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8801 Commits

Author SHA1 Message Date
bugobliterator
7711dde2ad Compass: implement 9 parameter ellipsoid fit 2015-09-03 16:59:10 +10:00
bugobliterator
35555c7b21 Compass: Add math for 9 parameter fitting 2015-09-03 16:59:10 +10:00
bugobliterator
7295537e8a Compass: decrease sphere coverage to 1/3rd 
for faster sample collection
 2015-09-03 16:59:10 +10:00
bugobliterator
a2bd4e8997 Compass: Add less complex equations to calculate jacobians 2015-09-03 16:59:10 +10:00
bugobliterator
2ca0e80dc5 Compass: Add conditions to check sanity of results 2015-09-03 16:59:10 +10:00
bugobliterator
54bc28c96d Compass: Add Levenberg-Marquadt optimiser for sphere_fit 
increase iterations to get good results from LM
better check for convergence, comparison with initial fitness is a better way to determine if convergence occurs, if fitness has not improved compared to initial fitness it means optimiser has failed.
 2015-09-03 16:59:10 +10:00
Jonathan Challinger
c0a662c819 AP_Compass: CompassCalibrator initial commit 2015-09-03 16:59:10 +10:00
Jonathan Challinger
f20ef69777 Compass: add soft-iron corrections 2015-09-03 16:59:09 +10:00
Jonathan Challinger
5fe6db0dc9 AP_Compass_PX4: use new compass backend interface 2015-09-03 16:59:09 +10:00
Jonathan Challinger
ade39abc7f AP_Compass_HMC5843: use new compass backend interface 2015-09-03 16:59:09 +10:00
Jonathan Challinger
8800d03fce AP_Compass_HIL: use new compass backend interface 2015-09-03 16:59:09 +10:00
Jonathan Challinger
cd5cf45ba8 AP_Compass_AK8963: use new compass backend interface 2015-09-03 16:59:09 +10:00
Jonathan Challinger
add1b8c257 AP_Compass: modify backend interface to push raw samples to frontend 2015-09-03 16:59:09 +10:00
Jonathan Challinger
b990eaed68 AP_Compass: add interface for raw and unfiltered field 2015-09-03 16:59:09 +10:00
Jonathan Challinger
b2fff2021f GCS_MAVLink: re-generate libraries 2015-09-03 16:59:09 +10:00
Jonathan Challinger
1b485ef6ab GCS_MAVLink: add MAG_CAL messages 2015-09-03 16:59:09 +10:00
Peter Barker
2b02911546 DataFlash: make mode and messages critical 2015-09-03 15:20:20 +10:00
Peter Barker
8f8493225c DataFlash: DFMessageWriter; ability to trickle messages out to DF 2015-09-03 09:54:55 +10:00
Grant Morphett
ab35ac41a5 AP_Param: Add parameter to print out all the keys/indexes 
For some debugging I was working on I needed to see all the token
indexs and group elements.
 2015-09-02 11:12:31 +10:00
mirkix
f6f2e901b8 AP_Notify: Disable ToneAlarm for BBBMINI 2015-09-02 11:10:59 +10:00
Andrew Tridgell
2ce0f4c171 AC_Precland: fixed build under cygwin 
the IRLock driver only builds on PX4 at the moment
 2015-09-02 10:10:04 +10:00
Andrew Tridgell
dff235dc36 AP_RangeFinder: support LightWare I2C laser rangefinders 
this has been tested with the SF10/C
 2015-09-01 21:09:12 +10:00
Gustavo Jose de Sousa
bcd5dff774 AP_Baro: MS56XX: do not change change state on error 
If we have an error in the SPI or I2C transaction we should not change
the state. Otherwise we might read a temperature when the sensor is
reporting pressure and vice-versa.
 2015-09-01 20:26:06 +10:00
Gustavo Jose de Sousa
1f29e18375 AP_Baro: make AP_SerialBus::write() return success or failure for MS56XX 2015-09-01 20:26:05 +10:00
Gustavo Jose de Sousa
458f587656 AP_HAL_FLYMAPLE: SPI: adapt to the new signature of transaction() 
A default behaviour was added here.
 2015-09-01 20:26:05 +10:00
Gustavo Jose de Sousa
4e27d19107 AP_HAL_Empty: SPI: adapt to the new signature of transaction() 
A default behaviour was added here.
 2015-09-01 20:26:05 +10:00
Gustavo Jose de Sousa
93f5abb274 AP_HAL_AVR: SPI: adapt to the new signature of transaction() 
A default behaviour was added here.
