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d6845a911a
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14656 Commits

Author SHA1 Message Date
chobits
d6845a911a AP_AHRS: fix get_relative_position_NE_home calcalation 2017-08-19 10:23:24 +09:00
Lucas De Marchi
66a1e420cb AP_HAL_Linux: RCInput_SoloLink: better name to first field 
Checking the time on the tcpdump capture, it matches the first fields
from the data:

$ tshark -n -c 4 -r  ~/tmp/solo/rc.pcap
    1   0.000000     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26
    2   0.019976     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26
    3   0.040046     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26
    4   0.059961     10.1.1.1 → 10.1.1.10    UDP 68 5005 → 5005 Len=26

From the previous commit (first 2 packets):

     5fa8 f441 3414 0500 73d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
     73f6 f441 3414 0500 74d7  dc05 dc05 dc05 db05 e803 e803 e803 f401

0x0005143441f45fa8 - 0x0005143441f4f673 = 0x4E14 = 19988 (usec)

Which seems to approximately match for the other packets as well. We are
not using the field since we rather get the time when we receive it, but
at least use a better name.
 2017-08-17 12:04:27 -07:00
Lucas De Marchi
373d41fd6e AP_HAL_Linux: switch aero to RCInput_SoloLink 2017-08-17 12:04:27 -07:00
Lucas De Marchi
79b004cf6a AP_HAL_Linux: add prototype for handling SoloLink 
This allows to use a Solo controller to control Linux-based flight
controllers. The protocol has been derived by analyzing a tcpdump
trace: some fields are ignored. Example trace of RC data (obtained
with `tshark -T fields -e data -n -c 5 -r  rc.pcap`

 unkonwn              seq   ch1  ch2  ch3  ...                ch8
 5fa8 f441 3414 0500 73d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 73f6 f441 3414 0500 74d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 dc44 f541 3414 0500 75d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 bc92 f541 3414 0500 76d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 dfe0 f541 3414 0500 77d7  dc05 dc05 dc05 db05 e803 e803 e803 f401
 2017-08-17 12:04:27 -07:00
Peter Barker
154b212545 GCS_MAVLink: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker
b17c0482fb GCS_MAVLink: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Peter Barker
23d91c93c8 AP_HAL_Linux: correct compilation warning 
../../../libraries/AP_HAL_Linux/RCInput_RPI.cpp:129:35: warning: ignoring return value of ‘ssize_t read(int, void*, size_t)’, declared with attribute warn_unused_result [-Wunused-result]
         ::read(file, &pageInfo, 8);
 2017-08-17 11:28:36 +01:00
Randy Mackay
222dd0c9be AC_WPNav: correct comments 
all position vectors are offsets from the ekf origin (not from the ahrs home)
 2017-08-17 16:05:08 +09:00
Jacob Walser
b8e7d23cc4 AP_Arming: Add bool check_min_max parameter for Copter/Sub RC checks 2017-08-16 11:37:46 -04:00
Peter Barker
2a07a077d9 GCS_MAVLink: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:05:37 +10:00
Peter Barker
48c4e48225 AP_HAL_PX4: send statustext for RC input decoding type 2017-08-15 22:04:00 +01:00
Mateusz Sadowski
eb56a010b3 AP_RangeFinder: TeraRangerI2C: use address from parameter instead of hardcoded 2017-08-15 19:42:10 +01:00
Mateusz Sadowski
0993300506 AP_Rangefinder: rename trone to TeraRangerI2C 2017-08-15 19:27:49 +01:00
Peter Barker
b6076bcb77 GCS_MAVLink: adapt to new rangefinder method name 2017-08-15 19:00:29 +01:00
Peter Barker
30c4ea8123 AP_RangeFinder: stop storing sensor type as a variable 
And change method name
 2017-08-15 18:58:16 +01:00
Peter Barker
c79cbd71af GCS_MAVLink: use rangefinder backend accessors 2017-08-15 18:31:58 +01:00
Peter Barker
f1d350bbb1 DataFlash: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker
63440800fc AP_NavEKF3: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker
1e83ef3c44 AP_NavEKF2: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker
e0bea597c0 AP_Proximity: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Peter Barker
c0aa10d84b AP_RangeFinder: move rangefinder backend data accessors to backend 2017-08-15 18:30:45 +01:00
Michael du Breuil
067335f68d GCS_MAVLink: Handle termination requests from the GCS 2017-08-15 15:14:56 +01:00
Michael du Breuil
97c1785bef AP_AdvancedFailsafe: Allow the GCS to request terminations 2017-08-15 15:14:56 +01:00
Miguel Arroyo
fc155eac7e AP_HAL_PX4: Adds UARTF as commandline option 2017-08-15 14:31:51 +01:00
JU Han
eebef857f1 AP_TECS: gain scaler K_STE2Thr multiplies by (THRmax - THRmin) 
Makes both feed forward and feed-back consistent
 2017-08-15 14:27:43 +01:00
Randy Mackay
9f876dc7a0 AR_AttitudeControl: throttle and steering control library 
Throttle controller has these advantages over existing controller:
based on velocity in vehicle's forward-back axis rather than ground-speed
straight-forward PID controller using speed error as input
speed control acceleration limts
stop control slows vehicle smoothly
configurable filtering

