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14761 Commits

Author SHA1 Message Date
Peter Barker
85ebe923b6 SITL: avoid FPE when running fly.ArduPlane 
Program received signal SIGFPE, Arithmetic exception.
__expf_finite () at ../sysdeps/x86_64/fpu/e_expf.S:132
132     ../sysdeps/x86_64/fpu/e_expf.S: No such file or directory.
(gdb) u
 2017-09-06 20:22:52 +10:00
Peter Barker
97b6ca218b AP_AHRS: send ekf status reports even when EKF inactive 2017-09-06 10:50:49 +10:00
Michael du Breuil
be371e09f9 AP_GPS: SBF: Reject short packets early, allow 256 byte long messages to be decoded 2017-09-06 10:41:36 +10:00
Andrew Tridgell
048dfee68a AP_GPS: make SBF driver more robust 
this fixes a crash bug in the SBF GPS driver where a badly formed packet
could cause crc16_ccitt to reference invalid memory
 2017-09-06 10:41:33 +10:00
Lucas De Marchi
b62e8909c4 AP_GPS: add missing fallthrough 2017-09-01 13:45:22 -07:00
Lucas De Marchi
cb9c626577 AP_ADSB: fix getting a copy rather than a reference 
These have been caught by making constructors private and enforcing
calling a create() method to create objects are supposed to be
statically allocated only.

The Vector3f reference was just nearby and was a change copied from
similar PR from Peter Barker (#6873).
 2017-09-01 13:45:22 -07:00
Lucas De Marchi
2c72fc94ba AP_HAL: change aerofc baud to 921600 2017-09-01 07:55:47 -07:00
Peter Barker
698f18566b AP_Terrain: cast to int32_t to avoid warning about signedness 
../../libraries/AP_Terrain/TerrainIO.cpp: In member function ‘void
AP_Terrain::open_file()’:
../../libraries/AP_Terrain/TerrainIO.cpp:176:46: warning: format ‘%u’
expects argument of type ‘unsigned int’, but argument 5 has type
‘__gnu_cxx::__enable_if<true, double>::__type {aka double}’ [-Wformat=]
              abs((uint32_t)block.lon_degrees));
                                              ^
../../libraries/AP_Terrain/TerrainIO.cpp:176:46: warning: format ‘%u’
expects argument of type ‘unsigned int’, but argument 7 has type
‘__gnu_cxx::__enable_if<true, double>::__type {aka double}’ [-Wformat=]
 2017-09-01 13:30:56 +01:00
Peter Barker
6ad3541a24 DataFlash: clean up public interface 2017-09-01 10:58:07 +01:00
Peter Barker
ac806b650f GCS_MAVLink: move handling of do_send_banner up 2017-08-30 15:54:47 +01:00
Peter Barker
1544a92f8b GCS_MAVLink: factor out a send_banner 2017-08-30 15:54:47 +01:00
Peter Barker
2e078f7c5e GCS_MAVLink: send fw_string, px4 git hash and nuttx hash on param request 2017-08-30 15:54:47 +01:00
Peter Barker
8a7a1b77dd GCS_MAVLink: handle param_request_list in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker
50242178b3 GCS_MAVLink: handle param_set in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker
95ff94bfad GCS_MAVLink: factor out a handle_common_param_message 2017-08-30 15:54:47 +01:00
Peter Barker
add1743c12 GCS_MAVLink: move send_autopilot_request calls up to GCS base class 2017-08-30 15:54:46 +01:00
Peter Barker
e9204a66ee GCS_MAVLink: include version for AP_FWVersion 2017-08-30 15:54:46 +01:00
Peter Barker
f32651a38c DataFlash: include version for AP_FWVersion 2017-08-30 15:54:46 +01:00
Peter Barker
445777429b AP_FWVersion: add structure to hold firmware version 2017-08-30 15:54:46 +01:00
Randy Mackay
aaac6b3692 AP_Common: Bitmask formatting fix 2017-08-30 20:07:04 +09:00
ChrisBird
46c982d64f AP_Mission: add OPTIONS parameter 
First option added now is to clear the mission on reboot
Fixes #5743
 2017-08-29 21:28:19 +01:00
Michael du Breuil
a895d69b42 GCS_MAVLink: Correct a bug in the FOR_EACH_ACTIVE_CHANNEL macro 2017-08-29 13:27:27 -07:00
Jacob Walser
e492c733d8 AP_Baro: fixup Keller LD comments 2017-08-29 12:30:32 -04:00
Michael du Breuil
db6d8c9c43 AP_Mission: Use a static assert to check content size 2017-08-29 14:37:56 +01:00
Jacob Walser
f4dfbb9dad AP_JSButton: input_hold_toggle -> input_hold_set 2017-08-29 08:10:05 -04:00
Jacob Walser
07e00de549 AP_Baro: Tweak Keller LD driver for better performance after initial tests 2017-08-29 08:08:16 -04:00
Jacob Walser
2a71afd3ba AP_Baro: Remove superfluous casts 2017-08-29 08:08:16 -04:00
Jacob Walser
a08da4ecc4 AP_Baro: New AP_Baro_Keller device driver 2017-08-29 08:08:16 -04:00
Andrew Tridgell
7e1368f7a5 AP_InertialSensor: implement notch filter on gyro 2017-08-29 13:52:29 +10:00
Andrew Tridgell
50dcca39bd Filter: added a notch filter 
maths from Leonard
 2017-08-29 13:52:29 +10:00
Peter Barker
0f22f923e1 AC_InputManager: remove MAIN_LOOP_RATE in favour of parameter value 2017-08-29 08:41:07 +09:00
Andrew Tridgell
4aa068d63d SITL: added simple launch sim for plane 
allow for bungee, catapult and hand launches
 2017-08-29 07:35:04 +10:00
Peter Barker
9783c0c3ba DataFlash: log dataflash-file statistics periodically 2017-08-28 22:05:44 +01:00
Peter Barker
776d88bb6b DataFlash: remove duplicate variables 2017-08-28 22:05:44 +01:00
Andrew Tridgell
29fe432dd7 AP_SerialManager: enable debug console use for other protocols 
this allows SERIAL5_PROTOCOL to be set on FMUv2 and FMUv3 for use by
other protocols
 2017-08-28 17:57:28 +10:00
Andrew Tridgell
d09b549144 HAL_PX4: allow uart5 to be used for non-nsh on FMUv2/FMUv3 2017-08-28 17:57:28 +10:00
Andrew Tridgell
0155434057 RC_Channel: fixed bug in manual with TRIM == MIN 
This fixes the bug described here:

