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
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.
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.
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
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.
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.
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.
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
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.
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%.
- 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.
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.
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.
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.
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.
This fixes the initialization for Linux boards using the PX4Flow module.
The problem is that after the conversion to use I2CDevice we now need to
use I2CDeviceManager, which is statically constructed after the vehicle
object.
So, if we try to call hal.i2c_mgr->get_device(), it will call the
get_device() method before the constructor is called and receive a
SIGSEGV:
Program received signal SIGSEGV, Segmentation fault.
0x000b06c0 in OpticalFlow::OpticalFlow (this=0x140914 <copter+4980>, ahrs=...)
at ../../libraries/AP_OpticalFlow/OpticalFlow.cpp:54
54 ../../libraries/AP_OpticalFlow/OpticalFlow.cpp: No such file or directory.
Running the vehicles we check the stack size doesn't grow too much by
enabling the DEBUG_STACK in the scheduler. Even on 64bit boards the
stack is consistent around 4k. Just to be a little conservative, let it
be a little bit more that that: 256kB.
Since we have RT prio and we call mlock(), the memory for the stack of
each thread is locked in memory. This means we are effectively taking
that much memory. The default stack size varies per distro, but it's
common to have 8MB for 64 bit boards and 4MB for 32 bit boards. Here is
the output of ps -L -o 'comm,rtprio,rss $(pidof arducopter-quad)', showing the
RSS of arducopter-quad before and after this change:
Before:
COMMAND RTPRIO RSS
arducopter-quad 12 46960
sched-timer 15 46960
sched-uart 14 46960
sched-rcin 13 46960
sched-tonealarm 11 46960
sched-io 10 46960
After:
COMMAND RTPRIO RSS
arducopter-quad 12 7320
sched-timer 15 7320
sched-uart 14 7320
sched-rcin 13 7320
sched-tonealarm 11 7320
sched-io 10 7320
allow vehicle code to compensate for thrust effectiveness changes due
to properties outside the scope of AP_Motors. This allows for
compensation in tiltrotors and tiltwings.
Minlure has an onboard compass (HMC5883L) as slave of MPU-6000, but also
allows the use of an external HMC5883L compass, which should be
connected to the lure's I2C port.
We don't need all the comments in the array declaration and we can
inline its declaration in the function call. This makes it easier to
copy it to other places.
That rotation is done because of the "arrow" pointing the sensor direction in
3DR GPS+Compass kit (which isn't natural to the sensor orientation, by the
way). Thus, do that rotation only for external HMC5883L compasses.
That rotation is set for AP_COMPASS_TYPE_HMC5883L, because it's usually
the compass from 3DR GPS+Compass kit, which has an arrow pointing the
"correct" direction. That rotation should be done before rotate_field()
as it represents the "standard" position for the kit.
This patch also makes published values consistent with respect to rotation.
Before this, raw fields used in calibration were published with a
rotation different from the filtered field when _product_id is
AP_COMPASS_TYPE_HMC5883L.
And to the detection probe() method. That way we don't need to use a board
`#ifdef` inside the class code. Additionally, we make raspilot board use it.
Otherwise we would destroy PX4_I2C object after returning from
I2CDeviceManager::get_device(). Since this implementation is very
simple, just make PX4_I2C as an internal class and embed it into the
I2CDevice object.
Instead of depending on the frequency accumulate() is called, use
AverageIntegralFilter with 10 samples. The data obtained by BMP085 is
too noisy with any value of OVERSAMPLING so use twice the number of
samples as currently used. Besides that now we are sure there's always
10 samples used in the average.
When the the variable in which we are saving the current sum is of
integral type we can use a much more optimized apply() method: instead
of looping the entire number of samples adding them up, we always keep
the current sum in a member. It also allows the caller to decide the
type it wants to use to get the average: this may be dictated by another
interface it uses or it may want to avoid the implicit truncate in the
return of apply().
The temperature readings is not subject to white noise so there's no
point in averaging its reading. Moreover since for a normal 50Hz
accumulate() / 10Hz update() it would read temperature only once per
update(), it's pointless to keep averaging and introducing rounding
error.
The temperature doesn't need to be checked as frequent as pressure, too.
