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5295 Commits

Author SHA1 Message Date
Andrew Tridgell
871d0c0e44 APM_Control: moved the log structure to ArduPlane core 
this allows it to work with old style .log files
 2014-04-30 21:22:28 +10:00
Andrew Tridgell
4f250579db DataFlash: added LOG_ATRP_MSG define 2014-04-30 21:22:28 +10:00
priseborough
114bd56e2a AP_NavEKF: Fix display names in parameter list 2014-04-30 06:35:41 +10:00
Randy Mackay
5cc26569fc AP_Motors: fix example sketch 2014-04-29 20:46:34 +09:00
priseborough
5fefce5899 AP_NavEKF: Synthetic sideslip fusion numerical error protections 2014-04-29 17:26:45 +10:00
Jonathan Challinger
0bb7b8e938 AP_GPS: Fix bug that causes permanent lag if we miss a message 2014-04-29 15:35:46 +10:00
Randy Mackay
2be99d7a92 TriCopter: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:16 +09:00
Randy Mackay
07766e55f9 SingleCopter: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:14 +09:00
Randy Mackay
3610cfe24c TradHeli: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:13 +09:00
Randy Mackay
8f74f5b3b0 CoaxCopter: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:12 +09:00
Randy Mackay
d63d82ec17 MotorMatrix: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:10 +09:00
Vizual54
11d02ea5d2 AP_Motors: output_test for individual motors 
Modified and integrated by Randy Mackay
 2014-04-29 11:36:58 +09:00
Randy Mackay
6517638670 GCS_MAVLink: generate after adding DO_MOTOR_TEST 2014-04-29 11:23:07 +09:00
Randy Mackay
28846c6c99 GCS_MAVLink: add DO_MOTOR_TEST message 2014-04-29 11:23:04 +09:00
Andrew Tridgell
818e500509 AP_Mission: improve the AP_Mission docs 
DisplayName isn't a description
 2014-04-29 11:46:06 +10:00
Andrew Chapman
782fbe1ec5 AP_Mission: added reset() function 2014-04-29 11:46:06 +10:00
Andrew Chapman
a80e72ff82 AP_Mission: added MIS_AUTORESTART parameter 
- added MIS_AUTORESTART parameter, defaults to 0
- added start_or_resume() function to either start or resume a mission
based on that parameter value
 2014-04-29 11:46:06 +10:00
Andrew Tridgell
cf9b67d8fc GCS_MAVLink: prevent uninitialised bytes being written to a serial port 2014-04-27 15:34:30 +10:00
Randy Mackay
e855cfec02 AC_Fence: add 10sec manual recovery 
This resolves issue #461 by giving the pilot a minimum of 10 seconds to
attempt to manually recover before the autopilot will attempt to retake
control to bring the copter home or land.
 2014-04-27 11:11:07 +09:00
Randy Mackay
db51d37071 AC_WPNav: add clear_pilot_desired_acceleration 
This allows quickly clearing out the pilot desired acceleration for
loiter contoller.
 2014-04-25 14:45:14 +09:00
Randy Mackay
06bef6e3b8 Parachute: clear release time when enabled 
This resolves an issue in which the parachute could be suddenly released
when the user enabled the parachute.  The sequence that could have
caused this bad behaviour were (1) the parachute is triggered (2) the
user disables the parachute in the 0.5sec between the trigger and the
actual release, (3) the user re-enables the parachute and the old
release time from (1) is used.
 2014-04-24 19:22:11 +09:00
Randy Mackay
ad99918fee AC_WPNav: recalc leash lengths if set_horizontal_velocity is called 
Resolves bug in which do-set-speed allowed reducing the speed during the
mission but not increasing it.
Slow down distance is also recalculated.
Unnecessary call to calc_wp_leash_length removed from
set_spline_origin_and_destination.