https://discuss.ardupilot.org/t/arduplane-reverse-thrust-setup/18324/5

which otherwise would prevent output with TRIM == MIN or TRIM == MAX
 2017-08-26 20:30:54 +10:00
Peter Barker
2f9fb581fe DataFlash: remove bad FALLTHROUGH causing compilation failure 2017-08-24 15:49:15 +09:00
Peter Barker
921985fe27 GCS_MAVLink: allow statustext logging from any source system 
Turns out this is terribly useful for companion computers if
you allow them to log things when they're not your GCS.

The original check was bogus; if someone is talking to you via
mavlink they can do much worse than fill your logs!
 2017-08-23 15:58:47 +01:00
Jacob Walser
e8f5967682 GCS_MAVLink: Add MSG_NAMED_FLOAT ap_message id 2017-08-23 13:40:52 +01:00
Lucas De Marchi
3414883f05 AP_GPS: remove tabs and fix coding style 2017-08-22 23:59:13 -07:00
Lucas De Marchi
927289aa64 DataFlash: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
7b0d6166e1 AP_RangeFinder: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
b37ca322f1 AP_Landing: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
0e502d89a3 AP_HAL: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
8389158d76 AP_GPS: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
7c6f9a004e AP_Baro: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
e2e836f676 AP_Airspeed: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Lucas De Marchi
3102247a85 AP_Common: add FALLTHROUGH define 2017-08-22 23:59:13 -07:00
Randy Mackay
e13f4d0d56 DataFlash: removed unused optFlowEnabled from Log_Write_EKF 2017-08-23 11:19:14 +09:00
Randy Mackay
59ffc3cd65 AP_OpticalFlow: minor order declaration change 
non-functional change
 2017-08-23 11:19:14 +09:00
Randy Mackay
cf24eef359 AP_OpticalFlow: init checks if enabled 2017-08-23 11:19:14 +09:00
Randy Mackay
bc38affcb1 AP_OpticalFlow: px4flow retries init 10 times at startup 
This resolves an issue in which some px4flow sensors are slow to startup
 2017-08-23 11:19:14 +09:00
Randy Mackay
fdb4c7b5ee AP_OpticalFlow: failure to init leaves enabled unchanged 2017-08-23 11:19:14 +09:00
Randy Mackay
a7afffe14a AP_OpticalFlow: rename BUS_ID parameter to ADDR 
This makes the parameter more consistent with RangeFinder
 2017-08-23 11:19:14 +09:00
chobits
d6845a911a AP_AHRS: fix get_relative_position_NE_home calcalation 2017-08-19 10:23:24 +09:00
Lucas De Marchi
66a1e420cb AP_HAL_Linux: RCInput_SoloLink: better name to first field 
Checking the time on the tcpdump capture, it matches the first fields
from the data:

