aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
18,624 Commits 72 Branches 509 Tags 683 MiB
6215a3d224
Commit Graph

9119 Commits

Author SHA1 Message Date
Randy Mackay
e9254ca1a9 DataFlash: log compass as milligauss 2015-10-07 21:35:19 +09:00
Randy Mackay
2deaf5280e RangeFinder: add User to param descriptions 
First sensor appears in standard list, second in advanced
 2015-10-07 14:10:24 +09:00
Julien BERAUD
b37c52f7a3 AP_InertialSensor_MPU6000: Add heat support 
Send current tempertaure to the Heater so the control loop sets the correct
temperature to the imu
 2015-10-06 15:21:39 +11:00
Julien BERAUD
f231182cd9 AP_HAL: Add support for a Heater 
Add heater class and non-pure virtual method to Util class in order to do
nothing in case the function is not implemented
 2015-10-06 15:21:39 +11:00
Julien BERAUD
ffbb892a01 AP_HAL_Linux: add support for a pwm heater 
It uses a heating resistor controlled by a pwm.
By changing the duty cycle of the pwm, we can control the temperature.
A simple PI algorithm is used in order to get to the correct temperature
fast enough and without too much overshoot
It is implemented as a member of the Util class in order not to make to much
modification to the current codebase
 2015-10-06 15:21:39 +11:00
Julien BERAUD
1aadcdf538 AP_InertialSensor_MPU6000: read temperature 
Read temperature as part of the normal burst. This is not very costly since it
is part of the burst read in i2c and already read in spi.
It is meant to be used for imu heating.
The filter is set to 1Hz on temperature because of the inherent inertia of
heating systems.
 2015-10-06 15:21:39 +11:00
Peter Barker
af4ad01f23 DataFlash: make CAM a critical message 2015-10-06 15:20:08 +11:00
Michael Oborne
8ec9ab6ad3 AP_GPS: add SBF and GSOF to gps documentation 2015-10-06 15:00:46 +11:00
Michael Oborne
0fceb76493 AP_GPS_GSOF: add trimble gsof driver 2015-10-06 15:00:46 +11:00
Lucas De Marchi
0dad58ae8b AP_HAL_Linux: RCOutput_Bebop: group writes 
This allows to remove the hard limit of 4 motors in Bebop, allowing to
execute the motor test.
 2015-10-06 11:03:30 +11:00
Lucas De Marchi
24f41538cb AP_HAL_Linux: RCOutput_PCA9685: group writes 2015-10-06 11:03:30 +11:00
Lucas De Marchi
f43f6c53f7 AP_Motors: Group writes to motors 
Surround calls to rcout->write() with rcout->cork() and rcout->push().
If the RCOutput implementation allows the writes are grouped and only
sent together to the underlying hardware.
 2015-10-06 10:42:18 +11:00
Lucas De Marchi
fb643fbb53 AP_HAL: RCOutput: add methods to allow grouping writes 2015-10-06 10:42:18 +11:00
mirkix
ddb8e67954 AP_Compass: Add support for more then one AK8963 2015-10-06 10:38:21 +11:00
Julien BERAUD
22af74bfe6 AP_Menu: Fix warning 
Declare member in an appropriate type so there is no warning
 2015-10-06 10:36:22 +11:00
Julien BERAUD
1c46205c2b AP_HAL_Linux: fix warning 
Fix warning and use htole16 instead of trying to implement it.
The current code does nothing on little endian platforms.
Moreover, the status variable was unused.
 2015-10-06 10:34:59 +11:00
Randy Mackay
6145794da2 AP_Math: remove duplicate RADIUS_OF_EARTH definition 2015-10-05 21:00:14 +09:00
Paul Riseborough
cde140354a AP_NavEKF2: Clean up control logic 2015-10-05 13:35:32 +09:00
Paul Riseborough
f4db78fc11 AP_NavEKF2: Allow for larger gyro bias errors 
MPU6000 data sheet indicates that variation on gyro ZRO across temperature range from -40 to +85 is +-20 deg/sec.
The limits on the gyro bias states have been increased to allow for this.
To enable the EKF to accommodate such large gyro bias values in yaw without the yaw error wrapping, leading to continual heading drift, an unwrap function has been applied to the compass heading error.
 2015-10-05 13:35:29 +09:00
Paul Riseborough
325f4139fe AP_NavEKF2: Clean up mode change logic 2015-10-05 13:35:26 +09:00
Paul Riseborough
ef624199f9 AP_NavEKF2: Enable GPS velocity fusion to be inhibited 2015-10-05 13:35:23 +09:00
Randy Mackay
9b96a2c385 GCS_MAVLink: send_home and send_home_all methods 2015-10-03 12:50:42 +09:00
Randy Mackay
88f32bc86f GCS_MAVLink: version update after generate 2015-10-03 12:50:39 +09:00
Randy Mackay
544220b599 GCS_MAVLink: generate after importing home-position messages 2015-10-03 12:50:36 +09:00
Randy Mackay
b84b069080 GCS_MAVLink: home-position message defs from upstream 2015-10-03 12:50:33 +09:00
Lucas De Marchi
d3e8e8fd43 AP_InertialSensor: disable backend's copy constructor 
We never want to copy a backend. This protects us of accidentally using
a copy instead of a reference for all subclasses.
 2015-10-01 20:57:22 -03:00
Lucas De Marchi
a58bb0fc32 AP_InertialSensor: MPU6000: Fix using copy instead of reference 
In 294298e ("AP_InertialSensor: use method for downcast") I was too eager
to use "auto" and ended up using the implicit copy constructor instead
of actually getting a reference to the object.
 2015-10-01 20:57:22 -03:00
raspilot
aa4d16622e HAL_Linux_Class: Init spi before rcin & rcout, because raspilot rcin & rcout use spi. 2015-10-02 09:54:55 +10:00
raspilot
831bb554e7 AP_Baro_MS5611: suspend timer when init to prevent other SPI drivers grabbing the bus. 2015-10-02 09:54:55 +10:00
mirkix
ba4db34c83 AP_Baro: Prevent busy waiting 2015-10-02 09:49:12 +10:00
raspilot
5dc18b9a54 HAL_Linux_Class: Fix the broken declare of "LinuxUtilRPI utilInstance" at building raspilot. 2015-10-02 09:47:18 +10:00
José Roberto de Souza
1a2b5ff677 AP_Compass: AK8963: Remove unused AP_HAL::Semaphore attributes 2015-10-01 10:42:51 -03:00
José Roberto de Souza
a9d34ac3bd AP_Compass: AK8963: Rename some SPI/I2C method parameters 
On read/write operations the argument is the register that will be read or
write not the address, SPI don't even have the concept of device address.
 2015-10-01 10:42:40 -03:00
Randy Mackay
3d7ec3704d Mount: add param descriptions to allow RC9 ~ RC12 inputs to be used to control gimbal 2015-09-29 16:41:51 +09:00
Lucas De Marchi
e938075581 AP_MotorsCoax: get rid of _motor_to_channel_map 2015-09-29 12:01:41 +09:00
Lucas De Marchi
ec4ebfde83 AP_MotorsSingle: get rid of _motor_to_channel_map 2015-09-29 12:01:28 +09:00
Lucas De Marchi
537599c01b AP_MotorsTri: get rid of _motor_to_channel_map 2015-09-29 12:01:14 +09:00
Lucas De Marchi
1572c9d4f4 AP_MotorsMatrix: get rid of _motor_to_channel_map 2015-09-29 12:00:56 +09:00
Lucas De Marchi
43268b9822 AP_MotorsHeli: get rid of _motor_to_channel_map 2015-09-29 12:00:18 +09:00
Lucas De Marchi
7ea141b774 AP_Motors_Multi: get rid of _motor_to_channel_map 2015-09-29 11:59:48 +09:00
Lucas De Marchi
d97d97dc54 AP_Motors: get rid of _motor_to_channel_map 
This was only used for supporting APM1. The removal was mostly automatic
with:

