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11776 Commits

Author SHA1 Message Date
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