 2014-04-24 13:16:08 +09:00
Randy Mackay
46fba47c8e AC_WPNav: slow target point's speed near destination 2014-04-24 13:16:00 +09:00
priseborough
ecc8e45eda AP_NavEKF: Fix bug in position reset logic 2014-04-23 18:16:02 +10:00
Andrew Tridgell
b0fd94f18e AP_GPS: initialise a variable in uBlox driver 2014-04-23 18:15:53 +10:00
Randy Mackay
7c02a02bd8 AC_WPNav: reset_I flag moved to position controller 2014-04-23 15:00:14 +09:00
Randy Mackay
098f8169b0 AC_PosControl: add keep_xy_I_terms method 
Stops horizontal PID's I terms from being reset when the controller is
next updated
 2014-04-23 15:00:12 +09:00
Randy Mackay
4d5b73b968 AC_WPNav: add reset_I to set_loiter_target 2014-04-23 15:00:07 +09:00
Ju1ien
6c71569775 AC_PosControl: update_xy_controller allows not resetting I term 2014-04-23 14:59:49 +09:00
Ju1ien
5d0476e522 AC_WPNav: add reset_I to init_loiter_target 2014-04-23 14:59:47 +09:00
Randy Mackay
09a35cf90f AC_PosControl: bugfix for freezing I-term build-up 2014-04-23 11:33:53 +09:00
Randy Mackay
559a258ede AC_WPNav: bug fix to limit target point from moving beyond leash 
Also pull Z-axis acceleration from position controller instead of using
#define
 2014-04-22 23:05:11 +09:00
Randy Mackay
9c6995d8bb AC_PosControl: add get_accel_z method 2014-04-22 23:05:08 +09:00
Randy Mackay
e565ee6d33 AC_PosControl: stop I term build-up when motors at max 2014-04-22 23:05:06 +09:00
Andrew Tridgell
e10542dcae AP_Mission: added get_current_nav_index() function 
this will return 0 when there is no current command, which is what is
expected in MAVLink when there is no mission

(it prevents the text to speech announcing "65 thousand 6 hundred and
thirty five", which is quite annoying!)
 2014-04-22 11:40:18 +10:00
Michael Day
96173bfb8a AP_Rally: Added one getter method and made a utility method public. 2014-04-22 11:40:18 +10:00
Randy Mackay
0e065e4894 AP_InertialNav: get_velocity_xy const 2014-04-21 21:59:38 +09:00
Randy Mackay
6f6c9e2585 AC_PosControl: bug fix to vertical speed limit 
Vehicle was not reaching target climb or descent rate because of
incorrectly defaulted acceleration
 2014-04-21 21:36:02 +09:00
Andrew Tridgell
25667a11a0 AP_NavEKF: use AHRS vehicle class for sideslip calculation 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-21 18:13:12 +10:00
Andrew Tridgell
5acd17b843 AP_NavEKF: cleanup some build warnings 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-21 18:13:12 +10:00
Andrew Tridgell
c8c6e05a4a AP_AHRS: added vehicle class to AHRS 
used by EKF to control use of get_fly_forward()
 2014-04-21 18:13:12 +10:00
priseborough
bd28cdbdcf AP_NavEKF: Improved magnetometer consistency checks 
A magnetometer axis that fails the innovation consistency check will cause
all axes not to be used. If this condition continues for 10 seconds, a
magnetometer timeout condition will be declared. When the timeout has
occurred, if it is not a fly forward vehicle, then individual channels
will be used again, but with a reduced weighting.
