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d9ab3baf84
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11178 Commits

Author SHA1 Message Date
skyscraper
d9ab3baf84 RC_Channel: Refactor to make data members private 
rename all public data members of RC_Channnels with
leading underscore and make all data members private.
Provide get_xx and set_xx methods for access

 Rationale:

        RC_Channel is a complicated class, which combines
        several functionalities dealing with stick inputs
        in pwm and logical units, logical and actual actuator
        outputs, unit conversion etc, etc
        The intent of this PR is to clarify existing use of
        the class. At the basic level it should now be possible
        to grep all places where private variable is set by
        searching for the set_xx function.

        (The wider purpose is to provide a more generic and
        logically simpler method of output mixing. This is a small step)

add function to save radio trim
(expression where c is an object of type RC_Channel)
old public member(int16_t)   get function -> int16_t     set function (int16_t)

(expression where c is an object of type RC_Channel)

c.radio_in                     c.get_radio_in()           c.set_radio_in(v)
c.control_in                   c.get_control_in()         c.set_control_in(v)
c.servo_out                    c.get_servo_out()          c.set_servo_out(v)
c.pwm_out                      c.get_pwm_out()            // use existing
c.radio_out                    c.get_radio_out()          c.set_radio_out(v)
c.radio_max                    c.get_radio_max()          c.set_radio_max(v)
c.radio_min                    c.get_radio_min()          c.set_radio_min(v)
c.radio_trim                   c.get_radio_trim()         c.set_radio_trim(v);
// other
c.min_max_configured() // return true if min and max are configured
c.save_radio_trim()    // save radio trim to eeprom
 2016-05-10 16:21:15 +10:00
Gustavo Jose de Sousa
b594b5a08b AP_Math: matrix_alg: disable FE_OVERFLOW in inverse4x4() for SITL 
There are occasional overflows on the determinant calculation in inverse4x4()
when using calibration SITL model.
 2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa
a7543d369f AP_Math: matrix_alg: protect inverseixi() against overflow 
Fail on inverse3x3() and inverse4x4() if there's float overflow during the
determinant calculation.
 2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa
39f72610e2 AP_Math: quaternion: fix style 
Remove trailing spaces and run astyle.
 2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa
8c4c9ccfa6 AP_HAL_SITL: add calibration model 2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa
9fa85d9bcf SITL: add SIM_Calibration 
That model can be used to run compass and accelerometer calibration by rotating
the vehicle through the servos channels.
 2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa
45754ef37c SITL: Multicopter: remove leftover comment 
That went unnoticed by 8a98ce4 ("SITL: moved to common code for attitude/pos
update")
 2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa
ce8766e1cd SITL: remove set_yaw_degrees() 
That function isn't being used anywhere.
 2016-05-10 16:16:37 +10:00
Andrew Tridgell
50908edc91 RC_Channel: added parameter docs for missing RCn_FUNCTION values 2016-05-09 17:33:21 +10:00
Andrew Tridgell
31ed1eabfb AP_Tuning: use better tones for next parameter 2016-05-09 17:24:56 +10:00
Andrew Tridgell
3e75fc4f3d AP_Notify: improved tones for AP_Tuning 2016-05-09 17:24:38 +10:00
Andrew Tridgell
ea508f1b80 AP_NavEKF2: use LOG_REPLAY and EK2_LOG_MASK parameters 2016-05-09 12:26:57 +10:00
Andrew Tridgell
202eb3af35 DataFlash: added imu_mask to Log_Write_IMUDT 2016-05-09 12:26:30 +10:00
Andrew Tridgell
8ca6ed54c5 DataFlash: added LOG_REPLAY and LOG_DISARMED parameters 2016-05-09 12:00:55 +10:00
Andrew Tridgell
5398283c9b DataFlash: fixed BAR2 and BAR3 log formats 2016-05-09 11:09:44 +10:00
Andrew Tridgell
25c7b43628 AP_Tuning: removed chans 1 to 4 from TUNE_CHAN choices 2016-05-08 21:06:56 +10:00
Andrew Tridgell
2a2abb8be6 GCS_MAVLink: log parameter changes to DataFlash 
this means param notifies also get logged in the DF log