$ tshark -n -c 4 -r  ~/tmp/solo/rc.pcap
    1   0.000000     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26
    2   0.019976     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26
    3   0.040046     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26
    4   0.059961     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26

From the previous commit (first 2 packets):

     5fa8 f441 3414 0500 73d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
     73f6 f441 3414 0500 74d7  dc05 dc05 dc05 db05 e803 e803 e803 f401

0x0005143441f45fa8 - 0x0005143441f4f673 = 0x4E14 = 19988 (usec)

Which seems to approximately match for the other packets as well. We are
not using the field since we rather get the time when we receive it, but
at least use a better name.
 2017-08-17 12:04:27 -07:00
Lucas De Marchi
373d41fd6e AP_HAL_Linux: switch aero to RCInput_SoloLink 2017-08-17 12:04:27 -07:00
Lucas De Marchi
79b004cf6a AP_HAL_Linux: add prototype for handling SoloLink 
This allows to use a Solo controller to control Linux-based flight
controllers. The protocol has been derived by analyzing a tcpdump
trace: some fields are ignored. Example trace of RC data (obtained
with `tshark -T fields -e data -n -c 5 -r  rc.pcap`

 unkonwn              seq   ch1  ch2  ch3  ...                ch8
 5fa8 f441 3414 0500 73d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 73f6 f441 3414 0500 74d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 dc44 f541 3414 0500 75d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 bc92 f541 3414 0500 76d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 dfe0 f541 3414 0500 77d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 2017-08-17 12:04:27 -07:00
Peter Barker
154b212545 GCS_MAVLink: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker
b17c0482fb GCS_MAVLink: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Peter Barker
23d91c93c8 AP_HAL_Linux: correct compilation warning 
../../../libraries/AP_HAL_Linux/RCInput_RPI.cpp:129:35: warning: ignoring return value of ‘ssize_t read(int, void*, size_t)’, declared with attribute warn_unused_result [-Wunused-result]
         ::read(file, &pageInfo, 8);
 2017-08-17 11:28:36 +01:00
Randy Mackay
222dd0c9be AC_WPNav: correct comments 
all position vectors are offsets from the ekf origin (not from the ahrs home)
 2017-08-17 16:05:08 +09:00
Jacob Walser
b8e7d23cc4 AP_Arming: Add bool check_min_max parameter for Copter/Sub RC checks 2017-08-16 11:37:46 -04:00
Peter Barker
2a07a077d9 GCS_MAVLink: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:05:37 +10:00
Peter Barker
48c4e48225 AP_HAL_PX4: send statustext for RC input decoding type 2017-08-15 22:04:00 +01:00
Mateusz Sadowski
eb56a010b3 AP_RangeFinder: TeraRangerI2C: use address from parameter instead of hardcoded 2017-08-15 19:42:10 +01:00
Mateusz Sadowski
0993300506 AP_Rangefinder: rename trone to TeraRangerI2C 2017-08-15 19:27:49 +01:00
Peter Barker
b6076bcb77 GCS_MAVLink: adapt to new rangefinder method name 2017-08-15 19:00:29 +01:00
Peter Barker
30c4ea8123 AP_RangeFinder: stop storing sensor type as a variable 
And change method name
 2017-08-15 18:58:16 +01:00
Peter Barker
c79cbd71af GCS_MAVLink: use rangefinder backend accessors 2017-08-15 18:31:58 +01:00
Peter Barker
f1d350bbb1 DataFlash: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker
63440800fc AP_NavEKF3: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker
1e83ef3c44 AP_NavEKF2: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker
e0bea597c0 AP_Proximity: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker
c0aa10d84b AP_RangeFinder: move rangefinder backend data accessors to backend 2017-08-15 18:30:45 +01:00
Michael du Breuil
067335f68d GCS_MAVLink: Handle termination requests from the GCS 2017-08-15 15:14:56 +01:00
Michael du Breuil
97c1785bef AP_AdvancedFailsafe: Allow the GCS to request terminations 2017-08-15 15:14:56 +01:00
Miguel Arroyo
fc155eac7e AP_HAL_PX4: Adds UARTF as commandline option 2017-08-15 14:31:51 +01:00
JU Han
eebef857f1 AP_TECS: gain scaler K_STE2Thr multiplies by (THRmax - THRmin) 
Makes both feed forward and feed-back consistent
 2017-08-15 14:27:43 +01:00
Randy Mackay
9f876dc7a0 AR_AttitudeControl: throttle and steering control library 
Throttle controller has these advantages over existing controller:
based on velocity in vehicle's forward-back axis rather than ground-speed
straight-forward PID controller using speed error as input
speed control acceleration limts
stop control slows vehicle smoothly
configurable filtering