 2014-04-21 16:31:31 +10:00
Randy Mackay
648787a6c8 AC_WPNav: rename some definitions 2014-04-21 15:06:29 +09:00
Randy Mackay
2167dd7d3e AC_WPNav: update target speed immediately 2014-04-21 14:51:26 +09:00
Andrew Tridgell
05bffb5915 HAL_SITL: enable use of SIM_FLOAT_EXCEPT parameter 2014-04-21 15:37:08 +10:00
Andrew Tridgell
e0db7b117f SITL: added SIM_FLOAT_EXCEPT parameter 
this enables checking for floating point exceptions
 2014-04-21 15:37:08 +10:00
Andrew Tridgell
610a930612 AP_NavEKF: catch covarience errors and reset filter 
this catches covariance values beyond a reasonable limit and resets
the filter is they happen
 2014-04-21 15:37:08 +10:00
Andrew Tridgell
7e5a491f14 AP_Math: prevent a floating point exception 2014-04-21 15:37:08 +10:00
Andrew Tridgell
4d24a86088 AP_AHRS: prevent a infinity value 2014-04-21 15:37:07 +10:00
Randy Mackay
d382fa51ee AC_WPNav: run loiter and wp nav at 50hz on Pixhawk 2014-04-21 13:32:02 +09:00
Randy Mackay
72d2712c4e AC_WPNav: integrate update_xy_controller name change 2014-04-21 13:31:58 +09:00
Randy Mackay
966340a02a Circle: integrate update_xy_controller name change 2014-04-21 13:31:57 +09:00
Randy Mackay
7e376bc517 PosControl: update_pos_controller renamed to update_xy_controller 2014-04-21 13:31:55 +09:00
Andrew Tridgell
4756dbee84 AP_NavEKF: fixed millisecond subtraction for rollover 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-21 13:16:20 +10:00
Andrew Tridgell
be9d0c1c4d APM_OBC: setup termination values in PX4IO 
this sets up the PX4IO board with failsafe values in case the FMU is
not running
 2014-04-21 11:52:53 +10:00
Andrew Tridgell
0d4985079e RC_Channel: added support for LimitValue settings 
this allows you to set a channel failsafe or radio_out to a limit
value
 2014-04-21 11:52:41 +10:00
Andrew Tridgell
7f4178d967 RC_Channel: added setup_failsafe_trim_all() function 
sets all channels to output trim values on FMU failure
 2014-04-21 08:37:24 +10:00
Andrew Tridgell
5cd145a307 AP_HAL: added set_failsafe_pwm() API 
this allows the PWM values for FMU firmware failure to be setup
 2014-04-21 08:36:52 +10:00
Andrew Tridgell
7f9a9107c7 APM_Control: logging_started needs to be static 
prevents writing log headers twice
 2014-04-21 07:13:06 +10:00
Andrew Tridgell
68f1ae3036 AP_NavEKF: fixed some matlab ! -> ~ typos 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-20 21:44:37 +10:00
Andrew Tridgell
5a7afbf2cd AP_GPS: prevent writing GPS log headings multiple times 2014-04-20 21:44:14 +10:00
Randy Mackay
e3ffd5c0dd Common: remove RallyLocation defintion 2014-04-19 15:00:28 +09:00
Randy Mackay
7011ab40c2 Rally: define RALLY_WP_SIZE and RallyLocation 2014-04-19 15:00:25 +09:00
Michael Day
a2aab2ab5e AP_Rally: Minor fixes to AP_Rally after initial testing 
- If a Rally point is being used, always respect the altitude set by the
user (don't take the max of that and the home point altitude).

- No need for constructor to pass in size of RallyLocation struct
 2014-04-19 09:16:02 +10:00
Andrew Chapman
5825bac410 AP_Rally library 2014-04-19 09:15:59 +10:00
Randy Mackay
5322093475 Mission: fix example sketch after GPS lib changes 2014-04-17 16:41:38 +09:00
Andrew Tridgell
b4c5f31b17 APM_Control: reduce the number of parameter saves in autotune 
don't save a parameter unless it has changed by 0.1%
 2014-04-17 17:20:40 +10:00
Paul Riseborough
ccc7d36493 APM_Control: Modify D and I gain scaling 2014-04-17 17:11:48 +10:00
Randy Mackay
94d38ee294 AC_Circle: add get_closest_point_on_circle 
init_start_angle method added to use current heading or position to
decide on initial start angle
 2014-04-16 16:28:04 +09:00
Kevin Hester
c2184cb8e4 PID: fixup line endings 2014-04-15 15:57:56 +09:00
Kevin Hester