    sed -i 's/pgm_read_byte(&_motor_to_channel_map\[\([^]]*\)\])/\1/g' libraries/AP_Motors/*.cpp
    sed -i 's/_motor_to_channel_map\[\([^]]*\)\]/\1/g' libraries/AP_Motors/*.cpp

And then remove references to MOTOR_TO_CHANNEL_MAP and
_motor_to_channel_map and make sure the variable used in shifts is
unsigned
 2015-09-29 11:59:25 +09:00
Lucas De Marchi
139b88f544 AP_HAL_VRBRAIN: remove unused write method 2015-09-29 11:53:53 +09:00
Lucas De Marchi
7d9c75478f AP_HAL_SITL: remove unused write method 2015-09-29 11:53:51 +09:00
Lucas De Marchi
ce674f6926 AP_HAL_PX4: remove unused write method 2015-09-29 11:53:49 +09:00
Lucas De Marchi
191ec10554 AP_HAL_Linux: remove unused write method 2015-09-29 11:53:46 +09:00
Lucas De Marchi
9b4be3bf74 AP_HAL_FLYMAPLE: remove unused write method 2015-09-29 11:53:44 +09:00
Lucas De Marchi
302252d096 AP_HAL_Empty: remove unused write method 2015-09-29 11:53:42 +09:00
Lucas De Marchi
f1e53a9bdd AP_HAL_AVR: remove unused write method 2015-09-29 11:53:40 +09:00
Lucas De Marchi
666dc3e440 AP_HAL: RCOutput: remove unused write method 
This method is not used anymore since the introduction of channel map and
allowing motors to be enabled/disabled in AP_Motors.