 2015-09-01 20:26:05 +10:00
Gustavo Jose de Sousa
4af2a9a9cc AP_HAL_Linux: SPI: adapt to the new signature of transaction() 2015-09-01 20:26:05 +10:00
Gustavo Jose de Sousa
e05928a7e8 AP_HAL: make SPIDeviceDriver::transaction() return success or failure 2015-09-01 20:26:05 +10:00
Gustavo Jose de Sousa
53b5b70960 AP_Scheduler: use also task name besides the id for logging 
This makes it easier to identify for which task a log line is.
 2015-09-01 20:22:19 +10:00
Gustavo Jose de Sousa
b59154103f AP_Scheduler: use function name for AP_Scheduler task name 
That makes it easier to identify tasks when debug is enabled in AP_Scheduler.
 2015-09-01 20:22:19 +10:00
Gustavo Jose de Sousa
8fe466ce27 AP_Scheduler: add initializer for task field "name" 
We use define it as an empty macro if on AVR board.
 2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa
8018748fe2 AP_Scheduler: add field "name" to task structure for logging purposes 
That field will be useful for logging as it is easier to know what task a log
is related to by using the task's name rather than using the number.
 2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa
2e6074c108 AP_Scheduler: use designated initializers for tasks structs 
Makes code less prone to break build and semantics (e.g., when a new field is
added).
 2015-09-01 20:22:18 +10:00
Andrew Tridgell
a3d7156f28 SITL: raise default simulation rate to 1200Hz 
this greatly improves things for the heli sim
 2015-09-01 16:34:20 +10:00
Randy Mackay
6701d53d49 GPS: add GNSS_MODE parameter bitmask 2015-09-01 12:19:59 +09:00
Randy Mackay
2351e84592 IRLock: replace tabs with spaces 
No functional change
 2015-08-31 18:00:33 +09:00
Randy Mackay
bf08fc317c AC_PrecLand: correct include paths 2015-08-31 18:00:26 +09:00
Randy Mackay
c06593f987 AC_PrecLand: precision landing lib for IR-Lock and companion computer 2015-08-31 18:00:25 +09:00
Randy Mackay
7706102d1e AC_WPNav: add shift_loiter_target method 
Shift the loiter target and freeze the feedforward if necessary
 2015-08-31 18:00:24 +09:00
Randy Mackay
6f3ff0866f IRLock: adjust to px4 lib calculating bf angles 2015-08-31 18:00:20 +09:00
Randy Mackay
04c682542c IRLock: correct include paths 2015-08-31 18:00:14 +09:00
bstone04
cf8ce867e6 IRLock: many changes to integrate with PrecLand library 
irlock_center_x_pos calculates the lateral x position of the marker in cm. relative to the quad
irlock_x_pos_to_latlon rotates the frame based x position to latitude/longtitude based coordinates
same case for the y position
add get_angle_to_target method
get_angle_to_target replaces pixel to position calculations
Also removed ahrs reference (now in AC_PrecLand lib), unused references
to orb and commented out parameter declaration
reduce max objects to 5
remove ahrs reference
add timeout
return true if new sample found
bug fix get_angle_to_target
remove unused get_frame
 2015-08-31 17:57:57 +09:00
Michael Landes
59928ed677 IRLock: Initial implementation 
Define the IRLock sensor object using PX4 level driver
 2015-08-31 17:57:56 +09:00
Grant Morphett
1595c137f8 AC_PID_test: fixed AC_HELI_PID constructor 2015-08-31 13:45:13 +09:00
Randy Mackay
e3ff4ed9c4 MotorsHeli: integrate RotorControlState 2015-08-31 11:43:59 +09:00
Randy Mackay
cb47311416 MotorsHeli_RSC: add RotorControlMode enum 2015-08-31 11:43:58 +09:00
Randy Mackay
72efc85ee8 MotorsHeli_RSC: RotorControlState enum 2015-08-31 11:43:57 +09:00
Robert Lefebvre
bde43412d8 AP_MotorsHeli: Fix RSC Mode 3 2015-08-31 11:43:55 +09:00
Robert Lefebvre
38ccd6e04f AP_MotorsHeli_RSC: Fix tail_type control 2015-08-31 11:43:54 +09:00
Robert Lefebvre
535da1d79a AP_MotorsHeli_Single: DDVPT to use it's own ramp and runup times 2015-08-31 11:43:51 +09:00
Robert Lefebvre
28318c4116 AP_MotorsHeli: Move Output functions into parent class 2015-08-31 11:43:50 +09:00
Robert Lefebvre
84102c3e3f AP_MotorsHeli: Rework how servo setup is done. 2015-08-31 11:43:49 +09:00
Robert Lefebvre
345663f705 AP_MotorsHeli: Simplify servo init/reset 2015-08-31 11:43:48 +09:00
Robert Lefebvre
b11600aebe AP_MotorsHeli: Move set_delta_phase_angle into _Single class 2015-08-31 11:43:47 +09:00
Robert Lefebvre
3756c6b3f3 AP_MotorsHeli: Create RSC Throttle Curve mode for controlling gas engines. 2015-08-31 11:43:45 +09:00
Robert Lefebvre
f853979816 AP_MotorsHeli: run RSC Control function in Output Min function 
Move Output_Min() function into Heli_Single class as it will eventually be overloaded by other helicopter class types.