72e97cbf5c AP_Param: fixup line endings 2014-04-15 15:57:47 +09:00
Kevin Hester
a7820e6c71 OptFlow: fixup line endings 2014-04-15 15:57:33 +09:00
Kevin Hester
fce1277b0e Notify: fixup line endings 2014-04-15 15:57:11 +09:00
Kevin Hester
b7bed437c2 Compass: fixup line endings 2014-04-15 15:56:57 +09:00
Kevin Hester
80cb13e222 BattMon: fixup line endings 2014-04-15 15:56:43 +09:00
Kevin Hester
d09e871319 AP_Airspeed: fixup line endings 2014-04-15 15:56:26 +09:00
Kevin Hester
c34c4d79f6 AP_ADC: fixup line endings 2014-04-15 15:56:13 +09:00
Kevin Hester
b7410494e3 AC_PID: fixup line endings 2014-04-15 15:55:59 +09:00
L. Preston Sego III
3ecdc4b741 Copter: Add support for V-Tail Quads 2014-04-14 14:54:02 +09:00
Randy Mackay
02775e8dc5 AC_PosControl: get_accel_target returns const ref 2014-04-14 11:34:14 +09:00
Randy Mackay
60f522a094 AC_WPNav: set_wp_destination to use current target 
Previously we used the projected stopping point if the vehicle had not
reached the destination but this could lead to large jumps in target
position
 2014-04-13 22:42:50 +09:00
Andrew Tridgell
ae7293ef68 APM_Control: added support for AUTOTUNE_LEVEL 
10 levels of tune, for what type of tune the user wants
 2014-04-13 22:11:57 +10:00
Andrew Tridgell
86f167fc7f AP_Vehicle: added autotune_level to fixed wing parms 2014-04-13 22:11:28 +10:00
Andrew Tridgell
b7350118a6 AP_AHRS: enable EKF wind estimate with no airspeed sensor 
EKF can now estimate with IMU and GPS only

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-13 19:42:49 +10:00
Andrew Tridgell
4abc2999a6 AP_NavEKF: start with a wind estimate of 3m/s, when no direct measurement 
this will cope better with users with low roll/pitch gains, to ensure
they get enough control on takeoff

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-13 19:42:23 +10:00
priseborough
d745dc2b6f AP_NavEKF : Increased position gate default to reduce impact of accel errors 
Flight testing with windup turns has shown that the position gate threshold
can be tripped with good GPS data causing position jerks. This increases the
initial GPS glitch rejection threshold to effectively 5m when using the
default POSNE_NOISE value of 0.5m.
 2014-04-13 19:37:22 +10:00
priseborough
188bea6bab AP_NavEKF : Enable calc of wind velocity when not using airspeed sensing 
This patch also cleans up the logic associated with use of the synthetic
sideslip measurement so that it can never be used for a non fly-forward
vehicle type

This patch adds functionality that initialises the wind-speed vector to the
reciprocal of the ground speed vector, and scaled to 6 m/s. On average this gives
a better initial wind velocity estimate on launch by assuming:

a) launch will be into wind
b) wind speed is equal to global average

It also helps prevent a headwind causing initial underestimation of airspeed
causing high autopilot gains and limit cycles on climb-out, until first
turn when the EKF is able to estimate the wind.
 2014-04-13 19:37:19 +10:00
Andrew Tridgell
df192a9efd AP_AutoTune: lower min tau to 0.2 2014-04-13 19:25:54 +10:00
Andrew Tridgell
3343af602e APM_Control: fixed saving of new rate gains 2014-04-13 15:35:52 +10:00
Andrew Tridgell
b9a8ef3b51 APM_Control: fixed a bug in autotune servo saturation check 
its in degrees not centi-degrees
 2014-04-13 15:28:36 +10:00
Andrew Tridgell
64170d0f04 APM_Control: added dataflash logging to autotune 2014-04-12 18:21:50 +10:00
Andrew Tridgell
7f5eeabadc DataFlash: reserve a range of msg types for autotuning logs 2014-04-12 18:21:31 +10:00
Andrew Tridgell
50fc75917e APM_Control: first version of APM_Control autotuning 
this adds autotune to the roll/pitch controllers using a very simple
mechanism. The plan is that this provides a framework which Paul and
Jon will build upon.
