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8845 Commits

Author SHA1 Message Date
Fabio Mello
c0caed1b64 AP_HAL_Linux: RCOutput_Navio: allow to use internal clock 
It's possible to use the internal clock in PCA96895 if we account for
the drift it contains. This is a bit different from solutions in other
projects like the Adafruit library and the PX4 firmware: instead of
applying a correction to the final frequency we apply the correction to
the clock since this is the source of the error.

With this fix we arrived to much better results across different lots of
sensors.

The Navio board continues to use the external clock and should have no
difference behavior.
 2015-09-03 18:43:21 +10:00
Lucas De Marchi
6c042b6666 AP_HAL_Linux: RCOutput_Navio: allow to have other offset 2015-09-03 18:43:21 +10:00
Lucas De Marchi
3beaf34aa1 AP_HAL_Linux: RCOutput_Navio: allow to have other OE pin 
While at it also rename enable_pin to follow the convention of starting
with underscore for private members.
 2015-09-03 18:43:21 +10:00
Andrew Tridgell
e4b2fc711d AP_Compass: added message for compass cal when armed 2015-09-03 16:59:22 +10:00
Andrew Tridgell
f4cdf57d8f AP_Compass: added handling of compass calibration mavlink messages 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
1ffbffa0e7 AP_Math: check if failed to allocate memory 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
75829f5533 AP_Compass: remove extra compass field correction 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
3abdf85796 AP_Compass_Calibrator: remove unrequired variables 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
c126017035 AP_Compass: reduce to if healthy check from if-else 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
2fb002798c generate.sh 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
63973bff31 AP_Compass_AK8963: move variable declarations before goto 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
3fc47b33e8 message_definition: add autoreboot option for mag cal 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
6a603eb594 Compass_cal: implement the concept of auto and mandatory user reboot after cal 2015-09-03 16:59:13 +10:00
Gustavo Jose de Sousa
46774136a6 AP_Compass: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-09-03 16:59:13 +10:00
Siddharth Bharat Purohit
cdd8bae6ac AP_Compass: publish raw and unfiltered field for HMC5843 compass 2015-09-03 16:59:13 +10:00
Siddharth Bharat Purohit
8cdc9748b3 AP_Compass: publish raw and unfiltered field for AK8963 compass 2015-09-03 16:59:13 +10:00
Siddharth Bharat Purohit
f085e274c7 AP_Compass: add explaination for sample acceptance based on angular distance 2015-09-03 16:59:13 +10:00
Jonathan Challinger
f108383c11 AP_Compass: initialize CompassCalibrator _sample_buffer to NULL 2015-09-03 16:59:13 +10:00
Jonathan Challinger
358736a592 AP_Compass: correct calibrator sample acceptance math 2015-09-03 16:59:13 +10:00
Jonathan Challinger
bff9b9065e AP_Compass: CompassCalibrator comment update 2015-09-03 16:59:13 +10:00
Jonathan Challinger
1c100498d4 AP_Math: use is_zero instead of defining our own epsilon 2015-09-03 16:59:13 +10:00
Siddharth Bharat Purohit
137bd25220 AP_Compass: add info about compass calibrator procedure 2015-09-03 16:59:12 +10:00
Siddharth Bharat Purohit
f5fbc2fac1 AP_Compass: use AP_Math inverse library 2015-09-03 16:59:12 +10:00
Siddharth Bharat Purohit
b654b1c21b AP_Math: add inverse matrix to math library 2015-09-03 16:59:12 +10:00
Jonathan Challinger
0edf1df28e AP_Compass: loosen calibration acceptance tolerance 2015-09-03 16:59:12 +10:00
Jonathan Challinger
987f55387e AP_Compass: style cleanup 2015-09-03 16:59:12 +10:00
Jonathan Challinger
5ef713f3db AP_Compass: set AP_Notify::compass_cal_failed 2015-09-03 16:59:12 +10:00
Jonathan Challinger
5a12991d29 CompassCalibrator: remove dependence on AP_Notify 2015-09-03 16:59:12 +10:00
Jonathan Challinger
de600ca3da AP_Compass: configured() only checks compasses with _USE set 2015-09-03 16:59:12 +10:00
Jonathan Challinger
53fe649016 GCS_MAVLink: add MSG_MAG_CAL_PROGRESS and _REPORT 2015-09-03 16:59:11 +10:00
Jonathan Challinger
72c8d0f530 AP_Compass: add samples to calibrator when published 2015-09-03 16:59:11 +10:00
Jonathan Challinger
cc36401b7c AP_Compass: add calibration interface 2015-09-03 16:59:11 +10:00
Jonathan Challinger
28ee63c855 AP_Notify: add events.compass_cal_canceled 2015-09-03 16:59:11 +10:00
Jonathan Challinger
adef826a42 AP_Notify: play tones for compass cal 2015-09-03 16:59:11 +10:00
Jonathan Challinger
89007c13cb AP_Notify: add compass_cal flags 2015-09-03 16:59:11 +10:00
Jonathan Challinger
05d3616e0d AP_Compass: fix sitl build 2015-09-03 16:59:11 +10:00
Jonathan Challinger
7cb9fa8898 AP_Compass: Correct parameter checks in compass cal 2015-09-03 16:59:11 +10:00
Jonathan Challinger
6d45660568 AP_Compass: refactor run_fit_chunk logic 2015-09-03 16:59:11 +10:00
Jonathan Challinger
f2acf2cb88 AP_Compass: more parameter checks in compass calibrator 2015-09-03 16:59:11 +10:00
Jonathan Challinger
929ddb5685 AP_Compass: fix a math error in the compass calibrator 2015-09-03 16:59:10 +10:00
Jonathan Challinger
328cf82c3d CompassCalibrator: update AP_Notify on failure 2015-09-03 16:59:10 +10:00
Jonathan Challinger
bfdbb55528 AP_Compass: make compasscalibrator running() public 2015-09-03 16:59:10 +10:00
Jonathan Challinger
d31d385490 AP_Compass: changes and fixes to LMA-based compass calibrate 2015-09-03 16:59:10 +10:00
bugobliterator
c66bfc95e1 Compass: Add Levenberg-Marquadt for ellipsoid fit 2015-09-03 16:59:10 +10:00
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