 2015-08-31 11:43:44 +09:00
Robert Lefebvre
315f0408ae AP_MotorsHeli: RSC controller to use speed ramp as simple float scalar 2015-08-31 11:27:52 +09:00
Robert Lefebvre
91c7663ca2 AP_MotorsHeli: Set range of new RSC Servo object. 2015-08-31 11:27:51 +09:00
Robert Lefebvre
cefa0c28a6 AP_MotorsHeli: RSC Mode 0 no longer a valid mode 2015-08-31 11:27:48 +09:00
Robert Lefebvre
981c96d8bc AP_MotorsHeli: Add more parameter checks 2015-08-31 11:27:47 +09:00
Robert Lefebvre
ed08e9d531 AP_MotorsHeli_RSC: Split out rotor speed estimate into it's own function 2015-08-31 11:27:46 +09:00
Robert Lefebvre
064cc63512 AP_MotorsHeli: Colyaw function to check if rotor speed control is above idle 2015-08-31 11:27:45 +09:00
Robert Lefebvre
77e4bf39aa AP_MotorsHeli: rework RSC output() function to implement idle speed function 
Also, split out speed_ramp function
 2015-08-31 11:27:44 +09:00
Robert Lefebvre
c3e7eed299 AP_MotorsHeli_Single: Fix recalc_scalars function 2015-08-31 11:27:42 +09:00
Robert Lefebvre
214d60abb9 AP_MotorsHeli: Create RSC_IDLE param 2015-08-31 11:27:41 +09:00
Robert Lefebvre
27f8d6bcd5 AP_MotorsHeli: Change RSC output() function into a state machine. 2015-08-31 11:27:40 +09:00
Robert Lefebvre
10b0be9e75 AP_MotorsHeli: Fully detail tradheli output functions and move manual servo handling 2015-08-31 11:27:39 +09:00
Robert Lefebvre
7dda0f651a AP_MotorsHeli: Rename tradheli servo objects for clarity 2015-08-31 11:27:38 +09:00
Robert Lefebvre
457d939e77 AP_MotorsHeli: Update includes so that it builds 2015-08-31 11:27:37 +09:00
Fredrik Hedberg
e6119cf51f AP_Motors: Fix param indices in AP_MotorsHeli. 2015-08-31 11:27:36 +09:00
Fredrik Hedberg
411947ea7c AP_Motors: Rename output_yaw to move_yaw in AP_MotorsHeli_Single. 2015-08-31 11:27:35 +09:00
Fredrik Hedberg
1e8be73a27 AP_Motors: Fix formatting in AP_MotorsHeli_RSC. 2015-08-31 11:27:34 +09:00
Fredrik Hedberg
e6957df54a AP_Motors: Fix param range comment in AP_MotorsHeli. 2015-08-31 11:27:33 +09:00
Fredrik Hedberg
97e09fa9b0 AP_Motors: Move traditional helicopter controls into AP_MotorsHeli_Single. 
Original commit by fhedberg, had to fix merge conflicts and now it appears I did the commit?
 2015-08-31 11:27:31 +09:00
Fredrik Hedberg
af69a20ba5 AP_Motors: Break out yaw output in AP_MotorsHeli. 2015-08-31 11:27:30 +09:00
Fredrik Hedberg
feb32f40ed AP_Motors: Break out servo init and reset in AP_MotorsHeli. 2015-08-31 11:27:29 +09:00
Fredrik Hedberg
ae9a16dc27 AP_Motors: Move rotor speed control into AP_MotorsHeli_RSC. 2015-08-31 11:27:28 +09:00
Fredrik Hedberg
1bb6b65ce0 AP_Motors: Use C++11 initializers in AP_MotorsHeli. 2015-08-31 11:27:27 +09:00
Andrew Tridgell
f6f2973acd AC_WPNav: make changes in WPNAV_ACCEL take effect immediately 
this makes it easier to tune the waypoint controller in auto mode
 2015-08-31 11:10:35 +10:00
Andrew Tridgell
2c7a113790 AP_GPS: ensure all GPS drivers give headings as 0..360 degrees 
this prevents inconsistency between interfaces, and fixes a MAVLink
reporting bug with UAVCAN GPS
 2015-08-31 08:24:35 +10:00
Tom Pittenger
15b242832e AP_Mission: lat/lng == 0 bug fix 
was using wrong logic to check for lat/lng == 0
 2015-08-29 21:17:35 +10:00
Tom Pittenger
41508457e1 AP_Mission: add get_prev_nav_cmd_with_wp_index() 
This is different than get_prev_nav_cmd_index() in that it only stores the index if there is a valid lat/lng
 2015-08-29 21:17:35 +10:00
Stewart Loving-Gibbard
c5f70d22c5 AP_RSSI: Adding RSSI library for reading various kinds of RSSI, with the possibility of adding more. 