 2014-04-12 14:11:33 +10:00
Andrew Tridgell
3b8839d2f7 AP_GPS: fixed num_sensors on APM2 2014-04-11 21:32:55 +10:00
Andrew Tridgell
7404fc9d40 SITL: added SIM_BARO_DISABLE parameter 
useful for testing baro failure
 2014-04-11 16:47:40 +10:00
Andrew Tridgell
ad18019fb1 APM_OBC: added pressure altitude termination 2014-04-11 16:47:40 +10:00
Andrew Tridgell
41dd280739 AP_Baro: expose get_altitude_difference() 
this is useful for pressure altitude calculations
 2014-04-11 16:34:02 +10:00
Andrew Tridgell
8b9b4026f0 SITL: support -P option 
this allows changing a parameter on initial startup
 2014-04-11 12:28:32 +10:00
Michael Day
312a2fc8dc AP_TECS: Parameter TECS_LAND_SPDWGT allows custom landing speed weight. 2014-04-10 15:42:49 +10:00
Andrew Tridgell
95304e27c9 DataFlash: added separate logging of each GPS 2014-04-10 10:29:30 +10:00
Andrew Tridgell
a821b0e198 AP_GPS: fixed a build warning 
Debug() should not be exposed in public headers
 2014-04-10 10:28:55 +10:00
Andrew Tridgell
27a3b5fb36 AP_AHRS: fixed wind reporting with EKF and no airspeed sensor 
the EKF does not estimate wind without an airspeed sensor
 2014-04-10 06:49:23 +10:00
Randy Mackay
b78e59ea30 AP_Motors: add stability patch test to example sketch 2014-04-09 21:21:29 +09:00
Andrew Tridgell
a15e4633b7 SITL: prevent wind effects at negative altitudes 
this prevents crashes on takeoff with barometer noise
 2014-04-09 15:28:14 +10:00
Andrew Tridgell
1ca6583df8 AP_BoardConfig: restore /dev/vroutput change from Emile 
my mistake, sorry Emile!
 2014-04-08 21:05:41 +10:00
Emile Castelnuovo
79996986ad VRBRAIN: corrected ADC pins for volt and current sensing. 2014-04-08 16:19:20 +10:00
Emile Castelnuovo
7fe4847b6c VRBRAIN: Added NuttX driver vroutput for PWM out 
Modified script rc.APM to launch modules vrinput and vroutput
Modified startup scripts to run APM without SD
 2014-04-08 16:19:20 +10:00
Emile Castelnuovo
d1e4fbf267 AP_EPM: added #defines for VRBRAIN board 2014-04-08 16:19:20 +10:00
Emile Castelnuovo
e8b9e9d53c AP_Airspeed: added #defines for VRBRAIN board 2014-04-08 16:19:20 +10:00
Emile Castelnuovo
69d2633465 AP_Relay: added #defines for VRBRAIN board 2014-04-08 16:19:19 +10:00
Emile Castelnuovo
25f1c5774f AP_NavEKF: added #defines for VRBRAIN board 2014-04-08 16:19:19 +10:00
Emile Castelnuovo
39d9e93904 AP_BoardConfig: added #defines for VRBRAIN board 2014-04-08 16:19:19 +10:00
Emile Castelnuovo
1d27e0d127 AP_BattMonitor: added #defines for VRBRAIN board 2014-04-08 16:19:19 +10:00
Emile Castelnuovo
ab9a320187 DataFlash: added #ifdefs for VRBRAIN board 2014-04-08 16:19:19 +10:00
Emile Castelnuovo
06744ea7d2 AP_InertialSensor: new files and definitions for VRBRAIN board 2014-04-08 16:19:19 +10:00
Emile Castelnuovo
4ad83f3c8a AP_Notify: new files and definitions for VRBRAIN board 2014-04-08 16:19:19 +10:00
Emile Castelnuovo
1bc199c5bd AP_Compass: new files and definition for VRBRAIN board 2014-04-08 16:19:19 +10:00
Emile Castelnuovo
7b5c002d2f AP_Common: new board ID for VRBRAIN 2014-04-08 16:19:19 +10:00
Emile Castelnuovo
f4784fe6a1 AP_Baro: new files for VRBRAIN board 2014-04-08 16:19:19 +10:00
Emile Castelnuovo
201332caef AP_HAL: New VRBRAIN board definition and libraries 2014-04-08 16:19:19 +10:00
priseborough
db043744a4 AP_NavEKF : Reduce Z accel bias process noise to provide a more stable estimate 2014-04-07 21:08:25 +10:00
priseborough
1f8b5a6d23 AP_NavEKF : Tighten GPS velocity glitch gate default setting for plane 2014-04-07 21:08:15 +10:00
priseborough