The datasheet even suggests on section 3.3, page 10 to enable standard
mode and read the temperature at 1Hz. Here we reduce it to 2Hz
(considering the accumulate() function being called at 50Hz).
If we don't have EOC pin and assuming the accumulate() function is
called at 50Hz (or higher) we would take very few samples to accumulate
before the update is called. That's because since we have to wait 26ms
to get a sample and we calling accumulate() every 20ms, half of the
times it will return without getting anything. So we will
be using 2 or 3 samples only to average.
If we don't have EOC, use OVERSAMPLING=2 which gives us more noise, but
that we can filter out by using measurements to average. When we have
EOC we don't need it because most of the time the conversion will take
less than 20ms: I'm getting 16ms on most of them while bench-testing.
Avoid warnings like:
[2130/2168] Compiling libraries/AP_Math/tests/test_math.cpp
../../libraries/AP_Math/tests/test_math.cpp: In member function ‘virtual void MathTest_IsZero_Test::TestBody()’:
../../libraries/AP_Math/tests/test_math.cpp:73:196: warning: converting ‘false’ to pointer type for argument 1 of ‘char
testing::internal::IsNullLiteralHelper(testing::internal::Secret*)’ [-Wconversion-null]
../../libraries/AP_Math/tests/test_math.cpp:74:199: warning: converting ‘false’ to pointer type for argument 1 of ‘char
testing::internal::IsNullLiteralHelper(testing::internal::Secret*)’ [-Wconversion-null]
Use EXPECT_TRUE() and EXPECT_FALSE() from gtest instead.
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
When using wrap_180_cd() we are adding a small float (180 * 100) to a
possibly big number. This may lose float precision as illustrated by the
unit test failing:
OUT: ../../libraries/AP_Math/tests/test_math.cpp:195: Failure
OUT: Value of: wrap_180_cd(-3600000000.f)
OUT: Actual: -80
OUT: Expected: 0.f
OUT: Which is: 0
These functions (or variants thereof) now have unit tests:
- is_zero()
- is_equal()
- sq()
- pythagorous()
- constrain()
- wrap_180()
- wrap_360()
Some tests in wrap_180_cd are failing: -180 should be wrapped to 180,
not -180.
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to get and set functionsss
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
c.min_max_configured() // return true if min and max are configured
Because data members of RC_Channels are now private and so cannot be written directly
some overloads are provided in the Plane classes to provide the old functionality
new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);
new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;
Rename functions
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to get and set functionsss
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
c.min_max_configured() // return true if min and max are configured
Because data members of RC_Channels are now private and so cannot be written directly
some overloads are provided in the Plane classes to provide the old functionality
new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);
new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;
Rename functions
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to get and set functionsss
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
c.min_max_configured() // return true if min and max are configured
Because data members of RC_Channels are now private and so cannot be written directly
some overloads are provided in the Plane classes to provide the old functionality
new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);
new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;
Rename functions
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to get and set functionsss
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
c.min_max_configured() // return true if min and max are configured
Because data members of RC_Channels are now private and so cannot be written directly
some overloads are provided in the Plane classes to provide the old functionality
new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);
new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;
Rename functions
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to get and set functionsss
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
c.min_max_configured() // return true if min and max are configured
Because data members of RC_Channels are now private and so cannot be written directly
some overloads are provided in the Plane classes to provide the old functionality
new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);
new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;
Rename functions
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, some methods names are now
in conflict with those in the derived RC_Channel_aux class.
To keep a uniform naming convention in RC_Channel where
functions are most used and most numerous, the offending
functions in RC_Channel__aux are renamed as follows
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
rename all public data members of RC_Channnels with
leading underscore and make all data members private.
Provide get_xx and set_xx methods for access
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
add function to save radio trim
(expression where c is an object of type RC_Channel)
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
// other
c.min_max_configured() // return true if min and max are configured
c.save_radio_trim() // save radio trim to eeprom
This has no side effects, but since all implementations were basically
the same, move the implementation to GCS_Common and the only part that
adjusts the rate based on which which stream to each individual
GCS_MAVLINK implementation.
this makes uBlox use the 3D velocity for ground course and speed,
ensuring we use a consistent value everywhere (so same vector in EKF
as in navigation)
This header is used by waf to contain the generated version macros,
particularly using the git hash. For waf it's better to be in a separate
header since it then can keep track of changes on it a trigger
recompilation.
