05-16 11:50:54 -07:00
Tom Pittenger
02eeb2d4f0 AP_Common: 1of3 add loiter_xtrack option flag for post-loiter navigation 
0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
 2016-05-16 11:50:53 -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
Lucas De Marchi
421b9ef54a AP_Mount do not use flexible array in union 
We actually don't want a flexible array in this union, but rather a way
to access it byte by byte. This fixes the build for gcc >= 6

In file included from ../../libraries/AP_GPS/AP_GPS_UBLOX.cpp:23:0:
../../libraries/AP_GPS/AP_GPS_UBLOX.h:387:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
compilation terminated due to -Wfatal-errors.

In file included from ../../libraries/AP_Mount/AP_Mount.cpp:9:0:
../../libraries/AP_Mount/AP_Mount_Alexmos.h:291:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
compilation terminated due to -Wfatal-errors.
 2016-05-16 13:50:56 -03:00
Lucas De Marchi
39bd196481 AP_GPS: do not use flexible array in union 
We actually don't want a flexible array in this union, but rather a way
to access it byte by byte. This fixes the build for gcc >= 6

In file included from ../../libraries/AP_GPS/AP_GPS.cpp:24:0:
../../libraries/AP_GPS/AP_GPS_ERB.h:93:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
compilation terminated due to -Wfatal-errors.

In file included from ../../libraries/AP_GPS/AP_GPS_ERB.cpp:22:0:
../../libraries/AP_GPS/AP_GPS_ERB.h:93:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
compilation terminated due to -Wfatal-errors.

In file included from ../../libraries/AP_GPS/AP_GPS_MTK.cpp:25:0:
../../libraries/AP_GPS/AP_GPS_MTK.h:75:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
compilation terminated due to -Wfatal-errors.

In file included from ../../libraries/AP_GPS/AP_GPS_MTK19.cpp:26:0:
../../libraries/AP_GPS/AP_GPS_MTK.h:75:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
compilation terminated due to -Wfatal-errors.

In file included from ../../libraries/AP_GPS/AP_GPS_SIRF.cpp:22:0:
../../libraries/AP_GPS/AP_GPS_SIRF.h:101:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
compilation terminated due to -Wfatal-errors.

In file included from ../../libraries/AP_GPS/AP_GPS_UBLOX.cpp:23:0:
../../libraries/AP_GPS/AP_GPS_UBLOX.h:387:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
compilation terminated due to -Wfatal-errors.
 2016-05-16 13:50:39 -03:00
Gustavo Jose de Sousa
d615628367 AP_HAL_Linux: I2CDevice: add missing stdio.h include 
This was probably being included by another header, but it's not on
gcc >= 6.1 and glibc 2.23.
 2016-05-16 13:12:53 -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
Rustom Jehangir
39fc17f384 DataFlash: Fix parameter description for param_parse.py 2016-05-16 11:09:31 +10:00
Andrew Tridgell
8571202199 AP_RPM: allow for low RPM measurements on PX4 
this automatically adjusts the timer resolution to allow for low RPM
measurements on PX4
 2016-05-14 18:05:13 +10:00
Tom Pittenger
38b7d7e1c6 DataFlash: log baro drift offset 2016-05-13 17:22:12 -07:00
Tom Pittenger
f1f58e2026 AP_Baro: created baro drift offset accessor 2016-05-13 17:22:11 -07:00
Tom Pittenger
f1186b8b5c AP_Mission: store previous nav cmd id 2016-05-13 17:22:03 -07:00
Tom Pittenger
d900988a23 DataFlash: Log airspeed.Use 2016-05-13 17:22:02 -07:00
Jonathan Challinger
0281b948df AP_Arming: loosen accelerometer consistency check on Z axis 
Original author @jschall via 88f5d9f858
 2016-05-13 17:16:12 -07:00
Tom Pittenger
d55050e5e3 AP_Baro: slow down the LPF for slewing to a new GND_ALT_OFFSET 
Instead of a couple seconds, make it about 15sec. This makes TECS happy by not glitching the height demand as much. When applied too fast the TECS height demand causes a large single oscillation as it chases the filter lag.
 2016-05-13 17:15:53 -07:00
Tom Pittenger
37ee3b44d2 AP_Baro: add accessor for baro drift 2016-05-13 17:15:41 -07:00
Tom Pittenger
2e1eef7cf0 AP_Airspeed: airspeed healthy should also check if enabled 2016-05-13 17:14:55 -07:00
Andrew Tridgell
e3107a7e10 AP_HAL: fixed optflow typos 2016-05-14 08:26:10 +10:00
Andrew Tridgell
1b7830c577 AP_SpdHgtControl: update for changed API 2016-05-14 08:26:10 +10:00
Andrew Tridgell
98a86bd205 AP_TECS: create TEC2 log message for detailed energy internals 2016-05-14 08:26:10 +10:00
Andrew Tridgell
ff97f52555 AP_TECS: removed log_tuning structure 2016-05-14 08:26:10 +10:00
Andrew Tridgell
bc911d15d1 AP_TECS: convert to using Log_Write 
preparation for a TEC2 message
 2016-05-14 08:26:10 +10:00
Andrew Tridgell
9a6ac77c64 AP_TECS: prevent large glitches in the specific energy integrator 
this tries to prevent problems like in issue#4066, or at least
reducing the impact when it happens
 2016-05-14 08:26:10 +10:00
Andrew Tridgell
c52451b01b AP_TECS: rename some variables to make them clearer 2016-05-14 08:26:09 +10:00
Andrew Tridgell
e698d1f47e AP_TECS: use 64 bit micros 
prevent possible wrap if TECS is not run for a long time
 2016-05-14 08:26:09 +10:00
Ricardo de Almeida Gonzaga
64d14356b9 AP_NavEKF2: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
2f88e32657 AP_HAL_FLYMAPLE: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
2236640f66 AP_HAL_Linux: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
267a74ebb2 AP_NavEKF: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
4047fb63fc AP_GPS: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
481e3a2af6 AP_Math: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
00b1915034 AP_HAL_Empty: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
892cc2ea6f AP_HAL_PX4: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
1efa4a4115 doc: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
2bf9aa94ad AP_AHRS: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
2802775e7d AP_Motors: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
dfe38b61de AP_Mission: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
91e9dd10ba AP_HAL_SITL: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
eb418f54ee AP_HAL: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
aa4b66509f AP_AccelCal: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
fcbed13533 AP_Mount: Fix typos 2016-05-13 19:20:06 -03:00
Ricardo de Almeida Gonzaga
af13e2cca4 AP_Declination: Fix typos 2016-05-13 19:20:05 -03:00
Ricardo de Almeida Gonzaga
e6564c2efa AP_BoardConfig: Fix typos 2016-05-13 19:20:05 -03:00
Ricardo de Almeida Gonzaga
2e58653983 AP_Compass: Fix typos 2016-05-13 19:20:05 -03:00