Steer controller has these advantages over existing controller:
output scaled properly for skid-steering vehicles
layered P and PID controller for angular error and rate control
configurable filtering
 2017-08-15 20:47:19 +09:00
Peter Barker
7173025b43 AP_Arming: warn about uncalibrated throttle but do not fail check 
We can tighten this check up later, and will allow us to use
this common function for Plane and Rover in the future
 2017-08-14 15:32:25 +09:00
Peter Barker
b2459c67d5 AP_Arming: move Copter RC checking code into library 2017-08-14 15:32:25 +09:00
Peter Barker
e3599ab4f9 AP_Param: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker
bff31e8b42 GCS_MAVLink: remove CLI 2017-08-14 10:23:50 +09:00
Andrew Tridgell
1a25087dd5 AC_AttitudeControl: fixed PIRO_COMP index 
this is a new conflict due to stricter checking in AP_Param
 2017-08-14 09:28:57 +09:00
Michael du Breuil
58e784024f AP_HAL_SITL: Add support for blocked pitot tube simulations 2017-08-10 20:15:35 +10:00
Michael du Breuil
4dbe282121 SITL: Add airspeed failure parameters 2017-08-10 20:15:35 +10:00
priseborough
2310cb6d19 AP_NavEKF3: Enable external control over use of GPS vertical velocity 2017-08-10 19:49:45 +10:00
priseborough
f2f3067326 AP_NavEKF2: Add interface to control GPS vertical velocity use 2017-08-10 19:49:45 +10:00
Mark Whitehorn
3642ecd9ef AP_COMPASS: fix errors in addition of alternate LIS3MDL I2C address 
testing shows ROTATION_YAW_90 is correct for mRo Neo M8N GPS/compass
 2017-08-10 19:46:26 +10:00
Mark Whitehorn
a6e9baa8f6 AP_Compass: probe for LIS3MDL in mRo Neo-M8N GPS module 2017-08-10 19:46:26 +10:00
Peter Barker
1fc82442a0 GCS_MAVLink: remove dummy functions; examples are linked with all libs 2017-08-09 16:18:22 +01:00
Peter Barker
7aaabea4ea GCS_MAVLink: send gps messages as separate queued messages 2017-08-09 16:18:22 +01:00
Peter Barker
ee5874ab32 GCS_MAVLink: move sending of gps_raw up 2017-08-09 16:18:22 +01:00
Peter Barker
4e3cc6fd27 GCS_MAVLink: move sending of system_time up 2017-08-09 16:18:22 +01:00
Peter Barker
d1a9128118 GCS_MAVLink: move sending of camera_feedback up 2017-08-09 16:18:22 +01:00
Peter Barker
d03c7389f7 GCS_MAVLink: move sending of meminfo up 2017-08-09 16:18:22 +01:00
Michael du Breuil
5fca7d02b3 AdvancedFailsafe: Rework status texts to be more uniform 2017-08-09 15:39:17 +01:00
Peter Barker
127edce39e AP_RangeFinder: move prearm checks into backend 2017-08-09 13:58:53 +01:00