For the make build system, a dummy ap_version.h file has been added in
the missing/ folder so both implementations can co-exist.
../../libraries/AP_HAL/examples/Printf/Printf.cpp:63:17: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if (ret != strlen(float_tests[i].result)) {
^
...
ardupilot/modules/gtest/include/gtest/gtest.h:1448:16: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if (expected == actual) {
^
And similar ones.
../../libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.cpp: In function ‘void show_timing()’:
../../libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.cpp:61:88: warning: format ‘%lu’ expects argument of type ‘long unsigned int’, but argument 3 has type ‘uint32_t {aka unsigned int}’ [-Wformat=]
hal.console->printf("timing: mint=%lu maxt=%lu avg=%lu\n", mint, maxt, totalt/count);
^
../../libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.cpp:61:88: warning: format ‘%lu’ expects argument of type ‘long unsigned int’, but argument 4 has type ‘uint32_t {aka unsigned int}’ [-Wformat=]
../../libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.cpp:61:88: warning: format ‘%lu’ expects argument of type ‘long unsigned int’, but argument 5 has type ‘uint32_t {aka unsigned int}’ [-Wformat=]
This rangefinder uses an spi device to send pulses and an iio driver
in buffer mode to get data
The data is then analyzed and the maximum pulse received is considered to
represent the echo of the pulses that have been sent. The distance in time
between the pulse that is sent and the pulse with the maximum amplitude
is used to calculate the altitude based on the speed of sound.
There is a dependency with libiio, and in order to build, there is a need
to provide a rootfs that includes libiio.a.
The other solution is to build dynamically after having updated the rootfs
to use on compiled with a more recent toolchain and include libiio
This bug led to issues for us so it may help others to resolve it.
Currently, the AP_HAL_Linux RCInput::read(uint16_t*,uint8_t) function
only returns the first x nonzero channels. Once it hits a channel that
is set to zero, it stops and all remaining channels are returned as
zero, even if they are set. This causes discrepancies between the raw RC
input sent to the GCS and the RC input that is actually used on the
vehicle.
The fixes this issue and makes it behave exactly as it does on the
PX4_HAL code. We ran into this issue when sending rc_override messages
in which there were some channels set to zero.
/home/travis/build/ArduPilot/ardupilot/libraries/AP_Param/AP_Param.h:542:22: warning: using floating point absolute value function 'fabsf' when argument is of integer type [-Wabsolute-value]
bool force = fabsf(_value - v) < FLT_EPSILON;
threading bug fix. When a mission wp updates, but the L1 controller had not yet, the data is stale. Example, On Plane when NAV_LAND starts for a moment your xtrack and bearing is most likely bear zero regardless if you have a big turn or not until 10 Hz later when the update() gets called and updates those values with correct values for the new waypoint.
recent fixes in Plane have made the stage more accurate so exceptions/hacks are no longer needed to differentiate between knowing if executing NAV_LAND vs being in stage_approach.
The EKF's getPosNED returns a vertical position relative to the EKF origin but previously this function was using it as if it was relative to ahrs's home
this adds non-turbulent wind support for the built-in simulators. I
added it primarily for quadplane testing, but it should also be useful
for multicopter navigation testing.
Due to the way the headers are organized a single change in a
AP_GPS backend would trigger a rebuild for most of the files in the
project. Time could be saved by using ccache (since most of the things
didn't change) but we can do better, i.e. re-organize
the headers so we don't have to re-build everything.
This makes internal headers internal and then other libraries only
depend on the AP_GPS.h header.
Implements the following techniques to enable planes to operate without magnetometers.
1) When on ground with mag use inhibited, a synthetic heading equal to current heading is fused to prevent uncontrolled covariance growth.
2) When transitioning to in-flight, the delta between inertial and GPS velocity vector is used to align the yaw.
3) The yaw gyro bias state variance is reset following an in-flight heading reset to enable the yaw gyro bias to be learned faster.
This is required because we have removed the constraint on the throttle input. This also insures that there is no lag caused by the filtered throttle straying far outside the 0 to 1 range