0c2489b07b AP_NavEKF : Fix bug in logging of airspeed innovation consistency ratio 2014-04-07 21:01:00 +10:00
priseborough
95c83255d7 AP_NavEKF : adjust default values for accelerometer process noise 
Slows down estimate and allows for smaller values to be set
 2014-04-07 21:00:43 +10:00
Jonathan Challinger
9959a44453 AP_Motors: properly constrain thr_adj_max 2014-04-07 14:14:32 +09:00
Randy Mackay
3600bed47a Parachute: relay parameter description update 2014-04-07 13:37:14 +09:00
Randy Mackay
879d447404 Parachute: alt_min units to meters 2014-04-07 13:37:11 +09:00
Randy Mackay
50df95316a Parachute: initialise released variable 2014-04-07 13:37:09 +09:00
Randy Mackay
5876a2fe47 AC_AttControl: increase default rp accel to 900deg/s/s 2014-04-07 13:37:08 +09:00
Randy Mackay
95579229ed Parachute: add 0.5sec delay before parachute is released 
This allows a short warning to the user through the new parachute_release tone
 2014-04-07 13:37:05 +09:00
Randy Mackay
103772abe2 Parachute: add AP_Notify.h to example sketch 2014-04-07 13:37:04 +09:00
Randy Mackay
a639df0256 Parachute: set AP_Notify parachute_release flag 2014-04-07 13:37:02 +09:00
Randy Mackay
e3e7fc284d Notify: add parachute release tune for Pixhawk 2014-04-07 13:37:01 +09:00
Randy Mackay
699b84e8ca Parachute: minor comment changes 2014-04-07 13:36:58 +09:00
Randy Mackay
d8f9a1c6c6 Mission: add support for MAV_CMD_DO_PARACHUTE 2014-04-07 13:36:55 +09:00
Randy Mackay
a682f652d0 GCS_MAVLink: generate after MAV_CMD_DO_PARACHUTE added 2014-04-07 13:36:53 +09:00
Randy Mackay
cec7574465 GCS_MAVLink: add MAV_CMD_DO_PARACHUTE 2014-04-07 13:36:52 +09:00
Randy Mackay
b478c3a321 AC_AttControl: return angle_ef_targets as const ref 2014-04-07 13:36:49 +09:00
Randy Mackay
d4cb51d8f7 AP_Parachute: add example sketch 
Only tests that the lib compiles
 2014-04-07 13:36:37 +09:00
Randy Mackay
8600b9d4f1 RC_Channel: add parachute_release to function enum 2014-04-07 13:36:33 +09:00
Randy Mackay
9d807802cc Parachute: initial draft library 2014-04-07 13:36:25 +09:00
Andrew Tridgell
efdb678e00 AP_Motors: fixed example build 2014-04-07 11:55:56 +10:00
Andrew Tridgell
f4cbec0ce1 APM_OBC: removed unused example code 2014-04-07 11:55:46 +10:00
Andrew Tridgell
cc212be41e AP_Mission: added get_next_ground_course_cd() API 
this gives the ground course of the next navigation leg, which can be
used to calculate the amount of steering required
 2014-04-07 09:29:54 +10:00
Andrew Tridgell
e566802bf3 AP_Math: fixed example build 2014-04-07 07:37:34 +10:00
Andrew Tridgell
6f55dc1686 APM_OBC: update for AP_Mission and AP_GPS changes 2014-04-07 07:28:21 +10:00
Andrew Tridgell
43ebd86bb1 AP_GPS: disable SBP driver on APM2 
the driver uses double precision floating point, which can't work on
8bit AVR with gcc
 2014-04-05 21:47:46 +11:00
Andrew Tridgell
5a585b90e8 AP_GPS: fixed some warnings in SBP driver 2014-04-05 14:18:01 +11:00
Niels Joubert
33576dfdd9 AP_GPS: Swift Binary Protocol SINGLE-POINT-POSITIONING Driver 
This is the SBP driver for Piksi, Lodestar and other forthcoming Swift Navigation GPSes.
This driver currently implements three things:
- Implements a lightweight SBP protocol detection system
- Implements Piksi as a single-point-positioning GPS (same as ublox/others)
- Implements hardware logging of GPS health and baseline messages

Forthcoming iin future updates:
- Need to implement the RTK functionality
 2014-04-05 13:42:23 +11:00
Niels Joubert
e32b73f075 AP_HAL_AVR_SITL: Adding Swift Binary Protocol stand-alone simulator 2014-04-05 13:42:23 +11:00