 2016-05-08 19:12:09 +10:00
Andrew Tridgell
d72df80968 AP_Tuning: added a small dead-zone on mid-point detection 
thanks to Leonard for the suggestion
 2016-05-08 18:35:26 +10:00
Andrew Tridgell
aa38539ecb AP_Tuning: move to using a nested parameter set for AP_Tuning 
this allows the list of tunable parameters in the auto-docs to be
separated out
 2016-05-08 18:35:26 +10:00
Andrew Tridgell
8a65481551 AP_Tuning: allow for tuning with no selector switch 
this makes tuning with a single parameter possible
 2016-05-08 14:47:51 +10:00
Andrew Tridgell
f69806deff AP_Tuning: detect change to TUNE_PARMSET while tuning 2016-05-08 14:36:30 +10:00
Andrew Tridgell
6d1c7c9082 AP_Tuning: make it possible to tune a single parameter 2016-05-08 14:36:30 +10:00
Leandro Pereira
f23bd7e09d GCS_MAVLink: Use a single stream_trigger() implementation 
This has no side effects, but since all implementations were basically
the same, move the implementation to GCS_Common and the only part that
adjusts the rate based on which which stream to each individual
GCS_MAVLINK implementation.
 2016-05-07 23:49:35 -03:00
Andrew Tridgell
9cd4f8a856 AP_Notify: added tones for tuning stages 2016-05-07 18:34:13 +10:00
Andrew Tridgell
ebee79fb3a AP_Tuning: added transmitter tuning library 
needs to be subclassed in vehicle code
 2016-05-07 18:34:08 +10:00
Andrew Tridgell
a9f1b608ed APM_Control: expose parameters as AP_Float 2016-05-07 18:34:06 +10:00
Andrew Tridgell
412dc10353 AC_PID: expose parameters as AP_Float 
this enables full tuning capability
 2016-05-07 18:34:03 +10:00
Andrew Tridgell
5ddb872b79 AP_GPS: allow Replay to set last sample time 2016-05-07 18:27:23 +10:00
Andrew Tridgell
2f4f38b85f DataFlash: log the last message sample time for GPS 2016-05-07 18:27:23 +10:00
Andrew Tridgell
428923b4b1 AP_GPS: use 3D velocity for uBlox 
this makes uBlox use the 3D velocity for ground course and speed,
ensuring we use a consistent value everywhere (so same vector in EKF
as in navigation)
 2016-05-07 18:27:23 +10:00
Andrew Tridgell
679b43efc9 DataFlash: make timestamps in EKF messages all match 2016-05-07 18:27:22 +10:00
Andrew Tridgell
32af886ba9 AP_NavEKF2: use consistent logging timestamps for sensors 2016-05-07 18:27:22 +10:00
Andrew Tridgell
35c3adb1ad DataFlash: use caller supplied timestamps for sensor logging 
used to support EK2_LOGGING=1
 2016-05-07 18:27:22 +10:00
Andrew Tridgell
6aa02f06a9 DataFlash: use INS_USE to prevent logging of unused IMUs 2016-05-07 18:27:22 +10:00
Andrew Tridgell
d24bbcd1ff AP_GPS: convert vdop to cm 2016-05-07 18:27:22 +10:00
Andrew Tridgell
b424c49bc7 AP_GPS: change ground course to be in degrees 
more accuracy for replay
 2016-05-07 18:27:21 +10:00
Andrew Tridgell
e8142b0b5b AP_Math: added wrap_360() 2016-05-07 18:27:21 +10:00
Andrew Tridgell
9300092840 DataFlash: changed GPS ground course to float and add VV for GPA 
more accurate replay
 2016-05-07 18:27:21 +10:00
Andrew Tridgell
8b7bf5cf7a AP_Baro: allow setHIL to set last update time 2016-05-07 18:27:21 +10:00
Andrew Tridgell
1bf057be45 DataFlash: log last update time in BARO msg 2016-05-07 18:27:21 +10:00
Andrew Tridgell
d61ba14037 DataFlash: switched to float for GPS ground speed 
same size and more precision
 2016-05-07 18:27:21 +10:00
Andrew Tridgell
0b71652afc AP_Baro; allow for exact replay of baro data 2016-05-07 18:27:20 +10:00
Andrew Tridgell
d97074dc9d DataFlash: round baro temp to nearest centi-degree 
makes replay logs a tiny bit closer
 2016-05-07 18:27:20 +10:00
Andrew Tridgell
73d3797a7e AP_AHRS: finish implementing have_ekf_logging() 2016-05-07 18:27:20 +10:00
Andrew Tridgell
4e4c575f16 AP_NavEKF2: added have_ekf_logging() 2016-05-07 18:27:20 +10:00
Andrew Tridgell
b7ba0fa458 AP_NavEKF2: added ad-hoc logging example to EKF2 2016-05-07 18:27:20 +10:00
Andrew Tridgell
4e5f1374da AP_GPS: added setHil_Accuracy() 2016-05-07 18:27:19 +10:00
Andrew Tridgell
88a1ebaf0e AP_Compass: allow setting of exact timestamp in HIL compass 2016-05-07 18:27:19 +10:00
Andrew Tridgell
4318fd0ab8 HAL_SITL: update for changed API 2016-05-07 18:27:19 +10:00
Andrew Tridgell
61da827c16 DataFlash: added sample timestamp to mag messages 
allows for exact mag timings in replay
 2016-05-07 18:27:19 +10:00