* Retains ability to read from Analog Pin
* Adds ability to read RSSI from PWM channel value as is done in OpenLRSng, EazyUHF, and various other LRS.
* Handles any type of RSSI that provides RSSI values inverted - i.e. when the low value is the best signal and the high value is the worst signal.
* Has different key names from all existing RSSI parameters to provide for a clean break and easier distinguishing.
 2015-08-29 08:05:53 +10:00
Grant Morphett
1b67e49df4 exampleLowPassFilter2p: fixed simple typo error - now build success 2015-08-28 15:36:50 +09:00
Lucas De Marchi
a66a201bf5 AP_Compass: HMC5843: Add support for MPU6000 auxiliary bus 
Allow HMC5843 to be on MPU6000's auxiliary bus.
 2015-08-28 12:39:09 +10:00
Lucas De Marchi
a44ab9ed98 AP_HAL: define constant for HMC5843 on MPU6000 2015-08-28 12:39:09 +10:00
Lucas De Marchi
628e446e3e AP_Compass: HMC5843: use a struct for raw value 
Like is done in AK8963, declare a raw_value struct.
 2015-08-28 12:39:09 +10:00
Lucas De Marchi
9ecd1daf81 AP_Compass: HMC5843: remove useless delay 
There's no need to add a delay after suspending timer in the
initialization. Also initialize _bus_sem earlier, like is done in
AK8963.
 2015-08-28 12:39:09 +10:00
Lucas De Marchi
c66c9c41f2 AP_Compass: HMC5843: be agnostic to I2C bus 
Like was done to inertial AK8963 and inertial sensor move the decision
regarding the I2C bus to the caller. We don't allow changing the address
because apparently HMC5843 doesn't support different addresses.

Changing only the bus could be more easily done but this prepares the
ground for using HMC5843 on an AuxiliarBus.

The need for a more generic abstraction is evidenced by this commit: a
"SerialBus" in AP_HAL would be a nice addition rather than letting each
driver to provide its own. However the methods are a little bit
different from what we have in AK8963. It's safer to do the simple
conversion now and later on to add the abstraction changing everybody to
use it.
 2015-08-28 12:39:09 +10:00
Staroselskii Georgii
3eb6be64c9 AP_Compass: ignore first two readings in a clearer way 
This way we don't mix two different conditionals: settling and data validation.
 2015-08-28 12:39:09 +10:00
Staroselskii Georgii
633330db14 AP_Compass: rename calibration array in HMC 
I think naming the variable "scaling" makes more sense.
 2015-08-28 12:39:09 +10:00
Staroselskii Georgii
d8bddcbf3a AP_Compass: fix indentation in HMC's driver 2015-08-28 12:39:09 +10:00
Staroselskii Georgii
79ffddc6db AP_Compass: add a macro for checking calibration values in HMC 2015-08-28 12:39:08 +10:00
Lucas De Marchi
f61386ae43 AP_Compass: HMC5843: release the lock before read 
read() calls accumulate() which takes the lock by itself so we must
release it like we were doing before 669ae26 ("AP_Compass: encapsulated
calibration in HMC").
 2015-08-28 12:39:08 +10:00
Staroselskii Georgii
a9e8c1c464 AP_Compass: encapsulated calibration in HMC 2015-08-28 12:39:08 +10:00
Staroselskii Georgii
0fbc295d97 AP_Compass: encapsulated version detection in HMC driver 2015-08-28 12:39:08 +10:00
Lucas De Marchi
868d0bf3c3 AP_Compass: AK8963: refactor constructors 
Declare a common constructor that others can call.
 2015-08-28 12:39:08 +10:00
Lucas De Marchi
a5df93bf10 AP_Compass: AK8963: be agnostic to I2C bus/address 
This decision is better made by the caller rather than polluting the
driver with board-specific details.
 2015-08-28 12:39:08 +10:00
Lucas De Marchi
d92c2ac9f5 AP_Compass: pass backend instead of pointer to function 
Just like was done for inertial sensor, different detect() functions
might need different arguments and passing a pointer to function here is
cumbersome. For example, it forces to have a method like "detect_i2c2"
rather than allowing hal.i2c2 to be passed as parameter.
 2015-08-28 12:39:08 +10:00