Later we may introduce a method to write multiple values with a default
implementation that supports the channel and enable maps rather than
requiring all subclasses to implement this method.
 2015-09-29 11:53:38 +09:00
Lucas De Marchi
a5cc0be531 AP_HAL_FLYMAPLE: remove the only user of multiwrite 
This is the only place where this variant of RCOutput::write() is
called. Remove it so to use the common interface. It can be added back
later when there's support for asynchronous write.
 2015-09-29 11:53:36 +09:00
Andrew Tridgell
b9aad88d17 SITL: moved ignition to channel 6 2015-09-29 10:59:41 +10:00
Andrew Tridgell
232fc8a64d AP_AHRS: added send_ekf_status_report() 2015-09-29 10:58:54 +10:00
Lucas De Marchi
7ba6f92eb5 AP_Common: give some type safety to ARRAY_SIZE macro 
Now that most places in the code use the ARRAY_SIZE macro instead of
coding it by hand, let's use some type safety in its definition. This is
a C++ version of similar macros used in kmod, Linux kernel and the
source of them, ccan.

A C++ version like this is used in V8 (the JS engine) and other open
source projects.

The main benefit of this version is that you get a compile error if you
pass in a variable that's not an array. For example,

     Bla y[10];
     Bla *y_ptr = y;

     void foo(Bla x[])
     {
         // build error since x[] decay to a pointer in function
         // parameter
         for (int i = 0; i < ARRAY_SIZE(x); i++) {
             ...
         }

         // build error since y_ptr is not an array
	 for (int i = 0; i < ARRAY_SIZE(y_ptr); i++) {
             ...
	 }
     }