Steer controller has these advantages over existing controller:
output scaled properly for skid-steering vehicles
layered P and PID controller for angular error and rate control
configurable filtering
 2017-08-15 20:47:19 +09:00
Peter Barker
7173025b43 AP_Arming: warn about uncalibrated throttle but do not fail check 
We can tighten this check up later, and will allow us to use
this common function for Plane and Rover in the future
 2017-08-14 15:32:25 +09:00
Peter Barker
b2459c67d5 AP_Arming: move Copter RC checking code into library 2017-08-14 15:32:25 +09:00
Peter Barker
e3599ab4f9 AP_Param: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker
bff31e8b42 GCS_MAVLink: remove CLI 2017-08-14 10:23:50 +09:00
Andrew Tridgell
1a25087dd5 AC_AttitudeControl: fixed PIRO_COMP index 
this is a new conflict due to stricter checking in AP_Param
 2017-08-14 09:28:57 +09:00
Michael du Breuil
58e784024f AP_HAL_SITL: Add support for blocked pitot tube simulations 2017-08-10 20:15:35 +10:00
Michael du Breuil
4dbe282121 SITL: Add airspeed failure parameters 2017-08-10 20:15:35 +10:00
priseborough
2310cb6d19 AP_NavEKF3: Enable external control over use of GPS vertical velocity 2017-08-10 19:49:45 +10:00
priseborough
f2f3067326 AP_NavEKF2: Add interface to control GPS vertical velocity use 2017-08-10 19:49:45 +10:00
Mark Whitehorn
3642ecd9ef AP_COMPASS: fix errors in addition of alternate LIS3MDL I2C address 
testing shows ROTATION_YAW_90 is correct for mRo Neo M8N GPS/compass
 2017-08-10 19:46:26 +10:00
Mark Whitehorn
a6e9baa8f6 AP_Compass: probe for LIS3MDL in mRo Neo-M8N GPS module 2017-08-10 19:46:26 +10:00
Peter Barker
1fc82442a0 GCS_MAVLink: remove dummy functions; examples are linked with all libs 2017-08-09 16:18:22 +01:00
Peter Barker
7aaabea4ea GCS_MAVLink: send gps messages as separate queued messages 2017-08-09 16:18:22 +01:00
Peter Barker
ee5874ab32 GCS_MAVLink: move sending of gps_raw up 2017-08-09 16:18:22 +01:00
Peter Barker
4e3cc6fd27 GCS_MAVLink: move sending of system_time up 2017-08-09 16:18:22 +01:00
Peter Barker
d1a9128118 GCS_MAVLink: move sending of camera_feedback up 2017-08-09 16:18:22 +01:00
Peter Barker
d03c7389f7 GCS_MAVLink: move sending of meminfo up 2017-08-09 16:18:22 +01:00
Michael du Breuil
5fca7d02b3 AdvancedFailsafe: Rework status texts to be more uniform 2017-08-09 15:39:17 +01:00
Peter Barker
127edce39e AP_RangeFinder: move prearm checks into backend 2017-08-09 13:58:53 +01:00
Peter Barker
0b1c67d170 AP_RangeFinder: remove unused parameters from detect and constructors 2017-08-09 13:58:53 +01:00
Peter Barker
08cd3f4a77 AP_RangeFinder: move instance parameters into instance state 2017-08-09 13:58:53 +01:00
Randy Mackay
f995106c1e AC_PID: minor formatting change 2017-08-09 18:03:09 +09:00
Peter Barker
a841fddb3e GCS_MAVLink: rename MSG_RETRY_DEFERRED to MSG_LAST and clarify comments 2017-08-05 23:13:48 +01:00
Peter Barker
0c5f66dc59 GCS_MAVLink: refactor code into new retry_deferred method 2017-08-05 23:11:09 +01:00