I added the additional specialization to allow arrays of size 0.
 2015-09-28 18:20:14 +10:00
stew@lovinggibbard.com
9ed6e6afa4 Copy paste errors and naming issues in documentation help. 2015-09-28 18:17:07 +10:00
Andrew Tridgell
e0810c2e54 AP_RSSI: fixed doc prefixes for RSSI variables 2015-09-25 22:00:22 +10:00
Paul Riseborough
53e58f1075 AP_NavEKF2: Update default parameters 
Updates from preliminary tuning in Replay
 2015-09-25 19:22:56 +10:00
Paul Riseborough
73686dfa89 DataFlash: fix error in NKF descriptor 2015-09-25 19:20:52 +10:00
Paul Riseborough
2fb72b6e6a AP_NavEKF2: Clean up loss of GPS logic 2015-09-25 19:20:52 +10:00
Paul Riseborough
df0eb9d9d7 AP_NavEKF2: Don't run GPS checks when not required 2015-09-25 19:20:52 +10:00
Paul Riseborough
1986af021f AP_NavEKF2: Remove un-used flight mode and duplicate variable 2015-09-25 19:20:52 +10:00
Paul Riseborough
7230472516 AP_NavEKF2: Adjust parameter defaults 2015-09-25 19:20:52 +10:00
Paul Riseborough
8bcedb228b AP_NavEKF2: Bring pre-flight GPS checks up to date with EKF1 2015-09-25 19:20:52 +10:00
Andrew Tridgell
f22a1d3e6d AP_Motors: display message in heli parameter_check() 2015-09-25 12:30:34 +10:00
Andrew Tridgell
9da2b2b430 AP_Motors: added H_GYR_GAIN_ACRO 2015-09-25 12:30:33 +10:00
Andrew Tridgell
ac363c5447 AP_RPM: added RPM_MAX parameter 
attempt to avoid noise in the pulses
 2015-09-25 12:05:43 +10:00
Andrew Tridgell
e3f7b002c2 AC_AttitudeControl: use non-flybar leaky I handling 
The standard leaky-I handling works fine on a flybar, so better not to
have a special case that isn't needed
 2015-09-25 12:05:43 +10:00
Randy Mackay
9f59b6f7b5 AP_AHRS: getLastYawResetAngle returns reset time 2015-09-24 16:57:41 +09:00
Randy Mackay
015f700bc0 AP_NavEKF2: getLastYawResetAngle returns last reset time 2015-09-24 16:57:38 +09:00
Randy Mackay
b5c49e0792 AP_NavEKF: minor comment fix 
No functional change
 2015-09-24 16:57:36 +09:00
Jonathan Challinger
51fb13a329 AP_NavEKF: fix getLastYawResetAngle to return yaw reset system time 2015-09-24 16:57:33 +09:00
Andrew Tridgell
06c0ad987e AP_AHRS: fixed divide by zero in SITL 
fixes issue#2875
 2015-09-24 16:49:22 +10:00
Lucas De Marchi
fc2a1d27b4 AP_HAL_Linux: fix build for raspilot after Util change 
Make sure raspilot also builds after making the Util class common for
RPI-based boards.
 2015-09-24 15:31:32 +10:00
Lucas De Marchi
55e1d60b54 AP_HAL_Linux: Use from() method for downcast in Util class 2015-09-24 15:31:32 +10:00
Michael du Breuil
cf6e6b7e82 DataFlash: Remove stale UBX3 message 2015-09-23 20:42:42 -07:00
Michael du Breuil
75c0644b9a AP_GPS: Use state.instance instead of trying to track instance numbers inside of the ublox driver 2015-09-23 20:42:42 -07:00
Andy Piper
5adb6d2b89 AP_GPS: Support UBX messages for dual UBLOX GPS setups. 
Add extra DOP information to UBX precision messages.
 2015-09-23 20:41:50 -07:00
mirkix
eee9522ca5 AP_Compass: Add MPU9250 multiple instance support 2015-09-24 13:11:38 +10:00
mirkix
840f583d23 AP_InertialSensor: Add MPU9250 multiple instance support 2015-09-24 13:11:38 +10:00
dgrat
15b3717d89 AP_HAL_Linux: Move RPi version check to util class 
- Moved the version check functions to util.
 - Removed a redundant version check.
 - Removed redundant version check functions from RCInput.
 2015-09-24 13:04:18 +10:00
dgrat
2590db378a AP_HAL_Linux: remove extra spaces in RCInput_Navio 2015-09-24 13:04:18 +10:00
dgrat
e96a1bae8a AP_HAL_Linux: cleanup pointer casts in RCInput_Navio 
Although RPi is 32 bits, use uintptr_t and friends for casts.
 2015-09-24 13:04:18 +10:00
Paul Riseborough
80e182f827 AP_NavEKF2: Update EKF2 data logging 2015-09-24 12:58:44 +10:00
Paul Riseborough
86ad1e6e66 DataFlash: Update EKF2 data logging 2015-09-24 12:58:44 +10:00
Paul Riseborough
f77bdd90fc AP_AHRS: Update EKF2 data logging 2015-09-24 12:58:44 +10:00
Paul Riseborough
4acd6c129a AP_NavEKF2: Update parameters 2015-09-24 12:58:43 +10:00
Paul Riseborough
9c5e48e7e9 AP_NavEKF2: Remove unused variables and improve variable names 2015-09-24 12:58:43 +10:00
Paul Riseborough
4a7714e15d AP_NavEKF2: Remove unused parameters and improve naming consistency 2015-09-24 12:58:43 +10:00
Paul Riseborough
8afb26087d AP_NavEKF2: Remove unused function 2015-09-24 12:58:43 +10:00
Paul Riseborough
02408861a1 AP_NavEKF: Remove unused function 2015-09-24 12:58:43 +10:00
Andrew Tridgell
fe76662faf AP_NavEKF2: added set_enable() API 2015-09-23 18:55:12 +10:00
Andrew Tridgell
ba8e63d8e7 DataFlash: handle unitialised EKF2 in logging 2015-09-23 18:54:46 +10:00
Andrew Tridgell
dde8330077 AP_AHRS: rename using_EKF to active_EKF_type() 
thanks to Randy for the suggestion
 2015-09-23 17:53:44 +10:00
Paul Riseborough
f270573acc AP_NavEKF2: Use library functions for quaternion corrections 2015-09-23 17:48:48 +10:00
Andrew Tridgell
f9348887c5 AP_AHRS: added getLastYawResetAngle() and resetHeightDatum() 2015-09-23 17:46:51 +10:00
Andrew Tridgell
0677c2c80c AP_AHRS: run astyle for formatting 2015-09-23 17:31:00 +10:00
Andrew Tridgell
cbc62238a9 AP_NavEKF2: run astyle for reformatting 2015-09-23 17:29:28 +10:00
Andrew Tridgell
7a3b59652f GCS_MAVLink: show EKF2 status via AHRS3 message 2015-09-23 12:22:54 +10:00
Andrew Tridgell
ce9fa45b3a DataFlash: added logging of EKF2 2015-09-23 12:09:48 +10:00
Andrew Tridgell
13f72e5ba9 AP_AHRS: expose EKF2 for logging 2015-09-23 12:09:36 +10:00
Andrew Tridgell
760dafbb9d AP_NavEKF2: added enabled() function 2015-09-23 12:09:26 +10:00